#include "kmModelData.h" //loop variables const int szData[Nsegs] = {szData0, szData1, szData2, szData3, szData4}; const int tierOffsets[Ntiers] = {tierOffset0, tierOffset1, tierOffset2}; //CUDA tier processing variables const int tierIdx0[2] = {30, 4}; const int tierIdx1[1] = {35}; const int tierIdx2[3] = {35, 32, 26}; const int tierIdx3[3] = {20, 27, 16}; const int tierIdx4[3] = {20, 27, 34}; const int* TierIdxPtrArr[Nsegs] = {&tierIdx0[0], &tierIdx1[0], &tierIdx2[0], &tierIdx3[0], &tierIdx4[0]}; const int tierIdxN[Nsegs] = {2, 1, 3, 3, 3}; //Default kinematic model configuration: points and norms by segment const float Data0[4][szData0] = { { 0.013560f, 0.015110f, 0.015256f, 0.013281f, -0.007103f, -0.005958f, -0.010596f, -0.003557f, -0.007014f, -0.000912f, -0.009738f, -0.003777f, -0.002913f, -0.013942f, -0.010371f, -0.006954f, -0.007165f, -0.009998f, 0.002370f, -0.010684f, -0.000417f, -0.005662f, -0.006937f, 0.001091f, -0.042899f, -0.041335f, -0.044436f, -0.036983f, -0.047870f, -0.041071f, -0.043777f, -0.043008f, -0.035612f, -0.040786f, -0.021014f, -0.023147f, -0.017913f, -0.020055f, -0.028851f, -0.022558f, -0.018954f, -0.024080f, -0.020745f, -0.024137f, -0.014022f, -0.014524f, -0.022131f, -0.050424f, -0.052919f, -0.048070f, -0.049619f, -0.051524f, -0.056250f, -0.056651f, -0.063307f, -0.063266f, -0.059084f, -0.056076f, -0.055520f, -0.054516f, -0.050741f, -0.050577f, -0.047198f, -0.055040f, -0.053688f, -0.059563f, -0.055848f, -0.055803f, -0.062023f, -0.050461f, -0.052492f, -0.047794f, -0.046911f, -0.042615f, -0.040914f, -0.043736f, -0.048100f, -0.042268f, -0.040302f, -0.032635f, -0.036651f, -0.050016f, -0.042102f, -0.054320f, -0.061594f, -0.056439f, -0.049111f, -0.039110f, -0.043903f, -0.037069f, -0.030198f, -0.030703f, -0.054490f, -0.024372f, -0.030654f, -0.031515f, -0.014165f, -0.044382f, -0.045689f, -0.032195f, -0.031712f, -0.023587f, -0.035508f, -0.032371f, -0.021447f, -0.016876f, -0.018969f, -0.021654f, -0.025475f, -0.036905f, 0.007995f, 0.003109f, 0.007403f, 0.008163f, 0.006541f, -0.015509f, -0.001995f, 0.003792f, 0.004381f, 0.015244f, 0.002098f, 0.009677f, 0.002832f, 0.011386f, -0.011507f, 0.001445f, 0.008887f, 0.021796f}, { -0.096683f, -0.097913f, -0.097724f, -0.092651f, 0.098967f, 0.098356f, 0.091502f, 0.091198f, 0.085863f, 0.084938f, 0.071732f, 0.072416f, 0.069895f, -0.067207f, -0.073943f, -0.084111f, -0.085680f, -0.089011f, -0.093638f, -0.094475f, -0.095720f, -0.094933f, -0.093910f, -0.094241f, -0.064532f, -0.067315f, -0.059360f, -0.063588f, -0.049765f, -0.044171f, -0.039498f, -0.032483f, -0.037684f, -0.025378f, -0.060866f, -0.059936f, -0.069343f, -0.073490f, -0.049884f, 0.052140f, 0.056520f, 0.058807f, 0.061727f, 0.073456f, 0.075526f, 0.089328f, 0.083912f, 0.056224f, 0.042917f, 0.039836f, 0.034394f, 0.022975f, 0.023338f, 0.023360f, -0.024316f, -0.000494f, -0.002124f, -0.001691f, -0.006589f, -0.006701f, -0.001313f, -0.016642f, -0.023476f, -0.033676f, -0.020442f, -0.022477f, -0.038403f, -0.045050f, -0.034500f, -0.054084f, -0.036790f, -0.005667f, -0.001365f, 0.005980f, 0.028013f, 0.018352f, 0.018272f, 0.034894f, 0.046238f, 0.045089f, 0.037048f, 0.007688f, 0.010855f, -0.013912f, -0.021257f, 0.010854f, 0.028223f, 0.052760f, 0.055740f, 0.067819f, 0.077543f, 0.065445f, 0.035707f, 0.080575f, 0.060121f, 0.048488f, 0.061084f, -0.025407f, -0.039877f, -0.063199f, -0.076721f, -0.083929f, -0.072425f, -0.078256f, -0.085278f, -0.089782f, -0.090787f, -0.084852f, -0.083739f, -0.069954f, -0.095776f, -0.094850f, -0.092843f, -0.093847f, -0.094094f, -0.087238f, -0.085162f, 0.075970f, 0.079214f, 0.089276f, 0.106036f, 0.107796f, 0.092130f, 0.090542f, 0.077179f, 0.103297f, -0.095588f, 0.089563f}, { -0.031540f, -0.037767f, -0.050360f, -0.088051f, -0.095348f, -0.083820f, -0.071883f, -0.059399f, -0.056964f, -0.046475f, -0.041528f, -0.029757f, -0.015315f, -0.032173f, -0.036764f, -0.051235f, -0.055471f, -0.062068f, -0.073937f, -0.070888f, -0.093498f, -0.096904f, -0.106313f, -0.119785f, -0.096766f, -0.087085f, -0.076498f, -0.065824f, -0.067397f, -0.053855f, -0.053318f, -0.040867f, -0.029407f, -0.023719f, -0.038000f, -0.041853f, -0.046958f, -0.054834f, -0.036059f, -0.015266f, -0.021965f, -0.045241f, -0.044286f, -0.065810f, -0.053362f, -0.078280f, -0.084875f, -0.084143f, -0.073364f, -0.061143f, -0.060307f, -0.058135f, -0.070327f, -0.082691f, -0.085356f, -0.088502f, -0.081895f, -0.070458f, -0.059930f, -0.048057f, -0.040763f, -0.039549f, -0.037796f, -0.065966f, -0.059746f, -0.074693f, -0.070921f, -0.084192f, -0.092030f, -0.082992f, -0.062763f, -0.034014f, -0.031573f, -0.022673f, -0.027937f, -0.034692f, -0.044996f, -0.045733f, -0.054600f, -0.033783f, -0.017028f, -0.044673f, -0.017055f, -0.054668f, -0.079830f, -0.078725f, -0.054880f, -0.060621f, -0.071622f, -0.078782f, -0.089041f, -0.064568f, -0.071296f, -0.078734f, -0.057568f, -0.040673f, -0.021803f, -0.033620f, -0.056140f, -0.058340f, -0.078228f, -0.071511f, -0.079483f, -0.095421f, -0.111653f, -0.104471f, -0.083468f, -0.068148f, -0.077106f, -0.078051f, -0.107531f, -0.080097f, -0.076243f, -0.055054f, -0.041016f, -0.062353f, -0.037992f, -0.015533f, -0.026462f, -0.027680f, -0.087994f, -0.065316f, -0.050460f, -0.036304f, -0.051864f, -0.077536f, -0.111531f, -0.009158f}, { 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f}, }; const float Norms0[4][szData0] = { { -0.378459f, -0.279563f, -0.283425f, 0.295650f, -0.704256f, -0.662415f, -0.637531f, -0.670520f, -0.674533f, -0.669546f, -0.685866f, -0.694966f, -0.645072f, -0.771851f, -0.768114f, -0.630116f, -0.472580f, -0.176551f, 