diff --git a/RecoTracker/IterativeTracking/python/DetachedQuadStep_cff.py b/RecoTracker/IterativeTracking/python/DetachedQuadStep_cff.py index 7b4b1ba43de0b..a4b69fab8855b 100644 --- a/RecoTracker/IterativeTracking/python/DetachedQuadStep_cff.py +++ b/RecoTracker/IterativeTracking/python/DetachedQuadStep_cff.py @@ -204,7 +204,7 @@ ) trackingMkFitDetachedQuadStep.toReplaceWith(detachedQuadStepTrackCandidates, mkFitOutputConverter_cfi.mkFitOutputConverter.clone( seeds = 'detachedQuadStepSeeds', - mkfitSeeds = 'detachedQuadStepTrackCandidatesMkFitSeeds', + mkFitSeeds = 'detachedQuadStepTrackCandidatesMkFitSeeds', tracks = 'detachedQuadStepTrackCandidatesMkFit', )) diff --git a/RecoTracker/IterativeTracking/python/DetachedTripletStep_cff.py b/RecoTracker/IterativeTracking/python/DetachedTripletStep_cff.py index f44ff2ce54226..33cb76f98564e 100644 --- a/RecoTracker/IterativeTracking/python/DetachedTripletStep_cff.py +++ b/RecoTracker/IterativeTracking/python/DetachedTripletStep_cff.py @@ -232,7 +232,7 @@ ) trackingMkFitDetachedTripletStep.toReplaceWith(detachedTripletStepTrackCandidates, mkFitOutputConverter_cfi.mkFitOutputConverter.clone( seeds = 'detachedTripletStepSeeds', - mkfitSeeds = 'detachedTripletStepTrackCandidatesMkFitSeeds', + mkFitSeeds = 'detachedTripletStepTrackCandidatesMkFitSeeds', tracks = 'detachedTripletStepTrackCandidatesMkFit', )) diff --git a/RecoTracker/IterativeTracking/python/HighPtTripletStep_cff.py b/RecoTracker/IterativeTracking/python/HighPtTripletStep_cff.py index 27011fb304153..8dbd2cccbdf28 100644 --- a/RecoTracker/IterativeTracking/python/HighPtTripletStep_cff.py +++ b/RecoTracker/IterativeTracking/python/HighPtTripletStep_cff.py @@ -233,7 +233,7 @@ ) trackingMkFitHighPtTripletStep.toReplaceWith(highPtTripletStepTrackCandidates, mkFitOutputConverter_cfi.mkFitOutputConverter.clone( seeds = 'highPtTripletStepSeeds', - mkfitSeeds = 'highPtTripletStepTrackCandidatesMkFitSeeds', + mkFitSeeds = 'highPtTripletStepTrackCandidatesMkFitSeeds', tracks = 'highPtTripletStepTrackCandidatesMkFit', )) diff --git a/RecoTracker/IterativeTracking/python/InitialStep_cff.py b/RecoTracker/IterativeTracking/python/InitialStep_cff.py index bfad29e97c51b..b8cf530a0d542 100644 --- a/RecoTracker/IterativeTracking/python/InitialStep_cff.py +++ b/RecoTracker/IterativeTracking/python/InitialStep_cff.py @@ -224,12 +224,16 @@ from Configuration.ProcessModifiers.trackingMkFitInitialStep_cff import trackingMkFitInitialStep from RecoTracker.MkFit.mkFitGeometryESProducer_cfi import mkFitGeometryESProducer -import RecoTracker.MkFit.mkFitHitConverter_cfi as mkFitHitConverter_cfi +import RecoTracker.MkFit.mkFitSiPixelHitConverter_cfi as mkFitSiPixelHitConverter_cfi +import RecoTracker.MkFit.mkFitSiStripHitConverter_cfi as mkFitSiStripHitConverter_cfi +import RecoTracker.MkFit.mkFitEventOfHitsProducer_cfi as mkFitEventOfHitsProducer_cfi import RecoTracker.MkFit.mkFitSeedConverter_cfi as mkFitSeedConverter_cfi import RecoTracker.MkFit.mkFitIterationConfigESProducer_cfi as mkFitIterationConfigESProducer_cfi import RecoTracker.MkFit.mkFitProducer_cfi as mkFitProducer_cfi import RecoTracker.MkFit.mkFitOutputConverter_cfi as mkFitOutputConverter_cfi -mkFitHits = mkFitHitConverter_cfi.mkFitHitConverter.clone() # TODO: figure out better place for this module? +mkFitSiPixelHits = mkFitSiPixelHitConverter_cfi.mkFitSiPixelHitConverter.clone() # TODO: figure out better place for this module? +mkFitSiStripHits = mkFitSiStripHitConverter_cfi.mkFitSiStripHitConverter.clone() # TODO: figure out better place for this module? +mkFitEventOfHits = mkFitEventOfHitsProducer_cfi.mkFitEventOfHitsProducer.clone() # TODO: figure out better place for this module? initialStepTrackCandidatesMkFitSeeds = mkFitSeedConverter_cfi.mkFitSeedConverter.clone( seeds = 'initialStepSeeds', ) @@ -243,7 +247,7 @@ ) trackingMkFitInitialStep.toReplaceWith(initialStepTrackCandidates, mkFitOutputConverter_cfi.mkFitOutputConverter.clone( seeds = 'initialStepSeeds', - mkfitSeeds = 'initialStepTrackCandidatesMkFitSeeds', + mkFitSeeds = 'initialStepTrackCandidatesMkFitSeeds', tracks = 'initialStepTrackCandidatesMkFit', )) @@ -423,7 +427,7 @@ from Configuration.ProcessModifiers.trackingMkFitCommon_cff import trackingMkFitCommon _InitialStepTask_trackingMkFitCommon = InitialStepTask.copy() -_InitialStepTask_trackingMkFitCommon.add(mkFitHits, mkFitGeometryESProducer) +_InitialStepTask_trackingMkFitCommon.add(mkFitSiPixelHits, mkFitSiStripHits, mkFitEventOfHits, mkFitGeometryESProducer) trackingMkFitCommon.toReplaceWith(InitialStepTask, _InitialStepTask_trackingMkFitCommon) _InitialStepTask_trackingMkFit = InitialStepTask.copy() diff --git a/RecoTracker/IterativeTracking/python/LowPtQuadStep_cff.py b/RecoTracker/IterativeTracking/python/LowPtQuadStep_cff.py index 798e2c659792c..396baabbf0c0b 100644 --- a/RecoTracker/IterativeTracking/python/LowPtQuadStep_cff.py +++ b/RecoTracker/IterativeTracking/python/LowPtQuadStep_cff.py @@ -196,7 +196,7 @@ ) trackingMkFitLowPtQuadStep.toReplaceWith(lowPtQuadStepTrackCandidates, mkFitOutputConverter_cfi.mkFitOutputConverter.clone( seeds = 'lowPtQuadStepSeeds', - mkfitSeeds = 'lowPtQuadStepTrackCandidatesMkFitSeeds', + mkFitSeeds = 'lowPtQuadStepTrackCandidatesMkFitSeeds', tracks = 'lowPtQuadStepTrackCandidatesMkFit', )) diff --git a/RecoTracker/IterativeTracking/python/LowPtTripletStep_cff.py b/RecoTracker/IterativeTracking/python/LowPtTripletStep_cff.py index 41576c4ea75ea..cf1346e5d54df 100644 --- a/RecoTracker/IterativeTracking/python/LowPtTripletStep_cff.py +++ b/RecoTracker/IterativeTracking/python/LowPtTripletStep_cff.py @@ -260,7 +260,7 @@ ) trackingMkFitLowPtTripletStep.toReplaceWith(lowPtTripletStepTrackCandidates, mkFitOutputConverter_cfi.mkFitOutputConverter.clone( seeds = 'lowPtTripletStepSeeds', - mkfitSeeds = 'lowPtTripletStepTrackCandidatesMkFitSeeds', + mkFitSeeds = 'lowPtTripletStepTrackCandidatesMkFitSeeds', tracks = 'lowPtTripletStepTrackCandidatesMkFit', )) diff --git a/RecoTracker/IterativeTracking/python/MixedTripletStep_cff.py b/RecoTracker/IterativeTracking/python/MixedTripletStep_cff.py index 6143e02bc8bb2..446dbabc4e752 100644 --- a/RecoTracker/IterativeTracking/python/MixedTripletStep_cff.py +++ b/RecoTracker/IterativeTracking/python/MixedTripletStep_cff.py @@ -310,7 +310,7 @@ ) trackingMkFitMixedTripletStep.toReplaceWith(mixedTripletStepTrackCandidates, mkFitOutputConverter_cfi.mkFitOutputConverter.clone( seeds = 'mixedTripletStepSeeds', - mkfitSeeds = 'mixedTripletStepTrackCandidatesMkFitSeeds', + mkFitSeeds = 'mixedTripletStepTrackCandidatesMkFitSeeds', tracks = 'mixedTripletStepTrackCandidatesMkFit', )) diff --git a/RecoTracker/IterativeTracking/python/PixelLessStep_cff.py b/RecoTracker/IterativeTracking/python/PixelLessStep_cff.py index 62abf63035522..adbcbd9b397aa 100644 --- a/RecoTracker/IterativeTracking/python/PixelLessStep_cff.py +++ b/RecoTracker/IterativeTracking/python/PixelLessStep_cff.py @@ -303,7 +303,7 @@ ) trackingMkFitPixelLessStep.toReplaceWith(pixelLessStepTrackCandidates, mkFitOutputConverter_cfi.mkFitOutputConverter.clone( seeds = 'pixelLessStepSeeds', - mkfitSeeds = 'pixelLessStepTrackCandidatesMkFitSeeds', + mkFitSeeds = 'pixelLessStepTrackCandidatesMkFitSeeds', tracks = 'pixelLessStepTrackCandidatesMkFit', )) diff --git a/RecoTracker/IterativeTracking/python/TobTecStep_cff.py b/RecoTracker/IterativeTracking/python/TobTecStep_cff.py index da81366d5f1e7..d0b3e98ed19aa 100644 --- a/RecoTracker/IterativeTracking/python/TobTecStep_cff.py +++ b/RecoTracker/IterativeTracking/python/TobTecStep_cff.py @@ -287,7 +287,7 @@ ) trackingMkFitTobTecStep.toReplaceWith(tobTecStepTrackCandidates, mkFitOutputConverter_cfi.mkFitOutputConverter.clone( seeds = 'tobTecStepSeeds', - mkfitSeeds = 'tobTecStepTrackCandidatesMkFitSeeds', + mkFitSeeds = 'tobTecStepTrackCandidatesMkFitSeeds', tracks = 'tobTecStepTrackCandidatesMkFit', )) diff --git a/RecoTracker/MkFit/README.md b/RecoTracker/MkFit/README.md index 6808838744399..3bd44016f71ef 100644 --- a/RecoTracker/MkFit/README.md +++ b/RecoTracker/MkFit/README.md @@ -30,4 +30,50 @@ tracker detector. Support for the phase2 tracker will be added later. These can be used with e.g. ```bash $ runTheMatrix.py -l --apply 2 --command "--procModifiers trackingMkFit --customise RecoTracker/MkFit/customizeInitialStepToMkFit.customizeInitialStepOnly" -``` \ No newline at end of file +``` + +## Description of configuration parameters + +### Iteration configuration [class IterationConfig] + +* *m_track_algorithm:* CMSSW track algorithm (used internally for reporting and consistency checks) +* *m_requires_seed_hit_sorting:* do hits on seed tracks need to be sorted (required for seeds that include strip layers) +* *m_require_quality_filter:* is additional post-processing required for result tracks +* *m_params:* IterationParams structure for this iteration +* *m_layer_configs:* std::vector of per-layer parameters + +### Iteration parameters [class IterationParams] + +* *nlayers_per_seed:* internal mkFit parameter used for standalone validation +* *maxCandsPerSeed:* maximum number of concurrent track candidates per given seed +* *maxHolesPerCand:* maximum number of allowed holes on a candidate +* *maxConsecHoles:* maximum number of allowed consecutive holes on a candidate +* *chi2Cut:* chi2 cut for accepting a new hit +* *chi2CutOverlap:* chi2 cut for accepting an overlap hit +* *pTCutOverlap:* pT cut below which the overlap hits are not picked up + +#### Seed cleaning params (based on elliptical dR-dz cut) + +* *c_ptthr_hpt:* pT threshold used to tighten seed cleaning requirements +* *c_drmax_bh:* dR cut used for seed tracks with std::fabs(eta)<0.9 and pT > c_ptthr_hpt +* *c_dzmax_bh:* dz cut used for seed tracks with std::fabs(eta)<0.9 and pT > c_ptthr_hpt +* *c_drmax_eh:* dR cut used for seed tracks with std::fabs(eta)>0.9 and pT > c_ptthr_hpt +* *c_dzmax_eh:* dz cut used for seed tracks with std::fabs(eta)>0.9 and pT > c_ptthr_hpt +* *c_drmax_bl:* dR cut used for seed tracks with std::fabs(eta)<0.9 and pT < c_ptthr_hpt +* *c_dzmax_bl:* dz cut used for seed tracks with std::fabs(eta)<0.9 and pT < c_ptthr_hpt +* *c_drmax_el:* dR cut used for seed tracks with std::fabs(eta)>0.9 and pT < c_ptthr_hpt +* *c_dzmax_el:* dz cut used for seed tracks with std::fabs(eta)>0.9 and pT < c_ptthr_hpt + +#### Duplicate cleaning parameters + +* *minHitsQF:* min number of hits on track candidate to apply duplicate cleaning based on fraction of shared hits +* *fracSharedHits:* min fraction of shared hits to determine duplicate track candidate + +### Per-layer parameters [class IterationLayerConfig] + +* *m_select_min_dphi, m_select_max_dphi:* geometry-driven dphi baseline selection window cut +* *m_select_min_dq, m_select_max_dq:* geometry-driven dr (endcap) / dz (barrel) baseline selection window cut +* *c_dp_[012]:* dphi selection window cut (= [0]*1/pT + [1]*std::fabs(theta-pi/2) + [2]) +* *c_dp_sf:* additional scaling factor for dphi cut +* *c_dq_[012]:* dr (endcap) / dz (barrel) selection window cut (= [0]*1/pT + [1]*std::fabs(theta-pi/2) + [2]) +* *c_dq_sf:* additional scaling factor for dr (endcap) / dz (barrel) cut diff --git a/RecoTracker/MkFit/interface/MkFitClusterIndexToHit.h b/RecoTracker/MkFit/interface/MkFitClusterIndexToHit.h index 1415e8b83a24a..7c8d9db2bb3cf 100644 --- a/RecoTracker/MkFit/interface/MkFitClusterIndexToHit.h +++ b/RecoTracker/MkFit/interface/MkFitClusterIndexToHit.h @@ -9,16 +9,12 @@ class MkFitClusterIndexToHit { public: MkFitClusterIndexToHit() = default; - std::vector &pixelHits() { return pixelHits_; } - std::vector const &pixelHits() const { return pixelHits_; } - - std::vector &outerHits() { return outerHits_; } - std::vector const &outerHits() const { return outerHits_; } + std::vector& hits() { return hits_; } + std::vector const& hits() const { return hits_; } private: // Indexed by cluster index - std::vector pixelHits_; - std::vector outerHits_; + std::vector hits_; }; #endif diff --git a/RecoTracker/MkFit/interface/MkFitEventOfHits.h b/RecoTracker/MkFit/interface/MkFitEventOfHits.h new file mode 100644 index 0000000000000..cb5ea6358da1b --- /dev/null +++ b/RecoTracker/MkFit/interface/MkFitEventOfHits.h @@ -0,0 +1,36 @@ +#ifndef RecoTracker_MkFit_MkFitEventOfHits_h +#define RecoTracker_MkFit_MkFitEventOfHits_h + +#include + +namespace mkfit { + class EventOfHits; +} + +/** + * The mkfit::EventOfHits is a container of mkfit::LayerOfHits + * structures that mkFit uses to group (and index) hits. Having them + * grouped together allows mkFit to pass them easily around top-level + * steering functions. + * + * It has some conceptual similarities to MeasurementTrackerEvent. + */ +class MkFitEventOfHits { +public: + MkFitEventOfHits(); + MkFitEventOfHits(std::unique_ptr); + ~MkFitEventOfHits(); + + MkFitEventOfHits(MkFitEventOfHits const&) = delete; + MkFitEventOfHits& operator=(MkFitEventOfHits const&) = delete; + MkFitEventOfHits(MkFitEventOfHits&&); + MkFitEventOfHits& operator=(MkFitEventOfHits&&); + + mkfit::EventOfHits& get() { return *eventOfHits_; } + mkfit::EventOfHits const& get() const { return *eventOfHits_; } + +private: + std::unique_ptr eventOfHits_; +}; + +#endif diff --git a/RecoTracker/MkFit/interface/MkFitGeometry.h b/RecoTracker/MkFit/interface/MkFitGeometry.h index 928d9b13b8891..1fe5b6447580e 100644 --- a/RecoTracker/MkFit/interface/MkFitGeometry.h +++ b/RecoTracker/MkFit/interface/MkFitGeometry.h @@ -1,6 +1,8 @@ #ifndef RecoTracker_MkFit_MkFitGeometry_h #define RecoTracker_MkFit_MkFitGeometry_h +#include "DataFormats/DetId/interface/DetId.h" + #include #include #include @@ -28,6 +30,7 @@ class MkFitGeometry { std::unique_ptr iterationsInfo); ~MkFitGeometry(); + int mkFitLayerNumber(DetId detId) const; mkfit::LayerNumberConverter const& layerNumberConverter() const { return *lnc_; } mkfit::TrackerInfo const& trackerInfo() const { return *trackerInfo_; } mkfit::IterationsInfo const& iterationsInfo() const { return *iterationsInfo_; } @@ -35,6 +38,7 @@ class MkFitGeometry { unsigned int uniqueIdInLayer(int layer, unsigned int detId) const { return detIdToShortId_.at(layer).at(detId); } private: + const TrackerTopology* ttopo_; std::unique_ptr lnc_; // for pimpl pattern std::unique_ptr trackerInfo_; std::unique_ptr iterationsInfo_; // only temporarily here, to be moved into proper place later diff --git a/RecoTracker/MkFit/interface/MkFitHitWrapper.h b/RecoTracker/MkFit/interface/MkFitHitWrapper.h index 241c58864e87e..c45f634f9925f 100644 --- a/RecoTracker/MkFit/interface/MkFitHitWrapper.h +++ b/RecoTracker/MkFit/interface/MkFitHitWrapper.h @@ -7,8 +7,6 @@ #include namespace mkfit { - class EventOfHits; - class TrackerInfo; class Hit; using HitVec = std::vector; } // namespace mkfit @@ -16,7 +14,6 @@ namespace mkfit { class MkFitHitWrapper { public: MkFitHitWrapper(); - MkFitHitWrapper(mkfit::TrackerInfo const& trackerInfo); ~MkFitHitWrapper(); MkFitHitWrapper(MkFitHitWrapper const&) = delete; @@ -24,37 +21,16 @@ class MkFitHitWrapper { MkFitHitWrapper(MkFitHitWrapper&&); MkFitHitWrapper& operator=(MkFitHitWrapper&&); - mkfit::EventOfHits& eventOfHits() { return *eventOfHits_; } - mkfit::EventOfHits const& eventOfHits() const { return *eventOfHits_; } + void setClustersID(edm::ProductID id) { clustersID_ = id; } + edm::ProductID clustersID() const { return clustersID_; } - void setPixelClustersID(edm::ProductID id) { pixelClustersID_ = id; } - edm::ProductID pixelClustersID() const { return pixelClustersID_; } - - void setOuterClustersID(edm::ProductID id) { outerClustersID_ = id; } - edm::ProductID outerClustersID() const { return outerClustersID_; } - - mkfit::HitVec& pixelHits() { return *pixelHits_; } - mkfit::HitVec const& pixelHits() const { return *pixelHits_; } - - mkfit::HitVec& outerHits() { return *outerHits_; } - mkfit::HitVec const& outerHits() const { return *outerHits_; } - - std::vector& stripClusterCharge() { return stripClusterCharge_; } - void stripClusterChargeCut(float minThreshold, std::vector& mask) const; + mkfit::HitVec& hits() { return hits_; } + mkfit::HitVec const& hits() const { return hits_; } private: - std::unique_ptr eventOfHits_; - - // using unique_ptr to guarantee the address of the HitVec doesn't change in moves - // EvenfOfHits relies on that - // Vectors are indexed by the cluster index - std::unique_ptr pixelHits_; - std::unique_ptr outerHits_; - - std::vector stripClusterCharge_; - - edm::ProductID pixelClustersID_; - edm::ProductID outerClustersID_; + // Vector is indexed by the cluster index + mkfit::HitVec hits_; + edm::ProductID clustersID_; }; #endif diff --git a/RecoTracker/MkFit/plugins/BuildFile.xml b/RecoTracker/MkFit/plugins/BuildFile.xml index 386f8e2a12ab9..b8ec556c28544 100644 --- a/RecoTracker/MkFit/plugins/BuildFile.xml +++ b/RecoTracker/MkFit/plugins/BuildFile.xml @@ -6,6 +6,7 @@ + diff --git a/RecoTracker/MkFit/plugins/HitSelectionWindows2017.h b/RecoTracker/MkFit/plugins/HitSelectionWindows2017.h deleted file mode 100644 index 11b8776546a12..0000000000000 --- a/RecoTracker/MkFit/plugins/HitSelectionWindows2017.h +++ /dev/null @@ -1,5868 +0,0 @@ -#ifndef HitSelectionWindows_h -#define HitSelectionWindows_h - -namespace mkfit { - - struct HitSelectionWindows2017 { - public: - float m_dp_params[9][72][3]; - float m_dq_params[9][72][3]; - float m_c2_params[9][72][3]; - - HitSelectionWindows2017() { - ////// Iteration 0 (initialStep, algo=4) - m_dp_params[0][0][0] = 0.0; - m_dp_params[0][0][1] = 0.0; - m_dp_params[0][0][2] = 0.0; - m_dq_params[0][0][0] = 0.0; - m_dq_params[0][0][1] = 0.0; - m_dq_params[0][0][2] = 0.0; - m_c2_params[0][0][0] = 0.0; - m_c2_params[0][0][1] = 0.0; - m_c2_params[0][0][2] = 0.0; - m_dp_params[0][1][0] = 0.0; - m_dp_params[0][1][1] = 0.0; - m_dp_params[0][1][2] = 0.0; - m_dq_params[0][1][0] = 0.0; - m_dq_params[0][1][1] = 0.0; - m_dq_params[0][1][2] = 0.0; - m_c2_params[0][1][0] = 0.0; - m_c2_params[0][1][1] = 0.0; - m_c2_params[0][1][2] = 0.0; - m_dp_params[0][2][0] = 0.0; - m_dp_params[0][2][1] = 0.0; - m_dp_params[0][2][2] = 0.0; - m_dq_params[0][2][0] = 0.0; - m_dq_params[0][2][1] = 0.0; - m_dq_params[0][2][2] = 0.0; - m_c2_params[0][2][0] = 0.0; - m_c2_params[0][2][1] = 0.0; - m_c2_params[0][2][2] = 0.0; - m_dp_params[0][3][0] = 0.0; - m_dp_params[0][3][1] = 0.0; - m_dp_params[0][3][2] = 0.0; - m_dq_params[0][3][0] = 0.0; - m_dq_params[0][3][1] = 0.0; - m_dq_params[0][3][2] = 0.0; - m_c2_params[0][3][0] = 0.0; - m_c2_params[0][3][1] = 0.0; - m_c2_params[0][3][2] = 0.0; - m_dp_params[0][4][0] = 0.014561; - m_dp_params[0][4][1] = 0.000381; - m_dp_params[0][4][2] = 0.001896; - m_dq_params[0][4][0] = -0.042846; - m_dq_params[0][4][1] = 3.617184; - m_dq_params[0][4][2] = 5.389858; - m_c2_params[0][4][0] = -0.942258; - m_c2_params[0][4][1] = -0.667856; - m_c2_params[0][4][2] = 10.320270; - m_dp_params[0][5][0] = 0.009064; - m_dp_params[0][5][1] = -0.001563; - m_dp_params[0][5][2] = 0.025083; - m_dq_params[0][5][0] = -0.084623; - m_dq_params[0][5][1] = 2.555392; - m_dq_params[0][5][2] = 5.694315; - m_c2_params[0][5][0] = -15.770152; - m_c2_params[0][5][1] = 69.101129; - m_c2_params[0][5][2] = 22.313834; - m_dp_params[0][6][0] = 0.015826; - m_dp_params[0][6][1] = 0.000431; - m_dp_params[0][6][2] = 0.002086; - m_dq_params[0][6][0] = 0.091922; - m_dq_params[0][6][1] = 3.207621; - m_dq_params[0][6][2] = 5.407799; - m_c2_params[0][6][0] = -32.026406; - m_c2_params[0][6][1] = 36.022246; - m_c2_params[0][6][2] = 43.214329; - m_dp_params[0][7][0] = 0.010165; - m_dp_params[0][7][1] = 0.000498; - m_dp_params[0][7][2] = 0.016883; - m_dq_params[0][7][0] = 0.003122; - m_dq_params[0][7][1] = 2.797677; - m_dq_params[0][7][2] = 5.426319; - m_c2_params[0][7][0] = 0.048633; - m_c2_params[0][7][1] = 20.780653; - m_c2_params[0][7][2] = 27.370279; - m_dp_params[0][8][0] = 0.015814; - m_dp_params[0][8][1] = -0.000494; - m_dp_params[0][8][2] = 0.001459; - m_dq_params[0][8][0] = 0.068701; - m_dq_params[0][8][1] = 2.379910; - m_dq_params[0][8][2] = 5.591474; - m_c2_params[0][8][0] = -5.156863; - m_c2_params[0][8][1] = 20.744080; - m_c2_params[0][8][2] = 11.473875; - m_dp_params[0][9][0] = 0.017546; - m_dp_params[0][9][1] = -0.001554; - m_dp_params[0][9][2] = 0.001584; - m_dq_params[0][9][0] = 0.178950; - m_dq_params[0][9][1] = 1.996787; - m_dq_params[0][9][2] = 5.722732; - m_c2_params[0][9][0] = 41.830839; - m_c2_params[0][9][1] = -73.784747; - m_c2_params[0][9][2] = 69.170837; - m_dp_params[0][10][0] = 0.024358; - m_dp_params[0][10][1] = -0.000061; - m_dp_params[0][10][2] = 0.000284; - m_dq_params[0][10][0] = 0.235118; - m_dq_params[0][10][1] = 2.811087; - m_dq_params[0][10][2] = 8.894265; - m_c2_params[0][10][0] = 29.618189; - m_c2_params[0][10][1] = -33.270938; - m_c2_params[0][10][2] = 46.027323; - m_dp_params[0][11][0] = 0.021559; - m_dp_params[0][11][1] = -0.001974; - m_dp_params[0][11][2] = 0.014355; - m_dq_params[0][11][0] = 0.381481; - m_dq_params[0][11][1] = 2.880885; - m_dq_params[0][11][2] = 8.779076; - m_c2_params[0][11][0] = 183.804725; - m_c2_params[0][11][1] = -243.891490; - m_c2_params[0][11][2] = 129.446505; - m_dp_params[0][12][0] = 0.027350; - m_dp_params[0][12][1] = -0.003740; - m_dp_params[0][12][2] = 0.001675; - m_dq_params[0][12][0] = 0.288659; - m_dq_params[0][12][1] = 2.525091; - m_dq_params[0][12][2] = 8.927489; - m_c2_params[0][12][0] = 49.537314; - m_c2_params[0][12][1] = -50.288418; - m_c2_params[0][12][2] = 41.778372; - m_dp_params[0][13][0] = 0.023270; - m_dp_params[0][13][1] = -0.002186; - m_dp_params[0][13][2] = 0.013269; - m_dq_params[0][13][0] = 0.310859; - m_dq_params[0][13][1] = 2.968969; - m_dq_params[0][13][2] = 8.701370; - m_c2_params[0][13][0] = 189.029283; - m_c2_params[0][13][1] = -248.925623; - m_c2_params[0][13][2] = 123.307188; - m_dp_params[0][14][0] = 0.028798; - m_dp_params[0][14][1] = -0.007779; - m_dp_params[0][14][2] = 0.002752; - m_dq_params[0][14][0] = 0.362644; - m_dq_params[0][14][1] = 1.970676; - m_dq_params[0][14][2] = 9.102985; - m_c2_params[0][14][0] = 25.327107; - m_c2_params[0][14][1] = 4.600342; - m_c2_params[0][14][2] = 11.779657; - m_dp_params[0][15][0] = 0.027379; - m_dp_params[0][15][1] = -0.009212; - m_dp_params[0][15][2] = 0.003985; - m_dq_params[0][15][0] = 0.173502; - m_dq_params[0][15][1] = 1.260818; - m_dq_params[0][15][2] = 9.494178; - m_c2_params[0][15][0] = 12.723294; - m_c2_params[0][15][1] = 4.704972; - m_c2_params[0][15][2] = 19.311673; - m_dp_params[0][16][0] = 0.031556; - m_dp_params[0][16][1] = -0.003519; - m_dp_params[0][16][2] = -0.000368; - m_dq_params[0][16][0] = 0.449161; - m_dq_params[0][16][1] = 0.052879; - m_dq_params[0][16][2] = 9.728221; - m_c2_params[0][16][0] = 5.305948; - m_c2_params[0][16][1] = -25.659329; - m_c2_params[0][16][2] = 49.042084; - m_dp_params[0][17][0] = 0.033176; - m_dp_params[0][17][1] = 0.001079; - m_dp_params[0][17][2] = -0.002676; - m_dq_params[0][17][0] = 0.664959; - m_dq_params[0][17][1] = 0.632527; - m_dq_params[0][17][2] = 9.441634; - m_c2_params[0][17][0] = 21.216580; - m_c2_params[0][17][1] = -3.910475; - m_c2_params[0][17][2] = 43.316397; - m_dp_params[0][18][0] = 0.0; - m_dp_params[0][18][1] = 0.0; - m_dp_params[0][18][2] = 0.0; - m_dq_params[0][18][0] = 0.0; - m_dq_params[0][18][1] = 0.0; - m_dq_params[0][18][2] = 0.0; - m_c2_params[0][18][0] = 0.0; - m_c2_params[0][18][1] = 0.0; - m_c2_params[0][18][2] = 0.0; - m_dp_params[0][19][0] = 0.010079; - m_dp_params[0][19][1] = 0.0; - m_dp_params[0][19][2] = 0.001095; - m_dq_params[0][19][0] = 0.240339; - m_dq_params[0][19][1] = 0.0; - m_dq_params[0][19][2] = 0.936432; - m_c2_params[0][19][0] = -19.090840; - m_c2_params[0][19][1] = 0.0; - m_c2_params[0][19][2] = 12.970804; - m_dp_params[0][20][0] = 0.004890; - m_dp_params[0][20][1] = 0.0; - m_dp_params[0][20][2] = 0.001261; - m_dq_params[0][20][0] = 0.053546; - m_dq_params[0][20][1] = 0.0; - m_dq_params[0][20][2] = 0.887988; - m_c2_params[0][20][0] = -2.761747; - m_c2_params[0][20][1] = 0.0; - m_c2_params[0][20][2] = 10.538378; - m_dp_params[0][21][0] = 0.019698; - m_dp_params[0][21][1] = -0.010517; - m_dp_params[0][21][2] = 0.014089; - m_dq_params[0][21][0] = 0.019791; - m_dq_params[0][21][1] = 1.709089; - m_dq_params[0][21][2] = 3.958833; - m_c2_params[0][21][0] = -81.280480; - m_c2_params[0][21][1] = -93.342556; - m_c2_params[0][21][2] = 243.603439; - m_dp_params[0][22][0] = 0.010914; - m_dp_params[0][22][1] = 0.015119; - m_dp_params[0][22][2] = -0.000052; - m_dq_params[0][22][0] = 0.476668; - m_dq_params[0][22][1] = 3.089507; - m_dq_params[0][22][2] = 1.736113; - m_c2_params[0][22][0] = 152.609052; - m_c2_params[0][22][1] = -260.964751; - m_c2_params[0][22][2] = 346.113906; - m_dp_params[0][23][0] = 0.014972; - m_dp_params[0][23][1] = -0.003944; - m_dp_params[0][23][2] = 0.007143; - m_dq_params[0][23][0] = -0.073062; - m_dq_params[0][23][1] = 1.117481; - m_dq_params[0][23][2] = 4.544765; - m_c2_params[0][23][0] = 88.489371; - m_c2_params[0][23][1] = -736.880318; - m_c2_params[0][23][2] = 953.781393; - m_dp_params[0][24][0] = 0.003600; - m_dp_params[0][24][1] = 0.0; - m_dp_params[0][24][2] = 0.022231; - m_dq_params[0][24][0] = 0.105254; - m_dq_params[0][24][1] = 0.0; - m_dq_params[0][24][2] = 5.817570; - m_c2_params[0][24][0] = -1.694891; - m_c2_params[0][24][1] = 0.0; - m_c2_params[0][24][2] = 20.892432; - m_dp_params[0][25][0] = 0.014677; - m_dp_params[0][25][1] = 0.000604; - m_dp_params[0][25][2] = 0.001002; - m_dq_params[0][25][0] = -0.069504; - m_dq_params[0][25][1] = 0.460139; - m_dq_params[0][25][2] = 5.237064; - m_c2_params[0][25][0] = -12.003035; - m_c2_params[0][25][1] = 38.783175; - m_c2_params[0][25][2] = -4.924051; - m_dp_params[0][26][0] = 0.003900; - m_dp_params[0][26][1] = 0.0; - m_dp_params[0][26][2] = 0.021414; - m_dq_params[0][26][0] = -0.000000; - m_dq_params[0][26][1] = 0.0; - m_dq_params[0][26][2] = 5.700000; - m_c2_params[0][26][0] = 3.301618; - m_c2_params[0][26][1] = 0.0; - m_c2_params[0][26][2] = 19.931999; - m_dp_params[0][27][0] = 0.025962; - m_dp_params[0][27][1] = -0.053297; - m_dp_params[0][27][2] = 0.060355; - m_dq_params[0][27][0] = -0.504165; - m_dq_params[0][27][1] = -8.745790; - m_dq_params[0][27][2] = 19.036296; - m_c2_params[0][27][0] = -61.164258; - m_c2_params[0][27][1] = -60.538890; - m_c2_params[0][27][2] = 195.718340; - m_dp_params[0][28][0] = 0.011280; - m_dp_params[0][28][1] = -0.001972; - m_dp_params[0][28][2] = 0.016225; - m_dq_params[0][28][0] = -0.154499; - m_dq_params[0][28][1] = -4.009786; - m_dq_params[0][28][2] = 11.781329; - m_c2_params[0][28][0] = -257.429539; - m_c2_params[0][28][1] = -1784.026032; - m_c2_params[0][28][2] = 2479.971266; - m_dp_params[0][29][0] = 0.021568; - m_dp_params[0][29][1] = -0.007640; - m_dp_params[0][29][2] = 0.011761; - m_dq_params[0][29][0] = -0.274546; - m_dq_params[0][29][1] = -13.568217; - m_dq_params[0][29][2] = 24.453294; - m_c2_params[0][29][0] = -43.640264; - m_c2_params[0][29][1] = -74.174335; - m_c2_params[0][29][2] = 194.077295; - m_dp_params[0][30][0] = 0.009929; - m_dp_params[0][30][1] = 0.011939; - m_dp_params[0][30][2] = 0.000747; - m_dq_params[0][30][0] = 0.207803; - m_dq_params[0][30][1] = -6.809551; - m_dq_params[0][30][2] = 14.967187; - m_c2_params[0][30][0] = 6.657020; - m_c2_params[0][30][1] = 371.994050; - m_c2_params[0][30][2] = -350.454721; - m_dp_params[0][31][0] = 0.021370; - m_dp_params[0][31][1] = -0.007056; - m_dp_params[0][31][2] = 0.010868; - m_dq_params[0][31][0] = -0.215135; - m_dq_params[0][31][1] = -12.022826; - m_dq_params[0][31][2] = 22.782621; - m_c2_params[0][31][0] = -44.477869; - m_c2_params[0][31][1] = 20.917833; - m_c2_params[0][31][2] = 70.627632; - m_dp_params[0][32][0] = 0.011933; - m_dp_params[0][32][1] = 0.010257; - m_dp_params[0][32][2] = 0.001728; - m_dq_params[0][32][0] = -0.038051; - m_dq_params[0][32][1] = -8.663526; - m_dq_params[0][32][2] = 17.307635; - m_c2_params[0][32][0] = -16.673314; - m_c2_params[0][32][1] = 191.856984; - m_c2_params[0][32][2] = -157.552820; - m_dp_params[0][33][0] = 0.021918; - m_dp_params[0][33][1] = -0.025636; - m_dp_params[0][33][2] = 0.029367; - m_dq_params[0][33][0] = 0.322259; - m_dq_params[0][33][1] = -4.732862; - m_dq_params[0][33][2] = 14.956933; - m_c2_params[0][33][0] = 9.708294; - m_c2_params[0][33][1] = 40.097858; - m_c2_params[0][33][2] = 22.754034; - m_dp_params[0][34][0] = 0.007695; - m_dp_params[0][34][1] = 0.0; - m_dp_params[0][34][2] = 0.012978; - m_dq_params[0][34][0] = 0.282324; - m_dq_params[0][34][1] = 0.0; - m_dq_params[0][34][2] = 7.399864; - m_c2_params[0][34][0] = 7.125567; - m_c2_params[0][34][1] = 0.0; - m_c2_params[0][34][2] = 23.282570; - m_dp_params[0][35][0] = 0.019882; - m_dp_params[0][35][1] = -0.018406; - m_dp_params[0][35][2] = 0.021393; - m_dq_params[0][35][0] = 0.494590; - m_dq_params[0][35][1] = -4.732862; - m_dq_params[0][35][2] = 15.034913; - m_c2_params[0][35][0] = -11.542376; - m_c2_params[0][35][1] = 84.139769; - m_c2_params[0][35][2] = -21.170650; - m_dp_params[0][36][0] = 0.006967; - m_dp_params[0][36][1] = 0.0; - m_dp_params[0][36][2] = 0.013401; - m_dq_params[0][36][0] = 0.100214; - m_dq_params[0][36][1] = 0.0; - m_dq_params[0][36][2] = 7.557788; - m_c2_params[0][36][0] = -2.802270; - m_c2_params[0][36][1] = 0.0; - m_c2_params[0][36][2] = 30.747798; - m_dp_params[0][37][0] = 0.017243; - m_dp_params[0][37][1] = 0.000832; - m_dp_params[0][37][2] = 0.001692; - m_dq_params[0][37][0] = 0.988988; - m_dq_params[0][37][1] = -10.460543; - m_dq_params[0][37][2] = 20.784553; - m_c2_params[0][37][0] = -41.851680; - m_c2_params[0][37][1] = 125.777388; - m_c2_params[0][37][2] = -46.854738; - m_dp_params[0][38][0] = 0.009743; - m_dp_params[0][38][1] = 0.026753; - m_dp_params[0][38][2] = -0.022327; - m_dq_params[0][38][0] = 0.070376; - m_dq_params[0][38][1] = -14.923001; - m_dq_params[0][38][2] = 26.581013; - m_c2_params[0][38][0] = -26.640381; - m_c2_params[0][38][1] = 438.220634; - m_c2_params[0][38][2] = -489.689055; - m_dp_params[0][39][0] = 0.019966; - m_dp_params[0][39][1] = -0.017748; - m_dp_params[0][39][2] = 0.020309; - m_dq_params[0][39][0] = 0.419006; - m_dq_params[0][39][1] = -2.563634; - m_dq_params[0][39][2] = 12.966125; - m_c2_params[0][39][0] = -60.541354; - m_c2_params[0][39][1] = 222.838919; - m_c2_params[0][39][2] = -130.022540; - m_dp_params[0][40][0] = 0.007789; - m_dp_params[0][40][1] = 0.0; - m_dp_params[0][40][2] = 0.012369; - m_dq_params[0][40][0] = -0.030142; - m_dq_params[0][40][1] = 0.0; - m_dq_params[0][40][2] = 7.777586; - m_c2_params[0][40][0] = 24.021971; - m_c2_params[0][40][1] = 0.0; - m_c2_params[0][40][2] = 11.560118; - m_dp_params[0][41][0] = 0.013162; - m_dp_params[0][41][1] = -0.044539; - m_dp_params[0][41][2] = 0.063214; - m_dq_params[0][41][0] = -0.131304; - m_dq_params[0][41][1] = -24.547122; - m_dq_params[0][41][2] = 41.077152; - m_c2_params[0][41][0] = -150.550781; - m_c2_params[0][41][1] = 36.285550; - m_c2_params[0][41][2] = 254.906271; - m_dp_params[0][42][0] = 0.008736; - m_dp_params[0][42][1] = 0.0; - m_dp_params[0][42][2] = 0.012185; - m_dq_params[0][42][0] = 0.049197; - m_dq_params[0][42][1] = 0.0; - m_dq_params[0][42][2] = 7.830185; - m_c2_params[0][42][0] = 19.375062; - m_c2_params[0][42][1] = 0.0; - m_c2_params[0][42][2] = 17.173379; - m_dp_params[0][43][0] = 0.013712; - m_dp_params[0][43][1] = -0.128299; - m_dp_params[0][43][2] = 0.164140; - m_dq_params[0][43][0] = 0.067545; - m_dq_params[0][43][1] = -16.165370; - m_dq_params[0][43][2] = 30.379703; - m_c2_params[0][43][0] = -143.359616; - m_c2_params[0][43][1] = -267.467231; - m_c2_params[0][43][2] = 591.181351; - m_dp_params[0][44][0] = 0.008834; - m_dp_params[0][44][1] = 0.0; - m_dp_params[0][44][2] = 0.011890; - m_dq_params[0][44][0] = -0.063824; - m_dq_params[0][44][1] = 0.0; - m_dq_params[0][44][2] = 7.875679; - m_c2_params[0][44][0] = 17.730437; - m_c2_params[0][44][1] = 0.0; - m_c2_params[0][44][2] = 18.189274; - m_dp_params[0][45][0] = 0.0; - m_dp_params[0][45][1] = 0.0; - m_dp_params[0][45][2] = 0.0; - m_dq_params[0][45][0] = 0.0; - m_dq_params[0][45][1] = 0.0; - m_dq_params[0][45][2] = 0.0; - m_c2_params[0][45][0] = 0.0; - m_c2_params[0][45][1] = 0.0; - m_c2_params[0][45][2] = 0.0; - m_dp_params[0][46][0] = 0.006520; - m_dp_params[0][46][1] = 0.0; - m_dp_params[0][46][2] = 0.001165; - m_dq_params[0][46][0] = 0.239428; - m_dq_params[0][46][1] = 0.0; - m_dq_params[0][46][2] = 1.036673; - m_c2_params[0][46][0] = -10.059510; - m_c2_params[0][46][1] = 0.0; - m_c2_params[0][46][2] = 13.778764; - m_dp_params[0][47][0] = 0.004890; - m_dp_params[0][47][1] = 0.0; - m_dp_params[0][47][2] = 0.001261; - m_dq_params[0][47][0] = -0.055274; - m_dq_params[0][47][1] = 0.0; - m_dq_params[0][47][2] = 0.912400; - m_c2_params[0][47][0] = -0.823269; - m_c2_params[0][47][1] = 0.0; - m_c2_params[0][47][2] = 8.951627; - m_dp_params[0][48][0] = 0.019322; - m_dp_params[0][48][1] = -0.009203; - m_dp_params[0][48][2] = 0.012643; - m_dq_params[0][48][0] = 0.049713; - m_dq_params[0][48][1] = 1.446152; - m_dq_params[0][48][2] = 4.214880; - m_c2_params[0][48][0] = -90.336061; - m_c2_params[0][48][1] = 80.195717; - m_c2_params[0][48][2] = 63.081636; - m_dp_params[0][49][0] = 0.006780; - m_dp_params[0][49][1] = 0.018406; - m_dp_params[0][49][2] = -0.002177; - m_dq_params[0][49][0] = 0.487137; - m_dq_params[0][49][1] = 2.366431; - m_dq_params[0][49][2] = 2.687760; - m_c2_params[0][49][0] = 8.014932; - m_c2_params[0][49][1] = 159.076750; - m_c2_params[0][49][2] = -110.870654; - m_dp_params[0][50][0] = 0.016255; - m_dp_params[0][50][1] = -0.013147; - m_dp_params[0][50][2] = 0.017265; - m_dq_params[0][50][0] = 0.005516; - m_dq_params[0][50][1] = 0.986013; - m_dq_params[0][50][2] = 4.645128; - m_c2_params[0][50][0] = -71.482801; - m_c2_params[0][50][1] = -168.279537; - m_c2_params[0][50][2] = 318.725291; - m_dp_params[0][51][0] = 0.003766; - m_dp_params[0][51][1] = 0.0; - m_dp_params[0][51][2] = 0.021717; - m_dq_params[0][51][0] = 0.000000; - m_dq_params[0][51][1] = 0.0; - m_dq_params[0][51][2] = 5.800000; - m_c2_params[0][51][0] = 10.557145; - m_c2_params[0][51][1] = 0.0; - m_c2_params[0][51][2] = 17.194511; - m_dp_params[0][52][0] = 0.014315; - m_dp_params[0][52][1] = 0.001009; - m_dp_params[0][52][2] = 0.001034; - m_dq_params[0][52][0] = -0.034997; - m_dq_params[0][52][1] = 0.231940; - m_dq_params[0][52][2] = 5.486303; - m_c2_params[0][52][0] = -10.490261; - m_c2_params[0][52][1] = 73.517316; - m_c2_params[0][52][2] = -37.909776; - m_dp_params[0][53][0] = 0.003422; - m_dp_params[0][53][1] = 0.0; - m_dp_params[0][53][2] = 0.020936; - m_dq_params[0][53][0] = 0.054261; - m_dq_params[0][53][1] = 0.0; - m_dq_params[0][53][2] = 5.687828; - m_c2_params[0][53][0] = 22.077868; - m_c2_params[0][53][1] = 0.0; - m_c2_params[0][53][2] = 17.417383; - m_dp_params[0][54][0] = 0.024374; - m_dp_params[0][54][1] = -0.041988; - m_dp_params[0][54][2] = 0.048077; - m_dq_params[0][54][0] = -0.560158; - m_dq_params[0][54][1] = -8.143111; - m_dq_params[0][54][2] = 18.456939; - m_c2_params[0][54][0] = -57.111613; - m_c2_params[0][54][1] = -40.953229; - m_c2_params[0][54][2] = 166.792116; - m_dp_params[0][55][0] = 0.012896; - m_dp_params[0][55][1] = -0.007231; - m_dp_params[0][55][2] = 0.021944; - m_dq_params[0][55][0] = -0.179085; - m_dq_params[0][55][1] = -4.995799; - m_dq_params[0][55][2] = 13.107490; - m_c2_params[0][55][0] = -71.894827; - m_c2_params[0][55][1] = -158.419408; - m_c2_params[0][55][2] = 335.453148; - m_dp_params[0][56][0] = 0.019935; - m_dp_params[0][56][1] = -0.008120; - m_dp_params[0][56][2] = 0.012199; - m_dq_params[0][56][0] = -0.020558; - m_dq_params[0][56][1] = -13.296255; - m_dq_params[0][56][2] = 24.045010; - m_c2_params[0][56][0] = -6.790896; - m_c2_params[0][56][1] = -50.955605; - m_c2_params[0][56][2] = 143.225988; - m_dp_params[0][57][0] = 0.013386; - m_dp_params[0][57][1] = 0.009207; - m_dp_params[0][57][2] = 0.002640; - m_dq_params[0][57][0] = 0.278712; - m_dq_params[0][57][1] = -6.234977; - m_dq_params[0][57][2] = 