diff --git a/README.md b/README.md
index b25f5fa..bc69728 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,24 @@
-# std-trees
-STD-Trees: Spatio-Temporal Deformable Trees for Multirotors Kinodynamic Planning
+# STD-Trees: Spatio-Temporal Deformable Trees for Multirotors Kinodynamic Planning
+[[Preprint]](https://github.com/ZJU-FAST-Lab/std-trees/blob/main/misc/draft.pdf)
+[[Video]](https://www.youtube.com/watch?v=uCOofavIp9w)
+
+The code is now a bit of messy, I'll tide it up later.
+## Build & Run
+### Build
+1. create a workspace, for example ~/ws/src
+2. in ~/ws/src/, _git clone git@github.com:ZJU-FAST-Lab/std-trees.git_
+3. in ~/ws/, run _catkin_make_
+
+### Run
+In two seperate terminals, in ~/ws/, _source_ first, then:
+1. roslaunch state_machine rviz.launch
+2. roslaunch state_machine test_planners.launch
+
+If everything goes right, you'll see sth. like the following in Rviz.
+<p align="center">
+  <img src="misc/compare-wo.gif" width = "887" height = "200"/>
+</p>
+
+The color indications are light blue for kRRT, dark
+blue for kRRT-ST, yellow for kRRT*, green for kRRT*-ST, orange for kRRT#, and red for kRRT#-ST. Planning with ST deformation
+generates smoother trajectories with lower cost (red, green, and dark blue compared with orange, yellow, and light blue, respectively)
\ No newline at end of file
diff --git a/benchmark_data/hierarchical/circles1.xls b/benchmark_data/hierarchical/circles1.xls
new file mode 100644
index 0000000..96a5911
Binary files /dev/null and b/benchmark_data/hierarchical/circles1.xls differ
diff --git a/benchmark_data/variants/forest1/eval.py b/benchmark_data/variants/forest1/eval.py
new file mode 100755
index 0000000..a0eb7bb
--- /dev/null
+++ b/benchmark_data/variants/forest1/eval.py
@@ -0,0 +1,107 @@
+import xlrd
+import scipy.io
+import numpy as np
+import matplotlib
+import matplotlib.pyplot as plt
+
+# matplotlib.use('qt5agg')
+
+
+def get_costs_at_t(time_split, cost_split, t):
+    costs_t = np.zeros(len(time_split))
+    for j in range(0, len(time_split)):
+        time_j = time_split[j]
+        cost_j = cost_split[j]
+
+        N = time_j.size
+        if t < time_j[0]:
+            costs_t[j] = np.nan
+        elif t >= time_j[N - 1]:
+            costs_t[j] = cost_j[N - 1]
+        else:
+            for k in range(1, N):
+                if t < time_j[k]:
+                    costs_t[j] = cost_j[k - 1]
+                    break
+                
+    return costs_t
+
+
+def get_cost_mean_var_list(book, eval_timeline):
+    sheet = book.sheet_by_index(0)
+    num_rows = sheet.nrows
+    num_cols = sheet.ncols
+
+    idx_all = np.array(sheet.col_values(0))
+    time_all = np.array(sheet.col_values(1))
+    cost_all = np.array(sheet.col_values(2))
+
+
+    split_idx = []
+    for i in range(1, idx_all.size):
+        if idx_all[i] == 1:
+            split_idx.append(i)
+
+    idx_split = np.hsplit(idx_all, split_idx)
+    time_split = np.hsplit(time_all, split_idx)
+    cost_split = np.hsplit(cost_all, split_idx)
+
+    cost_mean = np.zeros(eval_timeline.size)
+    cost_var = np.zeros(eval_timeline.size)
+    for i in range(0, eval_timeline.size):
+        costs_i = get_costs_at_t(time_split, cost_split, eval_timeline[i])
+        cost_mean[i] = np.nanmean(costs_i)
+        cost_var[i] = np.nanstd(costs_i)
+
+    return cost_mean, cost_var
+
+fig, ax = plt.subplots()
+ax.grid()
+
+book = xlrd.open_workbook("./f-one-node.xls")
+eval_timeline = np.array([0, 20, 40, 60, 80, 100, 150, 200, 300, 600, 1000, 2000, 3000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='o')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2)
+
+book = xlrd.open_workbook("./f-trunk.xls")
+eval_timeline = np.array([0, 18, 38, 58, 78, 98, 145, 195, 290, 590, 990, 1990, 2990])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='x')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2)
+
+book = xlrd.open_workbook("./f-branch.xls")
+eval_timeline = np.array([0, 16, 36, 56, 76, 96, 140, 190, 280, 580, 980, 1980, 2980])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='v')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2)
+
+book = xlrd.open_workbook("./f-small-branch.xls")
+eval_timeline = np.array([0, 14, 34, 54, 74, 94, 135, 185, 270, 570, 970, 1970, 2970])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='X')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2)
+
+book = xlrd.open_workbook("./f-tree.xls")
+eval_timeline = np.array([0, 12, 32, 52, 72, 92, 130, 180, 260, 560, 960, 1960, 2960])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='+')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2)
+
+book = xlrd.open_workbook("./f-no-deform.xls")
+eval_timeline = np.array([0, 10, 30, 50, 70, 90, 125, 175, 250, 550, 950, 1950, 2950])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='*')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2)
+
+#book = xlrd.open_workbook("./f-astar.xls")
+#sheet = book.sheet_by_index(0)
+#lambda_heu_all = np.array(sheet.col_values(0))
+#time_all = np.array(sheet.col_values(1))
+#cost_all = np.array(sheet.col_values(2))
+#ax.scatter(time_all, cost_all, marker='D')
+
+
+# scipy.io.savemat("./cost_mean_var1.mat", {'timeline': eval_timeline, 'cost_mean': cost_mean, 'cost_var': cost_var})
+
+plt.show()
diff --git a/benchmark_data/variants/forest1/f-branch.csv b/benchmark_data/variants/forest1/f-branch.csv
new file mode 100755
index 0000000..64d2c0b
--- /dev/null
+++ b/benchmark_data/variants/forest1/f-branch.csv
@@ -0,0 +1,15951 @@
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diff --git a/benchmark_data/variants/forest1/f-no-deform.csv b/benchmark_data/variants/forest1/f-no-deform.csv
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diff --git a/benchmark_data/variants/forest1/f-no-deform.xls b/benchmark_data/variants/forest1/f-no-deform.xls
new file mode 100755
index 0000000..ec2630b
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diff --git a/benchmark_data/variants/forest1/f-one-node.csv b/benchmark_data/variants/forest1/f-one-node.csv
new file mode 100755
index 0000000..bb7741a
--- /dev/null
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diff --git a/benchmark_data/variants/forest1/f-one-node.xls b/benchmark_data/variants/forest1/f-one-node.xls
new file mode 100755
index 0000000..f399a50
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diff --git a/benchmark_data/variants/forest1/f-small-branch.csv b/benchmark_data/variants/forest1/f-small-branch.csv
new file mode 100755
index 0000000..6965e0c
--- /dev/null
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diff --git a/benchmark_data/variants/forest1/f-small-branch.xls b/benchmark_data/variants/forest1/f-small-branch.xls
new file mode 100755
index 0000000..f0c060b
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diff --git a/benchmark_data/variants/forest1/f-tree.csv b/benchmark_data/variants/forest1/f-tree.csv
new file mode 100755
index 0000000..d49cf5f
--- /dev/null
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diff --git a/benchmark_data/variants/forest1/f-tree.xls b/benchmark_data/variants/forest1/f-tree.xls
new file mode 100755
index 0000000..85e7921
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diff --git a/benchmark_data/variants/forest1/f-trunk.csv b/benchmark_data/variants/forest1/f-trunk.csv
new file mode 100755
index 0000000..0db7ade
--- /dev/null
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diff --git a/benchmark_data/variants/forest1/f-trunk.xls b/benchmark_data/variants/forest1/f-trunk.xls
new file mode 100755
index 0000000..bd54e4d
Binary files /dev/null and b/benchmark_data/variants/forest1/f-trunk.xls differ
diff --git a/benchmark_data/variants/forest2/eval.py b/benchmark_data/variants/forest2/eval.py
new file mode 100755
index 0000000..7556c47
--- /dev/null
+++ b/benchmark_data/variants/forest2/eval.py
@@ -0,0 +1,110 @@
+import xlrd
+import scipy.io
+import numpy as np
+import matplotlib
+import matplotlib.pyplot as plt
+
+# matplotlib.use('qt5agg')
+
+
+def get_costs_at_t(time_split, cost_split, t):
+    costs_t = np.zeros(len(time_split))
+    for j in range(0, len(time_split)):
+        time_j = time_split[j]
+        cost_j = cost_split[j]
+
+        N = time_j.size
+        if t < time_j[0]:
+            costs_t[j] = np.nan
+        elif t >= time_j[N - 1]:
+            costs_t[j] = cost_j[N - 1]
+        else:
+            for k in range(1, N):
+                if t < time_j[k]:
+                    costs_t[j] = cost_j[k - 1]
+                    break
+                
+    return costs_t
+
+
+def get_cost_mean_var_list(book, eval_timeline):
+    sheet = book.sheet_by_index(0)
+    num_rows = sheet.nrows
+    num_cols = sheet.ncols
+
+    idx_all = np.array(sheet.col_values(0))
+    time_all = np.array(sheet.col_values(1))
+    cost_all = np.array(sheet.col_values(2))
+
+
+    split_idx = []
+    for i in range(1, idx_all.size):
+        if idx_all[i] == 1:
+            split_idx.append(i)
+
+    idx_split = np.hsplit(idx_all, split_idx)
+    time_split = np.hsplit(time_all, split_idx)
+    cost_split = np.hsplit(cost_all, split_idx)
+
+    cost_mean = np.zeros(eval_timeline.size)
+    cost_var = np.zeros(eval_timeline.size)
+    for i in range(0, eval_timeline.size):
+        costs_i = get_costs_at_t(time_split, cost_split, eval_timeline[i])
+        cost_mean[i] = np.nanmean(costs_i)
+        cost_var[i] = np.nanstd(costs_i)
+
+    return cost_mean, cost_var
+
+fig, ax = plt.subplots()
+ax.grid()
+
+book = xlrd.open_workbook("./f-one-node.xls")
+eval_timeline = np.array([0, 60, 150, 300, 600, 1000, 2000, 3000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='o', s=60, label='NODE')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=2)
+
+book = xlrd.open_workbook("./f-trunk.xls")
+eval_timeline = np.array([0, 100, 200, 400, 700, 1100, 2100, 3000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='v', s=60, label='TRUNK')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=2)
+
+# book = xlrd.open_workbook("./f-branch.xls")
+# eval_timeline = np.array([0, 26,56, 96, 190, 280, 580, 980, 1980, 2980])
+# cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+# ax.scatter(eval_timeline, cost_mean_var[0], marker='v', s=100, label='BRANCH')
+# ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=2)
+
+book = xlrd.open_workbook("./f-tree.xls")
+eval_timeline = np.array([0, 80, 175, 350, 650, 1050, 2050, 3000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='X', s=60, label='TREE')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=2)
+
+book = xlrd.open_workbook("./f-small-branch.xls")
+eval_timeline = np.array([0, 120, 225, 345, 750, 1150, 2150, 3000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='P', s=60, label='BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=2)
+
+book = xlrd.open_workbook("./f-no-deform.xls")
+eval_timeline = np.array([0, 60, 150, 450, 600, 1000, 2000, 3000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='p', s=60,  label='w/o')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=2)
+
+book = xlrd.open_workbook("./f-astar.xls")
+sheet = book.sheet_by_index(0)
+lambda_heu_all = np.array(sheet.col_values(0))
+time_all = np.array(sheet.col_values(1))
+cost_all = np.array(sheet.col_values(2))
+ax.scatter(time_all, cost_all, marker='x', s=50, c='b', label='Search')
+
+ax.legend(ncol=2)
+ax.set_xlabel("time (ms)", fontsize='large')
+ax.set_ylabel("cost", fontsize='large')
+
+# scipy.io.savemat("./cost_mean_var1.mat", {'timeline': eval_timeline, 'cost_mean': cost_mean, 'cost_var': cost_var})
+
+plt.show()
diff --git a/benchmark_data/variants/forest2/f-astar.csv b/benchmark_data/variants/forest2/f-astar.csv
new file mode 100755
index 0000000..8bd8ea5
--- /dev/null
+++ b/benchmark_data/variants/forest2/f-astar.csv
@@ -0,0 +1,41 @@
+2,1802.97,22.2547,
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diff --git a/benchmark_data/variants/forest2/f-astar.xls b/benchmark_data/variants/forest2/f-astar.xls
new file mode 100755
index 0000000..c091d86
Binary files /dev/null and b/benchmark_data/variants/forest2/f-astar.xls differ
diff --git a/benchmark_data/variants/forest2/f-branch.csv b/benchmark_data/variants/forest2/f-branch.csv
new file mode 100755
index 0000000..bce3538
--- /dev/null
+++ b/benchmark_data/variants/forest2/f-branch.csv
@@ -0,0 +1,5894 @@
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diff --git a/benchmark_data/variants/forest2/f-branch.xls b/benchmark_data/variants/forest2/f-branch.xls
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diff --git a/benchmark_data/variants/forest2/f-no-deform.csv b/benchmark_data/variants/forest2/f-no-deform.csv
new file mode 100755
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diff --git a/benchmark_data/variants/forest2/f-no-deform.xls b/benchmark_data/variants/forest2/f-no-deform.xls
new file mode 100755
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diff --git a/benchmark_data/variants/forest2/f-one-node.csv b/benchmark_data/variants/forest2/f-one-node.csv
new file mode 100755
index 0000000..24cfca8
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diff --git a/benchmark_data/variants/forest2/f-one-node.xls b/benchmark_data/variants/forest2/f-one-node.xls
new file mode 100755
index 0000000..82ae3c5
Binary files /dev/null and b/benchmark_data/variants/forest2/f-one-node.xls differ
diff --git a/benchmark_data/variants/forest2/f-small-branch.csv b/benchmark_data/variants/forest2/f-small-branch.csv
new file mode 100755
index 0000000..406d387
--- /dev/null
+++ b/benchmark_data/variants/forest2/f-small-branch.csv
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diff --git a/benchmark_data/variants/forest2/f-small-branch.xls b/benchmark_data/variants/forest2/f-small-branch.xls
new file mode 100755
index 0000000..8ff90e3
Binary files /dev/null and b/benchmark_data/variants/forest2/f-small-branch.xls differ
diff --git a/benchmark_data/variants/forest2/f-tree.csv b/benchmark_data/variants/forest2/f-tree.csv
new file mode 100755
index 0000000..ba94eac
--- /dev/null
+++ b/benchmark_data/variants/forest2/f-tree.csv
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diff --git a/benchmark_data/variants/forest2/f-tree.xls b/benchmark_data/variants/forest2/f-tree.xls
new file mode 100755
index 0000000..8bffc29
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diff --git a/benchmark_data/variants/forest2/f-trunk.csv b/benchmark_data/variants/forest2/f-trunk.csv
new file mode 100755
index 0000000..33098c1
--- /dev/null
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diff --git a/benchmark_data/variants/forest2/f-trunk.xls b/benchmark_data/variants/forest2/f-trunk.xls
new file mode 100755
index 0000000..330019f
Binary files /dev/null and b/benchmark_data/variants/forest2/f-trunk.xls differ
diff --git a/benchmark_data/variants/forest3/eval.py b/benchmark_data/variants/forest3/eval.py
new file mode 100755
index 0000000..01a3f85
--- /dev/null
+++ b/benchmark_data/variants/forest3/eval.py
@@ -0,0 +1,110 @@
+import xlrd
+import scipy.io
+import numpy as np
+import matplotlib
+import matplotlib.pyplot as plt
+
+# matplotlib.use('qt5agg')
+
+
+def get_costs_at_t(time_split, cost_split, t):
+    costs_t = np.zeros(len(time_split))
+    for j in range(0, len(time_split)):
+        time_j = time_split[j]
+        cost_j = cost_split[j]
+
+        N = time_j.size
+        if t < time_j[0]:
+            costs_t[j] = np.nan
+        elif t >= time_j[N - 1]:
+            costs_t[j] = cost_j[N - 1]
+        else:
+            for k in range(1, N):
+                if t < time_j[k]:
+                    costs_t[j] = cost_j[k - 1]
+                    break
+                
+    return costs_t
+
+
+def get_cost_mean_var_list(book, eval_timeline):
+    sheet = book.sheet_by_index(0)
+    num_rows = sheet.nrows
+    num_cols = sheet.ncols
+
+    idx_all = np.array(sheet.col_values(0))
+    time_all = np.array(sheet.col_values(1))
+    cost_all = np.array(sheet.col_values(2))
+
+
+    split_idx = []
+    for i in range(1, idx_all.size):
+        if idx_all[i] == 1:
+            split_idx.append(i)
+
+    idx_split = np.hsplit(idx_all, split_idx)
+    time_split = np.hsplit(time_all, split_idx)
+    cost_split = np.hsplit(cost_all, split_idx)
+
+    cost_mean = np.zeros(eval_timeline.size)
+    cost_var = np.zeros(eval_timeline.size)
+    for i in range(0, eval_timeline.size):
+        costs_i = get_costs_at_t(time_split, cost_split, eval_timeline[i])
+        cost_mean[i] = np.nanmean(costs_i)
+        cost_var[i] = np.nanstd(costs_i)
+
+    return cost_mean, cost_var
+
+fig, ax = plt.subplots()
+#ax.grid()
+
+book = xlrd.open_workbook("./f-one-node.xls")
+eval_timeline = np.array([0, 60, 150, 300, 600, 1000, 2000, 3000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='o', s=100, label='NODE')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5)
+
+book = xlrd.open_workbook("./f-trunk.xls")
+eval_timeline = np.array([0, 100, 200, 400, 700, 1100, 2100, 3000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='v', s=100, label='TRUNK')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5)
+
+# book = xlrd.open_workbook("./f-branch.xls")
+# eval_timeline = np.array([0, 26,56, 96, 190, 280, 580, 980, 1980, 2980])
+# cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+# ax.scatter(eval_timeline, cost_mean_var[0], marker='v', s=100, label='BRANCH')
+# ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=2)
+
+book = xlrd.open_workbook("./f-tree.xls")
+eval_timeline = np.array([0, 80, 175, 350, 650, 1050, 2050, 3000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='X', s=100, label='TREE')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5)
+
+book = xlrd.open_workbook("./f-small-branch.xls")
+eval_timeline = np.array([0, 120, 225, 345, 750, 1150, 2150, 3000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='P', s=100, label='BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5)
+
+book = xlrd.open_workbook("./f-no-deform.xls")
+eval_timeline = np.array([0, 60, 150, 450, 600, 1000, 2000, 3000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+ax.scatter(eval_timeline, cost_mean_var[0], marker='d', s=80,  label='w/o')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5)
+
+book = xlrd.open_workbook("./f-astar.xls")
+sheet = book.sheet_by_index(0)
+lambda_heu_all = np.array(sheet.col_values(0))
+time_all = np.array(sheet.col_values(1))
+cost_all = np.array(sheet.col_values(2))
+ax.scatter(time_all, cost_all, marker='x', s=70, c='b', label='Search')
+
+ax.legend(ncol=2)
+ax.set_xlabel("Time (ms)", fontsize='large')
+ax.set_ylabel("Best Solution Cost", fontsize='large')
+
+# scipy.io.savemat("./cost_mean_var1.mat", {'timeline': eval_timeline, 'cost_mean': cost_mean, 'cost_var': cost_var})
+
+plt.show()
diff --git a/benchmark_data/variants/forest3/f-astar.csv b/benchmark_data/variants/forest3/f-astar.csv
new file mode 100755
index 0000000..9dded59
--- /dev/null
+++ b/benchmark_data/variants/forest3/f-astar.csv
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diff --git a/benchmark_data/variants/forest3/f-astar.xls b/benchmark_data/variants/forest3/f-astar.xls
new file mode 100755
index 0000000..b81600d
Binary files /dev/null and b/benchmark_data/variants/forest3/f-astar.xls differ
diff --git a/benchmark_data/variants/forest3/f-branch.csv b/benchmark_data/variants/forest3/f-branch.csv
new file mode 100755
index 0000000..e061df6
--- /dev/null
+++ b/benchmark_data/variants/forest3/f-branch.csv
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diff --git a/benchmark_data/variants/forest3/f-no-deform.csv b/benchmark_data/variants/forest3/f-no-deform.csv
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diff --git a/benchmark_data/variants/forest3/f-no-deform.xls b/benchmark_data/variants/forest3/f-no-deform.xls
new file mode 100755
index 0000000..b7947c9
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diff --git a/benchmark_data/variants/forest3/f-one-node.csv b/benchmark_data/variants/forest3/f-one-node.csv
new file mode 100755
index 0000000..469bfb7
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diff --git a/benchmark_data/variants/forest3/f-one-node.xls b/benchmark_data/variants/forest3/f-one-node.xls
new file mode 100755
index 0000000..0cb8c1b
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diff --git a/benchmark_data/variants/forest3/f-small-branch.csv b/benchmark_data/variants/forest3/f-small-branch.csv
new file mode 100755
index 0000000..68ba76b
--- /dev/null
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diff --git a/benchmark_data/variants/forest3/f-small-branch.xls b/benchmark_data/variants/forest3/f-small-branch.xls
new file mode 100755
index 0000000..84a9510
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diff --git a/benchmark_data/variants/forest3/f-tree.csv b/benchmark_data/variants/forest3/f-tree.csv
new file mode 100755
index 0000000..e96f036
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diff --git a/benchmark_data/variants/forest3/f-tree.xls b/benchmark_data/variants/forest3/f-tree.xls
new file mode 100755
index 0000000..66dd172
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diff --git a/benchmark_data/variants/forest3/f-trunk.csv b/benchmark_data/variants/forest3/f-trunk.csv
new file mode 100755
index 0000000..930a4bc
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new file mode 100755
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diff --git a/benchmark_data/variants/forest4/f-astar.csv b/benchmark_data/variants/forest4/f-astar.csv
new file mode 100755
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new file mode 100755
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diff --git a/benchmark_data/variants/forest4/f-no-deform.csv b/benchmark_data/variants/forest4/f-no-deform.csv
new file mode 100755
index 0000000..5d27683
--- /dev/null
+++ b/benchmark_data/variants/forest4/f-no-deform.csv
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diff --git a/benchmark_data/variants/forest4/f-one-node.csv b/benchmark_data/variants/forest4/f-one-node.csv
new file mode 100755
index 0000000..8e5c532
--- /dev/null
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diff --git a/benchmark_data/variants/forest4/f-rrt-w.csv b/benchmark_data/variants/forest4/f-rrt-w.csv
new file mode 100755
index 0000000..ef87b64
--- /dev/null
+++ b/benchmark_data/variants/forest4/f-rrt-w.csv
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new file mode 100755
index 0000000..768bd66
--- /dev/null
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new file mode 100755
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new file mode 100755
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--- /dev/null
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diff --git a/benchmark_data/variants/forest4/f-rrtStar-wo.csv b/benchmark_data/variants/forest4/f-rrtStar-wo.csv
new file mode 100755
index 0000000..8b0f71f
--- /dev/null
+++ b/benchmark_data/variants/forest4/f-rrtStar-wo.csv
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diff --git a/benchmark_data/variants/forest4/f-small-branch.csv b/benchmark_data/variants/forest4/f-small-branch.csv
new file mode 100755
index 0000000..4777f96
--- /dev/null
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diff --git a/benchmark_data/variants/forest4/f-tree.csv b/benchmark_data/variants/forest4/f-tree.csv
new file mode 100755
index 0000000..8eaf330
--- /dev/null
+++ b/benchmark_data/variants/forest4/f-tree.csv
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diff --git a/benchmark_data/variants/forest4/f-trunk.csv b/benchmark_data/variants/forest4/f-trunk.csv
new file mode 100755
index 0000000..99f3e6e
--- /dev/null
+++ b/benchmark_data/variants/forest4/f-trunk.csv
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diff --git a/benchmark_data/wo-test/cave1/eval.py b/benchmark_data/wo-test/cave1/eval.py
new file mode 100755
index 0000000..93d62b5
--- /dev/null
+++ b/benchmark_data/wo-test/cave1/eval.py
@@ -0,0 +1,103 @@
+import xlrd
+import scipy.io
+import numpy as np
+import matplotlib
+import matplotlib.pyplot as plt
+
+# matplotlib.use('qt5agg')
+
+
+def get_costs_at_t(time_split, cost_split, t):
+    costs_t = np.zeros(len(time_split))
+    for j in range(0, len(time_split)):
+        time_j = time_split[j]
+        cost_j = cost_split[j]
+
+        N = time_j.size
+        if t < time_j[0]:
+            costs_t[j] = np.nan
+        elif t >= time_j[N - 1]:
+            costs_t[j] = cost_j[N - 1]
+        else:
+            for k in range(1, N):
+                if t < time_j[k]:
+                    costs_t[j] = cost_j[k - 1]
+                    break
+                
+    return costs_t
+
+
+def get_cost_mean_var_list(book, eval_timeline):
+    sheet = book.sheet_by_index(0)
+    num_rows = sheet.nrows
+    num_cols = sheet.ncols
+
+    idx_all = np.array(sheet.col_values(0))
+    time_all = np.array(sheet.col_values(1))
+    cost_all = np.array(sheet.col_values(2))
+
+
+    split_idx = []
+    for i in range(1, idx_all.size):
+        if idx_all[i] == 1:
+            split_idx.append(i)
+
+    idx_split = np.hsplit(idx_all, split_idx)
+    time_split = np.hsplit(time_all, split_idx)
+    cost_split = np.hsplit(cost_all, split_idx)
+
+    cost_mean = np.zeros(eval_timeline.size)
+    cost_var = np.zeros(eval_timeline.size)
+    for i in range(0, eval_timeline.size):
+        costs_i = get_costs_at_t(time_split, cost_split, eval_timeline[i])
+        cost_mean[i] = np.nanmean(costs_i)
+        cost_var[i] = np.nanstd(costs_i)
+
+    return cost_mean, cost_var
+
+fig, ax = plt.subplots()
+#ax.grid()
+
+book = xlrd.open_workbook("./f-rrt-w.xls")
+eval_timeline = np.array([500, 1000, 1500, 2000, 2500, 3000, 4000, 5500, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='o', s=100, label='RRT-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, marker='v', label='kRRT-w/', c='blue', ms=8)
+
+book = xlrd.open_workbook("./f-rrt-wo.xls")
+eval_timeline = np.array([500, 1000, 1500, 2000, 2500, 3000, 4000, 5500, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='v', s=100, label='RRT')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dashed', marker='v', label='kRRT-w/o', c='blue', ms=8)
+
+book = xlrd.open_workbook("./f-rrtStar-w.xls")
+eval_timeline = np.array([600, 1100, 1600, 2100, 2600, 3200, 4200, 5700, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='X', s=100, label='RRT*-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, marker='P', label='kRRT*-w/', c='green', ms=8)
+
+book = xlrd.open_workbook("./f-rrtStar-wo.xls")
+eval_timeline = np.array([600, 1100, 1600, 2100, 2600, 3200, 4200, 5700, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='P', s=100, label='RRT*')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dashed', marker='P', label='kRRT*-w/o', c='green', ms=8)
+
+book = xlrd.open_workbook("./f-rrtSharp-w.xls")
+eval_timeline = np.array([700, 1200, 1700, 2200, 2700, 3400, 4400, 5900, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='d', s=80,  label='RRT#-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, marker='d', label='kRRT#-w/', c='red', ms=8)
+
+book = xlrd.open_workbook("./f-rrtSharp-wo.xls")
+eval_timeline = np.array([700, 1200, 1700, 2200, 2700, 3400, 4400, 5900, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='x', s=80,  label='RRT#')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dashed', marker='d', label='kRRT#-w/o', c='red', ms=8)
+
+ax.legend(ncol=1)
+ax.set_xlabel("Time (ms)", fontsize='large')
+ax.set_ylabel("Best Solution Cost", fontsize='large')
+
+# scipy.io.savemat("./cost_mean_var1.mat", {'timeline': eval_timeline, 'cost_mean': cost_mean, 'cost_var': cost_var})
+
+plt.show()
diff --git a/benchmark_data/wo-test/cave1/f-rrt-w.csv b/benchmark_data/wo-test/cave1/f-rrt-w.csv
new file mode 100755
index 0000000..60e7ab3
--- /dev/null
+++ b/benchmark_data/wo-test/cave1/f-rrt-w.csv
@@ -0,0 +1,4812 @@
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diff --git a/benchmark_data/wo-test/cave1/f-rrt-w.xls b/benchmark_data/wo-test/cave1/f-rrt-w.xls
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diff --git a/benchmark_data/wo-test/cave1/f-rrt-wo.csv b/benchmark_data/wo-test/cave1/f-rrt-wo.csv
new file mode 100755
index 0000000..7f68f66
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diff --git a/benchmark_data/wo-test/cave1/f-rrt-wo.xls b/benchmark_data/wo-test/cave1/f-rrt-wo.xls
new file mode 100755
index 0000000..e333998
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diff --git a/benchmark_data/wo-test/cave1/f-rrtSharp-w.csv b/benchmark_data/wo-test/cave1/f-rrtSharp-w.csv
new file mode 100755
index 0000000..04ba248
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diff --git a/benchmark_data/wo-test/cave1/f-rrtSharp-w.xls b/benchmark_data/wo-test/cave1/f-rrtSharp-w.xls
new file mode 100755
index 0000000..eb107a1
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diff --git a/benchmark_data/wo-test/cave1/f-rrtSharp-wo.csv b/benchmark_data/wo-test/cave1/f-rrtSharp-wo.csv
new file mode 100755
index 0000000..d7d8a40
--- /dev/null
+++ b/benchmark_data/wo-test/cave1/f-rrtSharp-wo.csv
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diff --git a/benchmark_data/wo-test/cave1/f-rrtSharp-wo.xls b/benchmark_data/wo-test/cave1/f-rrtSharp-wo.xls
new file mode 100755
index 0000000..cb5104a
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diff --git a/benchmark_data/wo-test/cave1/f-rrtStar-w.csv b/benchmark_data/wo-test/cave1/f-rrtStar-w.csv
new file mode 100755
index 0000000..7ff6682
--- /dev/null
+++ b/benchmark_data/wo-test/cave1/f-rrtStar-w.csv
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diff --git a/benchmark_data/wo-test/cave1/f-rrtStar-w.xls b/benchmark_data/wo-test/cave1/f-rrtStar-w.xls
new file mode 100755
index 0000000..d12bb77
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diff --git a/benchmark_data/wo-test/cave1/f-rrtStar-wo.csv b/benchmark_data/wo-test/cave1/f-rrtStar-wo.csv
new file mode 100755
index 0000000..18cee6a
--- /dev/null
+++ b/benchmark_data/wo-test/cave1/f-rrtStar-wo.csv
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diff --git a/benchmark_data/wo-test/cave1/f-rrtStar-wo.xls b/benchmark_data/wo-test/cave1/f-rrtStar-wo.xls
new file mode 100755
index 0000000..7aacd0f
Binary files /dev/null and b/benchmark_data/wo-test/cave1/f-rrtStar-wo.xls differ
diff --git a/benchmark_data/wo-test/cave2/eval.py b/benchmark_data/wo-test/cave2/eval.py
new file mode 100755
index 0000000..93d62b5
--- /dev/null
+++ b/benchmark_data/wo-test/cave2/eval.py
@@ -0,0 +1,103 @@
+import xlrd
+import scipy.io
+import numpy as np
+import matplotlib
+import matplotlib.pyplot as plt
+
+# matplotlib.use('qt5agg')
+
+
+def get_costs_at_t(time_split, cost_split, t):
+    costs_t = np.zeros(len(time_split))
+    for j in range(0, len(time_split)):
+        time_j = time_split[j]
+        cost_j = cost_split[j]
+
+        N = time_j.size
+        if t < time_j[0]:
+            costs_t[j] = np.nan
+        elif t >= time_j[N - 1]:
+            costs_t[j] = cost_j[N - 1]
+        else:
+            for k in range(1, N):
+                if t < time_j[k]:
+                    costs_t[j] = cost_j[k - 1]
+                    break
+                
+    return costs_t
+
+
+def get_cost_mean_var_list(book, eval_timeline):
+    sheet = book.sheet_by_index(0)
+    num_rows = sheet.nrows
+    num_cols = sheet.ncols
+
+    idx_all = np.array(sheet.col_values(0))
+    time_all = np.array(sheet.col_values(1))
+    cost_all = np.array(sheet.col_values(2))
+
+
+    split_idx = []
+    for i in range(1, idx_all.size):
+        if idx_all[i] == 1:
+            split_idx.append(i)
+
+    idx_split = np.hsplit(idx_all, split_idx)
+    time_split = np.hsplit(time_all, split_idx)
+    cost_split = np.hsplit(cost_all, split_idx)
+
+    cost_mean = np.zeros(eval_timeline.size)
+    cost_var = np.zeros(eval_timeline.size)
+    for i in range(0, eval_timeline.size):
+        costs_i = get_costs_at_t(time_split, cost_split, eval_timeline[i])
+        cost_mean[i] = np.nanmean(costs_i)
+        cost_var[i] = np.nanstd(costs_i)
+
+    return cost_mean, cost_var
+
+fig, ax = plt.subplots()
+#ax.grid()
+
+book = xlrd.open_workbook("./f-rrt-w.xls")
+eval_timeline = np.array([500, 1000, 1500, 2000, 2500, 3000, 4000, 5500, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='o', s=100, label='RRT-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, marker='v', label='kRRT-w/', c='blue', ms=8)
+
+book = xlrd.open_workbook("./f-rrt-wo.xls")
+eval_timeline = np.array([500, 1000, 1500, 2000, 2500, 3000, 4000, 5500, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='v', s=100, label='RRT')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dashed', marker='v', label='kRRT-w/o', c='blue', ms=8)
+
+book = xlrd.open_workbook("./f-rrtStar-w.xls")
+eval_timeline = np.array([600, 1100, 1600, 2100, 2600, 3200, 4200, 5700, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='X', s=100, label='RRT*-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, marker='P', label='kRRT*-w/', c='green', ms=8)
+
+book = xlrd.open_workbook("./f-rrtStar-wo.xls")
+eval_timeline = np.array([600, 1100, 1600, 2100, 2600, 3200, 4200, 5700, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='P', s=100, label='RRT*')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dashed', marker='P', label='kRRT*-w/o', c='green', ms=8)
+
+book = xlrd.open_workbook("./f-rrtSharp-w.xls")
+eval_timeline = np.array([700, 1200, 1700, 2200, 2700, 3400, 4400, 5900, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='d', s=80,  label='RRT#-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, marker='d', label='kRRT#-w/', c='red', ms=8)
+
+book = xlrd.open_workbook("./f-rrtSharp-wo.xls")
+eval_timeline = np.array([700, 1200, 1700, 2200, 2700, 3400, 4400, 5900, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='x', s=80,  label='RRT#')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dashed', marker='d', label='kRRT#-w/o', c='red', ms=8)
+
+ax.legend(ncol=1)
+ax.set_xlabel("Time (ms)", fontsize='large')
+ax.set_ylabel("Best Solution Cost", fontsize='large')
+
+# scipy.io.savemat("./cost_mean_var1.mat", {'timeline': eval_timeline, 'cost_mean': cost_mean, 'cost_var': cost_var})
+
+plt.show()
diff --git a/benchmark_data/wo-test/cave2/f-rrt-s.csv b/benchmark_data/wo-test/cave2/f-rrt-s.csv
new file mode 100755
index 0000000..17445e6
--- /dev/null
+++ b/benchmark_data/wo-test/cave2/f-rrt-s.csv
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diff --git a/benchmark_data/wo-test/cave2/f-rrt-wo.csv b/benchmark_data/wo-test/cave2/f-rrt-wo.csv
new file mode 100755
index 0000000..8d5489b
--- /dev/null
+++ b/benchmark_data/wo-test/cave2/f-rrt-wo.csv
@@ -0,0 +1,50 @@
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diff --git a/benchmark_data/wo-test/cave2/f-rrtSharp-s.csv b/benchmark_data/wo-test/cave2/f-rrtSharp-s.csv
new file mode 100755
index 0000000..797727f
--- /dev/null
+++ b/benchmark_data/wo-test/cave2/f-rrtSharp-s.csv
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diff --git a/benchmark_data/wo-test/cave2/f-rrtSharp-wo.csv b/benchmark_data/wo-test/cave2/f-rrtSharp-wo.csv
new file mode 100755
index 0000000..8764291
--- /dev/null
+++ b/benchmark_data/wo-test/cave2/f-rrtSharp-wo.csv
@@ -0,0 +1,69 @@
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diff --git a/benchmark_data/wo-test/cave2/f-rrtStar-s.csv b/benchmark_data/wo-test/cave2/f-rrtStar-s.csv
new file mode 100755
index 0000000..f97fce2
--- /dev/null
+++ b/benchmark_data/wo-test/cave2/f-rrtStar-s.csv
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diff --git a/benchmark_data/wo-test/cave2/f-rrtStar-wo.csv b/benchmark_data/wo-test/cave2/f-rrtStar-wo.csv
new file mode 100755
index 0000000..e553ce3
--- /dev/null
+++ b/benchmark_data/wo-test/cave2/f-rrtStar-wo.csv
@@ -0,0 +1,71 @@
+1,217.059,29.0536,
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diff --git a/benchmark_data/wo-test/cave3/eval.py b/benchmark_data/wo-test/cave3/eval.py
new file mode 100755
index 0000000..c830300
--- /dev/null
+++ b/benchmark_data/wo-test/cave3/eval.py
@@ -0,0 +1,123 @@
+import xlrd
+import scipy.io
+import numpy as np
+import matplotlib
+import matplotlib.pyplot as plt
+
+# matplotlib.use('qt5agg')
+
+
+def get_costs_at_t(time_split, cost_split, t):
+    costs_t = np.zeros(len(time_split))
+    for j in range(0, len(time_split)):
+        time_j = time_split[j]
+        cost_j = cost_split[j]
+
+        N = time_j.size
+        if t < time_j[0]:
+            costs_t[j] = np.nan
+        elif t >= time_j[N - 1]:
+            costs_t[j] = cost_j[N - 1]
+        else:
+            for k in range(1, N):
+                if t < time_j[k]:
+                    costs_t[j] = cost_j[k - 1]
+                    break
+                
+    return costs_t
+
+
+def get_cost_mean_var_list(book, eval_timeline):
+    sheet = book.sheet_by_index(0)
+    num_rows = sheet.nrows
+    num_cols = sheet.ncols
+
+    idx_all = np.array(sheet.col_values(0))
+    time_all = np.array(sheet.col_values(1))
+    cost_all = np.array(sheet.col_values(2))
+
+
+    split_idx = []
+    for i in range(1, idx_all.size):
+        if idx_all[i] == 1:
+            split_idx.append(i)
+
+    idx_split = np.hsplit(idx_all, split_idx)
+    time_split = np.hsplit(time_all, split_idx)
+    cost_split = np.hsplit(cost_all, split_idx)
+
+    cost_mean = np.zeros(eval_timeline.size)
+    cost_var = np.zeros(eval_timeline.size)
+    for i in range(0, eval_timeline.size):
+        costs_i = get_costs_at_t(time_split, cost_split, eval_timeline[i])
+        cost_mean[i] = np.nanmean(costs_i)
+        cost_var[i] = np.nanstd(costs_i)
+
+    return cost_mean, cost_var
+
+fig, ax = plt.subplots()
+#ax.grid()
+
+book = xlrd.open_workbook("./f-rrtStar-wo.xls")
+eval_timeline = np.array([450, 1300, 2100, 3000, 4200, 5700, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='P', s=100, label='RRT*')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dotted', marker='x', label='kRRT*', c='green', ms=8)
+
+book = xlrd.open_workbook("./f-rrtStar-s.xls")
+eval_timeline = np.array([500, 1200, 2000, 2800, 4000, 5500, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='X', s=100, label='RRT*-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dashdot', marker='x', label='kRRT*-S', c='green', ms=8)
+
+book = xlrd.open_workbook("./f-rrtStar-w.xls")
+eval_timeline = np.array([500, 1350, 2150, 3150, 4350, 5850, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='X', s=100, label='RRT*-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, marker='x', label='kRRT*-ST', c='green', ms=8)
+
+
+book = xlrd.open_workbook("./f-rrtSharp-wo.xls")
+eval_timeline = np.array([500, 1400, 2200, 3200, 4400, 5900, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='x', s=80,  label='RRT#')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dotted', marker='P', label='kRRT#', c='red', ms=8)
+
+book = xlrd.open_workbook("./f-rrtSharp-s.xls")
+eval_timeline = np.array([500, 1300, 2100, 3000, 4200, 5700, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='d', s=80,  label='RRT#-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dashdot', marker='P', label='kRRT#-S', c='red', ms=8)
+
+book = xlrd.open_workbook("./f-rrtSharp-w.xls")
+eval_timeline = np.array([500, 1250, 2050, 3050, 4250, 5750, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='d', s=80,  label='RRT#-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, marker='P', label='kRRT#-ST\n(Proposed)', c='red', ms=8)
+
+
+book = xlrd.open_workbook("./f-rrt-wo.xls")
+eval_timeline = np.array([500, 1200, 2000, 2800, 4000, 5500, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='v', s=100, label='RRT')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dotted', marker='v', label='kRRT', c='blue', ms=7)
+
+book = xlrd.open_workbook("./f-rrt-s.xls")
+eval_timeline = np.array([500, 1250, 2050, 2900, 4100, 5600, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='o', s=100, label='RRT-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dashdot', marker='v', label='kRRT-S', c='blue', ms=7)
+
+book = xlrd.open_workbook("./f-rrt-w.xls")
+eval_timeline = np.array([500, 1150, 1950, 2750, 3950, 5450, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='o', s=100, label='RRT-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, marker='v', label='kRRT-ST', c='blue', ms=7)
+
+ax.legend(ncol=3)
+ax.set_xlabel("Time (ms)", fontsize='large')
+ax.set_ylabel("Best Solution Cost", fontsize='large')
+
+# scipy.io.savemat("./cost_mean_var1.mat", {'timeline': eval_timeline, 'cost_mean': cost_mean, 'cost_var': cost_var})
+
+plt.show()
diff --git a/benchmark_data/wo-test/cave3/f-rrt-s.csv b/benchmark_data/wo-test/cave3/f-rrt-s.csv
new file mode 100755
index 0000000..17445e6
--- /dev/null
+++ b/benchmark_data/wo-test/cave3/f-rrt-s.csv
@@ -0,0 +1,6099 @@
+1,1814.24,39.7549,
+2,2082.67,39.4806,
+3,2086.72,39.1382,
+4,2091.91,38.3279,
+5,2311.44,38.3245,
+6,2313.89,38.318,
+7,2323.39,38.3075,
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+9,3416.43,38.2885,
+10,3421.12,38.287,
+11,3611.79,37.7126,
+12,3614.9,37.248,
+13,3623.72,36.393,
+14,3636.27,35.8268,
+15,3648.83,35.3946,
+16,3662.67,34.786,
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diff --git a/benchmark_data/wo-test/cave3/f-rrt-w.csv b/benchmark_data/wo-test/cave3/f-rrt-w.csv
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diff --git a/benchmark_data/wo-test/cave3/f-rrt-w.xls b/benchmark_data/wo-test/cave3/f-rrt-w.xls
new file mode 100755
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diff --git a/benchmark_data/wo-test/cave3/f-rrt-wo.csv b/benchmark_data/wo-test/cave3/f-rrt-wo.csv
new file mode 100755
index 0000000..b6279a9
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diff --git a/benchmark_data/wo-test/cave3/f-rrt-wo.xls b/benchmark_data/wo-test/cave3/f-rrt-wo.xls
new file mode 100755
index 0000000..dbd94a9
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diff --git a/benchmark_data/wo-test/cave3/f-rrtSharp-s.csv b/benchmark_data/wo-test/cave3/f-rrtSharp-s.csv
new file mode 100755
index 0000000..797727f
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diff --git a/benchmark_data/wo-test/cave3/f-rrtSharp-s.xls b/benchmark_data/wo-test/cave3/f-rrtSharp-s.xls
new file mode 100755
index 0000000..6e0f2b3
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diff --git a/benchmark_data/wo-test/cave3/f-rrtSharp-w.csv b/benchmark_data/wo-test/cave3/f-rrtSharp-w.csv
new file mode 100755
index 0000000..51c5966
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diff --git a/benchmark_data/wo-test/cave3/f-rrtSharp-w.xls b/benchmark_data/wo-test/cave3/f-rrtSharp-w.xls
new file mode 100755
index 0000000..efe167f
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diff --git a/benchmark_data/wo-test/cave3/f-rrtSharp-wo.csv b/benchmark_data/wo-test/cave3/f-rrtSharp-wo.csv
new file mode 100755
index 0000000..07f78b7
--- /dev/null
+++ b/benchmark_data/wo-test/cave3/f-rrtSharp-wo.csv
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diff --git a/benchmark_data/wo-test/cave3/f-rrtSharp-wo.xls b/benchmark_data/wo-test/cave3/f-rrtSharp-wo.xls
new file mode 100755
index 0000000..80bd941
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diff --git a/benchmark_data/wo-test/cave3/f-rrtStar-s.csv b/benchmark_data/wo-test/cave3/f-rrtStar-s.csv
new file mode 100755
index 0000000..f97fce2
--- /dev/null
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diff --git a/benchmark_data/wo-test/cave3/f-rrtStar-s.xls b/benchmark_data/wo-test/cave3/f-rrtStar-s.xls
new file mode 100755
index 0000000..37fc0f0
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diff --git a/benchmark_data/wo-test/cave3/f-rrtStar-w.csv b/benchmark_data/wo-test/cave3/f-rrtStar-w.csv
new file mode 100755
index 0000000..7d3f8f4
--- /dev/null
+++ b/benchmark_data/wo-test/cave3/f-rrtStar-w.csv
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diff --git a/benchmark_data/wo-test/cave3/f-rrtStar-w.xls b/benchmark_data/wo-test/cave3/f-rrtStar-w.xls
new file mode 100755
index 0000000..b7eba65
Binary files /dev/null and b/benchmark_data/wo-test/cave3/f-rrtStar-w.xls differ
diff --git a/benchmark_data/wo-test/cave3/f-rrtStar-wo.csv b/benchmark_data/wo-test/cave3/f-rrtStar-wo.csv
new file mode 100755
index 0000000..5aa53b8
--- /dev/null
+++ b/benchmark_data/wo-test/cave3/f-rrtStar-wo.csv
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diff --git a/benchmark_data/wo-test/cave3/f-rrtStar-wo.xls b/benchmark_data/wo-test/cave3/f-rrtStar-wo.xls
new file mode 100755
index 0000000..cd53fb6
Binary files /dev/null and b/benchmark_data/wo-test/cave3/f-rrtStar-wo.xls differ
diff --git a/benchmark_data/wo-test/cave3/sortList.cpp b/benchmark_data/wo-test/cave3/sortList.cpp
new file mode 100755
index 0000000..cf7ac12
--- /dev/null
+++ b/benchmark_data/wo-test/cave3/sortList.cpp
@@ -0,0 +1,89 @@
+#include <iostream>
+using std::cin;
+using std::cout;
+
+struct Node 
+{
+  int value;
+  Node* child;
+  Node() : value(-1), child(nullptr) {}
+  Node(int n) : value(n), child(nullptr) {}
+};
+
+Node* merge(Node* h1, Node* h2)
+{
+  Node* pre_head = new Node();
+  Node* head = pre_head;
+  while (h1 != nullptr && h2 != nullptr) 
+  {
+    if (h1->value > h2->value) // large values first
+    {
+      head->child = h1;
+      h1 = h1->child;
+    }
+    else 
+    {
+      head->child = h2;
+      h2 = h2->child;
+    }
+    head = head->child;
+  }
+  if (h1 == nullptr) head->child = h2;
+  else head->child = h1;
+
+  return pre_head->child;
+}
+
+Node* sort(Node* head)
+{
+  if (head == nullptr || head->child == nullptr) return head;
+  Node* slow(head);
+  Node* fast(head);
+  while (fast->child != nullptr && fast->child->child != nullptr) 
+  {
+    slow = slow->child;
+    fast = fast->child->child;
+  }
+  Node* middle(slow->child);
+  slow->child = nullptr;
+  Node* h1 = sort(head);
+  Node* h2 = sort(middle);
+  return merge(h1, h2);
+}
+
+int main () 
+{
+  int k(-1), val(-1);
+  cin >> k; 
+  Node* pre_head = new Node();
+  Node* p = pre_head;
+  for (int i=0; i<k; ++i)
+  {
+    cin >> val;
+    Node* node = new Node(val);
+    p->child = node;
+    p = p->child;
+  }
+  cout << "before sorting: \n";
+  p = pre_head;
+  while (p->child)
+  {
+    p = p->child;
+    cout << p->value << " ";
+  }
+  cout << "\n";
+
+  Node* res = sort(pre_head->child);
+
+  cout << "after sorting: \n";
+  while (res)
+  {
+    cout << res->value << " ";
+    Node* d(res);
+    delete d;
+    res = res->child;
+  }
+  cout << "\n";
+
+  return 0;
+}
diff --git a/benchmark_data/wo-test/cave4/circles-rrt-s.csv b/benchmark_data/wo-test/cave4/circles-rrt-s.csv
new file mode 100644
index 0000000..5a98df8
--- /dev/null
+++ b/benchmark_data/wo-test/cave4/circles-rrt-s.csv
@@ -0,0 +1,828 @@
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diff --git a/benchmark_data/wo-test/cave4/circles-rrt-w.csv b/benchmark_data/wo-test/cave4/circles-rrt-w.csv
new file mode 100644
index 0000000..8c6cbd7
--- /dev/null
+++ b/benchmark_data/wo-test/cave4/circles-rrt-w.csv
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diff --git a/benchmark_data/wo-test/cave4/circles-rrt-wo.csv b/benchmark_data/wo-test/cave4/circles-rrt-wo.csv
new file mode 100644
index 0000000..cbf7a5b
--- /dev/null
+++ b/benchmark_data/wo-test/cave4/circles-rrt-wo.csv
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diff --git a/benchmark_data/wo-test/cave4/circles-rrtSharp-s.csv b/benchmark_data/wo-test/cave4/circles-rrtSharp-s.csv
new file mode 100644
index 0000000..4e90fbd
--- /dev/null
+++ b/benchmark_data/wo-test/cave4/circles-rrtSharp-s.csv
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diff --git a/benchmark_data/wo-test/cave4/circles-rrtSharp-w.csv b/benchmark_data/wo-test/cave4/circles-rrtSharp-w.csv
new file mode 100644
index 0000000..f3b1798
--- /dev/null
+++ b/benchmark_data/wo-test/cave4/circles-rrtSharp-w.csv
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diff --git a/benchmark_data/wo-test/cave4/circles-rrtSharp-wo.csv b/benchmark_data/wo-test/cave4/circles-rrtSharp-wo.csv
new file mode 100644
index 0000000..ec5c446
--- /dev/null
+++ b/benchmark_data/wo-test/cave4/circles-rrtSharp-wo.csv
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diff --git a/benchmark_data/wo-test/cave4/circles-rrtStar-s.csv b/benchmark_data/wo-test/cave4/circles-rrtStar-s.csv
new file mode 100644
index 0000000..663289c
--- /dev/null
+++ b/benchmark_data/wo-test/cave4/circles-rrtStar-s.csv
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diff --git a/benchmark_data/wo-test/cave4/circles-rrtStar-w.csv b/benchmark_data/wo-test/cave4/circles-rrtStar-w.csv
new file mode 100644
index 0000000..aee4d0f
--- /dev/null
+++ b/benchmark_data/wo-test/cave4/circles-rrtStar-w.csv
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diff --git a/benchmark_data/wo-test/cave4/circles-rrtStar-wo.csv b/benchmark_data/wo-test/cave4/circles-rrtStar-wo.csv
new file mode 100644
index 0000000..063d988
--- /dev/null
+++ b/benchmark_data/wo-test/cave4/circles-rrtStar-wo.csv
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+5,335.422,22.2884,18.5223,
+6,448.227,21.1119,17.4421,
+7,3637.39,20.9807,17.5382,
+1,28.3161,27.5055,22.6365,
+2,33.8962,27.4562,22.4818,
+3,71.3698,25.8738,20.9566,
+4,73.882,25.8301,20.8882,
+5,144.294,24.1229,19.3516,
+6,187.796,23.2101,18.9157,
+7,672.714,23.0553,19.383,
+8,1395.91,22.8113,19.2941,
+9,1688,22.3142,18.3229,
+10,7082.05,22.272,18.8308,
+1,44.2538,25.7255,21.0413,
+2,45.2567,25.4824,20.6759,
+3,56.5753,24.7414,20.1307,
+4,245.408,23.7923,19.6038,
+5,462.873,23.7631,19.8946,
+6,628.838,23.6692,19.8516,
+7,655.668,23.6336,19.809,
+8,697.993,23.4264,19.6729,
+9,711.45,23.4069,19.4834,
+10,776.101,23.1988,19.6253,
+11,819.509,22.1675,18.438,
+12,1015.88,21.5792,18.1116,
+13,7157.25,21.4707,18.1393,
+1,95.901,29.4178,24.2447,
+2,98.1177,27.87,22.9138,
+3,102.258,26.9308,21.7581,
+4,111.243,25.2311,20.702,
+5,121.461,23.2565,19.0216,
+6,175.764,22.0762,18.5,
+7,1033.27,21.3537,17.7969,
+1,105.919,28.1681,22.8287,
+2,127.29,27.9153,22.6113,
+3,141.987,27.5103,22.4607,
+4,143.748,27.4798,22.4954,
+5,160.881,25.4528,21.2446,
+6,170.569,24.4504,20.4405,
+7,187.968,22.6894,18.9876,
+8,199.548,22.6181,18.9351,
+9,263.329,22.176,18.4404,
+10,351.938,21.9188,18.5374,
+11,681.397,21.7629,18.2518,
+12,3222.69,21.4826,18.2203,
diff --git a/benchmark_data/wo-test/cave4/eval.py b/benchmark_data/wo-test/cave4/eval.py
new file mode 100755
index 0000000..492dca8
--- /dev/null
+++ b/benchmark_data/wo-test/cave4/eval.py
@@ -0,0 +1,174 @@
+import xlrd
+import scipy.io
+import numpy as np
+import matplotlib
+import matplotlib.pyplot as plt
+
+# matplotlib.use('qt5agg')
+
+
+def get_values_at_t(time_split, value_split, t):
+    values_t = np.zeros(len(time_split))
+    for j in range(0, len(time_split)):
+        time_j = time_split[j]
+        value_j = value_split[j]
+
+        N = time_j.size
+        if t < time_j[0]:
+            values_t[j] = np.nan
+        elif t >= time_j[N - 1]:
+            values_t[j] = value_j[N - 1]
+        else:
+            for k in range(1, N):
+                if t < time_j[k]:
+                    values_t[j] = value_j[k - 1]
+                    break
+                
+    return values_t
+
+
+def get_cost_mean_var_list(book, eval_timeline):
+    sheet = book.sheet_by_index(0)
+    num_rows = sheet.nrows
+    num_cols = sheet.ncols
+
+    idx_all = np.array(sheet.col_values(0))
+    time_all = np.array(sheet.col_values(1))
+    cost_all = np.array(sheet.col_values(2))
+
+
+    split_idx = []
+    for i in range(1, idx_all.size):
+        if idx_all[i] == 1:
+            split_idx.append(i)
+
+    idx_split = np.hsplit(idx_all, split_idx)
+    time_split = np.hsplit(time_all, split_idx)
+    cost_split = np.hsplit(cost_all, split_idx)
+
+    cost_mean = np.zeros(eval_timeline.size)
+    cost_var = np.zeros(eval_timeline.size)
+    for i in range(0, eval_timeline.size):
+        costs_i = get_values_at_t(time_split, cost_split, eval_timeline[i])
+        cost_mean[i] = np.nanmean(costs_i)
+        cost_var[i] = np.nanstd(costs_i)
+
+    return cost_mean, cost_var
+
+def get_dura_mean_var_list(book, eval_timeline):
+    sheet = book.sheet_by_index(0)
+
+    idx_all = np.array(sheet.col_values(0))
+    time_all = np.array(sheet.col_values(1))
+    dura_all = np.array(sheet.col_values(3))
+
+    split_idx = []
+    for i in range(1, idx_all.size):
+        if idx_all[i] == 1:
+            split_idx.append(i)
+
+    time_split = np.hsplit(time_all, split_idx)
+    dura_split = np.hsplit(dura_all, split_idx)
+
+    dura_mean = np.zeros(eval_timeline.size)
+    dura_var = np.zeros(eval_timeline.size)
+    for i in range(0, eval_timeline.size):
+        duras_i = get_values_at_t(time_split, dura_split, eval_timeline[i])
+        dura_mean[i] = np.nanmean(duras_i)
+        dura_var[i] = np.nanstd(duras_i)
+
+    return dura_mean, dura_var
+
+fig, ax = plt.subplots()
+#ax.grid()
+
+book = xlrd.open_workbook("./f-rrtStar-wo.xlt")
+eval_timeline = np.array([200, 800, 1800, 3000, 4200, 5700, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+dura_mean_var = get_dura_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='P', s=100, label='RRT*')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dotted', marker='x', label='kRRT*-w/o', c='green', ms=8)
+print("kRRT*-w/o cost: ", cost_mean_var[0][6], cost_mean_var[1][6])
+print("kRRT*-w/o dura: ", dura_mean_var[0][6], dura_mean_var[1][6])
+
+book = xlrd.open_workbook("./f-rrtStar-s.xlt")
+eval_timeline = np.array([200, 700, 1700, 2900, 4000, 5500, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+dura_mean_var = get_dura_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='X', s=100, label='RRT*-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dashdot', marker='x', label='kRRT*-S', c='green', ms=8)
+print("kRRT*-S cost: ", cost_mean_var[0][6], cost_mean_var[1][6])
+print("kRRT*-S dura: ", dura_mean_var[0][6], dura_mean_var[1][6])
+
+book = xlrd.open_workbook("./f-rrtStar-w.xlt")
+eval_timeline = np.array([200, 750, 1800, 2850, 4050, 5550, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+dura_mean_var = get_dura_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='X', s=100, label='RRT*-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, marker='x', label='kRRT*-ST', c='green', ms=8)
+print("kRRT*-ST cost: ", cost_mean_var[0][6], cost_mean_var[1][6])
+print("kRRT*-ST dura: ", dura_mean_var[0][6], dura_mean_var[1][6])
+
+
+book = xlrd.open_workbook("./f-rrtSharp-wo.xlt")
+eval_timeline = np.array([200, 1000, 1900, 3200, 4400, 5900, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+dura_mean_var = get_dura_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='x', s=80,  label='RRT#')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dotted', marker='P', label='kRRT#-w/o', c='red', ms=8)
+print("kRRT#-w/o cost: ", cost_mean_var[0][6], cost_mean_var[1][6])
+print("kRRT#-w/o dura: ", dura_mean_var[0][6], dura_mean_var[1][6])
+
+book = xlrd.open_workbook("./f-rrtSharp-s.xlt")
+eval_timeline = np.array([200, 950, 1800, 3100, 4200, 5700, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+dura_mean_var = get_dura_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='d', s=80,  label='RRT#-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dashdot', marker='P', label='kRRT#-S', c='red', ms=8)
+print("kRRT#-S cost: ", cost_mean_var[0][6], cost_mean_var[1][6])
+print("kRRT#-S dura: ", dura_mean_var[0][6], dura_mean_var[1][6])
+
+book = xlrd.open_workbook("./f-rrtSharp-w.xlt")
+eval_timeline = np.array([200, 900, 1950, 3050, 4250, 5750, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+dura_mean_var = get_dura_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='d', s=80,  label='RRT#-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, marker='P', label='kRRT#-ST\n(Proposed)', c='red', ms=8)
+print("kRRT#-ST cost: ", cost_mean_var[0][6], cost_mean_var[1][6])
+print("kRRT#-ST dura: ", dura_mean_var[0][6], dura_mean_var[1][6])
+
+
+book = xlrd.open_workbook("./f-rrt-wo.xlt")
+eval_timeline = np.array([200, 800, 1700, 2800, 4000, 5500, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+dura_mean_var = get_dura_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='v', s=100, label='RRT')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dotted', marker='v', label='kRRT-w/o', c='blue', ms=7)
+print("kRRT-w/o cost: ", cost_mean_var[0][6], cost_mean_var[1][6])
+print("kRRT-w/o dura: ", dura_mean_var[0][6], dura_mean_var[1][6])
+
+book = xlrd.open_workbook("./f-rrt-s.xlt")
+eval_timeline = np.array([200, 850, 1750, 2900, 4100, 5600, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+dura_mean_var = get_dura_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='o', s=100, label='RRT-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, ls='dashdot', marker='v', label='kRRT-S', c='blue', ms=7)
+print("kRRT-S cost: ", cost_mean_var[0][6], cost_mean_var[1][6])
+print("kRRT-S dura: ", dura_mean_var[0][6], dura_mean_var[1][6])
+
+book = xlrd.open_workbook("./f-rrt-w.xlt")
+eval_timeline = np.array([200, 750, 1950, 2750, 3950, 5450, 7000])
+cost_mean_var = get_cost_mean_var_list(book, eval_timeline)
+dura_mean_var = get_dura_mean_var_list(book, eval_timeline)
+#ax.scatter(eval_timeline, cost_mean_var[0], marker='o', s=100, label='RRT-BRANCH')
+ax.errorbar(eval_timeline, cost_mean_var[0], yerr=cost_mean_var[1], capsize=2, lw=1.5, marker='v', label='kRRT-ST', c='blue', ms=7)
+print("kRRT-ST cost: ", cost_mean_var[0][6], cost_mean_var[1][6])
+print("kRRT-ST dura: ", dura_mean_var[0][6], dura_mean_var[1][6])
+
+ax.legend(ncol=3)
+ax.set_xlabel("Time (ms)", fontsize='large')
+ax.set_ylabel("Best Solution Cost", fontsize='large')
+
+# scipy.io.savemat("./cost_mean_var1.mat", {'timeline': eval_timeline, 'cost_mean': cost_mean, 'cost_var': cost_var})
+
+plt.show()
diff --git a/benchmark_data/wo-test/cave4/f-rrt-s.xlt b/benchmark_data/wo-test/cave4/f-rrt-s.xlt
new file mode 100644
index 0000000..fac0214
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diff --git a/benchmark_data/wo-test/cave4/f-rrt-w.xlt b/benchmark_data/wo-test/cave4/f-rrt-w.xlt
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index 0000000..f25e244
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diff --git a/benchmark_data/wo-test/cave4/f-rrt-wo.xlt b/benchmark_data/wo-test/cave4/f-rrt-wo.xlt
new file mode 100644
index 0000000..056b00b
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diff --git a/benchmark_data/wo-test/cave4/f-rrtSharp-s.xlt b/benchmark_data/wo-test/cave4/f-rrtSharp-s.xlt
new file mode 100644
index 0000000..2a2cb95
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diff --git a/benchmark_data/wo-test/cave4/f-rrtSharp-w.xlt b/benchmark_data/wo-test/cave4/f-rrtSharp-w.xlt
new file mode 100644
index 0000000..b86c9ef
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diff --git a/benchmark_data/wo-test/cave4/f-rrtSharp-wo.xlt b/benchmark_data/wo-test/cave4/f-rrtSharp-wo.xlt
new file mode 100644
index 0000000..dff8213
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diff --git a/benchmark_data/wo-test/cave4/f-rrtStar-s.xlt b/benchmark_data/wo-test/cave4/f-rrtStar-s.xlt
new file mode 100644
index 0000000..38159dd
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diff --git a/benchmark_data/wo-test/cave4/f-rrtStar-w.xlt b/benchmark_data/wo-test/cave4/f-rrtStar-w.xlt
new file mode 100644
index 0000000..945f19d
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diff --git a/benchmark_data/wo-test/cave4/f-rrtStar-wo.xlt b/benchmark_data/wo-test/cave4/f-rrtStar-wo.xlt
new file mode 100644
index 0000000..7b95338
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diff --git a/decision/state_machine/CMakeLists.txt b/decision/state_machine/CMakeLists.txt
new file mode 100755
index 0000000..e7a7236
--- /dev/null
+++ b/decision/state_machine/CMakeLists.txt
@@ -0,0 +1,89 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(state_machine)
+
+# set(CMAKE_BUILD_TYPE "Debug")
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
+
+find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    rospy
+    std_msgs
+    occ_grid
+    kino_plan
+    r3_plan
+    poly_opt
+    quadrotor_msgs
+    visualization_utils
+    self_msgs_and_srvs
+    bspline_opt
+    bspline
+    sampler
+)
+
+find_package(Eigen3 REQUIRED)
+find_package(PCL 1.7 REQUIRED)
+
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES state_machine
+    CATKIN_DEPENDS occ_grid sampler
+#     DEPENDS system_lib
+)
+
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+    ${Eigen3_INCLUDE_DIRS}
+)
+
+# add_executable(${PROJECT_NAME}_node 
+#     src/state_machine_node.cpp
+#     src/fsm.cpp
+# )
+# target_link_libraries(${PROJECT_NAME}_node
+#     ${catkin_LIBRARIES}
+#     ${PCL_LIBRARIES}
+# )
+
+add_executable(traj_server_node
+    src/traj_server_node.cpp
+)
+target_link_libraries(traj_server_node
+    ${catkin_LIBRARIES}
+)
+
+#add_executable(pub_goal_node
+#    src/pub_goal_node.cpp
+#)
+#target_link_libraries(pub_goal_node
+#    ${catkin_LIBRARIES}
+#)
+
+add_executable(test_bvp_node
+    src/test_bvp_node.cpp
+)
+target_link_libraries(test_bvp_node
+    ${catkin_LIBRARIES}
+)
+
+add_executable(test_planner_node
+    src/test_planners_node.cpp
+)
+target_link_libraries(test_planner_node
+    ${catkin_LIBRARIES}
+)
+
+# add_executable(global_trajs_node
+#     src/global_trajs_node.cpp
+# )
+# target_link_libraries(global_trajs_node
+#     ${catkin_LIBRARIES}
+# )
+
+add_dependencies(
+  ${catkin_EXPORTED_TARGETS}
+)
+
diff --git a/decision/state_machine/include/state_machine/fsm.h b/decision/state_machine/include/state_machine/fsm.h
new file mode 100755
index 0000000..fa08d89
--- /dev/null
+++ b/decision/state_machine/include/state_machine/fsm.h
@@ -0,0 +1,105 @@
+#ifndef _FSM_H_
+#define _FSM_H_
+
+#include "self_msgs_and_srvs/GlbObsRcv.h"
+#include "occ_grid/occ_map.h"
+#include "occ_grid/pos_checker.h"
+#include "kino_plan/krrt.h"
+#include "kino_plan/krrt_star.h"
+#include "kino_plan/krrt_sharp.h"
+#include "kino_plan/bi_krrt.h"
+#include "kino_plan/kfmt.h"
+#include "kino_plan/topo_prm.h"
+#include "visualization_utils/visualization_utils.h"
+#include "poly_opt/traj_optimizer.h"
+#include "poly_opt/nonsmooth_trunk_opt.h"
+// #include "poly_opt/trunk_opt.h"
+#include "quadrotor_msgs/PolynomialTrajectory.h"
+#include "quadrotor_msgs/PositionCommand.h"
+#include "r3_plan/r3_planner.h"
+#include "r3_plan/a_star_search.h"
+#include "kino_plan/kinodynamic_astar.h"
+#include "kino_plan/kd_astar_jerk.h"
+
+#include <ros/ros.h>
+#include <nav_msgs/Path.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/PointStamped.h>
+#include <std_msgs/Empty.h>
+
+namespace tgk_planner
+{
+class FSM
+{
+public:
+  FSM();
+  ~FSM();
+  void init(const ros::NodeHandle& nh);
+    
+private:
+  bool searchForTraj(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,  
+                     Vector3d end_pos, Vector3d end_vel, Vector3d end_acc, 
+                     double search_time);
+  void sendTrajToServer(const Trajectory& poly_traj);
+  void sendEStopToServer();
+  bool reachGoal(double radius);
+  bool needReplan();
+  void getPlanStartState(Vector3d& pos, Vector3d& vel, Vector3d& acc);
+  /*
+   * replan in t second from current state
+   */
+  bool replanOnce(double t);
+  bool optimize();
+
+  // map, checker, planner 
+  OccMap::Ptr env_ptr_;
+  PosChecker::Ptr pos_checker_ptr_;
+  KRRTSHARP::KRRTSHARPPtr krrt_sharp_ptr_;
+  // BIKRRT::BIKRRTPtr krrt_star_ptr_;
+  BIKRRT::BIKRRTPtr bikrrt_ptr_;
+  TrajOptimizer::Ptr optimizer_ptr_;
+  VisualRviz::Ptr vis_ptr_;
+  shared_ptr<R3Planner> r3_planer_ptr_;
+  shared_ptr<AstarPathFinder> astar_searcher_;
+  shared_ptr<BranchOpt> trunk_opt_ptr_;
+  
+  // ros 
+  ros::NodeHandle nh_;
+  ros::Subscriber goal_sub_;
+  ros::Subscriber qrcode_pose_sub_;
+  ros::Subscriber track_err_trig_sub_;
+  ros::Publisher traj_pub_;
+  ros::Timer execution_timer_;
+  ros::ServiceClient rcv_glb_obs_client_;
+  void qrcodeCallback(const geometry_msgs::PointStamped::ConstPtr& msg);
+  void goalCallback(const quadrotor_msgs::PositionCommand::ConstPtr& goal_msg);
+  void executionCallback(const ros::TimerEvent& event);
+  void trackErrCallback(const std_msgs::Empty& msg);
+
+  // execution states 
+  enum MACHINE_STATE{
+    INIT, 
+    WAIT_GOAL, 
+    GENERATE_TRAJ, 
+    FOLLOW_TRAJ
+  };
+  MACHINE_STATE machine_state_;
+  void changeState(MACHINE_STATE new_state);
+  
+  // params 
+  double vel_limit_, acc_limit_;
+  bool track_err_replan_, allow_track_err_replan_, close_goal_traj_;
+  bool new_goal_, started_, use_optimization_, replan_, bidirection_;
+  double replan_time_;
+  Eigen::Vector3d start_pos_, start_vel_, start_acc_, end_pos_, end_vel_, end_acc_;
+  ros::Time curr_traj_start_time_, collision_detect_time_;
+  Trajectory front_end_traj_, back_end_traj_, traj_;
+  Eigen::Vector3d pos_about_to_collide_;
+  double remain_safe_time_, e_stop_time_margin_, replan_check_duration_;
+};
+    
+    
+}
+
+
+#endif //_FSM_H_
diff --git a/decision/state_machine/launch/benchmark_simulator.launch b/decision/state_machine/launch/benchmark_simulator.launch
new file mode 100755
index 0000000..ccabb65
--- /dev/null
+++ b/decision/state_machine/launch/benchmark_simulator.launch
@@ -0,0 +1,177 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+  <arg name="odom_topic" value="/visual_slam/odom" />
+  <arg name="global_env_pcd2_topic" value="/random_forest/all_map" />
+
+  <arg name="simulation" default="true"/>
+  <arg name="drone_number" default="1"/>
+
+  <arg name="map_size_x" value="20.0"/>
+  <arg name="map_size_y" value="8.0"/>
+  <arg name="map_size_z" value="8.0"/>
+
+  <arg name="init_x" value="0.0"/>
+  <arg name="init_y" value="-23.0"/>
+  <arg name="init_z" value="0.0"/>
+
+  <arg name="forest" value="0"/>
+
+  <!-- map generation -->
+  <!-- env for front-end compare-->
+  <node pkg="map_generator" name="random_forest" type="random_forest" output="screen" if="$(arg forest)">
+    <remap from="~odometry" to="$(arg odom_topic)"/>
+    <param name="init_state_x" value="$(arg init_x)"/>
+    <param name="init_state_y" value="$(arg init_y)"/>
+    <param name="map/x_size" value="$(arg map_size_x)" />
+    <param name="map/y_size" value="$(arg map_size_y)" />
+    <param name="map/z_size" value="$(arg map_size_z)" />
+    <param name="map/obs_num" value="0"/>
+    <param name="map/circle_num" value="110"/>
+    <param name="map/resolution" value="0.1"/>
+    <param name="ObstacleShape/lower_rad" value="0.4"/>
+    <param name="ObstacleShape/upper_rad" value="2.5"/>
+    <param name="ObstacleShape/lower_hei" value="0.5"/>
+    <param name="ObstacleShape/upper_hei" value="7.5"/>
+    <param name="CircleShape/lower_circle_rad" value="0.9"/>
+    <param name="CircleShape/upper_circle_rad" value="1.2"/>
+    <param name="sensing/rate" value="1.0"/>
+  </node>
+  <include file="$(find mockamap)/launch/mockamap.launch" unless="$(arg forest)"/>
+
+  <!--env for w/ w/o compare-->
+  <!-- <node pkg="map_generator" type="map_generator_high.py" name="random_forest" output="screen">
+    <param name="map/x_size" value="15.0" type="double"/>
+    <param name="map/y_size" value="15.0" type="double"/>
+    <param name="map/z_size" value="3.5" type="double"/>
+    <param name="map/end_blank" value="0.5" type="double"/>
+    <param name="resolution" value="0.1" type="double"/>
+    <param name="map/random" value="true" type="bool"/>
+    
+    <param name="gap_num" value="6" type="int" />
+    <param name="narrow_gap_width" value="0.85" type="double"/>
+
+    <param name="wall_num" value="3" type="int" />
+    <param name="wall_width" value="0.5" type="double" />
+
+    <param name="rand_obs_scale" value="1.5" type="double"/>
+    <param name="rand_obs_num" value="0" type="int"/>
+
+  </node> -->
+
+  <!-- the param of wall in front-end benchmark-->
+  <!-- <node pkg="map_generator" type="map_generator_high.py" name="random_forest" output="screen">
+    <param name="map/x_size" value="16.0" type="double"/>
+    <param name="map/y_size" value="70.0" type="double"/>
+    <param name="map/z_size" value="3.5" type="double"/>
+    <param name="map/end_blank" value="1.5" type="double"/>
+    <param name="resolution" value="0.1" type="double"/>
+    <param name="map/random" value="true" type="bool"/>
+    
+    <param name="gap_num" value="6" type="int" />
+    <param name="narrow_gap_width" value="0.75" type="double"/>
+
+    <param name="wall_num" value="3" type="int" />
+    <param name="wall_width" value="2.5" type="double" />
+
+    <param name="rand_obs_scale" value="1.5" type="double"/>
+    <param name="rand_obs_num" value="0" type="int"/>
+  </node> -->
+
+  <!-- the param of real-world experiments-->
+  <!-- <node pkg="map_generator" type="map_generator_high.py" name="random_forest" output="screen">
+    <param name="map/x_size" value="5.0" type="double"/>
+    <param name="map/y_size" value="11.0" type="double"/>
+    <param name="map/z_size" value="2.5" type="double"/>
+    <param name="map/end_blank" value="0.5" type="double"/>
+    <param name="resolution" value="0.1" type="double"/>
+    <param name="map/random" value="true" type="bool"/>
+    
+    <param name="gap_num" value="1" type="int" />
+    <param name="narrow_gap_width" value="0.9" type="double"/>
+
+    <param name="wall_num" value="4" type="int" />
+    <param name="wall_width" value="0.6" type="double" />
+
+    <param name="rand_obs_scale" value="1.5" type="double"/>
+    <param name="rand_obs_num" value="0" type="int"/>
+  </node> -->
+  <!-- <node pkg="map_generator" name="random_forest" type="random_forest" output="screen">    
+    <remap from="~odometry" to="$(arg odom_topic)"/>    
+    <param name="init_state_x" value="$(arg init_x)"/>
+    <param name="init_state_y" value="$(arg init_y)"/>
+    <param name="map/x_size" value="5.0" />
+    <param name="map/y_size" value="11.0" />
+    <param name="map/z_size" value="2.5" />
+    <param name="map/obs_num" value="20"/>    
+    <param name="map/circle_num" value="4"/>   
+    <param name="map/resolution" value="0.1"/>        
+    <param name="ObstacleShape/lower_rad" value="0.6"/>
+    <param name="ObstacleShape/upper_rad" value="1.0"/>
+    <param name="ObstacleShape/lower_hei" value="1.5"/>
+    <param name="ObstacleShape/upper_hei" value="2.0"/>        
+    <param name="CircleShape/lower_circle_rad" value="0.4"/>        
+    <param name="CircleShape/upper_circle_rad" value="0.6"/>        
+    <param name="sensing/rate" value="1.0"/>        
+  </node> -->
+
+  <node pkg="so3_quadrotor_simulator" type="quadrotor_simulator_so3" name="quadrotor_simulator_so3" output="screen">
+    <param name="rate/odom" value="200.0"/>
+    <param name="simulator/init_state_x" value="$(arg init_x)"/>
+    <param name="simulator/init_state_y" value="$(arg init_y)"/>
+    <param name="simulator/init_state_z" value="$(arg init_z)"/>
+
+    <remap from="~odom" to="/visual_slam/odom"/>
+    <remap from="~cmd" to="so3_cmd"/>
+    <remap from="~force_disturbance" to="force_disturbance"/>
+    <remap from="~moment_disturbance" to="moment_disturbance"/>
+  </node>
+
+  <node pkg="nodelet" type="nodelet" args="standalone so3_control/SO3ControlNodelet" name="so3_control" required="true" output="screen">
+    <remap from="~odom" to="/visual_slam/odom"/>
+    <remap from="~position_cmd" to="/planning/pos_cmd"/>
+    <remap from="~motors" to="motors"/>
+    <remap from="~corrections" to="corrections"/>
+    <remap from="~so3_cmd" to="so3_cmd"/>
+    <rosparam file="$(find so3_control)/config/gains_hummingbird.yaml"/>
+    <rosparam file="$(find so3_control)/config/corrections_hummingbird.yaml"/>
+    <param name="mass" value="0.98"/>
+    <param name="use_angle_corrections " value="false"/>
+    <param name="use_external_yaw " value="false"/>
+    <param name="gains/rot/z" value="1.0"/>
+    <param name="gains/ang/z" value="0.1"/>
+  </node>
+
+  <!-- <node pkg="so3_disturbance_generator" name="so3_disturbance_generator" type="so3_disturbance_generator" output="screen">
+        <remap from="~odom" to="/visual_slam/odom"/>             
+        <remap from="~noisy_odom" to="/state_ukf/odom"/>          
+        <remap from="~correction" to="/visual_slam/correction"/>   
+        <remap from="~force_disturbance" to="force_disturbance"/>        
+        <remap from="~moment_disturbance" to="moment_disturbance"/>            
+  </node>  -->
+
+  <node pkg="odom_visualization" name="odom_visualization" type="odom_visualization" output="screen">
+    <remap from="~odom" to="/visual_slam/odom"/>
+    <param name="color/a" value="1.0"/>
+    <param name="color/r" value="0.1176"/>
+    <param name="color/g" value="0.5647"/>
+    <param name="color/b" value="1.0"/>
+    <param name="covariance_scale" value="100.0"/>
+    <param name="robot_scale" value="1.0"/>
+  </node>
+
+  <!-- <node pkg="depth_sensor_simulator" type="pcl_render_node" name="pcl_render_node" output="screen">
+    <rosparam command="load" file="$(find depth_sensor_simulator)/params/camera.yaml" />
+
+    <param name="sensing_horizon" value="5.0" />
+    <param name="sensing_rate" value="30.0"/>
+    <param name="estimation_rate" value="30.0"/>
+    <param name="map/x_size" value="$(arg map_size_x)"/>
+    <param name="map/y_size" value="$(arg map_size_y)"/>
+    <param name="map/z_size" value="$(arg map_size_z)"/>
+
+    <remap from="~global_map" to="$(arg global_env_pcd2_topic)"/>
+    <remap from="~odometry" to="$(arg odom_topic)"/>
+  </node> -->
+
+
+</launch>
\ No newline at end of file
diff --git a/decision/state_machine/launch/fly_simulator.launch b/decision/state_machine/launch/fly_simulator.launch
new file mode 100755
index 0000000..b03d49d
--- /dev/null
+++ b/decision/state_machine/launch/fly_simulator.launch
@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+  <arg name="odom_topic" value="/visual_slam/odom" />
+  <arg name="global_env_pcd2_topic" value="/random_forest/all_map" />
+  
+  <arg name="simulation" default="true"/>
+  <arg name="drone_number" default="1"/>
+  
+  <arg name="map_size_x" value="30.0"/>
+  <arg name="map_size_y" value="50.0"/>
+  <arg name="map_size_z" value=" 3.5"/>
+
+  <arg name="init_x" value="-3.0"/>
+  <arg name="init_y" value="-3.0"/>
+  <arg name="init_z" value="0.0"/> 
+
+  <arg name="forest" value="1"/> 
+
+  <!-- map generation -->
+  <node pkg="map_generator" name="random_forest" type="random_forest" output="screen" if="$(arg forest)">    
+    <remap from="~odometry"   to="$(arg odom_topic)"/>    
+    <param name="init_state_x"   value="$(arg init_x)"/>
+    <param name="init_state_y"   value="$(arg init_y)"/>
+    <param name="map/x_size"     value="$(arg map_size_x)" />
+    <param name="map/y_size"     value="$(arg map_size_y)" />
+    <param name="map/z_size"     value="$(arg map_size_z)" />
+    <param name="map/obs_num"    value="800"/>    
+    <param name="map/circle_num"    value="200"/>   
+    <param name="map/resolution" value="0.1"/>        
+    <param name="ObstacleShape/lower_rad" value="0.4"/>
+    <param name="ObstacleShape/upper_rad" value="1.0"/>
+    <param name="ObstacleShape/lower_hei" value="2.5"/>
+    <param name="ObstacleShape/upper_hei" value="2.5"/>        
+    <param name="CircleShape/lower_circle_rad" value="0.6"/>        
+    <param name="CircleShape/upper_circle_rad" value="1.3"/>        
+    <param name="sensing/rate"   value="1.0"/>        
+  </node>
+  <include file="$(find mockamap)/launch/mockamap.launch" unless="$(arg forest)"/>
+	
+  <node pkg="so3_quadrotor_simulator" type="quadrotor_simulator_so3" name="quadrotor_simulator_so3" output="screen">
+        <param name="rate/odom" value="200.0"/>
+        <param name="simulator/init_state_x" value="$(arg init_x)"/>
+        <param name="simulator/init_state_y" value="$(arg init_y)"/>
+        <param name="simulator/init_state_z" value="$(arg init_z)"/>
+
+        <remap from="~odom" to="/visual_slam/odom"/>
+        <remap from="~cmd" to="so3_cmd"/>
+        <remap from="~force_disturbance" to="force_disturbance"/>    
+        <remap from="~moment_disturbance" to="moment_disturbance"/>        
+  </node>
+	
+  <node pkg="nodelet" type="nodelet" args="standalone so3_control/SO3ControlNodelet" name="so3_control" required="true" output="screen">
+        <remap from="~odom" to="/visual_slam/odom"/>
+        <remap from="~position_cmd" to="/planning/pos_cmd"/>
+        <remap from="~motors" to="motors"/>
+        <remap from="~corrections" to="corrections"/>
+        <remap from="~so3_cmd" to="so3_cmd"/>
+        <rosparam file="$(find so3_control)/config/gains_hummingbird.yaml"/>
+        <rosparam file="$(find so3_control)/config/corrections_hummingbird.yaml"/>
+        <param name="mass" value="0.98"/>
+        <param name="use_angle_corrections " value="false"/>
+        <param name="use_external_yaw "      value="false"/>
+        <param name="gains/rot/z" value="1.0"/>    
+        <param name="gains/ang/z" value="0.1"/>        
+  </node>
+ 
+  <node pkg="odom_visualization" name="odom_visualization" type="odom_visualization" output="screen">
+        <remap from="~odom" to="/visual_slam/odom"/>
+        <param name="color/a" value="1.0"/>    
+        <param name="color/r" value="0.0"/>        
+        <param name="color/g" value="0.8"/>        
+        <param name="color/b" value="0.17"/>       
+        <param name="covariance_scale" value="100.0"/>       
+        <param name="robot_scale" value="1.3"/>
+  </node>
+  
+  <!-- <node pkg="depth_sensor_simulator" type="pcl_render_node" name="pcl_render_node" output="screen">
+    <rosparam command="load" file="$(find depth_sensor_simulator)/params/camera.yaml" />
+
+    <param name="sensing_horizon"  value="5.0" />
+    <param name="sensing_rate"     value="30.0"/>
+    <param name="estimation_rate"  value="30.0"/>
+    <param name="map/x_size"     value="$(arg map_size_x)"/>
+    <param name="map/y_size"     value="$(arg map_size_y)"/>
+    <param name="map/z_size"     value="$(arg map_size_z)"/>
+
+    <remap from="~global_map" to="$(arg global_env_pcd2_topic)"/>
+    <remap from="~odometry"   to="$(arg odom_topic)"/>
+  </node> -->
+  
+
+</launch>
\ No newline at end of file
diff --git a/decision/state_machine/launch/global_trajs.launch b/decision/state_machine/launch/global_trajs.launch
new file mode 100755
index 0000000..76b5c14
--- /dev/null
+++ b/decision/state_machine/launch/global_trajs.launch
@@ -0,0 +1,195 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+  <arg name="odom_topic" value="/visual_slam/odom" />
+  <arg name="depth_topic" value="/pcl_render_node/depth" />
+  <arg name="global_env_pcd2_topic" value="/random_forest/all_map" />
+  <arg name="map_size_x" value="100.0" />
+  <arg name="map_size_y" value="100.0" />
+  <arg name="map_size_z" value="3.5" />
+  <arg name="origin_x" value=" -50.0" />
+  <arg name="origin_y" value=" -50.0" />
+  <arg name="origin_z" value=" -1.0" />
+  <arg name="resolution" value="0.1" />
+  <arg name="vel_limit" value="6.0" />
+  <arg name="acc_limit" value="4.5" />
+  <arg name="jerk_limit" value="13.0" />
+  <arg name="rho_time" value="0.01" />
+  <arg name="global_test" value="true" />
+
+  <node pkg="state_machine" type="global_trajs_node" name="state_machine_node" output="screen">
+    <remap from="/global_cloud" to="$(arg global_env_pcd2_topic)"/>
+    <remap from="/odom_topic" to="$(arg odom_topic)"/>
+    <remap from="/depth_topic" to="$(arg depth_topic)" />
+    
+    <param name="occ_map/origin_x" value="$(arg origin_x)" type="double"/>
+    <param name="occ_map/origin_y" value="$(arg origin_y)" type="double"/>
+    <param name="occ_map/origin_z" value="$(arg origin_z)" type="double"/>
+    <param name="occ_map/map_size_x" value="$(arg map_size_x)" type="double"/>
+    <param name="occ_map/map_size_y" value="$(arg map_size_y)" type="double"/>
+    <param name="occ_map/map_size_z" value="$(arg map_size_z)" type="double"/>
+    <param name="occ_map/local_radius_x"  value="20" /> 
+    <param name="occ_map/local_radius_y"  value="40" /> 
+    <param name="occ_map/local_radius_z"  value="4" /> 
+    <param name="occ_map/resolution" value="$(arg resolution)" type="double"/>
+    <param name="occ_map/show_raw_depth" value="true" type="bool"/>
+    <param name="occ_map/show_filter_proj_depth" value="true" type="bool"/>
+		<param name="occ_map/depth_scale" value="1000.0"/>
+		<param name="occ_map/depth_filter_maxdist"   value="6.0"/>
+    <param name="occ_map/depth_filter_mindist"   value="0.1"/>
+		<param name="occ_map/depth_filter_margin"    value="1"/>
+    <param name="occ_map/skip_pixel" value="2"/>
+
+    <!-- use when mapping frequency is high (>= 30Hz) -->
+    <param name="occ_map/use_shift_filter" value="false" type="bool"/>
+    <param name="occ_map/depth_filter_tolerance" value="0.2"/>
+    
+    <param name="occ_map/cx" value="257.296"/>
+    <param name="occ_map/cy" value="236.743"/>
+    <param name="occ_map/fx" value="385.754"/>
+    <param name="occ_map/fy" value="385.754"/>
+    <param name="occ_map/rows" value="480"/>
+    <param name="occ_map/cols" value="640"/>
+
+    <param name="occ_map/prob_hit_log"  value="1.2"/>
+    <param name="occ_map/prob_miss_log" value="-0.30"/>
+    <param name="occ_map/clamp_min_log"  value="-1.0"/>
+    <param name="occ_map/clamp_max_log"  value="2.0"/>
+    <param name="occ_map/min_occupancy_log"  value="1.39"/>
+    <param name="occ_map/min_ray_length" value="0.1"/>
+    <param name="occ_map/max_ray_length" value="6.0"/>
+    <param name="occ_map/use_global_map" value="$(arg global_test)" type="bool"/>
+    <param name="occ_map/inflate_length" value="0.19"/>
+
+    <param name="pos_checker/hrz_safe_radius" value="0.4"/>
+    <param name="pos_checker/vtc_safe_radius" value="0.2"/>
+    <param name="pos_checker/copter_diag_len" value="0.4"/>
+    <param name="pos_checker/dt" value="0.02"/>
+    <param name="pos_checker/inflate" value="true"/>
+    <param name="pos_checker/global_test" value="$(arg global_test)"/>
+  
+    <!-- kinorrt* params --> 
+    <param name="krrt/rho" value="$(arg rho_time)" type="double"/> <!-- the quadratic matrix R of u'Ru -->
+    <param name="krrt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="krrt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="krrt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="krrt/tree_node_nums" value="5000" type="int" />
+    <param name="krrt/orphan_nums" value="1500" type="int" />
+    <param name="krrt/debug_vis" value="false" type="bool" />
+    <param name="krrt/radius_cost_between_two_states" value="4" type="double" /> <!-- cost tolerance -->
+    <param name="krrt/allow_orphan" value="false" type="bool" />
+    <param name="krrt/allow_close_goal" value="false" type="bool" />
+    <param name="krrt/stop_after_first_traj_found" value="false" type="bool" />
+    <param name="krrt/rewire" value="true" type="bool" />
+    <param name="krrt/use_regional_opt" value="false" type="bool" />
+    <param name="krrt/use_deform" value="false" type="bool" />
+    <param name="krrt/test_convergency" value="true" type="bool" />
+    <param name="krrt/min_deform_duration" value="0.8" type="double" />
+
+    <param name="bikrrt/rho" value="$(arg rho_time)" type="double"/> <!-- the quadratic matrix R of u'Ru -->
+    <param name="bikrrt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="bikrrt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="bikrrt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="bikrrt/tree_node_nums" value="5000" type="int" />
+    <param name="bikrrt/orphan_nums" value="1500" type="int" />
+    <param name="bikrrt/debug_vis" value="false" type="bool" />
+    <param name="bikrrt/radius_cost_between_two_states" value="4" type="double" /> <!-- cost tolerance -->
+    <param name="bikrrt/allow_orphan" value="false" type="bool" />
+    <param name="bikrrt/allow_close_goal" value="false" type="bool" />
+    <param name="bikrrt/stop_after_first_traj_found" value="false" type="bool" />
+    <param name="bikrrt/rewire" value="true" type="bool" />
+    <param name="bikrrt/use_regional_opt" value="false" type="bool" />
+    <param name="bikrrt/use_deform" value="false" type="bool" />
+    <param name="bikrrt/test_convergency" value="true" type="bool" />
+
+    <param name="search/max_tau" value="0.5" type="double"/>
+    <param name="search/init_max_tau" value="0.8" type="double"/>
+    <param name="search/max_vel" value="$(arg vel_limit)" type="double"/>
+    <param name="search/max_acc" value="$(arg acc_limit)" type="double"/>
+    <param name="search/w_time" value="100.0" type="double"/>
+    <param name="search/horizon" value="600.0" type="double"/>
+    <param name="search/lambda_heu" value="1" type="double"/>
+    <param name="search/resolution_astar" value="$(arg resolution)" type="double"/>
+    <param name="search/time_resolution" value="0.8" type="double"/>
+    <param name="search/allocate_num" value="1000000" type="int"/>
+
+
+    <param name="search/jerk/max_vel" value="$(arg vel_limit)" type="double"/>
+    <param name="search/jerk/max_acc" value="$(arg acc_limit)" type="double"/>
+    <param name="search/jerk/w_time" value="100.0" type="double"/>
+    <param name="search/jerk/horizon" value="5.0" type="double"/>
+    <param name="search/jerk/lambda_heu" value="2" type="double"/>
+    <param name="search/jerk/resolution_astar" value="$(arg resolution)" type="double"/>
+    <param name="search/jerk/allocate_num" value="1000000" type="int"/>
+    <param name="search/jerk/max_jerk" value="1.0" type="double"/>
+    <param name="search/jerk/rho" value="$(arg rho_time)" type="double"/>
+    <param name="search/jerk/input_res" value="1.0" type="double"/>
+    <param name="search/jerk/time_res" value="0.2" type="double"/>
+    <param name="search/jerk/max_tau" value="1.5" type="double"/>
+    <param name="search/jerk/input_res_int" value="0.25" type="double"/>
+    <param name="search/jerk/time_res_init" value="0.25" type="double"/>
+    <param name="search/jerk/init_max_tau" value="2.0" type="double"/>
+
+
+    <param name="topo_prm/sample_inflate_x" value="1.0" type="double"/>
+    <param name="topo_prm/sample_inflate_y" value="3.0" type="double"/>
+    <param name="topo_prm/sample_inflate_z" value="1.0" type="double"/>
+    <param name="topo_prm/clearance" value="0.3" type="double"/>
+    <param name="topo_prm/max_sample_time" value="1.0" type="double"/>
+    <param name="topo_prm/max_sample_num" value="2000" type="int"/>
+    <param name="topo_prm/max_raw_path" value="300" type="int"/>
+    <param name="topo_prm/max_raw_path2" value="300" type="int"/>
+    <param name="topo_prm/reserve_num" value="1" type="int"/>
+    <param name="topo_prm/ratio_to_short" value="5.5" type="double"/>
+    <param name="topo_prm/parallel_shortcut" value="true" type="bool"/>
+
+    <param name="r3/sampling_space_inflate" value="5.0" type="double"/>
+    <param name="r3/ground_height" value="0.0" type="double"/>
+    <param name="r3/ceiling_height" value="2.0" type="double"/>
+    <param name="r3/search_time_per_meter" value="0.03" type="double"/>
+    <param name="r3/lattice_step" value="0.3" type="double"/>
+    <param name="r3/use_ompl" value="true" type="bool"/>
+
+    <param name="sampler/vel_mag_mean" value="3.5" type="double" />
+    <param name="sampler/pos_hrz_var" value="1.5" type="double" />
+    <param name="sampler/pos_vtc_var" value="1.0" type="double" />
+    <param name="sampler/vel_mag_var" value="1.5" type="double" />
+    <param name="sampler/vel_dir_var" value="0.3" type="double" />
+    <param name="sampler/resolution" value="$(arg resolution)" type="double" />
+
+    <param name="optimization/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="optimization/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="optimization/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="optimization/max_iter_times" value="30" type="int" />
+
+    <param name="trunk_opt/rho" value="$(arg rho_time)" type="double" />
+    <param name="trunk_opt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="trunk_opt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="trunk_opt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="trunk_opt/discretization" value="10" type="int" />
+    <param name="trunk_opt/rho_pos" value="100.0" type="double" />
+    <param name="trunk_opt/rho_vel" value="100.0" type="double" />
+    <param name="trunk_opt/rho_acc" value="100.0" type="double" />
+    <param name="trunk_opt/dist_tolerance" value="0.1" type="double" />
+
+    <param name="global_trajs/start_x" value="5.0" type="double"/>
+    <param name="global_trajs/start_y" value="30.0" type="double"/>
+    <param name="global_trajs/start_z" value="0.0" type="double"/>
+    <param name="global_trajs/use_optimization" value="false" type="bool"/>
+    <param name="global_trajs/use_r3" value="false" type="bool"/>
+    <param name="global_trajs/replan_time" value="1.5" type="double"/>
+    <param name="global_trajs/test_variants" value="false" type="bool"/>
+    <param name="global_trajs/test_wo" value="true" type="bool"/>
+    <param name="global_trajs/use_bench" value="true" type="bool"/>
+    <param name="global_trajs/test_bikrrt_w" value="true" type="bool"/>
+    <param name="global_trajs/test_bikrrt_wo" value="true" type="bool"/>
+    <param name="global_trajs/test_rrt_w" value="true" type="bool"/>
+    <param name="global_trajs/test_rrt_wo" value="true" type="bool"/>
+    <param name="global_trajs/repeat_times" value="1" type="int"/>
+    <param name="global_trajs/max_vel" value="$(arg vel_limit)" type="double"/>
+    <param name="global_trajs/max_acc" value="$(arg acc_limit)" type="double"/>
+    <param name="global_trajs/max_jerk" value="$(arg jerk_limit)" type="double"/>
+    <param name="global_trajs/rho" value="$(arg rho_time)" type="double"/>
+
+  </node>
+  
+</launch>
\ No newline at end of file
diff --git a/decision/state_machine/launch/learn.launch b/decision/state_machine/launch/learn.launch
new file mode 100755
index 0000000..7cc85e9
--- /dev/null
+++ b/decision/state_machine/launch/learn.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+
+  <node pkg="state_machine" type="generate_learning_samples_node" name="generate_learning_samples_node" output="screen"/> 
+
+</launch>
diff --git a/decision/state_machine/launch/planning.launch b/decision/state_machine/launch/planning.launch
new file mode 100755
index 0000000..bf9e039
--- /dev/null
+++ b/decision/state_machine/launch/planning.launch
@@ -0,0 +1,152 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+  <arg name="odom_topic" value="/visual_slam/odom" />
+  <arg name="depth_topic" value="/pcl_render_node/depth" />
+  <arg name="global_env_pcd2_topic" value="/random_forest/all_map" />
+  <arg name="map_size_x" value="14.0" />
+  <arg name="map_size_y" value="70.0" />
+  <arg name="map_size_z" value="2.5" />
+  <arg name="origin_x" value=" -7.0" />
+  <arg name="origin_y" value=" -35.0" />
+  <arg name="origin_z" value=" -1.0" />
+  <arg name="resolution" value="0.1" />
+  <arg name="vel_limit" value="5.0" />
+  <arg name="acc_limit" value="4.0" />
+  <arg name="jerk_limit" value="15.0" />
+  <arg name="rho_time" value="0.01" />
+  <arg name="global_test" value="true" />
+
+  <!-- <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 1 map world_enu 100" /> -->
+
+  <node pkg="state_machine" type="state_machine_node" name="state_machine_node" output="screen">
+    <remap from="/global_cloud" to="$(arg global_env_pcd2_topic)"/>
+    <remap from="/odom_topic" to="$(arg odom_topic)"/>
+    <remap from="/depth_topic" to="$(arg depth_topic)" />
+
+    <param name="occ_map/origin_x" value="$(arg origin_x)" type="double"/>
+    <param name="occ_map/origin_y" value="$(arg origin_y)" type="double"/>
+    <param name="occ_map/origin_z" value="$(arg origin_z)" type="double"/>
+    <param name="occ_map/map_size_x" value="$(arg map_size_x)" type="double"/>
+    <param name="occ_map/map_size_y" value="$(arg map_size_y)" type="double"/>
+    <param name="occ_map/map_size_z" value="$(arg map_size_z)" type="double"/>
+    <param name="occ_map/local_radius_x" value="20" />
+    <param name="occ_map/local_radius_y" value="20" />
+    <param name="occ_map/local_radius_z" value="3" />
+    <param name="occ_map/resolution" value="$(arg resolution)" type="double"/>
+    <param name="occ_map/show_raw_depth" value="true" type="bool"/>
+    <param name="occ_map/show_filter_proj_depth" value="true" type="bool"/>
+    <param name="occ_map/depth_scale" value="1000.0"/>
+    <param name="occ_map/depth_filter_maxdist" value="6.0"/>
+    <param name="occ_map/depth_filter_mindist" value="0.1"/>
+    <param name="occ_map/depth_filter_margin" value="1"/>
+    <param name="occ_map/skip_pixel" value="2"/>
+
+    <!-- use when mapping frequency is high (>= 30Hz) -->
+    <param name="occ_map/use_shift_filter" value="false" type="bool"/>
+    <param name="occ_map/depth_filter_tolerance" value="0.2"/>
+
+    <param name="occ_map/cx" value="257.296"/>
+    <param name="occ_map/cy" value="236.743"/>
+    <param name="occ_map/fx" value="385.754"/>
+    <param name="occ_map/fy" value="385.754"/>
+    <param name="occ_map/rows" value="480"/>
+    <param name="occ_map/cols" value="640"/>
+
+    <param name="occ_map/prob_hit_log" value="1.2"/>
+    <param name="occ_map/prob_miss_log" value="-0.30"/>
+    <param name="occ_map/clamp_min_log" value="-1.0"/>
+    <param name="occ_map/clamp_max_log" value="2.0"/>
+    <param name="occ_map/min_occupancy_log" value="1.39"/>
+    <param name="occ_map/min_ray_length" value="0.1"/>
+    <param name="occ_map/max_ray_length" value="6.0"/>
+    <param name="occ_map/use_global_map" value="$(arg global_test)" type="bool"/>
+    <param name="occ_map/inflate_length" value="0.19"/>
+
+    <param name="pos_checker/hrz_safe_radius" value="0.4"/>
+    <param name="pos_checker/vtc_safe_radius" value="0.2"/>
+    <param name="pos_checker/copter_diag_len" value="0.2"/>
+    <param name="pos_checker/dt" value="0.02"/>
+    <param name="pos_checker/inflate" value="true"/>
+    <param name="pos_checker/global_test" value="$(arg global_test)"/>
+
+    <!-- kinorrt* params -->
+    <param name="krrt/rho" value="$(arg rho_time)" type="double"/>
+    <!-- the quadratic matrix R of u'Ru -->
+    <param name="krrt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="krrt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="krrt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="krrt/tree_node_nums" value="2000" type="int" />
+    <param name="krrt/orphan_nums" value="1500" type="int" />
+    <param name="krrt/debug_vis" value="true" type="bool" />
+    <param name="krrt/radius_cost_between_two_states" value="3" type="double" />
+    <!-- cost tolerance -->
+    <param name="krrt/allow_orphan" value="false" type="bool" />
+    <param name="krrt/allow_close_goal" value="false" type="bool" />
+    <param name="krrt/stop_after_first_traj_found" value="false" type="bool" />
+    <param name="krrt/rewire" value="true" type="bool" />
+    <param name="krrt/use_regional_opt" value="false" type="bool" />
+    <param name="krrt/use_deform" value="false" type="bool" />
+    <param name="krrt/test_convergency" value="true" type="bool" />
+    <param name="krrt/min_deform_duration" value="1.0" type="double" />
+
+    <param name="bikrrt/rho" value="$(arg rho_time)" type="double"/>
+    <!-- the quadratic matrix R of u'Ru -->
+    <param name="bikrrt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="bikrrt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="bikrrt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="bikrrt/tree_node_nums" value="5000" type="int" />
+    <param name="bikrrt/orphan_nums" value="1500" type="int" />
+    <param name="bikrrt/debug_vis" value="true" type="bool" />
+    <param name="bikrrt/radius_cost_between_two_states" value="4" type="double" />
+    <!-- cost tolerance -->
+    <param name="bikrrt/allow_orphan" value="false" type="bool" />
+    <param name="bikrrt/allow_close_goal" value="false" type="bool" />
+    <param name="bikrrt/stop_after_first_traj_found" value="false" type="bool" />
+    <param name="bikrrt/rewire" value="true" type="bool" />
+    <param name="bikrrt/use_regional_opt" value="true" type="bool" />
+    <param name="bikrrt/use_deform" value="false" type="bool" />
+    <param name="bikrrt/test_convergency" value="false" type="bool" />
+
+    <param name="r3/sampling_space_inflate" value="5.0" type="double"/>
+    <param name="r3/ground_height" value="0.0" type="double"/>
+    <param name="r3/ceiling_height" value="2.0" type="double"/>
+    <param name="r3/search_time_per_meter" value="0.0005" type="double"/>
+    <param name="r3/lattice_step" value="1.0" type="double"/>
+
+    <param name="sampler/vel_mag_mean" value="3.5" type="double" />
+    <param name="sampler/pos_hrz_var" value="1.5" type="double" />
+    <param name="sampler/pos_vtc_var" value="1.0" type="double" />
+    <param name="sampler/vel_mag_var" value="1.5" type="double" />
+    <param name="sampler/vel_dir_var" value="0.3" type="double" />
+    <param name="sampler/resolution" value="$(arg resolution)" type="double" />
+
+    <param name="optimization/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="optimization/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="optimization/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="optimization/max_iter_times" value="30" type="int" />
+
+    <param name="trunk_opt/rho" value="$(arg rho_time)" type="double" />
+    <param name="trunk_opt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="trunk_opt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="trunk_opt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="trunk_opt/discretization" value="10" type="int" />
+    <param name="trunk_opt/rho_pos" value="100.0" type="double" />
+    <param name="trunk_opt/rho_vel" value="100.0" type="double" />
+    <param name="trunk_opt/rho_acc" value="100.0" type="double" />
+    <param name="trunk_opt/dist_tolerance" value="0.1" type="double" />
+
+    <!-- fsm params -->
+    <param name="fsm/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="fsm/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="fsm/use_optimization" value="true" type="bool"/>
+    <param name="fsm/replan" value="false" type="bool"/>
+    <param name="fsm/replan_time" value="2" type="double"/>
+    <param name="fsm/allow_track_err_replan" value="false" type="bool"/>
+    <param name="fsm/e_stop_time_margin" value="0.5" type="double"/>
+    <param name="fsm/replan_check_duration" value="3.0" type="double"/>
+
+  </node>
+
+  <include file="$(find state_machine)/launch/server.launch"/>
+
+</launch>
diff --git a/decision/state_machine/launch/real_world_planning.launch b/decision/state_machine/launch/real_world_planning.launch
new file mode 100755
index 0000000..0ff13da
--- /dev/null
+++ b/decision/state_machine/launch/real_world_planning.launch
@@ -0,0 +1,198 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+  <arg name="odom_topic" value="/visual_slam/odom" />
+  <arg name="depth_topic" value="/pcl_render_node/depth" />
+  <arg name="global_env_pcd2_topic" value="/random_forest/all_map" />
+  <arg name="map_size_x" value="5.0" />
+  <arg name="map_size_y" value="11.0" />
+  <arg name="map_size_z" value="2.5" />
+  <arg name="origin_x" value=" -2.5" />
+  <arg name="origin_y" value=" -5.5" />
+  <arg name="origin_z" value=" -1.0" />
+  <arg name="resolution" value="0.1" />
+  <arg name="vel_limit" value="4.0" />
+  <arg name="acc_limit" value="5.0" />
+  <arg name="jerk_limit" value="15.0" />
+  <arg name="rho_time" value="0.1" />
+  <arg name="global_test" value="true" />
+
+  <!-- <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 1 map world_enu 100" /> -->
+
+  <node pkg="state_machine" type="state_machine_node" name="state_machine_node" output="screen" > 
+    <remap from="/global_cloud" to="$(arg global_env_pcd2_topic)"/>
+    <remap from="/odom_topic" to="$(arg odom_topic)"/>
+    <remap from="/depth_topic" to="$(arg depth_topic)" />
+    
+    <param name="occ_map/origin_x" value="$(arg origin_x)" type="double"/>
+    <param name="occ_map/origin_y" value="$(arg origin_y)" type="double"/>
+    <param name="occ_map/origin_z" value="$(arg origin_z)" type="double"/>
+    <param name="occ_map/map_size_x" value="$(arg map_size_x)" type="double"/>
+    <param name="occ_map/map_size_y" value="$(arg map_size_y)" type="double"/>
+    <param name="occ_map/map_size_z" value="$(arg map_size_z)" type="double"/>
+    <param name="occ_map/local_radius_x"  value="20" /> 
+    <param name="occ_map/local_radius_y"  value="20" /> 
+    <param name="occ_map/local_radius_z"  value="3" /> 
+    <param name="occ_map/resolution" value="$(arg resolution)" type="double"/>
+    <param name="occ_map/show_raw_depth" value="true" type="bool"/>
+    <param name="occ_map/show_filter_proj_depth" value="true" type="bool"/>
+    <param name="occ_map/depth_scale" value="1000.0"/>
+    <param name="occ_map/depth_filter_maxdist"   value="6.0"/>
+    <param name="occ_map/depth_filter_mindist"   value="0.1"/>
+    <param name="occ_map/depth_filter_margin"    value="1"/>
+    <param name="occ_map/skip_pixel" value="2"/>
+
+    <!-- use when mapping frequency is high (>= 30Hz) -->
+    <param name="occ_map/use_shift_filter" value="false" type="bool"/>
+    <param name="occ_map/depth_filter_tolerance" value="0.2"/>
+    
+    <param name="occ_map/cx" value="257.296"/>
+    <param name="occ_map/cy" value="236.743"/>
+    <param name="occ_map/fx" value="385.754"/>
+    <param name="occ_map/fy" value="385.754"/>
+    <param name="occ_map/rows" value="480"/>
+    <param name="occ_map/cols" value="640"/>
+
+    <param name="occ_map/prob_hit_log"  value="1.2"/>
+    <param name="occ_map/prob_miss_log" value="-0.30"/>
+    <param name="occ_map/clamp_min_log"  value="-1.0"/>
+    <param name="occ_map/clamp_max_log"  value="2.0"/>
+    <param name="occ_map/min_occupancy_log"  value="1.39"/>
+    <param name="occ_map/min_ray_length" value="0.1"/>
+    <param name="occ_map/max_ray_length" value="6.0"/>
+    <param name="occ_map/use_global_map" value="$(arg global_test)" type="bool"/>
+
+    <param name="pos_checker/hrz_safe_radius" value="0.4"/>
+    <param name="pos_checker/vtc_safe_radius" value="0.2"/>
+    <param name="pos_checker/copter_diag_len" value="0.3"/>
+    <param name="pos_checker/dt" value="0.02"/>
+    <param name="pos_checker/inflate" value="true"/>
+    <param name="pos_checker/global_test" value="$(arg global_test)"/>
+  
+    <!-- kinorrt* params --> 
+    <param name="krrt/rho" value="$(arg rho_time)" type="double"/> <!-- the quadratic matrix R of u'Ru -->
+    <param name="krrt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="krrt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="krrt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="krrt/tree_node_nums" value="5000" type="int" />
+    <param name="krrt/orphan_nums" value="1500" type="int" />
+    <param name="krrt/debug_vis" value="true" type="bool" />
+    <param name="krrt/radius_cost_between_two_states" value="2" type="double" /> <!-- cost tolerance -->
+    <param name="krrt/allow_orphan" value="false" type="bool" />
+    <param name="krrt/allow_close_goal" value="false" type="bool" />
+    <param name="krrt/stop_after_first_traj_found" value="true" type="bool" />
+    <param name="krrt/rewire" value="true" type="bool" />
+    <param name="krrt/use_regional_opt" value="false" type="bool" />
+    <param name="krrt/use_deform" value="false" type="bool" />
+    <param name="krrt/test_convergency" value="false" type="bool" />
+
+    <param name="bikrrt/rho" value="$(arg rho_time)" type="double"/> <!-- the quadratic matrix R of u'Ru -->
+    <param name="bikrrt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="bikrrt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="bikrrt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="bikrrt/tree_node_nums" value="5000" type="int" />
+    <param name="bikrrt/orphan_nums" value="1500" type="int" />
+    <param name="bikrrt/debug_vis" value="true" type="bool" />
+    <param name="bikrrt/radius_cost_between_two_states" value="2" type="double" /> <!-- cost tolerance -->
+    <param name="bikrrt/allow_orphan" value="false" type="bool" />
+    <param name="bikrrt/allow_close_goal" value="false" type="bool" />
+    <param name="bikrrt/stop_after_first_traj_found" value="true" type="bool" />
+    <param name="bikrrt/rewire" value="true" type="bool" />
+    <param name="bikrrt/use_regional_opt" value="true" type="bool" />
+    <param name="bikrrt/use_deform" value="false" type="bool" />
+    <param name="bikrrt/test_convergency" value="false" type="bool" />
+
+    <param name="kfmt/rho" value="$(arg rho_time)" type="double"/> <!-- the quadratic matrix R of u'Ru -->
+    <param name="kfmt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="kfmt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="kfmt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="kfmt/preallocate_node_pool_num" value="2000" type="int" />
+    <param name="kfmt/preallocate_regional_node_pool_num" value="100" type="int" />
+    <param name="kfmt/sample_num_per_meter" value="4" type="int" />
+    <param name="kfmt/debug_vis" value="false" type="bool" />
+    <param name="kfmt/radius_cost_between_two_states" value="4" type="double" /> <!-- cost tolerance -->
+    <param name="kfmt/allow_close_goal" value="false" type="bool" />
+    <param name="kfmt/lambda_heu" value="1.0" type="double" />
+    <param name="kfmt/tie_breaker" value="1.0001" type="double" />
+    <param name="kfmt/search_time" value="0.1" type="double" />
+    <param name="kfmt/use_regional_opt" value="false" type="bool" />
+
+    <param name="search/max_tau" value="0.3" type="double"/>
+    <param name="search/init_max_tau" value="0.8" type="double"/>
+    <param name="search/max_vel" value="$(arg vel_limit)" type="double"/>
+    <param name="search/max_acc" value="$(arg acc_limit)" type="double"/>
+    <param name="search/w_time" value="100.0" type="double"/>
+    <param name="search/horizon" value="60.0" type="double"/>
+    <param name="search/lambda_heu" value="1" type="double"/>
+    <param name="search/resolution_astar" value="$(arg resolution)" type="double"/>
+    <param name="search/time_resolution" value="0.8" type="double"/>
+    <param name="search/allocate_num" value="100000" type="int"/>
+
+    <param name="search/jerk/max_tau" value="0.5" type="double"/>
+    <param name="search/jerk/init_max_tau" value="0.8" type="double"/>
+    <param name="search/jerk/max_vel" value="$(arg vel_limit)" type="double"/>
+    <param name="search/jerk/max_acc" value="$(arg acc_limit)" type="double"/>
+    <param name="search/jerk/w_time" value="100.0" type="double"/>
+    <param name="search/jerk/horizon" value="10.0" type="double"/>
+    <param name="search/jerk/lambda_heu" value="1" type="double"/>
+    <param name="search/jerk/resolution_astar" value="$(arg resolution)" type="double"/>
+    <param name="search/jerk/time_resolution" value="0.8" type="double"/>
+    <param name="search/jerk/allocate_num" value="100000" type="int"/>
+    <param name="search/jerk/max_jerk" value="3.0" type="double"/>
+    <param name="search/jerk/rho" value="$(arg rho_time)" type="double"/>
+
+    <param name="topo_prm/sample_inflate_x" value="1.0" type="double"/>
+    <param name="topo_prm/sample_inflate_y" value="3.0" type="double"/>
+    <param name="topo_prm/sample_inflate_z" value="1.0" type="double"/>
+    <param name="topo_prm/clearance" value="0.3" type="double"/>
+    <param name="topo_prm/max_sample_time" value="1.0" type="double"/>
+    <param name="topo_prm/max_sample_num" value="2000" type="int"/>
+    <param name="topo_prm/max_raw_path" value="300" type="int"/>
+    <param name="topo_prm/max_raw_path2" value="300" type="int"/>
+    <param name="topo_prm/reserve_num" value="1" type="int"/>
+    <param name="topo_prm/ratio_to_short" value="5.5" type="double"/>
+    <param name="topo_prm/parallel_shortcut" value="true" type="bool"/>
+
+    <param name="r3/sampling_space_inflate" value="5.0" type="double"/>
+    <param name="r3/ground_height" value="0.0" type="double"/>
+    <param name="r3/ceiling_height" value="2.0" type="double"/>
+    <param name="r3/search_time_per_meter" value="0.0005" type="double"/>
+    <param name="r3/lattice_step" value="0.5" type="double"/>
+
+    <param name="sampler/vel_mag_mean" value="2.0" type="double" />
+    <param name="sampler/pos_hrz_var" value="2.1" type="double" />
+    <param name="sampler/pos_vtc_var" value="0.0" type="double" />
+    <param name="sampler/vel_mag_var" value="0.5" type="double" />
+    <param name="sampler/vel_dir_var" value="0.1" type="double" />
+    <param name="sampler/resolution" value="$(arg resolution)" type="double" />
+
+    <param name="optimization/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="optimization/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="optimization/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="optimization/max_iter_times" value="15" type="int" />
+
+    <param name="trunk_opt/rho" value="$(arg rho_time)" type="double" />
+    <param name="trunk_opt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="trunk_opt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="trunk_opt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="trunk_opt/discretization" value="10" type="int" />
+    <param name="trunk_opt/rho_pos" value="51200.0" type="double" />
+    <param name="trunk_opt/rho_vel" value="512.0" type="double" />
+    <param name="trunk_opt/rho_acc" value="512.0" type="double" />
+    <param name="trunk_opt/dist_tolerance" value="0.4" type="double" />
+    
+    <!-- fsm params --> 
+    <param name="fsm/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="fsm/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="fsm/use_optimization" value="true" type="bool"/>
+    <param name="fsm/replan" value="false" type="bool"/>
+    <param name="fsm/replan_time" value="0.03" type="double"/>
+    <param name="fsm/allow_track_err_replan" value="false" type="bool"/>
+    <param name="fsm/e_stop_time_margin" value="0.5" type="double"/>
+    <param name="fsm/replan_check_duration" value="3.0" type="double"/>
+    <param name="fsm/bidirection" value="false" type="bool" />
+    
+  </node>
+    
+  <include file="$(find state_machine)/launch/server.launch"/>
+    
+</launch>
diff --git a/decision/state_machine/launch/record_bag.launch b/decision/state_machine/launch/record_bag.launch
new file mode 100755
index 0000000..7c14cd7
--- /dev/null
+++ b/decision/state_machine/launch/record_bag.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+	<node pkg="rosbag" type="record" name="bag_record" output="screen" args="-o /home/dji/data/bag/kaixuan /occ_map/history_view_cloud /occ_map/local_view_cloud /state_machine_node/a_traj_pos /state_machine_node/a_traj_vel /state_machine_node/a_traj_acc /state_machine_node/opti_traj_pos /state_machine_node/opti_traj_vel /state_machine_node/opti_traj_acc /state_machine_node/topo /state_machine_node/best_traj_pos /state_machine_node/optimized_traj_cover /position_cmd /state_machine_node/start_and_goal /state_machine_node/ref_traj_pos /state_machine_node/ref_traj_vel /state_machine_node/ref_traj_acc /planning/position_cmd_vis /ego_pose /ego_acc /ego_vel /tf /tf_static /fcoa_output /propagated_fcoa /imu_output /ctrl/ctrl /disp_0 /disp/cam_info_0 /rectify/omni_0 /rectify/cam_info_0 /vio_output --tcpnodelay">
+  </node>
+  
+</launch>
diff --git a/decision/state_machine/launch/rviz.launch b/decision/state_machine/launch/rviz.launch
new file mode 100755
index 0000000..0cc0591
--- /dev/null
+++ b/decision/state_machine/launch/rviz.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+    
+    <node pkg="rviz" type="rviz" name="rviz" output="screen" args="-d $(find state_machine)/launch/traj.rviz"/>
+
+    <!-- <include file="$(find state_machine)/launch/fly_simulator.launch"/> -->
+    <include file="$(find state_machine)/launch/benchmark_simulator.launch"/>
+
+</launch>
diff --git a/decision/state_machine/launch/server.launch b/decision/state_machine/launch/server.launch
new file mode 100755
index 0000000..a05e293
--- /dev/null
+++ b/decision/state_machine/launch/server.launch
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+  <node pkg="state_machine" type="traj_server_node" name="traj_server_node" output="screen">
+    <remap from="/curr_state_sub_topic" to="/visual_slam/odom" />
+    <remap from="/position_cmd" to="planning/pos_cmd"/>
+  </node>
+  
+</launch>
diff --git a/decision/state_machine/launch/test_bvp.launch b/decision/state_machine/launch/test_bvp.launch
new file mode 100755
index 0000000..1bde44c
--- /dev/null
+++ b/decision/state_machine/launch/test_bvp.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+  <node pkg="state_machine" type="test_bvp_node" name="test_bvp_node" output="screen" launch-prefix="gdb -ex run --args">
+    <param name="test/start_px" value="0.0" type="double" />
+    <param name="test/start_py" value="0.0" type="double" />
+    <param name="test/start_pz" value="0.0" type="double" />
+    <param name="test/start_vx" value="-2.0" type="double" />
+    <param name="test/start_vy" value="-2.0" type="double" />
+    <param name="test/start_vz" value="0.0" type="double" />
+    <param name="test/start_ax" value="0.0" type="double" />
+    <param name="test/start_ay" value="0.0" type="double" />
+    <param name="test/start_az" value="0.0" type="double" />
+    <param name="test/rho" value="0.01" type="double" />
+  </node>
+
+</launch>
diff --git a/decision/state_machine/launch/test_planners.launch b/decision/state_machine/launch/test_planners.launch
new file mode 100755
index 0000000..ddf55cd
--- /dev/null
+++ b/decision/state_machine/launch/test_planners.launch
@@ -0,0 +1,221 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+  <arg name="odom_topic" value="/visual_slam/odom" />
+  <arg name="depth_topic" value="/pcl_render_node/depth" />
+  <arg name="global_env_pcd2_topic" value="/random_forest/all_map" />
+  <arg name="map_size_x" value="14.0" />
+  <arg name="map_size_y" value="70.0" />
+  <arg name="map_size_z" value="3.5" />
+  <arg name="origin_x" value=" -7.0" />
+  <arg name="origin_y" value=" -35.0" />
+  <arg name="origin_z" value=" -1.0" />
+  <arg name="resolution" value="0.1" />
+  <arg name="vel_limit" value="7.0" />
+  <arg name="acc_limit" value="5.0" />
+  <arg name="jerk_limit" value="15.0" />
+  <arg name="rho_time" value="0.01" />
+  <arg name="global_test" value="true" />
+
+  <node pkg="state_machine" type="test_planner_node" name="state_machine_node" output="screen">
+
+    <remap from="/global_cloud" to="$(arg global_env_pcd2_topic)"/>
+    <remap from="/odom_topic" to="$(arg odom_topic)"/>
+    <remap from="/depth_topic" to="$(arg depth_topic)" />
+
+    <param name="occ_map/origin_x" value="$(arg origin_x)" type="double"/>
+    <param name="occ_map/origin_y" value="$(arg origin_y)" type="double"/>
+    <param name="occ_map/origin_z" value="$(arg origin_z)" type="double"/>
+    <param name="occ_map/map_size_x" value="$(arg map_size_x)" type="double"/>
+    <param name="occ_map/map_size_y" value="$(arg map_size_y)" type="double"/>
+    <param name="occ_map/map_size_z" value="$(arg map_size_z)" type="double"/>
+    <param name="occ_map/local_radius_x" value="20" />
+    <param name="occ_map/local_radius_y" value="40" />
+    <param name="occ_map/local_radius_z" value="4" />
+    <param name="occ_map/resolution" value="$(arg resolution)" type="double"/>
+    <param name="occ_map/show_raw_depth" value="true" type="bool"/>
+    <param name="occ_map/show_filter_proj_depth" value="true" type="bool"/>
+    <param name="occ_map/depth_scale" value="1000.0"/>
+    <param name="occ_map/depth_filter_maxdist" value="6.0"/>
+    <param name="occ_map/depth_filter_mindist" value="0.1"/>
+    <param name="occ_map/depth_filter_margin" value="1"/>
+    <param name="occ_map/skip_pixel" value="2"/>
+
+    <!-- use when mapping frequency is high (>= 30Hz) -->
+    <param name="occ_map/use_shift_filter" value="false" type="bool"/>
+    <param name="occ_map/depth_filter_tolerance" value="0.2"/>
+
+    <param name="occ_map/cx" value="257.296"/>
+    <param name="occ_map/cy" value="236.743"/>
+    <param name="occ_map/fx" value="385.754"/>
+    <param name="occ_map/fy" value="385.754"/>
+    <param name="occ_map/rows" value="480"/>
+    <param name="occ_map/cols" value="640"/>
+
+    <param name="occ_map/prob_hit_log" value="1.2"/>
+    <param name="occ_map/prob_miss_log" value="-0.30"/>
+    <param name="occ_map/clamp_min_log" value="-1.0"/>
+    <param name="occ_map/clamp_max_log" value="2.0"/>
+    <param name="occ_map/min_occupancy_log" value="1.39"/>
+    <param name="occ_map/min_ray_length" value="0.1"/>
+    <param name="occ_map/max_ray_length" value="6.0"/>
+    <param name="occ_map/use_global_map" value="$(arg global_test)" type="bool"/>
+    <param name="occ_map/inflate_length" value="0.19"/>
+
+    <param name="pos_checker/hrz_safe_radius" value="0.4"/>
+    <param name="pos_checker/vtc_safe_radius" value="0.2"/>
+    <param name="pos_checker/copter_diag_len" value="0.4"/>
+    <param name="pos_checker/dt" value="0.02"/>
+    <param name="pos_checker/inflate" value="true"/>
+    <param name="pos_checker/global_test" value="$(arg global_test)"/>
+
+    <!-- kinorrt* params -->
+    <param name="krrt/rho" value="$(arg rho_time)" type="double"/>
+    <!-- the quadratic matrix R of u'Ru -->
+    <param name="krrt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="krrt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="krrt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="krrt/tree_node_nums" value="5000" type="int" />
+    <param name="krrt/orphan_nums" value="1500" type="int" />
+    <param name="krrt/debug_vis" value="false" type="bool" />
+    <param name="krrt/radius_cost_between_two_states" value="4" type="double" />
+    <!-- cost tolerance -->
+    <param name="krrt/allow_orphan" value="false" type="bool" />
+    <param name="krrt/allow_close_goal" value="false" type="bool" />
+    <param name="krrt/stop_after_first_traj_found" value="false" type="bool" />
+    <param name="krrt/rewire" value="true" type="bool" />
+    <param name="krrt/use_regional_opt" value="false" type="bool" />
+    <param name="krrt/use_deform" value="false" type="bool" />
+    <param name="krrt/test_convergency" value="true" type="bool" />
+    <param name="krrt/min_deform_duration" value="0.8" type="double" />
+
+    <param name="bikrrt/rho" value="$(arg rho_time)" type="double"/>
+    <!-- the quadratic matrix R of u'Ru -->
+    <param name="bikrrt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="bikrrt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="bikrrt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="bikrrt/tree_node_nums" value="5000" type="int" />
+    <param name="bikrrt/orphan_nums" value="1500" type="int" />
+    <param name="bikrrt/debug_vis" value="false" type="bool" />
+    <param name="bikrrt/radius_cost_between_two_states" value="4" type="double" />
+    <!-- cost tolerance -->
+    <param name="bikrrt/allow_orphan" value="false" type="bool" />
+    <param name="bikrrt/allow_close_goal" value="false" type="bool" />
+    <param name="bikrrt/stop_after_first_traj_found" value="false" type="bool" />
+    <param name="bikrrt/rewire" value="true" type="bool" />
+    <param name="bikrrt/use_regional_opt" value="false" type="bool" />
+    <param name="bikrrt/use_deform" value="false" type="bool" />
+    <param name="bikrrt/test_convergency" value="true" type="bool" />
+
+    <param name="search/max_tau" value="0.5" type="double"/>
+    <param name="search/init_max_tau" value="0.8" type="double"/>
+    <param name="search/max_vel" value="$(arg vel_limit)" type="double"/>
+    <param name="search/max_acc" value="$(arg acc_limit)" type="double"/>
+    <param name="search/w_time" value="100.0" type="double"/>
+    <param name="search/horizon" value="600.0" type="double"/>
+    <param name="search/lambda_heu" value="1" type="double"/>
+    <param name="search/resolution_astar" value="$(arg resolution)" type="double"/>
+    <param name="search/time_resolution" value="0.8" type="double"/>
+    <param name="search/allocate_num" value="1000000" type="int"/>
+
+
+    <param name="search/jerk/max_vel" value="$(arg vel_limit)" type="double"/>
+    <param name="search/jerk/max_acc" value="$(arg acc_limit)" type="double"/>
+    <param name="search/jerk/w_time" value="100.0" type="double"/>
+    <param name="search/jerk/horizon" value="5.0" type="double"/>
+    <param name="search/jerk/lambda_heu" value="3" type="double"/>
+    <param name="search/jerk/resolution_astar" value="$(arg resolution)" type="double"/>
+    <param name="search/jerk/allocate_num" value="1000000" type="int"/>
+    <param name="search/jerk/max_jerk" value="2.0" type="double"/>
+    <param name="search/jerk/rho" value="$(arg rho_time)" type="double"/>
+    <param name="search/jerk/input_res" value="1.0" type="double"/>
+    <param name="search/jerk/time_res" value="0.2" type="double"/>
+    <param name="search/jerk/max_tau" value="2.5" type="double"/>
+    <param name="search/jerk/input_res_int" value="0.125" type="double"/>
+    <param name="search/jerk/time_res_init" value="0.125" type="double"/>
+    <param name="search/jerk/init_max_tau" value="2.0" type="double"/>
+
+
+    <param name="topo_prm/sample_inflate_x" value="1.0" type="double"/>
+    <param name="topo_prm/sample_inflate_y" value="3.0" type="double"/>
+    <param name="topo_prm/sample_inflate_z" value="1.0" type="double"/>
+    <param name="topo_prm/clearance" value="0.3" type="double"/>
+    <param name="topo_prm/max_sample_time" value="1.0" type="double"/>
+    <param name="topo_prm/max_sample_num" value="2000" type="int"/>
+    <param name="topo_prm/max_raw_path" value="300" type="int"/>
+    <param name="topo_prm/max_raw_path2" value="300" type="int"/>
+    <param name="topo_prm/reserve_num" value="1" type="int"/>
+    <param name="topo_prm/ratio_to_short" value="5.5" type="double"/>
+    <param name="topo_prm/parallel_shortcut" value="true" type="bool"/>
+
+    <param name="r3/sampling_space_inflate" value="5.0" type="double"/>
+    <param name="r3/ground_height" value="0.0" type="double"/>
+    <param name="r3/ceiling_height" value="2.0" type="double"/>
+    <param name="r3/search_time_per_meter" value="0.002" type="double"/>
+    <param name="r3/lattice_step" value="0.3" type="double"/>
+    <param name="r3/use_ompl" value="true" type="bool"/>
+
+    <param name="rrt/steer_length" value="3.0" type="double"/>
+    <param name="rrt/search_radius" value="5.0" type="double"/>
+    <param name="rrt/search_time" value="1.0" type="double"/>
+    <param name="rrt/max_tree_node_nums" value="5000" type="int"/>
+
+    <param name="sampler/vel_mag_mean" value="3.5" type="double" />
+    <param name="sampler/pos_hrz_var" value="5.5" type="double" />
+    <param name="sampler/pos_vtc_var" value="5.0" type="double" />
+    <param name="sampler/vel_mag_var" value="1.5" type="double" />
+    <param name="sampler/vel_dir_var" value="0.3" type="double" />
+    <param name="sampler/resolution" value="$(arg resolution)" type="double" />
+
+    <param name="optimization/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="optimization/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="optimization/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="optimization/max_iter_times" value="30" type="int" />
+
+    <param name="trunk_opt/rho" value="$(arg rho_time)" type="double" />
+    <param name="trunk_opt/vel_limit" value="$(arg vel_limit)" type="double" />
+    <param name="trunk_opt/acc_limit" value="$(arg acc_limit)" type="double" />
+    <param name="trunk_opt/jerk_limit" value="$(arg jerk_limit)" type="double" />
+    <param name="trunk_opt/discretization" value="10" type="int" />
+    <param name="trunk_opt/rho_pos" value="100.0" type="double" />
+    <param name="trunk_opt/rho_vel" value="100.0" type="double" />
+    <param name="trunk_opt/rho_acc" value="100.0" type="double" />
+    <param name="trunk_opt/dist_tolerance" value="0.1" type="double" />
+
+    <param name="test_plan/start_x" value="5.0" type="double"/>
+    <param name="test_plan/start_y" value="30.0" type="double"/>
+    <param name="test_plan/start_z" value="0.0" type="double"/>
+    <param name="test_plan/use_optimization" value="false" type="bool"/>
+    <param name="test_plan/use_r3" value="true" type="bool"/>
+    <param name="test_plan/replan_time" value="1.0" type="double"/>
+    <param name="test_plan/test_variants" value="false" type="bool"/>
+    <param name="test_plan/test_wo" value="true" type="bool"/>
+    <param name="test_plan/test_hierarchical" value="false" type="bool"/>
+    <param name="test_plan/use_bench" value="true" type="bool"/>
+    <param name="test_plan/test_bikrrt_w" value="true" type="bool"/>
+    <param name="test_plan/test_bikrrt_wo" value="true" type="bool"/>
+    <param name="test_plan/test_rrt_w" value="true" type="bool"/>
+    <param name="test_plan/test_rrt_wo" value="true" type="bool"/>
+    <param name="test_plan/test_a_triple" value="true" type="bool"/>
+    <param name="test_plan/repeat_times" value="1" type="int"/>
+    <param name="test_plan/ctrl_pt_dist" value="0.5" type="double"/>
+    <param name="test_plan/max_vel" value="$(arg vel_limit)" type="double"/>
+    <param name="test_plan/max_acc" value="$(arg acc_limit)" type="double"/>
+    <param name="test_plan/max_jerk" value="$(arg jerk_limit)" type="double"/>
+    <param name="test_plan/file_name" value="/home/yehongkai/ros_ws/stdt_github_ws/src/std-trees/benchmark_data/wo-test1/" type="string"/>
+    <param name="test_plan/rho" value="$(arg rho_time)" type="double"/>
+
+    <param name="test_plan/print_debug_info" value="false" type="bool"/>
+    <param name="test_plan/collision_check_dt" value="0.02" type="double"/>
+    <param name="test_plan/max_loop_num" value="50" type="int"/>
+    <param name="test_plan/bbox_width" value="7.0" type="double"/>
+
+    <param name="test_plan/start_pos_x" value="0.0" type="double"/>
+    <param name="test_plan/start_pos_y" value="34.0" type="double"/>
+    <param name="test_plan/start_pos_z" value="0.0" type="double"/>
+    <param name="test_plan/end_pos_x" value="0.0" type="double"/>
+    <param name="test_plan/end_pos_y" value="-34.0" type="double"/>
+    <param name="test_plan/end_pos_z" value="0.0" type="double"/>
+
+  </node>
+
+</launch>
\ No newline at end of file
diff --git a/decision/state_machine/launch/traj.rviz b/decision/state_machine/launch/traj.rviz
new file mode 100755
index 0000000..85dab91
--- /dev/null
+++ b/decision/state_machine/launch/traj.rviz
@@ -0,0 +1,590 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Axes1
+        - /Grid1/Offset1
+        - /TF1/Frames1
+        - /Mapping1
+        - /Mapping1/input_obs1
+        - /Mapping1/input_obs1/Autocompute Value Bounds1
+        - /Planning1
+        - /MarkerArray3/Namespaces1
+      Splitter Ratio: 0.6366279125213623
+    Tree Height: 926
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: input_obs
+  - Class: rviz/Tool Properties
+    Expanded: ~
+    Name: Tool Properties
+    Splitter Ratio: 0.5
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz/Axes
+      Enabled: false
+      Length: 10
+      Name: Axes
+      Radius: 0.5
+      Reference Frame: map
+      Value: false
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 103; 103; 106
+      Enabled: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: -1
+      Plane: XY
+      Plane Cell Count: 270
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 1000
+      Frames:
+        All Enabled: false
+      Marker Scale: 5
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /odom_visualization/robot
+          Name: robot
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 25; 255; 0
+          Enabled: false
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
+          Line Style: Lines
+          Line Width: 0.029999999329447746
+          Name: Real Path
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
+          Topic: /odom_visualization/path
+          Unreliable: false
+          Value: false
+      Enabled: false
+      Name: Simulation
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10.95957088470459
+            Min Value: 6.678253157588188e-6
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 185; 185; 185
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: input_obs
+          Position Transformer: XYZ
+          Queue Size: 1
+          Selectable: true
+          Size (Pixels): 9
+          Size (m): 0.15000000596046448
+          Style: Boxes
+          Topic: /random_forest/all_map
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 1.75
+            Min Value: -0.25
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: global_occ
+          Position Transformer: XYZ
+          Queue Size: 1
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.10000000149011612
+          Style: Boxes
+          Topic: /occ_map/history_view_cloud
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 2.450000047683716
+            Min Value: -0.949999988079071
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 0; 0; 0
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: local_occ
+          Position Transformer: XYZ
+          Queue Size: 1
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.10000000149011612
+          Style: Boxes
+          Topic: /occ_map/local_view_cloud
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Class: rviz/Image
+          Enabled: false
+          Image Topic: /pcl_render_node/depth
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: depth
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: false
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 5.038006782531738
+            Min Value: -0.1039511114358902
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 0; 0
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: raw_pcl
+          Position Transformer: XYZ
+          Queue Size: 1
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /occ_map/filtered_pcl
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+      Enabled: true
+      Name: Mapping
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /state_machine_node/start_and_goal
+          Name: Start&Goal
+          Namespaces:
+            s_g: true
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/rand_sample_pos_points
+          Name: sample pos
+          Namespaces:
+            {}
+          Queue Size: 1
+          Value: false
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/rand_sample_vel_vecs
+          Name: sample vel
+          Namespaces:
+            {}
+          Queue Size: 1
+          Value: false
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/topo
+          Name: Topo
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/knots
+          Name: knots
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/best_traj_acc
+          Name: Best_traj_acc
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /state_machine_node/best_traj_pos
+          Name: Best_traj_pos
+          Namespaces:
+            traj: true
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/first_traj_acc
+          Name: First_traj_acc
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /state_machine_node/first_traj_pos
+          Name: First_traj_pos
+          Namespaces:
+            traj: true
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/a_traj_acc
+          Name: final_traj_acc
+          Namespaces:
+            {}
+          Queue Size: 1
+          Value: false
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /state_machine_node/a_traj_pos
+          Name: final_traj_pos
+          Namespaces:
+            traj: true
+          Queue Size: 1
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /state_machine_node/optimized_traj_acc
+          Name: optimized_traj_acc
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /state_machine_node/optimized_traj_pos
+          Name: optimized_traj_pos
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /state_machine_node/fmt_traj_pos
+          Name: fmt_pos
+          Namespaces:
+            traj: true
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /state_machine_node/fmt_wo_traj_pos
+          Name: FMT_w/o
+          Namespaces:
+            traj: true
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/fmt_wo_traj_acc
+          Name: FMT w/o acc
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/fmt_traj_acc
+          Name: FMT_acc
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /state_machine_node/tracked_traj_pos
+          Name: Tracked_pos
+          Namespaces:
+            traj: true
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/tree_traj_vel
+          Name: Tree_traj_acc
+          Namespaces:
+            {}
+          Queue Size: 1
+          Value: false
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/tree_traj_pos
+          Name: Tree_traj_pos
+          Namespaces:
+            {}
+          Queue Size: 1
+          Value: false
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /state_machine_node/tracked_traj_acc
+          Name: tracked_traj_pos
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /points
+          Name: regional_optimized_traj
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/fwd_reachable_pos
+          Name: fwd_bounds
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /state_machine_node/bwd_reachable_pos
+          Name: bcwd_bounds
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: /texts
+          Name: texts
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+      Enabled: true
+      Name: Planning
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /state_machine_node/prm
+      Name: prm
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /state_machine_node/prm_vertex
+      Name: prm_vertice
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /state_machine_node/astar_path_list
+      Name: A_star_path
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /traj_list
+      Name: converge_paths
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /curr_exp_pos
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /curr_exp_vel
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100000
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /curr_exp_acc
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100000
+      Value: false
+    - Alpha: 0.30000001192092896
+      BoundColor: 46; 52; 54
+      Class: decomp_rviz_plugins/PolyhedronArray
+      Enabled: true
+      MeshColor: 252; 175; 62
+      Name: PolyhedronArray
+      Scale: 0.029999999329447746
+      State: Both
+      Topic: /polyhedra
+      Unreliable: false
+      Value: true
+      VsColor: 0; 255; 0
+      VsScale: 1
+  Enabled: true
+  Global Options:
+    Background Color: 213; 213; 213
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+    - Class: rviz_plugins/Goal3DTool
+      Topic: goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 51.5287971496582
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -1.1991806030273438
+        Y: -1.2597544193267822
+        Z: 7.488019036827609e-5
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.9048011302947998
+      Target Frame: map
+      Value: XYOrbit (rviz)
+      Yaw: 3.164342164993286
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 1145
+  Hide Left Dock: true
+  Hide Right Dock: true
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1853
+  X: 67
+  Y: 27
+  depth:
+    collapsed: false
diff --git a/decision/state_machine/package.xml b/decision/state_machine/package.xml
new file mode 100755
index 0000000..acd847b
--- /dev/null
+++ b/decision/state_machine/package.xml
@@ -0,0 +1,80 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>state_machine</name>
+  <version>0.0.0</version>
+  <description>The state_machine package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="kyle@todo.todo">kyle</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/state_machine</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>occ_grid</build_depend>
+  <build_depend>kino_plan</build_depend>
+  <build_depend>quadrotor_msgs></build_depend>
+  <build_depend>visualization_utils></build_depend>
+  <build_depend>self_msgs_and_srvs</build_depend>
+  <build_depend>sampler</build_depend>
+  <build_depend>mav_trajectory_generation></build_depend>
+  <build_depend>mav_visualization></build_depend>
+  <build_depend>mav_planning_msgs</build_depend>
+  <build_depend>glog_catkin</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>occ_grid</exec_depend>
+  <exec_depend>sampler</exec_depend>
+  <exec_depend>self_msgs_and_srvs</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/decision/state_machine/src/fsm.cpp b/decision/state_machine/src/fsm.cpp
new file mode 100755
index 0000000..1f39394
--- /dev/null
+++ b/decision/state_machine/src/fsm.cpp
@@ -0,0 +1,509 @@
+#include "state_machine/fsm.h"
+#include <ros/console.h>
+
+namespace tgk_planner
+{
+  FSM::FSM() {}
+  FSM::~FSM() {}
+
+  void FSM::init(const ros::NodeHandle &nh)
+  {
+    env_ptr_.reset(new OccMap);
+    env_ptr_->init(nh);
+
+    vis_ptr_.reset(new VisualRviz(nh));
+
+    pos_checker_ptr_.reset(new PosChecker);
+    pos_checker_ptr_->init(nh);
+    pos_checker_ptr_->setMap(env_ptr_);
+
+    astar_searcher_.reset(new AstarPathFinder());
+    astar_searcher_->initGridMap(pos_checker_ptr_, pos_checker_ptr_->getOccMapSize());
+
+    optimizer_ptr_.reset(new TrajOptimizer(nh));
+    optimizer_ptr_->setPosChecker(pos_checker_ptr_);
+    optimizer_ptr_->setVisualizer(vis_ptr_);
+    optimizer_ptr_->setSearcher(astar_searcher_);
+
+    r3_planer_ptr_.reset(new R3Planner(nh, pos_checker_ptr_));
+
+    trunk_opt_ptr_.reset(new BranchOpt(nh));
+    trunk_opt_ptr_->setPosChecker(pos_checker_ptr_);
+    trunk_opt_ptr_->setVisualizer(vis_ptr_);
+
+    // krrt_sharp_ptr_.reset(new BIKRRT(nh));
+    krrt_sharp_ptr_.reset(new KRRTSHARP(nh));
+    krrt_sharp_ptr_->init(nh);
+    krrt_sharp_ptr_->setPosChecker(pos_checker_ptr_);
+    krrt_sharp_ptr_->setVisualizer(vis_ptr_);
+    krrt_sharp_ptr_->setRegionalOptimizer(optimizer_ptr_);
+    krrt_sharp_ptr_->setSearcher(astar_searcher_);
+    krrt_sharp_ptr_->setTrunkOptimizer(trunk_opt_ptr_);
+
+    bikrrt_ptr_.reset(new BIKRRT(nh));
+    bikrrt_ptr_->init(nh);
+    bikrrt_ptr_->setPosChecker(pos_checker_ptr_);
+    bikrrt_ptr_->setVisualizer(vis_ptr_);
+    bikrrt_ptr_->setRegionalOptimizer(optimizer_ptr_);
+    bikrrt_ptr_->setSearcher(astar_searcher_);
+    bikrrt_ptr_->setTrunkOptimizer(trunk_opt_ptr_);
+
+    goal_sub_ = nh_.subscribe("/goal", 1, &FSM::goalCallback, this);
+    traj_pub_ = nh_.advertise<quadrotor_msgs::PolynomialTrajectory>("planning/poly_traj", 10);
+    execution_timer_ = nh_.createTimer(ros::Duration(0.01), &FSM::executionCallback, this); // 100Hz
+    track_err_trig_sub_ = nh_.subscribe("/trig/tracking_err", 1, &FSM::trackErrCallback, this);
+    rcv_glb_obs_client_ = nh_.serviceClient<self_msgs_and_srvs::GlbObsRcv>("/pub_glb_obs");
+
+    nh.param("fsm/use_optimization", use_optimization_, false);
+    nh.param("fsm/replan", replan_, false);
+    nh.param("fsm/replan_time", replan_time_, 0.02);
+    nh.param("fsm/allow_track_err_replan", allow_track_err_replan_, false);
+    nh.param("fsm/e_stop_time_margin", e_stop_time_margin_, 1.0);
+    nh.param("fsm/replan_check_duration", replan_check_duration_, 1.0);
+    nh.param("fsm/bidirection", bidirection_, false);
+    nh.param("fsm/vel_limit", vel_limit_, 0.0);
+    nh.param("fsm/acc_limit", acc_limit_, 0.0);
+    ROS_WARN_STREAM("[fsm] param: use_optimization: " << use_optimization_);
+    ROS_WARN_STREAM("[fsm] param: replan: " << replan_);
+    ROS_WARN_STREAM("[fsm] param: replan_time: " << replan_time_);
+    ROS_WARN_STREAM("[fsm] param: allow_track_err_replan: " << allow_track_err_replan_);
+    ROS_WARN_STREAM("[fsm] param: e_stop_time_margin: " << e_stop_time_margin_);
+    ROS_WARN_STREAM("[fsm] param: replan_check_duration: " << replan_check_duration_);
+    ROS_WARN_STREAM("[fsm] param: bidirection: " << bidirection_);
+
+    track_err_replan_ = false;
+    new_goal_ = false;
+    machine_state_ = INIT;
+    curr_traj_start_time_ = ros::Time::now();
+    pos_about_to_collide_ << 0.0, 0.0, 0.0;
+    remain_safe_time_ = 0.0;
+    collision_detect_time_ = ros::Time::now();
+  }
+
+  void FSM::trackErrCallback(const std_msgs::Empty &msg)
+  {
+    if (allow_track_err_replan_)
+      track_err_replan_ = true;
+  }
+
+  void FSM::goalCallback(const quadrotor_msgs::PositionCommand::ConstPtr &goal_msg)
+  {
+    end_pos_ << goal_msg->position.x,
+        goal_msg->position.y,
+        goal_msg->position.z;
+    end_vel_ << goal_msg->velocity.x,
+        goal_msg->velocity.y,
+        goal_msg->velocity.z;
+    end_acc_ << goal_msg->acceleration.x,
+        goal_msg->acceleration.y,
+        goal_msg->acceleration.z;
+    new_goal_ = true;
+  }
+
+  void FSM::executionCallback(const ros::TimerEvent &event)
+  {
+    static int fsm_num = 0;
+    fsm_num++;
+    if (fsm_num == 100)
+    {
+      if (!env_ptr_->odomValid())
+      {
+        ROS_INFO("no odom.");
+      }
+      if (!env_ptr_->mapValid())
+      {
+        ROS_INFO("no map.");
+        self_msgs_and_srvs::GlbObsRcv srv;
+        if (!rcv_glb_obs_client_.call(srv))
+          ROS_WARN("Failed to call service /pub_glb_obs");
+      }
+      // if (!new_goal_)
+      // {
+      //   ROS_INFO("wait for goal in %lf but actual in %lf", event.current_expected.toSec(), event.current_real.toSec());
+      // }
+      fsm_num = 0;
+    }
+
+    switch (machine_state_)
+    {
+    case INIT:
+    {
+      if (!env_ptr_->odomValid())
+      {
+        return;
+      }
+      if (!env_ptr_->mapValid())
+      {
+        return;
+      }
+      changeState(WAIT_GOAL);
+      break;
+    }
+
+    case WAIT_GOAL:
+    {
+      remain_safe_time_ = 10000.0;
+      if (!new_goal_)
+      {
+        return;
+      }
+      else
+      {
+        new_goal_ = false;
+        getPlanStartState(start_pos_, start_vel_, start_acc_);
+        changeState(GENERATE_TRAJ);
+      }
+      break;
+    }
+
+    case GENERATE_TRAJ:
+    {
+      bool success = searchForTraj(start_pos_, start_vel_, start_acc_, end_pos_, end_vel_, end_acc_, replan_time_); //TODO what if it can not finish in 10ms?
+      if (success)
+      {
+        sendTrajToServer(traj_);
+        curr_traj_start_time_ = ros::Time::now();
+        changeState(FOLLOW_TRAJ);
+      }
+      else
+      {
+        double curr_remain_safe_time = remain_safe_time_ - (ros::Time::now() - collision_detect_time_).toSec();
+        ROS_ERROR("Replan fail, %lf seconds to collide", curr_remain_safe_time);
+        if (curr_remain_safe_time < e_stop_time_margin_)
+        {
+          sendEStopToServer();
+          ROS_ERROR("ABOUT TO CRASH!! SERVER EMERGENCY STOP!!");
+          getPlanStartState(start_pos_, start_vel_, start_acc_);
+        }
+        else
+        {
+          ROS_WARN("keep replanning");
+        }
+      }
+      break;
+    }
+
+    case FOLLOW_TRAJ:
+    {
+      double t_during_traj = (ros::Time::now() - curr_traj_start_time_).toSec();
+      StatePVA curr_expected_state(9);
+      curr_expected_state.head(3) = traj_.getPos(t_during_traj);
+      curr_expected_state.segment(3, 3) = traj_.getVel(t_during_traj);
+      curr_expected_state.tail(3) = traj_.getAcc(t_during_traj);
+      vector<StatePVA> s(1);
+      s[0] = curr_expected_state;
+      vis_ptr_->visualizeCurrExpectedState(s, ros::Time::now());
+      if (t_during_traj >= traj_.getTotalDuration() || reachGoal(0.1))
+      {
+        changeState(WAIT_GOAL);
+      }
+      else if (new_goal_)
+      {
+        ROS_WARN("Replan because of new goal received");
+        new_goal_ = false;
+        remain_safe_time_ = traj_.getTotalDuration() - t_during_traj;
+        getPlanStartState(start_pos_, start_vel_, start_acc_);
+        collision_detect_time_ = ros::Time::now();
+        changeState(GENERATE_TRAJ);
+      }
+      else if (replan_ && needReplan())
+      {
+        ROS_WARN("REPLAN because of future collision");
+        getPlanStartState(start_pos_, start_vel_, start_acc_);
+        collision_detect_time_ = ros::Time::now();
+        changeState(GENERATE_TRAJ);
+      }
+      break;
+    }
+
+    default:
+      break;
+    }
+  }
+
+  bool FSM::searchForTraj(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                          Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                          double search_time)
+  {
+    vis_ptr_->visualizeStartAndGoal(start_pos, end_pos, pos_checker_ptr_->getLocalTime());
+    int result(false);
+
+    /* r3planner  If uncomment, then use the resulting path to guide the sampling */
+    // double len_cost(0.0);
+    // vector<Vector3d> route;
+    // vector<vector<Vector3d>> routes;
+    // ros::Time t1 = ros::Time::now();
+    // double radius(16); //radius square
+    // if (r3_planer_ptr_->planOnce(start_pos, end_pos, route, len_cost, radius))
+    // {
+    //   ROS_ERROR_STREAM("r3 plan solved in: " << (ros::Time::now() - t1).toSec() * 1e3 << " ms, route len: " << len_cost);
+    //   // vector<vector<Eigen::Vector3d>> select_paths;
+    //   // size_t v_n = r3_planer_ptr_->getGraph(select_paths);
+    //   // vis_ptr_->visualizePRM(select_paths, Color::Teal(), env_ptr_->getLocalTime());
+    //   // getchar();
+    //   routes.push_back(route);
+    //   vis_ptr_->visualizePRM(routes, Color::Red(), env_ptr_->getLocalTime());
+
+    //   // vector<double> radii;
+    //   // for (const auto & p: route)
+    //   // {
+    //   //   Vector3d obs;
+    //   //   double radius = sqrt(pos_checker_ptr_->nearestObs(p, obs));
+    //   //   radii.push_back(radius);
+    //   // }
+    //   // vis_ptr_->visualizeBalls(route, radii, env_ptr_->getLocalTime());
+    //   krrt_sharp_ptr_->sampler_.topoSetup(routes);
+    //   bikrrt_ptr_->sampler_.topoSetup(routes);
+    // }
+    // else
+    // {
+    //   ROS_WARN("r3 plan fail");
+    // }
+    /* r3planner   */
+
+    string file_name("/home/kai/Pictures/a.csv");
+    std::ofstream o_file;
+
+    vector<string> ss;
+    vector<Vector3d> ps;
+    vector<StatePVA> vis_x;
+    double traj_len(0.0), traj_duration(0.0), traj_acc_itg(0.0), traj_jerk_itg(0.0);
+    int traj_seg_nums(0);
+
+    ROS_INFO("[=========================== no deform ==================================]");
+    krrt_sharp_ptr_->reset();
+    // result = krrt_sharp_ptr_->plan(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, search_time, NO_DEFORM, 0, 0);
+    if (result == KRRTSTAR::SUCCESS)
+    {
+      double traj_use_time(0.0);
+      krrt_sharp_ptr_->getTraj(traj_);
+      traj_use_time = krrt_sharp_ptr_->getFinalTrajTimeUsage();
+      double traj_cost = krrt_sharp_ptr_->evaluateTraj(traj_, traj_duration, traj_len, traj_seg_nums, traj_acc_itg, traj_jerk_itg);
+      ROS_INFO_STREAM("[      ]: [front-end final path]: " << endl
+                                                           << "    -   seg nums: " << traj_seg_nums << endl
+                                                           << "    -   acc integral: " << traj_acc_itg << endl
+                                                           << "    -   jerk integral: " << traj_jerk_itg << endl
+                                                           << "    -   traj duration: " << traj_duration << endl
+                                                           << "    -   traj cost: " << traj_cost << endl
+                                                           << "    -   path length: " << traj_len << " m");
+      ROS_INFO_STREAM("[      ]: [front-end final path]: " << endl
+                                                           << "    -   max vel: " << traj_.getMaxVelRate() << endl
+                                                           << "    -   max acc: " << traj_.getMaxAccRate() << endl
+                                                           << "    -   max jrk: " << traj_.getMaxJerkRate() << " m");
+      vis_x.clear();
+      traj_.sampleWholeTrajectory(&vis_x);
+      vector<StatePVA> wpt;
+      traj_.getWpts(&wpt);
+      vis_ptr_->visualizeStates(vis_x, GREEN, pos_checker_ptr_->getLocalTime());
+      vis_ptr_->visualizeCurrExpectedState(wpt, ros::Time::now());
+      vector<vector<StatePVA>> trajs_states;
+      vector<Trajectory> traj_list;
+      vector<double> solution_cost_list;
+      vector<double> solution_time_list;
+      krrt_sharp_ptr_->getConvergenceInfo(traj_list, solution_cost_list, solution_time_list);
+      o_file.open(file_name, ios::out | ios::app);
+      for (size_t i = 0; i < traj_list.size(); ++i)
+      {
+        vector<StatePVA> single_traj_states;
+        traj_list[i].sampleWholeTrajectory(&single_traj_states);
+        trajs_states.push_back(single_traj_states);
+        o_file << solution_cost_list[i] << ","
+               << solution_time_list[i] << ","
+               << endl;
+      }
+      o_file << endl;
+      o_file.close();
+      vis_ptr_->visualizeTrajList(trajs_states, pos_checker_ptr_->getLocalTime());
+      ss.push_back(std::to_string(traj_use_time * 1e3));
+      ss.push_back(std::to_string(traj_cost));
+    }
+    ROS_INFO("[=========================== no deform ==================================]");
+    // return true;
+    // getchar();
+
+    krrt_sharp_ptr_->reset();
+    int result2(false);
+    result2 = krrt_sharp_ptr_->plan(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, search_time, SMALL_BRANCH_NODES, 0, 1);
+    if (result2 == KRRTSTAR::SUCCESS)
+    {
+      double traj_use_time(0.0);
+      krrt_sharp_ptr_->getTraj(traj_);
+      traj_use_time = krrt_sharp_ptr_->getFinalTrajTimeUsage();
+      double traj_cost = bikrrt_ptr_->evaluateTraj(traj_, traj_duration, traj_len, traj_seg_nums, traj_acc_itg, traj_jerk_itg);
+      ROS_INFO_STREAM("[DEFORM]: [front-end final path]: " << endl
+                                                           << "    -   seg nums: " << traj_seg_nums << endl
+                                                           << "    -   acc integral: " << traj_acc_itg << endl
+                                                           << "    -   jerk integral: " << traj_jerk_itg << endl
+                                                           << "    -   traj duration: " << traj_duration << endl
+                                                           << "    -   traj cost: " << traj_cost << endl
+                                                           << "    -   path length: " << traj_len << " m");
+      ROS_INFO_STREAM("[      ]: [front-end final path]: " << endl
+                                                           << "    -   max vel: " << traj_.getMaxVelRate() << endl
+                                                           << "    -   max acc: " << traj_.getMaxAccRate() << endl
+                                                           << "    -   max jrk: " << traj_.getMaxJerkRate() << " m");
+      vis_x.clear();
+      traj_.sampleWholeTrajectory(&vis_x);
+      vector<StatePVA> wpt;
+      traj_.getWpts(&wpt);
+      vis_ptr_->visualizeCurrExpectedState(wpt, ros::Time::now());
+      // vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+      ss.push_back(std::to_string(traj_use_time * 1e3));
+      ss.push_back(std::to_string(traj_cost));
+      vector<vector<StatePVA>> trajs_states;
+      vector<Trajectory> traj_list;
+      vector<double> solution_cost_list;
+      vector<double> solution_time_list;
+      krrt_sharp_ptr_->getConvergenceInfo(traj_list, solution_cost_list, solution_time_list);
+      o_file.open(file_name, ios::out | ios::app);
+      for (size_t i = 0; i < traj_list.size(); ++i)
+      {
+        vector<StatePVA> single_traj_states;
+        traj_list[i].sampleWholeTrajectory(&single_traj_states);
+        trajs_states.push_back(single_traj_states);
+        o_file << solution_cost_list[i] << ","
+               << solution_time_list[i] << ","
+               << endl;
+      }
+      o_file << endl;
+      o_file.close();
+      vis_ptr_->visualizeTrajList(trajs_states, pos_checker_ptr_->getLocalTime());
+
+      if (use_optimization_)
+      {
+        vis_x.clear();
+        ros::Time optimize_start_time(ros::Time::now());
+        bool optimize_succ = optimize();
+        ros::Time optimize_end_time(ros::Time::now());
+        if (optimize_succ)
+        {
+          optimizer_ptr_->getTraj(traj_);
+          traj_.sampleWholeTrajectory(&vis_x);
+
+          double traj_cost = krrt_sharp_ptr_->evaluateTraj(traj_, traj_duration, traj_len, traj_seg_nums, traj_acc_itg, traj_jerk_itg);
+          ss.push_back(std::to_string((optimize_end_time - optimize_start_time).toSec() * 1e3));
+          ss.push_back(std::to_string(traj_cost));
+        }
+        vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+      }
+      return true;
+    }
+    else
+      return false;
+  }
+
+  bool FSM::optimize()
+  {
+    if (!optimizer_ptr_->initialize(traj_, TrajOptimizer::SMOOTH_HOMO_OBS))
+      return false;
+    bool res = optimizer_ptr_->solve_S_H_O();
+    return res;
+  }
+
+  void FSM::sendTrajToServer(const Trajectory &poly_traj)
+  {
+    static int traj_id = 0;
+    int path_seg_num = poly_traj.getPieceNum();
+    if (path_seg_num < 1)
+      return;
+    quadrotor_msgs::PolynomialTrajectory traj;
+    traj.trajectory_id = ++traj_id;
+    traj.action = quadrotor_msgs::PolynomialTrajectory::ACTION_ADD;
+    traj.num_segment = path_seg_num;
+    traj.time = poly_traj.getDurations();
+
+    for (int i = 0; i < path_seg_num; ++i)
+    {
+      traj.order.push_back(5);
+      for (size_t j = 0; j <= traj.order[i]; ++j)
+      {
+        CoefficientMat posCoeffsMat = poly_traj[i].getCoeffMat();
+        traj.coef_x.push_back(posCoeffsMat(0, j));
+        traj.coef_y.push_back(posCoeffsMat(1, j));
+        traj.coef_z.push_back(posCoeffsMat(2, j));
+      }
+    }
+
+    traj.header.frame_id = "map";
+    traj.header.stamp = ros::Time::now();
+    traj_pub_.publish(traj);
+  }
+
+  void FSM::sendEStopToServer()
+  {
+    quadrotor_msgs::PolynomialTrajectory traj;
+    traj.action = quadrotor_msgs::PolynomialTrajectory::ACTION_ABORT;
+
+    traj.header.frame_id = "map";
+    traj.header.stamp = ros::Time::now();
+    traj_pub_.publish(traj);
+  }
+
+  bool FSM::reachGoal(double radius)
+  {
+    Eigen::Vector3d pos_now = env_ptr_->get_curr_posi();
+    if ((end_pos_ - pos_now).norm() < radius)
+      return true;
+    else
+      return false;
+  }
+
+  inline bool FSM::needReplan()
+  {
+    double t_during_traj = (ros::Time::now() - curr_traj_start_time_).toSec();
+    double t_check_until_traj = std::min(traj_.getTotalDuration(), t_during_traj + replan_check_duration_);
+    if (!pos_checker_ptr_->checkPolyTraj(traj_, t_during_traj, t_check_until_traj, pos_about_to_collide_, remain_safe_time_))
+    {
+      ROS_INFO_STREAM("about to collide pos: " << pos_about_to_collide_.transpose() << ", remain safe time: " << remain_safe_time_);
+      vis_ptr_->visualizeCollision(pos_about_to_collide_, pos_checker_ptr_->getLocalTime());
+      return true;
+    }
+    return false;
+  }
+
+  void FSM::getPlanStartState(Vector3d &pos, Vector3d &vel, Vector3d &acc)
+  {
+    if (machine_state_ == WAIT_GOAL || machine_state_ == GENERATE_TRAJ)
+    {
+      pos = env_ptr_->get_curr_posi();
+      vel[0] = 0.0;
+      vel[1] = 0.0;
+      vel[2] = 0.0;
+      acc[0] = 0.0;
+      acc[1] = 0.0;
+      acc[2] = 0.0;
+    }
+    else if (machine_state_ == FOLLOW_TRAJ)
+    {
+      double curr_remain_safe_time = remain_safe_time_ - (ros::Time::now() - collision_detect_time_).toSec();
+      double dt = max(0.0, min(replan_time_, curr_remain_safe_time));
+      double t_during_traj = (ros::Time::now() - curr_traj_start_time_).toSec();
+      pos = traj_.getPos(t_during_traj + dt);
+      vel = traj_.getVel(t_during_traj);
+      acc = traj_.getAcc(t_during_traj);
+    }
+
+    /* round */
+    double vel_norm = vel.norm();
+    double acc_norm = acc.norm();
+    if (vel_norm > vel_limit_)
+    {
+      vel /= vel_norm;
+      vel *= vel_limit_;
+      ROS_WARN_STREAM("vel rounded from " << vel_norm << " to " << vel_limit_);
+    }
+    if (acc_norm > acc_limit_)
+    {
+      acc /= acc_norm;
+      acc *= acc_limit_;
+      ROS_WARN_STREAM("acc rounded from " << acc_norm << " to " << acc_limit_);
+    }
+  }
+
+  void FSM::changeState(FSM::MACHINE_STATE new_state)
+  {
+    string state_str[5] = {"INIT", "WAIT_GOAL", "GENERATE_TRAJ", "FOLLOW_TRAJ"};
+    ROS_INFO_STREAM("[FSM]: change from " << state_str[int(machine_state_)] << " to " << state_str[int(new_state)]);
+    machine_state_ = new_state;
+  }
+
+} // namespace tgk_planner
diff --git a/decision/state_machine/src/global_trajs_node.cpp b/decision/state_machine/src/global_trajs_node.cpp
new file mode 100755
index 0000000..f916dbf
--- /dev/null
+++ b/decision/state_machine/src/global_trajs_node.cpp
@@ -0,0 +1,436 @@
+#ifndef _GLOBAL_TRAJS_H_
+#define _GLOBAL_TRAJS_H_
+
+#include "self_msgs_and_srvs/GlbObsRcv.h"
+#include "occ_grid/occ_map.h"
+#include "occ_grid/pos_checker.h"
+#include "kino_plan/krrt.h"
+#include "kino_plan/krrt_star.h"
+#include "kino_plan/krrt_sharp.h"
+#include "kino_plan/bi_krrt.h"
+#include "kino_plan/topo_prm.h"
+#include "visualization_utils/visualization_utils.h"
+#include "poly_opt/traj_optimizer.h"
+#include "poly_opt/nonsmooth_trunk_opt.h"
+// #include "poly_opt/trunk_opt.h"
+#include "quadrotor_msgs/PolynomialTrajectory.h"
+#include "quadrotor_msgs/PositionCommand.h"
+#include "quadrotor_msgs/PolyTraj.h"
+#include "quadrotor_msgs/PolyTrajs.h"
+#include "r3_plan/r3_planner.h"
+#include "r3_plan/a_star_search.h"
+#include "kino_plan/kd_astar_jerk.h"
+#include "bspline_opt/bspline_optimizer.h"
+#include <bspline/non_uniform_bspline.h>
+
+#include <ros/ros.h>
+#include <nav_msgs/Path.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/PointStamped.h>
+#include <std_msgs/Empty.h>
+
+namespace tgk_planner
+{
+  class GlobalTrajs
+  {
+  public:
+    GlobalTrajs(){};
+    ~GlobalTrajs(){};
+    void init(const ros::NodeHandle &nh);
+    bool searchForTraj(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                       Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                       double search_time);
+    bool testConvergence(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                         Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                         double search_time, int deform_type, bool use_regional_opt, bool use_deform);
+    bool woTest(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                double search_time, int deform_type, int planner, bool use_deform);
+    bool benchmarkOptimization(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                               Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                               double search_time);
+
+  private:
+    bool optimize(const Trajectory &traj);
+    void pubGlobalTrajs();
+    vector<Trajectory> global_trajs_list_;
+
+    // map, checker, planner
+    OccMap::Ptr env_ptr_;
+    PosChecker::Ptr pos_checker_ptr_;
+    unique_ptr<TopologyPRM> topo_prm_;
+    KRRTSTAR::KRRTSTARPtr krrt_star_ptr_;
+    KRRT::KRRTPtr krrt_ptr_;
+    KRRTSHARP::KRRTSHARPPtr krrt_sharp_ptr_;
+    BIKRRT::BIKRRTPtr bikrrt_ptr_;
+    TrajOptimizer::Ptr optimizer_ptr_;
+    VisualRviz::Ptr vis_ptr_;
+    shared_ptr<R3Planner> r3_planer_ptr_;
+    shared_ptr<AstarPathFinder> astar_searcher_;
+    KinodynamicAstarJ::Ptr kastar_jerk_finder_;
+    fast_planner::BsplineOptimizer::Ptr bspline_optimizer_;
+    shared_ptr<BranchOpt> trunk_opt_ptr_;
+
+    // ros
+    ros::NodeHandle nh_;
+    ros::Timer execution_timer_;
+    ros::Subscriber goal_sub_;
+    ros::Publisher traj_pub_, globalTrajPub_;
+    ros::ServiceClient rcv_glb_obs_client_;
+    void goalCallback(const quadrotor_msgs::PositionCommand::ConstPtr &goal_msg);
+    void executionCallback(const ros::TimerEvent &event);
+
+    // params
+    Eigen::Vector3d start_pos_, start_vel_, start_acc_, end_pos_, end_vel_, end_acc_;
+    bool close_goal_traj_;
+    bool new_goal_, started_, use_optimization_;
+    Eigen::Vector3d last_goal_pos_;
+    Trajectory front_end_traj_, back_end_traj_, traj_;
+    bool map_initialized;
+    double replan_time_;
+    bool runned;
+    double max_vel_, max_acc_, ctrl_pt_dist_;
+    double rho_;
+
+    std::ofstream o_file_;
+    string file_name_;
+    double start_x_, start_y_, start_z_;
+    bool use_bench_, use_r3_;
+    bool test_rrt_w_, test_rrt_wo_, test_a_triple_, test_bikrrt_w_, test_bikrrt_wo_;
+    int repeat_times_;
+    int rrt_w_succ_num_, rrt_wo_suss_num_;
+    int opt_succ_num_, opt_old_succ_num_, opt_liu_succ_num_, opt_bspline_succ_num_;
+    int a_double_succ_num_, a_tripla_succ_num_, birrt_w_succ_num_, birrt_wo_succ_num_;
+    double avg_first_sln_time_, avg_first_sln_cost_;
+    bool test_variants_, test_wo_;
+  };
+
+  void GlobalTrajs::init(const ros::NodeHandle &nh)
+  {
+    env_ptr_.reset(new OccMap);
+    env_ptr_->init(nh);
+
+    vis_ptr_.reset(new VisualRviz(nh));
+
+    pos_checker_ptr_.reset(new PosChecker);
+    pos_checker_ptr_->init(nh);
+    pos_checker_ptr_->setMap(env_ptr_);
+
+    astar_searcher_.reset(new AstarPathFinder());
+    astar_searcher_->initGridMap(pos_checker_ptr_, pos_checker_ptr_->getOccMapSize());
+
+    topo_prm_.reset(new TopologyPRM);
+    topo_prm_->setPoschecker(pos_checker_ptr_);
+    topo_prm_->init(nh);
+
+    kastar_jerk_finder_.reset(new KinodynamicAstarJ);
+    kastar_jerk_finder_->setParam(nh);
+    kastar_jerk_finder_->setPosChecker(pos_checker_ptr_);
+    kastar_jerk_finder_->init();
+
+    optimizer_ptr_.reset(new TrajOptimizer(nh));
+    optimizer_ptr_->setPosChecker(pos_checker_ptr_);
+    optimizer_ptr_->setVisualizer(vis_ptr_);
+    optimizer_ptr_->setSearcher(astar_searcher_);
+
+    bspline_optimizer_.reset(new fast_planner::BsplineOptimizer);
+    bspline_optimizer_->setParam(nh);
+    bspline_optimizer_->setEnvironment(pos_checker_ptr_);
+
+    r3_planer_ptr_.reset(new R3Planner(nh, pos_checker_ptr_));
+
+    trunk_opt_ptr_.reset(new BranchOpt(nh));
+    trunk_opt_ptr_->setPosChecker(pos_checker_ptr_);
+    trunk_opt_ptr_->setVisualizer(vis_ptr_);
+
+    krrt_star_ptr_.reset(new KRRTSTAR(nh));
+    krrt_star_ptr_->init(nh);
+    krrt_star_ptr_->setPosChecker(pos_checker_ptr_);
+    krrt_star_ptr_->setVisualizer(vis_ptr_);
+    krrt_star_ptr_->setRegionalOptimizer(optimizer_ptr_);
+    krrt_star_ptr_->setSearcher(astar_searcher_);
+    krrt_star_ptr_->setTrunkOptimizer(trunk_opt_ptr_);
+
+    krrt_ptr_.reset(new KRRT(nh));
+    krrt_ptr_->init(nh);
+    krrt_ptr_->setPosChecker(pos_checker_ptr_);
+    krrt_ptr_->setVisualizer(vis_ptr_);
+    krrt_ptr_->setRegionalOptimizer(optimizer_ptr_);
+    krrt_ptr_->setSearcher(astar_searcher_);
+    krrt_ptr_->setTrunkOptimizer(trunk_opt_ptr_);
+
+    krrt_sharp_ptr_.reset(new KRRTSHARP(nh));
+    krrt_sharp_ptr_->init(nh);
+    krrt_sharp_ptr_->setPosChecker(pos_checker_ptr_);
+    krrt_sharp_ptr_->setVisualizer(vis_ptr_);
+    krrt_sharp_ptr_->setRegionalOptimizer(optimizer_ptr_);
+    krrt_sharp_ptr_->setSearcher(astar_searcher_);
+    krrt_sharp_ptr_->setTrunkOptimizer(trunk_opt_ptr_);
+
+    bikrrt_ptr_.reset(new BIKRRT(nh));
+    bikrrt_ptr_->init(nh);
+    bikrrt_ptr_->setPosChecker(pos_checker_ptr_);
+    bikrrt_ptr_->setVisualizer(vis_ptr_);
+    bikrrt_ptr_->setRegionalOptimizer(optimizer_ptr_);
+    bikrrt_ptr_->setSearcher(astar_searcher_);
+    bikrrt_ptr_->setTrunkOptimizer(trunk_opt_ptr_);
+
+    execution_timer_ = nh_.createTimer(ros::Duration(0.01), &GlobalTrajs::executionCallback, this); // 100Hz
+    traj_pub_ = nh_.advertise<quadrotor_msgs::PolynomialTrajectory>("/front_traj", 10);
+    rcv_glb_obs_client_ = nh_.serviceClient<self_msgs_and_srvs::GlbObsRcv>("/pub_glb_obs");
+    globalTrajPub_ = nh_.advertise<quadrotor_msgs::PolyTrajs>("/global_trajs", 1);
+
+    nh.param("global_trajs/start_x", start_x_, 0.0);
+    nh.param("global_trajs/start_y", start_y_, 0.0);
+    nh.param("global_trajs/start_z", start_z_, 0.0);
+    nh.param("global_trajs/use_optimization", use_optimization_, false);
+    nh.param("global_trajs/use_r3", use_r3_, false);
+    nh.param("global_trajs/replan_time", replan_time_, 0.03);
+    nh.param("global_trajs/use_bench", use_bench_, false);
+    nh.param("global_trajs/test_rrt_w", test_rrt_w_, false);
+    nh.param("global_trajs/test_rrt_wo", test_rrt_wo_, false);
+    nh.param("global_trajs/test_a_triple", test_a_triple_, false);
+    nh.param("global_trajs/test_bikrrt_w", test_bikrrt_w_, false);
+    nh.param("global_trajs/test_bikrrt_wo", test_bikrrt_wo_, false);
+    nh.param("global_trajs/repeat_times", repeat_times_, 0);
+    nh.param("global_trajs/rho", rho_, 0.01);
+    nh.param("global_trajs/test_variants", test_variants_, false);
+    nh.param("global_trajs/test_wo", test_wo_, false);
+    //bspline
+    nh.param("global_trajs/ctrl_pt_dist", ctrl_pt_dist_, 0.0);
+    nh.param("global_trajs/max_vel", max_vel_, 0.0);
+    nh.param("global_trajs/max_acc", max_acc_, 0.0);
+    nh.param<std::string>("global_trajs/file_name", file_name_, "file");
+
+    ROS_WARN_STREAM("[global_trajs] param: use_optimization: " << use_optimization_);
+    ROS_WARN_STREAM("[global_trajs] param: replan_time: " << replan_time_);
+    ROS_WARN_STREAM("[global_trajs] param: use_bench: " << use_bench_);
+    ROS_WARN_STREAM("[global_trajs] param: repeat_times: " << repeat_times_);
+
+    new_goal_ = false;
+    started_ = false;
+    last_goal_pos_ << start_x_, start_y_, start_z_;
+    map_initialized = false;
+    runned = false;
+
+    rrt_w_succ_num_ = 0;
+    rrt_wo_suss_num_ = 0;
+    opt_succ_num_ = 0;
+    opt_old_succ_num_ = 0;
+    a_double_succ_num_ = 0;
+    a_tripla_succ_num_ = 0;
+    birrt_w_succ_num_ = 0;
+    birrt_wo_succ_num_ = 0;
+    avg_first_sln_time_ = 0;
+    avg_first_sln_cost_ = 0;
+  }
+
+  void GlobalTrajs::executionCallback(const ros::TimerEvent &event)
+  {
+    static int fsm_num = 0;
+    fsm_num++;
+    if (fsm_num == 100)
+    {
+      if (!env_ptr_->mapValid())
+      {
+        ROS_INFO("no map.");
+        self_msgs_and_srvs::GlbObsRcv srv;
+        if (!rcv_glb_obs_client_.call(srv))
+          ROS_WARN("Failed to call service /pub_glb_obs");
+      }
+      else if (!runned && use_bench_)
+      {
+        map_initialized = true;
+        runned = true;
+
+        // Vector3d start_pos(12.0, -12.0, 0.0), start_vel(0.0, 0.0, 0.0), start_acc(0.0, 0.0, 0.0);
+        // Vector3d end_pos(-12.0, 12.0, 0.0), end_vel(0.0, 0.0, 0.0), end_acc(0.0, 0.0, 0.0);
+        Vector3d start_pos(-45.0, -45.0, 2.0), start_vel(0.0, 0.0, 0.0), start_acc(0.0, 0.0, 0.0);
+        Vector3d end_pos(45.0, 45.0, 2.0), end_vel(0.0, 0.0, 0.0), end_acc(0.0, 0.0, 0.0);
+        int n(1);
+        int deform_type(0);
+        bool use_regional_opt(false), use_deform(false);
+
+        deform_type = ONE_NODE;
+        use_regional_opt = false;
+        use_deform = true;
+        n = 1;
+        avg_first_sln_time_ = 0;
+        avg_first_sln_cost_ = 0;
+        // while (n <= repeat_times_)
+        // {
+        //   ROS_ERROR_STREAM("start bench No." << n << ", deform_type: " << deform_type << ", RO: " << use_regional_opt << ", deform: " << use_deform);
+        //   if (testConvergence(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, use_regional_opt, use_deform))
+        //     n++;
+        // }
+        // Trajectory tmp_traj;
+        // krrt_sharp_ptr_->getTraj(tmp_traj);
+        // vector<StatePVA> vis;
+        // tmp_traj.sampleWholeTrajectory(&vis);
+        // vis_ptr_->visualizeStates(vis, STEELBLUE, pos_checker_ptr_->getLocalTime());
+
+        Trajectory a_star_jerk_traj;
+        int res = 0;
+        while (n <= repeat_times_)
+        {
+          kastar_jerk_finder_->reset();
+          if (KinodynamicAstarJ::REACH_END == kastar_jerk_finder_->search(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, 2.0, true, 0, -1.0))
+          {
+            n++;
+            global_trajs_list_.push_back(a_star_jerk_traj);
+          }
+        }
+        kastar_jerk_finder_->getTraj(a_star_jerk_traj);
+        double plan_time = kastar_jerk_finder_->getPlanTime();
+        vector<StatePVA> vis;
+        a_star_jerk_traj.sampleWholeTrajectory(&vis);
+        vis_ptr_->visualizeStates(vis, STEELBLUE, pos_checker_ptr_->getLocalTime());
+        pubGlobalTrajs();
+      }
+      fsm_num = 0;
+    }
+  }
+
+  bool GlobalTrajs::testConvergence(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                                    Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                                    double search_time, int deform_type, bool use_regional_opt, bool use_deform)
+  {
+    bool tried_once(false);
+    int result(false);
+    double traj_len(0.0), traj_duration(0.0), traj_acc_itg(0.0), traj_jerk_itg(0.0);
+    int traj_seg_nums(0);
+
+    vis_ptr_->visualizeStartAndGoal(start_pos, end_pos, pos_checker_ptr_->getLocalTime());
+
+    /* r3planner   */
+    if (use_r3_)
+    {
+      double len_cost(0.0);
+      vector<Vector3d> route;
+      vector<vector<Vector3d>> routes;
+      ros::Time t1 = ros::Time::now();
+      double r3_use_time(0.0);
+      double radius(16); //radius square
+      if (r3_planer_ptr_->planOnce(start_pos, end_pos, route, len_cost, r3_use_time, radius))
+      {
+        tried_once = true;
+        ROS_ERROR_STREAM("r3 plan solved in: " << r3_use_time * 1000 << " ms, route len: " << len_cost);
+        // vector<vector<Vector3d>> select_paths;
+        // size_t v_n = r3_planer_ptr_->getGraph(select_paths);
+        // vis_ptr_->visualizePRM(select_paths, Color::Teal(), env_ptr_->getLocalTime());
+        // getchar();
+        routes.push_back(route);
+        // vis_ptr_->visualizePRM(routes, Color::Red(), env_ptr_->getLocalTime());
+
+        // vector<double> radii;
+        // for (const auto & p: route)
+        // {
+        //   Vector3d obs;
+        //   double radius = sqrt(pos_checker_ptr_->nearestObs(p, obs));
+        //   radii.push_back(radius);
+        // }
+        // vis_ptr_->visualizeBalls(route, radii, env_ptr_->getLocalTime());
+        krrt_star_ptr_->sampler_.topoSetup(routes);
+        bikrrt_ptr_->sampler_.topoSetup(routes);
+        krrt_ptr_->sampler_.topoSetup(routes);
+        krrt_sharp_ptr_->sampler_.topoSetup(routes);
+        // o_file_ << r3_use_time << "," << ","; // r3 use time (ms)
+      }
+      else
+      {
+        ROS_WARN("r3 plan fail");
+        return false;
+        // o_file_ << "," << ","; // r3 use time (ms)
+      }
+    }
+    else
+    {
+      tried_once = true;
+    }
+
+    bool res(false);
+    krrt_sharp_ptr_->reset();
+    res = krrt_sharp_ptr_->plan(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, search_time, deform_type, use_regional_opt, use_deform);
+    if (res == KRRTSTAR::SUCCESS)
+    {
+      rrt_w_succ_num_++;
+      vector<double> solution_cost_list;
+      vector<double> solution_time_list;
+      krrt_sharp_ptr_->getConvergenceInfo(global_trajs_list_, solution_cost_list, solution_time_list);
+      avg_first_sln_time_ += solution_time_list[0] * 1e3;
+      avg_first_sln_cost_ += solution_cost_list[0];
+      vector<vector<StatePVA>> trajs_states;
+      for (size_t i = 0; i < global_trajs_list_.size(); ++i)
+      {
+        vector<StatePVA> single_traj_states;
+        global_trajs_list_[i].sampleWholeTrajectory(&single_traj_states);
+        trajs_states.push_back(single_traj_states);
+      }
+      pubGlobalTrajs();
+      vis_ptr_->visualizeTrajList(trajs_states, pos_checker_ptr_->getLocalTime());
+      return true;
+    }
+    else
+      return false;
+  }
+
+  bool GlobalTrajs::optimize(const Trajectory &traj)
+  {
+    if (!optimizer_ptr_->initialize(traj, TrajOptimizer::SMOOTH_HOMO_OBS))
+      return false;
+    bool res = optimizer_ptr_->solve_S_H_O();
+    return res;
+  }
+
+  void GlobalTrajs::pubGlobalTrajs()
+  {
+    if (global_trajs_list_.size() <= 0)
+      return;
+
+    quadrotor_msgs::PolyTrajs trajs;
+    trajs.poly_trajs.resize(global_trajs_list_.size());
+    for (size_t i = 0; i < global_trajs_list_.size(); i++)
+    {
+      quadrotor_msgs::PolyTraj traj_msg;
+      traj_msg.hover = false;
+      traj_msg.order = 5; // currently only 5-th order polynomials are supported
+      vector<double> durs = global_trajs_list_[i].getDurations();
+      int piece_num = global_trajs_list_[i].getPieceNum();
+      traj_msg.duration.resize(piece_num);
+      traj_msg.coef_x.resize(6 * piece_num);
+      traj_msg.coef_y.resize(6 * piece_num);
+      traj_msg.coef_z.resize(6 * piece_num);
+      for (int j = 0; j < piece_num; ++j)
+      {
+        traj_msg.duration[j] = durs[j];
+        CoefficientMat cMat = global_trajs_list_[i][j].getCoeffMat();
+        int i6 = j * 6;
+        for (int k = 0; k < 6; k++)
+        {
+          traj_msg.coef_x[i6 + k] = cMat(0, k);
+          traj_msg.coef_y[i6 + k] = cMat(1, k);
+          traj_msg.coef_z[i6 + k] = cMat(2, k);
+        }
+      }
+      traj_msg.delay_time = 0.0;
+      trajs.poly_trajs[i] = traj_msg;
+    }
+    globalTrajPub_.publish(trajs);
+  }
+
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "state_machine_node");
+  ros::NodeHandle nh("~");
+
+  tgk_planner::GlobalTrajs planners_tester;
+  planners_tester.init(nh);
+
+  ros::AsyncSpinner spinner(0);
+  spinner.start();
+  ros::waitForShutdown();
+}
+
+#endif //_FSM_H_
diff --git a/decision/state_machine/src/pub_goal_node.cpp b/decision/state_machine/src/pub_goal_node.cpp
new file mode 100755
index 0000000..2c9d55d
--- /dev/null
+++ b/decision/state_machine/src/pub_goal_node.cpp
@@ -0,0 +1,43 @@
+#include "quadrotor_msgs/PositionCommand.h"
+#include <ros/ros.h>
+#include <Eigen/Eigen>
+#include <iostream>
+
+int main(int argc, char** argv) 
+{
+  ros::init(argc, argv, "pub_goal_node");
+  ros::NodeHandle nh("~");
+  ros::Publisher goal_pub = nh.advertise<quadrotor_msgs::PositionCommand>("/goal", 1);
+  std::random_device rd;
+  std::mt19937_64 gen_;                  
+  std::uniform_real_distribution<double> pos_mean_rand_;
+  gen_ = std::mt19937_64(rd());
+  pos_mean_rand_ = std::uniform_real_distribution<double>(-1.0, 1.0);
+
+  quadrotor_msgs::PositionCommand goal;
+  int pub_num = 1000; // number of samples
+  ros::Rate rate(1.0/30.0);
+  Eigen::Vector3d last_pt(0.0, 0.0, 0.0);
+  int i(0);
+  while (ros::ok() && i < pub_num)
+  {
+    Eigen::Vector3d pt;
+    double pos_mean = pos_mean_rand_(gen_);
+    pt[0] = pos_mean * 20.0; // half map size x, should be half as the arg map_size_x in simulator.launch
+    pos_mean = pos_mean_rand_(gen_);
+    pt[1] = pos_mean * 20.0; // half map size y, should be half as the arg map_size_y in simulator.launch
+    pt[2] = 0.0;
+    if ((pt - last_pt).norm() >= 5)
+    {
+      i++;
+      std::cout << i << std::endl;
+      goal.position.x = pt[0];
+      goal.position.y = pt[1];
+      goal.position.z = pt[2];
+      goal_pub.publish(goal);
+      last_pt = pt;
+      rate.sleep();
+    }
+  }
+  
+}
\ No newline at end of file
diff --git a/decision/state_machine/src/state_machine_node.cpp b/decision/state_machine/src/state_machine_node.cpp
new file mode 100755
index 0000000..783e750
--- /dev/null
+++ b/decision/state_machine/src/state_machine_node.cpp
@@ -0,0 +1,20 @@
+#include "state_machine/fsm.h"
+
+#include <ros/ros.h>
+
+using namespace tgk_planner;
+
+int main(int argc, char** argv) 
+{
+    ros::init(argc, argv, "state_machine_node");
+    ros::NodeHandle nh("~");
+    
+    FSM fsm;
+    fsm.init(nh);
+    
+    ros::AsyncSpinner spinner(0);
+    spinner.start();
+    ros::waitForShutdown();
+    // ros::spin();
+    // return 0;
+}
\ No newline at end of file
diff --git a/decision/state_machine/src/test_bvp_node.cpp b/decision/state_machine/src/test_bvp_node.cpp
new file mode 100755
index 0000000..0f99841
--- /dev/null
+++ b/decision/state_machine/src/test_bvp_node.cpp
@@ -0,0 +1,135 @@
+#include "kino_plan/bvp_solver.h"
+#include "visualization_utils/visualization_utils.h"
+#include "quadrotor_msgs/PositionCommand.h"
+#include <ros/ros.h>
+#include <Eigen/Eigen>
+
+class BVPTest
+{
+public:
+  BVPTest(const ros::NodeHandle &nh): nh_(nh)
+  {
+    nh.param("test/start_px", start_state_[0], 0.0);
+    nh.param("test/start_py", start_state_[1], 0.0);
+    nh.param("test/start_pz", start_state_[2], 0.0);
+    nh.param("test/start_vx", start_state_[3], 0.0);
+    nh.param("test/start_vy", start_state_[4], 0.0);
+    nh.param("test/start_vz", start_state_[5], 0.0);
+    nh.param("test/start_ax", start_state_[6], 0.0);
+    nh.param("test/start_ay", start_state_[7], 0.0);
+    nh.param("test/start_az", start_state_[8], 0.0);
+    nh.param("test/rho", rho_, 0.0);
+
+    vis_ptr_.reset(new VisualRviz(nh));
+    goal_sub_ = nh_.subscribe("/goal", 1, &BVPTest::goalCallback, this);
+
+    bvp_.init(TRIPLE_INTEGRATOR);
+    bvp_.setRho(rho_);
+  };
+
+private:
+  ros::NodeHandle nh_;
+  BVPSolver::IntegratorBVP bvp_;
+  VisualRviz::Ptr vis_ptr_;
+  StatePVA start_state_, end_state_;
+  double rho_;
+
+  ros::Subscriber goal_sub_;
+  void goalCallback(const quadrotor_msgs::PositionCommand::ConstPtr &goal_msg)
+  {
+    end_state_ << goal_msg->position.x,
+        goal_msg->position.y,
+        goal_msg->position.z,
+        goal_msg->velocity.x + 1.0,
+        goal_msg->velocity.y + 2.0,
+        goal_msg->velocity.z,
+        goal_msg->acceleration.x,
+        goal_msg->acceleration.y,
+        goal_msg->acceleration.z;
+    solve(start_state_, end_state_);
+  };
+
+  /* 
+  ratio: new duration / original duration
+  */
+  CoefficientMat reTiming(double ratio, const CoefficientMat &coeff)
+  {
+    CoefficientMat res_coeff;
+    int order = coeff.cols();
+    double t = 1.0;
+    for (int curr_order = order - 1; curr_order >= 0; --curr_order)
+    {
+      res_coeff.col(curr_order) = coeff.col(curr_order) / t;
+      t *= ratio;
+    }
+    return res_coeff;
+  };
+  
+  void solve(const StatePVA &s, const StatePVA &e)
+  {
+    ROS_INFO_STREAM("[TEST]: solve s: " << s.transpose() << ", e: " << e.transpose());
+    if (bvp_.solve(s, e))
+    {
+      CoefficientMat coeff;
+      bvp_.getCoeff(coeff);
+      std::cout << "ori_coeff: \n" << coeff << std::endl;
+      double best_tau = bvp_.getTauStar();
+      double best_cost = bvp_.getCostStar();
+      ROS_INFO("[TEST]: Best cost: %lf, best tau: %lf", best_cost, best_tau);
+      Piece poly_seg(best_tau, coeff);
+      /* for traj vis */
+      std::vector<StatePVA> vis_x;
+      vis_x.clear();
+      poly_seg.sampleOneSeg(&vis_x);
+      vis_ptr_->visualizeStates(vis_x, BLUE, ros::Time::now());
+
+      double vel_max = poly_seg.getMaxVelRate();
+      double acc_max = poly_seg.getMaxAccRate();
+      double jerk_max = poly_seg.getMaxJerkRate();
+      ROS_WARN("[TEST]: vel_max: %lf, acc_max: %lf, jerk_max: %lf", vel_max, acc_max, jerk_max);
+
+      double tau_low = best_tau / 3.0;
+      double tau_high = best_tau * 3.0;
+      std::vector<std::vector<StatePVA>> vis_xs;
+      std::vector<std::string> texts;
+      std::vector<Eigen::Vector3d> texts_pos;
+      for (double t = tau_low; t <= tau_high; t += 0.1)
+      {
+        ros::Time t1 = ros::Time::now();
+        // bvp_.calCoeffFromTau(t, coeff);
+        CoefficientMat new_coeff = reTiming(t / best_tau, coeff);
+        ros::Time t2 = ros::Time::now();
+        Piece curr_poly_seg(t, new_coeff);
+        double vel_max = curr_poly_seg.getMaxVelRate();
+        ros::Time t3 = ros::Time::now();
+        double acc_max = curr_poly_seg.getMaxAccRate();
+        ros::Time t4 = ros::Time::now();
+        double jerk_max = curr_poly_seg.getMaxJerkRate();
+        ROS_WARN_STREAM("[TEST]: re-calculate coeff uses: " << (t2 - t1).toSec() * 1e6 << " us, " << (t3 - t2).toSec() * 1e6 << " us, " << (t4 - t3).toSec() * 1e6 << " us");
+        std::string s = "t: " + std::to_string(t) + ", v: " + std::to_string(vel_max) + ", a: " + std::to_string(acc_max) + ", j: " + std::to_string(jerk_max);
+        texts.push_back(s);
+        vis_x.clear();
+        curr_poly_seg.sampleOneSeg(&vis_x);
+        vis_xs.push_back(vis_x);
+        ROS_ERROR("[TEST]: tau: %lf, vel_max: %lf, acc_max: %lf, jerk: %lf", t, vel_max, acc_max, jerk_max);
+        Eigen::Vector3d p;
+        p = curr_poly_seg.getPos(t / 2.0);
+        texts_pos.push_back(p);
+      }
+      vis_ptr_->visualizeMultiTraj(vis_xs, ros::Time::now());
+      vis_ptr_->visualizeText(texts, texts_pos, ros::Time::now());
+    }
+    else
+    {
+      ROS_INFO("sth wrong with bvp_solver");
+    }
+  };
+};
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "test_bap_node");
+  ros::NodeHandle nh("~");
+  BVPTest bvp_tester(nh);
+  ros::spin();
+}
\ No newline at end of file
diff --git a/decision/state_machine/src/test_planners_node.cpp b/decision/state_machine/src/test_planners_node.cpp
new file mode 100755
index 0000000..9b5001c
--- /dev/null
+++ b/decision/state_machine/src/test_planners_node.cpp
@@ -0,0 +1,857 @@
+#ifndef _TEST_PLANNERS_H_
+#define _TEST_PLANNERS_H_
+
+#include "self_msgs_and_srvs/GlbObsRcv.h"
+#include "occ_grid/occ_map.h"
+#include "occ_grid/pos_checker.h"
+#include "kino_plan/krrt.h"
+#include "kino_plan/krrt_star.h"
+#include "kino_plan/krrt_sharp.h"
+#include "kino_plan/topo_prm.h"
+#include "visualization_utils/visualization_utils.h"
+#include "poly_opt/traj_optimizer.h"
+#include "poly_opt/nonsmooth_trunk_opt.h"
+// #include "poly_opt/trunk_opt.h"
+#include "quadrotor_msgs/PolynomialTrajectory.h"
+#include "quadrotor_msgs/PositionCommand.h"
+#include "r3_plan/rrt_star.h"
+#include "r3_plan/r3_planner.h"
+#include "r3_plan/a_star_search.h"
+#include "kino_plan/kd_astar_jerk.h"
+
+#include <ros/ros.h>
+#include <nav_msgs/Path.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/PointStamped.h>
+#include <std_msgs/Empty.h>
+
+namespace tgk_planner
+{
+  struct BenchmarkResult
+  {
+    // Evaluation settings
+    int trial_number = -1;
+    std::string method_name = "none";
+
+    // Trajectory settings
+    int num_segments = 0;
+    double nominal_length = 0.0;
+
+    // Evaluation results
+    int optimization_success = 0;
+    bool bounds_violated = false;
+    double trajectory_time = 0.0;
+    double trajectory_length = 0.0;
+    double computation_time = 0.0; // in s
+    double j_max = 0.0;
+    double v_max = 0.0;
+    double a_max = 0.0;
+    double cost = 0.0;
+    double max_dist_from_straight_line = 0.0;
+    double area_traj_straight_line = 0.0;
+
+    double acceleration_integral = 0.0;
+    double jerk_integral = 0.0;
+
+    double corridor_time = 0.0; // in s
+  };
+
+  class PlannerTester
+  {
+  public:
+    PlannerTester(){};
+    ~PlannerTester(){};
+    void init(const ros::NodeHandle &nh);
+    bool testConvergence(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                         Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                         double search_time, int deform_type, bool use_regional_opt, bool use_deform);
+    bool woTest(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                double search_time, int deform_type, int planner, bool use_deform);
+    BenchmarkResult runCorridorBasedOnce(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                                         Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                                         const vector<Eigen::Vector3d> &rrt_path);
+    BenchmarkResult runRichterOnce(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                                   Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                                   const vector<Eigen::Vector3d> &rrt_path);
+    void benchForCorridorBased(int n, Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                               Vector3d end_pos, Vector3d end_vel, Vector3d end_acc);
+
+  private:
+    // map, checker, planner
+    OccMap::Ptr env_ptr_;
+    PosChecker::Ptr pos_checker_ptr_;
+    KRRTSTAR::KRRTSTARPtr krrt_star_ptr_;
+    std::shared_ptr<BVPSolver::IntegratorBVP> bvpPtr_;
+    KRRT::KRRTPtr krrt_ptr_;
+    KRRTSHARP::KRRTSHARPPtr krrt_sharp_ptr_;
+    TrajOptimizer::Ptr optimizer_ptr_;
+    VisualRviz::Ptr vis_ptr_;
+    shared_ptr<R3Planner> r3_planer_ptr_;
+    shared_ptr<path_plan::RRTStar> rrt_star_path_planner_ptr_;
+    shared_ptr<AstarPathFinder> astar_searcher_;
+    KinodynamicAstarJ::Ptr kastar_jerk_finder_;
+    shared_ptr<BranchOpt> trunk_opt_ptr_;
+
+    // ros
+    ros::NodeHandle nh_;
+    ros::Timer execution_timer_;
+    ros::Subscriber goal_sub_;
+    ros::Publisher traj_pub_;
+    ros::Publisher hPolyPub_;
+    ros::Publisher path_marker_pub_;
+    ros::ServiceClient rcv_glb_obs_client_;
+    void goalCallback(const quadrotor_msgs::PositionCommand::ConstPtr &goal_msg);
+    void executionCallback(const ros::TimerEvent &event);
+
+    // params
+    Eigen::Vector3d start_pos_, start_vel_, start_acc_, end_pos_, end_vel_, end_acc_;
+    bool close_goal_traj_;
+    bool new_goal_, started_, use_optimization_;
+    Eigen::Vector3d last_goal_pos_;
+    Trajectory front_end_traj_, back_end_traj_, traj_;
+    bool map_initialized;
+    double replan_time_;
+    bool runned;
+    double max_vel_, max_acc_, max_jerk_, ctrl_pt_dist_;
+    double rho_;
+
+    const static int kN_ = 12; // has to be even !!
+    int kDim_ = 3;
+    bool print_debug_info_;
+    double collision_check_dt_;
+    int max_loop_num_;
+    double bbox_width_;
+
+    std::ofstream o_file_;
+    string file_name_;
+    double start_x_, start_y_, start_z_;
+    bool use_bench_, use_r3_;
+    bool test_rrt_w_, test_rrt_wo_, test_a_triple_, test_bikrrt_w_, test_bikrrt_wo_;
+    int repeat_times_;
+    int rrt_w_succ_num_, rrt_wo_suss_num_;
+    int opt_succ_num_, opt_old_succ_num_, opt_liu_succ_num_, opt_bspline_succ_num_;
+    int a_double_succ_num_, a_tripla_succ_num_, birrt_w_succ_num_, birrt_wo_succ_num_;
+    double avg_first_sln_time_, avg_first_sln_cost_;
+    bool test_variants_, test_wo_, test_hierarchical_;
+    double start_pos_x_, start_pos_y_, start_pos_z_, end_pos_x_, end_pos_y_, end_pos_z_;
+  };
+
+  void PlannerTester::init(const ros::NodeHandle &nh)
+  {
+    env_ptr_.reset(new OccMap);
+    env_ptr_->init(nh);
+
+    vis_ptr_.reset(new VisualRviz(nh));
+
+    pos_checker_ptr_.reset(new PosChecker);
+    pos_checker_ptr_->init(nh);
+    pos_checker_ptr_->setMap(env_ptr_);
+
+    astar_searcher_.reset(new AstarPathFinder());
+    astar_searcher_->initGridMap(pos_checker_ptr_, pos_checker_ptr_->getOccMapSize());
+
+    kastar_jerk_finder_.reset(new KinodynamicAstarJ);
+    kastar_jerk_finder_->setParam(nh);
+    kastar_jerk_finder_->setPosChecker(pos_checker_ptr_);
+    kastar_jerk_finder_->init();
+
+    optimizer_ptr_.reset(new TrajOptimizer(nh));
+    optimizer_ptr_->setPosChecker(pos_checker_ptr_);
+    optimizer_ptr_->setVisualizer(vis_ptr_);
+    optimizer_ptr_->setSearcher(astar_searcher_);
+
+    bvpPtr_ = std::make_shared<BVPSolver::IntegratorBVP>();
+
+    r3_planer_ptr_.reset(new R3Planner(nh, pos_checker_ptr_));
+
+    rrt_star_path_planner_ptr_.reset(new path_plan::RRTStar(nh, pos_checker_ptr_));
+
+    trunk_opt_ptr_.reset(new BranchOpt(nh));
+    trunk_opt_ptr_->setPosChecker(pos_checker_ptr_);
+    trunk_opt_ptr_->setVisualizer(vis_ptr_);
+
+    krrt_star_ptr_.reset(new KRRTSTAR(nh, bvpPtr_));
+    krrt_star_ptr_->init(nh);
+    krrt_star_ptr_->setPosChecker(pos_checker_ptr_);
+    krrt_star_ptr_->setVisualizer(vis_ptr_);
+    krrt_star_ptr_->setRegionalOptimizer(optimizer_ptr_);
+    krrt_star_ptr_->setSearcher(astar_searcher_);
+    krrt_star_ptr_->setTrunkOptimizer(trunk_opt_ptr_);
+
+    krrt_ptr_.reset(new KRRT(nh, bvpPtr_));
+    krrt_ptr_->init(nh);
+    krrt_ptr_->setPosChecker(pos_checker_ptr_);
+    krrt_ptr_->setVisualizer(vis_ptr_);
+    krrt_ptr_->setRegionalOptimizer(optimizer_ptr_);
+    krrt_ptr_->setSearcher(astar_searcher_);
+    krrt_ptr_->setTrunkOptimizer(trunk_opt_ptr_);
+
+    krrt_sharp_ptr_.reset(new KRRTSHARP(nh, bvpPtr_));
+    krrt_sharp_ptr_->init(nh);
+    krrt_sharp_ptr_->setPosChecker(pos_checker_ptr_);
+    krrt_sharp_ptr_->setVisualizer(vis_ptr_);
+    krrt_sharp_ptr_->setRegionalOptimizer(optimizer_ptr_);
+    krrt_sharp_ptr_->setSearcher(astar_searcher_);
+    krrt_sharp_ptr_->setTrunkOptimizer(trunk_opt_ptr_);
+
+    execution_timer_ = nh_.createTimer(ros::Duration(0.01), &PlannerTester::executionCallback, this); // 100Hz
+    goal_sub_ = nh_.subscribe("/goal", 1, &PlannerTester::goalCallback, this);
+    traj_pub_ = nh_.advertise<quadrotor_msgs::PolynomialTrajectory>("/front_traj", 10);
+    rcv_glb_obs_client_ = nh_.serviceClient<self_msgs_and_srvs::GlbObsRcv>("/pub_glb_obs");
+    path_marker_pub_ = nh_.advertise<visualization_msgs::MarkerArray>("path", 1, true);
+
+    nh.param("test_plan/start_x", start_x_, 0.0);
+    nh.param("test_plan/start_y", start_y_, 0.0);
+    nh.param("test_plan/start_z", start_z_, 0.0);
+    nh.param("test_plan/use_optimization", use_optimization_, false);
+    nh.param("test_plan/use_r3", use_r3_, false);
+    nh.param("test_plan/replan_time", replan_time_, 0.03);
+    nh.param("test_plan/use_bench", use_bench_, false);
+    nh.param("test_plan/test_rrt_w", test_rrt_w_, false);
+    nh.param("test_plan/test_rrt_wo", test_rrt_wo_, false);
+    nh.param("test_plan/test_a_triple", test_a_triple_, false);
+    nh.param("test_plan/test_bikrrt_w", test_bikrrt_w_, false);
+    nh.param("test_plan/test_bikrrt_wo", test_bikrrt_wo_, false);
+    nh.param("test_plan/repeat_times", repeat_times_, 0);
+    nh.param("test_plan/rho", rho_, 0.01);
+    nh.param("test_plan/test_variants", test_variants_, false);
+    nh.param("test_plan/test_wo", test_wo_, false);
+    nh.param("test_plan/test_hierarchical", test_hierarchical_, false);
+
+    nh.param("test_plan/start_pos_x", start_pos_x_, 0.0);
+    nh.param("test_plan/start_pos_y", start_pos_y_, 0.0);
+    nh.param("test_plan/start_pos_z", start_pos_z_, 0.0);
+    nh.param("test_plan/end_pos_x", end_pos_x_, 0.0);
+    nh.param("test_plan/end_pos_y", end_pos_y_, 0.0);
+    nh.param("test_plan/end_pos_z", end_pos_z_, 0.0);
+
+    //bspline
+    nh.param("test_plan/ctrl_pt_dist", ctrl_pt_dist_, 0.0);
+    nh.param("test_plan/max_vel", max_vel_, 0.0);
+    nh.param("test_plan/max_acc", max_acc_, 0.0);
+    nh.param("test_plan/max_jerk", max_jerk_, 0.0);
+    nh.param<std::string>("test_plan/file_name", file_name_, "file");
+
+    nh.param("test_plan/print_debug_info", print_debug_info_, false);
+    nh.param("test_plan/collision_check_dt", collision_check_dt_, 0.0);
+    nh.param("test_plan/max_loop_num", max_loop_num_, 0);
+    nh.param("test_plan/bbox_width", bbox_width_, 0.0);
+
+    ROS_WARN_STREAM("[test_plan] param: use_optimization: " << use_optimization_);
+    ROS_WARN_STREAM("[test_plan] param: replan_time: " << replan_time_);
+    ROS_WARN_STREAM("[test_plan] param: use_bench: " << use_bench_);
+    ROS_WARN_STREAM("[test_plan] param: repeat_times: " << repeat_times_);
+
+    bvpPtr_->init(TRIPLE_INTEGRATOR);
+    bvpPtr_->setRho(rho_);
+
+    new_goal_ = false;
+    started_ = false;
+    last_goal_pos_ << start_x_, start_y_, start_z_;
+    map_initialized = false;
+    runned = false;
+
+    rrt_w_succ_num_ = 0;
+    rrt_wo_suss_num_ = 0;
+    opt_succ_num_ = 0;
+    opt_old_succ_num_ = 0;
+    a_double_succ_num_ = 0;
+    a_tripla_succ_num_ = 0;
+    birrt_w_succ_num_ = 0;
+    birrt_wo_succ_num_ = 0;
+    avg_first_sln_time_ = 0;
+    avg_first_sln_cost_ = 0;
+  }
+
+  void PlannerTester::executionCallback(const ros::TimerEvent &event)
+  {
+    static int fsm_num = 0;
+    fsm_num++;
+    if (fsm_num == 100)
+    {
+      if (!env_ptr_->mapValid())
+      {
+        ROS_INFO("no map.");
+        self_msgs_and_srvs::GlbObsRcv srv;
+        if (!rcv_glb_obs_client_.call(srv))
+          ROS_WARN("Failed to call service /pub_glb_obs");
+      }
+      else if (!runned && use_bench_)
+      {
+        map_initialized = true;
+        runned = true;
+
+        /*********  bench convergence  ************/
+        if (test_variants_)
+        {
+          // Vector3d start_pos(12.0, -12.0, 0.0), start_vel(0.0, 0.0, 0.0), start_acc(0.0, 0.0, 0.0);
+          // Vector3d end_pos(-12.0, 12.0, 0.0), end_vel(0.0, 0.0, 0.0), end_acc(0.0, 0.0, 0.0);
+          Vector3d start_pos(0.0, -32.0, 0.0), start_vel(0.0, 0.0, 0.0), start_acc(0.0, 0.0, 0.0);
+          Vector3d end_pos(0.0, 32.0, 0.0), end_vel(0.0, 0.0, 0.0), end_acc(0.0, 0.0, 0.0);
+          int n(1);
+          int deform_type(0);
+          bool use_regional_opt(false), use_deform(false);
+          o_file_.open(file_name_.append("-one-node.csv"), ios::out | ios::app);
+
+          deform_type = ONE_NODE;
+          use_regional_opt = false;
+          use_deform = true;
+          n = 1;
+          avg_first_sln_time_ = 0;
+          avg_first_sln_cost_ = 0;
+          while (n <= repeat_times_)
+          {
+            ROS_ERROR_STREAM("start bench No." << n << ", deform_type: " << deform_type << ", RO: " << use_regional_opt << ", deform: " << use_deform);
+            if (testConvergence(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, use_regional_opt, use_deform))
+              n++;
+          }
+          // avg_first_sln_time_ /= repeat_times_;
+          // avg_first_sln_cost_ /= repeat_times_;
+          // o_file_ << avg_first_sln_time_ << "," << avg_first_sln_cost_ << ",";
+          // o_file_ << endl;
+          o_file_.close();
+          Trajectory tmp_traj;
+          krrt_sharp_ptr_->getTraj(tmp_traj);
+          vector<StatePVA> vis;
+          tmp_traj.sampleWholeTrajectory(&vis);
+          vis_ptr_->visualizeStates(vis, STEELBLUE, pos_checker_ptr_->getLocalTime());
+
+          file_name_ = file_name_.substr(0, file_name_.length() - 13);
+          o_file_.open(file_name_.append("-trunk.csv"), ios::out | ios::app);
+          deform_type = TRUNK_NODES;
+          use_regional_opt = false;
+          use_deform = true;
+          n = 1;
+          avg_first_sln_time_ = 0;
+          avg_first_sln_cost_ = 0;
+          while (n <= repeat_times_)
+          {
+            ROS_ERROR_STREAM("start bench No." << n << ", deform_type: " << deform_type << ", RO: " << use_regional_opt << ", deform: " << use_deform);
+            if (testConvergence(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, use_regional_opt, use_deform))
+              n++;
+          }
+          // avg_first_sln_time_ /= repeat_times_;
+          // avg_first_sln_cost_ /= repeat_times_;
+          // o_file_ << avg_first_sln_time_ << "," << avg_first_sln_cost_ << ",";
+          o_file_.close();
+          krrt_sharp_ptr_->getTraj(tmp_traj);
+          vis.clear();
+          tmp_traj.sampleWholeTrajectory(&vis);
+          vis_ptr_->visualizeStates(vis, ORANGE, pos_checker_ptr_->getLocalTime());
+
+          file_name_ = file_name_.substr(0, file_name_.length() - 10);
+          o_file_.open(file_name_.append("-branch.csv"), ios::out | ios::app);
+          deform_type = BRANCH_NODES;
+          use_regional_opt = false;
+          use_deform = true;
+          n = 1;
+          avg_first_sln_time_ = 0;
+          avg_first_sln_cost_ = 0;
+          while (n <= repeat_times_)
+          {
+            ROS_ERROR_STREAM("start bench No." << n << ", deform_type: " << deform_type << ", RO: " << use_regional_opt << ", deform: " << use_deform);
+            if (testConvergence(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, use_regional_opt, use_deform))
+              n++;
+          }
+          // avg_first_sln_time_ /= repeat_times_;
+          // avg_first_sln_cost_ /= repeat_times_;
+          // o_file_ << avg_first_sln_time_ << "," << avg_first_sln_cost_ << ",";
+          o_file_.close();
+
+          file_name_ = file_name_.substr(0, file_name_.length() - 11);
+          o_file_.open(file_name_.append("-small-branch.csv"), ios::out | ios::app);
+          deform_type = SMALL_BRANCH_NODES;
+          use_regional_opt = false;
+          use_deform = true;
+          n = 1;
+          avg_first_sln_time_ = 0;
+          avg_first_sln_cost_ = 0;
+          while (n <= repeat_times_)
+          {
+            ROS_ERROR_STREAM("start bench No." << n << ", deform_type: " << deform_type << ", RO: " << use_regional_opt << ", deform: " << use_deform);
+            if (testConvergence(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, use_regional_opt, use_deform))
+              n++;
+          }
+          // avg_first_sln_time_ /= repeat_times_;
+          // avg_first_sln_cost_ /= repeat_times_;
+          // o_file_ << avg_first_sln_time_ << "," << avg_first_sln_cost_ << ",";
+          o_file_.close();
+          krrt_sharp_ptr_->getTraj(tmp_traj);
+          vis.clear();
+          tmp_traj.sampleWholeTrajectory(&vis);
+          vis_ptr_->visualizeStates(vis, RED, pos_checker_ptr_->getLocalTime());
+
+          file_name_ = file_name_.substr(0, file_name_.length() - 17);
+          o_file_.open(file_name_.append("-tree.csv"), ios::out | ios::app);
+          deform_type = TREE_NODES;
+          use_regional_opt = false;
+          use_deform = true;
+          n = 1;
+          avg_first_sln_time_ = 0;
+          avg_first_sln_cost_ = 0;
+          while (n <= repeat_times_)
+          {
+            ROS_ERROR_STREAM("start bench No." << n << ", deform_type: " << deform_type << ", RO: " << use_regional_opt << ", deform: " << use_deform);
+            if (testConvergence(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, use_regional_opt, use_deform))
+              n++;
+          }
+          // avg_first_sln_time_ /= repeat_times_;
+          // avg_first_sln_cost_ /= repeat_times_;
+          // o_file_ << avg_first_sln_time_ << "," << avg_first_sln_cost_ << ",";
+          o_file_.close();
+          krrt_sharp_ptr_->getTraj(tmp_traj);
+          vis.clear();
+          tmp_traj.sampleWholeTrajectory(&vis);
+          vis_ptr_->visualizeStates(vis, GREEN, pos_checker_ptr_->getLocalTime());
+
+          file_name_ = file_name_.substr(0, file_name_.length() - 9);
+          o_file_.open(file_name_.append("-no-deform.csv"), ios::out | ios::app);
+          deform_type = NO_DEFORM;
+          use_regional_opt = false;
+          use_deform = false;
+          n = 1;
+          avg_first_sln_time_ = 0;
+          avg_first_sln_cost_ = 0;
+          while (n <= repeat_times_)
+          {
+            ROS_ERROR_STREAM("start bench No." << n << ", deform_type: " << deform_type << ", RO: " << use_regional_opt << ", deform: " << use_deform);
+            if (testConvergence(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, use_regional_opt, use_deform))
+              n++;
+          }
+          // avg_first_sln_time_ /= repeat_times_;
+          // avg_first_sln_cost_ /= repeat_times_;
+          // o_file_ << avg_first_sln_time_ << "," << avg_first_sln_cost_ << ",";
+          o_file_.close();
+          krrt_sharp_ptr_->getTraj(tmp_traj);
+          vis.clear();
+          tmp_traj.sampleWholeTrajectory(&vis);
+          vis_ptr_->visualizeStates(vis, PURPLE, pos_checker_ptr_->getLocalTime());
+
+          cout << "00000: " << endl;
+          if (test_a_triple_)
+          {
+            file_name_ = file_name_.substr(0, file_name_.length() - 14);
+            o_file_.open(file_name_.append("-astar.csv"), ios::out | ios::app);
+            int res = 0;
+            double lambda_heu[] = {1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0, 2.1, 2.2, 2.3, 2.4, 2.5, 2.6, 2.7, 2.8, 2.9, 3.0};
+            Trajectory a_star_jerk_traj;
+            double plan_time(0.0);
+            double cost(0.0);
+            double curr_traj_len(0.0), curr_traj_duration(0.0), curr_traj_acc_itg(0.0), curr_traj_jerk_itg(0.0);
+            int curr_traj_seg_nums(0);
+            int n(0);
+            std::vector<StatePVA> vis_x;
+            int discre_num = sizeof(lambda_heu) / sizeof(lambda_heu[0]);
+            for (int i = 0; i < discre_num; ++i)
+            {
+              n = 0;
+              res = 0;
+              while (res != KinodynamicAstarJ::REACH_END)
+              {
+                n++;
+                cout << "lambda_heu: " << lambda_heu[i] << ", Kinodynamic a star start " << n << endl;
+                kastar_jerk_finder_->reset();
+                res = kastar_jerk_finder_->search(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, lambda_heu[i], true, 0, -1.0);
+                kastar_jerk_finder_->getTraj(a_star_jerk_traj);
+                plan_time = kastar_jerk_finder_->getPlanTime();
+              }
+              vis_x.clear();
+              a_star_jerk_traj.sampleWholeTrajectory(&vis_x);
+              vis_ptr_->visualizeStates(vis_x, BLUE, pos_checker_ptr_->getLocalTime());
+              cost = krrt_star_ptr_->evaluateTraj(a_star_jerk_traj, curr_traj_duration, curr_traj_len, curr_traj_seg_nums, curr_traj_acc_itg, curr_traj_jerk_itg);
+              o_file_ << lambda_heu[i] << ","
+                      << plan_time * 1e3 << ","
+                      << cost << ","
+                      << endl;
+              cout << "lambda_heu: " << lambda_heu[i] << ", Kinodynamic a star jerk end" << endl;
+            }
+
+            o_file_.close();
+          }
+        }
+        /*********  bench convergence  ************/
+
+        if (test_wo_)
+        {
+          Vector3d start_pos(start_pos_x_, start_pos_y_, start_pos_z_), start_vel(0.0, 0.0, 0.0), start_acc(0.0, 0.0, 0.0);
+          Vector3d end_pos(end_pos_x_, end_pos_y_, end_pos_z_), end_vel(0.0, 0.0, 0.0), end_acc(0.0, 0.0, 0.0);
+          // Vector3d start_pos(0.0, -35.0, 0.0), start_vel(0.0, 0.0, 0.0), start_acc(0.0, 0.0, 0.0);
+          // Vector3d end_pos(0.0, 35.0, 0.0), end_vel(0.0, 0.0, 0.0), end_acc(0.0, 0.0, 0.0);
+          int n(1);
+          int deform_type(0);
+          int planner_type(0);
+          bool use_deform(false);
+          Trajectory tmp_traj;
+          vector<StatePVA> vis;
+          o_file_.open(file_name_.append("-rrt-w.csv"), ios::out | ios::app);
+
+          deform_type = SMALL_BRANCH_NODES;
+
+          planner_type = 1;
+          use_deform = true;
+          n = 1;
+          avg_first_sln_time_ = 0;
+          avg_first_sln_cost_ = 0;
+          while (n <= repeat_times_)
+          {
+            ROS_ERROR_STREAM("start bench No." << n << "planner_type: " << planner_type << ", deform: " << use_deform);
+            if (woTest(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, planner_type, use_deform))
+              n++;
+          }
+          o_file_.close();
+          krrt_ptr_->getTraj(tmp_traj);
+          tmp_traj.sampleWholeTrajectory(&vis);
+          vis_ptr_->visualizeStates(vis, BLUE, pos_checker_ptr_->getLocalTime());
+
+          file_name_ = file_name_.substr(0, file_name_.length() - 10);
+          o_file_.open(file_name_.append("-rrt-wo.csv"), ios::out | ios::app);
+          planner_type = 1;
+          use_deform = false;
+          n = 1;
+          avg_first_sln_time_ = 0;
+          avg_first_sln_cost_ = 0;
+          while (n <= repeat_times_)
+          {
+            ROS_ERROR_STREAM("start bench No." << n << "planner_type: " << planner_type << ", deform: " << use_deform);
+            if (woTest(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, planner_type, use_deform))
+              n++;
+          }
+          o_file_.close();
+          krrt_ptr_->getTraj(tmp_traj);
+          vis.clear();
+          tmp_traj.sampleWholeTrajectory(&vis);
+          vis_ptr_->visualizeStates(vis, STEELBLUE, pos_checker_ptr_->getLocalTime());
+
+          file_name_ = file_name_.substr(0, file_name_.length() - 11);
+          o_file_.open(file_name_.append("-rrtStar-w.csv"), ios::out | ios::app);
+          planner_type = 2;
+          use_deform = true;
+          n = 1;
+          avg_first_sln_time_ = 0;
+          avg_first_sln_cost_ = 0;
+          while (n <= repeat_times_)
+          {
+            ROS_ERROR_STREAM("start bench No." << n << "planner_type: " << planner_type << ", deform: " << use_deform);
+            if (woTest(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, planner_type, use_deform))
+              n++;
+          }
+          o_file_.close();
+          krrt_star_ptr_->getTraj(tmp_traj);
+          vis.clear();
+          tmp_traj.sampleWholeTrajectory(&vis);
+          vis_ptr_->visualizeStates(vis, GREEN, pos_checker_ptr_->getLocalTime());
+
+          file_name_ = file_name_.substr(0, file_name_.length() - 14);
+          o_file_.open(file_name_.append("-rrtStar-wo.csv"), ios::out | ios::app);
+          planner_type = 2;
+          use_deform = false;
+          n = 1;
+          avg_first_sln_time_ = 0;
+          avg_first_sln_cost_ = 0;
+          while (n <= repeat_times_)
+          {
+            ROS_ERROR_STREAM("start bench No." << n << "planner_type: " << planner_type << ", deform: " << use_deform);
+            if (woTest(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, planner_type, use_deform))
+              n++;
+          }
+          o_file_.close();
+          krrt_star_ptr_->getTraj(tmp_traj);
+          vis.clear();
+          tmp_traj.sampleWholeTrajectory(&vis);
+          vis_ptr_->visualizeStates(vis, YELLOW, pos_checker_ptr_->getLocalTime());
+
+          file_name_ = file_name_.substr(0, file_name_.length() - 15);
+          o_file_.open(file_name_.append("-rrtSharp-w.csv"), ios::out | ios::app);
+          planner_type = 3;
+          use_deform = true;
+          n = 1;
+          avg_first_sln_time_ = 0;
+          avg_first_sln_cost_ = 0;
+          while (n <= repeat_times_)
+          {
+            ROS_ERROR_STREAM("start bench No." << n << "planner_type: " << planner_type << ", deform: " << use_deform);
+            if (woTest(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, planner_type, use_deform))
+              n++;
+          }
+          o_file_.close();
+          krrt_sharp_ptr_->getTraj(tmp_traj);
+          vis.clear();
+          tmp_traj.sampleWholeTrajectory(&vis);
+          vis_ptr_->visualizeStates(vis, RED, pos_checker_ptr_->getLocalTime());
+
+          file_name_ = file_name_.substr(0, file_name_.length() - 15);
+          o_file_.open(file_name_.append("-rrtSharp-wo.csv"), ios::out | ios::app);
+          planner_type = 3;
+          use_deform = false;
+          n = 1;
+          avg_first_sln_time_ = 0;
+          avg_first_sln_cost_ = 0;
+          while (n <= repeat_times_)
+          {
+            ROS_ERROR_STREAM("start bench No." << n << "planner_type: " << planner_type << ", deform: " << use_deform);
+            if (woTest(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, replan_time_, deform_type, planner_type, use_deform))
+              n++;
+          }
+          o_file_.close();
+          krrt_sharp_ptr_->getTraj(tmp_traj);
+          vis.clear();
+          tmp_traj.sampleWholeTrajectory(&vis);
+          vis_ptr_->visualizeStates(vis, ORANGE, pos_checker_ptr_->getLocalTime());
+        }
+      }
+      fsm_num = 0;
+    }
+  }
+
+  void PlannerTester::goalCallback(const quadrotor_msgs::PositionCommand::ConstPtr &goal_msg)
+  {
+    end_pos_ << goal_msg->position.x,
+        goal_msg->position.y,
+        goal_msg->position.z;
+    end_vel_ << goal_msg->velocity.x,
+        goal_msg->velocity.y,
+        goal_msg->velocity.z;
+    end_acc_ << goal_msg->acceleration.x,
+        goal_msg->acceleration.y,
+        goal_msg->acceleration.z;
+    started_ = true;
+    new_goal_ = true;
+    last_goal_pos_ = end_pos_;
+  }
+
+  bool PlannerTester::testConvergence(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                                      Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                                      double search_time, int deform_type, bool use_regional_opt, bool use_deform)
+  {
+    bool tried_once(false);
+    int result(false);
+    double traj_len(0.0), traj_duration(0.0), traj_acc_itg(0.0), traj_jerk_itg(0.0);
+    int traj_seg_nums(0);
+
+    vis_ptr_->visualizeStartAndGoal(start_pos, end_pos, pos_checker_ptr_->getLocalTime());
+
+    Eigen::VectorXd head(9), tail(9);
+    head.head(3) = start_pos;
+    head.segment(3, 3) = start_vel;
+    head.tail(3) = start_acc;
+    tail.head(3) = end_pos;
+    tail.segment(3, 3) = end_vel;
+    tail.tail(3) = end_acc;
+    std::vector<std::pair<Eigen::Vector3d, Eigen::Vector3d>> traversal_lines;
+    if (bvpPtr_->solve(head, tail, ACC_KNOWN))
+    {
+      double bvp_total_T = bvpPtr_->getTauStar();
+      CoefficientMat bvp_coeff;
+      bvpPtr_->getCoeff(bvp_coeff);
+      Piece bvp_piece(bvp_total_T, bvp_coeff);
+      pos_checker_ptr_->checkPolySeg(bvp_piece, traversal_lines);
+    }
+    r3_planer_ptr_->sampler_.topoSetup(traversal_lines, start_pos, end_pos);
+    krrt_ptr_->sampler_.topoSetup(traversal_lines, start_pos, end_pos);
+    krrt_star_ptr_->sampler_.topoSetup(traversal_lines, start_pos, end_pos);
+    krrt_sharp_ptr_->sampler_.topoSetup(traversal_lines, start_pos, end_pos);
+
+    /* r3planner   */
+    if (use_r3_)
+    {
+      double len_cost(0.0);
+      vector<Vector3d> route;
+      vector<vector<Vector3d>> routes;
+      ros::Time t1 = ros::Time::now();
+      double r3_use_time(0.0);
+      double radius(16); //radius square
+      if (r3_planer_ptr_->planOnce(start_pos, end_pos, route, len_cost, r3_use_time, radius))
+      {
+        tried_once = true;
+        double r3_use_time = (ros::Time::now() - t1).toSec() * 1e3;
+        ROS_ERROR_STREAM("r3 plan solved in: " << r3_use_time * 1000 << " ms, route len: " << len_cost);
+        // vector<vector<Vector3d>> select_paths;
+        // size_t v_n = r3_planer_ptr_->getGraph(select_paths);
+        // vis_ptr_->visualizePRM(select_paths, Color::Teal(), env_ptr_->getLocalTime());
+        // getchar();
+        routes.push_back(route);
+        // vis_ptr_->visualizePRM(routes, Color::Red(), env_ptr_->getLocalTime());
+
+        // vector<double> radii;
+        // for (const auto & p: route)
+        // {
+        //   Vector3d obs;
+        //   double radius = sqrt(pos_checker_ptr_->nearestObs(p, obs));
+        //   radii.push_back(radius);
+        // }
+        // vis_ptr_->visualizeBalls(route, radii, env_ptr_->getLocalTime());
+        krrt_star_ptr_->sampler_.topoSetup(routes);
+        krrt_ptr_->sampler_.topoSetup(routes);
+        krrt_sharp_ptr_->sampler_.topoSetup(routes);
+        // o_file_ << r3_use_time << "," << ","; // r3 use time (ms)
+      }
+      else
+      {
+        ROS_WARN("r3 plan fail");
+        return false;
+        // o_file_ << "," << ","; // r3 use time (ms)
+      }
+    }
+    else
+    {
+      tried_once = true;
+    }
+
+    bool res(false);
+    krrt_sharp_ptr_->reset();
+    res = krrt_sharp_ptr_->plan(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, search_time, deform_type, use_regional_opt, use_deform);
+    if (res == KRRTSTAR::SUCCESS)
+    {
+      rrt_w_succ_num_++;
+      vector<Trajectory> traj_list;
+      vector<double> solution_cost_list;
+      vector<double> solution_time_list;
+      krrt_sharp_ptr_->getConvergenceInfo(traj_list, solution_cost_list, solution_time_list);
+      avg_first_sln_time_ += solution_time_list[0] * 1e3;
+      avg_first_sln_cost_ += solution_cost_list[0];
+      vector<vector<StatePVA>> trajs_states;
+      for (size_t i = 0; i < traj_list.size(); ++i)
+      {
+        vector<StatePVA> single_traj_states;
+        traj_list[i].sampleWholeTrajectory(&single_traj_states);
+        trajs_states.push_back(single_traj_states);
+        double curr_traj_len(0.0), curr_traj_duration(0.0), curr_traj_acc_itg(0.0), curr_traj_jerk_itg(0.0);
+        int curr_traj_seg_nums(0);
+        krrt_sharp_ptr_->evaluateTraj(traj_list[i], curr_traj_duration, curr_traj_len, curr_traj_seg_nums, curr_traj_acc_itg, curr_traj_jerk_itg);
+        o_file_ << i + 1 << ","
+                << solution_time_list[i] * 1e3 << ","
+                // << curr_traj_seg_nums << ","
+                // << curr_traj_acc_itg << ","
+                // << curr_traj_jerk_itg << ","
+                << solution_cost_list[i] << ","
+                // << curr_traj_duration << ","
+                // << curr_traj_len << ","
+                << endl;
+      }
+      vis_ptr_->visualizeTrajList(trajs_states, pos_checker_ptr_->getLocalTime());
+      // o_file_ << endl;
+      return true;
+    }
+    else
+      return false;
+  }
+
+  bool PlannerTester::woTest(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                             Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                             double search_time, int deform_type, int planner_type, bool use_deform)
+  {
+    bool tried_once(false);
+    int result(false);
+    double traj_len(0.0), traj_duration(0.0), traj_acc_itg(0.0), traj_jerk_itg(0.0);
+    int traj_seg_nums(0);
+
+    vis_ptr_->visualizeStartAndGoal(start_pos, end_pos, pos_checker_ptr_->getLocalTime());
+
+    Eigen::VectorXd head(9), tail(9);
+    head.head(3) = start_pos;
+    head.segment(3, 3) = start_vel;
+    head.tail(3) = start_acc;
+    tail.head(3) = end_pos;
+    tail.segment(3, 3) = end_vel;
+    tail.tail(3) = end_acc;
+    std::vector<std::pair<Eigen::Vector3d, Eigen::Vector3d>> traversal_lines;
+    if (bvpPtr_->solve(head, tail, ACC_KNOWN))
+    {
+      double bvp_total_T = bvpPtr_->getTauStar();
+      CoefficientMat bvp_coeff;
+      bvpPtr_->getCoeff(bvp_coeff);
+      Piece bvp_piece(bvp_total_T, bvp_coeff);
+      pos_checker_ptr_->checkPolySeg(bvp_piece, traversal_lines);
+    }
+    rrt_star_path_planner_ptr_->sampler_.topoSetup(traversal_lines, start_pos, end_pos);
+    krrt_ptr_->sampler_.topoSetup(traversal_lines, start_pos, end_pos);
+    krrt_star_ptr_->sampler_.topoSetup(traversal_lines, start_pos, end_pos);
+    krrt_sharp_ptr_->sampler_.topoSetup(traversal_lines, start_pos, end_pos);
+
+    bool res(false);
+    switch (planner_type)
+    {
+    case 1:
+      krrt_ptr_->reset();
+      res = krrt_ptr_->plan(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, search_time, deform_type, 0, use_deform);
+      break;
+
+    case 2:
+      krrt_star_ptr_->reset();
+      res = krrt_star_ptr_->plan(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, search_time, deform_type, 0, use_deform);
+      break;
+
+    case 3:
+      krrt_sharp_ptr_->reset();
+      res = krrt_sharp_ptr_->plan(start_pos, start_vel, start_acc, end_pos, end_vel, end_acc, search_time, deform_type, 0, use_deform);
+      break;
+
+    default:
+      break;
+    }
+
+    if (res == KRRTSTAR::SUCCESS)
+    {
+      rrt_w_succ_num_++;
+      vector<Trajectory> traj_list;
+      vector<double> solution_cost_list;
+      vector<double> solution_time_list;
+      switch (planner_type)
+      {
+      case 1:
+        krrt_ptr_->getConvergenceInfo(traj_list, solution_cost_list, solution_time_list);
+        break;
+
+      case 2:
+        krrt_star_ptr_->getConvergenceInfo(traj_list, solution_cost_list, solution_time_list);
+        break;
+
+      case 3:
+        krrt_sharp_ptr_->getConvergenceInfo(traj_list, solution_cost_list, solution_time_list);
+        break;
+
+      default:
+        break;
+      }
+      avg_first_sln_time_ += solution_time_list[0] * 1e3;
+      avg_first_sln_cost_ += solution_cost_list[0];
+      vector<vector<StatePVA>> trajs_states;
+      for (size_t i = 0; i < traj_list.size(); ++i)
+      {
+        vector<StatePVA> single_traj_states;
+        traj_list[i].sampleWholeTrajectory(&single_traj_states);
+        trajs_states.push_back(single_traj_states);
+        double curr_traj_len(0.0), curr_traj_duration(0.0), curr_traj_acc_itg(0.0), curr_traj_jerk_itg(0.0);
+        int curr_traj_seg_nums(0);
+        krrt_star_ptr_->evaluateTraj(traj_list[i], curr_traj_duration, curr_traj_len, curr_traj_seg_nums, curr_traj_acc_itg, curr_traj_jerk_itg);
+        o_file_ << i + 1 << ","
+                << solution_time_list[i] * 1e3 << ","
+                << solution_cost_list[i] << ","
+                << curr_traj_duration << ","
+                << endl;
+      }
+      vis_ptr_->visualizeTrajList(trajs_states, pos_checker_ptr_->getLocalTime());
+      // o_file_ << endl;
+      res = true;
+    }
+    else
+      res = false;
+
+    return res;
+  }
+
+}
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "state_machine_node");
+  ros::NodeHandle nh("~");
+  tgk_planner::PlannerTester planners_tester;
+  planners_tester.init(nh);
+
+  ros::AsyncSpinner spinner(0);
+  spinner.start();
+  ros::waitForShutdown();
+}
+
+#endif //_FSM_H_
diff --git a/decision/state_machine/src/traj_server_node.cpp b/decision/state_machine/src/traj_server_node.cpp
new file mode 100755
index 0000000..d3ccc09
--- /dev/null
+++ b/decision/state_machine/src/traj_server_node.cpp
@@ -0,0 +1,395 @@
+#include <ros/ros.h>
+#include <math.h>
+#include <Eigen/Eigen>
+#include <Eigen/Geometry>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/Point.h>
+#include <visualization_msgs/Marker.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <std_msgs/Empty.h>
+#include "quadrotor_msgs/PositionCommand.h"
+#include "quadrotor_msgs/PolynomialTrajectory.h"
+
+using std::vector;
+
+const int  _DIM_x = 0;
+const int  _DIM_y = 1;
+const int  _DIM_z = 2;
+
+enum ServerState{INIT, TRAJ, HOVER} _state = INIT;
+ros::Publisher _cmd_pub, _cmd_vis_pub, _track_err_trig_pub;
+Eigen::Vector3d _curr_posi;
+Eigen::Vector3d _goal_point;
+quadrotor_msgs::PositionCommand _cmd, _last_cmd;
+Eigen::Vector3d _initial_pos;
+Eigen::Quaterniond _initial_q;
+bool _first_odom = true;
+
+// configuration for polynomial trajectory
+int _n_segment = 0;
+int _traj_id = 0;
+uint32_t _traj_flag = 0;
+Eigen::VectorXd _time;
+Eigen::MatrixXd _coef[3];
+vector<int> _order;
+double _mag_coeff;
+ros::Time _final_time = ros::TIME_MIN;
+ros::Time _start_time = ros::TIME_MAX;
+double _start_yaw = 0.0, _final_yaw = 0.0;
+bool _receive_traj = false;
+double _real_yaw;
+Eigen::Quaterniond _q;
+Eigen::Vector3d _euler;
+
+//yaw control
+double _yaw_error, _last_yaw_error, _cum_yaw_error, _slop_yaw_error;
+geometry_msgs::Point _yaw;
+
+//so3 ctrl
+double pos_gain[3] = { 5.7, 5.7, 6.2 };
+double vel_gain[3] = { 3.4, 3.4, 4.0 };
+
+/*
+  * use Qingjiushao's method to calculate the value of f(t) = p0 + p1*t^1 + ... + pn*t^n
+  * coeff[i]: pn, pn-1, pn-2, ..., p1, p0
+  * order: n
+  */
+inline double calPosFromCoeff(double t, const Eigen::VectorXd &coeff, const int& order)
+{
+  double f = coeff[0];
+  for (int i=0; i<order; ++i) 
+  {
+    f = t * f + coeff[i+1];
+  }
+  return f;
+}
+
+inline double calVelFromCoeff(double t, const Eigen::VectorXd &coeff, const int& order)
+{
+  double f = order * coeff[0];
+  for (int i=0; i<order-1; ++i) 
+  {
+    f = t * f + (order - i - 1) * coeff[i+1];
+  }
+  return f;
+}
+
+inline double calAccFromCoeff(double t, const Eigen::VectorXd &coeff, const int& order)
+{
+  double f = order * (order-1) * coeff[0];
+  for (int i=0; i<order - 2; ++i) 
+  {
+    f = t * f + (order - i - 1) * (order - i - 2) * coeff[i+1];
+  }
+  return f;
+}
+
+inline void calPVAFromCoeff(Eigen::Vector3d& pos, Eigen::Vector3d& vel, Eigen::Vector3d& acc, 
+                            const Eigen::VectorXd &x_coeff, const Eigen::VectorXd &y_coeff, const Eigen::VectorXd &z_coeff, 
+                            double t, const int& order)
+{
+  pos[0] = calPosFromCoeff(t, x_coeff, order);
+  pos[1] = calPosFromCoeff(t, y_coeff, order);
+  pos[2] = calPosFromCoeff(t, z_coeff, order);
+  vel[0] = calVelFromCoeff(t, x_coeff, order);
+  vel[1] = calVelFromCoeff(t, y_coeff, order);
+  vel[2] = calVelFromCoeff(t, z_coeff, order);
+  acc[0] = calAccFromCoeff(t, x_coeff, order);
+  acc[1] = calAccFromCoeff(t, y_coeff, order);
+  acc[2] = calAccFromCoeff(t, z_coeff, order);
+}
+
+Eigen::Vector3d getRPY(const Eigen::Quaterniond &quat)
+{
+    double rotMat[3][3] = {(1 - 2 * (quat.y() * quat.y() + quat.z() * quat.z())), 2 * (quat.x() * quat.y() - quat.w() * quat.z()), 2 * (quat.x() * quat.z() + quat.w() * quat.y()),
+                           2 * (quat.x() * quat.y() + quat.w() * quat.z()), (1 - 2 * (quat.x() * quat.x() + quat.z() * quat.z())), 2 * (quat.y() * quat.z() - quat.w() * quat.x()),
+                           2 * (quat.x() * quat.z() - quat.w() * quat.y()), 2 * (quat.y() * quat.z() + quat.w() * quat.x()), (1 - 2 * (quat.x() * quat.x() + quat.y() * quat.y()))};
+
+    double yaw, pitch, roll;
+    if (rotMat[2][0] != 1 && rotMat[2][0] != -1)
+    {
+        double yaw1, yaw2, pitch1, pitch2, roll1, roll2;
+        pitch1 = -asin(rotMat[2][0]);
+        pitch2 = M_PI - pitch1;
+        double cos_pitch1 = cos(pitch1);
+        double cos_pitch2 = cos(pitch2);
+        roll1 = atan2(rotMat[2][1] / cos_pitch1, rotMat[2][2] / cos_pitch1);
+        roll2 = atan2(rotMat[2][1] / cos_pitch2, rotMat[2][2] / cos_pitch2);
+        yaw1 = atan2(rotMat[1][0] / cos_pitch1, rotMat[0][0] / cos_pitch1);
+        yaw2 = atan2(rotMat[1][0] / cos_pitch2, rotMat[0][0] / cos_pitch2);
+        if (fabs(pitch1) <= fabs(pitch2))
+        {
+            yaw = yaw1;
+            pitch = pitch1;
+            roll = roll1;
+        }
+        else
+        {
+            yaw = yaw2;
+            pitch = pitch2;
+            roll = roll2;
+        }
+    }
+    else if (rotMat[2][0] == 1)
+    {
+        yaw = 0;
+        pitch = M_PI / 2;
+        roll = yaw + atan2(rotMat[0][1], rotMat[0][2]);
+    }
+    else
+    {
+        yaw = 0;
+        pitch = -M_PI / 2;
+        roll = -yaw + atan2(-rotMat[0][1], -rotMat[0][2]);
+    }
+
+    return Eigen::Vector3d(roll, pitch, yaw);
+}
+
+void polyTrajCallback(const quadrotor_msgs::PolynomialTrajectory& traj)
+{
+  if (traj.action == quadrotor_msgs::PolynomialTrajectory::ACTION_ADD)
+  {   
+    ROS_WARN("[SERVER] Loading the trajectory.");
+    if ((int)traj.trajectory_id < _traj_id) return ;
+
+    _state = TRAJ;
+    _traj_flag = quadrotor_msgs::PositionCommand::TRAJECTORY_STATUS_READY;
+    _traj_id = traj.trajectory_id;
+    _n_segment = traj.num_segment;
+    _final_time = _start_time = traj.header.stamp;
+    _time.resize(_n_segment);
+
+    _order.clear();
+    for (int idx = 0; idx < _n_segment; ++idx)
+    {
+      _final_time += ros::Duration(traj.time[idx]);
+      _time(idx) = traj.time[idx];
+      _order.push_back(traj.order[idx]);
+    }
+    _start_yaw = traj.start_yaw;
+    _final_yaw = traj.final_yaw;
+    _mag_coeff = traj.mag_coeff;
+
+    int max_order = *max_element( begin( _order ), end( _order ) ); 
+    _coef[_DIM_x] = Eigen::MatrixXd::Zero(max_order + 1, _n_segment);
+    _coef[_DIM_y] = Eigen::MatrixXd::Zero(max_order + 1, _n_segment);
+    _coef[_DIM_z] = Eigen::MatrixXd::Zero(max_order + 1, _n_segment);
+    
+    //ROS_WARN("stack the coefficients");
+    int shift = 0;
+    for (int idx = 0; idx < _n_segment; ++idx)
+    {     
+      int order = traj.order[idx];
+      for (int j = 0; j < (order + 1); ++j)
+      {
+        _coef[_DIM_x](j, idx) = traj.coef_x[shift + j];
+        _coef[_DIM_y](j, idx) = traj.coef_y[shift + j];
+        _coef[_DIM_z](j, idx) = traj.coef_z[shift + j];
+      }
+      shift += (order + 1);
+    }
+
+    //compute the goal
+    _goal_point[0] = calPosFromCoeff(_time(_n_segment-1), _coef[_DIM_x].col(_n_segment-1), _order[_n_segment-1]);
+    _goal_point[1] = calPosFromCoeff(_time(_n_segment-1), _coef[_DIM_y].col(_n_segment-1), _order[_n_segment-1]);
+    _goal_point[2] = calPosFromCoeff(_time(_n_segment-1), _coef[_DIM_z].col(_n_segment-1), _order[_n_segment-1]);
+  
+    _receive_traj = true;
+  }
+  else if (traj.action == quadrotor_msgs::PolynomialTrajectory::ACTION_ABORT) 
+  {
+    ROS_WARN("[SERVER] Aborting the trajectory! EMERGENCY STOP!!");
+    _state = HOVER;
+    _traj_flag = quadrotor_msgs::PositionCommand::TRAJECTORY_STATUS_COMPLETED;
+  }
+  else if (traj.action == quadrotor_msgs::PolynomialTrajectory::ACTION_WARN_IMPOSSIBLE)
+  {
+    _state = HOVER;
+    _traj_flag = quadrotor_msgs::PositionCommand::TRAJECTORY_STATUS_IMPOSSIBLE;
+  }
+}
+
+void odomCallbck(const nav_msgs::OdometryConstPtr odom)
+{
+  _curr_posi[0] = odom->pose.pose.position.x;
+  _curr_posi[1] = odom->pose.pose.position.y;
+  _curr_posi[2] = odom->pose.pose.position.z;
+  if (_first_odom)
+  {
+    _first_odom = false;
+    _initial_pos[0] = odom->pose.pose.position.x;
+    _initial_pos[1] = odom->pose.pose.position.y;
+    _initial_pos[2] = odom->pose.pose.position.z;
+    _initial_q.w() = odom->pose.pose.orientation.w;
+    _initial_q.x() = odom->pose.pose.orientation.x;
+    _initial_q.y() = odom->pose.pose.orientation.y;
+    _initial_q.z() = odom->pose.pose.orientation.z;
+  }
+
+  /* no publishing before receive traj */
+//  if (!_receive_traj)
+//    return;
+  
+  // #1. check if it is right state
+  if (_state == INIT) 
+  {
+    _cmd.header = odom->header;
+		
+    _cmd.position.x = _initial_pos[0];
+    _cmd.position.y = _initial_pos[1];
+    _cmd.position.z = _initial_pos[2];
+		
+    _cmd.velocity.x = 0.0;
+    _cmd.velocity.y = 0.0;
+    _cmd.velocity.z = 0.0;
+    
+    _cmd.acceleration.x = 0.0;
+    _cmd.acceleration.y = 0.0;
+    _cmd.acceleration.z = 0.0;
+
+  }
+  if (_state == HOVER)
+  {
+    _cmd.header = odom  ->header;
+    _cmd.trajectory_flag = quadrotor_msgs::PositionCommand::TRAJECTORY_STATUS_COMPLETED;
+
+    _cmd.position = _last_cmd.position;
+    
+    _cmd.velocity.x = 0.0;
+    _cmd.velocity.y = 0.0;
+    _cmd.velocity.z = 0.0;
+    
+    _cmd.acceleration.x = 0.0;
+    _cmd.acceleration.y = 0.0;
+    _cmd.acceleration.z = 0.0;
+    
+    _cmd.yaw_dot = 0.0;
+    _cmd.yaw = _last_cmd.yaw;
+  }
+  // #2. locate the trajectory segment
+  if (_state == TRAJ)
+  {   
+    //(odom freq >= cmd timer freq) has to be satisfied or it will cause several diffferent cmd in the same time stamp
+    
+    double t = std::max(0.0, (ros::Time::now() - _start_time).toSec());
+    if (t >= (_final_time - _start_time).toSec() - 0.02)
+      _state = HOVER;
+    
+    // #3. calculate the desired states
+    //ROS_WARN("[SERVER] the time : %.3lf\n, n = %d, m = %d", t, _n_order, _n_segment);
+    for (int idx = 0; idx < _n_segment; ++idx)
+    {
+      if (t > _time[idx] && idx + 1 < _n_segment)
+      {
+        t -= _time[idx];
+      }
+      else
+      { 
+        _cmd.header = odom->header;
+		
+        int cur_order = _order[idx];
+        Eigen::Vector3d pos(0.0, 0.0, 0.0), vel(0.0, 0.0, 0.0), acc(0.0, 0.0, 0.0);
+        calPVAFromCoeff(pos, vel, acc, _coef[_DIM_x].col(idx), _coef[_DIM_y].col(idx), _coef[_DIM_z].col(idx), t, cur_order);
+        _cmd.position.x = pos[0];
+        _cmd.position.y = pos[1];
+        _cmd.position.z = pos[2];
+        _cmd.velocity.x = vel[0];
+        _cmd.velocity.y = vel[1];
+        _cmd.velocity.z = vel[2];
+        _cmd.acceleration.x = acc[0];
+        _cmd.acceleration.y = acc[1];
+        _cmd.acceleration.z = acc[2];
+
+		//use look_forward yaw planning
+        double look_forward_time = std::min(1/vel.norm(), std::max(0.0, (_final_time - _start_time).toSec() - t - 0.02));
+        if (look_forward_time == 0)
+        {
+          _cmd.yaw = _last_cmd.yaw;
+        }
+        else
+        {
+          Eigen::Vector3d pos_lf(0.0, 0.0, 0.0), vel_lf(0.0, 0.0, 0.0), acc_lf(0.0, 0.0, 0.0);
+          calPVAFromCoeff(pos_lf, vel_lf, acc_lf, _coef[_DIM_x].col(idx), _coef[_DIM_y].col(idx), _coef[_DIM_z].col(idx), t + look_forward_time, cur_order);
+          //use look_forward yaw planning
+          _cmd.yaw = atan2(pos_lf[1] - pos[1], pos_lf[0] - pos[0]);
+          //use tangent direction for yaw planning
+          //_cmd.yaw = atan2(_cmd.velocity.y, _cmd.velocity.x); //(-pi, pi]
+          double d_yaw = _cmd.yaw - _last_cmd.yaw;
+          if (d_yaw >= M_PI)
+          {
+            d_yaw -= M_PI;
+            d_yaw -= M_PI;
+          }
+          if (d_yaw <= -M_PI)
+          {
+            d_yaw += M_PI;
+            d_yaw += M_PI;
+          }
+          double d_yaw_abs = fabs(d_yaw);
+          if (d_yaw_abs >= 0.02)
+            _cmd.yaw = _last_cmd.yaw + d_yaw / d_yaw_abs * 0.02;
+        }
+        //or use tangent direction for yaw planning
+
+        _last_cmd = _cmd;
+        break;
+      } 
+    }
+  }
+  // #4. just publish
+  _cmd_pub.publish(_cmd);
+  Eigen::Vector3d desire_pos(_cmd.position.x, _cmd.position.y, _cmd.position.z);
+
+  static tf2_ros::TransformBroadcaster br_map_ego_desired;
+  geometry_msgs::TransformStamped transformStamped;
+  transformStamped.header.stamp = odom->header.stamp;
+  transformStamped.header.frame_id = "map";
+  transformStamped.child_frame_id = "ego_desired";
+  transformStamped.transform.translation.x = _cmd.position.x;
+  transformStamped.transform.translation.y = _cmd.position.y;
+  transformStamped.transform.translation.z = _cmd.position.z;
+  Eigen::AngleAxisd aa(_cmd.yaw, Eigen::Vector3d::UnitZ());
+  Eigen::Quaterniond d_q(aa);  
+  transformStamped.transform.rotation.x = d_q.x();
+  transformStamped.transform.rotation.y = d_q.y();
+  transformStamped.transform.rotation.z = d_q.z();
+  transformStamped.transform.rotation.w = d_q.w();
+  br_map_ego_desired.sendTransform(transformStamped);
+
+  if ((_curr_posi - desire_pos).norm() >= 1.0)
+  {
+    std_msgs::Empty empty_msg;
+    _track_err_trig_pub.publish(empty_msg);
+  }
+
+  if ((_curr_posi - _goal_point).norm() <= 0.01) 
+    _state = HOVER;
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "traj_server");
+  ros::NodeHandle node;
+
+  ros::Subscriber poly_sub = node.subscribe("planning/poly_traj", 1, polyTrajCallback);
+  ros::Subscriber odom_sub = node.subscribe("/curr_state_sub_topic", 50, odomCallbck, ros::TransportHints().tcpNoDelay());
+  //ros::Timer cmd_timer = node.createTimer(ros::Duration(0.01), cmdCallback);
+  _cmd_pub = node.advertise<quadrotor_msgs::PositionCommand>("/position_cmd", 50);
+  _cmd_vis_pub = node.advertise<visualization_msgs::Marker>("planning/position_cmd_vis", 10);
+  _track_err_trig_pub = node.advertise<std_msgs::Empty>("/trig/tracking_err", 1);
+
+  /* control parameter for so3 control*/
+  _cmd.kx[0] = pos_gain[0];
+  _cmd.kx[1] = pos_gain[1];
+  _cmd.kx[2] = pos_gain[2];
+
+  _cmd.kv[0] = vel_gain[0];
+  _cmd.kv[1] = vel_gain[1];
+  _cmd.kv[2] = vel_gain[2];
+
+  ros::Duration(1.0).sleep();
+  ROS_WARN("[Traj server]: ready.");
+  ros::spin();
+  return 0;
+}
diff --git a/mapping/occ_grid/CMakeLists.txt b/mapping/occ_grid/CMakeLists.txt
new file mode 100755
index 0000000..ae1f786
--- /dev/null
+++ b/mapping/occ_grid/CMakeLists.txt
@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(occ_grid)
+set(CMAKE_MODULE_PATH /home/kai/Documents/)
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -O3 -Wall")
+# set(CMAKE_BUILD_TYPE "Debug")
+# set(CMAKE_CXX_FLAGS "-std=c++11")
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  visualization_msgs
+  message_filters
+  poly_traj_utils
+  cv_bridge
+  tf2_ros
+  tf2
+)
+
+find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(PCL 1.7 REQUIRED)
+message("==============================================")
+message("==============================================")
+message("==============================================")
+message("==============================================")
+message(STATUS ${PCL_LIBRARIES})
+
+catkin_package(
+ INCLUDE_DIRS include
+ LIBRARIES occ_grid
+ CATKIN_DEPENDS roscpp std_msgs 
+#  DEPENDS system_lib
+) 
+
+include_directories( 
+    include 
+    ${catkin_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+    ${Eigen3_INCLUDE_DIRS}
+)
+
+link_directories(${PCL_LIBRARY_DIRS})
+link_directories(${OpenCV_LIBRARIES})
+
+
+add_library( occ_grid 
+    src/occ_map.cpp 
+    src/raycast.cpp
+    src/pos_checker.cpp
+)
+target_link_libraries( occ_grid
+    ${catkin_LIBRARIES}
+    ${PCL_LIBRARIES}
+    ${OpenCV_LIBRARIES}
+)  
diff --git a/mapping/occ_grid/include/occ_grid/geoutils.hpp b/mapping/occ_grid/include/occ_grid/geoutils.hpp
new file mode 100755
index 0000000..383a094
--- /dev/null
+++ b/mapping/occ_grid/include/occ_grid/geoutils.hpp
@@ -0,0 +1,147 @@
+#ifndef GEOUTILS_HPP
+#define GEOUTILS_HPP
+
+#include <Eigen/Eigen>
+#include <cfloat>
+#include <chrono>
+#include <cstdint>
+#include <set>
+
+#include "quickhull.hpp"
+#include "sdlp.hpp"
+
+namespace geoutils
+{
+
+  // Each col of hPoly denotes a facet (outter_normal^T,point^T)^T
+  // The outter_normal is assumed to be NORMALIZED
+  inline bool findInterior(const Eigen::MatrixXd &hPoly,
+                           Eigen::Vector3d &interior)
+  {
+    int m = hPoly.cols();
+
+    Eigen::MatrixXd A(m, 4);
+    Eigen::VectorXd b(m), c(4), x(4);
+    A.leftCols<3>() = hPoly.topRows<3>().transpose();
+    A.rightCols<1>().setConstant(1.0);
+    b = hPoly.topRows<3>().cwiseProduct(hPoly.bottomRows<3>()).colwise().sum().transpose();
+    c.setZero();
+    c(3) = -1.0;
+
+    double minmaxsd = sdlp::linprog(c, A, b, x);
+    interior = x.head<3>();
+
+    return minmaxsd < 0.0 && !std::isinf(minmaxsd);
+  }
+
+  inline double findInteriorDist(const Eigen::MatrixXd &hPoly,
+                                 Eigen::Vector3d &interior)
+  {
+    int m = hPoly.cols();
+
+    Eigen::MatrixXd A(m, 4);
+    Eigen::VectorXd b(m), c(4), x(4);
+    A.leftCols<3>() = hPoly.topRows<3>().transpose();
+    A.rightCols<1>().setConstant(1.0);
+    b = hPoly.topRows<3>().cwiseProduct(hPoly.bottomRows<3>()).colwise().sum().transpose();
+    c.setZero();
+    c(3) = -1.0;
+
+    double minmaxsd = sdlp::linprog(c, A, b, x);
+    interior = x.head<3>();
+
+    return -minmaxsd;
+  }
+
+  struct filterLess
+  {
+    inline bool operator()(const Eigen::Vector3d &l,
+                           const Eigen::Vector3d &r)
+    {
+      return l(0) < r(0) ||
+             (l(0) == r(0) &&
+              (l(1) < r(1) ||
+               (l(1) == r(1) &&
+                l(2) < r(2))));
+    }
+  };
+
+  inline void filterVs(const Eigen::MatrixXd &rV,
+                       const double &epsilon,
+                       Eigen::MatrixXd &fV)
+  {
+    double mag = std::max(fabs(rV.maxCoeff()), fabs(rV.minCoeff()));
+    double res = mag * std::max(fabs(epsilon) / mag, DBL_EPSILON);
+    std::set<Eigen::Vector3d, filterLess> filter;
+    fV = rV;
+    int offset = 0;
+    Eigen::Vector3d quanti;
+    for (int i = 0; i < rV.cols(); i++)
+    {
+      quanti = (rV.col(i) / res).array().round();
+      if (filter.find(quanti) == filter.end())
+      {
+        filter.insert(quanti);
+        fV.col(offset) = rV.col(i);
+        offset++;
+      }
+    }
+    fV = fV.leftCols(offset).eval();
+    return;
+  }
+
+  // Each col of hPoly denotes a facet (outter_normal^T,point^T)^T
+  // The outter_normal is assumed to be NORMALIZED
+  // proposed epsilon is 1.0e-6
+  inline void enumerateVs(const Eigen::MatrixXd &hPoly,
+                          const Eigen::Vector3d &inner,
+                          Eigen::MatrixXd &vPoly,
+                          const double epsilon = 1.0e-6)
+  {
+    Eigen::RowVectorXd b = hPoly.topRows<3>().cwiseProduct(hPoly.bottomRows<3>()).colwise().sum() -
+                           inner.transpose() * hPoly.topRows<3>();
+    Eigen::MatrixXd A = hPoly.topRows<3>().array().rowwise() / b.array();
+
+    quickhull::QuickHull<double> qh;
+    double qhullEps = std::min(epsilon, quickhull::defaultEps<double>());
+    // CCW is false because the normal in quickhull towards interior
+    const auto cvxHull = qh.getConvexHull(A.data(), A.cols(), false, true, qhullEps);
+    const auto &idBuffer = cvxHull.getIndexBuffer();
+    int hNum = idBuffer.size() / 3;
+    Eigen::MatrixXd rV(3, hNum);
+    Eigen::Vector3d normal, point, edge0, edge1;
+    for (int i = 0; i < hNum; i++)
+    {
+      point = A.col(idBuffer[3 * i + 1]);
+      edge0 = point - A.col(idBuffer[3 * i]);
+      edge1 = A.col(idBuffer[3 * i + 2]) - point;
+      normal = edge0.cross(edge1); //cross in CW gives an outter normal
+      rV.col(i) = normal / normal.dot(point);
+    }
+    filterVs(rV, epsilon, vPoly);
+    vPoly = (vPoly.array().colwise() + inner.array()).eval();
+    return;
+  }
+
+  // Each col of hPoly denotes a facet (outter_normal^T,point^T)^T
+  // The outter_normal is assumed to be NORMALIZED
+  // proposed epsilon is 1.0e-6
+  inline bool enumerateVs(const Eigen::MatrixXd &hPoly,
+                          Eigen::MatrixXd &vPoly,
+                          const double epsilon = 1.0e-6)
+  {
+    Eigen::Vector3d inner;
+    if (findInterior(hPoly, inner))
+    {
+      enumerateVs(hPoly, inner, vPoly, epsilon);
+      return true;
+    }
+    else
+    {
+      return false;
+    }
+  }
+
+} // namespace geoutils
+
+#endif
\ No newline at end of file
diff --git a/mapping/occ_grid/include/occ_grid/occ_map.h b/mapping/occ_grid/include/occ_grid/occ_map.h
new file mode 100755
index 0000000..ecfd702
--- /dev/null
+++ b/mapping/occ_grid/include/occ_grid/occ_map.h
@@ -0,0 +1,371 @@
+#ifndef _OCC_MAP_H
+#define _OCC_MAP_H
+
+#include <iostream>
+#include <opencv2/core/core.hpp>
+#include <pcl/point_types.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <pcl/kdtree/kdtree_flann.h>
+#include <pcl/filters/voxel_grid.h>
+#include <Eigen/Eigen>
+
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+#include <message_filters/sync_policies/exact_time.h>
+#include <message_filters/sync_policies/approximate_time.h>
+// #include <tf2_ros/transform_listener.h>
+
+#include <queue>
+
+#define logit(x) (log((x) / (1 - (x))))
+#define INVALID_IDX -1
+
+using std::ceil;
+using std::cout;
+using std::endl;
+using std::floor;
+using std::isinf;
+using std::isnan;
+using std::max;
+using std::min;
+using std::pair;
+using std::queue;
+using std::shared_ptr;
+using std::string;
+using std::vector;
+
+namespace tgk_planner
+{
+  class OccMap
+  {
+  public:
+    OccMap() {}
+    ~OccMap(){};
+    void init(const ros::NodeHandle &nh);
+
+    bool odomValid() { return have_odom_; }
+    bool mapValid() { return (global_map_valid_ || local_map_valid_); }
+    Eigen::Vector3d get_curr_posi() { return curr_posi_; }
+    Eigen::Vector3d get_curr_twist() { return curr_twist_; }
+    Eigen::Vector3d get_curr_acc() { return curr_acc_; }
+    Eigen::Quaterniond get_curr_quaternion() { return curr_q_; }
+    double getResolution() { return resolution_; }
+    Eigen::Vector3d getOrigin() { return origin_; }
+    void resetBuffer(Eigen::Vector3d min, Eigen::Vector3d max);
+    void setOccupancy(const Eigen::Vector3d &pos);
+    int getVoxelState(const Eigen::Vector3d &pos);
+    int getVoxelState(const Eigen::Vector3i &id);
+    double getDistance(const Eigen::Vector3d &pos);
+    double getDistance(const Eigen::Vector3i &id);
+    bool isInflateOccupied(const Eigen::Vector3d &pos);
+    bool isInflateOccupied(const Eigen::Vector3i &id);
+    float nearestObs(const double &x, const double &y, const double &z, float &x_obs, float &y_obs, float &z_obs);
+    ros::Time getLocalTime() { return latest_odom_time_; };
+
+    Eigen::Vector3i posToIndex(const Eigen::Vector3d &pos);
+    void posToIndex(const Eigen::Vector3d &pos, Eigen::Vector3i &id);
+    void indexToPos(const Eigen::Vector3i &id, Eigen::Vector3d &pos);
+    void indexToPos(const int &x, const int &y, const int &z, Eigen::Vector3d &pos);
+    bool isInMap(const Eigen::Vector3d &pos);
+    bool isInMap(const Eigen::Vector3i &id);
+    Eigen::Vector3i getMapSize();
+
+    typedef shared_ptr<OccMap> Ptr;
+
+  private:
+    std::vector<double> occupancy_buffer_;
+
+    // map property
+    Eigen::Vector3d min_range_, max_range_; // map range in pos
+    Eigen::Vector3i grid_size_;             // map size in index
+    int grid_size_y_multiply_z_;
+    Eigen::Vector3d local_range_min_, local_range_max_;
+
+    bool isInLocalMap(const Eigen::Vector3d &pos);
+    bool isInLocalMap(const Eigen::Vector3i &id);
+    int idxToAddress(const int &x_id, const int &y_id, const int &z_id);
+    int idxToAddress(const Eigen::Vector3i &id);
+
+    Eigen::Vector3d origin_, map_size_;
+    double resolution_, resolution_inv_;
+    Eigen::Matrix4d T_ic0_, T_ic1_, T_ic2_, T_ic3_;
+
+    bool have_odom_;
+    Eigen::Vector3d curr_posi_, curr_twist_, curr_acc_;
+    Eigen::Quaterniond curr_q_;
+
+    // ros
+    ros::NodeHandle node_;
+    ros::Subscriber indep_odom_sub_;
+    ros::Subscriber global_cloud_sub_;
+    ros::Timer global_occ_vis_timer_, local_occ_vis_timer_;
+
+    // for vis
+    ros::Time latest_odom_time_;
+    pcl::PointCloud<pcl::PointXYZ>::Ptr curr_view_cloud_ptr_;
+    pcl::PointCloud<pcl::PointXYZ>::Ptr history_view_cloud_ptr_;
+    ros::Publisher curr_view_cloud_pub_, hist_view_cloud_pub_;
+    ros::Publisher pose_vis_pub_, twist_vis_pub_, acc_vis_pub_;
+
+    typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, nav_msgs::Odometry> SyncPolicyImageOdom;
+    typedef shared_ptr<message_filters::Synchronizer<SyncPolicyImageOdom>> SynchronizerImageOdom;
+    SynchronizerImageOdom sync_image_odom_;
+    shared_ptr<message_filters::Subscriber<nav_msgs::Odometry>> odom_sub_;
+    shared_ptr<message_filters::Subscriber<sensor_msgs::Image>> depth_sub_;
+    void depthOdomCallback(const sensor_msgs::ImageConstPtr &disp_msg,
+                           const nav_msgs::OdometryConstPtr &odom,
+                           const Eigen::Matrix4d &T_ic,
+                           Eigen::Matrix4d &last_T_wc,
+                           cv::Mat &last_depth_image,
+                           const string &camera_name);
+    cv::Mat depth_image_;
+    cv::Mat last_depth0_image_;
+    Eigen::Matrix4d last_T_wc0_;
+    void projectDepthImage(const Eigen::Matrix3d &K,
+                           const Eigen::Matrix4d &T_wc, const cv::Mat &depth_image,
+                           Eigen::Matrix4d &last_T_wc, cv::Mat &last_depth_image, ros::Time r_s);
+    void raycastProcess(const Eigen::Vector3d &t_wc);
+    int setCacheOccupancy(const Eigen::Vector3d &pos, int occ);
+
+    void indepOdomCallback(const nav_msgs::OdometryConstPtr &msg);
+    void globalOccVisCallback(const ros::TimerEvent &e);
+    void localOccVisCallback(const ros::TimerEvent &e);
+    void globalCloudCallback(const sensor_msgs::PointCloud2ConstPtr &msg);
+
+    bool has_global_cloud_, has_first_depth_, use_global_map_;
+    bool global_map_valid_, local_map_valid_;
+
+    // map fusion
+    double fx_, fy_, cx_, cy_;
+    int rows_, cols_;
+    vector<Eigen::Vector3d> proj_points_;
+    int proj_points_cnt_;
+    vector<int> cache_hit_, cache_all_;
+    vector<int> cache_traverse_, cache_rayend_;
+    int raycast_num_;
+    queue<Eigen::Vector3i> cache_voxel_;
+    int img_col_, img_row_;
+    Eigen::Matrix3d K_depth_;
+    Eigen::Vector3d sensor_range_;
+    Eigen::Vector3i sensor_range_grid_cnt_;
+    bool show_raw_depth_, show_filter_proj_depth_;
+    bool fully_initialized_;
+
+    /* projection filtering */
+    double depth_filter_maxdist_, depth_filter_mindist_, depth_filter_tolerance_;
+    int depth_filter_margin_;
+    bool use_shift_filter_;
+    double depth_scale_;
+    int skip_pixel_;
+
+    /* raycasting */
+    double p_hit_, p_miss_, p_min_, p_max_, p_occ_;
+    double prob_hit_log_, prob_miss_log_, clamp_min_log_, clamp_max_log_;
+    double min_occupancy_log_;
+    double min_ray_length_, max_ray_length_;
+
+    /* origin pcl show */
+    void pubPointCloudFromDepth(const std_msgs::Header &header,
+                                const cv::Mat &depth_img,
+                                const Eigen::Matrix3d &intrinsic_K,
+                                const string &camera_name);
+    ros::Publisher origin_pcl_pub_;
+    ros::Publisher projected_pc_pub_;
+
+    /* range query */
+    pcl::KdTreeFLANN<pcl::PointXYZ> pc_kdtree_;
+    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered_;
+
+    /* ESDF & inflation */
+    double infalte_length_;
+    std::vector<bool> inflate_occupancy_;
+    void inflate(const Eigen::Vector3i &min_idx, const Eigen::Vector3i &max_idx);
+    template <typename F_get_val, typename F_set_val>
+    void fillESDF(F_get_val f_get_val, F_set_val f_set_val, int start, int end, int dim);
+    void updateESDF3d(const Eigen::Vector3i &min_esdf, const Eigen::Vector3i &max_esdf);
+    std::vector<double> tmp_buffer1_, tmp_buffer2_, distance_buffer_;
+    std::vector<double> occupancy_buffer_neg_, distance_buffer_neg_, distance_buffer_all_;
+
+  public:
+    void getSurroundPts(const Eigen::Vector3d &pos, Eigen::Vector3d pts[2][2][2],
+                        Eigen::Vector3d &diff)
+    {
+      if (!isInMap(pos))
+      {
+        // cout << "pos invalid for interpolation." << endl;
+      }
+
+      /* interpolation position */
+      Eigen::Vector3d pos_m = pos - 0.5 * resolution_ * Eigen::Vector3d::Ones();
+      Eigen::Vector3i idx;
+      Eigen::Vector3d idx_pos;
+
+      posToIndex(pos_m, idx);
+      indexToPos(idx, idx_pos);
+      diff = (pos - idx_pos) * resolution_inv_;
+
+      for (int x = 0; x < 2; x++)
+      {
+        for (int y = 0; y < 2; y++)
+        {
+          for (int z = 0; z < 2; z++)
+          {
+            Eigen::Vector3i current_idx = idx + Eigen::Vector3i(x, y, z);
+            Eigen::Vector3d current_pos;
+            indexToPos(current_idx, current_pos);
+            pts[x][y][z] = current_pos;
+          }
+        }
+      }
+    }
+  };
+
+  inline int OccMap::idxToAddress(const int &x_id, const int &y_id, const int &z_id)
+  {
+    return x_id * grid_size_y_multiply_z_ + y_id * grid_size_(2) + z_id;
+  }
+
+  inline int OccMap::idxToAddress(const Eigen::Vector3i &id)
+  {
+    return id(0) * grid_size_y_multiply_z_ + id(1) * grid_size_(2) + id(2);
+  }
+
+  // takes about 0.04 us
+  inline int OccMap::getVoxelState(const Eigen::Vector3d &pos)
+  {
+    Eigen::Vector3i id;
+    posToIndex(pos, id);
+    if (!isInMap(id))
+      return -1;
+    if (!isInLocalMap(id))
+      return 0;
+    // (x, y, z) -> x*ny*nz + y*nz + z
+    return occupancy_buffer_[idxToAddress(id)] > min_occupancy_log_ ? 1 : 0;
+  }
+
+  inline int OccMap::getVoxelState(const Eigen::Vector3i &id)
+  {
+    if (!isInMap(id))
+      return -1;
+    if (!isInLocalMap(id))
+      return 0;
+
+    // (x, y, z) -> x*ny*nz + y*nz + z
+    return occupancy_buffer_[idxToAddress(id)] > min_occupancy_log_ ? 1 : 0;
+  }
+
+  inline double OccMap::getDistance(const Eigen::Vector3d &pos)
+  {
+    Eigen::Vector3i id;
+    posToIndex(pos, id);
+    if (!isInMap(id))
+      return -1; // TODO -1 means out of map
+    return distance_buffer_[idxToAddress(id)];
+  }
+
+  inline double OccMap::getDistance(const Eigen::Vector3i &id)
+  {
+    return distance_buffer_[idxToAddress(id)];
+  }
+
+  inline bool OccMap::isInflateOccupied(const Eigen::Vector3d &pos)
+  {
+    Eigen::Vector3i id;
+    posToIndex(pos, id);
+    if (!isInMap(id))
+      return -1; // TODO -1 means out of map
+    return inflate_occupancy_[idxToAddress(id)] == true;
+  }
+
+  inline bool OccMap::isInflateOccupied(const Eigen::Vector3i &id)
+  {
+    return inflate_occupancy_[idxToAddress(id)] == true;
+  }
+
+  inline bool OccMap::isInLocalMap(const Eigen::Vector3d &pos)
+  {
+    Eigen::Vector3i idx;
+    posToIndex(pos, idx);
+    return isInLocalMap(idx);
+  }
+
+  inline bool OccMap::isInLocalMap(const Eigen::Vector3i &id)
+  {
+    // Eigen::Vector3i min_id, max_id;
+    // posToIndex(local_range_min_, min_id);
+    // posToIndex(local_range_max_, max_id);
+    // min_id(0) = max(0, min_id(0));
+    // min_id(1) = max(0, min_id(1));
+    // min_id(2) = max(0, min_id(2));
+    // max_id(0) = min(grid_size_[0], max_id(0));
+    // max_id(1) = min(grid_size_[1], max_id(1));
+    // max_id(2) = min(grid_size_[2], max_id(2));
+    // return (((id[0] - min_id[0]) | (max_id[0] - id[0]) | (id[1] - min_id[1]) | (max_id[1] - id[1]) | (id[2] - min_id[2]) | (max_id[2] - id[2])) >= 0);
+
+    Eigen::Vector3i curr_id;
+    posToIndex(curr_posi_, curr_id);
+    Eigen::Vector3i dif_id = id - curr_id;
+    if (dif_id[0] > sensor_range_grid_cnt_[0] || dif_id[0] < -sensor_range_grid_cnt_[0])
+      return false;
+    if (dif_id[1] > sensor_range_grid_cnt_[1] || dif_id[1] < -sensor_range_grid_cnt_[1])
+      return false;
+    if (dif_id[2] > sensor_range_grid_cnt_[2] || dif_id[2] < -sensor_range_grid_cnt_[2])
+      return false;
+    return true;
+  };
+
+  inline bool OccMap::isInMap(const Eigen::Vector3d &pos)
+  {
+    Eigen::Vector3i idx;
+    posToIndex(pos, idx);
+    return isInMap(idx);
+  }
+
+  inline bool OccMap::isInMap(const Eigen::Vector3i &id)
+  {
+    return ((id[0] | (grid_size_[0] - 1 - id[0]) | id[1] | (grid_size_[1] - 1 - id[1]) | id[2] | (grid_size_[2] - 1 - id[2])) >= 0);
+  };
+
+  inline void OccMap::posToIndex(const Eigen::Vector3d &pos, Eigen::Vector3i &id)
+  {
+    id(0) = floor((pos(0) - origin_(0)) * resolution_inv_);
+    id(1) = floor((pos(1) - origin_(1)) * resolution_inv_);
+    id(2) = floor((pos(2) - origin_(2)) * resolution_inv_);
+  }
+
+  inline Eigen::Vector3i OccMap::posToIndex(const Eigen::Vector3d &pos)
+  {
+    Eigen::Vector3i id;
+    id(0) = floor((pos(0) - origin_(0)) * resolution_inv_);
+    id(1) = floor((pos(1) - origin_(1)) * resolution_inv_);
+    id(2) = floor((pos(2) - origin_(2)) * resolution_inv_);
+    return id;
+  }
+
+  inline void OccMap::indexToPos(const Eigen::Vector3i &id, Eigen::Vector3d &pos)
+  {
+    pos = origin_;
+    pos(0) += (id(0) + 0.5) * resolution_;
+    pos(1) += (id(1) + 0.5) * resolution_;
+    pos(2) += (id(2) + 0.5) * resolution_;
+  }
+
+  inline void OccMap::indexToPos(const int &x, const int &y, const int &z, Eigen::Vector3d &pos)
+  {
+    pos = origin_;
+    pos(0) += (x + 0.5) * resolution_;
+    pos(1) += (y + 0.5) * resolution_;
+    pos(2) += (z + 0.5) * resolution_;
+  }
+
+  inline Eigen::Vector3i OccMap::getMapSize()
+  {
+    return grid_size_;
+  }
+
+} // namespace tgk_planner
+
+#endif
diff --git a/mapping/occ_grid/include/occ_grid/pos_checker.h b/mapping/occ_grid/include/occ_grid/pos_checker.h
new file mode 100755
index 0000000..32afdcc
--- /dev/null
+++ b/mapping/occ_grid/include/occ_grid/pos_checker.h
@@ -0,0 +1,471 @@
+#ifndef _POS_CHECKER_
+#define _POS_CHECKER_
+
+#include "occ_grid/occ_map.h"
+#include "occ_grid/raycast.h"
+#include "poly_traj_utils/traj_utils.hpp"
+#include <ros/ros.h>
+#include <Eigen/Eigen>
+
+#define GLOBAL_TEST
+
+using Eigen::Vector3d;
+using Eigen::Vector3i;
+
+namespace tgk_planner
+{
+
+  class PosChecker
+  {
+  private:
+    OccMap::Ptr occ_map_;
+    double hrz_safe_radius_, vtc_safe_radius_;
+    double copter_diag_len_;
+    double resolution_;
+    double dt_;
+    bool inflate_;
+    std::vector<Vector3d> line_grids_;
+
+    void getlineGrids(const Vector3d &s_p, const Vector3d &e_p, vector<Vector3d> &grids);
+
+    bool checkState(const Vector3d &pos, const Vector3d &vel, const Vector3d &acc);
+    bool checkState(const Vector3d &pos, const Vector3d &vel, const Vector3d &acc, Vector3d &collision_pt);
+
+    inline bool curvatureValid(const Vector3d &vel, const Vector3d &acc)
+    {
+      double tmp = vel.norm() * vel.norm() * vel.norm();
+      double k = (vel.cross(acc)).norm() / tmp;
+      if (k >= 8)
+        return false;
+      else
+        return true;
+    };
+
+  public:
+    PosChecker(){};
+
+    ~PosChecker(){};
+
+    void init(const ros::NodeHandle &nh)
+    {
+      nh.param("pos_checker/hrz_safe_radius", hrz_safe_radius_, 0.0);
+      nh.param("pos_checker/vtc_safe_radius", vtc_safe_radius_, 0.0);
+      nh.param("pos_checker/copter_diag_len", copter_diag_len_, 0.0);
+      nh.param("pos_checker/dt", dt_, 0.0); //dt_ should be less than resolution/Vmax
+      nh.param("pos_checker/inflate", inflate_, false);
+      ROS_WARN_STREAM("[pos_checker] param: hrz_safe_radius: " << hrz_safe_radius_);
+      ROS_WARN_STREAM("[pos_checker] param: vtc_safe_radius: " << vtc_safe_radius_);
+      ROS_WARN_STREAM("[pos_checker] param: copter_diag_len: " << copter_diag_len_);
+      ROS_WARN_STREAM("[pos_checker] param: dt: " << dt_);
+      ROS_WARN_STREAM("[pos_checker] param: inflate: " << inflate_);
+      line_grids_.resize(5);
+    };
+
+    void setMap(const OccMap::Ptr &occ_map)
+    {
+      occ_map_ = occ_map;
+      resolution_ = occ_map_->getResolution();
+    };
+
+    int getVoxelState(const Vector3d &pos)
+    {
+      return occ_map_->getVoxelState(pos);
+    };
+
+    ros::Time getLocalTime()
+    {
+      return occ_map_->getLocalTime();
+    };
+
+    double getResolution()
+    {
+      return resolution_;
+    };
+
+    bool validatePosSurround(const Vector3d &pos);
+    bool validatePosSurround(const Vector3i &id);
+    bool validateASample(const StatePVA &sample);
+
+    void getCheckPos(const Vector3d &pos, const Vector3d &vel,
+                     const Vector3d &acc, vector<Vector3d> &grids,
+                     double hor_radius, double ver_radius);
+
+    bool checkPolySeg(const Piece &seg);
+
+    bool checkPolySeg(const Piece &seg, double t_s, double t_e);
+
+    bool checkPolySeg(const Piece &seg, vector<pair<Vector3d, Vector3d>> &traversal_lines);
+    bool checkPolySeg(const Piece &seg, pair<Vector3d, Vector3d> &collide_pts, pair<double, double> &t_s_e, bool &need_region_opt);
+
+    bool checkPolyTraj(const Trajectory &traj, double t_s, double t_e, Vector3d &collide_pos, double &remain_safe_time);
+    bool checkPolyTraj(const Trajectory &traj, vector<pair<Vector3d, Vector3d>> &traversal_lines);
+    bool checkPolyTraj(const Trajectory &traj);
+    bool checkPolyTraj(const Trajectory &traj, vector<pair<Vector3d, Vector3d>> &traversal_lines, vector<pair<double, double>> &ts_s_e);
+
+    bool checkLine(const Vector3d &s_p, const Vector3d &e_p, Eigen::Vector3d &collide_pt, bool inflate);
+
+    bool getPolyTrajCollision(const Trajectory &traj, std::vector<int> &segs, std::vector<Eigen::Vector3d> &collisions,
+                              std::vector<double> &t_s, std::vector<double> &t_e);
+    bool getPolyTrajAttractPts(const Trajectory &front_traj, const Trajectory &traj, std::vector<pair<int, int>> &seg_num_obs_size,
+                               std::vector<Eigen::Vector3d> &att_pts,
+                               std::vector<double> &t_s, std::vector<double> &t_e);
+    bool getRegionalAttractPts(const Trajectory &front_traj, const Trajectory &traj,
+                               std::vector<pair<int, int>> &seg_num_obs_size,
+                               std::vector<Eigen::Vector3d> &att_pts,
+                               std::vector<double> &t_s, std::vector<double> &t_e);
+    void getRegionalAttractPts(const Trajectory &input_traj, const vector<Eigen::Vector3d> &free_path, const pair<double, double> &t_s_e,
+                               std::vector<pair<int, int>> &seg_num_obs_size,
+                               std::vector<Eigen::Vector3d> &att_pts,
+                               std::vector<double> &t_s, std::vector<double> &t_e);
+    // squared distance
+    float nearestObs(const Vector3d &pos, Vector3d &obs)
+    {
+      float obs_x, obs_y, obs_z;
+      float range = occ_map_->nearestObs(pos[0], pos[1], pos[2], obs_x, obs_y, obs_z);
+      return range;
+    };
+
+    void posToIndex(const Eigen::Vector3d &pos, Eigen::Vector3i &id);
+    Eigen::Vector3i posToIndex(const Eigen::Vector3d &pos);
+    void indexToPos(const Eigen::Vector3i &id, Eigen::Vector3d &pos);
+    Eigen::Vector3i getOccMapSize();
+
+    typedef shared_ptr<PosChecker> Ptr;
+
+  public:
+    void getSurroundDistance(Eigen::Vector3d pts[2][2][2], double dists[2][2][2])
+    {
+      for (int x = 0; x < 2; x++)
+      {
+        for (int y = 0; y < 2; y++)
+        {
+          for (int z = 0; z < 2; z++)
+          {
+            dists[x][y][z] = occ_map_->getDistance(pts[x][y][z]);
+          }
+        }
+      }
+    }
+
+    /* for bench mark */
+    void interpolateTrilinear(double values[2][2][2],
+                              const Eigen::Vector3d &diff,
+                              double &value,
+                              Eigen::Vector3d &grad)
+    {
+      // trilinear interpolation
+      double v00 = (1 - diff(0)) * values[0][0][0] + diff(0) * values[1][0][0];
+      double v01 = (1 - diff(0)) * values[0][0][1] + diff(0) * values[1][0][1];
+      double v10 = (1 - diff(0)) * values[0][1][0] + diff(0) * values[1][1][0];
+      double v11 = (1 - diff(0)) * values[0][1][1] + diff(0) * values[1][1][1];
+      double v0 = (1 - diff(1)) * v00 + diff(1) * v10;
+      double v1 = (1 - diff(1)) * v01 + diff(1) * v11;
+
+      value = (1 - diff(2)) * v0 + diff(2) * v1;
+
+      grad[2] = (v1 - v0) / resolution_;
+      grad[1] = ((1 - diff[2]) * (v10 - v00) + diff[2] * (v11 - v01)) / resolution_;
+      grad[0] = (1 - diff[2]) * (1 - diff[1]) * (values[1][0][0] - values[0][0][0]);
+      grad[0] += (1 - diff[2]) * diff[1] * (values[1][1][0] - values[0][1][0]);
+      grad[0] += diff[2] * (1 - diff[1]) * (values[1][0][1] - values[0][0][1]);
+      grad[0] += diff[2] * diff[1] * (values[1][1][1] - values[0][1][1]);
+      grad[0] /= resolution_;
+    }
+
+    void evaluateEDTWithGrad(const Eigen::Vector3d &pos,
+                             double time, double &dist,
+                             Eigen::Vector3d &grad)
+    {
+      Eigen::Vector3d diff;
+      Eigen::Vector3d sur_pts[2][2][2];
+      occ_map_->getSurroundPts(pos, sur_pts, diff);
+
+      double dists[2][2][2];
+      getSurroundDistance(sur_pts, dists);
+
+      interpolateTrilinear(dists, diff, dist, grad);
+    }
+
+    bool checkRayValid(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, double max_dist = DBL_MAX) const
+    {
+      Eigen::Vector3d dp = p1 - p0;
+      double dist = dp.norm();
+      if (dist > max_dist)
+      {
+        return false;
+      }
+      RayCaster raycaster;
+      bool need_ray = raycaster.setInput(p0 / resolution_, p1 / resolution_); //(ray start, ray end)
+      if (!need_ray)
+        return true;
+      Eigen::Vector3d half = Eigen::Vector3d(0.5, 0.5, 0.5);
+      Eigen::Vector3d ray_pt;
+      if (!raycaster.step(ray_pt)) // skip the ray start point
+        return true;
+      while (raycaster.step(ray_pt))
+      {
+        Eigen::Vector3d tmp = (ray_pt + half) * resolution_;
+        if (occ_map_->isInflateOccupied(tmp))
+        {
+          return false;
+        }
+      }
+      return true;
+    }
+  };
+
+  inline void PosChecker::posToIndex(const Eigen::Vector3d &pos, Eigen::Vector3i &id)
+  {
+    occ_map_->posToIndex(pos, id);
+  }
+
+  inline Eigen::Vector3i PosChecker::posToIndex(const Eigen::Vector3d &pos)
+  {
+    return occ_map_->posToIndex(pos);
+  }
+
+  inline void PosChecker::indexToPos(const Eigen::Vector3i &id, Eigen::Vector3d &pos)
+  {
+    occ_map_->indexToPos(id, pos);
+  }
+
+  inline Eigen::Vector3i PosChecker::getOccMapSize()
+  {
+    return occ_map_->getMapSize();
+  }
+
+#ifndef GLOBAL_TEST
+  inline bool PosChecker::validatePosSurround(const Vector3d &pos)
+  {
+    // int n(0);
+    // ros::Time t1 = ros::Time::now();
+
+    int x_size = ceil(copter_diag_len_ / 2.0 / resolution_);
+    int y_size = ceil(copter_diag_len_ / 2.0 / resolution_);
+    int z_size = ceil(vtc_safe_radius_ / resolution_);
+    Vector3d grid(pos);
+    for (int i = -x_size; i <= x_size; i += x_size)
+      for (int j = -y_size; j <= y_size; j += y_size)
+        for (int k = -z_size; k <= z_size; k += z_size)
+        {
+          // n++;
+          grid = pos + Vector3d(i, j, k) * resolution_;
+          if (occ_map_->getVoxelState(grid) != 0)
+          {
+            return false;
+          }
+        }
+    // ros::Time t2 = ros::Time::now();
+    // ROS_WARN_STREAM("validate "<< n << "grids used: " << (t2-t1).toSec() * 1e6 << " us");
+    return true;
+  }
+
+  //if state pos valid, return true
+  inline bool PosChecker::checkState(const Vector3d &pos, const Vector3d &vel, const Vector3d &acc)
+  {
+    if (inflate_)
+    {
+      getCheckPos(pos, vel, acc, line_grids_, hrz_safe_radius_, vtc_safe_radius_);
+      for (const Vector3d &grid : line_grids_)
+      {
+        if (occ_map_->getVoxelState(grid) != 0)
+        {
+          //cout << "collision: " << grid.transpose() << endl;
+          return false;
+        }
+      }
+      return true;
+    }
+    else
+    {
+      if (occ_map_->getVoxelState(pos) != 0)
+      {
+        // cout << "collision: "<< pos.transpose() << endl;
+        return false;
+      }
+      return true;
+    }
+  };
+
+  inline bool PosChecker::checkState(const Vector3d &pos, const Vector3d &vel, const Vector3d &acc, Vector3d &collision_pt)
+  {
+    if (inflate_)
+    {
+      getCheckPos(pos, vel, acc, line_grids_, hrz_safe_radius_, vtc_safe_radius_);
+      for (const Vector3d &grid : line_grids_)
+      {
+        if (occ_map_->getVoxelState(grid) != 0)
+        {
+          //cout << "collision: " << grid.transpose() << endl;
+          collision_pt = grid;
+          return false;
+        }
+      }
+      return true;
+    }
+    else
+    {
+      if (occ_map_->getVoxelState(pos) != 0)
+      {
+        // cout << "collision: "<< pos.transpose() << endl;
+        collision_pt = pos;
+        return false;
+      }
+      return true;
+    }
+  };
+
+  inline bool PosChecker::checkLine(const Vector3d &s_p, const Vector3d &e_p, Eigen::Vector3d &collide_pt, bool inflate)
+  {
+    RayCaster raycaster;
+    Eigen::Vector3d ray_pt;
+    Eigen::Vector3d start = s_p / resolution_, end = e_p / resolution_;
+    bool need_ray = raycaster.setInput(start, end);
+    Vector3d vel = e_p - s_p, acc;
+    if (need_ray)
+    {
+      Eigen::Vector2d dir_hrz = (e_p - s_p).head(2).normalized() * hrz_safe_radius_;
+      Eigen::Matrix2d r_m;
+      r_m << 0, 1,
+          -1, 0;
+      dir_hrz = r_m * dir_hrz;
+
+      while (raycaster.step(ray_pt))
+      {
+        Eigen::Vector3d tmp = (ray_pt)*resolution_;
+        tmp[0] += resolution_ / 2.0;
+        tmp[1] += resolution_ / 2.0;
+        tmp[2] += resolution_ / 2.0;
+        if (occ_map_->getVoxelState(tmp) != 0)
+        {
+          collide_pt = tmp;
+          return false;
+        }
+        if (inflate)
+        {
+          Eigen::Vector3d shift_hrz(tmp);
+          shift_hrz.head(2) += dir_hrz / 2.0;
+          if (occ_map_->getVoxelState(shift_hrz) != 0)
+          {
+            collide_pt = tmp;
+            return false;
+          }
+          shift_hrz.head(2) -= dir_hrz;
+          if (occ_map_->getVoxelState(shift_hrz) != 0)
+          {
+            collide_pt = tmp;
+            return false;
+          }
+          Eigen::Vector3d shift_vtc(tmp);
+          shift_vtc[2] += vtc_safe_radius_ / 2.0;
+          if (occ_map_->getVoxelState(shift_vtc) != 0)
+          {
+            collide_pt = tmp;
+            return false;
+          }
+          shift_vtc[2] -= vtc_safe_radius_;
+          if (occ_map_->getVoxelState(shift_vtc) != 0)
+          {
+            collide_pt = tmp;
+            return false;
+          }
+        }
+      }
+      return true;
+    }
+    else
+    {
+      return validatePosSurround(s_p);
+    }
+  }
+#endif
+
+#ifdef GLOBAL_TEST
+  inline bool PosChecker::validatePosSurround(const Vector3d &pos)
+  {
+    // if (occ_map_->getDistance(pos) < copter_diag_len_) return false;
+    if (occ_map_->isInflateOccupied(pos))
+      return false;
+    return true;
+  }
+
+  inline bool PosChecker::validatePosSurround(const Vector3i &id)
+  {
+    // if (occ_map_->getDistance(id) < copter_diag_len_) return false;
+    if (occ_map_->isInflateOccupied(id))
+      return false;
+    return true;
+  }
+
+  inline bool PosChecker::checkState(const Vector3d &pos, const Vector3d &vel, const Vector3d &acc)
+  {
+    // if (occ_map_->getDistance(pos) < copter_diag_len_) return false;
+    if (occ_map_->isInflateOccupied(pos))
+      return false;
+    return true;
+  }
+
+  inline bool PosChecker::checkState(const Vector3d &pos, const Vector3d &vel, const Vector3d &acc, Vector3d &collision_pt)
+  {
+    // if (occ_map_->getDistance(pos) < copter_diag_len_) {collision_pt = pos; return false;}
+    if (occ_map_->isInflateOccupied(pos))
+    {
+      collision_pt = pos;
+      return false;
+    }
+    return true;
+  }
+
+  //actually it won't be inlined
+  // inline bool PosChecker::checkLine(const Vector3d &s_p, const Vector3d &e_p, Eigen::Vector3d &collide_pt, bool inflate)
+  // {
+  //   RayCaster raycaster;
+  //   Eigen::Vector3d ray_pt;
+  //   Eigen::Vector3d start = s_p / resolution_, end = e_p / resolution_;
+  //   bool need_ray = raycaster.setInput(start, end);
+  //   Vector3d vel = e_p - s_p, acc;
+  //   if (need_ray)
+  //   {
+  //     while (raycaster.step(ray_pt))
+  //     {
+  //       Eigen::Vector3d tmp = (ray_pt)*resolution_;
+  //       tmp[0] += resolution_ / 2.0;
+  //       tmp[1] += resolution_ / 2.0;
+  //       tmp[2] += resolution_ / 2.0;
+  //       if (occ_map_->getDistance(tmp) < copter_diag_len_)
+  //       {
+  //         collide_pt = tmp;
+  //         return false;
+  //       }
+  //     }
+  //     return true;
+  //   }
+  //   else
+  //   {
+  //     return validatePosSurround(s_p);
+  //   }
+  // }
+  inline bool PosChecker::checkLine(const Vector3d &s_p, const Vector3d &e_p, Eigen::Vector3d &collide_pt, bool inflate)
+  {
+    Vector3d dir = e_p - s_p;
+    double len = dir.norm();
+    Vector3d dir_norm = dir / len;
+    Vector3d step_vec = dir_norm * resolution_ * 1.5;
+    int check_n = floor(len / resolution_ / 1.5);
+    Vector3d check_pt(s_p);
+    for (int i = 1; i < check_n; ++i)
+    {
+      check_pt += step_vec;
+      if (!validatePosSurround(check_pt))
+      {
+        collide_pt = check_pt;
+        return false;
+      }
+    }
+    return true;
+  }
+#endif
+
+} // namespace tgk_planner
+
+#endif
\ No newline at end of file
diff --git a/mapping/occ_grid/include/occ_grid/quickhull.hpp b/mapping/occ_grid/include/occ_grid/quickhull.hpp
new file mode 100755
index 0000000..586d59e
--- /dev/null
+++ b/mapping/occ_grid/include/occ_grid/quickhull.hpp
@@ -0,0 +1,1697 @@
+#ifndef QUICKHULL_HPP
+#define QUICKHULL_HPP
+
+#include <iostream>
+#include <cmath>
+#include <limits>
+#include <memory>
+#include <algorithm>
+#include <array>
+#include <vector>
+#include <deque>
+#include <unordered_map>
+#include <fstream>
+#include <cassert>
+
+namespace quickhull
+{
+
+// ----------------------- BasicData Part -----------------------
+
+template <typename T>
+class Vector3
+{
+public:
+    Vector3() = default;
+
+    Vector3(T x, T y, T z) : x(x), y(y), z(z) {}
+
+    T x, y, z;
+
+    inline T dotProduct(const Vector3 &other) const
+    {
+        return x * other.x + y * other.y + z * other.z;
+    }
+
+    inline void normalize()
+    {
+        const T len = getLength();
+        x /= len;
+        y /= len;
+        z /= len;
+    }
+
+    inline Vector3 getNormalized() const
+    {
+        const T len = getLength();
+        return Vector3(x / len, y / len, z / len);
+    }
+
+    inline T getLength() const
+    {
+        return std::sqrt(x * x + y * y + z * z);
+    }
+
+    inline Vector3 operator-(const Vector3 &other) const
+    {
+        return Vector3(x - other.x, y - other.y, z - other.z);
+    }
+
+    inline Vector3 operator+(const Vector3 &other) const
+    {
+        return Vector3(x + other.x, y + other.y, z + other.z);
+    }
+
+    inline Vector3 &operator+=(const Vector3 &other)
+    {
+        x += other.x;
+        y += other.y;
+        z += other.z;
+        return *this;
+    }
+
+    inline Vector3 &operator-=(const Vector3 &other)
+    {
+        x -= other.x;
+        y -= other.y;
+        z -= other.z;
+        return *this;
+    }
+
+    inline Vector3 &operator*=(T c)
+    {
+        x *= c;
+        y *= c;
+        z *= c;
+        return *this;
+    }
+
+    inline Vector3 &operator/=(T c)
+    {
+        x /= c;
+        y /= c;
+        z /= c;
+        return *this;
+    }
+
+    inline Vector3 operator-() const
+    {
+        return Vector3(-x, -y, -z);
+    }
+
+    template <typename S>
+    inline Vector3 operator*(S c) const
+    {
+        return Vector3(x * c, y * c, z * c);
+    }
+
+    template <typename S>
+    inline Vector3 operator/(S c) const
+    {
+        return Vector3(x / c, y / c, z / c);
+    }
+
+    inline T getLengthSquared() const
+    {
+        return x * x + y * y + z * z;
+    }
+
+    inline bool operator!=(const Vector3 &o) const
+    {
+        return x != o.x || y != o.y || z != o.z;
+    }
+
+    // Projection onto another vector
+    inline Vector3 projection(const Vector3 &o) const
+    {
+        T C = dotProduct(o) / o.getLengthSquared();
+        return o * C;
+    }
+
+    inline Vector3 crossProduct(const Vector3 &rhs)
+    {
+        T a = y * rhs.z - z * rhs.y;
+        T b = z * rhs.x - x * rhs.z;
+        T c = x * rhs.y - y * rhs.x;
+        Vector3 product(a, b, c);
+        return product;
+    }
+
+    inline T getDistanceTo(const Vector3 &other) const
+    {
+        Vector3 diff = *this - other;
+        return diff.getLength();
+    }
+
+    inline T getSquaredDistanceTo(const Vector3 &other) const
+    {
+        const T dx = x - other.x;
+        const T dy = y - other.y;
+        const T dz = z - other.z;
+        return dx * dx + dy * dy + dz * dz;
+    }
+};
+
+// Overload also << operator for easy printing of debug data
+template <typename T>
+inline std::ostream &operator<<(std::ostream &os, const Vector3<T> &vec)
+{
+    os << "(" << vec.x << "," << vec.y << "," << vec.z << ")";
+    return os;
+}
+
+template <typename T>
+inline Vector3<T> operator*(T c, const Vector3<T> &v)
+{
+    return Vector3<T>(v.x * c, v.y * c, v.z * c);
+}
+
+template <typename T>
+class Plane
+{
+public:
+    Vector3<T> m_N;
+
+    // Signed distance (if normal is of length 1) to the plane from origin
+    T m_D;
+
+    // Normal length squared
+    T m_sqrNLength;
+
+    inline bool isPointOnPositiveSide(const Vector3<T> &Q) const
+    {
+        T d = m_N.dotProduct(Q) + m_D;
+        if (d >= 0)
+            return true;
+        return false;
+    }
+
+    Plane() = default;
+
+    // Construct a plane using normal N and any point P on the plane
+    Plane(const Vector3<T> &N, const Vector3<T> &P)
+        : m_N(N), m_D(-N.dotProduct(P)),
+          m_sqrNLength(m_N.x * m_N.x + m_N.y * m_N.y + m_N.z * m_N.z) {}
+};
+
+template <typename T>
+struct Ray
+{
+    const Vector3<T> m_S;
+    const Vector3<T> m_V;
+    const T m_VInvLengthSquared;
+
+    Ray(const Vector3<T> &S, const Vector3<T> &V)
+        : m_S(S), m_V(V), m_VInvLengthSquared(1 / m_V.getLengthSquared()) {}
+};
+
+template <typename T>
+class Pool
+{
+    std::vector<std::unique_ptr<T>> m_data;
+
+public:
+    inline void clear()
+    {
+        m_data.clear();
+    }
+
+    inline void reclaim(std::unique_ptr<T> &ptr)
+    {
+        m_data.push_back(std::move(ptr));
+    }
+
+    inline std::unique_ptr<T> get()
+    {
+        if (m_data.size() == 0)
+        {
+            return std::unique_ptr<T>(new T());
+        }
+        auto it = m_data.end() - 1;
+        std::unique_ptr<T> r = std::move(*it);
+        m_data.erase(it);
+        return r;
+    }
+};
+
+template <typename T>
+class VertexDataSource
+{
+    const Vector3<T> *m_ptr;
+    size_t m_count;
+
+public:
+    VertexDataSource(const Vector3<T> *ptr, size_t count)
+        : m_ptr(ptr), m_count(count) {}
+
+    VertexDataSource(const std::vector<Vector3<T>> &vec)
+        : m_ptr(&vec[0]), m_count(vec.size()) {}
+
+    VertexDataSource()
+        : m_ptr(nullptr), m_count(0) {}
+
+    inline VertexDataSource &operator=(const VertexDataSource &other) = default;
+
+    inline size_t size() const
+    {
+        return m_count;
+    }
+
+    inline const Vector3<T> &operator[](size_t index) const
+    {
+        return m_ptr[index];
+    }
+
+    inline const Vector3<T> *begin() const
+    {
+        return m_ptr;
+    }
+
+    inline const Vector3<T> *end() const
+    {
+        return m_ptr + m_count;
+    }
+};
+
+// ----------------------- MeshBuilder Part -----------------------
+
+template <typename T>
+class MeshBuilder
+{
+public:
+    struct HalfEdge
+    {
+        size_t m_endVertex;
+        size_t m_opp;
+        size_t m_face;
+        size_t m_next;
+
+        inline void disable()
+        {
+            m_endVertex = std::numeric_limits<size_t>::max();
+        }
+
+        inline bool isDisabled() const
+        {
+            return m_endVertex == std::numeric_limits<size_t>::max();
+        }
+    };
+
+    struct Face
+    {
+        size_t m_he;
+        Plane<T> m_P;
+        T m_mostDistantPointDist;
+        size_t m_mostDistantPoint;
+        size_t m_visibilityCheckedOnIteration;
+        std::uint8_t m_isVisibleFaceOnCurrentIteration : 1;
+        std::uint8_t m_inFaceStack : 1;
+
+        // Bit for each half edge assigned to this face,
+        // each being 0 or 1 depending on whether the
+        // edge belongs to horizon edge
+        std::uint8_t m_horizonEdgesOnCurrentIteration : 3;
+        std::unique_ptr<std::vector<size_t>> m_pointsOnPositiveSide;
+
+        Face() : m_he(std::numeric_limits<size_t>::max()),
+                 m_mostDistantPointDist(0),
+                 m_mostDistantPoint(0),
+                 m_visibilityCheckedOnIteration(0),
+                 m_isVisibleFaceOnCurrentIteration(0),
+                 m_inFaceStack(0),
+                 m_horizonEdgesOnCurrentIteration(0) {}
+
+        inline void disable()
+        {
+            m_he = std::numeric_limits<size_t>::max();
+        }
+
+        inline bool isDisabled() const
+        {
+            return m_he == std::numeric_limits<size_t>::max();
+        }
+    };
+
+    // Mesh data
+    std::vector<Face> m_faces;
+    std::vector<HalfEdge> m_halfEdges;
+
+    // When the mesh is modified and faces and half edges are
+    // removed from it, we do not actually remove them from
+    // the container vectors. Insted, they are marked as disabled
+    // which means that the indices can be reused when we need to
+    // add new faces and half edges to the mesh. We store the
+    // free indices in the following vectors.