0.272513f, -0.309550f, -0.049506f, -0.186519f, -0.277889f, -0.124826f, -0.825358f, -0.825563f, -0.815469f, -0.775376f, -0.822394f, -0.743175f, -0.784004f, -0.849617f, -0.824960f, -0.929699f, -0.778979f, -0.779249f, -0.751293f, -0.628741f, -0.790579f, -0.713379f, -0.698605f, -0.709365f, -0.689215f, -0.682091f, -0.673146f, -0.737894f, -0.664786f, -0.812419f, -0.900586f, -0.857564f, -0.924727f, -0.922326f, -1.044857f, -1.056479f, -0.989213f, -0.842131f, -0.902946f, -1.053326f, -1.051255f, -1.035400f, -0.907936f, -0.934085f, -0.886020f, -0.925370f, -1.012447f, -0.977707f, -0.955821f, -0.931146f, -0.963597f, -0.864761f, -0.842920f, -0.964145f, -0.979312f, -1.024540f, -1.018446f, -0.965524f, -0.966135f, -0.885470f, -0.781920f, -0.791598f, -0.852794f, -0.955874f, -1.042031f, -1.033148f, -0.987445f, -1.054561f, -0.963139f, -0.736019f, -0.740243f, -0.710557f, -0.699081f, -0.703137f, -0.957320f, -0.680015f, -0.696971f, -0.760351f, -0.702473f, -0.890613f, -0.767449f, -0.655456f, -0.785635f, -0.767305f, -0.798299f, -0.785134f, -0.642318f, -0.515827f, -0.581180f, -0.752024f, -0.750098f, -0.799983f, -0.018703f, 0.245651f, 0.164936f, -0.460801f, -0.554604f, -0.444223f, -0.740260f, -0.666642f, -0.670629f, -0.535052f, -0.658292f, -0.579829f, -0.665494f, -0.545978f, -0.673623f, -0.645025f, -0.031879f, -0.536893f}, { -1.008023f, -1.048727f, -1.049054f, -1.047133f, 0.770395f, 0.843345f, 0.802087f, 0.726954f, 0.702228f, 0.683182f, 0.698963f, 0.765817f, 0.816619f, -0.657877f, -0.664642f, -0.819819f, -0.887208f, -0.804504f, -1.026090f, -1.046886f, -1.094303f, -1.075327f, -1.051650f, -1.083556f, -0.663479f, -0.682736f, -0.625528f, -0.631146f, -0.588619f, -0.516312f, -0.507366f, -0.547697f, -0.588544f, -0.378361f, -0.651371f, -0.649383f, -0.653671f, -0.571689f, -0.636332f, 0.760258f, 0.779207f, 0.687093f, 0.703532f, 0.695770f, 0.676578f, 0.767763f, 0.829164f, 0.649766f, 0.392681f, 0.423887f, 0.303423f, 0.257191f, 0.088222f, 0.006756f, -0.198198f, 0.286153f, 0.248701f, -0.007316f, -0.085467f, -0.049333f, 0.200807f, -0.243648f, -0.418894f, -0.208103f, -0.169193f, 0.021189f, -0.399015f, -0.479995f, -0.405306f, -0.580336f, -0.299667f, 0.030226f, 0.082259f, 0.086564f, 0.236405f, 0.245127f, 0.245429f, 0.426883f, 0.558711f, 0.681344f, 0.601401f, 0.234285f, 0.015691f, -0.176581f, -0.031977f, 0.030039f, 0.250105f, 0.612625f, 0.628146f, 0.736664f, 0.797151f, 0.662000f, 0.280217f, 0.794103f, 0.656094f, 0.682946f, 0.779787f, -0.413128f, -0.452034f, -0.557895f, -0.684399f, -0.707482f, -0.667299f, -0.724859f, -0.862153f, -0.948116f, -0.915972f, -0.693001f, -0.744820f, -0.656546f, -1.094861f, -1.057447f, -1.073472f, -0.963223f, -0.918393f, -0.674071f, -0.715599f, 0.801113f, 0.777987f, 0.873593f, 0.828475f, 0.856315f, 0.697961f, 0.810440f, 0.678147f, 0.843445f, -1.091923f, 0.915257f}, { 0.094083f, 0.057738f, -0.126259f, 0.008037f, 0.155972f, 0.034735f, 0.247526f, 0.329156f, 0.360782f, 0.395149f, 0.345037f, 0.173840f, 0.157990f, 0.244746f, 0.240545f, 0.214098f, 0.319951f, 0.616407f, 0.165975f, -0.010947f, -0.114036f, -0.175118f, -0.202855f, -0.193270f, -0.267122f, -0.008071f, 0.214984f, 0.298394f, 0.263886f, 0.479185f, 0.429552f, 0.248851f, 0.241672f, 0.268233f, 0.239116f, 0.242508f, 0.300483f, 0.562660f, 0.239349f, 0.130793f, 0.103725f, 0.323054f, 0.331527f, 0.358244f, 0.398625f, 0.050022f, 0.092871f, 0.174841f, 0.325541f, 0.382956f, 0.341949f, 0.374124f, 0.065487f, -0.074384f, 0.249999f, 0.469354f, 0.392429f, 0.003449f, -0.012082f, 0.141810f, 0.432909f, 0.370185f, 0.336400f, 0.394577f, 0.182439f, 0.319141f, 0.174045f, 0.126988f, 0.130832f, 0.161907f, 0.490517f, 0.364748f, 0.320044f, 0.148581f, 0.003738f, 0.279757f, 0.279984f, 0.322174f, 0.378268f, 0.104617f, 0.107127f, 0.313203f, -0.006142f, 0.069571f, 0.297907f, -0.020540f, 0.284710f, 0.387563f, 0.361346f, 0.235959f, 0.097399f, 0.373560f, 0.282416f, 0.168268f, 0.390583f, 0.216739f, 0.076678f, 0.331848f, 0.499907f, 0.547318f, 0.171425f, 0.169459f, 0.174041f, -0.218922f, -0.216458f, -0.224096f, -0.028794f, 0.242841f, 0.117559f, 0.193282f, -0.140923f, 0.040656f, 0.040160f, -0.210807f, 0.034133f, 0.624547f, 0.201830f, 0.141586f, 0.210345f, 0.258713f, 0.116862f, 0.238334f, 0.381177f, 0.377330f, 0.395842f, 0.107552f, -0.186733f, 0.068923f}, { 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f}, }; const float Data1[4][szData1] = { { 0.018360f, 0.025337f, 0.014583f, 0.024443f, 0.020638f, 0.015443f, 0.013511f, 0.016627f, 0.024755f, -0.008710f, -0.005560f, -0.006249f, -0.000011f, -0.001462f, 0.000065f, -0.012210f, -0.005139f, -0.006761f, -0.003875f, -0.037249f, -0.036242f, -0.037712f, -0.039409f, -0.016441f, -0.018764f, -0.017223f, -0.025654f, -0.033343f, -0.028725f, -0.034773f, -0.025797f, -0.022961f, -0.019534f, -0.017884f, -0.014921f, -0.012604f, -0.041678f, -0.041427f, -0.041277f, -0.038863f, -0.035780f, -0.041002f, -0.036474f, -0.041530f, -0.011207f, -0.032686f, -0.037359f, -0.041109f, 0.007405f, -0.001232f, 0.006208f, 0.011154f, 0.006645f, 0.011881f, 0.010267f, -0.001838f, 0.008585f, 0.007171f, -0.007953f, 0.003893f, 0.006854f, 0.014684f, 0.023965f, 0.015172f}, { 0.078201f, 0.075317f, 0.059875f, 0.055712f, 0.042217f, -0.097532f, -0.094011f, -0.097798f, -0.099955f, 0.057623f, 0.053129f, 0.047977f, 0.039038f, 0.027628f, 0.023849f, -0.064742f, -0.069341f, -0.071264f, -0.069425f, -0.030360f, -0.027146f, -0.030122f, -0.020487f, -0.057365f, -0.051633f, -0.056261f, -0.046123f, -0.036658f, -0.037227f, -0.036345f, -0.046306f, 0.005316f, 0.010850f, 0.022425f, 0.040526f, 0.051490f, -0.006668f, -0.009152f, -0.006949f, 0.008384f, 0.016731f, 0.022508f, 0.028187f, 0.010813f, 0.033455f, -0.001324f, -0.014377f, -0.013774f, -0.082283f, -0.078032f, -0.082237f, -0.089678f, -0.089048f, -0.090282f, -0.085583f, -0.069857f, 0.028970f, 0.035042f, 0.036369f, 0.063092f, 0.068142f, -0.094147f, -0.109013f, 0.076916f}, { 0.024323f, 0.052063f, 0.058486f, 0.078430f, 0.090687f, 0.056787f, 0.053047f, 0.023079f, 0.008415f, 0.016432f, 