14.186777; - m_c2_params[0][57][0] = -1.939948; - m_c2_params[0][57][1] = 417.762056; - m_c2_params[0][57][2] = -400.219898; - m_dp_params[0][58][0] = 0.000381; - m_dp_params[0][58][1] = -0.012753; - m_dp_params[0][58][2] = 0.027390; - m_dq_params[0][58][0] = -0.003308; - m_dq_params[0][58][1] = -11.444927; - m_dq_params[0][58][2] = 21.871404; - m_c2_params[0][58][0] = -1.585677; - m_c2_params[0][58][1] = 27.455416; - m_c2_params[0][58][2] = 59.390066; - m_dp_params[0][59][0] = 0.012168; - m_dp_params[0][59][1] = 0.009362; - m_dp_params[0][59][2] = 0.002399; - m_dq_params[0][59][0] = -0.169464; - m_dq_params[0][59][1] = -8.038923; - m_dq_params[0][59][2] = 16.477626; - m_c2_params[0][59][0] = -61.740809; - m_c2_params[0][59][1] = 503.918840; - m_c2_params[0][59][2] = -458.384078; - m_dp_params[0][60][0] = 0.020407; - m_dp_params[0][60][1] = -0.021035; - m_dp_params[0][60][2] = 0.024420; - m_dq_params[0][60][0] = 0.055792; - m_dq_params[0][60][1] = -4.338457; - m_dq_params[0][60][2] = 14.674039; - m_c2_params[0][60][0] = -34.712009; - m_c2_params[0][60][1] = 163.020802; - m_c2_params[0][60][2] = -102.982730; - m_dp_params[0][61][0] = 0.008163; - m_dp_params[0][61][1] = 0.0; - m_dp_params[0][61][2] = 0.012883; - m_dq_params[0][61][0] = 0.167481; - m_dq_params[0][61][1] = 0.0; - m_dq_params[0][61][2] = 7.576517; - m_c2_params[0][61][0] = 1.746527; - m_c2_params[0][61][1] = 0.0; - m_c2_params[0][61][2] = 23.121162; - m_dp_params[0][62][0] = 0.020060; - m_dp_params[0][62][1] = -0.019063; - m_dp_params[0][62][2] = 0.021922; - m_dq_params[0][62][0] = 0.516339; - m_dq_params[0][62][1] = -5.850343; - m_dq_params[0][62][2] = 15.940524; - m_c2_params[0][62][0] = -32.776835; - m_c2_params[0][62][1] = 85.454453; - m_c2_params[0][62][2] = -17.468659; - m_dp_params[0][63][0] = 0.009706; - m_dp_params[0][63][1] = 0.0; - m_dp_params[0][63][2] = 0.012838; - m_dq_params[0][63][0] = -0.075748; - m_dq_params[0][63][1] = 0.0; - m_dq_params[0][63][2] = 7.617449; - m_c2_params[0][63][0] = -2.505413; - m_c2_params[0][63][1] = 0.0; - m_c2_params[0][63][2] = 26.120615; - m_dp_params[0][64][0] = 0.000473; - m_dp_params[0][64][1] = -0.012352; - m_dp_params[0][64][2] = 0.026079; - m_dq_params[0][64][0] = -0.035148; - m_dq_params[0][64][1] = -11.074536; - m_dq_params[0][64][2] = 22.025852; - m_c2_params[0][64][0] = -1.789022; - m_c2_params[0][64][1] = 132.395042; - m_c2_params[0][64][2] = -66.000630; - m_dp_params[0][65][0] = 0.010279; - m_dp_params[0][65][1] = 0.021203; - m_dp_params[0][65][2] = -0.015799; - m_dq_params[0][65][0] = 0.039829; - m_dq_params[0][65][1] = -14.135275; - m_dq_params[0][65][2] = 25.499187; - m_c2_params[0][65][0] = -44.184570; - m_c2_params[0][65][1] = 396.965628; - m_c2_params[0][65][2] = -433.735401; - m_dp_params[0][66][0] = 0.020914; - m_dp_params[0][66][1] = -0.019720; - m_dp_params[0][66][2] = 0.022051; - m_dq_params[0][66][0] = 0.808338; - m_dq_params[0][66][1] = -3.681115; - m_dq_params[0][66][2] = 13.974128; - m_c2_params[0][66][0] = -122.713477; - m_c2_params[0][66][1] = -203.776002; - m_c2_params[0][66][2] = 440.911678; - m_dp_params[0][67][0] = 0.008266; - m_dp_params[0][67][1] = 0.0; - m_dp_params[0][67][2] = 0.012276; - m_dq_params[0][67][0] = -0.007659; - m_dq_params[0][67][1] = 0.0; - m_dq_params[0][67][2] = 7.963226; - m_c2_params[0][67][0] = 9.199154; - m_c2_params[0][67][1] = 0.0; - m_c2_params[0][67][2] = 19.954266; - m_dp_params[0][68][0] = 0.000457; - m_dp_params[0][68][1] = -0.080498; - m_dp_params[0][68][2] = 0.117366; - m_dq_params[0][68][0] = -0.013706; - m_dq_params[0][68][1] = -20.290280; - m_dq_params[0][68][2] = 35.127538; - m_c2_params[0][68][0] = -2.489217; - m_c2_params[0][68][1] = 471.946930; - m_c2_params[0][68][2] = -425.309423; - m_dp_params[0][69][0] = 0.007407; - m_dp_params[0][69][1] = 0.0; - m_dp_params[0][69][2] = 0.012171; - m_dq_params[0][69][0] = -0.015706; - m_dq_params[0][69][1] = 0.0; - m_dq_params[0][69][2] = 7.827542; - m_c2_params[0][69][0] = 8.620877; - m_c2_params[0][69][1] = 0.0; - m_c2_params[0][69][2] = 21.241609; - m_dp_params[0][70][0] = 0.013168; - m_dp_params[0][70][1] = -0.140976; - m_dp_params[0][70][2] = 0.180354; - m_dq_params[0][70][0] = -0.099427; - m_dq_params[0][70][1] = -24.453474; - m_dq_params[0][70][2] = 40.979145; - m_c2_params[0][70][0] = -121.086760; - m_c2_params[0][70][1] = -1103.259071; - m_c2_params[0][70][2] = 1619.717344; - m_dp_params[0][71][0] = 0.009391; - m_dp_params[0][71][1] = 0.0; - m_dp_params[0][71][2] = 0.011911; - m_dq_params[0][71][0] = 0.180237; - m_dq_params[0][71][1] = 0.0; - m_dq_params[0][71][2] = 7.749748; - m_c2_params[0][71][0] = 29.514955; - m_c2_params[0][71][1] = 0.0; - m_c2_params[0][71][2] = 15.598525; - - ////// Iteration 1 (highPtTripletStep, algo=22) - m_dp_params[1][0][0] = 0.0; - m_dp_params[1][0][1] = 0.0; - m_dp_params[1][0][2] = 0.0; - m_dq_params[1][0][0] = 0.0; - m_dq_params[1][0][1] = 0.0; - m_dq_params[1][0][2] = 0.0; - m_c2_params[1][0][0] = 0.0; - m_c2_params[1][0][1] = 0.0; - m_c2_params[1][0][2] = 0.0; - m_dp_params[1][1][0] = 0.0; - m_dp_params[1][1][1] = 0.0; - m_dp_params[1][1][2] = 0.0; - m_dq_params[1][1][0] = 0.0; - m_dq_params[1][1][1] = 0.0; - m_dq_params[1][1][2] = 0.0; - m_c2_params[1][1][0] = 0.0; - m_c2_params[1][1][1] = 0.0; - m_c2_params[1][1][2] = 0.0; - m_dp_params[1][2][0] = 0.0; - m_dp_params[1][2][1] = 0.0; - m_dp_params[1][2][2] = 0.0; - m_dq_params[1][2][0] = 0.0; - m_dq_params[1][2][1] = 0.0; - m_dq_params[1][2][2] = 0.0; - m_c2_params[1][2][0] = 0.0; - m_c2_params[1][2][1] = 0.0; - m_c2_params[1][2][2] = 0.0; - m_dp_params[1][3][0] = 0.002864; - m_dp_params[1][3][1] = 0.000751; - m_dp_params[1][3][2] = 0.001858; - m_dq_params[1][3][0] = 0.073408; - m_dq_params[1][3][1] = 0.622755; - m_dq_params[1][3][2] = 0.039462; - m_c2_params[1][3][0] = 453.175276; - m_c2_params[1][3][1] = -59.812476; - m_c2_params[1][3][2] = 35.308093; - m_dp_params[1][4][0] = 0.015920; - m_dp_params[1][4][1] = 0.000697; - m_dp_params[1][4][2] = 0.002346; - m_dq_params[1][4][0] = 0.081741; - m_dq_params[1][4][1] = 3.506446; - m_dq_params[1][4][2] = 5.446073; - m_c2_params[1][4][0] = 4.384031; - m_c2_params[1][4][1] = 0.591915; - m_c2_params[1][4][2] = 7.500470; - m_dp_params[1][5][0] = 0.009518; - m_dp_params[1][5][1] = -0.002282; - m_dp_params[1][5][2] = 0.025566; - m_dq_params[1][5][0] = 0.025116; - m_dq_params[1][5][1] = 2.664368; - m_dq_params[1][5][2] = 5.650731; - m_c2_params[1][5][0] = 44.064001; - m_c2_params[1][5][1] = 14.252550; - m_c2_params[1][5][2] = 104.177964; - m_dp_params[1][6][0] = 0.015500; - m_dp_params[1][6][1] = 0.000855; - m_dp_params[1][6][2] = 0.002522; - m_dq_params[1][6][0] = 0.090616; - m_dq_params[1][6][1] = 2.915529; - m_dq_params[1][6][2] = 5.523816; - m_c2_params[1][6][0] = -152.057206; - m_c2_params[1][6][1] = 136.866474; - m_c2_params[1][6][2] = 169.703215; - m_dp_params[1][7][0] = 0.011285; - m_dp_params[1][7][1] = -0.000310; - m_dp_params[1][7][2] = 0.017172; - m_dq_params[1][7][0] = 0.046741; - m_dq_params[1][7][1] = 2.460679; - m_dq_params[1][7][2] = 5.549349; - m_c2_params[1][7][0] = -16.255315; - m_c2_params[1][7][1] = 54.349397; - m_c2_params[1][7][2] = 56.215586; - m_dp_params[1][8][0] = 0.021277; - m_dp_params[1][8][1] = -0.009031; - m_dp_params[1][8][2] = 0.005555; - m_dq_params[1][8][0] = 0.113176; - m_dq_params[1][8][1] = 2.274249; - m_dq_params[1][8][2] = 5.635204; - m_c2_params[1][8][0] = 155.476502; - m_c2_params[1][8][1] = -228.277062; - m_c2_params[1][8][2] = 146.448753; - m_dp_params[1][9][0] = 0.017463; - m_dp_params[1][9][1] = -0.000990; - m_dp_params[1][9][2] = 0.001553; - m_dq_params[1][9][0] = 0.281859; - m_dq_params[1][9][1] = 2.186875; - m_dq_params[1][9][2] = 5.594432; - m_c2_params[1][9][0] = -27.254551; - m_c2_params[1][9][1] = 55.190587; - m_c2_params[1][9][2] = 33.022452; - m_dp_params[1][10][0] = 0.022843; - m_dp_params[1][10][1] = -0.000984; - m_dp_params[1][10][2] = 0.001778; - m_dq_params[1][10][0] = 0.307301; - m_dq_params[1][10][1] = 2.811087; - m_dq_params[1][10][2] = 8.871533; - m_c2_params[1][10][0] = -24.801454; - m_c2_params[1][10][1] = 44.619404; - m_c2_params[1][10][2] = 37.312525; - m_dp_params[1][11][0] = 0.020825; - m_dp_params[1][11][1] = -0.002472; - m_dp_params[1][11][2] = 0.014488; - m_dq_params[1][11][0] = 0.330762; - m_dq_params[1][11][1] = 2.911872; - m_dq_params[1][11][2] = 8.803844; - m_c2_params[1][11][0] = 167.641271; - m_c2_params[1][11][1] = -233.034820; - m_c2_params[1][11][2] = 140.301683; - m_dp_params[1][12][0] = 0.027258; - m_dp_params[1][12][1] = -0.003383; - m_dp_params[1][12][2] = 0.001509; - m_dq_params[1][12][0] = 0.275660; - m_dq_params[1][12][1] = 2.629533; - m_dq_params[1][12][2] = 8.859190; - m_c2_params[1][12][0] = 45.584560; - m_c2_params[1][12][1] = -48.321493; - m_c2_params[1][12][2] = 51.404989; - m_dp_params[1][13][0] = 0.021632; - m_dp_params[1][13][1] = -0.001913; - m_dp_params[1][13][2] = 0.013208; - m_dq_params[1][13][0] = 0.107637; - m_dq_params[1][13][1] = 2.730318; - m_dq_params[1][13][2] = 8.844859; - m_c2_params[1][13][0] = 59.407042; - m_c2_params[1][13][1] = -48.946322; - m_c2_params[1][13][2] = 33.663620; - m_dp_params[1][14][0] = 0.027379; - m_dp_params[1][14][1] = -0.001591; - m_dp_params[1][14][2] = -0.000587; - m_dq_params[1][14][0] = 0.383147; - m_dq_params[1][14][1] = 2.013144; - m_dq_params[1][14][2] = 9.045367; - m_c2_params[1][14][0] = 172.972851; - m_c2_params[1][14][1] = -262.771265; - m_c2_params[1][14][2] = 144.986118; - m_dp_params[1][15][0] = 0.028104; - m_dp_params[1][15][1] = -0.009200; - m_dp_params[1][15][2] = 0.003815; - m_dq_params[1][15][0] = 0.109904; - m_dq_params[1][15][1] = 1.233488; - m_dq_params[1][15][2] = 9.554891; - m_c2_params[1][15][0] = -4.238546; - m_c2_params[1][15][1] = 10.997874; - m_c2_params[1][15][2] = 36.844249; - m_dp_params[1][16][0] = 0.032005; - m_dp_params[1][16][1] = -0.004153; - m_dp_params[1][16][2] = -0.000088; - m_dq_params[1][16][0] = 0.566340; - m_dq_params[1][16][1] = 0.119753; - m_dq_params[1][16][2] = 9.694870; - m_c2_params[1][16][0] = 195.662628; - m_c2_params[1][16][1] = -155.862532; - m_c2_params[1][16][2] = 124.068446; - m_dp_params[1][17][0] = 0.038835; - m_dp_params[1][17][1] = 0.001307; - m_dp_params[1][17][2] = -0.003977; - m_dq_params[1][17][0] = 0.988207; - m_dq_params[1][17][1] = 0.785685; - m_dq_params[1][17][2] = 9.221042; - m_c2_params[1][17][0] = 34.168602; - m_c2_params[1][17][1] = 97.990712; - m_c2_params[1][17][2] = -6.153807; - m_dp_params[1][18][0] = 0.0; - m_dp_params[1][18][1] = 0.0; - m_dp_params[1][18][2] = 0.0; - m_dq_params[1][18][0] = 0.0; - m_dq_params[1][18][1] = 0.0; - m_dq_params[1][18][2] = 0.0; - m_c2_params[1][18][0] = 0.0; - m_c2_params[1][18][1] = 0.0; - m_c2_params[1][18][2] = 0.0; - m_dp_params[1][19][0] = 0.007103; - m_dp_params[1][19][1] = 0.0; - m_dp_params[1][19][2] = 0.001803; - m_dq_params[1][19][0] = 0.138448; - m_dq_params[1][19][1] = 0.0; - m_dq_params[1][19][2] = 0.947993; - m_c2_params[1][19][0] = 50.724529; - m_c2_params[1][19][1] = 0.0; - m_c2_params[1][19][2] = 4.931001; - m_dp_params[1][20][0] = 0.004368; - m_dp_params[1][20][1] = 0.0; - m_dp_params[1][20][2] = 0.001804; - m_dq_params[1][20][0] = 0.000000; - m_dq_params[1][20][1] = 0.0; - m_dq_params[1][20][2] = 0.900000; - m_c2_params[1][20][0] = 4.777922; - m_c2_params[1][20][1] = 0.0; - m_c2_params[1][20][2] = 8.111909; - m_dp_params[1][21][0] = 0.020575; - m_dp_params[1][21][1] = -0.009860; - m_dp_params[1][21][2] = 0.014335; - m_dq_params[1][21][0] = 0.109919; - m_dq_params[1][21][1] = 1.314684; - m_dq_params[1][21][2] = 4.306120; - m_c2_params[1][21][0] = -184.089016; - m_c2_params[1][21][1] = -170.251563; - m_c2_params[1][21][2] = 487.891383; - m_dp_params[1][22][0] = 0.009620; - m_dp_params[1][22][1] = 0.017091; - m_dp_params[1][22][2] = -0.002190; - m_dq_params[1][22][0] = 0.290468; - m_dq_params[1][22][1] = 3.681115; - m_dq_params[1][22][2] = 1.135380; - m_c2_params[1][22][0] = 26.697302; - m_c2_params[1][22][1] = -621.188136; - m_c2_params[1][22][2] = 837.707159; - m_dp_params[1][23][0] = 0.016467; - m_dp_params[1][23][1] = -0.011175; - m_dp_params[1][23][2] = 0.015836; - m_dq_params[1][23][0] = 0.029990; - m_dq_params[1][23][1] = 0.986013; - m_dq_params[1][23][2] = 4.670640; - m_c2_params[1][23][0] = -56.496963; - m_c2_params[1][23][1] = -594.237116; - m_c2_params[1][23][2] = 882.547592; - m_dp_params[1][24][0] = 0.003766; - m_dp_params[1][24][1] = 0.0; - m_dp_params[1][24][2] = 0.021717; - m_dq_params[1][24][0] = -0.014701; - m_dq_params[1][24][1] = 0.0; - m_dq_params[1][24][2] = 5.848310; - m_c2_params[1][24][0] = 14.587957; - m_c2_params[1][24][1] = 0.0; - m_c2_params[1][24][2] = 23.519668; - m_dp_params[1][25][0] = 0.016648; - m_dp_params[1][25][1] = -0.007231; - m_dp_params[1][25][2] = 0.009923; - m_dq_params[1][25][0] = -0.093685; - m_dq_params[1][25][1] = 0.131468; - m_dq_params[1][25][2] = 5.588581; - m_c2_params[1][25][0] = -29.086607; - m_c2_params[1][25][1] = 3.286710; - m_c2_params[1][25][2] = 66.647250; - m_dp_params[1][26][0] = 0.002426; - m_dp_params[1][26][1] = 0.0; - m_dp_params[1][26][2] = 0.022331; - m_dq_params[1][26][0] = 0.024469; - m_dq_params[1][26][1] = 0.0; - m_dq_params[1][26][2] = 5.665276; - m_c2_params[1][26][0] = 9.352182; - m_c2_params[1][26][1] = 0.0; - m_c2_params[1][26][2] = 21.531636; - m_dp_params[1][27][0] = 0.020965; - m_dp_params[1][27][1] = -0.024979; - m_dp_params[1][27][2] = 0.030896; - m_dq_params[1][27][0] = -0.345404; - m_dq_params[1][27][1] = -11.766421; - m_dq_params[1][27][2] = 22.680314; - m_c2_params[1][27][0] = -103.639119; - m_c2_params[1][27][1] = -165.650170; - m_c2_params[1][27][2] = 384.624215; - m_dp_params[1][28][0] = 0.015118; - m_dp_params[1][28][1] = -0.007888; - m_dp_params[1][28][2] = 0.022263; - m_dq_params[1][28][0] = -0.443931; - m_dq_params[1][28][1] = -3.878317; - m_dq_params[1][28][2] = 12.205792; - m_c2_params[1][28][0] = -280.080874; - m_c2_params[1][28][1] = -1442.208222; - m_c2_params[1][28][2] = 2126.490676; - m_dp_params[1][29][0] = 0.019090; - m_dp_params[1][29][1] = -0.009169; - m_dp_params[1][29][2] = 0.014143; - m_dq_params[1][29][0] = -0.089371; - m_dq_params[1][29][1] = -12.568222; - m_dq_params[1][29][2] = 23.321624; - m_c2_params[1][29][0] = -112.971942; - m_c2_params[1][29][1] = -21.643595; - m_c2_params[1][29][2] = 246.178648; - m_dp_params[1][30][0] = 0.012652; - m_dp_params[1][30][1] = 0.015622; - m_dp_params[1][30][2] = -0.003725; - m_dq_params[1][30][0] = 0.155890; - m_dq_params[1][30][1] = -6.506922; - m_dq_params[1][30][2] = 14.593214; - m_c2_params[1][30][0] = 6.951332; - m_c2_params[1][30][1] = 28.381464; - m_c2_params[1][30][2] = 24.132543; - m_dp_params[1][31][0] = 0.018256; - m_dp_params[1][31][1] = 0.001518; - m_dp_params[1][31][2] = 0.002382; - m_dq_params[1][31][0] = 0.494794; - m_dq_params[1][31][1] = -11.010444; - m_dq_params[1][31][2] = 21.699419; - m_c2_params[1][31][0] = -84.041538; - m_c2_params[1][31][1] = -77.093769; - m_c2_params[1][31][2] = 239.509206; - m_dp_params[1][32][0] = 0.012122; - m_dp_params[1][32][1] = 0.014605; - m_dp_params[1][32][2] = -0.003790; - m_dq_params[1][32][0] = 0.108642; - m_dq_params[1][32][1] = -8.086150; - m_dq_params[1][32][2] = 16.672905; - m_c2_params[1][32][0] = -20.891985; - m_c2_params[1][32][1] = 300.987897; - m_c2_params[1][32][2] = -276.749064; - m_dp_params[1][33][0] = 0.018926; - m_dp_params[1][33][1] = -0.018406; - m_dp_params[1][33][2] = 0.021959; - m_dq_params[1][33][0] = 0.508797; - m_dq_params[1][33][1] = -3.352444; - m_dq_params[1][33][2] = 13.354254; - m_c2_params[1][33][0] = -66.295993; - m_c2_params[1][33][1] = 103.202685; - m_c2_params[1][33][2] = 3.245769; - m_dp_params[1][34][0] = 0.008816; - m_dp_params[1][34][1] = 0.0; - m_dp_params[1][34][2] = 0.012596; - m_dq_params[1][34][0] = -0.263757; - m_dq_params[1][34][1] = 0.0; - m_dq_params[1][34][2] = 7.742114; - m_c2_params[1][34][0] = -4.541908; - m_c2_params[1][34][1] = 0.0; - m_c2_params[1][34][2] = 26.750748; - m_dp_params[1][35][0] = 0.019610; - m_dp_params[1][35][1] = -0.015119; - m_dp_params[1][35][2] = 0.017782; - m_dq_params[1][35][0] = 0.363439; - m_dq_params[1][35][1] = -2.760836; - m_dq_params[1][35][2] = 12.909342; - m_c2_params[1][35][0] = -39.630662; - m_c2_params[1][35][1] = 126.866995; - m_c2_params[1][35][2] = -59.378657; - m_dp_params[1][36][0] = 0.007536; - m_dp_params[1][36][1] = 0.0; - m_dp_params[1][36][2] = 0.013706; - m_dq_params[1][36][0] = 0.138482; - m_dq_params[1][36][1] = 0.0; - m_dq_params[1][36][2] = 7.696268; - m_c2_params[1][36][0] = -9.076523; - m_c2_params[1][36][1] = 0.0; - m_c2_params[1][36][2] = 39.681249; - m_dp_params[1][37][0] = 0.018992; - m_dp_params[1][37][1] = 0.005611; - m_dp_params[1][37][2] = -0.003321; - m_dq_params[1][37][0] = 1.464193; - m_dq_params[1][37][1] = -9.818543; - m_dq_params[1][37][2] = 20.199378; - m_c2_params[1][37][0] = -43.949057; - m_c2_params[1][37][1] = 340.336565; - m_c2_params[1][37][2] = -268.672138; - m_dp_params[1][38][0] = 0.010935; - m_dp_params[1][38][1] = 0.045070; - m_dp_params[1][38][2] = -0.046284; - m_dq_params[1][38][0] = 0.168451; - m_dq_params[1][38][1] = -15.514217; - m_dq_params[1][38][2] = 27.453418; - m_c2_params[1][38][0] = -40.012150; - m_c2_params[1][38][1] = 119.068078; - m_c2_params[1][38][2] = -72.253176; - m_dp_params[1][39][0] = 0.019779; - m_dp_params[1][39][1] = -0.013804; - m_dp_params[1][39][2] = 0.015613; - m_dq_params[1][39][0] = 0.925642; - m_dq_params[1][39][1] = -2.958039; - m_dq_params[1][39][2] = 13.246839; - m_c2_params[1][39][0] = -54.660179; - m_c2_params[1][39][1] = 189.971821; - m_c2_params[1][39][2] = -90.583986; - m_dp_params[1][40][0] = 0.007305; - m_dp_params[1][40][1] = 0.0; - m_dp_params[1][40][2] = 0.012463; - m_dq_params[1][40][0] = -0.046478; - m_dq_params[1][40][1] = 0.0; - m_dq_params[1][40][2] = 7.725041; - m_c2_params[1][40][0] = 9.887168; - m_c2_params[1][40][1] = 0.0; - m_c2_params[1][40][2] = 20.520589; - m_dp_params[1][41][0] = 0.013347; - m_dp_params[1][41][1] = -0.029516; - m_dp_params[1][41][2] = 0.043214; - m_dq_params[1][41][0] = -0.008253; - m_dq_params[1][41][1] = -18.340695; - m_dq_params[1][41][2] = 32.725860; - m_c2_params[1][41][0] = -105.691808; - m_c2_params[1][41][1] = 306.096557; - m_c2_params[1][41][2] = -118.284894; - m_dp_params[1][42][0] = 0.008376; - m_dp_params[1][42][1] = 0.0; - m_dp_params[1][42][2] = 0.011783; - m_dq_params[1][42][0] = -0.143789; - m_dq_params[1][42][1] = 0.0; - m_dq_params[1][42][2] = 7.923439; - m_c2_params[1][42][0] = 9.522693; - m_c2_params[1][42][1] = 0.0; - m_c2_params[1][42][2] = 18.813905; - m_dp_params[1][43][0] = 0.012080; - m_dp_params[1][43][1] = -0.163044; - m_dp_params[1][43][2] = 0.208610; - m_dq_params[1][43][0] = -0.184624; - m_dq_params[1][43][1] = -28.670053; - m_dq_params[1][43][2] = 46.401944; - m_c2_params[1][43][0] = -135.865684; - m_c2_params[1][43][1] = -432.286947; - m_c2_params[1][43][2] = 795.760655; - m_dp_params[1][44][0] = 0.007102; - m_dp_params[1][44][1] = 0.0; - m_dp_params[1][44][2] = 0.012367; - m_dq_params[1][44][0] = 0.214068; - m_dq_params[1][44][1] = 0.0; - m_dq_params[1][44][2] = 7.650514; - m_c2_params[1][44][0] = 13.720142; - m_c2_params[1][44][1] = 0.0; - m_c2_params[1][44][2] = 30.704405; - m_dp_params[1][45][0] = 0.0; - m_dp_params[1][45][1] = 0.0; - m_dp_params[1][45][2] = 0.0; - m_dq_params[1][45][0] = 0.0; - m_dq_params[1][45][1] = 0.0; - m_dq_params[1][45][2] = 0.0; - m_c2_params[1][45][0] = 0.0; - m_c2_params[1][45][1] = 0.0; - m_c2_params[1][45][2] = 0.0; - m_dp_params[1][46][0] = 0.007103; - m_dp_params[1][46][1] = 0.0; - m_dp_params[1][46][2] = 0.001803; - m_dq_params[1][46][0] = -0.221790; - m_dq_params[1][46][1] = 0.0; - m_dq_params[1][46][2] = 1.058662; - m_c2_params[1][46][0] = -51.109108; - m_c2_params[1][46][1] = 0.0; - m_c2_params[1][46][2] = 39.818198; - m_dp_params[1][47][0] = 0.003337; - m_dp_params[1][47][1] = 0.0; - m_dp_params[1][47][2] = 0.002241; - m_dq_params[1][47][0] = 0.000000; - m_dq_params[1][47][1] = 0.0; - m_dq_params[1][47][2] = 0.900000; - m_c2_params[1][47][0] = 20.761700; - m_c2_params[1][47][1] = 0.0; - m_c2_params[1][47][2] = 7.455414; - m_dp_params[1][48][0] = 0.020158; - m_dp_params[1][48][1] = -0.005916; - m_dp_params[1][48][2] = 0.009176; - m_dq_params[1][48][0] = 0.040955; - m_dq_params[1][48][1] = 1.972026; - m_dq_params[1][48][2] = 3.652542; - m_c2_params[1][48][0] = -74.698860; - m_c2_params[1][48][1] = 50.615330; - m_c2_params[1][48][2] = 130.772602; - m_dp_params[1][49][0] = 0.010481; - m_dp_params[1][49][1] = 0.012489; - m_dp_params[1][49][2] = 0.002342; - m_dq_params[1][49][0] = 0.731584; - m_dq_params[1][49][1] = 4.864330; - m_dq_params[1][49][2] = -0.607689; - m_c2_params[1][49][0] = -53.974819; - m_c2_params[1][49][1] = 345.761862; - m_c2_params[1][49][2] = -218.743512; - m_dp_params[1][50][0] = 0.016359; - m_dp_params[1][50][1] = -0.009860; - m_dp_params[1][50][2] = 0.013631; - m_dq_params[1][50][0] = 0.054397; - m_dq_params[1][50][1] = 0.788810; - m_dq_params[1][50][2] = 4.806512; - m_c2_params[1][50][0] = -61.748839; - m_c2_params[1][50][1] = 140.671176; - m_c2_params[1][50][2] = 11.392816; - m_dp_params[1][51][0] = 0.003075; - m_dp_params[1][51][1] = 0.0; - m_dp_params[1][51][2] = 0.022345; - m_dq_params[1][51][0] = -0.264784; - m_dq_params[1][51][1] = 0.0; - m_dq_params[1][51][2] = 5.896173; - m_c2_params[1][51][0] = 46.713196; - m_c2_params[1][51][1] = 0.0; - m_c2_params[1][51][2] = 16.948912; - m_dp_params[1][52][0] = 0.015262; - m_dp_params[1][52][1] = 0.000813; - m_dp_params[1][52][2] = 0.001142; - m_dq_params[1][52][0] = -0.006574; - m_dq_params[1][52][1] = -0.131468; - m_dq_params[1][52][2] = 5.810773; - m_c2_params[1][52][0] = -16.324362; - m_c2_params[1][52][1] = 30.237729; - m_c2_params[1][52][2] = 46.081429; - m_dp_params[1][53][0] = 0.004785; - m_dp_params[1][53][1] = 0.0; - m_dp_params[1][53][2] = 0.021495; - m_dq_params[1][53][0] = -0.019260; - m_dq_params[1][53][1] = 0.0; - m_dq_params[1][53][2] = 5.670276; - m_c2_params[1][53][0] = 30.295137; - m_c2_params[1][53][1] = 0.0; - m_c2_params[1][53][2] = 22.750601; - m_dp_params[1][54][0] = 0.020795; - m_dp_params[1][54][1] = -0.023007; - m_dp_params[1][54][2] = 0.028293; - m_dq_params[1][54][0] = -0.281642; - m_dq_params[1][54][1] = -11.897889; - m_dq_params[1][54][2] = 22.929448; - m_c2_params[1][54][0] = -100.920643; - m_c2_params[1][54][1] = -209.692080; - m_c2_params[1][54][2] = 411.519958; - m_dp_params[1][55][0] = 0.014023; - m_dp_params[1][55][1] = -0.004601; - m_dp_params[1][55][2] = 0.018539; - m_dq_params[1][55][0] = -0.093213; - m_dq_params[1][55][1] = -2.760836; - m_dq_params[1][55][2] = 10.939679; - m_c2_params[1][55][0] = -89.225615; - m_c2_params[1][55][1] = -238.615125; - m_c2_params[1][55][2] = 442.510286; - m_dp_params[1][56][0] = 0.019033; - m_dp_params[1][56][1] = -0.009126; - m_dp_params[1][56][2] = 0.013943; - m_dq_params[1][56][0] = -0.005432; - m_dq_params[1][56][1] = -12.128876; - m_dq_params[1][56][2] = 22.835957; - m_c2_params[1][56][0] = -71.974189; - m_c2_params[1][56][1] = -82.540377; - m_c2_params[1][56][2] = 248.363828; - m_dp_params[1][57][0] = 0.013171; - m_dp_params[1][57][1] = 0.005423; - m_dp_params[1][57][2] = 0.006757; - m_dq_params[1][57][0] = 0.089409; - m_dq_params[1][57][1] = -6.417509; - m_dq_params[1][57][2] = 14.750750; - m_c2_params[1][57][0] = -25.201977; - m_c2_params[1][57][1] = 667.693396; - m_c2_params[1][57][2] = -636.614157; - m_dp_params[1][58][0] = 0.018962; - m_dp_params[1][58][1] = 0.001676; - m_dp_params[1][58][2] = 0.002645; - m_dq_params[1][58][0] = -0.173741; - m_dq_params[1][58][1] = -10.869101; - m_dq_params[1][58][2] = 21.934696; - m_c2_params[1][58][0] = -71.518136; - m_c2_params[1][58][1] = 28.212219; - m_c2_params[1][58][2] = 100.087145; - m_dp_params[1][59][0] = 0.016162; - m_dp_params[1][59][1] = 0.021829; - m_dp_params[1][59][2] = -0.011998; - m_dq_params[1][59][0] = -0.046309; - m_dq_params[1][59][1] = -8.261673; - m_dq_params[1][59][2] = 16.982977; - m_c2_params[1][59][0] = 2.046315; - m_c2_params[1][59][1] = 287.154632; - m_c2_params[1][59][2] = -255.995094; - m_dp_params[1][60][0] = 0.019621; - m_dp_params[1][60][1] = -0.019720; - m_dp_params[1][60][2] = 0.023417; - m_dq_params[1][60][0] = -0.181359; - m_dq_params[1][60][1] = -2.366431; - m_dq_params[1][60][2] = 12.851220; - m_c2_params[1][60][0] = -68.277323; - m_c2_params[1][60][1] = 125.552311; - m_c2_params[1][60][2] = -7.551025; - m_dp_params[1][61][0] = 0.012623; - m_dp_params[1][61][1] = -0.052428; - m_dp_params[1][61][2] = 0.078878; - m_dq_params[1][61][0] = 0.202186; - m_dq_params[1][61][1] = -0.511937; - m_dq_params[1][61][2] = 8.430138; - m_c2_params[1][61][0] = -6.138522; - m_c2_params[1][61][1] = -7.281162; - m_c2_params[1][61][2] = 47.076427; - m_dp_params[1][62][0] = 0.019640; - m_dp_params[1][62][1] = -0.015776; - m_dp_params[1][62][2] = 0.018799; - m_dq_params[1][62][0] = 0.097851; - m_dq_params[1][62][1] = -2.432165; - m_dq_params[1][62][2] = 12.729368; - m_c2_params[1][62][0] = -59.517366; - m_c2_params[1][62][1] = 59.818117; - m_c2_params[1][62][2] = 52.103499; - m_dp_params[1][63][0] = 0.008447; - m_dp_params[1][63][1] = 0.0; - m_dp_params[1][63][2] = 0.012924; - m_dq_params[1][63][0] = 0.145004; - m_dq_params[1][63][1] = 0.0; - m_dq_params[1][63][2] = 7.712773; - m_c2_params[1][63][0] = -8.316348; - m_c2_params[1][63][1] = 0.0; - m_c2_params[1][63][2] = 48.499511; - m_dp_params[1][64][0] = 0.017319; - m_dp_params[1][64][1] = 0.005281; - m_dp_params[1][64][2] = -0.002428; - m_dq_params[1][64][0] = 0.956479; - m_dq_params[1][64][1] = -8.975956; - m_dq_params[1][64][2] = 19.309914; - m_c2_params[1][64][0] = -52.937920; - m_c2_params[1][64][1] = 118.906637; - m_c2_params[1][64][2] = -10.722099; - m_dp_params[1][65][0] = 0.010067; - m_dp_params[1][65][1] = 0.032306; - m_dp_params[1][65][2] = -0.029368; - m_dq_params[1][65][0] = 0.346652; - m_dq_params[1][65][1] = -15.566749; - m_dq_params[1][65][2] = 27.494605; - m_c2_params[1][65][0] = -3.994574; - m_c2_params[1][65][1] = 609.276830; - m_c2_params[1][65][2] = -706.027428; - m_dp_params[1][66][0] = 0.020510; - m_dp_params[1][66][1] = -0.016434; - m_dp_params[1][66][2] = 0.018718; - m_dq_params[1][66][0] = 1.232478; - m_dq_params[1][66][1] = -4.141254; - m_dq_params[1][66][2] = 14.447120; - m_c2_params[1][66][0] = -55.962454; - m_c2_params[1][66][1] = 232.041706; - m_c2_params[1][66][2] = -138.614907; - m_dp_params[1][67][0] = 0.009654; - m_dp_params[1][67][1] = 0.0; - m_dp_params[1][67][2] = 0.012006; - m_dq_params[1][67][0] = 0.178367; - m_dq_params[1][67][1] = 0.0; - m_dq_params[1][67][2] = 7.849042; - m_c2_params[1][67][0] = 21.326586; - m_c2_params[1][67][1] = 0.0; - m_c2_params[1][67][2] = 17.523286; - m_dp_params[1][68][0] = 0.014600; - m_dp_params[1][68][1] = -0.010472; - m_dp_params[1][68][2] = 0.019115; - m_dq_params[1][68][0] = -0.193083; - m_dq_params[1][68][1] = -16.506702; - m_dq_params[1][68][2] = 31.127880; - m_c2_params[1][68][0] = -91.073475; - m_c2_params[1][68][1] = 1136.844431; - m_c2_params[1][68][2] = -1085.052605; - m_dp_params[1][69][0] = 0.010225; - m_dp_params[1][69][1] = 0.0; - m_dp_params[1][69][2] = 0.010775; - m_dq_params[1][69][0] = -0.013992; - m_dq_params[1][69][1] = 0.0; - m_dq_params[1][69][2] = 8.080809; - m_c2_params[1][69][0] = 11.895972; - m_c2_params[1][69][1] = 0.0; - m_c2_params[1][69][2] = 29.106418; - m_dp_params[1][70][0] = 0.013168; - m_dp_params[1][70][1] = -0.062095; - m_dp_params[1][70][2] = 0.080226; - m_dq_params[1][70][0] = -0.065429; - m_dq_params[1][70][1] = -21.031781; - m_dq_params[1][70][2] = 36.715655; - m_c2_params[1][70][0] = -142.803943; - m_c2_params[1][70][1] = -1318.322808; - m_c2_params[1][70][2] = 1911.367427; - m_dp_params[1][71][0] = 0.012310; - m_dp_params[1][71][1] = 0.0; - m_dp_params[1][71][2] = 0.011330; - m_dq_params[1][71][0] = 0.148032; - m_dq_params[1][71][1] = 0.0; - m_dq_params[1][71][2] = 7.908108; - m_c2_params[1][71][0] = 7.409243; - m_c2_params[1][71][1] = 0.0; - m_c2_params[1][71][2] = 21.090930; - - ////// Iteration 2 (lowPtQuadStep, algo=23) - m_dp_params[2][0][0] = 0.0; - m_dp_params[2][0][1] = 0.0; - m_dp_params[2][0][2] = 0.0; - m_dq_params[2][0][0] = 0.0; - m_dq_params[2][0][1] = 0.0; - m_dq_params[2][0][2] = 0.0; - m_c2_params[2][0][0] = 0.0; - m_c2_params[2][0][1] = 0.0; - m_c2_params[2][0][2] = 0.0; - m_dp_params[2][1][0] = 0.0; - m_dp_params[2][1][1] = 0.0; - m_dp_params[2][1][2] = 0.0; - m_dq_params[2][1][0] = 0.0; - m_dq_params[2][1][1] = 0.0; - m_dq_params[2][1][2] = 0.0; - m_c2_params[2][1][0] = 0.0; - m_c2_params[2][1][1] = 0.0; - m_c2_params[2][1][2] = 0.0; - m_dp_params[2][2][0] = 0.0; - m_dp_params[2][2][1] = 0.0; - m_dp_params[2][2][2] = 0.0; - m_dq_params[2][2][0] = 0.0; - m_dq_params[2][2][1] = 0.0; - m_dq_params[2][2][2] = 0.0; - m_c2_params[2][2][0] = 0.0; - m_c2_params[2][2][1] = 0.0; - m_c2_params[2][2][2] = 0.0; - m_dp_params[2][3][0] = 0.0; - m_dp_params[2][3][1] = 0.0; - m_dp_params[2][3][2] = 0.0; - m_dq_params[2][3][0] = 0.0; - m_dq_params[2][3][1] = 0.0; - m_dq_params[2][3][2] = 0.0; - m_c2_params[2][3][0] = 0.0; - m_c2_params[2][3][1] = 0.0; - m_c2_params[2][3][2] = 0.0; - m_dp_params[2][4][0] = 0.001126; - m_dp_params[2][4][1] = -0.001246; - m_dp_params[2][4][2] = 0.013034; - m_dq_params[2][4][0] = 0.008536; - m_dq_params[2][4][1] = 3.340340; - m_dq_params[2][4][2] = 5.526459; - m_c2_params[2][4][0] = 1.033463; - m_c2_params[2][4][1] = -38.634158; - m_c2_params[2][4][2] = 43.640432; - m_dp_params[2][5][0] = 0.000828; - m_dp_params[2][5][1] = -0.003145; - m_dp_params[2][5][2] = 0.032558; - m_dq_params[2][5][0] = 0.008645; - m_dq_params[2][5][1] = 2.097683; - m_dq_params[2][5][2] = 5.849818; - m_c2_params[2][5][0] = 3.694033; - m_c2_params[2][5][1] = -139.107766; - m_c2_params[2][5][2] = 200.696745; - m_dp_params[2][6][0] = 0.001269; - m_dp_params[2][6][1] = -0.000445; - m_dp_params[2][6][2] = 0.013138; - m_dq_params[2][6][0] = 0.006583; - m_dq_params[2][6][1] = 3.178547; - m_dq_params[2][6][2] = 5.527958; - m_c2_params[2][6][0] = 1.823842; - m_c2_params[2][6][1] = -78.925521; - m_c2_params[2][6][2] = 101.540548; - m_dp_params[2][7][0] = 0.001089; - m_dp_params[2][7][1] = -0.004317; - m_dp_params[2][7][2] = 0.028194; - m_dq_params[2][7][0] = 0.007676; - m_dq_params[2][7][1] = 2.976623; - m_dq_params[2][7][2] = 5.422566; - m_c2_params[2][7][0] = 5.381187; - m_c2_params[2][7][1] = -407.462891; - m_c2_params[2][7][2] = 346.898686; - m_dp_params[2][8][0] = 0.001286; - m_dp_params[2][8][1] = -0.001584; - m_dp_params[2][8][2] = 0.012940; - m_dq_params[2][8][0] = 0.016197; - m_dq_params[2][8][1] = 2.628484; - m_dq_params[2][8][2] = 5.498893; - m_c2_params[2][8][0] = 1.642632; - m_c2_params[2][8][1] = -82.320614; - m_c2_params[2][8][2] = 90.103596; - m_dp_params[2][9][0] = 0.001246; - m_dp_params[2][9][1] = -0.004807; - m_dp_params[2][9][2] = 0.016458; - m_dq_params[2][9][0] = 0.017086; - m_dq_params[2][9][1] = 1.779894; - m_dq_params[2][9][2] = 6.033316; - m_c2_params[2][9][0] = -1.122883; - m_c2_params[2][9][1] = -264.261194; - m_c2_params[2][9][2] = 263.191862; - m_dp_params[2][10][0] = 0.001305; - m_dp_params[2][10][1] = 0.000207; - m_dp_params[2][10][2] = 0.018587; - m_dq_params[2][10][0] = 0.029072; - m_dq_params[2][10][1] = 3.133590; - m_dq_params[2][10][2] = 9.096187; - m_c2_params[2][10][0] = 0.425491; - m_c2_params[2][10][1] = -231.622343; - m_c2_params[2][10][2] = 247.231353; - m_dp_params[2][11][0] = 0.001337; - m_dp_params[2][11][1] = -0.001533; - m_dp_params[2][11][2] = 0.030897; - m_dq_params[2][11][0] = 0.044771; - m_dq_params[2][11][1] = 3.523215; - m_dq_params[2][11][2] = 8.726142; - m_c2_params[2][11][0] = 6.242573; - m_c2_params[2][11][1] = -408.001334; - m_c2_params[2][11][2] = 335.661333; - m_dp_params[2][12][0] = 0.039758; - m_dp_params[2][12][1] = 0.000073; - m_dp_params[2][12][2] = -0.003381; - m_dq_params[2][12][0] = 0.779038; - m_dq_params[2][12][1] = 2.398196; - m_dq_params[2][12][2] = 8.779983; - m_c2_params[2][12][0] = 160.724627; - m_c2_params[2][12][1] = -179.586754; - m_c2_params[2][12][2] = 89.662874; - m_dp_params[2][13][0] = 0.040045; - m_dp_params[2][13][1] = -0.001093; - m_dp_params[2][13][2] = 0.008616; - m_dq_params[2][13][0] = 0.943489; - m_dq_params[2][13][1] = 3.219812; - m_dq_params[2][13][2] = 8.303024; - m_c2_params[2][13][0] = 217.558190; - m_c2_params[2][13][1] = -233.492052; - m_c2_params[2][13][2] = 107.491855; - m_dp_params[2][14][0] = 0.035803; - m_dp_params[2][14][1] = -0.007330; - m_dp_params[2][14][2] = 0.000800; - m_dq_params[2][14][0] = 0.604306; - m_dq_params[2][14][1] = 1.444810; - m_dq_params[2][14][2] = 9.242087; - m_c2_params[2][14][0] = 190.561362; - m_c2_params[2][14][1] = -252.518120; - m_c2_params[2][14][2] = 129.488891; - m_dp_params[2][15][0] = 0.031405; - m_dp_params[2][15][1] = -0.008131; - m_dp_params[2][15][2] = 0.002819; - m_dq_params[2][15][0] = -0.023716; - m_dq_params[2][15][1] = 1.096840; - m_dq_params[2][15][2] = 9.589311; - m_c2_params[2][15][0] = 182.743062; - m_c2_params[2][15][1] = -260.604191; - m_c2_params[2][15][2] = 143.701992; - m_dp_params[2][16][0] = 0.034082; - m_dp_params[2][16][1] = 0.000007; - m_dp_params[2][16][2] = -0.002160; - m_dq_params[2][16][0] = 0.501597; - m_dq_params[2][16][1] = 0.277177; - m_dq_params[2][16][2] = 9.460812; - m_c2_params[2][16][0] = -27.204234; - m_c2_params[2][16][1] = 101.415827; - m_c2_params[2][16][2] = 36.300939; - m_dp_params[2][17][0] = 0.029845; - m_dp_params[2][17][1] = -0.004904; - m_dp_params[2][17][2] = 0.000791; - m_dq_params[2][17][0] = 0.628667; - m_dq_params[2][17][1] = 1.352566; - m_dq_params[2][17][2] = 9.153282; - m_c2_params[2][17][0] = -16.010726; - m_c2_params[2][17][1] = 65.123548; - m_c2_params[2][17][2] = 126.096432; - m_dp_params[2][18][0] = 0.0; - m_dp_params[2][18][1] = 0.0; - m_dp_params[2][18][2] = 0.0; - m_dq_params[2][18][0] = 0.0; - m_dq_params[2][18][1] = 0.0; - m_dq_params[2][18][2] = 0.0; - m_c2_params[2][18][0] = 0.0; - m_c2_params[2][18][1] = 0.0; - m_c2_params[2][18][2] = 0.0; - m_dp_params[2][19][0] = 0.0; - m_dp_params[2][19][1] = 0.0; - m_dp_params[2][19][2] = 0.0; - m_dq_params[2][19][0] = 0.0; - m_dq_params[2][19][1] = 0.0; - m_dq_params[2][19][2] = 0.0; - m_c2_params[2][19][0] = 0.0; - m_c2_params[2][19][1] = 0.0; - m_c2_params[2][19][2] = 0.0; - m_dp_params[2][20][0] = 0.000202; - m_dp_params[2][20][1] = 0.0; - m_dp_params[2][20][2] = 0.010636; - m_dq_params[2][20][0] = -0.002022; - m_dq_params[2][20][1] = 0.0; - m_dq_params[2][20][2] = 0.903640; - m_c2_params[2][20][0] = -0.040445; - m_c2_params[2][20][1] = 0.0; - m_c2_params[2][20][2] = 7.072801; - m_dp_params[2][21][0] = 0.000774; - m_dp_params[2][21][1] = -0.019720; - m_dp_params[2][21][2] = 0.036875; - m_dq_params[2][21][0] = 0.002339; - m_dq_params[2][21][1] = 1.205127; - m_dq_params[2][21][2] = 4.482457; - m_c2_params[2][21][0] = -1.706379; - m_c2_params[2][21][1] = 264.580132; - m_c2_params[2][21][2] = -176.263888; - m_dp_params[2][22][0] = 0.000564; - m_dp_params[2][22][1] = -0.014790; - m_dp_params[2][22][2] = 0.040348; - m_dq_params[2][22][0] = 0.014243; - m_dq_params[2][22][1] = 3.615381; - m_dq_params[2][22][2] = 1.248760; - m_c2_params[2][22][0] = -2.103743; - m_c2_params[2][22][1] = -437.680177; - m_c2_params[2][22][2] = 630.414780; - m_dp_params[2][23][0] = 0.000840; - m_dp_params[2][23][1] = -0.011503; - m_dp_params[2][23][2] = 0.026184; - m_dq_params[2][23][0] = -0.000341; - m_dq_params[2][23][1] = 1.643355; - m_dq_params[2][23][2] = 3.833733; - m_c2_params[2][23][0] = -2.681976; - m_c2_params[2][23][1] = -461.782715; - m_c2_params[2][23][2] = 677.733931; - m_dp_params[2][24][0] = 0.000560; - m_dp_params[2][24][1] = -0.018771; - m_dp_params[2][24][2] = 0.046438; - m_dq_params[2][24][0] = -0.000501; - m_dq_params[2][24][1] = 6.230015; - m_dq_params[2][24][2] = -2.086945; - m_c2_params[2][24][0] = -0.286374; - m_c2_params[2][24][1] = 13.401167; - m_c2_params[2][24][2] = 33.743139; - m_dp_params[2][25][0] = 