+    std::vector<size_t> m_disabledFaces, m_disabledHalfEdges;
+
+    inline size_t addFace()
+    {
+        if (m_disabledFaces.size())
+        {
+            size_t index = m_disabledFaces.back();
+            auto &f = m_faces[index];
+            assert(f.isDisabled());
+            assert(!f.m_pointsOnPositiveSide);
+            f.m_mostDistantPointDist = 0;
+            m_disabledFaces.pop_back();
+            return index;
+        }
+        m_faces.emplace_back();
+        return m_faces.size() - 1;
+    }
+
+    inline size_t addHalfEdge()
+    {
+        if (m_disabledHalfEdges.size())
+        {
+            const size_t index = m_disabledHalfEdges.back();
+            m_disabledHalfEdges.pop_back();
+            return index;
+        }
+        m_halfEdges.emplace_back();
+        return m_halfEdges.size() - 1;
+    }
+
+    // Mark a face as disabled and return a pointer
+    // to the points that were on the positive of it.
+    inline std::unique_ptr<std::vector<size_t>> disableFace(size_t faceIndex)
+    {
+        auto &f = m_faces[faceIndex];
+        f.disable();
+        m_disabledFaces.push_back(faceIndex);
+        return std::move(f.m_pointsOnPositiveSide);
+    }
+
+    inline void disableHalfEdge(size_t heIndex)
+    {
+        auto &he = m_halfEdges[heIndex];
+        he.disable();
+        m_disabledHalfEdges.push_back(heIndex);
+    }
+
+    MeshBuilder() = default;
+
+    // Create a mesh with initial tetrahedron ABCD.
+    // Dot product of AB with the normal of triangle
+    // ABC should be negative.
+    inline void setup(size_t a, size_t b, size_t c, size_t d)
+    {
+        m_faces.clear();
+        m_halfEdges.clear();
+        m_disabledFaces.clear();
+        m_disabledHalfEdges.clear();
+
+        m_faces.reserve(4);
+        m_halfEdges.reserve(12);
+
+        // Create halfedges
+        HalfEdge AB;
+        AB.m_endVertex = b;
+        AB.m_opp = 6;
+        AB.m_face = 0;
+        AB.m_next = 1;
+        m_halfEdges.push_back(AB);
+
+        HalfEdge BC;
+        BC.m_endVertex = c;
+        BC.m_opp = 9;
+        BC.m_face = 0;
+        BC.m_next = 2;
+        m_halfEdges.push_back(BC);
+
+        HalfEdge CA;
+        CA.m_endVertex = a;
+        CA.m_opp = 3;
+        CA.m_face = 0;
+        CA.m_next = 0;
+        m_halfEdges.push_back(CA);
+
+        HalfEdge AC;
+        AC.m_endVertex = c;
+        AC.m_opp = 2;
+        AC.m_face = 1;
+        AC.m_next = 4;
+        m_halfEdges.push_back(AC);
+
+        HalfEdge CD;
+        CD.m_endVertex = d;
+        CD.m_opp = 11;
+        CD.m_face = 1;
+        CD.m_next = 5;
+        m_halfEdges.push_back(CD);
+
+        HalfEdge DA;
+        DA.m_endVertex = a;
+        DA.m_opp = 7;
+        DA.m_face = 1;
+        DA.m_next = 3;
+        m_halfEdges.push_back(DA);
+
+        HalfEdge BA;
+        BA.m_endVertex = a;
+        BA.m_opp = 0;
+        BA.m_face = 2;
+        BA.m_next = 7;
+        m_halfEdges.push_back(BA);
+
+        HalfEdge AD;
+        AD.m_endVertex = d;
+        AD.m_opp = 5;
+        AD.m_face = 2;
+        AD.m_next = 8;
+        m_halfEdges.push_back(AD);
+
+        HalfEdge DB;
+        DB.m_endVertex = b;
+        DB.m_opp = 10;
+        DB.m_face = 2;
+        DB.m_next = 6;
+        m_halfEdges.push_back(DB);
+
+        HalfEdge CB;
+        CB.m_endVertex = b;
+        CB.m_opp = 1;
+        CB.m_face = 3;
+        CB.m_next = 10;
+        m_halfEdges.push_back(CB);
+
+        HalfEdge BD;
+        BD.m_endVertex = d;
+        BD.m_opp = 8;
+        BD.m_face = 3;
+        BD.m_next = 11;
+        m_halfEdges.push_back(BD);
+
+        HalfEdge DC;
+        DC.m_endVertex = c;
+        DC.m_opp = 4;
+        DC.m_face = 3;
+        DC.m_next = 9;
+        m_halfEdges.push_back(DC);
+
+        // Create faces
+        Face ABC;
+        ABC.m_he = 0;
+        m_faces.push_back(std::move(ABC));
+
+        Face ACD;
+        ACD.m_he = 3;
+        m_faces.push_back(std::move(ACD));
+
+        Face BAD;
+        BAD.m_he = 6;
+        m_faces.push_back(std::move(BAD));
+
+        Face CBD;
+        CBD.m_he = 9;
+        m_faces.push_back(std::move(CBD));
+    }
+
+    inline std::array<size_t, 3> getVertexIndicesOfFace(const Face &f) const
+    {
+        std::array<size_t, 3> v;
+        const HalfEdge *he = &m_halfEdges[f.m_he];
+        v[0] = he->m_endVertex;
+        he = &m_halfEdges[he->m_next];
+        v[1] = he->m_endVertex;
+        he = &m_halfEdges[he->m_next];
+        v[2] = he->m_endVertex;
+        return v;
+    }
+
+    inline std::array<size_t, 2> getVertexIndicesOfHalfEdge(const HalfEdge &he) const
+    {
+        return {m_halfEdges[he.m_opp].m_endVertex, he.m_endVertex};
+    }
+
+    inline std::array<size_t, 3> getHalfEdgeIndicesOfFace(const Face &f) const
+    {
+        return {f.m_he, m_halfEdges[f.m_he].m_next, m_halfEdges[m_halfEdges[f.m_he].m_next].m_next};
+    }
+};
+
+// ----------------------- MathUtils Part -----------------------
+
+namespace mathutils
+{
+
+template <typename T>
+inline T getSquaredDistanceBetweenPointAndRay(const Vector3<T> &p, const Ray<T> &r)
+{
+    const Vector3<T> s = p - r.m_S;
+    T t = s.dotProduct(r.m_V);
+    return s.getLengthSquared() - t * t * r.m_VInvLengthSquared;
+}
+
+// Note that the unit of distance returned is relative
+// to plane's normal's length (divide by N.getNormalized()
+// if needed to get the "real" distance).
+template <typename T>
+inline T getSignedDistanceToPlane(const Vector3<T> &v, const Plane<T> &p)
+{
+    return p.m_N.dotProduct(v) + p.m_D;
+}
+
+template <typename T>
+inline Vector3<T> getTriangleNormal(const Vector3<T> &a,
+                                    const Vector3<T> &b,
+                                    const Vector3<T> &c)
+{
+    // We want to get (a-c).crossProduct(b-c)
+    // without constructing temp vectors
+    T x = a.x - c.x;
+    T y = a.y - c.y;
+    T z = a.z - c.z;
+    T rhsx = b.x - c.x;
+    T rhsy = b.y - c.y;
+    T rhsz = b.z - c.z;
+    T px = y * rhsz - z * rhsy;
+    T py = z * rhsx - x * rhsz;
+    T pz = x * rhsy - y * rhsx;
+    return Vector3<T>(px, py, pz);
+}
+
+} // namespace mathutils
+
+// ----------------------- HalfEdgeMesh Part -----------------------
+
+template <typename FloatType, typename IndexType>
+class HalfEdgeMesh
+{
+public:
+    struct HalfEdge
+    {
+        IndexType m_endVertex;
+        IndexType m_opp;
+        IndexType m_face;
+        IndexType m_next;
+    };
+
+    struct Face
+    {
+        // Index of one of the half edges of this face
+        IndexType m_halfEdgeIndex;
+    };
+
+    std::vector<Vector3<FloatType>> m_vertices;
+    std::vector<Face> m_faces;
+    std::vector<HalfEdge> m_halfEdges;
+
+    HalfEdgeMesh(const MeshBuilder<FloatType> &builderObject,
+                 const VertexDataSource<FloatType> &vertexData)
+    {
+        std::unordered_map<IndexType, IndexType> faceMapping;
+        std::unordered_map<IndexType, IndexType> halfEdgeMapping;
+        std::unordered_map<IndexType, IndexType> vertexMapping;
+
+        size_t i = 0;
+        for (const auto &face : builderObject.m_faces)
+        {
+            if (!face.isDisabled())
+            {
+                m_faces.push_back({static_cast<IndexType>(face.m_he)});
+                faceMapping[i] = m_faces.size() - 1;
+
+                const auto heIndices = builderObject.getHalfEdgeIndicesOfFace(face);
+                for (const auto heIndex : heIndices)
+                {
+                    const IndexType vertexIndex = builderObject.m_halfEdges[heIndex].m_endVertex;
+                    if (vertexMapping.count(vertexIndex) == 0)
+                    {
+                        m_vertices.push_back(vertexData[vertexIndex]);
+                        vertexMapping[vertexIndex] = m_vertices.size() - 1;
+                    }
+                }
+            }
+            i++;
+        }
+
+        i = 0;
+        for (const auto &halfEdge : builderObject.m_halfEdges)
+        {
+            if (!halfEdge.isDisabled())
+            {
+                m_halfEdges.push_back({static_cast<IndexType>(halfEdge.m_endVertex),
+                                       static_cast<IndexType>(halfEdge.m_opp),
+                                       static_cast<IndexType>(halfEdge.m_face),
+                                       static_cast<IndexType>(halfEdge.m_next)});
+                halfEdgeMapping[i] = m_halfEdges.size() - 1;
+            }
+            i++;
+        }
+
+        for (auto &face : m_faces)
+        {
+            assert(halfEdgeMapping.count(face.m_halfEdgeIndex) == 1);
+            face.m_halfEdgeIndex = halfEdgeMapping[face.m_halfEdgeIndex];
+        }
+
+        for (auto &he : m_halfEdges)
+        {
+            he.m_face = faceMapping[he.m_face];
+            he.m_opp = halfEdgeMapping[he.m_opp];
+            he.m_next = halfEdgeMapping[he.m_next];
+            he.m_endVertex = vertexMapping[he.m_endVertex];
+        }
+    }
+};
+
+// ----------------------- Convex Hull Part -----------------------
+
+template <typename T>
+class ConvexHull
+{
+    std::unique_ptr<std::vector<Vector3<T>>> m_optimizedVertexBuffer;
+    VertexDataSource<T> m_vertices;
+    std::vector<size_t> m_indices;
+
+public:
+    ConvexHull() {}
+
+    // Copy constructor
+    ConvexHull(const ConvexHull &o)
+    {
+        m_indices = o.m_indices;
+        if (o.m_optimizedVertexBuffer)
+        {
+            m_optimizedVertexBuffer.reset(new std::vector<Vector3<T>>(*o.m_optimizedVertexBuffer));
+            m_vertices = VertexDataSource<T>(*m_optimizedVertexBuffer);
+        }
+        else
+        {
+            m_vertices = o.m_vertices;
+        }
+    }
+
+    inline ConvexHull &operator=(const ConvexHull &o)
+    {
+        if (&o == this)
+        {
+            return *this;
+        }
+        m_indices = o.m_indices;
+        if (o.m_optimizedVertexBuffer)
+        {
+            m_optimizedVertexBuffer.reset(new std::vector<Vector3<T>>(*o.m_optimizedVertexBuffer));
+            m_vertices = VertexDataSource<T>(*m_optimizedVertexBuffer);
+        }
+        else
+        {
+            m_vertices = o.m_vertices;
+        }
+        return *this;
+    }
+
+    ConvexHull(ConvexHull &&o)
+    {
+        m_indices = std::move(o.m_indices);
+        if (o.m_optimizedVertexBuffer)
+        {
+            m_optimizedVertexBuffer = std::move(o.m_optimizedVertexBuffer);
+            o.m_vertices = VertexDataSource<T>();
+            m_vertices = VertexDataSource<T>(*m_optimizedVertexBuffer);
+        }
+        else
+        {
+            m_vertices = o.m_vertices;
+        }
+    }
+
+    inline ConvexHull &operator=(ConvexHull &&o)
+    {
+        if (&o == this)
+        {
+            return *this;
+        }
+        m_indices = std::move(o.m_indices);
+        if (o.m_optimizedVertexBuffer)
+        {
+            m_optimizedVertexBuffer = std::move(o.m_optimizedVertexBuffer);
+            o.m_vertices = VertexDataSource<T>();
+            m_vertices = VertexDataSource<T>(*m_optimizedVertexBuffer);
+        }
+        else
+        {
+            m_vertices = o.m_vertices;
+        }
+        return *this;
+    }
+
+    // Construct vertex and index buffers from
+    // half edge mesh and pointcloud
+    ConvexHull(const MeshBuilder<T> &mesh,
+               const VertexDataSource<T> &pointCloud,
+               bool CCW,
+               bool useOriginalIndices)
+    {
+        if (!useOriginalIndices)
+        {
+            m_optimizedVertexBuffer.reset(new std::vector<Vector3<T>>());
+        }
+
+        std::vector<bool> faceProcessed(mesh.m_faces.size(), false);
+        std::vector<size_t> faceStack;
+        // Map vertex indices from original point cloud
+        // to the new mesh vertex indices
+        std::unordered_map<size_t, size_t> vertexIndexMapping;
+        for (size_t i = 0; i < mesh.m_faces.size(); i++)
+        {
+            if (!mesh.m_faces[i].isDisabled())
+            {
+                faceStack.push_back(i);
+                break;
+            }
+        }
+        if (faceStack.size() == 0)
+        {
+            return;
+        }
+
+        const size_t iCCW = CCW ? 1 : 0;
+        const size_t finalMeshFaceCount = mesh.m_faces.size() - mesh.m_disabledFaces.size();
+        m_indices.reserve(finalMeshFaceCount * 3);
+
+        while (faceStack.size())
+        {
+            auto it = faceStack.end() - 1;
+            size_t top = *it;
+            assert(!mesh.m_faces[top].isDisabled());
+            faceStack.erase(it);
+            if (faceProcessed[top])
+            {
+                continue;
+            }
+            else
+            {
+                faceProcessed[top] = true;
+                auto halfEdges = mesh.getHalfEdgeIndicesOfFace(mesh.m_faces[top]);
+                size_t adjacent[] = {mesh.m_halfEdges[mesh.m_halfEdges[halfEdges[0]].m_opp].m_face,
+                                     mesh.m_halfEdges[mesh.m_halfEdges[halfEdges[1]].m_opp].m_face,
+                                     mesh.m_halfEdges[mesh.m_halfEdges[halfEdges[2]].m_opp].m_face};
+                for (auto a : adjacent)
+                {
+                    if (!faceProcessed[a] && !mesh.m_faces[a].isDisabled())
+                    {
+                        faceStack.push_back(a);
+                    }
+                }
+                auto vertices = mesh.getVertexIndicesOfFace(mesh.m_faces[top]);
+                if (!useOriginalIndices)
+                {
+                    for (auto &v : vertices)
+                    {
+                        auto itV = vertexIndexMapping.find(v);
+                        if (itV == vertexIndexMapping.end())
+                        {
+                            m_optimizedVertexBuffer->push_back(pointCloud[v]);
+                            vertexIndexMapping[v] = m_optimizedVertexBuffer->size() - 1;
+                            v = m_optimizedVertexBuffer->size() - 1;
+                        }
+                        else
+                        {
+                            v = itV->second;
+                        }
+                    }
+                }
+                m_indices.push_back(vertices[0]);
+                m_indices.push_back(vertices[1 + iCCW]);
+                m_indices.push_back(vertices[2 - iCCW]);
+            }
+        }
+
+        if (!useOriginalIndices)
+        {
+            m_vertices = VertexDataSource<T>(*m_optimizedVertexBuffer);
+        }
+        else
+        {
+            m_vertices = pointCloud;
+        }
+    }
+
+    inline std::vector<size_t> &getIndexBuffer()
+    {
+        return m_indices;
+    }
+
+    inline const std::vector<size_t> &getIndexBuffer() const
+    {
+        return m_indices;
+    }
+
+    inline VertexDataSource<T> &getVertexBuffer()
+    {
+        return m_vertices;
+    }
+
+    inline const VertexDataSource<T> &getVertexBuffer() const
+    {
+        return m_vertices;
+    }
+
+    // Export the mesh to a Waveform OBJ file
+    inline void writeWaveformOBJ(const std::string &filename,
+                                 const std::string &objectName = "quickhull") const
+    {
+        std::ofstream objFile;
+        objFile.open(filename);
+        objFile << "o " << objectName << "\n";
+        for (const auto &v : getVertexBuffer())
+        {
+            objFile << "v " << v.x << " " << v.y << " " << v.z << "\n";
+        }
+        const auto &indBuf = getIndexBuffer();
+        size_t triangleCount = indBuf.size() / 3;
+        for (size_t i = 0; i < triangleCount; i++)
+        {
+            objFile << "f " << indBuf[i * 3] + 1 << " "
+                    << indBuf[i * 3 + 1] + 1 << " "
+                    << indBuf[i * 3 + 2] + 1 << "\n";
+        }
+        objFile.close();
+    }
+};
+
+// ----------------------- Quick Hull Part -----------------------
+
+/*
+ * Implementation of the 3D QuickHull algorithm by Antti Kuukka
+ *
+ * No copyrights. What follows is 100% Public Domain.
+ *
+ *
+ *
+ * INPUT:  a list of points in 3D space (for example, vertices of a 3D mesh)
+ *
+ * OUTPUT: a ConvexHull object which provides vertex and index buffers of 
+ * the generated convex hull as a triangle mesh.
+ *
+ *
+ *
+ * The implementation is thread-safe if each thread is using its own 
+ * QuickHull object.
+ *
+ *
+ * SUMMARY OF THE ALGORITHM:
+ *         - Create initial simplex (tetrahedron) using extreme points. 
+ *           We have four faces now and they form a convex mesh M.
+ *         - For each point, assign them to the first face for which they 
+ *           are on the positive side of (so each point is assigned to at 
+ *           most one face). Points inside the initial tetrahedron are left 
+ *           behind now and no longer affect the calculations.
+ *         - Add all faces that have points assigned to them to Face Stack.
+ *         - Iterate until Face Stack is empty:
+ *              - Pop topmost face F from the stack
+ *              - From the points assigned to F, pick the point P that is 
+ *                farthest away from the plane defined by F.
+ *              - Find all faces of M that have P on their positive side. 
+ *                Let us call these the "visible faces".
+ *              - Because of the way M is constructed, these faces are connected. 
+ *                Solve their horizon edge loop.
+ *				- "Extrude to P": Create new faces by connecting P with the points 
+ *                 belonging to the horizon edge. Add the new faces to M and remove 
+ *                 the visible faces from M.
+ *              - Each point that was assigned to visible faces is now assigned 
+ *                to at most one of the newly created faces.
+ *              - Those new faces that have points assigned to them are added 
+ *                to the top of Face Stack.
+ *          - M is now the convex hull.
+ *
+ * TO DO:
+ *  - Implement a proper 2D QuickHull and use that to solve the degenerate 2D case 
+ *    (when all the points lie on the same plane in 3D space).
+ * */
+
+struct DiagnosticsData
+{
+    // How many times QuickHull failed to solve the horizon edge. Failures lead to
+    // degenerated convex hulls.
+    size_t m_failedHorizonEdges;
+
+    DiagnosticsData() : m_failedHorizonEdges(0) {}
+};
+
+template <typename T>
+inline T defaultEps()
+{
+    return 0.0000001;
+}
+
+template <typename T>
+class QuickHull
+{
+    using vec3 = Vector3<T>;
+
+    T m_epsilon, m_epsilonSquared, m_scale;
+    bool m_planar;
+    std::vector<vec3> m_planarPointCloudTemp;
+    VertexDataSource<T> m_vertexData;
+    MeshBuilder<T> m_mesh;
+    std::array<size_t, 6> m_extremeValues;
+    DiagnosticsData m_diagnostics;
+
+    // Temporary variables used during iteration process
+    std::vector<size_t> m_newFaceIndices;
+    std::vector<size_t> m_newHalfEdgeIndices;
+    std::vector<std::unique_ptr<std::vector<size_t>>> m_disabledFacePointVectors;
+    std::vector<size_t> m_visibleFaces;
+    std::vector<size_t> m_horizonEdges;
+    struct FaceData
+    {
+        size_t m_faceIndex;
+        // If the face turns out not to be visible, this half edge will be marked as horizon edge
+        size_t m_enteredFromHalfEdge;
+        FaceData(size_t fi, size_t he) : m_faceIndex(fi), m_enteredFromHalfEdge(he) {}
+    };
+    std::vector<FaceData> m_possiblyVisibleFaces;
+    std::deque<size_t> m_faceList;
+
+    // Create a half edge mesh representing the base tetrahedron from which the QuickHull
+    // iteration proceeds. m_extremeValues must be properly set up when this is called.
+    inline void setupInitialTetrahedron()
+    {
+        const size_t vertexCount = m_vertexData.size();
+
+        // If we have at most 4 points, just return a degenerate tetrahedron:
+        if (vertexCount <= 4)
+        {
+            size_t v[4] = {0,
+                           std::min((size_t)1, vertexCount - 1),
+                           std::min((size_t)2, vertexCount - 1),
+                           std::min((size_t)3, vertexCount - 1)};
+            const Vector3<T> N = mathutils::getTriangleNormal(m_vertexData[v[0]],
+                                                              m_vertexData[v[1]],
+                                                              m_vertexData[v[2]]);
+            const Plane<T> trianglePlane(N, m_vertexData[v[0]]);
+            if (trianglePlane.isPointOnPositiveSide(m_vertexData[v[3]]))
+            {
+                std::swap(v[0], v[1]);
+            }
+            return m_mesh.setup(v[0], v[1], v[2], v[3]);
+        }
+
+        // Find two most distant extreme points.
+        T maxD = m_epsilonSquared;
+        std::pair<size_t, size_t> selectedPoints;
+        for (size_t i = 0; i < 6; i++)
+        {
+            for (size_t j = i + 1; j < 6; j++)
+            {
+                const T d = m_vertexData[m_extremeValues[i]].getSquaredDistanceTo(m_vertexData[m_extremeValues[j]]);
+                if (d > maxD)
+                {
+                    maxD = d;
+                    selectedPoints = {m_extremeValues[i], m_extremeValues[j]};
+                }
+            }
+        }
+        if (maxD == m_epsilonSquared)
+        {
+            // A degenerate case: the point cloud seems to consists of a single point
+            return m_mesh.setup(0,
+                                std::min((size_t)1, vertexCount - 1),
+                                std::min((size_t)2, vertexCount - 1),
+                                std::min((size_t)3, vertexCount - 1));
+        }
+        assert(selectedPoints.first != selectedPoints.second);
+
+        // Find the most distant point to the line between the two chosen extreme points.
+        const Ray<T> r(m_vertexData[selectedPoints.first],
+                       (m_vertexData[selectedPoints.second] - m_vertexData[selectedPoints.first]));
+        maxD = m_epsilonSquared;
+        size_t maxI = std::numeric_limits<size_t>::max();
+        const size_t vCount = m_vertexData.size();
+        for (size_t i = 0; i < vCount; i++)
+        {
+            const T distToRay = mathutils::getSquaredDistanceBetweenPointAndRay(m_vertexData[i], r);
+            if (distToRay > maxD)
+            {
+                maxD = distToRay;
+                maxI = i;
+            }
+        }
+        if (maxD == m_epsilonSquared)
+        {
+            // It appears that the point cloud belongs to a 1 dimensional
+            // subspace of R^3: convex hull has no volume => return a thin
+            // triangle. Pick any point other than selectedPoints.first and
+            // selectedPoints.second as the third point of the triangle
+            auto it = std::find_if(m_vertexData.begin(), m_vertexData.end(), [&](const vec3 &ve) {
+                return ve != m_vertexData[selectedPoints.first] && ve != m_vertexData[selectedPoints.second];
+            });
+            const size_t thirdPoint = (it == m_vertexData.end()) ? selectedPoints.first : std::distance(m_vertexData.begin(), it);
+            it = std::find_if(m_vertexData.begin(), m_vertexData.end(), [&](const vec3 &ve) {
+                return ve != m_vertexData[selectedPoints.first] && ve != m_vertexData[selectedPoints.second] && ve != m_vertexData[thirdPoint];
+            });
+            const size_t fourthPoint = (it == m_vertexData.end()) ? selectedPoints.first : std::distance(m_vertexData.begin(), it);
+            return m_mesh.setup(selectedPoints.first, selectedPoints.second, thirdPoint, fourthPoint);
+        }
+
+        // These three points form the base triangle for our tetrahedron.
+        assert(selectedPoints.first != maxI && selectedPoints.second != maxI);
+        std::array<size_t, 3> baseTriangle{selectedPoints.first, selectedPoints.second, maxI};
+        const Vector3<T> baseTriangleVertices[] = {m_vertexData[baseTriangle[0]],
+                                                   m_vertexData[baseTriangle[1]],
+                                                   m_vertexData[baseTriangle[2]]};
+
+        // Next step is to find the 4th vertex of the tetrahedron. We naturally
+        // choose the point farthest away from the triangle plane.
+        maxD = m_epsilon;
+        maxI = 0;
+        const Vector3<T> N = mathutils::getTriangleNormal(baseTriangleVertices[0],
+                                                          baseTriangleVertices[1],
+                                                          baseTriangleVertices[2]);
+        Plane<T> trianglePlane(N, baseTriangleVertices[0]);
+        for (size_t i = 0; i < vCount; i++)
+        {
+            const T d = std::abs(mathutils::getSignedDistanceToPlane(m_vertexData[i], trianglePlane));
+            if (d > maxD)
+            {
+                maxD = d;
+                maxI = i;
+            }
+        }
+        if (maxD == m_epsilon)
+        {
+            // All the points seem to lie on a 2D subspace of R^3. How to handle this? Well, let's add
+            // one extra point to the point cloud so that the convex hull will have volume.
+            m_planar = true;
+            const vec3 N1 = mathutils::getTriangleNormal(baseTriangleVertices[1],
+                                                         baseTriangleVertices[2],
+                                                         baseTriangleVertices[0]);
+            m_planarPointCloudTemp.clear();
+            m_planarPointCloudTemp.insert(m_planarPointCloudTemp.begin(),
+                                          m_vertexData.begin(),
+                                          m_vertexData.end());
+            const vec3 extraPoint = N1 + m_vertexData[0];
+            m_planarPointCloudTemp.push_back(extraPoint);
+            maxI = m_planarPointCloudTemp.size() - 1;
+            m_vertexData = VertexDataSource<T>(m_planarPointCloudTemp);
+        }
+
+        // Enforce CCW orientation (if user prefers clockwise orientation,
+        // swap two vertices in each triangle when final mesh is created)
+        const Plane<T> triPlane(N, baseTriangleVertices[0]);
+        if (triPlane.isPointOnPositiveSide(m_vertexData[maxI]))
+        {
+            std::swap(baseTriangle[0], baseTriangle[1]);
+        }
+
+        // Create a tetrahedron half edge mesh and compute planes defined by each triangle
+        m_mesh.setup(baseTriangle[0], baseTriangle[1], baseTriangle[2], maxI);
+        for (auto &f : m_mesh.m_faces)
+        {
+            auto v = m_mesh.getVertexIndicesOfFace(f);
+            const Vector3<T> &va = m_vertexData[v[0]];
+            const Vector3<T> &vb = m_vertexData[v[1]];
+            const Vector3<T> &vc = m_vertexData[v[2]];
+            const Vector3<T> N1 = mathutils::getTriangleNormal(va, vb, vc);
+            const Plane<T> plane(N1, va);
+            f.m_P = plane;
+        }
+
+        // Finally we assign a face for each vertex outside the tetrahedron
+        // (vertices inside the tetrahedron have no role anymore)
+        for (size_t i = 0; i < vCount; i++)
+        {
+            for (auto &face : m_mesh.m_faces)
+            {
+                if (addPointToFace(face, i))
+                {
+                    break;
+                }
+            }
+        }
+    }
+
+    // Given a list of half edges, try to rearrange them so
+    // that they form a loop. Return true on success.
+    inline bool reorderHorizonEdges(std::vector<size_t> &horizonEdges)
+    {
+        const size_t horizonEdgeCount = horizonEdges.size();
+        for (size_t i = 0; i < horizonEdgeCount - 1; i++)
+        {
+            const size_t endVertex = m_mesh.m_halfEdges[horizonEdges[i]].m_endVertex;
+            bool foundNext = false;
+            for (size_t j = i + 1; j < horizonEdgeCount; j++)
+            {
+                const size_t beginVertex = m_mesh.m_halfEdges[m_mesh.m_halfEdges[horizonEdges[j]].m_opp].m_endVertex;
+                if (beginVertex == endVertex)
+                {
+                    std::swap(horizonEdges[i + 1], horizonEdges[j]);
+                    foundNext = true;
+                    break;
+                }
+            }
+            if (!foundNext)
+            {
+                return false;
+            }
+        }
+        assert(m_mesh.m_halfEdges[horizonEdges[horizonEdges.size() - 1]].m_endVertex == m_mesh.m_halfEdges[m_mesh.m_halfEdges[horizonEdges[0]].m_opp].m_endVertex);
+        return true;
+    }
+
+    // Find indices of extreme values (max x, min x, max y, min y, max z, min z) for the given point cloud
+    inline std::array<size_t, 6> getExtremeValues()
+    {
+        std::array<size_t, 6> outIndices{0, 0, 0, 0, 0, 0};
+        T extremeVals[6] = {m_vertexData[0].x,
+                            m_vertexData[0].x,
+                            m_vertexData[0].y,
+                            m_vertexData[0].y,
+                            m_vertexData[0].z,
+                            m_vertexData[0].z};
+        const size_t vCount = m_vertexData.size();
+        for (size_t i = 1; i < vCount; i++)
+        {
+            const Vector3<T> &pos = m_vertexData[i];
+            if (pos.x > extremeVals[0])
+            {
+                extremeVals[0] = pos.x;
+                outIndices[0] = i;
+            }
+            else if (pos.x < extremeVals[1])
+            {
+                extremeVals[1] = pos.x;
+                outIndices[1] = i;
+            }
+            if (pos.y > extremeVals[2])
+            {
+                extremeVals[2] = pos.y;
+                outIndices[2] = i;
+            }
+            else if (pos.y < extremeVals[3])
+            {
+                extremeVals[3] = pos.y;
+                outIndices[3] = i;
+            }
+            if (pos.z > extremeVals[4])
+            {
+                extremeVals[4] = pos.z;
+                outIndices[4] = i;
+            }
+            else if (pos.z < extremeVals[5])
+            {
+                extremeVals[5] = pos.z;
+                outIndices[5] = i;
+            }
+        }
+        return outIndices;
+    }
+
+    // Compute scale of the vertex data.
+    inline T getScale(const std::array<size_t, 6> &extremeValues)
+    {
+        {
+            T s = 0;
+            for (size_t i = 0; i < 6; i++)
+            {
+                const T *v = (const T *)(&m_vertexData[extremeValues[i]]);
+                v += i / 2;
+                auto a = std::abs(*v);
+                if (a > s)
+                {
+                    s = a;
+                }
+            }
+            return s;
+        }
+    }
+
+    // Each face contains a unique pointer to a vector of indices.
+    // However, many - often most - faces do not have any points
+    // on the positive side of them especially at the the end of
+    // the iteration. When a face is removed from the mesh, its
+    // associated point vector, if such exists, is moved to the
+    // index vector pool, and when we need to add new faces with
+    // points on the positive side to the mesh, we reuse these
+    // vectors. This reduces the amount of std::vectors we have
+    // to deal with, and impact on performance is remarkable.
+    Pool<std::vector<size_t>> m_indexVectorPool;
+    inline std::unique_ptr<std::vector<size_t>> getIndexVectorFromPool();
+    inline void reclaimToIndexVectorPool(std::unique_ptr<std::vector<size_t>> &ptr);
+
+    // Associates a point with a face if the point resides on the positive
+    // side of the plane. Returns true if the points was on the positive side.
+    inline bool addPointToFace(typename MeshBuilder<T>::Face &f, size_t pointIndex);
+
+    // This will update m_mesh from which we create the ConvexHull
+    // object that getConvexHull function returns
+    inline void createConvexHalfEdgeMesh()
+    {
+        m_visibleFaces.clear();
+        m_horizonEdges.clear();
+        m_possiblyVisibleFaces.clear();
+
+        // Compute base tetrahedron
+        setupInitialTetrahedron();
+        assert(m_mesh.m_faces.size() == 4);
+
+        // Init face stack with those faces that have points assigned to them
+        m_faceList.clear();
+        for (size_t i = 0; i < 4; i++)
+        {
+            auto &f = m_mesh.m_faces[i];
+            if (f.m_pointsOnPositiveSide && f.m_pointsOnPositiveSide->size() > 0)
+            {
+                m_faceList.push_back(i);
+                f.m_inFaceStack = 1;
+            }
+        }
+
+        // Process faces until the face list is empty.
+        size_t iter = 0;
+        while (!m_faceList.empty())
+        {
+            iter++;
+            if (iter == std::numeric_limits<size_t>::max())
+            {
+                // Visible face traversal marks visited faces with iteration counter
+                //(to mark that the face has been visited on this iteration) and the
+                // max value represents unvisited faces. At this point we have to reset
+                // iteration counter. This shouldn't be an issue on 64 bit machines.
+                iter = 0;
+            }
+
+            const size_t topFaceIndex = m_faceList.front();
+            m_faceList.pop_front();
+
+            auto &tf = m_mesh.m_faces[topFaceIndex];
+            tf.m_inFaceStack = 0;
+
+            assert(!tf.m_pointsOnPositiveSide || tf.m_pointsOnPositiveSide->size() > 0);
+            if (!tf.m_pointsOnPositiveSide || tf.isDisabled())
+            {
+                continue;
+            }
+
+            // Pick the most distant point to this triangle plane
+            // as the point to which we extrude
+            const vec3 &activePoint = m_vertexData[tf.m_mostDistantPoint];
+            const size_t activePointIndex = tf.m_mostDistantPoint;
+
+            // Find out the faces that have our active point on their positive side
+            // (these are the "visible faces"). The face on top of the stack of course
+            // is one of them. At the same time, we create a list of horizon edges.
+            m_horizonEdges.clear();
+            m_possiblyVisibleFaces.clear();
+            m_visibleFaces.clear();
+            m_possiblyVisibleFaces.emplace_back(topFaceIndex, std::numeric_limits<size_t>::max());
+            while (m_possiblyVisibleFaces.size())
+            {
+                const auto faceData = m_possiblyVisibleFaces.back();
+                m_possiblyVisibleFaces.pop_back();
+                auto &pvf = m_mesh.m_faces[faceData.m_faceIndex];
+                assert(!pvf.isDisabled());
+
+                if (pvf.m_visibilityCheckedOnIteration == iter)
+                {
+                    if (pvf.m_isVisibleFaceOnCurrentIteration)
+                    {
+                        continue;
+                    }
+                }
+                else
+                {
+                    const Plane<T> &P = pvf.m_P;
+                    pvf.m_visibilityCheckedOnIteration = iter;
+                    const T d = P.m_N.dotProduct(activePoint) + P.m_D;
+                    if (d > 0)
+                    {
+                        pvf.m_isVisibleFaceOnCurrentIteration = 1;
+                        pvf.m_horizonEdgesOnCurrentIteration = 0;
+                        m_visibleFaces.push_back(faceData.m_faceIndex);
+                        for (auto heIndex : m_mesh.getHalfEdgeIndicesOfFace(pvf))
+                        {
+                            if (m_mesh.m_halfEdges[heIndex].m_opp != faceData.m_enteredFromHalfEdge)
+                            {
+                                m_possiblyVisibleFaces.emplace_back(m_mesh.m_halfEdges[m_mesh.m_halfEdges[heIndex].m_opp].m_face, heIndex);
+                            }
+                        }
+                        continue;
+                    }
+                    assert(faceData.m_faceIndex != topFaceIndex);
+                }
+
+                // The face is not visible. Therefore, the halfedge
+                // we came from is part of the horizon edge.
+                pvf.m_isVisibleFaceOnCurrentIteration = 0;
+                m_horizonEdges.push_back(faceData.m_enteredFromHalfEdge);
+                // Store which half edge is the horizon edge. The other half edges of
+                // the face will not be part of the final mesh so their data slots can by recycled.
+                const auto halfEdges = m_mesh.getHalfEdgeIndicesOfFace(m_mesh.m_faces[m_mesh.m_halfEdges[faceData.m_enteredFromHalfEdge].m_face]);
+                const std::int8_t ind = (halfEdges[0] == faceData.m_enteredFromHalfEdge) ? 0 : (halfEdges[1] == faceData.m_enteredFromHalfEdge ? 1 : 2);
+                m_mesh.m_faces[m_mesh.m_halfEdges[faceData.m_enteredFromHalfEdge].m_face].m_horizonEdgesOnCurrentIteration |= (1 << ind);
+            }
+            const size_t horizonEdgeCount = m_horizonEdges.size();
+
+            // Order horizon edges so that they form a loop. This may fail due to numerical
+            // instability in which case we give up trying to solve horizon edge for this
+            // point and accept a minor degeneration in the convex hull.
+            if (!reorderHorizonEdges(m_horizonEdges))
+            {
+                m_diagnostics.m_failedHorizonEdges++;
+                std::cerr << "Failed to solve horizon edge." << std::endl;
+                auto it = std::find(tf.m_pointsOnPositiveSide->begin(), tf.m_pointsOnPositiveSide->end(), activePointIndex);
+                tf.m_pointsOnPositiveSide->erase(it);
+                if (tf.m_pointsOnPositiveSide->size() == 0)
+                {
+                    reclaimToIndexVectorPool(tf.m_pointsOnPositiveSide);
+                }
+                continue;
+            }
+
+            // Except for the horizon edges, all half edges of the visible faces
+            // can be marked as disabled. Their data slots will be reused.
+            // The faces will be disabled as well, but we need to remember the
+            // points that were on the positive side of them - therefore we
+            // save pointers to them.
+            m_newFaceIndices.clear();
+            m_newHalfEdgeIndices.clear();
+            m_disabledFacePointVectors.clear();
+            size_t disableCounter = 0;
+            for (auto faceIndex : m_visibleFaces)
+            {
+                auto &disabledFace = m_mesh.m_faces[faceIndex];
+                auto halfEdges = m_mesh.getHalfEdgeIndicesOfFace(disabledFace);
+                for (size_t j = 0; j < 3; j++)
+                {
+                    if ((disabledFace.m_horizonEdgesOnCurrentIteration & (1 << j)) == 0)
+                    {
+                        if (disableCounter < horizonEdgeCount * 2)
+                        {
+                            // Use on this iteration
+                            m_newHalfEdgeIndices.push_back(halfEdges[j]);
+                            disableCounter++;
+                        }
+                        else
+                        {
+                            // Mark for reusal on later iteration step
+                            m_mesh.disableHalfEdge(halfEdges[j]);
+                        }
+                    }
+                }
+                // Disable the face, but retain pointer to the points that were
+                // on the positive side of it. We need to assign those points to
+                // the new faces we create shortly.
+                auto t = std::move(m_mesh.disableFace(faceIndex));
+                if (t)
+                {
+                    // Because we should not assign point vectors to faces unless needed...
+                    assert(t->size());
+                    m_disabledFacePointVectors.push_back(std::move(t));
+                }
+            }
+            if (disableCounter < horizonEdgeCount * 2)
+            {
+                const size_t newHalfEdgesNeeded = horizonEdgeCount * 2 - disableCounter;
+                for (size_t i = 0; i < newHalfEdgesNeeded; i++)
+                {
+                    m_newHalfEdgeIndices.push_back(m_mesh.addHalfEdge());
+                }
+            }
+
+            // Create new faces using the edgeloop
+            for (size_t i = 0; i < horizonEdgeCount; i++)
+            {
+                const size_t AB = m_horizonEdges[i];
+
+                auto horizonEdgeVertexIndices = m_mesh.getVertexIndicesOfHalfEdge(m_mesh.m_halfEdges[AB]);
+                size_t A, B, C;
+                A = horizonEdgeVertexIndices[0];
+                B = horizonEdgeVertexIndices[1];
+                C = activePointIndex;
+
+                const size_t newFaceIndex = m_mesh.addFace();
+                m_newFaceIndices.push_back(newFaceIndex);
+
+                const size_t CA = m_newHalfEdgeIndices[2 * i + 0];
+                const size_t BC = m_newHalfEdgeIndices[2 * i + 1];
+
+                m_mesh.m_halfEdges[AB].m_next = BC;
+                m_mesh.m_halfEdges[BC].m_next = CA;
+                m_mesh.m_halfEdges[CA].m_next = AB;
+
+                m_mesh.m_halfEdges[BC].m_face = newFaceIndex;
+                m_mesh.m_halfEdges[CA].m_face = newFaceIndex;
+                m_mesh.m_halfEdges[AB].m_face = newFaceIndex;
+
+                m_mesh.m_halfEdges[CA].m_endVertex = A;
+                m_mesh.m_halfEdges[BC].m_endVertex = C;
+
+                auto &newFace = m_mesh.m_faces[newFaceIndex];
+
+                const Vector3<T> planeNormal = mathutils::getTriangleNormal(m_vertexData[A], m_vertexData[B], activePoint);
+                newFace.m_P = Plane<T>(planeNormal, activePoint);
+                newFace.m_he = AB;
+
+                m_mesh.m_halfEdges[CA].m_opp = m_newHalfEdgeIndices[i > 0 ? i * 2 - 1 : 2 * horizonEdgeCount - 1];
+                m_mesh.m_halfEdges[BC].m_opp = m_newHalfEdgeIndices[((i + 1) * 2) % (horizonEdgeCount * 2)];
+            }
+
+            // Assign points that were on the positive side
+            // of the disabled faces to the new faces.
+            for (auto &disabledPoints : m_disabledFacePointVectors)
+            {
+                assert(disabledPoints);
+                for (const auto &point : *(disabledPoints))
+                {
+                    if (point == activePointIndex)
+                    {
+                        continue;
+                    }
+                    for (size_t j = 0; j < horizonEdgeCount; j++)
+                    {
+                        if (addPointToFace(m_mesh.m_faces[m_newFaceIndices[j]], point))
+                        {
+                            break;
+                        }
+                    }
+                }
+                // The points are no longer needed: we can move them to the vector pool for reuse.
+                reclaimToIndexVectorPool(disabledPoints);
+            }
+
+            // Increase face stack size if needed
+            for (const auto newFaceIndex : m_newFaceIndices)
+            {
+                auto &newFace = m_mesh.m_faces[newFaceIndex];
+                if (newFace.m_pointsOnPositiveSide)
+                {
+                    assert(newFace.m_pointsOnPositiveSide->size() > 0);
+                    if (!newFace.m_inFaceStack)
+                    {
+                        m_faceList.push_back(newFaceIndex);
+                        newFace.m_inFaceStack = 1;
+                    }
+                }
+            }
+        }
+
+        // Cleanup
+        m_indexVectorPool.clear();
+    }
+
+    // Constructs the convex hull into a MeshBuilder object
+    // which can be converted to a ConvexHull or Mesh object
+    inline void buildMesh(const VertexDataSource<T> &pointCloud, bool CCW, bool useOriginalIndices, T eps)
+    {
+        // CCW is unused for now
+        (void)CCW;
+        // useOriginalIndices is unused for now
+        (void)useOriginalIndices;
+
+        if (pointCloud.size() == 0)
+        {
+            m_mesh = MeshBuilder<T>();
+            return;
+        }
+        m_vertexData = pointCloud;
+
+        // Very first: find extreme values and use them
+        // to compute the scale of the point cloud.
+        m_extremeValues = getExtremeValues();
+        m_scale = getScale(m_extremeValues);
+
+        // Epsilon we use depends on the scale
+        m_epsilon = eps * m_scale;
+        m_epsilonSquared = m_epsilon * m_epsilon;
+
+        // Reset diagnostics
+        m_diagnostics = DiagnosticsData();
+
+        // The planar case happens when all the points
+        // appear to lie on a two dimensional subspace of R^3.
+        m_planar = false;
+        createConvexHalfEdgeMesh();
+        if (m_planar)
+        {
+            const size_t extraPointIndex = m_planarPointCloudTemp.size() - 1;
+            for (auto &he : m_mesh.m_halfEdges)
+            {
+                if (he.m_endVertex == extraPointIndex)
+                {
+                    he.m_endVertex = 0;
+                }
+            }
+            m_vertexData = pointCloud;
+            m_planarPointCloudTemp.clear();
+        }
+    }
+
+    // The public getConvexHull functions will
+    // setup a VertexDataSource object and call this
+    inline ConvexHull<T> getConvexHull(const VertexDataSource<T> &pointCloud, bool CCW, bool useOriginalIndices, T eps)
+    {
+        buildMesh(pointCloud, CCW, useOriginalIndices, eps);
+        return ConvexHull<T>(m_mesh, m_vertexData, CCW, useOriginalIndices);
+    }
+
+public:
+    // Computes convex hull for a given point cloud.
+    // Params:
+    //   pointCloud: a vector of of 3D points
+    //   CCW: whether the output mesh triangles should have CCW orientation
+    //   useOriginalIndices: should the output mesh use same vertex indices
+    //                       as the original point cloud. If this is false,
+    //                       then we generate a new vertex buffer which contains
+    //                       only the vertices that are part of the convex hull.
+    //   eps: minimum distance to a plane to consider a point being on
+    //        positive of it (for a point cloud with scale 1)
+    inline ConvexHull<T> getConvexHull(const std::vector<Vector3<T>> &pointCloud,
+                                       bool CCW,
+                                       bool useOriginalIndices,
+                                       T eps = defaultEps<T>())
+    {
+        {
+            VertexDataSource<T> vertexDataSource(pointCloud);
+            return getConvexHull(vertexDataSource, CCW, useOriginalIndices, eps);
+        }
+    }
+
+    // Computes convex hull for a given point cloud.
+    // Params:
+    //   vertexData: pointer to the first 3D point of the point cloud
+    //   vertexCount: number of vertices in the point cloud
+    //   CCW: whether the output mesh triangles should have CCW orientation
+    //   useOriginalIndices: should the output mesh use same vertex indices
+    //                       as the original point cloud. If this is false,
+    //                       then we generate a new vertex buffer which contains
+    //                       only the vertices that are part of the convex hull.
+    //   eps: minimum distance to a plane to consider a point being on positive
+    //        side of it (for a point cloud with scale 1)
+    inline ConvexHull<T> getConvexHull(const Vector3<T> *vertexData,
+                                       size_t vertexCount,
+                                       bool CCW,
+                                       bool useOriginalIndices,
+                                       T eps = defaultEps<T>())
+    {
+        {
+            VertexDataSource<T> vertexDataSource(vertexData, vertexCount);
+            return getConvexHull(vertexDataSource, CCW, useOriginalIndices, eps);
+        }
+    }
+
+    // Computes convex hull for a given point cloud. This function
+    // assumes that the vertex data resides in memory
+    // in the following format: x_0,y_0,z_0,x_1,y_1,z_1,...
+    // Params:
+    //   vertexData: pointer to the X component of the first point of the point cloud.
+    //   vertexCount: number of vertices in the point cloud
+    //   CCW: whether the output mesh triangles should have CCW orientation
+    //   useOriginalIndices: should the output mesh use same vertex indices as the
+    //                       original point cloud. If this is false, then we generate
+    //                       a new vertex buffer which contains only the vertices that
+    //                       are part of the convex hull.
+    //   eps: minimum distance to a plane to consider a point being on positive side
+    //        of it (for a point cloud with scale 1)
+    inline ConvexHull<T> getConvexHull(const T *vertexData,
+                                       size_t vertexCount,
+                                       bool CCW,
+                                       bool useOriginalIndices,
+                                       T eps = defaultEps<T>())
+    {
+        VertexDataSource<T> vertexDataSource((const vec3 *)vertexData, vertexCount);
+        return getConvexHull(vertexDataSource, CCW, useOriginalIndices, eps);
+    }
+
+    // Computes convex hull for a given point cloud. This function assumes
+    // that the vertex data resides in memory
+    // in the following format: x_0,y_0,z_0,x_1,y_1,z_1,...
+    // Params:
+    //   vertexData: pointer to the X component of the first point of the point cloud.
+    //   vertexCount: number of vertices in the point cloud
+    //   CCW: whether the output mesh triangles should have CCW orientation
+    //   eps: minimum distance to a plane to consider a point being on positive side
+    //        of it (for a point cloud with scale 1)
+    // Returns:
+    //   Convex hull of the point cloud as a mesh object with half edge structure.
+    inline HalfEdgeMesh<T, size_t> getConvexHullAsMesh(const T *vertexData,
+                                                       size_t vertexCount,
+                                                       bool CCW,
+                                                       T eps = defaultEps<T>())
+    {
+        VertexDataSource<T> vertexDataSource((const vec3 *)vertexData, vertexCount);
+        buildMesh(vertexDataSource, CCW, false, eps);
+        return HalfEdgeMesh<T, size_t>(m_mesh, m_vertexData);
+    }
+
+    // Get diagnostics about last generated convex hull
+    inline const DiagnosticsData &getDiagnostics()
+    {
+        return m_diagnostics;
+    }
+};
+
+/*
+	 * Inline function definitions
+	 */
+
+template <typename T>
+inline std::unique_ptr<std::vector<size_t>> QuickHull<T>::getIndexVectorFromPool()
+{
+    auto r = std::move(m_indexVectorPool.get());
+    r->clear();
+    return r;
+}
+
+template <typename T>
+inline void QuickHull<T>::reclaimToIndexVectorPool(std::unique_ptr<std::vector<size_t>> &ptr)
+{
+    const size_t oldSize = ptr->size();
+    if ((oldSize + 1) * 128 < ptr->capacity())
+    {
+        // Reduce memory usage! Huge vectors are needed at the beginning of iteration
+        // when faces have many points on their positive side. Later on, smaller vectors
+        // will suffice.
+        ptr.reset(nullptr);
+        return;
+    }
+    m_indexVectorPool.reclaim(ptr);
+}
+
+template <typename T>
+inline bool QuickHull<T>::addPointToFace(typename MeshBuilder<T>::Face &f, size_t pointIndex)
+{
+    const T D = mathutils::getSignedDistanceToPlane(m_vertexData[pointIndex], f.m_P);
+    if (D > 0 && D * D > m_epsilonSquared * f.m_P.m_sqrNLength)
+    {
+        if (!f.m_pointsOnPositiveSide)
+        {
+            f.m_pointsOnPositiveSide = std::move(getIndexVectorFromPool());
+        }
+        f.m_pointsOnPositiveSide->push_back(pointIndex);
+        if (D > f.m_mostDistantPointDist)
+        {
+            f.m_mostDistantPointDist = D;
+            f.m_mostDistantPoint = pointIndex;
+        }
+        return true;
+    }
+    return false;
+}
+
+} // namespace quickhull
+
+#endif
\ No newline at end of file
diff --git a/mapping/occ_grid/include/occ_grid/raycast.h b/mapping/occ_grid/include/occ_grid/raycast.h
new file mode 100755
index 0000000..199598c
--- /dev/null
+++ b/mapping/occ_grid/include/occ_grid/raycast.h
@@ -0,0 +1,65 @@
+#ifndef RAYCAST_H_
+#define RAYCAST_H_
+
+#include <Eigen/Eigen>
+#include <vector>
+
+double signum(double x);
+
+double mod(double value, double modulus);
+
+double intbound(double s, double ds);
+
+void Raycast(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const Eigen::Vector3d& min,
+             const Eigen::Vector3d& max, int& output_points_cnt, Eigen::Vector3d* output);
+
+void Raycast(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const Eigen::Vector3d& min,
+             const Eigen::Vector3d& max, std::vector<Eigen::Vector3d>* output);
+
+class RayCaster
+{
+private:
+  /* data */
+  Eigen::Vector3d start_;
+  Eigen::Vector3d end_;
+  Eigen::Vector3d direction_;
+  Eigen::Vector3d min_;
+  Eigen::Vector3d max_;
+  int x_;
+  int y_;
+  int z_;
+  int endX_;
+  int endY_;
+  int endZ_;
+  double maxDist_;
+  double dx_;
+  double dy_;
+  double dz_;
+  int stepX_;
+  int stepY_;
+  int stepZ_;
+  double tMaxX_;
+  double tMaxY_;
+  double tMaxZ_;
+  double tDeltaX_;
+  double tDeltaY_;
+  double tDeltaZ_;
+  double dist_;
+
+  int step_num_;
+
+public:
+  RayCaster(/* args */)
+  {
+  }
+  ~RayCaster()
+  {
+  }
+
+  bool setInput(const Eigen::Vector3d& start, const Eigen::Vector3d& end/* , const Eigen::Vector3d& min,
+                const Eigen::Vector3d& max */);
+
+  bool step(Eigen::Vector3d& ray_pt);
+};
+
+#endif  // RAYCAST_H_
\ No newline at end of file
diff --git a/mapping/occ_grid/include/occ_grid/sdlp.hpp b/mapping/occ_grid/include/occ_grid/sdlp.hpp
new file mode 100755
index 0000000..c918fff
--- /dev/null
+++ b/mapping/occ_grid/include/occ_grid/sdlp.hpp
@@ -0,0 +1,667 @@
+/* 
+ * Copyright (c) 1990 Michael E. Hohmeyer, 
+ *       hohmeyer@icemcfd.com
+ * Permission is granted to modify and re-distribute this code in any manner
+ * as long as this notice is preserved.  All standard disclaimers apply.
+ * 
+ * R. Seidel's algorithm for solving LPs (linear programs.)
+ */
+
+/* 
+ * Copyright (c) 2021 Zhepei Wang,
+ *       wangzhepei@live.com
+ * 1. Bug fix in "move_to_front" function that "prev[m]" is illegally accessed
+ *    while "prev" originally has only m ints. It is fixed by allocating a 
+ *    "prev" with m + 1 ints.  
+ * 2. Add Eigen interface.
+ * Permission is granted to modify and re-distribute this code in any manner
+ * as long as this notice is preserved.  All standard disclaimers apply.
+ * 
+ * Reference: Seidel, R. (1991), "Small-dimensional linear programming and convex hulls made easy", 
+ *            Discrete & Computational Geometry 6 (1): 423–434, doi:10.1007/BF02574699
+ */
+
+#ifndef SDLP_HPP
+#define SDLP_HPP
+
+#include <Eigen/Eigen>
+#include <cmath>
+#include <random>
+
+namespace sdlp {
+constexpr double prog_epsilon = 2.0e-16;
+
+enum PROG_STATE {
+  /* minimum attained */
+  MINIMUM = 0,
+  /* no feasible region */
+  INFEASIBLE,
+  /* unbounded solution */
+  UNBOUNDED,
+  /* only a vertex in the solution set */
+  AMBIGUOUS,
+};
+
+inline double dot2(const double a[2], const double b[2]) {
+  return a[0] * b[0] + a[1] * b[1];
+}
+
+inline double cross2(const double a[2], const double b[2]) {
+  return a[0] * b[1] - a[1] * b[0];
+}
+
+inline bool unit2(const double a[2], double b[2], double eps) {
+  double size;
+  size = sqrt(a[0] * a[0] + a[1] * a[1]);
+  if (size < 2 * eps) {
+    return true;
+  }
+  b[0] = a[0] / size;
+  b[1] = a[1] / size;
+  return false;
+}
+
+/* unitize a d+1 dimensional point */
+inline bool lp_d_unit(int d, const double *a, double *b) {
+  int i;
+  double size;
+
+  size = 0.0;
+  for (i = 0; i <= d; i++) {
+    size += a[i] * a[i];
+  }
+  if (size < (d + 1) * prog_epsilon * prog_epsilon) {
+    return true;
+  }
+  size = 1.0 / sqrt(size);
+  for (i = 0; i <= d; i++) {
+    b[i] = a[i] * size;
+  }
+  return false;
+}
+
+/* optimize the objective function when there are no contraints */
+inline int lp_no_constraints(int d, const double *n_vec, const double *d_vec, double *opt) {
+  int i;
+  double n_dot_d, d_dot_d;
+
+  n_dot_d = 0.0;
+  d_dot_d = 0.0;
+  for (i = 0; i <= d; i++) {
+    n_dot_d += n_vec[i] * d_vec[i];
+    d_dot_d += d_vec[i] * d_vec[i];
+  }
+  if (d_dot_d < prog_epsilon * prog_epsilon) {
+    d_dot_d = 1.0;
+    n_dot_d = 0.0;
+  }
+  for (i = 0; i <= d; i++) {
+    opt[i] = -n_vec[i] + d_vec[i] * n_dot_d / d_dot_d;
+  }
+  /* normalize the optimal point */
+  if (lp_d_unit(d, opt, opt)) {
+    opt[d] = 1.0;
+    return AMBIGUOUS;
+  } else {
+    return MINIMUM;
+  }
+}
+
+/* returns the index of the plane that is in i's place */
+inline int move_to_front(int i, int *next, int *prev) {
+  int previ;
+  if (i == 0 || i == next[0]) {
+    return i;
+  }
+  previ = prev[i];
+  /* remove i from it's current position */
+  next[prev[i]] = next[i];
+  prev[next[i]] = prev[i];
+  /* put i at the front */
+  next[i] = next[0];
+  prev[i] = 0;
+  prev[next[i]] = i;
+  next[0] = i;
+  return previ;
+}
+
+inline void lp_min_lin_rat(int degen,
+                           const double cw_vec[2],
+                           const double ccw_vec[2],
+                           const double n_vec[2],
+                           const double d_vec[2],
+                           double opt[2]) {
+  double d_cw, d_ccw, n_cw, n_ccw;
+
+  /* linear rational function case */
+  d_cw = dot2(cw_vec, d_vec);
+  d_ccw = dot2(ccw_vec, d_vec);
+  n_cw = dot2(cw_vec, n_vec);
+  n_ccw = dot2(ccw_vec, n_vec);
+  if (degen) {
+    /* if degenerate simply compare values */
+    if (n_cw / d_cw < n_ccw / d_ccw) {
+      opt[0] = cw_vec[0];
+      opt[1] = cw_vec[1];
+    } else {
+      opt[0] = ccw_vec[0];
+      opt[1] = ccw_vec[1];
+    }
+    /* check that the clock-wise and counter clockwise bounds are not near a poles */
+  } else if (fabs(d_cw) > 2.0 * prog_epsilon &&
+             fabs(d_ccw) > 2.0 * prog_epsilon) {
+    /* the valid region does not contain a poles */
+    if (d_cw * d_ccw > 0.0) {
+      /* find which end has the minimum value */
+      if (n_cw / d_cw < n_ccw / d_ccw) {
+        opt[0] = cw_vec[0];
+        opt[1] = cw_vec[1];
+      } else {
+        opt[0] = ccw_vec[0];
+        opt[1] = ccw_vec[1];
+      }
+    } else {
+      /* the valid region does contain a poles */
+      if (d_cw > 0.0) {
+        opt[0] = -d_vec[1];
+        opt[1] = d_vec[0];
+      } else {
+        opt[0] = d_vec[1];
+        opt[1] = -d_vec[0];
+      }
+    }
+  } else if (fabs(d_cw) > 2.0 * prog_epsilon) {
+    /* the counter clockwise bound is near a pole */
+    if (n_ccw * d_cw > 0.0) {
+      /* counter clockwise bound is a positive pole */
+      opt[0] = cw_vec[0];
+      opt[1] = cw_vec[1];
+    } else {
+      /* counter clockwise bound is a negative pole */
+      opt[0] = ccw_vec[0];
+      opt[1] = ccw_vec[1];
+    }
+  } else if (fabs(d_ccw) > 2.0 * prog_epsilon) {
+    /* the clockwise bound is near a pole */
+    if (n_cw * d_ccw > 2 * prog_epsilon) {
+      /* clockwise bound is at a positive pole */
+      opt[0] = ccw_vec[0];
+      opt[1] = ccw_vec[1];
+    } else {
+      /* clockwise bound is at a negative pole */
+      opt[0] = cw_vec[0];
+      opt[1] = cw_vec[1];
+    }
+  } else {
+    /* both bounds are near poles */
+    if (cross2(d_vec, n_vec) > 0.0) {
+      opt[0] = cw_vec[0];
+      opt[1] = cw_vec[1];
+    } else {
+      opt[0] = ccw_vec[0];
+      opt[1] = ccw_vec[1];
+    }
+  }
+}
+
+inline int wedge(const double (*halves)[2],
+                 int m,
+                 int *next,
+                 int *prev,
+                 double cw_vec[2],
+                 double ccw_vec[2],
+                 int *degen) {
+  int i;
+  double d_cw, d_ccw;
+  int offensive;
+
+  *degen = 0;
+  for (i = 0; i != m; i = next[i]) {
+    if (!unit2(halves[i], ccw_vec, prog_epsilon)) {
+      /* clock-wise */
+      cw_vec[0] = ccw_vec[1];
+      cw_vec[1] = -ccw_vec[0];
+      /* counter-clockwise */
+      ccw_vec[0] = -cw_vec[0];
+      ccw_vec[1] = -cw_vec[1];
+      break;
+    }
+  }
+  if (i == m) {
+    return UNBOUNDED;
+  }
+  i = 0;
+  while (i != m) {
+    offensive = 0;
+    d_cw = dot2(cw_vec, halves[i]);
+    d_ccw = dot2(ccw_vec, halves[i]);
+    if (d_ccw >= 2 * prog_epsilon) {
+      if (d_cw <= -2 * prog_epsilon) {
+        cw_vec[0] = halves[i][1];
+        cw_vec[1] = -halves[i][0];
+        unit2(cw_vec, cw_vec, prog_epsilon);
+        offensive = 1;
+      }
+    } else if (d_cw >= 2 * prog_epsilon) {
+      if (d_ccw <= -2 * prog_epsilon) {
+        ccw_vec[0] = -halves[i][1];
+        ccw_vec[1] = halves[i][0];
+        unit2(ccw_vec, ccw_vec, prog_epsilon);
+        offensive = 1;
+      }
+    } else if (d_ccw <= -2 * prog_epsilon && d_cw <= -2 * prog_epsilon) {
+      return INFEASIBLE;
+    } else if ((d_cw <= -2 * prog_epsilon) ||
+               (d_ccw <= -2 * prog_epsilon) ||
+               (cross2(cw_vec, halves[i]) < 0.0)) {
+      /* degenerate */
+      if (d_cw <= -2 * prog_epsilon) {
+        unit2(ccw_vec, cw_vec, prog_epsilon);
+      } else if (d_ccw <= -2 * prog_epsilon) {
+        unit2(cw_vec, ccw_vec, prog_epsilon);
+      }
+      *degen = 1;
+      offensive = 1;
+    }
+    /* place this offensive plane in second place */
+    if (offensive) {
+      i = move_to_front(i, next, prev);
+    }
+    i = next[i];
+    if (*degen) {
+      break;
+    }
+  }
+  if (*degen) {
+    while (i != m) {
+      d_cw = dot2(cw_vec, halves[i]);
+      d_ccw = dot2(ccw_vec, halves[i]);
+      if (d_cw < -2 * prog_epsilon) {
+        if (d_ccw < -2 * prog_epsilon) {
+          return INFEASIBLE;
+        } else {
+          cw_vec[0] = ccw_vec[0];
+          cw_vec[1] = ccw_vec[1];
+        }
+      } else if (d_ccw < -2 * prog_epsilon) {
+        ccw_vec[0] = cw_vec[0];
+        ccw_vec[1] = cw_vec[1];
+      }
+      i = next[i];
+    }
+  }
+  return MINIMUM;
+}
+
+/*
+* return the minimum on the projective line
+*/
+inline int lp_base_case(const double (*halves)[2], /* halves --- half lines */
+                        int m,                     /* m      --- terminal marker */
+                        const double n_vec[2],     /* n_vec  --- numerator funciton */
+                        const double d_vec[2],     /* d_vec  --- denominator function */
+                        double opt[2],             /* opt    --- optimum  */
+                        int *next,                 /* next, prev  --- double linked list of indices */
+                        int *prev) {
+  double cw_vec[2], ccw_vec[2];
+  int degen;
+  int status;
+  double ab;
+
+  /* find the feasible region of the line */
+  status = wedge(halves, m, next, prev, cw_vec, ccw_vec, &degen);
+
+  if (status == INFEASIBLE) {
+    return status;
+  }
+  /* no non-trivial constraints one the plane: return the unconstrained optimum */
+  if (status == UNBOUNDED) {
+    return lp_no_constraints(1, n_vec, d_vec, opt);
+  }
+  ab = fabs(cross2(n_vec, d_vec));
+  if (ab < 2 * prog_epsilon * prog_epsilon) {
+    if (dot2(n_vec, n_vec) < 2 * prog_epsilon * prog_epsilon ||
+        dot2(d_vec, d_vec) > 2 * prog_epsilon * prog_epsilon) {
+      /* numerator is zero or numerator and denominator are linearly dependent */
+      opt[0] = cw_vec[0];
+      opt[1] = cw_vec[1];
+      status = AMBIGUOUS;
+    } else {
+      /* numerator is non-zero and denominator is zero minimize linear functional on circle */
+      if (!degen && cross2(cw_vec, n_vec) <= 0.0 &&
+          cross2(n_vec, ccw_vec) <= 0.0) {
+        /* optimum is in interior of feasible region */
+        opt[0] = -n_vec[0];
+        opt[1] = -n_vec[1];
+      } else if (dot2(n_vec, cw_vec) > dot2(n_vec, ccw_vec)) {
+        /* optimum is at counter-clockwise boundary */
+        opt[0] = ccw_vec[0];
+        opt[1] = ccw_vec[1];
+      } else {
+        /* optimum is at clockwise boundary */
+        opt[0] = cw_vec[0];
+        opt[1] = cw_vec[1];
+      }
+      status = MINIMUM;
+    }
+  } else {
+    /* niether numerator nor denominator is zero */
+    lp_min_lin_rat(degen, cw_vec, ccw_vec, n_vec, d_vec, opt);
+    status = MINIMUM;
+  }
+  return status;
+}
+
+/* find the largest coefficient in a plane */
+inline void findimax(const double *pln, int idim, int *imax) {
+  double rmax;
+  int i;
+
+  *imax = 0;
+  rmax = fabs(pln[0]);
+  for (i = 1; i <= idim; i++) {
+    double ab;
+    ab = fabs(pln[i]);
+    if (ab > rmax) {
+      *imax = i;
+      rmax = ab;
+    }
+  }
+}
+
+inline void vector_up(const double *equation, int ivar, int idim,
+                      const double *low_vector, double *vector) {
+  int i;
+
+  vector[ivar] = 0.0;
+  for (i = 0; i < ivar; i++) {
+    vector[i] = low_vector[i];
+    vector[ivar] -= equation[i] * low_vector[i];
+  }
+  for (i = ivar + 1; i <= idim; i++) {
+    vector[i] = low_vector[i - 1];
+    vector[ivar] -= equation[i] * low_vector[i - 1];
+  }
+  vector[ivar] /= equation[ivar];
+}
+
+inline void vector_down(const double *elim_eqn, int ivar, int idim,
+                        const double *old_vec, double *new_vec) {
+  int i;
+  double fac, ve, ee;
+  ve = 0.0;
+  ee = 0.0;
+  for (i = 0; i <= idim; i++) {
+    ve += old_vec[i] * elim_eqn[i];
+    ee += elim_eqn[i] * elim_eqn[i];
+  }
+  fac = ve / ee;
+  for (i = 0; i < ivar; i++) {
+    new_vec[i] = old_vec[i] - elim_eqn[i] * fac;
+  }
+  for (i = ivar + 1; i <= idim; i++) {
+    new_vec[i - 1] = old_vec[i] - elim_eqn[i] * fac;
+  }
+}
+
+inline void plane_down(const double *elim_eqn, int ivar, int idim,
+                       const double *old_plane, double *new_plane) {
+  double crit;
+  int i;
+
+  crit = old_plane[ivar] / elim_eqn[ivar];
+  for (i = 0; i < ivar; i++) {
+    new_plane[i] = old_plane[i] - elim_eqn[i] * crit;
+  }
+  for (i = ivar + 1; i <= idim; i++) {
+    new_plane[i - 1] = old_plane[i] - elim_eqn[i] * crit;
+  }
+}
+
+inline int linfracprog(const double *halves, /* halves  --- half spaces */
+                       int istart,           /* istart  --- should be zero unless doing incremental algorithm */
+                       int m,                /* m       --- terminal marker */
+                       const double *n_vec,  /* n_vec   --- numerator vector */
+                       const double *d_vec,  /* d_vec   --- denominator vector */
+                       int d,                /* d       --- projective dimension */
+                       double *opt,          /* opt     --- optimum */
+                       double *work,         /* work    --- work space (see below) */
+                       int *next,            /* next    --- array of indices into halves */
+                       int *prev,            /* prev    --- array of indices into halves */
+                       int max_size)         /* max_size --- size of halves array */
+/*
+**
+** half-spaces are in the form
+** halves[i][0]*x[0] + halves[i][1]*x[1] + 
+** ... + halves[i][d-1]*x[d-1] + halves[i][d]*x[d] >= 0
+**
+** coefficients should be normalized
+** half-spaces should be in random order
+** the order of the half spaces is 0, next[0] next[next[0]] ...
+** and prev[next[i]] = i
+**
+** halves: (max_size)x(d+1)
+**
+** the optimum has been computed for the half spaces
+** 0 , next[0], next[next[0]] , ... , prev[istart]
+** the next plane that needs to be tested is istart
+**
+** m is the index of the first plane that is NOT on the list
+** i.e. m is the terminal marker for the linked list.
+**
+** the objective function is dot(x,nvec)/dot(x,dvec)
+** if you want the program to solve standard d dimensional linear programming
+** problems then n_vec = ( x0, x1, x2, ..., xd-1, 0)
+** and           d_vec = (  0,  0,  0, ...,    0, 1)
+** and halves[0] = (0, 0, ... , 1)
+**
+** work points to (max_size+3)*(d+2)*(d-1)/2 double space
+*/
+{
+  int status;
+  int i, j, imax;
+  double *new_opt, *new_n_vec, *new_d_vec, *new_halves, *new_work;
+  const double *plane_i;
+  double val;
+
+  if (d == 1 && m != 0) {
+    return lp_base_case((const double(*)[2])halves, m, n_vec,
+                        d_vec, opt, next, prev);
+  } else {
+    int d_vec_zero;
+    val = 0.0;
+    for (j = 0; j <= d; j++) {
+      val += d_vec[j] * d_vec[j];
+    }
+    d_vec_zero = (val < (d + 1) * prog_epsilon * prog_epsilon);
+
+    /* find the unconstrained minimum */
+    if (!istart) {
+      status = lp_no_constraints(d, n_vec, d_vec, opt);
+    } else {
+      status = MINIMUM;
+    }
+    if (m == 0) {
+      return status;
+    }
+
+    /* allocate memory for next level of recursion */
+    new_opt = work;
+    new_n_vec = new_opt + d;
+    new_d_vec = new_n_vec + d;
+    new_halves = new_d_vec + d;
+    new_work = new_halves + max_size * d;
+    for (i = istart; i != m; i = next[i]) {
+      /* if the optimum is not in half space i then project the problem onto that plane */
+      plane_i = halves + i * (d + 1);
+      /* determine if the optimum is on the correct side of plane_i */
+      val = 0.0;
+      for (j = 0; j <= d; j++) {
+        val += opt[j] * plane_i[j];
+      }
+      if (val < -(d + 1) * prog_epsilon) {
+        /* find the largest of the coefficients to eliminate */
+        findimax(plane_i, d, &imax);
+        /* eliminate that variable */
+        if (i != 0) {
+          double fac;
+          fac = 1.0 / plane_i[imax];
+          for (j = 0; j != i; j = next[j]) {
+            const double *old_plane;
+            double *new_plane;
+            int k;
+            double crit;
+
+            old_plane = halves + j * (d + 1);
+            new_plane = new_halves + j * d;
+            crit = old_plane[imax] * fac;
+            for (k = 0; k < imax; k++) {
+              new_plane[k] = old_plane[k] - plane_i[k] * crit;
+            }
+            for (k = imax + 1; k <= d; k++) {
+              new_plane[k - 1] = old_plane[k] - plane_i[k] * crit;
+            }
+          }
+        }
+        /* project the objective function to lower dimension */
+        if (d_vec_zero) {
+          vector_down(plane_i, imax, d, n_vec, new_n_vec);
+          for (j = 0; j < d; j++) {
+            new_d_vec[j] = 0.0;
+          }
+        } else {
+          plane_down(plane_i, imax, d, n_vec, new_n_vec);
+          plane_down(plane_i, imax, d, d_vec, new_d_vec);
+        }
+        /* solve sub problem */
+        status = linfracprog(new_halves, 0, i, new_n_vec,
+                             new_d_vec, d - 1, new_opt, new_work, next, prev, max_size);
+        /* back substitution */
+        if (status != INFEASIBLE) {
+          vector_up(plane_i, imax, d, new_opt, opt);
+
+          /* in line code for unit */
+          double size;
+          size = 0.0;
+          for (j = 0; j <= d; j++)
+            size += opt[j] * opt[j];
+          size = 1.0 / sqrt(size);
+          for (j = 0; j <= d; j++)
+            opt[j] *= size;
+        } else {
+          return status;
+        }
+        /* place this offensive plane in second place */
+        i = move_to_front(i, next, prev);
+      }
+    }
+    return status;
+  }
+}
+
+inline void rand_permutation(int n, int *p) {
+  typedef std::uniform_int_distribution<int> rand_int;
+  typedef rand_int::param_type rand_range;
+  static std::mt19937_64 gen;
+  static rand_int rdi(0, 1);
+  int i, j, t;
+  for (i = 0; i < n; i++) {
+    p[i] = i;
+  }
+  for (i = 0; i < n; i++) {
+    rdi.param(rand_range(0, n - i - 1));
+    j = rdi(gen) + i;
+    t = p[j];
+    p[j] = p[i];
+    p[i] = t;
+  }
+}
+
+inline double linprog(const Eigen::VectorXd &c,
+                      const Eigen::MatrixXd &A,
+                      const Eigen::VectorXd &b,
+                      Eigen::VectorXd &x)
+/*
+**  min cTx, s.t. Ax<=b
+**  dim(x) << dim(b)
+*/
+{
+  int d = c.size();
+  int m = b.size() + 1;
+  x = Eigen::VectorXd::Zero(d);
+  double minimum = INFINITY;
+
+  int *perm, *next, *prev;
+  double *halves, *n_vec, *d_vec, *work, *opt;
+  int i, status = sdlp::AMBIGUOUS;
+
+  perm = (int *)malloc((m - 1) * sizeof(int));
+  next = (int *)malloc(m * sizeof(int));
+  /* original allocated size is m, here changed by m + 1 for legal tail accessing */
+  prev = (int *)malloc((m + 1) * sizeof(int));
+  halves = (double *)malloc(m * (d + 1) * sizeof(double));
+  n_vec = (double *)malloc((d + 1) * sizeof(double));
+  d_vec = (double *)malloc((d + 1) * sizeof(double));
+  work = (double *)malloc((m + 3) * (d + 2) * (d - 1) / 2 * sizeof(double));
+  opt = (double *)malloc((d + 1) * sizeof(double));
+
+  Eigen::Map<Eigen::MatrixXd> Af(halves, d + 1, m);
+  Eigen::Map<Eigen::VectorXd> nv(n_vec, d + 1);
+  Eigen::Map<Eigen::VectorXd> dv(d_vec, d + 1);
+  Eigen::Map<Eigen::VectorXd> xf(opt, d + 1);
+
+  Af.col(0).setZero();
+  Af(d, 0) = 1.0;
+  Af.topRightCorner(d, m - 1) = -A.transpose();
+  Af.bottomRightCorner(1, m - 1) = b.transpose();
+  nv.head(d) = c;
+  nv(d) = 0.0;
+  dv.setZero();
+  dv(d) = 1.0;
+
+  /* randomize the input planes */
+  rand_permutation(m - 1, perm);
+  /* previous to 0 is actually never used */
+  prev[0] = 0;
+  /* link the zero position in at the beginning */
+  next[0] = perm[0] + 1;
+  prev[perm[0] + 1] = 0;
+  /* link the other planes */
+  for (i = 0; i < m - 2; i++) {
+    next[perm[i] + 1] = perm[i + 1] + 1;
+    prev[perm[i + 1] + 1] = perm[i] + 1;
+  }
+  /* flag the last plane */
+  next[perm[m - 2] + 1] = m;
+
+  status = sdlp::linfracprog(halves, 0, m, n_vec, d_vec,
+                             d, opt, work, next, prev, m);
+
+  /* handle states for linprog whose definitions differ from linfracprog */
+  if (status != sdlp::INFEASIBLE) {
+    if (xf(d) != 0.0 && status != sdlp::UNBOUNDED) {
+      x = xf.head(d) / xf(d);
+      minimum = c.dot(x);
+    }
+
+    if (xf(d) == 0.0 || status == sdlp::UNBOUNDED) {
+      x = xf.head(d);
+      minimum = -INFINITY;
+    }
+  }
+
+  free(perm);
+  free(next);
+  free(prev);
+  free(halves);
+  free(n_vec);
+  free(d_vec);
+  free(work);
+  free(opt);
+
+  return minimum;
+}
+
+}  // namespace sdlp
+
+#endif
\ No newline at end of file
diff --git a/mapping/occ_grid/inflate_neg-sdf.zip b/mapping/occ_grid/inflate_neg-sdf.zip
new file mode 100755
index 0000000..b099fa3
Binary files /dev/null and b/mapping/occ_grid/inflate_neg-sdf.zip differ
diff --git a/mapping/occ_grid/no-inflate.zip b/mapping/occ_grid/no-inflate.zip
new file mode 100755
index 0000000..c29d9c5
Binary files /dev/null and b/mapping/occ_grid/no-inflate.zip differ
diff --git a/mapping/occ_grid/package.xml b/mapping/occ_grid/package.xml
new file mode 100755
index 0000000..cc15f0c
--- /dev/null
+++ b/mapping/occ_grid/package.xml
@@ -0,0 +1,70 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>occ_grid</name>
+  <version>0.0.0</version>
+  <description>The occ_grid package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="kyle_yeh@163.com">kyleYeh</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/plan_env</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>tf2</build_depend>
+  <build_depend>tf2_ros</build_depend>
+  <build_depend>poly_traj_utils</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/mapping/occ_grid/src/occ_map.cpp b/mapping/occ_grid/src/occ_map.cpp
new file mode 100755
index 0000000..d3a7cf0
--- /dev/null
+++ b/mapping/occ_grid/src/occ_map.cpp
@@ -0,0 +1,993 @@
+#include "occ_grid/occ_map.h"
+#include "occ_grid/raycast.h"
+#include <cv_bridge/cv_bridge.h>
+#include <visualization_msgs/Marker.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <tf2_ros/static_transform_broadcaster.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <chrono>
+#include <random>
+
+//for img debug
+#include <opencv2/opencv.hpp>
+
+namespace tgk_planner
+{
+  void OccMap::resetBuffer(Eigen::Vector3d min_pos, Eigen::Vector3d max_pos)
+  {
+    min_pos(0) = max(min_pos(0), min_range_(0));
+    min_pos(1) = max(min_pos(1), min_range_(1));
+    min_pos(2) = max(min_pos(2), min_range_(2));
+
+    max_pos(0) = min(max_pos(0), max_range_(0));
+    max_pos(1) = min(max_pos(1), max_range_(1));
+    max_pos(2) = min(max_pos(2), max_range_(2));
+
+    Eigen::Vector3i min_id, max_id;
+
+    posToIndex(min_pos, min_id);
+    posToIndex(max_pos - Eigen::Vector3d(resolution_ / 2, resolution_ / 2, resolution_ / 2), max_id);
+
+    for (int x = min_id(0); x <= max_id(0); ++x)
+      for (int y = min_id(1); y <= max_id(1); ++y)
+        for (int z = min_id(2); z <= max_id(2); ++z)
+        {
+          occupancy_buffer_[idxToAddress(x, y, z)] = clamp_min_log_;
+        }
+  }
+
+  inline void OccMap::setOccupancy(const Eigen::Vector3d &pos)
+  {
+    Eigen::Vector3i id;
+    posToIndex(pos, id);
+    // cout << "id: " << id.transpose() << ", idx: " << idxToAddress(id) << ", is in map? " << isInMap(id) << endl;
+    if (!isInMap(id))
+      return;
+
+    occupancy_buffer_[idxToAddress(id)] = clamp_max_log_;
+  }
+
+  void OccMap::pubPointCloudFromDepth(const std_msgs::Header &header,
+                                      const cv::Mat &depth_img,
+                                      const Eigen::Matrix3d &intrinsic_K,
+                                      const string &camera_name)
+  {
+    pcl::PointCloud<pcl::PointXYZ> cloud;
+    // pcl::PointXYZ point;
+
+    for (int v = 0; v < depth_img.rows; v++)
+      for (int u = 0; u < depth_img.cols; u++)
+      {
+        double depth = depth_img.at<u_int16_t>(v, u) / depth_scale_;
+        Eigen::Vector3d uvd = Eigen::Vector3d(u, v, 1.0) * depth;
+        Eigen::Vector3d xyz = intrinsic_K.inverse() * uvd;
+        // point.x = xyz(0);
+        // point.y = xyz(1);
+        // point.z = xyz(2);
+        cloud.points.emplace_back(xyz(0), xyz(1), xyz(2));
+      }
+
+    cloud.width = (int)cloud.points.size();
+    cloud.height = 1; //height=1 implies this is not an "ordered" point cloud
+
+    // Convert the cloud to ROS message
+    sensor_msgs::PointCloud2 output;
+    pcl::toROSMsg(cloud, output);
+    output.header = header;
+    output.header.frame_id = camera_name;
+    origin_pcl_pub_.publish(output);
+  }
+
+  void OccMap::globalOccVisCallback(const ros::TimerEvent &e)
+  {
+    //for vis
+    history_view_cloud_ptr_->points.clear();
+    for (int x = 0; x < grid_size_[0]; ++x)
+      for (int y = 0; y < grid_size_[1]; ++y)
+        for (int z = 0; z < grid_size_[2]; ++z)
+        {
+          //cout << "p(): " << occupancy_buffer_[idxToAddress(x, y, z)] << endl;
+          if (occupancy_buffer_[idxToAddress(x, y, z)] > min_occupancy_log_)
+          {
+            Eigen::Vector3d pos;
+            indexToPos(x, y, z, pos);
+            // pcl::PointXYZ pc(pos[0], pos[1], pos[2]);
+            history_view_cloud_ptr_->points.emplace_back(pos[0], pos[1], pos[2]);
+          }
+        }
+    history_view_cloud_ptr_->width = history_view_cloud_ptr_->points.size();
+    history_view_cloud_ptr_->height = 1;
+    history_view_cloud_ptr_->is_dense = true;
+    history_view_cloud_ptr_->header.frame_id = "map";
+    sensor_msgs::PointCloud2 cloud_msg;
+    pcl::toROSMsg(*history_view_cloud_ptr_, cloud_msg);
+    hist_view_cloud_pub_.publish(cloud_msg);
+  }
+
+  void OccMap::localOccVisCallback(const ros::TimerEvent &e)
+  {
+    //for vis
+    // ros::Time t_s = ros::Time::now();
+    curr_view_cloud_ptr_->points.clear();
+    Eigen::Vector3i min_id, max_id;
+    posToIndex(local_range_min_, min_id);
+    posToIndex(local_range_max_, max_id);
+    // 	ROS_INFO_STREAM("local_range_min_: " << local_range_min_.transpose());
+    // 	ROS_INFO_STREAM("local_range_max_: " << local_range_max_.transpose());
+    // 	ROS_INFO_STREAM("min_id: " << min_id.transpose());
+    // 	ROS_INFO_STREAM("max_id: " << max_id.transpose());
+
+    min_id(0) = max(0, min_id(0));
+    min_id(1) = max(0, min_id(1));
+    min_id(2) = max(0, min_id(2));
+    max_id(0) = min(grid_size_[0], max_id(0));
+    max_id(1) = min(grid_size_[1], max_id(1));
+    max_id(2) = min(grid_size_[2], max_id(2));
+    for (int x = min_id(0); x < max_id(0); ++x)
+      for (int y = min_id(1); y < max_id(1); ++y)
+        for (int z = min_id(2); z < max_id(2); ++z)
+        {
+          // if (occupancy_buffer_[idxToAddress(x, y, z)] > min_occupancy_log_)
+          // if (distance_buffer_[idxToAddress(x, y, z)] < 0.4)
+          if (inflate_occupancy_[idxToAddress(x, y, z)] == true)
+          {
+            Eigen::Vector3d pos;
+            indexToPos(x, y, z, pos);
+            // ROS_INFO_STREAM("occupied idx: " << idx.transpose());
+            // ROS_INFO_STREAM("occupied pos: " << pos.transpose());
+            // pcl::PointXYZ pc(pos[0], pos[1], pos[2]);
+            curr_view_cloud_ptr_->points.emplace_back(pos[0], pos[1], pos[2]);
+          }
+        }
+    curr_view_cloud_ptr_->width = curr_view_cloud_ptr_->points.size();
+    curr_view_cloud_ptr_->height = 1;
+    curr_view_cloud_ptr_->is_dense = true;
+    curr_view_cloud_ptr_->header.frame_id = "map";
+    sensor_msgs::PointCloud2 cloud_msg;
+    pcl::toROSMsg(*curr_view_cloud_ptr_, cloud_msg);
+    curr_view_cloud_pub_.publish(cloud_msg);
+    // ROS_INFO_STREAM("local vis once uses: " << (ros::Time::now() - t_s).toSec());
+  }
+
+  void OccMap::depthOdomCallback(const sensor_msgs::ImageConstPtr &depth_msg,
+                                 const nav_msgs::OdometryConstPtr &odom,
+                                 const Eigen::Matrix4d &T_ic,
+                                 Eigen::Matrix4d &last_T_wc,
+                                 cv::Mat &last_depth_image,
+                                 const string &camera_name)
+  {
+    // auto ts_depth_odom_calllback = std::chrono::high_resolution_clock::now();
+    { //TF map^ T ego
+      static tf2_ros::TransformBroadcaster br_map_ego;
+      geometry_msgs::TransformStamped transformStamped;
+      transformStamped.header.stamp = depth_msg->header.stamp;
+      transformStamped.header.frame_id = "map";
+      transformStamped.child_frame_id = "ego";
+      transformStamped.transform.translation.x = odom->pose.pose.position.x;
+      transformStamped.transform.translation.y = odom->pose.pose.position.y;
+      transformStamped.transform.translation.z = odom->pose.pose.position.z;
+      transformStamped.transform.rotation.x = odom->pose.pose.orientation.x;
+      transformStamped.transform.rotation.y = odom->pose.pose.orientation.y;
+      transformStamped.transform.rotation.z = odom->pose.pose.orientation.z;
+      transformStamped.transform.rotation.w = odom->pose.pose.orientation.w;
+      br_map_ego.sendTransform(transformStamped);
+    }
+
+    { //TF imu^ T _camera_i
+      static tf2_ros::StaticTransformBroadcaster static_broadcaster;
+      geometry_msgs::TransformStamped static_transformStamped;
+      static_transformStamped.header.stamp = depth_msg->header.stamp;
+      static_transformStamped.header.frame_id = "ego";
+      static_transformStamped.child_frame_id = camera_name;
+      static_transformStamped.transform.translation.x = 0;
+      static_transformStamped.transform.translation.y = 0;
+      static_transformStamped.transform.translation.z = 0;
+      Eigen::Quaterniond quat(T_ic.block<3, 3>(0, 0));
+      static_transformStamped.transform.rotation.x = quat.x();
+      static_transformStamped.transform.rotation.y = quat.y();
+      static_transformStamped.transform.rotation.z = quat.z();
+      static_transformStamped.transform.rotation.w = quat.w();
+      static_broadcaster.sendTransform(static_transformStamped);
+    }
+
+    /* ---------- get pose ---------- */
+    // w, x, y, z -> q0, q1, q2, q3
+    Eigen::Matrix3d R_wi = Eigen::Quaterniond(odom->pose.pose.orientation.w,
+                                              odom->pose.pose.orientation.x,
+                                              odom->pose.pose.orientation.y,
+                                              odom->pose.pose.orientation.z)
+                               .toRotationMatrix();
+    Eigen::Matrix4d T_wi;
+    T_wi.setZero();
+    T_wi(0, 3) = odom->pose.pose.position.x;
+    T_wi(1, 3) = odom->pose.pose.position.y;
+    T_wi(2, 3) = odom->pose.pose.position.z;
+    T_wi(3, 3) = 1.0;
+    T_wi.block<3, 3>(0, 0) = R_wi;
+    Eigen::Matrix4d T_wc = T_wi * T_ic;
+    Eigen::Vector3d t_wc = T_wc.block<3, 1>(0, 3);
+    local_range_min_ = t_wc - sensor_range_;
+    local_range_max_ = t_wc + sensor_range_;
+
+    /* ---------- get depth image ---------- */
+    cv_bridge::CvImagePtr cv_ptr;
+    cv_ptr = cv_bridge::toCvCopy(depth_msg, depth_msg->encoding);
+    if (depth_msg->encoding == sensor_msgs::image_encodings::TYPE_32FC1)
+    {
+      (cv_ptr->image).convertTo(cv_ptr->image, CV_16UC1, depth_scale_);
+    }
+    cv_ptr->image.copyTo(depth_image_);
+
+    if (show_raw_depth_)
+    {
+      pubPointCloudFromDepth(depth_msg->header, depth_image_, K_depth_, camera_name);
+    }
+
+    proj_points_cnt_ = 0;
+    projectDepthImage(K_depth_, T_wc, depth_image_, last_T_wc, last_depth_image, depth_msg->header.stamp);
+    raycastProcess(t_wc);
+
+    local_map_valid_ = true;
+    latest_odom_time_ = odom->header.stamp;
+    curr_posi_[0] = odom->pose.pose.position.x;
+    curr_posi_[1] = odom->pose.pose.position.y;
+    curr_posi_[2] = odom->pose.pose.position.z;
+    curr_twist_[0] = odom->twist.twist.linear.x;
+    curr_twist_[1] = odom->twist.twist.linear.y;
+    curr_twist_[2] = odom->twist.twist.linear.z;
+    curr_q_.w() = odom->pose.pose.orientation.w;
+    curr_q_.x() = odom->pose.pose.orientation.x;
+    curr_q_.y() = odom->pose.pose.orientation.y;
+    curr_q_.z() = odom->pose.pose.orientation.z;
+    have_odom_ = true;
+
+    // auto te_depth_odom_calllback = std::chrono::high_resolution_clock::now();
+    // std::chrono::duration<double> diff_depth_odom_calllback = te_depth_odom_calllback - ts_depth_odom_calllback;
+    // std::cout << "build map for a frame: " << diff_depth_odom_calllback.count() * 1e3 << " ms\n";
+  }
+
+  void OccMap::projectDepthImage(const Eigen::Matrix3d &K,
+                                 const Eigen::Matrix4d &T_wc, const cv::Mat &depth_image,
+                                 Eigen::Matrix4d &last_T_wc, cv::Mat &last_depth_image, ros::Time r_s)
+  {
+    int cols = depth_image.cols;
+    int rows = depth_image.rows;
+    pcl::PointCloud<pcl::PointXYZRGB> cloud;
+    pcl::PointXYZRGB point; //colored point clouds also have RGB values
+
+    double depth;
+    //   ROS_WARN("project for one rcved image");
+    if (!use_shift_filter_)
+    {
+      for (int v = depth_filter_margin_; v < rows - depth_filter_margin_; v += skip_pixel_)
+      {
+        for (int u = depth_filter_margin_; u < cols - depth_filter_margin_; u += skip_pixel_)
+        {
+          depth = depth_image.at<uint16_t>(v, u) / depth_scale_;
+          if (isnan(depth) || isinf(depth))
+            continue;
+          if (depth < depth_filter_mindist_)
+            continue;
+          Eigen::Vector3d proj_pt_NED, proj_pt_cam;
+          proj_pt_cam(0) = (u - K(0, 2)) * depth / K(0, 0);
+          proj_pt_cam(1) = (v - K(1, 2)) * depth / K(1, 1);
+          proj_pt_cam(2) = depth;
+          proj_pt_NED = T_wc.block<3, 3>(0, 0) * proj_pt_cam + T_wc.block<3, 1>(0, 3);
+          proj_points_[proj_points_cnt_++] = proj_pt_NED;
+          // cout << "pt in cam: " << proj_pt_cam.transpose() << ", depth: " << depth << endl;
+          // cout << "pt in map: " << proj_pt_NED.transpose() << ", depth: " << depth << endl;
+          if (show_filter_proj_depth_)
+          {
+            point.x = proj_pt_NED[0];
+            point.y = proj_pt_NED[1];
+            point.z = proj_pt_NED[2];
+            point.r = 255;
+            point.g = 0;
+            point.b = 0;
+            cloud.points.push_back(point);
+          }
+        }
+      }
+    }
+    /* ---------- use depth filter ---------- */
+    else
+    {
+      if (!has_first_depth_)
+        has_first_depth_ = true;
+      else
+      {
+        Eigen::Vector3d pt_cur, pt_NED, pt_reproj;
+
+        for (int v = depth_filter_margin_; v < rows - depth_filter_margin_; v += skip_pixel_)
+        {
+          for (int u = depth_filter_margin_; u < cols - depth_filter_margin_; u += skip_pixel_)
+          {
+            depth = depth_image.at<uint16_t>(v, u) / depth_scale_;
+            if (isnan(depth) || isinf(depth))
+              continue;
+            // points with depth > depth_filter_maxdist_ or < depth_filter_mindist_ are not trusted
+            if (depth < depth_filter_mindist_)
+              continue;
+            pt_cur(0) = (u - K(0, 2)) * depth / K(0, 0);
+            pt_cur(1) = (v - K(1, 2)) * depth / K(1, 1);
+            pt_cur(2) = depth;
+
+            // check consistency
+            pt_NED = T_wc.block<3, 3>(0, 0) * pt_cur + T_wc.block<3, 1>(0, 3);
+            pt_reproj = last_T_wc.block<3, 3>(0, 0).inverse() * (pt_NED - last_T_wc.block<3, 1>(0, 3));
+            double uu = pt_reproj.x() * K(0, 0) / pt_reproj.z() + K(0, 2);
+            double vv = pt_reproj.y() * K(1, 1) / pt_reproj.z() + K(1, 2);
+            if (uu >= 0 && uu < cols && vv >= 0 && vv < rows)
+            {
+              double drift_dis = fabs(last_depth_image.at<uint16_t>((int)vv, (int)uu) / depth_scale_ - pt_reproj.z());
+              //cout << "drift dis: " << drift_dis << endl;
+              if (drift_dis < depth_filter_tolerance_)
+              {
+                proj_points_[proj_points_cnt_++] = pt_NED;
+                if (show_filter_proj_depth_)
+                {
+                  point.x = pt_NED[0];
+                  point.y = pt_NED[1];
+                  point.z = pt_NED[2];
+                  point.r = 255;
+                  point.g = 0;
+                  point.b = 0;
+                  cloud.points.push_back(point);
+                }
+              }
+            }
+            else
+            {
+              // new point
+              proj_points_[proj_points_cnt_++] = pt_NED;
+              if (show_filter_proj_depth_)
+              {
+                point.x = pt_NED[0];
+                point.y = pt_NED[1];
+                point.z = pt_NED[2];
+                point.r = 255;
+                point.g = 0;
+                point.b = 0;
+                cloud.points.push_back(point);
+              }
+            }
+          }
+        }
+      }
+      /* ---------- maintain last ---------- */
+      last_T_wc = T_wc;
+      last_depth_image = depth_image;
+    }
+
+    if (show_filter_proj_depth_)
+    {
+      cloud.width = (int)cloud.points.size();
+      cloud.height = 1; //height=1 implies this is not an "ordered" point cloud
+      // Convert the cloud to ROS message
+      sensor_msgs::PointCloud2 output;
+      pcl::toROSMsg(cloud, output);
+      output.header.stamp = r_s;
+      output.header.frame_id = "map";
+      projected_pc_pub_.publish(output);
+    }
+  }
+
+  void OccMap::raycastProcess(const Eigen::Vector3d &t_wc)
+  {
+    if (proj_points_cnt_ == 0)
+      return;
+
+    // raycast_num_ = (raycast_num_ + 1) % 100000;
+    raycast_num_ += 1;
+
+    //   ROS_INFO_STREAM("proj_points_ size: " << proj_points_cnt_);
+
+    /* ---------- iterate projected points ---------- */
+    int set_cache_idx;
+    for (int i = 0; i < proj_points_cnt_; ++i)
+    {
+      /* ---------- occupancy of ray end ---------- */
+      Eigen::Vector3d pt_w = proj_points_[i];
+      double length = (pt_w - t_wc).norm();
+      // 		ROS_INFO_STREAM("len: " << length);
+      if (length < min_ray_length_)
+        continue;
+      else if (length > max_ray_length_)
+      {
+        pt_w = (pt_w - t_wc) / length * max_ray_length_ + t_wc;
+        set_cache_idx = setCacheOccupancy(pt_w, 0);
+      }
+      else
+        set_cache_idx = setCacheOccupancy(pt_w, 1);
+
+      /* ---------- raycast will ignore close end ray ---------- */
+      if (set_cache_idx != INVALID_IDX)
+      {
+        if (cache_rayend_[set_cache_idx] == raycast_num_)
+        {
+          continue;
+        }
+        else
+          cache_rayend_[set_cache_idx] = raycast_num_;
+      }
+
+      //ray casting backwards from point in world frame to camera pos,
+      //the backwards way skips the overlap grids in each ray end by recording cache_traverse_.
+      RayCaster raycaster;
+      bool need_ray = raycaster.setInput(pt_w / resolution_, t_wc / resolution_); //(ray start, ray end)
+      if (!need_ray)
+        continue;
+      Eigen::Vector3d half = Eigen::Vector3d(0.5, 0.5, 0.5);
+      Eigen::Vector3d ray_pt;
+      if (!raycaster.step(ray_pt)) // skip the ray start point since it's the projected point.
+        continue;
+      while (raycaster.step(ray_pt))
+      {
+        Eigen::Vector3d tmp = (ray_pt + half) * resolution_;
+        set_cache_idx = setCacheOccupancy(tmp, 0);
+        if (set_cache_idx != INVALID_IDX)
+        {
+          //skip overlap grids in each ray
+          if (cache_traverse_[set_cache_idx] == raycast_num_)
+            break;
+          else
+            cache_traverse_[set_cache_idx] = raycast_num_;
+        }
+      }
+    }
+
+    /* ---------- update occupancy in batch ---------- */
+    while (!cache_voxel_.empty())
+    {
+      Eigen::Vector3i idx = cache_voxel_.front();
+      int idx_ctns = idxToAddress(idx);
+      cache_voxel_.pop();
+
+      double log_odds_update = cache_hit_[idx_ctns] >= cache_all_[idx_ctns] - cache_hit_[idx_ctns] ? prob_hit_log_ : prob_miss_log_;
+      cache_hit_[idx_ctns] = cache_all_[idx_ctns] = 0;
+
+      if ((log_odds_update >= 0 && occupancy_buffer_[idx_ctns] >= clamp_max_log_) ||
+          (log_odds_update <= 0 && occupancy_buffer_[idx_ctns] <= clamp_min_log_))
+        continue;
+      // Eigen::Vector3i min_id, max_id;
+      // posToIndex(local_range_min_, min_id);
+      // posToIndex(local_range_max_, max_id);
+      // bool in_local = idx(0) >= min_id(0) && idx(0) <= max_id(0) &&
+      //                 idx(1) >= min_id(1) && idx(1) <= max_id(1) &&
+      //                 idx(2) >= min_id(2) && idx(2) <= max_id(2);
+      // if (!in_local)
+      // {
+      //   occupancy_buffer_[idx_ctns] = clamp_min_log_;
+      // }
+
+      occupancy_buffer_[idx_ctns] = std::min(std::max(occupancy_buffer_[idx_ctns] + log_odds_update, clamp_min_log_), clamp_max_log_);
+    }
+  }
+
+  inline int OccMap::setCacheOccupancy(const Eigen::Vector3d &pos, int occ)
+  {
+    if (occ != 1 && occ != 0)
+    {
+      return INVALID_IDX;
+    }
+
+    Eigen::Vector3i id;
+    posToIndex(pos, id);
+
+    if (!isInMap(id))
+    {
+      return INVALID_IDX;
+    }
+
+    int idx_ctns = idxToAddress(id);
+
+    cache_all_[idx_ctns] += 1;
+
+    if (cache_all_[idx_ctns] == 1)
+    {
+      cache_voxel_.push(id);
+    }
+
+    if (occ == 1)
+    {
+      cache_hit_[idx_ctns] += 1;
+    }
+    return idx_ctns;
+  }
+
+  void OccMap::inflate(const Eigen::Vector3i &min_idx, const Eigen::Vector3i &max_idx)
+  {
+    int inflate_num = ceil(infalte_length_ / resolution_);
+    for (int x = min_idx[0]; x < max_idx[0]; ++x)
+    {
+      for (int y = min_idx[1]; y < max_idx[1]; ++y)
+      {
+        for (int z = min_idx[2]; z < max_idx[2]; ++z)
+        {
+          if (occupancy_buffer_[idxToAddress(x, y, z)] > min_occupancy_log_)
+          {
+            for (int x_diff = -inflate_num; x_diff <= inflate_num; ++x_diff)
+            {
+              for (int y_diff = -inflate_num; y_diff <= inflate_num; ++y_diff)
+              {
+                for (int z_diff = -inflate_num; z_diff <= inflate_num; ++z_diff)
+                {
+                  Eigen::Vector3i idx(x + x_diff, y + y_diff, z + z_diff);
+                  int address = idxToAddress(idx);
+                  if (!isInMap(idx))
+                    continue;
+                  inflate_occupancy_[address] = true;
+                }
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+
+  template <typename F_get_val, typename F_set_val>
+  void OccMap::fillESDF(F_get_val f_get_val, F_set_val f_set_val, int start, int end, int dim)
+  {
+    int v[grid_size_(dim)];
+    double z[grid_size_(dim) + 1];
+
+    int k = start;
+    v[start] = start;
+    z[start] = -std::numeric_limits<double>::max();
+    z[start + 1] = std::numeric_limits<double>::max();
+
+    for (int q = start + 1; q <= end; q++)
+    {
+      k++;
+      double s;
+      do
+      {
+        k--;
+        s = ((f_get_val(q) + q * q) - (f_get_val(v[k]) + v[k] * v[k])) / (2 * q - 2 * v[k]);
+      } while (s <= z[k]);
+      k++;
+      v[k] = q;
+      z[k] = s;
+      z[k + 1] = std::numeric_limits<double>::max();
+    }
+    k = start;
+    for (int q = start; q <= end; q++)
+    {
+      while (z[k + 1] < q)
+        k++;
+      double val = (q - v[k]) * (q - v[k]) + f_get_val(v[k]);
+      f_set_val(q, val);
+    }
+  }
+
+  void OccMap::updateESDF3d(const Eigen::Vector3i &min_esdf, const Eigen::Vector3i &max_esdf)
+  {
+    /* positive distance */
+    for (int x = min_esdf[0]; x < max_esdf[0]; x++)
+    {
+      for (int y = min_esdf[1]; y < max_esdf[1]; y++)
+      {
+        // fillESDF([&](int z) {return occupancy_buffer_[idxToAddress(x, y, z)] > min_occupancy_log_ ? 0 : std::numeric_limits<double>::max(); },
+        fillESDF([&](int z)
+                 { return inflate_occupancy_[idxToAddress(x, y, z)] == true ? 0 : std::numeric_limits<double>::max(); },
+                 [&](int z, double val)
+                 { tmp_buffer1_[idxToAddress(x, y, z)] = val; }, // lambda expressions. Anonymous inline function
+                 min_esdf[2], max_esdf[2], 2);
+      }
+    }
+
+    for (int x = min_esdf[0]; x < max_esdf[0]; x++)
+    {
+      for (int z = min_esdf[2]; z < max_esdf[2]; z++)
+      {
+        fillESDF([&](int y)
+                 { return tmp_buffer1_[idxToAddress(x, y, z)]; },
+                 [&](int y, double val)
+                 { tmp_buffer2_[idxToAddress(x, y, z)] = val; },
+                 min_esdf[1], max_esdf[1], 1);
+      }
+    }
+
+    for (int y = min_esdf[1]; y < max_esdf[1]; y++)
+    {
+      for (int z = min_esdf[2]; z < max_esdf[2]; z++)
+      {
+        fillESDF([&](int x)
+                 { return tmp_buffer2_[idxToAddress(x, y, z)]; },
+                 [&](int x, double val)
+                 { distance_buffer_[idxToAddress(x, y, z)] = resolution_ * std::sqrt(val); },
+                 min_esdf[0], max_esdf[0], 0);
+      }
+    }
+
+    /* ========== compute negative distance ========== */
+    for (int x = min_esdf(0); x < max_esdf(0); ++x)
+      for (int y = min_esdf(1); y < max_esdf(1); ++y)
+        for (int z = min_esdf(2); z < max_esdf(2); ++z)
+        {
+          int idx = idxToAddress(x, y, z);
+          // if (occupancy_buffer_[idx] > min_occupancy_log_)
+          if (inflate_occupancy_[idx] == true)
+          {
+            occupancy_buffer_neg_[idx] = 0;
+          }
+          else
+          {
+            occupancy_buffer_neg_[idx] = 1;
+          }
+        }
+
+    for (int x = min_esdf[0]; x < max_esdf[0]; x++)
+    {
+      for (int y = min_esdf[1]; y < max_esdf[1]; y++)
+      {
+        fillESDF(
+            [&](int z)
+            {
+              return occupancy_buffer_neg_[idxToAddress(x, y, z)] == 1 ? 0 : std::numeric_limits<double>::max();
+            },
+            [&](int z, double val)
+            { tmp_buffer1_[idxToAddress(x, y, z)] = val; },
+            min_esdf[2],
+            max_esdf[2], 2);
+      }
+    }
+    for (int x = min_esdf[0]; x < max_esdf[0]; x++)
+    {
+      for (int z = min_esdf[2]; z < max_esdf[2]; z++)
+      {
+        fillESDF([&](int y)
+                 { return tmp_buffer1_[idxToAddress(x, y, z)]; },
+                 [&](int y, double val)
+                 { tmp_buffer2_[idxToAddress(x, y, z)] = val; },
+                 min_esdf[1],
+                 max_esdf[1], 1);
+      }
+    }
+    for (int y = min_esdf[1]; y < max_esdf[1]; y++)
+    {
+      for (int z = min_esdf[2]; z < max_esdf[2]; z++)
+      {
+        fillESDF([&](int x)
+                 { return tmp_buffer2_[idxToAddress(x, y, z)]; },
+                 [&](int x, double val)
+                 {
+                   distance_buffer_neg_[idxToAddress(x, y, z)] = resolution_ * std::sqrt(val);
+                 },
+                 min_esdf[0], max_esdf[0], 0);
+      }
+    }
+    /* ========== combine pos and neg DT ========== */
+    for (int x = min_esdf(0); x <= max_esdf(0); ++x)
+      for (int y = min_esdf(1); y <= max_esdf(1); ++y)
+        for (int z = min_esdf(2); z <= max_esdf(2); ++z)
+        {
+          int idx = idxToAddress(x, y, z);
+          distance_buffer_all_[idx] = distance_buffer_[idx];
+
+          if (distance_buffer_neg_[idx] > 1.8)
+            distance_buffer_all_[idx] += (-distance_buffer_neg_[idx] + resolution_);
+        }
+  }
+
+  /*
+* return squared distance
+*/
+  float OccMap::nearestObs(const double &x, const double &y, const double &z, float &x_obs, float &y_obs, float &z_obs)
+  {
+    pcl::PointXYZ searchPoint;
+    searchPoint.x = x;
+    searchPoint.y = y;
+    searchPoint.z = z;
+
+    int K = 1;
+    std::vector<int> pointIdxNKNSearch(K);
+    std::vector<float> pointNKNSquaredDistance(K);
+    if (pc_kdtree_.nearestKSearch(searchPoint, K, pointIdxNKNSearch, pointNKNSquaredDistance) > 0)
+    {
+      x_obs = (*cloud_filtered_)[pointIdxNKNSearch[0]].x;
+      y_obs = (*cloud_filtered_)[pointIdxNKNSearch[0]].y;
+      z_obs = (*cloud_filtered_)[pointIdxNKNSearch[0]].z;
+      return pointNKNSquaredDistance[0];
+    }
+    else
+    {
+      return -1.0;
+    }
+  }
+
+  void OccMap::indepOdomCallback(const nav_msgs::OdometryConstPtr &odom)
+  {
+    latest_odom_time_ = odom->header.stamp;
+    curr_posi_[0] = odom->pose.pose.position.x;
+    curr_posi_[1] = odom->pose.pose.position.y;
+    curr_posi_[2] = odom->pose.pose.position.z;
+    curr_twist_[0] = odom->twist.twist.linear.x;
+    curr_twist_[1] = odom->twist.twist.linear.y;
+    curr_twist_[2] = odom->twist.twist.linear.z;
+    curr_q_.w() = odom->pose.pose.orientation.w;
+    curr_q_.x() = odom->pose.pose.orientation.x;
+    curr_q_.y() = odom->pose.pose.orientation.y;
+    curr_q_.z() = odom->pose.pose.orientation.z;
+    have_odom_ = true;
+    local_range_min_ = curr_posi_ - sensor_range_;
+    local_range_max_ = curr_posi_ + sensor_range_;
+
+    { //TF map^ T ego
+      static tf2_ros::TransformBroadcaster br_map_ego;
+      geometry_msgs::TransformStamped transformStamped;
+      transformStamped.header.stamp = odom->header.stamp;
+      transformStamped.header.frame_id = "map";
+      transformStamped.child_frame_id = "ego";
+      transformStamped.transform.translation.x = odom->pose.pose.position.x;
+      transformStamped.transform.translation.y = odom->pose.pose.position.y;
+      transformStamped.transform.translation.z = odom->pose.pose.position.z;
+      transformStamped.transform.rotation.x = odom->pose.pose.orientation.x;
+      transformStamped.transform.rotation.y = odom->pose.pose.orientation.y;
+      transformStamped.transform.rotation.z = odom->pose.pose.orientation.z;
+      transformStamped.transform.rotation.w = odom->pose.pose.orientation.w;
+      br_map_ego.sendTransform(transformStamped);
+    }
+  }
+
+  void OccMap::globalCloudCallback(const sensor_msgs::PointCloud2ConstPtr &msg)
+  {
+    // ROS_ERROR_STREAM("use_global_map_: " << use_global_map_ << ", has_global_cloud_: " << has_global_cloud_);
+
+    if (!use_global_map_ || has_global_cloud_)
+      return;
+
+    pcl::PointCloud<pcl::PointXYZ> global_cloud;
+    pcl::fromROSMsg(*msg, global_cloud);
+    global_map_valid_ = true;
+    // ROS_ERROR_STREAM(", global_cloud.points.size(): " << global_cloud.points.size());
+
+    if (global_cloud.points.size() == 0)
+      return;
+
+    pcl::PointXYZ pt;
+    Eigen::Vector3d p3d;
+    for (size_t i = 0; i < global_cloud.points.size(); ++i)
+    {
+      pt = global_cloud.points[i];
+      p3d(0) = pt.x;
+      p3d(1) = pt.y;
+      p3d(2) = pt.z;
+      this->setOccupancy(p3d);
+    }
+    has_global_cloud_ = true;
+    global_cloud_sub_.shutdown();
+
+    std::cout << "start inflate"
+              << "\n";
+    auto ts_global_inflate = std::chrono::high_resolution_clock::now();
+    inflate(Eigen::Vector3i(0, 0, 0), grid_size_);
+    auto te_global_inflate = std::chrono::high_resolution_clock::now();
+    std::chrono::duration<double> diff_global_inflate = te_global_inflate - ts_global_inflate;
+    std::cout << "inflate: " << diff_global_inflate.count() * 1e3 << " ms\n";
+
+    std::cout << "start compute global edf, grid size: " << grid_size_.transpose() << "\n";
+    auto ts_global_edf = std::chrono::high_resolution_clock::now();
+    updateESDF3d(Eigen::Vector3i(0, 0, 0), grid_size_ - Eigen::Vector3i(1, 1, 1));
+    auto te_global_edf = std::chrono::high_resolution_clock::now();
+    std::chrono::duration<double> diff_global_edf = te_global_edf - ts_global_edf;
+    std::cout << "compute global edf: " << diff_global_edf.count() * 1e3 << " ms\n";
+
+    // store in flann kdtree for nearest query
+    auto ts_filter_tree = std::chrono::high_resolution_clock::now();
+    pcl::PointCloud<pcl::PointXYZ>::Ptr global_cloud_ptr = global_cloud.makeShared();
+    pcl::VoxelGrid<pcl::PointXYZ> sor;
+    sor.setInputCloud(global_cloud_ptr);
+    sor.setLeafSize(0.2f, 0.2f, 0.2f);
+    cloud_filtered_.reset(new pcl::PointCloud<pcl::PointXYZ>);
+    sor.filter(*cloud_filtered_);
+    auto te_filter_tree = std::chrono::high_resolution_clock::now();
+    ROS_ERROR_STREAM("pts num after filter" << cloud_filtered_->points.size());
+
+    auto ts_build_tree = std::chrono::high_resolution_clock::now();
+    pc_kdtree_.setInputCloud(cloud_filtered_);
+    auto te_build_tree = std::chrono::high_resolution_clock::now();
+    std::chrono::duration<double> diff_filter_tree = te_filter_tree - ts_filter_tree;
+    std::chrono::duration<double> diff_build_tree = te_build_tree - ts_build_tree;
+    std::cout << "filter kdtree: " << diff_filter_tree.count() * 1e3 << " ms\n";
+    std::cout << "build kdtree: " << diff_build_tree.count() * 1e3 << " ms\n";
+
+    /* test time usage */
+    // std::mt19937_64 gen_;
+    // std::random_device rd;
+    // gen_ = std::mt19937_64(rd());
+    // std::uniform_real_distribution<double> pos_x_, pos_y_, pos_z_;
+    // pos_x_ = std::uniform_real_distribution<double>(min_range_[0], max_range_[0]);
+    // pos_y_ = std::uniform_real_distribution<double>(min_range_[1], max_range_[1]);
+    // pos_z_ = std::uniform_real_distribution<double>(min_range_[2], max_range_[2]);
+    // float obs_x, obs_y, obs_z;
+    // auto t1 = std::chrono::high_resolution_clock::now();
+    // for (int i=0; i<1000000; ++i)
+    // {
+    //   // Eigen::Vector3d p(0,0,0);
+    //   // Eigen::Vector3d p(pos_x_(gen_), pos_y_(gen_), pos_z_(gen_));
+    //   // getVoxelState(p);
+    //   // isInLocalMap(p);
+    //   nearestObs(pos_x_(gen_), pos_y_(gen_), pos_z_(gen_), obs_x, obs_y, obs_z);
+    // }
+    // auto t2 = std::chrono::high_resolution_clock::now();
+    // std::chrono::duration<double> diff1 = t2 - t1;
+    // std::cout << ": " << diff1.count() << " us\n";
+  }
+
+  void OccMap::init(const ros::NodeHandle &nh)
+  {
+    node_ = nh;
+    /* ---------- param ---------- */
+    node_.param("occ_map/origin_x", origin_(0), -20.0);
+    node_.param("occ_map/origin_y", origin_(1), -20.0);
+    node_.param("occ_map/origin_z", origin_(2), 0.0);
+    node_.param("occ_map/map_size_x", map_size_(0), 40.0);
+    node_.param("occ_map/map_size_y", map_size_(1), 40.0);
+    node_.param("occ_map/map_size_z", map_size_(2), 5.0);
+    node_.param("occ_map/local_radius_x", sensor_range_(0), -1.0);
+    node_.param("occ_map/local_radius_y", sensor_range_(1), -1.0);
+    node_.param("occ_map/local_radius_z", sensor_range_(2), -1.0);
+
+    node_.param("occ_map/resolution", resolution_, 0.2);
+    node_.param("occ_map/use_global_map", use_global_map_, false);
+
+    node_.param("occ_map/depth_scale", depth_scale_, -1.0);
+    node_.param("occ_map/use_shift_filter", use_shift_filter_, true);
+    node_.param("occ_map/depth_filter_tolerance", depth_filter_tolerance_, -1.0);
+    node_.param("occ_map/depth_filter_maxdist", depth_filter_maxdist_, -1.0);
+    node_.param("occ_map/depth_filter_mindist", depth_filter_mindist_, -1.0);
+    node_.param("occ_map/depth_filter_margin", depth_filter_margin_, -1);
+    node_.param("occ_map/skip_pixel", skip_pixel_, -1);
+    node_.param("occ_map/show_raw_depth", show_raw_depth_, false);
+    node_.param("occ_map/show_filter_proj_depth", show_filter_proj_depth_, false);
+
+    node_.param("occ_map/min_ray_length", min_ray_length_, -0.1);
+    node_.param("occ_map/max_ray_length", max_ray_length_, -0.1);
+
+    node_.param("occ_map/prob_hit_log", prob_hit_log_, 0.70);
+    node_.param("occ_map/prob_miss_log", prob_miss_log_, 0.35);
+    node_.param("occ_map/clamp_min_log", clamp_min_log_, 0.12);
+    node_.param("occ_map/clamp_max_log", clamp_max_log_, 0.97);
+    node_.param("occ_map/min_occupancy_log", min_occupancy_log_, 0.80);
+    node_.param("occ_map/inflate_length", infalte_length_, 0.0);
+
+    node_.param("occ_map/fx", fx_, -1.0);
+    node_.param("occ_map/fy", fy_, -1.0);
+    node_.param("occ_map/cx", cx_, -1.0);
+    node_.param("occ_map/cy", cy_, -1.0);
+    node_.param("occ_map/rows", rows_, 480);
+    node_.param("occ_map/cols", cols_, 320);
+
+    cout << "use_shift_filter_: " << use_shift_filter_ << endl;
+    cout << "map size: " << map_size_.transpose() << endl;
+    cout << "resolution: " << resolution_ << endl;
+
+    cout << "hit: " << prob_hit_log_ << endl;
+    cout << "miss: " << prob_miss_log_ << endl;
+    cout << "min: " << clamp_min_log_ << endl;
+    cout << "max: " << clamp_max_log_ << endl;
+    cout << "thresh: " << min_occupancy_log_ << endl;
+    cout << "skip: " << skip_pixel_ << endl;
+    cout << "sensor_range: " << sensor_range_.transpose() << endl;
+    cout << "infalte_length_: " << infalte_length_ << endl;
+
+    /* ---------- setting ---------- */
+    have_odom_ = false;
+    global_map_valid_ = false;
+    local_map_valid_ = false;
+    has_global_cloud_ = false;
+    has_first_depth_ = false;
+
+    resolution_inv_ = 1 / resolution_;
+    for (int i = 0; i < 3; ++i)
+    {
+      grid_size_(i) = ceil(map_size_(i) * resolution_inv_);
+      sensor_range_grid_cnt_[i] = floor(sensor_range_[i] * resolution_inv_);
+    }
+    cout << "grid size: " << grid_size_.transpose() << endl;
+    curr_view_cloud_ptr_ = boost::make_shared<pcl::PointCloud<pcl::PointXYZ>>();
+    history_view_cloud_ptr_ = boost::make_shared<pcl::PointCloud<pcl::PointXYZ>>();
+    T_ic0_ << 0.0, 0.0, 1.0, 0.0,
+        -1.0, 0.0, 0.0, 0.0,
+        0.0, -1.0, 0.0, 0.0,
+        0.0, 0.0, 0.0, 1.0;
+
+    cout << "origin_: " << origin_.transpose() << endl;
+    min_range_ = origin_;
+    max_range_ = origin_ + map_size_;
+    cout << "min_range_: " << min_range_.transpose() << endl;
+    cout << "max_range_: " << max_range_.transpose() << endl;
+
+    //init proj_points_ buffer
+    proj_points_.resize(rows_ * cols_ / skip_pixel_ / skip_pixel_);
+
+    K_depth_.setZero();
+    K_depth_(0, 0) = fx_; //fx
+    K_depth_(1, 1) = fy_; //fy
+    K_depth_(0, 2) = cx_; //cx
+    K_depth_(1, 2) = cy_; //cy
+    K_depth_(2, 2) = 1.0;
+    cout << "intrinsic: " << K_depth_ << endl;
+
+    // initialize size of buffer
+    grid_size_y_multiply_z_ = grid_size_(1) * grid_size_(2);
+    int buffer_size = grid_size_(0) * grid_size_y_multiply_z_;
+    cout << "buffer size: " << buffer_size << endl;
+    occupancy_buffer_.resize(buffer_size);
+    cache_all_.resize(buffer_size);
+    cache_hit_.resize(buffer_size);
+    cache_rayend_.resize(buffer_size);
+    cache_traverse_.resize(buffer_size);
+    raycast_num_ = 0;
+    proj_points_cnt_ = 0;
+
+    fill(occupancy_buffer_.begin(), occupancy_buffer_.end(), clamp_min_log_);
+    fill(cache_all_.begin(), cache_all_.end(), 0);
+    fill(cache_hit_.begin(), cache_hit_.end(), 0);
+    fill(cache_rayend_.begin(), cache_rayend_.end(), -1);
+    fill(cache_traverse_.begin(), cache_traverse_.end(), -1);
+
+    inflate_occupancy_.resize(buffer_size);
+    fill(inflate_occupancy_.begin(), inflate_occupancy_.end(), false);
+
+    tmp_buffer1_.resize(buffer_size);
+    tmp_buffer2_.resize(buffer_size);
+    distance_buffer_.resize(buffer_size);
+    fill(distance_buffer_.begin(), distance_buffer_.end(), DBL_MAX);
+
+    occupancy_buffer_neg_.resize(buffer_size);
+    fill(occupancy_buffer_neg_.begin(), occupancy_buffer_neg_.end(), 0);
+    distance_buffer_neg_.resize(buffer_size);
+    fill(distance_buffer_neg_.begin(), distance_buffer_neg_.end(), DBL_MAX);
+    distance_buffer_all_.resize(buffer_size);
+    fill(distance_buffer_all_.begin(), distance_buffer_all_.end(), DBL_MAX);
+
+    //set x-y boundary occ
+    for (double cx = min_range_[0] + resolution_ / 2; cx <= max_range_[0] - resolution_ / 2; cx += resolution_)
+      for (double cz = min_range_[2] + resolution_ / 2; cz <= max_range_[2] - resolution_ / 2; cz += resolution_)
+      {
+        this->setOccupancy(Eigen::Vector3d(cx, min_range_[1] + resolution_ / 2, cz));
+        this->setOccupancy(Eigen::Vector3d(cx, max_range_[1] - resolution_ / 2, cz));
+      }
+    for (double cy = min_range_[1] + resolution_ / 2; cy <= max_range_[1] - resolution_ / 2; cy += resolution_)
+      for (double cz = min_range_[2] + resolution_ / 2; cz <= max_range_[2] - resolution_ / 2; cz += resolution_)
+      {
+        this->setOccupancy(Eigen::Vector3d(min_range_[0] + resolution_ / 2, cy, cz));
+        this->setOccupancy(Eigen::Vector3d(max_range_[0] - resolution_ / 2, cy, cz));
+      }
+    //set z-low boundary occ
+    // for (double cx = min_range_[0]+resolution_/2; cx <= max_range_[0]-resolution_/2; cx += resolution_)
+    //   for (double cy = min_range_[1]+resolution_/2; cy <= max_range_[1]-resolution_/2; cy += resolution_)
+    //   {
+    //     this->setOccupancy(Eigen::Vector3d(cx, cy, min_range_[2]+resolution_/2));
+    //   }
+
+    /* ---------- sub and pub ---------- */
+    if (!use_global_map_)
+    {
+      depth_sub_.reset(new message_filters::Subscriber<sensor_msgs::Image>(node_, "/depth_topic", 1, ros::TransportHints().tcpNoDelay()));
+      odom_sub_.reset(new message_filters::Subscriber<nav_msgs::Odometry>(node_, "/odom_topic", 1, ros::TransportHints().tcpNoDelay()));
+      sync_image_odom_.reset(new message_filters::Synchronizer<SyncPolicyImageOdom>(SyncPolicyImageOdom(100), *depth_sub_, *odom_sub_));
+      sync_image_odom_->registerCallback(boost::bind(&OccMap::depthOdomCallback, this, _1, _2, T_ic0_, last_T_wc0_, last_depth0_image_, "camera_front"));
+      //global_occ_vis_timer_ = node_.createTimer(ros::Duration(5), &OccMap::globalOccVisCallback, this);
+      local_occ_vis_timer_ = node_.createTimer(ros::Duration(0.3), &OccMap::localOccVisCallback, this);
+    }
+    else
+    {
+      indep_odom_sub_ = node_.subscribe<nav_msgs::Odometry>("/odom_topic", 10, &OccMap::indepOdomCallback, this, ros::TransportHints().tcpNoDelay());
+      // global_occ_vis_timer_ = node_.createTimer(ros::Duration(5), &OccMap::globalOccVisCallback, this);
+      local_occ_vis_timer_ = node_.createTimer(ros::Duration(0.3), &OccMap::localOccVisCallback, this);
+    }
+    curr_view_cloud_pub_ = node_.advertise<sensor_msgs::PointCloud2>("/occ_map/local_view_cloud", 1);
+    hist_view_cloud_pub_ = node_.advertise<sensor_msgs::PointCloud2>("/occ_map/history_view_cloud", 1);
+    global_cloud_sub_ = node_.subscribe<sensor_msgs::PointCloud2>("/global_cloud", 1, &OccMap::globalCloudCallback, this);
+    origin_pcl_pub_ = node_.advertise<sensor_msgs::PointCloud2>("/occ_map/raw_pcl", 1);
+    projected_pc_pub_ = node_.advertise<sensor_msgs::PointCloud2>("/occ_map/filtered_pcl", 1);
+
+    cout << "map initialized: " << endl;
+  }
+
+} // namespace tgk_planner
diff --git a/mapping/occ_grid/src/pos_checker.cpp b/mapping/occ_grid/src/pos_checker.cpp
new file mode 100755
index 0000000..4dec42b
--- /dev/null
+++ b/mapping/occ_grid/src/pos_checker.cpp
@@ -0,0 +1,581 @@
+#include "occ_grid/pos_checker.h"
+#include <chrono>
+
+namespace tgk_planner
+{
+bool PosChecker::validateASample(const StatePVA &sample)
+{
+  /* test time usage */
+  // std::mt19937_64 gen_;     
+  // std::random_device rd;
+  // gen_ = std::mt19937_64(rd());
+  // std::uniform_real_distribution<double> pos_x_, pos_y_, pos_z_;
+  // pos_x_ = std::uniform_real_distribution<double>(-20, 20);
+  // pos_y_ = std::uniform_real_distribution<double>(-20, 20);
+  // pos_z_ = std::uniform_real_distribution<double>(0, 2);
+  // float obs_x, obs_y, obs_z;
+  // auto t1 = std::chrono::high_resolution_clock::now();
+  // Eigen::Vector3i idx;
+  // for (int i=0; i<1000000; ++i)
+  // {
+  //   Eigen::Vector3d p(pos_x_(gen_), pos_y_(gen_), pos_z_(gen_));
+  //   occ_map_->posToIndex(p, idx);
+  // }
+  // auto t2 = std::chrono::high_resolution_clock::now();
+  // std::chrono::duration<double> diff1 = t2 - t1;
+  // std::cout << "posToIndex: " << diff1.count() << " us\n";
+
+  // ros::Time t1 = ros::Time::now();
+  // int n(0);
+  Vector3d vel(sample.segment(3, 3));
+  double vel_mag = vel.norm();
+  double brake_dis = vel_mag / 2;
+  Vector3d delta_pos = vel / vel_mag * resolution_ * 2.0;
+  int n_check = ceil(brake_dis / resolution_ / 2.0);
+
+  Vector3d pos_fwd(sample.head(3)), pos_bwd(sample.head(3));
+  for (int i = 1; i <= n_check; ++i)
+  {
+    // n += 2;
+    pos_fwd += delta_pos;
+    if (!validatePosSurround(pos_fwd))
+    {
+      return false;
+    }
+    pos_bwd -= delta_pos;
+    if (!validatePosSurround(pos_bwd))
+    {
+      return false;
+    }
+  }
+  // ros::Time t2 = ros::Time::now();
+  // ROS_WARN_STREAM("validate a sample, " <<n << " pos, "<< (t2-t1).toSec() * 1e6 << " us");
+  return true;
+}
+
+inline void PosChecker::getCheckPos(const Vector3d &pos, const Vector3d &vel,
+                             const Vector3d &acc, vector<Vector3d> &grids,
+                             double hor_radius, double ver_radius)
+{
+  int n = 0;
+  Eigen::Vector3d cw_edge_pos, ccw_edge_pos;
+  Eigen::Vector2d vel_hor, cw_radius_vec;
+  cw_edge_pos[2] = pos[2];
+  ccw_edge_pos[2] = pos[2];
+  vel_hor[0] = vel[0];
+  vel_hor[1] = vel[1];
+  if (vel_hor[0] < 1e-4 && vel_hor[1] < 1e-4)
+  {
+    vel_hor[0] = 1;
+    vel_hor[1] = 1;
+  }
+  //rotate 90 degree in X-Y plane
+  cw_radius_vec[0] = vel_hor[1];
+  cw_radius_vec[1] = - vel_hor[0];
+  cw_radius_vec = cw_radius_vec.normalized() * hor_radius;
+  cw_edge_pos.head(2) = pos.head(2) + cw_radius_vec;
+  ccw_edge_pos.head(2) = pos.head(2) - cw_radius_vec;
+  //add horizontal vox;
+  // getlineGrids(cw_edge_pos, ccw_edge_pos, grids);
+  // grids.emplace_back(cw_edge_pos[0], cw_edge_pos[1], cw_edge_pos[2]);
+  // grids.emplace_back(ccw_edge_pos[0], ccw_edge_pos[1], ccw_edge_pos[2]);
+  grids[n][0] = cw_edge_pos[0];
+  grids[n][1] = cw_edge_pos[1];
+  grids[n][2] = cw_edge_pos[2];
+  n++;
+  grids[n][0] = ccw_edge_pos[0];
+  grids[n][1] = ccw_edge_pos[1];
+  grids[n][2] = ccw_edge_pos[2];
+
+
+  Eigen::Vector3d vertical_up(pos), vertical_down(pos);
+  vertical_up(2) += ver_radius;
+  vertical_down(2) -= ver_radius;
+  //add veltical vox;
+  // getlineGrids(vertical_up, vertical_down, grids);
+  // grids.emplace_back(vertical_up[0], vertical_up[1], vertical_up[2]);
+  // grids.emplace_back(vertical_down[0], vertical_down[1], vertical_down[2]);
+  n++;
+  grids[n][0] = vertical_up[0];
+  grids[n][1] = vertical_up[1];
+  grids[n][2] = vertical_up[2];
+  n++;
+  grids[n][0] = vertical_down[0];
+  grids[n][1] = vertical_down[1];
+  grids[n][2] = vertical_down[2];
+
+  // grids.emplace_back(pos[0], pos[1], pos[2]);
+  n++;
+  grids[n][0] = pos[0];
+  grids[n][1] = pos[1];
+  grids[n][2] = pos[2];
+}
+
+void PosChecker::getlineGrids(const Vector3d &s_p, const Vector3d &e_p, vector<Vector3d> &grids)
+{
+  RayCaster raycaster;
+  Eigen::Vector3d ray_pt;
+  Eigen::Vector3d start = s_p / resolution_, end = e_p / resolution_;
+  bool need_ray = raycaster.setInput(start, end);
+  if (need_ray)
+  {
+    while (raycaster.step(ray_pt))
+    {
+      Eigen::Vector3d tmp = (ray_pt)*resolution_;
+      tmp[0] += resolution_ / 2.0;
+      tmp[1] += resolution_ / 2.0;
+      tmp[2] += resolution_ / 2.0;
+      grids.emplace_back(tmp[0], tmp[1], tmp[2]);
+    }
+  }
+
+  //check end
+  Eigen::Vector3d end_idx;
+  end_idx[0] = std::floor(end.x());
+  end_idx[1] = std::floor(end.y());
+  end_idx[2] = std::floor(end.z());
+
+  ray_pt[0] = (double)end_idx[0];
+  ray_pt[1] = (double)end_idx[1];
+  ray_pt[2] = (double)end_idx[2];
+  Eigen::Vector3d tmp = (ray_pt)*resolution_;
+  tmp[0] += resolution_ / 2.0;
+  tmp[1] += resolution_ / 2.0;
+  tmp[2] += resolution_ / 2.0;
+  grids.emplace_back(tmp[0], tmp[1], tmp[2]);
+}
+
+bool PosChecker::checkPolySeg(const Piece &seg)
+{
+  double tau = seg.getDuration();
+  Vector3d head_vel = seg.getVel(0.0);
+  Vector3d tail_vel = seg.getVel(tau);
+  for (double t = 0.0; t <= tau; t += dt_)
+  {
+    Vector3d pos, vel, acc;
+    pos = seg.getPos(t);
+    vel = seg.getVel(t);
+    acc = seg.getAcc(t);
+    if (!checkState(pos, vel, acc))
+      return false;
+      
+    if (vel.dot(head_vel) < 0 && vel.dot(tail_vel) < 0)
+      return false;
+  }
+  return true;
+};
+
+bool PosChecker::checkPolySeg(const Piece &seg, double t_s, double t_e)
+{
+  double tau = seg.getDuration();
+  if (t_s < -FLT_EPSILON || t_e > tau + FLT_EPSILON)
+  {
+    ROS_WARN_STREAM("Check time violates duration, tau: " << tau << ", t_s: " << t_s << ", t_e: " << t_e);
+    return false;
+  }
+  Vector3d head_vel = seg.getVel(t_s);
+  Vector3d tail_vel = seg.getVel(t_e);
+  for (double t = t_s; t <= t_e; t += dt_)
+  {
+    Vector3d pos, vel, acc;
+    pos = seg.getPos(t);
+    vel = seg.getVel(t);
+    acc = seg.getAcc(t);
+    if (!checkState(pos, vel, acc))
+      return false;
+    
+    if (vel.dot(head_vel) < 0 && vel.dot(tail_vel) < 0)
+      return false;
+  }
+  return true;
+};
+
+bool PosChecker::checkPolySeg(const Piece &seg, vector<pair<Vector3d, Vector3d>> &traversal_lines)
+{
+  double tau = seg.getDuration();
+  pair<Vector3d, Vector3d> line;
+  bool is_valid(true);
+  bool result(true);
+  bool zigzag(false);
+  Vector3d last_pos = seg.getPos(0.0);
+  Vector3d head_vel = seg.getVel(0.0);
+  Vector3d tail_vel = seg.getVel(tau);
+
+  for (double t = 0.0; t <= tau; t += dt_)
+  {
+    Eigen::Vector3d pos, vel, acc;
+    pos = seg.getPos(t);
+    vel = seg.getVel(t);
+    acc = seg.getAcc(t);
+    if (!zigzag)
+    {
+      if (vel.dot(head_vel) < 0 && vel.dot(tail_vel) < 0)
+      {
+        line.first = pos;
+        line.second = Eigen::Vector3d(0.0, 0.0, -1.0);
+        traversal_lines.push_back(line);
+        zigzag = true;
+      }
+    }
+
+    if (is_valid && !checkState(pos, vel, acc))
+    {
+      result = false;
+      is_valid = false;
+      line.first = last_pos;
+    }
+    else if (!is_valid && checkState(pos, vel, acc))
+    {
+      is_valid = true;
+      line.second = pos;
+      traversal_lines.push_back(line);
+    }
+    last_pos = pos;
+  }
+  return result;
+};
+
+bool PosChecker::checkPolySeg(const Piece &seg, pair<Vector3d, Vector3d> &collide_pts, pair<double, double> &t_s_e, bool &need_region_opt)
+{
+  need_region_opt = false;
+  double tau = seg.getDuration();
+  pair<Vector3d, Vector3d> line;
+  bool is_valid(true);
+  bool result(true);
+  bool zigzag(false);
+  bool first_collision(true);
+  Vector3d last_pos = seg.getPos(0.0);
+  Vector3d head_vel = seg.getVel(0.0);
+  Vector3d tail_vel = seg.getVel(tau);
+
+  for (double t = 0.0; t <= tau; t += dt_)
+  {
+    Eigen::Vector3d pos, vel, acc;
+    pos = seg.getPos(t);
+    vel = seg.getVel(t);
+    acc = seg.getAcc(t);
+    if (!zigzag)
+    {
+      if (vel.dot(head_vel) < 0 && vel.dot(tail_vel) < 0)
+      {
+        zigzag = true;
+        need_region_opt = false;
+        result = false;
+        return false;
+      }
+    }
+
+    if (is_valid && !checkState(pos, vel, acc))
+    {
+      if (!occ_map_->isInMap(pos))
+      {
+        need_region_opt = false;
+        return false;
+      }
+      if (!first_collision)
+      {
+        need_region_opt = false;
+        return false;
+      }
+      result = false;
+      is_valid = false;
+      collide_pts.first = last_pos;
+      t_s_e.first = t;
+    }
+    else if (!is_valid && checkState(pos, vel, acc))
+    {
+      is_valid = true;
+      collide_pts.second = pos;
+      if (!zigzag)
+        need_region_opt = true;
+      first_collision = false;
+      t_s_e.second = t;
+    }
+    last_pos = pos;
+  }
+  return result;
+};
+
+bool PosChecker::checkPolyTraj(const Trajectory &traj, double t_s, double t_e, Vector3d &collide_pos, double &remain_safe_time)
+{
+  double tau = traj.getTotalDuration();
+  if (t_s < -FLT_EPSILON || t_e > tau + FLT_EPSILON)
+  {
+    ROS_WARN_STREAM("Check time violates duration, tau: " << tau << ", t_s: " << t_s << ", t_e: " << t_e);
+    return false;
+  }
+  for (double t = t_s; t <= t_e; t += dt_)
+  {
+    Vector3d pos, vel, acc;
+    pos = traj.getPos(t);
+    vel = traj.getVel(t);
+    if (!checkState(pos, vel, acc))
+    {
+      remain_safe_time = t - t_s;
+      collide_pos = pos;
+      return false;
+    }
+  }
+  remain_safe_time = t_e - t_s;
+  return true;
+};
+
+bool PosChecker::checkPolyTraj(const Trajectory &traj)
+{
+  double tau = traj.getTotalDuration();
+  for (double t = 0.0; t <= tau; t += dt_)
+  {
+    Vector3d pos, vel, acc;
+    pos = traj.getPos(t);
+    vel = traj.getVel(t);
+    if (!checkState(pos, vel, acc))
+    {
+      return false;
+    }
+  }
+  return true;
+};
+
+bool PosChecker::checkPolyTraj(const Trajectory &traj, vector<pair<Vector3d, Vector3d>> &traversal_lines)
+{
+  double tau = traj.getTotalDuration();
+  pair<Vector3d, Vector3d> line;
+  bool is_valid(true);
+  bool result(true);
+  Vector3d last_pos = traj.getPos(0.0);
+
+  for (double t = 0.0; t <= tau; t += dt_)
+  {
+    Eigen::Vector3d pos, vel, acc;
+    pos = traj.getPos(t);
+    vel = traj.getVel(t);
+    acc = traj.getAcc(t);
+    if (is_valid && !checkState(pos, vel, acc))
+    {
+      result = false;
+      is_valid = false;
+      line.first = last_pos;
+    }
+    else if (!is_valid && checkState(pos, vel, acc))
+    {
+      is_valid = true;
+      line.second = pos;
+      traversal_lines.push_back(line);
+    }
+    last_pos = pos;
+  }
+  return result;
+};
+
+bool PosChecker::checkPolyTraj(const Trajectory &traj, vector<pair<Vector3d, Vector3d>> &traversal_lines, vector<pair<double, double>> &ts_s_e)
+{
+  double tau = traj.getTotalDuration();
+  pair<Vector3d, Vector3d> line;
+  pair<double, double> t_s_e;
+  bool is_valid(true);
+  bool result(true);
+  Vector3d last_pos = traj.getPos(0.0);
+
+  for (double t = 0.0; t <= tau; t += dt_)
+  {
+    Eigen::Vector3d pos, vel, acc;
+    pos = traj.getPos(t);
+    vel = traj.getVel(t);
+    acc = traj.getAcc(t);
+    if (is_valid && !checkState(pos, vel, acc))
+    {
+      result = false;
+      is_valid = false;
+      line.first = last_pos;
+      t_s_e.first = t;
+    }
+    else if (!is_valid && checkState(pos, vel, acc))
+    {
+      is_valid = true;
+      line.second = pos;
+      t_s_e.second = t;
+      traversal_lines.push_back(line);
+      ts_s_e.push_back(t_s_e);
+    }
+    last_pos = pos;
+  }
+  return result;
+};
+
+// stop after first collision
+bool PosChecker::getPolyTrajCollision(const Trajectory &traj, std::vector<int> &segs, std::vector<Eigen::Vector3d> &collisions, 
+                                      std::vector<double> &t_s, std::vector<double> &t_e)
+{
+  bool result(true);
+  int n_seg = traj.getPieceNum();
+  Vector3d pos, vel, acc;
+  for (int i = 0; i < n_seg; ++i)
+  {
+    double tau = traj[i].getDuration();
+    for (double t = 0.0; t < tau; t += dt_)
+    {
+      pos = traj[i].getPos(t);
+      vel = traj[i].getVel(t);
+      if (!checkState(pos, vel, acc))
+      {
+        result = false;
+        segs.push_back(i);
+        collisions.push_back(pos);
+        t_s.push_back(std::max(t - 0.2, 0.0));
+        t_e.push_back(std::min(t + 0.2, tau));
+        break;
+      }
+    }
+  }
+  return result;
+}
+
+bool PosChecker::getPolyTrajAttractPts(const Trajectory &front_traj, const Trajectory &traj, std::vector<pair<int, int>> &seg_num_obs_size, 
+                                      std::vector<Eigen::Vector3d> &att_pts, 
+                                      std::vector<double> &t_s, std::vector<double> &t_e)
+{
+  bool result(true);
+  int n_seg = traj.getPieceNum();
+  Vector3d pos, attract_pt, front_traj_pt;
+  pair<int, int> snos;
+  for (int i = 0; i < n_seg; ++i)
+  {
+    snos.first = i;
+    snos.second = 0;
+    double tau = traj[i].getDuration();
+    double collide_t_last = 0.0;
+    bool first_obs(true);
+    for (double t = 0.0; t < tau; t += dt_)
+    {
+      pos = traj[i].getPos(t);
+      if (!validatePosSurround(pos))
+      {
+        result = false;
+        if (first_obs || t - collide_t_last > 0.2)
+        {
+          first_obs = false;
+          collide_t_last = t;
+          front_traj_pt = front_traj[i].getPos(t);
+          double len = (front_traj_pt - pos).norm();
+          attract_pt = front_traj_pt + (front_traj_pt - pos) * max(len, 2.0);
+          att_pts.emplace_back(attract_pt[0], attract_pt[1], attract_pt[2]);
+          t_s.emplace_back(std::max(t - 0.2, 0.0));
+          t_e.emplace_back(std::min(t + 0.2, tau));
+          snos.second++;
+        }
+      }
+    }
+    if (snos.second > 0)
+    {
+      seg_num_obs_size.push_back(snos);
+    }
+  }
+  return result;
+}
+
+bool PosChecker::getRegionalAttractPts(const Trajectory &front_traj, const Trajectory &traj, std::vector<pair<int, int>> &seg_num_obs_size, 
+                                      std::vector<Eigen::Vector3d> &att_pts, 
+                                      std::vector<double> &t_s, std::vector<double> &t_e)
+{
+  seg_num_obs_size.clear();
+  att_pts.clear();
+  t_s.clear();
+  t_e.clear();
+  bool result(true);
+  int n_seg = traj.getPieceNum();
+  Vector3d pos, vel, acc, attract_pt, front_traj_pt;
+  pair<int, int> snos;
+  for (int i = 0; i < n_seg; ++i)
+  {
+    snos.first = i;
+    snos.second = 0;
+    double tau = traj[i].getDuration();
+    double collide_t_last = 0.0;
+    bool first_obs(true);
+    for (double t = 0.0; t < tau; t += dt_)
+    {
+      pos = traj[i].getPos(t);
+      vel = traj[i].getVel(t);
+      if (!checkState(pos, vel, acc))
+      {
+        result = false;
+        if (first_obs || t - collide_t_last > 0.2)
+        {
+          first_obs = false;
+          collide_t_last = t;
+          front_traj_pt = front_traj[i].getPos(t);
+          attract_pt = front_traj_pt + (front_traj_pt - pos);
+          att_pts.emplace_back(attract_pt[0], attract_pt[1], attract_pt[2]);
+          t_s.emplace_back(std::max(t - 0.2, 0.0));
+          t_e.emplace_back(std::min(t + 0.2, tau));
+          snos.second++;
+        }
+      }
+    }
+    if (snos.second > 0)
+    {
+      seg_num_obs_size.push_back(snos);
+    }
+  }
+  return result;
+}
+
+void PosChecker::getRegionalAttractPts(const Trajectory &input_traj, 
+                                      const vector<Eigen::Vector3d> &free_path, 
+                                      const pair<double, double> &t_s_e,
+                                      std::vector<pair<int, int>> &seg_num_obs_size, 
+                                      std::vector<Eigen::Vector3d> &att_pts, 
+                                      std::vector<double> &t_s, std::vector<double> &t_e)
+{
+  double t_in_half_collide = (t_s_e.first + t_s_e.second) / 2.0;
+  Vector3d pos_in_half_collide = input_traj.getPos(t_in_half_collide);
+  Vector3d vel_in_half_collide = input_traj.getVel(t_in_half_collide);
+  //search for attract_pt
+  size_t n_free_path = free_path.size() / 2;
+  Vector3d free_pt = free_path[n_free_path];
+  double min_attract_dis = 0.6;
+  Vector3d att_vec = free_pt - pos_in_half_collide;
+  double att_vec_len = att_vec.norm();
+  Vector3d att_pt = free_pt + att_vec / att_vec_len * max(att_vec_len, min_attract_dis);
+  int seg_num = input_traj.getPieceNum();
+  double t_in_ts_seg(t_s_e.first);
+  double t_in_te_seg(t_s_e.second);
+  int ts_seg = input_traj.locatePieceIdx(t_in_ts_seg);
+  int te_seg = input_traj.locatePieceIdx(t_in_te_seg);
+
+  if (ts_seg == te_seg)
+  {
+    seg_num_obs_size.push_back(std::make_pair(ts_seg, 1));
+    att_pts.push_back(att_pt);
+    t_s.push_back(max(0.0, t_in_ts_seg - 0.2));
+    t_e.push_back(min(input_traj[te_seg].getDuration(), t_in_te_seg + 0.2));
+    return;
+  }
+
+  for (int seg = ts_seg; seg <= te_seg; ++seg)
+  {
+    seg_num_obs_size.push_back(std::make_pair(seg, 1));
+    att_pts.push_back(att_pt);
+    if (seg == ts_seg)
+    {
+      t_s.push_back(max(0.0, t_in_ts_seg - 0.2));
+      t_e.push_back(input_traj[seg].getDuration());
+    }
+    else if (seg == te_seg)
+    {
+      t_s.push_back(0.0);
+      t_e.push_back(min(input_traj[seg].getDuration(), t_in_te_seg + 0.2));
+    }
+    else
+    {
+      t_s.push_back(0.0);
+      t_e.push_back(input_traj[seg].getDuration());
+    }
+  }
+}
+
+
+
+
+
+} // namespace tgk_planner
diff --git a/mapping/occ_grid/src/raycast.cpp b/mapping/occ_grid/src/raycast.cpp
new file mode 100755
index 0000000..197966e
--- /dev/null
+++ b/mapping/occ_grid/src/raycast.cpp
@@ -0,0 +1,366 @@
+#include <occ_grid/raycast.h>
+#include <iostream>
+#include <cmath>
+#include <Eigen/Eigen>
+
+int signum(int x)
+{
+  return x == 0 ? 0 : x < 0 ? -1 : 1;
+}
+
+double mod(double value, double modulus)
+{
+  return fmod(fmod(value, modulus) + modulus, modulus);
+}
+
+double intbound(double s, double ds)
+{
+  // Find the smallest positive t such that s+t*ds is an integer.
+  if (ds < 0)
+  {
+    return intbound(-s, -ds);
+  }
+  else
+  {
+    s = mod(s, 1);
+    // problem is now s+t*ds = 1
+    return (1 - s) / ds;
+  }
+}
+
+void Raycast(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const Eigen::Vector3d& min,
+             const Eigen::Vector3d& max, int& output_points_cnt, Eigen::Vector3d* output)
+{
+  //    std::cout << start << ' ' << end << std::endl;
+  // From "A Fast Voxel Traversal Algorithm for Ray Tracing"
+  // by John Amanatides and Andrew Woo, 1987
+  // <http://www.cse.yorku.ca/~amana/research/grid.pdf>
+  // <http://citeseer.ist.psu.edu/viewdoc/summary?doi=10.1.1.42.3443>
+  // Extensions to the described algorithm:
+  //   • Imposed a distance limit.
+  //   • The face passed through to reach the current cube is provided to
+  //     the callback.
+
+  // The foundation of this algorithm is a parameterized representation of
+  // the provided ray,
+  //                    origin + t * direction,
+  // except that t is not actually stored; rather, at any given point in the
+  // traversal, we keep track of the *greater* t values which we would have
+  // if we took a step sufficient to cross a cube boundary along that axis
+  // (i.e. change the integer part of the coordinate) in the variables
+  // tMaxX, tMaxY, and tMaxZ.
+
+  // Cube containing origin point.
+  int x = (int)std::floor(start.x());
+  int y = (int)std::floor(start.y());
+  int z = (int)std::floor(start.z());
+  int endX = (int)std::floor(end.x());
+  int endY = (int)std::floor(end.y());
+  int endZ = (int)std::floor(end.z());
+  Eigen::Vector3d direction = (end - start);
+  double maxDist = direction.squaredNorm();
+
+  // Break out direction vector.
+  double dx = endX - x;
+  double dy = endY - y;
+  double dz = endZ - z;
+
+  // Direction to increment x,y,z when stepping.
+  int stepX = (int)signum((int)dx);
+  int stepY = (int)signum((int)dy);
+  int stepZ = (int)signum((int)dz);
+
+  // See description above. The initial values depend on the fractional
+  // part of the origin.
+  double tMaxX = intbound(start.x(), dx);
+  double tMaxY = intbound(start.y(), dy);
+  double tMaxZ = intbound(start.z(), dz);
+
+  // The change in t when taking a step (always positive).
+  double tDeltaX = ((double)stepX) / dx;
+  double tDeltaY = ((double)stepY) / dy;
+  double tDeltaZ = ((double)stepZ) / dz;
+
+  // Avoids an infinite loop.
+  if (stepX == 0 && stepY == 0 && stepZ == 0)
+    return;
+
+  double dist = 0;
+  while (true)
+  {
+    if (x >= min.x() && x < max.x() && y >= min.y() && y < max.y() && z >= min.z() && z < max.z())
+    {
+      output[output_points_cnt](0) = x;
+      output[output_points_cnt](1) = y;
+      output[output_points_cnt](2) = z;
+
+      output_points_cnt++;
+      dist = sqrt((x - start(0)) * (x - start(0)) + (y - start(1)) * (y - start(1)) + (z - start(2)) * (z - start(2)));
+
+      if (dist > maxDist)
+        return;
+
+      /*            if (output_points_cnt > 1500) {
+                      std::cerr << "Error, too many racyast voxels." << std::endl;
+                      throw std::out_of_range("Too many raycast voxels");
+                  }*/
+    }
+
+    if (x == endX && y == endY && z == endZ)
+      break;
+
+    // tMaxX stores the t-value at which we cross a cube boundary along the
+    // X axis, and similarly for Y and Z. Therefore, choosing the least tMax
+    // chooses the closest cube boundary. Only the first case of the four
+    // has been commented in detail.
+    if (tMaxX < tMaxY)
+    {
+      if (tMaxX < tMaxZ)
+      {
+        // Update which cube we are now in.
+        x += stepX;
+        // Adjust tMaxX to the next X-oriented boundary crossing.
+        tMaxX += tDeltaX;
+      }
+      else
+      {
+        z += stepZ;
+        tMaxZ += tDeltaZ;
+      }
+    }
+    else
+    {
+      if (tMaxY < tMaxZ)
+      {
+        y += stepY;
+        tMaxY += tDeltaY;
+      }
+      else
+      {
+        z += stepZ;
+        tMaxZ += tDeltaZ;
+      }
+    }
+  }
+}
+
+void Raycast(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const Eigen::Vector3d& min,
+             const Eigen::Vector3d& max, std::vector<Eigen::Vector3d>* output)
+{
+  //    std::cout << start << ' ' << end << std::endl;
+  // From "A Fast Voxel Traversal Algorithm for Ray Tracing"
+  // by John Amanatides and Andrew Woo, 1987
+  // <http://www.cse.yorku.ca/~amana/research/grid.pdf>
+  // <http://citeseer.ist.psu.edu/viewdoc/summary?doi=10.1.1.42.3443>
+  // Extensions to the described algorithm:
+  //   • Imposed a distance limit.
+  //   • The face passed through to reach the current cube is provided to
+  //     the callback.
+
+  // The foundation of this algorithm is a parameterized representation of
+  // the provided ray,
+  //                    origin + t * direction,
+  // except that t is not actually stored; rather, at any given point in the
+  // traversal, we keep track of the *greater* t values which we would have
+  // if we took a step sufficient to cross a cube boundary along that axis
+  // (i.e. change the integer part of the coordinate) in the variables
+  // tMaxX, tMaxY, and tMaxZ.
+
+  // Cube containing origin point.
+  int x = (int)std::floor(start.x());
+  int y = (int)std::floor(start.y());
+  int z = (int)std::floor(start.z());
+  int endX = (int)std::floor(end.x());
+  int endY = (int)std::floor(end.y());
+  int endZ = (int)std::floor(end.z());
+  Eigen::Vector3d direction = (end - start);
+  double maxDist = direction.squaredNorm();
+
+  // Break out direction vector.
+  double dx = endX - x;
+  double dy = endY - y;
+  double dz = endZ - z;
+
+  // Direction to increment x,y,z when stepping.
+  int stepX = (int)signum((int)dx);
+  int stepY = (int)signum((int)dy);
+  int stepZ = (int)signum((int)dz);
+
+  // See description above. The initial values depend on the fractional
+  // part of the origin.
+  double tMaxX = intbound(start.x(), dx);
+  double tMaxY = intbound(start.y(), dy);
+  double tMaxZ = intbound(start.z(), dz);
+
+  // The change in t when taking a step (always positive).
+  double tDeltaX = ((double)stepX) / dx;
+  double tDeltaY = ((double)stepY) / dy;
+  double tDeltaZ = ((double)stepZ) / dz;
+
+  output->clear();
+
+  // Avoids an infinite loop.
+  if (stepX == 0 && stepY == 0 && stepZ == 0)
+    return;
+
+  double dist = 0;
+  while (true)
+  {
+    if (x >= min.x() && x < max.x() && y >= min.y() && y < max.y() && z >= min.z() && z < max.z())
+    {
+      output->push_back(Eigen::Vector3d(x, y, z));
+
+      dist = (Eigen::Vector3d(x, y, z) - start).squaredNorm();
+
+      if (dist > maxDist)
+        return;
+
+      if (output->size() > 1500)
+      {
+        std::cerr << "Error, too many racyast voxels." << std::endl;
+        throw std::out_of_range("Too many raycast voxels");
+      }
+    }
+
+    if (x == endX && y == endY && z == endZ)
+      break;
+
+    // tMaxX stores the t-value at which we cross a cube boundary along the
+    // X axis, and similarly for Y and Z. Therefore, choosing the least tMax
+    // chooses the closest cube boundary. Only the first case of the four
+    // has been commented in detail.
+    if (tMaxX < tMaxY)
+    {
+      if (tMaxX < tMaxZ)
+      {
+        // Update which cube we are now in.
+        x += stepX;
+        // Adjust tMaxX to the next X-oriented boundary crossing.
+        tMaxX += tDeltaX;
+      }
+      else
+      {
+        z += stepZ;
+        tMaxZ += tDeltaZ;
+      }
+    }
+    else
+    {
+      if (tMaxY < tMaxZ)
+      {
+        y += stepY;
+        tMaxY += tDeltaY;
+      }
+      else
+      {
+        z += stepZ;
+        tMaxZ += tDeltaZ;
+      }
+    }
+  }
+}
+
+bool RayCaster::setInput(const Eigen::Vector3d& start, const Eigen::Vector3d& end/* , const Eigen::Vector3d& min,
+                         const Eigen::Vector3d& max */)
+{
+  start_ = start;
+  end_ = end;
+  // max_ = max;
+  // min_ = min;
+
+  x_ = (int)std::floor(start_.x());
+  y_ = (int)std::floor(start_.y());
+  z_ = (int)std::floor(start_.z());
+  endX_ = (int)std::floor(end_.x());
+  endY_ = (int)std::floor(end_.y());
+  endZ_ = (int)std::floor(end_.z());
+  direction_ = (end_ - start_);
+  maxDist_ = direction_.squaredNorm();
+
+  // Break out direction vector.
+  dx_ = endX_ - x_;
+  dy_ = endY_ - y_;
+  dz_ = endZ_ - z_;
+
+  // Direction to increment x,y,z when stepping.
+  stepX_ = (int)signum((int)dx_);
+  stepY_ = (int)signum((int)dy_);
+  stepZ_ = (int)signum((int)dz_);
+
+  // See description above. The initial values depend on the fractional
+  // part of the origin.
+  tMaxX_ = intbound(start_.x(), dx_);
+  tMaxY_ = intbound(start_.y(), dy_);
+  tMaxZ_ = intbound(start_.z(), dz_);
+
+  // The change in t when taking a step (always positive).
+  tDeltaX_ = ((double)stepX_) / dx_;
+  tDeltaY_ = ((double)stepY_) / dy_;
+  tDeltaZ_ = ((double)stepZ_) / dz_;
+
+  dist_ = 0;
+
+  step_num_ = 0;
+
+  // Avoids an infinite loop.
+  if (stepX_ == 0 && stepY_ == 0 && stepZ_ == 0)
+    return false;
+  else
+    return true;
+}
+
+bool RayCaster::step(Eigen::Vector3d& ray_pt)
+{
+  // if (x_ >= min_.x() && x_ < max_.x() && y_ >= min_.y() && y_ < max_.y() && z_ >= min_.z() && z_ < max_.z())
+  ray_pt = Eigen::Vector3d(x_, y_, z_);
+
+  // step_num_++;
+
+  // dist_ = (Eigen::Vector3d(x_, y_, z_) - start_).squaredNorm();
+
+  if (x_ == endX_ && y_ == endY_ && z_ == endZ_)
+  {
+    return false;
+  }
+  
+  // if (dist_ > maxDist_)
+  // {
+  //   return false;
+  // }
+
+
+  // tMaxX stores the t-value at which we cross a cube boundary along the
+  // X axis, and similarly for Y and Z. Therefore, choosing the least tMax
+  // chooses the closest cube boundary. Only the first case of the four
+  // has been commented in detail.
+  if (tMaxX_ < tMaxY_)
+  {
+    if (tMaxX_ < tMaxZ_)
+    {
+      // Update which cube we are now in.
+      x_ += stepX_;
+      // Adjust tMaxX to the next X-oriented boundary crossing.
+      tMaxX_ += tDeltaX_;
+    }
+    else
+    {
+      z_ += stepZ_;
+      tMaxZ_ += tDeltaZ_;
+    }
+  }
+  else
+  {
+    if (tMaxY_ < tMaxZ_)
+    {
+      y_ += stepY_;
+      tMaxY_ += tDeltaY_;
+    }
+    else
+    {
+      z_ += stepZ_;
+      tMaxZ_ += tDeltaZ_;
+    }
+  }
+
+  return true;
+}
diff --git a/misc/compare-wo.gif b/misc/compare-wo.gif
new file mode 100644
index 0000000..f6c805f
Binary files /dev/null and b/misc/compare-wo.gif differ
diff --git a/misc/draft.pdf b/misc/draft.pdf
new file mode 100644
index 0000000..a45ff28
Binary files /dev/null and b/misc/draft.pdf differ
diff --git a/planning/bspline/CMakeLists.txt b/planning/bspline/CMakeLists.txt
new file mode 100755
index 0000000..30aa67d
--- /dev/null
+++ b/planning/bspline/CMakeLists.txt
@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(bspline)
+
+find_package(Eigen3 REQUIRED)
+find_package(PCL 1.7 REQUIRED)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  visualization_msgs
+  cv_bridge
+)
+
+catkin_package(
+ INCLUDE_DIRS include
+ LIBRARIES bspline
+ CATKIN_DEPENDS
+#  DEPENDS system_lib
+)
+
+include_directories( 
+    SYSTEM 
+    include 
+    ${catkin_INCLUDE_DIRS}
+    ${Eigen3_INCLUDE_DIRS} 
+    ${PCL_INCLUDE_DIRS}
+)
+
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -O3 -Wall")
+
+add_library( bspline 
+    src/non_uniform_bspline.cpp 
+    )
+target_link_libraries( bspline
+    ${catkin_LIBRARIES} 
+    )  
diff --git a/planning/bspline/include/bspline/non_uniform_bspline.h b/planning/bspline/include/bspline/non_uniform_bspline.h
new file mode 100755
index 0000000..039fa85
--- /dev/null
+++ b/planning/bspline/include/bspline/non_uniform_bspline.h
@@ -0,0 +1,82 @@
+#ifndef _NON_UNIFORM_BSPLINE_H_
+#define _NON_UNIFORM_BSPLINE_H_
+
+#include <Eigen/Eigen>
+#include <algorithm>
+#include <iostream>
+
+using namespace std;
+
+namespace fast_planner {
+// An implementation of non-uniform B-spline with different dimensions
+// It also represents uniform B-spline which is a special case of non-uniform
+class NonUniformBspline {
+private:
+  // control points for B-spline with different dimensions.
+  // Each row represents one single control point
+  // The dimension is determined by column number
+  // e.g. B-spline with N points in 3D space -> Nx3 matrix
+  Eigen::MatrixXd control_points_;
+
+  int             p_, n_, m_;  // p degree, n+1 control points, m = n+p+1
+  Eigen::VectorXd u_;          // knots vector
+  double          interval_;   // knot span \delta t
+
+  Eigen::MatrixXd getDerivativeControlPoints();
+
+  double limit_vel_, limit_acc_, limit_ratio_;  // physical limits and time adjustment ratio
+
+public:
+  NonUniformBspline() {}
+  NonUniformBspline(const Eigen::MatrixXd& points, const int& order, const double& interval);
+  ~NonUniformBspline();
+
+  // initialize as an uniform B-spline
+  void setUniformBspline(const Eigen::MatrixXd& points, const int& order, const double& interval);
+
+  // get / set basic bspline info
+
+  void                                   setKnot(const Eigen::VectorXd& knot);
+  Eigen::VectorXd                        getKnot();
+  Eigen::MatrixXd                        getControlPoint();
+  double                                 getInterval();
+  void                                   getTimeSpan(double& um, double& um_p);
+  pair<Eigen::VectorXd, Eigen::VectorXd> getHeadTailPts();
+
+  // compute position / derivative
+
+  Eigen::VectorXd   evaluateDeBoor(const double& u);   // use u \in [up, u_mp]
+  Eigen::VectorXd   evaluateDeBoorT(const double& t);  // use t \in [0, duration]
+  NonUniformBspline getDerivative();
+
+  // 3D B-spline interpolation of points in point_set, with boundary vel&acc
+  // constraints
+  // input : (K+2) points with boundary vel/acc; ts
+  // output: (K+6) control_pts
+  static void parameterizeToBspline(const double& ts, const vector<Eigen::Vector3d>& point_set,
+                                    const vector<Eigen::Vector3d>& start_end_derivative,
+                                    Eigen::MatrixXd&               ctrl_pts);
+
+  /* check feasibility, adjust time */
+
+  void   setPhysicalLimits(const double& vel, const double& acc);
+  bool   checkFeasibility(bool show = false);
+  double checkRatio();
+  void   lengthenTime(const double& ratio);
+  bool   reallocateTime(bool show = false);
+
+  /* for performance evaluation */
+
+  double getTimeSum();
+  double getLength(const double& res = 0.01);
+  double getAcc();
+  double getJerk();
+  void   getMeanAndMaxVel(double& mean_v, double& max_v);
+  void   getMeanAndMaxAcc(double& mean_a, double& max_a);
+
+  void recomputeInit();
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+}  // namespace fast_planner
+#endif
\ No newline at end of file
diff --git a/planning/bspline/package.xml b/planning/bspline/package.xml
new file mode 100755
index 0000000..7a9eacc
--- /dev/null
+++ b/planning/bspline/package.xml
@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>bspline</name>
+  <version>0.0.0</version>
+  <description>The bspline package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="bzhouai@todo.todo">bzhouai</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/bspline</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>plan_env</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>plan_env</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>plan_env</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/planning/bspline/src/non_uniform_bspline.cpp b/planning/bspline/src/non_uniform_bspline.cpp
new file mode 100755
index 0000000..dd0f7f9
--- /dev/null
+++ b/planning/bspline/src/non_uniform_bspline.cpp
@@ -0,0 +1,476 @@
+#include "bspline/non_uniform_bspline.h"
+#include <ros/ros.h>
+
+namespace fast_planner {
+
+NonUniformBspline::NonUniformBspline(const Eigen::MatrixXd& points, const int& order,
+                                     const double& interval) {
+  setUniformBspline(points, order, interval);
+}
+
+NonUniformBspline::~NonUniformBspline() {}
+
+void NonUniformBspline::setUniformBspline(const Eigen::MatrixXd& points, const int& order,
+                                          const double& interval) {
+  control_points_ = points;
+  p_              = order;
+  interval_       = interval;
+
+  n_ = points.rows() - 1;
+  m_ = n_ + p_ + 1;
+
+  u_ = Eigen::VectorXd::Zero(m_ + 1);
+  for (int i = 0; i <= m_; ++i) {
+
+    if (i <= p_) {
+      u_(i) = double(-p_ + i) * interval_;
+    } else if (i > p_ && i <= m_ - p_) {
+      u_(i) = u_(i - 1) + interval_;
+    } else if (i > m_ - p_) {
+      u_(i) = u_(i - 1) + interval_;
+    }
+  }
+}
+
+void NonUniformBspline::setKnot(const Eigen::VectorXd& knot) { this->u_ = knot; }
+
+Eigen::VectorXd NonUniformBspline::getKnot() { return this->u_; }
+
+void NonUniformBspline::getTimeSpan(double& um, double& um_p) {
+  um   = u_(p_);
+  um_p = u_(m_ - p_);
+}
+
+Eigen::MatrixXd NonUniformBspline::getControlPoint() { return control_points_; }
+
+pair<Eigen::VectorXd, Eigen::VectorXd> NonUniformBspline::getHeadTailPts() {
+  Eigen::VectorXd head = evaluateDeBoor(u_(p_));
+  Eigen::VectorXd tail = evaluateDeBoor(u_(m_ - p_));
+  return make_pair(head, tail);
+}
+
+Eigen::VectorXd NonUniformBspline::evaluateDeBoor(const double& u) {
+
+  double ub = min(max(u_(p_), u), u_(m_ - p_));
+
+  // determine which [ui,ui+1] lay in
+  int k = p_;
+  while (true) {
+    if (u_(k + 1) >= ub) break;
+    ++k;
+  }
+
+  /* deBoor's alg */
+  vector<Eigen::VectorXd> d;
+  for (int i = 0; i <= p_; ++i) {
+    d.push_back(control_points_.row(k - p_ + i));
+    // cout << d[i].transpose() << endl;
+  }
+
+  for (int r = 1; r <= p_; ++r) {
+    for (int i = p_; i >= r; --i) {
+      double alpha = (ub - u_[i + k - p_]) / (u_[i + 1 + k - r] - u_[i + k - p_]);
+      // cout << "alpha: " << alpha << endl;
+      d[i] = (1 - alpha) * d[i - 1] + alpha * d[i];
+    }
+  }
+
+  return d[p_];
+}
+
+Eigen::VectorXd NonUniformBspline::evaluateDeBoorT(const double& t) {
+  return evaluateDeBoor(t + u_(p_));
+}
+
+Eigen::MatrixXd NonUniformBspline::getDerivativeControlPoints() {
+  // The derivative of a b-spline is also a b-spline, its order become p_-1
+  // control point Qi = p_*(Pi+1-Pi)/(ui+p_+1-ui+1)
+  Eigen::MatrixXd ctp = Eigen::MatrixXd::Zero(control_points_.rows() - 1, control_points_.cols());
+  for (int i = 0; i < ctp.rows(); ++i) {
+    ctp.row(i) =
+        p_ * (control_points_.row(i + 1) - control_points_.row(i)) / (u_(i + p_ + 1) - u_(i + 1));
+  }
+  return ctp;
+}
+
+NonUniformBspline NonUniformBspline::getDerivative() {
+  Eigen::MatrixXd   ctp = getDerivativeControlPoints();
+  NonUniformBspline derivative(ctp, p_ - 1, interval_);
+
+  /* cut the first and last knot */
+  Eigen::VectorXd knot(u_.rows() - 2);
+  knot = u_.segment(1, u_.rows() - 2);
+  derivative.setKnot(knot);
+
+  return derivative;
+}
+
+double NonUniformBspline::getInterval() { return interval_; }
+
+void NonUniformBspline::setPhysicalLimits(const double& vel, const double& acc) {
+  limit_vel_   = vel;
+  limit_acc_   = acc;
+  limit_ratio_ = 1.1;
+}
+
+bool NonUniformBspline::checkFeasibility(bool show) {
+  bool fea = true;
+  // SETY << "[Bspline]: total points size: " << control_points_.rows() << endl;
+
+  Eigen::MatrixXd P         = control_points_;
+  int             dimension = control_points_.cols();
+
+  /* check vel feasibility and insert points */
+  double max_vel = -1.0;
+  for (int i = 0; i < P.rows() - 1; ++i) {
+    Eigen::VectorXd vel = p_ * (P.row(i + 1) - P.row(i)) / (u_(i + p_ + 1) - u_(i + 1));
+
+    if (fabs(vel(0)) > limit_vel_ + 1e-4 || fabs(vel(1)) > limit_vel_ + 1e-4 ||
+        fabs(vel(2)) > limit_vel_ + 1e-4) {
+
+      if (show) cout << "[Check]: Infeasible vel " << i << " :" << vel.transpose() << endl;
+      fea = false;
+
+      for (int j = 0; j < dimension; ++j) {
+        max_vel = max(max_vel, fabs(vel(j)));
+      }
+    }
+  }
+
+  /* acc feasibility */
+  double max_acc = -1.0;
+  for (int i = 0; i < P.rows() - 2; ++i) {
+
+    Eigen::VectorXd acc = p_ * (p_ - 1) *
+        ((P.row(i + 2) - P.row(i + 1)) / (u_(i + p_ + 2) - u_(i + 2)) -
+         (P.row(i + 1) - P.row(i)) / (u_(i + p_ + 1) - u_(i + 1))) /
+        (u_(i + p_ + 1) - u_(i + 2));
+
+    if (fabs(acc(0)) > limit_acc_ + 1e-4 || fabs(acc(1)) > limit_acc_ + 1e-4 ||
+        fabs(acc(2)) > limit_acc_ + 1e-4) {
+
+      if (show) cout << "[Check]: Infeasible acc " << i << " :" << acc.transpose() << endl;
+      fea = false;
+
+      for (int j = 0; j < dimension; ++j) {
+        max_acc = max(max_acc, fabs(acc(j)));
+      }
+    }
+  }
+
+  double ratio = max(max_vel / limit_vel_, sqrt(fabs(max_acc) / limit_acc_));
+
+  return fea;
+}
+
+double NonUniformBspline::checkRatio() {
+  Eigen::MatrixXd P         = control_points_;
+  int             dimension = control_points_.cols();
+
+  // find max vel
+  double max_vel = -1.0;
+  for (int i = 0; i < P.rows() - 1; ++i) {
+    Eigen::VectorXd vel = p_ * (P.row(i + 1) - P.row(i)) / (u_(i + p_ + 1) - u_(i + 1));
+    for (int j = 0; j < dimension; ++j) {
+      max_vel = max(max_vel, fabs(vel(j)));
+    }
+  }
+  // find max acc
+  double max_acc = -1.0;
+  for (int i = 0; i < P.rows() - 2; ++i) {
+    Eigen::VectorXd acc = p_ * (p_ - 1) *
+        ((P.row(i + 2) - P.row(i + 1)) / (u_(i + p_ + 2) - u_(i + 2)) -
+         (P.row(i + 1) - P.row(i)) / (u_(i + p_ + 1) - u_(i + 1))) /
+        (u_(i + p_ + 1) - u_(i + 2));
+    for (int j = 0; j < dimension; ++j) {
+      max_acc = max(max_acc, fabs(acc(j)));
+    }
+  }
+  double ratio = max(max_vel / limit_vel_, sqrt(fabs(max_acc) / limit_acc_));
+  ROS_ERROR_COND(ratio > 2.0, "max vel: %lf, max acc: %lf.", max_vel, max_acc);
+
+  return ratio;
+}
+
+bool NonUniformBspline::reallocateTime(bool show) {
+  // SETY << "[Bspline]: total points size: " << control_points_.rows() << endl;
+  // cout << "origin knots:\n" << u_.transpose() << endl;
+  bool fea = true;
+
+  Eigen::MatrixXd P         = control_points_;
+  int             dimension = control_points_.cols();
+
+  double max_vel, max_acc;
+
+  /* check vel feasibility and insert points */
+  for (int i = 0; i < P.rows() - 1; ++i) {
+    Eigen::VectorXd vel = p_ * (P.row(i + 1) - P.row(i)) / (u_(i + p_ + 1) - u_(i + 1));
+
+    if (fabs(vel(0)) > limit_vel_ + 1e-4 || fabs(vel(1)) > limit_vel_ + 1e-4 ||
+        fabs(vel(2)) > limit_vel_ + 1e-4) {
+
+      fea = false;
+      if (show) cout << "[Realloc]: Infeasible vel " << i << " :" << vel.transpose() << endl;
+
+      max_vel = -1.0;
+      for (int j = 0; j < dimension; ++j) {
+        max_vel = max(max_vel, fabs(vel(j)));
+      }
+
+      double ratio = max_vel / limit_vel_ + 1e-4;
+      if (ratio > limit_ratio_) ratio = limit_ratio_;
+
+      double time_ori = u_(i + p_ + 1) - u_(i + 1);
+      double time_new = ratio * time_ori;
+      double delta_t  = time_new - time_ori;
+      double t_inc    = delta_t / double(p_);
+
+      for (int j = i + 2; j <= i + p_ + 1; ++j) {
+        u_(j) += double(j - i - 1) * t_inc;
+        if (j <= 5 && j >= 1) {
+          // cout << "vel j: " << j << endl;
+        }
+      }
+
+      for (int j = i + p_ + 2; j < u_.rows(); ++j) {
+        u_(j) += delta_t;
+      }
+    }
+  }
+
+  /* acc feasibility */
+  for (int i = 0; i < P.rows() - 2; ++i) {
+
+    Eigen::VectorXd acc = p_ * (p_ - 1) *
+        ((P.row(i + 2) - P.row(i + 1)) / (u_(i + p_ + 2) - u_(i + 2)) -
+         (P.row(i + 1) - P.row(i)) / (u_(i + p_ + 1) - u_(i + 1))) /
+        (u_(i + p_ + 1) - u_(i + 2));
+
+    if (fabs(acc(0)) > limit_acc_ + 1e-4 || fabs(acc(1)) > limit_acc_ + 1e-4 ||
+        fabs(acc(2)) > limit_acc_ + 1e-4) {
+
+      fea = false;
+      if (show) cout << "[Realloc]: Infeasible acc " << i << " :" << acc.transpose() << endl;
+
+      max_acc = -1.0;
+      for (int j = 0; j < dimension; ++j) {
+        max_acc = max(max_acc, fabs(acc(j)));
+      }
+
+      double ratio = sqrt(max_acc / limit_acc_) + 1e-4;
+      if (ratio > limit_ratio_) ratio = limit_ratio_;
+      // cout << "ratio: " << ratio << endl;
+
+      double time_ori = u_(i + p_ + 1) - u_(i + 2);
+      double time_new = ratio * time_ori;
+      double delta_t  = time_new - time_ori;
+      double t_inc    = delta_t / double(p_ - 1);
+
+      if (i == 1 || i == 2) {
+        // cout << "acc i: " << i << endl;
+        for (int j = 2; j <= 5; ++j) {
+          u_(j) += double(j - 1) * t_inc;
+        }
+
+        for (int j = 6; j < u_.rows(); ++j) {
+          u_(j) += 4.0 * t_inc;
+        }
+
+      } else {
+
+        for (int j = i + 3; j <= i + p_ + 1; ++j) {
+          u_(j) += double(j - i - 2) * t_inc;
+          if (j <= 5 && j >= 1) {
+            // cout << "acc j: " << j << endl;
+          }
+        }
+
+        for (int j = i + p_ + 2; j < u_.rows(); ++j) {
+          u_(j) += delta_t;
+        }
+      }
+    }
+  }
+
+  return fea;
+}
+
+void NonUniformBspline::lengthenTime(const double& ratio) {
+  int num1 = 5;
+  int num2 = getKnot().rows() - 1 - 5;
+
+  double delta_t = (ratio - 1.0) * (u_(num2) - u_(num1));
+  double t_inc   = delta_t / double(num2 - num1);
+  for (int i = num1 + 1; i <= num2; ++i) u_(i) += double(i - num1) * t_inc;
+  for (int i = num2 + 1; i < u_.rows(); ++i) u_(i) += delta_t;
+}
+
+void NonUniformBspline::recomputeInit() {}
+
+void NonUniformBspline::parameterizeToBspline(const double& ts, const vector<Eigen::Vector3d>& point_set,
+                                              const vector<Eigen::Vector3d>& start_end_derivative,
+                                              Eigen::MatrixXd&               ctrl_pts) {
+  if (ts <= 0) {
+    cout << "[B-spline]:time step error." << endl;
+    return;
+  }
+
+  if (point_set.size() < 2) {
+    cout << "[B-spline]:point set have only " << point_set.size() << " points." << endl;
+    return;
+  }
+
+  if (start_end_derivative.size() != 4) {
+    cout << "[B-spline]:derivatives error." << endl;
+  }
+
+  int K = point_set.size();
+
+  // write A
+  Eigen::Vector3d prow(3), vrow(3), arow(3);
+  prow << 1, 4, 1;
+  vrow << -1, 0, 1;
+  arow << 1, -2, 1;
+
+  Eigen::MatrixXd A = Eigen::MatrixXd::Zero(K + 4, K + 2);
+
+  for (int i = 0; i < K; ++i) A.block(i, i, 1, 3) = (1 / 6.0) * prow.transpose();
+
+  A.block(K, 0, 1, 3)         = (1 / 2.0 / ts) * vrow.transpose();
+  A.block(K + 1, K - 1, 1, 3) = (1 / 2.0 / ts) * vrow.transpose();
+
+  A.block(K + 2, 0, 1, 3)     = (1 / ts / ts) * arow.transpose();
+  A.block(K + 3, K - 1, 1, 3) = (1 / ts / ts) * arow.transpose();
+  // cout << "A:\n" << A << endl;
+
+  // A.block(0, 0, K, K + 2) = (1 / 6.0) * A.block(0, 0, K, K + 2);
+  // A.block(K, 0, 2, K + 2) = (1 / 2.0 / ts) * A.block(K, 0, 2, K + 2);
+  // A.row(K + 4) = (1 / ts / ts) * A.row(K + 4);
+  // A.row(K + 5) = (1 / ts / ts) * A.row(K + 5);
+
+  // write b
+  Eigen::VectorXd bx(K + 4), by(K + 4), bz(K + 4);
+  for (int i = 0; i < K; ++i) {
+    bx(i) = point_set[i](0);
+    by(i) = point_set[i](1);
+    bz(i) = point_set[i](2);
+  }
+
+  for (int i = 0; i < 4; ++i) {
+    bx(K + i) = start_end_derivative[i](0);
+    by(K + i) = start_end_derivative[i](1);
+    bz(K + i) = start_end_derivative[i](2);
+  }
+
+  // solve Ax = b
+  Eigen::VectorXd px = A.colPivHouseholderQr().solve(bx);
+  Eigen::VectorXd py = A.colPivHouseholderQr().solve(by);
+  Eigen::VectorXd pz = A.colPivHouseholderQr().solve(bz);
+
+  // convert to control pts
+  ctrl_pts.resize(K + 2, 3);
+  ctrl_pts.col(0) = px;
+  ctrl_pts.col(1) = py;
+  ctrl_pts.col(2) = pz;
+
+  // cout << "[B-spline]: parameterization ok." << endl;
+}
+
+double NonUniformBspline::getTimeSum() {
+  double tm, tmp;
+  getTimeSpan(tm, tmp);
+  return tmp - tm;
+}
+
+double NonUniformBspline::getLength(const double& res) {
+  double          length = 0.0;
+  double          dur    = getTimeSum();
+  Eigen::VectorXd p_l    = evaluateDeBoorT(0.0), p_n;
+  for (double t = res; t <= dur + 1e-4; t += res) {
+    p_n = evaluateDeBoorT(t);
+    length += (p_n - p_l).norm();
+    p_l = p_n;
+  }
+  return length;
+}
+
+double NonUniformBspline::getAcc() {
+  NonUniformBspline acc_traj = getDerivative().getDerivative();
+
+  Eigen::VectorXd times     = acc_traj.getKnot();
+  Eigen::MatrixXd ctrl_pts  = acc_traj.getControlPoint();
+  int             dimension = ctrl_pts.cols();
+
+  double acc = 0.0;
+  for (int i = 0; i < ctrl_pts.rows(); ++i) {
+    for (int j = 0; j < dimension; ++j) {
+      acc += (times(i + 1) - times(i)) * ctrl_pts(i, j) * ctrl_pts(i, j);
+    }
+  }
+
+  return acc;
+}
+
+double NonUniformBspline::getJerk() {
+  NonUniformBspline jerk_traj = getDerivative().getDerivative().getDerivative();
+
+  Eigen::VectorXd times     = jerk_traj.getKnot();
+  Eigen::MatrixXd ctrl_pts  = jerk_traj.getControlPoint();
+  int             dimension = ctrl_pts.cols();
+
+  double jerk = 0.0;
+  for (int i = 0; i < ctrl_pts.rows(); ++i) {
+    for (int j = 0; j < dimension; ++j) {
+      jerk += (times(i + 1) - times(i)) * ctrl_pts(i, j) * ctrl_pts(i, j);
+    }
+  }
+
+  return jerk;
+}
+
+void NonUniformBspline::getMeanAndMaxVel(double& mean_v, double& max_v) {
+  NonUniformBspline vel = getDerivative();
+  double            tm, tmp;
+  vel.getTimeSpan(tm, tmp);
+
+  double max_vel = -1.0, mean_vel = 0.0;
+  int    num = 0;
+  for (double t = tm; t <= tmp; t += 0.01) {
+    Eigen::VectorXd vxd = vel.evaluateDeBoor(t);
+    double          vn  = vxd.norm();
+
+    mean_vel += vn;
+    ++num;
+    if (vn > max_vel) {
+      max_vel = vn;
+    }
+  }
+
+  mean_vel = mean_vel / double(num);
+  mean_v   = mean_vel;
+  max_v    = max_vel;
+}
+
+void NonUniformBspline::getMeanAndMaxAcc(double& mean_a, double& max_a) {
+  NonUniformBspline acc = getDerivative().getDerivative();
+  double            tm, tmp;
+  acc.getTimeSpan(tm, tmp);
+
+  double max_acc = -1.0, mean_acc = 0.0;
+  int    num = 0;
+  for (double t = tm; t <= tmp; t += 0.01) {
+    Eigen::VectorXd axd = acc.evaluateDeBoor(t);
+    double          an  = axd.norm();
+
+    mean_acc += an;
+    ++num;
+    if (an > max_acc) {
+      max_acc = an;
+    }
+  }
+
+  mean_acc = mean_acc / double(num);
+  mean_a   = mean_acc;
+  max_a    = max_acc;
+}
+}  // namespace fast_planner
diff --git a/planning/bspline_opt/CMakeLists.txt b/planning/bspline_opt/CMakeLists.txt
new file mode 100755
index 0000000..95068e3
--- /dev/null
+++ b/planning/bspline_opt/CMakeLists.txt
@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(bspline_opt)
+
+find_package(Eigen3 REQUIRED)
+find_package(PCL 1.7 REQUIRED)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  visualization_msgs
+  occ_grid
+  poly_traj_utils
+  cv_bridge
+)
+
+catkin_package(
+ INCLUDE_DIRS include
+ LIBRARIES bspline_opt
+ CATKIN_DEPENDS occ_grid
+#  DEPENDS system_lib
+)
+
+include_directories( 
+    SYSTEM 
+    include 
+    ${catkin_INCLUDE_DIRS}
+    ${Eigen3_INCLUDE_DIRS} 
+    ${PCL_INCLUDE_DIRS}
+)
+
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -O3 -Wall")
+
+add_library( bspline_opt 
+    src/bspline_optimizer.cpp 
+    )
+target_link_libraries( bspline_opt
+    ${catkin_LIBRARIES} 
+    /usr/local/lib/libnlopt.so
+    )  
diff --git a/planning/bspline_opt/include/bspline_opt/bspline_optimizer.h b/planning/bspline_opt/include/bspline_opt/bspline_optimizer.h
new file mode 100755
index 0000000..717da38
--- /dev/null
+++ b/planning/bspline_opt/include/bspline_opt/bspline_optimizer.h
@@ -0,0 +1,152 @@
+#ifndef _BSPLINE_OPTIMIZER_H_
+#define _BSPLINE_OPTIMIZER_H_
+
+#include <Eigen/Eigen>
+#include "occ_grid/pos_checker.h"
+#include <ros/ros.h>
+
+// Gradient and elasitc band optimization
+
+// Input: a signed distance field and a sequence of points
+// Output: the optimized sequence of points
+// The format of points: N x 3 matrix, each row is a point
+namespace fast_planner {
+class BsplineOptimizer {
+
+public:
+  static const int SMOOTHNESS;
+  static const int DISTANCE;
+  static const int FEASIBILITY;
+  static const int ENDPOINT;
+  static const int GUIDE;
+  static const int WAYPOINTS;
+
+  static const int GUIDE_PHASE;
+  static const int NORMAL_PHASE;
+
+  BsplineOptimizer() {}
+  ~BsplineOptimizer() {}
+
+  /* main API */
+  void            setEnvironment(const tgk_planner::PosChecker::Ptr& env);
+  void            setParam(const ros::NodeHandle& nh);
+  Eigen::MatrixXd BsplineOptimizeTraj(const Eigen::MatrixXd& points, const double& ts,
+                                      const int& cost_function, int max_num_id, int max_time_id);
+  int getIterationTimes(){return iter_num_;};
+
+  /* helper function */
+
+  // required inputs
+  void setControlPoints(const Eigen::MatrixXd& points);
+  void setBsplineInterval(const double& ts);
+  void setCostFunction(const int& cost_function);
+  void setTerminateCond(const int& max_num_id, const int& max_time_id);
+
+  // optional inputs
+  void setGuidePath(const vector<Eigen::Vector3d>& guide_pt);
+  void setWaypoints(const vector<Eigen::Vector3d>& waypts,
+                    const vector<int>&             waypt_idx);  // N-2 constraints at most
+
+  void optimize();
+
+  Eigen::MatrixXd         getControlPoints();
+  vector<Eigen::Vector3d> matrixToVectors(const Eigen::MatrixXd& ctrl_pts);
+
+private:
+  tgk_planner::PosChecker::Ptr edt_environment_;
+
+  // main input
+  Eigen::MatrixXd control_points_;     // B-spline control points, N x dim
+  double          bspline_interval_;   // B-spline knot span
+  Eigen::Vector3d end_pt_;             // end of the trajectory
+  int             dim_;                // dimension of the B-spline
+                                       //
+  vector<Eigen::Vector3d> guide_pts_;  // geometric guiding path points, N-6
+  vector<Eigen::Vector3d> waypoints_;  // waypts constraints
+  vector<int>             waypt_idx_;  // waypts constraints index
+                                       //
+  int    max_num_id_, max_time_id_;    // stopping criteria
+  int    cost_function_;               // used to determine objective function
+  bool   dynamic_;                     // moving obstacles ?
+  double start_time_;                  // global time for moving obstacles
+
+  /* optimization parameters */
+  int    order_;                  // bspline degree
+  double lambda1_;                // jerk smoothness weight
+  double lambda2_;                // distance weight
+  double lambda3_;                // feasibility weight
+  double lambda4_;                // end point weight
+  double lambda5_;                // guide cost weight
+  double lambda6_;                // visibility cost weight
+  double lambda7_;                // waypoints cost weight
+  double lambda8_;                // acc smoothness
+                                  //
+  double dist0_;                  // safe distance
+  double max_vel_, max_acc_;      // dynamic limits
+  double visib_min_;              // threshold of visibility
+  double wnl_;                    //
+  double dlmin_;                  //
+                                  //
+  int    algorithm1_;             // optimization algorithms for quadratic cost
+  int    algorithm2_;             // optimization algorithms for general cost
+  int    max_iteration_num_[4];   // stopping criteria that can be used
+  double max_iteration_time_[4];  // stopping criteria that can be used
+
+  /* intermediate variables */
+  /* buffer for gradient of cost function, to avoid repeated allocation and
+   * release of memory */
+  vector<Eigen::Vector3d> g_q_;
+  vector<Eigen::Vector3d> g_smoothness_;
+  vector<Eigen::Vector3d> g_distance_;
+  vector<Eigen::Vector3d> g_feasibility_;
+  vector<Eigen::Vector3d> g_endpoint_;
+  vector<Eigen::Vector3d> g_guide_;
+  vector<Eigen::Vector3d> g_waypoints_;
+
+  int                 variable_num_;   // optimization variables
+  int                 iter_num_;       // iteration of the solver
+  std::vector<double> best_variable_;  //
+  double              min_cost_;       //
+
+  vector<Eigen::Vector3d> block_pts_;  // blocking points to compute visibility
+
+  /* cost function */
+  /* calculate each part of cost function with control points q as input */
+
+  static double costFunction(const std::vector<double>& x, std::vector<double>& grad, void* func_data);
+  void          combineCost(const std::vector<double>& x, vector<double>& grad, double& cost);
+
+  // q contains all control points
+  void calcSmoothnessCost(const vector<Eigen::Vector3d>& q, double& cost,
+                          vector<Eigen::Vector3d>& gradient);
+  void calcDistanceCost(const vector<Eigen::Vector3d>& q, double& cost,
+                        vector<Eigen::Vector3d>& gradient);
+  void calcFeasibilityCost(const vector<Eigen::Vector3d>& q, double& cost,
+                           vector<Eigen::Vector3d>& gradient);
+  void calcEndpointCost(const vector<Eigen::Vector3d>& q, double& cost,
+                        vector<Eigen::Vector3d>& gradient);
+  void calcGuideCost(const vector<Eigen::Vector3d>& q, double& cost, vector<Eigen::Vector3d>& gradient);
+  void calcVisibilityCost(const vector<Eigen::Vector3d>& q, double& cost,
+                          vector<Eigen::Vector3d>& gradient);
+  void calcWaypointsCost(const vector<Eigen::Vector3d>& q, double& cost,
+                         vector<Eigen::Vector3d>& gradient);
+  void calcViewCost(const vector<Eigen::Vector3d>& q, double& cost, vector<Eigen::Vector3d>& gradient);
+  bool isQuadratic();
+
+  /* for benckmark evaluation only */
+public:
+  vector<double> vec_cost_;
+  vector<double> vec_time_;
+  ros::Time      time_start_;
+
+  void getCostCurve(vector<double>& cost, vector<double>& time) {
+    cost = vec_cost_;
+    time = vec_time_;
+  }
+
+  typedef std::unique_ptr<BsplineOptimizer> Ptr;
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+}  // namespace fast_planner
+#endif
\ No newline at end of file
diff --git a/planning/bspline_opt/package.xml b/planning/bspline_opt/package.xml
new file mode 100755
index 0000000..f106530
--- /dev/null
+++ b/planning/bspline_opt/package.xml
@@ -0,0 +1,72 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>bspline_opt</name>
+  <version>0.0.0</version>
+  <description>The bspline_opt package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="bzhouai@todo.todo">bzhouai</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/bspline_opt</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>occ_grid</build_depend>
+  <build_depend>poly_traj_utils</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>occ_grid</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>occ_grid</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/planning/bspline_opt/script/calc_jacobian.py b/planning/bspline_opt/script/calc_jacobian.py
new file mode 100755
index 0000000..20eec14
--- /dev/null
+++ b/planning/bspline_opt/script/calc_jacobian.py
@@ -0,0 +1,13 @@
+import numpy as np
+import sympy as sp
+
+
+def calcJacobian(funcs, vars):
+    jacobi = []
+    for func in funcs:
+        j_row = []
+        for var in vars:
+            dif = sp.simplify(sp.diff(func, var))
+            j_row.append(dif)
+        jacobi.append(j_row)
+    return sp.Matrix(jacobi)
\ No newline at end of file
diff --git a/planning/bspline_opt/script/calc_jacobian.pyc b/planning/bspline_opt/script/calc_jacobian.pyc
new file mode 100755
index 0000000..e5aa6a2
Binary files /dev/null and b/planning/bspline_opt/script/calc_jacobian.pyc differ
diff --git a/planning/bspline_opt/script/cost_function.py b/planning/bspline_opt/script/cost_function.py
new file mode 100755
index 0000000..86493ad
--- /dev/null
+++ b/planning/bspline_opt/script/cost_function.py
@@ -0,0 +1,25 @@
+import numpy as np
+import sympy as sp
+from math import *
+import matplotlib.pyplot as plt
+
+
+def f1(x):
+    return (np.sqrt(x) - 1.0)**2
+
+def df1dx(x):
+  return 
+
+
+def drawCostFunction():
+    x1 = np.arange(0.0, 5.0, 0.01)
+    y1 = f1(x1)
+    print x1
+    print y1
+    plt.figure()
+    plt.plot(x1, y1)
+    plt.show()
+
+
+if __name__ == "__main__":
+    drawCostFunction()
\ No newline at end of file
diff --git a/planning/bspline_opt/script/dist_to_line.py b/planning/bspline_opt/script/dist_to_line.py
new file mode 100755
index 0000000..cc47c95
--- /dev/null
+++ b/planning/bspline_opt/script/dist_to_line.py
@@ -0,0 +1,85 @@
+import numpy as np
+import sympy as sp
+from calc_jacobian import calcJacobian
+
+
+def distToLine():
+    """ compute the distance of a point qb to a line qiqj, and find its gradient wrt qi, qj """
+    # define vars
+    qix, qiy, qiz = sp.symbols('qix, qiy, qiz')
+    qjx, qjy, qjz = sp.symbols('qjx, qjy, qjz')
+    qbx, qby, qbz = sp.symbols('qbx, qby, qbz')
+    qi = sp.Matrix([qix, qiy, qiz])
+    qj = sp.Matrix([qjx, qjy, qjz])
+    qb = sp.Matrix([qbx, qby, qbz])
+
+    # write cost function
+    u = (qb - qi).cross(qj - qi)
+    fu = u.dot(u)
+    v = (qj - qi)
+    fv = v.dot(v)
+    f = fu / fv
+    f = sp.simplify(f)
+    print(f)
+
+    # find jacobian
+    df_dqi = calcJacobian([f], [qix, qiy, qiz]).transpose()
+    df_dqi = sp.simplify(df_dqi)
+    print df_dqi
+    df_dqj = calcJacobian([f], [qjx, qjy, qjz]).transpose()
+    df_dqj = sp.simplify(df_dqj)
+
+
+def distToLine2():
+    """ compute the distance of a point qb to a line qiqj, and find its gradient wrt qi, qj """
+    # define vars
+    qix, qiy, qiz = sp.symbols('qix, qiy, qiz')
+    qjx, qjy, qjz = sp.symbols('qjx, qjy, qjz')
+    qbx, qby, qbz = sp.symbols('qbx, qby, qbz')
+    qi = sp.Matrix([qix, qiy, qiz])
+    qj = sp.Matrix([qjx, qjy, qjz])
+    qb = sp.Matrix([qbx, qby, qbz])
+
+    # write cost function
+    u = (qb - qi).cross(qj - qi)
+    print sp.simplify(u)
+    return
+
+    fu = u.dot(u)
+    v = (qj - qi)
+    fv = v.dot(v)
+    f = fu / fv
+    f = sp.simplify(f)
+    print(f)
+
+    # find jacobian
+    df_dqi = calcJacobian([f], [qix, qiy, qiz]).transpose()
+    df_dqi = sp.simplify(df_dqi)
+    print df_dqi
+    df_dqj = calcJacobian([f], [qjx, qjy, qjz]).transpose()
+    df_dqj = sp.simplify(df_dqj)
+
+
+def distToView():
+    px, py, pz = sp.symbols('px, py, pz')
+    vx, vy, vz = sp.symbols('vx, vy, vz')
+    qix, qiy, qiz = sp.symbols('qix, qiy, qiz')
+    p = sp.Matrix([px, py, pz])
+    v = sp.Matrix([vx, vy, vz])
+    qi = sp.Matrix([qix, qiy, qiz])
+
+    # dist to view
+    d = (qi - p) - ((qi - p).dot(v)) * v
+    D = d.dot(d)
+    dD_dqi = calcJacobian([D], [qix, qiy, qiz]).transpose()
+    dD_dqi = sp.simplify(dD_dqi)
+    sp.pprint(dD_dqi)
+    print dD_dqi
+
+    dd_dqi = calcJacobian([d[0], d[1], d[2]], [qix, qiy, qiz])
+    dd_dqi = sp.simplify(dd_dqi)
+    print dd_dqi
+
+if __name__ == "__main__":
+    # distToLine2()
+    distToView()
diff --git a/planning/bspline_opt/src/bspline_optimizer.cpp b/planning/bspline_opt/src/bspline_optimizer.cpp
new file mode 100755
index 0000000..ac8a143
--- /dev/null
+++ b/planning/bspline_opt/src/bspline_optimizer.cpp
@@ -0,0 +1,477 @@
+#include "bspline_opt/bspline_optimizer.h"
+#include <nlopt.hpp>
+// using namespace std;
+
+namespace fast_planner {
+
+const int BsplineOptimizer::SMOOTHNESS  = (1 << 0);
+const int BsplineOptimizer::DISTANCE    = (1 << 1);
+const int BsplineOptimizer::FEASIBILITY = (1 << 2);
+const int BsplineOptimizer::ENDPOINT    = (1 << 3);
+const int BsplineOptimizer::GUIDE       = (1 << 4);
+const int BsplineOptimizer::WAYPOINTS   = (1 << 6);
+
+const int BsplineOptimizer::GUIDE_PHASE = BsplineOptimizer::SMOOTHNESS | BsplineOptimizer::GUIDE;
+const int BsplineOptimizer::NORMAL_PHASE =
+    BsplineOptimizer::SMOOTHNESS | BsplineOptimizer::DISTANCE | BsplineOptimizer::FEASIBILITY;
+
+void BsplineOptimizer::setParam(const ros::NodeHandle& nh) {
+  nh.param("bspline/lambda1", lambda1_, -1.0);
+  nh.param("bspline/lambda2", lambda2_, -1.0);
+  nh.param("bspline/lambda3", lambda3_, -1.0);
+  nh.param("bspline/lambda4", lambda4_, -1.0);
+  nh.param("bspline/lambda5", lambda5_, -1.0);
+  nh.param("bspline/lambda6", lambda6_, -1.0);
+  nh.param("bspline/lambda7", lambda7_, -1.0);
+  nh.param("bspline/lambda8", lambda8_, -1.0);
+
+  nh.param("bspline/dist0", dist0_, -1.0);
+  nh.param("bspline/max_vel", max_vel_, -1.0);
+  nh.param("bspline/max_acc", max_acc_, -1.0);
+  nh.param("bspline/visib_min", visib_min_, -1.0);
+  nh.param("bspline/dlmin", dlmin_, -1.0);
+  nh.param("bspline/wnl", wnl_, -1.0);
+
+  nh.param("bspline/max_iteration_num1", max_iteration_num_[0], -1);
+  nh.param("bspline/max_iteration_num2", max_iteration_num_[1], -1);
+  nh.param("bspline/max_iteration_num3", max_iteration_num_[2], -1);
+  nh.param("bspline/max_iteration_num4", max_iteration_num_[3], -1);
+  nh.param("bspline/max_iteration_time1", max_iteration_time_[0], -1.0);
+  nh.param("bspline/max_iteration_time2", max_iteration_time_[1], -1.0);
+  nh.param("bspline/max_iteration_time3", max_iteration_time_[2], -1.0);
+  nh.param("bspline/max_iteration_time4", max_iteration_time_[3], -1.0);
+
+  nh.param("bspline/algorithm1", algorithm1_, -1);
+  nh.param("bspline/algorithm2", algorithm2_, -1);
+  nh.param("bspline/order", order_, -1);
+}
+
+void BsplineOptimizer::setEnvironment(const tgk_planner::PosChecker::Ptr& env) {
+  this->edt_environment_ = env;
+}
+
+void BsplineOptimizer::setControlPoints(const Eigen::MatrixXd& points) {
+  control_points_ = points;
+  dim_            = control_points_.cols();
+}
+
+void BsplineOptimizer::setBsplineInterval(const double& ts) { bspline_interval_ = ts; }
+
+void BsplineOptimizer::setTerminateCond(const int& max_num_id, const int& max_time_id) {
+  max_num_id_  = max_num_id;
+  max_time_id_ = max_time_id;
+}
+
+void BsplineOptimizer::setCostFunction(const int& cost_code) {
+  cost_function_ = cost_code;
+
+  // print optimized cost function
+  string cost_str;
+  if (cost_function_ & SMOOTHNESS) cost_str += "smooth |";
+  if (cost_function_ & DISTANCE) cost_str += " dist  |";
+  if (cost_function_ & FEASIBILITY) cost_str += " feasi |";
+  if (cost_function_ & ENDPOINT) cost_str += " endpt |";
+  if (cost_function_ & GUIDE) cost_str += " guide |";
+  if (cost_function_ & WAYPOINTS) cost_str += " waypt |";
+
+  ROS_INFO_STREAM("cost func: " << cost_str);
+}
+
+void BsplineOptimizer::setGuidePath(const vector<Eigen::Vector3d>& guide_pt) { guide_pts_ = guide_pt; }
+
+void BsplineOptimizer::setWaypoints(const vector<Eigen::Vector3d>& waypts,
+                                    const vector<int>&             waypt_idx) {
+  waypoints_ = waypts;
+  waypt_idx_ = waypt_idx;
+}
+
+Eigen::MatrixXd BsplineOptimizer::BsplineOptimizeTraj(const Eigen::MatrixXd& points, const double& ts,
+                                                      const int& cost_function, int max_num_id,
+                                                      int max_time_id) {
+  setControlPoints(points);
+  setBsplineInterval(ts);
+  setCostFunction(cost_function);
+  setTerminateCond(max_num_id, max_time_id);
+
+  optimize();
+  return this->control_points_;
+}
+
+void BsplineOptimizer::optimize() {
+  /* initialize solver */
+  iter_num_        = 0;
+  min_cost_        = std::numeric_limits<double>::max();
+  const int pt_num = control_points_.rows();
+  g_q_.resize(pt_num);
+  g_smoothness_.resize(pt_num);
+  g_distance_.resize(pt_num);
+  g_feasibility_.resize(pt_num);
+  g_endpoint_.resize(pt_num);
+  g_waypoints_.resize(pt_num);
+  g_guide_.resize(pt_num);
+
+  if (cost_function_ & ENDPOINT) {
+    variable_num_ = dim_ * (pt_num - order_);
+    // end position used for hard constraint
+    end_pt_ = (1 / 6.0) *
+        (control_points_.row(pt_num - 3) + 4 * control_points_.row(pt_num - 2) +
+         control_points_.row(pt_num - 1));
+  } else {
+    variable_num_ = max(0, dim_ * (pt_num - 2 * order_)) ;
+  }
+
+  /* do optimization using NLopt slover */
+  nlopt::opt opt(nlopt::algorithm(isQuadratic() ? algorithm1_ : algorithm2_), variable_num_);
+  opt.set_min_objective(BsplineOptimizer::costFunction, this);
+  opt.set_maxeval(max_iteration_num_[max_num_id_]);
+  opt.set_maxtime(max_iteration_time_[max_time_id_]);
+  opt.set_xtol_rel(1e-4);
+
+  vector<double> q(variable_num_);
+  for (int i = order_; i < pt_num; ++i) {
+    if (!(cost_function_ & ENDPOINT) && i >= pt_num - order_) continue;
+    for (int j = 0; j < dim_; j++) {
+      q[dim_ * (i - order_) + j] = control_points_(i, j);
+    }
+  }
+
+  if (dim_ != 1) {
+    vector<double> lb(variable_num_), ub(variable_num_);
+    const double   bound = 10.0;
+    for (int i = 0; i < variable_num_; ++i) {
+      lb[i] = q[i] - bound;
+      ub[i] = q[i] + bound;
+    }
+    opt.set_lower_bounds(lb);
+    opt.set_upper_bounds(ub);
+  }
+
+  try {
+    // cout << fixed << setprecision(7);
+    // vec_time_.clear();
+    // vec_cost_.clear();
+    // time_start_ = ros::Time::now();
+
+    double        final_cost;
+    nlopt::result result = opt.optimize(q, final_cost);
+
+    /* retrieve the optimization result */
+    // cout << "Min cost:" << min_cost_ << endl;
+  } catch (std::exception& e) {
+    ROS_WARN("[Optimization]: nlopt exception");
+    cout << e.what() << endl;
+  }
+
+  for (int i = order_; i < control_points_.rows(); ++i) {
+    if (!(cost_function_ & ENDPOINT) && i >= pt_num - order_) continue;
+    for (int j = 0; j < dim_; j++) {
+      control_points_(i, j) = best_variable_[dim_ * (i - order_) + j];
+    }
+  }
+
+  if (!(cost_function_ & GUIDE)) ROS_INFO_STREAM("iter num: " << iter_num_);
+}
+
+void BsplineOptimizer::calcSmoothnessCost(const vector<Eigen::Vector3d>& q, double& cost,
+                                          vector<Eigen::Vector3d>& gradient) {
+  cost = 0.0;
+  Eigen::Vector3d zero(0, 0, 0);
+  std::fill(gradient.begin(), gradient.end(), zero);
+  Eigen::Vector3d jerk, temp_j;
+
+  for (int i = 0; i < q.size() - order_; i++) {
+    /* evaluate jerk */
+    jerk = q[i + 3] - 3 * q[i + 2] + 3 * q[i + 1] - q[i];
+    cost += jerk.squaredNorm();
+    temp_j = 2.0 * jerk;
+    /* jerk gradient */
+    gradient[i + 0] += -temp_j;
+    gradient[i + 1] += 3.0 * temp_j;
+    gradient[i + 2] += -3.0 * temp_j;
+    gradient[i + 3] += temp_j;
+  }
+}
+
+void BsplineOptimizer::calcDistanceCost(const vector<Eigen::Vector3d>& q, double& cost,
+                                        vector<Eigen::Vector3d>& gradient) {
+  cost = 0.0;
+  Eigen::Vector3d zero(0, 0, 0);
+  std::fill(gradient.begin(), gradient.end(), zero);
+
+  double          dist;
+  Eigen::Vector3d dist_grad, g_zero(0, 0, 0);
+
+  int end_idx = (cost_function_ & ENDPOINT) ? q.size() : q.size() - order_;
+
+  for (int i = order_; i < end_idx; i++) {
+    edt_environment_->evaluateEDTWithGrad(q[i], -1.0, dist, dist_grad);
+    if (dist_grad.norm() > 1e-4) dist_grad.normalize();
+
+    if (dist < dist0_) {
+      cost += pow(dist - dist0_, 2);
+      gradient[i] += 2.0 * (dist - dist0_) * dist_grad;
+    }
+  }
+}
+
+void BsplineOptimizer::calcFeasibilityCost(const vector<Eigen::Vector3d>& q, double& cost,
+                                           vector<Eigen::Vector3d>& gradient) {
+  cost = 0.0;
+  Eigen::Vector3d zero(0, 0, 0);
+  std::fill(gradient.begin(), gradient.end(), zero);
+
+  /* abbreviation */
+  double ts, vm2, am2, ts_inv2, ts_inv4;
+  vm2 = max_vel_ * max_vel_;
+  am2 = max_acc_ * max_acc_;
+
+  ts      = bspline_interval_;
+  ts_inv2 = 1 / ts / ts;
+  ts_inv4 = ts_inv2 * ts_inv2;
+
+  /* velocity feasibility */
+  for (int i = 0; i < q.size() - 1; i++) {
+    Eigen::Vector3d vi = q[i + 1] - q[i];
+
+    for (int j = 0; j < 3; j++) {
+      double vd = vi(j) * vi(j) * ts_inv2 - vm2;
+      if (vd > 0.0) {
+        cost += pow(vd, 2);
+
+        double temp_v = 4.0 * vd * ts_inv2;
+        gradient[i + 0](j) += -temp_v * vi(j);
+        gradient[i + 1](j) += temp_v * vi(j);
+      }
+    }
+  }
+
+  /* acceleration feasibility */
+  for (int i = 0; i < q.size() - 2; i++) {
+    Eigen::Vector3d ai = q[i + 2] - 2 * q[i + 1] + q[i];
+
+    for (int j = 0; j < 3; j++) {
+      double ad = ai(j) * ai(j) * ts_inv4 - am2;
+      if (ad > 0.0) {
+        cost += pow(ad, 2);
+
+        double temp_a = 4.0 * ad * ts_inv4;
+        gradient[i + 0](j) += temp_a * ai(j);
+        gradient[i + 1](j) += -2 * temp_a * ai(j);
+        gradient[i + 2](j) += temp_a * ai(j);
+      }
+    }
+  }
+}
+
+void BsplineOptimizer::calcEndpointCost(const vector<Eigen::Vector3d>& q, double& cost,
+                                        vector<Eigen::Vector3d>& gradient) {
+  cost = 0.0;
+  Eigen::Vector3d zero(0, 0, 0);
+  std::fill(gradient.begin(), gradient.end(), zero);
+
+  // zero cost and gradient in hard constraints
+  Eigen::Vector3d q_3, q_2, q_1, dq;
+  q_3 = q[q.size() - 3];
+  q_2 = q[q.size() - 2];
+  q_1 = q[q.size() - 1];
+
+  dq = 1 / 6.0 * (q_3 + 4 * q_2 + q_1) - end_pt_;
+  cost += dq.squaredNorm();
+
+  gradient[q.size() - 3] += 2 * dq * (1 / 6.0);
+  gradient[q.size() - 2] += 2 * dq * (4 / 6.0);
+  gradient[q.size() - 1] += 2 * dq * (1 / 6.0);
+}
+
+void BsplineOptimizer::calcWaypointsCost(const vector<Eigen::Vector3d>& q, double& cost,
+                                         vector<Eigen::Vector3d>& gradient) {
+  cost = 0.0;
+  Eigen::Vector3d zero(0, 0, 0);
+  std::fill(gradient.begin(), gradient.end(), zero);
+
+  Eigen::Vector3d q1, q2, q3, dq;
+
+  // for (auto wp : waypoints_) {
+  for (int i = 0; i < waypoints_.size(); ++i) {
+    Eigen::Vector3d waypt = waypoints_[i];
+    int             idx   = waypt_idx_[i];
+
+    q1 = q[idx];
+    q2 = q[idx + 1];
+    q3 = q[idx + 2];
+
+    dq = 1 / 6.0 * (q1 + 4 * q2 + q3) - waypt;
+    cost += dq.squaredNorm();
+
+    gradient[idx] += dq * (2.0 / 6.0);      // 2*dq*(1/6)
+    gradient[idx + 1] += dq * (8.0 / 6.0);  // 2*dq*(4/6)
+    gradient[idx + 2] += dq * (2.0 / 6.0);
+  }
+}
+
+/* use the uniformly sampled points on a geomertic path to guide the
+ * trajectory. For each control points to be optimized, it is assigned a
+ * guiding point on the path and the distance between them is penalized */
+void BsplineOptimizer::calcGuideCost(const vector<Eigen::Vector3d>& q, double& cost,
+                                     vector<Eigen::Vector3d>& gradient) {
+  cost = 0.0;
+  Eigen::Vector3d zero(0, 0, 0);
+  std::fill(gradient.begin(), gradient.end(), zero);
+
+  int end_idx = q.size() - order_;
+
+  for (int i = order_; i < end_idx; i++) {
+    Eigen::Vector3d gpt = guide_pts_[i - order_];
+    cost += (q[i] - gpt).squaredNorm();
+    gradient[i] += 2 * (q[i] - gpt);
+  }
+}
+
+void BsplineOptimizer::combineCost(const std::vector<double>& x, std::vector<double>& grad,
+                                   double& f_combine) {
+  /* convert the NLopt format vector to control points. */
+
+  // This solver can support 1D-3D B-spline optimization, but we use Vector3d to store each control point
+  // For 1D case, the second and third elements are zero, and similar for the 2D case.
+  for (int i = 0; i < order_; i++) {
+    for (int j = 0; j < dim_; ++j) {
+      g_q_[i][j] = control_points_(i, j);
+    }
+    for (int j = dim_; j < 3; ++j) {
+      g_q_[i][j] = 0.0;
+    }
+  }
+
+  for (int i = 0; i < variable_num_ / dim_; i++) {
+    for (int j = 0; j < dim_; ++j) {
+      g_q_[i + order_][j] = x[dim_ * i + j];
+    }
+    for (int j = dim_; j < 3; ++j) {
+      g_q_[i + order_][j] = 0.0;
+    }
+  }
+
+  if (!(cost_function_ & ENDPOINT)) {
+    for (int i = 0; i < order_; i++) {
+
+      for (int j = 0; j < dim_; ++j) {
+        g_q_[order_ + variable_num_ / dim_ + i][j] =
+            control_points_(control_points_.rows() - order_ + i, j);
+      }
+      for (int j = dim_; j < 3; ++j) {
+        g_q_[order_ + variable_num_ / dim_ + i][j] = 0.0;
+      }
+    }
+  }
+
+  f_combine = 0.0;
+  grad.resize(variable_num_);
+  fill(grad.begin(), grad.end(), 0.0);
+
+  /*  evaluate costs and their gradient  */
+  double f_smoothness, f_distance, f_feasibility, f_endpoint, f_guide, f_waypoints;
+  f_smoothness = f_distance = f_feasibility = f_endpoint = f_guide = f_waypoints = 0.0;
+
+  if (cost_function_ & SMOOTHNESS) {
+    calcSmoothnessCost(g_q_, f_smoothness, g_smoothness_);
+    f_combine += lambda1_ * f_smoothness;
+    for (int i = 0; i < variable_num_ / dim_; i++)
+      for (int j = 0; j < dim_; j++) grad[dim_ * i + j] += lambda1_ * g_smoothness_[i + order_](j);
+  }
+  if (cost_function_ & DISTANCE) {
+    calcDistanceCost(g_q_, f_distance, g_distance_);
+    f_combine += lambda2_ * f_distance;
+    for (int i = 0; i < variable_num_ / dim_; i++)
+      for (int j = 0; j < dim_; j++) grad[dim_ * i + j] += lambda2_ * g_distance_[i + order_](j);
+  }
+  if (cost_function_ & FEASIBILITY) {
+    calcFeasibilityCost(g_q_, f_feasibility, g_feasibility_);
+    f_combine += lambda3_ * f_feasibility;
+    for (int i = 0; i < variable_num_ / dim_; i++)
+      for (int j = 0; j < dim_; j++) grad[dim_ * i + j] += lambda3_ * g_feasibility_[i + order_](j);
+  }
+  if (cost_function_ & ENDPOINT) {
+    calcEndpointCost(g_q_, f_endpoint, g_endpoint_);
+    f_combine += lambda4_ * f_endpoint;
+    for (int i = 0; i < variable_num_ / dim_; i++)
+      for (int j = 0; j < dim_; j++) grad[dim_ * i + j] += lambda4_ * g_endpoint_[i + order_](j);
+  }
+  if (cost_function_ & GUIDE) {
+    calcGuideCost(g_q_, f_guide, g_guide_);
+    f_combine += lambda5_ * f_guide;
+    for (int i = 0; i < variable_num_ / dim_; i++)
+      for (int j = 0; j < dim_; j++) grad[dim_ * i + j] += lambda5_ * g_guide_[i + order_](j);
+  }
+  if (cost_function_ & WAYPOINTS) {
+    calcWaypointsCost(g_q_, f_waypoints, g_waypoints_);
+    f_combine += lambda7_ * f_waypoints;
+    for (int i = 0; i < variable_num_ / dim_; i++)
+      for (int j = 0; j < dim_; j++) grad[dim_ * i + j] += lambda7_ * g_waypoints_[i + order_](j);
+  }
+  /*  print cost  */
+  // if ((cost_function_ & WAYPOINTS) && iter_num_ % 10 == 0) {
+  //   cout << iter_num_ << ", total: " << f_combine << ", acc: " << lambda8_ * f_view
+  //        << ", waypt: " << lambda7_ * f_waypoints << endl;
+  // }
+
+  // if (optimization_phase_ == SECOND_PHASE) {
+  //  << ", smooth: " << lambda1_ * f_smoothness
+  //  << " , dist:" << lambda2_ * f_distance
+  //  << ", fea: " << lambda3_ * f_feasibility << endl;
+  // << ", end: " << lambda4_ * f_endpoint
+  // << ", guide: " << lambda5_ * f_guide
+  // }
+}
+
+double BsplineOptimizer::costFunction(const std::vector<double>& x, std::vector<double>& grad,
+                                      void* func_data) {
+  BsplineOptimizer* opt = reinterpret_cast<BsplineOptimizer*>(func_data);
+  double            cost;
+  opt->combineCost(x, grad, cost);
+  opt->iter_num_++;
+
+  /* save the min cost result */
+  if (cost < opt->min_cost_) {
+    opt->min_cost_      = cost;
+    opt->best_variable_ = x;
+  }
+  return cost;
+
+  // /* evaluation */
+  // ros::Time te1 = ros::Time::now();
+  // double time_now = (te1 - opt->time_start_).toSec();
+  // opt->vec_time_.push_back(time_now);
+  // if (opt->vec_cost_.size() == 0)
+  // {
+  //   opt->vec_cost_.push_back(f_combine);
+  // }
+  // else if (opt->vec_cost_.back() > f_combine)
+  // {
+  //   opt->vec_cost_.push_back(f_combine);
+  // }
+  // else
+  // {
+  //   opt->vec_cost_.push_back(opt->vec_cost_.back());
+  // }
+}
+
+vector<Eigen::Vector3d> BsplineOptimizer::matrixToVectors(const Eigen::MatrixXd& ctrl_pts) {
+  vector<Eigen::Vector3d> ctrl_q;
+  for (int i = 0; i < ctrl_pts.rows(); ++i) {
+    ctrl_q.push_back(ctrl_pts.row(i));
+  }
+  return ctrl_q;
+}
+
+Eigen::MatrixXd BsplineOptimizer::getControlPoints() { return this->control_points_; }
+
+bool BsplineOptimizer::isQuadratic() {
+  if (cost_function_ == GUIDE_PHASE) {
+    return true;
+  } else if (cost_function_ == (SMOOTHNESS | WAYPOINTS)) {
+    return true;
+  }
+  return false;
+}
+
+}  // namespace fast_planner
\ No newline at end of file
diff --git a/planning/kino_plan/CMakeLists.txt b/planning/kino_plan/CMakeLists.txt
new file mode 100755
index 0000000..9893f00
--- /dev/null
+++ b/planning/kino_plan/CMakeLists.txt
@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(kino_plan)
+
+add_compile_options(-std=c++11)
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -fPIC")
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  occ_grid
+  poly_traj_utils
+  visualization_utils
+  self_msgs_and_srvs
+  poly_opt
+  r3_plan
+  sampler
+)
+
+find_package(Eigen3 REQUIRED)
+find_package(PCL 1.7 REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES kino_plan
+  CATKIN_DEPENDS occ_grid poly_traj_utils
+#  DEPENDS system_lib
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
+  ${Eigen3_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+  src/topo_prm.cpp
+  src/krrt.cpp
+  src/krrt_star.cpp
+  src/krrt_sharp.cpp
+  src/kinodynamic_astar.cpp
+  src/kd_astar_jerk.cpp
+  src/kfmt.cpp
+  src/kdtree.c
+  src/raycast.cpp
+  src/bvp_solver.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
diff --git a/planning/kino_plan/include/kino_plan/bvp_solver.h b/planning/kino_plan/include/kino_plan/bvp_solver.h
new file mode 100755
index 0000000..10775dd
--- /dev/null
+++ b/planning/kino_plan/include/kino_plan/bvp_solver.h
@@ -0,0 +1,163 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#ifndef _BVP_SOLVER_H_
+#define _BVP_SOLVER_H_
+
+#include "poly_traj_utils/traj_utils.hpp"
+#include <Eigen/Eigen>
+
+#define DOUBLE_INTEGRATOR 2
+#define TRIPLE_INTEGRATOR 3
+#define ACC_KNOWN 0
+#define ACC_UNKNOWN 1
+#define INITIAL_ACC_UNKNOWN 2
+// #define HEURISTIC_TIME
+
+namespace BVPSolver
+{
+
+  using Eigen::Vector2d;
+  using Eigen::Vector3d;
+  using Eigen::VectorXd;
+
+  class IntegratorBVP
+  {
+  public:
+    void init(int model)
+    {
+      model_ = model;
+      if (model_ == DOUBLE_INTEGRATOR)
+      {
+        x0_ = Eigen::Matrix<double, 6, 1>::Zero();
+        x1_ = Eigen::Matrix<double, 6, 1>::Zero();
+      }
+      else if (model_ == TRIPLE_INTEGRATOR)
+      {
+        x0_ = Eigen::Matrix<double, 9, 1>::Zero();
+        x1_ = Eigen::Matrix<double, 9, 1>::Zero();
+      }
+    };
+
+    void setRho(double rho)
+    {
+      rho_ = rho;
+    };
+
+    bool solve(const VectorXd &start, const VectorXd &goal, int type = ACC_UNKNOWN)
+    {
+      setBoundaries(start, goal);
+      if (model_ == DOUBLE_INTEGRATOR)
+      {
+        return solveDouble();
+      }
+      else if (model_ == TRIPLE_INTEGRATOR)
+      {
+        if (type == ACC_UNKNOWN)
+          // final state acc free
+          return solveTripleAccUnknown();
+        else if (type == INITIAL_ACC_UNKNOWN)
+          return solveTripleInitialAccUnknown();
+        else
+          // final state acc fixed
+          return solveTriple();
+      }
+      else
+      {
+        printf("Input model is neither double integrator nor triple.");
+        return false;
+      }
+    };
+
+    double estimateHeuristic(const VectorXd &start, const VectorXd &goal)
+    {
+      setBoundaries(start, goal);
+      calTauStarDouble();
+      return cost_star_;
+    };
+
+    double getTauStar()
+    {
+      return tau_star_;
+    };
+
+    double getCostStar()
+    {
+      return cost_star_;
+    };
+
+    void getCoeff(CoefficientMat &coeff)
+    {
+      coeff = coeff_;
+    };
+
+    void calCoeffFromTau(double tau, CoefficientMat &coeff);
+    double calCostAccKnown(const VectorXd &x0, const VectorXd &x1, double T);
+    double heuristicTimeAvgVel()
+    {
+      // double t(0.1);
+      // Vector3d v0(x0_[3], x0_[4], x0_[5]), v1(x1_[3], x1_[4], x1_[5]);
+      // double v_mag = (v0 + v1).norm() / 2.0;
+      double dis = std::abs(x0_[0] - x1_[0]) + std::abs(x0_[1] - x1_[1]) + std::abs(x0_[2] - x1_[2]);
+      // return std::max(t, dis/v_mag);
+      return dis;
+    }
+
+  private:
+    VectorXd x0_, x1_;
+    double rho_;
+    int model_;
+    CoefficientMat coeff_;
+    double tau_star_, cost_star_;
+
+    bool calTauStarDouble();
+    bool solveDouble();
+    bool calTauStarTriple();
+    bool solveTriple();
+
+    bool calTauStarTripleAccUnknown();
+    bool solveTripleAccUnknown();
+
+    bool calTauStarTripleInitialAccUnknown();
+    bool solveTripleInitialAccUnknown();
+
+    bool calTauStarTripleVelAccUnknown();
+    bool solveTripleVelAccUnknown();
+
+    void setBoundaries(const VectorXd &start, const VectorXd &goal)
+    {
+      x0_ = start;
+      x1_ = goal;
+    };
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/planning/kino_plan/include/kino_plan/kd_astar_jerk.h b/planning/kino_plan/include/kino_plan/kd_astar_jerk.h
new file mode 100755
index 0000000..08c7324
--- /dev/null
+++ b/planning/kino_plan/include/kino_plan/kd_astar_jerk.h
@@ -0,0 +1,184 @@
+#ifndef _KD_ASTAR_JERK_H
+#define _KD_ASTAR_JERK_H
+
+#include "kino_plan/bvp_solver.h"
+#include "kino_plan/kinodynamic_astar.h"
+#include "occ_grid/pos_checker.h"
+#include <Eigen/Eigen>
+#include <boost/functional/hash.hpp>
+#include <iostream>
+#include <map>
+#include <queue>
+#include <ros/console.h>
+#include <ros/ros.h>
+#include <string>
+#include <unordered_map>
+#include <visualization_msgs/Marker.h>
+
+using std::make_pair;
+
+namespace tgk_planner {
+
+class PathNodeJ {
+public:
+  /* -------------------- */
+  Eigen::Vector3i index;
+  Eigen::Matrix<double, 9, 1> state;
+  double g_score, f_score;
+  Eigen::Vector3d input;
+  double duration;
+  double time; // dyn
+  int time_idx;
+  PathNodeJ *parent;
+  char node_state;
+
+  /* -------------------- */
+  PathNodeJ() {
+    parent = NULL;
+    node_state = NOT_EXPAND;
+  }
+  ~PathNodeJ(){};
+};
+typedef PathNodeJ *PathNodeJPtr;
+
+class NodeComparatorJ {
+public:
+  bool operator()(PathNodeJPtr node1, PathNodeJPtr node2) {
+    return node1->f_score > node2->f_score;
+  }
+};
+
+class NodeHashTableJ {
+private:
+  /* data */
+  std::unordered_map<Eigen::Vector3i, PathNodeJPtr,
+                     matrix_hash<Eigen::Vector3i>>
+      data_3d_;
+  std::unordered_map<Eigen::Vector4i, PathNodeJPtr,
+                     matrix_hash<Eigen::Vector4i>>
+      data_4d_;
+
+public:
+  NodeHashTableJ(/* args */) {}
+  ~NodeHashTableJ() {}
+  void insert(Eigen::Vector3i idx, PathNodeJPtr node) {
+    data_3d_.insert(make_pair(idx, node));
+  }
+  void insert(Eigen::Vector3i idx, int time_idx, PathNodeJPtr node) {
+    data_4d_.insert(
+        make_pair(Eigen::Vector4i(idx(0), idx(1), idx(2), time_idx), node));
+  }
+
+  PathNodeJPtr find(Eigen::Vector3i idx) {
+    auto iter = data_3d_.find(idx);
+    return iter == data_3d_.end() ? NULL : iter->second;
+  }
+  PathNodeJPtr find(Eigen::Vector3i idx, int time_idx) {
+    auto iter =
+        data_4d_.find(Eigen::Vector4i(idx(0), idx(1), idx(2), time_idx));
+    return iter == data_4d_.end() ? NULL : iter->second;
+  }
+
+  void clear() {
+    data_3d_.clear();
+    data_4d_.clear();
+  }
+};
+
+class KinodynamicAstarJ {
+private:
+  /* ---------- main data structure ---------- */
+  vector<PathNodeJPtr> path_node_pool_;
+  int use_node_num_, iter_num_;
+  NodeHashTableJ expanded_nodes_;
+  std::priority_queue<PathNodeJPtr, std::vector<PathNodeJPtr>, NodeComparatorJ>
+      open_set_;
+  std::vector<PathNodeJPtr> path_nodes_;
+
+  /* ---------- record data ---------- */
+  Eigen::Vector3d start_vel_, end_vel_, start_acc_;
+  Eigen::Matrix<double, 9, 9> phi_; // state transit matrix
+  PosChecker::Ptr pos_checker_ptr_;
+  bool is_shot_succ_ = false;
+  Eigen::MatrixXd coef_shot_;
+  double t_shot_;
+  bool has_path_ = false;
+
+  /* ---------- parameter ---------- */
+  /* search */
+  double max_tau_ = 0.25;
+  double init_max_tau_ = 0.8;
+  double max_vel_ = 3.0;
+  double max_acc_ = 3.0;
+  double max_jerk_ = 3.0;
+  double w_time_ = 10.0;
+  double horizon_;
+  double lambda_heu_;
+  double margin_;
+  int allocate_num_;
+  int check_num_;
+  double tie_breaker_ = 1.0 + 1.0 / 10000;
+
+  double input_res_, input_res_init_, time_res_, time_res_init_;
+  /* map */
+  double resolution_, inv_resolution_, time_resolution_, inv_time_resolution_;
+  double time_origin_;
+  double rho_;
+
+  ros::NodeHandle nh_;
+  ros::Publisher point_pub_;
+  // std::vector<Eigen::Vector3d> visited_pts;
+  visualization_msgs::Marker visited_points;
+
+  BVPSolver::IntegratorBVP bvp_;
+
+  /* helper */
+  int timeToIndex(double time);
+  void retrievePath(PathNodeJPtr end_node);
+
+  /* shot trajectory */
+
+  bool computeShotTraj(Eigen::VectorXd state1, Eigen::VectorXd state2,
+                       double time_to_goal);
+  double estimateHeuristic(Eigen::VectorXd x1, Eigen::VectorXd x2,
+                           double &optimal_time);
+
+  /* state propagation */
+  void stateTransit(Eigen::Matrix<double, 9, 1> &state0,
+                    Eigen::Matrix<double, 9, 1> &state1, Eigen::Vector3d um,
+                    double tau);
+
+  double planning_time_;
+
+public:
+  KinodynamicAstarJ(){};
+  ~KinodynamicAstarJ();
+
+  enum { REACH_HORIZON = 1, REACH_END = 2, NO_PATH = 3 };
+
+  /* main API */
+  void setParam(const ros::NodeHandle &nh);
+  void init();
+  void reset();
+  int search(Eigen::Vector3d start_pt, Eigen::Vector3d start_vel,
+             Eigen::Vector3d start_acc, Eigen::Vector3d end_pt,
+             Eigen::Vector3d end_vel, Eigen::Vector3d end_acc, 
+             double lambda_heu, bool init, 
+             bool dynamic = false, double time_start = -1.0);
+
+  void setPosChecker(const PosChecker::Ptr &checker);
+  std::vector<Eigen::Vector3d> getKinoTraj(double delta_t);
+  void getVisTraj(double delta_t, vector<Eigen::Matrix<double, 9, 1>> &states);
+  void getTrajAttributes(double &traj_duration, double &ctrl_cost,
+                         double &traj_length, int &seg_nums);
+  // Eigen::MatrixXd getSamples(double &ts, int &K);
+  std::vector<PathNodeJPtr> getVisitedNodes();
+  void getTraj(Trajectory &traj);
+  double getPlanTime() {return planning_time_;};
+
+  typedef shared_ptr<KinodynamicAstarJ> Ptr;
+};
+
+} // namespace fast_planner
+
+#endif
\ No newline at end of file
diff --git a/planning/kino_plan/include/kino_plan/kd_astar_jerk.h.bak b/planning/kino_plan/include/kino_plan/kd_astar_jerk.h.bak
new file mode 100755
index 0000000..05305c0
--- /dev/null
+++ b/planning/kino_plan/include/kino_plan/kd_astar_jerk.h.bak
@@ -0,0 +1,181 @@
+#ifndef _KD_ASTAR_JERK_H
+#define _KD_ASTAR_JERK_H
+
+#include "kino_plan/bvp_solver.h"
+#include "kino_plan/kinodynamic_astar.h"
+#include "occ_grid/pos_checker.h"
+#include <Eigen/Eigen>
+#include <boost/functional/hash.hpp>
+#include <iostream>
+#include <map>
+#include <queue>
+#include <ros/console.h>
+#include <ros/ros.h>
+#include <string>
+#include <unordered_map>
+#include <visualization_msgs/Marker.h>
+
+using std::make_pair;
+
+namespace tgk_planner {
+
+class PathNodeJ {
+public:
+  /* -------------------- */
+  Eigen::Vector3i index;
+  Eigen::Matrix<double, 9, 1> state;
+  double g_score, f_score;
+  Eigen::Vector3d input;
+  double duration;
+  double time; // dyn
+  int time_idx;
+  PathNodeJ *parent;
+  char node_state;
+
+  /* -------------------- */
+  PathNodeJ() {
+    parent = NULL;
+    node_state = NOT_EXPAND;
+  }
+  ~PathNodeJ(){};
+};
+typedef PathNodeJ *PathNodeJPtr;
+
+class NodeComparatorJ {
+public:
+  bool operator()(PathNodeJPtr node1, PathNodeJPtr node2) {
+    return node1->f_score > node2->f_score;
+  }
+};
+
+class NodeHashTableJ {
+private:
+  /* data */
+  std::unordered_map<Eigen::Vector3i, PathNodeJPtr,
+                     matrix_hash<Eigen::Vector3i>>
+      data_3d_;
+  std::unordered_map<Eigen::Vector4i, PathNodeJPtr,
+                     matrix_hash<Eigen::Vector4i>>
+      data_4d_;
+
+public:
+  NodeHashTableJ(/* args */) {}
+  ~NodeHashTableJ() {}
+  void insert(Eigen::Vector3i idx, PathNodeJPtr node) {
+    data_3d_.insert(make_pair(idx, node));
+  }
+  void insert(Eigen::Vector3i idx, int time_idx, PathNodeJPtr node) {
+    data_4d_.insert(
+        make_pair(Eigen::Vector4i(idx(0), idx(1), idx(2), time_idx), node));
+  }
+
+  PathNodeJPtr find(Eigen::Vector3i idx) {
+    auto iter = data_3d_.find(idx);
+    return iter == data_3d_.end() ? NULL : iter->second;
+  }
+  PathNodeJPtr find(Eigen::Vector3i idx, int time_idx) {
+    auto iter =
+        data_4d_.find(Eigen::Vector4i(idx(0), idx(1), idx(2), time_idx));
+    return iter == data_4d_.end() ? NULL : iter->second;
+  }
+
+  void clear() {
+    data_3d_.clear();
+    data_4d_.clear();
+  }
+};
+
+class KinodynamicAstarJ {
+private:
+  /* ---------- main data structure ---------- */
+  vector<PathNodeJPtr> path_node_pool_;
+  int use_node_num_, iter_num_;
+  NodeHashTableJ expanded_nodes_;
+  std::priority_queue<PathNodeJPtr, std::vector<PathNodeJPtr>, NodeComparatorJ>
+      open_set_;
+  std::vector<PathNodeJPtr> path_nodes_;
+
+  /* ---------- record data ---------- */
+  Eigen::Vector3d start_vel_, end_vel_, start_acc_;
+  Eigen::Matrix<double, 9, 9> phi_; // state transit matrix
+  PosChecker::Ptr pos_checker_ptr_;
+  bool is_shot_succ_ = false;
+  Eigen::MatrixXd coef_shot_;
+  double t_shot_;
+  bool has_path_ = false;
+
+  /* ---------- parameter ---------- */
+  /* search */
+  double max_tau_ = 0.25;
+  double init_max_tau_ = 0.8;
+  double max_vel_ = 3.0;
+  double max_acc_ = 3.0;
+  double max_jerk_ = 3.0;
+  double w_time_ = 10.0;
+  double horizon_;
+  double lambda_heu_;
+  double margin_;
+  int allocate_num_;
+  int check_num_;
+  double tie_breaker_ = 1.0 + 1.0 / 10000;
+
+  double res_, time_res_, time_res_init_;
+  bool init_search_;
+  /* map */
+  double resolution_, inv_resolution_, time_resolution_, inv_time_resolution_;
+  double time_origin_;
+  double rho_;
+
+  ros::NodeHandle nh_;
+  ros::Publisher point_pub_;
+  // std::vector<Eigen::Vector3d> visited_pts;
+  visualization_msgs::Marker visited_points;
+
+  BVPSolver::IntegratorBVP bvp_;
+
+  /* helper */
+  int timeToIndex(double time);
+  void retrievePath(PathNodeJPtr end_node);
+
+  /* shot trajectory */
+
+  bool computeShotTraj(Eigen::VectorXd state1, Eigen::VectorXd state2,
+                       double time_to_goal);
+  double estimateHeuristic(Eigen::VectorXd x1, Eigen::VectorXd x2,
+                           double &optimal_time);
+
+  /* state propagation */
+  void stateTransit(Eigen::Matrix<double, 9, 1> &state0,
+                    Eigen::Matrix<double, 9, 1> &state1, Eigen::Vector3d um,
+                    double tau);
+
+public:
+  KinodynamicAstarJ(){};
+  ~KinodynamicAstarJ();
+
+  enum { REACH_HORIZON = 1, REACH_END = 2, NO_PATH = 3 };
+
+  /* main API */
+  void setParam(const ros::NodeHandle &nh);
+  void init();
+  void reset();
+  int search(Eigen::Vector3d start_pt, Eigen::Vector3d start_vel,
+             Eigen::Vector3d start_acc, Eigen::Vector3d end_pt,
+             Eigen::Vector3d end_vel, Eigen::Vector3d end_acc, bool init,
+             bool dynamic = false, double time_start = -1.0, double time_budget = 10.0);
+
+  void setPosChecker(const PosChecker::Ptr &checker);
+  std::vector<Eigen::Vector3d> getKinoTraj(double delta_t);
+  void getVisTraj(double delta_t, vector<Eigen::Matrix<double, 9, 1>> &states);
+  void getTrajAttributes(double &traj_duration, double &ctrl_cost,
+                         double &traj_length, int &seg_nums);
+  // Eigen::MatrixXd getSamples(double &ts, int &K);
+  std::vector<PathNodeJPtr> getVisitedNodes();
+  void getTraj(Trajectory &traj);
+
+  typedef shared_ptr<KinodynamicAstarJ> Ptr;
+};
+
+} // namespace fast_planner
+
+#endif
\ No newline at end of file
diff --git a/planning/kino_plan/include/kino_plan/kdtree.h b/planning/kino_plan/include/kino_plan/kdtree.h
new file mode 100755
index 0000000..82854f0
--- /dev/null
+++ b/planning/kino_plan/include/kino_plan/kdtree.h
@@ -0,0 +1,126 @@
+/*
+This file is part of ``kdtree'', a library for working with kd-trees.
+Copyright (C) 2007-2011 John Tsiombikas <nuclear@member.fsf.org>
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+3. The name of the author may not be used to endorse or promote products
+   derived from this software without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
+EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+OF SUCH DAMAGE.
+*/
+#ifndef _KDTREE_H_
+#define _KDTREE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct kdtree;
+struct kdres;
+
+
+/* create a kd-tree for "k"-dimensional data */
+struct kdtree *kd_create(int k);
+
+/* free the struct kdtree */
+void kd_free(struct kdtree *tree);
+
+/* remove all the elements from the tree */
+void kd_clear(struct kdtree *tree);
+
+/* if called with non-null 2nd argument, the function provided
+ * will be called on data pointers (see kd_insert) when nodes
+ * are to be removed from the tree.
+ */
+void kd_data_destructor(struct kdtree *tree, void (*destr)(void*));
+
+/* insert a node, specifying its position, and optional data */
+int kd_insert(struct kdtree *tree, const double *pos, void *data);
+int kd_insertf(struct kdtree *tree, const float *pos, void *data);
+int kd_insert3(struct kdtree *tree, double x, double y, double z, void *data);
+int kd_insert3f(struct kdtree *tree, float x, float y, float z, void *data);
+
+/* Find the nearest node from a given point.
+ *
+ * This function returns a pointer to a result set with at most one element.
+ */
+struct kdres *kd_nearest(struct kdtree *tree, const double *pos);
+struct kdres *kd_nearestf(struct kdtree *tree, const float *pos);
+struct kdres *kd_nearest3(struct kdtree *tree, double x, double y, double z);
+struct kdres *kd_nearest3f(struct kdtree *tree, float x, float y, float z);
+
+/* Find the N nearest nodes from a given point.
+ *
+ * This function returns a pointer to a result set, with at most N elements,
+ * which can be manipulated with the kd_res_* functions.
+ * The returned pointer can be null as an indication of an error. Otherwise
+ * a valid result set is always returned which may contain 0 or more elements.
+ * The result set must be deallocated with kd_res_free after use.
+ */
+/*
+struct kdres *kd_nearest_n(struct kdtree *tree, const double *pos, int num);
+struct kdres *kd_nearest_nf(struct kdtree *tree, const float *pos, int num);
+struct kdres *kd_nearest_n3(struct kdtree *tree, double x, double y, double z);
+struct kdres *kd_nearest_n3f(struct kdtree *tree, float x, float y, float z);
+*/
+
+/* Find any nearest nodes from a given point within a range.
+ *
+ * This function returns a pointer to a result set, which can be manipulated
+ * by the kd_res_* functions.
+ * The returned pointer can be null as an indication of an error. Otherwise
+ * a valid result set is always returned which may contain 0 or more elements.
+ * The result set must be deallocated with kd_res_free after use.
+ */
+struct kdres *kd_nearest_range(struct kdtree *tree, const double *pos, double range);
+struct kdres *kd_nearest_rangef(struct kdtree *tree, const float *pos, float range);
+struct kdres *kd_nearest_range3(struct kdtree *tree, double x, double y, double z, double range);
+struct kdres *kd_nearest_range3f(struct kdtree *tree, float x, float y, float z, float range);
+
+/* frees a result set returned by kd_nearest_range() */
+void kd_res_free(struct kdres *set);
+
+/* returns the size of the result set (in elements) */
+int kd_res_size(struct kdres *set);
+
+/* rewinds the result set iterator */
+void kd_res_rewind(struct kdres *set);
+
+/* returns non-zero if the set iterator reached the end after the last element */
+int kd_res_end(struct kdres *set);
+
+/* advances the result set iterator, returns non-zero on success, zero if
+ * there are no more elements in the result set.
+ */
+int kd_res_next(struct kdres *set);
+
+/* returns the data pointer (can be null) of the current result set item
+ * and optionally sets its position to the pointers(s) if not null.