0.035848f, 0.042787f, 0.063930f, 0.076766f, 0.084482f, 0.065762f, 0.033712f, 0.023084f, 0.002317f, 0.017174f, 0.034430f, 0.055599f, 0.071009f, 0.057167f, 0.033900f, 0.027197f, 0.016170f, 0.018604f, 0.038693f, 0.063200f, 0.022572f, 0.074522f, 0.071968f, 0.059059f, 0.039964f, 0.026880f, 0.014476f, 0.034315f, 0.051901f, 0.044681f, 0.039882f, 0.016550f, 0.022594f, 0.028671f, 0.054632f, 0.068255f, 0.077944f, 0.040880f, -0.003741f, 0.023562f, 0.041341f, 0.048724f, 0.071067f, 0.035724f, -0.000629f, 0.047240f, 0.090531f, 0.079705f, 0.055661f, 0.035625f, 0.028861f, 0.033264f, 0.072967f, 0.022391f}, { 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f}, }; const float Norms1[4][szData1] = { { -0.437652f, -0.484921f, -0.654315f, -0.644969f, -0.655105f, -0.665062f, -0.694252f, -0.516882f, -0.396053f, -0.689045f, -0.672075f, -0.678721f, -0.669897f, -0.661726f, -0.640124f, -0.794954f, -0.767502f, -0.787296f, -0.769851f, -0.938581f, -0.920782f, -0.913083f, -1.022767f, -0.775667f, -0.780807f, -0.802714f, -0.805947f, -0.839809f, -0.811208f, -0.858085f, -0.813124f, -0.715639f, -0.699814f, -0.687790f, -0.682724f, -0.692400f, -1.040229f, -1.036164f, -1.032970f, -0.888241f, -0.754393f, -1.005934f, -0.776736f, -1.026428f, -0.680862f, -0.716088f, -0.935184f, -1.025971f, -0.734557f, -0.785681f, -0.795525f, -0.727700f, -0.752202f, -0.724498f, -0.717754f, -0.758280f, -0.678099f, -0.662961f, -0.678309f, -0.688110f, -0.674907f, -0.647113f, -0.721900f, -0.542339f}, { 0.946720f, 0.850689f, 0.652580f, 0.644305f, 0.652755f, -0.787026f, -0.750177f, -0.940040f, -0.988214f, 0.785851f, 0.703581f, 0.657744f, 0.626670f, 0.636945f, 0.665710f, -0.686759f, -0.656847f, -0.690617f, -0.688625f, -0.461229f, -0.487910f, -0.488516f, -0.150782f, -0.667009f, -0.647938f, -0.646000f, -0.664079f, -0.627041f, -0.656220f, -0.603934f, -0.659826f, 0.616037f, 0.616057f, 0.610044f, 0.637942f, 0.719852f, -0.060117f, -0.111412f, 0.079601f, 0.425072f, 0.570745f, 0.275028f, 0.615415f, 0.145051f, 0.621684f, 0.592492f, 0.341906f, -0.174453f, -0.752720f, -0.692228f, -0.678630f, -0.733130f, -0.701681f, -0.741448f, -0.759663f, -0.695471f, 0.652193f, 0.628524f, 0.624225f, 0.727696f, 0.774142f, -0.818308f, -0.773337f, 0.886117f}, { 0.218560f, 0.424132f, 0.507125f, 0.531693f, 0.503744f, -0.191226f, -0.208711f, 0.100521f, -0.175749f, 0.099077f, 0.400087f, 0.462271f, 0.517737f, 0.515837f, 0.506586f, 0.045576f, 0.305078f, 0.107732f, -0.170518f, -0.027023f, 0.107134f, -0.098025f, 0.197618f, -0.170671f, 0.286309f, 0.214848f, -0.080122f, -0.013952f, 0.106282f, 0.063590f, 0.083486f, 0.458209f, 0.485419f, 0.512852f, 0.483963f, 0.328824f, 0.020739f, 0.027865f, 0.147052f, 0.368607f, 0.460197f, 0.088245f, 0.349970f, 0.138012f, 0.508007f, 0.492927f, 0.336735f, -0.024162f, -0.001422f, 0.109604f, 0.080579f, -0.151436f, 0.292046f, 0.219381f, -0.125537f, -0.143551f, 0.464776f, 0.525464f, 0.508483f, 0.317465f, 0.220604f, 0.227211f, 0.121523f, 0.207799f}, { 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f}, }; const float Data2[4][szData2] = { { 0.038756f, 0.039812f, 0.050777f, 0.039311f, 0.050582f, 0.044478f, 0.049978f, 0.037913f, 0.041381f, 0.049227f, 0.052611f, 0.045122f, 0.039709f, 0.051664f, 0.067595f, 0.073635f, 0.069726f, 0.068068f, 0.074010f, 0.067894f, 0.062064f, 0.077651f, 0.075704f, 0.074509f, 0.071555f, 0.074972f, 0.065530f, 0.117774f, 0.113095f, 0.118556f, 0.114593f, 0.123524f, 0.111773f, 0.124112f, 0.111493f, 0.137299f, 0.137678f, 0.133730f, 0.126715f, 0.127016f, 0.125493f, 0.133934f, 0.093897f, 0.102813f, 0.089450f, 0.098619f, 0.090429f, 0.099344f, 0.102681f, 0.087577f, 0.091230f, 0.095737f, 0.087447f, 0.101231f, 0.098638f, 0.082810f, 0.108361f, 0.082940f, 0.081890f, 0.130152f, 0.106538f, 0.106569f, 0.107068f, 0.078947f, 0.085063f, 0.061137f, 0.057662f, 0.080755f, 0.055371f, 0.080527f, 0.015993f, 0.022183f, 0.014120f, 0.018773f, 0.009940f, 0.021823f, 0.017783f, 0.020295f, 0.024992f, 0.026926f, 0.012543f, 0.019673f, 0.023805f, 0.014184f, 0.018361f, 0.024492f, -0.012706f, -0.005218f, -0.001233f, -0.006663f, -0.011029f, -0.014459f, 0.000655f, -0.013614f, -0.011090f, -0.009731f, 0.002207f, -0.000983f, 0.000910f, -0.013704f, -0.005080f, -0.010988f, -0.007667f, -0.014326f, -0.005171f, -0.014433f, -0.035441f, -0.031357f, -0.023454f, -0.024720f, -0.033533f, -0.038634f, -0.034996f, -0.034260f, -0.039633f, -0.029806f, -0.029774f, -0.032479f, -0.033681f, -0.034117f, -0.032210f, -0.026283f, -0.031065f, -0.035468f, -0.030281f, -0.039105f, -0.036693f, -0.039196f, -0.031728f, -0.025256f, -0.030436f, -0.037092f, -0.025951f, -0.019969f, -0.036225f, -0.048462f, -0.056635f, -0.054011f, -0.058057f, -0.062755f, -0.050573f, -0.055137f, -0.060098f, -0.071124f, -0.064992f, -0.061015f, -0.068343f, -0.068746f, -0.072485f, -0.070439f, -0.065035f, -0.059141f, -0.074912f, -0.068745f, -0.074514f, -0.050593f, -0.055017f, -0.088832f, -0.088717f, -0.098334f, -0.096721f, -0.100169f, -0.100643f, -0.091457f, -0.088079f, -0.098466f, -0.089146f, -0.085239f, -0.090601f, -0.087831f, -0.093936f, -0.101077f, -0.110701f, -0.120183f, -0.111166f, -0.112695f, -0.111948f, -0.109732f, -0.113318f, -0.131395f, -0.105943f, -0.078848f, -0.072368f, -0.080440f, -0.076179f, -0.068295f, -0.104406f, -0.075220f, -0.079942f, -0.106277f, -0.093800f, -0.049323f, -0.050525f, -0.043111f, -0.039366f, -0.083719f, -0.084151f, -0.056135f, -0.055566f, -0.057134f, -0.055928f, -0.050430f, -0.049109f, -0.055490f, -0.050338f, -0.049050f, -0.043359f, -0.044991f, -0.040420f, -0.043041f, -0.051563f, -0.068237f, -0.048709f, -0.066321f, -0.012208f, -0.013780f, -0.038826f, -0.041516f, -0.020538f, -0.019601f, -0.013380f, -0.018800f, -0.021183f, -0.027832f, -0.031656f, -0.022456f, -0.028043f, -0.019416f, -0.044108f, -0.018568f, -0.000902f, -0.020493f, -0.017276f, -0.015059f, 