0.000812; - m_dp_params[2][25][1] = -0.010408; - m_dp_params[2][25][2] = 0.022706; - m_dq_params[2][25][0] = -0.002065; - m_dq_params[2][25][1] = 0.547785; - m_dq_params[2][25][2] = 5.089989; - m_c2_params[2][25][0] = -0.215251; - m_c2_params[2][25][1] = 6.573419; - m_c2_params[2][25][2] = 35.600748; - m_dp_params[2][26][0] = 0.000493; - m_dp_params[2][26][1] = 0.0; - m_dp_params[2][26][2] = 0.022121; - m_dq_params[2][26][0] = -0.001969; - m_dq_params[2][26][1] = 0.0; - m_dq_params[2][26][2] = 5.700539; - m_c2_params[2][26][0] = 0.454050; - m_c2_params[2][26][1] = 0.0; - m_c2_params[2][26][2] = 29.521046; - m_dp_params[2][27][0] = 0.000860; - m_dp_params[2][27][1] = -0.031772; - m_dp_params[2][27][2] = 0.051562; - m_dq_params[2][27][0] = -0.041386; - m_dq_params[2][27][1] = -9.860129; - m_dq_params[2][27][2] = 20.223317; - m_c2_params[2][27][0] = -1.033328; - m_c2_params[2][27][1] = -29.032602; - m_c2_params[2][27][2] = 124.022303; - m_dp_params[2][28][0] = 0.000670; - m_dp_params[2][28][1] = -0.023535; - m_dp_params[2][28][2] = 0.050317; - m_dq_params[2][28][0] = -0.032945; - m_dq_params[2][28][1] = -3.325638; - m_dq_params[2][28][2] = 11.169095; - m_c2_params[2][28][0] = -2.421409; - m_c2_params[2][28][1] = -694.994636; - m_c2_params[2][28][2] = 1029.576481; - m_dp_params[2][29][0] = 0.000867; - m_dp_params[2][29][1] = -0.029580; - m_dp_params[2][29][2] = 0.048216; - m_dq_params[2][29][0] = -0.036400; - m_dq_params[2][29][1] = -11.393927; - m_dq_params[2][29][2] = 22.241880; - m_c2_params[2][29][0] = -1.600491; - m_c2_params[2][29][1] = 78.881033; - m_c2_params[2][29][2] = 21.998597; - m_dp_params[2][30][0] = 0.000681; - m_dp_params[2][30][1] = -0.015338; - m_dp_params[2][30][2] = 0.037482; - m_dq_params[2][30][0] = -0.011112; - m_dq_params[2][30][1] = -4.163166; - m_dq_params[2][30][2] = 12.334954; - m_c2_params[2][30][0] = 0.161516; - m_c2_params[2][30][1] = -211.992776; - m_c2_params[2][30][2] = 312.636055; - m_dp_params[2][31][0] = 0.000780; - m_dp_params[2][31][1] = -0.016626; - m_dp_params[2][31][2] = 0.033564; - m_dq_params[2][31][0] = -0.040367; - m_dq_params[2][31][1] = -8.411786; - m_dq_params[2][31][2] = 18.962690; - m_c2_params[2][31][0] = -1.575088; - m_c2_params[2][31][1] = -43.438197; - m_c2_params[2][31][2] = 169.694673; - m_dp_params[2][32][0] = 0.000704; - m_dp_params[2][32][1] = -0.013135; - m_dp_params[2][32][2] = 0.037651; - m_dq_params[2][32][0] = -0.028060; - m_dq_params[2][32][1] = -7.741814; - m_dq_params[2][32][2] = 16.592528; - m_c2_params[2][32][0] = 0.258533; - m_c2_params[2][32][1] = 486.418891; - m_c2_params[2][32][2] = -466.416810; - m_dp_params[2][33][0] = 0.000748; - m_dp_params[2][33][1] = -0.020816; - m_dp_params[2][33][2] = 0.036330; - m_dq_params[2][33][0] = -0.042886; - m_dq_params[2][33][1] = -2.081583; - m_dq_params[2][33][2] = 12.429751; - m_c2_params[2][33][0] = -0.806779; - m_c2_params[2][33][1] = 53.135140; - m_c2_params[2][33][2] = 11.674906; - m_dp_params[2][34][0] = 0.000384; - m_dp_params[2][34][1] = -0.086403; - m_dp_params[2][34][2] = 0.130209; - m_dq_params[2][34][0] = -0.044255; - m_dq_params[2][34][1] = -6.378469; - m_dq_params[2][34][2] = 15.879757; - m_c2_params[2][34][0] = 0.153229; - m_c2_params[2][34][1] = -142.928137; - m_c2_params[2][34][2] = 217.376306; - m_dp_params[2][35][0] = 0.000726; - m_dp_params[2][35][1] = -0.018625; - m_dp_params[2][35][2] = 0.034086; - m_dq_params[2][35][0] = -0.019842; - m_dq_params[2][35][1] = -5.696964; - m_dq_params[2][35][2] = 16.627446; - m_c2_params[2][35][0] = -0.844907; - m_c2_params[2][35][1] = 60.256345; - m_c2_params[2][35][2] = -3.686652; - m_dp_params[2][36][0] = 0.000381; - m_dp_params[2][36][1] = -0.102437; - m_dp_params[2][36][2] = 0.150752; - m_dq_params[2][36][0] = -0.033354; - m_dq_params[2][36][1] = -3.396336; - m_dq_params[2][36][2] = 11.962527; - m_c2_params[2][36][0] = 3.070026; - m_c2_params[2][36][1] = -645.198335; - m_c2_params[2][36][2] = 834.251883; - m_dp_params[2][37][0] = 0.000687; - m_dp_params[2][37][1] = -0.016915; - m_dp_params[2][37][2] = 0.032140; - m_dq_params[2][37][0] = -0.013409; - m_dq_params[2][37][1] = -8.717350; - m_dq_params[2][37][2] = 19.237803; - m_c2_params[2][37][0] = -2.177245; - m_c2_params[2][37][1] = 932.457603; - m_c2_params[2][37][2] = -907.284381; - m_dp_params[2][38][0] = 0.000342; - m_dp_params[2][38][1] = -0.072814; - m_dp_params[2][38][2] = 0.116700; - m_dq_params[2][38][0] = -0.024336; - m_dq_params[2][38][1] = -7.055084; - m_dq_params[2][38][2] = 16.129948; - m_c2_params[2][38][0] = 0.117303; - m_c2_params[2][38][1] = 1207.898289; - m_c2_params[2][38][2] = -1294.519314; - m_dp_params[2][39][0] = 0.000677; - m_dp_params[2][39][1] = -0.026682; - m_dp_params[2][39][2] = 0.043423; - m_dq_params[2][39][0] = -0.037914; - m_dq_params[2][39][1] = -3.148978; - m_dq_params[2][39][2] = 14.489747; - m_c2_params[2][39][0] = -1.055570; - m_c2_params[2][39][1] = 77.580139; - m_c2_params[2][39][2] = -1.440120; - m_dp_params[2][40][0] = 0.000293; - m_dp_params[2][40][1] = -0.120668; - m_dp_params[2][40][2] = 0.173694; - m_dq_params[2][40][0] = -0.076891; - m_dq_params[2][40][1] = -20.744017; - m_dq_params[2][40][2] = 34.509685; - m_c2_params[2][40][0] = -0.403016; - m_c2_params[2][40][1] = -141.488765; - m_c2_params[2][40][2] = 231.741566; - m_dp_params[2][41][0] = 0.000410; - m_dp_params[2][41][1] = -0.095989; - m_dp_params[2][41][2] = 0.135610; - m_dq_params[2][41][0] = -0.085430; - m_dq_params[2][41][1] = -16.930525; - m_dq_params[2][41][2] = 31.706510; - m_c2_params[2][41][0] = -1.615768; - m_c2_params[2][41][1] = 161.384423; - m_c2_params[2][41][2] = -68.832947; - m_dp_params[2][42][0] = 0.000440; - m_dp_params[2][42][1] = -0.118919; - m_dp_params[2][42][2] = 0.168978; - m_dq_params[2][42][0] = -0.004483; - m_dq_params[2][42][1] = -20.544878; - m_dq_params[2][42][2] = 33.836041; - m_c2_params[2][42][0] = 0.489686; - m_c2_params[2][42][1] = -210.490356; - m_c2_params[2][42][2] = 305.263923; - m_dp_params[2][43][0] = 0.000258; - m_dp_params[2][43][1] = -0.094710; - m_dp_params[2][43][2] = 0.132055; - m_dq_params[2][43][0] = -0.068191; - m_dq_params[2][43][1] = -9.123902; - m_dq_params[2][43][2] = 21.964300; - m_c2_params[2][43][0] = -2.066469; - m_c2_params[2][43][1] = -110.025475; - m_c2_params[2][43][2] = 258.499254; - m_dp_params[2][44][0] = 0.000539; - m_dp_params[2][44][1] = -0.138801; - m_dp_params[2][44][2] = 0.192987; - m_dq_params[2][44][0] = 0.002443; - m_dq_params[2][44][1] = -36.540572; - m_dq_params[2][44][2] = 54.161103; - m_c2_params[2][44][0] = 0.894113; - m_c2_params[2][44][1] = -297.892813; - m_c2_params[2][44][2] = 406.888530; - m_dp_params[2][45][0] = 0.0; - m_dp_params[2][45][1] = 0.0; - m_dp_params[2][45][2] = 0.0; - m_dq_params[2][45][0] = 0.0; - m_dq_params[2][45][1] = 0.0; - m_dq_params[2][45][2] = 0.0; - m_c2_params[2][45][0] = 0.0; - m_c2_params[2][45][1] = 0.0; - m_c2_params[2][45][2] = 0.0; - m_dp_params[2][46][0] = 0.0; - m_dp_params[2][46][1] = 0.0; - m_dp_params[2][46][2] = 0.0; - m_dq_params[2][46][0] = 0.0; - m_dq_params[2][46][1] = 0.0; - m_dq_params[2][46][2] = 0.0; - m_c2_params[2][46][0] = 0.0; - m_c2_params[2][46][1] = 0.0; - m_c2_params[2][46][2] = 0.0; - m_dp_params[2][47][0] = 0.0; - m_dp_params[2][47][1] = 0.0; - m_dp_params[2][47][2] = 0.021000; - m_dq_params[2][47][0] = 0.0; - m_dq_params[2][47][1] = 0.0; - m_dq_params[2][47][2] = 0.900000; - m_c2_params[2][47][0] = 0.0; - m_c2_params[2][47][1] = 0.0; - m_c2_params[2][47][2] = 5.000000; - m_dp_params[2][48][0] = 0.000867; - m_dp_params[2][48][1] = -0.016434; - m_dp_params[2][48][2] = 0.032362; - m_dq_params[2][48][0] = 0.004282; - m_dq_params[2][48][1] = 1.533798; - m_dq_params[2][48][2] = 4.114370; - m_c2_params[2][48][0] = -2.283175; - m_c2_params[2][48][1] = 104.626926; - m_c2_params[2][48][2] = 30.652484; - m_dp_params[2][49][0] = 0.000643; - m_dp_params[2][49][1] = -0.002739; - m_dp_params[2][49][2] = 0.026171; - m_dq_params[2][49][0] = 0.004313; - m_dq_params[2][49][1] = 3.067596; - m_dq_params[2][49][2] = 1.950477; - m_c2_params[2][49][0] = 2.876698; - m_c2_params[2][49][1] = -39.440517; - m_c2_params[2][49][2] = 180.406623; - m_dp_params[2][50][0] = 0.000784; - m_dp_params[2][50][1] = -0.018077; - m_dp_params[2][50][2] = 0.034367; - m_dq_params[2][50][0] = -0.002692; - m_dq_params[2][50][1] = 2.300697; - m_dq_params[2][50][2] = 3.070578; - m_c2_params[2][50][0] = -2.424659; - m_c2_params[2][50][1] = -795.383750; - m_c2_params[2][50][2] = 1101.202536; - m_dp_params[2][51][0] = 0.000466; - m_dp_params[2][51][1] = -0.058076; - m_dp_params[2][51][2] = 0.097177; - m_dq_params[2][51][0] = -0.002846; - m_dq_params[2][51][1] = 5.575950; - m_dq_params[2][51][2] = -1.235511; - m_c2_params[2][51][0] = 0.253661; - m_c2_params[2][51][1] = -38.208069; - m_c2_params[2][51][2] = 76.874668; - m_dp_params[2][52][0] = 0.000780; - m_dp_params[2][52][1] = -0.014787; - m_dp_params[2][52][2] = 0.029222; - m_dq_params[2][52][0] = -0.000886; - m_dq_params[2][52][1] = -0.027141; - m_dq_params[2][52][2] = 5.675789; - m_c2_params[2][52][0] = 0.418421; - m_c2_params[2][52][1] = 60.973344; - m_c2_params[2][52][2] = -37.177618; - m_dp_params[2][53][0] = 0.000525; - m_dp_params[2][53][1] = 0.0; - m_dp_params[2][53][2] = 0.022549; - m_dq_params[2][53][0] = -0.000850; - m_dq_params[2][53][1] = 0.0; - m_dq_params[2][53][2] = 5.739524; - m_c2_params[2][53][0] = 0.384388; - m_c2_params[2][53][1] = 0.0; - m_c2_params[2][53][2] = 24.985894; - m_dp_params[2][54][0] = 0.000871; - m_dp_params[2][54][1] = -0.029033; - m_dp_params[2][54][2] = 0.047814; - m_dq_params[2][54][0] = -0.037390; - m_dq_params[2][54][1] = -9.586237; - m_dq_params[2][54][2] = 20.056215; - m_c2_params[2][54][0] = -0.749750; - m_c2_params[2][54][1] = 22.459183; - m_c2_params[2][54][2] = 53.265177; - m_dp_params[2][55][0] = 0.001009; - m_dp_params[2][55][1] = -0.037249; - m_dp_params[2][55][2] = 0.063666; - m_dq_params[2][55][0] = -0.016934; - m_dq_params[2][55][1] = -3.889273; - m_dq_params[2][55][2] = 12.039886; - m_c2_params[2][55][0] = -0.659051; - m_c2_params[2][55][1] = -43.822796; - m_c2_params[2][55][2] = 146.581473; - m_dp_params[2][56][0] = 0.000828; - m_dp_params[2][56][1] = -0.025746; - m_dp_params[2][56][2] = 0.043367; - m_dq_params[2][56][0] = -0.033226; - m_dq_params[2][56][1] = -10.517471; - m_dq_params[2][56][2] = 21.050660; - m_c2_params[2][56][0] = -1.301927; - m_c2_params[2][56][1] = 137.494023; - m_c2_params[2][56][2] = -58.933301; - m_dp_params[2][57][0] = 0.000838; - m_dp_params[2][57][1] = -0.016981; - m_dp_params[2][57][2] = 0.039313; - m_dq_params[2][57][0] = -0.018146; - m_dq_params[2][57][1] = -2.519811; - m_dq_params[2][57][2] = 10.462502; - m_c2_params[2][57][0] = 0.310390; - m_c2_params[2][57][1] = 37.249377; - m_c2_params[2][57][2] = -4.087281; - m_dp_params[2][58][0] = 0.000763; - m_dp_params[2][58][1] = -0.013102; - m_dp_params[2][58][2] = 0.030101; - m_dq_params[2][58][0] = -0.022015; - m_dq_params[2][58][1] = -9.417430; - m_dq_params[2][58][2] = 20.197028; - m_c2_params[2][58][0] = -1.335506; - m_c2_params[2][58][1] = 297.574574; - m_c2_params[2][58][2] = -232.840048; - m_dp_params[2][59][0] = 0.000675; - m_dp_params[2][59][1] = -0.016439; - m_dp_params[2][59][2] = 0.041907; - m_dq_params[2][59][0] = -0.034062; - m_dq_params[2][59][1] = -7.580935; - m_dq_params[2][59][2] = 16.185359; - m_c2_params[2][59][0] = 0.088680; - m_c2_params[2][59][1] = 217.509924; - m_c2_params[2][59][2] = -202.302299; - m_dp_params[2][60][0] = 0.000798; - m_dp_params[2][60][1] = -0.023555; - m_dp_params[2][60][2] = 0.039359; - m_dq_params[2][60][0] = -0.025421; - m_dq_params[2][60][1] = -4.437058; - m_dq_params[2][60][2] = 14.995236; - m_c2_params[2][60][0] = -1.271491; - m_c2_params[2][60][1] = 41.083871; - m_c2_params[2][60][2] = 37.337661; - m_dp_params[2][61][0] = 0.000434; - m_dp_params[2][61][1] = -0.104315; - m_dp_params[2][61][2] = 0.153157; - m_dq_params[2][61][0] = -0.022250; - m_dq_params[2][61][1] = -4.291855; - m_dq_params[2][61][2] = 13.282276; - m_c2_params[2][61][0] = -0.428769; - m_c2_params[2][61][1] = -113.936517; - m_c2_params[2][61][2] = 181.833823; - m_dp_params[2][62][0] = 0.000748; - m_dp_params[2][62][1] = -0.023007; - m_dp_params[2][62][2] = 0.038281; - m_dq_params[2][62][0] = 0.001925; - m_dq_params[2][62][1] = -6.135191; - m_dq_params[2][62][2] = 17.053715; - m_c2_params[2][62][0] = -0.477118; - m_c2_params[2][62][1] = 98.601291; - m_c2_params[2][62][2] = -54.016532; - m_dp_params[2][63][0] = 0.000366; - m_dp_params[2][63][1] = -0.073702; - m_dp_params[2][63][2] = 0.114410; - m_dq_params[2][63][0] = -0.048121; - m_dq_params[2][63][1] = -9.503950; - m_dq_params[2][63][2] = 20.048713; - m_c2_params[2][63][0] = -0.224029; - m_c2_params[2][63][1] = -86.829192; - m_c2_params[2][63][2] = 144.241691; - m_dp_params[2][64][0] = 0.000705; - m_dp_params[2][64][1] = -0.011228; - m_dp_params[2][64][2] = 0.026313; - m_dq_params[2][64][0] = -0.008625; - m_dq_params[2][64][1] = -8.346743; - m_dq_params[2][64][2] = 19.373310; - m_c2_params[2][64][0] = -1.173772; - m_c2_params[2][64][1] = 318.416922; - m_c2_params[2][64][2] = -274.737546; - m_dp_params[2][65][0] = 0.000288; - m_dp_params[2][65][1] = -0.065569; - m_dp_params[2][65][2] = 0.106365; - m_dq_params[2][65][0] = -0.031752; - m_dq_params[2][65][1] = -6.659798; - m_dq_params[2][65][2] = 15.926117; - m_c2_params[2][65][0] = -0.410067; - m_c2_params[2][65][1] = -115.381642; - m_c2_params[2][65][2] = 199.068816; - m_dp_params[2][66][0] = 0.000816; - m_dp_params[2][66][1] = -0.034954; - m_dp_params[2][66][2] = 0.052500; - m_dq_params[2][66][0] = -0.005851; - m_dq_params[2][66][1] = -4.822181; - m_dq_params[2][66][2] = 16.057290; - m_c2_params[2][66][0] = -1.547167; - m_c2_params[2][66][1] = -66.650242; - m_c2_params[2][66][2] = 181.081873; - m_dp_params[2][67][0] = 0.000366; - m_dp_params[2][67][1] = -0.073729; - m_dp_params[2][67][2] = 0.112449; - m_dq_params[2][67][0] = -0.054712; - m_dq_params[2][67][1] = -12.676531; - m_dq_params[2][67][2] = 24.385412; - m_c2_params[2][67][0] = 0.559907; - m_c2_params[2][67][1] = -31.357066; - m_c2_params[2][67][2] = 66.411345; - m_dp_params[2][68][0] = 0.000354; - m_dp_params[2][68][1] = -0.104015; - m_dp_params[2][68][2] = 0.144003; - m_dq_params[2][68][0] = -0.041511; - m_dq_params[2][68][1] = -10.383875; - m_dq_params[2][68][2] = 23.272599; - m_c2_params[2][68][0] = -1.263412; - m_c2_params[2][68][1] = 57.746131; - m_c2_params[2][68][2] = 39.280912; - m_dp_params[2][69][0] = 0.000464; - m_dp_params[2][69][1] = -0.123333; - m_dp_params[2][69][2] = 0.173194; - m_dq_params[2][69][0] = 0.004576; - m_dq_params[2][69][1] = -7.613456; - m_dq_params[2][69][2] = 17.539551; - m_c2_params[2][69][0] = 0.556399; - m_c2_params[2][69][1] = -214.267879; - m_c2_params[2][69][2] = 295.789548; - m_dp_params[2][70][0] = 0.000260; - m_dp_params[2][70][1] = -0.095135; - m_dp_params[2][70][2] = 0.132407; - m_dq_params[2][70][0] = -0.101766; - m_dq_params[2][70][1] = -13.847655; - m_dq_params[2][70][2] = 28.213799; - m_c2_params[2][70][0] = -1.204323; - m_c2_params[2][70][1] = -10.616991; - m_c2_params[2][70][2] = 102.191187; - m_dp_params[2][71][0] = 0.000523; - m_dp_params[2][71][1] = -0.135700; - m_dp_params[2][71][2] = 0.190022; - m_dq_params[2][71][0] = -0.020032; - m_dq_params[2][71][1] = -27.296354; - m_dq_params[2][71][2] = 42.379914; - m_c2_params[2][71][0] = 0.817275; - m_c2_params[2][71][1] = -436.298613; - m_c2_params[2][71][2] = 600.603009; - - ////// Iteration 3 (lowPtTripletStep, algo=5) - m_dp_params[3][0][0] = 0.0; - m_dp_params[3][0][1] = 0.0; - m_dp_params[3][0][2] = 0.0; - m_dq_params[3][0][0] = 0.0; - m_dq_params[3][0][1] = 0.0; - m_dq_params[3][0][2] = 0.0; - m_c2_params[3][0][0] = 0.0; - m_c2_params[3][0][1] = 0.0; - m_c2_params[3][0][2] = 0.0; - m_dp_params[3][1][0] = 0.0; - m_dp_params[3][1][1] = 0.0; - m_dp_params[3][1][2] = 0.0; - m_dq_params[3][1][0] = 0.0; - m_dq_params[3][1][1] = 0.0; - m_dq_params[3][1][2] = 0.0; - m_c2_params[3][1][0] = 0.0; - m_c2_params[3][1][1] = 0.0; - m_c2_params[3][1][2] = 0.0; - m_dp_params[3][2][0] = 0.0; - m_dp_params[3][2][1] = 0.0; - m_dp_params[3][2][2] = 0.0; - m_dq_params[3][2][0] = 0.0; - m_dq_params[3][2][1] = 0.0; - m_dq_params[3][2][2] = 0.0; - m_c2_params[3][2][0] = 0.0; - m_c2_params[3][2][1] = 0.0; - m_c2_params[3][2][2] = 0.0; - m_dp_params[3][3][0] = 0.0; - m_dp_params[3][3][1] = 0.0; - m_dp_params[3][3][2] = 0.0; - m_dq_params[3][3][0] = 0.0; - m_dq_params[3][3][1] = 0.0; - m_dq_params[3][3][2] = 0.0; - m_c2_params[3][3][0] = 0.0; - m_c2_params[3][3][1] = 0.0; - m_c2_params[3][3][2] = 0.0; - m_dp_params[3][4][0] = 0.001187; - m_dp_params[3][4][1] = -0.002035; - m_dp_params[3][4][2] = 0.014204; - m_dq_params[3][4][0] = 0.003294; - m_dq_params[3][4][1] = 3.461558; - m_dq_params[3][4][2] = 5.456663; - m_c2_params[3][4][0] = 0.695580; - m_c2_params[3][4][1] = -29.111733; - m_c2_params[3][4][2] = 32.985644; - m_dp_params[3][5][0] = 0.000962; - m_dp_params[3][5][1] = -0.003981; - m_dp_params[3][5][2] = 0.032748; - m_dq_params[3][5][0] = 0.009203; - m_dq_params[3][5][1] = 3.607322; - m_dq_params[3][5][2] = 5.186248; - m_c2_params[3][5][0] = -0.568222; - m_c2_params[3][5][1] = 21.974208; - m_c2_params[3][5][2] = 89.764818; - m_dp_params[3][6][0] = 0.001241; - m_dp_params[3][6][1] = -0.000705; - m_dp_params[3][6][2] = 0.014431; - m_dq_params[3][6][0] = 0.005032; - m_dq_params[3][6][1] = 3.270813; - m_dq_params[3][6][2] = 5.383889; - m_c2_params[3][6][0] = 1.565887; - m_c2_params[3][6][1] = -463.055345; - m_c2_params[3][6][2] = 457.555366; - m_dp_params[3][7][0] = 0.001069; - m_dp_params[3][7][1] = -0.002496; - m_dp_params[3][7][2] = 0.025677; - m_dq_params[3][7][0] = 0.008900; - m_dq_params[3][7][1] = 2.727879; - m_dq_params[3][7][2] = 5.441645; - m_c2_params[3][7][0] = 3.467222; - m_c2_params[3][7][1] = -176.642143; - m_c2_params[3][7][2] = 297.541669; - m_dp_params[3][8][0] = 0.001256; - m_dp_params[3][8][1] = -0.005405; - m_dp_params[3][8][2] = 0.015894; - m_dq_params[3][8][0] = 0.016863; - m_dq_params[3][8][1] = 2.680535; - m_dq_params[3][8][2] = 5.378316; - m_c2_params[3][8][0] = 2.024755; - m_c2_params[3][8][1] = -179.300198; - m_c2_params[3][8][2] = 194.211500; - m_dp_params[3][9][0] = 0.001258; - m_dp_params[3][9][1] = -0.004973; - m_dp_params[3][9][2] = 0.016614; - m_dq_params[3][9][0] = 0.026993; - m_dq_params[3][9][1] = 2.015073; - m_dq_params[3][9][2] = 5.629364; - m_c2_params[3][9][0] = -0.513673; - m_c2_params[3][9][1] = -521.126124; - m_c2_params[3][9][2] = 509.342810; - m_dp_params[3][10][0] = 0.001325; - m_dp_params[3][10][1] = -0.003965; - m_dp_params[3][10][2] = 0.021754; - m_dq_params[3][10][0] = 0.032022; - m_dq_params[3][10][1] = 2.419430; - m_dq_params[3][10][2] = 9.286380; - m_c2_params[3][10][0] = -1.467174; - m_c2_params[3][10][1] = -216.828115; - m_c2_params[3][10][2] = 283.894260; - m_dp_params[3][11][0] = 0.001244; - m_dp_params[3][11][1] = -0.001020; - m_dp_params[3][11][2] = 0.031790; - m_dq_params[3][11][0] = 0.015333; - m_dq_params[3][11][1] = 2.946516; - m_dq_params[3][11][2] = 9.128418; - m_c2_params[3][11][0] = 3.262162; - m_c2_params[3][11][1] = -371.243262; - m_c2_params[3][11][2] = 342.952019; - m_dp_params[3][12][0] = 0.042775; - m_dp_params[3][12][1] = -0.000933; - m_dp_params[3][12][2] = -0.001538; - m_dq_params[3][12][0] = 1.595166; - m_dq_params[3][12][1] = 3.170716; - m_dq_params[3][12][2] = 7.936302; - m_c2_params[3][12][0] = 12.731636; - m_c2_params[3][12][1] = -28.967836; - m_c2_params[3][12][2] = 50.921177; - m_dp_params[3][13][0] = 0.042379; - m_dp_params[3][13][1] = -0.002178; - m_dp_params[3][13][2] = 0.011172; - m_dq_params[3][13][0] = 0.980777; - m_dq_params[3][13][1] = 2.605201; - m_dq_params[3][13][2] = 8.532359; - m_c2_params[3][13][0] = 73.225179; - m_c2_params[3][13][1] = -34.673723; - m_c2_params[3][13][2] = 31.844645; - m_dp_params[3][14][0] = 0.041522; - m_dp_params[3][14][1] = -0.007460; - m_dp_params[3][14][2] = 0.002330; - m_dq_params[3][14][0] = 0.476358; - m_dq_params[3][14][1] = 1.663862; - m_dq_params[3][14][2] = 9.017946; - m_c2_params[3][14][0] = 19.305061; - m_c2_params[3][14][1] = -17.186891; - m_c2_params[3][14][2] = 40.891171; - m_dp_params[3][15][0] = 0.033661; - m_dp_params[3][15][1] = -0.002106; - m_dp_params[3][15][2] = -0.000366; - m_dq_params[3][15][0] = -0.511470; - m_dq_params[3][15][1] = 1.258686; - m_dq_params[3][15][2] = 9.532122; - m_c2_params[3][15][0] = -17.497340; - m_c2_params[3][15][1] = -45.897452; - m_c2_params[3][15][2] = 65.995513; - m_dp_params[3][16][0] = 0.043120; - m_dp_params[3][16][1] = 0.003177; - m_dp_params[3][16][2] = -0.003449; - m_dq_params[3][16][0] = 0.391801; - m_dq_params[3][16][1] = 0.479800; - m_dq_params[3][16][2] = 9.492697; - m_c2_params[3][16][0] = 7.582008; - m_c2_params[3][16][1] = -3.586905; - m_c2_params[3][16][2] = 82.760140; - m_dp_params[3][17][0] = 0.009935; - m_dp_params[3][17][1] = 0.000741; - m_dp_params[3][17][2] = 0.000793; - m_dq_params[3][17][0] = 2.627884; - m_dq_params[3][17][1] = -0.667934; - m_dq_params[3][17][2] = 9.330110; - m_c2_params[3][17][0] = -403.159478; - m_c2_params[3][17][1] = -382.392112; - m_c2_params[3][17][2] = 312.652448; - m_dp_params[3][18][0] = 0.0; - m_dp_params[3][18][1] = 0.0; - m_dp_params[3][18][2] = 0.0; - m_dq_params[3][18][0] = 0.0; - m_dq_params[3][18][1] = 0.0; - m_dq_params[3][18][2] = 0.0; - m_c2_params[3][18][0] = 0.0; - m_c2_params[3][18][1] = 0.0; - m_c2_params[3][18][2] = 0.0; - m_dp_params[3][19][0] = 0.0; - m_dp_params[3][19][1] = 0.0; - m_dp_params[3][19][2] = 0.0; - m_dq_params[3][19][0] = 0.0; - m_dq_params[3][19][1] = 0.0; - m_dq_params[3][19][2] = 0.0; - m_c2_params[3][19][0] = 0.0; - m_c2_params[3][19][1] = 0.0; - m_c2_params[3][19][2] = 0.0; - m_dp_params[3][20][0] = 0.0; - m_dp_params[3][20][1] = 0.0; - m_dp_params[3][20][2] = 0.021000; - m_dq_params[3][20][0] = 0.0; - m_dq_params[3][20][1] = 0.0; - m_dq_params[3][20][2] = 0.900000; - m_c2_params[3][20][0] = 0.0; - m_c2_params[3][20][1] = 0.0; - m_c2_params[3][20][2] = 15.000000; - m_dp_params[3][21][0] = 0.001015; - m_dp_params[3][21][1] = -0.010517; - m_dp_params[3][21][2] = 0.027106; - m_dq_params[3][21][0] = 0.001973; - m_dq_params[3][21][1] = 0.591608; - m_dq_params[3][21][2] = 5.047963; - m_c2_params[3][21][0] = -4.123512; - m_c2_params[3][21][1] = -208.377396; - m_c2_params[3][21][2] = 472.953481; - m_dp_params[3][22][0] = 0.000766; - m_dp_params[3][22][1] = -0.042398; - m_dp_params[3][22][2] = 0.074033; - m_dq_params[3][22][0] = 0.014732; - m_dq_params[3][22][1] = 4.743268; - m_dq_params[3][22][2] = -0.238284; - m_c2_params[3][22][0] = -6.260441; - m_c2_params[3][22][1] = -947.367351; - m_c2_params[3][22][2] = 1403.025154; - m_dp_params[3][23][0] = 0.000722; - m_dp_params[3][23][1] = -0.047583; - m_dp_params[3][23][2] = 0.071489; - m_dq_params[3][23][0] = 0.002128; - m_dq_params[3][23][1] = 1.013072; - m_dq_params[3][23][2] = 4.551319; - m_c2_params[3][23][0] = 7.988985; - m_c2_params[3][23][1] = -960.551228; - m_c2_params[3][23][2] = 1179.747882; - m_dp_params[3][24][0] = 0.000576; - m_dp_params[3][24][1] = 0.0; - m_dp_params[3][24][2] = 0.020108; - m_dq_params[3][24][0] = 0.005836; - m_dq_params[3][24][1] = 0.0; - m_dq_params[3][24][2] = 5.490897; - m_c2_params[3][24][0] = 0.089158; - m_c2_params[3][24][1] = 0.0; - m_c2_params[3][24][2] = 25.855495; - m_dp_params[3][25][0] = 0.000772; - m_dp_params[3][25][1] = -0.023964; - m_dp_params[3][25][2] = 0.040576; - m_dq_params[3][25][0] = 0.008666; - m_dq_params[3][25][1] = 1.024400; - m_dq_params[3][25][2] = 4.067120; - m_c2_params[3][25][0] = 0.110733; - m_c2_params[3][25][1] = -103.556952; - m_c2_params[3][25][2] = 169.268302; - m_dp_params[3][26][0] = 0.000604; - m_dp_params[3][26][1] = 0.0; - m_dp_params[3][26][2] = 0.022669; - m_dq_params[3][26][0] = 0.009159; - m_dq_params[3][26][1] = 0.0; - m_dq_params[3][26][2] = 5.148358; - m_c2_params[3][26][0] = 0.702312; - m_c2_params[3][26][1] = 0.0; - m_c2_params[3][26][2] = 30.193624; - m_dp_params[3][27][0] = 0.000882; - m_dp_params[3][27][1] = -0.034839; - m_dp_params[3][27][2] = 0.056003; - m_dq_params[3][27][0] = -0.038703; - m_dq_params[3][27][1] = -8.808382; - m_dq_params[3][27][2] = 19.094441; - m_c2_params[3][27][0] = -3.217595; - m_c2_params[3][27][1] = -500.237218; - m_c2_params[3][27][2] = 775.751936; - m_dp_params[3][28][0] = 0.000678; - m_dp_params[3][28][1] = -0.054438; - m_dp_params[3][28][2] = 0.084729; - m_dq_params[3][28][0] = -0.032848; - m_dq_params[3][28][1] = -4.265832; - m_dq_params[3][28][2] = 12.506692; - m_c2_params[3][28][0] = 0.754515; - m_c2_params[3][28][1] = -133.572739; - m_c2_params[3][28][2] = 212.715673; - m_dp_params[3][29][0] = 0.000908; - m_dp_params[3][29][1] = -0.029580; - m_dp_params[3][29][2] = 0.047654; - m_dq_params[3][29][0] = -0.020908; - m_dq_params[3][29][1] = -8.939850; - m_dq_params[3][29][2] = 18.671235; - m_c2_params[3][29][0] = -1.948189; - m_c2_params[3][29][1] = 531.789632; - m_c2_params[3][29][2] = -459.222441; - m_dp_params[3][30][0] = 0.000561; - m_dp_params[3][30][1] = -0.041871; - m_dp_params[3][30][2] = 0.073160; - m_dq_params[3][30][0] = -0.025083; - m_dq_params[3][30][1] = -7.654723; - m_dq_params[3][30][2] = 16.064547; - m_c2_params[3][30][0] = -4.011776; - m_c2_params[3][30][1] = 841.525438; - m_c2_params[3][30][2] = -695.545743; - m_dp_params[3][31][0] = 0.000858; - m_dp_params[3][31][1] = -0.015119; - m_dp_params[3][31][2] = 0.031421; - m_dq_params[3][31][0] = -0.001219; - m_dq_params[3][31][1] = -4.009786; - m_dq_params[3][31][2] = 13.662887; - m_c2_params[3][31][0] = -4.675488; - m_c2_params[3][31][1] = 1208.194490; - m_c2_params[3][31][2] = -1079.691343; - m_dp_params[3][32][0] = 0.000517; - m_dp_params[3][32][1] = -0.095653; - m_dp_params[3][32][2] = 0.140091; - m_dq_params[3][32][0] = -0.030415; - m_dq_params[3][32][1] = -7.795606; - m_dq_params[3][32][2] = 16.480326; - m_c2_params[3][32][0] = -2.941550; - m_c2_params[3][32][1] = 392.423347; - m_c2_params[3][32][2] = -206.705233; - m_dp_params[3][33][0] = 0.000830; - m_dp_params[3][33][1] = -0.024322; - m_dp_params[3][33][2] = 0.040212; - m_dq_params[3][33][0] = -0.015599; - m_dq_params[3][33][1] = -4.732862; - m_dq_params[3][33][2] = 14.514335; - m_c2_params[3][33][0] = -0.703415; - m_c2_params[3][33][1] = 121.608259; - m_c2_params[3][33][2] = -71.850892; - m_dp_params[3][34][0] = 0.000459; - m_dp_params[3][34][1] = -0.072041; - m_dp_params[3][34][2] = 0.114852; - m_dq_params[3][34][0] = -0.049996; - m_dq_params[3][34][1] = -4.477545; - m_dq_params[3][34][2] = 13.197439; - m_c2_params[3][34][0] = -2.377756; - m_c2_params[3][34][1] = 202.134871; - m_c2_params[3][34][2] = -64.511455; - m_dp_params[3][35][0] = 0.000868; - m_dp_params[3][35][1] = -0.036794; - m_dp_params[3][35][2] = 0.056436; - m_dq_params[3][35][0] = 0.009456; - m_dq_params[3][35][1] = -8.462878; - m_dq_params[3][35][2] = 18.541440; - m_c2_params[3][35][0] = -1.096364; - m_c2_params[3][35][1] = 176.947362; - m_c2_params[3][35][2] = -107.898710; - m_dp_params[3][36][0] = 0.000222; - m_dp_params[3][36][1] = -0.070982; - m_dp_params[3][36][2] = 0.118147; - m_dq_params[3][36][0] = -0.006906; - m_dq_params[3][36][1] = -7.705306; - m_dq_params[3][36][2] = 15.969615; - m_c2_params[3][36][0] = 0.304961; - m_c2_params[3][36][1] = -150.544928; - m_c2_params[3][36][2] = 216.702618; - m_dp_params[3][37][0] = 0.000714; - m_dp_params[3][37][1] = -0.058938; - m_dp_params[3][37][2] = 0.085585; - m_dq_params[3][37][0] = -0.010275; - m_dq_params[3][37][1] = -5.035100; - m_dq_params[3][37][2] = 14.941120; - m_c2_params[3][37][0] = -2.277869; - m_c2_params[3][37][1] = 414.940802; - m_c2_params[3][37][2] = -309.177453; - m_dp_params[3][38][0] = 0.000030; - m_dp_params[3][38][1] = -0.037797; - m_dp_params[3][38][2] = 0.092674; - m_dq_params[3][38][0] = -0.003033; - m_dq_params[3][38][1] = -4.108387; - m_dq_params[3][38][2] = 12.745486; - m_c2_params[3][38][0] = 0.242669; - m_c2_params[3][38][1] = -85.454453; - m_c2_params[3][38][2] = 154.035740; - m_dp_params[3][39][0] = 0.000333; - m_dp_params[3][39][1] = -0.117024; - m_dp_params[3][39][2] = 0.164100; - m_dq_params[3][39][0] = -0.034460; - m_dq_params[3][39][1] = -8.395571; - m_dq_params[3][39][2] = 20.866665; - m_c2_params[3][39][0] = 1.001346; - m_c2_params[3][39][1] = 135.425585; - m_c2_params[3][39][2] = -115.760653; - m_dp_params[3][40][0] = 0.0; - m_dp_params[3][40][1] = 0.0; - m_dp_params[3][40][2] = 0.062000; - m_dq_params[3][40][0] = 0.0; - m_dq_params[3][40][1] = 0.0; - m_dq_params[3][40][2] = 10.300000; - m_c2_params[3][40][0] = 0.0; - m_c2_params[3][40][1] = 0.0; - m_c2_params[3][40][2] = 95.000000; - m_dp_params[3][41][0] = 0.000385; - m_dp_params[3][41][1] = -0.096697; - m_dp_params[3][41][2] = 0.134106; - m_dq_params[3][41][0] = -0.057331; - m_dq_params[3][41][1] = -12.098306; - m_dq_params[3][41][2] = 25.096838; - m_c2_params[3][41][0] = -0.647813; - m_c2_params[3][41][1] = -6.712211; - m_c2_params[3][41][2] = 61.661238; - m_dp_params[3][42][0] = 0.0; - m_dp_params[3][42][1] = 0.0; - m_dp_params[3][42][2] = 0.0; - m_dq_params[3][42][0] = 0.0; - m_dq_params[3][42][1] = 0.0; - m_dq_params[3][42][2] = 0.0; - m_c2_params[3][42][0] = 0.0; - m_c2_params[3][42][1] = 0.0; - m_c2_params[3][42][2] = 0.0; - m_dp_params[3][43][0] = 0.000466; - m_dp_params[3][43][1] = -0.149131; - m_dp_params[3][43][2] = 0.201089; - m_dq_params[3][43][0] = -0.042402; - m_dq_params[3][43][1] = -3.321992; - m_dq_params[3][43][2] = 13.382396; - m_c2_params[3][43][0] = -1.466770; - m_c2_params[3][43][1] = 139.437631; - m_c2_params[3][43][2] = -89.931812; - m_dp_params[3][44][0] = 0.0; - m_dp_params[3][44][1] = 0.0; - m_dp_params[3][44][2] = 0.0; - m_dq_params[3][44][0] = 0.0; - m_dq_params[3][44][1] = 0.0; - m_dq_params[3][44][2] = 0.0; - m_c2_params[3][44][0] = 0.0; - m_c2_params[3][44][1] = 0.0; - m_c2_params[3][44][2] = 0.0; - m_dp_params[3][45][0] = 0.0; - m_dp_params[3][45][1] = 0.0; - m_dp_params[3][45][2] = 0.0; - m_dq_params[3][45][0] = 0.0; - m_dq_params[3][45][1] = 0.0; - m_dq_params[3][45][2] = 0.0; - m_c2_params[3][45][0] = 0.0; - m_c2_params[3][45][1] = 0.0; - m_c2_params[3][45][2] = 0.0; - m_dp_params[3][46][0] = 0.0; - m_dp_params[3][46][1] = 0.0; - m_dp_params[3][46][2] = 0.0; - m_dq_params[3][46][0] = 0.0; - m_dq_params[3][46][1] = 0.0; - m_dq_params[3][46][2] = 0.0; - m_c2_params[3][46][0] = 0.0; - m_c2_params[3][46][1] = 0.0; - m_c2_params[3][46][2] = 0.0; - m_dp_params[3][47][0] = 0.0; - m_dp_params[3][47][1] = 0.0; - m_dp_params[3][47][2] = 0.024000; - m_dq_params[3][47][0] = 0.0; - m_dq_params[3][47][1] = 0.0; - m_dq_params[3][47][2] = 0.900000; - m_c2_params[3][47][0] = 0.0; - m_c2_params[3][47][1] = 0.0; - m_c2_params[3][47][2] = 21.000000; - m_dp_params[3][48][0] = 0.000747; - m_dp_params[3][48][1] = 0.002336; - m_dp_params[3][48][2] = 0.017364; - m_dq_params[3][48][0] = 0.005749; - m_dq_params[3][48][1] = 2.560325; - m_dq_params[3][48][2] = 2.848124; - m_c2_params[3][48][0] = -4.793556; - m_c2_params[3][48][1] = 623.297134; - m_c2_params[3][48][2] = -412.542602; - m_dp_params[3][49][0] = 0.000756; - m_dp_params[3][49][1] = 0.009607; - m_dp_params[3][49][2] = 0.012058; - m_dq_params[3][49][0] = 0.021692; - m_dq_params[3][49][1] = 4.615172; - m_dq_params[3][49][2] = -0.310029; - m_c2_params[3][49][0] = -6.330047; - m_c2_params[3][49][1] = -226.144413; - m_c2_params[3][49][2] = 623.476447; - m_dp_params[3][50][0] = 0.000734; - m_dp_params[3][50][1] = -0.028086; - m_dp_params[3][50][2] = 0.047613; - m_dq_params[3][50][0] = -0.002058; - m_dq_params[3][50][1] = 0.836993; - m_dq_params[3][50][2] = 4.819532; - m_c2_params[3][50][0] = -6.103496; - m_c2_params[3][50][1] = -152.147134; - m_c2_params[3][50][2] = 528.127180; - m_dp_params[3][51][0] = 0.000464; - m_dp_params[3][51][1] = 0.0; - m_dp_params[3][51][2] = 0.018881; - m_dq_params[3][51][0] = 0.009263; - m_dq_params[3][51][1] = 0.0; - m_dq_params[3][51][2] = 5.335016; - m_c2_params[3][51][0] = 0.628475; - m_c2_params[3][51][1] = 0.0; - m_c2_params[3][51][2] = 30.944655; - m_dp_params[3][52][0] = 0.000761; - m_dp_params[3][52][1] = -0.013628; - m_dp_params[3][52][2] = 0.032175; - m_dq_params[3][52][0] = 0.004236; - m_dq_params[3][52][1] = 0.302475; - m_dq_params[3][52][2] = 5.090831; - m_c2_params[3][52][0] = -10.596438; - m_c2_params[3][52][1] = 36.560434; - m_c2_params[3][52][2] = 518.782759; - m_dp_params[3][53][0] = 0.000605; - m_dp_params[3][53][1] = 0.0; - m_dp_params[3][53][2] = 0.019997; - m_dq_params[3][53][0] = 0.011708; - m_dq_params[3][53][1] = 0.0; - m_dq_params[3][53][2] = 5.199941; - m_c2_params[3][53][0] = 1.014733; - m_c2_params[3][53][1] = 0.0; - m_c2_params[3][53][2] = 14.994926; - m_dp_params[3][54][0] = 0.000885; - m_dp_params[3][54][1] = -0.027608; - m_dp_params[3][54][2] = 0.048190; - m_dq_params[3][54][0] = -0.029326; - m_dq_params[3][54][1] = -9.597192; - m_dq_params[3][54][2] = 19.955561; - m_c2_params[3][54][0] = -3.226133; - m_c2_params[3][54][1] = -66.391536; - m_c2_params[3][54][2] = 281.336380; - m_dp_params[3][55][0] = 0.000836; - m_dp_params[3][55][1] = -0.079437; - m_dp_params[3][55][2] = 0.113911; - m_dq_params[3][55][0] = -0.047838; - m_dq_params[3][55][1] = -1.371237; - m_dq_params[3][55][2] = 9.516562; - m_c2_params[3][55][0] = 0.351597; - m_c2_params[3][55][1] = -759.865080; - m_c2_params[3][55][2] = 981.032499; - m_dp_params[3][56][0] = 0.000861; - m_dp_params[3][56][1] = -0.018406; - m_dp_params[3][56][2] = 0.037770; - m_dq_params[3][56][0] = -0.007879; - m_dq_params[3][56][1] = -12.686699; - m_dq_params[3][56][2] = 22.688161; - m_c2_params[3][56][0] = -4.577022; - m_c2_params[3][56][1] = 201.803976; - m_c2_params[3][56][2] = 36.329662; - m_dp_params[3][57][0] = 0.000737; - m_dp_params[3][57][1] = -0.048401; - m_dp_params[3][57][2] = 0.077681; - m_dq_params[3][57][0] = -0.013306; - m_dq_params[3][57][1] = -6.344337; - m_dq_params[3][57][2] = 14.524928; - m_c2_params[3][57][0] = -3.086981; - m_c2_params[3][57][1] = 716.184504; - m_c2_params[3][57][2] = -575.266874; - m_dp_params[3][58][0] = 0.000867; - m_dp_params[3][58][1] = -0.015119; - m_dp_params[3][58][2] = 0.030933; - m_dq_params[3][58][0] = -0.027844; - m_dq_params[3][58][1] = -3.286710; - m_dq_params[3][58][2] = 12.969453; - m_c2_params[3][58][0] = -5.526677; - m_c2_params[3][58][1] = -261.622093; - m_c2_params[3][58][2] = 620.128835; - m_dp_params[3][59][0] = 0.000501; - m_dp_params[3][59][1] = -0.107130; - m_dp_params[3][59][2] = 0.151203; - m_dq_params[3][59][0] = -0.018606; - m_dq_params[3][59][1] = -5.927471; - m_dq_params[3][59][2] = 14.614171; - m_c2_params[3][59][0] = -2.956123; - m_c2_params[3][59][1] = 548.815498; - m_c2_params[3][59][2] = -369.253587; - m_dp_params[3][60][0] = 0.000858; - m_dp_params[3][60][1] = -0.017748; - m_dp_params[3][60][2] = 0.032364; - m_dq_params[3][60][0] = -0.023013; - m_dq_params[3][60][1] = -4.272723; - m_dq_params[3][60][2] = 14.129455; - m_c2_params[3][60][0] = 2.516195; - m_c2_params[3][60][1] = 86.111794; - m_c2_params[3][60][2] = 10.015055; - m_dp_params[3][61][0] = 0.000541; - m_dp_params[3][61][1] = -0.080353; - m_dp_params[3][61][2] = 0.118702; - m_dq_params[3][61][0] = -0.024164; - m_dq_params[3][61][1] = -2.932934; - m_dq_params[3][61][2] = 11.271550; - m_c2_params[3][61][0] = 2.775866; - m_c2_params[3][61][1] = -375.473975; - m_c2_params[3][61][2] = 470.242078; - m_dp_params[3][62][0] = 0.000740; - m_dp_params[3][62][1] = -0.027719; - m_dp_params[3][62][2] = 0.044880; - m_dq_params[3][62][0] = -0.034471; - m_dq_params[3][62][1] = -3.571276; - m_dq_params[3][62][2] = 13.781457; - m_c2_params[3][62][0] = -0.861890; - m_c2_params[3][62][1] = 164.204587; - m_c2_params[3][62][2] = -93.228181; - m_dp_params[3][63][0] = 0.000283; - m_dp_params[3][63][1] = -0.059161; - m_dp_params[3][63][2] = 0.107587; - m_dq_params[3][63][0] = -0.064712; - m_dq_params[3][63][1] = -6.573419; - m_dq_params[3][63][2] = 16.610523; - m_c2_params[3][63][0] = 0.535895; - m_c2_params[3][63][1] = -90.384517; - m_c2_params[3][63][2] = 