+ */
+void *kd_res_item(struct kdres *set, double *pos);
+void *kd_res_itemf(struct kdres *set, float *pos);
+void *kd_res_item3(struct kdres *set, double *x, double *y, double *z);
+void *kd_res_item3f(struct kdres *set, float *x, float *y, float *z);
+
+/* equivalent to kd_res_item(set, 0) */
+void *kd_res_item_data(struct kdres *set);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* _KDTREE_H_ */
\ No newline at end of file
diff --git a/planning/kino_plan/include/kino_plan/kfmt.h b/planning/kino_plan/include/kino_plan/kfmt.h
new file mode 100755
index 0000000..d60ed28
--- /dev/null
+++ b/planning/kino_plan/include/kino_plan/kfmt.h
@@ -0,0 +1,170 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#ifndef _KFMT_H_
+#define _KFMT_H_
+
+#include "node_utils.h"
+#include "kdtree.h"
+#include "visualization_utils/visualization_utils.h"
+#include "occ_grid/pos_checker.h"
+#include "poly_traj_utils/traj_utils.hpp"
+#include "bvp_solver.h"
+#include "sampler/bias_sampler.h"
+#include "self_msgs_and_srvs/LearningSampler.h"
+#include "r3_plan/a_star_search.h"
+#include "poly_opt/traj_optimizer.h"
+
+#include <vector>
+#include <stack>
+
+using Eigen::Matrix2d;
+using Eigen::Matrix3d;
+using Eigen::MatrixXd;
+using Eigen::Vector2d;
+using Eigen::Vector2i;
+using Eigen::Vector3d;
+using Eigen::Vector3i;
+using Eigen::VectorXd;
+using std::list;
+using std::pair;
+using std::stack;
+using std::vector;
+
+namespace tgk_planner
+{
+
+  class KFMTPlanner
+  {
+  public:
+    BiasSampler sampler_;
+
+    KFMTPlanner();
+    KFMTPlanner(const ros::NodeHandle &nh);
+    ~KFMTPlanner();
+
+    // api
+    void init(const ros::NodeHandle &nh);
+    void setPosChecker(const PosChecker::Ptr &checker);
+    void setVisualizer(const VisualRviz::Ptr &vis);
+    int plan(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+             Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+             double search_time, const Vector3d &normal, const Vector3d &dire, bool need_consistancy, bool use_regional_opt);
+    void getTraj(Trajectory &traj);
+
+    void setRegionalOptimizer(const TrajOptimizer::Ptr &regional_opt)
+    {
+      optimizer_ptr_ = regional_opt;
+    };
+    void setSearcher(const std::shared_ptr<AstarPathFinder> &searcher)
+    {
+      searcher_ = searcher;
+    };
+    double getTimeUsage()
+    {
+      return time_usage_;
+    };
+
+    enum
+    {
+      FAILURE = 0,
+      SUCCESS = 1,
+      SUCCESS_CLOSE_GOAL = 2
+    };
+    typedef shared_ptr<KFMTPlanner> KFMTPlannerPtr;
+
+  private:
+    void reset();
+    int fmtStar(const StatePVA &x_init, const StatePVA &x_final, int sample_num);
+    void batchSampling(int sample_num, kdtree *kd_tree);
+    void batchSamplingLearning(int sample_num, kdtree *kd_tree);
+    double dist(const StatePVA &x0, const StatePVA &x1);
+    void fillTraj(const FMTNodePtr &goal_leaf, Trajectory &traj);
+    void chooseBypass(FMTNodePtr &goal_leaf, const FMTNodePtr &tree_start_node);
+
+    // vis
+    bool debug_vis_;
+    VisualRviz::Ptr vis_ptr_;
+    void sampleWholeTree(const FMTNodePtr &root, vector<StatePVA> *vis_x, vector<Vector3d> &knots);
+
+    FMTNodePtrVector node_pool_; //pre allocated in Constructor
+    FMTNodePtrVector regional_node_pool_;
+    std::priority_queue<FMTNodePtr, vector<FMTNodePtr>, FMTNodeComparator> open_set_;
+    int sampled_node_num_, iter_num_;
+    Trajectory traj_;
+    FMTNodePtr start_node_, goal_node_, close_goal_node_;
+
+    // radius for for/backward search
+    double getForwardRadius(double tau, double cost);
+    double getBackwardRadius(double tau, double cost);
+    struct kdres *getForwardNeighbour(const StatePVA &x1, struct kdtree *kd_tree, double tau, double radius_p);
+    struct kdres *getBackwardNeighbour(const StatePVA &x1, struct kdtree *kd_tree, double tau, double radius_p);
+
+    // nodehandle params
+    ros::NodeHandle nh_;
+    double radius_cost_between_two_states_;
+    double rho_, lambda_heu_, tie_breaker_;
+    double v_mag_sample_;
+    double vel_limit_, acc_limit_, jerk_limit_;
+    bool allow_close_goal_;
+    double search_time_;
+    int preallocate_node_pool_num_, sample_num_per_meter_;
+    int preallocate_regional_pool_num_, regional_node_num_;
+    bool use_regional_opt_;
+
+    // environment
+    PosChecker::Ptr pos_checker_ptr_;
+    bool checkSegmentConstraints(const Piece &seg);
+    bool getTraversalLines(const Piece &seg, vector<pair<Vector3d, Vector3d>> &traversal_lines);
+
+    // bvp_solver
+    BVPSolver::IntegratorBVP bvp_;
+
+    // bias_sampler
+    // BiasSampler sampler_;
+    ros::ServiceClient sampler_client_;
+
+    // regional opt
+    TrajOptimizer::Ptr optimizer_ptr_;
+    std::shared_ptr<AstarPathFinder> searcher_;
+
+    // evaluation
+    void evaluateTraj(const Trajectory &traj, double &traj_duration, double &traj_length, int &seg_nums, double &acc_integral, double &jerk_integral);
+    double time_usage_;
+
+    // for replan
+    Vector3d replan_normal_, replan_dire_;
+    bool need_consistancy_;
+  };
+
+} // namespace tgk_planner
+
+#endif //_KFMT_H_
diff --git a/planning/kino_plan/include/kino_plan/kinodynamic_astar.h b/planning/kino_plan/include/kino_plan/kinodynamic_astar.h
new file mode 100755
index 0000000..f7d93c0
--- /dev/null
+++ b/planning/kino_plan/include/kino_plan/kinodynamic_astar.h
@@ -0,0 +1,186 @@
+#ifndef _KINODYNAMIC_ASTAR_H
+#define _KINODYNAMIC_ASTAR_H
+
+#include <ros/console.h>
+#include <ros/ros.h>
+#include <Eigen/Eigen>
+#include <iostream>
+#include <map>
+#include <string>
+#include <unordered_map>
+#include "occ_grid/pos_checker.h"
+#include <boost/functional/hash.hpp>
+#include <queue>
+
+using std::make_pair;
+
+namespace tgk_planner
+{
+// #define REACH_HORIZON 1
+// #define REACH_END 2
+// #define NO_PATH 3
+#define IN_CLOSE_SET 'a'
+#define IN_OPEN_SET 'b'
+#define NOT_EXPAND 'c'
+
+class PathNode
+{
+public:
+  /* -------------------- */
+  Eigen::Vector3i index;
+  Eigen::Matrix<double, 6, 1> state;
+  double g_score, f_score;
+  Eigen::Vector3d input;
+  double duration;
+  double time;  // dyn
+  int time_idx;
+  PathNode* parent;
+  char node_state;
+
+  /* -------------------- */
+  PathNode()
+  {
+    parent = NULL;
+    node_state = NOT_EXPAND;
+  }
+  ~PathNode(){};
+};
+typedef PathNode* PathNodePtr;
+
+template <typename T>
+struct matrix_hash : std::unary_function<T, size_t>
+{
+  std::size_t operator()(T const& matrix) const
+  {
+    size_t seed = 0;
+    for (size_t i = 0; i < matrix.size(); ++i)
+    {
+      auto elem = *(matrix.data() + i);
+      seed ^= std::hash<typename T::Scalar>()(elem) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+    }
+    return seed;
+  }
+};
+
+class NodeComparator
+{
+public:
+  bool operator()(PathNodePtr node1, PathNodePtr node2) { return node1->f_score > node2->f_score; }
+};
+
+class NodeHashTable
+{
+private:
+  /* data */
+  std::unordered_map<Eigen::Vector3i, PathNodePtr, matrix_hash<Eigen::Vector3i>> data_3d_;
+  std::unordered_map<Eigen::Vector4i, PathNodePtr, matrix_hash<Eigen::Vector4i>> data_4d_;
+
+public:
+  NodeHashTable(/* args */) {}
+  ~NodeHashTable() {}
+  void insert(Eigen::Vector3i idx, PathNodePtr node) { data_3d_.insert(make_pair(idx, node)); }
+  void insert(Eigen::Vector3i idx, int time_idx, PathNodePtr node)
+  {
+    data_4d_.insert(make_pair(Eigen::Vector4i(idx(0), idx(1), idx(2), time_idx), node));
+  }
+
+  PathNodePtr find(Eigen::Vector3i idx)
+  {
+    auto iter = data_3d_.find(idx);
+    return iter == data_3d_.end() ? NULL : iter->second;
+  }
+  PathNodePtr find(Eigen::Vector3i idx, int time_idx)
+  {
+    auto iter = data_4d_.find(Eigen::Vector4i(idx(0), idx(1), idx(2), time_idx));
+    return iter == data_4d_.end() ? NULL : iter->second;
+  }
+
+  void clear()
+  {
+    data_3d_.clear();
+    data_4d_.clear();
+  }
+};
+
+class KinodynamicAstar
+{
+private:
+  /* ---------- main data structure ---------- */
+  vector<PathNodePtr> path_node_pool_;
+  int use_node_num_, iter_num_;
+  NodeHashTable expanded_nodes_;
+  std::priority_queue<PathNodePtr, std::vector<PathNodePtr>, NodeComparator> open_set_;
+  std::vector<PathNodePtr> path_nodes_;
+
+  /* ---------- record data ---------- */
+  Eigen::Vector3d start_vel_, end_vel_, start_acc_;
+  Eigen::Matrix<double, 6, 6> phi_;  // state transit matrix
+  PosChecker::Ptr pos_checker_ptr_;
+  bool is_shot_succ_ = false;
+  Eigen::MatrixXd coef_shot_;
+  double t_shot_;
+  bool has_path_ = false;
+
+  /* ---------- parameter ---------- */
+  /* search */
+  double max_tau_ = 0.25;
+  double init_max_tau_ = 0.8;
+  double max_vel_ = 3.0;
+  double max_acc_ = 3.0;
+  double w_time_ = 10.0;
+  double horizon_;
+  double lambda_heu_;
+  double margin_;
+  int allocate_num_;
+  int check_num_;
+  double tie_breaker_ = 1.0 + 1.0 / 10000;
+  /* map */
+  double resolution_, inv_resolution_, time_resolution_, inv_time_resolution_;
+  double time_origin_;
+
+  /* helper */
+  int timeToIndex(double time);
+  void retrievePath(PathNodePtr end_node);
+
+  /* shot trajectory */
+  vector<double> cubic(double a, double b, double c, double d);
+  vector<double> quartic(double a, double b, double c, double d, double e);
+  bool computeShotTraj(Eigen::VectorXd state1, Eigen::VectorXd state2, double time_to_goal);
+  double estimateHeuristic(Eigen::VectorXd x1, Eigen::VectorXd x2, double& optimal_time);
+
+  /* state propagation */
+  void stateTransit(Eigen::Matrix<double, 6, 1>& state0, Eigen::Matrix<double, 6, 1>& state1,
+                    Eigen::Vector3d um, double tau);
+
+public:
+  KinodynamicAstar(){};
+  ~KinodynamicAstar();
+
+  enum
+  {
+    REACH_HORIZON = 1,
+    REACH_END = 2,
+    NO_PATH = 3
+  };
+
+  /* main API */
+  void setParam(const ros::NodeHandle& nh);
+  void init();
+  void reset();
+  int search(Eigen::Vector3d start_pt, Eigen::Vector3d start_vel, Eigen::Vector3d start_acc,
+             Eigen::Vector3d end_pt, Eigen::Vector3d end_vel, bool init, bool dynamic = false,
+             double time_start = -1.0);
+
+  void setPosChecker(const PosChecker::Ptr &checker);
+  std::vector<Eigen::Vector3d> getKinoTraj(double delta_t);
+  void getVisTraj(double delta_t, vector<Eigen::Matrix<double,9,1>>& states);
+  void getTrajAttributes(double& traj_duration, double& ctrl_cost, double& traj_length, int& seg_nums);
+  Eigen::MatrixXd getSamples(double& ts, int& K);
+  std::vector<PathNodePtr> getVisitedNodes();
+
+  typedef shared_ptr<KinodynamicAstar> Ptr;
+};
+
+}  // namespace fast_planner
+
+#endif
\ No newline at end of file
diff --git a/planning/kino_plan/include/kino_plan/krrt.h b/planning/kino_plan/include/kino_plan/krrt.h
new file mode 100755
index 0000000..76c42a6
--- /dev/null
+++ b/planning/kino_plan/include/kino_plan/krrt.h
@@ -0,0 +1,209 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#ifndef _KRRT_H_
+#define _KRRT_H_
+
+#include "node_utils.h"
+#include "kdtree.h"
+#include "visualization_utils/visualization_utils.h"
+#include "occ_grid/pos_checker.h"
+#include "poly_traj_utils/traj_utils.hpp"
+#include "bvp_solver.h"
+#include "sampler/bias_sampler.h"
+#include "poly_opt/traj_optimizer.h"
+#include "poly_opt/nonsmooth_trunk_opt.h"
+// #include "poly_opt/trunk_opt.h"
+#include "r3_plan/a_star_search.h"
+
+#include <vector>
+#include <stack>
+
+using Eigen::Matrix2d;
+using Eigen::Matrix3d;
+using Eigen::MatrixXd;
+using Eigen::Vector2d;
+using Eigen::Vector2i;
+using Eigen::Vector3d;
+using Eigen::Vector3i;
+using Eigen::VectorXd;
+using std::list;
+using std::pair;
+using std::stack;
+using std::vector;
+
+namespace tgk_planner
+{
+
+  class KRRT
+  {
+  public:
+    KRRT();
+    KRRT(const ros::NodeHandle &nh, std::shared_ptr<BVPSolver::IntegratorBVP> &bvp);
+    ~KRRT();
+
+    // api
+    void reset();
+    void init(const ros::NodeHandle &nh);
+    void setPosChecker(const PosChecker::Ptr &checker);
+    void setVisualizer(const VisualRviz::Ptr &vis);
+    void setRegionalOptimizer(const TrajOptimizer::Ptr &optimizer_)
+    {
+      optimizer_ptr_ = optimizer_;
+    };
+    void setSearcher(const std::shared_ptr<AstarPathFinder> &searcher)
+    {
+      searcher_ = searcher;
+    }
+    void setTrunkOptimizer(const std::shared_ptr<BranchOpt> &ptr)
+    {
+      trunk_opt_ptr_ = ptr;
+    };
+    int plan(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+             Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+             double search_time, int deform_type, bool use_regional_opt, bool use_deform = false);
+    void getTraj(Trajectory &traj)
+    {
+      traj = traj_;
+    };
+    void getFirstTraj(Trajectory &traj)
+    {
+      traj = first_traj_;
+    };
+    double getFirstTrajTimeUsage()
+    {
+      return first_traj_use_time_;
+    };
+    double getFinalTrajTimeUsage()
+    {
+      return final_traj_use_time_;
+    };
+    int getSampleNum()
+    {
+      return valid_sample_nums_;
+    };
+    int getTreeNodeNum()
+    {
+      return valid_start_tree_node_nums_;
+    };
+    void getConvergenceInfo(vector<Trajectory> &traj_list, vector<double> &solution_cost_list, vector<double> &solution_time_list)
+    {
+      traj_list = traj_list_;
+      solution_time_list = solution_time_list_;
+      solution_cost_list = solution_cost_list_;
+    };
+
+    // evaluation
+    double evaluateTraj(const Trajectory &traj, double &traj_duration, double &traj_length, int &seg_nums, double &acc_integral, double &jerk_integral);
+
+    // bias_sampler
+    BiasSampler sampler_;
+
+    enum
+    {
+      FAILURE = 0,
+      SUCCESS = 1,
+      SUCCESS_CLOSE_GOAL = 2
+    };
+    typedef shared_ptr<KRRT> KRRTPtr;
+
+  private:
+    int rrt(const StatePVA &x_init, const StatePVA &x_final, int n, double search_time, double radius);
+    double dist(const StatePVA &x0, const StatePVA &x1);
+    void fillTraj(const RRTNodePtr &goal_leaf, Trajectory &traj);
+    void chooseBypass(RRTNodePtr &goal_leaf, const RRTNodePtr &tree_start_node);
+    RRTNodePtr addTreeNode(RRTNodePtr &parent, const StatePVA &state, const Piece &piece,
+                           const double &cost_from_start, const double &tau_from_start,
+                           const double &cost_from_parent, const double &tau_from_parent);
+    RRTNodePtr addTreeNode(RRTNodePtr &parent, const StatePVA &state, const Piece &piece,
+                           const double &cost_from_parent, const double &tau_from_parent);
+    void changeNodeParent(RRTNodePtr &node, RRTNodePtr &parent, const Piece &piece,
+                          const double &cost_from_parent, const double &tau_from_parent);
+    bool regionalOpt(const Piece &oringin_seg, const pair<Vector3d, Vector3d> &collide_pts_one_seg, const pair<double, double> &t_s_e);
+
+    // vis
+    bool debug_vis_;
+    VisualRviz::Ptr vis_ptr_;
+    void sampleWholeTree(const RRTNodePtr &root, vector<StatePVA> *vis_x, vector<Vector3d> &knots);
+
+    RRTNodePtrVector start_tree_; //pre allocated in Constructor
+    Trajectory traj_;
+    Trajectory first_traj_; //initialized when first path found
+    RRTNodePtr start_node_, goal_node_, close_goal_node_;
+    int valid_start_tree_node_nums_, valid_sample_nums_;
+    double final_traj_use_time_, first_traj_use_time_;
+    bool test_convergency_;
+    vector<Trajectory> traj_list_;
+    vector<double> solution_cost_list_;
+    vector<double> solution_time_list_;
+    ros::Time t_start_, t_end_;
+
+    // radius for for/backward search
+    double getForwardRadius(double tau, double cost);
+    double getBackwardRadius(double tau, double cost);
+    struct kdres *getForwardNeighbour(const StatePVA &x1, struct kdtree *kd_tree, double tau, double radius_p);
+    struct kdres *getBackwardNeighbour(const StatePVA &x1, struct kdtree *kd_tree, double tau, double radius_p);
+
+    // nodehandle params
+    double radius_cost_between_two_states_;
+    double rho_;
+    double v_mag_sample_;
+    double vel_limit_, acc_limit_, jerk_limit_;
+    bool allow_close_goal_, stop_after_first_traj_found_, rewire_, use_regional_opt_, use_deform_;
+    int deform_type_;
+    double search_time_;
+    int tree_node_nums_;
+    double min_deform_duration_;
+
+    // environment
+    PosChecker::Ptr pos_checker_ptr_;
+    bool checkSegmentConstraints(const Piece &seg);
+    bool getTraversalLines(const Piece &seg, vector<pair<Vector3d, Vector3d>> &traversal_lines);
+
+    // bvp_solver
+    std::shared_ptr<BVPSolver::IntegratorBVP> bvp_;
+
+    // // bias_sampler
+    // BiasSampler sampler_;
+
+    // regional optimizer
+    TrajOptimizer::Ptr optimizer_ptr_;
+    std::shared_ptr<AstarPathFinder> searcher_;
+    std::shared_ptr<BranchOpt> trunk_opt_ptr_;
+    bool stOpt(const Piece &oringin_seg, const RRTNodePtr &parent, Trajectory &opted_two_seg);
+    bool stOpt(Trajectory &opted_two_seg);
+    void sampleDeformedTrunk(const RRTNodePtr &node, vector<StatePVA> *vis_x, vector<Vector3d> &knots);
+    void unitDeformation(const RRTNodePtr &deforming_node);
+  };
+
+} // namespace tgk_planner
+
+#endif //_KRRT_H_
diff --git a/planning/kino_plan/include/kino_plan/krrt_sharp.h b/planning/kino_plan/include/kino_plan/krrt_sharp.h
new file mode 100755
index 0000000..6ee64ce
--- /dev/null
+++ b/planning/kino_plan/include/kino_plan/krrt_sharp.h
@@ -0,0 +1,212 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#ifndef _KRRT_SHARP_H_
+#define _KRRT_SHARP_H_
+
+#include "node_utils.h"
+#include "kdtree.h"
+#include "visualization_utils/visualization_utils.h"
+#include "occ_grid/pos_checker.h"
+#include "poly_traj_utils/traj_utils.hpp"
+#include "bvp_solver.h"
+#include "sampler/bias_sampler.h"
+#include "poly_opt/traj_optimizer.h"
+#include "poly_opt/nonsmooth_trunk_opt.h"
+// #include "poly_opt/trunk_opt.h"
+#include "r3_plan/a_star_search.h"
+
+#include <vector>
+#include <stack>
+
+using Eigen::Matrix2d;
+using Eigen::Matrix3d;
+using Eigen::MatrixXd;
+using Eigen::Vector2d;
+using Eigen::Vector2i;
+using Eigen::Vector3d;
+using Eigen::Vector3i;
+using Eigen::VectorXd;
+using std::list;
+using std::pair;
+using std::stack;
+using std::vector;
+
+namespace tgk_planner
+{
+
+  class KRRTSHARP
+  {
+  public:
+    KRRTSHARP();
+    KRRTSHARP(const ros::NodeHandle &nh, std::shared_ptr<BVPSolver::IntegratorBVP> &bvp);
+    ~KRRTSHARP();
+
+    // api
+    void reset();
+    void init(const ros::NodeHandle &nh);
+    void setPosChecker(const PosChecker::Ptr &checker);
+    void setVisualizer(const VisualRviz::Ptr &vis);
+    void setRegionalOptimizer(const TrajOptimizer::Ptr &optimizer_)
+    {
+      optimizer_ptr_ = optimizer_;
+    };
+    void setSearcher(const std::shared_ptr<AstarPathFinder> &searcher)
+    {
+      searcher_ = searcher;
+    }
+    void setTrunkOptimizer(const std::shared_ptr<BranchOpt> &ptr)
+    {
+      trunk_opt_ptr_ = ptr;
+    };
+    int plan(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+             Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+             double search_time, int deform_type, bool use_regional_opt, bool use_deform = false);
+    void getTraj(Trajectory &traj)
+    {
+      traj = traj_;
+    };
+    void getFirstTraj(Trajectory &traj)
+    {
+      traj = first_traj_;
+    };
+    double getFirstTrajTimeUsage()
+    {
+      return first_traj_use_time_;
+    };
+    double getFinalTrajTimeUsage()
+    {
+      return final_traj_use_time_;
+    };
+    int getSampleNum()
+    {
+      return valid_sample_nums_;
+    };
+    int getTreeNodeNum()
+    {
+      return valid_start_tree_node_nums_;
+    };
+    void getConvergenceInfo(vector<Trajectory> &traj_list, vector<double> &solution_cost_list, vector<double> &solution_time_list)
+    {
+      traj_list = traj_list_;
+      solution_time_list = solution_time_list_;
+      solution_cost_list = solution_cost_list_;
+    };
+
+    // evaluation
+    double evaluateTraj(const Trajectory &traj, double &traj_duration, double &traj_length, int &seg_nums, double &acc_integral, double &jerk_integral);
+
+    // bias_sampler
+    BiasSampler sampler_;
+
+    enum
+    {
+      FAILURE = 0,
+      SUCCESS = 1,
+      SUCCESS_CLOSE_GOAL = 2
+    };
+    typedef shared_ptr<KRRTSHARP> KRRTSHARPPtr;
+
+  private:
+    int rrtStar(const StatePVA &x_init, const StatePVA &x_final, int n, double search_time, double radius, const bool rewire);
+    double dist(const StatePVA &x0, const StatePVA &x1);
+    void fillTraj(const RRTNodePtr &goal_leaf, Trajectory &traj);
+    void chooseBypass(RRTNodePtr &goal_leaf, const RRTNodePtr &tree_start_node);
+    RRTNodePtr addTreeNode(RRTNodePtr &parent, const StatePVA &state, const Piece &piece,
+                           const double &cost_from_start, const double &tau_from_start,
+                           const double &cost_from_parent, const double &tau_from_parent);
+    RRTNodePtr addTreeNode(RRTNodePtr &parent, const StatePVA &state, const Piece &piece,
+                           const double &cost_from_parent, const double &tau_from_parent);
+    void changeNodeParent(RRTNodePtr &node, RRTNodePtr &parent, const Piece &piece,
+                          const double &cost_from_parent, const double &tau_from_parent);
+    void changeNodeParent(RRTNodePtr &node, RRTNodePtr &parent, const Piece &piece,
+                          const double &cost_from_parent, const double &tau_from_parent,
+                          priority_queue<RRTNodePtr, std::vector<RRTNodePtr>, RRTNodeComparator> &queue);
+    bool regionalOpt(const Piece &oringin_seg, const pair<Vector3d, Vector3d> &collide_pts_one_seg, const pair<double, double> &t_s_e);
+
+    // vis
+    bool debug_vis_;
+    VisualRviz::Ptr vis_ptr_;
+    void sampleWholeTree(const RRTNodePtr &root, vector<StatePVA> *vis_x, vector<Vector3d> &knots);
+
+    RRTNodePtrVector start_tree_; //pre allocated in Constructor
+    Trajectory traj_;
+    Trajectory first_traj_; //initialized when first path found
+    RRTNodePtr start_node_, goal_node_, close_goal_node_;
+    int valid_start_tree_node_nums_, valid_sample_nums_;
+    double final_traj_use_time_, first_traj_use_time_;
+    bool test_convergency_;
+    vector<Trajectory> traj_list_;
+    vector<double> solution_cost_list_;
+    vector<double> solution_time_list_;
+    ros::Time t_start_, t_end_;
+
+    // radius for for/backward search
+    double getForwardRadius(double tau, double cost);
+    double getBackwardRadius(double tau, double cost);
+    struct kdres *getForwardNeighbour(const StatePVA &x1, struct kdtree *kd_tree, double tau, double radius_p);
+    struct kdres *getBackwardNeighbour(const StatePVA &x1, struct kdtree *kd_tree, double tau, double radius_p);
+
+    // nodehandle params
+    double radius_cost_between_two_states_;
+    double rho_;
+    double v_mag_sample_;
+    double vel_limit_, acc_limit_, jerk_limit_;
+    bool allow_close_goal_, stop_after_first_traj_found_, rewire_, use_regional_opt_, use_deform_;
+    int deform_type_;
+    double search_time_;
+    int tree_node_nums_;
+    double min_deform_duration_;
+
+    // environment
+    PosChecker::Ptr pos_checker_ptr_;
+    bool checkSegmentConstraints(const Piece &seg);
+    bool getTraversalLines(const Piece &seg, vector<pair<Vector3d, Vector3d>> &traversal_lines);
+
+    // bvp_solver
+    std::shared_ptr<BVPSolver::IntegratorBVP> bvp_;
+
+    // // bias_sampler
+    // BiasSampler sampler_;
+
+    // regional optimizer
+    TrajOptimizer::Ptr optimizer_ptr_;
+    std::shared_ptr<AstarPathFinder> searcher_;
+    std::shared_ptr<BranchOpt> trunk_opt_ptr_;
+    bool stOpt(const Piece &oringin_seg, const RRTNodePtr &parent, Trajectory &opted_two_seg);
+    bool stOpt(Trajectory &opted_two_seg);
+    void sampleDeformedTrunk(const RRTNodePtr &node, vector<StatePVA> *vis_x, vector<Vector3d> &knots);
+    void unitDeformation(const RRTNodePtr &deforming_node);
+  };
+
+} // namespace tgk_planner
+
+#endif //_KRRT_SHARP_H_
diff --git a/planning/kino_plan/include/kino_plan/krrt_star.h b/planning/kino_plan/include/kino_plan/krrt_star.h
new file mode 100755
index 0000000..00332dc
--- /dev/null
+++ b/planning/kino_plan/include/kino_plan/krrt_star.h
@@ -0,0 +1,209 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#ifndef _KRRT_STAR_H_
+#define _KRRT_STAR_H_
+
+#include "node_utils.h"
+#include "kdtree.h"
+#include "visualization_utils/visualization_utils.h"
+#include "occ_grid/pos_checker.h"
+#include "poly_traj_utils/traj_utils.hpp"
+#include "bvp_solver.h"
+#include "sampler/bias_sampler.h"
+#include "poly_opt/traj_optimizer.h"
+#include "poly_opt/nonsmooth_trunk_opt.h"
+// #include "poly_opt/trunk_opt.h"
+#include "r3_plan/a_star_search.h"
+
+#include <vector>
+#include <stack>
+
+using Eigen::Matrix2d;
+using Eigen::Matrix3d;
+using Eigen::MatrixXd;
+using Eigen::Vector2d;
+using Eigen::Vector2i;
+using Eigen::Vector3d;
+using Eigen::Vector3i;
+using Eigen::VectorXd;
+using std::list;
+using std::pair;
+using std::stack;
+using std::vector;
+
+namespace tgk_planner
+{
+
+  class KRRTSTAR
+  {
+  public:
+    KRRTSTAR();
+    KRRTSTAR(const ros::NodeHandle &nh, std::shared_ptr<BVPSolver::IntegratorBVP> &bvp);
+    ~KRRTSTAR();
+
+    // api
+    void reset();
+    void init(const ros::NodeHandle &nh);
+    void setPosChecker(const PosChecker::Ptr &checker);
+    void setVisualizer(const VisualRviz::Ptr &vis);
+    void setRegionalOptimizer(const TrajOptimizer::Ptr &optimizer_)
+    {
+      optimizer_ptr_ = optimizer_;
+    };
+    void setSearcher(const std::shared_ptr<AstarPathFinder> &searcher)
+    {
+      searcher_ = searcher;
+    }
+    void setTrunkOptimizer(const std::shared_ptr<BranchOpt> &ptr)
+    {
+      trunk_opt_ptr_ = ptr;
+    };
+    int plan(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+             Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+             double search_time, int deform_type, bool use_regional_opt, bool use_deform = false);
+    void getTraj(Trajectory &traj)
+    {
+      traj = traj_;
+    };
+    void getFirstTraj(Trajectory &traj)
+    {
+      traj = first_traj_;
+    };
+    double getFirstTrajTimeUsage()
+    {
+      return first_traj_use_time_;
+    };
+    double getFinalTrajTimeUsage()
+    {
+      return final_traj_use_time_;
+    };
+    int getSampleNum()
+    {
+      return valid_sample_nums_;
+    };
+    int getTreeNodeNum()
+    {
+      return valid_start_tree_node_nums_;
+    };
+    void getConvergenceInfo(vector<Trajectory> &traj_list, vector<double> &solution_cost_list, vector<double> &solution_time_list)
+    {
+      traj_list = traj_list_;
+      solution_time_list = solution_time_list_;
+      solution_cost_list = solution_cost_list_;
+    };
+
+    // evaluation
+    double evaluateTraj(const Trajectory &traj, double &traj_duration, double &traj_length, int &seg_nums, double &acc_integral, double &jerk_integral);
+
+    // bias_sampler
+    BiasSampler sampler_;
+
+    enum
+    {
+      FAILURE = 0,
+      SUCCESS = 1,
+      SUCCESS_CLOSE_GOAL = 2
+    };
+    typedef shared_ptr<KRRTSTAR> KRRTSTARPtr;
+
+  private:
+    int rrtStar(const StatePVA &x_init, const StatePVA &x_final, int n, double search_time, double radius, const bool rewire);
+    double dist(const StatePVA &x0, const StatePVA &x1);
+    void fillTraj(const RRTNodePtr &goal_leaf, Trajectory &traj);
+    void chooseBypass(RRTNodePtr &goal_leaf, const RRTNodePtr &tree_start_node);
+    RRTNodePtr addTreeNode(RRTNodePtr &parent, const StatePVA &state, const Piece &piece,
+                           const double &cost_from_start, const double &tau_from_start,
+                           const double &cost_from_parent, const double &tau_from_parent);
+    RRTNodePtr addTreeNode(RRTNodePtr &parent, const StatePVA &state, const Piece &piece,
+                           const double &cost_from_parent, const double &tau_from_parent);
+    void changeNodeParent(RRTNodePtr &node, RRTNodePtr &parent, const Piece &piece,
+                          const double &cost_from_parent, const double &tau_from_parent);
+    bool regionalOpt(const Piece &oringin_seg, const pair<Vector3d, Vector3d> &collide_pts_one_seg, const pair<double, double> &t_s_e);
+
+    // vis
+    bool debug_vis_;
+    VisualRviz::Ptr vis_ptr_;
+    void sampleWholeTree(const RRTNodePtr &root, vector<StatePVA> *vis_x, vector<Vector3d> &knots);
+
+    RRTNodePtrVector start_tree_; //pre allocated in Constructor
+    Trajectory traj_;
+    Trajectory first_traj_; //initialized when first path found
+    RRTNodePtr start_node_, goal_node_, close_goal_node_;
+    int valid_start_tree_node_nums_, valid_sample_nums_;
+    double final_traj_use_time_, first_traj_use_time_;
+    bool test_convergency_;
+    vector<Trajectory> traj_list_;
+    vector<double> solution_cost_list_;
+    vector<double> solution_time_list_;
+    ros::Time t_start_, t_end_;
+
+    // radius for for/backward search
+    double getForwardRadius(double tau, double cost);
+    double getBackwardRadius(double tau, double cost);
+    struct kdres *getForwardNeighbour(const StatePVA &x1, struct kdtree *kd_tree, double tau, double radius_p);
+    struct kdres *getBackwardNeighbour(const StatePVA &x1, struct kdtree *kd_tree, double tau, double radius_p);
+
+    // nodehandle params
+    double radius_cost_between_two_states_;
+    double rho_;
+    double v_mag_sample_;
+    double vel_limit_, acc_limit_, jerk_limit_;
+    bool allow_close_goal_, stop_after_first_traj_found_, rewire_, use_regional_opt_, use_deform_;
+    int deform_type_;
+    double search_time_;
+    int tree_node_nums_;
+    double min_deform_duration_;
+
+    // environment
+    PosChecker::Ptr pos_checker_ptr_;
+    bool checkSegmentConstraints(const Piece &seg);
+    bool getTraversalLines(const Piece &seg, vector<pair<Vector3d, Vector3d>> &traversal_lines);
+
+    // bvp_solver
+    std::shared_ptr<BVPSolver::IntegratorBVP> bvp_;
+
+    // // bias_sampler
+    // BiasSampler sampler_;
+
+    // regional optimizer
+    TrajOptimizer::Ptr optimizer_ptr_;
+    std::shared_ptr<AstarPathFinder> searcher_;
+    std::shared_ptr<BranchOpt> trunk_opt_ptr_;
+    bool stOpt(const Piece &oringin_seg, const RRTNodePtr &parent, Trajectory &opted_two_seg);
+    bool stOpt(Trajectory &opted_two_seg);
+    void sampleDeformedTrunk(const RRTNodePtr &node, vector<StatePVA> *vis_x, vector<Vector3d> &knots);
+    void unitDeformation(const RRTNodePtr &deforming_node);
+  };
+
+} // namespace tgk_planner
+
+#endif //_KRRT_STAR_H_
diff --git a/planning/kino_plan/include/kino_plan/node_utils.h b/planning/kino_plan/include/kino_plan/node_utils.h
new file mode 100755
index 0000000..5d637c4
--- /dev/null
+++ b/planning/kino_plan/include/kino_plan/node_utils.h
@@ -0,0 +1,115 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#ifndef _NODE_UTILS_H_
+#define _NODE_UTILS_H_
+
+#include "poly_traj_utils/traj_utils.hpp"
+#include <Eigen/Eigen>
+
+using std::list;
+using std::pair;
+using std::vector;
+
+#define CLOSED 'a'
+#define OPEN 'b'
+#define UNVISITED 'c'
+#define START_TREE 's'
+#define GOAL_TREE 'g'
+
+typedef Eigen::Matrix<double, 9, 1> StatePVA;
+typedef Eigen::Matrix<double, 6, 1> StatePV;
+typedef Eigen::Matrix<double, 3, 1> Control;
+typedef pair<double, double> BOUND;
+typedef vector<BOUND> BOUNDS;
+
+struct RRTNode
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+  RRTNode *parent;
+  StatePVA x;
+  double cost_from_start;
+  double tau_from_start;
+  double cost_from_parent;
+  double tau_from_parent;
+  Piece poly_seg;
+  list<RRTNode *> children;
+  char tree_type;
+  RRTNode() : parent(NULL), cost_from_start(DBL_MAX), tau_from_start(DBL_MAX), cost_from_parent(0.0), tau_from_parent(0.0), tree_type(START_TREE){};
+  int countDescendant()
+  {
+    int n(0);
+    for (const auto &child : children)
+    {
+      n += child->countDescendant();
+    }
+    return n;
+  };
+};
+typedef RRTNode *RRTNodePtr;
+typedef vector<RRTNodePtr, Eigen::aligned_allocator<RRTNodePtr>> RRTNodePtrVector;
+typedef vector<RRTNode, Eigen::aligned_allocator<RRTNode>> RRTNodeVector;
+
+class RRTNodeComparator
+{
+public:
+  bool operator()(RRTNodePtr node1, RRTNodePtr node2)
+  {
+    return node1->cost_from_start > node2->cost_from_start;
+  }
+};
+
+struct FMTNode
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+  FMTNode *parent;
+  StatePVA x;
+  double g_score; //cost from start
+  double f_score; //g_score + cost_to_go (heuristic estimation)
+  Piece poly_seg;
+  list<FMTNode *> children;
+  char status;
+  FMTNode() : parent(NULL), g_score(DBL_MAX), f_score(DBL_MAX), poly_seg(), status(UNVISITED){};
+};
+typedef FMTNode *FMTNodePtr;
+typedef vector<FMTNodePtr, Eigen::aligned_allocator<FMTNodePtr>> FMTNodePtrVector;
+typedef vector<FMTNode, Eigen::aligned_allocator<FMTNode>> FMTNodeVector;
+
+class FMTNodeComparator
+{
+public:
+  bool operator()(FMTNodePtr node1, FMTNodePtr node2)
+  {
+    return node1->f_score > node2->f_score;
+  }
+};
+
+#endif
\ No newline at end of file
diff --git a/planning/kino_plan/include/kino_plan/raycast.h b/planning/kino_plan/include/kino_plan/raycast.h
new file mode 100755
index 0000000..199598c
--- /dev/null
+++ b/planning/kino_plan/include/kino_plan/raycast.h
@@ -0,0 +1,65 @@
+#ifndef RAYCAST_H_
+#define RAYCAST_H_
+
+#include <Eigen/Eigen>
+#include <vector>
+
+double signum(double x);
+
+double mod(double value, double modulus);
+
+double intbound(double s, double ds);
+
+void Raycast(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const Eigen::Vector3d& min,
+             const Eigen::Vector3d& max, int& output_points_cnt, Eigen::Vector3d* output);
+
+void Raycast(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const Eigen::Vector3d& min,
+             const Eigen::Vector3d& max, std::vector<Eigen::Vector3d>* output);
+
+class RayCaster
+{
+private:
+  /* data */
+  Eigen::Vector3d start_;
+  Eigen::Vector3d end_;
+  Eigen::Vector3d direction_;
+  Eigen::Vector3d min_;
+  Eigen::Vector3d max_;
+  int x_;
+  int y_;
+  int z_;
+  int endX_;
+  int endY_;
+  int endZ_;
+  double maxDist_;
+  double dx_;
+  double dy_;
+  double dz_;
+  int stepX_;
+  int stepY_;
+  int stepZ_;
+  double tMaxX_;
+  double tMaxY_;
+  double tMaxZ_;
+  double tDeltaX_;
+  double tDeltaY_;
+  double tDeltaZ_;
+  double dist_;
+
+  int step_num_;
+
+public:
+  RayCaster(/* args */)
+  {
+  }
+  ~RayCaster()
+  {
+  }
+
+  bool setInput(const Eigen::Vector3d& start, const Eigen::Vector3d& end/* , const Eigen::Vector3d& min,
+                const Eigen::Vector3d& max */);
+
+  bool step(Eigen::Vector3d& ray_pt);
+};
+
+#endif  // RAYCAST_H_
\ No newline at end of file
diff --git a/planning/kino_plan/include/kino_plan/topo_prm.h b/planning/kino_plan/include/kino_plan/topo_prm.h
new file mode 100755
index 0000000..bfef078
--- /dev/null
+++ b/planning/kino_plan/include/kino_plan/topo_prm.h
@@ -0,0 +1,183 @@
+#ifndef _TOPO_PRM_H_
+#define _TOPO_PRM_H_
+
+#include "occ_grid/pos_checker.h"
+#include "raycast.h"
+#include <random>
+
+namespace tgk_planner {
+
+/* ---------- used for iterating all topo combination ---------- */
+class TopoIterator {
+private:
+  /* data */
+  vector<int> path_nums_;
+  vector<int> cur_index_;
+  int combine_num_;
+  int cur_num_;
+
+  void increase(int bit_num) {
+    cur_index_[bit_num] += 1;
+    if (cur_index_[bit_num] >= path_nums_[bit_num]) {
+      cur_index_[bit_num] = 0;
+      increase(bit_num + 1);
+    }
+  }
+
+public:
+  TopoIterator(vector<int> pn) {
+    path_nums_ = pn;
+    cur_index_.resize(path_nums_.size());
+    fill(cur_index_.begin(), cur_index_.end(), 0);
+    cur_num_ = 0;
+
+    combine_num_ = 1;
+    for (int i = 0; i < path_nums_.size(); ++i) {
+      combine_num_ *= path_nums_[i] > 0 ? path_nums_[i] : 1;
+    }
+    std::cout << "[Topo]: merged path num: " << combine_num_ << std::endl;
+  }
+  TopoIterator() {
+  }
+  ~TopoIterator() {
+  }
+
+  bool nextIndex(vector<int>& index) {
+    index = cur_index_;
+    cur_num_ += 1;
+
+    if (cur_num_ == combine_num_) return false;
+
+    // go to next combination
+    increase(0);
+    return true;
+  }
+};
+
+/* ---------- node of topo graph ---------- */
+class GraphNode {
+private:
+  /* data */
+
+public:
+  enum NODE_TYPE { Guard = 1, Connector = 2 };
+
+  enum NODE_STATE { NEW = 1, CLOSE = 2 };
+
+  GraphNode(/* args */) {
+  }
+  GraphNode(Eigen::Vector3d pos, NODE_TYPE type, int id) {
+    pos_ = pos;
+    type_ = type;
+    state_ = NEW;
+    id_ = id;
+  }
+  ~GraphNode() {
+  }
+
+  vector<shared_ptr<GraphNode>> neighbors_;
+  Eigen::Vector3d pos_;
+  NODE_TYPE type_;
+  NODE_STATE state_;
+  int id_;
+
+  typedef shared_ptr<GraphNode> Ptr;
+};
+
+class TopologyPRM {
+private:
+  /* data */
+  PosChecker::Ptr pos_checker_ptr_;
+
+  // sampling generator
+  std::random_device rd_;
+  std::default_random_engine eng_;
+  std::uniform_real_distribution<double> rand_pos_;
+
+  Eigen::Vector3d sample_r_;
+  Eigen::Vector3d translation_;
+  Eigen::Matrix3d rotation_;
+
+  // roadmap data structure, 0:start, 1:goal, 2-n: others
+  std::list<GraphNode::Ptr> graph_;
+  vector<vector<Eigen::Vector3d>> raw_paths_;
+  vector<vector<Eigen::Vector3d>> short_paths_;
+  vector<vector<Eigen::Vector3d>> final_paths_;
+  vector<Eigen::Vector3d> start_pts_, end_pts_;
+
+  // raycasting
+  vector<RayCaster> casters_;
+  Eigen::Vector3d offset_;
+
+  // parameter
+  double max_sample_time_;
+  int max_sample_num_;
+  int max_raw_path_, max_raw_path2_;
+  int short_cut_num_;
+  Eigen::Vector3d sample_inflate_;
+  double resolution_;
+
+  double ratio_to_short_;
+  int reserve_num_;
+
+  bool parallel_shortcut_;
+
+  /* create topological roadmap */
+  /* path searching, shortening, pruning and merging */
+  std::list<GraphNode::Ptr> createGraph(Eigen::Vector3d start, Eigen::Vector3d end);
+  vector<vector<Eigen::Vector3d>> searchPaths();
+  void shortcutPaths();
+  vector<vector<Eigen::Vector3d>> pruneEquivalent(vector<vector<Eigen::Vector3d>>& paths);
+  vector<vector<Eigen::Vector3d>> selectShortPaths(vector<vector<Eigen::Vector3d>>& paths, int step);
+
+  /* ---------- helper ---------- */
+  inline Eigen::Vector3d getSample();
+  vector<GraphNode::Ptr> findVisibGuard(Eigen::Vector3d pt);  // find pairs of visibile guard
+  bool needConnection(GraphNode::Ptr g1, GraphNode::Ptr g2,
+                      Eigen::Vector3d pt);  // test redundancy with existing
+                                            // connection between two guard
+  bool lineVisib(const Eigen::Vector3d& p1, const Eigen::Vector3d& p2, double thresh,
+                 Eigen::Vector3d& pc, int caster_id = 0, bool inflate = true);
+  bool triangleVisib(Eigen::Vector3d pt, Eigen::Vector3d p1, Eigen::Vector3d p2);
+  void pruneGraph();
+
+  void depthFirstSearch(vector<GraphNode::Ptr>& vis);
+
+  vector<Eigen::Vector3d> discretizeLine(Eigen::Vector3d p1, Eigen::Vector3d p2);
+  vector<vector<Eigen::Vector3d>> discretizePaths(vector<vector<Eigen::Vector3d>>& path);
+
+  vector<Eigen::Vector3d> discretizePath(vector<Eigen::Vector3d> path);
+  void shortcutPath(vector<Eigen::Vector3d> path, int path_id, int iter_num = 1);
+
+  vector<Eigen::Vector3d> discretizePath(const vector<Eigen::Vector3d>& path, int pt_num);
+  bool sameTopoPath(const vector<Eigen::Vector3d>& path1, const vector<Eigen::Vector3d>& path2,
+                    double thresh);
+  Eigen::Vector3d getOrthoPoint(const vector<Eigen::Vector3d>& path);
+
+  int shortestPath(vector<vector<Eigen::Vector3d>>& paths);
+
+public:
+  double clearance_;
+
+  TopologyPRM(/* args */);
+  ~TopologyPRM();
+
+  void init(const ros::NodeHandle& nh);
+
+  void setPoschecker(const PosChecker::Ptr& checker);
+
+  void findTopoPaths(Eigen::Vector3d start, Eigen::Vector3d end, vector<Eigen::Vector3d> start_pts,
+                     vector<Eigen::Vector3d> end_pts, std::list<GraphNode::Ptr>& graph,
+                     vector<vector<Eigen::Vector3d>>& raw_paths,
+                     vector<vector<Eigen::Vector3d>>& short_paths, 
+                     vector<vector<Eigen::Vector3d>>& filtered_paths,
+                     vector<vector<Eigen::Vector3d>>& select_paths);
+
+  double pathLength(const vector<Eigen::Vector3d>& path);
+  vector<Eigen::Vector3d> pathToGuidePts(vector<Eigen::Vector3d>& path, int pt_num);
+
+};
+
+}  // namespace tgk_planner
+
+#endif
\ No newline at end of file
diff --git a/planning/kino_plan/package.xml b/planning/kino_plan/package.xml
new file mode 100755
index 0000000..bf59fe0
--- /dev/null
+++ b/planning/kino_plan/package.xml
@@ -0,0 +1,75 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>kino_plan</name>
+  <version>0.0.0</version>
+  <description>The kino_plan package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="kai@todo.todo">kai</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/kino_plan</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>occ_grid</build_depend>
+  <build_depend>poly_traj_utils</build_depend>
+  <build_depend>visualization_utils</build_depend>
+  <build_depend>poly_opt</build_depend>
+  <build_depend>sampler</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>occ_grid</exec_depend>
+  <exec_depend>poly_traj_utils</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/planning/kino_plan/src/bvp_solver.cpp b/planning/kino_plan/src/bvp_solver.cpp
new file mode 100755
index 0000000..1a45245
--- /dev/null
+++ b/planning/kino_plan/src/bvp_solver.cpp
@@ -0,0 +1,597 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "kino_plan/bvp_solver.h"
+#include <iostream>
+
+namespace BVPSolver
+{
+
+  bool IntegratorBVP::solveDouble()
+  {
+    bool result = calTauStarDouble();
+
+    double t2 = tau_star_ * tau_star_;
+    double t3 = t2 * tau_star_;
+
+    coeff_(0, 0) = 0.0;
+    coeff_(0, 1) = 0.0;
+    coeff_(0, 2) = (2.0 * (x0_[0] - x1_[0]) + tau_star_ * (x0_[3] + x1_[3])) / t3;
+    coeff_(0, 3) = -(3.0 * (x0_[0] - x1_[0]) + tau_star_ * (2 * x0_[3] + x1_[3])) / t2;
+    coeff_(0, 4) = x0_[3];
+    coeff_(0, 5) = x0_[0];
+    coeff_(1, 0) = 0.0;
+    coeff_(1, 1) = 0.0;
+    coeff_(1, 2) = (2.0 * (x0_[1] - x1_[1]) + tau_star_ * (x0_[4] + x1_[4])) / t3;
+    coeff_(1, 3) = -(3.0 * (x0_[1] - x1_[1]) + tau_star_ * (2 * x0_[4] + x1_[4])) / t2;
+    coeff_(1, 4) = x0_[4];
+    coeff_(1, 5) = x0_[1];
+    coeff_(2, 0) = 0.0;
+    coeff_(2, 1) = 0.0;
+    coeff_(2, 2) = (2.0 * (x0_[2] - x1_[2]) + tau_star_ * (x0_[5] + x1_[5])) / t3;
+    coeff_(2, 3) = -(3.0 * (x0_[2] - x1_[2]) + tau_star_ * (2 * x0_[5] + x1_[5])) / t2;
+    coeff_(2, 4) = x0_[5];
+    coeff_(2, 5) = x0_[2];
+
+    return result;
+  }
+
+  /* 
+minimize Inte(1 + acc^T * rho * acc, 0, tau)
+*/
+  bool IntegratorBVP::calTauStarDouble()
+  {
+    VectorXd p(5);
+    p[0] = 1;
+    p[1] = 0;
+    p[2] = (x0_[3] * x0_[3] + x0_[3] * x1_[3] + x1_[3] * x1_[3] + x0_[4] * x0_[4] + x0_[4] * x1_[4] + x1_[4] * x1_[4] + x0_[5] * x0_[5] + x0_[5] * x1_[5] + x1_[5] * x1_[5]) * (-4.0) * rho_;
+    p[3] = (-x0_[0] * x0_[3] - x0_[0] * x1_[3] + x1_[0] * x0_[3] + x1_[0] * x1_[3] - x0_[1] * x0_[4] - x0_[1] * x1_[4] + x1_[1] * x0_[4] + x1_[1] * x1_[4] - x0_[2] * x0_[5] - x0_[2] * x1_[5] + x1_[2] * x0_[5] + x1_[2] * x1_[5]) * 24.0 * rho_;
+    p[4] = (-x0_[0] * x0_[0] + 2.0 * x0_[0] * x1_[0] - x1_[0] * x1_[0] - x0_[1] * x0_[1] + 2.0 * x0_[1] * x1_[1] - x1_[1] * x1_[1] - x0_[2] * x0_[2] + 2.0 * x0_[2] * x1_[2] - x1_[2] * x1_[2]) * 36.0 * rho_;
+    std::set<double> roots = RootFinder::solvePolynomial(p, 0.01, DBL_MAX, 1e-6);
+
+    bool result = false;
+    double tau = DBL_MAX;
+    double cost = DBL_MAX;
+    for (const double &root : roots)
+    {
+      double t1 = x0_[0] - x1_[0];
+      double t2 = x0_[1] - x1_[1];
+      double t3 = x0_[2] - x1_[2];
+      double t4 = x0_[3] + x1_[3];
+      double t5 = x0_[4] + x1_[4];
+      double t6 = x0_[5] + x1_[5];
+      double t7 = t1 * t1 + t2 * t2 + t3 * t3;
+      double t8 = t4 * t4 + t5 * t5 + t6 * t6 - x0_[3] * x1_[3] - x0_[4] * x1_[4] - x0_[5] * x1_[5];
+      double t9 = t1 * t4 + t2 * t5 + t3 * t6;
+
+      double current = root + rho_ * (t7 * 12 / root / root / root + t8 * 4 / root + t9 * 12 / root / root);
+      if (current < cost)
+      {
+        tau = root;
+        cost = current;
+        result = true;
+      }
+    }
+    tau_star_ = tau;
+    cost_star_ = cost;
+    return result;
+  }
+
+  bool IntegratorBVP::solveTriple()
+  {
+    bool result = calTauStarTriple();
+
+    double t2 = tau_star_ * tau_star_;
+    double t3 = tau_star_ * t2;
+    double t4 = tau_star_ * t3;
+    double t5 = tau_star_ * t4;
+    coeff_(0, 0) = -(12 * x0_[0] + 6 * tau_star_ * x0_[3] + t2 * x0_[6] - 12 * x1_[0] + 6 * tau_star_ * x1_[3] - t2 * x1_[6]) / (2 * t5);
+    coeff_(1, 0) = -(12 * x0_[1] + 6 * tau_star_ * x0_[4] + t2 * x0_[7] - 12 * x1_[1] + 6 * tau_star_ * x1_[4] - t2 * x1_[7]) / (2 * t5);
+    coeff_(2, 0) = -(12 * x0_[2] + 6 * tau_star_ * x0_[5] + t2 * x0_[8] - 12 * x1_[2] + 6 * tau_star_ * x1_[5] - t2 * x1_[8]) / (2 * t5);
+    coeff_(0, 1) = -(-30 * x0_[0] - 16 * tau_star_ * x0_[3] - 3 * t2 * x0_[6] + 30 * x1_[0] - 14 * tau_star_ * x1_[3] + 2 * t2 * x1_[6]) / (2 * t4);
+    coeff_(1, 1) = -(-30 * x0_[1] - 16 * tau_star_ * x0_[4] - 3 * t2 * x0_[7] + 30 * x1_[1] - 14 * tau_star_ * x1_[4] + 2 * t2 * x1_[7]) / (2 * t4);
+    coeff_(2, 1) = -(-30 * x0_[2] - 16 * tau_star_ * x0_[5] - 3 * t2 * x0_[8] + 30 * x1_[2] - 14 * tau_star_ * x1_[5] + 2 * t2 * x1_[8]) / (2 * t4);
+    coeff_(0, 2) = -(20 * x0_[0] + 12 * tau_star_ * x0_[3] + 3 * t2 * x0_[6] - 20 * x1_[0] + 8 * tau_star_ * x1_[3] - t2 * x1_[6]) / (2 * t3);
+    coeff_(1, 2) = -(20 * x0_[1] + 12 * tau_star_ * x0_[4] + 3 * t2 * x0_[7] - 20 * x1_[1] + 8 * tau_star_ * x1_[4] - t2 * x1_[7]) / (2 * t3);
+    coeff_(2, 2) = -(20 * x0_[2] + 12 * tau_star_ * x0_[5] + 3 * t2 * x0_[8] - 20 * x1_[2] + 8 * tau_star_ * x1_[5] - t2 * x1_[8]) / (2 * t3);
+    coeff_(0, 3) = x0_[6] / 2;
+    coeff_(1, 3) = x0_[7] / 2;
+    coeff_(2, 3) = x0_[8] / 2;
+    coeff_(0, 4) = x0_[3];
+    coeff_(1, 4) = x0_[4];
+    coeff_(2, 4) = x0_[5];
+    coeff_(0, 5) = x0_[0];
+    coeff_(1, 5) = x0_[1];
+    coeff_(2, 5) = x0_[2];
+
+    return result;
+  }
+
+  // /*
+  // minimize Inte(1 + acc^T * rho * acc, 0, tau)
+  // */
+  // bool IntegratorBVP::calTauStarTriple()
+  // {
+  //   VectorXd p(5);
+  //   p[0] = 35 + rho_*(3*x0_[6]*x0_[6] + 3*x0_[7]*x0_[7] + 3*x0_[8]*x0_[8]
+  //                     + x0_[6]*x1_[6] + 3*x1_[6]*x1_[6] + x0_[7]*x1_[7]
+  //                     + 3*x1_[7]*x1_[7] + x0_[8]*x1_[8] + 3*x1_[8]*x1_[8]);
+  //   p[1] = 0;
+  //   p[2] = -6*rho_*(32*x0_[3]*x0_[3] + 32*x0_[4]*x0_[4] + 32*x0_[5]*x0_[5]
+  //                 + 5*x0_[0]*x0_[6] + 5*x0_[1]*x0_[7] + 5*x0_[2]*x0_[8]
+  //                 - 5*x0_[6]*x1_[0] - 5*x0_[7]*x1_[1] - 5*x0_[8]*x1_[2]
+  //                 + 36*x0_[3]*x1_[3] + 32*x1_[3]*x1_[3] + 36*x0_[4]*x1_[4]
+  //                 + 32*x1_[4]*x1_[4] + 36*x0_[5]*x1_[5] + 32*x1_[5]*x1_[5]
+  //                 - 5*x0_[0]*x1_[6] + 5*x1_[0]*x1_[6] - 5*x0_[1]*x1_[7]
+  //                 + 5*x1_[1]*x1_[7] - 5*x0_[2]*x1_[8] + 5*x1_[2]*x1_[8]);
+  //   p[3] = -1200*rho_*(x0_[2]*x0_[5] - x0_[3]*x1_[0] - x0_[4]*x1_[1] - x0_[5]*x1_[2]
+  //                   - x1_[0]*x1_[3] + x0_[0]*(x0_[3] + x1_[3]) - x1_[1]*x1_[4]
+  //                   + x0_[1]*(x0_[4] + x1_[4]) + x0_[2]*x1_[5] - x1_[2]*x1_[5]);
+  //   p[4] = -1800*rho_*(x0_[0]*x0_[0] + x0_[1]*x0_[1] + x0_[2]*x0_[2]
+  //                 - 2*x0_[0]*x1_[0] + x1_[0]*x1_[0] - 2*x0_[1]*x1_[1]
+  //                   + x1_[1]*x1_[1] - 2*x0_[2]*x1_[2] + x1_[2]*x1_[2]);
+  //   std::set<double> roots = RootFinder::solvePolynomial(p, 0.01, DBL_MAX, FLT_EPSILON);
+
+  //   bool result = false;
+  //   double tau = DBL_MAX;
+  //   double cost = DBL_MAX;
+
+  //   for (const double& root : roots)
+  //   {
+  //     double current = (1/(35*root*root*root))
+  //     *(600*rho_*((x0_[0] - x1_[0])*(x0_[0] - x1_[0])
+  //               + (x0_[1] - x1_[1])*(x0_[1] - x1_[1])
+  //               + (x0_[2] - x1_[2])*(x0_[2] - x1_[2]))
+  //     + 600*rho_*root*((x0_[0] - x1_[0])*(x0_[3] + x1_[3])
+  //                       + (x0_[1] - x1_[1])*(x0_[4] + x1_[4])
+  //                       + (x0_[2] - x1_[2])*(x0_[5] + x1_[5]))
+  //     + 6*rho_*root*root*(32*x0_[3]*x0_[3] + 32*x0_[4]*x0_[4] + 36*x0_[3]*x1_[3]
+  //                               + 36*x0_[4]*x1_[4] + 32*(x1_[3]*x1_[3] + x1_[4]*x1_[4])
+  //                               + 4*(8*x0_[5]*x0_[5] + 9*x0_[5]*x1_[5] + 8*x1_[5]*x1_[5])
+  //                               + 5*(x0_[0] - x1_[0])*(x0_[6] - x1_[6])
+  //                               + 5*(x0_[1] - x1_[1])*(x0_[7] - x1_[7])
+  //                               + 5*(x0_[2] - x1_[2])*(x0_[8] - x1_[8]))
+  //     + 2*rho_*root*root*root*(11*x0_[3]*x0_[6] + 11*x0_[4]*x0_[7]
+  //                                       + 11*x0_[5]*x0_[8] + 4*x0_[6]*x1_[3]
+  //                                       + 4*x0_[7]*x1_[4] + 4*x0_[8]*x1_[5]
+  //                                       - 4*x0_[3]*x1_[6] - 11*x1_[3]*x1_[6]
+  //                                       - 4*x0_[4]*x1_[7] - 11*x1_[4]*x1_[7]
+  //                                       - 4*x0_[5]*x1_[8] - 11*x1_[5]*x1_[8])
+  //     + root*root*root*root*(35 + rho_*(3*x0_[6]*x0_[6] + 3*x0_[7]*x0_[7]
+  //                                                       + x0_[6]*x1_[6] + x0_[7]*x1_[7]
+  //                                                       + 3*(x0_[8]*x0_[8] + x1_[6]*x1_[6] + x1_[7]*x1_[7])
+  //                                                       + x0_[8]*x1_[8] + 3*x1_[8]*x1_[8])));
+  //     if (current < cost)
+  //     {
+  //       tau = root;
+  //       cost = current;
+  //       result = true;
+  //     }
+  //   }
+
+  //   tau_star_ = tau;
+  //   cost_star_ = cost;
+  //   return result;
+  // }
+
+  /* 
+minimize Inte(1 + jerk^T * rho * jerk, 0, tau)
+*/
+  bool IntegratorBVP::calTauStarTriple()
+  {
+    double t1 = 3 * (x0_[6] * x0_[6] + x0_[7] * x0_[7] + x0_[8] * x0_[8] + x1_[6] * x1_[6] + x1_[7] * x1_[7] + x1_[8] * x1_[8]);
+    double t2 = t1 - 2 * (x0_[6] * x1_[6] + x0_[7] * x1_[7] + x0_[8] * x1_[8]);
+    double t3 = 3 * (x0_[3] * x0_[6] + x0_[4] * x0_[7] + x0_[5] * x0_[8] - x1_[3] * x1_[6] - x1_[4] * x1_[7] - x1_[5] * x1_[8]);
+    double t4 = t3 + 2 * (x0_[6] * x1_[3] + x0_[7] * x1_[4] + x0_[8] * x1_[5] - x0_[3] * x1_[6] - x0_[4] * x1_[7] - x0_[5] * x1_[8]);
+    double t5 = 8 * (x0_[3] * x0_[3] + x0_[4] * x0_[4] + x0_[5] * x0_[5] + x1_[3] * x1_[3] + x1_[4] * x1_[4] + x1_[5] * x1_[5]);
+    double t6 = t5 + 5 * ((x0_[0] - x1_[0]) * (x0_[6] - x1_[6]) + (x0_[1] - x1_[1]) * (x0_[7] - x1_[7]) + (x0_[2] - x1_[2]) * (x0_[8] - x1_[8]));
+    double t7 = t6 + 14 * (x0_[3] * x1_[3] + x0_[4] * x1_[4] + x0_[5] * x1_[5]);
+    double t8 = (x0_[0] - x1_[0]) * (x0_[3] + x1_[3]) + (x0_[1] - x1_[1]) * (x0_[4] + x1_[4]) + (x0_[2] - x1_[2]) * (x0_[5] + x1_[5]);
+    double t9 = (x0_[0] - x1_[0]) * (x0_[0] - x1_[0]) + (x0_[1] - x1_[1]) * (x0_[1] - x1_[1]) + (x0_[2] - x1_[2]) * (x0_[2] - x1_[2]);
+
+#ifndef HEURISTIC_TIME
+    VectorXd p(7);
+    p[0] = 1.0;
+    p[1] = 0.0;
+    p[2] = -3 * rho_ * t2;
+    p[3] = -48 * rho_ * t4;
+    p[4] = -72 * rho_ * t7;
+    p[5] = -2800 * rho_ * t8;
+    p[6] = -3600 * rho_ * t9;
+    std::set<double> roots = RootFinder::solvePolynomial(p, 0.01, DBL_MAX, 1e-6);
+    bool result = false;
+    double tau = DBL_MAX;
+    double cost = DBL_MAX;
+
+    for (const double &root : roots)
+    {
+      double root2 = root * root;
+      double root3 = root2 * root;
+      double root4 = root3 * root;
+      double root5 = root4 * root;
+      double root6 = root5 * root;
+
+      double current = (root6 + rho_ * (720 * t9 + 720 * root * t8 + 24 * root2 * t7 + 24 * root3 * t4 + 3 * root4 * t2)) / root5;
+
+      if (current < cost)
+      {
+        tau = root;
+        cost = current;
+        result = true;
+      }
+    }
+
+    tau_star_ = tau;
+    cost_star_ = cost;
+    return result;
+
+#else
+    tau_star_ = heuristicTimeAvgVel();
+    double root2 = tau_star_ * tau_star_;
+    double root3 = root2 * tau_star_;
+    double root4 = root3 * tau_star_;
+    double root5 = root4 * tau_star_;
+    double root6 = root5 * tau_star_;
+    cost_star_ = (root6 + rho_ * (720 * t9 + 720 * tau_star_ * t8 + 24 * root2 * t7 + 24 * root3 * t4 + 3 * root4 * t2)) / root5;
+    return true;
+
+#endif
+  }
+
+  /* 
+minimize Inte(1 + jerk^T * rho * jerk, 0, tau)
+*/
+  bool IntegratorBVP::calTauStarTripleAccUnknown()
+  {
+    Eigen::Vector3d x0_012 = x0_.head(3), x0_345 = x0_.segment(3, 3), x0_678 = x0_.tail(3);
+    Eigen::Vector3d x1_012 = x1_.head(3), x1_345 = x1_.segment(3, 3), x1_678 = x1_.tail(3);
+    Eigen::Vector3d x0_diff_x1_012 = x0_012 - x1_012, x0_plus_x1_345 = 5 * x0_345 + 3 * x1_345;
+
+    double t1 = rho_ * x0_678.dot(x0_678);
+    double t2 = rho_ * (7 * x0_345.dot(x0_678) + 3 * x0_678.dot(x1_345));
+    double t3 = rho_ * (8 * x0_345.dot(x0_345) + 3 * x1_345.dot(x1_345) + 5 * x0_678.dot(x0_diff_x1_012) + 9 * x0_345.dot(x1_345));
+    double t4 = rho_ * x0_diff_x1_012.dot(x0_plus_x1_345);
+    double t5 = rho_ * x0_diff_x1_012.dot(x0_diff_x1_012);
+
+#ifndef HEURISTIC_TIME
+    VectorXd p(7);
+    p[0] = 1.0;
+    p[1] = 0.0;
+    p[2] = -8 * t1;
+    p[3] = -16 * t2;
+    p[4] = -48 * t3;
+    p[5] = -320 * t4;
+    p[6] = -1600 * t5;
+    std::set<double> roots = RootFinder::solvePolynomial(p, 0.01, DBL_MAX, 1e-6);
+
+    bool result = false;
+    double tau = DBL_MAX;
+    double cost = DBL_MAX;
+
+    for (const double &root : roots)
+    {
+      double root2 = root * root;
+      double root3 = root2 * root;
+      double root4 = root3 * root;
+      double root5 = root4 * root;
+      double root6 = root5 * root;
+
+      double current = (root6 + 320 * t5 + 80 * root * t4 + 16 * root2 * t3 + 8 * root3 * t2 + 8 * root4 * t1) / root5;
+
+      if (current < cost)
+      {
+        tau = root;
+        cost = current;
+        result = true;
+      }
+    }
+
+    tau_star_ = tau;
+    cost_star_ = cost;
+    return result;
+
+#else
+    tau_star_ = heuristicTimeAvgVel();
+    double root2 = tau_star_ * tau_star_;
+    double root3 = root2 * tau_star_;
+    double root4 = root3 * tau_star_;
+    double root5 = root4 * tau_star_;
+    double root6 = root5 * tau_star_;
+    cost_star_ = (root6 + 320 * t5 + 80 * tau_star_ * t4 + 16 * root2 * t3 + 8 * root3 * t2 + 8 * root4 * t1) / root5;
+    return true;
+
+#endif
+  }
+
+  bool IntegratorBVP::solveTripleAccUnknown()
+  {
+    bool result = calTauStarTripleAccUnknown();
+
+    double t2 = tau_star_ * tau_star_;
+    double t3 = tau_star_ * t2;
+    double t4 = tau_star_ * t3;
+    double t5 = tau_star_ * t4;
+    coeff_(0, 0) = -(8 * x0_[0] + 5 * tau_star_ * x0_[3] + t2 * x0_[6] - 8 * x1_[0] + 3 * tau_star_ * x1_[3]) / (3 * t5);
+    coeff_(1, 0) = -(8 * x0_[1] + 5 * tau_star_ * x0_[4] + t2 * x0_[7] - 8 * x1_[1] + 3 * tau_star_ * x1_[4]) / (3 * t5);
+    coeff_(2, 0) = -(8 * x0_[2] + 5 * tau_star_ * x0_[5] + t2 * x0_[8] - 8 * x1_[2] + 3 * tau_star_ * x1_[5]) / (3 * t5);
+    coeff_(0, 1) = -(-50 * x0_[0] - 32 * tau_star_ * x0_[3] - 7 * t2 * x0_[6] + 50 * x1_[0] - 18 * tau_star_ * x1_[3]) / (6 * t4);
+    coeff_(1, 1) = -(-50 * x0_[1] - 32 * tau_star_ * x0_[4] - 7 * t2 * x0_[7] + 50 * x1_[1] - 18 * tau_star_ * x1_[4]) / (6 * t4);
+    coeff_(2, 1) = -(-50 * x0_[2] - 32 * tau_star_ * x0_[5] - 7 * t2 * x0_[8] + 50 * x1_[2] - 18 * tau_star_ * x1_[5]) / (6 * t4);
+    coeff_(0, 2) = -(20 * x0_[0] + 14 * tau_star_ * x0_[3] + 4 * t2 * x0_[6] - 20 * x1_[0] + 6 * tau_star_ * x1_[3]) / (3 * t3);
+    coeff_(1, 2) = -(20 * x0_[1] + 14 * tau_star_ * x0_[4] + 4 * t2 * x0_[7] - 20 * x1_[1] + 6 * tau_star_ * x1_[4]) / (3 * t3);
+    coeff_(2, 2) = -(20 * x0_[2] + 14 * tau_star_ * x0_[5] + 4 * t2 * x0_[8] - 20 * x1_[2] + 6 * tau_star_ * x1_[5]) / (3 * t3);
+    coeff_(0, 3) = x0_[6] / 2;
+    coeff_(1, 3) = x0_[7] / 2;
+    coeff_(2, 3) = x0_[8] / 2;
+    coeff_(0, 4) = x0_[3];
+    coeff_(1, 4) = x0_[4];
+    coeff_(2, 4) = x0_[5];
+    coeff_(0, 5) = x0_[0];
+    coeff_(1, 5) = x0_[1];
+    coeff_(2, 5) = x0_[2];
+
+    return result;
+  }
+
+  bool IntegratorBVP::calTauStarTripleInitialAccUnknown()
+  {
+    Eigen::Vector3d x0_012 = x0_.head(3), x0_345 = x0_.segment(3, 3), x0_678 = x0_.tail(3);
+    Eigen::Vector3d x1_012 = x1_.head(3), x1_345 = x1_.segment(3, 3), x1_678 = x1_.tail(3);
+    Eigen::Vector3d x0_diff_x1_012 = x0_012 - x1_012, x0_plus_x1_345 = 3 * x0_345 + 5 * x1_345;
+
+    double t1 = rho_ * x1_678.dot(x1_678);
+    double t2 = rho_ * (7 * x1_345.dot(x1_678) + 3 * x1_678.dot(x0_345));
+    double t3 = rho_ * (8 * x1_345.dot(x1_345) + 3 * x0_345.dot(x0_345) - 5 * x1_678.dot(x0_diff_x1_012) + 9 * x0_345.dot(x1_345));
+    double t4 = rho_ * x0_diff_x1_012.dot(x0_plus_x1_345);
+    double t5 = rho_ * x0_diff_x1_012.dot(x0_diff_x1_012);
+
+#ifndef HEURISTIC_TIME
+    VectorXd p(7);
+    p[0] = 1.0;
+    p[1] = 0.0;
+    p[2] = -8 * t1;
+    p[3] = +16 * t2;
+    p[4] = -48 * t3;
+    p[5] = -320 * t4;
+    p[6] = -1600 * t5;
+    std::set<double> roots = RootFinder::solvePolynomial(p, 0.01, DBL_MAX, 1e-6);
+
+    bool result = false;
+    double tau = DBL_MAX;
+    double cost = DBL_MAX;
+
+    for (const double &root : roots)
+    {
+      double root2 = root * root;
+      double root3 = root2 * root;
+      double root4 = root3 * root;
+      double root5 = root4 * root;
+      double root6 = root5 * root;
+
+      double current = (root6 + 320 * t5 + 80 * root * t4 + 16 * root2 * t3 - 8 * root3 * t2 + 8 * root4 * t1) / root5;
+
+      if (current < cost)
+      {
+        tau = root;
+        cost = current;
+        result = true;
+      }
+    }
+
+    tau_star_ = tau;
+    cost_star_ = cost;
+    return result;
+
+#else
+    tau_star_ = heuristicTimeAvgVel();
+    double root2 = tau_star_ * tau_star_;
+    double root3 = root2 * tau_star_;
+    double root4 = root3 * tau_star_;
+    double root5 = root4 * tau_star_;
+    double root6 = root5 * tau_star_;
+    cost_star_ = (root6 + 320 * t5 + 80 * tau_star_ * t4 + 16 * root2 * t3 - 8 * root3 * t2 + 8 * root4 * t1) / root5;
+    return true;
+
+#endif
+  }
+
+  bool IntegratorBVP::solveTripleInitialAccUnknown()
+  {
+    bool result = calTauStarTripleInitialAccUnknown();
+
+    double t2 = tau_star_ * tau_star_;
+    double t3 = tau_star_ * t2;
+    double t4 = tau_star_ * t3;
+    double t5 = tau_star_ * t4;
+    coeff_(0, 0) = -(8 * x0_[0] + 5 * tau_star_ * x1_[3] - t2 * x1_[6] - 8 * x1_[0] + 3 * tau_star_ * x0_[3]) / (3 * t5);
+    coeff_(1, 0) = -(8 * x0_[1] + 5 * tau_star_ * x1_[4] - t2 * x1_[7] - 8 * x1_[1] + 3 * tau_star_ * x0_[4]) / (3 * t5);
+    coeff_(2, 0) = -(8 * x0_[2] + 5 * tau_star_ * x1_[5] - t2 * x1_[8] - 8 * x1_[2] + 3 * tau_star_ * x0_[5]) / (3 * t5);
+    coeff_(0, 1) = -(-10 * x0_[0] - 4 * tau_star_ * x0_[3] + t2 * x1_[6] + 10 * x1_[0] - 6 * tau_star_ * x1_[3]) / (2 * t4);
+    coeff_(1, 1) = -(-10 * x0_[1] - 4 * tau_star_ * x0_[4] + t2 * x1_[7] + 10 * x1_[1] - 6 * tau_star_ * x1_[4]) / (2 * t4);
+    coeff_(2, 1) = -(-10 * x0_[2] - 4 * tau_star_ * x0_[5] + t2 * x1_[8] + 10 * x1_[2] - 6 * tau_star_ * x1_[5]) / (2 * t4);
+    coeff_(0, 2) = 0.0;
+    coeff_(1, 2) = 0.0;
+    coeff_(2, 2) = 0.0;
+    coeff_(0, 3) = -(20 * x0_[0] + 12 * tau_star_ * x0_[3] - t2 * x1_[6] - 20 * x1_[0] + 8 * tau_star_ * x1_[3]) / (6 * t2);
+    coeff_(1, 3) = -(20 * x0_[1] + 12 * tau_star_ * x0_[4] - t2 * x1_[7] - 20 * x1_[1] + 8 * tau_star_ * x1_[4]) / (6 * t2);
+    coeff_(2, 3) = -(20 * x0_[2] + 12 * tau_star_ * x0_[5] - t2 * x1_[8] - 20 * x1_[2] + 8 * tau_star_ * x1_[5]) / (6 * t2);
+    coeff_(0, 4) = x0_[3];
+    coeff_(1, 4) = x0_[4];
+    coeff_(2, 4) = x0_[5];
+    coeff_(0, 5) = x0_[0];
+    coeff_(1, 5) = x0_[1];
+    coeff_(2, 5) = x0_[2];
+
+    return result;
+  }
+
+  /* 
+minimize Inte(1 + jerk^T * rho * jerk, 0, tau)
+*/
+  bool IntegratorBVP::calTauStarTripleVelAccUnknown()
+  {
+    Eigen::Vector3d x0_012 = x0_.head(3), x0_345 = x0_.segment(3, 3), x0_678 = x0_.tail(3);
+    Eigen::Vector3d x1_012 = x1_.head(3), x1_345 = x1_.segment(3, 3), x1_678 = x1_.tail(3);
+    Eigen::Vector3d x0_diff_x1_012 = x0_012 - x1_012;
+
+    double t4 = rho_ * x0_678.dot(x0_678);
+    double t3 = rho_ * x0_345.dot(x0_678);
+    double t2 = rho_ * (x0_345.dot(x0_345) + x0_012.dot(x1_678) - x0_678.dot(x1_012));
+    double t1 = rho_ * (x0_012.dot(x0_345) - x0_345.dot(x1_012));
+    double t0 = rho_ * x0_diff_x1_012.dot(x0_diff_x1_012);
+
+#ifndef HEURISTIC_TIME
+    VectorXd p(7);
+    p[0] = 1.0;
+    p[1] = 0.0;
+    p[2] = -5 * t4;
+    p[3] = -40 * t3;
+    p[4] = -60 * t2;
+    p[5] = -160 * t1;
+    p[6] = -100 * t0;
+    std::set<double> roots = RootFinder::solvePolynomial(p, 0.01, DBL_MAX, 1e-6);
+    bool result = false;
+    double tau = DBL_MAX;
+    double cost = DBL_MAX;
+
+    for (const double &root : roots)
+    {
+      double root2 = root * root;
+      double root3 = root2 * root;
+      double root4 = root3 * root;
+      double root5 = root4 * root;
+      double root6 = root5 * root;
+
+      double current = (root6 + 20 * t0 + 40 * root * t1 + 20 * root2 * t2 + 20 * root3 * t3 + 5 * root4 * t4) / root5;
+      if (current < cost)
+      {
+        tau = root;
+        cost = current;
+        result = true;
+      }
+    }
+
+    tau_star_ = tau;
+    cost_star_ = cost;
+    return result;
+
+#else
+    tau_star_ = heuristicTimeAvgVel();
+    double root2 = tau_star_ * tau_star_;
+    double root3 = root2 * tau_star_;
+    double root4 = root3 * tau_star_;
+    double root5 = root4 * tau_star_;
+    double root6 = root5 * tau_star_;
+    cost_star_ = (root6 + 20 * t0 + 40 * tau_star_ * t1 + 20 * root2 * t2 + 20 * root3 * t3 + 5 * root4 * t4) / root5;
+    return true;
+
+#endif
+  }
+
+  bool IntegratorBVP::solveTripleVelAccUnknown()
+  {
+    bool result = calTauStarTripleVelAccUnknown();
+
+    double t2 = tau_star_ * tau_star_;
+    double t3 = tau_star_ * t2;
+    double t4 = tau_star_ * t3;
+    double t5 = tau_star_ * t4;
+    coeff_(0, 0) = -(2 * x0_[0] + 2 * tau_star_ * x0_[3] + t2 * x0_[6] - 2 * x1_[0]) / (12 * t5);
+    coeff_(1, 0) = -(2 * x0_[1] + 2 * tau_star_ * x0_[4] + t2 * x0_[7] - 2 * x1_[1]) / (12 * t5);
+    coeff_(2, 0) = -(2 * x0_[2] + 2 * tau_star_ * x0_[5] + t2 * x0_[8] - 2 * x1_[2]) / (12 * t5);
+    coeff_(0, 1) = (10 * x0_[0] + 10 * tau_star_ * x0_[3] + 5 * t2 * x0_[6] - 10 * x1_[0]) / (12 * t4);
+    coeff_(1, 1) = (10 * x0_[1] + 10 * tau_star_ * x0_[4] + 5 * t2 * x0_[7] - 10 * x1_[1]) / (12 * t4);
+    coeff_(2, 1) = (10 * x0_[2] + 10 * tau_star_ * x0_[5] + 5 * t2 * x0_[8] - 10 * x1_[2]) / (12 * t4);
+    coeff_(0, 2) = -(10 * x0_[0] + 10 * tau_star_ * x0_[3] + 5 * t2 * x0_[6] - 10 * x1_[0]) / (6 * t3);
+    coeff_(1, 2) = -(10 * x0_[1] + 10 * tau_star_ * x0_[4] + 5 * t2 * x0_[7] - 10 * x1_[1]) / (6 * t3);
+    coeff_(2, 2) = -(10 * x0_[2] + 10 * tau_star_ * x0_[5] + 5 * t2 * x0_[8] - 10 * x1_[2]) / (6 * t3);
+    coeff_(0, 3) = x0_[6] / 2;
+    coeff_(1, 3) = x0_[7] / 2;
+    coeff_(2, 3) = x0_[8] / 2;
+    coeff_(0, 4) = x0_[3];
+    coeff_(1, 4) = x0_[4];
+    coeff_(2, 4) = x0_[5];
+    coeff_(0, 5) = x0_[0];
+    coeff_(1, 5) = x0_[1];
+    coeff_(2, 5) = x0_[2];
+
+    return result;
+  }
+
+  void IntegratorBVP::calCoeffFromTau(double tau, CoefficientMat &coeff)
+  {
+    double t2 = tau * tau;
+    double t3 = tau * t2;
+    double t4 = tau * t3;
+    double t5 = tau * t4;
+    coeff(0, 0) = -(8 * x0_[0] + 5 * tau * x0_[3] + t2 * x0_[6] - 8 * x1_[0] + 3 * tau * x1_[3]) / (3 * t5);
+    coeff(1, 0) = -(8 * x0_[1] + 5 * tau * x0_[4] + t2 * x0_[7] - 8 * x1_[1] + 3 * tau * x1_[4]) / (3 * t5);
+    coeff(2, 0) = -(8 * x0_[2] + 5 * tau * x0_[5] + t2 * x0_[8] - 8 * x1_[2] + 3 * tau * x1_[5]) / (3 * t5);
+    coeff(0, 1) = -(-50 * x0_[0] - 32 * tau * x0_[3] - 7 * t2 * x0_[6] + 50 * x1_[0] - 18 * tau * x1_[3]) / (6 * t4);
+    coeff(1, 1) = -(-50 * x0_[1] - 32 * tau * x0_[4] - 7 * t2 * x0_[7] + 50 * x1_[1] - 18 * tau * x1_[4]) / (6 * t4);
+    coeff(2, 1) = -(-50 * x0_[2] - 32 * tau * x0_[5] - 7 * t2 * x0_[8] + 50 * x1_[2] - 18 * tau * x1_[5]) / (6 * t4);
+    coeff(0, 2) = -(20 * x0_[0] + 14 * tau * x0_[3] + 4 * t2 * x0_[6] - 20 * x1_[0] + 6 * tau * x1_[3]) / (3 * t3);
+    coeff(1, 2) = -(20 * x0_[1] + 14 * tau * x0_[4] + 4 * t2 * x0_[7] - 20 * x1_[1] + 6 * tau * x1_[4]) / (3 * t3);
+    coeff(2, 2) = -(20 * x0_[2] + 14 * tau * x0_[5] + 4 * t2 * x0_[8] - 20 * x1_[2] + 6 * tau * x1_[5]) / (3 * t3);
+    coeff(0, 3) = x0_[6] / 2;
+    coeff(1, 3) = x0_[7] / 2;
+    coeff(2, 3) = x0_[8] / 2;
+    coeff(0, 4) = x0_[3];
+    coeff(1, 4) = x0_[4];
+    coeff(2, 4) = x0_[5];
+    coeff(0, 5) = x0_[0];
+    coeff(1, 5) = x0_[1];
+    coeff(2, 5) = x0_[2];
+  }
+
+  double IntegratorBVP::calCostAccKnown(const VectorXd &x0, const VectorXd &x1, double T)
+  {
+    double t1 = 3 * (x0[6] * x0[6] + x0[7] * x0[7] + x0[8] * x0[8] + x1[6] * x1[6] + x1[7] * x1[7] + x1[8] * x1[8]);
+    double t2 = t1 - 2 * (x0[6] * x1[6] + x0[7] * x1[7] + x0[8] * x1[8]);
+    double t3 = 3 * (x0[3] * x0[6] + x0[4] * x0[7] + x0[5] * x0[8] - x1[3] * x1[6] - x1[4] * x1[7] - x1[5] * x1[8]);
+    double t4 = t3 + 2 * (x0[6] * x1[3] + x0[7] * x1[4] + x0[8] * x1[5] - x0[3] * x1[6] - x0[4] * x1[7] - x0[5] * x1[8]);
+    double t5 = 8 * (x0[3] * x0[3] + x0[4] * x0[4] + x0[5] * x0[5] + x1[3] * x1[3] + x1[4] * x1[4] + x1[5] * x1[5]);
+    double t6 = t5 + 5 * ((x0[0] - x1[0]) * (x0[6] - x1[6]) + (x0[1] - x1[1]) * (x0[7] - x1[7]) + (x0[2] - x1[2]) * (x0[8] - x1[8]));
+    double t7 = t6 + 14 * (x0[3] * x1[3] + x0[4] * x1[4] + x0[5] * x1[5]);
+    double t8 = (x0[0] - x1[0]) * (x0[3] + x1[3]) + (x0[1] - x1[1]) * (x0[4] + x1[4]) + (x0[2] - x1[2]) * (x0[5] + x1[5]);
+    double t9 = (x0[0] - x1[0]) * (x0[0] - x1[0]) + (x0[1] - x1[1]) * (x0[1] - x1[1]) + (x0[2] - x1[2]) * (x0[2] - x1[2]);
+
+    double T2 = T * T;
+    double T3 = T2 * T;
+    double T4 = T3 * T;
+    double T5 = T4 * T;
+    double T6 = T5 * T;
+
+    double cost = (T6 + rho_ * (720 * t9 + 720 * T * t8 + 24 * T2 * t7 + 24 * T3 * t4 + 3 * T4 * t2)) / T5;
+    return cost;
+  }
+
+}
\ No newline at end of file
diff --git a/planning/kino_plan/src/kd_astar_jerk.cpp b/planning/kino_plan/src/kd_astar_jerk.cpp
new file mode 100755
index 0000000..a86f64c
--- /dev/null
+++ b/planning/kino_plan/src/kd_astar_jerk.cpp
@@ -0,0 +1,928 @@
+#include <kino_plan/kd_astar_jerk.h>
+#include <sstream>
+
+using namespace std;
+using namespace Eigen;
+
+namespace tgk_planner
+{
+  KinodynamicAstarJ::~KinodynamicAstarJ()
+  {
+    for (int i = 0; i < allocate_num_; i++)
+    {
+      delete path_node_pool_[i];
+    }
+  }
+
+  int KinodynamicAstarJ::search(Eigen::Vector3d start_pt, Eigen::Vector3d start_v,
+                                Eigen::Vector3d start_a, Eigen::Vector3d end_pt,
+                                Eigen::Vector3d end_v, Eigen::Vector3d end_a,
+                                double lambda_heu, 
+                                bool init, bool dynamic, double time_start)
+  {
+    lambda_heu_ = lambda_heu;
+    ros::Time t_ka_s = ros::Time::now();
+    start_vel_ = start_v;
+    start_acc_ = start_a;
+
+    /* ---------- initialize ---------- */
+    PathNodeJPtr cur_node = path_node_pool_[0];
+    cur_node->parent = NULL;
+    cur_node->state.head(3) = start_pt;
+    cur_node->state.segment(3, 3) = start_v;
+    cur_node->state.tail(3) = start_a;
+    cur_node->index = pos_checker_ptr_->posToIndex(start_pt);
+    cur_node->g_score = 0.0;
+
+    Eigen::VectorXd end_state(9);
+    Eigen::Vector3i end_index;
+    double time_to_goal;
+
+    end_state.head(3) = end_pt;
+    end_state.segment(3, 3) = end_v;
+    end_state.tail(3) = end_a;
+    end_index = pos_checker_ptr_->posToIndex(end_pt);
+    cur_node->f_score =
+        lambda_heu_ * estimateHeuristic(cur_node->state, end_state, time_to_goal);
+    cur_node->node_state = IN_OPEN_SET;
+
+    open_set_.push(cur_node);
+    use_node_num_ += 1;
+
+    // retrievePath(cur_node);
+    // bool succ = computeShotTraj(cur_node->state, end_state, time_to_goal);
+
+    // if (succ) {
+    //   return REACH_END;
+    // } else {
+    //   return NO_PATH;
+    // }
+
+    if (dynamic)
+    {
+      time_origin_ = time_start;
+      cur_node->time = time_start;
+      cur_node->time_idx = timeToIndex(time_start);
+      expanded_nodes_.insert(cur_node->index, cur_node->time_idx, cur_node);
+      // cout << "time start: " << time_start << endl;
+    }
+    else
+      expanded_nodes_.insert(cur_node->index, cur_node);
+
+    PathNodeJPtr neighbor = NULL;
+    PathNodeJPtr terminate_node = NULL;
+    double init_search = init;
+    // const int tolerance = ceil(1 / resolution_);
+    const int tolerance = ceil(1 / resolution_);
+
+    vector<Eigen::Vector3d> inputs;
+    vector<double> durations;
+    /* ---------- search loop ---------- */
+    while (!open_set_.empty())
+    {
+      /* ---------- get lowest f_score node ---------- */
+      cur_node = open_set_.top();
+      // cout << "pos: " << cur_node->state.head(3).transpose() << endl;
+      // cout << "time: " << cur_node->time << endl;
+      // cout << "dist: " << edt_env_->evaluateCoarseEDT(cur_node->state.head(3),
+      // cur_node->time) << endl;
+
+      /* ---------- determine termination ---------- */
+
+      bool near_end = abs(cur_node->index(0) - end_index(0)) <= tolerance &&
+                      abs(cur_node->index(1) - end_index(1)) <= tolerance &&
+                      abs(cur_node->index(2) - end_index(2)) <= tolerance;
+      bool reach_horizon = (cur_node->state.head(3) - end_pt).norm() <= horizon_;
+
+      if (reach_horizon || near_end)
+      {
+
+        if (near_end)
+        {
+          cout << "[Kino Astar]: near end." << endl;
+
+          /* one shot trajectory */
+          estimateHeuristic(cur_node->state, end_state, time_to_goal);
+          computeShotTraj(cur_node->state, end_state, time_to_goal);
+
+          //         if (terminate_node->parent == NULL && !is_shot_succ_)
+          //           return NO_PATH;
+          if (is_shot_succ_)
+          {
+            cout << "[Kino Astar Jerk]: used node num: " << use_node_num_
+                 << ", iter num: " << iter_num_ << endl;
+            terminate_node = cur_node;
+            retrievePath(terminate_node);
+            has_path_ = true;
+            planning_time_ = (ros::Time::now() - t_ka_s).toSec();
+            return REACH_END;
+          }
+          else
+          {
+            planning_time_ = (ros::Time::now() - t_ka_s).toSec();
+            return NO_PATH;
+          }
+        }
+        else if (reach_horizon)
+        {
+          computeShotTraj(cur_node->state, end_state, time_to_goal);
+
+          //         if (terminate_node->parent == NULL && !is_shot_succ_)
+          //           return NO_PATH;
+          if (is_shot_succ_)
+          {
+            cout << "[Kino Astar Jerk]: Reach horizon_" << endl;
+            cout << "[Kino Astar Jerk]: used node num: " << use_node_num_
+                 << ", iter num: " << iter_num_ << endl;
+            terminate_node = cur_node;
+            retrievePath(terminate_node);
+            has_path_ = true;
+            planning_time_ = (ros::Time::now() - t_ka_s).toSec();
+            return REACH_END;
+          }
+        }
+      }
+
+      /* ---------- pop node and add to close set ---------- */
+      open_set_.pop();
+      cur_node->node_state = IN_CLOSE_SET;
+      iter_num_ += 1;
+
+      /* ---------- init state propagation ---------- */
+      // input_res_ = 1 / 2.0;
+      // time_res_ = 1 / 1.0;
+      // time_res_init_ = 1 / 8.0;
+
+      Eigen::Matrix<double, 9, 1> cur_state = cur_node->state;
+      Eigen::Matrix<double, 9, 1> pro_state;
+      vector<PathNodeJPtr> tmp_expand_nodes;
+      Eigen::Vector3d um;
+      double pro_t;
+
+      inputs.clear();
+      durations.clear();
+      if (init_search)
+      {
+        double sign_x = (end_pt(0) - start_pt(0) > 0 ? 1 : -1);
+        double sign_y = (end_pt(1) - start_pt(1) > 0 ? 1 : -1);
+        double sign_z = (end_pt(2) - start_pt(2) > 0 ? 1 : -1);
+
+        for (double jx = 0; jx <= max_jerk_ + 1e-3;
+             jx += max_jerk_ * input_res_init_)
+          for (double jy = 0; jy <= max_jerk_ + 1e-3;
+               jy += max_jerk_ * input_res_init_)
+            for (double jz = 0; jz <= max_jerk_ + 1e-3;
+                 jz += max_jerk_ * input_res_init_)
+            {
+              um << sign_x * jx, sign_y * jy, 0.5 * sign_z * jz;
+              inputs.push_back(um);
+            }
+
+        for (double tau = time_res_init_ * init_max_tau_; tau <= init_max_tau_;
+             tau += time_res_init_ * init_max_tau_)
+          durations.push_back(tau);
+      }
+      else
+      {
+        for (double jx = -max_jerk_; jx <= max_jerk_ + 1e-3;
+             jx += max_jerk_ * input_res_)
+          for (double jy = -max_jerk_; jy <= max_jerk_ + 1e-3;
+               jy += max_jerk_ * input_res_)
+            for (double jz = -max_jerk_; jz <= max_jerk_ + 1e-3;
+                 jz += max_jerk_ * input_res_)
+            {
+              um << jx, jy, 0.5 * jz;
+              inputs.push_back(um);
+            }
+
+        for (double tau = time_res_ * max_tau_; tau <= max_tau_ + 1e-3;
+             tau += time_res_ * max_tau_)
+          durations.push_back(tau);
+      }
+
+      /* ---------- state propagation loop ---------- */
+      // cout << "cur state: " << cur_state.head(3).transpose() << endl;
+      // cout << "inputs size: " << inputs.size() << endl;
+      // cout << "durations size: " << durations.size() << endl;
+
+      for (int i = 0; i < inputs.size(); ++i)
+      {
+        for (int j = 0; j < durations.size(); ++j)
+        {
+
+          um = inputs[i];
+          double tau = durations[j];
+          stateTransit(cur_state, pro_state, um, tau);
+          // cout << pro_state.transpose() << endl;
+          pro_t = cur_node->time + tau;
+
+          // geometry_msgs::Point p;
+          // p.x = pro_state(0);
+          // p.y = pro_state(1);
+          // p.z = pro_state(2);
+
+          // visited_points.header.stamp = ros::Time::now();
+          // visited_points.action = visualization_msgs::Marker::DELETE;
+          // point_pub_.publish(visited_points);
+
+          // visited_points.points.push_back(p);
+          // visited_points.action = visualization_msgs::Marker::ADD;
+          // visited_points.header.stamp = ros::Time::now();
+          // point_pub_.publish(visited_points);
+
+          /* ---------- check if in free space ---------- */
+          /* inside map range */
+          if (!pos_checker_ptr_->validatePosSurround(
+                  Eigen::Vector3d(pro_state(0), pro_state(1), pro_state(2))))
+          {
+            // cout << "outside map" << endl;
+            continue;
+          }
+
+          /* not in close set */
+          Eigen::Vector3i pro_id =
+              pos_checker_ptr_->posToIndex(pro_state.head(3));
+          int pro_t_id = timeToIndex(pro_t);
+
+          PathNodeJPtr pro_node = dynamic ? expanded_nodes_.find(pro_id, pro_t_id)
+                                          : expanded_nodes_.find(pro_id);
+
+          if (pro_node != NULL && pro_node->node_state == IN_CLOSE_SET)
+          {
+            // cout << "in closeset" << endl;
+            continue;
+          }
+
+          /* vel feasibe */
+          Eigen::Vector3d pro_v = pro_state.segment(3, 3);
+          if (pro_v.norm() > max_vel_)
+          {
+            // cout << "end point vel infeasible" << endl;
+            continue;
+          }
+
+          /* acc feasible */
+          Eigen::Vector3d pro_a = pro_state.tail(3);
+          if (pro_a.norm() > max_acc_)
+          {
+            // cout << "end point acc infeasible" << endl;
+            continue;
+          }
+
+          /* not in the same voxel */
+          Eigen::Vector3i diff = pro_id - cur_node->index;
+          int diff_time = pro_t_id - cur_node->time_idx;
+          if (diff.norm() == 0 && ((!dynamic) || diff_time == 0))
+          {
+            // cout << "in same voxel" << endl;
+            continue;
+          }
+
+          Eigen::Matrix<double, 9, 1> xt;
+          bool is_occ = false, vel_violate = false, acc_violate = false;
+          // double t;
+          // size_t numPoints = ceil(tau / 0.02);
+          // size_t step = 1;
+          // while (step < numPoints)
+          //   step *= 2;
+          // double actual_deltaT = tau / numPoints;
+          // for (; step > 1; step /= 2) {
+          //   for (size_t i = step / 2; i < numPoints; i += step) {
+          //     t = actual_deltaT * i;
+          //     stateTransit(cur_state, xt, um, t);
+          //     Eigen::Vector3d pos(xt.head(3)), vel(xt.segment(3, 3)),
+          //         acc(xt.tail(3));
+          //     if (vel.norm() > max_vel_) {
+          //       vel_violate = true;
+          //       break;
+          //     }
+          //     if (!pos_checker_ptr_->validatePosSurround(pos)) {
+          //       is_occ = true;
+          //       break;
+          //     }
+          //   }
+          // }
+
+          for (double t = 0; t < tau; t += 0.02)
+          {
+            stateTransit(cur_state, xt, um, t);
+            Eigen::Vector3d pos(xt.head(3)), vel(xt.segment(3, 3)),
+                acc(xt.tail(3));
+
+            if (vel.norm() > max_vel_)
+            {
+              vel_violate = true;
+              // cout << "vel voilate!" << endl;
+              break;
+            }
+
+            if (acc.norm() > max_acc_)
+            {
+              acc_violate = true;
+              // cout << "acc voilate!" << endl;
+              break;
+            }
+            if (!pos_checker_ptr_->validatePosSurround(pos))
+            {
+              is_occ = true;
+              // cout << "collision!" << endl;
+              break;
+            }
+          }
+
+          if (is_occ || vel_violate || acc_violate)
+          {
+            continue;
+          }
+
+          /* ---------- compute cost ---------- */
+          double time_to_goal, tmp_g_score, tmp_f_score;
+          tmp_g_score = (um.squaredNorm() + w_time_) * tau + cur_node->g_score;
+          // std::cout << "current g score: " << tmp_g_score << std::endl;
+          // std::cout << "current heuristic: "
+          // << estimateHeuristic(pro_state, end_state, time_to_goal) <<
+          // std::endl;
+          tmp_f_score =
+              tmp_g_score +
+              lambda_heu_ * estimateHeuristic(pro_state, end_state, time_to_goal);
+
+          /* ---------- compare expanded node in this loop ---------- */
+
+          bool prune = false;
+          for (int j = 0; j < tmp_expand_nodes.size(); ++j)
+          {
+            PathNodeJPtr expand_node = tmp_expand_nodes[j];
+            if ((pro_id - expand_node->index).norm() == 0 &&
+                ((!dynamic) || pro_t_id == expand_node->time_idx))
+            {
+              prune = true;
+              if (tmp_f_score < expand_node->f_score)
+              {
+                expand_node->f_score = tmp_f_score;
+                expand_node->g_score = tmp_g_score;
+                expand_node->state = pro_state;
+                expand_node->input = um;
+                expand_node->duration = tau;
+                if (dynamic)
+                  expand_node->time = cur_node->time + tau;
+              }
+              break;
+            }
+          }
+
+          /* ---------- new neighbor in this loop ---------- */
+
+          if (!prune)
+          {
+            if (pro_node == NULL)
+            {
+              pro_node = path_node_pool_[use_node_num_];
+              pro_node->index = pro_id;
+              pro_node->state = pro_state;
+              pro_node->f_score = tmp_f_score;
+              pro_node->g_score = tmp_g_score;
+              pro_node->input = um;
+              pro_node->duration = tau;
+              pro_node->parent = cur_node;
+              pro_node->node_state = IN_OPEN_SET;
+              if (dynamic)
+              {
+                pro_node->time = cur_node->time + tau;
+                pro_node->time_idx = timeToIndex(pro_node->time);
+              }
+              open_set_.push(pro_node);
+
+              if (dynamic)
+                expanded_nodes_.insert(pro_id, pro_node->time, pro_node);
+              else
+                expanded_nodes_.insert(pro_id, pro_node);
+
+              tmp_expand_nodes.push_back(pro_node);
+
+              use_node_num_ += 1;
+              if (use_node_num_ == allocate_num_)
+              {
+                cout << "run out of memory." << endl;
+                planning_time_ = (ros::Time::now() - t_ka_s).toSec();
+                return NO_PATH;
+              }
+            }
+            else if (pro_node->node_state == IN_OPEN_SET)
+            {
+              if (tmp_g_score < pro_node->g_score)
+              {
+                // pro_node->index = pro_id;
+                pro_node->state = pro_state;
+                pro_node->f_score = tmp_f_score;
+                pro_node->g_score = tmp_g_score;
+                pro_node->input = um;
+                pro_node->duration = tau;
+                pro_node->parent = cur_node;
+                if (dynamic)
+                  pro_node->time = cur_node->time + tau;
+              }
+            }
+            else
+            {
+              cout << "error type in searching: " << pro_node->node_state << endl;
+            }
+          }
+
+          /* ----------  ---------- */
+        }
+      }
+      init_search = false;
+    }
+    planning_time_ = (ros::Time::now() - t_ka_s).toSec();
+    ROS_INFO_STREAM("k a jerk use: " << planning_time_);
+    /* ---------- open set empty, no path ---------- */
+    cout << "open set empty, no path!" << endl;
+    cout << "use node num: " << use_node_num_ << endl;
+    cout << "iter num: " << iter_num_ << endl;
+    return NO_PATH;
+  }
+
+  void KinodynamicAstarJ::setParam(const ros::NodeHandle &nh)
+  {
+    nh.param("search/jerk/max_tau", max_tau_, -1.0);
+    nh.param("search/jerk/init_max_tau", init_max_tau_, -1.0);
+    nh.param("search/jerk/max_vel", max_vel_, -1.0);
+    nh.param("search/jerk/max_acc", max_acc_, -1.0);
+
+    nh.param("search/jerk/w_time", w_time_, -1.0);
+    nh.param("search/jerk/horizon", horizon_, -1.0);
+    nh.param("search/jerk/resolution_astar", resolution_, -1.0);
+    nh.param("search/jerk/time_resolution", time_resolution_, -1.0);
+    nh.param("search/jerk/lambda_heu", lambda_heu_, -1.0);
+    nh.param("search/jerk/allocate_num", allocate_num_, -1);
+
+    nh.param("search/jerk/max_jerk", max_jerk_, -1.0);
+    // nh.param("search/jerk/rho", rho_, -1.0);
+
+    nh.param("search/jerk/input_res", input_res_, -1.0);
+    nh.param("search/jerk/input_res_int", input_res_init_, -1.0);
+    nh.param("search/jerk/time_res", time_res_, -1.0);
+    nh.param("search/jerk/time_res_init", time_res_init_, -1.0);
+
+    cout << "====================================" << endl;
+    cout << "input res: " << input_res_ << endl;
+    cout << "input res init: " << input_res_init_ << endl;
+    cout << "time res: " << time_res_ << endl;
+    cout << "time res init: " << time_res_init_ << endl;
+    cout << "====================================" << endl;
+
+    // nh.param("search/jerk/rho", rho_, -1.0);
+    rho_ = 1.0 / w_time_;
+    bvp_.init(TRIPLE_INTEGRATOR);
+    cout << "rho_: " << rho_ << endl;
+    cout << "horizon: " << horizon_ << endl;
+    cout << "max v: " << max_vel_ << endl;
+    cout << "max a: " << max_acc_ << endl;
+    cout << "max j: " << max_jerk_ << endl;
+    bvp_.setRho(rho_);
+
+    nh_ = nh;
+    point_pub_ =
+        nh_.advertise<visualization_msgs::Marker>("jerk_control_points", 10);
+  }
+
+  void KinodynamicAstarJ::retrievePath(PathNodeJPtr end_node)
+  {
+    PathNodeJPtr cur_node = end_node;
+    path_nodes_.push_back(cur_node);
+
+    while (cur_node->parent != NULL)
+    {
+      cur_node = cur_node->parent;
+      path_nodes_.push_back(cur_node);
+    }
+
+    reverse(path_nodes_.begin(), path_nodes_.end());
+  }
+
+  void KinodynamicAstarJ::getTraj(Trajectory &traj)
+  {
+    traj.clear();
+    // traj.emplace_back();
+
+    for (size_t i = 0; i < path_nodes_.size() - 1; i++)
+    {
+      PathNodeJPtr temp_node = path_nodes_[i];
+      double dur = path_nodes_[i + 1]->duration;
+      CoefficientMat coeff;
+      coeff.row(0) << 0, 0, 1.0 / 6 * path_nodes_[i + 1]->input(0),
+          1.0 / 2 * temp_node->state(6), temp_node->state(3), temp_node->state(0);
+      coeff.row(1) << 0, 0, 1.0 / 6 * path_nodes_[i + 1]->input(1),
+          1.0 / 2 * temp_node->state(7), temp_node->state(4), temp_node->state(1);
+      coeff.row(2) << 0, 0, 1.0 / 6 * path_nodes_[i + 1]->input(2),
+          1.0 / 2 * temp_node->state(8), temp_node->state(5), temp_node->state(2);
+
+      Piece temp_piece(dur, coeff);
+      traj.emplace_back(temp_piece);
+    }
+
+    if (is_shot_succ_)
+    {
+      Piece temp_piece(t_shot_, coef_shot_);
+      traj.emplace_back(temp_piece);
+    }
+
+    return;
+  }
+
+  double KinodynamicAstarJ::estimateHeuristic(Eigen::VectorXd x1,
+                                              Eigen::VectorXd x2,
+                                              double &optimal_time)
+  {
+    if (bvp_.solve(x1, x2, ACC_KNOWN))
+    {
+      double cost = w_time_ * bvp_.getCostStar();
+      optimal_time = bvp_.getTauStar();
+      // cout << "In esitimate heuristic, the cost: " << cost
+      //      << " The distance is: " << (x2.head(3) - x1.head(3)).norm() <<
+      //      endl;
+      return 1.0 * (1 + tie_breaker_) * cost;
+    }
+    else
+    {
+      std::cout << "sth. wrong with the bvp solver" << std::endl;
+      return 0;
+    }
+  }
+
+  bool KinodynamicAstarJ::computeShotTraj(Eigen::VectorXd state1,
+                                          Eigen::VectorXd state2,
+                                          double time_to_goal)
+  {
+    is_shot_succ_ = false;
+    // cout << "IN compute shot traj" << endl;
+    // cout << state1.transpose() << endl;
+    // cout << state2.transpose() << endl;
+    /* ---------- get coefficient ---------- */
+    CoefficientMat coef;
+    if (bvp_.solve(state1, state2, ACC_KNOWN))
+    {
+      bvp_.getCoeff(coef);
+    }
+    else
+    {
+      std::cout << "sth. wrong with the bvp solver" << std::endl;
+      return false;
+    }
+
+    /* ---------- forward checking of trajectory ---------- */
+    // double t_delta = t_d / 10;
+    double t_d = bvp_.getTauStar();
+    double t_delta = 0.02;
+
+    Eigen::MatrixXd Tm(6, 6);
+    Tm << 0, 5, 0, 0, 0, 0, //
+        0, 0, 4, 0, 0, 0,   //
+        0, 0, 0, 3, 0, 0,   //
+        0, 0, 0, 0, 2, 0,   //
+        0, 0, 0, 0, 0, 1,   //
+        0, 0, 0, 0, 0, 0;
+
+    Vector3d coord, vel, acc;
+    VectorXd poly1d, t, polyv, polya;
+    Vector3i index;
+
+    for (double time = t_delta; time <= t_d; time += t_delta)
+    {
+      t = VectorXd::Zero(6);
+      for (int j = 0; j < 6; j++)
+        t(j) = pow(time, 5 - j);
+
+      for (int dim = 0; dim < 3; dim++)
+      {
+        poly1d = coef.row(dim);
+        coord(dim) = poly1d.dot(t);
+      }
+
+      if (!pos_checker_ptr_->validatePosSurround(coord))
+      {
+        // cout << " Shot traj collision! " << endl;
+        return false;
+      }
+    }
+
+    int n(0);
+    Piece shot_traj(t_d, coef);
+    if (!shot_traj.checkMaxAccRate(max_acc_))
+    {
+      return false;
+    }
+    if (!shot_traj.checkMaxVelRate(max_vel_))
+    {
+      return false;
+    }
+    // while (1)
+    // {
+    //   if (shot_traj.checkMaxAccRate(max_acc_))
+    //   {
+    //     break;
+    //   }
+    //   else if (n < 3)
+    //   {
+    //     n++;
+    //     double k(0.97);
+    //     shot_traj.scaleTime(k);
+    //   }
+    //   else
+    //     return false;
+    // }
+    // n = 0;
+    // while (1)
+    // {
+    //   if (shot_traj.checkMaxVelRate(vel_acc_))
+    //   {
+    //     break;
+    //   }
+    //   else if (n < 3)
+    //   {
+    //     n++;
+    //     double k(0.97);
+    //     shot_traj.scaleTime(k);
+    //   }
+    //   else
+    //     return false;
+    // }
+
+    coef_shot_ = shot_traj.getCoeffMat();
+    t_shot_ = shot_traj.getDuration();
+    is_shot_succ_ = true;
+    return true;
+  }
+
+  void KinodynamicAstarJ::init()
+  {
+    /* ---------- map params ---------- */
+    this->inv_resolution_ = 1.0 / resolution_;
+    inv_time_resolution_ = 1.0 / time_resolution_;
+
+    /* ---------- pre-allocated node ---------- */
+    path_node_pool_.resize(allocate_num_);
+    for (int i = 0; i < allocate_num_; i++)
+    {
+      path_node_pool_[i] = new PathNodeJ;
+    }
+
+    phi_ = Eigen::MatrixXd::Identity(9, 9);
+
+    use_node_num_ = 0;
+    iter_num_ = 0;
+
+    visited_points.header.frame_id = "map";
+    visited_points.header.stamp = ros::Time::now();
+    visited_points.id = 1;
+    visited_points.action = visualization_msgs::Marker::ADD;
+    visited_points.type = visualization_msgs::Marker::POINTS;
+    visited_points.scale.x = 0.08;
+    visited_points.scale.y = 0.08;
+    visited_points.scale.z = 0.08;
+    visited_points.color.a = 1.0;
+    visited_points.color.r = 1.0;
+    visited_points.color.g = 0;
+    visited_points.color.b = 0;
+
+    visited_points.points.clear();
+  }
+
+  void KinodynamicAstarJ::setPosChecker(const PosChecker::Ptr &checker)
+  {
+    this->pos_checker_ptr_ = checker;
+  }
+
+  void KinodynamicAstarJ::reset()
+  {
+    expanded_nodes_.clear();
+    path_nodes_.clear();
+
+    std::priority_queue<PathNodeJPtr, std::vector<PathNodeJPtr>, NodeComparatorJ>
+        empty_queue;
+    open_set_.swap(empty_queue);
+
+    for (int i = 0; i < use_node_num_; i++)
+    {
+      PathNodeJPtr node = path_node_pool_[i];
+      node->parent = NULL;
+      node->node_state = NOT_EXPAND;
+    }
+
+    use_node_num_ = 0;
+    iter_num_ = 0;
+    is_shot_succ_ = false;
+    visited_points.points.clear();
+    planning_time_ = 0.0;
+  }
+
+  std::vector<Eigen::Vector3d> KinodynamicAstarJ::getKinoTraj(double delta_t)
+  {
+    vector<Vector3d> state_list;
+
+    /* ---------- get traj of searching ---------- */
+    PathNodeJPtr node = path_nodes_.back();
+    Matrix<double, 9, 1> x0, xt;
+
+    while (node->parent != NULL)
+    {
+      Vector3d ut = node->input;
+      double duration = node->duration;
+      x0 = node->parent->state;
+
+      for (double t = duration; t >= -1e-5; t -= delta_t)
+      {
+        stateTransit(x0, xt, ut, t);
+        state_list.push_back(xt.head(3));
+      }
+      node = node->parent;
+    }
+    reverse(state_list.begin(), state_list.end());
+
+    /* ---------- get traj of one shot ---------- */
+    if (is_shot_succ_)
+    {
+      Vector3d coord;
+      VectorXd poly1d, time(6);
+
+      for (double t = delta_t; t <= t_shot_; t += delta_t)
+      {
+        for (int j = 0; j < 6; j++)
+          time(j) = pow(t, 5 - j);
+
+        for (int dim = 0; dim < 3; dim++)
+        {
+          poly1d = coef_shot_.row(dim);
+          coord(dim) = poly1d.dot(time);
+        }
+        state_list.push_back(coord);
+      }
+    }
+
+    return state_list;
+  }
+
+  void KinodynamicAstarJ::getVisTraj(
+      double delta_t, vector<Eigen::Matrix<double, 9, 1>> &states)
+  {
+    /* ---------- get traj of searching ---------- */
+    PathNodeJPtr node = path_nodes_.back();
+    Matrix<double, 9, 1> x0, xt;
+
+    while (node->parent != NULL)
+    {
+      Vector3d ut = node->input;
+      double duration = node->duration;
+      x0 = node->parent->state;
+
+      for (double t = duration; t >= -1e-5; t -= delta_t)
+      {
+        stateTransit(x0, xt, ut, t);
+        states.push_back(xt);
+      }
+      node = node->parent;
+    }
+    reverse(states.begin(), states.end());
+
+    /* ---------- get traj of one shot ---------- */
+    if (is_shot_succ_)
+    {
+      Eigen::Matrix<double, 9, 1> state;
+      VectorXd poly1d, time_p(6), time_v(6), time_a(6);
+      time_p.setZero();
+      time_v.setZero();
+      time_a.setZero();
+
+      for (double t = delta_t; t <= t_shot_; t += delta_t)
+      {
+        for (int j = 0; j < 6; j++)
+          time_p(j) = pow(t, 5 - j);
+
+        for (int j = 0; j < 5; j++)
+          time_v(j) = (5 - j) * pow(t, 4 - j);
+
+        for (int j = 0; j < 4; j++)
+          time_a(j) = (5 - j) * (4 - j) * pow(t, 3 - j);
+
+        for (int dim = 0; dim < 3; dim++)
+        {
+          poly1d = coef_shot_.row(dim);
+          state(dim + 0) = poly1d.dot(time_p);
+          state(dim + 3) = poly1d.dot(time_v);
+          state(dim + 6) = poly1d.dot(time_a);
+        }
+
+        states.push_back(state);
+      }
+    }
+  }
+
+  void KinodynamicAstarJ::getTrajAttributes(double &traj_duration,
+                                            double &ctrl_cost,
+                                            double &traj_length, int &seg_nums)
+  {
+    ctrl_cost = 0.0;
+    traj_duration = 0.0;
+    traj_length = 0.0;
+    seg_nums = 0;
+
+    /* ---------- get traj of searching ---------- */
+    PathNodeJPtr node = path_nodes_.back();
+    Matrix<double, 9, 1> x0, xt;
+    double delta_t = 0.03;
+
+    while (node->parent != NULL)
+    {
+      Vector3d ut = node->input;
+      double duration = node->duration;
+      x0 = node->parent->state;
+
+      seg_nums++;
+      traj_duration += duration;
+      ctrl_cost += duration * ut.dot(ut);
+      for (double t = duration; t >= -1e-5; t -= delta_t)
+      {
+        stateTransit(x0, xt, ut, t);
+        double speed =
+            sqrt(xt(3, 0) * xt(3, 0) + xt(4, 0) * xt(4, 0) + xt(5, 0) * xt(5, 0));
+        traj_length += speed * delta_t;
+      }
+      node = node->parent;
+    }
+
+    /* ---------- get traj of one shot ---------- */
+    if (is_shot_succ_)
+    {
+      seg_nums++;
+      Vector3d vel, control;
+      VectorXd poly1d, time_v(6), time_a(6), time_j(6);
+      time_v.setZero();
+      time_a.setZero();
+
+      for (double t = delta_t; t <= t_shot_; t += delta_t)
+      {
+        // for (int j = 0; j < 6; j++)
+        //   time_p(j) = pow(t, 5 - j);
+
+        for (int j = 0; j < 5; j++)
+          time_v(j) = (5 - j) * pow(t, 4 - j);
+
+        // for (int j = 0; j < 4; j++)
+        //   time_a(j) = (5 - j) * (4 - j) * pow(t, 3 - j);
+
+        for (int j = 0; j < 3; j++)
+          time_j(j) = (5 - j) * (4 - j) * (3 - j) * pow(t, 2 - j);
+
+        for (int dim = 0; dim < 3; dim++)
+        {
+          // poly1d = coef_shot_.row(dim);
+          // vel(dim) = poly1d.dot(time_v);
+          // control(dim) = poly1d.dot(time_a);
+
+          poly1d = coef_shot_.row(dim);
+          vel(dim) = poly1d.dot(time_v);
+          control(dim) = poly1d.dot(time_j);
+        }
+        ctrl_cost += delta_t * control.dot(control);
+        traj_length += vel.norm() * delta_t;
+      }
+      traj_duration += t_shot_;
+    }
+  }
+
+  std::vector<PathNodeJPtr> KinodynamicAstarJ::getVisitedNodes()
+  {
+    vector<PathNodeJPtr> visited;
+    visited.assign(path_node_pool_.begin(),
+                   path_node_pool_.begin() + use_node_num_ - 1);
+    return visited;
+  }
+
+  int KinodynamicAstarJ::timeToIndex(double time)
+  {
+    int idx = floor((time - time_origin_) * inv_time_resolution_);
+  }
+
+  void KinodynamicAstarJ::stateTransit(Eigen::Matrix<double, 9, 1> &state0,
+                                       Eigen::Matrix<double, 9, 1> &state1,
+                                       Eigen::Vector3d um, double tau)
+  {
+    for (int i = 0; i < 6; ++i)
+    {
+      phi_(i, i + 3) = tau;
+    }
+
+    for (int i = 0; i < 3; ++i)
+    {
+      phi_(i, i + 6) = 0.5 * pow(tau, 2);
+    }
+
+    Eigen::Matrix<double, 9, 1> integral;
+    integral.head(3) = 1.0 / 6 * pow(tau, 3) * um;
+    integral.segment(3, 3) = 0.5 * pow(tau, 2) * um;
+    integral.tail(3) = tau * um;
+
+    state1 = phi_ * state0 + integral;
+  }
+
+} // namespace dyn_planner
\ No newline at end of file
diff --git a/planning/kino_plan/src/kd_astar_jerk.cpp.bak b/planning/kino_plan/src/kd_astar_jerk.cpp.bak
new file mode 100755
index 0000000..1a65d69
--- /dev/null
+++ b/planning/kino_plan/src/kd_astar_jerk.cpp.bak
@@ -0,0 +1,752 @@
+#include <kino_plan/kd_astar_jerk.h>
+#include <sstream>
+
+using namespace std;
+using namespace Eigen;
+
+namespace tgk_planner {
+KinodynamicAstarJ::~KinodynamicAstarJ() {
+  for (int i = 0; i < allocate_num_; i++) {
+    delete path_node_pool_[i];
+  }
+}
+
+int KinodynamicAstarJ::search(Eigen::Vector3d start_pt, Eigen::Vector3d start_v,
+                              Eigen::Vector3d start_a, Eigen::Vector3d end_pt,
+                              Eigen::Vector3d end_v, Eigen::Vector3d end_a,
+                              bool init, bool dynamic, double time_start, double time_budget) {
+  ros::Time t_ka_s = ros::Time::now();
+  start_vel_ = start_v;
+  start_acc_ = start_a;
+
+  /* ---------- initialize ---------- */
+  PathNodeJPtr cur_node = path_node_pool_[0];
+  cur_node->parent = NULL;
+  cur_node->state.head(3) = start_pt;
+  cur_node->state.segment(3, 3) = start_v;
+  cur_node->state.tail(3) = start_a;
+  cur_node->index = pos_checker_ptr_->posToIndex(start_pt);
+  cur_node->g_score = 0.0;
+
+  Eigen::VectorXd end_state(9);
+  Eigen::Vector3i end_index;
+  double time_to_goal;
+
+  end_state.head(3) = end_pt;
+  end_state.segment(3, 3) = end_v;
+  end_state.tail(3) = end_a;
+  end_index = pos_checker_ptr_->posToIndex(end_pt);
+  cur_node->f_score =
+      lambda_heu_ * estimateHeuristic(cur_node->state, end_state, time_to_goal);
+  cur_node->node_state = IN_OPEN_SET;
+
+  open_set_.push(cur_node);
+  use_node_num_ += 1;
+
+  // retrievePath(cur_node);
+  // bool succ = computeShotTraj(cur_node->state, end_state, time_to_goal);
+
+  // if (succ) {
+  //   return REACH_END;
+  // } else {
+  //   return NO_PATH;
+  // }
+
+  if (dynamic) {
+    time_origin_ = time_start;
+    cur_node->time = time_start;
+    cur_node->time_idx = timeToIndex(time_start);
+    expanded_nodes_.insert(cur_node->index, cur_node->time_idx, cur_node);
+    // cout << "time start: " << time_start << endl;
+  } else
+    expanded_nodes_.insert(cur_node->index, cur_node);
+
+  PathNodeJPtr neighbor = NULL;
+  PathNodeJPtr terminate_node = NULL;
+  init_search_ = init;
+  double init_search = init;
+  // const int tolerance = ceil(1 / resolution_);
+  const int tolerance = ceil(1 / resolution_);
+
+  /* ---------- search loop ---------- */
+  while (!open_set_.empty() && (ros::Time::now() - t_ka_s).toSec() <= time_budget) {
+    /* ---------- get lowest f_score node ---------- */
+    cur_node = open_set_.top();
+    // cout << "pos: " << cur_node->state.head(3).transpose() << endl;
+    // cout << "time: " << cur_node->time << endl;
+    // cout << "dist: " << edt_env_->evaluateCoarseEDT(cur_node->state.head(3),
+    // cur_node->time) << endl;
+
+    /* ---------- determine termination ---------- */
+
+    bool near_end = abs(cur_node->index(0) - end_index(0)) <= tolerance &&
+                    abs(cur_node->index(1) - end_index(1)) <= tolerance &&
+                    abs(cur_node->index(2) - end_index(2)) <= tolerance;
+    bool reach_horizon = (cur_node->state.head(3) - end_pt).norm() <= horizon_;
+
+    if (reach_horizon || near_end) {
+
+      if (near_end) {
+        cout << "[Kino Astar]: near end." << endl;
+
+        /* one shot trajectory */
+        estimateHeuristic(cur_node->state, end_state, time_to_goal);
+        computeShotTraj(cur_node->state, end_state, time_to_goal);
+
+        //         if (terminate_node->parent == NULL && !is_shot_succ_)
+        //           return NO_PATH;
+        if (is_shot_succ_) {
+          cout << "[Kino Astar Jerk]: used node num: " << use_node_num_
+               << ", iter num: " << iter_num_ << endl;
+          terminate_node = cur_node;
+          retrievePath(terminate_node);
+          has_path_ = true;
+          return REACH_END;
+        } else
+          return NO_PATH;
+      } else if (reach_horizon) {
+        computeShotTraj(cur_node->state, end_state, time_to_goal);
+
+        //         if (terminate_node->parent == NULL && !is_shot_succ_)
+        //           return NO_PATH;
+        if (is_shot_succ_) {
+          cout << "[Kino Astar Jerk]: Reach horizon_" << endl;
+          cout << "[Kino Astar Jerk]: used node num: " << use_node_num_
+               << ", iter num: " << iter_num_ << endl;
+          terminate_node = cur_node;
+          retrievePath(terminate_node);
+          has_path_ = true;
+          return REACH_END;
+        }
+      }
+    }
+
+    /* ---------- pop node and add to close set ---------- */
+    open_set_.pop();
+    cur_node->node_state = IN_CLOSE_SET;
+    iter_num_ += 1;
+
+    /* ---------- init state propagation ---------- */
+    res_ = 1 / 2.0;
+    time_res_ = 1 / 1.0;
+    time_res_init_ = 1 / 8.0;
+
+    Eigen::Matrix<double, 9, 1> cur_state = cur_node->state;
+    Eigen::Matrix<double, 9, 1> pro_state;
+    vector<PathNodeJPtr> tmp_expand_nodes;
+    Eigen::Vector3d um;
+    double pro_t;
+
+    vector<Eigen::Vector3d> inputs;
+    vector<double> durations;
+
+    if (init_search) {
+      inputs.push_back(start_acc_);
+      for (double tau = time_res_init_ * init_max_tau_; tau <= init_max_tau_;
+           tau += time_res_init_ * init_max_tau_)
+        durations.push_back(tau);
+    } else {
+      for (double jx = -max_jerk_; jx <= max_jerk_ + 1e-3;
+           jx += max_jerk_ * res_)
+        for (double jy = -max_jerk_; jy <= max_jerk_ + 1e-3;
+             jy += max_jerk_ * res_)
+          for (double jz = -max_jerk_; jz <= max_jerk_ + 1e-3;
+               jz += max_jerk_ * res_) {
+            um << jx, jy, 0.5 * jz;
+            inputs.push_back(um);
+          }
+      for (double tau = time_res_ * max_tau_; tau <= max_tau_;
+           tau += time_res_ * max_tau_)
+        durations.push_back(tau);
+    }
+
+    /* ---------- state propagation loop ---------- */
+    // cout << "cur state:" << cur_state.head(3).transpose() << endl;
+    for (int i = 0; i < inputs.size(); ++i)
+      for (int j = 0; j < durations.size(); ++j) {
+        init_search = false;
+        um = inputs[i];
+        double tau = durations[j];
+        stateTransit(cur_state, pro_state, um, tau);
+        pro_t = cur_node->time + tau;
+
+        /* ---------- check if in free space ---------- */
+
+        /* inside map range */
+        if (!pos_checker_ptr_->validatePosSurround(
+                Eigen::Vector3d(pro_state(0), pro_state(1), pro_state(2)))) {
+          // cout << "outside map" << endl;
+          continue;
+        }
+
+        /* not in close set */
+        Eigen::Vector3i pro_id =
+            pos_checker_ptr_->posToIndex(pro_state.head(3));
+        int pro_t_id = timeToIndex(pro_t);
+
+        PathNodeJPtr pro_node = dynamic ? expanded_nodes_.find(pro_id, pro_t_id)
+                                        : expanded_nodes_.find(pro_id);
+
+        if (pro_node != NULL && pro_node->node_state == IN_CLOSE_SET) {
+          // cout << "in closeset" << endl;
+          continue;
+        }
+
+        /* vel feasibe */
+        Eigen::Vector3d pro_v = pro_state.segment(3, 3);
+        if (fabs(pro_v(0)) > max_vel_ || fabs(pro_v(1)) > max_vel_ ||
+            fabs(pro_v(2)) > max_vel_) {
+          // cout << "vel infeasible" << endl;
+          continue;
+        }
+
+        /* not in the same voxel */
+        Eigen::Vector3i diff = pro_id - cur_node->index;
+        int diff_time = pro_t_id - cur_node->time_idx;
+        if (diff.norm() == 0 && ((!dynamic) || diff_time == 0)) {
+          continue;
+        }
+
+        Eigen::Matrix<double, 9, 1> xt;
+        bool is_occ = false, vel_violate = false;
+        double t;
+        size_t numPoints = ceil(tau / 0.02);
+        size_t step = 1;
+        while (step < numPoints)
+          step *= 2;
+        double actual_deltaT = tau / numPoints;
+        for (; step > 1; step /= 2) {
+          for (size_t i = step / 2; i < numPoints; i += step) {
+            t = actual_deltaT * i;
+            stateTransit(cur_state, xt, um, t);
+            Eigen::Vector3d pos(xt.head(3)), vel(xt.segment(3, 3)),
+                acc(xt.tail(3));
+            if (vel.norm() > max_vel_) {
+              vel_violate = true;
+              break;
+            }
+            if (!pos_checker_ptr_->validatePosSurround(pos)) {
+              is_occ = true;
+              break;
+            }
+          }
+        }
+
+        if (is_occ || vel_violate) {
+          // cout << "collision" << endl;
+          continue;
+        }
+
+        // visited_pts.push_back(pro_state);
+        // geometry_msgs::Point p;
+        // p.x = pro_state(0);
+        // p.y = pro_state(1);
+        // p.z = pro_state(2);
+
+        // visited_points.header.stamp = ros::Time::now();
+        // visited_points.action = visualization_msgs::Marker::DELETE;
+        // point_pub_.publish(visited_points);
+
+        // visited_points.points.push_back(p);
+        // visited_points.action = visualization_msgs::Marker::ADD;
+        // visited_points.header.stamp = ros::Time::now();
+        // point_pub_.publish(visited_points);
+
+        /* ---------- compute cost ---------- */
+        double time_to_goal, tmp_g_score, tmp_f_score;
+        tmp_g_score = (um.squaredNorm() + w_time_) * tau + cur_node->g_score;
+        // std::cout << "current g score: " << tmp_g_score << std::endl;
+        // std::cout << "current heuristic: "
+        // << estimateHeuristic(pro_state, end_state, time_to_goal) <<
+        // std::endl;
+        tmp_f_score =
+            tmp_g_score +
+            lambda_heu_ * estimateHeuristic(pro_state, end_state, time_to_goal);
+
+        /* ---------- compare expanded node in this loop ---------- */
+
+        bool prune = false;
+        for (int j = 0; j < tmp_expand_nodes.size(); ++j) {
+          PathNodeJPtr expand_node = tmp_expand_nodes[j];
+          if ((pro_id - expand_node->index).norm() == 0 &&
+              ((!dynamic) || pro_t_id == expand_node->time_idx)) {
+            prune = true;
+            if (tmp_f_score < expand_node->f_score) {
+              expand_node->f_score = tmp_f_score;
+              expand_node->g_score = tmp_g_score;
+              expand_node->state = pro_state;
+              expand_node->input = um;
+              expand_node->duration = tau;
+              if (dynamic)
+                expand_node->time = cur_node->time + tau;
+            }
+            break;
+          }
+        }
+
+        /* ---------- new neighbor in this loop ---------- */
+
+        if (!prune) {
+          if (pro_node == NULL) {
+            pro_node = path_node_pool_[use_node_num_];
+            pro_node->index = pro_id;
+            pro_node->state = pro_state;
+            pro_node->f_score = tmp_f_score;
+            pro_node->g_score = tmp_g_score;
+            pro_node->input = um;
+            pro_node->duration = tau;
+            pro_node->parent = cur_node;
+            pro_node->node_state = IN_OPEN_SET;
+            if (dynamic) {
+              pro_node->time = cur_node->time + tau;
+              pro_node->time_idx = timeToIndex(pro_node->time);
+            }
+            open_set_.push(pro_node);
+
+            if (dynamic)
+              expanded_nodes_.insert(pro_id, pro_node->time, pro_node);
+            else
+              expanded_nodes_.insert(pro_id, pro_node);
+
+            tmp_expand_nodes.push_back(pro_node);
+
+            use_node_num_ += 1;
+            if (use_node_num_ == allocate_num_) {
+              cout << "run out of memory." << endl;
+              return NO_PATH;
+            }
+          } else if (pro_node->node_state == IN_OPEN_SET) {
+            if (tmp_g_score < pro_node->g_score) {
+              // pro_node->index = pro_id;
+              pro_node->state = pro_state;
+              pro_node->f_score = tmp_f_score;
+              pro_node->g_score = tmp_g_score;
+              pro_node->input = um;
+              pro_node->duration = tau;
+              pro_node->parent = cur_node;
+              if (dynamic)
+                pro_node->time = cur_node->time + tau;
+            }
+          } else {
+            cout << "error type in searching: " << pro_node->node_state << endl;
+          }
+        }
+
+        /* ----------  ---------- */
+      }
+  }
+  ROS_INFO_STREAM("k a jerk use: " << (ros::Time::now() - t_ka_s).toSec());
+  /* ---------- open set empty, no path ---------- */
+  cout << "open set empty or timed out, no path!" << endl;
+  cout << "use node num: " << use_node_num_ << endl;
+  cout << "iter num: " << iter_num_ << endl;
+  return NO_PATH;
+}
+
+void KinodynamicAstarJ::setParam(const ros::NodeHandle &nh) {
+  nh.param("search/jerk/max_tau", max_tau_, -1.0);
+  nh.param("search/jerk/init_max_tau", init_max_tau_, -1.0);
+  nh.param("search/jerk/max_vel", max_vel_, -1.0);
+  nh.param("search/jerk/max_acc", max_acc_, -1.0);
+
+  nh.param("search/jerk/w_time", w_time_, -1.0);
+  nh.param("search/jerk/horizon", horizon_, -1.0);
+  nh.param("search/jerk/resolution_astar", resolution_, -1.0);
+  nh.param("search/jerk/time_resolution", time_resolution_, -1.0);
+  nh.param("search/jerk/lambda_heu", lambda_heu_, -1.0);
+  nh.param("search/jerk/allocate_num", allocate_num_, -1);
+
+  nh.param("search/jerk/max_jerk", max_jerk_, -1.0);
+  nh.param("search/jerk/rho", rho_, -1.0);
+
+  bvp_.init(TRIPLE_INTEGRATOR);
+  cout << "rho_: " << rho_ << endl;
+  cout << "horizon: " << horizon_ << endl;
+  bvp_.setRho(rho_);
+
+  nh_ = nh;
+  point_pub_ =
+      nh_.advertise<visualization_msgs::Marker>("jerk_control_points", 10);
+}
+
+void KinodynamicAstarJ::retrievePath(PathNodeJPtr end_node) {
+  PathNodeJPtr cur_node = end_node;
+  path_nodes_.push_back(cur_node);
+
+  while (cur_node->parent != NULL) {
+    cur_node = cur_node->parent;
+    path_nodes_.push_back(cur_node);
+  }
+
+  reverse(path_nodes_.begin(), path_nodes_.end());
+}
+
+void KinodynamicAstarJ::getTraj(Trajectory &traj) {
+  traj.clear();
+  // traj.emplace_back();
+
+  for (size_t i = 0; i < path_nodes_.size() - 1; i++) {
+    PathNodeJPtr temp_node = path_nodes_[i];
+    double dur = path_nodes_[i + 1]->duration;
+    CoefficientMat coeff;
+    coeff.row(0) << 0, 0, 1.0 / 6 * path_nodes_[i + 1]->input(0),
+        1.0 / 2 * temp_node->state(6), temp_node->state(3), temp_node->state(0);
+    coeff.row(1) << 0, 0, 1.0 / 6 * path_nodes_[i + 1]->input(1),
+        1.0 / 2 * temp_node->state(7), temp_node->state(4), temp_node->state(1);
+    coeff.row(2) << 0, 0, 1.0 / 6 * path_nodes_[i + 1]->input(2),
+        1.0 / 2 * temp_node->state(8), temp_node->state(5), temp_node->state(2);
+
+    Piece temp_piece(dur, coeff);
+    traj.emplace_back(temp_piece);
+  }
+
+  if (is_shot_succ_) {
+    Piece temp_piece(t_shot_, coef_shot_);
+    traj.emplace_back(temp_piece);
+  }
+
+  return;
+}
+
+double KinodynamicAstarJ::estimateHeuristic(Eigen::VectorXd x1,
+                                            Eigen::VectorXd x2,
+                                            double &optimal_time) {
+  if (bvp_.solve(x1, x2, ACC_KNOWN)) {
+    double cost = w_time_ * bvp_.getCostStar();
+    optimal_time = bvp_.getTauStar();
+    // cout << "In esitimate heuristic, the cost: " << cost
+    //      << " The distance is: " << (x2.head(3) - x1.head(3)).norm() <<
+    //      endl;
+    return 1.0 * (1 + tie_breaker_) * cost;
+  } else {
+    std::cout << "sth. wrong with the bvp solver" << std::endl;
+    return 0;
+  }
+}
+
+bool KinodynamicAstarJ::computeShotTraj(Eigen::VectorXd state1,
+                                        Eigen::VectorXd state2,
+                                        double time_to_goal) {
+  is_shot_succ_ = false;
+  // cout << "IN compute shot traj" << endl;
+  // cout << state1.transpose() << endl;
+  // cout << state2.transpose() << endl;
+  /* ---------- get coefficient ---------- */
+  CoefficientMat coef;
+  if (bvp_.solve(state1, state2, ACC_KNOWN)) {
+    bvp_.getCoeff(coef);
+  } else {
+    std::cout << "sth. wrong with the bvp solver" << std::endl;
+    return false;
+  }
+
+  /* ---------- forward checking of trajectory ---------- */
+  // double t_delta = t_d / 10;
+  double t_d = bvp_.getTauStar();
+  double t_delta = 0.02;
+
+  std::vector<double> durs;
+  std::vector<CoefficientMat> coeffMats;
+  durs.push_back(t_d);
+  coeffMats.push_back(coef);
+  Trajectory traj(durs, coeffMats);
+  if (traj.getMaxVelRate() > max_vel_ || traj.getMaxAccRate() > max_acc_) {
+    double ratio =
+        max(traj.getMaxVelRate() / max_vel_, traj.getMaxAccRate() / max_acc_);
+
+    if (ratio > 1.1) {
+      return false;
+    }
+
+    traj.scaleTime(1.0 / ratio);
+
+    if (traj.getMaxVelRate() > max_vel_ || traj.getMaxAccRate() > max_acc_) {
+      cout << "fail to scale!!" << endl;
+      return false;
+    }
+  }
+
+  Eigen::MatrixXd Tm(6, 6);
+  Tm << 0, 5, 0, 0, 0, 0, //
+      0, 0, 4, 0, 0, 0,   //
+      0, 0, 0, 3, 0, 0,   //
+      0, 0, 0, 0, 2, 0,   //
+      0, 0, 0, 0, 0, 1,   //
+      0, 0, 0, 0, 0, 0;
+
+  Vector3d coord, vel, acc;
+  VectorXd poly1d, t, polyv, polya;
+  Vector3i index;
+
+  for (double time = t_delta; time <= t_d; time += t_delta) {
+    t = VectorXd::Zero(6);
+    for (int j = 0; j < 6; j++)
+      t(j) = pow(time, 5 - j);
+
+    for (int dim = 0; dim < 3; dim++) {
+      poly1d = coef.row(dim);
+      coord(dim) = poly1d.dot(t);
+      vel(dim) = (Tm * poly1d).dot(t);
+      acc(dim) = (Tm * Tm * poly1d).dot(t);
+    }
+
+    if (vel.norm() > max_vel_ || acc.norm() > max_acc_) {
+      // cout << "vel:" << vel.norm() << ", acc:" << acc.norm() << endl;
+      // return false;
+    }
+
+    if (!pos_checker_ptr_->validatePosSurround(coord)) {
+      // cout << " Shot traj collision! " << endl;
+      return false;
+    }
+  }
+  coef_shot_ = coef;
+  t_shot_ = t_d;
+  is_shot_succ_ = true;
+  return true;
+}
+
+void KinodynamicAstarJ::init() {
+  /* ---------- map params ---------- */
+  this->inv_resolution_ = 1.0 / resolution_;
+  inv_time_resolution_ = 1.0 / time_resolution_;
+
+  /* ---------- pre-allocated node ---------- */
+  path_node_pool_.resize(allocate_num_);
+  for (int i = 0; i < allocate_num_; i++) {
+    path_node_pool_[i] = new PathNodeJ;
+  }
+
+  phi_ = Eigen::MatrixXd::Identity(9, 9);
+  use_node_num_ = 0;
+  iter_num_ = 0;
+  // visited_pts.clear();
+  init_search_ = false;
+
+  visited_points.header.frame_id = "map";
+  visited_points.header.stamp = ros::Time::now();
+  visited_points.id = 1;
+  visited_points.action = visualization_msgs::Marker::ADD;
+  visited_points.type = visualization_msgs::Marker::POINTS;
+  visited_points.scale.x = 0.08;
+  visited_points.scale.y = 0.08;
+  visited_points.scale.z = 0.08;
+  visited_points.color.a = 1.0;
+  visited_points.color.r = 1.0;
+  visited_points.color.g = 0;
+  visited_points.color.b = 0;
+
+  visited_points.points.clear();
+}
+
+void KinodynamicAstarJ::setPosChecker(const PosChecker::Ptr &checker) {
+  this->pos_checker_ptr_ = checker;
+}
+
+void KinodynamicAstarJ::reset() {
+  expanded_nodes_.clear();
+  path_nodes_.clear();
+
+  std::priority_queue<PathNodeJPtr, std::vector<PathNodeJPtr>, NodeComparatorJ>
+      empty_queue;
+  open_set_.swap(empty_queue);
+
+  for (int i = 0; i < use_node_num_; i++) {
+    PathNodeJPtr node = path_node_pool_[i];
+    node->parent = NULL;
+    node->node_state = NOT_EXPAND;
+  }
+
+  use_node_num_ = 0;
+  iter_num_ = 0;
+  is_shot_succ_ = false;
+  visited_points.points.clear();
+}
+
+std::vector<Eigen::Vector3d> KinodynamicAstarJ::getKinoTraj(double delta_t) {
+  vector<Vector3d> state_list;
+
+  /* ---------- get traj of searching ---------- */
+  PathNodeJPtr node = path_nodes_.back();
+  Matrix<double, 9, 1> x0, xt;
+
+  while (node->parent != NULL) {
+    Vector3d ut = node->input;
+    double duration = node->duration;
+    x0 = node->parent->state;
+
+    for (double t = duration; t >= -1e-5; t -= delta_t) {
+      stateTransit(x0, xt, ut, t);
+      state_list.push_back(xt.head(3));
+    }
+    node = node->parent;
+  }
+  reverse(state_list.begin(), state_list.end());
+
+  /* ---------- get traj of one shot ---------- */
+  if (is_shot_succ_) {
+    Vector3d coord;
+    VectorXd poly1d, time(6);
+
+    for (double t = delta_t; t <= t_shot_; t += delta_t) {
+      for (int j = 0; j < 6; j++)
+        time(j) = pow(t, 5 - j);
+
+      for (int dim = 0; dim < 3; dim++) {
+        poly1d = coef_shot_.row(dim);
+        coord(dim) = poly1d.dot(time);
+      }
+      state_list.push_back(coord);
+    }
+  }
+
+  return state_list;
+}
+
+void KinodynamicAstarJ::getVisTraj(
+    double delta_t, vector<Eigen::Matrix<double, 9, 1>> &states) {
+  /* ---------- get traj of searching ---------- */
+  PathNodeJPtr node = path_nodes_.back();
+  Matrix<double, 9, 1> x0, xt;
+
+  while (node->parent != NULL) {
+    Vector3d ut = node->input;
+    double duration = node->duration;
+    x0 = node->parent->state;
+
+    for (double t = duration; t >= -1e-5; t -= delta_t) {
+      stateTransit(x0, xt, ut, t);
+      states.push_back(xt);
+    }
+    node = node->parent;
+  }
+  reverse(states.begin(), states.end());
+
+  /* ---------- get traj of one shot ---------- */
+  if (is_shot_succ_) {
+    Eigen::Matrix<double, 9, 1> state;
+    VectorXd poly1d, time_p(6), time_v(6), time_a(6);
+    time_p.setZero();
+    time_v.setZero();
+    time_a.setZero();
+
+    for (double t = delta_t; t <= t_shot_; t += delta_t) {
+      for (int j = 0; j < 6; j++)
+        time_p(j) = pow(t, 5 - j);
+
+      for (int j = 0; j < 5; j++)
+        time_v(j) = (5 - j) * pow(t, 4 - j);
+
+      for (int j = 0; j < 4; j++)
+        time_a(j) = (5 - j) * (4 - j) * pow(t, 3 - j);
+
+      for (int dim = 0; dim < 3; dim++) {
+        poly1d = coef_shot_.row(dim);
+        state(dim + 0) = poly1d.dot(time_p);
+        state(dim + 3) = poly1d.dot(time_v);
+        state(dim + 6) = poly1d.dot(time_a);
+      }
+
+      states.push_back(state);
+    }
+  }
+}
+
+void KinodynamicAstarJ::getTrajAttributes(double &traj_duration,
+                                          double &ctrl_cost,
+                                          double &traj_length, int &seg_nums) {
+  ctrl_cost = 0.0;
+  traj_duration = 0.0;
+  traj_length = 0.0;
+  seg_nums = 0;
+
+  /* ---------- get traj of searching ---------- */
+  PathNodeJPtr node = path_nodes_.back();
+  Matrix<double, 9, 1> x0, xt;
+  double delta_t = 0.03;
+
+  while (node->parent != NULL) {
+    Vector3d ut = node->input;
+    double duration = node->duration;
+    x0 = node->parent->state;
+
+    seg_nums++;
+    traj_duration += duration;
+    ctrl_cost += duration * ut.dot(ut);
+    for (double t = duration; t >= -1e-5; t -= delta_t) {
+      stateTransit(x0, xt, ut, t);
+      double speed =
+          sqrt(xt(3, 0) * xt(3, 0) + xt(4, 0) * xt(4, 0) + xt(5, 0) * xt(5, 0));
+      traj_length += speed * delta_t;
+    }
+    node = node->parent;
+  }
+
+  /* ---------- get traj of one shot ---------- */
+  if (is_shot_succ_) {
+    seg_nums++;
+    Vector3d vel, control;
+    VectorXd poly1d, time_v(6), time_a(6), time_j(6);
+    time_v.setZero();
+    time_a.setZero();
+
+    for (double t = delta_t; t <= t_shot_; t += delta_t) {
+      // for (int j = 0; j < 6; j++)
+      //   time_p(j) = pow(t, 5 - j);
+
+      for (int j = 0; j < 5; j++)
+        time_v(j) = (5 - j) * pow(t, 4 - j);
+
+      // for (int j = 0; j < 4; j++)
+      //   time_a(j) = (5 - j) * (4 - j) * pow(t, 3 - j);
+
+      for (int j = 0; j < 3; j++)
+        time_j(j) = (5 - j) * (4 - j) * (3 - j) * pow(t, 2 - j);
+
+      for (int dim = 0; dim < 3; dim++) {
+        // poly1d = coef_shot_.row(dim);
+        // vel(dim) = poly1d.dot(time_v);
+        // control(dim) = poly1d.dot(time_a);
+
+        poly1d = coef_shot_.row(dim);
+        vel(dim) = poly1d.dot(time_v);
+        control(dim) = poly1d.dot(time_j);
+      }
+      ctrl_cost += delta_t * control.dot(control);
+      traj_length += vel.norm() * delta_t;
+    }
+    traj_duration += t_shot_;
+  }
+}
+
+std::vector<PathNodeJPtr> KinodynamicAstarJ::getVisitedNodes() {
+  vector<PathNodeJPtr> visited;
+  visited.assign(path_node_pool_.begin(),
+                 path_node_pool_.begin() + use_node_num_ - 1);
+  return visited;
+}
+
+int KinodynamicAstarJ::timeToIndex(double time) {
+  int idx = floor((time - time_origin_) * inv_time_resolution_);
+}
+
+void KinodynamicAstarJ::stateTransit(Eigen::Matrix<double, 9, 1> &state0,
+                                     Eigen::Matrix<double, 9, 1> &state1,
+                                     Eigen::Vector3d um, double tau) {
+  for (int i = 0; i < 6; ++i) {
+    phi_(i, i + 3) = tau;
+  }
+
+  for (int i = 0; i < 3; ++i) {
+    phi_(i, i + 6) = 0.5 * pow(tau, 2);
+  }
+
+  Eigen::Matrix<double, 9, 1> integral;
+  integral.head(3) = 1.0 / 6 * pow(tau, 3) * um;
+  integral.segment(3, 3) = 0.5 * pow(tau, 2) * um;
+  integral.tail(3) = tau * um;
+
+  state1 = phi_ * state0 + integral;
+}
+
+} // namespace dyn_planner
\ No newline at end of file
diff --git a/planning/kino_plan/src/kdtree.c b/planning/kino_plan/src/kdtree.c
new file mode 100755
index 0000000..aa03c59
--- /dev/null
+++ b/planning/kino_plan/src/kdtree.c
@@ -0,0 +1,838 @@
+/*
+This file is part of ``kdtree'', a library for working with kd-trees.
+Copyright (C) 2007-2011 John Tsiombikas <nuclear@member.fsf.org>
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+3. The name of the author may not be used to endorse or promote products
+   derived from this software without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
+EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+OF SUCH DAMAGE.
+*/
+/* single nearest neighbor search written by Tamas Nepusz <tamas@cs.rhul.ac.uk> */
+
+#ifdef HAVE_CONFIG_H
+#include <config.h>
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include "kino_plan/kdtree.h"
+
+#if defined(WIN32) || defined(__WIN32__)
+#include <malloc.h>
+#endif
+
+#ifdef USE_LIST_NODE_ALLOCATOR
+
+#ifndef NO_PTHREADS
+#include <pthread.h>
+#else
+
+#ifndef I_WANT_THREAD_BUGS
+#error "You are compiling with the fast list node allocator, with pthreads disabled! This WILL break if used from multiple threads."
+#endif  /* I want thread bugs */
+
+#endif  /* pthread support */
+#endif  /* use list node allocator */
+
+struct kdhyperrect {
+    int dim;
+    double *min, *max;              /* minimum/maximum coords */
+};
+
+struct kdnode {
+    double *pos;
+    int dir;
+    void *data;
+
+    struct kdnode *left, *right;    /* negative/positive side */
+};
+
+struct res_node {
+    struct kdnode *item;
+    double dist_sq;
+    struct res_node *next;
+};
+
+struct kdtree {
+    int dim;
+    struct kdnode *root;
+    struct kdhyperrect *rect;
+    void (*destr)(void*);
+};
+
+struct kdres {
+    struct kdtree *tree;
+    struct res_node *rlist, *riter;
+    int size;
+};
+
+#define SQ(x)           ((x) * (x))
+
+
+static void clear_rec(struct kdnode *node, void (*destr)(void*));
+static int insert_rec(struct kdnode **node, const double *pos, void *data, int dir, int dim);
+static int rlist_insert(struct res_node *list, struct kdnode *item, double dist_sq);
+static void clear_results(struct kdres *set);
+
+static struct kdhyperrect* hyperrect_create(int dim, const double *min, const double *max);
+static void hyperrect_free(struct kdhyperrect *rect);
+static struct kdhyperrect* hyperrect_duplicate(const struct kdhyperrect *rect);
+static void hyperrect_extend(struct kdhyperrect *rect, const double *pos);
+static double hyperrect_dist_sq(struct kdhyperrect *rect, const double *pos);
+
+#ifdef USE_LIST_NODE_ALLOCATOR
+static struct res_node *alloc_resnode(void);
+static void free_resnode(struct res_node*);
+#else
+#define alloc_resnode()     malloc(sizeof(struct res_node))
+#define free_resnode(n)     free(n)
+#endif
+
+
+
+struct kdtree *kd_create(int k)
+{
+    struct kdtree *tree;
+
+    if(!(tree = malloc(sizeof *tree))) {
+        return 0;
+    }
+
+    tree->dim = k;
+    tree->root = 0;
+    tree->destr = 0;
+    tree->rect = 0;
+
+    return tree;
+}
+
+void kd_free(struct kdtree *tree)
+{
+    if(tree) {
+        kd_clear(tree);
+        free(tree);
+    }
+}
+
+static void clear_rec(struct kdnode *node, void (*destr)(void*))
+{
+    if(!node) return;
+
+    clear_rec(node->left, destr);
+    clear_rec(node->right, destr);
+    
+    if(destr) {
+        destr(node->data);
+    }
+    free(node->pos);
+    free(node);
+}
+
+void kd_clear(struct kdtree *tree)
+{
+    clear_rec(tree->root, tree->destr);
+    tree->root = 0;
+
+    if (tree->rect) {
+        hyperrect_free(tree->rect);
+        tree->rect = 0;
+    }
+}
+
+void kd_data_destructor(struct kdtree *tree, void (*destr)(void*))
+{
+    tree->destr = destr;
+}
+
+
+static int insert_rec(struct kdnode **nptr, const double *pos, void *data, int dir, int dim)
+{
+    int new_dir;
+    struct kdnode *node;
+
+    if(!*nptr) {
+        if(!(node = malloc(sizeof *node))) {
+            return -1;
+        }
+        if(!(node->pos = malloc(dim * sizeof *node->pos))) {
+            free(node);
+            return -1;
+        }
+        memcpy(node->pos, pos, dim * sizeof *node->pos);
+        node->data = data;
+        node->dir = dir;
+        node->left = node->right = 0;
+        *nptr = node;
+        return 0;
+    }
+
+    node = *nptr;
+    new_dir = (node->dir + 1) % dim;
+    if(pos[node->dir] < node->pos[node->dir]) {
+        return insert_rec(&(*nptr)->left, pos, data, new_dir, dim);
+    }
+    return insert_rec(&(*nptr)->right, pos, data, new_dir, dim);
+}
+
+int kd_insert(struct kdtree *tree, const double *pos, void *data)
+{
+    if (insert_rec(&tree->root, pos, data, 0, tree->dim)) {
+        return -1;
+    }
+
+    if (tree->rect == 0) {
+        tree->rect = hyperrect_create(tree->dim, pos, pos);
+    } else {
+        hyperrect_extend(tree->rect, pos);
+    }
+
+    return 0;
+}
+
+int kd_insertf(struct kdtree *tree, const float *pos, void *data)
+{
+    static double sbuf[16];
+    double *bptr, *buf = 0;
+    int res, dim = tree->dim;
+
+    if(dim > 16) {
+#ifndef NO_ALLOCA
+        if(dim <= 256)
+            bptr = buf = alloca(dim * sizeof *bptr);
+        else
+#endif
+            if(!(bptr = buf = malloc(dim * sizeof *bptr))) {
+                return -1;
+            }
+    } else {
+        bptr = buf = sbuf;
+    }
+
+    while(dim-- > 0) {
+        *bptr++ = *pos++;
+    }
+
+    res = kd_insert(tree, buf, data);
+#ifndef NO_ALLOCA
+    if(tree->dim > 256)
+#else
+    if(tree->dim > 16)
+#endif
+        free(buf);
+    return res;
+}
+
+int kd_insert3(struct kdtree *tree, double x, double y, double z, void *data)
+{
+    double buf[3];
+    buf[0] = x;
+    buf[1] = y;
+    buf[2] = z;
+    return kd_insert(tree, buf, data);
+}
+
+int kd_insert3f(struct kdtree *tree, float x, float y, float z, void *data)
+{
+    double buf[3];
+    buf[0] = x;
+    buf[1] = y;
+    buf[2] = z;
+    return kd_insert(tree, buf, data);
+}
+
+static int find_nearest(struct kdnode *node, const double *pos, double range, struct res_node *list, int ordered, int dim)
+{
+    double dist_sq, dx;
+    int i, ret, added_res = 0;
+
+    if(!node) return 0;
+
+    dist_sq = 0;
+    for(i=0; i<dim; i++) {
+        dist_sq += SQ(node->pos[i] - pos[i]);
+    }
+    if(dist_sq <= SQ(range)) {
+        if(rlist_insert(list, node, ordered ? dist_sq : -1.0) == -1) {
+            return -1;
+        }
+        added_res = 1;
+    }
+
+    dx = pos[node->dir] - node->pos[node->dir];
+
+    ret = find_nearest(dx <= 0.0 ? node->left : node->right, pos, range, list, ordered, dim);
+    if(ret >= 0 && fabs(dx) < range) {
+        added_res += ret;
+        ret = find_nearest(dx <= 0.0 ? node->right : node->left, pos, range, list, ordered, dim);
+    }
+    if(ret == -1) {
+        return -1;
+    }
+    added_res += ret;
+
+    return added_res;
+}
+
+#if 0
+static int find_nearest_n(struct kdnode *node, const double *pos, double range, int num, struct rheap *heap, int dim)
+{
+    double dist_sq, dx;
+    int i, ret, added_res = 0;
+
+    if(!node) return 0;
+    
+    /* if the photon is close enough, add it to the result heap */
+    dist_sq = 0;
+    for(i=0; i<dim; i++) {
+        dist_sq += SQ(node->pos[i] - pos[i]);
+    }
+    if(dist_sq <= range_sq) {
+        if(heap->size >= num) {
+            /* get furthest element */
+            struct res_node *maxelem = rheap_get_max(heap);
+
+            /* and check if the new one is closer than that */
+            if(maxelem->dist_sq > dist_sq) {
+                rheap_remove_max(heap);
+
+                if(rheap_insert(heap, node, dist_sq) == -1) {
+                    return -1;
+                }
+                added_res = 1;
+
+                range_sq = dist_sq;
+            }
+        } else {
+            if(rheap_insert(heap, node, dist_sq) == -1) {
+                return =1;
+            }
+            added_res = 1;
+        }
+    }
+
+
+    /* find signed distance from the splitting plane */
+    dx = pos[node->dir] - node->pos[node->dir];
+
+    ret = find_nearest_n(dx <= 0.0 ? node->left : node->right, pos, range, num, heap, dim);
+    if(ret >= 0 && fabs(dx) < range) {
+        added_res += ret;
+        ret = find_nearest_n(dx <= 0.0 ? node->right : node->left, pos, range, num, heap, dim);
+    }
+
+}
+#endif
+
+static void kd_nearest_i(struct kdnode *node, const double *pos, struct kdnode **result, double *result_dist_sq, struct kdhyperrect* rect)
+{
+    int dir = node->dir;
+    int i;
+    double dummy, dist_sq;
+    struct kdnode *nearer_subtree, *farther_subtree;
+    double *nearer_hyperrect_coord, *farther_hyperrect_coord;
+
+    /* Decide whether to go left or right in the tree */
+    dummy = pos[dir] - node->pos[dir];
+    if (dummy <= 0) {
+        nearer_subtree = node->left;
+        farther_subtree = node->right;
+        nearer_hyperrect_coord = rect->max + dir;
+        farther_hyperrect_coord = rect->min + dir;
+    } else {
+        nearer_subtree = node->right;
+        farther_subtree = node->left;
+        nearer_hyperrect_coord = rect->min + dir;
+        farther_hyperrect_coord = rect->max + dir;
+    }
+
+    if (nearer_subtree) {
+        /* Slice the hyperrect to get the hyperrect of the nearer subtree */
+        dummy = *nearer_hyperrect_coord;
+        *nearer_hyperrect_coord = node->pos[dir];
+        /* Recurse down into nearer subtree */
+        kd_nearest_i(nearer_subtree, pos, result, result_dist_sq, rect);
+        /* Undo the slice */
+        *nearer_hyperrect_coord = dummy;
+    }
+
+    /* Check the distance of the point at the current node, compare it
+     * with our best so far */
+    dist_sq = 0;
+    for(i=0; i < rect->dim; i++) {
+        dist_sq += SQ(node->pos[i] - pos[i]);
+    }
+    if (dist_sq < *result_dist_sq) {
+        *result = node;
+        *result_dist_sq = dist_sq;
+    }
+
+    if (farther_subtree) {
+        /* Get the hyperrect of the farther subtree */
+        dummy = *farther_hyperrect_coord;
+        *farther_hyperrect_coord = node->pos[dir];
+        /* Check if we have to recurse down by calculating the closest
+         * point of the hyperrect and see if it's closer than our
+         * minimum distance in result_dist_sq. */
+        if (hyperrect_dist_sq(rect, pos) < *result_dist_sq) {
+            /* Recurse down into farther subtree */
+            kd_nearest_i(farther_subtree, pos, result, result_dist_sq, rect);
+        }
+        /* Undo the slice on the hyperrect */
+        *farther_hyperrect_coord = dummy;
+    }
+}
+
+struct kdres *kd_nearest(struct kdtree *kd, const double *pos)
+{
+    struct kdhyperrect *rect;
+    struct kdnode *result;
+    struct kdres *rset;
+    double dist_sq;
+    int i;
+
+    if (!kd) return 0;
+    if (!kd->rect) return 0;
+
+    /* Allocate result set */
+    if(!(rset = malloc(sizeof *rset))) {
+        return 0;
+    }
+    if(!(rset->rlist = alloc_resnode())) {
+        free(rset);
+        return 0;
+    }
+    rset->rlist->next = 0;
+    rset->tree = kd;
+
+    /* Duplicate the bounding hyperrectangle, we will work on the copy */
+    if (!(rect = hyperrect_duplicate(kd->rect))) {
+        kd_res_free(rset);
+        return 0;
+    }
+
+    /* Our first guesstimate is the root node */
+    result = kd->root;
+    dist_sq = 0;
+    for (i = 0; i < kd->dim; i++)
+        dist_sq += SQ(result->pos[i] - pos[i]);
+
+    /* Search for the nearest neighbour recursively */
+    kd_nearest_i(kd->root, pos, &result, &dist_sq, rect);
+
+    /* Free the copy of the hyperrect */
+    hyperrect_free(rect);
+
+    /* Store the result */
+    if (result) {
+        if (rlist_insert(rset->rlist, result, -1.0) == -1) {
+            kd_res_free(rset);
+            return 0;
+        }
+        rset->size = 1;
+        kd_res_rewind(rset);
+        return rset;
+    } else {
+        kd_res_free(rset);
+        return 0;
+    }
+}
+
+struct kdres *kd_nearestf(struct kdtree *tree, const float *pos)
+{
+    static double sbuf[16];
+    double *bptr, *buf = 0;
+    int dim = tree->dim;
+    struct kdres *res;
+
+    if(dim > 16) {
+#ifndef NO_ALLOCA
+        if(dim <= 256)
+            bptr = buf = alloca(dim * sizeof *bptr);
+        else
+#endif
+            if(!(bptr = buf = malloc(dim * sizeof *bptr))) {
+                return 0;
+            }
+    } else {
+        bptr = buf = sbuf;
+    }
+
+    while(dim-- > 0) {
+        *bptr++ = *pos++;
+    }
+
+    res = kd_nearest(tree, buf);
+#ifndef NO_ALLOCA
+    if(tree->dim > 256)
+#else
+    if(tree->dim > 16)
+#endif
+        free(buf);
+    return res;
+}
+
+struct kdres *kd_nearest3(struct kdtree *tree, double x, double y, double z)
+{
+    double pos[3];
+    pos[0] = x;
+    pos[1] = y;
+    pos[2] = z;
+    return kd_nearest(tree, pos);
+}
+
+struct kdres *kd_nearest3f(struct kdtree *tree, float x, float y, float z)
+{
+    double pos[3];
+    pos[0] = x;
+    pos[1] = y;
+    pos[2] = z;
+    return kd_nearest(tree, pos);
+}
+
+/* ---- nearest N search ---- */
+/*
+static kdres *kd_nearest_n(struct kdtree *kd, const double *pos, int num)
+{
+    int ret;
+    struct kdres *rset;
+    if(!(rset = malloc(sizeof *rset))) {
+        return 0;
+    }
+    if(!(rset->rlist = alloc_resnode())) {
+        free(rset);
+        return 0;
+    }
+    rset->rlist->next = 0;
+    rset->tree = kd;
+    if((ret = find_nearest_n(kd->root, pos, range, num, rset->rlist, kd->dim)) == -1) {
+        kd_res_free(rset);
+        return 0;
+    }
+    rset->size = ret;
+    kd_res_rewind(rset);
+    return rset;
+}*/
+
+struct kdres *kd_nearest_range(struct kdtree *kd, const double *pos, double range)
+{
+    int ret;
+    struct kdres *rset;
+
+    if(!(rset = malloc(sizeof *rset))) {
+        return 0;
+    }
+    if(!(rset->rlist = alloc_resnode())) {
+        free(rset);
+        return 0;
+    }
+    rset->rlist->next = 0;
+    rset->tree = kd;
+
+    if((ret = find_nearest(kd->root, pos, range, rset->rlist, 0, kd->dim)) == -1) {
+        kd_res_free(rset);
+        return 0;
+    }
+    rset->size = ret;
+    kd_res_rewind(rset);
+    return rset;
+}
+
+struct kdres *kd_nearest_rangef(struct kdtree *kd, const float *pos, float range)
+{
+    static double sbuf[16];
+    double *bptr, *buf = 0;
+    int dim = kd->dim;
+    struct kdres *res;
+
+    if(dim > 16) {
+#ifndef NO_ALLOCA
+        if(dim <= 256)
+            bptr = buf = alloca(dim * sizeof *bptr);
+        else
+#endif
+            if(!(bptr = buf = malloc(dim * sizeof *bptr))) {
+                return 0;
+            }
+    } else {
+        bptr = buf = sbuf;
+    }
+
+    while(dim-- > 0) {
+        *bptr++ = *pos++;
+    }
+
+    res = kd_nearest_range(kd, buf, range);
+#ifndef NO_ALLOCA
+    if(kd->dim > 256)
+#else
+    if(kd->dim > 16)
+#endif
+        free(buf);
+    return res;
+}
+
+struct kdres *kd_nearest_range3(struct kdtree *tree, double x, double y, double z, double range)
+{
+    double buf[3];
+    buf[0] = x;
+    buf[1] = y;
+    buf[2] = z;
+    return kd_nearest_range(tree, buf, range);
+}
+
+struct kdres *kd_nearest_range3f(struct kdtree *tree, float x, float y, float z, float range)
+{
+    double buf[3];
+    buf[0] = x;
+    buf[1] = y;
+    buf[2] = z;
+    return kd_nearest_range(tree, buf, range);
+}
+
+void kd_res_free(struct kdres *rset)
+{
+    clear_results(rset);
+    free_resnode(rset->rlist);
+    free(rset);
+}
+
+int kd_res_size(struct kdres *set)
+{
+    return (set->size);
+}
+
+void kd_res_rewind(struct kdres *rset)
+{
+    rset->riter = rset->rlist->next;
+}
+
+int kd_res_end(struct kdres *rset)
+{
+    return rset->riter == 0;
+}
+
+int kd_res_next(struct kdres *rset)
+{
+    rset->riter = rset->riter->next;
+    return rset->riter != 0;
+}
+
+void *kd_res_item(struct kdres *rset, double *pos)
+{
+    if(rset->riter) {
+        if(pos) {
+            memcpy(pos, rset->riter->item->pos, rset->tree->dim * sizeof *pos);
+        }
+        return rset->riter->item->data;
+    }
+    return 0;
+}
+
+void *kd_res_itemf(struct kdres *rset, float *pos)
+{
+    if(rset->riter) {
+        if(pos) {
+            int i;
+            for(i=0; i<rset->tree->dim; i++) {
+                pos[i] = rset->riter->item->pos[i];
+            }
+        }
+        return rset->riter->item->data;
+    }
+    return 0;
+}
+
+void *kd_res_item3(struct kdres *rset, double *x, double *y, double *z)
+{
+    if(rset->riter) {
+        if(x) *x = rset->riter->item->pos[0];
+        if(y) *y = rset->riter->item->pos[1];
+        if(z) *z = rset->riter->item->pos[2];
+        return rset->riter->item->data;
+    }
+    return 0;
+}
+
+void *kd_res_item3f(struct kdres *rset, float *x, float *y, float *z)
+{
+    if(rset->riter) {
+        if(x) *x = rset->riter->item->pos[0];
+        if(y) *y = rset->riter->item->pos[1];
+        if(z) *z = rset->riter->item->pos[2];
+        return rset->riter->item->data;
+    }
+    return 0;
+}
+
+void *kd_res_item_data(struct kdres *set)
+{
+    return kd_res_item(set, 0);
+}
+
+/* ---- hyperrectangle helpers ---- */
+static struct kdhyperrect* hyperrect_create(int dim, const double *min, const double *max)
+{
+    size_t size = dim * sizeof(double);
+    struct kdhyperrect* rect = 0;
+
+    if (!(rect = malloc(sizeof(struct kdhyperrect)))) {
+        return 0;
+    }
+
+    rect->dim = dim;
+    if (!(rect->min = malloc(size))) {
+        free(rect);
+        return 0;
+    }
+    if (!(rect->max = malloc(size))) {
+        free(rect->min);
+        free(rect);
+        return 0;
+    }
+    memcpy(rect->min, min, size);
+    memcpy(rect->max, max, size);
+
+    return rect;
+}
+
+static void hyperrect_free(struct kdhyperrect *rect)
+{
+    free(rect->min);
+    free(rect->max);
+    free(rect);
+}
+
+static struct kdhyperrect* hyperrect_duplicate(const struct kdhyperrect *rect)
+{
+    return hyperrect_create(rect->dim, rect->min, rect->max);
+}
+
+static void hyperrect_extend(struct kdhyperrect *rect, const double *pos)
+{
+    int i;
+
+    for (i=0; i < rect->dim; i++) {
+        if (pos[i] < rect->min[i]) {
+            rect->min[i] = pos[i];
+        }
+        if (pos[i] > rect->max[i]) {
+            rect->max[i] = pos[i];
+        }
+    }
+}
+
+static double hyperrect_dist_sq(struct kdhyperrect *rect, const double *pos)
+{
+    int i;
+    double result = 0;
+
+    for (i=0; i < rect->dim; i++) {
+        if (pos[i] < rect->min[i]) {
+            result += SQ(rect->min[i] - pos[i]);
+        } else if (pos[i] > rect->max[i]) {
+            result += SQ(rect->max[i] - pos[i]);
+        }
+    }
+
+    return result;
+}
+
+/* ---- static helpers ---- */
+
+#ifdef USE_LIST_NODE_ALLOCATOR
+/* special list node allocators. */
+static struct res_node *free_nodes;
+
+#ifndef NO_PTHREADS
+static pthread_mutex_t alloc_mutex = PTHREAD_MUTEX_INITIALIZER;
+#endif
+
+static struct res_node *alloc_resnode(void)
+{
+    struct res_node *node;
+
+#ifndef NO_PTHREADS
+    pthread_mutex_lock(&alloc_mutex);
+#endif
+
+    if(!free_nodes) {
+        node = malloc(sizeof *node);
+    } else {
+        node = free_nodes;
+        free_nodes = free_nodes->next;
+        node->next = 0;
+    }
+
+#ifndef NO_PTHREADS
+    pthread_mutex_unlock(&alloc_mutex);
+#endif
+
+    return node;
+}
+
+static void free_resnode(struct res_node *node)
+{
+#ifndef NO_PTHREADS
+    pthread_mutex_lock(&alloc_mutex);
+#endif
+
+    node->next = free_nodes;
+    free_nodes = node;
+
+#ifndef NO_PTHREADS
+    pthread_mutex_unlock(&alloc_mutex);
+#endif
+}
+#endif  /* list node allocator or not */
+
+
+/* inserts the item. if dist_sq is >= 0, then do an ordered insert */
+/* TODO make the ordering code use heapsort */
+static int rlist_insert(struct res_node *list, struct kdnode *item, double dist_sq)
+{
+    struct res_node *rnode;
+
+    if(!(rnode = alloc_resnode())) {
+        return -1;
+    }
+    rnode->item = item;
+    rnode->dist_sq = dist_sq;
+
+    if(dist_sq >= 0.0) {
+        while(list->next && list->next->dist_sq < dist_sq) {
+            list = list->next;
+        }
+    }
+    rnode->next = list->next;
+    list->next = rnode;
+    return 0;
+}
+
+static void clear_results(struct kdres *rset)
+{
+    struct res_node *tmp, *node = rset->rlist->next;
+
+    while(node) {
+        tmp = node;
+        node = node->next;
+        free_resnode(tmp);
+    }
+
+    rset->rlist->next = 0;
+}
\ No newline at end of file
diff --git a/planning/kino_plan/src/kfmt.cpp b/planning/kino_plan/src/kfmt.cpp
new file mode 100755
index 0000000..c2efd6d
--- /dev/null
+++ b/planning/kino_plan/src/kfmt.cpp
@@ -0,0 +1,968 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "kino_plan/kfmt.h"
+#include <queue>
+
+namespace tgk_planner
+{
+KFMTPlanner::KFMTPlanner(const ros::NodeHandle& nh): sampler_(nh)
+{
+}
+
+KFMTPlanner::~KFMTPlanner()
+{
+  for (int i = 0; i < preallocate_node_pool_num_; i++) {
+    delete node_pool_[i];
+  }
+  for (int i = 0; i < preallocate_regional_pool_num_; i++) {
+    delete regional_node_pool_[i];
+  }
+}
+
+void KFMTPlanner::init(const ros::NodeHandle& nh)
+{
+  nh.param("kfmt/vel_limit", vel_limit_, -1.0);
+  nh.param("kfmt/acc_limit", acc_limit_, -1.0);
+  nh.param("kfmt/jerk_limit", jerk_limit_, -1.0);
+  nh.param("kfmt/debug_vis", debug_vis_, false);
+  nh.param("kfmt/rho", rho_, -1.0);
+  nh.param("kfmt/preallocate_node_pool_num", preallocate_node_pool_num_, 0);
+  nh.param("kfmt/preallocate_regional_node_pool_num", preallocate_regional_pool_num_, 0);
+  nh.param("kfmt/sample_num_per_meter", sample_num_per_meter_, 0);
+  nh.param("kfmt/radius_cost_between_two_states", radius_cost_between_two_states_, 0.0);
+  nh.param("kfmt/allow_close_goal", allow_close_goal_, false);
+  nh.param("kfmt/lambda_heu", lambda_heu_, -1.0);
+  nh.param("kfmt/tie_breaker", tie_breaker_, -1.0);
+  nh.param("kfmt/search_time", search_time_, -1.0);
+  nh.param("kfmt/use_regional_opt", use_regional_opt_, false);
+
+  ROS_WARN_STREAM("[kfmt] param: vel_limit: " << vel_limit_);
+  ROS_WARN_STREAM("[kfmt] param: acc_limit: " << acc_limit_);
+  ROS_WARN_STREAM("[kfmt] param: jerk_limit: " << jerk_limit_);
+  ROS_WARN_STREAM("[kfmt] param: debug_vis: " << debug_vis_);
+  ROS_WARN_STREAM("[kfmt] param: rho: " << rho_);
+  ROS_WARN_STREAM("[kfmt] param: preallocate_node_pool_num: " << preallocate_node_pool_num_);
+  ROS_WARN_STREAM("[kfmt] param: preallocate_regional_node_pool_num: " << preallocate_regional_pool_num_);
+  ROS_WARN_STREAM("[kfmt] param: sample_num_per_meter: " << sample_num_per_meter_);
+  ROS_WARN_STREAM("[kfmt] param: radius_cost_between_two_states: " << radius_cost_between_two_states_);
+  ROS_WARN_STREAM("[kfmt] param: allow_close_goal: " << allow_close_goal_);
+  ROS_WARN_STREAM("[kfmt] param: lambda_heu: " << lambda_heu_);
+  ROS_WARN_STREAM("[kfmt] param: tie_breaker: " << tie_breaker_);
+  ROS_WARN_STREAM("[kfmt] param: search_time: " << search_time_);
+  ROS_WARN_STREAM("[kfmt] param: use_regional_opt: " << use_regional_opt_);
+
+  bvp_.init(TRIPLE_INTEGRATOR);
+  bvp_.setRho(rho_);
+
+  nh_ = nh;
+  sampler_client_ = nh_.serviceClient<self_msgs_and_srvs::LearningSampler>("/learning_sampler_service");
+
+  //pre allocate memory
+  node_pool_.resize(preallocate_node_pool_num_);
+  for (int i = 0; i < preallocate_node_pool_num_; i++) 
+  {
+    node_pool_[i] = new FMTNode;
+  }
+  regional_node_pool_.resize(preallocate_regional_pool_num_);
+  for (int i = 0; i < preallocate_regional_pool_num_; i++) 
+  {
+    regional_node_pool_[i] = new FMTNode;
+  }
+  sampled_node_num_ = 0;
+  regional_node_num_ = 0;
+}
+
+void KFMTPlanner::setPosChecker(const PosChecker::Ptr &checker)
+{
+  pos_checker_ptr_ = checker;
+  sampler_.setPosChecker(checker);
+}
+
+void KFMTPlanner::setVisualizer(const VisualRviz::Ptr &vis)
+{
+  vis_ptr_ = vis;
+}
+
+// reset() is called every time before plan();
+void KFMTPlanner::reset()
+{
+  std::priority_queue<FMTNodePtr, std::vector<FMTNodePtr>, FMTNodeComparator> empty_queue;
+  open_set_.swap(empty_queue);
+
+  for (int i = 0; i < sampled_node_num_; i++) 
+  {
+    node_pool_[i]->parent = nullptr;
+    node_pool_[i]->children.clear();
+    node_pool_[i]->status = UNVISITED;
+    node_pool_[i]->f_score = DBL_MAX;
+    node_pool_[i]->g_score = DBL_MAX;
+  }
+  iter_num_ = 0;
+  sampled_node_num_ = 0;
+
+  for (int i = 0; i < regional_node_num_; i++) 
+  {
+    regional_node_pool_[i]->parent = nullptr;
+    regional_node_pool_[i]->children.clear();
+    regional_node_pool_[i]->status = UNVISITED;
+    regional_node_pool_[i]->f_score = DBL_MAX;
+    regional_node_pool_[i]->g_score = DBL_MAX;
+  }
+  regional_node_num_ = 0;
+}
+
+int KFMTPlanner::plan(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc, 
+                      Vector3d end_pos, Vector3d end_vel, Vector3d end_acc, 
+                      double search_time, const Vector3d &normal, const Vector3d &dire, bool need_consistancy, bool use_regional_opt)
+{
+  search_time_ = search_time;
+  use_regional_opt_ = use_regional_opt;
+  ros::Time plan_start_time = ros::Time::now();
+  reset();
+  if (pos_checker_ptr_->getVoxelState(start_pos) != 0) 
+  {
+    ROS_ERROR("[KFMT]: Start pos collide or out of bound");
+    return FAILURE;
+  }
+  
+  if (!pos_checker_ptr_->validatePosSurround(end_pos)) 
+  {
+    Vector3d shift[20] = {Vector3d(-1.0,0.0,0.0), Vector3d(0.0,1.0,0.0), Vector3d(0.0,-1.0,0.0), 
+                         Vector3d(0.0,0.0,1.0), Vector3d(0.0,0.0,-1.0), Vector3d(1.0,0.0,0.0), 
+                         Vector3d(-2.0,0.0,0.0), Vector3d(0.0,2.0,0.0), Vector3d(0.0,-2.0,0.0), 
+                         Vector3d(0.0,0.0,2.0), Vector3d(0.0,0.0,-2.0), Vector3d(2.0,0.0,0.0), 
+
+                         Vector3d(1.0,1.0,1.0), Vector3d(1.0,1.0,-1.0), Vector3d(1.0,-1.0,1.0), 
+                         Vector3d(1.0,-1.0,-1.0), Vector3d(-1.0,1.0,-1.0), Vector3d(-1.1,1.0,1.0), 
+                         Vector3d(-1.0,-1.0,1.0), Vector3d(-1.0,-1.0,-1.0)};
+    ROS_WARN("[KFMT]: End pos collide or out of bound, search for other safe end");
+    int i = 0;
+    for (; i < 20; ++i)
+    {
+      end_pos += shift[i] * 0.2;
+      if (pos_checker_ptr_->validatePosSurround(end_pos))
+        break;
+    }
+    if (i == 20)
+    {
+      ROS_ERROR("found no valid end pos, plan fail");
+      return FAILURE;
+    }
+  }
+  
+  if((start_pos - end_pos).norm() < 1e-3 && (start_vel - end_vel).norm() < 1e-4)
+  {
+    ROS_ERROR("[KFMT]: start state & end state too close");
+    return FAILURE;
+  }
+  
+  if (need_consistancy)
+  { 
+    vis_ptr_->visualizeReplanDire(start_pos, dire, pos_checker_ptr_->getLocalTime());
+    replan_normal_ = normal;
+    replan_dire_ = dire;
+    need_consistancy_ = need_consistancy;
+  }
+  
+  /* construct start and goal nodes */
+  start_node_ = node_pool_[0];
+  start_node_->x.head(3) = start_pos;
+  start_node_->x.segment(3, 3) = start_vel;
+  start_node_->x.tail(3) = start_acc;
+  start_node_->g_score = 0.0;
+  start_node_->status = OPEN;
+  goal_node_ = node_pool_[1];
+  goal_node_->x.head(3) = end_pos;
+  if (end_vel.norm() >= vel_limit_)
+  {
+    end_vel.normalize();
+    end_vel = end_vel * vel_limit_;
+  }
+  goal_node_->x.segment(3, 3) = end_vel;
+  goal_node_->x.tail(3) = end_acc;
+  start_node_->f_score = 0.0;//lambda_heu_ * bvp_.estimateHeuristic(start_node_->x.head(6), goal_node_->x.head(6));
+  sampled_node_num_ = 2;
+
+  /* init sampling space */
+  vector<pair<Vector3d, Vector3d>> traversal_lines;
+  ROS_INFO_STREAM("Kino FMT* starts planning");
+  if (bvp_.solve(start_node_->x, goal_node_->x))
+  {
+    CoefficientMat coeff;
+    bvp_.getCoeff(coeff);
+    double best_tau = bvp_.getTauStar();
+    double best_cost = bvp_.getCostStar();
+    ROS_INFO("[KFMT]: Best cost: %lf, best tau: %lf", best_cost, best_tau);
+    Piece poly_seg(best_tau, coeff);
+    /* for traj vis */
+    vector<StatePVA> vis_x;
+    // vis_x.clear();
+    // poly_seg.sampleOneSeg(&vis_x);
+    // vis_ptr_->visualizeStates(vis_x, BLUE, pos_checker_ptr_->getLocalTime());
+
+    bool vel_cons = poly_seg.checkMaxVelRate(vel_limit_);
+    bool acc_cons = poly_seg.checkMaxAccRate(acc_limit_);
+    bool jerk_cons = poly_seg.checkMaxAccRate(jerk_limit_);
+    bool pos_cons = getTraversalLines(poly_seg, traversal_lines);
+    if (vel_cons && acc_cons && jerk_cons && pos_cons)
+    {
+      ROS_WARN("Best traj collision free, one shot connected");
+      goal_node_->g_score = best_cost;
+      goal_node_->parent = start_node_;
+      goal_node_->poly_seg = poly_seg;
+      fillTraj(goal_node_, traj_);
+      time_usage_ = (ros::Time::now() - plan_start_time).toSec();
+  
+      /* for traj vis */
+      vis_x.clear();
+      traj_.sampleWholeTrajectory(&vis_x);
+      vis_ptr_->visualizeStates(vis_x, GRAY, pos_checker_ptr_->getLocalTime());
+      double final_traj_len(0.0), final_traj_duration(0.0), final_traj_acc_itg(0.0), final_traj_jerk_itg(0.0);
+      int final_traj_seg_nums(0);
+      evaluateTraj(traj_, final_traj_duration, final_traj_len, final_traj_seg_nums, final_traj_acc_itg, final_traj_jerk_itg);
+      ROS_INFO_STREAM("[KFMT]: [front-end final path]: " << endl 
+          << "    -   seg nums: " << final_traj_seg_nums << endl 
+          << "    -   time: " << time_usage_ << endl 
+          << "    -   acc integral: " << final_traj_acc_itg << endl
+          << "    -   jerk integral: " << final_traj_jerk_itg << endl
+          << "    -   traj duration: " << final_traj_duration << endl 
+          << "    -   path length: " << final_traj_len);
+      return SUCCESS;
+    }
+  }
+  else
+  {
+    ROS_WARN("sth. wrong with the bvp solver");
+  }
+  sampler_.topoSetup(traversal_lines, start_pos, end_pos);
+  vector<Vector3d> p_head, tracks;
+  sampler_.getTopo(p_head, tracks);
+  vis_ptr_->visualizeTopo(p_head, tracks, pos_checker_ptr_->getLocalTime());
+
+  return fmtStar(start_node_->x, goal_node_->x, preallocate_node_pool_num_ - 2);
+}
+
+int KFMTPlanner::fmtStar(const StatePVA& x_init, const StatePVA& x_final, int sample_num)
+{ 
+  ros::Time fmt_start_time = ros::Time::now();
+  ros::Time final_goal_found_time;
+  
+  /* local variables */
+  vector<StatePVA> vis_x;
+  vector<StatePVA> region_traj_vis_x;
+  bool close_goal_found = false;
+  bool goal_found = false;
+
+  /* kd tree init */
+  kdtree *kd_tree = kd_create(3);
+  //Add start and goal nodes to kd tree
+  kd_insert3(kd_tree, start_node_->x[0], start_node_->x[1], start_node_->x[2], start_node_);
+  kd_insert3(kd_tree, goal_node_->x[0], goal_node_->x[1], goal_node_->x[2], goal_node_);
+
+  /* sample a batch of samples */
+  batchSampling(sample_num, kd_tree);
+  // batchSamplingLearning(sample_num, kd_tree);
+
+  //TODO changable radius
+  double tau_for_instance = radius_cost_between_two_states_ * 0.75; //maximum
+  double fwd_radius_p = getForwardRadius(tau_for_instance, radius_cost_between_two_states_);  
+  double bcwd_radius_p = getBackwardRadius(tau_for_instance, radius_cost_between_two_states_);
+  ROS_INFO_STREAM("bcwd_radius_p: " << bcwd_radius_p);
+  ROS_INFO_STREAM("fwd_radius_p: " << fwd_radius_p);
+
+  /* main loop */
+  open_set_.push(start_node_);
+  while (!open_set_.empty() && (ros::Time::now() - fmt_start_time).toSec() < search_time_) 
+  {
+    FMTNodePtr cur_node = open_set_.top();
+    open_set_.pop();
+    struct kdres *p_fwd_nbr_set;
+    p_fwd_nbr_set = getForwardNeighbour(cur_node->x, kd_tree, tau_for_instance, fwd_radius_p);
+    if (p_fwd_nbr_set == nullptr)
+    {
+      ROS_FATAL_STREAM("fwd kd range query error");
+      break;
+    }
+    while (!kd_res_end(p_fwd_nbr_set)) 
+    {
+      FMTNodePtr cur_fwd_nbr = (FMTNodePtr)kd_res_item_data(p_fwd_nbr_set);
+      if (cur_fwd_nbr->status != UNVISITED)
+      {
+        kd_res_next(p_fwd_nbr_set);
+        continue;
+      }
+      struct kdres *p_bcwd_nbr_set;
+      p_bcwd_nbr_set = getBackwardNeighbour(cur_fwd_nbr->x, kd_tree, radius_cost_between_two_states_ - tau_for_instance, bcwd_radius_p);
+      if (p_bcwd_nbr_set == nullptr)
+      {
+        ROS_FATAL_STREAM("bkwd kd range query error");
+        break;
+      }
+      double tau, cost;
+      CoefficientMat coeff;
+      double g_score_hat, cur_fwd_g_score(DBL_MAX);
+      FMTNodePtr bcwd_nbr;
+      bool parent_cost_valid(false);
+      while (!kd_res_end(p_bcwd_nbr_set)) 
+      {
+        FMTNodePtr cur_bcwd_nbr = (FMTNodePtr)kd_res_item_data(p_bcwd_nbr_set);
+        if (cur_bcwd_nbr->status != OPEN)
+        {
+          kd_res_next(p_bcwd_nbr_set);
+          continue;
+        }
+        bool cost_valid = bvp_.solve(cur_bcwd_nbr->x, cur_fwd_nbr->x);
+        g_score_hat = bvp_.getCostStar() + cur_bcwd_nbr->g_score;
+        if (cost_valid && cur_fwd_g_score > g_score_hat)
+        {
+          tau = bvp_.getTauStar();
+          cost = bvp_.getCostStar();
+          bvp_.getCoeff(coeff);
+          cur_fwd_g_score = g_score_hat;
+          parent_cost_valid = true;
+          bcwd_nbr = cur_bcwd_nbr;
+        }
+        kd_res_next(p_bcwd_nbr_set); //go to next in kd tree range query result
+      }
+      double dis = (cur_fwd_nbr->x - bcwd_nbr->x).head(3).norm();
+      if (parent_cost_valid)
+      {
+        Piece seg_from_parent = Piece(tau, coeff);
+        bool vel_cons = seg_from_parent.checkMaxVelRate(vel_limit_);
+        bool acc_cons = seg_from_parent.checkMaxAccRate(acc_limit_);
+        bool jerk_cons = seg_from_parent.checkMaxAccRate(jerk_limit_);
+        pair<Vector3d, Vector3d> collide_pts_one_seg;
+        pair<double, double> t_s_e;
+        bool need_region_opt(false);
+        bool pos_cons = pos_checker_ptr_->checkPolySeg(seg_from_parent, collide_pts_one_seg, t_s_e, need_region_opt);
+        bool connected = vel_cons && acc_cons && jerk_cons && pos_cons;
+        // if (checkSegmentConstraints(seg_from_parent))
+        if (connected)
+        {
+          bcwd_nbr->children.push_back(cur_fwd_nbr);
+          cur_fwd_nbr->parent = bcwd_nbr;
+          cur_fwd_nbr->g_score = g_score_hat;
+          cur_fwd_nbr->f_score = cur_fwd_nbr->g_score;// + lambda_heu_ * bvp_.estimateHeuristic(cur_fwd_nbr->x.head(6), goal_node_->x.head(6));
+          cur_fwd_nbr->status = OPEN;
+          cur_fwd_nbr->poly_seg = Piece(tau, coeff);
+          cur_fwd_nbr->x.segment(6, 3) = cur_fwd_nbr->poly_seg.getAcc(tau);
+          open_set_.push(cur_fwd_nbr);
+          close_goal_node_ = cur_fwd_nbr;
+          close_goal_found = true;
+          /* -------- visualize a single step */
+          if (debug_vis_)
+          {
+            fillTraj(cur_fwd_nbr, traj_);  
+            vis_x.clear();
+            traj_.sampleWholeTrajectory(&vis_x);
+            vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+            vis_x.clear();
+            vector<Vector3d> knots;
+            sampleWholeTree(start_node_, &vis_x, knots);
+            vis_ptr_->visualizeStates(vis_x, TreeTraj, pos_checker_ptr_->getLocalTime());
+            vis_ptr_->visualizeKnots(knots, pos_checker_ptr_->getLocalTime());
+            // getchar();
+          }
+          // goal found
+          if (cur_fwd_nbr == goal_node_)
+          {
+            // ROS_INFO("goal found!");
+            goal_found = true;
+            kd_res_free(p_bcwd_nbr_set); //reset kd tree range query
+            break;
+          } 
+          //try to connect to goal
+          if ((cur_fwd_nbr->x.head(3) - goal_node_->x.head(3)).norm() <= 10) //only try to connect to goal if within 10m
+            continue;
+          if (bvp_.solve(cur_fwd_nbr->x, goal_node_->x, ACC_KNOWN))
+          {
+            CoefficientMat coeff;
+            bvp_.getCoeff(coeff);
+            Piece seg2goal = Piece(bvp_.getTauStar(), coeff);
+            bool connected_to_goal = checkSegmentConstraints(seg2goal);
+            if (connected_to_goal) 
+            {
+              goal_node_->parent = cur_fwd_nbr;
+              goal_node_->g_score = cur_fwd_nbr->g_score + bvp_.getCostStar();
+              goal_node_->f_score = goal_node_->g_score;
+              goal_node_->poly_seg = seg2goal;
+              cur_fwd_nbr->children.push_back(goal_node_);
+              goal_found = true;
+            }
+          }
+        }
+        else if (use_regional_opt_ && need_region_opt && regional_node_num_ < preallocate_regional_pool_num_ - 3
+        && (dis < 5.0 && dis > 2.0 && (t_s_e.second - t_s_e.first) <= 0.5 && ((cur_fwd_nbr->x-x_init).head(3).norm() - (bcwd_nbr->x-x_init).head(3).norm()) > 3))//TODO minus 3
+        {
+          // ROS_ERROR_STREAM("[FMT] regional_opt start");
+          Trajectory local_opt_traj;
+          // bool regional_opt_result(false);
+          // ros::Time r_o_ts = ros::Time::now();
+
+          // if (searcher_->AstarSearch(pos_checker_ptr_->getResolution(), collide_pts_one_seg.first, collide_pts_one_seg.second))
+          // {
+          //   vector<Eigen::Vector3d> grid_path = searcher_->getPath();
+          //   vis_ptr_->visualizeKnots(grid_path, pos_checker_ptr_->getLocalTime());
+          // }
+          // // getchar();
+          // regional_opt_result = regional_opt_ptr_->generateRegionalTraj(bcwd_nbr->x, cur_fwd_nbr->x, collide_pts_one_seg, local_opt_traj);
+          // ROS_ERROR_STREAM("[FMT] regional_opt costs " << 1e3 * (ros::Time::now() - r_o_ts).toSec() << " ms. Result: " << regional_opt_result);
+          // getchar();
+
+
+          bool regional_opt_result(false);
+          ros::Time r_o_ts = ros::Time::now();
+
+          CoefficientMat coeff1 = seg_from_parent.getCoeffMat(), coeff2;
+          double duration1 = seg_from_parent.getDuration() / 2.0;
+          Trajectory pre_regional_traj;
+          pre_regional_traj.reserve(2);
+          pre_regional_traj.emplace_back(Piece(duration1, coeff1));
+          seg_from_parent.cutPiece(seg_from_parent, duration1, coeff2);
+          pre_regional_traj.emplace_back(Piece(duration1, coeff2));
+          if (searcher_->AstarSearch(pos_checker_ptr_->getResolution(), collide_pts_one_seg.first, collide_pts_one_seg.second))
+          {
+            vector<Eigen::Vector3d> grid_path = searcher_->getPath();
+            // vis_ptr_->visualizeKnots(grid_path, pos_checker_ptr_->getLocalTime());
+
+            std::vector<pair<int, int>> seg_num_obs_size;  //first: # of segment in a traj; second: number of attract_pt in this segment. 
+            std::vector<double> t_s, t_e; // each attract_pt's timestamp of start and end in its corresponding segment. Size should be the same as the sum of seg_num_obs_size.second.
+            std::vector<Eigen::Vector3d> attract_pts;
+            pos_checker_ptr_->getRegionalAttractPts(pre_regional_traj, grid_path, t_s_e, seg_num_obs_size, attract_pts, t_s, t_e);
+            if (optimizer_ptr_->initialize(pre_regional_traj, TrajOptimizer::SMOOTH_HOMO_OBS))
+              regional_opt_result = optimizer_ptr_->solveRegionalOpt(seg_num_obs_size, attract_pts, t_s, t_e);
+          }
+          
+          if (regional_opt_result)
+          {
+            optimizer_ptr_->getTraj(local_opt_traj);
+
+            int n_mid_with_last_pt = local_opt_traj.getPieceNum();
+            double cost[n_mid_with_last_pt];
+            double regional_traj_cost(0.0);
+            for (int j = 0; j < n_mid_with_last_pt; j++)
+            {
+              cost[j] = local_opt_traj[j].calCost(rho_); //calculate cost of one piece 
+              regional_traj_cost += cost[j];
+            }
+
+            local_opt_traj.sampleWholeTrajectory(&region_traj_vis_x);
+            // ROS_WARN("[FMT] regional optimized");
+
+            StatePVA mid_x; 
+            Vector3d pos, vel, acc;
+            FMTNode *curr_node_in_regional_traj(nullptr), *last_node(nullptr);
+            for (int j = 0; j < n_mid_with_last_pt; j++)
+            {
+              double tau = local_opt_traj[j].getDuration();
+              pos = local_opt_traj[j].getPos(tau);
+              vel = local_opt_traj[j].getVel(tau);
+              acc = local_opt_traj[j].getAcc(tau);
+              mid_x.segment(0, 3) = pos;
+              mid_x.segment(3, 3) = vel;
+              mid_x.segment(6, 3) = acc;
+              /* 1.1 add the randomly sampled node to fmt_tree */
+              if (j == 0)
+              {
+                curr_node_in_regional_traj = regional_node_pool_[regional_node_num_]; 
+                regional_node_num_++;
+                curr_node_in_regional_traj->x = mid_x;
+                curr_node_in_regional_traj->parent = bcwd_nbr;
+                bcwd_nbr->children.push_back(curr_node_in_regional_traj);
+                curr_node_in_regional_traj->g_score = bcwd_nbr->g_score + cost[j];
+              }
+              else if (j == n_mid_with_last_pt - 1)
+              {
+                curr_node_in_regional_traj = cur_fwd_nbr;
+                cur_fwd_nbr->parent = last_node;
+                last_node->children.push_back(cur_fwd_nbr);
+                cur_fwd_nbr->g_score = last_node->g_score + cost[j];
+                cur_fwd_nbr->f_score = cur_fwd_nbr->g_score;// + lambda_heu_ * bvp_.estimateHeuristic(cur_fwd_nbr->x.head(6), goal_node_->x.head(6));
+                cur_fwd_nbr->status = OPEN;
+                open_set_.push(cur_fwd_nbr);
+              }
+              else
+              {
+                curr_node_in_regional_traj = regional_node_pool_[regional_node_num_]; 
+                regional_node_num_++;
+                curr_node_in_regional_traj->x = mid_x;
+                curr_node_in_regional_traj->parent = last_node;
+                last_node->children.push_back(curr_node_in_regional_traj);
+                curr_node_in_regional_traj->g_score = last_node->g_score + cost[j];
+              }
+              curr_node_in_regional_traj->poly_seg = local_opt_traj[j];
+              last_node = curr_node_in_regional_traj;
+              /* 1.2 add the randomly sampled node to kd_tree */
+              // kd_insert3(kd_tree, mid_x[0], mid_x[1], mid_x[2], curr_node_in_regional_traj);
+            }
+            close_goal_node_ = cur_fwd_nbr;
+            close_goal_found = true;
+
+            // goal found
+            if (cur_fwd_nbr == goal_node_)
+            {
+              // ROS_INFO("goal found!");
+              goal_found = true;
+              kd_res_free(p_bcwd_nbr_set); //reset kd tree range query
+              break;
+            } 
+            //try to connect to goal
+            if ((cur_fwd_nbr->x.head(3) - goal_node_->x.head(3)).norm() <= 10) //only try to connect to goal if within 10m
+              continue;
+            if (bvp_.solve(cur_fwd_nbr->x, goal_node_->x, ACC_KNOWN))
+            {
+              CoefficientMat coeff;
+              bvp_.getCoeff(coeff);
+              Piece seg2goal = Piece(bvp_.getTauStar(), coeff);
+              bool connected_to_goal = checkSegmentConstraints(seg2goal);
+              if (connected_to_goal) 
+              {
+                goal_node_->parent = cur_fwd_nbr;
+                goal_node_->g_score = cur_fwd_nbr->g_score + bvp_.getCostStar();
+                goal_node_->f_score = goal_node_->g_score;
+                goal_node_->poly_seg = seg2goal;
+                cur_fwd_nbr->children.push_back(goal_node_);
+                goal_found = true;
+              }
+            }
+
+          }
+        }
+        
+      }
+      kd_res_free(p_bcwd_nbr_set); //reset kd tree range query
+      kd_res_next(p_fwd_nbr_set); //go to next in kd tree range query result
+    }
+    kd_res_free(p_fwd_nbr_set); //reset kd tree range query
+    cur_node->status = CLOSED;
+    iter_num_++;
+    if (goal_found)
+    {
+      break;
+    }
+  }
+  kd_free(kd_tree);
+
+  vis_x.clear();
+  vector<Vector3d> knots;
+  sampleWholeTree(start_node_, &vis_x, knots);
+  vis_ptr_->visualizeStates(vis_x, TreeTraj, pos_checker_ptr_->getLocalTime());
+  vis_ptr_->visualizeKnots(knots, pos_checker_ptr_->getLocalTime());
+  vis_ptr_->visualizePoints(region_traj_vis_x, pos_checker_ptr_->getLocalTime());
+  
+  if (goal_found)
+  {
+    fillTraj(goal_node_, traj_);
+    time_usage_ = (ros::Time::now() - fmt_start_time).toSec();
+    return SUCCESS;
+  }
+  else if (allow_close_goal_ && close_goal_found)
+  {
+    ROS_WARN("open set empty, no path, choose bypass");
+    // chooseBypass(close_goal_node_, start_node_);
+    fillTraj(close_goal_node_, traj_);
+    time_usage_ = (ros::Time::now() - fmt_start_time).toSec();
+    return SUCCESS_CLOSE_GOAL;
+  }
+  else if ((ros::Time::now() - fmt_start_time).toSec() >= search_time_)
+  {
+    ROS_ERROR_STREAM("[KFMT]: NOT CONNECTED TO GOAL after " << (ros::Time::now() - fmt_start_time).toSec() << " seconds");
+    ROS_INFO_STREAM("[KFMT]: total iteration times: " << iter_num_);
+    return FAILURE;
+  }
+  else
+  {
+    ROS_ERROR_STREAM("[KFMT]: Open Set Empty, No Path. Used " << (ros::Time::now() - fmt_start_time).toSec() << " seconds");
+    ROS_INFO_STREAM("[KFMT]: total iteration times: " << iter_num_);
+    return FAILURE;
+  }
+
+}
+
+double KFMTPlanner::getForwardRadius(double tau, double cost)
+{
+  MatrixXd G(3, 3);
+  G.setZero();
+  double tau_2 = tau * tau;
+  double tau_3 = tau_2 * tau;
+  double tau_4 = tau_3 * tau;
+  double tau_5 = tau_4 * tau;
+  G(0, 0) = 720.0 / tau_5;
+  G(1, 1) = 192.0 / tau_3;
+  G(2, 2) = 9.0 / tau;
+  G(0, 1) = G(1, 0) = -360.0 / tau_4;
+  G(0, 2) = G(2, 0) = 60.0 / tau_3;
+  G(1, 2) = G(2, 1) = -36.0 / tau_2;
+  G = G * rho_ / (cost - tau) * 3.0;
+  // ROS_INFO_STREAM("G: \n" << G);
+  Eigen::EigenSolver<MatrixXd> es(G);
+  // cout << "The eigenvalues of G are:" << endl << es.eigenvalues() << endl;
+  // cout << "The matrix of eigenvectors, V, is:" << endl << es.eigenvectors() << endl << endl;
+  double radius_p(0.0);
+  for (int i = 0; i < 3; ++i)
+  {
+    radius_p = max(radius_p, sqrt(1.0 / es.eigenvalues()[i].real()) * fabs(es.eigenvectors().col(i)[i]));
+  }
+  return radius_p * 1.732; //sqrt(1 + 1 + 1)
+}
+
+double KFMTPlanner::getBackwardRadius(double tau, double cost)
+{
+  MatrixXd G(3, 3);
+  G.setZero();
+  double tau_2 = tau * tau;
+  double tau_3 = tau_2 * tau;
+  double tau_4 = tau_3 * tau;
+  double tau_5 = tau_4 * tau;
+  G(0, 0) = 720.0 / tau_5;
+  G(1, 1) = 192.0 / tau_3;
+  G(2, 2) = 9.0 / tau;
+  G(0, 1) = G(1, 0) = -360.0 / tau_4;
+  G(0, 2) = G(2, 0) = 60.0 / tau_3;
+  G(1, 2) = G(2, 1) = -36.0 / tau_2;
+  G = G * rho_ / (cost - tau) * 3.0;
+  // ROS_INFO_STREAM("G: \n" << G);
+  Eigen::EigenSolver<MatrixXd> es(G);
+  // cout << "The eigenvalues of G are:" << endl << es.eigenvalues() << endl;
+  // cout << "The matrix of eigenvectors, V, is:" << endl << es.eigenvectors() << endl << endl;
+  double radius_p(0.0);
+  for (int i = 0; i < 3; ++i)
+  {
+    radius_p = max(radius_p, sqrt(1.0 / es.eigenvalues()[i].real()) * fabs(es.eigenvectors().col(i)[i]));
+  }
+  return radius_p * 1.732; //sqrt(1 + 1 + 1)
+}
+
+struct kdres *KFMTPlanner::getForwardNeighbour(const StatePVA& x0, struct kdtree *kd_tree, double tau, double radius_p)
+{
+  double half_tau_square = tau * tau / 2;
+  StatePVA x_ba_tau;
+  x_ba_tau[0] = x0[0] + x0[3]*tau + x0[6]*half_tau_square;
+  x_ba_tau[1] = x0[1] + x0[4]*tau + x0[7]*half_tau_square;
+  x_ba_tau[2] = x0[2] + x0[5]*tau + x0[8]*half_tau_square;
+  // x_ba_tau[3] = x0[3] + tau*x0[6];
+  // x_ba_tau[4] = x0[4] + tau*x0[7];
+  // x_ba_tau[5] = x0[5] + tau*x0[8];
+  // x_ba_tau[6] = x0[6];
+  // x_ba_tau[7] = x0[7];
+  // x_ba_tau[8] = x0[8];
+
+  if (debug_vis_)
+  {
+    vis_ptr_->visualizeReachPos(FORWARD_REACHABLE_POS, x_ba_tau.head(3), 2 * radius_p, pos_checker_ptr_->getLocalTime());
+    // vis_ptr_->visualizeReachVel(1, x_ba_tau.head(3) + x_ba_tau.tail(3), 2 * radius_v, pos_checker_ptr_->getLocalTime());
+    // getchar();
+  }
+  return kd_nearest_range3(kd_tree, x_ba_tau[0], x_ba_tau[1], x_ba_tau[2], radius_p);
+}
+
+struct kdres *KFMTPlanner::getBackwardNeighbour(const StatePVA& x1, struct kdtree *kd_tree, double tau, double radius_p)
+{
+  StatePVA expNegATau_x1;
+  double half_tau_square = tau * tau / 2;
+  expNegATau_x1[0] = x1[0] - x1[3]*tau + x1[6]*half_tau_square;
+  expNegATau_x1[1] = x1[1] - x1[4]*tau + x1[7]*half_tau_square;
+  expNegATau_x1[2] = x1[2] - x1[5]*tau + x1[8]*half_tau_square;
+  // expNegATau_x1[3] = x1[3] - x1[6]*tau;
+  // expNegATau_x1[4] = x1[4] - x1[7]*tau;
+  // expNegATau_x1[5] = x1[5] - x1[8]*tau;
+  // expNegATau_x1[6] = x1[6];
+  // expNegATau_x1[7] = x1[7];
+  // expNegATau_x1[8] = x1[8];
+
+  if (debug_vis_)
+  {
+    vis_ptr_->visualizeReachPos(BACKWARD_REACHABLE_POS, expNegATau_x1.head(3), 2 * radius_p, pos_checker_ptr_->getLocalTime());
+    // vis_ptr_->visualizeReachVel(1, expNegATau_x1.head(3) + expNegATau_x1.tail(3), 2 * radius_v, pos_checker_ptr_->getLocalTime());
+    // getchar();
+  }
+  return kd_nearest_range3(kd_tree, expNegATau_x1[0], expNegATau_x1[1], expNegATau_x1[2], radius_p);
+}
+
+inline double KFMTPlanner::dist(const StatePVA& x0, const StatePVA& x1)
+{
+  Vector3d p_diff(x0.head(3) - x1.head(3));
+  return p_diff.norm();
+}
+
+inline void KFMTPlanner::sampleWholeTree(const FMTNodePtr &root, vector< StatePVA >* vis_x, vector<Vector3d>& knots)
+{
+  if (root == nullptr) 
+    return;
+  //whatever dfs or bfs
+  FMTNode* node = root;
+  std::queue<FMTNode*> Q;
+  Q.push(node);
+  while (!Q.empty()) 
+  {
+    node = Q.front();
+    Q.pop();
+    for (const auto& leafptr : node->children) 
+    {
+      leafptr->poly_seg.sampleOneSeg(vis_x);
+      knots.push_back(leafptr->x.head(3));
+      Q.push(leafptr);
+    }
+  }
+}
+
+void KFMTPlanner::fillTraj(const FMTNodePtr &goal_leaf, Trajectory& traj)
+{
+  std::vector<double> durs;
+  std::vector<CoefficientMat> coeffMats;
+  FMTNodePtr node = goal_leaf;
+  while (node->parent) 
+  {
+    durs.push_back(node->poly_seg.getDuration());
+    coeffMats.push_back(node->poly_seg.getCoeffMat());
+    node = node->parent;
+  }
+  std::reverse(std::begin(durs), std::end(durs));
+  std::reverse(std::begin(coeffMats), std::end(coeffMats));
+  traj = Trajectory(durs, coeffMats);
+}
+
+inline bool KFMTPlanner::checkSegmentConstraints(const Piece &seg)
+{
+  if (!seg.checkMaxVelRate(vel_limit_))
+  {
+    // ROS_WARN("vel constraints violate!");
+    return false;
+  }
+  if (!seg.checkMaxAccRate(acc_limit_))
+  {
+    // ROS_WARN("acc constraints violate!");
+    return false;
+  }
+  if (!seg.checkMaxJerkRate(jerk_limit_))
+  {
+    // ROS_WARN("jerk constraints violate!");
+    return false;
+  }
+  if (!pos_checker_ptr_->checkPolySeg(seg))
+  {
+    // ROS_WARN("pos constraints violate!");
+    return false;
+  }
+  return true;
+}
+
+inline bool KFMTPlanner::getTraversalLines(const Piece &seg, vector<pair<Vector3d, Vector3d>> &traversal_lines)
+{
+  bool res = pos_checker_ptr_->checkPolySeg(seg, traversal_lines);
+  return res;
+}
+
+void KFMTPlanner::evaluateTraj(const Trajectory& traj, double& traj_duration, double& traj_length, int& seg_nums, 
+                               double& acc_integral, double& jerk_integral)
+{
+  traj_length = 0.0;
+  traj_duration = 0.0;
+  seg_nums = traj.getPieceNum();
+  acc_integral = 0.0;
+  jerk_integral = 0.0;
+
+  double d_t = 0.03;
+  for (int i = 0; i < seg_nums; ++i)
+  {
+    double tau = traj[i].getDuration();
+    traj_duration += tau;
+    for (double t = 0.0; t < tau; t += d_t) 
+    {
+      Eigen::Vector3d vel, acc, jerk;
+      vel = traj[i].getVel(t);
+      acc = traj[i].getAcc(t);
+      jerk = traj[i].getJerk(t);
+      traj_length += vel.norm() * d_t;
+      acc_integral += acc.dot(acc) * d_t;
+      jerk_integral += jerk.dot(jerk) * d_t;
+    }
+  }
+}
+
+void KFMTPlanner::batchSampling(int sample_num, kdtree *kd_tree)
+{
+  vector<Vector3d> p_head, tracks;
+  sampler_.getTopo(p_head, tracks);
+  vector<double> lengths;
+  size_t track_num = tracks.size();
+  double track_len_add_up(0.0);
+  for (size_t i = 0; i < track_num; i++)
+  {
+    double len = tracks[i].norm();
+    lengths.push_back(len);
+    track_len_add_up += len;
+  }
+  int n = std::min(int(track_len_add_up * sample_num_per_meter_), sample_num);
+  StatePVA x_rand;
+  vector<StatePVA> valid_samples;
+  bool is_good_sample(false);
+  ros::Time t_sample_s = ros::Time::now();
+  for (size_t i = 0; i < track_num; ++i)
+  {
+    int sample_num_cur_track = floor(lengths[i] / track_len_add_up * n);
+    int good_sample_num(0);
+    while (good_sample_num < sample_num_cur_track)
+    {
+      is_good_sample = sampler_.samplingOnce(i, x_rand);
+      if (is_good_sample) 
+      {
+        good_sample_num++;
+        valid_samples.push_back(x_rand);
+        FMTNodePtr rand_ptr = node_pool_[sampled_node_num_];
+        sampled_node_num_++;
+        rand_ptr->x = x_rand;
+        kd_insert3(kd_tree, x_rand[0], x_rand[1], x_rand[2], rand_ptr);
+      }
+    }
+  }
+  vis_ptr_->visualizeSampledState(valid_samples, pos_checker_ptr_->getLocalTime());
+}
+
+void KFMTPlanner::batchSamplingLearning(int sample_num, kdtree *kd_tree)
+{
+  vector<Vector3d> p_head, tracks;
+  sampler_.getTopo(p_head, tracks);
+  vector<double> lengths;
+  size_t track_num = tracks.size();
+  double track_len_add_up(0.0);
+  for (size_t i = 0; i < track_num; i++)
+  {
+    double len = tracks[i].norm();
+    lengths.push_back(len);
+    track_len_add_up += len;
+  }
+  int n = std::min(int(track_len_add_up * sample_num_per_meter_), sample_num);
+  vector<StatePVA> valid_samples;
+  bool is_good_sample(false);
+
+  self_msgs_and_srvs::LearningSampler srv;
+  self_msgs_and_srvs::input_point input_point;
+  Vector3d p_m;
+  vector<Vector3d> topo_pts, sp_pts;
+  for (size_t i = 0; i < track_num; ++i)
+  {
+    int sample_num_cur_track = floor(lengths[i] / track_len_add_up * n);
+    Vector3d step = tracks[i] / (sample_num_cur_track + 1);
+    p_m = p_head[i];
+    for (int j = 0; j < sample_num_cur_track; ++j)
+    {
+      p_m += step;
+      input_point.cur_pos.x = p_m[0];
+      input_point.cur_pos.y = p_m[1];
+      input_point.cur_pos.z = p_m[2];
+      input_point.pred_pos.x = p_head[i][0];
+      input_point.pred_pos.y = p_head[i][1];
+      input_point.pred_pos.z = p_head[i][2];
+      input_point.succ_pos.x = p_head[i][0] + tracks[i][0];
+      input_point.succ_pos.y = p_head[i][1] + tracks[i][1];
+      input_point.succ_pos.z = p_head[i][2] + tracks[i][2];
+      srv.request.input_traj.push_back(input_point);
+
+      topo_pts.push_back(p_m);
+    }
+  }
+  
+  if (sampler_client_.call(srv))
+  {
+    StatePVA x_rand;
+    int num = srv.response.output_traj.size();
+    for (int i = 0; i < num; ++i)
+    {
+      x_rand[0] = srv.response.output_traj[i].pos_mu.x;
+      x_rand[1] = srv.response.output_traj[i].pos_mu.y;
+      x_rand[2] = srv.response.output_traj[i].pos_mu.z;
+      x_rand[3] = srv.response.output_traj[i].vel_mu.x;
+      x_rand[4] = srv.response.output_traj[i].vel_mu.y;
+      x_rand[5] = srv.response.output_traj[i].vel_mu.z;
+      Vector3d pt = x_rand.head(3);
+      sp_pts.push_back(pt);
+      if (pos_checker_ptr_->validatePosSurround(pt))
+      {
+        valid_samples.push_back(x_rand);
+        FMTNodePtr rand_ptr = node_pool_[sampled_node_num_];
+        sampled_node_num_++;
+        rand_ptr->x = x_rand;
+        kd_insert3(kd_tree, x_rand[0], x_rand[1], x_rand[2], rand_ptr);
+      }
+    }
+  }
+  else
+  {
+    ROS_ERROR("Failed to call service /learning_sampler_service");
+    return;
+  }
+
+  vis_ptr_->visualizeLearning(topo_pts, sp_pts, pos_checker_ptr_->getLocalTime());
+  vis_ptr_->visualizeSampledState(valid_samples, pos_checker_ptr_->getLocalTime());
+}
+
+void KFMTPlanner::getTraj(Trajectory &traj)
+{
+  traj = traj_;
+}
+
+// void KFMTPlanner::chooseBypass(FMTNodePtr &goal_leaf, const FMTNodePtr &tree_start_node)
+// {
+//   goal_leaf = node_pool_[valid_start_tree_node_nums_ - 1];
+//   double max_score(0.0);
+//   if (need_consistancy_)
+//   {
+//     Vector3d p1 = tree_start_node->x.head(3);
+//     for (const auto &leaf : tree_start_node->children)
+//     {
+//       Vector3d p2 = leaf->x.head(3);
+//       Vector3d dire = (p2 - p1).normalized();
+//       double score = dire.dot(replan_dire_);
+//       if (score >= max_score)
+//       {
+//         max_score = score;
+//         goal_leaf = leaf;
+//       }
+//     }
+//   }
+//   else
+//   {
+//     double close_dist(DBL_MAX);
+//     for (int i = 2; i < valid_start_tree_node_nums_; ++i)
+//     {
+//       double dist_to_goal = dist(node_pool_[i]->x, goal_node_->x);
+//       if (dist_to_goal < close_dist)
+//       {
+//         close_dist = dist_to_goal;
+//         close_goal_node_ = node_pool_[i];
+//       }
+//     }
+//   }
+// }
+
+} //namespace tgk_planner
diff --git a/planning/kino_plan/src/kinodynamic_astar.cpp b/planning/kino_plan/src/kinodynamic_astar.cpp
new file mode 100755
index 0000000..8407ab0
--- /dev/null
+++ b/planning/kino_plan/src/kinodynamic_astar.cpp
@@ -0,0 +1,853 @@
+#include <kino_plan/kinodynamic_astar.h>
+#include <sstream>
+
+using namespace std;
+using namespace Eigen;
+
+namespace tgk_planner
+{
+KinodynamicAstar::~KinodynamicAstar()
+{
+  for (int i = 0; i < allocate_num_; i++)
+  {
+    delete path_node_pool_[i];
+  }
+}
+
+int KinodynamicAstar::search(Eigen::Vector3d start_pt, Eigen::Vector3d start_v, Eigen::Vector3d start_a,
+                             Eigen::Vector3d end_pt, Eigen::Vector3d end_v, bool init, bool dynamic, double time_start)
+{
+  ros::Time t_ka_s = ros::Time::now();
+  start_vel_ = start_v;
+  start_acc_ = start_a;
+
+  /* ---------- initialize ---------- */
+  PathNodePtr cur_node = path_node_pool_[0];
+  cur_node->parent = NULL;
+  cur_node->state.head(3) = start_pt;
+  cur_node->state.tail(3) = start_v;
+  cur_node->index = pos_checker_ptr_->posToIndex(start_pt);
+  cur_node->g_score = 0.0;
+
+  Eigen::VectorXd end_state(6);
+  Eigen::Vector3i end_index;
+  double time_to_goal;
+
+  end_state.head(3) = end_pt;
+  end_state.tail(3) = end_v;
+  end_index = pos_checker_ptr_->posToIndex(end_pt);
+  cur_node->f_score = lambda_heu_ * estimateHeuristic(cur_node->state, end_state, time_to_goal);
+  cur_node->node_state = IN_OPEN_SET;
+
+  open_set_.push(cur_node);
+  use_node_num_ += 1;
+
+  if (dynamic)
+  {
+    time_origin_ = time_start;
+    cur_node->time = time_start;
+    cur_node->time_idx = timeToIndex(time_start);
+    expanded_nodes_.insert(cur_node->index, cur_node->time_idx, cur_node);
+    // cout << "time start: " << time_start << endl;
+  }
+  else
+    expanded_nodes_.insert(cur_node->index, cur_node);
+
+  PathNodePtr neighbor = NULL;
+  PathNodePtr terminate_node = NULL;
+  bool init_search = init;
+  const int tolerance = ceil(1 / resolution_);
+
+  /* ---------- search loop ---------- */
+  while (!open_set_.empty())
+  {
+    /* ---------- get lowest f_score node ---------- */
+    cur_node = open_set_.top();
+    // cout << "pos: " << cur_node->state.head(3).transpose() << endl;
+    // cout << "time: " << cur_node->time << endl;
+    // cout << "dist: " << edt_env_->evaluateCoarseEDT(cur_node->state.head(3), cur_node->time) << endl;
+
+    /* ---------- determine termination ---------- */
+
+    bool near_end = abs(cur_node->index(0) - end_index(0)) <= tolerance &&
+                    abs(cur_node->index(1) - end_index(1)) <= tolerance &&
+                    abs(cur_node->index(2) - end_index(2)) <= tolerance;
+    bool reach_horizon = (cur_node->state.head(3) - start_pt).norm() >= horizon_;
+
+    if (reach_horizon || near_end)
+    {
+      cout << "[Kino Astar]: used node num: " << use_node_num_ << ", iter num: " << iter_num_ << endl;
+      terminate_node = cur_node;
+      retrievePath(terminate_node);
+      has_path_ = true;
+
+      if (near_end)
+      {
+        cout << "[Kino Astar]: near end." << endl;
+
+        /* one shot trajectory */
+        estimateHeuristic(cur_node->state, end_state, time_to_goal);
+        computeShotTraj(cur_node->state, end_state, time_to_goal);
+
+//         if (terminate_node->parent == NULL && !is_shot_succ_)
+//           return NO_PATH;
+        if (is_shot_succ_)
+          return REACH_END; 
+        else 
+          return NO_PATH;
+      }
+      else if (reach_horizon)
+      {
+        cout << "[Kino Astar]: Reach horizon_" << endl;
+        return REACH_HORIZON;
+      }
+    }
+
+    /* ---------- pop node and add to close set ---------- */
+    open_set_.pop();
+    cur_node->node_state = IN_CLOSE_SET;
+    iter_num_ += 1;
+
+    /* ---------- init state propagation ---------- */
+    double res = 1 / 3.0, time_res = 1 / 1.0, time_res_init = 1 / 8.0;
+
+    Eigen::Matrix<double, 6, 1> cur_state = cur_node->state;
+    Eigen::Matrix<double, 6, 1> pro_state;
+    vector<PathNodePtr> tmp_expand_nodes;
+    Eigen::Vector3d um;
+    double pro_t;
+
+    vector<Eigen::Vector3d> inputs;
+    vector<double> durations;
+    double max_acc = max_acc_ / 1.732;
+    double ctrl_step = max_acc * res;
+
+    if (init_search)
+    {
+      inputs.push_back(start_acc_);
+      for (double tau = time_res_init * init_max_tau_; tau <= init_max_tau_; tau += time_res_init * init_max_tau_)
+        durations.push_back(tau);
+    }
+    else
+    {
+      for (double ax = -max_acc; ax <= max_acc + 1e-3; ax += ctrl_step)
+        for (double ay = -max_acc; ay <= max_acc + 1e-3; ay += ctrl_step)
+          for (double az = -max_acc; az <= max_acc + 1e-3; az += ctrl_step)
+          {
+            um << ax, ay, 0.5 * az;
+            inputs.push_back(um);
+          }
+      for (double tau = time_res * max_tau_; tau <= max_tau_; tau += time_res * max_tau_)
+        durations.push_back(tau);
+    }
+
+    /* ---------- state propagation loop ---------- */
+    // cout << "cur state:" << cur_state.head(3).transpose() << endl;
+    for (int i = 0; i < inputs.size(); ++i)
+      for (int j = 0; j < durations.size(); ++j)
+      {
+        init_search = false;
+        um = inputs[i];
+        double tau = durations[j];
+        stateTransit(cur_state, pro_state, um, tau);
+        pro_t = cur_node->time + tau;
+
+        /* ---------- check if in free space ---------- */
+
+        /* inside map range */
+        if (!pos_checker_ptr_->validatePosSurround(Eigen::Vector3d(pro_state(0), pro_state(1), pro_state(2))))
+        {
+          // cout << "outside map" << endl;
+          continue;
+        }
+
+        /* not in close set */
+        Eigen::Vector3i pro_id = pos_checker_ptr_->posToIndex(pro_state.head(3));
+        int pro_t_id = timeToIndex(pro_t);
+
+        PathNodePtr pro_node = dynamic ? expanded_nodes_.find(pro_id, pro_t_id) : expanded_nodes_.find(pro_id);
+
+        if (pro_node != NULL && pro_node->node_state == IN_CLOSE_SET)
+        {
+          // cout << "in closeset" << endl;
+          continue;
+        }
+
+        /* vel feasibe */
+        Eigen::Vector3d pro_v = pro_state.tail(3);
+        if (pro_v.norm() > max_vel_)
+        {
+          // cout << "vel infeasible" << endl;
+          continue;
+        }
+
+        /* not in the same voxel */
+        Eigen::Vector3i diff = pro_id - cur_node->index;
+        int diff_time = pro_t_id - cur_node->time_idx;
+        if (diff.norm() == 0 && ((!dynamic) || diff_time == 0))
+        {
+          continue;
+        }
+
+        Eigen::Matrix<double, 6, 1> xt;
+        bool is_occ = false, vel_violate = false;
+        double t;
+        size_t numPoints = ceil(tau / 0.02);
+        size_t step = 1;
+        while (step < numPoints) step *= 2;
+        double actual_deltaT = tau/numPoints;
+        for ( ; step > 1; step /= 2) {
+          for (size_t i = step / 2; i < numPoints; i += step) {
+            t = actual_deltaT*i;
+            stateTransit(cur_state, xt, um, t);
+            Eigen::Vector3d pos(xt.head(3)), vel(xt.tail(3)), acc(0.0, 0.0, 0.0);
+            if (vel.norm() > max_vel_)
+            {
+              vel_violate = true;
+              break;
+            }
+            if (!pos_checker_ptr_->validatePosSurround(pos))
+            {
+              is_occ = true;
+              break;
+            }
+          }
+        }
+
+        if (is_occ || vel_violate)
+        {
+          // cout << "collision" << endl;
+          continue;
+        }
+
+        /* ---------- compute cost ---------- */
+        double time_to_goal, tmp_g_score, tmp_f_score;
+        tmp_g_score = (um.squaredNorm() + w_time_) * tau + cur_node->g_score;
+        tmp_f_score = tmp_g_score + lambda_heu_ * estimateHeuristic(pro_state, end_state, time_to_goal);
+
+        /* ---------- compare expanded node in this loop ---------- */
+
+        bool prune = false;
+        for (int j = 0; j < tmp_expand_nodes.size(); ++j)
+        {
+          PathNodePtr expand_node = tmp_expand_nodes[j];
+          if ((pro_id - expand_node->index).norm() == 0 && ((!dynamic) || pro_t_id == expand_node->time_idx))
+          {
+            prune = true;
+            if (tmp_f_score < expand_node->f_score)
+            {
+              expand_node->f_score = tmp_f_score;
+              expand_node->g_score = tmp_g_score;
+              expand_node->state = pro_state;
+              expand_node->input = um;
+              expand_node->duration = tau;
+              if (dynamic)
+                expand_node->time = cur_node->time + tau;
+            }
+            break;
+          }
+        }
+
+        /* ---------- new neighbor in this loop ---------- */
+
+        if (!prune)
+        {
+          if (pro_node == NULL)
+          {
+            pro_node = path_node_pool_[use_node_num_];
+            pro_node->index = pro_id;
+            pro_node->state = pro_state;
+            pro_node->f_score = tmp_f_score;
+            pro_node->g_score = tmp_g_score;
+            pro_node->input = um;
+            pro_node->duration = tau;
+            pro_node->parent = cur_node;
+            pro_node->node_state = IN_OPEN_SET;
+            if (dynamic)
+            {
+              pro_node->time = cur_node->time + tau;
+              pro_node->time_idx = timeToIndex(pro_node->time);
+            }
+            open_set_.push(pro_node);
+
+            if (dynamic)
+              expanded_nodes_.insert(pro_id, pro_node->time, pro_node);
+            else
+              expanded_nodes_.insert(pro_id, pro_node);
+
+            tmp_expand_nodes.push_back(pro_node);
+
+            use_node_num_ += 1;
+            if (use_node_num_ == allocate_num_)
+            {
+              cout << "run out of memory." << endl;
+              return NO_PATH;
+            }
+          }
+          else if (pro_node->node_state == IN_OPEN_SET)
+          {
+            if (tmp_g_score < pro_node->g_score)
+            {
+              // pro_node->index = pro_id;
+              pro_node->state = pro_state;
+              pro_node->f_score = tmp_f_score;
+              pro_node->g_score = tmp_g_score;
+              pro_node->input = um;
+              pro_node->duration = tau;
+              pro_node->parent = cur_node;
+              if (dynamic)
+                pro_node->time = cur_node->time + tau;
+            }
+          }
+          else
+          {
+            cout << "error type in searching: " << pro_node->node_state << endl;
+          }
+        }
+
+        /* ----------  ---------- */
+      }
+  }
+  ROS_INFO_STREAM("k a use: " << (ros::Time::now() - t_ka_s).toSec());
+  /* ---------- open set empty, no path ---------- */
+  cout << "open set empty, no path!" << endl;
+  cout << "use node num: " << use_node_num_ << endl;
+  cout << "iter num: " << iter_num_ << endl;
+  return NO_PATH;
+}
+
+void KinodynamicAstar::setParam(const ros::NodeHandle& nh)
+{
+  nh.param("search/max_tau", max_tau_, -1.0);
+  nh.param("search/init_max_tau", init_max_tau_, -1.0);
+  nh.param("search/max_vel", max_vel_, -1.0);
+  nh.param("search/max_acc", max_acc_, -1.0);
+  nh.param("search/w_time", w_time_, -1.0);
+  nh.param("search/horizon", horizon_, -1.0);
+  nh.param("search/resolution_astar", resolution_, -1.0);
+  nh.param("search/time_resolution", time_resolution_, -1.0);
+  nh.param("search/lambda_heu", lambda_heu_, -1.0);
+  nh.param("search/allocate_num", allocate_num_, -1);
+}
+
+void KinodynamicAstar::retrievePath(PathNodePtr end_node)
+{
+  PathNodePtr cur_node = end_node;
+  path_nodes_.push_back(cur_node);
+
+  while (cur_node->parent != NULL)
+  {
+    cur_node = cur_node->parent;
+    path_nodes_.push_back(cur_node);
+  }
+
+  reverse(path_nodes_.begin(), path_nodes_.end());
+}
+double KinodynamicAstar::estimateHeuristic(Eigen::VectorXd x1, Eigen::VectorXd x2, double& optimal_time)
+{
+  const Vector3d dp = x2.head(3) - x1.head(3);
+  const Vector3d v0 = x1.segment(3, 3);
+  const Vector3d v1 = x2.segment(3, 3);
+
+  double c1 = -36 * dp.dot(dp);
+  double c2 = 24 * (v0 + v1).dot(dp);
+  double c3 = -4 * (v0.dot(v0) + v0.dot(v1) + v1.dot(v1));
+  double c4 = 0;
+  double c5 = w_time_;
+
+  std::vector<double> ts = quartic(c5, c4, c3, c2, c1);
+
+  double v_max = max_vel_;
+  double t_bar = (x1.head(3) - x2.head(3)).lpNorm<Infinity>() / v_max;
+  ts.push_back(t_bar);
+
+  double cost = 100000000;
+  double t_d = t_bar;
+
+  for (auto t : ts)
+  {
+    if (t < t_bar)
+      continue;
+    double c = -c1 / (3 * t * t * t) - c2 / (2 * t * t) - c3 / t + w_time_ * t;
+    if (c < cost)
+    {
+      cost = c;
+      t_d = t;
+    }
+  }
+
+  optimal_time = t_d;
+
+  return 1.0 * (1 + tie_breaker_) * cost;
+}
+
+bool KinodynamicAstar::computeShotTraj(Eigen::VectorXd state1, Eigen::VectorXd state2, double time_to_goal)
+{
+  /* ---------- get coefficient ---------- */
+  const Vector3d p0 = state1.head(3);
+  const Vector3d dp = state2.head(3) - p0;
+  const Vector3d v0 = state1.segment(3, 3);
+  const Vector3d v1 = state2.segment(3, 3);
+  const Vector3d dv = v1 - v0;
+  double t_d = time_to_goal;
+  MatrixXd coef(3, 4);
+  end_vel_ = v1;
+
+  Vector3d a = 1.0 / 6.0 * (-12.0 / (t_d * t_d * t_d) * (dp - v0 * t_d) + 6 / (t_d * t_d) * dv);
+  Vector3d b = 0.5 * (6.0 / (t_d * t_d) * (dp - v0 * t_d) - 2 / t_d * dv);
+  Vector3d c = v0;
+  Vector3d d = p0;
+
+  // 1/6 * alpha * t^3 + 1/2 * beta * t^2 + v0
+  // a*t^3 + b*t^2 + v0*t + p0
+  coef.col(3) = a, coef.col(2) = b, coef.col(1) = c, coef.col(0) = d;
+
+  Vector3d coord, vel, acc;
+  VectorXd poly1d, t, polyv, polya;
+  Vector3i index;
+
+  Eigen::MatrixXd Tm(4, 4);
+  Tm << 0, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, 3, 0, 0, 0, 0;
+
+  /* ---------- forward checking of trajectory ---------- */
+  // double t_delta = t_d / 10;
+  double t_delta = 0.02;
+  for (double time = t_delta; time <= t_d; time += t_delta)
+  {
+    t = VectorXd::Zero(4);
+    for (int j = 0; j < 4; j++)
+      t(j) = pow(time, j);
+
+    for (int dim = 0; dim < 3; dim++)
+    {
+      poly1d = coef.row(dim);
+      coord(dim) = poly1d.dot(t);
+      vel(dim) = (Tm * poly1d).dot(t);
+      acc(dim) = (Tm * Tm * poly1d).dot(t);
+    }
+    if (vel.norm() > max_vel_ || vel.norm() > max_acc_)
+    {
+      // cout << "vel:" << vel(dim) << ", acc:" << acc(dim) << endl;
+      return false;
+    }
+
+    if (!pos_checker_ptr_->validatePosSurround(coord))
+    {
+      return false;
+    }
+
+  }
+  coef_shot_ = coef;
+  t_shot_ = t_d;
+  is_shot_succ_ = true;
+  return true;
+}
+
+vector<double> KinodynamicAstar::cubic(double a, double b, double c, double d)
+{
+  vector<double> dts;
+
+  double a2 = b / a;
+  double a1 = c / a;
+  double a0 = d / a;
+
+  double Q = (3 * a1 - a2 * a2) / 9;
+  double R = (9 * a1 * a2 - 27 * a0 - 2 * a2 * a2 * a2) / 54;
+  double D = Q * Q * Q + R * R;
+  if (D > 0)
+  {
+    double S = std::cbrt(R + sqrt(D));
+    double T = std::cbrt(R - sqrt(D));
+    dts.push_back(-a2 / 3 + (S + T));
+    return dts;
+  }
+  else if (D == 0)
+  {
+    double S = std::cbrt(R);
+    dts.push_back(-a2 / 3 + S + S);
+    dts.push_back(-a2 / 3 - S);
+    return dts;
+  }
+  else
+  {
+    double theta = acos(R / sqrt(-Q * Q * Q));
+    dts.push_back(2 * sqrt(-Q) * cos(theta / 3) - a2 / 3);
+    dts.push_back(2 * sqrt(-Q) * cos((theta + 2 * M_PI) / 3) - a2 / 3);
+    dts.push_back(2 * sqrt(-Q) * cos((theta + 4 * M_PI) / 3) - a2 / 3);
+    return dts;
+  }
+}
+
+vector<double> KinodynamicAstar::quartic(double a, double b, double c, double d, double e)
+{
+  vector<double> dts;
+
+  double a3 = b / a;
+  double a2 = c / a;
+  double a1 = d / a;
+  double a0 = e / a;
+
+  vector<double> ys = cubic(1, -a2, a1 * a3 - 4 * a0, 4 * a2 * a0 - a1 * a1 - a3 * a3 * a0);
+  double y1 = ys.front();
+  double r = a3 * a3 / 4 - a2 + y1;
+  if (r < 0)
+    return dts;
+
+  double R = sqrt(r);
+  double D, E;
+  if (R != 0)
+  {
+    D = sqrt(0.75 * a3 * a3 - R * R - 2 * a2 + 0.25 * (4 * a3 * a2 - 8 * a1 - a3 * a3 * a3) / R);
+    E = sqrt(0.75 * a3 * a3 - R * R - 2 * a2 - 0.25 * (4 * a3 * a2 - 8 * a1 - a3 * a3 * a3) / R);
+  }
+  else
+  {
+    D = sqrt(0.75 * a3 * a3 - 2 * a2 + 2 * sqrt(y1 * y1 - 4 * a0));
+    E = sqrt(0.75 * a3 * a3 - 2 * a2 - 2 * sqrt(y1 * y1 - 4 * a0));
+  }
+
+  if (!std::isnan(D))
+  {
+    dts.push_back(-a3 / 4 + R / 2 + D / 2);
+    dts.push_back(-a3 / 4 + R / 2 - D / 2);
+  }
+  if (!std::isnan(E))
+  {
+    dts.push_back(-a3 / 4 - R / 2 + E / 2);
+    dts.push_back(-a3 / 4 - R / 2 - E / 2);
+  }
+
+  return dts;
+}
+
+void KinodynamicAstar::init()
+{
+  /* ---------- map params ---------- */
+  this->inv_resolution_ = 1.0 / resolution_;
+  inv_time_resolution_ = 1.0 / time_resolution_;
+
+  /* ---------- pre-allocated node ---------- */
+  path_node_pool_.resize(allocate_num_);
+  for (int i = 0; i < allocate_num_; i++)
+  {
+    path_node_pool_[i] = new PathNode;
+  }
+
+  phi_ = Eigen::MatrixXd::Identity(6, 6);
+  use_node_num_ = 0;
+  iter_num_ = 0;
+}
+
+void KinodynamicAstar::setPosChecker(const PosChecker::Ptr &checker)
+{
+  this->pos_checker_ptr_ = checker;
+}
+
+void KinodynamicAstar::reset()
+{
+  expanded_nodes_.clear();
+  path_nodes_.clear();
+
+  std::priority_queue<PathNodePtr, std::vector<PathNodePtr>, NodeComparator> empty_queue;
+  open_set_.swap(empty_queue);
+
+  for (int i = 0; i < use_node_num_; i++)
+  {
+    PathNodePtr node = path_node_pool_[i];
+    node->parent = NULL;
+    node->node_state = NOT_EXPAND;
+  }
+
+  use_node_num_ = 0;
+  iter_num_ = 0;
+  is_shot_succ_ = false;
+}
+
+std::vector<Eigen::Vector3d> KinodynamicAstar::getKinoTraj(double delta_t)
+{
+  vector<Vector3d> state_list;
+
+  /* ---------- get traj of searching ---------- */
+  PathNodePtr node = path_nodes_.back();
+  Matrix<double, 6, 1> x0, xt;
+
+  while (node->parent != NULL)
+  {
+    Vector3d ut = node->input;
+    double duration = node->duration;
+    x0 = node->parent->state;
+
+    for (double t = duration; t >= -1e-5; t -= delta_t)
+    {
+      stateTransit(x0, xt, ut, t);
+      state_list.push_back(xt.head(3));
+    }
+    node = node->parent;
+  }
+  reverse(state_list.begin(), state_list.end());
+
+  /* ---------- get traj of one shot ---------- */
+  if (is_shot_succ_)
+  {
+    Vector3d coord;
+    VectorXd poly1d, time(4);
+
+    for (double t = delta_t; t <= t_shot_; t += delta_t)
+    {
+      for (int j = 0; j < 4; j++)
+        time(j) = pow(t, j);
+
+      for (int dim = 0; dim < 3; dim++)
+      {
+        poly1d = coef_shot_.row(dim);
+        coord(dim) = poly1d.dot(time);
+      }
+      state_list.push_back(coord);
+    }
+  }
+
+  return state_list;
+}
+
+void KinodynamicAstar::getVisTraj(double delta_t, vector<Eigen::Matrix<double,9,1>>& states)
+{
+  /* ---------- get traj of searching ---------- */
+  PathNodePtr node = path_nodes_.back();
+  Matrix<double, 6, 1> x0, xt;
+  Matrix<double, 9, 1> pva;
+
+  while (node->parent != NULL)
+  {
+    Vector3d ut = node->input;
+    double duration = node->duration;
+    x0 = node->parent->state;
+
+    for (double t = duration; t >= -1e-5; t -= delta_t)
+    {
+      stateTransit(x0, xt, ut, t);
+      pva.head(6) = xt;
+      pva.tail(3) = ut;
+      states.push_back(pva);
+    }
+    node = node->parent;
+  }
+  reverse(states.begin(), states.end());
+
+  /* ---------- get traj of one shot ---------- */
+  if (is_shot_succ_)
+  {
+    Eigen::Matrix<double,6,1> coord;
+    Eigen::Vector3d control;
+    VectorXd poly1d, time_p(4), time_v(4), time_a(4);
+    time_p.setZero();
+    time_v.setZero();
+    time_a.setZero();
+
+    for (double t = delta_t; t <= t_shot_; t += delta_t)
+    {
+      for (int j = 0; j < 4; j++)
+        time_p(j) = pow(t, j);
+      
+      for (int j = 1; j < 4; j++)
+        time_v(j) = j * pow(t, j - 1);
+      
+      for (int j = 2; j < 4; j++)
+        time_a(j) = (j - 1) * j * pow(t, j - 2); 
+
+      for (int dim = 0; dim < 3; dim++)
+      {
+        poly1d = coef_shot_.row(dim);
+        coord(dim, 0) = poly1d.dot(time_p);
+        coord(dim + 3, 0) = poly1d.dot(time_v);
+        control(dim) = poly1d.dot(time_a);
+      }
+      pva.head(6) = coord;
+      pva.tail(3) = control;
+      states.push_back(pva);
+    }
+  }
+
+}
+
+void KinodynamicAstar::getTrajAttributes(double& traj_duration, double& ctrl_cost, double& traj_length, int& seg_nums)
+{
+  ctrl_cost = 0.0;
+  traj_duration = 0.0;
+  traj_length = 0.0;
+  seg_nums = 0;
+  
+  /* ---------- get traj of searching ---------- */
+  PathNodePtr node = path_nodes_.back();
+  Matrix<double, 6, 1> x0, xt;
+  double delta_t = 0.03;
+
+  while (node->parent != NULL)
+  {
+    Vector3d ut = node->input;
+    double duration = node->duration;
+    x0 = node->parent->state;
+    
+    seg_nums ++;
+    traj_duration += duration;
+    ctrl_cost += duration * ut.dot(ut);
+    for (double t = duration; t >= -1e-5; t -= delta_t)
+    {
+      stateTransit(x0, xt, ut, t);
+      double speed = sqrt(xt(3,0)*xt(3,0) + xt(4,0)*xt(4,0) + xt(5,0)*xt(5,0));
+      traj_length += speed * delta_t;
+    }
+    node = node->parent;
+  }
+
+  /* ---------- get traj of one shot ---------- */
+  if (is_shot_succ_)
+  {
+    seg_nums ++;
+    Vector3d vel, control;
+    VectorXd poly1d, time_v(4), time_a(4);
+    time_v.setZero();
+    time_a.setZero();
+
+    for (double t = delta_t; t <= t_shot_; t += delta_t)
+    {
+      for (int j = 1; j < 4; j++)
+        time_v(j) = j * pow(t, j - 1);
+
+      for (int j = 2; j < 4; j++)
+        time_a(j) = (j - 1) * j * pow(t_shot_, j - 2); 
+      
+      for (int dim = 0; dim < 3; dim++)
+      {
+        poly1d = coef_shot_.row(dim);
+        vel(dim) = poly1d.dot(time_v);
+        control(dim) = poly1d.dot(time_a);
+      }
+      ctrl_cost += delta_t * control.dot(control);
+      traj_length += vel.norm() * delta_t;
+    }
+    traj_duration += t_shot_;
+    cout << "shot duration: " << t_shot_ << endl;
+  }
+}
+
+Eigen::MatrixXd KinodynamicAstar::getSamples(double& ts, int& K)
+{
+  /* ---------- final trajectory time ---------- */
+  double T_sum = 0.0;
+  if (is_shot_succ_)
+    T_sum += t_shot_;
+
+  PathNodePtr node = path_nodes_.back();
+  while (node->parent != NULL)
+  {
+    T_sum += node->duration;
+    node = node->parent;
+  }
+  // cout << "final time:" << T_sum << endl;
+
+  /* ---------- init for sampling ---------- */
+  K = floor(T_sum / ts);
+  ts = T_sum / (K + 1);
+  // cout << "K:" << K << ", ts:" << ts << endl;
+
+  bool sample_shot_traj = is_shot_succ_;
+
+  Eigen::VectorXd sx(K + 2), sy(K + 2), sz(K + 2);
+  int sample_num = 0;
+  node = path_nodes_.back();
+
+  double t;
+  if (sample_shot_traj)
+    t = t_shot_;
+  else
+  {
+    t = node->duration;
+    end_vel_ = node->state.tail(3);
+  }
+
+  for (double ti = T_sum; ti > -1e-5; ti -= ts)
+  {
+    /* ---------- sample shot traj---------- */
+    if (sample_shot_traj)
+    {
+      Vector3d coord;
+      VectorXd poly1d, time(4);
+      for (int j = 0; j < 4; j++)
+        time(j) = pow(t, j);
+
+      for (int dim = 0; dim < 3; dim++)
+      {
+        poly1d = coef_shot_.row(dim);
+        coord(dim) = poly1d.dot(time);
+      }
+
+      sx(sample_num) = coord(0), sy(sample_num) = coord(1), sz(sample_num) = coord(2);
+      ++sample_num;
+      t -= ts;
+
+      /* end of segment */
+      if (t < -1e-5)
+      {
+        sample_shot_traj = false;
+        if (node->parent != NULL)
+          t += node->duration;
+      }
+    }
+    /* ---------- sample search traj---------- */
+    else
+    {
+      Eigen::Matrix<double, 6, 1> x0 = node->parent->state;
+      Eigen::Matrix<double, 6, 1> xt;
+      Vector3d ut = node->input;
+
+      stateTransit(x0, xt, ut, t);
+      sx(sample_num) = xt(0), sy(sample_num) = xt(1), sz(sample_num) = xt(2);
+      ++sample_num;
+
+      t -= ts;
+      // cout << "t: " << t << ", t acc: " << T_accumulate << endl;
+      if (t < -1e-5 && node->parent->parent != NULL)
+      {
+        node = node->parent;
+        t += node->duration;
+      }
+    }
+  }
+  /* ---------- return samples ---------- */
+  Eigen::MatrixXd samples(3, K + 5);
+  samples.block(0, 0, 1, K + 2) = sx.reverse().transpose();
+  samples.block(1, 0, 1, K + 2) = sy.reverse().transpose();
+  samples.block(2, 0, 1, K + 2) = sz.reverse().transpose();
+  samples.col(K + 2) = start_vel_;
+  samples.col(K + 3) = end_vel_;
+  samples.col(K + 4) = node->input;
+
+  return samples;
+}
+
+std::vector<PathNodePtr> KinodynamicAstar::getVisitedNodes()
+{
+  vector<PathNodePtr> visited;
+  visited.assign(path_node_pool_.begin(), path_node_pool_.begin() + use_node_num_ - 1);
+  return visited;
+}
+
+int KinodynamicAstar::timeToIndex(double time)
+{
+  int idx = floor((time - time_origin_) * inv_time_resolution_);
+}
+
+void KinodynamicAstar::stateTransit(Eigen::Matrix<double, 6, 1>& state0, Eigen::Matrix<double, 6, 1>& state1,
+                                    Eigen::Vector3d um, double tau)
+{
+  for (int i = 0; i < 3; ++i)
+    phi_(i, i + 3) = tau;
+
+  Eigen::Matrix<double, 6, 1> integral;
+  integral.head(3) = 0.5 * pow(tau, 2) * um;
+  integral.tail(3) = tau * um;
+
+  state1 = phi_ * state0 + integral;
+}
+
+}  // namespace dyn_planner
\ No newline at end of file
diff --git a/planning/kino_plan/src/krrt.cpp b/planning/kino_plan/src/krrt.cpp
new file mode 100755
index 0000000..0df2586
--- /dev/null
+++ b/planning/kino_plan/src/krrt.cpp
@@ -0,0 +1,1189 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "kino_plan/krrt.h"
+#include <queue>
+#include <unordered_set>
+
+namespace tgk_planner
+{
+  KRRT::KRRT(const ros::NodeHandle &nh, std::shared_ptr<BVPSolver::IntegratorBVP> &bvp) : sampler_(nh), bvp_(bvp)
+  {
+  }
+
+  KRRT::~KRRT()
+  {
+    for (int i = 0; i < tree_node_nums_; i++)
+      delete start_tree_[i];
+  }
+
+  void KRRT::init(const ros::NodeHandle &nh)
+  {
+    nh.param("krrt/vel_limit", vel_limit_, -1.0);
+    nh.param("krrt/acc_limit", acc_limit_, -1.0);
+    nh.param("krrt/jerk_limit", jerk_limit_, -1.0);
+    nh.param("krrt/debug_vis", debug_vis_, false);
+    nh.param("krrt/rho", rho_, -1.0);
+    nh.param("krrt/tree_node_nums", tree_node_nums_, 0);
+    nh.param("krrt/radius_cost_between_two_states", radius_cost_between_two_states_, 0.0);
+    nh.param("krrt/allow_close_goal", allow_close_goal_, false);
+    nh.param("krrt/stop_after_first_traj_found", stop_after_first_traj_found_, false);
+    nh.param("krrt/rewire", rewire_, true);
+    nh.param("krrt/use_regional_opt", use_regional_opt_, false);
+    nh.param("krrt/test_convergency", test_convergency_, false);
+    nh.param("krrt/use_deform", use_deform_, true);
+    nh.param("krrt/min_deform_duration", min_deform_duration_, 0.8);
+
+    ROS_WARN_STREAM("[krrt] param: vel_limit: " << vel_limit_);
+    ROS_WARN_STREAM("[krrt] param: acc_limit: " << acc_limit_);
+    ROS_WARN_STREAM("[krrt] param: jerk_limit: " << jerk_limit_);
+    ROS_WARN_STREAM("[krrt] param: debug_vis: " << debug_vis_);
+    ROS_WARN_STREAM("[krrt] param: rho: " << rho_);
+    ROS_WARN_STREAM("[krrt] param: tree_node_nums: " << tree_node_nums_);
+    ROS_WARN_STREAM("[krrt] param: radius_cost_between_two_states: " << radius_cost_between_two_states_);
+    ROS_WARN_STREAM("[krrt] param: allow_close_goal: " << allow_close_goal_);
+    ROS_WARN_STREAM("[krrt] param: stop_after_first_traj_found: " << stop_after_first_traj_found_);
+    ROS_WARN_STREAM("[krrt] param: rewire: " << rewire_);
+    ROS_WARN_STREAM("[krrt] param: use_regional_opt: " << use_regional_opt_);
+    ROS_WARN_STREAM("[krrt] param: use_deform: " << use_deform_);
+    ROS_WARN_STREAM("[krrt] param: test_convergency: " << test_convergency_);
+    ROS_WARN_STREAM("[krrt] param: min_deform_duration: " << min_deform_duration_);
+
+    valid_start_tree_node_nums_ = 0;
+
+    //pre allocate memory
+    start_tree_.resize(tree_node_nums_);
+    for (int i = 0; i < tree_node_nums_; i++)
+    {
+      start_tree_[i] = new RRTNode;
+    }
+  }
+
+  void KRRT::setPosChecker(const PosChecker::Ptr &checker)
+  {
+    pos_checker_ptr_ = checker;
+    sampler_.setPosChecker(checker);
+  }
+
+  void KRRT::setVisualizer(const VisualRviz::Ptr &vis)
+  {
+    vis_ptr_ = vis;
+  }
+
+  // reset() is called every time before plan();
+  void KRRT::reset()
+  {
+    for (int i = 0; i < valid_start_tree_node_nums_; i++)
+    {
+      start_tree_[i]->parent = nullptr;
+      start_tree_[i]->children.clear();
+    }
+    valid_start_tree_node_nums_ = 0;
+  }
+
+  int KRRT::plan(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                 Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                 double search_time, int deform_type, bool use_regional_opt, bool use_deform)
+  {
+    t_start_ = ros::Time::now();
+    deform_type_ = deform_type;
+    use_regional_opt_ = use_regional_opt;
+    use_deform_ = use_deform;
+
+    if (pos_checker_ptr_->getVoxelState(start_pos) != 0)
+    {
+      ROS_ERROR("[KRRT]: Start pos collide or out of bound");
+      return FAILURE;
+    }
+
+    if (!pos_checker_ptr_->validatePosSurround(end_pos))
+    {
+      Vector3d shift[20] = {Vector3d(-1.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0), Vector3d(0.0, -1.0, 0.0),
+                            Vector3d(0.0, 0.0, 1.0), Vector3d(0.0, 0.0, -1.0), Vector3d(1.0, 0.0, 0.0),
+                            Vector3d(-2.0, 0.0, 0.0), Vector3d(0.0, 2.0, 0.0), Vector3d(0.0, -2.0, 0.0),
+                            Vector3d(0.0, 0.0, 2.0), Vector3d(0.0, 0.0, -2.0), Vector3d(2.0, 0.0, 0.0),
+
+                            Vector3d(1.0, 1.0, 1.0), Vector3d(1.0, 1.0, -1.0), Vector3d(1.0, -1.0, 1.0),
+                            Vector3d(1.0, -1.0, -1.0), Vector3d(-1.0, 1.0, -1.0), Vector3d(-1.1, 1.0, 1.0),
+                            Vector3d(-1.0, -1.0, 1.0), Vector3d(-1.0, -1.0, -1.0)};
+      ROS_WARN("[KRRT]: End pos collide or out of bound, search for other safe end");
+      int i = 0;
+      for (; i < 20; ++i)
+      {
+        end_pos += shift[i] * 0.2;
+        if (pos_checker_ptr_->validatePosSurround(end_pos))
+          break;
+      }
+      if (i == 20)
+      {
+        ROS_ERROR("found no valid end pos, plan fail");
+        return FAILURE;
+      }
+    }
+
+    if ((start_pos - end_pos).norm() < 1e-3 && (start_vel - end_vel).norm() < 1e-4)
+    {
+      ROS_ERROR("[KRRT]: start state & end state too close");
+      return FAILURE;
+    }
+
+    /* construct start and goal nodes */
+    start_node_ = start_tree_[1]; //init ptr
+    start_node_->x.head(3) = start_pos;
+    start_node_->x.segment(3, 3) = start_vel;
+    start_node_->x.tail(3) = start_acc;
+    start_node_->cost_from_start = 0.0;
+    start_node_->tau_from_start = 0.0;
+    goal_node_ = start_tree_[0]; //init ptr
+    goal_node_->x.head(3) = end_pos;
+    if (end_vel.norm() >= vel_limit_)
+    {
+      end_vel.normalize();
+      end_vel = end_vel * vel_limit_;
+    }
+    goal_node_->x.segment(3, 3) = end_vel;
+    goal_node_->x.tail(3) = end_acc;
+    goal_node_->cost_from_start = DBL_MAX; //important
+    goal_node_->tau_from_start = DBL_MAX;  //important
+    valid_start_tree_node_nums_ = 2;       //start and goal already in start_tree_
+
+    /* init sampling space */
+    ROS_INFO_STREAM("Kino RRT starts planning");
+    vector<Vector3d> p_head, tracks;
+    sampler_.getTopo(p_head, tracks);
+    vis_ptr_->visualizeTopo(p_head, tracks, pos_checker_ptr_->getLocalTime());
+
+    return rrt(start_node_->x, goal_node_->x, tree_node_nums_, search_time, radius_cost_between_two_states_);
+  }
+
+  int KRRT::rrt(const StatePVA &x_init, const StatePVA &x_final, int n, double search_time, double radius)
+  {
+    ros::Time rrt_start_time = ros::Time::now();
+    ros::Time first_goal_found_time, final_goal_found_time;
+    double first_general_cost(0.0);
+    unordered_set<RRTNodePtr> curr_traj_node_set;
+
+    /* local variables */
+    valid_sample_nums_ = 0; //random samples in obs free area
+    vector<StatePVA> vis_x;
+    vis_x.reserve(3000);
+    vector<StatePVA> region_traj_vis_x;
+    bool first_time_find_goal(true);
+    bool close_goal_found(false);
+    double close_dist(DBL_MAX);
+    bool goal_found(false);
+    traj_list_.clear();
+    solution_cost_list_.clear();
+    solution_time_list_.clear();
+
+    /* kd tree init */
+    kdtree *kd_tree = kd_create(3);
+    //Add start and goal nodes to kd tree
+    kd_insert3(kd_tree, start_node_->x[0], start_node_->x[1], start_node_->x[2], start_node_);
+    kd_insert3(kd_tree, goal_node_->x[0], goal_node_->x[1], goal_node_->x[2], goal_node_);
+
+    //TODO changable radius
+    double tau_for_instance = radius * 0.75; //maximum
+    double fwd_radius_p = getForwardRadius(tau_for_instance, radius);
+    double bcwd_radius_p = getBackwardRadius(tau_for_instance, radius);
+    // ROS_INFO_STREAM("bcwd_radius_p: " << bcwd_radius_p);
+    // ROS_INFO_STREAM("fwd_radius_p: " << fwd_radius_p);
+
+    /* main loop */
+    vector<StatePVA> samples, valid_samples;
+    int idx = 0;
+    for (idx = 0; (ros::Time::now() - rrt_start_time).toSec() < search_time && valid_start_tree_node_nums_ < n; ++idx)
+    {
+      /* biased random sampling */
+      StatePVA x_rand;
+      bool good_sample = sampler_.samplingOnce(idx, x_rand);
+      // samples.push_back(x_rand);
+      if (!good_sample)
+      {
+        continue;
+      }
+      /* make sure that nearby nodes are in different lattices */
+      struct kdres *p_nbr_set = kd_nearest_range3(kd_tree, x_rand[0], x_rand[1], x_rand[2], 1);
+      if (p_nbr_set == nullptr)
+      {
+        ROS_ERROR("kd range query error");
+        break;
+      }
+      while (!kd_res_end(p_nbr_set))
+      {
+        RRTNodePtr curr_node = (RRTNodePtr)kd_res_item_data(p_nbr_set);
+        Vector3d dir1(x_rand[3], x_rand[4], x_rand[5]);
+        Vector3d dir2(curr_node->x[3], curr_node->x[4], curr_node->x[5]);
+        double angle_diff();
+        if (dir1.dot(dir2) > 0)
+        {
+          good_sample = false;
+          break;
+        }
+        kd_res_next(p_nbr_set);
+      }
+      kd_res_free(p_nbr_set);
+      if (!good_sample)
+      {
+        continue;
+      }
+      /* make sure that nearby nodes are in different lattices */
+
+      valid_samples.push_back(x_rand);
+      ++valid_sample_nums_;
+
+      /* kd_tree bounds search for parent */
+      struct kdres *p_bcwd_nbr_set;
+      p_bcwd_nbr_set = getBackwardNeighbour(x_rand, kd_tree, radius - tau_for_instance, bcwd_radius_p);
+      if (p_bcwd_nbr_set == nullptr)
+      {
+        ROS_ERROR("bkwd kd range query error");
+        break;
+      }
+      /* choose parent from kd tree range query result*/
+      double min_dist(DBL_MAX);
+      double tau_from_s(DBL_MAX);
+      double cost_from_p(0.0);
+      double tau_from_p(0.0);
+      RRTNode *x_near(nullptr); //parent
+      Piece find_parent_seg;
+      while (!kd_res_end(p_bcwd_nbr_set))
+      {
+        RRTNodePtr curr_node = (RRTNodePtr)kd_res_item_data(p_bcwd_nbr_set);
+        if (curr_node == goal_node_)
+        {
+          // goal node can not be parent of any other node
+          kd_res_next(p_bcwd_nbr_set);
+          continue;
+        }
+        if (bvp_->solve(curr_node->x, x_rand, ACC_UNKNOWN))
+        {
+          CoefficientMat coeff;
+          bvp_->getCoeff(coeff);
+          Piece seg_from_parent = Piece(bvp_->getTauStar(), coeff);
+          // bool connected = checkSegmentConstraints(seg_from_parent);
+          bool vel_cons = seg_from_parent.checkMaxVelRate(vel_limit_);
+          bool acc_cons = seg_from_parent.checkMaxAccRate(acc_limit_);
+          bool jerk_cons = seg_from_parent.checkMaxJerkRate(jerk_limit_);
+          pair<Vector3d, Vector3d> collide_pts_one_seg;
+          pair<double, double> t_s_e;
+          bool need_region_opt(false);
+          bool pos_cons = pos_checker_ptr_->checkPolySeg(seg_from_parent, collide_pts_one_seg, t_s_e, need_region_opt);
+          bool connected = vel_cons && acc_cons && jerk_cons && pos_cons;
+          if (connected)
+          {
+            if (min_dist > (curr_node->cost_from_start + bvp_->getCostStar()))
+            {
+              cost_from_p = bvp_->getCostStar();
+              tau_from_p = bvp_->getTauStar();
+              min_dist = curr_node->cost_from_start + cost_from_p;
+              tau_from_s = curr_node->tau_from_start + tau_from_p;
+              find_parent_seg = seg_from_parent;
+              x_near = curr_node;
+              break; //!TODO no find best parent
+              // ROS_INFO("one parent found");
+            }
+          }
+        }
+        else
+        {
+          ROS_ERROR("sth. wrong with the bvp solver");
+        }
+        kd_res_next(p_bcwd_nbr_set); //go to next in kd tree range query result
+      }
+      kd_res_free(p_bcwd_nbr_set); //reset kd tree range query
+
+      RRTNode *sampled_node(nullptr);
+      if (x_near != nullptr)
+      {
+        /* parent found within radius, then add a node to rrt and kd_tree */
+        //sample rejection
+        Vector3d calculated_acc = find_parent_seg.getAcc(tau_from_p);
+        if (calculated_acc.norm() >= acc_limit_)
+          continue;
+        x_rand.tail(3) = calculated_acc;
+        if (bvp_->solve(x_rand, goal_node_->x, ACC_KNOWN))
+        {
+          if (min_dist + bvp_->getCostStar() >= goal_node_->cost_from_start)
+          {
+            // ROS_WARN("parent found but sample rejected");
+            continue;
+          }
+        }
+        else
+        {
+          ROS_ERROR("sth. wrong with the bvp solver");
+        }
+        /* 1.1 add the randomly sampled node to rrt_tree */
+        sampled_node = addTreeNode(x_near, x_rand, find_parent_seg, min_dist, tau_from_s, cost_from_p, tau_from_p);
+
+        /* 1.2 add the randomly sampled node to kd_tree */
+        kd_insert3(kd_tree, x_rand[0], x_rand[1], x_rand[2], sampled_node);
+      }
+      /* end of find parent */
+
+      if (sampled_node == nullptr) // neither w/ or w/o RO found no parent
+      {
+        continue;
+      }
+
+      /* 2.deform */
+      RRTNodePtr deforming_node = sampled_node->parent;
+      if (goal_found && use_deform_ && deforming_node != start_node_)
+      {
+        if (deform_type_ == ONE_NODE)
+        {
+          if (deforming_node->poly_seg.getDuration() > min_deform_duration_) // && deforming_node->children.size() <= 5)
+          {
+            unitDeformation(deforming_node);
+          }
+        }
+        else if (deform_type_ == TRUNK_NODES)
+        {
+          vector<RRTNodePtr> deform_node_set;
+          while (deforming_node != start_node_)
+          {
+            deform_node_set.push_back(deforming_node);
+            deforming_node = deforming_node->parent;
+          }
+          if (goal_found && use_deform_)
+          {
+            for (int i = deform_node_set.size() - 1; i >= 0; i--)
+            {
+              if (deform_node_set[i]->poly_seg.getDuration() > min_deform_duration_)
+              {
+                unitDeformation(deform_node_set[i]);
+              }
+            }
+          }
+        }
+        else if (deform_type_ == BRANCH_NODES)
+        {
+          RRTNodePtr root_deforming_node(deforming_node);
+          while (deforming_node != start_node_)
+          {
+            root_deforming_node = deforming_node;
+            deforming_node = deforming_node->parent;
+          }
+          if (root_deforming_node != start_node_)
+          {
+            //breadth first
+            queue<RRTNodePtr> q;
+            q.push(root_deforming_node);
+            while (!q.empty())
+            {
+              RRTNodePtr deform_node = q.front();
+              if (deform_node->poly_seg.getDuration() > min_deform_duration_)
+              {
+                unitDeformation(deform_node);
+              }
+              q.pop();
+              for (const auto &child : deform_node->children)
+              {
+                if (!child->children.empty())
+                  q.push(child);
+              }
+            }
+          }
+        }
+        else if (deform_type_ == SMALL_BRANCH_NODES)
+        {
+          //breadth first
+          queue<RRTNodePtr> q;
+          q.push(deforming_node);
+          while (!q.empty())
+          {
+            RRTNodePtr deform_node = q.front();
+            if (deform_node->poly_seg.getDuration() > min_deform_duration_)
+            {
+              unitDeformation(deform_node);
+            }
+            q.pop();
+            for (const auto &child : deform_node->children)
+            {
+              if (!child->children.empty())
+                q.push(child);
+            }
+          }
+        }
+        else if (deform_type_ == TREE_NODES)
+        {
+          queue<RRTNodePtr> q;
+          for (const auto &node : start_node_->children)
+          {
+            q.push(node);
+          }
+          //breadth first
+          while (!q.empty())
+          {
+            RRTNodePtr deform_node = q.front();
+            if (deform_node->poly_seg.getDuration() > min_deform_duration_)
+            {
+              unitDeformation(deform_node);
+            }
+            q.pop();
+            for (const auto &child : deform_node->children)
+            {
+              if (!child->children.empty())
+                q.push(child);
+            }
+          }
+        }
+      }
+
+      /* 1. try to connect to goal after a valid tree node found */
+      bool new_better_solution(false);
+      CoefficientMat coeff;
+      bvp_->getCoeff(coeff);
+      Piece seg2goal = Piece(bvp_->getTauStar(), coeff);
+      // bool connected_to_goal = checkSegmentConstraints(seg2goal);
+      bool vel_cons = seg2goal.checkMaxVelRate(vel_limit_);
+      bool acc_cons = seg2goal.checkMaxAccRate(acc_limit_);
+      bool jerk_cons = seg2goal.checkMaxJerkRate(jerk_limit_);
+      pair<Vector3d, Vector3d> collide_pts_one_seg;
+      pair<double, double> t_s_e;
+      bool need_region_opt(false);
+      bool pos_cons = pos_checker_ptr_->checkPolySeg(seg2goal, collide_pts_one_seg, t_s_e, need_region_opt);
+      bool connected_to_goal = vel_cons && acc_cons && jerk_cons && pos_cons;
+      if (connected_to_goal && goal_node_->cost_from_start > min_dist + bvp_->getCostStar())
+      {
+        changeNodeParent(goal_node_, sampled_node, seg2goal, bvp_->getCostStar(), bvp_->getTauStar());
+        ROS_WARN_STREAM("goal directly connected  curr cost: " << goal_node_->cost_from_start << ", curr dur: " << goal_node_->tau_from_start);
+        goal_found = true;
+        new_better_solution = true;
+      }
+      if (new_better_solution)
+      {
+        /* maintain the set of nodes in curr best traj */
+        curr_traj_node_set.clear();
+        curr_traj_node_set.clear();
+        RRTNodePtr node(goal_node_);
+        while (node->parent)
+        {
+          curr_traj_node_set.insert(node);
+          node = node->parent;
+        }
+        /* maintain the set of nodes in curr best traj */
+        if (test_convergency_)
+        {
+          double curr_general_cost = goal_node_->cost_from_start;
+          ros::Time curr_goal_found_time = ros::Time::now();
+          double curr_traj_use_time_ = (ros::Time::now() - t_start_).toSec();
+          Trajectory traj;
+          fillTraj(goal_node_, traj);
+          traj_list_.emplace_back(traj);
+          solution_cost_list_.emplace_back(curr_general_cost);
+          solution_time_list_.emplace_back(curr_traj_use_time_);
+        }
+        if (first_time_find_goal)
+        {
+          first_general_cost = goal_node_->cost_from_start;
+          first_goal_found_time = ros::Time::now();
+          first_traj_use_time_ = (first_goal_found_time - t_start_).toSec();
+          first_time_find_goal = false;
+          fillTraj(goal_node_, first_traj_);
+        }
+        if (stop_after_first_traj_found_)
+          break; //stop searching after first time find the goal?
+      }
+      /* end of try to connect to goal */
+    } /* end of sample once */
+    t_end_ = ros::Time::now();
+
+    vis_x.clear();
+    vector<Vector3d> knots;
+    sampleWholeTree(start_node_, &vis_x, knots);
+    vis_ptr_->visualizeStates(vis_x, TreeTraj, pos_checker_ptr_->getLocalTime());
+    vis_ptr_->visualizeKnots(knots, pos_checker_ptr_->getLocalTime());
+    // vis_ptr_->visualizeSampledState(samples, pos_checker_ptr_->getLocalTime());
+    vis_ptr_->visualizeSampledState(valid_samples, pos_checker_ptr_->getLocalTime());
+    // vis_ptr_->visualizePoints(region_traj_vis_x, pos_checker_ptr_->getLocalTime());
+
+    if (goal_found)
+    {
+      final_traj_use_time_ = (t_end_ - t_start_).toSec();
+      fillTraj(goal_node_, traj_);
+      /* for traj vis */
+      ROS_INFO_STREAM("[KRRT]: total sample times: " << idx);
+      ROS_INFO_STREAM("[KRRT]: valid sample times: " << valid_sample_nums_);
+      ROS_INFO_STREAM("[KRRT]: valid tree node nums: " << valid_start_tree_node_nums_);
+      ROS_INFO("[KRRT]: Time: %.2f s, MaxVel: %.2f m/s, MaxAcc: %.2f m/s^2 , MaxJrk: %.2f m/s^3 \n",
+               traj_.getTotalDuration(), traj_.getMaxVelRate(), traj_.getMaxAccRate(), traj_.getMaxJerkRate());
+      return SUCCESS;
+    }
+    else if (allow_close_goal_ && valid_start_tree_node_nums_ > 2)
+    {
+      ROS_WARN("Not connectting to goal, choose a bypass");
+      t_end_ = ros::Time::now();
+      chooseBypass(close_goal_node_, start_node_);
+      fillTraj(close_goal_node_, traj_);
+      /* for traj vis */
+      vis_x.clear();
+      traj_.sampleWholeTrajectory(&vis_x);
+      vis_ptr_->visualizeStates(vis_x, GRAY, pos_checker_ptr_->getLocalTime());
+
+      double final_traj_len(0.0), final_traj_duration(0.0), final_traj_acc_itg(0.0), final_traj_jerk_itg(0.0);
+      int final_traj_seg_nums(0);
+      evaluateTraj(traj_, final_traj_duration, final_traj_len, final_traj_seg_nums, final_traj_acc_itg, final_traj_jerk_itg);
+      final_traj_use_time_ = t_end_.toSec() - t_start_.toSec();
+      ROS_INFO_STREAM("[KRRT]: total sample times: " << idx);
+      ROS_INFO_STREAM("[KRRT]: valid sample times: " << valid_sample_nums_);
+      ROS_INFO_STREAM("[KRRT]: valid tree node nums: " << valid_start_tree_node_nums_);
+      ROS_INFO_STREAM("[KRRT]: [front-end final path]: " << endl
+                                                         << "    -   seg nums: " << final_traj_seg_nums << endl
+                                                         << "    -   time: " << final_traj_use_time_ * 1e3 << " ms" << endl
+                                                         << "    -   acc integral: " << final_traj_acc_itg << endl
+                                                         << "    -   jerk integral: " << final_traj_jerk_itg << endl
+                                                         << "    -   traj duration: " << final_traj_duration << endl
+                                                         << "    -   path length: " << final_traj_len << " m" << endl
+                                                         << "    -   general cost: " << close_goal_node_->cost_from_start);
+      return SUCCESS_CLOSE_GOAL;
+    }
+    else if (valid_start_tree_node_nums_ == n)
+    {
+      ROS_ERROR_STREAM("[KRRT]: NOT CONNECTED TO GOAL after " << n << " nodes added to rrt-tree");
+      ROS_INFO_STREAM("[KRRT]: total sample times: " << idx);
+      ROS_INFO_STREAM("[KRRT]: valid sample times: " << valid_sample_nums_);
+      ROS_INFO_STREAM("[KRRT]: valid tree node nums: " << valid_start_tree_node_nums_);
+      return FAILURE;
+    }
+    else if ((ros::Time::now() - rrt_start_time).toSec() >= search_time)
+    {
+      ROS_ERROR_STREAM("[KRRT]: NOT CONNECTED TO GOAL after " << (ros::Time::now() - rrt_start_time).toSec() << " seconds");
+      ROS_INFO_STREAM("[KRRT]: total sample times: " << idx);
+      ROS_INFO_STREAM("[KRRT]: valid sample times: " << valid_sample_nums_);
+      ROS_INFO_STREAM("[KRRT]: valid tree node nums: " << valid_start_tree_node_nums_);
+      return FAILURE;
+    }
+    else
+    {
+      return FAILURE;
+    }
+  }
+
+  double KRRT::getForwardRadius(double tau, double cost)
+  {
+    MatrixXd G(3, 3);
+    G.setZero();
+    double tau_2 = tau * tau;
+    double tau_3 = tau_2 * tau;
+    double tau_4 = tau_3 * tau;
+    double tau_5 = tau_4 * tau;
+    G(0, 0) = 720.0 / tau_5;
+    G(1, 1) = 192.0 / tau_3;
+    G(2, 2) = 9.0 / tau;
+    G(0, 1) = G(1, 0) = -360.0 / tau_4;
+    G(0, 2) = G(2, 0) = 60.0 / tau_3;
+    G(1, 2) = G(2, 1) = -36.0 / tau_2;
+    G = G * rho_ / (cost - tau) * 3.0;
+    // ROS_INFO_STREAM("G: \n" << G);
+    Eigen::EigenSolver<MatrixXd> es(G);
+    // cout << "The eigenvalues of G are:" << endl << es.eigenvalues() << endl;
+    // cout << "The matrix of eigenvectors, V, is:" << endl << es.eigenvectors() << endl << endl;
+    double radius_p(0.0);
+    for (int i = 0; i < 3; ++i)
+    {
+      radius_p = max(radius_p, sqrt(1.0 / es.eigenvalues()[i].real()) * fabs(es.eigenvectors().col(i)[i]));
+    }
+    return radius_p * 1.732;
+  }
+
+  double KRRT::getBackwardRadius(double tau, double cost)
+  {
+    MatrixXd G(3, 3);
+    G.setZero();
+    double tau_2 = tau * tau;
+    double tau_3 = tau_2 * tau;
+    double tau_4 = tau_3 * tau;
+    double tau_5 = tau_4 * tau;
+    G(0, 0) = 720.0 / tau_5;
+    G(1, 1) = 192.0 / tau_3;
+    G(2, 2) = 9.0 / tau;
+    G(0, 1) = G(1, 0) = -360.0 / tau_4;
+    G(0, 2) = G(2, 0) = 60.0 / tau_3;
+    G(1, 2) = G(2, 1) = -36.0 / tau_2;
+    G = G * rho_ / (cost - tau) * 3.0;
+    // ROS_INFO_STREAM("G: \n" << G);
+    Eigen::EigenSolver<MatrixXd> es(G);
+    // cout << "The eigenvalues of G are:" << endl << es.eigenvalues() << endl;
+    // cout << "The matrix of eigenvectors, V, is:" << endl << es.eigenvectors() << endl << endl;
+    double radius_p(0.0);
+    for (int i = 0; i < 3; ++i)
+    {
+      radius_p = max(radius_p, sqrt(1.0 / es.eigenvalues()[i].real()) * fabs(es.eigenvectors().col(i)[i]));
+    }
+    return radius_p * 1.732;
+  }
+
+  struct kdres *KRRT::getForwardNeighbour(const StatePVA &x0, struct kdtree *kd_tree, double tau, double radius_p)
+  {
+    double half_tau_square = tau * tau / 2;
+    StatePVA x_ba_tau;
+    x_ba_tau[0] = x0[0] + x0[3] * tau + x0[6] * half_tau_square;
+    x_ba_tau[1] = x0[1] + x0[4] * tau + x0[7] * half_tau_square;
+    x_ba_tau[2] = x0[2] + x0[5] * tau + x0[8] * half_tau_square;
+    // x_ba_tau[3] = x0[3] + tau*x0[6];
+    // x_ba_tau[4] = x0[4] + tau*x0[7];
+    // x_ba_tau[5] = x0[5] + tau*x0[8];
+    // x_ba_tau[6] = x0[6];
+    // x_ba_tau[7] = x0[7];
+    // x_ba_tau[8] = x0[8];
+
+    if (debug_vis_)
+    {
+      vis_ptr_->visualizeReachPos(FORWARD_REACHABLE_POS, x_ba_tau.head(3), 2 * radius_p, pos_checker_ptr_->getLocalTime());
+      // vis_ptr_->visualizeReachVel(1, x_ba_tau.head(3) + x_ba_tau.tail(3), 2 * radius_v, pos_checker_ptr_->getLocalTime());
+      // getchar();
+    }
+    return kd_nearest_range3(kd_tree, x_ba_tau[0], x_ba_tau[1], x_ba_tau[2], radius_p);
+  }
+
+  struct kdres *KRRT::getBackwardNeighbour(const StatePVA &x1, struct kdtree *kd_tree, double tau, double radius_p)
+  {
+    StatePVA expNegATau_x1;
+    double half_tau_square = tau * tau / 2;
+    expNegATau_x1[0] = x1[0] - x1[3] * tau + x1[6] * half_tau_square;
+    expNegATau_x1[1] = x1[1] - x1[4] * tau + x1[7] * half_tau_square;
+    expNegATau_x1[2] = x1[2] - x1[5] * tau + x1[8] * half_tau_square;
+    // expNegATau_x1[3] = x1[3] - x1[6]*tau;
+    // expNegATau_x1[4] = x1[4] - x1[7]*tau;
+    // expNegATau_x1[5] = x1[5] - x1[8]*tau;
+    // expNegATau_x1[6] = x1[6];
+    // expNegATau_x1[7] = x1[7];
+    // expNegATau_x1[8] = x1[8];
+
+    if (debug_vis_)
+    {
+      vis_ptr_->visualizeReachPos(BACKWARD_REACHABLE_POS, expNegATau_x1.head(3), 2 * radius_p, pos_checker_ptr_->getLocalTime());
+      // vis_ptr_->visualizeReachVel(1, expNegATau_x1.head(3) + expNegATau_x1.tail(3), 2 * radius_v, pos_checker_ptr_->getLocalTime());
+      // getchar();
+    }
+    return kd_nearest_range3(kd_tree, expNegATau_x1[0], expNegATau_x1[1], expNegATau_x1[2], radius_p);
+  }
+
+  inline RRTNodePtr KRRT::addTreeNode(RRTNodePtr &parent, const StatePVA &state, const Piece &piece,
+                                      const double &cost_from_start, const double &tau_from_start,
+                                      const double &cost_from_parent, const double &tau_from_parent)
+  {
+    RRTNodePtr new_node_ptr = start_tree_[valid_start_tree_node_nums_++];
+    new_node_ptr->parent = parent;
+    parent->children.push_back(new_node_ptr);
+    new_node_ptr->x = state;
+    new_node_ptr->poly_seg = piece;
+    new_node_ptr->cost_from_start = cost_from_start;
+    new_node_ptr->tau_from_start = tau_from_start;
+    new_node_ptr->cost_from_parent = cost_from_parent;
+    new_node_ptr->tau_from_parent = tau_from_parent;
+    return new_node_ptr;
+  }
+
+  inline RRTNodePtr KRRT::addTreeNode(RRTNodePtr &parent, const StatePVA &state, const Piece &piece,
+                                      const double &cost_from_parent, const double &tau_from_parent)
+  {
+    RRTNodePtr new_node_ptr = start_tree_[valid_start_tree_node_nums_++];
+    new_node_ptr->parent = parent;
+    parent->children.push_back(new_node_ptr);
+    new_node_ptr->x = state;
+    new_node_ptr->poly_seg = piece;
+    new_node_ptr->cost_from_start = parent->cost_from_start + cost_from_parent;
+    new_node_ptr->tau_from_start = parent->tau_from_start + tau_from_parent;
+    new_node_ptr->cost_from_parent = cost_from_parent;
+    new_node_ptr->tau_from_parent = tau_from_parent;
+    return new_node_ptr;
+  }
+
+  inline void KRRT::changeNodeParent(RRTNodePtr &node, RRTNodePtr &parent, const Piece &piece,
+                                     const double &cost_from_parent, const double &tau_from_parent)
+  {
+    if (node->parent)
+      node->parent->children.remove(node); //DON'T FORGET THIS, remove it form its parent's children list
+    node->parent = parent;
+    node->cost_from_parent = cost_from_parent;
+    node->tau_from_parent = tau_from_parent;
+    node->cost_from_start = parent->cost_from_start + cost_from_parent;
+    node->tau_from_start = parent->tau_from_start + tau_from_parent;
+    node->poly_seg = piece;
+    parent->children.push_back(node);
+
+    // for all its descedants, change the cost_from_start and tau_from_start;
+    RRTNode *descendant(node);
+    std::queue<RRTNode *> Q;
+    Q.push(descendant);
+    while (!Q.empty())
+    {
+      descendant = Q.front();
+      Q.pop();
+      for (const auto &leafptr : descendant->children)
+      {
+        leafptr->cost_from_start = leafptr->cost_from_parent + descendant->cost_from_start;
+        leafptr->tau_from_start = leafptr->tau_from_parent + descendant->tau_from_start;
+        Q.push(leafptr);
+      }
+    }
+  }
+
+  inline bool KRRT::regionalOpt(const Piece &oringin_seg, const pair<Vector3d, Vector3d> &collide_pts_one_seg, const pair<double, double> &t_s_e)
+  {
+    int split_seg_num = 2;
+    Trajectory pre_regional_traj;
+    pre_regional_traj.reserve(split_seg_num);
+    CoefficientMat coeff = oringin_seg.getCoeffMat();
+    double duration = oringin_seg.getDuration() / split_seg_num;
+    pre_regional_traj.emplace_back(Piece(duration, coeff));
+    for (int i = 1; i < split_seg_num; ++i)
+    {
+      oringin_seg.cutPiece(oringin_seg, duration * i, coeff);
+      pre_regional_traj.emplace_back(Piece(duration, coeff));
+    }
+
+    if (searcher_->AstarSearch(pos_checker_ptr_->getResolution(), collide_pts_one_seg.first, collide_pts_one_seg.second))
+    {
+      vector<Eigen::Vector3d> grid_path = searcher_->getPath();
+      // vis_ptr_->visualizeKnots(grid_path, pos_checker_ptr_->getLocalTime());
+      std::vector<pair<int, int>> seg_num_obs_size; //first: # of segment in a traj; second: number of attract_pt in this segment.
+      std::vector<double> t_s, t_e;                 // each attract_pt's timestamp of start and end in its corresponding segment. Size should be the same as the sum of seg_num_obs_size.second.
+      std::vector<Eigen::Vector3d> attract_pts;
+      pos_checker_ptr_->getRegionalAttractPts(pre_regional_traj, grid_path, t_s_e, seg_num_obs_size, attract_pts, t_s, t_e);
+      if (!optimizer_ptr_->initialize(pre_regional_traj, TrajOptimizer::SMOOTH_HOMO_OBS))
+      {
+        return false;
+      }
+      return (optimizer_ptr_->solveRegionalOpt(seg_num_obs_size, attract_pts, t_s, t_e));
+    }
+    else
+    {
+      // ROS_WARN_STREAM("a star search fail, from: " << collide_pts_one_seg.first.transpose() << " to " << collide_pts_one_seg.second.transpose());
+      return false;
+    }
+  }
+
+  inline void KRRT::unitDeformation(const RRTNodePtr &deforming_node)
+  {
+    // vector<StatePVA> vis_x;
+    // vis_x.clear();
+    // vector<Vector3d> knots;
+    // sampleWholeTree(start_node_, &vis_x, knots);
+    // vis_ptr_->visualizeStates(vis_x, TreeTraj, pos_checker_ptr_->getLocalTime());
+
+    // vis_x.clear();
+    // vector<Vector3d> knots1;
+    // sampleDeformedTrunk(deforming_node, &vis_x, knots1);
+    // vis_ptr_->visualizeStates(vis_x, ORANGE, pos_checker_ptr_->getLocalTime());
+    // vis_ptr_->visualizeKnots(knots1, pos_checker_ptr_->getLocalTime());
+    // getchar();
+
+    // ROS_WARN("deform start");
+    ros::Time deform_s_t = ros::Time::now();
+    VectorXd node_state = deforming_node->x;
+    VectorXd parent_state = deforming_node->parent->x;
+    double parent_T = deforming_node->poly_seg.getDuration();
+    int self_descendant_num_plus_one(1);
+    vector<VectorXd> children_states;
+    vector<double> children_Ts;
+    vector<int> children_descendant_num;
+    for (const RRTNodePtr &child : deforming_node->children)
+    {
+      children_states.push_back(child->x);
+      children_Ts.push_back(child->poly_seg.getDuration());
+      int descendant_num_plus_one = child->countDescendant() + 1;
+      children_descendant_num.push_back(descendant_num_plus_one);
+      self_descendant_num_plus_one += descendant_num_plus_one;
+    }
+    // cout << "before deform parent_T: " << parent_T << endl;
+    bool deform_result = trunk_opt_ptr_->optimizeBranch(node_state,
+                                                        parent_state, parent_T, self_descendant_num_plus_one,
+                                                        children_states, children_Ts, children_descendant_num);
+    // cout << "after deform parent_T: " << parent_T << endl;
+    if (deform_result)
+    {
+      double before_deform_curr_general_cost = goal_node_->cost_from_start;
+      deforming_node->x = node_state;
+      BoundaryCond bc;
+      bc.col(0) = deforming_node->parent->x.head(3);
+      bc.col(1) = deforming_node->parent->x.segment(3, 3);
+      bc.col(2) = deforming_node->parent->x.tail(3);
+      bc.col(3) = deforming_node->x.head(3);
+      bc.col(4) = deforming_node->x.segment(3, 3);
+      bc.col(5) = deforming_node->x.tail(3);
+      deforming_node->poly_seg = Piece(bc, parent_T);
+      // ROS_INFO_STREAM("max vel: " << deforming_node->poly_seg.getMaxVelRate() << ", max acc: " << deforming_node->poly_seg.getMaxAccRate());
+      deforming_node->cost_from_parent = bvp_->calCostAccKnown(deforming_node->parent->x, deforming_node->x, parent_T);
+      // deforming_node->cost_from_parent = deforming_node->poly_seg.calCost(rho_);
+      deforming_node->tau_from_parent = parent_T;
+      deforming_node->cost_from_start = deforming_node->parent->cost_from_start + deforming_node->cost_from_parent;
+      deforming_node->tau_from_start = deforming_node->parent->tau_from_start + parent_T;
+      int i(0);
+      for (const RRTNodePtr &child : deforming_node->children)
+      {
+        bc.col(0) = deforming_node->x.head(3);
+        bc.col(1) = deforming_node->x.segment(3, 3);
+        bc.col(2) = deforming_node->x.tail(3);
+        bc.col(3) = child->x.head(3);
+        bc.col(4) = child->x.segment(3, 3);
+        bc.col(5) = child->x.tail(3);
+        child->poly_seg = Piece(bc, children_Ts[i]);
+        // ROS_INFO_STREAM("max vel: " << child->poly_seg.getMaxVelRate() << ", max acc: " << child->poly_seg.getMaxAccRate());
+        child->cost_from_parent = bvp_->calCostAccKnown(child->parent->x, child->x, children_Ts[i]);
+        // child->cost_from_parent = child->poly_seg.calCost(rho_);
+        child->tau_from_parent = children_Ts[i];
+        child->cost_from_start = child->parent->cost_from_start + child->cost_from_parent;
+        child->tau_from_start = child->parent->tau_from_start + children_Ts[i];
+        i++;
+        /* change cost_from_start and tau_from_start of nodes in each sub-branch */
+        // breadth first search
+        queue<RRTNodePtr> q;
+        for (const RRTNodePtr &grand_child : child->children)
+        {
+          q.push(grand_child);
+        }
+        while (!q.empty())
+        {
+          RRTNodePtr node = q.front();
+          q.pop();
+          node->cost_from_start = node->parent->cost_from_start + node->cost_from_parent;
+          node->tau_from_start = node->parent->tau_from_start + node->tau_from_parent;
+          for (const RRTNodePtr &grand_grand_child : node->children)
+          {
+            q.push(grand_grand_child);
+          }
+        }
+        /* change cost_from_start and tau_from_start of nodes in each sub-branch */
+      }
+
+      double curr_general_cost = goal_node_->cost_from_start;
+      if (test_convergency_ && curr_general_cost < before_deform_curr_general_cost - 1e-5)
+      {
+        ros::Time curr_goal_found_time = ros::Time::now();
+        double curr_traj_use_time_ = (ros::Time::now() - t_start_).toSec();
+        std::vector<double> durs;
+        std::vector<CoefficientMat> coeffMats;
+        RRTNodePtr node = goal_node_;
+        while (node->parent)
+        {
+          durs.push_back(node->poly_seg.getDuration());
+          coeffMats.push_back(node->poly_seg.getCoeffMat());
+          node = node->parent;
+        }
+        std::reverse(std::begin(durs), std::end(durs));
+        std::reverse(std::begin(coeffMats), std::end(coeffMats));
+        traj_list_.emplace_back(durs, coeffMats);
+        solution_cost_list_.emplace_back(curr_general_cost);
+        solution_time_list_.emplace_back(curr_traj_use_time_);
+        ROS_WARN_STREAM("deform improved          curr cost: " << curr_general_cost << ", curr dur: " << goal_node_->tau_from_start);
+      }
+      ros::Time deform_e_t = ros::Time::now();
+      // ROS_WARN_STREAM(deforming_node->children.size() + 1 << " segs, deforming success, takes "
+      // << (deform_e_t - deform_s_t).toSec()*1000 << " ms, cost change after deform: " << curr_general_cost - before_deform_curr_general_cost);
+    }
+    else
+    {
+      // ros::Time deform_e_t = ros::Time::now();
+      // ROS_ERROR_STREAM(deforming_node->children.size()+1 << " segs, deforming faild, takes " << (deform_e_t - deform_s_t).toSec()*1000 << " ms");
+    }
+
+    // vis_x.clear();
+    // sampleDeformedTrunk(deforming_node, &vis_x, knots1);
+    // vis_ptr_->visualizeStates(vis_x, GREEN, pos_checker_ptr_->getLocalTime());
+    // vis_ptr_->visualizeKnots(knots1, pos_checker_ptr_->getLocalTime());
+    // getchar();
+  }
+
+  inline bool KRRT::stOpt(const Piece &oringin_seg, const RRTNodePtr &parent, Trajectory &opted_two_seg)
+  {
+    // vector<StatePVA> vis_x;
+    // oringin_seg.sampleOneSeg(&vis_x);
+    // vis_ptr_->visualizeStates(vis_x, BLUE, pos_checker_ptr_->getLocalTime());
+    // getchar();
+
+    double T = oringin_seg.getDuration();
+    double init_T = T / 2.0;
+    VectorXd node_state(9);
+    node_state.head(3) = oringin_seg.getPos(init_T);
+    node_state.segment(3, 3) = oringin_seg.getVel(init_T);
+    node_state.tail(3) = oringin_seg.getAcc(init_T);
+
+    VectorXd parent_state = parent->x;
+    double parent_T = init_T;
+
+    int self_descendant_num_plus_one(2);
+    vector<VectorXd> children_states;
+    vector<double> children_Ts;
+    vector<int> children_descendant_num;
+    VectorXd child_state(9);
+    child_state.head(3) = oringin_seg.getPos(T);
+    child_state.segment(3, 3) = oringin_seg.getVel(T);
+    child_state.tail(3) = oringin_seg.getAcc(T);
+
+    children_states.push_back(child_state);
+    children_Ts.push_back(init_T);
+    int descendant_num_plus_one = 1;
+    children_descendant_num.push_back(descendant_num_plus_one);
+    bool deform_result = trunk_opt_ptr_->optimizeBranch(node_state,
+                                                        parent_state, parent_T, self_descendant_num_plus_one,
+                                                        children_states, children_Ts, children_descendant_num);
+    if (deform_result)
+    {
+      std::vector<double> durs;
+      durs.push_back(parent_T);
+      durs.push_back(children_Ts[0]);
+      std::vector<CoefficientMat> coeffMats;
+      BoundaryCond bc1;
+      bc1.col(0) = parent->x.head(3);
+      bc1.col(1) = parent->x.segment(3, 3);
+      bc1.col(2) = parent->x.tail(3);
+      bc1.col(3) = node_state.head(3);
+      bc1.col(4) = node_state.segment(3, 3);
+      bc1.col(5) = node_state.tail(3);
+      Piece p1(bc1, parent_T);
+      BoundaryCond bc2;
+      bc2.col(0) = node_state.head(3);
+      bc2.col(1) = node_state.segment(3, 3);
+      bc2.col(2) = node_state.tail(3);
+      bc2.col(3) = child_state.head(3);
+      bc2.col(4) = child_state.segment(3, 3);
+      bc2.col(5) = child_state.tail(3);
+      Piece p2(bc2, children_Ts[0]);
+      coeffMats.push_back(p1.getCoeffMat());
+      coeffMats.push_back(p2.getCoeffMat());
+      opted_two_seg = Trajectory(durs, coeffMats);
+
+      // vector<StatePVA> vis_x;
+      // p1.sampleOneSeg(&vis_x);
+      // p2.sampleOneSeg(&vis_x);
+      // vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+      // getchar();
+    }
+    return deform_result;
+  }
+
+  inline bool KRRT::stOpt(Trajectory &opted_two_seg)
+  {
+    vector<StatePVA> vis_x;
+    opted_two_seg.sampleWholeTrajectory(&vis_x);
+    vis_ptr_->visualizeStates(vis_x, GREEN, pos_checker_ptr_->getLocalTime());
+    getchar();
+
+    double parent_T = opted_two_seg[0].getDuration();
+    VectorXd node_state(9);
+    node_state.head(3) = opted_two_seg[0].getPos(parent_T);
+    node_state.segment(3, 3) = opted_two_seg[0].getVel(parent_T);
+    node_state.tail(3) = opted_two_seg[0].getAcc(parent_T);
+
+    VectorXd parent_state(9);
+    parent_state.head(3) = opted_two_seg[0].getPos(0);
+    parent_state.segment(3, 3) = opted_two_seg[0].getVel(0);
+    parent_state.tail(3) = opted_two_seg[0].getAcc(0);
+
+    double child_T = opted_two_seg[1].getDuration();
+    int self_descendant_num_plus_one(2);
+    vector<VectorXd> children_states;
+    vector<double> children_Ts;
+    vector<int> children_descendant_num;
+    VectorXd child_state(9);
+    child_state.head(3) = opted_two_seg[1].getPos(child_T);
+    child_state.segment(3, 3) = opted_two_seg[1].getVel(child_T);
+    child_state.tail(3) = opted_two_seg[1].getAcc(child_T);
+
+    children_states.push_back(child_state);
+    children_Ts.push_back(child_T);
+    int descendant_num_plus_one = 1;
+    children_descendant_num.push_back(descendant_num_plus_one);
+    bool deform_result = trunk_opt_ptr_->optimizeBranch(node_state,
+                                                        parent_state, parent_T, self_descendant_num_plus_one,
+                                                        children_states, children_Ts, children_descendant_num);
+    if (deform_result)
+    {
+      std::vector<double> durs;
+      durs.push_back(parent_T);
+      durs.push_back(children_Ts[0]);
+      std::vector<CoefficientMat> coeffMats;
+      BoundaryCond bc1;
+      bc1.col(0) = parent_state.head(3);
+      bc1.col(1) = parent_state.segment(3, 3);
+      bc1.col(2) = parent_state.tail(3);
+      bc1.col(3) = node_state.head(3);
+      bc1.col(4) = node_state.segment(3, 3);
+      bc1.col(5) = node_state.tail(3);
+      Piece p1(bc1, parent_T);
+      BoundaryCond bc2;
+      bc2.col(0) = node_state.head(3);
+      bc2.col(1) = node_state.segment(3, 3);
+      bc2.col(2) = node_state.tail(3);
+      bc2.col(3) = child_state.head(3);
+      bc2.col(4) = child_state.segment(3, 3);
+      bc2.col(5) = child_state.tail(3);
+      Piece p2(bc2, children_Ts[0]);
+      coeffMats.push_back(p1.getCoeffMat());
+      coeffMats.push_back(p2.getCoeffMat());
+      opted_two_seg = Trajectory(durs, coeffMats);
+
+      vector<StatePVA> vis_x;
+      p1.sampleOneSeg(&vis_x);
+      p2.sampleOneSeg(&vis_x);
+      vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+      getchar();
+    }
+    return deform_result;
+  }
+
+  inline void KRRT::sampleDeformedTrunk(const RRTNodePtr &node, vector<StatePVA> *vis_x, vector<Vector3d> &knots)
+  {
+    if (node == nullptr || node->parent == nullptr)
+      return;
+    node->poly_seg.sampleOneSeg(vis_x);
+    knots.push_back(node->parent->x.head(3));
+    for (const auto &leaf : node->children)
+    {
+      leaf->poly_seg.sampleOneSeg(vis_x);
+      knots.push_back(leaf->x.head(3));
+    }
+    knots.push_back(node->x.head(3));
+  }
+
+  inline double KRRT::dist(const StatePVA &x0, const StatePVA &x1)
+  {
+    Vector3d p_diff(x0.head(3) - x1.head(3));
+    return p_diff.norm();
+  }
+
+  inline void KRRT::sampleWholeTree(const RRTNodePtr &root, vector<StatePVA> *vis_x, vector<Vector3d> &knots)
+  {
+    if (root == nullptr)
+      return;
+    //whatever dfs or bfs
+    RRTNode *node = root;
+    std::queue<RRTNode *> Q;
+    Q.push(node);
+    while (!Q.empty())
+    {
+      node = Q.front();
+      Q.pop();
+      for (const auto &leafptr : node->children)
+      {
+        leafptr->poly_seg.sampleOneSeg(vis_x);
+        knots.push_back(leafptr->x.head(3));
+        Q.push(leafptr);
+      }
+    }
+  }
+
+  void KRRT::fillTraj(const RRTNodePtr &goal_leaf, Trajectory &traj)
+  {
+    std::vector<double> durs;
+    std::vector<CoefficientMat> coeffMats;
+    RRTNodePtr node = goal_leaf;
+    while (node->parent)
+    {
+      durs.push_back(node->poly_seg.getDuration());
+      coeffMats.push_back(node->poly_seg.getCoeffMat());
+      node = node->parent;
+    }
+    std::reverse(std::begin(durs), std::end(durs));
+    std::reverse(std::begin(coeffMats), std::end(coeffMats));
+    traj = Trajectory(durs, coeffMats);
+  }
+
+  inline bool KRRT::checkSegmentConstraints(const Piece &seg)
+  {
+    if (!seg.checkMaxVelRate(vel_limit_))
+    {
+      // ROS_WARN("vel constraints violate!");
+      return false;
+    }
+    if (!seg.checkMaxAccRate(acc_limit_))
+    {
+      // ROS_WARN("acc constraints violate!");
+      return false;
+    }
+    if (!seg.checkMaxJerkRate(jerk_limit_))
+    {
+      // ROS_WARN("jerk constraints violate!");
+      return false;
+    }
+    if (!pos_checker_ptr_->checkPolySeg(seg))
+    {
+      // ROS_WARN("pos constraints violate!");
+      return false;
+    }
+    return true;
+  }
+
+  inline bool KRRT::getTraversalLines(const Piece &seg, vector<pair<Vector3d, Vector3d>> &traversal_lines)
+  {
+    bool res = pos_checker_ptr_->checkPolySeg(seg, traversal_lines);
+    return res;
+  }
+
+  double KRRT::evaluateTraj(const Trajectory &traj, double &traj_duration, double &traj_length, int &seg_nums,
+                            double &acc_integral, double &jerk_integral)
+  {
+    traj_length = 0.0;
+    traj_duration = 0.0;
+    seg_nums = traj.getPieceNum();
+    acc_integral = 0.0;
+    jerk_integral = 0.0;
+
+    double d_t = 0.02;
+    for (int i = 0; i < seg_nums; ++i)
+    {
+      double tau = traj[i].getDuration();
+      traj_duration += tau;
+      for (double t = 0.0; t < tau; t += d_t)
+      {
+        Eigen::Vector3d vel, acc, jerk;
+        vel = traj[i].getVel(t);
+        acc = traj[i].getAcc(t);
+        jerk = traj[i].getJerk(t);
+        traj_length += vel.norm() * d_t;
+        acc_integral += acc.dot(acc) * d_t;
+        jerk_integral += jerk.dot(jerk) * d_t;
+      }
+    }
+    double c[seg_nums];
+    return traj.calCost(rho_, c);
+  }
+
+  void KRRT::chooseBypass(RRTNodePtr &goal_leaf, const RRTNodePtr &tree_start_node)
+  {
+    goal_leaf = start_tree_[valid_start_tree_node_nums_ - 1];
+    double close_dist(DBL_MAX);
+    for (int i = 2; i < valid_start_tree_node_nums_; ++i)
+    {
+      double dist_to_goal = dist(start_tree_[i]->x, goal_node_->x);
+      if (dist_to_goal < close_dist)
+      {
+        close_dist = dist_to_goal;
+        close_goal_node_ = start_tree_[i];
+      }
+    }
+  }
+
+} //namespace tgk_planner
\ No newline at end of file
diff --git a/planning/kino_plan/src/krrt_sharp.cpp b/planning/kino_plan/src/krrt_sharp.cpp
new file mode 100755
index 0000000..638eb28
--- /dev/null
+++ b/planning/kino_plan/src/krrt_sharp.cpp
@@ -0,0 +1,1362 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "kino_plan/krrt_sharp.h"
+#include <queue>
+#include <unordered_set>
+
+namespace tgk_planner
+{
+  KRRTSHARP::KRRTSHARP(const ros::NodeHandle &nh, std::shared_ptr<BVPSolver::IntegratorBVP> &bvp) : sampler_(nh), bvp_(bvp)
+  {
+  }
+
+  KRRTSHARP::~KRRTSHARP()
+  {
+    for (int i = 0; i < tree_node_nums_; i++)
+      delete start_tree_[i];
+  }
+
+  void KRRTSHARP::init(const ros::NodeHandle &nh)
+  {
+    nh.param("krrt/vel_limit", vel_limit_, -1.0);
+    nh.param("krrt/acc_limit", acc_limit_, -1.0);
+    nh.param("krrt/jerk_limit", jerk_limit_, -1.0);
+    nh.param("krrt/debug_vis", debug_vis_, false);
+    nh.param("krrt/rho", rho_, -1.0);
+    nh.param("krrt/tree_node_nums", tree_node_nums_, 0);
+    nh.param("krrt/radius_cost_between_two_states", radius_cost_between_two_states_, 0.0);
+    nh.param("krrt/allow_close_goal", allow_close_goal_, false);
+    nh.param("krrt/stop_after_first_traj_found", stop_after_first_traj_found_, false);
+    nh.param("krrt/rewire", rewire_, true);
+    nh.param("krrt/use_regional_opt", use_regional_opt_, false);
+    nh.param("krrt/test_convergency", test_convergency_, false);
+    nh.param("krrt/use_deform", use_deform_, true);
+    nh.param("krrt/min_deform_duration", min_deform_duration_, 0.8);
+
+    ROS_WARN_STREAM("[krrt] param: vel_limit: " << vel_limit_);
+    ROS_WARN_STREAM("[krrt] param: acc_limit: " << acc_limit_);
+    ROS_WARN_STREAM("[krrt] param: jerk_limit: " << jerk_limit_);
+    ROS_WARN_STREAM("[krrt] param: debug_vis: " << debug_vis_);
+    ROS_WARN_STREAM("[krrt] param: rho: " << rho_);
+    ROS_WARN_STREAM("[krrt] param: tree_node_nums: " << tree_node_nums_);
+    ROS_WARN_STREAM("[krrt] param: radius_cost_between_two_states: " << radius_cost_between_two_states_);
+    ROS_WARN_STREAM("[krrt] param: allow_close_goal: " << allow_close_goal_);
+    ROS_WARN_STREAM("[krrt] param: stop_after_first_traj_found: " << stop_after_first_traj_found_);
+    ROS_WARN_STREAM("[krrt] param: rewire: " << rewire_);
+    ROS_WARN_STREAM("[krrt] param: use_regional_opt: " << use_regional_opt_);
+    ROS_WARN_STREAM("[krrt] param: use_deform: " << use_deform_);
+    ROS_WARN_STREAM("[krrt] param: test_convergency: " << test_convergency_);
+    ROS_WARN_STREAM("[krrt] param: min_deform_duration: " << min_deform_duration_);
+
+    valid_start_tree_node_nums_ = 0;
+
+    //pre allocate memory
+    start_tree_.resize(tree_node_nums_);
+    for (int i = 0; i < tree_node_nums_; i++)
+    {
+      start_tree_[i] = new RRTNode;
+    }
+  }
+
+  void KRRTSHARP::setPosChecker(const PosChecker::Ptr &checker)
+  {
+    pos_checker_ptr_ = checker;
+    sampler_.setPosChecker(checker);
+  }
+
+  void KRRTSHARP::setVisualizer(const VisualRviz::Ptr &vis)
+  {
+    vis_ptr_ = vis;
+  }
+
+  // reset() is called every time before plan();
+  void KRRTSHARP::reset()
+  {
+    for (int i = 0; i < valid_start_tree_node_nums_; i++)
+    {
+      start_tree_[i]->parent = nullptr;
+      start_tree_[i]->children.clear();
+    }
+    valid_start_tree_node_nums_ = 0;
+  }
+
+  int KRRTSHARP::plan(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                      Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                      double search_time, int deform_type, bool use_regional_opt, bool use_deform)
+  {
+    t_start_ = ros::Time::now();
+    deform_type_ = deform_type;
+    use_regional_opt_ = use_regional_opt;
+    use_deform_ = use_deform;
+
+    if (pos_checker_ptr_->getVoxelState(start_pos) != 0)
+    {
+      ROS_ERROR("[KRRTSHARP]: Start pos collide or out of bound");
+      return FAILURE;
+    }
+
+    if (!pos_checker_ptr_->validatePosSurround(end_pos))
+    {
+      Vector3d shift[20] = {Vector3d(-1.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0), Vector3d(0.0, -1.0, 0.0),
+                            Vector3d(0.0, 0.0, 1.0), Vector3d(0.0, 0.0, -1.0), Vector3d(1.0, 0.0, 0.0),
+                            Vector3d(-2.0, 0.0, 0.0), Vector3d(0.0, 2.0, 0.0), Vector3d(0.0, -2.0, 0.0),
+                            Vector3d(0.0, 0.0, 2.0), Vector3d(0.0, 0.0, -2.0), Vector3d(2.0, 0.0, 0.0),
+
+                            Vector3d(1.0, 1.0, 1.0), Vector3d(1.0, 1.0, -1.0), Vector3d(1.0, -1.0, 1.0),
+                            Vector3d(1.0, -1.0, -1.0), Vector3d(-1.0, 1.0, -1.0), Vector3d(-1.1, 1.0, 1.0),
+                            Vector3d(-1.0, -1.0, 1.0), Vector3d(-1.0, -1.0, -1.0)};
+      ROS_WARN("[KRRTSHARP]: End pos collide or out of bound, search for other safe end");
+      int i = 0;
+      for (; i < 20; ++i)
+      {
+        end_pos += shift[i] * 0.2;
+        if (pos_checker_ptr_->validatePosSurround(end_pos))
+          break;
+      }
+      if (i == 20)
+      {
+        ROS_ERROR("found no valid end pos, plan fail");
+        return FAILURE;
+      }
+    }
+
+    if ((start_pos - end_pos).norm() < 1e-3 && (start_vel - end_vel).norm() < 1e-4)
+    {
+      ROS_ERROR("[KRRTSHARP]: start state & end state too close");
+      return FAILURE;
+    }
+
+    /* construct start and goal nodes */
+    start_node_ = start_tree_[1]; //init ptr
+    start_node_->x.head(3) = start_pos;
+    start_node_->x.segment(3, 3) = start_vel;
+    start_node_->x.tail(3) = start_acc;
+    start_node_->cost_from_start = 0.0;
+    start_node_->tau_from_start = 0.0;
+    goal_node_ = start_tree_[0]; //init ptr
+    goal_node_->x.head(3) = end_pos;
+    if (end_vel.norm() >= vel_limit_)
+    {
+      end_vel.normalize();
+      end_vel = end_vel * vel_limit_;
+    }
+    goal_node_->x.segment(3, 3) = end_vel;
+    goal_node_->x.tail(3) = end_acc;
+    goal_node_->cost_from_start = DBL_MAX; //important
+    goal_node_->tau_from_start = DBL_MAX;  //important
+    valid_start_tree_node_nums_ = 2;       //start and goal already in start_tree_
+
+    /* init sampling space */
+    ROS_INFO_STREAM("Kino RRT# starts planning");
+    vector<Vector3d> p_head, tracks;
+    sampler_.getTopo(p_head, tracks);
+    vis_ptr_->visualizeTopo(p_head, tracks, pos_checker_ptr_->getLocalTime());
+
+    return rrtStar(start_node_->x, goal_node_->x, tree_node_nums_, search_time, radius_cost_between_two_states_, rewire_);
+  }
+
+  int KRRTSHARP::rrtStar(const StatePVA &x_init, const StatePVA &x_final, int n, double search_time, double radius, const bool rewire)
+  {
+    ros::Time rrt_start_time = ros::Time::now();
+    ros::Time first_goal_found_time, final_goal_found_time;
+    double first_general_cost(0.0);
+    unordered_set<RRTNodePtr> curr_traj_node_set;
+
+    /* local variables */
+    valid_sample_nums_ = 0; //random samples in obs free area
+    vector<StatePVA> vis_x;
+    vis_x.reserve(3000);
+    vector<StatePVA> region_traj_vis_x;
+    bool first_time_find_goal(true);
+    bool close_goal_found(false);
+    double close_dist(DBL_MAX);
+    bool goal_found(false);
+    traj_list_.clear();
+    solution_cost_list_.clear();
+    solution_time_list_.clear();
+
+    /* kd tree init */
+    kdtree *kd_tree = kd_create(3);
+    //Add start and goal nodes to kd tree
+    kd_insert3(kd_tree, start_node_->x[0], start_node_->x[1], start_node_->x[2], start_node_);
+    kd_insert3(kd_tree, goal_node_->x[0], goal_node_->x[1], goal_node_->x[2], goal_node_);
+
+    //TODO changable radius
+    double tau_for_instance = radius * 0.75; //maximum
+    double fwd_radius_p = getForwardRadius(tau_for_instance, radius);
+    double bcwd_radius_p = getBackwardRadius(tau_for_instance, radius);
+    // ROS_INFO_STREAM("bcwd_radius_p: " << bcwd_radius_p);
+    // ROS_INFO_STREAM("fwd_radius_p: " << fwd_radius_p);
+
+    /* main loop */
+    vector<StatePVA> samples, valid_samples;
+    int idx = 0;
+    for (idx = 0; (ros::Time::now() - rrt_start_time).toSec() < search_time && valid_start_tree_node_nums_ < n; ++idx)
+    {
+      /* biased random sampling */
+      StatePVA x_rand;
+      bool good_sample = sampler_.samplingOnce(idx, x_rand);
+      // samples.push_back(x_rand);
+      if (!good_sample)
+      {
+        continue;
+      }
+      /* make sure that nearby nodes are in different lattices */
+      struct kdres *p_nbr_set = kd_nearest_range3(kd_tree, x_rand[0], x_rand[1], x_rand[2], 1);
+      if (p_nbr_set == nullptr)
+      {
+        ROS_ERROR("kd range query error");
+        break;
+      }
+      while (!kd_res_end(p_nbr_set))
+      {
+        RRTNodePtr curr_node = (RRTNodePtr)kd_res_item_data(p_nbr_set);
+        Vector3d dir1(x_rand[3], x_rand[4], x_rand[5]);
+        Vector3d dir2(curr_node->x[3], curr_node->x[4], curr_node->x[5]);
+        double angle_diff();
+        if (dir1.dot(dir2) > 0)
+        {
+          good_sample = false;
+          break;
+        }
+        kd_res_next(p_nbr_set);
+      }
+      kd_res_free(p_nbr_set);
+      if (!good_sample)
+      {
+        continue;
+      }
+      /* make sure that nearby nodes are in different lattices */
+
+      valid_samples.push_back(x_rand);
+      ++valid_sample_nums_;
+
+      /* kd_tree bounds search for parent */
+      struct kdres *p_bcwd_nbr_set;
+      p_bcwd_nbr_set = getBackwardNeighbour(x_rand, kd_tree, radius - tau_for_instance, bcwd_radius_p);
+      if (p_bcwd_nbr_set == nullptr)
+      {
+        ROS_ERROR("bkwd kd range query error");
+        break;
+      }
+      /* choose parent from kd tree range query result*/
+      double min_dist(DBL_MAX);
+      double tau_from_s(DBL_MAX);
+      double cost_from_p(0.0);
+      double tau_from_p(0.0);
+      RRTNode *x_near(nullptr); //parent
+      Piece find_parent_seg;
+      while (!kd_res_end(p_bcwd_nbr_set))
+      {
+        RRTNodePtr curr_node = (RRTNodePtr)kd_res_item_data(p_bcwd_nbr_set);
+        if (curr_node == goal_node_)
+        {
+          // goal node can not be parent of any other node
+          kd_res_next(p_bcwd_nbr_set);
+          continue;
+        }
+        if (bvp_->solve(curr_node->x, x_rand, ACC_UNKNOWN))
+        {
+          CoefficientMat coeff;
+          bvp_->getCoeff(coeff);
+          Piece seg_from_parent = Piece(bvp_->getTauStar(), coeff);
+          // bool connected = checkSegmentConstraints(seg_from_parent);
+          bool vel_cons = seg_from_parent.checkMaxVelRate(vel_limit_);
+          bool acc_cons = seg_from_parent.checkMaxAccRate(acc_limit_);
+          bool jerk_cons = seg_from_parent.checkMaxJerkRate(jerk_limit_);
+          pair<Vector3d, Vector3d> collide_pts_one_seg;
+          pair<double, double> t_s_e;
+          bool need_region_opt(false);
+          bool pos_cons = pos_checker_ptr_->checkPolySeg(seg_from_parent, collide_pts_one_seg, t_s_e, need_region_opt);
+          bool connected = vel_cons && acc_cons && jerk_cons && pos_cons;
+          if (connected)
+          {
+            if (min_dist > (curr_node->cost_from_start + bvp_->getCostStar()))
+            {
+              cost_from_p = bvp_->getCostStar();
+              tau_from_p = bvp_->getTauStar();
+              min_dist = curr_node->cost_from_start + cost_from_p;
+              tau_from_s = curr_node->tau_from_start + tau_from_p;
+              find_parent_seg = seg_from_parent;
+              x_near = curr_node;
+              // break; //!TODO no find best parent
+              // ROS_INFO("one parent found");
+            }
+          }
+        }
+        else
+        {
+          ROS_ERROR("sth. wrong with the bvp solver");
+        }
+        kd_res_next(p_bcwd_nbr_set); //go to next in kd tree range query result
+      }
+      kd_res_free(p_bcwd_nbr_set); //reset kd tree range query
+
+      RRTNode *sampled_node(nullptr);
+      if (x_near != nullptr)
+      {
+        /* parent found within radius, then add a node to rrt and kd_tree */
+        //sample rejection
+        Vector3d calculated_acc = find_parent_seg.getAcc(tau_from_p);
+        if (calculated_acc.norm() >= acc_limit_)
+          continue;
+        x_rand.tail(3) = calculated_acc;
+        if (bvp_->solve(x_rand, goal_node_->x, ACC_KNOWN))
+        {
+          if (min_dist + bvp_->getCostStar() >= goal_node_->cost_from_start)
+          {
+            // ROS_WARN("parent found but sample rejected");
+            continue;
+          }
+        }
+        else
+        {
+          ROS_ERROR("sth. wrong with the bvp solver");
+        }
+        /* 1.1 add the randomly sampled node to rrt_tree */
+        sampled_node = addTreeNode(x_near, x_rand, find_parent_seg, min_dist, tau_from_s, cost_from_p, tau_from_p);
+
+        /* 1.2 add the randomly sampled node to kd_tree */
+        kd_insert3(kd_tree, x_rand[0], x_rand[1], x_rand[2], sampled_node);
+      }
+      /* end of find parent */
+
+      if (sampled_node == nullptr) // neither w/ or w/o RO found no parent
+      {
+        continue;
+      }
+
+      /* 2.deform */
+      RRTNodePtr deforming_node = sampled_node->parent;
+      if (goal_found && use_deform_ && deforming_node != start_node_)
+      {
+        // vis_x.clear();
+        // vector<Vector3d> knots;
+        // sampleWholeTree(start_node_, &vis_x, knots);
+        // vis_ptr_->visualizeStates(vis_x, TreeTraj, pos_checker_ptr_->getLocalTime());
+        // vis_ptr_->visualizeKnots(knots, pos_checker_ptr_->getLocalTime());
+        // getchar();
+
+        // vis_x.clear();
+        // sampleWholeTree(sampled_node->parent, &vis_x, knots);
+        // sampled_node->parent->poly_seg.sampleOneSeg(&vis_x);
+        // vis_ptr_->visualizeStates(vis_x, GREEN, pos_checker_ptr_->getLocalTime());
+        // getchar();
+
+        if (deform_type_ == ONE_NODE)
+        {
+          if (deforming_node->poly_seg.getDuration() > min_deform_duration_) // && deforming_node->children.size() <= 5)
+          {
+            unitDeformation(deforming_node);
+          }
+        }
+        else if (deform_type_ == TRUNK_NODES)
+        {
+          vector<RRTNodePtr> deform_node_set;
+          while (deforming_node != start_node_)
+          {
+            deform_node_set.push_back(deforming_node);
+            deforming_node = deforming_node->parent;
+          }
+          if (goal_found && use_deform_)
+          {
+            for (int i = deform_node_set.size() - 1; i >= 0; i--)
+            {
+              if (deform_node_set[i]->poly_seg.getDuration() > min_deform_duration_)
+              {
+                unitDeformation(deform_node_set[i]);
+              }
+            }
+          }
+        }
+        else if (deform_type_ == BRANCH_NODES)
+        {
+          RRTNodePtr root_deforming_node(deforming_node);
+          while (deforming_node != start_node_)
+          {
+            root_deforming_node = deforming_node;
+            deforming_node = deforming_node->parent;
+          }
+          if (root_deforming_node != start_node_)
+          {
+            //breadth first
+            queue<RRTNodePtr> q;
+            q.emplace(root_deforming_node);
+            while (!q.empty())
+            {
+              RRTNodePtr deform_node = q.front();
+              if (deform_node->poly_seg.getDuration() > min_deform_duration_)
+              {
+                unitDeformation(deform_node);
+              }
+              q.pop();
+              for (const auto &child : deform_node->children)
+              {
+                if (!child->children.empty())
+                  q.emplace(child);
+              }
+            }
+          }
+        }
+        else if (deform_type_ == SMALL_BRANCH_NODES)
+        {
+          //breadth first
+          queue<RRTNodePtr> q;
+          q.emplace(deforming_node);
+          while (!q.empty())
+          {
+            RRTNodePtr deform_node = q.front();
+            if (deform_node->poly_seg.getDuration() > min_deform_duration_)
+            {
+              unitDeformation(deform_node);
+            }
+            q.pop();
+            for (const auto &child : deform_node->children)
+            {
+              if (!child->children.empty())
+                q.emplace(child);
+            }
+          }
+        }
+        else if (deform_type_ == TREE_NODES)
+        {
+          queue<RRTNodePtr> q;
+          for (const auto &node : start_node_->children)
+          {
+            q.emplace(node);
+          }
+          //breadth first
+          while (!q.empty())
+          {
+            RRTNodePtr deform_node = q.front();
+            if (deform_node->poly_seg.getDuration() > min_deform_duration_)
+            {
+              unitDeformation(deform_node);
+            }
+            q.pop();
+            for (const auto &child : deform_node->children)
+            {
+              if (!child->children.empty())
+                q.emplace(child);
+            }
+          }
+        }
+        // vis_x.clear();
+        // vis_ptr_->visualizeStates(vis_x, GREEN, pos_checker_ptr_->getLocalTime());
+        // vis_x.clear();
+        // vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+
+        // vis_x.clear();
+        // sampleWholeTree(sampled_node->parent, &vis_x, knots);
+        // sampled_node->parent->poly_seg.sampleOneSeg(&vis_x);
+        // vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+        // getchar();
+        // vis_x.clear();
+        // vis_ptr_->visualizeStates(vis_x, GREEN, pos_checker_ptr_->getLocalTime());
+        // vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+      }
+
+      /* 1. try to connect to goal after a valid tree node found */
+      bool new_better_solution(false);
+      CoefficientMat coeff;
+      bvp_->getCoeff(coeff);
+      Piece seg2goal = Piece(bvp_->getTauStar(), coeff);
+      // bool connected_to_goal = checkSegmentConstraints(seg2goal);
+      bool vel_cons = seg2goal.checkMaxVelRate(vel_limit_);
+      bool acc_cons = seg2goal.checkMaxAccRate(acc_limit_);
+      bool jerk_cons = seg2goal.checkMaxJerkRate(jerk_limit_);
+      pair<Vector3d, Vector3d> collide_pts_one_seg;
+      pair<double, double> t_s_e;
+      bool need_region_opt(false);
+      bool pos_cons = pos_checker_ptr_->checkPolySeg(seg2goal, collide_pts_one_seg, t_s_e, need_region_opt);
+      bool connected_to_goal = vel_cons && acc_cons && jerk_cons && pos_cons;
+      if (connected_to_goal && goal_node_->cost_from_start > min_dist + bvp_->getCostStar())
+      {
+        changeNodeParent(goal_node_, sampled_node, seg2goal, bvp_->getCostStar(), bvp_->getTauStar());
+        ROS_WARN_STREAM("goal directly connected  curr cost: " << goal_node_->cost_from_start << ", curr dur: " << goal_node_->tau_from_start);
+        goal_found = true;
+        new_better_solution = true;
+      }
+      if (new_better_solution)
+      {
+        /* maintain the set of nodes in curr best traj */
+        curr_traj_node_set.clear();
+        curr_traj_node_set.clear();
+        RRTNodePtr node(goal_node_);
+        while (node->parent)
+        {
+          curr_traj_node_set.insert(node);
+          node = node->parent;
+        }
+        /* maintain the set of nodes in curr best traj */
+        if (test_convergency_)
+        {
+          double curr_general_cost = goal_node_->cost_from_start;
+          ros::Time curr_goal_found_time = ros::Time::now();
+          double curr_traj_use_time_ = (ros::Time::now() - t_start_).toSec();
+          Trajectory traj;
+          fillTraj(goal_node_, traj);
+          traj_list_.emplace_back(traj);
+          solution_cost_list_.emplace_back(curr_general_cost);
+          solution_time_list_.emplace_back(curr_traj_use_time_);
+        }
+        if (first_time_find_goal)
+        {
+          first_general_cost = goal_node_->cost_from_start;
+          first_goal_found_time = ros::Time::now();
+          first_traj_use_time_ = (first_goal_found_time - t_start_).toSec();
+          first_time_find_goal = false;
+          fillTraj(goal_node_, first_traj_);
+        }
+        if (stop_after_first_traj_found_)
+          break; //stop searching after first time find the goal?
+      }
+      /* end of try to connect to goal */
+
+      /* 2.rewire */
+      if (rewire)
+      {
+        priority_queue<RRTNodePtr, std::vector<RRTNodePtr>, RRTNodeComparator> rewire_queue;
+        rewire_queue.emplace(sampled_node);
+
+        while (!rewire_queue.empty())
+        {
+          RRTNodePtr curr_rewire_node = rewire_queue.top();
+          rewire_queue.pop();
+
+          //kd_tree bounds search
+          struct kdres *p_fwd_nbr_set;
+          p_fwd_nbr_set = getForwardNeighbour(curr_rewire_node->x, kd_tree, tau_for_instance, fwd_radius_p);
+          if (p_fwd_nbr_set == nullptr)
+          {
+            ROS_ERROR("fwd kd range query error");
+            break;
+          }
+          while (!kd_res_end(p_fwd_nbr_set))
+          {
+            RRTNode *curr_node = (RRTNode *)kd_res_item_data(p_fwd_nbr_set);
+            if (curr_node == goal_node_ || curr_node == start_node_)
+            {
+              // already tried to connect to goal from random sampled node
+              kd_res_next(p_fwd_nbr_set);
+              continue;
+            }
+            if (bvp_->solve(curr_rewire_node->x, curr_node->x, ACC_KNOWN))
+            {
+            }
+            else
+            {
+              ROS_ERROR("sth. wrong with the bvp solver");
+            }
+            bool not_consistent = curr_rewire_node->cost_from_start + bvp_->getCostStar() < curr_node->cost_from_start ? 1 : 0;
+            if (not_consistent) // If we can get to a node via the curr_rewire_node faster than via it's existing parent then change the parent
+            {
+              CoefficientMat coeff;
+              bvp_->getCoeff(coeff);
+              Piece seg_rewire = Piece(bvp_->getTauStar(), coeff);
+              bool connected = checkSegmentConstraints(seg_rewire);
+              if (connected)
+              {
+                RRTNodePtr old_parent(curr_node->parent);
+                changeNodeParent(curr_node, curr_rewire_node, seg_rewire, bvp_->getCostStar(), bvp_->getTauStar(), rewire_queue);
+                if (test_convergency_ && goal_found)
+                {
+                  if (curr_traj_node_set.count(curr_node) > 0) // rewire a node in curr best traj
+                  {
+                    curr_traj_node_set.insert(curr_rewire_node);
+                    curr_traj_node_set.erase(old_parent);
+                    double curr_general_cost = goal_node_->cost_from_start;
+                    ros::Time curr_goal_found_time = ros::Time::now();
+                    double curr_traj_use_time_ = (ros::Time::now() - t_start_).toSec();
+                    Trajectory traj;
+                    fillTraj(goal_node_, traj);
+                    traj_list_.emplace_back(traj);
+                    solution_cost_list_.emplace_back(curr_general_cost);
+                    solution_time_list_.emplace_back(curr_traj_use_time_);
+                    ROS_WARN_STREAM("rewire improved          curr cost: " << curr_general_cost << ", curr dur: " << goal_node_->tau_from_start);
+                  }
+                }
+              }
+            }
+            /* go to the next entry */
+            kd_res_next(p_fwd_nbr_set);
+          }
+          kd_res_free(p_fwd_nbr_set);
+        }
+      } /* end of rewire */
+
+      // vis_x.clear();
+      // vector<Vector3d> knots;
+      // sampleWholeTree(start_node_, &vis_x, knots);
+      // vis_ptr_->visualizeStates(vis_x, TreeTraj, pos_checker_ptr_->getLocalTime());
+      // vis_ptr_->visualizeKnots(knots, pos_checker_ptr_->getLocalTime());
+
+      // if (!goal_found)
+      //   continue;
+      // vis_x.clear();
+      // Trajectory traj;
+      // fillTraj(goal_node_, traj);
+      // traj.sampleWholeTrajectory(&vis_x);
+      // vector<StatePVA> wpt;
+      // traj.getWpts(&wpt);
+      // vis_ptr_->visualizeStates(vis_x, GREEN, pos_checker_ptr_->getLocalTime());
+      // vis_ptr_->visualizeCurrExpectedState(wpt, ros::Time::now());
+      // double traj_len(0.0), traj_duration(0.0), traj_acc_itg(0.0), traj_jerk_itg(0.0);
+      // int traj_seg_nums(0);
+      // double traj_cost = evaluateTraj(traj, traj_duration, traj_len, traj_seg_nums, traj_acc_itg, traj_jerk_itg);
+      // vector<Vector3d> ps;
+      // vector<string> ss;
+      // ss.push_back(std::to_string((ros::Time::now() - t_start_).toSec() * 1e3));
+      // ss.push_back(std::to_string(traj_cost));
+      // ss.push_back(std::to_string(traj_duration));
+      // vis_ptr_->visualizeText(ss, ps, pos_checker_ptr_->getLocalTime());
+
+    } /* end of sample once */
+    t_end_ = ros::Time::now();
+
+    vis_x.clear();
+    vector<Vector3d> knots;
+    sampleWholeTree(start_node_, &vis_x, knots);
+    vis_ptr_->visualizeStates(vis_x, TreeTraj, pos_checker_ptr_->getLocalTime());
+    vis_ptr_->visualizeKnots(knots, pos_checker_ptr_->getLocalTime());
+    // vis_ptr_->visualizeSampledState(samples, pos_checker_ptr_->getLocalTime());
+    vis_ptr_->visualizeSampledState(valid_samples, pos_checker_ptr_->getLocalTime());
+    // vis_ptr_->visualizePoints(region_traj_vis_x, pos_checker_ptr_->getLocalTime());
+
+    if (goal_found)
+    {
+      final_traj_use_time_ = (t_end_ - t_start_).toSec();
+      fillTraj(goal_node_, traj_);
+      /* for traj vis */
+      ROS_INFO_STREAM("[KRRTSHARP]: total sample times: " << idx);
+      ROS_INFO_STREAM("[KRRTSHARP]: valid sample times: " << valid_sample_nums_);
+      ROS_INFO_STREAM("[KRRTSHARP]: valid tree node nums: " << valid_start_tree_node_nums_);
+      ROS_INFO("[KRRTSHARP]: Time: %.2f s, MaxVel: %.2f m/s, MaxAcc: %.2f m/s^2 , MaxJrk: %.2f m/s^3 \n",
+               traj_.getTotalDuration(), traj_.getMaxVelRate(), traj_.getMaxAccRate(), traj_.getMaxJerkRate());
+      return SUCCESS;
+    }
+    else if (allow_close_goal_ && valid_start_tree_node_nums_ > 2)
+    {
+      ROS_WARN("Not connectting to goal, choose a bypass");
+      t_end_ = ros::Time::now();
+      chooseBypass(close_goal_node_, start_node_);
+      fillTraj(close_goal_node_, traj_);
+      /* for traj vis */
+      vis_x.clear();
+      traj_.sampleWholeTrajectory(&vis_x);
+      vis_ptr_->visualizeStates(vis_x, GRAY, pos_checker_ptr_->getLocalTime());
+
+      double final_traj_len(0.0), final_traj_duration(0.0), final_traj_acc_itg(0.0), final_traj_jerk_itg(0.0);
+      int final_traj_seg_nums(0);
+      evaluateTraj(traj_, final_traj_duration, final_traj_len, final_traj_seg_nums, final_traj_acc_itg, final_traj_jerk_itg);
+      final_traj_use_time_ = t_end_.toSec() - t_start_.toSec();
+      ROS_INFO_STREAM("[KRRTSHARP]: total sample times: " << idx);
+      ROS_INFO_STREAM("[KRRTSHARP]: valid sample times: " << valid_sample_nums_);
+      ROS_INFO_STREAM("[KRRTSHARP]: valid tree node nums: " << valid_start_tree_node_nums_);
+      ROS_INFO_STREAM("[KRRTSHARP]: [front-end final path]: " << endl
+                                                              << "    -   seg nums: " << final_traj_seg_nums << endl
+                                                              << "    -   time: " << final_traj_use_time_ * 1e3 << " ms" << endl
+                                                              << "    -   acc integral: " << final_traj_acc_itg << endl
+                                                              << "    -   jerk integral: " << final_traj_jerk_itg << endl
+                                                              << "    -   traj duration: " << final_traj_duration << endl
+                                                              << "    -   path length: " << final_traj_len << " m" << endl
+                                                              << "    -   general cost: " << close_goal_node_->cost_from_start);
+      return SUCCESS_CLOSE_GOAL;
+    }
+    else if (valid_start_tree_node_nums_ == n)
+    {
+      ROS_ERROR_STREAM("[KRRTSHARP]: NOT CONNECTED TO GOAL after " << n << " nodes added to rrt-tree");
+      ROS_INFO_STREAM("[KRRTSHARP]: total sample times: " << idx);
+      ROS_INFO_STREAM("[KRRTSHARP]: valid sample times: " << valid_sample_nums_);
+      ROS_INFO_STREAM("[KRRTSHARP]: valid tree node nums: " << valid_start_tree_node_nums_);
+      return FAILURE;
+    }
+    else if ((ros::Time::now() - rrt_start_time).toSec() >= search_time)
+    {
+      ROS_ERROR_STREAM("[KRRTSHARP]: NOT CONNECTED TO GOAL after " << (ros::Time::now() - rrt_start_time).toSec() << " seconds");
+      ROS_INFO_STREAM("[KRRTSHARP]: total sample times: " << idx);
+      ROS_INFO_STREAM("[KRRTSHARP]: valid sample times: " << valid_sample_nums_);
+      ROS_INFO_STREAM("[KRRTSHARP]: valid tree node nums: " << valid_start_tree_node_nums_);
+      return FAILURE;
+    }
+    else
+    {
+      return FAILURE;
+    }
+  }
+
+  double KRRTSHARP::getForwardRadius(double tau, double cost)
+  {
+    MatrixXd G(3, 3);
+    G.setZero();
+    double tau_2 = tau * tau;
+    double tau_3 = tau_2 * tau;
+    double tau_4 = tau_3 * tau;
+    double tau_5 = tau_4 * tau;
+    G(0, 0) = 720.0 / tau_5;
+    G(1, 1) = 192.0 / tau_3;
+    G(2, 2) = 9.0 / tau;
+    G(0, 1) = G(1, 0) = -360.0 / tau_4;
+    G(0, 2) = G(2, 0) = 60.0 / tau_3;
+    G(1, 2) = G(2, 1) = -36.0 / tau_2;
+    G = G * rho_ / (cost - tau) * 3.0;
+    // ROS_INFO_STREAM("G: \n" << G);
+    Eigen::EigenSolver<MatrixXd> es(G);
+    // cout << "The eigenvalues of G are:" << endl << es.eigenvalues() << endl;
+    // cout << "The matrix of eigenvectors, V, is:" << endl << es.eigenvectors() << endl << endl;
+    double radius_p(0.0);
+    for (int i = 0; i < 3; ++i)
+    {
+      radius_p = max(radius_p, sqrt(1.0 / es.eigenvalues()[i].real()) * fabs(es.eigenvectors().col(i)[i]));
+    }
+    return radius_p * 1.732;
+  }
+
+  double KRRTSHARP::getBackwardRadius(double tau, double cost)
+  {
+    MatrixXd G(3, 3);
+    G.setZero();
+    double tau_2 = tau * tau;
+    double tau_3 = tau_2 * tau;
+    double tau_4 = tau_3 * tau;
+    double tau_5 = tau_4 * tau;
+    G(0, 0) = 720.0 / tau_5;
+    G(1, 1) = 192.0 / tau_3;
+    G(2, 2) = 9.0 / tau;
+    G(0, 1) = G(1, 0) = -360.0 / tau_4;
+    G(0, 2) = G(2, 0) = 60.0 / tau_3;
+    G(1, 2) = G(2, 1) = -36.0 / tau_2;
+    G = G * rho_ / (cost - tau) * 3.0;
+    // ROS_INFO_STREAM("G: \n" << G);
+    Eigen::EigenSolver<MatrixXd> es(G);
+    // cout << "The eigenvalues of G are:" << endl << es.eigenvalues() << endl;
+    // cout << "The matrix of eigenvectors, V, is:" << endl << es.eigenvectors() << endl << endl;
+    double radius_p(0.0);
+    for (int i = 0; i < 3; ++i)
+    {
+      radius_p = max(radius_p, sqrt(1.0 / es.eigenvalues()[i].real()) * fabs(es.eigenvectors().col(i)[i]));
+    }
+    return radius_p * 1.732;
+  }
+
+  struct kdres *KRRTSHARP::getForwardNeighbour(const StatePVA &x0, struct kdtree *kd_tree, double tau, double radius_p)
+  {
+    double half_tau_square = tau * tau / 2;
+    StatePVA x_ba_tau;
+    x_ba_tau[0] = x0[0] + x0[3] * tau + x0[6] * half_tau_square;
+    x_ba_tau[1] = x0[1] + x0[4] * tau + x0[7] * half_tau_square;
+    x_ba_tau[2] = x0[2] + x0[5] * tau + x0[8] * half_tau_square;
+    // x_ba_tau[3] = x0[3] + tau*x0[6];
+    // x_ba_tau[4] = x0[4] + tau*x0[7];
+    // x_ba_tau[5] = x0[5] + tau*x0[8];
+    // x_ba_tau[6] = x0[6];
+    // x_ba_tau[7] = x0[7];
+    // x_ba_tau[8] = x0[8];
+
+    if (debug_vis_)
+    {
+      vis_ptr_->visualizeReachPos(FORWARD_REACHABLE_POS, x_ba_tau.head(3), 2 * radius_p, pos_checker_ptr_->getLocalTime());
+      // vis_ptr_->visualizeReachVel(1, x_ba_tau.head(3) + x_ba_tau.tail(3), 2 * radius_v, pos_checker_ptr_->getLocalTime());
+      // getchar();
+    }
+    return kd_nearest_range3(kd_tree, x_ba_tau[0], x_ba_tau[1], x_ba_tau[2], radius_p);
+  }
+
+  struct kdres *KRRTSHARP::getBackwardNeighbour(const StatePVA &x1, struct kdtree *kd_tree, double tau, double radius_p)
+  {
+    StatePVA expNegATau_x1;
+    double half_tau_square = tau * tau / 2;
+    expNegATau_x1[0] = x1[0] - x1[3] * tau + x1[6] * half_tau_square;
+    expNegATau_x1[1] = x1[1] - x1[4] * tau + x1[7] * half_tau_square;
+    expNegATau_x1[2] = x1[2] - x1[5] * tau + x1[8] * half_tau_square;
+    // expNegATau_x1[3] = x1[3] - x1[6]*tau;
+    // expNegATau_x1[4] = x1[4] - x1[7]*tau;
+    // expNegATau_x1[5] = x1[5] - x1[8]*tau;
+    // expNegATau_x1[6] = x1[6];
+    // expNegATau_x1[7] = x1[7];
+    // expNegATau_x1[8] = x1[8];
+
+    if (debug_vis_)
+    {
+      vis_ptr_->visualizeReachPos(BACKWARD_REACHABLE_POS, expNegATau_x1.head(3), 2 * radius_p, pos_checker_ptr_->getLocalTime());
+      // vis_ptr_->visualizeReachVel(1, expNegATau_x1.head(3) + expNegATau_x1.tail(3), 2 * radius_v, pos_checker_ptr_->getLocalTime());
+      // getchar();
+    }
+    return kd_nearest_range3(kd_tree, expNegATau_x1[0], expNegATau_x1[1], expNegATau_x1[2], radius_p);
+  }
+
+  inline RRTNodePtr KRRTSHARP::addTreeNode(RRTNodePtr &parent, const StatePVA &state, const Piece &piece,
+                                           const double &cost_from_start, const double &tau_from_start,
+                                           const double &cost_from_parent, const double &tau_from_parent)
+  {
+    RRTNodePtr new_node_ptr = start_tree_[valid_start_tree_node_nums_++];
+    new_node_ptr->parent = parent;
+    parent->children.push_back(new_node_ptr);
+    new_node_ptr->x = state;
+    new_node_ptr->poly_seg = piece;
+    new_node_ptr->cost_from_start = cost_from_start;
+    new_node_ptr->tau_from_start = tau_from_start;
+    new_node_ptr->cost_from_parent = cost_from_parent;
+    new_node_ptr->tau_from_parent = tau_from_parent;
+    return new_node_ptr;
+  }
+
+  inline RRTNodePtr KRRTSHARP::addTreeNode(RRTNodePtr &parent, const StatePVA &state, const Piece &piece,
+                                           const double &cost_from_parent, const double &tau_from_parent)
+  {
+    RRTNodePtr new_node_ptr = start_tree_[valid_start_tree_node_nums_++];
+    new_node_ptr->parent = parent;
+    parent->children.push_back(new_node_ptr);
+    new_node_ptr->x = state;
+    new_node_ptr->poly_seg = piece;
+    new_node_ptr->cost_from_start = parent->cost_from_start + cost_from_parent;
+    new_node_ptr->tau_from_start = parent->tau_from_start + tau_from_parent;
+    new_node_ptr->cost_from_parent = cost_from_parent;
+    new_node_ptr->tau_from_parent = tau_from_parent;
+    return new_node_ptr;
+  }
+
+  inline void KRRTSHARP::changeNodeParent(RRTNodePtr &node, RRTNodePtr &parent, const Piece &piece,
+                                          const double &cost_from_parent, const double &tau_from_parent)
+  {
+    if (node->parent)
+      node->parent->children.remove(node); //DON'T FORGET THIS, remove it form its parent's children list
+    node->parent = parent;
+    node->cost_from_parent = cost_from_parent;
+    node->tau_from_parent = tau_from_parent;
+    node->cost_from_start = parent->cost_from_start + cost_from_parent;
+    node->tau_from_start = parent->tau_from_start + tau_from_parent;
+    node->poly_seg = piece;
+    parent->children.push_back(node);
+
+    // for all its descedants, change the cost_from_start and tau_from_start;
+    RRTNode *descendant(node);
+    std::queue<RRTNode *> Q;
+    Q.emplace(descendant);
+    while (!Q.empty())
+    {
+      descendant = Q.front();
+      Q.pop();
+      for (const auto &leafptr : descendant->children)
+      {
+        leafptr->cost_from_start = leafptr->cost_from_parent + descendant->cost_from_start;
+        leafptr->tau_from_start = leafptr->tau_from_parent + descendant->tau_from_start;
+        Q.emplace(leafptr);
+      }
+    }
+  }
+
+  inline void KRRTSHARP::changeNodeParent(RRTNodePtr &node, RRTNodePtr &parent, const Piece &piece,
+                                          const double &cost_from_parent, const double &tau_from_parent,
+                                          priority_queue<RRTNodePtr, std::vector<RRTNodePtr>, RRTNodeComparator> &rewire_queue)
+  {
+    if (node->parent)
+      node->parent->children.remove(node); //DON'T FORGET THIS, remove it form its parent's children list
+    node->parent = parent;
+    node->cost_from_parent = cost_from_parent;
+    node->tau_from_parent = tau_from_parent;
+    node->cost_from_start = parent->cost_from_start + cost_from_parent;
+    node->tau_from_start = parent->tau_from_start + tau_from_parent;
+    node->poly_seg = piece;
+    parent->children.push_back(node);
+
+    // for all its descedants, change the cost_from_start and tau_from_start;
+    RRTNode *descendant(node);
+    std::queue<RRTNode *> Q;
+    Q.emplace(descendant);
+    while (!Q.empty())
+    {
+      descendant = Q.front();
+      Q.pop();
+      rewire_queue.emplace(descendant);
+      for (const auto &leafptr : descendant->children)
+      {
+        leafptr->cost_from_start = leafptr->cost_from_parent + descendant->cost_from_start;
+        leafptr->tau_from_start = leafptr->tau_from_parent + descendant->tau_from_start;
+        Q.emplace(leafptr);
+      }
+    }
+  }
+
+  inline bool KRRTSHARP::regionalOpt(const Piece &oringin_seg, const pair<Vector3d, Vector3d> &collide_pts_one_seg, const pair<double, double> &t_s_e)
+  {
+    int split_seg_num = 2;
+    Trajectory pre_regional_traj;
+    pre_regional_traj.reserve(split_seg_num);
+    CoefficientMat coeff = oringin_seg.getCoeffMat();
+    double duration = oringin_seg.getDuration() / split_seg_num;
+    pre_regional_traj.emplace_back(Piece(duration, coeff));
+    for (int i = 1; i < split_seg_num; ++i)
+    {
+      oringin_seg.cutPiece(oringin_seg, duration * i, coeff);
+      pre_regional_traj.emplace_back(Piece(duration, coeff));
+    }
+
+    if (searcher_->AstarSearch(pos_checker_ptr_->getResolution(), collide_pts_one_seg.first, collide_pts_one_seg.second))
+    {
+      vector<Eigen::Vector3d> grid_path = searcher_->getPath();
+      // vis_ptr_->visualizeKnots(grid_path, pos_checker_ptr_->getLocalTime());
+      std::vector<pair<int, int>> seg_num_obs_size; //first: # of segment in a traj; second: number of attract_pt in this segment.