0.002736f, 0.005905f, -0.013522f, -0.000106f, -0.018167f, 0.006374f, 0.006760f, 0.028493f, 0.032603f, 0.024707f, 0.029279f, 0.027275f, 0.030509f, 0.056756f, 0.031289f, 0.031503f, 0.029033f, 0.055124f, 0.033873f, 0.033227f, 0.053499f, 0.036187f}, { 0.030142f, 0.016560f, 0.003602f, -0.014452f, -0.026149f, -0.037688f, -0.051343f, -0.063996f, -0.072196f, -0.079645f, -0.086374f, -0.098514f, -0.098429f, -0.099724f, -0.098171f, -0.091622f, -0.082790f, -0.078129f, -0.072689f, -0.062663f, -0.048121f, -0.045182f, -0.026518f, -0.020240f, -0.002243f, 0.011891f, 0.027071f, 0.001090f, -0.005509f, -0.025521f, -0.042904f, -0.053593f, -0.059897f, -0.060771f, -0.063593f, -0.033031f, -0.050461f, -0.058680f, -0.049818f, -0.032593f, -0.008089f, -0.025330f, -0.079526f, -0.070689f, -0.069844f, -0.062845f, -0.059682f, -0.052772f, -0.049662f, -0.047502f, -0.027657f, -0.009205f, -0.000449f, 0.005781f, 0.020369f, 0.016128f, -0.057656f, -0.054810f, -0.081300f, -0.062058f, -0.062580f, -0.026373f, 0.004372f, 0.020244f, 0.012420f, -0.003031f, -0.020817f, -0.038057f, -0.064151f, -0.073941f, 0.038877f, 0.017416f, 0.005615f, -0.009799f, -0.020367f, -0.043356f, -0.051196f, -0.057098f, -0.065037f, -0.071896f, -0.081152f, -0.086401f, -0.093656f, -0.108155f, -0.110116f, -0.109846f, 0.019763f, 0.029231f, 0.036003f, 0.034906f, 0.024921f, 0.015667f, -0.008696f, -0.015433f, -0.043280f, -0.056723f, -0.053012f, -0.058787f, -0.063941f, -0.078331f, -0.091402f, -0.106235f, -0.098020f, -0.112478f, -0.115241f, -0.107644f, 0.005210f, 0.006317f, 0.014830f, 0.023182f, 0.032947f, 0.035043f, 0.029084f, 0.026173f, 0.020520f, 0.006447f, -0.006721f, -0.027474f, -0.044028f, -0.060270f, -0.051806f, -0.063726f, -0.071985f, -0.082061f, -0.081709f, -0.091879f, -0.098189f, -0.102348f, -0.112357f, -0.120881f, -0.118090f, -0.108032f, -0.101251f, -0.087434f, -0.064879f, -0.082784f, -0.074130f, -0.101003f, -0.105952f, -0.104910f, -0.098022f, -0.096967f, -0.096450f, 0.027614f, 0.030563f, 0.031887f, 0.036375f, 0.030740f, 0.018020f, 0.026220f, 0.011141f, 0.002685f, -0.016064f, -0.020697f, -0.027108f, -0.038291f, -0.057942f, -0.038699f, -0.029142f, -0.015487f, -0.006620f, 0.001879f, 0.009725f, 0.016805f, 0.024866f, 0.035061f, 0.040042f, 0.033395f, -0.099213f, -0.088082f, -0.056666f, -0.045986f, -0.026912f, -0.016388f, -0.004793f, 0.002218f, 0.010439f, 0.031122f, -0.052835f, -0.020712f, 0.040151f, -0.071101f, -0.088507f, -0.103061f, -0.108378f, -0.106902f, 0.032248f, 0.027407f, 0.015949f, -0.005687f, -0.039650f, -0.010131f, -0.008182f, 0.001927f, 0.005550f, -0.020531f, -0.005481f, 0.014801f, 0.025529f, 0.034111f, 0.038453f, 0.033907f, 0.029311f, 0.028544f, 0.020813f, 0.014839f, -0.072018f, -0.085392f, -0.085975f, -0.090390f, -0.094241f, -0.103154f, -0.110502f, -0.100709f, -0.101515f, -0.119988f, -0.118971f, -0.111854f, -0.077337f, -0.070611f, -0.060813f, -0.041581f, -0.025892f, -0.015217f, -0.012541f, 0.009562f, 0.030453f, 0.032071f, 0.021687f, 0.018405f, -0.118901f, -0.111996f, -0.091566f, -0.071256f, -0.025986f, -0.007833f, 0.028933f, 0.040201f, 0.023902f, -0.115638f, -0.106053f, -0.081497f, -0.069541f, -0.025407f, 0.007573f, 0.017109f, 0.037737f, -0.099427f, -0.088082f, -0.075296f, -0.053520f, -0.038092f, -0.027615f, -0.006006f, 0.019652f, 0.037073f}, { 0.205078f, 0.214895f, 0.226344f, 0.234472f, 0.245390f, 0.249850f, 0.252124f, 0.239538f, 0.235118f, 0.230759f, 0.224621f, 0.206054f, 0.200688f, 0.189365f, 0.206633f, 0.212040f, 0.228847f, 0.234474f, 0.245141f, 0.253232f, 0.256109f, 0.263536f, 0.259180f, 0.255433f, 0.243901f, 0.234603f, 0.215633f, 0.240257f, 0.257055f, 0.265261f, 0.272417f, 0.263061f, 0.269192f, 0.251811f, 0.222587f, 0.235886f, 0.236115f, 0.240023f, 0.259074f, 0.259158f, 0.248040f, 0.239974f, 0.210710f, 0.214883f, 0.239476f, 0.247296f, 0.260903f, 0.272416f, 0.273884f, 0.267998f, 0.268423f, 0.259539f, 0.247741f, 0.238600f, 0.223940f, 0.234491f, 0.272456f, 0.262533f, 0.223926f, 0.233048f, 0.253637f, 0.271081f, 0.237283f, 0.228755f, 0.238014f, 0.239786f, 0.246558f, 0.265006f, 0.246334f, 0.240731f, 0.198040f, 0.212162f, 0.228591f, 0.234529f, 0.249878f, 0.249659f, 0.246720f, 0.241239f, 0.235416f, 0.228768f, 0.220398f, 0.214799f, 0.207286f, 0.192162f, 0.181662f, 0.175931f, 0.187968f, 0.198902f, 0.204189f, 0.222446f, 0.239541f, 0.252181f, 0.251517f, 0.273589f, 0.276185f, 0.263936f, 0.253975f, 0.250547f, 0.240503f, 0.231484f, 0.221811f, 0.213020f, 0.219079f, 0.209582f, 0.192588f, 0.173040f, 0.169836f, 0.181980f, 0.187634f, 0.197090f, 0.206636f, 0.223687f, 0.239915f, 0.250754f, 0.274844f, 0.283895f, 0.296222f, 0.310390f, 0.305746f, 0.291376f, 0.296861f, 0.278723f, 0.276921f, 0.248268f, 0.237199f, 0.225759f, 0.219685f, 0.218069f, 0.215222f, 0.205678f, 0.187193f, 0.183970f, 0.175740f, 0.160441f, 0.160798f, 0.177134f, 0.176793f, 0.191533f, 0.208313f, 0.224753f, 0.227170f, 0.247631f, 0.271406f, 0.271180f, 0.260197f, 0.254550f, 0.221997f, 0.212910f, 0.199680f, 0.208794f, 0.192745f, 0.185944f, 0.173458f, 0.167600f, 0.166900f, 0.154716f, 0.168241f, 0.176532f, 0.173026f, 0.177574f, 0.183438f, 0.195108f, 0.203864f, 0.207693f, 0.215982f, 0.227094f, 0.236461f, 0.261390f, 0.215691f, 0.203758f, 0.189472f, 0.187640f, 0.183625f, 0.187104f, 0.191280f, 0.201945f, 0.209426f, 0.225651f, 0.198700f, 0.192958f, 0.231258f, 0.187596f, 0.194879f, 0.217376f, 0.235963f, 0.252396f, 0.226131f, 0.212774f, 0.200235f, 0.187049f, 0.179701f, 0.160694f, 0.173340f, 0.181931f, 0.164399f, 0.172390f, 0.182719f, 0.194489f, 0.202735f, 0.211666f, 0.227121f, 0.242231f, 0.259997f, 0.265169f, 0.286719f, 0.302436f, 0.291690f, 0.277764f, 0.259988f, 0.234398f, 0.247751f, 0.209438f, 0.208839f, 0.203475f, 0.165565f, 0.181816f, 0.197549f, 0.212873f, 0.235662f, 0.254078f, 0.264462f, 0.286649f, 