131.515966; - m_dp_params[3][64][0] = 0.000694; - m_dp_params[3][64][1] = -0.050629; - m_dp_params[3][64][2] = 0.075249; - m_dq_params[3][64][0] = -0.021317; - m_dq_params[3][64][1] = -7.151718; - m_dq_params[3][64][2] = 18.245822; - m_c2_params[3][64][0] = -2.064779; - m_c2_params[3][64][1] = 116.810815; - m_c2_params[3][64][2] = -7.219114; - m_dp_params[3][65][0] = 0.000162; - m_dp_params[3][65][1] = -0.069021; - m_dp_params[3][65][2] = 0.121321; - m_dq_params[3][65][0] = -0.059656; - m_dq_params[3][65][1] = -7.723768; - m_dq_params[3][65][2] = 18.036630; - m_c2_params[3][65][0] = -0.010111; - m_c2_params[3][65][1] = -27.937033; - m_c2_params[3][65][2] = 74.230378; - m_dp_params[3][66][0] = 0.000320; - m_dp_params[3][66][1] = -0.114459; - m_dp_params[3][66][2] = 0.158467; - m_dq_params[3][66][0] = -0.043080; - m_dq_params[3][66][1] = -8.520856; - m_dq_params[3][66][2] = 20.416223; - m_c2_params[3][66][0] = -1.536198; - m_c2_params[3][66][1] = 167.826027; - m_c2_params[3][66][2] = -90.222139; - m_dp_params[3][67][0] = 0.0; - m_dp_params[3][67][1] = 0.0; - m_dp_params[3][67][2] = 0.055000; - m_dq_params[3][67][0] = 0.0; - m_dq_params[3][67][1] = 0.0; - m_dq_params[3][67][2] = 8.900000; - m_c2_params[3][67][0] = 0.0; - m_c2_params[3][67][1] = 0.0; - m_c2_params[3][67][2] = 61.000000; - m_dp_params[3][68][0] = 0.000552; - m_dp_params[3][68][1] = -0.112453; - m_dp_params[3][68][2] = 0.155188; - m_dq_params[3][68][0] = -0.017228; - m_dq_params[3][68][1] = -4.033348; - m_dq_params[3][68][2] = 14.099571; - m_c2_params[3][68][0] = -0.416528; - m_c2_params[3][68][1] = -85.429627; - m_c2_params[3][68][2] = 170.997000; - m_dp_params[3][69][0] = 0.0; - m_dp_params[3][69][1] = 0.0; - m_dp_params[3][69][2] = 0.047000; - m_dq_params[3][69][0] = 0.0; - m_dq_params[3][69][1] = 0.0; - m_dq_params[3][69][2] = 8.600000; - m_c2_params[3][69][0] = 0.0; - m_c2_params[3][69][1] = 0.0; - m_c2_params[3][69][2] = 67.000000; - m_dp_params[3][70][0] = 0.000489; - m_dp_params[3][70][1] = -0.104006; - m_dp_params[3][70][2] = 0.143496; - m_dq_params[3][70][0] = -0.059450; - m_dq_params[3][70][1] = 0.118233; - m_dq_params[3][70][2] = 8.792902; - m_c2_params[3][70][0] = -2.469713; - m_c2_params[3][70][1] = 387.823210; - m_c2_params[3][70][2] = -355.844752; - m_dp_params[3][71][0] = 0.0; - m_dp_params[3][71][1] = 0.0; - m_dp_params[3][71][2] = 0.0; - m_dq_params[3][71][0] = 0.0; - m_dq_params[3][71][1] = 0.0; - m_dq_params[3][71][2] = 0.0; - m_c2_params[3][71][0] = 0.0; - m_c2_params[3][71][1] = 0.0; - m_c2_params[3][71][2] = 0.0; - - ////// Iteration 4 (detachedQuadStep, algo=24) - m_dp_params[4][0][0] = 0.0; - m_dp_params[4][0][1] = 0.0; - m_dp_params[4][0][2] = 0.0; - m_dq_params[4][0][0] = 0.0; - m_dq_params[4][0][1] = 0.0; - m_dq_params[4][0][2] = 0.0; - m_c2_params[4][0][0] = 0.0; - m_c2_params[4][0][1] = 0.0; - m_c2_params[4][0][2] = 0.0; - m_dp_params[4][1][0] = 0.0; - m_dp_params[4][1][1] = 0.0; - m_dp_params[4][1][2] = 0.0; - m_dq_params[4][1][0] = 0.0; - m_dq_params[4][1][1] = 0.0; - m_dq_params[4][1][2] = 0.0; - m_c2_params[4][1][0] = 0.0; - m_c2_params[4][1][1] = 0.0; - m_c2_params[4][1][2] = 0.0; - m_dp_params[4][2][0] = 0.0; - m_dp_params[4][2][1] = 0.0; - m_dp_params[4][2][2] = 0.0; - m_dq_params[4][2][0] = 0.0; - m_dq_params[4][2][1] = 0.0; - m_dq_params[4][2][2] = 0.0; - m_c2_params[4][2][0] = 0.0; - m_c2_params[4][2][1] = 0.0; - m_c2_params[4][2][2] = 0.0; - m_dp_params[4][3][0] = 0.0; - m_dp_params[4][3][1] = 0.0; - m_dp_params[4][3][2] = 0.0; - m_dq_params[4][3][0] = 0.0; - m_dq_params[4][3][1] = 0.0; - m_dq_params[4][3][2] = 0.0; - m_c2_params[4][3][0] = 0.0; - m_c2_params[4][3][1] = 0.0; - m_c2_params[4][3][2] = 0.0; - m_dp_params[4][4][0] = 0.0; - m_dp_params[4][4][1] = 0.0; - m_dp_params[4][4][2] = 0.033000; - m_dq_params[4][4][0] = 0.0; - m_dq_params[4][4][1] = 0.0; - m_dq_params[4][4][2] = 6.400000; - m_c2_params[4][4][0] = 0.0; - m_c2_params[4][4][1] = 0.0; - m_c2_params[4][4][2] = 9.000000; - m_dp_params[4][5][0] = 0.000651; - m_dp_params[4][5][1] = -0.032182; - m_dp_params[4][5][2] = 0.056801; - m_dq_params[4][5][0] = -0.004818; - m_dq_params[4][5][1] = 0.774287; - m_dq_params[4][5][2] = 6.075515; - m_c2_params[4][5][0] = 18.972217; - m_c2_params[4][5][1] = 31.779319; - m_c2_params[4][5][2] = 21.789833; - m_dp_params[4][6][0] = 0.000892; - m_dp_params[4][6][1] = -0.028390; - m_dp_params[4][6][2] = 0.041811; - m_dq_params[4][6][0] = 0.030429; - m_dq_params[4][6][1] = 0.647735; - m_dq_params[4][6][2] = 6.847860; - m_c2_params[4][6][0] = 4.118371; - m_c2_params[4][6][1] = -273.523587; - m_c2_params[4][6][2] = 180.575097; - m_dp_params[4][7][0] = 0.000658; - m_dp_params[4][7][1] = -0.030618; - m_dp_params[4][7][2] = 0.062143; - m_dq_params[4][7][0] = 0.033480; - m_dq_params[4][7][1] = 0.644598; - m_dq_params[4][7][2] = 6.590420; - m_c2_params[4][7][0] = 5.983969; - m_c2_params[4][7][1] = -945.132217; - m_c2_params[4][7][2] = 861.592427; - m_dp_params[4][8][0] = 0.000728; - m_dp_params[4][8][1] = 0.010019; - m_dp_params[4][8][2] = 0.032508; - m_dq_params[4][8][0] = 0.012133; - m_dq_params[4][8][1] = 3.757128; - m_dq_params[4][8][2] = 5.259972; - m_c2_params[4][8][0] = 15.389282; - m_c2_params[4][8][1] = 47.590285; - m_c2_params[4][8][2] = -26.064417; - m_dp_params[4][9][0] = 0.000566; - m_dp_params[4][9][1] = 0.007514; - m_dp_params[4][9][2] = 0.041344; - m_dq_params[4][9][0] = 0.004044; - m_dq_params[4][9][1] = 1.753326; - m_dq_params[4][9][2] = 5.810899; - m_c2_params[4][9][0] = 0.444894; - m_c2_params[4][9][1] = 25.047518; - m_c2_params[4][9][2] = 5.744607; - m_dp_params[4][10][0] = 0.000150; - m_dp_params[4][10][1] = -0.080751; - m_dp_params[4][10][2] = 0.094425; - m_dq_params[4][10][0] = 0.040032; - m_dq_params[4][10][1] = 1.790043; - m_dq_params[4][10][2] = 9.473087; - m_c2_params[4][10][0] = 14.597504; - m_c2_params[4][10][1] = 126.529558; - m_c2_params[4][10][2] = -45.259758; - m_dp_params[4][11][0] = 0.000059; - m_dp_params[4][11][1] = -0.069063; - m_dp_params[4][11][2] = 0.095530; - m_dq_params[4][11][0] = -0.017814; - m_dq_params[4][11][1] = 1.317562; - m_dq_params[4][11][2] = 9.429695; - m_c2_params[4][11][0] = 3.128941; - m_c2_params[4][11][1] = -29.875752; - m_c2_params[4][11][2] = 59.160219; - m_dp_params[4][12][0] = 0.0; - m_dp_params[4][12][1] = 0.015029; - m_dp_params[4][12][2] = 0.065727; - m_dq_params[4][12][0] = 0.0; - m_dq_params[4][12][1] = 0.500950; - m_dq_params[4][12][2] = 10.290908; - m_c2_params[4][12][0] = 0.0; - m_c2_params[4][12][1] = -0.000000; - m_c2_params[4][12][2] = 52.000000; - m_dp_params[4][13][0] = 0.0; - m_dp_params[4][13][1] = -0.005010; - m_dp_params[4][13][2] = 0.080091; - m_dq_params[4][13][0] = 0.0; - m_dq_params[4][13][1] = 4.007603; - m_dq_params[4][13][2] = 9.527267; - m_c2_params[4][13][0] = 0.0; - m_c2_params[4][13][1] = -2326.914448; - m_c2_params[4][13][2] = 1506.730821; - m_dp_params[4][14][0] = 0.0; - m_dp_params[4][14][1] = 0.002505; - m_dp_params[4][14][2] = 0.070455; - m_dq_params[4][14][0] = 0.0; - m_dq_params[4][14][1] = 1.252376; - m_dq_params[4][14][2] = 10.427271; - m_c2_params[4][14][0] = 0.0; - m_c2_params[4][14][1] = 50.095037; - m_c2_params[4][14][2] = 22.090833; - m_dp_params[4][15][0] = 0.0; - m_dp_params[4][15][1] = -0.002505; - m_dp_params[4][15][2] = 0.069545; - m_dq_params[4][15][0] = 0.0; - m_dq_params[4][15][1] = 2.504752; - m_dq_params[4][15][2] = 9.354542; - m_c2_params[4][15][0] = 0.0; - m_c2_params[4][15][1] = -52.599788; - m_c2_params[4][15][2] = 103.454626; - m_dp_params[4][16][0] = 0.0; - m_dp_params[4][16][1] = 0.0; - m_dp_params[4][16][2] = 0.066000; - m_dq_params[4][16][0] = 0.0; - m_dq_params[4][16][1] = 0.0; - m_dq_params[4][16][2] = 9.600000; - m_c2_params[4][16][0] = 0.0; - m_c2_params[4][16][1] = 0.0; - m_c2_params[4][16][2] = 999.999999; - m_dp_params[4][17][0] = 0.0; - m_dp_params[4][17][1] = 0.0; - m_dp_params[4][17][2] = 0.0; - m_dq_params[4][17][0] = 0.0; - m_dq_params[4][17][1] = 0.0; - m_dq_params[4][17][2] = 0.0; - m_c2_params[4][17][0] = 0.0; - m_c2_params[4][17][1] = 0.0; - m_c2_params[4][17][2] = 0.0; - m_dp_params[4][18][0] = 0.0; - m_dp_params[4][18][1] = 0.0; - m_dp_params[4][18][2] = 0.0; - m_dq_params[4][18][0] = 0.0; - m_dq_params[4][18][1] = 0.0; - m_dq_params[4][18][2] = 0.0; - m_c2_params[4][18][0] = 0.0; - m_c2_params[4][18][1] = 0.0; - m_c2_params[4][18][2] = 0.0; - m_dp_params[4][19][0] = 0.0; - m_dp_params[4][19][1] = 0.0; - m_dp_params[4][19][2] = 0.0; - m_dq_params[4][19][0] = 0.0; - m_dq_params[4][19][1] = 0.0; - m_dq_params[4][19][2] = 0.0; - m_c2_params[4][19][0] = 0.0; - m_c2_params[4][19][1] = 0.0; - m_c2_params[4][19][2] = 0.0; - m_dp_params[4][20][0] = 0.0; - m_dp_params[4][20][1] = 0.0; - m_dp_params[4][20][2] = 0.0; - m_dq_params[4][20][0] = 0.0; - m_dq_params[4][20][1] = 0.0; - m_dq_params[4][20][2] = 0.0; - m_c2_params[4][20][0] = 0.0; - m_c2_params[4][20][1] = 0.0; - m_c2_params[4][20][2] = 0.0; - m_dp_params[4][21][0] = 0.0; - m_dp_params[4][21][1] = 0.0; - m_dp_params[4][21][2] = 0.0; - m_dq_params[4][21][0] = 0.0; - m_dq_params[4][21][1] = 0.0; - m_dq_params[4][21][2] = 0.0; - m_c2_params[4][21][0] = 0.0; - m_c2_params[4][21][1] = 0.0; - m_c2_params[4][21][2] = 0.0; - m_dp_params[4][22][0] = 0.0; - m_dp_params[4][22][1] = 0.0; - m_dp_params[4][22][2] = 0.0; - m_dq_params[4][22][0] = 0.0; - m_dq_params[4][22][1] = 0.0; - m_dq_params[4][22][2] = 0.0; - m_c2_params[4][22][0] = 0.0; - m_c2_params[4][22][1] = 0.0; - m_c2_params[4][22][2] = 0.0; - m_dp_params[4][23][0] = 0.0; - m_dp_params[4][23][1] = 0.0; - m_dp_params[4][23][2] = 0.0; - m_dq_params[4][23][0] = 0.0; - m_dq_params[4][23][1] = 0.0; - m_dq_params[4][23][2] = 0.0; - m_c2_params[4][23][0] = 0.0; - m_c2_params[4][23][1] = 0.0; - m_c2_params[4][23][2] = 0.0; - m_dp_params[4][24][0] = 0.0; - m_dp_params[4][24][1] = 0.0; - m_dp_params[4][24][2] = 0.0; - m_dq_params[4][24][0] = 0.0; - m_dq_params[4][24][1] = 0.0; - m_dq_params[4][24][2] = 0.0; - m_c2_params[4][24][0] = 0.0; - m_c2_params[4][24][1] = 0.0; - m_c2_params[4][24][2] = 0.0; - m_dp_params[4][25][0] = 0.0; - m_dp_params[4][25][1] = 0.0; - m_dp_params[4][25][2] = 0.0; - m_dq_params[4][25][0] = 0.0; - m_dq_params[4][25][1] = 0.0; - m_dq_params[4][25][2] = 0.0; - m_c2_params[4][25][0] = 0.0; - m_c2_params[4][25][1] = 0.0; - m_c2_params[4][25][2] = 0.0; - m_dp_params[4][26][0] = 0.0; - m_dp_params[4][26][1] = 0.0; - m_dp_params[4][26][2] = 0.0; - m_dq_params[4][26][0] = 0.0; - m_dq_params[4][26][1] = 0.0; - m_dq_params[4][26][2] = 0.0; - m_c2_params[4][26][0] = 0.0; - m_c2_params[4][26][1] = 0.0; - m_c2_params[4][26][2] = 0.0; - m_dp_params[4][27][0] = 0.0; - m_dp_params[4][27][1] = 0.0; - m_dp_params[4][27][2] = 0.0; - m_dq_params[4][27][0] = 0.0; - m_dq_params[4][27][1] = 0.0; - m_dq_params[4][27][2] = 0.0; - m_c2_params[4][27][0] = 0.0; - m_c2_params[4][27][1] = 0.0; - m_c2_params[4][27][2] = 0.0; - m_dp_params[4][28][0] = 0.0; - m_dp_params[4][28][1] = 0.0; - m_dp_params[4][28][2] = 0.0; - m_dq_params[4][28][0] = 0.0; - m_dq_params[4][28][1] = 0.0; - m_dq_params[4][28][2] = 0.0; - m_c2_params[4][28][0] = 0.0; - m_c2_params[4][28][1] = 0.0; - m_c2_params[4][28][2] = 0.0; - m_dp_params[4][29][0] = 0.0; - m_dp_params[4][29][1] = 0.0; - m_dp_params[4][29][2] = 0.0; - m_dq_params[4][29][0] = 0.0; - m_dq_params[4][29][1] = 0.0; - m_dq_params[4][29][2] = 0.0; - m_c2_params[4][29][0] = 0.0; - m_c2_params[4][29][1] = 0.0; - m_c2_params[4][29][2] = 0.0; - m_dp_params[4][30][0] = 0.0; - m_dp_params[4][30][1] = 0.0; - m_dp_params[4][30][2] = 0.0; - m_dq_params[4][30][0] = 0.0; - m_dq_params[4][30][1] = 0.0; - m_dq_params[4][30][2] = 0.0; - m_c2_params[4][30][0] = 0.0; - m_c2_params[4][30][1] = 0.0; - m_c2_params[4][30][2] = 0.0; - m_dp_params[4][31][0] = 0.000325; - m_dp_params[4][31][1] = -0.055726; - m_dp_params[4][31][2] = 0.098605; - m_dq_params[4][31][0] = 0.003874; - m_dq_params[4][31][1] = -1.882024; - m_dq_params[4][31][2] = 7.186220; - m_c2_params[4][31][0] = -0.463075; - m_c2_params[4][31][1] = 28.217939; - m_c2_params[4][31][2] = 31.464324; - m_dp_params[4][32][0] = 0.000345; - m_dp_params[4][32][1] = 0.010037; - m_dp_params[4][32][2] = 0.014001; - m_dq_params[4][32][0] = -0.003982; - m_dq_params[4][32][1] = -3.906489; - m_dq_params[4][32][2] = 10.164377; - m_c2_params[4][32][0] = -19.647411; - m_c2_params[4][32][1] = -5493.417114; - m_c2_params[4][32][2] = 8010.276739; - m_dp_params[4][33][0] = 0.0; - m_dp_params[4][33][1] = 0.0; - m_dp_params[4][33][2] = 0.027000; - m_dq_params[4][33][0] = 0.0; - m_dq_params[4][33][1] = 0.0; - m_dq_params[4][33][2] = 10.400000; - m_c2_params[4][33][0] = 0.0; - m_c2_params[4][33][1] = 0.0; - m_c2_params[4][33][2] = 999.999999; - m_dp_params[4][34][0] = 0.0; - m_dp_params[4][34][1] = 0.0; - m_dp_params[4][34][2] = 0.0; - m_dq_params[4][34][0] = 0.0; - m_dq_params[4][34][1] = 0.0; - m_dq_params[4][34][2] = 0.0; - m_c2_params[4][34][0] = 0.0; - m_c2_params[4][34][1] = 0.0; - m_c2_params[4][34][2] = 0.0; - m_dp_params[4][35][0] = 0.0; - m_dp_params[4][35][1] = 0.0; - m_dp_params[4][35][2] = 0.024000; - m_dq_params[4][35][0] = 0.0; - m_dq_params[4][35][1] = 0.0; - m_dq_params[4][35][2] = 7.400000; - m_c2_params[4][35][0] = 0.0; - m_c2_params[4][35][1] = 0.0; - m_c2_params[4][35][2] = 215.000002; - m_dp_params[4][36][0] = 0.0; - m_dp_params[4][36][1] = 0.0; - m_dp_params[4][36][2] = 0.0; - m_dq_params[4][36][0] = 0.0; - m_dq_params[4][36][1] = 0.0; - m_dq_params[4][36][2] = 0.0; - m_c2_params[4][36][0] = 0.0; - m_c2_params[4][36][1] = 0.0; - m_c2_params[4][36][2] = 0.0; - m_dp_params[4][37][0] = 0.000162; - m_dp_params[4][37][1] = -0.104303; - m_dp_params[4][37][2] = 0.157102; - m_dq_params[4][37][0] = -0.002008; - m_dq_params[4][37][1] = 0.275637; - m_dq_params[4][37][2] = 4.353377; - m_c2_params[4][37][0] = -6.066932; - m_c2_params[4][37][1] = 979.201283; - m_c2_params[4][37][2] = -898.534491; - m_dp_params[4][38][0] = 0.027324; - m_dp_params[4][38][1] = 0.0; - m_dp_params[4][38][2] = 0.016258; - m_dq_params[4][38][0] = 0.232487; - m_dq_params[4][38][1] = 0.0; - m_dq_params[4][38][2] = 5.138509; - m_c2_params[4][38][0] = 2122.609266; - m_c2_params[4][38][1] = 0.0; - m_c2_params[4][38][2] = 40.207471; - m_dp_params[4][39][0] = 0.0; - m_dp_params[4][39][1] = 0.0; - m_dp_params[4][39][2] = 0.0; - m_dq_params[4][39][0] = 0.0; - m_dq_params[4][39][1] = 0.0; - m_dq_params[4][39][2] = 0.0; - m_c2_params[4][39][0] = 0.0; - m_c2_params[4][39][1] = 0.0; - m_c2_params[4][39][2] = 0.0; - m_dp_params[4][40][0] = 0.0; - m_dp_params[4][40][1] = 0.0; - m_dp_params[4][40][2] = 0.0; - m_dq_params[4][40][0] = 0.0; - m_dq_params[4][40][1] = 0.0; - m_dq_params[4][40][2] = 0.0; - m_c2_params[4][40][0] = 0.0; - m_c2_params[4][40][1] = 0.0; - m_c2_params[4][40][2] = 0.0; - m_dp_params[4][41][0] = 0.0; - m_dp_params[4][41][1] = 0.0; - m_dp_params[4][41][2] = 0.021000; - m_dq_params[4][41][0] = 0.0; - m_dq_params[4][41][1] = 0.0; - m_dq_params[4][41][2] = 9.600000; - m_c2_params[4][41][0] = 0.0; - m_c2_params[4][41][1] = 0.0; - m_c2_params[4][41][2] = 358.000008; - m_dp_params[4][42][0] = 0.0; - m_dp_params[4][42][1] = 0.0; - m_dp_params[4][42][2] = 0.0; - m_dq_params[4][42][0] = 0.0; - m_dq_params[4][42][1] = 0.0; - m_dq_params[4][42][2] = 0.0; - m_c2_params[4][42][0] = 0.0; - m_c2_params[4][42][1] = 0.0; - m_c2_params[4][42][2] = 0.0; - m_dp_params[4][43][0] = 0.0; - m_dp_params[4][43][1] = 0.0; - m_dp_params[4][43][2] = 0.0; - m_dq_params[4][43][0] = 0.0; - m_dq_params[4][43][1] = 0.0; - m_dq_params[4][43][2] = 0.0; - m_c2_params[4][43][0] = 0.0; - m_c2_params[4][43][1] = 0.0; - m_c2_params[4][43][2] = 0.0; - m_dp_params[4][44][0] = 0.0; - m_dp_params[4][44][1] = 0.0; - m_dp_params[4][44][2] = 0.0; - m_dq_params[4][44][0] = 0.0; - m_dq_params[4][44][1] = 0.0; - m_dq_params[4][44][2] = 0.0; - m_c2_params[4][44][0] = 0.0; - m_c2_params[4][44][1] = 0.0; - m_c2_params[4][44][2] = 0.0; - m_dp_params[4][45][0] = 0.0; - m_dp_params[4][45][1] = 0.0; - m_dp_params[4][45][2] = 0.0; - m_dq_params[4][45][0] = 0.0; - m_dq_params[4][45][1] = 0.0; - m_dq_params[4][45][2] = 0.0; - m_c2_params[4][45][0] = 0.0; - m_c2_params[4][45][1] = 0.0; - m_c2_params[4][45][2] = 0.0; - m_dp_params[4][46][0] = 0.0; - m_dp_params[4][46][1] = 0.0; - m_dp_params[4][46][2] = 0.0; - m_dq_params[4][46][0] = 0.0; - m_dq_params[4][46][1] = 0.0; - m_dq_params[4][46][2] = 0.0; - m_c2_params[4][46][0] = 0.0; - m_c2_params[4][46][1] = 0.0; - m_c2_params[4][46][2] = 0.0; - m_dp_params[4][47][0] = 0.0; - m_dp_params[4][47][1] = 0.0; - m_dp_params[4][47][2] = 0.0; - m_dq_params[4][47][0] = 0.0; - m_dq_params[4][47][1] = 0.0; - m_dq_params[4][47][2] = 0.0; - m_c2_params[4][47][0] = 0.0; - m_c2_params[4][47][1] = 0.0; - m_c2_params[4][47][2] = 0.0; - m_dp_params[4][48][0] = 0.0; - m_dp_params[4][48][1] = 0.0; - m_dp_params[4][48][2] = 0.0; - m_dq_params[4][48][0] = 0.0; - m_dq_params[4][48][1] = 0.0; - m_dq_params[4][48][2] = 0.0; - m_c2_params[4][48][0] = 0.0; - m_c2_params[4][48][1] = 0.0; - m_c2_params[4][48][2] = 0.0; - m_dp_params[4][49][0] = 0.0; - m_dp_params[4][49][1] = 0.0; - m_dp_params[4][49][2] = 0.0; - m_dq_params[4][49][0] = 0.0; - m_dq_params[4][49][1] = 0.0; - m_dq_params[4][49][2] = 0.0; - m_c2_params[4][49][0] = 0.0; - m_c2_params[4][49][1] = 0.0; - m_c2_params[4][49][2] = 0.0; - m_dp_params[4][50][0] = 0.0; - m_dp_params[4][50][1] = 0.0; - m_dp_params[4][50][2] = 0.0; - m_dq_params[4][50][0] = 0.0; - m_dq_params[4][50][1] = 0.0; - m_dq_params[4][50][2] = 0.0; - m_c2_params[4][50][0] = 0.0; - m_c2_params[4][50][1] = 0.0; - m_c2_params[4][50][2] = 0.0; - m_dp_params[4][51][0] = 0.0; - m_dp_params[4][51][1] = 0.0; - m_dp_params[4][51][2] = 0.0; - m_dq_params[4][51][0] = 0.0; - m_dq_params[4][51][1] = 0.0; - m_dq_params[4][51][2] = 0.0; - m_c2_params[4][51][0] = 0.0; - m_c2_params[4][51][1] = 0.0; - m_c2_params[4][51][2] = 0.0; - m_dp_params[4][52][0] = 0.0; - m_dp_params[4][52][1] = 0.0; - m_dp_params[4][52][2] = 0.0; - m_dq_params[4][52][0] = 0.0; - m_dq_params[4][52][1] = 0.0; - m_dq_params[4][52][2] = 0.0; - m_c2_params[4][52][0] = 0.0; - m_c2_params[4][52][1] = 0.0; - m_c2_params[4][52][2] = 0.0; - m_dp_params[4][53][0] = 0.0; - m_dp_params[4][53][1] = 0.0; - m_dp_params[4][53][2] = 0.053000; - m_dq_params[4][53][0] = 0.0; - m_dq_params[4][53][1] = 0.0; - m_dq_params[4][53][2] = 5.600000; - m_c2_params[4][53][0] = 0.0; - m_c2_params[4][53][1] = 0.0; - m_c2_params[4][53][2] = 418.000017; - m_dp_params[4][54][0] = 0.000870; - m_dp_params[4][54][1] = 0.001312; - m_dp_params[4][54][2] = 0.000730; - m_dq_params[4][54][0] = -0.105357; - m_dq_params[4][54][1] = 3.612140; - m_dq_params[4][54][2] = 6.214431; - m_c2_params[4][54][0] = 0.564782; - m_c2_params[4][54][1] = 29.770255; - m_c2_params[4][54][2] = 33.265745; - m_dp_params[4][55][0] = 0.0; - m_dp_params[4][55][1] = 0.0; - m_dp_params[4][55][2] = 0.051000; - m_dq_params[4][55][0] = 0.0; - m_dq_params[4][55][1] = 0.0; - m_dq_params[4][55][2] = 4.700000; - m_c2_params[4][55][0] = 0.0; - m_c2_params[4][55][1] = 0.0; - m_c2_params[4][55][2] = 280.000001; - m_dp_params[4][56][0] = 0.000987; - m_dp_params[4][56][1] = 0.001317; - m_dp_params[4][56][2] = 0.000724; - m_dq_params[4][56][0] = -0.079767; - m_dq_params[4][56][1] = 3.903414; - m_dq_params[4][56][2] = 6.133193; - m_c2_params[4][56][0] = -1.164250; - m_c2_params[4][56][1] = 28.469482; - m_c2_params[4][56][2] = 55.529773; - m_dp_params[4][57][0] = 0.0; - m_dp_params[4][57][1] = 0.0; - m_dp_params[4][57][2] = 0.047000; - m_dq_params[4][57][0] = 0.0; - m_dq_params[4][57][1] = 0.0; - m_dq_params[4][57][2] = 4.500000; - m_c2_params[4][57][0] = 0.0; - m_c2_params[4][57][1] = 0.0; - m_c2_params[4][57][2] = 216.999997; - m_dp_params[4][58][0] = 0.000534; - m_dp_params[4][58][1] = -0.029945; - m_dp_params[4][58][2] = 0.068379; - m_dq_params[4][58][0] = -0.051573; - m_dq_params[4][58][1] = -19.807245; - m_dq_params[4][58][2] = 33.056107; - m_c2_params[4][58][0] = -0.515237; - m_c2_params[4][58][1] = -87.898077; - m_c2_params[4][58][2] = 210.203446; - m_dp_params[4][59][0] = 0.000615; - m_dp_params[4][59][1] = 0.069851; - m_dp_params[4][59][2] = -0.070762; - m_dq_params[4][59][0] = -0.003922; - m_dq_params[4][59][1] = -4.753638; - m_dq_params[4][59][2] = 11.403516; - m_c2_params[4][59][0] = -9.397284; - m_c2_params[4][59][1] = -2369.137229; - m_c2_params[4][59][2] = 3598.304548; - m_dp_params[4][60][0] = 0.000384; - m_dp_params[4][60][1] = 0.0; - m_dp_params[4][60][2] = 0.020308; - m_dq_params[4][60][0] = -0.070779; - m_dq_params[4][60][1] = 0.0; - m_dq_params[4][60][2] = 8.727401; - m_c2_params[4][60][0] = 0.364004; - m_c2_params[4][60][1] = 0.0; - m_c2_params[4][60][2] = 31.344793; - m_dp_params[4][61][0] = 0.0; - m_dp_params[4][61][1] = 0.0; - m_dp_params[4][61][2] = 0.0; - m_dq_params[4][61][0] = 0.0; - m_dq_params[4][61][1] = 0.0; - m_dq_params[4][61][2] = 0.0; - m_c2_params[4][61][0] = 0.0; - m_c2_params[4][61][1] = 0.0; - m_c2_params[4][61][2] = 0.0; - m_dp_params[4][62][0] = -0.000000; - m_dp_params[4][62][1] = 0.0; - m_dp_params[4][62][2] = 0.029000; - m_dq_params[4][62][0] = -0.048534; - m_dq_params[4][62][1] = 0.0; - m_dq_params[4][62][2] = 9.187361; - m_c2_params[4][62][0] = -0.364004; - m_c2_params[4][62][1] = 0.0; - m_c2_params[4][62][2] = 64.655207; - m_dp_params[4][63][0] = 0.0; - m_dp_params[4][63][1] = 0.0; - m_dp_params[4][63][2] = 0.029000; - m_dq_params[4][63][0] = 0.0; - m_dq_params[4][63][1] = 0.0; - m_dq_params[4][63][2] = 6.600000; - m_c2_params[4][63][0] = 0.0; - m_c2_params[4][63][1] = 0.0; - m_c2_params[4][63][2] = 31.000000; - m_dp_params[4][64][0] = 0.000224; - m_dp_params[4][64][1] = -0.021247; - m_dp_params[4][64][2] = 0.055538; - m_dq_params[4][64][0] = -0.082950; - m_dq_params[4][64][1] = -31.424642; - m_dq_params[4][64][2] = 50.339464; - m_c2_params[4][64][0] = -1.195099; - m_c2_params[4][64][1] = 1666.855917; - m_c2_params[4][64][2] = -2041.641813; - m_dp_params[4][65][0] = 0.000919; - m_dp_params[4][65][1] = 0.007440; - m_dp_params[4][65][2] = 0.011500; - m_dq_params[4][65][0] = 0.027135; - m_dq_params[4][65][1] = 1.890259; - m_dq_params[4][65][2] = 2.609761; - m_c2_params[4][65][0] = -775.025067; - m_c2_params[4][65][1] = -231802.983890; - m_c2_params[4][65][2] = 334109.690547; - m_dp_params[4][66][0] = 0.0; - m_dp_params[4][66][1] = 0.0; - m_dp_params[4][66][2] = 0.029000; - m_dq_params[4][66][0] = 0.0; - m_dq_params[4][66][1] = 0.0; - m_dq_params[4][66][2] = 9.400000; - m_c2_params[4][66][0] = 0.0; - m_c2_params[4][66][1] = 0.0; - m_c2_params[4][66][2] = 16.000000; - m_dp_params[4][67][0] = 0.0; - m_dp_params[4][67][1] = 0.0; - m_dp_params[4][67][2] = 0.0; - m_dq_params[4][67][0] = 0.0; - m_dq_params[4][67][1] = 0.0; - m_dq_params[4][67][2] = 0.0; - m_c2_params[4][67][0] = 0.0; - m_c2_params[4][67][1] = 0.0; - m_c2_params[4][67][2] = 0.0; - m_dp_params[4][68][0] = 0.000000; - m_dp_params[4][68][1] = 0.0; - m_dp_params[4][68][2] = 0.033000; - m_dq_params[4][68][0] = 0.004044; - m_dq_params[4][68][1] = 0.0; - m_dq_params[4][68][2] = 5.792720; - m_c2_params[4][68][0] = -0.950455; - m_c2_params[4][68][1] = 0.0; - m_c2_params[4][68][2] = 66.710819; - m_dp_params[4][69][0] = 0.0; - m_dp_params[4][69][1] = 0.0; - m_dp_params[4][69][2] = 0.0; - m_dq_params[4][69][0] = 0.0; - m_dq_params[4][69][1] = 0.0; - m_dq_params[4][69][2] = 0.0; - m_c2_params[4][69][0] = 0.0; - m_c2_params[4][69][1] = 0.0; - m_c2_params[4][69][2] = 0.0; - m_dp_params[4][70][0] = 0.0; - m_dp_params[4][70][1] = 0.0; - m_dp_params[4][70][2] = 0.0; - m_dq_params[4][70][0] = 0.0; - m_dq_params[4][70][1] = 0.0; - m_dq_params[4][70][2] = 0.0; - m_c2_params[4][70][0] = 0.0; - m_c2_params[4][70][1] = 0.0; - m_c2_params[4][70][2] = 0.0; - m_dp_params[4][71][0] = 0.0; - m_dp_params[4][71][1] = 0.0; - m_dp_params[4][71][2] = 0.0; - m_dq_params[4][71][0] = 0.0; - m_dq_params[4][71][1] = 0.0; - m_dq_params[4][71][2] = 0.0; - m_c2_params[4][71][0] = 0.0; - m_c2_params[4][71][1] = 0.0; - m_c2_params[4][71][2] = 0.0; - - ////// Iteration 5 (detachedTripletStep, algo=7) - m_dp_params[5][0][0] = 0.0; - m_dp_params[5][0][1] = 0.0; - m_dp_params[5][0][2] = 0.0; - m_dq_params[5][0][0] = 0.0; - m_dq_params[5][0][1] = 0.0; - m_dq_params[5][0][2] = 0.0; - m_c2_params[5][0][0] = 0.0; - m_c2_params[5][0][1] = 0.0; - m_c2_params[5][0][2] = 0.0; - m_dp_params[5][1][0] = 0.0; - m_dp_params[5][1][1] = 0.0; - m_dp_params[5][1][2] = 0.0; - m_dq_params[5][1][0] = 0.0; - m_dq_params[5][1][1] = 0.0; - m_dq_params[5][1][2] = 0.0; - m_c2_params[5][1][0] = 0.0; - m_c2_params[5][1][1] = 0.0; - m_c2_params[5][1][2] = 0.0; - m_dp_params[5][2][0] = 0.0; - m_dp_params[5][2][1] = 0.0; - m_dp_params[5][2][2] = 0.0; - m_dq_params[5][2][0] = 0.0; - m_dq_params[5][2][1] = 0.0; - m_dq_params[5][2][2] = 0.0; - m_c2_params[5][2][0] = 0.0; - m_c2_params[5][2][1] = 0.0; - m_c2_params[5][2][2] = 0.0; - m_dp_params[5][3][0] = 0.000251; - m_dp_params[5][3][1] = 0.002587; - m_dp_params[5][3][2] = 0.008511; - m_dq_params[5][3][0] = 0.000000; - m_dq_params[5][3][1] = 0.802852; - m_dq_params[5][3][2] = 0.025163; - m_c2_params[5][3][0] = -0.020222; - m_c2_params[5][3][1] = 5.352346; - m_c2_params[5][3][2] = 14.870823; - m_dp_params[5][4][0] = 0.001172; - m_dp_params[5][4][1] = 0.000924; - m_dp_params[5][4][2] = 0.015330; - m_dq_params[5][4][0] = 0.005326; - m_dq_params[5][4][1] = 3.659852; - m_dq_params[5][4][2] = 5.466569; - m_c2_params[5][4][0] = 0.501038; - m_c2_params[5][4][1] = -11.508815; - m_c2_params[5][4][2] = 37.692219; - m_dp_params[5][5][0] = 0.000921; - m_dp_params[5][5][1] = 0.005854; - m_dp_params[5][5][2] = 0.028692; - m_dq_params[5][5][0] = -0.003416; - m_dq_params[5][5][1] = 2.028418; - m_dq_params[5][5][2] = 6.110258; - m_c2_params[5][5][0] = 0.471627; - m_c2_params[5][5][1] = 100.491355; - m_c2_params[5][5][2] = 175.735765; - m_dp_params[5][6][0] = 0.001220; - m_dp_params[5][6][1] = 0.004566; - m_dp_params[5][6][2] = 0.012944; - m_dq_params[5][6][0] = 0.016910; - m_dq_params[5][6][1] = 2.772304; - m_dq_params[5][6][2] = 5.540765; - m_c2_params[5][6][0] = -3.238065; - m_c2_params[5][6][1] = -78.177997; - m_c2_params[5][6][2] = 306.589549; - m_dp_params[5][7][0] = 0.001203; - m_dp_params[5][7][1] = -0.003301; - m_dp_params[5][7][2] = 0.026258; - m_dq_params[5][7][0] = 0.022954; - m_dq_params[5][7][1] = 1.897854; - m_dq_params[5][7][2] = 5.849536; - m_c2_params[5][7][0] = 0.775039; - m_c2_params[5][7][1] = -487.371417; - m_c2_params[5][7][2] = 621.226465; - m_dp_params[5][8][0] = 0.001286; - m_dp_params[5][8][1] = 0.001418; - m_dp_params[5][8][2] = 0.013173; - m_dq_params[5][8][0] = 0.052052; - m_dq_params[5][8][1] = 1.316138; - m_dq_params[5][8][2] = 6.050210; - m_c2_params[5][8][0] = 0.712389; - m_c2_params[5][8][1] = -81.634484; - m_c2_params[5][8][2] = 250.233341; - m_dp_params[5][9][0] = 0.001289; - m_dp_params[5][9][1] = -0.003560; - m_dp_params[5][9][2] = 0.017054; - m_dq_params[5][9][0] = 0.024932; - m_dq_params[5][9][1] = 1.207697; - m_dq_params[5][9][2] = 5.865139; - m_c2_params[5][9][0] = -1.320996; - m_c2_params[5][9][1] = -330.136044; - m_c2_params[5][9][2] = 341.514800; - m_dp_params[5][10][0] = 0.001367; - m_dp_params[5][10][1] = -0.000781; - m_dp_params[5][10][2] = 0.020131; - m_dq_params[5][10][0] = 0.038840; - m_dq_params[5][10][1] = 2.386911; - m_dq_params[5][10][2] = 9.070351; - m_c2_params[5][10][0] = 3.449411; - m_c2_params[5][10][1] = -278.757415; - m_c2_params[5][10][2] = 338.598702; - m_dp_params[5][11][0] = 0.001129; - m_dp_params[5][11][1] = -0.001347; - m_dp_params[5][11][2] = 0.030209; - m_dq_params[5][11][0] = 0.029836; - m_dq_params[5][11][1] = 2.615054; - m_dq_params[5][11][2] = 8.966038; - m_c2_params[5][11][0] = -1.021350; - m_c2_params[5][11][1] = -126.178409; - m_c2_params[5][11][2] = 254.910476; - m_dp_params[5][12][0] = 0.038576; - m_dp_params[5][12][1] = -0.007428; - m_dp_params[5][12][2] = 0.002831; - m_dq_params[5][12][0] = 1.035244; - m_dq_params[5][12][1] = 1.795747; - m_dq_params[5][12][2] = 8.600138; - m_c2_params[5][12][0] = -22.583058; - m_c2_params[5][12][1] = -64.039543; - m_c2_params[5][12][2] = 158.943453; - m_dp_params[5][13][0] = 0.033655; - m_dp_params[5][13][1] = -0.007744; - m_dp_params[5][13][2] = 0.015325; - m_dq_params[5][13][0] = 0.954999; - m_dq_params[5][13][1] = 3.166166; - m_dq_params[5][13][2] = 8.238230; - m_c2_params[5][13][0] = 214.579888; - m_c2_params[5][13][1] = -267.341522; - m_c2_params[5][13][2] = 167.969803; - m_dp_params[5][14][0] = 0.038884; - m_dp_params[5][14][1] = -0.000861; - m_dp_params[5][14][2] = -0.001030; - m_dq_params[5][14][0] = 0.585347; - m_dq_params[5][14][1] = 1.848836; - m_dq_params[5][14][2] = 9.085064; - m_c2_params[5][14][0] = 274.371339; - m_c2_params[5][14][1] = -240.744569; - m_c2_params[5][14][2] = 124.859528; - m_dp_params[5][15][0] = 0.040760; - m_dp_params[5][15][1] = 0.004172; - m_dp_params[5][15][2] = -0.003472; - m_dq_params[5][15][0] = 0.684043; - m_dq_params[5][15][1] = 0.620794; - m_dq_params[5][15][2] = 9.174387; - m_c2_params[5][15][0] = 182.077127; - m_c2_params[5][15][1] = -276.742820; - m_c2_params[5][15][2] = 181.408875; - m_dp_params[5][16][0] = 0.035869; - m_dp_params[5][16][1] = -0.007441; - m_dp_params[5][16][2] = 0.002702; - m_dq_params[5][16][0] = 0.524219; - m_dq_params[5][16][1] = -1.056969; - m_dq_params[5][16][2] = 9.698021; - m_c2_params[5][16][0] = 228.994655; - m_c2_params[5][16][1] = -431.849203; - m_c2_params[5][16][2] = 273.041598; - m_dp_params[5][17][0] = 0.037216; - m_dp_params[5][17][1] = -0.002594; - m_dp_params[5][17][2] = 0.000468; - m_dq_params[5][17][0] = -0.233025; - m_dq_params[5][17][1] = 1.716914; - m_dq_params[5][17][2] = 9.001942; - m_c2_params[5][17][0] = -80.225581; - m_c2_params[5][17][1] = -338.420553; - m_c2_params[5][17][2] = 258.769463; - m_dp_params[5][18][0] = 0.0; - m_dp_params[5][18][1] = 0.0; - m_dp_params[5][18][2] = 0.0; - m_dq_params[5][18][0] = 0.0; - m_dq_params[5][18][1] = 0.0; - m_dq_params[5][18][2] = 0.0; - m_c2_params[5][18][0] = 0.0; - m_c2_params[5][18][1] = 0.0; - m_c2_params[5][18][2] = 0.0; - m_dp_params[5][19][0] = 0.0; - m_dp_params[5][19][1] = 0.0; - m_dp_params[5][19][2] = 0.0; - m_dq_params[5][19][0] = 0.0; - m_dq_params[5][19][1] = 0.0; - m_dq_params[5][19][2] = 0.0; - m_c2_params[5][19][0] = 0.0; - m_c2_params[5][19][1] = 0.0; - m_c2_params[5][19][2] = 0.0; - m_dp_params[5][20][0] = 0.0; - m_dp_params[5][20][1] = 0.0; - m_dp_params[5][20][2] = 0.024000; - m_dq_params[5][20][0] = 0.0; - m_dq_params[5][20][1] = 0.0; - m_dq_params[5][20][2] = 0.900000; - m_c2_params[5][20][0] = 0.0; - m_c2_params[5][20][1] = 0.0; - m_c2_params[5][20][2] = 20.000000; - m_dp_params[5][21][0] = 0.000934; - m_dp_params[5][21][1] = -0.009985; - m_dp_params[5][21][2] = 0.029700; - m_dq_params[5][21][0] = 0.011127; - m_dq_params[5][21][1] = 1.068206; - m_dq_params[5][21][2] = 4.485206; - m_c2_params[5][21][0] = -4.066379; - m_c2_params[5][21][1] = 309.380152; - m_c2_params[5][21][2] = -107.678025; - m_dp_params[5][22][0] = 0.000503; - m_dp_params[5][22][1] = -0.039939; - m_dp_params[5][22][2] = 0.074988; - m_dq_params[5][22][0] = 0.018581; - m_dq_params[5][22][1] = 3.376729; - m_dq_params[5][22][2] = 1.545836; - m_c2_params[5][22][0] = -2.013886; - m_c2_params[5][22][1] = 171.171475; - m_c2_params[5][22][2] = -61.582929; - m_dp_params[5][23][0] = 0.000899; - m_dp_params[5][23][1] = 0.001755; - m_dp_params[5][23][2] = 0.017819; - m_dq_params[5][23][0] = -0.005768; - m_dq_params[5][23][1] = 0.466193; - m_dq_params[5][23][2] = 5.077015; - m_c2_params[5][23][0] = -6.538985; - m_c2_params[5][23][1] = -343.106722; - m_c2_params[5][23][2] = 772.106008; - m_dp_params[5][24][0] = 0.000373; - m_dp_params[5][24][1] = 0.0; - m_dp_params[5][24][2] = 0.030122; - m_dq_params[5][24][0] = -0.002336; - m_dq_params[5][24][1] = 0.0; - m_dq_params[5][24][2] = 5.729386; - m_c2_params[5][24][0] = -6.641918; - m_c2_params[5][24][1] = 0.0; - m_c2_params[5][24][2] = 392.486855; - m_dp_params[5][25][0] = 0.000498; - m_dp_params[5][25][1] = -0.043135; - m_dp_params[5][25][2] = 0.076422; - m_dq_params[5][25][0] = -0.000613; - m_dq_params[5][25][1] = -0.199552; - m_dq_params[5][25][2] = 5.758838; - m_c2_params[5][25][0] = -5.562936; - m_c2_params[5][25][1] = 1086.928883; - m_c2_params[5][25][2] = -879.943956; - m_dp_params[5][26][0] = 0.000430; - m_dp_params[5][26][1] = 0.0; - m_dp_params[5][26][2] = 0.027450; - m_dq_params[5][26][0] = 0.001014; - m_dq_params[5][26][1] = 0.0; - m_dq_params[5][26][2] = 5.552953; - m_c2_params[5][26][0] = -1.571343; - m_c2_params[5][26][1] = 0.0; - m_c2_params[5][26][2] = 163.670725; - m_dp_params[5][27][0] = 0.000737; - m_dp_params[5][27][1] = 0.002739; - m_dp_params[5][27][2] = 0.024695; - m_dq_params[5][27][0] = -0.013384; - m_dq_params[5][27][1] = -13.256396; - m_dq_params[5][27][2] = 23.531411; - m_c2_params[5][27][0] = -7.235682; - m_c2_params[5][27][1] = 929.043279; - m_c2_params[5][27][2] = -647.583542; - m_dp_params[5][28][0] = 0.000484; - m_dp_params[5][28][1] = 0.013688; - m_dp_params[5][28][2] = 0.015991; - m_dq_params[5][28][0] = -0.002223; - m_dq_params[5][28][1] = -8.033130; - m_dq_params[5][28][2] = 15.821043; - m_c2_params[5][28][0] = -15.381891; - m_c2_params[5][28][1] = 1387.743458; - m_c2_params[5][28][2] = -938.192272; - m_dp_params[5][29][0] = 0.000802; - m_dp_params[5][29][1] = 0.010637; - m_dp_params[5][29][2] = 0.011975; - m_dq_params[5][29][0] = 0.001877; - m_dq_params[5][29][1] = -11.010478; - m_dq_params[5][29][2] = 20.809313; - m_c2_params[5][29][0] = -5.778567; - m_c2_params[5][29][1] = 454.113725; - m_c2_params[5][29][2] = -132.891541; - m_dp_params[5][30][0] = 0.000421; - m_dp_params[5][30][1] = -0.026582; - m_dp_params[5][30][2] = 0.060275; - m_dq_params[5][30][0] = -0.021397; - m_dq_params[5][30][1] = -4.139027; - m_dq_params[5][30][2] = 11.613908; - m_c2_params[5][30][0] = -13.853507; - m_c2_params[5][30][1] = 2005.430770; - m_c2_params[5][30][2] = -1747.449075; - m_dp_params[5][31][0] = 0.000652; - m_dp_params[5][31][1] = 0.028350; - m_dp_params[5][31][2] = -0.010393; - m_dq_params[5][31][0] = -0.037180; - m_dq_params[5][31][1] = -12.027396; - m_dq_params[5][31][2] = 22.602121; - m_c2_params[5][31][0] = -4.811177; - m_c2_params[5][31][1] = 288.397884; - m_c2_params[5][31][2] = -23.050632; - m_dp_params[5][32][0] = 0.000599; - m_dp_params[5][32][1] = 0.005025; - m_dp_params[5][32][2] = 0.026346; - m_dq_params[5][32][0] = -0.022104; - m_dq_params[5][32][1] = -8.166196; - m_dq_params[5][32][2] = 16.767210; - m_c2_params[5][32][0] = -10.036119; - m_c2_params[5][32][1] = -28.426487; - m_c2_params[5][32][2] = 622.311553; - m_dp_params[5][33][0] = 0.000669; - m_dp_params[5][33][1] = -0.034637; - m_dp_params[5][33][2] = 0.053758; - m_dq_params[5][33][0] = -0.024347; - m_dq_params[5][33][1] = -5.411400; - m_dq_params[5][33][2] = 15.172327; - m_c2_params[5][33][0] = -1.153928; - m_c2_params[5][33][1] = 260.034990; - m_c2_params[5][33][2] = -167.319188; - m_dp_params[5][34][0] = 0.000701; - m_dp_params[5][34][1] = -0.112541; - m_dp_params[5][34][2] = 0.158351; - m_dq_params[5][34][0] = -0.010122; - m_dq_params[5][34][1] = -1.676555; - m_dq_params[5][34][2] = 8.636271; - m_c2_params[5][34][0] = 6.557976; - m_c2_params[5][34][1] = 133.833871; - m_c2_params[5][34][2] = -73.968135; - m_dp_params[5][35][0] = 0.000675; - m_dp_params[5][35][1] = -0.032906; - m_dp_params[5][35][2] = 0.051504; - m_dq_params[5][35][0] = 0.021330; - m_dq_params[5][35][1] = -10.790925; - m_dq_params[5][35][2] = 21.704861; - m_c2_params[5][35][0] = -0.152286; - m_c2_params[5][35][1] = 273.381715; - m_c2_params[5][35][2] = -202.310834; - m_dp_params[5][36][0] = 0.000478; - m_dp_params[5][36][1] = 0.0; - m_dp_params[5][36][2] = 0.019967; - m_dq_params[5][36][0] = -0.012327; - m_dq_params[5][36][1] = 0.0; - m_dq_params[5][36][2] = 6.932030; - m_c2_params[5][36][0] = -0.030327; - m_c2_params[5][36][1] = 0.0; - m_c2_params[5][36][2] = 53.418056; - m_dp_params[5][37][0] = 0.000665; - m_dp_params[5][37][1] = 0.000017; - m_dp_params[5][37][2] = 