+      std::vector<double> t_s, t_e;                 // each attract_pt's timestamp of start and end in its corresponding segment. Size should be the same as the sum of seg_num_obs_size.second.
+      std::vector<Eigen::Vector3d> attract_pts;
+      pos_checker_ptr_->getRegionalAttractPts(pre_regional_traj, grid_path, t_s_e, seg_num_obs_size, attract_pts, t_s, t_e);
+      if (!optimizer_ptr_->initialize(pre_regional_traj, TrajOptimizer::SMOOTH_HOMO_OBS))
+      {
+        return false;
+      }
+      return (optimizer_ptr_->solveRegionalOpt(seg_num_obs_size, attract_pts, t_s, t_e));
+    }
+    else
+    {
+      // ROS_WARN_STREAM("a star search fail, from: " << collide_pts_one_seg.first.transpose() << " to " << collide_pts_one_seg.second.transpose());
+      return false;
+    }
+  }
+
+  inline void KRRTSHARP::unitDeformation(const RRTNodePtr &deforming_node)
+  {
+    // vector<StatePVA> s;
+    // vector<StatePVA> vis_x;
+    // vis_x.clear();
+    // vector<Vector3d> knots;
+    // vector<Vector3d> knots1;
+    // // if (deforming_node->children.size() == 2 || deforming_node->children.size() == 3)
+    // {
+    //   sampleWholeTree(start_node_, &vis_x, knots);
+    //   vis_ptr_->visualizeStates(vis_x, TreeTraj, pos_checker_ptr_->getLocalTime());
+    //   vis_ptr_->visualizeKnots(knots, pos_checker_ptr_->getLocalTime());
+    //   vis_x.clear();
+    //   s.push_back(deforming_node->x);
+    //   vis_ptr_->visualizeCurrExpectedState(s, ros::Time::now());
+    //   sampleDeformedTrunk(deforming_node, &vis_x, knots1);
+    //   vis_ptr_->visualizeStates(vis_x, GREEN, pos_checker_ptr_->getLocalTime());
+    //   // vis_ptr_->visualizeKnots(knots1, pos_checker_ptr_->getLocalTime());
+    //   vis_x.clear();
+    //   vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+    //   getchar();
+    // }
+
+    // ROS_WARN("deform start");
+    ros::Time deform_s_t = ros::Time::now();
+    VectorXd node_state = deforming_node->x;
+    VectorXd parent_state = deforming_node->parent->x;
+    double parent_T = deforming_node->poly_seg.getDuration();
+    int self_descendant_num_plus_one(1);
+    vector<VectorXd> children_states;
+    vector<double> children_Ts;
+    vector<int> children_descendant_num;
+    for (const RRTNodePtr &child : deforming_node->children)
+    {
+      children_states.push_back(child->x);
+      children_Ts.push_back(child->poly_seg.getDuration());
+      int descendant_num_plus_one = child->countDescendant() + 1;
+      children_descendant_num.push_back(descendant_num_plus_one);
+      self_descendant_num_plus_one += descendant_num_plus_one;
+    }
+    // cout << "before deform parent_T: " << parent_T << endl;
+    bool deform_result = trunk_opt_ptr_->optimizeBranch(node_state,
+                                                        parent_state, parent_T, self_descendant_num_plus_one,
+                                                        children_states, children_Ts, children_descendant_num);
+    // cout << "after deform parent_T: " << parent_T << endl;
+    if (deform_result)
+    {
+      double before_deform_curr_general_cost = goal_node_->cost_from_start;
+      deforming_node->x = node_state;
+      BoundaryCond bc;
+      bc.col(0) = deforming_node->parent->x.head(3);
+      bc.col(1) = deforming_node->parent->x.segment(3, 3);
+      bc.col(2) = deforming_node->parent->x.tail(3);
+      bc.col(3) = deforming_node->x.head(3);
+      bc.col(4) = deforming_node->x.segment(3, 3);
+      bc.col(5) = deforming_node->x.tail(3);
+      deforming_node->poly_seg = Piece(bc, parent_T);
+      // ROS_INFO_STREAM("max vel: " << deforming_node->poly_seg.getMaxVelRate() << ", max acc: " << deforming_node->poly_seg.getMaxAccRate());
+      deforming_node->cost_from_parent = bvp_->calCostAccKnown(deforming_node->parent->x, deforming_node->x, parent_T);
+      // deforming_node->cost_from_parent = deforming_node->poly_seg.calCost(rho_);
+      deforming_node->tau_from_parent = parent_T;
+      deforming_node->cost_from_start = deforming_node->parent->cost_from_start + deforming_node->cost_from_parent;
+      deforming_node->tau_from_start = deforming_node->parent->tau_from_start + parent_T;
+      int i(0);
+      for (const RRTNodePtr &child : deforming_node->children)
+      {
+        bc.col(0) = deforming_node->x.head(3);
+        bc.col(1) = deforming_node->x.segment(3, 3);
+        bc.col(2) = deforming_node->x.tail(3);
+        bc.col(3) = child->x.head(3);
+        bc.col(4) = child->x.segment(3, 3);
+        bc.col(5) = child->x.tail(3);
+        child->poly_seg = Piece(bc, children_Ts[i]);
+        // ROS_INFO_STREAM("max vel: " << child->poly_seg.getMaxVelRate() << ", max acc: " << child->poly_seg.getMaxAccRate());
+        child->cost_from_parent = bvp_->calCostAccKnown(child->parent->x, child->x, children_Ts[i]);
+        // child->cost_from_parent = child->poly_seg.calCost(rho_);
+        child->tau_from_parent = children_Ts[i];
+        child->cost_from_start = child->parent->cost_from_start + child->cost_from_parent;
+        child->tau_from_start = child->parent->tau_from_start + children_Ts[i];
+        i++;
+        /* change cost_from_start and tau_from_start of nodes in each sub-branch */
+        // breadth first search
+        queue<RRTNodePtr> q;
+        for (const RRTNodePtr &grand_child : child->children)
+        {
+          q.emplace(grand_child);
+        }
+        while (!q.empty())
+        {
+          RRTNodePtr node = q.front();
+          q.pop();
+          node->cost_from_start = node->parent->cost_from_start + node->cost_from_parent;
+          node->tau_from_start = node->parent->tau_from_start + node->tau_from_parent;
+          for (const RRTNodePtr &grand_grand_child : node->children)
+          {
+            q.emplace(grand_grand_child);
+          }
+        }
+        /* change cost_from_start and tau_from_start of nodes in each sub-branch */
+      }
+
+      double curr_general_cost = goal_node_->cost_from_start;
+      if (test_convergency_ && curr_general_cost < before_deform_curr_general_cost - 1e-5)
+      {
+        ros::Time curr_goal_found_time = ros::Time::now();
+        double curr_traj_use_time_ = (ros::Time::now() - t_start_).toSec();
+        std::vector<double> durs;
+        std::vector<CoefficientMat> coeffMats;
+        RRTNodePtr node = goal_node_;
+        while (node->parent)
+        {
+          durs.push_back(node->poly_seg.getDuration());
+          coeffMats.push_back(node->poly_seg.getCoeffMat());
+          node = node->parent;
+        }
+        std::reverse(std::begin(durs), std::end(durs));
+        std::reverse(std::begin(coeffMats), std::end(coeffMats));
+        traj_list_.emplace_back(durs, coeffMats);
+        solution_cost_list_.emplace_back(curr_general_cost);
+        solution_time_list_.emplace_back(curr_traj_use_time_);
+        ROS_WARN_STREAM("deform improved          curr cost: " << curr_general_cost << ", curr dur: " << goal_node_->tau_from_start);
+      }
+      ros::Time deform_e_t = ros::Time::now();
+      // ROS_WARN_STREAM(deforming_node->children.size() + 1 << " segs, deforming success, takes "
+      // << (deform_e_t - deform_s_t).toSec()*1000 << " ms, cost change after deform: " << curr_general_cost - before_deform_curr_general_cost);
+    }
+    else
+    {
+      // ros::Time deform_e_t = ros::Time::now();
+      // ROS_ERROR_STREAM(deforming_node->children.size()+1 << " segs, deforming faild, takes " << (deform_e_t - deform_s_t).toSec()*1000 << " ms");
+    }
+
+    // // if (deforming_node->children.size() == 2 || deforming_node->children.size() == 3)
+    // {
+    //   vis_x.clear();
+    //   sampleDeformedTrunk(deforming_node, &vis_x, knots1);
+    //   vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+    //   // vis_ptr_->visualizeKnots(knots1, pos_checker_ptr_->getLocalTime());
+    //   s.push_back(deforming_node->x);
+    //   vis_ptr_->visualizeCurrExpectedState(s, ros::Time::now());
+    //   getchar();
+    // }
+  }
+
+  inline bool KRRTSHARP::stOpt(const Piece &oringin_seg, const RRTNodePtr &parent, Trajectory &opted_two_seg)
+  {
+    // vector<StatePVA> vis_x;
+    // oringin_seg.sampleOneSeg(&vis_x);
+    // vis_ptr_->visualizeStates(vis_x, BLUE, pos_checker_ptr_->getLocalTime());
+    // getchar();
+
+    double T = oringin_seg.getDuration();
+    double init_T = T / 2.0;
+    VectorXd node_state(9);
+    node_state.head(3) = oringin_seg.getPos(init_T);
+    node_state.segment(3, 3) = oringin_seg.getVel(init_T);
+    node_state.tail(3) = oringin_seg.getAcc(init_T);
+
+    VectorXd parent_state = parent->x;
+    double parent_T = init_T;
+
+    int self_descendant_num_plus_one(2);
+    vector<VectorXd> children_states;
+    vector<double> children_Ts;
+    vector<int> children_descendant_num;
+    VectorXd child_state(9);
+    child_state.head(3) = oringin_seg.getPos(T);
+    child_state.segment(3, 3) = oringin_seg.getVel(T);
+    child_state.tail(3) = oringin_seg.getAcc(T);
+
+    children_states.push_back(child_state);
+    children_Ts.push_back(init_T);
+    int descendant_num_plus_one = 1;
+    children_descendant_num.push_back(descendant_num_plus_one);
+    bool deform_result = trunk_opt_ptr_->optimizeBranch(node_state,
+                                                        parent_state, parent_T, self_descendant_num_plus_one,
+                                                        children_states, children_Ts, children_descendant_num);
+    if (deform_result)
+    {
+      std::vector<double> durs;
+      durs.push_back(parent_T);
+      durs.push_back(children_Ts[0]);
+      std::vector<CoefficientMat> coeffMats;
+      BoundaryCond bc1;
+      bc1.col(0) = parent->x.head(3);
+      bc1.col(1) = parent->x.segment(3, 3);
+      bc1.col(2) = parent->x.tail(3);
+      bc1.col(3) = node_state.head(3);
+      bc1.col(4) = node_state.segment(3, 3);
+      bc1.col(5) = node_state.tail(3);
+      Piece p1(bc1, parent_T);
+      BoundaryCond bc2;
+      bc2.col(0) = node_state.head(3);
+      bc2.col(1) = node_state.segment(3, 3);
+      bc2.col(2) = node_state.tail(3);
+      bc2.col(3) = child_state.head(3);
+      bc2.col(4) = child_state.segment(3, 3);
+      bc2.col(5) = child_state.tail(3);
+      Piece p2(bc2, children_Ts[0]);
+      coeffMats.push_back(p1.getCoeffMat());
+      coeffMats.push_back(p2.getCoeffMat());
+      opted_two_seg = Trajectory(durs, coeffMats);
+
+      // vector<StatePVA> vis_x;
+      // p1.sampleOneSeg(&vis_x);
+      // p2.sampleOneSeg(&vis_x);
+      // vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+      // getchar();
+    }
+    return deform_result;
+  }
+
+  inline bool KRRTSHARP::stOpt(Trajectory &opted_two_seg)
+  {
+    vector<StatePVA> vis_x;
+    opted_two_seg.sampleWholeTrajectory(&vis_x);
+    vis_ptr_->visualizeStates(vis_x, GREEN, pos_checker_ptr_->getLocalTime());
+    getchar();
+
+    double parent_T = opted_two_seg[0].getDuration();
+    VectorXd node_state(9);
+    node_state.head(3) = opted_two_seg[0].getPos(parent_T);
+    node_state.segment(3, 3) = opted_two_seg[0].getVel(parent_T);
+    node_state.tail(3) = opted_two_seg[0].getAcc(parent_T);
+
+    VectorXd parent_state(9);
+    parent_state.head(3) = opted_two_seg[0].getPos(0);
+    parent_state.segment(3, 3) = opted_two_seg[0].getVel(0);
+    parent_state.tail(3) = opted_two_seg[0].getAcc(0);
+
+    double child_T = opted_two_seg[1].getDuration();
+    int self_descendant_num_plus_one(2);
+    vector<VectorXd> children_states;
+    vector<double> children_Ts;
+    vector<int> children_descendant_num;
+    VectorXd child_state(9);
+    child_state.head(3) = opted_two_seg[1].getPos(child_T);
+    child_state.segment(3, 3) = opted_two_seg[1].getVel(child_T);
+    child_state.tail(3) = opted_two_seg[1].getAcc(child_T);
+
+    children_states.push_back(child_state);
+    children_Ts.push_back(child_T);
+    int descendant_num_plus_one = 1;
+    children_descendant_num.push_back(descendant_num_plus_one);
+    bool deform_result = trunk_opt_ptr_->optimizeBranch(node_state,
+                                                        parent_state, parent_T, self_descendant_num_plus_one,
+                                                        children_states, children_Ts, children_descendant_num);
+    if (deform_result)
+    {
+      std::vector<double> durs;
+      durs.push_back(parent_T);
+      durs.push_back(children_Ts[0]);
+      std::vector<CoefficientMat> coeffMats;
+      BoundaryCond bc1;
+      bc1.col(0) = parent_state.head(3);
+      bc1.col(1) = parent_state.segment(3, 3);
+      bc1.col(2) = parent_state.tail(3);
+      bc1.col(3) = node_state.head(3);
+      bc1.col(4) = node_state.segment(3, 3);
+      bc1.col(5) = node_state.tail(3);
+      Piece p1(bc1, parent_T);
+      BoundaryCond bc2;
+      bc2.col(0) = node_state.head(3);
+      bc2.col(1) = node_state.segment(3, 3);
+      bc2.col(2) = node_state.tail(3);
+      bc2.col(3) = child_state.head(3);
+      bc2.col(4) = child_state.segment(3, 3);
+      bc2.col(5) = child_state.tail(3);
+      Piece p2(bc2, children_Ts[0]);
+      coeffMats.push_back(p1.getCoeffMat());
+      coeffMats.push_back(p2.getCoeffMat());
+      opted_two_seg = Trajectory(durs, coeffMats);
+
+      vector<StatePVA> vis_x;
+      p1.sampleOneSeg(&vis_x);
+      p2.sampleOneSeg(&vis_x);
+      vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+      getchar();
+    }
+    return deform_result;
+  }
+
+  inline void KRRTSHARP::sampleDeformedTrunk(const RRTNodePtr &node, vector<StatePVA> *vis_x, vector<Vector3d> &knots)
+  {
+    if (node == nullptr || node->parent == nullptr)
+      return;
+    node->poly_seg.sampleOneSeg(vis_x);
+    knots.push_back(node->parent->x.head(3));
+    cout << "parent T: " << node->poly_seg.getDuration() << endl;
+    for (const auto &leaf : node->children)
+    {
+      leaf->poly_seg.sampleOneSeg(vis_x);
+      knots.push_back(leaf->x.head(3));
+      cout << "child T: " << leaf->poly_seg.getDuration() << endl;
+    }
+    knots.push_back(node->x.head(3));
+  }
+
+  inline double KRRTSHARP::dist(const StatePVA &x0, const StatePVA &x1)
+  {
+    Vector3d p_diff(x0.head(3) - x1.head(3));
+    return p_diff.norm();
+  }
+
+  inline void KRRTSHARP::sampleWholeTree(const RRTNodePtr &root, vector<StatePVA> *vis_x, vector<Vector3d> &knots)
+  {
+    if (root == nullptr)
+      return;
+    //whatever dfs or bfs
+    RRTNode *node = root;
+    std::queue<RRTNode *> Q;
+    Q.emplace(node);
+    while (!Q.empty())
+    {
+      node = Q.front();
+      Q.pop();
+      for (const auto &leafptr : node->children)
+      {
+        leafptr->poly_seg.sampleOneSeg(vis_x);
+        knots.push_back(leafptr->x.head(3));
+        Q.emplace(leafptr);
+      }
+    }
+  }
+
+  void KRRTSHARP::fillTraj(const RRTNodePtr &goal_leaf, Trajectory &traj)
+  {
+    std::vector<double> durs;
+    std::vector<CoefficientMat> coeffMats;
+    RRTNodePtr node = goal_leaf;
+    while (node->parent)
+    {
+      durs.push_back(node->poly_seg.getDuration());
+      coeffMats.push_back(node->poly_seg.getCoeffMat());
+      node = node->parent;
+    }
+    std::reverse(std::begin(durs), std::end(durs));
+    std::reverse(std::begin(coeffMats), std::end(coeffMats));
+    traj = Trajectory(durs, coeffMats);
+  }
+
+  inline bool KRRTSHARP::checkSegmentConstraints(const Piece &seg)
+  {
+    if (!seg.checkMaxVelRate(vel_limit_))
+    {
+      // ROS_WARN("vel constraints violate!");
+      return false;
+    }
+    if (!seg.checkMaxAccRate(acc_limit_))
+    {
+      // ROS_WARN("acc constraints violate!");
+      return false;
+    }
+    if (!seg.checkMaxJerkRate(jerk_limit_))
+    {
+      // ROS_WARN("jerk constraints violate!");
+      return false;
+    }
+    if (!pos_checker_ptr_->checkPolySeg(seg))
+    {
+      // ROS_WARN("pos constraints violate!");
+      return false;
+    }
+    return true;
+  }
+
+  inline bool KRRTSHARP::getTraversalLines(const Piece &seg, vector<pair<Vector3d, Vector3d>> &traversal_lines)
+  {
+    bool res = pos_checker_ptr_->checkPolySeg(seg, traversal_lines);
+    return res;
+  }
+
+  double KRRTSHARP::evaluateTraj(const Trajectory &traj, double &traj_duration, double &traj_length, int &seg_nums,
+                                 double &acc_integral, double &jerk_integral)
+  {
+    traj_length = 0.0;
+    traj_duration = 0.0;
+    seg_nums = traj.getPieceNum();
+    acc_integral = 0.0;
+    jerk_integral = 0.0;
+
+    double d_t = 0.02;
+    for (int i = 0; i < seg_nums; ++i)
+    {
+      double tau = traj[i].getDuration();
+      traj_duration += tau;
+      for (double t = 0.0; t < tau; t += d_t)
+      {
+        Eigen::Vector3d vel, acc, jerk;
+        vel = traj[i].getVel(t);
+        acc = traj[i].getAcc(t);
+        jerk = traj[i].getJerk(t);
+        traj_length += vel.norm() * d_t;
+        acc_integral += acc.dot(acc) * d_t;
+        jerk_integral += jerk.dot(jerk) * d_t;
+      }
+    }
+    double c[seg_nums];
+    return traj.calCost(rho_, c);
+  }
+
+  void KRRTSHARP::chooseBypass(RRTNodePtr &goal_leaf, const RRTNodePtr &tree_start_node)
+  {
+    goal_leaf = start_tree_[valid_start_tree_node_nums_ - 1];
+    double close_dist(DBL_MAX);
+    for (int i = 2; i < valid_start_tree_node_nums_; ++i)
+    {
+      double dist_to_goal = dist(start_tree_[i]->x, goal_node_->x);
+      if (dist_to_goal < close_dist)
+      {
+        close_dist = dist_to_goal;
+        close_goal_node_ = start_tree_[i];
+      }
+    }
+  }
+
+} //namespace tgk_planner
\ No newline at end of file
diff --git a/planning/kino_plan/src/krrt_star.cpp b/planning/kino_plan/src/krrt_star.cpp
new file mode 100755
index 0000000..68512be
--- /dev/null
+++ b/planning/kino_plan/src/krrt_star.cpp
@@ -0,0 +1,1384 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "kino_plan/krrt_star.h"
+#include <queue>
+#include <unordered_set>
+
+namespace tgk_planner
+{
+  KRRTSTAR::KRRTSTAR(const ros::NodeHandle &nh, std::shared_ptr<BVPSolver::IntegratorBVP> &bvp) : sampler_(nh), bvp_(bvp)
+  {
+  }
+
+  KRRTSTAR::~KRRTSTAR()
+  {
+    for (int i = 0; i < tree_node_nums_; i++)
+      delete start_tree_[i];
+  }
+
+  void KRRTSTAR::init(const ros::NodeHandle &nh)
+  {
+    nh.param("krrt/vel_limit", vel_limit_, -1.0);
+    nh.param("krrt/acc_limit", acc_limit_, -1.0);
+    nh.param("krrt/jerk_limit", jerk_limit_, -1.0);
+    nh.param("krrt/debug_vis", debug_vis_, false);
+    nh.param("krrt/rho", rho_, -1.0);
+    nh.param("krrt/tree_node_nums", tree_node_nums_, 0);
+    nh.param("krrt/radius_cost_between_two_states", radius_cost_between_two_states_, 0.0);
+    nh.param("krrt/allow_close_goal", allow_close_goal_, false);
+    nh.param("krrt/stop_after_first_traj_found", stop_after_first_traj_found_, false);
+    nh.param("krrt/rewire", rewire_, true);
+    nh.param("krrt/use_regional_opt", use_regional_opt_, false);
+    nh.param("krrt/test_convergency", test_convergency_, false);
+    nh.param("krrt/use_deform", use_deform_, true);
+    nh.param("krrt/min_deform_duration", min_deform_duration_, 0.8);
+
+    ROS_WARN_STREAM("[krrt] param: vel_limit: " << vel_limit_);
+    ROS_WARN_STREAM("[krrt] param: acc_limit: " << acc_limit_);
+    ROS_WARN_STREAM("[krrt] param: jerk_limit: " << jerk_limit_);
+    ROS_WARN_STREAM("[krrt] param: debug_vis: " << debug_vis_);
+    ROS_WARN_STREAM("[krrt] param: rho: " << rho_);
+    ROS_WARN_STREAM("[krrt] param: tree_node_nums: " << tree_node_nums_);
+    ROS_WARN_STREAM("[krrt] param: radius_cost_between_two_states: " << radius_cost_between_two_states_);
+    ROS_WARN_STREAM("[krrt] param: allow_close_goal: " << allow_close_goal_);
+    ROS_WARN_STREAM("[krrt] param: stop_after_first_traj_found: " << stop_after_first_traj_found_);
+    ROS_WARN_STREAM("[krrt] param: rewire: " << rewire_);
+    ROS_WARN_STREAM("[krrt] param: use_regional_opt: " << use_regional_opt_);
+    ROS_WARN_STREAM("[krrt] param: use_deform: " << use_deform_);
+    ROS_WARN_STREAM("[krrt] param: test_convergency: " << test_convergency_);
+    ROS_WARN_STREAM("[krrt] param: min_deform_duration: " << min_deform_duration_);
+
+    valid_start_tree_node_nums_ = 0;
+
+    //pre allocate memory
+    start_tree_.resize(tree_node_nums_);
+    for (int i = 0; i < tree_node_nums_; i++)
+    {
+      start_tree_[i] = new RRTNode;
+    }
+  }
+
+  void KRRTSTAR::setPosChecker(const PosChecker::Ptr &checker)
+  {
+    pos_checker_ptr_ = checker;
+    sampler_.setPosChecker(checker);
+  }
+
+  void KRRTSTAR::setVisualizer(const VisualRviz::Ptr &vis)
+  {
+    vis_ptr_ = vis;
+  }
+
+  // reset() is called every time before plan();
+  void KRRTSTAR::reset()
+  {
+    for (int i = 0; i < valid_start_tree_node_nums_; i++)
+    {
+      start_tree_[i]->parent = nullptr;
+      start_tree_[i]->children.clear();
+    }
+    valid_start_tree_node_nums_ = 0;
+  }
+
+  int KRRTSTAR::plan(Vector3d start_pos, Vector3d start_vel, Vector3d start_acc,
+                     Vector3d end_pos, Vector3d end_vel, Vector3d end_acc,
+                     double search_time, int deform_type, bool use_regional_opt, bool use_deform)
+  {
+    t_start_ = ros::Time::now();
+    deform_type_ = deform_type;
+    use_regional_opt_ = use_regional_opt;
+    use_deform_ = use_deform;
+
+    if (pos_checker_ptr_->getVoxelState(start_pos) != 0)
+    {
+      ROS_ERROR("[KRRT]: Start pos collide or out of bound");
+      return FAILURE;
+    }
+
+    if (!pos_checker_ptr_->validatePosSurround(end_pos))
+    {
+      Vector3d shift[20] = {Vector3d(-1.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0), Vector3d(0.0, -1.0, 0.0),
+                            Vector3d(0.0, 0.0, 1.0), Vector3d(0.0, 0.0, -1.0), Vector3d(1.0, 0.0, 0.0),
+                            Vector3d(-2.0, 0.0, 0.0), Vector3d(0.0, 2.0, 0.0), Vector3d(0.0, -2.0, 0.0),
+                            Vector3d(0.0, 0.0, 2.0), Vector3d(0.0, 0.0, -2.0), Vector3d(2.0, 0.0, 0.0),
+
+                            Vector3d(1.0, 1.0, 1.0), Vector3d(1.0, 1.0, -1.0), Vector3d(1.0, -1.0, 1.0),
+                            Vector3d(1.0, -1.0, -1.0), Vector3d(-1.0, 1.0, -1.0), Vector3d(-1.1, 1.0, 1.0),
+                            Vector3d(-1.0, -1.0, 1.0), Vector3d(-1.0, -1.0, -1.0)};
+      ROS_WARN("[KRRT]: End pos collide or out of bound, search for other safe end");
+      int i = 0;
+      for (; i < 20; ++i)
+      {
+        end_pos += shift[i] * 0.2;
+        if (pos_checker_ptr_->validatePosSurround(end_pos))
+          break;
+      }
+      if (i == 20)
+      {
+        ROS_ERROR("found no valid end pos, plan fail");
+        return FAILURE;
+      }
+    }
+
+    if ((start_pos - end_pos).norm() < 1e-3 && (start_vel - end_vel).norm() < 1e-4)
+    {
+      ROS_ERROR("[KRRT]: start state & end state too close");
+      return FAILURE;
+    }
+
+    /* construct start and goal nodes */
+    start_node_ = start_tree_[1]; //init ptr
+    start_node_->x.head(3) = start_pos;
+    start_node_->x.segment(3, 3) = start_vel;
+    start_node_->x.tail(3) = start_acc;
+    start_node_->cost_from_start = 0.0;
+    start_node_->tau_from_start = 0.0;
+    goal_node_ = start_tree_[0]; //init ptr
+    goal_node_->x.head(3) = end_pos;
+    if (end_vel.norm() >= vel_limit_)
+    {
+      end_vel.normalize();
+      end_vel = end_vel * vel_limit_;
+    }
+    goal_node_->x.segment(3, 3) = end_vel;
+    goal_node_->x.tail(3) = end_acc;
+    goal_node_->cost_from_start = DBL_MAX; //important
+    goal_node_->tau_from_start = DBL_MAX;  //important
+    valid_start_tree_node_nums_ = 2;       //start and goal already in start_tree_
+
+    /* init sampling space */
+    ROS_INFO_STREAM("Kino RRT* starts planning");
+    vector<Vector3d> p_head, tracks;
+    sampler_.getTopo(p_head, tracks);
+    vis_ptr_->visualizeTopo(p_head, tracks, pos_checker_ptr_->getLocalTime());
+
+    return rrtStar(start_node_->x, goal_node_->x, tree_node_nums_, search_time, radius_cost_between_two_states_, rewire_);
+  }
+
+  int KRRTSTAR::rrtStar(const StatePVA &x_init, const StatePVA &x_final, int n, double search_time, double radius, const bool rewire)
+  {
+    ros::Time rrt_start_time = ros::Time::now();
+    ros::Time first_goal_found_time, final_goal_found_time;
+    double first_general_cost(0.0);
+    unordered_set<RRTNodePtr> curr_traj_node_set;
+
+    /* local variables */
+    valid_sample_nums_ = 0; //random samples in obs free area
+    vector<StatePVA> vis_x;
+    vis_x.reserve(3000);
+    vector<StatePVA> region_traj_vis_x;
+    bool first_time_find_goal(true);
+    bool close_goal_found(false);
+    double close_dist(DBL_MAX);
+    bool goal_found(false);
+    traj_list_.clear();
+    solution_cost_list_.clear();
+    solution_time_list_.clear();
+
+    /* kd tree init */
+    kdtree *kd_tree = kd_create(3);
+    //Add start and goal nodes to kd tree
+    kd_insert3(kd_tree, start_node_->x[0], start_node_->x[1], start_node_->x[2], start_node_);
+    kd_insert3(kd_tree, goal_node_->x[0], goal_node_->x[1], goal_node_->x[2], goal_node_);
+
+    //TODO changable radius
+    double tau_for_instance = radius * 0.75; //maximum
+    double fwd_radius_p = getForwardRadius(tau_for_instance, radius);
+    double bcwd_radius_p = getBackwardRadius(tau_for_instance, radius);
+    // ROS_INFO_STREAM("bcwd_radius_p: " << bcwd_radius_p);
+    // ROS_INFO_STREAM("fwd_radius_p: " << fwd_radius_p);
+
+    /* main loop */
+    vector<StatePVA> samples, valid_samples;
+    int idx = 0;
+    for (idx = 0; (ros::Time::now() - rrt_start_time).toSec() < search_time && valid_start_tree_node_nums_ < n; ++idx)
+    {
+      /* biased random sampling */
+      StatePVA x_rand;
+      bool good_sample = sampler_.samplingOnce(idx, x_rand);
+      // samples.push_back(x_rand);
+      if (!good_sample)
+      {
+        continue;
+      }
+      /* make sure that nearby nodes are in different lattices */
+      struct kdres *p_nbr_set = kd_nearest_range3(kd_tree, x_rand[0], x_rand[1], x_rand[2], 1);
+      if (p_nbr_set == nullptr)
+      {
+        ROS_ERROR("kd range query error");
+        break;
+      }
+      while (!kd_res_end(p_nbr_set))
+      {
+        RRTNodePtr curr_node = (RRTNodePtr)kd_res_item_data(p_nbr_set);
+        Vector3d dir1(x_rand[3], x_rand[4], x_rand[5]);
+        Vector3d dir2(curr_node->x[3], curr_node->x[4], curr_node->x[5]);
+        double angle_diff();
+        if (dir1.dot(dir2) > 0)
+        {
+          good_sample = false;
+          break;
+        }
+        kd_res_next(p_nbr_set);
+      }
+      kd_res_free(p_nbr_set);
+      if (!good_sample)
+      {
+        continue;
+      }
+      /* make sure that nearby nodes are in different lattices */
+
+      valid_samples.push_back(x_rand);
+      ++valid_sample_nums_;
+
+      /* kd_tree bounds search for parent */
+      struct kdres *p_bcwd_nbr_set;
+      p_bcwd_nbr_set = getBackwardNeighbour(x_rand, kd_tree, radius - tau_for_instance, bcwd_radius_p);
+      if (p_bcwd_nbr_set == nullptr)
+      {
+        ROS_ERROR("bkwd kd range query error");
+        break;
+      }
+      /* choose parent from kd tree range query result*/
+      double min_dist(DBL_MAX);
+      double tau_from_s(DBL_MAX);
+      double cost_from_p(0.0);
+      double tau_from_p(0.0);
+      RRTNode *x_near(nullptr); //parent
+      Piece find_parent_seg;
+      vector<RRTNode *> regional_parents; //parents for regional optimization
+      vector<pair<Vector3d, Vector3d>> collide_pts;
+      vector<pair<double, double>> collide_timestamp;
+      vector<Piece> regional_seg;
+      while (!kd_res_end(p_bcwd_nbr_set))
+      {
+        RRTNodePtr curr_node = (RRTNodePtr)kd_res_item_data(p_bcwd_nbr_set);
+        if (curr_node == goal_node_)
+        {
+          // goal node can not be parent of any other node
+          kd_res_next(p_bcwd_nbr_set);
+          continue;
+        }
+        if (bvp_->solve(curr_node->x, x_rand, ACC_UNKNOWN))
+        {
+          CoefficientMat coeff;
+          bvp_->getCoeff(coeff);
+          Piece seg_from_parent = Piece(bvp_->getTauStar(), coeff);
+          // bool connected = checkSegmentConstraints(seg_from_parent);
+          bool vel_cons = seg_from_parent.checkMaxVelRate(vel_limit_);
+          bool acc_cons = seg_from_parent.checkMaxAccRate(acc_limit_);
+          bool jerk_cons = seg_from_parent.checkMaxJerkRate(jerk_limit_);
+          pair<Vector3d, Vector3d> collide_pts_one_seg;
+          pair<double, double> t_s_e;
+          bool need_region_opt(false);
+          bool pos_cons = pos_checker_ptr_->checkPolySeg(seg_from_parent, collide_pts_one_seg, t_s_e, need_region_opt);
+          bool connected = vel_cons && acc_cons && jerk_cons && pos_cons;
+          if (connected)
+          {
+            if (min_dist > (curr_node->cost_from_start + bvp_->getCostStar()))
+            {
+              cost_from_p = bvp_->getCostStar();
+              tau_from_p = bvp_->getTauStar();
+              min_dist = curr_node->cost_from_start + cost_from_p;
+              tau_from_s = curr_node->tau_from_start + tau_from_p;
+              find_parent_seg = seg_from_parent;
+              x_near = curr_node;
+              // break; //!TODO no find best parent
+              // ROS_INFO("one parent found");
+            }
+          }
+          else if (!goal_found && need_region_opt && use_regional_opt_ && seg_from_parent.getAcc(bvp_->getTauStar()).norm() < acc_limit_)
+          {
+            double dis = (curr_node->x - x_rand).head(3).norm();
+            // only 2m < distance with potential parent < 5m and collision duration < 0.5 are stored to be optimized
+            // if (dis < 5.0 && dis > 2.0 && (t_s_e.second - t_s_e.first) <= 0.5 && ((x_rand-x_init).head(3).norm() - (curr_node->x-x_init).head(3).norm()) > 3)
+            {
+              //find segs to be regionally optimized
+              regional_parents.push_back(curr_node);
+              collide_pts.push_back(collide_pts_one_seg);
+              regional_seg.push_back(seg_from_parent);
+              collide_timestamp.push_back(t_s_e);
+              // ROS_WARN_STREAM("region parent: " << curr_node->x.transpose());
+              // ROS_WARN_STREAM("collides: " << collide_pts_one_seg.first.transpose() << ",  " << collide_pts_one_seg.second.transpose());
+            }
+          }
+        }
+        else
+        {
+          ROS_ERROR("sth. wrong with the bvp solver");
+        }
+        kd_res_next(p_bcwd_nbr_set); //go to next in kd tree range query result
+      }
+      kd_res_free(p_bcwd_nbr_set); //reset kd tree range query
+
+      size_t n_r_p = regional_parents.size();
+      RRTNode *sampled_node(nullptr);
+      if (x_near == nullptr && n_r_p > 0)
+      {
+        Trajectory local_opt_traj;
+        for (size_t i = 0; i < n_r_p; ++i)
+        {
+          ros::Time r_o_ts = ros::Time::now();
+          // bool regional_opt_result = stOpt(regional_seg[i], regional_parents[i], local_opt_traj);
+          bool regional_opt_result = regionalOpt(regional_seg[i], collide_pts[i], collide_timestamp[i]);
+          // ROS_ERROR_STREAM("regional_opt costs " << 1e3 * (ros::Time::now() - r_o_ts).toSec() << " ms. Result: " << regional_opt_result);
+          // getchar();
+          if (regional_opt_result)
+          {
+            optimizer_ptr_->getTraj(local_opt_traj);
+
+            /* regional optimization succeeds when find parent, then:
+           * 1. add nodes of the local traj to rrt and kd_tree; 
+           */
+            //sample rejection
+            int n_mid_with_last_pt = local_opt_traj.getPieceNum();
+            double cost[n_mid_with_last_pt];
+            x_rand.tail(3) = local_opt_traj.getAcc(local_opt_traj.getTotalDuration());
+            if (bvp_->solve(x_rand, goal_node_->x, ACC_KNOWN))
+            {
+              double regional_traj_cost = local_opt_traj.calCost(rho_, cost);
+              if (regional_parents[i]->cost_from_start + regional_traj_cost + bvp_->getCostStar() >= goal_node_->cost_from_start)
+              {
+                // ROS_WARN("regionally optimized but sample rejected");
+                continue;
+              }
+            }
+            else
+            {
+              ROS_ERROR("sth. wrong with the bvp solver");
+            }
+
+            if (debug_vis_)
+              local_opt_traj.sampleWholeTrajectory(&region_traj_vis_x);
+            // ROS_WARN("regional optimized");
+            StatePVA mid_x;
+            Vector3d pos, vel, acc;
+            RRTNode *curr_node_in_regional_traj(nullptr), *last_node(nullptr);
+            for (int j = 0; j < n_mid_with_last_pt; j++)
+            {
+              double tau = local_opt_traj[j].getDuration();
+              pos = local_opt_traj[j].getPos(tau);
+              vel = local_opt_traj[j].getVel(tau);
+              acc = local_opt_traj[j].getAcc(tau);
+              mid_x.segment(0, 3) = pos;
+              mid_x.segment(3, 3) = vel;
+              mid_x.segment(6, 3) = acc;
+              /* 1.1 add the randomly sampled node to rrt_tree */
+              if (j == 0)
+                curr_node_in_regional_traj = addTreeNode(regional_parents[i], mid_x, local_opt_traj[j], cost[j], tau);
+              else
+                curr_node_in_regional_traj = addTreeNode(last_node, mid_x, local_opt_traj[j], cost[j], tau);
+              last_node = curr_node_in_regional_traj;
+            }
+            /* 1.2 add the randomly sampled node to kd_tree */
+            kd_insert3(kd_tree, mid_x[0], mid_x[1], mid_x[2], curr_node_in_regional_traj);
+            sampled_node = curr_node_in_regional_traj;
+            break;
+          }
+        }
+      }
+      else if (x_near != nullptr)
+      {
+        /* parent found within radius, then add a node to rrt and kd_tree */
+        //sample rejection
+        Vector3d calculated_acc = find_parent_seg.getAcc(tau_from_p);
+        if (calculated_acc.norm() >= acc_limit_)
+          continue;
+        x_rand.tail(3) = calculated_acc;
+        if (bvp_->solve(x_rand, goal_node_->x, ACC_KNOWN))
+        {
+          if (min_dist + bvp_->getCostStar() >= goal_node_->cost_from_start)
+          {
+            // ROS_WARN("parent found but sample rejected");
+            continue;
+          }
+        }
+        else
+        {
+          ROS_ERROR("sth. wrong with the bvp solver");
+        }
+        /* 1.1 add the randomly sampled node to rrt_tree */
+        sampled_node = addTreeNode(x_near, x_rand, find_parent_seg, min_dist, tau_from_s, cost_from_p, tau_from_p);
+
+        /* 1.2 add the randomly sampled node to kd_tree */
+        kd_insert3(kd_tree, x_rand[0], x_rand[1], x_rand[2], sampled_node);
+      }
+      /* end of find parent */
+
+      if (sampled_node == nullptr) // neither w/ or w/o RO found no parent
+      {
+        continue;
+      }
+
+      /* 2.deform */
+      RRTNodePtr deforming_node = sampled_node->parent;
+      if (goal_found && use_deform_ && deforming_node != start_node_)
+      {
+        if (deform_type_ == ONE_NODE)
+        {
+          if (deforming_node->poly_seg.getDuration() > min_deform_duration_) // && deforming_node->children.size() <= 5)
+          {
+            unitDeformation(deforming_node);
+          }
+        }
+        else if (deform_type_ == TRUNK_NODES)
+        {
+          vector<RRTNodePtr> deform_node_set;
+          while (deforming_node != start_node_)
+          {
+            deform_node_set.push_back(deforming_node);
+            deforming_node = deforming_node->parent;
+          }
+          if (goal_found && use_deform_)
+          {
+            for (int i = deform_node_set.size() - 1; i >= 0; i--)
+            {
+              if (deform_node_set[i]->poly_seg.getDuration() > min_deform_duration_)
+              {
+                unitDeformation(deform_node_set[i]);
+              }
+            }
+          }
+        }
+        else if (deform_type_ == BRANCH_NODES)
+        {
+          RRTNodePtr root_deforming_node(deforming_node);
+          while (deforming_node != start_node_)
+          {
+            root_deforming_node = deforming_node;
+            deforming_node = deforming_node->parent;
+          }
+          if (root_deforming_node != start_node_)
+          {
+            //breadth first
+            queue<RRTNodePtr> q;
+            q.push(root_deforming_node);
+            while (!q.empty())
+            {
+              RRTNodePtr deform_node = q.front();
+              if (deform_node->poly_seg.getDuration() > min_deform_duration_)
+              {
+                unitDeformation(deform_node);
+              }
+              q.pop();
+              for (const auto &child : deform_node->children)
+              {
+                if (!child->children.empty())
+                  q.push(child);
+              }
+            }
+          }
+        }
+        else if (deform_type_ == SMALL_BRANCH_NODES)
+        {
+          //breadth first
+          queue<RRTNodePtr> q;
+          q.push(deforming_node);
+          while (!q.empty())
+          {
+            RRTNodePtr deform_node = q.front();
+            if (deform_node->poly_seg.getDuration() > min_deform_duration_)
+            {
+              unitDeformation(deform_node);
+            }
+            q.pop();
+            for (const auto &child : deform_node->children)
+            {
+              if (!child->children.empty())
+                q.push(child);
+            }
+          }
+        }
+        else if (deform_type_ == TREE_NODES)
+        {
+          queue<RRTNodePtr> q;
+          for (const auto &node : start_node_->children)
+          {
+            q.push(node);
+          }
+          //breadth first
+          while (!q.empty())
+          {
+            RRTNodePtr deform_node = q.front();
+            if (deform_node->poly_seg.getDuration() > min_deform_duration_)
+            {
+              unitDeformation(deform_node);
+            }
+            q.pop();
+            for (const auto &child : deform_node->children)
+            {
+              if (!child->children.empty())
+                q.push(child);
+            }
+          }
+        }
+      }
+
+      /* 1. try to connect to goal after a valid tree node found */
+      bool new_better_solution(false);
+      CoefficientMat coeff;
+      bvp_->getCoeff(coeff);
+      Piece seg2goal = Piece(bvp_->getTauStar(), coeff);
+      // bool connected_to_goal = checkSegmentConstraints(seg2goal);
+      bool vel_cons = seg2goal.checkMaxVelRate(vel_limit_);
+      bool acc_cons = seg2goal.checkMaxAccRate(acc_limit_);
+      bool jerk_cons = seg2goal.checkMaxJerkRate(jerk_limit_);
+      pair<Vector3d, Vector3d> collide_pts_one_seg;
+      pair<double, double> t_s_e;
+      bool need_region_opt(false);
+      bool pos_cons = pos_checker_ptr_->checkPolySeg(seg2goal, collide_pts_one_seg, t_s_e, need_region_opt);
+      bool connected_to_goal = vel_cons && acc_cons && jerk_cons && pos_cons;
+      if (connected_to_goal && goal_node_->cost_from_start > min_dist + bvp_->getCostStar())
+      {
+        changeNodeParent(goal_node_, sampled_node, seg2goal, bvp_->getCostStar(), bvp_->getTauStar());
+        ROS_WARN_STREAM("goal directly connected  curr cost: " << goal_node_->cost_from_start << ", curr dur: " << goal_node_->tau_from_start);
+        goal_found = true;
+        new_better_solution = true;
+      }
+      else if (need_region_opt && use_regional_opt_)
+      {
+        // ROS_ERROR("start regional optimize to goal");
+        Trajectory local_opt_traj_to_goal;
+        ros::Time r_o_ts = ros::Time::now();
+        // bool ret = stOpt(seg2goal, sampled_node, local_opt_traj_to_goal);
+        bool ret = regionalOpt(seg2goal, collide_pts_one_seg, t_s_e);
+        // ROS_ERROR_STREAM("regional_opt to goal costs " << 1e3 * (ros::Time::now() - r_o_ts).toSec() << " ms, result: " << ret);
+        if (ret)
+        {
+          optimizer_ptr_->getTraj(local_opt_traj_to_goal);
+          if (debug_vis_)
+            local_opt_traj_to_goal.sampleWholeTrajectory(&region_traj_vis_x);
+          int n_mid_with_last_pt = local_opt_traj_to_goal.getPieceNum();
+          double seg_cost[n_mid_with_last_pt];
+          double regional_traj_cost = local_opt_traj_to_goal.calCost(rho_, seg_cost);
+          if (goal_node_->cost_from_start > regional_traj_cost + sampled_node->cost_from_start)
+          {
+            StatePVA mid_x;
+            Vector3d pos, vel, acc;
+            RRTNode *curr_node_in_regional_traj(nullptr), *last_node(nullptr);
+            for (int j = 0; j < n_mid_with_last_pt; j++)
+            {
+              double tau = local_opt_traj_to_goal[j].getDuration();
+              pos = local_opt_traj_to_goal[j].getPos(tau);
+              vel = local_opt_traj_to_goal[j].getVel(tau);
+              acc = local_opt_traj_to_goal[j].getAcc(tau);
+              mid_x.segment(0, 3) = pos;
+              mid_x.segment(3, 3) = vel;
+              mid_x.segment(6, 3) = acc;
+              /* 1.1 add the randomly sampled node to rrt_tree */
+              if (j == 0)
+                curr_node_in_regional_traj = addTreeNode(sampled_node, mid_x, local_opt_traj_to_goal[j], seg_cost[j], tau);
+              else if (j == n_mid_with_last_pt - 1)
+                changeNodeParent(goal_node_, last_node, local_opt_traj_to_goal[j], seg_cost[j], tau);
+              else
+                curr_node_in_regional_traj = addTreeNode(last_node, mid_x, local_opt_traj_to_goal[j], seg_cost[j], tau);
+              last_node = curr_node_in_regional_traj;
+            }
+            goal_found = true;
+            new_better_solution = true;
+            ROS_WARN_STREAM("goal RO connected        curr cost: " << goal_node_->cost_from_start << ", curr dur: " << goal_node_->tau_from_start);
+          }
+        }
+      }
+      if (new_better_solution)
+      {
+        /* maintain the set of nodes in curr best traj */
+        curr_traj_node_set.clear();
+        curr_traj_node_set.clear();
+        RRTNodePtr node(goal_node_);
+        while (node->parent)
+        {
+          curr_traj_node_set.insert(node);
+          node = node->parent;
+        }
+        /* maintain the set of nodes in curr best traj */
+        if (test_convergency_)
+        {
+          double curr_general_cost = goal_node_->cost_from_start;
+          ros::Time curr_goal_found_time = ros::Time::now();
+          double curr_traj_use_time_ = (ros::Time::now() - t_start_).toSec();
+          Trajectory traj;
+          fillTraj(goal_node_, traj);
+          traj_list_.emplace_back(traj);
+          solution_cost_list_.emplace_back(curr_general_cost);
+          solution_time_list_.emplace_back(curr_traj_use_time_);
+        }
+        if (first_time_find_goal)
+        {
+          first_general_cost = goal_node_->cost_from_start;
+          first_goal_found_time = ros::Time::now();
+          first_traj_use_time_ = (first_goal_found_time - t_start_).toSec();
+          first_time_find_goal = false;
+          fillTraj(goal_node_, first_traj_);
+        }
+        if (stop_after_first_traj_found_)
+          break; //stop searching after first time find the goal?
+      }
+      /* end of try to connect to goal */
+
+      /* 2.rewire */
+      if (rewire)
+      {
+        //kd_tree bounds search
+        struct kdres *p_fwd_nbr_set;
+        p_fwd_nbr_set = getForwardNeighbour(x_rand, kd_tree, tau_for_instance, fwd_radius_p);
+        if (p_fwd_nbr_set == nullptr)
+        {
+          ROS_ERROR("fwd kd range query error");
+          break;
+        }
+        while (!kd_res_end(p_fwd_nbr_set))
+        {
+          RRTNode *curr_node = (RRTNode *)kd_res_item_data(p_fwd_nbr_set);
+          if (curr_node == goal_node_ || curr_node == start_node_)
+          {
+            // already tried to connect to goal from random sampled node
+            kd_res_next(p_fwd_nbr_set);
+            continue;
+          }
+
+          if (bvp_->solve(x_rand, curr_node->x, ACC_KNOWN))
+          {
+          }
+          else
+          {
+            ROS_ERROR("sth. wrong with the bvp solver");
+          }
+          bool not_consistent = sampled_node->cost_from_start + bvp_->getCostStar() < curr_node->cost_from_start ? 1 : 0;
+          if (not_consistent)
+          {
+            Piece seg_rewire;
+            CoefficientMat coeff;
+            bvp_->getCoeff(coeff);
+            seg_rewire = Piece(bvp_->getTauStar(), coeff);
+            bool connected = checkSegmentConstraints(seg_rewire);
+            // If we can get to a node via the sampled_node faster than via it's existing parent then change the parent
+            if (connected)
+            {
+              RRTNodePtr old_parent(curr_node->parent);
+              changeNodeParent(curr_node, sampled_node, seg_rewire, bvp_->getCostStar(), bvp_->getTauStar());
+              if (test_convergency_ && goal_found)
+              {
+                if (curr_traj_node_set.count(curr_node) > 0) // rewire a node in curr best traj
+                {
+                  curr_traj_node_set.insert(sampled_node);
+                  curr_traj_node_set.erase(old_parent);
+                  double curr_general_cost = goal_node_->cost_from_start;
+                  ros::Time curr_goal_found_time = ros::Time::now();
+                  double curr_traj_use_time_ = (ros::Time::now() - t_start_).toSec();
+                  Trajectory traj;
+                  fillTraj(goal_node_, traj);
+                  traj_list_.emplace_back(traj);
+                  solution_cost_list_.emplace_back(curr_general_cost);
+                  solution_time_list_.emplace_back(curr_traj_use_time_);
+                  ROS_WARN_STREAM("rewire improved          curr cost: " << curr_general_cost << ", curr dur: " << goal_node_->tau_from_start);
+                }
+              }
+            }
+          }
+          /* go to the next entry */
+          kd_res_next(p_fwd_nbr_set);
+        }
+        kd_res_free(p_fwd_nbr_set);
+      } /* end of rewire */
+    }   /* end of sample once */
+    t_end_ = ros::Time::now();
+
+    vis_x.clear();
+    vector<Vector3d> knots;
+    sampleWholeTree(start_node_, &vis_x, knots);
+    vis_ptr_->visualizeStates(vis_x, TreeTraj, pos_checker_ptr_->getLocalTime());
+    vis_ptr_->visualizeKnots(knots, pos_checker_ptr_->getLocalTime());
+    // vis_ptr_->visualizeSampledState(samples, pos_checker_ptr_->getLocalTime());
+    vis_ptr_->visualizeSampledState(valid_samples, pos_checker_ptr_->getLocalTime());
+    // vis_ptr_->visualizePoints(region_traj_vis_x, pos_checker_ptr_->getLocalTime());
+
+    if (goal_found)
+    {
+      final_traj_use_time_ = (t_end_ - t_start_).toSec();
+      fillTraj(goal_node_, traj_);
+      /* for traj vis */
+      ROS_INFO_STREAM("[KRRT]: total sample times: " << idx);
+      ROS_INFO_STREAM("[KRRT]: valid sample times: " << valid_sample_nums_);
+      ROS_INFO_STREAM("[KRRT]: valid tree node nums: " << valid_start_tree_node_nums_);
+      ROS_INFO("[KRRT]: Time: %.2f s, MaxVel: %.2f m/s, MaxAcc: %.2f m/s^2 , MaxJrk: %.2f m/s^3 \n",
+               traj_.getTotalDuration(), traj_.getMaxVelRate(), traj_.getMaxAccRate(), traj_.getMaxJerkRate());
+      return SUCCESS;
+    }
+    else if (allow_close_goal_ && valid_start_tree_node_nums_ > 2)
+    {
+      ROS_WARN("Not connectting to goal, choose a bypass");
+      t_end_ = ros::Time::now();
+      chooseBypass(close_goal_node_, start_node_);
+      fillTraj(close_goal_node_, traj_);
+      /* for traj vis */
+      vis_x.clear();
+      traj_.sampleWholeTrajectory(&vis_x);
+      vis_ptr_->visualizeStates(vis_x, GRAY, pos_checker_ptr_->getLocalTime());
+
+      double final_traj_len(0.0), final_traj_duration(0.0), final_traj_acc_itg(0.0), final_traj_jerk_itg(0.0);
+      int final_traj_seg_nums(0);
+      evaluateTraj(traj_, final_traj_duration, final_traj_len, final_traj_seg_nums, final_traj_acc_itg, final_traj_jerk_itg);
+      final_traj_use_time_ = t_end_.toSec() - t_start_.toSec();
+      ROS_INFO_STREAM("[KRRT]: total sample times: " << idx);
+      ROS_INFO_STREAM("[KRRT]: valid sample times: " << valid_sample_nums_);
+      ROS_INFO_STREAM("[KRRT]: valid tree node nums: " << valid_start_tree_node_nums_);
+      ROS_INFO_STREAM("[KRRT]: [front-end final path]: " << endl
+                                                         << "    -   seg nums: " << final_traj_seg_nums << endl
+                                                         << "    -   time: " << final_traj_use_time_ * 1e3 << " ms" << endl
+                                                         << "    -   acc integral: " << final_traj_acc_itg << endl
+                                                         << "    -   jerk integral: " << final_traj_jerk_itg << endl
+                                                         << "    -   traj duration: " << final_traj_duration << endl
+                                                         << "    -   path length: " << final_traj_len << " m" << endl
+                                                         << "    -   general cost: " << close_goal_node_->cost_from_start);
+      return SUCCESS_CLOSE_GOAL;
+    }
+    else if (valid_start_tree_node_nums_ == n)
+    {
+      ROS_ERROR_STREAM("[KRRT]: NOT CONNECTED TO GOAL after " << n << " nodes added to rrt-tree");
+      ROS_INFO_STREAM("[KRRT]: total sample times: " << idx);
+      ROS_INFO_STREAM("[KRRT]: valid sample times: " << valid_sample_nums_);
+      ROS_INFO_STREAM("[KRRT]: valid tree node nums: " << valid_start_tree_node_nums_);
+      return FAILURE;
+    }
+    else if ((ros::Time::now() - rrt_start_time).toSec() >= search_time)
+    {
+      ROS_ERROR_STREAM("[KRRT]: NOT CONNECTED TO GOAL after " << (ros::Time::now() - rrt_start_time).toSec() << " seconds");
+      ROS_INFO_STREAM("[KRRT]: total sample times: " << idx);
+      ROS_INFO_STREAM("[KRRT]: valid sample times: " << valid_sample_nums_);
+      ROS_INFO_STREAM("[KRRT]: valid tree node nums: " << valid_start_tree_node_nums_);
+      return FAILURE;
+    }
+    else
+    {
+      return FAILURE;
+    }
+  }
+
+  double KRRTSTAR::getForwardRadius(double tau, double cost)
+  {
+    MatrixXd G(3, 3);
+    G.setZero();
+    double tau_2 = tau * tau;
+    double tau_3 = tau_2 * tau;
+    double tau_4 = tau_3 * tau;
+    double tau_5 = tau_4 * tau;
+    G(0, 0) = 720.0 / tau_5;
+    G(1, 1) = 192.0 / tau_3;
+    G(2, 2) = 9.0 / tau;
+    G(0, 1) = G(1, 0) = -360.0 / tau_4;
+    G(0, 2) = G(2, 0) = 60.0 / tau_3;
+    G(1, 2) = G(2, 1) = -36.0 / tau_2;
+    G = G * rho_ / (cost - tau) * 3.0;
+    // ROS_INFO_STREAM("G: \n" << G);
+    Eigen::EigenSolver<MatrixXd> es(G);
+    // cout << "The eigenvalues of G are:" << endl << es.eigenvalues() << endl;
+    // cout << "The matrix of eigenvectors, V, is:" << endl << es.eigenvectors() << endl << endl;
+    double radius_p(0.0);
+    for (int i = 0; i < 3; ++i)
+    {
+      radius_p = max(radius_p, sqrt(1.0 / es.eigenvalues()[i].real()) * fabs(es.eigenvectors().col(i)[i]));
+    }
+    return radius_p * 1.732;
+  }
+
+  double KRRTSTAR::getBackwardRadius(double tau, double cost)
+  {
+    MatrixXd G(3, 3);
+    G.setZero();
+    double tau_2 = tau * tau;
+    double tau_3 = tau_2 * tau;
+    double tau_4 = tau_3 * tau;
+    double tau_5 = tau_4 * tau;
+    G(0, 0) = 720.0 / tau_5;
+    G(1, 1) = 192.0 / tau_3;
+    G(2, 2) = 9.0 / tau;
+    G(0, 1) = G(1, 0) = -360.0 / tau_4;
+    G(0, 2) = G(2, 0) = 60.0 / tau_3;
+    G(1, 2) = G(2, 1) = -36.0 / tau_2;
+    G = G * rho_ / (cost - tau) * 3.0;
+    // ROS_INFO_STREAM("G: \n" << G);
+    Eigen::EigenSolver<MatrixXd> es(G);
+    // cout << "The eigenvalues of G are:" << endl << es.eigenvalues() << endl;
+    // cout << "The matrix of eigenvectors, V, is:" << endl << es.eigenvectors() << endl << endl;
+    double radius_p(0.0);
+    for (int i = 0; i < 3; ++i)
+    {
+      radius_p = max(radius_p, sqrt(1.0 / es.eigenvalues()[i].real()) * fabs(es.eigenvectors().col(i)[i]));
+    }
+    return radius_p * 1.732;
+  }
+
+  struct kdres *KRRTSTAR::getForwardNeighbour(const StatePVA &x0, struct kdtree *kd_tree, double tau, double radius_p)
+  {
+    double half_tau_square = tau * tau / 2;
+    StatePVA x_ba_tau;
+    x_ba_tau[0] = x0[0] + x0[3] * tau + x0[6] * half_tau_square;
+    x_ba_tau[1] = x0[1] + x0[4] * tau + x0[7] * half_tau_square;
+    x_ba_tau[2] = x0[2] + x0[5] * tau + x0[8] * half_tau_square;
+    // x_ba_tau[3] = x0[3] + tau*x0[6];
+    // x_ba_tau[4] = x0[4] + tau*x0[7];
+    // x_ba_tau[5] = x0[5] + tau*x0[8];
+    // x_ba_tau[6] = x0[6];
+    // x_ba_tau[7] = x0[7];
+    // x_ba_tau[8] = x0[8];
+
+    if (debug_vis_)
+    {
+      vis_ptr_->visualizeReachPos(FORWARD_REACHABLE_POS, x_ba_tau.head(3), 2 * radius_p, pos_checker_ptr_->getLocalTime());
+      // vis_ptr_->visualizeReachVel(1, x_ba_tau.head(3) + x_ba_tau.tail(3), 2 * radius_v, pos_checker_ptr_->getLocalTime());
+      // getchar();
+    }
+    return kd_nearest_range3(kd_tree, x_ba_tau[0], x_ba_tau[1], x_ba_tau[2], radius_p);
+  }
+
+  struct kdres *KRRTSTAR::getBackwardNeighbour(const StatePVA &x1, struct kdtree *kd_tree, double tau, double radius_p)
+  {
+    StatePVA expNegATau_x1;
+    double half_tau_square = tau * tau / 2;
+    expNegATau_x1[0] = x1[0] - x1[3] * tau + x1[6] * half_tau_square;
+    expNegATau_x1[1] = x1[1] - x1[4] * tau + x1[7] * half_tau_square;
+    expNegATau_x1[2] = x1[2] - x1[5] * tau + x1[8] * half_tau_square;
+    // expNegATau_x1[3] = x1[3] - x1[6]*tau;
+    // expNegATau_x1[4] = x1[4] - x1[7]*tau;
+    // expNegATau_x1[5] = x1[5] - x1[8]*tau;
+    // expNegATau_x1[6] = x1[6];
+    // expNegATau_x1[7] = x1[7];
+    // expNegATau_x1[8] = x1[8];
+
+    if (debug_vis_)
+    {
+      vis_ptr_->visualizeReachPos(BACKWARD_REACHABLE_POS, expNegATau_x1.head(3), 2 * radius_p, pos_checker_ptr_->getLocalTime());
+      // vis_ptr_->visualizeReachVel(1, expNegATau_x1.head(3) + expNegATau_x1.tail(3), 2 * radius_v, pos_checker_ptr_->getLocalTime());
+      // getchar();
+    }
+    return kd_nearest_range3(kd_tree, expNegATau_x1[0], expNegATau_x1[1], expNegATau_x1[2], radius_p);
+  }
+
+  inline RRTNodePtr KRRTSTAR::addTreeNode(RRTNodePtr &parent, const StatePVA &state, const Piece &piece,
+                                          const double &cost_from_start, const double &tau_from_start,
+                                          const double &cost_from_parent, const double &tau_from_parent)
+  {
+    RRTNodePtr new_node_ptr = start_tree_[valid_start_tree_node_nums_++];
+    new_node_ptr->parent = parent;
+    parent->children.push_back(new_node_ptr);
+    new_node_ptr->x = state;
+    new_node_ptr->poly_seg = piece;
+    new_node_ptr->cost_from_start = cost_from_start;
+    new_node_ptr->tau_from_start = tau_from_start;
+    new_node_ptr->cost_from_parent = cost_from_parent;
+    new_node_ptr->tau_from_parent = tau_from_parent;
+    return new_node_ptr;
+  }
+
+  inline RRTNodePtr KRRTSTAR::addTreeNode(RRTNodePtr &parent, const StatePVA &state, const Piece &piece,
+                                          const double &cost_from_parent, const double &tau_from_parent)
+  {
+    RRTNodePtr new_node_ptr = start_tree_[valid_start_tree_node_nums_++];
+    new_node_ptr->parent = parent;
+    parent->children.push_back(new_node_ptr);
+    new_node_ptr->x = state;
+    new_node_ptr->poly_seg = piece;
+    new_node_ptr->cost_from_start = parent->cost_from_start + cost_from_parent;
+    new_node_ptr->tau_from_start = parent->tau_from_start + tau_from_parent;
+    new_node_ptr->cost_from_parent = cost_from_parent;
+    new_node_ptr->tau_from_parent = tau_from_parent;
+    return new_node_ptr;
+  }
+
+  inline void KRRTSTAR::changeNodeParent(RRTNodePtr &node, RRTNodePtr &parent, const Piece &piece,
+                                         const double &cost_from_parent, const double &tau_from_parent)
+  {
+    if (node->parent)
+      node->parent->children.remove(node); //DON'T FORGET THIS, remove it form its parent's children list
+    node->parent = parent;
+    node->cost_from_parent = cost_from_parent;
+    node->tau_from_parent = tau_from_parent;
+    node->cost_from_start = parent->cost_from_start + cost_from_parent;
+    node->tau_from_start = parent->tau_from_start + tau_from_parent;
+    node->poly_seg = piece;
+    parent->children.push_back(node);
+
+    // for all its descedants, change the cost_from_start and tau_from_start;
+    RRTNode *descendant(node);
+    std::queue<RRTNode *> Q;
+    Q.push(descendant);
+    while (!Q.empty())
+    {
+      descendant = Q.front();
+      Q.pop();
+      for (const auto &leafptr : descendant->children)
+      {
+        leafptr->cost_from_start = leafptr->cost_from_parent + descendant->cost_from_start;
+        leafptr->tau_from_start = leafptr->tau_from_parent + descendant->tau_from_start;
+        Q.push(leafptr);
+      }
+    }
+  }
+
+  inline bool KRRTSTAR::regionalOpt(const Piece &oringin_seg, const pair<Vector3d, Vector3d> &collide_pts_one_seg, const pair<double, double> &t_s_e)
+  {
+    int split_seg_num = 2;
+    Trajectory pre_regional_traj;
+    pre_regional_traj.reserve(split_seg_num);
+    CoefficientMat coeff = oringin_seg.getCoeffMat();
+    double duration = oringin_seg.getDuration() / split_seg_num;
+    pre_regional_traj.emplace_back(Piece(duration, coeff));
+    for (int i = 1; i < split_seg_num; ++i)
+    {
+      oringin_seg.cutPiece(oringin_seg, duration * i, coeff);
+      pre_regional_traj.emplace_back(Piece(duration, coeff));
+    }
+
+    if (searcher_->AstarSearch(pos_checker_ptr_->getResolution(), collide_pts_one_seg.first, collide_pts_one_seg.second))
+    {
+      vector<Eigen::Vector3d> grid_path = searcher_->getPath();
+      // vis_ptr_->visualizeKnots(grid_path, pos_checker_ptr_->getLocalTime());
+      std::vector<pair<int, int>> seg_num_obs_size; //first: # of segment in a traj; second: number of attract_pt in this segment.
+      std::vector<double> t_s, t_e;                 // each attract_pt's timestamp of start and end in its corresponding segment. Size should be the same as the sum of seg_num_obs_size.second.
+      std::vector<Eigen::Vector3d> attract_pts;
+      pos_checker_ptr_->getRegionalAttractPts(pre_regional_traj, grid_path, t_s_e, seg_num_obs_size, attract_pts, t_s, t_e);
+      if (!optimizer_ptr_->initialize(pre_regional_traj, TrajOptimizer::SMOOTH_HOMO_OBS))
+      {
+        return false;
+      }
+      return (optimizer_ptr_->solveRegionalOpt(seg_num_obs_size, attract_pts, t_s, t_e));
+    }
+    else
+    {
+      // ROS_WARN_STREAM("a star search fail, from: " << collide_pts_one_seg.first.transpose() << " to " << collide_pts_one_seg.second.transpose());
+      return false;
+    }
+  }
+
+  inline void KRRTSTAR::unitDeformation(const RRTNodePtr &deforming_node)
+  {
+    // vector<StatePVA> vis_x;
+    // vis_x.clear();
+    // vector<Vector3d> knots;
+    // sampleWholeTree(start_node_, &vis_x, knots);
+    // vis_ptr_->visualizeStates(vis_x, TreeTraj, pos_checker_ptr_->getLocalTime());
+
+    // vis_x.clear();
+    // vector<Vector3d> knots1;
+    // sampleDeformedTrunk(deforming_node, &vis_x, knots1);
+    // vis_ptr_->visualizeStates(vis_x, ORANGE, pos_checker_ptr_->getLocalTime());
+    // vis_ptr_->visualizeKnots(knots1, pos_checker_ptr_->getLocalTime());
+    // getchar();
+
+    // ROS_WARN("deform start");
+    ros::Time deform_s_t = ros::Time::now();
+    VectorXd node_state = deforming_node->x;
+    VectorXd parent_state = deforming_node->parent->x;
+    double parent_T = deforming_node->poly_seg.getDuration();
+    int self_descendant_num_plus_one(1);
+    vector<VectorXd> children_states;
+    vector<double> children_Ts;
+    vector<int> children_descendant_num;
+    for (const RRTNodePtr &child : deforming_node->children)
+    {
+      children_states.push_back(child->x);
+      children_Ts.push_back(child->poly_seg.getDuration());
+      int descendant_num_plus_one = child->countDescendant() + 1;
+      children_descendant_num.push_back(descendant_num_plus_one);
+      self_descendant_num_plus_one += descendant_num_plus_one;
+    }
+    // cout << "before deform parent_T: " << parent_T << endl;
+    bool deform_result = trunk_opt_ptr_->optimizeBranch(node_state,
+                                                        parent_state, parent_T, self_descendant_num_plus_one,
+                                                        children_states, children_Ts, children_descendant_num);
+    // cout << "after deform parent_T: " << parent_T << endl;
+    if (deform_result)
+    {
+      double before_deform_curr_general_cost = goal_node_->cost_from_start;
+      deforming_node->x = node_state;
+      BoundaryCond bc;
+      bc.col(0) = deforming_node->parent->x.head(3);
+      bc.col(1) = deforming_node->parent->x.segment(3, 3);
+      bc.col(2) = deforming_node->parent->x.tail(3);
+      bc.col(3) = deforming_node->x.head(3);
+      bc.col(4) = deforming_node->x.segment(3, 3);
+      bc.col(5) = deforming_node->x.tail(3);
+      deforming_node->poly_seg = Piece(bc, parent_T);
+      // ROS_INFO_STREAM("max vel: " << deforming_node->poly_seg.getMaxVelRate() << ", max acc: " << deforming_node->poly_seg.getMaxAccRate());
+      deforming_node->cost_from_parent = bvp_->calCostAccKnown(deforming_node->parent->x, deforming_node->x, parent_T);
+      // deforming_node->cost_from_parent = deforming_node->poly_seg.calCost(rho_);
+      deforming_node->tau_from_parent = parent_T;
+      deforming_node->cost_from_start = deforming_node->parent->cost_from_start + deforming_node->cost_from_parent;
+      deforming_node->tau_from_start = deforming_node->parent->tau_from_start + parent_T;
+      int i(0);
+      for (const RRTNodePtr &child : deforming_node->children)
+      {
+        bc.col(0) = deforming_node->x.head(3);
+        bc.col(1) = deforming_node->x.segment(3, 3);
+        bc.col(2) = deforming_node->x.tail(3);
+        bc.col(3) = child->x.head(3);
+        bc.col(4) = child->x.segment(3, 3);
+        bc.col(5) = child->x.tail(3);
+        child->poly_seg = Piece(bc, children_Ts[i]);
+        // ROS_INFO_STREAM("max vel: " << child->poly_seg.getMaxVelRate() << ", max acc: " << child->poly_seg.getMaxAccRate());
+        child->cost_from_parent = bvp_->calCostAccKnown(child->parent->x, child->x, children_Ts[i]);
+        // child->cost_from_parent = child->poly_seg.calCost(rho_);
+        child->tau_from_parent = children_Ts[i];
+        child->cost_from_start = child->parent->cost_from_start + child->cost_from_parent;
+        child->tau_from_start = child->parent->tau_from_start + children_Ts[i];
+        i++;
+        /* change cost_from_start and tau_from_start of nodes in each sub-branch */
+        // breadth first search
+        queue<RRTNodePtr> q;
+        for (const RRTNodePtr &grand_child : child->children)
+        {
+          q.push(grand_child);
+        }
+        while (!q.empty())
+        {
+          RRTNodePtr node = q.front();
+          q.pop();
+          node->cost_from_start = node->parent->cost_from_start + node->cost_from_parent;
+          node->tau_from_start = node->parent->tau_from_start + node->tau_from_parent;
+          for (const RRTNodePtr &grand_grand_child : node->children)
+          {
+            q.push(grand_grand_child);
+          }
+        }
+        /* change cost_from_start and tau_from_start of nodes in each sub-branch */
+      }
+
+      double curr_general_cost = goal_node_->cost_from_start;
+      if (test_convergency_ && curr_general_cost < before_deform_curr_general_cost - 1e-5)
+      {
+        ros::Time curr_goal_found_time = ros::Time::now();
+        double curr_traj_use_time_ = (ros::Time::now() - t_start_).toSec();
+        std::vector<double> durs;
+        std::vector<CoefficientMat> coeffMats;
+        RRTNodePtr node = goal_node_;
+        while (node->parent)
+        {
+          durs.push_back(node->poly_seg.getDuration());
+          coeffMats.push_back(node->poly_seg.getCoeffMat());
+          node = node->parent;
+        }
+        std::reverse(std::begin(durs), std::end(durs));
+        std::reverse(std::begin(coeffMats), std::end(coeffMats));
+        traj_list_.emplace_back(durs, coeffMats);
+        solution_cost_list_.emplace_back(curr_general_cost);
+        solution_time_list_.emplace_back(curr_traj_use_time_);
+        ROS_WARN_STREAM("deform improved          curr cost: " << curr_general_cost << ", curr dur: " << goal_node_->tau_from_start);
+      }
+      ros::Time deform_e_t = ros::Time::now();
+      // ROS_WARN_STREAM(deforming_node->children.size() + 1 << " segs, deforming success, takes "
+      // << (deform_e_t - deform_s_t).toSec()*1000 << " ms, cost change after deform: " << curr_general_cost - before_deform_curr_general_cost);
+    }
+    else
+    {
+      // ros::Time deform_e_t = ros::Time::now();
+      // ROS_ERROR_STREAM(deforming_node->children.size()+1 << " segs, deforming faild, takes " << (deform_e_t - deform_s_t).toSec()*1000 << " ms");
+    }
+
+    // vis_x.clear();
+    // sampleDeformedTrunk(deforming_node, &vis_x, knots1);
+    // vis_ptr_->visualizeStates(vis_x, GREEN, pos_checker_ptr_->getLocalTime());
+    // vis_ptr_->visualizeKnots(knots1, pos_checker_ptr_->getLocalTime());
+    // getchar();
+  }
+
+  inline bool KRRTSTAR::stOpt(const Piece &oringin_seg, const RRTNodePtr &parent, Trajectory &opted_two_seg)
+  {
+    // vector<StatePVA> vis_x;
+    // oringin_seg.sampleOneSeg(&vis_x);
+    // vis_ptr_->visualizeStates(vis_x, BLUE, pos_checker_ptr_->getLocalTime());
+    // getchar();
+
+    double T = oringin_seg.getDuration();
+    double init_T = T / 2.0;
+    VectorXd node_state(9);
+    node_state.head(3) = oringin_seg.getPos(init_T);
+    node_state.segment(3, 3) = oringin_seg.getVel(init_T);
+    node_state.tail(3) = oringin_seg.getAcc(init_T);
+
+    VectorXd parent_state = parent->x;
+    double parent_T = init_T;
+
+    int self_descendant_num_plus_one(2);
+    vector<VectorXd> children_states;
+    vector<double> children_Ts;
+    vector<int> children_descendant_num;
+    VectorXd child_state(9);
+    child_state.head(3) = oringin_seg.getPos(T);
+    child_state.segment(3, 3) = oringin_seg.getVel(T);
+    child_state.tail(3) = oringin_seg.getAcc(T);
+
+    children_states.push_back(child_state);
+    children_Ts.push_back(init_T);
+    int descendant_num_plus_one = 1;
+    children_descendant_num.push_back(descendant_num_plus_one);
+    bool deform_result = trunk_opt_ptr_->optimizeBranch(node_state,
+                                                        parent_state, parent_T, self_descendant_num_plus_one,
+                                                        children_states, children_Ts, children_descendant_num);
+    if (deform_result)
+    {
+      std::vector<double> durs;
+      durs.push_back(parent_T);
+      durs.push_back(children_Ts[0]);
+      std::vector<CoefficientMat> coeffMats;
+      BoundaryCond bc1;
+      bc1.col(0) = parent->x.head(3);
+      bc1.col(1) = parent->x.segment(3, 3);
+      bc1.col(2) = parent->x.tail(3);
+      bc1.col(3) = node_state.head(3);
+      bc1.col(4) = node_state.segment(3, 3);
+      bc1.col(5) = node_state.tail(3);
+      Piece p1(bc1, parent_T);
+      BoundaryCond bc2;
+      bc2.col(0) = node_state.head(3);
+      bc2.col(1) = node_state.segment(3, 3);
+      bc2.col(2) = node_state.tail(3);
+      bc2.col(3) = child_state.head(3);
+      bc2.col(4) = child_state.segment(3, 3);
+      bc2.col(5) = child_state.tail(3);
+      Piece p2(bc2, children_Ts[0]);
+      coeffMats.push_back(p1.getCoeffMat());
+      coeffMats.push_back(p2.getCoeffMat());
+      opted_two_seg = Trajectory(durs, coeffMats);
+
+      // vector<StatePVA> vis_x;
+      // p1.sampleOneSeg(&vis_x);
+      // p2.sampleOneSeg(&vis_x);
+      // vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+      // getchar();
+    }
+    return deform_result;
+  }
+
+  inline bool KRRTSTAR::stOpt(Trajectory &opted_two_seg)
+  {
+    vector<StatePVA> vis_x;
+    opted_two_seg.sampleWholeTrajectory(&vis_x);
+    vis_ptr_->visualizeStates(vis_x, GREEN, pos_checker_ptr_->getLocalTime());
+    getchar();
+
+    double parent_T = opted_two_seg[0].getDuration();
+    VectorXd node_state(9);
+    node_state.head(3) = opted_two_seg[0].getPos(parent_T);
+    node_state.segment(3, 3) = opted_two_seg[0].getVel(parent_T);
+    node_state.tail(3) = opted_two_seg[0].getAcc(parent_T);
+
+    VectorXd parent_state(9);
+    parent_state.head(3) = opted_two_seg[0].getPos(0);
+    parent_state.segment(3, 3) = opted_two_seg[0].getVel(0);
+    parent_state.tail(3) = opted_two_seg[0].getAcc(0);
+
+    double child_T = opted_two_seg[1].getDuration();
+    int self_descendant_num_plus_one(2);
+    vector<VectorXd> children_states;
+    vector<double> children_Ts;
+    vector<int> children_descendant_num;
+    VectorXd child_state(9);
+    child_state.head(3) = opted_two_seg[1].getPos(child_T);
+    child_state.segment(3, 3) = opted_two_seg[1].getVel(child_T);
+    child_state.tail(3) = opted_two_seg[1].getAcc(child_T);
+
+    children_states.push_back(child_state);
+    children_Ts.push_back(child_T);
+    int descendant_num_plus_one = 1;
+    children_descendant_num.push_back(descendant_num_plus_one);
+    bool deform_result = trunk_opt_ptr_->optimizeBranch(node_state,
+                                                        parent_state, parent_T, self_descendant_num_plus_one,
+                                                        children_states, children_Ts, children_descendant_num);
+    if (deform_result)
+    {
+      std::vector<double> durs;
+      durs.push_back(parent_T);
+      durs.push_back(children_Ts[0]);
+      std::vector<CoefficientMat> coeffMats;
+      BoundaryCond bc1;
+      bc1.col(0) = parent_state.head(3);
+      bc1.col(1) = parent_state.segment(3, 3);
+      bc1.col(2) = parent_state.tail(3);
+      bc1.col(3) = node_state.head(3);
+      bc1.col(4) = node_state.segment(3, 3);
+      bc1.col(5) = node_state.tail(3);
+      Piece p1(bc1, parent_T);
+      BoundaryCond bc2;
+      bc2.col(0) = node_state.head(3);
+      bc2.col(1) = node_state.segment(3, 3);
+      bc2.col(2) = node_state.tail(3);
+      bc2.col(3) = child_state.head(3);
+      bc2.col(4) = child_state.segment(3, 3);
+      bc2.col(5) = child_state.tail(3);
+      Piece p2(bc2, children_Ts[0]);
+      coeffMats.push_back(p1.getCoeffMat());
+      coeffMats.push_back(p2.getCoeffMat());
+      opted_two_seg = Trajectory(durs, coeffMats);
+
+      vector<StatePVA> vis_x;
+      p1.sampleOneSeg(&vis_x);
+      p2.sampleOneSeg(&vis_x);
+      vis_ptr_->visualizeStates(vis_x, RED, pos_checker_ptr_->getLocalTime());
+      getchar();
+    }
+    return deform_result;
+  }
+
+  inline void KRRTSTAR::sampleDeformedTrunk(const RRTNodePtr &node, vector<StatePVA> *vis_x, vector<Vector3d> &knots)
+  {
+    if (node == nullptr || node->parent == nullptr)
+      return;
+    node->poly_seg.sampleOneSeg(vis_x);
+    knots.push_back(node->parent->x.head(3));
+    for (const auto &leaf : node->children)
+    {
+      leaf->poly_seg.sampleOneSeg(vis_x);
+      knots.push_back(leaf->x.head(3));
+    }
+    knots.push_back(node->x.head(3));
+  }
+
+  inline double KRRTSTAR::dist(const StatePVA &x0, const StatePVA &x1)
+  {
+    Vector3d p_diff(x0.head(3) - x1.head(3));
+    return p_diff.norm();
+  }
+
+  inline void KRRTSTAR::sampleWholeTree(const RRTNodePtr &root, vector<StatePVA> *vis_x, vector<Vector3d> &knots)
+  {
+    if (root == nullptr)
+      return;
+    //whatever dfs or bfs
+    RRTNode *node = root;
+    std::queue<RRTNode *> Q;
+    Q.push(node);
+    while (!Q.empty())
+    {
+      node = Q.front();
+      Q.pop();
+      for (const auto &leafptr : node->children)
+      {
+        leafptr->poly_seg.sampleOneSeg(vis_x);
+        knots.push_back(leafptr->x.head(3));
+        Q.push(leafptr);
+      }
+    }
+  }
+
+  void KRRTSTAR::fillTraj(const RRTNodePtr &goal_leaf, Trajectory &traj)
+  {
+    std::vector<double> durs;
+    std::vector<CoefficientMat> coeffMats;
+    RRTNodePtr node = goal_leaf;
+    while (node->parent)
+    {
+      durs.push_back(node->poly_seg.getDuration());
+      coeffMats.push_back(node->poly_seg.getCoeffMat());
+      node = node->parent;
+    }
+    std::reverse(std::begin(durs), std::end(durs));
+    std::reverse(std::begin(coeffMats), std::end(coeffMats));
+    traj = Trajectory(durs, coeffMats);
+  }
+
+  inline bool KRRTSTAR::checkSegmentConstraints(const Piece &seg)
+  {
+    if (!seg.checkMaxVelRate(vel_limit_))
+    {
+      // ROS_WARN("vel constraints violate!");
+      return false;
+    }
+    if (!seg.checkMaxAccRate(acc_limit_))
+    {
+      // ROS_WARN("acc constraints violate!");
+      return false;
+    }
+    if (!seg.checkMaxJerkRate(jerk_limit_))
+    {
+      // ROS_WARN("jerk constraints violate!");
+      return false;
+    }
+    if (!pos_checker_ptr_->checkPolySeg(seg))
+    {
+      // ROS_WARN("pos constraints violate!");
+      return false;
+    }
+    return true;
+  }
+
+  inline bool KRRTSTAR::getTraversalLines(const Piece &seg, vector<pair<Vector3d, Vector3d>> &traversal_lines)
+  {
+    bool res = pos_checker_ptr_->checkPolySeg(seg, traversal_lines);
+    return res;
+  }
+
+  double KRRTSTAR::evaluateTraj(const Trajectory &traj, double &traj_duration, double &traj_length, int &seg_nums,
+                                double &acc_integral, double &jerk_integral)
+  {
+    traj_length = 0.0;
+    traj_duration = 0.0;
+    seg_nums = traj.getPieceNum();
+    acc_integral = 0.0;
+    jerk_integral = 0.0;
+
+    double d_t = 0.02;
+    for (int i = 0; i < seg_nums; ++i)
+    {
+      double tau = traj[i].getDuration();
+      traj_duration += tau;
+      for (double t = 0.0; t < tau; t += d_t)
+      {
+        Eigen::Vector3d vel, acc, jerk;
+        vel = traj[i].getVel(t);
+        acc = traj[i].getAcc(t);
+        jerk = traj[i].getJerk(t);
+        traj_length += vel.norm() * d_t;
+        acc_integral += acc.dot(acc) * d_t;
+        jerk_integral += jerk.dot(jerk) * d_t;
+      }
+    }
+    double c[seg_nums];
+    return traj.calCost(rho_, c);
+  }
+
+  void KRRTSTAR::chooseBypass(RRTNodePtr &goal_leaf, const RRTNodePtr &tree_start_node)
+  {
+    goal_leaf = start_tree_[valid_start_tree_node_nums_ - 1];
+    double close_dist(DBL_MAX);
+    for (int i = 2; i < valid_start_tree_node_nums_; ++i)
+    {
+      double dist_to_goal = dist(start_tree_[i]->x, goal_node_->x);
+      if (dist_to_goal < close_dist)
+      {
+        close_dist = dist_to_goal;
+        close_goal_node_ = start_tree_[i];
+      }
+    }
+  }
+
+} //namespace tgk_planner
\ No newline at end of file
diff --git a/planning/kino_plan/src/raycast.cpp b/planning/kino_plan/src/raycast.cpp
new file mode 100755
index 0000000..69ef95b
--- /dev/null
+++ b/planning/kino_plan/src/raycast.cpp
@@ -0,0 +1,366 @@
+#include <kino_plan/raycast.h>
+#include <iostream>
+#include <cmath>
+#include <Eigen/Eigen>
+
+int signum(int x)
+{
+  return x == 0 ? 0 : x < 0 ? -1 : 1;
+}
+
+double mod(double value, double modulus)
+{
+  return fmod(fmod(value, modulus) + modulus, modulus);
+}
+
+double intbound(double s, double ds)
+{
+  // Find the smallest positive t such that s+t*ds is an integer.
+  if (ds < 0)
+  {
+    return intbound(-s, -ds);
+  }
+  else
+  {
+    s = mod(s, 1);
+    // problem is now s+t*ds = 1
+    return (1 - s) / ds;
+  }
+}
+
+void Raycast(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const Eigen::Vector3d& min,
+             const Eigen::Vector3d& max, int& output_points_cnt, Eigen::Vector3d* output)
+{
+  //    std::cout << start << ' ' << end << std::endl;
+  // From "A Fast Voxel Traversal Algorithm for Ray Tracing"
+  // by John Amanatides and Andrew Woo, 1987
+  // <http://www.cse.yorku.ca/~amana/research/grid.pdf>
+  // <http://citeseer.ist.psu.edu/viewdoc/summary?doi=10.1.1.42.3443>
+  // Extensions to the described algorithm:
+  //   • Imposed a distance limit.
+  //   • The face passed through to reach the current cube is provided to
+  //     the callback.
+
+  // The foundation of this algorithm is a parameterized representation of
+  // the provided ray,
+  //                    origin + t * direction,
+  // except that t is not actually stored; rather, at any given point in the
+  // traversal, we keep track of the *greater* t values which we would have
+  // if we took a step sufficient to cross a cube boundary along that axis
+  // (i.e. change the integer part of the coordinate) in the variables
+  // tMaxX, tMaxY, and tMaxZ.
+
+  // Cube containing origin point.
+  int x = (int)std::floor(start.x());
+  int y = (int)std::floor(start.y());
+  int z = (int)std::floor(start.z());
+  int endX = (int)std::floor(end.x());
+  int endY = (int)std::floor(end.y());
+  int endZ = (int)std::floor(end.z());
+  Eigen::Vector3d direction = (end - start);
+  double maxDist = direction.squaredNorm();
+
+  // Break out direction vector.
+  double dx = endX - x;
+  double dy = endY - y;
+  double dz = endZ - z;
+
+  // Direction to increment x,y,z when stepping.
+  int stepX = (int)signum((int)dx);
+  int stepY = (int)signum((int)dy);
+  int stepZ = (int)signum((int)dz);
+
+  // See description above. The initial values depend on the fractional
+  // part of the origin.
+  double tMaxX = intbound(start.x(), dx);
+  double tMaxY = intbound(start.y(), dy);
+  double tMaxZ = intbound(start.z(), dz);
+
+  // The change in t when taking a step (always positive).
+  double tDeltaX = ((double)stepX) / dx;
+  double tDeltaY = ((double)stepY) / dy;
+  double tDeltaZ = ((double)stepZ) / dz;
+
+  // Avoids an infinite loop.
+  if (stepX == 0 && stepY == 0 && stepZ == 0)
+    return;
+
+  double dist = 0;
+  while (true)
+  {
+    if (x >= min.x() && x < max.x() && y >= min.y() && y < max.y() && z >= min.z() && z < max.z())
+    {
+      output[output_points_cnt](0) = x;
+      output[output_points_cnt](1) = y;
+      output[output_points_cnt](2) = z;
+
+      output_points_cnt++;
+      dist = sqrt((x - start(0)) * (x - start(0)) + (y - start(1)) * (y - start(1)) + (z - start(2)) * (z - start(2)));
+
+      if (dist > maxDist)
+        return;
+
+      /*            if (output_points_cnt > 1500) {
+                      std::cerr << "Error, too many racyast voxels." << std::endl;
+                      throw std::out_of_range("Too many raycast voxels");
+                  }*/
+    }
+
+    if (x == endX && y == endY && z == endZ)
+      break;
+
+    // tMaxX stores the t-value at which we cross a cube boundary along the
+    // X axis, and similarly for Y and Z. Therefore, choosing the least tMax
+    // chooses the closest cube boundary. Only the first case of the four
+    // has been commented in detail.
+    if (tMaxX < tMaxY)
+    {
+      if (tMaxX < tMaxZ)
+      {
+        // Update which cube we are now in.
+        x += stepX;
+        // Adjust tMaxX to the next X-oriented boundary crossing.
+        tMaxX += tDeltaX;
+      }
+      else
+      {
+        z += stepZ;
+        tMaxZ += tDeltaZ;
+      }
+    }
+    else
+    {
+      if (tMaxY < tMaxZ)
+      {
+        y += stepY;
+        tMaxY += tDeltaY;
+      }
+      else
+      {
+        z += stepZ;
+        tMaxZ += tDeltaZ;
+      }
+    }
+  }
+}
+
+void Raycast(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const Eigen::Vector3d& min,
+             const Eigen::Vector3d& max, std::vector<Eigen::Vector3d>* output)
+{
+  //    std::cout << start << ' ' << end << std::endl;
+  // From "A Fast Voxel Traversal Algorithm for Ray Tracing"
+  // by John Amanatides and Andrew Woo, 1987
+  // <http://www.cse.yorku.ca/~amana/research/grid.pdf>
+  // <http://citeseer.ist.psu.edu/viewdoc/summary?doi=10.1.1.42.3443>
+  // Extensions to the described algorithm:
+  //   • Imposed a distance limit.
+  //   • The face passed through to reach the current cube is provided to
+  //     the callback.
+
+  // The foundation of this algorithm is a parameterized representation of
+  // the provided ray,
+  //                    origin + t * direction,
+  // except that t is not actually stored; rather, at any given point in the
+  // traversal, we keep track of the *greater* t values which we would have
+  // if we took a step sufficient to cross a cube boundary along that axis
+  // (i.e. change the integer part of the coordinate) in the variables
+  // tMaxX, tMaxY, and tMaxZ.
+
+  // Cube containing origin point.
+  int x = (int)std::floor(start.x());
+  int y = (int)std::floor(start.y());
+  int z = (int)std::floor(start.z());
+  int endX = (int)std::floor(end.x());
+  int endY = (int)std::floor(end.y());
+  int endZ = (int)std::floor(end.z());
+  Eigen::Vector3d direction = (end - start);
+  double maxDist = direction.squaredNorm();
+
+  // Break out direction vector.
+  double dx = endX - x;
+  double dy = endY - y;
+  double dz = endZ - z;
+
+  // Direction to increment x,y,z when stepping.
+  int stepX = (int)signum((int)dx);
+  int stepY = (int)signum((int)dy);
+  int stepZ = (int)signum((int)dz);
+
+  // See description above. The initial values depend on the fractional
+  // part of the origin.
+  double tMaxX = intbound(start.x(), dx);
+  double tMaxY = intbound(start.y(), dy);
+  double tMaxZ = intbound(start.z(), dz);
+
+  // The change in t when taking a step (always positive).
+  double tDeltaX = ((double)stepX) / dx;
+  double tDeltaY = ((double)stepY) / dy;
+  double tDeltaZ = ((double)stepZ) / dz;
+
+  output->clear();
+
+  // Avoids an infinite loop.
+  if (stepX == 0 && stepY == 0 && stepZ == 0)
+    return;
+
+  double dist = 0;
+  while (true)
+  {
+    if (x >= min.x() && x < max.x() && y >= min.y() && y < max.y() && z >= min.z() && z < max.z())
+    {
+      output->push_back(Eigen::Vector3d(x, y, z));
+
+      dist = (Eigen::Vector3d(x, y, z) - start).squaredNorm();
+
+      if (dist > maxDist)
+        return;
+
+      if (output->size() > 1500)
+      {
+        std::cerr << "Error, too many racyast voxels." << std::endl;
+        throw std::out_of_range("Too many raycast voxels");
+      }
+    }
+
+    if (x == endX && y == endY && z == endZ)
+      break;
+
+    // tMaxX stores the t-value at which we cross a cube boundary along the
+    // X axis, and similarly for Y and Z. Therefore, choosing the least tMax
+    // chooses the closest cube boundary. Only the first case of the four
+    // has been commented in detail.
+    if (tMaxX < tMaxY)
+    {
+      if (tMaxX < tMaxZ)
+      {
+        // Update which cube we are now in.
+        x += stepX;
+        // Adjust tMaxX to the next X-oriented boundary crossing.
+        tMaxX += tDeltaX;
+      }
+      else
+      {
+        z += stepZ;
+        tMaxZ += tDeltaZ;
+      }
+    }
+    else
+    {
+      if (tMaxY < tMaxZ)
+      {
+        y += stepY;
+        tMaxY += tDeltaY;
+      }
+      else
+      {
+        z += stepZ;
+        tMaxZ += tDeltaZ;
+      }
+    }
+  }
+}
+
+bool RayCaster::setInput(const Eigen::Vector3d& start, const Eigen::Vector3d& end/* , const Eigen::Vector3d& min,
+                         const Eigen::Vector3d& max */)
+{
+  start_ = start;
+  end_ = end;
+  // max_ = max;
+  // min_ = min;
+
+  x_ = (int)std::floor(start_.x());
+  y_ = (int)std::floor(start_.y());
+  z_ = (int)std::floor(start_.z());
+  endX_ = (int)std::floor(end_.x());
+  endY_ = (int)std::floor(end_.y());
+  endZ_ = (int)std::floor(end_.z());
+  direction_ = (end_ - start_);
+  maxDist_ = direction_.squaredNorm();
+
+  // Break out direction vector.
+  dx_ = endX_ - x_;
+  dy_ = endY_ - y_;
+  dz_ = endZ_ - z_;
+
+  // Direction to increment x,y,z when stepping.
+  stepX_ = (int)signum((int)dx_);
+  stepY_ = (int)signum((int)dy_);
+  stepZ_ = (int)signum((int)dz_);
+
+  // See description above. The initial values depend on the fractional
+  // part of the origin.
+  tMaxX_ = intbound(start_.x(), dx_);
+  tMaxY_ = intbound(start_.y(), dy_);
+  tMaxZ_ = intbound(start_.z(), dz_);
+
+  // The change in t when taking a step (always positive).
+  tDeltaX_ = ((double)stepX_) / dx_;
+  tDeltaY_ = ((double)stepY_) / dy_;
+  tDeltaZ_ = ((double)stepZ_) / dz_;
+
+  dist_ = 0;
+
+  step_num_ = 0;
+
+  // Avoids an infinite loop.
+  if (stepX_ == 0 && stepY_ == 0 && stepZ_ == 0)
+    return false;
+  else
+    return true;
+}
+
+bool RayCaster::step(Eigen::Vector3d& ray_pt)
+{
+  // if (x_ >= min_.x() && x_ < max_.x() && y_ >= min_.y() && y_ < max_.y() && z_ >= min_.z() && z_ < max_.z())
+  ray_pt = Eigen::Vector3d(x_, y_, z_);
+
+  // step_num_++;
+
+  // dist_ = (Eigen::Vector3d(x_, y_, z_) - start_).squaredNorm();
+
+  if (x_ == endX_ && y_ == endY_ && z_ == endZ_)
+  {
+    return false;
+  }
+  
+  // if (dist_ > maxDist_)
+  // {
+  //   return false;
+  // }
+
+
+  // tMaxX stores the t-value at which we cross a cube boundary along the
+  // X axis, and similarly for Y and Z. Therefore, choosing the least tMax
+  // chooses the closest cube boundary. Only the first case of the four
+  // has been commented in detail.
+  if (tMaxX_ < tMaxY_)
+  {
+    if (tMaxX_ < tMaxZ_)
+    {
+      // Update which cube we are now in.
+      x_ += stepX_;
+      // Adjust tMaxX to the next X-oriented boundary crossing.
+      tMaxX_ += tDeltaX_;
+    }
+    else
+    {
+      z_ += stepZ_;
+      tMaxZ_ += tDeltaZ_;
+    }
+  }
+  else
+  {
+    if (tMaxY_ < tMaxZ_)
+    {
+      y_ += stepY_;
+      tMaxY_ += tDeltaY_;
+    }
+    else
+    {
+      z_ += stepZ_;
+      tMaxZ_ += tDeltaZ_;
+    }
+  }
+
+  return true;
+}
\ No newline at end of file
diff --git a/planning/kino_plan/src/topo_prm.cpp b/planning/kino_plan/src/topo_prm.cpp
new file mode 100755
index 0000000..01cd07b
--- /dev/null
+++ b/planning/kino_plan/src/topo_prm.cpp
@@ -0,0 +1,662 @@
+#include "kino_plan/topo_prm.h"
+#include <thread>
+
+namespace tgk_planner {
+TopologyPRM::TopologyPRM(/* args */) {}
+
+TopologyPRM::~TopologyPRM() {}
+
+void TopologyPRM::init(const ros::NodeHandle& nh) {
+  graph_.clear();
+  eng_ = std::default_random_engine(rd_());
+  rand_pos_ = std::uniform_real_distribution<double>(-1.0, 1.0);
+
+  // init parameter
+  nh.param("topo_prm/sample_inflate_x", sample_inflate_(0), -1.0);
+  nh.param("topo_prm/sample_inflate_y", sample_inflate_(1), -1.0);
+  nh.param("topo_prm/sample_inflate_z", sample_inflate_(2), -1.0);
+  nh.param("topo_prm/clearance", clearance_, -1.0);
+  nh.param("topo_prm/reserve_num", reserve_num_, -1);
+  nh.param("topo_prm/ratio_to_short", ratio_to_short_, -1.0);
+  nh.param("topo_prm/max_sample_num", max_sample_num_, -1);
+  nh.param("topo_prm/max_sample_time", max_sample_time_, -1.0);
+  nh.param("topo_prm/max_raw_path", max_raw_path_, -1);
+  nh.param("topo_prm/max_raw_path2", max_raw_path2_, -1);
+  nh.param("topo_prm/parallel_shortcut", parallel_shortcut_, false);
+  resolution_ = pos_checker_ptr_->getResolution();
+
+  for (int i = 0; i < max_raw_path_; ++i) {
+    casters_.push_back(RayCaster());
+  }
+}
+
+void TopologyPRM::findTopoPaths(Eigen::Vector3d start, Eigen::Vector3d end,
+                                vector<Eigen::Vector3d> start_pts, vector<Eigen::Vector3d> end_pts,
+                                std::list<GraphNode::Ptr>& graph, vector<vector<Eigen::Vector3d>>& raw_paths,
+                                vector<vector<Eigen::Vector3d>>& short_paths,
+                                vector<vector<Eigen::Vector3d>>& filtered_paths,
+                                vector<vector<Eigen::Vector3d>>& select_paths) {
+  ros::Time t1, t2;
+  double graph_time, search_time, short_time, prune_time, select_time;
+  /* ---------- create the topo graph ---------- */
+  t1 = ros::Time::now();
+  start_pts_ = start_pts;
+  end_pts_ = end_pts;
+  graph = createGraph(start, end);
+  graph_time = (ros::Time::now() - t1).toSec();
+
+  /* ---------- search paths in the graph ---------- */
+  t1 = ros::Time::now();
+  raw_paths = searchPaths();
+  search_time = (ros::Time::now() - t1).toSec();
+
+  /* ---------- path shortening ---------- */
+  // for parallel, save result in short_paths_
+  t1 = ros::Time::now();
+  shortcutPaths();
+  short_paths = short_paths_;
+  short_time = (ros::Time::now() - t1).toSec();
+
+  /* ---------- prune equivalent paths ---------- */
+  t1 = ros::Time::now();
+  filtered_paths = pruneEquivalent(short_paths_);
+  prune_time = (ros::Time::now() - t1).toSec();
+  // cout << "prune: " << (t2 - t1).toSec() << endl;
+
+  /* ---------- select N shortest paths ---------- */
+  t1 = ros::Time::now();
+  select_paths = selectShortPaths(filtered_paths, 1);
+  select_time = (ros::Time::now() - t1).toSec();
+  final_paths_ = select_paths;
+  double total_time = graph_time + search_time + short_time + prune_time + select_time;
+  std::cout << "\n[Topo]: total time: " << total_time << ", graph: " << graph_time
+            << ", search: " << search_time << ", short: " << short_time << ", prune: " << prune_time
+            << ", select: " << select_time << std::endl;
+}
+
+std::list<GraphNode::Ptr> TopologyPRM::createGraph(Eigen::Vector3d start, Eigen::Vector3d end) {
+  // std::cout << "[Topo]: searching----------------------" << std::endl;
+
+  /* init the start, end and sample region */
+  graph_.clear();
+  // collis_.clear();
+
+  GraphNode::Ptr start_node = GraphNode::Ptr(new GraphNode(start, GraphNode::Guard, 0));
+  GraphNode::Ptr end_node = GraphNode::Ptr(new GraphNode(end, GraphNode::Guard, 1));
+
+  graph_.push_back(start_node);
+  graph_.push_back(end_node);
+
+  // sample region
+  sample_r_(0) = 0.5 * (end - start).norm() + sample_inflate_(0);
+  sample_r_(1) = sample_inflate_(1);
+  sample_r_(2) = sample_inflate_(2);
+
+  // transformation
+  translation_ = 0.5 * (start + end);
+
+  Eigen::Vector3d xtf, ytf, ztf, downward(0, 0, -1);
+  xtf = (end - translation_).normalized();
+  ytf = xtf.cross(downward).normalized();
+  ztf = xtf.cross(ytf);
+
+  rotation_.col(0) = xtf;
+  rotation_.col(1) = ytf;
+  rotation_.col(2) = ztf;
+
+  int node_id = 1;
+
+  /* ---------- main loop ---------- */
+  int sample_num = 0;
+  double sample_time = 0.0;
+  Eigen::Vector3d pt;
+  ros::Time t1, t2;
+  while (sample_time < max_sample_time_ && sample_num < max_sample_num_) {
+    t1 = ros::Time::now();
+
+    pt = getSample();
+    ++sample_num;
+    if (pos_checker_ptr_->getVoxelState(pt) != 0) {
+      sample_time += (ros::Time::now() - t1).toSec();
+      continue;
+    }
+
+    /* find visible guard */
+    vector<GraphNode::Ptr> visib_guards = findVisibGuard(pt);
+    if (visib_guards.size() == 0) {
+      GraphNode::Ptr guard = GraphNode::Ptr(new GraphNode(pt, GraphNode::Guard, ++node_id));
+      graph_.push_back(guard);
+    } else if (visib_guards.size() == 2) {
+      /* try adding new connection between two guard */
+      // vector<pair<GraphNode::Ptr, GraphNode::Ptr>> sort_guards =
+      // sortVisibGuard(visib_guards);
+      bool need_connect = needConnection(visib_guards[0], visib_guards[1], pt);
+      if (!need_connect) {
+        sample_time += (ros::Time::now() - t1).toSec();
+        continue;
+      }
+      // new useful connection needed, add new connector
+      GraphNode::Ptr connector = GraphNode::Ptr(new GraphNode(pt, GraphNode::Connector, ++node_id));
+      graph_.push_back(connector);
+
+      // connect guards
+      visib_guards[0]->neighbors_.push_back(connector);
+      visib_guards[1]->neighbors_.push_back(connector);
+
+      connector->neighbors_.push_back(visib_guards[0]);
+      connector->neighbors_.push_back(visib_guards[1]);
+    }
+
+    sample_time += (ros::Time::now() - t1).toSec();
+  }
+
+  /* print record */
+  std::cout << "[Topo]: sample num: " << sample_num;
+
+  std::cout << "[Topo]: node num before prune graph: " << graph_.size() << std::endl;
+  // pruneGraph();
+  std::cout << "[Topo]: node num after: " << graph_.size() << std::endl;
+
+  return graph_;
+  // return searchPaths(start_node, end_node);
+}
+
+vector<GraphNode::Ptr> TopologyPRM::findVisibGuard(Eigen::Vector3d pt) {
+  vector<GraphNode::Ptr> visib_guards;
+  Eigen::Vector3d pc;
+
+  int visib_num = 0;
+
+  /* find visible GUARD from pt */
+  for (std::list<GraphNode::Ptr>::iterator iter = graph_.begin(); iter != graph_.end(); ++iter) {
+    if ((*iter)->type_ == GraphNode::Connector) continue;
+
+    if (lineVisib(pt, (*iter)->pos_, resolution_, pc, 0, true)) {
+      visib_guards.push_back((*iter));
+      ++visib_num;
+      if (visib_num > 2) break;
+    }
+  }
+
+  return visib_guards;
+}
+
+bool TopologyPRM::needConnection(GraphNode::Ptr g1, GraphNode::Ptr g2, Eigen::Vector3d pt) {
+  vector<Eigen::Vector3d> path1(3), path2(3);
+  path1[0] = g1->pos_;
+  path1[1] = pt;
+  path1[2] = g2->pos_;
+
+  path2[0] = g1->pos_;
+  path2[2] = g2->pos_;
+
+  vector<Eigen::Vector3d> connect_pts;
+  bool has_connect = false;
+  for (int i = 0; i < g1->neighbors_.size(); ++i) {
+    for (int j = 0; j < g2->neighbors_.size(); ++j) {
+      if (g1->neighbors_[i]->id_ == g2->neighbors_[j]->id_) {
+        path2[1] = g1->neighbors_[i]->pos_;
+        bool same_topo = sameTopoPath(path1, path2, 0.0);
+        if (same_topo) {
+          // get shorter connection ?
+          if (pathLength(path1) < pathLength(path2)) {
+            g1->neighbors_[i]->pos_ = pt;
+            // ROS_WARN("shorter!");
+          }
+          return false;
+        }
+      }
+    }
+  }
+  return true;
+}
+
+Eigen::Vector3d TopologyPRM::getSample() {
+  /* sampling */
+  Eigen::Vector3d pt;
+  pt(0) = rand_pos_(eng_) * sample_r_(0);
+  pt(1) = rand_pos_(eng_) * sample_r_(1);
+  pt(2) = rand_pos_(eng_) * sample_r_(2);
+
+  pt = rotation_ * pt + translation_;
+
+  return pt;
+}
+
+bool TopologyPRM::lineVisib(const Eigen::Vector3d& p1, const Eigen::Vector3d& p2, double thresh,
+                            Eigen::Vector3d& pc, int caster_id, bool inflate) {
+  return pos_checker_ptr_->checkLine(p1, p2, pc, inflate);
+}
+
+void TopologyPRM::pruneGraph() {
+  /* prune useless node */
+  if (graph_.size() > 2) {
+    for (std::list<GraphNode::Ptr>::iterator iter1 = graph_.begin();
+         iter1 != graph_.end() && graph_.size() > 2; ++iter1) {
+      if ((*iter1)->id_ <= 1) continue;
+
+      /* core */
+      // std::cout << "id: " << (*iter1)->id_ << std::endl;
+      if ((*iter1)->neighbors_.size() <= 1) {
+        // delete this node from others' neighbor
+        for (std::list<GraphNode::Ptr>::iterator iter2 = graph_.begin(); iter2 != graph_.end(); ++iter2) {
+          for (vector<GraphNode::Ptr>::iterator it_nb = (*iter2)->neighbors_.begin();
+               it_nb != (*iter2)->neighbors_.end(); ++it_nb) {
+            if ((*it_nb)->id_ == (*iter1)->id_) {
+              (*iter2)->neighbors_.erase(it_nb);
+              break;
+            }
+          }
+        }
+
+        // delete this node from graph, restart checking
+        graph_.erase(iter1);
+        iter1 = graph_.begin();
+      }
+    }
+  }
+}
+
+vector<vector<Eigen::Vector3d>> TopologyPRM::pruneEquivalent(vector<vector<Eigen::Vector3d>>& paths) {
+  vector<vector<Eigen::Vector3d>> pruned_paths;
+  if (paths.size() < 1) return pruned_paths;
+
+  /* ---------- prune topo equivalent path ---------- */
+  // output: pruned_paths
+  vector<int> exist_paths_id;
+  exist_paths_id.push_back(0);
+
+  for (int i = 1; i < paths.size(); ++i) {
+    // compare with exsit paths
+    bool new_path = true;
+
+    for (int j = 0; j < exist_paths_id.size(); ++j) {
+      // compare with one path
+      bool same_topo = sameTopoPath(paths[i], paths[exist_paths_id[j]], 0.0);
+
+      if (same_topo) {
+        new_path = false;
+        break;
+      }
+    }
+
+    if (new_path) {
+      exist_paths_id.push_back(i);
+    }
+  }
+
+  // save pruned paths
+  for (int i = 0; i < exist_paths_id.size(); ++i) {
+    pruned_paths.push_back(paths[exist_paths_id[i]]);
+  }
+
+  std::cout << ", pruned path num: " << pruned_paths.size();
+
+  return pruned_paths;
+}
+
+vector<vector<Eigen::Vector3d>> TopologyPRM::selectShortPaths(vector<vector<Eigen::Vector3d>>& input_paths,
+                                                              int step) {
+  /* ---------- only reserve top short path ---------- */
+  vector<vector<Eigen::Vector3d>> short_paths;
+  vector<Eigen::Vector3d> short_path;
+  double min_len;
+
+  vector<vector<Eigen::Vector3d>> paths = input_paths;
+  for (int i = 0; i < reserve_num_ && paths.size() > 0; ++i) {
+    int path_id = shortestPath(paths);
+    if (i == 0) {
+      short_paths.push_back(paths[path_id]);
+      min_len = pathLength(paths[path_id]);
+      paths.erase(paths.begin() + path_id);
+    } else {
+      double rat = pathLength(paths[path_id]) / min_len;
+      if (rat < ratio_to_short_) {
+        short_paths.push_back(paths[path_id]);
+        paths.erase(paths.begin() + path_id);
+      } else {
+        break;
+      }
+    }
+  }
+  std::cout << ", select path num: " << short_paths.size();
+
+  /* ---------- merge with start and end segment ---------- */
+  for (int i = 0; i < short_paths.size(); ++i) {
+    short_paths[i].insert(short_paths[i].begin(), start_pts_.begin(), start_pts_.end());
+    short_paths[i].insert(short_paths[i].end(), end_pts_.begin(), end_pts_.end());
+  }
+  // for (int i = 0; i < short_paths.size(); ++i) {
+  //   shortcutPath(short_paths[i], i, 5);
+  //   short_paths[i] = short_paths_[i];
+  // }
+
+  // short_paths = pruneEquivalent(short_paths);
+
+  return short_paths;
+}
+
+bool TopologyPRM::sameTopoPath(const vector<Eigen::Vector3d>& path1,
+                               const vector<Eigen::Vector3d>& path2, double thresh) {
+  // calc the length
+  double len1 = pathLength(path1);
+  double len2 = pathLength(path2);
+
+  double max_len = max(len1, len2);
+
+  int pt_num = ceil(max_len / resolution_);
+
+  // std::cout << "pt num: " << pt_num << std::endl;
+
+  vector<Eigen::Vector3d> pts1 = discretizePath(path1, pt_num);
+  vector<Eigen::Vector3d> pts2 = discretizePath(path2, pt_num);
+
+  Eigen::Vector3d pc;
+  for (int i = 0; i < pt_num; ++i) {
+    if (!lineVisib(pts1[i], pts2[i], thresh, pc, 0, false)) {
+      return false;
+    }
+  }
+
+  return true;
+}
+
+int TopologyPRM::shortestPath(vector<vector<Eigen::Vector3d>>& paths) {
+  int short_id = -1;
+  double min_len = 100000000;
+  for (int i = 0; i < paths.size(); ++i) {
+    double len = pathLength(paths[i]);
+    if (len < min_len) {
+      short_id = i;
+      min_len = len;
+    }
+  }
+  return short_id;
+}
+double TopologyPRM::pathLength(const vector<Eigen::Vector3d>& path) {
+  double length = 0.0;
+  if (path.size() < 2) return length;
+
+  for (int i = 0; i < path.size() - 1; ++i) {
+    length += (path[i + 1] - path[i]).norm();
+  }
+  return length;
+}
+
+vector<Eigen::Vector3d> TopologyPRM::discretizePath(const vector<Eigen::Vector3d>& path, int pt_num) {
+  vector<double> len_list;
+  len_list.push_back(0.0);
+
+  for (int i = 0; i < path.size() - 1; ++i) {
+    double inc_l = (path[i + 1] - path[i]).norm();
+    len_list.push_back(inc_l + len_list[i]);
+  }
+
+  // calc pt_num points along the path
+  double len_total = len_list.back();
+  double dl = len_total / double(pt_num - 1);
+  double cur_l;
+
+  vector<Eigen::Vector3d> dis_path;
+  for (int i = 0; i < pt_num; ++i) {
+    cur_l = double(i) * dl;
+
+    // find the range cur_l in
+    int idx = -1;
+    for (int j = 0; j < len_list.size() - 1; ++j) {
+      if (cur_l >= len_list[j] - 1e-4 && cur_l <= len_list[j + 1] + 1e-4) {
+        idx = j;
+        break;
+      }
+    }
+
+    // find lambda and interpolate
+    double lambda = (cur_l - len_list[idx]) / (len_list[idx + 1] - len_list[idx]);
+    Eigen::Vector3d inter_pt = (1 - lambda) * path[idx] + lambda * path[idx + 1];
+    dis_path.push_back(inter_pt);
+  }
+
+  return dis_path;
+}
+
+vector<Eigen::Vector3d> TopologyPRM::pathToGuidePts(vector<Eigen::Vector3d>& path, int pt_num) {
+  return discretizePath(path, pt_num);
+}
+
+void TopologyPRM::shortcutPath(vector<Eigen::Vector3d> path, int path_id, int iter_num) {
+  vector<Eigen::Vector3d> short_path = path;
+  vector<Eigen::Vector3d> last_path;
+
+  for (int k = 0; k < iter_num; ++k) {
+    last_path = short_path;
+
+    vector<Eigen::Vector3d> dis_path = discretizePath(short_path);
+
+    if (dis_path.size() < 2) {
+      short_paths_[path_id] = dis_path;
+      return;
+    }
+
+    /* visibility path shortening */
+    Eigen::Vector3d colli_pt, grad, dir, push_dir;
+    double dist;
+    short_path.clear();
+    short_path.push_back(dis_path.front());
+    for (int i = 1; i < dis_path.size(); ++i) {
+      if (lineVisib(short_path.back(), dis_path[i], resolution_, colli_pt, path_id, true)) 
+      {
+        continue;
+      }
+      short_path.push_back(dis_path[i]);
+    }
+    short_path.push_back(dis_path.back());
+
+    /* break if no shortcut */
+    double len1 = pathLength(last_path);
+    double len2 = pathLength(short_path);
+    if (len2 > len1) {
+      // ROS_WARN("pause shortcut, l1: %lf, l2: %lf, iter: %d", len1, len2, k +
+      // 1);
+      short_path = last_path;
+      break;
+    }
+  }
+
+  short_paths_[path_id] = short_path;
+}
+
+void TopologyPRM::shortcutPaths() {
+  short_paths_.resize(raw_paths_.size());
+
+  if (parallel_shortcut_) {
+    vector<std::thread> short_threads;
+    for (int i = 0; i < raw_paths_.size(); ++i) {
+      short_threads.push_back(std::thread(&TopologyPRM::shortcutPath, this, raw_paths_[i], i, 5));
+    }
+    for (int i = 0; i < raw_paths_.size(); ++i) {
+      short_threads[i].join();
+    }
+  } else {
+    for (int i = 0; i < raw_paths_.size(); ++i) shortcutPath(raw_paths_[i], i, 5);
+  }
+}
+
+vector<Eigen::Vector3d> TopologyPRM::discretizeLine(Eigen::Vector3d p1, Eigen::Vector3d p2) {
+  Eigen::Vector3d dir = p2 - p1;
+  double len = dir.norm();
+  int seg_num = ceil(len / resolution_);
+
+  vector<Eigen::Vector3d> line_pts;
+  if (seg_num <= 0) {
+    return line_pts;
+  }
+
+  for (int i = 0; i <= seg_num; ++i) line_pts.push_back(p1 + dir * double(i) / double(seg_num));
+
+  return line_pts;
+}
+
+vector<Eigen::Vector3d> TopologyPRM::discretizePath(vector<Eigen::Vector3d> path) {
+  vector<Eigen::Vector3d> dis_path, segment;
+
+  if (path.size() < 2) {
+    ROS_ERROR("what path? ");
+    return dis_path;
+  }
+
+  for (int i = 0; i < path.size() - 1; ++i) {
+    segment = discretizeLine(path[i], path[i + 1]);
+
+    if (segment.size() < 1) continue;
+
+    dis_path.insert(dis_path.end(), segment.begin(), segment.end());
+    if (i != path.size() - 2) dis_path.pop_back();
+  }
+  return dis_path;
+}
+
+vector<vector<Eigen::Vector3d>> TopologyPRM::discretizePaths(vector<vector<Eigen::Vector3d>>& path) {
+  vector<vector<Eigen::Vector3d>> dis_paths;
+  vector<Eigen::Vector3d> dis_path;
+
+  for (int i = 0; i < path.size(); ++i) {
+    dis_path = discretizePath(path[i]);
+
+    if (dis_path.size() > 0) dis_paths.push_back(dis_path);
+  }
+
+  return dis_paths;
+}
+
+Eigen::Vector3d TopologyPRM::getOrthoPoint(const vector<Eigen::Vector3d>& path) {
+  Eigen::Vector3d x1 = path.front();
+  Eigen::Vector3d x2 = path.back();
+
+  Eigen::Vector3d dir = (x2 - x1).normalized();
+  Eigen::Vector3d mid = 0.5 * (x1 + x2);
+
+  double min_cos = 1000.0;
+  Eigen::Vector3d pdir;
+  Eigen::Vector3d ortho_pt;
+
+  for (int i = 1; i < path.size() - 1; ++i) {
+    pdir = (path[i] - mid).normalized();
+    double cos = fabs(pdir.dot(dir));
+
+    if (cos < min_cos) {
+      min_cos = cos;
+      ortho_pt = path[i];
+    }
+  }
+
+  return ortho_pt;
+}
+
+// search for useful path in the topo graph by DFS
+vector<vector<Eigen::Vector3d>> TopologyPRM::searchPaths() {
+  raw_paths_.clear();
+
+  vector<GraphNode::Ptr> visited;
+  visited.push_back(graph_.front());
+
+  depthFirstSearch(visited);
+
+  // sort the path by node number
+  int min_node_num = 100000, max_node_num = 1;
+  vector<vector<int>> path_list(100);
+  for (int i = 0; i < raw_paths_.size(); ++i) {
+    if (int(raw_paths_[i].size()) > max_node_num) max_node_num = raw_paths_[i].size();
+    if (int(raw_paths_[i].size()) < min_node_num) min_node_num = raw_paths_[i].size();
+    path_list[int(raw_paths_[i].size())].push_back(i);
+  }
+
+  // select paths with less nodes
+  vector<vector<Eigen::Vector3d>> filter_raw_paths;
+  for (int i = min_node_num; i <= max_node_num; ++i) {
+    bool reach_max = false;
+    for (int j = 0; j < path_list[i].size(); ++j) {
+      filter_raw_paths.push_back(raw_paths_[path_list[i][j]]);
+      if (filter_raw_paths.size() >= max_raw_path2_) {
+        reach_max = true;
+        break;
+      }
+    }
+    if (reach_max) break;
+  }
+  std::cout << ", raw path num: " << raw_paths_.size() << ", " << filter_raw_paths.size();
+
+  raw_paths_ = filter_raw_paths;
+
+  return raw_paths_;
+}
+
+void TopologyPRM::depthFirstSearch(vector<GraphNode::Ptr>& vis) {
+  GraphNode::Ptr cur = vis.back();
+
+  for (int i = 0; i < cur->neighbors_.size(); ++i) {
+    // check reach goal
+    if (cur->neighbors_[i]->id_ == 1) {
+      // add this path to paths set
+      vector<Eigen::Vector3d> path;
+      for (int j = 0; j < vis.size(); ++j) {
+        path.push_back(vis[j]->pos_);
+      }
+      path.push_back(cur->neighbors_[i]->pos_);
+
+      raw_paths_.push_back(path);
+      if (raw_paths_.size() >= max_raw_path_) return;
+
+      break;
+    }
+  }
+
+  for (int i = 0; i < cur->neighbors_.size(); ++i) {
+    // skip reach goal
+    if (cur->neighbors_[i]->id_ == 1) continue;
+
+    // skip already visited node
+    bool revisit = false;
+    for (int j = 0; j < vis.size(); ++j) {
+      if (cur->neighbors_[i]->id_ == vis[j]->id_) {
+        revisit = true;
+        break;
+      }
+    }
+    if (revisit) continue;
+
+    // recursive search
+    vis.push_back(cur->neighbors_[i]);
+    depthFirstSearch(vis);
+    if (raw_paths_.size() >= max_raw_path_) return;
+
+    vis.pop_back();
+  }
+}
+
+void TopologyPRM::setPoschecker(const PosChecker::Ptr& checker) { this->pos_checker_ptr_ = checker; }
+
+bool TopologyPRM::triangleVisib(Eigen::Vector3d pt, Eigen::Vector3d p1, Eigen::Vector3d p2) {
+  // get the traversing points along p1-p2
+  vector<Eigen::Vector3d> pts;
+
+  Eigen::Vector3d dir = p2 - p1;
+  double length = dir.norm();
+  int seg_num = ceil(length / resolution_);
+
+  Eigen::Vector3d pt1;
+  for (int i = 1; i < seg_num; ++i) {
+    pt1 = p1 + dir * double(i) / double(seg_num);
+    pts.push_back(pt1);
+  }
+
+  // test visibility
+  for (int i = 0; i < pts.size(); ++i) {
+    {
+      return false;
+    }
+  }
+
+  return true;
+}
+// TopologyPRM::
+}  // namespace tgk_planner
diff --git a/planning/poly_opt/CMakeLists.txt b/planning/poly_opt/CMakeLists.txt
new file mode 100755
index 0000000..754258a
--- /dev/null
+++ b/planning/poly_opt/CMakeLists.txt
@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(poly_opt)
+
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  occ_grid
+  poly_traj_utils
+  visualization_utils
+  r3_plan
+)
+
+find_package(Eigen3 REQUIRED)
+find_package(PCL 1.7 REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES poly_opt
+  CATKIN_DEPENDS occ_grid poly_traj_utils
+#  DEPENDS system_lib
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
+)
+
+add_library(lmbm SHARED IMPORTED)
+set_target_properties(lmbm PROPERTIES IMPORTED_LOCATION ${PROJECT_SOURCE_DIR}/lib/lmbm.so)
+
+add_library( poly_opt  
+  src/traj_optimizer.cpp
+  src/trunk_optimizer.cpp
+)
+target_link_libraries( poly_opt
+  ${catkin_LIBRARIES} 
+  lmbm
+)
diff --git a/planning/poly_opt/include/poly_opt/lbfgs.hpp b/planning/poly_opt/include/poly_opt/lbfgs.hpp
new file mode 100755
index 0000000..4daecce
--- /dev/null
+++ b/planning/poly_opt/include/poly_opt/lbfgs.hpp
@@ -0,0 +1,1787 @@
+/*  
+The MIT License
+
+Copyright (c) 1990 Jorge Nocedal
+Copyright (c) 2007-2010 Naoaki Okazaki
+Copyright (c) 2020-2022 Zhepei Wang
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+#ifndef LBFGS_HPP
+#define LBFGS_HPP
+
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <cfloat>
+#include <cmath>
+
+namespace lbfgs
+{
+    // ----------------------- Data Type Part -----------------------
+
+    /**
+ * L-BFGS optimization parameters.
+ *  Call lbfgs_load_default_parameters() function to initialize parameters to the
+ *  default values.
+ */
+    struct lbfgs_parameter_t
+    {
+        /**
+     * The number of corrections to approximate the inverse hessian matrix.
+     *  The L-BFGS routine stores the computation results of previous m
+     *  iterations to approximate the inverse hessian matrix of the current
+     *  iteration. This parameter controls the size of the limited memories
+     *  (corrections). The default value is 8. Values less than 3 are
+     *  not recommended. Large values will result in excessive computing time.
+     */
+        int mem_size;
+
+        /**
+     * Epsilon for grad norm convergence test.
+     *  This parameter determines the accuracy with which the solution is to
+     *  be found. A minimization terminates when
+     *      ||g|| < g_epsilon * max(1, ||x||),
+     *  where ||.|| denotes the Euclidean (L2) norm. The default value is 1e-5.
+     */
+        double g_epsilon;
+
+        /**
+     * Distance for delta-based convergence test.
+     *  This parameter determines the distance, in iterations, to compute
+     *  the rate of decrease of the objective function. If the value of this
+     *  parameter is zero, the library does not perform the delta-based
+     *  convergence test. The default value is 0.
+     */
+        int past;
+
+        /**
+     * Delta for convergence test.
+     *  This parameter determines the minimum rate of decrease of the
+     *  objective function. The library stops iterations when the
+     *  following condition is met:
+     *      (f' - f) / f < delta,
+     *  where f' is the objective value of past iterations ago, and f is
+     *  the objective value of the current iteration.
+     *  The default value is 1e-5.
+     */
+        double delta;
+
+        /**
+     * The maximum number of iterations.
+     *  The lbfgs_optimize() function terminates an optimization process with
+     *  ::LBFGSERR_MAXIMUMITERATION status code when the iteration count
+     *  exceedes this parameter. Setting this parameter to zero continues an
+     *  optimization process until a convergence or error. The default value
+     *  is 0.
+     */
+        int max_iterations;
+
+        /**
+     * The maximum number of trials for the line search.
+     *  This parameter controls the number of function and gradients evaluations
+     *  per iteration for the line search routine. The default value is 40.
+     */
+        int max_linesearch;
+
+        /**
+     * The minimum step of the line search routine.
+     *  The default value is 1e-20. This value need not be modified unless
+     *  the exponents are too large for the machine being used, or unless the
+     *  problem is extremely badly scaled (in which case the exponents should
+     *  be increased).
+     */
+        double min_step;
+
+        /**
+     * The maximum step of the line search.
+     *  The default value is 1e+20. This value need not be modified unless
+     *  the exponents are too large for the machine being used, or unless the
+     *  problem is extremely badly scaled (in which case the exponents should
+     *  be increased).
+     */
+        double max_step;
+
+        /**
+     * A parameter to control the accuracy of the line search routine.
+     *  The default value is 1e-4. This parameter should be greater
+     *  than zero and smaller than 0.5.
+     */
+        double f_dec_coeff;
+
+        /**
+     * A parameter to control the accuracy of the line search routine.
+     *  The default value is 0.9. If the function and gradient
+     *  evaluations are inexpensive with respect to the cost of the
+     *  iteration (which is sometimes the case when solving very large
+     *  problems) it may be advantageous to set this parameter to a small
+     *  value. A typical small value is 0.1. This parameter shuold be
+     *  greater than the f_dec_coeff parameter (1e-4) 
+     *  and smaller than 1.0.
+     */
+        double s_curv_coeff;
+
+        /**
+     * The machine precision for floating-point values. The default is 1e-16. 
+     *  This parameter must be a positive value set by a client program to
+     *  estimate the machine precision. The line search routine will terminate
+     *  with the status code (::LBFGSERR_ROUNDING_ERROR) if the relative width
+     *  of the interval of uncertainty is less than this parameter.
+     */
+        double xtol;
+    };
+
+    /**
+ * Default L-BFGS parameters.
+ */
+    static const lbfgs_parameter_t _default_param = {
+        8,
+        1e-5,
+        0,
+        1e-5,
+        0,
+        40,
+        1e-20,
+        1e20,
+        1e-4,
+        0.9,
+        1.0e-16,
+    };
+
+    /**
+ *  Return values of lbfgs_optimize().
+ * 
+ * Roughly speaking, a negative value indicates an error.
+ */
+
+    enum
+    {
+        /** L-BFGS reaches convergence. */
+        LBFGS_CONVERGENCE = 0,
+        /** L-BFGS satisfies stopping criteria. */
+        LBFGS_STOP,
+        /** The initial variables already minimize the objective function. */
+        LBFGS_ALREADY_MINIMIZED,
+
+        /** Unknown error. */
+        LBFGSERR_UNKNOWNERROR = -1024,
+        /** Logic error. */
+        LBFGSERR_LOGICERROR,
+        /** The minimization process has been canceled. */
+        LBFGSERR_CANCELED,
+        /** Invalid number of variables specified. */
+        LBFGSERR_INVALID_N,
+        /** Invalid parameter lbfgs_parameter_t::mem_size specified. */
+        LBFGSERR_INVALID_MEMSIZE,
+        /** Invalid parameter lbfgs_parameter_t::g_epsilon specified. */
+        LBFGSERR_INVALID_GEPSILON,
+        /** Invalid parameter lbfgs_parameter_t::past specified. */
+        LBFGSERR_INVALID_TESTPERIOD,
+        /** Invalid parameter lbfgs_parameter_t::delta specified. */
+        LBFGSERR_INVALID_DELTA,
+        /** Invalid parameter lbfgs_parameter_t::min_step specified. */
+        LBFGSERR_INVALID_MINSTEP,
+        /** Invalid parameter lbfgs_parameter_t::max_step specified. */
+        LBFGSERR_INVALID_MAXSTEP,
+        /** Invalid parameter lbfgs_parameter_t::f_dec_coeff specified. */
+        LBFGSERR_INVALID_FDECCOEFF,
+        /** Invalid parameter lbfgs_parameter_t::wolfe specified. */
+        LBFGSERR_INVALID_SCURVCOEFF,
+        /** Invalid parameter lbfgs_parameter_t::xtol specified. */
+        LBFGSERR_INVALID_XTOL,
+        /** Invalid parameter lbfgs_parameter_t::max_linesearch specified. */
+        LBFGSERR_INVALID_MAXLINESEARCH,
+        /** The line-search step went out of the interval of uncertainty. */
+        LBFGSERR_OUTOFINTERVAL,
+        /** A logic error occurred; alternatively, the interval of uncertainty became too small. */
+        LBFGSERR_INCORRECT_TMINMAX,
+        /** A rounding error occurred; alternatively, no line-search step satisfies the sufficient decrease and curvature conditions. */
+        LBFGSERR_ROUNDING_ERROR,
+        /** The line-search step became smaller than lbfgs_parameter_t::min_step. */
+        LBFGSERR_MINIMUMSTEP,
+        /** The line-search step became larger than lbfgs_parameter_t::max_step. */
+        LBFGSERR_MAXIMUMSTEP,
+        /** The line-search routine reaches the maximum number of evaluations. */
+        LBFGSERR_MAXIMUMLINESEARCH,
+        /** The algorithm routine reaches the maximum number of iterations. */
+        LBFGSERR_MAXIMUMITERATION,
+        /** Relative width of the interval of uncertainty is at most lbfgs_parameter_t::xtol. */
+        LBFGSERR_WIDTHTOOSMALL,
+        /** A logic error (negative line-search step) occurred. */
+        LBFGSERR_INVALIDPARAMETERS,
+        /** The current search direction increases the objective function value. */
+        LBFGSERR_INCREASEGRADIENT,
+    };
+
+    /**
+ * Callback interface to provide objective function and gradient evaluations.
+ *
+ *  The lbfgs_optimize() function call this function to obtain the values of objective
+ *  function and its gradients when needed. A client program must implement
+ *  this function to evaluate the values of the objective function and its
+ *  gradients, given current values of variables.
+ *  
+ *  @param  instance    The user data sent for lbfgs_optimize() function by the client.
+ *  @param  x           The current values of variables.
+ *  @param  g           The gradient vector. The callback function must compute
+ *                      the gradient values for the current variables.
+ *  @param  n           The number of variables.
+ *  @retval double      The value of the objective function for the current
+ *                          variables.
+ */
+    typedef double (*lbfgs_evaluate_t)(void *instance,
+                                       const double *x,
+                                       double *g,
+                                       const int n);
+
+    typedef bool (*lbfgs_check_t)(void *instance,
+                                  const double *x,
+                                  const int n);
+
+    /**
+ * Callback interface to provide an upper bound at the beginning of current linear search.
+ *
+ *  The lbfgs_optimize() function call this function to obtain the values of the
+ *  upperbound of the stepsize to search in, provided with the beginning values of
+ *  variables before the linear search, and the current step vector (can be descent direction). 
+ *  A client program can implement this function for more efficient linesearch. 
+ *  If it is not used, just set it NULL or nullptr.
+ *  
+ *  @param  instance    The user data sent for lbfgs_optimize() function by the client.
+ *  @param  xp          The values of variables before current line search.
+ *  @param  d           The step vector. It can be the descent direction.
+ *  @param  n           The number of variables.
+ *  @retval double      The upperboud of the step in current line search routine,
+ *                      such that stpbound*d is the maximum reasonable step.
+ */
+    typedef double (*lbfgs_stepbound_t)(void *instance,
+                                        const double *xp,
+                                        const double *d,
+                                        const int n);
+
+    /**
+ * Callback interface to receive the progress of the optimization process.
+ *
+ *  The lbfgs_optimize() function call this function for each iteration. Implementing
+ *  this function, a client program can store or display the current progress
+ *  of the optimization process. If it is not used, just set it NULL or nullptr.
+ *
+ *  @param  instance    The user data sent for lbfgs_optimize() function by the client.
+ *  @param  x           The current values of variables.
+ *  @param  g           The current gradient values of variables.
+ *  @param  fx          The current value of the objective function.
+ *  @param  xnorm       The Euclidean norm of the variables.
+ *  @param  gnorm       The Euclidean norm of the gradients.
+ *  @param  step        The line-search step used for this iteration.
+ *  @param  n           The number of variables.
+ *  @param  k           The iteration count.
+ *  @param  ls          The number of evaluations called for this iteration.
+ *  @retval int         Zero to continue the optimization process. Returning a
+ *                      non-zero value will cancel the optimization process.
+ */
+    typedef int (*lbfgs_progress_t)(void *instance,
+                                    const double *x,
+                                    const double *g,
+                                    const double fx,
+                                    const double xnorm,
+                                    const double gnorm,
+                                    const double step,
+                                    int n,
+                                    int k,
+                                    int ls);
+
+    /**
+ * Callback data struct
+ */
+
+    struct callback_data_t
+    {
+        int n;
+        void *instance;
+        lbfgs_evaluate_t proc_evaluate;
+        lbfgs_stepbound_t proc_stepbound;
+        lbfgs_progress_t proc_progress;
+    };
+
+    /**
+ * Iteration data struct
+ */
+    struct iteration_data_t
+    {
+        double alpha;
+        double *s; /* [n] */
+        double *y; /* [n] */
+        double ys; /* vecdot(y, s) */
+    };
+
+// ----------------------- Arithmetic Part -----------------------
+
+/**
+ * Define the local variables for computing minimizers.
+ */
+#define USES_MINIMIZER_LBFGS \
+    double a, d, gamm, theta, p, q, r, s;
+
+/**
+ * Find a minimizer of an interpolated cubic function.
+ *  @param  cm      The minimizer of the interpolated cubic.
+ *  @param  u       The value of one point, u.
+ *  @param  fu      The value of f(u).
+ *  @param  du      The value of f'(u).
+ *  @param  v       The value of another point, v.
+ *  @param  fv      The value of f(v).
+ *  @param  du      The value of f'(v).
+ */
+#define CUBIC_MINIMIZER_LBFGS(cm, u, fu, du, v, fv, dv) \
+    d = (v) - (u);                                      \
+    theta = ((fu) - (fv)) * 3 / d + (du) + (dv);        \
+    p = fabs(theta);                                    \
+    q = fabs(du);                                       \
+    r = fabs(dv);                                       \
+    s = p >= q ? p : q;                                 \
+    s = s >= r ? s : r;                                 \
+    /* gamm = s*sqrt((theta/s)**2 - (du/s) * (dv/s)) */ \
+    a = theta / s;                                      \
+    gamm = s * sqrt(a * a - ((du) / s) * ((dv) / s));   \
+    if ((v) < (u))                                      \
+        gamm = -gamm;                                   \
+    p = gamm - (du) + theta;                            \
+    q = gamm - (du) + gamm + (dv);                      \
+    r = p / q;                                          \
+    (cm) = (u) + r * d;
+
+/**
+ * Find a minimizer of an interpolated cubic function.
+ *  @param  cm      The minimizer of the interpolated cubic.
+ *  @param  u       The value of one point, u.
+ *  @param  fu      The value of f(u).
+ *  @param  du      The value of f'(u).
+ *  @param  v       The value of another point, v.
+ *  @param  fv      The value of f(v).
+ *  @param  du      The value of f'(v).
+ *  @param  xmin    The maximum value.
+ *  @param  xmin    The minimum value.
+ */
+#define CUBIC_MINIMIZER2_LBFGS(cm, u, fu, du, v, fv, dv, xmin, xmax) \
+    d = (v) - (u);                                                   \
+    theta = ((fu) - (fv)) * 3 / d + (du) + (dv);                     \
+    p = fabs(theta);                                                 \
+    q = fabs(du);                                                    \
+    r = fabs(dv);                                                    \
+    s = p >= q ? p : q;                                              \
+    s = s >= r ? s : r;                                              \
+    /* gamm = s*sqrt((theta/s)**2 - (du/s) * (dv/s)) */              \
+    a = theta / s;                                                   \
+    gamm = a * a - ((du) / s) * ((dv) / s);                          \
+    gamm = gamm > 0 ? s * sqrt(gamm) : 0;                            \
+    if ((u) < (v))                                                   \
+        gamm = -gamm;                                                \
+    p = gamm - (dv) + theta;                                         \
+    q = gamm - (dv) + gamm + (du);                                   \
+    r = p / q;                                                       \
+    if (r < 0. && gamm != 0.)                                        \
+    {                                                                \
+        (cm) = (v)-r * d;                                            \
+    }                                                                \
+    else if (a < 0)                                                  \
+    {                                                                \
+        (cm) = (xmax);                                               \
+    }                                                                \
+    else                                                             \
+    {                                                                \
+        (cm) = (xmin);                                               \
+    }
+
+/**
+ * Find a minimizer of an interpolated quadratic function.
+ *  @param  qm      The minimizer of the interpolated quadratic.
+ *  @param  u       The value of one point, u.
+ *  @param  fu      The value of f(u).
+ *  @param  du      The value of f'(u).
+ *  @param  v       The value of another point, v.
+ *  @param  fv      The value of f(v).
+ */
+#define QUARD_MINIMIZER_LBFGS(qm, u, fu, du, v, fv) \
+    a = (v) - (u);                                  \
+    (qm) = (u) + (du) / (((fu) - (fv)) / a + (du)) / 2 * a;
+
+/**
+ * Find a minimizer of an interpolated quadratic function.
+ *  @param  qm      The minimizer of the interpolated quadratic.
+ *  @param  u       The value of one point, u.
+ *  @param  du      The value of f'(u).
+ *  @param  v       The value of another point, v.
+ *  @param  dv      The value of f'(v).
+ */
+#define QUARD_MINIMIZER2_LBFGS(qm, u, du, v, dv) \
+    a = (u) - (v);                               \
+    (qm) = (v) + (dv) / ((dv) - (du)) * a;
+
+    inline void *vecalloc(size_t size)
+    {
+        void *memblock = malloc(size);
+        if (memblock)
+        {
+            memset(memblock, 0, size);
+        }
+        return memblock;
+    }
+
+    inline void vecfree(void *memblock)
+    {
+        free(memblock);
+    }
+
+    inline void veccpy(double *y, const double *x, const int n)
+    {
+        memcpy(y, x, sizeof(double) * n);
+    }
+
+    inline void vecncpy(double *y, const double *x, const int n)
+    {
+        int i;
+
+        for (i = 0; i < n; ++i)
+        {
+            y[i] = -x[i];
+        }
+    }
+
+    inline void vecadd(double *y, const double *x, const double c, const int n)
+    {
+        int i;
+
+        for (i = 0; i < n; ++i)
+        {
+            y[i] += c * x[i];
+        }
+    }
+
+    inline void vecdiff(double *z, const double *x, const double *y, const int n)
+    {
+        int i;
+
+        for (i = 0; i < n; ++i)
+        {
+            z[i] = x[i] - y[i];
+        }
+    }
+
+    inline void vecscale(double *y, const double c, const int n)
+    {
+        int i;
+
+        for (i = 0; i < n; ++i)
+        {
+            y[i] *= c;
+        }
+    }
+
+    inline void vecdot(double *s, const double *x, const double *y, const int n)
+    {
+        int i;
+        *s = 0.;
+        for (i = 0; i < n; ++i)
+        {
+            *s += x[i] * y[i];
+        }
+    }
+
+    inline void vec2norm(double *s, const double *x, const int n)
+    {
+        vecdot(s, x, x, n);
+        *s = (double)sqrt(*s);
+    }
+
+    inline void vec2norminv(double *s, const double *x, const int n)
+    {
+        vec2norm(s, x, n);
+        *s = (double)(1.0 / *s);
+    }
+
+    // ----------------------- L-BFGS Part -----------------------
+
+    /**
+ * Update a safeguarded trial value and interval for line search.
+ *
+ *  The parameter x represents the step with the least function value.
+ *  The parameter t represents the current step. This function assumes
+ *  that the derivative at the point of x in the direction of the step.
+ *  If the bracket is set to true, the minimizer has been bracketed in
+ *  an interval of uncertainty with endpoints between x and y.
+ *
+ *  @param  x       The pointer to the value of one endpoint.
+ *  @param  fx      The pointer to the value of f(x).
+ *  @param  dx      The pointer to the value of f'(x).
+ *  @param  y       The pointer to the value of another endpoint.
+ *  @param  fy      The pointer to the value of f(y).
+ *  @param  dy      The pointer to the value of f'(y).
+ *  @param  t       The pointer to the value of the trial value, t.
+ *  @param  ft      The pointer to the value of f(t).
+ *  @param  dt      The pointer to the value of f'(t).
+ *  @param  tmin    The minimum value for the trial value, t.
+ *  @param  tmax    The maximum value for the trial value, t.
+ *  @param  brackt  The pointer to the predicate if the trial value is
+ *                  bracketed.
+ *  @retval int     Status value. Zero indicates a normal termination.
+ *  
+ *  @see
+ *      Jorge J. More and David J. Thuente. Line search algorithm with
+ *      guaranteed sufficient decrease. ACM Transactions on Mathematical
+ *      Software (TOMS), Vol 20, No 3, pp. 286-307, 1994.
+ */
+    inline int update_trial_interval(double *x,
+                                     double *fx,
+                                     double *dx,
+                                     double *y,
+                                     double *fy,
+                                     double *dy,
+                                     double *t,
+                                     double *ft,
+                                     double *dt,
+                                     const double tmin,
+                                     const double tmax,
+                                     int *brackt)
+    {
+        int bound;
+        int dsign = *dt * (*dx / fabs(*dx)) < 0.;
+        double mc;            /* minimizer of an interpolated cubic. */
+        double mq;            /* minimizer of an interpolated quadratic. */
+        double newt;          /* new trial value. */
+        USES_MINIMIZER_LBFGS; /* for CUBIC_MINIMIZER and QUARD_MINIMIZER. */
+
+        /* Check the input parameters for errors. */
+        if (*brackt)
+        {
+            if (*t <= (*x <= *y ? *x : *y) || (*x >= *y ? *x : *y) <= *t)
+            {
+                /* The trival value t is out of the interval. */
+                return LBFGSERR_OUTOFINTERVAL;
+            }
+            if (0. <= *dx * (*t - *x))
+            {
+                /* The function must decrease from x. */
+                return LBFGSERR_INCREASEGRADIENT;
+            }
+            if (tmax < tmin)
+            {
+                /* Incorrect tmin and tmax specified. */
+                return LBFGSERR_INCORRECT_TMINMAX;
+            }
+        }
+
+        /*
+    Trial value selection.
+    */
+        if (*fx < *ft)
+        {
+            /*
+        Case 1: a higher function value.
+        The minimum is brackt. If the cubic minimizer is closer
+        to x than the quadratic one, the cubic one is taken, else
+        the average of the minimizers is taken.
+        */
+            *brackt = 1;
+            bound = 1;
+            CUBIC_MINIMIZER_LBFGS(mc, *x, *fx, *dx, *t, *ft, *dt);
+            QUARD_MINIMIZER_LBFGS(mq, *x, *fx, *dx, *t, *ft);
+            if (fabs(mc - *x) < fabs(mq - *x))
+            {
+                newt = mc;
+            }
+            else
+            {
+                newt = mc + 0.5 * (mq - mc);
+            }
+        }
+        else if (dsign)
+        {
+            /*
+        Case 2: a lower function value and derivatives of
+        opposite sign. The minimum is brackt. If the cubic
+        minimizer is closer to x than the quadratic (secant) one,
+        the cubic one is taken, else the quadratic one is taken.
+        */
+            *brackt = 1;
+            bound = 0;
+            CUBIC_MINIMIZER_LBFGS(mc, *x, *fx, *dx, *t, *ft, *dt);
+            QUARD_MINIMIZER2_LBFGS(mq, *x, *dx, *t, *dt);
+            if (fabs(mc - *t) > fabs(mq - *t))
+            {
+                newt = mc;
+            }
+            else
+            {
+                newt = mq;
+            }
+        }
+        else if (fabs(*dt) < fabs(*dx))
+        {
+            /*
+        Case 3: a lower function value, derivatives of the
+        same sign, and the magnitude of the derivative decreases.
+        The cubic minimizer is only used if the cubic tends to
+        infinity in the direction of the minimizer or if the minimum
+        of the cubic is beyond t. Otherwise the cubic minimizer is
+        defined to be either tmin or tmax. The quadratic (secant)
+        minimizer is also computed and if the minimum is brackt
+        then the the minimizer closest to x is taken, else the one
+        farthest away is taken.
+        */
+            bound = 1;
+            CUBIC_MINIMIZER2_LBFGS(mc, *x, *fx, *dx, *t, *ft, *dt, tmin, tmax);
+            QUARD_MINIMIZER2_LBFGS(mq, *x, *dx, *t, *dt);
+            if (*brackt)
+            {
+                if (fabs(*t - mc) < fabs(*t - mq))
+                {
+                    newt = mc;
+                }
+                else
+                {
+                    newt = mq;
+                }
+            }
+            else
+            {
+                if (fabs(*t - mc) > fabs(*t - mq))
+                {
+                    newt = mc;
+                }
+                else
+                {
+                    newt = mq;
+                }
+            }
+        }
+        else
+        {
+            /*
+        Case 4: a lower function value, derivatives of the
+        same sign, and the magnitude of the derivative does
+        not decrease. If the minimum is not brackt, the step
+        is either tmin or tmax, else the cubic minimizer is taken.
+        */
+            bound = 0;
+            if (*brackt)
+            {
+                CUBIC_MINIMIZER_LBFGS(newt, *t, *ft, *dt, *y, *fy, *dy);
+            }
+            else if (*x < *t)
+            {
+                newt = tmax;
+            }
+            else
+            {
+                newt = tmin;
+            }
+        }
+
+        /*
+    Update the interval of uncertainty. This update does not
+    depend on the new step or the case analysis above.
+
+    - Case a: if f(x) < f(t),
+    x <- x, y <- t.
+    - Case b: if f(t) <= f(x) && f'(t)*f'(x) > 0,
+    x <- t, y <- y.
+    - Case c: if f(t) <= f(x) && f'(t)*f'(x) < 0, 
+    x <- t, y <- x.
+    */
+        if (*fx < *ft)
+        {
+            /* Case a */
+            *y = *t;
+            *fy = *ft;
+            *dy = *dt;
+        }
+        else
+        {
+            /* Case c */
+            if (dsign)
+            {
+                *y = *x;
+                *fy = *fx;
+                *dy = *dx;
+            }
+            /* Cases b and c */
+            *x = *t;
+            *fx = *ft;
+            *dx = *dt;
+        }
+
+        /* Clip the new trial value in [tmin, tmax]. */
+        if (tmax < newt)
+            newt = tmax;
+        if (newt < tmin)
+            newt = tmin;
+
+        /*
+    Redefine the new trial value if it is close to the upper bound
+    of the interval.
+    */
+        if (*brackt && bound)
+        {
+            mq = *x + 0.66 * (*y - *x);
+            if (*x < *y)
+            {
+                if (mq < newt)
+                    newt = mq;
+            }
+            else
+            {
+                if (newt < mq)
+                    newt = mq;
+            }
+        }
+
+        /* Return the new trial value. */
+        *t = newt;
+        return 0;
+    }
+
+    inline int line_search_morethuente(int n,
+                                       double *x,
+                                       double *f,
+                                       double *g,
+                                       double *stp,
+                                       const double *s,
+                                       const double *xp,
+                                       const double *gp,
+                                       const double *stpmin,
+                                       const double *stpmax,
+                                       callback_data_t *cd,
+                                       const lbfgs_parameter_t *param)
+    {
+        int count = 0;
+        int brackt, stage1, uinfo = 0;
+        double dg;
+        double stx, fx, dgx;
+        double sty, fy, dgy;
+        double fxm, dgxm, fym, dgym, fm, dgm;
+        double finit, ftest1, dginit, dgtest;
+        double width, prev_width;
+        double stmin, stmax;
+
+        /* Check the input parameters for errors. */
+        if (*stp <= 0.)
+        {
+            return LBFGSERR_INVALIDPARAMETERS;
+        }
+
+        /* Compute the initial gradient in the search direction. */
+        vecdot(&dginit, gp, s, n);
+
+        /* Make sure that s points to a descent direction. */
+        if (0 < dginit)
+        {
+            return LBFGSERR_INCREASEGRADIENT;
+        }
+
+        /* Initialize local variables. */
+        brackt = 0;
+        stage1 = 1;
+        finit = *f;
+        dgtest = param->f_dec_coeff * dginit;
+        width = *stpmax - *stpmin;
+        prev_width = 2.0 * width;
+
+        /*
+    The variables stx, fx, dgx contain the values of the step,
+    function, and directional derivative at the best step.
+    The variables sty, fy, dgy contain the value of the step,
+    function, and derivative at the other endpoint of
+    the interval of uncertainty.
+    The variables stp, f, dg contain the values of the step,
+    function, and derivative at the current step.
+    */
+        stx = sty = 0.;
+        fx = fy = finit;
+        dgx = dgy = dginit;
+
+        for (;;)
+        {
+            /*
+        Set the minimum and maximum steps to correspond to the
+        present interval of uncertainty.
+        */
+            if (brackt)
+            {
+                stmin = stx <= sty ? stx : sty;
+                stmax = stx >= sty ? stx : sty;
+            }
+            else
+            {
+                stmin = stx;
+                stmax = *stp + 4.0 * (*stp - stx);
+            }
+
+            /* Clip the step in the range of [stpmin, stpmax]. */
+            if (*stp < *stpmin)
+                *stp = *stpmin;
+            if (*stpmax < *stp)
+                *stp = *stpmax;
+
+            /*
+        If an unusual termination is to occur then let
+        stp be the lowest point obtained so far.
+        */
+            if ((brackt && ((*stp <= stmin || stmax <= *stp) || param->max_linesearch <= count + 1 || uinfo != 0)) || (brackt && (stmax - stmin <= param->xtol * stmax)))
+            {
+                *stp = stx;
+            }
+
+            /*
+        Compute the current value of x:
+        x <- x + (*stp) * s.
+        */
+            veccpy(x, xp, n);
+            vecadd(x, s, *stp, n);
+
+            /* Evaluate the function and gradient values. */
+            // cout << "line_search_morethuente iter No. " << count << "  ++++++++++++++++" << endl;
+            *f = cd->proc_evaluate(cd->instance, x, g, cd->n);
+            // cout << "f: " << *f << endl;
+            vecdot(&dg, g, s, n);
+
+            ftest1 = finit + *stp * dgtest;
+            ++count;
+
+            /* Test for errors and convergence. */
+            if ((std::isinf(*f) || std::isnan(*f)) || (brackt && ((*stp <= stmin || stmax <= *stp) || uinfo != 0)))
+            {
+                /* Rounding errors prevent further progress. */
+                return LBFGSERR_ROUNDING_ERROR;
+            }
+            if (*stp == *stpmax && *f <= ftest1 && dg <= dgtest)
+            {
+                /* The step is the maximum value. */
+                return LBFGSERR_MAXIMUMSTEP;
+            }
+            if (*stp == *stpmin && (ftest1 < *f || dgtest <= dg))
+            {
+                /* The step is the minimum value. */
+                return LBFGSERR_MINIMUMSTEP;
+            }
+            if (brackt && (stmax - stmin) <= param->xtol * stmax)
+            {
+                /* Relative width of the interval of uncertainty is at most xtol. */
+                return LBFGSERR_WIDTHTOOSMALL;
+            }
+            if (param->max_linesearch <= count)
+            {
+                /* Maximum number of iteration. */
+                return LBFGSERR_MAXIMUMLINESEARCH;
+            }
+            if (*f <= ftest1 && fabs(dg) <= param->s_curv_coeff * (-dginit))
+            {
+                /* The sufficient decrease condition and the strong curvature condition hold. */
+                return count;
+            }
+
+            /*
+        In the first stage we seek a step for which the modified
+        function has a nonpositive value and nonnegative derivative.
+        */
+            if (stage1 && *f <= ftest1 &&
+                (param->f_dec_coeff <= param->s_curv_coeff ? param->f_dec_coeff : param->s_curv_coeff) * dginit <= dg)
+            {
+                stage1 = 0;
+            }
+
+            /*
+        A modified function is used to predict the step only if
+        we have not obtained a step for which the modified
+        function has a nonpositive function value and nonnegative
+        derivative, and if a lower function value has been
+        obtained but the decrease is not sufficient.
+        */
+            if (stage1 && ftest1 < *f && *f <= fx)
+            {
+                /* Define the modified function and derivative values. */
+                fm = *f - *stp * dgtest;
+                fxm = fx - stx * dgtest;
+                fym = fy - sty * dgtest;
+                dgm = dg - dgtest;
+                dgxm = dgx - dgtest;
+                dgym = dgy - dgtest;
+
+                /*
+            Call update_trial_interval() to update the interval of
+            uncertainty and to compute the new step.
+            */
+                uinfo = update_trial_interval(
+                    &stx, &fxm, &dgxm,
+                    &sty, &fym, &dgym,
+                    stp, &fm, &dgm,
+                    stmin, stmax, &brackt);
+
+                /* Reset the function and gradient values for f. */
+                fx = fxm + stx * dgtest;
+                fy = fym + sty * dgtest;
+                dgx = dgxm + dgtest;
+                dgy = dgym + dgtest;
+            }
+            else
+            {
+                /*
+            Call update_trial_interval() to update the interval of
+            uncertainty and to compute the new step.
+            */
+                uinfo = update_trial_interval(
+                    &stx, &fx, &dgx,
+                    &sty, &fy, &dgy,
+                    stp, f, &dg,
+                    stmin, stmax, &brackt);
+            }
+
+            /*
+        Force a sufficient decrease in the interval of uncertainty.
+        */
+            if (brackt)
+            {
+                if (0.66 * prev_width <= fabs(sty - stx))
+                {
+                    *stp = stx + 0.5 * (sty - stx);
+                }
+                prev_width = width;
+                width = fabs(sty - stx);
+            }
+        }
+
+        return LBFGSERR_LOGICERROR;
+    }
+
+    inline int line_search_backtracking(
+        int n,
+        double *x,
+        double *f,
+        double *g,
+        double *stp,
+        const double *s,
+        const double *xp,
+        const double *gp,
+        const double *stpmin,
+        const double *stpmax,
+        callback_data_t *cd,
+        const lbfgs_parameter_t *param)
+    {
+        int count = 0;
+        double width, dg;
+        double finit, dginit = 0., dgtest;
+        const double dec = 0.5, inc = 2.1;
+
+        /* Check the input parameters for errors. */
+        if (*stp <= 0.)
+        {
+            return LBFGSERR_INVALIDPARAMETERS;
+        }
+
+        /* Compute the initial gradient in the search direction. */
+        vecdot(&dginit, gp, s, n);
+
+        /* Make sure that s points to a descent direction. */
+        if (0 < dginit)
+        {
+            return LBFGSERR_INCREASEGRADIENT;
+        }
+
+        /* The initial value of the objective function. */
+        finit = *f;
+        dgtest = param->f_dec_coeff * dginit;
+
+        for (;;)
+        {
+            veccpy(x, xp, n);
+            vecadd(x, s, *stp, n);
+
+            /* Evaluate the function and gradient values. */
+            // cout << "line_search_backtracking iter No. " << count << "  ---------------" << endl;
+            *f = cd->proc_evaluate(cd->instance, x, g, cd->n);
+            // cout << "f: " << *f << endl;
+
+            ++count;
+
+            if (*f > finit + *stp * dgtest)
+            {
+                width = dec;
+            }
+            else
+            {
+                /* Check the Wolfe condition. */
+                vecdot(&dg, g, s, n);
+                if (dg < param->s_curv_coeff * dginit)
+                {
+                    width = inc;
+                }
+                else
+                {
+                    /* Check the strong Wolfe condition. */
+                    if (dg > -param->s_curv_coeff * dginit)
+                    {
+                        width = dec;
+                    }
+                    else
+                    {
+                        /* Exit with the strong Wolfe condition. */
+                        return count;
+                    }
+                }
+            }
+
+            if (*stp < *stpmin)
+            {
+                /* The step is the minimum value. */
+                return LBFGSERR_MINIMUMSTEP;
+            }
+            if (*stp > *stpmax)
+            {
+                /* The step is the maximum value. */
+                return LBFGSERR_MAXIMUMSTEP;
+            }
+            if (param->max_linesearch <= count)
+            {
+                /* Maximum number of iteration. */
+                return LBFGSERR_MAXIMUMLINESEARCH;
+            }
+
+            (*stp) *= width;
+        }
+    }
+
+    /**
+ * Initialize L-BFGS parameters to the default values.
+ *
+ *  Call this function to fill a parameter structure with the default values
+ *  and overwrite parameter values if necessary.
+ *
+ *  @param  param       The pointer to the parameter structure.
+ */
+    inline void lbfgs_load_default_parameters(lbfgs_parameter_t *param)
+    {
+        memcpy(param, &_default_param, sizeof(*param));
+    }
+
+    /**
+ * Start a L-BFGS optimization.
+ * A user must implement a function compatible with ::lbfgs_evaluate_t (evaluation
+ * callback) and pass the pointer to the callback function to lbfgs_optimize() 
+ * arguments. Similarly, a user can implement a function compatible with 
+ * ::lbfgs_stepbound_t to provide an external upper bound for stepsize, and 
+ * ::lbfgs_progress_t (progress callback) to obtain the current progress 
+ * (e.g., variables, function value, ||G||, etc) and to cancel the iteration 
+ * process if necessary. Implementation of the stepbound and the progress callback 
+ * is optional: a user can pass NULL if progress notification is not necessary.
+ * 
+ * This algorithm terminates an optimization
+ * when:
+ *
+ *   ||G|| < g_epsilon \cdot \max(1, ||x||) .
+ * 
+ * In this formula, ||.|| denotes the Euclidean norm.
+ *
+ *  @param  n           The number of variables.
+ *  @param  x           The array of variables. A client program can set
+ *                      default values for the optimization and receive the
+ *                      optimization result through this array.
+ *  @param  ptr_fx      The pointer to the variable that receives the final
+ *                      value of the objective function for the variables.
+ *                      This argument can be set to NULL if the final
+ *                      value of the objective function is unnecessary.
+ *  @param  proc_evaluate   The callback function to provide function and
+ *                          gradient evaluations given a current values of
+ *                          variables. A client program must implement a
+ *                          callback function compatible with 
+ *                          lbfgs_evaluate_t and pass the pointer to the
+ *                          callback function.
+ *  @param  proc_stepbound  The callback function to provide values of the
+ *                          upperbound of the stepsize to search in, provided
+ *                          with the beginning values of variables before the 
+ *                          linear search, and the current step vector (can 
+ *                          be negative gradient). A client program can implement
+ *                          this function for more efficient linesearch. If it is
+ *                          not used, just set it NULL or nullptr.
+ *  @param  proc_progress   The callback function to receive the progress
+ *                          (the number of iterations, the current value of
+ *                          the objective function) of the minimization
+ *                          process. This argument can be set to NULL if
+ *                          a progress report is unnecessary.
+ *  @param  instance    A user data for the client program. The callback
+ *                      functions will receive the value of this argument.
+ *  @param  param       The pointer to a structure representing parameters for
+ *                      L-BFGS optimization. A client program can set this
+ *                      parameter to NULL to use the default parameters.
+ *                      Call lbfgs_load_default_parameters() function to 
+ *                      fill a structure with the default values.
+ *  @retval int         The status code. This function returns zero if the
+ *                      minimization process terminates without an error. A
+ *                      non-zero value indicates an error.
+ */
+    inline int lbfgs_optimize(int n,
+                              double *x,
+                              double *ptr_fx,
+                              lbfgs_evaluate_t proc_evaluate,
+                              lbfgs_stepbound_t proc_stepbound,
+                              lbfgs_progress_t proc_progress,
+                              void *instance,
+                              lbfgs_parameter_t *_param)
+    {
+        int ret;
+        int i, j, k, ls, lss, end, bound;
+        double step, stepp;
+        int loop;
+        double step_min, step_max;
+
+        /* Constant parameters and their default values. */
+        lbfgs_parameter_t param = (_param != NULL) ? (*_param) : _default_param;
+        const int m = param.mem_size;
+
+        double *xp = NULL;
+        double *g = NULL, *gp = NULL;
+        double *d = NULL, *pf = NULL;
+        iteration_data_t *lm = NULL, *it = NULL;
+        double ys, yy;
+        double xnorm, gnorm, beta;
+        double fx = 0., fp;
+        double rate = 0.;
+
+        /* Construct a callback data. */
+        callback_data_t cd;
+        cd.n = n;
+        cd.instance = instance;
+        cd.proc_evaluate = proc_evaluate;
+        cd.proc_stepbound = proc_stepbound;
+        cd.proc_progress = proc_progress;
+
+        /* Check the input parameters for errors. */
+        if (n <= 0)
+        {
+            return LBFGSERR_INVALID_N;
+        }
+        if (m <= 0)
+        {
+            return LBFGSERR_INVALID_MEMSIZE;
+        }
+        if (param.g_epsilon < 0.)
+        {
+            return LBFGSERR_INVALID_GEPSILON;
+        }
+        if (param.past < 0)
+        {
+            return LBFGSERR_INVALID_TESTPERIOD;
+        }
+        if (param.delta < 0.)
+        {
+            return LBFGSERR_INVALID_DELTA;
+        }
+        if (param.min_step < 0.)
+        {
+            return LBFGSERR_INVALID_MINSTEP;
+        }
+        if (param.max_step < param.min_step)
+        {
+            return LBFGSERR_INVALID_MAXSTEP;
+        }
+        if (param.f_dec_coeff < 0.)
+        {
+            return LBFGSERR_INVALID_FDECCOEFF;
+        }
+        if (param.s_curv_coeff <= param.f_dec_coeff || 1. <= param.s_curv_coeff)
+        {
+            return LBFGSERR_INVALID_SCURVCOEFF;
+        }
+        if (param.xtol < 0.)
+        {
+            return LBFGSERR_INVALID_XTOL;
+        }
+        if (param.max_linesearch <= 0)
+        {
+            return LBFGSERR_INVALID_MAXLINESEARCH;
+        }
+
+        /* Allocate working space. */
+        xp = (double *)vecalloc(n * sizeof(double));
+        g = (double *)vecalloc(n * sizeof(double));
+        gp = (double *)vecalloc(n * sizeof(double));
+        d = (double *)vecalloc(n * sizeof(double));
+
+        /* Allocate limited memory storage. */
+        lm = (iteration_data_t *)vecalloc(m * sizeof(iteration_data_t));
+
+        /* Initialize the limited memory. */
+        for (i = 0; i < m; ++i)
+        {
+            it = &lm[i];
+            it->alpha = 0;
+            it->ys = 0;
+            it->s = (double *)vecalloc(n * sizeof(double));
+            it->y = (double *)vecalloc(n * sizeof(double));
+        }
+
+        /* Allocate an array for storing previous values of the objective function. */
+        if (0 < param.past)
+        {
+            pf = (double *)vecalloc(param.past * sizeof(double));
+        }
+
+        /* Evaluate the function value and its gradient. */
+        fx = cd.proc_evaluate(cd.instance, x, g, cd.n);
+
+        /* Store the initial value of the objective function. */
+        if (pf != NULL)
+        {
+            pf[0] = fx;
+        }
+
+        /*
+    Compute the direction;
+    we assume the initial hessian matrix H_0 as the identity matrix.
+    */
+        vecncpy(d, g, n);
+
+        /*
+    Make sure that the initial variables are not a minimizer.
+    */
+        vec2norm(&xnorm, x, n);
+        vec2norm(&gnorm, g, n);
+
+        if (xnorm < 1.0)
+            xnorm = 1.0;
+        if (gnorm / xnorm <= param.g_epsilon)
+        {
+            ret = LBFGS_ALREADY_MINIMIZED;
+        }
+        else
+        {
+            /* Compute the initial step:
+        step = 1.0 / sqrt(vecdot(d, d, n))
+        */
+            vec2norminv(&step, d, n);
+
+            k = 1;
+            end = 0;
+            loop = 1;
+
+            while (loop == 1)
+            {
+                /* If the step bound can be provied dynamically, then apply it. */
+                step_min = param.min_step;
+                step_max = param.max_step;
+                if (cd.proc_stepbound)
+                {
+                    step_max = cd.proc_stepbound(cd.instance, xp, d, cd.n);
+                    step_max = step_max < param.max_step ? step_max : param.max_step;
+                    if (step >= step_max)
+                        step = step_max / 2.0;
+                }
+
+                /* Store the current position, gradient vectors and initial step. */
+                veccpy(xp, x, n);
+                veccpy(gp, g, n);
+                stepp = step;
+                fp = fx;
+
+                /* Search for an optimal step. */
+                // cout << "line_search_morethuente start ++++++++++++++++++++++++++++++++++++++++" << endl;
+                ls = line_search_morethuente(n, x, &fx, g, &step, d, xp, gp, &step_min, &step_max, &cd, &param);
+                // cout << "line_search_morethuente end ++++++++++++++++++++++++++++++++++++++++++" << endl;
+
+                /* If numerical condition is bad, switch to simple but stable line search. */
+                if (ls < 0)
+                {
+                    /* Restore initial step for alternative line search. */
+                    step = stepp;
+                    fx = fp;
+
+                    /* Search in a more robust way. */
+                    // cout << "line_search_backtracking start ----------------------------------------------" << endl;
+                    lss = line_search_backtracking(n, x, &fx, g, &step, d, xp, gp, &step_min, &step_max, &cd, &param);
+                    // cout << "line_search_backtracking end ------------------------------------------------" << endl;
+
+                    /* The externally provided bound on step is exceeded, which is unresolved. */
+                    ls = (cd.proc_stepbound != nullptr && lss == LBFGSERR_MAXIMUMSTEP) ? ls : lss;
+                }
+
+                if (ls < 0)
+                {
+                    /* Revert to the previous point. */
+                    veccpy(x, xp, n);
+                    veccpy(g, gp, n);
+                    ret = ls;
+                    loop = 0;
+                    continue;
+                }
+
+                /* Compute x and g norms. */
+                vec2norm(&xnorm, x, n);
+                vec2norm(&gnorm, g, n);
+
+                /* Report the progress. */
+                if (cd.proc_progress)
+                {
+                    if ((ret = cd.proc_progress(cd.instance, x, g, fx, xnorm, gnorm, step, cd.n, k, ls)))
+                    {
+                        loop = 0;
+                        continue;
+                    }
+                }
+
+                /*
+            Convergence test.
+            The criterion is given by the following formula:
+            |g(x)| / \max(1, |x|) < g_epsilon
+            */
+                if (xnorm < 1.0)
+                    xnorm = 1.0;
+                if (gnorm / xnorm <= param.g_epsilon)
+                {
+                    /* Convergence. */
+                    ret = LBFGS_CONVERGENCE;
+                    break;
+                }
+
+                /*
+            Test for stopping criterion.
+            The criterion is given by the following formula:
+            |(f(past_x) - f(x))| / f(x) < \delta
+            */
+                if (pf != NULL)
+                {
+                    /* We don't test the stopping criterion while k < past. */
+                    if (param.past <= k)
+                    {
+                        /* Compute the relative improvement from the past. */
+                        rate = (pf[k % param.past] - fx) / fx;
+
+                        /* The stopping criterion. */
+                        if (fabs(rate) < param.delta)
+                        {
+                            ret = LBFGS_STOP;
+                            break;
+                        }
+                    }
+
+                    /* Store the current value of the objective function. */
+                    pf[k % param.past] = fx;
+                }
+
+                if (param.max_iterations != 0 && param.max_iterations < k + 1)
+                {
+                    /* Maximum number of iterations. */
+                    ret = LBFGSERR_MAXIMUMITERATION;
+                    break;
+                }
+
+                /*
+            Update vectors s and y:
+            s_{k+1} = x_{k+1} - x_{k} = \step * d_{k}.
+            y_{k+1} = g_{k+1} - g_{k}.
+            */
+                it = &lm[end];
+                vecdiff(it->s, x, xp, n);
+                vecdiff(it->y, g, gp, n);
+
+                /*
+            Compute scalars ys and yy:
+            ys = y^t \cdot s = 1 / \rho.
+            yy = y^t \cdot y.
+            Notice that yy is used for scaling the hessian matrix H_0 (Cholesky factor).
+            */
+                vecdot(&ys, it->y, it->s, n);
+                vecdot(&yy, it->y, it->y, n);
+                it->ys = ys;
+
+                /* Compute the negative of gradients. */
+                vecncpy(d, g, n);
+
+                /* Skip L-BFGS update when ys is too small as proposed in Ceres Solver */
+                if (ys > DBL_EPSILON)
+                {
+                    /*
+                Recursive formula to compute dir = -(H \cdot g).
+                This is described in page 779 of:
+                Jorge Nocedal.
+                Updating Quasi-Newton Matrices with Limited Storage.
+                Mathematics of Computation, Vol. 35, No. 151,
+                pp. 773--782, 1980.
+                */
+                    bound = (m <= k) ? m : k;
+                    ++k;
+                    end = (end + 1) % m;
+
+                    j = end;
+                    for (i = 0; i < bound; ++i)
+                    {
+                        j = (j + m - 1) % m; /* if (--j == -1) j = m-1; */
+                        it = &lm[j];
+                        /* \alpha_{j} = \rho_{j} s^{t}_{j} \cdot q_{k+1}. */
+                        vecdot(&it->alpha, it->s, d, n);
+                        it->alpha /= it->ys;
+                        /* q_{i} = q_{i+1} - \alpha_{i} y_{i}. */
+                        vecadd(d, it->y, -it->alpha, n);
+                    }
+
+                    vecscale(d, ys / yy, n);
+
+                    for (i = 0; i < bound; ++i)
+                    {
+                        it = &lm[j];
+                        /* \beta_{j} = \rho_{j} y^t_{j} \cdot \gamm_{i}. */
+                        vecdot(&beta, it->y, d, n);
+                        beta /= it->ys;
+                        /* \gamm_{i+1} = \gamm_{i} + (\alpha_{j} - \beta_{j}) s_{j}. */
+                        vecadd(d, it->s, it->alpha - beta, n);
+                        j = (j + 1) % m; /* if (++j == m) j = 0; */
+                    }
+                }
+
+                /*
+            Now the search direction d is ready. We try step = 1 first.
+            */
+                step = 1.0;
+            }
+        }
+
+        /* Return the final value of the objective function. */
+        if (ptr_fx != NULL)
+        {
+            *ptr_fx = fx;
+        }
+
+        vecfree(pf);
+
+        /* Free memory blocks used by this function. */
+        if (lm != NULL)
+        {
+            for (i = 0; i < m; ++i)
+            {
+                vecfree(lm[i].s);
+                vecfree(lm[i].y);
+            }
+            vecfree(lm);
+        }
+        vecfree(d);
+        vecfree(gp);
+        vecfree(g);
+        vecfree(xp);
+
+        return ret;
+    }
+
+    inline int grad_descent(int n,
+                            double *x,
+                            double *ptr_fx,
+                            lbfgs_evaluate_t proc_evaluate,
+                            lbfgs_stepbound_t proc_stepbound,
+                            lbfgs_check_t proc_check,
+                            void *instance,
+                            lbfgs_parameter_t *_param)
+    {
+        int ret;
+        int i, j, k, ls, lss, end, bound;
+        double step, stepp;
+        int loop;
+        double step_min, step_max;
+
+        /* Constant parameters and their default values. */
+        lbfgs_parameter_t param = (_param != NULL) ? (*_param) : _default_param;
+        const int m = param.mem_size;
+
+        double *xp = NULL;
+        double *g = NULL, *gp = NULL;
+        double *d = NULL, *pf = NULL;
+
+        double ys, yy;
+        double xnorm, gnorm, beta;
+        double fx = 0., fp;
+        double rate = 0.;
+
+        /* Construct a callback data. */
+        callback_data_t cd;
+        cd.n = n;
+        cd.instance = instance;
+        cd.proc_evaluate = proc_evaluate;
+        cd.proc_stepbound = proc_stepbound;
+
+        /* Check the input parameters for errors. */
+        if (n <= 0)
+        {
+            return LBFGSERR_INVALID_N;
+        }
+        if (m <= 0)
+        {
+            return LBFGSERR_INVALID_MEMSIZE;
+        }
+        if (param.g_epsilon < 0.)
+        {
+            return LBFGSERR_INVALID_GEPSILON;
+        }
+        if (param.past < 0)
+        {
+            return LBFGSERR_INVALID_TESTPERIOD;
+        }
+        if (param.delta < 0.)
+        {
+            return LBFGSERR_INVALID_DELTA;
+        }
+        if (param.min_step < 0.)
+        {
+            return LBFGSERR_INVALID_MINSTEP;
+        }
+        if (param.max_step < param.min_step)
+        {
+            return LBFGSERR_INVALID_MAXSTEP;
+        }
+        if (param.f_dec_coeff < 0.)
+        {
+            return LBFGSERR_INVALID_FDECCOEFF;
+        }
+        if (param.s_curv_coeff <= param.f_dec_coeff || 1. <= param.s_curv_coeff)
+        {
+            return LBFGSERR_INVALID_SCURVCOEFF;
+        }
+        if (param.xtol < 0.)
+        {
+            return LBFGSERR_INVALID_XTOL;
+        }
+        if (param.max_linesearch <= 0)
+        {
+            return LBFGSERR_INVALID_MAXLINESEARCH;
+        }
+
+        /* Allocate working space. */
+        xp = (double *)vecalloc(n * sizeof(double));
+        g = (double *)vecalloc(n * sizeof(double));
+        gp = (double *)vecalloc(n * sizeof(double));
+        d = (double *)vecalloc(n * sizeof(double));
+
+        /* Allocate an array for storing previous values of the objective function. */
+        if (0 < param.past)
+        {
+            pf = (double *)vecalloc(param.past * sizeof(double));
+        }
+
+        /* Evaluate the function value and its gradient. */
+        fx = cd.proc_evaluate(cd.instance, x, g, cd.n);
+
+        /* Store the initial value of the objective function. */
+        if (pf != NULL)
+        {
+            pf[0] = fx;
+        }
+
+        /*
+    Compute the direction;
+    we assume the initial hessian matrix H_0 as the identity matrix.
+    */
+        vecncpy(d, g, n);
+
+        /*
+    Make sure that the initial variables are not a minimizer.
+    */
+        vec2norm(&xnorm, x, n);
+        vec2norm(&gnorm, g, n);
+
+        if (xnorm < 1.0)
+            xnorm = 1.0;
+        if (gnorm / xnorm <= param.g_epsilon)
+        {
+            ret = LBFGS_ALREADY_MINIMIZED;
+        }
+        else
+        {
+            /* Compute the initial step:
+        step = 1.0 / sqrt(vecdot(d, d, n))
+        */
+            vec2norminv(&step, d, n);
+
+            k = 1;
+            end = 0;
+            loop = 1;
+
+            while (loop == 1)
+            {
+                /* If the step bound can be provied dynamically, then apply it. */
+                step_min = param.min_step;
+                step_max = param.max_step;
+                if (cd.proc_stepbound)
+                {
+                    step_max = cd.proc_stepbound(cd.instance, xp, d, cd.n);
+                    step_max = step_max < param.max_step ? step_max : param.max_step;
+                    if (step >= step_max)
+                        step = step_max / 2.0;
+                }
+
+                /* Store the current position, gradient vectors and initial step. */
+                veccpy(xp, x, n);
+                veccpy(gp, g, n);
+                stepp = step;
+                fp = fx;
+
+                /* Search for an optimal step. */
+                // cout << "line_search_morethuente start ++++++++++++++++++++++++++++++++++++++++" << endl;
+                ls = line_search_morethuente(n, x, &fx, g, &step, d, xp, gp, &step_min, &step_max, &cd, &param);
+                // cout << "line_search_morethuente end ++++++++++++++++++++++++++++++++++++++++++" << endl;
+
+                /* If numerical condition is bad, switch to simple but stable line search. */
+                if (ls < 0)
+                {
+                    /* Restore initial step for alternative line search. */
+                    step = stepp;
+                    fx = fp;
+
+                    /* Search in a more robust way. */
+                    // cout << "line_search_backtracking start ----------------------------------------------" << endl;
+                    lss = line_search_backtracking(n, x, &fx, g, &step, d, xp, gp, &step_min, &step_max, &cd, &param);
+                    // cout << "line_search_backtracking end ------------------------------------------------" << endl;
+
+                    /* The externally provided bound on step is exceeded, which is unresolved. */
+                    ls = (cd.proc_stepbound != nullptr && lss == LBFGSERR_MAXIMUMSTEP) ? ls : lss;
+                }
+
+                if (ls < 0)
+                {
+                    /* Revert to the previous point. */
+                    veccpy(x, xp, n);
+                    veccpy(g, gp, n);
+                    ret = ls;
+                    loop = 0;
+                    continue;
+                }
+
+                bool valid = proc_check(instance, x, n);
+                if (valid == false)
+                {
+                    /* Revert to the previous point. */
+                    veccpy(x, xp, n);
+                    veccpy(g, gp, n);
+                    ret = ls;
+                    loop = 0;
+                    continue;
+                }
+
+                /* Compute x and g norms. */
+                vec2norm(&xnorm, x, n);
+                vec2norm(&gnorm, g, n);
+            }
+        }
+    }
+
+    /**
+ * Get string description of an lbfgs_optimize() return code.
+ *
+ *  @param err          A value returned by lbfgs_optimize().
+ */
+    inline const char *lbfgs_strerror(int err)
+    {
+        switch (err)
+        {
+        case LBFGS_CONVERGENCE:
+            return "Success: reached convergence (g_epsilon).";
+
+        case LBFGS_STOP:
+            return "Success: met stopping criteria (past f decrease less than delta).";
+
+        case LBFGS_ALREADY_MINIMIZED:
+            return "The initial variables already minimize the objective function.";
+
+        case LBFGSERR_UNKNOWNERROR:
+            return "Unknown error.";
+
+        case LBFGSERR_LOGICERROR:
+            return "Logic error.";
+
+        case LBFGSERR_CANCELED:
+            return "The minimization process has been canceled.";
+
+        case LBFGSERR_INVALID_N:
+            return "Invalid number of variables specified.";
+
+        case LBFGSERR_INVALID_MEMSIZE:
+            return "Invalid parameter lbfgs_parameter_t::mem_size specified.";
+
+        case LBFGSERR_INVALID_GEPSILON:
+            return "Invalid parameter lbfgs_parameter_t::g_epsilon specified.";
+
+        case LBFGSERR_INVALID_TESTPERIOD:
+            return "Invalid parameter lbfgs_parameter_t::past specified.";
+
+        case LBFGSERR_INVALID_DELTA:
+            return "Invalid parameter lbfgs_parameter_t::delta specified.";
+
+        case LBFGSERR_INVALID_MINSTEP:
+            return "Invalid parameter lbfgs_parameter_t::min_step specified.";
+
+        case LBFGSERR_INVALID_MAXSTEP:
+            return "Invalid parameter lbfgs_parameter_t::max_step specified.";
+
+        case LBFGSERR_INVALID_FDECCOEFF:
+            return "Invalid parameter lbfgs_parameter_t::f_dec_coeff specified.";
+
+        case LBFGSERR_INVALID_SCURVCOEFF:
+            return "Invalid parameter lbfgs_parameter_t::s_curv_coeff specified.";
+
+        case LBFGSERR_INVALID_XTOL:
+            return "Invalid parameter lbfgs_parameter_t::xtol specified.";
+
+        case LBFGSERR_INVALID_MAXLINESEARCH:
+            return "Invalid parameter lbfgs_parameter_t::max_linesearch specified.";
+
+        case LBFGSERR_OUTOFINTERVAL:
+            return "The line-search step went out of the interval of uncertainty.";
+
+        case LBFGSERR_INCORRECT_TMINMAX:
+            return "A logic error occurred; alternatively, the interval of uncertainty"
+                   " became too small.";
+
+        case LBFGSERR_ROUNDING_ERROR:
+            return "A rounding error occurred; alternatively, no line-search step"
+                   " satisfies the sufficient decrease and curvature conditions.";
+
+        case LBFGSERR_MINIMUMSTEP:
+            return "The line-search step became smaller than lbfgs_parameter_t::min_step.";
+
+        case LBFGSERR_MAXIMUMSTEP:
+            return "The line-search step became larger than lbfgs_parameter_t::max_step.";
+
+        case LBFGSERR_MAXIMUMLINESEARCH:
+            return "The line-search routine reaches the maximum number of evaluations.";
+
+        case LBFGSERR_MAXIMUMITERATION:
+            return "The algorithm routine reaches the maximum number of iterations.";
+
+        case LBFGSERR_WIDTHTOOSMALL:
+            return "Relative width of the interval of uncertainty is at most"
+                   " lbfgs_parameter_t::xtol.";
+
+        case LBFGSERR_INVALIDPARAMETERS:
+            return "A logic error (negative line-search step) occurred.";
+
+        case LBFGSERR_INCREASEGRADIENT:
+            return "The current search direction increases the objective function value.";
+
+        default:
+            return "(unknown)";
+        }
+    }
+
+} // namespace lbfgs
+
+#endif
diff --git a/planning/poly_opt/include/poly_opt/lmbm.h b/planning/poly_opt/include/poly_opt/lmbm.h
new file mode 100755
index 0000000..5d95a93
--- /dev/null
+++ b/planning/poly_opt/include/poly_opt/lmbm.h
@@ -0,0 +1,242 @@
+/*  
+The MIT License
+
+Copyright (c) 2020-2022 Zhepei Wang
+https://github.com/ZJU-FAST-Lab/LMBM
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+#ifndef LMBM_HPP
+#define LMBM_HPP
+
+#include <cstdio>
+#include <cstdlib>
+
+namespace lmbm
+{
+
+    /**
+ * LMBM optimization parameters. 
+ *  Parameters are initialized to default values.
+ */
+    struct lmbm_parameter_t
+    {
+        /**
+     * The timeout in seconds for optimization.
+     */
+        float timeout = 300.0;
+
+        /**
+     * Size of the bundle (>=2).
+     *  Recommended value ranges from [2,10].
+     */
+        int bundle_size = 2;
+
+        /**
+     * Number of stored correction pairs.
+     *  Recommended value ranges from [3,15].
+     *  ini_corrections <= max_corrections is required.
+     */
+        int ini_corrections = 7;
+
+        /**
+     * Upper limit for number of stored correction pairs.
+     *  Recommended value ranges from [3,20].
+     */
+        int max_corrections = 15;
+
+        /**
+     * Exponent for distance measure. 
+     *  Used for the calculations of subgradient locality 
+     *  measure. 
+     */
+        int exponent_distmeasure = 2;
+
+        /**
+     * Maximum number of iterations.
+     */
+        int max_iterations = 10000;
+
+        /**
+     * Maximum number of function evaluations.
+     */
+        int max_evaluations = 20000;
+
+        /**
+     * Distance for delta-based convergence test.
+     *  This parameter determines the distance, in iterations, to compute
+     *  the rate of decrease of the objective function.
+     */
+        int past = 10;
+
+        /**
+     * Printout specification.
+     * -1: No printout. 
+     *  0: Print only the error messages. 
+     *  1: Print basic details of the final solution. 
+     *  2: Print basic details of the final solution and the most serious 
+     *     warning messages. 
+     *  3: Print the whole final solution including the components of X 
+     *     and the most serious warning messages. 
+     *  4: Print details (including warning messages) of every iteration 
+     *     excluding the components of X. 
+     *  5: Print details of every iteration including the components of X 
+     *     and the most serious warning messages.
+     */
+        int verbose = -1;
+
+        /**
+     * Update scheme of variable metric matrices.
+     *  0: SR1 update. 
+     *  1: L-BFGS update. 
+     */
+        int update_method = 0;
+
+        /**
+     * Scaling strategy for variable metric updates. 
+     *  0: Scaling at every iteration with <s,u>/<u,u>, where s and u 
+     *     denotes the difference on current and auxiliary iteration 
+     *     points and subgradients, respectively.
+     *  1: Scaling at every iteration with <s,s>/<s,u>.
+     *  2: Interval scaling with <s,u>/<u,u>.
+     *  3: Interval scaling with <s,s>/<s,u>.
+     *  4: Preliminary scaling with <s,u>/<u,u>.
+     *  5: Preliminary scaling with <s,s>/<s,u>.
+     *  6: No scaling.
+     * 
+     *  Recommended selections are,  
+     *      scaling_strategy = 0 for update_method = 0,
+     *      scaling_strategy = 2 for update_method = 1.
+     */
+        int scaling_strategy = 0;
+
+        /**
+     * Delta for convergence test.
+     *  This parameter determines the minimum rate of decrease 
+     *  of the objective function after serious steps. The library 
+     *  stops iterations when the following condition is met:
+     *      fabs(f' - f) < delta_past,
+     *  where f' is the objective value of past iterations ago, 
+     *  and f is the objective value of the current iteration.
+     */
+        double delta_past = 1.0e-8;
+
+        /**
+     * Relative epsilon for function values. 
+     *  Note that with this tolerance, the computation will terminate 
+     *  due to just one sufficiently small change in the function values 
+     *  after a serious step. Thus, to shun premature terminations, very 
+     *  large values of this parameter should be avoided. Note however, 
+     *  that this parameter is indeed used to be multiplied by an epsilon 
+     *  for machine precision. This parameter and corresponding termination 
+     *  tests may be ignored by choosing f_rel_eps < 0.
+     */
+        double f_rel_eps = 1.0e+4;
+
+        /**
+     * Lower bound for funciton values.
+     *  The function to be minimized should be lower bounded.
+     *  This bound is explicitly required in case of unbounded minimum 
+     *  function value.
+     */
+        double f_lower_bound = -1.0e+60;
+
+        /**
+     * Magnitute threshold for directional dervative under locality measure 
+     * and metric matrix.
+     */
+        double terminate_param1 = 1.0e-6;
+
+        /**
+     * Magnitute threshold for gradient under locality measure (>=terminate_param1).
+     *  It prevents the premature terminations arising from the limited memory matrix 
+     *  updating. This second termination criterion is somewhat difficult to satisfy. 
+     *  Thus, terminate_param2 >= terminate_param1 is required.
+     */
+        double terminate_param2 = 1.0e-6;
+
+        /**
+     * Distance measure parameter. 
+     *  Used for the calculations of the subgradient locality measure. 
+     *  Small values on range [0.0, 1.0e-4] are recommended for convex 
+     *  problems while larger values on range [1.0e-2, 1.0] are recommended 
+     *  for nonconvex problems.
+     */
+        double distance_measure = 0.5;
+
+        /**
+     * A parameter to control the accuracy of the line search routine.
+     *  This parameter should be greater than zero and smaller than 0.25.
+     */
+        double sufficient_dec = 1.0e-4;
+
+        /**
+     * Maximum step size (>1.0). 
+     *  This parameter reduces the step size such that it plays an important 
+     *  role in the vicinity of a nonsmooth point. It may influence the 
+     *  efficiency of the method considerably and, thus, it should be tuned 
+     *  carefully.
+     */
+        double max_stepsize = 1.5;
+    };
+
+    enum
+    {
+        /** LMBM converges with desired accuracy based on terminate_param1 and terminate_param2. */
+        LMBM_CONVERGENCE = 0,
+        /** LMBM satisfies stopping criteria. */
+        LMBM_STOP,
+        /** The change in function value is sufficiently small (in serious step) considering f_rel_eps. */
+        LMBM_NOMOREPROGRESS,
+        /** Reaches maximum number of function calls. */
+        LMBM_MAXFCALLS,
+        /** Reaches maximum number of iterations. */
+        LMBM_MAXITERS,
+        /** Reaches maximum computation time. */
+        LMBM_MAXTIME,
+        /** Function value reaches its lower bound. */
+        LMBM_LOWBOUND,
+
+        /** Unknown error. */
+        LMBMERR_UNKNOWNERROR = -1024,
+        /** Invalid input parameters whose error message can be specified by verbose. */
+        LMBMERR_INVALIDPARAMS,
+        /** Failure in attaining the demanded accuracy. */
+        LMBMERR_ROUNDINGERR,
+        /** Number of restarts is greater that the maximum number of restarts (internal parameters 2000)*/
+        LMBMERR_FREQUENTRESTART,
+        /** Two consecutive restarts or bad choice of maximum step size. */
+        LMBMERR_CONSECUTIVEFAIL,
+    };
+
+    typedef double (*lmbm_evaluate_t)(void *instance,
+                                      const double *x,
+                                      double *g,
+                                      const int n);
+
+    int lmbm_optimize(int n,
+                      double *x,
+                      double *ptr_fx,
+                      lmbm_evaluate_t proc_evaluate,
+                      void *instance,
+                      lmbm_parameter_t *param);
+
+} // namespace lmbm
+
+#endif
\ No newline at end of file
diff --git a/planning/poly_opt/include/poly_opt/nonsmooth_trunk_opt.h b/planning/poly_opt/include/poly_opt/nonsmooth_trunk_opt.h
new file mode 100755
index 0000000..2b051d2
--- /dev/null
+++ b/planning/poly_opt/include/poly_opt/nonsmooth_trunk_opt.h
@@ -0,0 +1,517 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#pragma once
+
+#include "occ_grid/pos_checker.h"
+#include "visualization_utils/visualization_utils.h"
+#include "poly_opt/lmbm.h"
+#include "poly_traj_utils/traj_utils.hpp"
+#include <Eigen/Eigen>
+#include <cstdio>
+#include <cstdlib>
+#include <vector>
+#include <cmath>
+#include <ros/ros.h>
+
+using Eigen::Matrix;
+using Eigen::MatrixXd;
+using Eigen::Vector3d;
+using Eigen::VectorXd;
+using std::vector;
+#define AS_PARENT 0
+#define AS_CHILD 1
+
+#define NO_DEFORM 0
+#define ONE_NODE 1
+#define TRUNK_NODES 2
+#define BRANCH_NODES 3
+#define TREE_NODES 4
+#define SMALL_BRANCH_NODES 5
+
+class BranchOpt
+{
+private:
+  // decision variables, px, py, pz, vx, vy, vz, ax, ay, az, Tc1, Tc2, ..., Tcm, Tp
+  double *x_;
+  // parent state
+  VectorXd state_p_;
+  // children states
+  vector<VectorXd> state_c_;
+
+  vector<int> children_descendant_num_plus_one_;
+  int state_size_, children_size_;
+  int self_descendant_num_plus_one_;
+
+  double rho_;
+  double vel_limit_, acc_limit_, jerk_limit_;
+  double squared_vel_limit_, squared_acc_limit_, squared_jerk_limit_;
+  int K_;
+  vector<int> kpos_;
+  double rho_pos_, rho_vel_, rho_acc_;
+  double dist_tolerance_;
+
+  tgk_planner::PosChecker::Ptr pos_checker_ptr_;
+  VisualRviz::Ptr vis_ptr_;
+
+public:
+  void setPosChecker(const tgk_planner::PosChecker::Ptr &checker)
+  {
+    pos_checker_ptr_ = checker;
+  };
+  void setVisualizer(const VisualRviz::Ptr &vis)
+  {
+    vis_ptr_ = vis;
+  }
+
+  BranchOpt(const ros::NodeHandle &node) : x_(NULL)
+  {
+    node.param("trunk_opt/rho", rho_, 0.0);
+    node.param("trunk_opt/vel_limit", vel_limit_, 0.0);
+    node.param("trunk_opt/acc_limit", acc_limit_, 0.0);
+    node.param("trunk_opt/jerk_limit", jerk_limit_, 0.0);
+    node.param("trunk_opt/discretization", K_, 0);
+    node.param("trunk_opt/rho_pos", rho_pos_, 0.0);
+    node.param("trunk_opt/rho_vel", rho_vel_, 0.0);
+    node.param("trunk_opt/rho_acc", rho_acc_, 0.0);
+    node.param("trunk_opt/dist_tolerance", dist_tolerance_, 0.0);
+    squared_vel_limit_ = vel_limit_ * vel_limit_;
+    squared_acc_limit_ = acc_limit_ * acc_limit_;
+    squared_jerk_limit_ = jerk_limit_ * jerk_limit_;
+    ROS_WARN_STREAM("[nonsmooth_trunk_opt] param: vel_limit: " << vel_limit_);
+    ROS_WARN_STREAM("[nonsmooth_trunk_opt] param: acc_limit: " << acc_limit_);
+    ROS_WARN_STREAM("[nonsmooth_trunk_opt] param: jerk_limit: " << jerk_limit_);
+    ROS_WARN_STREAM("[nonsmooth_trunk_opt] param: discretization: " << K_);
+    ROS_WARN_STREAM("[nonsmooth_trunk_opt] param: rho_pos: " << rho_pos_);
+    ROS_WARN_STREAM("[nonsmooth_trunk_opt] param: rho_vel: " << rho_vel_);
+    ROS_WARN_STREAM("[nonsmooth_trunk_opt] param: rho_acc: " << rho_acc_);
+  }
+
+  ~BranchOpt()
+  {
+  }
+
+  bool optimizeBranch(VectorXd &node_state,
+                      const VectorXd &parent_state,
+                      double &parent_T,
+                      int parent_descendant_num_plus_one,
+                      const vector<VectorXd> &children_states,
+                      vector<double> &children_Ts,
+                      const vector<int> &children_descendant_num_plus_one)
+  {
+    bool res(false);
+    state_size_ = node_state.size();
+    children_size_ = children_Ts.size();
+    int N = state_size_ + children_size_ + 1;
+
+    state_p_ = parent_state;
+    state_c_ = children_states;
+    self_descendant_num_plus_one_ = parent_descendant_num_plus_one;
+    children_descendant_num_plus_one_ = children_descendant_num_plus_one;
+
+    kpos_.resize(children_size_ + 1);
+    for (int i = 0; i < children_size_; ++i)
+    {
+      kpos_[i] = std::max(2.0, std::min(ceil(children_Ts[i] / 0.03), 200.0));
+    }
+    kpos_[children_size_] = std::max(2.0, std::min(ceil(parent_T / 0.03), 200.0));
+
+    // ROS_WARN_STREAM("node_state: " << node_state.transpose());
+    // ROS_WARN_STREAM("children_size_: " << children_size_);
+    // ROS_WARN_STREAM("state_p_: " << state_p_.transpose());
+    // ROS_WARN_STREAM("parent_T: " << parent_T);
+
+    /* Initialize the variables. */
+    x_ = new double[N];
+    for (int i = 0; i < state_size_; i++)
+    {
+      x_[i] = node_state[i];
+    }
+    for (int i = 0; i < children_size_; i++)
+    {
+      // ROS_WARN_STREAM("children_states: " << children_states[i].transpose());
+      // ROS_WARN_STREAM("children_Ts: " << children_Ts[i]);
+      x_[i + state_size_] = log(children_Ts[i]);
+      // ROS_WARN_STREAM("initial T children: " << children_Ts[i]);
+    }
+    // ROS_WARN_STREAM("initial T parent: " << parent_T);
+    x_[N - 1] = log(parent_T);
+
+    /* initial cost */
+    // double obj(0.0);
+    // Eigen::VectorXd D(node_state);
+    // double* g = new double[state_size_ + children_size_ + 1];
+    // Eigen::Map<VectorXd> g_D(g, state_size_);
+    // g_D.setZero();
+    // /* time durations: [Tc1 Tc2 ... Tcm Tp]', children's and the last the parent's */
+    // Eigen::VectorXd Tau(children_size_ + 1);
+    // for (int i=0; i<children_size_; i++)
+    // {
+    //   Tau[i] = log(children_Ts[i]);
+    // }
+    // Tau[children_size_] = log(parent_T);
+    // Eigen::Map<VectorXd> g_Tau(g + state_size_, children_size_ + 1);
+    // g_Tau.setZero();
+    // /* segment: curr_node to its parent */
+    // obj += calSmoothCostAddGrad(state_p_, D, Tau[children_size_], g_D, g_Tau[children_size_], AS_CHILD, self_descendant_num_plus_one_);
+    // obj += calTimeItgPntAddGrad(state_p_, D, Tau[children_size_], g_D, g_Tau[children_size_], AS_CHILD, kpos_[children_size_], self_descendant_num_plus_one_);
+    // /* segments: curr_node to its children */
+    // for (int i=0; i<children_size_; ++i)
+    // {
+    //   obj += calSmoothCostAddGrad(D, state_c_[i], Tau[i], g_D, g_Tau[i], AS_PARENT, children_descendant_num_plus_one_[i]);
+    //   obj += calTimeItgPntAddGrad(D, state_c_[i], Tau[i], g_D, g_Tau[i], AS_PARENT, kpos_[i], children_descendant_num_plus_one_[i]);
+    // }
+    // delete [] g;
+    // std::cout << "obj : " << obj << std::endl;
+    /* initial cost */
+
+    int opt_ret = run(N);
+    if (opt_ret < 0)
+    {
+      res = false;
+    }
+    else
+    {
+      for (int i = 0; i < state_size_; i++)
+      {
+        node_state[i] = x_[i];
+      }
+      for (int i = 0; i < children_size_; i++)
+      {
+        children_Ts[i] = exp(x_[i + state_size_]);
+      }
+      parent_T = exp(x_[N - 1]);
+      res = true;
+    }
+
+    delete[] x_;
+    return res;
+  }
+
+private:
+  int run(int N)
+  {
+    double fx;
+    lmbm::lmbm_parameter_t lmbm_params;
+    lmbm_params.timeout = 0.005;
+    lmbm_params.max_stepsize = 2.0;
+    lmbm_params.delta_past = 1e-1;
+    int ret = lmbm::lmbm_optimize(N, x_, &fx, _evaluate, this, &lmbm_params);
+    // std::cout << "obj after: " << fx << "\n" << std::endl;
+    return ret;
+  }
+
+  static double _evaluate(void *instance,
+                          const double *x,
+                          double *g,
+                          const int n)
+  {
+    return reinterpret_cast<BranchOpt *>(instance)->evaluate(x, g, n);
+  }
+
+  double evaluate(const double *x,
+                  double *g,
+                  const int n)
+  {
+    /* for current iteration */
+    double obj = 0.0;
+    // state: [px py pz vx vy vz ax ay az]'
+    Eigen::Map<const VectorXd> D(x, state_size_);
+    Eigen::Map<VectorXd> g_D(g, state_size_);
+    // Eigen::VectorXd g_DD(state_size_);
+    // Eigen::Map<VectorXd> g_D(g_DD.data(), state_size_);
+    g_D.setZero();
+    /* time durations: [Tc1 Tc2 ... Tcm Tp]', children's and the last the parent's */
+    Eigen::Map<const VectorXd> Tau(x + state_size_, children_size_ + 1);
+    Eigen::Map<VectorXd> g_Tau(g + state_size_, children_size_ + 1);
+    // Eigen::VectorXd g_TauTau(children_size_ + 1);
+    // Eigen::Map<VectorXd> g_Tau(g_TauTau.data(), children_size_ + 1);
+    g_Tau.setZero();
+
+    /* segment: curr_node to its parent */
+    obj += calSmoothCostAddGrad(state_p_, D, Tau[children_size_], g_D, g_Tau[children_size_], AS_CHILD, self_descendant_num_plus_one_);
+    obj += calTimeItgPntAddGrad(state_p_, D, Tau[children_size_], g_D, g_Tau[children_size_], AS_CHILD, kpos_[children_size_], self_descendant_num_plus_one_);
+    /* segments: curr_node to its children */
+    for (int i = 0; i < children_size_; ++i)
+    {
+      obj += calSmoothCostAddGrad(D, state_c_[i], Tau[i], g_D, g_Tau[i], AS_PARENT, children_descendant_num_plus_one_[i]);
+      obj += calTimeItgPntAddGrad(D, state_c_[i], Tau[i], g_D, g_Tau[i], AS_PARENT, kpos_[i], children_descendant_num_plus_one_[i]);
+    }
+    // g_Tau.setZero();
+    // if (g != nullptr)
+    // {
+    //   memcpy(g, g_D.data(), sizeof(double) * state_size_);
+    //   memcpy(g + state_size_, g_Tau.data(), sizeof(double) * (children_size_ + 1));
+    // }
+    // else
+    // {
+    //   cout << "g == nullptr" << endl;
+    // }
+
+    return obj;
+  }
+
+  double calSmoothCostAddGrad(const VectorXd &x0, const VectorXd &x1, double Tau, Eigen::Map<VectorXd> grad_d, double &grad_Tau, bool type, double weight = 1)
+  {
+    double t1 = 3 * (x0[6] * x0[6] + x0[7] * x0[7] + x0[8] * x0[8] + x1[6] * x1[6] + x1[7] * x1[7] + x1[8] * x1[8]);
+    double t2 = t1 - 2 * (x0[6] * x1[6] + x0[7] * x1[7] + x0[8] * x1[8]);
+    double t3 = 3 * (x0[3] * x0[6] + x0[4] * x0[7] + x0[5] * x0[8] - x1[3] * x1[6] - x1[4] * x1[7] - x1[5] * x1[8]);
+    double t4 = t3 + 2 * (x0[6] * x1[3] + x0[7] * x1[4] + x0[8] * x1[5] - x0[3] * x1[6] - x0[4] * x1[7] - x0[5] * x1[8]);
+    double t5 = 8 * (x0[3] * x0[3] + x0[4] * x0[4] + x0[5] * x0[5] + x1[3] * x1[3] + x1[4] * x1[4] + x1[5] * x1[5]);
+    double t6 = t5 + 5 * ((x0[0] - x1[0]) * (x0[6] - x1[6]) + (x0[1] - x1[1]) * (x0[7] - x1[7]) + (x0[2] - x1[2]) * (x0[8] - x1[8]));
+    double t7 = t6 + 14 * (x0[3] * x1[3] + x0[4] * x1[4] + x0[5] * x1[5]);
+    double t8 = (x0[0] - x1[0]) * (x0[3] + x1[3]) + (x0[1] - x1[1]) * (x0[4] + x1[4]) + (x0[2] - x1[2]) * (x0[5] + x1[5]);
+    double t9 = (x0[0] - x1[0]) * (x0[0] - x1[0]) + (x0[1] - x1[1]) * (x0[1] - x1[1]) + (x0[2] - x1[2]) * (x0[2] - x1[2]);
+
+    double T(exp(Tau));
+    double T2 = T * T;
+    double T3 = T2 * T;
+    double T4 = T3 * T;
+    double T5 = T4 * T;
+    double T6 = T5 * T;
+
+    double cost = (T6 + rho_ * (720 * t9 + 720 * T * t8 + 24 * T2 * t7 + 24 * T3 * t4 + 3 * T4 * t2)) / T5;
+    grad_Tau += weight * (T6 - rho_ * (3600 * t9 + 2880 * T * t8 + 72 * T2 * t7 + 48 * T3 * t4 + 3 * T4 * t2)) / T6 * exp(Tau);
+    // ROS_ERROR_STREAM("smt T grad: " << grad_T);
+
+    if (type == AS_PARENT)
+    {
+      grad_d[0] += 120 * rho_ * (12 * (x0[0] - x1[0]) + 6 * T * (x0[3] + x1[3]) + T2 * (x0[6] - x1[6])) / T5;
+      grad_d[1] += 120 * rho_ * (12 * (x0[1] - x1[1]) + 6 * T * (x0[4] + x1[4]) + T2 * (x0[7] - x1[7])) / T5;
+      grad_d[2] += 120 * rho_ * (12 * (x0[2] - x1[2]) + 6 * T * (x0[5] + x1[5]) + T2 * (x0[8] - x1[8])) / T5;
+      grad_d[3] += 24 * rho_ * (30 * (x0[0] - x1[0]) + T * (16 * x0[3] + 14 * x1[3]) + T2 * (3 * x0[6] - 2 * x1[6])) / T4;
+      grad_d[4] += 24 * rho_ * (30 * (x0[1] - x1[1]) + T * (16 * x0[4] + 14 * x1[4]) + T2 * (3 * x0[7] - 2 * x1[7])) / T4;
+      grad_d[5] += 24 * rho_ * (30 * (x0[2] - x1[2]) + T * (16 * x0[5] + 14 * x1[5]) + T2 * (3 * x0[8] - 2 * x1[8])) / T4;
+      grad_d[6] += 6 * rho_ * (20 * (x0[0] - x1[0]) + T * (12 * x0[3] + 8 * x1[3]) + T2 * (3 * x0[6] - x1[6])) / T3;
+      grad_d[7] += 6 * rho_ * (20 * (x0[1] - x1[1]) + T * (12 * x0[4] + 8 * x1[4]) + T2 * (3 * x0[7] - x1[7])) / T3;
+      grad_d[8] += 6 * rho_ * (20 * (x0[2] - x1[2]) + T * (12 * x0[5] + 8 * x1[5]) + T2 * (3 * x0[8] - x1[8])) / T3;
+    }
+    else if (type == AS_CHILD)
+    {
+      grad_d[0] += -120 * rho_ * (12 * (x0[0] - x1[0]) + 6 * T * (x0[3] + x1[3]) + T2 * (x0[6] - x1[6])) / T5;
+      grad_d[1] += -120 * rho_ * (12 * (x0[1] - x1[1]) + 6 * T * (x0[4] + x1[4]) + T2 * (x0[7] - x1[7])) / T5;
+      grad_d[2] += -120 * rho_ * (12 * (x0[2] - x1[2]) + 6 * T * (x0[5] + x1[5]) + T2 * (x0[8] - x1[8])) / T5;
+      grad_d[3] += 24 * rho_ * (30 * (x0[0] - x1[0]) + T * (14 * x0[3] + 16 * x1[3]) + T2 * (2 * x0[6] - 3 * x1[6])) / T4;
+      grad_d[4] += 24 * rho_ * (30 * (x0[1] - x1[1]) + T * (14 * x0[4] + 16 * x1[4]) + T2 * (2 * x0[7] - 3 * x1[7])) / T4;
+      grad_d[5] += 24 * rho_ * (30 * (x0[2] - x1[2]) + T * (14 * x0[5] + 16 * x1[5]) + T2 * (2 * x0[8] - 3 * x1[8])) / T4;
+      grad_d[6] += -6 * rho_ * (20 * (x0[0] - x1[0]) + T * (8 * x0[3] + 12 * x1[3]) + T2 * (x0[6] - 3 * x1[6])) / T3;
+      grad_d[7] += -6 * rho_ * (20 * (x0[1] - x1[1]) + T * (8 * x0[4] + 12 * x1[4]) + T2 * (x0[7] - 3 * x1[7])) / T3;
+      grad_d[8] += -6 * rho_ * (20 * (x0[2] - x1[2]) + T * (8 * x0[5] + 12 * x1[5]) + T2 * (x0[8] - 3 * x1[8])) / T3;
+    }
+    grad_d *= weight;
+
+    return cost * weight;
+  }
+
+  double calTimeItgPntAddGrad(const VectorXd &x0, const VectorXd &x1, double Tau, Eigen::Map<VectorXd> grad_d, double &grad_Tau, bool type, int &kpos, double weight = 1)
+  {
+    CoefficientMat coeff; /* [cx5,cx4,cx3,cx2,cx1,cx0; 
+                              cy5,cy4,cy3,cy2,cy1,cy0; 
+                              cz5,cz4,cz3,cz2,cz1,cz0] */
+    double T(exp(Tau));
+    double T2(T * T), T3(T2 * T), T4(T3 * T), T5(T4 * T);
+    coeff.col(0) = (0.5 * (x1.segment(6, 3) - x0.segment(6, 3)) * T2 -
+                    3.0 * (x0.segment(3, 3) + x1.segment(3, 3)) * T +
+                    6.0 * (x1.segment(0, 3) - x0.segment(0, 3))) /
+                   T5;
+    coeff.col(1) = ((-x1.segment(6, 3) + 1.5 * x0.segment(6, 3)) * T2 +
+                    (8.0 * x0.segment(3, 3) + 7.0 * x1.segment(3, 3)) * T +
+                    15.0 * (-x1.segment(0, 3) + x0.segment(0, 3))) /
+                   T4;
+    coeff.col(2) = ((0.5 * x1.segment(6, 3) - 1.5 * x0.segment(6, 3)) * T2 -
+                    (6.0 * x0.segment(3, 3) + 4.0 * x1.segment(3, 3)) * T +
+                    10.0 * (x1.segment(0, 3) - x0.segment(0, 3))) /
+                   T3;
+    coeff.col(3) = 0.5 * x0.segment(6, 3);
+    coeff.col(4) = x0.segment(3, 3);
+    coeff.col(5) = x0.segment(0, 3);
+
+    Matrix<double, 3, 3> grad_Jp_to_d = Matrix<double, 3, 3>::Zero(3, 3);
+    Matrix<double, 3, 3> grad_Jv_to_d = Matrix<double, 3, 3>::Zero(3, 3);
+    Matrix<double, 3, 3> grad_Ja_to_d = Matrix<double, 3, 3>::Zero(3, 3);
+    Vector3d grad_Jp_to_p, grad_Jv_to_v, grad_Ja_to_a;
+    Vector3d grad_p_to_t, grad_v_to_t, grad_a_to_t;
+    Matrix<double, 3, 6> grad_Jp_to_c, grad_Jv_to_c, grad_Ja_to_c;
+    Matrix<double, 6, 3> grad_c_to_d = Matrix<double, 6, 3>::Zero(6, 3);
+    Matrix<double, 3, 6> grad_c_to_t = Matrix<double, 3, 6>::Zero(3, 6);
+
+    double grad_Jp_to_t(0.0), grad_Jv_to_t(0.0), grad_Ja_to_t(0.0);
+    if (type == AS_PARENT)
+    {
+      grad_c_to_d << -6. / T5, -3. / T4, -0.5 / T3,
+          15. / T4, 8. / T3, 1.5 / T2,
+          -10 / T3, -6. / T2, -1.5 / T,
+          0, 0, 0.5,
+          0, 1, 0,
+          1, 0, 0;
+    }
+    else if (type == AS_CHILD)
+    {
+      grad_c_to_d << 6. / T5, -3. / T4, 0.5 / T3,
+          -15. / T4, 7. / T3, -1 / T2,
+          10. / T3, -4. / T2, 0.5 / T,
+          0, 0, 0,
+          0, 0, 0,
+          0, 0, 0;
+    }
+    for (int i = 0; i < 3; ++i)
+    {
+      double tmp = x0[i] - x1[i];
+      grad_c_to_t(i, 0) = (30 * tmp + T * (1.5 * x0[6 + i] * T - 1.5 * x1[6 + i] * T + 12 * x0[3 + i] + 12 * x1[3 + i])) / T5 / T;
+      grad_c_to_t(i, 1) = (-60 * tmp + T * (-3 * x0[6 + i] * T + 2 * x1[6 + i] * T - 24 * x0[3 + i] - 21 * x1[3 + i])) / T5;
+      grad_c_to_t(i, 2) = (30 * tmp + T * (1.5 * x0[6 + i] * T - 0.5 * x1[6 + i] * T + 12 * x0[3 + i] + 8 * x1[3 + i])) / T4;
+    }
+    double step_pos, omega;
+    Vector3d pos, vel, acc, jerk;
+    Matrix<double, 6, 1> beta0, beta1, beta2, beta3;
+    double t1(0.0), t2, t3, t4, t5;
+    int K_pos = kpos;
+    step_pos = T / K_pos;
+    double cost_pos(0.0), cost_vel(0.0), cost_acc(0.0);
+    double cost_tmp(0.0);
+    for (int j = 0; j <= K_pos; ++j, t1 += step_pos)
+    {
+      t2 = t1 * t1;
+      t3 = t2 * t1;
+      t4 = t2 * t2;
+      t5 = t4 * t1;
+      beta0 << t5, t4, t3, t2, t1, 1.0;
+      beta1 << 5.0 * t4, 4.0 * t3, 3.0 * t2, 2.0 * t1, 1.0, 0.0;
+
+      pos = coeff * beta0;
+
+      omega = (j == 0 || j == K_pos) ? 0.5 : 1.0;
+      if (collisionCostGrad(pos, grad_Jp_to_p, cost_tmp))
+      {
+        // ROS_INFO_STREAM("AS_CHILD: " << type << ", j: " << j << ", T: " << T << ", pos: " << pos.transpose() << ", grad: " << grad_Jp_to_p.transpose());
+        grad_Jp_to_c = grad_Jp_to_p * beta0.transpose();
+        grad_Jp_to_d += omega * grad_Jp_to_c * grad_c_to_d;
+        grad_p_to_t = grad_c_to_t * beta0 + coeff * beta1 * j / K_pos;
+        grad_Jp_to_t += omega * (cost_tmp / K_pos + step_pos * grad_Jp_to_p.transpose() * grad_p_to_t);
+        cost_pos += omega * cost_tmp;
+      }
+    }
+
+    t1 = 0.0;
+    double step_higher_deri = T / K_;
+    for (int j = 0; j <= K_; ++j, t1 += step_higher_deri)
+    {
+      t2 = t1 * t1;
+      t3 = t2 * t1;
+      t4 = t2 * t2;
+      t5 = t4 * t1;
+      beta1 << 5.0 * t4, 4.0 * t3, 3.0 * t2, 2.0 * t1, 1.0, 0.0;
+      beta2 << 20.0 * t3, 12.0 * t2, 6.0 * t1, 2.0, 0.0, 0.0;
+      beta3 << 60.0 * t2, 24.0 * t1, 6.0, 0.0, 0.0, 0.0;
+      vel = coeff * beta1;
+      acc = coeff * beta2;
+      omega = (j == 0 || j == K_) ? 0.5 : 1.0;
+      if (highDerivativeCostGrad(vel, squared_vel_limit_, grad_Jv_to_v, cost_tmp))
+      {
+        // ROS_INFO_STREAM("AS_CHILD: " << type << ", j: " << j << ", T: " << T << ", vel: " << vel.norm() << ", grad: " << grad_Jv_to_v.transpose());
+        grad_Jv_to_c = grad_Jv_to_v * beta1.transpose();
+        grad_Jv_to_d += omega * grad_Jv_to_c * grad_c_to_d;
+        grad_v_to_t = grad_c_to_t * beta1 + coeff * beta2 * j / K_;
+        grad_Jv_to_t += omega * (cost_tmp / K_ + step_higher_deri * grad_Jv_to_v.transpose() * grad_v_to_t);
+        cost_vel += omega * cost_tmp;
+      }
+      if (highDerivativeCostGrad(acc, squared_acc_limit_, grad_Ja_to_a, cost_tmp))
+      {
+        // ROS_INFO_STREAM("AS_CHILD: " << type << ", j: " << j << ", T: " << T << ", acc: " << acc.norm() << ", grad: " << grad_Ja_to_a.transpose());
+        grad_Ja_to_c = grad_Ja_to_a * beta2.transpose();
+        grad_Ja_to_d += omega * grad_Ja_to_c * grad_c_to_d;
+        grad_a_to_t = grad_c_to_t * beta2 + coeff * beta3 * j / K_;
+        grad_Ja_to_t += omega * (cost_tmp / K_ + step_higher_deri * grad_Ja_to_a.transpose() * grad_a_to_t);
+        cost_acc += omega * cost_tmp;
+      }
+    }
+
+    Matrix<double, 3, 3> grad_J_to_d = step_pos * grad_Jp_to_d * rho_pos_ + step_higher_deri * (grad_Jv_to_d * rho_vel_ + grad_Ja_to_d * rho_acc_);
+    grad_J_to_d *= weight;
+    grad_d.head(3) += grad_J_to_d.col(0);
+    grad_d.segment(3, 3) += grad_J_to_d.col(1);
+    grad_d.tail(3) += grad_J_to_d.col(2);
+
+    double tmp_grad_T = grad_Jp_to_t * rho_pos_ + grad_Jv_to_t * rho_vel_ + grad_Ja_to_t * rho_acc_;
+    tmp_grad_T *= weight;
+    grad_Tau += tmp_grad_T * exp(Tau);
+
+    double cost(step_pos * cost_pos * rho_pos_ + step_higher_deri * (cost_vel * rho_vel_ + cost_acc * rho_acc_));
+    cost *= weight;
+    return cost;
+  }
+
+  /*
+  * For penalty of obstacle avoidance
+  f = max(r - dis, 0)
+  */
+  bool collisionCostGrad(const Vector3d &pos, Vector3d &grad, double &cost)
+  {
+    double dist(0.0);
+    pos_checker_ptr_->evaluateEDTWithGrad(pos, -1, dist, grad);
+    // grad.normalize();
+
+    double dist_diff = dist_tolerance_ - dist;
+    if (dist_diff < 0)
+    {
+      return false;
+    }
+    else
+    {
+      // grad *= -3 * dist_diff * dist_diff;
+      // cost = dist_diff * dist_diff * dist_diff;
+      grad *= -1.0;
+      cost = dist_diff;
+      return true;
+    }
+  }
+
+  /*
+  * For penalty of higher derivatives like vel\acc\jerk\...
+  f = max(v^2 - v_max^2, 0)
+  */
+  bool highDerivativeCostGrad(const Vector3d &derivative,
+                              const double &squared_limit,
+                              Vector3d &grad,
+                              double &cost)
+  {
+    double squared_diff = derivative.squaredNorm() - squared_limit;
+    if (squared_diff > 0)
+    {
+      // grad = 6 * squared_diff * squared_diff * derivative;
+      // cost = squared_diff * squared_diff * squared_diff;
+      grad = 2 * derivative;
+      cost = squared_diff;
+      return true;
+    }
+    return false;
+  }
+};
diff --git a/planning/poly_opt/include/poly_opt/traj_optimizer.h b/planning/poly_opt/include/poly_opt/traj_optimizer.h
new file mode 100755
index 0000000..43706cd
--- /dev/null
+++ b/planning/poly_opt/include/poly_opt/traj_optimizer.h
@@ -0,0 +1,190 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#ifndef _TRAJ_OPTIMIZER_H_
+#define _TRAJ_OPTIMIZER_H_
+
+#include "occ_grid/pos_checker.h"
+#include "visualization_utils/visualization_utils.h"
+#include "r3_plan/a_star_search.h"
+#include <Eigen/Eigen>
+#include <ros/ros.h>
+
+using namespace std;
+using Eigen::MatrixXd;
+using Eigen::VectorXd;
+
+namespace tgk_planner 
+{
+class TrajOptimizer
+{
+public:
+  TrajOptimizer(const ros::NodeHandle &node);
+  TrajOptimizer();
+  void setPosChecker(const PosChecker::Ptr& checker)
+  {
+    pos_checker_ptr_ = checker;
+  };
+  int getIterationTimes()
+  {
+    return ite_times_;
+  };
+  void getTraj(Trajectory &traj)
+  {
+    traj = optimized_traj_;
+  };
+  bool initialize(const Trajectory &traj, int type)
+  {
+    int seg_num = traj.getPieceNum();
+    if (seg_num <= 1)
+      return false;
+    
+    //set front-end traj
+    front_end_traj_ = traj;
+    
+    if (type == SMOOTH_HOMO_OBS)
+      return initialize_smooth_close_obs();
+    else if (type == SMOOTH_HOMO)
+      return initialize_smooth_close();
+    else if (type == SMOOTH)
+      return initialize_smooth(traj);
+  }
+  void setVisualizer(const VisualRviz::Ptr &vis)
+  {
+    vis_ptr_ = vis;
+  }
+  void setSearcher(const std::shared_ptr<AstarPathFinder> &searcher)
+  {
+    searcher_ = searcher;
+  }
+  bool solve_S_H(); // change smooth and homotopy weights
+  bool solve_S_H_O(); // add and change obs penalty
+  bool solve_S(); // fixed wpts
+  bool solveRegionalOpt(std::vector<pair<int, int>> &seg_num_obs_size, 
+                        std::vector<Eigen::Vector3d> &attract_pts, 
+                        std::vector<double> &t_s, std::vector<double> &t_e);
+
+  typedef shared_ptr<TrajOptimizer> Ptr;
+
+private:
+  PosChecker::Ptr pos_checker_ptr_;
+  VisualRviz::Ptr vis_ptr_;
+  std::shared_ptr<AstarPathFinder> searcher_;
+
+  /** coefficient of polynomials*/
+  Eigen::MatrixXd coeff_;  
+  Eigen::MatrixXd coeff0_;
+  Trajectory optimized_traj_, front_end_traj_;
+  
+  /** way points info, from start point to end point **/
+  std::set<int> fixed_pos_;
+  Eigen::MatrixXd path_;
+  Eigen::MatrixXd vel_way_points_; 
+  Eigen::MatrixXd acc_way_points_; 
+  std::vector<double> time_;
+  int m_; //segments number
+  int n_; //fixed_pos number (exclude start and goal)
+
+  
+  /** important matrix and  variables*/
+  Eigen::MatrixXd Ct_;
+  Eigen::MatrixXd Z_, Zp_;
+  Eigen::MatrixXd A_inv_multiply_Ct_;
+  
+  Eigen::MatrixXd A_;
+  Eigen::MatrixXd A_inv_;
+  Eigen::MatrixXd Q_smooth_, Q_close_, Q_obs_;
+
+  vector<Eigen::MatrixXd> vQo_i_; //obs Q of the i^th segment
+  vector<Eigen::MatrixXd> vcoeffo_i_;
+ 
+  Eigen::MatrixXd D_;
+  Eigen::MatrixXd Q_all_;
+  Eigen::MatrixXd coeff_obs_;
+  Eigen::MatrixXd Z_all_;
+
+  double vel_limit_, acc_limit_, jerk_limit_;
+  int ite_times_, max_iter_times_;
+  bool initialize_smooth_close_obs();
+  bool initialize_smooth_close();
+  bool initialize_smooth(const Trajectory &traj);
+  bool checkTrajectoryConstraints(const Trajectory &traj);
+  void setWayPointsAndTime(std::vector<Eigen::Vector3d>& way_points,
+                            std::vector<Eigen::Vector3d>& vel,
+                            std::vector<Eigen::Vector3d>& acc,
+                            std::vector<double>& time);
+  void tryQPCloseForm(double percent_of_close);
+  void tryQPCloseForm();
+  void tryQP(const MatrixXd &Q_all, const MatrixXd &Z_all);
+
+  void calMatrixA();
+  void calMatrixCandMatrixZ(int type);
+  void calMatrixC();
+  void calMatrixQ_smooth(int type);
+  void calMatrixQ_close();
+  void calMatrixQ_obs(const vector<int> &segs, const vector<double> &t_s, const vector<double> &t_e);
+  void calMatrixQAndCoeffPerObs(const Vector3d &attract_pts, const double &t_s, const double &t_e, 
+                               Eigen::Matrix<double, 6, 6> &Q_oi, Eigen::Matrix<double, 6, 3> &coeff_oi);
+  void calMatrixQobsAndCoeff(const vector<pair<int, int>> &seg_num_obs_size, const vector<Vector3d> &attract_pts, 
+                               const vector<double> &t_s, const vector<double> &t_e);
+
+  bool getVerticesFromTraj(vector<Vector3d> &vertices, 
+                          vector<Vector3d> &vels, 
+                          vector<Vector3d> &accs, 
+                          const Trajectory &trajectory, std::vector<double> durs);
+  bool getCollideSegIdx(const Trajectory& traj, std::set<int> &indices);
+  void splitDurations(std::vector<double>& durs, const std::set<int> &indices);
+  bool reTiming(Trajectory& traj);
+
+  enum QSmoothType
+  {
+    MINIMUM_ACC, 
+    MINIMUM_JERK, 
+    MINIMUM_SNAP
+  };
+  enum CType
+  {
+    MIDDLE_P_V_CONSISTANT,
+    MIDDLE_P_V_A_CONSISTANT
+  };
+
+public:
+  enum OptimizeType
+  {
+    SMOOTH_HOMO_OBS,
+    SMOOTH_HOMO,
+    SMOOTH,
+  };
+};
+
+}
+
+#endif
\ No newline at end of file
diff --git a/planning/poly_opt/include/poly_opt/trunk_opt.h b/planning/poly_opt/include/poly_opt/trunk_opt.h
new file mode 100755
index 0000000..ce59780
--- /dev/null
+++ b/planning/poly_opt/include/poly_opt/trunk_opt.h
@@ -0,0 +1,555 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#pragma once
+
+#include "occ_grid/pos_checker.h"
+#include "visualization_utils/visualization_utils.h"
+#include "poly_opt/lbfgs.hpp"
+#include "poly_traj_utils/traj_utils.hpp"
+#include <Eigen/Eigen>
+#include <cstdio>
+#include <cstdlib>
+#include <vector>
+#include <cmath>
+#include <ros/ros.h>
+
+using Eigen::MatrixXd;
+using Eigen::Matrix;
+using Eigen::VectorXd;
+using Eigen::Vector3d;
+using std::vector; 
+#define AS_PARENT 0
+#define AS_CHILD 1
+
+#define NO_DEFORM 0
+#define ONE_NODE 1
+#define TRUNK_NODES 2
+#define BRANCH_NODES 3
+#define TREE_NODES 4
+#define SMALL_BRANCH_NODES 5
+
+class BranchOpt
+{
+private:
+  // decision variables, px, py, pz, vx, vy, vz, ax, ay, az, Tc1, Tc2, ..., Tcm, Tp
+  double *x_;
+  // parent state
+  VectorXd state_p_;
+  // children states
+  vector<VectorXd> state_c_;
+
+  vector<int> children_descendant_num_plus_one_;
+  int state_size_, children_size_;
+  int self_descendant_num_plus_one_;
+
+  double rho_;
+  double vel_limit_, acc_limit_, jerk_limit_;
+  double squared_vel_limit_, squared_acc_limit_, squared_jerk_limit_;
+  int K_;
+  vector<int> kpos_;
+  double rho_pos_, rho_vel_, rho_acc_;
+  double dist_tolerance_;
+
+  tgk_planner::PosChecker::Ptr pos_checker_ptr_;
+  VisualRviz::Ptr vis_ptr_;
+
+public:
+  void setPosChecker(const tgk_planner::PosChecker::Ptr& checker)
+  {
+    pos_checker_ptr_ = checker;
+  };
+  void setVisualizer(const VisualRviz::Ptr &vis)
+  {
+    vis_ptr_ = vis;
+  }
+
+  BranchOpt(const ros::NodeHandle &node) : x_(NULL)
+  {
+    node.param("trunk_opt/rho", rho_, 0.0);
+    node.param("trunk_opt/vel_limit", vel_limit_, 0.0);
+    node.param("trunk_opt/acc_limit", acc_limit_, 0.0);
+    node.param("trunk_opt/jerk_limit", jerk_limit_, 0.0);
+    node.param("trunk_opt/discretization", K_, 0);
+    node.param("trunk_opt/rho_pos", rho_pos_, 0.0);
+    node.param("trunk_opt/rho_vel", rho_vel_, 0.0);
+    node.param("trunk_opt/rho_acc", rho_acc_, 0.0);
+    node.param("trunk_opt/dist_tolerance", dist_tolerance_, 0.0);
+    squared_vel_limit_ = vel_limit_ * vel_limit_;
+    squared_acc_limit_ = acc_limit_ * acc_limit_;
+    squared_jerk_limit_ = jerk_limit_ * jerk_limit_;
+    ROS_WARN_STREAM("[trunk_opt] param: vel_limit: " << vel_limit_);
+    ROS_WARN_STREAM("[trunk_opt] param: acc_limit: " << acc_limit_);
+    ROS_WARN_STREAM("[trunk_opt] param: jerk_limit: " << jerk_limit_);
+    ROS_WARN_STREAM("[trunk_opt] param: discretization: " << K_);
+    ROS_WARN_STREAM("[trunk_opt] param: rho_pos: " << rho_pos_);
+    ROS_WARN_STREAM("[trunk_opt] param: rho_vel: " << rho_vel_);
+    ROS_WARN_STREAM("[trunk_opt] param: rho_acc: " << rho_acc_);
+  }
+
+  ~BranchOpt()
+  {
+  }
+
+  bool optimizeBranch(VectorXd &node_state, 
+                      const VectorXd &parent_state, 
+                      double &parent_T, 
+                      int parent_descendant_num_plus_one, 
+                      const vector<VectorXd> &children_states, 
+                      vector<double> &children_Ts, 
+                      const vector<int> &children_descendant_num_plus_one) 
+  {
+    bool res(false);
+    state_size_ = node_state.size();
+    children_size_ = children_Ts.size();
+    int N = state_size_ + children_size_ + 1;
+
+    state_p_ = parent_state;
+    state_c_ = children_states;
+    self_descendant_num_plus_one_ = parent_descendant_num_plus_one;
+    children_descendant_num_plus_one_ = children_descendant_num_plus_one;
+    
+    kpos_.resize(children_size_ + 1);
+    for (int i=0; i<children_size_; ++i)
+    {
+      kpos_[i] = std::max(2.0, std::min(ceil(children_Ts[i] / 0.03), 200.0));
+    }
+    kpos_[children_size_] = std::max(2.0, std::min(ceil(parent_T / 0.03), 200.0));
+
+    // ROS_WARN_STREAM("node_state: " << node_state.transpose());
+    // ROS_WARN_STREAM("children_size_: " << children_size_);
+    // ROS_WARN_STREAM("state_p_: " << state_p_.transpose());
+    // ROS_WARN_STREAM("parent_T: " << parent_T);
+
+    /* Initialize the variables. */
+    x_ = new double[N];
+    for (int i=0; i<state_size_; i++)
+    {
+      x_[i] = node_state[i];
+    }
+    for (int i=0; i<children_size_; i++)
+    {
+      // ROS_WARN_STREAM("children_states: " << children_states[i].transpose());
+      // ROS_WARN_STREAM("children_Ts: " << children_Ts[i]);
+      x_[i + state_size_] = log(children_Ts[i]);
+      // ROS_WARN_STREAM("initial T children: " << children_Ts[i]);
+    }
+    // ROS_WARN_STREAM("initial T parent: " << parent_T);
+    x_[N - 1] = log(parent_T);
+
+    int opt_ret = run(N);
+    if (opt_ret < 0) 
+    {
+      res = false;
+    }
+    else
+    {
+      for (int i=0; i<state_size_; i++)
+      {
+        node_state[i] = x_[i];
+      }
+      for (int i=0; i<children_size_; i++)
+      {
+        children_Ts[i] = exp(x_[i + state_size_]);
+      }
+      parent_T = exp(x_[N - 1]);
+      res = true;
+    }
+
+    delete[] x_;
+    return res;
+  }
+
+private:
+  int run(int N)
+  {
+    double fx;
+    lbfgs::lbfgs_parameter_t lbfgs_params;
+    lbfgs::lbfgs_load_default_parameters(&lbfgs_params);
+    lbfgs_params.past = 3;
+    lbfgs_params.g_epsilon = 0.01;
+    // lbfgs_params.min_step = 1e-32;
+    // int ret = lbfgs::lbfgs_optimize(N, x_, &fx, _evaluate, NULL, _progress, this, &lbfgs_params);
+    int ret = lbfgs::lbfgs_optimize(N, x_, &fx, _evaluate, NULL, NULL, this, &lbfgs_params);
+
+    /* Report the result. */
+    printf("L-BFGS optimization terminated with status code = %d\n", ret);
+    // printf("  fx = %f\n", fx);
+
+    return ret;
+  } 
+
+  static double _evaluate(void *instance,
+                          const double *x,
+                          double *g,
+                          const int n)
+  {
+    return reinterpret_cast<BranchOpt *>(instance)->evaluate(x, g, n);
+  }
+
+  double evaluate(const double *x,
+                  double *g,
+                  const int n)
+  {
+    /* for current iteration */
+    double obj = 0.0;
+    // state: [px py pz vx vy vz ax ay az]'
+    Eigen::Map<const VectorXd> D(x, state_size_); 
+    Eigen::Map<VectorXd> g_D(g, state_size_);
+    g_D.setZero();
+    // time durations: [Tc1 Tc2 ... Tcm Tp]', children's and the last the parent's
+    Eigen::Map<const VectorXd> Tau(x + state_size_, children_size_ + 1); 
+    Eigen::Map<VectorXd> g_Tau(g + state_size_, children_size_ + 1);
+    g_Tau.setZero();
+    /* segment: curr_node to its parent */
+    obj += calSmoothCostAddGrad(state_p_, D, Tau[children_size_], g_D, g_Tau[children_size_], AS_CHILD, self_descendant_num_plus_one_);
+    obj += calTimeItgPntAddGrad(state_p_, D, Tau[children_size_], g_D, g_Tau[children_size_], AS_CHILD, kpos_[children_size_], self_descendant_num_plus_one_);
+
+    /* segments: curr_node to its children */
+    for (int i=0; i<children_size_; ++i)
+    {
+      obj += calSmoothCostAddGrad(D, state_c_[i], Tau[i], g_D, g_Tau[i], AS_PARENT, children_descendant_num_plus_one_[i]);
+      obj += calTimeItgPntAddGrad(D, state_c_[i], Tau[i], g_D, g_Tau[i], AS_PARENT, kpos_[i], children_descendant_num_plus_one_[i]);
+    }
+
+    return obj;
+  }
+
+  double calSmoothCostAddGrad(const VectorXd &x0, const VectorXd &x1, double Tau, Eigen::Map<VectorXd> grad_d, double &grad_Tau, bool type, double weight = 1)
+  {
+    double t1 = 3*(x0[6]*x0[6] + x0[7]*x0[7] + x0[8]*x0[8] + x1[6]*x1[6] + x1[7]*x1[7] + x1[8]*x1[8]);
+    double t2 = t1 - 2*(x0[6]*x1[6] + x0[7]*x1[7] + x0[8]*x1[8]);
+    double t3 = 3*(x0[3]*x0[6] + x0[4]*x0[7] + x0[5]*x0[8] - x1[3]*x1[6] - x1[4]*x1[7] - x1[5]*x1[8]);
+    double t4 = t3 + 2*(x0[6]*x1[3] + x0[7]*x1[4] + x0[8]*x1[5] - x0[3]*x1[6] - x0[4]*x1[7] - x0[5]*x1[8]);
+    double t5 = 8*(x0[3]*x0[3] + x0[4]*x0[4] + x0[5]*x0[5] + x1[3]*x1[3] + x1[4]*x1[4] + x1[5]*x1[5]);
+    double t6 = t5 + 5*((x0[0]-x1[0])*(x0[6]-x1[6]) + (x0[1]-x1[1])*(x0[7]-x1[7]) + (x0[2]-x1[2])*(x0[8]-x1[8]));
+    double t7 = t6 + 14*(x0[3]*x1[3] + x0[4]*x1[4] + x0[5]*x1[5]);
+    double t8 = (x0[0]-x1[0])*(x0[3]+x1[3]) + (x0[1]-x1[1])*(x0[4]+x1[4]) + (x0[2]-x1[2])*(x0[5]+x1[5]);
+    double t9 = (x0[0]-x1[0])*(x0[0]-x1[0]) + (x0[1]-x1[1])*(x0[1]-x1[1]) + (x0[2]-x1[2])*(x0[2]-x1[2]);
+
+    double T(exp(Tau));
+    double T2 = T*T;
+    double T3 = T2*T;
+    double T4 = T3*T;
+    double T5 = T4*T;
+    double T6 = T5*T;
+
+    double cost = (T6 + rho_*(720*t9 + 720*T*t8 + 24*T2*t7 + 24*T3*t4 + 3*T4*t2)) / T5;
+    grad_Tau += weight * (T6 - rho_*(3600*t9 + 2880*T*t8 + 72*T2*t7 + 48*T3*t4 + 3*T4*t2)) / T6 * exp(Tau);
+    // ROS_ERROR_STREAM("smt T grad: " << grad_T);
+
+    if (type == AS_PARENT)
+    {
+      grad_d[0] += 120*rho_*(12*(x0[0]-x1[0]) + 6*T*(x0[3]+x1[3]) + T2*(x0[6]-x1[6])) / T5;
+      grad_d[1] += 120*rho_*(12*(x0[1]-x1[1]) + 6*T*(x0[4]+x1[4]) + T2*(x0[7]-x1[7])) / T5;
+      grad_d[2] += 120*rho_*(12*(x0[2]-x1[2]) + 6*T*(x0[5]+x1[5]) + T2*(x0[8]-x1[8])) / T5;
+      grad_d[3] += 24*rho_*(30*(x0[0]-x1[0]) + T*(16*x0[3]+14*x1[3]) + T2*(3*x0[6]-2*x1[6])) / T4;
+      grad_d[4] += 24*rho_*(30*(x0[1]-x1[1]) + T*(16*x0[4]+14*x1[4]) + T2*(3*x0[7]-2*x1[7])) / T4;
+      grad_d[5] += 24*rho_*(30*(x0[2]-x1[2]) + T*(16*x0[5]+14*x1[5]) + T2*(3*x0[8]-2*x1[8])) / T4;
+      grad_d[6] += 6*rho_*(20*(x0[0]-x1[0]) + T*(12*x0[3]+8*x1[3]) + T2*(3*x0[6]-x1[6])) / T3;
+      grad_d[7] += 6*rho_*(20*(x0[1]-x1[1]) + T*(12*x0[4]+8*x1[4]) + T2*(3*x0[7]-x1[7])) / T3;
+      grad_d[8] += 6*rho_*(20*(x0[2]-x1[2]) + T*(12*x0[5]+8*x1[5]) + T2*(3*x0[8]-x1[8])) / T3;
+    }
+    else if (type == AS_CHILD)
+    {
+      grad_d[0] += -120*rho_*(12*(x0[0]-x1[0]) + 6*T*(x0[3]+x1[3]) + T2*(x0[6]-x1[6])) / T5;
+      grad_d[1] += -120*rho_*(12*(x0[1]-x1[1]) + 6*T*(x0[4]+x1[4]) + T2*(x0[7]-x1[7])) / T5;
+      grad_d[2] += -120*rho_*(12*(x0[2]-x1[2]) + 6*T*(x0[5]+x1[5]) + T2*(x0[8]-x1[8])) / T5;
+      grad_d[3] += 24*rho_*(30*(x0[0]-x1[0]) + T*(14*x0[3]+16*x1[3]) + T2*(2*x0[6]-3*x1[6])) / T4;
+      grad_d[4] += 24*rho_*(30*(x0[1]-x1[1]) + T*(14*x0[4]+16*x1[4]) + T2*(2*x0[7]-3*x1[7])) / T4;
+      grad_d[5] += 24*rho_*(30*(x0[2]-x1[2]) + T*(14*x0[5]+16*x1[5]) + T2*(2*x0[8]-3*x1[8])) / T4;
+      grad_d[6] += -6*rho_*(20*(x0[0]-x1[0]) + T*(8*x0[3]+12*x1[3]) + T2*(x0[6]-3*x1[6])) / T3;
+      grad_d[7] += -6*rho_*(20*(x0[1]-x1[1]) + T*(8*x0[4]+12*x1[4]) + T2*(x0[7]-3*x1[7])) / T3;
+      grad_d[8] += -6*rho_*(20*(x0[2]-x1[2]) + T*(8*x0[5]+12*x1[5]) + T2*(x0[8]-3*x1[8])) / T3;
+    }
+    grad_d *= weight;
+
+    return cost * weight;
+  }
+
+  double calTimeItgPntAddGrad(const VectorXd &x0, const VectorXd &x1, double Tau, Eigen::Map<VectorXd> grad_d, double &grad_Tau, bool type, int &kpos, double weight = 1) 
+  {
+    CoefficientMat coeff; /* [cx5,cx4,cx3,cx2,cx1,cx0; 
+                              cy5,cy4,cy3,cy2,cy1,cy0; 
+                              cz5,cz4,cz3,cz2,cz1,cz0] */
+    double T(exp(Tau));
+    double T2(T*T), T3(T2*T), T4(T3*T), T5(T4*T);
+    coeff.col(0) = (0.5 * (x1.segment(6, 3) - x0.segment(6, 3)) * T2 -
+                    3.0 * (x0.segment(3, 3) + x1.segment(3, 3)) * T +
+                    6.0 * (x1.segment(0, 3) - x0.segment(0, 3))) / T5;
+    coeff.col(1) = ((-x1.segment(6, 3) + 1.5 * x0.segment(6, 3)) * T2 +
+                    (8.0 * x0.segment(3, 3) + 7.0 * x1.segment(3, 3)) * T +
+                    15.0 * (-x1.segment(0, 3) + x0.segment(0, 3))) / T4;
+    coeff.col(2) = ((0.5 * x1.segment(6, 3) - 1.5 * x0.segment(6, 3)) * T2 -
+                    (6.0 * x0.segment(3, 3) + 4.0 * x1.segment(3, 3)) * T +
+                    10.0 * (x1.segment(0, 3) - x0.segment(0, 3))) / T3;
+    coeff.col(3) = 0.5 * x0.segment(6, 3);
+    coeff.col(4) = x0.segment(3, 3);
+    coeff.col(5) = x0.segment(0, 3);
+
+    Matrix<double, 3, 3> grad_Jp_to_d = Matrix<double, 3, 3>::Zero(3, 3);
+    Matrix<double, 3, 3> grad_Jv_to_d = Matrix<double, 3, 3>::Zero(3, 3);
+    Matrix<double, 3, 3> grad_Ja_to_d = Matrix<double, 3, 3>::Zero(3, 3);
+    Vector3d grad_Jp_to_p, grad_Jv_to_v, grad_Ja_to_a;
+    Vector3d grad_p_to_t, grad_v_to_t, grad_a_to_t;
+    Matrix<double, 3, 6> grad_Jp_to_c, grad_Jv_to_c, grad_Ja_to_c;
+    Matrix<double, 6, 3> grad_c_to_d = Matrix<double, 6, 3>::Zero(6, 3);
+    Matrix<double, 3, 6> grad_c_to_t = Matrix<double, 3, 6>::Zero(3, 6);
+
+    double grad_Jp_to_t(0.0), grad_Jv_to_t(0.0), grad_Ja_to_t(0.0);
+    if (type == AS_PARENT)
+    {
+      grad_c_to_d << -6./T5, -3./T4, -0.5/T3,
+                      15./T4, 8./T3, 1.5/T2,
+                      -10/T3, -6./T2, -1.5/T,
+                      0, 0, 0.5, 
+                      0, 1, 0, 
+                      1, 0, 0;
+    }
+    else if (type == AS_CHILD)
+    {
+      grad_c_to_d << 6./T5, -3./T4, 0.5/T3, 
+                     -15./T4, 7./T3, -1/T2, 
+                     10./T3, -4./T2, 0.5/T, 
+                     0, 0, 0, 
+                     0, 0, 0, 
+                     0, 0, 0;
+    }
+    for (int i=0; i<3; ++i)
+    {
+      double tmp = x0[i] - x1[i];
+      grad_c_to_t(i, 0) = (30*tmp + T*(1.5*x0[6+i]*T - 1.5*x1[6+i]*T + 12*x0[3+i] + 12*x1[3+i])) / T5 / T;
+      grad_c_to_t(i, 1) = (-60*tmp + T*(-3*x0[6+i]*T + 2*x1[6+i]*T - 24*x0[3+i] - 21*x1[3+i])) / T5;
+      grad_c_to_t(i, 2) = (30*tmp + T*(1.5*x0[6+i]*T - 0.5*x1[6+i]*T + 12*x0[3+i] + 8*x1[3+i])) / T4;
+    }
+    double step_pos, omega;
+    Vector3d pos, vel, acc, jerk;
+    Matrix<double, 6, 1> beta0, beta1, beta2, beta3;
+    double t1(0.0), t2, t3, t4, t5;
+    int K_pos = kpos;
+    step_pos = T / K_pos;
+    double cost_pos(0.0), cost_vel(0.0), cost_acc(0.0);
+    double cost_tmp(0.0); 
+    for (int j = 0; j <= K_pos; ++j, t1 += step_pos) 
+    {
+      t2 = t1 * t1;
+      t3 = t2 * t1;
+      t4 = t2 * t2;
+      t5 = t4 * t1;
+      beta0 << t5, t4, t3, t2, t1, 1.0;
+      beta1 << 5.0 * t4, 4.0 * t3, 3.0 * t2, 2.0 * t1, 1.0, 0.0;
+      
+      pos = coeff * beta0;
+
+      omega = (j == 0 || j == K_pos) ? 0.5 : 1.0;
+      if (collisionCostGrad(pos, grad_Jp_to_p, cost_tmp)) 
+      {
+        // ROS_INFO_STREAM("AS_CHILD: " << type << ", j: " << j << ", T: " << T << ", pos: " << pos.transpose() << ", grad: " << grad_Jp_to_p.transpose());
+        grad_Jp_to_c = grad_Jp_to_p * beta0.transpose();
+        grad_Jp_to_d += omega * grad_Jp_to_c * grad_c_to_d;
+        grad_p_to_t = grad_c_to_t * beta0 + coeff * beta1 * j / K_pos;
+        grad_Jp_to_t += omega * (cost_tmp / K_pos + step_pos * grad_Jp_to_p.transpose() * grad_p_to_t);
+        cost_pos += omega * cost_tmp;
+      }
+    }
+
+    t1 = 0.0;
+    double step_higher_deri = T / K_;
+    for (int j = 0; j <= K_; ++j, t1 += step_higher_deri) 
+    {
+      t2 = t1 * t1;
+      t3 = t2 * t1;
+      t4 = t2 * t2;
+      t5 = t4 * t1;
+      beta1 << 5.0 * t4, 4.0 * t3, 3.0 * t2, 2.0 * t1, 1.0, 0.0;
+      beta2 << 20.0 * t3, 12.0 * t2, 6.0 * t1, 2.0, 0.0, 0.0;
+      beta3 << 60.0 * t2, 24.0 * t1, 6.0, 0.0, 0.0, 0.0;
+      vel = coeff * beta1;
+      acc = coeff * beta2;
+      omega = (j == 0 || j == K_) ? 0.5 : 1.0;
+      if (highDerivativeCostGrad(vel, squared_vel_limit_, grad_Jv_to_v, cost_tmp)) 
+      {
+        // ROS_INFO_STREAM("AS_CHILD: " << type << ", j: " << j << ", T: " << T << ", vel: " << vel.norm() << ", grad: " << grad_Jv_to_v.transpose());
+        grad_Jv_to_c = grad_Jv_to_v * beta1.transpose();
+        grad_Jv_to_d += omega * grad_Jv_to_c * grad_c_to_d;
+        grad_v_to_t = grad_c_to_t * beta1 + coeff * beta2 * j / K_;
+        grad_Jv_to_t += omega * (cost_tmp / K_ + step_higher_deri * grad_Jv_to_v.transpose() * grad_v_to_t);
+        cost_vel += omega * cost_tmp;
+      }
+      if (highDerivativeCostGrad(acc, squared_acc_limit_, grad_Ja_to_a, cost_tmp)) 
+      {
+        // ROS_INFO_STREAM("AS_CHILD: " << type << ", j: " << j << ", T: " << T << ", acc: " << acc.norm() << ", grad: " << grad_Ja_to_a.transpose());
+        grad_Ja_to_c = grad_Ja_to_a * beta2.transpose();
+        grad_Ja_to_d += omega * grad_Ja_to_c * grad_c_to_d;
+        grad_a_to_t = grad_c_to_t * beta2 + coeff * beta3 * j / K_;
+        grad_Ja_to_t += omega * (cost_tmp / K_ + step_higher_deri * grad_Ja_to_a.transpose() * grad_a_to_t);
+        cost_acc += omega * cost_tmp;
+      }
+    }
+    
+
+    // Matrix<double, 3, 3> grad_J_to_d = grad_Jp_to_d * rho_pos_ + grad_Jv_to_d * rho_vel_ + grad_Ja_to_d * rho_acc_;
+    // grad_J_to_d *= step_pos * weight;
+    Matrix<double, 3, 3> grad_J_to_d = step_pos * grad_Jp_to_d * rho_pos_ + step_higher_deri * (grad_Jv_to_d * rho_vel_ + grad_Ja_to_d * rho_acc_);
+    grad_J_to_d *= weight;
+    grad_d.head(3) += grad_J_to_d.col(0);
+    grad_d.segment(3, 3) += grad_J_to_d.col(1);
+    grad_d.tail(3) += grad_J_to_d.col(2);
+
+    double tmp_grad_T = grad_Jp_to_t * rho_pos_ + grad_Jv_to_t * rho_vel_ + grad_Ja_to_t * rho_acc_;
+    tmp_grad_T *= weight;
+    grad_Tau += tmp_grad_T * exp(Tau);
+    // ROS_ERROR_STREAM("itg T grad: " << grad_T);
+
+    // double cost(cost_pos * rho_pos_ + cost_vel * rho_vel_ + cost_acc * rho_acc_);
+    // cost *= step_pos * weight;
+    double cost(step_pos * cost_pos * rho_pos_ + step_higher_deri * (cost_vel * rho_vel_ + cost_acc * rho_acc_));
+    cost *= weight;
+    return cost;
+  }
+
+  bool collisionCostGrad(const Vector3d& pos, Vector3d& grad, double& cost)
+  { 
+    double dist(0.0);
+    pos_checker_ptr_->evaluateEDTWithGrad(pos, -1, dist, grad);
+    // grad.normalize();
+    
+    double dist_diff = dist_tolerance_ - dist;
+    if (dist_diff < 0)
+    {
+      return false;
+    }
+    else
+    {
+      grad *= -3 * dist_diff * dist_diff;
+      cost = dist_diff * dist_diff * dist_diff;
+      return true;
+    }
+  }
+
+  /*
+  * For penalty of higher derivatives like vel\acc\jerk\...
+  f = max((v^2 - v_max^2)^3, 0)
+  */
+  bool highDerivativeCostGrad(const Vector3d& derivative, 
+                              const double &squared_limit, 
+                              Vector3d& grad, 
+                              double& cost)
+  {
+    double squared_diff = derivative.squaredNorm() - squared_limit;
+    if (squared_diff > 0) 
+    {
+      grad = 6 * squared_diff * squared_diff * derivative;
+      cost = squared_diff * squared_diff * squared_diff;
+      return true;
+    }
+    return false;
+  }
+
+  static int _progress(void *instance,
+                       const double *x,
+                       const double *g,
+                       const double fx,
+                       const double xnorm,
+                       const double gnorm,
+                       const double step,
+                       int n,
+                       int k,
+                       int ls)
+  {
+    return reinterpret_cast<BranchOpt *>(instance)->progress(x, g, fx, xnorm, gnorm, step, n, k, ls);
+  }
+
+  int progress(const double *x,
+               const double *g,
+               const double fx,
+               const double xnorm,
+               const double gnorm,
+               const double step,
+               int n,
+               int k,
+               int ls)
+  {
+    vector<StatePVA> vis_x;
+    vector<Vector3d> knots;
+
+    VectorXd curr_state(9);
+    for (int i=0; i<state_size_; i++)
+    {
+      curr_state[i] = x_[i];
+    }
+    VectorXd children_Ts(children_size_);
+    for (int i=0; i<children_size_; i++)
+    {
+      children_Ts[i] = x_[i + state_size_];
+    }
+    double parent_T = x_[children_size_ + state_size_];
+
+    BoundaryCond bc;
+    bc.col(0) = state_p_.head(3);
+    bc.col(1) = state_p_.segment(3, 3);
+    bc.col(2) = state_p_.tail(3);
+    bc.col(3) = curr_state.head(3);
+    bc.col(4) = curr_state.segment(3, 3);
+    bc.col(5) = curr_state.tail(3);
+    Piece poly_seg = Piece(bc, parent_T);
+    poly_seg.sampleOneSeg(&vis_x);
+    knots.push_back(state_p_.head(3));
+    knots.push_back(curr_state.head(3));
+
+    int i(0);
+    for (const auto& child : state_c_) 
+    {
+      bc.col(0) = curr_state.head(3);
+      bc.col(1) = curr_state.segment(3, 3);
+      bc.col(2) = curr_state.tail(3);
+      bc.col(3) = child.head(3);
+      bc.col(4) = child.segment(3, 3);
+      bc.col(5) = child.tail(3);
+      Piece poly_seg = Piece(bc, children_Ts[i]);
+      poly_seg.sampleOneSeg(&vis_x);
+      knots.push_back(child.head(3));
+      i++;
+    }
+    vis_ptr_->visualizeStates(vis_x, BLUE, pos_checker_ptr_->getLocalTime());
+    vis_ptr_->visualizeKnots(knots, pos_checker_ptr_->getLocalTime());
+
+    printf("Iteration %d:\n", k);
+    printf("  fx = %f, step = %f, xnorm = %f, gnorm = %f\n", fx, step, xnorm, gnorm);
+    for (int i=0; i<children_size_; ++i)
+      printf("  children %d, T: %f g_T: %f\n", i, exp(x[state_size_ + i]), g[state_size_ + i]);
+    printf("  parent, T: %f g_T: %f\n", exp(x[state_size_ + children_size_]), g[state_size_ + children_size_]);
+    printf("\n");
+    // getchar();
+
+    return 0;
+  }
+};
diff --git a/planning/poly_opt/lib/lmbm.so b/planning/poly_opt/lib/lmbm.so
new file mode 100755
index 0000000..bac7a40
Binary files /dev/null and b/planning/poly_opt/lib/lmbm.so differ
diff --git a/planning/poly_opt/package.xml b/planning/poly_opt/package.xml
new file mode 100755
index 0000000..534b596
--- /dev/null
+++ b/planning/poly_opt/package.xml
@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>poly_opt</name>
+  <version>0.0.0</version>
+  <description>The poly_opt package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="kyle@todo.todo">kyle</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/poly_opt</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>occ_grid</build_depend>
+  <build_depend>poly_traj_utils</build_depend>
+  <build_depend>visualization_utils</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>occ_grid</exec_depend>
+  <exec_depend>poly_traj_utils</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/planning/poly_opt/src/traj_optimizer.cpp b/planning/poly_opt/src/traj_optimizer.cpp
new file mode 100755
index 0000000..d400a51
--- /dev/null
+++ b/planning/poly_opt/src/traj_optimizer.cpp
@@ -0,0 +1,1083 @@
+/*  
+BSD 3-Clause License
+
+Copyright (c) 2022, Hongkai Ye (kyle_yeh@163.com)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "poly_opt/traj_optimizer.h"
+#include <chrono>
+
+namespace tgk_planner
+{
+  TrajOptimizer::TrajOptimizer(const ros::NodeHandle &node)
+  {
+    node.param("optimization/vel_limit", vel_limit_, 0.0);
+    node.param("optimization/acc_limit", acc_limit_, 0.0);
+    node.param("optimization/jerk_limit", jerk_limit_, 0.0);
+    node.param("optimization/max_iter_times", max_iter_times_, 0);
+    ROS_WARN_STREAM("[opt] param: vel_limit: " << vel_limit_);
+    ROS_WARN_STREAM("[opt] param: acc_limit: " << acc_limit_);
+    ROS_WARN_STREAM("[opt] param: jerk_limit: " << jerk_limit_);
+    ROS_WARN_STREAM("[opt] param: max_iter_times: " << max_iter_times_);
+    ite_times_ = 0;
+  }
+
+  bool TrajOptimizer::solve_S_H()
+  {
+    bool result(false);
+
+    Trajectory last_valid_traj;
+    double per_close = 90.0;
+    ite_times_ = 0;
+    for (; per_close <= 100; per_close += 1)
+    {
+      ros::Time t1 = ros::Time::now();
+      tryQPCloseForm(per_close);
+      ite_times_++;
+
+      bool valid = checkTrajectoryConstraints(optimized_traj_);
+      // std::vector<int> segs;
+      // std::vector<double> t_s, t_e;
+      // std::vector<Eigen::Vector3d> collisions;
+      // bool valid = pos_checker_ptr_->getPolyTrajCollision(optimized_traj_, segs, collisions, t_s, t_e);
+      // ros::Time t2 = ros::Time::now();
+      // for (int i=0; i<segs.size(); ++i)
+      // ROS_WARN_STREAM("collision: " << segs[i] << ", pos: " << collisions[i].transpose());
+      // ROS_INFO("valid: %d, optimize for %d time(s), per_close: %lf, per_smooth: %lf", valid, ite_times_, per_close, 100.0-per_close);
+      // ROS_WARN_STREAM("optimization iterate once used: " << (t2 - t1).toSec() << " s");
+      if (valid)
+      {
+        result = reTiming(optimized_traj_);
+        if (!result)
+          ROS_WARN("[opt-s-h] collision feasible but retiming false");
+        return result;
+      }
+      // else
+      // {
+      //   vector<StatePVA> vis_x;
+      //   optimized_traj_.sampleWholeTrajectory(&vis_x);
+      //   vis_ptr_->visualizeStates(vis_x, BLACK, pos_checker_ptr_->getLocalTime());
+      //   getchar();
+      // }
+    }
+
+    ROS_WARN_STREAM("solve QP times: " << ite_times_);
+    ROS_WARN("optimization fail");
+    return result;
+  }
+
+  bool TrajOptimizer::solve_S_H_O()
+  {
+    double weight_smooth = 5;
+    double weight_close = 90;
+    double weight_obs = 400;
+
+    bool result(false);
+
+    Q_all_ = weight_smooth * Q_smooth_ + weight_close * Q_close_;
+    Z_all_ = weight_close * Q_close_ * coeff0_;
+
+    // std::vector<std::vector<Eigen::Vector3d>> drag_lines;
+    for (ite_times_ = 1; ite_times_ <= max_iter_times_; ++ite_times_)
+    {
+      auto start = std::chrono::high_resolution_clock::now();
+      tryQP(Q_all_, Z_all_);
+      // auto t1 = std::chrono::high_resolution_clock::now();
+      std::vector<int> segs;
+      std::vector<pair<int, int>> seg_num_obs_size; //first: # of segment in a traj; second: number of attract_pt in this segment.
+      std::vector<double> t_s, t_e;                 // each attract_pt's timestamp of start and end in its corresponding segment. Size should be the same as the sum of seg_num_obs_size.second.
+      std::vector<Eigen::Vector3d> attract_pts;
+      bool valid = pos_checker_ptr_->getPolyTrajAttractPts(front_end_traj_, optimized_traj_, seg_num_obs_size, attract_pts, t_s, t_e);
+      // auto t2 = std::chrono::high_resolution_clock::now();
+      if (valid)
+      {
+        result = reTiming(optimized_traj_);
+        if (!result)
+          ROS_WARN("[opt-s-h-o] collision feasible but retiming false");
+        return result;
+      }
+      else
+      {
+        // weight_smooth = 1.0;
+        // weight_close = (100 - weight_smooth) / 2.0;
+        // weight_obs = weight_close * 2;
+
+        // vector<StatePVA> vis_x;
+        // optimized_traj_.sampleWholeTrajectory(&vis_x);
+        // vis_ptr_->visualizeStates(vis_x, BLACK, pos_checker_ptr_->getLocalTime());
+        // vector<StatePVA> traj_wpts;
+        // optimized_traj_.getWpts(&traj_wpts);
+        // vis_ptr_->visualizeSampledState(traj_wpts, pos_checker_ptr_->getLocalTime());
+        // getchar();
+        // auto t3 = std::chrono::high_resolution_clock::now();
+        calMatrixQobsAndCoeff(seg_num_obs_size, attract_pts, t_s, t_e);
+        Q_all_ = weight_smooth * Q_smooth_ + weight_close * Q_close_ + weight_obs * Q_obs_;
+        Z_all_ = weight_close * Q_close_ * coeff0_ + weight_obs * Q_obs_ * coeff_obs_;
+        // auto t4 = std::chrono::high_resolution_clock::now();
+        // std::chrono::duration<double> diff1 = t1 - start;
+        // std::cout << "try QP: " << diff1.count() * 1e6 << " us\n";
+        // std::chrono::duration<double> diff2 = t2 - t1;
+        // std::cout << "check traj: " << diff2.count() * 1e6 << " us\n";
+        // std::chrono::duration<double> diff3 = t4 - t3;
+        // std::cout << "adjust Q: " << diff3.count() * 1e6 << " us\n";
+        // int k = 0;
+        // for (int i=0; i<seg_num_obs_size.size(); ++i)
+        // {
+        //   for (int j=0; j<seg_num_obs_size[i].second; ++j)
+        //   {
+        //     ROS_WARN_STREAM("collision: " << seg_num_obs_size[i].first << ", pos: " << attract_pts[k].transpose() << ",dura: " << t_s[k] << " to " << t_e[k]);
+        //     std::vector<Eigen::Vector3d> drag_line;
+        //     drag_line.push_back(attract_pts[k]);
+        //     drag_line.push_back(front_end_traj_[seg_num_obs_size[i].first].getPos(t_s[k]));
+        //     drag_line.push_back(attract_pts[k]);
+        //     drag_line.push_back(front_end_traj_[seg_num_obs_size[i].first].getPos(t_e[k]));
+        //     drag_lines.push_back(drag_line);
+        //     k++;
+        //   }
+        // }
+        // vis_ptr_->visualizePRM(drag_lines, Color::SteelBlue(), pos_checker_ptr_->getLocalTime());
+        // getchar();
+      }
+    }
+
+    ROS_WARN_STREAM("optimization fail after " << max_iter_times_ << " times iteration");
+    // if (!optimized_traj_.checkMaxVelRate(vel_limit_))
+    // if (!optimized_traj_.checkMaxAccRate(acc_limit_))
+    // if (!optimized_traj_.checkMaxJerkRate(jerk_limit_))
+
+    return result;
+  }
+
+  bool TrajOptimizer::solveRegionalOpt(std::vector<pair<int, int>> &seg_num_obs_size,
+                                       std::vector<Eigen::Vector3d> &attract_pts,
+                                       std::vector<double> &t_s, std::vector<double> &t_e)
+  {
+    bool result(false);
+
+    double weight_smooth = 0.5;
+    double weight_close = 50;
+    double weight_obs = 300;
+
+    // vector<StatePVA> vis_x;
+    // front_end_traj_.sampleWholeTrajectory(&vis_x);
+    // vis_ptr_->visualizeStates(vis_x, BLACK, pos_checker_ptr_->getLocalTime());
+    // vector<StatePVA> traj_wpts;
+    // front_end_traj_.getWpts(&traj_wpts);
+    // vis_ptr_->visualizeSampledState(traj_wpts, pos_checker_ptr_->getLocalTime());
+    // cout << "front end traj max v: " << front_end_traj_.getMaxVelRate() << " max a: " << front_end_traj_.getMaxAccRate() << endl;
+    // getchar();
+
+    std::vector<std::vector<Eigen::Vector3d>> drag_lines;
+    for (ite_times_ = 1; ite_times_ < max_iter_times_; ++ite_times_)
+    {
+      auto t3 = std::chrono::high_resolution_clock::now();
+      calMatrixQobsAndCoeff(seg_num_obs_size, attract_pts, t_s, t_e);
+      auto t4 = std::chrono::high_resolution_clock::now();
+      Q_all_ = weight_smooth * Q_smooth_ + weight_close * Q_close_ + weight_obs * Q_obs_;
+      Z_all_ = weight_close * Q_close_ * coeff0_ + weight_obs * Q_obs_ * coeff_obs_;
+      auto start = std::chrono::high_resolution_clock::now();
+      tryQP(Q_all_, Z_all_);
+
+      // vector<StatePVA> vis_x;
+      // optimized_traj_.sampleWholeTrajectory(&vis_x);
+      // vis_ptr_->visualizeStates(vis_x, BLACK, pos_checker_ptr_->getLocalTime());
+      // vector<StatePVA> traj_wpts;
+      // optimized_traj_.getWpts(&traj_wpts);
+      // vis_ptr_->visualizeSampledState(traj_wpts, pos_checker_ptr_->getLocalTime());
+      // int k = 0;
+      // for (int i=0; i<seg_num_obs_size.size(); ++i)
+      // {
+      //   for (int j=0; j<seg_num_obs_size[i].second; ++j)
+      //   {
+      //     ROS_WARN_STREAM("collision: " << seg_num_obs_size[i].first << ", pos: " << attract_pts[k].transpose() << ",dura: " << t_s[k] << " to " << t_e[k]);
+      //     std::vector<Eigen::Vector3d> drag_line;
+      //     drag_line.push_back(attract_pts[k]);
+      //     drag_line.push_back(front_end_traj_[seg_num_obs_size[i].first].getPos(t_s[k]));
+      //     drag_line.push_back(attract_pts[k]);
+      //     drag_line.push_back(front_end_traj_[seg_num_obs_size[i].first].getPos(t_e[k]));
+      //     drag_lines.push_back(drag_line);
+      //     k++;
+      //   }
+      // }
+      // vis_ptr_->visualizePRM(drag_lines, Color::SteelBlue(), pos_checker_ptr_->getLocalTime());
+      // getchar();
+
+      auto t1 = std::chrono::high_resolution_clock::now();
+      vector<pair<Vector3d, Vector3d>> collide_pts;
+      vector<pair<double, double>> collide_timestamp;
+      bool valid = pos_checker_ptr_->checkPolyTraj(optimized_traj_, collide_pts, collide_timestamp);
+      // bool valid = pos_checker_ptr_->getRegionalAttractPts(front_end_traj_, optimized_traj_, seg_num_obs_size, attract_pts, t_s, t_e); // TODO
+      auto t2 = std::chrono::high_resolution_clock::now();
+      if (valid)
+      {
+        result = reTiming(optimized_traj_);
+        if (!result)
+          // ROS_WARN("[regional opt] collision feasible but retiming false");
+          return result;
+      }
+      else
+      {
+        vector<Eigen::Vector3d> grid_paths;
+        seg_num_obs_size.clear();
+        attract_pts.clear();
+        t_s.clear();
+        t_e.clear();
+        for (int i = 0; i < collide_pts.size(); ++i)
+        {
+          if (searcher_->AstarSearch(pos_checker_ptr_->getResolution(), collide_pts[i].first, collide_pts[i].second))
+          {
+            vector<Eigen::Vector3d> grid_path = searcher_->getPath();
+            grid_paths.insert(grid_paths.begin(), grid_path.begin(), grid_path.end());
+            pos_checker_ptr_->getRegionalAttractPts(optimized_traj_, grid_path, collide_timestamp[i], seg_num_obs_size, attract_pts, t_s, t_e);
+          }
+          else
+          {
+            // ROS_WARN_STREAM("a star search fail, from: " << collide_pts[i].first.transpose() << " to " << collide_pts[i].second.transpose());
+            return false;
+          }
+        }
+        // vis_ptr_->visualizeKnots(grid_paths, pos_checker_ptr_->getLocalTime());
+        //re-organize seg_num_obs_size
+        int seg_num = optimized_traj_.getPieceNum();
+        int obs_size[seg_num] = {0};
+        for (int i = 0; i < seg_num_obs_size.size(); ++i)
+        {
+          int seg_id = seg_num_obs_size[i].first;
+          obs_size[seg_id] += seg_num_obs_size[i].second;
+        }
+        seg_num_obs_size.clear();
+        for (int i = 0; i < seg_num; ++i)
+        {
+          if (obs_size[i] != 0)
+          {
+            seg_num_obs_size.push_back(std::make_pair(i, obs_size[i]));
+          }
+        }
+
+        // vector<StatePVA> vis_x;
+        // optimized_traj_.sampleWholeTrajectory(&vis_x);
+        // vis_ptr_->visualizeStates(vis_x, BLACK, pos_checker_ptr_->getLocalTime());
+        // vector<StatePVA> traj_wpts;
+        // optimized_traj_.getWpts(&traj_wpts);
+        // vis_ptr_->visualizeSampledState(traj_wpts, pos_checker_ptr_->getLocalTime());
+        // std::chrono::duration<double> diff1 = t1 - start;
+        // std::cout << "try QP: " << diff1.count() * 1e6 << " us\n";
+        // std::chrono::duration<double> diff2 = t2 - t1;
+        // std::cout << "check traj: " << diff2.count() * 1e6 << " us\n";
+        // std::chrono::duration<double> diff3 = t4 - t3;
+        // std::cout << "adjust Q: " << diff3.count() * 1e6 << " us\n";
+        // getchar();
+      }
+    }
+
+    // ROS_WARN_STREAM("optimization fail after " << max_iter_times_ << " times iteration");
+    // if (!optimized_traj_.checkMaxVelRate(vel_limit_))
+    // if (!optimized_traj_.checkMaxAccRate(acc_limit_))
+    // if (!optimized_traj_.checkMaxJerkRate(jerk_limit_))
+    // cout << "result: " << result << "max v: " << optimized_traj_.getMaxVelRate() << "max a: " << optimized_traj_.getMaxAccRate() << endl;
+    return result;
+  }
+
+  bool TrajOptimizer::initialize_smooth_close_obs()
+  {
+    ros::Time t1 = ros::Time::now();
+    int num_piece = front_end_traj_.getPieceNum();
+    // no free variable left for one segment
+    if (num_piece <= 1)
+      return false;
+    int n_wp = num_piece + 1;
+    this->path_ = Eigen::MatrixXd::Zero(n_wp, 3);
+    this->vel_way_points_ = Eigen::MatrixXd::Zero(n_wp, 3);
+    this->acc_way_points_ = Eigen::MatrixXd::Zero(n_wp, 3);
+    this->coeff0_ = Eigen::MatrixXd::Zero(num_piece * 6, 3);
+    for (int i = 0; i < num_piece; ++i)
+    {
+      path_.row(i) = front_end_traj_.getJuncPos(i).transpose();
+      vel_way_points_.row(i) = front_end_traj_.getJuncVel(i).transpose();
+      acc_way_points_.row(i) = front_end_traj_.getJuncAcc(i).transpose();
+      for (int j = 0; j < 6; ++j)
+      {
+        CoefficientMat mat = front_end_traj_[i].getCoeffMat();
+        coeff0_(6 * i + j, 0) = mat(0, 5 - j);
+        coeff0_(6 * i + j, 1) = mat(1, 5 - j);
+        coeff0_(6 * i + j, 2) = mat(2, 5 - j);
+      }
+    }
+    // ROS_INFO_STREAM("coeff0:\n" << coeff0_);
+    path_.row(num_piece) = front_end_traj_.getJuncPos(num_piece).transpose();
+    vel_way_points_.row(num_piece) = front_end_traj_.getJuncVel(num_piece).transpose();
+    acc_way_points_.row(num_piece) = front_end_traj_.getJuncAcc(num_piece).transpose();
+
+    this->time_ = front_end_traj_.getDurations();
+    this->m_ = num_piece;
+    this->calMatrixA();
+    this->calMatrixQ_smooth(MINIMUM_JERK);
+    this->calMatrixQ_close();
+    this->calMatrixCandMatrixZ(MIDDLE_P_V_A_CONSISTANT);
+
+    D_ = Eigen::MatrixXd::Zero(3 * m_ + 3, 3); // 3 axes, x, y, z
+    D_(0, 0) = path_(0, 0);
+    D_(1, 0) = vel_way_points_(0, 0);
+    D_(2, 0) = acc_way_points_(0, 0);
+    D_(3, 0) = path_(m_, 0);
+    D_(4, 0) = vel_way_points_(m_, 0);
+    D_(5, 0) = acc_way_points_(m_, 0);
+    D_(0, 1) = path_(0, 1);
+    D_(1, 1) = vel_way_points_(0, 1);
+    D_(2, 1) = acc_way_points_(0, 1);
+    D_(3, 1) = path_(m_, 1);
+    D_(4, 1) = vel_way_points_(m_, 1);
+    D_(5, 1) = acc_way_points_(m_, 1);
+    D_(0, 2) = path_(0, 2);
+    D_(1, 2) = vel_way_points_(0, 2);
+    D_(2, 2) = acc_way_points_(0, 2);
+    D_(3, 2) = path_(m_, 2);
+    D_(4, 2) = vel_way_points_(m_, 2);
+    D_(5, 2) = acc_way_points_(m_, 2);
+
+    vQo_i_.resize(m_);
+    vcoeffo_i_.resize(m_);
+    for (int i = 0; i < m_; ++i)
+    {
+      vQo_i_[i] = MatrixXd::Zero(6, 6);
+      vcoeffo_i_[i] = MatrixXd::Zero(6, 3);
+    }
+
+    Q_obs_ = Eigen::MatrixXd::Zero(m_ * 6, m_ * 6);
+    coeff_obs_ = Eigen::MatrixXd::Zero(m_ * 6, 3);
+
+    // ros::Time t2 = ros::Time::now();
+    // ROS_WARN_STREAM("optimization initialization used: " << (t2 - t1).toSec() << " s");
+    return true;
+  }
+
+  bool TrajOptimizer::initialize_smooth_close()
+  {
+    int num_piece = front_end_traj_.getPieceNum();
+    // no free variable left for one segment
+    if (num_piece <= 1)
+      return false;
+    int n_wp = num_piece + 1;
+    this->path_ = Eigen::MatrixXd::Zero(n_wp, 3);
+    this->vel_way_points_ = Eigen::MatrixXd::Zero(n_wp, 3);
+    this->acc_way_points_ = Eigen::MatrixXd::Zero(n_wp, 3);
+    this->coeff0_ = Eigen::MatrixXd::Zero(num_piece * 6, 3);
+    for (int i = 0; i < num_piece; ++i)
+    {
+      path_.row(i) = front_end_traj_.getJuncPos(i).transpose();
+      vel_way_points_.row(i) = front_end_traj_.getJuncVel(i).transpose();
+      acc_way_points_.row(i) = front_end_traj_.getJuncAcc(i).transpose();
+      for (int j = 0; j < 6; ++j)
+      {
+        CoefficientMat mat = front_end_traj_[i].getCoeffMat();
+        coeff0_(6 * i + j, 0) = mat(0, 5 - j);
+        coeff0_(6 * i + j, 1) = mat(1, 5 - j);
+        coeff0_(6 * i + j, 2) = mat(2, 5 - j);
+      }
+    }
+    path_.row(num_piece) = front_end_traj_.getJuncPos(num_piece).transpose();
+    vel_way_points_.row(num_piece) = front_end_traj_.getJuncVel(num_piece).transpose();
+    acc_way_points_.row(num_piece) = front_end_traj_.getJuncAcc(num_piece).transpose();
+
+    this->time_ = front_end_traj_.getDurations();
+    this->m_ = num_piece;
+    this->calMatrixA();
+    this->calMatrixQ_smooth(MINIMUM_JERK);
+    this->calMatrixQ_close();
+    this->coeff_.resize(m_, 6 * 3);
+    this->calMatrixCandMatrixZ(MIDDLE_P_V_A_CONSISTANT);
+    return true;
+  }
+
+  bool TrajOptimizer::initialize_smooth(const Trajectory &traj)
+  {
+    std::vector<Eigen::Vector3d> way_points;
+    std::vector<Eigen::Vector3d> vel;
+    std::vector<Eigen::Vector3d> acc;
+    std::vector<double> time;
+
+    way_points.push_back(traj.getPos(0.0));
+    vel.push_back(traj.getVel(0.0));
+    acc.push_back(traj.getAcc(0.0));
+
+    const int seg_num = traj.getPieceNum();
+    for (int i = 0; i < seg_num; ++i)
+    {
+      double t = traj[i].getDuration();
+      time.push_back(t);
+      way_points.push_back(traj[i].getPos(t));
+      vel.push_back(traj[i].getVel(t));
+      acc.push_back(traj[i].getAcc(t));
+    }
+    setWayPointsAndTime(way_points, vel, acc, time);
+    return true;
+  }
+
+  void TrajOptimizer::setWayPointsAndTime(std::vector<Eigen::Vector3d> &way_points,
+                                          std::vector<Eigen::Vector3d> &vel,
+                                          std::vector<Eigen::Vector3d> &acc,
+                                          std::vector<double> &time)
+  {
+    //TODO add assert to check size equavalence
+    this->path_ = Eigen::MatrixXd::Zero(way_points.size(), 3);
+    this->vel_way_points_ = Eigen::MatrixXd::Zero(vel.size(), 3);
+    this->acc_way_points_ = Eigen::MatrixXd::Zero(acc.size(), 3);
+    for (size_t i = 0; i < way_points.size(); ++i)
+    {
+      path_.row(i) = way_points[i].transpose();
+      vel_way_points_.row(i) = vel[i].transpose();
+      acc_way_points_.row(i) = acc[i].transpose();
+    }
+    this->time_ = time;
+    this->m_ = time.size();
+    this->calMatrixA();
+    this->calMatrixQ_smooth(MINIMUM_JERK);
+    this->coeff_.resize(m_, 6 * 3);
+    this->calMatrixC();
+  }
+
+  bool TrajOptimizer::solve_S()
+  {
+    for (ite_times_ = 1; ite_times_ < max_iter_times_; ++ite_times_)
+    {
+      tryQPCloseForm();
+      // vector<StatePVA> vis_x;
+      // optimized_traj_.sampleWholeTrajectory(&vis_x);
+      // vis_ptr_->visualizeStates(vis_x, GREEN, pos_checker_ptr_->getLocalTime());
+      bool violate(true);
+      std::set<int> indices;
+      violate = getCollideSegIdx(optimized_traj_, indices);
+      if (!violate)
+      {
+        bool result = reTiming(optimized_traj_);
+        if (!result)
+          ROS_WARN("[opt-smooth] collision feasible but retiming false");
+        return result;
+      }
+      else
+      {
+        splitDurations(time_, indices);
+        vector<Vector3d> vertices, vels, accs;
+        if (!getVerticesFromTraj(vertices, vels, accs, front_end_traj_, time_))
+        {
+          ROS_ERROR("[Opt] Can not get vertices from front traj!");
+          return false;
+        }
+        setWayPointsAndTime(vertices, vels, accs, time_);
+      }
+    }
+
+    return false;
+  }
+
+  // middle p\v\a consistent, middle p fixed, middle v\a free
+  void TrajOptimizer::tryQPCloseForm()
+  {
+    Eigen::VectorXd Dx1 = Eigen::VectorXd::Zero(3 * m_ + 3);
+    Eigen::VectorXd Dy1 = Eigen::VectorXd::Zero(3 * m_ + 3);
+    Eigen::VectorXd Dz1 = Eigen::VectorXd::Zero(3 * m_ + 3);
+    Dx1(0) = path_(0, 0);
+    Dx1(1) = vel_way_points_(0, 0);
+    Dx1(2) = acc_way_points_(0, 0);
+    Dx1(3) = path_(m_, 0);
+    Dx1(4) = vel_way_points_(m_, 0);
+    Dx1(5) = acc_way_points_(m_, 0);
+    Dy1(0) = path_(0, 1);
+    Dy1(1) = vel_way_points_(0, 1);
+    Dy1(2) = acc_way_points_(0, 1);
+    Dy1(3) = path_(m_, 1);
+    Dy1(4) = vel_way_points_(m_, 1);
+    Dy1(5) = acc_way_points_(m_, 1);
+    Dz1(0) = path_(0, 2);
+    Dz1(1) = vel_way_points_(0, 2);
+    Dz1(2) = acc_way_points_(0, 2);
+    Dz1(3) = path_(m_, 2);
+    Dz1(4) = vel_way_points_(m_, 2);
+    Dz1(5) = acc_way_points_(m_, 2);
+    for (int i = 0; i < m_ - 1; ++i)
+    {
+      Dx1(6 + i) = path_(i + 1, 0);
+      Dy1(6 + i) = path_(i + 1, 1);
+      Dz1(6 + i) = path_(i + 1, 2);
+    }
+    Eigen::MatrixXd R = A_inv_multiply_Ct_.transpose() * Q_smooth_ * A_inv_multiply_Ct_;
+    Eigen::MatrixXd Rpf(2 * m_ - 2, 5 + m_);
+    Eigen::MatrixXd Rpp(2 * m_ - 2, 2 * m_ - 2);
+    Rpf = R.block(5 + m_, 0, 2 * m_ - 2, 5 + m_);
+    Rpp = R.block(5 + m_, 5 + m_, 2 * m_ - 2, 2 * m_ - 2);
+
+    Eigen::MatrixXd Rpp_inv = Rpp.inverse();
+    Eigen::MatrixXd neg_Rpp_inv_multiply_Rfp_tran = -Rpp_inv * Rpf;
+    Dx1.segment(5 + m_, 2 * m_ - 2) = neg_Rpp_inv_multiply_Rfp_tran * Dx1.segment(0, 5 + m_);
+    Dy1.segment(5 + m_, 2 * m_ - 2) = neg_Rpp_inv_multiply_Rfp_tran * Dy1.segment(0, 5 + m_);
+    Dz1.segment(5 + m_, 2 * m_ - 2) = neg_Rpp_inv_multiply_Rfp_tran * Dz1.segment(0, 5 + m_);
+    Eigen::VectorXd Px = A_inv_multiply_Ct_ * Dx1;
+    Eigen::VectorXd Py = A_inv_multiply_Ct_ * Dy1;
+    Eigen::VectorXd Pz = A_inv_multiply_Ct_ * Dz1;
+
+    std::vector<CoefficientMat> coeffMats;
+    CoefficientMat coeffMat;
+    for (int i = 0; i < m_; i++)
+    {
+      for (int j = 0; j < 6; ++j)
+      {
+        coeffMat(0, j) = Px[i * 6 + 5 - j];
+        coeffMat(1, j) = Py[i * 6 + 5 - j];
+        coeffMat(2, j) = Pz[i * 6 + 5 - j];
+      }
+      coeffMats.push_back(coeffMat);
+    }
+    optimized_traj_ = Trajectory(time_, coeffMats);
+  }
+
+  // middle p\v\a consistent
+  void TrajOptimizer::tryQPCloseForm(double percent_of_close)
+  {
+    double weight_smooth = 100.0 - percent_of_close;
+    double weight_close = percent_of_close;
+
+    Eigen::VectorXd Dx1 = Eigen::VectorXd::Zero(3 * m_ + 3);
+    Eigen::VectorXd Dy1 = Eigen::VectorXd::Zero(3 * m_ + 3);
+    Eigen::VectorXd Dz1 = Eigen::VectorXd::Zero(3 * m_ + 3);
+    Dx1(0) = path_(0, 0);
+    Dx1(1) = vel_way_points_(0, 0);
+    Dx1(2) = acc_way_points_(0, 0);
+    Dx1(3) = path_(m_, 0);
+    Dx1(4) = vel_way_points_(m_, 0);
+    Dx1(5) = acc_way_points_(m_, 0);
+    Dy1(0) = path_(0, 1);
+    Dy1(1) = vel_way_points_(0, 1);
+    Dy1(2) = acc_way_points_(0, 1);
+    Dy1(3) = path_(m_, 1);
+    Dy1(4) = vel_way_points_(m_, 1);
+    Dy1(5) = acc_way_points_(m_, 1);
+    Dz1(0) = path_(0, 2);
+    Dz1(1) = vel_way_points_(0, 2);
+    Dz1(2) = acc_way_points_(0, 2);
+    Dz1(3) = path_(m_, 2);
+    Dz1(4) = vel_way_points_(m_, 2);
+    Dz1(5) = acc_way_points_(m_, 2);
+    int num = 0;
+    for (std::set<int>::iterator it = fixed_pos_.begin(); it != fixed_pos_.end(); ++it)
+    {
+      Dx1(6 + num) = path_((*it) + 1, 0);
+      Dy1(6 + num) = path_((*it) + 1, 1);
+      Dz1(6 + num) = path_((*it) + 1, 2);
+      ++num;
+    }
+
+    //   Eigen::MatrixXd A_inv_multiply_Ct = A_inv_ * Ct_;
+    Eigen::MatrixXd R = A_inv_multiply_Ct_.transpose() * (weight_smooth * Q_smooth_ + weight_close * Q_close_) * A_inv_multiply_Ct_;
+    Eigen::MatrixXd Rpf(3 * m_ - 3 - n_, 6 + n_);
+    Eigen::MatrixXd Rpp(3 * m_ - 3 - n_, 3 * m_ - 3 - n_);
+    Rpf = R.block(6 + n_, 0, 3 * m_ - 3 - n_, 6 + n_);
+    Rpp = R.block(6 + n_, 6 + n_, 3 * m_ - 3 - n_, 3 * m_ - 3 - n_);
+
+    Eigen::MatrixXd Rpp_inv = Rpp.inverse();
+    Eigen::MatrixXd neg_Rpp_inv_multiply_Rfp_tran = -Rpp_inv * Rpf;
+    Eigen::MatrixXd Rpp_inv_multiply_Zp = weight_close * Rpp_inv * Zp_;
+    Dx1.segment(6 + n_, 3 * m_ - 3 - n_) = Rpp_inv_multiply_Zp.col(0) + neg_Rpp_inv_multiply_Rfp_tran * Dx1.segment(0, 6 + n_);
+    Dy1.segment(6 + n_, 3 * m_ - 3 - n_) = Rpp_inv_multiply_Zp.col(1) + neg_Rpp_inv_multiply_Rfp_tran * Dy1.segment(0, 6 + n_);
+    Dz1.segment(6 + n_, 3 * m_ - 3 - n_) = Rpp_inv_multiply_Zp.col(2) + neg_Rpp_inv_multiply_Rfp_tran * Dz1.segment(0, 6 + n_);
+    Eigen::VectorXd Px = A_inv_multiply_Ct_ * Dx1;
+    Eigen::VectorXd Py = A_inv_multiply_Ct_ * Dy1;
+    Eigen::VectorXd Pz = A_inv_multiply_Ct_ * Dz1;
+
+    std::vector<CoefficientMat> coeffMats;
+    CoefficientMat coeffMat;
+    for (int i = 0; i < m_; i++)
+    {
+      for (int j = 0; j < 6; ++j)
+      {
+        coeffMat(0, j) = Px[i * 6 + 5 - j];
+        coeffMat(1, j) = Py[i * 6 + 5 - j];
+        coeffMat(2, j) = Pz[i * 6 + 5 - j];
+      }
+      coeffMats.push_back(coeffMat);
+    }
+    optimized_traj_ = Trajectory(time_, coeffMats);
+  }
+
+  void TrajOptimizer::tryQP(const MatrixXd &Q_all, const MatrixXd &Z_all)
+  {
+    // auto start = std::chrono::high_resolution_clock::now();
+    Eigen::MatrixXd R = A_inv_multiply_Ct_.transpose() * Q_all * A_inv_multiply_Ct_;
+    Eigen::MatrixXd Rpf(R.block(6, 0, 3 * m_ - 3, 6));
+    Eigen::MatrixXd Rpp(R.block(6, 6, 3 * m_ - 3, 3 * m_ - 3));
+
+    Z_ = A_inv_multiply_Ct_.transpose() * Z_all;
+    Zp_ = Z_.block(6, 0, 3 * m_ - 3, 3);
+
+    Eigen::MatrixXd Zp_minus_Rpf_multiply_Df = Zp_ - Rpf * D_.block(0, 0, 6, 3);
+    // D_.block(6, 0, 3 * m_ - 3, 3) = Rpp.inverse() * Zp_minus_Rpf_multiply_Df;
+    D_.block(6, 0, 3 * m_ - 3, 3) = Rpp.llt().solve(Zp_minus_Rpf_multiply_Df); //Rpp is PD, so use LLT to solve LP
+    Eigen::MatrixXd P = A_inv_multiply_Ct_ * D_;
+
+    // auto end1 = std::chrono::high_resolution_clock::now();
+    std::vector<CoefficientMat> coeffMats;
+    CoefficientMat coeffMat;
+    for (int i = 0; i < m_; i++)
+    {
+      for (int j = 0; j < 6; ++j)
+      {
+        coeffMat(0, j) = P(i * 6 + 5 - j, 0);
+        coeffMat(1, j) = P(i * 6 + 5 - j, 1);
+        coeffMat(2, j) = P(i * 6 + 5 - j, 2);
+      }
+      coeffMats.push_back(coeffMat);
+    }
+    // auto end2 = std::chrono::high_resolution_clock::now();
+    optimized_traj_ = Trajectory(time_, coeffMats);
+
+    // auto end3 = std::chrono::high_resolution_clock::now();
+    // std::chrono::duration<double> diff1 = end1-start;
+    // std::cout << "Matrix multiply: " << diff1.count() * 1e6 << " us\n";
+    // std::chrono::duration<double> diff2 = end2-end1;
+    // std::cout << "fuzhi coeff: " << diff2.count() * 1e6 << " us\n";
+    // std::chrono::duration<double> diff3 = end3-end2;
+    // std::cout << "traj coeff: " << diff3.count() * 1e6 << " us\n";
+  }
+
+  void TrajOptimizer::calMatrixCandMatrixZ(int type)
+  {
+    if (type == MIDDLE_P_V_CONSISTANT) /* a inconsistant */
+    {
+      int num_f = 6;          // 3 + 3 : only start and target has fixed derivatives
+      int num_p = 4 * m_ - 4; // 4 * (m - 1)
+      int num_d = 6 * m_;
+
+      Ct_ = MatrixXd::Zero(num_d, num_f + num_p);
+      Ct_(0, 0) = 1;
+      Ct_(2, 1) = 1;
+      Ct_(4, 2) = 1; // Stack the start point
+      Ct_(1, 6) = 1;
+      Ct_(3, 7) = 1;
+      Ct_(5, 8) = 1;
+
+      Ct_(6 * (m_ - 1) + 0, 4 * (m_ - 2) + 6 + 0) = 1;
+      Ct_(6 * (m_ - 1) + 2, 4 * (m_ - 2) + 6 + 1) = 1;
+      Ct_(6 * (m_ - 1) + 4, 4 * (m_ - 2) + 6 + 3) = 1;
+
+      Ct_(6 * (m_ - 1) + 1, 3) = 1; // Stack the end point
+      Ct_(6 * (m_ - 1) + 3, 4) = 1;
+      Ct_(6 * (m_ - 1) + 5, 5) = 1;
+
+      for (int j = 2; j < m_; j++)
+      {
+        Ct_(6 * (j - 1) + 0, 6 + 4 * (j - 2) + 0) = 1;
+        Ct_(6 * (j - 1) + 1, 6 + 4 * (j - 1) + 0) = 1;
+        Ct_(6 * (j - 1) + 2, 6 + 4 * (j - 2) + 1) = 1;
+        Ct_(6 * (j - 1) + 3, 6 + 4 * (j - 1) + 1) = 1;
+        Ct_(6 * (j - 1) + 4, 6 + 4 * (j - 2) + 3) = 1;
+        Ct_(6 * (j - 1) + 5, 6 + 4 * (j - 1) + 2) = 1;
+      }
+
+      A_inv_multiply_Ct_ = A_inv_ * Ct_;
+      Z_ = A_inv_multiply_Ct_.transpose() * Q_close_ * coeff0_;
+      Zp_ = Z_.block(6, 0, 4 * m_ - 4, 3);
+    }
+    else if (type == MIDDLE_P_V_A_CONSISTANT) /* p\v\a consistant */
+    {
+      int num_f = 6;          // 3 + 3 : only start and target has fixed derivatives
+      int num_p = 3 * m_ - 3; // 3 * (m - 1)
+      int num_d = 6 * m_;
+
+      Ct_ = MatrixXd::Zero(num_d, num_f + num_p);
+      Ct_(0, 0) = 1;
+      Ct_(2, 1) = 1;
+      Ct_(4, 2) = 1; // Stack the start point
+      Ct_(1, 6) = 1;
+      Ct_(3, 7) = 1;
+      Ct_(5, 8) = 1;
+
+      Ct_(6 * (m_ - 1) + 0, 3 * m_ + 0) = 1; // Stack the end point
+      Ct_(6 * (m_ - 1) + 2, 3 * m_ + 1) = 1;
+      Ct_(6 * (m_ - 1) + 4, 3 * m_ + 2) = 1;
+      Ct_(6 * (m_ - 1) + 1, 3) = 1;
+      Ct_(6 * (m_ - 1) + 3, 4) = 1;
+      Ct_(6 * (m_ - 1) + 5, 5) = 1;
+
+      for (int j = 2; j < m_; j++)
+      {
+        Ct_(6 * (j - 1) + 0, 6 + 3 * (j - 2) + 0) = 1;
+        Ct_(6 * (j - 1) + 1, 6 + 3 * (j - 1) + 0) = 1;
+        Ct_(6 * (j - 1) + 2, 6 + 3 * (j - 2) + 1) = 1;
+        Ct_(6 * (j - 1) + 3, 6 + 3 * (j - 1) + 1) = 1;
+        Ct_(6 * (j - 1) + 4, 6 + 3 * (j - 2) + 2) = 1;
+        Ct_(6 * (j - 1) + 5, 6 + 3 * (j - 1) + 2) = 1;
+      }
+
+      A_inv_multiply_Ct_ = A_inv_ * Ct_;
+      Z_ = A_inv_multiply_Ct_.transpose() * Q_close_ * coeff0_;
+      Zp_ = Z_.block(6, 0, 3 * m_ - 3, 3);
+    }
+  }
+
+  // middle p fixed, p\v\a consistant
+  void TrajOptimizer::calMatrixC()
+  {
+    int num_f = 5 + m_;     // 3 + 3 + m_-1: start and target has fixed derivatives, middle p fixed
+    int num_p = 2 * m_ - 2; // 2 * (m - 1)
+    int num_d = 6 * m_;
+
+    Ct_ = MatrixXd::Zero(num_d, num_f + num_p);
+
+    Ct_(0, 0) = 1;
+    Ct_(2, 1) = 1;
+    Ct_(4, 2) = 1;
+    Ct_(1, 6) = 1;
+    Ct_(3, 6 + (m_ - 1)) = 1;
+    Ct_(5, 6 + 2 * (m_ - 1)) = 1;
+    Ct_(6 * (m_ - 1), 6 + (m_ - 1) - 1) = 1;
+    Ct_(6 * (m_ - 1) + 2, 6 + 2 * (m_ - 1) - 1) = 1;
+    Ct_(6 * (m_ - 1) + 4, 6 + 3 * (m_ - 1) - 1) = 1;
+    Ct_(6 * (m_ - 1) + 1, 3) = 1;
+    Ct_(6 * (m_ - 1) + 3, 4) = 1;
+    Ct_(6 * (m_ - 1) + 5, 5) = 1;
+    for (int i = 1; i < m_ - 1; ++i)
+    {
+      Ct_(6 * i, 6 + i - 1) = 1;
+      Ct_(6 * i + 1, 6 + i) = 1;
+      Ct_(6 * i + 2, 6 + (m_ - 1) + i - 1) = 1;
+      Ct_(6 * i + 3, 6 + (m_ - 1) + i) = 1;
+      Ct_(6 * i + 4, 6 + 2 * (m_ - 1) + i - 1) = 1;
+      Ct_(6 * i + 5, 6 + 2 * (m_ - 1) + i) = 1;
+    }
+    A_inv_multiply_Ct_ = A_inv_ * Ct_;
+  }
+
+  /* Produce Mapping Matrix A_ and its inverse A_inv_ */
+  void TrajOptimizer::calMatrixA()
+  {
+    A_ = Eigen::MatrixXd::Zero(m_ * 6, m_ * 6);
+    const static auto Factorial = [](int x)
+    {
+      int fac = 1;
+      for (int i = x; i > 0; i--)
+        fac = fac * i;
+      return fac;
+    };
+
+    Eigen::MatrixXd Ab;
+    for (int k = 0; k < m_; k++)
+    {
+      Ab = Eigen::MatrixXd::Zero(6, 6);
+      for (int i = 0; i < 3; i++)
+      {
+        Ab(2 * i, i) = Factorial(i);
+        for (int j = i; j < 6; j++)
+          Ab(2 * i + 1, j) = Factorial(j) / Factorial(j - i) * pow(time_[k], j - i);
+      }
+      A_.block(k * 6, k * 6, 6, 6) = Ab;
+    }
+    A_inv_ = A_.inverse();
+  }
+
+  /* Produce the smoothness cost Hessian */
+  void TrajOptimizer::calMatrixQ_smooth(int type)
+  {
+    Q_smooth_ = Eigen::MatrixXd::Zero(m_ * 6, m_ * 6);
+
+    if (type == MINIMUM_ACC)
+    {
+      for (int k = 0; k < m_; k++)
+        for (int i = 2; i < 6; i++)
+          for (int j = i; j < 6; j++)
+          {
+            Q_smooth_(k * 6 + i, k * 6 + j) = i * (i - 1) * j * (j - 1) / (i + j - 3) * pow(time_[k], (i + j - 3));
+            Q_smooth_(k * 6 + j, k * 6 + i) = Q_smooth_(k * 6 + i, k * 6 + j);
+          }
+    }
+    else if (type == MINIMUM_JERK)
+    {
+      for (int k = 0; k < m_; k++)
+        for (int i = 3; i < 6; i++)
+          for (int j = i; j < 6; j++)
+          {
+            Q_smooth_(k * 6 + i, k * 6 + j) = i * (i - 1) * (i - 2) * j * (j - 1) * (j - 2) / (i + j - 5) * pow(time_[k], (i + j - 5));
+            Q_smooth_(k * 6 + j, k * 6 + i) = Q_smooth_(k * 6 + i, k * 6 + j);
+          }
+    }
+    else if (type == MINIMUM_SNAP)
+    {
+      for (int k = 0; k < m_; k++)
+        for (int i = 4; i < 6; i++)
+          for (int j = i; j < 6; j++)
+          {
+            Q_smooth_(k * 6 + i, k * 6 + j) = i * (i - 1) * (i - 2) * (i - 3) * j * (j - 1) * (j - 2) * (i - 3) / (i + j - 7) * pow(time_[k], (i + j - 7));
+            Q_smooth_(k * 6 + j, k * 6 + i) = Q_smooth_(k * 6 + i, k * 6 + j);
+          }
+    }
+    else
+    {
+      cout << "[OPT]: unfedined Q_smooth type" << endl;
+    }
+  }
+
+  /* Produce the closeness cost Hessian matrix */
+  void TrajOptimizer::calMatrixQ_close()
+  {
+    Q_close_ = Eigen::MatrixXd::Zero(m_ * 6, m_ * 6);
+
+    for (int k = 0; k < m_; k++)
+      for (int i = 0; i < 6; i++)
+        for (int j = i; j < 6; j++)
+        {
+          Q_close_(k * 6 + i, k * 6 + j) = pow(time_[k], (i + j + 1)) / (i + j + 1);
+          Q_close_(k * 6 + j, k * 6 + i) = Q_close_(k * 6 + i, k * 6 + j);
+        }
+  }
+
+  void TrajOptimizer::calMatrixQ_obs(const vector<int> &segs, const vector<double> &t_s, const vector<double> &t_e)
+  {
+    Q_obs_ = Eigen::MatrixXd::Zero(m_ * 6, m_ * 6);
+    size_t n_obs = segs.size();
+    for (size_t k = 0; k < n_obs; ++k)
+    {
+      int seg_number = segs[k];
+      for (int i = 0; i < 6; i++)
+        for (int j = i; j < 6; j++)
+        {
+          Q_obs_(seg_number * 6 + i, seg_number * 6 + j) += (pow(t_e[k], (i + j + 1)) - pow(t_s[k], (i + j + 1))) / (i + j + 1);
+          Q_obs_(seg_number * 6 + j, seg_number * 6 + i) = Q_obs_(seg_number * 6 + i, seg_number * 6 + j);
+        }
+    }
+    ROS_INFO_STREAM("Q_obs:\n " << Q_obs_);
+  }
+
+  /*
+Q_oi: the i^th obs
+*/
+  void TrajOptimizer::calMatrixQAndCoeffPerObs(const Vector3d &attract_pts, const double &t_s, const double &t_e,
+                                               Eigen::Matrix<double, 6, 6> &Q_oi, Eigen::Matrix<double, 6, 3> &coeff_oi)
+  {
+    for (int i = 0; i < 6; i++)
+      for (int j = i; j < 6; j++)
+      {
+        Q_oi(i, j) = (pow(t_e, (i + j + 1)) - pow(t_s, (i + j + 1))) / (i + j + 1);
+        Q_oi(j, i) = Q_oi(i, j);
+      }
+    coeff_oi(0, 0) = attract_pts[0];
+    coeff_oi(0, 1) = attract_pts[1];
+    coeff_oi(0, 2) = attract_pts[2];
+  }
+
+  void TrajOptimizer::calMatrixQobsAndCoeff(const vector<pair<int, int>> &seg_num_obs_size, const vector<Vector3d> &attract_pts,
+                                            const vector<double> &t_s, const vector<double> &t_e)
+  {
+    int curr_obs = 0;
+    for (const pair<int, int> &seon : seg_num_obs_size)
+    {
+      int seg_num = seon.first;
+      int obs_size = seon.second;
+      vector<Eigen::Matrix<double, 6, 6>> vQo_i(obs_size); //vector of obs Q of the i^th segment
+      vector<Eigen::Matrix<double, 6, 3>> vcoeffo_i(obs_size);
+      // for obs_size obstacles in one seg, incrementally update the corresponding Q and coeff
+      for (int i = 0; i < obs_size; ++i)
+      {
+        vcoeffo_i[i].setZero();
+        calMatrixQAndCoeffPerObs(attract_pts[curr_obs], t_s[curr_obs], t_e[curr_obs], vQo_i[i], vcoeffo_i[i]);
+        // ROS_INFO_STREAM("vQo_i[i]:\n " << vQo_i[i]);
+        // ROS_INFO_STREAM("vcoeffo_i[i]:\n " << vcoeffo_i[i]);
+        vQo_i_[seg_num] += vQo_i[i];
+        vcoeffo_i_[seg_num] += vQo_i[i] * vcoeffo_i[i];
+        curr_obs++;
+      }
+      //calculate Q_obs & coeff_obs
+      Q_obs_.block(seg_num * 6, seg_num * 6, 6, 6) = vQo_i_[seg_num];
+      // coeff_obs_.block(seg_num * 6, 0, 6, 3) = vQo_i_[seg_num].inverse() * vcoeffo_i_[seg_num];
+      coeff_obs_.block(seg_num * 6, 0, 6, 3) = vQo_i_[seg_num].llt().solve(vcoeffo_i_[seg_num]); //vQo_i_[i] is PD, use LLT to solve LP
+    }
+    // ROS_INFO_STREAM("Q_obs:\n " << Q_obs_);
+    // ROS_INFO_STREAM("coeff_obs_:\n " << coeff_obs_);
+  }
+
+  inline bool TrajOptimizer::checkTrajectoryConstraints(const Trajectory &traj)
+  {
+    if (!traj.checkMaxVelRate(vel_limit_))
+    {
+      // ROS_WARN("vel constraints violate!");
+      return false;
+    }
+    if (!traj.checkMaxAccRate(acc_limit_))
+    {
+      // ROS_WARN("acc constraints violate!");
+      return false;
+    }
+    if (!traj.checkMaxJerkRate(jerk_limit_))
+    {
+      // ROS_WARN("jerk constraints violate!");
+      return false;
+    }
+    if (!pos_checker_ptr_->checkPolyTraj(traj))
+    {
+      // ROS_WARN("pos constraints violate!");
+      return false;
+    }
+    return true;
+  }
+
+  bool TrajOptimizer::getVerticesFromTraj(vector<Vector3d> &vertices,
+                                          vector<Vector3d> &vels,
+                                          vector<Vector3d> &accs,
+                                          const Trajectory &trajectory, std::vector<double> durs)
+  {
+    size_t n_segment = durs.size();
+    if (n_segment <= 0)
+    {
+      ROS_ERROR("zero segment!");
+      return false;
+    }
+
+    vertices.reserve(n_segment + 1);
+    vels.reserve(n_segment + 1);
+    accs.reserve(n_segment + 1);
+    double tau(0.0);
+    Eigen::Vector3d last_pos, last_vel, last_acc;
+    last_pos = trajectory.getPos(tau);
+    last_vel = trajectory.getVel(tau);
+    last_acc = trajectory.getAcc(tau);
+    vertices.push_back(last_pos);
+    vels.push_back(last_vel);
+    accs.push_back(last_acc);
+    for (int i = 0; i < n_segment; ++i)
+    {
+      tau += durs[i];
+      last_pos = trajectory.getPos(tau);
+      last_vel = trajectory.getVel(tau);
+      last_acc = trajectory.getAcc(tau);
+      vertices.push_back(last_pos);
+      vels.push_back(last_vel);
+      accs.push_back(last_acc);
+    }
+    return true;
+  }
+
+  bool TrajOptimizer::getCollideSegIdx(const Trajectory &traj, std::set<int> &indices)
+  {
+    bool result(false);
+    double total_dura = traj.getTotalDuration();
+
+    const double kDefaultSamplingTime = 0.02; // In seconds.