0.292156f, 0.298974f, 0.303489f, 0.268010f, 0.223810f, 0.216626f, 0.198408f, 0.191102f, 0.171699f, 0.178319f, 0.224778f, 0.238046f, 0.259696f, 0.245606f, 0.235003f, 0.210185f, 0.196271f, 0.172680f, 0.199980f, 0.220541f, 0.233555f, 0.239076f, 0.217259f, 0.210103f, 0.197436f, 0.206927f, 0.215689f, 0.227708f, 0.244354f, 0.252676f, 0.241013f, 0.227664f, 0.216438f, 0.199881f}, { 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 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0.575456f, 0.639903f, 0.598814f, 0.666006f, 0.318358f, 0.185580f, 0.104391f, -0.102388f, -0.204729f, 0.238831f, 0.082999f, -0.008206f, 0.250199f, 0.189618f, 0.218061f, -0.670521f, -0.292200f, -0.440259f, -0.014423f, 0.406898f, 0.599693f, 0.666044f, 0.761350f, 0.727973f, 0.661057f, 0.524450f, 0.515363f, 0.307645f, 0.274931f, 0.377078f, 0.402300f, 0.349059f, 0.434692f, 0.476673f, -0.525441f, -0.619005f, -0.605026f, -0.296875f, -0.192997f, 0.009963f, 0.289996f, 0.318058f, 0.291997f, 0.391910f, 0.722806f, 0.773946f, 0.786151f, 0.697975f, 0.650392f, 0.661828f, 0.641727f, 0.620877f, 0.461345f, 0.440036f, 0.270703f, 0.073117f, -0.031533f, -0.069853f, 0.084629f, -0.473507f, -0.478278f, -0.432997f, -0.543252f, -0.508260f, -0.419348f, -0.434828f, -0.603311f, -0.346612f, 0.256079f, 0.407178f, 0.555533f, 0.408053f, -0.023693f, -0.024626f, 0.011137f, -0.292847f, -0.392682f, -0.252553f, -0.386642f, -0.167610f, -0.167044f, -0.257208f, -0.461563f, -0.556038f, -0.493678f, -0.500614f, -0.507093f, 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-0.009206f, 0.079788f, -0.042023f, 0.059320f, -0.268681f, -0.282372f, -0.108433f, -0.280131f, -0.268888f, -0.104613f, -0.296672f, -0.186426f}, { 0.621532f, 0.561421f, 0.490131f, 0.508032f, 0.468389f, 0.277848f, -0.254174f, -0.607143f, -0.658389f, -0.758468f, -0.793595f, -1.073670f, -1.070617f, -1.095536f, -0.977750f, -0.886620f, -0.840515f, -0.866074f, -0.987201f, -0.570265f, -0.133564f, -0.203580f, 0.389055f, 0.454380f, 0.532090f, 0.626073f, 0.872379f, 0.935369f, 0.671260f, 0.311965f, -0.022340f, -0.251639f, -0.887735f, -0.914353f, -1.019899f, 0.098513f, -0.116738f, -0.679676f, -0.152175f, 0.113102f, 0.452872f, 0.182469f, -0.860628f, -0.792691f, -0.833383f, -1.048431f, -0.914675f, -0.319501f, -0.145958f, -0.235526f, 0.282985f, 0.661858f, 0.639073f, 0.790438f, 0.644487f, 0.593856f, -0.590911f, -0.557566f, -0.827869f, -1.011585f, -1.061149f, 0.360950f, 0.869471f, 0.705082f, 0.528675f, 0.419632f, 0.364334f, 0.080313f, -0.728598f, -0.999926f, 0.914312f, 0.482001f, 0.444520f, 0.384206f, 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0.697358f, 0.746626f, 0.690917f, 0.734981f, 0.783332f, 0.595356f, 0.994517f, 0.910491f, -0.853259f, -0.613295f, -0.479546f, -0.487570f, -0.315823f, 0.087528f, 0.794214f, 0.770420f, 0.601584f, 0.642551f, -0.489074f, -0.065918f, 0.686140f, -0.490818f, -0.641158f, -1.019984f, -1.091157f, -0.960598f, 0.572998f, 0.734175f, 0.679086f, 0.809353f, -0.464185f, 0.673727f, 0.687123f, 0.836942f, 0.541459f, 0.373920f, 0.642402f, 0.612176f, 0.595369f, 0.834908f, 1.029769f, 0.977009f, 0.956974f, 0.968108f, 0.955144f, 0.806902f, -0.650116f, -0.849119f, -0.952099f, -0.963009f, -0.887184f, -0.992557f, -0.733886f, -0.874448f, -0.665828f, -1.024039f, -0.963697f, -0.579717f, -0.833911f, -0.853376f, -0.632078f, -0.263989f, 0.080159f, 0.293056f, 0.287616f, 0.512336f, 0.970210f, 1.007303f, 0.593344f, 0.702333f, -0.997982f, -0.539093f, -0.517716f, -0.806909f, 0.271562f, 0.413992f, 0.925063f, 0.956932f, 0.785463f, -0.964440f, -0.863352f, -0.761236f, -0.718636f, 0.525582f, 0.619772f, 0.514714f, 0.746676f, -1.076997f, -0.737556f, -0.699055f, -0.678521f, 0.186249f, 0.498958f, 0.518378f, 0.642052f, 0.609192f}, { 1.004970f, 1.012184f, 1.025459f, 1.051677f, 1.054066f, 1.180799f, 1.197166f, 1.033504f, 1.006374f, 0.953273f, 0.929888f, 0.367268f, 0.427887f, 0.267363f, 0.577710f, 0.675544f, 0.864407f, 0.850143f, 0.642402f, 1.087868f, 1.189651f, 1.156175f, 1.118391f, 1.099540f, 1.060281f, 0.991256f, 0.704298f, 0.379447f, 0.924247f, 1.020395f, 1.171020f, 0.849012f, 0.800950f, 0.525497f, 0.350683f, 0.561886f, 0.512113f, 0.552384f, 0.763475f, 0.800525f, 0.697165f, 0.576249f, 0.529351f, 0.596790f, 0.631891f, 0.388687f, 0.733389f, 1.183329f, 1.258266f, 1.126107f, 1.129593f, 0.870097f, 0.995449f, 0.773364f, 0.714011f, 0.972566f, 1.114999f, 1.046730f, 0.706573f, 0.315031f, 0.293285f, 1.184695f, 0.649104f, 0.874127f, 1.085000f, 0.870282f, 0.917063f, 1.179480f, 0.923559f, 0.548899f, 0.665022f, 0.903574f, 0.873383f, 0.947490f, 0.909693f, 1.204634f, 0.953714f, 1.026457f, 0.955961f, 0.939991f, 0.991062f, 1.000931f, 0.821269f, 0.613740f, 0.342077f, 0.317863f, -0.306177f, -0.295694f, -0.207658f, 0.678970f, 0.822132f, 0.824590f, 0.876005f, 0.806460f, 0.895431f, 0.770645f, 0.819006f, 0.762174f, 0.712677f, 1.004140f, 1.032455f, 0.921965f, 0.937919f, 0.814917f, 0.477255f, -0.558201f, 0.605726f, -0.186484f, -0.122337f, -0.554827f, -0.357206f, 0.428198f, 0.487516f, 0.487612f, 0.577400f, 0.710204f, 0.766928f, 0.882654f, 0.823501f, 0.833000f, 0.825337f, 0.834382f, 0.777510f, 0.254150f, 0.643002f, 0.726649f, 1.115524f, 1.094669f, 1.145607f, 0.397692f, -0.430976f, -0.580310f, -0.648374f, -0.529954f, -0.612925f, -0.668717f, -0.663500f, -0.398537f, 0.196795f, 0.311008f, 0.582733f, 0.354292f, 0.466458f, 0.541308f, 0.527840f, 0.510311f, -0.154653f, -0.374282f, -0.435158f, -0.464349f, -0.612090f, -0.586089f, -0.591097f, -0.536218f, -0.690282f, -0.647285f, -0.621793f, -0.638826f, -0.738001f, -0.725198f, -0.516966f, -0.411336f, -0.450139f, -0.403360f, -0.386927f, -0.596610f, 0.135898f, 0.609872f, -0.316439f, -0.525783f, -0.595253f, -0.586840f, -0.663078f, -0.682110f, -0.327966f, -0.376038f, -0.558718f, -0.563902f, -0.570198f, -0.713327f, -0.528529f, -0.573553f, -0.502806f, -0.131445f, 