0.021839; - m_dq_params[5][37][0] = -0.000205; - m_dq_params[5][37][1] = -12.685744; - m_dq_params[5][37][2] = 23.953470; - m_c2_params[5][37][0] = -1.423069; - m_c2_params[5][37][1] = 651.283159; - m_c2_params[5][37][2] = -604.492729; - m_dp_params[5][38][0] = 0.000638; - m_dp_params[5][38][1] = 0.051497; - m_dp_params[5][38][2] = -0.039689; - m_dq_params[5][38][0] = 0.023502; - m_dq_params[5][38][1] = -5.884571; - m_dq_params[5][38][2] = 13.734861; - m_c2_params[5][38][0] = -2.020593; - m_c2_params[5][38][1] = 1209.101624; - m_c2_params[5][38][2] = -1357.281143; - m_dp_params[5][39][0] = 0.000519; - m_dp_params[5][39][1] = -0.088938; - m_dp_params[5][39][2] = 0.124077; - m_dq_params[5][39][0] = -0.023441; - m_dq_params[5][39][1] = -15.013296; - m_dq_params[5][39][2] = 27.711179; - m_c2_params[5][39][0] = -0.135273; - m_c2_params[5][39][1] = 112.658632; - m_c2_params[5][39][2] = -78.139327; - m_dp_params[5][40][0] = 0.0; - m_dp_params[5][40][1] = 0.0; - m_dp_params[5][40][2] = 0.038000; - m_dq_params[5][40][0] = 0.0; - m_dq_params[5][40][1] = 0.0; - m_dq_params[5][40][2] = 7.100000; - m_c2_params[5][40][0] = 0.0; - m_c2_params[5][40][1] = 0.0; - m_c2_params[5][40][2] = 126.000000; - m_dp_params[5][41][0] = 0.000407; - m_dp_params[5][41][1] = -0.120070; - m_dp_params[5][41][2] = 0.170044; - m_dq_params[5][41][0] = -0.015541; - m_dq_params[5][41][1] = -14.990868; - m_dq_params[5][41][2] = 27.548261; - m_c2_params[5][41][0] = -2.871103; - m_c2_params[5][41][1] = 772.565319; - m_c2_params[5][41][2] = -785.057567; - m_dp_params[5][42][0] = 0.0; - m_dp_params[5][42][1] = 0.0; - m_dp_params[5][42][2] = 0.035000; - m_dq_params[5][42][0] = 0.0; - m_dq_params[5][42][1] = 0.0; - m_dq_params[5][42][2] = 7.500000; - m_c2_params[5][42][0] = 0.0; - m_c2_params[5][42][1] = 0.0; - m_c2_params[5][42][2] = 151.000000; - m_dp_params[5][43][0] = 0.000556; - m_dp_params[5][43][1] = -0.138113; - m_dp_params[5][43][2] = 0.185292; - m_dq_params[5][43][0] = -0.040227; - m_dq_params[5][43][1] = -16.159799; - m_dq_params[5][43][2] = 29.768317; - m_c2_params[5][43][0] = -2.431501; - m_c2_params[5][43][1] = 252.284178; - m_c2_params[5][43][2] = -163.104096; - m_dp_params[5][44][0] = 0.010574; - m_dp_params[5][44][1] = 0.0; - m_dp_params[5][44][2] = 0.008624; - m_dq_params[5][44][0] = 0.493260; - m_dq_params[5][44][1] = 0.0; - m_dq_params[5][44][2] = 7.386812; - m_c2_params[5][44][0] = 78.652681; - m_c2_params[5][44][1] = 0.0; - m_c2_params[5][44][2] = -19.747319; - m_dp_params[5][45][0] = 0.0; - m_dp_params[5][45][1] = 0.0; - m_dp_params[5][45][2] = 0.0; - m_dq_params[5][45][0] = 0.0; - m_dq_params[5][45][1] = 0.0; - m_dq_params[5][45][2] = 0.0; - m_c2_params[5][45][0] = 0.0; - m_c2_params[5][45][1] = 0.0; - m_c2_params[5][45][2] = 0.0; - m_dp_params[5][46][0] = 0.0; - m_dp_params[5][46][1] = 0.0; - m_dp_params[5][46][2] = 0.0; - m_dq_params[5][46][0] = 0.0; - m_dq_params[5][46][1] = 0.0; - m_dq_params[5][46][2] = 0.0; - m_c2_params[5][46][0] = 0.0; - m_c2_params[5][46][1] = 0.0; - m_c2_params[5][46][2] = 0.0; - m_dp_params[5][47][0] = 0.0; - m_dp_params[5][47][1] = 0.0; - m_dp_params[5][47][2] = 0.024000; - m_dq_params[5][47][0] = 0.0; - m_dq_params[5][47][1] = 0.0; - m_dq_params[5][47][2] = 0.900000; - m_c2_params[5][47][0] = 0.0; - m_c2_params[5][47][1] = 0.0; - m_c2_params[5][47][2] = 66.000000; - m_dp_params[5][48][0] = 0.000741; - m_dp_params[5][48][1] = 0.018488; - m_dp_params[5][48][2] = 0.003294; - m_dq_params[5][48][0] = -0.005340; - m_dq_params[5][48][1] = 2.406030; - m_dq_params[5][48][2] = 2.992838; - m_c2_params[5][48][0] = -5.036970; - m_c2_params[5][48][1] = 519.422096; - m_c2_params[5][48][2] = -294.454665; - m_dp_params[5][49][0] = 0.000364; - m_dp_params[5][49][1] = -0.090037; - m_dp_params[5][49][2] = 0.143751; - m_dq_params[5][49][0] = -0.007404; - m_dq_params[5][49][1] = 1.623004; - m_dq_params[5][49][2] = 3.580011; - m_c2_params[5][49][0] = -7.025802; - m_c2_params[5][49][1] = -524.108408; - m_c2_params[5][49][2] = 1071.179213; - m_dp_params[5][50][0] = 0.000757; - m_dp_params[5][50][1] = 0.010067; - m_dp_params[5][50][2] = 0.011839; - m_dq_params[5][50][0] = -0.000665; - m_dq_params[5][50][1] = 0.635424; - m_dq_params[5][50][2] = 5.020625; - m_c2_params[5][50][0] = -1.764148; - m_c2_params[5][50][1] = 41.990868; - m_c2_params[5][50][2] = 78.005914; - m_dp_params[5][51][0] = 0.000351; - m_dp_params[5][51][1] = 0.0; - m_dp_params[5][51][2] = 0.026694; - m_dq_params[5][51][0] = 0.004049; - m_dq_params[5][51][1] = 0.0; - m_dq_params[5][51][2] = 5.591686; - m_c2_params[5][51][0] = 0.386234; - m_c2_params[5][51][1] = 0.0; - m_c2_params[5][51][2] = 18.597873; - m_dp_params[5][52][0] = 0.000526; - m_dp_params[5][52][1] = -0.039301; - m_dp_params[5][52][2] = 0.074967; - m_dq_params[5][52][0] = 0.004983; - m_dq_params[5][52][1] = 0.362755; - m_dq_params[5][52][2] = 4.994509; - m_c2_params[5][52][0] = -7.170136; - m_c2_params[5][52][1] = 47.041767; - m_c2_params[5][52][2] = 340.069194; - m_dp_params[5][53][0] = 0.000380; - m_dp_params[5][53][1] = 0.0; - m_dp_params[5][53][2] = 0.029806; - m_dq_params[5][53][0] = -0.002976; - m_dq_params[5][53][1] = 0.0; - m_dq_params[5][53][2] = 5.345686; - m_c2_params[5][53][0] = -2.171498; - m_c2_params[5][53][1] = 0.0; - m_c2_params[5][53][2] = 161.548336; - m_dp_params[5][54][0] = 0.000674; - m_dp_params[5][54][1] = -0.001096; - m_dp_params[5][54][2] = 0.025804; - m_dq_params[5][54][0] = -0.048242; - m_dq_params[5][54][1] = -11.284370; - m_dq_params[5][54][2] = 21.676470; - m_c2_params[5][54][0] = -5.474531; - m_c2_params[5][54][1] = 118.869335; - m_c2_params[5][54][2] = 186.074297; - m_dp_params[5][55][0] = 0.000324; - m_dp_params[5][55][1] = 0.014828; - m_dp_params[5][55][2] = 0.017139; - m_dq_params[5][55][0] = -0.008979; - m_dq_params[5][55][1] = -6.011248; - m_dq_params[5][55][2] = 13.807788; - m_c2_params[5][55][0] = -7.894087; - m_c2_params[5][55][1] = -672.984123; - m_c2_params[5][55][2] = 1374.039562; - m_dp_params[5][56][0] = 0.000650; - m_dp_params[5][56][1] = 0.016434; - m_dp_params[5][56][2] = 0.004938; - m_dq_params[5][56][0] = -0.020233; - m_dq_params[5][56][1] = -12.160826; - m_dq_params[5][56][2] = 22.385945; - m_c2_params[5][56][0] = -6.892755; - m_c2_params[5][56][1] = 1164.590808; - m_c2_params[5][56][2] = -899.343388; - m_dp_params[5][57][0] = 0.000430; - m_dp_params[5][57][1] = -0.085270; - m_dp_params[5][57][2] = 0.139520; - m_dq_params[5][57][0] = -0.032746; - m_dq_params[5][57][1] = -4.808739; - m_dq_params[5][57][2] = 12.899881; - m_c2_params[5][57][0] = 1.360608; - m_c2_params[5][57][1] = 1038.565205; - m_c2_params[5][57][2] = -920.773879; - m_dp_params[5][58][0] = 0.000846; - m_dp_params[5][58][1] = 0.032267; - m_dp_params[5][58][2] = -0.013585; - m_dq_params[5][58][0] = -0.017416; - m_dq_params[5][58][1] = -12.340970; - m_dq_params[5][58][2] = 22.946776; - m_c2_params[5][58][0] = -2.184240; - m_c2_params[5][58][1] = 195.765588; - m_c2_params[5][58][2] = -52.352241; - m_dp_params[5][59][0] = 0.000403; - m_dp_params[5][59][1] = 0.012895; - m_dp_params[5][59][2] = 0.017191; - m_dq_params[5][59][0] = -0.011575; - m_dq_params[5][59][1] = -8.566295; - m_dq_params[5][59][2] = 17.004197; - m_c2_params[5][59][0] = -4.095874; - m_c2_params[5][59][1] = 41.606056; - m_c2_params[5][59][2] = 207.396191; - m_dp_params[5][60][0] = 0.000711; - m_dp_params[5][60][1] = -0.026294; - m_dp_params[5][60][2] = 0.043949; - m_dq_params[5][60][0] = -0.017036; - m_dq_params[5][60][1] = -1.205127; - m_dq_params[5][60][2] = 11.083663; - m_c2_params[5][60][0] = -2.262879; - m_c2_params[5][60][1] = 507.248866; - m_c2_params[5][60][2] = -402.936787; - m_dp_params[5][61][0] = 0.000567; - m_dp_params[5][61][1] = -0.143710; - m_dp_params[5][61][2] = 0.199674; - m_dq_params[5][61][0] = -0.012229; - m_dq_params[5][61][1] = -4.895756; - m_dq_params[5][61][2] = 13.046932; - m_c2_params[5][61][0] = 0.207304; - m_c2_params[5][61][1] = -131.048221; - m_c2_params[5][61][2] = 262.102186; - m_dp_params[5][62][0] = 0.000677; - m_dp_params[5][62][1] = -0.033426; - m_dp_params[5][62][2] = 0.052981; - m_dq_params[5][62][0] = -0.028806; - m_dq_params[5][62][1] = -8.596857; - m_dq_params[5][62][2] = 20.006114; - m_c2_params[5][62][0] = -1.005576; - m_c2_params[5][62][1] = 70.956503; - m_c2_params[5][62][2] = 15.682635; - m_dp_params[5][63][0] = 0.000354; - m_dp_params[5][63][1] = 0.0; - m_dp_params[5][63][2] = 0.029334; - m_dq_params[5][63][0] = -0.013851; - m_dq_params[5][63][1] = 0.0; - m_dq_params[5][63][2] = 7.399292; - m_c2_params[5][63][0] = 0.629287; - m_c2_params[5][63][1] = 0.0; - m_c2_params[5][63][2] = 82.468809; - m_dp_params[5][64][0] = 0.000550; - m_dp_params[5][64][1] = 0.003270; - m_dp_params[5][64][2] = 0.020860; - m_dq_params[5][64][0] = -0.019328; - m_dq_params[5][64][1] = -15.413647; - m_dq_params[5][64][2] = 27.288156; - m_c2_params[5][64][0] = -3.755786; - m_c2_params[5][64][1] = 743.902345; - m_c2_params[5][64][2] = -598.895368; - m_dp_params[5][65][0] = 0.000295; - m_dp_params[5][65][1] = 0.025876; - m_dp_params[5][65][2] = -0.003014; - m_dq_params[5][65][0] = 0.027954; - m_dq_params[5][65][1] = 1.527511; - m_dq_params[5][65][2] = 3.125135; - m_c2_params[5][65][0] = -4.188347; - m_c2_params[5][65][1] = -184.910294; - m_c2_params[5][65][2] = 599.392958; - m_dp_params[5][66][0] = 0.000530; - m_dp_params[5][66][1] = -0.090673; - m_dp_params[5][66][2] = 0.127960; - m_dq_params[5][66][0] = -0.083793; - m_dq_params[5][66][1] = -12.275994; - m_dq_params[5][66][2] = 25.270225; - m_c2_params[5][66][0] = -0.240767; - m_c2_params[5][66][1] = 137.454794; - m_c2_params[5][66][2] = -91.271997; - m_dp_params[5][67][0] = 0.0; - m_dp_params[5][67][1] = 0.0; - m_dp_params[5][67][2] = 0.038000; - m_dq_params[5][67][0] = 0.0; - m_dq_params[5][67][1] = 0.0; - m_dq_params[5][67][2] = 7.800000; - m_c2_params[5][67][0] = 0.0; - m_c2_params[5][67][1] = 0.0; - m_c2_params[5][67][2] = 42.000000; - m_dp_params[5][68][0] = 0.000322; - m_dp_params[5][68][1] = -0.050310; - m_dp_params[5][68][2] = 0.085932; - m_dq_params[5][68][0] = -0.006334; - m_dq_params[5][68][1] = -9.562144; - m_dq_params[5][68][2] = 21.015005; - m_c2_params[5][68][0] = -9.132792; - m_c2_params[5][68][1] = 2027.819336; - m_c2_params[5][68][2] = -2089.796176; - m_dp_params[5][69][0] = 0.0; - m_dp_params[5][69][1] = 0.0; - m_dp_params[5][69][2] = 0.026000; - m_dq_params[5][69][0] = 0.0; - m_dq_params[5][69][1] = 0.0; - m_dq_params[5][69][2] = 8.100000; - m_c2_params[5][69][0] = 0.0; - m_c2_params[5][69][1] = 0.0; - m_c2_params[5][69][2] = 45.000000; - m_dp_params[5][70][0] = 0.000631; - m_dp_params[5][70][1] = -0.107462; - m_dp_params[5][70][2] = 0.146577; - m_dq_params[5][70][0] = -0.050315; - m_dq_params[5][70][1] = -20.724703; - m_dq_params[5][70][2] = 35.992087; - m_c2_params[5][70][0] = -1.167228; - m_c2_params[5][70][1] = -20.570731; - m_c2_params[5][70][2] = 109.953932; - m_dp_params[5][71][0] = 0.0; - m_dp_params[5][71][1] = 0.0; - m_dp_params[5][71][2] = 0.022000; - m_dq_params[5][71][0] = 0.0; - m_dq_params[5][71][1] = 0.0; - m_dq_params[5][71][2] = 7.100000; - m_c2_params[5][71][0] = 0.0; - m_c2_params[5][71][1] = 0.0; - m_c2_params[5][71][2] = 50.000000; - - ////// Iteration 6 (mixedTripletStep, algo=8) - m_dp_params[6][0][0] = 0.0; - m_dp_params[6][0][1] = 0.0; - m_dp_params[6][0][2] = 0.0; - m_dq_params[6][0][0] = 0.0; - m_dq_params[6][0][1] = 0.0; - m_dq_params[6][0][2] = 0.0; - m_c2_params[6][0][0] = 0.0; - m_c2_params[6][0][1] = 0.0; - m_c2_params[6][0][2] = 0.0; - m_dp_params[6][1][0] = 0.0; - m_dp_params[6][1][1] = 0.0; - m_dp_params[6][1][2] = 0.0; - m_dq_params[6][1][0] = 0.0; - m_dq_params[6][1][1] = 0.0; - m_dq_params[6][1][2] = 0.0; - m_c2_params[6][1][0] = 0.0; - m_c2_params[6][1][1] = 0.0; - m_c2_params[6][1][2] = 0.0; - m_dp_params[6][2][0] = 0.0; - m_dp_params[6][2][1] = 0.0; - m_dp_params[6][2][2] = 0.0; - m_dq_params[6][2][0] = 0.0; - m_dq_params[6][2][1] = 0.0; - m_dq_params[6][2][2] = 0.0; - m_c2_params[6][2][0] = 0.0; - m_c2_params[6][2][1] = 0.0; - m_c2_params[6][2][2] = 0.0; - m_dp_params[6][3][0] = 0.0; - m_dp_params[6][3][1] = 0.0; - m_dp_params[6][3][2] = 0.0; - m_dq_params[6][3][0] = 0.0; - m_dq_params[6][3][1] = 0.0; - m_dq_params[6][3][2] = 0.0; - m_c2_params[6][3][0] = 0.0; - m_c2_params[6][3][1] = 0.0; - m_c2_params[6][3][2] = 0.0; - m_dp_params[6][4][0] = 0.0; - m_dp_params[6][4][1] = 0.0; - m_dp_params[6][4][2] = 0.0; - m_dq_params[6][4][0] = 0.0; - m_dq_params[6][4][1] = 0.0; - m_dq_params[6][4][2] = 0.0; - m_c2_params[6][4][0] = 0.0; - m_c2_params[6][4][1] = 0.0; - m_c2_params[6][4][2] = 0.0; - m_dp_params[6][5][0] = 0.006022; - m_dp_params[6][5][1] = 0.000041; - m_dp_params[6][5][2] = 0.024142; - m_dq_params[6][5][0] = -0.354410; - m_dq_params[6][5][1] = 1.906285; - m_dq_params[6][5][2] = 6.003324; - m_c2_params[6][5][0] = -18.275454; - m_c2_params[6][5][1] = 100.965789; - m_c2_params[6][5][2] = -16.126529; - m_dp_params[6][6][0] = 0.014686; - m_dp_params[6][6][1] = 0.001231; - m_dp_params[6][6][2] = 0.001170; - m_dq_params[6][6][0] = -0.244548; - m_dq_params[6][6][1] = 3.430296; - m_dq_params[6][6][2] = 5.396206; - m_c2_params[6][6][0] = -3.546367; - m_c2_params[6][6][1] = 13.914971; - m_c2_params[6][6][2] = 7.513330; - m_dp_params[6][7][0] = 0.010470; - m_dp_params[6][7][1] = 0.001220; - m_dp_params[6][7][2] = 0.016520; - m_dq_params[6][7][0] = 0.231978; - m_dq_params[6][7][1] = 3.125150; - m_dq_params[6][7][2] = 5.219954; - m_c2_params[6][7][0] = 6.174964; - m_c2_params[6][7][1] = 25.979820; - m_c2_params[6][7][2] = 12.713857; - m_dp_params[6][8][0] = 0.013156; - m_dp_params[6][8][1] = 0.002069; - m_dp_params[6][8][2] = 0.001052; - m_dq_params[6][8][0] = -0.774915; - m_dq_params[6][8][1] = 1.934443; - m_dq_params[6][8][2] = 5.969039; - m_c2_params[6][8][0] = 8.342133; - m_c2_params[6][8][1] = 45.376162; - m_c2_params[6][8][2] = 2.190248; - m_dp_params[6][9][0] = 0.011370; - m_dp_params[6][9][1] = 0.000730; - m_dp_params[6][9][2] = 0.001400; - m_dq_params[6][9][0] = 0.040758; - m_dq_params[6][9][1] = 1.608660; - m_dq_params[6][9][2] = 5.848046; - m_c2_params[6][9][0] = -0.071432; - m_c2_params[6][9][1] = 2.848506; - m_c2_params[6][9][2] = 24.228387; - m_dp_params[6][10][0] = 0.030978; - m_dp_params[6][10][1] = 0.004034; - m_dp_params[6][10][2] = -0.002500; - m_dq_params[6][10][0] = 0.260680; - m_dq_params[6][10][1] = 3.279793; - m_dq_params[6][10][2] = 8.526558; - m_c2_params[6][10][0] = 195.123081; - m_c2_params[6][10][1] = 35.737877; - m_c2_params[6][10][2] = -5.541308; - m_dp_params[6][11][0] = 0.025214; - m_dp_params[6][11][1] = 0.008125; - m_dp_params[6][11][2] = 0.008579; - m_dq_params[6][11][0] = 0.117405; - m_dq_params[6][11][1] = 3.312823; - m_dq_params[6][11][2] = 8.579390; - m_c2_params[6][11][0] = 201.197342; - m_c2_params[6][11][1] = 41.861455; - m_c2_params[6][11][2] = -18.469688; - m_dp_params[6][12][0] = 0.025332; - m_dp_params[6][12][1] = -0.000135; - m_dp_params[6][12][2] = 0.000927; - m_dq_params[6][12][0] = 0.213454; - m_dq_params[6][12][1] = 2.227896; - m_dq_params[6][12][2] = 8.934779; - m_c2_params[6][12][0] = 287.743182; - m_c2_params[6][12][1] = 14.221943; - m_c2_params[6][12][2] = -16.228145; - m_dp_params[6][13][0] = 0.012933; - m_dp_params[6][13][1] = 0.000622; - m_dp_params[6][13][2] = 0.013126; - m_dq_params[6][13][0] = 0.267238; - m_dq_params[6][13][1] = 2.463982; - m_dq_params[6][13][2] = 8.752540; - m_c2_params[6][13][0] = -0.340350; - m_c2_params[6][13][1] = 16.995910; - m_c2_params[6][13][2] = 7.818472; - m_dp_params[6][14][0] = 0.014339; - m_dp_params[6][14][1] = 0.000344; - m_dp_params[6][14][2] = 0.000852; - m_dq_params[6][14][0] = -0.197487; - m_dq_params[6][14][1] = 0.996792; - m_dq_params[6][14][2] = 9.575901; - m_c2_params[6][14][0] = -30.740787; - m_c2_params[6][14][1] = 6.716844; - m_c2_params[6][14][2] = 27.634979; - m_dp_params[6][15][0] = 0.013496; - m_dp_params[6][15][1] = -0.000034; - m_dp_params[6][15][2] = 0.001126; - m_dq_params[6][15][0] = 0.269699; - m_dq_params[6][15][1] = 0.159720; - m_dq_params[6][15][2] = 9.907404; - m_c2_params[6][15][0] = -88.949387; - m_c2_params[6][15][1] = -26.319102; - m_c2_params[6][15][2] = 82.951737; - m_dp_params[6][16][0] = 0.014800; - m_dp_params[6][16][1] = 0.000043; - m_dp_params[6][16][2] = 0.001230; - m_dq_params[6][16][0] = 0.402486; - m_dq_params[6][16][1] = -0.193109; - m_dq_params[6][16][2] = 9.846103; - m_c2_params[6][16][0] = -341.414376; - m_c2_params[6][16][1] = -366.564882; - m_c2_params[6][16][2] = 424.476429; - m_dp_params[6][17][0] = 0.015304; - m_dp_params[6][17][1] = 0.000331; - m_dp_params[6][17][2] = 0.001158; - m_dq_params[6][17][0] = 0.481533; - m_dq_params[6][17][1] = 1.753326; - m_dq_params[6][17][2] = 8.878535; - m_c2_params[6][17][0] = -19.916803; - m_c2_params[6][17][1] = -5.009504; - m_c2_params[6][17][2] = 47.366790; - m_dp_params[6][18][0] = 0.0; - m_dp_params[6][18][1] = 0.0; - m_dp_params[6][18][2] = 0.0; - m_dq_params[6][18][0] = 0.0; - m_dq_params[6][18][1] = 0.0; - m_dq_params[6][18][2] = 0.0; - m_c2_params[6][18][0] = 0.0; - m_c2_params[6][18][1] = 0.0; - m_c2_params[6][18][2] = 0.0; - m_dp_params[6][19][0] = 0.0; - m_dp_params[6][19][1] = 0.0; - m_dp_params[6][19][2] = 0.0; - m_dq_params[6][19][0] = 0.0; - m_dq_params[6][19][1] = 0.0; - m_dq_params[6][19][2] = 0.0; - m_c2_params[6][19][0] = 0.0; - m_c2_params[6][19][1] = 0.0; - m_c2_params[6][19][2] = 0.0; - m_dp_params[6][20][0] = 0.0; - m_dp_params[6][20][1] = 0.0; - m_dp_params[6][20][2] = 0.0; - m_dq_params[6][20][0] = 0.0; - m_dq_params[6][20][1] = 0.0; - m_dq_params[6][20][2] = 0.0; - m_c2_params[6][20][0] = 0.0; - m_c2_params[6][20][1] = 0.0; - m_c2_params[6][20][2] = 0.0; - m_dp_params[6][21][0] = 0.023729; - m_dp_params[6][21][1] = 0.0; - m_dp_params[6][21][2] = 0.001881; - m_dq_params[6][21][0] = -0.000000; - m_dq_params[6][21][1] = 0.0; - m_dq_params[6][21][2] = 5.700000; - m_c2_params[6][21][0] = -132.203390; - m_c2_params[6][21][1] = 0.0; - m_c2_params[6][21][2] = 58.661017; - m_dp_params[6][22][0] = 0.0; - m_dp_params[6][22][1] = 0.0; - m_dp_params[6][22][2] = 0.0; - m_dq_params[6][22][0] = 0.0; - m_dq_params[6][22][1] = 0.0; - m_dq_params[6][22][2] = 0.0; - m_c2_params[6][22][0] = 0.0; - m_c2_params[6][22][1] = 0.0; - m_c2_params[6][22][2] = 0.0; - m_dp_params[6][23][0] = 0.0; - m_dp_params[6][23][1] = 0.0; - m_dp_params[6][23][2] = 0.0; - m_dq_params[6][23][0] = 0.0; - m_dq_params[6][23][1] = 0.0; - m_dq_params[6][23][2] = 0.0; - m_c2_params[6][23][0] = 0.0; - m_c2_params[6][23][1] = 0.0; - m_c2_params[6][23][2] = 0.0; - m_dp_params[6][24][0] = 0.0; - m_dp_params[6][24][1] = 0.0; - m_dp_params[6][24][2] = 0.0; - m_dq_params[6][24][0] = 0.0; - m_dq_params[6][24][1] = 0.0; - m_dq_params[6][24][2] = 0.0; - m_c2_params[6][24][0] = 0.0; - m_c2_params[6][24][1] = 0.0; - m_c2_params[6][24][2] = 0.0; - m_dp_params[6][25][0] = 0.0; - m_dp_params[6][25][1] = 0.0; - m_dp_params[6][25][2] = 0.0; - m_dq_params[6][25][0] = 0.0; - m_dq_params[6][25][1] = 0.0; - m_dq_params[6][25][2] = 0.0; - m_c2_params[6][25][0] = 0.0; - m_c2_params[6][25][1] = 0.0; - m_c2_params[6][25][2] = 0.0; - m_dp_params[6][26][0] = 0.0; - m_dp_params[6][26][1] = 0.0; - m_dp_params[6][26][2] = 0.042000; - m_dq_params[6][26][0] = 0.0; - m_dq_params[6][26][1] = 0.0; - m_dq_params[6][26][2] = 4.500000; - m_c2_params[6][26][0] = 0.0; - m_c2_params[6][26][1] = 0.0; - m_c2_params[6][26][2] = 101.000000; - m_dp_params[6][27][0] = 0.023747; - m_dp_params[6][27][1] = 0.0; - m_dp_params[6][27][2] = 0.001814; - m_dq_params[6][27][0] = -3.305095; - m_dq_params[6][27][1] = 0.0; - m_dq_params[6][27][2] = 11.419414; - m_c2_params[6][27][0] = -168.592677; - m_c2_params[6][27][1] = 0.0; - m_c2_params[6][27][2] = 95.260455; - m_dp_params[6][28][0] = 0.0; - m_dp_params[6][28][1] = 0.0; - m_dp_params[6][28][2] = 0.0; - m_dq_params[6][28][0] = 0.0; - m_dq_params[6][28][1] = 0.0; - m_dq_params[6][28][2] = 0.0; - m_c2_params[6][28][0] = 0.0; - m_c2_params[6][28][1] = 0.0; - m_c2_params[6][28][2] = 0.0; - m_dp_params[6][29][0] = 0.023747; - m_dp_params[6][29][1] = 0.0; - m_dp_params[6][29][2] = 0.001814; - m_dq_params[6][29][0] = -2.639872; - m_dq_params[6][29][1] = 0.0; - m_dq_params[6][29][2] = 10.598227; - m_c2_params[6][29][0] = 263.101405; - m_c2_params[6][29][1] = 0.0; - m_c2_params[6][29][2] = 4.852034; - m_dp_params[6][30][0] = 0.0; - m_dp_params[6][30][1] = 0.0; - m_dp_params[6][30][2] = 0.0; - m_dq_params[6][30][0] = 0.0; - m_dq_params[6][30][1] = 0.0; - m_dq_params[6][30][2] = 0.0; - m_c2_params[6][30][0] = 0.0; - m_c2_params[6][30][1] = 0.0; - m_c2_params[6][30][2] = 0.0; - m_dp_params[6][31][0] = 0.016949; - m_dp_params[6][31][1] = 0.0; - m_dp_params[6][31][2] = 0.001915; - m_dq_params[6][31][0] = -2.711864; - m_dq_params[6][31][1] = 0.0; - m_dq_params[6][31][2] = 10.913559; - m_c2_params[6][31][0] = -783.050847; - m_c2_params[6][31][1] = 0.0; - m_c2_params[6][31][2] = 295.915254; - m_dp_params[6][32][0] = 0.0; - m_dp_params[6][32][1] = 0.0; - m_dp_params[6][32][2] = 0.0; - m_dq_params[6][32][0] = 0.0; - m_dq_params[6][32][1] = 0.0; - m_dq_params[6][32][2] = 0.0; - m_c2_params[6][32][0] = 0.0; - m_c2_params[6][32][1] = 0.0; - m_c2_params[6][32][2] = 0.0; - m_dp_params[6][33][0] = -0.013559; - m_dp_params[6][33][1] = 0.0; - m_dp_params[6][33][2] = 0.009068; - m_dq_params[6][33][0] = 1.355932; - m_dq_params[6][33][1] = 0.0; - m_dq_params[6][33][2] = 9.593220; - m_c2_params[6][33][0] = -3342.372881; - m_c2_params[6][33][1] = 0.0; - m_c2_params[6][33][2] = 1016.711864; - m_dp_params[6][34][0] = 0.0; - m_dp_params[6][34][1] = 0.0; - m_dp_params[6][34][2] = 0.0; - m_dq_params[6][34][0] = 0.0; - m_dq_params[6][34][1] = 0.0; - m_dq_params[6][34][2] = 0.0; - m_c2_params[6][34][0] = 0.0; - m_c2_params[6][34][1] = 0.0; - m_c2_params[6][34][2] = 0.0; - m_dp_params[6][35][0] = 0.0; - m_dp_params[6][35][1] = 0.0; - m_dp_params[6][35][2] = 0.0; - m_dq_params[6][35][0] = 0.0; - m_dq_params[6][35][1] = 0.0; - m_dq_params[6][35][2] = 0.0; - m_c2_params[6][35][0] = 0.0; - m_c2_params[6][35][1] = 0.0; - m_c2_params[6][35][2] = 0.0; - m_dp_params[6][36][0] = 0.0; - m_dp_params[6][36][1] = 0.0; - m_dp_params[6][36][2] = 0.0; - m_dq_params[6][36][0] = 0.0; - m_dq_params[6][36][1] = 0.0; - m_dq_params[6][36][2] = 0.0; - m_c2_params[6][36][0] = 0.0; - m_c2_params[6][36][1] = 0.0; - m_c2_params[6][36][2] = 0.0; - m_dp_params[6][37][0] = 0.0; - m_dp_params[6][37][1] = 0.0; - m_dp_params[6][37][2] = 0.0; - m_dq_params[6][37][0] = 0.0; - m_dq_params[6][37][1] = 0.0; - m_dq_params[6][37][2] = 0.0; - m_c2_params[6][37][0] = 0.0; - m_c2_params[6][37][1] = 0.0; - m_c2_params[6][37][2] = 0.0; - m_dp_params[6][38][0] = 0.0; - m_dp_params[6][38][1] = 0.0; - m_dp_params[6][38][2] = 0.0; - m_dq_params[6][38][0] = 0.0; - m_dq_params[6][38][1] = 0.0; - m_dq_params[6][38][2] = 0.0; - m_c2_params[6][38][0] = 0.0; - m_c2_params[6][38][1] = 0.0; - m_c2_params[6][38][2] = 0.0; - m_dp_params[6][39][0] = 0.0; - m_dp_params[6][39][1] = 0.0; - m_dp_params[6][39][2] = 0.0; - m_dq_params[6][39][0] = 0.0; - m_dq_params[6][39][1] = 0.0; - m_dq_params[6][39][2] = 0.0; - m_c2_params[6][39][0] = 0.0; - m_c2_params[6][39][1] = 0.0; - m_c2_params[6][39][2] = 0.0; - m_dp_params[6][40][0] = 0.0; - m_dp_params[6][40][1] = 0.0; - m_dp_params[6][40][2] = 0.0; - m_dq_params[6][40][0] = 0.0; - m_dq_params[6][40][1] = 0.0; - m_dq_params[6][40][2] = 0.0; - m_c2_params[6][40][0] = 0.0; - m_c2_params[6][40][1] = 0.0; - m_c2_params[6][40][2] = 0.0; - m_dp_params[6][41][0] = 0.0; - m_dp_params[6][41][1] = 0.0; - m_dp_params[6][41][2] = 0.0; - m_dq_params[6][41][0] = 0.0; - m_dq_params[6][41][1] = 0.0; - m_dq_params[6][41][2] = 0.0; - m_c2_params[6][41][0] = 0.0; - m_c2_params[6][41][1] = 0.0; - m_c2_params[6][41][2] = 0.0; - m_dp_params[6][42][0] = 0.0; - m_dp_params[6][42][1] = 0.0; - m_dp_params[6][42][2] = 0.0; - m_dq_params[6][42][0] = 0.0; - m_dq_params[6][42][1] = 0.0; - m_dq_params[6][42][2] = 0.0; - m_c2_params[6][42][0] = 0.0; - m_c2_params[6][42][1] = 0.0; - m_c2_params[6][42][2] = 0.0; - m_dp_params[6][43][0] = 0.0; - m_dp_params[6][43][1] = 0.0; - m_dp_params[6][43][2] = 0.0; - m_dq_params[6][43][0] = 0.0; - m_dq_params[6][43][1] = 0.0; - m_dq_params[6][43][2] = 0.0; - m_c2_params[6][43][0] = 0.0; - m_c2_params[6][43][1] = 0.0; - m_c2_params[6][43][2] = 0.0; - m_dp_params[6][44][0] = 0.0; - m_dp_params[6][44][1] = 0.0; - m_dp_params[6][44][2] = 0.0; - m_dq_params[6][44][0] = 0.0; - m_dq_params[6][44][1] = 0.0; - m_dq_params[6][44][2] = 0.0; - m_c2_params[6][44][0] = 0.0; - m_c2_params[6][44][1] = 0.0; - m_c2_params[6][44][2] = 0.0; - m_dp_params[6][45][0] = 0.0; - m_dp_params[6][45][1] = 0.0; - m_dp_params[6][45][2] = 0.0; - m_dq_params[6][45][0] = 0.0; - m_dq_params[6][45][1] = 0.0; - m_dq_params[6][45][2] = 0.0; - m_c2_params[6][45][0] = 0.0; - m_c2_params[6][45][1] = 0.0; - m_c2_params[6][45][2] = 0.0; - m_dp_params[6][46][0] = 0.0; - m_dp_params[6][46][1] = 0.0; - m_dp_params[6][46][2] = 0.0; - m_dq_params[6][46][0] = 0.0; - m_dq_params[6][46][1] = 0.0; - m_dq_params[6][46][2] = 0.0; - m_c2_params[6][46][0] = 0.0; - m_c2_params[6][46][1] = 0.0; - m_c2_params[6][46][2] = 0.0; - m_dp_params[6][47][0] = 0.0; - m_dp_params[6][47][1] = 0.0; - m_dp_params[6][47][2] = 0.0; - m_dq_params[6][47][0] = 0.0; - m_dq_params[6][47][1] = 0.0; - m_dq_params[6][47][2] = 0.0; - m_c2_params[6][47][0] = 0.0; - m_c2_params[6][47][1] = 0.0; - m_c2_params[6][47][2] = 0.0; - m_dp_params[6][48][0] = 0.020339; - m_dp_params[6][48][1] = 0.0; - m_dp_params[6][48][2] = 0.001898; - m_dq_params[6][48][0] = 0.677966; - m_dq_params[6][48][1] = 0.0; - m_dq_params[6][48][2] = 5.496610; - m_c2_params[6][48][0] = -94.915254; - m_c2_params[6][48][1] = 0.0; - m_c2_params[6][48][2] = 59.474576; - m_dp_params[6][49][0] = 0.0; - m_dp_params[6][49][1] = 0.0; - m_dp_params[6][49][2] = 0.0; - m_dq_params[6][49][0] = 0.0; - m_dq_params[6][49][1] = 0.0; - m_dq_params[6][49][2] = 0.0; - m_c2_params[6][49][0] = 0.0; - m_c2_params[6][49][1] = 0.0; - m_c2_params[6][49][2] = 0.0; - m_dp_params[6][50][0] = 0.0; - m_dp_params[6][50][1] = 0.0; - m_dp_params[6][50][2] = 0.0; - m_dq_params[6][50][0] = 0.0; - m_dq_params[6][50][1] = 0.0; - m_dq_params[6][50][2] = 0.0; - m_c2_params[6][50][0] = 0.0; - m_c2_params[6][50][1] = 0.0; - m_c2_params[6][50][2] = 0.0; - m_dp_params[6][51][0] = 0.0; - m_dp_params[6][51][1] = 0.0; - m_dp_params[6][51][2] = 0.0; - m_dq_params[6][51][0] = 0.0; - m_dq_params[6][51][1] = 0.0; - m_dq_params[6][51][2] = 0.0; - m_c2_params[6][51][0] = 0.0; - m_c2_params[6][51][1] = 0.0; - m_c2_params[6][51][2] = 0.0; - m_dp_params[6][52][0] = 0.0; - m_dp_params[6][52][1] = 0.0; - m_dp_params[6][52][2] = 0.0; - m_dq_params[6][52][0] = 0.0; - m_dq_params[6][52][1] = 0.0; - m_dq_params[6][52][2] = 0.0; - m_c2_params[6][52][0] = 0.0; - m_c2_params[6][52][1] = 0.0; - m_c2_params[6][52][2] = 0.0; - m_dp_params[6][53][0] = 0.0; - m_dp_params[6][53][1] = 0.0; - m_dp_params[6][53][2] = 0.0; - m_dq_params[6][53][0] = 0.0; - m_dq_params[6][53][1] = 0.0; - m_dq_params[6][53][2] = 0.0; - m_c2_params[6][53][0] = 0.0; - m_c2_params[6][53][1] = 0.0; - m_c2_params[6][53][2] = 0.0; - m_dp_params[6][54][0] = 0.028549; - m_dp_params[6][54][1] = 0.0; - m_dp_params[6][54][2] = 0.002690; - m_dq_params[6][54][0] = 0.411736; - m_dq_params[6][54][1] = 0.0; - m_dq_params[6][54][2] = 10.759378; - m_c2_params[6][54][0] = -92.664849; - m_c2_params[6][54][1] = 0.0; - m_c2_params[6][54][2] = 82.132023; - m_dp_params[6][55][0] = 0.0; - m_dp_params[6][55][1] = 0.0; - m_dp_params[6][55][2] = 0.0; - m_dq_params[6][55][0] = 0.0; - m_dq_params[6][55][1] = 0.0; - m_dq_params[6][55][2] = 0.0; - m_c2_params[6][55][0] = 0.0; - m_c2_params[6][55][1] = 0.0; - m_c2_params[6][55][2] = 0.0; - m_dp_params[6][56][0] = 0.031450; - m_dp_params[6][56][1] = 0.0; - m_dp_params[6][56][2] = 0.001460; - m_dq_params[6][56][0] = -0.631171; - m_dq_params[6][56][1] = 0.0; - m_dq_params[6][56][2] = 10.581043; - m_c2_params[6][56][0] = -26.428691; - m_c2_params[6][56][1] = 0.0; - m_c2_params[6][56][2] = 36.782275; - m_dp_params[6][57][0] = 0.0; - m_dp_params[6][57][1] = 0.0; - m_dp_params[6][57][2] = 0.0; - m_dq_params[6][57][0] = 0.0; - m_dq_params[6][57][1] = 0.0; - m_dq_params[6][57][2] = 0.0; - m_c2_params[6][57][0] = 0.0; - m_c2_params[6][57][1] = 0.0; - m_c2_params[6][57][2] = 0.0; - m_dp_params[6][58][0] = 0.020343; - m_dp_params[6][58][1] = 0.0; - m_dp_params[6][58][2] = 0.001892; - m_dq_params[6][58][0] = -0.058947; - m_dq_params[6][58][1] = 0.0; - m_dq_params[6][58][2] = 10.424060; - m_c2_params[6][58][0] = -19.649973; - m_c2_params[6][58][1] = 0.0; - m_c2_params[6][58][2] = 18.045898; - m_dp_params[6][59][0] = 0.0; - m_dp_params[6][59][1] = 0.0; - m_dp_params[6][59][2] = 0.0; - m_dq_params[6][59][0] = 0.0; - m_dq_params[6][59][1] = 0.0; - m_dq_params[6][59][2] = 0.0; - m_c2_params[6][59][0] = 0.0; - m_c2_params[6][59][1] = 0.0; - m_c2_params[6][59][2] = 0.0; - m_dp_params[6][60][0] = 0.016949; - m_dp_params[6][60][1] = 0.0; - m_dp_params[6][60][2] = 0.001915; - m_dq_params[6][60][0] = 1.355932; - m_dq_params[6][60][1] = 0.0; - m_dq_params[6][60][2] = 9.993220; - m_c2_params[6][60][0] = -159.322034; - m_c2_params[6][60][1] = 0.0; - m_c2_params[6][60][2] = 69.796610; - m_dp_params[6][61][0] = 0.0; - m_dp_params[6][61][1] = 0.0; - m_dp_params[6][61][2] = 0.0; - m_dq_params[6][61][0] = 0.0; - m_dq_params[6][61][1] = 0.0; - m_dq_params[6][61][2] = 0.0; - m_c2_params[6][61][0] = 0.0; - m_c2_params[6][61][1] = 0.0; - m_c2_params[6][61][2] = 0.0; - m_dp_params[6][62][0] = 0.016949; - m_dp_params[6][62][1] = 0.0; - m_dp_params[6][62][2] = 0.001915; - m_dq_params[6][62][0] = 2.033898; - m_dq_params[6][62][1] = 0.0; - m_dq_params[6][62][2] = 9.189831; - m_c2_params[6][62][0] = -179.661017; - m_c2_params[6][62][1] = 0.0; - m_c2_params[6][62][2] = 64.898305; - m_dp_params[6][63][0] = 0.0; - m_dp_params[6][63][1] = 0.0; - m_dp_params[6][63][2] = 0.0; - m_dq_params[6][63][0] = 0.0; - m_dq_params[6][63][1] = 0.0; - m_dq_params[6][63][2] = 0.0; - m_c2_params[6][63][0] = 0.0; - m_c2_params[6][63][1] = 0.0; - m_c2_params[6][63][2] = 0.0; - m_dp_params[6][64][0] = 0.0; - m_dp_params[6][64][1] = 0.0; - m_dp_params[6][64][2] = 0.0; - m_dq_params[6][64][0] = 0.0; - m_dq_params[6][64][1] = 0.0; - m_dq_params[6][64][2] = 0.0; - m_c2_params[6][64][0] = 0.0; - m_c2_params[6][64][1] = 0.0; - m_c2_params[6][64][2] = 0.0; - m_dp_params[6][65][0] = 0.0; - m_dp_params[6][65][1] = 0.0; - m_dp_params[6][65][2] = 0.0; - m_dq_params[6][65][0] = 0.0; - m_dq_params[6][65][1] = 0.0; - m_dq_params[6][65][2] = 0.0; - m_c2_params[6][65][0] = 0.0; - m_c2_params[6][65][1] = 0.0; - m_c2_params[6][65][2] = 0.0; - m_dp_params[6][66][0] = 0.0; - m_dp_params[6][66][1] = 0.0; - m_dp_params[6][66][2] = 0.0; - m_dq_params[6][66][0] = 0.0; - m_dq_params[6][66][1] = 0.0; - m_dq_params[6][66][2] = 0.0; - m_c2_params[6][66][0] = 0.0; - m_c2_params[6][66][1] = 0.0; - m_c2_params[6][66][2] = 0.0; - m_dp_params[6][67][0] = 0.0; - m_dp_params[6][67][1] = 0.0; - m_dp_params[6][67][2] = 0.0; - m_dq_params[6][67][0] = 0.0; - m_dq_params[6][67][1] = 0.0; - m_dq_params[6][67][2] = 0.0; - m_c2_params[6][67][0] = 0.0; - m_c2_params[6][67][1] = 0.0; - m_c2_params[6][67][2] = 0.0; - m_dp_params[6][68][0] = 0.0; - m_dp_params[6][68][1] = 0.0; - m_dp_params[6][68][2] = 0.0; - m_dq_params[6][68][0] = 0.0; - m_dq_params[6][68][1] = 0.0; - m_dq_params[6][68][2] = 0.0; - m_c2_params[6][68][0] = 0.0; - m_c2_params[6][68][1] = 0.0; - m_c2_params[6][68][2] = 0.0; - m_dp_params[6][69][0] = 0.0; - m_dp_params[6][69][1] = 0.0; - m_dp_params[6][69][2] = 0.0; - m_dq_params[6][69][0] = 0.0; - m_dq_params[6][69][1] = 0.0; - m_dq_params[6][69][2] = 0.0; - m_c2_params[6][69][0] = 0.0; - m_c2_params[6][69][1] = 0.0; - m_c2_params[6][69][2] = 0.0; - m_dp_params[6][70][0] = 0.0; - m_dp_params[6][70][1] = 0.0; - m_dp_params[6][70][2] = 0.0; - m_dq_params[6][70][0] = 0.0; - m_dq_params[6][70][1] = 0.0; - m_dq_params[6][70][2] = 0.0; - m_c2_params[6][70][0] = 0.0; - m_c2_params[6][70][1] = 0.0; - m_c2_params[6][70][2] = 0.0; - m_dp_params[6][71][0] = 0.0; - m_dp_params[6][71][1] = 0.0; - m_dp_params[6][71][2] = 0.0; - m_dq_params[6][71][0] = 0.0; - m_dq_params[6][71][1] = 0.0; - m_dq_params[6][71][2] = 0.0; - m_c2_params[6][71][0] = 0.0; - m_c2_params[6][71][1] = 0.0; - m_c2_params[6][71][2] = 0.0; - - ////// Iteration 7 (pixelLessStep, algo=9) - m_dp_params[7][0][0] = 0.0; - m_dp_params[7][0][1] = 0.0; - m_dp_params[7][0][2] = 0.0; - m_dq_params[7][0][0] = 0.0; - m_dq_params[7][0][1] = 0.0; - m_dq_params[7][0][2] = 0.0; - m_c2_params[7][0][0] = 0.0; - m_c2_params[7][0][1] = 0.0; - m_c2_params[7][0][2] = 0.0; - m_dp_params[7][1][0] = 0.0; - m_dp_params[7][1][1] = 0.0; - m_dp_params[7][1][2] = 0.0; - m_dq_params[7][1][0] = 0.0; - m_dq_params[7][1][1] = 0.0; - m_dq_params[7][1][2] = 0.0; - m_c2_params[7][1][0] = 0.0; - m_c2_params[7][1][1] = 0.0; - m_c2_params[7][1][2] = 0.0; - m_dp_params[7][2][0] = 0.0; - m_dp_params[7][2][1] = 0.0; - m_dp_params[7][2][2] = 0.0; - m_dq_params[7][2][0] = 0.0; - m_dq_params[7][2][1] = 0.0; - m_dq_params[7][2][2] = 0.0; - m_c2_params[7][2][0] = 0.0; - m_c2_params[7][2][1] = 0.0; - m_c2_params[7][2][2] = 0.0; - m_dp_params[7][3][0] = 0.0; - m_dp_params[7][3][1] = 0.0; - m_dp_params[7][3][2] = 0.0; - m_dq_params[7][3][0] = 0.0; - m_dq_params[7][3][1] = 0.0; - m_dq_params[7][3][2] = 0.0; - m_c2_params[7][3][0] = 0.0; - m_c2_params[7][3][1] = 0.0; - m_c2_params[7][3][2] = 0.0; - m_dp_params[7][4][0] = 0.0; - m_dp_params[7][4][1] = 0.0; - m_dp_params[7][4][2] = 0.0; - m_dq_params[7][4][0] = 0.0; - m_dq_params[7][4][1] = 0.0; - m_dq_params[7][4][2] = 0.0; - m_c2_params[7][4][0] = 0.0; - m_c2_params[7][4][1] = 0.0; - m_c2_params[7][4][2] = 0.0; - m_dp_params[7][5][0] = 0.0; - m_dp_params[7][5][1] = 0.0; - m_dp_params[7][5][2] = 0.0; - m_dq_params[7][5][0] = 0.0; - m_dq_params[7][5][1] = 0.0; - m_dq_params[7][5][2] = 0.0; - m_c2_params[7][5][0] = 0.0; - m_c2_params[7][5][1] = 0.0; - m_c2_params[7][5][2] = 0.0; - m_dp_params[7][6][0] = 0.0; - m_dp_params[7][6][1] = 0.0; - m_dp_params[7][6][2] = 0.0; - m_dq_params[7][6][0] = 0.0; - m_dq_params[7][6][1] = 0.0; - m_dq_params[7][6][2] = 0.0; - m_c2_params[7][6][0] = 0.0; - m_c2_params[7][6][1] = 0.0; - m_c2_params[7][6][2] = 0.0; - m_dp_params[7][7][0] = 0.012460; - m_dp_params[7][7][1] = -0.004038; - m_dp_params[7][7][2] = 0.018980; - m_dq_params[7][7][0] = -0.333074; - m_dq_params[7][7][1] = 2.625876; - m_dq_params[7][7][2] = 5.621755; - m_c2_params[7][7][0] = 224.710643; - m_c2_params[7][7][1] = -197.408850; - m_c2_params[7][7][2] = 94.409062; - m_dp_params[7][8][0] = 0.024365; - m_dp_params[7][8][1] = 0.000433; - m_dp_params[7][8][2] = 0.003230; - m_dq_params[7][8][0] = -0.050929; - m_dq_params[7][8][1] = 2.586355; - m_dq_params[7][8][2] = 5.538436; - m_c2_params[7][8][0] = 41.033954; - m_c2_params[7][8][1] = 227.300956; - m_c2_params[7][8][2] = 11.802683; - m_dp_params[7][9][0] = 0.026752; - m_dp_params[7][9][1] = -0.000669; - m_dp_params[7][9][2] = 0.006831; - m_dq_params[7][9][0] = 0.071058; - m_dq_params[7][9][1] = 2.174683; - m_dq_params[7][9][2] = 5.839874; - m_c2_params[7][9][0] = 1.756930; - m_c2_params[7][9][1] = -34.517771; - m_c2_params[7][9][2] = 288.002574; - m_dp_params[7][10][0] = 0.032311; - m_dp_params[7][10][1] = 0.006789; - m_dp_params[7][10][2] = 0.002333; - m_dq_params[7][10][0] = 0.163070; - m_dq_params[7][10][1] = 2.869404; - m_dq_params[7][10][2] = 9.068597; - m_c2_params[7][10][0] = 52.947154; - m_c2_params[7][10][1] = -248.365771; - m_c2_params[7][10][2] = 596.865252; - m_dp_params[7][11][0] = 0.029182; - m_dp_params[7][11][1] = -0.001064; - m_dp_params[7][11][2] = 0.013629; - m_dq_params[7][11][0] = 0.201555; - m_dq_params[7][11][1] = 3.115879; - m_dq_params[7][11][2] = 8.784604; - m_c2_params[7][11][0] = 203.557689; - m_c2_params[7][11][1] = -429.339365; - m_c2_params[7][11][2] = 367.414386; - m_dp_params[7][12][0] = 