+    for (double t = 0.0; t < total_dura; t += kDefaultSamplingTime)
+    {
+      Vector3d pos = traj.getPos(t);
+      if (!pos_checker_ptr_->validatePosSurround(pos))
+      {
+        double t_in_piece = t;
+        int idx = traj.locatePieceIdx(t_in_piece);
+        indices.insert(idx);
+        result = true;
+      }
+    }
+    return result;
+  }
+
+  void TrajOptimizer::splitDurations(std::vector<double> &durs, const std::set<int> &indices)
+  {
+    std::vector<double> durs_ori = durs;
+    int step = 0;
+    for (const int &idx : indices)
+    {
+      double dur = durs_ori[idx];
+      auto it = durs.begin();
+      durs.erase(it + idx + step);
+      durs.insert(it + idx + step, 2, dur / 2.0);
+      step++;
+    }
+  }
+
+  bool TrajOptimizer::reTiming(Trajectory &traj)
+  {
+    if (!traj.checkMaxAccRate(acc_limit_))
+    {
+      const int ite_time(8);
+      int n(0);
+      while (n < ite_time)
+      {
+        // ROS_WARN_STREAM("max acc: " << traj.getMaxAccRate());
+        double k(0.90);
+        // double k = min(0.98, acc_limit_ / optimized_traj_.getMaxAccRate());
+        traj.scaleTime(k);
+        if (traj.checkMaxAccRate(acc_limit_))
+          break;
+        n++;
+      }
+      if (n >= ite_time)
+      {
+        // ROS_ERROR_STREAM("max acc: " << traj.getMaxAccRate());
+        return false;
+      }
+    }
+
+    if (!traj.checkMaxVelRate(vel_limit_))
+    {
+      const int ite_time(3);
+      int n(0);
+      while (n < ite_time)
+      {
+        // ROS_WARN_STREAM("max vel: " << optimized_traj_.getMaxVelRate());
+        double k(0.95);
+        // double k = min(0.98, acc_limit_ / optimized_traj_.getMaxVelRate());
+        traj.scaleTime(k);
+        if (traj.checkMaxVelRate(vel_limit_))
+          break;
+        n++;
+      }
+      if (n >= ite_time)
+      {
+        // ROS_ERROR_STREAM("max vel: " << optimized_traj_.getMaxVelRate());
+        return false;
+      }
+    }
+
+    if (!traj.checkMaxJerkRate(jerk_limit_))
+    {
+      const int ite_time(8);
+      int n(0);
+      while (n < ite_time)
+      {
+        // ROS_WARN_STREAM("max jerk: " << optimized_traj_.getMaxJerkRate());
+        double k(0.9);
+        // double k = min(0.98, acc_limit_ / optimized_traj_.getMaxJerkRate());
+        traj.scaleTime(k);
+        if (traj.checkMaxJerkRate(jerk_limit_))
+          break;
+        n++;
+      }
+      if (n >= ite_time)
+      {
+        // ROS_ERROR_STREAM("max jerk: " << optimized_traj_.getMaxJerkRate());
+        return false;
+      }
+    }
+
+    return true;
+  }
+
+}
diff --git a/planning/poly_opt/src/trunk_optimizer.cpp b/planning/poly_opt/src/trunk_optimizer.cpp
new file mode 100755
index 0000000..387aab4
--- /dev/null
+++ b/planning/poly_opt/src/trunk_optimizer.cpp
@@ -0,0 +1,2 @@
+// #include "poly_opt/trunk_opt.h"
+#include "poly_opt/nonsmooth_trunk_opt.h"
diff --git a/planning/poly_traj_utils/CMakeLists.txt b/planning/poly_traj_utils/CMakeLists.txt
new file mode 100755
index 0000000..fcce444
--- /dev/null
+++ b/planning/poly_traj_utils/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(poly_traj_utils)
+
+add_compile_options(-std=c++11)
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -fPIC")
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+)
+
+find_package(Eigen3 REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES poly_traj_utils
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+include_directories(
+  include
+  ${EIGEN3_INCLUDE_DIR}
+)
+
+add_library(${PROJECT_NAME}
+  src/poly_traj_utils.cpp
+)
+
+target_link_libraries(
+  ${PROJECT_NAME}
+)
\ No newline at end of file
diff --git a/planning/poly_traj_utils/include/poly_traj_utils/root_finder.hpp b/planning/poly_traj_utils/include/poly_traj_utils/root_finder.hpp
new file mode 100755
index 0000000..28f48ad
--- /dev/null
+++ b/planning/poly_traj_utils/include/poly_traj_utils/root_finder.hpp
@@ -0,0 +1,1116 @@
+/*  
+The MIT License
+
+Copyright (c) 2020-2022 Zhepei Wang
+                        Hongkai Ye
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+#ifndef ROOT_FINDER_HPP
+#define ROOT_FINDER_HPP
+
+#define _USE_MATH_DEFINES
+#include <cfloat>
+#include <cmath>
+#include <set>
+#include <Eigen/Eigen>
+
+namespace RootFinderParam
+{
+    constexpr size_t highestOrder = 64;
+}
+
+namespace RootFinderPriv
+{
+
+    inline int polyMod(double *u, double *v, double *r, int lu, int lv)
+    // Modulus of u(x)/v(x)
+    // The leading coefficient of v, i.e., v[0], must be 1.0 or -1.0
+    // The length of u, v, and r are lu, lv, and lu, respectively
+    {
+        int orderu = lu - 1;
+        int orderv = lv - 1;
+
+        memcpy(r, u, lu * sizeof(double));
+
+        if (v[0] < 0.0)
+        {
+            for (int i = orderv + 1; i <= orderu; i += 2)
+            {
+                r[i] = -r[i];
+            }
+            for (int i = 0; i <= orderu - orderv; i++)
+            {
+                for (int j = i + 1; j <= orderv + i; j++)
+                {
+                    r[j] = -r[j] - r[i] * v[j - i];
+                }
+            }
+        }
+        else
+        {
+            for (int i = 0; i <= orderu - orderv; i++)
+            {
+                for (int j = i + 1; j <= orderv + i; j++)
+                {
+                    r[j] = r[j] - r[i] * v[j - i];
+                }
+            }
+        }
+
+        int k = orderv - 1;
+        while (k >= 0 && fabs(r[orderu - k]) < DBL_EPSILON)
+        {
+            r[orderu - k] = 0.0;
+            k--;
+        }
+
+        return (k <= 0) ? 1 : (k + 1);
+    }
+
+    inline double polyEval(double *p, int len, double x)
+    // Evaluate the polynomial p(x), which has len coefficients
+    // Note: Horner scheme should not be employed here !!!
+    // Horner scheme has bad numerical stability despite of its efficiency.
+    // These errors are particularly troublesome for root-finding algorithms.
+    // When the polynomial is evaluated near a zero, catastrophic
+    // cancellation (subtracting two nearby numbers) is guaranteed to occur.
+    // Therefore, Horner scheme may slow down some root-finding algorithms.
+    {
+        double retVal = 0.0;
+
+        if (len > 0)
+        {
+            if (fabs(x) < DBL_EPSILON)
+            {
+                retVal = p[len - 1];
+            }
+            else if (x == 1.0)
+            {
+                for (int i = len - 1; i >= 0; i--)
+                {
+                    retVal += p[i];
+                }
+            }
+            else
+            {
+                double xn = 1.0;
+
+                for (int i = len - 1; i >= 0; i--)
+                {
+                    retVal += p[i] * xn;
+                    xn *= x;
+                }
+            }
+        }
+
+        return retVal;
+    }
+
+    inline std::set<double> solveCub(double a, double b, double c, double d)
+    // Calculate all roots of a*x^3 + b*x^2 + c*x + d = 0
+    {
+        std::set<double> roots;
+
+        constexpr double cos120 = -0.50;
+        constexpr double sin120 = 0.866025403784438646764;
+
+        if (fabs(d) < DBL_EPSILON)
+        {
+            // First solution is x = 0
+            roots.insert(0.0);
+
+            // Converting to a quadratic equation
+            d = c;
+            c = b;
+            b = a;
+            a = 0.0;
+        }
+
+        if (fabs(a) < DBL_EPSILON)
+        {
+            if (fabs(b) < DBL_EPSILON)
+            {
+                // Linear equation
+                if (fabs(c) > DBL_EPSILON)
+                    roots.insert(-d / c);
+            }
+            else
+            {
+                // Quadratic equation
+                double discriminant = c * c - 4.0 * b * d;
+                if (discriminant >= 0)
+                {
+                    double inv2b = 1.0 / (2.0 * b);
+                    double y = sqrt(discriminant);
+                    roots.insert((-c + y) * inv2b);
+                    roots.insert((-c - y) * inv2b);
+                }
+            }
+        }
+        else
+        {
+            // Cubic equation
+            double inva = 1.0 / a;
+            double invaa = inva * inva;
+            double bb = b * b;
+            double bover3a = b * (1.0 / 3.0) * inva;
+            double p = (3.0 * a * c - bb) * (1.0 / 3.0) * invaa;
+            double halfq = (2.0 * bb * b - 9.0 * a * b * c + 27.0 * a * a * d) * (0.5 / 27.0) * invaa * inva;
+            double yy = p * p * p / 27.0 + halfq * halfq;
+
+            if (yy > DBL_EPSILON)
+            {
+                // Sqrt is positive: one real solution
+                double y = sqrt(yy);
+                double uuu = -halfq + y;
+                double vvv = -halfq - y;
+                double www = fabs(uuu) > fabs(vvv) ? uuu : vvv;
+                double w = (www < 0) ? -pow(fabs(www), 1.0 / 3.0) : pow(www, 1.0 / 3.0);
+                roots.insert(w - p / (3.0 * w) - bover3a);
+            }
+            else if (yy < -DBL_EPSILON)
+            {
+                // Sqrt is negative: three real solutions
+                double x = -halfq;
+                double y = sqrt(-yy);
+                double theta;
+                double r;
+                double ux;
+                double uyi;
+                // Convert to polar form
+                if (fabs(x) > DBL_EPSILON)
+                {
+                    theta = (x > 0.0) ? atan(y / x) : (atan(y / x) + M_PI);
+                    r = sqrt(x * x - yy);
+                }
+                else
+                {
+                    // Vertical line
+                    theta = M_PI / 2.0;
+                    r = y;
+                }
+                // Calculate cube root
+                theta /= 3.0;
+                r = pow(r, 1.0 / 3.0);
+                // Convert to complex coordinate
+                ux = cos(theta) * r;
+                uyi = sin(theta) * r;
+                // First solution
+                roots.insert(ux + ux - bover3a);
+                // Second solution, rotate +120 degrees
+                roots.insert(2.0 * (ux * cos120 - uyi * sin120) - bover3a);
+                // Third solution, rotate -120 degrees
+                roots.insert(2.0 * (ux * cos120 + uyi * sin120) - bover3a);
+            }
+            else
+            {
+                // Sqrt is zero: two real solutions
+                double www = -halfq;
+                double w = (www < 0.0) ? -pow(fabs(www), 1.0 / 3.0) : pow(www, 1.0 / 3.0);
+                // First solution
+                roots.insert(w + w - bover3a);
+                // Second solution, rotate +120 degrees
+                roots.insert(2.0 * w * cos120 - bover3a);
+            }
+        }
+        return roots;
+    }
+
+    inline int solveResolvent(double *x, double a, double b, double c)
+    // Solve resolvent eqaution of corresponding Quartic equation
+    // The input x must be of length 3
+    // Number of zeros are returned
+    {
+        double a2 = a * a;
+        double q = (a2 - 3.0 * b) / 9.0;
+        double r = (a * (2.0 * a2 - 9.0 * b) + 27.0 * c) / 54.0;
+        double r2 = r * r;
+        double q3 = q * q * q;
+        double A, B;
+        if (r2 < q3)
+        {
+            double t = r / sqrt(q3);
+            if (t < -1.0)
+            {
+                t = -1.0;
+            }
+            if (t > 1.0)
+            {
+                t = 1.0;
+            }
+            t = acos(t);
+            a /= 3.0;
+            q = -2.0 * sqrt(q);
+            x[0] = q * cos(t / 3.0) - a;
+            x[1] = q * cos((t + M_PI * 2.0) / 3.0) - a;
+            x[2] = q * cos((t - M_PI * 2.0) / 3.0) - a;
+            return 3;
+        }
+        else
+        {
+            A = -pow(fabs(r) + sqrt(r2 - q3), 1.0 / 3.0);
+            if (r < 0.0)
+            {
+                A = -A;
+            }
+            B = (0.0 == A ? 0.0 : q / A);
+
+            a /= 3.0;
+            x[0] = (A + B) - a;
+            x[1] = -0.5 * (A + B) - a;
+            x[2] = 0.5 * sqrt(3.0) * (A - B);
+            if (fabs(x[2]) < DBL_EPSILON)
+            {
+                x[2] = x[1];
+                return 2;
+            }
+
+            return 1;
+        }
+    }
+
+    inline std::set<double> solveQuartMonic(double a, double b, double c, double d)
+    // Calculate all roots of the monic quartic equation:
+    // x^4 + a*x^3 + b*x^2 + c*x +d = 0
+    {
+        std::set<double> roots;
+
+        double a3 = -b;
+        double b3 = a * c - 4.0 * d;
+        double c3 = -a * a * d - c * c + 4.0 * b * d;
+
+        // Solve the resolvent: y^3 - b*y^2 + (ac - 4*d)*y - a^2*d - c^2 + 4*b*d = 0
+        double x3[3];
+        int iZeroes = solveResolvent(x3, a3, b3, c3);
+
+        double q1, q2, p1, p2, D, sqrtD, y;
+
+        y = x3[0];
+        // Choosing Y with maximal absolute value.
+        if (iZeroes != 1)
+        {
+            if (fabs(x3[1]) > fabs(y))
+            {
+                y = x3[1];
+            }
+            if (fabs(x3[2]) > fabs(y))
+            {
+                y = x3[2];
+            }
+        }
+
+        // h1 + h2 = y && h1*h2 = d  <=>  h^2 - y*h + d = 0    (h === q)
+
+        D = y * y - 4.0 * d;
+        if (fabs(D) < DBL_EPSILON) //In other words: D == 0
+        {
+            q1 = q2 = y * 0.5;
+            // g1 + g2 = a && g1 + g2 = b - y   <=>   g^2 - a*g + b - y = 0    (p === g)
+            D = a * a - 4.0 * (b - y);
+            if (fabs(D) < DBL_EPSILON) //In other words: D == 0
+            {
+                p1 = p2 = a * 0.5;
+            }
+            else
+            {
+                sqrtD = sqrt(D);
+                p1 = (a + sqrtD) * 0.5;
+                p2 = (a - sqrtD) * 0.5;
+            }
+        }
+        else
+        {
+            sqrtD = sqrt(D);
+            q1 = (y + sqrtD) * 0.5;
+            q2 = (y - sqrtD) * 0.5;
+            // g1 + g2 = a && g1*h2 + g2*h1 = c   ( && g === p )  Krammer
+            p1 = (a * q1 - c) / (q1 - q2);
+            p2 = (c - a * q2) / (q1 - q2);
+        }
+
+        // Solve the quadratic equation: x^2 + p1*x + q1 = 0
+        D = p1 * p1 - 4.0 * q1;
+        if (fabs(D) < DBL_EPSILON)
+        {
+            roots.insert(-p1 * 0.5);
+        }
+        else if (D > 0.0)
+        {
+            sqrtD = sqrt(D);
+            roots.insert((-p1 + sqrtD) * 0.5);
+            roots.insert((-p1 - sqrtD) * 0.5);
+        }
+
+        // Solve the quadratic equation: x^2 + p2*x + q2 = 0
+        D = p2 * p2 - 4.0 * q2;
+        if (fabs(D) < DBL_EPSILON)
+        {
+            roots.insert(-p2 * 0.5);
+        }
+        else if (D > 0.0)
+        {
+            sqrtD = sqrt(D);
+            roots.insert((-p2 + sqrtD) * 0.5);
+            roots.insert((-p2 - sqrtD) * 0.5);
+        }
+
+        return roots;
+    }
+
+    inline std::set<double> solveQuart(double a, double b, double c, double d, double e)
+    // Calculate the quartic equation: a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
+    // All coefficients can be zero
+    {
+        if (fabs(a) < DBL_EPSILON)
+        {
+            return solveCub(b, c, d, e);
+        }
+        else
+        {
+            return solveQuartMonic(b / a, c / a, d / a, e / a);
+        }
+    }
+
+    inline std::set<double> eigenSolveRealRoots(const Eigen::VectorXd &coeffs, double lbound, double ubound, double tol)
+    // Calculate roots of coeffs(x) inside (lbound, rbound) by computing eigen values of its companion matrix
+    // Complex roots with magnitude of imaginary part less than tol are considered real
+    {
+        std::set<double> rts;
+
+        int order = (int)coeffs.size() - 1;
+        Eigen::VectorXd monicCoeffs(order + 1);
+        monicCoeffs << 1.0, coeffs.tail(order) / coeffs(0);
+
+        Eigen::MatrixXd companionMat(order, order);
+        companionMat.setZero();
+        companionMat(0, order - 1) = -monicCoeffs(order);
+        for (int i = 1; i < order; i++)
+        {
+            companionMat(i, i - 1) = 1.0;
+            companionMat(i, order - 1) = -monicCoeffs(order - i);
+        }
+        Eigen::VectorXcd eivals = companionMat.eigenvalues();
+        double real;
+        int eivalsNum = eivals.size();
+        for (int i = 0; i < eivalsNum; i++)
+        {
+            real = eivals(i).real();
+            if (eivals(i).imag() < tol && real > lbound && real < ubound)
+                rts.insert(real);
+        }
+
+        return rts;
+    }
+
+    inline double numSignVar(double x, double **sturmSeqs, int *szSeq, int len)
+    // Calculate the number of sign variations of the Sturm sequences at x
+    // The i-th sequence with size szSeq[i] stored in sturmSeqs[i][], 0 <= i < len
+    {
+        double y, lasty;
+        int signVar = 0;
+        lasty = polyEval(sturmSeqs[0], szSeq[0], x);
+        for (int i = 1; i < len; i++)
+        {
+            y = polyEval(sturmSeqs[i], szSeq[i], x);
+            if (lasty == 0.0 || lasty * y < 0.0)
+            {
+                ++signVar;
+            }
+            lasty = y;
+        }
+
+        return signVar;
+    };
+
+    inline void polyDeri(double *coeffs, double *dcoeffs, int len)
+    // Calculate the derivative poly coefficients of a given poly
+    {
+        int horder = len - 1;
+        for (int i = 0; i < horder; i++)
+        {
+            dcoeffs[i] = (horder - i) * coeffs[i];
+        }
+        return;
+    }
+
+    template <typename F, typename DF>
+    inline double safeNewton(const F &func, const DF &dfunc,
+                             const double &l, const double &h,
+                             const double &tol, const int &maxIts)
+    // Safe Newton Method
+    // Requirements: f(l)*f(h)<=0
+    {
+        double xh, xl;
+        double fl = func(l);
+        double fh = func(h);
+        if (fl == 0.0)
+        {
+            return l;
+        }
+        if (fh == 0.0)
+        {
+            return h;
+        }
+        if (fl < 0.0)
+        {
+            xl = l;
+            xh = h;
+        }
+        else
+        {
+            xh = l;
+            xl = h;
+        }
+
+        double rts = 0.5 * (xl + xh);
+        double dxold = fabs(xh - xl);
+        double dx = dxold;
+        double f = func(rts);
+        double df = dfunc(rts);
+        double temp;
+        for (int j = 0; j < maxIts; j++)
+        {
+            if ((((rts - xh) * df - f) * ((rts - xl) * df - f) > 0.0) ||
+                (fabs(2.0 * f) > fabs(dxold * df)))
+            {
+                dxold = dx;
+                dx = 0.5 * (xh - xl);
+                rts = xl + dx;
+                if (xl == rts)
+                {
+                    break;
+                }
+            }
+            else
+            {
+                dxold = dx;
+                dx = f / df;
+                temp = rts;
+                rts -= dx;
+                if (temp == rts)
+                {
+                    break;
+                }
+            }
+
+            if (fabs(dx) < tol)
+            {
+                break;
+            }
+
+            f = func(rts);
+            df = dfunc(rts);
+            if (f < 0.0)
+            {
+                xl = rts;
+            }
+            else
+            {
+                xh = rts;
+            }
+        }
+
+        return rts;
+    }
+
+    inline double shrinkInterval(double *coeffs, int numCoeffs, double lbound, double ubound, double tol)
+    // Calculate a single zero of poly coeffs(x) inside [lbound, ubound]
+    // Requirements: coeffs(lbound)*coeffs(ubound) < 0, lbound < ubound
+    {
+        double *dcoeffs = new double[numCoeffs - 1];
+        polyDeri(coeffs, dcoeffs, numCoeffs);
+        auto func = [&coeffs, &numCoeffs](double x)
+        { return polyEval(coeffs, numCoeffs, x); };
+        auto dfunc = [&dcoeffs, &numCoeffs](double x)
+        { return polyEval(dcoeffs, numCoeffs - 1, x); };
+        constexpr int maxDblIts = 128;
+        double rts = safeNewton(func, dfunc, lbound, ubound, tol, maxDblIts);
+        delete[] dcoeffs;
+        return rts;
+    }
+
+    inline void recurIsolate(double l, double r, double fl, double fr, int lnv, int rnv,
+                             double tol, double **sturmSeqs, int *szSeq, int len,
+                             std::set<double> &rts)
+    // Isolate all roots of sturmSeqs[0](x) inside interval (l, r) recursively and store them in rts
+    // Requirements: fl := sturmSeqs[0](l) != 0, fr := sturmSeqs[0](r) != 0, l < r,
+    //               lnv != rnv, lnv = numSignVar(l), rnv = numSignVar(r)
+    //               sturmSeqs[0](x) must have at least one root inside (l, r)
+    {
+        int nrts = lnv - rnv;
+        double fm;
+        double m;
+
+        if (nrts == 0)
+        {
+            return;
+        }
+        else if (nrts == 1)
+        {
+            if (fl * fr < 0)
+            {
+                rts.insert(shrinkInterval(sturmSeqs[0], szSeq[0], l, r, tol));
+                return;
+            }
+            else
+            {
+                // Bisect when non of above works
+                int maxDblIts = 128;
+
+                for (int i = 0; i < maxDblIts; i++)
+                {
+                    // Calculate the root with even multiplicity
+                    if (fl * fr < 0)
+                    {
+                        rts.insert(shrinkInterval(sturmSeqs[1], szSeq[1], l, r, tol));
+                        return;
+                    }
+
+                    m = (l + r) / 2.0;
+                    fm = polyEval(sturmSeqs[0], szSeq[0], m);
+
+                    if (fm == 0 || fabs(r - l) < tol)
+                    {
+                        rts.insert(m);
+                        return;
+                    }
+                    else
+                    {
+                        if (lnv == numSignVar(m, sturmSeqs, szSeq, len))
+                        {
+                            l = m;
+                            fl = fm;
+                        }
+                        else
+                        {
+                            r = m;
+                            fr = fm;
+                        }
+                    }
+                }
+
+                rts.insert(m);
+                return;
+            }
+        }
+        else if (nrts > 1)
+        {
+            // More than one root exists in the interval
+            int maxDblIts = 128;
+
+            int mnv;
+            int bias = 0;
+            bool biased = false;
+            for (int i = 0; i < maxDblIts; i++)
+            {
+                bias = biased ? bias : 0;
+                if (!biased)
+                {
+                    m = (l + r) / 2.0;
+                }
+                else
+                {
+                    m = (r - l) / pow(2.0, bias + 1.0) + l;
+                    biased = false;
+                }
+                mnv = numSignVar(m, sturmSeqs, szSeq, len);
+
+                if (fabs(r - l) < tol)
+                {
+                    rts.insert(m);
+                    return;
+                }
+                else
+                {
+                    fm = polyEval(sturmSeqs[0], szSeq[0], m);
+                    if (fm == 0)
+                    {
+                        bias++;
+                        biased = true;
+                    }
+                    else if (lnv != mnv && rnv != mnv)
+                    {
+                        recurIsolate(l, m, fl, fm, lnv, mnv, tol, sturmSeqs, szSeq, len, rts);
+                        recurIsolate(m, r, fm, fr, mnv, rnv, tol, sturmSeqs, szSeq, len, rts);
+                        return;
+                    }
+                    else if (lnv == mnv)
+                    {
+                        l = m;
+                        fl = fm;
+                    }
+                    else
+                    {
+                        r = m;
+                        fr = fm;
+                    }
+                }
+            }
+
+            rts.insert(m);
+            return;
+        }
+    };
+
+    inline std::set<double> isolateRealRoots(const Eigen::VectorXd &coeffs, double lbound, double ubound, double tol)
+    // Calculate roots of coeffs(x) inside (lbound, rbound) leveraging Sturm theory
+    // Requirement: leading coefficient must be nonzero
+    //              coeffs(lbound) != 0, coeffs(rbound) != 0, lbound < rbound
+    {
+        std::set<double> rts;
+
+        // Calculate monic coefficients
+        int order = (int)coeffs.size() - 1;
+        Eigen::VectorXd monicCoeffs(order + 1);
+        monicCoeffs << 1.0, coeffs.tail(order) / coeffs(0);
+
+        // Calculate Cauchy’s bound for the roots of a polynomial
+        double rho_c = 1 + monicCoeffs.tail(order).cwiseAbs().maxCoeff();
+
+        // Calculate Kojima’s bound for the roots of a polynomial
+        Eigen::VectorXd nonzeroCoeffs(order + 1);
+        nonzeroCoeffs.setZero();
+        int nonzeros = 0;
+        double tempEle;
+        for (int i = 0; i < order + 1; i++)
+        {
+            tempEle = monicCoeffs(i);
+            if (fabs(tempEle) >= DBL_EPSILON)
+            {
+                nonzeroCoeffs(nonzeros++) = tempEle;
+            }
+        }
+        nonzeroCoeffs = nonzeroCoeffs.head(nonzeros).eval();
+        Eigen::VectorXd kojimaVec = nonzeroCoeffs.tail(nonzeros - 1).cwiseQuotient(nonzeroCoeffs.head(nonzeros - 1)).cwiseAbs();
+        kojimaVec.tail(1) /= 2.0;
+        double rho_k = 2.0 * kojimaVec.maxCoeff();
+
+        // Choose a sharper one then loosen it by 1.0 to get an open interval
+        double rho = std::min(rho_c, rho_k) + 1.0;
+
+        // Tighten the bound to search in
+        lbound = std::max(lbound, -rho);
+        ubound = std::min(ubound, rho);
+
+        // Build Sturm sequence
+        int len = monicCoeffs.size();
+        double sturmSeqs[(RootFinderParam::highestOrder + 1) * (RootFinderParam::highestOrder + 1)];
+        int szSeq[RootFinderParam::highestOrder + 1] = {0}; // Explicit ini as zero (gcc may neglect this in -O3)
+        double *offsetSeq[RootFinderParam::highestOrder + 1];
+        int num = 0;
+
+        for (int i = 0; i < len; i++)
+        {
+            sturmSeqs[i] = monicCoeffs(i);
+            sturmSeqs[i + 1 + len] = (order - i) * sturmSeqs[i] / order;
+        }
+        szSeq[0] = len;
+        szSeq[1] = len - 1;
+        offsetSeq[0] = sturmSeqs + len - szSeq[0];
+        offsetSeq[1] = sturmSeqs + 2 * len - szSeq[1];
+
+        num += 2;
+
+        bool remainderConstant = false;
+        int idx = 0;
+        while (!remainderConstant)
+        {
+            szSeq[idx + 2] = polyMod(offsetSeq[idx],
+                                     offsetSeq[idx + 1],
+                                     &(sturmSeqs[(idx + 3) * len - szSeq[idx]]),
+                                     szSeq[idx], szSeq[idx + 1]);
+            offsetSeq[idx + 2] = sturmSeqs + (idx + 3) * len - szSeq[idx + 2];
+
+            remainderConstant = szSeq[idx + 2] == 1;
+            for (int i = 1; i < szSeq[idx + 2]; i++)
+            {
+                offsetSeq[idx + 2][i] /= -fabs(offsetSeq[idx + 2][0]);
+            }
+            offsetSeq[idx + 2][0] = offsetSeq[idx + 2][0] > 0.0 ? -1.0 : 1.0;
+            num++;
+            idx++;
+        }
+
+        // Isolate all distinct roots inside the open interval recursively
+        recurIsolate(lbound, ubound,
+                     polyEval(offsetSeq[0], szSeq[0], lbound),
+                     polyEval(offsetSeq[0], szSeq[0], ubound),
+                     numSignVar(lbound, offsetSeq, szSeq, len),
+                     numSignVar(ubound, offsetSeq, szSeq, len),
+                     tol, offsetSeq, szSeq, len, rts);
+
+        return rts;
+    }
+
+} // namespace RootFinderPriv
+
+namespace RootFinder
+{
+
+    inline Eigen::VectorXd polyConv(const Eigen::VectorXd &lCoef, const Eigen::VectorXd &rCoef)
+    // Calculate the convolution of lCoef(x) and rCoef(x)
+    {
+        Eigen::VectorXd result(lCoef.size() + rCoef.size() - 1);
+        result.setZero();
+        for (int i = 0; i < result.size(); i++)
+        {
+            for (int j = 0; j <= i; j++)
+            {
+                result(i) += (j < lCoef.size() && (i - j) < rCoef.size()) ? (lCoef(j) * rCoef(i - j)) : 0;
+            }
+        }
+
+        return result;
+    }
+
+    // // This function needs FFTW 3 and only performs better when the scale is large
+    // inline Eigen::VectorXd polyConvFFT(const Eigen::VectorXd &lCoef, const Eigen::VectorXd &rCoef)
+    // // Calculate the convolution of lCoef(x) and rCoef(x) using FFT
+    // // This function is fast when orders of both poly are larger than 100
+    // {
+    //     int paddedLen = lCoef.size() + rCoef.size() - 1;
+    //     int complexLen = paddedLen / 2 + 1;
+    //     Eigen::VectorXd result(paddedLen);
+    //     double *rBuffer = fftw_alloc_real(paddedLen);
+    //     // Construct FFT plan and buffers
+    //     fftw_complex *cForwardBuffer = fftw_alloc_complex(complexLen);
+    //     fftw_complex *cBackwardBuffer = fftw_alloc_complex(complexLen);
+    //     fftw_plan forwardPlan = fftw_plan_dft_r2c_1d(paddedLen, rBuffer, cForwardBuffer,
+    //                                                  FFTW_ESTIMATE | FFTW_DESTROY_INPUT);
+    //     fftw_plan backwardPlan = fftw_plan_dft_c2r_1d(paddedLen, cBackwardBuffer, rBuffer,
+    //                                                   FFTW_ESTIMATE | FFTW_DESTROY_INPUT);
+    //     // Pad lCoef by zeros
+    //     int len = lCoef.size();
+    //     for (int i = 0; i < len; i++)
+    //     {
+    //         rBuffer[i] = lCoef(i);
+    //     }
+    //     for (int i = len; i < paddedLen; i++)
+    //     {
+    //         rBuffer[i] = 0.0;
+    //     }
+    //     // Compute fft(pad(lCoef(x)) and back it up
+    //     fftw_execute(forwardPlan);
+    //     memcpy(cBackwardBuffer, cForwardBuffer, sizeof(fftw_complex) * complexLen);
+    //     // Pad rCoef by zeros
+    //     len = rCoef.size();
+    //     for (int i = 0; i < len; i++)
+    //     {
+    //         rBuffer[i] = rCoef(i);
+    //     }
+    //     for (int i = len; i < paddedLen; i++)
+    //     {
+    //         rBuffer[i] = 0.0;
+    //     }
+    //     // Compute fft(pad(rCoef(x))
+    //     fftw_execute(forwardPlan);
+    //     // Compute fft(pad(lCoef(x)).fft(pad(rCoef(x))
+    //     double real, imag;
+    //     for (int i = 0; i < complexLen; i++)
+    //     {
+    //         real = cBackwardBuffer[i][0];
+    //         imag = cBackwardBuffer[i][1];
+    //         cBackwardBuffer[i][0] = real * cForwardBuffer[i][0] -
+    //                                 imag * cForwardBuffer[i][1];
+    //         cBackwardBuffer[i][1] = imag * cForwardBuffer[i][0] +
+    //                                 real * cForwardBuffer[i][1];
+    //     }
+    //     // Compute ifft(fft(pad(lCoef(x)).fft(pad(rCoef(x)))
+    //     fftw_execute(backwardPlan);
+    //     // Recover the original intensity
+    //     double intensity = 1.0 / paddedLen;
+    //     for (int i = 0; i < paddedLen; i++)
+    //     {
+    //         result(i) = rBuffer[i] * intensity;
+    //     }
+    //     // Destruct FFT plan and buffers
+    //     fftw_destroy_plan(forwardPlan);
+    //     fftw_destroy_plan(backwardPlan);
+    //     fftw_free(rBuffer);
+    //     fftw_free(cForwardBuffer);
+    //     fftw_free(cBackwardBuffer);
+    //     return result;
+    // }
+
+    inline Eigen::VectorXd polySqr(const Eigen::VectorXd &coef)
+    // Calculate self-convolution of coef(x)
+    {
+        int coefSize = coef.size();
+        int resultSize = coefSize * 2 - 1;
+        int lbound, rbound;
+        Eigen::VectorXd result(resultSize);
+        double temp;
+        for (int i = 0; i < resultSize; i++)
+        {
+            temp = 0;
+            lbound = i - coefSize + 1;
+            lbound = lbound > 0 ? lbound : 0;
+            rbound = coefSize < (i + 1) ? coefSize : (i + 1);
+            rbound += lbound;
+            if (rbound & 1) //faster than rbound % 2 == 1
+            {
+                rbound >>= 1; //faster than rbound /= 2
+                temp += coef(rbound) * coef(rbound);
+            }
+            else
+            {
+                rbound >>= 1; //faster than rbound /= 2
+            }
+
+            for (int j = lbound; j < rbound; j++)
+            {
+                temp += 2.0 * coef(j) * coef(i - j);
+            }
+            result(i) = temp;
+        }
+
+        return result;
+    }
+
+    inline double polyVal(const Eigen::VectorXd &coeffs, double x,
+                          bool numericalStability = true)
+    // Evaluate the polynomial at x, i.e., coeffs(x)
+    // Horner scheme is faster yet less stable
+    // Stable one should be used when coeffs(x) is close to 0.0
+    {
+        double retVal = 0.0;
+        int order = (int)coeffs.size() - 1;
+
+        if (order >= 0)
+        {
+            if (fabs(x) < DBL_EPSILON)
+            {
+                retVal = coeffs(order);
+            }
+            else if (x == 1.0)
+            {
+                retVal = coeffs.sum();
+            }
+            else
+            {
+                if (numericalStability)
+                {
+                    double xn = 1.0;
+
+                    for (int i = order; i >= 0; i--)
+                    {
+                        retVal += coeffs(i) * xn;
+                        xn *= x;
+                    }
+                }
+                else
+                {
+                    int len = coeffs.size();
+
+                    for (int i = 0; i < len; i++)
+                    {
+                        retVal = retVal * x + coeffs(i);
+                    }
+                }
+            }
+        }
+
+        return retVal;
+    }
+
+    inline int countRoots(const Eigen::VectorXd &coeffs, double l, double r)
+    // Count the number of distinct roots of coeffs(x) inside (l, r), leveraging Sturm theory
+    // Boundary values, i.e., coeffs(l) and coeffs(r), must be nonzero
+    {
+        int nRoots = 0;
+
+        int originalSize = coeffs.size();
+        int valid = originalSize;
+        for (int i = 0; i < originalSize; i++)
+        {
+            if (fabs(coeffs(i)) < DBL_EPSILON)
+            {
+                valid--;
+            }
+            else
+            {
+                break;
+            }
+        }
+
+        if (valid > 0 && fabs(coeffs(originalSize - 1)) > DBL_EPSILON)
+        {
+            Eigen::VectorXd monicCoeffs(valid);
+            monicCoeffs << 1.0, coeffs.segment(originalSize - valid + 1, valid - 1) / coeffs(originalSize - valid);
+
+            // Build the Sturm sequence
+            int len = monicCoeffs.size();
+            int order = len - 1;
+            double sturmSeqs[(RootFinderParam::highestOrder + 1) * (RootFinderParam::highestOrder + 1)];
+            int szSeq[RootFinderParam::highestOrder + 1] = {0}; // Explicit ini as zero (gcc may neglect this in -O3)
+            int num = 0;
+
+            for (int i = 0; i < len; i++)
+            {
+                sturmSeqs[i] = monicCoeffs(i);
+                sturmSeqs[i + 1 + len] = (order - i) * sturmSeqs[i] / order;
+            }
+            szSeq[0] = len;
+            szSeq[1] = len - 1;
+            num += 2;
+
+            bool remainderConstant = false;
+            int idx = 0;
+            while (!remainderConstant)
+            {
+                szSeq[idx + 2] = RootFinderPriv::polyMod(&(sturmSeqs[(idx + 1) * len - szSeq[idx]]),
+                                                         &(sturmSeqs[(idx + 2) * len - szSeq[idx + 1]]),
+                                                         &(sturmSeqs[(idx + 3) * len - szSeq[idx]]),
+                                                         szSeq[idx], szSeq[idx + 1]);
+                remainderConstant = szSeq[idx + 2] == 1;
+                for (int i = 1; i < szSeq[idx + 2]; i++)
+                {
+                    sturmSeqs[(idx + 3) * len - szSeq[idx + 2] + i] /= -fabs(sturmSeqs[(idx + 3) * len - szSeq[idx + 2]]);
+                }
+                sturmSeqs[(idx + 3) * len - szSeq[idx + 2]] /= -fabs(sturmSeqs[(idx + 3) * len - szSeq[idx + 2]]);
+                num++;
+                idx++;
+            }
+
+            // Count numbers of sign variations at two boundaries
+            double yl, lastyl, yr, lastyr;
+            lastyl = RootFinderPriv::polyEval(&(sturmSeqs[len - szSeq[0]]), szSeq[0], l);
+            lastyr = RootFinderPriv::polyEval(&(sturmSeqs[len - szSeq[0]]), szSeq[0], r);
+            for (int i = 1; i < num; i++)
+            {
+                yl = RootFinderPriv::polyEval(&(sturmSeqs[(i + 1) * len - szSeq[i]]), szSeq[i], l);
+                yr = RootFinderPriv::polyEval(&(sturmSeqs[(i + 1) * len - szSeq[i]]), szSeq[i], r);
+                if (lastyl == 0.0 || lastyl * yl < 0.0)
+                {
+                    ++nRoots;
+                }
+                if (lastyr == 0.0 || lastyr * yr < 0.0)
+                {
+                    --nRoots;
+                }
+                lastyl = yl;
+                lastyr = yr;
+            }
+        }
+
+        return nRoots;
+    }
+
+    inline std::set<double> solvePolynomial(const Eigen::VectorXd &coeffs, double lbound, double ubound, double tol, bool isolation = true)
+    // Calculate roots of coeffs(x) inside (lbound, rbound)
+    //
+    // Closed-form solutions are employed for reduced_order < 5
+    // isolation = true:
+    //                    Sturm' theory and some geometrical property are employed to bracket each root
+    //                    Safe-Newton is employed to shrink the interval efficiently
+    // isolation = false:
+    //                    Eigen values of polynomial companion matrix are calculated
+    //
+    // Requirement: leading coefficient must be nonzero
+    //              coeffs(lbound) != 0, coeffs(rbound) != 0, lbound < rbound
+    {
+        std::set<double> rts;
+
+        int valid = coeffs.size();
+        for (int i = 0; i < coeffs.size(); i++)
+        {
+            if (fabs(coeffs(i)) < DBL_EPSILON)
+            {
+                valid--;
+            }
+            else
+            {
+                break;
+            }
+        }
+
+        int offset = 0;
+        int nonzeros = valid;
+        if (valid > 0)
+        {
+            for (int i = 0; i < valid; i++)
+            {
+                if (fabs(coeffs(coeffs.size() - i - 1)) < DBL_EPSILON)
+                {
+                    nonzeros--;
+                    offset++;
+                }
+                else
+                {
+                    break;
+                }
+            }
+        }
+
+        if (nonzeros == 0)
+        {
+            rts.insert(INFINITY);
+            rts.insert(-INFINITY);
+        }
+        else if (nonzeros == 1 && offset == 0)
+        {
+            rts.clear();
+        }
+        else
+        {
+            Eigen::VectorXd ncoeffs(std::max(5, nonzeros));
+            ncoeffs.setZero();
+            ncoeffs.tail(nonzeros) << coeffs.segment(coeffs.size() - valid, nonzeros);
+
+            if (nonzeros <= 5)
+            {
+                rts = RootFinderPriv::solveQuart(ncoeffs(0), ncoeffs(1), ncoeffs(2), ncoeffs(3), ncoeffs(4));
+            }
+            else
+            {
+                if (isolation)
+                {
+                    rts = RootFinderPriv::isolateRealRoots(ncoeffs, lbound, ubound, tol);
+                }
+                else
+                {
+                    rts = RootFinderPriv::eigenSolveRealRoots(ncoeffs, lbound, ubound, tol);
+                }
+            }
+
+            if (offset > 0)
+            {
+                rts.insert(0.0);
+            }
+        }
+
+        for (auto it = rts.begin(); it != rts.end();)
+        {
+            if (*it > lbound && *it < ubound)
+            {
+                it++;
+            }
+            else
+            {
+                it = rts.erase(it);
+            }
+        }
+
+        return rts;
+    }
+
+} // namespace RootFinder
+
+#endif
\ No newline at end of file
diff --git a/planning/poly_traj_utils/include/poly_traj_utils/traj_utils.hpp b/planning/poly_traj_utils/include/poly_traj_utils/traj_utils.hpp
new file mode 100755
index 0000000..554a646
--- /dev/null
+++ b/planning/poly_traj_utils/include/poly_traj_utils/traj_utils.hpp
@@ -0,0 +1,1703 @@
+/*  
+The MIT License
+
+Copyright (c) 2020-2022 Zhepei Wang
+                        Hongkai Ye
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+#ifndef TRAJ_UTILS_HPP
+#define TRAJ_UTILS_HPP
+
+#include "root_finder.hpp"
+#include <vector>
+#include <list>
+#include <Eigen/Eigen>
+
+// Polynomial order and trajectory dimension are fixed here
+constexpr int TrajOrder = 5;
+constexpr int TrajDim = 3;
+
+// Type for piece boundary condition and coefficient matrix
+typedef Eigen::Matrix<double, TrajDim, TrajOrder + 1> BoundaryCond;
+typedef Eigen::Matrix<double, TrajDim, TrajOrder + 1> CoefficientMat;
+typedef Eigen::Matrix<double, TrajDim, TrajOrder> VelCoefficientMat;
+typedef Eigen::Matrix<double, TrajDim, TrajOrder - 1> AccCoefficientMat;
+typedef Eigen::Matrix<double, TrajDim, TrajOrder - 2> JerkCoefficientMat;
+
+typedef Eigen::Matrix<double, 6, 1> StatePV;
+typedef Eigen::Matrix<double, 9, 1> StatePVA;
+typedef Eigen::Matrix<double, TrajDim, 1> ControlJrk;
+typedef Eigen::Matrix<double, TrajDim, 1> ControlAcc;
+
+// A single piece of a trajectory, which is indeed a polynomial
+class Piece
+{
+private:
+    // Piece(t) = c5*t^5 + c4*t^4 + ... + c1*t + c0
+    // The natural coefficient matrix = [c5,c4,c3,c2,c1,c0]
+    double duration;
+    // Any time in [0, T] is normalized into [0.0, 1.0]
+    // Therefore, nCoeffMat = [c5*T^5,c4*T^4,c3*T^3,c2*T^2,c1*T,c0*1]
+    // is used for better numerical stability
+    CoefficientMat nCoeffMat;
+
+public:
+    Piece() = default;
+
+    // Constructor from duration and coefficient
+    Piece(double dur, const CoefficientMat &coeffs) : duration(dur)
+    {
+        double t = 1.0;
+        for (int i = TrajOrder; i >= 0; i--)
+        {
+            nCoeffMat.col(i) = coeffs.col(i) * t;
+            t *= dur;
+        }
+    }
+
+    // Constructor from boundary condition and duration
+    Piece(const BoundaryCond &boundCond, double dur) : duration(dur)
+    {
+        // The BoundaryCond matrix boundCond = [p(0),v(0),a(0),p(T),v(T),a(T)]
+        double t1 = dur;
+        double t2 = t1 * t1;
+
+        // Inverse mapping is computed without explicit matrix inverse
+        // It maps boundary condition to normalized coefficient matrix
+        nCoeffMat.col(0) = 0.5 * (boundCond.col(5) - boundCond.col(2)) * t2 -
+                           3.0 * (boundCond.col(1) + boundCond.col(4)) * t1 +
+                           6.0 * (boundCond.col(3) - boundCond.col(0));
+        nCoeffMat.col(1) = (-boundCond.col(5) + 1.5 * boundCond.col(2)) * t2 +
+                           (8.0 * boundCond.col(1) + 7.0 * boundCond.col(4)) * t1 +
+                           15.0 * (-boundCond.col(3) + boundCond.col(0));
+        nCoeffMat.col(2) = (0.5 * boundCond.col(5) - 1.5 * boundCond.col(2)) * t2 -
+                           (6.0 * boundCond.col(1) + 4.0 * boundCond.col(4)) * t1 +
+                           10.0 * (boundCond.col(3) - boundCond.col(0));
+        nCoeffMat.col(3) = 0.5 * boundCond.col(2) * t2;
+        nCoeffMat.col(4) = boundCond.col(1) * t1;
+        nCoeffMat.col(5) = boundCond.col(0);
+    }
+
+    inline int getDim() const
+    {
+        return TrajDim;
+    }
+
+    inline int getOrder() const
+    {
+        return TrajOrder;
+    }
+
+    inline double getDuration() const
+    {
+        return duration;
+    }
+
+    // Get the position at time t in this piece
+    inline Eigen::Vector3d getPos(double t) const
+    {
+        // Normalize the time
+        t /= duration;
+        Eigen::Vector3d pos(0.0, 0.0, 0.0);
+        double tn = 1.0;
+        for (int i = TrajOrder; i >= 0; i--)
+        {
+            pos += tn * nCoeffMat.col(i);
+            tn *= t;
+        }
+        // The pos is not affected by normalization
+        return pos;
+    }
+
+    // Get the velocity at time t in this piece
+    inline Eigen::Vector3d getVel(double t) const
+    {
+        // Normalize the time
+        t /= duration;
+        Eigen::Vector3d vel(0.0, 0.0, 0.0);
+        double tn = 1.0;
+        int n = 1;
+        for (int i = TrajOrder - 1; i >= 0; i--)
+        {
+            vel += n * tn * nCoeffMat.col(i);
+            tn *= t;
+            n++;
+        }
+        // Recover the actual vel
+        vel /= duration;
+        return vel;
+    }
+
+    // Get the acceleration at time t in this piece
+    inline Eigen::Vector3d getAcc(double t) const
+    {
+        // Normalize the time
+        t /= duration;
+        Eigen::Vector3d acc(0.0, 0.0, 0.0);
+        double tn = 1.0;
+        int m = 1;
+        int n = 2;
+        for (int i = TrajOrder - 2; i >= 0; i--)
+        {
+            acc += m * n * tn * nCoeffMat.col(i);
+            tn *= t;
+            m++;
+            n++;
+        }
+        // Recover the actual acc
+        acc /= duration * duration;
+        return acc;
+    }
+
+    // Get the jerk at time t in this piece
+    inline Eigen::Vector3d getJerk(double t) const
+    {
+        // Normalize the time
+        t /= duration;
+        Eigen::Vector3d jerk(0.0, 0.0, 0.0);
+        double tn = 1.0;
+        int m = 1;
+        int n = 2;
+        int k = 3;
+        for (int i = TrajOrder - 3; i >= 0; i--)
+        {
+            jerk += k * m * n * tn * nCoeffMat.col(i);
+            tn *= t;
+            k++;
+            m++;
+            n++;
+        }
+        // Recover the actual acc
+        jerk /= duration * duration * duration;
+        return jerk;
+    }
+
+    // Get the boundary condition of this piece
+    inline BoundaryCond getBoundCond() const
+    {
+        BoundaryCond boundCond;
+        boundCond << getPos(0.0), getVel(0.0), getAcc(0.0),
+            getPos(duration), getVel(duration), getAcc(duration);
+        return boundCond;
+    }
+
+    // Get the coefficient matrix of the piece
+    // Default arg chooses the natural coefficients
+    // If normalized version is needed, set the arg true
+    inline CoefficientMat getCoeffMat(bool normalized = false) const
+    {
+        CoefficientMat posCoeffsMat;
+        double t = 1;
+        for (int i = TrajOrder; i >= 0; i--)
+        {
+            posCoeffsMat.col(i) = nCoeffMat.col(i) / t;
+            t *= normalized ? 1.0 : duration;
+        }
+        return posCoeffsMat;
+    }
+
+    // Get the polynomial coefficients of velocity of this piece
+    // Default arg chooses the natural coefficients
+    // If normalized version is needed, set the arg true
+    inline VelCoefficientMat getVelCoeffMat(bool normalized = false) const
+    {
+        VelCoefficientMat velCoeffMat;
+        int n = 1;
+        double t = 1.0;
+        t *= normalized ? 1.0 : duration;
+        for (int i = TrajOrder - 1; i >= 0; i--)
+        {
+            velCoeffMat.col(i) = n * nCoeffMat.col(i) / t;
+            n++;
+            t *= normalized ? 1.0 : duration;
+        }
+        return velCoeffMat;
+    }
+
+    // Get the polynomial coefficients of acceleration of this piece
+    // Default arg chooses the natural coefficients
+    // If normalized version is needed, set the arg true
+    inline AccCoefficientMat getAccCoeffMat(bool normalized = false) const
+    {
+        AccCoefficientMat accCoeffMat;
+        int n = 2;
+        int m = 1;
+        double t = 1.0;
+        t *= normalized ? 1.0 : duration * duration;
+        for (int i = TrajOrder - 2; i >= 0; i--)
+        {
+            accCoeffMat.col(i) = n * m * nCoeffMat.col(i) / t;
+            n++;
+            m++;
+            t *= normalized ? 1.0 : duration;
+        }
+        return accCoeffMat;
+    }
+
+    // Get the polynomial coefficients of jerk of this piece
+    // Default arg chooses the natural coefficients
+    // If normalized version is needed, set the arg true
+    inline JerkCoefficientMat getJerkCoeffMat(bool normalized = false) const
+    {
+        JerkCoefficientMat jerkCoeffMat;
+        int n = 3;
+        int m = 2;
+        int l = 1;
+        double t = 1.0;
+        t *= normalized ? 1.0 : duration * duration * duration;
+        for (int i = TrajOrder - 3; i >= 0; i--)
+        {
+            jerkCoeffMat.col(i) = n * m * l * nCoeffMat.col(i) / t;
+            n++;
+            m++;
+            l++;
+            t *= normalized ? 1.0 : duration;
+        }
+        return jerkCoeffMat;
+    }
+
+    // Get the max velocity rate of the piece
+    inline double getMaxVelRate() const
+    {
+        // Compute normalized squared vel norm polynomial coefficient matrix
+        Eigen::MatrixXd nVelCoeffMat = getVelCoeffMat(true);
+        Eigen::VectorXd coeff = RootFinder::polySqr(nVelCoeffMat.row(0)) +
+                                RootFinder::polySqr(nVelCoeffMat.row(1)) +
+                                RootFinder::polySqr(nVelCoeffMat.row(2));
+        int N = coeff.size();
+        int n = N - 1;
+        for (int i = 0; i < N; i++)
+        {
+            coeff(i) *= n;
+            n--;
+        }
+        if (coeff.head(N - 1).squaredNorm() < DBL_EPSILON)
+        {
+            return 0.0;
+        }
+        else
+        {
+            // Search an open interval whose boundaries are not zeros
+            double l = -0.0625;
+            double r = 1.0625;
+            while (fabs(RootFinder::polyVal(coeff.head(N - 1), l)) < DBL_EPSILON)
+            {
+                l = 0.5 * l;
+            }
+            while (fabs(RootFinder::polyVal(coeff.head(N - 1), r)) < DBL_EPSILON)
+            {
+                r = 0.5 * (r + 1.0);
+            }
+            // Find all stationaries
+            std::set<double> candidates = RootFinder::solvePolynomial(coeff.head(N - 1), l, r,
+                                                                      FLT_EPSILON / duration);
+
+            // Check boundary points and stationaries within duration
+            candidates.insert(0.0);
+            candidates.insert(1.0);
+            double maxVelRateSqr = -INFINITY;
+            double tempNormSqr;
+            for (std::set<double>::const_iterator it = candidates.begin();
+                 it != candidates.end();
+                 it++)
+            {
+                if (0.0 <= *it && 1.0 >= *it)
+                {
+                    // Recover the actual time then get the vel squared norm
+                    tempNormSqr = getVel((*it) * duration).squaredNorm();
+                    maxVelRateSqr = maxVelRateSqr < tempNormSqr ? tempNormSqr : maxVelRateSqr;
+                }
+            }
+            return sqrt(maxVelRateSqr);
+        }
+    }
+
+    // Get the max acceleration rate of the piece
+    inline double getMaxAccRate() const
+    {
+        // Compute normalized squared acc norm polynomial coefficient matrix
+        Eigen::MatrixXd nAccCoeffMat = getAccCoeffMat(true);
+        Eigen::VectorXd coeff = RootFinder::polySqr(nAccCoeffMat.row(0)) +
+                                RootFinder::polySqr(nAccCoeffMat.row(1)) +
+                                RootFinder::polySqr(nAccCoeffMat.row(2));
+        int N = coeff.size();
+        int n = N - 1;
+        for (int i = 0; i < N; i++)
+        {
+            coeff(i) *= n;
+            n--;
+        }
+        if (coeff.head(N - 1).squaredNorm() < DBL_EPSILON)
+        {
+            return 0.0;
+        }
+        else
+        {
+            // Search an open interval whose boundaries are not zeros
+            double l = -0.0625;
+            double r = 1.0625;
+            while (fabs(RootFinder::polyVal(coeff.head(N - 1), l)) < DBL_EPSILON)
+            {
+                l = 0.5 * l;
+            }
+            while (fabs(RootFinder::polyVal(coeff.head(N - 1), r)) < DBL_EPSILON)
+            {
+                r = 0.5 * (r + 1.0);
+            }
+            // Find all stationaries
+            std::set<double> candidates = RootFinder::solvePolynomial(coeff.head(N - 1), l, r,
+                                                                      FLT_EPSILON / duration);
+            // Check boundary points and stationaries within duration
+            candidates.insert(0.0);
+            candidates.insert(1.0);
+            double maxAccRateSqr = -INFINITY;
+            double tempNormSqr;
+            for (std::set<double>::const_iterator it = candidates.begin();
+                 it != candidates.end();
+                 it++)
+            {
+                if (0.0 <= *it && 1.0 >= *it)
+                {
+                    // Recover the actual time then get the acc squared norm
+                    tempNormSqr = getAcc((*it) * duration).squaredNorm();
+                    maxAccRateSqr = maxAccRateSqr < tempNormSqr ? tempNormSqr : maxAccRateSqr;
+                }
+            }
+            return sqrt(maxAccRateSqr);
+        }
+    }
+
+    inline double getMaxJerkRate() const
+    {
+        // Compute normalized squared jerk norm polynomial coefficient matrix
+        Eigen::MatrixXd nJerkCoeffMat = getJerkCoeffMat(true);
+        Eigen::VectorXd coeff = RootFinder::polySqr(nJerkCoeffMat.row(0)) +
+                                RootFinder::polySqr(nJerkCoeffMat.row(1)) +
+                                RootFinder::polySqr(nJerkCoeffMat.row(2));
+        int N = coeff.size();
+        int n = N - 1;
+        for (int i = 0; i < N; i++)
+        {
+            coeff(i) *= n;
+            n--;
+        }
+        if (coeff.head(N - 1).squaredNorm() < DBL_EPSILON)
+        {
+            return 0.0;
+        }
+        else
+        {
+            // Search an open interval whose boundaries are not zeros
+            double l = -0.0625;
+            double r = 1.0625;
+            while (fabs(RootFinder::polyVal(coeff.head(N - 1), l)) < DBL_EPSILON)
+            {
+                l = 0.5 * l;
+            }
+            while (fabs(RootFinder::polyVal(coeff.head(N - 1), r)) < DBL_EPSILON)
+            {
+                r = 0.5 * (r + 1.0);
+            }
+            // Find all stationaries
+            std::set<double> candidates = RootFinder::solvePolynomial(coeff.head(N - 1), l, r,
+                                                                      FLT_EPSILON / duration);
+            // Check boundary points and stationaries within duration
+            candidates.insert(0.0);
+            candidates.insert(1.0);
+            double maxJerkRateSqr = -INFINITY;
+            double tempNormSqr;
+            for (std::set<double>::const_iterator it = candidates.begin();
+                 it != candidates.end();
+                 it++)
+            {
+                if (0.0 <= *it && 1.0 >= *it)
+                {
+                    // Recover the actual time then get the acc squared norm
+                    tempNormSqr = getJerk((*it) * duration).squaredNorm();
+                    maxJerkRateSqr = maxJerkRateSqr < tempNormSqr ? tempNormSqr : maxJerkRateSqr;
+                }
+            }
+            return sqrt(maxJerkRateSqr);
+        }
+    }
+
+    // Check whether velocity rate of the piece is always less than maxVelRate
+    inline bool checkMaxVelRate(double maxVelRate) const
+    {
+        double sqrMaxVelRate = maxVelRate * maxVelRate;
+        if (getVel(0.0).squaredNorm() >= sqrMaxVelRate ||
+            getVel(duration).squaredNorm() >= sqrMaxVelRate)
+        {
+            return false;
+        }
+        else
+        {
+            Eigen::MatrixXd nVelCoeffMat = getVelCoeffMat(true);
+            Eigen::VectorXd coeff = RootFinder::polySqr(nVelCoeffMat.row(0)) +
+                                    RootFinder::polySqr(nVelCoeffMat.row(1)) +
+                                    RootFinder::polySqr(nVelCoeffMat.row(2));
+            // Convert the actual squared maxVelRate to a normalized one
+            double t2 = duration * duration;
+            coeff.tail<1>()(0) -= sqrMaxVelRate * t2;
+            // Directly check the root existence in the normalized interval
+            return RootFinder::countRoots(coeff, 0.0, 1.0) == 0;
+        }
+    }
+
+    // Check whether accleration rate of the piece is always less than maxAccRate
+    inline bool checkMaxAccRate(double maxAccRate) const
+    {
+        double sqrMaxAccRate = maxAccRate * maxAccRate;
+        if (getAcc(0.0).squaredNorm() >= sqrMaxAccRate ||
+            getAcc(duration).squaredNorm() >= sqrMaxAccRate)
+        {
+            return false;
+        }
+        else
+        {
+            Eigen::MatrixXd nAccCoeffMat = getAccCoeffMat(true);
+            Eigen::VectorXd coeff = RootFinder::polySqr(nAccCoeffMat.row(0)) +
+                                    RootFinder::polySqr(nAccCoeffMat.row(1)) +
+                                    RootFinder::polySqr(nAccCoeffMat.row(2));
+            // Convert the actual squared maxAccRate to a normalized one
+            double t2 = duration * duration;
+            double t4 = t2 * t2;
+            coeff.tail<1>()(0) -= sqrMaxAccRate * t4;
+            // Directly check the root existence in the normalized interval
+            return RootFinder::countRoots(coeff, 0.0, 1.0) == 0;
+        }
+    }
+
+    // Check whether jerk rate of the piece is always less than maxJerkRate
+    inline bool checkMaxJerkRate(double maxJerkRate) const
+    {
+        double sqrMaxJerkRate = maxJerkRate * maxJerkRate;
+        if (getJerk(0.0).squaredNorm() >= sqrMaxJerkRate ||
+            getJerk(duration).squaredNorm() >= sqrMaxJerkRate)
+        {
+            return false;
+        }
+        else
+        {
+            Eigen::MatrixXd nJerkCoeffMat = getJerkCoeffMat(true);
+            Eigen::VectorXd coeff = RootFinder::polySqr(nJerkCoeffMat.row(0)) +
+                                    RootFinder::polySqr(nJerkCoeffMat.row(1)) +
+                                    RootFinder::polySqr(nJerkCoeffMat.row(2));
+            // Convert the actual squared maxJerkRate to a normalized one
+            double t2 = duration * duration;
+            double t4 = t2 * t2;
+            double t6 = t4 * t2;
+            coeff.tail<1>()(0) -= sqrMaxJerkRate * t6;
+            // Directly check the root existence in the normalized interval
+            return RootFinder::countRoots(coeff, 0.0, 1.0) == 0;
+        }
+    }
+
+    //Scale the Piece(t) to Piece(k*t)
+    inline void scaleTime(double k)
+    {
+        duration /= k;
+        return;
+    }
+
+    inline void sampleOneSeg(std::vector<StatePVA> *vis_x) const
+    {
+        double dt = 0.005;
+        for (double t = 0.0; t < duration; t += dt)
+        {
+            Eigen::Vector3d pos, vel, acc;
+            pos = getPos(t);
+            vel = getVel(t);
+            acc = getAcc(t);
+            StatePVA x;
+            x << pos(0), pos(1), pos(2), vel(0), vel(1), vel(2), acc(0), acc(1), acc(2);
+            vis_x->push_back(x);
+        }
+    }
+
+    // for 5th degree polynomial
+    inline void cutPiece(const Piece &orig_piece, double ts, CoefficientMat &new_coeff) const
+    {
+        CoefficientMat ori_coeff = orig_piece.getCoeffMat();
+        double ts2 = ts * ts;
+        double ts3 = ts2 * ts;
+        double ts4 = ts3 * ts;
+        double ts5 = ts4 * ts;
+        for (int dim = 0; dim < 3; ++dim)
+        {
+            new_coeff(dim, 0) = ori_coeff(dim, 0);                              //c5*t^5
+            new_coeff(dim, 1) = ori_coeff(dim, 1) + 5 * ori_coeff(dim, 0) * ts; //c4*4^4
+            new_coeff(dim, 2) = ori_coeff(dim, 2) + 4 * ori_coeff(dim, 1) * ts + 10 * ori_coeff(dim, 0) * ts2;
+            new_coeff(dim, 3) = ori_coeff(dim, 3) + 3 * ori_coeff(dim, 2) * ts + 6 * ori_coeff(dim, 1) * ts2 + 10 * ori_coeff(dim, 0) * ts3;
+            new_coeff(dim, 4) = ori_coeff(dim, 4) + 2 * ori_coeff(dim, 3) * ts + 3 * ori_coeff(dim, 2) * ts2 + 4 * ori_coeff(dim, 1) * ts3 + 5 * ori_coeff(dim, 0) * ts4;
+            new_coeff(dim, 5) = ori_coeff(dim, 5) + ori_coeff(dim, 4) * ts + ori_coeff(dim, 3) * ts2 + ori_coeff(dim, 2) * ts3 + ori_coeff(dim, 1) * ts4 + ori_coeff(dim, 0) * ts5;
+        }
+    }
+
+    // for 5th degree polynomial， cost = integral(j^T rho j) + tau
+    inline double calCost(const double &rho) const
+    {
+        double tau2 = duration * duration;
+        double tau3 = tau2 * duration;
+        double tau4 = tau3 * duration;
+        double tau5 = tau4 * duration;
+
+        CoefficientMat coeff = getCoeffMat();
+        Eigen::Matrix<double, 6, 6> B = Eigen::Matrix<double, 6, 6>::Zero(6, 6);
+        B(0, 0) = 720 * tau5;
+        B(1, 1) = 192 * tau3;
+        B(2, 2) = 36 * duration;
+        B(0, 1) = B(1, 0) = 360 * tau4;
+        B(0, 2) = B(2, 0) = 120 * tau3;
+        B(1, 2) = B(2, 1) = 72 * tau2;
+        double cost(0.0);
+        for (int i = 0; i < 3; i++)
+        {
+            cost += coeff.row(i) * B * coeff.row(i).transpose();
+        }
+        cost *= rho;
+        cost += duration;
+
+        return cost;
+    }
+
+    inline double project_pt(const Eigen::Vector3d &pt,
+                             double &tt, Eigen::Vector3d &pro_pt)
+    {
+        // 2*(p-p0)^T * \dot{p} = 0
+        auto l_coeff = getCoeffMat();
+        l_coeff.col(5) = l_coeff.col(5) - pt;
+        auto r_coeff = getVelCoeffMat();
+        Eigen::VectorXd eq = Eigen::VectorXd::Zero(2 * 5);
+        for (int j = 0; j < l_coeff.rows(); ++j)
+        {
+            eq = eq + RootFinder::polyConv(l_coeff.row(j), r_coeff.row(j));
+        }
+        double l = -0.0625;
+        double r = duration + 0.0625;
+        while (fabs(RootFinder::polyVal(eq, l)) < DBL_EPSILON)
+        {
+            l = 0.5 * l;
+        }
+        while (fabs(RootFinder::polyVal(eq, r)) < DBL_EPSILON)
+        {
+            r = 0.5 * (duration + r);
+        }
+        std::set<double> roots =
+            RootFinder::solvePolynomial(eq, l, r, 1e-6);
+        // std::cout << "# roots: " << roots.size() << std::endl;
+        double min_dist = -1;
+        for (const auto &root : roots)
+        {
+            // std::cout << "root: " << root << std::endl;
+            if (root < 0 || root > duration)
+            {
+                continue;
+            }
+            if (getVel(root).norm() < 1e-6)
+            { // velocity == 0, ignore it
+                continue;
+            }
+            // std::cout << "find min!" << std::endl;
+            Eigen::Vector3d p = getPos(root);
+            // std::cout << "p: " << p.transpose() << std::endl;
+            double distance = (p - pt).norm();
+            if (distance < min_dist || min_dist < 0)
+            {
+                min_dist = distance;
+                tt = root;
+                pro_pt = p;
+            }
+        }
+        return min_dist;
+    }
+    inline bool intersection_plane(const Eigen::Vector3d p,
+                                   const Eigen::Vector3d v,
+                                   double &tt, Eigen::Vector3d &pt) const
+    {
+        // (pt - p)^T * v = 0
+        auto coeff = getCoeffMat();
+        coeff.col(5) = coeff.col(5) - p;
+        Eigen::VectorXd eq = coeff.transpose() * v;
+        double l = -0.0625;
+        double r = duration + 0.0625;
+        while (fabs(RootFinder::polyVal(eq, l)) < DBL_EPSILON)
+        {
+            l = 0.5 * l;
+        }
+        while (fabs(RootFinder::polyVal(eq, r)) < DBL_EPSILON)
+        {
+            r = 0.5 * (duration + r);
+        }
+        std::set<double> roots =
+            RootFinder::solvePolynomial(eq, l, r, 1e-6);
+        for (const auto &root : roots)
+        {
+            tt = root;
+            pt = getPos(root);
+            return true;
+        }
+        return false;
+    }
+};
+
+// A whole trajectory which contains multiple pieces
+class Trajectory
+{
+private:
+    typedef std::vector<Piece> Pieces;
+    Pieces pieces;
+
+public:
+    Trajectory() = default;
+
+    // Constructor from durations and coefficient matrices
+    Trajectory(const std::vector<double> &durs,
+               const std::vector<CoefficientMat> &coeffMats)
+    {
+        int N = std::min(durs.size(), coeffMats.size());
+        pieces.reserve(N);
+        for (int i = 0; i < N; i++)
+        {
+            pieces.emplace_back(durs[i], coeffMats[i]);
+        }
+    }
+
+    inline int getPieceNum() const
+    {
+        return pieces.size();
+    }
+
+    // Get durations vector of all pieces
+    inline std::vector<double> getDurations() const
+    {
+        std::vector<double> durations;
+        durations.reserve(getPieceNum());
+        for (int i = 0; i < getPieceNum(); i++)
+        {
+            durations.push_back(pieces[i].getDuration());
+        }
+        return durations;
+    }
+
+    // Get total duration of the trajectory
+    inline double getTotalDuration() const
+    {
+        double totalDuration = 0.0;
+        for (int i = 0; i < getPieceNum(); i++)
+        {
+            totalDuration += pieces[i].getDuration();
+        }
+        return totalDuration;
+    }
+
+    // Reload the operator[] to reach the i-th piece
+    inline const Piece &operator[](int i) const
+    {
+        return pieces[i];
+    }
+
+    inline Piece &operator[](int i)
+    {
+        return pieces[i];
+    }
+
+    inline void clear(void)
+    {
+        pieces.clear();
+    }
+
+    inline Pieces::const_iterator begin() const
+    {
+        return pieces.begin();
+    }
+
+    inline Pieces::const_iterator end() const
+    {
+        return pieces.end();
+    }
+
+    inline void reserve(const int &n)
+    {
+        pieces.reserve(n);
+        return;
+    }
+
+    // Put another piece at the tail of this trajectory
+    inline void emplace_back(const Piece &piece)
+    {
+        pieces.emplace_back(piece);
+        return;
+    }
+
+    // Two corresponding constructors of Piece both are supported here
+    template <typename ArgTypeL, typename ArgTypeR>
+    inline void emplace_back(const ArgTypeL &argL, const ArgTypeR &argR)
+    {
+        pieces.emplace_back(argL, argR);
+        return;
+    }
+
+    // Append another Trajectory at the tail of this trajectory
+    inline void append(const Trajectory &traj)
+    {
+        pieces.insert(pieces.end(), traj.begin(), traj.end());
+        return;
+    }
+
+    // Find the piece at which the time t is located
+    // The index is returned and the offset in t is removed
+    inline int locatePieceIdx(double &t) const
+    {
+        int idx;
+        double dur;
+        for (idx = 0;
+             idx < getPieceNum() &&
+             t > (dur = pieces[idx].getDuration());
+             idx++)
+        {
+            t -= dur;
+        }
+        if (idx == getPieceNum())
+        {
+            idx--;
+            t += pieces[idx].getDuration();
+        }
+        return idx;
+    }
+
+    // Get the position at time t of the trajectory
+    inline Eigen::Vector3d getPos(double t) const
+    {
+        int pieceIdx = locatePieceIdx(t);
+        return pieces[pieceIdx].getPos(t);
+    }
+
+    // Get the velocity at time t of the trajectory
+    inline Eigen::Vector3d getVel(double t) const
+    {
+        int pieceIdx = locatePieceIdx(t);
+        return pieces[pieceIdx].getVel(t);
+    }
+
+    // Get the acceleration at time t of the trajectory
+    inline Eigen::Vector3d getAcc(double t) const
+    {
+        int pieceIdx = locatePieceIdx(t);
+        return pieces[pieceIdx].getAcc(t);
+    }
+
+    // Get the position at the juncIdx-th waypoint
+    inline Eigen::Vector3d getJuncPos(int juncIdx) const
+    {
+        if (juncIdx != getPieceNum())
+        {
+            return pieces[juncIdx].getPos(0.0);
+        }
+        else
+        {
+            return pieces[juncIdx - 1].getPos(pieces[juncIdx - 1].getDuration());
+        }
+    }
+
+    // Get the velocity at the juncIdx-th waypoint
+    inline Eigen::Vector3d getJuncVel(int juncIdx) const
+    {
+        if (juncIdx != getPieceNum())
+        {
+            return pieces[juncIdx].getVel(0.0);
+        }
+        else
+        {
+            return pieces[juncIdx - 1].getVel(pieces[juncIdx - 1].getDuration());
+        }
+    }
+
+    // Get the acceleration at the juncIdx-th waypoint
+    inline Eigen::Vector3d getJuncAcc(int juncIdx) const
+    {
+        if (juncIdx != getPieceNum())
+        {
+            return pieces[juncIdx].getAcc(0.0);
+        }
+        else
+        {
+            return pieces[juncIdx - 1].getAcc(pieces[juncIdx - 1].getDuration());
+        }
+    }
+
+    // Get the max velocity rate of the trajectory
+    inline double getMaxVelRate() const
+    {
+        double maxVelRate = -INFINITY;
+        double tempNorm;
+        for (int i = 0; i < getPieceNum(); i++)
+        {
+            tempNorm = pieces[i].getMaxVelRate();
+            maxVelRate = maxVelRate < tempNorm ? tempNorm : maxVelRate;
+        }
+        return maxVelRate;
+    }
+
+    // Get the max acceleration rate of the trajectory
+    inline double getMaxAccRate() const
+    {
+        double maxAccRate = -INFINITY;
+        double tempNorm;
+        for (int i = 0; i < getPieceNum(); i++)
+        {
+            tempNorm = pieces[i].getMaxAccRate();
+            maxAccRate = maxAccRate < tempNorm ? tempNorm : maxAccRate;
+        }
+        return maxAccRate;
+    }
+
+    // Get the max jerk rate of the trajectory
+    inline double getMaxJerkRate() const
+    {
+        double maxJerkRate = -INFINITY;
+        double tempNorm;
+        for (int i = 0; i < getPieceNum(); i++)
+        {
+            tempNorm = pieces[i].getMaxJerkRate();
+            maxJerkRate = maxJerkRate < tempNorm ? tempNorm : maxJerkRate;
+        }
+        return maxJerkRate;
+    }
+
+    // Check whether the velocity rate of this trajectory exceeds the threshold
+    inline bool checkMaxVelRate(double maxVelRate) const
+    {
+        bool feasible = true;
+        for (int i = 0; i < getPieceNum() && feasible; i++)
+        {
+            feasible = feasible && pieces[i].checkMaxVelRate(maxVelRate);
+        }
+        return feasible;
+    }
+
+    // Check whether the acceleration rate of this trajectory exceeds the threshold
+    inline bool checkMaxAccRate(double maxAccRate) const
+    {
+        bool feasible = true;
+        for (int i = 0; i < getPieceNum() && feasible; i++)
+        {
+            feasible = feasible && pieces[i].checkMaxAccRate(maxAccRate);
+        }
+        return feasible;
+    }
+
+    // Check whether the jerk rate of this trajectory exceeds the threshold
+    inline bool checkMaxJerkRate(double maxJerkRate) const
+    {
+        bool feasible = true;
+        for (int i = 0; i < getPieceNum() && feasible; i++)
+        {
+            feasible = feasible && pieces[i].checkMaxJerkRate(maxJerkRate);
+        }
+        return feasible;
+    }
+
+    // Scale the Trajectory(t) to Trajectory(k*t)
+    inline void scaleTime(double k)
+    {
+        for (int i = 0; i < getPieceNum(); i++)
+        {
+            pieces[i].scaleTime(k);
+        }
+    }
+
+    inline void sampleWholeTrajectory(std::vector<StatePVA> *vis_x) const
+    {
+        int n = getPieceNum();
+        for (int i = 0; i < n; ++i)
+        {
+            pieces[i].sampleOneSeg(vis_x);
+        }
+    }
+
+    inline double calCost(const double &rho, double *seg_cost) const
+    {
+        double cost(0.0);
+        for (int i = 0; i < getPieceNum(); i++)
+        {
+            seg_cost[i] = pieces[i].calCost(rho);
+            cost += seg_cost[i];
+        }
+        return cost;
+    }
+
+    inline void getWpts(std::vector<StatePVA> *wpts)
+    {
+        Eigen::Vector3d pos, vel, acc;
+        StatePVA x;
+        pos = pieces[0].getPos(0);
+        vel = pieces[0].getVel(0);
+        acc = pieces[0].getAcc(0);
+        x << pos(0), pos(1), pos(2), vel(0), vel(1), vel(2), acc(0), acc(1), acc(2);
+        wpts->push_back(x);
+
+        int n = getPieceNum();
+        for (int i = 0; i < n; ++i)
+        {
+            double t = pieces[i].getDuration();
+            pos = pieces[i].getPos(t);
+            vel = pieces[i].getVel(t);
+            acc = pieces[i].getAcc(t);
+            x << pos(0), pos(1), pos(2), vel(0), vel(1), vel(2), acc(0), acc(1), acc(2);
+            wpts->push_back(x);
+        }
+    }
+
+    inline const Piece &getPiece(int i) const
+    {
+        return pieces[i];
+    }
+    inline double project_pt(const Eigen::Vector3d &pt,
+                             int &ii, double &tt, Eigen::Vector3d &pro_pt)
+    {
+        double dist = -1;
+        for (int i = 0; i < getPieceNum(); ++i)
+        {
+            auto piece = pieces[i];
+            dist = piece.project_pt(pt, tt, pro_pt);
+            if (dist > 0)
+            {
+                ii = i;
+                break;
+            }
+        }
+        // if (dist < 0) {
+        //     std::cout << "\033[32m" << "cannot project pt to traj" << "\033[0m" << std::endl;
+        //     // std::cout << "pt: " << pt.transpose() << std::endl;
+        //     // assert(false);
+        // }
+        return dist;
+    }
+    inline bool intersection_plane(const Eigen::Vector3d p,
+                                   const Eigen::Vector3d v,
+                                   int &ii, double &tt, Eigen::Vector3d &pt)
+    {
+        for (int i = 0; i < getPieceNum(); ++i)
+        {
+            const auto &piece = pieces[i];
+            if (piece.intersection_plane(p, v, tt, pt))
+            {
+                ii = i;
+                return true;
+            }
+        }
+        return false;
+    }
+
+    inline double evaluateTrajJerk() const
+    {
+        double objective = 0.0;
+        int M = getPieceNum();
+        CoefficientMat cMat;
+        double t1, t2, t3, t4, t5;
+        for (int i = 0; i < M; i++)
+        {
+            cMat = operator[](i).getCoeffMat();
+            t1 = operator[](i).getDuration();
+            t2 = t1 * t1;
+            t3 = t2 * t1;
+            t4 = t2 * t2;
+            t5 = t2 * t3;
+            objective += 36.0 * cMat.col(2).squaredNorm() * t1 +
+                         144.0 * cMat.col(1).dot(cMat.col(2)) * t2 +
+                         192.0 * cMat.col(1).squaredNorm() * t3 +
+                         240.0 * cMat.col(0).dot(cMat.col(2)) * t3 +
+                         720.0 * cMat.col(0).dot(cMat.col(1)) * t4 +
+                         720.0 * cMat.col(0).squaredNorm() * t5;
+        }
+        return objective;
+    }
+};
+
+// The banded system class is used for solving
+// banded linear system Ax=b efficiently.
+// A is an N*N band matrix with lower band width lowerBw
+// and upper band width upperBw.
+// Banded LU factorization has O(N) time complexity.
+class BandedSystem
+{
+public:
+    // The size of A, as well as the lower/upper
+    // banded width p/q are needed
+    inline void create(const int &n, const int &p, const int &q)
+    {
+        // In case of re-creating before destroying
+        destroy();
+        N = n;
+        lowerBw = p;
+        upperBw = q;
+        int actualSize = N * (lowerBw + upperBw + 1);
+        ptrData = new double[actualSize];
+        std::fill_n(ptrData, actualSize, 0.0);
+        return;
+    }
+
+    inline void destroy()
+    {
+        if (ptrData != nullptr)
+        {
+            delete[] ptrData;
+            ptrData = nullptr;
+        }
+        return;
+    }
+
+private:
+    int N;
+    int lowerBw;
+    int upperBw;
+    // Compulsory nullptr initialization here
+    double *ptrData = nullptr;
+
+public:
+    // Reset the matrix to zero
+    inline void reset(void)
+    {
+        std::fill_n(ptrData, N * (lowerBw + upperBw + 1), 0.0);
+        return;
+    }
+
+    // The band matrix is stored as suggested in "Matrix Computation"
+    inline const double &operator()(const int &i, const int &j) const
+    {
+        return ptrData[(i - j + upperBw) * N + j];
+    }
+
+    inline double &operator()(const int &i, const int &j)
+    {
+        return ptrData[(i - j + upperBw) * N + j];
+    }
+
+    // This function conducts banded LU factorization in place
+    // Note that NO PIVOT is applied on the matrix "A" for efficiency!!!
+    inline void factorizeLU()
+    {
+        int iM, jM;
+        double cVl;
+        for (int k = 0; k <= N - 2; k++)
+        {
+            iM = std::min(k + lowerBw, N - 1);
+            cVl = operator()(k, k);
+            for (int i = k + 1; i <= iM; i++)
+            {
+                if (operator()(i, k) != 0.0)
+                {
+                    operator()(i, k) /= cVl;
+                }
+            }
+            jM = std::min(k + upperBw, N - 1);
+            for (int j = k + 1; j <= jM; j++)
+            {
+                cVl = operator()(k, j);
+                if (cVl != 0.0)
+                {
+                    for (int i = k + 1; i <= iM; i++)
+                    {
+                        if (operator()(i, k) != 0.0)
+                        {
+                            operator()(i, j) -= operator()(i, k) * cVl;
+                        }
+                    }
+                }
+            }
+        }
+        return;
+    }
+
+    // This function solves Ax=b, then stores x in b
+    // The input b is required to be N*m, i.e.,
+    // m vectors to be solved.
+    inline void solve(Eigen::MatrixXd &b) const
+    {
+        int iM;
+        for (int j = 0; j <= N - 1; j++)
+        {
+            iM = std::min(j + lowerBw, N - 1);
+            for (int i = j + 1; i <= iM; i++)
+            {
+                if (operator()(i, j) != 0.0)
+                {
+                    b.row(i) -= operator()(i, j) * b.row(j);
+                }
+            }
+        }
+        for (int j = N - 1; j >= 0; j--)
+        {
+            b.row(j) /= operator()(j, j);
+            iM = std::max(0, j - upperBw);
+            for (int i = iM; i <= j - 1; i++)
+            {
+                if (operator()(i, j) != 0.0)
+                {
+                    b.row(i) -= operator()(i, j) * b.row(j);
+                }
+            }
+        }
+        return;
+    }
+
+    // This function solves ATx=b, then stores x in b
+    // The input b is required to be N*m, i.e.,
+    // m vectors to be solved.
+    inline void solveAdj(Eigen::MatrixXd &b) const
+    {
+        int iM;
+        for (int j = 0; j <= N - 1; j++)
+        {
+            b.row(j) /= operator()(j, j);
+            iM = std::min(j + upperBw, N - 1);
+            for (int i = j + 1; i <= iM; i++)
+            {
+                if (operator()(j, i) != 0.0)
+                {
+                    b.row(i) -= operator()(j, i) * b.row(j);
+                }
+            }
+        }
+        for (int j = N - 1; j >= 0; j--)
+        {
+            iM = std::max(0, j - lowerBw);
+            for (int i = iM; i <= j - 1; i++)
+            {
+                if (operator()(j, i) != 0.0)
+                {
+                    b.row(i) -= operator()(j, i) * b.row(j);
+                }
+            }
+        }
+        return;
+    }
+};
+
+class MinJerkOpt
+{
+public:
+    MinJerkOpt() = default;
+    ~MinJerkOpt() { A.destroy(); }
+
+private:
+    int N;
+    Eigen::Matrix3d headPVA;
+    Eigen::Matrix3d tailPVA;
+    Eigen::VectorXd T1;
+    BandedSystem A;
+    Eigen::MatrixXd b;
+
+    // Temp variables
+    Eigen::VectorXd T2;
+    Eigen::VectorXd T3;
+    Eigen::VectorXd T4;
+    Eigen::VectorXd T5;
+    Eigen::MatrixXd gdC;
+
+private:
+    template <typename EIGENVEC>
+    inline void addGradJbyT(EIGENVEC &gdT) const
+    {
+        for (int i = 0; i < N; i++)
+        {
+            gdT(i) += 36.0 * b.row(6 * i + 3).squaredNorm() +
+                      288.0 * b.row(6 * i + 4).dot(b.row(6 * i + 3)) * T1(i) +
+                      576.0 * b.row(6 * i + 4).squaredNorm() * T2(i) +
+                      720.0 * b.row(6 * i + 5).dot(b.row(6 * i + 3)) * T2(i) +
+                      2880.0 * b.row(6 * i + 5).dot(b.row(6 * i + 4)) * T3(i) +
+                      3600.0 * b.row(6 * i + 5).squaredNorm() * T4(i);
+        }
+        return;
+    }
+
+    template <typename EIGENMAT>
+    inline void addGradJbyC(EIGENMAT &gdC) const
+    {
+        for (int i = 0; i < N; i++)
+        {
+            gdC.row(6 * i + 5) += 240.0 * b.row(6 * i + 3) * T3(i) +
+                                  720.0 * b.row(6 * i + 4) * T4(i) +
+                                  1440.0 * b.row(6 * i + 5) * T5(i);
+            gdC.row(6 * i + 4) += 144.0 * b.row(6 * i + 3) * T2(i) +
+                                  384.0 * b.row(6 * i + 4) * T3(i) +
+                                  720.0 * b.row(6 * i + 5) * T4(i);
+            gdC.row(6 * i + 3) += 72.0 * b.row(6 * i + 3) * T1(i) +
+                                  144.0 * b.row(6 * i + 4) * T2(i) +
+                                  240.0 * b.row(6 * i + 5) * T3(i);
+        }
+        return;
+    }
+
+    inline void solveAdjGradC(Eigen::MatrixXd &gdC) const
+    {
+        A.solveAdj(gdC);
+        return;
+    }
+
+    template <typename EIGENVEC>
+    inline void addPropCtoT(const Eigen::MatrixXd &adjGdC, EIGENVEC &gdT) const
+    {
+        Eigen::MatrixXd B1(6, 3), B2(3, 3);
+
+        Eigen::RowVector3d negVel, negAcc, negJer, negSnp, negCrk;
+
+        for (int i = 0; i < N - 1; i++)
+        {
+            negVel = -(b.row(i * 6 + 1) +
+                       2.0 * T1(i) * b.row(i * 6 + 2) +
+                       3.0 * T2(i) * b.row(i * 6 + 3) +
+                       4.0 * T3(i) * b.row(i * 6 + 4) +
+                       5.0 * T4(i) * b.row(i * 6 + 5));
+            negAcc = -(2.0 * b.row(i * 6 + 2) +
+                       6.0 * T1(i) * b.row(i * 6 + 3) +
+                       12.0 * T2(i) * b.row(i * 6 + 4) +
+                       20.0 * T3(i) * b.row(i * 6 + 5));
+            negJer = -(6.0 * b.row(i * 6 + 3) +
+                       24.0 * T1(i) * b.row(i * 6 + 4) +
+                       60.0 * T2(i) * b.row(i * 6 + 5));
+            negSnp = -(24.0 * b.row(i * 6 + 4) +
+                       120.0 * T1(i) * b.row(i * 6 + 5));
+            negCrk = -120.0 * b.row(i * 6 + 5);
+
+            B1 << negSnp, negCrk, negVel, negVel, negAcc, negJer;
+
+            gdT(i) += B1.cwiseProduct(adjGdC.block<6, 3>(6 * i + 3, 0)).sum();
+        }
+
+        negVel = -(b.row(6 * N - 5) +
+                   2.0 * T1(N - 1) * b.row(6 * N - 4) +
+                   3.0 * T2(N - 1) * b.row(6 * N - 3) +
+                   4.0 * T3(N - 1) * b.row(6 * N - 2) +
+                   5.0 * T4(N - 1) * b.row(6 * N - 1));
+        negAcc = -(2.0 * b.row(6 * N - 4) +
+                   6.0 * T1(N - 1) * b.row(6 * N - 3) +
+                   12.0 * T2(N - 1) * b.row(6 * N - 2) +
+                   20.0 * T3(N - 1) * b.row(6 * N - 1));
+        negJer = -(6.0 * b.row(6 * N - 3) +
+                   24.0 * T1(N - 1) * b.row(6 * N - 2) +
+                   60.0 * T2(N - 1) * b.row(6 * N - 1));
+
+        B2 << negVel, negAcc, negJer;
+
+        gdT(N - 1) += B2.cwiseProduct(adjGdC.block<3, 3>(6 * N - 3, 0)).sum();
+
+        return;
+    }
+
+    template <typename EIGENMAT>
+    inline void addPropCtoP(const Eigen::MatrixXd &adjGdC, EIGENMAT &gdInP) const
+    {
+        for (int i = 0; i < N - 1; i++)
+        {
+            gdInP.col(i) += adjGdC.row(6 * i + 5).transpose();
+        }
+        return;
+    }
+
+    template <typename EIGENVEC>
+    inline void addTimeIntPenalty(const Eigen::VectorXi cons,
+                                  const Eigen::VectorXi &idxHs,
+                                  const std::vector<Eigen::MatrixXd> &cfgHs,
+                                  const double vmax,
+                                  const double amax,
+                                  const Eigen::Vector3d ci,
+                                  double &cost,
+                                  EIGENVEC &gdT,
+                                  Eigen::MatrixXd &gdC) const
+    {
+        double pena = 0.0;
+        const double vmaxSqr = vmax * vmax;
+        const double amaxSqr = amax * amax;
+
+        Eigen::Vector3d pos, vel, acc, jer;
+        double step, alpha;
+        double s1, s2, s3, s4, s5;
+        Eigen::Matrix<double, 6, 1> beta0, beta1, beta2, beta3;
+        Eigen::Vector3d outerNormal;
+        int K;
+        double violaPos, violaVel, violaAcc;
+        double violaPosPenaD, violaVelPenaD, violaAccPenaD;
+        double violaPosPena, violaVelPena, violaAccPena;
+        Eigen::Matrix<double, 6, 3> gradViolaVc, gradViolaAc;
+        double gradViolaVt, gradViolaAt;
+        double omg;
+
+        int innerLoop, idx;
+        for (int i = 0; i < N; i++)
+        {
+            const auto &c = b.block<6, 3>(i * 6, 0);
+            step = T1(i) / cons(i);
+            s1 = 0.0;
+            innerLoop = cons(i) + 1;
+            for (int j = 0; j < innerLoop; j++)
+            {
+                s2 = s1 * s1;
+                s3 = s2 * s1;
+                s4 = s2 * s2;
+                s5 = s4 * s1;
+                beta0 << 1.0, s1, s2, s3, s4, s5;
+                beta1 << 0.0, 1.0, 2.0 * s1, 3.0 * s2, 4.0 * s3, 5.0 * s4;
+                beta2 << 0.0, 0.0, 2.0, 6.0 * s1, 12.0 * s2, 20.0 * s3;
+                beta3 << 0.0, 0.0, 0.0, 6.0, 24.0 * s1, 60.0 * s2;
+                alpha = 1.0 / cons(i) * j;
+                pos = c.transpose() * beta0;
+                vel = c.transpose() * beta1;
+                acc = c.transpose() * beta2;
+                jer = c.transpose() * beta3;
+                violaVel = vel.squaredNorm() - vmaxSqr;
+                violaAcc = acc.squaredNorm() - amaxSqr;
+
+                omg = (j == 0 || j == innerLoop - 1) ? 0.5 : 1.0;
+
+                idx = idxHs(i);
+                K = cfgHs[idx].cols();
+                for (int k = 0; k < K; k++)
+                {
+                    outerNormal = cfgHs[idx].col(k).head<3>();
+                    violaPos = outerNormal.dot(pos - cfgHs[idx].col(k).tail<3>());
+                    if (violaPos > 0.0)
+                    {
+                        violaPosPenaD = violaPos * violaPos;
+                        violaPosPena = violaPosPenaD * violaPos;
+                        violaPosPenaD *= 3.0;
+                        gdC.block<6, 3>(i * 6, 0) += omg * step * ci(0) * violaPosPenaD * beta0 * outerNormal.transpose();
+                        gdT(i) += omg * (ci(0) * violaPosPenaD * alpha * outerNormal.dot(vel) * step +
+                                         ci(0) * violaPosPena / cons(i));
+                        pena += omg * step * ci(0) * violaPosPena;
+                    }
+                }
+
+                if (violaVel > 0.0)
+                {
+                    violaVelPenaD = violaVel * violaVel;
+                    violaVelPena = violaVelPenaD * violaVel;
+                    violaVelPenaD *= 3.0;
+                    gradViolaVc = 2.0 * beta1 * vel.transpose();
+                    gradViolaVt = 2.0 * alpha * vel.transpose() * acc;
+                    gdC.block<6, 3>(i * 6, 0) += omg * step * ci(1) * violaVelPenaD * gradViolaVc;
+                    gdT(i) += omg * (ci(1) * violaVelPenaD * gradViolaVt * step +
+                                     ci(1) * violaVelPena / cons(i));
+                    pena += omg * step * ci(1) * violaVelPena;
+                }
+
+                if (violaAcc > 0.0)
+                {
+                    violaAccPenaD = violaAcc * violaAcc;
+                    violaAccPena = violaAccPenaD * violaAcc;
+                    violaAccPenaD *= 3.0;
+                    gradViolaAc = 2.0 * beta2 * acc.transpose();
+                    gradViolaAt = 2.0 * alpha * acc.transpose() * jer;
+                    gdC.block<6, 3>(i * 6, 0) += omg * step * ci(2) * violaAccPenaD * gradViolaAc;
+                    gdT(i) += omg * (ci(2) * violaAccPenaD * gradViolaAt * step +
+                                     ci(2) * violaAccPena / cons(i));
+                    pena += omg * step * ci(2) * violaAccPena;
+                }
+
+                s1 += step;
+            }
+        }
+
+        cost += pena;
+        return;
+    }
+
+public:
+    inline void reset(const Eigen::Matrix3d &headState,
+                      const Eigen::Matrix3d &tailState,
+                      const int &pieceNum)
+    {
+        N = pieceNum;
+        headPVA = headState;
+        tailPVA = tailState;
+        T1.resize(N);
+        A.create(6 * N, 6, 6);
+        b.resize(6 * N, 3);
+        gdC.resize(6 * N, 3);
+        return;
+    }
+
+    inline void generate(const Eigen::MatrixXd &inPs,
+                         const Eigen::VectorXd &ts)
+    {
+        T1 = ts;
+        T2 = T1.cwiseProduct(T1);
+        T3 = T2.cwiseProduct(T1);
+        T4 = T2.cwiseProduct(T2);
+        T5 = T4.cwiseProduct(T1);
+
+        A.reset();
+        b.setZero();
+
+        A(0, 0) = 1.0;
+        A(1, 1) = 1.0;
+        A(2, 2) = 2.0;
+        b.row(0) = headPVA.col(0).transpose();
+        b.row(1) = headPVA.col(1).transpose();
+        b.row(2) = headPVA.col(2).transpose();
+
+        for (int i = 0; i < N - 1; i++)
+        {
+            A(6 * i + 3, 6 * i + 3) = 6.0;
+            A(6 * i + 3, 6 * i + 4) = 24.0 * T1(i);
+            A(6 * i + 3, 6 * i + 5) = 60.0 * T2(i);
+            A(6 * i + 3, 6 * i + 9) = -6.0;
+            A(6 * i + 4, 6 * i + 4) = 24.0;
+            A(6 * i + 4, 6 * i + 5) = 120.0 * T1(i);
+            A(6 * i + 4, 6 * i + 10) = -24.0;
+            A(6 * i + 5, 6 * i) = 1.0;
+            A(6 * i + 5, 6 * i + 1) = T1(i);
+            A(6 * i + 5, 6 * i + 2) = T2(i);
+            A(6 * i + 5, 6 * i + 3) = T3(i);
+            A(6 * i + 5, 6 * i + 4) = T4(i);
+            A(6 * i + 5, 6 * i + 5) = T5(i);
+            A(6 * i + 6, 6 * i) = 1.0;
+            A(6 * i + 6, 6 * i + 1) = T1(i);
+            A(6 * i + 6, 6 * i + 2) = T2(i);
+            A(6 * i + 6, 6 * i + 3) = T3(i);
+            A(6 * i + 6, 6 * i + 4) = T4(i);
+            A(6 * i + 6, 6 * i + 5) = T5(i);
+            A(6 * i + 6, 6 * i + 6) = -1.0;
+            A(6 * i + 7, 6 * i + 1) = 1.0;
+            A(6 * i + 7, 6 * i + 2) = 2 * T1(i);
+            A(6 * i + 7, 6 * i + 3) = 3 * T2(i);
+            A(6 * i + 7, 6 * i + 4) = 4 * T3(i);
+            A(6 * i + 7, 6 * i + 5) = 5 * T4(i);
+            A(6 * i + 7, 6 * i + 7) = -1.0;
+            A(6 * i + 8, 6 * i + 2) = 2.0;
+            A(6 * i + 8, 6 * i + 3) = 6 * T1(i);
+            A(6 * i + 8, 6 * i + 4) = 12 * T2(i);
+            A(6 * i + 8, 6 * i + 5) = 20 * T3(i);
+            A(6 * i + 8, 6 * i + 8) = -2.0;
+
+            b.row(6 * i + 5) = inPs.col(i).transpose();
+        }
+
+        A(6 * N - 3, 6 * N - 6) = 1.0;
+        A(6 * N - 3, 6 * N - 5) = T1(N - 1);
+        A(6 * N - 3, 6 * N - 4) = T2(N - 1);
+        A(6 * N - 3, 6 * N - 3) = T3(N - 1);
+        A(6 * N - 3, 6 * N - 2) = T4(N - 1);
+        A(6 * N - 3, 6 * N - 1) = T5(N - 1);
+        A(6 * N - 2, 6 * N - 5) = 1.0;
+        A(6 * N - 2, 6 * N - 4) = 2 * T1(N - 1);
+        A(6 * N - 2, 6 * N - 3) = 3 * T2(N - 1);
+        A(6 * N - 2, 6 * N - 2) = 4 * T3(N - 1);
+        A(6 * N - 2, 6 * N - 1) = 5 * T4(N - 1);
+        A(6 * N - 1, 6 * N - 4) = 2;
+        A(6 * N - 1, 6 * N - 3) = 6 * T1(N - 1);
+        A(6 * N - 1, 6 * N - 2) = 12 * T2(N - 1);
+        A(6 * N - 1, 6 * N - 1) = 20 * T3(N - 1);
+
+        b.row(6 * N - 3) = tailPVA.col(0).transpose();
+        b.row(6 * N - 2) = tailPVA.col(1).transpose();
+        b.row(6 * N - 1) = tailPVA.col(2).transpose();
+
+        A.factorizeLU();
+        A.solve(b);
+
+        return;
+    }
+
+    inline double getTrajJerkCost() const
+    {
+        double objective = 0.0;
+        for (int i = 0; i < N; i++)
+        {
+            objective += 36.0 * b.row(6 * i + 3).squaredNorm() * T1(i) +
+                         144.0 * b.row(6 * i + 4).dot(b.row(6 * i + 3)) * T2(i) +
+                         192.0 * b.row(6 * i + 4).squaredNorm() * T3(i) +
+                         240.0 * b.row(6 * i + 5).dot(b.row(6 * i + 3)) * T3(i) +
+                         720.0 * b.row(6 * i + 5).dot(b.row(6 * i + 4)) * T4(i) +
+                         720.0 * b.row(6 * i + 5).squaredNorm() * T5(i);
+        }
+        return objective;
+    }
+
+    template <typename EIGENVEC, typename EIGENMAT>
+    inline void evalTrajCostGrad(const Eigen::VectorXi &cons,
+                                 const Eigen::VectorXi &idxHs,
+                                 const std::vector<Eigen::MatrixXd> &cfgHs,
+                                 const double &vmax,
+                                 const double &amax,
+                                 const Eigen::Vector3d &ci,
+                                 double &cost,
+                                 EIGENVEC &gdT,
+                                 EIGENMAT &gdInPs)
+    {
+        gdT.setZero();
+        gdInPs.setZero();
+        gdC.setZero();
+
+        cost = getTrajJerkCost();
+        addGradJbyT(gdT);
+        addGradJbyC(gdC);
+
+        addTimeIntPenalty(cons, idxHs, cfgHs, vmax, amax, ci, cost, gdT, gdC);
+
+        solveAdjGradC(gdC);
+        addPropCtoT(gdC, gdT);
+        addPropCtoP(gdC, gdInPs);
+    }
+
+    inline Trajectory getTraj(void) const
+    {
+        Trajectory traj;
+        traj.reserve(N);
+        for (int i = 0; i < N; i++)
+        {
+            traj.emplace_back(T1(i), b.block<6, 3>(6 * i, 0).transpose().rowwise().reverse());
+        }
+        return traj;
+    }
+
+    // GaaiLam
+    template <typename EIGENVEC, typename EIGENMAT>
+    inline void initGradCost(EIGENVEC &gdT,
+                             EIGENMAT &gdInPs,
+                             double &cost)
+    {
+        gdT.setZero();
+        gdInPs.setZero();
+        gdC.setZero();
+        cost = getTrajJerkCost();
+        addGradJbyT(gdT);
+        addGradJbyC(gdC);
+    }
+
+    template <class TRAJGEN, typename EIGENVEC>
+    // TRAJGEN::grad_cost_p(const Eigen::Vector3d &p,
+    //                      Eigen::Vector3d &gradp,
+    //                      double &cost) {}
+    inline void addGrad2PVA(TRAJGEN *ptrObj,
+                            EIGENVEC &gdT,
+                            double &cost,
+                            const int &K = 4)
+    {
+        //
+        Eigen::Vector3d pos, vel, acc, jer;
+        Eigen::Vector3d gradp, gradv, grada;
+        double costp, costv, costa;
+        Eigen::Matrix<double, 6, 1> beta0, beta1, beta2, beta3;
+        double s1, s2, s3, s4, s5;
+        double step, alpha;
+        Eigen::Matrix<double, 6, 3> gradViolaPc, gradViolaVc, gradViolaAc;
+        double gradViolaPt, gradViolaVt, gradViolaAt;
+        double omg;
+
+        int innerLoop;
+        for (int i = 0; i < N; ++i)
+        {
+            const auto &c = b.block<6, 3>(i * 6, 0);
+            step = T1(i) / K;
+            s1 = 0.0;
+            innerLoop = K + 1;
+
+            for (int j = 0; j < innerLoop; ++j)
+            {
+                s2 = s1 * s1;
+                s3 = s2 * s1;
+                s4 = s2 * s2;
+                s5 = s4 * s1;
+                beta0 << 1.0, s1, s2, s3, s4, s5;
+                beta1 << 0.0, 1.0, 2.0 * s1, 3.0 * s2, 4.0 * s3, 5.0 * s4;
+                beta2 << 0.0, 0.0, 2.0, 6.0 * s1, 12.0 * s2, 20.0 * s3;
+                beta3 << 0.0, 0.0, 0.0, 6.0, 24.0 * s1, 60.0 * s2;
+                alpha = 1.0 / K * j;
+                pos = c.transpose() * beta0;
+                vel = c.transpose() * beta1;
+                acc = c.transpose() * beta2;
+                jer = c.transpose() * beta3;
+
+                omg = (j == 0 || j == innerLoop - 1) ? 0.5 : 1.0;
+
+                if (ptrObj->grad_cost_p(pos, gradp, costp))
+                {
+                    gradViolaPc = beta0 * gradp.transpose();
+                    gradViolaPt = alpha * gradp.transpose() * vel;
+                    gdC.block<6, 3>(i * 6, 0) += omg * step * gradViolaPc;
+                    gdT(i) += omg * (costp / K + step * gradViolaPt);
+                    cost += omg * step * costp;
+                }
+                if (ptrObj->grad_cost_v(vel, gradv, costv))
+                {
+                    gradViolaVc = beta1 * gradv.transpose();
+                    gradViolaVt = alpha * gradv.transpose() * acc;
+                    gdC.block<6, 3>(i * 6, 0) += omg * step * gradViolaVc;
+                    gdT(i) += omg * (costv / K + step * gradViolaVt);
+                    cost += omg * step * costv;
+                }
+                if (ptrObj->grad_cost_a(acc, grada, costa))
+                {
+                    gradViolaAc = beta2 * grada.transpose();
+                    gradViolaAt = alpha * grada.transpose() * jer;
+                    gdC.block<6, 3>(i * 6, 0) += omg * step * gradViolaAc;
+                    gdT(i) += omg * (costa / K + step * gradViolaAt);
+                    cost += omg * step * costa;
+                }
+
+                s1 += step;
+            }
+        }
+    }
+
+    template <class TRAJGEN, typename EIGENVEC>
+    // i: the ith piece of traj
+    // w: percent of time of this piece
+    // TRAJGEN::grad_cost_p_at
+    inline void addGrad2P_at(TRAJGEN *ptrObj,
+                             const int &i,
+                             const double &w,
+                             EIGENVEC &gdT,
+                             double &cost)
+    {
+        const auto &c = b.block<6, 3>(i * 6, 0);
+        Eigen::Vector3d pos, vel, gradp;
+        double costp = 0;
+        double s1 = w * T1(i);
+        double s2 = s1 * s1;
+        double s3 = s2 * s1;
+        double s4 = s3 * s1;
+        double s5 = s4 * s1;
+        Eigen::Matrix<double, 6, 1> beta0, beta1;
+        beta0 << 1.0, s1, s2, s3, s4, s5;
+        beta1 << 0.0, 1.0, 2.0 * s1, 3.0 * s2, 4.0 * s3, 5.0 * s4;
+        pos = c.transpose() * beta0;
+        vel = c.transpose() * beta1;
+        if (ptrObj->grad_cost_p_at(pos, gradp, costp))
+        {
+            gdC.block<6, 3>(i * 6, 0) += beta0 * gradp.transpose();
+            gdT(i) += w * gradp.transpose() * vel;
+            cost += costp;
+        }
+    }
+
+    template <typename EIGENVEC, typename EIGENMAT>
+    inline void getGrad2TP(EIGENVEC &gdT,
+                           EIGENMAT &gdInPs)
+    {
+        solveAdjGradC(gdC);
+        addPropCtoT(gdC, gdT);
+        addPropCtoP(gdC, gdInPs);
+    }
+};
+
+#endif
diff --git a/planning/poly_traj_utils/package.xml b/planning/poly_traj_utils/package.xml
new file mode 100755
index 0000000..b75e53d
--- /dev/null
+++ b/planning/poly_traj_utils/package.xml
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>poly_traj_utils</name>
+  <version>0.0.0</version>
+  <description>The poly_traj_utils package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="kyle@todo.todo">kyle</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/poly_traj_utils</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/planning/poly_traj_utils/src/poly_traj_utils.cpp b/planning/poly_traj_utils/src/poly_traj_utils.cpp
new file mode 100755
index 0000000..c7e3d4e
--- /dev/null
+++ b/planning/poly_traj_utils/src/poly_traj_utils.cpp
@@ -0,0 +1,2 @@
+#include "poly_traj_utils/traj_utils.hpp"
+
diff --git a/planning/r3_plan/CMakeLists.txt b/planning/r3_plan/CMakeLists.txt
new file mode 100755
index 0000000..1d59cf4
--- /dev/null
+++ b/planning/r3_plan/CMakeLists.txt
@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(r3_plan)
+
+add_compile_options(-std=c++11)
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -fPIC")
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  occ_grid
+  poly_traj_utils
+  sampler
+)
+
+find_package(ompl REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(PCL 1.7 REQUIRED)
+
+message(STATUS "||||||||||||||||||||||||||||||-------------||||||||||||||||||||||||| ")
+message(${OMPL_LIBRARIES})
+message(STATUS "||||||||||||||||||||||||||||||-------------||||||||||||||||||||||||| ")
+message(${OMPL_INCLUDE_DIRS})
+message(STATUS "-------------------------------------------------------------------- ")
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES r3_plan
+  CATKIN_DEPENDS occ_grid poly_traj_utils sampler
+#  DEPENDS system_lib
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
+  ${Eigen3_INCLUDE_DIRS}
+  ${OMPL_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+  src/r3_planner.cpp
+  src/a_star_search.cpp
+)
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+  ${OMPL_INCLUDE_DIRS}
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${OMPL_LIBRARIES}
+)
diff --git a/planning/r3_plan/include/r3_plan/a_star_search.h b/planning/r3_plan/include/r3_plan/a_star_search.h
new file mode 100755
index 0000000..6aa8b76
--- /dev/null
+++ b/planning/r3_plan/include/r3_plan/a_star_search.h
@@ -0,0 +1,81 @@
+#ifndef _A_STAR_SEARCH_H
+#define _A_STAR_SEARCH_H
+
+#include "occ_grid/pos_checker.h"
+#include "backward.hpp"
+#include "node.h"
+#include <iostream>
+#include <ros/ros.h>
+#include <Eigen/Eigen>
+
+class AstarPathFinder
+{	
+private:
+	tgk_planner::PosChecker::Ptr pos_checker_ptr_;;
+
+	inline void coord2gridIndexFast(const double x, const double y, const double z, int &id_x, int &id_y, int &id_z);
+
+	double getDiagHeu(GridNodePtr node1, GridNodePtr node2);
+	double getManhHeu(GridNodePtr node1, GridNodePtr node2);
+	double getEuclHeu(GridNodePtr node1, GridNodePtr node2);
+	inline double getHeu(GridNodePtr node1, GridNodePtr node2);
+
+	bool ConvertToIndexAndAdjustStartEndPoints(const Eigen::Vector3d start_pt, const Eigen::Vector3d end_pt, Eigen::Vector3i &start_idx, Eigen::Vector3i &end_idx);
+
+	inline Eigen::Vector3d Index2Coord(const Eigen::Vector3i &index) const;
+	inline bool Coord2Index(const Eigen::Vector3d &pt, Eigen::Vector3i &idx) const;
+
+	//bool (*checkOccupancyPtr)( const Eigen::Vector3d &pos );
+
+	inline bool checkOccupancy(const Eigen::Vector3d &pos) { return pos_checker_ptr_->validatePosSurround(pos); }
+
+	std::vector<GridNodePtr> retrievePath(GridNodePtr current);
+
+	double step_size_, inv_step_size_;
+	Eigen::Vector3d center_;
+	Eigen::Vector3i CENTER_IDX_, POOL_SIZE_;
+	const double tie_breaker_ = 1.0 + 1.0 / 10000;
+
+	std::vector<GridNodePtr> gridPath_;
+
+	GridNodePtr ***GridNodeMap_;
+	std::priority_queue<GridNodePtr, std::vector<GridNodePtr>, NodeComparator> openSet_;
+
+	int rounds_{0};
+
+public:
+	typedef std::shared_ptr<AstarPathFinder> Ptr;
+
+	AstarPathFinder();
+	~AstarPathFinder();
+
+	void initGridMap(const tgk_planner::PosChecker::Ptr &pos_checker, const Eigen::Vector3i pool_size);
+
+	bool AstarSearch(const double step_size, Eigen::Vector3d start_pt, Eigen::Vector3d end_pt);
+
+	std::vector<Eigen::Vector3d> getPath();
+};
+
+inline double AstarPathFinder::getHeu(GridNodePtr node1, GridNodePtr node2)
+{
+	return tie_breaker_ * getDiagHeu(node1, node2);
+}
+
+inline Eigen::Vector3d AstarPathFinder::Index2Coord(const Eigen::Vector3i &index) const
+{
+	return ((index - CENTER_IDX_).cast<double>() * step_size_) + center_;
+};
+
+inline bool AstarPathFinder::Coord2Index(const Eigen::Vector3d &pt, Eigen::Vector3i &idx) const
+{
+	idx = ((pt - center_) * inv_step_size_ + Eigen::Vector3d(0.5, 0.5, 0.5)).cast<int>() + CENTER_IDX_;
+
+	if (idx(0) < 0 || idx(0) >= POOL_SIZE_(0) || idx(1) < 0 || idx(1) >= POOL_SIZE_(1) || idx(2) < 0 || idx(2) >= POOL_SIZE_(2))
+	{
+		ROS_ERROR("Ran out of pool, index=%d %d %d", idx(0), idx(1), idx(2));
+		return false;
+	}
+
+	return true;
+};
+#endif
\ No newline at end of file
diff --git a/planning/r3_plan/include/r3_plan/backward.hpp b/planning/r3_plan/include/r3_plan/backward.hpp
new file mode 100755
index 0000000..c360f22
--- /dev/null
+++ b/planning/r3_plan/include/r3_plan/backward.hpp
@@ -0,0 +1,1989 @@
+/*
+ * backward.hpp
+ * Copyright 2013 Google Inc. All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#ifndef H_6B9572DA_A64B_49E6_B234_051480991C89
+#define H_6B9572DA_A64B_49E6_B234_051480991C89
+
+#ifndef __cplusplus
+#	error "It's not going to compile without a C++ compiler..."
+#endif
+
+#if	  defined(BACKWARD_CXX11)
+#elif defined(BACKWARD_CXX98)
+#else
+#	if __cplusplus >= 201103L
+#		define BACKWARD_CXX11
+#		define BACKWARD_ATLEAST_CXX11
+#		define BACKWARD_ATLEAST_CXX98
+#	else
+#		define BACKWARD_CXX98
+#		define BACKWARD_ATLEAST_CXX98
+#	endif
+#endif
+
+// You can define one of the following (or leave it to the auto-detection):
+//
+// #define BACKWARD_SYSTEM_LINUX
+//	- specialization for linux
+//
+// #define BACKWARD_SYSTEM_UNKNOWN
+//	- placebo implementation, does nothing.
+//
+#if   defined(BACKWARD_SYSTEM_LINUX)
+#elif defined(BACKWARD_SYSTEM_UNKNOWN)
+#else
+#	if defined(__linux)
+#		define BACKWARD_SYSTEM_LINUX
+#	else
+#		define BACKWARD_SYSTEM_UNKNOWN
+#	endif
+#endif
+
+#include <fstream>
+#include <iostream>
+#include <algorithm>
+#include <cstdlib>
+#include <cstdio>
+#include <cstring>
+#include <cctype>
+#include <string>
+#include <new>
+#include <iomanip>
+#include <vector>
+
+#if defined(BACKWARD_SYSTEM_LINUX)
+
+// On linux, backtrace can back-trace or "walk" the stack using the following
+// libraries:
+//
+// #define BACKWARD_HAS_UNWIND 1
+//  - unwind comes from libgcc, but I saw an equivalent inside clang itself.
+//  - with unwind, the stacktrace is as accurate as it can possibly be, since
+//  this is used by the C++ runtine in gcc/clang for stack unwinding on
+//  exception.
+//  - normally libgcc is already linked to your program by default.
+//
+// #define BACKWARD_HAS_BACKTRACE == 1
+//  - backtrace seems to be a little bit more portable than libunwind, but on
+//  linux, it uses unwind anyway, but abstract away a tiny information that is
+//  sadly really important in order to get perfectly accurate stack traces.
+//  - backtrace is part of the (e)glib library.
+//
+// The default is:
+// #define BACKWARD_HAS_UNWIND == 1
+//
+// Note that only one of the define should be set to 1 at a time.
+//
+#	if   BACKWARD_HAS_UNWIND == 1
+#	elif BACKWARD_HAS_BACKTRACE == 1
+#	else
+#		undef  BACKWARD_HAS_UNWIND
+#		define BACKWARD_HAS_UNWIND 1
+#		undef  BACKWARD_HAS_BACKTRACE
+#		define BACKWARD_HAS_BACKTRACE 0
+#	endif
+
+// On linux, backward can extract detailed information about a stack trace
+// using one of the following libraries:
+//
+// #define BACKWARD_HAS_DW 1
+//  - libdw gives you the most juicy details out of your stack traces:
+//    - object filename
+//    - function name
+//    - source filename
+//	  - line and column numbers
+//	  - source code snippet (assuming the file is accessible)
+//	  - variables name and values (if not optimized out)
+//  - You need to link with the lib "dw":
+//    - apt-get install libdw-dev
+//    - g++/clang++ -ldw ...
+//
+// #define BACKWARD_HAS_BFD 1
+//  - With libbfd, you get a fair amount of details:
+//    - object filename
+//    - function name
+//    - source filename
+//	  - line numbers
+//	  - source code snippet (assuming the file is accessible)
+//  - You need to link with the lib "bfd":
+//    - apt-get install binutils-dev
+//    - g++/clang++ -lbfd ...
+//
+// #define BACKWARD_HAS_BACKTRACE_SYMBOL 1
+//  - backtrace provides minimal details for a stack trace:
+//    - object filename
+//    - function name
+//  - backtrace is part of the (e)glib library.
+//
+// The default is:
+// #define BACKWARD_HAS_BACKTRACE_SYMBOL == 1
+//
+// Note that only one of the define should be set to 1 at a time.
+//
+#	if   BACKWARD_HAS_DW == 1
+#	elif BACKWARD_HAS_BFD == 1
+#	elif BACKWARD_HAS_BACKTRACE_SYMBOL == 1
+#	else
+#		undef  BACKWARD_HAS_DW
+#		define BACKWARD_HAS_DW 0
+#		undef  BACKWARD_HAS_BFD
+#		define BACKWARD_HAS_BFD 0
+#		undef  BACKWARD_HAS_BACKTRACE_SYMBOL
+#		define BACKWARD_HAS_BACKTRACE_SYMBOL 1
+#	endif
+
+
+#	if BACKWARD_HAS_UNWIND == 1
+
+#		include <unwind.h>
+// while gcc's unwind.h defines something like that:
+//  extern _Unwind_Ptr _Unwind_GetIP (struct _Unwind_Context *);
+//  extern _Unwind_Ptr _Unwind_GetIPInfo (struct _Unwind_Context *, int *);
+//
+// clang's unwind.h defines something like this:
+//  uintptr_t _Unwind_GetIP(struct _Unwind_Context* __context);
+//
+// Even if the _Unwind_GetIPInfo can be linked to, it is not declared, worse we
+// cannot just redeclare it because clang's unwind.h doesn't define _Unwind_Ptr
+// anyway.
+//
+// Luckily we can play on the fact that the guard macros have a different name:
+#ifdef __CLANG_UNWIND_H
+// In fact, this function still comes from libgcc (on my different linux boxes,
+// clang links against libgcc).
+#		include <inttypes.h>
+extern "C" uintptr_t _Unwind_GetIPInfo(_Unwind_Context*, int*);
+#endif
+
+#	endif
+
+#	include <cxxabi.h>
+#	include <fcntl.h>
+#	include <link.h>
+#	include <sys/stat.h>
+#	include <syscall.h>
+#	include <unistd.h>
+#	include <signal.h>
+
+#	if BACKWARD_HAS_BFD == 1
+//              NOTE: defining PACKAGE{,_VERSION} is required before including
+//                    bfd.h on some platforms, see also:
+//                    https://sourceware.org/bugzilla/show_bug.cgi?id=14243
+#               ifndef PACKAGE
+#                       define PACKAGE
+#               endif
+#               ifndef PACKAGE_VERSION
+#                       define PACKAGE_VERSION
+#               endif
+#		include <bfd.h>
+#		ifndef _GNU_SOURCE
+#			define _GNU_SOURCE
+#			include <dlfcn.h>
+#			undef _GNU_SOURCE
+#		else
+#			include <dlfcn.h>
+#		endif
+#	endif
+
+#	if BACKWARD_HAS_DW == 1
+#		include <elfutils/libdw.h>
+#		include <elfutils/libdwfl.h>
+#		include <dwarf.h>
+#	endif
+
+#	if (BACKWARD_HAS_BACKTRACE == 1) || (BACKWARD_HAS_BACKTRACE_SYMBOL == 1)
+		// then we shall rely on backtrace
+#		include <execinfo.h>
+#	endif
+
+#endif // defined(BACKWARD_SYSTEM_LINUX)
+
+#ifdef BACKWARD_ATLEAST_CXX11
+#	include <unordered_map>
+#	include <utility> // for std::swap
+	namespace backward {
+	namespace details {
+		template <typename K, typename V>
+		struct hashtable {
+			typedef std::unordered_map<K, V> type;
+		};
+		using std::move;
+	} // namespace details
+	} // namespace backward
+#else // NOT BACKWARD_ATLEAST_CXX11
+#	include <map>
+	namespace backward {
+	namespace details {
+		template <typename K, typename V>
+		struct hashtable {
+			typedef std::map<K, V> type;
+		};
+		template <typename T>
+			const T& move(const T& v) { return v; }
+		template <typename T>
+			T& move(T& v) { return v; }
+	} // namespace details
+	} // namespace backward
+#endif // BACKWARD_ATLEAST_CXX11
+
+namespace backward {
+
+namespace system_tag {
+	struct linux_tag; // seems that I cannot call that "linux" because the name
+	// is already defined... so I am adding _tag everywhere.
+	struct unknown_tag;
+
+#if   defined(BACKWARD_SYSTEM_LINUX)
+	typedef linux_tag current_tag;
+#elif defined(BACKWARD_SYSTEM_UNKNOWN)
+	typedef unknown_tag current_tag;
+#else
+#	error "May I please get my system defines?"
+#endif
+} // namespace system_tag
+
+
+namespace trace_resolver_tag {
+#ifdef BACKWARD_SYSTEM_LINUX
+	struct libdw;
+	struct libbfd;
+	struct backtrace_symbol;
+
+#	if   BACKWARD_HAS_DW == 1
+	typedef libdw current;
+#	elif BACKWARD_HAS_BFD == 1
+	typedef libbfd current;
+#	elif BACKWARD_HAS_BACKTRACE_SYMBOL == 1
+	typedef backtrace_symbol current;
+#	else
+#		error "You shall not pass, until you know what you want."
+#	endif
+#endif // BACKWARD_SYSTEM_LINUX
+} // namespace trace_resolver_tag
+
+
+namespace details {
+
+template <typename T>
+	struct rm_ptr { typedef T type; };
+
+template <typename T>
+	struct rm_ptr<T*> { typedef T type; };
+
+template <typename T>
+	struct rm_ptr<const T*> { typedef const T type; };
+
+template <typename R, typename T, R (*F)(T)>
+struct deleter {
+	template <typename U>
+		void operator()(U& ptr) const {
+			(*F)(ptr);
+		}
+};
+
+template <typename T>
+struct default_delete {
+	void operator()(T& ptr) const {
+		delete ptr;
+	}
+};
+
+template <typename T, typename Deleter = deleter<void, void*, &::free> >
+class handle {
+	struct dummy;
+	T    _val;
+	bool _empty;
+
+#ifdef BACKWARD_ATLEAST_CXX11
+	handle(const handle&) = delete;
+	handle& operator=(const handle&) = delete;
+#endif
+
+public:
+	~handle() {
+		if (!_empty) {
+			Deleter()(_val);
+		}
+	}
+
+	explicit handle(): _val(), _empty(true) {}
+	explicit handle(T val): _val(val), _empty(false) {}
+
+#ifdef BACKWARD_ATLEAST_CXX11
+	handle(handle&& from): _empty(true) {
+		swap(from);
+	}
+	handle& operator=(handle&& from) {
+		swap(from); return *this;
+	}
+#else
+	explicit handle(const handle& from): _empty(true) {
+		// some sort of poor man's move semantic.
+		swap(const_cast<handle&>(from));
+	}
+	handle& operator=(const handle& from) {
+		// some sort of poor man's move semantic.
+		swap(const_cast<handle&>(from)); return *this;
+	}
+#endif
+
+	void reset(T new_val) {
+		handle tmp(new_val);
+		swap(tmp);
+	}
+	operator const dummy*() const {
+		if (_empty) {
+			return 0;
+		}
+		return reinterpret_cast<const dummy*>(_val);
+	}
+	T get() {
+		return _val;
+	}
+	T release() {
+		_empty = true;
+		return _val;
+	}
+	void swap(handle& b) {
+		using std::swap;
+		swap(b._val, _val); // can throw, we are safe here.
+		swap(b._empty, _empty); // should not throw: if you cannot swap two
+		// bools without throwing... It's a lost cause anyway!
+	}
+
+	T operator->() { return _val; }
+	const T operator->() const { return _val; }
+
+	typedef typename rm_ptr<T>::type& ref_t;
+	typedef const typename rm_ptr<T>::type& const_ref_t;
+	ref_t operator*() { return *_val; }
+	const_ref_t operator*() const { return *_val; }
+	ref_t operator[](size_t idx) { return _val[idx]; }
+
+	// Watch out, we've got a badass over here
+	T* operator&() {
+		_empty = false;
+		return &_val;
+	}
+};
+
+// Default demangler implementation (do nothing).
+template <typename TAG>
+struct demangler_impl {
+	static std::string demangle(const char* funcname) {
+		return funcname;
+	}
+};
+
+#ifdef BACKWARD_SYSTEM_LINUX
+
+template <>
+struct demangler_impl<system_tag::current_tag> {
+	demangler_impl(): _demangle_buffer_length(0) {}
+
+	std::string demangle(const char* funcname) {
+		using namespace details;
+		_demangle_buffer.reset(
+				abi::__cxa_demangle(funcname, _demangle_buffer.release(),
+					&_demangle_buffer_length, 0)
+				);
+		if (_demangle_buffer) {
+			return _demangle_buffer.get();
+		}
+		return funcname;
+	}
+
+private:
+	details::handle<char*> _demangle_buffer;
+	size_t                 _demangle_buffer_length;
+};
+
+#endif // BACKWARD_SYSTEM_LINUX
+
+struct demangler:
+	public demangler_impl<system_tag::current_tag> {};
+
+} // namespace details
+
+/*************** A TRACE ***************/
+
+struct Trace {
+	void*    addr;
+	unsigned idx;
+
+	Trace():
+		addr(0), idx(0) {}
+
+	explicit Trace(void* addr, size_t idx):
+		addr(addr), idx(idx) {}
+};
+
+struct ResolvedTrace: public Trace {
+
+	struct SourceLoc {
+		std::string function;
+		std::string filename;
+		unsigned    line;
+		unsigned    col;
+
+		SourceLoc(): line(0), col(0) {}
+
+		bool operator==(const SourceLoc& b) const {
+			return function == b.function
+				&& filename == b.filename
+				&& line == b.line
+				&& col == b.col;
+		}
+
+		bool operator!=(const SourceLoc& b) const {
+			return !(*this == b);
+		}
+	};
+
+	// In which binary object this trace is located.
+	std::string                    object_filename;
+
+	// The function in the object that contain the trace. This is not the same
+	// as source.function which can be an function inlined in object_function.
+	std::string                    object_function;
+
+	// The source location of this trace. It is possible for filename to be
+	// empty and for line/col to be invalid (value 0) if this information
+	// couldn't be deduced, for example if there is no debug information in the
+	// binary object.
+	SourceLoc                      source;
+
+	// An optionals list of "inliners". All the successive sources location
+	// from where the source location of the trace (the attribute right above)
+	// is inlined. It is especially useful when you compiled with optimization.
+	typedef std::vector<SourceLoc> source_locs_t;
+	source_locs_t                  inliners;
+
+	ResolvedTrace():
+		Trace() {}
+	ResolvedTrace(const Trace& mini_trace):
+		Trace(mini_trace) {}
+};
+
+/*************** STACK TRACE ***************/
+
+// default implemention.
+template <typename TAG>
+class StackTraceImpl {
+public:
+	size_t size() const { return 0; }
+	Trace operator[](size_t) { return Trace(); }
+	size_t load_here(size_t=0) { return 0; }
+	size_t load_from(void*, size_t=0) { return 0; }
+	unsigned thread_id() const { return 0; }
+};
+
+#ifdef BACKWARD_SYSTEM_LINUX
+
+class StackTraceLinuxImplBase {
+public:
+	StackTraceLinuxImplBase(): _thread_id(0), _skip(0) {}
+
+	unsigned thread_id() const {
+		return _thread_id;
+	}
+
+protected:
+	void load_thread_info() {
+		_thread_id = syscall(SYS_gettid);
+		if (_thread_id == (size_t) getpid()) {
+			// If the thread is the main one, let's hide that.
+			// I like to keep little secret sometimes.
+			_thread_id = 0;
+		}
+	}
+
+	void skip_n_firsts(size_t n) { _skip = n; }
+	size_t skip_n_firsts() const { return _skip; }
+
+private:
+	size_t _thread_id;
+	size_t _skip;
+};
+
+class StackTraceLinuxImplHolder: public StackTraceLinuxImplBase {
+public:
+	size_t size() const {
+		return _stacktrace.size() ? _stacktrace.size() - skip_n_firsts() : 0;
+	}
+	Trace operator[](size_t idx) {
+		if (idx >= size()) {
+			return Trace();
+		}
+		return Trace(_stacktrace[idx + skip_n_firsts()], idx);
+	}
+	void** begin() {
+		if (size()) {
+			return &_stacktrace[skip_n_firsts()];
+		}
+		return 0;
+	}
+
+protected:
+	std::vector<void*> _stacktrace;
+};
+
+
+#if BACKWARD_HAS_UNWIND == 1
+
+namespace details {
+
+template <typename F>
+class Unwinder {
+public:
+	size_t operator()(F& f, size_t depth) {
+		_f = &f;
+		_index = -1;
+		_depth = depth;
+		_Unwind_Backtrace(&this->backtrace_trampoline, this);
+		return _index;
+	}
+
+private:
+	F*      _f;
+	ssize_t _index;
+	size_t  _depth;
+
+	static _Unwind_Reason_Code backtrace_trampoline(
+			_Unwind_Context* ctx, void *self) {
+		return ((Unwinder*)self)->backtrace(ctx);
+	}
+
+	_Unwind_Reason_Code backtrace(_Unwind_Context* ctx) {
+		if (_index >= 0 && static_cast<size_t>(_index) >= _depth)
+			return _URC_END_OF_STACK;
+
+		int ip_before_instruction = 0;
+		uintptr_t ip = _Unwind_GetIPInfo(ctx, &ip_before_instruction);
+
+		if (!ip_before_instruction) {
+			ip -= 1;
+		}
+
+		if (_index >= 0) { // ignore first frame.
+			(*_f)(_index, (void*)ip);
+		}
+		_index += 1;
+		return _URC_NO_REASON;
+	}
+};
+
+template <typename F>
+size_t unwind(F f, size_t depth) {
+	Unwinder<F> unwinder;
+	return unwinder(f, depth);
+}
+
+} // namespace details
+
+
+template <>
+class StackTraceImpl<system_tag::linux_tag>: public StackTraceLinuxImplHolder {
+public:
+	__attribute__ ((noinline)) // TODO use some macro
+	size_t load_here(size_t depth=32) {
+		load_thread_info();
+		if (depth == 0) {
+			return 0;
+		}
+		_stacktrace.resize(depth);
+		size_t trace_cnt = details::unwind(callback(*this), depth);
+		_stacktrace.resize(trace_cnt);
+		skip_n_firsts(0);
+		return size();
+	}
+	size_t load_from(void* addr, size_t depth=32) {
+		load_here(depth + 8);
+
+		for (size_t i = 0; i < _stacktrace.size(); ++i) {
+			if (_stacktrace[i] == addr) {
+				skip_n_firsts(i);
+				break;
+			}
+		}
+
+		_stacktrace.resize(std::min(_stacktrace.size(),
+					skip_n_firsts() + depth));
+		return size();
+	}
+
+private:
+	struct callback {
+		StackTraceImpl& self;
+		callback(StackTraceImpl& self): self(self) {}
+
+		void operator()(size_t idx, void* addr) {
+			self._stacktrace[idx] = addr;
+		}
+	};
+};
+
+
+#else // BACKWARD_HAS_UNWIND == 0
+
+template <>
+class StackTraceImpl<system_tag::linux_tag>: public StackTraceLinuxImplHolder {
+public:
+	__attribute__ ((noinline)) // TODO use some macro
+	size_t load_here(size_t depth=32) {
+		load_thread_info();
+		if (depth == 0) {
+			return 0;
+		}
+		_stacktrace.resize(depth + 1);
+		size_t trace_cnt = backtrace(&_stacktrace[0], _stacktrace.size());
+		_stacktrace.resize(trace_cnt);
+		skip_n_firsts(1);
+		return size();
+	}
+
+	size_t load_from(void* addr, size_t depth=32) {
+		load_here(depth + 8);
+
+		for (size_t i = 0; i < _stacktrace.size(); ++i) {
+			if (_stacktrace[i] == addr) {
+				skip_n_firsts(i);
+				_stacktrace[i] = (void*)( (uintptr_t)_stacktrace[i] + 1);
+				break;
+			}
+		}
+
+		_stacktrace.resize(std::min(_stacktrace.size(),
+					skip_n_firsts() + depth));
+		return size();
+	}
+};
+
+#endif // BACKWARD_HAS_UNWIND
+#endif // BACKWARD_SYSTEM_LINUX
+
+class StackTrace:
+	public StackTraceImpl<system_tag::current_tag> {};
+
+/*************** TRACE RESOLVER ***************/
+
+template <typename TAG>
+class TraceResolverImpl;
+
+#ifdef BACKWARD_SYSTEM_UNKNOWN
+
+template <>
+class TraceResolverImpl<system_tag::unknown_tag> {
+public:
+	template <class ST>
+		void load_stacktrace(ST&) {}
+	ResolvedTrace resolve(ResolvedTrace t) {
+		return t;
+	}
+};
+
+#endif
+
+#ifdef BACKWARD_SYSTEM_LINUX
+
+class TraceResolverLinuxImplBase {
+protected:
+	std::string demangle(const char* funcname) {
+		return _demangler.demangle(funcname);
+	}
+
+private:
+	details::demangler _demangler;
+};
+
+template <typename STACKTRACE_TAG>
+class TraceResolverLinuxImpl;
+
+#if BACKWARD_HAS_BACKTRACE_SYMBOL == 1
+
+template <>
+class TraceResolverLinuxImpl<trace_resolver_tag::backtrace_symbol>:
+	public TraceResolverLinuxImplBase {
+public:
+	template <class ST>
+		void load_stacktrace(ST& st) {
+			using namespace details;
+			if (st.size() == 0) {
+				return;
+			}
+			_symbols.reset(
+					backtrace_symbols(st.begin(), st.size())
+					);
+		}
+
+	ResolvedTrace resolve(ResolvedTrace trace) {
+		char* filename = _symbols[trace.idx];
+		char* funcname = filename;
+		while (*funcname && *funcname != '(') {
+			funcname += 1;
+		}
+		trace.object_filename.assign(filename, funcname++);
+		char* funcname_end = funcname;
+		while (*funcname_end && *funcname_end != ')' && *funcname_end != '+') {
+			funcname_end += 1;
+		}
+		*funcname_end = '\0';
+		trace.object_function = this->demangle(funcname);
+		trace.source.function = trace.object_function; // we cannot do better.
+		return trace;
+	}
+
+private:
+	details::handle<char**> _symbols;
+};
+
+#endif // BACKWARD_HAS_BACKTRACE_SYMBOL == 1
+
+#if BACKWARD_HAS_BFD == 1
+
+template <>
+class TraceResolverLinuxImpl<trace_resolver_tag::libbfd>:
+	public TraceResolverLinuxImplBase {
+public:
+	TraceResolverLinuxImpl(): _bfd_loaded(false) {}
+
+	template <class ST>
+		void load_stacktrace(ST&) {}
+
+	ResolvedTrace resolve(ResolvedTrace trace) {
+		Dl_info symbol_info;
+
+		// trace.addr is a virtual address in memory pointing to some code.
+		// Let's try to find from which loaded object it comes from.
+		// The loaded object can be yourself btw.
+		if (!dladdr(trace.addr, &symbol_info)) {
+			return trace; // dat broken trace...
+		}
+
+		// Now we get in symbol_info:
+		// .dli_fname:
+		//		pathname of the shared object that contains the address.
+		// .dli_fbase:
+		//		where the object is loaded in memory.
+		// .dli_sname:
+		//		the name of the nearest symbol to trace.addr, we expect a
+		//		function name.
+		// .dli_saddr:
+		//		the exact address corresponding to .dli_sname.
+
+		if (symbol_info.dli_sname) {
+			trace.object_function = demangle(symbol_info.dli_sname);
+		}
+
+		if (!symbol_info.dli_fname) {
+			return trace;
+		}
+
+		trace.object_filename = symbol_info.dli_fname;
+		bfd_fileobject& fobj = load_object_with_bfd(symbol_info.dli_fname);
+		if (!fobj.handle) {
+			return trace; // sad, we couldn't load the object :(
+		}
+
+
+		find_sym_result* details_selected; // to be filled.
+
+		// trace.addr is the next instruction to be executed after returning
+		// from the nested stack frame. In C++ this usually relate to the next
+		// statement right after the function call that leaded to a new stack
+		// frame. This is not usually what you want to see when printing out a
+		// stacktrace...
+		find_sym_result details_call_site = find_symbol_details(fobj,
+				trace.addr, symbol_info.dli_fbase);
+		details_selected = &details_call_site;
+
+#if BACKWARD_HAS_UNWIND == 0
+		// ...this is why we also try to resolve the symbol that is right
+		// before the return address. If we are lucky enough, we will get the
+		// line of the function that was called. But if the code is optimized,
+		// we might get something absolutely not related since the compiler
+		// can reschedule the return address with inline functions and
+		// tail-call optimisation (among other things that I don't even know
+		// or cannot even dream about with my tiny limited brain).
+		find_sym_result details_adjusted_call_site = find_symbol_details(fobj,
+				(void*) (uintptr_t(trace.addr) - 1),
+				symbol_info.dli_fbase);
+
+		// In debug mode, we should always get the right thing(TM).
+		if (details_call_site.found && details_adjusted_call_site.found) {
+			// Ok, we assume that details_adjusted_call_site is a better estimation.
+			details_selected = &details_adjusted_call_site;
+			trace.addr = (void*) (uintptr_t(trace.addr) - 1);
+		}
+
+		if (details_selected == &details_call_site && details_call_site.found) {
+			// we have to re-resolve the symbol in order to reset some
+			// internal state in BFD... so we can call backtrace_inliners
+			// thereafter...
+			details_call_site = find_symbol_details(fobj, trace.addr,
+					symbol_info.dli_fbase);
+		}
+#endif // BACKWARD_HAS_UNWIND
+
+		if (details_selected->found) {
+			if (details_selected->filename) {
+				trace.source.filename = details_selected->filename;
+			}
+			trace.source.line = details_selected->line;
+
+			if (details_selected->funcname) {
+				// this time we get the name of the function where the code is
+				// located, instead of the function were the address is
+				// located. In short, if the code was inlined, we get the
+				// function correspoding to the code. Else we already got in
+				// trace.function.
+				trace.source.function = demangle(details_selected->funcname);
+
+				if (!symbol_info.dli_sname) {
+					// for the case dladdr failed to find the symbol name of
+					// the function, we might as well try to put something
+					// here.
+					trace.object_function = trace.source.function;
+				}
+			}
+
+			// Maybe the source of the trace got inlined inside the function
+			// (trace.source.function). Let's see if we can get all the inlined
+			// calls along the way up to the initial call site.
+			trace.inliners = backtrace_inliners(fobj, *details_selected);
+
+#if 0
+			if (trace.inliners.size() == 0) {
+				// Maybe the trace was not inlined... or maybe it was and we
+				// are lacking the debug information. Let's try to make the
+				// world better and see if we can get the line number of the
+				// function (trace.source.function) now.
+				//
+				// We will get the location of where the function start (to be
+				// exact: the first instruction that really start the
+				// function), not where the name of the function is defined.
+				// This can be quite far away from the name of the function
+				// btw.
+				//
+				// If the source of the function is the same as the source of
+				// the trace, we cannot say if the trace was really inlined or
+				// not.  However, if the filename of the source is different
+				// between the function and the trace... we can declare it as
+				// an inliner.  This is not 100% accurate, but better than
+				// nothing.
+
+				if (symbol_info.dli_saddr) {
+					find_sym_result details = find_symbol_details(fobj,
+							symbol_info.dli_saddr,
+							symbol_info.dli_fbase);
+
+					if (details.found) {
+						ResolvedTrace::SourceLoc diy_inliner;
+						diy_inliner.line = details.line;
+						if (details.filename) {
+							diy_inliner.filename = details.filename;
+						}
+						if (details.funcname) {
+							diy_inliner.function = demangle(details.funcname);
+						} else {
+							diy_inliner.function = trace.source.function;
+						}
+						if (diy_inliner != trace.source) {
+							trace.inliners.push_back(diy_inliner);
+						}
+					}
+				}
+			}
+#endif
+		}
+
+		return trace;
+	}
+
+private:
+	bool                _bfd_loaded;
+
+	typedef details::handle<bfd*,
+			details::deleter<bfd_boolean, bfd*, &bfd_close>
+				> bfd_handle_t;
+
+	typedef details::handle<asymbol**> bfd_symtab_t;
+
+
+	struct bfd_fileobject {
+		bfd_handle_t handle;
+		bfd_vma      base_addr;
+		bfd_symtab_t symtab;
+		bfd_symtab_t dynamic_symtab;
+	};
+
+	typedef details::hashtable<std::string, bfd_fileobject>::type
+		fobj_bfd_map_t;
+	fobj_bfd_map_t      _fobj_bfd_map;
+
+	bfd_fileobject& load_object_with_bfd(const std::string& filename_object) {
+		using namespace details;
+
+		if (!_bfd_loaded) {
+			using namespace details;
+			bfd_init();
+			_bfd_loaded = true;
+		}
+
+		fobj_bfd_map_t::iterator it =
+			_fobj_bfd_map.find(filename_object);
+		if (it != _fobj_bfd_map.end()) {
+			return it->second;
+		}
+
+		// this new object is empty for now.
+		bfd_fileobject& r = _fobj_bfd_map[filename_object];
+
+		// we do the work temporary in this one;
+		bfd_handle_t bfd_handle;
+
+		int fd = open(filename_object.c_str(), O_RDONLY);
+		bfd_handle.reset(
+				bfd_fdopenr(filename_object.c_str(), "default", fd)
+				);
+		if (!bfd_handle) {
+			close(fd);
+			return r;
+		}
+
+		if (!bfd_check_format(bfd_handle.get(), bfd_object)) {
+			return r; // not an object? You lose.
+		}
+
+		if ((bfd_get_file_flags(bfd_handle.get()) & HAS_SYMS) == 0) {
+			return r; // that's what happen when you forget to compile in debug.
+		}
+
+		ssize_t symtab_storage_size =
+			bfd_get_symtab_upper_bound(bfd_handle.get());
+
+		ssize_t dyn_symtab_storage_size =
+			bfd_get_dynamic_symtab_upper_bound(bfd_handle.get());
+
+		if (symtab_storage_size <= 0 && dyn_symtab_storage_size <= 0) {
+			return r; // weird, is the file is corrupted?
+		}
+
+		bfd_symtab_t symtab, dynamic_symtab;
+		ssize_t symcount = 0, dyn_symcount = 0;
+
+		if (symtab_storage_size > 0) {
+			symtab.reset(
+					(bfd_symbol**) malloc(symtab_storage_size)
+					);
+			symcount = bfd_canonicalize_symtab(
+					bfd_handle.get(), symtab.get()
+					);
+		}
+
+		if (dyn_symtab_storage_size > 0) {
+			dynamic_symtab.reset(
+					(bfd_symbol**) malloc(dyn_symtab_storage_size)
+					);
+			dyn_symcount = bfd_canonicalize_dynamic_symtab(
+					bfd_handle.get(), dynamic_symtab.get()
+					);
+		}
+
+
+		if (symcount <= 0 && dyn_symcount <= 0) {
+			return r; // damned, that's a stripped file that you got there!
+		}
+
+		r.handle = move(bfd_handle);
+		r.symtab = move(symtab);
+		r.dynamic_symtab = move(dynamic_symtab);
+		return r;
+	}
+
+	struct find_sym_result {
+		bool found;
+		const char* filename;
+		const char* funcname;
+		unsigned int line;
+	};
+
+	struct find_sym_context {
+		TraceResolverLinuxImpl* self;
+		bfd_fileobject* fobj;
+		void* addr;
+		void* base_addr;
+		find_sym_result result;
+	};
+
+	find_sym_result find_symbol_details(bfd_fileobject& fobj, void* addr,
+			void* base_addr) {
+		find_sym_context context;
+		context.self = this;
+		context.fobj = &fobj;
+		context.addr = addr;
+		context.base_addr = base_addr;
+		context.result.found = false;
+		bfd_map_over_sections(fobj.handle.get(), &find_in_section_trampoline,
+				(void*)&context);
+		return context.result;
+	}
+
+	static void find_in_section_trampoline(bfd*, asection* section,
+			void* data) {
+		find_sym_context* context = static_cast<find_sym_context*>(data);
+		context->self->find_in_section(
+				reinterpret_cast<bfd_vma>(context->addr),
+				reinterpret_cast<bfd_vma>(context->base_addr),
+				*context->fobj,
+				section, context->result
+				);
+	}
+
+	void find_in_section(bfd_vma addr, bfd_vma base_addr,
+			bfd_fileobject& fobj, asection* section, find_sym_result& result)
+	{
+		if (result.found) return;
+
+		if ((bfd_get_section_flags(fobj.handle.get(), section)
+					& SEC_ALLOC) == 0)
+			return; // a debug section is never loaded automatically.
+
+		bfd_vma sec_addr = bfd_get_section_vma(fobj.handle.get(), section);
+		bfd_size_type size = bfd_get_section_size(section);
+
+		// are we in the boundaries of the section?
+		if (addr < sec_addr || addr >= sec_addr + size) {
+			addr -= base_addr; // oups, a relocated object, lets try again...
+			if (addr < sec_addr || addr >= sec_addr + size) {
+				return;
+			}
+		}
+
+		if (!result.found && fobj.symtab) {
+			result.found = bfd_find_nearest_line(fobj.handle.get(), section,
+					fobj.symtab.get(), addr - sec_addr, &result.filename,
+					&result.funcname, &result.line);
+		}
+
+		if (!result.found && fobj.dynamic_symtab) {
+			result.found = bfd_find_nearest_line(fobj.handle.get(), section,
+					fobj.dynamic_symtab.get(), addr - sec_addr,
+					&result.filename, &result.funcname, &result.line);
+		}
+
+	}
+
+	ResolvedTrace::source_locs_t backtrace_inliners(bfd_fileobject& fobj,
+			find_sym_result previous_result) {
+		// This function can be called ONLY after a SUCCESSFUL call to
+		// find_symbol_details. The state is global to the bfd_handle.
+		ResolvedTrace::source_locs_t results;
+		while (previous_result.found) {
+			find_sym_result result;
+			result.found = bfd_find_inliner_info(fobj.handle.get(),
+					&result.filename, &result.funcname, &result.line);
+
+			if (result.found) /* and not (
+						cstrings_eq(previous_result.filename, result.filename)
+						and cstrings_eq(previous_result.funcname, result.funcname)
+						and result.line == previous_result.line
+						)) */ {
+				ResolvedTrace::SourceLoc src_loc;
+				src_loc.line = result.line;
+				if (result.filename) {
+					src_loc.filename = result.filename;
+				}
+				if (result.funcname) {
+					src_loc.function = demangle(result.funcname);
+				}
+				results.push_back(src_loc);
+			}
+			previous_result = result;
+		}
+		return results;
+	}
+
+	bool cstrings_eq(const char* a, const char* b) {
+		if (!a || !b) {
+			return false;
+		}
+		return strcmp(a, b) == 0;
+	}
+
+};
+#endif // BACKWARD_HAS_BFD == 1
+
+#if BACKWARD_HAS_DW == 1
+
+template <>
+class TraceResolverLinuxImpl<trace_resolver_tag::libdw>:
+	public TraceResolverLinuxImplBase {
+public:
+	TraceResolverLinuxImpl(): _dwfl_handle_initialized(false) {}
+
+	template <class ST>
+		void load_stacktrace(ST&) {}
+
+	ResolvedTrace resolve(ResolvedTrace trace) {
+		using namespace details;
+
+		Dwarf_Addr trace_addr = (Dwarf_Addr) trace.addr;
+
+		if (!_dwfl_handle_initialized) {
+			// initialize dwfl...
+			_dwfl_cb.reset(new Dwfl_Callbacks);
+			_dwfl_cb->find_elf = &dwfl_linux_proc_find_elf;
+			_dwfl_cb->find_debuginfo = &dwfl_standard_find_debuginfo;
+			_dwfl_cb->debuginfo_path = 0;
+
+			_dwfl_handle.reset(dwfl_begin(_dwfl_cb.get()));
+			_dwfl_handle_initialized = true;
+
+			if (!_dwfl_handle) {
+				return trace;
+			}
+
+			// ...from the current process.
+			dwfl_report_begin(_dwfl_handle.get());
+			int r = dwfl_linux_proc_report (_dwfl_handle.get(), getpid());
+			dwfl_report_end(_dwfl_handle.get(), NULL, NULL);
+			if (r < 0) {
+				return trace;
+			}
+		}
+
+		if (!_dwfl_handle) {
+			return trace;
+		}
+
+		// find the module (binary object) that contains the trace's address.
+		// This is not using any debug information, but the addresses ranges of
+		// all the currently loaded binary object.
+		Dwfl_Module* mod = dwfl_addrmodule(_dwfl_handle.get(), trace_addr);
+		if (mod) {
+			// now that we found it, lets get the name of it, this will be the
+			// full path to the running binary or one of the loaded library.
+			const char* module_name = dwfl_module_info (mod,
+					0, 0, 0, 0, 0, 0, 0);
+			if (module_name) {
+				trace.object_filename = module_name;
+			}
+			// We also look after the name of the symbol, equal or before this
+			// address. This is found by walking the symtab. We should get the
+			// symbol corresponding to the function (mangled) containing the
+			// address. If the code corresponding to the address was inlined,
+			// this is the name of the out-most inliner function.
+			const char* sym_name = dwfl_module_addrname(mod, trace_addr);
+			if (sym_name) {
+				trace.object_function = demangle(sym_name);
+			}
+		}
+
+		// now let's get serious, and find out the source location (file and
+		// line number) of the address.
+
+		// This function will look in .debug_aranges for the address and map it
+		// to the location of the compilation unit DIE in .debug_info and
+		// return it.
+		Dwarf_Addr mod_bias = 0;
+		Dwarf_Die* cudie = dwfl_module_addrdie(mod, trace_addr, &mod_bias);
+
+#if 1
+		if (!cudie) {
+			// Sadly clang does not generate the section .debug_aranges, thus
+			// dwfl_module_addrdie will fail early. Clang doesn't either set
+			// the lowpc/highpc/range info for every compilation unit.
+			//
+			// So in order to save the world:
+			// for every compilation unit, we will iterate over every single
+			// DIEs. Normally functions should have a lowpc/highpc/range, which
+			// we will use to infer the compilation unit.
+
+			// note that this is probably badly inefficient.
+			while ((cudie = dwfl_module_nextcu(mod, cudie, &mod_bias))) {
+				Dwarf_Die die_mem;
+				Dwarf_Die* fundie = find_fundie_by_pc(cudie,
+						trace_addr - mod_bias, &die_mem);
+				if (fundie) {
+					break;
+				}
+			}
+		}
+#endif
+
+//#define BACKWARD_I_DO_NOT_RECOMMEND_TO_ENABLE_THIS_HORRIBLE_PIECE_OF_CODE
+#ifdef BACKWARD_I_DO_NOT_RECOMMEND_TO_ENABLE_THIS_HORRIBLE_PIECE_OF_CODE
+		if (!cudie) {
+			// If it's still not enough, lets dive deeper in the shit, and try
+			// to save the world again: for every compilation unit, we will
+			// load the corresponding .debug_line section, and see if we can
+			// find our address in it.
+
+			Dwarf_Addr cfi_bias;
+			Dwarf_CFI* cfi_cache = dwfl_module_eh_cfi(mod, &cfi_bias);
+
+			Dwarf_Addr bias;
+			while ((cudie = dwfl_module_nextcu(mod, cudie, &bias))) {
+				if (dwarf_getsrc_die(cudie, trace_addr - bias)) {
+
+					// ...but if we get a match, it might be a false positive
+					// because our (address - bias) might as well be valid in a
+					// different compilation unit. So we throw our last card on
+					// the table and lookup for the address into the .eh_frame
+					// section.
+
+					handle<Dwarf_Frame*> frame;
+					dwarf_cfi_addrframe(cfi_cache, trace_addr - cfi_bias, &frame);
+					if (frame) {
+						break;
+					}
+				}
+			}
+		}
+#endif
+
+		if (!cudie) {
+			return trace; // this time we lost the game :/
+		}
+
+		// Now that we have a compilation unit DIE, this function will be able
+		// to load the corresponding section in .debug_line (if not already
+		// loaded) and hopefully find the source location mapped to our
+		// address.
+		Dwarf_Line* srcloc = dwarf_getsrc_die(cudie, trace_addr - mod_bias);
+
+		if (srcloc) {
+			const char* srcfile = dwarf_linesrc(srcloc, 0, 0);
+			if (srcfile) {
+				trace.source.filename = srcfile;
+			}
+			int line = 0, col = 0;
+			dwarf_lineno(srcloc, &line);
+			dwarf_linecol(srcloc, &col);
+			trace.source.line = line;
+			trace.source.col = col;
+		}
+
+		deep_first_search_by_pc(cudie, trace_addr - mod_bias,
+				inliners_search_cb(trace));
+		if (trace.source.function.size() == 0) {
+			// fallback.
+			trace.source.function = trace.object_function;
+		}
+
+		return trace;
+	}
+
+private:
+	typedef details::handle<Dwfl*, details::deleter<void, Dwfl*, &dwfl_end> >
+		dwfl_handle_t;
+	details::handle<Dwfl_Callbacks*, details::default_delete<Dwfl_Callbacks*> >
+		           _dwfl_cb;
+	dwfl_handle_t  _dwfl_handle;
+	bool           _dwfl_handle_initialized;
+
+	// defined here because in C++98, template function cannot take locally
+	// defined types... grrr.
+	struct inliners_search_cb {
+		void operator()(Dwarf_Die* die) {
+			switch (dwarf_tag(die)) {
+				const char* name;
+				case DW_TAG_subprogram:
+					if ((name = dwarf_diename(die))) {
+						trace.source.function = name;
+					}
+					break;
+
+				case DW_TAG_inlined_subroutine:
+					ResolvedTrace::SourceLoc sloc;
+					Dwarf_Attribute attr_mem;
+
+					if ((name = dwarf_diename(die))) {
+						sloc.function = name;
+					}
+					if ((name = die_call_file(die))) {
+						sloc.filename = name;
+					}
+
+					Dwarf_Word line = 0, col = 0;
+					dwarf_formudata(dwarf_attr(die, DW_AT_call_line,
+								&attr_mem), &line);
+					dwarf_formudata(dwarf_attr(die, DW_AT_call_column,
+								&attr_mem), &col);
+					sloc.line = line;
+					sloc.col = col;
+
+					trace.inliners.push_back(sloc);
+					break;
+			};
+		}
+		ResolvedTrace& trace;
+		inliners_search_cb(ResolvedTrace& t): trace(t) {}
+	};
+
+
+	static bool die_has_pc(Dwarf_Die* die, Dwarf_Addr pc) {
+		Dwarf_Addr low, high;
+
+		// continuous range
+		if (dwarf_hasattr(die, DW_AT_low_pc) and
+							dwarf_hasattr(die, DW_AT_high_pc)) {
+			if (dwarf_lowpc(die, &low) != 0) {
+				return false;
+			}
+			if (dwarf_highpc(die, &high) != 0) {
+				Dwarf_Attribute attr_mem;
+				Dwarf_Attribute* attr = dwarf_attr(die, DW_AT_high_pc, &attr_mem);
+				Dwarf_Word value;
+				if (dwarf_formudata(attr, &value) != 0) {
+					return false;
+				}
+				high = low + value;
+			}
+			return pc >= low && pc < high;
+		}
+
+		// non-continuous range.
+		Dwarf_Addr base;
+		ptrdiff_t offset = 0;
+		while ((offset = dwarf_ranges(die, offset, &base, &low, &high)) > 0) {
+			if (pc >= low && pc < high) {
+				return true;
+			}
+		}
+		return false;
+	}
+
+	static Dwarf_Die* find_fundie_by_pc(Dwarf_Die* parent_die, Dwarf_Addr pc,
+			Dwarf_Die* result) {
+		if (dwarf_child(parent_die, result) != 0) {
+			return 0;
+		}
+
+		Dwarf_Die* die = result;
+		do {
+			switch (dwarf_tag(die)) {
+				case DW_TAG_subprogram:
+				case DW_TAG_inlined_subroutine:
+					if (die_has_pc(die, pc)) {
+						return result;
+					}
+				default:
+					bool declaration = false;
+					Dwarf_Attribute attr_mem;
+					dwarf_formflag(dwarf_attr(die, DW_AT_declaration,
+								&attr_mem), &declaration);
+					if (!declaration) {
+						// let's be curious and look deeper in the tree,
+						// function are not necessarily at the first level, but
+						// might be nested inside a namespace, structure etc.
+						Dwarf_Die die_mem;
+						Dwarf_Die* indie = find_fundie_by_pc(die, pc, &die_mem);
+						if (indie) {
+							*result = die_mem;
+							return result;
+						}
+					}
+			};
+		} while (dwarf_siblingof(die, result) == 0);
+		return 0;
+	}
+
+	template <typename CB>
+		static bool deep_first_search_by_pc(Dwarf_Die* parent_die,
+				Dwarf_Addr pc, CB cb) {
+		Dwarf_Die die_mem;
+		if (dwarf_child(parent_die, &die_mem) != 0) {
+			return false;
+		}
+
+		bool branch_has_pc = false;
+		Dwarf_Die* die = &die_mem;
+		do {
+			bool declaration = false;
+			Dwarf_Attribute attr_mem;
+			dwarf_formflag(dwarf_attr(die, DW_AT_declaration, &attr_mem), &declaration);
+			if (!declaration) {
+				// let's be curious and look deeper in the tree, function are
+				// not necessarily at the first level, but might be nested
+				// inside a namespace, structure, a function, an inlined
+				// function etc.
+				branch_has_pc = deep_first_search_by_pc(die, pc, cb);
+			}
+			if (!branch_has_pc) {
+				branch_has_pc = die_has_pc(die, pc);
+			}
+			if (branch_has_pc) {
+				cb(die);
+			}
+		} while (dwarf_siblingof(die, &die_mem) == 0);
+		return branch_has_pc;
+	}
+
+	static const char* die_call_file(Dwarf_Die *die) {
+		Dwarf_Attribute attr_mem;
+		Dwarf_Sword file_idx = 0;
+
+		dwarf_formsdata(dwarf_attr(die, DW_AT_call_file, &attr_mem),
+				&file_idx);
+
+		if (file_idx == 0) {
+			return 0;
+		}
+
+		Dwarf_Die die_mem;
+		Dwarf_Die* cudie = dwarf_diecu(die, &die_mem, 0, 0);
+		if (!cudie) {
+			return 0;
+		}
+
+		Dwarf_Files* files = 0;
+		size_t nfiles;
+		dwarf_getsrcfiles(cudie, &files, &nfiles);
+		if (!files) {
+			return 0;
+		}
+
+		return dwarf_filesrc(files, file_idx, 0, 0);
+	}
+
+};
+#endif // BACKWARD_HAS_DW == 1
+
+template<>
+class TraceResolverImpl<system_tag::linux_tag>:
+	public TraceResolverLinuxImpl<trace_resolver_tag::current> {};
+
+#endif // BACKWARD_SYSTEM_LINUX
+
+class TraceResolver:
+	public TraceResolverImpl<system_tag::current_tag> {};
+
+/*************** CODE SNIPPET ***************/
+
+class SourceFile {
+public:
+	typedef std::vector<std::pair<unsigned, std::string> > lines_t;
+
+	SourceFile() {}
+	SourceFile(const std::string& path): _file(new std::ifstream(path.c_str())) {}
+	bool is_open() const { return _file->is_open(); }
+
+	lines_t& get_lines(unsigned line_start, unsigned line_count, lines_t& lines) {
+		using namespace std;
+		// This function make uses of the dumbest algo ever:
+		//	1) seek(0)
+		//	2) read lines one by one and discard until line_start
+		//	3) read line one by one until line_start + line_count
+		//
+		// If you are getting snippets many time from the same file, it is
+		// somewhat a waste of CPU, feel free to benchmark and propose a
+		// better solution ;)
+
+		_file->clear();
+		_file->seekg(0);
+		string line;
+		unsigned line_idx;
+
+		for (line_idx = 1; line_idx < line_start; ++line_idx) {
+			std::getline(*_file, line);
+			if (!*_file) {
+				return lines;
+			}
+		}
+
+		// think of it like a lambda in C++98 ;)
+		// but look, I will reuse it two times!
+		// What a good boy am I.
+		struct isspace {
+			bool operator()(char c) {
+				return std::isspace(c);
+			}
+		};
+
+		bool started = false;
+		for (; line_idx < line_start + line_count; ++line_idx) {
+			getline(*_file, line);
+			if (!*_file) {
+				return lines;
+			}
+			if (!started) {
+				if (std::find_if(line.begin(), line.end(),
+							not_isspace()) == line.end())
+					continue;
+				started = true;
+			}
+			lines.push_back(make_pair(line_idx, line));
+		}
+
+		lines.erase(
+				std::find_if(lines.rbegin(), lines.rend(),
+					not_isempty()).base(), lines.end()
+				);
+		return lines;
+	}
+
+	lines_t get_lines(unsigned line_start, unsigned line_count) {
+		lines_t lines;
+		return get_lines(line_start, line_count, lines);
+	}
+
+	// there is no find_if_not in C++98, lets do something crappy to
+	// workaround.
+	struct not_isspace {
+		bool operator()(char c) {
+			return !std::isspace(c);
+		}
+	};
+	// and define this one here because C++98 is not happy with local defined
+	// struct passed to template functions, fuuuu.
+	struct not_isempty {
+		bool operator()(const lines_t::value_type& p) {
+			return !(std::find_if(p.second.begin(), p.second.end(),
+						not_isspace()) == p.second.end());
+		}
+	};
+
+	void swap(SourceFile& b) {
+		_file.swap(b._file);
+	}
+
+#ifdef BACKWARD_ATLEAST_CXX11
+	SourceFile(SourceFile&& from): _file(0) {
+		swap(from);
+	}
+	SourceFile& operator=(SourceFile&& from) {
+		swap(from); return *this;
+	}
+#else
+	explicit SourceFile(const SourceFile& from) {
+		// some sort of poor man's move semantic.
+		swap(const_cast<SourceFile&>(from));
+	}
+	SourceFile& operator=(const SourceFile& from) {
+		// some sort of poor man's move semantic.
+		swap(const_cast<SourceFile&>(from)); return *this;
+	}
+#endif
+
+private:
+	details::handle<std::ifstream*,
+		details::default_delete<std::ifstream*>
+			> _file;
+
+#ifdef BACKWARD_ATLEAST_CXX11
+	SourceFile(const SourceFile&) = delete;
+	SourceFile& operator=(const SourceFile&) = delete;
+#endif
+};
+
+class SnippetFactory {
+public:
+	typedef SourceFile::lines_t lines_t;
+
+	lines_t get_snippet(const std::string& filename,
+			unsigned line_start, unsigned context_size) {
+
+		SourceFile& src_file = get_src_file(filename);
+		unsigned start = line_start - context_size / 2;
+		return src_file.get_lines(start, context_size);
+	}
+
+	lines_t get_combined_snippet(
+			const std::string& filename_a, unsigned line_a,
+			const std::string& filename_b, unsigned line_b,
+			unsigned context_size) {
+		SourceFile& src_file_a = get_src_file(filename_a);
+		SourceFile& src_file_b = get_src_file(filename_b);
+
+		lines_t lines = src_file_a.get_lines(line_a - context_size / 4,
+				context_size / 2);
+		src_file_b.get_lines(line_b - context_size / 4, context_size / 2,
+				lines);
+		return lines;
+	}
+
+	lines_t get_coalesced_snippet(const std::string& filename,
+			unsigned line_a, unsigned line_b, unsigned context_size) {
+		SourceFile& src_file = get_src_file(filename);
+
+		using std::min; using std::max;
+		unsigned a = min(line_a, line_b);
+		unsigned b = max(line_a, line_b);
+
+		if ((b - a) < (context_size / 3)) {
+			return src_file.get_lines((a + b - context_size + 1) / 2,
+					context_size);
+		}
+
+		lines_t lines = src_file.get_lines(a - context_size / 4,
+				context_size / 2);
+		src_file.get_lines(b - context_size / 4, context_size / 2, lines);
+		return lines;
+	}
+
+
+private:
+	typedef details::hashtable<std::string, SourceFile>::type src_files_t;
+	src_files_t _src_files;
+
+	SourceFile& get_src_file(const std::string& filename) {
+		src_files_t::iterator it = _src_files.find(filename);
+		if (it != _src_files.end()) {
+			return it->second;
+		}
+		SourceFile& new_src_file = _src_files[filename];
+		new_src_file = SourceFile(filename);
+		return new_src_file;
+	}
+};
+
+/*************** PRINTER ***************/
+
+#ifdef BACKWARD_SYSTEM_LINUX
+
+namespace Color {
+	enum type {
+		yellow = 33,
+		purple = 35,
+		reset  = 39
+	};
+} // namespace Color
+
+class Colorize {
+public:
+	Colorize(std::FILE* os):
+		_os(os), _reset(false), _istty(false) {}
+
+	void init() {
+		_istty = isatty(fileno(_os));
+	}
+
+	void set_color(Color::type ccode) {
+		if (!_istty) return;
+
+		// I assume that the terminal can handle basic colors. Seriously I
+		// don't want to deal with all the termcap shit.
+		fprintf(_os, "\033[%im", static_cast<int>(ccode));
+		_reset = (ccode != Color::reset);
+	}
+
+	~Colorize() {
+		if (_reset) {
+			set_color(Color::reset);
+		}
+	}
+
+private:
+	std::FILE* _os;
+	bool       _reset;
+	bool       _istty;
+};
+
+#else // ndef BACKWARD_SYSTEM_LINUX
+
+
+namespace Color {
+	enum type {
+		yellow = 0,
+		purple = 0,
+		reset  = 0
+	};
+} // namespace Color
+
+class Colorize {
+public:
+	Colorize(std::FILE*) {}
+	void init() {}
+	void set_color(Color::type) {}
+};
+
+#endif // BACKWARD_SYSTEM_LINUX
+
+class Printer {
+public:
+	bool snippet;
+	bool color;
+	bool address;
+	bool object;
+
+	Printer():
+		snippet(true),
+		color(true),
+		address(false),
+		object(false)
+		{}
+
+	template <typename ST>
+		FILE* print(ST& st, FILE* os = stderr) {
+			Colorize colorize(os);
+			if (color) {
+				colorize.init();
+			}
+			print_header(os, st.thread_id());
+			_resolver.load_stacktrace(st);
+			for (size_t trace_idx = st.size(); trace_idx > 0; --trace_idx) {
+				print_trace(os, _resolver.resolve(st[trace_idx-1]), colorize);
+			}
+			return os;
+		}
+
+	template <typename IT>
+		FILE* print(IT begin, IT end, FILE* os = stderr, size_t thread_id = 0) {
+			Colorize colorize(os);
+			if (color) {
+				colorize.init();
+			}
+			print_header(os, thread_id);
+			for (; begin != end; ++begin) {
+				print_trace(os, *begin, colorize);
+			}
+			return os;
+		}
+private:
+	TraceResolver  _resolver;
+	SnippetFactory _snippets;
+
+	void print_header(FILE* os, unsigned thread_id) {
+		fprintf(os, "Stack trace (most recent call last)");
+		if (thread_id) {
+			fprintf(os, " in thread %u:\n", thread_id);
+		} else {
+			fprintf(os, ":\n");
+		}
+	}
+
+	void print_trace(FILE* os, const ResolvedTrace& trace,
+			Colorize& colorize) {
+		fprintf(os, "#%-2u", trace.idx);
+		bool already_indented = true;
+
+		if (!trace.source.filename.size() || object) {
+			fprintf(os, "   Object \"%s\", at %p, in %s\n",
+					trace.object_filename.c_str(), trace.addr,
+					trace.object_function.c_str());
+			already_indented = false;
+		}
+
+		for (size_t inliner_idx = trace.inliners.size();
+				inliner_idx > 0; --inliner_idx) {
+			if (!already_indented) {
+				fprintf(os, "   ");
+			}
+			const ResolvedTrace::SourceLoc& inliner_loc
+				= trace.inliners[inliner_idx-1];
+			print_source_loc(os, " | ", inliner_loc);
+			if (snippet) {
+				print_snippet(os, "    | ", inliner_loc,
+						colorize, Color::purple, 5);
+			}
+			already_indented = false;
+		}
+
+		if (trace.source.filename.size()) {
+			if (!already_indented) {
+				fprintf(os, "   ");
+			}
+			print_source_loc(os, "   ", trace.source, trace.addr);
+			if (snippet) {
+				print_snippet(os, "      ", trace.source,
+						colorize, Color::yellow, 7);
+			}
+		}
+	}
+
+	void print_snippet(FILE* os, const char* indent,
+			const ResolvedTrace::SourceLoc& source_loc,
+			Colorize& colorize, Color::type color_code,
+			int context_size)
+	{
+		using namespace std;
+		typedef SnippetFactory::lines_t lines_t;
+
+		lines_t lines = _snippets.get_snippet(source_loc.filename,
+				source_loc.line, context_size);
+
+		for (lines_t::const_iterator it = lines.begin();
+				it != lines.end(); ++it) {
+			if (it-> first == source_loc.line) {
+				colorize.set_color(color_code);
+				fprintf(os, "%s>", indent);
+			} else {
+				fprintf(os, "%s ", indent);
+			}
+			fprintf(os, "%4u: %s\n", it->first, it->second.c_str());
+			if (it-> first == source_loc.line) {
+				colorize.set_color(Color::reset);
+			}
+		}
+	}
+
+	void print_source_loc(FILE* os, const char* indent,
+			const ResolvedTrace::SourceLoc& source_loc,
+			void* addr=0) {
+		fprintf(os, "%sSource \"%s\", line %i, in %s",
+				indent, source_loc.filename.c_str(), (int)source_loc.line,
+				source_loc.function.c_str());
+
+		if (address && addr != 0) {
+			fprintf(os, " [%p]\n", addr);
+		} else {
+			fprintf(os, "\n");
+		}
+	}
+};
+
+/*************** SIGNALS HANDLING ***************/
+
+#ifdef BACKWARD_SYSTEM_LINUX
+
+
+class SignalHandling {
+public:
+   static std::vector<int> make_default_signals() {
+       const int posix_signals[] = {
+		// default action: Core
+		SIGILL,
+		SIGABRT,
+		SIGFPE,
+		SIGSEGV,
+		SIGBUS,
+		// I am not sure the following signals should be enabled by
+		// default:
+		// default action: Term
+		SIGHUP,
+		SIGINT,
+		SIGPIPE,
+		SIGALRM,
+		SIGTERM,
+		SIGUSR1,
+		SIGUSR2,
+		SIGPOLL,
+		SIGPROF,
+		SIGVTALRM,
+		SIGIO,
+		SIGPWR,
+		// default action: Core
+		SIGQUIT,
+		SIGSYS,
+		SIGTRAP,
+		SIGXCPU,
+		SIGXFSZ
+	};
+        return std::vector<int>(posix_signals, posix_signals + sizeof posix_signals / sizeof posix_signals[0] );
+   }
+
+  SignalHandling(const std::vector<int>& posix_signals = make_default_signals()):
+	  _loaded(false) {
+		bool success = true;
+
+		const size_t stack_size = 1024 * 1024 * 8;
+		_stack_content.reset((char*)malloc(stack_size));
+		if (_stack_content) {
+			stack_t ss;
+			ss.ss_sp = _stack_content.get();
+			ss.ss_size = stack_size;
+			ss.ss_flags = 0;
+			if (sigaltstack(&ss, 0) < 0) {
+				success = false;
+			}
+		} else {
+			success = false;
+		}
+
+		for (size_t i = 0; i < posix_signals.size(); ++i) {
+			struct sigaction action;
+			memset(&action, 0, sizeof action);
+			action.sa_flags = (SA_SIGINFO | SA_ONSTACK | SA_NODEFER |
+					SA_RESETHAND);
+			sigfillset(&action.sa_mask);
+			sigdelset(&action.sa_mask, posix_signals[i]);
+			action.sa_sigaction = &sig_handler;
+
+			int r = sigaction(posix_signals[i], &action, 0);
+			if (r < 0) success = false;
+		}
+
+		_loaded = success;
+	}
+
+	bool loaded() const { return _loaded; }
+
+private:
+	details::handle<char*> _stack_content;
+	bool                   _loaded;
+
+	static void sig_handler(int, siginfo_t* info, void* _ctx) {
+		ucontext_t *uctx = (ucontext_t*) _ctx;
+
+		StackTrace st;
+		void* error_addr = 0;
+#ifdef REG_RIP // x86_64
+		error_addr = reinterpret_cast<void*>(uctx->uc_mcontext.gregs[REG_RIP]);
+#elif defined(REG_EIP) // x86_32
+		error_addr = reinterpret_cast<void*>(uctx->uc_mcontext.gregs[REG_EIP]);
+#elif defined(__arm__)
+		error_addr = reinterpret_cast<void*>(uctx->uc_mcontext.arm_pc);
+#else
+#	warning ":/ sorry, ain't know no nothing none not of your architecture!"
+#endif
+		if (error_addr) {
+			st.load_from(error_addr, 32);
+		} else {
+			st.load_here(32);
+		}
+
+		Printer printer;
+		printer.address = true;
+		printer.print(st, stderr);
+
+#if _XOPEN_SOURCE >= 700 || _POSIX_C_SOURCE >= 200809L
+		psiginfo(info, 0);
+#endif
+
+		// try to forward the signal.
+		raise(info->si_signo);
+
+		// terminate the process immediately.
+		puts("watf? exit");
+		_exit(EXIT_FAILURE);
+	}
+};
+
+#endif // BACKWARD_SYSTEM_LINUX
+
+#ifdef BACKWARD_SYSTEM_UNKNOWN
+
+class SignalHandling {
+public:
+	SignalHandling(const std::vector<int>& = std::vector<int>()) {}
+	bool init() { return false; }
+	bool loaded() { return false; }
+};
+
+#endif // BACKWARD_SYSTEM_UNKNOWN
+
+} // namespace backward
+
+#endif /* H_GUARD */
diff --git a/planning/r3_plan/include/r3_plan/kdtree.h b/planning/r3_plan/include/r3_plan/kdtree.h
new file mode 100755
index 0000000..82854f0
--- /dev/null
+++ b/planning/r3_plan/include/r3_plan/kdtree.h
@@ -0,0 +1,126 @@
+/*
+This file is part of ``kdtree'', a library for working with kd-trees.
+Copyright (C) 2007-2011 John Tsiombikas <nuclear@member.fsf.org>
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+3. The name of the author may not be used to endorse or promote products
+   derived from this software without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
+EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+OF SUCH DAMAGE.
+*/
+#ifndef _KDTREE_H_
+#define _KDTREE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct kdtree;
+struct kdres;
+
+
+/* create a kd-tree for "k"-dimensional data */
+struct kdtree *kd_create(int k);
+
+/* free the struct kdtree */
+void kd_free(struct kdtree *tree);
+
+/* remove all the elements from the tree */
+void kd_clear(struct kdtree *tree);
+
+/* if called with non-null 2nd argument, the function provided
+ * will be called on data pointers (see kd_insert) when nodes
+ * are to be removed from the tree.
+ */
+void kd_data_destructor(struct kdtree *tree, void (*destr)(void*));
+
+/* insert a node, specifying its position, and optional data */
+int kd_insert(struct kdtree *tree, const double *pos, void *data);
+int kd_insertf(struct kdtree *tree, const float *pos, void *data);
+int kd_insert3(struct kdtree *tree, double x, double y, double z, void *data);
+int kd_insert3f(struct kdtree *tree, float x, float y, float z, void *data);
+
+/* Find the nearest node from a given point.
+ *
+ * This function returns a pointer to a result set with at most one element.
+ */
+struct kdres *kd_nearest(struct kdtree *tree, const double *pos);
+struct kdres *kd_nearestf(struct kdtree *tree, const float *pos);
+struct kdres *kd_nearest3(struct kdtree *tree, double x, double y, double z);
+struct kdres *kd_nearest3f(struct kdtree *tree, float x, float y, float z);
+
+/* Find the N nearest nodes from a given point.
+ *
+ * This function returns a pointer to a result set, with at most N elements,
+ * which can be manipulated with the kd_res_* functions.
+ * The returned pointer can be null as an indication of an error. Otherwise
+ * a valid result set is always returned which may contain 0 or more elements.
+ * The result set must be deallocated with kd_res_free after use.
+ */
+/*
+struct kdres *kd_nearest_n(struct kdtree *tree, const double *pos, int num);
+struct kdres *kd_nearest_nf(struct kdtree *tree, const float *pos, int num);
+struct kdres *kd_nearest_n3(struct kdtree *tree, double x, double y, double z);
+struct kdres *kd_nearest_n3f(struct kdtree *tree, float x, float y, float z);
+*/
+
+/* Find any nearest nodes from a given point within a range.
+ *
+ * This function returns a pointer to a result set, which can be manipulated
+ * by the kd_res_* functions.
+ * The returned pointer can be null as an indication of an error. Otherwise
+ * a valid result set is always returned which may contain 0 or more elements.
+ * The result set must be deallocated with kd_res_free after use.
+ */
+struct kdres *kd_nearest_range(struct kdtree *tree, const double *pos, double range);
+struct kdres *kd_nearest_rangef(struct kdtree *tree, const float *pos, float range);
+struct kdres *kd_nearest_range3(struct kdtree *tree, double x, double y, double z, double range);
+struct kdres *kd_nearest_range3f(struct kdtree *tree, float x, float y, float z, float range);
+
+/* frees a result set returned by kd_nearest_range() */
+void kd_res_free(struct kdres *set);
+
+/* returns the size of the result set (in elements) */
+int kd_res_size(struct kdres *set);
+
+/* rewinds the result set iterator */
+void kd_res_rewind(struct kdres *set);
+
+/* returns non-zero if the set iterator reached the end after the last element */
+int kd_res_end(struct kdres *set);
+
+/* advances the result set iterator, returns non-zero on success, zero if
+ * there are no more elements in the result set.
+ */
+int kd_res_next(struct kdres *set);
+
+/* returns the data pointer (can be null) of the current result set item
+ * and optionally sets its position to the pointers(s) if not null.
+ */
+void *kd_res_item(struct kdres *set, double *pos);
+void *kd_res_itemf(struct kdres *set, float *pos);
+void *kd_res_item3(struct kdres *set, double *x, double *y, double *z);
+void *kd_res_item3f(struct kdres *set, float *x, float *y, float *z);
+
+/* equivalent to kd_res_item(set, 0) */
+void *kd_res_item_data(struct kdres *set);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* _KDTREE_H_ */
\ No newline at end of file
diff --git a/planning/r3_plan/include/r3_plan/nanoflann.hpp b/planning/r3_plan/include/r3_plan/nanoflann.hpp
new file mode 100755
index 0000000..01d3e7a
--- /dev/null
+++ b/planning/r3_plan/include/r3_plan/nanoflann.hpp
@@ -0,0 +1,2049 @@
+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ * Copyright 2011-2016  Jose Luis Blanco (joseluisblancoc@gmail.com).
+ *   All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+ * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *************************************************************************/
+
+/** \mainpage nanoflann C++ API documentation
+ *  nanoflann is a C++ header-only library for building KD-Trees, mostly
+ *  optimized for 2D or 3D point clouds.
+ *
+ *  nanoflann does not require compiling or installing, just an
+ *  #include <nanoflann.hpp> in your code.
+ *
+ *  See:
+ *   - <a href="modules.html" >C++ API organized by modules</a>
+ *   - <a href="https://github.com/jlblancoc/nanoflann" >Online README</a>
+ *   - <a href="http://jlblancoc.github.io/nanoflann/" >Doxygen
+ * documentation</a>
+ */
+
+#ifndef NANOFLANN_HPP_
+#define NANOFLANN_HPP_
+
+#include <algorithm>
+#include <array>
+#include <cassert>
+#include <cmath>   // for abs()
+#include <cstdio>  // for fwrite()
+#include <cstdlib> // for abs()
+#include <functional>
+#include <limits> // std::reference_wrapper
+#include <stdexcept>
+#include <vector>
+
+/** Library version: 0xMmP (M=Major,m=minor,P=patch) */
+#define NANOFLANN_VERSION 0x132
+
+// Avoid conflicting declaration of min/max macros in windows headers
+#if !defined(NOMINMAX) &&                                                      \
+    (defined(_WIN32) || defined(_WIN32_) || defined(WIN32) || defined(_WIN64))
+#define NOMINMAX
+#ifdef max
+#undef max
+#undef min
+#endif
+#endif
+
+namespace nanoflann {
+/** @addtogroup nanoflann_grp nanoflann C++ library for ANN
+ *  @{ */
+
+/** the PI constant (required to avoid MSVC missing symbols) */
+template <typename T> T pi_const() {
+  return static_cast<T>(3.14159265358979323846);
+}
+
+/**
+ * Traits if object is resizable and assignable (typically has a resize | assign
+ * method)
+ */
+template <typename T, typename = int> struct has_resize : std::false_type {};
+
+template <typename T>
+struct has_resize<T, decltype((void)std::declval<T>().resize(1), 0)>
+    : std::true_type {};
+
+template <typename T, typename = int> struct has_assign : std::false_type {};
+
+template <typename T>
+struct has_assign<T, decltype((void)std::declval<T>().assign(1, 0), 0)>
+    : std::true_type {};
+
+/**
+ * Free function to resize a resizable object
+ */
+template <typename Container>
+inline typename std::enable_if<has_resize<Container>::value, void>::type
+resize(Container &c, const size_t nElements) {
+  c.resize(nElements);
+}
+
+/**
+ * Free function that has no effects on non resizable containers (e.g.
+ * std::array) It raises an exception if the expected size does not match
+ */
+template <typename Container>
+inline typename std::enable_if<!has_resize<Container>::value, void>::type
+resize(Container &c, const size_t nElements) {
+  if (nElements != c.size())
+    throw std::logic_error("Try to change the size of a std::array.");
+}
+
+/**
+ * Free function to assign to a container
+ */
+template <typename Container, typename T>
+inline typename std::enable_if<has_assign<Container>::value, void>::type
+assign(Container &c, const size_t nElements, const T &value) {
+  c.assign(nElements, value);
+}
+
+/**
+ * Free function to assign to a std::array
+ */
+template <typename Container, typename T>
+inline typename std::enable_if<!has_assign<Container>::value, void>::type
+assign(Container &c, const size_t nElements, const T &value) {
+  for (size_t i = 0; i < nElements; i++)
+    c[i] = value;
+}
+
+/** @addtogroup result_sets_grp Result set classes
+ *  @{ */
+template <typename _DistanceType, typename _IndexType = size_t,
+          typename _CountType = size_t>
+class KNNResultSet {
+public:
+  typedef _DistanceType DistanceType;
+  typedef _IndexType IndexType;
+  typedef _CountType CountType;
+
+private:
+  IndexType *indices;
+  DistanceType *dists;
+  CountType capacity;
+  CountType count;
+
+public:
+  inline KNNResultSet(CountType capacity_)
+      : indices(0), dists(0), capacity(capacity_), count(0) {}
+
+  inline void init(IndexType *indices_, DistanceType *dists_) {
+    indices = indices_;
+    dists = dists_;
+    count = 0;
+    if (capacity)
+      dists[capacity - 1] = (std::numeric_limits<DistanceType>::max)();
+  }
+
+  inline CountType size() const { return count; }
+
+  inline bool full() const { return count == capacity; }
+
+  /**
+   * Called during search to add an element matching the criteria.
+   * @return true if the search should be continued, false if the results are
+   * sufficient
+   */
+  inline bool addPoint(DistanceType dist, IndexType index) {
+    CountType i;
+    for (i = count; i > 0; --i) {
+#ifdef NANOFLANN_FIRST_MATCH // If defined and two points have the same
+                             // distance, the one with the lowest-index will be
+                             // returned first.
+      if ((dists[i - 1] > dist) ||
+          ((dist == dists[i - 1]) && (indices[i - 1] > index))) {
+#else
+      if (dists[i - 1] > dist) {
+#endif
+        if (i < capacity) {
+          dists[i] = dists[i - 1];
+          indices[i] = indices[i - 1];
+        }
+      } else
+        break;
+    }
+    if (i < capacity) {
+      dists[i] = dist;
+      indices[i] = index;
+    }
+    if (count < capacity)
+      count++;
+
+    // tell caller that the search shall continue
+    return true;
+  }
+
+  inline DistanceType worstDist() const { return dists[capacity - 1]; }
+};
+
+/** operator "<" for std::sort() */
+struct IndexDist_Sorter {
+  /** PairType will be typically: std::pair<IndexType,DistanceType> */
+  template <typename PairType>
+  inline bool operator()(const PairType &p1, const PairType &p2) const {
+    return p1.second < p2.second;
+  }
+};
+
+/**
+ * A result-set class used when performing a radius based search.
+ */
+template <typename _DistanceType, typename _IndexType = size_t>
+class RadiusResultSet {
+public:
+  typedef _DistanceType DistanceType;
+  typedef _IndexType IndexType;
+
+public:
+  const DistanceType radius;
+
+  std::vector<std::pair<IndexType, DistanceType>> &m_indices_dists;
+
+  inline RadiusResultSet(
+      DistanceType radius_,
+      std::vector<std::pair<IndexType, DistanceType>> &indices_dists)
+      : radius(radius_), m_indices_dists(indices_dists) {
+    init();
+  }
+
+  inline void init() { clear(); }
+  inline void clear() { m_indices_dists.clear(); }
+
+  inline size_t size() const { return m_indices_dists.size(); }
+
+  inline bool full() const { return true; }
+
+  /**
+   * Called during search to add an element matching the criteria.
+   * @return true if the search should be continued, false if the results are
+   * sufficient
+   */
+  inline bool addPoint(DistanceType dist, IndexType index) {
+    if (dist < radius)
+      m_indices_dists.push_back(std::make_pair(index, dist));
+    return true;
+  }
+
+  inline DistanceType worstDist() const { return radius; }
+
+  /**
+   * Find the worst result (furtherest neighbor) without copying or sorting
+   * Pre-conditions: size() > 0
+   */
+  std::pair<IndexType, DistanceType> worst_item() const {
+    if (m_indices_dists.empty())
+      throw std::runtime_error("Cannot invoke RadiusResultSet::worst_item() on "
+                               "an empty list of results.");
+    typedef
+        typename std::vector<std::pair<IndexType, DistanceType>>::const_iterator
+            DistIt;
+    DistIt it = std::max_element(m_indices_dists.begin(), m_indices_dists.end(),
+                                 IndexDist_Sorter());
+    return *it;
+  }
+};
+
+/** @} */
+
+/** @addtogroup loadsave_grp Load/save auxiliary functions
+ * @{ */
+template <typename T>
+void save_value(FILE *stream, const T &value, size_t count = 1) {
+  fwrite(&value, sizeof(value), count, stream);
+}
+
+template <typename T>
+void save_value(FILE *stream, const std::vector<T> &value) {
+  size_t size = value.size();
+  fwrite(&size, sizeof(size_t), 1, stream);
+  fwrite(&value[0], sizeof(T), size, stream);
+}
+
+template <typename T>
+void load_value(FILE *stream, T &value, size_t count = 1) {
+  size_t read_cnt = fread(&value, sizeof(value), count, stream);
+  if (read_cnt != count) {
+    throw std::runtime_error("Cannot read from file");
+  }
+}
+
+template <typename T> void load_value(FILE *stream, std::vector<T> &value) {
+  size_t size;
+  size_t read_cnt = fread(&size, sizeof(size_t), 1, stream);
+  if (read_cnt != 1) {
+    throw std::runtime_error("Cannot read from file");
+  }
+  value.resize(size);
+  read_cnt = fread(&value[0], sizeof(T), size, stream);
+  if (read_cnt != size) {
+    throw std::runtime_error("Cannot read from file");
+  }
+}
+/** @} */
+
+/** @addtogroup metric_grp Metric (distance) classes
+ * @{ */
+
+struct Metric {};
+
+/** Manhattan distance functor (generic version, optimized for
+ * high-dimensionality data sets). Corresponding distance traits:
+ * nanoflann::metric_L1 \tparam T Type of the elements (e.g. double, float,
+ * uint8_t) \tparam _DistanceType Type of distance variables (must be signed)
+ * (e.g. float, double, int64_t)
+ */
+template <class T, class DataSource, typename _DistanceType = T>
+struct L1_Adaptor {
+  typedef T ElementType;
+  typedef _DistanceType DistanceType;
+
+  const DataSource &data_source;
+
+  L1_Adaptor(const DataSource &_data_source) : data_source(_data_source) {}
+
+  inline DistanceType evalMetric(const T *a, const size_t b_idx, size_t size,
+                                 DistanceType worst_dist = -1) const {
+    DistanceType result = DistanceType();
+    const T *last = a + size;
+    const T *lastgroup = last - 3;
+    size_t d = 0;
+
+    /* Process 4 items with each loop for efficiency. */
+    while (a < lastgroup) {
+      const DistanceType diff0 =
+          std::abs(a[0] - data_source.kdtree_get_pt(b_idx, d++));
+      const DistanceType diff1 =
+          std::abs(a[1] - data_source.kdtree_get_pt(b_idx, d++));
+      const DistanceType diff2 =
+          std::abs(a[2] - data_source.kdtree_get_pt(b_idx, d++));
+      const DistanceType diff3 =
+          std::abs(a[3] - data_source.kdtree_get_pt(b_idx, d++));
+      result += diff0 + diff1 + diff2 + diff3;
+      a += 4;
+      if ((worst_dist > 0) && (result > worst_dist)) {
+        return result;
+      }
+    }
+    /* Process last 0-3 components.  Not needed for standard vector lengths. */
+    while (a < last) {
+      result += std::abs(*a++ - data_source.kdtree_get_pt(b_idx, d++));
+    }
+    return result;
+  }
+
+  template <typename U, typename V>
+  inline DistanceType accum_dist(const U a, const V b, const size_t) const {
+    return std::abs(a - b);
+  }
+};
+
+/** Squared Euclidean distance functor (generic version, optimized for
+ * high-dimensionality data sets). Corresponding distance traits:
+ * nanoflann::metric_L2 \tparam T Type of the elements (e.g. double, float,
+ * uint8_t) \tparam _DistanceType Type of distance variables (must be signed)
+ * (e.g. float, double, int64_t)
+ */
+template <class T, class DataSource, typename _DistanceType = T>
+struct L2_Adaptor {
+  typedef T ElementType;
+  typedef _DistanceType DistanceType;
+
+  const DataSource &data_source;
+
+  L2_Adaptor(const DataSource &_data_source) : data_source(_data_source) {}
+
+  inline DistanceType evalMetric(const T *a, const size_t b_idx, size_t size,
+                                 DistanceType worst_dist = -1) const {
+    DistanceType result = DistanceType();
+    const T *last = a + size;
+    const T *lastgroup = last - 3;
+    size_t d = 0;
+
+    /* Process 4 items with each loop for efficiency. */
+    while (a < lastgroup) {
+      const DistanceType diff0 = a[0] - data_source.kdtree_get_pt(b_idx, d++);
+      const DistanceType diff1 = a[1] - data_source.kdtree_get_pt(b_idx, d++);
+      const DistanceType diff2 = a[2] - data_source.kdtree_get_pt(b_idx, d++);
+      const DistanceType diff3 = a[3] - data_source.kdtree_get_pt(b_idx, d++);
+      result += diff0 * diff0 + diff1 * diff1 + diff2 * diff2 + diff3 * diff3;
+      a += 4;
+      if ((worst_dist > 0) && (result > worst_dist)) {
+        return result;
+      }
+    }
+    /* Process last 0-3 components.  Not needed for standard vector lengths. */
+    while (a < last) {
+      const DistanceType diff0 = *a++ - data_source.kdtree_get_pt(b_idx, d++);
+      result += diff0 * diff0;
+    }
+    return result;
+  }
+
+  template <typename U, typename V>
+  inline DistanceType accum_dist(const U a, const V b, const size_t) const {
+    return (a - b) * (a - b);
+  }
+};
+
+/** Squared Euclidean (L2) distance functor (suitable for low-dimensionality
+ * datasets, like 2D or 3D point clouds) Corresponding distance traits:
+ * nanoflann::metric_L2_Simple \tparam T Type of the elements (e.g. double,
+ * float, uint8_t) \tparam _DistanceType Type of distance variables (must be
+ * signed) (e.g. float, double, int64_t)
+ */
+template <class T, class DataSource, typename _DistanceType = T>
+struct L2_Simple_Adaptor {
+  typedef T ElementType;
+  typedef _DistanceType DistanceType;
+
+  const DataSource &data_source;
+
+  L2_Simple_Adaptor(const DataSource &_data_source)
+      : data_source(_data_source) {}
+
+  inline DistanceType evalMetric(const T *a, const size_t b_idx,
+                                 size_t size) const {
+    DistanceType result = DistanceType();
+    for (size_t i = 0; i < size; ++i) {
+      const DistanceType diff = a[i] - data_source.kdtree_get_pt(b_idx, i);
+      result += diff * diff;
+    }
+    return result;
+  }
+
+  template <typename U, typename V>
+  inline DistanceType accum_dist(const U a, const V b, const size_t) const {
+    return (a - b) * (a - b);
+  }
+};
+
+/** SO2 distance functor
+ *  Corresponding distance traits: nanoflann::metric_SO2
+ * \tparam T Type of the elements (e.g. double, float)
+ * \tparam _DistanceType Type of distance variables (must be signed) (e.g.
+ * float, double) orientation is constrained to be in [-pi, pi]
+ */
+template <class T, class DataSource, typename _DistanceType = T>
+struct SO2_Adaptor {
+  typedef T ElementType;
+  typedef _DistanceType DistanceType;
+
+  const DataSource &data_source;
+
+  SO2_Adaptor(const DataSource &_data_source) : data_source(_data_source) {}
+
+  inline DistanceType evalMetric(const T *a, const size_t b_idx,
+                                 size_t size) const {
+    return accum_dist(a[size - 1], data_source.kdtree_get_pt(b_idx, size - 1),
+                      size - 1);
+  }
+
+  /** Note: this assumes that input angles are already in the range [-pi,pi] */
+  template <typename U, typename V>
+  inline DistanceType accum_dist(const U a, const V b, const size_t) const {
+    DistanceType result = DistanceType();
+    DistanceType PI = pi_const<DistanceType>();
+    result = b - a;
+    if (result > PI)
+      result -= 2 * PI;
+    else if (result < -PI)
+      result += 2 * PI;
+    return result;
+  }
+};
+
+/** SO3 distance functor (Uses L2_Simple)
+ *  Corresponding distance traits: nanoflann::metric_SO3
+ * \tparam T Type of the elements (e.g. double, float)
+ * \tparam _DistanceType Type of distance variables (must be signed) (e.g.
+ * float, double)
+ */
+template <class T, class DataSource, typename _DistanceType = T>
+struct SO3_Adaptor {
+  typedef T ElementType;
+  typedef _DistanceType DistanceType;
+
+  L2_Simple_Adaptor<T, DataSource> distance_L2_Simple;
+
+  SO3_Adaptor(const DataSource &_data_source)
+      : distance_L2_Simple(_data_source) {}
+
+  inline DistanceType evalMetric(const T *a, const size_t b_idx,
+                                 size_t size) const {
+    return distance_L2_Simple.evalMetric(a, b_idx, size);
+  }
+
+  template <typename U, typename V>
+  inline DistanceType accum_dist(const U a, const V b, const size_t idx) const {
+    return distance_L2_Simple.accum_dist(a, b, idx);
+  }
+};
+
+/** Metaprogramming helper traits class for the L1 (Manhattan) metric */
+struct metric_L1 : public Metric {
+  template <class T, class DataSource> struct traits {
+    typedef L1_Adaptor<T, DataSource> distance_t;
+  };
+};
+/** Metaprogramming helper traits class for the L2 (Euclidean) metric */
+struct metric_L2 : public Metric {
+  template <class T, class DataSource> struct traits {
+    typedef L2_Adaptor<T, DataSource> distance_t;
+  };
+};
+/** Metaprogramming helper traits class for the L2_simple (Euclidean) metric */
+struct metric_L2_Simple : public Metric {
+  template <class T, class DataSource> struct traits {
+    typedef L2_Simple_Adaptor<T, DataSource> distance_t;
+  };
+};
+/** Metaprogramming helper traits class for the SO3_InnerProdQuat metric */
+struct metric_SO2 : public Metric {
+  template <class T, class DataSource> struct traits {
+    typedef SO2_Adaptor<T, DataSource> distance_t;
+  };
+};
+/** Metaprogramming helper traits class for the SO3_InnerProdQuat metric */
+struct metric_SO3 : public Metric {
+  template <class T, class DataSource> struct traits {
+    typedef SO3_Adaptor<T, DataSource> distance_t;
+  };
+};
+
+/** @} */
+
+/** @addtogroup param_grp Parameter structs
+ * @{ */
+
+/**  Parameters (see README.md) */
+struct KDTreeSingleIndexAdaptorParams {
+  KDTreeSingleIndexAdaptorParams(size_t _leaf_max_size = 10)
+      : leaf_max_size(_leaf_max_size) {}
+
+  size_t leaf_max_size;
+};
+
+/** Search options for KDTreeSingleIndexAdaptor::findNeighbors() */
+struct SearchParams {
+  /** Note: The first argument (checks_IGNORED_) is ignored, but kept for
+   * compatibility with the FLANN interface */
+  SearchParams(int checks_IGNORED_ = 32, float eps_ = 0, bool sorted_ = true)
+      : checks(checks_IGNORED_), eps(eps_), sorted(sorted_) {}
+
+  int checks;  //!< Ignored parameter (Kept for compatibility with the FLANN
+               //!< interface).
+  float eps;   //!< search for eps-approximate neighbours (default: 0)
+  bool sorted; //!< only for radius search, require neighbours sorted by
+               //!< distance (default: true)
+};
+/** @} */
+
+/** @addtogroup memalloc_grp Memory allocation
+ * @{ */
+
+/**
+ * Allocates (using C's malloc) a generic type T.
+ *
+ * Params:
+ *     count = number of instances to allocate.
+ * Returns: pointer (of type T*) to memory buffer
+ */
+template <typename T> inline T *allocate(size_t count = 1) {
+  T *mem = static_cast<T *>(::malloc(sizeof(T) * count));
+  return mem;
+}
+
+/**
+ * Pooled storage allocator
+ *
+ * The following routines allow for the efficient allocation of storage in
+ * small chunks from a specified pool.  Rather than allowing each structure
+ * to be freed individually, an entire pool of storage is freed at once.
+ * This method has two advantages over just using malloc() and free().  First,
+ * it is far more efficient for allocating small objects, as there is
+ * no overhead for remembering all the information needed to free each
+ * object or consolidating fragmented memory.  Second, the decision about
+ * how long to keep an object is made at the time of allocation, and there
+ * is no need to track down all the objects to free them.
+ *
+ */
+
+const size_t WORDSIZE = 16;
+const size_t BLOCKSIZE = 8192;
+
+class PooledAllocator {
+  /* We maintain memory alignment to word boundaries by requiring that all
+      allocations be in multiples of the machine wordsize.  */
+  /* Size of machine word in bytes.  Must be power of 2. */
+  /* Minimum number of bytes requested at a time from	the system.  Must be
+   * multiple of WORDSIZE. */
+
+  size_t remaining; /* Number of bytes left in current block of storage. */
+  void *base;       /* Pointer to base of current block of storage. */
+  void *loc;        /* Current location in block to next allocate memory. */
+
+  void internal_init() {
+    remaining = 0;
+    base = NULL;
+    usedMemory = 0;
+    wastedMemory = 0;
+  }
+
+public:
+  size_t usedMemory;
+  size_t wastedMemory;
+
+  /**
+      Default constructor. Initializes a new pool.
+   */
+  PooledAllocator() { internal_init(); }
+
+  /**
+   * Destructor. Frees all the memory allocated in this pool.
+   */
+  ~PooledAllocator() { free_all(); }
+
+  /** Frees all allocated memory chunks */
+  void free_all() {
+    while (base != NULL) {
+      void *prev =
+          *(static_cast<void **>(base)); /* Get pointer to prev block. */
+      ::free(base);
+      base = prev;
+    }
+    internal_init();
+  }
+
+  /**
+   * Returns a pointer to a piece of new memory of the given size in bytes
+   * allocated from the pool.
+   */
+  void *malloc(const size_t req_size) {
+    /* Round size up to a multiple of wordsize.  The following expression
+        only works for WORDSIZE that is a power of 2, by masking last bits of
+        incremented size to zero.
+     */
+    const size_t size = (req_size + (WORDSIZE - 1)) & ~(WORDSIZE - 1);
+
+    /* Check whether a new block must be allocated.  Note that the first word
+        of a block is reserved for a pointer to the previous block.
+     */
+    if (size > remaining) {
+
+      wastedMemory += remaining;
+
+      /* Allocate new storage. */
+      const size_t blocksize =
+          (size + sizeof(void *) + (WORDSIZE - 1) > BLOCKSIZE)
+              ? size + sizeof(void *) + (WORDSIZE - 1)
+              : BLOCKSIZE;
+
+      // use the standard C malloc to allocate memory
+      void *m = ::malloc(blocksize);
+      if (!m) {
+        fprintf(stderr, "Failed to allocate memory.\n");
+        throw std::bad_alloc();
+      }
+
+      /* Fill first word of new block with pointer to previous block. */
+      static_cast<void **>(m)[0] = base;
+      base = m;
+
+      size_t shift = 0;
+      // int size_t = (WORDSIZE - ( (((size_t)m) + sizeof(void*)) &
+      // (WORDSIZE-1))) & (WORDSIZE-1);
+
+      remaining = blocksize - sizeof(void *) - shift;
+      loc = (static_cast<char *>(m) + sizeof(void *) + shift);
+    }
+    void *rloc = loc;
+    loc = static_cast<char *>(loc) + size;
+    remaining -= size;
+
+    usedMemory += size;
+
+    return rloc;
+  }
+
+  /**
+   * Allocates (using this pool) a generic type T.
+   *
+   * Params:
+   *     count = number of instances to allocate.
+   * Returns: pointer (of type T*) to memory buffer
+   */
+  template <typename T> T *allocate(const size_t count = 1) {
+    T *mem = static_cast<T *>(this->malloc(sizeof(T) * count));
+    return mem;
+  }
+};
+/** @} */
+
+/** @addtogroup nanoflann_metaprog_grp Auxiliary metaprogramming stuff
+ * @{ */
+
+/** Used to declare fixed-size arrays when DIM>0, dynamically-allocated vectors
+ * when DIM=-1. Fixed size version for a generic DIM:
+ */
+template <int DIM, typename T> struct array_or_vector_selector {
+  typedef std::array<T, DIM> container_t;
+};
+/** Dynamic size version */
+template <typename T> struct array_or_vector_selector<-1, T> {
+  typedef std::vector<T> container_t;
+};
+
+/** @} */
+
+/** kd-tree base-class
+ *
+ * Contains the member functions common to the classes KDTreeSingleIndexAdaptor
+ * and KDTreeSingleIndexDynamicAdaptor_.
+ *
+ * \tparam Derived The name of the class which inherits this class.
+ * \tparam DatasetAdaptor The user-provided adaptor (see comments above).
+ * \tparam Distance The distance metric to use, these are all classes derived
+ * from nanoflann::Metric \tparam DIM Dimensionality of data points (e.g. 3 for
+ * 3D points) \tparam IndexType Will be typically size_t or int
+ */
+
+template <class Derived, typename Distance, class DatasetAdaptor, int DIM = -1,
+          typename IndexType = size_t>
+class KDTreeBaseClass {
+
+public:
+  /** Frees the previously-built index. Automatically called within
+   * buildIndex(). */
+  void freeIndex(Derived &obj) {
+    obj.pool.free_all();
+    obj.root_node = NULL;
+    obj.m_size_at_index_build = 0;
+  }
+
+  typedef typename Distance::ElementType ElementType;
+  typedef typename Distance::DistanceType DistanceType;
+
+  /*--------------------- Internal Data Structures --------------------------*/
+  struct Node {
+    /** Union used because a node can be either a LEAF node or a non-leaf node,
+     * so both data fields are never used simultaneously */
+    union {
+      struct leaf {
+        IndexType left, right; //!< Indices of points in leaf node
+      } lr;
+      struct nonleaf {
+        int divfeat;                  //!< Dimension used for subdivision.
+        DistanceType divlow, divhigh; //!< The values used for subdivision.
+      } sub;
+    } node_type;
+    Node *child1, *child2; //!< Child nodes (both=NULL mean its a leaf node)
+  };
+
+  typedef Node *NodePtr;
+
+  struct Interval {
+    ElementType low, high;
+  };
+
+  /**
+   *  Array of indices to vectors in the dataset.
+   */
+  std::vector<IndexType> vind;
+
+  NodePtr root_node;
+
+  size_t m_leaf_max_size;
+
+  size_t m_size;                //!< Number of current points in the dataset
+  size_t m_size_at_index_build; //!< Number of points in the dataset when the
+                                //!< index was built
+  int dim;                      //!< Dimensionality of each data point
+
+  /** Define "BoundingBox" as a fixed-size or variable-size container depending
+   * on "DIM" */
+  typedef
+      typename array_or_vector_selector<DIM, Interval>::container_t BoundingBox;
+
+  /** Define "distance_vector_t" as a fixed-size or variable-size container
+   * depending on "DIM" */
+  typedef typename array_or_vector_selector<DIM, DistanceType>::container_t
+      distance_vector_t;
+
+  /** The KD-tree used to find neighbours */
+
+  BoundingBox root_bbox;
+
+  /**
+   * Pooled memory allocator.
+   *
+   * Using a pooled memory allocator is more efficient
+   * than allocating memory directly when there is a large
+   * number small of memory allocations.
+   */
+  PooledAllocator pool;
+
+  /** Returns number of points in dataset  */
+  size_t size(const Derived &obj) const { return obj.m_size; }
+
+  /** Returns the length of each point in the dataset */
+  size_t veclen(const Derived &obj) {
+    return static_cast<size_t>(DIM > 0 ? DIM : obj.dim);
+  }
+
+  /// Helper accessor to the dataset points:
+  inline ElementType dataset_get(const Derived &obj, size_t idx,
+                                 int component) const {
+    return obj.dataset.kdtree_get_pt(idx, component);
+  }
+
+  /**
+   * Computes the inde memory usage
+   * Returns: memory used by the index
+   */
+  size_t usedMemory(Derived &obj) {
+    return obj.pool.usedMemory + obj.pool.wastedMemory +
+           obj.dataset.kdtree_get_point_count() *
+               sizeof(IndexType); // pool memory and vind array memory
+  }
+
+  void computeMinMax(const Derived &obj, IndexType *ind, IndexType count,
+                     int element, ElementType &min_elem,
+                     ElementType &max_elem) {
+    min_elem = dataset_get(obj, ind[0], element);
+    max_elem = dataset_get(obj, ind[0], element);
+    for (IndexType i = 1; i < count; ++i) {
+      ElementType val = dataset_get(obj, ind[i], element);
+      if (val < min_elem)
+        min_elem = val;
+      if (val > max_elem)
+        max_elem = val;
+    }
+  }
+
+  /**
+   * Create a tree node that subdivides the list of vecs from vind[first]
+   * to vind[last].  The routine is called recursively on each sublist.
+   *
+   * @param left index of the first vector
+   * @param right index of the last vector
+   */
+  NodePtr divideTree(Derived &obj, const IndexType left, const IndexType right,
+                     BoundingBox &bbox) {
+    NodePtr node = obj.pool.template allocate<Node>(); // allocate memory
+
+    /* If too few exemplars remain, then make this a leaf node. */
+    if ((right - left) <= static_cast<IndexType>(obj.m_leaf_max_size)) {
+      node->child1 = node->child2 = NULL; /* Mark as leaf node. */
+      node->node_type.lr.left = left;
+      node->node_type.lr.right = right;
+
+      // compute bounding-box of leaf points
+      for (int i = 0; i < (DIM > 0 ? DIM : obj.dim); ++i) {
+        bbox[i].low = dataset_get(obj, obj.vind[left], i);
+        bbox[i].high = dataset_get(obj, obj.vind[left], i);
+      }
+      for (IndexType k = left + 1; k < right; ++k) {
+        for (int i = 0; i < (DIM > 0 ? DIM : obj.dim); ++i) {
+          if (bbox[i].low > dataset_get(obj, obj.vind[k], i))
+            bbox[i].low = dataset_get(obj, obj.vind[k], i);
+          if (bbox[i].high < dataset_get(obj, obj.vind[k], i))
+            bbox[i].high = dataset_get(obj, obj.vind[k], i);
+        }
+      }
+    } else {
+      IndexType idx;
+      int cutfeat;
+      DistanceType cutval;
+      middleSplit_(obj, &obj.vind[0] + left, right - left, idx, cutfeat, cutval,
+                   bbox);
+
+      node->node_type.sub.divfeat = cutfeat;
+
+      BoundingBox left_bbox(bbox);
+      left_bbox[cutfeat].high = cutval;
+      node->child1 = divideTree(obj, left, left + idx, left_bbox);
+
+      BoundingBox right_bbox(bbox);
+      right_bbox[cutfeat].low = cutval;
+      node->child2 = divideTree(obj, left + idx, right, right_bbox);
+
+      node->node_type.sub.divlow = left_bbox[cutfeat].high;
+      node->node_type.sub.divhigh = right_bbox[cutfeat].low;
+
+      for (int i = 0; i < (DIM > 0 ? DIM : obj.dim); ++i) {
+        bbox[i].low = std::min(left_bbox[i].low, right_bbox[i].low);
+        bbox[i].high = std::max(left_bbox[i].high, right_bbox[i].high);
+      }
+    }
+
+    return node;
+  }
+
+  void middleSplit_(Derived &obj, IndexType *ind, IndexType count,
+                    IndexType &index, int &cutfeat, DistanceType &cutval,
+                    const BoundingBox &bbox) {
+    const DistanceType EPS = static_cast<DistanceType>(0.00001);
+    ElementType max_span = bbox[0].high - bbox[0].low;
+    for (int i = 1; i < (DIM > 0 ? DIM : obj.dim); ++i) {
+      ElementType span = bbox[i].high - bbox[i].low;
+      if (span > max_span) {
+        max_span = span;
+      }
+    }
+    ElementType max_spread = -1;
+    cutfeat = 0;
+    for (int i = 0; i < (DIM > 0 ? DIM : obj.dim); ++i) {
+      ElementType span = bbox[i].high - bbox[i].low;
+      if (span > (1 - EPS) * max_span) {
+        ElementType min_elem, max_elem;
+        computeMinMax(obj, ind, count, i, min_elem, max_elem);
+        ElementType spread = max_elem - min_elem;
+        ;
+        if (spread > max_spread) {
+          cutfeat = i;
+          max_spread = spread;
+        }
+      }
+    }
+    // split in the middle
+    DistanceType split_val = (bbox[cutfeat].low + bbox[cutfeat].high) / 2;
+    ElementType min_elem, max_elem;
+    computeMinMax(obj, ind, count, cutfeat, min_elem, max_elem);
+
+    if (split_val < min_elem)
+      cutval = min_elem;
+    else if (split_val > max_elem)
+      cutval = max_elem;
+    else
+      cutval = split_val;
+
+    IndexType lim1, lim2;
+    planeSplit(obj, ind, count, cutfeat, cutval, lim1, lim2);
+
+    if (lim1 > count / 2)
+      index = lim1;
+    else if (lim2 < count / 2)
+      index = lim2;
+    else
+      index = count / 2;
+  }
+
+  /**
+   *  Subdivide the list of points by a plane perpendicular on axe corresponding
+   *  to the 'cutfeat' dimension at 'cutval' position.
+   *
+   *  On return:
+   *  dataset[ind[0..lim1-1]][cutfeat]<cutval
+   *  dataset[ind[lim1..lim2-1]][cutfeat]==cutval
+   *  dataset[ind[lim2..count]][cutfeat]>cutval
+   */
+  void planeSplit(Derived &obj, IndexType *ind, const IndexType count,
+                  int cutfeat, DistanceType &cutval, IndexType &lim1,
+                  IndexType &lim2) {
+    /* Move vector indices for left subtree to front of list. */
+    IndexType left = 0;
+    IndexType right = count - 1;
+    for (;;) {
+      while (left <= right && dataset_get(obj, ind[left], cutfeat) < cutval)
+        ++left;
+      while (right && left <= right &&
+             dataset_get(obj, ind[right], cutfeat) >= cutval)
+        --right;
+      if (left > right || !right)
+        break; // "!right" was added to support unsigned Index types
+      std::swap(ind[left], ind[right]);
+      ++left;
+      --right;
+    }
+    /* If either list is empty, it means that all remaining features
+     * are identical. Split in the middle to maintain a balanced tree.
+     */
+    lim1 = left;
+    right = count - 1;
+    for (;;) {
+      while (left <= right && dataset_get(obj, ind[left], cutfeat) <= cutval)
+        ++left;
+      while (right && left <= right &&
+             dataset_get(obj, ind[right], cutfeat) > cutval)
+        --right;
+      if (left > right || !right)
+        break; // "!right" was added to support unsigned Index types
+      std::swap(ind[left], ind[right]);
+      ++left;
+      --right;
+    }
+    lim2 = left;
+  }
+
+  DistanceType computeInitialDistances(const Derived &obj,
+                                       const ElementType *vec,
+                                       distance_vector_t &dists) const {
+    assert(vec);
+    DistanceType distsq = DistanceType();
+
+    for (int i = 0; i < (DIM > 0 ? DIM : obj.dim); ++i) {
+      if (vec[i] < obj.root_bbox[i].low) {
+        dists[i] = obj.distance.accum_dist(vec[i], obj.root_bbox[i].low, i);
+        distsq += dists[i];
+      }
+      if (vec[i] > obj.root_bbox[i].high) {
+        dists[i] = obj.distance.accum_dist(vec[i], obj.root_bbox[i].high, i);
+        distsq += dists[i];
+      }
+    }
+    return distsq;
+  }
+
+  void save_tree(Derived &obj, FILE *stream, NodePtr tree) {
+    save_value(stream, *tree);
+    if (tree->child1 != NULL) {
+      save_tree(obj, stream, tree->child1);
+    }
+    if (tree->child2 != NULL) {
+      save_tree(obj, stream, tree->child2);
+    }
+  }
+
+  void load_tree(Derived &obj, FILE *stream, NodePtr &tree) {
+    tree = obj.pool.template allocate<Node>();
+    load_value(stream, *tree);
+    if (tree->child1 != NULL) {
+      load_tree(obj, stream, tree->child1);
+    }
+    if (tree->child2 != NULL) {
+      load_tree(obj, stream, tree->child2);
+    }
+  }
+
+  /**  Stores the index in a binary file.
+   *   IMPORTANT NOTE: The set of data points is NOT stored in the file, so when
+   * loading the index object it must be constructed associated to the same
+   * source of data points used while building it. See the example:
+   * examples/saveload_example.cpp \sa loadIndex  */
+  void saveIndex_(Derived &obj, FILE *stream) {
+    save_value(stream, obj.m_size);
+    save_value(stream, obj.dim);
+    save_value(stream, obj.root_bbox);
+    save_value(stream, obj.m_leaf_max_size);
+    save_value(stream, obj.vind);
+    save_tree(obj, stream, obj.root_node);
+  }
+
+  /**  Loads a previous index from a binary file.
+   *   IMPORTANT NOTE: The set of data points is NOT stored in the file, so the
+   * index object must be constructed associated to the same source of data
+   * points used while building the index. See the example:
+   * examples/saveload_example.cpp \sa loadIndex  */
+  void loadIndex_(Derived &obj, FILE *stream) {
+    load_value(stream, obj.m_size);
+    load_value(stream, obj.dim);
+    load_value(stream, obj.root_bbox);
+    load_value(stream, obj.m_leaf_max_size);
+    load_value(stream, obj.vind);
+    load_tree(obj, stream, obj.root_node);
+  }
+};
+
+/** @addtogroup kdtrees_grp KD-tree classes and adaptors
+ * @{ */
+
+/** kd-tree static index
+ *
+ * Contains the k-d trees and other information for indexing a set of points
+ * for nearest-neighbor matching.
+ *
+ *  The class "DatasetAdaptor" must provide the following interface (can be
+ * non-virtual, inlined methods):
+ *
+ *  \code
+ *   // Must return the number of data poins
+ *   inline size_t kdtree_get_point_count() const { ... }
+ *
+ *
+ *   // Must return the dim'th component of the idx'th point in the class:
+ *   inline T kdtree_get_pt(const size_t idx, const size_t dim) const { ... }
+ *
+ *   // Optional bounding-box computation: return false to default to a standard
+ * bbox computation loop.
+ *   //   Return true if the BBOX was already computed by the class and returned
+ * in "bb" so it can be avoided to redo it again.
+ *   //   Look at bb.size() to find out the expected dimensionality (e.g. 2 or 3
+ * for point clouds) template <class BBOX> bool kdtree_get_bbox(BBOX &bb) const
+ *   {
+ *      bb[0].low = ...; bb[0].high = ...;  // 0th dimension limits
+ *      bb[1].low = ...; bb[1].high = ...;  // 1st dimension limits
+ *      ...
+ *      return true;
+ *   }
+ *
+ *  \endcode
+ *
+ * \tparam DatasetAdaptor The user-provided adaptor (see comments above).
+ * \tparam Distance The distance metric to use: nanoflann::metric_L1,
+ * nanoflann::metric_L2, nanoflann::metric_L2_Simple, etc. \tparam DIM
+ * Dimensionality of data points (e.g. 3 for 3D points) \tparam IndexType Will
+ * be typically size_t or int
+ */
+template <typename Distance, class DatasetAdaptor, int DIM = -1,
+          typename IndexType = size_t>
+class KDTreeSingleIndexAdaptor
+    : public KDTreeBaseClass<
+          KDTreeSingleIndexAdaptor<Distance, DatasetAdaptor, DIM, IndexType>,
+          Distance, DatasetAdaptor, DIM, IndexType> {
+public:
+  /** Deleted copy constructor*/
+  KDTreeSingleIndexAdaptor(
+      const KDTreeSingleIndexAdaptor<Distance, DatasetAdaptor, DIM, IndexType>
+          &) = delete;
+
+  /**
+   * The dataset used by this index
+   */
+  const DatasetAdaptor &dataset; //!< The source of our data
+
+  const KDTreeSingleIndexAdaptorParams index_params;
+
+  Distance distance;
+
+  typedef typename nanoflann::KDTreeBaseClass<
+      nanoflann::KDTreeSingleIndexAdaptor<Distance, DatasetAdaptor, DIM,
+                                          IndexType>,
+      Distance, DatasetAdaptor, DIM, IndexType>
+      BaseClassRef;
+
+  typedef typename BaseClassRef::ElementType ElementType;
+  typedef typename BaseClassRef::DistanceType DistanceType;
+
+  typedef typename BaseClassRef::Node Node;
+  typedef Node *NodePtr;
+
+  typedef typename BaseClassRef::Interval Interval;
+  /** Define "BoundingBox" as a fixed-size or variable-size container depending
+   * on "DIM" */
+  typedef typename BaseClassRef::BoundingBox BoundingBox;
+
+  /** Define "distance_vector_t" as a fixed-size or variable-size container
+   * depending on "DIM" */
+  typedef typename BaseClassRef::distance_vector_t distance_vector_t;
+
+  /**
+   * KDTree constructor
+   *
+   * Refer to docs in README.md or online in
+   * https://github.com/jlblancoc/nanoflann
+   *
+   * The KD-Tree point dimension (the length of each point in the datase, e.g. 3
+   * for 3D points) is determined by means of:
+   *  - The \a DIM template parameter if >0 (highest priority)
+   *  - Otherwise, the \a dimensionality parameter of this constructor.
+   *
+   * @param inputData Dataset with the input features
+   * @param params Basically, the maximum leaf node size
+   */
+  KDTreeSingleIndexAdaptor(const int dimensionality,
+                           const DatasetAdaptor &inputData,
+                           const KDTreeSingleIndexAdaptorParams &params =
+                               KDTreeSingleIndexAdaptorParams())
+      : dataset(inputData), index_params(params), distance(inputData) {
+    BaseClassRef::root_node = NULL;
+    BaseClassRef::m_size = dataset.kdtree_get_point_count();
+    BaseClassRef::m_size_at_index_build = BaseClassRef::m_size;
+    BaseClassRef::dim = dimensionality;
+    if (DIM > 0)
+      BaseClassRef::dim = DIM;
+    BaseClassRef::m_leaf_max_size = params.leaf_max_size;
+
+    // Create a permutable array of indices to the input vectors.
+    init_vind();
+  }
+
+  /**
+   * Builds the index
+   */
+  void buildIndex() {
+    BaseClassRef::m_size = dataset.kdtree_get_point_count();
+    BaseClassRef::m_size_at_index_build = BaseClassRef::m_size;
+    init_vind();
+    this->freeIndex(*this);
+    BaseClassRef::m_size_at_index_build = BaseClassRef::m_size;
+    if (BaseClassRef::m_size == 0)
+      return;
+    computeBoundingBox(BaseClassRef::root_bbox);
+    BaseClassRef::root_node =
+        this->divideTree(*this, 0, BaseClassRef::m_size,
+                         BaseClassRef::root_bbox); // construct the tree
+  }
+
+  /** \name Query methods
+   * @{ */
+
+  /**
+   * Find set of nearest neighbors to vec[0:dim-1]. Their indices are stored
+   * inside the result object.
+   *
+   * Params:
+   *     result = the result object in which the indices of the
+   * nearest-neighbors are stored vec = the vector for which to search the
+   * nearest neighbors
+   *
+   * \tparam RESULTSET Should be any ResultSet<DistanceType>
+   * \return  True if the requested neighbors could be found.
+   * \sa knnSearch, radiusSearch
+   */
+  template <typename RESULTSET>
+  bool findNeighbors(RESULTSET &result, const ElementType *vec,
+                     const SearchParams &searchParams) const {
+    assert(vec);
+    if (this->size(*this) == 0)
+      return false;
+    if (!BaseClassRef::root_node)
+      throw std::runtime_error(
+          "[nanoflann] findNeighbors() called before building the index.");
+    float epsError = 1 + searchParams.eps;
+
+    distance_vector_t
+        dists; // fixed or variable-sized container (depending on DIM)
+    auto zero = static_cast<decltype(result.worstDist())>(0);
+    assign(dists, (DIM > 0 ? DIM : BaseClassRef::dim),
+           zero); // Fill it with zeros.
+    DistanceType distsq = this->computeInitialDistances(*this, vec, dists);
+    searchLevel(result, vec, BaseClassRef::root_node, distsq, dists,
+                epsError); // "count_leaf" parameter removed since was neither
+                           // used nor returned to the user.
+    return result.full();
+  }
+
+  /**
+   * Find the "num_closest" nearest neighbors to the \a query_point[0:dim-1].
+   * Their indices are stored inside the result object. \sa radiusSearch,
+   * findNeighbors \note nChecks_IGNORED is ignored but kept for compatibility
+   * with the original FLANN interface. \return Number `N` of valid points in
+   * the result set. Only the first `N` entries in `out_indices` and
+   * `out_distances_sq` will be valid. Return may be less than `num_closest`
+   * only if the number of elements in the tree is less than `num_closest`.
+   */
+  size_t knnSearch(const ElementType *query_point, const size_t num_closest,
+                   IndexType *out_indices, DistanceType *out_distances_sq,
+                   const int /* nChecks_IGNORED */ = 10) const {
+    nanoflann::KNNResultSet<DistanceType, IndexType> resultSet(num_closest);
+    resultSet.init(out_indices, out_distances_sq);
+    this->findNeighbors(resultSet, query_point, nanoflann::SearchParams());
+    return resultSet.size();
+  }
+
+  /**
+   * Find all the neighbors to \a query_point[0:dim-1] within a maximum radius.
+   *  The output is given as a vector of pairs, of which the first element is a
+   * point index and the second the corresponding distance. Previous contents of
+   * \a IndicesDists are cleared.
+   *
+   *  If searchParams.sorted==true, the output list is sorted by descending
+   * distances.
+   *
+   *  For a better performance, it is advisable to do a .reserve() on the vector
+   * if you have any wild guess about the number of expected matches.
+   *
+   *  \sa knnSearch, findNeighbors, radiusSearchCustomCallback
+   * \return The number of points within the given radius (i.e. indices.size()
+   * or dists.size() )
+   */
+  size_t
+  radiusSearch(const ElementType *query_point, const DistanceType &radius,
+               std::vector<std::pair<IndexType, DistanceType>> &IndicesDists,
+               const SearchParams &searchParams) const {
+    RadiusResultSet<DistanceType, IndexType> resultSet(radius, IndicesDists);
+    const size_t nFound =
+        radiusSearchCustomCallback(query_point, resultSet, searchParams);
+    if (searchParams.sorted)
+      std::sort(IndicesDists.begin(), IndicesDists.end(), IndexDist_Sorter());
+    return nFound;
+  }
+
+  /**
+   * Just like radiusSearch() but with a custom callback class for each point
+   * found in the radius of the query. See the source of RadiusResultSet<> as a
+   * start point for your own classes. \sa radiusSearch
+   */
+  template <class SEARCH_CALLBACK>
+  size_t radiusSearchCustomCallback(
+      const ElementType *query_point, SEARCH_CALLBACK &resultSet,
+      const SearchParams &searchParams = SearchParams()) const {
+    this->findNeighbors(resultSet, query_point, searchParams);
+    return resultSet.size();
+  }
+
+  /** @} */
+
+public:
+  /** Make sure the auxiliary list \a vind has the same size than the current
+   * dataset, and re-generate if size has changed. */
+  void init_vind() {
+    // Create a permutable array of indices to the input vectors.
+    BaseClassRef::m_size = dataset.kdtree_get_point_count();
+    if (BaseClassRef::vind.size() != BaseClassRef::m_size)
+      BaseClassRef::vind.resize(BaseClassRef::m_size);
+    for (size_t i = 0; i < BaseClassRef::m_size; i++)
+      BaseClassRef::vind[i] = i;
+  }
+
+  void computeBoundingBox(BoundingBox &bbox) {
+    resize(bbox, (DIM > 0 ? DIM : BaseClassRef::dim));
+    if (dataset.kdtree_get_bbox(bbox)) {
+      // Done! It was implemented in derived class
+    } else {
+      const size_t N = dataset.kdtree_get_point_count();
+      if (!N)
+        throw std::runtime_error("[nanoflann] computeBoundingBox() called but "
+                                 "no data points found.");
+      for (int i = 0; i < (DIM > 0 ? DIM : BaseClassRef::dim); ++i) {
+        bbox[i].low = bbox[i].high = this->dataset_get(*this, 0, i);
+      }
+      for (size_t k = 1; k < N; ++k) {
+        for (int i = 0; i < (DIM > 0 ? DIM : BaseClassRef::dim); ++i) {
+          if (this->dataset_get(*this, k, i) < bbox[i].low)
+            bbox[i].low = this->dataset_get(*this, k, i);
+          if (this->dataset_get(*this, k, i) > bbox[i].high)
+            bbox[i].high = this->dataset_get(*this, k, i);
+        }
+      }
+    }
+  }
+
+  /**
+   * Performs an exact search in the tree starting from a node.
+   * \tparam RESULTSET Should be any ResultSet<DistanceType>
+   * \return true if the search should be continued, false if the results are
+   * sufficient
+   */
+  template <class RESULTSET>
+  bool searchLevel(RESULTSET &result_set, const ElementType *vec,
+                   const NodePtr node, DistanceType mindistsq,
+                   distance_vector_t &dists, const float epsError) const {
+    /* If this is a leaf node, then do check and return. */
+    if ((node->child1 == NULL) && (node->child2 == NULL)) {
+      // count_leaf += (node->lr.right-node->lr.left);  // Removed since was
+      // neither used nor returned to the user.
+      DistanceType worst_dist = result_set.worstDist();
+      for (IndexType i = node->node_type.lr.left; i < node->node_type.lr.right;
+           ++i) {
+        const IndexType index = BaseClassRef::vind[i]; // reorder... : i;
+        DistanceType dist = distance.evalMetric(
+            vec, index, (DIM > 0 ? DIM : BaseClassRef::dim));
+        if (dist < worst_dist) {
+          if (!result_set.addPoint(dist, BaseClassRef::vind[i])) {
+            // the resultset doesn't want to receive any more points, we're done
+            // searching!
+            return false;
+          }
+        }
+      }
+      return true;
+    }
+
+    /* Which child branch should be taken first? */
+    int idx = node->node_type.sub.divfeat;
+    ElementType val = vec[idx];
+    DistanceType diff1 = val - node->node_type.sub.divlow;
+    DistanceType diff2 = val - node->node_type.sub.divhigh;
+
+    NodePtr bestChild;
+    NodePtr otherChild;
+    DistanceType cut_dist;
+    if ((diff1 + diff2) < 0) {
+      bestChild = node->child1;
+      otherChild = node->child2;
+      cut_dist = distance.accum_dist(val, node->node_type.sub.divhigh, idx);
+    } else {
+      bestChild = node->child2;
+      otherChild = node->child1;
+      cut_dist = distance.accum_dist(val, node->node_type.sub.divlow, idx);
+    }
+
+    /* Call recursively to search next level down. */
+    if (!searchLevel(result_set, vec, bestChild, mindistsq, dists, epsError)) {
+      // the resultset doesn't want to receive any more points, we're done
+      // searching!
+      return false;
+    }
+
+    DistanceType dst = dists[idx];
+    mindistsq = mindistsq + cut_dist - dst;
+    dists[idx] = cut_dist;
+    if (mindistsq * epsError <= result_set.worstDist()) {
+      if (!searchLevel(result_set, vec, otherChild, mindistsq, dists,
+                       epsError)) {
+        // the resultset doesn't want to receive any more points, we're done
+        // searching!
+        return false;
+      }
+    }
+    dists[idx] = dst;
+    return true;
+  }
+
+public:
+  /**  Stores the index in a binary file.
+   *   IMPORTANT NOTE: The set of data points is NOT stored in the file, so when
+   * loading the index object it must be constructed associated to the same
+   * source of data points used while building it. See the example:
+   * examples/saveload_example.cpp \sa loadIndex  */
+  void saveIndex(FILE *stream) { this->saveIndex_(*this, stream); }
+
+  /**  Loads a previous index from a binary file.
+   *   IMPORTANT NOTE: The set of data points is NOT stored in the file, so the
+   * index object must be constructed associated to the same source of data
+   * points used while building the index. See the example:
+   * examples/saveload_example.cpp \sa loadIndex  */
+  void loadIndex(FILE *stream) { this->loadIndex_(*this, stream); }
+
+}; // class KDTree
+
+/** kd-tree dynamic index
+ *
+ * Contains the k-d trees and other information for indexing a set of points
+ * for nearest-neighbor matching.
+ *
+ *  The class "DatasetAdaptor" must provide the following interface (can be
+ * non-virtual, inlined methods):
+ *
+ *  \code
+ *   // Must return the number of data poins
+ *   inline size_t kdtree_get_point_count() const { ... }
+ *
+ *   // Must return the dim'th component of the idx'th point in the class:
+ *   inline T kdtree_get_pt(const size_t idx, const size_t dim) const { ... }
+ *
+ *   // Optional bounding-box computation: return false to default to a standard
+ * bbox computation loop.
+ *   //   Return true if the BBOX was already computed by the class and returned
+ * in "bb" so it can be avoided to redo it again.
+ *   //   Look at bb.size() to find out the expected dimensionality (e.g. 2 or 3
+ * for point clouds) template <class BBOX> bool kdtree_get_bbox(BBOX &bb) const
+ *   {
+ *      bb[0].low = ...; bb[0].high = ...;  // 0th dimension limits
+ *      bb[1].low = ...; bb[1].high = ...;  // 1st dimension limits
+ *      ...
+ *      return true;
+ *   }
+ *
+ *  \endcode
+ *
+ * \tparam DatasetAdaptor The user-provided adaptor (see comments above).
+ * \tparam Distance The distance metric to use: nanoflann::metric_L1,
+ * nanoflann::metric_L2, nanoflann::metric_L2_Simple, etc. \tparam DIM
+ * Dimensionality of data points (e.g. 3 for 3D points) \tparam IndexType Will
+ * be typically size_t or int
+ */
+template <typename Distance, class DatasetAdaptor, int DIM = -1,
+          typename IndexType = size_t>
+class KDTreeSingleIndexDynamicAdaptor_
+    : public KDTreeBaseClass<KDTreeSingleIndexDynamicAdaptor_<
+                                 Distance, DatasetAdaptor, DIM, IndexType>,
+                             Distance, DatasetAdaptor, DIM, IndexType> {
+public:
+  /**
+   * The dataset used by this index
+   */
+  const DatasetAdaptor &dataset; //!< The source of our data
+
+  KDTreeSingleIndexAdaptorParams index_params;
+
+  std::vector<int> &treeIndex;
+
+  Distance distance;
+
+  typedef typename nanoflann::KDTreeBaseClass<
+      nanoflann::KDTreeSingleIndexDynamicAdaptor_<Distance, DatasetAdaptor, DIM,
+                                                  IndexType>,
+      Distance, DatasetAdaptor, DIM, IndexType>
+      BaseClassRef;
+
+  typedef typename BaseClassRef::ElementType ElementType;
+  typedef typename BaseClassRef::DistanceType DistanceType;
+
+  typedef typename BaseClassRef::Node Node;
+  typedef Node *NodePtr;
+
+  typedef typename BaseClassRef::Interval Interval;
+  /** Define "BoundingBox" as a fixed-size or variable-size container depending
+   * on "DIM" */
+  typedef typename BaseClassRef::BoundingBox BoundingBox;
+
+  /** Define "distance_vector_t" as a fixed-size or variable-size container
+   * depending on "DIM" */
+  typedef typename BaseClassRef::distance_vector_t distance_vector_t;
+
+  /**
+   * KDTree constructor
+   *
+   * Refer to docs in README.md or online in
+   * https://github.com/jlblancoc/nanoflann
+   *
+   * The KD-Tree point dimension (the length of each point in the datase, e.g. 3
+   * for 3D points) is determined by means of:
+   *  - The \a DIM template parameter if >0 (highest priority)
+   *  - Otherwise, the \a dimensionality parameter of this constructor.
+   *
+   * @param inputData Dataset with the input features
+   * @param params Basically, the maximum leaf node size
+   */
+  KDTreeSingleIndexDynamicAdaptor_(
+      const int dimensionality, const DatasetAdaptor &inputData,
+      std::vector<int> &treeIndex_,
+      const KDTreeSingleIndexAdaptorParams &params =
+          KDTreeSingleIndexAdaptorParams())
+      : dataset(inputData), index_params(params), treeIndex(treeIndex_),
+        distance(inputData) {
+    BaseClassRef::root_node = NULL;
+    BaseClassRef::m_size = 0;
+    BaseClassRef::m_size_at_index_build = 0;
+    BaseClassRef::dim = dimensionality;
+    if (DIM > 0)
+      BaseClassRef::dim = DIM;
+    BaseClassRef::m_leaf_max_size = params.leaf_max_size;
+  }
+
+  /** Assignment operator definiton */
+  KDTreeSingleIndexDynamicAdaptor_
+  operator=(const KDTreeSingleIndexDynamicAdaptor_ &rhs) {
+    KDTreeSingleIndexDynamicAdaptor_ tmp(rhs);
+    std::swap(BaseClassRef::vind, tmp.BaseClassRef::vind);
+    std::swap(BaseClassRef::m_leaf_max_size, tmp.BaseClassRef::m_leaf_max_size);
+    std::swap(index_params, tmp.index_params);
+    std::swap(treeIndex, tmp.treeIndex);
+    std::swap(BaseClassRef::m_size, tmp.BaseClassRef::m_size);
+    std::swap(BaseClassRef::m_size_at_index_build,
+              tmp.BaseClassRef::m_size_at_index_build);
+    std::swap(BaseClassRef::root_node, tmp.BaseClassRef::root_node);
+    std::swap(BaseClassRef::root_bbox, tmp.BaseClassRef::root_bbox);
+    std::swap(BaseClassRef::pool, tmp.BaseClassRef::pool);
+    return *this;
+  }
+
+  /**
+   * Builds the index
+   */
+  void buildIndex() {
+    BaseClassRef::m_size = BaseClassRef::vind.size();
+    this->freeIndex(*this);
+    BaseClassRef::m_size_at_index_build = BaseClassRef::m_size;
+    if (BaseClassRef::m_size == 0)
+      return;
+    computeBoundingBox(BaseClassRef::root_bbox);
+    BaseClassRef::root_node =
+        this->divideTree(*this, 0, BaseClassRef::m_size,
+                         BaseClassRef::root_bbox); // construct the tree
+  }
+
+  /** \name Query methods
+   * @{ */
+
+  /**
+   * Find set of nearest neighbors to vec[0:dim-1]. Their indices are stored
+   * inside the result object.
+   *
+   * Params:
+   *     result = the result object in which the indices of the
+   * nearest-neighbors are stored vec = the vector for which to search the
+   * nearest neighbors
+   *
+   * \tparam RESULTSET Should be any ResultSet<DistanceType>
+   * \return  True if the requested neighbors could be found.
+   * \sa knnSearch, radiusSearch
+   */
+  template <typename RESULTSET>
+  bool findNeighbors(RESULTSET &result, const ElementType *vec,
+                     const SearchParams &searchParams) const {
+    assert(vec);
+    if (this->size(*this) == 0)
+      return false;
+    if (!BaseClassRef::root_node)
+      return false;
+    float epsError = 1 + searchParams.eps;
+
+    // fixed or variable-sized container (depending on DIM)
+    distance_vector_t dists;
+    // Fill it with zeros.
+    assign(dists, (DIM > 0 ? DIM : BaseClassRef::dim),
+           static_cast<typename distance_vector_t::value_type>(0));
+    DistanceType distsq = this->computeInitialDistances(*this, vec, dists);
+    searchLevel(result, vec, BaseClassRef::root_node, distsq, dists,
+                epsError); // "count_leaf" parameter removed since was neither
+                           // used nor returned to the user.
+    return result.full();
+  }
+
+  /**
+   * Find the "num_closest" nearest neighbors to the \a query_point[0:dim-1].
+   * Their indices are stored inside the result object. \sa radiusSearch,
+   * findNeighbors \note nChecks_IGNORED is ignored but kept for compatibility
+   * with the original FLANN interface. \return Number `N` of valid points in
+   * the result set. Only the first `N` entries in `out_indices` and
+   * `out_distances_sq` will be valid. Return may be less than `num_closest`
+   * only if the number of elements in the tree is less than `num_closest`.
+   */
+  size_t knnSearch(const ElementType *query_point, const size_t num_closest,
+                   IndexType *out_indices, DistanceType *out_distances_sq,
+                   const int /* nChecks_IGNORED */ = 10) const {
+    nanoflann::KNNResultSet<DistanceType, IndexType> resultSet(num_closest);
+    resultSet.init(out_indices, out_distances_sq);
+    this->findNeighbors(resultSet, query_point, nanoflann::SearchParams());
+    return resultSet.size();
+  }
+
+  /**
+   * Find all the neighbors to \a query_point[0:dim-1] within a maximum radius.
+   *  The output is given as a vector of pairs, of which the first element is a
+   * point index and the second the corresponding distance. Previous contents of
+   * \a IndicesDists are cleared.
+   *
+   *  If searchParams.sorted==true, the output list is sorted by ascending
+   * distances.
+   *
+   *  For a better performance, it is advisable to do a .reserve() on the vector
+   * if you have any wild guess about the number of expected matches.
+   *
+   *  \sa knnSearch, findNeighbors, radiusSearchCustomCallback
+   * \return The number of points within the given radius (i.e. indices.size()
+   * or dists.size() )
+   */
+  size_t
+  radiusSearch(const ElementType *query_point, const DistanceType &radius,
+               std::vector<std::pair<IndexType, DistanceType>> &IndicesDists,
+               const SearchParams &searchParams) const {
+    RadiusResultSet<DistanceType, IndexType> resultSet(radius, IndicesDists);
+    const size_t nFound =
+        radiusSearchCustomCallback(query_point, resultSet, searchParams);
+    if (searchParams.sorted)
+      std::sort(IndicesDists.begin(), IndicesDists.end(), IndexDist_Sorter());
+    return nFound;
+  }
+
+  /**
+   * Just like radiusSearch() but with a custom callback class for each point
+   * found in the radius of the query. See the source of RadiusResultSet<> as a
+   * start point for your own classes. \sa radiusSearch
+   */
+  template <class SEARCH_CALLBACK>
+  size_t radiusSearchCustomCallback(
+      const ElementType *query_point, SEARCH_CALLBACK &resultSet,
+      const SearchParams &searchParams = SearchParams()) const {
+    this->findNeighbors(resultSet, query_point, searchParams);
+    return resultSet.size();
+  }
+
+  /** @} */
+
+public:
+  void computeBoundingBox(BoundingBox &bbox) {
+    resize(bbox, (DIM > 0 ? DIM : BaseClassRef::dim));
+
+    if (dataset.kdtree_get_bbox(bbox)) {
+      // Done! It was implemented in derived class
+    } else {
+      const size_t N = BaseClassRef::m_size;
+      if (!N)
+        throw std::runtime_error("[nanoflann] computeBoundingBox() called but "
+                                 "no data points found.");
+      for (int i = 0; i < (DIM > 0 ? DIM : BaseClassRef::dim); ++i) {
+        bbox[i].low = bbox[i].high =
+            this->dataset_get(*this, BaseClassRef::vind[0], i);
+      }
+      for (size_t k = 1; k < N; ++k) {
+        for (int i = 0; i < (DIM > 0 ? DIM : BaseClassRef::dim); ++i) {
+          if (this->dataset_get(*this, BaseClassRef::vind[k], i) < bbox[i].low)
+            bbox[i].low = this->dataset_get(*this, BaseClassRef::vind[k], i);
+          if (this->dataset_get(*this, BaseClassRef::vind[k], i) > bbox[i].high)
+            bbox[i].high = this->dataset_get(*this, BaseClassRef::vind[k], i);
+        }
+      }
+    }
+  }
+
+  /**
+   * Performs an exact search in the tree starting from a node.
+   * \tparam RESULTSET Should be any ResultSet<DistanceType>
+   */
+  template <class RESULTSET>
+  void searchLevel(RESULTSET &result_set, const ElementType *vec,
+                   const NodePtr node, DistanceType mindistsq,
+                   distance_vector_t &dists, const float epsError) const {
+    /* If this is a leaf node, then do check and return. */
+    if ((node->child1 == NULL) && (node->child2 == NULL)) {
+      // count_leaf += (node->lr.right-node->lr.left);  // Removed since was
+      // neither used nor returned to the user.
+      DistanceType worst_dist = result_set.worstDist();
+      for (IndexType i = node->node_type.lr.left; i < node->node_type.lr.right;
+           ++i) {
+        const IndexType index = BaseClassRef::vind[i]; // reorder... : i;
+        if (treeIndex[index] == -1)
+          continue;
+        DistanceType dist = distance.evalMetric(
+            vec, index, (DIM > 0 ? DIM : BaseClassRef::dim));
+        if (dist < worst_dist) {
+          if (!result_set.addPoint(
+                  static_cast<typename RESULTSET::DistanceType>(dist),
+                  static_cast<typename RESULTSET::IndexType>(
+                      BaseClassRef::vind[i]))) {
+            // the resultset doesn't want to receive any more points, we're done
+            // searching!
+            return; // false;
+          }
+        }
+      }
+      return;
+    }
+
+    /* Which child branch should be taken first? */
+    int idx = node->node_type.sub.divfeat;
+    ElementType val = vec[idx];
+    DistanceType diff1 = val - node->node_type.sub.divlow;
+    DistanceType diff2 = val - node->node_type.sub.divhigh;
+
+    NodePtr bestChild;
+    NodePtr otherChild;
+    DistanceType cut_dist;
+    if ((diff1 + diff2) < 0) {
+      bestChild = node->child1;
+      otherChild = node->child2;
+      cut_dist = distance.accum_dist(val, node->node_type.sub.divhigh, idx);
+    } else {
+      bestChild = node->child2;
+      otherChild = node->child1;
+      cut_dist = distance.accum_dist(val, node->node_type.sub.divlow, idx);
+    }
+
+    /* Call recursively to search next level down. */
+    searchLevel(result_set, vec, bestChild, mindistsq, dists, epsError);
+
+    DistanceType dst = dists[idx];
+    mindistsq = mindistsq + cut_dist - dst;
+    dists[idx] = cut_dist;
+    if (mindistsq * epsError <= result_set.worstDist()) {
+      searchLevel(result_set, vec, otherChild, mindistsq, dists, epsError);
+    }
+    dists[idx] = dst;
+  }
+
+public:
+  /**  Stores the index in a binary file.
+   *   IMPORTANT NOTE: The set of data points is NOT stored in the file, so when
+   * loading the index object it must be constructed associated to the same
+   * source of data points used while building it. See the example:
+   * examples/saveload_example.cpp \sa loadIndex  */
+  void saveIndex(FILE *stream) { this->saveIndex_(*this, stream); }
+
+  /**  Loads a previous index from a binary file.
+   *   IMPORTANT NOTE: The set of data points is NOT stored in the file, so the
+   * index object must be constructed associated to the same source of data
+   * points used while building the index. See the example:
+   * examples/saveload_example.cpp \sa loadIndex  */
+  void loadIndex(FILE *stream) { this->loadIndex_(*this, stream); }
+};
+
+/** kd-tree dynaimic index
+ *
+ * class to create multiple static index and merge their results to behave as
+ * single dynamic index as proposed in Logarithmic Approach.
+ *
+ *  Example of usage:
+ *  examples/dynamic_pointcloud_example.cpp
+ *
+ * \tparam DatasetAdaptor The user-provided adaptor (see comments above).
+ * \tparam Distance The distance metric to use: nanoflann::metric_L1,
+ * nanoflann::metric_L2, nanoflann::metric_L2_Simple, etc. \tparam DIM
+ * Dimensionality of data points (e.g. 3 for 3D points) \tparam IndexType Will
+ * be typically size_t or int
+ */
+template <typename Distance, class DatasetAdaptor, int DIM = -1,
+          typename IndexType = size_t>
+class KDTreeSingleIndexDynamicAdaptor {
+public:
+  typedef typename Distance::ElementType ElementType;
+  typedef typename Distance::DistanceType DistanceType;
+
+protected:
+  size_t m_leaf_max_size;
+  size_t treeCount;
+  size_t pointCount;
+
+  /**
+   * The dataset used by this index
+   */
+  const DatasetAdaptor &dataset; //!< The source of our data
+
+  std::vector<int> treeIndex; //!< treeIndex[idx] is the index of tree in which
+                              //!< point at idx is stored. treeIndex[idx]=-1
+                              //!< means that point has been removed.
+
+  KDTreeSingleIndexAdaptorParams index_params;
+
+  int dim; //!< Dimensionality of each data point
+
+  typedef KDTreeSingleIndexDynamicAdaptor_<Distance, DatasetAdaptor, DIM>
+      index_container_t;
+  std::vector<index_container_t> index;
+
+public:
+  /** Get a const ref to the internal list of indices; the number of indices is
+   * adapted dynamically as the dataset grows in size. */
+  const std::vector<index_container_t> &getAllIndices() const { return index; }
+
+private:
+  /** finds position of least significant unset bit */
+  int First0Bit(IndexType num) {
+    int pos = 0;
+    while (num & 1) {
+      num = num >> 1;
+      pos++;
+    }
+    return pos;
+  }
+
+  /** Creates multiple empty trees to handle dynamic support */
+  void init() {
+    typedef KDTreeSingleIndexDynamicAdaptor_<Distance, DatasetAdaptor, DIM>
+        my_kd_tree_t;
+    std::vector<my_kd_tree_t> index_(
+        treeCount, my_kd_tree_t(dim /*dim*/, dataset, treeIndex, index_params));
+    index = index_;
+  }
+
+public:
+  Distance distance;
+
+  /**
+   * KDTree constructor
+   *
+   * Refer to docs in README.md or online in
+   * https://github.com/jlblancoc/nanoflann
+   *
+   * The KD-Tree point dimension (the length of each point in the datase, e.g. 3
+   * for 3D points) is determined by means of:
+   *  - The \a DIM template parameter if >0 (highest priority)
+   *  - Otherwise, the \a dimensionality parameter of this constructor.
+   *
+   * @param inputData Dataset with the input features
+   * @param params Basically, the maximum leaf node size
+   */
+  KDTreeSingleIndexDynamicAdaptor(const int dimensionality,
+                                  const DatasetAdaptor &inputData,
+                                  const KDTreeSingleIndexAdaptorParams &params =
+                                      KDTreeSingleIndexAdaptorParams(),
+                                  const size_t maximumPointCount = 1000000000U)
+      : dataset(inputData), index_params(params), distance(inputData) {
+    treeCount = static_cast<size_t>(std::log2(maximumPointCount));
+    pointCount = 0U;
+    dim = dimensionality;
+    treeIndex.clear();
+    if (DIM > 0)
+      dim = DIM;
+    m_leaf_max_size = params.leaf_max_size;
+    init();
+    const size_t num_initial_points = dataset.kdtree_get_point_count();
+    if (num_initial_points > 0) {
+      addPoints(0, num_initial_points - 1);
+    }
+  }
+
+  /** Deleted copy constructor*/
+  KDTreeSingleIndexDynamicAdaptor(
+      const KDTreeSingleIndexDynamicAdaptor<Distance, DatasetAdaptor, DIM,
+                                            IndexType> &) = delete;
+
+  /** Add points to the set, Inserts all points from [start, end] */
+  void addPoints(IndexType start, IndexType end) {
+    size_t count = end - start + 1;
+    treeIndex.resize(treeIndex.size() + count);
+    for (IndexType idx = start; idx <= end; idx++) {
+      int pos = First0Bit(pointCount);
+      index[pos].vind.clear();
+      treeIndex[pointCount] = pos;
+      for (int i = 0; i < pos; i++) {
+        for (int j = 0; j < static_cast<int>(index[i].vind.size()); j++) {
+          index[pos].vind.push_back(index[i].vind[j]);
+          if (treeIndex[index[i].vind[j]] != -1)
+            treeIndex[index[i].vind[j]] = pos;
+        }
+        index[i].vind.clear();
+        index[i].freeIndex(index[i]);
+      }
+      index[pos].vind.push_back(idx);
+      index[pos].buildIndex();
+      pointCount++;
+    }
+  }
+
+  /** Remove a point from the set (Lazy Deletion) */
+  void removePoint(size_t idx) {
+    if (idx >= pointCount)
+      return;
+    treeIndex[idx] = -1;
+  }
+
+  /**
+   * Find set of nearest neighbors to vec[0:dim-1]. Their indices are stored
+   * inside the result object.
+   *
+   * Params:
+   *     result = the result object in which the indices of the
+   * nearest-neighbors are stored vec = the vector for which to search the
+   * nearest neighbors
+   *
+   * \tparam RESULTSET Should be any ResultSet<DistanceType>
+   * \return  True if the requested neighbors could be found.
+   * \sa knnSearch, radiusSearch
+   */
+  template <typename RESULTSET>
+  bool findNeighbors(RESULTSET &result, const ElementType *vec,
+                     const SearchParams &searchParams) const {
+    for (size_t i = 0; i < treeCount; i++) {
+      index[i].findNeighbors(result, &vec[0], searchParams);
+    }
+    return result.full();
+  }
+};
+
+/** An L2-metric KD-tree adaptor for working with data directly stored in an
+ * Eigen Matrix, without duplicating the data storage. You can select whether a 
+ * row or column in the matrix represents a point in the state space.
+ *
+ *  Example of usage:
+ * \code
+ * 	Eigen::Matrix<num_t,Dynamic,Dynamic>  mat;
+ * 	// Fill out "mat"...
+ *
+ * 	typedef KDTreeEigenMatrixAdaptor< Eigen::Matrix<num_t,Dynamic,Dynamic> >
+ * my_kd_tree_t; const int max_leaf = 10; my_kd_tree_t   mat_index(mat, max_leaf
+ * ); mat_index.index->buildIndex(); mat_index.index->... \endcode
+ *
+ *  \tparam DIM If set to >0, it specifies a compile-time fixed dimensionality
+ * for the points in the data set, allowing more compiler optimizations. \tparam
+ * Distance The distance metric to use: nanoflann::metric_L1,
+ * nanoflann::metric_L2, nanoflann::metric_L2_Simple, etc. \tparam row_major 
+ * If set to true the rows of the matrix are used as the points, if set to false
+ * the columns of the matrix are used as the points.
+ */
+template <class MatrixType, int DIM = -1, class Distance = nanoflann::metric_L2,
+	  bool row_major = true>
+struct KDTreeEigenMatrixAdaptor {
+  typedef KDTreeEigenMatrixAdaptor<MatrixType, DIM, Distance, row_major> self_t;
+  typedef typename MatrixType::Scalar num_t;
+  typedef typename MatrixType::Index IndexType;
+  typedef
+      typename Distance::template traits<num_t, self_t>::distance_t metric_t;
+  typedef KDTreeSingleIndexAdaptor<metric_t, self_t,
+                                   MatrixType::ColsAtCompileTime, IndexType>
+      index_t;
+
+  index_t *index; //! The kd-tree index for the user to call its methods as
+                  //! usual with any other FLANN index.
+
+  /// Constructor: takes a const ref to the matrix object with the data points
+  KDTreeEigenMatrixAdaptor(const size_t dimensionality,
+                           const std::reference_wrapper<const MatrixType> &mat,
+                           const int leaf_max_size = 10)
+      : m_data_matrix(mat) {
+    const auto dims = row_major ? mat.get().cols() : mat.get().rows();
+    if (size_t(dims) != dimensionality)
+      throw std::runtime_error(
+          "Error: 'dimensionality' must match column count in data matrix");
+    if (DIM > 0 && int(dims) != DIM)
+      throw std::runtime_error(
+          "Data set dimensionality does not match the 'DIM' template argument");
+    index =
+        new index_t(static_cast<int>(dims), *this /* adaptor */,
+                    nanoflann::KDTreeSingleIndexAdaptorParams(leaf_max_size));
+    index->buildIndex();
+  }
+
+public:
+  /** Deleted copy constructor */
+  KDTreeEigenMatrixAdaptor(const self_t &) = delete;
+
+  ~KDTreeEigenMatrixAdaptor() { delete index; }
+
+  const std::reference_wrapper<const MatrixType> m_data_matrix;
+
+  /** Query for the \a num_closest closest points to a given point (entered as
+   * query_point[0:dim-1]). Note that this is a short-cut method for
+   * index->findNeighbors(). The user can also call index->... methods as
+   * desired. \note nChecks_IGNORED is ignored but kept for compatibility with
+   * the original FLANN interface.
+   */
+  inline void query(const num_t *query_point, const size_t num_closest,
+                    IndexType *out_indices, num_t *out_distances_sq,
+                    const int /* nChecks_IGNORED */ = 10) const {
+    nanoflann::KNNResultSet<num_t, IndexType> resultSet(num_closest);
+    resultSet.init(out_indices, out_distances_sq);
+    index->findNeighbors(resultSet, query_point, nanoflann::SearchParams());
+  }
+
+  /** @name Interface expected by KDTreeSingleIndexAdaptor
+   * @{ */
+
+  const self_t &derived() const { return *this; }
+  self_t &derived() { return *this; }
+
+  // Must return the number of data points
+  inline size_t kdtree_get_point_count() const {
+    if(row_major)
+      return m_data_matrix.get().rows();
+    else
+      return m_data_matrix.get().cols();
+  }
+
+  // Returns the dim'th component of the idx'th point in the class:
+  inline num_t kdtree_get_pt(const IndexType idx, size_t dim) const {
+    if(row_major)
+      return m_data_matrix.get().coeff(idx, IndexType(dim));
+    else
+      return m_data_matrix.get().coeff(IndexType(dim), idx);
+  }
+
+  // Optional bounding-box computation: return false to default to a standard
+  // bbox computation loop.
+  //   Return true if the BBOX was already computed by the class and returned in
+  //   "bb" so it can be avoided to redo it again. Look at bb.size() to find out
+  //   the expected dimensionality (e.g. 2 or 3 for point clouds)
+  template <class BBOX> bool kdtree_get_bbox(BBOX & /*bb*/) const {
+    return false;
+  }
+
+  /** @} */
+
+}; // end of KDTreeEigenMatrixAdaptor
+   /** @} */
+
+/** @} */ // end of grouping
+} // namespace nanoflann
+
+#endif /* NANOFLANN_HPP_ */
\ No newline at end of file
diff --git a/planning/r3_plan/include/r3_plan/node.h b/planning/r3_plan/include/r3_plan/node.h
new file mode 100755
index 0000000..050ddb7
--- /dev/null
+++ b/planning/r3_plan/include/r3_plan/node.h
@@ -0,0 +1,80 @@
+/*  
+The MIT License
+
+Copyright (c) 2020-2022 Hongkai Ye
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+#ifndef _NODE_H_
+#define _NODE_H_
+
+#include <iostream>
+#include <ros/ros.h>
+#include <ros/console.h>
+#include <Eigen/Eigen>
+#include "backward.hpp"
+
+#define inf 1 >> 20
+struct GridNode;
+typedef GridNode *GridNodePtr;
+
+struct GridNode
+{
+	enum enum_state
+	{
+		OPENSET = 1,
+		CLOSEDSET = 2,
+		UNDEFINED = 3
+	};
+
+	int rounds{0}; // Distinguish every call
+	enum enum_state state
+	{
+		UNDEFINED
+	};
+	Eigen::Vector3i index;
+
+	double gScore{inf}, fScore{inf};
+	GridNodePtr cameFrom{NULL};
+};
+
+class NodeComparator
+{
+public:
+	bool operator()(GridNodePtr node1, GridNodePtr node2)
+	{
+		return node1->fScore > node2->fScore;
+	}
+};
+
+struct TreeNode
+{
+	EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+	TreeNode() : parent(NULL), cost_from_start(DBL_MAX), cost_from_parent(0.0){};
+	TreeNode *parent;
+	Eigen::Vector3d x;
+	double cost_from_start;
+	double cost_from_parent;
+	std::list<TreeNode *> children;
+};
+typedef TreeNode *RRTNode3DPtr;
+typedef vector<RRTNode3DPtr, Eigen::aligned_allocator<RRTNode3DPtr>> RRTNode3DPtrVector;
+typedef vector<TreeNode, Eigen::aligned_allocator<TreeNode>> RRTNode3DVector;
+
+#endif
diff --git a/planning/r3_plan/include/r3_plan/r3_planner.h b/planning/r3_plan/include/r3_plan/r3_planner.h
new file mode 100755
index 0000000..406a91c
--- /dev/null
+++ b/planning/r3_plan/include/r3_plan/r3_planner.h
@@ -0,0 +1,179 @@
+/*  
+The MIT License
+
+Copyright (c) 2020-2022 Hongkai Ye
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+#ifndef R3PLANNER_H
+#define R3PLANNER_H
+
+#include "occ_grid/pos_checker.h"
+#include "nanoflann.hpp"
+#include <memory>
+
+#include "sampler/bias_sampler.h"
+#include <ros/ros.h>
+
+namespace tgk_planner
+{
+  struct R3Node
+  {
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    R3Node()
+    {
+      g_value = DBL_MAX;
+      f_value = DBL_MAX;
+      parent = nullptr;
+    };
+    R3Node(const Eigen::Vector3d &p) : pos(p)
+    {
+      g_value = DBL_MAX;
+      f_value = DBL_MAX;
+      parent = nullptr;
+    };
+    Eigen::Vector3d pos;
+    size_t id;
+    double f_value; //cost_to_come + cost_to_go
+    double g_value; //cost_to_come
+    R3Node *parent;
+    std::vector<std::pair<size_t, double>> neighbour_idx_dist;
+  };
+
+  struct KDTreeGraph
+  {
+    std::vector<R3Node> vertices;
+
+    // Must return the number of data points
+    inline size_t kdtree_get_point_count() const { return vertices.size(); }
+
+    // Returns the dim'th component of the idx'th point in the class:
+    // Since this is inlined and the "dim" argument is typically an immediate value, the
+    //  "if/else's" are actually solved at compile time.
+    inline double kdtree_get_pt(const size_t idx, const size_t dim) const
+    {
+      if (dim == 0)
+        return vertices[idx].pos.x();
+      else if (dim == 1)
+        return vertices[idx].pos.y();
+      else
+        return vertices[idx].pos.z();
+    }
+
+    // Optional bounding-box computation: return false to default to a standard bbox computation loop.
+    //   Return true if the BBOX was already computed by the class and returned in "bb" so it can be avoided to redo it again.
+    //   Look at bb.size() to find out the expected dimensionality (e.g. 2 or 3 for point clouds)
+    template <class BBOX>
+    bool kdtree_get_bbox(BBOX & /* bb */) const { return false; }
+  };
+
+  typedef nanoflann::KDTreeSingleIndexAdaptor<
+      nanoflann::L2_Simple_Adaptor<double, KDTreeGraph>,
+      KDTreeGraph,
+      3 /* dim */
+      >
+      my_kd_tree_t;
+
+  class R3NodeComparator
+  {
+  public:
+    bool operator()(R3Node *node1, R3Node *node2)
+    {
+      return node1->f_value > node2->f_value;
+    }
+  };
+
+  class R3Planner
+  {
+  public:
+    R3Planner();
+    R3Planner(const ros::NodeHandle &nh, PosChecker::Ptr mapPtr) : nh_(nh), pos_checker_ptr_(mapPtr), sampler_(nh)
+    {
+      sampler_.setPosChecker(pos_checker_ptr_);
+      nh_.param("r3/sampling_space_inflate", sampling_space_inflate_, -1.0);
+      nh_.param("r3/ground_height", ground_height_, -1.0);
+      nh_.param("r3/ceiling_height", ceiling_height_, -1.0);
+      nh_.param("r3/search_time_per_meter", search_time_per_meter_, -1.0);
+      nh_.param("r3/lattice_step", lattice_step_, -1.0);
+      nh_.param("r3/use_ompl", use_ompl_, false);
+      ROS_WARN_STREAM("[r3] param: sampling_space_inflate: " << sampling_space_inflate_);
+      ROS_WARN_STREAM("[r3] param: ground_height: " << ground_height_);
+      ROS_WARN_STREAM("[r3] param: ceiling_height: " << ceiling_height_);
+      ROS_WARN_STREAM("[r3] param: search_time_per_meter: " << search_time_per_meter_);
+      ROS_WARN_STREAM("[r3] param: lattice_step: " << lattice_step_);
+      ROS_WARN_STREAM("[r3] param: use ompl: " << use_ompl_);
+    }
+
+    bool planOnce(const Eigen::Vector3d &s, const Eigen::Vector3d &g, std::vector<Eigen::Vector3d> &p, double &cost, double &time_usage, double radius)
+    {
+      if (use_ompl_)
+        return plan(s, g, p, cost, time_usage, search_time_per_meter_);
+      else
+        return planPRM(s, g, p, cost, radius);
+    }
+
+    size_t getGraph(vector<vector<Eigen::Vector3d>> &edges)
+    {
+      edges.clear();
+      for (size_t i = 0; i < vertice_number_; ++i)
+      {
+        size_t nb_size = graph_.vertices[i].neighbour_idx_dist.size();
+        for (size_t j = 0; j < nb_size; ++j)
+        {
+          size_t nb_idx = graph_.vertices[i].neighbour_idx_dist[j].first;
+          vector<Eigen::Vector3d> edge;
+          edge.push_back(graph_.vertices[i].pos);
+          edge.push_back(graph_.vertices[nb_idx].pos);
+          edges.push_back(edge);
+        }
+      }
+      return vertice_number_;
+    }
+
+    std::vector<Eigen::Vector3d> simplifyRoute(const std::vector<Eigen::Vector3d> &route, double resolution) const;
+    BiasSampler sampler_;
+
+  private:
+    // nodehandle params
+    ros::NodeHandle nh_;
+    double sampling_space_inflate_, ground_height_, ceiling_height_;
+    double search_time_per_meter_;
+
+    // environment
+    PosChecker::Ptr pos_checker_ptr_;
+
+    // PRM variables
+    double lattice_step_;
+    size_t vertice_number_;
+    KDTreeGraph graph_;
+    size_t start_id_, goal_id_;
+
+    bool plan(const Eigen::Vector3d &s, const Eigen::Vector3d &g, std::vector<Eigen::Vector3d> &p, double &cost, double &time_usage, double timePerUnit) const;
+    bool planPRM(const Eigen::Vector3d &s, const Eigen::Vector3d &g, std::vector<Eigen::Vector3d> &p, double &cost, double radius);
+    void constructPRMGraph(double radius);
+    size_t sampling(const Eigen::Vector3d &start, const Eigen::Vector3d &goal);
+    bool searchShortestPath(std::vector<Eigen::Vector3d> &p, double &cost);
+    double getEuclideanHeuristic(const Eigen::Vector3d &s, const Eigen::Vector3d &g) const;
+    void postProcessPath(std::vector<Eigen::Vector3d> &path);
+
+    bool use_ompl_;
+  };
+
+} // namespace tgk_planner
+#endif
\ No newline at end of file
diff --git a/planning/r3_plan/include/r3_plan/rrt_star.h b/planning/r3_plan/include/r3_plan/rrt_star.h
new file mode 100755
index 0000000..4bc5436
--- /dev/null
+++ b/planning/r3_plan/include/r3_plan/rrt_star.h
@@ -0,0 +1,368 @@
+/*  
+The MIT License
+
+Copyright (c) 2020-2022 Hongkai Ye
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+#ifndef RRT_STAR_H
+#define RRT_STAR_H
+
+#include "occ_grid/pos_checker.h"
+#include "sampler/bias_sampler.h"
+#include <ros/ros.h>
+#include "node.h"
+#include "kdtree.h"
+
+namespace path_plan
+{
+  class RRTStar
+  {
+  public:
+    RRTStar();
+    RRTStar(const ros::NodeHandle &nh, const tgk_planner::PosChecker::Ptr &mapPtr) : nh_(nh), pos_checker_ptr_(mapPtr), sampler_(nh)
+    {
+      sampler_.setPosChecker(pos_checker_ptr_);
+
+      nh_.param("rrt/steer_length", steer_length_, 0.0);
+      nh_.param("rrt/search_radius", search_radius_, 0.0);
+      nh_.param("rrt/search_time", search_time_, 0.0);
+      nh_.param("rrt/max_tree_node_nums", max_tree_node_nums_, 0);
+      ROS_WARN_STREAM("[rrt] param: steer_length: " << steer_length_);
+      ROS_WARN_STREAM("[rrt] param: search_radius: " << search_radius_);
+      ROS_WARN_STREAM("[rrt] param: search_time: " << search_time_);
+      ROS_WARN_STREAM("[rrt] param: max_tree_node_nums: " << max_tree_node_nums_);
+
+      valid_tree_node_nums_ = 0;
+      nodes_pool_.resize(max_tree_node_nums_);
+      for (int i = 0; i < max_tree_node_nums_; ++i)
+      {
+        nodes_pool_[i] = new TreeNode;
+      }
+    }
+
+    bool plan(const Eigen::Vector3d &s, const Eigen::Vector3d &g)
+    {
+      reset();
+      if (!pos_checker_ptr_->validatePosSurround(s))
+      {
+        ROS_ERROR("[rrt]: Start pos collide or out of bound");
+        return false;
+      }
+      if (!pos_checker_ptr_->validatePosSurround(g))
+      {
+        ROS_ERROR("[rrt]: Goal pos collide or out of bound");
+        return false;
+      }
+      /* construct start and goal nodes */
+      start_node_ = nodes_pool_[1];
+      start_node_->x = s;
+      start_node_->cost_from_start = 0.0;
+      goal_node_ = nodes_pool_[0];
+      goal_node_->x = g;
+      goal_node_->cost_from_start = DBL_MAX; // important
+      valid_tree_node_nums_ = 2;             // put start and goal in tree
+
+      ROS_INFO("[rrt]: RRT starts planning a path");
+      return rrt(s, g);
+    }
+
+    vector<Eigen::Vector3d> getPath()
+    {
+      return final_path_;
+    }
+
+    vector<vector<Eigen::Vector3d>> getAllPaths()
+    {
+      return path_list_;
+    }
+
+    vector<pair<double, double>> getSolutions()
+    {
+      return solution_cost_time_pair_list_;
+    }
+
+    tgk_planner::BiasSampler sampler_;
+
+  private:
+    // nodehandle params
+    ros::NodeHandle nh_;
+
+    double steer_length_;
+    double search_radius_;
+    double search_time_;
+    int max_tree_node_nums_;
+    int valid_tree_node_nums_;
+    double first_path_use_time_;
+    double final_path_use_time_;
+
+    std::vector<TreeNode *> nodes_pool_;
+    TreeNode *start_node_;
+    TreeNode *goal_node_;
+    vector<Eigen::Vector3d> final_path_;
+    vector<vector<Eigen::Vector3d>> path_list_;
+    vector<pair<double, double>> solution_cost_time_pair_list_;
+
+    // environment
+    tgk_planner::PosChecker::Ptr pos_checker_ptr_;
+
+    void reset()
+    {
+      final_path_.clear();
+      path_list_.clear();
+      solution_cost_time_pair_list_.clear();
+      for (int i = 0; i < valid_tree_node_nums_; i++)
+      {
+        nodes_pool_[i]->parent = nullptr;
+        nodes_pool_[i]->children.clear();
+      }
+      valid_tree_node_nums_ = 0;
+    }
+
+    double calDist(const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)
+    {
+      return (p1 - p2).norm();
+    }
+
+    Eigen::Vector3d steer(const Eigen::Vector3d &nearest_node_p, const Eigen::Vector3d &rand_node_p, double len)
+    {
+      Eigen::Vector3d diff_vec = rand_node_p - nearest_node_p;
+      double dist = diff_vec.norm();
+      if (diff_vec.norm() <= len)
+        return rand_node_p;
+      else
+        return nearest_node_p + diff_vec * len / dist;
+    }
+
+    RRTNode3DPtr addTreeNode(RRTNode3DPtr &parent, const Eigen::Vector3d &state,
+                             const double &cost_from_start, const double &cost_from_parent)
+    {
+      RRTNode3DPtr new_node_ptr = nodes_pool_[valid_tree_node_nums_];
+      valid_tree_node_nums_++;
+      new_node_ptr->parent = parent;
+      parent->children.push_back(new_node_ptr);
+      new_node_ptr->x = state;
+      new_node_ptr->cost_from_start = cost_from_start;
+      new_node_ptr->cost_from_parent = cost_from_parent;
+      return new_node_ptr;
+    }
+
+    void changeNodeParent(RRTNode3DPtr &node, RRTNode3DPtr &parent, const double &cost_from_parent)
+    {
+      if (node->parent)
+        node->parent->children.remove(node); //DON'T FORGET THIS, remove it form its parent's children list
+      node->parent = parent;
+      node->cost_from_parent = cost_from_parent;
+      node->cost_from_start = parent->cost_from_start + cost_from_parent;
+      parent->children.push_back(node);
+
+      // for all its descedants, change the cost_from_start and tau_from_start;
+      RRTNode3DPtr descendant(node);
+      std::queue<RRTNode3DPtr> Q;
+      Q.push(descendant);
+      while (!Q.empty())
+      {
+        descendant = Q.front();
+        Q.pop();
+        for (const auto &leafptr : descendant->children)
+        {
+          leafptr->cost_from_start = leafptr->cost_from_parent + descendant->cost_from_start;
+          Q.push(leafptr);
+        }
+      }
+    }
+
+    void fillPath(const RRTNode3DPtr &n, vector<Eigen::Vector3d> &path)
+    {
+      path.clear();
+      RRTNode3DPtr node_ptr = n;
+      while (node_ptr->parent)
+      {
+        path.push_back(node_ptr->x);
+        node_ptr = node_ptr->parent;
+      }
+      path.push_back(start_node_->x);
+      std::reverse(std::begin(path), std::end(path));
+    }
+
+    bool rrt(const Eigen::Vector3d &s, const Eigen::Vector3d &g)
+    {
+      ros::Time rrt_start_time = ros::Time::now();
+      bool goal_found = false;
+
+      /* kd tree init */
+      kdtree *kd_tree = kd_create(3);
+      //Add start and goal nodes to kd tree
+      kd_insert3(kd_tree, start_node_->x[0], start_node_->x[1], start_node_->x[2], start_node_);
+
+      /* main loop */
+      int idx = 0;
+      for (idx = 0; (ros::Time::now() - rrt_start_time).toSec() < search_time_ && valid_tree_node_nums_ < max_tree_node_nums_; ++idx)
+      {
+        /* biased random sampling */
+        Eigen::Vector3d x_rand;
+        sampler_.samplingOnce(x_rand);
+        if (!pos_checker_ptr_->validatePosSurround(x_rand))
+        {
+          continue;
+        }
+
+        struct kdres *p_nearest = kd_nearest3(kd_tree, x_rand[0], x_rand[1], x_rand[2]);
+        if (p_nearest == nullptr)
+        {
+          ROS_ERROR("nearest query error");
+          continue;
+        }
+        RRTNode3DPtr nearest_node = (RRTNode3DPtr)kd_res_item_data(p_nearest);
+        kd_res_free(p_nearest);
+
+        Eigen::Vector3d x_new = steer(nearest_node->x, x_rand, steer_length_);
+        if (!pos_checker_ptr_->checkRayValid(nearest_node->x, x_new))
+        {
+          continue;
+        }
+
+        /* 1. find parent */
+        /* kd_tree bounds search for parent */
+        vector<RRTNode3DPtr> nearing_nodes;
+        struct kdres *nbr_set;
+        nbr_set = kd_nearest_range3(kd_tree, x_new[0], x_new[1], x_new[2], search_radius_);
+        if (nbr_set == nullptr)
+        {
+          ROS_ERROR("bkwd kd range query error");
+          break;
+        }
+        while (!kd_res_end(nbr_set))
+        {
+          RRTNode3DPtr curr_node = (RRTNode3DPtr)kd_res_item_data(nbr_set);
+          nearing_nodes.push_back(curr_node);
+          // store range query result so that we dont need to query again for rewire;
+          kd_res_next(nbr_set); //go to next in kd tree range query result
+        }
+        kd_res_free(nbr_set); //reset kd tree range query
+
+        /* choose parent from kd tree range query result*/
+        double dist2nearest = calDist(nearest_node->x, x_new);
+        double min_dist_from_start(nearest_node->cost_from_start + dist2nearest);
+        double cost_from_p(dist2nearest);
+        RRTNode3DPtr min_node(nearest_node); //set the nearest_node as the default parent
+        for (const auto &curr_node : nearing_nodes)
+        {
+          if (curr_node == nearest_node) // the nearest_node already calculated and checked collision free
+          {
+            continue;
+          }
+          bool connected = pos_checker_ptr_->checkRayValid(curr_node->x, x_new);
+          if (connected)
+          {
+            double curr_dist = calDist(curr_node->x, x_new);
+            double curr_dist_from_start = curr_node->cost_from_start + curr_dist;
+            if (min_dist_from_start > curr_dist_from_start)
+            {
+              cost_from_p = curr_dist;
+              min_dist_from_start = curr_node->cost_from_start + cost_from_p;
+              min_node = curr_node;
+            }
+          }
+        }
+
+        /* parent found within radius, then add a node to rrt and kd_tree */
+        //sample rejection
+        double dist_to_goal = calDist(x_new, goal_node_->x);
+        if (min_dist_from_start + dist_to_goal >= goal_node_->cost_from_start)
+        {
+          // ROS_WARN("parent found but sample rejected");
+          continue;
+        }
+        /* 1.1 add the randomly sampled node to rrt_tree */
+        RRTNode3DPtr new_node(nullptr);
+        new_node = addTreeNode(min_node, x_new, min_dist_from_start, cost_from_p);
+
+        /* 1.2 add the randomly sampled node to kd_tree */
+        kd_insert3(kd_tree, x_new[0], x_new[1], x_new[2], new_node);
+        // end of find parent
+
+        /* 2. try to connect to goal if possible */
+        if (dist_to_goal <= search_radius_)
+        {
+          bool is_connected2goal = pos_checker_ptr_->checkRayValid(x_new, goal_node_->x);
+          if (is_connected2goal && goal_node_->cost_from_start > dist_to_goal + new_node->cost_from_start) //a better path found
+          {
+            if (!goal_found)
+            {
+              first_path_use_time_ = (ros::Time::now() - rrt_start_time).toSec();
+            }
+            goal_found = true;
+            changeNodeParent(goal_node_, new_node, dist_to_goal);
+            vector<Eigen::Vector3d> curr_best_path;
+            fillPath(goal_node_, curr_best_path);
+            path_list_.emplace_back(curr_best_path);
+            solution_cost_time_pair_list_.emplace_back(goal_node_->cost_from_start, (ros::Time::now() - rrt_start_time).toSec());
+          }
+        }
+
+        /* 3.rewire */
+        for (auto &curr_node : nearing_nodes)
+        {
+          double dist_to_potential_child = calDist(new_node->x, curr_node->x);
+          bool not_consistent = new_node->cost_from_start + dist_to_potential_child < curr_node->cost_from_start ? 1 : 0;
+          if (not_consistent)
+          {
+            bool connected = pos_checker_ptr_->checkRayValid(new_node->x, curr_node->x);
+            // If we can get to a node via the sampled_node faster than via it's existing parent then change the parent
+            if (connected)
+            {
+              double best_cost_before_rewire = goal_node_->cost_from_start;
+              RRTNode3DPtr old_parent(curr_node->parent);
+              changeNodeParent(curr_node, new_node, dist_to_potential_child);
+              if (best_cost_before_rewire > goal_node_->cost_from_start)
+              {
+                vector<Eigen::Vector3d> curr_best_path;
+                fillPath(goal_node_, curr_best_path);
+                path_list_.emplace_back(curr_best_path);
+                solution_cost_time_pair_list_.emplace_back(goal_node_->cost_from_start, (ros::Time::now() - rrt_start_time).toSec());
+              }
+            }
+          }
+          /* go to the next entry */
+        }
+        /* end of rewire */
+      }
+      /* end of sample once */
+
+      if (goal_found)
+      {
+        final_path_use_time_ = (ros::Time::now() - rrt_start_time).toSec();
+        fillPath(goal_node_, final_path_);
+        ROS_ERROR_STREAM("[rrt]: first_path_use_time: " << first_path_use_time_);
+      }
+      else if (valid_tree_node_nums_ == max_tree_node_nums_)
+      {
+        ROS_ERROR_STREAM("[rrt]: NOT CONNECTED TO GOAL after " << max_tree_node_nums_ << " nodes added to rrt-tree");
+      }
+      else
+      {
+        ROS_ERROR_STREAM("[rrt]: NOT CONNECTED TO GOAL after " << (ros::Time::now() - rrt_start_time).toSec() << " seconds");
+      }
+      return goal_found;
+    }
+  };
+
+} // namespace path_plan
+#endif
\ No newline at end of file
diff --git a/planning/r3_plan/package.xml b/planning/r3_plan/package.xml
new file mode 100755
index 0000000..e00bd8a
--- /dev/null
+++ b/planning/r3_plan/package.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>r3_plan</name>
+  <version>0.0.0</version>
+  <description>The r3_plan package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="kai@todo.todo">kai</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/r3_plan</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>occ_grid</build_depend>
+  <build_depend>poly_traj_utils</build_depend>
+  <build_depend>sampler</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>occ_grid</exec_depend>
+  <exec_depend>poly_traj_utils</exec_depend>
+  <exec_depend>sampler</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/planning/r3_plan/src/a_star_search.cpp b/planning/r3_plan/src/a_star_search.cpp
new file mode 100755
index 0000000..4a37c05
--- /dev/null
+++ b/planning/r3_plan/src/a_star_search.cpp
@@ -0,0 +1,269 @@
+#include "r3_plan/a_star_search.h"
+
+using std::vector;
+using std::min;
+using std::max;
+using Eigen::Vector3d;
+using Eigen::Vector3i;
+
+AstarPathFinder::~AstarPathFinder()
+{
+    for (int i = 0; i < POOL_SIZE_(0); i++)
+    {
+        for (int j = 0; j < POOL_SIZE_(1); j++)
+        {
+            for (int k = 0; k < POOL_SIZE_(2); k++)
+            {
+                // cout << "destory GridNodeMap_[i][j][k]" << endl;
+                delete GridNodeMap_[i][j][k];
+            }
+            // cout << "destory GridNodeMap_["<<i<<"]["<<j<<"]" << endl;
+            delete[] GridNodeMap_[i][j];
+        }
+        // cout << "destory GridNodeMap_["<<i<<"]" << endl;
+        delete[] GridNodeMap_[i];
+    }
+    // cout << "destory GridNodeMap_" << endl;
+    delete[] GridNodeMap_;
+}
+
+AstarPathFinder::AstarPathFinder()
+{
+}
+
+void AstarPathFinder::initGridMap(const tgk_planner::PosChecker::Ptr &pos_checker, const Eigen::Vector3i pool_size)
+{
+    POOL_SIZE_ = pool_size;
+    CENTER_IDX_ = pool_size / 2;
+
+    GridNodeMap_ = new GridNodePtr **[POOL_SIZE_(0)];
+    for (int i = 0; i < POOL_SIZE_(0); i++)
+    {
+        GridNodeMap_[i] = new GridNodePtr *[POOL_SIZE_(1)];
+        for (int j = 0; j < POOL_SIZE_(1); j++)
+        {
+            GridNodeMap_[i][j] = new GridNodePtr[POOL_SIZE_(2)];
+            for (int k = 0; k < POOL_SIZE_(2); k++)
+            {
+                GridNodeMap_[i][j][k] = new GridNode;
+            }
+        }
+    }
+
+    pos_checker_ptr_ = pos_checker;
+}
+
+double AstarPathFinder::getDiagHeu(GridNodePtr node1, GridNodePtr node2)
+{
+    double dx = abs(node1->index(0) - node2->index(0));
+    double dy = abs(node1->index(1) - node2->index(1));
+    double dz = abs(node1->index(2) - node2->index(2));
+
+    double h = 0.0;
+    int diag = min(min(dx, dy), dz);
+    dx -= diag;
+    dy -= diag;
+    dz -= diag;
+
+    if (dx == 0)
+    {
+        h = 1.0 * sqrt(3.0) * diag + sqrt(2.0) * min(dy, dz) + 1.0 * abs(dy - dz);
+    }
+    if (dy == 0)
+    {
+        h = 1.0 * sqrt(3.0) * diag + sqrt(2.0) * min(dx, dz) + 1.0 * abs(dx - dz);
+    }
+    if (dz == 0)
+    {
+        h = 1.0 * sqrt(3.0) * diag + sqrt(2.0) * min(dx, dy) + 1.0 * abs(dx - dy);
+    }
+    return h;
+}
+
+double AstarPathFinder::getManhHeu(GridNodePtr node1, GridNodePtr node2)
+{
+    double dx = abs(node1->index(0) - node2->index(0));
+    double dy = abs(node1->index(1) - node2->index(1));
+    double dz = abs(node1->index(2) - node2->index(2));
+
+    return dx + dy + dz;
+}
+
+double AstarPathFinder::getEuclHeu(GridNodePtr node1, GridNodePtr node2)
+{
+    return (node2->index - node1->index).norm();
+}
+
+vector<GridNodePtr> AstarPathFinder::retrievePath(GridNodePtr current)
+{
+    vector<GridNodePtr> path;
+    path.push_back(current);
+
+    while (current->cameFrom != NULL)
+    {
+        current = current->cameFrom;
+        path.push_back(current);
+    }
+
+    return path;
+}
+
+bool AstarPathFinder::ConvertToIndexAndAdjustStartEndPoints(Vector3d start_pt, Vector3d end_pt, Vector3i &start_idx, Vector3i &end_idx)
+{
+    if (!Coord2Index(start_pt, start_idx) || !Coord2Index(end_pt, end_idx))
+        return false;
+
+    if (checkOccupancy(Index2Coord(start_idx)))
+    {
+        //ROS_WARN("Start point is insdide an obstacle.");
+        do
+        {
+            start_pt = (start_pt - end_pt).normalized() * step_size_ + start_pt;
+            if (!Coord2Index(start_pt, start_idx))
+                return false;
+        } while (checkOccupancy(Index2Coord(start_idx)));
+    }
+
+    if (checkOccupancy(Index2Coord(end_idx)))
+    {
+        //ROS_WARN("End point is insdide an obstacle.");
+        do
+        {
+            end_pt = (end_pt - start_pt).normalized() * step_size_ + end_pt;
+            if (!Coord2Index(end_pt, end_idx))
+                return false;
+        } while (checkOccupancy(Index2Coord(end_idx)));
+    }
+
+    return true;
+}
+
+bool AstarPathFinder::AstarSearch(const double step_size, Vector3d start_pt, Vector3d end_pt)
+{
+    ros::Time time_1 = ros::Time::now();
+    ++rounds_;
+
+    step_size_ = step_size;
+    inv_step_size_ = 1 / step_size;
+    center_ = (start_pt + end_pt) / 2;
+
+    Vector3i start_idx(0, 0, 0), end_idx(0, 0, 0);
+    pos_checker_ptr_->posToIndex(start_pt, start_idx);
+    pos_checker_ptr_->posToIndex(end_pt, end_idx);
+
+    GridNodePtr startPtr = GridNodeMap_[start_idx(0)][start_idx(1)][start_idx(2)];
+    GridNodePtr endPtr = GridNodeMap_[end_idx(0)][end_idx(1)][end_idx(2)];
+
+    std::priority_queue<GridNodePtr, std::vector<GridNodePtr>, NodeComparator> empty;
+    openSet_.swap(empty);
+
+    GridNodePtr neighborPtr = NULL;
+    GridNodePtr current = NULL;
+
+    startPtr->index = start_idx;
+    startPtr->rounds = rounds_;
+    startPtr->gScore = 0;
+    startPtr->fScore = getHeu(startPtr, endPtr);
+    startPtr->state = GridNode::OPENSET; //put start node in open set
+    startPtr->cameFrom = NULL;
+    openSet_.push(startPtr); //put start in open set
+
+    endPtr->index = end_idx;
+
+    double tentative_gScore;
+
+    int num_iter = 0;
+    while (!openSet_.empty())
+    {
+        num_iter++;
+        current = openSet_.top();
+        openSet_.pop();
+
+        // if ( num_iter < 10000 )
+        //     cout << "current=" << current->index.transpose() << endl;
+
+        if (current->index(0) == endPtr->index(0) && current->index(1) == endPtr->index(1) && current->index(2) == endPtr->index(2))
+        {
+            // ros::Time time_2 = ros::Time::now();
+            // printf("\033[34mA star iter:%d, time:%.3f\033[0m\n",num_iter, (time_2 - time_1).toSec()*1000);
+            gridPath_ = retrievePath(current);
+            return true;
+        }
+        current->state = GridNode::CLOSEDSET; //move current node from open set to closed set.
+
+        for (int dx = -1; dx <= 1; dx++)
+            for (int dy = -1; dy <= 1; dy++)
+                for (int dz = -1; dz <= 1; dz++)
+                {
+                    if (dx == 0 && dy == 0 && dz == 0)
+                        continue;
+
+                    Vector3i neighborIdx;
+                    neighborIdx(0) = (current->index)(0) + dx;
+                    neighborIdx(1) = (current->index)(1) + dy;
+                    neighborIdx(2) = (current->index)(2) + dz;
+
+                    if (neighborIdx(0) < 1 || neighborIdx(0) >= POOL_SIZE_(0) - 1 || neighborIdx(1) < 1 || neighborIdx(1) >= POOL_SIZE_(1) - 1 || neighborIdx(2) < 1 || neighborIdx(2) >= POOL_SIZE_(2) - 1)
+                    {
+                        continue;
+                    }
+
+                    neighborPtr = GridNodeMap_[neighborIdx(0)][neighborIdx(1)][neighborIdx(2)];
+                    neighborPtr->index = neighborIdx;
+
+                    bool flag_explored = neighborPtr->rounds == rounds_;
+
+                    if (flag_explored && neighborPtr->state == GridNode::CLOSEDSET)
+                    {
+                        continue; //in closed set.
+                    }
+
+                    neighborPtr->rounds = rounds_;
+                    if (!pos_checker_ptr_->validatePosSurround(neighborPtr->index))
+                    {
+                        continue;
+                    }
+
+                    double static_cost = sqrt(dx * dx + dy * dy + dz * dz);
+                    tentative_gScore = current->gScore + static_cost;
+
+                    if (!flag_explored)
+                    {
+                        //discover a new node
+                        neighborPtr->state = GridNode::OPENSET;
+                        neighborPtr->cameFrom = current;
+                        neighborPtr->gScore = tentative_gScore;
+                        neighborPtr->fScore = tentative_gScore + getHeu(neighborPtr, endPtr);
+                        openSet_.push(neighborPtr); //put neighbor in open set and record it.
+                    }
+                    else if (tentative_gScore < neighborPtr->gScore)
+                    { //in open set and need update
+                        neighborPtr->cameFrom = current;
+                        neighborPtr->gScore = tentative_gScore;
+                        neighborPtr->fScore = tentative_gScore + getHeu(neighborPtr, endPtr);
+                    }
+                }
+        ros::Time time_2 = ros::Time::now();
+        if ((time_2 - time_1).toSec() > 0.001)
+        {
+            // ROS_WARN("Failed in A star path searching !!! 1 ms time limit exceeded.");
+            return false;
+        }
+    }
+    ros::Time time_2 = ros::Time::now();
+    // ROS_WARN("A star fail. Time consume in A star path finding is %.3fs, iter=%d", (time_2 - time_1).toSec(), num_iter);
+    return false;
+}
+
+vector<Vector3d> AstarPathFinder::getPath()
+{
+    vector<Vector3d> path;
+    for (auto ptr : gridPath_)
+    {
+      Vector3d pos;
+      pos_checker_ptr_->indexToPos(ptr->index, pos);
+      path.push_back(pos);
+    }
+    reverse(path.begin(), path.end());
+    return path;
+}
\ No newline at end of file
diff --git a/planning/r3_plan/src/kdtree.c b/planning/r3_plan/src/kdtree.c
new file mode 100755
index 0000000..aa03c59
--- /dev/null
+++ b/planning/r3_plan/src/kdtree.c
@@ -0,0 +1,838 @@
+/*
+This file is part of ``kdtree'', a library for working with kd-trees.