0.120600f, 0.350326f, -0.609814f, -0.407005f, -0.484907f, -0.351277f, -0.608688f, -0.003933f, -0.338895f, -0.306080f, 0.338344f, -0.730249f, -0.573768f, -0.604295f, -0.597639f, -0.344978f, 0.341926f, 0.504679f, 0.556062f, 0.584381f, 0.551219f, 0.786591f, 0.777091f, 0.634200f, 0.222260f, 0.433137f, 0.339479f, -0.136895f, 0.751982f, -0.285191f, -0.399193f, -0.208929f, 0.003483f, 1.007152f, 0.762218f, 0.407665f, 0.723306f, 0.868880f, 0.735181f, 0.809002f, 0.801680f, 0.744393f, 0.437217f, 0.401506f, -0.617035f, -0.450534f, -0.266149f, -0.639912f, 1.125133f, 0.681727f, 0.926150f, 0.884270f, 0.677993f, -0.080555f, -0.421505f, 0.372220f, 0.740951f, 0.902322f, 0.924135f, 0.996923f, 1.007025f, 1.075916f, 0.898967f, 0.417519f, 0.914403f, 0.943534f, 1.012780f, 1.167704f, 1.035403f, 1.067915f, 0.916436f, 0.989262f}, { 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f}, }; const float Data3[4][szData3] = { { -0.011682f, -0.009693f, -0.010504f, -0.005298f, -0.006097f, -0.049834f, -0.041969f, -0.040830f, -0.019535f, -0.025672f, -0.014204f, -0.037341f, -0.054338f, -0.048045f, -0.051472f, -0.055895f, -0.072695f, -0.068748f, -0.074261f, -0.069476f, -0.071726f, -0.061028f, -0.068077f, -0.081875f, -0.083740f, -0.086647f, -0.086666f, -0.085224f, -0.080531f, -0.085750f, -0.083844f, -0.087161f, -0.082873f, -0.075971f, -0.074231f, -0.078339f, -0.081841f, -0.090430f, -0.088481f, -0.085282f, -0.079393f, -0.056971f, -0.056299f, -0.063283f, -0.056634f, -0.074444f, -0.066998f, -0.082385f, -0.078426f, -0.031792f, -0.042484f, -0.038844f, -0.035975f, -0.044515f, -0.030456f, -0.012088f, -0.032024f, -0.031836f, -0.029403f, -0.023905f, -0.024819f, -0.032397f, -0.017036f, -0.017523f}, { 0.133169f, 0.109642f, -0.090210f, -0.094703f, -0.091140f, -0.071779f, -0.068579f, -0.061791f, 0.103788f, 0.111490f, 0.126581f, 0.124312f, 0.104085f, 0.097554f, 0.081039f, 0.065297f, 0.045246f, 0.060741f, 0.071343f, 0.085592f, -0.042637f, -0.046475f, -0.026447f, 0.010619f, 0.003280f, 0.013379f, 0.037902f, 0.043398f, 0.035361f, 0.048305f, 0.065668f, -0.001505f, -0.016099f, -0.015267f, -0.024478f, -0.024107f, -0.018929f, 0.010537f, 0.039251f, 0.000902f, 0.030580f, -0.040493f, -0.046469f, -0.054611f, -0.065196f, -0.018993f, -0.051078f, 0.060142f, 0.046942f, 0.091128f, 0.084480f, 0.093842f, 0.110695f, 0.116393f, 0.110071f, 0.112472f, -0.072125f, -0.085491f, -0.091855f, -0.094789f, -0.093543f, -0.076105f, -0.092091f, 0.132824f}, { -0.208180f, -0.116721f, -0.172197f, -0.215864f, -0.239292f, -0.207899f, -0.179612f, -0.161519f, -0.126125f, -0.164846f, -0.171772f, -0.204065f, -0.196729f, -0.179065f, -0.152795f, -0.127009f, -0.133133f, -0.144643f, -0.182698f, -0.194399f, -0.205733f, -0.184025f, -0.159711f, -0.128200f, -0.163067f, -0.187527f, -0.201389f, -0.170228f, -0.141278f, -0.180640f, -0.200449f, -0.208927f, -0.182014f, -0.157761f, -0.172957f, -0.186718f, -0.209405f, -0.208903f, -0.210428f, -0.176740f, -0.135231f, -0.145093f, -0.171219f, -0.207651f, -0.220443f, -0.141162f, -0.210688f, -0.181810f, -0.145773f, -0.125981f, -0.132481f, -0.158963f, -0.178909f, -0.200970f, -0.170208f, -0.129584f, -0.157818f, -0.189474f, -0.211723f, -0.207372f, -0.192306f, -0.169995f, -0.190753f, -0.208238f}, { 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f}, }; const float Norms3[4][szData3] = { { -0.097703f, -0.671322f, -0.215415f, 0.276115f, -0.133164f, -0.807783f, -0.794836f, -0.810522f, -0.707825f, -0.682422f, -0.569003f, -0.649710f, -0.709297f, -0.714595f, -0.697428f, -0.816585f, -0.805050f, -0.847170f, -0.747313f, -0.742648f, -0.875978f, -0.815411f, -0.839746f, -0.995081f, -1.063856f, -1.019131f, -1.056145f, -1.063577f, -0.973461f, -1.076158f, -1.062260f, -1.006111f, -0.918645f, -0.918608f, -0.840443f, -0.918266f, -1.060430f, -1.085391f, -1.057722f, -1.002212f, -0.991600f, -0.847527f, -0.811883f, -0.829855f, -0.836928f, -0.886464f, -0.860431f, -0.922793f, -0.964729f, -0.706655f, -0.747009f, -0.672300f, -0.689518f, -0.717176f, -0.690819f, -0.715532f, -0.802443f, -0.707030f, -0.531723f, -0.340538f, -0.407276f, -0.769602f, 0.147573f, -0.139825f}, { 1.127616f, 0.762841f, -1.068276f, -1.044077f, -1.009678f, -0.682599f, -0.665682f, -0.671244f, 0.779945f, 0.738627f, 0.890856f, 0.888211f, 0.720194f, 0.698667f, 0.819046f, 0.569699f, 0.502507f, 0.629920f, 0.668635f, 0.677488f, -0.596249f, -0.640809f, -0.637006f, 0.198606f, -0.192079f, 0.213734f, 0.209820f, 0.211866f, 0.309015f, 0.166088f, 0.271313f, -0.364926f, -0.552030f, -0.543183f, -0.606003f, -0.548884f, -0.224728f, -0.028967f, 0.249922f, 0.072631f, 0.259693f, -0.645596f, -0.641078f, -0.645793f, -0.681267f, -0.591312f, -0.631410f, 0.503526f, 0.413804f, 0.754274f, 0.738650f, 0.792549f, 0.713354f, 0.789909f, 0.712417f, 0.803999f, -0.698873f, -0.718903f, -0.952879f, -1.042743f, -0.945723f, -0.702982f, -0.952047f, 1.122757f}, { -0.147557f, 0.251488f, -0.134810f, -0.076238f, -0.613647f, 0.021040f, 0.097262f, 0.028591f, 0.136684f, 0.253935f, 0.156986f, -0.000441f, 0.240808f, 0.261814f, 0.042360f, 0.281563f, 0.371415f, 0.120110f, 0.253472f, 0.248883f, 0.010347f, 0.094674f, 0.018464f, 0.233346f, -0.128312f, 0.113023f, -0.026593f, -0.050040f, 0.216199f, -0.108395f, -0.180123f, -0.362084f, -0.062586f, -0.051614f, 0.100443f, -0.048397f, -0.206370f, -0.301052f, -0.083185f, 0.215810f, 0.204454f, -0.239281f, 0.103616f, 0.043089f, -0.328135f, -0.255512f, -0.027166f, 0.129841f, 0.136857f, 0.197743f, 0.142667f, 0.173516f, 0.279004f, 0.105463f, 0.278233f, 0.034604f, -0.041022f, 0.188550f, -0.291168f, -0.240944f, 0.164787f, 0.082102f, 0.292340f, -0.137002f}, { 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f}, }; const float Data4[4][szData4] = { { 0.014393f, 0.014933f, 0.013584f, 0.026807f, 