0.037103; - m_dp_params[7][12][1] = -0.000322; - m_dp_params[7][12][2] = -0.001772; - m_dq_params[7][12][0] = 0.207755; - m_dq_params[7][12][1] = 2.567559; - m_dq_params[7][12][2] = 8.949905; - m_c2_params[7][12][0] = 161.962058; - m_c2_params[7][12][1] = -128.483411; - m_c2_params[7][12][2] = 172.136930; - m_dp_params[7][13][0] = 0.034656; - m_dp_params[7][13][1] = -0.001937; - m_dp_params[7][13][2] = 0.010579; - m_dq_params[7][13][0] = 0.334440; - m_dq_params[7][13][1] = 2.608808; - m_dq_params[7][13][2] = 8.783493; - m_c2_params[7][13][0] = 161.098528; - m_c2_params[7][13][1] = -124.402199; - m_c2_params[7][13][2] = 149.132901; - m_dp_params[7][14][0] = 0.030487; - m_dp_params[7][14][1] = -0.003360; - m_dp_params[7][14][2] = 0.000011; - m_dq_params[7][14][0] = 0.445590; - m_dq_params[7][14][1] = 1.798560; - m_dq_params[7][14][2] = 9.249644; - m_c2_params[7][14][0] = 199.048808; - m_c2_params[7][14][1] = -189.560414; - m_c2_params[7][14][2] = 158.623121; - m_dp_params[7][15][0] = 0.033989; - m_dp_params[7][15][1] = 0.003321; - m_dp_params[7][15][2] = -0.002666; - m_dq_params[7][15][0] = 0.322193; - m_dq_params[7][15][1] = 1.821939; - m_dq_params[7][15][2] = 9.320059; - m_c2_params[7][15][0] = 98.299769; - m_c2_params[7][15][1] = 80.574714; - m_c2_params[7][15][2] = 160.976750; - m_dp_params[7][16][0] = 0.033998; - m_dp_params[7][16][1] = 0.000847; - m_dp_params[7][16][2] = -0.002346; - m_dq_params[7][16][0] = 0.599447; - m_dq_params[7][16][1] = 0.170760; - m_dq_params[7][16][2] = 9.602179; - m_c2_params[7][16][0] = 4.857989; - m_c2_params[7][16][1] = -55.956377; - m_c2_params[7][16][2] = 188.850734; - m_dp_params[7][17][0] = 0.024702; - m_dp_params[7][17][1] = 0.001406; - m_dp_params[7][17][2] = -0.000871; - m_dq_params[7][17][0] = 0.633114; - m_dq_params[7][17][1] = 2.689601; - m_dq_params[7][17][2] = 8.605684; - m_c2_params[7][17][0] = 76.638471; - m_c2_params[7][17][1] = 36.707594; - m_c2_params[7][17][2] = 98.781052; - m_dp_params[7][18][0] = 0.0; - m_dp_params[7][18][1] = 0.0; - m_dp_params[7][18][2] = 0.0; - m_dq_params[7][18][0] = 0.0; - m_dq_params[7][18][1] = 0.0; - m_dq_params[7][18][2] = 0.0; - m_c2_params[7][18][0] = 0.0; - m_c2_params[7][18][1] = 0.0; - m_c2_params[7][18][2] = 0.0; - m_dp_params[7][19][0] = 0.0; - m_dp_params[7][19][1] = 0.0; - m_dp_params[7][19][2] = 0.0; - m_dq_params[7][19][0] = 0.0; - m_dq_params[7][19][1] = 0.0; - m_dq_params[7][19][2] = 0.0; - m_c2_params[7][19][0] = 0.0; - m_c2_params[7][19][1] = 0.0; - m_c2_params[7][19][2] = 0.0; - m_dp_params[7][20][0] = 0.0; - m_dp_params[7][20][1] = 0.0; - m_dp_params[7][20][2] = 0.0; - m_dq_params[7][20][0] = 0.0; - m_dq_params[7][20][1] = 0.0; - m_dq_params[7][20][2] = 0.0; - m_c2_params[7][20][0] = 0.0; - m_c2_params[7][20][1] = 0.0; - m_c2_params[7][20][2] = 0.0; - m_dp_params[7][21][0] = 0.061753; - m_dp_params[7][21][1] = 0.0; - m_dp_params[7][21][2] = 0.005464; - m_dq_params[7][21][0] = 1.206797; - m_dq_params[7][21][1] = 0.0; - m_dq_params[7][21][2] = 6.770894; - m_c2_params[7][21][0] = 3672.043854; - m_c2_params[7][21][1] = 0.0; - m_c2_params[7][21][2] = -15.009734; - m_dp_params[7][22][0] = 0.0; - m_dp_params[7][22][1] = 0.0; - m_dp_params[7][22][2] = 0.0; - m_dq_params[7][22][0] = 0.0; - m_dq_params[7][22][1] = 0.0; - m_dq_params[7][22][2] = 0.0; - m_c2_params[7][22][0] = 0.0; - m_c2_params[7][22][1] = 0.0; - m_c2_params[7][22][2] = 0.0; - m_dp_params[7][23][0] = 0.0; - m_dp_params[7][23][1] = 0.0; - m_dp_params[7][23][2] = 0.001000; - m_dq_params[7][23][0] = 0.0; - m_dq_params[7][23][1] = 0.0; - m_dq_params[7][23][2] = 5.700000; - m_c2_params[7][23][0] = 0.0; - m_c2_params[7][23][1] = 0.0; - m_c2_params[7][23][2] = 8.000000; - m_dp_params[7][24][0] = 0.001329; - m_dp_params[7][24][1] = 0.0; - m_dp_params[7][24][2] = 0.016842; - m_dq_params[7][24][0] = -0.133840; - m_dq_params[7][24][1] = 0.0; - m_dq_params[7][24][2] = 5.915913; - m_c2_params[7][24][0] = 9.063074; - m_c2_params[7][24][1] = 0.0; - m_c2_params[7][24][2] = 2.922404; - m_dp_params[7][25][0] = 0.017047; - m_dp_params[7][25][1] = 0.0; - m_dp_params[7][25][2] = 0.002420; - m_dq_params[7][25][0] = -0.005174; - m_dq_params[7][25][1] = 0.0; - m_dq_params[7][25][2] = 5.850196; - m_c2_params[7][25][0] = 798.620042; - m_c2_params[7][25][1] = 0.0; - m_c2_params[7][25][2] = -11.019779; - m_dp_params[7][26][0] = 0.016330; - m_dp_params[7][26][1] = 0.0; - m_dp_params[7][26][2] = 0.015013; - m_dq_params[7][26][0] = 0.107681; - m_dq_params[7][26][1] = 0.0; - m_dq_params[7][26][2] = 5.398096; - m_c2_params[7][26][0] = 292.083209; - m_c2_params[7][26][1] = 0.0; - m_c2_params[7][26][2] = 4.201661; - m_dp_params[7][27][0] = 0.023427; - m_dp_params[7][27][1] = -0.054559; - m_dp_params[7][27][2] = 0.072187; - m_dq_params[7][27][0] = -0.116966; - m_dq_params[7][27][1] = -13.475510; - m_dq_params[7][27][2] = 24.574530; - m_c2_params[7][27][0] = -10.034763; - m_c2_params[7][27][1] = -353.649965; - m_c2_params[7][27][2] = 605.250036; - m_dp_params[7][28][0] = 0.002862; - m_dp_params[7][28][1] = 0.006306; - m_dp_params[7][28][2] = 0.007481; - m_dq_params[7][28][0] = -0.187823; - m_dq_params[7][28][1] = -9.495962; - m_dq_params[7][28][2] = 17.487142; - m_c2_params[7][28][0] = 143.684457; - m_c2_params[7][28][1] = -2229.249831; - m_c2_params[7][28][2] = 2814.218692; - m_dp_params[7][29][0] = 0.023617; - m_dp_params[7][29][1] = -0.030895; - m_dp_params[7][29][2] = 0.041436; - m_dq_params[7][29][0] = 0.070765; - m_dq_params[7][29][1] = -10.451737; - m_dq_params[7][29][2] = 21.145134; - m_c2_params[7][29][0] = 160.405813; - m_c2_params[7][29][1] = 390.461114; - m_c2_params[7][29][2] = -99.996331; - m_dp_params[7][30][0] = 0.007410; - m_dp_params[7][30][1] = 0.0; - m_dp_params[7][30][2] = 0.013763; - m_dq_params[7][30][0] = 0.183472; - m_dq_params[7][30][1] = 0.0; - m_dq_params[7][30][2] = 7.303764; - m_c2_params[7][30][0] = 2.492007; - m_c2_params[7][30][1] = 0.0; - m_c2_params[7][30][2] = 9.406825; - m_dp_params[7][31][0] = 0.023577; - m_dp_params[7][31][1] = -0.019063; - m_dp_params[7][31][2] = 0.023240; - m_dq_params[7][31][0] = -1.345481; - m_dq_params[7][31][1] = -16.367814; - m_dq_params[7][31][2] = 28.753189; - m_c2_params[7][31][0] = -14.393240; - m_c2_params[7][31][1] = -411.496056; - m_c2_params[7][31][2] = 741.857823; - m_dp_params[7][32][0] = 0.008279; - m_dp_params[7][32][1] = 0.0; - m_dp_params[7][32][2] = 0.013270; - m_dq_params[7][32][0] = -0.181134; - m_dq_params[7][32][1] = 0.0; - m_dq_params[7][32][2] = 6.108266; - m_c2_params[7][32][0] = 32.506506; - m_c2_params[7][32][1] = 0.0; - m_c2_params[7][32][2] = 16.889466; - m_dp_params[7][33][0] = 0.000689; - m_dp_params[7][33][1] = -0.030637; - m_dp_params[7][33][2] = 0.047159; - m_dq_params[7][33][0] = -0.030866; - m_dq_params[7][33][1] = -6.724815; - m_dq_params[7][33][2] = 17.248427; - m_c2_params[7][33][0] = 15.288993; - m_c2_params[7][33][1] = -561.868411; - m_c2_params[7][33][2] = 953.411097; - m_dp_params[7][34][0] = 0.005516; - m_dp_params[7][34][1] = 0.0; - m_dp_params[7][34][2] = 0.013203; - m_dq_params[7][34][0] = 0.057584; - m_dq_params[7][34][1] = 0.0; - m_dq_params[7][34][2] = 7.417409; - m_c2_params[7][34][0] = 23.198102; - m_c2_params[7][34][1] = 0.0; - m_c2_params[7][34][2] = 16.786750; - m_dp_params[7][35][0] = 0.000871; - m_dp_params[7][35][1] = -0.027468; - m_dp_params[7][35][2] = 0.042994; - m_dq_params[7][35][0] = -0.000795; - m_dq_params[7][35][1] = -8.917789; - m_dq_params[7][35][2] = 19.327076; - m_c2_params[7][35][0] = 15.135217; - m_c2_params[7][35][1] = -66.128505; - m_c2_params[7][35][2] = 195.860922; - m_dp_params[7][36][0] = 0.006525; - m_dp_params[7][36][1] = 0.0; - m_dp_params[7][36][2] = 0.012908; - m_dq_params[7][36][0] = 0.692824; - m_dq_params[7][36][1] = 0.0; - m_dq_params[7][36][2] = 6.436113; - m_c2_params[7][36][0] = -0.933184; - m_c2_params[7][36][1] = 0.0; - m_c2_params[7][36][2] = 24.153461; - m_dp_params[7][37][0] = 0.000659; - m_dp_params[7][37][1] = 0.0; - m_dp_params[7][37][2] = 0.003603; - m_dq_params[7][37][0] = -0.017183; - m_dq_params[7][37][1] = 0.0; - m_dq_params[7][37][2] = 8.776602; - m_c2_params[7][37][0] = 13.732780; - m_c2_params[7][37][1] = 0.0; - m_c2_params[7][37][2] = 83.438716; - m_dp_params[7][38][0] = 0.009019; - m_dp_params[7][38][1] = 0.0; - m_dp_params[7][38][2] = 0.009982; - m_dq_params[7][38][0] = -0.414848; - m_dq_params[7][38][1] = 0.0; - m_dq_params[7][38][2] = 7.350754; - m_c2_params[7][38][0] = 3.772304; - m_c2_params[7][38][1] = 0.0; - m_c2_params[7][38][2] = 24.026697; - m_dp_params[7][39][0] = 0.000547; - m_dp_params[7][39][1] = 0.0; - m_dp_params[7][39][2] = 0.004099; - m_dq_params[7][39][0] = -0.013553; - m_dq_params[7][39][1] = 0.0; - m_dq_params[7][39][2] = 8.691426; - m_c2_params[7][39][0] = 4.338209; - m_c2_params[7][39][1] = 0.0; - m_c2_params[7][39][2] = 81.062313; - m_dp_params[7][40][0] = 0.008553; - m_dp_params[7][40][1] = 0.0; - m_dp_params[7][40][2] = 0.012058; - m_dq_params[7][40][0] = -0.404881; - m_dq_params[7][40][1] = 0.0; - m_dq_params[7][40][2] = 8.242639; - m_c2_params[7][40][0] = 18.375534; - m_c2_params[7][40][1] = 0.0; - m_c2_params[7][40][2] = 19.999871; - m_dp_params[7][41][0] = 0.000648; - m_dp_params[7][41][1] = 0.0; - m_dp_params[7][41][2] = 0.004005; - m_dq_params[7][41][0] = -0.028825; - m_dq_params[7][41][1] = 0.0; - m_dq_params[7][41][2] = 8.672487; - m_c2_params[7][41][0] = -1.509253; - m_c2_params[7][41][1] = 0.0; - m_c2_params[7][41][2] = 118.884073; - m_dp_params[7][42][0] = 0.007776; - m_dp_params[7][42][1] = 0.0; - m_dp_params[7][42][2] = 0.012516; - m_dq_params[7][42][0] = -0.541511; - m_dq_params[7][42][1] = 0.0; - m_dq_params[7][42][2] = 8.188658; - m_c2_params[7][42][0] = 19.725135; - m_c2_params[7][42][1] = 0.0; - m_c2_params[7][42][2] = 40.434769; - m_dp_params[7][43][0] = 0.000652; - m_dp_params[7][43][1] = 0.0; - m_dp_params[7][43][2] = 0.003886; - m_dq_params[7][43][0] = -0.010666; - m_dq_params[7][43][1] = 0.0; - m_dq_params[7][43][2] = 9.041216; - m_c2_params[7][43][0] = -0.417686; - m_c2_params[7][43][1] = 0.0; - m_c2_params[7][43][2] = 119.624393; - m_dp_params[7][44][0] = 0.007575; - m_dp_params[7][44][1] = 0.0; - m_dp_params[7][44][2] = 0.012273; - m_dq_params[7][44][0] = -0.065621; - m_dq_params[7][44][1] = 0.0; - m_dq_params[7][44][2] = 7.936559; - m_c2_params[7][44][0] = 12.032457; - m_c2_params[7][44][1] = 0.0; - m_c2_params[7][44][2] = 27.611577; - m_dp_params[7][45][0] = 0.0; - m_dp_params[7][45][1] = 0.0; - m_dp_params[7][45][2] = 0.0; - m_dq_params[7][45][0] = 0.0; - m_dq_params[7][45][1] = 0.0; - m_dq_params[7][45][2] = 0.0; - m_c2_params[7][45][0] = 0.0; - m_c2_params[7][45][1] = 0.0; - m_c2_params[7][45][2] = 0.0; - m_dp_params[7][46][0] = 0.0; - m_dp_params[7][46][1] = 0.0; - m_dp_params[7][46][2] = 0.0; - m_dq_params[7][46][0] = 0.0; - m_dq_params[7][46][1] = 0.0; - m_dq_params[7][46][2] = 0.0; - m_c2_params[7][46][0] = 0.0; - m_c2_params[7][46][1] = 0.0; - m_c2_params[7][46][2] = 0.0; - m_dp_params[7][47][0] = 0.0; - m_dp_params[7][47][1] = 0.0; - m_dp_params[7][47][2] = 0.0; - m_dq_params[7][47][0] = 0.0; - m_dq_params[7][47][1] = 0.0; - m_dq_params[7][47][2] = 0.0; - m_c2_params[7][47][0] = 0.0; - m_c2_params[7][47][1] = 0.0; - m_c2_params[7][47][2] = 0.0; - m_dp_params[7][48][0] = 0.032921; - m_dp_params[7][48][1] = 0.0; - m_dp_params[7][48][2] = 0.005579; - m_dq_params[7][48][0] = -0.256266; - m_dq_params[7][48][1] = 0.0; - m_dq_params[7][48][2] = 5.722938; - m_c2_params[7][48][0] = 2546.933641; - m_c2_params[7][48][1] = 0.0; - m_c2_params[7][48][2] = -17.088118; - m_dp_params[7][49][0] = 0.0; - m_dp_params[7][49][1] = 0.0; - m_dp_params[7][49][2] = 0.0; - m_dq_params[7][49][0] = 0.0; - m_dq_params[7][49][1] = 0.0; - m_dq_params[7][49][2] = 0.0; - m_c2_params[7][49][0] = 0.0; - m_c2_params[7][49][1] = 0.0; - m_c2_params[7][49][2] = 0.0; - m_dp_params[7][50][0] = 0.013332; - m_dp_params[7][50][1] = 0.0; - m_dp_params[7][50][2] = 0.003061; - m_dq_params[7][50][0] = 16.120253; - m_dq_params[7][50][1] = 0.0; - m_dq_params[7][50][2] = 5.531013; - m_c2_params[7][50][0] = 1480.639845; - m_c2_params[7][50][1] = 0.0; - m_c2_params[7][50][2] = -4.047307; - m_dp_params[7][51][0] = 0.001752; - m_dp_params[7][51][1] = 0.0; - m_dp_params[7][51][2] = 0.015944; - m_dq_params[7][51][0] = -0.625401; - m_dq_params[7][51][1] = 0.0; - m_dq_params[7][51][2] = 5.997015; - m_c2_params[7][51][0] = 20.540541; - m_c2_params[7][51][1] = 0.0; - m_c2_params[7][51][2] = 1.275676; - m_dp_params[7][52][0] = 0.013418; - m_dp_params[7][52][1] = 0.0; - m_dp_params[7][52][2] = 0.001525; - m_dq_params[7][52][0] = -0.102688; - m_dq_params[7][52][1] = 0.0; - m_dq_params[7][52][2] = 5.998433; - m_c2_params[7][52][0] = 313.294224; - m_c2_params[7][52][1] = 0.0; - m_c2_params[7][52][2] = 3.464216; - m_dp_params[7][53][0] = 0.007191; - m_dp_params[7][53][1] = 0.0; - m_dp_params[7][53][2] = 0.016058; - m_dq_params[7][53][0] = -0.081093; - m_dq_params[7][53][1] = 0.0; - m_dq_params[7][53][2] = 5.746454; - m_c2_params[7][53][0] = 7.024993; - m_c2_params[7][53][1] = 0.0; - m_c2_params[7][53][2] = 20.699567; - m_dp_params[7][54][0] = 0.025602; - m_dp_params[7][54][1] = -0.045357; - m_dp_params[7][54][2] = 0.060417; - m_dq_params[7][54][0] = 0.098931; - m_dq_params[7][54][1] = -14.724460; - m_dq_params[7][54][2] = 25.672087; - m_c2_params[7][54][0] = -102.886213; - m_c2_params[7][54][1] = -1304.166414; - m_c2_params[7][54][2] = 1814.966556; - m_dp_params[7][55][0] = 0.036120; - m_dp_params[7][55][1] = -0.007657; - m_dp_params[7][55][2] = 0.021385; - m_dq_params[7][55][0] = -0.595082; - m_dq_params[7][55][1] = 3.560817; - m_dq_params[7][55][2] = 4.984781; - m_c2_params[7][55][0] = -6.214753; - m_c2_params[7][55][1] = -587.861544; - m_c2_params[7][55][2] = 789.954259; - m_dp_params[7][56][0] = 0.025717; - m_dp_params[7][56][1] = -0.030238; - m_dp_params[7][56][2] = 0.042158; - m_dq_params[7][56][0] = -1.589005; - m_dq_params[7][56][1] = -16.367814; - m_dq_params[7][56][2] = 29.677355; - m_c2_params[7][56][0] = 201.484647; - m_c2_params[7][56][1] = -72.307614; - m_c2_params[7][56][2] = 347.705550; - m_dp_params[7][57][0] = 0.008060; - m_dp_params[7][57][1] = 0.0; - m_dp_params[7][57][2] = 0.013172; - m_dq_params[7][57][0] = -1.492580; - m_dq_params[7][57][1] = 0.0; - m_dq_params[7][57][2] = 8.001914; - m_c2_params[7][57][0] = 0.403877; - m_c2_params[7][57][1] = 0.0; - m_c2_params[7][57][2] = 9.326771; - m_dp_params[7][58][0] = 0.022687; - m_dp_params[7][58][1] = -0.021692; - m_dp_params[7][58][2] = 0.025304; - m_dq_params[7][58][0] = -0.491122; - m_dq_params[7][58][1] = -11.240547; - m_dq_params[7][58][2] = 21.839056; - m_c2_params[7][58][0] = 77.094244; - m_c2_params[7][58][1] = 689.551698; - m_c2_params[7][58][2] = -634.329790; - m_dp_params[7][59][0] = 0.006313; - m_dp_params[7][59][1] = 0.0; - m_dp_params[7][59][2] = 0.013656; - m_dq_params[7][59][0] = 0.415800; - m_dq_params[7][59][1] = 0.0; - m_dq_params[7][59][2] = 6.546888; - m_c2_params[7][59][0] = 103.502955; - m_c2_params[7][59][1] = 0.0; - m_c2_params[7][59][2] = 18.586497; - m_dp_params[7][60][0] = 0.000550; - m_dp_params[7][60][1] = -0.023372; - m_dp_params[7][60][2] = 0.039031; - m_dq_params[7][60][0] = -0.027855; - m_dq_params[7][60][1] = -9.218643; - m_dq_params[7][60][2] = 20.553451; - m_c2_params[7][60][0] = 2.696667; - m_c2_params[7][60][1] = 543.288861; - m_c2_params[7][60][2] = -477.327386; - m_dp_params[7][61][0] = 0.005121; - m_dp_params[7][61][1] = 0.0; - m_dp_params[7][61][2] = 0.013841; - m_dq_params[7][61][0] = 0.416552; - m_dq_params[7][61][1] = 0.0; - m_dq_params[7][61][2] = 7.150934; - m_c2_params[7][61][0] = 21.052977; - m_c2_params[7][61][1] = 0.0; - m_c2_params[7][61][2] = 35.017541; - m_dp_params[7][62][0] = 0.000967; - m_dp_params[7][62][1] = -0.019488; - m_dp_params[7][62][2] = 0.033836; - m_dq_params[7][62][0] = -0.023838; - m_dq_params[7][62][1] = -6.174863; - m_dq_params[7][62][2] = 15.953505; - m_c2_params[7][62][0] = 12.617182; - m_c2_params[7][62][1] = 327.487082; - m_c2_params[7][62][2] = -263.528891; - m_dp_params[7][63][0] = 0.004481; - m_dp_params[7][63][1] = 0.0; - m_dp_params[7][63][2] = 0.013315; - m_dq_params[7][63][0] = 0.273063; - m_dq_params[7][63][1] = 0.0; - m_dq_params[7][63][2] = 6.304836; - m_c2_params[7][63][0] = 5.775769; - m_c2_params[7][63][1] = 0.0; - m_c2_params[7][63][2] = 27.579188; - m_dp_params[7][64][0] = 0.000639; - m_dp_params[7][64][1] = -0.032764; - m_dp_params[7][64][2] = 0.050377; - m_dq_params[7][64][0] = -0.050204; - m_dq_params[7][64][1] = -10.018875; - m_dq_params[7][64][2] = 21.571162; - m_c2_params[7][64][0] = 8.992560; - m_c2_params[7][64][1] = 264.236123; - m_c2_params[7][64][2] = -224.325462; - m_dp_params[7][65][0] = 0.008086; - m_dp_params[7][65][1] = 0.0; - m_dp_params[7][65][2] = 0.010804; - m_dq_params[7][65][0] = -0.437749; - m_dq_params[7][65][1] = 0.0; - m_dq_params[7][65][2] = 7.119953; - m_c2_params[7][65][0] = 1.700004; - m_c2_params[7][65][1] = 0.0; - m_c2_params[7][65][2] = 31.328728; - m_dp_params[7][66][0] = 0.001073; - m_dp_params[7][66][1] = 0.0; - m_dp_params[7][66][2] = 0.003973; - m_dq_params[7][66][0] = -0.011206; - m_dq_params[7][66][1] = 0.0; - m_dq_params[7][66][2] = 8.395599; - m_c2_params[7][66][0] = 17.609246; - m_c2_params[7][66][1] = 0.0; - m_c2_params[7][66][2] = 82.223841; - m_dp_params[7][67][0] = 0.010041; - m_dp_params[7][67][1] = 0.0; - m_dp_params[7][67][2] = 0.010997; - m_dq_params[7][67][0] = -0.571728; - m_dq_params[7][67][1] = 0.0; - m_dq_params[7][67][2] = 8.143198; - m_c2_params[7][67][0] = 10.361792; - m_c2_params[7][67][1] = 0.0; - m_c2_params[7][67][2] = 38.993856; - m_dp_params[7][68][0] = 0.000506; - m_dp_params[7][68][1] = 0.0; - m_dp_params[7][68][2] = 0.004098; - m_dq_params[7][68][0] = -0.054224; - m_dq_params[7][68][1] = 0.0; - m_dq_params[7][68][2] = 8.885940; - m_c2_params[7][68][0] = -0.909793; - m_c2_params[7][68][1] = 0.0; - m_c2_params[7][68][2] = 107.736179; - m_dp_params[7][69][0] = 0.009104; - m_dp_params[7][69][1] = 0.0; - m_dp_params[7][69][2] = 0.011549; - m_dq_params[7][69][0] = -0.393167; - m_dq_params[7][69][1] = 0.0; - m_dq_params[7][69][2] = 7.726580; - m_c2_params[7][69][0] = 7.048853; - m_c2_params[7][69][1] = 0.0; - m_c2_params[7][69][2] = 27.507489; - m_dp_params[7][70][0] = 0.009572; - m_dp_params[7][70][1] = 0.0; - m_dp_params[7][70][2] = 0.002105; - m_dq_params[7][70][0] = 0.627263; - m_dq_params[7][70][1] = 0.0; - m_dq_params[7][70][2] = 8.999189; - m_c2_params[7][70][0] = 67.116836; - m_c2_params[7][70][1] = 0.0; - m_c2_params[7][70][2] = 95.891886; - m_dp_params[7][71][0] = 0.007523; - m_dp_params[7][71][1] = 0.0; - m_dp_params[7][71][2] = 0.011962; - m_dq_params[7][71][0] = -0.169142; - m_dq_params[7][71][1] = 0.0; - m_dq_params[7][71][2] = 8.057933; - m_c2_params[7][71][0] = 7.936692; - m_c2_params[7][71][1] = 0.0; - m_c2_params[7][71][2] = 30.052724; - - ////// Iteration 8 (tobTecStep, algo=10) - - m_dp_params[8][0][0] = 0.0; - m_dp_params[8][0][1] = 0.0; - m_dp_params[8][0][2] = 0.0; - m_dq_params[8][0][0] = 0.0; - m_dq_params[8][0][1] = 0.0; - m_dq_params[8][0][2] = 0.0; - m_c2_params[8][0][0] = 0.0; - m_c2_params[8][0][1] = 0.0; - m_c2_params[8][0][2] = 0.0; - m_dp_params[8][1][0] = 0.0; - m_dp_params[8][1][1] = 0.0; - m_dp_params[8][1][2] = 0.0; - m_dq_params[8][1][0] = 0.0; - m_dq_params[8][1][1] = 0.0; - m_dq_params[8][1][2] = 0.0; - m_c2_params[8][1][0] = 0.0; - m_c2_params[8][1][1] = 0.0; - m_c2_params[8][1][2] = 0.0; - m_dp_params[8][2][0] = 0.0; - m_dp_params[8][2][1] = 0.0; - m_dp_params[8][2][2] = 0.0; - m_dq_params[8][2][0] = 0.0; - m_dq_params[8][2][1] = 0.0; - m_dq_params[8][2][2] = 0.0; - m_c2_params[8][2][0] = 0.0; - m_c2_params[8][2][1] = 0.0; - m_c2_params[8][2][2] = 0.0; - m_dp_params[8][3][0] = 0.0; - m_dp_params[8][3][1] = 0.0; - m_dp_params[8][3][2] = 0.0; - m_dq_params[8][3][0] = 0.0; - m_dq_params[8][3][1] = 0.0; - m_dq_params[8][3][2] = 0.0; - m_c2_params[8][3][0] = 0.0; - m_c2_params[8][3][1] = 0.0; - m_c2_params[8][3][2] = 0.0; - m_dp_params[8][4][0] = 0.0; - m_dp_params[8][4][1] = 0.0; - m_dp_params[8][4][2] = 0.0; - m_dq_params[8][4][0] = 0.0; - m_dq_params[8][4][1] = 0.0; - m_dq_params[8][4][2] = 0.0; - m_c2_params[8][4][0] = 0.0; - m_c2_params[8][4][1] = 0.0; - m_c2_params[8][4][2] = 0.0; - m_dp_params[8][5][0] = 0.0; - m_dp_params[8][5][1] = 0.0; - m_dp_params[8][5][2] = 0.0; - m_dq_params[8][5][0] = 0.0; - m_dq_params[8][5][1] = 0.0; - m_dq_params[8][5][2] = 0.0; - m_c2_params[8][5][0] = 0.0; - m_c2_params[8][5][1] = 0.0; - m_c2_params[8][5][2] = 0.0; - m_dp_params[8][6][0] = 0.0; - m_dp_params[8][6][1] = 0.0; - m_dp_params[8][6][2] = 0.0; - m_dq_params[8][6][0] = 0.0; - m_dq_params[8][6][1] = 0.0; - m_dq_params[8][6][2] = 0.0; - m_c2_params[8][6][0] = 0.0; - m_c2_params[8][6][1] = 0.0; - m_c2_params[8][6][2] = 0.0; - m_dp_params[8][7][0] = 0.0; - m_dp_params[8][7][1] = 0.0; - m_dp_params[8][7][2] = 0.0; - m_dq_params[8][7][0] = 0.0; - m_dq_params[8][7][1] = 0.0; - m_dq_params[8][7][2] = 0.0; - m_c2_params[8][7][0] = 0.0; - m_c2_params[8][7][1] = 0.0; - m_c2_params[8][7][2] = 0.0; - m_dp_params[8][8][0] = 0.0; - m_dp_params[8][8][1] = 0.0; - m_dp_params[8][8][2] = 0.0; - m_dq_params[8][8][0] = 0.0; - m_dq_params[8][8][1] = 0.0; - m_dq_params[8][8][2] = 0.0; - m_c2_params[8][8][0] = 0.0; - m_c2_params[8][8][1] = 0.0; - m_c2_params[8][8][2] = 0.0; - m_dp_params[8][9][0] = 0.0; - m_dp_params[8][9][1] = 0.0; - m_dp_params[8][9][2] = 0.0; - m_dq_params[8][9][0] = 0.0; - m_dq_params[8][9][1] = 0.0; - m_dq_params[8][9][2] = 0.0; - m_c2_params[8][9][0] = 0.0; - m_c2_params[8][9][1] = 0.0; - m_c2_params[8][9][2] = 0.0; - m_dp_params[8][10][0] = 0.0; - m_dp_params[8][10][1] = 0.0; - m_dp_params[8][10][2] = 0.0; - m_dq_params[8][10][0] = 0.0; - m_dq_params[8][10][1] = 0.0; - m_dq_params[8][10][2] = 0.0; - m_c2_params[8][10][0] = 0.0; - m_c2_params[8][10][1] = 0.0; - m_c2_params[8][10][2] = 0.0; - m_dp_params[8][11][0] = 0.0; - m_dp_params[8][11][1] = 0.0; - m_dp_params[8][11][2] = 0.0; - m_dq_params[8][11][0] = 0.0; - m_dq_params[8][11][1] = 0.0; - m_dq_params[8][11][2] = 0.0; - m_c2_params[8][11][0] = 0.0; - m_c2_params[8][11][1] = 0.0; - m_c2_params[8][11][2] = 0.0; - m_dp_params[8][12][0] = 0.0; - m_dp_params[8][12][1] = 0.0; - m_dp_params[8][12][2] = 0.0; - m_dq_params[8][12][0] = 0.0; - m_dq_params[8][12][1] = 0.0; - m_dq_params[8][12][2] = 0.0; - m_c2_params[8][12][0] = 0.0; - m_c2_params[8][12][1] = 0.0; - m_c2_params[8][12][2] = 0.0; - m_dp_params[8][13][0] = 0.011779; - m_dp_params[8][13][1] = -0.000801; - m_dp_params[8][13][2] = 0.014503; - m_dq_params[8][13][0] = 0.135807; - m_dq_params[8][13][1] = 3.633262; - m_dq_params[8][13][2] = 8.460549; - m_c2_params[8][13][0] = 17.707584; - m_c2_params[8][13][1] = 1.789107; - m_c2_params[8][13][2] = 6.018289; - m_dp_params[8][14][0] = 0.025381; - m_dp_params[8][14][1] = -0.001369; - m_dp_params[8][14][2] = 0.004497; - m_dq_params[8][14][0] = 0.249722; - m_dq_params[8][14][1] = 1.690882; - m_dq_params[8][14][2] = 9.289063; - m_c2_params[8][14][0] = 319.011377; - m_c2_params[8][14][1] = 8.234753; - m_c2_params[8][14][2] = -8.482943; - m_dp_params[8][15][0] = 0.021443; - m_dp_params[8][15][1] = 0.000873; - m_dp_params[8][15][2] = 0.001397; - m_dq_params[8][15][0] = 0.253310; - m_dq_params[8][15][1] = 1.570532; - m_dq_params[8][15][2] = 9.362061; - m_c2_params[8][15][0] = 147.163213; - m_c2_params[8][15][1] = -30.398976; - m_c2_params[8][15][2] = 310.054765; - m_dp_params[8][16][0] = 0.033652; - m_dp_params[8][16][1] = -0.008939; - m_dp_params[8][16][2] = 0.001252; - m_dq_params[8][16][0] = 0.642350; - m_dq_params[8][16][1] = 1.396141; - m_dq_params[8][16][2] = 9.329982; - m_c2_params[8][16][0] = 314.065473; - m_c2_params[8][16][1] = 195.207751; - m_c2_params[8][16][2] = 64.939918; - m_dp_params[8][17][0] = 0.031183; - m_dp_params[8][17][1] = -0.005374; - m_dp_params[8][17][2] = 0.000617; - m_dq_params[8][17][0] = 1.350164; - m_dq_params[8][17][1] = 3.707033; - m_dq_params[8][17][2] = 8.393424; - m_c2_params[8][17][0] = 382.870498; - m_c2_params[8][17][1] = 191.863990; - m_c2_params[8][17][2] = 15.558555; - m_dp_params[8][18][0] = 0.0; - m_dp_params[8][18][1] = 0.0; - m_dp_params[8][18][2] = 0.0; - m_dq_params[8][18][0] = 0.0; - m_dq_params[8][18][1] = 0.0; - m_dq_params[8][18][2] = 0.0; - m_c2_params[8][18][0] = 0.0; - m_c2_params[8][18][1] = 0.0; - m_c2_params[8][18][2] = 0.0; - m_dp_params[8][19][0] = 0.0; - m_dp_params[8][19][1] = 0.0; - m_dp_params[8][19][2] = 0.0; - m_dq_params[8][19][0] = 0.0; - m_dq_params[8][19][1] = 0.0; - m_dq_params[8][19][2] = 0.0; - m_c2_params[8][19][0] = 0.0; - m_c2_params[8][19][1] = 0.0; - m_c2_params[8][19][2] = 0.0; - m_dp_params[8][20][0] = 0.0; - m_dp_params[8][20][1] = 0.0; - m_dp_params[8][20][2] = 0.0; - m_dq_params[8][20][0] = 0.0; - m_dq_params[8][20][1] = 0.0; - m_dq_params[8][20][2] = 0.0; - m_c2_params[8][20][0] = 0.0; - m_c2_params[8][20][1] = 0.0; - m_c2_params[8][20][2] = 0.0; - m_dp_params[8][21][0] = 0.0; - m_dp_params[8][21][1] = 0.0; - m_dp_params[8][21][2] = 0.0; - m_dq_params[8][21][0] = 0.0; - m_dq_params[8][21][1] = 0.0; - m_dq_params[8][21][2] = 0.0; - m_c2_params[8][21][0] = 0.0; - m_c2_params[8][21][1] = 0.0; - m_c2_params[8][21][2] = 0.0; - m_dp_params[8][22][0] = 0.0; - m_dp_params[8][22][1] = 0.0; - m_dp_params[8][22][2] = 0.0; - m_dq_params[8][22][0] = 0.0; - m_dq_params[8][22][1] = 0.0; - m_dq_params[8][22][2] = 0.0; - m_c2_params[8][22][0] = 0.0; - m_c2_params[8][22][1] = 0.0; - m_c2_params[8][22][2] = 0.0; - m_dp_params[8][23][0] = 0.0; - m_dp_params[8][23][1] = 0.0; - m_dp_params[8][23][2] = 0.0; - m_dq_params[8][23][0] = 0.0; - m_dq_params[8][23][1] = 0.0; - m_dq_params[8][23][2] = 0.0; - m_c2_params[8][23][0] = 0.0; - m_c2_params[8][23][1] = 0.0; - m_c2_params[8][23][2] = 0.0; - m_dp_params[8][24][0] = 0.0; - m_dp_params[8][24][1] = 0.0; - m_dp_params[8][24][2] = 0.0; - m_dq_params[8][24][0] = 0.0; - m_dq_params[8][24][1] = 0.0; - m_dq_params[8][24][2] = 0.0; - m_c2_params[8][24][0] = 0.0; - m_c2_params[8][24][1] = 0.0; - m_c2_params[8][24][2] = 0.0; - m_dp_params[8][25][0] = 0.0; - m_dp_params[8][25][1] = 0.0; - m_dp_params[8][25][2] = 0.0; - m_dq_params[8][25][0] = 0.0; - m_dq_params[8][25][1] = 0.0; - m_dq_params[8][25][2] = 0.0; - m_c2_params[8][25][0] = 0.0; - m_c2_params[8][25][1] = 0.0; - m_c2_params[8][25][2] = 0.0; - m_dp_params[8][26][0] = 0.0; - m_dp_params[8][26][1] = 0.0; - m_dp_params[8][26][2] = 0.0; - m_dq_params[8][26][0] = 0.0; - m_dq_params[8][26][1] = 0.0; - m_dq_params[8][26][2] = 0.0; - m_c2_params[8][26][0] = 0.0; - m_c2_params[8][26][1] = 0.0; - m_c2_params[8][26][2] = 0.0; - m_dp_params[8][27][0] = 0.050712; - m_dp_params[8][27][1] = 0.0; - m_dp_params[8][27][2] = 0.002568; - m_dq_params[8][27][0] = -8.200973; - m_dq_params[8][27][1] = 0.0; - m_dq_params[8][27][2] = 14.111322; - m_c2_params[8][27][0] = 1028.139215; - m_c2_params[8][27][1] = 0.0; - m_c2_params[8][27][2] = 14.332387; - m_dp_params[8][28][0] = 0.0; - m_dp_params[8][28][1] = 0.0; - m_dp_params[8][28][2] = 0.0; - m_dq_params[8][28][0] = 0.0; - m_dq_params[8][28][1] = 0.0; - m_dq_params[8][28][2] = 0.0; - m_c2_params[8][28][0] = 0.0; - m_c2_params[8][28][1] = 0.0; - m_c2_params[8][28][2] = 0.0; - m_dp_params[8][29][0] = 0.058398; - m_dp_params[8][29][1] = 0.0; - m_dp_params[8][29][2] = 0.001205; - m_dq_params[8][29][0] = -8.758918; - m_dq_params[8][29][1] = 0.0; - m_dq_params[8][29][2] = 13.312192; - m_c2_params[8][29][0] = 3739.179045; - m_c2_params[8][29][1] = 0.0; - m_c2_params[8][29][2] = 11.014238; - m_dp_params[8][30][0] = 0.013627; - m_dp_params[8][30][1] = 0.003823; - m_dp_params[8][30][2] = 0.004726; - m_dq_params[8][30][0] = -0.642851; - m_dq_params[8][30][1] = -11.301864; - m_dq_params[8][30][2] = 19.649359; - m_c2_params[8][30][0] = 94.661054; - m_c2_params[8][30][1] = 89.642657; - m_c2_params[8][30][2] = -111.262194; - m_dp_params[8][31][0] = 0.025547; - m_dp_params[8][31][1] = 0.025990; - m_dp_params[8][31][2] = -0.018887; - m_dq_params[8][31][0] = -0.842534; - m_dq_params[8][31][1] = -4.546847; - m_dq_params[8][31][2] = 15.900076; - m_c2_params[8][31][0] = 366.036014; - m_c2_params[8][31][1] = 655.741850; - m_c2_params[8][31][2] = -368.193590; - m_dp_params[8][32][0] = 0.010067; - m_dp_params[8][32][1] = 0.0; - m_dp_params[8][32][2] = 0.009420; - m_dq_params[8][32][0] = -0.552154; - m_dq_params[8][32][1] = 0.0; - m_dq_params[8][32][2] = 8.386871; - m_c2_params[8][32][0] = 11.357149; - m_c2_params[8][32][1] = 0.0; - m_c2_params[8][32][2] = 1.276753; - m_dp_params[8][33][0] = 0.019769; - m_dp_params[8][33][1] = -0.006527; - m_dp_params[8][33][2] = 0.013428; - m_dq_params[8][33][0] = 1.108733; - m_dq_params[8][33][1] = -1.541214; - m_dq_params[8][33][2] = 11.576139; - m_c2_params[8][33][0] = 361.929603; - m_c2_params[8][33][1] = -857.220245; - m_c2_params[8][33][2] = 1336.020530; - m_dp_params[8][34][0] = 0.010875; - m_dp_params[8][34][1] = 0.0; - m_dp_params[8][34][2] = 0.008575; - m_dq_params[8][34][0] = -0.217838; - m_dq_params[8][34][1] = 0.0; - m_dq_params[8][34][2] = 8.141843; - m_c2_params[8][34][0] = 21.983790; - m_c2_params[8][34][1] = 0.0; - m_c2_params[8][34][2] = 4.073500; - m_dp_params[8][35][0] = 0.021586; - m_dp_params[8][35][1] = -0.020923; - m_dp_params[8][35][2] = 0.032380; - m_dq_params[8][35][0] = 0.067219; - m_dq_params[8][35][1] = -9.288116; - m_dq_params[8][35][2] = 22.450178; - m_c2_params[8][35][0] = 582.602338; - m_c2_params[8][35][1] = 427.136597; - m_c2_params[8][35][2] = -442.691101; - m_dp_params[8][36][0] = 0.010330; - m_dp_params[8][36][1] = 0.0; - m_dp_params[8][36][2] = 0.009903; - m_dq_params[8][36][0] = 0.094842; - m_dq_params[8][36][1] = 0.0; - m_dq_params[8][36][2] = 7.735566; - m_c2_params[8][36][0] = -0.881012; - m_c2_params[8][36][1] = 0.0; - m_c2_params[8][36][2] = 15.068129; - m_dp_params[8][37][0] = 0.014867; - m_dp_params[8][37][1] = 0.003499; - m_dp_params[8][37][2] = 0.004301; - m_dq_params[8][37][0] = 1.259651; - m_dq_params[8][37][1] = -4.476033; - m_dq_params[8][37][2] = 15.635988; - m_c2_params[8][37][0] = 199.350639; - m_c2_params[8][37][1] = 1539.699000; - m_c2_params[8][37][2] = -1486.849363; - m_dp_params[8][38][0] = 0.009643; - m_dp_params[8][38][1] = 0.0; - m_dp_params[8][38][2] = 0.012462; - m_dq_params[8][38][0] = 0.100000; - m_dq_params[8][38][1] = 0.0; - m_dq_params[8][38][2] = 8.020000; - m_c2_params[8][38][0] = -92.000000; - m_c2_params[8][38][1] = 0.0; - m_c2_params[8][38][2] = 186.600000; - m_dp_params[8][39][0] = 0.014805; - m_dp_params[8][39][1] = 0.023368; - m_dp_params[8][39][2] = -0.017626; - m_dq_params[8][39][0] = -0.488263; - m_dq_params[8][39][1] = -62.557227; - m_dq_params[8][39][2] = 90.676752; - m_c2_params[8][39][0] = 501.116750; - m_c2_params[8][39][1] = 272.285717; - m_c2_params[8][39][2] = -209.289972; - m_dp_params[8][40][0] = 0.0; - m_dp_params[8][40][1] = 0.0; - m_dp_params[8][40][2] = 0.028000; - m_dq_params[8][40][0] = 0.0; - m_dq_params[8][40][1] = 0.0; - m_dq_params[8][40][2] = 8.300000; - m_c2_params[8][40][0] = 0.0; - m_c2_params[8][40][1] = 0.0; - m_c2_params[8][40][2] = 135.000000; - m_dp_params[8][41][0] = 0.024455; - m_dp_params[8][41][1] = 0.0; - m_dp_params[8][41][2] = 0.009477; - m_dq_params[8][41][0] = -0.290147; - m_dq_params[8][41][1] = 0.0; - m_dq_params[8][41][2] = 11.275451; - m_c2_params[8][41][0] = 701.432639; - m_c2_params[8][41][1] = 0.0; - m_c2_params[8][41][2] = 30.680036; - m_dp_params[8][42][0] = 0.0; - m_dp_params[8][42][1] = 0.0; - m_dp_params[8][42][2] = 0.0; - m_dq_params[8][42][0] = 0.0; - m_dq_params[8][42][1] = 0.0; - m_dq_params[8][42][2] = 0.0; - m_c2_params[8][42][0] = 0.0; - m_c2_params[8][42][1] = 0.0; - m_c2_params[8][42][2] = 0.0; - m_dp_params[8][43][0] = 0.011303; - m_dp_params[8][43][1] = 0.0; - m_dp_params[8][43][2] = 0.003227; - m_dq_params[8][43][0] = -0.419310; - m_dq_params[8][43][1] = 0.0; - m_dq_params[8][43][2] = 10.424472; - m_c2_params[8][43][0] = 111.208442; - m_c2_params[8][43][1] = 0.0; - m_c2_params[8][43][2] = 141.766247; - m_dp_params[8][44][0] = 0.0; - m_dp_params[8][44][1] = 0.0; - m_dp_params[8][44][2] = 0.0; - m_dq_params[8][44][0] = 0.0; - m_dq_params[8][44][1] = 0.0; - m_dq_params[8][44][2] = 0.0; - m_c2_params[8][44][0] = 0.0; - m_c2_params[8][44][1] = 0.0; - m_c2_params[8][44][2] = 0.0; - m_dp_params[8][45][0] = 0.0; - m_dp_params[8][45][1] = 0.0; - m_dp_params[8][45][2] = 0.0; - m_dq_params[8][45][0] = 0.0; - m_dq_params[8][45][1] = 0.0; - m_dq_params[8][45][2] = 0.0; - m_c2_params[8][45][0] = 0.0; - m_c2_params[8][45][1] = 0.0; - m_c2_params[8][45][2] = 0.0; - m_dp_params[8][46][0] = 0.0; - m_dp_params[8][46][1] = 0.0; - m_dp_params[8][46][2] = 0.0; - m_dq_params[8][46][0] = 0.0; - m_dq_params[8][46][1] = 0.0; - m_dq_params[8][46][2] = 0.0; - m_c2_params[8][46][0] = 0.0; - m_c2_params[8][46][1] = 0.0; - m_c2_params[8][46][2] = 0.0; - m_dp_params[8][47][0] = 0.0; - m_dp_params[8][47][1] = 0.0; - m_dp_params[8][47][2] = 0.0; - m_dq_params[8][47][0] = 0.0; - m_dq_params[8][47][1] = 0.0; - m_dq_params[8][47][2] = 0.0; - m_c2_params[8][47][0] = 0.0; - m_c2_params[8][47][1] = 0.0; - m_c2_params[8][47][2] = 0.0; - m_dp_params[8][48][0] = 0.0; - m_dp_params[8][48][1] = 0.0; - m_dp_params[8][48][2] = 0.0; - m_dq_params[8][48][0] = 0.0; - m_dq_params[8][48][1] = 0.0; - m_dq_params[8][48][2] = 0.0; - m_c2_params[8][48][0] = 0.0; - m_c2_params[8][48][1] = 0.0; - m_c2_params[8][48][2] = 0.0; - m_dp_params[8][49][0] = 0.0; - m_dp_params[8][49][1] = 0.0; - m_dp_params[8][49][2] = 0.0; - m_dq_params[8][49][0] = 0.0; - m_dq_params[8][49][1] = 0.0; - m_dq_params[8][49][2] = 0.0; - m_c2_params[8][49][0] = 0.0; - m_c2_params[8][49][1] = 0.0; - m_c2_params[8][49][2] = 0.0; - m_dp_params[8][50][0] = 0.0; - m_dp_params[8][50][1] = 0.0; - m_dp_params[8][50][2] = 0.0; - m_dq_params[8][50][0] = 0.0; - m_dq_params[8][50][1] = 0.0; - m_dq_params[8][50][2] = 0.0; - m_c2_params[8][50][0] = 0.0; - m_c2_params[8][50][1] = 0.0; - m_c2_params[8][50][2] = 0.0; - m_dp_params[8][51][0] = 0.0; - m_dp_params[8][51][1] = 0.0; - m_dp_params[8][51][2] = 0.0; - m_dq_params[8][51][0] = 0.0; - m_dq_params[8][51][1] = 0.0; - m_dq_params[8][51][2] = 0.0; - m_c2_params[8][51][0] = 0.0; - m_c2_params[8][51][1] = 0.0; - m_c2_params[8][51][2] = 0.0; - m_dp_params[8][52][0] = 0.0; - m_dp_params[8][52][1] = 0.0; - m_dp_params[8][52][2] = 0.0; - m_dq_params[8][52][0] = 0.0; - m_dq_params[8][52][1] = 0.0; - m_dq_params[8][52][2] = 0.0; - m_c2_params[8][52][0] = 0.0; - m_c2_params[8][52][1] = 0.0; - m_c2_params[8][52][2] = 0.0; - m_dp_params[8][53][0] = 0.0; - m_dp_params[8][53][1] = 0.0; - m_dp_params[8][53][2] = 0.0; - m_dq_params[8][53][0] = 0.0; - m_dq_params[8][53][1] = 0.0; - m_dq_params[8][53][2] = 0.0; - m_c2_params[8][53][0] = 0.0; - m_c2_params[8][53][1] = 0.0; - m_c2_params[8][53][2] = 0.0; - m_dp_params[8][54][0] = 0.060654; - m_dp_params[8][54][1] = 0.0; - m_dp_params[8][54][2] = 0.002648; - m_dq_params[8][54][0] = -0.548959; - m_dq_params[8][54][1] = 0.0; - m_dq_params[8][54][2] = 11.136853; - m_c2_params[8][54][0] = 2095.169449; - m_c2_params[8][54][1] = 0.0; - m_c2_params[8][54][2] = 5.913341; - m_dp_params[8][55][0] = 0.0; - m_dp_params[8][55][1] = 0.0; - m_dp_params[8][55][2] = 0.0; - m_dq_params[8][55][0] = 0.0; - m_dq_params[8][55][1] = 0.0; - m_dq_params[8][55][2] = 0.0; - m_c2_params[8][55][0] = 0.0; - m_c2_params[8][55][1] = 0.0; - m_c2_params[8][55][2] = 0.0; - m_dp_params[8][56][0] = 0.147926; - m_dp_params[8][56][1] = 0.0; - m_dp_params[8][56][2] = 0.003584; - m_dq_params[8][56][0] = 2.331740; - m_dq_params[8][56][1] = 0.0; - m_dq_params[8][56][2] = 12.749957; - m_c2_params[8][56][0] = 3815.201955; - m_c2_params[8][56][1] = 0.0; - m_c2_params[8][56][2] = -9.093271; - m_dp_params[8][57][0] = 0.015296; - m_dp_params[8][57][1] = 0.003943; - m_dp_params[8][57][2] = 0.005017; - m_dq_params[8][57][0] = 0.188145; - m_dq_params[8][57][1] = -11.714821; - m_dq_params[8][57][2] = 19.569396; - m_c2_params[8][57][0] = 28.282876; - m_c2_params[8][57][1] = 