+Copyright (C) 2007-2011 John Tsiombikas <nuclear@member.fsf.org>
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+3. The name of the author may not be used to endorse or promote products
+   derived from this software without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
+EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+OF SUCH DAMAGE.
+*/
+/* single nearest neighbor search written by Tamas Nepusz <tamas@cs.rhul.ac.uk> */
+
+#ifdef HAVE_CONFIG_H
+#include <config.h>
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include "kino_plan/kdtree.h"
+
+#if defined(WIN32) || defined(__WIN32__)
+#include <malloc.h>
+#endif
+
+#ifdef USE_LIST_NODE_ALLOCATOR
+
+#ifndef NO_PTHREADS
+#include <pthread.h>
+#else
+
+#ifndef I_WANT_THREAD_BUGS
+#error "You are compiling with the fast list node allocator, with pthreads disabled! This WILL break if used from multiple threads."
+#endif  /* I want thread bugs */
+
+#endif  /* pthread support */
+#endif  /* use list node allocator */
+
+struct kdhyperrect {
+    int dim;
+    double *min, *max;              /* minimum/maximum coords */
+};
+
+struct kdnode {
+    double *pos;
+    int dir;
+    void *data;
+
+    struct kdnode *left, *right;    /* negative/positive side */
+};
+
+struct res_node {
+    struct kdnode *item;
+    double dist_sq;
+    struct res_node *next;
+};
+
+struct kdtree {
+    int dim;
+    struct kdnode *root;
+    struct kdhyperrect *rect;
+    void (*destr)(void*);
+};
+
+struct kdres {
+    struct kdtree *tree;
+    struct res_node *rlist, *riter;
+    int size;
+};
+
+#define SQ(x)           ((x) * (x))
+
+
+static void clear_rec(struct kdnode *node, void (*destr)(void*));
+static int insert_rec(struct kdnode **node, const double *pos, void *data, int dir, int dim);
+static int rlist_insert(struct res_node *list, struct kdnode *item, double dist_sq);
+static void clear_results(struct kdres *set);
+
+static struct kdhyperrect* hyperrect_create(int dim, const double *min, const double *max);
+static void hyperrect_free(struct kdhyperrect *rect);
+static struct kdhyperrect* hyperrect_duplicate(const struct kdhyperrect *rect);
+static void hyperrect_extend(struct kdhyperrect *rect, const double *pos);
+static double hyperrect_dist_sq(struct kdhyperrect *rect, const double *pos);
+
+#ifdef USE_LIST_NODE_ALLOCATOR
+static struct res_node *alloc_resnode(void);
+static void free_resnode(struct res_node*);
+#else
+#define alloc_resnode()     malloc(sizeof(struct res_node))
+#define free_resnode(n)     free(n)
+#endif
+
+
+
+struct kdtree *kd_create(int k)
+{
+    struct kdtree *tree;
+
+    if(!(tree = malloc(sizeof *tree))) {
+        return 0;
+    }
+
+    tree->dim = k;
+    tree->root = 0;
+    tree->destr = 0;
+    tree->rect = 0;
+
+    return tree;
+}
+
+void kd_free(struct kdtree *tree)
+{
+    if(tree) {
+        kd_clear(tree);
+        free(tree);
+    }
+}
+
+static void clear_rec(struct kdnode *node, void (*destr)(void*))
+{
+    if(!node) return;
+
+    clear_rec(node->left, destr);
+    clear_rec(node->right, destr);
+    
+    if(destr) {
+        destr(node->data);
+    }
+    free(node->pos);
+    free(node);
+}
+
+void kd_clear(struct kdtree *tree)
+{
+    clear_rec(tree->root, tree->destr);
+    tree->root = 0;
+
+    if (tree->rect) {
+        hyperrect_free(tree->rect);
+        tree->rect = 0;
+    }
+}
+
+void kd_data_destructor(struct kdtree *tree, void (*destr)(void*))
+{
+    tree->destr = destr;
+}
+
+
+static int insert_rec(struct kdnode **nptr, const double *pos, void *data, int dir, int dim)
+{
+    int new_dir;
+    struct kdnode *node;
+
+    if(!*nptr) {
+        if(!(node = malloc(sizeof *node))) {
+            return -1;
+        }
+        if(!(node->pos = malloc(dim * sizeof *node->pos))) {
+            free(node);
+            return -1;
+        }
+        memcpy(node->pos, pos, dim * sizeof *node->pos);
+        node->data = data;
+        node->dir = dir;
+        node->left = node->right = 0;
+        *nptr = node;
+        return 0;
+    }
+
+    node = *nptr;
+    new_dir = (node->dir + 1) % dim;
+    if(pos[node->dir] < node->pos[node->dir]) {
+        return insert_rec(&(*nptr)->left, pos, data, new_dir, dim);
+    }
+    return insert_rec(&(*nptr)->right, pos, data, new_dir, dim);
+}
+
+int kd_insert(struct kdtree *tree, const double *pos, void *data)
+{
+    if (insert_rec(&tree->root, pos, data, 0, tree->dim)) {
+        return -1;
+    }
+
+    if (tree->rect == 0) {
+        tree->rect = hyperrect_create(tree->dim, pos, pos);
+    } else {
+        hyperrect_extend(tree->rect, pos);
+    }
+
+    return 0;
+}
+
+int kd_insertf(struct kdtree *tree, const float *pos, void *data)
+{
+    static double sbuf[16];
+    double *bptr, *buf = 0;
+    int res, dim = tree->dim;
+
+    if(dim > 16) {
+#ifndef NO_ALLOCA
+        if(dim <= 256)
+            bptr = buf = alloca(dim * sizeof *bptr);
+        else
+#endif
+            if(!(bptr = buf = malloc(dim * sizeof *bptr))) {
+                return -1;
+            }
+    } else {
+        bptr = buf = sbuf;
+    }
+
+    while(dim-- > 0) {
+        *bptr++ = *pos++;
+    }
+
+    res = kd_insert(tree, buf, data);
+#ifndef NO_ALLOCA
+    if(tree->dim > 256)
+#else
+    if(tree->dim > 16)
+#endif
+        free(buf);
+    return res;
+}
+
+int kd_insert3(struct kdtree *tree, double x, double y, double z, void *data)
+{
+    double buf[3];
+    buf[0] = x;
+    buf[1] = y;
+    buf[2] = z;
+    return kd_insert(tree, buf, data);
+}
+
+int kd_insert3f(struct kdtree *tree, float x, float y, float z, void *data)
+{
+    double buf[3];
+    buf[0] = x;
+    buf[1] = y;
+    buf[2] = z;
+    return kd_insert(tree, buf, data);
+}
+
+static int find_nearest(struct kdnode *node, const double *pos, double range, struct res_node *list, int ordered, int dim)
+{
+    double dist_sq, dx;
+    int i, ret, added_res = 0;
+
+    if(!node) return 0;
+
+    dist_sq = 0;
+    for(i=0; i<dim; i++) {
+        dist_sq += SQ(node->pos[i] - pos[i]);
+    }
+    if(dist_sq <= SQ(range)) {
+        if(rlist_insert(list, node, ordered ? dist_sq : -1.0) == -1) {
+            return -1;
+        }
+        added_res = 1;
+    }
+
+    dx = pos[node->dir] - node->pos[node->dir];
+
+    ret = find_nearest(dx <= 0.0 ? node->left : node->right, pos, range, list, ordered, dim);
+    if(ret >= 0 && fabs(dx) < range) {
+        added_res += ret;
+        ret = find_nearest(dx <= 0.0 ? node->right : node->left, pos, range, list, ordered, dim);
+    }
+    if(ret == -1) {
+        return -1;
+    }
+    added_res += ret;
+
+    return added_res;
+}
+
+#if 0
+static int find_nearest_n(struct kdnode *node, const double *pos, double range, int num, struct rheap *heap, int dim)
+{
+    double dist_sq, dx;
+    int i, ret, added_res = 0;
+
+    if(!node) return 0;
+    
+    /* if the photon is close enough, add it to the result heap */
+    dist_sq = 0;
+    for(i=0; i<dim; i++) {
+        dist_sq += SQ(node->pos[i] - pos[i]);
+    }
+    if(dist_sq <= range_sq) {
+        if(heap->size >= num) {
+            /* get furthest element */
+            struct res_node *maxelem = rheap_get_max(heap);
+
+            /* and check if the new one is closer than that */
+            if(maxelem->dist_sq > dist_sq) {
+                rheap_remove_max(heap);
+
+                if(rheap_insert(heap, node, dist_sq) == -1) {
+                    return -1;
+                }
+                added_res = 1;
+
+                range_sq = dist_sq;
+            }
+        } else {
+            if(rheap_insert(heap, node, dist_sq) == -1) {
+                return =1;
+            }
+            added_res = 1;
+        }
+    }
+
+
+    /* find signed distance from the splitting plane */
+    dx = pos[node->dir] - node->pos[node->dir];
+
+    ret = find_nearest_n(dx <= 0.0 ? node->left : node->right, pos, range, num, heap, dim);
+    if(ret >= 0 && fabs(dx) < range) {
+        added_res += ret;
+        ret = find_nearest_n(dx <= 0.0 ? node->right : node->left, pos, range, num, heap, dim);
+    }
+
+}
+#endif
+
+static void kd_nearest_i(struct kdnode *node, const double *pos, struct kdnode **result, double *result_dist_sq, struct kdhyperrect* rect)
+{
+    int dir = node->dir;
+    int i;
+    double dummy, dist_sq;
+    struct kdnode *nearer_subtree, *farther_subtree;
+    double *nearer_hyperrect_coord, *farther_hyperrect_coord;
+
+    /* Decide whether to go left or right in the tree */
+    dummy = pos[dir] - node->pos[dir];
+    if (dummy <= 0) {
+        nearer_subtree = node->left;
+        farther_subtree = node->right;
+        nearer_hyperrect_coord = rect->max + dir;
+        farther_hyperrect_coord = rect->min + dir;
+    } else {
+        nearer_subtree = node->right;
+        farther_subtree = node->left;
+        nearer_hyperrect_coord = rect->min + dir;
+        farther_hyperrect_coord = rect->max + dir;
+    }
+
+    if (nearer_subtree) {
+        /* Slice the hyperrect to get the hyperrect of the nearer subtree */
+        dummy = *nearer_hyperrect_coord;
+        *nearer_hyperrect_coord = node->pos[dir];
+        /* Recurse down into nearer subtree */
+        kd_nearest_i(nearer_subtree, pos, result, result_dist_sq, rect);
+        /* Undo the slice */
+        *nearer_hyperrect_coord = dummy;
+    }
+
+    /* Check the distance of the point at the current node, compare it
+     * with our best so far */
+    dist_sq = 0;
+    for(i=0; i < rect->dim; i++) {
+        dist_sq += SQ(node->pos[i] - pos[i]);
+    }
+    if (dist_sq < *result_dist_sq) {
+        *result = node;
+        *result_dist_sq = dist_sq;
+    }
+
+    if (farther_subtree) {
+        /* Get the hyperrect of the farther subtree */
+        dummy = *farther_hyperrect_coord;
+        *farther_hyperrect_coord = node->pos[dir];
+        /* Check if we have to recurse down by calculating the closest
+         * point of the hyperrect and see if it's closer than our
+         * minimum distance in result_dist_sq. */
+        if (hyperrect_dist_sq(rect, pos) < *result_dist_sq) {
+            /* Recurse down into farther subtree */
+            kd_nearest_i(farther_subtree, pos, result, result_dist_sq, rect);
+        }
+        /* Undo the slice on the hyperrect */
+        *farther_hyperrect_coord = dummy;
+    }
+}
+
+struct kdres *kd_nearest(struct kdtree *kd, const double *pos)
+{
+    struct kdhyperrect *rect;
+    struct kdnode *result;
+    struct kdres *rset;
+    double dist_sq;
+    int i;
+
+    if (!kd) return 0;
+    if (!kd->rect) return 0;
+
+    /* Allocate result set */
+    if(!(rset = malloc(sizeof *rset))) {
+        return 0;
+    }
+    if(!(rset->rlist = alloc_resnode())) {
+        free(rset);
+        return 0;
+    }
+    rset->rlist->next = 0;
+    rset->tree = kd;
+
+    /* Duplicate the bounding hyperrectangle, we will work on the copy */
+    if (!(rect = hyperrect_duplicate(kd->rect))) {
+        kd_res_free(rset);
+        return 0;
+    }
+
+    /* Our first guesstimate is the root node */
+    result = kd->root;
+    dist_sq = 0;
+    for (i = 0; i < kd->dim; i++)
+        dist_sq += SQ(result->pos[i] - pos[i]);
+
+    /* Search for the nearest neighbour recursively */
+    kd_nearest_i(kd->root, pos, &result, &dist_sq, rect);
+
+    /* Free the copy of the hyperrect */
+    hyperrect_free(rect);
+
+    /* Store the result */
+    if (result) {
+        if (rlist_insert(rset->rlist, result, -1.0) == -1) {
+            kd_res_free(rset);
+            return 0;
+        }
+        rset->size = 1;
+        kd_res_rewind(rset);
+        return rset;
+    } else {
+        kd_res_free(rset);
+        return 0;
+    }
+}
+
+struct kdres *kd_nearestf(struct kdtree *tree, const float *pos)
+{
+    static double sbuf[16];
+    double *bptr, *buf = 0;
+    int dim = tree->dim;
+    struct kdres *res;
+
+    if(dim > 16) {
+#ifndef NO_ALLOCA
+        if(dim <= 256)
+            bptr = buf = alloca(dim * sizeof *bptr);
+        else
+#endif
+            if(!(bptr = buf = malloc(dim * sizeof *bptr))) {
+                return 0;
+            }
+    } else {
+        bptr = buf = sbuf;
+    }
+
+    while(dim-- > 0) {
+        *bptr++ = *pos++;
+    }
+
+    res = kd_nearest(tree, buf);
+#ifndef NO_ALLOCA
+    if(tree->dim > 256)
+#else
+    if(tree->dim > 16)
+#endif
+        free(buf);
+    return res;
+}
+
+struct kdres *kd_nearest3(struct kdtree *tree, double x, double y, double z)
+{
+    double pos[3];
+    pos[0] = x;
+    pos[1] = y;
+    pos[2] = z;
+    return kd_nearest(tree, pos);
+}
+
+struct kdres *kd_nearest3f(struct kdtree *tree, float x, float y, float z)
+{
+    double pos[3];
+    pos[0] = x;
+    pos[1] = y;
+    pos[2] = z;
+    return kd_nearest(tree, pos);
+}
+
+/* ---- nearest N search ---- */
+/*
+static kdres *kd_nearest_n(struct kdtree *kd, const double *pos, int num)
+{
+    int ret;
+    struct kdres *rset;
+    if(!(rset = malloc(sizeof *rset))) {
+        return 0;
+    }
+    if(!(rset->rlist = alloc_resnode())) {
+        free(rset);
+        return 0;
+    }
+    rset->rlist->next = 0;
+    rset->tree = kd;
+    if((ret = find_nearest_n(kd->root, pos, range, num, rset->rlist, kd->dim)) == -1) {
+        kd_res_free(rset);
+        return 0;
+    }
+    rset->size = ret;
+    kd_res_rewind(rset);
+    return rset;
+}*/
+
+struct kdres *kd_nearest_range(struct kdtree *kd, const double *pos, double range)
+{
+    int ret;
+    struct kdres *rset;
+
+    if(!(rset = malloc(sizeof *rset))) {
+        return 0;
+    }
+    if(!(rset->rlist = alloc_resnode())) {
+        free(rset);
+        return 0;
+    }
+    rset->rlist->next = 0;
+    rset->tree = kd;
+
+    if((ret = find_nearest(kd->root, pos, range, rset->rlist, 0, kd->dim)) == -1) {
+        kd_res_free(rset);
+        return 0;
+    }
+    rset->size = ret;
+    kd_res_rewind(rset);
+    return rset;
+}
+
+struct kdres *kd_nearest_rangef(struct kdtree *kd, const float *pos, float range)
+{
+    static double sbuf[16];
+    double *bptr, *buf = 0;
+    int dim = kd->dim;
+    struct kdres *res;
+
+    if(dim > 16) {
+#ifndef NO_ALLOCA
+        if(dim <= 256)
+            bptr = buf = alloca(dim * sizeof *bptr);
+        else
+#endif
+            if(!(bptr = buf = malloc(dim * sizeof *bptr))) {
+                return 0;
+            }
+    } else {
+        bptr = buf = sbuf;
+    }
+
+    while(dim-- > 0) {
+        *bptr++ = *pos++;
+    }
+
+    res = kd_nearest_range(kd, buf, range);
+#ifndef NO_ALLOCA
+    if(kd->dim > 256)
+#else
+    if(kd->dim > 16)
+#endif
+        free(buf);
+    return res;
+}
+
+struct kdres *kd_nearest_range3(struct kdtree *tree, double x, double y, double z, double range)
+{
+    double buf[3];
+    buf[0] = x;
+    buf[1] = y;
+    buf[2] = z;
+    return kd_nearest_range(tree, buf, range);
+}
+
+struct kdres *kd_nearest_range3f(struct kdtree *tree, float x, float y, float z, float range)
+{
+    double buf[3];
+    buf[0] = x;
+    buf[1] = y;
+    buf[2] = z;
+    return kd_nearest_range(tree, buf, range);
+}
+
+void kd_res_free(struct kdres *rset)
+{
+    clear_results(rset);
+    free_resnode(rset->rlist);
+    free(rset);
+}
+
+int kd_res_size(struct kdres *set)
+{
+    return (set->size);
+}
+
+void kd_res_rewind(struct kdres *rset)
+{
+    rset->riter = rset->rlist->next;
+}
+
+int kd_res_end(struct kdres *rset)
+{
+    return rset->riter == 0;
+}
+
+int kd_res_next(struct kdres *rset)
+{
+    rset->riter = rset->riter->next;
+    return rset->riter != 0;
+}
+
+void *kd_res_item(struct kdres *rset, double *pos)
+{
+    if(rset->riter) {
+        if(pos) {
+            memcpy(pos, rset->riter->item->pos, rset->tree->dim * sizeof *pos);
+        }
+        return rset->riter->item->data;
+    }
+    return 0;
+}
+
+void *kd_res_itemf(struct kdres *rset, float *pos)
+{
+    if(rset->riter) {
+        if(pos) {
+            int i;
+            for(i=0; i<rset->tree->dim; i++) {
+                pos[i] = rset->riter->item->pos[i];
+            }
+        }
+        return rset->riter->item->data;
+    }
+    return 0;
+}
+
+void *kd_res_item3(struct kdres *rset, double *x, double *y, double *z)
+{
+    if(rset->riter) {
+        if(x) *x = rset->riter->item->pos[0];
+        if(y) *y = rset->riter->item->pos[1];
+        if(z) *z = rset->riter->item->pos[2];
+        return rset->riter->item->data;
+    }
+    return 0;
+}
+
+void *kd_res_item3f(struct kdres *rset, float *x, float *y, float *z)
+{
+    if(rset->riter) {
+        if(x) *x = rset->riter->item->pos[0];
+        if(y) *y = rset->riter->item->pos[1];
+        if(z) *z = rset->riter->item->pos[2];
+        return rset->riter->item->data;
+    }
+    return 0;
+}
+
+void *kd_res_item_data(struct kdres *set)
+{
+    return kd_res_item(set, 0);
+}
+
+/* ---- hyperrectangle helpers ---- */
+static struct kdhyperrect* hyperrect_create(int dim, const double *min, const double *max)
+{
+    size_t size = dim * sizeof(double);
+    struct kdhyperrect* rect = 0;
+
+    if (!(rect = malloc(sizeof(struct kdhyperrect)))) {
+        return 0;
+    }
+
+    rect->dim = dim;
+    if (!(rect->min = malloc(size))) {
+        free(rect);
+        return 0;
+    }
+    if (!(rect->max = malloc(size))) {
+        free(rect->min);
+        free(rect);
+        return 0;
+    }
+    memcpy(rect->min, min, size);
+    memcpy(rect->max, max, size);
+
+    return rect;
+}
+
+static void hyperrect_free(struct kdhyperrect *rect)
+{
+    free(rect->min);
+    free(rect->max);
+    free(rect);
+}
+
+static struct kdhyperrect* hyperrect_duplicate(const struct kdhyperrect *rect)
+{
+    return hyperrect_create(rect->dim, rect->min, rect->max);
+}
+
+static void hyperrect_extend(struct kdhyperrect *rect, const double *pos)
+{
+    int i;
+
+    for (i=0; i < rect->dim; i++) {
+        if (pos[i] < rect->min[i]) {
+            rect->min[i] = pos[i];
+        }
+        if (pos[i] > rect->max[i]) {
+            rect->max[i] = pos[i];
+        }
+    }
+}
+
+static double hyperrect_dist_sq(struct kdhyperrect *rect, const double *pos)
+{
+    int i;
+    double result = 0;
+
+    for (i=0; i < rect->dim; i++) {
+        if (pos[i] < rect->min[i]) {
+            result += SQ(rect->min[i] - pos[i]);
+        } else if (pos[i] > rect->max[i]) {
+            result += SQ(rect->max[i] - pos[i]);
+        }
+    }
+
+    return result;
+}
+
+/* ---- static helpers ---- */
+
+#ifdef USE_LIST_NODE_ALLOCATOR
+/* special list node allocators. */
+static struct res_node *free_nodes;
+
+#ifndef NO_PTHREADS
+static pthread_mutex_t alloc_mutex = PTHREAD_MUTEX_INITIALIZER;
+#endif
+
+static struct res_node *alloc_resnode(void)
+{
+    struct res_node *node;
+
+#ifndef NO_PTHREADS
+    pthread_mutex_lock(&alloc_mutex);
+#endif
+
+    if(!free_nodes) {
+        node = malloc(sizeof *node);
+    } else {
+        node = free_nodes;
+        free_nodes = free_nodes->next;
+        node->next = 0;
+    }
+
+#ifndef NO_PTHREADS
+    pthread_mutex_unlock(&alloc_mutex);
+#endif
+
+    return node;
+}
+
+static void free_resnode(struct res_node *node)
+{
+#ifndef NO_PTHREADS
+    pthread_mutex_lock(&alloc_mutex);
+#endif
+
+    node->next = free_nodes;
+    free_nodes = node;
+
+#ifndef NO_PTHREADS
+    pthread_mutex_unlock(&alloc_mutex);
+#endif
+}
+#endif  /* list node allocator or not */
+
+
+/* inserts the item. if dist_sq is >= 0, then do an ordered insert */
+/* TODO make the ordering code use heapsort */
+static int rlist_insert(struct res_node *list, struct kdnode *item, double dist_sq)
+{
+    struct res_node *rnode;
+
+    if(!(rnode = alloc_resnode())) {
+        return -1;
+    }
+    rnode->item = item;
+    rnode->dist_sq = dist_sq;
+
+    if(dist_sq >= 0.0) {
+        while(list->next && list->next->dist_sq < dist_sq) {
+            list = list->next;
+        }
+    }
+    rnode->next = list->next;
+    list->next = rnode;
+    return 0;
+}
+
+static void clear_results(struct kdres *rset)
+{
+    struct res_node *tmp, *node = rset->rlist->next;
+
+    while(node) {
+        tmp = node;
+        node = node->next;
+        free_resnode(tmp);
+    }
+
+    rset->rlist->next = 0;
+}
\ No newline at end of file
diff --git a/planning/r3_plan/src/r3_planner.cpp b/planning/r3_plan/src/r3_planner.cpp
new file mode 100755
index 0000000..e3f716f
--- /dev/null
+++ b/planning/r3_plan/src/r3_planner.cpp
@@ -0,0 +1,312 @@
+/*  
+The MIT License
+
+Copyright (c) 2020-2022 Hongkai Ye
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+#include "r3_plan/r3_planner.h"
+
+namespace tgk_planner
+{
+  size_t R3Planner::sampling(const Eigen::Vector3d &start, const Eigen::Vector3d &goal)
+  {
+    const double x_len = (goal - start).norm() / 2.0 + sampling_space_inflate_;
+    int x_sample_num = floor(x_len / lattice_step_);
+    int y_sample_num = floor(sampling_space_inflate_ / lattice_step_);
+    int z_sample_num(y_sample_num);
+
+    Eigen::Vector3d translation = 0.5 * (start + goal);
+    Eigen::Vector3d xtf, ytf, ztf, downward(0, 0, -1);
+    xtf = (goal - translation).normalized();
+    ytf = xtf.cross(downward).normalized();
+    ztf = xtf.cross(ytf);
+    Eigen::Matrix3d R;
+    R.col(0) = xtf;
+    R.col(1) = ytf;
+    R.col(2) = ztf;
+
+    size_t num = x_sample_num * 2 * y_sample_num * 2 * z_sample_num * 2 + 2;
+    graph_.vertices.clear();
+    graph_.vertices.resize(num);
+    size_t vertice_num(0);
+
+    Vector3d lattice_pt_ortho(-x_len, -sampling_space_inflate_, -sampling_space_inflate_), lattice_pt;
+    for (int x = -x_sample_num; x < x_sample_num; ++x)
+    {
+      lattice_pt_ortho[0] += lattice_step_;
+      lattice_pt_ortho[1] = -sampling_space_inflate_;
+      for (int y = -y_sample_num; y < y_sample_num; ++y)
+      {
+        lattice_pt_ortho[1] += lattice_step_;
+        lattice_pt_ortho[2] = -sampling_space_inflate_;
+        for (int z = -z_sample_num; z < z_sample_num; ++z)
+        {
+          lattice_pt_ortho[2] += lattice_step_;
+          lattice_pt = R * lattice_pt_ortho + translation;
+          // cout << "lattice_pt_ortho: " << lattice_pt_ortho.transpose() << ", lattice_pt: " << lattice_pt.transpose() << endl;
+          if (pos_checker_ptr_->validatePosSurround(lattice_pt))
+          {
+            graph_.vertices[vertice_num].pos = lattice_pt;
+            graph_.vertices[vertice_num].id = vertice_num;
+            graph_.vertices[vertice_num].neighbour_idx_dist.clear();
+            vertice_num++;
+          }
+        }
+      }
+    }
+
+    // std::uniform_real_distribution<double> dbl_rand = std::uniform_real_distribution<double>(-1.0, 1.0);
+    // std::random_device rd;
+    // std::mt19937_64 gen = std::mt19937_64(rd());
+    // Vector3d rand_pt_otho, rand_pt;
+    // for (size_t i = 0; i < num - 2; ++i)
+    // {
+    //   double x = dbl_rand(gen);
+    //   rand_pt_otho[0] = x * x_len;
+    //   double y = dbl_rand(gen);
+    //   rand_pt_otho[1] = y * sampling_space_inflate_;
+    //   double z = dbl_rand(gen);
+    //   rand_pt_otho[2] = z * sampling_space_inflate_;
+    //   rand_pt = R * rand_pt_otho + translation;
+    //   if (pos_checker_ptr_->validatePosSurround(rand_pt))
+    //   {
+    //     graph_.vertices[vertice_num].pos = rand_pt;
+    //     graph_.vertices[vertice_num].id = vertice_num;
+    //     graph_.vertices[vertice_num].neighbour_idx_dist.clear();
+    //     vertice_num++;
+    //   }
+    // }
+
+    graph_.vertices[vertice_num].pos = start;
+    start_id_ = vertice_num;
+    vertice_num++;
+    graph_.vertices[vertice_num].pos = goal;
+    goal_id_ = vertice_num;
+    vertice_num++;
+    vertice_number_ = vertice_num;
+    graph_.vertices.resize(vertice_number_);
+    ROS_INFO_STREAM("vertices num: " << vertice_number_);
+    return vertice_num;
+  }
+
+  void R3Planner::constructPRMGraph(double search_radius)
+  {
+    my_kd_tree_t index(3 /*dim*/, graph_, nanoflann::KDTreeSingleIndexAdaptorParams(10 /* max leaf */));
+    index.buildIndex();
+
+    for (size_t i = 0; i < vertice_number_; ++i)
+    {
+      Eigen::Vector3d curr_center_pt(graph_.vertices[i].pos), nearest_obs;
+      float nearest_obs_squared_dis = pos_checker_ptr_->nearestObs(curr_center_pt, nearest_obs);
+      double query_pt[3] = {curr_center_pt[0], curr_center_pt[1], curr_center_pt[2]};
+      std::vector<std::pair<size_t, double>> ret_matches;
+      ret_matches.reserve(50);
+      nanoflann::SearchParams params;
+      params.sorted = true;
+      const size_t nMatches = index.radiusSearch(&query_pt[0], search_radius, ret_matches, params);
+      //check collision free connection
+      int curr_nb_num(0);
+      for (const std::pair<size_t, double> &match : ret_matches)
+      {
+        // only connect to 10 furthest nodes
+        if (curr_nb_num >= 61)
+          break;
+        if (match.second < nearest_obs_squared_dis)
+          continue;
+        // Eigen::Vector3d curr_neighbour_pt(graph_.vertices[match.first].pos);
+        // Eigen::Vector3d collide_pos;
+        // if (pos_checker_ptr_->checkLine(curr_center_pt, curr_neighbour_pt, collide_pos, false))
+        // {
+        // curr_nb_num++;
+        graph_.vertices[i].neighbour_idx_dist.push_back(match);
+        // }
+      }
+    }
+  }
+
+  inline bool R3Planner::searchShortestPath(std::vector<Eigen::Vector3d> &p, double &cost)
+  {
+    std::priority_queue<R3Node *, std::vector<R3Node *>, R3NodeComparator> queue;
+    R3Node *start_node = &graph_.vertices[start_id_];
+    R3Node *goal_node = &graph_.vertices[goal_id_];
+    start_node->g_value = 0.0;
+    start_node->f_value = getEuclideanHeuristic(graph_.vertices[start_id_].pos, graph_.vertices[goal_id_].pos);
+    queue.push(start_node);
+    R3Node *curr_node;
+    bool goal_found(false);
+    int iter_times(0);
+    while (!queue.empty())
+    {
+      curr_node = queue.top();
+      queue.pop();
+      iter_times++;
+      if (curr_node == goal_node)
+      {
+        goal_found = true;
+        break;
+      }
+      for (const auto &nb : curr_node->neighbour_idx_dist)
+      {
+        double g_hat = curr_node->g_value + sqrt(nb.second);
+        size_t nb_id = nb.first;
+        if (graph_.vertices[nb_id].g_value > g_hat)
+        {
+          Eigen::Vector3d curr_neighbour_pt(graph_.vertices[nb_id].pos);
+          Eigen::Vector3d collide_pos;
+
+          Vector3d dir = curr_neighbour_pt - curr_node->pos;
+          double len = dir.norm();
+          Vector3d dir_norm = dir / len;
+          double step = pos_checker_ptr_->getResolution() * 1.5;
+          Vector3d step_vec = dir_norm * step;
+          int check_n = floor(len / step);
+          Vector3d check_pt(curr_node->pos);
+          bool valid(true);
+          for (int i = 1; i <= check_n; ++i)
+          {
+            check_pt += step_vec;
+            if (!pos_checker_ptr_->validatePosSurround(check_pt))
+            {
+              valid = false;
+              break;
+            }
+          }
+          if (!valid)
+            continue;
+          // if (!pos_checker_ptr_->checkLine(curr_node->pos, curr_neighbour_pt, collide_pos, true))
+          //   continue;
+
+          double h_value = getEuclideanHeuristic(graph_.vertices[nb_id].pos, graph_.vertices[goal_id_].pos);
+          R3Node *nb_node = &graph_.vertices[nb_id];
+          nb_node->g_value = g_hat;
+          nb_node->f_value = nb_node->g_value + h_value;
+          nb_node->parent = curr_node;
+          queue.push(nb_node);
+        }
+      }
+    }
+    ROS_INFO_STREAM("search iter_times: " << iter_times);
+    if (goal_found)
+    {
+      R3Node *curr_node = goal_node;
+      cost = goal_node->g_value;
+      while (curr_node)
+      {
+        p.push_back(curr_node->pos);
+        curr_node = curr_node->parent;
+      }
+      std::reverse(std::begin(p), std::end(p));
+      return true;
+    }
+    else
+    {
+      return false;
+    }
+  }
+
+  inline double R3Planner::getEuclideanHeuristic(const Eigen::Vector3d &s, const Eigen::Vector3d &g) const
+  {
+    return (g - s).norm();
+  }
+
+  void R3Planner::postProcessPath(std::vector<Eigen::Vector3d> &path)
+  {
+    size_t v_num = path.size();
+    if (v_num < 2)
+      return;
+    std::vector<Eigen::Vector3d> path_origin = path;
+    path.clear();
+    for (size_t i = 0; i < v_num - 1; ++i)
+    {
+      double seg_dis = (path_origin[i] - path_origin[i + 1]).norm();
+      Eigen::Vector3d nearest_obs;
+      float nearest_obs_dis = sqrt(pos_checker_ptr_->nearestObs(path_origin[i], nearest_obs));
+    }
+  }
+
+  bool R3Planner::planPRM(const Eigen::Vector3d &s, const Eigen::Vector3d &g, std::vector<Eigen::Vector3d> &p, double &cost, double radius)
+  {
+    ros::Time t1 = ros::Time::now();
+    size_t v_n = sampling(s, g);
+    ros::Time t2 = ros::Time::now();
+    ROS_WARN_STREAM("sampling time: " << (t2 - t1).toSec());
+    constructPRMGraph(radius);
+    ros::Time t3 = ros::Time::now();
+    ROS_WARN_STREAM("construct graph time: " << (t3 - t2).toSec());
+    bool re = searchShortestPath(p, cost);
+    ros::Time t4 = ros::Time::now();
+    ROS_WARN_STREAM("search time: " << (t4 - t3).toSec());
+    // if (re)
+    // {
+    //   postProcessPath(p);
+    // }
+
+    return re;
+  }
+
+  inline std::vector<Eigen::Vector3d> R3Planner::simplifyRoute(const std::vector<Eigen::Vector3d> &route, double resolution) const
+  {
+    std::vector<Eigen::Vector3d> subRoute;
+    if (route.size() == 1 || route.size() == 2)
+    {
+      subRoute = route;
+    }
+    else if (route.size() >= 3)
+    {
+      std::vector<Eigen::Vector3d>::const_iterator maxIt;
+      double maxDist = -INFINITY, tempDist;
+      Eigen::Vector3d vec((route.back() - route.front()).normalized());
+
+      for (auto it = route.begin() + 1; it != (route.end() - 1); it++)
+      {
+        tempDist = (*it - route.front() - vec.dot(*it - route.front()) * vec).norm();
+        if (maxDist < tempDist)
+        {
+          maxDist = tempDist;
+          maxIt = it;
+        }
+      }
+
+      if (maxDist > resolution)
+      {
+        std::vector<Eigen::Vector3d>::const_iterator maxItNext = maxIt;
+        maxItNext++;
+        subRoute.insert(subRoute.end(), route.begin(), maxItNext);
+        subRoute = simplifyRoute(subRoute, resolution);
+        std::vector<Eigen::Vector3d> tempRoute(maxIt, route.end());
+        tempRoute = simplifyRoute(tempRoute, resolution);
+        subRoute.insert(subRoute.end(), tempRoute.begin() + 1, tempRoute.end());
+      }
+      else
+      {
+        subRoute.push_back(route.front());
+        subRoute.push_back(route.back());
+      }
+    }
+
+    return subRoute;
+  }
+
+  bool R3Planner::plan(const Eigen::Vector3d &s, const Eigen::Vector3d &g, std::vector<Eigen::Vector3d> &p, double &cost, double &time_usage, double timePerUnit) const
+  {
+    return false;
+  }
+
+} // namespace tgk_planner
\ No newline at end of file
diff --git a/planning/sampler/CMakeLists.txt b/planning/sampler/CMakeLists.txt
new file mode 100644
index 0000000..bba0c1f
--- /dev/null
+++ b/planning/sampler/CMakeLists.txt
@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(sampler)
+
+add_compile_options(-std=c++11)
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -fPIC")
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  occ_grid
+  poly_traj_utils
+)
+find_package(Eigen3 REQUIRED)
+find_package(PCL 1.7 REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES sampler
+  CATKIN_DEPENDS occ_grid poly_traj_utils
+#  DEPENDS system_lib
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${Eigen3_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
+)
+
+add_library(sampler
+src/bias_sampler.cpp
+)
+
+target_link_libraries(sampler
+${catkin_LIBRARIES}
+)
diff --git a/planning/sampler/include/sampler/bias_sampler.h b/planning/sampler/include/sampler/bias_sampler.h
new file mode 100755
index 0000000..622fd7e
--- /dev/null
+++ b/planning/sampler/include/sampler/bias_sampler.h
@@ -0,0 +1,209 @@
+/*  
+The MIT License
+
+Copyright (c) 2020-2022 Hongkai Ye
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+#ifndef _BIAS_SAMPLER_
+#define _BIAS_SAMPLER_
+
+#include "occ_grid/pos_checker.h"
+#include <ros/ros.h>
+#include <Eigen/Eigen>
+#include <vector>
+#include <random>
+
+using Eigen::Matrix2d;
+using Eigen::Matrix3d;
+using Eigen::Vector2d;
+using Eigen::Vector3d;
+using std::vector;
+
+namespace tgk_planner
+{
+
+  class BiasSampler
+  {
+  public:
+    BiasSampler(){};
+    BiasSampler(const ros::NodeHandle &nh)
+    {
+      nh.param("sampler/vel_mag_mean", vel_mag_mean_, 0.0);
+      nh.param("sampler/pos_hrz_var", pos_hrz_var_, 0.0);
+      nh.param("sampler/pos_vtc_var", pos_vtc_var_, 0.0);
+      nh.param("sampler/vel_mag_var", vel_mag_var_, 0.0);
+      nh.param("sampler/vel_dir_var", vel_dir_var_, 0.0);
+      nh.param("sampler/resolution", resolution_, 0.0);
+      ROS_WARN_STREAM("[sampler] param: vel_mag_mean: " << vel_mag_mean_);
+      ROS_WARN_STREAM("[sampler] param: pos_hrz_var: " << pos_hrz_var_);
+      ROS_WARN_STREAM("[sampler] param: pos_vtc_var: " << pos_vtc_var_);
+      ROS_WARN_STREAM("[sampler] param: vel_mag_var: " << vel_mag_var_);
+      ROS_WARN_STREAM("[sampler] param: vel_dir_var: " << vel_dir_var_);
+      ROS_WARN_STREAM("[sampler] param: resolution: " << resolution_);
+
+      std::random_device rd;
+      gen_ = std::mt19937_64(rd());
+      pos_mean_rand_ = std::uniform_real_distribution<double>(0.0, 100.0);
+      pos_hor_rand_ = std::normal_distribution<double>(0.0, pos_hrz_var_);
+      pos_ver_rand_ = std::normal_distribution<double>(0.0, pos_vtc_var_);
+      vel_mag_rand_ = std::normal_distribution<double>(vel_mag_mean_, vel_mag_var_);
+      vel_hor_dir_rand_ = std::normal_distribution<double>(0.0, vel_dir_var_);
+
+      use_external_topo_ = false;
+    };
+
+    void setPosChecker(const PosChecker::Ptr &checker)
+    {
+      pos_checker_ = checker;
+    };
+
+    void topoSetup(const vector<pair<Vector3d, Vector3d>> &segs, const Vector3d &init_pt, const Vector3d &goal_pt)
+    {
+      init_pos_ = init_pt;
+      goal_pos_ = goal_pt;
+      if (use_external_topo_)
+      {
+        // use_external_topo_ = false;
+        return;
+      }
+      all_corners_.clear();
+      unit_tracks_.clear();
+      p_head_.clear();
+      tracks_.clear();
+      rotated_unit_tracks_.clear();
+      findSamplingSpace(segs, all_corners_);
+      setupRandomSampling(init_pt, goal_pt, all_corners_, unit_tracks_, p_head_, tracks_, rotated_unit_tracks_);
+    };
+
+    void topoSetup(const vector<vector<Eigen::Vector3d>> &paths)
+    {
+      Vector3d track, unit_track, rotated_unit_track;
+      unit_tracks_.clear();
+      p_head_.clear();
+      tracks_.clear();
+      rotated_unit_tracks_.clear();
+      for (const vector<Eigen::Vector3d> &path : paths)
+      {
+        for (size_t i = 0; i < path.size() - 1; ++i)
+        {
+          p_head_.push_back(path[i]);
+          track = path[i + 1] - path[i];
+          tracks_.push_back(track);
+          unit_track = track / track.norm();
+          unit_tracks_.push_back(unit_track);
+          rotated_unit_track = rotate90Clockwise3d(unit_track);
+          rotated_unit_tracks_.push_back(rotated_unit_track);
+        }
+      }
+      use_external_topo_ = true;
+    };
+
+    void getTopo(vector<Vector3d> &p_head, vector<Vector3d> &tracks)
+    {
+      p_head = p_head_;
+      tracks = tracks_;
+    }
+
+    bool samplingOnce(int idx, Eigen::Matrix<double, 9, 1> &rand_state);
+    void samplingOnce(Eigen::Vector3d &sample);
+
+  private:
+    PosChecker::Ptr pos_checker_;
+    vector<Vector3d> unit_tracks_, p_head_, tracks_, rotated_unit_tracks_;
+    vector<pair<Vector3d, Vector3d>> all_corners_;
+    Vector3d init_pos_, goal_pos_, zigzag_pos_;
+    std::mt19937_64 gen_;
+    std::uniform_real_distribution<double> pos_mean_rand_, seg_rand_;
+    std::normal_distribution<double> pos_hor_rand_;
+    std::normal_distribution<double> pos_ver_rand_;
+    std::normal_distribution<double> vel_hor_dir_rand_;
+    std::normal_distribution<double> vel_ver_dir_rand_;
+    std::normal_distribution<double> vel_mag_rand_;
+    double vel_mag_mean_;
+    double pos_hrz_var_, pos_vtc_var_;
+    double vel_mag_var_;
+    double vel_dir_var_;
+    double resolution_;
+    bool use_external_topo_;
+
+    void findSamplingSpace(const vector<pair<Vector3d, Vector3d>> &segs,
+                           vector<pair<Vector3d, Vector3d>> &all_corners);
+
+    void setupRandomSampling(const Vector3d &init_pt, const Vector3d &goal_pt,
+                             const vector<pair<Vector3d, Vector3d>> &all_corners,
+                             vector<Vector3d> &unit_tracks,
+                             vector<Vector3d> &p_head,
+                             vector<Vector3d> &tracks,
+                             vector<Vector3d> &rotated_unit_tracks);
+
+    void rotateClockwise2d(double theta, Vector2d &v)
+    {
+      Matrix2d r_m;
+      r_m << cos(theta), sin(theta),
+          -sin(theta), cos(theta);
+      v = r_m * v;
+    };
+
+    void rotateClockwise3d(double theta, Vector3d &v)
+    {
+      Matrix3d r_m;
+      r_m << cos(theta), -sin(theta), 0,
+          sin(theta), cos(theta), 0,
+          0, 0, 1;
+      v = r_m * v;
+    };
+
+    Vector3d rotate90Clockwise3d(const Vector3d &v)
+    {
+      Matrix3d r_m;
+      r_m << 0, 1, 0,
+          -1, 0, 0,
+          0, 0, 1;
+      return r_m * v;
+    };
+
+    Vector3d rotate90AntiClockwise3d(const Vector3d &v)
+    {
+      Matrix3d r_m;
+      r_m << 0, -1, 0,
+          1, 0, 0,
+          0, 0, 1;
+      return r_m * v;
+    };
+
+    Vector2d rotate90Clockwise2d(const Vector2d &v)
+    {
+      Matrix2d r_m;
+      r_m << 0, 1,
+          -1, 0;
+      return r_m * v;
+    };
+
+    Vector2d rotate90AntiClockwise2d(const Vector2d &v)
+    {
+      Matrix2d r_m;
+      r_m << 0, -1,
+          1, 0;
+      return r_m * v;
+    };
+  };
+
+} // namespace tgk_planner
+#endif
diff --git a/planning/sampler/package.xml b/planning/sampler/package.xml
new file mode 100644
index 0000000..fe3a8ba
--- /dev/null
+++ b/planning/sampler/package.xml
@@ -0,0 +1,72 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>sampler</name>
+  <version>0.0.0</version>
+  <description>The sampler package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="yehongkai@todo.todo">yehongkai</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/sampler</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>occ_grid</build_depend>
+  <build_depend>poly_traj_utils</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>occ_grid</exec_depend>
+  <exec_depend>poly_traj_utils</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/planning/sampler/src/bias_sampler.cpp b/planning/sampler/src/bias_sampler.cpp
new file mode 100755
index 0000000..092e041
--- /dev/null
+++ b/planning/sampler/src/bias_sampler.cpp
@@ -0,0 +1,372 @@
+/*  
+The MIT License
+
+Copyright (c) 2020-2022 Hongkai Ye
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+#include "sampler/bias_sampler.h"
+
+namespace tgk_planner
+{
+
+  void BiasSampler::findSamplingSpace(const vector<pair<Vector3d, Vector3d>> &segs,
+                                      vector<pair<Vector3d, Vector3d>> &all_corners)
+  {
+    pair<Vector3d, Vector3d> corner;
+    for (const auto &s : segs)
+    {
+      // ROS_WARN_STREAM("travel line: " << s.first.transpose() << ", " << s.second.transpose());
+      if (s.second[2] == -1.0)
+      {
+        corner.first = s.first;
+        corner.second = s.first;
+        all_corners.push_back(corner);
+        continue;
+      }
+      Vector2d middle_v = (s.first.head(2) + s.second.head(2)) / 2;
+      Vector2d tail_diff_head = s.second.head(2) - s.first.head(2);
+      double l = tail_diff_head.norm();
+      Vector2d unit_dir = tail_diff_head / l;
+      Vector3d corner_v = (s.first + s.second) / 2;
+      Vector3d corner_theta = corner_v;
+      // ROS_INFO("corner_m: %lf, %lf, %lf", corner_v[0], corner_v[1], corner_v[2]);
+      Vector2d delta_vector;
+
+      bool out_of_bound = false;
+      double len_delta_theta = 0.0;
+      delta_vector << 0.0, 0.0;
+      rotateClockwise2d(M_PI / 2.0, unit_dir);
+      int j = 1;
+      double out_of_bound_v = false;
+      int voxel_state = -1;
+      bool inside_occ = true;
+      Vector3d first_free_corner_theta;
+      while (1)
+      {
+        delta_vector = unit_dir * resolution_ * j;
+        ++j;
+        corner_theta.head(2) = middle_v + delta_vector;
+        voxel_state = pos_checker_->getVoxelState(corner_theta);
+        if (voxel_state == -1)
+        {
+          out_of_bound_v = true;
+          break;
+        }
+        else if (voxel_state == 0)
+        {
+          if (inside_occ)
+          {
+            first_free_corner_theta = corner_theta;
+            inside_occ = false;
+          }
+          else
+          {
+            double l = (corner_theta - first_free_corner_theta).norm();
+            if (l >= 0.5)
+              break;
+          }
+        }
+        else
+        {
+          if (!inside_occ)
+          {
+            inside_occ = true;
+          }
+        }
+      }
+      if (delta_vector.norm() >= len_delta_theta)
+      {
+        if (out_of_bound_v)
+        {
+          out_of_bound = true;
+        }
+        len_delta_theta = delta_vector.norm();
+        corner_v.head(2) = corner_theta.head(2);
+      }
+      if (out_of_bound)
+      {
+        // ROS_INFO("corner1 out of bound, 0.0, 0.0, -1.0");
+        corner.first << 0.0, 0.0, -1.0;
+      }
+      else
+      {
+        // ROS_INFO("corner1: %lf, %lf, %lf", corner_v[0], corner_v[1], corner_v[2]);
+        corner.first = corner_v;
+      }
+
+      {
+        corner_v = (s.first + s.second) / 2;
+        out_of_bound = false;
+        delta_vector << 0.0, 0.0;
+        len_delta_theta = 0.0;
+        rotateClockwise2d(M_PI, unit_dir);
+        int j = 1;
+        double out_of_bound_v = false;
+        double voxel_state = -1;
+        bool inside_occ = true;
+        Vector3d first_free_corner_theta;
+        while (1)
+        {
+          delta_vector = unit_dir * resolution_ * j;
+          ++j;
+          corner_theta.head(2) = middle_v + delta_vector;
+          voxel_state = pos_checker_->getVoxelState(corner_theta);
+          if (voxel_state == -1)
+          {
+            out_of_bound_v = true;
+            break;
+          }
+          else if (voxel_state == 0)
+          {
+            if (inside_occ)
+            {
+              first_free_corner_theta = corner_theta;
+              inside_occ = false;
+            }
+            else
+            {
+              double l = (corner_theta - first_free_corner_theta).norm();
+              if (l >= 0.5)
+                break;
+            }
+          }
+          else
+          {
+            if (!inside_occ)
+            {
+              inside_occ = true;
+            }
+          }
+        }
+        if (delta_vector.norm() > len_delta_theta)
+        {
+          if (out_of_bound_v)
+          {
+            out_of_bound = true;
+          }
+          len_delta_theta = delta_vector.norm();
+          corner_v.head(2) = corner_theta.head(2);
+        }
+        if (out_of_bound)
+        {
+          // ROS_INFO("corner2 out of bound, 0.0, 0.0, -1.0");
+          corner.second << 0.0, 0.0, -1.0;
+        }
+        else
+        {
+          // ROS_INFO("corner2: %lf, %lf, %lf", corner_v[0], corner_v[1], corner_v[2]);
+          corner.second = corner_v;
+        }
+      }
+      all_corners.push_back(corner);
+    }
+  }
+
+  void BiasSampler::setupRandomSampling(const Vector3d &init_pt, const Vector3d &goal_pt,
+                                        const vector<pair<Vector3d, Vector3d>> &all_corners,
+                                        vector<Vector3d> &unit_tracks,
+                                        vector<Vector3d> &p_head,
+                                        vector<Vector3d> &tracks,
+                                        vector<Vector3d> &rotated_unit_tracks)
+  {
+    // all_corners.size() is the same as segs.size()
+    Vector3d x0 = init_pt, x1 = goal_pt;
+    Vector3d track, unit_track, rotated_unit_track;
+
+    //segs is empty
+    if (all_corners.size() == 0)
+    {
+      p_head.push_back(x0);
+      track = x1 - x0;
+      tracks.push_back(track);
+      unit_track = track / track.norm();
+      unit_tracks.push_back(unit_track);
+      rotated_unit_track = rotate90Clockwise3d(unit_track);
+      rotated_unit_tracks.push_back(rotated_unit_track);
+      return;
+    }
+
+    if (all_corners.front().first[2] != -1.0)
+    {
+      p_head.push_back(x0);
+      track = all_corners.front().first - x0;
+      tracks.push_back(track);
+      unit_track = track / track.norm();
+      unit_tracks.push_back(unit_track);
+      rotated_unit_track = rotate90Clockwise3d(unit_track);
+      rotated_unit_tracks.push_back(rotated_unit_track);
+    }
+    if (all_corners.front().second[2] != -1.0)
+    {
+      p_head.push_back(x0);
+      track = all_corners.front().second - x0;
+      tracks.push_back(track);
+      unit_track = track / track.norm();
+      unit_tracks.push_back(unit_track);
+      rotated_unit_track = rotate90Clockwise3d(unit_track);
+      rotated_unit_tracks.push_back(rotated_unit_track);
+    }
+    for (int i = 0; i < (int)all_corners.size() - 1; ++i)
+    {
+      if (all_corners[i + 1].first[2] != -1.0 && all_corners[i].first[2] != -1.0)
+      {
+        p_head.push_back(all_corners[i].first);
+        track = all_corners[i + 1].first - all_corners[i].first;
+        tracks.push_back(track);
+        unit_track = track / track.norm();
+        unit_tracks.push_back(unit_track);
+        rotated_unit_track = rotate90Clockwise3d(unit_track);
+        rotated_unit_tracks.push_back(rotated_unit_track);
+      }
+      /******** X style bridges  ************/
+      //     if (all_corners[i+1].first[2] != -1.0 && all_corners[i].second[2] != -1.0) {
+      //         p_head.push_back(all_corners[i].second);
+      //         track = all_corners[i+1].first - all_corners[i].second;
+      //         tracks.push_back(track);
+      //         unit_track = track/track.norm();
+      //         unit_tracks.push_back(unit_track);
+      //         rotated_unit_track = rotate90Clockwise3d(unit_track);
+      //         rotated_unit_tracks.push_back(rotated_unit_track);
+      //     }
+      //     if (all_corners[i+1].second[2] != -1.0 && all_corners[i].first[2] != -1.0) {
+      //         p_head.push_back(all_corners[i].first);
+      //         track = all_corners[i+1].second - all_corners[i].first;
+      //         tracks.push_back(track);
+      //         unit_track = track/track.norm();
+      //         unit_tracks.push_back(unit_track);
+      //         rotated_unit_track = rotate90Clockwise3d(unit_track);
+      //         rotated_unit_tracks.push_back(rotated_unit_track);
+      //     }
+      /****   X style bridges   ****/
+      if (all_corners[i + 1].second[2] != -1.0 && all_corners[i].second[2] != -1.0)
+      {
+        p_head.push_back(all_corners[i].second);
+        track = all_corners[i + 1].second - all_corners[i].second;
+        tracks.push_back(track);
+        unit_track = track / track.norm();
+        unit_tracks.push_back(unit_track);
+        rotated_unit_track = rotate90Clockwise3d(unit_track);
+        rotated_unit_tracks.push_back(rotated_unit_track);
+      }
+    }
+    if (all_corners.back().first[2] != -1.0)
+    {
+      p_head.push_back(all_corners.back().first);
+      track = x1 - all_corners.back().first;
+      tracks.push_back(track);
+      unit_track = track / track.norm();
+      unit_tracks.push_back(unit_track);
+      rotated_unit_track = rotate90Clockwise3d(unit_track);
+      rotated_unit_tracks.push_back(rotated_unit_track);
+    }
+    if (all_corners.back().second[2] != -1.0)
+    {
+      p_head.push_back(all_corners.back().second);
+      track = x1 - all_corners.back().second;
+      tracks.push_back(track);
+      unit_track = track / track.norm();
+      unit_tracks.push_back(unit_track);
+      rotated_unit_track = rotate90Clockwise3d(unit_track);
+      rotated_unit_tracks.push_back(rotated_unit_track);
+    }
+
+    //segs is not empty but all_corners are out of bound
+    if (tracks.size() == 0)
+    {
+      p_head.push_back(x0);
+      track = x1 - x0;
+      tracks.push_back(track);
+      unit_track = track / track.norm();
+      unit_tracks.push_back(unit_track);
+      rotated_unit_track = rotate90Clockwise3d(unit_track);
+      rotated_unit_tracks.push_back(rotated_unit_track);
+    }
+    //     for (int i=0; i<p_head.size(); ++i) {
+    //         ROS_INFO("p_head:              %lf, %lf, %lf", p_head[i][0],p_head[i][1], p_head[i][2]);
+    //         ROS_INFO("tracks:              %lf, %lf, %lf", tracks[i][0],tracks[i][1], tracks[i][2]);
+    //         ROS_INFO("unit_tracks:         %lf, %lf, %lf", unit_tracks[i][0],unit_tracks[i][1], unit_tracks[i][2]);
+    //         ROS_INFO("rotated_unit_tracks: %lf, %lf, %lf", rotated_unit_tracks[i][0],rotated_unit_tracks[i][1], rotated_unit_tracks[i][2]);
+    //     }
+  }
+
+  bool BiasSampler::samplingOnce(int idx, Eigen::Matrix<double, 9, 1> &rand_state)
+  {
+    idx = idx % tracks_.size();
+    double pos_mean = pos_mean_rand_(gen_);
+    double pos_hor = pos_hor_rand_(gen_);
+    double pos_ver = pos_ver_rand_(gen_);
+    double vel_mag = vel_mag_rand_(gen_);
+    if (vel_mag > vel_mag_mean_)
+      vel_mag = vel_mag_mean_ - (vel_mag - vel_mag_mean_);
+    if (vel_mag <= 0)
+      return false;
+    double vel_hor_dir = vel_hor_dir_rand_(gen_);
+    Vector3d p_m = p_head_[idx] + tracks_[idx] * pos_mean / 100.0;
+    Vector3d p = p_m + rotated_unit_tracks_[idx] * pos_hor;
+    rand_state[0] = p[0];
+    rand_state[1] = p[1];
+    rand_state[2] = p_m[2] + pos_ver;
+    Vector3d pos;
+    pos = rand_state.head(3);
+
+    Vector3d v_m = unit_tracks_[idx] * vel_mag;
+    rotateClockwise3d(vel_hor_dir, v_m);
+    rand_state[3] = v_m[0];
+    rand_state[4] = v_m[1];
+    rand_state[5] = v_m[2];
+
+    rand_state[6] = 0.0;
+    rand_state[7] = 0.0;
+    rand_state[8] = 0.0;
+
+    // if (!pos_checker_->validatePosSurround(pos))
+    // {
+    //   return false;
+    // }
+    if (!pos_checker_->validateASample(rand_state))
+    {
+      return false;
+    }
+
+    // if ((pos - init_pos_).norm() < 1.5 || (pos - goal_pos_).norm() < 1.5)
+    // {
+    //   return false;
+    // }
+
+    return true;
+  }
+
+  void BiasSampler::samplingOnce(Eigen::Vector3d &sample)
+  {
+    static int idx = 0;
+    idx = idx % tracks_.size();
+
+    double pos_mean = pos_mean_rand_(gen_);
+    double pos_hor = pos_hor_rand_(gen_);
+    double pos_ver = pos_ver_rand_(gen_);
+    Vector3d p_m = p_head_[idx] + tracks_[idx] * pos_mean / 100.0;
+    Vector3d p = p_m + rotated_unit_tracks_[idx] * pos_hor;
+    sample[0] = p[0];
+    sample[1] = p[1];
+    sample[2] = p_m[2] + pos_ver;
+    idx++;
+  }
+
+}
diff --git a/self_msgs_and_srvs/CMakeLists.txt b/self_msgs_and_srvs/CMakeLists.txt
new file mode 100755
index 0000000..ab04ee3
--- /dev/null
+++ b/self_msgs_and_srvs/CMakeLists.txt
@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(self_msgs_and_srvs)
+
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -O3 -Wall")
+
+find_package(catkin REQUIRED COMPONENTS
+	roscpp 
+	rospy
+  message_generation
+  std_msgs
+  geometry_msgs
+)
+
+add_message_files(
+  FILES
+  input_point.msg
+	output_point.msg
+)
+
+add_service_files(
+  FILES
+  GlbObsRcv.srv
+  LearningSampler.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  geometry_msgs
+)
+
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES self_msgs_and_srvs
+  CATKIN_DEPENDS message_runtime std_msgs 
+#  DEPENDS system_lib
+)
+
+include_directories( 
+  ${catkin_INCLUDE_DIRS}
+)
+
diff --git a/self_msgs_and_srvs/msg/input_point.msg b/self_msgs_and_srvs/msg/input_point.msg
new file mode 100755
index 0000000..e5b4640
--- /dev/null
+++ b/self_msgs_and_srvs/msg/input_point.msg
@@ -0,0 +1,7 @@
+geometry_msgs/Point cur_pos
+geometry_msgs/Point pred_pos
+geometry_msgs/Point succ_pos
+
+geometry_msgs/Point target_pos
+geometry_msgs/Point target_vel
+geometry_msgs/Point target_acc
diff --git a/self_msgs_and_srvs/msg/output_point.msg b/self_msgs_and_srvs/msg/output_point.msg
new file mode 100755
index 0000000..f576e49
--- /dev/null
+++ b/self_msgs_and_srvs/msg/output_point.msg
@@ -0,0 +1,12 @@
+geometry_msgs/Point pos_mu
+geometry_msgs/Point pos_var
+
+geometry_msgs/Point vel_mu 
+geometry_msgs/Point vel_var
+
+# geometry_msgs/Point theta_mu 
+# geometry_msgs/Point theta_var
+
+geometry_msgs/Point acc_mu
+geometry_msgs/Point acc_var
+
diff --git a/self_msgs_and_srvs/package.xml b/self_msgs_and_srvs/package.xml
new file mode 100755
index 0000000..5238b55
--- /dev/null
+++ b/self_msgs_and_srvs/package.xml
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>self_msgs_and_srvs</name>
+  <version>0.0.0</version>
+  <description>The self_msgs_and_srvs package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="kyle@todo.todo">kyle</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/self_msgs_and_srvs</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <depend>std_msgs</depend>
+  <exec_depend>message_runtime</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/self_msgs_and_srvs/srv/GlbObsRcv.srv b/self_msgs_and_srvs/srv/GlbObsRcv.srv
new file mode 100755
index 0000000..2d0109e
--- /dev/null
+++ b/self_msgs_and_srvs/srv/GlbObsRcv.srv
@@ -0,0 +1,3 @@
+bool req
+---
+bool result
diff --git a/self_msgs_and_srvs/srv/LearningSampler.srv b/self_msgs_and_srvs/srv/LearningSampler.srv
new file mode 100755
index 0000000..e555860
--- /dev/null
+++ b/self_msgs_and_srvs/srv/LearningSampler.srv
@@ -0,0 +1,3 @@
+self_msgs_and_srvs/input_point[] input_traj
+---
+self_msgs_and_srvs/output_point[] output_traj
diff --git a/uav_simulator/README.md b/uav_simulator/README.md
new file mode 100755
index 0000000..da4dc4f
--- /dev/null
+++ b/uav_simulator/README.md
@@ -0,0 +1,2 @@
+# simulator and related utils
+
diff --git a/uav_simulator/Utils/cmake_utils/CMakeLists.txt b/uav_simulator/Utils/cmake_utils/CMakeLists.txt
new file mode 100755
index 0000000..a510ed1
--- /dev/null
+++ b/uav_simulator/Utils/cmake_utils/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(cmake_utils)
+
+find_package(catkin REQUIRED COMPONENTS roscpp)
+
+set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake)
+
+file(GLOB CMAKE_UILTS_FILES cmake/*.cmake)
+
+catkin_package(
+  CFG_EXTRAS ${CMAKE_UILTS_FILES}
+)
+
diff --git a/uav_simulator/Utils/cmake_utils/cmake/arch.cmake b/uav_simulator/Utils/cmake_utils/cmake/arch.cmake
new file mode 100755
index 0000000..9f1dcc8
--- /dev/null
+++ b/uav_simulator/Utils/cmake_utils/cmake/arch.cmake
@@ -0,0 +1,126 @@
+set(archdetect_c_code "
+#if defined(__arm__) || defined(__TARGET_ARCH_ARM)
+    #if defined(__ARM_ARCH_7__) \\
+        || defined(__ARM_ARCH_7A__) \\
+        || defined(__ARM_ARCH_7R__) \\
+        || defined(__ARM_ARCH_7M__) \\
+        || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 7)
+        #error cmake_ARCH armv7
+    #elif defined(__ARM_ARCH_6__) \\
+        || defined(__ARM_ARCH_6J__) \\
+        || defined(__ARM_ARCH_6T2__) \\
+        || defined(__ARM_ARCH_6Z__) \\
+        || defined(__ARM_ARCH_6K__) \\
+        || defined(__ARM_ARCH_6ZK__) \\
+        || defined(__ARM_ARCH_6M__) \\
+        || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 6)
+        #error cmake_ARCH armv6
+    #elif defined(__ARM_ARCH_5TEJ__) \\
+        || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 5)
+        #error cmake_ARCH armv5
+    #else
+        #error cmake_ARCH arm
+    #endif
+#elif defined(__i386) || defined(__i386__) || defined(_M_IX86)
+    #error cmake_ARCH i386
+#elif defined(__x86_64) || defined(__x86_64__) || defined(__amd64) || defined(_M_X64)
+    #error cmake_ARCH x86_64
+#elif defined(__ia64) || defined(__ia64__) || defined(_M_IA64)
+    #error cmake_ARCH ia64
+#elif defined(__ppc__) || defined(__ppc) || defined(__powerpc__) \\
+      || defined(_ARCH_COM) || defined(_ARCH_PWR) || defined(_ARCH_PPC)  \\
+      || defined(_M_MPPC) || defined(_M_PPC)
+    #if defined(__ppc64__) || defined(__powerpc64__) || defined(__64BIT__)
+        #error cmake_ARCH ppc64
+    #else
+        #error cmake_ARCH ppc
+    #endif
+#endif
+#error cmake_ARCH unknown
+")
+
+# Set ppc_support to TRUE before including this file or ppc and ppc64
+# will be treated as invalid architectures since they are no longer supported by Apple
+
+function(target_architecture output_var)
+    if(APPLE AND CMAKE_OSX_ARCHITECTURES)
+        # On OS X we use CMAKE_OSX_ARCHITECTURES *if* it was set
+        # First let's normalize the order of the values
+
+        # Note that it's not possible to compile PowerPC applications if you are using
+        # the OS X SDK version 10.6 or later - you'll need 10.4/10.5 for that, so we
+        # disable it by default
+        # See this page for more information:
+        # http://stackoverflow.com/questions/5333490/how-can-we-restore-ppc-ppc64-as-well-as-full-10-4-10-5-sdk-support-to-xcode-4
+
+        # Architecture defaults to i386 or ppc on OS X 10.5 and earlier, depending on the CPU type detected at runtime.
+        # On OS X 10.6+ the default is x86_64 if the CPU supports it, i386 otherwise.
+
+        foreach(osx_arch ${CMAKE_OSX_ARCHITECTURES})
+            if("${osx_arch}" STREQUAL "ppc" AND ppc_support)
+                set(osx_arch_ppc TRUE)
+            elseif("${osx_arch}" STREQUAL "i386")
+                set(osx_arch_i386 TRUE)
+            elseif("${osx_arch}" STREQUAL "x86_64")
+                set(osx_arch_x86_64 TRUE)
+            elseif("${osx_arch}" STREQUAL "ppc64" AND ppc_support)
+                set(osx_arch_ppc64 TRUE)
+            else()
+                message(FATAL_ERROR "Invalid OS X arch name: ${osx_arch}")
+            endif()
+        endforeach()
+
+        # Now add all the architectures in our normalized order
+        if(osx_arch_ppc)
+            list(APPEND ARCH ppc)
+        endif()
+
+        if(osx_arch_i386)
+            list(APPEND ARCH i386)
+        endif()
+
+        if(osx_arch_x86_64)
+            list(APPEND ARCH x86_64)
+        endif()
+
+        if(osx_arch_ppc64)
+            list(APPEND ARCH ppc64)
+        endif()
+    else()
+        file(WRITE "${CMAKE_BINARY_DIR}/arch.c" "${archdetect_c_code}")
+
+        enable_language(C)
+
+        # Detect the architecture in a rather creative way...
+        # This compiles a small C program which is a series of ifdefs that selects a
+        # particular #error preprocessor directive whose message string contains the
+        # target architecture. The program will always fail to compile (both because
+        # file is not a valid C program, and obviously because of the presence of the
+        # #error preprocessor directives... but by exploiting the preprocessor in this
+        # way, we can detect the correct target architecture even when cross-compiling,
+        # since the program itself never needs to be run (only the compiler/preprocessor)
+        try_run(
+            run_result_unused
+            compile_result_unused
+            "${CMAKE_BINARY_DIR}"
+            "${CMAKE_BINARY_DIR}/arch.c"
+            COMPILE_OUTPUT_VARIABLE ARCH
+            CMAKE_FLAGS CMAKE_OSX_ARCHITECTURES=${CMAKE_OSX_ARCHITECTURES}
+        )
+
+        # Parse the architecture name from the compiler output
+        string(REGEX MATCH "cmake_ARCH ([a-zA-Z0-9_]+)" ARCH "${ARCH}")
+
+        # Get rid of the value marker leaving just the architecture name
+        string(REPLACE "cmake_ARCH " "" ARCH "${ARCH}")
+
+        # If we are compiling with an unknown architecture this variable should
+        # already be set to "unknown" but in the case that it's empty (i.e. due
+        # to a typo in the code), then set it to unknown
+        if (NOT ARCH)
+            set(ARCH unknown)
+        endif()
+    endif()
+
+    set(${output_var} "${ARCH}" PARENT_SCOPE)
+endfunction()
diff --git a/uav_simulator/Utils/cmake_utils/cmake/cmake_modules.cmake b/uav_simulator/Utils/cmake_utils/cmake/cmake_modules.cmake
new file mode 100755
index 0000000..4370b38
--- /dev/null
+++ b/uav_simulator/Utils/cmake_utils/cmake/cmake_modules.cmake
@@ -0,0 +1,2 @@
+list(APPEND CMAKE_MODULE_PATH "${cmake_utils_SOURCE_PREFIX}/cmake_modules")
+link_directories( ${cmake_utils_SOURCE_PREFIX}/lib/mosek8 )
diff --git a/uav_simulator/Utils/cmake_utils/cmake/color.cmake b/uav_simulator/Utils/cmake_utils/cmake/color.cmake
new file mode 100755
index 0000000..bada383
--- /dev/null
+++ b/uav_simulator/Utils/cmake_utils/cmake/color.cmake
@@ -0,0 +1,17 @@
+string(ASCII 27 Esc)
+set(ColourReset "${Esc}[m")
+set(ColourBold  "${Esc}[1m")
+set(Red         "${Esc}[31m")
+set(Green       "${Esc}[32m")
+set(Yellow      "${Esc}[33m")
+set(Blue        "${Esc}[34m")
+set(Magenta     "${Esc}[35m")
+set(Cyan        "${Esc}[36m")
+set(White       "${Esc}[37m")
+set(BoldRed     "${Esc}[1;31m")
+set(BoldGreen   "${Esc}[1;32m")
+set(BoldYellow  "${Esc}[1;33m")
+set(BoldBlue    "${Esc}[1;34m")
+set(BoldMagenta "${Esc}[1;35m")
+set(BoldCyan    "${Esc}[1;36m")
+set(BoldWhite   "${Esc}[1;37m")
diff --git a/uav_simulator/Utils/cmake_utils/cmake_modules/FindEigen.cmake b/uav_simulator/Utils/cmake_utils/cmake_modules/FindEigen.cmake
new file mode 100755
index 0000000..d45fad7
--- /dev/null
+++ b/uav_simulator/Utils/cmake_utils/cmake_modules/FindEigen.cmake
@@ -0,0 +1,173 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindEigen.cmake - Find Eigen library, version >= 3.
+#
+# This module defines the following variables:
+#
+# EIGEN_FOUND: TRUE iff Eigen is found.
+# EIGEN_INCLUDE_DIRS: Include directories for Eigen.
+#
+# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h
+# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0
+# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0
+# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0
+#
+# The following variables control the behaviour of this module:
+#
+# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to
+#                          search for eigen includes, e.g: /timbuktu/eigen3.
+#
+# The following variables are also defined by this module, but in line with
+# CMake recommended FindPackage() module style should NOT be referenced directly
+# by callers (use the plural variables detailed above instead).  These variables
+# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
+# are NOT re-called (i.e. search for library is not repeated) if these variables
+# are set with valid values _in the CMake cache_. This means that if these
+# variables are set directly in the cache, either by the user in the CMake GUI,
+# or by the user passing -DVAR=VALUE directives to CMake when called (which
+# explicitly defines a cache variable), then they will be used verbatim,
+# bypassing the HINTS variables and other hard-coded search locations.
+#
+# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the
+#                    include directory of any dependencies.
+
+# Called if we failed to find Eigen or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(EIGEN_REPORT_NOT_FOUND REASON_MSG)
+  unset(EIGEN_FOUND)
+  unset(EIGEN_INCLUDE_DIRS)
+  # Make results of search visible in the CMake GUI if Eigen has not
+  # been found so that user does not have to toggle to advanced view.
+  mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR)
+  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+  # use the camelcase library name, not uppercase.
+  if (Eigen_FIND_QUIETLY)
+    message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
+  elseif (Eigen_FIND_REQUIRED)
+    message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
+  else()
+    # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+    # but continues configuration and allows generation.
+    message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN})
+  endif ()
+  return()
+endmacro(EIGEN_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set EIGEN_FOUND, but not
+# the other variables we require / set here which could cause the search logic
+# here to fail.
+unset(EIGEN_FOUND)
+
+# Search user-installed locations first, so that we prefer user installs
+# to system installs where both exist.
+#
+# TODO: Add standard Windows search locations for Eigen.
+list(APPEND EIGEN_CHECK_INCLUDE_DIRS
+  /usr/local/include
+  /usr/local/homebrew/include # Mac OS X
+  /opt/local/var/macports/software # Mac OS X.
+  /opt/local/include
+  /usr/include)
+# Additional suffixes to try appending to each search path.
+list(APPEND EIGEN_CHECK_PATH_SUFFIXES
+  eigen3 # Default root directory for Eigen.
+  Eigen/include/eigen3 ) # Windows (for C:/Program Files prefix).
+
+# Search supplied hint directories first if supplied.
+find_path(EIGEN_INCLUDE_DIR
+  NAMES Eigen/Core
+  PATHS ${EIGEN_INCLUDE_DIR_HINTS}
+  ${EIGEN_CHECK_INCLUDE_DIRS}
+  PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES})
+
+if (NOT EIGEN_INCLUDE_DIR OR
+    NOT EXISTS ${EIGEN_INCLUDE_DIR})
+  eigen_report_not_found(
+    "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to "
+    "path to eigen3 include directory, e.g. /usr/local/include/eigen3.")
+endif (NOT EIGEN_INCLUDE_DIR OR
+       NOT EXISTS ${EIGEN_INCLUDE_DIR})
+
+# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets
+# if called.
+set(EIGEN_FOUND TRUE)
+
+# Extract Eigen version from Eigen/src/Core/util/Macros.h
+if (EIGEN_INCLUDE_DIR)
+  set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h)
+  if (NOT EXISTS ${EIGEN_VERSION_FILE})
+    eigen_report_not_found(
+      "Could not find file: ${EIGEN_VERSION_FILE} "
+      "containing version information in Eigen install located at: "
+      "${EIGEN_INCLUDE_DIR}.")
+  else (NOT EXISTS ${EIGEN_VERSION_FILE})
+    file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS)
+
+    string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+"
+      EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
+    string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1"
+      EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}")
+
+    string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+"
+      EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
+    string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1"
+      EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}")
+
+    string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+"
+      EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
+    string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1"
+      EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}")
+
+    # This is on a single line s/t CMake does not interpret it as a list of
+    # elements and insert ';' separators which would result in 3.;2.;0 nonsense.
+    set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}")
+  endif (NOT EXISTS ${EIGEN_VERSION_FILE})
+endif (EIGEN_INCLUDE_DIR)
+
+# Set standard CMake FindPackage variables if found.
+if (EIGEN_FOUND)
+  set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
+endif (EIGEN_FOUND)
+
+# Handle REQUIRED / QUIET optional arguments and version.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Eigen
+  REQUIRED_VARS EIGEN_INCLUDE_DIRS
+  VERSION_VAR EIGEN_VERSION)
+
+# Only mark internal variables as advanced if we found Eigen, otherwise
+# leave it visible in the standard GUI for the user to set manually.
+if (EIGEN_FOUND)
+  mark_as_advanced(FORCE EIGEN_INCLUDE_DIR)
+endif (EIGEN_FOUND)
diff --git a/uav_simulator/Utils/cmake_utils/cmake_modules/FindGSL.cmake b/uav_simulator/Utils/cmake_utils/cmake_modules/FindGSL.cmake
new file mode 100755
index 0000000..797b245
--- /dev/null
+++ b/uav_simulator/Utils/cmake_utils/cmake_modules/FindGSL.cmake
@@ -0,0 +1,135 @@
+# Try to find gnu scientific library GSL
+# See
+# http://www.gnu.org/software/gsl/  and
+# http://gnuwin32.sourceforge.net/packages/gsl.htm
+#
+# Based on a script of Felix Woelk and Jan Woetzel
+# (www.mip.informatik.uni-kiel.de)
+#
+# It defines the following variables:
+#  GSL_FOUND - system has GSL lib
+#  GSL_INCLUDE_DIRS - where to find headers
+#  GSL_LIBRARIES - full path to the libraries
+#  GSL_LIBRARY_DIRS, the directory where the PLplot library is found.
+
+#  CMAKE_GSL_CXX_FLAGS  = Unix compiler flags for GSL, essentially "`gsl-config --cxxflags`"
+#  GSL_LINK_DIRECTORIES = link directories, useful for rpath on Unix
+#  GSL_EXE_LINKER_FLAGS = rpath on Unix
+
+set( GSL_FOUND OFF )
+set( GSL_CBLAS_FOUND OFF )
+
+# Windows, but not for Cygwin and MSys where gsl-config is available
+if( WIN32 AND NOT CYGWIN AND NOT MSYS )
+  # look for headers
+  find_path( GSL_INCLUDE_DIR
+    NAMES gsl/gsl_cdf.h gsl/gsl_randist.h
+    )
+  if( GSL_INCLUDE_DIR )
+    # look for gsl library
+    find_library( GSL_LIBRARY
+      NAMES gsl
+    )
+    if( GSL_LIBRARY )
+      set( GSL_INCLUDE_DIRS ${GSL_INCLUDE_DIR} )
+      get_filename_component( GSL_LIBRARY_DIRS ${GSL_LIBRARY} PATH )
+      set( GSL_FOUND ON )
+    endif( GSL_LIBRARY )
+
+    # look for gsl cblas library
+    find_library( GSL_CBLAS_LIBRARY
+        NAMES gslcblas
+      )
+    if( GSL_CBLAS_LIBRARY )
+      set( GSL_CBLAS_FOUND ON )
+    endif( GSL_CBLAS_LIBRARY )
+
+    set( GSL_LIBRARIES ${GSL_LIBRARY} ${GSL_CBLAS_LIBRARY} )
+  endif( GSL_INCLUDE_DIR )
+
+  mark_as_advanced(
+    GSL_INCLUDE_DIR
+    GSL_LIBRARY
+    GSL_CBLAS_LIBRARY
+  )
+else( WIN32 AND NOT CYGWIN AND NOT MSYS )
+  if( UNIX OR MSYS )
+    find_program( GSL_CONFIG_EXECUTABLE gsl-config
+      /usr/bin/
+      /usr/local/bin
+    )
+
+    if( GSL_CONFIG_EXECUTABLE )
+      set( GSL_FOUND ON )
+
+      # run the gsl-config program to get cxxflags
+      execute_process(
+        COMMAND sh "${GSL_CONFIG_EXECUTABLE}" --cflags
+        OUTPUT_VARIABLE GSL_CFLAGS
+        RESULT_VARIABLE RET
+        ERROR_QUIET
+        )
+      if( RET EQUAL 0 )
+        string( STRIP "${GSL_CFLAGS}" GSL_CFLAGS )
+        separate_arguments( GSL_CFLAGS )
+
+        # parse definitions from cflags; drop -D* from CFLAGS
+        string( REGEX MATCHALL "-D[^;]+"
+          GSL_DEFINITIONS  "${GSL_CFLAGS}" )
+        string( REGEX REPLACE "-D[^;]+;" ""
+          GSL_CFLAGS "${GSL_CFLAGS}" )
+
+        # parse include dirs from cflags; drop -I prefix
+        string( REGEX MATCHALL "-I[^;]+"
+          GSL_INCLUDE_DIRS "${GSL_CFLAGS}" )
+        string( REPLACE "-I" ""
+          GSL_INCLUDE_DIRS "${GSL_INCLUDE_DIRS}")
+        string( REGEX REPLACE "-I[^;]+;" ""
+          GSL_CFLAGS "${GSL_CFLAGS}")
+
+        message("GSL_DEFINITIONS=${GSL_DEFINITIONS}")
+        message("GSL_INCLUDE_DIRS=${GSL_INCLUDE_DIRS}")
+        message("GSL_CFLAGS=${GSL_CFLAGS}")
+      else( RET EQUAL 0 )
+        set( GSL_FOUND FALSE )
+      endif( RET EQUAL 0 )
+
+      # run the gsl-config program to get the libs
+      execute_process(
+        COMMAND sh "${GSL_CONFIG_EXECUTABLE}" --libs
+        OUTPUT_VARIABLE GSL_LIBRARIES
+        RESULT_VARIABLE RET
+        ERROR_QUIET
+        )
+      if( RET EQUAL 0 )
+        string(STRIP "${GSL_LIBRARIES}" GSL_LIBRARIES )
+        separate_arguments( GSL_LIBRARIES )
+
+        # extract linkdirs (-L) for rpath (i.e., LINK_DIRECTORIES)
+        string( REGEX MATCHALL "-L[^;]+"
+          GSL_LIBRARY_DIRS "${GSL_LIBRARIES}" )
+        string( REPLACE "-L" ""
+          GSL_LIBRARY_DIRS "${GSL_LIBRARY_DIRS}" )
+      else( RET EQUAL 0 )
+        set( GSL_FOUND FALSE )
+      endif( RET EQUAL 0 )
+
+      MARK_AS_ADVANCED(
+        GSL_CFLAGS
+      )
+      message( STATUS "Using GSL from ${GSL_PREFIX}" )
+    else( GSL_CONFIG_EXECUTABLE )
+      message( STATUS "FindGSL: gsl-config not found.")
+    endif( GSL_CONFIG_EXECUTABLE )
+  endif( UNIX OR MSYS )
+endif( WIN32 AND NOT CYGWIN AND NOT MSYS )
+
+if( GSL_FOUND )
+  if( NOT GSL_FIND_QUIETLY )
+    message( STATUS "FindGSL: Found both GSL headers and library" )
+  endif( NOT GSL_FIND_QUIETLY )
+else( GSL_FOUND )
+  if( GSL_FIND_REQUIRED )
+    message( FATAL_ERROR "FindGSL: Could not find GSL headers or library" )
+  endif( GSL_FIND_REQUIRED )
+endif( GSL_FOUND )
diff --git a/uav_simulator/Utils/cmake_utils/cmake_modules/FindmvIMPACT.cmake b/uav_simulator/Utils/cmake_utils/cmake_modules/FindmvIMPACT.cmake
new file mode 100755
index 0000000..d1a61b6
--- /dev/null
+++ b/uav_simulator/Utils/cmake_utils/cmake_modules/FindmvIMPACT.cmake
@@ -0,0 +1,124 @@
+macro(mvIMPACT_REPORT_NOT_FOUND REASON_MSG)
+    unset(mvIMPACT_FOUND)
+    unset(mvIMPACT_INCLUDE_DIRS)
+    unset(mvIMPACT_LIBRARIES)
+    unset(mvIMPACT_WORLD_VERSION)
+    unset(mvIMPACT_MAJOR_VERSION)
+    unset(mvIMPACT_MINOR_VERSION)
+    # Make results of search visible in the CMake GUI if mvimpact has not
+    # been found so that user does not have to toggle to advanced view.
+    mark_as_advanced(CLEAR mvIMPACT_INCLUDE_DIR)
+    # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+    # use the camelcase library name, not uppercase.
+    if(Mvimpact_FIND_QUIETLY)
+        message(STATUS "Failed to find mvimpact - " ${REASON_MSG} ${ARGN})
+    elseif(Mvimpact_FIND_REQUIRED)
+        message(FATAL_ERROR "Failed to find mvimpact - " ${REASON_MSG} ${ARGN})
+    else()
+        # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+        # but continues configuration and allows generation.
+        message("-- Failed to find mvimpact - " ${REASON_MSG} ${ARGN})
+    endif()
+endmacro(mvIMPACT_REPORT_NOT_FOUND)
+
+# Search user-installed locations first, so that we prefer user installs
+# to system installs where both exist.
+get_filename_component(BLUEFOX2_DIR ${CMAKE_CURRENT_SOURCE_DIR} REALPATH)
+list(APPEND mvIMPACT_CHECK_INCLUDE_DIRS
+    /opt/mvIMPACT_acquire
+    /opt/mvIMPACT_Acquire
+    )
+execute_process(COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCH)
+
+if(NOT ARCH)
+set(ARCH "arm64")
+elseif(${ARCH} STREQUAL "aarch64")
+set(ARCH "arm64")
+endif()
+
+list(APPEND mvIMPACT_CHECK_LIBRARY_DIRS
+    /opt/mvIMPACT_acquire/lib/${ARCH}
+    /opt/mvIMPACT_Acquire/lib/${ARCH}
+    )
+
+# Check general hints
+if(mvIMPACT_HINTS AND EXISTS ${mvIMPACT_HINTS})
+    set(mvIMPACT_INCLUDE_DIR_HINTS ${mvIMPACT_HINTS}/include)
+    set(mvIMPACT_LIBRARY_DIR_HINTS ${mvIMPACT_HINTS}/lib)
+endif()
+
+# Search supplied hint directories first if supplied.
+# Find include directory for mvimpact
+find_path(mvIMPACT_INCLUDE_DIR
+    NAMES mvIMPACT_CPP/mvIMPACT_acquire.h
+    PATHS ${mvIMPACT_INCLUDE_DIR_HINTS}
+    ${mvIMPACT_CHECK_INCLUDE_DIRS}
+    NO_DEFAULT_PATH)
+if(NOT mvIMPACT_INCLUDE_DIR OR NOT EXISTS ${mvIMPACT_INCLUDE_DIR})
+    mvIMPACT_REPORT_NOT_FOUND(
+        "Could not find mvimpact include directory, set mvIMPACT_INCLUDE_DIR to "
+        "path to mvimpact include directory,"
+        "e.g. /opt/mvIMPACT_acquire.")
+else()
+    message(STATUS "mvimpact include dir found: " ${mvIMPACT_INCLUDE_DIR})
+endif()
+
+# Find library directory for mvimpact
+find_library(mvIMPACT_LIBRARY
+    NAMES libmvBlueFOX.so
+    PATHS ${mvIMPACT_LIBRARY_DIR_HINTS}
+    ${mvIMPACT_CHECK_LIBRARY_DIRS}
+    NO_DEFAULT_PATH)
+if(NOT mvIMPACT_LIBRARY OR NOT EXISTS ${mvIMPACT_LIBRARY})
+    mvIMPACT_REPORT_NOT_FOUND(
+        "Could not find mvimpact library, set mvIMPACT_LIBRARY "
+        "to full path to mvimpact library direcotory.${mvIMPACT_CHECK_LIBRARY_DIRS}~~")
+else()
+    # TODO: need to fix this hacky solution for getting mvIMPACT_LIBRARY_DIR
+    string(REGEX MATCH ".*/" mvIMPACT_LIBRARY_DIR ${mvIMPACT_LIBRARY})
+    message(STATUS "mvimpact library dir found: " ${mvIMPACT_LIBRARY_DIR})
+
+endif()
+
+# Mark internally as found, then verify. mvIMPACT_REPORT_NOT_FOUND() unsets if
+# called.
+set(mvIMPACT_FOUND TRUE)
+
+# Extract mvimpact version
+if(mvIMPACT_LIBRARY_DIR)
+    file(GLOB mvIMPACT_LIBS
+        RELATIVE ${mvIMPACT_LIBRARY_DIR}
+        ${mvIMPACT_LIBRARY_DIR}/libmvBlueFOX.so.[0-9].[0-9].[0-9])
+    # TODO: add version support
+    # string(REGEX MATCH ""
+    #       mvIMPACT_WORLD_VERSION ${mvIMPACT_PVBASE})
+    # message(STATUS "mvimpact world version: " ${mvIMPACT_WORLD_VERSION})
+endif()
+
+# Catch case when caller has set mvIMPACT_INCLUDE_DIR in the cache / GUI and
+# thus FIND_[PATH/LIBRARY] are not called, but specified locations are
+# invalid, otherwise we would report the library as found.
+if(NOT mvIMPACT_INCLUDE_DIR AND NOT EXISTS ${mvIMPACT_INCLUDE_DIR}/mvIMPACT_CPP/mvIMPACT_acquire.h)
+    mvIMPACT_REPORT_NOT_FOUND("Caller defined mvIMPACT_INCLUDE_DIR: "
+        ${mvIMPACT_INCLUDE_DIR}
+        " does not contain mvIMPACT_CPP/mvIMPACT_acquire.h header.")
+endif()
+
+# Set standard CMake FindPackage variables if found.
+if(mvIMPACT_FOUND)
+    set(mvIMPACT_INCLUDE_DIRS ${mvIMPACT_INCLUDE_DIR})
+    file(GLOB mvIMPACT_LIBRARIES ${mvIMPACT_LIBRARY_DIR}lib*.so)
+endif()
+
+# Handle REQUIRED / QUIET optional arguments.
+include(FindPackageHandleStandardArgs)
+if(mvIMPACT_FOUND)
+    FIND_PACKAGE_HANDLE_STANDARD_ARGS(Mvimpact DEFAULT_MSG
+        mvIMPACT_INCLUDE_DIRS mvIMPACT_LIBRARIES)
+endif()
+
+# Only mark internal variables as advanced if we found mvimpact, otherwise
+# leave it visible in the standard GUI for the user to set manually.
+if(mvIMPACT_FOUND)
+    mark_as_advanced(FORCE mvIMPACT_INCLUDE_DIR mvIMPACT_LIBRARY)
+endif()
diff --git a/uav_simulator/Utils/cmake_utils/package.xml b/uav_simulator/Utils/cmake_utils/package.xml
new file mode 100755
index 0000000..d745d2d
--- /dev/null
+++ b/uav_simulator/Utils/cmake_utils/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package  format="2">
+  <name>cmake_utils</name>
+  <version>0.0.0</version>
+  <description>
+  Once you used this package,
+  then you do not need to copy cmake files among packages
+  </description>
+
+  <maintainer email="william.wu@dji.com"> William.Wu </maintainer>
+
+  <license>LGPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roscpp</depend>
+  <depend>cmake_modules</depend>
+
+</package>
diff --git a/uav_simulator/Utils/multi_map_server/CMakeLists.txt b/uav_simulator/Utils/multi_map_server/CMakeLists.txt
new file mode 100755
index 0000000..11dfb36
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/CMakeLists.txt
@@ -0,0 +1,218 @@
+#cmake_minimum_required(VERSION 2.4.6)
+#include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE Release)
+
+#rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+#rosbuild_add_boost_directories()
+
+
+#rosbuild_add_executable(multi_map_server src/multi_map_server.cc)
+#target_link_libraries(multi_map_server pose_utils)
+
+#rosbuild_add_executable(multi_map_visualization src/multi_map_visualization.cc)
+#target_link_libraries(multi_map_visualization pose_utils)
+
+#----------------------------------
+cmake_minimum_required(VERSION 2.8.3)
+project(multi_map_server)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  nav_msgs
+  pose_utils
+  message_generation
+  roscpp
+  visualization_msgs
+  tf
+  std_srvs
+  laser_geometry
+  pose_utils
+  quadrotor_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+   FILES
+   MultiOccupancyGrid.msg
+   MultiSparseMap3D.msg
+   SparseMap3D.msg
+   VerticalOccupancyGridList.msg
+   #plan_cmd.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+   DEPENDENCIES
+   geometry_msgs
+   nav_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES irobot_msgs
+   CATKIN_DEPENDS geometry_msgs nav_msgs quadrotor_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+find_package(Armadillo REQUIRED)
+include_directories(${ARMADILLO_INCLUDE_DIRS})
+
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(irobot_msgs
+#   src/${PROJECT_NAME}/irobot_msgs.cpp
+# )
+
+## Declare a cpp executable
+add_executable(multi_map_visualization src/multi_map_visualization.cc)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+#add_dependencies(multi_map_visualization multi_map_server_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(multi_map_visualization 
+   ${catkin_LIBRARIES}
+   ${ARMADILLO_LIBRARIES}
+   pose_utils
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS irobot_msgs irobot_msgs_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_irobot_msgs.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/uav_simulator/Utils/multi_map_server/Makefile b/uav_simulator/Utils/multi_map_server/Makefile
new file mode 100755
index 0000000..b75b928
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map2D.h b/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map2D.h
new file mode 100755
index 0000000..e45380f
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map2D.h
@@ -0,0 +1,242 @@
+#ifndef MAP2D_H
+#define MAP2D_H
+
+#include <iostream>
+#include <ros/ros.h>
+#include <tf/tf.h>
+#include <nav_msgs/OccupancyGrid.h>
+
+using namespace std;
+
+class Map2D
+{
+
+private:
+  nav_msgs::OccupancyGrid map;
+  int  expandStep;  
+  int  binning;  
+  bool isBinningSet;
+  bool updated;
+
+public:
+  Map2D() 
+  {
+    map.data.resize(0); 
+    map.info.origin.orientation = tf::createQuaternionMsgFromYaw(0.0);  
+    expandStep   = 200; 
+    binning      = 1; 
+    isBinningSet = false; 
+    updated      = false; 
+  }
+
+  Map2D(int _binning)
+  {
+    map.data.resize(0); 
+    map.info.origin.orientation = tf::createQuaternionMsgFromYaw(0.0);  
+    expandStep   = 200; 
+    binning      = _binning; 
+    isBinningSet = true; 
+    updated      = false; 
+  }
+
+  ~Map2D() {}
+
+  double GetResolution() { return map.info.resolution; }
+  double GetMinX() { return map.info.origin.position.x; }
+  double GetMinY() { return map.info.origin.position.y; }
+  double GetMaxX() { return map.info.origin.position.x + map.info.width  * map.info.resolution; }
+  double GetMaxY() { return map.info.origin.position.y + map.info.height * map.info.resolution; }
+  bool   Updated() { return updated; }  
+  void   Reset()   { map = nav_msgs::OccupancyGrid(); }
+
+  void SetBinning(int _binning) 
+  { 
+    if (!isBinningSet)
+      binning = _binning; 
+  }
+
+  // Get occupancy value, 0: unknown; +ve: occupied; -ve: free
+  signed char GetOccupiedFromWorldFrame(double x, double y) 
+  {
+    int xm = (x - map.info.origin.position.x) / map.info.resolution;
+    int ym = (y - map.info.origin.position.y) / map.info.resolution;
+    if (xm < 0 || xm > map.info.width-1 || ym < 0 || ym > map.info.height-1) 
+      return 0;
+    else 
+      return map.data[ym*map.info.width+xm];
+  }
+
+  void Replace(nav_msgs::OccupancyGrid m)
+  {
+    // Check data
+    if (m.data.size() == 0)
+      return;
+    isBinningSet = true;
+    // Binning, conservative, take maximum
+    if (binning > 1)
+    {
+      int _width         = m.info.width;
+      m.info.width      /= binning;
+      m.info.height     /= binning;
+      m.info.resolution *= binning;
+      vector<signed char> data(m.info.width * m.info.height);
+      for (int i = 0; i < m.info.height; i++)
+      {
+        for (int j = 0; j < m.info.width; j++)
+        {
+          int val = -0xff;
+          for (int _i = 0; _i < binning; _i++)
+          {
+            for (int _j = 0; _j < binning; _j++)
+            {
+              int v = m.data[(i*binning + _i) * _width + (j*binning + _j)];
+              val = (v > val)?v:val;
+            }
+          }
+          data[i * m.info.width + j] = val;
+        }
+      }
+      m.data = data;
+    }
+    // Replace map
+    map = m;
+    updated = true;
+  }
+
+  // Merge submap
+  void Update(nav_msgs::OccupancyGrid m)
+  {
+    // Check data
+    if (m.data.size() == 0)
+      return;
+    isBinningSet = true;
+    // Binning, conservative, take maximum
+    if (binning > 1)
+    {
+      int _width         = m.info.width;
+      m.info.width      /= binning;
+      m.info.height     /= binning;
+      m.info.resolution *= binning;
+      vector<signed char> data(m.info.width * m.info.height);
+      for (int i = 0; i < m.info.height; i++)
+      {
+        for (int j = 0; j < m.info.width; j++)
+        {
+          int val = -0xff;
+          for (int _i = 0; _i < binning; _i++)
+          {
+            for (int _j = 0; _j < binning; _j++)
+            {
+              int v = m.data[(i*binning + _i) * _width + (j*binning + _j)];
+              val = (v > val)?v:val;
+            }
+          }
+          data[i * m.info.width + j] = val;
+        }
+      }
+      m.data = data;
+    }
+    // Initialize and check resolution
+    if (map.info.resolution == 0)
+      map.info.resolution = m.info.resolution;
+    else if (m.info.resolution != map.info.resolution)
+      return;
+    // Get Info
+    double ox   = m.info.origin.position.x;
+    double oy   = m.info.origin.position.y;
+    double oyaw = tf::getYaw(m.info.origin.orientation);
+    double syaw = sin(oyaw);
+    double cyaw = cos(oyaw);
+    int mx      = m.info.width;
+    int my      = m.info.height;
+    double xs[4];
+    double ys[4];
+    xs[0] = cyaw * (0)                      - syaw * (0)                      + ox;
+    xs[1] = cyaw * (mx*map.info.resolution) - syaw * (0)                      + ox;
+    xs[2] = cyaw * (0)                      - syaw * (mx*map.info.resolution) + ox;
+    xs[3] = cyaw * (mx*map.info.resolution) - syaw * (my*map.info.resolution) + ox;    
+    ys[0] = syaw * (0)                      + cyaw * (0)                      + oy;
+    ys[1] = syaw * (mx*map.info.resolution) + cyaw * (0)                      + oy;
+    ys[2] = syaw * (0)                      + cyaw * (my*map.info.resolution) + oy;
+    ys[3] = syaw * (mx*map.info.resolution) + cyaw * (my*map.info.resolution) + oy;
+    double minx = xs[0];
+    double maxx = xs[0];
+    double miny = ys[0];
+    double maxy = ys[0];
+    for (int k = 0; k < 4; k++)
+    {
+      minx = (xs[k] < minx)?xs[k]:minx;
+      miny = (ys[k] < miny)?ys[k]:miny;
+      maxx = (xs[k] > maxx)?xs[k]:maxx;
+      maxy = (ys[k] > maxy)?ys[k]:maxy;
+    }
+    // Check whether resize map is needed
+    bool   mapResetFlag = false;
+    double prevOriginX  = map.info.origin.position.x;
+    double prevOriginY  = map.info.origin.position.y;
+    int    prevMapX     = map.info.width;
+    int    prevMapY     = map.info.height;
+    while (map.info.origin.position.x > minx)
+    {
+      map.info.width += expandStep;
+      map.info.origin.position.x -= expandStep*map.info.resolution;
+      mapResetFlag = true;
+    }
+    while (map.info.origin.position.y > miny)
+    {
+      map.info.height += expandStep;
+      map.info.origin.position.y -= expandStep*map.info.resolution;
+      mapResetFlag = true;
+    }
+    while (map.info.origin.position.x + map.info.width*map.info.resolution < maxx)
+    {
+      map.info.width += expandStep;
+      mapResetFlag = true;
+    }
+    while (map.info.origin.position.y + map.info.height*map.info.resolution < maxy)
+    {
+      map.info.height += expandStep;
+      mapResetFlag = true;
+    }
+    // Resize map
+    if (mapResetFlag)
+    {
+      mapResetFlag = false;
+      vector<signed char> _data = map.data;
+      map.data.clear();
+      map.data.resize(map.info.width*map.info.height,0);
+      for (int x = 0; x < prevMapX; x++)
+      {
+        for(int y = 0; y < prevMapY; y++)
+        {
+          int xn = x + round((prevOriginX - map.info.origin.position.x) / map.info.resolution);
+          int yn = y + round((prevOriginY - map.info.origin.position.y) / map.info.resolution);
+          map.data[yn*map.info.width+xn] = _data[y*prevMapX+x];
+        }
+      }
+    }
+    // Merge map
+    for (int x = 0; x < mx; x++)
+    {
+      for(int y = 0; y < my; y++)
+      {
+        int xn = (cyaw*(x*map.info.resolution)-syaw*(y*map.info.resolution)+ox-map.info.origin.position.x) / map.info.resolution;
+        int yn = (syaw*(x*map.info.resolution)+cyaw*(y*map.info.resolution)+oy-map.info.origin.position.y) / map.info.resolution;
+        if (abs((int)(map.data[yn*map.info.width+xn]) + (int)(m.data[y*mx+x])) <= 127)        
+          map.data[yn*map.info.width+xn] += m.data[y*mx+x];
+      }
+    }
+    updated = true;
+  }
+
+  const nav_msgs::OccupancyGrid& GetMap()
+  {
+    map.header.stamp       = ros::Time::now();
+    map.info.map_load_time = ros::Time::now();
+    map.header.frame_id    = string("/map");
+    updated = false;
+    return map;
+  }
+};
+
+#endif
diff --git a/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map3D.h b/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map3D.h
new file mode 100755
index 0000000..7f8aa7c
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map3D.h
@@ -0,0 +1,608 @@
+#ifndef MAP3D_H
+#define MAP3D_H
+
+#include <iostream>
+#include <ros/ros.h>
+#include <tf/tf.h>
+#include <armadillo>
+#include <multi_map_server/SparseMap3D.h>
+
+using namespace std;
+
+// Occupancy probability of a sensor
+#define PROB_OCCUPIED  0.95
+
+// Free space probability of a sensor
+#define PROB_FREE      0.01
+
+// Threshold that determine a cell is occupied
+#define PROB_OCCUPIED_THRESHOLD       0.75
+
+// If beyond this threshold, the occupancy(occupied) of this cell is fixed, no decay
+#define PROB_OCCUPIED_FIXED_THRESHOLD 0.95
+
+// Threshold that determine a cell is free
+#define PROB_FREE_THRESHOLD           0.25
+
+// If bwlow this threshold, the occupancy(free) of this cell is fixed, no decay
+#define PROB_FREE_FIXED_THRESHOLD     0.05
+
+// Used integer value to store occupancy, create a large scale factor to enable small scale decay
+#define LOG_ODD_SCALE_FACTOR  10000
+
+// Decay factor per second
+#define LOG_ODD_DECAY_RATE 1.00
+
+// Binary value of the occupancy output
+#define OCCUPIED 1
+#define FREE    -1
+
+// Cell Struct -----------------------------------------
+struct OccupancyGrid
+{
+  int upper;
+  int lower;
+  int mass;
+};
+
+// Occupancy Grids List  --------------------------------
+class OccupancyGridList
+{
+public:
+
+  OccupancyGridList() { updateCounter = 0; }
+
+  ~OccupancyGridList() { }
+
+  void PackMsg(multi_map_server::VerticalOccupancyGridList &msg)
+  {
+    msg.x = x;
+    msg.y = y;
+    for (list<OccupancyGrid>::iterator k = grids.begin(); k != grids.end(); k++)
+    {
+      msg.upper.push_back(k->upper);
+      msg.lower.push_back(k->lower);
+      msg.mass.push_back(k->mass);
+    }
+  }
+
+  void UnpackMsg(const multi_map_server::VerticalOccupancyGridList &msg)
+  {
+    x = msg.x;
+    y = msg.y;
+    updateCounter = 0;
+    grids.clear();
+    for (unsigned int k = 0; k < msg.mass.size(); k++)
+    {
+      OccupancyGrid c;
+      c.upper = msg.upper[k];
+      c.lower = msg.lower[k];
+      c.mass  = msg.mass[k];
+      grids.push_back(c);
+    }
+  }
+
+  void GetOccupancyGrids(vector<OccupancyGrid>& _grids)
+  {
+    _grids.clear();
+    for (list<OccupancyGrid>::iterator k = grids.begin(); k != grids.end(); k++)
+      _grids.push_back((*k));
+  }
+
+  inline int GetUpdateCounter() { return updateCounter; }
+
+  inline void SetUpdateCounterXY(int _updateCounter, double _x, double _y) 
+  { 
+    updateCounter = _updateCounter; 
+    x = _x;
+    y = _y;
+  }
+
+  inline int GetOccupancyValue(int mz)
+  {
+    for (list<OccupancyGrid>::iterator k = grids.begin(); k != grids.end(); k++)
+      if (mz <= k->upper && mz >= k->lower)
+        return k->mass / (k->upper - k->lower + 1);
+    return 0;
+  }
+
+  inline void DeleteOccupancyGrid(int mz)
+  {
+    for (list<OccupancyGrid>::iterator k = grids.begin(); k != grids.end(); k++)
+    {
+      if (mz <= k->upper && mz >= k->lower)
+      {
+        grids.erase(k);
+        return;
+      }
+    }
+    return;
+  } 
+  
+  inline void SetOccupancyValue(int mz, int value)
+  {
+    OccupancyGrid grid;
+    grid.upper = mz;
+    grid.lower = mz;
+    grid.mass  = value;
+
+    list<OccupancyGrid>::iterator gend = grids.end();
+    gend--;
+
+    if (grids.size() == 0)                   // Empty case
+    {
+      grids.push_back(grid);
+      return;
+    }
+    else if (mz - grids.begin()->upper > 1)  // Beyond highest
+    {
+      grids.push_front(grid);
+      return;
+    }
+    else if (mz - grids.begin()->upper == 1) // Next to highest
+    {
+      grids.begin()->upper += 1;
+      grids.begin()->mass  += value;
+      return;
+    }
+    else if (gend->lower - mz > 1)           // Below lowest
+    {
+      grids.push_back(grid);
+      return;
+    }
+    else if (gend->lower - mz == 1)          // Next to lowest
+    {
+      grids.end()->lower -= 1;
+      grids.end()->mass  += value;
+      return;
+    }
+    else                                     // General case
+    {
+      for (list<OccupancyGrid>::iterator k = grids.begin(); k != grids.end(); k++)
+      {
+        if (mz <= k->upper && mz >= k->lower) // Within a grid
+        {
+          k->mass += value;
+          return;
+        }
+        else if (k != gend)
+        {
+          list<OccupancyGrid>::iterator j = k;
+          j++;
+          if (k->lower - mz == 1 && mz - j->upper > 1) // ###*--###
+          {
+            k->lower -= 1;
+            k->mass  += value;
+            return;
+          }
+          else if (k->lower - mz > 1 && mz - j->upper == 1) // ###--*###
+          {
+            j->upper += 1;
+            j->mass  += value;
+            return;
+          }
+          else if (k->lower - mz == 1 && mz - j->upper == 1) // ###*###
+          {
+            k->lower = j->lower;
+            k->mass += j->mass + value;
+            grids.erase(j);
+            return;
+          }
+          else if (k->lower - mz > 1 && mz - j->upper > 1) // ###-*-###
+          {
+            grids.insert(j, grid);
+            return;
+          }
+        } 
+      }
+    }
+  }
+
+  // Merging two columns, merge the grids in input "gridList" into current column
+  inline void Merge(const OccupancyGridList& gridsIn)
+  {
+    // Create a sorted list containing both upper and lower values
+    list<pair<int, int> > lp;
+    for (list<OccupancyGrid>::const_iterator k = grids.begin(); k != grids.end(); k++)
+    {
+      lp.push_back( make_pair(k->upper, k->mass));
+      lp.push_back( make_pair(k->lower, -1));
+    }
+    list<pair<int, int> > lp2;
+    for (list<OccupancyGrid>::const_iterator k = gridsIn.grids.begin(); k != gridsIn.grids.end(); k++)
+    {
+      lp2.push_back( make_pair(k->upper, k->mass));
+      lp2.push_back( make_pair(k->lower, -1));
+    }
+    lp.merge(lp2, ComparePair());
+    // Manipulate this list to get a minimum size list
+    grids.clear();
+    int currUpper = 0;
+    int currLower = 0;
+    int currMass  = 0;
+    int upperCnt = 0;
+    int lowerCnt = 0;
+    list<pair<int, int> >::iterator lend = lp.end();
+    lend--;
+    for (list<pair<int, int> >::iterator k = lp.begin(); k != lp.end(); k++)
+    {
+      if (k->second > 0) 
+      { 
+        if (upperCnt == 0) currUpper = k->first;
+        currMass = (k->second > currMass)?k->second:currMass; 
+        upperCnt++; 
+      }
+      if (k->second < 0) 
+      { 
+        currLower = k->first;
+        lowerCnt++; 
+      }
+      if (lowerCnt == upperCnt && k != lend)
+      {
+        list<pair<int, int> >::iterator j = k;
+        if (k->first - (++j)->first == 1) continue;
+      }
+      if (lowerCnt == upperCnt)
+      {
+        OccupancyGrid c;
+        c.upper = currUpper;
+        c.lower = currLower;
+        c.mass  = currMass;
+        grids.push_back(c);
+        upperCnt = lowerCnt = currUpper = currLower = currMass = 0;
+      }
+    }
+  }
+
+  inline void Decay(int upThr, int lowThr, double factor)
+  {
+    for (list<OccupancyGrid>::iterator k = grids.begin(); k != grids.end(); k++)
+    {
+      int val = k->mass / (k->upper - k->lower + 1);
+      if (val < upThr && val > lowThr)
+        k->mass *= factor;
+    }
+  }
+
+private:
+
+  struct ComparePair
+  {
+    bool operator()(pair<int, int> p1, pair<int, int> p2) 
+    { 
+      if (p1.first != p2.first) 
+        return (p1.first > p2.first);
+      else 
+        return (p1.second > p2.second);
+    }
+  };
+
+  // List of vertical occupancy values
+  list<OccupancyGrid> grids;
+  // Location of the list in world frame
+  double x;
+  double y;
+  // Update indicator
+  int updateCounter;
+
+};
+
+// 3D Map Object  ---------------------------------
+class Map3D
+{
+public:
+
+  Map3D() 
+  {
+    resolution = 0.1;
+    decayInterval = -1;
+    originX = -5;
+    originY = -5;
+    originZ =  0;
+    mapX = 200;
+    mapY = 200;
+    expandStep = 200;
+    updated = false;
+    updateCounter = 1;
+    updateList.clear();
+    mapBase.clear();
+    mapBase.resize(mapX*mapY, NULL);
+    logOddOccupied = log(PROB_OCCUPIED/(1.0-PROB_OCCUPIED)) * LOG_ODD_SCALE_FACTOR;
+    logOddFree = log(PROB_FREE/(1.0-PROB_FREE)) * LOG_ODD_SCALE_FACTOR;
+    logOddOccupiedThr = log(1.0/(1.0-PROB_OCCUPIED_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR;
+    logOddOccupiedFixedThr = log(1.0/(1.0-PROB_OCCUPIED_FIXED_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR;
+    logOddFreeThr = log(1.0/(1.0-PROB_FREE_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR;
+    logOddFreeFixedThr = log(1.0/(1.0-PROB_FREE_FIXED_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR;
+  }
+  
+  Map3D(const Map3D& _map3d)
+  {
+    resolution = _map3d.resolution;
+    decayInterval = _map3d.decayInterval;
+    originX = _map3d.originX;
+    originY = _map3d.originY;
+    originZ = _map3d.originZ;
+    mapX = _map3d.mapX;
+    mapY = _map3d.mapY;
+    expandStep = _map3d.expandStep;
+    updated = _map3d.updated;
+    updateCounter = _map3d.updateCounter;
+    updateList = _map3d.updateList;
+    mapBase = _map3d.mapBase;
+    for (unsigned int k = 0; k < mapBase.size(); k++)
+    {
+      if (mapBase[k])
+      {
+        mapBase[k] = new OccupancyGridList;
+        *mapBase[k] = *_map3d.mapBase[k];
+      }
+    }
+    logOddOccupied = log(PROB_OCCUPIED/(1.0-PROB_OCCUPIED)) * LOG_ODD_SCALE_FACTOR;
+    logOddFree = log(PROB_FREE/(1.0-PROB_FREE)) * LOG_ODD_SCALE_FACTOR;
+    logOddOccupiedThr = log(1.0/(1.0-PROB_OCCUPIED_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR;
+    logOddOccupiedFixedThr = log(1.0/(1.0-PROB_OCCUPIED_FIXED_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR;
+    logOddFreeThr = log(1.0/(1.0-PROB_FREE_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR;
+    logOddFreeFixedThr = log(1.0/(1.0-PROB_FREE_FIXED_THRESHOLD) - 1.0) * LOG_ODD_SCALE_FACTOR;    
+  }
+
+  ~Map3D() 
+  {
+    for (unsigned int k = 0; k < mapBase.size(); k++)
+    {
+      if (mapBase[k])
+      {
+        delete mapBase[k];    
+        mapBase[k] = NULL;
+      }
+    }
+  }
+
+  void PackMsg(multi_map_server::SparseMap3D &msg)
+  {
+    // Basic map info
+    msg.header.stamp            = ros::Time::now();
+    msg.header.frame_id         = string("/map");
+    msg.info.map_load_time      = ros::Time::now();
+    msg.info.resolution         = resolution;
+    msg.info.origin.position.x  = originX;
+    msg.info.origin.position.y  = originY;
+    msg.info.origin.position.z  = originZ;
+    msg.info.width              = mapX;
+    msg.info.height             = mapY;
+    msg.info.origin.orientation = tf::createQuaternionMsgFromYaw(0.0);  
+    // Pack columns into message
+    msg.lists.clear();
+    for (unsigned int k = 0; k < updateList.size(); k++)
+    {
+      multi_map_server::VerticalOccupancyGridList c;
+      updateList[k]->PackMsg(c);
+      msg.lists.push_back(c);
+    }
+    updateList.clear();
+    updateCounter++;
+  }
+
+  void UnpackMsg(const multi_map_server::SparseMap3D &msg)
+  {
+    // Unpack column msgs, Replace the whole column
+    for (unsigned int k = 0; k < msg.lists.size(); k++)
+    {
+      int mx, my, mz;
+      WorldFrameToMapFrame(msg.lists[k].x, msg.lists[k].y, 0, mx, my, mz);
+      ResizeMapBase(mx, my);
+      if (mapBase[my*mapX+mx]) delete mapBase[my*mapX+mx];
+      mapBase[my*mapX+mx] = new OccupancyGridList;
+      mapBase[my*mapX+mx]->UnpackMsg(msg.lists[k]);
+    }
+    CheckDecayMap();
+    updated = true;
+  }
+
+  inline void SetOccupancyFromWorldFrame(double x, double y, double z, double p = PROB_OCCUPIED)
+  {
+    // Find occupancy value to be set
+    int value = 0;
+    if (p == PROB_OCCUPIED) value = logOddOccupied;
+    else if (p == PROB_FREE) value = logOddFree;
+    else return;
+    // Update occupancy value, return the column that have been changed
+    int mx, my, mz;
+    WorldFrameToMapFrame(x, y, z, mx, my, mz);
+    ResizeMapBase(mx, my);
+    if (!mapBase[my*mapX+mx]) 
+      mapBase[my*mapX+mx] = new OccupancyGridList;
+    mapBase[my*mapX+mx]->SetOccupancyValue(mz, value);
+    // Also record the column that have been changed in another list, for publish incremental map
+    if (mapBase[my*mapX+mx]->GetUpdateCounter() != updateCounter)
+    {
+      updateList.push_back(mapBase[my*mapX+mx]); 
+      mapBase[my*mapX+mx]->SetUpdateCounterXY(updateCounter, x, y);
+    }
+    updated = true;
+  }
+
+  inline int GetOccupancyFromWorldFrame(double x, double y, double z)
+  {
+    int mx, my, mz;
+    WorldFrameToMapFrame(x, y, z, mx, my, mz);
+    if (mx < 0 || my < 0 || mx >= mapX || my >= mapY)
+      return 0;
+    if (!mapBase[my*mapX+mx])
+      return 0;
+    else
+    {
+      if (mapBase[my*mapX+mx]->GetOccupancyValue(mz) > logOddOccupiedThr)
+        return 1;
+      else if (mapBase[my*mapX+mx]->GetOccupancyValue(mz) < logOddFreeThr)
+        return -1;
+      else 
+        return 0;
+    }
+  }
+
+  inline void DeleteFromWorldFrame(double x, double y, double z)
+  {
+    int mx, my, mz;
+    WorldFrameToMapFrame(x, y, z, mx, my, mz);
+    if (mx < 0 || my < 0 || mx >= mapX || my >= mapY)
+      return;
+    if (mapBase[my*mapX+mx])
+      mapBase[my*mapX+mx]->DeleteOccupancyGrid(mz);
+  }
+
+  vector<arma::colvec>& GetOccupancyWorldFrame(int type = OCCUPIED)
+  {
+    pts.clear();
+    for (int mx = 0; mx < mapX; mx++)
+    {
+      for (int my = 0; my < mapY; my++)
+      {
+        if (mapBase[my*mapX+mx])
+        {
+          vector<OccupancyGrid> grids;
+          mapBase[my*mapX+mx]->GetOccupancyGrids(grids);
+          for (unsigned int k = 0; k < grids.size(); k++)
+          {
+            if  ( (grids[k].mass / (grids[k].upper - grids[k].lower + 1) > logOddOccupiedThr && type == OCCUPIED) || 
+                  (grids[k].mass / (grids[k].upper - grids[k].lower + 1) < logOddFreeThr     && type == FREE) )
+            {
+              for (int mz = grids[k].lower; mz <= grids[k].upper; mz++)
+              {
+                double x, y, z;
+                MapFrameToWorldFrame(mx, my, mz, x, y, z);
+                arma::colvec pt(3);
+                pt(0) = x;
+                pt(1) = y;
+                pt(2) = z;
+                pts.push_back(pt);
+              }
+            }
+          }
+        }
+      }
+    }
+    return pts;
+  }
+
+  // Do not allow setting parameters if at least one update received
+  void SetResolution(double _resolution) 
+  {
+    if (!updated)
+      resolution = _resolution;
+  }
+  
+  void SetDecayInterval(double _decayInterval) 
+  {
+    if (!updated && _decayInterval > 0)
+      decayInterval = _decayInterval;
+  }  
+
+  inline double GetResolution() { return resolution; }
+  inline double GetMaxX() { return originX + mapX*resolution; }
+  inline double GetMinX() { return originX; }
+  inline double GetMaxY() { return originY + mapY*resolution; }
+  inline double GetMinY() { return originY; }
+  inline bool Updated() { return updated; }
+
+private:
+
+  inline void WorldFrameToMapFrame(double x, double y, double z, int& mx, int& my, int& mz)
+  {
+    mx = (x - originX) / resolution;
+    my = (y - originY) / resolution;
+    mz = (z - originZ) / resolution;
+  }
+
+  inline void MapFrameToWorldFrame(int mx, int my, int mz, double& x, double& y, double& z)
+  {
+    double r = 0.5*resolution;
+    x = mx * resolution + r + originX;
+    y = my * resolution + r + originY;
+    z = mz * resolution + r + originZ;
+  }
+
+  inline void ResizeMapBase(int& mx, int& my)
+  {
+    if (mx < 0 || my < 0 || mx >= mapX || my >= mapY)
+    {
+      double prevOriginX = originX;
+      double prevOriginY = originY;
+      int    prevMapX    = mapX;
+      int    prevMapY    = mapY;
+      while(mx < 0)
+      {
+        mapX    += expandStep;
+        mx      += expandStep;
+        originX -= expandStep*resolution;
+      }
+      while(my < 0)
+      {
+        mapY    += expandStep;
+        my      += expandStep;
+        originY -= expandStep*resolution;
+      }
+      while(mx >= mapX)
+      {
+        mapX    += expandStep;
+      } 
+      while(my >= mapY)
+      {
+        mapY    += expandStep;
+      } 
+      vector<OccupancyGridList*> _mapBase = mapBase;
+      mapBase.clear();
+      mapBase.resize(mapX*mapY,NULL);
+      for (int _x = 0; _x < prevMapX; _x++)
+      {
+        for(int _y = 0; _y < prevMapY; _y++)
+        {
+          int x = _x + round((prevOriginX - originX) / resolution);
+          int y = _y + round((prevOriginY - originY) / resolution);
+          mapBase[y*mapX+x] = _mapBase[_y*prevMapX+_x];
+        }
+      }
+    }
+  }
+
+  void CheckDecayMap()
+  {
+    if (decayInterval < 0)
+      return;
+    // Check whether to decay
+    static ros::Time prevDecayT = ros::Time::now();
+    ros::Time t = ros::Time::now();
+    double dt = (t - prevDecayT).toSec();
+    if (dt > decayInterval)
+    {
+      double r = pow(LOG_ODD_DECAY_RATE, dt);
+      for (int mx = 0; mx < mapX; mx++)
+        for (int my = 0; my < mapY; my++)
+          if (mapBase[my*mapX+mx])
+            mapBase[my*mapX+mx]->Decay(logOddOccupiedFixedThr, logOddFreeFixedThr, r);
+      prevDecayT = t;
+    }
+  }
+
+  double resolution;
+  double decayInterval;
+
+  int logOddOccupied;
+  int logOddFree;
+  int logOddOccupiedThr;
+  int logOddOccupiedFixedThr;
+  int logOddFreeThr;
+  int logOddFreeFixedThr;
+
+  bool updated;
+  int updateCounter;
+  vector<OccupancyGridList*> updateList;
+
+  double originX, originY, originZ;
+  int mapX, mapY;
+  int expandStep;
+  vector<OccupancyGridList*> mapBase;
+
+  vector<arma::colvec> pts;
+
+};
+#endif
diff --git a/uav_simulator/Utils/multi_map_server/mainpage.dox b/uav_simulator/Utils/multi_map_server/mainpage.dox
new file mode 100755
index 0000000..3a1fb20
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/mainpage.dox
@@ -0,0 +1,26 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b multi_map_server is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/
diff --git a/uav_simulator/Utils/multi_map_server/msg/MultiOccupancyGrid.msg b/uav_simulator/Utils/multi_map_server/msg/MultiOccupancyGrid.msg
new file mode 100755
index 0000000..d7b020d
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg/MultiOccupancyGrid.msg
@@ -0,0 +1,2 @@
+nav_msgs/OccupancyGrid[] maps
+geometry_msgs/Pose[] origins
diff --git a/uav_simulator/Utils/multi_map_server/msg/MultiSparseMap3D.msg b/uav_simulator/Utils/multi_map_server/msg/MultiSparseMap3D.msg
new file mode 100755
index 0000000..c7be2d7
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg/MultiSparseMap3D.msg
@@ -0,0 +1,2 @@
+SparseMap3D[] maps
+geometry_msgs/Pose[] origins
diff --git a/uav_simulator/Utils/multi_map_server/msg/SparseMap3D.msg b/uav_simulator/Utils/multi_map_server/msg/SparseMap3D.msg
new file mode 100755
index 0000000..777fb86
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg/SparseMap3D.msg
@@ -0,0 +1,4 @@
+Header header
+nav_msgs/MapMetaData info
+VerticalOccupancyGridList[] lists
+
diff --git a/uav_simulator/Utils/multi_map_server/msg/VerticalOccupancyGridList.msg b/uav_simulator/Utils/multi_map_server/msg/VerticalOccupancyGridList.msg
new file mode 100755
index 0000000..379ffaa
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg/VerticalOccupancyGridList.msg
@@ -0,0 +1,6 @@
+float32 x
+float32 y
+int32[] upper
+int32[] lower
+int32[] mass
+
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/cpp/include/multi_map_server/MultiOccupancyGrid.h b/uav_simulator/Utils/multi_map_server/msg_gen/cpp/include/multi_map_server/MultiOccupancyGrid.h
new file mode 100755
index 0000000..1f82d2e
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/cpp/include/multi_map_server/MultiOccupancyGrid.h
@@ -0,0 +1,227 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/multi_map_server/msg/MultiOccupancyGrid.msg */
+#ifndef MULTI_MAP_SERVER_MESSAGE_MULTIOCCUPANCYGRID_H
+#define MULTI_MAP_SERVER_MESSAGE_MULTIOCCUPANCYGRID_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+#include "nav_msgs/OccupancyGrid.h"
+#include "geometry_msgs/Pose.h"
+
+namespace multi_map_server
+{
+template <class ContainerAllocator>
+struct MultiOccupancyGrid_ {
+  typedef MultiOccupancyGrid_<ContainerAllocator> Type;
+
+  MultiOccupancyGrid_()
+  : maps()
+  , origins()
+  {
+  }
+
+  MultiOccupancyGrid_(const ContainerAllocator& _alloc)
+  : maps(_alloc)
+  , origins(_alloc)
+  {
+  }
+
+  typedef std::vector< ::nav_msgs::OccupancyGrid_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::nav_msgs::OccupancyGrid_<ContainerAllocator> >::other >  _maps_type;
+  std::vector< ::nav_msgs::OccupancyGrid_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::nav_msgs::OccupancyGrid_<ContainerAllocator> >::other >  maps;
+
+  typedef std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other >  _origins_type;
+  std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other >  origins;
+
+
+  typedef boost::shared_ptr< ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator>  const> ConstPtr;
+}; // struct MultiOccupancyGrid
+typedef  ::multi_map_server::MultiOccupancyGrid_<std::allocator<void> > MultiOccupancyGrid;
+
+typedef boost::shared_ptr< ::multi_map_server::MultiOccupancyGrid> MultiOccupancyGridPtr;
+typedef boost::shared_ptr< ::multi_map_server::MultiOccupancyGrid const> MultiOccupancyGridConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace multi_map_server
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "61e63a291f11a6b1796a1edf79f34f72";
+  }
+
+  static const char* value(const  ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0x61e63a291f11a6b1ULL;
+  static const uint64_t static_value2 = 0x796a1edf79f34f72ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "multi_map_server/MultiOccupancyGrid";
+  }
+
+  static const char* value(const  ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "nav_msgs/OccupancyGrid[] maps\n\
+geometry_msgs/Pose[] origins\n\
+\n\
+================================================================================\n\
+MSG: nav_msgs/OccupancyGrid\n\
+# This represents a 2-D grid map, in which each cell represents the probability of\n\
+# occupancy.\n\
+\n\
+Header header \n\
+\n\
+#MetaData for the map\n\
+MapMetaData info\n\
+\n\
+# The map data, in row-major order, starting with (0,0).  Occupancy\n\
+# probabilities are in the range [0,100].  Unknown is -1.\n\
+int8[] data\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: nav_msgs/MapMetaData\n\
+# This hold basic information about the characterists of the OccupancyGrid\n\
+\n\
+# The time at which the map was loaded\n\
+time map_load_time\n\
+# The map resolution [m/cell]\n\
+float32 resolution\n\
+# Map width [cells]\n\
+uint32 width\n\
+# Map height [cells]\n\
+uint32 height\n\
+# The origin of the map [m, m, rad].  This is the real-world pose of the\n\
+# cell (0,0) in the map.\n\
+geometry_msgs/Pose origin\n\
+================================================================================\n\
+MSG: geometry_msgs/Pose\n\
+# A representation of pose in free space, composed of postion and orientation. \n\
+Point position\n\
+Quaternion orientation\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Point\n\
+# This contains the position of a point in free space\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Quaternion\n\
+# This represents an orientation in free space in quaternion form.\n\
+\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+float64 w\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> &) { return value(); } 
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.maps);
+    stream.next(m.origins);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct MultiOccupancyGrid_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::multi_map_server::MultiOccupancyGrid_<ContainerAllocator> & v) 
+  {
+    s << indent << "maps[]" << std::endl;
+    for (size_t i = 0; i < v.maps.size(); ++i)
+    {
+      s << indent << "  maps[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::nav_msgs::OccupancyGrid_<ContainerAllocator> >::stream(s, indent + "    ", v.maps[i]);
+    }
+    s << indent << "origins[]" << std::endl;
+    for (size_t i = 0; i < v.origins.size(); ++i)
+    {
+      s << indent << "  origins[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + "    ", v.origins[i]);
+    }
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // MULTI_MAP_SERVER_MESSAGE_MULTIOCCUPANCYGRID_H
+
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/cpp/include/multi_map_server/MultiSparseMap3D.h b/uav_simulator/Utils/multi_map_server/msg_gen/cpp/include/multi_map_server/MultiSparseMap3D.h
new file mode 100755
index 0000000..1626e39
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/cpp/include/multi_map_server/MultiSparseMap3D.h
@@ -0,0 +1,229 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/multi_map_server/msg/MultiSparseMap3D.msg */
+#ifndef MULTI_MAP_SERVER_MESSAGE_MULTISPARSEMAP3D_H
+#define MULTI_MAP_SERVER_MESSAGE_MULTISPARSEMAP3D_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+#include "multi_map_server/SparseMap3D.h"
+#include "geometry_msgs/Pose.h"
+
+namespace multi_map_server
+{
+template <class ContainerAllocator>
+struct MultiSparseMap3D_ {
+  typedef MultiSparseMap3D_<ContainerAllocator> Type;
+
+  MultiSparseMap3D_()
+  : maps()
+  , origins()
+  {
+  }
+
+  MultiSparseMap3D_(const ContainerAllocator& _alloc)
+  : maps(_alloc)
+  , origins(_alloc)
+  {
+  }
+
+  typedef std::vector< ::multi_map_server::SparseMap3D_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::multi_map_server::SparseMap3D_<ContainerAllocator> >::other >  _maps_type;
+  std::vector< ::multi_map_server::SparseMap3D_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::multi_map_server::SparseMap3D_<ContainerAllocator> >::other >  maps;
+
+  typedef std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other >  _origins_type;
+  std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other >  origins;
+
+
+  typedef boost::shared_ptr< ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::multi_map_server::MultiSparseMap3D_<ContainerAllocator>  const> ConstPtr;
+}; // struct MultiSparseMap3D
+typedef  ::multi_map_server::MultiSparseMap3D_<std::allocator<void> > MultiSparseMap3D;
+
+typedef boost::shared_ptr< ::multi_map_server::MultiSparseMap3D> MultiSparseMap3DPtr;
+typedef boost::shared_ptr< ::multi_map_server::MultiSparseMap3D const> MultiSparseMap3DConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace multi_map_server
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::multi_map_server::MultiSparseMap3D_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "2e3d76c98ee3e2b23a422f64965f6418";
+  }
+
+  static const char* value(const  ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0x2e3d76c98ee3e2b2ULL;
+  static const uint64_t static_value2 = 0x3a422f64965f6418ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "multi_map_server/MultiSparseMap3D";
+  }
+
+  static const char* value(const  ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "SparseMap3D[] maps\n\
+geometry_msgs/Pose[] origins\n\
+\n\
+================================================================================\n\
+MSG: multi_map_server/SparseMap3D\n\
+Header header\n\
+nav_msgs/MapMetaData info\n\
+VerticalOccupancyGridList[] lists\n\
+\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: nav_msgs/MapMetaData\n\
+# This hold basic information about the characterists of the OccupancyGrid\n\
+\n\
+# The time at which the map was loaded\n\
+time map_load_time\n\
+# The map resolution [m/cell]\n\
+float32 resolution\n\
+# Map width [cells]\n\
+uint32 width\n\
+# Map height [cells]\n\
+uint32 height\n\
+# The origin of the map [m, m, rad].  This is the real-world pose of the\n\
+# cell (0,0) in the map.\n\
+geometry_msgs/Pose origin\n\
+================================================================================\n\
+MSG: geometry_msgs/Pose\n\
+# A representation of pose in free space, composed of postion and orientation. \n\
+Point position\n\
+Quaternion orientation\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Point\n\
+# This contains the position of a point in free space\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Quaternion\n\
+# This represents an orientation in free space in quaternion form.\n\
+\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+float64 w\n\
+\n\
+================================================================================\n\
+MSG: multi_map_server/VerticalOccupancyGridList\n\
+float32 x\n\
+float32 y\n\
+int32[] upper\n\
+int32[] lower\n\
+int32[] mass\n\
+\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> &) { return value(); } 
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.maps);
+    stream.next(m.origins);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct MultiSparseMap3D_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::multi_map_server::MultiSparseMap3D_<ContainerAllocator> & v) 
+  {
+    s << indent << "maps[]" << std::endl;
+    for (size_t i = 0; i < v.maps.size(); ++i)
+    {
+      s << indent << "  maps[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::multi_map_server::SparseMap3D_<ContainerAllocator> >::stream(s, indent + "    ", v.maps[i]);
+    }
+    s << indent << "origins[]" << std::endl;
+    for (size_t i = 0; i < v.origins.size(); ++i)
+    {
+      s << indent << "  origins[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + "    ", v.origins[i]);
+    }
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // MULTI_MAP_SERVER_MESSAGE_MULTISPARSEMAP3D_H
+
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/cpp/include/multi_map_server/SparseMap3D.h b/uav_simulator/Utils/multi_map_server/msg_gen/cpp/include/multi_map_server/SparseMap3D.h
new file mode 100755
index 0000000..f8ea991
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/cpp/include/multi_map_server/SparseMap3D.h
@@ -0,0 +1,231 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/multi_map_server/msg/SparseMap3D.msg */
+#ifndef MULTI_MAP_SERVER_MESSAGE_SPARSEMAP3D_H
+#define MULTI_MAP_SERVER_MESSAGE_SPARSEMAP3D_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+#include "std_msgs/Header.h"
+#include "nav_msgs/MapMetaData.h"
+#include "multi_map_server/VerticalOccupancyGridList.h"
+
+namespace multi_map_server
+{
+template <class ContainerAllocator>
+struct SparseMap3D_ {
+  typedef SparseMap3D_<ContainerAllocator> Type;
+
+  SparseMap3D_()
+  : header()
+  , info()
+  , lists()
+  {
+  }
+
+  SparseMap3D_(const ContainerAllocator& _alloc)
+  : header(_alloc)
+  , info(_alloc)
+  , lists(_alloc)
+  {
+  }
+
+  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+   ::std_msgs::Header_<ContainerAllocator>  header;
+
+  typedef  ::nav_msgs::MapMetaData_<ContainerAllocator>  _info_type;
+   ::nav_msgs::MapMetaData_<ContainerAllocator>  info;
+
+  typedef std::vector< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> >::other >  _lists_type;
+  std::vector< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> >::other >  lists;
+
+
+  typedef boost::shared_ptr< ::multi_map_server::SparseMap3D_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::multi_map_server::SparseMap3D_<ContainerAllocator>  const> ConstPtr;
+}; // struct SparseMap3D
+typedef  ::multi_map_server::SparseMap3D_<std::allocator<void> > SparseMap3D;
+
+typedef boost::shared_ptr< ::multi_map_server::SparseMap3D> SparseMap3DPtr;
+typedef boost::shared_ptr< ::multi_map_server::SparseMap3D const> SparseMap3DConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::multi_map_server::SparseMap3D_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::multi_map_server::SparseMap3D_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace multi_map_server
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::multi_map_server::SparseMap3D_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::multi_map_server::SparseMap3D_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::multi_map_server::SparseMap3D_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "a20102f0b3a02e95070dab4140b78fb5";
+  }
+
+  static const char* value(const  ::multi_map_server::SparseMap3D_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0xa20102f0b3a02e95ULL;
+  static const uint64_t static_value2 = 0x070dab4140b78fb5ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::multi_map_server::SparseMap3D_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "multi_map_server/SparseMap3D";
+  }
+
+  static const char* value(const  ::multi_map_server::SparseMap3D_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::multi_map_server::SparseMap3D_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "Header header\n\
+nav_msgs/MapMetaData info\n\
+VerticalOccupancyGridList[] lists\n\
+\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: nav_msgs/MapMetaData\n\
+# This hold basic information about the characterists of the OccupancyGrid\n\
+\n\
+# The time at which the map was loaded\n\
+time map_load_time\n\
+# The map resolution [m/cell]\n\
+float32 resolution\n\
+# Map width [cells]\n\
+uint32 width\n\
+# Map height [cells]\n\
+uint32 height\n\
+# The origin of the map [m, m, rad].  This is the real-world pose of the\n\
+# cell (0,0) in the map.\n\
+geometry_msgs/Pose origin\n\
+================================================================================\n\
+MSG: geometry_msgs/Pose\n\
+# A representation of pose in free space, composed of postion and orientation. \n\
+Point position\n\
+Quaternion orientation\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Point\n\
+# This contains the position of a point in free space\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Quaternion\n\
+# This represents an orientation in free space in quaternion form.\n\
+\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+float64 w\n\
+\n\
+================================================================================\n\
+MSG: multi_map_server/VerticalOccupancyGridList\n\
+float32 x\n\
+float32 y\n\
+int32[] upper\n\
+int32[] lower\n\
+int32[] mass\n\
+\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::multi_map_server::SparseMap3D_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct HasHeader< ::multi_map_server::SparseMap3D_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct HasHeader< const ::multi_map_server::SparseMap3D_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::multi_map_server::SparseMap3D_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.header);
+    stream.next(m.info);
+    stream.next(m.lists);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct SparseMap3D_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::multi_map_server::SparseMap3D_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::multi_map_server::SparseMap3D_<ContainerAllocator> & v) 
+  {
+    s << indent << "header: ";
+s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "info: ";
+s << std::endl;
+    Printer< ::nav_msgs::MapMetaData_<ContainerAllocator> >::stream(s, indent + "  ", v.info);
+    s << indent << "lists[]" << std::endl;
+    for (size_t i = 0; i < v.lists.size(); ++i)
+    {
+      s << indent << "  lists[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> >::stream(s, indent + "    ", v.lists[i]);
+    }
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // MULTI_MAP_SERVER_MESSAGE_SPARSEMAP3D_H
+
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/cpp/include/multi_map_server/VerticalOccupancyGridList.h b/uav_simulator/Utils/multi_map_server/msg_gen/cpp/include/multi_map_server/VerticalOccupancyGridList.h
new file mode 100755
index 0000000..57ef032
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/cpp/include/multi_map_server/VerticalOccupancyGridList.h
@@ -0,0 +1,184 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/multi_map_server/msg/VerticalOccupancyGridList.msg */
+#ifndef MULTI_MAP_SERVER_MESSAGE_VERTICALOCCUPANCYGRIDLIST_H
+#define MULTI_MAP_SERVER_MESSAGE_VERTICALOCCUPANCYGRIDLIST_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+
+namespace multi_map_server
+{
+template <class ContainerAllocator>
+struct VerticalOccupancyGridList_ {
+  typedef VerticalOccupancyGridList_<ContainerAllocator> Type;
+
+  VerticalOccupancyGridList_()
+  : x(0.0)
+  , y(0.0)
+  , upper()
+  , lower()
+  , mass()
+  {
+  }
+
+  VerticalOccupancyGridList_(const ContainerAllocator& _alloc)
+  : x(0.0)
+  , y(0.0)
+  , upper(_alloc)
+  , lower(_alloc)
+  , mass(_alloc)
+  {
+  }
+
+  typedef float _x_type;
+  float x;
+
+  typedef float _y_type;
+  float y;
+
+  typedef std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other >  _upper_type;
+  std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other >  upper;
+
+  typedef std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other >  _lower_type;
+  std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other >  lower;
+
+  typedef std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other >  _mass_type;
+  std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other >  mass;
+
+
+  typedef boost::shared_ptr< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator>  const> ConstPtr;
+}; // struct VerticalOccupancyGridList
+typedef  ::multi_map_server::VerticalOccupancyGridList_<std::allocator<void> > VerticalOccupancyGridList;
+
+typedef boost::shared_ptr< ::multi_map_server::VerticalOccupancyGridList> VerticalOccupancyGridListPtr;
+typedef boost::shared_ptr< ::multi_map_server::VerticalOccupancyGridList const> VerticalOccupancyGridListConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace multi_map_server
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "7ef85cc95b82747f51eb01a16bd7c795";
+  }
+
+  static const char* value(const  ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0x7ef85cc95b82747fULL;
+  static const uint64_t static_value2 = 0x51eb01a16bd7c795ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "multi_map_server/VerticalOccupancyGridList";
+  }
+
+  static const char* value(const  ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "float32 x\n\
+float32 y\n\
+int32[] upper\n\
+int32[] lower\n\
+int32[] mass\n\
+\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> &) { return value(); } 
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.x);
+    stream.next(m.y);
+    stream.next(m.upper);
+    stream.next(m.lower);
+    stream.next(m.mass);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct VerticalOccupancyGridList_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::multi_map_server::VerticalOccupancyGridList_<ContainerAllocator> & v) 
+  {
+    s << indent << "x: ";
+    Printer<float>::stream(s, indent + "  ", v.x);
+    s << indent << "y: ";
+    Printer<float>::stream(s, indent + "  ", v.y);
+    s << indent << "upper[]" << std::endl;
+    for (size_t i = 0; i < v.upper.size(); ++i)
+    {
+      s << indent << "  upper[" << i << "]: ";
+      Printer<int32_t>::stream(s, indent + "  ", v.upper[i]);
+    }
+    s << indent << "lower[]" << std::endl;
+    for (size_t i = 0; i < v.lower.size(); ++i)
+    {
+      s << indent << "  lower[" << i << "]: ";
+      Printer<int32_t>::stream(s, indent + "  ", v.lower[i]);
+    }
+    s << indent << "mass[]" << std::endl;
+    for (size_t i = 0; i < v.mass.size(); ++i)
+    {
+      s << indent << "  mass[" << i << "]: ";
+      Printer<int32_t>::stream(s, indent + "  ", v.mass[i]);
+    }
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // MULTI_MAP_SERVER_MESSAGE_VERTICALOCCUPANCYGRIDLIST_H
+
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/generated b/uav_simulator/Utils/multi_map_server/msg_gen/generated
new file mode 100755
index 0000000..396a0ba
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/generated
@@ -0,0 +1 @@
+yes
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/lisp/MultiOccupancyGrid.lisp b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/MultiOccupancyGrid.lisp
new file mode 100755
index 0000000..b053cc3
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/MultiOccupancyGrid.lisp
@@ -0,0 +1,108 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package multi_map_server-msg)
+
+
+;//! \htmlinclude MultiOccupancyGrid.msg.html
+
+(cl:defclass <MultiOccupancyGrid> (roslisp-msg-protocol:ros-message)
+  ((maps
+    :reader maps
+    :initarg :maps
+    :type (cl:vector nav_msgs-msg:OccupancyGrid)
+   :initform (cl:make-array 0 :element-type 'nav_msgs-msg:OccupancyGrid :initial-element (cl:make-instance 'nav_msgs-msg:OccupancyGrid)))
+   (origins
+    :reader origins
+    :initarg :origins
+    :type (cl:vector geometry_msgs-msg:Pose)
+   :initform (cl:make-array 0 :element-type 'geometry_msgs-msg:Pose :initial-element (cl:make-instance 'geometry_msgs-msg:Pose))))
+)
+
+(cl:defclass MultiOccupancyGrid (<MultiOccupancyGrid>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <MultiOccupancyGrid>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'MultiOccupancyGrid)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name multi_map_server-msg:<MultiOccupancyGrid> is deprecated: use multi_map_server-msg:MultiOccupancyGrid instead.")))
+
+(cl:ensure-generic-function 'maps-val :lambda-list '(m))
+(cl:defmethod maps-val ((m <MultiOccupancyGrid>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader multi_map_server-msg:maps-val is deprecated.  Use multi_map_server-msg:maps instead.")
+  (maps m))
+
+(cl:ensure-generic-function 'origins-val :lambda-list '(m))
+(cl:defmethod origins-val ((m <MultiOccupancyGrid>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader multi_map_server-msg:origins-val is deprecated.  Use multi_map_server-msg:origins instead.")
+  (origins m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <MultiOccupancyGrid>) ostream)
+  "Serializes a message object of type '<MultiOccupancyGrid>"
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'maps))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'maps))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'origins))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'origins))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <MultiOccupancyGrid>) istream)
+  "Deserializes a message object of type '<MultiOccupancyGrid>"
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'maps) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'maps)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'nav_msgs-msg:OccupancyGrid))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'origins) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'origins)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'geometry_msgs-msg:Pose))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<MultiOccupancyGrid>)))
+  "Returns string type for a message object of type '<MultiOccupancyGrid>"
+  "multi_map_server/MultiOccupancyGrid")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MultiOccupancyGrid)))
+  "Returns string type for a message object of type 'MultiOccupancyGrid"
+  "multi_map_server/MultiOccupancyGrid")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<MultiOccupancyGrid>)))
+  "Returns md5sum for a message object of type '<MultiOccupancyGrid>"
+  "61e63a291f11a6b1796a1edf79f34f72")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MultiOccupancyGrid)))
+  "Returns md5sum for a message object of type 'MultiOccupancyGrid"
+  "61e63a291f11a6b1796a1edf79f34f72")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<MultiOccupancyGrid>)))
+  "Returns full string definition for message of type '<MultiOccupancyGrid>"
+  (cl:format cl:nil "nav_msgs/OccupancyGrid[] maps~%geometry_msgs/Pose[] origins~%~%================================================================================~%MSG: nav_msgs/OccupancyGrid~%# This represents a 2-D grid map, in which each cell represents the probability of~%# occupancy.~%~%Header header ~%~%#MetaData for the map~%MapMetaData info~%~%# The map data, in row-major order, starting with (0,0).  Occupancy~%# probabilities are in the range [0,100].  Unknown is -1.~%int8[] data~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: nav_msgs/MapMetaData~%# This hold basic information about the characterists of the OccupancyGrid~%~%# The time at which the map was loaded~%time map_load_time~%# The map resolution [m/cell]~%float32 resolution~%# Map width [cells]~%uint32 width~%# Map height [cells]~%uint32 height~%# The origin of the map [m, m, rad].  This is the real-world pose of the~%# cell (0,0) in the map.~%geometry_msgs/Pose origin~%================================================================================~%MSG: geometry_msgs/Pose~%# A representation of pose in free space, composed of postion and orientation. ~%Point position~%Quaternion orientation~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MultiOccupancyGrid)))
+  "Returns full string definition for message of type 'MultiOccupancyGrid"
+  (cl:format cl:nil "nav_msgs/OccupancyGrid[] maps~%geometry_msgs/Pose[] origins~%~%================================================================================~%MSG: nav_msgs/OccupancyGrid~%# This represents a 2-D grid map, in which each cell represents the probability of~%# occupancy.~%~%Header header ~%~%#MetaData for the map~%MapMetaData info~%~%# The map data, in row-major order, starting with (0,0).  Occupancy~%# probabilities are in the range [0,100].  Unknown is -1.~%int8[] data~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: nav_msgs/MapMetaData~%# This hold basic information about the characterists of the OccupancyGrid~%~%# The time at which the map was loaded~%time map_load_time~%# The map resolution [m/cell]~%float32 resolution~%# Map width [cells]~%uint32 width~%# Map height [cells]~%uint32 height~%# The origin of the map [m, m, rad].  This is the real-world pose of the~%# cell (0,0) in the map.~%geometry_msgs/Pose origin~%================================================================================~%MSG: geometry_msgs/Pose~%# A representation of pose in free space, composed of postion and orientation. ~%Point position~%Quaternion orientation~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <MultiOccupancyGrid>))
+  (cl:+ 0
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'maps) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'origins) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <MultiOccupancyGrid>))
+  "Converts a ROS message object to a list"
+  (cl:list 'MultiOccupancyGrid
+    (cl:cons ':maps (maps msg))
+    (cl:cons ':origins (origins msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/lisp/MultiSparseMap3D.lisp b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/MultiSparseMap3D.lisp
new file mode 100755
index 0000000..4f88436
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/MultiSparseMap3D.lisp
@@ -0,0 +1,108 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package multi_map_server-msg)
+
+
+;//! \htmlinclude MultiSparseMap3D.msg.html
+
+(cl:defclass <MultiSparseMap3D> (roslisp-msg-protocol:ros-message)
+  ((maps
+    :reader maps
+    :initarg :maps
+    :type (cl:vector multi_map_server-msg:SparseMap3D)
+   :initform (cl:make-array 0 :element-type 'multi_map_server-msg:SparseMap3D :initial-element (cl:make-instance 'multi_map_server-msg:SparseMap3D)))
+   (origins
+    :reader origins
+    :initarg :origins
+    :type (cl:vector geometry_msgs-msg:Pose)
+   :initform (cl:make-array 0 :element-type 'geometry_msgs-msg:Pose :initial-element (cl:make-instance 'geometry_msgs-msg:Pose))))
+)
+
+(cl:defclass MultiSparseMap3D (<MultiSparseMap3D>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <MultiSparseMap3D>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'MultiSparseMap3D)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name multi_map_server-msg:<MultiSparseMap3D> is deprecated: use multi_map_server-msg:MultiSparseMap3D instead.")))
+
+(cl:ensure-generic-function 'maps-val :lambda-list '(m))
+(cl:defmethod maps-val ((m <MultiSparseMap3D>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader multi_map_server-msg:maps-val is deprecated.  Use multi_map_server-msg:maps instead.")
+  (maps m))
+
+(cl:ensure-generic-function 'origins-val :lambda-list '(m))
+(cl:defmethod origins-val ((m <MultiSparseMap3D>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader multi_map_server-msg:origins-val is deprecated.  Use multi_map_server-msg:origins instead.")
+  (origins m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <MultiSparseMap3D>) ostream)
+  "Serializes a message object of type '<MultiSparseMap3D>"
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'maps))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'maps))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'origins))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'origins))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <MultiSparseMap3D>) istream)
+  "Deserializes a message object of type '<MultiSparseMap3D>"
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'maps) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'maps)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'multi_map_server-msg:SparseMap3D))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'origins) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'origins)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'geometry_msgs-msg:Pose))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<MultiSparseMap3D>)))
+  "Returns string type for a message object of type '<MultiSparseMap3D>"
+  "multi_map_server/MultiSparseMap3D")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MultiSparseMap3D)))
+  "Returns string type for a message object of type 'MultiSparseMap3D"
+  "multi_map_server/MultiSparseMap3D")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<MultiSparseMap3D>)))
+  "Returns md5sum for a message object of type '<MultiSparseMap3D>"
+  "2e3d76c98ee3e2b23a422f64965f6418")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MultiSparseMap3D)))
+  "Returns md5sum for a message object of type 'MultiSparseMap3D"
+  "2e3d76c98ee3e2b23a422f64965f6418")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<MultiSparseMap3D>)))
+  "Returns full string definition for message of type '<MultiSparseMap3D>"
+  (cl:format cl:nil "SparseMap3D[] maps~%geometry_msgs/Pose[] origins~%~%================================================================================~%MSG: multi_map_server/SparseMap3D~%Header header~%nav_msgs/MapMetaData info~%VerticalOccupancyGridList[] lists~%~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: nav_msgs/MapMetaData~%# This hold basic information about the characterists of the OccupancyGrid~%~%# The time at which the map was loaded~%time map_load_time~%# The map resolution [m/cell]~%float32 resolution~%# Map width [cells]~%uint32 width~%# Map height [cells]~%uint32 height~%# The origin of the map [m, m, rad].  This is the real-world pose of the~%# cell (0,0) in the map.~%geometry_msgs/Pose origin~%================================================================================~%MSG: geometry_msgs/Pose~%# A representation of pose in free space, composed of postion and orientation. ~%Point position~%Quaternion orientation~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%================================================================================~%MSG: multi_map_server/VerticalOccupancyGridList~%float32 x~%float32 y~%int32[] upper~%int32[] lower~%int32[] mass~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MultiSparseMap3D)))
+  "Returns full string definition for message of type 'MultiSparseMap3D"
+  (cl:format cl:nil "SparseMap3D[] maps~%geometry_msgs/Pose[] origins~%~%================================================================================~%MSG: multi_map_server/SparseMap3D~%Header header~%nav_msgs/MapMetaData info~%VerticalOccupancyGridList[] lists~%~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: nav_msgs/MapMetaData~%# This hold basic information about the characterists of the OccupancyGrid~%~%# The time at which the map was loaded~%time map_load_time~%# The map resolution [m/cell]~%float32 resolution~%# Map width [cells]~%uint32 width~%# Map height [cells]~%uint32 height~%# The origin of the map [m, m, rad].  This is the real-world pose of the~%# cell (0,0) in the map.~%geometry_msgs/Pose origin~%================================================================================~%MSG: geometry_msgs/Pose~%# A representation of pose in free space, composed of postion and orientation. ~%Point position~%Quaternion orientation~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%================================================================================~%MSG: multi_map_server/VerticalOccupancyGridList~%float32 x~%float32 y~%int32[] upper~%int32[] lower~%int32[] mass~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <MultiSparseMap3D>))
+  (cl:+ 0
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'maps) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'origins) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <MultiSparseMap3D>))
+  "Converts a ROS message object to a list"
+  (cl:list 'MultiSparseMap3D
+    (cl:cons ':maps (maps msg))
+    (cl:cons ':origins (origins msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/lisp/SparseMap3D.lisp b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/SparseMap3D.lisp
new file mode 100755
index 0000000..a92e1a9
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/SparseMap3D.lisp
@@ -0,0 +1,107 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package multi_map_server-msg)
+
+
+;//! \htmlinclude SparseMap3D.msg.html
+
+(cl:defclass <SparseMap3D> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (info
+    :reader info
+    :initarg :info
+    :type nav_msgs-msg:MapMetaData
+    :initform (cl:make-instance 'nav_msgs-msg:MapMetaData))
+   (lists
+    :reader lists
+    :initarg :lists
+    :type (cl:vector multi_map_server-msg:VerticalOccupancyGridList)
+   :initform (cl:make-array 0 :element-type 'multi_map_server-msg:VerticalOccupancyGridList :initial-element (cl:make-instance 'multi_map_server-msg:VerticalOccupancyGridList))))
+)
+
+(cl:defclass SparseMap3D (<SparseMap3D>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SparseMap3D>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SparseMap3D)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name multi_map_server-msg:<SparseMap3D> is deprecated: use multi_map_server-msg:SparseMap3D instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <SparseMap3D>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader multi_map_server-msg:header-val is deprecated.  Use multi_map_server-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'info-val :lambda-list '(m))
+(cl:defmethod info-val ((m <SparseMap3D>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader multi_map_server-msg:info-val is deprecated.  Use multi_map_server-msg:info instead.")
+  (info m))
+
+(cl:ensure-generic-function 'lists-val :lambda-list '(m))
+(cl:defmethod lists-val ((m <SparseMap3D>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader multi_map_server-msg:lists-val is deprecated.  Use multi_map_server-msg:lists instead.")
+  (lists m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SparseMap3D>) ostream)
+  "Serializes a message object of type '<SparseMap3D>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'info) ostream)
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'lists))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'lists))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SparseMap3D>) istream)
+  "Deserializes a message object of type '<SparseMap3D>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'info) istream)
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'lists) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'lists)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'multi_map_server-msg:VerticalOccupancyGridList))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SparseMap3D>)))
+  "Returns string type for a message object of type '<SparseMap3D>"
+  "multi_map_server/SparseMap3D")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SparseMap3D)))
+  "Returns string type for a message object of type 'SparseMap3D"
+  "multi_map_server/SparseMap3D")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SparseMap3D>)))
+  "Returns md5sum for a message object of type '<SparseMap3D>"
+  "a20102f0b3a02e95070dab4140b78fb5")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SparseMap3D)))
+  "Returns md5sum for a message object of type 'SparseMap3D"
+  "a20102f0b3a02e95070dab4140b78fb5")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SparseMap3D>)))
+  "Returns full string definition for message of type '<SparseMap3D>"
+  (cl:format cl:nil "Header header~%nav_msgs/MapMetaData info~%VerticalOccupancyGridList[] lists~%~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: nav_msgs/MapMetaData~%# This hold basic information about the characterists of the OccupancyGrid~%~%# The time at which the map was loaded~%time map_load_time~%# The map resolution [m/cell]~%float32 resolution~%# Map width [cells]~%uint32 width~%# Map height [cells]~%uint32 height~%# The origin of the map [m, m, rad].  This is the real-world pose of the~%# cell (0,0) in the map.~%geometry_msgs/Pose origin~%================================================================================~%MSG: geometry_msgs/Pose~%# A representation of pose in free space, composed of postion and orientation. ~%Point position~%Quaternion orientation~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%================================================================================~%MSG: multi_map_server/VerticalOccupancyGridList~%float32 x~%float32 y~%int32[] upper~%int32[] lower~%int32[] mass~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SparseMap3D)))
+  "Returns full string definition for message of type 'SparseMap3D"
+  (cl:format cl:nil "Header header~%nav_msgs/MapMetaData info~%VerticalOccupancyGridList[] lists~%~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: nav_msgs/MapMetaData~%# This hold basic information about the characterists of the OccupancyGrid~%~%# The time at which the map was loaded~%time map_load_time~%# The map resolution [m/cell]~%float32 resolution~%# Map width [cells]~%uint32 width~%# Map height [cells]~%uint32 height~%# The origin of the map [m, m, rad].  This is the real-world pose of the~%# cell (0,0) in the map.~%geometry_msgs/Pose origin~%================================================================================~%MSG: geometry_msgs/Pose~%# A representation of pose in free space, composed of postion and orientation. ~%Point position~%Quaternion orientation~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%================================================================================~%MSG: multi_map_server/VerticalOccupancyGridList~%float32 x~%float32 y~%int32[] upper~%int32[] lower~%int32[] mass~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SparseMap3D>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'info))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'lists) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SparseMap3D>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SparseMap3D
+    (cl:cons ':header (header msg))
+    (cl:cons ':info (info msg))
+    (cl:cons ':lists (lists msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/lisp/VerticalOccupancyGridList.lisp b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/VerticalOccupancyGridList.lisp
new file mode 100755
index 0000000..cbb183b
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/VerticalOccupancyGridList.lisp
@@ -0,0 +1,210 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package multi_map_server-msg)
+
+
+;//! \htmlinclude VerticalOccupancyGridList.msg.html
+
+(cl:defclass <VerticalOccupancyGridList> (roslisp-msg-protocol:ros-message)
+  ((x
+    :reader x
+    :initarg :x
+    :type cl:float
+    :initform 0.0)
+   (y
+    :reader y
+    :initarg :y
+    :type cl:float
+    :initform 0.0)
+   (upper
+    :reader upper
+    :initarg :upper
+    :type (cl:vector cl:integer)
+   :initform (cl:make-array 0 :element-type 'cl:integer :initial-element 0))
+   (lower
+    :reader lower
+    :initarg :lower
+    :type (cl:vector cl:integer)
+   :initform (cl:make-array 0 :element-type 'cl:integer :initial-element 0))
+   (mass
+    :reader mass
+    :initarg :mass
+    :type (cl:vector cl:integer)
+   :initform (cl:make-array 0 :element-type 'cl:integer :initial-element 0)))
+)
+
+(cl:defclass VerticalOccupancyGridList (<VerticalOccupancyGridList>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <VerticalOccupancyGridList>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'VerticalOccupancyGridList)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name multi_map_server-msg:<VerticalOccupancyGridList> is deprecated: use multi_map_server-msg:VerticalOccupancyGridList instead.")))
+
+(cl:ensure-generic-function 'x-val :lambda-list '(m))
+(cl:defmethod x-val ((m <VerticalOccupancyGridList>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader multi_map_server-msg:x-val is deprecated.  Use multi_map_server-msg:x instead.")
+  (x m))
+
+(cl:ensure-generic-function 'y-val :lambda-list '(m))
+(cl:defmethod y-val ((m <VerticalOccupancyGridList>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader multi_map_server-msg:y-val is deprecated.  Use multi_map_server-msg:y instead.")
+  (y m))
+
+(cl:ensure-generic-function 'upper-val :lambda-list '(m))
+(cl:defmethod upper-val ((m <VerticalOccupancyGridList>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader multi_map_server-msg:upper-val is deprecated.  Use multi_map_server-msg:upper instead.")
+  (upper m))
+
+(cl:ensure-generic-function 'lower-val :lambda-list '(m))
+(cl:defmethod lower-val ((m <VerticalOccupancyGridList>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader multi_map_server-msg:lower-val is deprecated.  Use multi_map_server-msg:lower instead.")
+  (lower m))
+
+(cl:ensure-generic-function 'mass-val :lambda-list '(m))
+(cl:defmethod mass-val ((m <VerticalOccupancyGridList>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader multi_map_server-msg:mass-val is deprecated.  Use multi_map_server-msg:mass instead.")
+  (mass m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <VerticalOccupancyGridList>) ostream)
+  "Serializes a message object of type '<VerticalOccupancyGridList>"
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'x))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'y))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'upper))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let* ((signed ele) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
+    ))
+   (cl:slot-value msg 'upper))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'lower))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let* ((signed ele) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
+    ))
+   (cl:slot-value msg 'lower))
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'mass))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let* ((signed ele) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
+    ))
+   (cl:slot-value msg 'mass))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <VerticalOccupancyGridList>) istream)
+  "Deserializes a message object of type '<VerticalOccupancyGridList>"
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'x) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'y) (roslisp-utils:decode-single-float-bits bits)))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'upper) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'upper)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:aref vals i) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296)))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'lower) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'lower)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:aref vals i) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296)))))))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'mass) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'mass)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:aref vals i) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296)))))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<VerticalOccupancyGridList>)))
+  "Returns string type for a message object of type '<VerticalOccupancyGridList>"
+  "multi_map_server/VerticalOccupancyGridList")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'VerticalOccupancyGridList)))
+  "Returns string type for a message object of type 'VerticalOccupancyGridList"
+  "multi_map_server/VerticalOccupancyGridList")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<VerticalOccupancyGridList>)))
+  "Returns md5sum for a message object of type '<VerticalOccupancyGridList>"
+  "7ef85cc95b82747f51eb01a16bd7c795")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'VerticalOccupancyGridList)))
+  "Returns md5sum for a message object of type 'VerticalOccupancyGridList"
+  "7ef85cc95b82747f51eb01a16bd7c795")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<VerticalOccupancyGridList>)))
+  "Returns full string definition for message of type '<VerticalOccupancyGridList>"
+  (cl:format cl:nil "float32 x~%float32 y~%int32[] upper~%int32[] lower~%int32[] mass~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'VerticalOccupancyGridList)))
+  "Returns full string definition for message of type 'VerticalOccupancyGridList"
+  (cl:format cl:nil "float32 x~%float32 y~%int32[] upper~%int32[] lower~%int32[] mass~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <VerticalOccupancyGridList>))
+  (cl:+ 0
+     4
+     4
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'upper) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'lower) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4)))
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'mass) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4)))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <VerticalOccupancyGridList>))
+  "Converts a ROS message object to a list"
+  (cl:list 'VerticalOccupancyGridList
+    (cl:cons ':x (x msg))
+    (cl:cons ':y (y msg))
+    (cl:cons ':upper (upper msg))
+    (cl:cons ':lower (lower msg))
+    (cl:cons ':mass (mass msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package.lisp b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package.lisp
new file mode 100755
index 0000000..a1b8240
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package.lisp
@@ -0,0 +1,13 @@
+(cl:defpackage multi_map_server-msg
+  (:use )
+  (:export
+   "<MULTIOCCUPANCYGRID>"
+   "MULTIOCCUPANCYGRID"
+   "<SPARSEMAP3D>"
+   "SPARSEMAP3D"
+   "<MULTISPARSEMAP3D>"
+   "MULTISPARSEMAP3D"
+   "<VERTICALOCCUPANCYGRIDLIST>"
+   "VERTICALOCCUPANCYGRIDLIST"
+  ))
+
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_MultiOccupancyGrid.lisp b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_MultiOccupancyGrid.lisp
new file mode 100755
index 0000000..3903c0c
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_MultiOccupancyGrid.lisp
@@ -0,0 +1,6 @@
+(cl:in-package multi_map_server-msg)
+(cl:export '(MAPS-VAL
+          MAPS
+          ORIGINS-VAL
+          ORIGINS
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_MultiSparseMap3D.lisp b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_MultiSparseMap3D.lisp
new file mode 100755
index 0000000..3903c0c
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_MultiSparseMap3D.lisp
@@ -0,0 +1,6 @@
+(cl:in-package multi_map_server-msg)
+(cl:export '(MAPS-VAL
+          MAPS
+          ORIGINS-VAL
+          ORIGINS
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_SparseMap3D.lisp b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_SparseMap3D.lisp
new file mode 100755
index 0000000..5495e58
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_SparseMap3D.lisp
@@ -0,0 +1,8 @@
+(cl:in-package multi_map_server-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          INFO-VAL
+          INFO
+          LISTS-VAL
+          LISTS
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_VerticalOccupancyGridList.lisp b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_VerticalOccupancyGridList.lisp
new file mode 100755
index 0000000..09b1fcd
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_VerticalOccupancyGridList.lisp
@@ -0,0 +1,12 @@
+(cl:in-package multi_map_server-msg)
+(cl:export '(X-VAL
+          X
+          Y-VAL
+          Y
+          UPPER-VAL
+          UPPER
+          LOWER-VAL
+          LOWER
+          MASS-VAL
+          MASS
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/msg_gen/lisp/multi_map_server-msg.asd b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/multi_map_server-msg.asd
new file mode 100755
index 0000000..bba6697
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/msg_gen/lisp/multi_map_server-msg.asd
@@ -0,0 +1,18 @@
+
+(cl:in-package :asdf)
+
+(defsystem "multi_map_server-msg"
+  :depends-on (:roslisp-msg-protocol :roslisp-utils :geometry_msgs-msg
+               :nav_msgs-msg
+               :std_msgs-msg
+)
+  :components ((:file "_package")
+    (:file "MultiOccupancyGrid" :depends-on ("_package_MultiOccupancyGrid"))
+    (:file "_package_MultiOccupancyGrid" :depends-on ("_package"))
+    (:file "SparseMap3D" :depends-on ("_package_SparseMap3D"))
+    (:file "_package_SparseMap3D" :depends-on ("_package"))
+    (:file "MultiSparseMap3D" :depends-on ("_package_MultiSparseMap3D"))
+    (:file "_package_MultiSparseMap3D" :depends-on ("_package"))
+    (:file "VerticalOccupancyGridList" :depends-on ("_package_VerticalOccupancyGridList"))
+    (:file "_package_VerticalOccupancyGridList" :depends-on ("_package"))
+  ))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/package.xml b/uav_simulator/Utils/multi_map_server/package.xml
new file mode 100755
index 0000000..f037f19
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/package.xml
@@ -0,0 +1,38 @@
+<package>
+  <description>multi_map_server</description>
+  <name>multi_map_server</name>
+  <version>0.0.0</version>
+  <maintainer email="eeshaojie@todo.todo">Shaojie Shen</maintainer>
+  <license>BSD</license>
+  
+  <url>http://ros.org/wiki/multi_map_server</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <build_depend>laser_geometry</build_depend>
+  <build_depend>pose_utils</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>quadrotor_msgs</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>visualization_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
+  <run_depend>laser_geometry</run_depend>
+  <run_depend>pose_utils</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>quadrotor_msgs</run_depend>
+
+  <export>
+    <cpp cflags="-I${prefix}/include -I${prefix}/msg/cpp"/>
+  </export>
+</package>
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/CMakeLists.txt b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/CMakeLists.txt
new file mode 100755
index 0000000..b2cb96c
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/CMakeLists.txt
@@ -0,0 +1,95 @@
+#-cmake_minimum_required(VERSION 2.4.6)
+#-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+#-rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+#-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+#-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#-\rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+
+#-rosbuild_add_library(encode_msgs src/encode_msgs.cpp)
+#-rosbuild_add_link_flags(encode_msgs -Wl,--as-needed)
+
+#list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+#find_package(Eigen3 REQUIRED)
+
+#include_directories(${EIGEN3_INCLUDE_DIR})
+#-rosbuild_add_library(decode_msgs src/decode_msgs.cpp)
+#-rosbuild_add_link_flags(decode_msgs -Wl,--as-needed)
+
+#------------------------------------------------------------------
+cmake_minimum_required(VERSION 2.8.3)
+project(quadrotor_msgs)
+
+find_package(catkin REQUIRED COMPONENTS
+  #armadillo
+  roscpp
+  nav_msgs
+  geometry_msgs
+  message_generation
+)
+
+include_directories(
+    ${catkin_INCLUDE_DIRS}
+    include
+    )
+
+
+add_message_files(
+  FILES
+  AuxCommand.msg
+  Corrections.msg
+  Gains.msg
+  OutputData.msg
+  PositionCommand.msg
+  PPROutputData.msg
+  Serial.msg
+  SO3Command.msg
+  StatusData.msg
+  TRPYCommand.msg
+)
+
+generate_messages(
+    DEPENDENCIES
+    geometry_msgs
+    nav_msgs
+)
+
+catkin_package(
+  #INCLUDE_DIRS include
+  #LIBRARIES irobot_msgs
+  #CATKIN_DEPENDS geometry_msgs nav_msgs
+  #DEPENDS system_lib
+  CATKIN_DEPENDS message_runtime
+)
+
+#add_dependencies(decode_msgs quadrotor_msgs_generate_messages_cpp)
+#add_dependencies(encode_msgs quadrotor_msgs_generate_messages_cpp)
+
+find_package(Eigen3 REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIR})
+
+add_library(decode_msgs src/decode_msgs.cpp)
+add_library(encode_msgs src/encode_msgs.cpp)
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/Makefile b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/Makefile
new file mode 100755
index 0000000..b75b928
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/CATKIN_IGNORE b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/CATKIN_IGNORE
new file mode 100755
index 0000000..e69de29
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/CMakeCache.txt b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/CMakeCache.txt
new file mode 100755
index 0000000..25e577c
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/CMakeCache.txt
@@ -0,0 +1,530 @@
+# This is the CMakeCache file.
+# For build in directory: /home/jchen/workspace/src/quadrotor_msgs/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Build shared libraries (DLLs).
+BUILD_SHARED_LIBS:BOOL=ON
+
+//Catkin enable testing
+CATKIN_ENABLE_TESTING:BOOL=ON
+
+//Prefix to apply to package generated via gendebian
+CATKIN_PACKAGE_PREFIX:STRING=
+
+//Catkin skip testing
+CATKIN_SKIP_TESTING:BOOL=OFF
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//For backwards compatibility, what version of CMake commands and
+// syntax should this version of CMake try to support.
+CMAKE_BACKWARDS_COMPATIBILITY:STRING=2.4
+
+//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or
+// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler.
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//Flags used by the compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler.
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//Flags used by the compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Flags used by the linker.
+CMAKE_EXE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/usr/local
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules.
+CMAKE_MODULE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=quadrotor_msgs
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Flags used by the linker during the creation of dll's.
+CMAKE_SHARED_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during debug builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//No help, variable specified on the command line.
+CMAKE_TOOLCHAIN_FILE:UNINITIALIZED=/opt/ros/indigo/share/ros/core/rosbuild/rostoolchain.cmake
+
+//If true, cmake will use relative paths in makefiles and projects.
+CMAKE_USE_RELATIVE_PATHS:BOOL=OFF
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a program.
+DOXYGEN_EXECUTABLE:FILEPATH=DOXYGEN_EXECUTABLE-NOTFOUND
+
+//Path to a file.
+EIGEN3_INCLUDE_DIR:PATH=/usr/include/eigen3
+
+//Path to a program.
+EMPY_EXECUTABLE:FILEPATH=/usr/bin/empy
+
+//Empy script
+EMPY_SCRIPT:STRING=/usr/bin/empy
+
+//Single output directory for building all executables.
+EXECUTABLE_OUTPUT_PATH:PATH=
+
+//Path to a file.
+GTEST_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+GTEST_LIBRARY:FILEPATH=GTEST_LIBRARY-NOTFOUND
+
+//Path to a library.
+GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+GTEST_MAIN_LIBRARY:FILEPATH=GTEST_MAIN_LIBRARY-NOTFOUND
+
+//Path to a library.
+GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND
+
+//Single output directory for building all libraries.
+LIBRARY_OUTPUT_PATH:PATH=
+
+//lsb_release executable was found
+LSB_FOUND:BOOL=TRUE
+
+//Path to a program.
+LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release
+
+//Path to a program.
+NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7
+
+//Path to a file.
+PROJECTCONFIG:FILEPATH=PROJECTCONFIG-NOTFOUND
+
+//Path to a program.
+PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python
+
+//Specify specific Python version to use ('major.minor' or 'major')
+PYTHON_VERSION:STRING=
+
+//Value Computed by CMake
+Project_BINARY_DIR:STATIC=/home/jchen/workspace/src/quadrotor_msgs/build
+
+//Value Computed by CMake
+Project_SOURCE_DIR:STATIC=/home/jchen/workspace/src/quadrotor_msgs
+
+//rospack executable
+ROSPACK_EXE:FILEPATH=/opt/ros/indigo/bin/rospack
+
+//Path to a library.
+RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so
+
+//Enable debian style python package layout
+SETUPTOOLS_DEB_LAYOUT:BOOL=ON
+
+//Path to a file.
+TOOLCHAINCONFIG:FILEPATH=TOOLCHAINCONFIG-NOTFOUND
+
+//LSB Distrib tag
+UBUNTU:BOOL=TRUE
+
+//LSB Distrib - codename tag
+UBUNTU_TRUSTY:BOOL=TRUE
+
+//Path to a file.
+USERCONFIG:FILEPATH=USERCONFIG-NOTFOUND
+
+//Path to a file.
+_CATKIN_GTEST_INCLUDE:FILEPATH=/usr/include/gtest/gtest.h
+
+//Path to a file.
+_CATKIN_GTEST_SRC:FILEPATH=/usr/src/gtest/src/gtest.cc
+
+//Path to a file.
+_file_name:FILEPATH=/home/jchen/workspace/src/quadrotor_msgs/src/decode_msgs.cpp
+
+//The directory containing a CMake configuration file for catkin.
+catkin_DIR:PATH=/opt/ros/indigo/share/catkin/cmake
+
+//Dependencies for the target
+decode_msgs_LIB_DEPENDS:STATIC=general;roscpp_serialization;general;rostime;general;:/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;cpp_common;general;:/usr/lib/x86_64-linux-gnu/libboost_system.so;general;:/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;:/usr/lib/x86_64-linux-gnu/libpthread.so;general;:/usr/lib/x86_64-linux-gnu/libconsole_bridge.so;
+
+//Dependencies for the target
+encode_msgs_LIB_DEPENDS:STATIC=general;roscpp_serialization;general;rostime;general;:/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;cpp_common;general;:/usr/lib/x86_64-linux-gnu/libboost_system.so;general;:/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;:/usr/lib/x86_64-linux-gnu/libpthread.so;general;:/usr/lib/x86_64-linux-gnu/libconsole_bridge.so;
+
+//The directory containing a CMake configuration file for gencpp.
+gencpp_DIR:PATH=/opt/ros/indigo/share/gencpp/cmake
+
+//The directory containing a CMake configuration file for genlisp.
+genlisp_DIR:PATH=/opt/ros/indigo/share/genlisp/cmake
+
+//The directory containing a CMake configuration file for genmsg.
+genmsg_DIR:PATH=/opt/ros/indigo/share/genmsg/cmake
+
+//The directory containing a CMake configuration file for genpy.
+genpy_DIR:PATH=/opt/ros/indigo/share/genpy/cmake
+
+//Value Computed by CMake
+gtest_BINARY_DIR:STATIC=/home/jchen/workspace/src/quadrotor_msgs/build/gtest
+
+//Dependencies for the target
+gtest_LIB_DEPENDS:STATIC=general;-lpthread;
+
+//Value Computed by CMake
+gtest_SOURCE_DIR:STATIC=/usr/src/gtest
+
+//Build gtest's sample programs.
+gtest_build_samples:BOOL=OFF
+
+//Build all of gtest's own tests.
+gtest_build_tests:BOOL=OFF
+
+//Disable uses of pthreads in gtest.
+gtest_disable_pthreads:BOOL=OFF
+
+//Use shared (DLL) run-time lib even when Google Test is built
+// as static lib.
+gtest_force_shared_crt:BOOL=OFF
+
+//Dependencies for the target
+gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest;
+
+//Path to a library.
+lib:FILEPATH=/opt/ros/indigo/lib/libroslib.so
+
+//Value Computed by CMake
+quadrotor_msgs_BINARY_DIR:STATIC=/home/jchen/workspace/src/quadrotor_msgs/build
+
+//Value Computed by CMake
+quadrotor_msgs_SOURCE_DIR:STATIC=/home/jchen/workspace/src/quadrotor_msgs
+
+//The directory containing a CMake configuration file for roslib.
+roslib_DIR:PATH=/opt/ros/indigo/share/roslib/cmake
+
+//The directory containing a CMake configuration file for rosunit.
+rosunit_DIR:PATH=/opt/ros/indigo/share/rosunit/cmake
+
+
+########################
+# INTERNAL cache entries
+########################
+
+//catkin environment
+CATKIN_ENV:INTERNAL=/home/jchen/workspace/src/quadrotor_msgs/build/catkin_generated/env_cached.sh
+CATKIN_TEST_RESULTS_DIR:INTERNAL=/home/jchen/workspace/src/quadrotor_msgs/build/test_results
+//ADVANCED property for variable: CMAKE_AR
+CMAKE_AR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_BUILD_TOOL
+CMAKE_BUILD_TOOL-ADVANCED:INTERNAL=1
+//What is the target build tool cmake is generating for.
+CMAKE_BUILD_TOOL:INTERNAL=/usr/bin/make
+//This is the directory where this CMakeCache.txt was created
+CMAKE_CACHEFILE_DIR:INTERNAL=/home/jchen/workspace/src/quadrotor_msgs/build
+//Major version of cmake used to create the current loaded cache
+CMAKE_CACHE_MAJOR_VERSION:INTERNAL=2
+//Minor version of cmake used to create the current loaded cache
+CMAKE_CACHE_MINOR_VERSION:INTERNAL=8
+//Patch version of cmake used to create the current loaded cache
+CMAKE_CACHE_PATCH_VERSION:INTERNAL=12
+//ADVANCED property for variable: CMAKE_COLOR_MAKEFILE
+CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1
+//Path to CMake executable.
+CMAKE_COMMAND:INTERNAL=/usr/bin/cmake
+//Path to cpack program executable.
+CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack
+//Path to ctest program executable.
+CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest
+//ADVANCED property for variable: CMAKE_CXX_COMPILER
+CMAKE_CXX_COMPILER-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS
+CMAKE_CXX_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_DEBUG
+CMAKE_CXX_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_MINSIZEREL
+CMAKE_CXX_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELEASE
+CMAKE_CXX_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELWITHDEBINFO
+CMAKE_CXX_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_COMPILER
+CMAKE_C_COMPILER-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_FLAGS
+CMAKE_C_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_FLAGS_DEBUG
+CMAKE_C_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_FLAGS_MINSIZEREL
+CMAKE_C_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_FLAGS_RELEASE
+CMAKE_C_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_FLAGS_RELWITHDEBINFO
+CMAKE_C_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//Executable file format
+CMAKE_EXECUTABLE_FORMAT:INTERNAL=ELF
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS
+CMAKE_EXE_LINKER_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_DEBUG
+CMAKE_EXE_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_MINSIZEREL
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELEASE
+CMAKE_EXE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXPORT_COMPILE_COMMANDS
+CMAKE_EXPORT_COMPILE_COMMANDS-ADVANCED:INTERNAL=1
+//Name of generator.
+CMAKE_GENERATOR:INTERNAL=Unix Makefiles
+//Name of generator toolset.
+CMAKE_GENERATOR_TOOLSET:INTERNAL=
+//Have symbol pthread_create
+CMAKE_HAVE_LIBC_CREATE:INTERNAL=
+//Have library pthreads
+CMAKE_HAVE_PTHREADS_CREATE:INTERNAL=
+//Have library pthread
+CMAKE_HAVE_PTHREAD_CREATE:INTERNAL=1
+//Have include pthread.h
+CMAKE_HAVE_PTHREAD_H:INTERNAL=1
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+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+   http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+/* sdcc, the small devices C compiler for embedded systems,
+   http://sdcc.sourceforge.net  */
+#elif defined(SDCC)
+# define COMPILER_ID "SDCC"
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+/* This compiler is either not known or is too old to define an
+   identification macro.  Try to identify the platform and guess that
+   it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out
new file mode 100755
index 0000000..33a3d2b
Binary files /dev/null and b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out differ
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100755
index 0000000..e8220b2
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,377 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER    % 10)
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+  /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__)
+# if defined(__COMPILER_VER__)
+#  define COMPILER_ID "zOS"
+# else
+#  if __IBMCPP__ >= 800
+#   define COMPILER_ID "XL"
+#  else
+#   define COMPILER_ID "VisualAge"
+#  endif
+   /* __IBMCPP__ = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+#  define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+   http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+/* This compiler is either not known or is too old to define an
+   identification macro.  Try to identify the platform and guess that
+   it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
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+# Help Target
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+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... ROSBUILD_genmsg_cpp"
+	@echo "... ROSBUILD_genmsg_lisp"
+	@echo "... ROSBUILD_genmsg_py"
+	@echo "... ROSBUILD_gensrv_cpp"
+	@echo "... ROSBUILD_gensrv_lisp"
+	@echo "... _catkin_empty_exported_target"
+	@echo "... clean_test_results"
+	@echo "... decode_msgs"
+	@echo "... doxygen"
+	@echo "... edit_cache"
+	@echo "... encode_msgs"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... rosbuild_clean-test-results"
+	@echo "... rosbuild_precompile"
+	@echo "... rosbuild_premsgsrvgen"
+	@echo "... rospack_genmsg"
+	@echo "... rospack_genmsg_all"
+	@echo "... rospack_genmsg_libexe"
+	@echo "... rospack_gensrv"
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+	@echo "... test"
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+	@echo "... test-results"
+	@echo "... test-results-run"
+	@echo "... tests"
+	@echo "... gtest"
+	@echo "... gtest_main"
+	@echo "... src/decode_msgs.o"
+	@echo "... src/decode_msgs.i"
+	@echo "... src/decode_msgs.s"
+	@echo "... src/encode_msgs.o"
+	@echo "... src/encode_msgs.i"
+	@echo "... src/encode_msgs.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin/catkin_generated/version/package.cmake b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin/catkin_generated/version/package.cmake
new file mode 100755
index 0000000..1cbfc82
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,9 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.6.9")
+set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
+set(catkin_BUILD_DEPENDS "python-empy" "python-argparse" "python-catkin-pkg")
+set(catkin_DEPRECATED "")
+set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "gtest" "python-empy" "python-nose")
+set(catkin_MAINTAINER "Dirk Thomas <dthomas@osrfoundation.org>")
+set(catkin_BUILDTOOL_DEPENDS "cmake")
+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/env_cached.sh b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/env_cached.sh
new file mode 100755
index 0000000..d6be91d
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/generate_cached_setup.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/generate_cached_setup.py
new file mode 100755
index 0000000..9da18d9
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,29 @@
+from __future__ import print_function
+import argparse
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/indigo/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/indigo/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in "/home/jchen/workspace/devel;/opt/ros/indigo".split(';'):
+        python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/jchen/workspace/src/quadrotor_msgs/build/devel/env.sh')
+
+output_filename = '/home/jchen/workspace/src/quadrotor_msgs/build/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    #print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/.rosinstall b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/.rosinstall
new file mode 100755
index 0000000..6fb13af
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /usr/local/setup.sh
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/_setup_util.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 0000000..f679b87
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/jchen/workspace/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/env.sh b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/setup.bash b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/setup.bash
new file mode 100755
index 0000000..ff47af8
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/setup.sh b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/setup.sh
new file mode 100755
index 0000000..250c328
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/usr/local}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/setup.zsh b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/setup.zsh
new file mode 100755
index 0000000..b660717
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate sh # emulate POSIX
+. "$_CATKIN_SETUP_DIR/setup.sh"
+emulate zsh # back to zsh mode
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/ordered_paths.cmake b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/ordered_paths.cmake
new file mode 100755
index 0000000..22f3651
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/indigo/lib")
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/setup_cached.sh b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/setup_cached.sh
new file mode 100755
index 0000000..a053a12
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/setup_cached.sh
@@ -0,0 +1,19 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+
+# modified environment variables
+export CATKIN_TEST_RESULTS_DIR="/home/jchen/workspace/src/quadrotor_msgs/build/test_results"
+export CMAKE_PREFIX_PATH="/home/jchen/workspace/src/quadrotor_msgs/build/devel:$CMAKE_PREFIX_PATH"
+export CPATH="/home/jchen/workspace/src/quadrotor_msgs/build/devel/include:$CPATH"
+export LD_LIBRARY_PATH="/home/jchen/workspace/src/quadrotor_msgs/build/devel/lib:/home/jchen/workspace/src/quadrotor_msgs/build/devel/lib/x86_64-linux-gnu:/home/jchen/workspace/devel/lib/x86_64-linux-gnu:/opt/ros/indigo/lib/x86_64-linux-gnu:/home/jchen/workspace/devel/lib:/opt/ros/indigo/lib"
+export PATH="/home/jchen/workspace/src/quadrotor_msgs/build/devel/bin:$PATH"
+export PKG_CONFIG_PATH="/home/jchen/workspace/src/quadrotor_msgs/build/devel/lib/pkgconfig:/home/jchen/workspace/src/quadrotor_msgs/build/devel/lib/x86_64-linux-gnu/pkgconfig:/home/jchen/workspace/devel/lib/x86_64-linux-gnu/pkgconfig:/opt/ros/indigo/lib/x86_64-linux-gnu/pkgconfig:/home/jchen/workspace/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig"
+export PYTHONPATH="/home/jchen/workspace/src/quadrotor_msgs/build/devel/lib/python2.7/dist-packages:$PYTHONPATH"
+export ROSLISP_PACKAGE_DIRECTORIES="/home/jchen/workspace/src/quadrotor_msgs/build/devel/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES"
+export ROS_PACKAGE_PATH="/home/jchen/workspace/src/quadrotor_msgs:$ROS_PACKAGE_PATH"
+export ROS_TEST_RESULTS_DIR="/home/jchen/workspace/src/quadrotor_msgs/build/test_results"
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/stamps/quadrotor_msgs/interrogate_setup_dot_py.py.stamp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/stamps/quadrotor_msgs/interrogate_setup_dot_py.py.stamp
new file mode 100755
index 0000000..26882f0
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/stamps/quadrotor_msgs/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,250 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+import os
+import sys
+
+import distutils.core
+try:
+    import setuptools
+except ImportError:
+    pass
+
+from argparse import ArgumentParser
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    based on setuptools logic and the package_dir dict, builds a dict
+    of location roots for each pkg in pkgs.
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = parent_location
+                else:
+                    locations[key] = allprefix
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules):
+    """
+    Generates lines to add to a cmake file which will set variables
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :pkgs: [list of str] python_packages declared in catkin package
+    :modules: [list of str] python modules
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if not '.' in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        parent_name = '.'.join(splits[:1])
+        if location != locations[parent_name]:
+            raise RuntimeError(
+                "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [os.path.join(locations[pkg], pkg)]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/")))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace("\\", "/")))
+
+    return result
+
+
+def _create_mock_setup_function(package_name, outfile):
+    """
+    Creates a function to call instead of distutils.core.setup or
+    setuptools.setup, which just captures some args and writes them
+    into a file that can be used from cmake
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        '''
+        Checks kwargs and writes a scriptfile
+        '''
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError("version not found in setup.py")
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """
+    Script main, parses arguments and invokes Dummy.setup indirectly.
+    """
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    try:
+        fake_setup = _create_mock_setup_function(package_name=args.package_name,
+                                                outfile=args.outfile)
+
+        distutils_backup = distutils.core.setup
+        distutils.core.setup = fake_setup
+        try:
+            setuptools_backup = setuptools.setup
+            setuptools.setup = fake_setup
+        except NameError:
+            pass
+
+        with open(args.setupfile_path, 'r') as fh:
+            exec(fh.read())
+    finally:
+        distutils.core.setup = distutils_backup
+        try:
+            setuptools.setup = setuptools_backup
+        except NameError:
+            pass
+
+if __name__ == '__main__':
+    main()
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/stamps/quadrotor_msgs/package.xml.stamp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/stamps/quadrotor_msgs/package.xml.stamp
new file mode 100755
index 0000000..7c2708a
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/catkin_generated/stamps/quadrotor_msgs/package.xml.stamp
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>catkin</name>
+  <version>0.6.9</version>
+  <description>Low-level build system macros and infrastructure for ROS.</description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/catkin</url>
+  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
+  <url type="repository">https://github.com/ros/catkin</url>
+
+  <author>Troy Straszheim</author>
+  <author>Morten Kjaergaard</author>
+  <author>Brian Gerkey</author>
+  <author>Dirk Thomas</author>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <buildtool_export_depend>cmake</buildtool_export_depend>
+
+  <depend>python-argparse</depend>
+  <depend version_gte="0.2.2">python-catkin-pkg</depend>
+
+  <build_depend>python-empy</build_depend>
+
+  <build_export_depend>gtest</build_export_depend>
+  <build_export_depend>python-empy</build_export_depend>
+  <build_export_depend>python-nose</build_export_depend>
+
+  <test_depend>python-mock</test_depend>
+  <test_depend>python-nose</test_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml"/>
+    <architecture_independent/>
+  </export>
+</package>
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/cmake_install.cmake b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/cmake_install.cmake
new file mode 100755
index 0000000..1a5a6fe
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/cmake_install.cmake
@@ -0,0 +1,140 @@
+# Install script for directory: /home/jchen/workspace/src/quadrotor_msgs
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "RelWithDebInfo")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+        file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+      endif()
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
+        file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
+      endif()
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/_setup_util.py")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/home/jchen/workspace/src/quadrotor_msgs/build/catkin_generated/installspace/_setup_util.py")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/env.sh")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/home/jchen/workspace/src/quadrotor_msgs/build/catkin_generated/installspace/env.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/setup.bash")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/jchen/workspace/src/quadrotor_msgs/build/catkin_generated/installspace/setup.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/setup.sh")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/jchen/workspace/src/quadrotor_msgs/build/catkin_generated/installspace/setup.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/setup.zsh")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/jchen/workspace/src/quadrotor_msgs/build/catkin_generated/installspace/setup.zsh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/.rosinstall")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/jchen/workspace/src/quadrotor_msgs/build/catkin_generated/installspace/.rosinstall")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/indigo/share/catkin/cmake/env-hooks/05.catkin_make.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/indigo/share/catkin/cmake/env-hooks/05.catkin_make_isolated.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/home/jchen/workspace/src/quadrotor_msgs/build/gtest/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+
+IF(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+ELSE(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+ENDIF(CMAKE_INSTALL_COMPONENT)
+
+FILE(WRITE "/home/jchen/workspace/src/quadrotor_msgs/build/${CMAKE_INSTALL_MANIFEST}" "")
+FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
+  FILE(APPEND "/home/jchen/workspace/src/quadrotor_msgs/build/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
+ENDFOREACH(file)
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/.catkin b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/.catkin
new file mode 100755
index 0000000..e639069
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/.catkin
@@ -0,0 +1 @@
+/home/jchen/workspace/src/quadrotor_msgs
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/.rosinstall b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/.rosinstall
new file mode 100755
index 0000000..8eadbbf
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/jchen/workspace/src/quadrotor_msgs/build/devel/setup.sh
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/_setup_util.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/_setup_util.py
new file mode 100755
index 0000000..f679b87
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/jchen/workspace/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/env.sh b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh
new file mode 100755
index 0000000..24791a2
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh
@@ -0,0 +1,4 @@
+# generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in
+
+export CATKIN_TEST_RESULTS_DIR="/home/jchen/workspace/src/quadrotor_msgs/build/test_results"
+export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR"
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/etc/catkin/profile.d/05.catkin_make.bash b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/etc/catkin/profile.d/05.catkin_make.bash
new file mode 100755
index 0000000..bb6ab44
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/etc/catkin/profile.d/05.catkin_make.bash
@@ -0,0 +1,64 @@
+function _catkin_make()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build
+    case $prev in
+        -C|--directory|--source|--build)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -DCATKIN_DEVEL_PREFIX=* || "$cur" == -DCMAKE_INSTALL_PREFIX=* ]]; then
+        COMPREPLY=()
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_DEVEL_PREFIX= -DCATKIN_ENABLE_TESTING= -DCMAKE_INSTALL_PREFIX= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make catkin_make
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
new file mode 100755
index 0000000..5cdc4dd
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
@@ -0,0 +1,62 @@
+function _catkin_make_isolated()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build, --devel, --install
+    case $prev in
+        -C|--directory|--source|--build|--devel|--install)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_ENABLE_TESTING= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build_isolated"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make_isolated catkin_make_isolated
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/setup.bash b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/setup.bash
new file mode 100755
index 0000000..ff47af8
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/setup.sh b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/setup.sh
new file mode 100755
index 0000000..aa4beb7
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/jchen/workspace/src/quadrotor_msgs/build/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/setup.zsh b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/setup.zsh
new file mode 100755
index 0000000..b660717
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate sh # emulate POSIX
+. "$_CATKIN_SETUP_DIR/setup.sh"
+emulate zsh # back to zsh mode
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100755
index 0000000..5221fda
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -0,0 +1,16 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Relative path conversion top directories.
+SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/usr/src/gtest")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/jchen/workspace/src/quadrotor_msgs/build")
+
+# Force unix paths in dependencies.
+SET(CMAKE_FORCE_UNIX_PATHS 1)
+
+
+# The C and CXX include file regular expressions for this directory.
+SET(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+SET(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+SET(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
+SET(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
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+# The main clean target
+clean/fast: clean
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+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... gtest"
+	@echo "... gtest_main"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... src/gtest-all.o"
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+	@echo "... src/gtest-all.s"
+	@echo "... src/gtest_main.o"
+	@echo "... src/gtest_main.i"
+	@echo "... src/gtest_main.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/jchen/workspace/src/quadrotor_msgs/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/gtest/cmake_install.cmake b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/gtest/cmake_install.cmake
new file mode 100755
index 0000000..add6d15
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/gtest/cmake_install.cmake
@@ -0,0 +1,34 @@
+# Install script for directory: /usr/src/gtest
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
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+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "RelWithDebInfo")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
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+
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+  ENDIF(COMPONENT)
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+
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+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/cmake/FindEigen3.cmake b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/cmake/FindEigen3.cmake
new file mode 100755
index 0000000..9c546a0
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/cmake/FindEigen3.cmake
@@ -0,0 +1,81 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN3_FOUND - system has eigen lib with correct version
+#  EIGEN3_INCLUDE_DIR - the eigen include directory
+#  EIGEN3_VERSION - eigen version
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+  if(NOT Eigen3_FIND_VERSION_MAJOR)
+    set(Eigen3_FIND_VERSION_MAJOR 2)
+  endif(NOT Eigen3_FIND_VERSION_MAJOR)
+  if(NOT Eigen3_FIND_VERSION_MINOR)
+    set(Eigen3_FIND_VERSION_MINOR 91)
+  endif(NOT Eigen3_FIND_VERSION_MINOR)
+  if(NOT Eigen3_FIND_VERSION_PATCH)
+    set(Eigen3_FIND_VERSION_PATCH 0)
+  endif(NOT Eigen3_FIND_VERSION_PATCH)
+
+  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif(NOT Eigen3_FIND_VERSION)
+
+macro(_eigen3_check_version)
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK FALSE)
+  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK TRUE)
+  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+
+  if(NOT EIGEN3_VERSION_OK)
+
+    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+                   "but at least version ${Eigen3_FIND_VERSION} is required")
+  endif(NOT EIGEN3_VERSION_OK)
+endmacro(_eigen3_check_version)
+
+if (EIGEN3_INCLUDE_DIR)
+
+  # in cache already
+  _eigen3_check_version()
+  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+
+else (EIGEN3_INCLUDE_DIR)
+
+  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+      PATHS
+      ${CMAKE_INSTALL_PREFIX}/include
+      ${KDE4_INCLUDE_DIR}
+      PATH_SUFFIXES eigen3 eigen
+    )
+
+  if(EIGEN3_INCLUDE_DIR)
+    _eigen3_check_version()
+  endif(EIGEN3_INCLUDE_DIR)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+  mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif(EIGEN3_INCLUDE_DIR)
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/include/quadrotor_msgs/comm_types.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/include/quadrotor_msgs/comm_types.h
new file mode 100755
index 0000000..42a08aa
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/include/quadrotor_msgs/comm_types.h
@@ -0,0 +1,87 @@
+#ifndef __QUADROTOR_MSGS_COMM_TYPES_H__
+#define __QUADROTOR_MSGS_COMM_TYPES_H__
+
+#define TYPE_SO3_CMD 's'
+struct SO3_CMD_INPUT
+{
+  // Scaling factors when decoding
+  int16_t force[3]; // /500
+  int8_t des_qx, des_qy, des_qz, des_qw; // /125
+  uint8_t kR[3]; // /50
+  uint8_t kOm[3]; // /100
+  int16_t cur_yaw; // /1e4
+  int16_t kf_correction; // /1e11;
+  uint8_t angle_corrections[2]; // roll,pitch /2500
+  uint8_t enable_motors:1;
+  uint8_t use_external_yaw:1;
+  uint8_t seq;
+};
+
+#define TYPE_STATUS_DATA 'c'
+struct STATUS_DATA
+{
+  uint16_t loop_rate;
+  uint16_t voltage;
+  uint8_t seq;
+};
+
+#define TYPE_OUTPUT_DATA 'd'
+struct OUTPUT_DATA
+{
+  uint16_t loop_rate;
+  uint16_t voltage;
+  int16_t roll, pitch, yaw;
+  int16_t ang_vel[3];
+  int16_t acc[3];
+  int16_t dheight;
+  int32_t height;
+  int16_t mag[3];
+  uint8_t radio[8];
+  //uint8_t rpm[4];
+  uint8_t seq;
+};
+
+#define TYPE_TRPY_CMD 'p'
+struct TRPY_CMD
+{
+  int16_t thrust;
+  int16_t roll;
+  int16_t pitch;
+  int16_t yaw;
+  int16_t current_yaw;
+  uint8_t enable_motors:1;
+  uint8_t use_external_yaw:1;
+};
+
+#define TYPE_PPR_OUTPUT_DATA 't'
+struct PPR_OUTPUT_DATA
+{
+  uint16_t time;
+  int16_t des_thrust;
+  int16_t des_roll;
+  int16_t des_pitch;
+  int16_t des_yaw;
+  int16_t est_roll;
+  int16_t est_pitch;
+  int16_t est_yaw;
+  int16_t est_angvel_x;
+  int16_t est_angvel_y;
+  int16_t est_angvel_z;
+  int16_t est_acc_x;
+  int16_t est_acc_y;
+  int16_t est_acc_z;
+  uint16_t pwm1;
+  uint16_t pwm2;
+  uint16_t pwm3;
+  uint16_t pwm4;
+};
+
+#define TYPE_PPR_GAINS 'g'
+struct PPR_GAINS
+{
+  int16_t Kp;
+  int16_t Kd;
+  int16_t Kp_yaw;
+  int16_t Kd_yaw;
+};
+#endif
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h
new file mode 100755
index 0000000..a3076ea
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h
@@ -0,0 +1,23 @@
+#ifndef __QUADROTOR_MSGS_QUADROTOR_MSGS_H__
+#define __QUADROTOR_MSGS_QUADROTOR_MSGS_H__
+
+#include <stdint.h>
+#include <vector>
+#include <quadrotor_msgs/OutputData.h>
+#include <quadrotor_msgs/StatusData.h>
+#include <quadrotor_msgs/PPROutputData.h>
+
+namespace quadrotor_msgs
+{
+
+bool decodeOutputData(const std::vector<uint8_t> &data,
+                      quadrotor_msgs::OutputData &output);
+
+bool decodeStatusData(const std::vector<uint8_t> &data,
+                      quadrotor_msgs::StatusData &status);
+
+bool decodePPROutputData(const std::vector<uint8_t> &data,
+                         quadrotor_msgs::PPROutputData &output);
+}
+
+#endif
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h
new file mode 100755
index 0000000..a424b11
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h
@@ -0,0 +1,22 @@
+#ifndef __QUADROTOR_MSGS_QUADROTOR_MSGS_H__
+#define __QUADROTOR_MSGS_QUADROTOR_MSGS_H__
+
+#include <stdint.h>
+#include <vector>
+#include <quadrotor_msgs/SO3Command.h>
+#include <quadrotor_msgs/TRPYCommand.h>
+#include <quadrotor_msgs/Gains.h>
+
+namespace quadrotor_msgs
+{
+
+void encodeSO3Command(const quadrotor_msgs::SO3Command &so3_command,
+                      std::vector<uint8_t> &output);
+void encodeTRPYCommand(const quadrotor_msgs::TRPYCommand &trpy_command,
+                       std::vector<uint8_t> &output);
+
+void encodePPRGains(const quadrotor_msgs::Gains &gains,
+                    std::vector<uint8_t> &output);
+}
+
+#endif
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/lib/libdecode_msgs.so b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/lib/libdecode_msgs.so
new file mode 100755
index 0000000..d6886eb
Binary files /dev/null and b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/lib/libdecode_msgs.so differ
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/lib/libencode_msgs.so b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/lib/libencode_msgs.so
new file mode 100755
index 0000000..bf5a152
Binary files /dev/null and b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/lib/libencode_msgs.so differ
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/mainpage.dox b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/mainpage.dox
new file mode 100755
index 0000000..239883d
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/mainpage.dox
@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b quadrotor_msgs 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/AuxCommand.msg b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/AuxCommand.msg
new file mode 100755
index 0000000..f59bf35
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/AuxCommand.msg
@@ -0,0 +1,5 @@
+float64 current_yaw
+float64 kf_correction
+float64[2] angle_corrections# Trims for roll, pitch
+bool enable_motors
+bool use_external_yaw
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Corrections.msg b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Corrections.msg
new file mode 100755
index 0000000..e0f4e88
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Corrections.msg
@@ -0,0 +1,2 @@
+float64 kf_correction
+float64[2] angle_corrections
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Gains.msg b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Gains.msg
new file mode 100755
index 0000000..f5d10a3
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Gains.msg
@@ -0,0 +1,4 @@
+float64 Kp
+float64 Kd
+float64 Kp_yaw
+float64 Kd_yaw
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/OutputData.msg b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/OutputData.msg
new file mode 100755
index 0000000..ac95888
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/OutputData.msg
@@ -0,0 +1,12 @@
+Header header
+uint16 loop_rate
+float64 voltage
+geometry_msgs/Quaternion orientation
+geometry_msgs/Vector3 angular_velocity
+geometry_msgs/Vector3 linear_acceleration
+float64 pressure_dheight
+float64 pressure_height
+geometry_msgs/Vector3 magnetic_field
+uint8[8] radio_channel
+#uint8[4] motor_rpm
+uint8 seq
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/PPROutputData.msg b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/PPROutputData.msg
new file mode 100755
index 0000000..70434a0
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/PPROutputData.msg
@@ -0,0 +1,16 @@
+Header header
+uint16 quad_time
+float64 des_thrust
+float64 des_roll
+float64 des_pitch
+float64 des_yaw
+float64 est_roll
+float64 est_pitch
+float64 est_yaw
+float64 est_angvel_x
+float64 est_angvel_y
+float64 est_angvel_z
+float64 est_acc_x
+float64 est_acc_y
+float64 est_acc_z
+uint16[4] pwm
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/PositionCommand.msg b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/PositionCommand.msg
new file mode 100755
index 0000000..08e9740
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/PositionCommand.msg
@@ -0,0 +1,8 @@
+Header header
+geometry_msgs/Point position
+geometry_msgs/Vector3 velocity
+geometry_msgs/Vector3 acceleration
+float64 yaw
+float64 yaw_dot
+float64[3] kx
+float64[3] kv
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/SO3Command.msg b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/SO3Command.msg
new file mode 100755
index 0000000..d3868ef
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/SO3Command.msg
@@ -0,0 +1,6 @@
+Header header
+geometry_msgs/Vector3 force
+geometry_msgs/Quaternion orientation
+float64[3] kR
+float64[3] kOm
+quadrotor_msgs/AuxCommand aux
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Serial.msg b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Serial.msg
new file mode 100755
index 0000000..5a54cce
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Serial.msg
@@ -0,0 +1,13 @@
+# Note: These constants need to be kept in sync with the types
+# defined in include/quadrotor_msgs/comm_types.h
+uint8 SO3_CMD = 115 # 's' in base 10
+uint8 TRPY_CMD = 112 # 'p' in base 10
+uint8 STATUS_DATA = 99 # 'c' in base 10
+uint8 OUTPUT_DATA = 100 # 'd' in base 10
+uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10
+uint8 PPR_GAINS = 103 # 'g'
+
+Header header
+uint8 channel
+uint8 type # One of the types listed above
+uint8[] data
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/StatusData.msg b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/StatusData.msg
new file mode 100755
index 0000000..d176e4f
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/StatusData.msg
@@ -0,0 +1,4 @@
+Header header
+uint16 loop_rate
+float64 voltage
+uint8 seq
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/TRPYCommand.msg b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/TRPYCommand.msg
new file mode 100755
index 0000000..0d471a6
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/TRPYCommand.msg
@@ -0,0 +1,6 @@
+Header header
+float32 thrust
+float32 roll
+float32 pitch
+float32 yaw
+quadrotor_msgs/AuxCommand aux
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/AuxCommand.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/AuxCommand.h
new file mode 100755
index 0000000..669255b
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/AuxCommand.h
@@ -0,0 +1,178 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/quadrotor_msgs/msg/AuxCommand.msg */
+#ifndef QUADROTOR_MSGS_MESSAGE_AUXCOMMAND_H
+#define QUADROTOR_MSGS_MESSAGE_AUXCOMMAND_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+
+namespace quadrotor_msgs
+{
+template <class ContainerAllocator>
+struct AuxCommand_ {
+  typedef AuxCommand_<ContainerAllocator> Type;
+
+  AuxCommand_()
+  : current_yaw(0.0)
+  , kf_correction(0.0)
+  , angle_corrections()
+  , enable_motors(false)
+  , use_external_yaw(false)
+  {
+    angle_corrections.assign(0.0);
+  }
+
+  AuxCommand_(const ContainerAllocator& _alloc)
+  : current_yaw(0.0)
+  , kf_correction(0.0)
+  , angle_corrections()
+  , enable_motors(false)
+  , use_external_yaw(false)
+  {
+    angle_corrections.assign(0.0);
+  }
+
+  typedef double _current_yaw_type;
+  double current_yaw;
+
+  typedef double _kf_correction_type;
+  double kf_correction;
+
+  typedef boost::array<double, 2>  _angle_corrections_type;
+  boost::array<double, 2>  angle_corrections;
+
+  typedef uint8_t _enable_motors_type;
+  uint8_t enable_motors;
+
+  typedef uint8_t _use_external_yaw_type;
+  uint8_t use_external_yaw;
+
+
+  typedef boost::shared_ptr< ::quadrotor_msgs::AuxCommand_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::quadrotor_msgs::AuxCommand_<ContainerAllocator>  const> ConstPtr;
+}; // struct AuxCommand
+typedef  ::quadrotor_msgs::AuxCommand_<std::allocator<void> > AuxCommand;
+
+typedef boost::shared_ptr< ::quadrotor_msgs::AuxCommand> AuxCommandPtr;
+typedef boost::shared_ptr< ::quadrotor_msgs::AuxCommand const> AuxCommandConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::quadrotor_msgs::AuxCommand_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::quadrotor_msgs::AuxCommand_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace quadrotor_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::AuxCommand_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::AuxCommand_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::quadrotor_msgs::AuxCommand_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "94f75840e4b1e03675da764692f2c839";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::AuxCommand_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0x94f75840e4b1e036ULL;
+  static const uint64_t static_value2 = 0x75da764692f2c839ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::quadrotor_msgs::AuxCommand_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "quadrotor_msgs/AuxCommand";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::AuxCommand_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::quadrotor_msgs::AuxCommand_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "float64 current_yaw\n\
+float64 kf_correction\n\
+float64[2] angle_corrections# Trims for roll, pitch\n\
+bool enable_motors\n\
+bool use_external_yaw\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::AuxCommand_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct IsFixedSize< ::quadrotor_msgs::AuxCommand_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::quadrotor_msgs::AuxCommand_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.current_yaw);
+    stream.next(m.kf_correction);
+    stream.next(m.angle_corrections);
+    stream.next(m.enable_motors);
+    stream.next(m.use_external_yaw);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct AuxCommand_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::quadrotor_msgs::AuxCommand_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::quadrotor_msgs::AuxCommand_<ContainerAllocator> & v) 
+  {
+    s << indent << "current_yaw: ";
+    Printer<double>::stream(s, indent + "  ", v.current_yaw);
+    s << indent << "kf_correction: ";
+    Printer<double>::stream(s, indent + "  ", v.kf_correction);
+    s << indent << "angle_corrections[]" << std::endl;
+    for (size_t i = 0; i < v.angle_corrections.size(); ++i)
+    {
+      s << indent << "  angle_corrections[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.angle_corrections[i]);
+    }
+    s << indent << "enable_motors: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.enable_motors);
+    s << indent << "use_external_yaw: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.use_external_yaw);
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // QUADROTOR_MSGS_MESSAGE_AUXCOMMAND_H
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/Corrections.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/Corrections.h
new file mode 100755
index 0000000..e5ac554
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/Corrections.h
@@ -0,0 +1,151 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/quadrotor_msgs/msg/Corrections.msg */
+#ifndef QUADROTOR_MSGS_MESSAGE_CORRECTIONS_H
+#define QUADROTOR_MSGS_MESSAGE_CORRECTIONS_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+
+namespace quadrotor_msgs
+{
+template <class ContainerAllocator>
+struct Corrections_ {
+  typedef Corrections_<ContainerAllocator> Type;
+
+  Corrections_()
+  : kf_correction(0.0)
+  , angle_corrections()
+  {
+    angle_corrections.assign(0.0);
+  }
+
+  Corrections_(const ContainerAllocator& _alloc)
+  : kf_correction(0.0)
+  , angle_corrections()
+  {
+    angle_corrections.assign(0.0);
+  }
+
+  typedef double _kf_correction_type;
+  double kf_correction;
+
+  typedef boost::array<double, 2>  _angle_corrections_type;
+  boost::array<double, 2>  angle_corrections;
+
+
+  typedef boost::shared_ptr< ::quadrotor_msgs::Corrections_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::quadrotor_msgs::Corrections_<ContainerAllocator>  const> ConstPtr;
+}; // struct Corrections
+typedef  ::quadrotor_msgs::Corrections_<std::allocator<void> > Corrections;
+
+typedef boost::shared_ptr< ::quadrotor_msgs::Corrections> CorrectionsPtr;
+typedef boost::shared_ptr< ::quadrotor_msgs::Corrections const> CorrectionsConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::quadrotor_msgs::Corrections_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::quadrotor_msgs::Corrections_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace quadrotor_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::Corrections_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::Corrections_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::quadrotor_msgs::Corrections_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "61e86887a75fe520847d3256306360f5";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::Corrections_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0x61e86887a75fe520ULL;
+  static const uint64_t static_value2 = 0x847d3256306360f5ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::quadrotor_msgs::Corrections_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "quadrotor_msgs/Corrections";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::Corrections_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::quadrotor_msgs::Corrections_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "float64 kf_correction\n\
+float64[2] angle_corrections\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::Corrections_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct IsFixedSize< ::quadrotor_msgs::Corrections_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::quadrotor_msgs::Corrections_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.kf_correction);
+    stream.next(m.angle_corrections);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct Corrections_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::quadrotor_msgs::Corrections_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::quadrotor_msgs::Corrections_<ContainerAllocator> & v) 
+  {
+    s << indent << "kf_correction: ";
+    Printer<double>::stream(s, indent + "  ", v.kf_correction);
+    s << indent << "angle_corrections[]" << std::endl;
+    for (size_t i = 0; i < v.angle_corrections.size(); ++i)
+    {
+      s << indent << "  angle_corrections[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.angle_corrections[i]);
+    }
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // QUADROTOR_MSGS_MESSAGE_CORRECTIONS_H
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/Gains.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/Gains.h
new file mode 100755
index 0000000..5e3ede0
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/Gains.h
@@ -0,0 +1,163 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/quadrotor_msgs/msg/Gains.msg */
+#ifndef QUADROTOR_MSGS_MESSAGE_GAINS_H
+#define QUADROTOR_MSGS_MESSAGE_GAINS_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+
+namespace quadrotor_msgs
+{
+template <class ContainerAllocator>
+struct Gains_ {
+  typedef Gains_<ContainerAllocator> Type;
+
+  Gains_()
+  : Kp(0.0)
+  , Kd(0.0)
+  , Kp_yaw(0.0)
+  , Kd_yaw(0.0)
+  {
+  }
+
+  Gains_(const ContainerAllocator& _alloc)
+  : Kp(0.0)
+  , Kd(0.0)
+  , Kp_yaw(0.0)
+  , Kd_yaw(0.0)
+  {
+  }
+
+  typedef double _Kp_type;
+  double Kp;
+
+  typedef double _Kd_type;
+  double Kd;
+
+  typedef double _Kp_yaw_type;
+  double Kp_yaw;
+
+  typedef double _Kd_yaw_type;
+  double Kd_yaw;
+
+
+  typedef boost::shared_ptr< ::quadrotor_msgs::Gains_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::quadrotor_msgs::Gains_<ContainerAllocator>  const> ConstPtr;
+}; // struct Gains
+typedef  ::quadrotor_msgs::Gains_<std::allocator<void> > Gains;
+
+typedef boost::shared_ptr< ::quadrotor_msgs::Gains> GainsPtr;
+typedef boost::shared_ptr< ::quadrotor_msgs::Gains const> GainsConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::quadrotor_msgs::Gains_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::quadrotor_msgs::Gains_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace quadrotor_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::Gains_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::Gains_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::quadrotor_msgs::Gains_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "b82763b9f24e5595e2a816aa779c9461";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::Gains_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0xb82763b9f24e5595ULL;
+  static const uint64_t static_value2 = 0xe2a816aa779c9461ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::quadrotor_msgs::Gains_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "quadrotor_msgs/Gains";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::Gains_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::quadrotor_msgs::Gains_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "float64 Kp\n\
+float64 Kd\n\
+float64 Kp_yaw\n\
+float64 Kd_yaw\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::Gains_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct IsFixedSize< ::quadrotor_msgs::Gains_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::quadrotor_msgs::Gains_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.Kp);
+    stream.next(m.Kd);
+    stream.next(m.Kp_yaw);
+    stream.next(m.Kd_yaw);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct Gains_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::quadrotor_msgs::Gains_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::quadrotor_msgs::Gains_<ContainerAllocator> & v) 
+  {
+    s << indent << "Kp: ";
+    Printer<double>::stream(s, indent + "  ", v.Kp);
+    s << indent << "Kd: ";
+    Printer<double>::stream(s, indent + "  ", v.Kd);
+    s << indent << "Kp_yaw: ";
+    Printer<double>::stream(s, indent + "  ", v.Kp_yaw);
+    s << indent << "Kd_yaw: ";
+    Printer<double>::stream(s, indent + "  ", v.Kd_yaw);
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // QUADROTOR_MSGS_MESSAGE_GAINS_H
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/OutputData.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/OutputData.h
new file mode 100755
index 0000000..04890e4
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/OutputData.h
@@ -0,0 +1,278 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/quadrotor_msgs/msg/OutputData.msg */
+#ifndef QUADROTOR_MSGS_MESSAGE_OUTPUTDATA_H
+#define QUADROTOR_MSGS_MESSAGE_OUTPUTDATA_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Quaternion.h"
+#include "geometry_msgs/Vector3.h"
+#include "geometry_msgs/Vector3.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace quadrotor_msgs
+{
+template <class ContainerAllocator>
+struct OutputData_ {
+  typedef OutputData_<ContainerAllocator> Type;
+
+  OutputData_()
+  : header()
+  , loop_rate(0)
+  , voltage(0.0)
+  , orientation()
+  , angular_velocity()
+  , linear_acceleration()
+  , pressure_dheight(0.0)
+  , pressure_height(0.0)
+  , magnetic_field()
+  , radio_channel()
+  , seq(0)
+  {
+    radio_channel.assign(0);
+  }
+
+  OutputData_(const ContainerAllocator& _alloc)
+  : header(_alloc)
+  , loop_rate(0)
+  , voltage(0.0)
+  , orientation(_alloc)
+  , angular_velocity(_alloc)
+  , linear_acceleration(_alloc)
+  , pressure_dheight(0.0)
+  , pressure_height(0.0)
+  , magnetic_field(_alloc)
+  , radio_channel()
+  , seq(0)
+  {
+    radio_channel.assign(0);
+  }
+
+  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+   ::std_msgs::Header_<ContainerAllocator>  header;
+
+  typedef uint16_t _loop_rate_type;
+  uint16_t loop_rate;
+
+  typedef double _voltage_type;
+  double voltage;
+
+  typedef  ::geometry_msgs::Quaternion_<ContainerAllocator>  _orientation_type;
+   ::geometry_msgs::Quaternion_<ContainerAllocator>  orientation;
+
+  typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _angular_velocity_type;
+   ::geometry_msgs::Vector3_<ContainerAllocator>  angular_velocity;
+
+  typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _linear_acceleration_type;
+   ::geometry_msgs::Vector3_<ContainerAllocator>  linear_acceleration;
+
+  typedef double _pressure_dheight_type;
+  double pressure_dheight;
+
+  typedef double _pressure_height_type;
+  double pressure_height;
+
+  typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _magnetic_field_type;
+   ::geometry_msgs::Vector3_<ContainerAllocator>  magnetic_field;
+
+  typedef boost::array<uint8_t, 8>  _radio_channel_type;
+  boost::array<uint8_t, 8>  radio_channel;
+
+  typedef uint8_t _seq_type;
+  uint8_t seq;
+
+
+  typedef boost::shared_ptr< ::quadrotor_msgs::OutputData_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::quadrotor_msgs::OutputData_<ContainerAllocator>  const> ConstPtr;
+}; // struct OutputData
+typedef  ::quadrotor_msgs::OutputData_<std::allocator<void> > OutputData;
+
+typedef boost::shared_ptr< ::quadrotor_msgs::OutputData> OutputDataPtr;
+typedef boost::shared_ptr< ::quadrotor_msgs::OutputData const> OutputDataConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::quadrotor_msgs::OutputData_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::quadrotor_msgs::OutputData_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace quadrotor_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::OutputData_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::OutputData_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::quadrotor_msgs::OutputData_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "5759ee97fd5c090dcdccf7fc3e50d024";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::OutputData_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0x5759ee97fd5c090dULL;
+  static const uint64_t static_value2 = 0xcdccf7fc3e50d024ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::quadrotor_msgs::OutputData_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "quadrotor_msgs/OutputData";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::OutputData_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::quadrotor_msgs::OutputData_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "Header header\n\
+uint16 loop_rate\n\
+float64 voltage\n\
+geometry_msgs/Quaternion orientation\n\
+geometry_msgs/Vector3 angular_velocity\n\
+geometry_msgs/Vector3 linear_acceleration\n\
+float64 pressure_dheight\n\
+float64 pressure_height\n\
+geometry_msgs/Vector3 magnetic_field\n\
+uint8[8] radio_channel\n\
+#uint8[4] motor_rpm\n\
+uint8 seq\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Quaternion\n\
+# This represents an orientation in free space in quaternion form.\n\
+\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+float64 w\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Vector3\n\
+# This represents a vector in free space. \n\
+\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::OutputData_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct HasHeader< ::quadrotor_msgs::OutputData_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct HasHeader< const ::quadrotor_msgs::OutputData_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::quadrotor_msgs::OutputData_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.header);
+    stream.next(m.loop_rate);
+    stream.next(m.voltage);
+    stream.next(m.orientation);
+    stream.next(m.angular_velocity);
+    stream.next(m.linear_acceleration);
+    stream.next(m.pressure_dheight);
+    stream.next(m.pressure_height);
+    stream.next(m.magnetic_field);
+    stream.next(m.radio_channel);
+    stream.next(m.seq);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct OutputData_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::quadrotor_msgs::OutputData_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::quadrotor_msgs::OutputData_<ContainerAllocator> & v) 
+  {
+    s << indent << "header: ";
+s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "loop_rate: ";
+    Printer<uint16_t>::stream(s, indent + "  ", v.loop_rate);
+    s << indent << "voltage: ";
+    Printer<double>::stream(s, indent + "  ", v.voltage);
+    s << indent << "orientation: ";
+s << std::endl;
+    Printer< ::geometry_msgs::Quaternion_<ContainerAllocator> >::stream(s, indent + "  ", v.orientation);
+    s << indent << "angular_velocity: ";
+s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.angular_velocity);
+    s << indent << "linear_acceleration: ";
+s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.linear_acceleration);
+    s << indent << "pressure_dheight: ";
+    Printer<double>::stream(s, indent + "  ", v.pressure_dheight);
+    s << indent << "pressure_height: ";
+    Printer<double>::stream(s, indent + "  ", v.pressure_height);
+    s << indent << "magnetic_field: ";
+s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.magnetic_field);
+    s << indent << "radio_channel[]" << std::endl;
+    for (size_t i = 0; i < v.radio_channel.size(); ++i)
+    {
+      s << indent << "  radio_channel[" << i << "]: ";
+      Printer<uint8_t>::stream(s, indent + "  ", v.radio_channel[i]);
+    }
+    s << indent << "seq: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.seq);
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // QUADROTOR_MSGS_MESSAGE_OUTPUTDATA_H
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/PPROutputData.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/PPROutputData.h
new file mode 100755
index 0000000..a877b3f
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/PPROutputData.h
@@ -0,0 +1,298 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/quadrotor_msgs/msg/PPROutputData.msg */
+#ifndef QUADROTOR_MSGS_MESSAGE_PPROUTPUTDATA_H
+#define QUADROTOR_MSGS_MESSAGE_PPROUTPUTDATA_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+#include "std_msgs/Header.h"
+
+namespace quadrotor_msgs
+{
+template <class ContainerAllocator>
+struct PPROutputData_ {
+  typedef PPROutputData_<ContainerAllocator> Type;
+
+  PPROutputData_()
+  : header()
+  , quad_time(0)
+  , des_thrust(0.0)
+  , des_roll(0.0)
+  , des_pitch(0.0)
+  , des_yaw(0.0)
+  , est_roll(0.0)
+  , est_pitch(0.0)
+  , est_yaw(0.0)
+  , est_angvel_x(0.0)
+  , est_angvel_y(0.0)
+  , est_angvel_z(0.0)
+  , est_acc_x(0.0)
+  , est_acc_y(0.0)
+  , est_acc_z(0.0)
+  , pwm()
+  {
+    pwm.assign(0);
+  }
+
+  PPROutputData_(const ContainerAllocator& _alloc)
+  : header(_alloc)
+  , quad_time(0)
+  , des_thrust(0.0)
+  , des_roll(0.0)
+  , des_pitch(0.0)
+  , des_yaw(0.0)
+  , est_roll(0.0)
+  , est_pitch(0.0)
+  , est_yaw(0.0)
+  , est_angvel_x(0.0)
+  , est_angvel_y(0.0)
+  , est_angvel_z(0.0)
+  , est_acc_x(0.0)
+  , est_acc_y(0.0)
+  , est_acc_z(0.0)
+  , pwm()
+  {
+    pwm.assign(0);
+  }
+
+  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+   ::std_msgs::Header_<ContainerAllocator>  header;
+
+  typedef uint16_t _quad_time_type;
+  uint16_t quad_time;
+
+  typedef double _des_thrust_type;
+  double des_thrust;
+
+  typedef double _des_roll_type;
+  double des_roll;
+
+  typedef double _des_pitch_type;
+  double des_pitch;
+
+  typedef double _des_yaw_type;
+  double des_yaw;
+
+  typedef double _est_roll_type;
+  double est_roll;
+
+  typedef double _est_pitch_type;
+  double est_pitch;
+
+  typedef double _est_yaw_type;
+  double est_yaw;
+
+  typedef double _est_angvel_x_type;
+  double est_angvel_x;
+
+  typedef double _est_angvel_y_type;
+  double est_angvel_y;
+
+  typedef double _est_angvel_z_type;
+  double est_angvel_z;
+
+  typedef double _est_acc_x_type;
+  double est_acc_x;
+
+  typedef double _est_acc_y_type;
+  double est_acc_y;
+
+  typedef double _est_acc_z_type;
+  double est_acc_z;
+
+  typedef boost::array<uint16_t, 4>  _pwm_type;
+  boost::array<uint16_t, 4>  pwm;
+
+
+  typedef boost::shared_ptr< ::quadrotor_msgs::PPROutputData_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::quadrotor_msgs::PPROutputData_<ContainerAllocator>  const> ConstPtr;
+}; // struct PPROutputData
+typedef  ::quadrotor_msgs::PPROutputData_<std::allocator<void> > PPROutputData;
+
+typedef boost::shared_ptr< ::quadrotor_msgs::PPROutputData> PPROutputDataPtr;
+typedef boost::shared_ptr< ::quadrotor_msgs::PPROutputData const> PPROutputDataConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::quadrotor_msgs::PPROutputData_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::quadrotor_msgs::PPROutputData_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace quadrotor_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::PPROutputData_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::PPROutputData_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::quadrotor_msgs::PPROutputData_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "732c0e3ca36f241464f8c445e78a0d0a";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::PPROutputData_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0x732c0e3ca36f2414ULL;
+  static const uint64_t static_value2 = 0x64f8c445e78a0d0aULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::quadrotor_msgs::PPROutputData_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "quadrotor_msgs/PPROutputData";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::PPROutputData_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::quadrotor_msgs::PPROutputData_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "Header header\n\
+uint16 quad_time\n\
+float64 des_thrust\n\
+float64 des_roll\n\
+float64 des_pitch\n\
+float64 des_yaw\n\
+float64 est_roll\n\
+float64 est_pitch\n\
+float64 est_yaw\n\
+float64 est_angvel_x\n\
+float64 est_angvel_y\n\
+float64 est_angvel_z\n\
+float64 est_acc_x\n\
+float64 est_acc_y\n\
+float64 est_acc_z\n\
+uint16[4] pwm\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::PPROutputData_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct HasHeader< ::quadrotor_msgs::PPROutputData_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct HasHeader< const ::quadrotor_msgs::PPROutputData_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::quadrotor_msgs::PPROutputData_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.header);
+    stream.next(m.quad_time);
+    stream.next(m.des_thrust);
+    stream.next(m.des_roll);
+    stream.next(m.des_pitch);
+    stream.next(m.des_yaw);
+    stream.next(m.est_roll);
+    stream.next(m.est_pitch);
+    stream.next(m.est_yaw);
+    stream.next(m.est_angvel_x);
+    stream.next(m.est_angvel_y);
+    stream.next(m.est_angvel_z);
+    stream.next(m.est_acc_x);
+    stream.next(m.est_acc_y);
+    stream.next(m.est_acc_z);
+    stream.next(m.pwm);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct PPROutputData_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::quadrotor_msgs::PPROutputData_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::quadrotor_msgs::PPROutputData_<ContainerAllocator> & v) 
+  {
+    s << indent << "header: ";
+s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "quad_time: ";
+    Printer<uint16_t>::stream(s, indent + "  ", v.quad_time);
+    s << indent << "des_thrust: ";
+    Printer<double>::stream(s, indent + "  ", v.des_thrust);
+    s << indent << "des_roll: ";
+    Printer<double>::stream(s, indent + "  ", v.des_roll);
+    s << indent << "des_pitch: ";
+    Printer<double>::stream(s, indent + "  ", v.des_pitch);
+    s << indent << "des_yaw: ";
+    Printer<double>::stream(s, indent + "  ", v.des_yaw);
+    s << indent << "est_roll: ";
+    Printer<double>::stream(s, indent + "  ", v.est_roll);
+    s << indent << "est_pitch: ";
+    Printer<double>::stream(s, indent + "  ", v.est_pitch);
+    s << indent << "est_yaw: ";
+    Printer<double>::stream(s, indent + "  ", v.est_yaw);
+    s << indent << "est_angvel_x: ";
+    Printer<double>::stream(s, indent + "  ", v.est_angvel_x);
+    s << indent << "est_angvel_y: ";
+    Printer<double>::stream(s, indent + "  ", v.est_angvel_y);
+    s << indent << "est_angvel_z: ";
+    Printer<double>::stream(s, indent + "  ", v.est_angvel_z);
+    s << indent << "est_acc_x: ";
+    Printer<double>::stream(s, indent + "  ", v.est_acc_x);
+    s << indent << "est_acc_y: ";
+    Printer<double>::stream(s, indent + "  ", v.est_acc_y);
+    s << indent << "est_acc_z: ";
+    Printer<double>::stream(s, indent + "  ", v.est_acc_z);
+    s << indent << "pwm[]" << std::endl;
+    for (size_t i = 0; i < v.pwm.size(); ++i)
+    {
+      s << indent << "  pwm[" << i << "]: ";
+      Printer<uint16_t>::stream(s, indent + "  ", v.pwm[i]);
+    }
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // QUADROTOR_MSGS_MESSAGE_PPROUTPUTDATA_H
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/PositionCommand.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/PositionCommand.h
new file mode 100755
index 0000000..8c3a16f
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/PositionCommand.h
@@ -0,0 +1,252 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/quadrotor_msgs/msg/PositionCommand.msg */
+#ifndef QUADROTOR_MSGS_MESSAGE_POSITIONCOMMAND_H
+#define QUADROTOR_MSGS_MESSAGE_POSITIONCOMMAND_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+#include "geometry_msgs/Vector3.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace quadrotor_msgs
+{
+template <class ContainerAllocator>
+struct PositionCommand_ {
+  typedef PositionCommand_<ContainerAllocator> Type;
+
+  PositionCommand_()
+  : header()
+  , position()
+  , velocity()
+  , acceleration()
+  , yaw(0.0)
+  , yaw_dot(0.0)
+  , kx()
+  , kv()
+  {
+    kx.assign(0.0);
+    kv.assign(0.0);
+  }
+
+  PositionCommand_(const ContainerAllocator& _alloc)
+  : header(_alloc)
+  , position(_alloc)
+  , velocity(_alloc)
+  , acceleration(_alloc)
+  , yaw(0.0)
+  , yaw_dot(0.0)
+  , kx()
+  , kv()
+  {
+    kx.assign(0.0);
+    kv.assign(0.0);
+  }
+
+  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+   ::std_msgs::Header_<ContainerAllocator>  header;
+
+  typedef  ::geometry_msgs::Point_<ContainerAllocator>  _position_type;
+   ::geometry_msgs::Point_<ContainerAllocator>  position;
+
+  typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _velocity_type;
+   ::geometry_msgs::Vector3_<ContainerAllocator>  velocity;
+
+  typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _acceleration_type;
+   ::geometry_msgs::Vector3_<ContainerAllocator>  acceleration;
+
+  typedef double _yaw_type;
+  double yaw;
+
+  typedef double _yaw_dot_type;
+  double yaw_dot;
+
+  typedef boost::array<double, 3>  _kx_type;
+  boost::array<double, 3>  kx;
+
+  typedef boost::array<double, 3>  _kv_type;
+  boost::array<double, 3>  kv;
+
+
+  typedef boost::shared_ptr< ::quadrotor_msgs::PositionCommand_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::quadrotor_msgs::PositionCommand_<ContainerAllocator>  const> ConstPtr;
+}; // struct PositionCommand
+typedef  ::quadrotor_msgs::PositionCommand_<std::allocator<void> > PositionCommand;
+
+typedef boost::shared_ptr< ::quadrotor_msgs::PositionCommand> PositionCommandPtr;
+typedef boost::shared_ptr< ::quadrotor_msgs::PositionCommand const> PositionCommandConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::quadrotor_msgs::PositionCommand_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::quadrotor_msgs::PositionCommand_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace quadrotor_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::PositionCommand_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::PositionCommand_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::quadrotor_msgs::PositionCommand_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "835935bcd6f18632d9e26a3093237902";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::PositionCommand_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0x835935bcd6f18632ULL;
+  static const uint64_t static_value2 = 0xd9e26a3093237902ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::quadrotor_msgs::PositionCommand_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "quadrotor_msgs/PositionCommand";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::PositionCommand_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::quadrotor_msgs::PositionCommand_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "Header header\n\
+geometry_msgs/Point position\n\
+geometry_msgs/Vector3 velocity\n\
+geometry_msgs/Vector3 acceleration\n\
+float64 yaw\n\
+float64 yaw_dot\n\
+float64[3] kx\n\
+float64[3] kv\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Point\n\
+# This contains the position of a point in free space\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Vector3\n\
+# This represents a vector in free space. \n\
+\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::PositionCommand_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct HasHeader< ::quadrotor_msgs::PositionCommand_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct HasHeader< const ::quadrotor_msgs::PositionCommand_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::quadrotor_msgs::PositionCommand_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.header);
+    stream.next(m.position);
+    stream.next(m.velocity);
+    stream.next(m.acceleration);
+    stream.next(m.yaw);
+    stream.next(m.yaw_dot);
+    stream.next(m.kx);
+    stream.next(m.kv);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct PositionCommand_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::quadrotor_msgs::PositionCommand_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::quadrotor_msgs::PositionCommand_<ContainerAllocator> & v) 
+  {
+    s << indent << "header: ";
+s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "position: ";
+s << std::endl;
+    Printer< ::geometry_msgs::Point_<ContainerAllocator> >::stream(s, indent + "  ", v.position);
+    s << indent << "velocity: ";
+s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.velocity);
+    s << indent << "acceleration: ";
+s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.acceleration);
+    s << indent << "yaw: ";
+    Printer<double>::stream(s, indent + "  ", v.yaw);
+    s << indent << "yaw_dot: ";
+    Printer<double>::stream(s, indent + "  ", v.yaw_dot);
+    s << indent << "kx[]" << std::endl;
+    for (size_t i = 0; i < v.kx.size(); ++i)
+    {
+      s << indent << "  kx[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.kx[i]);
+    }
+    s << indent << "kv[]" << std::endl;
+    for (size_t i = 0; i < v.kv.size(); ++i)
+    {
+      s << indent << "  kv[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.kv[i]);
+    }
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // QUADROTOR_MSGS_MESSAGE_POSITIONCOMMAND_H
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/SO3Command.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/SO3Command.h
new file mode 100755
index 0000000..7db3947
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/SO3Command.h
@@ -0,0 +1,244 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/quadrotor_msgs/msg/SO3Command.msg */
+#ifndef QUADROTOR_MSGS_MESSAGE_SO3COMMAND_H
+#define QUADROTOR_MSGS_MESSAGE_SO3COMMAND_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Vector3.h"
+#include "geometry_msgs/Quaternion.h"
+#include "quadrotor_msgs/AuxCommand.h"
+
+namespace quadrotor_msgs
+{
+template <class ContainerAllocator>
+struct SO3Command_ {
+  typedef SO3Command_<ContainerAllocator> Type;
+
+  SO3Command_()
+  : header()
+  , force()
+  , orientation()
+  , kR()
+  , kOm()
+  , aux()
+  {
+    kR.assign(0.0);
+    kOm.assign(0.0);
+  }
+
+  SO3Command_(const ContainerAllocator& _alloc)
+  : header(_alloc)
+  , force(_alloc)
+  , orientation(_alloc)
+  , kR()
+  , kOm()
+  , aux(_alloc)
+  {
+    kR.assign(0.0);
+    kOm.assign(0.0);
+  }
+
+  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+   ::std_msgs::Header_<ContainerAllocator>  header;
+
+  typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _force_type;
+   ::geometry_msgs::Vector3_<ContainerAllocator>  force;
+
+  typedef  ::geometry_msgs::Quaternion_<ContainerAllocator>  _orientation_type;
+   ::geometry_msgs::Quaternion_<ContainerAllocator>  orientation;
+
+  typedef boost::array<double, 3>  _kR_type;
+  boost::array<double, 3>  kR;
+
+  typedef boost::array<double, 3>  _kOm_type;
+  boost::array<double, 3>  kOm;
+
+  typedef  ::quadrotor_msgs::AuxCommand_<ContainerAllocator>  _aux_type;
+   ::quadrotor_msgs::AuxCommand_<ContainerAllocator>  aux;
+
+
+  typedef boost::shared_ptr< ::quadrotor_msgs::SO3Command_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::quadrotor_msgs::SO3Command_<ContainerAllocator>  const> ConstPtr;
+}; // struct SO3Command
+typedef  ::quadrotor_msgs::SO3Command_<std::allocator<void> > SO3Command;
+
+typedef boost::shared_ptr< ::quadrotor_msgs::SO3Command> SO3CommandPtr;
+typedef boost::shared_ptr< ::quadrotor_msgs::SO3Command const> SO3CommandConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::quadrotor_msgs::SO3Command_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::quadrotor_msgs::SO3Command_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace quadrotor_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::SO3Command_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::SO3Command_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::quadrotor_msgs::SO3Command_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "a466650b2633e768513aa3bf62383c86";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::SO3Command_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0xa466650b2633e768ULL;
+  static const uint64_t static_value2 = 0x513aa3bf62383c86ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::quadrotor_msgs::SO3Command_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "quadrotor_msgs/SO3Command";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::SO3Command_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::quadrotor_msgs::SO3Command_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "Header header\n\
+geometry_msgs/Vector3 force\n\
+geometry_msgs/Quaternion orientation\n\
+float64[3] kR\n\
+float64[3] kOm\n\
+quadrotor_msgs/AuxCommand aux\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: geometry_msgs/Vector3\n\
+# This represents a vector in free space. \n\
+\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+================================================================================\n\
+MSG: geometry_msgs/Quaternion\n\
+# This represents an orientation in free space in quaternion form.\n\
+\n\
+float64 x\n\
+float64 y\n\
+float64 z\n\
+float64 w\n\
+\n\
+================================================================================\n\
+MSG: quadrotor_msgs/AuxCommand\n\
+float64 current_yaw\n\
+float64 kf_correction\n\
+float64[2] angle_corrections# Trims for roll, pitch\n\
+bool enable_motors\n\
+bool use_external_yaw\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::SO3Command_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct HasHeader< ::quadrotor_msgs::SO3Command_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct HasHeader< const ::quadrotor_msgs::SO3Command_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::quadrotor_msgs::SO3Command_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.header);
+    stream.next(m.force);
+    stream.next(m.orientation);
+    stream.next(m.kR);
+    stream.next(m.kOm);
+    stream.next(m.aux);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct SO3Command_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::quadrotor_msgs::SO3Command_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::quadrotor_msgs::SO3Command_<ContainerAllocator> & v) 
+  {
+    s << indent << "header: ";
+s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "force: ";
+s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.force);
+    s << indent << "orientation: ";
+s << std::endl;
+    Printer< ::geometry_msgs::Quaternion_<ContainerAllocator> >::stream(s, indent + "  ", v.orientation);
+    s << indent << "kR[]" << std::endl;
+    for (size_t i = 0; i < v.kR.size(); ++i)
+    {
+      s << indent << "  kR[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.kR[i]);
+    }
+    s << indent << "kOm[]" << std::endl;
+    for (size_t i = 0; i < v.kOm.size(); ++i)
+    {
+      s << indent << "  kOm[" << i << "]: ";
+      Printer<double>::stream(s, indent + "  ", v.kOm[i]);
+    }
+    s << indent << "aux: ";
+s << std::endl;
+    Printer< ::quadrotor_msgs::AuxCommand_<ContainerAllocator> >::stream(s, indent + "  ", v.aux);
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // QUADROTOR_MSGS_MESSAGE_SO3COMMAND_H
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/Serial.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/Serial.h
new file mode 100755
index 0000000..835623f
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/Serial.h
@@ -0,0 +1,203 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/quadrotor_msgs/msg/Serial.msg */
+#ifndef QUADROTOR_MSGS_MESSAGE_SERIAL_H
+#define QUADROTOR_MSGS_MESSAGE_SERIAL_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+#include "std_msgs/Header.h"
+
+namespace quadrotor_msgs
+{
+template <class ContainerAllocator>
+struct Serial_ {
+  typedef Serial_<ContainerAllocator> Type;
+
+  Serial_()
+  : header()
+  , channel(0)
+  , type(0)
+  , data()
+  {
+  }
+
+  Serial_(const ContainerAllocator& _alloc)
+  : header(_alloc)
+  , channel(0)
+  , type(0)
+  , data(_alloc)
+  {
+  }
+
+  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+   ::std_msgs::Header_<ContainerAllocator>  header;
+
+  typedef uint8_t _channel_type;
+  uint8_t channel;
+
+  typedef uint8_t _type_type;
+  uint8_t type;
+
+  typedef std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other >  _data_type;
+  std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other >  data;
+
+  enum { SO3_CMD = 115 };
+  enum { TRPY_CMD = 112 };
+  enum { STATUS_DATA = 99 };
+  enum { OUTPUT_DATA = 100 };
+  enum { PPR_OUTPUT_DATA = 116 };
+  enum { PPR_GAINS = 103 };
+
+  typedef boost::shared_ptr< ::quadrotor_msgs::Serial_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::quadrotor_msgs::Serial_<ContainerAllocator>  const> ConstPtr;
+}; // struct Serial
+typedef  ::quadrotor_msgs::Serial_<std::allocator<void> > Serial;
+
+typedef boost::shared_ptr< ::quadrotor_msgs::Serial> SerialPtr;
+typedef boost::shared_ptr< ::quadrotor_msgs::Serial const> SerialConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::quadrotor_msgs::Serial_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::quadrotor_msgs::Serial_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace quadrotor_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::Serial_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::Serial_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::quadrotor_msgs::Serial_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "e448fb7595af9a8adfcab5ec241c7d4f";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::Serial_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0xe448fb7595af9a8aULL;
+  static const uint64_t static_value2 = 0xdfcab5ec241c7d4fULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::quadrotor_msgs::Serial_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "quadrotor_msgs/Serial";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::Serial_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::quadrotor_msgs::Serial_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "# Note: These constants need to be kept in sync with the types\n\
+# defined in include/quadrotor_msgs/comm_types.h\n\
+uint8 SO3_CMD = 115 # 's' in base 10\n\
+uint8 TRPY_CMD = 112 # 'p' in base 10\n\
+uint8 STATUS_DATA = 99 # 'c' in base 10\n\
+uint8 OUTPUT_DATA = 100 # 'd' in base 10\n\
+uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10\n\
+uint8 PPR_GAINS = 103 # 'g'\n\
+\n\
+Header header\n\
+uint8 channel\n\
+uint8 type # One of the types listed above\n\
+uint8[] data\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::Serial_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct HasHeader< ::quadrotor_msgs::Serial_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct HasHeader< const ::quadrotor_msgs::Serial_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::quadrotor_msgs::Serial_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.header);
+    stream.next(m.channel);
+    stream.next(m.type);
+    stream.next(m.data);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct Serial_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::quadrotor_msgs::Serial_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::quadrotor_msgs::Serial_<ContainerAllocator> & v) 
+  {
+    s << indent << "header: ";
+s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "channel: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.channel);
+    s << indent << "type: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.type);
+    s << indent << "data[]" << std::endl;
+    for (size_t i = 0; i < v.data.size(); ++i)
+    {
+      s << indent << "  data[" << i << "]: ";
+      Printer<uint8_t>::stream(s, indent + "  ", v.data[i]);
+    }
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // QUADROTOR_MSGS_MESSAGE_SERIAL_H
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/StatusData.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/StatusData.h
new file mode 100755
index 0000000..68e36c2
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/StatusData.h
@@ -0,0 +1,184 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/quadrotor_msgs/msg/StatusData.msg */
+#ifndef QUADROTOR_MSGS_MESSAGE_STATUSDATA_H
+#define QUADROTOR_MSGS_MESSAGE_STATUSDATA_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+#include "std_msgs/Header.h"
+
+namespace quadrotor_msgs
+{
+template <class ContainerAllocator>
+struct StatusData_ {
+  typedef StatusData_<ContainerAllocator> Type;
+
+  StatusData_()
+  : header()
+  , loop_rate(0)
+  , voltage(0.0)
+  , seq(0)
+  {
+  }
+
+  StatusData_(const ContainerAllocator& _alloc)
+  : header(_alloc)
+  , loop_rate(0)
+  , voltage(0.0)
+  , seq(0)
+  {
+  }
+
+  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+   ::std_msgs::Header_<ContainerAllocator>  header;
+
+  typedef uint16_t _loop_rate_type;
+  uint16_t loop_rate;
+
+  typedef double _voltage_type;
+  double voltage;
+
+  typedef uint8_t _seq_type;
+  uint8_t seq;
+
+
+  typedef boost::shared_ptr< ::quadrotor_msgs::StatusData_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::quadrotor_msgs::StatusData_<ContainerAllocator>  const> ConstPtr;
+}; // struct StatusData
+typedef  ::quadrotor_msgs::StatusData_<std::allocator<void> > StatusData;
+
+typedef boost::shared_ptr< ::quadrotor_msgs::StatusData> StatusDataPtr;
+typedef boost::shared_ptr< ::quadrotor_msgs::StatusData const> StatusDataConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::quadrotor_msgs::StatusData_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::quadrotor_msgs::StatusData_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace quadrotor_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::StatusData_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::StatusData_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::quadrotor_msgs::StatusData_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "c70a4ec4725273263ae176ad30f89553";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::StatusData_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0xc70a4ec472527326ULL;
+  static const uint64_t static_value2 = 0x3ae176ad30f89553ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::quadrotor_msgs::StatusData_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "quadrotor_msgs/StatusData";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::StatusData_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::quadrotor_msgs::StatusData_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "Header header\n\
+uint16 loop_rate\n\
+float64 voltage\n\
+uint8 seq\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::StatusData_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct HasHeader< ::quadrotor_msgs::StatusData_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct HasHeader< const ::quadrotor_msgs::StatusData_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::quadrotor_msgs::StatusData_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.header);
+    stream.next(m.loop_rate);
+    stream.next(m.voltage);
+    stream.next(m.seq);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct StatusData_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::quadrotor_msgs::StatusData_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::quadrotor_msgs::StatusData_<ContainerAllocator> & v) 
+  {
+    s << indent << "header: ";
+s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "loop_rate: ";
+    Printer<uint16_t>::stream(s, indent + "  ", v.loop_rate);
+    s << indent << "voltage: ";
+    Printer<double>::stream(s, indent + "  ", v.voltage);
+    s << indent << "seq: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.seq);
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // QUADROTOR_MSGS_MESSAGE_STATUSDATA_H
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/TRPYCommand.h b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/TRPYCommand.h
new file mode 100755
index 0000000..6b983c7
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/cpp/include/quadrotor_msgs/TRPYCommand.h
@@ -0,0 +1,212 @@
+/* Auto-generated by genmsg_cpp for file /home/jchen/workspace/src/quadrotor_msgs/msg/TRPYCommand.msg */
+#ifndef QUADROTOR_MSGS_MESSAGE_TRPYCOMMAND_H
+#define QUADROTOR_MSGS_MESSAGE_TRPYCOMMAND_H
+#include <string>
+#include <vector>
+#include <map>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/time.h"
+
+#include "ros/macros.h"
+
+#include "ros/assert.h"
+
+#include "std_msgs/Header.h"
+#include "quadrotor_msgs/AuxCommand.h"
+
+namespace quadrotor_msgs
+{
+template <class ContainerAllocator>
+struct TRPYCommand_ {
+  typedef TRPYCommand_<ContainerAllocator> Type;
+
+  TRPYCommand_()
+  : header()
+  , thrust(0.0)
+  , roll(0.0)
+  , pitch(0.0)
+  , yaw(0.0)
+  , aux()
+  {
+  }
+
+  TRPYCommand_(const ContainerAllocator& _alloc)
+  : header(_alloc)
+  , thrust(0.0)
+  , roll(0.0)
+  , pitch(0.0)
+  , yaw(0.0)
+  , aux(_alloc)
+  {
+  }
+
+  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+   ::std_msgs::Header_<ContainerAllocator>  header;
+
+  typedef float _thrust_type;
+  float thrust;
+
+  typedef float _roll_type;
+  float roll;
+
+  typedef float _pitch_type;
+  float pitch;
+
+  typedef float _yaw_type;
+  float yaw;
+
+  typedef  ::quadrotor_msgs::AuxCommand_<ContainerAllocator>  _aux_type;
+   ::quadrotor_msgs::AuxCommand_<ContainerAllocator>  aux;
+
+
+  typedef boost::shared_ptr< ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::quadrotor_msgs::TRPYCommand_<ContainerAllocator>  const> ConstPtr;
+}; // struct TRPYCommand
+typedef  ::quadrotor_msgs::TRPYCommand_<std::allocator<void> > TRPYCommand;
+
+typedef boost::shared_ptr< ::quadrotor_msgs::TRPYCommand> TRPYCommandPtr;
+typedef boost::shared_ptr< ::quadrotor_msgs::TRPYCommand const> TRPYCommandConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace quadrotor_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct IsMessage< ::quadrotor_msgs::TRPYCommand_<ContainerAllocator>  const> : public TrueType {};
+template<class ContainerAllocator>
+struct MD5Sum< ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "6779ee8a86cc757aeea21725df32d00c";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0x6779ee8a86cc757aULL;
+  static const uint64_t static_value2 = 0xeea21725df32d00cULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "quadrotor_msgs/TRPYCommand";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "Header header\n\
+float32 thrust\n\
+float32 roll\n\
+float32 pitch\n\
+float32 yaw\n\
+quadrotor_msgs/AuxCommand aux\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+================================================================================\n\
+MSG: quadrotor_msgs/AuxCommand\n\
+float64 current_yaw\n\
+float64 kf_correction\n\
+float64[2] angle_corrections# Trims for roll, pitch\n\
+bool enable_motors\n\
+bool use_external_yaw\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct HasHeader< ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct HasHeader< const ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.header);
+    stream.next(m.thrust);
+    stream.next(m.roll);
+    stream.next(m.pitch);
+    stream.next(m.yaw);
+    stream.next(m.aux);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct TRPYCommand_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::quadrotor_msgs::TRPYCommand_<ContainerAllocator> & v) 
+  {
+    s << indent << "header: ";
+s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "thrust: ";
+    Printer<float>::stream(s, indent + "  ", v.thrust);
+    s << indent << "roll: ";
+    Printer<float>::stream(s, indent + "  ", v.roll);
+    s << indent << "pitch: ";
+    Printer<float>::stream(s, indent + "  ", v.pitch);
+    s << indent << "yaw: ";
+    Printer<float>::stream(s, indent + "  ", v.yaw);
+    s << indent << "aux: ";
+s << std::endl;
+    Printer< ::quadrotor_msgs::AuxCommand_<ContainerAllocator> >::stream(s, indent + "  ", v.aux);
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // QUADROTOR_MSGS_MESSAGE_TRPYCOMMAND_H
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/generated b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/generated
new file mode 100755
index 0000000..396a0ba
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/generated
@@ -0,0 +1 @@
+yes
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/AuxCommand.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/AuxCommand.lisp
new file mode 100755
index 0000000..96e257d
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/AuxCommand.lisp
@@ -0,0 +1,175 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package quadrotor_msgs-msg)
+
+
+;//! \htmlinclude AuxCommand.msg.html
+
+(cl:defclass <AuxCommand> (roslisp-msg-protocol:ros-message)
+  ((current_yaw
+    :reader current_yaw
+    :initarg :current_yaw
+    :type cl:float
+    :initform 0.0)
+   (kf_correction
+    :reader kf_correction
+    :initarg :kf_correction
+    :type cl:float
+    :initform 0.0)
+   (angle_corrections
+    :reader angle_corrections
+    :initarg :angle_corrections
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 2 :element-type 'cl:float :initial-element 0.0))
+   (enable_motors
+    :reader enable_motors
+    :initarg :enable_motors
+    :type cl:boolean
+    :initform cl:nil)
+   (use_external_yaw
+    :reader use_external_yaw
+    :initarg :use_external_yaw
+    :type cl:boolean
+    :initform cl:nil))
+)
+
+(cl:defclass AuxCommand (<AuxCommand>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <AuxCommand>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'AuxCommand)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name quadrotor_msgs-msg:<AuxCommand> is deprecated: use quadrotor_msgs-msg:AuxCommand instead.")))
+
+(cl:ensure-generic-function 'current_yaw-val :lambda-list '(m))
+(cl:defmethod current_yaw-val ((m <AuxCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:current_yaw-val is deprecated.  Use quadrotor_msgs-msg:current_yaw instead.")
+  (current_yaw m))
+
+(cl:ensure-generic-function 'kf_correction-val :lambda-list '(m))
+(cl:defmethod kf_correction-val ((m <AuxCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:kf_correction-val is deprecated.  Use quadrotor_msgs-msg:kf_correction instead.")
+  (kf_correction m))
+
+(cl:ensure-generic-function 'angle_corrections-val :lambda-list '(m))
+(cl:defmethod angle_corrections-val ((m <AuxCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:angle_corrections-val is deprecated.  Use quadrotor_msgs-msg:angle_corrections instead.")
+  (angle_corrections m))
+
+(cl:ensure-generic-function 'enable_motors-val :lambda-list '(m))
+(cl:defmethod enable_motors-val ((m <AuxCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:enable_motors-val is deprecated.  Use quadrotor_msgs-msg:enable_motors instead.")
+  (enable_motors m))
+
+(cl:ensure-generic-function 'use_external_yaw-val :lambda-list '(m))
+(cl:defmethod use_external_yaw-val ((m <AuxCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:use_external_yaw-val is deprecated.  Use quadrotor_msgs-msg:use_external_yaw instead.")
+  (use_external_yaw m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <AuxCommand>) ostream)
+  "Serializes a message object of type '<AuxCommand>"
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'current_yaw))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'kf_correction))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'angle_corrections))
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'enable_motors) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'use_external_yaw) 1 0)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <AuxCommand>) istream)
+  "Deserializes a message object of type '<AuxCommand>"
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'current_yaw) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'kf_correction) (roslisp-utils:decode-double-float-bits bits)))
+  (cl:setf (cl:slot-value msg 'angle_corrections) (cl:make-array 2))
+  (cl:let ((vals (cl:slot-value msg 'angle_corrections)))
+    (cl:dotimes (i 2)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))
+    (cl:setf (cl:slot-value msg 'enable_motors) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'use_external_yaw) (cl:not (cl:zerop (cl:read-byte istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<AuxCommand>)))
+  "Returns string type for a message object of type '<AuxCommand>"
+  "quadrotor_msgs/AuxCommand")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'AuxCommand)))
+  "Returns string type for a message object of type 'AuxCommand"
+  "quadrotor_msgs/AuxCommand")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<AuxCommand>)))
+  "Returns md5sum for a message object of type '<AuxCommand>"
+  "94f75840e4b1e03675da764692f2c839")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'AuxCommand)))
+  "Returns md5sum for a message object of type 'AuxCommand"
+  "94f75840e4b1e03675da764692f2c839")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<AuxCommand>)))
+  "Returns full string definition for message of type '<AuxCommand>"
+  (cl:format cl:nil "float64 current_yaw~%float64 kf_correction~%float64[2] angle_corrections# Trims for roll, pitch~%bool enable_motors~%bool use_external_yaw~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'AuxCommand)))
+  "Returns full string definition for message of type 'AuxCommand"
+  (cl:format cl:nil "float64 current_yaw~%float64 kf_correction~%float64[2] angle_corrections# Trims for roll, pitch~%bool enable_motors~%bool use_external_yaw~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <AuxCommand>))
+  (cl:+ 0
+     8
+     8
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'angle_corrections) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     1
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <AuxCommand>))
+  "Converts a ROS message object to a list"
+  (cl:list 'AuxCommand
+    (cl:cons ':current_yaw (current_yaw msg))
+    (cl:cons ':kf_correction (kf_correction msg))
+    (cl:cons ':angle_corrections (angle_corrections msg))
+    (cl:cons ':enable_motors (enable_motors msg))
+    (cl:cons ':use_external_yaw (use_external_yaw msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/Corrections.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/Corrections.lisp
new file mode 100755
index 0000000..837a885
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/Corrections.lisp
@@ -0,0 +1,116 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package quadrotor_msgs-msg)
+
+
+;//! \htmlinclude Corrections.msg.html
+
+(cl:defclass <Corrections> (roslisp-msg-protocol:ros-message)
+  ((kf_correction
+    :reader kf_correction
+    :initarg :kf_correction
+    :type cl:float
+    :initform 0.0)
+   (angle_corrections
+    :reader angle_corrections
+    :initarg :angle_corrections
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 2 :element-type 'cl:float :initial-element 0.0)))
+)
+
+(cl:defclass Corrections (<Corrections>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <Corrections>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'Corrections)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name quadrotor_msgs-msg:<Corrections> is deprecated: use quadrotor_msgs-msg:Corrections instead.")))
+
+(cl:ensure-generic-function 'kf_correction-val :lambda-list '(m))
+(cl:defmethod kf_correction-val ((m <Corrections>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:kf_correction-val is deprecated.  Use quadrotor_msgs-msg:kf_correction instead.")
+  (kf_correction m))
+
+(cl:ensure-generic-function 'angle_corrections-val :lambda-list '(m))
+(cl:defmethod angle_corrections-val ((m <Corrections>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:angle_corrections-val is deprecated.  Use quadrotor_msgs-msg:angle_corrections instead.")
+  (angle_corrections m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <Corrections>) ostream)
+  "Serializes a message object of type '<Corrections>"
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'kf_correction))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'angle_corrections))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <Corrections>) istream)
+  "Deserializes a message object of type '<Corrections>"
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'kf_correction) (roslisp-utils:decode-double-float-bits bits)))
+  (cl:setf (cl:slot-value msg 'angle_corrections) (cl:make-array 2))
+  (cl:let ((vals (cl:slot-value msg 'angle_corrections)))
+    (cl:dotimes (i 2)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<Corrections>)))
+  "Returns string type for a message object of type '<Corrections>"
+  "quadrotor_msgs/Corrections")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Corrections)))
+  "Returns string type for a message object of type 'Corrections"
+  "quadrotor_msgs/Corrections")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<Corrections>)))
+  "Returns md5sum for a message object of type '<Corrections>"
+  "61e86887a75fe520847d3256306360f5")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Corrections)))
+  "Returns md5sum for a message object of type 'Corrections"
+  "61e86887a75fe520847d3256306360f5")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<Corrections>)))
+  "Returns full string definition for message of type '<Corrections>"
+  (cl:format cl:nil "float64 kf_correction~%float64[2] angle_corrections~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'Corrections)))
+  "Returns full string definition for message of type 'Corrections"
+  (cl:format cl:nil "float64 kf_correction~%float64[2] angle_corrections~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <Corrections>))
+  (cl:+ 0
+     8
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'angle_corrections) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <Corrections>))
+  "Converts a ROS message object to a list"
+  (cl:list 'Corrections
+    (cl:cons ':kf_correction (kf_correction msg))
+    (cl:cons ':angle_corrections (angle_corrections msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/Gains.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/Gains.lisp
new file mode 100755
index 0000000..2c72645
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/Gains.lisp
@@ -0,0 +1,174 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package quadrotor_msgs-msg)
+
+
+;//! \htmlinclude Gains.msg.html
+
+(cl:defclass <Gains> (roslisp-msg-protocol:ros-message)
+  ((Kp
+    :reader Kp
+    :initarg :Kp
+    :type cl:float
+    :initform 0.0)
+   (Kd
+    :reader Kd
+    :initarg :Kd
+    :type cl:float
+    :initform 0.0)
+   (Kp_yaw
+    :reader Kp_yaw
+    :initarg :Kp_yaw
+    :type cl:float
+    :initform 0.0)
+   (Kd_yaw
+    :reader Kd_yaw
+    :initarg :Kd_yaw
+    :type cl:float
+    :initform 0.0))
+)
+
+(cl:defclass Gains (<Gains>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <Gains>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'Gains)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name quadrotor_msgs-msg:<Gains> is deprecated: use quadrotor_msgs-msg:Gains instead.")))
+
+(cl:ensure-generic-function 'Kp-val :lambda-list '(m))
+(cl:defmethod Kp-val ((m <Gains>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:Kp-val is deprecated.  Use quadrotor_msgs-msg:Kp instead.")
+  (Kp m))
+
+(cl:ensure-generic-function 'Kd-val :lambda-list '(m))
+(cl:defmethod Kd-val ((m <Gains>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:Kd-val is deprecated.  Use quadrotor_msgs-msg:Kd instead.")
+  (Kd m))
+
+(cl:ensure-generic-function 'Kp_yaw-val :lambda-list '(m))
+(cl:defmethod Kp_yaw-val ((m <Gains>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:Kp_yaw-val is deprecated.  Use quadrotor_msgs-msg:Kp_yaw instead.")
+  (Kp_yaw m))
+
+(cl:ensure-generic-function 'Kd_yaw-val :lambda-list '(m))
+(cl:defmethod Kd_yaw-val ((m <Gains>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:Kd_yaw-val is deprecated.  Use quadrotor_msgs-msg:Kd_yaw instead.")
+  (Kd_yaw m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <Gains>) ostream)
+  "Serializes a message object of type '<Gains>"
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'Kp))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'Kd))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'Kp_yaw))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'Kd_yaw))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <Gains>) istream)
+  "Deserializes a message object of type '<Gains>"
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'Kp) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'Kd) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'Kp_yaw) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'Kd_yaw) (roslisp-utils:decode-double-float-bits bits)))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<Gains>)))
+  "Returns string type for a message object of type '<Gains>"
+  "quadrotor_msgs/Gains")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Gains)))
+  "Returns string type for a message object of type 'Gains"
+  "quadrotor_msgs/Gains")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<Gains>)))
+  "Returns md5sum for a message object of type '<Gains>"
+  "b82763b9f24e5595e2a816aa779c9461")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Gains)))
+  "Returns md5sum for a message object of type 'Gains"
+  "b82763b9f24e5595e2a816aa779c9461")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<Gains>)))
+  "Returns full string definition for message of type '<Gains>"
+  (cl:format cl:nil "float64 Kp~%float64 Kd~%float64 Kp_yaw~%float64 Kd_yaw~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'Gains)))
+  "Returns full string definition for message of type 'Gains"
+  (cl:format cl:nil "float64 Kp~%float64 Kd~%float64 Kp_yaw~%float64 Kd_yaw~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <Gains>))
+  (cl:+ 0
+     8
+     8
+     8
+     8
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <Gains>))
+  "Converts a ROS message object to a list"
+  (cl:list 'Gains
+    (cl:cons ':Kp (Kp msg))
+    (cl:cons ':Kd (Kd msg))
+    (cl:cons ':Kp_yaw (Kp_yaw msg))
+    (cl:cons ':Kd_yaw (Kd_yaw msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/OutputData.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/OutputData.lisp
new file mode 100755
index 0000000..d446a32
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/OutputData.lisp
@@ -0,0 +1,261 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package quadrotor_msgs-msg)
+
+
+;//! \htmlinclude OutputData.msg.html
+
+(cl:defclass <OutputData> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (loop_rate
+    :reader loop_rate
+    :initarg :loop_rate
+    :type cl:fixnum
+    :initform 0)
+   (voltage
+    :reader voltage
+    :initarg :voltage
+    :type cl:float
+    :initform 0.0)
+   (orientation
+    :reader orientation
+    :initarg :orientation
+    :type geometry_msgs-msg:Quaternion
+    :initform (cl:make-instance 'geometry_msgs-msg:Quaternion))
+   (angular_velocity
+    :reader angular_velocity
+    :initarg :angular_velocity
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (linear_acceleration
+    :reader linear_acceleration
+    :initarg :linear_acceleration
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (pressure_dheight
+    :reader pressure_dheight
+    :initarg :pressure_dheight
+    :type cl:float
+    :initform 0.0)
+   (pressure_height
+    :reader pressure_height
+    :initarg :pressure_height
+    :type cl:float
+    :initform 0.0)
+   (magnetic_field
+    :reader magnetic_field
+    :initarg :magnetic_field
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (radio_channel
+    :reader radio_channel
+    :initarg :radio_channel
+    :type (cl:vector cl:fixnum)
+   :initform (cl:make-array 8 :element-type 'cl:fixnum :initial-element 0))
+   (seq
+    :reader seq
+    :initarg :seq
+    :type cl:fixnum
+    :initform 0))
+)
+
+(cl:defclass OutputData (<OutputData>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <OutputData>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'OutputData)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name quadrotor_msgs-msg:<OutputData> is deprecated: use quadrotor_msgs-msg:OutputData instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <OutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:header-val is deprecated.  Use quadrotor_msgs-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'loop_rate-val :lambda-list '(m))
+(cl:defmethod loop_rate-val ((m <OutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:loop_rate-val is deprecated.  Use quadrotor_msgs-msg:loop_rate instead.")
+  (loop_rate m))
+
+(cl:ensure-generic-function 'voltage-val :lambda-list '(m))
+(cl:defmethod voltage-val ((m <OutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:voltage-val is deprecated.  Use quadrotor_msgs-msg:voltage instead.")
+  (voltage m))
+
+(cl:ensure-generic-function 'orientation-val :lambda-list '(m))
+(cl:defmethod orientation-val ((m <OutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:orientation-val is deprecated.  Use quadrotor_msgs-msg:orientation instead.")
+  (orientation m))
+
+(cl:ensure-generic-function 'angular_velocity-val :lambda-list '(m))
+(cl:defmethod angular_velocity-val ((m <OutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:angular_velocity-val is deprecated.  Use quadrotor_msgs-msg:angular_velocity instead.")
+  (angular_velocity m))
+
+(cl:ensure-generic-function 'linear_acceleration-val :lambda-list '(m))
+(cl:defmethod linear_acceleration-val ((m <OutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:linear_acceleration-val is deprecated.  Use quadrotor_msgs-msg:linear_acceleration instead.")
+  (linear_acceleration m))
+
+(cl:ensure-generic-function 'pressure_dheight-val :lambda-list '(m))
+(cl:defmethod pressure_dheight-val ((m <OutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:pressure_dheight-val is deprecated.  Use quadrotor_msgs-msg:pressure_dheight instead.")
+  (pressure_dheight m))
+
+(cl:ensure-generic-function 'pressure_height-val :lambda-list '(m))
+(cl:defmethod pressure_height-val ((m <OutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:pressure_height-val is deprecated.  Use quadrotor_msgs-msg:pressure_height instead.")
+  (pressure_height m))
+
+(cl:ensure-generic-function 'magnetic_field-val :lambda-list '(m))
+(cl:defmethod magnetic_field-val ((m <OutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:magnetic_field-val is deprecated.  Use quadrotor_msgs-msg:magnetic_field instead.")
+  (magnetic_field m))
+
+(cl:ensure-generic-function 'radio_channel-val :lambda-list '(m))
+(cl:defmethod radio_channel-val ((m <OutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:radio_channel-val is deprecated.  Use quadrotor_msgs-msg:radio_channel instead.")
+  (radio_channel m))
+
+(cl:ensure-generic-function 'seq-val :lambda-list '(m))
+(cl:defmethod seq-val ((m <OutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:seq-val is deprecated.  Use quadrotor_msgs-msg:seq instead.")
+  (seq m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <OutputData>) ostream)
+  "Serializes a message object of type '<OutputData>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'loop_rate)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'loop_rate)) ostream)
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'voltage))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'orientation) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'angular_velocity) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'linear_acceleration) ostream)
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'pressure_dheight))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'pressure_height))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'magnetic_field) ostream)
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream))
+   (cl:slot-value msg 'radio_channel))
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'seq)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <OutputData>) istream)
+  "Deserializes a message object of type '<OutputData>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'loop_rate)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'loop_rate)) (cl:read-byte istream))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'voltage) (roslisp-utils:decode-double-float-bits bits)))
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'orientation) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'angular_velocity) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'linear_acceleration) istream)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'pressure_dheight) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'pressure_height) (roslisp-utils:decode-double-float-bits bits)))
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'magnetic_field) istream)
+  (cl:setf (cl:slot-value msg 'radio_channel) (cl:make-array 8))
+  (cl:let ((vals (cl:slot-value msg 'radio_channel)))
+    (cl:dotimes (i 8)
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream))))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'seq)) (cl:read-byte istream))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<OutputData>)))
+  "Returns string type for a message object of type '<OutputData>"
+  "quadrotor_msgs/OutputData")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'OutputData)))
+  "Returns string type for a message object of type 'OutputData"
+  "quadrotor_msgs/OutputData")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<OutputData>)))
+  "Returns md5sum for a message object of type '<OutputData>"
+  "5759ee97fd5c090dcdccf7fc3e50d024")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'OutputData)))
+  "Returns md5sum for a message object of type 'OutputData"
+  "5759ee97fd5c090dcdccf7fc3e50d024")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<OutputData>)))
+  "Returns full string definition for message of type '<OutputData>"
+  (cl:format cl:nil "Header header~%uint16 loop_rate~%float64 voltage~%geometry_msgs/Quaternion orientation~%geometry_msgs/Vector3 angular_velocity~%geometry_msgs/Vector3 linear_acceleration~%float64 pressure_dheight~%float64 pressure_height~%geometry_msgs/Vector3 magnetic_field~%uint8[8] radio_channel~%#uint8[4] motor_rpm~%uint8 seq~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'OutputData)))
+  "Returns full string definition for message of type 'OutputData"
+  (cl:format cl:nil "Header header~%uint16 loop_rate~%float64 voltage~%geometry_msgs/Quaternion orientation~%geometry_msgs/Vector3 angular_velocity~%geometry_msgs/Vector3 linear_acceleration~%float64 pressure_dheight~%float64 pressure_height~%geometry_msgs/Vector3 magnetic_field~%uint8[8] radio_channel~%#uint8[4] motor_rpm~%uint8 seq~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <OutputData>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     2
+     8
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'orientation))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'angular_velocity))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'linear_acceleration))
+     8
+     8
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'magnetic_field))
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'radio_channel) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 1)))
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <OutputData>))
+  "Converts a ROS message object to a list"
+  (cl:list 'OutputData
+    (cl:cons ':header (header msg))
+    (cl:cons ':loop_rate (loop_rate msg))
+    (cl:cons ':voltage (voltage msg))
+    (cl:cons ':orientation (orientation msg))
+    (cl:cons ':angular_velocity (angular_velocity msg))
+    (cl:cons ':linear_acceleration (linear_acceleration msg))
+    (cl:cons ':pressure_dheight (pressure_dheight msg))
+    (cl:cons ':pressure_height (pressure_height msg))
+    (cl:cons ':magnetic_field (magnetic_field msg))
+    (cl:cons ':radio_channel (radio_channel msg))
+    (cl:cons ':seq (seq msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/PPROutputData.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/PPROutputData.lisp
new file mode 100755
index 0000000..59205ed
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/PPROutputData.lisp
@@ -0,0 +1,503 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package quadrotor_msgs-msg)
+
+
+;//! \htmlinclude PPROutputData.msg.html
+
+(cl:defclass <PPROutputData> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (quad_time
+    :reader quad_time
+    :initarg :quad_time
+    :type cl:fixnum
+    :initform 0)
+   (des_thrust
+    :reader des_thrust
+    :initarg :des_thrust
+    :type cl:float
+    :initform 0.0)
+   (des_roll
+    :reader des_roll
+    :initarg :des_roll
+    :type cl:float
+    :initform 0.0)
+   (des_pitch
+    :reader des_pitch
+    :initarg :des_pitch
+    :type cl:float
+    :initform 0.0)
+   (des_yaw
+    :reader des_yaw
+    :initarg :des_yaw
+    :type cl:float
+    :initform 0.0)
+   (est_roll
+    :reader est_roll
+    :initarg :est_roll
+    :type cl:float
+    :initform 0.0)
+   (est_pitch
+    :reader est_pitch
+    :initarg :est_pitch
+    :type cl:float
+    :initform 0.0)
+   (est_yaw
+    :reader est_yaw
+    :initarg :est_yaw
+    :type cl:float
+    :initform 0.0)
+   (est_angvel_x
+    :reader est_angvel_x
+    :initarg :est_angvel_x
+    :type cl:float
+    :initform 0.0)
+   (est_angvel_y
+    :reader est_angvel_y
+    :initarg :est_angvel_y
+    :type cl:float
+    :initform 0.0)
+   (est_angvel_z
+    :reader est_angvel_z
+    :initarg :est_angvel_z
+    :type cl:float
+    :initform 0.0)
+   (est_acc_x
+    :reader est_acc_x
+    :initarg :est_acc_x
+    :type cl:float
+    :initform 0.0)
+   (est_acc_y
+    :reader est_acc_y
+    :initarg :est_acc_y
+    :type cl:float
+    :initform 0.0)
+   (est_acc_z
+    :reader est_acc_z
+    :initarg :est_acc_z
+    :type cl:float
+    :initform 0.0)
+   (pwm
+    :reader pwm
+    :initarg :pwm
+    :type (cl:vector cl:fixnum)
+   :initform (cl:make-array 4 :element-type 'cl:fixnum :initial-element 0)))
+)
+
+(cl:defclass PPROutputData (<PPROutputData>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <PPROutputData>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'PPROutputData)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name quadrotor_msgs-msg:<PPROutputData> is deprecated: use quadrotor_msgs-msg:PPROutputData instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:header-val is deprecated.  Use quadrotor_msgs-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'quad_time-val :lambda-list '(m))
+(cl:defmethod quad_time-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:quad_time-val is deprecated.  Use quadrotor_msgs-msg:quad_time instead.")
+  (quad_time m))
+
+(cl:ensure-generic-function 'des_thrust-val :lambda-list '(m))
+(cl:defmethod des_thrust-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:des_thrust-val is deprecated.  Use quadrotor_msgs-msg:des_thrust instead.")
+  (des_thrust m))
+
+(cl:ensure-generic-function 'des_roll-val :lambda-list '(m))
+(cl:defmethod des_roll-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:des_roll-val is deprecated.  Use quadrotor_msgs-msg:des_roll instead.")
+  (des_roll m))
+
+(cl:ensure-generic-function 'des_pitch-val :lambda-list '(m))
+(cl:defmethod des_pitch-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:des_pitch-val is deprecated.  Use quadrotor_msgs-msg:des_pitch instead.")
+  (des_pitch m))
+
+(cl:ensure-generic-function 'des_yaw-val :lambda-list '(m))
+(cl:defmethod des_yaw-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:des_yaw-val is deprecated.  Use quadrotor_msgs-msg:des_yaw instead.")
+  (des_yaw m))
+
+(cl:ensure-generic-function 'est_roll-val :lambda-list '(m))
+(cl:defmethod est_roll-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:est_roll-val is deprecated.  Use quadrotor_msgs-msg:est_roll instead.")
+  (est_roll m))
+
+(cl:ensure-generic-function 'est_pitch-val :lambda-list '(m))
+(cl:defmethod est_pitch-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:est_pitch-val is deprecated.  Use quadrotor_msgs-msg:est_pitch instead.")
+  (est_pitch m))
+
+(cl:ensure-generic-function 'est_yaw-val :lambda-list '(m))
+(cl:defmethod est_yaw-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:est_yaw-val is deprecated.  Use quadrotor_msgs-msg:est_yaw instead.")
+  (est_yaw m))
+
+(cl:ensure-generic-function 'est_angvel_x-val :lambda-list '(m))
+(cl:defmethod est_angvel_x-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:est_angvel_x-val is deprecated.  Use quadrotor_msgs-msg:est_angvel_x instead.")
+  (est_angvel_x m))
+
+(cl:ensure-generic-function 'est_angvel_y-val :lambda-list '(m))
+(cl:defmethod est_angvel_y-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:est_angvel_y-val is deprecated.  Use quadrotor_msgs-msg:est_angvel_y instead.")
+  (est_angvel_y m))
+
+(cl:ensure-generic-function 'est_angvel_z-val :lambda-list '(m))
+(cl:defmethod est_angvel_z-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:est_angvel_z-val is deprecated.  Use quadrotor_msgs-msg:est_angvel_z instead.")
+  (est_angvel_z m))
+
+(cl:ensure-generic-function 'est_acc_x-val :lambda-list '(m))
+(cl:defmethod est_acc_x-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:est_acc_x-val is deprecated.  Use quadrotor_msgs-msg:est_acc_x instead.")
+  (est_acc_x m))
+
+(cl:ensure-generic-function 'est_acc_y-val :lambda-list '(m))
+(cl:defmethod est_acc_y-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:est_acc_y-val is deprecated.  Use quadrotor_msgs-msg:est_acc_y instead.")
+  (est_acc_y m))
+
+(cl:ensure-generic-function 'est_acc_z-val :lambda-list '(m))
+(cl:defmethod est_acc_z-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:est_acc_z-val is deprecated.  Use quadrotor_msgs-msg:est_acc_z instead.")
+  (est_acc_z m))
+
+(cl:ensure-generic-function 'pwm-val :lambda-list '(m))
+(cl:defmethod pwm-val ((m <PPROutputData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:pwm-val is deprecated.  Use quadrotor_msgs-msg:pwm instead.")
+  (pwm m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <PPROutputData>) ostream)
+  "Serializes a message object of type '<PPROutputData>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'quad_time)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'quad_time)) ostream)
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'des_thrust))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'des_roll))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'des_pitch))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'des_yaw))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'est_roll))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'est_pitch))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'est_yaw))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'est_angvel_x))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'est_angvel_y))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'est_angvel_z))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'est_acc_x))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'est_acc_y))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'est_acc_z))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) ele) ostream))
+   (cl:slot-value msg 'pwm))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <PPROutputData>) istream)
+  "Deserializes a message object of type '<PPROutputData>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'quad_time)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'quad_time)) (cl:read-byte istream))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'des_thrust) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'des_roll) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'des_pitch) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'des_yaw) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'est_roll) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'est_pitch) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'est_yaw) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'est_angvel_x) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'est_angvel_y) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'est_angvel_z) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'est_acc_x) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'est_acc_y) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'est_acc_z) (roslisp-utils:decode-double-float-bits bits)))
+  (cl:setf (cl:slot-value msg 'pwm) (cl:make-array 4))
+  (cl:let ((vals (cl:slot-value msg 'pwm)))
+    (cl:dotimes (i 4)
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:aref vals i)) (cl:read-byte istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<PPROutputData>)))
+  "Returns string type for a message object of type '<PPROutputData>"
+  "quadrotor_msgs/PPROutputData")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'PPROutputData)))
+  "Returns string type for a message object of type 'PPROutputData"
+  "quadrotor_msgs/PPROutputData")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<PPROutputData>)))
+  "Returns md5sum for a message object of type '<PPROutputData>"
+  "732c0e3ca36f241464f8c445e78a0d0a")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'PPROutputData)))
+  "Returns md5sum for a message object of type 'PPROutputData"
+  "732c0e3ca36f241464f8c445e78a0d0a")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<PPROutputData>)))
+  "Returns full string definition for message of type '<PPROutputData>"
+  (cl:format cl:nil "Header header~%uint16 quad_time~%float64 des_thrust~%float64 des_roll~%float64 des_pitch~%float64 des_yaw~%float64 est_roll~%float64 est_pitch~%float64 est_yaw~%float64 est_angvel_x~%float64 est_angvel_y~%float64 est_angvel_z~%float64 est_acc_x~%float64 est_acc_y~%float64 est_acc_z~%uint16[4] pwm~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'PPROutputData)))
+  "Returns full string definition for message of type 'PPROutputData"
+  (cl:format cl:nil "Header header~%uint16 quad_time~%float64 des_thrust~%float64 des_roll~%float64 des_pitch~%float64 des_yaw~%float64 est_roll~%float64 est_pitch~%float64 est_yaw~%float64 est_angvel_x~%float64 est_angvel_y~%float64 est_angvel_z~%float64 est_acc_x~%float64 est_acc_y~%float64 est_acc_z~%uint16[4] pwm~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <PPROutputData>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     2
+     8
+     8
+     8
+     8
+     8
+     8
+     8
+     8
+     8
+     8
+     8
+     8
+     8
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'pwm) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 2)))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <PPROutputData>))
+  "Converts a ROS message object to a list"
+  (cl:list 'PPROutputData
+    (cl:cons ':header (header msg))
+    (cl:cons ':quad_time (quad_time msg))
+    (cl:cons ':des_thrust (des_thrust msg))
+    (cl:cons ':des_roll (des_roll msg))
+    (cl:cons ':des_pitch (des_pitch msg))
+    (cl:cons ':des_yaw (des_yaw msg))
+    (cl:cons ':est_roll (est_roll msg))
+    (cl:cons ':est_pitch (est_pitch msg))
+    (cl:cons ':est_yaw (est_yaw msg))
+    (cl:cons ':est_angvel_x (est_angvel_x msg))
+    (cl:cons ':est_angvel_y (est_angvel_y msg))
+    (cl:cons ':est_angvel_z (est_angvel_z msg))
+    (cl:cons ':est_acc_x (est_acc_x msg))
+    (cl:cons ':est_acc_y (est_acc_y msg))
+    (cl:cons ':est_acc_z (est_acc_z msg))
+    (cl:cons ':pwm (pwm msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/PositionCommand.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/PositionCommand.lisp
new file mode 100755
index 0000000..9019445
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/PositionCommand.lisp
@@ -0,0 +1,238 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package quadrotor_msgs-msg)
+
+
+;//! \htmlinclude PositionCommand.msg.html
+
+(cl:defclass <PositionCommand> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (position
+    :reader position
+    :initarg :position
+    :type geometry_msgs-msg:Point
+    :initform (cl:make-instance 'geometry_msgs-msg:Point))
+   (velocity
+    :reader velocity
+    :initarg :velocity
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (acceleration
+    :reader acceleration
+    :initarg :acceleration
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (yaw
+    :reader yaw
+    :initarg :yaw
+    :type cl:float
+    :initform 0.0)
+   (yaw_dot
+    :reader yaw_dot
+    :initarg :yaw_dot
+    :type cl:float
+    :initform 0.0)
+   (kx
+    :reader kx
+    :initarg :kx
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 3 :element-type 'cl:float :initial-element 0.0))
+   (kv
+    :reader kv
+    :initarg :kv
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 3 :element-type 'cl:float :initial-element 0.0)))
+)
+
+(cl:defclass PositionCommand (<PositionCommand>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <PositionCommand>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'PositionCommand)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name quadrotor_msgs-msg:<PositionCommand> is deprecated: use quadrotor_msgs-msg:PositionCommand instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <PositionCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:header-val is deprecated.  Use quadrotor_msgs-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'position-val :lambda-list '(m))
+(cl:defmethod position-val ((m <PositionCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:position-val is deprecated.  Use quadrotor_msgs-msg:position instead.")
+  (position m))
+
+(cl:ensure-generic-function 'velocity-val :lambda-list '(m))
+(cl:defmethod velocity-val ((m <PositionCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:velocity-val is deprecated.  Use quadrotor_msgs-msg:velocity instead.")
+  (velocity m))
+
+(cl:ensure-generic-function 'acceleration-val :lambda-list '(m))
+(cl:defmethod acceleration-val ((m <PositionCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:acceleration-val is deprecated.  Use quadrotor_msgs-msg:acceleration instead.")
+  (acceleration m))
+
+(cl:ensure-generic-function 'yaw-val :lambda-list '(m))
+(cl:defmethod yaw-val ((m <PositionCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:yaw-val is deprecated.  Use quadrotor_msgs-msg:yaw instead.")
+  (yaw m))
+
+(cl:ensure-generic-function 'yaw_dot-val :lambda-list '(m))
+(cl:defmethod yaw_dot-val ((m <PositionCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:yaw_dot-val is deprecated.  Use quadrotor_msgs-msg:yaw_dot instead.")
+  (yaw_dot m))
+
+(cl:ensure-generic-function 'kx-val :lambda-list '(m))
+(cl:defmethod kx-val ((m <PositionCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:kx-val is deprecated.  Use quadrotor_msgs-msg:kx instead.")
+  (kx m))
+
+(cl:ensure-generic-function 'kv-val :lambda-list '(m))
+(cl:defmethod kv-val ((m <PositionCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:kv-val is deprecated.  Use quadrotor_msgs-msg:kv instead.")
+  (kv m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <PositionCommand>) ostream)
+  "Serializes a message object of type '<PositionCommand>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'position) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'velocity) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'acceleration) ostream)
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'yaw))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'yaw_dot))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'kx))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'kv))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <PositionCommand>) istream)
+  "Deserializes a message object of type '<PositionCommand>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'position) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'velocity) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'acceleration) istream)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'yaw) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'yaw_dot) (roslisp-utils:decode-double-float-bits bits)))
+  (cl:setf (cl:slot-value msg 'kx) (cl:make-array 3))
+  (cl:let ((vals (cl:slot-value msg 'kx)))
+    (cl:dotimes (i 3)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))
+  (cl:setf (cl:slot-value msg 'kv) (cl:make-array 3))
+  (cl:let ((vals (cl:slot-value msg 'kv)))
+    (cl:dotimes (i 3)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<PositionCommand>)))
+  "Returns string type for a message object of type '<PositionCommand>"
+  "quadrotor_msgs/PositionCommand")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'PositionCommand)))
+  "Returns string type for a message object of type 'PositionCommand"
+  "quadrotor_msgs/PositionCommand")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<PositionCommand>)))
+  "Returns md5sum for a message object of type '<PositionCommand>"
+  "835935bcd6f18632d9e26a3093237902")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'PositionCommand)))
+  "Returns md5sum for a message object of type 'PositionCommand"
+  "835935bcd6f18632d9e26a3093237902")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<PositionCommand>)))
+  "Returns full string definition for message of type '<PositionCommand>"
+  (cl:format cl:nil "Header header~%geometry_msgs/Point position~%geometry_msgs/Vector3 velocity~%geometry_msgs/Vector3 acceleration~%float64 yaw~%float64 yaw_dot~%float64[3] kx~%float64[3] kv~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'PositionCommand)))
+  "Returns full string definition for message of type 'PositionCommand"
+  (cl:format cl:nil "Header header~%geometry_msgs/Point position~%geometry_msgs/Vector3 velocity~%geometry_msgs/Vector3 acceleration~%float64 yaw~%float64 yaw_dot~%float64[3] kx~%float64[3] kv~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Point~%# This contains the position of a point in free space~%float64 x~%float64 y~%float64 z~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <PositionCommand>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'position))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'velocity))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'acceleration))
+     8
+     8
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'kx) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'kv) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <PositionCommand>))
+  "Converts a ROS message object to a list"
+  (cl:list 'PositionCommand
+    (cl:cons ':header (header msg))
+    (cl:cons ':position (position msg))
+    (cl:cons ':velocity (velocity msg))
+    (cl:cons ':acceleration (acceleration msg))
+    (cl:cons ':yaw (yaw msg))
+    (cl:cons ':yaw_dot (yaw_dot msg))
+    (cl:cons ':kx (kx msg))
+    (cl:cons ':kv (kv msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/SO3Command.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/SO3Command.lisp
new file mode 100755
index 0000000..6b7fca4
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/SO3Command.lisp
@@ -0,0 +1,176 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package quadrotor_msgs-msg)
+
+
+;//! \htmlinclude SO3Command.msg.html
+
+(cl:defclass <SO3Command> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (force
+    :reader force
+    :initarg :force
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (orientation
+    :reader orientation
+    :initarg :orientation
+    :type geometry_msgs-msg:Quaternion
+    :initform (cl:make-instance 'geometry_msgs-msg:Quaternion))
+   (kR
+    :reader kR
+    :initarg :kR
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 3 :element-type 'cl:float :initial-element 0.0))
+   (kOm
+    :reader kOm
+    :initarg :kOm
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 3 :element-type 'cl:float :initial-element 0.0))
+   (aux
+    :reader aux
+    :initarg :aux
+    :type quadrotor_msgs-msg:AuxCommand
+    :initform (cl:make-instance 'quadrotor_msgs-msg:AuxCommand)))
+)
+
+(cl:defclass SO3Command (<SO3Command>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SO3Command>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SO3Command)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name quadrotor_msgs-msg:<SO3Command> is deprecated: use quadrotor_msgs-msg:SO3Command instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <SO3Command>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:header-val is deprecated.  Use quadrotor_msgs-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'force-val :lambda-list '(m))
+(cl:defmethod force-val ((m <SO3Command>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:force-val is deprecated.  Use quadrotor_msgs-msg:force instead.")
+  (force m))
+
+(cl:ensure-generic-function 'orientation-val :lambda-list '(m))
+(cl:defmethod orientation-val ((m <SO3Command>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:orientation-val is deprecated.  Use quadrotor_msgs-msg:orientation instead.")
+  (orientation m))
+
+(cl:ensure-generic-function 'kR-val :lambda-list '(m))
+(cl:defmethod kR-val ((m <SO3Command>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:kR-val is deprecated.  Use quadrotor_msgs-msg:kR instead.")
+  (kR m))
+
+(cl:ensure-generic-function 'kOm-val :lambda-list '(m))
+(cl:defmethod kOm-val ((m <SO3Command>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:kOm-val is deprecated.  Use quadrotor_msgs-msg:kOm instead.")
+  (kOm m))
+
+(cl:ensure-generic-function 'aux-val :lambda-list '(m))
+(cl:defmethod aux-val ((m <SO3Command>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:aux-val is deprecated.  Use quadrotor_msgs-msg:aux instead.")
+  (aux m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SO3Command>) ostream)
+  "Serializes a message object of type '<SO3Command>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'force) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'orientation) ostream)
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'kR))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
+   (cl:slot-value msg 'kOm))
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'aux) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SO3Command>) istream)
+  "Deserializes a message object of type '<SO3Command>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'force) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'orientation) istream)
+  (cl:setf (cl:slot-value msg 'kR) (cl:make-array 3))
+  (cl:let ((vals (cl:slot-value msg 'kR)))
+    (cl:dotimes (i 3)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))
+  (cl:setf (cl:slot-value msg 'kOm) (cl:make-array 3))
+  (cl:let ((vals (cl:slot-value msg 'kOm)))
+    (cl:dotimes (i 3)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'aux) istream)
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SO3Command>)))
+  "Returns string type for a message object of type '<SO3Command>"
+  "quadrotor_msgs/SO3Command")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SO3Command)))
+  "Returns string type for a message object of type 'SO3Command"
+  "quadrotor_msgs/SO3Command")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SO3Command>)))
+  "Returns md5sum for a message object of type '<SO3Command>"
+  "a466650b2633e768513aa3bf62383c86")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SO3Command)))
+  "Returns md5sum for a message object of type 'SO3Command"
+  "a466650b2633e768513aa3bf62383c86")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SO3Command>)))
+  "Returns full string definition for message of type '<SO3Command>"
+  (cl:format cl:nil "Header header~%geometry_msgs/Vector3 force~%geometry_msgs/Quaternion orientation~%float64[3] kR~%float64[3] kOm~%quadrotor_msgs/AuxCommand aux~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%================================================================================~%MSG: quadrotor_msgs/AuxCommand~%float64 current_yaw~%float64 kf_correction~%float64[2] angle_corrections# Trims for roll, pitch~%bool enable_motors~%bool use_external_yaw~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SO3Command)))
+  "Returns full string definition for message of type 'SO3Command"
+  (cl:format cl:nil "Header header~%geometry_msgs/Vector3 force~%geometry_msgs/Quaternion orientation~%float64[3] kR~%float64[3] kOm~%quadrotor_msgs/AuxCommand aux~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%================================================================================~%MSG: quadrotor_msgs/AuxCommand~%float64 current_yaw~%float64 kf_correction~%float64[2] angle_corrections# Trims for roll, pitch~%bool enable_motors~%bool use_external_yaw~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SO3Command>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'force))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'orientation))
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'kR) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'kOm) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'aux))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SO3Command>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SO3Command
+    (cl:cons ':header (header msg))
+    (cl:cons ':force (force msg))
+    (cl:cons ':orientation (orientation msg))
+    (cl:cons ':kR (kR msg))
+    (cl:cons ':kOm (kOm msg))
+    (cl:cons ':aux (aux msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/Serial.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/Serial.lisp
new file mode 100755
index 0000000..3d513f8
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/Serial.lisp
@@ -0,0 +1,138 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package quadrotor_msgs-msg)
+
+
+;//! \htmlinclude Serial.msg.html
+
+(cl:defclass <Serial> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (channel
+    :reader channel
+    :initarg :channel
+    :type cl:fixnum
+    :initform 0)
+   (type
+    :reader type
+    :initarg :type
+    :type cl:fixnum
+    :initform 0)
+   (data
+    :reader data
+    :initarg :data
+    :type (cl:vector cl:fixnum)
+   :initform (cl:make-array 0 :element-type 'cl:fixnum :initial-element 0)))
+)
+
+(cl:defclass Serial (<Serial>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <Serial>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'Serial)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name quadrotor_msgs-msg:<Serial> is deprecated: use quadrotor_msgs-msg:Serial instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <Serial>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:header-val is deprecated.  Use quadrotor_msgs-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'channel-val :lambda-list '(m))
+(cl:defmethod channel-val ((m <Serial>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:channel-val is deprecated.  Use quadrotor_msgs-msg:channel instead.")
+  (channel m))
+
+(cl:ensure-generic-function 'type-val :lambda-list '(m))
+(cl:defmethod type-val ((m <Serial>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:type-val is deprecated.  Use quadrotor_msgs-msg:type instead.")
+  (type m))
+
+(cl:ensure-generic-function 'data-val :lambda-list '(m))
+(cl:defmethod data-val ((m <Serial>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:data-val is deprecated.  Use quadrotor_msgs-msg:data instead.")
+  (data m))
+(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '<Serial>)))
+    "Constants for message type '<Serial>"
+  '((:SO3_CMD . 115)
+    (:TRPY_CMD . 112)
+    (:STATUS_DATA . 99)
+    (:OUTPUT_DATA . 100)
+    (:PPR_OUTPUT_DATA . 116)
+    (:PPR_GAINS . 103))
+)
+(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'Serial)))
+    "Constants for message type 'Serial"
+  '((:SO3_CMD . 115)
+    (:TRPY_CMD . 112)
+    (:STATUS_DATA . 99)
+    (:OUTPUT_DATA . 100)
+    (:PPR_OUTPUT_DATA . 116)
+    (:PPR_GAINS . 103))
+)
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <Serial>) ostream)
+  "Serializes a message object of type '<Serial>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'channel)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'type)) ostream)
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'data))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream))
+   (cl:slot-value msg 'data))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <Serial>) istream)
+  "Deserializes a message object of type '<Serial>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'channel)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'type)) (cl:read-byte istream))
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'data) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'data)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<Serial>)))
+  "Returns string type for a message object of type '<Serial>"
+  "quadrotor_msgs/Serial")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Serial)))
+  "Returns string type for a message object of type 'Serial"
+  "quadrotor_msgs/Serial")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<Serial>)))
+  "Returns md5sum for a message object of type '<Serial>"
+  "e448fb7595af9a8adfcab5ec241c7d4f")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Serial)))
+  "Returns md5sum for a message object of type 'Serial"
+  "e448fb7595af9a8adfcab5ec241c7d4f")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<Serial>)))
+  "Returns full string definition for message of type '<Serial>"
+  (cl:format cl:nil "# Note: These constants need to be kept in sync with the types~%# defined in include/quadrotor_msgs/comm_types.h~%uint8 SO3_CMD = 115 # 's' in base 10~%uint8 TRPY_CMD = 112 # 'p' in base 10~%uint8 STATUS_DATA = 99 # 'c' in base 10~%uint8 OUTPUT_DATA = 100 # 'd' in base 10~%uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10~%uint8 PPR_GAINS = 103 # 'g'~%~%Header header~%uint8 channel~%uint8 type # One of the types listed above~%uint8[] data~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'Serial)))
+  "Returns full string definition for message of type 'Serial"
+  (cl:format cl:nil "# Note: These constants need to be kept in sync with the types~%# defined in include/quadrotor_msgs/comm_types.h~%uint8 SO3_CMD = 115 # 's' in base 10~%uint8 TRPY_CMD = 112 # 'p' in base 10~%uint8 STATUS_DATA = 99 # 'c' in base 10~%uint8 OUTPUT_DATA = 100 # 'd' in base 10~%uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10~%uint8 PPR_GAINS = 103 # 'g'~%~%Header header~%uint8 channel~%uint8 type # One of the types listed above~%uint8[] data~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <Serial>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     1
+     1
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'data) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 1)))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <Serial>))
+  "Converts a ROS message object to a list"
+  (cl:list 'Serial
+    (cl:cons ':header (header msg))
+    (cl:cons ':channel (channel msg))
+    (cl:cons ':type (type msg))
+    (cl:cons ':data (data msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/StatusData.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/StatusData.lisp
new file mode 100755
index 0000000..3d59c11
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/StatusData.lisp
@@ -0,0 +1,125 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package quadrotor_msgs-msg)
+
+
+;//! \htmlinclude StatusData.msg.html
+
+(cl:defclass <StatusData> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (loop_rate
+    :reader loop_rate
+    :initarg :loop_rate
+    :type cl:fixnum
+    :initform 0)
+   (voltage
+    :reader voltage
+    :initarg :voltage
+    :type cl:float
+    :initform 0.0)
+   (seq
+    :reader seq
+    :initarg :seq
+    :type cl:fixnum
+    :initform 0))
+)
+
+(cl:defclass StatusData (<StatusData>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <StatusData>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'StatusData)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name quadrotor_msgs-msg:<StatusData> is deprecated: use quadrotor_msgs-msg:StatusData instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <StatusData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:header-val is deprecated.  Use quadrotor_msgs-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'loop_rate-val :lambda-list '(m))
+(cl:defmethod loop_rate-val ((m <StatusData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:loop_rate-val is deprecated.  Use quadrotor_msgs-msg:loop_rate instead.")
+  (loop_rate m))
+
+(cl:ensure-generic-function 'voltage-val :lambda-list '(m))
+(cl:defmethod voltage-val ((m <StatusData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:voltage-val is deprecated.  Use quadrotor_msgs-msg:voltage instead.")
+  (voltage m))
+
+(cl:ensure-generic-function 'seq-val :lambda-list '(m))
+(cl:defmethod seq-val ((m <StatusData>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:seq-val is deprecated.  Use quadrotor_msgs-msg:seq instead.")