0.014761f, 0.020107f, 0.018968f, 0.019766f, -0.012303f, -0.001086f, 0.001782f, -0.005707f, -0.011821f, -0.010167f, 0.000690f, 0.000908f, 0.000795f, 0.000455f, -0.005855f, -0.001058f, -0.002364f, -0.005895f, -0.005946f, -0.010520f, -0.010373f, -0.007164f, -0.018502f, -0.025688f, -0.024341f, -0.026093f, -0.032688f, -0.039959f, -0.046790f, -0.032377f, -0.027286f, -0.030018f, -0.027216f, -0.021546f, -0.034300f, -0.022526f, -0.029976f, -0.033000f, -0.027196f, -0.035698f, -0.037293f, -0.045833f, -0.051718f, -0.051462f, -0.042357f, -0.040190f, -0.040248f, -0.047481f, -0.044324f, -0.038027f, -0.034340f, -0.030601f, -0.034244f, -0.017977f, -0.020459f, -0.026322f, -0.034625f, -0.044695f, -0.050962f, -0.058982f, -0.060085f, -0.050997f, -0.050306f, -0.049436f, -0.059563f, -0.064068f, -0.064712f, -0.057815f, -0.061229f, -0.054701f, -0.054970f, -0.049744f, -0.051942f, -0.067671f, -0.068906f, -0.066152f, -0.069242f, -0.062911f, -0.063980f, -0.063976f, -0.070367f, -0.055585f, -0.071438f, -0.040280f, -0.037285f, -0.046590f, -0.046780f, -0.046406f, -0.039379f, -0.038751f, -0.053430f, -0.064218f, -0.046924f, -0.037396f, -0.048873f, -0.039273f, -0.017957f, -0.033151f, -0.033707f, -0.022021f, -0.025985f, -0.037377f, -0.045894f, -0.037328f, -0.013481f, -0.017391f, -0.017079f, 0.027457f, 0.022578f, 0.024595f, 0.019028f, 0.019013f, 0.019011f, 0.019155f, 0.018817f, 0.020511f, 0.007878f, 0.027415f, 0.006601f, 0.006577f, -0.016324f, -0.018171f, 0.006959f, 0.030483f}, { -0.082252f, -0.079759f, -0.074512f, -0.069811f, -0.064785f, -0.059966f, -0.051606f, -0.048799f, 0.105776f, 0.112714f, 0.118205f, 0.122577f, 0.124240f, 0.129015f, 0.134953f, 0.135612f, 0.135585f, 0.135605f, 0.135078f, -0.077065f, -0.071814f, -0.067183f, -0.064821f, -0.050055f, -0.043551f, -0.033949f, -0.022091f, -0.033855f, -0.045150f, -0.055978f, -0.058557f, -0.045881f, -0.040327f, 0.118124f, 0.125251f, 0.114127f, 0.113159f, 0.115896f, 0.106495f, 0.108688f, 0.095068f, 0.099974f, 0.089527f, 0.061778f, 0.072991f, 0.078077f, 0.067349f, 0.044473f, 0.052733f, 0.037298f, 0.018089f, 0.022856f, -0.010692f, -0.003838f, -0.007563f, 0.011315f, 0.037436f, -0.001783f, -0.015471f, -0.012957f, -0.025266f, -0.027877f, -0.008116f, -0.017043f, 0.005616f, 0.008170f, 0.020161f, 0.030973f, 0.033048f, 0.044625f, 0.061708f, 0.056420f, 0.071565f, 0.092412f, 0.094237f, 0.098674f, 0.100951f, 0.083716f, 0.073734f, 0.080424f, 0.034194f, 0.020285f, 0.001805f, -0.010249f, -0.001092f, -0.025894f, 0.049684f, 0.114547f, 0.111129f, 0.102231f, 0.097016f, 0.095106f, 0.100941f, 0.098697f, 0.090391f, 0.082677f, 0.032873f, -0.037064f, 0.040355f, 0.087103f, 0.103263f, 0.110229f, 0.113874f, 0.126973f, -0.072028f, -0.064618f, -0.051677f, -0.042009f, -0.038382f, -0.048555f, -0.073999f, 0.141126f, 0.138114f, 0.137197f, 0.137202f, 0.138090f, 0.138705f, 0.136786f, 0.132029f, 0.127750f, 0.128169f, 0.141340f, 0.136256f, 0.137037f, 0.121071f, 0.098279f, -0.070132f, -0.080649f}, { -0.265167f, -0.271630f, -0.285033f, -0.297702f, -0.310167f, -0.322953f, -0.341672f, -0.346755f, -0.329091f, -0.328404f, -0.323628f, -0.308502f, -0.296317f, -0.291376f, -0.290210f, -0.278267f, -0.265594f, -0.252875f, -0.239977f, -0.276873f, -0.290595f, -0.301683f, -0.307459f, -0.327414f, -0.332835f, -0.340331f, -0.336798f, -0.321805f, -0.315539f, -0.304320f, -0.288002f, -0.285590f, -0.277674f, -0.253119f, -0.246637f, -0.275888f, -0.289800f, -0.297377f, -0.288415f, -0.309394f, -0.326668f, -0.314855f, -0.335295f, -0.327971f, -0.327841f, -0.312958f, -0.298419f, -0.297800f, -0.315176f, -0.320932f, -0.322988f, -0.308124f, -0.312809f, -0.327498f, -0.330778f, -0.340845f, -0.332692f, -0.347654f, -0.338836f, -0.335179f, -0.316622f, -0.295844f, -0.302592f, -0.284964f, -0.285113f, -0.302822f, -0.302836f, -0.303338f, -0.283049f, -0.272820f, -0.271278f, -0.284753f, -0.281644f, -0.283932f, -0.275667f, -0.271908f, -0.259487f, -0.264314f, -0.266384f, -0.272485f, -0.263753f, -0.277860f, -0.277832f, -0.277919f, -0.265508f, -0.279436f, -0.257759f, -0.246831f, -0.265388f, -0.266369f, -0.291557f, -0.303050f, -0.297137f, -0.308800f, -0.296364f, -0.277577f, -0.308096f, -0.298695f, -0.303393f, -0.322046f, -0.327367f, -0.277541f, -0.265092f, -0.252690f, -0.276575f, -0.270969f, -0.269567f, -0.293709f, -0.332946f, -0.321987f, -0.280769f, -0.237108f, -0.246114f, -0.265641f, -0.272275f, -0.285230f, -0.297941f, -0.309679f, -0.319190f, -0.324364f, -0.314360f, -0.240255f, -0.259327f, -0.290943f, -0.295965f, -0.333690f, -0.295774f, -0.269480f}, { 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f}, }; const float Norms4[4][szData4] = { { -0.013240f, -0.011058f, -0.014397f, 0.071996f, -0.013339f, -0.011798f, -0.078621f, -0.189575f, -0.439156f, -0.471251f, -0.473627f, -0.505983f, -0.580084f, -0.610661f, -0.374573f, -0.263493f, -0.199579f, -0.102421f, -0.090028f, -0.062711f, -0.044263f, -0.111957f, -0.127223f, -0.556374f, -0.608706f, -0.593209f, -0.615059f, -0.735035f, -0.792561f, -0.779848f, -0.787619f, -0.856514f, -0.863079f, -0.628757f, -0.600754f, -0.702827f, -0.735472f, -0.685655f, -0.666595f, -0.577967f, -0.594667f, -0.551604f, -0.595769f, -0.921994f, -0.873651f, -0.911460f, -0.904381f, -0.943521f, -0.929644f, -0.931689f, -0.931581f, -0.938966f, -0.889990f, -0.871576f, -0.711612f, -0.856445f, -0.925489f, -0.576385f, -0.603813f, -0.646816f, -0.769903f, -0.793351f, -0.903669f, -0.850911f, -0.951451f, -0.941586f, -0.941788f, -0.940904f, -0.951059f, -0.956123f, -0.945244f, -0.951401f, -0.941329f, -0.719319f, -0.671698f, -0.574629f, -0.660595f, -0.951257f, -1.008576f, -0.996204f, -0.960725f, -0.954395f, -0.956058f, -0.968441f, -0.965151f, -0.747394f, -0.964805f, -0.597048f, -0.650927f, -0.634307f, -0.611969f, -0.630411f, -0.574336f, -0.558220f, -0.832721f, -0.966058f, -0.938394f, -0.848725f, -0.940347f, -0.821939f, -0.497556f, -0.748899f, -0.614365f, -0.590682f, -0.508564f, -0.740622f, -0.865526f, -0.860133f, -0.655589f, -0.658413f, -0.233924f, -0.163505f, -0.310192f, -0.102489f, -0.006849f, -0.001435f, -0.070907f, -0.279721f, -0.312676f, -0.306419f, -0.500176f, -0.212982f, -0.056048f, -0.245086f, -0.604679f, -0.481482f, -0.023627f, 