23.496767; - m_c2_params[8][57][2] = -27.967293; - m_dp_params[8][58][0] = 0.025159; - m_dp_params[8][58][1] = 0.004347; - m_dp_params[8][58][2] = 0.005940; - m_dq_params[8][58][0] = -0.082664; - m_dq_params[8][58][1] = -2.045743; - m_dq_params[8][58][2] = 12.459392; - m_c2_params[8][58][0] = 505.929318; - m_c2_params[8][58][1] = -969.490800; - m_c2_params[8][58][2] = 1177.979542; - m_dp_params[8][59][0] = 0.011396; - m_dp_params[8][59][1] = 0.0; - m_dp_params[8][59][2] = 0.009311; - m_dq_params[8][59][0] = -0.238661; - m_dq_params[8][59][1] = 0.0; - m_dq_params[8][59][2] = 8.623213; - m_c2_params[8][59][0] = 13.982546; - m_c2_params[8][59][1] = 0.0; - m_c2_params[8][59][2] = 1.319047; - m_dp_params[8][60][0] = 0.022046; - m_dp_params[8][60][1] = 0.002836; - m_dp_params[8][60][2] = 0.002991; - m_dq_params[8][60][0] = -0.012975; - m_dq_params[8][60][1] = 0.254446; - m_dq_params[8][60][2] = 10.236439; - m_c2_params[8][60][0] = 229.812496; - m_c2_params[8][60][1] = 810.001137; - m_c2_params[8][60][2] = -632.335139; - m_dp_params[8][61][0] = 0.013226; - m_dp_params[8][61][1] = 0.0; - m_dp_params[8][61][2] = 0.008194; - m_dq_params[8][61][0] = -0.519608; - m_dq_params[8][61][1] = 0.0; - m_dq_params[8][61][2] = 8.449952; - m_c2_params[8][61][0] = 86.609346; - m_c2_params[8][61][1] = 0.0; - m_c2_params[8][61][2] = 8.061739; - m_dp_params[8][62][0] = 0.020424; - m_dp_params[8][62][1] = 0.021160; - m_dp_params[8][62][2] = -0.019950; - m_dq_params[8][62][0] = -1.943575; - m_dq_params[8][62][1] = 5.738812; - m_dq_params[8][62][2] = 6.085973; - m_c2_params[8][62][0] = 222.541927; - m_c2_params[8][62][1] = 1630.463789; - m_c2_params[8][62][2] = -1599.991884; - m_dp_params[8][63][0] = 0.010525; - m_dp_params[8][63][1] = 0.0; - m_dp_params[8][63][2] = 0.009855; - m_dq_params[8][63][0] = 0.121703; - m_dq_params[8][63][1] = 0.0; - m_dq_params[8][63][2] = 8.128067; - m_c2_params[8][63][0] = 127.259236; - m_c2_params[8][63][1] = 0.0; - m_c2_params[8][63][2] = -10.493561; - m_dp_params[8][64][0] = 0.020383; - m_dp_params[8][64][1] = 0.020056; - m_dp_params[8][64][2] = -0.018325; - m_dq_params[8][64][0] = -1.051857; - m_dq_params[8][64][1] = 3.564918; - m_dq_params[8][64][2] = 7.697532; - m_c2_params[8][64][0] = 301.381284; - m_c2_params[8][64][1] = 1187.986093; - m_c2_params[8][64][2] = -1231.000875; - m_dp_params[8][65][0] = 0.010295; - m_dp_params[8][65][1] = 0.0; - m_dp_params[8][65][2] = 0.010326; - m_dq_params[8][65][0] = 0.021121; - m_dq_params[8][65][1] = 0.0; - m_dq_params[8][65][2] = 8.055089; - m_c2_params[8][65][0] = -1.917288; - m_c2_params[8][65][1] = 0.0; - m_c2_params[8][65][2] = 18.877139; - m_dp_params[8][66][0] = 0.019484; - m_dp_params[8][66][1] = 0.008709; - m_dp_params[8][66][2] = -0.006990; - m_dq_params[8][66][0] = -1.690510; - m_dq_params[8][66][1] = -10.730790; - m_dq_params[8][66][2] = 25.382028; - m_c2_params[8][66][0] = 336.400998; - m_c2_params[8][66][1] = 1818.380398; - m_c2_params[8][66][2] = -2033.530459; - m_dp_params[8][67][0] = 0.0; - m_dp_params[8][67][1] = 0.0; - m_dp_params[8][67][2] = 0.027000; - m_dq_params[8][67][0] = 0.0; - m_dq_params[8][67][1] = 0.0; - m_dq_params[8][67][2] = 8.500000; - m_c2_params[8][67][0] = 0.0; - m_c2_params[8][67][1] = 0.0; - m_c2_params[8][67][2] = 22.000000; - m_dp_params[8][68][0] = 0.017290; - m_dp_params[8][68][1] = 0.0; - m_dp_params[8][68][2] = 0.002825; - m_dq_params[8][68][0] = -0.217369; - m_dq_params[8][68][1] = 0.0; - m_dq_params[8][68][2] = 11.211942; - m_c2_params[8][68][0] = 619.585732; - m_c2_params[8][68][1] = 0.0; - m_c2_params[8][68][2] = 15.266366; - m_dp_params[8][69][0] = 0.0; - m_dp_params[8][69][1] = 0.0; - m_dp_params[8][69][2] = 0.0; - m_dq_params[8][69][0] = 0.0; - m_dq_params[8][69][1] = 0.0; - m_dq_params[8][69][2] = 0.0; - m_c2_params[8][69][0] = 0.0; - m_c2_params[8][69][1] = 0.0; - m_c2_params[8][69][2] = 0.0; - m_dp_params[8][70][0] = 0.006677; - m_dp_params[8][70][1] = 0.0; - m_dp_params[8][70][2] = 0.007474; - m_dq_params[8][70][0] = 1.255343; - m_dq_params[8][70][1] = 0.0; - m_dq_params[8][70][2] = 10.508076; - m_c2_params[8][70][0] = 4.357493; - m_c2_params[8][70][1] = 0.0; - m_c2_params[8][70][2] = 80.465803; - m_dp_params[8][71][0] = 0.0; - m_dp_params[8][71][1] = 0.0; - m_dp_params[8][71][2] = 0.0; - m_dq_params[8][71][0] = 0.0; - m_dq_params[8][71][1] = 0.0; - m_dq_params[8][71][2] = 0.0; - m_c2_params[8][71][0] = 0.0; - m_c2_params[8][71][1] = 0.0; - m_c2_params[8][71][2] = 0.0; - } - - }; // end struct HitSelectionWindows - -} // namespace mkfit -#endif diff --git a/RecoTracker/MkFit/plugins/MkFitEventOfHitsProducer.cc b/RecoTracker/MkFit/plugins/MkFitEventOfHitsProducer.cc new file mode 100644 index 0000000000000..270bce35fe048 --- /dev/null +++ b/RecoTracker/MkFit/plugins/MkFitEventOfHitsProducer.cc @@ -0,0 +1,86 @@ +#include "FWCore/Framework/interface/global/EDProducer.h" + +#include "FWCore/Framework/interface/Event.h" +#include "FWCore/Framework/interface/MakerMacros.h" +#include "FWCore/ParameterSet/interface/ParameterSet.h" + +#include "DataFormats/TrackingRecHit/interface/TrackingRecHit.h" + +#include "RecoTracker/MkFit/interface/MkFitClusterIndexToHit.h" +#include "RecoTracker/MkFit/interface/MkFitEventOfHits.h" +#include "RecoTracker/MkFit/interface/MkFitGeometry.h" +#include "RecoTracker/MkFit/interface/MkFitHitWrapper.h" +#include "RecoTracker/Record/interface/TrackerRecoGeometryRecord.h" + +// mkFit includes +#include "mkFit/HitStructures.h" +#include "mkFit/MkStdSeqs.h" + +class MkFitEventOfHitsProducer : public edm::global::EDProducer<> { +public: + explicit MkFitEventOfHitsProducer(edm::ParameterSet const& iConfig); + ~MkFitEventOfHitsProducer() override = default; + + static void fillDescriptions(edm::ConfigurationDescriptions& descriptions); + +private: + void produce(edm::StreamID, edm::Event& iEvent, const edm::EventSetup& iSetup) const override; + + void fill(const std::vector& hits, + mkfit::EventOfHits& eventOfHits, + const MkFitGeometry& mkFitGeom) const; + + const edm::EDGetTokenT pixelHitsToken_; + const edm::EDGetTokenT stripHitsToken_; + const edm::EDGetTokenT pixelClusterIndexToHitToken_; + const edm::EDGetTokenT stripClusterIndexToHitToken_; + const edm::ESGetToken mkFitGeomToken_; + const edm::EDPutTokenT putToken_; +}; + +MkFitEventOfHitsProducer::MkFitEventOfHitsProducer(edm::ParameterSet const& iConfig) + : pixelHitsToken_{consumes(iConfig.getParameter("pixelHits"))}, + stripHitsToken_{consumes(iConfig.getParameter("stripHits"))}, + pixelClusterIndexToHitToken_{consumes(iConfig.getParameter("pixelHits"))}, + stripClusterIndexToHitToken_{consumes(iConfig.getParameter("stripHits"))}, + mkFitGeomToken_{esConsumes()}, + putToken_{produces()} {} + +void MkFitEventOfHitsProducer::fillDescriptions(edm::ConfigurationDescriptions& descriptions) { + edm::ParameterSetDescription desc; + + desc.add("pixelHits", edm::InputTag{"mkFitSiPixelHits"}); + desc.add("stripHits", edm::InputTag{"mkFitSiStripHits"}); + + descriptions.addWithDefaultLabel(desc); +} + +void MkFitEventOfHitsProducer::produce(edm::StreamID iID, edm::Event& iEvent, const edm::EventSetup& iSetup) const { + const auto& pixelHits = iEvent.get(pixelHitsToken_); + const auto& stripHits = iEvent.get(stripHitsToken_); + const auto& mkFitGeom = iSetup.getData(mkFitGeomToken_); + + auto eventOfHits = std::make_unique(mkFitGeom.trackerInfo()); + mkfit::StdSeq::Cmssw_LoadHits_Begin(*eventOfHits, {&pixelHits.hits(), &stripHits.hits()}); + + fill(iEvent.get(pixelClusterIndexToHitToken_).hits(), *eventOfHits, mkFitGeom); + fill(iEvent.get(stripClusterIndexToHitToken_).hits(), *eventOfHits, mkFitGeom); + + mkfit::StdSeq::Cmssw_LoadHits_End(*eventOfHits); + + iEvent.emplace(putToken_, std::move(eventOfHits)); +} + +void MkFitEventOfHitsProducer::fill(const std::vector& hits, + mkfit::EventOfHits& eventOfHits, + const MkFitGeometry& mkFitGeom) const { + for (int i = 0, end = hits.size(); i < end; ++i) { + const auto* hit = hits[i]; + if (hit != nullptr) { + const auto ilay = mkFitGeom.mkFitLayerNumber(hit->geographicalId()); + eventOfHits[ilay].RegisterHit(i); + } + } +} + +DEFINE_FWK_MODULE(MkFitEventOfHitsProducer); diff --git a/RecoTracker/MkFit/plugins/MkFitGeometryESProducer.cc b/RecoTracker/MkFit/plugins/MkFitGeometryESProducer.cc index 1be80b757bd27..d8e5fb3d93cf6 100644 --- a/RecoTracker/MkFit/plugins/MkFitGeometryESProducer.cc +++ b/RecoTracker/MkFit/plugins/MkFitGeometryESProducer.cc @@ -10,7 +10,7 @@ #include "RecoTracker/MkFit/interface/MkFitGeometry.h" -#include "createCMS2017.h" +#include "createPhase1TrackerGeometry.h" // mkFit includes #include "ConfigWrapper.h" @@ -48,7 +48,7 @@ void MkFitGeometryESProducer::fillDescriptions(edm::ConfigurationDescriptions& d std::unique_ptr MkFitGeometryESProducer::produce(const TrackerRecoGeometryRecord& iRecord) { auto trackerInfo = std::make_unique(); auto iterationsInfo = std::make_unique(); - mkfit::createCMS2017(*trackerInfo, *iterationsInfo, false); + mkfit::createPhase1TrackerGeometry(*trackerInfo, *iterationsInfo, false); return std::make_unique(iRecord.get(geomToken_), iRecord.get(trackerToken_), iRecord.get(ttopoToken_), diff --git a/RecoTracker/MkFit/plugins/MkFitHitConverter.cc b/RecoTracker/MkFit/plugins/MkFitHitConverter.cc deleted file mode 100644 index eb72d0958a111..0000000000000 --- a/RecoTracker/MkFit/plugins/MkFitHitConverter.cc +++ /dev/null @@ -1,262 +0,0 @@ -#include "FWCore/Framework/interface/global/EDProducer.h" - -#include "FWCore/Framework/interface/Event.h" -#include "FWCore/Framework/interface/MakerMacros.h" -#include "FWCore/ParameterSet/interface/ParameterSet.h" -#include "FWCore/Utilities/interface/Likely.h" - -#include "DataFormats/Provenance/interface/ProductID.h" -#include "DataFormats/SiStripCluster/interface/SiStripClusterTools.h" -#include "DataFormats/TrajectorySeed/interface/TrajectorySeed.h" -#include "DataFormats/TrackerRecHit2D/interface/SiPixelRecHitCollection.h" -#include "DataFormats/TrackerRecHit2D/interface/SiStripRecHit2DCollection.h" -#include "DataFormats/TrackerRecHit2D/interface/trackerHitRTTI.h" - -#include "DataFormats/TrackerCommon/interface/TrackerTopology.h" -#include "DataFormats/TrackerCommon/interface/TrackerDetSide.h" -#include "Geometry/Records/interface/TrackerTopologyRcd.h" - -#include "TrackingTools/Records/interface/TransientRecHitRecord.h" -#include "TrackingTools/TransientTrackingRecHit/interface/TransientTrackingRecHitBuilder.h" -#include "TrackingTools/TrajectoryState/interface/TrajectoryStateTransform.h" - -#include "RecoTracker/MkFit/interface/MkFitHitWrapper.h" -#include "RecoTracker/MkFit/interface/MkFitClusterIndexToHit.h" -#include "RecoTracker/MkFit/interface/MkFitGeometry.h" -#include "RecoTracker/Record/interface/TrackerRecoGeometryRecord.h" - -// ROOT -#include "Math/SVector.h" -#include "Math/SMatrix.h" - -// mkFit includes -#include "Hit.h" -#include "LayerNumberConverter.h" -#include "mkFit/HitStructures.h" -#include "mkFit/MkStdSeqs.h" - -class MkFitHitConverter : public edm::global::EDProducer<> { -public: - explicit MkFitHitConverter(edm::ParameterSet const& iConfig); - ~MkFitHitConverter() override = default; - - static void fillDescriptions(edm::ConfigurationDescriptions& descriptions); - -private: - void produce(edm::StreamID, edm::Event& iEvent, const edm::EventSetup& iSetup) const override; - - template - edm::ProductID convertHits(const HitCollection& hits, - mkfit::EventOfHits& mkFitEventOfHits, - mkfit::HitVec& mkFitHits, - std::vector& clusterIndexToHit, - std::vector& clusterChargeVec, - const TrackerTopology& ttopo, - const TransientTrackingRecHitBuilder& ttrhBuilder, - const MkFitGeometry& mkFitGeom) const; - - float clusterCharge(const SiStripRecHit2D& hit, DetId hitId) const; - nullptr_t clusterCharge(const SiPixelRecHit& hit, DetId hitId) const; - - bool passCCC(float charge) const; - bool passCCC(nullptr_t) const; //pixel - - void setDetails(mkfit::Hit& mhit, const SiPixelCluster& cluster, const int shortId, nullptr_t) const; - void setDetails(mkfit::Hit& mhit, const SiStripCluster& cluster, const int shortId, float charge) const; - - using SVector3 = ROOT::Math::SVector; - using SMatrixSym33 = ROOT::Math::SMatrix>; - using SMatrixSym66 = ROOT::Math::SMatrix>; - - edm::EDGetTokenT pixelRecHitToken_; - edm::EDGetTokenT stripRphiRecHitToken_; - edm::EDGetTokenT stripStereoRecHitToken_; - edm::ESGetToken ttrhBuilderToken_; - edm::ESGetToken ttopoToken_; - edm::ESGetToken mkFitGeomToken_; - edm::EDPutTokenT wrapperPutToken_; - edm::EDPutTokenT clusterIndexPutToken_; - const float minGoodStripCharge_; -}; - -MkFitHitConverter::MkFitHitConverter(edm::ParameterSet const& iConfig) - : pixelRecHitToken_{consumes(iConfig.getParameter("pixelRecHits"))}, - stripRphiRecHitToken_{ - consumes(iConfig.getParameter("stripRphiRecHits"))}, - stripStereoRecHitToken_{ - consumes(iConfig.getParameter("stripStereoRecHits"))}, - ttrhBuilderToken_{esConsumes( - iConfig.getParameter("ttrhBuilder"))}, - ttopoToken_{esConsumes()}, - mkFitGeomToken_{esConsumes()}, - wrapperPutToken_{produces()}, - clusterIndexPutToken_{produces()}, - minGoodStripCharge_{static_cast( - iConfig.getParameter("minGoodStripCharge").getParameter("value"))} {} - -void MkFitHitConverter::fillDescriptions(edm::ConfigurationDescriptions& descriptions) { - edm::ParameterSetDescription desc; - - desc.add("pixelRecHits", edm::InputTag{"siPixelRecHits"}); - desc.add("stripRphiRecHits", edm::InputTag{"siStripMatchedRecHits", "rphiRecHit"}); - desc.add("stripStereoRecHits", edm::InputTag{"siStripMatchedRecHits", "stereoRecHit"}); - desc.add("ttrhBuilder", edm::ESInputTag{"", "WithTrackAngle"}); - - edm::ParameterSetDescription descCCC; - descCCC.add("value"); - desc.add("minGoodStripCharge", descCCC); - - descriptions.add("mkFitHitConverterDefault", desc); -} - -void MkFitHitConverter::produce(edm::StreamID iID, edm::Event& iEvent, const edm::EventSetup& iSetup) const { - // Then import hits - const auto& ttrhBuilder = iSetup.getData(ttrhBuilderToken_); - const auto& ttopo = iSetup.getData(ttopoToken_); - const auto& mkFitGeom = iSetup.getData(mkFitGeomToken_); - - MkFitHitWrapper hitWrapper{mkFitGeom.trackerInfo()}; - mkfit::StdSeq::Cmssw_LoadHits_Begin(hitWrapper.eventOfHits(), {&hitWrapper.pixelHits(), &hitWrapper.outerHits()}); - - MkFitClusterIndexToHit clusterIndexToHit; - - auto convert = [&](auto& hits, auto& mkFitHits, auto& clusterIndexToHit, auto& clusterCharge) { - return convertHits( - hits, hitWrapper.eventOfHits(), mkFitHits, clusterIndexToHit, clusterCharge, ttopo, ttrhBuilder, mkFitGeom); - }; - std::vector dummy; - auto pixelClusterID = - convert(iEvent.get(pixelRecHitToken_), hitWrapper.pixelHits(), clusterIndexToHit.pixelHits(), dummy); - - edm::ProductID stripClusterID; - const auto& stripRphiHits = iEvent.get(stripRphiRecHitToken_); - const auto& stripStereoHits = iEvent.get(stripStereoRecHitToken_); - if (not stripRphiHits.empty()) { - stripClusterID = - convert(stripRphiHits, hitWrapper.outerHits(), clusterIndexToHit.outerHits(), hitWrapper.stripClusterCharge()); - } - if (not stripStereoHits.empty()) { - auto stripStereoClusterID = convert( - stripStereoHits, hitWrapper.outerHits(), clusterIndexToHit.outerHits(), hitWrapper.stripClusterCharge()); - if (stripRphiHits.empty()) { - stripClusterID = stripStereoClusterID; - } else if (stripClusterID != stripStereoClusterID) { - throw cms::Exception("LogicError") << "Encountered different cluster ProductIDs for strip RPhi hits (" - << stripClusterID << ") and stereo (" << stripStereoClusterID << ")"; - } - } - hitWrapper.setPixelClustersID(pixelClusterID); - hitWrapper.setOuterClustersID(stripClusterID); - - mkfit::StdSeq::Cmssw_LoadHits_End(hitWrapper.eventOfHits()); - - iEvent.emplace(wrapperPutToken_, std::move(hitWrapper)); - iEvent.emplace(clusterIndexPutToken_, std::move(clusterIndexToHit)); -} - -float MkFitHitConverter::clusterCharge(const SiStripRecHit2D& hit, DetId hitId) const { - return siStripClusterTools::chargePerCM(hitId, hit.firstClusterRef().stripCluster()); -} -nullptr_t MkFitHitConverter::clusterCharge(const SiPixelRecHit& hit, DetId hitId) const { return nullptr; } - -bool MkFitHitConverter::passCCC(float charge) const { return charge > minGoodStripCharge_; } - -bool MkFitHitConverter::passCCC(nullptr_t) const { return true; } - -void MkFitHitConverter::setDetails(mkfit::Hit& mhit, const SiPixelCluster& cluster, int shortId, nullptr_t) const { - mhit.setupAsPixel(shortId, cluster.sizeX(), cluster.sizeY()); -} - -void MkFitHitConverter::setDetails(mkfit::Hit& mhit, const SiStripCluster& cluster, int shortId, float charge) const { - mhit.setupAsStrip(shortId, charge, cluster.amplitudes().size()); -} - -template -edm::ProductID MkFitHitConverter::convertHits(const HitCollection& hits, - mkfit::EventOfHits& mkFitEventOfHits, - mkfit::HitVec& mkFitHits, - std::vector& clusterIndexToHit, - std::vector& clusterChargeVec, - const TrackerTopology& ttopo, - const TransientTrackingRecHitBuilder& ttrhBuilder, - const MkFitGeometry& mkFitGeom) const { - if (hits.empty()) - return edm::ProductID{}; - auto isPlusSide = [&ttopo](const DetId& detid) { - return ttopo.side(detid) == static_cast(TrackerDetSide::PosEndcap); - }; - - constexpr bool applyCCC = std::is_same_v; - - edm::ProductID clusterID; - { - const auto& lastClusterRef = hits.data().back().firstClusterRef(); - clusterID = lastClusterRef.id(); - if (lastClusterRef.index() >= mkFitHits.size()) { - auto const size = lastClusterRef.index(); - mkFitHits.resize(size); - clusterIndexToHit.resize(size, nullptr); - if constexpr (applyCCC) { - clusterChargeVec.resize(size, -1.f); - } - } - } - - for (const auto& detset : hits) { - const DetId detid = detset.detId(); - const auto subdet = detid.subdetId(); - const auto layer = ttopo.layer(detid); - const auto isStereo = ttopo.isStereo(detid); - const auto ilay = - mkFitGeom.layerNumberConverter().convertLayerNumber(subdet, layer, false, isStereo, isPlusSide(detid)); - - for (const auto& hit : detset) { - const auto charge = clusterCharge(hit, detid); - if (!passCCC(charge)) - continue; - - const auto& gpos = hit.globalPosition(); - SVector3 pos(gpos.x(), gpos.y(), gpos.z()); - const auto& gerr = hit.globalPositionError(); - SMatrixSym33 err; - err.At(0, 0) = gerr.cxx(); - err.At(1, 1) = gerr.cyy(); - err.At(2, 2) = gerr.czz(); - err.At(0, 1) = gerr.cyx(); - err.At(0, 2) = gerr.czx(); - err.At(1, 2) = gerr.czy(); - - auto clusterRef = hit.firstClusterRef(); - if UNLIKELY (clusterRef.id() != clusterID) { - throw cms::Exception("LogicError") - << "Input hit collection has Refs to many cluster collections. Last hit had Ref to product " << clusterID - << ", but encountered Ref to product " << clusterRef.id() << " on detid " << detid.rawId(); - } - const auto clusterIndex = clusterRef.index(); - LogTrace("MkFitHitConverter") << "Adding hit detid " << detid.rawId() << " subdet " << subdet << " layer " - << layer << " isStereo " << isStereo << " zplus " << isPlusSide(detid) << " index " - << clusterIndex << " ilay " << ilay; - - if UNLIKELY (clusterIndex >= mkFitHits.size()) { - mkFitHits.resize(clusterIndex + 1); - clusterIndexToHit.resize(clusterIndex + 1, nullptr); - if constexpr (applyCCC) { - clusterChargeVec.resize(clusterIndex + 1, -1.f); - } - } - mkFitHits[clusterIndex] = mkfit::Hit(pos, err); - clusterIndexToHit[clusterIndex] = &hit; - if constexpr (applyCCC) { - clusterChargeVec[clusterIndex] = charge; - } - - const auto uniqueIdInLayer = mkFitGeom.uniqueIdInLayer(ilay, detid.rawId()); - setDetails(mkFitHits[clusterIndex], *(hit.cluster()), uniqueIdInLayer, charge); - - mkFitEventOfHits[ilay].RegisterHit(clusterIndex); - } - } - return clusterID; -} - -DEFINE_FWK_MODULE(MkFitHitConverter); diff --git a/RecoTracker/MkFit/plugins/MkFitIterationConfigESProducer.cc b/RecoTracker/MkFit/plugins/MkFitIterationConfigESProducer.cc index 435bc8d510aa2..dc79d3fbd582a 100644 --- a/RecoTracker/MkFit/plugins/MkFitIterationConfigESProducer.cc +++ b/RecoTracker/MkFit/plugins/MkFitIterationConfigESProducer.cc @@ -32,7 +32,8 @@ void MkFitIterationConfigESProducer::fillDescriptions(edm::ConfigurationDescript descriptions.addWithDefaultLabel(desc); } -std::unique_ptr MkFitIterationConfigESProducer::produce(const TrackerRecoGeometryRecord& iRecord) { +std::unique_ptr MkFitIterationConfigESProducer::produce( + const TrackerRecoGeometryRecord& iRecord) { return mkfit::ConfigJson_Load_File(iRecord.get(geomToken_).iterationsInfo(), configFile_); } diff --git a/RecoTracker/MkFit/plugins/MkFitOutputConverter.cc b/RecoTracker/MkFit/plugins/MkFitOutputConverter.cc index 8e9bdf89ee3cb..735034c6d1cda 100644 --- a/RecoTracker/MkFit/plugins/MkFitOutputConverter.cc +++ b/RecoTracker/MkFit/plugins/MkFitOutputConverter.cc @@ -29,7 +29,7 @@ #include "RecoTracker/TransientTrackingRecHit/interface/TkTransientTrackingRecHitBuilder.h" #include "TrackingTools/MaterialEffects/src/PropagatorWithMaterial.cc" -#include "RecoTracker/MkFit/interface/MkFitHitWrapper.h" +#include "RecoTracker/MkFit/interface/MkFitEventOfHits.h" #include "RecoTracker/MkFit/interface/MkFitClusterIndexToHit.h" #include "RecoTracker/MkFit/interface/MkFitSeedWrapper.h" #include "RecoTracker/MkFit/interface/MkFitOutputWrapper.h" @@ -67,7 +67,8 @@ class MkFitOutputConverter : public edm::global::EDProducer<> { TrackCandidateCollection convertCandidates(const MkFitOutputWrapper& mkFitOutput, const mkfit::EventOfHits& eventOfHits, - const MkFitClusterIndexToHit& clusterIndexToHit, + const MkFitClusterIndexToHit& pixelClusterIndexToHit, + const MkFitClusterIndexToHit& stripClusterIndexToHit, const edm::View& seeds, const MagneticField& mf, const Propagator& propagatorAlong, @@ -89,27 +90,29 @@ class MkFitOutputConverter : public edm::global::EDProducer<> { const Propagator& propagatorAlong, const Propagator& propagatorOpposite) const; - edm::EDGetTokenT mkfitHitToken_; - edm::EDGetTokenT clusterIndexToHitToken_; - edm::EDGetTokenT mkfitSeedToken_; - edm::EDGetTokenT tracksToken_; - edm::EDGetTokenT> seedToken_; - edm::ESGetToken propagatorAlongToken_; - edm::ESGetToken propagatorOppositeToken_; - edm::ESGetToken mfToken_; - edm::ESGetToken ttrhBuilderToken_; - edm::ESGetToken mkFitGeomToken_; - edm::EDPutTokenT putTrackCandidateToken_; - edm::EDPutTokenT> putSeedStopInfoToken_; - std::string ttrhBuilderName_; - std::string propagatorAlongName_; - std::string propagatorOppositeName_; + const edm::EDGetTokenT eventOfHitsToken_; + const edm::EDGetTokenT pixelClusterIndexToHitToken_; + const edm::EDGetTokenT stripClusterIndexToHitToken_; + const edm::EDGetTokenT mkfitSeedToken_; + const edm::EDGetTokenT tracksToken_; + const edm::EDGetTokenT> seedToken_; + const edm::ESGetToken propagatorAlongToken_; + const edm::ESGetToken propagatorOppositeToken_; + const edm::ESGetToken mfToken_; + const edm::ESGetToken ttrhBuilderToken_; + const edm::ESGetToken mkFitGeomToken_; + const edm::EDPutTokenT putTrackCandidateToken_; + const edm::EDPutTokenT> putSeedStopInfoToken_; + const std::string ttrhBuilderName_; + const std::string propagatorAlongName_; + const std::string propagatorOppositeName_; }; MkFitOutputConverter::MkFitOutputConverter(edm::ParameterSet const& iConfig) - : mkfitHitToken_{consumes(iConfig.getParameter("mkfitHits"))}, - clusterIndexToHitToken_{consumes(iConfig.getParameter("mkfitHits"))}, - mkfitSeedToken_{consumes(iConfig.getParameter("mkfitSeeds"))}, + : eventOfHitsToken_{consumes(iConfig.getParameter("mkFitEventOfHits"))}, + pixelClusterIndexToHitToken_{consumes(iConfig.getParameter("mkFitPixelHits"))}, + stripClusterIndexToHitToken_{consumes(iConfig.getParameter("mkFitStripHits"))}, + mkfitSeedToken_{consumes(iConfig.getParameter("mkFitSeeds"))}, tracksToken_{consumes(iConfig.getParameter("tracks"))}, seedToken_{consumes>(iConfig.getParameter("seeds"))}, propagatorAlongToken_{ @@ -126,8 +129,10 @@ MkFitOutputConverter::MkFitOutputConverter(edm::ParameterSet const& iConfig) void MkFitOutputConverter::fillDescriptions(edm::ConfigurationDescriptions& descriptions) { edm::ParameterSetDescription desc; - desc.add("mkfitHits", edm::InputTag{"mkFitHits"}); - desc.add("mkfitSeeds", edm::InputTag{"mkFitSeedConverter"}); + desc.add("mkFitEventOfHits", edm::InputTag{"mkFitEventOfHits"}); + desc.add("mkFitPixelHits", edm::InputTag{"mkFitSiPixelHits"}); + desc.add("mkFitStripHits", edm::InputTag{"mkFitSiStripHits"}); + desc.add("mkFitSeeds", edm::InputTag{"mkFitSeedConverter"}); desc.add("tracks", edm::InputTag{"mkFitProducer"}); desc.add("seeds", edm::InputTag{"initialStepSeeds"}); desc.add("ttrhBuilder", edm::ESInputTag{"", "WithTrackAngle"}); @@ -151,8 +156,9 @@ void MkFitOutputConverter::produce(edm::StreamID iID, edm::Event& iEvent, const // Convert mkfit presentation back to CMSSW iEvent.emplace(putTrackCandidateToken_, convertCandidates(iEvent.get(tracksToken_), - iEvent.get(mkfitHitToken_).eventOfHits(), - iEvent.get(clusterIndexToHitToken_), + iEvent.get(eventOfHitsToken_).get(), + iEvent.get(pixelClusterIndexToHitToken_), + iEvent.get(stripClusterIndexToHitToken_), seeds, iSetup.getData(mfToken_), iSetup.getData(propagatorAlongToken_), @@ -167,7 +173,8 @@ void MkFitOutputConverter::produce(edm::StreamID iID, edm::Event& iEvent, const TrackCandidateCollection MkFitOutputConverter::convertCandidates(const MkFitOutputWrapper& mkFitOutput, const mkfit::EventOfHits& eventOfHits, - const MkFitClusterIndexToHit& clusterIndexToHit, + const MkFitClusterIndexToHit& pixelClusterIndexToHit, + const MkFitClusterIndexToHit& stripClusterIndexToHit, const edm::View& seeds, const MagneticField& mf, const Propagator& propagatorAlong, @@ -218,7 +225,7 @@ TrackCandidateCollection MkFitOutputConverter::convertCandidates(const MkFitOutp lastHitInvalid = true; } else { auto const isPixel = eventOfHits[hitOnTrack.layer].is_pix_lyr(); - auto const& hits = isPixel ? clusterIndexToHit.pixelHits() : clusterIndexToHit.outerHits(); + auto const& hits = isPixel ? pixelClusterIndexToHit.hits() : stripClusterIndexToHit.hits(); auto const& thit = static_cast(*hits[hitOnTrack.index]); if (thit.firstClusterRef().isPixel() || thit.detUnit()->type().isEndcap()) { diff --git a/RecoTracker/MkFit/plugins/MkFitProducer.cc b/RecoTracker/MkFit/plugins/MkFitProducer.cc index 39652c67a6d2e..4d2aa849d6863 100644 --- a/RecoTracker/MkFit/plugins/MkFitProducer.cc +++ b/RecoTracker/MkFit/plugins/MkFitProducer.cc @@ -10,9 +10,7 @@ #include "DataFormats/SiPixelCluster/interface/SiPixelCluster.h" #include "DataFormats/SiStripCluster/interface/SiStripClusterfwd.h" -#include "DataFormats/SiPixelDetId/interface/PixelSubdetector.h" -#include "DataFormats/SiStripDetId/interface/StripSubdetector.h" - +#include "RecoTracker/MkFit/interface/MkFitEventOfHits.h" #include "RecoTracker/MkFit/interface/MkFitHitWrapper.h" #include "RecoTracker/MkFit/interface/MkFitSeedWrapper.h" #include "RecoTracker/MkFit/interface/MkFitOutputWrapper.h" @@ -31,14 +29,8 @@ // std includes #include -#include - -namespace { - // TODO: to be removed after the configuration does not require a global write - std::mutex configMutex; -} // namespace -class MkFitProducer : public edm::global::EDProducer > { +class MkFitProducer : public edm::global::EDProducer> { public: explicit MkFitProducer(edm::ParameterSet const& iConfig); ~MkFitProducer() override = default; @@ -50,24 +42,32 @@ class MkFitProducer : public edm::global::EDProducer hitToken_; - edm::EDGetTokenT seedToken_; - edm::EDGetTokenT > > pixelMaskToken_; - edm::EDGetTokenT > > stripMaskToken_; - edm::ESGetToken mkFitGeomToken_; - edm::ESGetToken mkFitIterConfigToken_; - edm::EDPutTokenT putToken_; + void stripClusterChargeCut(const std::vector& stripClusterCharge, std::vector& mask) const; + + const edm::EDGetTokenT pixelHitsToken_; + const edm::EDGetTokenT stripHitsToken_; + const edm::EDGetTokenT> stripClusterChargeToken_; + const edm::EDGetTokenT eventOfHitsToken_; + const edm::EDGetTokenT seedToken_; + edm::EDGetTokenT>> pixelMaskToken_; + edm::EDGetTokenT>> stripMaskToken_; + const edm::ESGetToken mkFitGeomToken_; + const edm::ESGetToken mkFitIterConfigToken_; + const edm::EDPutTokenT putToken_; std::function buildFunction_; const float minGoodStripCharge_; - bool seedCleaning_; - bool backwardFitInCMSSW_; - bool removeDuplicates_; - bool mkFitSilent_; - bool limitConcurrency_; + const bool seedCleaning_; + const bool backwardFitInCMSSW_; + const bool removeDuplicates_; + const bool mkFitSilent_; + const bool limitConcurrency_; }; MkFitProducer::MkFitProducer(edm::ParameterSet const& iConfig) - : hitToken_{consumes(iConfig.getParameter("hits"))}, + : pixelHitsToken_{consumes(iConfig.getParameter("pixelHits"))}, + stripHitsToken_{consumes(iConfig.getParameter("stripHits"))}, + stripClusterChargeToken_{consumes(iConfig.getParameter("stripHits"))}, + eventOfHitsToken_{consumes(iConfig.getParameter("eventOfHits"))}, seedToken_{consumes(iConfig.getParameter("seeds"))}, mkFitGeomToken_{esConsumes()}, mkFitIterConfigToken_{esConsumes(iConfig.getParameter("config"))}, @@ -107,7 +107,9 @@ MkFitProducer::MkFitProducer(edm::ParameterSet const& iConfig) void MkFitProducer::fillDescriptions(edm::ConfigurationDescriptions& descriptions) { edm::ParameterSetDescription desc; - desc.add("hits", edm::InputTag("mkFitHits")); + desc.add("pixelHits", edm::InputTag("mkFitSiPixelHits")); + desc.add("stripHits", edm::InputTag("mkFitSiStripHits")); + desc.add("eventOfHits", edm::InputTag("mkFitEventOfHits")); desc.add("seeds", edm::InputTag("mkFitSeedConverter")); desc.add("clustersToSkip", edm::InputTag()); desc.add("buildingRoutine", "cloneEngine") @@ -139,7 +141,9 @@ namespace { std::once_flag geometryFlag; } void MkFitProducer::produce(edm::StreamID iID, edm::Event& iEvent, const edm::EventSetup& iSetup) const { - const auto& hits = iEvent.get(hitToken_); + const auto& pixelHits = iEvent.get(pixelHitsToken_); + const auto& stripHits = iEvent.get(stripHitsToken_); + const auto& eventOfHits = iEvent.get(eventOfHitsToken_); const auto& seeds = iEvent.get(seedToken_); // This producer does not strictly speaking need the MkFitGeometry, // but the ESProducer sets global variables (yes, that "feature" @@ -151,25 +155,25 @@ void MkFitProducer::produce(edm::StreamID iID, edm::Event& iEvent, const edm::Ev const std::vector* pixelMaskPtr = nullptr; std::vector pixelMask; - std::vector stripMask(hits.outerHits().size(), false); + std::vector stripMask(stripHits.hits().size(), false); if (not pixelMaskToken_.isUninitialized()) { const auto& pixelContainerMask = iEvent.get(pixelMaskToken_); pixelMask.resize(pixelContainerMask.size(), false); - if UNLIKELY (pixelContainerMask.refProd().id() != hits.pixelClustersID()) { - throw cms::Exception("LogicError") << "MkFitHitWrapper has pixel cluster ID " << hits.pixelClustersID() + if UNLIKELY (pixelContainerMask.refProd().id() != pixelHits.clustersID()) { + throw cms::Exception("LogicError") << "MkFitHitWrapper has pixel cluster ID " << pixelHits.clustersID() << " but pixel cluster mask has " << pixelContainerMask.refProd().id(); } pixelContainerMask.copyMaskTo(pixelMask); pixelMaskPtr = &pixelMask; const auto& stripContainerMask = iEvent.get(stripMaskToken_); - if UNLIKELY (stripContainerMask.refProd().id() != hits.outerClustersID()) { - throw cms::Exception("LogicError") << "MkFitHitWrapper has strip cluster ID " << hits.outerClustersID() + if UNLIKELY (stripContainerMask.refProd().id() != stripHits.clustersID()) { + throw cms::Exception("LogicError") << "MkFitHitWrapper has strip cluster ID " << stripHits.clustersID() << " but strip cluster mask has " << stripContainerMask.refProd().id(); } stripContainerMask.copyMaskTo(stripMask); } else { - hits.stripClusterChargeCut(minGoodStripCharge_, stripMask); + stripClusterChargeCut(iEvent.get(stripClusterChargeToken_), stripMask); } // Initialize the number of layers, has to be done exactly once in @@ -186,7 +190,7 @@ void MkFitProducer::produce(edm::StreamID iID, edm::Event& iEvent, const edm::Ev auto lambda = [&]() { mkfit::run_OneIteration(mkFitGeom.trackerInfo(), mkFitIterConfig, - hits.eventOfHits(), + eventOfHits.get(), {pixelMaskPtr, &stripMask}, streamCache(iID)->get(), seeds_mutable, @@ -206,4 +210,15 @@ void MkFitProducer::produce(edm::StreamID iID, edm::Event& iEvent, const edm::Ev iEvent.emplace(putToken_, std::move(tracks), not backwardFitInCMSSW_); } +void MkFitProducer::stripClusterChargeCut(const std::vector& stripClusterCharge, std::vector& mask) const { + if (mask.size() != stripClusterCharge.size()) { + throw cms::Exception("LogicError") << "Mask size (" << mask.size() << ") inconsistent with number of hits (" + << stripClusterCharge.size() << ")"; + } + for (int i = 0, end = stripClusterCharge.size(); i < end; ++i) { + // mask == true means skip the cluster + mask[i] = mask[i] || (stripClusterCharge[i] <= minGoodStripCharge_); + } +} + DEFINE_FWK_MODULE(MkFitProducer); diff --git a/RecoTracker/MkFit/plugins/MkFitSeedConverter.cc b/RecoTracker/MkFit/plugins/MkFitSeedConverter.cc index fd81f29c1f7d5..4cecdfdb2a71f 100644 --- a/RecoTracker/MkFit/plugins/MkFitSeedConverter.cc +++ b/RecoTracker/MkFit/plugins/MkFitSeedConverter.cc @@ -53,12 +53,12 @@ class MkFitSeedConverter : public edm::global::EDProducer<> { using SMatrixSym33 = ROOT::Math::SMatrix>; using SMatrixSym66 = ROOT::Math::SMatrix>; - edm::EDGetTokenT> seedToken_; - edm::ESGetToken ttrhBuilderToken_; - edm::ESGetToken ttopoToken_; - edm::ESGetToken mkFitGeomToken_; - edm::ESGetToken mfToken_; - edm::EDPutTokenT putToken_; + const edm::EDGetTokenT> seedToken_; + const edm::ESGetToken ttrhBuilderToken_; + const edm::ESGetToken ttopoToken_; + const edm::ESGetToken mkFitGeomToken_; + const edm::ESGetToken mfToken_; + const edm::EDPutTokenT putToken_; }; MkFitSeedConverter::MkFitSeedConverter(edm::ParameterSet const& iConfig) @@ -100,7 +100,7 @@ mkfit::TrackVec MkFitSeedConverter::convertSeeds(const edm::View return ttopo.side(detid) == static_cast(TrackerDetSide::PosEndcap); }; - int index = 0; + int seed_index = 0; for (const auto& seed : seeds) { auto const& hitRange = seed.recHits(); const auto lastRecHit = ttrhBuilder.build(&*(hitRange.end() - 1)); @@ -122,8 +122,8 @@ mkfit::TrackVec MkFitSeedConverter::convertSeeds(const edm::View mkfit::TrackState state(tsos.charge(), pos, mom, err); state.convertFromCartesianToCCS(); - ret.emplace_back(state, 0, index, 0, nullptr); - LogTrace("MkFitSeedConverter") << "Inserted seed with index " << index; + ret.emplace_back(state, 0, seed_index, 0, nullptr); + LogTrace("MkFitSeedConverter") << "Inserted seed with index " << seed_index; // Add hits for (auto const& recHit : hitRange) { @@ -138,7 +138,7 @@ mkfit::TrackVec MkFitSeedConverter::convertSeeds(const edm::View << " ilay " << ilay; ret.back().addHitIdx(clusterRef.index(), ilay, 0); // per-hit chi2 is not known } - ++index; + ++seed_index; } return ret; } diff --git a/RecoTracker/MkFit/plugins/MkFitSiPixelHitConverter.cc b/RecoTracker/MkFit/plugins/MkFitSiPixelHitConverter.cc new file mode 100644 index 0000000000000..39d14c66c2d1c --- /dev/null +++ b/RecoTracker/MkFit/plugins/MkFitSiPixelHitConverter.cc @@ -0,0 +1,91 @@ +#include "FWCore/Framework/interface/global/EDProducer.h" + +#include "FWCore/Framework/interface/Event.h" +#include "FWCore/Framework/interface/MakerMacros.h" +#include "FWCore/ParameterSet/interface/ParameterSet.h" + +#include "DataFormats/TrackerRecHit2D/interface/SiPixelRecHitCollection.h" + +#include "Geometry/Records/interface/TrackerTopologyRcd.h" + +#include "TrackingTools/Records/interface/TransientRecHitRecord.h" + +#include "RecoTracker/MkFit/interface/MkFitHitWrapper.h" +#include "RecoTracker/MkFit/interface/MkFitClusterIndexToHit.h" +#include "RecoTracker/MkFit/interface/MkFitGeometry.h" +#include "RecoTracker/Record/interface/TrackerRecoGeometryRecord.h" + +#include "convertHits.h" + +namespace { + struct ConvertHitTraits { + static constexpr bool applyCCC() { return false; } + static