+  (seq m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <StatusData>) ostream)
+  "Serializes a message object of type '<StatusData>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'loop_rate)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'loop_rate)) ostream)
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'voltage))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'seq)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <StatusData>) istream)
+  "Deserializes a message object of type '<StatusData>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'loop_rate)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'loop_rate)) (cl:read-byte istream))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'voltage) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'seq)) (cl:read-byte istream))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<StatusData>)))
+  "Returns string type for a message object of type '<StatusData>"
+  "quadrotor_msgs/StatusData")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'StatusData)))
+  "Returns string type for a message object of type 'StatusData"
+  "quadrotor_msgs/StatusData")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<StatusData>)))
+  "Returns md5sum for a message object of type '<StatusData>"
+  "c70a4ec4725273263ae176ad30f89553")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'StatusData)))
+  "Returns md5sum for a message object of type 'StatusData"
+  "c70a4ec4725273263ae176ad30f89553")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<StatusData>)))
+  "Returns full string definition for message of type '<StatusData>"
+  (cl:format cl:nil "Header header~%uint16 loop_rate~%float64 voltage~%uint8 seq~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'StatusData)))
+  "Returns full string definition for message of type 'StatusData"
+  (cl:format cl:nil "Header header~%uint16 loop_rate~%float64 voltage~%uint8 seq~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <StatusData>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     2
+     8
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <StatusData>))
+  "Converts a ROS message object to a list"
+  (cl:list 'StatusData
+    (cl:cons ':header (header msg))
+    (cl:cons ':loop_rate (loop_rate msg))
+    (cl:cons ':voltage (voltage msg))
+    (cl:cons ':seq (seq msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/TRPYCommand.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/TRPYCommand.lisp
new file mode 100755
index 0000000..c13a749
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/TRPYCommand.lisp
@@ -0,0 +1,170 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package quadrotor_msgs-msg)
+
+
+;//! \htmlinclude TRPYCommand.msg.html
+
+(cl:defclass <TRPYCommand> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (thrust
+    :reader thrust
+    :initarg :thrust
+    :type cl:float
+    :initform 0.0)
+   (roll
+    :reader roll
+    :initarg :roll
+    :type cl:float
+    :initform 0.0)
+   (pitch
+    :reader pitch
+    :initarg :pitch
+    :type cl:float
+    :initform 0.0)
+   (yaw
+    :reader yaw
+    :initarg :yaw
+    :type cl:float
+    :initform 0.0)
+   (aux
+    :reader aux
+    :initarg :aux
+    :type quadrotor_msgs-msg:AuxCommand
+    :initform (cl:make-instance 'quadrotor_msgs-msg:AuxCommand)))
+)
+
+(cl:defclass TRPYCommand (<TRPYCommand>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <TRPYCommand>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'TRPYCommand)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name quadrotor_msgs-msg:<TRPYCommand> is deprecated: use quadrotor_msgs-msg:TRPYCommand instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <TRPYCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:header-val is deprecated.  Use quadrotor_msgs-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'thrust-val :lambda-list '(m))
+(cl:defmethod thrust-val ((m <TRPYCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:thrust-val is deprecated.  Use quadrotor_msgs-msg:thrust instead.")
+  (thrust m))
+
+(cl:ensure-generic-function 'roll-val :lambda-list '(m))
+(cl:defmethod roll-val ((m <TRPYCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:roll-val is deprecated.  Use quadrotor_msgs-msg:roll instead.")
+  (roll m))
+
+(cl:ensure-generic-function 'pitch-val :lambda-list '(m))
+(cl:defmethod pitch-val ((m <TRPYCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:pitch-val is deprecated.  Use quadrotor_msgs-msg:pitch instead.")
+  (pitch m))
+
+(cl:ensure-generic-function 'yaw-val :lambda-list '(m))
+(cl:defmethod yaw-val ((m <TRPYCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:yaw-val is deprecated.  Use quadrotor_msgs-msg:yaw instead.")
+  (yaw m))
+
+(cl:ensure-generic-function 'aux-val :lambda-list '(m))
+(cl:defmethod aux-val ((m <TRPYCommand>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader quadrotor_msgs-msg:aux-val is deprecated.  Use quadrotor_msgs-msg:aux instead.")
+  (aux m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <TRPYCommand>) ostream)
+  "Serializes a message object of type '<TRPYCommand>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'thrust))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'roll))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'pitch))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'yaw))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'aux) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <TRPYCommand>) istream)
+  "Deserializes a message object of type '<TRPYCommand>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'thrust) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'roll) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'pitch) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'yaw) (roslisp-utils:decode-single-float-bits bits)))
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'aux) istream)
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<TRPYCommand>)))
+  "Returns string type for a message object of type '<TRPYCommand>"
+  "quadrotor_msgs/TRPYCommand")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'TRPYCommand)))
+  "Returns string type for a message object of type 'TRPYCommand"
+  "quadrotor_msgs/TRPYCommand")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<TRPYCommand>)))
+  "Returns md5sum for a message object of type '<TRPYCommand>"
+  "6779ee8a86cc757aeea21725df32d00c")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'TRPYCommand)))
+  "Returns md5sum for a message object of type 'TRPYCommand"
+  "6779ee8a86cc757aeea21725df32d00c")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<TRPYCommand>)))
+  "Returns full string definition for message of type '<TRPYCommand>"
+  (cl:format cl:nil "Header header~%float32 thrust~%float32 roll~%float32 pitch~%float32 yaw~%quadrotor_msgs/AuxCommand aux~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: quadrotor_msgs/AuxCommand~%float64 current_yaw~%float64 kf_correction~%float64[2] angle_corrections# Trims for roll, pitch~%bool enable_motors~%bool use_external_yaw~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'TRPYCommand)))
+  "Returns full string definition for message of type 'TRPYCommand"
+  (cl:format cl:nil "Header header~%float32 thrust~%float32 roll~%float32 pitch~%float32 yaw~%quadrotor_msgs/AuxCommand aux~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: quadrotor_msgs/AuxCommand~%float64 current_yaw~%float64 kf_correction~%float64[2] angle_corrections# Trims for roll, pitch~%bool enable_motors~%bool use_external_yaw~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <TRPYCommand>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     4
+     4
+     4
+     4
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'aux))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <TRPYCommand>))
+  "Converts a ROS message object to a list"
+  (cl:list 'TRPYCommand
+    (cl:cons ':header (header msg))
+    (cl:cons ':thrust (thrust msg))
+    (cl:cons ':roll (roll msg))
+    (cl:cons ':pitch (pitch msg))
+    (cl:cons ':yaw (yaw msg))
+    (cl:cons ':aux (aux msg))
+))
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package.lisp
new file mode 100755
index 0000000..013a674
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package.lisp
@@ -0,0 +1,25 @@
+(cl:defpackage quadrotor_msgs-msg
+  (:use )
+  (:export
+   "<SERIAL>"
+   "SERIAL"
+   "<AUXCOMMAND>"
+   "AUXCOMMAND"
+   "<POSITIONCOMMAND>"
+   "POSITIONCOMMAND"
+   "<CORRECTIONS>"
+   "CORRECTIONS"
+   "<STATUSDATA>"
+   "STATUSDATA"
+   "<SO3COMMAND>"
+   "SO3COMMAND"
+   "<PPROUTPUTDATA>"
+   "PPROUTPUTDATA"
+   "<TRPYCOMMAND>"
+   "TRPYCOMMAND"
+   "<OUTPUTDATA>"
+   "OUTPUTDATA"
+   "<GAINS>"
+   "GAINS"
+  ))
+
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_AuxCommand.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_AuxCommand.lisp
new file mode 100755
index 0000000..cab8910
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_AuxCommand.lisp
@@ -0,0 +1,12 @@
+(cl:in-package quadrotor_msgs-msg)
+(cl:export '(CURRENT_YAW-VAL
+          CURRENT_YAW
+          KF_CORRECTION-VAL
+          KF_CORRECTION
+          ANGLE_CORRECTIONS-VAL
+          ANGLE_CORRECTIONS
+          ENABLE_MOTORS-VAL
+          ENABLE_MOTORS
+          USE_EXTERNAL_YAW-VAL
+          USE_EXTERNAL_YAW
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Corrections.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Corrections.lisp
new file mode 100755
index 0000000..05e99a6
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Corrections.lisp
@@ -0,0 +1,6 @@
+(cl:in-package quadrotor_msgs-msg)
+(cl:export '(KF_CORRECTION-VAL
+          KF_CORRECTION
+          ANGLE_CORRECTIONS-VAL
+          ANGLE_CORRECTIONS
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Gains.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Gains.lisp
new file mode 100755
index 0000000..8a04127
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Gains.lisp
@@ -0,0 +1,10 @@
+(cl:in-package quadrotor_msgs-msg)
+(cl:export '(KP-VAL
+          KP
+          KD-VAL
+          KD
+          KP_YAW-VAL
+          KP_YAW
+          KD_YAW-VAL
+          KD_YAW
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_OutputData.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_OutputData.lisp
new file mode 100755
index 0000000..f3dc836
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_OutputData.lisp
@@ -0,0 +1,24 @@
+(cl:in-package quadrotor_msgs-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          LOOP_RATE-VAL
+          LOOP_RATE
+          VOLTAGE-VAL
+          VOLTAGE
+          ORIENTATION-VAL
+          ORIENTATION
+          ANGULAR_VELOCITY-VAL
+          ANGULAR_VELOCITY
+          LINEAR_ACCELERATION-VAL
+          LINEAR_ACCELERATION
+          PRESSURE_DHEIGHT-VAL
+          PRESSURE_DHEIGHT
+          PRESSURE_HEIGHT-VAL
+          PRESSURE_HEIGHT
+          MAGNETIC_FIELD-VAL
+          MAGNETIC_FIELD
+          RADIO_CHANNEL-VAL
+          RADIO_CHANNEL
+          SEQ-VAL
+          SEQ
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_PPROutputData.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_PPROutputData.lisp
new file mode 100755
index 0000000..a314832
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_PPROutputData.lisp
@@ -0,0 +1,34 @@
+(cl:in-package quadrotor_msgs-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          QUAD_TIME-VAL
+          QUAD_TIME
+          DES_THRUST-VAL
+          DES_THRUST
+          DES_ROLL-VAL
+          DES_ROLL
+          DES_PITCH-VAL
+          DES_PITCH
+          DES_YAW-VAL
+          DES_YAW
+          EST_ROLL-VAL
+          EST_ROLL
+          EST_PITCH-VAL
+          EST_PITCH
+          EST_YAW-VAL
+          EST_YAW
+          EST_ANGVEL_X-VAL
+          EST_ANGVEL_X
+          EST_ANGVEL_Y-VAL
+          EST_ANGVEL_Y
+          EST_ANGVEL_Z-VAL
+          EST_ANGVEL_Z
+          EST_ACC_X-VAL
+          EST_ACC_X
+          EST_ACC_Y-VAL
+          EST_ACC_Y
+          EST_ACC_Z-VAL
+          EST_ACC_Z
+          PWM-VAL
+          PWM
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_PositionCommand.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_PositionCommand.lisp
new file mode 100755
index 0000000..30ff4d1
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_PositionCommand.lisp
@@ -0,0 +1,18 @@
+(cl:in-package quadrotor_msgs-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          POSITION-VAL
+          POSITION
+          VELOCITY-VAL
+          VELOCITY
+          ACCELERATION-VAL
+          ACCELERATION
+          YAW-VAL
+          YAW
+          YAW_DOT-VAL
+          YAW_DOT
+          KX-VAL
+          KX
+          KV-VAL
+          KV
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_SO3Command.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_SO3Command.lisp
new file mode 100755
index 0000000..3508389
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_SO3Command.lisp
@@ -0,0 +1,14 @@
+(cl:in-package quadrotor_msgs-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          FORCE-VAL
+          FORCE
+          ORIENTATION-VAL
+          ORIENTATION
+          KR-VAL
+          KR
+          KOM-VAL
+          KOM
+          AUX-VAL
+          AUX
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Serial.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Serial.lisp
new file mode 100755
index 0000000..1270a43
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Serial.lisp
@@ -0,0 +1,10 @@
+(cl:in-package quadrotor_msgs-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          CHANNEL-VAL
+          CHANNEL
+          TYPE-VAL
+          TYPE
+          DATA-VAL
+          DATA
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_StatusData.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_StatusData.lisp
new file mode 100755
index 0000000..dac0fda
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_StatusData.lisp
@@ -0,0 +1,10 @@
+(cl:in-package quadrotor_msgs-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          LOOP_RATE-VAL
+          LOOP_RATE
+          VOLTAGE-VAL
+          VOLTAGE
+          SEQ-VAL
+          SEQ
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_TRPYCommand.lisp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_TRPYCommand.lisp
new file mode 100755
index 0000000..239e7a9
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_TRPYCommand.lisp
@@ -0,0 +1,14 @@
+(cl:in-package quadrotor_msgs-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          THRUST-VAL
+          THRUST
+          ROLL-VAL
+          ROLL
+          PITCH-VAL
+          PITCH
+          YAW-VAL
+          YAW
+          AUX-VAL
+          AUX
+))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/quadrotor_msgs-msg.asd b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/quadrotor_msgs-msg.asd
new file mode 100755
index 0000000..c35a450
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/quadrotor_msgs-msg.asd
@@ -0,0 +1,29 @@
+
+(cl:in-package :asdf)
+
+(defsystem "quadrotor_msgs-msg"
+  :depends-on (:roslisp-msg-protocol :roslisp-utils :geometry_msgs-msg
+               :std_msgs-msg
+)
+  :components ((:file "_package")
+    (:file "Serial" :depends-on ("_package_Serial"))
+    (:file "_package_Serial" :depends-on ("_package"))
+    (:file "AuxCommand" :depends-on ("_package_AuxCommand"))
+    (:file "_package_AuxCommand" :depends-on ("_package"))
+    (:file "PositionCommand" :depends-on ("_package_PositionCommand"))
+    (:file "_package_PositionCommand" :depends-on ("_package"))
+    (:file "Corrections" :depends-on ("_package_Corrections"))
+    (:file "_package_Corrections" :depends-on ("_package"))
+    (:file "StatusData" :depends-on ("_package_StatusData"))
+    (:file "_package_StatusData" :depends-on ("_package"))
+    (:file "SO3Command" :depends-on ("_package_SO3Command"))
+    (:file "_package_SO3Command" :depends-on ("_package"))
+    (:file "PPROutputData" :depends-on ("_package_PPROutputData"))
+    (:file "_package_PPROutputData" :depends-on ("_package"))
+    (:file "TRPYCommand" :depends-on ("_package_TRPYCommand"))
+    (:file "_package_TRPYCommand" :depends-on ("_package"))
+    (:file "OutputData" :depends-on ("_package_OutputData"))
+    (:file "_package_OutputData" :depends-on ("_package"))
+    (:file "Gains" :depends-on ("_package_Gains"))
+    (:file "_package_Gains" :depends-on ("_package"))
+  ))
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/package.xml b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/package.xml
new file mode 100755
index 0000000..42e9f76
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/package.xml
@@ -0,0 +1,20 @@
+<package>
+  <name>quadrotor_msgs</name>
+  <version>0.0.0</version>
+  <description>quadrotor_msgs</description>
+  <maintainer email="todo@todo.todo">Kartik Mohta</maintainer>
+  <url>http://ros.org/wiki/quadrotor_msgs</url>
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <export>
+    <cpp cflags="-I${prefix}/include"
+         lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib"/>
+  </export>
+
+</package>
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/decode_msgs.cpp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/decode_msgs.cpp
new file mode 100755
index 0000000..609ffb8
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/decode_msgs.cpp
@@ -0,0 +1,103 @@
+#include "quadrotor_msgs/decode_msgs.h"
+#include <quadrotor_msgs/comm_types.h>
+#include <Eigen/Geometry>
+
+namespace quadrotor_msgs
+{
+
+bool decodeOutputData(const std::vector<uint8_t> &data,
+                      quadrotor_msgs::OutputData &output)
+{
+  struct OUTPUT_DATA output_data;
+  if(data.size() != sizeof(output_data))
+    return false;
+
+  memcpy(&output_data, &data[0], sizeof(output_data));
+  output.loop_rate = output_data.loop_rate;
+  output.voltage = output_data.voltage/1e3;
+
+  const double roll = output_data.roll/1e2 * M_PI/180;
+  const double pitch = output_data.pitch/1e2 * M_PI/180;
+  const double yaw = output_data.yaw/1e2 * M_PI/180;
+  // Asctec (2012 firmware) uses  Z-Y-X convention
+  Eigen::Quaterniond q = Eigen::AngleAxisd(yaw, Eigen::Vector3d::UnitZ()) *
+      Eigen::AngleAxisd(pitch, Eigen::Vector3d::UnitY()) *
+      Eigen::AngleAxisd(roll, Eigen::Vector3d::UnitX());
+  output.orientation.w = q.w();
+  output.orientation.x = q.x();
+  output.orientation.y = q.y();
+  output.orientation.z = q.z();
+
+  output.angular_velocity.x = output_data.ang_vel[0]*0.0154*M_PI/180;
+  output.angular_velocity.y = output_data.ang_vel[1]*0.0154*M_PI/180;
+  output.angular_velocity.z = output_data.ang_vel[2]*0.0154*M_PI/180;
+
+  output.linear_acceleration.x = output_data.acc[0]/1e3 * 9.81;
+  output.linear_acceleration.y = output_data.acc[1]/1e3 * 9.81;
+  output.linear_acceleration.z = output_data.acc[2]/1e3 * 9.81;
+
+  output.pressure_dheight = output_data.dheight/1e3;
+  output.pressure_height = output_data.height/1e3;
+
+  output.magnetic_field.x = output_data.mag[0]/2500.0;
+  output.magnetic_field.y = output_data.mag[1]/2500.0;
+  output.magnetic_field.z = output_data.mag[2]/2500.0;
+
+  for(int i = 0; i < 8; i++)
+  {
+    output.radio_channel[i] = output_data.radio[i];
+  }
+  //for(int i = 0; i < 4; i++)
+  //  output.motor_rpm[i] = output_data.rpm[i];
+
+  output.seq = output_data.seq;
+
+  return true;
+}
+
+bool decodeStatusData(const std::vector<uint8_t> &data,
+                      quadrotor_msgs::StatusData &status)
+{
+  struct STATUS_DATA status_data;
+  if(data.size() != sizeof(status_data))
+    return false;
+  memcpy(&status_data, &data[0], sizeof(status_data));
+
+  status.loop_rate = status_data.loop_rate;
+  status.voltage = status_data.voltage/1e3;
+  status.seq = status_data.seq;
+
+  return true;
+}
+
+bool decodePPROutputData(const std::vector<uint8_t> &data,
+                         quadrotor_msgs::PPROutputData &output)
+{
+  struct PPR_OUTPUT_DATA output_data;
+  if(data.size() != sizeof(output_data))
+    return false;
+  memcpy(&output_data, &data[0], sizeof(output_data));
+
+  output.quad_time = output_data.time;
+  output.des_thrust = output_data.des_thrust*1e-4;
+  output.des_roll = output_data.des_roll*1e-4;
+  output.des_pitch = output_data.des_pitch*1e-4;
+  output.des_yaw = output_data.des_yaw*1e-4;
+  output.est_roll = output_data.est_roll*1e-4;
+  output.est_pitch = output_data.est_pitch*1e-4;
+  output.est_yaw = output_data.est_yaw*1e-4;
+  output.est_angvel_x = output_data.est_angvel_x*1e-3;
+  output.est_angvel_y = output_data.est_angvel_y*1e-3;
+  output.est_angvel_z = output_data.est_angvel_z*1e-3;
+  output.est_acc_x = output_data.est_acc_x*1e-4;
+  output.est_acc_y = output_data.est_acc_y*1e-4;
+  output.est_acc_z = output_data.est_acc_z*1e-4;
+  output.pwm[0] = output_data.pwm1;
+  output.pwm[1] = output_data.pwm2;
+  output.pwm[2] = output_data.pwm3;
+  output.pwm[3] = output_data.pwm4;
+
+  return true;
+}
+
+}
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/encode_msgs.cpp b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/encode_msgs.cpp
new file mode 100755
index 0000000..d0cccf2
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/encode_msgs.cpp
@@ -0,0 +1,73 @@
+#include "quadrotor_msgs/encode_msgs.h"
+#include <quadrotor_msgs/comm_types.h>
+
+namespace quadrotor_msgs
+{
+
+void encodeSO3Command(const quadrotor_msgs::SO3Command &so3_command,
+                      std::vector<uint8_t> &output)
+{
+  struct SO3_CMD_INPUT so3_cmd_input;
+
+  so3_cmd_input.force[0] = so3_command.force.x*500;
+  so3_cmd_input.force[1] = so3_command.force.y*500;
+  so3_cmd_input.force[2] = so3_command.force.z*500;
+
+  so3_cmd_input.des_qx = so3_command.orientation.x*125;
+  so3_cmd_input.des_qy = so3_command.orientation.y*125;
+  so3_cmd_input.des_qz = so3_command.orientation.z*125;
+  so3_cmd_input.des_qw = so3_command.orientation.w*125;
+
+  so3_cmd_input.kR[0] = so3_command.kR[0]*50;
+  so3_cmd_input.kR[1] = so3_command.kR[1]*50;
+  so3_cmd_input.kR[2] = so3_command.kR[2]*50;
+
+  so3_cmd_input.kOm[0] = so3_command.kOm[0]*100;
+  so3_cmd_input.kOm[1] = so3_command.kOm[1]*100;
+  so3_cmd_input.kOm[2] = so3_command.kOm[2]*100;
+
+  so3_cmd_input.cur_yaw = so3_command.aux.current_yaw*1e4;
+
+  so3_cmd_input.kf_correction = so3_command.aux.kf_correction*1e11;
+  so3_cmd_input.angle_corrections[0] = so3_command.aux.angle_corrections[0]*2500;
+  so3_cmd_input.angle_corrections[1] = so3_command.aux.angle_corrections[1]*2500;
+
+  so3_cmd_input.enable_motors = so3_command.aux.enable_motors;
+  so3_cmd_input.use_external_yaw = so3_command.aux.use_external_yaw;
+
+  so3_cmd_input.seq = so3_command.header.seq % 255;
+
+  output.resize(sizeof(so3_cmd_input));
+  memcpy(&output[0], &so3_cmd_input, sizeof(so3_cmd_input));
+}
+
+void encodeTRPYCommand(const quadrotor_msgs::TRPYCommand &trpy_command,
+                        std::vector<uint8_t> &output)
+{
+  struct TRPY_CMD trpy_cmd_input;
+  trpy_cmd_input.thrust = trpy_command.thrust*1e4;
+  trpy_cmd_input.roll = trpy_command.roll*1e4;
+  trpy_cmd_input.pitch = trpy_command.pitch*1e4;
+  trpy_cmd_input.yaw = trpy_command.yaw*1e4;
+  trpy_cmd_input.current_yaw = trpy_command.aux.current_yaw*1e4;
+  trpy_cmd_input.enable_motors = trpy_command.aux.enable_motors;
+  trpy_cmd_input.use_external_yaw = trpy_command.aux.use_external_yaw;
+
+  output.resize(sizeof(trpy_cmd_input));
+  memcpy(&output[0], &trpy_cmd_input, sizeof(trpy_cmd_input));
+}
+
+void encodePPRGains(const quadrotor_msgs::Gains &gains,
+                    std::vector<uint8_t> &output)
+{
+  struct PPR_GAINS ppr_gains;
+  ppr_gains.Kp = gains.Kp;
+  ppr_gains.Kd = gains.Kd;
+  ppr_gains.Kp_yaw = gains.Kp_yaw;
+  ppr_gains.Kd_yaw = gains.Kd_yaw;
+
+  output.resize(sizeof(ppr_gains));
+  memcpy(&output[0], &ppr_gains, sizeof(ppr_gains));
+}
+
+}
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/__init__.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc
new file mode 100755
index 0000000..cb93e49
Binary files /dev/null and b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc differ
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py
new file mode 100755
index 0000000..652a255
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py
@@ -0,0 +1,143 @@
+"""autogenerated by genpy from quadrotor_msgs/AuxCommand.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class AuxCommand(genpy.Message):
+  _md5sum = "94f75840e4b1e03675da764692f2c839"
+  _type = "quadrotor_msgs/AuxCommand"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """float64 current_yaw
+float64 kf_correction
+float64[2] angle_corrections# Trims for roll, pitch
+bool enable_motors
+bool use_external_yaw
+
+"""
+  __slots__ = ['current_yaw','kf_correction','angle_corrections','enable_motors','use_external_yaw']
+  _slot_types = ['float64','float64','float64[2]','bool','bool']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       current_yaw,kf_correction,angle_corrections,enable_motors,use_external_yaw
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(AuxCommand, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.current_yaw is None:
+        self.current_yaw = 0.
+      if self.kf_correction is None:
+        self.kf_correction = 0.
+      if self.angle_corrections is None:
+        self.angle_corrections = [0.,0.]
+      if self.enable_motors is None:
+        self.enable_motors = False
+      if self.use_external_yaw is None:
+        self.use_external_yaw = False
+    else:
+      self.current_yaw = 0.
+      self.kf_correction = 0.
+      self.angle_corrections = [0.,0.]
+      self.enable_motors = False
+      self.use_external_yaw = False
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_2d.pack(_x.current_yaw, _x.kf_correction))
+      buff.write(_struct_2d.pack(*self.angle_corrections))
+      _x = self
+      buff.write(_struct_2B.pack(_x.enable_motors, _x.use_external_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 16
+      (_x.current_yaw, _x.kf_correction,) = _struct_2d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.angle_corrections = _struct_2d.unpack(str[start:end])
+      _x = self
+      start = end
+      end += 2
+      (_x.enable_motors, _x.use_external_yaw,) = _struct_2B.unpack(str[start:end])
+      self.enable_motors = bool(self.enable_motors)
+      self.use_external_yaw = bool(self.use_external_yaw)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_2d.pack(_x.current_yaw, _x.kf_correction))
+      buff.write(self.angle_corrections.tostring())
+      _x = self
+      buff.write(_struct_2B.pack(_x.enable_motors, _x.use_external_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 16
+      (_x.current_yaw, _x.kf_correction,) = _struct_2d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.angle_corrections = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=2)
+      _x = self
+      start = end
+      end += 2
+      (_x.enable_motors, _x.use_external_yaw,) = _struct_2B.unpack(str[start:end])
+      self.enable_motors = bool(self.enable_motors)
+      self.use_external_yaw = bool(self.use_external_yaw)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_2d = struct.Struct("<2d")
+_struct_2B = struct.Struct("<2B")
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py
new file mode 100755
index 0000000..d2b19c2
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py
@@ -0,0 +1,111 @@
+"""autogenerated by genpy from quadrotor_msgs/Corrections.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class Corrections(genpy.Message):
+  _md5sum = "61e86887a75fe520847d3256306360f5"
+  _type = "quadrotor_msgs/Corrections"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """float64 kf_correction
+float64[2] angle_corrections
+
+"""
+  __slots__ = ['kf_correction','angle_corrections']
+  _slot_types = ['float64','float64[2]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       kf_correction,angle_corrections
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(Corrections, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.kf_correction is None:
+        self.kf_correction = 0.
+      if self.angle_corrections is None:
+        self.angle_corrections = [0.,0.]
+    else:
+      self.kf_correction = 0.
+      self.angle_corrections = [0.,0.]
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      buff.write(_struct_d.pack(self.kf_correction))
+      buff.write(_struct_2d.pack(*self.angle_corrections))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      end = 0
+      start = end
+      end += 8
+      (self.kf_correction,) = _struct_d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.angle_corrections = _struct_2d.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      buff.write(_struct_d.pack(self.kf_correction))
+      buff.write(self.angle_corrections.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      end = 0
+      start = end
+      end += 8
+      (self.kf_correction,) = _struct_d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.angle_corrections = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=2)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_2d = struct.Struct("<2d")
+_struct_d = struct.Struct("<d")
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_Gains.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_Gains.py
new file mode 100755
index 0000000..01f65e9
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_Gains.py
@@ -0,0 +1,114 @@
+"""autogenerated by genpy from quadrotor_msgs/Gains.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class Gains(genpy.Message):
+  _md5sum = "b82763b9f24e5595e2a816aa779c9461"
+  _type = "quadrotor_msgs/Gains"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """float64 Kp
+float64 Kd
+float64 Kp_yaw
+float64 Kd_yaw
+
+"""
+  __slots__ = ['Kp','Kd','Kp_yaw','Kd_yaw']
+  _slot_types = ['float64','float64','float64','float64']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       Kp,Kd,Kp_yaw,Kd_yaw
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(Gains, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.Kp is None:
+        self.Kp = 0.
+      if self.Kd is None:
+        self.Kd = 0.
+      if self.Kp_yaw is None:
+        self.Kp_yaw = 0.
+      if self.Kd_yaw is None:
+        self.Kd_yaw = 0.
+    else:
+      self.Kp = 0.
+      self.Kd = 0.
+      self.Kp_yaw = 0.
+      self.Kd_yaw = 0.
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_4d.pack(_x.Kp, _x.Kd, _x.Kp_yaw, _x.Kd_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 32
+      (_x.Kp, _x.Kd, _x.Kp_yaw, _x.Kd_yaw,) = _struct_4d.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_4d.pack(_x.Kp, _x.Kd, _x.Kp_yaw, _x.Kd_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 32
+      (_x.Kp, _x.Kd, _x.Kp_yaw, _x.Kd_yaw,) = _struct_4d.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_4d = struct.Struct("<4d")
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py
new file mode 100755
index 0000000..357c5f1
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py
@@ -0,0 +1,277 @@
+"""autogenerated by genpy from quadrotor_msgs/OutputData.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import std_msgs.msg
+
+class OutputData(genpy.Message):
+  _md5sum = "5759ee97fd5c090dcdccf7fc3e50d024"
+  _type = "quadrotor_msgs/OutputData"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+uint16 loop_rate
+float64 voltage
+geometry_msgs/Quaternion orientation
+geometry_msgs/Vector3 angular_velocity
+geometry_msgs/Vector3 linear_acceleration
+float64 pressure_dheight
+float64 pressure_height
+geometry_msgs/Vector3 magnetic_field
+uint8[8] radio_channel
+#uint8[4] motor_rpm
+uint8 seq
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+
+float64 x
+float64 y
+float64 z
+"""
+  __slots__ = ['header','loop_rate','voltage','orientation','angular_velocity','linear_acceleration','pressure_dheight','pressure_height','magnetic_field','radio_channel','seq']
+  _slot_types = ['std_msgs/Header','uint16','float64','geometry_msgs/Quaternion','geometry_msgs/Vector3','geometry_msgs/Vector3','float64','float64','geometry_msgs/Vector3','uint8[8]','uint8']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,loop_rate,voltage,orientation,angular_velocity,linear_acceleration,pressure_dheight,pressure_height,magnetic_field,radio_channel,seq
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(OutputData, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.loop_rate is None:
+        self.loop_rate = 0
+      if self.voltage is None:
+        self.voltage = 0.
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      if self.angular_velocity is None:
+        self.angular_velocity = geometry_msgs.msg.Vector3()
+      if self.linear_acceleration is None:
+        self.linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.pressure_dheight is None:
+        self.pressure_dheight = 0.
+      if self.pressure_height is None:
+        self.pressure_height = 0.
+      if self.magnetic_field is None:
+        self.magnetic_field = geometry_msgs.msg.Vector3()
+      if self.radio_channel is None:
+        self.radio_channel = chr(0)*8
+      if self.seq is None:
+        self.seq = 0
+    else:
+      self.header = std_msgs.msg.Header()
+      self.loop_rate = 0
+      self.voltage = 0.
+      self.orientation = geometry_msgs.msg.Quaternion()
+      self.angular_velocity = geometry_msgs.msg.Vector3()
+      self.linear_acceleration = geometry_msgs.msg.Vector3()
+      self.pressure_dheight = 0.
+      self.pressure_height = 0.
+      self.magnetic_field = geometry_msgs.msg.Vector3()
+      self.radio_channel = chr(0)*8
+      self.seq = 0
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_H16d.pack(_x.loop_rate, _x.voltage, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w, _x.angular_velocity.x, _x.angular_velocity.y, _x.angular_velocity.z, _x.linear_acceleration.x, _x.linear_acceleration.y, _x.linear_acceleration.z, _x.pressure_dheight, _x.pressure_height, _x.magnetic_field.x, _x.magnetic_field.y, _x.magnetic_field.z))
+      _x = self.radio_channel
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]:
+        buff.write(_struct_8B.pack(*_x))
+      else:
+        buff.write(_struct_8s.pack(_x))
+      buff.write(_struct_B.pack(self.seq))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      if self.angular_velocity is None:
+        self.angular_velocity = geometry_msgs.msg.Vector3()
+      if self.linear_acceleration is None:
+        self.linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.magnetic_field is None:
+        self.magnetic_field = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 130
+      (_x.loop_rate, _x.voltage, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w, _x.angular_velocity.x, _x.angular_velocity.y, _x.angular_velocity.z, _x.linear_acceleration.x, _x.linear_acceleration.y, _x.linear_acceleration.z, _x.pressure_dheight, _x.pressure_height, _x.magnetic_field.x, _x.magnetic_field.y, _x.magnetic_field.z,) = _struct_H16d.unpack(str[start:end])
+      start = end
+      end += 8
+      self.radio_channel = str[start:end]
+      start = end
+      end += 1
+      (self.seq,) = _struct_B.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_H16d.pack(_x.loop_rate, _x.voltage, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w, _x.angular_velocity.x, _x.angular_velocity.y, _x.angular_velocity.z, _x.linear_acceleration.x, _x.linear_acceleration.y, _x.linear_acceleration.z, _x.pressure_dheight, _x.pressure_height, _x.magnetic_field.x, _x.magnetic_field.y, _x.magnetic_field.z))
+      _x = self.radio_channel
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]:
+        buff.write(_struct_8B.pack(*_x))
+      else:
+        buff.write(_struct_8s.pack(_x))
+      buff.write(_struct_B.pack(self.seq))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      if self.angular_velocity is None:
+        self.angular_velocity = geometry_msgs.msg.Vector3()
+      if self.linear_acceleration is None:
+        self.linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.magnetic_field is None:
+        self.magnetic_field = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 130
+      (_x.loop_rate, _x.voltage, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w, _x.angular_velocity.x, _x.angular_velocity.y, _x.angular_velocity.z, _x.linear_acceleration.x, _x.linear_acceleration.y, _x.linear_acceleration.z, _x.pressure_dheight, _x.pressure_height, _x.magnetic_field.x, _x.magnetic_field.y, _x.magnetic_field.z,) = _struct_H16d.unpack(str[start:end])
+      start = end
+      end += 8
+      self.radio_channel = str[start:end]
+      start = end
+      end += 1
+      (self.seq,) = _struct_B.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_8B = struct.Struct("<8B")
+_struct_8s = struct.Struct("<8s")
+_struct_3I = struct.Struct("<3I")
+_struct_B = struct.Struct("<B")
+_struct_H16d = struct.Struct("<H16d")
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_PPROutputData.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_PPROutputData.py
new file mode 100755
index 0000000..9f07332
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_PPROutputData.py
@@ -0,0 +1,243 @@
+"""autogenerated by genpy from quadrotor_msgs/PPROutputData.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import std_msgs.msg
+
+class PPROutputData(genpy.Message):
+  _md5sum = "732c0e3ca36f241464f8c445e78a0d0a"
+  _type = "quadrotor_msgs/PPROutputData"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+uint16 quad_time
+float64 des_thrust
+float64 des_roll
+float64 des_pitch
+float64 des_yaw
+float64 est_roll
+float64 est_pitch
+float64 est_yaw
+float64 est_angvel_x
+float64 est_angvel_y
+float64 est_angvel_z
+float64 est_acc_x
+float64 est_acc_y
+float64 est_acc_z
+uint16[4] pwm
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+"""
+  __slots__ = ['header','quad_time','des_thrust','des_roll','des_pitch','des_yaw','est_roll','est_pitch','est_yaw','est_angvel_x','est_angvel_y','est_angvel_z','est_acc_x','est_acc_y','est_acc_z','pwm']
+  _slot_types = ['std_msgs/Header','uint16','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','uint16[4]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,quad_time,des_thrust,des_roll,des_pitch,des_yaw,est_roll,est_pitch,est_yaw,est_angvel_x,est_angvel_y,est_angvel_z,est_acc_x,est_acc_y,est_acc_z,pwm
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(PPROutputData, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.quad_time is None:
+        self.quad_time = 0
+      if self.des_thrust is None:
+        self.des_thrust = 0.
+      if self.des_roll is None:
+        self.des_roll = 0.
+      if self.des_pitch is None:
+        self.des_pitch = 0.
+      if self.des_yaw is None:
+        self.des_yaw = 0.
+      if self.est_roll is None:
+        self.est_roll = 0.
+      if self.est_pitch is None:
+        self.est_pitch = 0.
+      if self.est_yaw is None:
+        self.est_yaw = 0.
+      if self.est_angvel_x is None:
+        self.est_angvel_x = 0.
+      if self.est_angvel_y is None:
+        self.est_angvel_y = 0.
+      if self.est_angvel_z is None:
+        self.est_angvel_z = 0.
+      if self.est_acc_x is None:
+        self.est_acc_x = 0.
+      if self.est_acc_y is None:
+        self.est_acc_y = 0.
+      if self.est_acc_z is None:
+        self.est_acc_z = 0.
+      if self.pwm is None:
+        self.pwm = [0,0,0,0]
+    else:
+      self.header = std_msgs.msg.Header()
+      self.quad_time = 0
+      self.des_thrust = 0.
+      self.des_roll = 0.
+      self.des_pitch = 0.
+      self.des_yaw = 0.
+      self.est_roll = 0.
+      self.est_pitch = 0.
+      self.est_yaw = 0.
+      self.est_angvel_x = 0.
+      self.est_angvel_y = 0.
+      self.est_angvel_z = 0.
+      self.est_acc_x = 0.
+      self.est_acc_y = 0.
+      self.est_acc_z = 0.
+      self.pwm = [0,0,0,0]
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_H13d.pack(_x.quad_time, _x.des_thrust, _x.des_roll, _x.des_pitch, _x.des_yaw, _x.est_roll, _x.est_pitch, _x.est_yaw, _x.est_angvel_x, _x.est_angvel_y, _x.est_angvel_z, _x.est_acc_x, _x.est_acc_y, _x.est_acc_z))
+      buff.write(_struct_4H.pack(*self.pwm))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 106
+      (_x.quad_time, _x.des_thrust, _x.des_roll, _x.des_pitch, _x.des_yaw, _x.est_roll, _x.est_pitch, _x.est_yaw, _x.est_angvel_x, _x.est_angvel_y, _x.est_angvel_z, _x.est_acc_x, _x.est_acc_y, _x.est_acc_z,) = _struct_H13d.unpack(str[start:end])
+      start = end
+      end += 8
+      self.pwm = _struct_4H.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_H13d.pack(_x.quad_time, _x.des_thrust, _x.des_roll, _x.des_pitch, _x.des_yaw, _x.est_roll, _x.est_pitch, _x.est_yaw, _x.est_angvel_x, _x.est_angvel_y, _x.est_angvel_z, _x.est_acc_x, _x.est_acc_y, _x.est_acc_z))
+      buff.write(self.pwm.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 106
+      (_x.quad_time, _x.des_thrust, _x.des_roll, _x.des_pitch, _x.des_yaw, _x.est_roll, _x.est_pitch, _x.est_yaw, _x.est_angvel_x, _x.est_angvel_y, _x.est_angvel_z, _x.est_acc_x, _x.est_acc_y, _x.est_acc_z,) = _struct_H13d.unpack(str[start:end])
+      start = end
+      end += 8
+      self.pwm = numpy.frombuffer(str[start:end], dtype=numpy.uint16, count=4)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_H13d = struct.Struct("<H13d")
+_struct_3I = struct.Struct("<3I")
+_struct_4H = struct.Struct("<4H")
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_PositionCommand.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_PositionCommand.py
new file mode 100755
index 0000000..a4f1806
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_PositionCommand.py
@@ -0,0 +1,246 @@
+"""autogenerated by genpy from quadrotor_msgs/PositionCommand.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import std_msgs.msg
+
+class PositionCommand(genpy.Message):
+  _md5sum = "835935bcd6f18632d9e26a3093237902"
+  _type = "quadrotor_msgs/PositionCommand"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+geometry_msgs/Point position
+geometry_msgs/Vector3 velocity
+geometry_msgs/Vector3 acceleration
+float64 yaw
+float64 yaw_dot
+float64[3] kx
+float64[3] kv
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+
+float64 x
+float64 y
+float64 z
+"""
+  __slots__ = ['header','position','velocity','acceleration','yaw','yaw_dot','kx','kv']
+  _slot_types = ['std_msgs/Header','geometry_msgs/Point','geometry_msgs/Vector3','geometry_msgs/Vector3','float64','float64','float64[3]','float64[3]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,position,velocity,acceleration,yaw,yaw_dot,kx,kv
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(PositionCommand, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.position is None:
+        self.position = geometry_msgs.msg.Point()
+      if self.velocity is None:
+        self.velocity = geometry_msgs.msg.Vector3()
+      if self.acceleration is None:
+        self.acceleration = geometry_msgs.msg.Vector3()
+      if self.yaw is None:
+        self.yaw = 0.
+      if self.yaw_dot is None:
+        self.yaw_dot = 0.
+      if self.kx is None:
+        self.kx = [0.,0.,0.]
+      if self.kv is None:
+        self.kv = [0.,0.,0.]
+    else:
+      self.header = std_msgs.msg.Header()
+      self.position = geometry_msgs.msg.Point()
+      self.velocity = geometry_msgs.msg.Vector3()
+      self.acceleration = geometry_msgs.msg.Vector3()
+      self.yaw = 0.
+      self.yaw_dot = 0.
+      self.kx = [0.,0.,0.]
+      self.kv = [0.,0.,0.]
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_11d.pack(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.yaw, _x.yaw_dot))
+      buff.write(_struct_3d.pack(*self.kx))
+      buff.write(_struct_3d.pack(*self.kv))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.position is None:
+        self.position = geometry_msgs.msg.Point()
+      if self.velocity is None:
+        self.velocity = geometry_msgs.msg.Vector3()
+      if self.acceleration is None:
+        self.acceleration = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 88
+      (_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.yaw, _x.yaw_dot,) = _struct_11d.unpack(str[start:end])
+      start = end
+      end += 24
+      self.kx = _struct_3d.unpack(str[start:end])
+      start = end
+      end += 24
+      self.kv = _struct_3d.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_11d.pack(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.yaw, _x.yaw_dot))
+      buff.write(self.kx.tostring())
+      buff.write(self.kv.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.position is None:
+        self.position = geometry_msgs.msg.Point()
+      if self.velocity is None:
+        self.velocity = geometry_msgs.msg.Vector3()
+      if self.acceleration is None:
+        self.acceleration = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 88
+      (_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.yaw, _x.yaw_dot,) = _struct_11d.unpack(str[start:end])
+      start = end
+      end += 24
+      self.kx = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 24
+      self.kv = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_11d = struct.Struct("<11d")
+_struct_3I = struct.Struct("<3I")
+_struct_3d = struct.Struct("<3d")
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_SO3Command.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_SO3Command.py
new file mode 100755
index 0000000..b89f319
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_SO3Command.py
@@ -0,0 +1,287 @@
+"""autogenerated by genpy from quadrotor_msgs/SO3Command.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import quadrotor_msgs.msg
+import std_msgs.msg
+
+class SO3Command(genpy.Message):
+  _md5sum = "a466650b2633e768513aa3bf62383c86"
+  _type = "quadrotor_msgs/SO3Command"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+geometry_msgs/Vector3 force
+geometry_msgs/Quaternion orientation
+float64[3] kR
+float64[3] kOm
+quadrotor_msgs/AuxCommand aux
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+
+float64 x
+float64 y
+float64 z
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+
+================================================================================
+MSG: quadrotor_msgs/AuxCommand
+float64 current_yaw
+float64 kf_correction
+float64[2] angle_corrections# Trims for roll, pitch
+bool enable_motors
+bool use_external_yaw
+
+"""
+  __slots__ = ['header','force','orientation','kR','kOm','aux']
+  _slot_types = ['std_msgs/Header','geometry_msgs/Vector3','geometry_msgs/Quaternion','float64[3]','float64[3]','quadrotor_msgs/AuxCommand']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,force,orientation,kR,kOm,aux
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(SO3Command, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.force is None:
+        self.force = geometry_msgs.msg.Vector3()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      if self.kR is None:
+        self.kR = [0.,0.,0.]
+      if self.kOm is None:
+        self.kOm = [0.,0.,0.]
+      if self.aux is None:
+        self.aux = quadrotor_msgs.msg.AuxCommand()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.force = geometry_msgs.msg.Vector3()
+      self.orientation = geometry_msgs.msg.Quaternion()
+      self.kR = [0.,0.,0.]
+      self.kOm = [0.,0.,0.]
+      self.aux = quadrotor_msgs.msg.AuxCommand()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_7d.pack(_x.force.x, _x.force.y, _x.force.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w))
+      buff.write(_struct_3d.pack(*self.kR))
+      buff.write(_struct_3d.pack(*self.kOm))
+      _x = self
+      buff.write(_struct_2d.pack(_x.aux.current_yaw, _x.aux.kf_correction))
+      buff.write(_struct_2d.pack(*self.aux.angle_corrections))
+      _x = self
+      buff.write(_struct_2B.pack(_x.aux.enable_motors, _x.aux.use_external_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.force is None:
+        self.force = geometry_msgs.msg.Vector3()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      if self.aux is None:
+        self.aux = quadrotor_msgs.msg.AuxCommand()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 56
+      (_x.force.x, _x.force.y, _x.force.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w,) = _struct_7d.unpack(str[start:end])
+      start = end
+      end += 24
+      self.kR = _struct_3d.unpack(str[start:end])
+      start = end
+      end += 24
+      self.kOm = _struct_3d.unpack(str[start:end])
+      _x = self
+      start = end
+      end += 16
+      (_x.aux.current_yaw, _x.aux.kf_correction,) = _struct_2d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.aux.angle_corrections = _struct_2d.unpack(str[start:end])
+      _x = self
+      start = end
+      end += 2
+      (_x.aux.enable_motors, _x.aux.use_external_yaw,) = _struct_2B.unpack(str[start:end])
+      self.aux.enable_motors = bool(self.aux.enable_motors)
+      self.aux.use_external_yaw = bool(self.aux.use_external_yaw)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_7d.pack(_x.force.x, _x.force.y, _x.force.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w))
+      buff.write(self.kR.tostring())
+      buff.write(self.kOm.tostring())
+      _x = self
+      buff.write(_struct_2d.pack(_x.aux.current_yaw, _x.aux.kf_correction))
+      buff.write(self.aux.angle_corrections.tostring())
+      _x = self
+      buff.write(_struct_2B.pack(_x.aux.enable_motors, _x.aux.use_external_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.force is None:
+        self.force = geometry_msgs.msg.Vector3()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      if self.aux is None:
+        self.aux = quadrotor_msgs.msg.AuxCommand()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 56
+      (_x.force.x, _x.force.y, _x.force.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w,) = _struct_7d.unpack(str[start:end])
+      start = end
+      end += 24
+      self.kR = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 24
+      self.kOm = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      _x = self
+      start = end
+      end += 16
+      (_x.aux.current_yaw, _x.aux.kf_correction,) = _struct_2d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.aux.angle_corrections = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=2)
+      _x = self
+      start = end
+      end += 2
+      (_x.aux.enable_motors, _x.aux.use_external_yaw,) = _struct_2B.unpack(str[start:end])
+      self.aux.enable_motors = bool(self.aux.enable_motors)
+      self.aux.use_external_yaw = bool(self.aux.use_external_yaw)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_2d = struct.Struct("<2d")
+_struct_3I = struct.Struct("<3I")
+_struct_7d = struct.Struct("<7d")
+_struct_2B = struct.Struct("<2B")
+_struct_3d = struct.Struct("<3d")
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_Serial.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_Serial.py
new file mode 100755
index 0000000..1fded43
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_Serial.py
@@ -0,0 +1,229 @@
+"""autogenerated by genpy from quadrotor_msgs/Serial.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import std_msgs.msg
+
+class Serial(genpy.Message):
+  _md5sum = "e448fb7595af9a8adfcab5ec241c7d4f"
+  _type = "quadrotor_msgs/Serial"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """# Note: These constants need to be kept in sync with the types
+# defined in include/quadrotor_msgs/comm_types.h
+uint8 SO3_CMD = 115 # 's' in base 10
+uint8 TRPY_CMD = 112 # 'p' in base 10
+uint8 STATUS_DATA = 99 # 'c' in base 10
+uint8 OUTPUT_DATA = 100 # 'd' in base 10
+uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10
+uint8 PPR_GAINS = 103 # 'g'
+
+Header header
+uint8 channel
+uint8 type # One of the types listed above
+uint8[] data
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+"""
+  # Pseudo-constants
+  SO3_CMD = 115
+  TRPY_CMD = 112
+  STATUS_DATA = 99
+  OUTPUT_DATA = 100
+  PPR_OUTPUT_DATA = 116
+  PPR_GAINS = 103
+
+  __slots__ = ['header','channel','type','data']
+  _slot_types = ['std_msgs/Header','uint8','uint8','uint8[]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,channel,type,data
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(Serial, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.channel is None:
+        self.channel = 0
+      if self.type is None:
+        self.type = 0
+      if self.data is None:
+        self.data = ''
+    else:
+      self.header = std_msgs.msg.Header()
+      self.channel = 0
+      self.type = 0
+      self.data = ''
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2B.pack(_x.channel, _x.type))
+      _x = self.data
+      length = len(_x)
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 2
+      (_x.channel, _x.type,) = _struct_2B.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      self.data = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2B.pack(_x.channel, _x.type))
+      _x = self.data
+      length = len(_x)
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 2
+      (_x.channel, _x.type,) = _struct_2B.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      self.data = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_3I = struct.Struct("<3I")
+_struct_2B = struct.Struct("<2B")
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_StatusData.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_StatusData.py
new file mode 100755
index 0000000..dd1a27a
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_StatusData.py
@@ -0,0 +1,186 @@
+"""autogenerated by genpy from quadrotor_msgs/StatusData.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import std_msgs.msg
+
+class StatusData(genpy.Message):
+  _md5sum = "c70a4ec4725273263ae176ad30f89553"
+  _type = "quadrotor_msgs/StatusData"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+uint16 loop_rate
+float64 voltage
+uint8 seq
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+"""
+  __slots__ = ['header','loop_rate','voltage','seq']
+  _slot_types = ['std_msgs/Header','uint16','float64','uint8']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,loop_rate,voltage,seq
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(StatusData, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.loop_rate is None:
+        self.loop_rate = 0
+      if self.voltage is None:
+        self.voltage = 0.
+      if self.seq is None:
+        self.seq = 0
+    else:
+      self.header = std_msgs.msg.Header()
+      self.loop_rate = 0
+      self.voltage = 0.
+      self.seq = 0
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_HdB.pack(_x.loop_rate, _x.voltage, _x.seq))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 11
+      (_x.loop_rate, _x.voltage, _x.seq,) = _struct_HdB.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_HdB.pack(_x.loop_rate, _x.voltage, _x.seq))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 11
+      (_x.loop_rate, _x.voltage, _x.seq,) = _struct_HdB.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_3I = struct.Struct("<3I")
+_struct_HdB = struct.Struct("<HdB")
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_TRPYCommand.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_TRPYCommand.py
new file mode 100755
index 0000000..3f7733d
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/_TRPYCommand.py
@@ -0,0 +1,233 @@
+"""autogenerated by genpy from quadrotor_msgs/TRPYCommand.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import quadrotor_msgs.msg
+import std_msgs.msg
+
+class TRPYCommand(genpy.Message):
+  _md5sum = "6779ee8a86cc757aeea21725df32d00c"
+  _type = "quadrotor_msgs/TRPYCommand"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+float32 thrust
+float32 roll
+float32 pitch
+float32 yaw
+quadrotor_msgs/AuxCommand aux
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: quadrotor_msgs/AuxCommand
+float64 current_yaw
+float64 kf_correction
+float64[2] angle_corrections# Trims for roll, pitch
+bool enable_motors
+bool use_external_yaw
+
+"""
+  __slots__ = ['header','thrust','roll','pitch','yaw','aux']
+  _slot_types = ['std_msgs/Header','float32','float32','float32','float32','quadrotor_msgs/AuxCommand']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,thrust,roll,pitch,yaw,aux
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(TRPYCommand, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.thrust is None:
+        self.thrust = 0.
+      if self.roll is None:
+        self.roll = 0.
+      if self.pitch is None:
+        self.pitch = 0.
+      if self.yaw is None:
+        self.yaw = 0.
+      if self.aux is None:
+        self.aux = quadrotor_msgs.msg.AuxCommand()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.thrust = 0.
+      self.roll = 0.
+      self.pitch = 0.
+      self.yaw = 0.
+      self.aux = quadrotor_msgs.msg.AuxCommand()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_4f2d.pack(_x.thrust, _x.roll, _x.pitch, _x.yaw, _x.aux.current_yaw, _x.aux.kf_correction))
+      buff.write(_struct_2d.pack(*self.aux.angle_corrections))
+      _x = self
+      buff.write(_struct_2B.pack(_x.aux.enable_motors, _x.aux.use_external_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.aux is None:
+        self.aux = quadrotor_msgs.msg.AuxCommand()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 32
+      (_x.thrust, _x.roll, _x.pitch, _x.yaw, _x.aux.current_yaw, _x.aux.kf_correction,) = _struct_4f2d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.aux.angle_corrections = _struct_2d.unpack(str[start:end])
+      _x = self
+      start = end
+      end += 2
+      (_x.aux.enable_motors, _x.aux.use_external_yaw,) = _struct_2B.unpack(str[start:end])
+      self.aux.enable_motors = bool(self.aux.enable_motors)
+      self.aux.use_external_yaw = bool(self.aux.use_external_yaw)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_4f2d.pack(_x.thrust, _x.roll, _x.pitch, _x.yaw, _x.aux.current_yaw, _x.aux.kf_correction))
+      buff.write(self.aux.angle_corrections.tostring())
+      _x = self
+      buff.write(_struct_2B.pack(_x.aux.enable_motors, _x.aux.use_external_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.aux is None:
+        self.aux = quadrotor_msgs.msg.AuxCommand()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 32
+      (_x.thrust, _x.roll, _x.pitch, _x.yaw, _x.aux.current_yaw, _x.aux.kf_correction,) = _struct_4f2d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.aux.angle_corrections = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=2)
+      _x = self
+      start = end
+      end += 2
+      (_x.aux.enable_motors, _x.aux.use_external_yaw,) = _struct_2B.unpack(str[start:end])
+      self.aux.enable_motors = bool(self.aux.enable_motors)
+      self.aux.use_external_yaw = bool(self.aux.use_external_yaw)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_2d = struct.Struct("<2d")
+_struct_3I = struct.Struct("<3I")
+_struct_4f2d = struct.Struct("<4f2d")
+_struct_2B = struct.Struct("<2B")
diff --git a/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py
new file mode 100755
index 0000000..4fe96a0
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py
@@ -0,0 +1,10 @@
+from ._Gains import *
+from ._SO3Command import *
+from ._TRPYCommand import *
+from ._PositionCommand import *
+from ._PPROutputData import *
+from ._OutputData import *
+from ._Corrections import *
+from ._Serial import *
+from ._AuxCommand import *
+from ._StatusData import *
diff --git a/uav_simulator/Utils/multi_map_server/src/multi_map_server/__init__.py b/uav_simulator/Utils/multi_map_server/src/multi_map_server/__init__.py
new file mode 100755
index 0000000..b23e43d
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/src/multi_map_server/__init__.py
@@ -0,0 +1 @@
+#autogenerated by ROS python message generators
\ No newline at end of file
diff --git a/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiOccupancyGrid.py b/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiOccupancyGrid.py
new file mode 100755
index 0000000..bf2de49
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiOccupancyGrid.py
@@ -0,0 +1,404 @@
+"""autogenerated by genpy from multi_map_server/MultiOccupancyGrid.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import nav_msgs.msg
+import genpy
+import std_msgs.msg
+
+class MultiOccupancyGrid(genpy.Message):
+  _md5sum = "61e63a291f11a6b1796a1edf79f34f72"
+  _type = "multi_map_server/MultiOccupancyGrid"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """nav_msgs/OccupancyGrid[] maps
+geometry_msgs/Pose[] origins
+
+================================================================================
+MSG: nav_msgs/OccupancyGrid
+# This represents a 2-D grid map, in which each cell represents the probability of
+# occupancy.
+
+Header header 
+
+#MetaData for the map
+MapMetaData info
+
+# The map data, in row-major order, starting with (0,0).  Occupancy
+# probabilities are in the range [0,100].  Unknown is -1.
+int8[] data
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: nav_msgs/MapMetaData
+# This hold basic information about the characterists of the OccupancyGrid
+
+# The time at which the map was loaded
+time map_load_time
+# The map resolution [m/cell]
+float32 resolution
+# Map width [cells]
+uint32 width
+# Map height [cells]
+uint32 height
+# The origin of the map [m, m, rad].  This is the real-world pose of the
+# cell (0,0) in the map.
+geometry_msgs/Pose origin
+================================================================================
+MSG: geometry_msgs/Pose
+# A representation of pose in free space, composed of postion and orientation. 
+Point position
+Quaternion orientation
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+
+"""
+  __slots__ = ['maps','origins']
+  _slot_types = ['nav_msgs/OccupancyGrid[]','geometry_msgs/Pose[]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       maps,origins
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(MultiOccupancyGrid, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.maps is None:
+        self.maps = []
+      if self.origins is None:
+        self.origins = []
+    else:
+      self.maps = []
+      self.origins = []
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      length = len(self.maps)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.maps:
+        _v1 = val1.header
+        buff.write(_struct_I.pack(_v1.seq))
+        _v2 = _v1.stamp
+        _x = _v2
+        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
+        _x = _v1.frame_id
+        length = len(_x)
+        if python3 or type(_x) == unicode:
+          _x = _x.encode('utf-8')
+          length = len(_x)
+        if python3:
+          buff.write(struct.pack('<I%sB'%length, length, *_x))
+        else:
+          buff.write(struct.pack('<I%ss'%length, length, _x))
+        _v3 = val1.info
+        _v4 = _v3.map_load_time
+        _x = _v4
+        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
+        _x = _v3
+        buff.write(_struct_f2I.pack(_x.resolution, _x.width, _x.height))
+        _v5 = _v3.origin
+        _v6 = _v5.position
+        _x = _v6
+        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
+        _v7 = _v5.orientation
+        _x = _v7
+        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
+        length = len(val1.data)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sb'%length
+        buff.write(struct.pack(pattern, *val1.data))
+      length = len(self.origins)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.origins:
+        _v8 = val1.position
+        _x = _v8
+        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
+        _v9 = val1.orientation
+        _x = _v9
+        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.maps is None:
+        self.maps = None
+      if self.origins is None:
+        self.origins = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.maps = []
+      for i in range(0, length):
+        val1 = nav_msgs.msg.OccupancyGrid()
+        _v10 = val1.header
+        start = end
+        end += 4
+        (_v10.seq,) = _struct_I.unpack(str[start:end])
+        _v11 = _v10.stamp
+        _x = _v11
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          _v10.frame_id = str[start:end].decode('utf-8')
+        else:
+          _v10.frame_id = str[start:end]
+        _v12 = val1.info
+        _v13 = _v12.map_load_time
+        _x = _v13
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
+        _x = _v12
+        start = end
+        end += 12
+        (_x.resolution, _x.width, _x.height,) = _struct_f2I.unpack(str[start:end])
+        _v14 = _v12.origin
+        _v15 = _v14.position
+        _x = _v15
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
+        _v16 = _v14.orientation
+        _x = _v16
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sb'%length
+        start = end
+        end += struct.calcsize(pattern)
+        val1.data = struct.unpack(pattern, str[start:end])
+        self.maps.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.origins = []
+      for i in range(0, length):
+        val1 = geometry_msgs.msg.Pose()
+        _v17 = val1.position
+        _x = _v17
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
+        _v18 = val1.orientation
+        _x = _v18
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
+        self.origins.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      length = len(self.maps)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.maps:
+        _v19 = val1.header
+        buff.write(_struct_I.pack(_v19.seq))
+        _v20 = _v19.stamp
+        _x = _v20
+        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
+        _x = _v19.frame_id
+        length = len(_x)
+        if python3 or type(_x) == unicode:
+          _x = _x.encode('utf-8')
+          length = len(_x)
+        if python3:
+          buff.write(struct.pack('<I%sB'%length, length, *_x))
+        else:
+          buff.write(struct.pack('<I%ss'%length, length, _x))
+        _v21 = val1.info
+        _v22 = _v21.map_load_time
+        _x = _v22
+        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
+        _x = _v21
+        buff.write(_struct_f2I.pack(_x.resolution, _x.width, _x.height))
+        _v23 = _v21.origin
+        _v24 = _v23.position
+        _x = _v24
+        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
+        _v25 = _v23.orientation
+        _x = _v25
+        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
+        length = len(val1.data)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sb'%length
+        buff.write(val1.data.tostring())
+      length = len(self.origins)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.origins:
+        _v26 = val1.position
+        _x = _v26
+        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
+        _v27 = val1.orientation
+        _x = _v27
+        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.maps is None:
+        self.maps = None
+      if self.origins is None:
+        self.origins = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.maps = []
+      for i in range(0, length):
+        val1 = nav_msgs.msg.OccupancyGrid()
+        _v28 = val1.header
+        start = end
+        end += 4
+        (_v28.seq,) = _struct_I.unpack(str[start:end])
+        _v29 = _v28.stamp
+        _x = _v29
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          _v28.frame_id = str[start:end].decode('utf-8')
+        else:
+          _v28.frame_id = str[start:end]
+        _v30 = val1.info
+        _v31 = _v30.map_load_time
+        _x = _v31
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
+        _x = _v30
+        start = end
+        end += 12
+        (_x.resolution, _x.width, _x.height,) = _struct_f2I.unpack(str[start:end])
+        _v32 = _v30.origin
+        _v33 = _v32.position
+        _x = _v33
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
+        _v34 = _v32.orientation
+        _x = _v34
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sb'%length
+        start = end
+        end += struct.calcsize(pattern)
+        val1.data = numpy.frombuffer(str[start:end], dtype=numpy.int8, count=length)
+        self.maps.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.origins = []
+      for i in range(0, length):
+        val1 = geometry_msgs.msg.Pose()
+        _v35 = val1.position
+        _x = _v35
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
+        _v36 = val1.orientation
+        _x = _v36
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
+        self.origins.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_4d = struct.Struct("<4d")
+_struct_f2I = struct.Struct("<f2I")
+_struct_2I = struct.Struct("<2I")
+_struct_3d = struct.Struct("<3d")
diff --git a/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiSparseMap3D.py b/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiSparseMap3D.py
new file mode 100755
index 0000000..d914465
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiSparseMap3D.py
@@ -0,0 +1,484 @@
+"""autogenerated by genpy from multi_map_server/MultiSparseMap3D.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import multi_map_server.msg
+import nav_msgs.msg
+import genpy
+import std_msgs.msg
+
+class MultiSparseMap3D(genpy.Message):
+  _md5sum = "2e3d76c98ee3e2b23a422f64965f6418"
+  _type = "multi_map_server/MultiSparseMap3D"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """SparseMap3D[] maps
+geometry_msgs/Pose[] origins
+
+================================================================================
+MSG: multi_map_server/SparseMap3D
+Header header
+nav_msgs/MapMetaData info
+VerticalOccupancyGridList[] lists
+
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: nav_msgs/MapMetaData
+# This hold basic information about the characterists of the OccupancyGrid
+
+# The time at which the map was loaded
+time map_load_time
+# The map resolution [m/cell]
+float32 resolution
+# Map width [cells]
+uint32 width
+# Map height [cells]
+uint32 height
+# The origin of the map [m, m, rad].  This is the real-world pose of the
+# cell (0,0) in the map.
+geometry_msgs/Pose origin
+================================================================================
+MSG: geometry_msgs/Pose
+# A representation of pose in free space, composed of postion and orientation. 
+Point position
+Quaternion orientation
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+
+================================================================================
+MSG: multi_map_server/VerticalOccupancyGridList
+float32 x
+float32 y
+int32[] upper
+int32[] lower
+int32[] mass
+
+
+"""
+  __slots__ = ['maps','origins']
+  _slot_types = ['multi_map_server/SparseMap3D[]','geometry_msgs/Pose[]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       maps,origins
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(MultiSparseMap3D, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.maps is None:
+        self.maps = []
+      if self.origins is None:
+        self.origins = []
+    else:
+      self.maps = []
+      self.origins = []
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      length = len(self.maps)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.maps:
+        _v1 = val1.header
+        buff.write(_struct_I.pack(_v1.seq))
+        _v2 = _v1.stamp
+        _x = _v2
+        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
+        _x = _v1.frame_id
+        length = len(_x)
+        if python3 or type(_x) == unicode:
+          _x = _x.encode('utf-8')
+          length = len(_x)
+        if python3:
+          buff.write(struct.pack('<I%sB'%length, length, *_x))
+        else:
+          buff.write(struct.pack('<I%ss'%length, length, _x))
+        _v3 = val1.info
+        _v4 = _v3.map_load_time
+        _x = _v4
+        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
+        _x = _v3
+        buff.write(_struct_f2I.pack(_x.resolution, _x.width, _x.height))
+        _v5 = _v3.origin
+        _v6 = _v5.position
+        _x = _v6
+        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
+        _v7 = _v5.orientation
+        _x = _v7
+        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
+        length = len(val1.lists)
+        buff.write(_struct_I.pack(length))
+        for val2 in val1.lists:
+          _x = val2
+          buff.write(_struct_2f.pack(_x.x, _x.y))
+          length = len(val2.upper)
+          buff.write(_struct_I.pack(length))
+          pattern = '<%si'%length
+          buff.write(struct.pack(pattern, *val2.upper))
+          length = len(val2.lower)
+          buff.write(_struct_I.pack(length))
+          pattern = '<%si'%length
+          buff.write(struct.pack(pattern, *val2.lower))
+          length = len(val2.mass)
+          buff.write(_struct_I.pack(length))
+          pattern = '<%si'%length
+          buff.write(struct.pack(pattern, *val2.mass))
+      length = len(self.origins)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.origins:
+        _v8 = val1.position
+        _x = _v8
+        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
+        _v9 = val1.orientation
+        _x = _v9
+        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.maps is None:
+        self.maps = None
+      if self.origins is None:
+        self.origins = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.maps = []
+      for i in range(0, length):
+        val1 = multi_map_server.msg.SparseMap3D()
+        _v10 = val1.header
+        start = end
+        end += 4
+        (_v10.seq,) = _struct_I.unpack(str[start:end])
+        _v11 = _v10.stamp
+        _x = _v11
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          _v10.frame_id = str[start:end].decode('utf-8')
+        else:
+          _v10.frame_id = str[start:end]
+        _v12 = val1.info
+        _v13 = _v12.map_load_time
+        _x = _v13
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
+        _x = _v12
+        start = end
+        end += 12
+        (_x.resolution, _x.width, _x.height,) = _struct_f2I.unpack(str[start:end])
+        _v14 = _v12.origin
+        _v15 = _v14.position
+        _x = _v15
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
+        _v16 = _v14.orientation
+        _x = _v16
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        val1.lists = []
+        for i in range(0, length):
+          val2 = multi_map_server.msg.VerticalOccupancyGridList()
+          _x = val2
+          start = end
+          end += 8
+          (_x.x, _x.y,) = _struct_2f.unpack(str[start:end])
+          start = end
+          end += 4
+          (length,) = _struct_I.unpack(str[start:end])
+          pattern = '<%si'%length
+          start = end
+          end += struct.calcsize(pattern)
+          val2.upper = struct.unpack(pattern, str[start:end])
+          start = end
+          end += 4
+          (length,) = _struct_I.unpack(str[start:end])
+          pattern = '<%si'%length
+          start = end
+          end += struct.calcsize(pattern)
+          val2.lower = struct.unpack(pattern, str[start:end])
+          start = end
+          end += 4
+          (length,) = _struct_I.unpack(str[start:end])
+          pattern = '<%si'%length
+          start = end
+          end += struct.calcsize(pattern)
+          val2.mass = struct.unpack(pattern, str[start:end])
+          val1.lists.append(val2)
+        self.maps.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.origins = []
+      for i in range(0, length):
+        val1 = geometry_msgs.msg.Pose()
+        _v17 = val1.position
+        _x = _v17
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
+        _v18 = val1.orientation
+        _x = _v18
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
+        self.origins.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      length = len(self.maps)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.maps:
+        _v19 = val1.header
+        buff.write(_struct_I.pack(_v19.seq))
+        _v20 = _v19.stamp
+        _x = _v20
+        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
+        _x = _v19.frame_id
+        length = len(_x)
+        if python3 or type(_x) == unicode:
+          _x = _x.encode('utf-8')
+          length = len(_x)
+        if python3:
+          buff.write(struct.pack('<I%sB'%length, length, *_x))
+        else:
+          buff.write(struct.pack('<I%ss'%length, length, _x))
+        _v21 = val1.info
+        _v22 = _v21.map_load_time
+        _x = _v22
+        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
+        _x = _v21
+        buff.write(_struct_f2I.pack(_x.resolution, _x.width, _x.height))
+        _v23 = _v21.origin
+        _v24 = _v23.position
+        _x = _v24
+        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
+        _v25 = _v23.orientation
+        _x = _v25
+        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
+        length = len(val1.lists)
+        buff.write(_struct_I.pack(length))
+        for val2 in val1.lists:
+          _x = val2
+          buff.write(_struct_2f.pack(_x.x, _x.y))
+          length = len(val2.upper)
+          buff.write(_struct_I.pack(length))
+          pattern = '<%si'%length
+          buff.write(val2.upper.tostring())
+          length = len(val2.lower)
+          buff.write(_struct_I.pack(length))
+          pattern = '<%si'%length
+          buff.write(val2.lower.tostring())
+          length = len(val2.mass)
+          buff.write(_struct_I.pack(length))
+          pattern = '<%si'%length
+          buff.write(val2.mass.tostring())
+      length = len(self.origins)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.origins:
+        _v26 = val1.position
+        _x = _v26
+        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
+        _v27 = val1.orientation
+        _x = _v27
+        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.maps is None:
+        self.maps = None
+      if self.origins is None:
+        self.origins = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.maps = []
+      for i in range(0, length):
+        val1 = multi_map_server.msg.SparseMap3D()
+        _v28 = val1.header
+        start = end
+        end += 4
+        (_v28.seq,) = _struct_I.unpack(str[start:end])
+        _v29 = _v28.stamp
+        _x = _v29
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        start = end
+        end += length
+        if python3:
+          _v28.frame_id = str[start:end].decode('utf-8')
+        else:
+          _v28.frame_id = str[start:end]
+        _v30 = val1.info
+        _v31 = _v30.map_load_time
+        _x = _v31
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
+        _x = _v30
+        start = end
+        end += 12
+        (_x.resolution, _x.width, _x.height,) = _struct_f2I.unpack(str[start:end])
+        _v32 = _v30.origin
+        _v33 = _v32.position
+        _x = _v33
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
+        _v34 = _v32.orientation
+        _x = _v34
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        val1.lists = []
+        for i in range(0, length):
+          val2 = multi_map_server.msg.VerticalOccupancyGridList()
+          _x = val2
+          start = end
+          end += 8
+          (_x.x, _x.y,) = _struct_2f.unpack(str[start:end])
+          start = end
+          end += 4
+          (length,) = _struct_I.unpack(str[start:end])
+          pattern = '<%si'%length
+          start = end
+          end += struct.calcsize(pattern)
+          val2.upper = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+          start = end
+          end += 4
+          (length,) = _struct_I.unpack(str[start:end])
+          pattern = '<%si'%length
+          start = end
+          end += struct.calcsize(pattern)
+          val2.lower = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+          start = end
+          end += 4
+          (length,) = _struct_I.unpack(str[start:end])
+          pattern = '<%si'%length
+          start = end
+          end += struct.calcsize(pattern)
+          val2.mass = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+          val1.lists.append(val2)
+        self.maps.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.origins = []
+      for i in range(0, length):
+        val1 = geometry_msgs.msg.Pose()
+        _v35 = val1.position
+        _x = _v35
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
+        _v36 = val1.orientation
+        _x = _v36
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
+        self.origins.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_f2I = struct.Struct("<f2I")
+_struct_2f = struct.Struct("<2f")
+_struct_4d = struct.Struct("<4d")
+_struct_2I = struct.Struct("<2I")
+_struct_3d = struct.Struct("<3d")
diff --git a/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_SparseMap3D.py b/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_SparseMap3D.py
new file mode 100755
index 0000000..a57fd51
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_SparseMap3D.py
@@ -0,0 +1,340 @@
+"""autogenerated by genpy from multi_map_server/SparseMap3D.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import multi_map_server.msg
+import nav_msgs.msg
+import genpy
+import std_msgs.msg
+
+class SparseMap3D(genpy.Message):
+  _md5sum = "a20102f0b3a02e95070dab4140b78fb5"
+  _type = "multi_map_server/SparseMap3D"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+nav_msgs/MapMetaData info
+VerticalOccupancyGridList[] lists
+
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: nav_msgs/MapMetaData
+# This hold basic information about the characterists of the OccupancyGrid
+
+# The time at which the map was loaded
+time map_load_time
+# The map resolution [m/cell]
+float32 resolution
+# Map width [cells]
+uint32 width
+# Map height [cells]
+uint32 height
+# The origin of the map [m, m, rad].  This is the real-world pose of the
+# cell (0,0) in the map.
+geometry_msgs/Pose origin
+================================================================================
+MSG: geometry_msgs/Pose
+# A representation of pose in free space, composed of postion and orientation. 
+Point position
+Quaternion orientation
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+
+================================================================================
+MSG: multi_map_server/VerticalOccupancyGridList
+float32 x
+float32 y
+int32[] upper
+int32[] lower
+int32[] mass
+
+
+"""
+  __slots__ = ['header','info','lists']
+  _slot_types = ['std_msgs/Header','nav_msgs/MapMetaData','multi_map_server/VerticalOccupancyGridList[]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,info,lists
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(SparseMap3D, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.info is None:
+        self.info = nav_msgs.msg.MapMetaData()
+      if self.lists is None:
+        self.lists = []
+    else:
+      self.header = std_msgs.msg.Header()
+      self.info = nav_msgs.msg.MapMetaData()
+      self.lists = []
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2If2I7d.pack(_x.info.map_load_time.secs, _x.info.map_load_time.nsecs, _x.info.resolution, _x.info.width, _x.info.height, _x.info.origin.position.x, _x.info.origin.position.y, _x.info.origin.position.z, _x.info.origin.orientation.x, _x.info.origin.orientation.y, _x.info.origin.orientation.z, _x.info.origin.orientation.w))
+      length = len(self.lists)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.lists:
+        _x = val1
+        buff.write(_struct_2f.pack(_x.x, _x.y))
+        length = len(val1.upper)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%si'%length
+        buff.write(struct.pack(pattern, *val1.upper))
+        length = len(val1.lower)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%si'%length
+        buff.write(struct.pack(pattern, *val1.lower))
+        length = len(val1.mass)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%si'%length
+        buff.write(struct.pack(pattern, *val1.mass))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.info is None:
+        self.info = nav_msgs.msg.MapMetaData()
+      if self.lists is None:
+        self.lists = None
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 76
+      (_x.info.map_load_time.secs, _x.info.map_load_time.nsecs, _x.info.resolution, _x.info.width, _x.info.height, _x.info.origin.position.x, _x.info.origin.position.y, _x.info.origin.position.z, _x.info.origin.orientation.x, _x.info.origin.orientation.y, _x.info.origin.orientation.z, _x.info.origin.orientation.w,) = _struct_2If2I7d.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.lists = []
+      for i in range(0, length):
+        val1 = multi_map_server.msg.VerticalOccupancyGridList()
+        _x = val1
+        start = end
+        end += 8
+        (_x.x, _x.y,) = _struct_2f.unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%si'%length
+        start = end
+        end += struct.calcsize(pattern)
+        val1.upper = struct.unpack(pattern, str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%si'%length
+        start = end
+        end += struct.calcsize(pattern)
+        val1.lower = struct.unpack(pattern, str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%si'%length
+        start = end
+        end += struct.calcsize(pattern)
+        val1.mass = struct.unpack(pattern, str[start:end])
+        self.lists.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2If2I7d.pack(_x.info.map_load_time.secs, _x.info.map_load_time.nsecs, _x.info.resolution, _x.info.width, _x.info.height, _x.info.origin.position.x, _x.info.origin.position.y, _x.info.origin.position.z, _x.info.origin.orientation.x, _x.info.origin.orientation.y, _x.info.origin.orientation.z, _x.info.origin.orientation.w))
+      length = len(self.lists)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.lists:
+        _x = val1
+        buff.write(_struct_2f.pack(_x.x, _x.y))
+        length = len(val1.upper)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%si'%length
+        buff.write(val1.upper.tostring())
+        length = len(val1.lower)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%si'%length
+        buff.write(val1.lower.tostring())
+        length = len(val1.mass)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%si'%length
+        buff.write(val1.mass.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.info is None:
+        self.info = nav_msgs.msg.MapMetaData()
+      if self.lists is None:
+        self.lists = None
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 76
+      (_x.info.map_load_time.secs, _x.info.map_load_time.nsecs, _x.info.resolution, _x.info.width, _x.info.height, _x.info.origin.position.x, _x.info.origin.position.y, _x.info.origin.position.z, _x.info.origin.orientation.x, _x.info.origin.orientation.y, _x.info.origin.orientation.z, _x.info.origin.orientation.w,) = _struct_2If2I7d.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.lists = []
+      for i in range(0, length):
+        val1 = multi_map_server.msg.VerticalOccupancyGridList()
+        _x = val1
+        start = end
+        end += 8
+        (_x.x, _x.y,) = _struct_2f.unpack(str[start:end])
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%si'%length
+        start = end
+        end += struct.calcsize(pattern)
+        val1.upper = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%si'%length
+        start = end
+        end += struct.calcsize(pattern)
+        val1.lower = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%si'%length
+        start = end
+        end += struct.calcsize(pattern)
+        val1.mass = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+        self.lists.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_3I = struct.Struct("<3I")
+_struct_2f = struct.Struct("<2f")
+_struct_2If2I7d = struct.Struct("<2If2I7d")
diff --git a/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_VerticalOccupancyGridList.py b/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_VerticalOccupancyGridList.py
new file mode 100755
index 0000000..67e5a6a
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_VerticalOccupancyGridList.py
@@ -0,0 +1,185 @@
+"""autogenerated by genpy from multi_map_server/VerticalOccupancyGridList.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class VerticalOccupancyGridList(genpy.Message):
+  _md5sum = "7ef85cc95b82747f51eb01a16bd7c795"
+  _type = "multi_map_server/VerticalOccupancyGridList"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """float32 x
+float32 y
+int32[] upper
+int32[] lower
+int32[] mass
+
+
+"""
+  __slots__ = ['x','y','upper','lower','mass']
+  _slot_types = ['float32','float32','int32[]','int32[]','int32[]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       x,y,upper,lower,mass
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(VerticalOccupancyGridList, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.x is None:
+        self.x = 0.
+      if self.y is None:
+        self.y = 0.
+      if self.upper is None:
+        self.upper = []
+      if self.lower is None:
+        self.lower = []
+      if self.mass is None:
+        self.mass = []
+    else:
+      self.x = 0.
+      self.y = 0.
+      self.upper = []
+      self.lower = []
+      self.mass = []
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_2f.pack(_x.x, _x.y))
+      length = len(self.upper)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%si'%length
+      buff.write(struct.pack(pattern, *self.upper))
+      length = len(self.lower)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%si'%length
+      buff.write(struct.pack(pattern, *self.lower))
+      length = len(self.mass)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%si'%length
+      buff.write(struct.pack(pattern, *self.mass))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 8
+      (_x.x, _x.y,) = _struct_2f.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%si'%length
+      start = end
+      end += struct.calcsize(pattern)
+      self.upper = struct.unpack(pattern, str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%si'%length
+      start = end
+      end += struct.calcsize(pattern)
+      self.lower = struct.unpack(pattern, str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%si'%length
+      start = end
+      end += struct.calcsize(pattern)
+      self.mass = struct.unpack(pattern, str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_2f.pack(_x.x, _x.y))
+      length = len(self.upper)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%si'%length
+      buff.write(self.upper.tostring())
+      length = len(self.lower)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%si'%length
+      buff.write(self.lower.tostring())
+      length = len(self.mass)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%si'%length
+      buff.write(self.mass.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 8
+      (_x.x, _x.y,) = _struct_2f.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%si'%length
+      start = end
+      end += struct.calcsize(pattern)
+      self.upper = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%si'%length
+      start = end
+      end += struct.calcsize(pattern)
+      self.lower = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%si'%length
+      start = end
+      end += struct.calcsize(pattern)
+      self.mass = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_2f = struct.Struct("<2f")
diff --git a/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/__init__.py b/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/__init__.py
new file mode 100755
index 0000000..29e5795
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/__init__.py
@@ -0,0 +1,4 @@
+from ._SparseMap3D import *
+from ._MultiOccupancyGrid import *
+from ._MultiSparseMap3D import *
+from ._VerticalOccupancyGridList import *
diff --git a/uav_simulator/Utils/multi_map_server/src/multi_map_visualization.cc b/uav_simulator/Utils/multi_map_server/src/multi_map_visualization.cc
new file mode 100755
index 0000000..7013fef
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/src/multi_map_visualization.cc
@@ -0,0 +1,90 @@
+#include <iostream>
+#include <ros/ros.h>
+#include <sensor_msgs/PointCloud.h>
+#include <pose_utils.h>
+#include <multi_map_server/MultiOccupancyGrid.h>
+#include <multi_map_server/MultiSparseMap3D.h>
+#include <multi_map_server/Map2D.h>
+#include <multi_map_server/Map3D.h>
+
+ros::Publisher pub1;
+ros::Publisher pub2;
+
+vector<Map2D> maps2d;
+vector<geometry_msgs::Pose> origins2d;
+vector<Map3D> maps3d;
+vector<geometry_msgs::Pose> origins3d;
+
+void maps2d_callback(const multi_map_server::MultiOccupancyGrid::ConstPtr &msg)
+{
+  // Merge map
+  maps2d.resize(msg->maps.size(), Map2D(4));
+  for (unsigned int k = 0; k < msg->maps.size(); k++)
+    maps2d[k].Replace(msg->maps[k]);
+  origins2d = msg->origins;    
+  // Assemble and publish map
+  multi_map_server::MultiOccupancyGrid m;
+  m.maps.resize(maps2d.size());
+  m.origins.resize(maps2d.size());
+  for (unsigned int k = 0; k < maps2d.size(); k++)
+  {
+    m.maps[k]    = maps2d[k].GetMap();
+    m.origins[k] = origins2d[k];
+  }
+  pub1.publish(m);
+}
+
+void maps3d_callback(const multi_map_server::MultiSparseMap3D::ConstPtr &msg)
+{
+  // Update incremental map
+  maps3d.resize(msg->maps.size());  
+  for (unsigned int k = 0; k < msg->maps.size(); k++)
+    maps3d[k].UnpackMsg(msg->maps[k]);
+  origins3d = msg->origins;
+  // Publish
+  sensor_msgs::PointCloud m;
+  for (unsigned int k = 0; k < msg->maps.size(); k++)
+  {
+    colvec po(6);
+    po(0) = origins3d[k].position.x;
+    po(1) = origins3d[k].position.y;
+    po(2) = origins3d[k].position.z;
+    colvec poq(4);
+    poq(0) = origins3d[k].orientation.w;
+    poq(1) = origins3d[k].orientation.x;
+    poq(2) = origins3d[k].orientation.y;
+    poq(3) = origins3d[k].orientation.z;
+    po.rows(3,5) = R_to_ypr(quaternion_to_R(poq));
+    colvec tpo = po.rows(0,2);
+    mat    Rpo = ypr_to_R(po.rows(3,5));
+    vector<colvec> pts = maps3d[k].GetOccupancyWorldFrame(OCCUPIED);
+    for (unsigned int i = 0; i < pts.size(); i++)
+    {
+      colvec pt = Rpo * pts[i] + tpo;
+      geometry_msgs::Point32 _pt;
+      _pt.x = pt(0);
+      _pt.y = pt(1);
+      _pt.z = pt(2);
+      m.points.push_back(_pt);
+    }
+  }
+  // Publish
+  m.header.stamp    = ros::Time::now();
+  m.header.frame_id = string("/map");
+  pub2.publish(m);
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "multi_map_visualization");
+  ros::NodeHandle n("~");
+
+  ros::Subscriber sub1 = n.subscribe("dmaps2d", 1, maps2d_callback);
+  ros::Subscriber sub2 = n.subscribe("dmaps3d", 1, maps3d_callback);
+  pub1 = n.advertise<multi_map_server::MultiOccupancyGrid>("maps2d", 1, true);
+  pub2 = n.advertise<sensor_msgs::PointCloud>("map3d", 1, true);
+
+  ros::spin();
+  return 0;
+}
+
diff --git a/uav_simulator/Utils/multi_map_server/src/unused/multi_map_server.cc b/uav_simulator/Utils/multi_map_server/src/unused/multi_map_server.cc
new file mode 100755
index 0000000..a96d953
--- /dev/null
+++ b/uav_simulator/Utils/multi_map_server/src/unused/multi_map_server.cc
@@ -0,0 +1,192 @@
+#include <iostream>
+#include <ros/ros.h>
+#include <sensor_msgs/LaserScan.h>
+#include <sensor_msgs/PointCloud.h>
+#include <geometry_msgs/PoseArray.h>
+#include <laser_geometry/laser_geometry.h>
+#include <pose_utils.h>
+#include <multi_map_server/MultiOccupancyGrid.h>
+#include <multi_map_server/MultiSparseMap3D.h>
+#include <multi_map_server/Map2D.h>
+#include <multi_map_server/Map3D.h>
+
+using namespace arma;
+using namespace std;
+#define MAX_MAP_CNT 25
+
+ros::Publisher pub1;
+ros::Publisher pub2;
+
+// 2D Map
+int maps2dCnt = 0;
+Map2D maps2d[MAX_MAP_CNT];
+map_server_3d_new::MultiOccupancyGrid grids2d;
+// 3D Map
+int maps3dCnt = 0;
+Map3D maps3d[MAX_MAP_CNT];
+// Map origin from UKF
+vector<geometry_msgs::Pose> maps_origin;   
+
+void map2d_callback(const nav_msgs::OccupancyGrid::ConstPtr &msg)
+{
+  // Update msg and publish
+  if (grids2d.maps.size() == 0)
+  {
+    // Init msg
+    grids2d.maps.push_back(*msg);
+    maps2dCnt++;
+  }
+  else if (grids2d.maps.back().info.map_load_time != msg->info.map_load_time)
+  {
+    // Add Costmap
+    nav_msgs::OccupancyGrid m;
+    maps2d[maps2dCnt-1].get_map(m);
+    mapMatcher.AddCostMap(m);
+    // Increase msg size
+    grids2d.maps.back().data.clear();
+    grids2d.maps.push_back(*msg);
+    maps2dCnt++;
+  }
+  else
+  {
+    grids2d.maps.back() = *msg;
+  }
+  pub1.publish(grids2d);
+  // Update internval map
+  maps2d[maps2dCnt-1].update(*msg);
+}
+
+void scan_callback(const sensor_msgs::LaserScan::ConstPtr &msg)
+{
+  // Get Map Status
+  static bool isSLAMValid = false;
+  if (msg->intensities[10])
+  {
+    if (!isSLAMValid)
+    {
+      maps3dCnt++;
+      mapLinks.push_back(zeros<colvec>(3));
+    }
+    isSLAMValid = true;
+  }
+  else
+  {
+    isSLAMValid = false;
+    return;
+  }
+  // Scan cnt
+  mapLinks.back()(2)++;
+  // Get Current Pose
+  colvec pose(6);
+  pose(0) = msg->intensities[0];
+  pose(1) = msg->intensities[1];
+  pose(2) = msg->intensities[2];
+  pose(3) = msg->intensities[3];
+  pose(4) = msg->intensities[4];
+  pose(5) = msg->intensities[5];
+  colvec pose2D(3);
+  pose2D(0) = msg->intensities[0];
+  pose2D(1) = msg->intensities[1];
+  pose2D(2) = msg->intensities[3];
+  double currFloor  = msg->intensities[7];
+  double currLaserH = msg->intensities[8];
+  // Horizontal laser scans
+  sensor_msgs::LaserScan scan = *msg;
+  scan.intensities.clear();
+  laser_geometry::LaserProjection projector;
+  sensor_msgs::PointCloud scanCloud;
+  projector.projectLaser(scan, scanCloud);
+  mat scanMat(3, scanCloud.points.size());
+  // Get scan in body frame
+  for (int k = 0; k < scanCloud.points.size(); k++)
+  {
+    scanMat(0,k) = scanCloud.points[k].x;
+    scanMat(1,k) = scanCloud.points[k].y;
+    scanMat(2,k) = 0.215 - 0.09;
+  }
+  // Downsample Laser scan to map resolution
+  double resolution = maps3d[maps3dCnt-1].GetResolution();
+  double px = NUM_INF;
+  double py = NUM_INF;
+  int cnt = 0;
+  mat scanMatDown = zeros<mat>(3, scanMat.n_cols);
+  for (int k = 0; k < scanMat.n_cols; k++)
+  {
+    double x = scanMat(0,k);
+    double y = scanMat(1,k);
+    double dist = (x-px)*(x-px) + (y-py)*(y-py); 
+    if (dist > resolution * resolution)
+    {
+      scanMatDown.col(cnt) = scanMat.col(k);
+      px = x;
+      py = y;
+      cnt++;
+    }
+  }
+  if (cnt > 0)
+    scanMat = scanMatDown.cols(0, cnt-1);
+  else
+    scanMat = scanMatDown.cols(0,cnt);
+  // Transform to map local frame
+  scanMat = ypr_to_R(pose.rows(3,5)) * scanMat + pose.rows(0,2)*ones<rowvec>(scanMat.n_cols);
+  // Update map
+  for (int k = 0; k < scanMat.n_cols; k++)
+    maps3d[maps3dCnt-1].SetOccupancyFromWorldFrame(scanMat(0,k), scanMat(1,k), scanMat(2,k), PROB_LASER_OCCUPIED);
+  // downward facing laser scans
+  if (currLaserH > 0)
+  {
+    colvec pt(3);
+    pt(0) = 0;
+    pt(1) = 0;
+    pt(2) = -currLaserH;
+    pt =  ypr_to_R(pose.rows(3,5)) * pt + pose.rows(0,2);
+    double resolution = maps3d[maps3dCnt-1].GetResolution();
+    for (double x = -0.1; x <= 0.1; x+=resolution)
+      for (double y = -0.1; y <= 0.1; y+=resolution)
+        maps3d[maps3dCnt-1].SetOccupancyFromWorldFrame(pt(0)+x, pt(1)+y, pt(2), PROB_LASER_OCCUPIED);          
+  }
+  // Floor Levels
+  maps3d[maps3dCnt-1].SetFloor(currFloor);
+}
+
+void maps_origin_callback(const geometry_msgs::PoseArray::ConstPtr &msg)
+{
+  maps_origin = msg->poses;
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "multi_map_server_3d");
+  ros::NodeHandle n("~");
+
+  ros::Subscriber sub1 = n.subscribe("dmap2d",       100, map2d_callback);
+  ros::Subscriber sub2 = n.subscribe("scan",         100, scan_callback);
+  ros::Subscriber sub3 = n.subscribe("/maps_origin", 100, maps_origin_callback);
+  pub1 = n.advertise<multi_map_server::MultiOccupancyGrid>("dmaps2d", 10, true); 
+  pub2 = n.advertise<multi_map_server::MultiSparseMap3D>(  "dmaps3d", 10, true); 
+
+  ros::Rate r(100.0);  
+  int cnt = 0;
+  while (n.ok())
+  {
+    cnt++;
+    if (cnt > 100)
+    {
+      cnt = 0;
+      map_server_3d_new::MultiSparseMap3D msg;
+      msg.maps_origin = maps_origin;
+      for (int k = 0; k < maps3dCnt; k++)
+      {
+        msg.maps_active.push_back((bool)(!mapLinks[k](0)) && mapLinks[k](2) > 50);
+        map_server_3d_new::SparseMap3D m;
+        maps3d[k].GetSparseMap3DMsg(m);
+        m.header.seq = k;
+        msg.maps.push_back(m);
+      }
+      pub2.publish(msg);
+    }
+    ros::spinOnce();
+    r.sleep();
+  }
+  return 0;
+}
diff --git a/uav_simulator/Utils/pose_utils/CMakeLists.txt b/uav_simulator/Utils/pose_utils/CMakeLists.txt
new file mode 100755
index 0000000..87beff3
--- /dev/null
+++ b/uav_simulator/Utils/pose_utils/CMakeLists.txt
@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(pose_utils)
+
+find_package(catkin REQUIRED COMPONENTS
+  #armadillo
+  roscpp
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES pose_utils
+#  CATKIN_DEPENDS geometry_msgs nav_msgs
+#  DEPENDS system_lib
+)
+
+find_package(Armadillo REQUIRED)
+
+include_directories(
+    ${catkin_INCLUDE_DIRS}
+    ${ARMADILLO_INCLUDE_DIRS}
+    include
+    )
+
+add_library(pose_utils 
+   ${ARMADILLO_LIBRARIES}
+   src/pose_utils.cpp)
diff --git a/uav_simulator/Utils/pose_utils/Makefile b/uav_simulator/Utils/pose_utils/Makefile
new file mode 100755
index 0000000..b75b928
--- /dev/null
+++ b/uav_simulator/Utils/pose_utils/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/uav_simulator/Utils/pose_utils/include/pose_utils.h b/uav_simulator/Utils/pose_utils/include/pose_utils.h
new file mode 100755
index 0000000..326c7c8
--- /dev/null
+++ b/uav_simulator/Utils/pose_utils/include/pose_utils.h
@@ -0,0 +1,53 @@
+#ifndef POSE_UTILS_H
+#define POSE_UTILS_H
+
+#include <iostream>
+#include "armadillo"
+
+#define PI 3.14159265359
+#define NUM_INF 999999.9
+
+using namespace arma;
+using namespace std;
+
+// Rotation ---------------------
+mat ypr_to_R(const colvec& ypr);
+
+mat yaw_to_R(double yaw);
+
+colvec R_to_ypr(const mat& R);
+
+mat quaternion_to_R(const colvec& q);
+
+colvec R_to_quaternion(const mat& R);
+
+colvec quaternion_mul(const colvec& q1, const colvec& q2);
+
+colvec quaternion_inv(const colvec& q);
+
+// General Pose Update ----------
+colvec pose_update(const colvec& X1, const colvec& X2);
+
+colvec pose_inverse(const colvec& X);
+
+colvec pose_update_2d(const colvec& X1, const colvec& X2);
+
+colvec pose_inverse_2d(const colvec& X);
+
+// For Pose EKF -----------------
+mat Jplus1(const colvec& X1, const colvec& X2);
+
+mat Jplus2(const colvec& X1, const colvec& X2);
+
+// For IMU EKF ------------------
+colvec state_update(const colvec& X, const colvec& U, double dt);
+
+mat jacobianF(const colvec& X, const colvec& U, double dt);
+
+mat jacobianU(const colvec& X, const colvec& U, double dt);
+
+colvec state_measure(const colvec& X);
+
+mat jacobianH();
+
+#endif
diff --git a/uav_simulator/Utils/pose_utils/package.xml b/uav_simulator/Utils/pose_utils/package.xml
new file mode 100755
index 0000000..df593f9
--- /dev/null
+++ b/uav_simulator/Utils/pose_utils/package.xml
@@ -0,0 +1,15 @@
+<package>
+  <name>pose_utils</name>
+  <version>0.0.0</version>
+  <description>pose_utils</description>
+  <maintainer email="eeshaojie@todo.todo">Shaojie Shen</maintainer>
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <run_depend>roscpp</run_depend>
+  <export>
+    <cpp cflags="-I${prefix}/include"
+         lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib"/>
+  </export>
+
+</package>
diff --git a/uav_simulator/Utils/pose_utils/src/pose_utils.cpp b/uav_simulator/Utils/pose_utils/src/pose_utils.cpp
new file mode 100755
index 0000000..f2b4365
--- /dev/null
+++ b/uav_simulator/Utils/pose_utils/src/pose_utils.cpp
@@ -0,0 +1,531 @@
+#include "pose_utils.h"
+
+// Rotation ---------------------
+
+mat ypr_to_R(const colvec& ypr)
+{
+  double c, s;
+  mat Rz = zeros<mat>(3,3);
+  double y = ypr(0);
+  c = cos(y);
+  s = sin(y);
+  Rz(0,0) =  c;
+  Rz(1,0) =  s;
+  Rz(0,1) = -s;
+  Rz(1,1) =  c;
+  Rz(2,2) =  1; 
+
+  mat Ry = zeros<mat>(3,3);
+  double p = ypr(1);
+  c = cos(p);
+  s = sin(p);
+  Ry(0,0) =  c;
+  Ry(2,0) = -s;
+  Ry(0,2) =  s;
+  Ry(2,2) =  c;
+  Ry(1,1) =  1; 
+
+  mat Rx = zeros<mat>(3,3);
+  double r = ypr(2);
+  c = cos(r);
+  s = sin(r);
+  Rx(1,1) =  c;
+  Rx(2,1) =  s;
+  Rx(1,2) = -s;
+  Rx(2,2) =  c;
+  Rx(0,0) =  1; 
+
+  mat R = Rz*Ry*Rx;  
+  return R;
+}
+
+mat yaw_to_R(double yaw)
+{
+  mat R = zeros<mat>(2,2);
+  double c = cos(yaw);
+  double s = sin(yaw);
+  R(0,0) =  c;
+  R(1,0) =  s;
+  R(0,1) = -s;
+  R(1,1) =  c;
+  return R;
+}
+
+colvec R_to_ypr(const mat& R)
+{
+  colvec n = R.col(0);
+  colvec o = R.col(1);
+  colvec a = R.col(2);
+
+  colvec ypr(3);
+  double y = atan2(n(1), n(0));
+  double p = atan2(-n(2), n(0)*cos(y)+n(1)*sin(y));
+  double r = atan2(a(0)*sin(y)-a(1)*cos(y), -o(0)*sin(y)+o(1)*cos(y));
+  ypr(0) = y;
+  ypr(1) = p;
+  ypr(2) = r;
+
+  return ypr;
+}
+
+mat quaternion_to_R(const colvec& q)
+{
+  double n = norm(q, 2);
+  colvec nq = q / n;
+
+  double w = nq(0); 
+  double x = nq(1); 
+  double y = nq(2);
+  double z = nq(3);
+  double w2 = w*w;
+  double x2 = x*x;
+  double y2 = y*y; 
+  double z2 = z*z;
+  double xy = x*y; 
+  double xz = x*z; 
+  double yz = y*z;
+  double wx = w*x; 
+  double wy = w*y; 
+  double wz = w*z;
+
+  mat R = zeros<mat>(3,3);
+  R(0,0) = w2+x2-y2-z2;
+  R(1,0) = 2*(wz + xy);
+  R(2,0) = 2*(xz - wy);
+  R(0,1) = 2*(xy - wz);
+  R(1,1) = w2-x2+y2-z2;
+  R(2,1) = 2*(wx + yz);
+  R(0,2) = 2*(wy + xz);
+  R(1,2) = 2*(yz - wx);
+  R(2,2) = w2-x2-y2+z2;
+  return R;
+}
+
+colvec R_to_quaternion(const mat& R)
+{
+  colvec q(4);
+  double  tr = R(0,0) + R(1,1) + R(2,2);
+  if (tr > 0) 
+  { 
+    double S = sqrt(tr + 1.0) * 2; 
+    q(0) = 0.25 * S;
+    q(1) = (R(2,1) - R(1,2)) / S;
+    q(2) = (R(0,2) - R(2,0)) / S; 
+    q(3) = (R(1,0) - R(0,1)) / S; 
+  } 
+  else if (R(0,0) > R(1,1) && R(0,0) > R(2,2)) 
+  { 
+    double S = sqrt(1.0 + R(0,0) - R(1,1) - R(2,2)) * 2; 
+    q(0) = (R(2,1) - R(1,2)) / S;
+    q(1) = 0.25 * S;
+    q(2) = (R(0,1) + R(1,0)) / S; 
+    q(3) = (R(0,2) + R(2,0)) / S; 
+  } 
+  else if (R(1,1) > R(2,2)) 
+  { 
+    double S = sqrt(1.0 + R(1,1) - R(0,0) - R(2,2)) * 2; 
+    q(0) = (R(0,2) - R(2,0)) / S;
+    q(1) = (R(0,1) + R(1,0)) / S; 
+    q(2) = 0.25 * S;
+    q(3) = (R(1,2) + R(2,1)) / S; 
+  } 
+  else 
+  { 
+    double S = sqrt(1.0 + R(2,2) - R(0,0) - R(1,1)) * 2; 
+    q(0) = (R(1,0) - R(0,1)) / S;
+    q(1) = (R(0,2) + R(2,0)) / S;
+    q(2) = (R(1,2) + R(2,1)) / S;
+    q(3) = 0.25 * S;
+  }
+  return q;
+}
+
+colvec quaternion_mul(const colvec& q1, const colvec& q2)
+{
+  double a1 = q1(0);
+  double b1 = q1(1);
+  double c1 = q1(2);
+  double d1 = q1(3);
+    
+  double a2 = q2(0);
+  double b2 = q2(1);
+  double c2 = q2(2);
+  double d2 = q2(3);
+    
+  colvec q3(4);
+  q3(0) = a1*a2 - b1*b2 - c1*c2 - d1*d2;
+  q3(1) = a1*b2 + b1*a2 + c1*d2 - d1*c2;
+  q3(2) = a1*c2 - b1*d2 + c1*a2 + d1*b2;
+  q3(3) = a1*d2 + b1*c2 - c1*b2 + d1*a2;
+  return q3;
+}
+
+colvec quaternion_inv(const colvec& q)
+{
+  colvec q2(4);
+  q2(0) =  q(0);
+  q2(1) = -q(1);
+  q2(2) = -q(2);
+  q2(3) = -q(3);    
+  return q2;
+}
+
+// General Pose Update ----------
+
+colvec pose_update(const colvec& X1, const colvec& X2)
+{
+  mat R1 = ypr_to_R(X1.rows(3,5));
+  mat R2 = ypr_to_R(X2.rows(3,5));
+  mat R3 = R1 * R2;
+
+  colvec X3xyz = X1.rows(0,2) + R1*X2.rows(0,2);
+  colvec X3ypr = R_to_ypr(R3);
+
+  colvec X3 = join_cols(X3xyz, X3ypr);
+  return X3;
+}
+
+colvec pose_inverse(const colvec& X)
+{
+  mat R = ypr_to_R(X.rows(3,5));
+  colvec n = R.col(0);
+  colvec o = R.col(1);
+  colvec a = R.col(2);
+
+  colvec XIxyz = -trans(R) * (X.rows(0,2));
+  colvec XIypr(3);
+  double XIy = atan2(o(0), n(0));
+  double XIp = atan2(-a(0), n(0)*cos(XIy)+o(0)*sin(XIy));
+  double XIr = atan2(n(2)*sin(XIy)-o(2)*cos(XIy), -n(1)*sin(XIy)+o(1)*cos(XIy));
+  XIypr(0) = XIy;
+  XIypr(1) = XIp;
+  XIypr(2) = XIr;
+
+  colvec XI = join_cols(XIxyz, XIypr);
+  return XI;
+}
+
+colvec pose_update_2d(const colvec& X1, const colvec& X2)
+{
+  mat R = yaw_to_R(X1(2));
+  colvec X3(3);
+  X3.rows(0,1) = R * X2.rows(0,1) + X1.rows(0,1);
+  X3(2)        = X1(2) + X2(2);
+  return X3;
+}
+
+colvec pose_inverse_2d(const colvec& X)
+{
+  double c = cos(X(2));
+  double s = sin(X(2));
+  colvec XI(3);
+  XI(0) = -X(0) * c - X(1) * s;
+  XI(1) =  X(0) * s - X(1) * c;
+  XI(2) = -X(2);
+  return XI;
+}
+
+
+// For Pose EKF ----------------------
+
+mat Jplus1(const colvec& X1, const colvec& X2)
+{
+  colvec X3 = pose_update(X1,X2);
+  mat R1 = ypr_to_R(X1.rows(3,5));
+  mat R2 = ypr_to_R(X2.rows(3,5));
+  mat R3 = ypr_to_R(X3.rows(3,5));    
+  colvec o1 = R1.col(1);
+  colvec a1 = R1.col(2);    
+  colvec o2 = R2.col(1);
+  colvec a2 = R2.col(2);    
+
+  mat I = eye<mat>(3,3);
+  mat Z = zeros<mat>(3,3);
+    
+  double Marr[9]  = {  -(X3(2-1)-X1(2-1))   ,                        (X3(3-1)-X1(3-1))*cos(X1(4-1))                             ,   a1(1-1)*X2(2-1)-o1(1-1)*X2(3-1)   ,   
+                        X3(1-1)-X1(1-1)     ,                        (X3(3-1)-X1(3-1))*sin(X1(4-1))                             ,   a1(2-1)*X2(2-1)-o1(2-1)*X2(3-1)   ,  
+                       0          , -X2(1-1)*cos(X1(5-1))-X2(2-1)*sin(X1(5-1))*sin(X1(6-1))-X2(3-1)*sin(X1(5-1))*cos(X1(6-1))   ,   a1(3-1)*X2(2-1)-o1(3-1)*X2(3-1)   };
+  mat M(3,3);
+  for (int i =0; i < 9; i++)
+    M(i) = Marr[i];
+  M = trans(M);
+             
+  double K1arr[9] = {        1          ,   sin(X3(5-1))*sin(X3(4-1)-X1(4-1))/cos(X3(5-1))   ,   ( o2(1-1)*sin(X3(6-1))+a2(1-1)*cos(X3(6-1)) )/cos(X3(5-1))   , 
+                             0          ,              cos(X3(4-1)-X1(4-1))                  ,                 -cos(X1(5-1))*sin(X3(4-1)-X1(4-1))             , 
+                             0          ,         sin(X3(4-1)-X1(4-1))/cos(X3(5-1))          ,         cos(X1(5-1))*cos(X3(4-1)-X1(4-1))/cos(X3(5-1))         };
+  mat K1(3,3);
+  for (int i =0; i < 9; i++)
+    K1(i) = K1arr[i];
+  K1 = trans(K1);
+      
+  mat J1 = join_cols ( join_rows(I, M) , join_rows(Z,K1) );
+  return J1;
+}
+
+mat Jplus2(const colvec& X1, const colvec& X2)
+{
+  colvec X3 = pose_update(X1,X2);
+  mat R1 = ypr_to_R(X1.rows(3,5));
+  mat R2 = ypr_to_R(X2.rows(3,5));
+  mat R3 = ypr_to_R(X3.rows(3,5));    
+  colvec o1 = R1.col(1);
+  colvec a1 = R1.col(2);    
+  colvec o2 = R2.col(1);
+  colvec a2 = R2.col(2);    
+
+  mat Z = zeros<mat>(3,3);
+              
+  double K2arr[9] = {     cos(X2(5-1))*cos(X3(6-1)-X2(6-1))/cos(X3(5-1))          ,        sin(X3(6-1)-X2(6-1))/cos(X3(5-1))            ,   0   ,
+                              -cos(X2(5-1))*sin(X3(6-1)-X2(6-1))                  ,              cos(X3(6-1)-X2(6-1))                   ,   0   ,
+                     ( a1(1-1)*cos(X3(4-1))+a1(2-1)*sin(X3(4-1)) )/cos(X3(5-1))   ,    sin(X3(5-1))*sin(X3(6-1)-X2(6-1))/cos(X3(5-1))   ,   1   };
+  mat K2(3,3);
+  for (int i =0; i < 9; i++)
+    K2(i) = K2arr[i];
+  K2 = trans(K2);
+      
+  mat J2 = join_cols ( join_rows(R1,Z) , join_rows(Z,K2) );
+  return J2;
+}
+
+
+// For IMU EKF ----------------------
+
+colvec state_update(const colvec& X, const colvec& U, double dt)
+{
+  double ro = X(3);
+  double pt = X(4);
+  double ya = X(5);
+
+  colvec ypr(3);
+  ypr(0) = ya;
+  ypr(1) = pt;
+  ypr(2) = ro;
+  mat R = ypr_to_R(ypr);
+
+  mat M(3,3);
+  M(0,0) = 1; M(0,1) =  0;       M(0,2) = -sin(pt);
+  M(1,0) = 0; M(1,1) =  cos(ro); M(1,2) =  cos(pt)*sin(ro);
+  M(2,0) = 0; M(2,1) = -sin(ro); M(2,2) =  cos(pt)*cos(ro);
+
+  colvec Xt(9);
+  Xt.rows(0,2) = X.rows(0,2) + X.rows(6,8)*dt + R*U.rows(0,2)*dt*dt/2;
+  Xt.rows(3,5) = X.rows(3,5) + inv(M)*U.rows(3,5)*dt;
+  Xt.rows(6,8) = X.rows(6,8) + R*U.rows(0,2)*dt;
+
+  return Xt;
+}
+
+mat jacobianF(const colvec& X, const colvec& U, double dt)
+{
+  double x  = X(0);
+  double y  = X(1);
+  double z  = X(2);
+  double ro = X(3);
+  double pt = X(4);
+  double ya = X(5);
+  double vx = X(6);
+  double vy = X(7);
+  double vz = X(8);
+  double ax = U(0);
+  double ay = U(1);
+  double az = U(2);
+  double wx = U(3);
+  double wy = U(4);
+  double wz = U(5);
+
+  mat F(9,9);
+
+  F(0,0) = 1;
+  F(0,1) = 0;
+  F(0,2) = 0;
+  F(0,3) = (dt*dt*(ay*(sin(ro)*sin(ya) + cos(ro)*cos(ya)*sin(pt)) + az*(cos(ro)*sin(ya) - cos(ya)*sin(pt)*sin(ro))))/2,
+  F(0,4) = (dt*dt*(az*cos(pt)*cos(ro)*cos(ya) - ax*cos(ya)*sin(pt) + ay*cos(pt)*cos(ya)*sin(ro)))/2; 
+  F(0,5) = -(dt*dt*(ay*(cos(ro)*cos(ya) + sin(pt)*sin(ro)*sin(ya)) - az*(cos(ya)*sin(ro) - cos(ro)*sin(pt)*sin(ya)) + ax*cos(pt)*sin(ya)))/2;
+  F(0,6) = dt;
+  F(0,7) = 0;
+  F(0,8) = 0;
+
+  F(1,0) = 0;
+  F(1,1) = 1;
+  F(1,2) = 0;
+  F(1,3) = -(dt*dt*(ay*(cos(ya)*sin(ro) - cos(ro)*sin(pt)*sin(ya)) + az*(cos(ro)*cos(ya) + sin(pt)*sin(ro)*sin(ya))))/2;
+  F(1,4) = (dt*dt*(az*cos(pt)*cos(ro)*sin(ya) - ax*sin(pt)*sin(ya) + ay*cos(pt)*sin(ro)*sin(ya)))/2;
+  F(1,5) = (dt*dt*(az*(sin(ro)*sin(ya) + cos(ro)*cos(ya)*sin(pt)) - ay*(cos(ro)*sin(ya) - cos(ya)*sin(pt)*sin(ro)) + ax*cos(pt)*cos(ya)))/2;
+  F(1,6) = 0;
+  F(1,7) = dt;
+  F(1,8) = 0;
+
+  F(2,0) = 0;
+  F(2,1) = 0;
+  F(2,2) = 1;
+  F(2,3) = (dt*dt*(ay*cos(pt)*cos(ro) - az*cos(pt)*sin(ro)))/2,
+  F(2,4) = -(dt*dt*(ax*cos(pt) + az*cos(ro)*sin(pt) + ay*sin(pt)*sin(ro)))/2,
+  F(2,5) = 0;
+  F(2,6) = 0;
+  F(2,7) = 0;
+  F(2,8) = dt;
+
+  F(3,0) = 0;
+  F(3,1) = 0;
+  F(3,2) = 0;
+  F(3,3) = 1 - dt*((wz*(cos(pt - ro)/2 - cos(pt + ro)/2))/cos(pt) - (wy*(sin(pt - ro)/2 + sin(pt + ro)/2))/cos(pt));
+  F(3,4) = dt*((wz*(cos(pt - ro)/2 + cos(pt + ro)/2))/cos(pt) - (wy*(sin(pt - ro)/2 - sin(pt + ro)/2))/cos(pt) + 
+           (wy*sin(pt)*(cos(pt - ro)/2 - cos(pt + ro)/2))/(cos(pt)*cos(pt)) + (wz*sin(pt)*(sin(pt - ro)/2 + sin(pt + ro)/2))/(cos(pt)*cos(pt)));
+  F(3,5) = 0;
+  F(3,6) = 0;
+  F(3,7) = 0;
+  F(3,8) = 0;
+
+  F(4,0) = 0;
+  F(4,1) = 0;
+  F(4,2) = 0;
+  F(4,3) = -dt*(wz*cos(ro) + wy*sin(ro));
+  F(4,4) = 1;
+  F(4,5) = 0;
+  F(4,6) = 0;
+  F(4,7) = 0;
+  F(4,8) = 0;
+
+  F(5,0) = 0;
+  F(5,1) = 0;
+  F(5,2) = 0;
+  F(5,3) = dt*((wy*cos(ro))/cos(pt) - (wz*sin(ro))/cos(pt));
+  F(5,4) = dt*((wz*cos(ro)*sin(pt))/(cos(pt)*cos(pt)) + (wy*sin(pt)*sin(ro))/(cos(pt)*cos(pt)));
+  F(5,5) = 1;
+  F(5,6) = 0;
+  F(5,7) = 0;
+  F(5,8) = 0;
+
+  F(6,0) = 0;
+  F(6,1) = 0;
+  F(6,2) = 0;
+  F(6,3) = dt*(ay*(sin(ro)*sin(ya) + cos(ro)*cos(ya)*sin(pt)) + az*(cos(ro)*sin(ya) - cos(ya)*sin(pt)*sin(ro)));
+  F(6,4) = dt*(az*cos(pt)*cos(ro)*cos(ya) - ax*cos(ya)*sin(pt) + ay*cos(pt)*cos(ya)*sin(ro));
+  F(6,5) = -dt*(ay*(cos(ro)*cos(ya) + sin(pt)*sin(ro)*sin(ya)) - az*(cos(ya)*sin(ro) - cos(ro)*sin(pt)*sin(ya)) + ax*cos(pt)*sin(ya));
+  F(6,6) = 1;
+  F(6,7) = 0;
+  F(6,8) = 0;
+
+  F(7,0) = 0;
+  F(7,1) = 0;
+  F(7,2) = 0;
+  F(7,3) = -dt*(ay*(cos(ya)*sin(ro) - cos(ro)*sin(pt)*sin(ya)) + az*(cos(ro)*cos(ya) + sin(pt)*sin(ro)*sin(ya)));
+  F(7,4) = dt*(az*cos(pt)*cos(ro)*sin(ya) - ax*sin(pt)*sin(ya) + ay*cos(pt)*sin(ro)*sin(ya));
+  F(7,5) = dt*(az*(sin(ro)*sin(ya) + cos(ro)*cos(ya)*sin(pt)) - ay*(cos(ro)*sin(ya) - cos(ya)*sin(pt)*sin(ro)) + ax*cos(pt)*cos(ya));
+  F(7,6) = 0;
+  F(7,7) = 1;
+  F(7,8) = 0;
+
+  F(8,0) = 0;
+  F(8,1) = 0;
+  F(8,2) = 0;
+  F(8,3) = dt*(ay*cos(pt)*cos(ro) - az*cos(pt)*sin(ro));     
+  F(8,4) = -dt*(ax*cos(pt) + az*cos(ro)*sin(pt) + ay*sin(pt)*sin(ro));
+  F(8,5) = 0;
+  F(8,6) = 0;
+  F(8,7) = 0;
+  F(8,8) = 1;
+   
+  return F;
+}
+
+mat jacobianU(const colvec& X, const colvec& U, double dt)
+{
+  double x  = X(0);
+  double y  = X(1);
+  double z  = X(2);
+  double ro = X(3);
+  double pt = X(4);
+  double ya = X(5);
+  double vx = X(6);
+  double vy = X(7);
+  double vz = X(8);
+  double ax = U(0);
+  double ay = U(1);
+  double az = U(2);
+  double wx = U(3);
+  double wy = U(4);
+  double wz = U(5);
+
+  mat G(9,6);
+
+  G(0,0) = (dt*dt*cos(pt)*cos(ya))/2;
+  G(0,1) = -(dt*dt*(cos(ro)*sin(ya) - cos(ya)*sin(pt)*sin(ro)))/2;
+  G(0,2) = (dt*dt*(sin(ro)*sin(ya) + cos(ro)*cos(ya)*sin(pt)))/2;
+  G(0,3) = 0;
+  G(0,4) = 0;
+  G(0,5) = 0;
+
+  G(1,0) = (dt*dt*cos(pt)*sin(ya))/2;
+  G(1,1) = (dt*dt*(cos(ro)*cos(ya) + sin(pt)*sin(ro)*sin(ya)))/2;
+  G(1,2) = -(dt*dt*(cos(ya)*sin(ro) - cos(ro)*sin(pt)*sin(ya)))/2;
+  G(1,3) = 0;
+  G(1,4) = 0;
+  G(1,5) = 0;
+
+  G(2,0) = -(dt*dt*sin(pt))/2;
+  G(2,1) = (dt*dt*cos(pt)*sin(ro))/2;
+  G(2,2) = (dt*dt*cos(pt)*cos(ro))/2;
+  G(2,3) = 0;
+  G(2,4) = 0;
+  G(2,5) = 0;
+
+  G(3,0) = 0;
+  G(3,1) = 0;
+  G(3,2) = 0;
+  G(3,3) = dt;
+  G(3,4) = (dt*(cos(pt - ro)/2 - cos(pt + ro)/2))/cos(pt);
+  G(3,5) = (dt*(sin(pt - ro)/2 + sin(pt + ro)/2))/cos(pt);
+
+  G(4,0) = 0;
+  G(4,1) = 0;
+  G(4,2) = 0;
+  G(4,3) = 0;
+  G(4,4) = dt*cos(ro);
+  G(4,5) = -dt*sin(ro);
+
+  G(5,0) = 0;
+  G(5,1) = 0;
+  G(5,2) = 0;
+  G(5,3) = 0;
+  G(5,4) = (dt*sin(ro))/cos(pt);
+  G(5,5) = (dt*cos(ro))/cos(pt);
+
+  G(6,0) = dt*cos(pt)*cos(ya);
+  G(6,1) = -dt*(cos(ro)*sin(ya) - cos(ya)*sin(pt)*sin(ro)); 
+  G(6,2) = dt*(sin(ro)*sin(ya) + cos(ro)*cos(ya)*sin(pt));
+  G(6,3) = 0;
+  G(6,4) = 0;
+  G(6,5) = 0;
+
+  G(7,0) = dt*cos(pt)*sin(ya);
+  G(7,1) = dt*(cos(ro)*cos(ya) + sin(pt)*sin(ro)*sin(ya));
+  G(7,2) = -dt*(cos(ya)*sin(ro) - cos(ro)*sin(pt)*sin(ya));
+  G(7,3) = 0;
+  G(7,4) = 0;
+  G(7,5) = 0;
+
+  G(8,0) = -dt*sin(pt);
+  G(8,1) = dt*cos(pt)*sin(ro); 
+  G(8,2) = dt*cos(pt)*cos(ro);
+  G(8,3) = 0;
+  G(8,4) = 0;
+  G(8,5) = 0;
+
+  return G;
+}
+
+colvec state_measure(const colvec& X)
+{
+  colvec Z = X.rows(0,5);
+  return Z;
+}
+
+mat jacobianH()
+{
+  mat H = zeros<mat>(6,9);
+  H.cols(0,5) = eye<mat>(6,6);
+
+  return H;
+}
+
diff --git a/uav_simulator/Utils/rviz_plugins/CMakeLists.txt b/uav_simulator/Utils/rviz_plugins/CMakeLists.txt
new file mode 100755
index 0000000..de9a36c
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/CMakeLists.txt
@@ -0,0 +1,99 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rviz_plugins)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rviz
+  multi_map_server
+  quadrotor_msgs
+)
+
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES irobot_msgs
+  CATKIN_DEPENDS multi_map_server
+#  DEPENDS system_lib
+          message_runtime
+)
+
+###########
+## Build ##
+###########
+
+if(rviz_QT_VERSION VERSION_LESS "5")
+  message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+  find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
+  ## pull in all required include dirs, define QT_LIBRARIES, etc.
+  include(${QT_USE_FILE})
+  qt4_wrap_cpp(MOC_FILES
+    src/goal_tool.h
+    src/probmap_display.h
+    src/aerialmap_display.h
+    src/multi_probmap_display.h
+  )
+
+else()
+  message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+  find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
+  ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
+  set(QT_LIBRARIES Qt5::Widgets)
+  qt5_wrap_cpp(MOC_FILES
+    src/goal_tool.h
+    src/probmap_display.h
+    src/aerialmap_display.h
+    src/multi_probmap_display.h
+  )
+endif()
+
+## I prefer the Qt signals and slots to avoid defining "emit", "slots",
+## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
+add_definitions(-DQT_NO_KEYWORDS)
+
+## Here we specify which header files need to be run through "moc",
+## Qt's meta-object compiler.
+
+## Here we specify the list of source files, including the output of
+## the previous command which is stored in ``${MOC_FILES}``.
+set(SOURCE_FILES
+  src/pose_tool.cpp
+  src/goal_tool.cpp
+  src/probmap_display.cpp
+  src/aerialmap_display.cpp   
+  src/multi_probmap_display.cpp
+  ${MOC_FILES}
+)
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME} ${SOURCE_FILES})
+
+add_dependencies(${PROJECT_NAME} multi_map_server_generate_messages_cpp)
+
+target_link_libraries(${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+    ${QT_LIBRARIES}
+    )
+
+install(TARGETS
+  ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(FILES
+  plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY media/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/media)
+
+install(DIRECTORY icons/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons)
diff --git a/uav_simulator/Utils/rviz_plugins/config/rviz_config.rviz b/uav_simulator/Utils/rviz_plugins/config/rviz_config.rviz
new file mode 100755
index 0000000..56709f9
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/config/rviz_config.rviz
@@ -0,0 +1,1242 @@
+Panels:
+  - Class: rviz/Tool Properties
+    Expanded: ~
+    Name: Tool Properties
+    Splitter Ratio: 0.5
+  - Class: rviz/Tool Properties
+    Expanded: ~
+    Name: Tool Properties
+    Splitter Ratio: 0.5
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Basic1/Grid1
+        - /Pelican1/Map 3D Laser1
+        - /NUC1
+        - /NUC1/Multi1/Multi3DMap1/Autocompute Value Bounds1
+        - /NUC1/VINS1
+        - /NUC1/VINS1/IMU1
+        - /NUC1/VINS1/Control1
+        - /NUC1/VINS1/Control1/Robot Control1/Namespaces1
+        - /Marker1
+      Splitter Ratio: 0.5
+    Tree Height: 609
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 0.5
+          Cell Size: 1
+          Class: rviz/Grid
+          Color: 160; 160; 164
+          Enabled: true
+          Line Style:
+            Line Width: 0.03
+            Value: Lines
+          Name: Grid
+          Normal Cell Count: 0
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Plane: XY
+          Plane Cell Count: 1000
+          Reference Frame: <Fixed Frame>
+          Value: true
+        - Class: rviz/Axes
+          Enabled: true
+          Length: 10
+          Name: Axes
+          Radius: 0.01
+          Reference Frame: <Fixed Frame>
+          Value: true
+      Enabled: true
+      Name: Basic
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /odom_visualization_ukf/robot
+          Name: Robot UKF
+          Namespaces:
+            mesh: true
+          Queue Size: 100
+          Value: true
+        - Alpha: 1
+          Axes Length: 0.5
+          Axes Radius: 0.05
+          Class: rviz/Pose
+          Color: 255; 25; 0
+          Enabled: true
+          Head Length: 0.3
+          Head Radius: 0.1
+          Name: Pose UKF
+          Shaft Length: 1
+          Shaft Radius: 0.05
+          Shape: Axes
+          Topic: /odom_visualization_ukf/pose
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /odom_visualization_ukf/velocity
+          Name: Velocity UKF
+          Namespaces:
+            velocity: true
+          Queue Size: 100
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 255; 0; 0
+          Enabled: true
+          Line Style: Lines
+          Line Width: 0.03
+          Name: Path UKF
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Topic: /odom_visualization_ukf/path
+          Value: true
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /odom_visualization_ukf/covariance
+          Name: Cov UKF
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+      Enabled: true
+      Name: UKF Odom
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /odom_visualization_slam/robot
+          Name: Robot SLAM
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Alpha: 1
+          Axes Length: 0.3
+          Axes Radius: 0.12
+          Class: rviz/Pose
+          Color: 255; 25; 0
+          Enabled: true
+          Head Length: 0.3
+          Head Radius: 0.1
+          Name: Pose SLAM
+          Shaft Length: 1
+          Shaft Radius: 0.05
+          Shape: Axes
+          Topic: /odom_visualization_slam/pose
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /odom_visualization_slam/velocity
+          Name: Velocity SLAM
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 255; 255; 0
+          Enabled: true
+          Line Style: Lines
+          Line Width: 0.03
+          Name: Path SLAM
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Topic: /odom_visualization_slam/path
+          Value: true
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /odom_visualization_slam/covariance
+          Name: Cov SLAM
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+      Enabled: false
+      Name: SLAM Odom
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 0; 0; 0
+          Enabled: true
+          Line Style: Lines
+          Line Width: 0.03
+          Name: Path World
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Topic: /waypoint_generator/waypoints_vis
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 0; 255; 0
+          Enabled: true
+          Line Style: Lines
+          Line Width: 0.03
+          Name: Path Desired
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Topic: /trajectory_generator/path
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 255; 0; 255
+          Enabled: true
+          Line Style: Lines
+          Line Width: 0.03
+          Name: Path Trajectory
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Topic: /trajectory_generator/traj
+          Value: true
+      Enabled: true
+      Name: Trajectory Generator
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud
+          Color: 255; 0; 255
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Features
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.2
+          Style: Spheres
+          Topic: /visual_pose_estimator/pointcloud
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud
+          Color: 255; 255; 255
+          Color Transformer: RGBF32
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Loc Err Points
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.1
+          Style: Spheres
+          Topic: /visual_pose_estimator/loc_pointcloud
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /visual_pose_estimator/loc_connect
+          Name: Loc Err Lines
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud
+          Color: 255; 255; 255
+          Color Transformer: RGBF32
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Stereo Dense
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.1
+          Style: Boxes
+          Topic: /visual_slam/cloud_stereo
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud
+          Color: 0; 255; 0
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Stereo Sparse
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.1
+          Style: Spheres
+          Topic: /visual_slam/points_stereo
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Alpha: 0.2
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 2.8
+            Min Value: -0.8
+            Value: true
+          Axis: Z
+          Channel Name: z
+          Class: rviz/PointCloud
+          Color: 255; 255; 255
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 2
+          Min Color: 0; 0; 0
+          Min Intensity: -0.8
+          Name: Map 3D Vision
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.2
+          Style: Boxes
+          Topic: /visual_slam/map
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /visual_slam/pose_graph_odom
+          Name: SLAM Pose Graph
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /visual_slam/pose_graph_loop
+          Name: SLAM Loop CLosure
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /visual_slam/pose_graph_loop_tf
+          Name: SLAM Loop TF
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+      Enabled: true
+      Name: Hummingbird
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 0.7
+          Class: rviz_plugins/ProbMapDisplay
+          Draw Behind: false
+          Enabled: true
+          Name: Map 2D Laser
+          Topic: /map3d_visualization/map2d
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud
+          Color: 255; 255; 255
+          Color Transformer: RGBF32
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Map 3D Laser
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.1
+          Style: Spheres
+          Topic: /map3d_visualization/map3d
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 0.60212
+            Min Value: -0.161681
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/LaserScan
+          Color: 255; 0; 4
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 0; 4
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Laser Raw
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.01
+          Style: Points
+          Topic: /laser/scan
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: false
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/LaserScan
+          Color: 255; 255; 0
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 0
+          Max Intensity: 4096
+          Min Color: 255; 255; 0
+          Min Intensity: 0
+          Name: Laser
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.01
+          Style: Points
+          Topic: /laser_odom_pelican/lscan
+          Use Fixed Frame: true
+          Use rainbow: false
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud
+          Color: 255; 170; 0
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Kinect
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.01
+          Style: Points
+          Topic: /kinect/depth/points
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 255; 255; 0
+          Enabled: true
+          Line Style: Lines
+          Line Width: 0.03
+          Name: RRT* Path
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Topic: /rrts/path
+          Value: true
+        - Arrow Length: 0.3
+          Class: rviz/PoseArray
+          Color: 255; 255; 0
+          Enabled: true
+          Name: RRT* Pose
+          Topic: /rrts/path_pose
+          Value: true
+      Enabled: true
+      Name: Pelican
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /monocular_velocity_estimator/plane
+          Name: Plane
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /monocular_velocity_estimator/normal
+          Name: Normal
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /monocular_velocity_estimator/velocity
+          Name: Velocity
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+      Enabled: true
+      Name: OpticalFlow
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 0.7
+          Class: rviz_plugins/AerialMapDisplay
+          Draw Behind: true
+          Enabled: true
+          Name: AerialMapDisplay
+          Topic: /aerial_map_publisher/aerial_map
+          Value: true
+        - Class: rviz/Group
+          Displays:
+            - Class: rviz/Marker
+              Enabled: true
+              Marker Topic: /odom_visualization_ukf_laser/robot
+              Name: Robot Laser
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: true
+            - Alpha: 1
+              Axes Length: 0.5
+              Axes Radius: 0.05
+              Class: rviz/Pose
+              Color: 255; 25; 0
+              Enabled: true
+              Head Length: 0.3
+              Head Radius: 0.1
+              Name: Pose Laser
+              Shaft Length: 1
+              Shaft Radius: 0.05
+              Shape: Axes
+              Topic: /odom_visualization_ukf_laser/pose
+              Value: true
+            - Class: rviz/Marker
+              Enabled: true
+              Marker Topic: /odom_visualization_ukf_laser/velocity
+              Name: Velocity Laser
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: true
+            - Alpha: 1
+              Buffer Length: 1
+              Class: rviz/Path
+              Color: 255; 0; 0
+              Enabled: true
+              Line Style: Lines
+              Line Width: 0.03
+              Name: Path Laser
+              Offset:
+                X: 0
+                Y: 0
+                Z: 0
+              Topic: /odom_visualization_ukf_laser/path
+              Value: true
+            - Class: rviz/Marker
+              Enabled: false
+              Marker Topic: /odom_visualization_ukf_laser/covariance
+              Name: Cov Laser
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: false
+          Enabled: false
+          Name: Laser
+        - Class: rviz/Group
+          Displays:
+            - Class: rviz/Marker
+              Enabled: true
+              Marker Topic: /odom_visualization_ukf_vision/robot
+              Name: Robot Vision
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: true
+            - Alpha: 1
+              Axes Length: 0.5
+              Axes Radius: 0.05
+              Class: rviz/Pose
+              Color: 255; 25; 0
+              Enabled: true
+              Head Length: 0.3
+              Head Radius: 0.1
+              Name: Pose Vision
+              Shaft Length: 1
+              Shaft Radius: 0.05
+              Shape: Axes
+              Topic: /odom_visualization_ukf_vision/pose
+              Value: true
+            - Class: rviz/Marker
+              Enabled: false
+              Marker Topic: /odom_visualization_ukf_vision/velocity
+              Name: Velocity Vision
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: false
+            - Alpha: 1
+              Buffer Length: 1
+              Class: rviz/Path
+              Color: 0; 255; 0
+              Enabled: true
+              Line Style: Lines
+              Line Width: 0.03
+              Name: Path Vision
+              Offset:
+                X: 0
+                Y: 0
+                Z: 0
+              Topic: /odom_visualization_ukf_vision/path
+              Value: true
+            - Class: rviz/Marker
+              Enabled: false
+              Marker Topic: /odom_visualization_ukf_vision/covariance
+              Name: Cov Vision
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: false
+            - Alpha: 1
+              Autocompute Intensity Bounds: true
+              Autocompute Value Bounds:
+                Max Value: 10
+                Min Value: -10
+                Value: true
+              Axis: Z
+              Channel Name: intensity
+              Class: rviz/PointCloud
+              Color: 255; 0; 0
+              Color Transformer: FlatColor
+              Decay Time: 0
+              Enabled: true
+              Invert Rainbow: false
+              Max Color: 255; 255; 255
+              Max Intensity: 4096
+              Min Color: 0; 0; 0
+              Min Intensity: 0
+              Name: Stereo Features
+              Position Transformer: XYZ
+              Queue Size: 10
+              Selectable: true
+              Size (Pixels): 10
+              Size (m): 0.2
+              Style: Points
+              Topic: /stereo_pose_estimator/pointcloud
+              Use Fixed Frame: true
+              Use rainbow: true
+              Value: true
+          Enabled: true
+          Name: Vision
+        - Class: rviz/Group
+          Displays:
+            - Class: rviz/Marker
+              Enabled: true
+              Marker Topic: /odom_visualization_ukf_gps/robot
+              Name: Robot GPS
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: true
+            - Alpha: 1
+              Axes Length: 0.5
+              Axes Radius: 0.05
+              Class: rviz/Pose
+              Color: 255; 25; 0
+              Enabled: true
+              Head Length: 0.3
+              Head Radius: 0.1
+              Name: Pose GPS
+              Shaft Length: 1
+              Shaft Radius: 0.05
+              Shape: Axes
+              Topic: /odom_visualization_ukf_gps/pose
+              Value: true
+            - Class: rviz/Marker
+              Enabled: true
+              Marker Topic: /odom_visualization_ukf_gps/velocity
+              Name: Velocity GPS
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: true
+            - Alpha: 1
+              Buffer Length: 1
+              Class: rviz/Path
+              Color: 255; 255; 0
+              Enabled: true
+              Line Style: Lines
+              Line Width: 0.03
+              Name: Path GPS
+              Offset:
+                X: 0
+                Y: 0
+                Z: 0
+              Topic: /odom_visualization_ukf_gps/path
+              Value: true
+            - Class: rviz/Marker
+              Enabled: true
+              Marker Topic: /odom_visualization_ukf_gps/covariance
+              Name: Cov GPS
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: true
+          Enabled: false
+          Name: GPS
+        - Class: rviz/Group
+          Displays:
+            - Class: rviz/Marker
+              Enabled: true
+              Marker Topic: /odom_visualization_ukf_multi/robot
+              Name: Robot Multi
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: true
+            - Alpha: 1
+              Axes Length: 0.5
+              Axes Radius: 0.05
+              Class: rviz/Pose
+              Color: 255; 25; 0
+              Enabled: true
+              Head Length: 0.3
+              Head Radius: 0.1
+              Name: Pose Multi
+              Shaft Length: 1
+              Shaft Radius: 0.05
+              Shape: Axes
+              Topic: /odom_visualization_ukf_multi/pose
+              Value: true
+            - Class: rviz/Marker
+              Enabled: true
+              Marker Topic: /odom_visualization_ukf_multi/velocity
+              Name: Velocity Multi
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: true
+            - Alpha: 1
+              Buffer Length: 1
+              Class: rviz/Path
+              Color: 255; 0; 0
+              Enabled: true
+              Line Style: Lines
+              Line Width: 0.03
+              Name: Path Multi
+              Offset:
+                X: 0
+                Y: 0
+                Z: 0
+              Topic: /odom_visualization_ukf_multi/path
+              Value: true
+            - Class: rviz/Marker
+              Enabled: false
+              Marker Topic: /odom_visualization_ukf_multi/trajectory
+              Name: Traj Multi
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: false
+            - Class: rviz/Marker
+              Enabled: true
+              Marker Topic: /odom_visualization_ukf_multi/covariance
+              Name: Cov Multi
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: true
+            - Class: rviz/Marker
+              Enabled: false
+              Marker Topic: /odom_visualization_ukf_multi/covariance_velocity
+              Name: Cov Vel Multi
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: false
+            - Class: rviz/Marker
+              Enabled: false
+              Marker Topic: /multi_sensor_slam/graph
+              Name: SLAM Graph
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: false
+            - Class: rviz_plugins/MultiProbMapDisplay
+              Draw Behind: true
+              Enabled: true
+              Name: MultiProbMapDisplay
+              Topic: /multi_map_visualization/maps2d
+              Value: true
+            - Alpha: 1
+              Autocompute Intensity Bounds: true
+              Autocompute Value Bounds:
+                Max Value: 2.15
+                Min Value: -0.35
+                Value: true
+              Axis: Z
+              Channel Name: intensity
+              Class: rviz/PointCloud
+              Color: 255; 255; 255
+              Color Transformer: AxisColor
+              Decay Time: 0
+              Enabled: true
+              Invert Rainbow: false
+              Max Color: 255; 255; 255
+              Max Intensity: 4096
+              Min Color: 0; 0; 0
+              Min Intensity: 0
+              Name: Multi3DMap
+              Position Transformer: XYZ
+              Queue Size: 10
+              Selectable: true
+              Size (Pixels): 3
+              Size (m): 0.1
+              Style: Spheres
+              Topic: /multi_map_visualization/map3d
+              Use Fixed Frame: true
+              Use rainbow: true
+              Value: true
+            - Alpha: 0.5
+              Buffer Length: 1
+              Class: rviz/Range
+              Color: 255; 0; 255
+              Enabled: true
+              Name: Laser Height
+              Queue Size: 100
+              Topic: /odom_visualization_ukf_multi/height
+              Value: true
+            - Class: rviz/Marker
+              Enabled: true
+              Marker Topic: /odom_visualization_ukf_multi/sensor
+              Name: Sensor Availability
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: true
+          Enabled: true
+          Name: Multi
+        - Class: rviz/Group
+          Displays:
+            - Class: rviz/Group
+              Displays:
+                - Class: rviz/Marker
+                  Enabled: true
+                  Marker Topic: /odom_visualization_vins/robot
+                  Name: Robot VINS
+                  Namespaces:
+                    {}
+                  Queue Size: 100
+                  Value: true
+                - Alpha: 1
+                  Axes Length: 0.5
+                  Axes Radius: 0.05
+                  Class: rviz/Pose
+                  Color: 255; 25; 0
+                  Enabled: true
+                  Head Length: 0.3
+                  Head Radius: 0.1
+                  Name: Pose VINS
+                  Shaft Length: 1
+                  Shaft Radius: 0.05
+                  Shape: Axes
+                  Topic: /odom_visualization_vins/pose
+                  Value: true
+                - Class: rviz/Marker
+                  Enabled: true
+                  Marker Topic: /odom_visualization_vins/velocity
+                  Name: Velocity VINS
+                  Namespaces:
+                    {}
+                  Queue Size: 100
+                  Value: true
+                - Alpha: 1
+                  Buffer Length: 1
+                  Class: rviz/Path
+                  Color: 255; 0; 0
+                  Enabled: false
+                  Line Style: Lines
+                  Line Width: 0.03
+                  Name: Path VINS
+                  Offset:
+                    X: 0
+                    Y: 0
+                    Z: 0
+                  Topic: /odom_visualization_vins/path
+                  Value: false
+                - Alpha: 1
+                  Autocompute Intensity Bounds: true
+                  Autocompute Value Bounds:
+                    Max Value: 10
+                    Min Value: -10
+                    Value: true
+                  Axis: Z
+                  Channel Name: intensity
+                  Class: rviz/PointCloud
+                  Color: 255; 0; 0
+                  Color Transformer: FlatColor
+                  Decay Time: 0
+                  Enabled: true
+                  Invert Rainbow: false
+                  Max Color: 0; 255; 0
+                  Max Intensity: 4096
+                  Min Color: 0; 0; 0
+                  Min Intensity: 0
+                  Name: Cloud VINS
+                  Position Transformer: XYZ
+                  Queue Size: 10
+                  Selectable: true
+                  Size (Pixels): 3
+                  Size (m): 0.1
+                  Style: Spheres
+                  Topic: /monocular_vins_estimator/cloud
+                  Use Fixed Frame: true
+                  Use rainbow: true
+                  Value: true
+                - Arrow Length: 0.3
+                  Class: rviz/PoseArray
+                  Color: 255; 0; 0
+                  Enabled: true
+                  Name: Poses VINS
+                  Topic: /monocular_vins_estimator/poses
+                  Value: true
+              Enabled: true
+              Name: VINS
+            - Class: rviz/Group
+              Displays:
+                - Class: rviz/Marker
+                  Enabled: true
+                  Marker Topic: /odom_visualization_nonlinear/robot
+                  Name: Robot Nonlinear
+                  Namespaces:
+                    {}
+                  Queue Size: 100
+                  Value: true
+                - Alpha: 1
+                  Axes Length: 0.5
+                  Axes Radius: 0.05
+                  Class: rviz/Pose
+                  Color: 255; 25; 0
+                  Enabled: true
+                  Head Length: 0.3
+                  Head Radius: 0.1
+                  Name: Pose Nonlinear
+                  Shaft Length: 1
+                  Shaft Radius: 0.05
+                  Shape: Axes
+                  Topic: /odom_visualization_nonlinear/pose
+                  Value: true
+                - Class: rviz/Marker
+                  Enabled: true
+                  Marker Topic: /odom_visualization_nonlinear/velocity
+                  Name: Velocity Nonlinear
+                  Namespaces:
+                    {}
+                  Queue Size: 100
+                  Value: true
+                - Alpha: 1
+                  Buffer Length: 1
+                  Class: rviz/Path
+                  Color: 0; 255; 0
+                  Enabled: true
+                  Line Style: Lines
+                  Line Width: 0.03
+                  Name: Path
+                  Offset:
+                    X: 0
+                    Y: 0
+                    Z: 0
+                  Topic: /odom_visualization_nonlinear/path
+                  Value: true
+                - Alpha: 1
+                  Autocompute Intensity Bounds: true
+                  Autocompute Value Bounds:
+                    Max Value: 10
+                    Min Value: -10
+                    Value: true
+                  Axis: Z
+                  Channel Name: intensity
+                  Class: rviz/PointCloud
+                  Color: 0; 255; 0
+                  Color Transformer: FlatColor
+                  Decay Time: 0
+                  Enabled: true
+                  Invert Rainbow: false
+                  Max Color: 255; 255; 255
+                  Max Intensity: 4096
+                  Min Color: 0; 0; 0
+                  Min Intensity: 0
+                  Name: Cloud Nonlinear
+                  Position Transformer: XYZ
+                  Queue Size: 10
+                  Selectable: true
+                  Size (Pixels): 3
+                  Size (m): 0.1
+                  Style: Spheres
+                  Topic: /monocular_vins_estimator/cloud_nonlinear
+                  Use Fixed Frame: true
+                  Use rainbow: true
+                  Value: true
+                - Arrow Length: 0.3
+                  Class: rviz/PoseArray
+                  Color: 0; 255; 0
+                  Enabled: true
+                  Name: Poses Nonlinear
+                  Topic: /monocular_vins_estimator/poses_nonlinear
+                  Value: true
+              Enabled: true
+              Name: Nonlinear
+            - Class: rviz/Group
+              Displays:
+                - Class: rviz/Marker
+                  Enabled: true
+                  Marker Topic: /odom_visualization_imu/robot
+                  Name: Robot IMU
+                  Namespaces:
+                    {}
+                  Queue Size: 100
+                  Value: true
+                - Alpha: 1
+                  Axes Length: 0.5
+                  Axes Radius: 0.05
+                  Class: rviz/Pose
+                  Color: 255; 25; 0
+                  Enabled: false
+                  Head Length: 0.3
+                  Head Radius: 0.1
+                  Name: Pose IMU
+                  Shaft Length: 1
+                  Shaft Radius: 0.05
+                  Shape: Axes
+                  Topic: /odom_visualization_imu/pose
+                  Value: false
+                - Class: rviz/Marker
+                  Enabled: true
+                  Marker Topic: /odom_visualization_imu/velocity
+                  Name: Velocity IMU
+                  Namespaces:
+                    {}
+                  Queue Size: 100
+                  Value: true
+                - Alpha: 1
+                  Buffer Length: 1
+                  Class: rviz/Path
+                  Color: 255; 255; 0
+                  Enabled: false
+                  Line Style: Lines
+                  Line Width: 0.03
+                  Name: Path IMU
+                  Offset:
+                    X: 0
+                    Y: 0
+                    Z: 0
+                  Topic: /odom_visualization_imu/path
+                  Value: false
+              Enabled: false
+              Name: IMU
+            - Class: rviz/Group
+              Displays:
+                - Class: rviz/Marker
+                  Enabled: true
+                  Marker Topic: /odom_visualization_control/robot
+                  Name: Robot Control
+                  Namespaces:
+                    {}
+                  Queue Size: 100
+                  Value: true
+                - Alpha: 1
+                  Axes Length: 0.75
+                  Axes Radius: 0.075
+                  Class: rviz/Pose
+                  Color: 0; 0; 255
+                  Enabled: false
+                  Head Length: 0.3
+                  Head Radius: 0.1
+                  Name: Pose Control
+                  Shaft Length: 0.5
+                  Shaft Radius: 0.05
+                  Shape: Axes
+                  Topic: /odom_visualization_control/pose
+                  Value: false
+                - Class: rviz/Marker
+                  Enabled: false
+                  Marker Topic: /odom_visualization_control/velocity
+                  Name: Velocity Control
+                  Namespaces:
+                    {}
+                  Queue Size: 100
+                  Value: false
+                - Alpha: 1
+                  Buffer Length: 1
+                  Class: rviz/Path
+                  Color: 0; 0; 255
+                  Enabled: false
+                  Line Style: Lines
+                  Line Width: 0.03
+                  Name: Path Control
+                  Offset:
+                    X: 0
+                    Y: 0
+                    Z: 0
+                  Topic: /odom_visualization_control/path
+                  Value: false
+              Enabled: false
+              Name: Control
+          Enabled: true
+          Name: VINS
+      Enabled: true
+      Name: NUC
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /irobot/irobot_marker
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 61; 61; 61
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/MoveCamera
+    - Class: rviz_plugins/Goal3DTool
+      Topic: goal
+    - Class: rviz/SetInitialPose
+      Topic: trigger
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 0.0262036
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 4.92202
+        Y: -11.2494
+        Z: 11.5579
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.674797
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.72857
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 744
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000010000000000000190000002a2fc020000000ffb0000000a0049006d0061006700650000000041000001760000000000000000fb000000100044006900730070006c0061007900730100000028000002a2000000dd00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000001c5000000810000006400fffffffb0000000a0049006d00610067006501000001fc0000011d0000000000000000fb0000000a0049006d0061006700650100000154000000e90000000000000000fb0000000a0049006d0061006700650100000211000001080000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000041000004f40000006400fffffffb000000100044006900730070006c0061007900730100000041000002d80000000000000000fb0000000a0049006d00610067006501000001db0000013e0000000000000000fb0000000a0049006d0061006700650100000186000001930000000000000000fb0000000a00560069006500770073000000017c0000019d000000b000fffffffb0000000a0049006d00610067006501000001da0000013f0000000000000000fb0000000a0049006d006100670065010000027d0000009c0000000000000000fb0000000a0049006d00610067006501000001d2000001470000000000000000fb0000000a0049006d00610067006501000001af0000016a000000000000000000000383000002a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1305
+  X: 61
+  Y: 24
diff --git a/uav_simulator/Utils/rviz_plugins/package.xml b/uav_simulator/Utils/rviz_plugins/package.xml
new file mode 100755
index 0000000..540a15f
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/package.xml
@@ -0,0 +1,34 @@
+<package>
+  <name> rviz_plugins </name>
+  <description>
+
+    Additional plugins for rviz
+
+  </description>
+  <version>0.1.0</version>
+  <maintainer email="eeshaojie@ust.hk">Shaojie Shen</maintainer>
+  <maintainer email="wwuar@connect.ust.hk">william.wu</maintainer>
+  <license>LGPLv3</license>
+  <url>http://ros.org/wiki/rviz_plugins</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>rviz            </build_depend>
+  <build_depend>roscpp          </build_depend>
+  <build_depend>multi_map_server</build_depend>
+  <build_depend>qtbase5-dev     </build_depend>
+  <build_depend>message_runtime </build_depend>
+  <build_depend>quadrotor_msgs </build_depend>
+  
+  <run_depend>rviz              </run_depend>
+  <run_depend>multi_map_server  </run_depend>
+  <run_depend>message_runtime   </run_depend>
+  <run_depend>roscpp            </run_depend>
+  <run_depend>libqt5-core       </run_depend>
+  <run_depend>libqt5-gui        </run_depend>
+  <run_depend>libqt5-widgets    </run_depend>
+
+  <export>
+      <rviz plugin="${prefix}/plugin_description.xml"/>
+  </export>
+</package>
diff --git a/uav_simulator/Utils/rviz_plugins/plugin_description.xml b/uav_simulator/Utils/rviz_plugins/plugin_description.xml
new file mode 100755
index 0000000..26acf43
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/plugin_description.xml
@@ -0,0 +1,42 @@
+<library path="lib/librviz_plugins">
+  <class name="rviz_plugins/Goal3DTool"
+         type="rviz::Goal3DTool"
+         base_class_type="rviz::Tool">
+    <description>
+      Tool for setting 3D goal
+    </description>
+  </class>
+
+  <class name="rviz_plugins/ProbMapDisplay"
+         type="rviz::ProbMapDisplay"
+         base_class_type="rviz::Display">
+    <description>
+      Display of -inf +inf probabilistic occupancy grid map
+    </description>
+  </class>
+
+  <class name="rviz_plugins/GameLikeInput"
+         type="GameLikeInput"
+         base_class_type="rviz::Tool">
+    <description>
+      game usage
+    </description>
+  </class>
+
+  <class name="rviz_plugins/AerialMapDisplay"
+         type="rviz::AerialMapDisplay"
+         base_class_type="rviz::Display">
+    <description>
+      Display of aerial map
+    </description>
+  </class>  
+
+  <class name="rviz_plugins/MultiProbMapDisplay"
+         type="rviz::MultiProbMapDisplay"
+         base_class_type="rviz::Display">
+    <description>
+      Display of multiple -inf +inf probabilistic occupancy grid map
+    </description>
+  </class>
+
+</library>
diff --git a/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.cpp b/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.cpp
new file mode 100755
index 0000000..8ef2441
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.cpp
@@ -0,0 +1,573 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <boost/bind.hpp>
+
+#include <OGRE/OgreManualObject.h>
+#include <OGRE/OgreMaterialManager.h>
+#include <OGRE/OgreSceneManager.h>
+#include <OGRE/OgreSceneNode.h>
+#include <OGRE/OgreTextureManager.h>
+
+#include <ros/ros.h>
+
+#include <tf/transform_listener.h>
+
+#include "rviz/display_context.h"
+#include "rviz/frame_manager.h"
+#include "rviz/ogre_helpers/grid.h"
+#include "rviz/properties/float_property.h"
+#include "rviz/properties/int_property.h"
+#include "rviz/properties/property.h"
+#include "rviz/properties/quaternion_property.h"
+#include "rviz/properties/ros_topic_property.h"
+#include "rviz/properties/vector_property.h"
+#include "rviz/validate_floats.h"
+
+#include "aerialmap_display.h"
+
+namespace rviz
+{
+
+AerialMapDisplay::AerialMapDisplay()
+  : Display()
+  , manual_object_(NULL)
+  //! @bug cannot compile @gcc-5 or later, material_(0)
+  , loaded_(false)
+  , resolution_(0.0f)
+  , width_(0)
+  , height_(0)
+  , position_(Ogre::Vector3::ZERO)
+  , orientation_(Ogre::Quaternion::IDENTITY)
+  , new_map_(false)
+{
+  topic_property_ = new RosTopicProperty(
+    "Topic", "", QString::fromStdString(
+                   ros::message_traits::datatype<nav_msgs::OccupancyGrid>()),
+    "nav_msgs::OccupancyGrid topic to subscribe to.", this,
+    SLOT(updateTopic()));
+
+  alpha_property_ = new FloatProperty(
+    "Alpha", 0.7, "Amount of transparency to apply to the map.", this,
+    SLOT(updateAlpha()));
+  alpha_property_->setMin(0);
+  alpha_property_->setMax(1);
+
+  draw_under_property_ =
+    new Property("Draw Behind", false,
+                 "Rendering option, controls whether or not the map is always"
+                 " drawn behind everything else.",
+                 this, SLOT(updateDrawUnder()));
+
+  resolution_property_ = new FloatProperty(
+    "Resolution", 0, "Resolution of the map. (not editable)", this);
+  resolution_property_->setReadOnly(true);
+
+  width_property_ = new IntProperty(
+    "Width", 0, "Width of the map, in meters. (not editable)", this);
+  width_property_->setReadOnly(true);
+
+  height_property_ = new IntProperty(
+    "Height", 0, "Height of the map, in meters. (not editable)", this);
+  height_property_->setReadOnly(true);
+
+  position_property_ = new VectorProperty(
+    "Position", Ogre::Vector3::ZERO,
+    "Position of the bottom left corner of the map, in meters. (not editable)",
+    this);
+  position_property_->setReadOnly(true);
+
+  orientation_property_ =
+    new QuaternionProperty("Orientation", Ogre::Quaternion::IDENTITY,
+                           "Orientation of the map. (not editable)", this);
+  orientation_property_->setReadOnly(true);
+}
+
+AerialMapDisplay::~AerialMapDisplay()
+{
+  unsubscribe();
+  clear();
+}
+
+void
+AerialMapDisplay::onInitialize()
+{
+  static int        count = 0;
+  std::stringstream ss;
+  ss << "AerialMapObjectMaterial" << count++;
+  material_ = Ogre::MaterialManager::getSingleton().create(
+    ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+  material_->setReceiveShadows(false);
+  material_->getTechnique(0)->setLightingEnabled(false);
+  material_->setDepthBias(-16.0f, 0.0f);
+  material_->setCullingMode(Ogre::CULL_NONE);
+  material_->setDepthWriteEnabled(false);
+
+  updateAlpha();
+}
+
+void
+AerialMapDisplay::onEnable()
+{
+  subscribe();
+}
+
+void
+AerialMapDisplay::onDisable()
+{
+  unsubscribe();
+  clear();
+}
+
+void
+AerialMapDisplay::subscribe()
+{
+  if (!isEnabled())
+  {
+    return;
+  }
+
+  if (!topic_property_->getTopic().isEmpty())
+  {
+    try
+    {
+      map_sub_ =
+        update_nh_.subscribe(topic_property_->getTopicStd(), 1,
+                             &AerialMapDisplay::incomingAerialMap, this);
+      setStatus(StatusProperty::Ok, "Topic", "OK");
+    }
+    catch (ros::Exception& e)
+    {
+      setStatus(StatusProperty::Error, "Topic",
+                QString("Error subscribing: ") + e.what());
+    }
+  }
+}
+
+void
+AerialMapDisplay::unsubscribe()
+{
+  map_sub_.shutdown();
+}
+
+void
+AerialMapDisplay::updateAlpha()
+{
+  float alpha = alpha_property_->getFloat();
+
+  Ogre::Pass*             pass     = material_->getTechnique(0)->getPass(0);
+  Ogre::TextureUnitState* tex_unit = NULL;
+  if (pass->getNumTextureUnitStates() > 0)
+  {
+    tex_unit = pass->getTextureUnitState(0);
+  }
+  else
+  {
+    tex_unit = pass->createTextureUnitState();
+  }
+
+  tex_unit->setAlphaOperation(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
+                              Ogre::LBS_CURRENT, alpha);
+
+  if (alpha < 0.9998)
+  {
+    material_->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
+    material_->setDepthWriteEnabled(false);
+  }
+  else
+  {
+    material_->setSceneBlending(Ogre::SBT_REPLACE);
+    material_->setDepthWriteEnabled(!draw_under_property_->getValue().toBool());
+  }
+}
+
+void
+AerialMapDisplay::updateDrawUnder()
+{
+  bool draw_under = draw_under_property_->getValue().toBool();
+
+  if (alpha_property_->getFloat() >= 0.9998)
+  {
+    material_->setDepthWriteEnabled(!draw_under);
+  }
+
+  if (manual_object_)
+  {
+    if (draw_under)
+    {
+      manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_4);
+    }
+    else
+    {
+      manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_MAIN);
+    }
+  }
+}
+
+void
+AerialMapDisplay::updateTopic()
+{
+  unsubscribe();
+  subscribe();
+  clear();
+}
+
+void
+AerialMapDisplay::clear()
+{
+  setStatus(StatusProperty::Warn, "Message", "No map received");
+
+  if (!loaded_)
+  {
+    return;
+  }
+
+  scene_manager_->destroyManualObject(manual_object_);
+  manual_object_ = NULL;
+
+  std::string tex_name = texture_->getName();
+  texture_.setNull();
+  Ogre::TextureManager::getSingleton().unload(tex_name);
+
+  loaded_ = false;
+}
+/*
+bool validateFloats(const nav_msgs::OccupancyGrid& msg)
+{
+  bool valid = true;
+  valid = valid && validateFloats( msg.info.resolution );
+  valid = valid && validateFloats( msg.info.origin );
+  return valid;
+}
+*/
+void
+AerialMapDisplay::update(float wall_dt, float ros_dt)
+{
+  {
+    boost::mutex::scoped_lock lock(mutex_);
+
+    current_map_ = updated_map_;
+  }
+
+  if (!current_map_ || !new_map_)
+  {
+    return;
+  }
+
+  if (current_map_->data.empty())
+  {
+    return;
+  }
+
+  new_map_ = false;
+  /*
+    if( !validateFloats( *current_map_ ))
+    {
+      setStatus( StatusProperty::Error, "Map", "Message contained invalid
+    floating point values (nans or infs)" );
+      return;
+    }
+  */
+  if (current_map_->info.width * current_map_->info.height == 0)
+  {
+    std::stringstream ss;
+    ss << "AerialMap is zero-sized (" << current_map_->info.width << "x"
+       << current_map_->info.height << ")";
+    setStatus(StatusProperty::Error, "AerialMap",
+              QString::fromStdString(ss.str()));
+    return;
+  }
+
+  clear();
+
+  setStatus(StatusProperty::Ok, "Message", "AerialMap received");
+
+  ROS_DEBUG("Received a %d X %d map @ %.3f m/pix\n", current_map_->info.width,
+            current_map_->info.height, current_map_->info.resolution);
+
+  float resolution = current_map_->info.resolution;
+
+  int width  = current_map_->info.width;
+  int height = current_map_->info.height;
+
+  Ogre::Vector3 position(current_map_->info.origin.position.x,
+                         current_map_->info.origin.position.y,
+                         current_map_->info.origin.position.z);
+  Ogre::Quaternion orientation(current_map_->info.origin.orientation.w,
+                               current_map_->info.origin.orientation.x,
+                               current_map_->info.origin.orientation.y,
+                               current_map_->info.origin.orientation.z);
+  frame_ = current_map_->header.frame_id;
+  if (frame_.empty())
+  {
+    frame_ = "/map";
+  }
+
+  // Expand it to be RGB data
+  unsigned int   pixels_size = width * height * 3;
+  unsigned char* pixels      = new unsigned char[pixels_size];
+  memset(pixels, 255, pixels_size);
+
+  bool         map_status_set     = false;
+  unsigned int num_pixels_to_copy = pixels_size;
+  if (pixels_size != current_map_->data.size())
+  {
+    std::stringstream ss;
+    ss << "Data size doesn't match width*height: width = " << width
+       << ", height = " << height
+       << ", data size = " << current_map_->data.size();
+    setStatus(StatusProperty::Error, "AerialMap",
+              QString::fromStdString(ss.str()));
+    map_status_set = true;
+
+    // Keep going, but don't read past the end of the data.
+    if (current_map_->data.size() < pixels_size)
+    {
+      num_pixels_to_copy = current_map_->data.size();
+    }
+  }
+
+  // TODO: a fragment shader could do this on the video card, and
+  // would allow a non-grayscale color to mark the out-of-range
+  // values.
+  for (unsigned int pixel_index = 0; pixel_index < num_pixels_to_copy;
+       pixel_index++)
+  {
+    /*
+        unsigned char val;
+        int8_t data = current_map_->data[ pixel_index ];
+        if(data > 0)
+          val = 0;
+        else if(data < 0)
+          val = 255;
+        else
+          val = 127;
+        pixels[ pixel_index ] = val;
+    */
+    pixels[pixel_index] = current_map_->data[pixel_index];
+  }
+
+  Ogre::DataStreamPtr pixel_stream;
+  pixel_stream.bind(new Ogre::MemoryDataStream(pixels, pixels_size));
+  static int        tex_count = 0;
+  std::stringstream ss;
+  ss << "AerialMapTexture" << tex_count++;
+  try
+  {
+    texture_ = Ogre::TextureManager::getSingleton().loadRawData(
+      ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
+      pixel_stream, width, height, Ogre::PF_R8G8B8, Ogre::TEX_TYPE_2D, 0);
+
+    if (!map_status_set)
+    {
+      setStatus(StatusProperty::Ok, "AerialMap", "AerialMap OK");
+    }
+  }
+  catch (Ogre::RenderingAPIException&)
+  {
+    Ogre::Image image;
+    pixel_stream->seek(0);
+    float fwidth  = width;
+    float fheight = height;
+    if (width > height)
+    {
+      float aspect = fheight / fwidth;
+      fwidth       = 2048;
+      fheight      = fwidth * aspect;
+    }
+    else
+    {
+      float aspect = fwidth / fheight;
+      fheight      = 2048;
+      fwidth       = fheight * aspect;
+    }
+
+    {
+      std::stringstream ss;
+      ss << "AerialMap is larger than your graphics card supports.  "
+            "Downsampled from ["
+         << width << "x" << height << "] to [" << fwidth << "x" << fheight
+         << "]";
+      setStatus(StatusProperty::Ok, "AerialMap",
+                QString::fromStdString(ss.str()));
+    }
+
+    ROS_WARN("Failed to create full-size map texture, likely because your "
+             "graphics card does not support textures of size > 2048.  "
+             "Downsampling to [%d x %d]...",
+             (int)fwidth, (int)fheight);
+    // ROS_INFO("Stream size [%d], width [%f], height [%f], w * h [%f]",
+    // pixel_stream->size(), width, height, width * height);
+    image.loadRawData(pixel_stream, width, height, Ogre::PF_R8G8B8);
+    image.resize(fwidth, fheight, Ogre::Image::FILTER_NEAREST);
+    ss << "Downsampled";
+    texture_ = Ogre::TextureManager::getSingleton().loadImage(
+      ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, image);
+  }
+
+  delete[] pixels;
+
+  Ogre::Pass*             pass     = material_->getTechnique(0)->getPass(0);
+  Ogre::TextureUnitState* tex_unit = NULL;
+  if (pass->getNumTextureUnitStates() > 0)
+  {
+    tex_unit = pass->getTextureUnitState(0);
+  }
+  else
+  {
+    tex_unit = pass->createTextureUnitState();
+  }
+
+  tex_unit->setTextureName(texture_->getName());
+  tex_unit->setTextureFiltering(Ogre::TFO_NONE);
+
+  static int        map_count = 0;
+  std::stringstream ss2;
+  ss2 << "AerialMapObject" << map_count++;
+  manual_object_ = scene_manager_->createManualObject(ss2.str());
+  scene_node_->attachObject(manual_object_);
+
+  manual_object_->begin(material_->getName(),
+                        Ogre::RenderOperation::OT_TRIANGLE_LIST);
+  {
+    // First triangle
+    {
+      // Bottom left
+      manual_object_->position(0.0f, 0.0f, 0.0f);
+      manual_object_->textureCoord(0.0f, 0.0f);
+      manual_object_->normal(0.0f, 0.0f, 1.0f);
+
+      // Top right
+      manual_object_->position(resolution * width, resolution * height, 0.0f);
+      manual_object_->textureCoord(1.0f, 1.0f);
+      manual_object_->normal(0.0f, 0.0f, 1.0f);
+
+      // Top left
+      manual_object_->position(0.0f, resolution * height, 0.0f);
+      manual_object_->textureCoord(0.0f, 1.0f);
+      manual_object_->normal(0.0f, 0.0f, 1.0f);
+    }
+
+    // Second triangle
+    {
+      // Bottom left
+      manual_object_->position(0.0f, 0.0f, 0.0f);
+      manual_object_->textureCoord(0.0f, 0.0f);
+      manual_object_->normal(0.0f, 0.0f, 1.0f);
+
+      // Bottom right
+      manual_object_->position(resolution * width, 0.0f, 0.0f);
+      manual_object_->textureCoord(1.0f, 0.0f);
+      manual_object_->normal(0.0f, 0.0f, 1.0f);
+
+      // Top right
+      manual_object_->position(resolution * width, resolution * height, 0.0f);
+      manual_object_->textureCoord(1.0f, 1.0f);
+      manual_object_->normal(0.0f, 0.0f, 1.0f);
+    }
+  }
+  manual_object_->end();
+
+  if (draw_under_property_->getValue().toBool())
+  {
+    manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_4);
+  }
+
+  resolution_property_->setValue(resolution);
+  width_property_->setValue(width);
+  height_property_->setValue(height);
+  position_property_->setVector(position);
+  orientation_property_->setQuaternion(orientation);
+
+  transformAerialMap();
+
+  loaded_ = true;
+
+  context_->queueRender();
+}
+
+void
+AerialMapDisplay::incomingAerialMap(
+  const nav_msgs::OccupancyGrid::ConstPtr& msg)
+{
+
+  updated_map_ = msg;
+  boost::mutex::scoped_lock lock(mutex_);
+  new_map_ = true;
+}
+
+void
+AerialMapDisplay::transformAerialMap()
+{
+  if (!current_map_)
+  {
+    return;
+  }
+
+  Ogre::Vector3    position;
+  Ogre::Quaternion orientation;
+  if (!context_->getFrameManager()->transform(
+        frame_, ros::Time(), current_map_->info.origin, position, orientation))
+  {
+    ROS_DEBUG("Error transforming map '%s' from frame '%s' to frame '%s'",
+              qPrintable(getName()), frame_.c_str(), qPrintable(fixed_frame_));
+
+    setStatus(StatusProperty::Error, "Transform",
+              "No transform from [" + QString::fromStdString(frame_) +
+                "] to [" + fixed_frame_ + "]");
+  }
+  else
+  {
+    setStatus(StatusProperty::Ok, "Transform", "Transform OK");
+  }
+
+  scene_node_->setPosition(position);
+  scene_node_->setOrientation(orientation);
+}
+
+void
+AerialMapDisplay::fixedFrameChanged()
+{
+  transformAerialMap();
+}
+
+void
+AerialMapDisplay::reset()
+{
+  Display::reset();
+
+  clear();
+  // Force resubscription so that the map will be re-sent
+  updateTopic();
+}
+
+} // namespace rviz
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(rviz::AerialMapDisplay, rviz::Display)
diff --git a/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.h b/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.h
new file mode 100755
index 0000000..72504f1
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.h
@@ -0,0 +1,134 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef AERIAL_MAP_DISPLAY_H
+#define AERIAL_MAP_DISPLAY_H
+
+#include <OGRE/OgreTexture.h>
+#include <OGRE/OgreMaterial.h>
+#include <OGRE/OgreVector3.h>
+
+#include <nav_msgs/MapMetaData.h>
+#include <ros/time.h>
+
+#include <nav_msgs/OccupancyGrid.h>
+
+#include "rviz/display.h"
+
+namespace Ogre
+{
+class ManualObject;
+}
+
+namespace rviz
+{
+
+class FloatProperty;
+class IntProperty;
+class Property;
+class QuaternionProperty;
+class RosTopicProperty;
+class VectorProperty;
+
+/**
+ * \class AerialMapDisplay
+ * \brief Displays a map along the XY plane.
+ */
+class AerialMapDisplay: public Display
+{
+Q_OBJECT
+public:
+  AerialMapDisplay();
+  virtual ~AerialMapDisplay();
+
+  // Overrides from Display
+  virtual void onInitialize();
+  virtual void fixedFrameChanged();
+  virtual void reset();
+  virtual void update( float wall_dt, float ros_dt );
+
+  float getResolution() { return resolution_; }
+  int getWidth() { return width_; }
+  int getHeight() { return height_; }
+  Ogre::Vector3 getPosition() { return position_; }
+  Ogre::Quaternion getOrientation() { return orientation_; }
+
+protected Q_SLOTS:
+  void updateAlpha();
+  void updateTopic();
+  void updateDrawUnder();
+
+
+protected:
+  // overrides from Display
+  virtual void onEnable();
+  virtual void onDisable();
+
+  virtual void subscribe();
+  virtual void unsubscribe();
+
+  void incomingAerialMap(const nav_msgs::OccupancyGrid::ConstPtr& msg);
+
+  void clear();
+
+  void transformAerialMap();
+
+  Ogre::ManualObject* manual_object_;
+  Ogre::TexturePtr texture_;
+  Ogre::MaterialPtr material_;
+  bool loaded_;
+
+  std::string topic_;
+  float resolution_;
+  int width_;
+  int height_;
+  Ogre::Vector3 position_;
+  Ogre::Quaternion orientation_;
+  std::string frame_;
+
+  ros::Subscriber map_sub_;
+
+  RosTopicProperty* topic_property_;
+  FloatProperty* resolution_property_;
+  IntProperty* width_property_;
+  IntProperty* height_property_;
+  VectorProperty* position_property_;
+  QuaternionProperty* orientation_property_;
+  FloatProperty* alpha_property_;
+  Property* draw_under_property_;
+
+  nav_msgs::OccupancyGrid::ConstPtr updated_map_;
+  nav_msgs::OccupancyGrid::ConstPtr current_map_;
+  boost::mutex mutex_;
+  bool new_map_;
+};
+
+} // namespace rviz
+
+ #endif
diff --git a/uav_simulator/Utils/rviz_plugins/src/gamelikeinput.cpp b/uav_simulator/Utils/rviz_plugins/src/gamelikeinput.cpp
new file mode 100755
index 0000000..3f98500
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/src/gamelikeinput.cpp
@@ -0,0 +1,433 @@
+// cheat the compiler
+
+#include <QMouseEvent>
+#include <QWheelEvent>
+
+#include "rviz/selection/forwards.h"
+#include "rviz/selection/selection_manager.h"
+
+#define private public
+#include "rviz/default_plugin/markers/marker_selection_handler.h"
+#include "rviz/viewport_mouse_event.h"
+#undef private
+
+#include "gamelikeinput.hpp"
+
+#include "rviz/default_plugin/tools/move_tool.h"
+#include "rviz/display_context.h"
+#include "rviz/render_panel.h"
+#include "rviz/tool_manager.h"
+
+#include "boost/unordered_map.hpp"
+
+#include <OGRE/OgrePlane.h>
+#include <OGRE/OgreRay.h>
+#include <OGRE/OgreSceneNode.h>
+#include <OGRE/OgreViewport.h>
+
+#include "rviz/geometry.h"
+#include "rviz/load_resource.h"
+#include "rviz/ogre_helpers/arrow.h"
+#include "rviz/render_panel.h"
+#include "rviz/viewport_mouse_event.h"
+
+#include <geometry_msgs/PoseStamped.h>
+#include <tf/transform_listener.h>
+
+#include "rviz/properties/string_property.h"
+
+#include "nav_msgs/Path.h"
+#include "quadrotor_msgs/SwarmCommand.h"
+#include "std_msgs/Int32MultiArray.h"
+
+//! @todo rewrite this grabage code
+
+void
+GameLikeInput::updateTopic()
+{
+  pub_pointlist =
+    nh_.advertise<nav_msgs::Path>(topic_property_wp_->getStdString(), 1);
+
+  pub_selection = nh_.advertise<std_msgs::Int32MultiArray>(
+    topic_property_drone_->getStdString(), 1);
+
+  pub_swarm = nh_.advertise<quadrotor_msgs::SwarmCommand>(
+    topic_property_swarm_->getStdString(), 1);
+
+  z_max = property_z_max->getFloat();
+  z_min = property_z_min->getFloat();
+  y_max = property_y_max->getFloat();
+  y_min = property_y_min->getFloat();
+  x_max = property_x_max->getFloat();
+  x_min = property_x_min->getFloat();
+}
+
+GameLikeInput::GameLikeInput()
+  : rviz::SelectionTool()
+  , move_tool_(new rviz::InteractionTool())
+  , selecting_(false)
+  , sel_start_x_(0)
+  , sel_start_y_(0)
+  , moving_(false)
+{
+  shortcut_key_    = 'z';
+  access_all_keys_ = true;
+
+  topic_property_wp_ =
+    new rviz::StringProperty("TopicPoint", "point_list",
+                             "The topic on which to publish navigation goals.",
+                             getPropertyContainer(), SLOT(updateTopic()), this);
+
+  topic_property_drone_ =
+    new rviz::StringProperty("TopicSelect", "select_list",
+                             "The topic on which to publish select drone id.",
+                             getPropertyContainer(), SLOT(updateTopic()), this);
+
+  topic_property_swarm_ = new rviz::StringProperty(
+    "TopicSwarm", "swarm", "The topic on which to publish swarm command.",
+    getPropertyContainer(), SLOT(updateTopic()), this);
+
+  property_z_max = new rviz::FloatProperty(
+    "RangeZ_max", 1.7, "", getPropertyContainer(), SLOT(updateTopic()), this);
+  property_z_min = new rviz::FloatProperty(
+    "RangeZ_min", 0.8, "", getPropertyContainer(), SLOT(updateTopic()), this);
+
+  property_y_max = new rviz::FloatProperty(
+    "RangeY_max", 2.5, "", getPropertyContainer(), SLOT(updateTopic()), this);
+  property_y_min = new rviz::FloatProperty(
+    "RangeY_min", -2.5, "", getPropertyContainer(), SLOT(updateTopic()), this);
+
+  property_x_max = new rviz::FloatProperty(
+    "RangeX_max", 4, "", getPropertyContainer(), SLOT(updateTopic()), this);
+  property_x_min = new rviz::FloatProperty(
+    "RangeX_min", -4, "", getPropertyContainer(), SLOT(updateTopic()), this);
+}
+
+GameLikeInput::~GameLikeInput()
+{
+  delete move_tool_;
+  delete topic_property_wp_;
+  delete topic_property_drone_;
+  delete topic_property_swarm_;
+
+  delete property_z_max;
+  delete property_z_min;
+  delete property_x_max;
+  delete property_x_min;
+  delete property_y_max;
+  delete property_y_min;
+}
+
+void
+GameLikeInput::onInitialize()
+{
+  this->move_tool_->initialize(context_);
+
+  arrow_ = new rviz::Arrow(scene_manager_, NULL, 2.0f, 0.2f, 0.5f, 0.35f);
+  arrow_->setColor(0.3f, 0.35f, 0.9f, 1.0f);
+  arrow_->getSceneNode()->setVisible(false);
+
+  state_ = None;
+  updateTopic();
+}
+
+void
+GameLikeInput::sendMessage()
+{
+  std_msgs::Int32MultiArray array;
+  nav_msgs::Path            path;
+
+  array.data.clear();
+
+  rviz::SelectionManager* sel_manager = context_->getSelectionManager();
+
+  auto size = std::distance(selection_.begin(), selection_.end());
+
+  geometry_msgs::PoseStamped pose;
+  pose.pose.position.x = 0;
+  pose.pose.position.y = 0;
+  pose.pose.position.z = 0;
+
+  //! @note makeup selection array
+  if (!selection_.empty())
+  {
+    for (auto it = selection_.begin(); it != selection_.end(); it++)
+    {
+      rviz::Picked                  p  = it->second;
+      rviz::SelectionHandler*       sh = sel_manager->getHandler(p.handle);
+      rviz::MarkerSelectionHandler* mh =
+        reinterpret_cast<rviz::MarkerSelectionHandler*>(sh);
+
+      QString cpy = mh->marker_id_;
+
+      //! @note use the mean position of every selected drone as start point
+      pose.pose.position.x += mh->getPosition().x;
+      pose.pose.position.y += mh->getPosition().y;
+      pose.pose.position.z += mh->getPosition().z;
+
+      array.data.push_back(cpy.remove("drone/").toInt());
+    }
+
+    pose.pose.position.x /= size;
+    pose.pose.position.y /= size;
+    pose.pose.position.z /= size;
+
+    path.poses.push_back(pose);
+  }
+
+  //! @note go through arrow_array, get the internal parameter of each array
+  //! makeup each waypoint
+
+  for (int i = 0; i < arrow_array.size(); ++i)
+  {
+    rviz::Arrow*               p_a = arrow_array[i];
+    geometry_msgs::PoseStamped ps;
+
+    ps.pose.position.x = p_a->getPosition().x;
+    ps.pose.position.y = p_a->getPosition().y;
+    ps.pose.position.z = z_vector[i];
+
+    if (ps.pose.position.z > z_max)
+      ps.pose.position.z = z_max;
+    if (ps.pose.position.z < z_min)
+      ps.pose.position.z = z_min;
+
+    if (ps.pose.position.y > y_max)
+      ps.pose.position.y = y_max;
+    if (ps.pose.position.y < y_min)
+      ps.pose.position.y = y_min;
+
+    if (ps.pose.position.x > x_max)
+      ps.pose.position.x = x_max;
+    if (ps.pose.position.x < x_min)
+      ps.pose.position.x = x_min;
+
+    path.poses.push_back(ps);
+
+    delete p_a;
+  }
+  z_vector.clear();
+  arrow_array.clear();
+  arrow_->getSceneNode()->setVisible(false);
+
+  path.header.frame_id = "map";
+  path.header.stamp    = ros::Time::now();
+
+  std::sort(array.data.begin(), array.data.end());
+
+  quadrotor_msgs::SwarmCommand swarm;
+  swarm.plan      = path;
+  swarm.selection = array.data;
+
+  pub_selection.publish(array);
+  pub_pointlist.publish(path);
+  pub_swarm.publish(swarm);
+}
+
+void
+GameLikeInput::onPoseSet(double x, double y, double z, double theta)
+{
+  ROS_WARN("3D Goal Set");
+  std::string    fixed_frame = context_->getFixedFrame().toStdString();
+  tf::Quaternion quat;
+  quat.setRPY(0.0, 0.0, theta);
+  tf::Stamped<tf::Pose> p = tf::Stamped<tf::Pose>(
+    tf::Pose(quat, tf::Point(x, y, z)), ros::Time::now(), fixed_frame);
+  geometry_msgs::PoseStamped goal;
+  tf::poseStampedTFToMsg(p, goal);
+  ROS_INFO("Setting goal: Frame:%s, Position(%.3f, %.3f, %.3f), "
+           "Orientation(%.3f, %.3f, %.3f, %.3f) = Angle: %.3f\n",
+           fixed_frame.c_str(), goal.pose.position.x, goal.pose.position.y,
+           goal.pose.position.z, goal.pose.orientation.x,
+           goal.pose.orientation.y, goal.pose.orientation.z,
+           goal.pose.orientation.w, theta);
+}
+
+int
+GameLikeInput::processMouseEvent(rviz::ViewportMouseEvent& event)
+{
+
+  rviz::SelectionManager* sel_manager = context_->getSelectionManager();
+
+  int flags = 0;
+
+  // wp vars
+  static double    initz;
+  static double    prevz;
+  static double    prevangle;
+  const double     z_scale = 50;
+  Ogre::Quaternion orient_x =
+    Ogre::Quaternion(Ogre::Radian(-Ogre::Math::PI), Ogre::Vector3::UNIT_X);
+
+  if (event.alt())
+  {
+    moving_    = true;
+    selecting_ = false;
+  }
+  else
+  {
+    moving_ = false;
+
+    if (event.leftDown())
+    {
+      this->selecting_ = true;
+
+      this->sel_start_x_ = event.x;
+      this->sel_start_y_ = event.y;
+    }
+  }
+
+  if (selecting_)
+  {
+    rviz::M_Picked selection;
+
+    sel_manager->highlight(event.viewport, sel_start_x_, sel_start_y_, event.x,
+                           event.y);
+
+    if (event.leftUp())
+    {
+      rviz::SelectionManager::SelectType type = rviz::SelectionManager::Replace;
+
+      if (event.shift())
+      {
+        type = rviz::SelectionManager::Add;
+      }
+      else if (event.control())
+      {
+        type = rviz::SelectionManager::Remove;
+      }
+
+      //      boost::recursive_mutex::scoped_lock lock(global_mutex_);
+      sel_manager->select(event.viewport, this->sel_start_x_,
+                          this->sel_start_y_, event.x, event.y, type);
+      selection = sel_manager->getSelection();
+
+      rviz::MarkerSelectionHandler* cmp = new rviz::MarkerSelectionHandler(
+        nullptr, std::pair<std::string, int32_t>(), context_);
+
+      for (auto it = selection.begin(); it != selection.end();)
+      {
+        rviz::Picked            p  = it->second;
+        rviz::SelectionHandler* sh = sel_manager->getHandler(p.handle);
+        void (rviz::SelectionHandler::*vptr)(const rviz::Picked& obj,
+                                             rviz::Property* parent_property) =
+          &rviz::SelectionHandler::createProperties;
+        // black magic, must have warning
+        bool e = false;
+        if (reinterpret_cast<void*>(sh->*vptr) !=
+            reinterpret_cast<void*>(cmp->*vptr))
+          e = true;
+        else
+        {
+          rviz::MarkerSelectionHandler* mh =
+            reinterpret_cast<rviz::MarkerSelectionHandler*>(sh);
+          if (mh->marker_id_.startsWith("drone"))
+            e = false;
+          else
+            e = true;
+        }
+
+        if (e)
+          it = selection.erase(it);
+        else
+          it++;
+      }
+      delete cmp;
+
+      sel_manager->setSelection(selection);
+      selection_ = selection;
+
+      selecting_ = false;
+    }
+
+    flags |= Render;
+  }
+  else if (moving_)
+  {
+    sel_manager->removeHighlight();
+    flags = move_tool_->processMouseEvent(event);
+
+    if (event.type == QEvent::MouseButtonRelease)
+    {
+      moving_ = false;
+    }
+  }
+  else
+  {
+
+    if (event.rightDown())
+    {
+      if (state_ == None)
+      {
+        Ogre::Vector3 intersection;
+        Ogre::Plane   ground_plane(Ogre::Vector3::UNIT_Z, 0.0f);
+        if (rviz::getPointOnPlaneFromWindowXY(event.viewport, ground_plane,
+                                              event.x, event.y, intersection))
+        {
+          pos_ = intersection;
+          arrow_->setPosition(pos_);
+          arrow_->setOrientation(
+            Ogre::Quaternion(Ogre::Radian(0.0), Ogre::Vector3::UNIT_Z) *
+            orient_x);
+          arrow_->getSceneNode()->setVisible(true);
+          state_ = Height;
+          flags |= Render;
+        }
+        initz = pos_.z;
+        prevz = event.y;
+      }
+    }
+    else if (event.type == QEvent::MouseMove && event.right())
+    {
+      if (state_ == Height)
+      {
+        double z  = event.y;
+        double dz = z - prevz;
+        prevz     = z;
+        pos_.z -= dz / z_scale;
+        arrow_->set(pos_.z, 0.08, 0, 0);
+        flags |= Render;
+      }
+    }
+    if (event.rightUp())
+    {
+      onPoseSet(pos_.x, pos_.y, pos_.z, prevangle);
+
+      state_ = None;
+      if (event.shift())
+      {
+        arrow_array.push_back(arrow_);
+        z_vector.push_back(pos_.z);
+        arrow_ = new rviz::Arrow(scene_manager_, NULL, 2.0f, 0.2f, 0.5f, 0.35f);
+        arrow_->setColor(0.3f, 0.35f, 0.9f, 1.0f);
+        arrow_->getSceneNode()->setVisible(false);
+      }
+      else
+      {
+        sendMessage();
+      }
+      flags |= Render;
+    }
+
+    if (!event.shift())
+    {
+      if (state_ == None && arrow_array.size() != 0)
+      {
+        sendMessage();
+      }
+    }
+
+    sel_manager->highlight(event.viewport, event.x, event.y, event.x, event.y);
+  }
+
+  return flags;
+}
+
+int
+GameLikeInput::processKeyEvent(QKeyEvent* event, rviz::RenderPanel* panel)
+{
+  return SelectionTool::processKeyEvent(event, panel);
+}
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(GameLikeInput, rviz::Tool)
diff --git a/uav_simulator/Utils/rviz_plugins/src/gamelikeinput.hpp b/uav_simulator/Utils/rviz_plugins/src/gamelikeinput.hpp
new file mode 100755
index 0000000..1c8baee
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/src/gamelikeinput.hpp
@@ -0,0 +1,98 @@
+#ifndef GAMELIKEINPUT_HPP
+#define GAMELIKEINPUT_HPP
+
+#ifndef Q_MOC_RUN
+#include <QObject>
+
+#include "rviz/default_plugin/tools/selection_tool.h"
+#include "rviz/properties/float_property.h"
+#include "rviz/selection/forwards.h"
+#include "rviz/selection/selection_manager.h"
+#include "rviz/tool.h"
+
+#include "rviz/default_plugin/tools/interaction_tool.h"
+
+#include <ros/ros.h>
+
+#endif
+
+namespace rviz
+{
+class Arrow;
+class StringProperty;
+} // namespace rviz
+
+class GameLikeInput : public rviz::SelectionTool
+{
+  Q_OBJECT
+
+protected Q_SLOTS:
+  void updateTopic();
+
+public:
+  GameLikeInput();
+  virtual ~GameLikeInput();
+
+  virtual void onInitialize();
+
+  virtual int processMouseEvent(rviz::ViewportMouseEvent& event);
+  virtual int processKeyEvent(QKeyEvent* event, rviz::RenderPanel* panel);
+
+  void sendMessage();
+
+protected:
+  virtual void onPoseSet(double x, double y, double z_vector, double theta);
+
+private:
+  rviz::InteractionTool* move_tool_;
+
+  bool selecting_;
+  int  sel_start_x_;
+  int  sel_start_y_;
+
+  rviz::M_Picked selection_;
+
+  bool moving_;
+
+  ros::NodeHandle nh_;
+  ros::Publisher  pub_pointlist;
+  ros::Publisher  pub_selection;
+  ros::Publisher  pub_swarm;
+
+  double z_max;
+  double z_min;
+  double x_max;
+  double x_min;
+  double y_max;
+  double y_min;
+
+  rviz::FloatProperty* property_z_max;
+  rviz::FloatProperty* property_z_min;
+  rviz::FloatProperty* property_x_max;
+  rviz::FloatProperty* property_x_min;
+  rviz::FloatProperty* property_y_max;
+  rviz::FloatProperty* property_y_min;
+
+  rviz::StringProperty* topic_property_wp_;
+  rviz::StringProperty* topic_property_drone_;
+  rviz::StringProperty* topic_property_swarm_;
+
+private:
+  rviz::Arrow*              arrow_;
+  std::vector<rviz::Arrow*> arrow_array;
+  std::vector<double>       z_vector;
+
+  enum State
+  {
+    None,
+    Position,
+    Height
+  };
+  State state_;
+
+  Ogre::Vector3 pos_;
+
+  //  boost::recursive_mutex global_mutex_;
+};
+
+#endif // GAMELIKEINPUT_HPP
diff --git a/uav_simulator/Utils/rviz_plugins/src/goal_tool.cpp b/uav_simulator/Utils/rviz_plugins/src/goal_tool.cpp
new file mode 100755
index 0000000..89c998a
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/src/goal_tool.cpp
@@ -0,0 +1,84 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <tf/transform_listener.h>
+
+#include <nav_msgs/Odometry.h>
+#include "quadrotor_msgs/PositionCommand.h"
+
+#include "rviz/display_context.h"
+#include "rviz/properties/string_property.h"
+
+#include "goal_tool.h"
+
+namespace rviz
+{
+
+Goal3DTool::Goal3DTool()
+{
+  shortcut_key_ = 'g';
+
+  topic_property_ = new StringProperty( "Topic", "goal",
+                                        "The topic on which to publish navigation goals.",
+                                        getPropertyContainer(), SLOT( updateTopic() ), this );
+}
+
+void Goal3DTool::onInitialize()
+{
+  Pose3DTool::onInitialize();
+  setName( "3D Nav Goal" );
+  updateTopic();
+}
+
+void Goal3DTool::updateTopic()
+{
+  pub_ = nh_.advertise<quadrotor_msgs::PositionCommand>( topic_property_->getStdString(), 1 );
+}
+
+void Goal3DTool::onPoseSet(double x, double y, double z, double theta)
+{
+  ROS_WARN("3D Goal Set");
+  std::string fixed_frame = context_->getFixedFrame().toStdString();
+  tf::Quaternion quat;
+  quat.setRPY(0.0, 0.0, theta);
+  tf::Stamped<tf::Pose> p = tf::Stamped<tf::Pose>(tf::Pose(quat, tf::Point(x, y, z)), ros::Time::now(), fixed_frame);
+  geometry_msgs::PoseStamped goal;
+  tf::poseStampedTFToMsg(p, goal);
+  ROS_INFO("Setting goal: Frame:%s, Position(%.3f, %.3f, %.3f), Orientation(%.3f, %.3f, %.3f, %.3f) = Angle: %.3f\n", fixed_frame.c_str(),
+      goal.pose.position.x, goal.pose.position.y, goal.pose.position.z,
+      goal.pose.orientation.x, goal.pose.orientation.y, goal.pose.orientation.z, goal.pose.orientation.w, theta);
+  quadrotor_msgs::PositionCommand goal_with_vel_acc;
+  goal_with_vel_acc.position = goal.pose.position;
+  pub_.publish(goal_with_vel_acc);
+}
+
+} // end namespace rviz
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS( rviz::Goal3DTool, rviz::Tool )
diff --git a/uav_simulator/Utils/rviz_plugins/src/goal_tool.h b/uav_simulator/Utils/rviz_plugins/src/goal_tool.h
new file mode 100755
index 0000000..dd69e07
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/src/goal_tool.h
@@ -0,0 +1,72 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef RVIZ_GOAL_TOOL_H
+#define RVIZ_GOAL_TOOL_H
+
+#ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
+# include <QObject>
+
+# include <ros/ros.h>
+
+# include "pose_tool.h"
+#endif
+
+namespace rviz
+{
+class Arrow;
+class DisplayContext;
+class StringProperty;
+
+class Goal3DTool: public Pose3DTool
+{
+Q_OBJECT
+public:
+  Goal3DTool();
+  virtual ~Goal3DTool() {}
+  virtual void onInitialize();
+
+protected:
+  virtual void onPoseSet(double x, double y, double z, double theta);
+
+private Q_SLOTS:
+  void updateTopic();
+
+private:
+  ros::NodeHandle nh_;
+  ros::Publisher pub_;
+
+  StringProperty* topic_property_;
+};
+
+}
+
+#endif
+
+
diff --git a/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.cpp b/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.cpp
new file mode 100755
index 0000000..131b118
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.cpp
@@ -0,0 +1,365 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <boost/bind.hpp>
+
+#include <OGRE/OgreManualObject.h>
+#include <OGRE/OgreMaterialManager.h>
+#include <OGRE/OgreSceneManager.h>
+#include <OGRE/OgreSceneNode.h>
+#include <OGRE/OgreTextureManager.h>
+
+#include <ros/ros.h>
+
+#include <tf/transform_listener.h>
+
+#include "rviz/frame_manager.h"
+#include "rviz/ogre_helpers/grid.h"
+#include "rviz/properties/float_property.h"
+#include "rviz/properties/int_property.h"
+#include "rviz/properties/property.h"
+#include "rviz/properties/quaternion_property.h"
+#include "rviz/properties/ros_topic_property.h"
+#include "rviz/properties/vector_property.h"
+#include "rviz/validate_floats.h"
+#include "rviz/display_context.h"
+
+#include "multi_probmap_display.h"
+
+namespace rviz
+{
+
+MultiProbMapDisplay::MultiProbMapDisplay()
+  : Display()
+  , loaded_( false )
+  , new_map_(false)
+{
+  topic_property_ = new RosTopicProperty( "Topic", "",
+                                          QString::fromStdString( ros::message_traits::datatype<multi_map_server::MultiOccupancyGrid>() ),
+                                          "multi_map_server::MultiOccupancyGrid topic to subscribe to.",
+                                          this, SLOT( updateTopic() ));
+
+  draw_under_property_ = new Property( "Draw Behind", false,
+                                       "Rendering option, controls whether or not the map is always"
+                                       " drawn behind everything else.",
+                                       this, SLOT( updateDrawUnder() ));
+}
+
+MultiProbMapDisplay::~MultiProbMapDisplay()
+{
+  unsubscribe();
+  clear();
+}
+
+void MultiProbMapDisplay::onInitialize()
+{
+}
+
+void MultiProbMapDisplay::onEnable()
+{
+  subscribe();
+}
+
+void MultiProbMapDisplay::onDisable()
+{
+  unsubscribe();
+  clear();
+}
+
+void MultiProbMapDisplay::subscribe()
+{
+  if ( !isEnabled() )
+  {
+    return;
+  }
+
+  if( !topic_property_->getTopic().isEmpty() )
+  {
+    try
+    {
+      map_sub_ = update_nh_.subscribe( topic_property_->getTopicStd(), 1, &MultiProbMapDisplay::incomingMap, this );
+      setStatus( StatusProperty::Ok, "Topic", "OK" );
+    }
+    catch( ros::Exception& e )
+    {
+      setStatus( StatusProperty::Error, "Topic", QString( "Error subscribing: " ) + e.what() );
+    }
+  }
+}
+
+void MultiProbMapDisplay::unsubscribe()
+{
+  map_sub_.shutdown();
+}
+
+void MultiProbMapDisplay::updateDrawUnder()
+{
+  bool draw_under = draw_under_property_->getValue().toBool();
+
+  for (unsigned int k = 0; k < material_.size(); k++)
+    material_[k]->setDepthWriteEnabled( !draw_under );
+
+  for (unsigned int k = 0; k < manual_object_.size(); k++)
+  {
+    if( draw_under )
+      manual_object_[k]->setRenderQueueGroup( Ogre::RENDER_QUEUE_4 );
+    else
+      manual_object_[k]->setRenderQueueGroup( Ogre::RENDER_QUEUE_MAIN );
+  }
+}
+
+void MultiProbMapDisplay::updateTopic()
+{
+  unsubscribe();
+  subscribe();
+  clear();
+}
+
+void MultiProbMapDisplay::clear()
+{
+  setStatus( StatusProperty::Warn, "Message", "No map received" );
+
+  if( !loaded_ )
+  {
+    return;
+  }
+  
+  for (unsigned k = 0; k < manual_object_.size(); k++)
+  {
+    scene_manager_->destroyManualObject( manual_object_[k] );
+    std::string tex_name = texture_[k]->getName();
+    texture_[k].setNull();
+    Ogre::TextureManager::getSingleton().unload( tex_name );
+  }
+  manual_object_.clear();
+  texture_.clear();
+  material_.clear();
+
+  loaded_ = false;
+}
+
+// ***********************************************************************************************************************************
+
+void MultiProbMapDisplay::update( float wall_dt, float ros_dt )
+{  
+  {
+    boost::mutex::scoped_lock lock(mutex_);
+    current_map_ = updated_map_;
+  }
+
+  if (!new_map_)
+    return;
+  new_map_ = false;  
+
+  clear();
+  
+  //ros::Time t[5];
+  //double dt[4] = {0,0,0,0};
+  for (unsigned int k = 0; k < current_map_->maps.size(); k++)
+  {
+    if (current_map_->maps[k].data.empty())
+      continue;    
+    setStatus( StatusProperty::Ok, "Message", "Map received" );  
+    
+    // Map info
+    float resolution = current_map_->maps[k].info.resolution;  
+    int   width      = current_map_->maps[k].info.width;
+    int   height     = current_map_->maps[k].info.height;    
+    
+    // Load pixel
+    //t[0] = ros::Time::now(); 
+    unsigned int pixels_size = width * height;
+    unsigned char* pixels = new unsigned char[pixels_size];
+    memset(pixels, 255, pixels_size);
+    unsigned int num_pixels_to_copy = pixels_size;
+    if( pixels_size != current_map_->maps[k].data.size() )
+      if( current_map_->maps[k].data.size() < pixels_size )
+        num_pixels_to_copy = current_map_->maps[k].data.size();
+    for( unsigned int pixel_index = 0; pixel_index < num_pixels_to_copy; pixel_index++ )
+    {
+      unsigned char val;
+      int8_t data = current_map_->maps[k].data[ pixel_index ];     
+      if(data > 0)
+        val = 255;
+      else if(data < 0)
+        val = 180;
+      else
+        val = 0;                     
+      pixels[ pixel_index ] = val;
+    }
+/*        
+    int pixels_size = current_map_->maps[k].data.size();    
+    unsigned char* pixels = new unsigned char[pixels_size];
+    memcpy(pixels, &current_map_->maps[k].data[0], pixels_size);
+*/
+    // Set texture
+    //t[1] = ros::Time::now();
+    Ogre::DataStreamPtr pixel_stream;
+    pixel_stream.bind( new Ogre::MemoryDataStream( pixels, pixels_size ));
+    static int tex_count = 0;
+    std::stringstream ss1;
+    ss1 << "MultiMapTexture" << tex_count++;
+    Ogre::TexturePtr _texture_;
+    //t[2] = ros::Time::now();            
+    _texture_ = Ogre::TextureManager::getSingleton().loadRawData( ss1.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
+                                                                  pixel_stream, width, height, Ogre::PF_L8, Ogre::TEX_TYPE_2D, 0);   
+    //t[3] = ros::Time::now();                                                                                                                                                                                   
+    texture_.push_back(_texture_);                                                
+    delete [] pixels;     
+    setStatus( StatusProperty::Ok, "Map", "Map OK" );      
+    //t[4] = ros::Time::now();     
+    
+    // Set material
+    static int material_count = 0;
+    std::stringstream ss0;
+    ss0 << "MultiMapObjectMaterial" << material_count++;  
+    Ogre::MaterialPtr _material_;
+    _material_ = Ogre::MaterialManager::getSingleton().create( ss0.str(),
+                                                               Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME );
+    _material_->setReceiveShadows(false);
+    _material_->getTechnique(0)->setLightingEnabled(false);
+    _material_->setDepthBias( -16.0f, 0.0f );
+    _material_->setCullingMode( Ogre::CULL_NONE );
+    _material_->setDepthWriteEnabled(false);
+    material_.push_back(_material_);
+    material_.back()->setSceneBlending( Ogre::SBT_TRANSPARENT_COLOUR );      
+    material_.back()->setDepthWriteEnabled( false );    
+    Ogre::Pass* pass = material_.back()->getTechnique(0)->getPass(0);
+    Ogre::TextureUnitState* tex_unit = NULL;
+    if (pass->getNumTextureUnitStates() > 0)
+      tex_unit = pass->getTextureUnitState(0);
+    else
+      tex_unit = pass->createTextureUnitState();
+    tex_unit->setTextureName(texture_.back()->getName());
+    tex_unit->setTextureFiltering( Ogre::TFO_NONE );                                                                             
+    
+    // Set manual object    
+    static int map_count = 0;
+    std::stringstream ss2;
+    ss2 << "MultiMapObject" << map_count++;
+    Ogre::ManualObject* _manual_object_ = scene_manager_->createManualObject( ss2.str() );
+    manual_object_.push_back(_manual_object_);
+    scene_node_->attachObject( manual_object_.back() );    
+    float yo  = tf::getYaw(current_map_->origins[k].orientation);
+    float co  = cos(yo);
+    float so  = sin(yo);
+    float dxo = current_map_->origins[k].position.x;
+    float dyo = current_map_->origins[k].position.y;     
+    float ym  = tf::getYaw(current_map_->maps[k].info.origin.orientation);
+    float dxm = current_map_->maps[k].info.origin.position.x;
+    float dym = current_map_->maps[k].info.origin.position.y;  
+    float yaw = yo + ym;
+    float c   = cos(yaw);
+    float s   = sin(yaw);    
+    float dx  = co * dxm - so * dym + dxo;
+    float dy  = so * dxm + co * dym + dyo;
+    float x   = 0.0;
+    float y   = 0.0;    
+    manual_object_.back()->begin(material_.back()->getName(), Ogre::RenderOperation::OT_TRIANGLE_LIST);
+    {
+      // First triangle
+      {
+        // Bottom left
+        x = c * 0.0 - s * 0.0 + dx;
+        y = s * 0.0 + c * 0.0 + dy;
+        manual_object_.back()->position( x, y, 0.0f );
+        manual_object_.back()->textureCoord(0.0f, 0.0f);
+        manual_object_.back()->normal( 0.0f, 0.0f, 1.0f );
+
+        // Top right
+        x = c * resolution*width - s * resolution*height + dx;
+        y = s * resolution*width + c * resolution*height + dy;      
+        manual_object_.back()->position( x, y, 0.0f );
+        manual_object_.back()->textureCoord(1.0f, 1.0f);
+        manual_object_.back()->normal( 0.0f, 0.0f, 1.0f );
+
+        // Top left
+        x = c * 0.0 - s * resolution*height + dx;
+        y = s * 0.0 + c * resolution*height + dy;        
+        manual_object_.back()->position( x, y, 0.0f );
+        manual_object_.back()->textureCoord(0.0f, 1.0f);
+        manual_object_.back()->normal( 0.0f, 0.0f, 1.0f );
+      }
+
+      // Second triangle
+      {
+        // Bottom left
+        x = c * 0.0 - s * 0.0 + dx;
+        y = s * 0.0 + c * 0.0 + dy;
+        manual_object_.back()->position( x, y, 0.0f );
+        manual_object_.back()->textureCoord(0.0f, 0.0f);
+        manual_object_.back()->normal( 0.0f, 0.0f, 1.0f );
+
+        // Bottom right
+        x = c * resolution*width - s * 0.0 + dx;
+        y = s * resolution*width + c * 0.0 + dy;      
+        manual_object_.back()->position( x, y, 0.0f );      
+        manual_object_.back()->textureCoord(1.0f, 0.0f);
+        manual_object_.back()->normal( 0.0f, 0.0f, 1.0f );
+
+        // Top right
+        x = c * resolution*width - s * resolution*height + dx;
+        y = s * resolution*width + c * resolution*height + dy;      
+        manual_object_.back()->position( x, y, 0.0f );
+        manual_object_.back()->textureCoord(1.0f, 1.0f);
+        manual_object_.back()->normal( 0.0f, 0.0f, 1.0f );
+      }
+    }
+    manual_object_.back()->end();  
+    if( draw_under_property_->getValue().toBool() )
+      manual_object_.back()->setRenderQueueGroup(Ogre::RENDER_QUEUE_4);  
+      
+    //for (int i = 0; i < 4; i++)
+    //  dt[i] += (t[i+1] - t[i]).toSec();
+  }
+  loaded_ = true;  
+  context_->queueRender(); 
+  //ROS_ERROR("RVIZ MAP:  %f %f %f %f", dt[0],dt[1],dt[2],dt[3]);
+}
+
+// ***********************************************************************************************************************************
+
+void MultiProbMapDisplay::incomingMap(const multi_map_server::MultiOccupancyGrid::ConstPtr& msg)
+{
+  updated_map_ = msg;
+  boost::mutex::scoped_lock lock(mutex_);
+  new_map_ = true;
+}
+
+void MultiProbMapDisplay::reset()
+{
+  Display::reset();
+  clear();
+  updateTopic();
+}
+
+} // namespace rviz
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS( rviz::MultiProbMapDisplay, rviz::Display )
diff --git a/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.h b/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.h
new file mode 100755
index 0000000..7c23b29
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.h
@@ -0,0 +1,113 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef MULTI_PROB_MAP_DISPLAY_H
+#define MULTI_PROB_MAP_DISPLAY_H
+
+#include <OGRE/OgreMaterial.h>
+#include <OGRE/OgreTexture.h>
+#include <OGRE/OgreVector3.h>
+
+#include <nav_msgs/MapMetaData.h>
+#include <ros/time.h>
+
+#include <multi_map_server/MultiOccupancyGrid.h>
+#include <nav_msgs/OccupancyGrid.h>
+
+#include "rviz/display.h"
+
+namespace Ogre
+{
+class ManualObject;
+}
+
+namespace rviz
+{
+
+class FloatProperty;
+class IntProperty;
+class Property;
+class QuaternionProperty;
+class RosTopicProperty;
+class VectorProperty;
+
+/**
+ * \class MultiProbMapDisplay
+ * \brief Displays a map along the XY plane.
+ */
+class MultiProbMapDisplay : public Display
+{
+  Q_OBJECT
+public:
+  MultiProbMapDisplay();
+  virtual ~MultiProbMapDisplay();
+
+  // Overrides from Display
+  virtual void onInitialize();
+  virtual void reset();
+  virtual void update(float wall_dt, float ros_dt);
+
+protected Q_SLOTS:
+  void updateTopic();
+  void updateDrawUnder();
+
+protected:
+  // overrides from Display
+  virtual void onEnable();
+  virtual void onDisable();
+
+  virtual void subscribe();
+  virtual void unsubscribe();
+
+  void incomingMap(const multi_map_server::MultiOccupancyGrid::ConstPtr& msg);
+
+  void clear();
+
+  std::vector<Ogre::ManualObject*> manual_object_;
+  std::vector<Ogre::TexturePtr>    texture_;
+  std::vector<Ogre::MaterialPtr>   material_;
+
+  bool loaded_;
+
+  std::string topic_;
+
+  ros::Subscriber map_sub_;
+
+  RosTopicProperty* topic_property_;
+  Property*         draw_under_property_;
+
+  multi_map_server::MultiOccupancyGrid::ConstPtr updated_map_;
+  multi_map_server::MultiOccupancyGrid::ConstPtr current_map_;
+  boost::mutex                                   mutex_;
+  bool                                           new_map_;
+};
+
+} // namespace rviz
+
+#endif
diff --git a/uav_simulator/Utils/rviz_plugins/src/pose_tool.cpp b/uav_simulator/Utils/rviz_plugins/src/pose_tool.cpp
new file mode 100755
index 0000000..d64f135
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/src/pose_tool.cpp
@@ -0,0 +1,170 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <OGRE/OgrePlane.h>
+#include <OGRE/OgreRay.h>
+#include <OGRE/OgreSceneNode.h>
+#include <OGRE/OgreViewport.h>
+
+#include "rviz/geometry.h"
+#include "rviz/load_resource.h"
+#include "rviz/ogre_helpers/arrow.h"
+#include "rviz/render_panel.h"
+#include "rviz/viewport_mouse_event.h"
+
+#include "pose_tool.h"
+
+namespace rviz
+{
+
+Pose3DTool::Pose3DTool()
+  : Tool()
+  , arrow_(NULL)
+{
+}
+
+Pose3DTool::~Pose3DTool()
+{
+  delete arrow_;
+}
+
+void
+Pose3DTool::onInitialize()
+{
+  arrow_ = new Arrow(scene_manager_, NULL, 2.0f, 0.2f, 0.5f, 0.35f);
+  arrow_->setColor(0.0f, 1.0f, 0.0f, 1.0f);
+  arrow_->getSceneNode()->setVisible(false);
+}
+
+void
+Pose3DTool::activate()
+{
+  setStatus("Click and drag mouse to set position/orientation.");
+  state_ = Position;
+}
+
+void
+Pose3DTool::deactivate()
+{
+  arrow_->getSceneNode()->setVisible(false);
+}
+
+int
+Pose3DTool::processMouseEvent(ViewportMouseEvent& event)
+{
+  int                  flags = 0;
+  static Ogre::Vector3 ang_pos;
+  static double        initz;
+  static double        prevz;
+  static double        prevangle;
+  const double         z_scale    = 50;
+  const double         z_interval = 0.5;
+  Ogre::Quaternion     orient_x =
+    Ogre::Quaternion(Ogre::Radian(Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_X);
+
+  if (event.leftDown())
+  {
+    ROS_ASSERT(state_ == Position);
+    Ogre::Vector3 intersection;
+    Ogre::Plane   ground_plane(Ogre::Vector3::UNIT_Z, 0.0f);
+    if (getPointOnPlaneFromWindowXY(event.viewport, ground_plane, event.x,
+                                    event.y, intersection))
+    {
+      pos_ = intersection;
+      arrow_->setPosition(pos_);
+      state_ = Orientation;
+      flags |= Render;
+    }
+  }
+  else if (event.type == QEvent::MouseMove && event.left())
+  {
+    if (state_ == Orientation)
+    {
+      // compute angle in x-y plane
+      Ogre::Vector3 cur_pos;
+      Ogre::Plane   ground_plane(Ogre::Vector3::UNIT_Z, 0.0f);
+      if (getPointOnPlaneFromWindowXY(event.viewport, ground_plane, event.x,
+                                      event.y, cur_pos))
+      {
+        double angle = atan2(cur_pos.y - pos_.y, cur_pos.x - pos_.x);
+        arrow_->getSceneNode()->setVisible(true);
+        arrow_->setOrientation(Ogre::Quaternion(orient_x));
+        if (event.right())
+          state_  = Height;
+        initz     = pos_.z;
+        prevz     = event.y;
+        prevangle = angle;
+        flags |= Render;
+      }
+    }
+    if (state_ == Height)
+    {
+      double z  = event.y;
+      double dz = z - prevz;
+      prevz     = z;
+      pos_.z -= dz / z_scale;
+      arrow_->setPosition(pos_);
+      // Create a list of arrows
+      for (int k = 0; k < arrow_array.size(); k++)
+        delete arrow_array[k];
+      arrow_array.clear();
+      int cnt = ceil(fabs(initz - pos_.z) / z_interval);
+      for (int k = 0; k < cnt; k++)
+      {
+        Arrow* arrow__;
+        arrow__ = new Arrow(scene_manager_, NULL, 0.5f, 0.1f, 0.0f, 0.1f);
+        arrow__->setColor(0.0f, 1.0f, 1.0f, 1.0f);
+        arrow__->getSceneNode()->setVisible(true);
+        Ogre::Vector3 arr_pos = pos_;
+        arr_pos.z = initz - ((initz - pos_.z > 0) ? 1 : -1) * k * z_interval;
+        arrow__->setPosition(arr_pos);
+        arrow__->setOrientation(
+          Ogre::Quaternion(Ogre::Radian(prevangle), Ogre::Vector3::UNIT_Z) *
+          orient_x);
+        arrow_array.push_back(arrow__);
+      }
+      flags |= Render;
+    }
+  }
+  else if (event.leftUp())
+  {
+    if (state_ == Orientation || state_ == Height)
+    {
+      // Create a list of arrows
+      for (int k = 0; k < arrow_array.size(); k++)
+        delete arrow_array[k];
+      arrow_array.clear();
+      onPoseSet(pos_.x, pos_.y, pos_.z, prevangle);
+      flags |= (Finished | Render);
+    }
+  }
+
+  return flags;
+}
+}
diff --git a/uav_simulator/Utils/rviz_plugins/src/pose_tool.h b/uav_simulator/Utils/rviz_plugins/src/pose_tool.h
new file mode 100755
index 0000000..ff9f08d
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/src/pose_tool.h
@@ -0,0 +1,77 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef RVIZ_POSE_TOOL_H
+#define RVIZ_POSE_TOOL_H
+
+#include <OGRE/OgreVector3.h>
+
+#include <QCursor>
+
+#include <ros/ros.h>
+
+#include "rviz/tool.h"
+
+namespace rviz
+{
+class Arrow;
+class DisplayContext;
+
+class Pose3DTool : public Tool
+{
+public:
+  Pose3DTool();
+  virtual ~Pose3DTool();
+
+  virtual void onInitialize();
+
+  virtual void activate();
+  virtual void deactivate();
+
+  virtual int processMouseEvent(ViewportMouseEvent& event);
+
+protected:
+  virtual void onPoseSet(double x, double y, double z, double theta) = 0;
+
+  Arrow*              arrow_;
+  std::vector<Arrow*> arrow_array;
+
+  enum State
+  {
+    Position,
+    Orientation,
+    Height
+  };
+  State state_;
+
+  Ogre::Vector3 pos_;
+};
+}
+
+#endif
diff --git a/uav_simulator/Utils/rviz_plugins/src/probmap_display.cpp b/uav_simulator/Utils/rviz_plugins/src/probmap_display.cpp
new file mode 100755
index 0000000..77f41db
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/src/probmap_display.cpp
@@ -0,0 +1,566 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <boost/bind.hpp>
+
+#include <OGRE/OgreManualObject.h>
+#include <OGRE/OgreMaterialManager.h>
+#include <OGRE/OgreSceneManager.h>
+#include <OGRE/OgreSceneNode.h>
+#include <OGRE/OgreTextureManager.h>
+
+#include <ros/ros.h>
+
+#include <tf/transform_listener.h>
+
+#include "rviz/display_context.h"
+#include "rviz/frame_manager.h"
+#include "rviz/ogre_helpers/grid.h"
+#include "rviz/properties/float_property.h"
+#include "rviz/properties/int_property.h"
+#include "rviz/properties/property.h"
+#include "rviz/properties/quaternion_property.h"
+#include "rviz/properties/ros_topic_property.h"
+#include "rviz/properties/vector_property.h"
+#include "rviz/validate_floats.h"
+
+#include "probmap_display.h"
+
+namespace rviz
+{
+
+ProbMapDisplay::ProbMapDisplay()
+  : Display()
+  , manual_object_(NULL)
+  //! @bug cannot compile @gcc-5 or later, material_(0)
+  , loaded_(false)
+  , resolution_(0.0f)
+  , width_(0)
+  , height_(0)
+  , position_(Ogre::Vector3::ZERO)
+  , orientation_(Ogre::Quaternion::IDENTITY)
+  , new_map_(false)
+{
+  topic_property_ = new RosTopicProperty(
+    "Topic", "", QString::fromStdString(
+                   ros::message_traits::datatype<nav_msgs::OccupancyGrid>()),
+    "nav_msgs::OccupancyGrid topic to subscribe to.", this,
+    SLOT(updateTopic()));
+
+  alpha_property_ = new FloatProperty(
+    "Alpha", 0.7, "Amount of transparency to apply to the map.", this,
+    SLOT(updateAlpha()));
+  alpha_property_->setMin(0);
+  alpha_property_->setMax(1);
+
+  draw_under_property_ =
+    new Property("Draw Behind", false,
+                 "Rendering option, controls whether or not the map is always"
+                 " drawn behind everything else.",
+                 this, SLOT(updateDrawUnder()));
+
+  resolution_property_ = new FloatProperty(
+    "Resolution", 0, "Resolution of the map. (not editable)", this);
+  resolution_property_->setReadOnly(true);
+
+  width_property_ = new IntProperty(
+    "Width", 0, "Width of the map, in meters. (not editable)", this);
+  width_property_->setReadOnly(true);
+
+  height_property_ = new IntProperty(
+    "Height", 0, "Height of the map, in meters. (not editable)", this);
+  height_property_->setReadOnly(true);
+
+  position_property_ = new VectorProperty(
+    "Position", Ogre::Vector3::ZERO,
+    "Position of the bottom left corner of the map, in meters. (not editable)",
+    this);
+  position_property_->setReadOnly(true);
+
+  orientation_property_ =
+    new QuaternionProperty("Orientation", Ogre::Quaternion::IDENTITY,
+                           "Orientation of the map. (not editable)", this);
+  orientation_property_->setReadOnly(true);
+}
+
+ProbMapDisplay::~ProbMapDisplay()
+{
+  unsubscribe();
+  clear();
+}
+
+void
+ProbMapDisplay::onInitialize()
+{
+  static int        count = 0;
+  std::stringstream ss;
+  ss << "MapObjectMaterial" << count++;
+  material_ = Ogre::MaterialManager::getSingleton().create(
+    ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+  material_->setReceiveShadows(false);
+  material_->getTechnique(0)->setLightingEnabled(false);
+  material_->setDepthBias(-16.0f, 0.0f);
+  material_->setCullingMode(Ogre::CULL_NONE);
+  material_->setDepthWriteEnabled(false);
+
+  updateAlpha();
+}
+
+void
+ProbMapDisplay::onEnable()
+{
+  subscribe();
+}
+
+void
+ProbMapDisplay::onDisable()
+{
+  unsubscribe();
+  clear();
+}
+
+void
+ProbMapDisplay::subscribe()
+{
+  if (!isEnabled())
+  {
+    return;
+  }
+
+  if (!topic_property_->getTopic().isEmpty())
+  {
+    try
+    {
+      map_sub_ = update_nh_.subscribe(topic_property_->getTopicStd(), 1,
+                                      &ProbMapDisplay::incomingMap, this);
+      setStatus(StatusProperty::Ok, "Topic", "OK");
+    }
+    catch (ros::Exception& e)
+    {
+      setStatus(StatusProperty::Error, "Topic",
+                QString("Error subscribing: ") + e.what());
+    }
+  }
+}
+
+void
+ProbMapDisplay::unsubscribe()
+{
+  map_sub_.shutdown();
+}
+
+void
+ProbMapDisplay::updateAlpha()
+{
+  float alpha = alpha_property_->getFloat();
+
+  Ogre::Pass*             pass     = material_->getTechnique(0)->getPass(0);
+  Ogre::TextureUnitState* tex_unit = NULL;
+  if (pass->getNumTextureUnitStates() > 0)
+  {
+    tex_unit = pass->getTextureUnitState(0);
+  }
+  else
+  {
+    tex_unit = pass->createTextureUnitState();
+  }
+
+  tex_unit->setAlphaOperation(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
+                              Ogre::LBS_CURRENT, alpha);
+
+  if (alpha < 0.9998)
+  {
+    material_->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
+    material_->setDepthWriteEnabled(false);
+  }
+  else
+  {
+    material_->setSceneBlending(Ogre::SBT_REPLACE);
+    material_->setDepthWriteEnabled(!draw_under_property_->getValue().toBool());
+  }
+}
+
+void
+ProbMapDisplay::updateDrawUnder()
+{
+  bool draw_under = draw_under_property_->getValue().toBool();
+
+  if (alpha_property_->getFloat() >= 0.9998)
+  {
+    material_->setDepthWriteEnabled(!draw_under);
+  }
+
+  if (manual_object_)
+  {
+    if (draw_under)
+    {
+      manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_4);
+    }
+    else
+    {
+      manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_MAIN);
+    }
+  }
+}
+
+void
+ProbMapDisplay::updateTopic()
+{
+  unsubscribe();
+  subscribe();
+  clear();
+}
+
+void
+ProbMapDisplay::clear()
+{
+  setStatus(StatusProperty::Warn, "Message", "No map received");
+
+  if (!loaded_)
+  {
+    return;
+  }
+
+  scene_manager_->destroyManualObject(manual_object_);
+  manual_object_ = NULL;
+
+  std::string tex_name = texture_->getName();
+  texture_.setNull();
+  Ogre::TextureManager::getSingleton().unload(tex_name);
+
+  loaded_ = false;
+}
+
+bool
+validateFloats(const nav_msgs::OccupancyGrid& msg)
+{
+  bool valid = true;
+  valid      = valid && validateFloats(msg.info.resolution);
+  valid      = valid && validateFloats(msg.info.origin);
+  return valid;
+}
+
+void
+ProbMapDisplay::update(float wall_dt, float ros_dt)
+{
+  {
+    boost::mutex::scoped_lock lock(mutex_);
+
+    current_map_ = updated_map_;
+  }
+
+  if (!current_map_ || !new_map_)
+  {
+    return;
+  }
+
+  if (current_map_->data.empty())
+  {
+    return;
+  }
+
+  new_map_ = false;
+
+  if (!validateFloats(*current_map_))
+  {
+    setStatus(StatusProperty::Error, "Map",
+              "Message contained invalid floating point values (nans or infs)");
+    return;
+  }
+
+  if (current_map_->info.width * current_map_->info.height == 0)
+  {
+    std::stringstream ss;
+    ss << "Map is zero-sized (" << current_map_->info.width << "x"
+       << current_map_->info.height << ")";
+    setStatus(StatusProperty::Error, "Map", QString::fromStdString(ss.str()));
+    return;
+  }
+
+  clear();
+
+  setStatus(StatusProperty::Ok, "Message", "Map received");
+
+  ROS_DEBUG("Received a %d X %d map @ %.3f m/pix\n", current_map_->info.width,
+            current_map_->info.height, current_map_->info.resolution);
+
+  float resolution = current_map_->info.resolution;
+
+  int width  = current_map_->info.width;
+  int height = current_map_->info.height;
+
+  Ogre::Vector3 position(current_map_->info.origin.position.x,
+                         current_map_->info.origin.position.y,
+                         current_map_->info.origin.position.z);
+  Ogre::Quaternion orientation(current_map_->info.origin.orientation.w,
+                               current_map_->info.origin.orientation.x,
+                               current_map_->info.origin.orientation.y,
+                               current_map_->info.origin.orientation.z);
+  frame_ = current_map_->header.frame_id;
+  if (frame_.empty())
+  {
+    frame_ = "/map";
+  }
+
+  // Expand it to be RGB data
+  unsigned int   pixels_size = width * height;
+  unsigned char* pixels      = new unsigned char[pixels_size];
+  memset(pixels, 255, pixels_size);
+
+  bool         map_status_set     = false;
+  unsigned int num_pixels_to_copy = pixels_size;
+  if (pixels_size != current_map_->data.size())
+  {
+    std::stringstream ss;
+    ss << "Data size doesn't match width*height: width = " << width
+       << ", height = " << height
+       << ", data size = " << current_map_->data.size();
+    setStatus(StatusProperty::Error, "Map", QString::fromStdString(ss.str()));
+    map_status_set = true;
+
+    // Keep going, but don't read past the end of the data.
+    if (current_map_->data.size() < pixels_size)
+    {
+      num_pixels_to_copy = current_map_->data.size();
+    }
+  }
+
+  // TODO: a fragment shader could do this on the video card, and
+  // would allow a non-grayscale color to mark the out-of-range
+  // values.
+  for (unsigned int pixel_index = 0; pixel_index < num_pixels_to_copy;
+       pixel_index++)
+  {
+    unsigned char val;
+    int8_t        data = current_map_->data[pixel_index];
+    if (data > 0)
+      val = 0;
+    else if (data < 0)
+      val = 255;
+    else
+      val               = 127;
+    pixels[pixel_index] = val;
+  }
+
+  Ogre::DataStreamPtr pixel_stream;
+  pixel_stream.bind(new Ogre::MemoryDataStream(pixels, pixels_size));
+  static int        tex_count = 0;
+  std::stringstream ss;
+  ss << "MapTexture" << tex_count++;
+  try
+  {
+    texture_ = Ogre::TextureManager::getSingleton().loadRawData(
+      ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
+      pixel_stream, width, height, Ogre::PF_L8, Ogre::TEX_TYPE_2D, 0);
+
+    if (!map_status_set)
+    {
+      setStatus(StatusProperty::Ok, "Map", "Map OK");
+    }
+  }
+  catch (Ogre::RenderingAPIException&)
+  {
+    Ogre::Image image;
+    pixel_stream->seek(0);
+    float fwidth  = width;
+    float fheight = height;
+    if (width > height)
+    {
+      float aspect = fheight / fwidth;
+      fwidth       = 2048;
+      fheight      = fwidth * aspect;
+    }
+    else
+    {
+      float aspect = fwidth / fheight;
+      fheight      = 2048;
+      fwidth       = fheight * aspect;
+    }
+
+    {
+      std::stringstream ss;
+      ss
+        << "Map is larger than your graphics card supports.  Downsampled from ["
+        << width << "x" << height << "] to [" << fwidth << "x" << fheight
+        << "]";
+      setStatus(StatusProperty::Ok, "Map", QString::fromStdString(ss.str()));
+    }
+
+    ROS_WARN("Failed to create full-size map texture, likely because your "
+             "graphics card does not support textures of size > 2048.  "
+             "Downsampling to [%d x %d]...",
+             (int)fwidth, (int)fheight);
+    // ROS_INFO("Stream size [%d], width [%f], height [%f], w * h [%f]",
+    // pixel_stream->size(), width, height, width * height);
+    image.loadRawData(pixel_stream, width, height, Ogre::PF_L8);
+    image.resize(fwidth, fheight, Ogre::Image::FILTER_NEAREST);
+    ss << "Downsampled";
+    texture_ = Ogre::TextureManager::getSingleton().loadImage(
+      ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, image);
+  }
+
+  delete[] pixels;
+
+  Ogre::Pass*             pass     = material_->getTechnique(0)->getPass(0);
+  Ogre::TextureUnitState* tex_unit = NULL;
+  if (pass->getNumTextureUnitStates() > 0)
+  {
+    tex_unit = pass->getTextureUnitState(0);
+  }
+  else
+  {
+    tex_unit = pass->createTextureUnitState();
+  }
+
+  tex_unit->setTextureName(texture_->getName());
+  tex_unit->setTextureFiltering(Ogre::TFO_NONE);
+
+  static int        map_count = 0;
+  std::stringstream ss2;
+  ss2 << "MapObject" << map_count++;
+  manual_object_ = scene_manager_->createManualObject(ss2.str());
+  scene_node_->attachObject(manual_object_);
+
+  manual_object_->begin(material_->getName(),
+                        Ogre::RenderOperation::OT_TRIANGLE_LIST);
+  {
+    // First triangle
+    {
+      // Bottom left
+      manual_object_->position(0.0f, 0.0f, 0.0f);
+      manual_object_->textureCoord(0.0f, 0.0f);
+      manual_object_->normal(0.0f, 0.0f, 1.0f);
+
+      // Top right
+      manual_object_->position(resolution * width, resolution * height, 0.0f);
+      manual_object_->textureCoord(1.0f, 1.0f);
+      manual_object_->normal(0.0f, 0.0f, 1.0f);
+
+      // Top left
+      manual_object_->position(0.0f, resolution * height, 0.0f);
+      manual_object_->textureCoord(0.0f, 1.0f);
+      manual_object_->normal(0.0f, 0.0f, 1.0f);
+    }
+
+    // Second triangle
+    {
+      // Bottom left
+      manual_object_->position(0.0f, 0.0f, 0.0f);
+      manual_object_->textureCoord(0.0f, 0.0f);
+      manual_object_->normal(0.0f, 0.0f, 1.0f);
+
+      // Bottom right
+      manual_object_->position(resolution * width, 0.0f, 0.0f);
+      manual_object_->textureCoord(1.0f, 0.0f);
+      manual_object_->normal(0.0f, 0.0f, 1.0f);
+
+      // Top right
+      manual_object_->position(resolution * width, resolution * height, 0.0f);
+      manual_object_->textureCoord(1.0f, 1.0f);
+      manual_object_->normal(0.0f, 0.0f, 1.0f);
+    }
+  }
+  manual_object_->end();
+
+  if (draw_under_property_->getValue().toBool())
+  {
+    manual_object_->setRenderQueueGroup(Ogre::RENDER_QUEUE_4);
+  }
+
+  resolution_property_->setValue(resolution);
+  width_property_->setValue(width);
+  height_property_->setValue(height);
+  position_property_->setVector(position);
+  orientation_property_->setQuaternion(orientation);
+
+  transformMap();
+
+  loaded_ = true;
+
+  context_->queueRender();
+}
+
+void
+ProbMapDisplay::incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg)
+{
+
+  updated_map_ = msg;
+  boost::mutex::scoped_lock lock(mutex_);
+  new_map_ = true;
+}
+
+void
+ProbMapDisplay::transformMap()
+{
+  if (!current_map_)
+  {
+    return;
+  }
+
+  Ogre::Vector3    position;
+  Ogre::Quaternion orientation;
+  if (!context_->getFrameManager()->transform(
+        frame_, ros::Time(), current_map_->info.origin, position, orientation))
+  {
+    ROS_DEBUG("Error transforming map '%s' from frame '%s' to frame '%s'",
+              qPrintable(getName()), frame_.c_str(), qPrintable(fixed_frame_));
+
+    setStatus(StatusProperty::Error, "Transform",
+              "No transform from [" + QString::fromStdString(frame_) +
+                "] to [" + fixed_frame_ + "]");
+  }
+  else
+  {
+    setStatus(StatusProperty::Ok, "Transform", "Transform OK");
+  }
+
+  scene_node_->setPosition(position);
+  scene_node_->setOrientation(orientation);
+}
+
+void
+ProbMapDisplay::fixedFrameChanged()
+{
+  transformMap();
+}
+
+void
+ProbMapDisplay::reset()
+{
+  Display::reset();
+
+  clear();
+  // Force resubscription so that the map will be re-sent
+  updateTopic();
+}
+
+} // namespace rviz
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(rviz::ProbMapDisplay, rviz::Display)
diff --git a/uav_simulator/Utils/rviz_plugins/src/probmap_display.h b/uav_simulator/Utils/rviz_plugins/src/probmap_display.h
new file mode 100755
index 0000000..332def2
--- /dev/null
+++ b/uav_simulator/Utils/rviz_plugins/src/probmap_display.h
@@ -0,0 +1,134 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef PROB_MAP_DISPLAY_H
+#define PROB_MAP_DISPLAY_H
+
+#include <OGRE/OgreTexture.h>
+#include <OGRE/OgreMaterial.h>
+#include <OGRE/OgreVector3.h>
+
+#include <nav_msgs/MapMetaData.h>
+#include <ros/time.h>
+
+#include <nav_msgs/OccupancyGrid.h>
+
+#include "rviz/display.h"
+
+namespace Ogre
+{
+class ManualObject;
+}
+
+namespace rviz
+{
+
+class FloatProperty;
+class IntProperty;
+class Property;
+class QuaternionProperty;
+class RosTopicProperty;
+class VectorProperty;
+
+/**
+ * \class ProbMapDisplay
+ * \brief Displays a map along the XY plane.
+ */
+class ProbMapDisplay: public Display
+{
+Q_OBJECT
+public:
+  ProbMapDisplay();
+  virtual ~ProbMapDisplay();
+
+  // Overrides from Display
+  virtual void onInitialize();
+  virtual void fixedFrameChanged();
+  virtual void reset();
+  virtual void update( float wall_dt, float ros_dt );
+
+  float getResolution() { return resolution_; }
+  int getWidth() { return width_; }
+  int getHeight() { return height_; }
+  Ogre::Vector3 getPosition() { return position_; }
+  Ogre::Quaternion getOrientation() { return orientation_; }
+
+protected Q_SLOTS:
+  void updateAlpha();
+  void updateTopic();
+  void updateDrawUnder();
+
+
+protected:
+  // overrides from Display
+  virtual void onEnable();
+  virtual void onDisable();
+
+  virtual void subscribe();
+  virtual void unsubscribe();
+
+  void incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg);
+
+  void clear();
+
+  void transformMap();
+
+  Ogre::ManualObject* manual_object_;
+  Ogre::TexturePtr texture_;
+  Ogre::MaterialPtr material_;
+  bool loaded_;
+
+  std::string topic_;
+  float resolution_;
+  int width_;
+  int height_;
+  Ogre::Vector3 position_;
+  Ogre::Quaternion orientation_;
+  std::string frame_;
+
+  ros::Subscriber map_sub_;
+
+  RosTopicProperty* topic_property_;
+  FloatProperty* resolution_property_;
+  IntProperty* width_property_;
+  IntProperty* height_property_;
+  VectorProperty* position_property_;
+  QuaternionProperty* orientation_property_;
+  FloatProperty* alpha_property_;
+  Property* draw_under_property_;
+
+  nav_msgs::OccupancyGrid::ConstPtr updated_map_;
+  nav_msgs::OccupancyGrid::ConstPtr current_map_;
+  boost::mutex mutex_;
+  bool new_map_;
+};
+
+} // namespace rviz
+
+ #endif
diff --git a/uav_simulator/Utils/uav_utils/CMakeLists.txt b/uav_simulator/Utils/uav_utils/CMakeLists.txt
new file mode 100755
index 0000000..b902006
--- /dev/null
+++ b/uav_simulator/Utils/uav_utils/CMakeLists.txt
@@ -0,0 +1,100 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(uav_utils)
+
+## Turn on verbose output
+set(CMAKE_VERBOSE_MAKEFILE "true")
+
+## Enable C++11
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+elseif(COMPILER_SUPPORTS_CXX0X)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+else()
+        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+## Add some compile flags
+set(ADDITIONAL_CXX_FLAG "-Wall -O3 -g")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CXX_FLAG}")
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  cmake_utils
+)
+
+
+find_package(Eigen REQUIRED) # try to find manually installed eigen (Usually in /usr/local with provided FindEigen3.cmake)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+  INCLUDE_DIRS include
+  # LIBRARIES uav_utils
+  CATKIN_DEPENDS roscpp rospy
+  # DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+
+include_directories(
+  include
+  ${EIGEN_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS geometry_utils geometry_utils_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+catkin_add_gtest(${PROJECT_NAME}-test src/${PROJECT_NAME}_test.cpp)
+if(TARGET ${PROJECT_NAME}-test)
+  target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/uav_simulator/Utils/uav_utils/README.md b/uav_simulator/Utils/uav_utils/README.md
new file mode 100755
index 0000000..e97ef67
--- /dev/null
+++ b/uav_simulator/Utils/uav_utils/README.md
@@ -0,0 +1,44 @@
+# uav_utils ROS Package
+
+Provide some widely used utilities in uav development. **No library. Only headers.**
+
+Dependency: Eigen
+
+This package is deliberately designed not to find Eigen automatically, because there are many cases that you would like to use your own Eigen instead of that in the system directory (**/usr/include/eigen3**).
+
+### How to resolve "fatal error: Eigen/Dense: No such file or directory" problem
+
+1. The most simple and naive solution:
+
+	Modify `your-ros-package/CMakeList.txt` like this:
+	
+	```cmake
+
+	include_directories(
+		...
+		...
+		/usr/include/eigen3
+		...
+	)
+	```
+
+2. Use **FindEigen.cmake** provided by ROS
+	
+	For details, see [https://github.com/ros/cmake_modules/blob/0.3-devel/README.md](https://github.com/ros/cmake_modules/blob/0.3-devel/README.md)
+
+3. Specify your own Eigen
+	
+	* For recent releases of Eigen, cmake support is integrated. You may modify your `CMakeLists.txt` like this:
+
+	``` cmake
+	find_package(Eigen3 REQUIRED NO_DEFAULT_PATH PATHS /opt/eigen3.3/lib/x86_64-linux-gnu/cmake)
+	include_directories(
+  		...
+  		${EIGEN3_INCLUDE_DIR}
+  		${catkin_INCLUDE_DIRS}
+  		...
+	)
+
+	```
+
+	* For other third-party **FindEigen.cmake**, you have to read the cmake file to find correct **library-name** (Eigen, EIGEN, Eigen3, EIGEN3, etc.) and **include-path** (*_INCLUDE_DIRECTORIES, *_INCLUDE_DIRECTORY, *_INCLUDE_DIR, *_INCLUDE_DIRECTORIES, etc.)
diff --git a/uav_simulator/Utils/uav_utils/include/uav_utils/converters.h b/uav_simulator/Utils/uav_utils/include/uav_utils/converters.h
new file mode 100755
index 0000000..9932731
--- /dev/null
+++ b/uav_simulator/Utils/uav_utils/include/uav_utils/converters.h
@@ -0,0 +1,95 @@
+#ifndef __UAVUTILS_CONVERTERS_H
+#define __UAVUTILS_CONVERTERS_H
+
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Quaternion.h>
+
+#include <Eigen/Dense>
+#include <Eigen/Geometry>
+#include <cmath>
+
+namespace uav_utils {
+
+inline void extract_odometry(nav_msgs::OdometryConstPtr msg, Eigen::Vector3d& p,
+                      Eigen::Vector3d& v, Eigen::Quaterniond& q)
+{
+    p(0) = msg->pose.pose.position.x;
+    p(1) = msg->pose.pose.position.y;
+    p(2) = msg->pose.pose.position.z;
+
+    v(0) = msg->twist.twist.linear.x;
+    v(1) = msg->twist.twist.linear.y;
+    v(2) = msg->twist.twist.linear.z;
+
+    q.w() = msg->pose.pose.orientation.w;
+    q.x() = msg->pose.pose.orientation.x;
+    q.y() = msg->pose.pose.orientation.y;
+    q.z() = msg->pose.pose.orientation.z;
+}
+
+inline void extract_odometry(nav_msgs::OdometryConstPtr msg, Eigen::Vector3d& p,
+                      Eigen::Vector3d& v, Eigen::Quaterniond& q, Eigen::Vector3d& w)
+{
+    extract_odometry(msg, p, v, q);
+
+    w(0) = msg->twist.twist.angular.x;
+    w(1) = msg->twist.twist.angular.y;
+    w(2) = msg->twist.twist.angular.z;
+}
+
+
+template <typename Scalar_t = double>
+Eigen::Matrix<Scalar_t, 3, 1> from_vector3_msg(const geometry_msgs::Vector3& msg) {
+    return Eigen::Matrix<Scalar_t, 3, 1>(msg.x, msg.y, msg.z);
+}
+
+template <typename Derived>
+geometry_msgs::Vector3 to_vector3_msg(const Eigen::DenseBase<Derived>& v) {
+	EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived);
+    EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+    EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+
+    geometry_msgs::Vector3 msg;
+    msg.x = v.x();
+    msg.y = v.y();
+    msg.z = v.z();
+    return msg;
+}
+
+template <typename Scalar_t = double>
+Eigen::Matrix<Scalar_t, 3, 1> from_point_msg(const geometry_msgs::Point& msg) {
+    return Eigen::Matrix<Scalar_t, 3, 1>(msg.x, msg.y, msg.z);
+}
+
+template <typename Derived>
+geometry_msgs::Point to_point_msg(const Eigen::DenseBase<Derived>& v) {
+	EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived);
+    EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+    EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+    
+    geometry_msgs::Point msg;
+    msg.x = v.x();
+    msg.y = v.y();
+    msg.z = v.z();
+    return msg;
+}
+
+template <typename Scalar_t = double>
+Eigen::Quaternion<Scalar_t> from_quaternion_msg(const geometry_msgs::Quaternion& msg) {
+    return Eigen::Quaternion<Scalar_t>(msg.w, msg.x, msg.y, msg.z);
+}
+
+template <typename Scalar_t>
+geometry_msgs::Quaternion to_quaternion_msg(const Eigen::Quaternion<Scalar_t>& q) {
+    geometry_msgs::Quaternion msg;
+    msg.x = q.x();
+    msg.y = q.y();
+    msg.z = q.z();
+    msg.w = q.w();
+    return msg;
+}
+}
+
+#endif
diff --git a/uav_simulator/Utils/uav_utils/include/uav_utils/geometry_utils.h b/uav_simulator/Utils/uav_utils/include/uav_utils/geometry_utils.h
new file mode 100755
index 0000000..c3babb1
--- /dev/null
+++ b/uav_simulator/Utils/uav_utils/include/uav_utils/geometry_utils.h
@@ -0,0 +1,248 @@
+#ifndef __GEOMETRY_UTILS_H
+#define __GEOMETRY_UTILS_H
+
+#include <Eigen/Dense>
+
+/* clang-format off */
+namespace uav_utils {
+
+template <typename Scalar_t>
+Scalar_t toRad(const Scalar_t& x) {
+    return x / 180.0 * M_PI;
+}
+
+template <typename Scalar_t>
+Scalar_t toDeg(const Scalar_t& x) {
+    return x * 180.0 / M_PI;
+}
+
+template <typename Scalar_t>
+Eigen::Matrix<Scalar_t, 3, 3> rotx(Scalar_t t) {
+    Eigen::Matrix<Scalar_t, 3, 3> R;
+    R(0, 0) = 1.0;
+    R(0, 1) = 0.0;
+    R(0, 2) = 0.0;
+    R(1, 0) = 0.0;
+    R(1, 1) = std::cos(t);
+    R(1, 2) = -std::sin(t);
+    R(2, 0) = 0.0;
+    R(2, 1) = std::sin(t);
+    R(2, 2) = std::cos(t);
+
+    return R;
+}
+
+template <typename Scalar_t>
+Eigen::Matrix<Scalar_t, 3, 3> roty(Scalar_t t) {
+    Eigen::Matrix<Scalar_t, 3, 3> R;
+    R(0, 0) = std::cos(t);
+    R(0, 1) = 0.0;
+    R(0, 2) = std::sin(t);
+    R(1, 0) = 0.0;
+    R(1, 1) = 1.0;
+    R(1, 2) = 0;
+    R(2, 0) = -std::sin(t);
+    R(2, 1) = 0.0;
+    R(2, 2) = std::cos(t);
+
+    return R;
+}
+
+template <typename Scalar_t>
+Eigen::Matrix<Scalar_t, 3, 3> rotz(Scalar_t t) {
+    Eigen::Matrix<Scalar_t, 3, 3> R;
+    R(0, 0) = std::cos(t);
+    R(0, 1) = -std::sin(t);
+    R(0, 2) = 0.0;
+    R(1, 0) = std::sin(t);
+    R(1, 1) = std::cos(t);
+    R(1, 2) = 0.0;
+    R(2, 0) = 0.0;
+    R(2, 1) = 0.0;
+    R(2, 2) = 1.0;
+
+    return R;
+}
+
+template <typename Derived>
+Eigen::Matrix<typename Derived::Scalar, 3, 3> ypr_to_R(const Eigen::DenseBase<Derived>& ypr) {
+    EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived);
+    EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+    EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+
+    typename Derived::Scalar c, s;
+
+    Eigen::Matrix<typename Derived::Scalar, 3, 3> Rz = Eigen::Matrix<typename Derived::Scalar, 3, 3>::Zero();
+    typename Derived::Scalar y = ypr(0);
+    c = cos(y);
+    s = sin(y);
+    Rz(0, 0) = c;
+    Rz(1, 0) = s;
+    Rz(0, 1) = -s;
+    Rz(1, 1) = c;
+    Rz(2, 2) = 1;
+
+    Eigen::Matrix<typename Derived::Scalar, 3, 3> Ry = Eigen::Matrix<typename Derived::Scalar, 3, 3>::Zero();
+    typename Derived::Scalar p = ypr(1);
+    c = cos(p);
+    s = sin(p);
+    Ry(0, 0) = c;
+    Ry(2, 0) = -s;
+    Ry(0, 2) = s;
+    Ry(2, 2) = c;
+    Ry(1, 1) = 1;
+
+    Eigen::Matrix<typename Derived::Scalar, 3, 3> Rx = Eigen::Matrix<typename Derived::Scalar, 3, 3>::Zero();
+    typename Derived::Scalar r = ypr(2);
+    c = cos(r);
+    s = sin(r);
+    Rx(1, 1) = c;
+    Rx(2, 1) = s;
+    Rx(1, 2) = -s;
+    Rx(2, 2) = c;
+    Rx(0, 0) = 1;
+
+    Eigen::Matrix<typename Derived::Scalar, 3, 3> R = Rz * Ry * Rx;
+    return R;
+}
+
+template <typename Derived>
+Eigen::Matrix<typename Derived::Scalar, 3, 1> R_to_ypr(const Eigen::DenseBase<Derived>& R) {
+    EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived);
+    EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+    EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+
+    Eigen::Matrix<typename Derived::Scalar, 3, 1> n = R.col(0);
+    Eigen::Matrix<typename Derived::Scalar, 3, 1> o = R.col(1);
+    Eigen::Matrix<typename Derived::Scalar, 3, 1> a = R.col(2);
+
+    Eigen::Matrix<typename Derived::Scalar, 3, 1> ypr(3);
+    typename Derived::Scalar y = atan2(n(1), n(0));
+    typename Derived::Scalar p = atan2(-n(2), n(0) * cos(y) + n(1) * sin(y));
+    typename Derived::Scalar r =
+        atan2(a(0) * sin(y) - a(1) * cos(y), -o(0) * sin(y) + o(1) * cos(y));
+    ypr(0) = y;
+    ypr(1) = p;
+    ypr(2) = r;
+
+    return ypr;
+}
+
+template <typename Derived>
+Eigen::Quaternion<typename Derived::Scalar> ypr_to_quaternion(const Eigen::DenseBase<Derived>& ypr) {
+    EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived);
+    EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+    EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+
+    const typename Derived::Scalar cy = cos(ypr(0) / 2.0);
+    const typename Derived::Scalar sy = sin(ypr(0) / 2.0);
+    const typename Derived::Scalar cp = cos(ypr(1) / 2.0);
+    const typename Derived::Scalar sp = sin(ypr(1) / 2.0);
+    const typename Derived::Scalar cr = cos(ypr(2) / 2.0);
+    const typename Derived::Scalar sr = sin(ypr(2) / 2.0);
+
+    Eigen::Quaternion<typename Derived::Scalar> q;
+
+    q.w() = cr * cp * cy + sr * sp * sy;
+    q.x() = sr * cp * cy - cr * sp * sy;
+    q.y() = cr * sp * cy + sr * cp * sy;
+    q.z() = cr * cp * sy - sr * sp * cy;
+
+    return q;
+}
+
+template <typename Scalar_t>
+Eigen::Matrix<Scalar_t, 3, 1> quaternion_to_ypr(const Eigen::Quaternion<Scalar_t>& q_) {
+    Eigen::Quaternion<Scalar_t> q = q_.normalized();
+
+    Eigen::Matrix<Scalar_t, 3, 1> ypr;
+    ypr(2) = atan2(2 * (q.w() * q.x() + q.y() * q.z()), 1 - 2 * (q.x() * q.x() + q.y() * q.y()));
+    ypr(1) = asin(2 * (q.w() * q.y() - q.z() * q.x()));
+    ypr(0) = atan2(2 * (q.w() * q.z() + q.x() * q.y()), 1 - 2 * (q.y() * q.y() + q.z() * q.z()));
+
+    return ypr;
+}
+
+template <typename Scalar_t>
+Scalar_t get_yaw_from_quaternion(const Eigen::Quaternion<Scalar_t>& q) {
+    return quaternion_to_ypr(q)(0);
+}
+
+template <typename Scalar_t>
+Eigen::Quaternion<Scalar_t> yaw_to_quaternion(Scalar_t yaw) {
+    return Eigen::Quaternion<Scalar_t>(rotz(yaw));
+}
+
+template <typename Scalar_t>
+Scalar_t normalize_angle(Scalar_t a) {
+    int cnt = 0;
+    while (true) {
+        cnt++;
+
+        if (a < -M_PI) {
+            a += M_PI * 2.0;
+        } else if (a > M_PI) {
+            a -= M_PI * 2.0;
+        }
+
+        if (-M_PI <= a && a <= M_PI) {
+            break;
+        };
+
+        assert(cnt < 10 && "[uav_utils/geometry_msgs] INVALID INPUT ANGLE");
+    }
+
+    return a;
+}
+
+template <typename Scalar_t>
+Scalar_t angle_add(Scalar_t a, Scalar_t b) {
+    Scalar_t c = a + b;
+    c = normalize_angle(c);
+    assert(-M_PI <= c && c <= M_PI);
+    return c;
+}
+
+template <typename Scalar_t>
+Scalar_t yaw_add(Scalar_t a, Scalar_t b) {
+    return angle_add(a, b);
+}
+
+template <typename Derived>
+Eigen::Matrix<typename Derived::Scalar, 3, 3> get_skew_symmetric(const Eigen::DenseBase<Derived>& v) {
+	EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived);
+    EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+    EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+
+    Eigen::Matrix<typename Derived::Scalar, 3, 3> M;
+    M.setZero();
+    M(0, 1) = -v(2);
+    M(0, 2) = v(1);
+    M(1, 0) = v(2);
+    M(1, 2) = -v(0);
+    M(2, 0) = -v(1);
+    M(2, 1) = v(0);
+    return M;
+}
+
+template <typename Derived>
+Eigen::Matrix<typename Derived::Scalar, 3, 1> from_skew_symmetric(const Eigen::DenseBase<Derived>& M) {
+	EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived);
+    EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+    EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);
+
+    Eigen::Matrix<typename Derived::Scalar, 3, 1> v;
+    v(0) = M(2, 1);
+    v(1) = -M(2, 0);
+    v(2) = M(1, 0);
+    
+    assert(v.isApprox(Eigen::Matrix<typename Derived::Scalar, 3, 1>(-M(1, 2), M(0, 2), -M(0, 1))));
+    
+    return v;
+}
+
+
+}  // end of namespace uav_utils
+/* clang-format on */
+
+#endif
diff --git a/uav_simulator/Utils/uav_utils/include/uav_utils/utils.h b/uav_simulator/Utils/uav_utils/include/uav_utils/utils.h
new file mode 100755
index 0000000..0ce4c28
--- /dev/null
+++ b/uav_simulator/Utils/uav_utils/include/uav_utils/utils.h
@@ -0,0 +1,59 @@
+#ifndef __UAV_UTILS_H
+#define __UAV_UTILS_H
+
+#include <ros/ros.h>
+
+#include <uav_utils/converters.h>
+#include <uav_utils/geometry_utils.h>
+
+namespace uav_utils
+{
+
+/* judge if value belongs to [low,high] */
+template <typename T, typename T2>
+bool
+in_range(T value, const T2& low, const T2& high)
+{
+  ROS_ASSERT_MSG(low < high, "%f < %f?", low, high);
+  return (low <= value) && (value <= high);
+}
+
+/* judge if value belongs to [-limit, limit] */
+template <typename T, typename T2>
+bool
+in_range(T value, const T2& limit)
+{
+  ROS_ASSERT_MSG(limit > 0, "%f > 0?", limit);
+  return in_range(value, -limit, limit);
+}
+
+template <typename T, typename T2>
+void
+limit_range(T& value, const T2& low, const T2& high)
+{
+  ROS_ASSERT_MSG(low < high, "%f < %f?", low, high);
+  if (value < low)
+  {
+    value = low;
+  }
+
+  if (value > high)
+  {
+    value = high;
+  }
+
+  return;
+}
+
+template <typename T, typename T2>
+void
+limit_range(T& value, const T2& limit)
+{
+  ROS_ASSERT_MSG(limit > 0, "%f > 0?", limit);
+  limit_range(value, -limit, limit);
+}
+
+typedef std::stringstream DebugSS_t;
+} // end of namespace uav_utils
+
+#endif
diff --git a/uav_simulator/Utils/uav_utils/package.xml b/uav_simulator/Utils/uav_utils/package.xml
new file mode 100755
index 0000000..db864b7
--- /dev/null
+++ b/uav_simulator/Utils/uav_utils/package.xml
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<package>
+  <name>uav_utils</name>
+  <version>0.0.0</version>
+  <description>The uav_utils package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="liutianbocn@gmail.com">LIU Tianbo</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>LGPLv3</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/geometry_utils</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp          </build_depend>
+  <build_depend>rospy           </build_depend>
+  <build_depend>cmake_modules   </build_depend>
+  <build_depend>cmake_utils     </build_depend>
+  <run_depend>roscpp        </run_depend>
+  <run_depend>rospy         </run_depend>
+  <run_depend>cmake_modules </run_depend>
+  <run_depend>cmake_utils   </run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/uav_simulator/Utils/uav_utils/scripts/odom_to_euler.py b/uav_simulator/Utils/uav_utils/scripts/odom_to_euler.py
new file mode 100755
index 0000000..92ac879
--- /dev/null
+++ b/uav_simulator/Utils/uav_utils/scripts/odom_to_euler.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python
+
+import rospy
+import numpy as np
+import tf
+from tf import transformations as tfs
+from nav_msgs.msg import Odometry
+from sensor_msgs.msg import Imu
+from geometry_msgs.msg import Vector3Stamped
+from sensor_msgs.msg import Joy
+
+pub = None
+pub1 = None
+
+def callback(odom_msg):
+    q = np.array([odom_msg.pose.pose.orientation.x,
+                  odom_msg.pose.pose.orientation.y,
+                  odom_msg.pose.pose.orientation.z,
+                  odom_msg.pose.pose.orientation.w])
+
+    e = tfs.euler_from_quaternion(q, 'rzyx')
+
+    euler_msg = Vector3Stamped()
+    euler_msg.header = odom_msg.header
+    euler_msg.vector.z = e[0]*180.0/3.14159
+    euler_msg.vector.y = e[1]*180.0/3.14159
+    euler_msg.vector.x = e[2]*180.0/3.14159
+
+    pub.publish(euler_msg)
+
+def imu_callback(imu_msg):
+    q = np.array([imu_msg.orientation.x,
+                  imu_msg.orientation.y,
+                  imu_msg.orientation.z,
+                  imu_msg.orientation.w])
+
+    e = tfs.euler_from_quaternion(q, 'rzyx')
+
+    euler_msg = Vector3Stamped()
+    euler_msg.header = imu_msg.header
+    euler_msg.vector.z = e[0]*180.0/3.14159
+    euler_msg.vector.y = e[1]*180.0/3.14159
+    euler_msg.vector.x = e[2]*180.0/3.14159
+
+    pub1.publish(euler_msg)
+
+def joy_callback(joy_msg):
+    out_msg = Vector3Stamped()
+    out_msg.header = joy_msg.header
+    out_msg.vector.z = -joy_msg.axes[3]
+    out_msg.vector.y = joy_msg.axes[1]
+    out_msg.vector.x = joy_msg.axes[0]
+
+    pub2.publish(out_msg)
+
+
+if __name__ == "__main__":
+    rospy.init_node("odom_to_euler")
+
+    pub = rospy.Publisher("~euler", Vector3Stamped, queue_size=10)
+    sub = rospy.Subscriber("~odom", Odometry, callback)
+
+    pub1 = rospy.Publisher("~imueuler", Vector3Stamped, queue_size=10)
+    sub1 = rospy.Subscriber("~imu", Imu, imu_callback)
+
+    pub2 = rospy.Publisher("~ctrlout", Vector3Stamped, queue_size=10)
+    sub2 = rospy.Subscriber("~ctrlin", Joy, joy_callback)
+
+    rospy.spin()
diff --git a/uav_simulator/Utils/uav_utils/scripts/send_odom.py b/uav_simulator/Utils/uav_utils/scripts/send_odom.py
new file mode 100755
index 0000000..a08b586
--- /dev/null
+++ b/uav_simulator/Utils/uav_utils/scripts/send_odom.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python
+
+import rospy
+import numpy as np
+import tf
+from tf import transformations as tfs
+from nav_msgs.msg import Odometry
+
+if __name__ == "__main__":
+	rospy.init_node("odom_sender")
+
+	msg = Odometry()
+
+	msg.header.stamp = rospy.Time.now()-rospy.Duration(0.2)
+	msg.header.frame_id = "world"
+
+	q = tfs.quaternion_from_euler(0,0,0,"rzyx")
+
+	msg.pose.pose.position.x = 0
+	msg.pose.pose.position.y = 0
+	msg.pose.pose.position.z = 0
+	msg.twist.twist.linear.x = 0
+	msg.twist.twist.linear.y = 0
+	msg.twist.twist.linear.z = 0
+	msg.pose.pose.orientation.x = q[0]
+	msg.pose.pose.orientation.y = q[1]
+	msg.pose.pose.orientation.z = q[2]
+	msg.pose.pose.orientation.w = q[3]
+
+	print(msg)
+
+	pub = rospy.Publisher("odom", Odometry, queue_size=10)
+	
+	counter = 0
+	r = rospy.Rate(1)
+
+	while not rospy.is_shutdown():
+		counter += 1
+		msg.header.stamp = rospy.Time.now()-rospy.Duration(0.2)
+		pub.publish(msg)
+		rospy.loginfo("Send %3d msg(s)."%counter)
+		r.sleep()
diff --git a/uav_simulator/Utils/uav_utils/scripts/tf_assist.py b/uav_simulator/Utils/uav_utils/scripts/tf_assist.py
new file mode 100755
index 0000000..259e8a1
--- /dev/null
+++ b/uav_simulator/Utils/uav_utils/scripts/tf_assist.py
@@ -0,0 +1,162 @@
+#!/usr/bin/env python
+
+import rospy
+import numpy as np
+import tf
+from tf import transformations as tfs
+from math import pi
+from nav_msgs.msg import Odometry
+from nav_msgs.msg import Path
+from geometry_msgs.msg import PoseStamped
+from sensor_msgs.msg import Imu
+from sensor_msgs.msg import Joy
+
+
+imu_pub = None
+odom_pub = None
+br = None
+
+
+class OdometryConverter(object):
+
+    def __init__(self, frame_id_in_, frame_id_out_, broadcast_tf_, body_frame_id_, intermediate_frame_id_, world_frame_id_):
+        self.frame_id_in = frame_id_in_
+        self.frame_id_out = frame_id_out_
+        self.broadcast_tf = broadcast_tf_
+        self.body_frame_id = body_frame_id_
+        self.intermediate_frame_id = intermediate_frame_id_
+        self.world_frame_id = world_frame_id_
+        self.in_odom_sub = None
+        self.out_odom_pub = None
+        self.out_path_pub = None
+        self.path_pub_timer = None
+        self.tf_pub_flag = True
+        if self.broadcast_tf:
+            rospy.loginfo('ROSTopic: [%s]->[%s] TF: [%s]-[%s]-[%s]',
+                          self.frame_id_in, self.frame_id_out, self.body_frame_id, self.intermediate_frame_id, self.world_frame_id)
+        else:
+            rospy.loginfo('ROSTopic: [%s]->[%s] No TF',
+                          self.frame_id_in, self.frame_id_out)
+
+        self.path = []
+
+    def in_odom_callback(self, in_odom_msg):
+        q = np.array([in_odom_msg.pose.pose.orientation.x,
+                      in_odom_msg.pose.pose.orientation.y,
+                      in_odom_msg.pose.pose.orientation.z,
+                      in_odom_msg.pose.pose.orientation.w])
+        p = np.array([in_odom_msg.pose.pose.position.x,
+                      in_odom_msg.pose.pose.position.y,
+                      in_odom_msg.pose.pose.position.z])
+
+        e = tfs.euler_from_quaternion(q, 'rzyx')
+        wqb = tfs.quaternion_from_euler(e[0], e[1], e[2], 'rzyx')
+        wqc = tfs.quaternion_from_euler(e[0],  0.0,  0.0, 'rzyx')
+
+        #### odom ####
+        odom_msg = in_odom_msg
+        assert(in_odom_msg.header.frame_id == self.frame_id_in)
+        odom_msg.header.frame_id = self.frame_id_out
+        odom_msg.child_frame_id = ""
+        self.out_odom_pub.publish(odom_msg)
+
+        #### tf ####
+        if self.broadcast_tf and self.tf_pub_flag:
+            self.tf_pub_flag = False
+            if not self.frame_id_in == self.frame_id_out:
+                br.sendTransform((0.0, 0.0, 0.0),
+                                 tfs.quaternion_from_euler(0.0, 0.0, 0.0, 'rzyx'),
+                                 odom_msg.header.stamp,
+                                 self.frame_id_in,
+                                 self.frame_id_out)
+
+            if not self.world_frame_id == self.frame_id_out:
+                br.sendTransform((0.0, 0.0, 0.0),
+                                 tfs.quaternion_from_euler(0.0, 0.0, 0.0, 'rzyx'),
+                                 odom_msg.header.stamp,
+                                 self.world_frame_id,
+                                 self.frame_id_out)
+
+            br.sendTransform((p[0], p[1], p[2]),
+                             wqb,
+                             odom_msg.header.stamp,
+                             self.body_frame_id,
+                             self.world_frame_id)
+
+            br.sendTransform(((p[0], p[1], p[2])),
+                             wqc,
+                             odom_msg.header.stamp,
+                             self.intermediate_frame_id,
+                             self.world_frame_id)
+        #### path ####
+        pose = PoseStamped()
+        pose.header = odom_msg.header
+        pose.pose.position.x = p[0]
+        pose.pose.position.y = p[1]
+        pose.pose.position.z = p[2]
+        pose.pose.orientation.x = q[0]
+        pose.pose.orientation.y = q[1]
+        pose.pose.orientation.z = q[2]
+        pose.pose.orientation.w = q[3]
+
+        self.path.append(pose)
+
+    def path_pub_callback(self, event):
+        if self.path:
+            path = Path()
+            path.header = self.path[-1].header
+            path.poses = self.path[-30000::1]
+            self.out_path_pub.publish(path)
+
+    def tf_pub_callback(self, event):
+        self.tf_pub_flag = True
+
+
+if __name__ == "__main__":
+    rospy.init_node('tf_assist')
+
+    converters = []
+    index = 0
+    while True:
+        prefix = "~converter%d/" % index
+        try:
+            frame_id_in = rospy.get_param('%sframe_id_in' % prefix)
+            frame_id_out = rospy.get_param('%sframe_id_out' % prefix)
+            broadcast_tf = rospy.get_param('%sbroadcast_tf' % prefix, False)
+            body_frame_id = rospy.get_param('%sbody_frame_id' % prefix, 'body')
+            intermediate_frame_id = rospy.get_param(
+                '%sintermediate_frame_id' % prefix, 'intermediate')
+            world_frame_id = rospy.get_param(
+                '%sworld_frame_id' % prefix, 'world')
+
+            converter = OdometryConverter(
+                frame_id_in, frame_id_out, broadcast_tf, body_frame_id, intermediate_frame_id, world_frame_id)
+            converter.in_odom_sub = rospy.Subscriber(
+                '%sin_odom' % prefix, Odometry, converter.in_odom_callback, tcp_nodelay=True)
+            converter.out_odom_pub = rospy.Publisher(
+                '%sout_odom' % prefix, Odometry, queue_size=10, tcp_nodelay=True)
+            converter.out_path_pub = rospy.Publisher(
+                '%sout_path' % prefix, Path, queue_size=10)
+
+            converter.tf_pub_timer = rospy.Timer(
+                rospy.Duration(0.1), converter.tf_pub_callback)
+
+            converter.path_pub_timer = rospy.Timer(
+                rospy.Duration(0.5), converter.path_pub_callback)
+
+            index += 1
+        except KeyError, e:
+            if index == 0:
+                raise(KeyError(e))
+            else:
+                if index == 1:
+                    rospy.loginfo(
+                        'prefix:"%s" not found. Generate %d converter.' % (prefix, index))
+                else:
+                    rospy.loginfo(
+                        'prefix:"%s" not found. Generate %d converters' % (prefix, index))
+                break
+
+    br = tf.TransformBroadcaster()
+
+    rospy.spin()
diff --git a/uav_simulator/Utils/uav_utils/scripts/topic_statistics.py b/uav_simulator/Utils/uav_utils/scripts/topic_statistics.py
new file mode 100755
index 0000000..c69ffb6
--- /dev/null
+++ b/uav_simulator/Utils/uav_utils/scripts/topic_statistics.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env python
+
+import argparse as ap
+import argcomplete
+
+def main(**args):
+  pass
+
+if __name__ == '__main__':
+  parser = ap.ArgumentParser()
+  parser.add_argument('positional', choices=['spam', 'eggs'])
+  parser.add_argument('--optional', choices=['foo1', 'foo2', 'bar'])
+  argcomplete.autocomplete(parser)
+  args = parser.parse_args()
+  main(**vars(args))
\ No newline at end of file
diff --git a/uav_simulator/Utils/uav_utils/src/uav_utils_test.cpp b/uav_simulator/Utils/uav_utils/src/uav_utils_test.cpp
new file mode 100755
index 0000000..60da5af
--- /dev/null
+++ b/uav_simulator/Utils/uav_utils/src/uav_utils_test.cpp
@@ -0,0 +1,122 @@
+#include <gtest/gtest.h>
+#include <uav_utils/utils.h>
+
+using namespace uav_utils;
+using namespace Eigen;
+
+#define DOUBLE_EPS 1.0e-15
+#define FLOAT_EPS 1.0e-6
+
+TEST(GeometryUtilsDouble, Rotation) {
+    Vector3d v(0.1, 0.2, 0.3);
+    ASSERT_TRUE(v.isApprox(R_to_ypr(ypr_to_R(v)),DOUBLE_EPS));
+    ASSERT_TRUE(v.isApprox(quaternion_to_ypr(ypr_to_quaternion(v)),DOUBLE_EPS));
+    ASSERT_TRUE(v.isApprox(R_to_ypr(rotz(v(0)) * roty(v(1)) * rotx(v(2))),DOUBLE_EPS));
+
+    double yaw = 30.0;
+    ASSERT_DOUBLE_EQ(30.0, toDeg(get_yaw_from_quaternion(yaw_to_quaternion(toRad(yaw)))));
+}
+
+TEST(GeometryUtilsFloat, Rotation) {
+    Vector3f v(0.1, 0.2, 0.3);
+    ASSERT_TRUE(v.isApprox(R_to_ypr(ypr_to_R(v)),FLOAT_EPS));
+    ASSERT_TRUE(v.isApprox(quaternion_to_ypr(ypr_to_quaternion(v)),FLOAT_EPS));
+    ASSERT_TRUE(v.isApprox(R_to_ypr(rotz(v(0)) * roty(v(1)) * rotx(v(2))),FLOAT_EPS));
+
+    float yaw = 30.0;
+    ASSERT_FLOAT_EQ(30.0, toDeg(get_yaw_from_quaternion(yaw_to_quaternion(toRad(yaw)))));
+}
+
+TEST(GeometryUtilsDouble, Skew) {
+    double v1 = 0.1;
+    double v2 = 0.2;
+    double v3 = 0.3;
+    Vector3d v(v1, v2, v3);
+    Matrix3d M;
+    M <<  .0, -v3,  v2, 
+          v3,  .0, -v1,
+         -v2,  v1,  .0;
+    
+    ASSERT_TRUE(M.isApprox(get_skew_symmetric(v), DOUBLE_EPS));
+    ASSERT_TRUE(v.isApprox(from_skew_symmetric(M), DOUBLE_EPS));
+}
+
+TEST(GeometryUtilsFloat, Skew) {
+    float v1 = 0.1;
+    float v2 = 0.2;
+    float v3 = 0.3;
+    Vector3f v(v1, v2, v3);
+    Matrix3f M;
+    M <<  .0, -v3,  v2, 
+          v3,  .0, -v1,
+         -v2,  v1,  .0;
+    
+    ASSERT_TRUE(M.isApprox(get_skew_symmetric(v), FLOAT_EPS));
+    ASSERT_TRUE(v.isApprox(from_skew_symmetric(M), FLOAT_EPS));
+}
+
+TEST(GeometryUtilsDouble, Angle) {
+    double a = toRad(179.0);
+    double b = toRad(2.0);
+    ASSERT_DOUBLE_EQ(-179.0, toDeg(angle_add(a, b)));
+    ASSERT_DOUBLE_EQ(-179.0, toDeg(yaw_add(a, b)));
+    ASSERT_DOUBLE_EQ(179.0, toDeg(angle_add(-a, -b)));
+    ASSERT_DOUBLE_EQ(179.0, toDeg(yaw_add(-a, -b)));
+    ASSERT_DOUBLE_EQ(177.0, toDeg(angle_add(a, -b)));
+    ASSERT_DOUBLE_EQ(177.0, toDeg(yaw_add(a, -b)));
+    ASSERT_NEAR(toRad(-2.0), normalize_angle(toRad(358.0)), DOUBLE_EPS);
+}
+
+TEST(GeometryUtilsFloat, Angle) {
+    float a = toRad(179.0);
+    float b = toRad(2.0);
+    ASSERT_FLOAT_EQ(-179.0, toDeg(angle_add(a, b)));
+    ASSERT_FLOAT_EQ(-179.0, toDeg(yaw_add(a, b)));
+    ASSERT_FLOAT_EQ(179.0, toDeg(angle_add(-a, -b)));
+    ASSERT_FLOAT_EQ(179.0, toDeg(yaw_add(-a, -b)));
+    ASSERT_FLOAT_EQ(177.0, toDeg(angle_add(a, -b)));
+    ASSERT_FLOAT_EQ(177.0, toDeg(yaw_add(a, -b)));
+    ASSERT_NEAR(-2.0, toDeg(normalize_angle(toRad(358.0))),FLOAT_EPS);
+}
+
+TEST(ConverterDouble, Equality) {
+    nav_msgs::OdometryPtr pOdom(new nav_msgs::Odometry());
+
+    pOdom->pose.pose.position.x = 1.0;
+    pOdom->pose.pose.position.y = 2.0;
+    pOdom->pose.pose.position.z = 3.0;
+
+    pOdom->pose.pose.orientation.w = 0.5;
+    pOdom->pose.pose.orientation.x = -0.5;
+    pOdom->pose.pose.orientation.y = 0.5;
+    pOdom->pose.pose.orientation.z = -0.5;
+
+    pOdom->twist.twist.linear.x = -1.0;
+    pOdom->twist.twist.linear.y = -2.0;
+    pOdom->twist.twist.linear.z = -3.0;
+
+    pOdom->twist.twist.angular.x = -0.1;
+    pOdom->twist.twist.angular.y = -0.2;
+    pOdom->twist.twist.angular.z = -0.3;
+
+    Eigen::Vector3d p, v, w;
+    Eigen::Quaterniond q;
+
+    nav_msgs::Odometry odom_ = *pOdom;
+
+    extract_odometry(pOdom, p, v, q, w);
+
+    ASSERT_TRUE(v.isApprox(from_vector3_msg(pOdom->twist.twist.linear)));
+    ASSERT_TRUE(w.isApprox(from_vector3_msg(pOdom->twist.twist.angular)));
+    ASSERT_TRUE(p.isApprox(from_point_msg(pOdom->pose.pose.position)));
+    ASSERT_TRUE(q.isApprox(from_quaternion_msg(pOdom->pose.pose.orientation)));
+
+    ASSERT_TRUE(v.isApprox(from_vector3_msg(to_vector3_msg(v))));
+    ASSERT_TRUE(p.isApprox(from_point_msg(to_point_msg(p))));
+    ASSERT_TRUE(q.isApprox(from_quaternion_msg(to_quaternion_msg(q))));
+}
+
+int main(int argc, char* argv[]) {
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}
\ No newline at end of file
diff --git a/uav_simulator/Utils/waypoint_generator/CMakeLists.txt b/uav_simulator/Utils/waypoint_generator/CMakeLists.txt
new file mode 100755
index 0000000..c691324
--- /dev/null
+++ b/uav_simulator/Utils/waypoint_generator/CMakeLists.txt
@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(waypoint_generator)
+
+set(CMAKE_VERBOSE_MAKEFILE "true")
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+elseif(COMPILER_SUPPORTS_CXX0X)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+else()
+        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+set(ADDITIONAL_CXX_FLAG "-Wall -O3 -march=native")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CXX_FLAG}")
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  tf
+  nav_msgs
+)
+catkin_package()
+
+include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(waypoint_generator src/waypoint_generator.cpp)
+
+target_link_libraries(waypoint_generator
+   ${catkin_LIBRARIES}
+)
diff --git a/uav_simulator/Utils/waypoint_generator/package.xml b/uav_simulator/Utils/waypoint_generator/package.xml
new file mode 100755
index 0000000..2c6078d
--- /dev/null
+++ b/uav_simulator/Utils/waypoint_generator/package.xml
@@ -0,0 +1,25 @@
+<package>
+  <version>0.0.0</version>
+  <name>waypoint_generator</name>
+  <description>
+
+     waypoint_generator
+
+  </description>
+  <maintainer email="eeshaojie@todo.todo">Shaojie Shen</maintainer>
+  <license>BSD</license>
+  <url>http://ros.org/wiki/waypoint_generator</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>nav_msgs</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>nav_msgs</run_depend>
+
+</package>
+
+
diff --git a/uav_simulator/Utils/waypoint_generator/src/sample_waypoints.h b/uav_simulator/Utils/waypoint_generator/src/sample_waypoints.h
new file mode 100755
index 0000000..8daad3c
--- /dev/null
+++ b/uav_simulator/Utils/waypoint_generator/src/sample_waypoints.h
@@ -0,0 +1,213 @@
+#ifndef SAMPLE_WAYPOINTS_H
+#define SAMPLE_WAYPOINTS_H
+
+#include <ros/ros.h>
+#include <tf/tf.h>
+#include <nav_msgs/Path.h>
+
+nav_msgs::Path point()
+{
+    // Circle parameters
+    nav_msgs::Path waypoints;
+    geometry_msgs::PoseStamped pt;
+    pt.pose.orientation = tf::createQuaternionMsgFromYaw(0.0);
+    
+    double h = 1.0;
+    double scale = 7.0;
+
+    pt.pose.position.y =  scale * 0.0;
+    pt.pose.position.x =  scale * 2.0;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);      
+
+    pt.pose.position.y =  scale * 0.0;
+    pt.pose.position.x =  scale * 4.0;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);      
+
+    pt.pose.position.y =  scale * 0.25;
+    pt.pose.position.x =  scale * 5.0;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt); 
+
+    pt.pose.position.y =  scale * 0.5;
+    pt.pose.position.x =  scale * 5.3;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);      
+
+    pt.pose.position.y =  scale * 0.75;
+    pt.pose.position.x =  scale * 5.0;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt); 
+
+    pt.pose.position.y =  scale * 1.0;
+    pt.pose.position.x =  scale * 4.0;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);      
+
+    pt.pose.position.y =  scale * 1.0;
+    pt.pose.position.x =  scale * 2.0;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);      
+
+    pt.pose.position.y =  scale * 1.0;
+    pt.pose.position.x =  scale * 0.0;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);      
+    // Return
+    return waypoints;
+}
+
+// Circle trajectory
+nav_msgs::Path circle()
+{
+    double h = 1.0;
+    double scale = 5.0;
+    nav_msgs::Path waypoints;
+    geometry_msgs::PoseStamped pt;
+    pt.pose.orientation = tf::createQuaternionMsgFromYaw(0.0);
+    
+    pt.pose.position.y = -1.2 * scale;
+    pt.pose.position.x =  2.5 * scale;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);      
+
+    pt.pose.position.y = -2.4 * scale;
+    pt.pose.position.x =  5.0 * scale;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);      
+    pt.pose.position.y =  0.0 * scale;
+    pt.pose.position.x =  5.0 * scale;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);  
+    
+    pt.pose.position.y = -1.2 * scale;
+    pt.pose.position.x =  2.5 * scale;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);      
+
+    pt.pose.position.y = -2.4 * scale;
+    pt.pose.position.x =  0. * scale;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);  
+    pt.pose.position.y =  0.0 * scale;
+    pt.pose.position.x =  0.0 * scale;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);       
+
+    pt.pose.position.y = -1.2 * scale;
+    pt.pose.position.x =  2.5 * scale;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);      
+
+    pt.pose.position.y = -2.4 * scale;
+    pt.pose.position.x =  5.0 * scale;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);      
+    pt.pose.position.y =  0.0 * scale;
+    pt.pose.position.x =  5.0 * scale;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);  
+    
+    pt.pose.position.y = -1.2 * scale;
+    pt.pose.position.x =  2.5 * scale;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);      
+
+    pt.pose.position.y = -2.4 * scale;
+    pt.pose.position.x =  0. * scale;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);  
+    pt.pose.position.y =  0.0 * scale;
+    pt.pose.position.x =  0.0 * scale;
+    pt.pose.position.z =  h;
+    waypoints.poses.push_back(pt);     
+
+    // Return
+    return waypoints;
+}
+
+// Figure 8 trajectory
+nav_msgs::Path eight()
+{
+    // Circle parameters
+    double offset_x = 0.0;
+    double offset_y = 0.0;
+    double r = 10.0;
+    double h = 2.0;
+    nav_msgs::Path waypoints;
+    geometry_msgs::PoseStamped pt;
+    pt.pose.orientation = tf::createQuaternionMsgFromYaw(0.0);    
+
+    for(int i=0; i< 1; ++i)
+    {
+        // First loop
+        pt.pose.position.x =  r + offset_x;
+        pt.pose.position.y = -r + offset_y;
+        pt.pose.position.z =  h/2;
+        waypoints.poses.push_back(pt);      
+        pt.pose.position.x =  r*2 + offset_x * 2;
+        pt.pose.position.y =  0 ;
+        pt.pose.position.z =  h;
+        waypoints.poses.push_back(pt);  
+        pt.pose.position.x =  r*3 + offset_x * 3;
+        pt.pose.position.y =  r ;
+        pt.pose.position.z =  h/2;
+        waypoints.poses.push_back(pt);  
+        pt.pose.position.x =  r*4 + offset_x * 4;
+        pt.pose.position.y =  0 ;
+        pt.pose.position.z =  h;
+        waypoints.poses.push_back(pt);       
+        pt.pose.position.x =  r*3 + offset_x * 3;
+        pt.pose.position.y = -r ;
+        pt.pose.position.z =  h/2;
+        waypoints.poses.push_back(pt);      
+        pt.pose.position.x =  r*2 + offset_x * 2;
+        pt.pose.position.y =  0 ;
+        pt.pose.position.z =  h;
+        waypoints.poses.push_back(pt);  
+        pt.pose.position.x =  r + offset_x * 2;
+        pt.pose.position.y =  r ;
+        pt.pose.position.z =  h/2;
+        waypoints.poses.push_back(pt);  
+        pt.pose.position.x =  0  + offset_x;
+        pt.pose.position.y =  0;
+        pt.pose.position.z =  h;
+        waypoints.poses.push_back(pt);
+        // Second loop
+        pt.pose.position.x =  r + offset_x;
+        pt.pose.position.y = -r;
+        pt.pose.position.z =  h / 2 * 3;
+        waypoints.poses.push_back(pt);      
+        pt.pose.position.x =  r*2 + offset_x * 2;
+        pt.pose.position.y =  0;
+        pt.pose.position.z =  h;
+        waypoints.poses.push_back(pt);  
+        pt.pose.position.x =  r*3 + offset_x * 3;
+        pt.pose.position.y =  r;
+        pt.pose.position.z =  h / 2 * 3;
+        waypoints.poses.push_back(pt);  
+        pt.pose.position.x =  r*4 + offset_x * 4;
+        pt.pose.position.y =  0;
+        pt.pose.position.z =  h;
+        waypoints.poses.push_back(pt);       
+        pt.pose.position.x =  r*3 + offset_x * 3;
+        pt.pose.position.y = -r;
+        pt.pose.position.z =  h / 2 * 3;
+        waypoints.poses.push_back(pt);      
+        pt.pose.position.x =  r*2 + offset_x * 2;
+        pt.pose.position.y =  0;
+        pt.pose.position.z =  h;
+        waypoints.poses.push_back(pt);  
+        pt.pose.position.x =  r + offset_x;
+        pt.pose.position.y =  r + offset_y;
+        pt.pose.position.z =  h / 2 * 3;
+        waypoints.poses.push_back(pt);  
+        pt.pose.position.x =  0;
+        pt.pose.position.y =  0;
+        pt.pose.position.z =  h;
+        waypoints.poses.push_back(pt);  
+    }
+    return waypoints;   
+}  
+#endif
\ No newline at end of file
diff --git a/uav_simulator/Utils/waypoint_generator/src/waypoint_generator.cpp b/uav_simulator/Utils/waypoint_generator/src/waypoint_generator.cpp
new file mode 100755
index 0000000..7f6d26e
--- /dev/null
+++ b/uav_simulator/Utils/waypoint_generator/src/waypoint_generator.cpp
@@ -0,0 +1,258 @@
+#include <iostream>
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/Pose.h>
+#include <geometry_msgs/PoseArray.h>
+#include <geometry_msgs/Vector3.h>
+#include <nav_msgs/Path.h>
+#include "sample_waypoints.h"
+#include <vector>
+#include <deque>
+#include <boost/format.hpp>
+#include <eigen3/Eigen/Dense>
+
+using namespace std;
+using bfmt = boost::format;
+
+ros::Publisher pub1;
+ros::Publisher pub2;
+ros::Publisher pub3;
+string waypoint_type = string("manual");
+bool is_odom_ready;
+nav_msgs::Odometry odom;
+nav_msgs::Path waypoints;
+
+// series waypoint needed
+std::deque<nav_msgs::Path> waypointSegments;
+ros::Time trigged_time;
+
+void load_seg(ros::NodeHandle& nh, int segid, const ros::Time& time_base) {
+    std::string seg_str = boost::str(bfmt("seg%d/") % segid);
+    double yaw;
+    double time_from_start;
+    ROS_INFO("Getting segment %d", segid);
+    ROS_ASSERT(nh.getParam(seg_str + "yaw", yaw));
+    ROS_ASSERT_MSG((yaw > -3.1499999) && (yaw < 3.14999999), "yaw=%.3f", yaw);
+    ROS_ASSERT(nh.getParam(seg_str + "time_from_start", time_from_start));
+    ROS_ASSERT(time_from_start >= 0.0);
+
+    std::vector<double> ptx;
+    std::vector<double> pty;
+    std::vector<double> ptz;
+
+    ROS_ASSERT(nh.getParam(seg_str + "x", ptx));
+    ROS_ASSERT(nh.getParam(seg_str + "y", pty));
+    ROS_ASSERT(nh.getParam(seg_str + "z", ptz));
+
+    ROS_ASSERT(ptx.size());
+    ROS_ASSERT(ptx.size() == pty.size() && ptx.size() == ptz.size());
+
+    nav_msgs::Path path_msg;
+
+    path_msg.header.stamp = time_base + ros::Duration(time_from_start);
+
+    double baseyaw = tf::getYaw(odom.pose.pose.orientation);
+    
+    for (size_t k = 0; k < ptx.size(); ++k) {
+        geometry_msgs::PoseStamped pt;
+        pt.pose.orientation = tf::createQuaternionMsgFromYaw(baseyaw + yaw);
+        Eigen::Vector2d dp(ptx.at(k), pty.at(k));
+        Eigen::Vector2d rdp;
+        rdp.x() = std::cos(-baseyaw-yaw)*dp.x() + std::sin(-baseyaw-yaw)*dp.y();
+        rdp.y() =-std::sin(-baseyaw-yaw)*dp.x() + std::cos(-baseyaw-yaw)*dp.y();
+        pt.pose.position.x = rdp.x() + odom.pose.pose.position.x;
+        pt.pose.position.y = rdp.y() + odom.pose.pose.position.y;
+        pt.pose.position.z = ptz.at(k) + odom.pose.pose.position.z;
+        path_msg.poses.push_back(pt);
+    }
+
+    waypointSegments.push_back(path_msg);
+}
+
+void load_waypoints(ros::NodeHandle& nh, const ros::Time& time_base) {
+    int seg_cnt = 0;
+    waypointSegments.clear();
+    ROS_ASSERT(nh.getParam("segment_cnt", seg_cnt));
+    for (int i = 0; i < seg_cnt; ++i) {
+        load_seg(nh, i, time_base);
+        if (i > 0) {
+            ROS_ASSERT(waypointSegments[i - 1].header.stamp < waypointSegments[i].header.stamp);
+        }
+    }
+    ROS_INFO("Overall load %zu segments", waypointSegments.size());
+}
+
+void publish_waypoints() {
+    waypoints.header.frame_id = std::string("world");
+    waypoints.header.stamp = ros::Time::now();
+    pub1.publish(waypoints);
+    geometry_msgs::PoseStamped init_pose;
+    init_pose.header = odom.header;
+    init_pose.pose = odom.pose.pose;
+    waypoints.poses.insert(waypoints.poses.begin(), init_pose);
+    // pub2.publish(waypoints);
+    waypoints.poses.clear();
+}
+
+void publish_waypoints_vis() {
+    nav_msgs::Path wp_vis = waypoints;
+    geometry_msgs::PoseArray poseArray;
+    poseArray.header.frame_id = std::string("world");
+    poseArray.header.stamp = ros::Time::now();
+
+    {
+        geometry_msgs::Pose init_pose;
+        init_pose = odom.pose.pose;
+        poseArray.poses.push_back(init_pose);
+    }
+
+    for (auto it = waypoints.poses.begin(); it != waypoints.poses.end(); ++it) {
+        geometry_msgs::Pose p;
+        p = it->pose;
+        poseArray.poses.push_back(p);
+    }
+    pub2.publish(poseArray);
+}
+
+void odom_callback(const nav_msgs::Odometry::ConstPtr& msg) {
+    is_odom_ready = true;
+    odom = *msg;
+
+    if (waypointSegments.size()) {
+        ros::Time expected_time = waypointSegments.front().header.stamp;
+        if (odom.header.stamp >= expected_time) {
+            waypoints = waypointSegments.front();
+
+            std::stringstream ss;
+            ss << bfmt("Series send %.3f from start:\n") % trigged_time.toSec();
+            for (auto& pose_stamped : waypoints.poses) {
+                ss << bfmt("P[%.2f, %.2f, %.2f] q(%.2f,%.2f,%.2f,%.2f)") %
+                          pose_stamped.pose.position.x % pose_stamped.pose.position.y %
+                          pose_stamped.pose.position.z % pose_stamped.pose.orientation.w %
+                          pose_stamped.pose.orientation.x % pose_stamped.pose.orientation.y %
+                          pose_stamped.pose.orientation.z << std::endl;
+            }
+            ROS_INFO_STREAM(ss.str());
+
+            publish_waypoints_vis();
+            publish_waypoints();
+
+            waypointSegments.pop_front();
+        }
+    }
+}
+
+void goal_callback(const geometry_msgs::PoseStamped::ConstPtr& msg) {
+/*    if (!is_odom_ready) {
+        ROS_ERROR("[waypoint_generator] No odom!");
+        return;
+    }*/
+
+    trigged_time = ros::Time::now(); //odom.header.stamp;
+    //ROS_ASSERT(trigged_time > ros::Time(0));
+
+    ros::NodeHandle n("~");
+    n.param("waypoint_type", waypoint_type, string("manual"));
+    
+    if (waypoint_type == string("circle")) {
+        waypoints = circle();
+        publish_waypoints_vis();
+        publish_waypoints();
+    } else if (waypoint_type == string("eight")) {
+        waypoints = eight();
+        publish_waypoints_vis();
+        publish_waypoints();
+    } else if (waypoint_type == string("point")) {
+        waypoints = point();
+        publish_waypoints_vis();
+        publish_waypoints();
+    } else if (waypoint_type == string("series")) {
+        load_waypoints(n, trigged_time);
+    } else if (waypoint_type == string("manual-lonely-waypoint")) {
+        if (msg->pose.position.z > 0) {
+            // if height > 0, it's a valid goal;
+            geometry_msgs::PoseStamped pt = *msg;
+            waypoints.poses.clear();
+            waypoints.poses.push_back(pt);
+            publish_waypoints_vis();
+            publish_waypoints();
+        } else {
+            ROS_WARN("[waypoint_generator] invalid goal in manual-lonely-waypoint mode.");
+        }
+    } else {
+        if (msg->pose.position.z > 0) {
+            // if height > 0, it's a normal goal;
+            geometry_msgs::PoseStamped pt = *msg;
+            if (waypoint_type == string("noyaw")) {
+                double yaw = tf::getYaw(odom.pose.pose.orientation);
+                pt.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
+            }
+            waypoints.poses.push_back(pt);
+            publish_waypoints_vis();
+        } else if (msg->pose.position.z > -1.0) {
+            // if 0 > height > -1.0, remove last goal;
+            if (waypoints.poses.size() >= 1) {
+                waypoints.poses.erase(std::prev(waypoints.poses.end()));
+            }
+            publish_waypoints_vis();
+        } else {
+            // if -1.0 > height, end of input
+            if (waypoints.poses.size() >= 1) {
+                publish_waypoints_vis();
+                publish_waypoints();
+            }
+        }
+    }
+}
+
+void traj_start_trigger_callback(const geometry_msgs::PoseStamped& msg) {
+    if (!is_odom_ready) {
+        ROS_ERROR("[waypoint_generator] No odom!");
+        return;
+    }
+
+    ROS_WARN("[waypoint_generator] Trigger!");
+    trigged_time = odom.header.stamp;
+    ROS_ASSERT(trigged_time > ros::Time(0));
+
+    ros::NodeHandle n("~");
+    n.param("waypoint_type", waypoint_type, string("manual"));
+
+    ROS_ERROR_STREAM("Pattern " << waypoint_type << " generated!");
+    if (waypoint_type == string("free")) {
+        waypoints = point();
+        publish_waypoints_vis();
+        publish_waypoints();
+    } else if (waypoint_type == string("circle")) {
+        waypoints = circle();
+        publish_waypoints_vis();
+        publish_waypoints();
+    } else if (waypoint_type == string("eight")) {
+        waypoints = eight();
+        publish_waypoints_vis();
+        publish_waypoints();
+   } else if (waypoint_type == string("point")) {
+        waypoints = point();
+        publish_waypoints_vis();
+        publish_waypoints();
+    } else if (waypoint_type == string("series")) {
+        load_waypoints(n, trigged_time);
+    }
+}
+
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "waypoint_generator");
+    ros::NodeHandle n("~");
+    n.param("waypoint_type", waypoint_type, string("manual"));
+    ros::Subscriber sub1 = n.subscribe("odom", 10, odom_callback);
+    ros::Subscriber sub2 = n.subscribe("goal", 10, goal_callback);
+    ros::Subscriber sub3 = n.subscribe("traj_start_trigger", 10, traj_start_trigger_callback);
+    pub1 = n.advertise<nav_msgs::Path>("waypoints", 50);
+    pub2 = n.advertise<geometry_msgs::PoseArray>("waypoints_vis", 10);
+
+    trigged_time = ros::Time(0);
+
+    ros::spin();
+    return 0;
+}
diff --git a/uav_simulator/depth_sensor_simulator/.vscode/settings.json b/uav_simulator/depth_sensor_simulator/.vscode/settings.json
new file mode 100755
index 0000000..9ef3eef
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/.vscode/settings.json
@@ -0,0 +1,5 @@
+{
+  "files.associations": {
+    "*.cuh": "cpp"
+  }
+}
\ No newline at end of file
diff --git a/uav_simulator/depth_sensor_simulator/CMakeLists.txt b/uav_simulator/depth_sensor_simulator/CMakeLists.txt
new file mode 100755
index 0000000..592af17
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/CMakeLists.txt
@@ -0,0 +1,80 @@
+PROJECT(depth_sensor_simulator)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3)
+SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+
+set(ENABLE_CUDA false)
+#set(ENABLE_CUDA true)
+
+if(ENABLE_CUDA)
+  find_package(CUDA REQUIRED)
+  SET(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-O3 -use_fast_math)
+  list(APPEND CUDA_NVCC_FLAGS -arch=sm_70)
+  list(APPEND CUDA_NVCC_FLAGS -gencode arch=compute_70,code=sm_70)
+  SET(CUDA_PROPAGATE_HOST_FLAGS OFF)
+
+  find_package(OpenCV REQUIRED)
+  find_package(Eigen3 REQUIRED)
+  find_package(Boost REQUIRED COMPONENTS system filesystem)
+
+  find_package(catkin REQUIRED COMPONENTS
+      roscpp roslib cmake_modules cv_bridge image_transport pcl_ros sensor_msgs geometry_msgs nav_msgs quadrotor_msgs dynamic_reconfigure)
+  generate_dynamic_reconfigure_options(
+    cfg/depth_sensor_simulator.cfg
+  )
+  catkin_package(
+      DEPENDS OpenCV Boost
+      CATKIN_DEPENDS roscpp roslib image_transport pcl_ros
+  #INCLUDE_DIRS include
+      LIBRARIES depth_render_cuda
+  )
+
+  include_directories(
+    SYSTEM 
+    #include 
+    ${catkin_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+    ${Eigen_INCLUDE_DIRS}
+    ${Boost_INCLUDE_DIRS}
+  )
+
+  CUDA_ADD_LIBRARY( depth_render_cuda
+      src/depth_render.cu
+  )
+
+  add_executable(
+    pcl_render_node
+    src/pcl_render_node.cpp
+  )
+  target_link_libraries( pcl_render_node
+    depth_render_cuda
+    ${OpenCV_LIBS}
+    ${Boost_LIBRARIES}
+    ${catkin_LIBRARIES}
+  )
+else(ENABLE_CUDA)
+  find_package(Eigen3 REQUIRED)
+  find_package(catkin REQUIRED COMPONENTS
+      roscpp roslib cmake_modules pcl_ros sensor_msgs geometry_msgs nav_msgs quadrotor_msgs)
+  
+  catkin_package(
+  #    DEPENDS Eigen3
+      CATKIN_DEPENDS roscpp roslib pcl_ros
+  )
+
+  include_directories(
+    SYSTEM 
+    ${catkin_INCLUDE_DIRS}
+    ${Eigen_INCLUDE_DIRS}
+  )
+
+  add_executable(
+    pcl_render_node
+    src/pointcloud_render_node.cpp
+  )
+
+  target_link_libraries( pcl_render_node
+    ${catkin_LIBRARIES}
+    ${PCL_LIBRARIES}
+  )
+endif(ENABLE_CUDA)
diff --git a/uav_simulator/depth_sensor_simulator/CMakeModules/FindCUDA.cmake b/uav_simulator/depth_sensor_simulator/CMakeModules/FindCUDA.cmake
new file mode 100755
index 0000000..8afb632
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/CMakeModules/FindCUDA.cmake
@@ -0,0 +1,1311 @@
+# - Tools for building CUDA C files: libraries and build dependencies.
+# This script locates the NVIDIA CUDA C tools. It should work on linux, windows,
+# and mac and should be reasonably up to date with CUDA C releases.
+#
+# This script makes use of the standard find_package arguments of <VERSION>,
+# REQUIRED and QUIET.  CUDA_FOUND will report if an acceptable version of CUDA
+# was found.
+#
+# The script will prompt the user to specify CUDA_TOOLKIT_ROOT_DIR if the prefix
+# cannot be determined by the location of nvcc in the system path and REQUIRED
+# is specified to find_package(). To use a different installed version of the
+# toolkit set the environment variable CUDA_BIN_PATH before running cmake
+# (e.g. CUDA_BIN_PATH=/usr/local/cuda1.0 instead of the default /usr/local/cuda)
+# or set CUDA_TOOLKIT_ROOT_DIR after configuring.  If you change the value of
+# CUDA_TOOLKIT_ROOT_DIR, various components that depend on the path will be
+# relocated.
+#
+# It might be necessary to set CUDA_TOOLKIT_ROOT_DIR manually on certain
+# platforms, or to use a cuda runtime not installed in the default location. In
+# newer versions of the toolkit the cuda library is included with the graphics
+# driver- be sure that the driver version matches what is needed by the cuda
+# runtime version.
+#
+# The following variables affect the behavior of the macros in the script (in
+# alphebetical order).  Note that any of these flags can be changed multiple
+# times in the same directory before calling CUDA_ADD_EXECUTABLE,
+# CUDA_ADD_LIBRARY, CUDA_COMPILE, CUDA_COMPILE_PTX or CUDA_WRAP_SRCS.
+#
+#  CUDA_64_BIT_DEVICE_CODE (Default matches host bit size)
+#  -- Set to ON to compile for 64 bit device code, OFF for 32 bit device code.
+#     Note that making this different from the host code when generating object
+#     or C files from CUDA code just won't work, because size_t gets defined by
+#     nvcc in the generated source.  If you compile to PTX and then load the
+#     file yourself, you can mix bit sizes between device and host.
+#
+#  CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE (Default ON)
+#  -- Set to ON if you want the custom build rule to be attached to the source
+#     file in Visual Studio.  Turn OFF if you add the same cuda file to multiple
+#     targets.
+#
+#     This allows the user to build the target from the CUDA file; however, bad
+#     things can happen if the CUDA source file is added to multiple targets.
+#     When performing parallel builds it is possible for the custom build
+#     command to be run more than once and in parallel causing cryptic build
+#     errors.  VS runs the rules for every source file in the target, and a
+#     source can have only one rule no matter how many projects it is added to.
+#     When the rule is run from multiple targets race conditions can occur on
+#     the generated file.  Eventually everything will get built, but if the user
+#     is unaware of this behavior, there may be confusion.  It would be nice if
+#     this script could detect the reuse of source files across multiple targets
+#     and turn the option off for the user, but no good solution could be found.
+#
+#  CUDA_BUILD_CUBIN (Default OFF)
+#  -- Set to ON to enable and extra compilation pass with the -cubin option in
+#     Device mode. The output is parsed and register, shared memory usage is
+#     printed during build.
+#
+#  CUDA_BUILD_EMULATION (Default OFF for device mode)
+#  -- Set to ON for Emulation mode. -D_DEVICEEMU is defined for CUDA C files
+#     when CUDA_BUILD_EMULATION is TRUE.
+#
+#  CUDA_GENERATED_OUTPUT_DIR (Default CMAKE_CURRENT_BINARY_DIR)
+#  -- Set to the path you wish to have the generated files placed.  If it is
+#     blank output files will be placed in CMAKE_CURRENT_BINARY_DIR.
+#     Intermediate files will always be placed in
+#     CMAKE_CURRENT_BINARY_DIR/CMakeFiles.
+#
+#  CUDA_HOST_COMPILATION_CPP (Default ON)
+#  -- Set to OFF for C compilation of host code.
+#
+#  CUDA_NVCC_FLAGS
+#  CUDA_NVCC_FLAGS_<CONFIG>
+#  -- Additional NVCC command line arguments.  NOTE: multiple arguments must be
+#     semi-colon delimited (e.g. --compiler-options;-Wall)
+#
+#  CUDA_PROPAGATE_HOST_FLAGS (Default ON)
+#  -- Set to ON to propagate CMAKE_{C,CXX}_FLAGS and their configuration
+#     dependent counterparts (e.g. CMAKE_C_FLAGS_DEBUG) automatically to the
+#     host compiler through nvcc's -Xcompiler flag.  This helps make the
+#     generated host code match the rest of the system better.  Sometimes
+#     certain flags give nvcc problems, and this will help you turn the flag
+#     propagation off.  This does not affect the flags supplied directly to nvcc
+#     via CUDA_NVCC_FLAGS or through the OPTION flags specified through
+#     CUDA_ADD_LIBRARY, CUDA_ADD_EXECUTABLE, or CUDA_WRAP_SRCS.  Flags used for
+#     shared library compilation are not affected by this flag.