0.100078f}, { -1.014332f, -1.011848f, -1.006294f, -1.003646f, -0.996570f, -0.986437f, -0.932871f, -0.856959f, 0.846803f, 0.825386f, 0.834899f, 0.893986f, 0.864920f, 0.832222f, 1.049264f, 1.099983f, 1.115197f, 1.130274f, 1.131529f, -1.012158f, -1.004283f, -0.985306f, -0.983540f, -0.624846f, -0.496509f, -0.364821f, -0.409610f, -0.462454f, -0.417544f, -0.536616f, -0.558768f, -0.405245f, -0.442396f, 0.869509f, 0.892253f, 0.825357f, 0.778027f, 0.783762f, 0.859457f, 0.876256f, 0.725221f, 0.886670f, 0.680005f, 0.024179f, -0.070669f, 0.020311f, -0.124990f, 0.093581f, 0.061564f, 0.088168f, 0.068508f, 0.073738f, -0.268693f, -0.120839f, -0.331305f, -0.099879f, 0.088300f, -0.370485f, -0.397114f, -0.397102f, -0.501460f, -0.538123f, -0.174245f, -0.374499f, 0.054069f, 0.053315f, 0.071045f, 0.081826f, 0.083917f, 0.093709f, -0.025864f, 0.022275f, -0.132471f, 0.816738f, 0.848594f, 0.932574f, 0.832760f, 0.459165f, 0.081640f, 0.331776f, 0.085080f, 0.071158f, 0.044344f, -0.088207f, 0.041338f, -0.625226f, 0.073140f, 0.899979f, 0.854904f, 0.856214f, 0.910722f, 0.883354f, 0.928986f, 0.911871f, 0.677249f, 0.413240f, 0.083712f, -0.460228f, 0.091179f, 0.427966f, 0.812265f, 0.765329f, 0.903323f, 0.905761f, -0.899529f, -0.678743f, -0.437059f, -0.427373f, -0.392167f, -0.542217f, -1.000648f, 1.121039f, 1.070845f, 1.128952f, 1.135814f, 1.136291f, 1.134442f, 1.028076f, 0.912162f, 0.767066f, 0.844092f, 1.111995f, 1.133931f, 1.102286f, 0.868668f, 0.792043f, -1.001801f, -0.992243f}, { -0.626362f, -0.632926f, -0.646970f, -0.652539f, -0.672089f, -0.697964f, -0.804109f, -0.897257f, -0.847430f, -0.849023f, -0.833859f, -0.701760f, -0.654744f, -0.672043f, -0.442575f, -0.269210f, -0.280125f, -0.245741f, -0.240551f, -0.625874f, -0.649409f, -0.683521f, -0.683287f, -0.937053f, -0.993763f, -1.079976f, -1.039614f, -0.881385f, -0.836269f, -0.752473f, -0.712110f, -0.737358f, -0.692418f, -0.535523f, -0.534458f, -0.479554f, -0.527126f, -0.633403f, -0.470763f, -0.629275f, -0.859614f, -0.649757f, -0.908061f, -0.789561f, -0.856866f, -0.810306f, -0.784189f, -0.747043f, -0.776310f, -0.771088f, -0.773525f, -0.758309f, -0.780019f, -0.867412f, -0.991454f, -0.893673f, -0.783353f, -1.090782f, -1.055806f, -1.018861f, -0.798914f, -0.719121f, -0.797861f, -0.780013f, -0.735801f, -0.755385f, -0.753024f, -0.753558f, -0.733212f, -0.722074f, -0.737105f, -0.732344f, -0.710356f, -0.467328f, -0.500597f, -0.442516f, -0.566076f, -0.544159f, -0.608374f, -0.540489f, -0.713941f, -0.728047f, -0.727705f, -0.697282f, -0.709987f, -0.682178f, -0.706475f, -0.517212f, -0.530418f, -0.559790f, -0.427366f, -0.496965f, -0.464955f, -0.571290f, -0.516146f, -0.555809f, -0.758315f, -0.702027f, -0.753604f, -0.842859f, -0.844379f, -0.519509f, -0.464105f, -0.517479f, -0.563556f, -0.629156f, -0.693458f, -0.711425f, -1.013044f, -0.909685f, -0.587853f, -0.179628f, -0.384955f, -0.282109f, -0.226402f, -0.228868f, -0.318474f, -0.650669f, -0.849761f, -1.020347f, -0.793249f, -0.234055f, -0.232505f, -0.361370f, -0.604085f, -0.885082f, -0.657791f, -0.674638f}, { 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f}, }; //Map Data and Norms Arrays to Pointer Arrays const float* DataPtrArr[Nsegs] = { &Data0[0][0], &Data1[0][0], &Data2[0][0], &Data3[0][0], &Data4[0][0] }; const float* NormsPtrArr[Nsegs] = { &Norms0[0][0], &Norms1[0][0], &Norms2[0][0], &Norms3[0][0], &Norms4[0][0] }; //The rotation axes: global followed by joints const float w[Nrots][3] = { {-0.999166f, 0.040392f, 0.005912f}, {-0.144373f, -0.981374f, -0.126733f}, { 0.230494f, -0.157904f, 0.960177f}, {-0.962304f, 0.109412f, 0.248997f}, {-0.200617f, -0.973258f, -0.111897f}, { 0.029357f, -0.120140f, 0.992323f}, {-0.979230f, 0.195792f, 0.052674f}, {-0.092138f, -0.988849f, -0.116993f}, {-0.554327f, -0.046666f, 0.830989f}, {-0.827183f, 0.141418f, -0.543847f}, {-0.034373f, -0.996292f, -0.078878f}, { 0.848419f, -0.070802f, 0.524569f}, {-0.528208f, -0.048891f, 0.847706f}, { 0.144373f, 0.981374f, 0.126733f}, {-0.030522f, 0.132430f, -0.990722f}, {-0.989053f, 0.139165f, 0.049072f}, {-0.049218f, 0.989783f, 0.133821f}, { 0.462962f, 0.141329f, -0.875039f}, {-0.885011f, 0.018886f, -0.465188f} }; //anchor points along each rotation axis const float q[Nrots][3] = { { 0.000000f, 0.000000f, 0.000000f}, {-0.023736f, 0.010731f, -0.115211f}, {-0.023736f, 0.010731f, -0.115211f}, {-0.023736f, 0.010731f, -0.115211f}, { 0.002415f, -0.007184f, -0.006271f}, { 0.002415f, -0.007184f, -0.006271f}, { 0.002415f, -0.007184f, -0.006271f}, { 0.006308f, -0.023118f, 0.125336f}, { 0.006308f, -0.023118f, 0.125336f}, { 0.006308f, -0.023118f, 0.125336f}, {-0.027136f, -0.025934f, 0.175473f}, {-0.027136f, -0.025934f, 0.175473f}, {-0.027136f, -0.025934f, 0.175473f}, {-0.023736f, 0.010731f, -0.115211f}, {-0.023736f, 0.010731f, -0.115211f}, {-0.023736f, 0.010731f, -0.115211f}, {-0.027365f, 0.026475f, -0.232989f}, {-0.027365f, 0.026475f, -0.232989f}, {-0.027365f, 0.026475f, -0.232989f} }; const float bounds[2][Njoints] = { { -0.785398f, -0.523599f, -1.047198f, -1.047198f, -0.523599f, -1.570796f, -1.047198f, -0.785398f, -1.570796f, -1.570796f, -0.785398f, -1.047198f, -0.785398f, -0.261799f, -0.523599f, -0.785398f, -0.261799f, -0.261799f}, { 0.785398f, 0.523599f, 1.047198f, 1.047198f, 0.523599f, 1.570796f, 2.617994f, 0.785398f, 1.570796f, 1.047198f, 0.785398f, 1.047198f, 0.785398f, 0.261799f, 0.523599f, 0.785398f, 0.261799f, 0.261799f}, };