std::nullptr_t clusterCharge(const SiPixelRecHit& hit, DetId hitId) { return nullptr; } + static bool passCCC(std::nullptr_t) { return true; } + static void setDetails(mkfit::Hit& mhit, const SiPixelCluster& cluster, int shortId, std::nullptr_t) { + mhit.setupAsPixel(shortId, cluster.sizeX(), cluster.sizeY()); + } + }; +} // namespace + +class MkFitSiPixelHitConverter : public edm::global::EDProducer<> { +public: + explicit MkFitSiPixelHitConverter(edm::ParameterSet const& iConfig); + ~MkFitSiPixelHitConverter() override = default; + + static void fillDescriptions(edm::ConfigurationDescriptions& descriptions); + +private: + void produce(edm::StreamID, edm::Event& iEvent, const edm::EventSetup& iSetup) const override; + + const edm::EDGetTokenT pixelRecHitToken_; + const edm::ESGetToken ttrhBuilderToken_; + const edm::ESGetToken ttopoToken_; + const edm::ESGetToken mkFitGeomToken_; + const edm::EDPutTokenT wrapperPutToken_; + const edm::EDPutTokenT clusterIndexPutToken_; +}; + +MkFitSiPixelHitConverter::MkFitSiPixelHitConverter(edm::ParameterSet const& iConfig) + : pixelRecHitToken_{consumes(iConfig.getParameter("hits"))}, + ttrhBuilderToken_{esConsumes( + iConfig.getParameter("ttrhBuilder"))}, + ttopoToken_{esConsumes()}, + mkFitGeomToken_{esConsumes()}, + wrapperPutToken_{produces()}, + clusterIndexPutToken_{produces()} {} + +void MkFitSiPixelHitConverter::fillDescriptions(edm::ConfigurationDescriptions& descriptions) { + edm::ParameterSetDescription desc; + + desc.add("hits", edm::InputTag{"siPixelRecHits"}); + desc.add("ttrhBuilder", edm::ESInputTag{"", "WithTrackAngle"}); + + descriptions.addWithDefaultLabel(desc); +} + +void MkFitSiPixelHitConverter::produce(edm::StreamID iID, edm::Event& iEvent, const edm::EventSetup& iSetup) const { + const auto& ttrhBuilder = iSetup.getData(ttrhBuilderToken_); + const auto& ttopo = iSetup.getData(ttopoToken_); + const auto& mkFitGeom = iSetup.getData(mkFitGeomToken_); + + MkFitHitWrapper hitWrapper; + MkFitClusterIndexToHit clusterIndexToHit; + + std::vector dummy; + auto pixelClusterID = mkfit::convertHits(ConvertHitTraits{}, + iEvent.get(pixelRecHitToken_), + hitWrapper.hits(), + clusterIndexToHit.hits(), + dummy, + ttopo, + ttrhBuilder, + mkFitGeom); + + hitWrapper.setClustersID(pixelClusterID); + + iEvent.emplace(wrapperPutToken_, std::move(hitWrapper)); + iEvent.emplace(clusterIndexPutToken_, std::move(clusterIndexToHit)); +} + +DEFINE_FWK_MODULE(MkFitSiPixelHitConverter); diff --git a/RecoTracker/MkFit/plugins/MkFitSiStripHitConverter.cc b/RecoTracker/MkFit/plugins/MkFitSiStripHitConverter.cc new file mode 100644 index 0000000000000..d15dff6788f59 --- /dev/null +++ b/RecoTracker/MkFit/plugins/MkFitSiStripHitConverter.cc @@ -0,0 +1,125 @@ +#include "FWCore/Framework/interface/global/EDProducer.h" + +#include "FWCore/Framework/interface/Event.h" +#include "FWCore/Framework/interface/MakerMacros.h" +#include "FWCore/ParameterSet/interface/ParameterSet.h" + +#include "DataFormats/SiStripCluster/interface/SiStripClusterTools.h" +#include "DataFormats/TrackerRecHit2D/interface/SiStripRecHit2DCollection.h" + +#include "Geometry/Records/interface/TrackerTopologyRcd.h" + +#include "TrackingTools/Records/interface/TransientRecHitRecord.h" + +#include "RecoTracker/MkFit/interface/MkFitHitWrapper.h" +#include "RecoTracker/MkFit/interface/MkFitClusterIndexToHit.h" +#include "RecoTracker/MkFit/interface/MkFitGeometry.h" +#include "RecoTracker/Record/interface/TrackerRecoGeometryRecord.h" + +#include "convertHits.h" + +namespace { + class ConvertHitTraits { + public: + ConvertHitTraits(float minCharge) : minGoodStripCharge_(minCharge) {} + + static constexpr bool applyCCC() { return true; } + static float clusterCharge(const SiStripRecHit2D& hit, DetId hitId) { + return siStripClusterTools::chargePerCM(hitId, hit.firstClusterRef().stripCluster()); + } + bool passCCC(float charge) const { return charge > minGoodStripCharge_; } + static void setDetails(mkfit::Hit& mhit, const SiStripCluster& cluster, int shortId, float charge) { + mhit.setupAsStrip(shortId, charge, cluster.amplitudes().size()); + } + + private: + const float minGoodStripCharge_; + }; +} // namespace + +class MkFitSiStripHitConverter : public edm::global::EDProducer<> { +public: + explicit MkFitSiStripHitConverter(edm::ParameterSet const& iConfig); + ~MkFitSiStripHitConverter() override = default; + + static void fillDescriptions(edm::ConfigurationDescriptions& descriptions); + +private: + void produce(edm::StreamID, edm::Event& iEvent, const edm::EventSetup& iSetup) const override; + + const edm::EDGetTokenT stripRphiRecHitToken_; + const edm::EDGetTokenT stripStereoRecHitToken_; + const edm::ESGetToken ttrhBuilderToken_; + const edm::ESGetToken ttopoToken_; + const edm::ESGetToken mkFitGeomToken_; + const edm::EDPutTokenT wrapperPutToken_; + const edm::EDPutTokenT clusterIndexPutToken_; + const edm::EDPutTokenT> clusterChargePutToken_; + const ConvertHitTraits convertTraits_; +}; + +MkFitSiStripHitConverter::MkFitSiStripHitConverter(edm::ParameterSet const& iConfig) + : stripRphiRecHitToken_{consumes(iConfig.getParameter("rphiHits"))}, + stripStereoRecHitToken_{consumes(iConfig.getParameter("stereoHits"))}, + ttrhBuilderToken_{esConsumes( + iConfig.getParameter("ttrhBuilder"))}, + ttopoToken_{esConsumes()}, + mkFitGeomToken_{esConsumes()}, + wrapperPutToken_{produces()}, + clusterIndexPutToken_{produces()}, + clusterChargePutToken_{produces>()}, + convertTraits_{static_cast( + iConfig.getParameter("minGoodStripCharge").getParameter("value"))} {} + +void MkFitSiStripHitConverter::fillDescriptions(edm::ConfigurationDescriptions& descriptions) { + edm::ParameterSetDescription desc; + + desc.add("rphiHits", edm::InputTag{"siStripMatchedRecHits", "rphiRecHit"}); + desc.add("stereoHits", edm::InputTag{"siStripMatchedRecHits", "stereoRecHit"}); + desc.add("ttrhBuilder", edm::ESInputTag{"", "WithTrackAngle"}); + + edm::ParameterSetDescription descCCC; + descCCC.add("value"); + desc.add("minGoodStripCharge", descCCC); + + descriptions.add("mkFitSiStripHitConverterDefault", desc); +} + +void MkFitSiStripHitConverter::produce(edm::StreamID iID, edm::Event& iEvent, const edm::EventSetup& iSetup) const { + const auto& ttrhBuilder = iSetup.getData(ttrhBuilderToken_); + const auto& ttopo = iSetup.getData(ttopoToken_); + const auto& mkFitGeom = iSetup.getData(mkFitGeomToken_); + + MkFitHitWrapper hitWrapper; + MkFitClusterIndexToHit clusterIndexToHit; + std::vector clusterCharge; + + auto convert = [&](auto& hits) { + return mkfit::convertHits( + convertTraits_, hits, hitWrapper.hits(), clusterIndexToHit.hits(), clusterCharge, ttopo, ttrhBuilder, mkFitGeom); + }; + + edm::ProductID stripClusterID; + const auto& stripRphiHits = iEvent.get(stripRphiRecHitToken_); + const auto& stripStereoHits = iEvent.get(stripStereoRecHitToken_); + if (not stripRphiHits.empty()) { + stripClusterID = convert(stripRphiHits); + } + if (not stripStereoHits.empty()) { + auto stripStereoClusterID = convert(stripStereoHits); + if (stripRphiHits.empty()) { + stripClusterID = stripStereoClusterID; + } else if (stripClusterID != stripStereoClusterID) { + throw cms::Exception("LogicError") << "Encountered different cluster ProductIDs for strip RPhi hits (" + << stripClusterID << ") and stereo (" << stripStereoClusterID << ")"; + } + } + + hitWrapper.setClustersID(stripClusterID); + + iEvent.emplace(wrapperPutToken_, std::move(hitWrapper)); + iEvent.emplace(clusterIndexPutToken_, std::move(clusterIndexToHit)); + iEvent.emplace(clusterChargePutToken_, std::move(clusterCharge)); +} + +DEFINE_FWK_MODULE(MkFitSiStripHitConverter); diff --git a/RecoTracker/MkFit/plugins/convertHits.h b/RecoTracker/MkFit/plugins/convertHits.h new file mode 100644 index 0000000000000..f016b43b0fb0a --- /dev/null +++ b/RecoTracker/MkFit/plugins/convertHits.h @@ -0,0 +1,103 @@ +#ifndef RecoTracker_MkFit_plugins_convertHits_h +#define RecoTracker_MkFit_plugins_convertHits_h + +#include "DataFormats/Provenance/interface/ProductID.h" + +#include "FWCore/Utilities/interface/Likely.h" + +#include "DataFormats/TrackerCommon/interface/TrackerTopology.h" +#include "DataFormats/TrackerCommon/interface/TrackerDetSide.h" + +#include "TrackingTools/TransientTrackingRecHit/interface/TransientTrackingRecHitBuilder.h" + +#include "RecoTracker/MkFit/interface/MkFitGeometry.h" + +// ROOT +#include "Math/SVector.h" +#include "Math/SMatrix.h" + +// mkFit includes +#include "Hit.h" +#include "mkFit/HitStructures.h" + +namespace mkfit { + template + edm::ProductID convertHits(const Traits& traits, + const HitCollection& hits, + mkfit::HitVec& mkFitHits, + std::vector& clusterIndexToHit, + std::vector& clusterChargeVec, + const TrackerTopology& ttopo, + const TransientTrackingRecHitBuilder& ttrhBuilder, + const MkFitGeometry& mkFitGeom) { + if (hits.empty()) + return edm::ProductID{}; + + edm::ProductID clusterID; + { + const auto& lastClusterRef = hits.data().back().firstClusterRef(); + clusterID = lastClusterRef.id(); + if (lastClusterRef.index() >= mkFitHits.size()) { + auto const size = lastClusterRef.index(); + mkFitHits.resize(size); + clusterIndexToHit.resize(size, nullptr); + if constexpr (Traits::applyCCC()) { + clusterChargeVec.resize(size, -1.f); + } + } + } + + for (const auto& detset : hits) { + const DetId detid = detset.detId(); + const auto ilay = mkFitGeom.mkFitLayerNumber(detid); + + for (const auto& hit : detset) { + const auto charge = traits.clusterCharge(hit, detid); + if (!traits.passCCC(charge)) + continue; + + const auto& gpos = hit.globalPosition(); + SVector3 pos(gpos.x(), gpos.y(), gpos.z()); + const auto& gerr = hit.globalPositionError(); + SMatrixSym33 err; + err.At(0, 0) = gerr.cxx(); + err.At(1, 1) = gerr.cyy(); + err.At(2, 2) = gerr.czz(); + err.At(0, 1) = gerr.cyx(); + err.At(0, 2) = gerr.czx(); + err.At(1, 2) = gerr.czy(); + + auto clusterRef = hit.firstClusterRef(); + if UNLIKELY (clusterRef.id() != clusterID) { + throw cms::Exception("LogicError") + << "Input hit collection has Refs to many cluster collections. Last hit had Ref to product " << clusterID + << ", but encountered Ref to product " << clusterRef.id() << " on detid " << detid.rawId(); + } + const auto clusterIndex = clusterRef.index(); + LogTrace("MkFitHitConverter") << "Adding hit detid " << detid.rawId() << " subdet " << detid.subdetId() + << " layer " << ttopo.layer(detid) << " isStereo " << ttopo.isStereo(detid) + << " zplus " + << " index " << clusterIndex << " ilay " << ilay; + + if UNLIKELY (clusterIndex >= mkFitHits.size()) { + mkFitHits.resize(clusterIndex + 1); + clusterIndexToHit.resize(clusterIndex + 1, nullptr); + if constexpr (Traits::applyCCC()) { + clusterChargeVec.resize(clusterIndex + 1, -1.f); + } + } + mkFitHits[clusterIndex] = mkfit::Hit(pos, err); + clusterIndexToHit[clusterIndex] = &hit; + if constexpr (Traits::applyCCC()) { + clusterChargeVec[clusterIndex] = charge; + } + + const auto uniqueIdInLayer = mkFitGeom.uniqueIdInLayer(ilay, detid.rawId()); + traits.setDetails(mkFitHits[clusterIndex], *(hit.cluster()), uniqueIdInLayer, charge); + } + } + return clusterID; + } +} // namespace mkfit + +#endif diff --git a/RecoTracker/MkFit/plugins/createCMS2017.h b/RecoTracker/MkFit/plugins/createCMS2017.h deleted file mode 100644 index 1d22cebd57702..0000000000000 --- a/RecoTracker/MkFit/plugins/createCMS2017.h +++ /dev/null @@ -1,11 +0,0 @@ -#ifndef RecoTracker_MkFit_plugins_createCMS2017_h -#define RecoTracker_MkFit_plugins_createCMS2017_h - -namespace mkfit { - class TrackerInfo; - class IterationsInfo; - - void createCMS2017(TrackerInfo &ti, IterationsInfo &ii, bool verbose); -} - -#endif diff --git a/RecoTracker/MkFit/plugins/createCMS2017.cc b/RecoTracker/MkFit/plugins/createPhase1TrackerGeometry.cc similarity index 54% rename from RecoTracker/MkFit/plugins/createCMS2017.cc rename to RecoTracker/MkFit/plugins/createPhase1TrackerGeometry.cc index 5d44fcbb48b52..ae8706005975e 100644 --- a/RecoTracker/MkFit/plugins/createCMS2017.cc +++ b/RecoTracker/MkFit/plugins/createPhase1TrackerGeometry.cc @@ -1,5 +1,5 @@ //------------------- -// CMS 2017 geometry +// Phase1 tracker geometry //------------------- #include "Config.h" @@ -8,14 +8,12 @@ #include "mkFit/IterationConfig.h" #include "mkFit/HitStructures.h" -#include "HitSelectionWindows2017.h" - #include using namespace mkfit; namespace { -#include "createCMS2017AutoGen.acc" +#include "createPhase1TrackerGeometryAutoGen.acc" void setupSteeringParamsIter0(IterationConfig &ic) { ic.m_region_order[0] = TrackerInfo::Reg_Transition_Pos; @@ -26,171 +24,71 @@ namespace { { SteeringParams &sp = ic.m_steering_params[TrackerInfo::Reg_Endcap_Neg]; - sp.reserve_plan(3 + 3 + 6 + 18); + sp.reserve_plan(3 + 3 + 6 + 18); // BPix + FPix- + TID- + TEC-; BPix4 is out of acceptance sp.fill_plan(0, 1, false, true); // bk-fit only sp.append_plan(2, true); // pick-up only sp.append_plan(45, false); sp.append_plan(46, false); sp.append_plan(47, false); - sp.fill_plan(48, 53); // TID, 6 layers - sp.fill_plan(54, 71); // TEC, 18 layers + sp.fill_plan(48, 53); // TID, 6 disks (3 mono + 3 stereo) + sp.fill_plan(54, 71); // TEC, 18 disks (3 mono + 3 stereo) sp.finalize_plan(); } { SteeringParams &sp = ic.m_steering_params[TrackerInfo::Reg_Transition_Neg]; - sp.reserve_plan(3 + 4 + 6 + 6 + 8 + 18); - sp.fill_plan(0, 1, false, true); // bk-fit only + sp.reserve_plan(4 + 3 + 6 + 6 + 8 + 18); // BPix + FPix- + TIB + TID- + TOB + TEC- + sp.fill_plan(0, 1, false, true); // bk-fit only sp.append_plan(2, true); sp.append_plan(3, false); sp.append_plan(45, false); sp.append_plan(46, false); sp.append_plan(47, false); - sp.fill_plan(4, 9); // TIB, 6 layers - sp.fill_plan(48, 53); // TID, 6 layers - sp.fill_plan(10, 17); // TOB, 8 layers - sp.fill_plan(54, 71); // TEC, 18 layers + sp.fill_plan(4, 9); // TIB, 6 layers (4 mono + 2 stereo) + sp.fill_plan(48, 53); // TID, 6 disks (3 mono + 3 stereo) + sp.fill_plan(10, 17); // TOB, 8 layers (6 mono + 2 stereo) + sp.fill_plan(54, 71); // TEC, 18 disks (9 mono + 9 stereo) sp.finalize_plan(); } { SteeringParams &sp = ic.m_steering_params[TrackerInfo::Reg_Barrel]; - sp.reserve_plan(3 + 1 + 6 + 8); + sp.reserve_plan(4 + 6 + 8); // BPix + TIB + TOB sp.fill_plan(0, 1, false, true); // bk-fit only sp.append_plan(2, true); // pickup-only sp.append_plan(3, false); - sp.fill_plan(4, 9); // TIB, 6 layers - sp.fill_plan(10, 17); // TOB, 8 layers + sp.fill_plan(4, 9); // TIB, 6 layers (4 mono + 2 stereo) + sp.fill_plan(10, 17); // TOB, 8 layers (6 mono + 2 stereo) sp.finalize_plan(); } { SteeringParams &sp = ic.m_steering_params[TrackerInfo::Reg_Transition_Pos]; - sp.reserve_plan(3 + 4 + 6 + 6 + 8 + 18); - sp.fill_plan(0, 1, false, true); // bk-fit only - sp.append_plan(2, true); // pickup-only + sp.reserve_plan(4 + 3 + 6 + 6 + 8 + 18); // BPix + FPix+ + TIB + TID+ + TOB + TEC+ + sp.fill_plan(0, 1, false, true); // bk-fit only + sp.append_plan(2, true); // pickup-only sp.append_plan(3, false); sp.append_plan(18, false); sp.append_plan(19, false); sp.append_plan(20, false); - sp.fill_plan(4, 9); // TIB, 6 layers - sp.fill_plan(21, 26); // TID, 6 layers - sp.fill_plan(10, 17); // TOB, 8 layers - sp.fill_plan(27, 44); // TEC, 18 layers + sp.fill_plan(4, 9); // TIB, 6 layers (4 mono + 2 stereo) + sp.fill_plan(21, 26); // TID, 6 disks (3 mono + 3 stereo) + sp.fill_plan(10, 17); // TOB, 8 layers (6 mono + 2 stereo) + sp.fill_plan(27, 44); // TEC, 18 disks (9 mono + 9 stereo) sp.finalize_plan(); } { SteeringParams &sp = ic.m_steering_params[TrackerInfo::Reg_Endcap_Pos]; - sp.reserve_plan(3 + 3 + 6 + 18); + sp.reserve_plan(3 + 3 + 6 + 18); // BPix + FPix+ + TID+ + TEC+; BPix4 is out of acceptance sp.fill_plan(0, 1, false, true); // bk-fit only sp.append_plan(2, true); // pickup-only sp.append_plan(18, false); sp.append_plan(19, false); sp.append_plan(20, false); - sp.fill_plan(21, 26); // TID, 6 layers - sp.fill_plan(27, 44); // TEC, 18 layers + sp.fill_plan(21, 26); // TID, 6 disks (3 mono + 3 stereo) + sp.fill_plan(27, 44); // TEC, 18 disks (9 mono + 9 stereo) sp.finalize_plan(); } } - void setupIterationParams(IterationParams &ip, unsigned int it = 0) { - if (it == 0) { - ip.nlayers_per_seed = 4; - ip.maxCandsPerSeed = 5; - ip.maxHolesPerCand = 4; - ip.maxConsecHoles = 1; - ip.chi2Cut = 30; - ip.chi2CutOverlap = 3.5; - ip.pTCutOverlap = 1; - } else if (it == 1) // for triplet steps, nlayers_per_seed=3 - { - ip.nlayers_per_seed = 3; - ip.maxCandsPerSeed = 5; - ip.maxHolesPerCand = 4; - ip.maxConsecHoles = 1; - ip.chi2Cut = 30; - ip.chi2CutOverlap = 3.5; - ip.pTCutOverlap = 1; - } else if (it == 2) { - ip.nlayers_per_seed = 4; - ip.maxCandsPerSeed = 5; - ip.maxHolesPerCand = 4; - ip.maxConsecHoles = 1; - ip.chi2Cut = 30; - ip.chi2CutOverlap = 3.5; - ip.pTCutOverlap = 1; - } else if (it == 3) // for triplet steps, nlayers_per_seed=3 - { - ip.nlayers_per_seed = 3; - ip.maxCandsPerSeed = 5; - ip.maxHolesPerCand = 4; - ip.maxConsecHoles = 1; - ip.chi2Cut = 30; - ip.chi2CutOverlap = 3.5; - ip.pTCutOverlap = 1; - } else if (it == 4) { - ip.nlayers_per_seed = 4; - ip.maxCandsPerSeed = 5; - ip.maxHolesPerCand = 4; - ip.maxConsecHoles = 1; - ip.chi2Cut = 30; - ip.chi2CutOverlap = 3.5; - ip.pTCutOverlap = 1; - } else if (it == 5) // for triplet steps, nlayers_per_seed=3 - { - ip.nlayers_per_seed = 3; - ip.maxCandsPerSeed = 5; - ip.maxHolesPerCand = 4; - ip.maxConsecHoles = 1; - ip.chi2Cut = 30; - ip.chi2CutOverlap = 3.5; - ip.pTCutOverlap = 1; - } else if (it == 6) // for triplet steps, nlayers_per_seed=3; for mixeTripletSetp, also maxCandsPerSeed=2 - { - ip.nlayers_per_seed = 3; - ip.maxCandsPerSeed = 2; - ip.maxHolesPerCand = 4; - ip.maxConsecHoles = 1; - ip.chi2Cut = 30; - ip.chi2CutOverlap = 3.5; - ip.pTCutOverlap = 1; - } else if (it == 7) // for PixelLess step, maxCandsPerSeed=2 and maxHolesPerCand=maxConsecHoles=0 - { - ip.nlayers_per_seed = 3; - ip.maxCandsPerSeed = 2; - ip.maxHolesPerCand = 0; - ip.maxConsecHoles = 0; - ip.chi2Cut = 30; - ip.chi2CutOverlap = 3.5; - ip.pTCutOverlap = 1; - } else if (it == 8) // for TobTec step, maxCandsPerSeed=2 and maxHolesPerCand=maxConsecHoles=0 - { - ip.nlayers_per_seed = 3; - ip.maxCandsPerSeed = 2; - ip.maxHolesPerCand = 0; - ip.maxConsecHoles = 0; - ip.chi2Cut = 30; - ip.chi2CutOverlap = 3.5; - ip.pTCutOverlap = 1; - } - } - - void fillHitSelectionWindowsParams(IterationConfig &ic) { - HitSelectionWindows2017 hsw; - for (int l = 0; l < (int)ic.m_layer_configs.size(); ++l) { - // dphi cut - ic.m_layer_configs[l].c_dp_0 = hsw.m_dp_params[ic.m_iteration_index][l][0]; - ic.m_layer_configs[l].c_dp_1 = hsw.m_dp_params[ic.m_iteration_index][l][1]; - ic.m_layer_configs[l].c_dp_2 = hsw.m_dp_params[ic.m_iteration_index][l][2]; - // dq cut - ic.m_layer_configs[l].c_dq_0 = hsw.m_dq_params[ic.m_iteration_index][l][0]; - ic.m_layer_configs[l].c_dq_1 = hsw.m_dq_params[ic.m_iteration_index][l][1]; - ic.m_layer_configs[l].c_dq_2 = hsw.m_dq_params[ic.m_iteration_index][l][2]; - // chi2 cut (for future optimization) - ic.m_layer_configs[l].c_c2_0 = hsw.m_c2_params[ic.m_iteration_index][l][0]; - ic.m_layer_configs[l].c_c2_1 = hsw.m_c2_params[ic.m_iteration_index][l][1]; - ic.m_layer_configs[l].c_c2_2 = hsw.m_c2_params[ic.m_iteration_index][l][2]; - } - } - - void PartitionSeeds0(const TrackerInfo &trk_info, + void partitionSeeds0(const TrackerInfo &trk_info, const TrackVec &in_seeds, const EventOfHits &eoh, IterationSeedPartition &part) { @@ -278,7 +176,7 @@ namespace { } // namespace namespace mkfit { - void createCMS2017(TrackerInfo &ti, IterationsInfo &ii, bool verbose) { + void createPhase1TrackerGeometry(TrackerInfo &ti, IterationsInfo &ii, bool verbose) { // TODO: these writes to global variables need to be removed Config::nTotalLayers = 18 + 2 * 27; @@ -299,70 +197,41 @@ namespace mkfit { ii[0].set_iteration_index_and_track_algorithm(0, (int)TrackBase::TrackAlgorithm::initialStep); ii[0].set_num_regions_layers(5, 72); - createCMS2017AutoGen(ti, ii); + createPhase1TrackerGeometryAutoGen(ti, ii); setupSteeringParamsIter0(ii[0]); - setupIterationParams(ii[0].m_params, 0); - ii[0].m_partition_seeds = PartitionSeeds0; - fillHitSelectionWindowsParams(ii[0]); + ii[0].m_partition_seeds = partitionSeeds0; - ii[1].Clone(ii[0]); //added extra iterations with some preliminary setup - setupIterationParams(ii[1].m_params, 1); + ii[1].Clone(ii[0]); ii[1].set_iteration_index_and_track_algorithm(1, (int)TrackBase::TrackAlgorithm::highPtTripletStep); - ii[1].set_seed_cleaning_params(2.0, 0.018, 0.018, 0.018, 0.018, 0.018, 0.05, 0.018, 0.05); - fillHitSelectionWindowsParams(ii[1]); ii[2].Clone(ii[0]); - setupIterationParams(ii[2].m_params, 2); ii[2].set_iteration_index_and_track_algorithm(2, (int)TrackBase::TrackAlgorithm::lowPtQuadStep); - ii[2].set_seed_cleaning_params(0.5, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05); - fillHitSelectionWindowsParams(ii[2]); ii[3].Clone(ii[0]); - setupIterationParams(ii[3].m_params, 3); ii[3].set_iteration_index_and_track_algorithm(3, (int)TrackBase::TrackAlgorithm::lowPtTripletStep); - ii[3].set_seed_cleaning_params(0.5, 0.0, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05); - fillHitSelectionWindowsParams(ii[3]); ii[4].Clone(ii[0]); - setupIterationParams(ii[4].m_params, 4); ii[4].set_iteration_index_and_track_algorithm(4, (int)TrackBase::TrackAlgorithm::detachedQuadStep); - ii[4].set_seed_cleaning_params(2.0, 0.018, 0.018, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05); - fillHitSelectionWindowsParams(ii[4]); ii[5].Clone(ii[0]); - setupIterationParams(ii[5].m_params, 5); ii[5].set_iteration_index_and_track_algorithm(5, (int)TrackBase::TrackAlgorithm::detachedTripletStep); - ii[5].set_seed_cleaning_params(2.0, 0.018, 0.018, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05); - fillHitSelectionWindowsParams(ii[5]); ii[6].Clone(ii[0]); - setupIterationParams(ii[6].m_params, 6); ii[6].set_iteration_index_and_track_algorithm(6, (int)TrackBase::TrackAlgorithm::mixedTripletStep); - ii[6].set_seed_cleaning_params(2.0, 0.05, 0.05, 0.135, 0.135, 0.05, 0.05, 0.135, 0.135); - fillHitSelectionWindowsParams(ii[6]); ii[7].Clone(ii[0]); - setupIterationParams(ii[7].m_params, 7); ii[7].set_iteration_index_and_track_algorithm(7, (int)TrackBase::TrackAlgorithm::pixelLessStep); - ii[7].set_seed_cleaning_params(2.0, 0.135, 0.135, 0.135, 0.135, 0.135, 0.135, 0.135, 0.135); - ii[7].set_qf_flags(); - ii[7].set_qf_params(4, 0.19); - fillHitSelectionWindowsParams(ii[7]); ii[8].Clone(ii[0]); - setupIterationParams(ii[8].m_params, 8); ii[8].set_iteration_index_and_track_algorithm(8, (int)TrackBase::TrackAlgorithm::tobTecStep); - ii[8].set_seed_cleaning_params(2.0, 0.135, 0.135, 0.135, 0.135, 0.135, 0.135, 0.135, 0.135); - ii[8].set_qf_flags(); - ii[8].set_qf_params(4, 0.25); - fillHitSelectionWindowsParams(ii[8]); //for the latter 2 iter investing in maxCand & stop condition (for time) + QF and Dupl. cleaning (for quality) + // TODO: replace with MessageLogger if (verbose) { printf("==========================================================================================\n"); - printf("CMS-2017 -- Create_TrackerInfo finished\n"); + printf("Phase1 tracker -- Create_TrackerInfo finished\n"); printf("==========================================================================================\n"); for (auto &i : ti.m_layers) i.print_layer(); diff --git a/RecoTracker/MkFit/plugins/createPhase1TrackerGeometry.h b/RecoTracker/MkFit/plugins/createPhase1TrackerGeometry.h new file mode 100644 index 0000000000000..0b90f711df105 --- /dev/null +++ b/RecoTracker/MkFit/plugins/createPhase1TrackerGeometry.h @@ -0,0 +1,11 @@ +#ifndef RecoTracker_MkFit_plugins_createPhase1TrackerGeometry_h +#define RecoTracker_MkFit_plugins_createPhase1TrackerGeometry_h + +namespace mkfit { + class TrackerInfo; + class IterationsInfo; + + void createPhase1TrackerGeometry(TrackerInfo &ti, IterationsInfo &ii, bool verbose); +} // namespace mkfit + +#endif diff --git a/RecoTracker/MkFit/plugins/createCMS2017AutoGen.acc b/RecoTracker/MkFit/plugins/createPhase1TrackerGeometryAutoGen.acc similarity index 99% rename from RecoTracker/MkFit/plugins/createCMS2017AutoGen.acc rename to RecoTracker/MkFit/plugins/createPhase1TrackerGeometryAutoGen.acc index 036023da26ce8..b68a96428bdbe 100644 --- a/RecoTracker/MkFit/plugins/createCMS2017AutoGen.acc +++ b/RecoTracker/MkFit/plugins/createPhase1TrackerGeometryAutoGen.acc @@ -1,4 +1,4 @@ -void createCMS2017AutoGen(TrackerInfo &ti, IterationsInfo &ii) { +void createPhase1TrackerGeometryAutoGen(TrackerInfo &ti, IterationsInfo &ii) { // PIXB { diff --git a/RecoTracker/MkFit/python/customizeHLTIter0ToMkFit.py b/RecoTracker/MkFit/python/customizeHLTIter0ToMkFit.py index 9a34552e64e48..01b59acd67816 100644 --- a/RecoTracker/MkFit/python/customizeHLTIter0ToMkFit.py +++ b/RecoTracker/MkFit/python/customizeHLTIter0ToMkFit.py @@ -1,7 +1,9 @@ import FWCore.ParameterSet.Config as cms import RecoTracker.MkFit.mkFitGeometryESProducer_cfi as mkFitGeometryESProducer_cfi -import RecoTracker.MkFit.mkFitHitConverter_cfi as mkFitHitConverter_cfi +import RecoTracker.MkFit.mkFitSiPixelHitConverter_cfi as mkFitSiPixelHitConverter_cfi +import RecoTracker.MkFit.mkFitSiStripHitConverter_cfi as mkFitSiStripHitConverter_cfi +import RecoTracker.MkFit.mkFitEventOfHitsProducer_cfi as mkFitEventOfHitsProducer_cfi import RecoTracker.MkFit.mkFitSeedConverter_cfi as mkFitSeedConverter_cfi import RecoTracker.MkFit.mkFitIterationConfigESProducer_cfi as mkFitIterationConfigESProducer_cfi import RecoTracker.MkFit.mkFitProducer_cfi as mkFitProducer_cfi @@ -23,13 +25,20 @@ def customizeHLTIter0ToMkFit(process): process.hltMkFitGeometryESProducer = mkFitGeometryESProducer_cfi.mkFitGeometryESProducer.clone() - process.hltIter0PFlowCkfTrackCandidatesMkFitHits = mkFitHitConverter_cfi.mkFitHitConverter.clone( - pixelRecHits = "hltSiPixelRecHits", - stripRphiRecHits = "hltSiStripRecHits:rphiRecHit", - stripStereoRecHits = "hltSiStripRecHits:stereoRecHit", + process.hltIter0PFlowCkfTrackCandidatesMkFitSiPixelHits = mkFitSiPixelHitConverter_cfi.mkFitSiPixelHitConverter.clone( + hits = "hltSiPixelRecHits", + ttrhBuilder = ":hltESPTTRHBWithTrackAngle", + ) + process.hltIter0PFlowCkfTrackCandidatesMkFitSiStripHits = mkFitSiStripHitConverter_cfi.mkFitSiStripHitConverter.clone( + rphiHits = "hltSiStripRecHits:rphiRecHit", + stereoHits = "hltSiStripRecHits:stereoRecHit", ttrhBuilder = ":hltESPTTRHBWithTrackAngle", minGoodStripCharge = dict(refToPSet_ = 'HLTSiStripClusterChargeCutLoose'), ) + process.hltIter0PFlowCkfTrackCandidatesMkFitEventOfHits = mkFitEventOfHitsProducer_cfi.mkFitEventOfHitsProducer.clone( + pixelHits = "hltIter0PFlowCkfTrackCandidatesMkFitSiPixelHits", + stripHits = "hltIter0PFlowCkfTrackCandidatesMkFitSiStripHits", + ) process.hltIter0PFlowCkfTrackCandidatesMkFitSeeds = mkFitSeedConverter_cfi.mkFitSeedConverter.clone( seeds = "hltIter0PFLowPixelSeedsFromPixelTracks", ttrhBuilder = ":hltESPTTRHBWithTrackAngle", @@ -39,15 +48,19 @@ def customizeHLTIter0ToMkFit(process): config = 'RecoTracker/MkFit/data/mkfit-phase1-initialStep.json', ) process.hltIter0PFlowCkfTrackCandidatesMkFit = mkFitProducer_cfi.mkFitProducer.clone( - hits = "hltIter0PFlowCkfTrackCandidatesMkFitHits", + pixelHits = "hltIter0PFlowCkfTrackCandidatesMkFitSiPixelHits", + stripHits = "hltIter0PFlowCkfTrackCandidatesMkFitSiStripHits", + eventOfHits = "hltIter0PFlowCkfTrackCandidatesMkFitEventOfHits", seeds = "hltIter0PFlowCkfTrackCandidatesMkFitSeeds", config = ('', 'hltIter0PFlowTrackCandidatesMkFitConfig'), minGoodStripCharge = dict(refToPSet_ = 'HLTSiStripClusterChargeCutLoose'), ) process.hltIter0PFlowCkfTrackCandidates = mkFitOutputConverter_cfi.mkFitOutputConverter.clone( seeds = "hltIter0PFLowPixelSeedsFromPixelTracks", - mkfitHits = "hltIter0PFlowCkfTrackCandidatesMkFitHits", - mkfitSeeds = "hltIter0PFlowCkfTrackCandidatesMkFitSeeds", + mkFitEventOfHits = "hltIter0PFlowCkfTrackCandidatesMkFitEventOfHits", + mkFitPixelHits = "hltIter0PFlowCkfTrackCandidatesMkFitSiPixelHits", + mkFitStripHits = "hltIter0PFlowCkfTrackCandidatesMkFitSiStripHits", + mkFitSeeds = "hltIter0PFlowCkfTrackCandidatesMkFitSeeds", tracks = "hltIter0PFlowCkfTrackCandidatesMkFit", ttrhBuilder = ":hltESPTTRHBWithTrackAngle", propagatorAlong = ":PropagatorWithMaterialParabolicMf", @@ -56,6 +69,11 @@ def customizeHLTIter0ToMkFit(process): process.HLTDoLocalStripSequence += process.hltSiStripRecHits process.HLTIterativeTrackingIteration0.replace(process.hltIter0PFlowCkfTrackCandidates, - process.hltIter0PFlowCkfTrackCandidatesMkFitHits+process.hltIter0PFlowCkfTrackCandidatesMkFitSeeds+process.hltIter0PFlowCkfTrackCandidatesMkFit+process.hltIter0PFlowCkfTrackCandidates) + process.hltIter0PFlowCkfTrackCandidatesMkFitSiPixelHits + + process.hltIter0PFlowCkfTrackCandidatesMkFitSiStripHits + + process.hltIter0PFlowCkfTrackCandidatesMkFitEventOfHits + + process.hltIter0PFlowCkfTrackCandidatesMkFitSeeds + + process.hltIter0PFlowCkfTrackCandidatesMkFit + + process.hltIter0PFlowCkfTrackCandidates) return process diff --git a/RecoTracker/MkFit/python/mkFitSiStripHitConverter_cfi.py b/RecoTracker/MkFit/python/mkFitSiStripHitConverter_cfi.py new file mode 100644 index 0000000000000..5f189b4b3fcb5 --- /dev/null +++ b/RecoTracker/MkFit/python/mkFitSiStripHitConverter_cfi.py @@ -0,0 +1,9 @@ +import FWCore.ParameterSet.Config as cms + +from RecoTracker.MkFit.mkFitSiStripHitConverterDefault_cfi import mkFitSiStripHitConverterDefault as _mkFitSiStripHitConverterDefault +from RecoLocalTracker.SiStripClusterizer.SiStripClusterChargeCut_cfi import * + +mkFitSiStripHitConverter = _mkFitSiStripHitConverterDefault.clone( + minGoodStripCharge = cms.PSet( + refToPSet_ = cms.string('SiStripClusterChargeCutLoose')) +) diff --git a/RecoTracker/MkFit/src/MkFitEventOfHits.cc b/RecoTracker/MkFit/src/MkFitEventOfHits.cc new file mode 100644 index 0000000000000..72b6c98345dae --- /dev/null +++ b/RecoTracker/MkFit/src/MkFitEventOfHits.cc @@ -0,0 +1,11 @@ +#include "RecoTracker/MkFit/interface/MkFitEventOfHits.h" + +// mkFit includes +#include "mkFit/HitStructures.h" + +MkFitEventOfHits::MkFitEventOfHits() = default; +MkFitEventOfHits::MkFitEventOfHits(std::unique_ptr eoh) : eventOfHits_(std::move(eoh)) {} +MkFitEventOfHits::~MkFitEventOfHits() = default; + +MkFitEventOfHits::MkFitEventOfHits(MkFitEventOfHits&&) = default; +MkFitEventOfHits& MkFitEventOfHits::operator=(MkFitEventOfHits&&) = default; diff --git a/RecoTracker/MkFit/src/MkFitGeometry.cc b/RecoTracker/MkFit/src/MkFitGeometry.cc index 51dc72bcde30c..fe004dea6e1dd 100644 --- a/RecoTracker/MkFit/src/MkFitGeometry.cc +++ b/RecoTracker/MkFit/src/MkFitGeometry.cc @@ -9,12 +9,19 @@ #include "TrackerInfo.h" #include "mkFit/IterationConfig.h" +namespace { + bool isPlusSide(const TrackerTopology& ttopo, DetId detid) { + return ttopo.side(detid) == static_cast(TrackerDetSide::PosEndcap); + } +} // namespace + MkFitGeometry::MkFitGeometry(const TrackerGeometry& geom, const GeometricSearchTracker& tracker, const TrackerTopology& ttopo, std::unique_ptr trackerInfo, std::unique_ptr iterationsInfo) - : lnc_{std::make_unique(mkfit::TkLayout::phase1)}, + : ttopo_(&ttopo), + lnc_{std::make_unique(mkfit::TkLayout::phase1)}, trackerInfo_(std::move(trackerInfo)), iterationsInfo_(std::move(iterationsInfo)) { if (geom.numberOfLayers(PixelSubdetector::PixelBarrel) != 4 || @@ -24,12 +31,8 @@ MkFitGeometry::MkFitGeometry(const TrackerGeometry& geom, // Create DetLayer structure dets_.resize(lnc_->nLayers(), nullptr); - auto isPlusSide = [&ttopo](const DetId& detid) { - return ttopo.side(detid) == static_cast(TrackerDetSide::PosEndcap); - }; - auto setDet = [this, &isPlusSide]( - const int subdet, const int layer, const int isStereo, const DetId& detId, const DetLayer* lay) { - const int index = lnc_->convertLayerNumber(subdet, layer, false, isStereo, isPlusSide(detId)); + auto setDet = [this](const int subdet, const int layer, const int isStereo, const DetId& detId, const DetLayer* lay) { + const int index = lnc_->convertLayerNumber(subdet, layer, false, isStereo, isPlusSide(*ttopo_, detId)); if (index < 0 or static_cast(index) >= dets_.size()) { throw cms::Exception("LogicError") << "Invalid mkFit layer index " << index << " for DetId " << detId.rawId() << " subdet " << subdet << " layer " << layer << " isStereo " << isStereo; @@ -60,8 +63,7 @@ MkFitGeometry::MkFitGeometry(const TrackerGeometry& geom, // Create "short id" aka "unique id within layer" detIdToShortId_.resize(lnc_->nLayers()); for (const auto& detId : geom.detIds()) { - const auto ilay = - lnc_->convertLayerNumber(detId.subdetId(), ttopo.layer(detId), false, ttopo.isStereo(detId), isPlusSide(detId)); + const auto ilay = mkFitLayerNumber(detId); auto& map = detIdToShortId_[ilay]; const unsigned int ind = map.size(); // Make sure the short id fits in the 12 bits... @@ -73,3 +75,8 @@ MkFitGeometry::MkFitGeometry(const TrackerGeometry& geom, // Explicit out-of-line because of the mkfit::LayerNumberConverter is // only forward declared in the header MkFitGeometry::~MkFitGeometry() {} + +int MkFitGeometry::mkFitLayerNumber(DetId detId) const { + return lnc_->convertLayerNumber( + detId.subdetId(), ttopo_->layer(detId), false, ttopo_->isStereo(detId), isPlusSide(*ttopo_, detId)); +} diff --git a/RecoTracker/MkFit/src/MkFitHitWrapper.cc b/RecoTracker/MkFit/src/MkFitHitWrapper.cc index e5f7f8d63c712..ebef4972f777b 100644 --- a/RecoTracker/MkFit/src/MkFitHitWrapper.cc +++ b/RecoTracker/MkFit/src/MkFitHitWrapper.cc @@ -6,25 +6,7 @@ #include "mkFit/HitStructures.h" MkFitHitWrapper::MkFitHitWrapper() = default; -MkFitHitWrapper::MkFitHitWrapper(mkfit::TrackerInfo const& trackerInfo) - : eventOfHits_(std::make_unique(trackerInfo)), - pixelHits_(std::make_unique()), - outerHits_(std::make_unique()) {} - MkFitHitWrapper::~MkFitHitWrapper() = default; MkFitHitWrapper::MkFitHitWrapper(MkFitHitWrapper&&) = default; MkFitHitWrapper& MkFitHitWrapper::operator=(MkFitHitWrapper&&) = default; - -void MkFitHitWrapper::stripClusterChargeCut(float minThreshold, std::vector& mask) const { - if (mask.size() != stripClusterCharge_.size()) { - cms::Exception e("LogicError"); - e << "Mask size (" << mask.size() << ") inconsistent with number of hits (" << stripClusterCharge_.size() << ")"; - e.addContext("Calling MkFitHitWraper::applyStripClusterCharge()"); - throw e; - } - for (int i = 0, end = stripClusterCharge_.size(); i < end; ++i) { - // mask == true means skip the cluster - mask[i] = mask[i] || (stripClusterCharge_[i] <= minThreshold); - } -} diff --git a/RecoTracker/MkFit/src/classes.h b/RecoTracker/MkFit/src/classes.h index 0579533564d3d..0aa6883c3c69f 100644 --- a/RecoTracker/MkFit/src/classes.h +++ b/RecoTracker/MkFit/src/classes.h @@ -3,6 +3,7 @@ #include "DataFormats/Common/interface/Wrapper.h" #include "RecoTracker/MkFit/interface/MkFitHitWrapper.h" +#include "RecoTracker/MkFit/interface/MkFitEventOfHits.h" #include "RecoTracker/MkFit/interface/MkFitClusterIndexToHit.h" #include "RecoTracker/MkFit/interface/MkFitSeedWrapper.h" #include "RecoTracker/MkFit/interface/MkFitOutputWrapper.h" diff --git a/RecoTracker/MkFit/src/classes_def.xml b/RecoTracker/MkFit/src/classes_def.xml index 8ee51da8a9958..d241cc1bb03e8 100644 --- a/RecoTracker/MkFit/src/classes_def.xml +++ b/RecoTracker/MkFit/src/classes_def.xml @@ -2,6 +2,9 @@ + + + diff --git a/Validation/RecoTrack/python/plotting/trackingPlots.py b/Validation/RecoTrack/python/plotting/trackingPlots.py index b795717674564..4244e07a9c788 100644 --- a/Validation/RecoTrack/python/plotting/trackingPlots.py +++ b/Validation/RecoTrack/python/plotting/trackingPlots.py @@ -1488,7 +1488,9 @@ def modules(self): "caloTowerForTrk", "ak4CaloJetsForTrk", "firstStepPrimaryVertices", - "mkFitHits"]), + "mkFitSiPixelHits", + "mkFitSiStripHits", + "mkFitEventOfHits"]), Iteration("highPtTripletStep", selection=["highPtTripletStepClassifier1", "highPtTripletStepClassifier2",