+#
+#  CUDA_VERBOSE_BUILD (Default OFF)
+#  -- Set to ON to see all the commands used when building the CUDA file.  When
+#     using a Makefile generator the value defaults to VERBOSE (run make
+#     VERBOSE=1 to see output), although setting CUDA_VERBOSE_BUILD to ON will
+#     always print the output.
+#
+# The script creates the following macros (in alphebetical order):
+#
+#  CUDA_ADD_CUFFT_TO_TARGET( cuda_target )
+#  -- Adds the cufft library to the target (can be any target).  Handles whether
+#     you are in emulation mode or not.
+#
+#  CUDA_ADD_CUBLAS_TO_TARGET( cuda_target )
+#  -- Adds the cublas library to the target (can be any target).  Handles
+#     whether you are in emulation mode or not.
+#
+#  CUDA_ADD_EXECUTABLE( cuda_target file0 file1 ...
+#                       [WIN32] [MACOSX_BUNDLE] [EXCLUDE_FROM_ALL] [OPTIONS ...] )
+#  -- Creates an executable "cuda_target" which is made up of the files
+#     specified.  All of the non CUDA C files are compiled using the standard
+#     build rules specified by CMAKE and the cuda files are compiled to object
+#     files using nvcc and the host compiler.  In addition CUDA_INCLUDE_DIRS is
+#     added automatically to include_directories().  Some standard CMake target
+#     calls can be used on the target after calling this macro
+#     (e.g. set_target_properties and target_link_libraries), but setting
+#     properties that adjust compilation flags will not affect code compiled by
+#     nvcc.  Such flags should be modified before calling CUDA_ADD_EXECUTABLE,
+#     CUDA_ADD_LIBRARY or CUDA_WRAP_SRCS.
+#
+#  CUDA_ADD_LIBRARY( cuda_target file0 file1 ...
+#                    [STATIC | SHARED | MODULE] [EXCLUDE_FROM_ALL] [OPTIONS ...] )
+#  -- Same as CUDA_ADD_EXECUTABLE except that a library is created.
+#
+#  CUDA_BUILD_CLEAN_TARGET()
+#  -- Creates a convience target that deletes all the dependency files
+#     generated.  You should make clean after running this target to ensure the
+#     dependency files get regenerated.
+#
+#  CUDA_COMPILE( generated_files file0 file1 ... [STATIC | SHARED | MODULE]
+#                [OPTIONS ...] )
+#  -- Returns a list of generated files from the input source files to be used
+#     with ADD_LIBRARY or ADD_EXECUTABLE.
+#
+#  CUDA_COMPILE_PTX( generated_files file0 file1 ... [OPTIONS ...] )
+#  -- Returns a list of PTX files generated from the input source files.
+#
+#  CUDA_INCLUDE_DIRECTORIES( path0 path1 ... )
+#  -- Sets the directories that should be passed to nvcc
+#     (e.g. nvcc -Ipath0 -Ipath1 ... ). These paths usually contain other .cu
+#     files.
+#
+#  CUDA_WRAP_SRCS ( cuda_target format generated_files file0 file1 ...
+#                   [STATIC | SHARED | MODULE] [OPTIONS ...] )
+#  -- This is where all the magic happens.  CUDA_ADD_EXECUTABLE,
+#     CUDA_ADD_LIBRARY, CUDA_COMPILE, and CUDA_COMPILE_PTX all call this
+#     function under the hood.
+#
+#     Given the list of files (file0 file1 ... fileN) this macro generates
+#     custom commands that generate either PTX or linkable objects (use "PTX" or
+#     "OBJ" for the format argument to switch).  Files that don't end with .cu
+#     or have the HEADER_FILE_ONLY property are ignored.
+#
+#     The arguments passed in after OPTIONS are extra command line options to
+#     give to nvcc.  You can also specify per configuration options by
+#     specifying the name of the configuration followed by the options.  General
+#     options must preceed configuration specific options.  Not all
+#     configurations need to be specified, only the ones provided will be used.
+#
+#        OPTIONS -DFLAG=2 "-DFLAG_OTHER=space in flag"
+#        DEBUG -g
+#        RELEASE --use_fast_math
+#        RELWITHDEBINFO --use_fast_math;-g
+#        MINSIZEREL --use_fast_math
+#
+#     For certain configurations (namely VS generating object files with
+#     CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE set to ON), no generated file will
+#     be produced for the given cuda file.  This is because when you add the
+#     cuda file to Visual Studio it knows that this file produces an object file
+#     and will link in the resulting object file automatically.
+#
+#     This script will also generate a separate cmake script that is used at
+#     build time to invoke nvcc.  This is for several reasons.
+#
+#       1. nvcc can return negative numbers as return values which confuses
+#       Visual Studio into thinking that the command succeeded.  The script now
+#       checks the error codes and produces errors when there was a problem.
+#
+#       2. nvcc has been known to not delete incomplete results when it
+#       encounters problems.  This confuses build systems into thinking the
+#       target was generated when in fact an unusable file exists.  The script
+#       now deletes the output files if there was an error.
+#
+#       3. By putting all the options that affect the build into a file and then
+#       make the build rule dependent on the file, the output files will be
+#       regenerated when the options change.
+#
+#     This script also looks at optional arguments STATIC, SHARED, or MODULE to
+#     determine when to target the object compilation for a shared library.
+#     BUILD_SHARED_LIBS is ignored in CUDA_WRAP_SRCS, but it is respected in
+#     CUDA_ADD_LIBRARY.  On some systems special flags are added for building
+#     objects intended for shared libraries.  A preprocessor macro,
+#     <target_name>_EXPORTS is defined when a shared library compilation is
+#     detected.
+#
+#     Flags passed into add_definitions with -D or /D are passed along to nvcc.
+#
+# The script defines the following variables:
+#
+#  CUDA_VERSION_MAJOR    -- The major version of cuda as reported by nvcc.
+#  CUDA_VERSION_MINOR    -- The minor version.
+#  CUDA_VERSION
+#  CUDA_VERSION_STRING   -- CUDA_VERSION_MAJOR.CUDA_VERSION_MINOR
+#
+#  CUDA_TOOLKIT_ROOT_DIR -- Path to the CUDA Toolkit (defined if not set).
+#  CUDA_SDK_ROOT_DIR     -- Path to the CUDA SDK.  Use this to find files in the
+#                           SDK.  This script will not directly support finding
+#                           specific libraries or headers, as that isn't
+#                           supported by NVIDIA.  If you want to change
+#                           libraries when the path changes see the
+#                           FindCUDA.cmake script for an example of how to clear
+#                           these variables.  There are also examples of how to
+#                           use the CUDA_SDK_ROOT_DIR to locate headers or
+#                           libraries, if you so choose (at your own risk).
+#  CUDA_INCLUDE_DIRS     -- Include directory for cuda headers.  Added automatically
+#                           for CUDA_ADD_EXECUTABLE and CUDA_ADD_LIBRARY.
+#  CUDA_LIBRARIES        -- Cuda RT library.
+#  CUDA_CUFFT_LIBRARIES  -- Device or emulation library for the Cuda FFT
+#                           implementation (alternative to:
+#                           CUDA_ADD_CUFFT_TO_TARGET macro)
+#  CUDA_CUBLAS_LIBRARIES -- Device or emulation library for the Cuda BLAS
+#                           implementation (alterative to:
+#                           CUDA_ADD_CUBLAS_TO_TARGET macro).
+#
+#
+#  James Bigler, NVIDIA Corp (nvidia.com - jbigler)
+#  Abe Stephens, SCI Institute -- http://www.sci.utah.edu/~abe/FindCuda.html
+#
+#  Copyright (c) 2008 - 2009 NVIDIA Corporation.  All rights reserved.
+#
+#  Copyright (c) 2007-2009
+#  Scientific Computing and Imaging Institute, University of Utah
+#
+#  This code is licensed under the MIT License.  See the FindCUDA.cmake script
+#  for the text of the license.
+
+# The MIT License
+#
+# License for the specific language governing rights and limitations under
+# Permission is hereby granted, free of charge, to any person obtaining a
+# copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation
+# the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the
+# Software is furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included
+# in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+# DEALINGS IN THE SOFTWARE.
+#
+###############################################################################
+
+# FindCUDA.cmake
+
+# We need to have at least this version to support the VERSION_LESS argument to 'if' (2.6.2) and unset (2.6.3)
+cmake_policy(PUSH)
+cmake_minimum_required(VERSION 2.6.3)
+cmake_policy(POP)
+
+# This macro helps us find the location of helper files we will need the full path to
+macro(CUDA_FIND_HELPER_FILE _name _extension)
+  set(_full_name "${_name}.${_extension}")
+  # CMAKE_CURRENT_LIST_FILE contains the full path to the file currently being
+  # processed.  Using this variable, we can pull out the current path, and
+  # provide a way to get access to the other files we need local to here.
+  get_filename_component(CMAKE_CURRENT_LIST_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+  find_file(CUDA_${_name} ${_full_name} PATHS ${CMAKE_CURRENT_LIST_DIR}/FindCUDA NO_DEFAULT_PATH)
+  if(NOT CUDA_${_name})
+    set(error_message "${_full_name} not found in CMAKE_MODULE_PATH")
+    if(CUDA_FIND_REQUIRED)
+      message(FATAL_ERROR "${error_message}")
+    else(CUDA_FIND_REQUIRED)
+      if(NOT CUDA_FIND_QUIETLY)
+        message(STATUS "${error_message}")
+      endif(NOT CUDA_FIND_QUIETLY)
+    endif(CUDA_FIND_REQUIRED)
+  endif(NOT CUDA_${_name})
+  # Set this variable as internal, so the user isn't bugged with it.
+  set(CUDA_${_name} ${CUDA_${_name}} CACHE INTERNAL "Location of ${_full_name}" FORCE)
+endmacro(CUDA_FIND_HELPER_FILE)
+
+#####################################################################
+## CUDA_INCLUDE_NVCC_DEPENDENCIES
+##
+
+# So we want to try and include the dependency file if it exists.  If
+# it doesn't exist then we need to create an empty one, so we can
+# include it.
+
+# If it does exist, then we need to check to see if all the files it
+# depends on exist.  If they don't then we should clear the dependency
+# file and regenerate it later.  This covers the case where a header
+# file has disappeared or moved.
+
+macro(CUDA_INCLUDE_NVCC_DEPENDENCIES dependency_file)
+  set(CUDA_NVCC_DEPEND)
+  set(CUDA_NVCC_DEPEND_REGENERATE FALSE)
+
+
+  # Include the dependency file.  Create it first if it doesn't exist .  The
+  # INCLUDE puts a dependency that will force CMake to rerun and bring in the
+  # new info when it changes.  DO NOT REMOVE THIS (as I did and spent a few
+  # hours figuring out why it didn't work.
+  if(NOT EXISTS ${dependency_file})
+    file(WRITE ${dependency_file} "#FindCUDA.cmake generated file.  Do not edit.\n")
+  endif()
+  # Always include this file to force CMake to run again next
+  # invocation and rebuild the dependencies.
+  #message("including dependency_file = ${dependency_file}")
+  include(${dependency_file})
+
+  # Now we need to verify the existence of all the included files
+  # here.  If they aren't there we need to just blank this variable and
+  # make the file regenerate again.
+#   if(DEFINED CUDA_NVCC_DEPEND)
+#     message("CUDA_NVCC_DEPEND set")
+#   else()
+#     message("CUDA_NVCC_DEPEND NOT set")
+#   endif()
+  if(CUDA_NVCC_DEPEND)
+    #message("CUDA_NVCC_DEPEND true")
+    foreach(f ${CUDA_NVCC_DEPEND})
+      #message("searching for ${f}")
+      if(NOT EXISTS ${f})
+        #message("file ${f} not found")
+        set(CUDA_NVCC_DEPEND_REGENERATE TRUE)
+      endif()
+    endforeach(f)
+  else(CUDA_NVCC_DEPEND)
+    #message("CUDA_NVCC_DEPEND false")
+    # No dependencies, so regenerate the file.
+    set(CUDA_NVCC_DEPEND_REGENERATE TRUE)
+  endif(CUDA_NVCC_DEPEND)
+
+  #message("CUDA_NVCC_DEPEND_REGENERATE = ${CUDA_NVCC_DEPEND_REGENERATE}")
+  # No incoming dependencies, so we need to generate them.  Make the
+  # output depend on the dependency file itself, which should cause the
+  # rule to re-run.
+  if(CUDA_NVCC_DEPEND_REGENERATE)
+    file(WRITE ${dependency_file} "#FindCUDA.cmake generated file.  Do not edit.\n")
+  endif(CUDA_NVCC_DEPEND_REGENERATE)
+
+endmacro(CUDA_INCLUDE_NVCC_DEPENDENCIES)
+
+###############################################################################
+###############################################################################
+# Setup variables' defaults
+###############################################################################
+###############################################################################
+
+# Allow the user to specify if the device code is supposed to be 32 or 64 bit.
+if(CMAKE_SIZEOF_VOID_P EQUAL 8)
+  set(CUDA_64_BIT_DEVICE_CODE_DEFAULT ON)
+else()
+  set(CUDA_64_BIT_DEVICE_CODE_DEFAULT OFF)
+endif()
+option(CUDA_64_BIT_DEVICE_CODE "Compile device code in 64 bit mode" ${CUDA_64_BIT_DEVICE_CODE_DEFAULT})
+
+# Attach the build rule to the source file in VS.  This option
+option(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE "Attach the build rule to the CUDA source file.  Enable only when the CUDA source file is added to at most one target." ON)
+
+# Prints out extra information about the cuda file during compilation
+option(CUDA_BUILD_CUBIN "Generate and parse .cubin files in Device mode." OFF)
+
+# Set whether we are using emulation or device mode.
+option(CUDA_BUILD_EMULATION "Build in Emulation mode" OFF)
+
+# Where to put the generated output.
+set(CUDA_GENERATED_OUTPUT_DIR "" CACHE PATH "Directory to put all the output files.  If blank it will default to the CMAKE_CURRENT_BINARY_DIR")
+
+# Parse HOST_COMPILATION mode.
+option(CUDA_HOST_COMPILATION_CPP "Generated file extension" ON)
+
+# Extra user settable flags
+set(CUDA_NVCC_FLAGS "" CACHE STRING "Semi-colon delimit multiple arguments.")
+
+# Propagate the host flags to the host compiler via -Xcompiler
+option(CUDA_PROPAGATE_HOST_FLAGS "Propage C/CXX_FLAGS and friends to the host compiler via -Xcompile" ON)
+
+# Specifies whether the commands used when compiling the .cu file will be printed out.
+option(CUDA_VERBOSE_BUILD "Print out the commands run while compiling the CUDA source file.  With the Makefile generator this defaults to VERBOSE variable specified on the command line, but can be forced on with this option." OFF)
+
+mark_as_advanced(
+  CUDA_64_BIT_DEVICE_CODE
+  CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE
+  CUDA_GENERATED_OUTPUT_DIR
+  CUDA_HOST_COMPILATION_CPP
+  CUDA_NVCC_FLAGS
+  CUDA_PROPAGATE_HOST_FLAGS
+  )
+
+# Makefile and similar generators don't define CMAKE_CONFIGURATION_TYPES, so we
+# need to add another entry for the CMAKE_BUILD_TYPE.  We also need to add the
+# standerd set of 4 build types (Debug, MinSizeRel, Release, and RelWithDebInfo)
+# for completeness.  We need run this loop in order to accomodate the addition
+# of extra configuration types.  Duplicate entries will be removed by
+# REMOVE_DUPLICATES.
+set(CUDA_configuration_types ${CMAKE_CONFIGURATION_TYPES} ${CMAKE_BUILD_TYPE} Debug MinSizeRel Release RelWithDebInfo)
+list(REMOVE_DUPLICATES CUDA_configuration_types)
+foreach(config ${CUDA_configuration_types})
+    string(TOUPPER ${config} config_upper)
+    set(CUDA_NVCC_FLAGS_${config_upper} "" CACHE STRING "Semi-colon delimit multiple arguments.")
+    mark_as_advanced(CUDA_NVCC_FLAGS_${config_upper})
+endforeach()
+
+###############################################################################
+###############################################################################
+# Locate CUDA, Set Build Type, etc.
+###############################################################################
+###############################################################################
+
+# Check to see if the CUDA_TOOLKIT_ROOT_DIR and CUDA_SDK_ROOT_DIR have changed,
+# if they have then clear the cache variables, so that will be detected again.
+if(NOT "${CUDA_TOOLKIT_ROOT_DIR}" STREQUAL "${CUDA_TOOLKIT_ROOT_DIR_INTERNAL}")
+  unset(CUDA_NVCC_EXECUTABLE CACHE)
+  unset(CUDA_VERSION CACHE)
+  unset(CUDA_TOOLKIT_INCLUDE CACHE)
+  unset(CUDA_CUDART_LIBRARY CACHE)
+  if(CUDA_VERSION VERSION_EQUAL "3.0")
+    # This only existed in the 3.0 version of the CUDA toolkit
+    unset(CUDA_CUDARTEMU_LIBRARY CACHE)
+  endif()
+  unset(CUDA_CUDA_LIBRARY CACHE)
+  unset(CUDA_cublas_LIBRARY CACHE)
+  unset(CUDA_cublasemu_LIBRARY CACHE)
+  unset(CUDA_cufft_LIBRARY CACHE)
+  unset(CUDA_cufftemu_LIBRARY CACHE)
+endif()
+
+if(NOT "${CUDA_SDK_ROOT_DIR}" STREQUAL "${CUDA_SDK_ROOT_DIR_INTERNAL}")
+  # No specific variables to catch.  Use this kind of code before calling
+  # find_package(CUDA) to clean up any variables that may depend on this path.
+
+  #   unset(MY_SPECIAL_CUDA_SDK_INCLUDE_DIR CACHE)
+  #   unset(MY_SPECIAL_CUDA_SDK_LIBRARY CACHE)
+endif()
+
+# Search for the cuda distribution.
+if(NOT CUDA_TOOLKIT_ROOT_DIR)
+
+  # Search in the CUDA_BIN_PATH first.
+  find_path(CUDA_TOOLKIT_ROOT_DIR
+    NAMES nvcc nvcc.exe
+    PATHS ENV CUDA_BIN_PATH
+    DOC "Toolkit location."
+    NO_DEFAULT_PATH
+    )
+  # Now search default paths
+  find_path(CUDA_TOOLKIT_ROOT_DIR
+    NAMES nvcc nvcc.exe
+    PATHS /usr/local/bin
+          /usr/local/cuda/bin
+    DOC "Toolkit location."
+    )
+
+  if (CUDA_TOOLKIT_ROOT_DIR)
+    string(REGEX REPLACE "[/\\\\]?bin[64]*[/\\\\]?$" "" CUDA_TOOLKIT_ROOT_DIR ${CUDA_TOOLKIT_ROOT_DIR})
+    # We need to force this back into the cache.
+    set(CUDA_TOOLKIT_ROOT_DIR ${CUDA_TOOLKIT_ROOT_DIR} CACHE PATH "Toolkit location." FORCE)
+  endif(CUDA_TOOLKIT_ROOT_DIR)
+  if (NOT EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
+    if(CUDA_FIND_REQUIRED)
+      message(FATAL_ERROR "Specify CUDA_TOOLKIT_ROOT_DIR")
+    elseif(NOT CUDA_FIND_QUIETLY)
+      message("CUDA_TOOLKIT_ROOT_DIR not found or specified")
+    endif()
+  endif (NOT EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
+endif (NOT CUDA_TOOLKIT_ROOT_DIR)
+
+# CUDA_NVCC_EXECUTABLE
+find_program(CUDA_NVCC_EXECUTABLE
+  NAMES nvcc
+  PATHS "${CUDA_TOOLKIT_ROOT_DIR}/bin"
+        "${CUDA_TOOLKIT_ROOT_DIR}/bin64"
+  ENV CUDA_BIN_PATH
+  NO_DEFAULT_PATH
+  )
+# Search default search paths, after we search our own set of paths.
+find_program(CUDA_NVCC_EXECUTABLE nvcc)
+mark_as_advanced(CUDA_NVCC_EXECUTABLE)
+
+if(CUDA_NVCC_EXECUTABLE AND NOT CUDA_VERSION)
+  # Compute the version.
+  execute_process (COMMAND ${CUDA_NVCC_EXECUTABLE} "--version" OUTPUT_VARIABLE NVCC_OUT)
+  string(REGEX REPLACE ".*release ([0-9]+)\\.([0-9]+).*" "\\1" CUDA_VERSION_MAJOR ${NVCC_OUT})
+  string(REGEX REPLACE ".*release ([0-9]+)\\.([0-9]+).*" "\\2" CUDA_VERSION_MINOR ${NVCC_OUT})
+  set(CUDA_VERSION "${CUDA_VERSION_MAJOR}.${CUDA_VERSION_MINOR}" CACHE STRING "Version of CUDA as computed from nvcc.")
+  mark_as_advanced(CUDA_VERSION)
+else()
+  # Need to set these based off of the cached value
+  string(REGEX REPLACE "([0-9]+)\\.([0-9]+).*" "\\1" CUDA_VERSION_MAJOR "${CUDA_VERSION}")
+  string(REGEX REPLACE "([0-9]+)\\.([0-9]+).*" "\\2" CUDA_VERSION_MINOR "${CUDA_VERSION}")
+endif()
+
+# Always set this convenience variable
+set(CUDA_VERSION_STRING "${CUDA_VERSION}")
+
+# Here we need to determine if the version we found is acceptable.  We will
+# assume that is unless CUDA_FIND_VERSION_EXACT or CUDA_FIND_VERSION is
+# specified.  The presence of either of these options checks the version
+# string and signals if the version is acceptable or not.
+set(_cuda_version_acceptable TRUE)
+#
+if(CUDA_FIND_VERSION_EXACT AND NOT CUDA_VERSION VERSION_EQUAL CUDA_FIND_VERSION)
+  set(_cuda_version_acceptable FALSE)
+endif()
+#
+if(CUDA_FIND_VERSION       AND     CUDA_VERSION VERSION_LESS  CUDA_FIND_VERSION)
+  set(_cuda_version_acceptable FALSE)
+endif()
+#
+if(NOT _cuda_version_acceptable)
+  set(_cuda_error_message "Requested CUDA version ${CUDA_FIND_VERSION}, but found unacceptable version ${CUDA_VERSION}")
+  if(CUDA_FIND_REQUIRED)
+    message("${_cuda_error_message}")
+  elseif(NOT CUDA_FIND_QUIETLY)
+    message("${_cuda_error_message}")
+  endif()
+endif()
+
+# CUDA_TOOLKIT_INCLUDE
+find_path(CUDA_TOOLKIT_INCLUDE
+  device_functions.h # Header included in toolkit
+  PATHS "${CUDA_TOOLKIT_ROOT_DIR}/include"
+  ENV CUDA_INC_PATH
+  NO_DEFAULT_PATH
+  )
+# Search default search paths, after we search our own set of paths.
+find_path(CUDA_TOOLKIT_INCLUDE device_functions.h)
+mark_as_advanced(CUDA_TOOLKIT_INCLUDE)
+
+# Set the user list of include dir to nothing to initialize it.
+set (CUDA_NVCC_INCLUDE_ARGS_USER "")
+set (CUDA_INCLUDE_DIRS ${CUDA_TOOLKIT_INCLUDE})
+
+macro(FIND_LIBRARY_LOCAL_FIRST _var _names _doc)
+  if(CMAKE_SIZEOF_VOID_P EQUAL 8)
+    # CUDA 3.2+ on Windows moved the library directoryies, so we need the new
+    # and old paths.
+    set(_cuda_64bit_lib_dir
+      "${CUDA_TOOLKIT_ROOT_DIR}/lib/x64"
+      "${CUDA_TOOLKIT_ROOT_DIR}/lib64"
+      )
+  endif()
+  # CUDA 3.2+ on Windows moved the library directories, so we need to new
+  # (lib/Win32) and the old path (lib).
+  find_library(${_var}
+    NAMES ${_names}
+    PATHS ${_cuda_64bit_lib_dir}
+          "${CUDA_TOOLKIT_ROOT_DIR}/lib/Win32"
+          "${CUDA_TOOLKIT_ROOT_DIR}/lib"
+    ENV CUDA_LIB_PATH
+    DOC ${_doc}
+    NO_DEFAULT_PATH
+    )
+  # Search default search paths, after we search our own set of paths.
+  find_library(${_var} NAMES ${_names} DOC ${_doc})
+endmacro()
+
+# CUDA_LIBRARIES
+find_library_local_first(CUDA_CUDART_LIBRARY cudart "\"cudart\" library")
+if(CUDA_VERSION VERSION_EQUAL "3.0")
+  # The cudartemu library only existed for the 3.0 version of CUDA.
+  find_library_local_first(CUDA_CUDARTEMU_LIBRARY cudartemu "\"cudartemu\" library")
+  mark_as_advanced(
+    CUDA_CUDARTEMU_LIBRARY
+    )
+endif()
+# If we are using emulation mode and we found the cudartemu library then use
+# that one instead of cudart.
+if(CUDA_BUILD_EMULATION AND CUDA_CUDARTEMU_LIBRARY)
+  set(CUDA_LIBRARIES ${CUDA_CUDARTEMU_LIBRARY})
+else()
+set(CUDA_LIBRARIES ${CUDA_CUDART_LIBRARY})
+endif()
+if(APPLE)
+  # We need to add the path to cudart to the linker using rpath, since the
+  # library name for the cuda libraries is prepended with @rpath.
+  if(CUDA_BUILD_EMULATION AND CUDA_CUDARTEMU_LIBRARY)
+    get_filename_component(_cuda_path_to_cudart "${CUDA_CUDARTEMU_LIBRARY}" PATH)
+  else()
+  get_filename_component(_cuda_path_to_cudart "${CUDA_CUDART_LIBRARY}" PATH)
+  endif()
+  if(_cuda_path_to_cudart)
+    list(APPEND CUDA_LIBRARIES -Wl,-rpath "-Wl,${_cuda_path_to_cudart}")
+  endif()
+endif()
+
+# 1.1 toolkit on linux doesn't appear to have a separate library on
+# some platforms.
+find_library_local_first(CUDA_CUDA_LIBRARY cuda "\"cuda\" library (older versions only).")
+
+# Add cuda library to the link line only if it is found.
+if (CUDA_CUDA_LIBRARY)
+  set(CUDA_LIBRARIES ${CUDA_LIBRARIES} ${CUDA_CUDA_LIBRARY})
+endif(CUDA_CUDA_LIBRARY)
+
+mark_as_advanced(
+  CUDA_CUDA_LIBRARY
+  CUDA_CUDART_LIBRARY
+  )
+
+#######################
+# Look for some of the toolkit helper libraries
+macro(FIND_CUDA_HELPER_LIBS _name)
+  find_library_local_first(CUDA_${_name}_LIBRARY ${_name} "\"${_name}\" library")
+  mark_as_advanced(CUDA_${_name}_LIBRARY)
+endmacro(FIND_CUDA_HELPER_LIBS)
+
+#######################
+# Disable emulation for v3.1 onward
+if(CUDA_VERSION VERSION_GREATER "3.0")
+  if(CUDA_BUILD_EMULATION)
+    message(FATAL_ERROR "CUDA_BUILD_EMULATION is not supported in version 3.1 and onwards.  You must disable it to proceed.  You have version ${CUDA_VERSION}.")
+  endif()
+endif()
+
+# Search for cufft and cublas libraries.
+if(CUDA_VERSION VERSION_LESS "3.1")
+  # Emulation libraries aren't available in version 3.1 onward.
+find_cuda_helper_libs(cufftemu)
+find_cuda_helper_libs(cublasemu)
+endif()
+find_cuda_helper_libs(cufft)
+find_cuda_helper_libs(cublas)
+
+if (CUDA_BUILD_EMULATION)
+  set(CUDA_CUFFT_LIBRARIES ${CUDA_cufftemu_LIBRARY})
+  set(CUDA_CUBLAS_LIBRARIES ${CUDA_cublasemu_LIBRARY})
+else()
+  set(CUDA_CUFFT_LIBRARIES ${CUDA_cufft_LIBRARY})
+  set(CUDA_CUBLAS_LIBRARIES ${CUDA_cublas_LIBRARY})
+endif()
+
+########################
+# Look for the SDK stuff.  As of CUDA 3.0 NVSDKCUDA_ROOT has been replaced with
+# NVSDKCOMPUTE_ROOT with the old CUDA C contents moved into the C subdirectory
+find_path(CUDA_SDK_ROOT_DIR common/inc/cutil.h
+  "$ENV{HOME}/NVIDIA_GPU_Computing_SDK/C"
+  "$ENV{NVSDKCOMPUTE_ROOT}/C"
+  "$ENV{NVSDKCUDA_ROOT}"
+  "[HKEY_LOCAL_MACHINE\\SOFTWARE\\NVIDIA Corporation\\Installed Products\\NVIDIA SDK 10\\Compute;InstallDir]"
+  "/Developer/GPU\ Computing/C"
+  )
+
+# Keep the CUDA_SDK_ROOT_DIR first in order to be able to override the
+# environment variables.
+set(CUDA_SDK_SEARCH_PATH
+  "${CUDA_SDK_ROOT_DIR}"
+  "${CUDA_TOOLKIT_ROOT_DIR}/local/NVSDK0.2"
+  "${CUDA_TOOLKIT_ROOT_DIR}/NVSDK0.2"
+  "${CUDA_TOOLKIT_ROOT_DIR}/NV_CUDA_SDK"
+  "$ENV{HOME}/NVIDIA_CUDA_SDK"
+  "$ENV{HOME}/NVIDIA_CUDA_SDK_MACOSX"
+  "$ENV{HOME}/NVIDIA_GPU_Computing_SDK/C"
+  "/Developer/CUDA"
+  )
+
+# Example of how to find an include file from the CUDA_SDK_ROOT_DIR
+
+# find_path(CUDA_CUT_INCLUDE_DIR
+#   cutil.h
+#   PATHS ${CUDA_SDK_SEARCH_PATH}
+#   PATH_SUFFIXES "common/inc"
+#   DOC "Location of cutil.h"
+#   NO_DEFAULT_PATH
+#   )
+# # Now search system paths
+# find_path(CUDA_CUT_INCLUDE_DIR cutil.h DOC "Location of cutil.h")
+
+# mark_as_advanced(CUDA_CUT_INCLUDE_DIR)
+
+
+# Example of how to find a library in the CUDA_SDK_ROOT_DIR
+
+# # cutil library is called cutil64 for 64 bit builds on windows.  We don't want
+# # to get these confused, so we are setting the name based on the word size of
+# # the build.
+
+# if(CMAKE_SIZEOF_VOID_P EQUAL 8)
+#   set(cuda_cutil_name cutil64)
+# else(CMAKE_SIZEOF_VOID_P EQUAL 8)
+#   set(cuda_cutil_name cutil32)
+# endif(CMAKE_SIZEOF_VOID_P EQUAL 8)
+
+# find_library(CUDA_CUT_LIBRARY
+#   NAMES cutil ${cuda_cutil_name}
+#   PATHS ${CUDA_SDK_SEARCH_PATH}
+#   # The new version of the sdk shows up in common/lib, but the old one is in lib
+#   PATH_SUFFIXES "common/lib" "lib"
+#   DOC "Location of cutil library"
+#   NO_DEFAULT_PATH
+#   )
+# # Now search system paths
+# find_library(CUDA_CUT_LIBRARY NAMES cutil ${cuda_cutil_name} DOC "Location of cutil library")
+# mark_as_advanced(CUDA_CUT_LIBRARY)
+# set(CUDA_CUT_LIBRARIES ${CUDA_CUT_LIBRARY})
+
+
+
+#############################
+# Check for required components
+set(CUDA_FOUND TRUE)
+
+set(CUDA_TOOLKIT_ROOT_DIR_INTERNAL "${CUDA_TOOLKIT_ROOT_DIR}" CACHE INTERNAL
+  "This is the value of the last time CUDA_TOOLKIT_ROOT_DIR was set successfully." FORCE)
+set(CUDA_SDK_ROOT_DIR_INTERNAL "${CUDA_SDK_ROOT_DIR}" CACHE INTERNAL
+  "This is the value of the last time CUDA_SDK_ROOT_DIR was set successfully." FORCE)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CUDA DEFAULT_MSG
+  CUDA_TOOLKIT_ROOT_DIR
+  CUDA_NVCC_EXECUTABLE
+  CUDA_INCLUDE_DIRS
+  CUDA_CUDART_LIBRARY
+  _cuda_version_acceptable
+  )
+
+
+
+###############################################################################
+###############################################################################
+# Macros
+###############################################################################
+###############################################################################
+
+###############################################################################
+# Add include directories to pass to the nvcc command.
+macro(CUDA_INCLUDE_DIRECTORIES)
+  foreach(dir ${ARGN})
+    list(APPEND CUDA_NVCC_INCLUDE_ARGS_USER "-I${dir}")
+  endforeach(dir ${ARGN})
+endmacro(CUDA_INCLUDE_DIRECTORIES)
+
+
+##############################################################################
+cuda_find_helper_file(parse_cubin cmake)
+cuda_find_helper_file(make2cmake cmake)
+cuda_find_helper_file(run_nvcc cmake)
+
+##############################################################################
+# Separate the OPTIONS out from the sources
+#
+macro(CUDA_GET_SOURCES_AND_OPTIONS _sources _cmake_options _options)
+  set( ${_sources} )
+  set( ${_cmake_options} )
+  set( ${_options} )
+  set( _found_options FALSE )
+  foreach(arg ${ARGN})
+    if(arg STREQUAL "OPTIONS")
+      set( _found_options TRUE )
+    elseif(
+        arg STREQUAL "WIN32" OR
+        arg STREQUAL "MACOSX_BUNDLE" OR
+        arg STREQUAL "EXCLUDE_FROM_ALL" OR
+        arg STREQUAL "STATIC" OR
+        arg STREQUAL "SHARED" OR
+        arg STREQUAL "MODULE"
+        )
+      list(APPEND ${_cmake_options} "${arg}")
+    else()
+      if ( _found_options )
+        list(APPEND ${_options} "${arg}")
+      else()
+        # Assume this is a file
+        list(APPEND ${_sources} "${arg}")
+      endif()
+    endif()
+  endforeach()
+endmacro()
+
+##############################################################################
+# Parse the OPTIONS from ARGN and set the variables prefixed by _option_prefix
+#
+macro(CUDA_PARSE_NVCC_OPTIONS _option_prefix)
+  set( _found_config )
+  foreach(arg ${ARGN})
+    # Determine if we are dealing with a perconfiguration flag
+    foreach(config ${CUDA_configuration_types})
+      string(TOUPPER ${config} config_upper)
+      if (arg STREQUAL "${config_upper}")
+        set( _found_config _${arg})
+        # Set arg to nothing to keep it from being processed further
+        set( arg )
+      endif()
+    endforeach()
+
+    if ( arg )
+      list(APPEND ${_option_prefix}${_found_config} "${arg}")
+    endif()
+  endforeach()
+endmacro()
+
+##############################################################################
+# Helper to add the include directory for CUDA only once
+function(CUDA_ADD_CUDA_INCLUDE_ONCE)
+  get_directory_property(_include_directories INCLUDE_DIRECTORIES)
+  set(_add TRUE)
+  if(_include_directories)
+    foreach(dir ${_include_directories})
+      if("${dir}" STREQUAL "${CUDA_INCLUDE_DIRS}")
+        set(_add FALSE)
+      endif()
+    endforeach()
+  endif()
+  if(_add)
+    include_directories(${CUDA_INCLUDE_DIRS})
+  endif()
+endfunction()
+
+function(CUDA_BUILD_SHARED_LIBRARY shared_flag)
+  set(cmake_args ${ARGN})
+  # If SHARED, MODULE, or STATIC aren't already in the list of arguments, then
+  # add SHARED or STATIC based on the value of BUILD_SHARED_LIBS.
+  list(FIND cmake_args SHARED _cuda_found_SHARED)
+  list(FIND cmake_args MODULE _cuda_found_MODULE)
+  list(FIND cmake_args STATIC _cuda_found_STATIC)
+  if( _cuda_found_SHARED GREATER -1 OR
+      _cuda_found_MODULE GREATER -1 OR
+      _cuda_found_STATIC GREATER -1)
+    set(_cuda_build_shared_libs)
+  else()
+    if (BUILD_SHARED_LIBS)
+      set(_cuda_build_shared_libs SHARED)
+    else()
+      set(_cuda_build_shared_libs STATIC)
+    endif()
+  endif()
+  set(${shared_flag} ${_cuda_build_shared_libs} PARENT_SCOPE)
+endfunction()
+
+##############################################################################
+# This helper macro populates the following variables and setups up custom
+# commands and targets to invoke the nvcc compiler to generate C or PTX source
+# dependent upon the format parameter.  The compiler is invoked once with -M
+# to generate a dependency file and a second time with -cuda or -ptx to generate
+# a .cpp or .ptx file.
+# INPUT:
+#   cuda_target         - Target name
+#   format              - PTX or OBJ
+#   FILE1 .. FILEN      - The remaining arguments are the sources to be wrapped.
+#   OPTIONS             - Extra options to NVCC
+# OUTPUT:
+#   generated_files     - List of generated files
+##############################################################################
+##############################################################################
+
+macro(CUDA_WRAP_SRCS cuda_target format generated_files)
+
+  if( ${format} MATCHES "PTX" )
+    set( compile_to_ptx ON )
+  elseif( ${format} MATCHES "OBJ")
+    set( compile_to_ptx OFF )
+  else()
+    message( FATAL_ERROR "Invalid format flag passed to CUDA_WRAP_SRCS: '${format}'.  Use OBJ or PTX.")
+  endif()
+
+  # Set up all the command line flags here, so that they can be overriden on a per target basis.
+
+  set(nvcc_flags "")
+
+  # Emulation if the card isn't present.
+  if (CUDA_BUILD_EMULATION)
+    # Emulation.
+    set(nvcc_flags ${nvcc_flags} --device-emulation -D_DEVICEEMU -g)
+  else(CUDA_BUILD_EMULATION)
+    # Device mode.  No flags necessary.
+  endif(CUDA_BUILD_EMULATION)
+
+  if(CUDA_HOST_COMPILATION_CPP)
+    set(CUDA_C_OR_CXX CXX)
+  else(CUDA_HOST_COMPILATION_CPP)
+    if(CUDA_VERSION VERSION_LESS "3.0")
+      set(nvcc_flags ${nvcc_flags} --host-compilation C)
+    else()
+      message(WARNING "--host-compilation flag is deprecated in CUDA version >= 3.0.  Removing --host-compilation C flag" )
+    endif()
+    set(CUDA_C_OR_CXX C)
+  endif(CUDA_HOST_COMPILATION_CPP)
+
+  set(generated_extension ${CMAKE_${CUDA_C_OR_CXX}_OUTPUT_EXTENSION})
+
+  if(CUDA_64_BIT_DEVICE_CODE)
+    set(nvcc_flags ${nvcc_flags} -m64)
+  else()
+    set(nvcc_flags ${nvcc_flags} -m32)
+  endif()
+
+  # This needs to be passed in at this stage, because VS needs to fill out the
+  # value of VCInstallDir from within VS.
+  if(CMAKE_GENERATOR MATCHES "Visual Studio")
+    if( CMAKE_SIZEOF_VOID_P EQUAL 8 )
+      # Add nvcc flag for 64b Windows
+      set(ccbin_flags -D "\"CCBIN:PATH=$(VCInstallDir)bin\"" )
+    endif()
+  endif()
+
+  # Figure out which configure we will use and pass that in as an argument to
+  # the script.  We need to defer the decision until compilation time, because
+  # for VS projects we won't know if we are making a debug or release build
+  # until build time.
+  if(CMAKE_GENERATOR MATCHES "Visual Studio")
+    set( CUDA_build_configuration "$(ConfigurationName)" )
+  else()
+    set( CUDA_build_configuration "${CMAKE_BUILD_TYPE}")
+  endif()
+
+  # Initialize our list of includes with the user ones followed by the CUDA system ones.
+  set(CUDA_NVCC_INCLUDE_ARGS ${CUDA_NVCC_INCLUDE_ARGS_USER} "-I${CUDA_INCLUDE_DIRS}")
+  # Get the include directories for this directory and use them for our nvcc command.
+  get_directory_property(CUDA_NVCC_INCLUDE_DIRECTORIES INCLUDE_DIRECTORIES)
+  if(CUDA_NVCC_INCLUDE_DIRECTORIES)
+    foreach(dir ${CUDA_NVCC_INCLUDE_DIRECTORIES})
+      list(APPEND CUDA_NVCC_INCLUDE_ARGS "-I${dir}")
+    endforeach()
+  endif()
+
+  # Reset these variables
+  set(CUDA_WRAP_OPTION_NVCC_FLAGS)
+  foreach(config ${CUDA_configuration_types})
+    string(TOUPPER ${config} config_upper)
+    set(CUDA_WRAP_OPTION_NVCC_FLAGS_${config_upper})
+  endforeach()
+
+  CUDA_GET_SOURCES_AND_OPTIONS(_cuda_wrap_sources _cuda_wrap_cmake_options _cuda_wrap_options ${ARGN})
+  CUDA_PARSE_NVCC_OPTIONS(CUDA_WRAP_OPTION_NVCC_FLAGS ${_cuda_wrap_options})
+
+  # Figure out if we are building a shared library.  BUILD_SHARED_LIBS is
+  # respected in CUDA_ADD_LIBRARY.
+  set(_cuda_build_shared_libs FALSE)
+  # SHARED, MODULE
+  list(FIND _cuda_wrap_cmake_options SHARED _cuda_found_SHARED)
+  list(FIND _cuda_wrap_cmake_options MODULE _cuda_found_MODULE)
+  if(_cuda_found_SHARED GREATER -1 OR _cuda_found_MODULE GREATER -1)
+    set(_cuda_build_shared_libs TRUE)
+  endif()
+  # STATIC
+  list(FIND _cuda_wrap_cmake_options STATIC _cuda_found_STATIC)
+  if(_cuda_found_STATIC GREATER -1)
+    set(_cuda_build_shared_libs FALSE)
+  endif()
+
+  # CUDA_HOST_FLAGS
+  if(_cuda_build_shared_libs)
+    # If we are setting up code for a shared library, then we need to add extra flags for
+    # compiling objects for shared libraries.
+    set(CUDA_HOST_SHARED_FLAGS ${CMAKE_SHARED_LIBRARY_${CUDA_C_OR_CXX}_FLAGS})
+  else()
+    set(CUDA_HOST_SHARED_FLAGS)
+  endif()
+  # Only add the CMAKE_{C,CXX}_FLAGS if we are propagating host flags.  We
+  # always need to set the SHARED_FLAGS, though.
+  if(CUDA_PROPAGATE_HOST_FLAGS)
+    set(CUDA_HOST_FLAGS "set(CMAKE_HOST_FLAGS ${CMAKE_${CUDA_C_OR_CXX}_FLAGS} ${CUDA_HOST_SHARED_FLAGS})")
+  else()
+    set(CUDA_HOST_FLAGS "set(CMAKE_HOST_FLAGS ${CUDA_HOST_SHARED_FLAGS})")
+  endif()
+
+  set(CUDA_NVCC_FLAGS_CONFIG "# Build specific configuration flags")
+  # Loop over all the configuration types to generate appropriate flags for run_nvcc.cmake
+  foreach(config ${CUDA_configuration_types})
+    string(TOUPPER ${config} config_upper)
+    # CMAKE_FLAGS are strings and not lists.  By not putting quotes around CMAKE_FLAGS
+    # we convert the strings to lists (like we want).
+
+    if(CUDA_PROPAGATE_HOST_FLAGS)
+      # nvcc chokes on -g3 in versions previous to 3.0, so replace it with -g
+      if(CMAKE_COMPILER_IS_GNUCC AND CUDA_VERSION VERSION_LESS "3.0")
+        string(REPLACE "-g3" "-g" _cuda_C_FLAGS "${CMAKE_${CUDA_C_OR_CXX}_FLAGS_${config_upper}}")
+      else()
+        set(_cuda_C_FLAGS "${CMAKE_${CUDA_C_OR_CXX}_FLAGS_${config_upper}}")
+      endif()
+
+      set(CUDA_HOST_FLAGS "${CUDA_HOST_FLAGS}\nset(CMAKE_HOST_FLAGS_${config_upper} ${_cuda_C_FLAGS})")
+    endif()
+
+    # Note that if we ever want CUDA_NVCC_FLAGS_<CONFIG> to be string (instead of a list
+    # like it is currently), we can remove the quotes around the
+    # ${CUDA_NVCC_FLAGS_${config_upper}} variable like the CMAKE_HOST_FLAGS_<CONFIG> variable.
+    set(CUDA_NVCC_FLAGS_CONFIG "${CUDA_NVCC_FLAGS_CONFIG}\nset(CUDA_NVCC_FLAGS_${config_upper} \"${CUDA_NVCC_FLAGS_${config_upper}};;${CUDA_WRAP_OPTION_NVCC_FLAGS_${config_upper}}\")")
+  endforeach()
+
+  if(compile_to_ptx)
+    # Don't use any of the host compilation flags for PTX targets.
+    set(CUDA_HOST_FLAGS)
+    set(CUDA_NVCC_FLAGS_CONFIG)
+  endif()
+
+  # Get the list of definitions from the directory property
+  get_directory_property(CUDA_NVCC_DEFINITIONS COMPILE_DEFINITIONS)
+  if(CUDA_NVCC_DEFINITIONS)
+    foreach(_definition ${CUDA_NVCC_DEFINITIONS})
+      list(APPEND nvcc_flags "-D${_definition}")
+    endforeach()
+  endif()
+
+  if(_cuda_build_shared_libs)
+    list(APPEND nvcc_flags "-D${cuda_target}_EXPORTS")
+  endif()
+
+  # Determine output directory
+  if(CUDA_GENERATED_OUTPUT_DIR)
+    set(cuda_compile_output_dir "${CUDA_GENERATED_OUTPUT_DIR}")
+  else()
+    set(cuda_compile_output_dir "${CMAKE_CURRENT_BINARY_DIR}")
+  endif()
+
+  # Reset the output variable
+  set(_cuda_wrap_generated_files "")
+
+  # Iterate over the macro arguments and create custom
+  # commands for all the .cu files.
+  foreach(file ${ARGN})
+    # Ignore any file marked as a HEADER_FILE_ONLY
+    get_source_file_property(_is_header ${file} HEADER_FILE_ONLY)
+    if(${file} MATCHES ".*\\.cu$" AND NOT _is_header)
+
+      # Add a custom target to generate a c or ptx file. ######################
+
+      get_filename_component( basename ${file} NAME )
+      if( compile_to_ptx )
+        set(generated_file_path "${cuda_compile_output_dir}")
+        set(generated_file_basename "${cuda_target}_generated_${basename}.ptx")
+        set(format_flag "-ptx")
+        file(MAKE_DIRECTORY "${cuda_compile_output_dir}")
+      else( compile_to_ptx )
+        set(generated_file_path "${cuda_compile_output_dir}/${CMAKE_CFG_INTDIR}")
+        set(generated_file_basename "${cuda_target}_generated_${basename}${generated_extension}")
+        set(format_flag "-c")
+      endif( compile_to_ptx )
+
+      # Set all of our file names.  Make sure that whatever filenames that have
+      # generated_file_path in them get passed in through as a command line
+      # argument, so that the ${CMAKE_CFG_INTDIR} gets expanded at run time
+      # instead of configure time.
+      set(generated_file "${generated_file_path}/${generated_file_basename}")
+      set(cmake_dependency_file "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/${generated_file_basename}.depend")
+      set(NVCC_generated_dependency_file "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/${generated_file_basename}.NVCC-depend")
+      set(generated_cubin_file "${generated_file_path}/${generated_file_basename}.cubin.txt")
+      set(custom_target_script "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/${generated_file_basename}.cmake")
+
+      # Setup properties for obj files:
+      if( NOT compile_to_ptx )
+        set_source_files_properties("${generated_file}"
+          PROPERTIES
+          EXTERNAL_OBJECT true # This is an object file not to be compiled, but only be linked.
+          )
+      endif()
+
+      # Don't add CMAKE_CURRENT_SOURCE_DIR if the path is already an absolute path.
+      get_filename_component(file_path "${file}" PATH)
+      if(IS_ABSOLUTE "${file_path}")
+        set(source_file "${file}")
+      else()
+        set(source_file "${CMAKE_CURRENT_SOURCE_DIR}/${file}")
+      endif()
+
+      # Bring in the dependencies.  Creates a variable CUDA_NVCC_DEPEND #######
+      cuda_include_nvcc_dependencies(${cmake_dependency_file})
+
+      # Convience string for output ###########################################
+      if(CUDA_BUILD_EMULATION)
+        set(cuda_build_type "Emulation")
+      else(CUDA_BUILD_EMULATION)
+        set(cuda_build_type "Device")
+      endif(CUDA_BUILD_EMULATION)
+
+      # Build the NVCC made dependency file ###################################
+      set(build_cubin OFF)
+      if ( NOT CUDA_BUILD_EMULATION AND CUDA_BUILD_CUBIN )
+         if ( NOT compile_to_ptx )
+           set ( build_cubin ON )
+         endif( NOT compile_to_ptx )
+      endif( NOT CUDA_BUILD_EMULATION AND CUDA_BUILD_CUBIN )
+
+      # Configure the build script
+      configure_file("${CUDA_run_nvcc}" "${custom_target_script}" @ONLY)
+
+      # So if a user specifies the same cuda file as input more than once, you
+      # can have bad things happen with dependencies.  Here we check an option
+      # to see if this is the behavior they want.
+      if(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE)
+        set(main_dep MAIN_DEPENDENCY ${source_file})
+      else()
+        set(main_dep DEPENDS ${source_file})
+      endif()
+
+      if(CUDA_VERBOSE_BUILD)
+        set(verbose_output ON)
+      elseif(CMAKE_GENERATOR MATCHES "Makefiles")
+        set(verbose_output "$(VERBOSE)")
+      else()
+        set(verbose_output OFF)
+      endif()
+
+      # Create up the comment string
+      file(RELATIVE_PATH generated_file_relative_path "${CMAKE_BINARY_DIR}" "${generated_file}")
+      if(compile_to_ptx)
+        set(cuda_build_comment_string "Building NVCC ptx file ${generated_file_relative_path}")
+      else()
+        set(cuda_build_comment_string "Building NVCC (${cuda_build_type}) object ${generated_file_relative_path}")
+      endif()
+
+      # Build the generated file and dependency file ##########################
+      add_custom_command(
+        OUTPUT ${generated_file}
+        # These output files depend on the source_file and the contents of cmake_dependency_file
+        ${main_dep}
+        DEPENDS ${CUDA_NVCC_DEPEND}
+        DEPENDS ${custom_target_script}
+        # Make sure the output directory exists before trying to write to it.
+        COMMAND ${CMAKE_COMMAND} -E make_directory "${generated_file_path}"
+        COMMAND ${CMAKE_COMMAND} ARGS
+          -D verbose:BOOL=${verbose_output}
+          ${ccbin_flags}
+          -D build_configuration:STRING=${CUDA_build_configuration}
+          -D "generated_file:STRING=${generated_file}"
+          -D "generated_cubin_file:STRING=${generated_cubin_file}"
+          -P "${custom_target_script}"
+        COMMENT "${cuda_build_comment_string}"
+        )
+
+      # Make sure the build system knows the file is generated.
+      set_source_files_properties(${generated_file} PROPERTIES GENERATED TRUE)
+
+      # Don't add the object file to the list of generated files if we are using
+      # visual studio and we are attaching the build rule to the cuda file.  VS
+      # will add our object file to the linker automatically for us.
+      set(cuda_add_generated_file TRUE)
+
+      if(NOT compile_to_ptx AND CMAKE_GENERATOR MATCHES "Visual Studio" AND CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE)
+        # Visual Studio 8 crashes when you close the solution when you don't add the object file.
+        if(NOT CMAKE_GENERATOR MATCHES "Visual Studio 8")
+          #message("Not adding ${generated_file}")
+          set(cuda_add_generated_file FALSE)
+        endif()
+      endif()
+
+      if(cuda_add_generated_file)
+        list(APPEND _cuda_wrap_generated_files ${generated_file})
+      endif()
+
+      # Add the other files that we want cmake to clean on a cleanup ##########
+      list(APPEND CUDA_ADDITIONAL_CLEAN_FILES "${cmake_dependency_file}")
+      list(REMOVE_DUPLICATES CUDA_ADDITIONAL_CLEAN_FILES)
+      set(CUDA_ADDITIONAL_CLEAN_FILES ${CUDA_ADDITIONAL_CLEAN_FILES} CACHE INTERNAL "List of intermediate files that are part of the cuda dependency scanning.")
+
+    endif(${file} MATCHES ".*\\.cu$" AND NOT _is_header)
+  endforeach(file)
+
+  # Set the return parameter
+  set(${generated_files} ${_cuda_wrap_generated_files})
+endmacro(CUDA_WRAP_SRCS)
+
+
+###############################################################################
+###############################################################################
+# ADD LIBRARY
+###############################################################################
+###############################################################################
+macro(CUDA_ADD_LIBRARY cuda_target)
+
+  CUDA_ADD_CUDA_INCLUDE_ONCE()
+
+  # Separate the sources from the options
+  CUDA_GET_SOURCES_AND_OPTIONS(_sources _cmake_options _options ${ARGN})
+  CUDA_BUILD_SHARED_LIBRARY(_cuda_shared_flag ${ARGN})
+  # Create custom commands and targets for each file.
+  CUDA_WRAP_SRCS( ${cuda_target} OBJ _generated_files ${_sources}
+    ${_cmake_options} ${_cuda_shared_flag}
+    OPTIONS ${_options} )
+
+  # Add the library.
+  add_library(${cuda_target} ${_cmake_options}
+    ${_generated_files}
+    ${_sources}
+    )
+
+  target_link_libraries(${cuda_target}
+    ${CUDA_LIBRARIES}
+    )
+
+  # We need to set the linker language based on what the expected generated file
+  # would be. CUDA_C_OR_CXX is computed based on CUDA_HOST_COMPILATION_CPP.
+  set_target_properties(${cuda_target}
+    PROPERTIES
+    LINKER_LANGUAGE ${CUDA_C_OR_CXX}
+    )
+
+endmacro(CUDA_ADD_LIBRARY cuda_target)
+
+
+###############################################################################
+###############################################################################
+# ADD EXECUTABLE
+###############################################################################
+###############################################################################
+macro(CUDA_ADD_EXECUTABLE cuda_target)
+
+  CUDA_ADD_CUDA_INCLUDE_ONCE()
+
+  # Separate the sources from the options
+  CUDA_GET_SOURCES_AND_OPTIONS(_sources _cmake_options _options ${ARGN})
+  # Create custom commands and targets for each file.
+  CUDA_WRAP_SRCS( ${cuda_target} OBJ _generated_files ${_sources} OPTIONS ${_options} )
+
+  # Add the library.
+  add_executable(${cuda_target} ${_cmake_options}
+    ${_generated_files}
+    ${_sources}
+    )
+
+  target_link_libraries(${cuda_target}
+    ${CUDA_LIBRARIES}
+    )
+
+  # We need to set the linker language based on what the expected generated file
+  # would be. CUDA_C_OR_CXX is computed based on CUDA_HOST_COMPILATION_CPP.
+  set_target_properties(${cuda_target}
+    PROPERTIES
+    LINKER_LANGUAGE ${CUDA_C_OR_CXX}
+    )
+
+endmacro(CUDA_ADD_EXECUTABLE cuda_target)
+
+
+###############################################################################
+###############################################################################
+# CUDA COMPILE
+###############################################################################
+###############################################################################
+macro(CUDA_COMPILE generated_files)
+
+  # Separate the sources from the options
+  CUDA_GET_SOURCES_AND_OPTIONS(_sources _cmake_options _options ${ARGN})
+  # Create custom commands and targets for each file.
+  CUDA_WRAP_SRCS( cuda_compile OBJ _generated_files ${_sources} ${_cmake_options}
+    OPTIONS ${_options} )
+
+  set( ${generated_files} ${_generated_files})
+
+endmacro(CUDA_COMPILE)
+
+
+###############################################################################
+###############################################################################
+# CUDA COMPILE PTX
+###############################################################################
+###############################################################################
+macro(CUDA_COMPILE_PTX generated_files)
+
+  # Separate the sources from the options
+  CUDA_GET_SOURCES_AND_OPTIONS(_sources _cmake_options _options ${ARGN})
+  # Create custom commands and targets for each file.
+  CUDA_WRAP_SRCS( cuda_compile_ptx PTX _generated_files ${_sources} ${_cmake_options}
+    OPTIONS ${_options} )
+
+  set( ${generated_files} ${_generated_files})
+
+endmacro(CUDA_COMPILE_PTX)
+
+###############################################################################
+###############################################################################
+# CUDA ADD CUFFT TO TARGET
+###############################################################################
+###############################################################################
+macro(CUDA_ADD_CUFFT_TO_TARGET target)
+  if (CUDA_BUILD_EMULATION)
+    target_link_libraries(${target} ${CUDA_cufftemu_LIBRARY})
+  else()
+    target_link_libraries(${target} ${CUDA_cufft_LIBRARY})
+  endif()
+endmacro()
+
+###############################################################################
+###############################################################################
+# CUDA ADD CUBLAS TO TARGET
+###############################################################################
+###############################################################################
+macro(CUDA_ADD_CUBLAS_TO_TARGET target)
+  if (CUDA_BUILD_EMULATION)
+    target_link_libraries(${target} ${CUDA_cublasemu_LIBRARY})
+  else()
+    target_link_libraries(${target} ${CUDA_cublas_LIBRARY})
+  endif()
+endmacro()
+
+###############################################################################
+###############################################################################
+# CUDA BUILD CLEAN TARGET
+###############################################################################
+###############################################################################
+macro(CUDA_BUILD_CLEAN_TARGET)
+  # Call this after you add all your CUDA targets, and you will get a convience
+  # target.  You should also make clean after running this target to get the
+  # build system to generate all the code again.
+
+  set(cuda_clean_target_name clean_cuda_depends)
+  if (CMAKE_GENERATOR MATCHES "Visual Studio")
+    string(TOUPPER ${cuda_clean_target_name} cuda_clean_target_name)
+  endif()
+  add_custom_target(${cuda_clean_target_name}
+    COMMAND ${CMAKE_COMMAND} -E remove ${CUDA_ADDITIONAL_CLEAN_FILES})
+
+  # Clear out the variable, so the next time we configure it will be empty.
+  # This is useful so that the files won't persist in the list after targets
+  # have been removed.
+  set(CUDA_ADDITIONAL_CLEAN_FILES "" CACHE INTERNAL "List of intermediate files that are part of the cuda dependency scanning.")
+endmacro(CUDA_BUILD_CLEAN_TARGET)
diff --git a/uav_simulator/depth_sensor_simulator/CMakeModules/FindCUDA/make2cmake.cmake b/uav_simulator/depth_sensor_simulator/CMakeModules/FindCUDA/make2cmake.cmake
new file mode 100755
index 0000000..7fce167
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/CMakeModules/FindCUDA/make2cmake.cmake
@@ -0,0 +1,79 @@
+#  James Bigler, NVIDIA Corp (nvidia.com - jbigler)
+#  Abe Stephens, SCI Institute -- http://www.sci.utah.edu/~abe/FindCuda.html
+#
+#  Copyright (c) 2008 - 2009 NVIDIA Corporation.  All rights reserved.
+#
+#  Copyright (c) 2007-2009
+#  Scientific Computing and Imaging Institute, University of Utah
+#
+#  This code is licensed under the MIT License.  See the FindCUDA.cmake script
+#  for the text of the license.
+
+# The MIT License
+#
+# License for the specific language governing rights and limitations under
+# Permission is hereby granted, free of charge, to any person obtaining a
+# copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation
+# the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the
+# Software is furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included
+# in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+# DEALINGS IN THE SOFTWARE.
+#
+
+#######################################################################
+# This converts a file written in makefile syntax into one that can be included
+# by CMake.
+
+file(READ ${input_file} depend_text)
+
+if (${depend_text} MATCHES ".+")
+
+  # message("FOUND DEPENDS")
+
+  # Remember, four backslashes is escaped to one backslash in the string.
+  string(REGEX REPLACE "\\\\ " " " depend_text ${depend_text})
+
+  # This works for the nvcc -M generated dependency files.
+  string(REGEX REPLACE "^.* : " "" depend_text ${depend_text})
+  string(REGEX REPLACE "[ \\\\]*\n" ";" depend_text ${depend_text})
+
+  set(dependency_list "")
+
+  foreach(file ${depend_text})
+
+    string(REGEX REPLACE "^ +" "" file ${file})
+
+    if(NOT IS_DIRECTORY ${file})
+      # If softlinks start to matter, we should change this to REALPATH.  For now we need
+      # to flatten paths, because nvcc can generate stuff like /bin/../include instead of
+      # just /include.
+      get_filename_component(file_absolute "${file}" ABSOLUTE)
+      list(APPEND dependency_list "${file_absolute}")
+    endif(NOT IS_DIRECTORY ${file})
+
+  endforeach(file)
+
+else()
+  # message("FOUND NO DEPENDS")
+endif()
+
+# Remove the duplicate entries and sort them.
+list(REMOVE_DUPLICATES dependency_list)
+list(SORT dependency_list)
+
+foreach(file ${dependency_list})
+  set(cuda_nvcc_depend "${cuda_nvcc_depend} \"${file}\"\n")
+endforeach()
+
+file(WRITE ${output_file} "# Generated by: make2cmake.cmake\nSET(CUDA_NVCC_DEPEND\n ${cuda_nvcc_depend})\n\n")
diff --git a/uav_simulator/depth_sensor_simulator/CMakeModules/FindCUDA/parse_cubin.cmake b/uav_simulator/depth_sensor_simulator/CMakeModules/FindCUDA/parse_cubin.cmake
new file mode 100755
index 0000000..2518c68
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/CMakeModules/FindCUDA/parse_cubin.cmake
@@ -0,0 +1,112 @@
+#  James Bigler, NVIDIA Corp (nvidia.com - jbigler)
+#  Abe Stephens, SCI Institute -- http://www.sci.utah.edu/~abe/FindCuda.html
+#
+#  Copyright (c) 2008 - 2009 NVIDIA Corporation.  All rights reserved.
+#
+#  Copyright (c) 2007-2009
+#  Scientific Computing and Imaging Institute, University of Utah
+#
+#  This code is licensed under the MIT License.  See the FindCUDA.cmake script
+#  for the text of the license.
+
+# The MIT License
+#
+# License for the specific language governing rights and limitations under
+# Permission is hereby granted, free of charge, to any person obtaining a
+# copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation
+# the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the
+# Software is furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included
+# in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+# DEALINGS IN THE SOFTWARE.
+#
+
+#######################################################################
+# Parses a .cubin file produced by nvcc and reports statistics about the file.
+
+
+file(READ ${input_file} file_text)
+
+if (${file_text} MATCHES ".+")
+
+  # Remember, four backslashes is escaped to one backslash in the string.
+  string(REGEX REPLACE ";" "\\\\;" file_text ${file_text})
+  string(REGEX REPLACE "\ncode" ";code" file_text ${file_text})
+
+  list(LENGTH file_text len)
+
+  foreach(line ${file_text})
+
+    # Only look at "code { }" blocks.
+    if(line MATCHES "^code")
+
+      # Break into individual lines.
+      string(REGEX REPLACE "\n" ";" line ${line})
+
+      foreach(entry ${line})
+
+        # Extract kernel names.
+        if (${entry} MATCHES "[^g]name = ([^ ]+)")
+          string(REGEX REPLACE ".* = ([^ ]+)" "\\1" entry ${entry})
+
+          # Check to see if the kernel name starts with "_"
+          set(skip FALSE)
+          # if (${entry} MATCHES "^_")
+            # Skip the rest of this block.
+            # message("Skipping ${entry}")
+            # set(skip TRUE)
+          # else (${entry} MATCHES "^_")
+            message("Kernel:    ${entry}")
+          # endif (${entry} MATCHES "^_")
+
+        endif(${entry} MATCHES "[^g]name = ([^ ]+)")
+
+        # Skip the rest of the block if necessary
+        if(NOT skip)
+
+          # Registers
+          if (${entry} MATCHES "reg([ ]+)=([ ]+)([^ ]+)")
+            string(REGEX REPLACE ".*([ ]+)=([ ]+)([^ ]+)" "\\3" entry ${entry})
+            message("Registers: ${entry}")
+          endif()
+
+          # Local memory
+          if (${entry} MATCHES "lmem([ ]+)=([ ]+)([^ ]+)")
+            string(REGEX REPLACE ".*([ ]+)=([ ]+)([^ ]+)" "\\3" entry ${entry})
+            message("Local:     ${entry}")
+          endif()
+
+          # Shared memory
+          if (${entry} MATCHES "smem([ ]+)=([ ]+)([^ ]+)")
+            string(REGEX REPLACE ".*([ ]+)=([ ]+)([^ ]+)" "\\3" entry ${entry})
+            message("Shared:    ${entry}")
+          endif()
+
+          if (${entry} MATCHES "^}")
+            message("")
+          endif()
+
+        endif(NOT skip)
+
+
+      endforeach(entry)
+
+    endif(line MATCHES "^code")
+
+  endforeach(line)
+
+else()
+  # message("FOUND NO DEPENDS")
+endif()
+
+
diff --git a/uav_simulator/depth_sensor_simulator/CMakeModules/FindCUDA/run_nvcc.cmake b/uav_simulator/depth_sensor_simulator/CMakeModules/FindCUDA/run_nvcc.cmake
new file mode 100755
index 0000000..dce98e3
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/CMakeModules/FindCUDA/run_nvcc.cmake
@@ -0,0 +1,280 @@
+#  James Bigler, NVIDIA Corp (nvidia.com - jbigler)
+#
+#  Copyright (c) 2008 - 2009 NVIDIA Corporation.  All rights reserved.
+#
+#  This code is licensed under the MIT License.  See the FindCUDA.cmake script
+#  for the text of the license.
+
+# The MIT License
+#
+# License for the specific language governing rights and limitations under
+# Permission is hereby granted, free of charge, to any person obtaining a
+# copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation
+# the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the
+# Software is furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included
+# in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+# DEALINGS IN THE SOFTWARE.
+
+
+##########################################################################
+# This file runs the nvcc commands to produce the desired output file along with
+# the dependency file needed by CMake to compute dependencies.  In addition the
+# file checks the output of each command and if the command fails it deletes the
+# output files.
+
+# Input variables
+#
+# verbose:BOOL=<>          OFF: Be as quiet as possible (default)
+#                          ON : Describe each step
+#
+# build_configuration:STRING=<> Typically one of Debug, MinSizeRel, Release, or
+#                               RelWithDebInfo, but it should match one of the
+#                               entries in CUDA_HOST_FLAGS. This is the build
+#                               configuration used when compiling the code.  If
+#                               blank or unspecified Debug is assumed as this is
+#                               what CMake does.
+#
+# generated_file:STRING=<> File to generate.  This argument must be passed in.
+#
+# generated_cubin_file:STRING=<> File to generate.  This argument must be passed
+#                                                   in if build_cubin is true.
+
+if(NOT generated_file)
+  message(FATAL_ERROR "You must specify generated_file on the command line")
+endif()
+
+# Set these up as variables to make reading the generated file easier
+set(CMAKE_COMMAND "@CMAKE_COMMAND@")
+set(source_file "@source_file@")
+set(NVCC_generated_dependency_file "@NVCC_generated_dependency_file@")
+set(cmake_dependency_file "@cmake_dependency_file@")
+set(CUDA_make2cmake "@CUDA_make2cmake@")
+set(CUDA_parse_cubin "@CUDA_parse_cubin@")
+set(build_cubin @build_cubin@)
+# We won't actually use these variables for now, but we need to set this, in
+# order to force this file to be run again if it changes.
+set(generated_file_path "@generated_file_path@")
+set(generated_file_internal "@generated_file@")
+set(generated_cubin_file_internal "@generated_cubin_file@")
+
+set(CUDA_NVCC_EXECUTABLE "@CUDA_NVCC_EXECUTABLE@")
+set(CUDA_NVCC_FLAGS "@CUDA_NVCC_FLAGS@;;@CUDA_WRAP_OPTION_NVCC_FLAGS@")
+@CUDA_NVCC_FLAGS_CONFIG@
+set(nvcc_flags @nvcc_flags@)
+set(CUDA_NVCC_INCLUDE_ARGS "@CUDA_NVCC_INCLUDE_ARGS@")
+set(format_flag "@format_flag@")
+
+if(build_cubin AND NOT generated_cubin_file)
+  message(FATAL_ERROR "You must specify generated_cubin_file on the command line")
+endif()
+
+# This is the list of host compilation flags.  It C or CXX should already have
+# been chosen by FindCUDA.cmake.
+@CUDA_HOST_FLAGS@
+
+# Take the compiler flags and package them up to be sent to the compiler via -Xcompiler
+set(nvcc_host_compiler_flags "")
+# If we weren't given a build_configuration, use Debug.
+if(NOT build_configuration)
+  set(build_configuration Debug)
+endif()
+string(TOUPPER "${build_configuration}" build_configuration)
+#message("CUDA_NVCC_HOST_COMPILER_FLAGS = ${CUDA_NVCC_HOST_COMPILER_FLAGS}")
+foreach(flag ${CMAKE_HOST_FLAGS} ${CMAKE_HOST_FLAGS_${build_configuration}})
+  # Extra quotes are added around each flag to help nvcc parse out flags with spaces.
+  set(nvcc_host_compiler_flags "${nvcc_host_compiler_flags},\"${flag}\"")
+endforeach()
+if (nvcc_host_compiler_flags)
+  set(nvcc_host_compiler_flags "-Xcompiler" ${nvcc_host_compiler_flags})
+endif()
+#message("nvcc_host_compiler_flags = \"${nvcc_host_compiler_flags}\"")
+# Add the build specific configuration flags
+list(APPEND CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS_${build_configuration}})
+
+if(DEFINED CCBIN)
+  set(CCBIN -ccbin "${CCBIN}")
+endif()
+
+# cuda_execute_process - Executes a command with optional command echo and status message.
+#
+#   status  - Status message to print if verbose is true
+#   command - COMMAND argument from the usual execute_process argument structure
+#   ARGN    - Remaining arguments are the command with arguments
+#
+#   CUDA_result - return value from running the command
+#
+# Make this a macro instead of a function, so that things like RESULT_VARIABLE
+# and other return variables are present after executing the process.
+macro(cuda_execute_process status command)
+  set(_command ${command})
+  if(NOT _command STREQUAL "COMMAND")
+    message(FATAL_ERROR "Malformed call to cuda_execute_process.  Missing COMMAND as second argument. (command = ${command})")
+  endif()
+  if(verbose)
+    execute_process(COMMAND "${CMAKE_COMMAND}" -E echo -- ${status})
+    # Now we need to build up our command string.  We are accounting for quotes
+    # and spaces, anything else is left up to the user to fix if they want to
+    # copy and paste a runnable command line.
+    set(cuda_execute_process_string)
+    foreach(arg ${ARGN})
+      # If there are quotes, excape them, so they come through.
+      string(REPLACE "\"" "\\\"" arg ${arg})
+      # Args with spaces need quotes around them to get them to be parsed as a single argument.
+      if(arg MATCHES " ")
+        list(APPEND cuda_execute_process_string "\"${arg}\"")
+      else()
+        list(APPEND cuda_execute_process_string ${arg})
+      endif()
+    endforeach()
+    # Echo the command
+    execute_process(COMMAND ${CMAKE_COMMAND} -E echo ${cuda_execute_process_string})
+  endif(verbose)
+  # Run the command
+  execute_process(COMMAND ${ARGN} RESULT_VARIABLE CUDA_result )
+endmacro()
+
+# Delete the target file
+cuda_execute_process(
+  "Removing ${generated_file}"
+  COMMAND "${CMAKE_COMMAND}" -E remove "${generated_file}"
+  )
+
+# For CUDA 2.3 and below, -G -M doesn't work, so remove the -G flag
+# for dependency generation and hope for the best.
+set(depends_CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS}")
+set(CUDA_VERSION @CUDA_VERSION@)
+if(CUDA_VERSION VERSION_LESS "3.0")
+  cmake_policy(PUSH)
+  # CMake policy 0007 NEW states that empty list elements are not
+  # ignored.  I'm just setting it to avoid the warning that's printed.
+  cmake_policy(SET CMP0007 NEW)
+  # Note that this will remove all occurances of -G.
+  list(REMOVE_ITEM depends_CUDA_NVCC_FLAGS "-G")
+  cmake_policy(POP)
+endif()
+
+# nvcc doesn't define __CUDACC__ for some reason when generating dependency files.  This
+# can cause incorrect dependencies when #including files based on this macro which is
+# defined in the generating passes of nvcc invokation.  We will go ahead and manually
+# define this for now until a future version fixes this bug.
+set(CUDACC_DEFINE -D__CUDACC__)
+
+# Generate the dependency file
+cuda_execute_process(
+  "Generating dependency file: ${NVCC_generated_dependency_file}"
+  COMMAND "${CUDA_NVCC_EXECUTABLE}"
+  -M
+  ${CUDACC_DEFINE}
+  "${source_file}"
+  -o "${NVCC_generated_dependency_file}"
+  ${CCBIN}
+  ${nvcc_flags}
+  ${nvcc_host_compiler_flags}
+  ${depends_CUDA_NVCC_FLAGS}
+  -DNVCC
+  ${CUDA_NVCC_INCLUDE_ARGS}
+  )
+
+if(CUDA_result)
+  message(FATAL_ERROR "Error generating ${generated_file}")
+endif()
+
+# Generate the cmake readable dependency file to a temp file.  Don't put the
+# quotes just around the filenames for the input_file and output_file variables.
+# CMake will pass the quotes through and not be able to find the file.
+cuda_execute_process(
+  "Generating temporary cmake readable file: ${cmake_dependency_file}.tmp"
+  COMMAND "${CMAKE_COMMAND}"
+  -D "input_file:FILEPATH=${NVCC_generated_dependency_file}"
+  -D "output_file:FILEPATH=${cmake_dependency_file}.tmp"
+  -P "${CUDA_make2cmake}"
+  )
+
+if(CUDA_result)
+  message(FATAL_ERROR "Error generating ${generated_file}")
+endif()
+
+# Copy the file if it is different
+cuda_execute_process(
+  "Copy if different ${cmake_dependency_file}.tmp to ${cmake_dependency_file}"
+  COMMAND "${CMAKE_COMMAND}" -E copy_if_different "${cmake_dependency_file}.tmp" "${cmake_dependency_file}"
+  )
+
+if(CUDA_result)
+  message(FATAL_ERROR "Error generating ${generated_file}")
+endif()
+
+# Delete the temporary file
+cuda_execute_process(
+  "Removing ${cmake_dependency_file}.tmp and ${NVCC_generated_dependency_file}"
+  COMMAND "${CMAKE_COMMAND}" -E remove "${cmake_dependency_file}.tmp" "${NVCC_generated_dependency_file}"
+  )
+
+if(CUDA_result)
+  message(FATAL_ERROR "Error generating ${generated_file}")
+endif()
+
+# Generate the code
+cuda_execute_process(
+  "Generating ${generated_file}"
+  COMMAND "${CUDA_NVCC_EXECUTABLE}"
+  "${source_file}"
+  ${format_flag} -o "${generated_file}"
+  ${CCBIN}
+  ${nvcc_flags}
+  ${nvcc_host_compiler_flags}
+  ${CUDA_NVCC_FLAGS}
+  -DNVCC
+  ${CUDA_NVCC_INCLUDE_ARGS}
+  )
+
+if(CUDA_result)
+  # Since nvcc can sometimes leave half done files make sure that we delete the output file.
+  cuda_execute_process(
+    "Removing ${generated_file}"
+    COMMAND "${CMAKE_COMMAND}" -E remove "${generated_file}"
+    )
+  message(FATAL_ERROR "Error generating file ${generated_file}")
+else()
+  if(verbose)
+    message("Generated ${generated_file} successfully.")
+  endif()
+endif()
+
+# Cubin resource report commands.
+if( build_cubin )
+  # Run with -cubin to produce resource usage report.
+  cuda_execute_process(
+    "Generating ${generated_cubin_file}"
+    COMMAND "${CUDA_NVCC_EXECUTABLE}"
+    "${source_file}"
+    ${CUDA_NVCC_FLAGS}
+    ${nvcc_flags}
+    ${CCBIN}
+    ${nvcc_host_compiler_flags}
+    -DNVCC
+    -cubin
+    -o "${generated_cubin_file}"
+    ${CUDA_NVCC_INCLUDE_ARGS}
+    )
+
+  # Execute the parser script.
+  cuda_execute_process(
+    "Executing the parser script"
+    COMMAND  "${CMAKE_COMMAND}"
+    -D "input_file:STRING=${generated_cubin_file}"
+    -P "${CUDA_parse_cubin}"
+    )
+
+endif( build_cubin )
diff --git a/uav_simulator/depth_sensor_simulator/CMakeModules/FindEigen.cmake b/uav_simulator/depth_sensor_simulator/CMakeModules/FindEigen.cmake
new file mode 100755
index 0000000..cac56d8
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/CMakeModules/FindEigen.cmake
@@ -0,0 +1,81 @@
+###############################################################################
+# 
+# CMake script for finding the Eigen library.
+# 
+# http://eigen.tuxfamily.org/index.php?title=Main_Page
+# 
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD
+# license.
+# 
+# 
+# Input variables:
+# 
+# - Eigen_ROOT_DIR (optional): When specified, header files and libraries
+#   will be searched for in `${Eigen_ROOT_DIR}/include` and
+#   `${Eigen_ROOT_DIR}/libs` respectively, and the default CMake search order
+#   will be ignored. When unspecified, the default CMake search order is used.
+#   This variable can be specified either as a CMake or environment variable.
+#   If both are set, preference is given to the CMake variable.
+#   Use this variable for finding packages installed in a nonstandard location,
+#   or for enforcing that one of multiple package installations is picked up.
+# 
+# Cache variables (not intended to be used in CMakeLists.txt files)
+# 
+# - Eigen_INCLUDE_DIR: Absolute path to package headers.
+# 
+# 
+# Output variables:
+# 
+# - Eigen_FOUND: Boolean that indicates if the package was found
+# - Eigen_INCLUDE_DIRS: Paths to the necessary header files
+# - Eigen_VERSION: Version of Eigen library found
+# - Eigen_DEFINITIONS: Definitions to be passed on behalf of eigen
+# 
+# 
+# Example usage:
+# 
+#   # Passing the version means Eigen_FOUND will only be TRUE if a
+#   # version >= the provided version is found.
+#   find_package(Eigen 3.1.2)
+#   if(NOT Eigen_FOUND)
+#     # Error handling
+#   endif()
+#   ...
+#   add_definitions(${Eigen_DEFINITIONS})
+#   ...
+#   include_directories(${Eigen_INCLUDE_DIRS} ...)
+# 
+###############################################################################
+
+find_package(PkgConfig)
+pkg_check_modules(PC_EIGEN eigen3)
+set(EIGEN_DEFINITIONS ${PC_EIGEN_CFLAGS_OTHER})
+
+set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3/")
+find_path(EIGEN_INCLUDE_DIR Eigen/Core
+    HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS}
+          "${Eigen_ROOT_DIR}" "$ENV{EIGEN_ROOT_DIR}"
+          "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}"  # Backwards Compatibility
+    PATHS "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen"
+          "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0"
+    PATH_SUFFIXES eigen3 include/eigen3 include)
+
+set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR)
+
+mark_as_advanced(EIGEN_INCLUDE_DIR)
+
+if(EIGEN_FOUND)
+  message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS})")
+endif(EIGEN_FOUND)
+
+
+set(Eigen_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+set(Eigen_FOUND ${EIGEN_FOUND})
+set(Eigen_VERSION ${EIGEN_VERSION})
+set(Eigen_DEFINITIONS ${EIGEN_DEFINITIONS})
diff --git a/uav_simulator/depth_sensor_simulator/cfg/depth_sensor_simulator.cfg b/uav_simulator/depth_sensor_simulator/cfg/depth_sensor_simulator.cfg
new file mode 100755
index 0000000..4898362
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/cfg/depth_sensor_simulator.cfg
@@ -0,0 +1,15 @@
+#!/usr/bin/env python
+PACKAGE = "depth_sensor_simulator"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("tx", double_t, 0, "tx", 0.0, -1000.0, 1000.0)
+gen.add("ty", double_t, 0, "ty", 0.0, -1000.0, 1000.0)
+gen.add("tz", double_t, 0, "tz", 0.0, -1000.0, 1000.0)
+gen.add("axis_x", double_t, 0, "axis_x", 0.0, -360.0, 360.0)
+gen.add("axis_y", double_t, 0, "axis_y", 0.0, -360.0, 360.0)
+gen.add("axis_z", double_t, 0, "axis_z", 0.0, -360.0, 360.0)
+
+exit(gen.generate(PACKAGE, "depth_sensor_simulator", "depth_sensor_simulator"))
diff --git a/uav_simulator/depth_sensor_simulator/package.xml b/uav_simulator/depth_sensor_simulator/package.xml
new file mode 100755
index 0000000..93385b9
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/package.xml
@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<package>
+  <name>depth_sensor_simulator</name>
+  <version>0.1.0</version>
+  <description>
+    render depth from depth
+  </description>
+  <author>Matia Pizzoli</author>
+  <maintainer email="matia.pizzoli@gmail.com">Matia Pizzoli</maintainer>
+  <license>GPLv3</license>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+  <build_depend>cmake_modules</build_depend> <!-- for FindEigen.cmake -->
+  <build_depend>roscpp</build_depend>
+  <build_depend>roslib</build_depend>
+  <build_depend>svo_msgs</build_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>vikit_ros</build_depend>
+  <build_depend>pcl_ros</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>quadrotor_msgs</build_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>roscpp</run_depend>
+  <run_depend>roslib</run_depend>
+  <run_depend>svo_msgs</run_depend>
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>vikit_ros</run_depend>
+  <run_depend>pcl_ros</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
+  <run_depend>quadrotor_msgs</run_depend>
+
+</package>
diff --git a/uav_simulator/depth_sensor_simulator/params/camera.yaml b/uav_simulator/depth_sensor_simulator/params/camera.yaml
new file mode 100755
index 0000000..c216ac6
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/params/camera.yaml
@@ -0,0 +1,12 @@
+cam_width:  640
+cam_height: 480
+cam_fx:     385.754
+cam_fy:     385.754
+cam_cx:     257.296
+cam_cy:     236.743
+# cam_width:  752
+# cam_height: 480
+# cam_fx:     258.654
+# cam_fy:     257.296
+# cam_cx:     367.215
+# cam_cy:     248.375
diff --git a/uav_simulator/depth_sensor_simulator/src/AlignError.h b/uav_simulator/depth_sensor_simulator/src/AlignError.h
new file mode 100755
index 0000000..04d4076
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/src/AlignError.h
@@ -0,0 +1,86 @@
+#include <Eigen/Eigen>
+#include <ceres/ceres.h>
+
+struct AlignError {
+    AlignError(  const Eigen::Quaterniond camera_pose, const Eigen::Vector3d camera_trans,
+                 const Eigen::Quaterniond velodyne_pose, const Eigen::Vector3d velodyne_trans)
+    {
+      camera_q[0] = camera_pose.x();
+      camera_q[1] = camera_pose.y();
+      camera_q[2] = camera_pose.z();
+      camera_q[3] = camera_pose.w();
+      camera_t[0] = camera_trans.x();
+      camera_t[1] = camera_trans.y();
+      camera_t[2] = camera_trans.z();
+
+      velodyne_q[0] = velodyne_pose.x();
+      velodyne_q[1] = velodyne_pose.y();
+      velodyne_q[2] = velodyne_pose.z();
+      velodyne_q[3] = velodyne_pose.w();
+      velodyne_t[0] = velodyne_trans.x();
+      velodyne_t[1] = velodyne_trans.y();
+      velodyne_t[2] = velodyne_trans.z();
+    }
+ 
+    // Factory to hide the construction of the CostFunction object from the client code.
+    static ceres::CostFunction* Create( const Eigen::Quaterniond camera_pose, const Eigen::Vector3d camera_trans,
+                                        const Eigen::Quaterniond velodyne_pose, const Eigen::Vector3d velodyne_trans)
+    {
+        return (new ceres::AutoDiffCostFunction<AlignError, 6, 4, 3, 4, 3>(
+            new AlignError(camera_pose, camera_trans, velodyne_pose, velodyne_trans)));
+    }
+ 
+    template <typename T>
+    bool operator()(const T* const world_rotation, const T* const world_translation,
+                    const T* const v2c_rotation, const T* const v2c_translation,
+                    T* residuals) const 
+    { 
+        Eigen::Quaternion<T> q_world = Eigen::Map< const Eigen::Quaternion<T> >(world_rotation);
+        Eigen::Matrix<T,3,1> t_world = Eigen::Map< const Eigen::Matrix<T,3,1> >(world_translation);
+
+        Eigen::Quaternion<T> q_v2c = Eigen::Map< const Eigen::Quaternion<T> >(v2c_rotation);
+        Eigen::Matrix<T,3,1> t_v2c = Eigen::Map< const Eigen::Matrix<T,3,1> >(v2c_translation);
+
+        Eigen::Quaternion<T> q_c;
+        Eigen::Matrix<T,3,1> t_c;
+        q_c.x() = T(camera_q[0]);
+        q_c.y() = T(camera_q[1]);
+        q_c.z() = T(camera_q[2]);
+        q_c.w() = T(camera_q[3]);
+        t_c << T(camera_t[0]), T(camera_t[1]), T(camera_t[2]); 
+
+        Eigen::Quaternion<T> q_v;
+        Eigen::Matrix<T,3,1> t_v;
+        q_v.x() = T(velodyne_q[0]);
+        q_v.y() = T(velodyne_q[1]);
+        q_v.z() = T(velodyne_q[2]);
+        q_v.w() = T(velodyne_q[3]);
+        t_v << T(velodyne_t[0]), T(velodyne_t[1]), T(velodyne_t[2]);
+
+        Eigen::Quaternion<T> q_left; 
+        Eigen::Matrix<T,3,1> t_left;
+
+        q_left = q_world * q_c * q_v2c;
+        t_left = q_world * q_c * t_v2c + q_world * t_c + t_world;
+
+        Eigen::Quaternion<T> q_diff; 
+        Eigen::Matrix<T,3,1> t_diff;
+        q_diff = q_left * q_v.inverse();
+        // t_diff = t_left - q_left * q_v.inverse() * t_v;
+        t_diff = t_left - t_v;
+
+        residuals[0] = q_diff.x();
+        residuals[1] = q_diff.y();
+        residuals[2] = q_diff.z();
+        residuals[3] = t_diff(0);
+        residuals[4] = t_diff(1);
+        residuals[5] = t_diff(2);
+ 
+        return true;
+    }
+
+    double camera_q[4];
+    double camera_t[3];
+    double velodyne_q[4];
+    double velodyne_t[3];
+};
diff --git a/uav_simulator/depth_sensor_simulator/src/ceres_extensions.h b/uav_simulator/depth_sensor_simulator/src/ceres_extensions.h
new file mode 100755
index 0000000..a79fcf4
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/src/ceres_extensions.h
@@ -0,0 +1,161 @@
+//
+//  ceres_extensions.h
+//  Bundle_Adjust_Test
+//
+//  Created by Lloyd Hughes on 2014/04/11.
+//  Copyright (c) 2014 Lloyd Hughes. All rights reserved.
+//  hughes.lloyd@gmail.com
+//
+
+#ifndef CERES_EXTENSIONS_H
+#define CERES_EXTENSIONS_H
+
+#include <Eigen/Core>
+#include <ceres/local_parameterization.h>
+#include <ceres/rotation.h>
+
+namespace ceres_ext {
+    
+    // Plus(x, delta) = [cos(|delta|), sin(|delta|) delta / |delta|] * x
+    // with * being the quaternion multiplication operator. Here we assume
+    // that the first element of the quaternion vector is the real (cos
+    // theta) part.
+    class EigenQuaternionParameterization : public ceres::LocalParameterization
+    {
+    public:
+        virtual ~EigenQuaternionParameterization() {}
+        
+        virtual bool Plus(const double* x_raw, const double* delta_raw, double* x_plus_delta_raw) const
+        {
+            const Eigen::Map<const Eigen::Quaterniond> x(x_raw);
+            const Eigen::Map<const Eigen::Vector3d > delta(delta_raw);
+            
+            Eigen::Map<Eigen::Quaterniond> x_plus_delta(x_plus_delta_raw);
+            
+            const double delta_norm = delta.norm();
+            if ( delta_norm > 0.0 )
+            {
+                const double sin_delta_by_delta = sin(delta_norm) / delta_norm;
+                Eigen::Quaterniond tmp( cos(delta_norm), sin_delta_by_delta*delta[0], sin_delta_by_delta*delta[1], sin_delta_by_delta*delta[2] );
+                
+                x_plus_delta = tmp*x;
+            }
+            else
+            {
+                x_plus_delta = x;
+            }
+            return true;
+        }
+        
+        virtual bool ComputeJacobian(const double* x, double* jacobian) const
+        {
+            jacobian[0] =  x[3]; jacobian[1]  =  x[2]; jacobian[2]   = -x[1];  // NOLINT x
+            jacobian[3] = -x[2]; jacobian[4]  =  x[3]; jacobian[5]   =  x[0];  // NOLINT y
+            jacobian[6] =  x[1]; jacobian[7]  = -x[0]; jacobian[8]   =  x[3];  // NOLINT z
+            jacobian[9] = -x[0]; jacobian[10] = -x[1]; jacobian[11] = -x[2];  // NOLINT w
+                return true;
+        }
+        
+        virtual int GlobalSize() const { return 4; }
+        virtual int LocalSize() const { return 3; }
+        
+    };
+    
+    template <typename T> inline
+    void EigenQuaternionToScaledRotation(const T q[4], T R[3 * 3]) {
+        EigenQuaternionToScaledRotation(q, RowMajorAdapter3x3(R));
+    }
+    
+    template <typename T, int row_stride, int col_stride> inline
+    void EigenQuaternionToScaledRotation(const T q[4],
+					 const ceres::MatrixAdapter<T, row_stride, col_stride>& R) {
+        // Make convenient names for elements of q.
+        T a = q[3];
+        T b = q[0];
+        T c = q[1];
+        T d = q[2];
+        // This is not to eliminate common sub-expression, but to
+        // make the lines shorter so that they fit in 80 columns!
+        T aa = a * a;
+        T ab = a * b;
+        T ac = a * c;
+        T ad = a * d;
+        T bb = b * b;
+        T bc = b * c;
+        T bd = b * d;
+        T cc = c * c;
+        T cd = c * d;
+        T dd = d * d;
+        
+        R(0, 0) = aa + bb - cc - dd; R(0, 1) = T(2) * (bc - ad);  R(0, 2) = T(2) * (ac + bd);  // NOLINT
+        R(1, 0) = T(2) * (ad + bc);  R(1, 1) = aa - bb + cc - dd; R(1, 2) = T(2) * (cd - ab);  // NOLINT
+        R(2, 0) = T(2) * (bd - ac);  R(2, 1) = T(2) * (ab + cd);  R(2, 2) = aa - bb - cc + dd; // NOLINT
+    }
+    
+    template <typename T> inline
+    void EigenQuaternionToRotation(const T q[4], T R[3 * 3]) {
+        EigenQuaternionToRotation(q, RowMajorAdapter3x3(R));
+    }
+    
+    template <typename T, int row_stride, int col_stride> inline
+    void EigenQuaternionToRotation(const T q[4],
+				   const ceres::MatrixAdapter<T, row_stride, col_stride>& R) {
+        EigenQuaternionToScaledRotation(q, R);
+        
+        T normalizer = q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3];
+        CHECK_NE(normalizer, T(0));
+        normalizer = T(1) / normalizer;
+        
+        for (int i = 0; i < 3; ++i) {
+            for (int j = 0; j < 3; ++j) {
+                R(i, j) *= normalizer;
+            }
+        }
+    }
+    
+    template <typename T> inline
+    void EigenUnitQuaternionRotatePoint(const T q[4], const T pt[3], T result[3]) {
+        const T t2 =  q[3] * q[0];
+        const T t3 =  q[3] * q[1];
+        const T t4 =  q[3] * q[2];
+        const T t5 = -q[0] * q[0];
+        const T t6 =  q[0] * q[1];
+        const T t7 =  q[0] * q[2];
+        const T t8 = -q[1] * q[1];
+        const T t9 =  q[1] * q[2];
+        const T t1 = -q[2] * q[2];
+        result[0] = T(2) * ((t8 + t1) * pt[0] + (t6 - t4) * pt[1] + (t3 + t7) * pt[2]) + pt[0];  // NOLINT
+        result[1] = T(2) * ((t4 + t6) * pt[0] + (t5 + t1) * pt[1] + (t9 - t2) * pt[2]) + pt[1];  // NOLINT
+        result[2] = T(2) * ((t7 - t3) * pt[0] + (t2 + t9) * pt[1] + (t5 + t8) * pt[2]) + pt[2];  // NOLINT
+    }
+    
+    template <typename T> inline
+    void EigenQuaternionRotatePoint(const T q[4], const T pt[3], T result[3]) {
+        // 'scale' is 1 / norm(q).
+        const T scale = T(1) / sqrt(q[0] * q[0] +
+                                    q[1] * q[1] +
+                                    q[2] * q[2] +
+                                    q[3] * q[3]);
+        
+        // Make unit-norm version of q.
+        const T unit[4] = {
+            scale * q[0],
+            scale * q[1],
+            scale * q[2],
+            scale * q[3],
+        };
+        
+        EigenUnitQuaternionRotatePoint(unit, pt, result);
+    }
+    
+    template<typename T> inline
+    void EigenQuaternionProduct(const T z[4], const T w[4], T zw[4]) {
+        zw[0] =   z[0] * w[3] + z[1] * w[2] - z[2] * w[1] + z[3] * w[0];
+        zw[1] = - z[0] * w[2] + z[1] * w[3] + z[2] * w[0] + z[3] * w[1];
+        zw[2] =   z[0] * w[1] - z[1] * w[0] + z[2] * w[3] + z[3] * w[2];
+        zw[3] = - z[0] * w[0] - z[1] * w[1] - z[2] * w[2] + z[3] * w[3];
+    }
+    
+}
+
+#endif
\ No newline at end of file
diff --git a/uav_simulator/depth_sensor_simulator/src/csv_convert.py b/uav_simulator/depth_sensor_simulator/src/csv_convert.py
new file mode 100755
index 0000000..0040baa
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/src/csv_convert.py
@@ -0,0 +1,15 @@
+import csv
+file_location = '/home/wang/bag/banchmark/EuRoC/ViconRoom101/state_groundtruth_estimate0/data.csv'
+with open('/home/wang/bag/banchmark/EuRoC/ViconRoom101/state_groundtruth_estimate0/data.txt', 'w') as txt_f:
+	with open(file_location) as f:
+	    f_csv = csv.reader(f)
+	    headers = next(f_csv)
+	    for row in f_csv:
+	    	txt_f.write('%lf\n'% (float(row[0]) / 1000000000.0) )
+	    	txt_f.write('%lf\n'% (float(row[1])) )
+	    	txt_f.write('%lf\n'% (float(row[2])) )
+	    	txt_f.write('%lf\n'% (float(row[3])) )
+	    	txt_f.write('%lf\n'% (float(row[4])) )
+	    	txt_f.write('%lf\n'% (float(row[5])) )
+	    	txt_f.write('%lf\n'% (float(row[6])) )
+	    	txt_f.write('%lf\n'% (float(row[7])) )
\ No newline at end of file
diff --git a/uav_simulator/depth_sensor_simulator/src/cuda_exception.cuh b/uav_simulator/depth_sensor_simulator/src/cuda_exception.cuh
new file mode 100755
index 0000000..cf8213f
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/src/cuda_exception.cuh
@@ -0,0 +1,45 @@
+// This file is part of REMODE - REgularized MOnocular Depth Estimation.
+//
+// Copyright (C) 2014 Matia Pizzoli <matia dot pizzoli at gmail dot com>
+// Robotics and Perception Group, University of Zurich, Switzerland
+// http://rpg.ifi.uzh.ch
+//
+// REMODE is free software: you can redistribute it and/or modify it under the
+// terms of the GNU General Public License as published by the Free Software
+// Foundation, either version 3 of the License, or any later version.
+//
+// REMODE is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef RMD_CUDA_EXCEPTION_CUH_
+#define RMD_CUDA_EXCEPTION_CUH_
+
+#include <sstream>
+#include <cuda_runtime.h>
+
+
+struct CudaException : public std::exception
+{
+  CudaException(const std::string& what, cudaError err)
+    : what_(what), err_(err) {}
+  virtual ~CudaException() throw() {}
+  virtual const char* what() const throw()
+  {
+    std::stringstream description;
+    description << "CudaException: " << what_ << std::endl;
+    if(err_ != cudaSuccess)
+    {
+      description << "cudaError code: " << cudaGetErrorString(err_);
+      description << " (" << err_ << ")" << std::endl;
+    }
+    return description.str().c_str();
+  }
+  std::string what_;
+  cudaError err_;
+};
+
+#endif /* RMD_CUDA_EXCEPTION_CUH_ */
diff --git a/uav_simulator/depth_sensor_simulator/src/depth_render.cu b/uav_simulator/depth_sensor_simulator/src/depth_render.cu
new file mode 100755
index 0000000..1836780
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/src/depth_render.cu
@@ -0,0 +1,197 @@
+#include "depth_render.cuh"
+__global__ void render(float3 *data_devptr, Parameter *para_devptr, DeviceImage<int> *depth_devptr)
+{
+	const int index = threadIdx.x + blockIdx.x * blockDim.x;
+	const Parameter para = *para_devptr;
+	if(index >= para.point_number)
+		return;
+	float3 my_point = data_devptr[index];
+	
+	//transform
+	float3 trans_point;
+	trans_point.x = my_point.x * para.r[0][0] + my_point.y * para.r[0][1] + my_point.z * para.r[0][2] + para.t[0];
+	trans_point.y = my_point.x * para.r[1][0] + my_point.y * para.r[1][1] + my_point.z * para.r[1][2] + para.t[1];
+	trans_point.z = my_point.x * para.r[2][0] + my_point.y * para.r[2][1] + my_point.z * para.r[2][2] + para.t[2];
+
+	if(trans_point.z <= 0.0f)
+		return;
+
+	//project
+	int2 projected;
+	projected.x = trans_point.x / trans_point.z * para.fx + para.cx + 0.5;
+	projected.y = trans_point.y / trans_point.z * para.fy + para.cy + 0.5;
+	if(projected.x < 0 || projected.x >= para.width || projected.y < 0 || projected.y >= para.height)
+		return;
+
+	// float dist = length(trans_point);
+	float dist = trans_point.z;
+	int dist_mm = dist * 1000.0f + 0.5f;
+
+	//int r = 0.0173 * para.fx / dist + 0.5f;
+//	int r = 0.0473 * para.fx / dist + 0.5f;
+	int r = 0.0573 * para.fx / dist + 0.5f;
+	for(int i = -r; i <= r; i++)
+		for(int j = -r; j <= r; j++)
+		{
+			int to_x = projected.x + j;
+			int to_y = projected.y + i;
+			if(to_x < 0 || to_x >= para.width || to_y < 0 || to_y >= para.height)
+				continue;
+			int *dist_ptr = &(depth_devptr->atXY(to_x, to_y));
+			atomicMin(dist_ptr, dist_mm);
+		}
+}
+
+__global__ void depth_initial(DeviceImage<int> *depth_devptr)
+{
+  const int x = threadIdx.x + blockIdx.x * blockDim.x;
+  const int y = threadIdx.y + blockIdx.y * blockDim.y;
+  int width = depth_devptr->width;
+  int height = depth_devptr->height;
+
+  if(x >= width || y >= height)
+  	return;
+
+  depth_devptr->atXY(x,y) = 999999;
+}
+
+DepthRender::DepthRender():
+	cloud_size(0),
+	host_cloud_ptr(NULL),
+	dev_cloud_ptr(NULL),
+	has_devptr(false)
+{
+}
+
+DepthRender::~DepthRender()
+{
+	if(has_devptr)
+	{
+		free(host_cloud_ptr);
+		cudaFree(dev_cloud_ptr);
+		cudaFree(parameter_devptr);
+	}
+}
+
+void DepthRender::set_para(float _fx, float _fy, float _cx, float _cy, int _width, int _height)
+{
+	parameter.fx = _fx;
+	parameter.fy = _fy;
+	parameter.cx = _cx;
+	parameter.cy = _cy;
+	parameter.width = _width;
+	parameter.height = _height;
+}
+
+void DepthRender::set_data(vector<float> &cloud_data)
+{
+	cloud_size = cloud_data.size() / 3;
+	parameter.point_number = cloud_size;
+
+	host_cloud_ptr = (float3*) malloc(cloud_size * sizeof(float3));
+	for(int i = 0; i < cloud_size; i++)
+		host_cloud_ptr[i] = make_float3(cloud_data[3*i], cloud_data[3*i+1], cloud_data[3*i+2]);
+
+  cudaError err = cudaMalloc(&dev_cloud_ptr, cloud_size * sizeof(float3));
+  if(err != cudaSuccess)
+    throw CudaException("DeviceLinear: unable to allocate linear memory.", err);
+ 	err = cudaMemcpy(
+          dev_cloud_ptr,
+          host_cloud_ptr,
+          cloud_size * sizeof(float3),
+          cudaMemcpyHostToDevice);
+  if(err != cudaSuccess)
+  	throw CudaException("DeviceLinear: unable to copy data from host to device.", err);
+
+  err = cudaMalloc(&parameter_devptr, sizeof(Parameter));
+  if(err != cudaSuccess)
+    throw CudaException("DeviceLinear: unable to allocate linear memory.", err);
+ 	err = cudaMemcpy(
+          parameter_devptr,
+          &parameter,
+          sizeof(Parameter),
+          cudaMemcpyHostToDevice);
+  if(err != cudaSuccess)
+  	throw CudaException("DeviceLinear: unable to copy data from host to device.", err);
+
+  has_devptr = true;
+
+  //printf("load points done!\n");
+}
+
+/*void DepthRender::render_pose( Matrix3d &rotation, Vector3d &translation, int *host_ptr)
+{
+	for(int i = 0; i < 3; i++)
+	{
+		parameter.t[i] = translation(i);
+		for(int j = 0; j < 3; j++)
+		{
+			parameter.r[i][j] = rotation(i,j);
+		}
+	}
+ 	cudaError err = cudaMemcpy(
+          parameter_devptr,
+          &parameter,
+          sizeof(Parameter),
+          cudaMemcpyHostToDevice);
+  if(err != cudaSuccess)
+  	throw CudaException("DeviceLinear: unable to copy data from host to device.", err);
+
+	DeviceImage<int> depth_output(parameter.width, parameter.height);
+  depth_output.zero();
+
+  dim3 depth_block;
+  dim3 depth_grid;
+  depth_block.x = 16;
+  depth_block.y = 16;
+  depth_grid.x = (parameter.width + depth_block.x - 1 ) / depth_block.x;
+  depth_grid.y = (parameter.height + depth_block.y - 1 ) / depth_block.y;
+  depth_initial<<<depth_grid, depth_block>>>(depth_output.dev_ptr);
+
+  dim3 render_block;
+  dim3 render_grid;
+  render_block.x = 64;
+  render_grid.x = (cloud_size + render_block.x - 1) / render_block.x;
+  render<<<render_grid, render_block>>>(dev_cloud_ptr, parameter_devptr, depth_output.dev_ptr);
+
+	depth_output.getDevData(host_ptr);
+}
+*/
+//void DepthRender::render_pose( Matrix4d &transformation, int *host_ptr)
+void DepthRender::render_pose( double * transformation, int *host_ptr)
+{
+	for(int i = 0; i < 3; i++)
+	{
+		parameter.t[i] = transformation[4 * i + 3];//transformation(i,3);
+		for(int j = 0; j < 3; j++)
+		{
+			parameter.r[i][j] = transformation[4 * i + j];//transformation(i,j);
+		}
+	}
+ 	cudaError err = cudaMemcpy(
+          parameter_devptr,
+          &parameter,
+          sizeof(Parameter),
+          cudaMemcpyHostToDevice);
+  if(err != cudaSuccess)
+  	throw CudaException("DeviceLinear: unable to copy data from host to device.", err);
+
+	DeviceImage<int> depth_output(parameter.width, parameter.height);
+  depth_output.zero();
+
+  dim3 depth_block;
+  dim3 depth_grid;
+  depth_block.x = 16;
+  depth_block.y = 16;
+  depth_grid.x = (parameter.width + depth_block.x - 1 ) / depth_block.x;
+  depth_grid.y = (parameter.height + depth_block.y - 1 ) / depth_block.y;
+  depth_initial<<<depth_grid, depth_block>>>(depth_output.dev_ptr);
+
+  dim3 render_block;
+  dim3 render_grid;
+  render_block.x = 64;
+  render_grid.x = (cloud_size + render_block.x - 1) / render_block.x;
+  render<<<render_grid, render_block>>>(dev_cloud_ptr, parameter_devptr, depth_output.dev_ptr);
+
+	depth_output.getDevData(host_ptr);
+}
\ No newline at end of file
diff --git a/uav_simulator/depth_sensor_simulator/src/depth_render.cuh b/uav_simulator/depth_sensor_simulator/src/depth_render.cuh
new file mode 100755
index 0000000..26b8518
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/src/depth_render.cuh
@@ -0,0 +1,52 @@
+#ifndef DEPTH_RENDER_CUH
+#define DEPTH_RENDER_CUH
+
+#include <cuda_runtime.h>
+#include <cstdlib>
+#include <stdio.h>
+#include <vector>
+#include <ctime>
+#include <iostream>
+//#include <Eigen/Eigen>
+
+#include "device_image.cuh"
+#include "cuda_exception.cuh"
+#include "helper_math.h"
+
+using namespace std;
+//using namespace Eigen;
+
+struct Parameter
+{
+	int point_number;
+	float fx, fy, cx, cy;
+	int width, height;
+	float r[3][3];
+	float t[3];
+};
+
+class DepthRender
+{
+public:
+	DepthRender();
+	void set_para(float _fx, float _fy, float _cx, float _cy, int _width, int _height);
+	~DepthRender();
+	void set_data(vector<float> &cloud_data);
+	//void render_pose( Matrix3d &rotation, Vector3d &translation, int *host_ptr);
+	//void render_pose( Matrix4d &transformation, int *host_ptr);
+	void render_pose( double * transformation, int *host_ptr);
+	
+private:
+	int cloud_size;
+
+	//data
+	float3 *host_cloud_ptr;
+	float3 *dev_cloud_ptr;
+	bool has_devptr;
+
+	//camera
+	Parameter parameter;
+	Parameter* parameter_devptr;	
+};
+
+#endif
\ No newline at end of file
diff --git a/uav_simulator/depth_sensor_simulator/src/device_image.cuh b/uav_simulator/depth_sensor_simulator/src/device_image.cuh
new file mode 100755
index 0000000..84e77ef
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/src/device_image.cuh
@@ -0,0 +1,179 @@
+// This file is part of REMODE - REgularized MOnocular Depth Estimation.
+//
+// Copyright (C) 2014 Matia Pizzoli <matia dot pizzoli at gmail dot com>
+// Robotics and Perception Group, University of Zurich, Switzerland
+// http://rpg.ifi.uzh.ch
+//
+// REMODE is free software: you can redistribute it and/or modify it under the
+// terms of the GNU General Public License as published by the Free Software
+// Foundation, either version 3 of the License, or any later version.
+//
+// REMODE is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef DEVICE_IMAGE_CUH
+#define DEVICE_IMAGE_CUH
+
+#include <assert.h>
+#include <cuda_runtime.h>
+#include "cuda_exception.cuh"
+
+struct Size
+{
+  int width;
+  int height;
+};
+
+template<typename ElementType>
+struct DeviceImage
+{
+  __host__
+  DeviceImage(size_t width, size_t height)
+    : width(width),
+      height(height)
+  {
+    cudaError err = cudaMallocPitch(
+          &data,
+          &pitch,
+          width*sizeof(ElementType),
+          height);
+    if(err != cudaSuccess)
+      throw CudaException("Image: unable to allocate pitched memory.", err);
+
+    stride = pitch / sizeof(ElementType);
+
+    err = cudaMalloc(
+          &dev_ptr,
+          sizeof(*this));
+    if(err != cudaSuccess)
+      throw CudaException("DeviceData, cannot allocate device memory to store image parameters.", err);
+
+    err = cudaMemcpy(
+          dev_ptr,
+          this,
+          sizeof(*this),
+          cudaMemcpyHostToDevice);
+    if(err != cudaSuccess)
+      throw CudaException("DeviceData, cannot copy image parameters to device memory.", err);
+  }
+
+  __device__
+  ElementType & operator()(size_t x, size_t y)
+  {
+    return atXY(x, y);
+  }
+
+  __device__
+  const ElementType & operator()(size_t x, size_t y) const
+  {
+    return atXY(x, y);
+  }
+
+  __device__
+  ElementType & atXY(size_t x, size_t y)
+  {
+    return data[y*stride+x];
+  }
+
+  __device__
+  const ElementType & atXY(size_t x, size_t y) const
+  {
+    return data[y*stride+x];
+  }
+
+  /// Upload aligned_data_row_major to device memory
+  __host__
+  void setDevData(const ElementType * aligned_data_row_major)
+  {
+    const cudaError err = cudaMemcpy2D(
+          data,
+          pitch,
+          aligned_data_row_major,
+          width*sizeof(ElementType),
+          width*sizeof(ElementType),
+          height,
+          cudaMemcpyHostToDevice);
+    if(err != cudaSuccess)
+      throw CudaException("Image: unable to copy data from host to device.", err);
+  }
+
+  /// Download the data from the device memory to aligned_data_row_major, a preallocated array in host memory
+  __host__
+  void getDevData(ElementType* aligned_data_row_major) const
+  {
+    const cudaError err = cudaMemcpy2D(
+          aligned_data_row_major,      // destination memory address
+          width*sizeof(ElementType),   // pitch of destination memory
+          data,                        // source memory address
+          pitch,                       // pitch of source memory
+          width*sizeof(ElementType),   // width of matrix transfer (columns in bytes)
+          height,                      // height of matrix transfer
+          cudaMemcpyDeviceToHost);
+    if(err != cudaSuccess)
+      throw CudaException("Image: unable to copy data from device to host.", err);
+  }
+
+  __host__
+  ~DeviceImage()
+  {
+    cudaError err = cudaFree(data);
+    if(err != cudaSuccess)
+      throw CudaException("Image: unable to free allocated memory.", err);
+    err = cudaFree(dev_ptr);
+    if(err != cudaSuccess)
+      throw CudaException("Image: unable to free allocated memory.", err);
+  }
+
+  __host__
+  cudaChannelFormatDesc getCudaChannelFormatDesc() const
+  {
+    return cudaCreateChannelDesc<ElementType>();
+  }
+
+  __host__
+  void zero()
+  {
+    const cudaError err = cudaMemset2D(
+          data,
+          pitch,
+          0,
+          width*sizeof(ElementType),
+          height);
+    if(err != cudaSuccess)
+      throw CudaException("Image: unable to zero.", err);
+  }
+
+  __host__
+  DeviceImage<ElementType> & operator=(const DeviceImage<ElementType> &other_image)
+  {
+    if(this != &other_image)
+    {
+      assert(width  == other_image.width &&
+             height == other_image.height);
+      const cudaError err = cudaMemcpy2D(data,
+                                         pitch,
+                                         other_image.data,
+                                         other_image.pitch,
+                                         width*sizeof(ElementType),
+                                         height,
+                                         cudaMemcpyDeviceToDevice);
+      if(err != cudaSuccess)
+        throw CudaException("Image, operator '=': unable to copy data from another image.", err);
+    }
+    return *this;
+  }
+
+  // fields
+  size_t width;
+  size_t height;
+  size_t pitch;
+  size_t stride;
+  ElementType * data;
+  DeviceImage<ElementType> *dev_ptr;
+};
+
+#endif // DEVICE_IMAGE_CUH
diff --git a/uav_simulator/depth_sensor_simulator/src/empty.cpp b/uav_simulator/depth_sensor_simulator/src/empty.cpp
new file mode 100755
index 0000000..6948223
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/src/empty.cpp
@@ -0,0 +1 @@
+#include "empty.h"
\ No newline at end of file
diff --git a/uav_simulator/depth_sensor_simulator/src/empty.h b/uav_simulator/depth_sensor_simulator/src/empty.h
new file mode 100755
index 0000000..e69de29
diff --git a/uav_simulator/depth_sensor_simulator/src/euroc.cpp b/uav_simulator/depth_sensor_simulator/src/euroc.cpp
new file mode 100755
index 0000000..307e255
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/src/euroc.cpp
@@ -0,0 +1,378 @@
+#include <iostream>
+#include <fstream>
+#include <vector>
+
+#include <ros/ros.h>
+#include <message_filters/subscriber.h>
+#include <message_filters/synchronizer.h>
+#include <message_filters/sync_policies/exact_time.h>
+#include <message_filters/sync_policies/approximate_time.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+
+#include <dynamic_reconfigure/server.h>
+#include <cloud_banchmark/cloud_banchmarkConfig.h>
+
+#include <pcl/io/pcd_io.h>
+#include <pcl/io/ply_io.h>
+
+#include <eigen3/Eigen/Dense>
+#include "opencv2/highgui/highgui.hpp"
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/eigen.hpp>
+
+#include "depth_render.cuh"
+
+using namespace cv;
+using namespace std;
+using namespace Eigen;
+
+typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, geometry_msgs::TransformStamped> approx_policy;
+
+int *depth_hostptr;
+cv::Mat depth_mat;
+
+int width, height;
+cv::Mat cv_K, cv_D;
+double fx,fy,cx,cy;
+cv::Mat undist_map1, undist_map2;
+bool is_distorted(false);
+
+DepthRender depthrender;
+ros::Publisher pub_depth;
+ros::Publisher pub_color;
+ros::Publisher pub_posedimage;
+
+Matrix4d vicon2body;
+Matrix4d cam02body;
+Matrix4d cam2world;
+Matrix4d vicon2leica;
+
+ros::Time receive_stamp;
+
+cv::Mat undistorted_image;
+
+struct PoseInfo
+{
+  Matrix4d pose;
+  double time;
+};
+
+vector<PoseInfo> gt_pose_vect;
+
+void render_currentpose();
+
+bool read_pose(fstream &file)
+{
+  int count = 0;
+  bool good = true;
+  double para[16];
+  while(good)
+  {
+    count ++;
+    for(int i = 0; i < 8 && good; i++)
+    {
+      good = good && file >> para[i];
+    }
+    if(good)
+    {
+      Eigen::Vector3d request_position;
+      Eigen::Quaterniond request_pose;
+      request_position.x() = para[1];
+      request_position.y() = para[2];
+      request_position.z() = para[3];
+      request_pose.w() = para[4];
+      request_pose.x() = para[5];
+      request_pose.y() = para[6];
+      request_pose.z() = para[7];
+  
+      PoseInfo info;
+      info.time = para[0];
+      info.pose = Matrix4d::Identity();
+      info.pose.block<3,3>(0,0) = request_pose.toRotationMatrix();
+      info.pose(0,3) = para[1];
+      info.pose(1,3) = para[2];
+      info.pose(2,3) = para[3];
+      gt_pose_vect.push_back(info);
+    }
+  }
+  printf("we have %d poses.\n", count);
+  return true;
+}
+
+vector<cv::Point3f> pts_3;
+vector<cv::Point2f> pts_2;
+void imageBackFunc(int event, int x, int y, int flags, void* userdata)
+{
+  if( event == EVENT_LBUTTONDOWN )
+  {
+    cout << "image is clicked - position (" << x << ", " << y << ")" << endl;
+    pts_2.push_back(cv::Point2f(x,y));
+  }
+}
+void depthBackFunc(int event, int x, int y, int flags, void* userdata)
+{
+  if( event == EVENT_LBUTTONDOWN )
+  {
+    cout << "depth is clicked - position (" << x << ", " << y << ")" << endl;
+    double depth = depth_mat.at<float>(y,x);
+    double space_x = (x - cx) * depth / fx;
+    double space_y = (y - cy) * depth / fy;
+    double space_z = depth;
+    pts_3.push_back(cv::Point3f(space_x, space_y, space_z));
+  }
+}
+
+void solve_pnp()
+{
+//   translation : 
+//   0.994976 -0.0431638  0.0903361 -0.0338185
+//  0.0444475   0.998937  -0.012246  0.0541652
+// -0.0897114  0.0161996   0.995836  0.0384018
+//          0          0          0          1
+  printf("we have %d pair points.\n", pts_3.size());
+  if(pts_3.size() < 5 || pts_2.size() < 5)
+  {
+    return;
+  }
+  if(pts_3.size() != pts_2.size())
+  {
+    printf("error, not equal!\n");
+    return;
+  }
+
+  cv::Mat r, rvec, t;
+  cv::solvePnP(pts_3, pts_2, cv_K, cv::Mat::zeros(4,1,CV_32FC1), rvec, t);
+  cv::Rodrigues(rvec, r);
+  Matrix3d R_ref;
+  for(int i=0;i<3;i++)
+      for(int j=0;j<3;j++)
+      {
+          R_ref(i,j) = r.at<double>(i, j);
+      }
+  Matrix4d pnp_result = Matrix4d::Identity();
+  pnp_result.block<3,3>(0,0) = R_ref;
+  pnp_result(0,3) = t.at<double>(0, 0);
+  pnp_result(1,3) = t.at<double>(1, 0);
+  pnp_result(2,3) = t.at<double>(2, 0);
+
+  vicon2leica = pnp_result.inverse();
+  cout << "translation : " << endl << pnp_result << endl;
+}
+
+void image_pose_callback(
+    const sensor_msgs::ImageConstPtr &image_input,
+    const geometry_msgs::TransformStampedConstPtr &pose_input)
+{
+  //time diff
+  double time_diff = fabs(image_input->header.stamp.toSec() - pose_input->header.stamp.toSec()) * 1000.0;
+  printf("time diff is %lf ms.\n", time_diff);
+
+  //pose
+  Matrix4d Pose_receive = Matrix4d::Identity();
+
+  //using vicon
+  // Eigen::Vector3d request_position;
+  // Eigen::Quaterniond request_pose;
+  // request_position.x() = pose_input->transform.translation.x;
+  // request_position.y() = pose_input->transform.translation.y;
+  // request_position.z() = pose_input->transform.translation.z;
+  // request_pose.x() = pose_input->transform.rotation.x;
+  // request_pose.y() = pose_input->transform.rotation.y;
+  // request_pose.z() = pose_input->transform.rotation.z;
+  // request_pose.w() = pose_input->transform.rotation.w;
+  // Pose_receive.block<3,3>(0,0) = request_pose.toRotationMatrix();
+  // Pose_receive(0,3) = request_position(0);
+  // Pose_receive(1,3) = request_position(1);
+  // Pose_receive(2,3) = request_position(2);
+
+  //using ground truth
+  double image_time = image_input->header.stamp.toSec();
+  double min_time_diff = 999.9;
+  int min_time_index = 0;
+  for(int i = 1; i < gt_pose_vect.size(); i++)
+  {
+    double time_diff = fabs(image_time - gt_pose_vect[i].time);
+    if(time_diff < min_time_diff)
+    {
+      min_time_diff = time_diff;
+      min_time_index = i;
+    }
+  }
+  printf("min time diff index %d, with diff time %lf ms.\n", min_time_index, min_time_diff*1000.0f);
+  Pose_receive = gt_pose_vect[min_time_index].pose;
+
+  //convert to body pose
+  // Matrix4d body_pose = Pose_receive * vicon2body.inverse();
+  Matrix4d body_pose = Pose_receive;
+
+  //convert to cam pose
+  cam2world = body_pose * cam02body * vicon2leica;
+
+  receive_stamp = pose_input->header.stamp;
+
+  //image
+  cv_bridge::CvImageConstPtr cv_img_ptr = cv_bridge::toCvShare(image_input, sensor_msgs::image_encodings::MONO8);
+  cv::Mat img_8uC1 = cv_img_ptr->image;
+  undistorted_image.create(height, width, CV_8UC1);
+  if(is_distorted)
+  {
+    cv::remap(img_8uC1, undistorted_image, undist_map1, undist_map2, CV_INTER_LINEAR);
+  }
+  else
+    undistorted_image = img_8uC1;
+
+  render_currentpose();
+}
+
+void render_currentpose()
+{
+  solve_pnp();
+
+  double this_time = ros::Time::now().toSec();
+
+  Matrix4d cam_pose = cam2world.inverse();
+
+  depthrender.render_pose(cam_pose, depth_hostptr);
+
+  depth_mat = cv::Mat::zeros(height, width, CV_32FC1);
+  double min = 0.5;
+  double max = 1.0f;
+  for(int i = 0; i < height; i++)
+  	for(int j = 0; j < width; j++)
+  	{
+  		float depth = (float)depth_hostptr[i * width + j] / 1000.0f;
+  		depth = depth < 500.0f ? depth : 0;
+  		max = depth > max ? depth : max;
+  		depth_mat.at<float>(i,j) = depth;
+  	}
+  ROS_INFO("render cost %lf ms.", (ros::Time::now().toSec() - this_time) * 1000.0f);
+  printf("max_depth %lf.\n", max);
+
+  cv_bridge::CvImage out_msg;
+  out_msg.header.stamp = receive_stamp;
+  out_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
+  out_msg.image = depth_mat.clone();
+  pub_depth.publish(out_msg.toImageMsg());
+
+  cv::Mat adjMap;
+  depth_mat.convertTo(adjMap,CV_8UC1, 255 / (max-min), -min);
+  cv::Mat falseColorsMap;
+  cv::applyColorMap(adjMap, falseColorsMap, cv::COLORMAP_RAINBOW);
+  cv::Mat bgr_image;
+  cv::cvtColor(undistorted_image, bgr_image, cv::COLOR_GRAY2BGR);
+  cv::addWeighted(bgr_image, 0.2, falseColorsMap, 0.8, 0.0, falseColorsMap);
+  cv_bridge::CvImage cv_image_colored;
+  cv_image_colored.header.frame_id = "depthmap";
+  cv_image_colored.encoding = sensor_msgs::image_encodings::BGR8;
+  cv_image_colored.image = falseColorsMap;
+  pub_color.publish(cv_image_colored.toImageMsg());
+
+  cv::imshow("bluefox_image", bgr_image);
+  cv::imshow("depth_image", adjMap);
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "cloud_banchmark");
+  ros::NodeHandle nh("~");
+
+  nh.getParam("cam_width", width);
+  nh.getParam("cam_height", height);
+  nh.getParam("cam_fx", fx);
+  nh.getParam("cam_fy", fy);
+  nh.getParam("cam_cx", cx);
+  nh.getParam("cam_cy", cy);
+
+  depthrender.set_para(fx, fy, cx, cy, width, height);
+
+  cv_K = (cv::Mat_<float>(3, 3) << fx, 0.0f, cx, 0.0f, fy, cy, 0.0f, 0.0f, 1.0f);
+  if(nh.hasParam("cam_k1") &&
+     nh.hasParam("cam_k2") &&
+     nh.hasParam("cam_r1") &&
+     nh.hasParam("cam_r2") )
+  {
+    float k1, k2, r1, r2;
+    nh.getParam("cam_k1", k1);
+    nh.getParam("cam_k2", k2);
+    nh.getParam("cam_r1", r1);
+    nh.getParam("cam_r2", r2);
+    cv_D = (cv::Mat_<float>(1, 4) << k1, k2, r1, r2);
+    cv::initUndistortRectifyMap(
+        cv_K,
+        cv_D,
+        cv::Mat_<double>::eye(3,3),
+        cv_K,
+        cv::Size(width, height),
+        CV_16SC2,
+        undist_map1, undist_map2);
+    is_distorted = true;
+  }
+  if(is_distorted)
+    printf("need to rectify.\n");
+  else
+    printf("do not need to rectify.\n");
+
+  vicon2body << 0.33638, -0.01749,  0.94156,  0.06901,
+                -0.02078, -0.99972, -0.01114, -0.02781,
+                0.94150, -0.01582, -0.33665, -0.12395,
+                0.0,      0.0,      0.0,      1.0;
+  cam02body <<  0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
+                0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
+                -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
+                0.0, 0.0, 0.0, 1.0;
+  cam2world = Matrix4d::Identity();
+
+  string cloud_path;
+  nh.getParam("cloud_path", cloud_path);
+  printf("cloud file %s\n", cloud_path.c_str());
+  std::fstream data_file;
+  data_file.open(cloud_path.c_str(), ios::in);
+  vector<float> cloud_data;
+  double x, y, z, i, r, g, b;
+	while(data_file >> x >> y >> z >> i >> r >> g >> b)
+	{
+		cloud_data.push_back(x);
+		cloud_data.push_back(y);
+		cloud_data.push_back(z);
+	}
+  data_file.close();
+  printf("has points %d.\n", cloud_data.size() / 3 );
+
+
+  string groundtruth_path = string("/home/denny/Downloads/wkx_bag/data.txt");
+  std::fstream gt_file;
+  gt_file.open(groundtruth_path.c_str(), ios::in);
+  read_pose(gt_file);
+  gt_file.close();
+
+  //pass cloud_data to depth render
+  depthrender.set_data(cloud_data);
+  depth_hostptr = (int*) malloc(width * height * sizeof(int));
+
+  message_filters::Subscriber<sensor_msgs::Image> image_sub(nh, "/cam0/image_raw", 30);
+  message_filters::Subscriber<geometry_msgs::TransformStamped> pose_sub(nh, "/vicon/firefly_sbx/firefly_sbx", 30);
+  message_filters::Synchronizer<approx_policy> sync2(approx_policy(100), image_sub, pose_sub);
+  sync2.registerCallback(boost::bind(image_pose_callback, _1, _2));
+
+  //publisher depth image and color image
+  pub_depth = nh.advertise<sensor_msgs::Image>("depth",1000);
+  pub_color = nh.advertise<sensor_msgs::Image>("colordepth",1000);
+  // pub_posedimage = nh.advertise<sensor_msgs::Image>("posedimage",1000);
+
+  undistorted_image.create(height, width, CV_8UC1);
+
+  cv::namedWindow("bluefox_image",1);
+  cv::namedWindow("depth_image",1);
+  setMouseCallback("bluefox_image", imageBackFunc, NULL);
+  setMouseCallback("depth_image", depthBackFunc, NULL);
+  vicon2leica = Matrix4d::Identity();
+
+  while(ros::ok())
+  {
+    ros::spinOnce();
+    cv::waitKey(30);
+  }
+}
\ No newline at end of file
diff --git a/uav_simulator/depth_sensor_simulator/src/helper_math.h b/uav_simulator/depth_sensor_simulator/src/helper_math.h
new file mode 100755
index 0000000..c9c07c3
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/src/helper_math.h
@@ -0,0 +1,1453 @@
+/**
+ * Copyright 1993-2013 NVIDIA Corporation.  All rights reserved.
+ *
+ * Please refer to the NVIDIA end user license agreement (EULA) associated
+ * with this source code for terms and conditions that govern your use of
+ * this software. Any use, reproduction, disclosure, or distribution of
+ * this software and related documentation outside the terms of the EULA
+ * is strictly prohibited.
+ *
+ */
+
+/*
+ *  This file implements common mathematical operations on vector types
+ *  (float3, float4 etc.) since these are not provided as standard by CUDA.
+ *
+ *  The syntax is modeled on the Cg standard library.
+ *
+ *  This is part of the Helper library includes
+ *
+ *    Thanks to Linh Hah for additions and fixes.
+ */
+
+#ifndef HELPER_MATH_H
+#define HELPER_MATH_H
+
+#include "cuda_runtime.h"
+
+typedef unsigned int uint;
+typedef unsigned short ushort;
+
+#ifndef EXIT_WAIVED
+#define EXIT_WAIVED 2
+#endif
+
+#ifndef __CUDACC__
+#include <math.h>
+
+////////////////////////////////////////////////////////////////////////////////
+// host implementations of CUDA functions
+////////////////////////////////////////////////////////////////////////////////
+
+inline float fminf(float a, float b)
+{
+    return a < b ? a : b;
+}
+
+inline float fmaxf(float a, float b)
+{
+    return a > b ? a : b;
+}
+
+inline int max(int a, int b)
+{
+    return a > b ? a : b;
+}
+
+inline int min(int a, int b)
+{
+    return a < b ? a : b;
+}
+
+inline float rsqrtf(float x)
+{
+    return 1.0f / sqrtf(x);
+}
+#endif
+
+////////////////////////////////////////////////////////////////////////////////
+// constructors
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float2 make_float2(float s)
+{
+    return make_float2(s, s);
+}
+inline __host__ __device__ float2 make_float2(float3 a)
+{
+    return make_float2(a.x, a.y);
+}
+inline __host__ __device__ float2 make_float2(int2 a)
+{
+    return make_float2(float(a.x), float(a.y));
+}
+inline __host__ __device__ float2 make_float2(uint2 a)
+{
+    return make_float2(float(a.x), float(a.y));
+}
+
+inline __host__ __device__ int2 make_int2(int s)
+{
+    return make_int2(s, s);
+}
+inline __host__ __device__ int2 make_int2(int3 a)
+{
+    return make_int2(a.x, a.y);
+}
+inline __host__ __device__ int2 make_int2(uint2 a)
+{
+    return make_int2(int(a.x), int(a.y));
+}
+inline __host__ __device__ int2 make_int2(float2 a)
+{
+    return make_int2(int(a.x), int(a.y));
+}
+
+inline __host__ __device__ uint2 make_uint2(uint s)
+{
+    return make_uint2(s, s);
+}
+inline __host__ __device__ uint2 make_uint2(uint3 a)
+{
+    return make_uint2(a.x, a.y);
+}
+inline __host__ __device__ uint2 make_uint2(int2 a)
+{
+    return make_uint2(uint(a.x), uint(a.y));
+}
+
+inline __host__ __device__ float3 make_float3(float s)
+{
+    return make_float3(s, s, s);
+}
+inline __host__ __device__ float3 make_float3(float2 a)
+{
+    return make_float3(a.x, a.y, 0.0f);
+}
+inline __host__ __device__ float3 make_float3(float2 a, float s)
+{
+    return make_float3(a.x, a.y, s);
+}
+inline __host__ __device__ float3 make_float3(float4 a)
+{
+    return make_float3(a.x, a.y, a.z);
+}
+inline __host__ __device__ float3 make_float3(int3 a)
+{
+    return make_float3(float(a.x), float(a.y), float(a.z));
+}
+inline __host__ __device__ float3 make_float3(uint3 a)
+{
+    return make_float3(float(a.x), float(a.y), float(a.z));
+}
+
+inline __host__ __device__ int3 make_int3(int s)
+{
+    return make_int3(s, s, s);
+}
+inline __host__ __device__ int3 make_int3(int2 a)
+{
+    return make_int3(a.x, a.y, 0);
+}
+inline __host__ __device__ int3 make_int3(int2 a, int s)
+{
+    return make_int3(a.x, a.y, s);
+}
+inline __host__ __device__ int3 make_int3(uint3 a)
+{
+    return make_int3(int(a.x), int(a.y), int(a.z));
+}
+inline __host__ __device__ int3 make_int3(float3 a)
+{
+    return make_int3(int(a.x), int(a.y), int(a.z));
+}
+
+inline __host__ __device__ uint3 make_uint3(uint s)
+{
+    return make_uint3(s, s, s);
+}
+inline __host__ __device__ uint3 make_uint3(uint2 a)
+{
+    return make_uint3(a.x, a.y, 0);
+}
+inline __host__ __device__ uint3 make_uint3(uint2 a, uint s)
+{
+    return make_uint3(a.x, a.y, s);
+}
+inline __host__ __device__ uint3 make_uint3(uint4 a)
+{
+    return make_uint3(a.x, a.y, a.z);
+}
+inline __host__ __device__ uint3 make_uint3(int3 a)
+{
+    return make_uint3(uint(a.x), uint(a.y), uint(a.z));
+}
+
+inline __host__ __device__ float4 make_float4(float s)
+{
+    return make_float4(s, s, s, s);
+}
+inline __host__ __device__ float4 make_float4(float3 a)
+{
+    return make_float4(a.x, a.y, a.z, 0.0f);
+}
+inline __host__ __device__ float4 make_float4(float3 a, float w)
+{
+    return make_float4(a.x, a.y, a.z, w);
+}
+inline __host__ __device__ float4 make_float4(int4 a)
+{
+    return make_float4(float(a.x), float(a.y), float(a.z), float(a.w));
+}
+inline __host__ __device__ float4 make_float4(uint4 a)
+{
+    return make_float4(float(a.x), float(a.y), float(a.z), float(a.w));
+}
+
+inline __host__ __device__ int4 make_int4(int s)
+{
+    return make_int4(s, s, s, s);
+}
+inline __host__ __device__ int4 make_int4(int3 a)
+{
+    return make_int4(a.x, a.y, a.z, 0);
+}
+inline __host__ __device__ int4 make_int4(int3 a, int w)
+{
+    return make_int4(a.x, a.y, a.z, w);
+}
+inline __host__ __device__ int4 make_int4(uint4 a)
+{
+    return make_int4(int(a.x), int(a.y), int(a.z), int(a.w));
+}
+inline __host__ __device__ int4 make_int4(float4 a)
+{
+    return make_int4(int(a.x), int(a.y), int(a.z), int(a.w));
+}
+
+
+inline __host__ __device__ uint4 make_uint4(uint s)
+{
+    return make_uint4(s, s, s, s);
+}
+inline __host__ __device__ uint4 make_uint4(uint3 a)
+{
+    return make_uint4(a.x, a.y, a.z, 0);
+}
+inline __host__ __device__ uint4 make_uint4(uint3 a, uint w)
+{
+    return make_uint4(a.x, a.y, a.z, w);
+}
+inline __host__ __device__ uint4 make_uint4(int4 a)
+{
+    return make_uint4(uint(a.x), uint(a.y), uint(a.z), uint(a.w));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// negate
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float2 operator-(float2 &a)
+{
+    return make_float2(-a.x, -a.y);
+}
+inline __host__ __device__ int2 operator-(int2 &a)
+{
+    return make_int2(-a.x, -a.y);
+}
+inline __host__ __device__ float3 operator-(float3 &a)
+{
+    return make_float3(-a.x, -a.y, -a.z);
+}
+inline __host__ __device__ int3 operator-(int3 &a)
+{
+    return make_int3(-a.x, -a.y, -a.z);
+}
+inline __host__ __device__ float4 operator-(float4 &a)
+{
+    return make_float4(-a.x, -a.y, -a.z, -a.w);
+}
+inline __host__ __device__ int4 operator-(int4 &a)
+{
+    return make_int4(-a.x, -a.y, -a.z, -a.w);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// addition
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float2 operator+(float2 a, float2 b)
+{
+    return make_float2(a.x + b.x, a.y + b.y);
+}
+inline __host__ __device__ void operator+=(float2 &a, float2 b)
+{
+    a.x += b.x;
+    a.y += b.y;
+}
+inline __host__ __device__ float2 operator+(float2 a, float b)
+{
+    return make_float2(a.x + b, a.y + b);
+}
+inline __host__ __device__ float2 operator+(float b, float2 a)
+{
+    return make_float2(a.x + b, a.y + b);
+}
+inline __host__ __device__ void operator+=(float2 &a, float b)
+{
+    a.x += b;
+    a.y += b;
+}
+
+inline __host__ __device__ int2 operator+(int2 a, int2 b)
+{
+    return make_int2(a.x + b.x, a.y + b.y);
+}
+inline __host__ __device__ void operator+=(int2 &a, int2 b)
+{
+    a.x += b.x;
+    a.y += b.y;
+}
+inline __host__ __device__ int2 operator+(int2 a, int b)
+{
+    return make_int2(a.x + b, a.y + b);
+}
+inline __host__ __device__ int2 operator+(int b, int2 a)
+{
+    return make_int2(a.x + b, a.y + b);
+}
+inline __host__ __device__ void operator+=(int2 &a, int b)
+{
+    a.x += b;
+    a.y += b;
+}
+
+inline __host__ __device__ uint2 operator+(uint2 a, uint2 b)
+{
+    return make_uint2(a.x + b.x, a.y + b.y);
+}
+inline __host__ __device__ void operator+=(uint2 &a, uint2 b)
+{
+    a.x += b.x;
+    a.y += b.y;
+}
+inline __host__ __device__ uint2 operator+(uint2 a, uint b)
+{
+    return make_uint2(a.x + b, a.y + b);
+}
+inline __host__ __device__ uint2 operator+(uint b, uint2 a)
+{
+    return make_uint2(a.x + b, a.y + b);
+}
+inline __host__ __device__ void operator+=(uint2 &a, uint b)
+{
+    a.x += b;
+    a.y += b;
+}
+
+
+inline __host__ __device__ float3 operator+(float3 a, float3 b)
+{
+    return make_float3(a.x + b.x, a.y + b.y, a.z + b.z);
+}
+inline __host__ __device__ void operator+=(float3 &a, float3 b)
+{
+    a.x += b.x;
+    a.y += b.y;
+    a.z += b.z;
+}
+inline __host__ __device__ float3 operator+(float3 a, float b)
+{
+    return make_float3(a.x + b, a.y + b, a.z + b);
+}
+inline __host__ __device__ void operator+=(float3 &a, float b)
+{
+    a.x += b;
+    a.y += b;
+    a.z += b;
+}
+
+inline __host__ __device__ int3 operator+(int3 a, int3 b)
+{
+    return make_int3(a.x + b.x, a.y + b.y, a.z + b.z);
+}
+inline __host__ __device__ void operator+=(int3 &a, int3 b)
+{
+    a.x += b.x;
+    a.y += b.y;
+    a.z += b.z;
+}
+inline __host__ __device__ int3 operator+(int3 a, int b)
+{
+    return make_int3(a.x + b, a.y + b, a.z + b);
+}
+inline __host__ __device__ void operator+=(int3 &a, int b)
+{
+    a.x += b;
+    a.y += b;
+    a.z += b;
+}
+
+inline __host__ __device__ uint3 operator+(uint3 a, uint3 b)
+{
+    return make_uint3(a.x + b.x, a.y + b.y, a.z + b.z);
+}
+inline __host__ __device__ void operator+=(uint3 &a, uint3 b)
+{
+    a.x += b.x;
+    a.y += b.y;
+    a.z += b.z;
+}
+inline __host__ __device__ uint3 operator+(uint3 a, uint b)
+{
+    return make_uint3(a.x + b, a.y + b, a.z + b);
+}
+inline __host__ __device__ void operator+=(uint3 &a, uint b)
+{
+    a.x += b;
+    a.y += b;
+    a.z += b;
+}
+
+inline __host__ __device__ int3 operator+(int b, int3 a)
+{
+    return make_int3(a.x + b, a.y + b, a.z + b);
+}
+inline __host__ __device__ uint3 operator+(uint b, uint3 a)
+{
+    return make_uint3(a.x + b, a.y + b, a.z + b);
+}
+inline __host__ __device__ float3 operator+(float b, float3 a)
+{
+    return make_float3(a.x + b, a.y + b, a.z + b);
+}
+
+inline __host__ __device__ float4 operator+(float4 a, float4 b)
+{
+    return make_float4(a.x + b.x, a.y + b.y, a.z + b.z,  a.w + b.w);
+}
+inline __host__ __device__ void operator+=(float4 &a, float4 b)
+{
+    a.x += b.x;
+    a.y += b.y;
+    a.z += b.z;
+    a.w += b.w;
+}
+inline __host__ __device__ float4 operator+(float4 a, float b)
+{
+    return make_float4(a.x + b, a.y + b, a.z + b, a.w + b);
+}
+inline __host__ __device__ float4 operator+(float b, float4 a)
+{
+    return make_float4(a.x + b, a.y + b, a.z + b, a.w + b);
+}
+inline __host__ __device__ void operator+=(float4 &a, float b)
+{
+    a.x += b;
+    a.y += b;
+    a.z += b;
+    a.w += b;
+}
+
+inline __host__ __device__ int4 operator+(int4 a, int4 b)
+{
+    return make_int4(a.x + b.x, a.y + b.y, a.z + b.z,  a.w + b.w);
+}
+inline __host__ __device__ void operator+=(int4 &a, int4 b)
+{
+    a.x += b.x;
+    a.y += b.y;
+    a.z += b.z;
+    a.w += b.w;
+}
+inline __host__ __device__ int4 operator+(int4 a, int b)
+{
+    return make_int4(a.x + b, a.y + b, a.z + b,  a.w + b);
+}
+inline __host__ __device__ int4 operator+(int b, int4 a)
+{
+    return make_int4(a.x + b, a.y + b, a.z + b,  a.w + b);
+}
+inline __host__ __device__ void operator+=(int4 &a, int b)
+{
+    a.x += b;
+    a.y += b;
+    a.z += b;
+    a.w += b;
+}
+
+inline __host__ __device__ uint4 operator+(uint4 a, uint4 b)
+{
+    return make_uint4(a.x + b.x, a.y + b.y, a.z + b.z,  a.w + b.w);
+}
+inline __host__ __device__ void operator+=(uint4 &a, uint4 b)
+{
+    a.x += b.x;
+    a.y += b.y;
+    a.z += b.z;
+    a.w += b.w;
+}
+inline __host__ __device__ uint4 operator+(uint4 a, uint b)
+{
+    return make_uint4(a.x + b, a.y + b, a.z + b,  a.w + b);
+}
+inline __host__ __device__ uint4 operator+(uint b, uint4 a)
+{
+    return make_uint4(a.x + b, a.y + b, a.z + b,  a.w + b);
+}
+inline __host__ __device__ void operator+=(uint4 &a, uint b)
+{
+    a.x += b;
+    a.y += b;
+    a.z += b;
+    a.w += b;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// subtract
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float2 operator-(float2 a, float2 b)
+{
+    return make_float2(a.x - b.x, a.y - b.y);
+}
+inline __host__ __device__ void operator-=(float2 &a, float2 b)
+{
+    a.x -= b.x;
+    a.y -= b.y;
+}
+inline __host__ __device__ float2 operator-(float2 a, float b)
+{
+    return make_float2(a.x - b, a.y - b);
+}
+inline __host__ __device__ float2 operator-(float b, float2 a)
+{
+    return make_float2(b - a.x, b - a.y);
+}
+inline __host__ __device__ void operator-=(float2 &a, float b)
+{
+    a.x -= b;
+    a.y -= b;
+}
+
+inline __host__ __device__ int2 operator-(int2 a, int2 b)
+{
+    return make_int2(a.x - b.x, a.y - b.y);
+}
+inline __host__ __device__ void operator-=(int2 &a, int2 b)
+{
+    a.x -= b.x;
+    a.y -= b.y;
+}
+inline __host__ __device__ int2 operator-(int2 a, int b)
+{
+    return make_int2(a.x - b, a.y - b);
+}
+inline __host__ __device__ int2 operator-(int b, int2 a)
+{
+    return make_int2(b - a.x, b - a.y);
+}
+inline __host__ __device__ void operator-=(int2 &a, int b)
+{
+    a.x -= b;
+    a.y -= b;
+}
+
+inline __host__ __device__ uint2 operator-(uint2 a, uint2 b)
+{
+    return make_uint2(a.x - b.x, a.y - b.y);
+}
+inline __host__ __device__ void operator-=(uint2 &a, uint2 b)
+{
+    a.x -= b.x;
+    a.y -= b.y;
+}
+inline __host__ __device__ uint2 operator-(uint2 a, uint b)
+{
+    return make_uint2(a.x - b, a.y - b);
+}
+inline __host__ __device__ uint2 operator-(uint b, uint2 a)
+{
+    return make_uint2(b - a.x, b - a.y);
+}
+inline __host__ __device__ void operator-=(uint2 &a, uint b)
+{
+    a.x -= b;
+    a.y -= b;
+}
+
+inline __host__ __device__ float3 operator-(float3 a, float3 b)
+{
+    return make_float3(a.x - b.x, a.y - b.y, a.z - b.z);
+}
+inline __host__ __device__ void operator-=(float3 &a, float3 b)
+{
+    a.x -= b.x;
+    a.y -= b.y;
+    a.z -= b.z;
+}
+inline __host__ __device__ float3 operator-(float3 a, float b)
+{
+    return make_float3(a.x - b, a.y - b, a.z - b);
+}
+inline __host__ __device__ float3 operator-(float b, float3 a)
+{
+    return make_float3(b - a.x, b - a.y, b - a.z);
+}
+inline __host__ __device__ void operator-=(float3 &a, float b)
+{
+    a.x -= b;
+    a.y -= b;
+    a.z -= b;
+}
+
+inline __host__ __device__ int3 operator-(int3 a, int3 b)
+{
+    return make_int3(a.x - b.x, a.y - b.y, a.z - b.z);
+}
+inline __host__ __device__ void operator-=(int3 &a, int3 b)
+{
+    a.x -= b.x;
+    a.y -= b.y;
+    a.z -= b.z;
+}
+inline __host__ __device__ int3 operator-(int3 a, int b)
+{
+    return make_int3(a.x - b, a.y - b, a.z - b);
+}
+inline __host__ __device__ int3 operator-(int b, int3 a)
+{
+    return make_int3(b - a.x, b - a.y, b - a.z);
+}
+inline __host__ __device__ void operator-=(int3 &a, int b)
+{
+    a.x -= b;
+    a.y -= b;
+    a.z -= b;
+}
+
+inline __host__ __device__ uint3 operator-(uint3 a, uint3 b)
+{
+    return make_uint3(a.x - b.x, a.y - b.y, a.z - b.z);
+}
+inline __host__ __device__ void operator-=(uint3 &a, uint3 b)
+{
+    a.x -= b.x;
+    a.y -= b.y;
+    a.z -= b.z;
+}
+inline __host__ __device__ uint3 operator-(uint3 a, uint b)
+{
+    return make_uint3(a.x - b, a.y - b, a.z - b);
+}
+inline __host__ __device__ uint3 operator-(uint b, uint3 a)
+{
+    return make_uint3(b - a.x, b - a.y, b - a.z);
+}
+inline __host__ __device__ void operator-=(uint3 &a, uint b)
+{
+    a.x -= b;
+    a.y -= b;
+    a.z -= b;
+}
+
+inline __host__ __device__ float4 operator-(float4 a, float4 b)
+{
+    return make_float4(a.x - b.x, a.y - b.y, a.z - b.z,  a.w - b.w);
+}
+inline __host__ __device__ void operator-=(float4 &a, float4 b)
+{
+    a.x -= b.x;
+    a.y -= b.y;
+    a.z -= b.z;
+    a.w -= b.w;
+}
+inline __host__ __device__ float4 operator-(float4 a, float b)
+{
+    return make_float4(a.x - b, a.y - b, a.z - b,  a.w - b);
+}
+inline __host__ __device__ void operator-=(float4 &a, float b)
+{
+    a.x -= b;
+    a.y -= b;
+    a.z -= b;
+    a.w -= b;
+}
+
+inline __host__ __device__ int4 operator-(int4 a, int4 b)
+{
+    return make_int4(a.x - b.x, a.y - b.y, a.z - b.z,  a.w - b.w);
+}
+inline __host__ __device__ void operator-=(int4 &a, int4 b)
+{
+    a.x -= b.x;
+    a.y -= b.y;
+    a.z -= b.z;
+    a.w -= b.w;
+}
+inline __host__ __device__ int4 operator-(int4 a, int b)
+{
+    return make_int4(a.x - b, a.y - b, a.z - b,  a.w - b);
+}
+inline __host__ __device__ int4 operator-(int b, int4 a)
+{
+    return make_int4(b - a.x, b - a.y, b - a.z, b - a.w);
+}
+inline __host__ __device__ void operator-=(int4 &a, int b)
+{
+    a.x -= b;
+    a.y -= b;
+    a.z -= b;
+    a.w -= b;
+}
+
+inline __host__ __device__ uint4 operator-(uint4 a, uint4 b)
+{
+    return make_uint4(a.x - b.x, a.y - b.y, a.z - b.z,  a.w - b.w);
+}
+inline __host__ __device__ void operator-=(uint4 &a, uint4 b)
+{
+    a.x -= b.x;
+    a.y -= b.y;
+    a.z -= b.z;
+    a.w -= b.w;
+}
+inline __host__ __device__ uint4 operator-(uint4 a, uint b)
+{
+    return make_uint4(a.x - b, a.y - b, a.z - b,  a.w - b);
+}
+inline __host__ __device__ uint4 operator-(uint b, uint4 a)
+{
+    return make_uint4(b - a.x, b - a.y, b - a.z, b - a.w);
+}
+inline __host__ __device__ void operator-=(uint4 &a, uint b)
+{
+    a.x -= b;
+    a.y -= b;
+    a.z -= b;
+    a.w -= b;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// multiply
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float2 operator*(float2 a, float2 b)
+{
+    return make_float2(a.x * b.x, a.y * b.y);
+}
+inline __host__ __device__ void operator*=(float2 &a, float2 b)
+{
+    a.x *= b.x;
+    a.y *= b.y;
+}
+inline __host__ __device__ float2 operator*(float2 a, float b)
+{
+    return make_float2(a.x * b, a.y * b);
+}
+inline __host__ __device__ float2 operator*(float b, float2 a)
+{
+    return make_float2(b * a.x, b * a.y);
+}
+inline __host__ __device__ void operator*=(float2 &a, float b)
+{
+    a.x *= b;
+    a.y *= b;
+}
+
+inline __host__ __device__ int2 operator*(int2 a, int2 b)
+{
+    return make_int2(a.x * b.x, a.y * b.y);
+}
+inline __host__ __device__ void operator*=(int2 &a, int2 b)
+{
+    a.x *= b.x;
+    a.y *= b.y;
+}
+inline __host__ __device__ int2 operator*(int2 a, int b)
+{
+    return make_int2(a.x * b, a.y * b);
+}
+inline __host__ __device__ int2 operator*(int b, int2 a)
+{
+    return make_int2(b * a.x, b * a.y);
+}
+inline __host__ __device__ void operator*=(int2 &a, int b)
+{
+    a.x *= b;
+    a.y *= b;
+}
+
+inline __host__ __device__ uint2 operator*(uint2 a, uint2 b)
+{
+    return make_uint2(a.x * b.x, a.y * b.y);
+}
+inline __host__ __device__ void operator*=(uint2 &a, uint2 b)
+{
+    a.x *= b.x;
+    a.y *= b.y;
+}
+inline __host__ __device__ uint2 operator*(uint2 a, uint b)
+{
+    return make_uint2(a.x * b, a.y * b);
+}
+inline __host__ __device__ uint2 operator*(uint b, uint2 a)
+{
+    return make_uint2(b * a.x, b * a.y);
+}
+inline __host__ __device__ void operator*=(uint2 &a, uint b)
+{
+    a.x *= b;
+    a.y *= b;
+}
+
+inline __host__ __device__ float3 operator*(float3 a, float3 b)
+{
+    return make_float3(a.x * b.x, a.y * b.y, a.z * b.z);
+}
+inline __host__ __device__ void operator*=(float3 &a, float3 b)
+{
+    a.x *= b.x;
+    a.y *= b.y;
+    a.z *= b.z;
+}
+inline __host__ __device__ float3 operator*(float3 a, float b)
+{
+    return make_float3(a.x * b, a.y * b, a.z * b);
+}
+inline __host__ __device__ float3 operator*(float b, float3 a)
+{
+    return make_float3(b * a.x, b * a.y, b * a.z);
+}
+inline __host__ __device__ void operator*=(float3 &a, float b)
+{
+    a.x *= b;
+    a.y *= b;
+    a.z *= b;
+}
+
+inline __host__ __device__ int3 operator*(int3 a, int3 b)
+{
+    return make_int3(a.x * b.x, a.y * b.y, a.z * b.z);
+}
+inline __host__ __device__ void operator*=(int3 &a, int3 b)
+{
+    a.x *= b.x;
+    a.y *= b.y;
+    a.z *= b.z;
+}
+inline __host__ __device__ int3 operator*(int3 a, int b)
+{
+    return make_int3(a.x * b, a.y * b, a.z * b);
+}
+inline __host__ __device__ int3 operator*(int b, int3 a)
+{
+    return make_int3(b * a.x, b * a.y, b * a.z);
+}
+inline __host__ __device__ void operator*=(int3 &a, int b)
+{
+    a.x *= b;
+    a.y *= b;
+    a.z *= b;
+}
+
+inline __host__ __device__ uint3 operator*(uint3 a, uint3 b)
+{
+    return make_uint3(a.x * b.x, a.y * b.y, a.z * b.z);
+}
+inline __host__ __device__ void operator*=(uint3 &a, uint3 b)
+{
+    a.x *= b.x;
+    a.y *= b.y;
+    a.z *= b.z;
+}
+inline __host__ __device__ uint3 operator*(uint3 a, uint b)
+{
+    return make_uint3(a.x * b, a.y * b, a.z * b);
+}
+inline __host__ __device__ uint3 operator*(uint b, uint3 a)
+{
+    return make_uint3(b * a.x, b * a.y, b * a.z);
+}
+inline __host__ __device__ void operator*=(uint3 &a, uint b)
+{
+    a.x *= b;
+    a.y *= b;
+    a.z *= b;
+}
+
+inline __host__ __device__ float4 operator*(float4 a, float4 b)
+{
+    return make_float4(a.x * b.x, a.y * b.y, a.z * b.z,  a.w * b.w);
+}
+inline __host__ __device__ void operator*=(float4 &a, float4 b)
+{
+    a.x *= b.x;
+    a.y *= b.y;
+    a.z *= b.z;
+    a.w *= b.w;
+}
+inline __host__ __device__ float4 operator*(float4 a, float b)
+{
+    return make_float4(a.x * b, a.y * b, a.z * b,  a.w * b);
+}
+inline __host__ __device__ float4 operator*(float b, float4 a)
+{
+    return make_float4(b * a.x, b * a.y, b * a.z, b * a.w);
+}
+inline __host__ __device__ void operator*=(float4 &a, float b)
+{
+    a.x *= b;
+    a.y *= b;
+    a.z *= b;
+    a.w *= b;
+}
+
+inline __host__ __device__ int4 operator*(int4 a, int4 b)
+{
+    return make_int4(a.x * b.x, a.y * b.y, a.z * b.z,  a.w * b.w);
+}
+inline __host__ __device__ void operator*=(int4 &a, int4 b)
+{
+    a.x *= b.x;
+    a.y *= b.y;
+    a.z *= b.z;
+    a.w *= b.w;
+}
+inline __host__ __device__ int4 operator*(int4 a, int b)
+{
+    return make_int4(a.x * b, a.y * b, a.z * b,  a.w * b);
+}
+inline __host__ __device__ int4 operator*(int b, int4 a)
+{
+    return make_int4(b * a.x, b * a.y, b * a.z, b * a.w);
+}
+inline __host__ __device__ void operator*=(int4 &a, int b)
+{
+    a.x *= b;
+    a.y *= b;
+    a.z *= b;
+    a.w *= b;
+}
+
+inline __host__ __device__ uint4 operator*(uint4 a, uint4 b)
+{
+    return make_uint4(a.x * b.x, a.y * b.y, a.z * b.z,  a.w * b.w);
+}
+inline __host__ __device__ void operator*=(uint4 &a, uint4 b)
+{
+    a.x *= b.x;
+    a.y *= b.y;
+    a.z *= b.z;
+    a.w *= b.w;
+}
+inline __host__ __device__ uint4 operator*(uint4 a, uint b)
+{
+    return make_uint4(a.x * b, a.y * b, a.z * b,  a.w * b);
+}
+inline __host__ __device__ uint4 operator*(uint b, uint4 a)
+{
+    return make_uint4(b * a.x, b * a.y, b * a.z, b * a.w);
+}
+inline __host__ __device__ void operator*=(uint4 &a, uint b)
+{
+    a.x *= b;
+    a.y *= b;
+    a.z *= b;
+    a.w *= b;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// divide
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float2 operator/(float2 a, float2 b)
+{
+    return make_float2(a.x / b.x, a.y / b.y);
+}
+inline __host__ __device__ void operator/=(float2 &a, float2 b)
+{
+    a.x /= b.x;
+    a.y /= b.y;
+}
+inline __host__ __device__ float2 operator/(float2 a, float b)
+{
+    return make_float2(a.x / b, a.y / b);
+}
+inline __host__ __device__ void operator/=(float2 &a, float b)
+{
+    a.x /= b;
+    a.y /= b;
+}
+inline __host__ __device__ float2 operator/(float b, float2 a)
+{
+    return make_float2(b / a.x, b / a.y);
+}
+
+inline __host__ __device__ float3 operator/(float3 a, float3 b)
+{
+    return make_float3(a.x / b.x, a.y / b.y, a.z / b.z);
+}
+inline __host__ __device__ void operator/=(float3 &a, float3 b)
+{
+    a.x /= b.x;
+    a.y /= b.y;
+    a.z /= b.z;
+}
+inline __host__ __device__ float3 operator/(float3 a, float b)
+{
+    return make_float3(a.x / b, a.y / b, a.z / b);
+}
+inline __host__ __device__ void operator/=(float3 &a, float b)
+{
+    a.x /= b;
+    a.y /= b;
+    a.z /= b;
+}
+inline __host__ __device__ float3 operator/(float b, float3 a)
+{
+    return make_float3(b / a.x, b / a.y, b / a.z);
+}
+
+inline __host__ __device__ float4 operator/(float4 a, float4 b)
+{
+    return make_float4(a.x / b.x, a.y / b.y, a.z / b.z,  a.w / b.w);
+}
+inline __host__ __device__ void operator/=(float4 &a, float4 b)
+{
+    a.x /= b.x;
+    a.y /= b.y;
+    a.z /= b.z;
+    a.w /= b.w;
+}
+inline __host__ __device__ float4 operator/(float4 a, float b)
+{
+    return make_float4(a.x / b, a.y / b, a.z / b,  a.w / b);
+}
+inline __host__ __device__ void operator/=(float4 &a, float b)
+{
+    a.x /= b;
+    a.y /= b;
+    a.z /= b;
+    a.w /= b;
+}
+inline __host__ __device__ float4 operator/(float b, float4 a)
+{
+    return make_float4(b / a.x, b / a.y, b / a.z, b / a.w);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// min
+////////////////////////////////////////////////////////////////////////////////
+
+inline  __host__ __device__ float2 fminf(float2 a, float2 b)
+{
+    return make_float2(fminf(a.x,b.x), fminf(a.y,b.y));
+}
+inline __host__ __device__ float3 fminf(float3 a, float3 b)
+{
+    return make_float3(fminf(a.x,b.x), fminf(a.y,b.y), fminf(a.z,b.z));
+}
+inline  __host__ __device__ float4 fminf(float4 a, float4 b)
+{
+    return make_float4(fminf(a.x,b.x), fminf(a.y,b.y), fminf(a.z,b.z), fminf(a.w,b.w));
+}
+
+inline __host__ __device__ int2 min(int2 a, int2 b)
+{
+    return make_int2(min(a.x,b.x), min(a.y,b.y));
+}
+inline __host__ __device__ int3 min(int3 a, int3 b)
+{
+    return make_int3(min(a.x,b.x), min(a.y,b.y), min(a.z,b.z));
+}
+inline __host__ __device__ int4 min(int4 a, int4 b)
+{
+    return make_int4(min(a.x,b.x), min(a.y,b.y), min(a.z,b.z), min(a.w,b.w));
+}
+
+inline __host__ __device__ uint2 min(uint2 a, uint2 b)
+{
+    return make_uint2(min(a.x,b.x), min(a.y,b.y));
+}
+inline __host__ __device__ uint3 min(uint3 a, uint3 b)
+{
+    return make_uint3(min(a.x,b.x), min(a.y,b.y), min(a.z,b.z));
+}
+inline __host__ __device__ uint4 min(uint4 a, uint4 b)
+{
+    return make_uint4(min(a.x,b.x), min(a.y,b.y), min(a.z,b.z), min(a.w,b.w));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// max
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float2 fmaxf(float2 a, float2 b)
+{
+    return make_float2(fmaxf(a.x,b.x), fmaxf(a.y,b.y));
+}
+inline __host__ __device__ float3 fmaxf(float3 a, float3 b)
+{
+    return make_float3(fmaxf(a.x,b.x), fmaxf(a.y,b.y), fmaxf(a.z,b.z));
+}
+inline __host__ __device__ float4 fmaxf(float4 a, float4 b)
+{
+    return make_float4(fmaxf(a.x,b.x), fmaxf(a.y,b.y), fmaxf(a.z,b.z), fmaxf(a.w,b.w));
+}
+
+inline __host__ __device__ int2 max(int2 a, int2 b)
+{
+    return make_int2(max(a.x,b.x), max(a.y,b.y));
+}
+inline __host__ __device__ int3 max(int3 a, int3 b)
+{
+    return make_int3(max(a.x,b.x), max(a.y,b.y), max(a.z,b.z));
+}
+inline __host__ __device__ int4 max(int4 a, int4 b)
+{
+    return make_int4(max(a.x,b.x), max(a.y,b.y), max(a.z,b.z), max(a.w,b.w));
+}
+
+inline __host__ __device__ uint2 max(uint2 a, uint2 b)
+{
+    return make_uint2(max(a.x,b.x), max(a.y,b.y));
+}
+inline __host__ __device__ uint3 max(uint3 a, uint3 b)
+{
+    return make_uint3(max(a.x,b.x), max(a.y,b.y), max(a.z,b.z));
+}
+inline __host__ __device__ uint4 max(uint4 a, uint4 b)
+{
+    return make_uint4(max(a.x,b.x), max(a.y,b.y), max(a.z,b.z), max(a.w,b.w));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// lerp
+// - linear interpolation between a and b, based on value t in [0, 1] range
+////////////////////////////////////////////////////////////////////////////////
+
+inline __device__ __host__ float lerp(float a, float b, float t)
+{
+    return a + t*(b-a);
+}
+inline __device__ __host__ float2 lerp(float2 a, float2 b, float t)
+{
+    return a + t*(b-a);
+}
+inline __device__ __host__ float3 lerp(float3 a, float3 b, float t)
+{
+    return a + t*(b-a);
+}
+inline __device__ __host__ float4 lerp(float4 a, float4 b, float t)
+{
+    return a + t*(b-a);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// clamp
+// - clamp the value v to be in the range [a, b]
+////////////////////////////////////////////////////////////////////////////////
+
+inline __device__ __host__ float clamp(float f, float a, float b)
+{
+    return fmaxf(a, fminf(f, b));
+}
+inline __device__ __host__ int clamp(int f, int a, int b)
+{
+    return max(a, min(f, b));
+}
+inline __device__ __host__ uint clamp(uint f, uint a, uint b)
+{
+    return max(a, min(f, b));
+}
+
+inline __device__ __host__ float2 clamp(float2 v, float a, float b)
+{
+    return make_float2(clamp(v.x, a, b), clamp(v.y, a, b));
+}
+inline __device__ __host__ float2 clamp(float2 v, float2 a, float2 b)
+{
+    return make_float2(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y));
+}
+inline __device__ __host__ float3 clamp(float3 v, float a, float b)
+{
+    return make_float3(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b));
+}
+inline __device__ __host__ float3 clamp(float3 v, float3 a, float3 b)
+{
+    return make_float3(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z));
+}
+inline __device__ __host__ float4 clamp(float4 v, float a, float b)
+{
+    return make_float4(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b), clamp(v.w, a, b));
+}
+inline __device__ __host__ float4 clamp(float4 v, float4 a, float4 b)
+{
+    return make_float4(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z), clamp(v.w, a.w, b.w));
+}
+
+inline __device__ __host__ int2 clamp(int2 v, int a, int b)
+{
+    return make_int2(clamp(v.x, a, b), clamp(v.y, a, b));
+}
+inline __device__ __host__ int2 clamp(int2 v, int2 a, int2 b)
+{
+    return make_int2(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y));
+}
+inline __device__ __host__ int3 clamp(int3 v, int a, int b)
+{
+    return make_int3(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b));
+}
+inline __device__ __host__ int3 clamp(int3 v, int3 a, int3 b)
+{
+    return make_int3(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z));
+}
+inline __device__ __host__ int4 clamp(int4 v, int a, int b)
+{
+    return make_int4(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b), clamp(v.w, a, b));
+}
+inline __device__ __host__ int4 clamp(int4 v, int4 a, int4 b)
+{
+    return make_int4(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z), clamp(v.w, a.w, b.w));
+}
+
+inline __device__ __host__ uint2 clamp(uint2 v, uint a, uint b)
+{
+    return make_uint2(clamp(v.x, a, b), clamp(v.y, a, b));
+}
+inline __device__ __host__ uint2 clamp(uint2 v, uint2 a, uint2 b)
+{
+    return make_uint2(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y));
+}
+inline __device__ __host__ uint3 clamp(uint3 v, uint a, uint b)
+{
+    return make_uint3(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b));
+}
+inline __device__ __host__ uint3 clamp(uint3 v, uint3 a, uint3 b)
+{
+    return make_uint3(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z));
+}
+inline __device__ __host__ uint4 clamp(uint4 v, uint a, uint b)
+{
+    return make_uint4(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b), clamp(v.w, a, b));
+}
+inline __device__ __host__ uint4 clamp(uint4 v, uint4 a, uint4 b)
+{
+    return make_uint4(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z), clamp(v.w, a.w, b.w));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// dot product
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float dot(float2 a, float2 b)
+{
+    return a.x * b.x + a.y * b.y;
+}
+inline __host__ __device__ float dot(float3 a, float3 b)
+{
+    return a.x * b.x + a.y * b.y + a.z * b.z;
+}
+inline __host__ __device__ float dot(float4 a, float4 b)
+{
+    return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
+}
+
+inline __host__ __device__ int dot(int2 a, int2 b)
+{
+    return a.x * b.x + a.y * b.y;
+}
+inline __host__ __device__ int dot(int3 a, int3 b)
+{
+    return a.x * b.x + a.y * b.y + a.z * b.z;
+}
+inline __host__ __device__ int dot(int4 a, int4 b)
+{
+    return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
+}
+
+inline __host__ __device__ uint dot(uint2 a, uint2 b)
+{
+    return a.x * b.x + a.y * b.y;
+}
+inline __host__ __device__ uint dot(uint3 a, uint3 b)
+{
+    return a.x * b.x + a.y * b.y + a.z * b.z;
+}
+inline __host__ __device__ uint dot(uint4 a, uint4 b)
+{
+    return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// length
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float length(float2 v)
+{
+    return sqrtf(dot(v, v));
+}
+inline __host__ __device__ float length(float3 v)
+{
+    return sqrtf(dot(v, v));
+}
+inline __host__ __device__ float length(float4 v)
+{
+    return sqrtf(dot(v, v));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// normalize
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float2 normalize(float2 v)
+{
+    float invLen = rsqrtf(dot(v, v));
+    return v * invLen;
+}
+inline __host__ __device__ float3 normalize(float3 v)
+{
+    float invLen = rsqrtf(dot(v, v));
+    return v * invLen;
+}
+inline __host__ __device__ float4 normalize(float4 v)
+{
+    float invLen = rsqrtf(dot(v, v));
+    return v * invLen;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// floor
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float2 floorf(float2 v)
+{
+    return make_float2(floorf(v.x), floorf(v.y));
+}
+inline __host__ __device__ float3 floorf(float3 v)
+{
+    return make_float3(floorf(v.x), floorf(v.y), floorf(v.z));
+}
+inline __host__ __device__ float4 floorf(float4 v)
+{
+    return make_float4(floorf(v.x), floorf(v.y), floorf(v.z), floorf(v.w));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// frac - returns the fractional portion of a scalar or each vector component
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float fracf(float v)
+{
+    return v - floorf(v);
+}
+inline __host__ __device__ float2 fracf(float2 v)
+{
+    return make_float2(fracf(v.x), fracf(v.y));
+}
+inline __host__ __device__ float3 fracf(float3 v)
+{
+    return make_float3(fracf(v.x), fracf(v.y), fracf(v.z));
+}
+inline __host__ __device__ float4 fracf(float4 v)
+{
+    return make_float4(fracf(v.x), fracf(v.y), fracf(v.z), fracf(v.w));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// fmod
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float2 fmodf(float2 a, float2 b)
+{
+    return make_float2(fmodf(a.x, b.x), fmodf(a.y, b.y));
+}
+inline __host__ __device__ float3 fmodf(float3 a, float3 b)
+{
+    return make_float3(fmodf(a.x, b.x), fmodf(a.y, b.y), fmodf(a.z, b.z));
+}
+inline __host__ __device__ float4 fmodf(float4 a, float4 b)
+{
+    return make_float4(fmodf(a.x, b.x), fmodf(a.y, b.y), fmodf(a.z, b.z), fmodf(a.w, b.w));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// absolute value
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float2 fabs(float2 v)
+{
+    return make_float2(fabs(v.x), fabs(v.y));
+}
+inline __host__ __device__ float3 fabs(float3 v)
+{
+    return make_float3(fabs(v.x), fabs(v.y), fabs(v.z));
+}
+inline __host__ __device__ float4 fabs(float4 v)
+{
+    return make_float4(fabs(v.x), fabs(v.y), fabs(v.z), fabs(v.w));
+}
+
+inline __host__ __device__ int2 abs(int2 v)
+{
+    return make_int2(abs(v.x), abs(v.y));
+}
+inline __host__ __device__ int3 abs(int3 v)
+{
+    return make_int3(abs(v.x), abs(v.y), abs(v.z));
+}
+inline __host__ __device__ int4 abs(int4 v)
+{
+    return make_int4(abs(v.x), abs(v.y), abs(v.z), abs(v.w));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// reflect
+// - returns reflection of incident ray I around surface normal N
+// - N should be normalized, reflected vector's length is equal to length of I
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float3 reflect(float3 i, float3 n)
+{
+    return i - 2.0f * n * dot(n,i);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// cross product
+////////////////////////////////////////////////////////////////////////////////
+
+inline __host__ __device__ float3 cross(float3 a, float3 b)
+{
+    return make_float3(a.y*b.z - a.z*b.y, a.z*b.x - a.x*b.z, a.x*b.y - a.y*b.x);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// smoothstep
+// - returns 0 if x < a
+// - returns 1 if x > b
+// - otherwise returns smooth interpolation between 0 and 1 based on x
+////////////////////////////////////////////////////////////////////////////////
+
+inline __device__ __host__ float smoothstep(float a, float b, float x)
+{
+    float y = clamp((x - a) / (b - a), 0.0f, 1.0f);
+    return (y*y*(3.0f - (2.0f*y)));
+}
+inline __device__ __host__ float2 smoothstep(float2 a, float2 b, float2 x)
+{
+    float2 y = clamp((x - a) / (b - a), 0.0f, 1.0f);
+    return (y*y*(make_float2(3.0f) - (make_float2(2.0f)*y)));
+}
+inline __device__ __host__ float3 smoothstep(float3 a, float3 b, float3 x)
+{
+    float3 y = clamp((x - a) / (b - a), 0.0f, 1.0f);
+    return (y*y*(make_float3(3.0f) - (make_float3(2.0f)*y)));
+}
+inline __device__ __host__ float4 smoothstep(float4 a, float4 b, float4 x)
+{
+    float4 y = clamp((x - a) / (b - a), 0.0f, 1.0f);
+    return (y*y*(make_float4(3.0f) - (make_float4(2.0f)*y)));
+}
+
+#endif
diff --git a/uav_simulator/depth_sensor_simulator/src/pcl_render_node.cpp b/uav_simulator/depth_sensor_simulator/src/pcl_render_node.cpp
new file mode 100755
index 0000000..6a4da12
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/src/pcl_render_node.cpp
@@ -0,0 +1,396 @@
+#include <iostream>
+#include <fstream>
+#include <vector>
+//include ros dep.
+#include <ros/ros.h>
+#include <message_filters/subscriber.h>
+#include <message_filters/synchronizer.h>
+#include <message_filters/sync_policies/exact_time.h>
+#include <message_filters/sync_policies/approximate_time.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <image_transport/image_transport.h>
+#include <dynamic_reconfigure/server.h>
+#include <nav_msgs/Odometry.h>
+#include <nav_msgs/Path.h>
+#include <sensor_msgs/Imu.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <std_msgs/Bool.h>
+
+#include "tf/tf.h"
+#include "tf/transform_datatypes.h"
+#include <tf/transform_broadcaster.h>
+//include pcl dep
+#include <pcl/io/pcd_io.h>
+#include <pcl/io/ply_io.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+ #include <pcl_conversions/pcl_conversions.h>
+//include opencv and eigen
+// #include <eigen3/Eigen/Dense>
+#include <Eigen/Eigen>
+#include "opencv2/highgui/highgui.hpp"
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/eigen.hpp>
+#include <cv_bridge/cv_bridge.h>
+
+//#include <cloud_banchmark/cloud_banchmarkConfig.h>
+#include "depth_render.cuh"
+#include "quadrotor_msgs/PositionCommand.h"
+using namespace cv;
+using namespace std;
+using namespace Eigen;
+
+int *depth_hostptr;
+cv::Mat depth_mat;
+
+//camera param
+int width, height;
+double fx,fy,cx,cy;
+
+DepthRender depthrender;
+ros::Publisher pub_depth;
+ros::Publisher pub_color;
+ros::Publisher pub_pose;
+ros::Publisher pub_pcl_wolrd;
+
+sensor_msgs::PointCloud2 local_map_pcl;
+sensor_msgs::PointCloud2 local_depth_pcl;
+
+ros::Subscriber odom_sub;
+ros::Subscriber global_map_sub, local_map_sub;
+
+ros::Timer local_sensing_timer, estimation_timer;
+
+bool has_global_map(false);
+bool has_local_map(false);
+bool has_odom(false);
+
+Matrix4d cam02body;
+Matrix4d cam2world;
+Eigen::Quaterniond cam2world_quat;
+nav_msgs::Odometry _odom;
+
+double sensing_horizon, sensing_rate, estimation_rate; 
+double _x_size, _y_size, _z_size;
+double _gl_xl, _gl_yl, _gl_zl;
+double _resolution, _inv_resolution;
+int _GLX_SIZE, _GLY_SIZE, _GLZ_SIZE;
+
+ros::Time last_odom_stamp = ros::TIME_MAX;
+Eigen::Vector3d last_pose_world;
+
+void render_currentpose();
+void render_pcl_world();
+
+inline Eigen::Vector3d gridIndex2coord(const Eigen::Vector3i & index) 
+{
+    Eigen::Vector3d pt;
+    pt(0) = ((double)index(0) + 0.5) * _resolution + _gl_xl;
+    pt(1) = ((double)index(1) + 0.5) * _resolution + _gl_yl;
+    pt(2) = ((double)index(2) + 0.5) * _resolution + _gl_zl;
+
+    return pt;
+};
+
+inline Eigen::Vector3i coord2gridIndex(const Eigen::Vector3d & pt)
+{
+    Eigen::Vector3i idx;
+    idx(0) = std::min( std::max( int( (pt(0) - _gl_xl) * _inv_resolution), 0), _GLX_SIZE - 1);
+    idx(1) = std::min( std::max( int( (pt(1) - _gl_yl) * _inv_resolution), 0), _GLY_SIZE - 1);
+    idx(2) = std::min( std::max( int( (pt(2) - _gl_zl) * _inv_resolution), 0), _GLZ_SIZE - 1);              
+  
+    return idx;
+};
+
+void rcvOdometryCallbck(const nav_msgs::Odometry& odom)
+{
+  /*if(!has_global_map)
+    return;*/
+  has_odom = true;
+  _odom = odom;
+  Matrix4d Pose_receive = Matrix4d::Identity();
+
+  Eigen::Vector3d request_position;
+  Eigen::Quaterniond request_pose;
+  request_position.x() = odom.pose.pose.position.x;
+  request_position.y() = odom.pose.pose.position.y;
+  request_position.z() = odom.pose.pose.position.z;
+  request_pose.x() = odom.pose.pose.orientation.x;
+  request_pose.y() = odom.pose.pose.orientation.y;
+  request_pose.z() = odom.pose.pose.orientation.z;
+  request_pose.w() = odom.pose.pose.orientation.w;
+  Pose_receive.block<3,3>(0,0) = request_pose.toRotationMatrix();
+  Pose_receive(0,3) = request_position(0);
+  Pose_receive(1,3) = request_position(1);
+  Pose_receive(2,3) = request_position(2);
+
+  Matrix4d body_pose = Pose_receive;
+  //convert to cam pose
+  cam2world = body_pose * cam02body;
+  cam2world_quat = cam2world.block<3,3>(0,0);
+
+  last_odom_stamp = odom.header.stamp;
+
+  last_pose_world(0) = odom.pose.pose.position.x;
+  last_pose_world(1) = odom.pose.pose.position.y;
+  last_pose_world(2) = odom.pose.pose.position.z;
+
+  //publish tf
+  /*static tf::TransformBroadcaster br;
+  tf::Transform transform;
+  transform.setOrigin( tf::Vector3(cam2world(0,3), cam2world(1,3), cam2world(2,3) ));
+  transform.setRotation(tf::Quaternion(cam2world_quat.x(), cam2world_quat.y(), cam2world_quat.z(), cam2world_quat.w()));
+  br.sendTransform(tf::StampedTransform(transform, last_odom_stamp, "world", "camera")); //publish transform from world frame to quadrotor frame.*/
+}
+
+void pubCameraPose(const ros::TimerEvent & event)
+{ 
+  //cout<<"pub cam pose"
+  geometry_msgs::PoseStamped camera_pose;
+  camera_pose.header = _odom.header;
+  camera_pose.header.frame_id = "world";
+  camera_pose.pose.position.x = cam2world(0,3);
+  camera_pose.pose.position.y = cam2world(1,3);
+  camera_pose.pose.position.z = cam2world(2,3);
+  camera_pose.pose.orientation.w = cam2world_quat.w();
+  camera_pose.pose.orientation.x = cam2world_quat.x();
+  camera_pose.pose.orientation.y = cam2world_quat.y();
+  camera_pose.pose.orientation.z = cam2world_quat.z();
+  pub_pose.publish(camera_pose);
+}
+
+void renderSensedPoints(const ros::TimerEvent & event)
+{ 
+  if(! has_global_map || ! has_odom) return;
+  // if( !has_global_map && !has_local_map) return;
+  // if( !has_odom ) return;
+  
+  render_currentpose();
+//   render_pcl_world();
+}
+
+vector<float> cloud_data;
+void rcvGlobalPointCloudCallBack(const sensor_msgs::PointCloud2 & pointcloud_map )
+{
+  if(has_global_map)
+    return;
+
+  ROS_WARN("[Depth Simulator] Global Pointcloud received..");
+  //load global map
+  pcl::PointCloud<pcl::PointXYZ> cloudIn;
+  pcl::PointXYZ pt_in;
+  //transform map to point cloud format
+  pcl::fromROSMsg(pointcloud_map, cloudIn);
+  for(int i = 0; i < int(cloudIn.points.size()); i++){
+    if (isnan(cloudIn.points[i].x) || isnan(cloudIn.points[i].y) || isnan(cloudIn.points[i].z) || 
+      isinf(cloudIn.points[i].x) || isinf(cloudIn.points[i].y) || isinf(cloudIn.points[i].z)) {
+      continue;
+    }
+    pt_in = cloudIn.points[i];
+    cloud_data.push_back(pt_in.x);
+    cloud_data.push_back(pt_in.y);
+    cloud_data.push_back(pt_in.z);
+  }
+  printf("global map has points: %d.\n", (int)cloud_data.size() / 3 );
+  //pass cloud_data to depth render
+  depthrender.set_data(cloud_data);
+  depth_hostptr = (int*) malloc(width * height * sizeof(int));
+
+  has_global_map = true;
+  global_map_sub.shutdown();
+}
+
+void rcvLocalPointCloudCallBack(const sensor_msgs::PointCloud2 & pointcloud_map )
+{
+  //ROS_WARN("Local Pointcloud received..");
+  //load local map
+  pcl::PointCloud<pcl::PointXYZ> cloudIn;
+  pcl::PointXYZ pt_in;
+  //transform map to point cloud format
+  pcl::fromROSMsg(pointcloud_map, cloudIn);
+
+  if(cloudIn.points.size() == 0) return;
+  for(int i = 0; i < int(cloudIn.points.size()); i++){
+    pt_in = cloudIn.points[i];
+    Eigen::Vector3d pose_pt(pt_in.x, pt_in.y, pt_in.z);
+    //pose_pt = gridIndex2coord(coord2gridIndex(pose_pt));
+    cloud_data.push_back(pose_pt(0));
+    cloud_data.push_back(pose_pt(1));
+    cloud_data.push_back(pose_pt(2));
+  }
+  //printf("local map has points: %d.\n", (int)cloud_data.size() / 3 );
+  //pass cloud_data to depth render
+  depthrender.set_data(cloud_data);
+  depth_hostptr = (int*) malloc(width * height * sizeof(int));
+
+  has_local_map = true;
+}
+
+void render_pcl_world()
+{
+  //for debug purpose
+  pcl::PointCloud<pcl::PointXYZ> localMap;
+  pcl::PointXYZ pt_in;
+
+  Eigen::Vector4d pose_in_camera;
+  Eigen::Vector4d pose_in_world;
+  Eigen::Vector3d pose_pt;
+
+  for(int u = 0; u < width; u++)
+    for(int v = 0; v < height; v++){
+      float depth = depth_mat.at<float>(v,u);
+      
+      if(depth == 0.0)
+        continue;
+
+      pose_in_camera(0) = (u - cx) * depth / fx;
+      pose_in_camera(1) = (v - cy) * depth / fy;
+      pose_in_camera(2) = depth; 
+      pose_in_camera(3) = 1.0;
+      
+      pose_in_world = cam2world * pose_in_camera;
+
+      if( (pose_in_world.segment(0,3) - last_pose_world).norm() > sensing_horizon )
+          continue; 
+
+      pose_pt = pose_in_world.head(3);
+      //pose_pt = gridIndex2coord(coord2gridIndex(pose_pt));
+      pt_in.x = pose_pt(0);
+      pt_in.y = pose_pt(1);
+      pt_in.z = pose_pt(2);
+
+      localMap.points.push_back(pt_in);
+    }
+
+  localMap.width = localMap.points.size();
+  localMap.height = 1;
+  localMap.is_dense = true;
+
+  pcl::toROSMsg(localMap, local_map_pcl);
+  local_map_pcl.header.frame_id  = "world";
+  local_map_pcl.header.stamp     = last_odom_stamp;
+
+  pub_pcl_wolrd.publish(local_map_pcl);
+}
+
+void render_currentpose()
+{
+  double this_time = ros::Time::now().toSec();
+
+  Matrix4d cam_pose = cam2world.inverse();
+
+  double pose[4 * 4];
+
+  for(int i = 0; i < 4; i ++)
+    for(int j = 0; j < 4; j ++)
+      pose[j + 4 * i] = cam_pose(i, j);
+
+  depthrender.render_pose(pose, depth_hostptr);
+  //depthrender.render_pose(cam_pose, depth_hostptr);
+
+  depth_mat = cv::Mat::zeros(height, width, CV_32FC1);
+  double min = 0.5;
+  double max = 1.0f;
+  for(int i = 0; i < height; i++)
+  	for(int j = 0; j < width; j++)
+  	{
+  		float depth = (float)depth_hostptr[i * width + j] / 1000.0f;
+  		depth = depth < 500.0f ? depth : 0;
+  		max = depth > max ? depth : max;
+  		depth_mat.at<float>(i,j) = depth;
+  	}
+  //ROS_INFO("render cost %lf ms.", (ros::Time::now().toSec() - this_time) * 1000.0f);
+  //printf("max_depth %lf.\n", max);
+
+  cv_bridge::CvImage out_msg;
+  out_msg.header.stamp = last_odom_stamp;
+  out_msg.header.frame_id = "camera";
+  out_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
+  out_msg.image = depth_mat.clone();
+  pub_depth.publish(out_msg.toImageMsg());
+
+  cv::Mat adjMap;
+  // depth_mat.convertTo(adjMap,CV_8UC1, 255 / (max-min), -min);
+  depth_mat.convertTo(adjMap,CV_8UC1, 255 /13.0, -min);
+  cv::Mat falseColorsMap;
+  cv::applyColorMap(adjMap, falseColorsMap, cv::COLORMAP_RAINBOW);
+  cv_bridge::CvImage cv_image_colored;
+  cv_image_colored.header.frame_id = "depthmap";
+  cv_image_colored.header.stamp = last_odom_stamp;
+  cv_image_colored.encoding = sensor_msgs::image_encodings::BGR8;
+  cv_image_colored.image = falseColorsMap;
+  pub_color.publish(cv_image_colored.toImageMsg());
+  //cv::imshow("depth_image", adjMap);
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "pcl_render");
+  ros::NodeHandle nh("~");
+
+  nh.getParam("cam_width", width);
+  nh.getParam("cam_height", height);
+  nh.getParam("cam_fx", fx);
+  nh.getParam("cam_fy", fy);
+  nh.getParam("cam_cx", cx);
+  nh.getParam("cam_cy", cy);
+  nh.getParam("sensing_horizon", sensing_horizon);
+  nh.getParam("sensing_rate",    sensing_rate);
+  nh.getParam("estimation_rate", estimation_rate);
+
+  nh.getParam("map/x_size",     _x_size);
+  nh.getParam("map/y_size",     _y_size);
+  nh.getParam("map/z_size",     _z_size);
+
+  depthrender.set_para(fx, fy, cx, cy, width, height);
+
+  // cam02body <<  0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
+  //               0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
+  //               -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
+  //               0.0, 0.0, 0.0, 1.0;
+
+  cam02body << 0.0, 0.0, 1.0, 0.0,
+              -1.0, 0.0, 0.0, 0.0,
+               0.0,-1.0, 0.0, 0.0,
+               0.0, 0.0, 0.0, 1.0;
+
+  //init cam2world transformation
+  cam2world = Matrix4d::Identity();
+  //subscribe point cloud
+  global_map_sub = nh.subscribe( "global_map", 1,  rcvGlobalPointCloudCallBack);  
+  local_map_sub  = nh.subscribe( "local_map",  1,  rcvLocalPointCloudCallBack);  
+  odom_sub       = nh.subscribe( "odometry",   50, rcvOdometryCallbck   );  
+
+  //publisher depth image and color image
+  pub_depth = nh.advertise<sensor_msgs::Image>("depth",1000);
+  pub_color = nh.advertise<sensor_msgs::Image>("colordepth",1000);
+  pub_pose  = nh.advertise<geometry_msgs::PoseStamped>("camera_pose",1000);
+  pub_pcl_wolrd = nh.advertise<sensor_msgs::PointCloud2>("rendered_pcl",1);
+
+  double sensing_duration  = 1.0 / sensing_rate;
+  double estimate_duration = 1.0 / estimation_rate;
+
+  local_sensing_timer = nh.createTimer(ros::Duration(sensing_duration),  renderSensedPoints);
+  estimation_timer    = nh.createTimer(ros::Duration(estimate_duration), pubCameraPose);
+  //cv::namedWindow("depth_image",1);
+
+  _inv_resolution = 1.0 / _resolution;
+
+  _gl_xl = -_x_size/2.0;
+  _gl_yl = -_y_size/2.0;
+  _gl_zl =   0.0;
+  
+  _GLX_SIZE = (int)(_x_size * _inv_resolution);
+  _GLY_SIZE = (int)(_y_size * _inv_resolution);
+  _GLZ_SIZE = (int)(_z_size * _inv_resolution);
+
+  ros::Rate rate(100);
+  bool status = ros::ok();
+  while(status) 
+  {
+    ros::spinOnce();  
+    status = ros::ok();
+    rate.sleep();
+  } 
+}
diff --git a/uav_simulator/depth_sensor_simulator/src/pointcloud_render_node.cpp b/uav_simulator/depth_sensor_simulator/src/pointcloud_render_node.cpp
new file mode 100755
index 0000000..b10cf6d
--- /dev/null
+++ b/uav_simulator/depth_sensor_simulator/src/pointcloud_render_node.cpp
@@ -0,0 +1,201 @@
+#include <iostream>
+#include <fstream>
+#include <vector>
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+#include <nav_msgs/Path.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/kdtree/kdtree_flann.h>
+#include <pcl/search/kdtree.h>
+#include <pcl/search/impl/kdtree.hpp>
+#include <pcl/filters/voxel_grid.h>
+#include <Eigen/Dense>
+
+using namespace std;
+using namespace Eigen;
+
+ros::Publisher pub_cloud;
+
+sensor_msgs::PointCloud2 local_map_pcl;
+sensor_msgs::PointCloud2 local_depth_pcl;
+
+ros::Subscriber odom_sub;
+ros::Subscriber global_map_sub, local_map_sub;
+
+ros::Timer local_sensing_timer;
+
+bool has_global_map(false);
+bool has_local_map(false);
+bool has_odom(false);
+
+nav_msgs::Odometry _odom;
+
+double sensing_horizon, sensing_rate, estimation_rate; 
+double _x_size, _y_size, _z_size;
+double _gl_xl, _gl_yl, _gl_zl;
+double _resolution, _inv_resolution;
+int _GLX_SIZE, _GLY_SIZE, _GLZ_SIZE;
+
+ros::Time last_odom_stamp = ros::TIME_MAX;
+
+inline Eigen::Vector3d gridIndex2coord(const Eigen::Vector3i & index) 
+{
+    Eigen::Vector3d pt;
+    pt(0) = ((double)index(0) + 0.5) * _resolution + _gl_xl;
+    pt(1) = ((double)index(1) + 0.5) * _resolution + _gl_yl;
+    pt(2) = ((double)index(2) + 0.5) * _resolution + _gl_zl;
+
+    return pt;
+};
+
+inline Eigen::Vector3i coord2gridIndex(const Eigen::Vector3d & pt)
+{
+    Eigen::Vector3i idx;
+    idx(0) = std::min( std::max( int( (pt(0) - _gl_xl) * _inv_resolution), 0), _GLX_SIZE - 1);
+    idx(1) = std::min( std::max( int( (pt(1) - _gl_yl) * _inv_resolution), 0), _GLY_SIZE - 1);
+    idx(2) = std::min( std::max( int( (pt(2) - _gl_zl) * _inv_resolution), 0), _GLZ_SIZE - 1);              
+  
+    return idx;
+};
+
+void rcvOdometryCallbck(const nav_msgs::Odometry& odom)
+{
+  /*if(!has_global_map)
+    return;*/
+  has_odom = true;
+  _odom = odom;
+}
+
+pcl::PointCloud<pcl::PointXYZ> _cloud_all_map, _local_map;
+pcl::VoxelGrid<pcl::PointXYZ>  _voxel_sampler;
+sensor_msgs::PointCloud2 _local_map_pcd;
+
+pcl::search::KdTree<pcl::PointXYZ> _kdtreeLocalMap;
+vector<int>     _pointIdxRadiusSearch;
+vector<float>   _pointRadiusSquaredDistance;        
+
+void rcvGlobalPointCloudCallBack(const sensor_msgs::PointCloud2 & pointcloud_map )
+{
+  if(has_global_map)
+    return;
+
+  ROS_WARN("[Depth Simulator] Global Pointcloud received..");
+
+  pcl::PointCloud<pcl::PointXYZ> cloud_input;
+  pcl::fromROSMsg(pointcloud_map, cloud_input);
+  
+  _voxel_sampler.setLeafSize(0.1f, 0.1f, 0.1f);
+  _voxel_sampler.setInputCloud( cloud_input.makeShared() );      
+  _voxel_sampler.filter( _cloud_all_map );    
+
+  _kdtreeLocalMap.setInputCloud( _cloud_all_map.makeShared() ); 
+
+  has_global_map = true;
+  global_map_sub.shutdown();
+}
+
+void renderSensedPoints(const ros::TimerEvent & event)
+{
+    if(!has_global_map || !has_odom)
+       return;
+
+    Eigen::Quaterniond q;
+    q.x() = _odom.pose.pose.orientation.x;
+    q.y() = _odom.pose.pose.orientation.y;
+    q.z() = _odom.pose.pose.orientation.z;
+    q.w() = _odom.pose.pose.orientation.w;
+
+    Eigen::Matrix3d rot;
+    rot = q;
+    Eigen::Vector3d yaw_vec = rot.col(0);
+
+    _local_map.points.clear();
+    pcl::PointXYZ searchPoint(_odom.pose.pose.position.x, _odom.pose.pose.position.y, _odom.pose.pose.position.z);
+    _pointIdxRadiusSearch.clear();
+    _pointRadiusSquaredDistance.clear();
+
+    pcl::PointXYZ pt;
+    if ( _kdtreeLocalMap.radiusSearch (searchPoint, sensing_horizon, _pointIdxRadiusSearch, _pointRadiusSquaredDistance) > 0 )
+    {
+       for (size_t i = 0; i < _pointIdxRadiusSearch.size (); ++i)
+       {
+          pt = _cloud_all_map.points[_pointIdxRadiusSearch[i]];  
+          
+          if( (fabs(pt.z - _odom.pose.pose.position.z) / (sensing_horizon)) > tan(M_PI / 12.0) )
+              continue;    
+          
+          Vector3d pt_vec(pt.x - _odom.pose.pose.position.x, pt.y - _odom.pose.pose.position.y, pt.z - _odom.pose.pose.position.z);
+          
+          if(pt_vec.dot(yaw_vec) < 0 ) 
+            continue;
+          
+          _local_map.points.push_back(pt);
+       }
+    }
+    else
+    {
+       return;
+    }
+
+    _local_map.width = _local_map.points.size();
+    _local_map.height = 1;
+    _local_map.is_dense = true;
+
+    pcl::toROSMsg(_local_map, _local_map_pcd);
+    _local_map_pcd.header.frame_id = "map";
+    
+    pub_cloud.publish(_local_map_pcd);
+}
+
+void rcvLocalPointCloudCallBack(const sensor_msgs::PointCloud2 & pointcloud_map )
+{
+  // do nothing, fix later
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "pcl_render");
+  ros::NodeHandle nh("~");
+
+  nh.getParam("sensing_horizon", sensing_horizon);
+  nh.getParam("sensing_rate",    sensing_rate);
+  nh.getParam("estimation_rate", estimation_rate);
+
+  nh.getParam("map/x_size",     _x_size);
+  nh.getParam("map/y_size",     _y_size);
+  nh.getParam("map/z_size",     _z_size);
+
+  //subscribe point cloud
+  global_map_sub = nh.subscribe( "global_map", 1,  rcvGlobalPointCloudCallBack);  
+  local_map_sub  = nh.subscribe( "local_map",  1,  rcvLocalPointCloudCallBack);  
+  odom_sub       = nh.subscribe( "odometry",   50, rcvOdometryCallbck   );  
+
+  //publisher depth image and color image
+  pub_cloud = nh.advertise<sensor_msgs::PointCloud2>("local_pointcloud", 10);
+  
+  double sensing_duration  = 1.0 / sensing_rate * 2.5;
+
+  local_sensing_timer = nh.createTimer(ros::Duration(sensing_duration),  renderSensedPoints);
+
+  _inv_resolution = 1.0 / _resolution;
+
+  _gl_xl = -_x_size/2.0;
+  _gl_yl = -_y_size/2.0;
+  _gl_zl =   0.0;
+  
+  _GLX_SIZE = (int)(_x_size * _inv_resolution);
+  _GLY_SIZE = (int)(_y_size * _inv_resolution);
+  _GLZ_SIZE = (int)(_z_size * _inv_resolution);
+
+  ros::Rate rate(100);
+  bool status = ros::ok();
+  while(status) 
+  {
+    ros::spinOnce();  
+    status = ros::ok();
+    rate.sleep();
+  } 
+}
diff --git a/uav_simulator/map_generator/CMakeLists.txt b/uav_simulator/map_generator/CMakeLists.txt
new file mode 100755
index 0000000..831b1dc
--- /dev/null
+++ b/uav_simulator/map_generator/CMakeLists.txt
@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(map_generator)
+
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+  pcl_conversions
+  self_msgs_and_srvs
+)
+find_package(PCL REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+catkin_package()
+
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
+  ${PCL_INCLUDE_DIRS}
+)
+
+add_executable (random_forest src/random_forest_sensing.cpp )
+target_link_libraries(random_forest
+  ${catkin_LIBRARIES}
+  ${PCL_LIBRARIES})
+
+add_dependencies(random_forest
+   ${catkin_EXPORTED_TARGETS}
+)
\ No newline at end of file
diff --git a/uav_simulator/map_generator/launch/corridor.launch b/uav_simulator/map_generator/launch/corridor.launch
new file mode 100755
index 0000000..1710fe2
--- /dev/null
+++ b/uav_simulator/map_generator/launch/corridor.launch
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+
+  <node pkg="map_generator" type="map_generator_high.py" name="random_map_sensing" output="screen">
+    <param name="map/x_size" value="3.0" type="double"/>
+    <param name="map/y_size" value="100.0" type="double"/>
+    <param name="map/z_size" value="2.0" type="double"/>
+    <param name="step_size" value="2.0" type="double"/>
+
+    <param name="resolution" value="0.1" type="double"/>
+    <param name="narrow_gap_vertical" value="0.8" type="double"/>
+
+  </node>
+
+  <node pkg="rviz" type="rviz" name="rviz" output="screen" args="-d $(find state_machine)/launch/corridor.rviz"/>
+  
+</launch>
diff --git a/uav_simulator/map_generator/launch/corridor.rviz b/uav_simulator/map_generator/launch/corridor.rviz
new file mode 100755
index 0000000..5e59d79
--- /dev/null
+++ b/uav_simulator/map_generator/launch/corridor.rviz
@@ -0,0 +1,171 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Grid1/Offset1
+        - /PointCloud21
+      Splitter Ratio: 0.639473677
+    Tree Height: 1213
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+  - Class: rviz/Tool Properties
+    Expanded: ~
+    Name: Tool Properties
+    Splitter Ratio: 0.5
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz/Axes
+      Enabled: true
+      Length: 10
+      Name: Axes
+      Radius: 0.0500000007
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 103; 103; 106
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: -1
+      Plane: XY
+      Plane Cell Count: 100
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 1000
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 1.47500002
+        Min Value: -0.5
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.0500000007
+      Style: Flat Squares
+      Topic: /all_map
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 213; 213; 213
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+    - Class: rviz_plugins/Goal3DTool
+      Topic: goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 19.8130417
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 2.52503896
+        Y: -14.1778469
+        Z: -1.0955664e-06
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.779797375
+      Target Frame: ego_desired
+      Value: XYOrbit (rviz)
+      Yaw: 4.93040371
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1416
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 2560
+  X: 1920
+  Y: 24
diff --git a/uav_simulator/map_generator/package.xml b/uav_simulator/map_generator/package.xml
new file mode 100755
index 0000000..0680dff
--- /dev/null
+++ b/uav_simulator/map_generator/package.xml
@@ -0,0 +1,67 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>map_generator</name>
+  <version>0.0.0</version>
+  <description>The map_generator package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="kyle@todo.todo">kyle</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/map_generator</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>self_msgs_and_srvs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>self_msgs_and_srvs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/uav_simulator/map_generator/scripts/map_generator_high.py b/uav_simulator/map_generator/scripts/map_generator_high.py
new file mode 100755
index 0000000..07cf6e5
--- /dev/null
+++ b/uav_simulator/map_generator/scripts/map_generator_high.py
@@ -0,0 +1,552 @@
+#! /usr/bin/env python2
+import math
+import numpy as np
+import rospy
+
+from sensor_msgs.msg import PointCloud2, PointField
+from sensor_msgs import point_cloud2
+from nav_msgs.msg import Odometry
+
+
+class map_generator(object):
+
+    def __init__(self):
+        """ Constructor """
+        self.map = None
+        self.points = []
+        self.has_odom = False
+        self.has_map = False
+        self.init_params()
+        self.floor_bias = 1.0
+
+    def init_params(self):
+        """ Initializes ros parameters """
+        
+        # rospack = rospkg.RosPack()
+        # package_path = rospack.get_path("yolov4_trt_ros")
+        self.dimx = rospy.get_param("~map/x_size", default=20.0)
+        self.dimy = rospy.get_param("~map/y_size", default=20.0)
+        self.dimz = rospy.get_param("~map/z_size", default=2.50)
+        self.map_rand = rospy.get_param("~map/random", default=True)
+        self.narrow_v = rospy.get_param("~narrow_gap_vertical", default=0.8)
+        self.resolution = rospy.get_param("~resolution", default=0.05)
+        self.narrow_h = rospy.get_param("~narrow_gap_horizontal", default=0.8)
+        self.step_size = rospy.get_param("~step_size", default=1.8)
+        self.end_blank = rospy.get_param("~map/end_blank", default=1.5)
+
+
+        self.narrow_gap_width = rospy.get_param("~narrow_gap_width", default=3.0)
+        self.gap_num = rospy.get_param("~gap_num", default=3)
+
+        self.wall_num = rospy.get_param("~wall_num", default=3)
+        self.wall_width = rospy.get_param("~wall_width", default=3.0)
+
+
+        self.rand_obs_scale = rospy.get_param("~rand_obs_scale", default=3.0)
+        self.rand_obs_num = rospy.get_param("~rand_obs_num", default=5)
+        
+        
+
+        if (self.map_rand == False):
+            self.random = np.random.RandomState(0)
+        else:
+            self.random = np.random
+
+        print("narrow_v: ", self.narrow_v)
+
+        self.init_x = rospy.get_param("init_state_x", default=0.0)
+        self.init_y = rospy.get_param("init_state_y", default=0.0)
+
+        
+
+
+        self.add_floor = rospy.get_param("add_floor", default=True)
+        self.add_ceiling = rospy.get_param("add_ceiling", default=True)
+        
+        self.all_map_topic = rospy.get_param("~all_map_topic", default="random_forest/all_map")
+        self.all_map_pub = rospy.Publisher(self.all_map_topic, PointCloud2, queue_size=1)
+        # self.odom_sub = rospy.Subscriber( "odometry", Odometry, self.odom_callback, queue_size=50);
+
+        self.rate = rospy.get_param("sensing/rate", default=1.0);
+        self.rate = rospy.Rate(self.rate)
+
+        print("dimx: ", self.dimx)
+        print("dimy: ", self.dimy)
+        print("dimz: ", self.dimz)
+
+    def add_box(self, size, position):
+        ''' size: [x,y,z]
+            position: [x,y,z] --- center position
+        '''
+        # print("=====================")
+        # print("box size: ", size)
+        # print("box position: ", position)
+        # print("=====================")
+        position[2] -= self.floor_bias
+        x_low = math.floor((position[0] - size[0] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        x_high = math.floor((position[0] + size[0] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        y_low = math.floor((position[1] - size[1] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        y_high = math.floor((position[1] + size[1] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        z_low = math.floor((position[2] - size[2] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        z_high = math.floor((position[2] + size[2] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+
+        x = x_low
+        while x <= x_high:
+            y = y_low
+            while y <= y_high:
+                z = z_low
+                while z <= z_high:
+                    if (math.fabs(x - x_low) < self.resolution) or (math.fabs(x - x_high) < self.resolution) \
+                        or (math.fabs(y - y_low) < self.resolution) or (math.fabs(y - y_high) < self.resolution) \
+                        or (math.fabs(z - z_low) < self.resolution) or (math.fabs(z - z_high) < self.resolution):
+                        self.points.append([x,y,z])
+                    z += self.resolution
+                y += self.resolution
+            x += self.resolution
+
+        return
+
+    def add_cylinder(self, size, position):
+        ''' size: [r, h]
+            position: [x,y,z] --- center position
+        '''
+        position[2] -= self.floor_bias
+        center_x = position[0]
+        center_y = position[1]
+        z_low = math.floor((position[2] - size[1] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        z_high = math.floor((position[2] + size[1] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+
+        radius_num = math.floor(size[0] / self.resolution)
+        x = - radius_num
+        while x <= radius_num:
+            y = - radius_num
+            while y <= radius_num:
+                radius2 = x ** 2 + y ** 2
+                if radius2 < (radius_num + 0.5) ** 2:
+                    z = z_low
+                    while z <= z_high:
+                        if radius2 > (radius_num - 0.5) ** 2 or \
+                            (math.fabs(z - z_low) < self.resolution) or (math.fabs(z - z_high) < self.resolution):
+                            self.points.append([center_x + x * self.resolution, center_y + y * self.resolution, z])
+                        z += self.resolution
+                y += 1
+            x += 1
+
+        return
+
+    def add_layer(self, size, position):
+        ''' size: [x,y]
+            position: [x,y,z] --- center position
+        '''        
+        x_low = math.floor((position[0] - size[0] / 2) / self.resolution) * self.resolution + 0.5 * self.resolution
+        x_high = math.floor((position[0] + size[0] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        y_low = math.floor((position[1] - size[1] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        y_high = math.floor((position[1] + size[1] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        z = position[2]
+
+        x = x_low
+        while x <= x_high:
+            y = y_low
+            while y <= y_high:
+                self.points.append([x,y,z])
+                y += self.resolution
+            x += self.resolution
+        
+        return
+
+    def add_chair(self, position, scale):
+        '''position: [x, y] '''
+        x = self.random.rand() * 0.2 + 0.4
+        h = self.random.rand() * 0.1 + 0.4
+
+        x = x * scale
+        h = h * scale
+
+        self.add_box_on_floor([x, x, h], [position[0], position[1], h/2])
+        direction = self.random.randint(0, 5)
+        h_ratio = 2 # 1.5 + np.random.rand() * 0.5
+        if direction == 0:
+            return
+        elif direction == 1:
+            self.add_box_on_floor([x, 0.1, h * h_ratio], [position[0], position[1] + x / 2, h * h_ratio / 2])
+        elif direction == 2:
+            self.add_box_on_floor([x, 0.1, h * h_ratio], [position[0], position[1] - x / 2, h * h_ratio / 2])
+        elif direction == 3:
+            self.add_box_on_floor([0.1, x, h * h_ratio], [position[0] + x / 2, position[1] , h * h_ratio / 2])
+        elif direction == 4:
+            self.add_box_on_floor([0.1, x, h * h_ratio], [position[0] - x / 2, position[1], h * h_ratio / 2])
+
+    def add_bed(self, position):
+        ''' position[x,y]'''
+        x = np.random.rand() * 0.6 + 1.6
+        y = np.random.rand() * 0.6 + 1.2
+        z = np.random.rand() * 0.2 + 0.3
+        # left right
+        if np.random.rand() > 0.5:
+            self.add_box_on_floor([x, y, z], [-self.dimx / 2 + x / 2, position[1], z/2])
+            if np.random.rand() > 0.3:
+                self.add_box_on_floor([0.1, y, z*1.5], [-self.dimx / 2 + 0.1, position[1], z*1.5/2])
+        else:
+            self.add_box_on_floor([x, y, z], [self.dimx / 2 - x / 2, position[1], z/2])
+            if np.random.rand() > 0.3:
+                self.add_box_on_floor([0.1, y, z*1.5], [self.dimx / 2 - 0.1, position[1], z*1.5/2])
+
+    def add_table(self, position, scale):
+        ''' position[x,y]'''
+        x, y, z = self.random.rand(3)
+        ratio = 0.3 + self.random.rand() * 0.5
+
+        x = self.random.rand() * 1.0 + 0.4
+        y = self.random.rand() * 1.0 + 0.4
+        z = z * 0.6 + 0.4
+
+        x = x * scale
+        y = y * scale
+        z = z * scale
+        # upper partself.rand_obs_scale
+        # lower part
+        if np.random.rand() > 0.5:
+            self.add_cylinder_on_floor([x/2 * ratio, z], [position[0] * 0.6, position[1]])
+
+        else:
+            self.add_box_on_floor([x * ratio, y * ratio, z], [position[0] * 0.6, position[1]])
+
+    def add_long_door(self, position):
+        ''' position[x,y]'''
+        # warning: need to check map
+        x = np.random.rand() * 0.4 + 0.8
+        y = np.random.rand() * 0.4 + 0.4
+
+        pos_x = (position[0] + x / 2) + np.random.rand() * (self.dimx - x)
+        pos_y = position[1] + self.step_size / 2.0
+        # left side
+        self.add_box_on_floor([pos_x - x / 2 + self.dimx / 2, y, self.dimz], [-self.dimx / 2 + (pos_x - x / 2 + self.dimx / 2) / 2, pos_y, self.dimz / 2])
+        # right side
+        self.add_box_on_floor([self.dimx / 2 - pos_x - x / 2, y, self.dimz], [self.dimx / 2 - (self.dimx / 2 - pos_x - x / 2) / 2, pos_y, self.dimz / 2])
+
+
+    def add_narrow_door(self, position):
+        ''' position: y'''
+        # warning: need to check map
+        left_len = self.dimx * 1.0 / (6 * 2) + (self.dimx - self.narrow_gap_width - self.dimx * 1.0 / 6) * np.random.rand();
+        right_len = self.dimx - self.narrow_gap_width - left_len;
+    
+
+        self.add_box([left_len, 2, self.dimz],[-self.dimx / 2 + 1 / 2.0 * left_len, position, self.dimz / 2.0])
+        self.add_box([right_len, 2, self.dimz],[self.dimx / 2 - 1 / 2.0 * right_len, position, self.dimz / 2.0])
+
+    def add_narrow_door_2(self, position):
+        ''' position: y'''
+        # warning: need to check map
+        left_len = self.dimx * 1.0 / (6*3)  + (self.dimx - self.narrow_gap_width * 2 - self.dimx * 1.0 / 6) * np.random.rand()
+        middle_len = self.dimx * 1.0 / (6*3)  + ((self.dimx - self.narrow_gap_width * 2 - self.dimx * 1.0 / 6) - (left_len - self.dimx * 1.0 / (6*3))) * np.random.rand()
+        right_len = self.dimx - self.narrow_gap_width * 2 - left_len - middle_len;
+    
+
+        self.add_box([left_len, 2, self.dimz],[-self.dimx / 2 + 1 / 2.0 * left_len, position, self.dimz / 2.0])
+        self.add_box([middle_len, 2, self.dimz],[-self.dimx/ 2 + left_len + self.narrow_gap_width + middle_len * 1 / 2.0, position, self.dimz / 2.0])
+        self.add_box([right_len, 2, self.dimz],[self.dimx / 2 - 1 / 2.0 * right_len, position, self.dimz / 2.0])
+    
+    def add_narrow_door_n(self, position, wall_width, gap_width, gap_num):
+        ''' position: y'''
+        b_num  = gap_num + 1
+        min_len = (self.dimx - gap_width * gap_num) / b_num * (1.0 / 6)
+        allo_len = (self.dimx - gap_width * gap_num) * (5.0 / 6)
+        r = self.random.dirichlet(np.ones(b_num),size=1)
+
+        x_acc = .0
+        for i in range(b_num):
+            len = min_len + allo_len * r[0][i]
+            size = [len, wall_width, self.dimz]
+            x_pos = -self.dimx / 2 + x_acc + i * gap_width + 1 / 2.0 * len
+            x_acc = x_acc + len;
+          
+            self.add_box(size, [x_pos, position, self.dimz / 2.0])
+
+
+    def add_box_on_floor(self, size, position):
+        ''' size: [x, y, z]
+        position: [x, y] '''
+        self.add_box(size, position + [size[-1] / 2])
+
+    def add_random_box(self, position, scale):
+        ''' position: [x, y] '''
+        x = 10
+        y = 10
+        z = 10
+        while x + y + z > 4:
+            x = self.random.rand() * 0.7 + 0.3
+            y = self.random.rand() * 0.7 + 0.4
+            z = self.random.rand() * 1.4 + 0.4
+
+        x = x * scale
+        y = y * scale
+        z = z * scale
+        self.add_box_on_floor([x,y,z], position)
+
+    def add_random_cylinder(self, position, scale):
+        ''' position: [x, y] '''
+        r = 10
+        h = 10 
+        while r * 2 + h > 3:
+            r = self.random.rand() * 0.35 + 0.15
+            h = self.random.rand() * 1.2 + 0.8
+
+        r = r * scale
+        h = h * scale
+
+        self.add_cylinder_on_floor([r,h], position)
+
+    def add_stride_on_ceiling(self, position):
+        ''' 
+        position: [x, y] '''
+        y = np.random.rand() * 0.2 + 0.4
+        z = np.random.rand() * 0.4 + 0.2
+        self.add_box([self.dimx, y, z], [0, position[1], self.dimz - z / 2])
+
+    def add_narrow_stride(self, position):
+        ''' 
+        position: [x, y] '''
+        y =  np.random.rand() * 0.2 + 0.4
+        z = np.random.rand() * (self.dimz - self.narrow_v)
+        self.add_box([self.dimx, y, z], [0, position[1], self.dimz - z / 2])
+
+        y = np.random.rand() * 0.2 + 0.4
+        z = self.dimz - z - self.narrow_v;
+        self.add_box([self.dimx, y, z], [0, position[1], 0 + z / 2])
+
+    def add_stride_on_floor(self, position):
+        '''
+        position: [x, y] '''
+        y = np.random.rand() * 0.2 + 0.4
+        z = np.random.rand() * 0.4 + 0.2
+        self.add_box([self.dimx, y, z], [0, position[1], 0 + z / 2])
+
+    def add_cylinder_on_floor(self, size, position):
+        ''' size: [r, h]
+        position: [x, y] '''
+        self.add_cylinder(size, [position[0], position[1], size[1] / 2])
+
+    def publish_map(self):
+        if not self.has_map:
+            return False
+        self.all_map_pub.publish(self.map)
+        return True
+
+    def odom_callback(self, odom):
+        self.has_odom = True
+        self.publish_map()
+
+    # def make_random_corridor(self):
+    #     self.dimx = 3.0
+    #     self.dimy = 50.0
+    #     self.dimz = 2.0
+    #     self.step_size = 1.8
+    #     steps = math.floor(self.dimy / self.step_size)
+    #     for i in range(int(steps)):
+    #         # clear start and end
+    #         if i < 1 or i > steps - 2:
+    #             continue
+    #         obs_num = np.random.randint(2, 3)
+
+    #         center_x = - self.dimx / 2
+    #         center_y = - self.dimy / 2 + self.step_size * i
+
+    #         if np.random.rand() < 0.4:
+    #             # self.add_narrow_stride([center_x, center_y])
+    #             self.add_stride_on_floor([center_x, center_y])
+    #         else:
+    #             # self.add_stride_on_ceiling([center_x, center_y])
+    #             self.add_long_door([center_x, center_y])
+            
+
+    #         # continue
+
+    #         for num in range(obs_num):
+    #             pos_x = center_x + 0.2 + np.random.rand() * (self.dimx - 0.4)
+    #             pos_y = center_y + 0.3 + np.random.rand() * (self.step_size - 0.6)
+    #             object_type = np.random.randint(0, 8)
+
+    #             if object_type < 3:
+    #                 self.add_random_box([pos_x, pos_y])
+    #             # elif object_type == 1:
+    #             #     self.add_chair([pos_x, pos_y])
+    #             # elif object_type == 2:
+    #             #     self.add_bed([pos_x, pos_y])
+    #             elif object_type < 4:
+    #                 self.add_stride_on_ceiling([center_x, center_y])
+    #             elif object_type < 5:
+    #                 self.add_stride_on_floor([pos_x, pos_y])
+    #             # elif object_type == 5:
+    #             #     self.add_table([pos_x, pos_y])
+    #             # elif object_type == 6:
+    #             #     self.add_random_box([pos_x, pos_y])
+    #             elif object_type < 7:
+    #                 self.add_random_cylinder([pos_x, pos_y])
+    #             else:
+    #                 self.add_random_box([pos_x, pos_y])
+
+    def make_custom_corridor(self):
+        steps = self.wall_num + 1
+        self.step_size = (self.dimy - self.end_blank * 2) / steps;
+        for i in range(int(steps)):
+
+            center_y = - self.dimy / 2 + self.step_size * (i + 1) + self.end_blank
+
+            if i < steps - 1:
+                self.add_narrow_door_n(center_y, self.wall_width,  self.narrow_gap_width, self.gap_num)
+
+            for num in range(self.rand_obs_num):
+                pos_x = (-self.dimx / 2.0 + 2.0 ) + (self.dimx - 4.0) * self.random.rand() 
+                pos_y = center_y - 2.0 - (self.step_size - 4.0) * self.random.rand()
+                object_type = self.random.randint(0, 8)
+                
+
+                if object_type < 3:
+                    self.add_random_box([pos_x, pos_y], self.rand_obs_scale)
+                # elif object_type == 1:
+                #     self.add_chair([pos_x, pos_y])
+                # elif object_type == 2:
+                #     self.add_bed([pos_x, pos_y])
+                elif object_type < 4:
+                    # self.add_stride_on_ceiling([center_x, center_y])
+                    # self.add_stride_on_floor([pos_x, pos_y])
+                    self.add_table([pos_x, pos_y], self.rand_obs_scale)
+                elif object_type < 5:
+                    self.add_chair([pos_x, pos_y], self.rand_obs_scale)
+                # elif object_type == 5:
+                #     self.add_table([pos_x, pos_y])
+                # elif object_type == 6:
+                #     self.add_random_box([pos_x, pos_y])
+                elif object_type < 7:
+                    self.add_random_cylinder([pos_x, pos_y], self.rand_obs_scale)
+                else:
+                    self.add_random_box([pos_x, pos_y], self.rand_obs_scale)
+
+
+    def make_map(self):
+        rospy.loginfo("start making map")
+        # # # scene 0 : square room
+        # self.dimx = 20
+        # self.dimy = 20
+        # self.diz = 2.0
+        # for x in range(-4, 5):
+        #     for y in range(-4, 5):
+        #         # if x == 0 and y == 0:
+        #         #     continue
+        #         self.add_box([0.8, 0.8, self.dimz], [x * 2, y * 2, self.dimz / 2])
+
+        # # scene 0.1 : square room random
+        # CHANGE!
+        # self.dimx = 22
+        # self.dimy = 22
+        # self.diz = 2.0
+        # for x in range(-4, 5):
+        #     for y in range(-4, 5):
+        #         for num in range(np.random.randint(1,3)):
+        #             dx, dy = (np.random.rand(2) - 0.5) * 1.2
+        #             sizex, sizey = (np.random.rand(2) - 0.5) * 1.2
+        #             sizez = np.array([1.0, (0.6 + 2 * np.random.rand())]).min() * self.dimz
+        #             dz = -1.5 * np.random.rand()
+        #             # if x == 0 and y == 0:i
+        #             #     continue
+        #             if np.random.rand() < 0.1:
+        #                 continue
+        #             elif np.random.rand() < 0.7:
+        #                 self.add_box_on_floor([0.8 + sizex, 0.8 + sizey, sizez], [x * 2 + dx, y * 2 + dy])
+        #             else:
+        #                 self.add_cylinder_on_floor([(0.8 + sizex) / 3, self.dimz], [x * 2 + dx, y * 2 + dy])
+
+        # # scene 1 : corridor
+        self.make_custom_corridor()
+
+        # floor
+        # self.add_layer([self.dimx, self.dimy], [0,0,-0.5])
+        # # ceiling
+        # self.add_layer([self.dimx, self.dimy], [0,0, self.dimz - self.floor_bias])
+        # boundary
+        # left
+        self.add_box([0.10, self.dimy, self.dimz], [-self.dimx / 2, 0, self.dimz / 2.0])
+        # right
+        self.add_box([0.10, self.dimy, self.dimz], [self.dimx / 2, 0, self.dimz / 2.0])
+        # top
+        self.add_box([self.dimx, 0.10, self.dimz], [0, self.dimy / 2, self.dimz / 2.0])
+        # # button
+        self.add_box([self.dimx, 0.10, self.dimz], [0, -self.dimy / 2, self.dimz / 2.0])
+
+        # # add items
+        # # # sofa 1
+        # self.add_box([2.5, 0.2, 1.1], [-4, -3.8, 0.65])
+        # self.add_box([2.5, 0.5, 0.5], [-4, -3.35, 0.3])
+
+        # # table 1
+        # self.add_box([1.5, 0.8, 0.6], [-4, -2.30, 0.3])
+
+        # # table 2
+        # self.add_cylinder([0.8, 0.6], [-3, -0.2, 0.4])
+
+        # # chair 1
+        # self.add_box([0.6, 0.6, 0.5], [-4.3, -0.5, 0.3])
+        # self.add_box([0.1, 0.6, 1.4], [-4.55, -0.5, 0.75])
+
+        # self.add_box([0.6, 0.6, 0.5], [-1.7, -0.5, 0.3])
+        # self.add_box([0.1, 0.6, 1.4], [-1.45, -0.5, 0.75])
+
+        # # washing machine
+        # self.add_box([0.6, 0.9, 1.0], [-4.2, 2.3, 0.5])
+
+
+        # # bed 1
+        # self.add_box([2.5, 2.0, 0.5], [4.65, -2.0, 0.25])
+        # # nightstand 1
+        # self.add_box([0.5, 0.6, 0.6], [5.65, -0.3, 0.3])
+
+        # # wall 0
+        # self.add_box([0.8, 3.0, 1.2], [2.0, 2.4, 0.6])
+        # # wall 1 / 2 / 3 (door)
+        # self.add_box([3.5, 0.3, 2.0], [-4.3, 1.8, 1.0])
+        # self.add_box([1.2, 0.3, 2.0], [-0.45, 1.8, 1.0])
+        # self.add_box([0.3, 2.2, 2.0], [0, 2.9, 1.0])
+
+        # #simple scene 1 : krrt fails
+        # self.add_box([0.5, 8, self.dimz], [1.25, -1.25, self.dimz / 2])
+        # self.add_box([10, 0.4, self.dimz], [0, -0.9, self.dimz / 2])
+        # self.add_box([2, 2.5, 2], [4, 2.5, 1])
+
+
+
+
+        # transfer to pcl
+        self.map = PointCloud2()
+        self.map.height = 1
+        self.map.width = len(self.points)
+        self.map.fields = [
+            PointField('x', 0, PointField.FLOAT32, 1),
+            PointField('y', 4, PointField.FLOAT32, 1),
+            PointField('z', 8, PointField.FLOAT32, 1)]
+        self.map.point_step = 12 #12
+        self.map.row_step = 12 * len(self.points)
+        self.map.is_bigendian = False
+        self.map.is_dense = False
+        self.map.data = np.asarray(self.points, np.float32).tostring()
+        self.map.header.frame_id = "map"
+
+        self.has_map = True
+        rospy.loginfo("finish making map")
+
+        return True
+    
+def main():
+    
+    rospy.init_node('random_map_sensing', anonymous=True)
+
+    map_maker = map_generator()
+    map_maker.init_params()
+    map_maker.make_map()
+    while not rospy.is_shutdown():
+        map_maker.publish_map()
+        map_maker.rate.sleep()
+
+if __name__ == '__main__':
+    main()
+
diff --git a/uav_simulator/map_generator/scripts/map_generator_high.py.old b/uav_simulator/map_generator/scripts/map_generator_high.py.old
new file mode 100755
index 0000000..e94d51d
--- /dev/null
+++ b/uav_simulator/map_generator/scripts/map_generator_high.py.old
@@ -0,0 +1,528 @@
+#! /usr/bin/env python2
+import math
+import numpy as np
+import rospy
+
+from sensor_msgs.msg import PointCloud2, PointField
+from sensor_msgs import point_cloud2
+from nav_msgs.msg import Odometry
+
+
+class map_generator(object):
+
+    def __init__(self):
+        """ Constructor """
+        self.map = None
+        self.points = []
+        self.has_odom = False
+        self.has_map = False
+        self.init_params()
+        self.floor_bias = 1.50
+
+    def init_params(self):
+        """ Initializes ros parameters """
+        
+        # rospack = rospkg.RosPack()
+        # package_path = rospack.get_path("yolov4_trt_ros")
+        self.dimx = rospy.get_param("~map/x_size", default=20.0)
+        self.dimy = rospy.get_param("~map/y_size", default=20.0)
+        self.dimz = rospy.get_param("~map/z_size", default=2.50)
+        self.narrow_v = rospy.get_param("~narrow_gap_vertical", default=0.8)
+        # self.narrow_h = rospy.get_param("~narrow_gap_horizontal", default=0.8)
+        self.narrow_h = rospy.get_param("~narrow_gap_horizontal", default=0.8)
+        self.step_size = rospy.get_param("~step_size", default=1.8)
+        self.end_blank = rospy.get_param("~map/end_blank", default=1.5)
+        self.narrow_gap_width = rospy.get_param("~narrow_gap_width", default=3.0)
+        self.rand_obs_scale = rospy.get_param("~rand_obs_scale", default=3.0)
+        self.rand_obs_num = rospy.get_param("~rand_obs_num", default=5)
+        print("narrow_v: ", self.narrow_v)
+
+        self.init_x = rospy.get_param("init_state_x", default=0.0)
+        self.init_y = rospy.get_param("init_state_y", default=0.0)
+
+        self.resolution = rospy.get_param("~resolution", default=0.05)
+
+
+        self.add_floor = rospy.get_param("add_floor", default=True)
+        self.add_ceiling = rospy.get_param("add_ceiling", default=True)
+        
+        self.all_map_topic = rospy.get_param("all_map_topic", default="random_forest/all_map")
+        self.all_map_pub = rospy.Publisher(self.all_map_topic, PointCloud2, queue_size=1)
+        # self.odom_sub = rospy.Subscriber( "odometry", Odometry, self.odom_callback, queue_size=50);
+
+        self.rate = rospy.get_param("sensing/rate", default=1.0);
+        self.rate = rospy.Rate(self.rate)
+
+        print("dimx: ", self.dimx)
+        print("dimy: ", self.dimy)
+        print("dimz: ", self.dimz)
+
+    def add_box(self, size, position):
+        ''' size: [x,y,z]
+            position: [x,y,z] --- center position
+        '''
+        # print("=====================")
+        # print("box size: ", size)
+        # print("box position: ", position)
+        # print("=====================")
+        position[2] -= self.floor_bias
+        x_low = math.floor((position[0] - size[0] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        x_high = math.floor((position[0] + size[0] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        y_low = math.floor((position[1] - size[1] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        y_high = math.floor((position[1] + size[1] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        z_low = math.floor((position[2] - size[2] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        z_high = math.floor((position[2] + size[2] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+
+        x = x_low
+        while x <= x_high:
+            y = y_low
+            while y <= y_high:
+                z = z_low
+                while z <= z_high:
+                    if (math.fabs(x - x_low) < self.resolution) or (math.fabs(x - x_high) < self.resolution) \
+                        or (math.fabs(y - y_low) < self.resolution) or (math.fabs(y - y_high) < self.resolution) \
+                        or (math.fabs(z - z_low) < self.resolution) or (math.fabs(z - z_high) < self.resolution):
+                        self.points.append([x,y,z])
+                    z += self.resolution
+                y += self.resolution
+            x += self.resolution
+
+        return
+
+    def add_cylinder(self, size, position):
+        ''' size: [r, h]
+            position: [x,y,z] --- center position
+        '''
+        position[2] -= self.floor_bias
+        center_x = position[0]
+        center_y = position[1]
+        z_low = math.floor((position[2] - size[1] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        z_high = math.floor((position[2] + size[1] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+
+        radius_num = math.floor(size[0] / self.resolution)
+        x = - radius_num
+        while x <= radius_num:
+            y = - radius_num
+            while y <= radius_num:
+                radius2 = x ** 2 + y ** 2
+                if radius2 < (radius_num + 0.5) ** 2:
+                    z = z_low
+                    while z <= z_high:
+                        if radius2 > (radius_num - 0.5) ** 2 or \
+                            (math.fabs(z - z_low) < self.resolution) or (math.fabs(z - z_high) < self.resolution):
+                            self.points.append([center_x + x * self.resolution, center_y + y * self.resolution, z])
+                        z += self.resolution
+                y += 1
+            x += 1
+
+        return
+
+    def add_layer(self, size, position):
+        ''' size: [x,y]
+            position: [x,y,z] --- center position
+        '''        
+        x_low = math.floor((position[0] - size[0] / 2) / self.resolution) * self.resolution + 0.5 * self.resolution
+        x_high = math.floor((position[0] + size[0] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        y_low = math.floor((position[1] - size[1] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        y_high = math.floor((position[1] + size[1] / 2) / self.resolution) * self.resolution  + 0.5 * self.resolution
+        z = position[2]
+
+        x = x_low
+        while x <= x_high:
+            y = y_low
+            while y <= y_high:
+                self.points.append([x,y,z])
+                y += self.resolution
+            x += self.resolution
+        
+        return
+
+    def add_chair(self, position, scale):
+        '''position: [x, y] '''
+        x = np.random.rand() * 0.2 + 0.4
+        h = np.random.rand() * 0.1 + 0.4
+
+        x = x * scale
+        h = h * scale
+
+        self.add_box_on_floor([x, x, h], [position[0], position[1], h/2])
+        direction = np.random.randint(0, 5)
+        h_ratio = 2 # 1.5 + np.random.rand() * 0.5
+        if direction == 0:
+            return
+        elif direction == 1:
+            self.add_box_on_floor([x, 0.1, h * h_ratio], [position[0], position[1] + x / 2, h * h_ratio / 2])
+        elif direction == 2:
+            self.add_box_on_floor([x, 0.1, h * h_ratio], [position[0], position[1] - x / 2, h * h_ratio / 2])
+        elif direction == 3:
+            self.add_box_on_floor([0.1, x, h * h_ratio], [position[0] + x / 2, position[1] , h * h_ratio / 2])
+        elif direction == 4:
+            self.add_box_on_floor([0.1, x, h * h_ratio], [position[0] - x / 2, position[1], h * h_ratio / 2])
+
+    def add_bed(self, position):
+        ''' position[x,y]'''
+        x = np.random.rand() * 0.6 + 1.6
+        y = np.random.rand() * 0.6 + 1.2
+        z = np.random.rand() * 0.2 + 0.3
+        # left right
+        if np.random.rand() > 0.5:
+            self.add_box_on_floor([x, y, z], [-self.dimx / 2 + x / 2, position[1], z/2])
+            if np.random.rand() > 0.3:
+                self.add_box_on_floor([0.1, y, z*1.5], [-self.dimx / 2 + 0.1, position[1], z*1.5/2])
+        else:
+            self.add_box_on_floor([x, y, z], [self.dimx / 2 - x / 2, position[1], z/2])
+            if np.random.rand() > 0.3:
+                self.add_box_on_floor([0.1, y, z*1.5], [self.dimx / 2 - 0.1, position[1], z*1.5/2])
+
+    def add_table(self, position, scale):
+        ''' position[x,y]'''
+        x, y, z = np.random.rand(3)
+        ratio = 0.3 + np.random.rand() * 0.5
+
+        x = np.random.rand() * 1.0 + 0.4
+        y = np.random.rand() * 1.0 + 0.4
+        z = z * 0.6 + 0.4
+
+        x = x * scale
+        y = y * scale
+        z = z * scale
+        # upper partself.rand_obs_scale
+        # lower part
+        if np.random.rand() > 0.5:
+            self.add_cylinder_on_floor([x/2 * ratio, z], [position[0] * 0.6, position[1]])
+
+        else:
+            self.add_box_on_floor([x * ratio, y * ratio, z], [position[0] * 0.6, position[1]])
+
+    def add_long_door(self, position):
+        ''' position[x,y]'''
+        # warning: need to check map
+        x = np.random.rand() * 0.4 + 0.8
+        y = np.random.rand() * 0.4 + 0.4
+
+        pos_x = (position[0] + x / 2) + np.random.rand() * (self.dimx - x)
+        pos_y = position[1] + self.step_size / 2.0
+        # left side
+        self.add_box_on_floor([pos_x - x / 2 + self.dimx / 2, y, self.dimz], [-self.dimx / 2 + (pos_x - x / 2 + self.dimx / 2) / 2, pos_y, self.dimz / 2])
+        # right side
+        self.add_box_on_floor([self.dimx / 2 - pos_x - x / 2, y, self.dimz], [self.dimx / 2 - (self.dimx / 2 - pos_x - x / 2) / 2, pos_y, self.dimz / 2])
+
+
+    def add_narrow_door(self, position):
+        ''' position: y'''
+        # warning: need to check map
+        left_len = self.dimx * 1.0 / (6 * 2) + (self.dimx - self.narrow_gap_width - self.dimx * 1.0 / 6) * np.random.rand();
+        right_len = self.dimx - self.narrow_gap_width - left_len;
+    
+
+        self.add_box([left_len, 1, self.dimz],[-self.dimx / 2 + 1 / 2.0 * left_len, position, self.dimz / 2.0])
+        self.add_box([right_len, 1, self.dimz],[self.dimx / 2 - 1 / 2.0 * right_len, position, self.dimz / 2.0])
+
+    def add_narrow_door_2(self, position):
+        ''' position: y'''
+        # warning: need to check map
+        left_len = self.dimx * 1.0 / (6*3)  + (self.dimx - self.narrow_gap_width * 2 - self.dimx * 1.0 / 6) * np.random.rand()
+        middle_len = self.dimx * 1.0 / (6*3)  + ((self.dimx - self.narrow_gap_width * 2 - self.dimx * 1.0 / 6) - (left_len - self.dimx * 1.0 / (6*3))) * np.random.rand()
+        right_len = self.dimx - self.narrow_gap_width * 2 - left_len - middle_len;
+    
+
+        self.add_box([left_len, 1, self.dimz],[-self.dimx / 2 + 1 / 2.0 * left_len, position, self.dimz / 2.0])
+        self.add_box([middle_len, 1, self.dimz],[-self.dimx/ 2 + left_len + self.narrow_gap_width + middle_len * 1 / 2.0, position, self.dimz / 2.0])
+        self.add_box([right_len, 1, self.dimz],[self.dimx / 2 - 1 / 2.0 * right_len, position, self.dimz / 2.0])
+
+    def add_box_on_floor(self, size, position):
+        ''' size: [x, y, z]
+        position: [x, y] '''
+        self.add_box(size, position + [size[-1] / 2])
+
+    def add_random_box(self, position, scale):
+        ''' position: [x, y] '''
+        x = 10
+        y = 10
+        z = 10
+        while x + y + z > 4:
+            x = np.random.rand() * 0.7 + 0.3
+            y = np.random.rand() * 0.7 + 0.4
+            z = np.random.rand() * 1.4 + 0.4
+
+        x = x * scale
+        y = y * scale
+        z = z * scale
+        self.add_box_on_floor([x,y,z], position)
+
+    def add_random_cylinder(self, position, scale):
+        ''' position: [x, y] '''
+        r = 10
+        h = 10 
+        while r * 2 + h > 3:
+            r = np.random.rand() * 0.35 + 0.15
+            h = np.random.rand() * 1.2 + 0.8
+
+        r = r * scale
+        h = h * scale
+
+        self.add_cylinder_on_floor([r,h], position)
+
+    def add_stride_on_ceiling(self, position):
+        ''' 
+        position: [x, y] '''
+        y = np.random.rand() * 0.2 + 0.4
+        z = np.random.rand() * 0.4 + 0.2
+        self.add_box([self.dimx, y, z], [0, position[1], self.dimz - z / 2])
+
+    def add_narrow_stride(self, position):
+        ''' 
+        position: [x, y] '''
+        y =  np.random.rand() * 0.2 + 0.4
+        z = np.random.rand() * (self.dimz - self.narrow_v)
+        self.add_box([self.dimx, y, z], [0, position[1], self.dimz - z / 2])
+
+        y = np.random.rand() * 0.2 + 0.4
+        z = self.dimz - z - self.narrow_v;
+        self.add_box([self.dimx, y, z], [0, position[1], 0 + z / 2])
+
+    def add_stride_on_floor(self, position):
+        '''
+        position: [x, y] '''
+        y = np.random.rand() * 0.2 + 0.4
+        z = np.random.rand() * 0.4 + 0.2
+        self.add_box([self.dimx, y, z], [0, position[1], 0 + z / 2])
+
+    def add_cylinder_on_floor(self, size, position):
+        ''' size: [r, h]
+        position: [x, y] '''
+        self.add_cylinder(size, [position[0], position[1], size[1] / 2])
+
+    def publish_map(self):
+        if not self.has_map:
+            return False
+        self.all_map_pub.publish(self.map)
+        return True
+
+    def odom_callback(self, odom):
+        self.has_odom = True
+        self.publish_map()
+
+    # def make_random_corridor(self):
+    #     self.dimx = 3.0
+    #     self.dimy = 50.0
+    #     self.dimz = 2.0
+    #     self.step_size = 1.8
+    #     steps = math.floor(self.dimy / self.step_size)
+    #     for i in range(int(steps)):
+    #         # clear start and end
+    #         if i < 1 or i > steps - 2:
+    #             continue
+    #         obs_num = np.random.randint(2, 3)
+
+    #         center_x = - self.dimx / 2
+    #         center_y = - self.dimy / 2 + self.step_size * i
+
+    #         if np.random.rand() < 0.4:
+    #             # self.add_narrow_stride([center_x, center_y])
+    #             self.add_stride_on_floor([center_x, center_y])
+    #         else:
+    #             # self.add_stride_on_ceiling([center_x, center_y])
+    #             self.add_long_door([center_x, center_y])
+            
+
+    #         # continue
+
+    #         for num in range(obs_num):
+    #             pos_x = center_x + 0.2 + np.random.rand() * (self.dimx - 0.4)
+    #             pos_y = center_y + 0.3 + np.random.rand() * (self.step_size - 0.6)
+    #             object_type = np.random.randint(0, 8)
+
+    #             if object_type < 3:
+    #                 self.add_random_box([pos_x, pos_y])
+    #             # elif object_type == 1:
+    #             #     self.add_chair([pos_x, pos_y])
+    #             # elif object_type == 2:
+    #             #     self.add_bed([pos_x, pos_y])
+    #             elif object_type < 4:
+    #                 self.add_stride_on_ceiling([center_x, center_y])
+    #             elif object_type < 5:
+    #                 self.add_stride_on_floor([pos_x, pos_y])
+    #             # elif object_type == 5:
+    #             #     self.add_table([pos_x, pos_y])
+    #             # elif object_type == 6:
+    #             #     self.add_random_box([pos_x, pos_y])
+    #             elif object_type < 7:
+    #                 self.add_random_cylinder([pos_x, pos_y])
+    #             else:
+    #                 self.add_random_box([pos_x, pos_y])
+
+    def make_custom_corridor(self):
+        # self.dimx = 3.0
+        # self.dimy = 50.0
+        # self.dimz = 2.0
+        steps = 4
+        self.step_size = (self.dimy - self.end_blank * 2) / 4;
+        for i in range(int(steps)):
+
+            
+
+            center_x = - self.dimx / 2
+            center_y = - self.dimy / 2 + self.step_size * (i+1) + self.end_blank
+
+            if i == 1:
+                # self.add_narrow_door_2(center_y)
+                pass
+            elif i < 3:
+                 self.add_narrow_door(center_y)
+
+
+            for num in range(self.rand_obs_num):
+                pos_x = (-self.dimx / 2.0 + 2.0 ) + (self.dimx - 4.0) * np.random.rand() 
+                pos_y = center_y - 2.0 - (self.step_size - 4.0) * np.random.rand()
+                object_type = np.random.randint(0, 8)
+                
+
+                if object_type < 3:
+                    self.add_random_box([pos_x, pos_y], self.rand_obs_scale)
+                # elif object_type == 1:
+                #     self.add_chair([pos_x, pos_y])
+                # elif object_type == 2:
+                #     self.add_bed([pos_x, pos_y])
+                elif object_type < 4:
+                    # self.add_stride_on_ceiling([center_x, center_y])
+                    # self.add_stride_on_floor([pos_x, pos_y])
+                    self.add_table([pos_x, pos_y], self.rand_obs_scale)
+                elif object_type < 5:
+                    self.add_chair([pos_x, pos_y], self.rand_obs_scale)
+                # elif object_type == 5:
+                #     self.add_table([pos_x, pos_y])
+                # elif object_type == 6:
+                #     self.add_random_box([pos_x, pos_y])
+                elif object_type < 7:
+                    self.add_random_cylinder([pos_x, pos_y], self.rand_obs_scale)
+                else:
+                    self.add_random_box([pos_x, pos_y], self.rand_obs_scale)
+
+
+    def make_map(self):
+        rospy.loginfo("start making map")
+        # # # scene 0 : square room
+        # self.dimx = 20
+        # self.dimy = 20
+        # self.diz = 2.0
+        # for x in range(-4, 5):
+        #     for y in range(-4, 5):
+        #         # if x == 0 and y == 0:
+        #         #     continue
+        #         self.add_box([0.8, 0.8, self.dimz], [x * 2, y * 2, self.dimz / 2])
+
+        # # scene 0.1 : square room random
+        # CHANGE!
+        # self.dimx = 22
+        # self.dimy = 22
+        # self.diz = 2.0
+        # for x in range(-4, 5):
+        #     for y in range(-4, 5):
+        #         for num in range(np.random.randint(1,3)):
+        #             dx, dy = (np.random.rand(2) - 0.5) * 1.2
+        #             sizex, sizey = (np.random.rand(2) - 0.5) * 1.2
+        #             sizez = np.array([1.0, (0.6 + 2 * np.random.rand())]).min() * self.dimz
+        #             dz = -1.5 * np.random.rand()
+        #             # if x == 0 and y == 0:i
+        #             #     continue
+        #             if np.random.rand() < 0.1:
+        #                 continue
+        #             elif np.random.rand() < 0.7:
+        #                 self.add_box_on_floor([0.8 + sizex, 0.8 + sizey, sizez], [x * 2 + dx, y * 2 + dy])
+        #             else:
+        #                 self.add_cylinder_on_floor([(0.8 + sizex) / 3, self.dimz], [x * 2 + dx, y * 2 + dy])
+
+        # # scene 1 : corridor
+        self.make_custom_corridor()
+
+        # floor
+        # self.add_layer([self.dimx, self.dimy], [0,0,-0.5])
+        # # ceiling
+        # self.add_layer([self.dimx, self.dimy], [0,0, self.dimz - self.floor_bias])
+        # boundary
+        # left
+        self.add_box([0.10, self.dimy, self.dimz], [-self.dimx / 2, 0, self.dimz / 2.0])
+        # right
+        self.add_box([0.10, self.dimy, self.dimz], [self.dimx / 2, 0, self.dimz / 2.0])
+        # top
+        self.add_box([self.dimx, 0.10, self.dimz], [0, self.dimy / 2, self.dimz / 2.0])
+        # # button
+        self.add_box([self.dimx, 0.10, self.dimz], [0, -self.dimy / 2, self.dimz / 2.0])
+
+        # # add items
+        # # # sofa 1
+        # self.add_box([2.5, 0.2, 1.1], [-4, -3.8, 0.65])
+        # self.add_box([2.5, 0.5, 0.5], [-4, -3.35, 0.3])
+
+        # # table 1
+        # self.add_box([1.5, 0.8, 0.6], [-4, -2.30, 0.3])
+
+        # # table 2
+        # self.add_cylinder([0.8, 0.6], [-3, -0.2, 0.4])
+
+        # # chair 1
+        # self.add_box([0.6, 0.6, 0.5], [-4.3, -0.5, 0.3])
+        # self.add_box([0.1, 0.6, 1.4], [-4.55, -0.5, 0.75])
+
+        # self.add_box([0.6, 0.6, 0.5], [-1.7, -0.5, 0.3])
+        # self.add_box([0.1, 0.6, 1.4], [-1.45, -0.5, 0.75])
+
+        # # washing machine
+        # self.add_box([0.6, 0.9, 1.0], [-4.2, 2.3, 0.5])
+
+
+        # # bed 1
+        # self.add_box([2.5, 2.0, 0.5], [4.65, -2.0, 0.25])
+        # # nightstand 1
+        # self.add_box([0.5, 0.6, 0.6], [5.65, -0.3, 0.3])
+
+        # # wall 0
+        # self.add_box([0.8, 3.0, 1.2], [2.0, 2.4, 0.6])
+        # # wall 1 / 2 / 3 (door)
+        # self.add_box([3.5, 0.3, 2.0], [-4.3, 1.8, 1.0])
+        # self.add_box([1.2, 0.3, 2.0], [-0.45, 1.8, 1.0])
+        # self.add_box([0.3, 2.2, 2.0], [0, 2.9, 1.0])
+
+        # #simple scene 1 : krrt fails
+        # self.add_box([0.5, 8, self.dimz], [1.25, -1.25, self.dimz / 2])
+        # self.add_box([10, 0.4, self.dimz], [0, -0.9, self.dimz / 2])
+        # self.add_box([2, 2.5, 2], [4, 2.5, 1])
+
+
+
+
+        # transfer to pcl
+        self.map = PointCloud2()
+        self.map.height = 1
+        self.map.width = len(self.points)
+        self.map.fields = [
+            PointField('x', 0, PointField.FLOAT32, 1),
+            PointField('y', 4, PointField.FLOAT32, 1),
+            PointField('z', 8, PointField.FLOAT32, 1)]
+        self.map.point_step = 12 #12
+        self.map.row_step = 12 * len(self.points)
+        self.map.is_bigendian = False
+        self.map.is_dense = False
+        self.map.data = np.asarray(self.points, np.float32).tostring()
+        self.map.header.frame_id = "map"
+
+        self.has_map = True
+        rospy.loginfo("finish making map")
+
+        return True
+    
+def main():
+    
+    rospy.init_node('random_map_sensing', anonymous=True)
+
+    map_maker = map_generator()
+    map_maker.init_params()
+    map_maker.make_map()
+    while not rospy.is_shutdown():
+        map_maker.publish_map()
+        map_maker.rate.sleep()
+
+if __name__ == '__main__':
+    main()
+
diff --git a/uav_simulator/map_generator/src/random_forest_sensing.cpp b/uav_simulator/map_generator/src/random_forest_sensing.cpp
new file mode 100755
index 0000000..c953356
--- /dev/null
+++ b/uav_simulator/map_generator/src/random_forest_sensing.cpp
@@ -0,0 +1,319 @@
+#include "self_msgs_and_srvs/GlbObsRcv.h"
+
+#include <iostream>
+#include <pcl/io/pcd_io.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/kdtree/kdtree_flann.h>
+#include <pcl/search/kdtree.h>
+#include <pcl/search/impl/kdtree.hpp>
+
+#include <ros/ros.h>
+#include <ros/console.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <nav_msgs/Odometry.h>
+#include <Eigen/Eigen>
+#include <math.h>
+#include <random>
+
+using namespace std;
+using namespace Eigen;
+
+ros::Publisher _all_map_pub;
+ros::Subscriber _odom_sub;
+
+int _obs_num, _cir_num;
+double _x_size, _y_size, _z_size, _init_x, _init_y, _resolution, _sense_rate;
+double _x_l, _x_h, _y_l, _y_h, _w_l, _w_h, _h_l, _h_h, _w_c_l, _w_c_h;
+
+bool _has_map = false;
+
+sensor_msgs::PointCloud2 globalMap_pcd;
+pcl::PointCloud<pcl::PointXYZ> cloudMap;
+
+pcl::search::KdTree<pcl::PointXYZ> kdtreeMap;
+vector<int> pointIdxSearch;
+vector<float> pointSquaredDistance;
+
+void RandomMapGenerate()
+{
+   random_device rd;
+   default_random_engine eng(rd());
+
+   uniform_real_distribution<double> rand_theta = uniform_real_distribution<double>(-M_PI, M_PI);
+
+   uniform_real_distribution<double> rand_x = uniform_real_distribution<double>(_x_l, _x_h);
+   uniform_real_distribution<double> rand_y = uniform_real_distribution<double>(_y_l, _y_h);
+   uniform_real_distribution<double> rand_w = uniform_real_distribution<double>(_w_l, _w_h);
+   uniform_real_distribution<double> rand_h = uniform_real_distribution<double>(_h_l, _h_h);
+
+   uniform_real_distribution<double> rand_x_circle = uniform_real_distribution<double>(_x_l + 1.0, _x_h - 1.0);
+   uniform_real_distribution<double> rand_y_circle = uniform_real_distribution<double>(_y_l + 1.0, _y_h - 1.0);
+   uniform_real_distribution<double> rand_r_circle = uniform_real_distribution<double>(_w_c_l, _w_c_h);
+
+   uniform_real_distribution<double> rand_roll = uniform_real_distribution<double>(-M_PI, +M_PI);
+   uniform_real_distribution<double> rand_pitch = uniform_real_distribution<double>(+M_PI / 4.0, +M_PI / 2.0);
+   uniform_real_distribution<double> rand_yaw = uniform_real_distribution<double>(+M_PI / 4.0, +M_PI / 2.0);
+   uniform_real_distribution<double> rand_ellipse_c = uniform_real_distribution<double>(0.5, 2.0);
+   uniform_real_distribution<double> rand_num = uniform_real_distribution<double>(0.0, 1.0);
+
+   pcl::PointXYZ pt_random;
+
+   int base2(2), base3(3), base4(4); //Halton base
+   // firstly, we put some circles
+   for (int i = 0; i < _cir_num; i++)
+   {
+      double x0, y0, z0, R;
+      std::vector<Vector3d> circle_set;
+
+      // x0 = rand_x_circle(eng);
+      // y0 = rand_y_circle(eng);
+      z0 = rand_h(eng);
+
+      //Halton sequence for x(0, 1)
+      double f = 1;
+      x0 = 0;
+      int ii = i;
+      while (ii > 0)
+      {
+         f = f / base2;
+         x0 = x0 + f * (ii % base2);
+         ii = floor(ii / base2);
+      }
+      x0 *= _x_size;
+      x0 -= _x_size / 2;
+
+      //Halton sequence for y(0, 1)
+      f = 1;
+      y0 = 0;
+      ii = i;
+      while (ii > 0)
+      {
+         f = f / base3;
+         y0 = y0 + f * (ii % base3);
+         ii = floor(ii / base3);
+      }
+      y0 *= _y_size;
+      y0 -= _y_size / 2;
+
+      R = rand_r_circle(eng);
+
+      if (sqrt(pow(x0 - _init_x, 2) + pow(y0 - _init_y, 2)) < 1.5)
+         continue;
+
+      double a, b;
+      a = rand_ellipse_c(eng);
+      b = rand_ellipse_c(eng);
+
+      double x, y, z;
+      Vector3d pt3, pt3_rot;
+      for (double theta = -M_PI; theta < M_PI; theta += 0.025)
+      {
+         x = a * cos(theta) * R;
+         y = b * sin(theta) * R;
+         z = 0;
+         pt3 << x, y, z;
+         circle_set.push_back(pt3);
+      }
+      // Define a random 3d rotation matrix
+      Matrix3d Rot;
+      double roll, pitch, yaw;
+      double alpha, beta, gama;
+      roll = rand_roll(eng);   // alpha
+      pitch = rand_pitch(eng); // beta
+      yaw = rand_yaw(eng);     // gama
+
+      alpha = roll;
+      beta = pitch;
+      gama = yaw;
+
+      double p = rand_num(eng);
+      if (p < 0.5)
+      {
+         beta = M_PI / 2.0;
+         gama = M_PI / 2.0;
+      }
+
+      Rot << cos(alpha) * cos(gama) - cos(beta) * sin(alpha) * sin(gama), -cos(beta) * cos(gama) * sin(alpha) - cos(alpha) * sin(gama), sin(alpha) * sin(beta),
+          cos(gama) * sin(alpha) + cos(alpha) * cos(beta) * sin(gama), cos(alpha) * cos(beta) * cos(gama) - sin(alpha) * sin(gama), -cos(alpha) * sin(beta),
+          sin(beta) * sin(gama), cos(gama) * sin(beta), cos(beta);
+
+      for (auto pt : circle_set)
+      {
+         pt3_rot = Rot * pt;
+         pt_random.x = pt3_rot(0) + x0 + 0.001;
+         pt_random.y = pt3_rot(1) + y0 + 0.001;
+         pt_random.z = pt3_rot(2) + z0 + 0.001 - 1;
+
+         if (pt_random.z >= 0.0)
+            cloudMap.points.push_back(pt_random);
+      }
+   }
+
+   bool is_kdtree_empty = false;
+   if (cloudMap.points.size() > 0)
+      kdtreeMap.setInputCloud(cloudMap.makeShared());
+   else
+      is_kdtree_empty = true;
+
+   // then, we put some pilar
+   for (int i = 0; i < _obs_num; i++)
+   {
+      double x, y, w, h;
+      // x    = rand_x(eng);
+      // y    = rand_y(eng);
+      w = rand_w(eng);
+
+      //Halton sequence for x(0, 1)
+      double f = 1;
+      x = 0;
+      int ii = i;
+      while (ii > 0)
+      {
+         f = f / base2;
+         x = x + f * (ii % base2);
+         ii = floor(ii / base2);
+      }
+      x *= _x_size;
+      x -= _x_size / 2;
+
+      //Halton sequence for y(0, 1)
+      f = 1;
+      y = 0;
+      ii = i;
+      while (ii > 0)
+      {
+         f = f / base3;
+         y = y + f * (ii % base3);
+         ii = floor(ii / base3);
+      }
+      y *= _y_size;
+      y -= _y_size / 2;
+
+      double d_theta = rand_theta(eng);
+
+      if (sqrt(pow(x - _init_x, 2) + pow(y - _init_y, 2)) < 2.0)
+         continue;
+
+      pcl::PointXYZ searchPoint(x, y, (_h_l + _h_h) / 2.0);
+      pointIdxSearch.clear();
+      pointSquaredDistance.clear();
+
+      if (is_kdtree_empty == false)
+      {
+         if (kdtreeMap.nearestKSearch(searchPoint, 1, pointIdxSearch, pointSquaredDistance) > 0)
+         {
+            if (sqrt(pointSquaredDistance[0]) < 1.0)
+               continue;
+         }
+      }
+
+      x = floor(x / _resolution) * _resolution + _resolution / 2.0;
+      y = floor(y / _resolution) * _resolution + _resolution / 2.0;
+
+      int widNum = ceil(w / _resolution);
+      int halfWidNum = widNum / 2.0;
+      for (int r = -halfWidNum; r < halfWidNum; r++)
+      {
+         for (int s = -halfWidNum; s < halfWidNum; s++)
+         {
+            // make pilars hollow
+            if (r > -halfWidNum + 2 && r < (halfWidNum - 3))
+            {
+               if (s > -halfWidNum + 2 && s < (halfWidNum - 3))
+               {
+                  continue;
+               }
+            }
+            // rotate
+            double th = atan2((double)s, (double)r);
+            int len = sqrt(s * s + r * r);
+            th += d_theta;
+            int rr = cos(th) * len;
+            int ss = sin(th) * len;
+
+            h = rand_h(eng);
+            int heiNum = 2.0 * ceil(h / _resolution);
+            for (int t = 0; t < heiNum; t++)
+            {
+               pt_random.x = x + (rr + 0.0) * _resolution + 0.001;
+               pt_random.y = y + (ss + 0.0) * _resolution + 0.001;
+               pt_random.z = (t + 0.0) * _resolution * 0.5 - 1.0 + 0.001;
+               cloudMap.points.push_back(pt_random);
+            }
+         }
+      }
+   }
+
+   cloudMap.width = cloudMap.points.size();
+   cloudMap.height = 1;
+   cloudMap.is_dense = true;
+
+   _has_map = true;
+
+   pcl::toROSMsg(cloudMap, globalMap_pcd);
+   globalMap_pcd.header.frame_id = "map";
+}
+
+void pubSensedPoints()
+{
+   if (!_has_map)
+      return;
+   _all_map_pub.publish(globalMap_pcd);
+}
+
+bool pubGlbObs(self_msgs_and_srvs::GlbObsRcv::Request &req, self_msgs_and_srvs::GlbObsRcv::Response &res)
+{
+   pubSensedPoints();
+   return true;
+}
+
+int main(int argc, char **argv)
+{
+   ros::init(argc, argv, "random_map_sensing");
+   ros::NodeHandle n("~");
+
+   _all_map_pub = n.advertise<sensor_msgs::PointCloud2>("all_map", 1);
+
+   n.param("init_state_x", _init_x, 0.0);
+   n.param("init_state_y", _init_y, 0.0);
+
+   n.param("map/x_size", _x_size, 50.0);
+   n.param("map/y_size", _y_size, 50.0);
+   n.param("map/z_size", _z_size, 5.0);
+
+   n.param("map/obs_num", _obs_num, 30);
+   n.param("map/circle_num", _cir_num, 30);
+   n.param("map/resolution", _resolution, 0.2);
+
+   n.param("ObstacleShape/lower_rad", _w_l, 0.3);
+   n.param("ObstacleShape/upper_rad", _w_h, 0.8);
+   n.param("ObstacleShape/lower_hei", _h_l, 3.0);
+   n.param("ObstacleShape/upper_hei", _h_h, 7.0);
+
+   n.param("CircleShape/lower_circle_rad", _w_c_l, 0.3);
+   n.param("CircleShape/upper_circle_rad", _w_c_h, 0.8);
+
+   n.param("sensing/rate", _sense_rate, 1.0);
+
+   _x_l = -_x_size / 2.0;
+   _x_h = +_x_size / 2.0;
+
+   _y_l = -_y_size / 2.0;
+   _y_h = +_y_size / 2.0;
+
+   RandomMapGenerate();
+   //only pub map pointcloud on request
+   ros::ServiceServer pub_glb_obs_service = n.advertiseService("/pub_glb_obs", pubGlbObs);
+   ros::spin();
+
+   // ros::Rate loop_rate(_sense_rate);
+   // while (ros::ok())
+   // {
+   //    ros::spinOnce();
+   //    loop_rate.sleep();
+   // }
+}
\ No newline at end of file
diff --git a/uav_simulator/mockamap/CMakeLists.txt b/uav_simulator/mockamap/CMakeLists.txt
new file mode 100755
index 0000000..1efb217
--- /dev/null
+++ b/uav_simulator/mockamap/CMakeLists.txt
@@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(mockamap)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  pcl_ros
+  pcl_conversions
+  self_msgs_and_srvs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+#  LIBRARIES mockamap
+  CATKIN_DEPENDS roscpp pcl_ros pcl_conversions
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/mockamap.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+file(GLOB ${PROJECT_NAME}_SRCS src/*.cpp)
+
+add_executable(${PROJECT_NAME}_node
+    ${${PROJECT_NAME}_SRCS})
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+ target_link_libraries(${PROJECT_NAME}_node
+   ${catkin_LIBRARIES}
+ )
+
+add_dependencies(${PROJECT_NAME}_node
+   ${catkin_EXPORTED_TARGETS}
+)
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_mockamap.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/uav_simulator/mockamap/README.md b/uav_simulator/mockamap/README.md
new file mode 100755
index 0000000..b5284e1
--- /dev/null
+++ b/uav_simulator/mockamap/README.md
@@ -0,0 +1,18 @@
+# mockamap
+a simple map generator based on ROS
+
+demo cases:
+
+* perlin3d map
+
+![Alt text](https://github.com/HKUST-Aerial-Robotics/mockamap/blob/master/images/perlin3d.png)
+
+* post2d map
+
+![Alt text](https://github.com/HKUST-Aerial-Robotics/mockamap/blob/master/images/post2d.png)
+
+@misc{mockamap,
+  author = "William.Wu",
+  title = "mockamap",
+  howpublished = "\url{https://github.com/HKUST-Aerial-Robotics/mockamap }",
+}
diff --git a/uav_simulator/mockamap/config/rviz.rviz b/uav_simulator/mockamap/config/rviz.rviz
new file mode 100755
index 0000000..f69d35e
--- /dev/null
+++ b/uav_simulator/mockamap/config/rviz.rviz
@@ -0,0 +1,217 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Path1
+        - /PointCloud22
+      Splitter Ratio: 0.5
+    Tree Height: 489
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+      - /Game Like Input1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+  - Class: mockamap/PCDView
+    Input: /mock_map
+    Name: PCDView
+    Output: /mock_map/cut
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 1.9
+        Min Value: 0
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.1
+      Style: Boxes
+      Topic: /mock_map
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 85; 255
+      Enabled: true
+      Head Diameter: 0.3
+      Head Length: 0.2
+      Length: 0.3
+      Line Style: Lines
+      Line Width: 0.03
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Style: None
+      Radius: 0.03
+      Shaft Diameter: 0.1
+      Shaft Length: 0.1
+      Topic: /theta_star_node/output
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 1.9
+        Min Value: 0
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.1
+      Style: Boxes
+      Topic: /mock_map/cut
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+    - Boost Property: 0.5
+      Class: rviz/FPSMotionTool
+      Fallback Tool: rviz/Interact
+      Fallback ViewController: rviz/Orbit
+      Fly Mode: false
+      Left Hand Mode: false
+      Step Length: 0.1
+    - Class: rviz_plugins/GameLikeInput
+      RangeX_max: 1000
+      RangeX_min: -1000
+      RangeY_max: 1000
+      RangeY_min: -1000
+      RangeZ_max: 1000
+      RangeZ_min: -1000
+      TopicPoint: point_list
+      TopicSelect: select_list
+      TopicSwarm: swarm
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 9.57022
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -2.02708
+        Y: -4.23441
+        Z: 0.814007
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.525203
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.88225
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: false
+  PCDView:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000027000000396fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000002800000296000000fb0100001dfa000000010100000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000000ffffffff0000009800fffffffb000000100044006900730070006c00610079007301000000000000016a0000016a00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00540065006c0065006f0070000000024d0000009e0000000000000000fb0000000e005000430044005600690065007701000002c4000000fa000000cd00ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003b40000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1855
+  X: 65
+  Y: 24
diff --git a/uav_simulator/mockamap/images/perlin3d.png b/uav_simulator/mockamap/images/perlin3d.png
new file mode 100755
index 0000000..2bb0718
Binary files /dev/null and b/uav_simulator/mockamap/images/perlin3d.png differ
diff --git a/uav_simulator/mockamap/images/post2d.png b/uav_simulator/mockamap/images/post2d.png
new file mode 100755
index 0000000..22fe782
Binary files /dev/null and b/uav_simulator/mockamap/images/post2d.png differ
diff --git a/uav_simulator/mockamap/include/maps.hpp b/uav_simulator/mockamap/include/maps.hpp
new file mode 100755
index 0000000..bcda759
--- /dev/null
+++ b/uav_simulator/mockamap/include/maps.hpp
@@ -0,0 +1,73 @@
+#ifndef MAPS_HPP
+#define MAPS_HPP
+
+#include <ros/ros.h>
+
+#include <pcl/point_cloud.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <sensor_msgs/PointCloud2.h>
+
+namespace mocka {
+
+class Maps {
+public:
+  typedef struct BasicInfo {
+    ros::NodeHandle *nh_private;
+    int sizeX;
+    int sizeY;
+    int sizeZ;
+    int seed;
+    double scale;
+    sensor_msgs::PointCloud2 *output;
+    pcl::PointCloud<pcl::PointXYZ> *cloud;
+  } BasicInfo;
+
+  BasicInfo getInfo() const;
+  void setInfo(const BasicInfo &value);
+
+public:
+  Maps();
+
+public:
+  void generate(int type);
+
+private:
+  BasicInfo info;
+
+private:
+  void pcl2ros();
+
+  void perlin3D();
+  void maze2D();
+  void randomMapGenerate();
+  void Maze3DGen();
+  void recursiveDivision(int xl, int xh, int yl, int yh, Eigen::MatrixXi &maze);
+  void recursizeDivisionMaze(Eigen::MatrixXi &maze);
+  void optimizeMap();
+};
+
+class MazePoint {
+private:
+  pcl::PointXYZ point;
+  double dist1;
+  double dist2;
+  int point1;
+  int point2;
+  bool isdoor;
+
+public:
+  pcl::PointXYZ getPoint();
+  int getPoint1();
+  int getPoint2();
+  double getDist1();
+  double getDist2();
+  void setPoint(pcl::PointXYZ p);
+  void setPoint1(int p);
+  void setPoint2(int p);
+  void setDist1(double set);
+  void setDist2(double set);
+};
+
+} // namespace mocka
+
+#endif // MAPS_HPP
diff --git a/uav_simulator/mockamap/include/perlinnoise.hpp b/uav_simulator/mockamap/include/perlinnoise.hpp
new file mode 100755
index 0000000..fd525c8
--- /dev/null
+++ b/uav_simulator/mockamap/include/perlinnoise.hpp
@@ -0,0 +1,33 @@
+#ifndef PERLINNOISE_HPP
+#define PERLINNOISE_HPP
+
+#include <vector>
+
+// THIS CLASS IS A TRANSLATION TO C++11 FROM THE REFERENCE
+// JAVA IMPLEMENTATION OF THE IMPROVED PERLIN FUNCTION (see
+// http://mrl.nyu.edu/~perlin/noise/)
+// THE ORIGINAL JAVA IMPLEMENTATION IS COPYRIGHT 2002 KEN PERLIN
+
+// I ADDED AN EXTRA METHOD THAT GENERATES A NEW PERMUTATION VECTOR (THIS IS NOT
+// PRESENT IN THE ORIGINAL IMPLEMENTATION)
+
+class PerlinNoise
+{
+  // The permutation vector
+  std::vector<int> p;
+
+public:
+  // Initialize with the reference values for the permutation vector
+  PerlinNoise();
+  // Generate a new permutation vector based on the value of seed
+  PerlinNoise(unsigned int seed);
+  // Get a noise value, for 2D images z can have any value
+  double noise(double x, double y, double z);
+
+private:
+  double fade(double t);
+  double lerp(double t, double a, double b);
+  double grad(int hash, double x, double y, double z);
+};
+
+#endif // PERLINNOISE_HPP
diff --git a/uav_simulator/mockamap/launch/maze2d.launch b/uav_simulator/mockamap/launch/maze2d.launch
new file mode 100755
index 0000000..6eda250
--- /dev/null
+++ b/uav_simulator/mockamap/launch/maze2d.launch
@@ -0,0 +1,26 @@
+<launch>
+  <node pkg="mockamap" type="mockamap_node" name="mockamap_node" output="screen">
+  <param name="seed" type="int" value="510"/>
+  <param name="update_freq" type="double" value="1.0"/>
+
+  <!--  box edge length, unit meter-->
+  <param name="resolution" type="double" value="0.1"/>
+
+  <!-- map size unit meter-->
+  <param name="x_length" type="int" value="20"/>
+  <param name="y_length" type="int" value="20"/>
+  <param name="z_length" type="int" value="2"/>
+
+  <param name="type" type="int" value="3"/>
+    <param name="road_width"        type="double" value="0.5"/>
+    <param name="add_wall_x"        type="int"    value="0"/>
+    <param name="add_wall_y"        type="int"    value="0"/>
+    <!--    maze type: -->
+    <!--    1 recursive division maze-->
+    <param name="maze_type"         type="int"    value="1"/>
+  </node>
+  <!-- Launch RViz with the demo configuration -->
+  <node name="rviz" pkg="rviz" type="rviz"
+        args="-d $(find mockamap)/config/rviz.rviz"
+        />
+</launch>
diff --git a/uav_simulator/mockamap/launch/maze3d.launch b/uav_simulator/mockamap/launch/maze3d.launch
new file mode 100755
index 0000000..aa3c8c1
--- /dev/null
+++ b/uav_simulator/mockamap/launch/maze3d.launch
@@ -0,0 +1,26 @@
+<launch>
+  <node pkg="mockamap" type="mockamap_node" name="mockamap_node" output="screen">
+  <param name="seed" type="int" value="511"/>
+  <param name="update_freq" type="double" value="1.0"/>
+
+  <!--  box edge length, unit meter-->
+  <param name="resolution" type="double" value="0.1"/>
+
+  <!-- map size unit meter-->
+  <param name="x_length" type="int" value="20"/>
+  <param name="y_length" type="int" value="20"/>
+  <param name="z_length" type="int" value="20"/>
+
+  <param name="type" type="int" value="4"/>
+    <param name="numNodes"        type="int"    value="64"/>
+    <param name="connectivity"        type="double" value="0.5"/>
+    <param name="roadRad"        type="int" value="4"/>
+    <param name="nodeRad"        type="int" value="3"/>
+    
+    <!--    maze type: -->
+  </node>
+  <!-- Launch RViz with the demo configuration -->
+  <node name="rviz" pkg="rviz" type="rviz"
+        args="-d $(find mockamap)/config/rviz.rviz"
+        />
+</launch>
diff --git a/uav_simulator/mockamap/launch/mockamap.launch b/uav_simulator/mockamap/launch/mockamap.launch
new file mode 100755
index 0000000..faea2d2
--- /dev/null
+++ b/uav_simulator/mockamap/launch/mockamap.launch
@@ -0,0 +1,55 @@
+<launch>
+    <node pkg="mockamap" type="mockamap_node" name="mockamap_node" output="screen">
+        <remap from="mock_map" to="/random_forest/all_map"/>
+        <param name="seed" type="int" value="511"/>
+        <param name="update_freq" type="double" value="1.0"/>
+
+        <!--  box edge length, unit meter-->
+        <param name="resolution" type="double" value="0.1"/>
+
+        <!-- map size unit meter-->
+        <param name="x_length" type="double" value="14"/>
+        <param name="y_length" type="double" value="58"/>
+        <param name="z_length" type="double" value="3.5"/>
+        <!-- 1 perlin noise 3D -->
+        <!-- 2 perlin box random map-->
+        <!-- 3 2d maze still developing-->
+        <param name="type" type="int" value="1"/>
+
+        <!-- 1 perlin noise parameters -->
+        <!-- complexity:    base noise frequency,
+                        large value will be complex
+                        typical 0.0 ~ 0.5 -->
+        <!-- fill:          infill persentage
+                        typical: 0.4 ~ 0.0 -->
+        <!-- fractal:       large value will have more detail-->
+        <!-- attenuation:   for fractal attenuation
+                        typical: 0.0 ~ 0.5 -->
+
+        <param name="complexity" type="double" value="0.015"/>
+        <param name="fill" type="double" value="0.3"/>
+        <param name="fractal" type="int" value="1"/>
+        <param name="attenuation" type="double" value="0.1"/>
+
+        <!--    <param name="type" type="int" value="2"/>-->
+        <param name="width_min" type="double" value="0.6"/>
+        <param name="width_max" type="double" value="1.5"/>
+        <param name="obstacle_number" type="int" value="50"/>
+
+        <!--    <param name="type" type="int" value="3"/>-->
+        <param name="road_width" type="double" value="0.5"/>
+        <param name="add_wall_x" type="int" value="0"/>
+        <param name="add_wall_y" type="int" value="1"/>
+        <!--    maze type: -->
+        <!--    1 recursive division maze-->
+        <param name="maze_type" type="int" value="1"/>
+
+        <!-- 4 maze 3d -->
+        <param name="numNodes" type="int" value="40"/>
+        <param name="connectivity" type="double" value="0.8"/>
+        <param name="nodeRad" type="int" value="1"/>
+        <param name="roadRad" type="int" value="10"/>
+    </node>
+    <!-- Launch RViz with the demo configuration -->
+    <!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mockamap)/config/rviz.rviz" /> -->
+</launch>
diff --git a/uav_simulator/mockamap/launch/perlin3d.launch b/uav_simulator/mockamap/launch/perlin3d.launch
new file mode 100755
index 0000000..8da9220
--- /dev/null
+++ b/uav_simulator/mockamap/launch/perlin3d.launch
@@ -0,0 +1,30 @@
+<launch>
+  <node pkg="mockamap" type="mockamap_node" name="mockamap_node" output="screen">
+  <param name="seed" type="int" value="511"/>
+  <param name="update_freq" type="double" value="1.0"/>
+
+  <!--  box edge length, unit meter-->
+  <param name="resolution" type="double" value="0.25"/>
+
+  <!-- map size unit meter-->
+  <param name="x_length" type="int" value="50"/>
+  <param name="y_length" type="int" value="50"/>
+  <param name="z_length" type="int" value="5"/>
+
+  <param name="type" type="int" value="1"/>
+    <!-- 1 perlin noise parameters -->
+    <!-- complexity:    base noise frequency,
+                        large value will be complex
+                        typical 0.0 ~ 0.5 -->
+    <!-- fill:          infill persentage
+                        typical: 0.4 ~ 0.0 -->
+    <!-- fractal:       large value will have more detail-->
+    <!-- attenuation:   for fractal attenuation
+                        typical: 0.0 ~ 0.5 -->
+
+    <param name="complexity"    type="double" value="0.03"/>
+    <param name="fill"          type="double" value="0.3"/>
+    <param name="fractal"       type="int"    value="1"/>
+    <param name="attenuation"   type="double" value="0.1"/>
+    </node>
+</launch>
diff --git a/uav_simulator/mockamap/launch/post2d.launch b/uav_simulator/mockamap/launch/post2d.launch
new file mode 100755
index 0000000..7d20f3e
--- /dev/null
+++ b/uav_simulator/mockamap/launch/post2d.launch
@@ -0,0 +1,24 @@
+<launch>
+  <node pkg="mockamap" type="mockamap_node" name="mockamap_node" output="screen">
+  <param name="seed" type="int" value="511"/>
+  <param name="update_freq" type="double" value="1.0"/>
+
+  <!--  box edge length, unit meter-->
+  <param name="resolution" type="double" value="0.1"/>
+
+  <!-- map size unit meter-->
+  <param name="x_length" type="int" value="10"/>
+  <param name="y_length" type="int" value="10"/>
+  <param name="z_length" type="int" value="4"/>
+
+  <param name="type" type="int" value="2"/>
+  <param name="width_min"         type="double" value="0.6"/>
+  <param name="width_max"         type="double" value="1.5"/>
+  <param name="obstacle_number"   type="int"    value="50"/>
+
+  </node>
+  <!-- Launch RViz with the demo configuration -->
+  <node name="rviz" pkg="rviz" type="rviz"
+        args="-d $(find mockamap)/config/rviz.rviz"
+        />
+</launch>
diff --git a/uav_simulator/mockamap/package.xml b/uav_simulator/mockamap/package.xml
new file mode 100755
index 0000000..757a552
--- /dev/null
+++ b/uav_simulator/mockamap/package.xml
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package>
+  <name>mockamap</name>
+  <version>0.1.0</version>
+  <description>The mockamap package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="William.Wu@todo.todo">William.Wu</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>GPLv3</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/mockamap</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+  <author >William.Wu</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>  roscpp           </build_depend>
+  <build_depend>  pcl_ros        </build_depend>
+  <build_depend>  pcl_conversions</build_depend>
+  <build_depend>self_msgs_and_srvs</build_depend>
+  <run_depend>  roscpp           </run_depend>
+  <run_depend>  pcl_ros        </run_depend>
+  <run_depend>  pcl_conversions</run_depend>
+  <run_depend>self_msgs_and_srvs</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/uav_simulator/mockamap/src/.clang-format b/uav_simulator/mockamap/src/.clang-format
new file mode 100755
index 0000000..83360cd
--- /dev/null
+++ b/uav_simulator/mockamap/src/.clang-format
@@ -0,0 +1,12 @@
+---
+BasedOnStyle: Mozilla
+Standard: Cpp03
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: true
+AllowShortFunctionsOnASingleLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+BreakBeforeBraces: Allman
+...
+
diff --git a/uav_simulator/mockamap/src/ces_randommap.cpp b/uav_simulator/mockamap/src/ces_randommap.cpp
new file mode 100755
index 0000000..6d9c808
--- /dev/null
+++ b/uav_simulator/mockamap/src/ces_randommap.cpp
@@ -0,0 +1,264 @@
+#include <iostream>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl_conversions/pcl_conversions.h>
+
+#include <pcl/filters/radius_outlier_removal.h>
+#include <pcl/filters/voxel_grid.h>
+#include <pcl/kdtree/kdtree_flann.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/search/impl/kdtree.hpp>
+#include <pcl/search/kdtree.h>
+#include <pcl_conversions/pcl_conversions.h>
+
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/Vector3.h>
+#include <nav_msgs/Odometry.h>
+#include <ros/console.h>
+#include <ros/ros.h>
+#include <sensor_msgs/PointCloud2.h>
+
+#include <Eigen/Eigen>
+#include <Eigen/SVD>
+#include <math.h>
+
+#include <random>
+#include <sys/time.h>
+#include <time.h>
+
+#include "visualization_msgs/Marker.h"
+#include "visualization_msgs/MarkerArray.h"
+
+//! @todo historical above
+#include "maps.hpp"
+
+using namespace std;
+using namespace mocka;
+
+#if MAP_OR_WORLD
+const string kFrameIdNs_ = "/map";
+#else
+const string kFrameIdNs_ = "/world";
+#endif
+
+pcl::search::KdTree<pcl::PointXYZ> kdtreeLocalMap;
+vector<int>                        pointIdxRadiusSearch;
+vector<float>                      pointRadiusSquaredDistance;
+
+ros::Publisher _local_map_pub;
+ros::Publisher _local_map_inflate_pub;
+ros::Publisher _global_map_pub;
+
+ros::Subscriber _map_sub;
+ros::Subscriber _odom_sub;
+
+deque<nav_msgs::Odometry> _odom_queue;
+vector<double>            _state;
+const size_t              _odom_queue_size = 200;
+nav_msgs::Odometry        _odom;
+
+double z_limit;
+double _SenseRate;
+double _sensing_range;
+
+// ros::Timer vis_map;
+bool map_ok    = false;
+bool _has_odom = false;
+
+sensor_msgs::PointCloud2       globalMap_pcd;
+sensor_msgs::PointCloud2       localMap_pcd;
+pcl::PointCloud<pcl::PointXYZ> cloudMap;
+ros::Time                      begin_time = ros::TIME_MAX;
+
+typedef Eigen::Vector3d ObsPos;
+typedef Eigen::Vector3d ObsSize; // x, y, height --- z
+typedef pair<ObsPos, ObsPos> Obstacle;
+std::vector<Obstacle> obstacle_list;
+
+void
+fixedMapGenerate()
+{
+  double _resolution;
+
+  cloudMap.points.clear();
+  obstacle_list.push_back(
+    make_pair(ObsPos(-7.0, 1.0, 0.0), ObsSize(1.0, 3.0, 5.0)));
+  obstacle_list.push_back(
+    make_pair(ObsPos(-1.0, 1.0, 0.0), ObsSize(1.0, 3.0, 5.0)));
+  obstacle_list.push_back(
+    make_pair(ObsPos(10.0, 1.0, 0.0), ObsSize(1.0, 3.0, 5.0)));
+  obstacle_list.push_back(
+    make_pair(ObsPos(16.0, 1.0, 0.0), ObsSize(1.0, 3.0, 5.0)));
+  obstacle_list.push_back(
+    make_pair(ObsPos(-4.0, -1.0, 0.0), ObsSize(1.0, 3.0, 5.0)));
+  obstacle_list.push_back(
+    make_pair(ObsPos(13.0, -1.0, 0.0), ObsSize(1.0, 3.0, 5.0)));
+
+  obstacle_list.push_back(
+    make_pair(ObsPos(5.0, 2.5, 0.0), ObsSize(30.0, 1.0, 5.0)));
+  obstacle_list.push_back(
+    make_pair(ObsPos(5.0, -2.5, 0.0), ObsSize(30.0, 1.0, 5.0)));
+
+  int           num_total_obs = obstacle_list.size();
+  pcl::PointXYZ pt_insert;
+
+  for (int i = 0; i < num_total_obs; i++)
+  {
+    double x, y, z;
+    double lx, ly, lz;
+    x  = (obstacle_list[i].first)[0];
+    y  = (obstacle_list[i].first)[1];
+    z  = (obstacle_list[i].first)[2];
+    lx = (obstacle_list[i].second)[0];
+    ly = (obstacle_list[i].second)[1];
+    lz = (obstacle_list[i].second)[2];
+
+    int num_mesh_x = ceil(lx / _resolution);
+    int num_mesh_y = ceil(ly / _resolution);
+    int num_mesh_z = ceil(lz / _resolution);
+
+    int left_x, right_x, left_y, right_y, left_z, right_z;
+    left_x  = -num_mesh_x / 2;
+    right_x = num_mesh_x / 2;
+    left_y  = -num_mesh_y / 2;
+    right_y = num_mesh_y / 2;
+    left_z  = 0;
+    right_z = num_mesh_z;
+
+    for (int r = left_x; r < right_x; r++)
+      for (int s = left_y; s < right_y; s++)
+      {
+        for (int t = left_z; t < right_z; t++)
+        {
+          if ((r - left_x) * (r - right_x + 1) * (s - left_y) *
+                (s - right_y + 1) * (t - left_z) * (t - right_z + 1) ==
+              0)
+          {
+            pt_insert.x = x + r * _resolution;
+            pt_insert.y = y + s * _resolution;
+            pt_insert.z = z + t * _resolution;
+            cloudMap.points.push_back(pt_insert);
+          }
+        }
+      }
+  }
+
+  cloudMap.width    = cloudMap.points.size();
+  cloudMap.height   = 1;
+  cloudMap.is_dense = true;
+
+  ROS_WARN("Finished generate random map ");
+  cout << cloudMap.size() << endl;
+  kdtreeLocalMap.setInputCloud(cloudMap.makeShared());
+  map_ok = true;
+}
+
+void
+rcvOdometryCallbck(const nav_msgs::Odometry odom)
+{
+  if (odom.child_frame_id == "X" || odom.child_frame_id == "O")
+    return;
+  _odom     = odom;
+  _has_odom = true;
+
+  _state = { _odom.pose.pose.position.x,
+             _odom.pose.pose.position.y,
+             _odom.pose.pose.position.z,
+             _odom.twist.twist.linear.x,
+             _odom.twist.twist.linear.y,
+             _odom.twist.twist.linear.z,
+             0.0,
+             0.0,
+             0.0 };
+
+  _odom_queue.push_back(odom);
+  while (_odom_queue.size() > _odom_queue_size)
+    _odom_queue.pop_front();
+}
+
+int frequence_division_global = 40;
+
+void
+publishAllPoints()
+{
+  if (!map_ok)
+    return;
+
+  if ((ros::Time::now() - begin_time).toSec() > 7.0)
+    return;
+
+  frequence_division_global--;
+  if (frequence_division_global == 0)
+  {
+    pcl::toROSMsg(cloudMap, globalMap_pcd);
+    globalMap_pcd.header.frame_id = kFrameIdNs_;
+    _global_map_pub.publish(globalMap_pcd);
+    frequence_division_global = 40;
+    ROS_ERROR("[SERVER]Publish one global map");
+  }
+}
+
+void
+pubSensedPoints()
+{
+  if (!map_ok || !_has_odom)
+    return;
+
+  ros::Time time_bef_sensing = ros::Time::now();
+
+  pcl::PointCloud<pcl::PointXYZ> localMap;
+
+  pcl::PointXYZ searchPoint(_state[0], _state[1], _state[2]);
+  pointIdxRadiusSearch.clear();
+  pointRadiusSquaredDistance.clear();
+
+  pcl::PointXYZ ptInNoflation;
+
+  if (kdtreeLocalMap.radiusSearch(searchPoint, _sensing_range,
+                                  pointIdxRadiusSearch,
+                                  pointRadiusSquaredDistance) > 0)
+  {
+    for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i)
+    {
+      ptInNoflation = cloudMap.points[pointIdxRadiusSearch[i]];
+      localMap.points.push_back(ptInNoflation);
+    }
+  }
+  else
+  {
+    // ROS_ERROR("[Map server] No obstacles .");
+    // cout<<searchPoint.x<<" , "<<searchPoint.y<<" , "<<searchPoint.z<<endl;
+    // return;
+  }
+
+  pcl::PointXYZ pt_fix;
+  pt_fix.x = _state[0];
+  pt_fix.y = _state[1];
+  pt_fix.z = 0.0;
+  localMap.points.push_back(pt_fix);
+
+  localMap.width    = localMap.points.size();
+  localMap.height   = 1;
+  localMap.is_dense = true;
+
+  pcl::toROSMsg(localMap, localMap_pcd);
+
+  localMap_pcd.header.frame_id = kFrameIdNs_;
+  _local_map_pub.publish(localMap_pcd);
+
+  ros::Time time_aft_sensing = ros::Time::now();
+
+  if ((time_aft_sensing - begin_time).toSec() > 5.0)
+    return;
+
+  frequence_division_global--;
+  if (frequence_division_global == 0)
+  {
+    pcl::toROSMsg(cloudMap, globalMap_pcd);
+    globalMap_pcd.header.frame_id = kFrameIdNs_;
+    _global_map_pub.publish(globalMap_pcd);
+    frequence_division_global = 40;
+    ROS_INFO("[SERVER]Publish one global map");
+  }
+}
diff --git a/uav_simulator/mockamap/src/maps.cpp b/uav_simulator/mockamap/src/maps.cpp
new file mode 100755
index 0000000..2a3f868
--- /dev/null
+++ b/uav_simulator/mockamap/src/maps.cpp
@@ -0,0 +1,894 @@
+#include "maps.hpp"
+
+#include <algorithm>
+#include <iostream>
+#include <random>
+#include <vector>
+
+#include <Eigen/Core>
+
+#include "perlinnoise.hpp"
+
+using namespace mocka;
+
+void
+Maps::randomMapGenerate()
+{
+
+  std::default_random_engine eng(info.seed);
+
+  double _resolution = 1 / info.scale;
+
+  double _x_l = -info.sizeX / (2 * info.scale);
+  double _x_h = info.sizeX / (2 * info.scale);
+  double _y_l = -info.sizeY / (2 * info.scale);
+  double _y_h = info.sizeY / (2 * info.scale);
+  double _h_l = 0;
+  double _h_h = info.sizeZ / info.scale;
+
+  double _w_l, _w_h;
+  int    _ObsNum;
+
+  info.nh_private->param("width_min", _w_l, 0.6);
+  info.nh_private->param("width_max", _w_h, 1.5);
+  info.nh_private->param("obstacle_number", _ObsNum, 10);
+
+  std::uniform_real_distribution<double> rand_x;
+  std::uniform_real_distribution<double> rand_y;
+  std::uniform_real_distribution<double> rand_w;
+  std::uniform_real_distribution<double> rand_h;
+
+  pcl::PointXYZ pt_random;
+
+  rand_x = std::uniform_real_distribution<double>(_x_l, _x_h);
+  rand_y = std::uniform_real_distribution<double>(_y_l, _y_h);
+  rand_w = std::uniform_real_distribution<double>(_w_l, _w_h);
+  rand_h = std::uniform_real_distribution<double>(_h_l, _h_h);
+
+  for (int i = 0; i < _ObsNum; i++)
+  {
+    double x, y;
+    x = rand_x(eng);
+    y = rand_y(eng);
+
+    double w, h;
+    w = rand_w(eng);
+    h = rand_h(eng);
+
+    int widNum = ceil(w / _resolution);
+    int heiNum = ceil(h / _resolution);
+
+    int rl, rh, sl, sh;
+    rl = -widNum / 2;
+    rh = widNum / 2;
+    sl = -widNum / 2;
+    sh = widNum / 2;
+
+    for (int r = rl; r < rh; r++)
+      for (int s = sl; s < sh; s++)
+      {
+        for (int t = 0; t < heiNum; t++)
+        {
+          if ((r - rl) * (r - rh + 1) * (s - sl) * (s - sh + 1) * t *
+                (t - heiNum + 1) ==
+              0)
+          {
+            pt_random.x = x + r * _resolution;
+            pt_random.y = y + s * _resolution;
+            pt_random.z = t * _resolution;
+            info.cloud->points.push_back(pt_random);
+          }
+        }
+      }
+  }
+
+  info.cloud->width    = info.cloud->points.size();
+  info.cloud->height   = 1;
+  info.cloud->is_dense = true;
+
+  pcl2ros();
+}
+
+void
+Maps::pcl2ros()
+{
+  pcl::toROSMsg(*info.cloud, *info.output);
+  info.output->header.frame_id = "map";
+  ROS_INFO("finish: infill %lf%%",
+           info.cloud->width / (1.0 * info.sizeX * info.sizeY * info.sizeZ));
+}
+
+void
+Maps::perlin3D()
+{
+  double complexity;
+  double fill;
+  int    fractal;
+  double attenuation;
+
+  info.nh_private->param("complexity", complexity, 0.142857);
+  info.nh_private->param("fill", fill, 0.38);
+  info.nh_private->param("fractal", fractal, 1);
+  info.nh_private->param("attenuation", attenuation, 0.5);
+
+  info.cloud->width  = info.sizeX * info.sizeY * info.sizeZ;
+  info.cloud->height = 1;
+  info.cloud->points.resize(info.cloud->width * info.cloud->height);
+
+  PerlinNoise noise(info.seed);
+
+  std::vector<double>* v = new std::vector<double>;
+  v->reserve(info.cloud->width);
+  for (int i = 0; i < info.sizeX; ++i)
+  {
+    for (int j = 0; j < info.sizeY; ++j)
+    {
+      for (int k = 0; k < info.sizeZ; ++k)
+      {
+        double tnoise = 0;
+        for (int it = 1; it <= fractal; ++it)
+        {
+          int    dfv = pow(2, it);
+          double ta  = attenuation / it;
+          tnoise += ta * noise.noise(dfv * i * complexity,
+                                     dfv * j * complexity,
+                                     dfv * k * complexity);
+        }
+        v->push_back(tnoise);
+      }
+    }
+  }
+  std::sort(v->begin(), v->end());
+  int    tpos = info.cloud->width * (1 - fill);
+  double tmp  = v->at(tpos);
+  ROS_INFO("threshold: %lf", tmp);
+
+  int pos = 0;
+  for (int i = 0; i < info.sizeX; ++i)
+  {
+    for (int j = 0; j < info.sizeY; ++j)
+    {
+      for (int k = 0; k < info.sizeZ; ++k)
+      {
+        double tnoise = 0;
+        for (int it = 1; it <= fractal; ++it)
+        {
+          int    dfv = pow(2, it);
+          double ta  = attenuation / it;
+          tnoise += ta * noise.noise(dfv * i * complexity,
+                                     dfv * j * complexity,
+                                     dfv * k * complexity);
+        }
+        if (tnoise > tmp)
+        {
+          info.cloud->points[pos].x =
+            i / info.scale - info.sizeX / (2 * info.scale);
+          info.cloud->points[pos].y =
+            j / info.scale - info.sizeY / (2 * info.scale);
+          info.cloud->points[pos].z = k / info.scale - 1;
+          pos++;
+        }
+      }
+    }
+  }
+  info.cloud->width = pos;
+  ROS_INFO("the number of points before optimization is %d", info.cloud->width);
+  info.cloud->points.resize(info.cloud->width * info.cloud->height);
+  pcl2ros();
+}
+
+void
+Maps::recursiveDivision(int xl, int xh, int yl, int yh, Eigen::MatrixXi& maze)
+{
+  ROS_INFO(
+    "generating maze with width %d , height %d", xh - xl + 1, yh - yl + 1);
+
+  if (xl < xh - 3 && yl < yh - 3)
+  { // the remaining area is larger than or equal to 5*5, need to add both x
+    // wall and y wall
+    bool valid = false; // used to judge whether the wall selection is valid
+    int  xm    = 0;
+    int  ym    = 0;
+    ROS_INFO("entered 5*5 mode");
+    while (valid == false)
+    {
+      xm = (std::rand() % (xh - xl - 1) + xl +
+            1); // generating random number between xl+1 and xh-1(pointless to
+                // add a wall at the sides)
+      ym = (std::rand() % (yh - yl - 1) + yl +
+            1); // generating random number between yl+1 and yh-1(pointless to
+                // add a wall at the sides)
+      if (xl - 1 >= 0)
+      { // there is a point at xl-1,ym
+        if (maze(xl - 1, ym) == 0)
+        { // this is an opening,need to change random number
+          continue;
+        }
+      }
+
+      else if (xh + 1 <= maze.cols() - 1)
+      { // there is a point at xh+1,ym
+        if (maze(xh + 1, ym) == 0)
+        { // this is an opening,need to change random number
+          continue;
+        }
+      }
+
+      else if (yl - 1 >= 0)
+      { // there is a point at xm,yl-1
+        if (maze(xm, yl - 1) == 0)
+        { // this is an opening,need to change random number
+          continue;
+        }
+      }
+
+      else if (yh + 1 <= maze.rows() - 1)
+      { // there is a point at xm,yh+1
+        if (maze(xm, yh + 1) == 0)
+        { // this is an opening,need to change random number
+          continue;
+        }
+      }
+
+      valid = true;
+
+    } // xm and ym are now the valid coordinate of the center of the wall
+    for (int i = xl; i <= xh; i++)
+    {
+      maze(i, ym) = 1;
+    }
+    for (int j = yl; j <= yh; j++)
+    {
+      maze(xm, j) = 1;
+    } // adding walls around the center point
+    int d1 = std::rand() % (xm - xl) + xl;
+    int d2 = std::rand() % (xh - xm) + xm + 1;
+    int d3 = std::rand() % (ym - yl) + yl;
+    int d4 =
+      std::rand() % (yh - ym) + ym + 1; // generating four possible door points
+
+    int decision = std::rand() % 4; // random selection of three doors
+    switch (decision)
+    {
+      case 0:
+        maze(d1, ym) = 0;
+        maze(d2, ym) = 0;
+        maze(xm, d3) = 0;
+        break;
+
+      case 1:
+        maze(d1, ym) = 0;
+        maze(d2, ym) = 0;
+        maze(xm, d4) = 0;
+        break;
+
+      case 2:
+        maze(d2, ym) = 0;
+        maze(xm, d3) = 0;
+        maze(xm, d4) = 0;
+        break;
+
+      case 3:
+        maze(d1, ym) = 0;
+        maze(xm, d3) = 0;
+        maze(xm, d4) = 0;
+        break;
+    } // the doors are opened for this cell
+    if (yl - 1 >= 0)
+    {
+      if (maze(xm, yl - 1) == 0)
+      {
+        maze(xm, yl) = 0;
+      }
+    }
+
+    if (yh + 1 <= maze.rows() - 1)
+    {
+      if (maze(xm, yh + 1) == 0)
+      {
+        maze(xm, yh) = 0;
+      }
+    }
+
+    if (xl - 1 >= 0)
+    {
+      if (maze(xl - 1, ym) == 0)
+      {
+        maze(xl, ym) = 0;
+      }
+    }
+
+    if (xh + 1 <= maze.cols() - 1)
+    {
+      if (maze(xh + 1, ym) == 0)
+      {
+        maze(xh, ym) = 0;
+      }
+    }
+
+    std::cout << maze << std::endl;
+    recursiveDivision(xl, xm - 1, yl, ym - 1, maze);
+    recursiveDivision(xm + 1, xh, yl, ym - 1, maze);
+    recursiveDivision(xl, xm - 1, ym + 1, yh, maze);
+    recursiveDivision(xm + 1, xh, ym + 1, yh, maze);
+
+    ROS_INFO("finished generating maze with width %d , height %d",
+             xh - xl + 1,
+             yh - yl + 1);
+    std::cout << maze << std::endl;
+    return;
+  } // when the remaining area is larger than or equal to 5*5
+
+  else if (xl < xh - 2 && yl < yh - 2)
+  {
+    bool valid     = false; // used to judge whether the wall selection is valid
+    int  xm        = 0;
+    int  ym        = 0;
+    int  doorcount = 0;
+    xm             = (std::rand() % (xh - xl - 1) + xl +
+          1); // generating random number between xl+1 and xh-1(pointless to
+                          // add a wall at the sides)
+    ym =
+      (std::rand() % (yh - yl - 1) + yl +
+       1); // generating random number between yl+1 and yh-1(pointless to
+           // add a wall at the sides)
+           // xm and ym are now the valid coordinate of the center of the wall
+    for (int i = xl; i <= xh; i++)
+    {
+      maze(i, ym) = 1;
+    }
+    for (int j = yl; j <= yh; j++)
+    {
+      maze(xm, j) = 1;
+    } // adding walls around the center point
+    if (yl - 1 >= 0)
+    {
+      if (maze(xm, yl - 1) == 0)
+      {
+        maze(xm, yl) = 0;
+        doorcount++;
+      }
+    }
+
+    if (yh + 1 <= maze.rows() - 1)
+    {
+      if (maze(xm, yh + 1) == 0)
+      {
+        maze(xm, yh) = 0;
+        doorcount++;
+      }
+    }
+
+    if (xl - 1 >= 0)
+    {
+      if (maze(xl - 1, ym) == 0)
+      {
+        maze(xl, ym) = 0;
+        doorcount++;
+      }
+    }
+
+    if (xh + 1 <= maze.cols() - 1)
+    {
+      if (maze(xh + 1, ym) == 0)
+      {
+        maze(xh, ym) = 0;
+        doorcount++;
+      }
+    }
+
+    int d1 = std::rand() % (xm - xl) + xl;
+    int d2 = std::rand() % (xh - xm) + xm + 1;
+    int d3 = std::rand() % (ym - yl) + yl;
+    int d4 =
+      std::rand() % (yh - ym) + ym + 1; // generating four possible door points
+
+    int decision = std::rand() % 4; // random selection of three doors
+    switch (decision)
+    {
+      case 0:
+        maze(d1, ym) = 0;
+        maze(d2, ym) = 0;
+        maze(xm, d3) = 0;
+        break;
+
+      case 1:
+        maze(d1, ym) = 0;
+        maze(d2, ym) = 0;
+        maze(xm, d4) = 0;
+        break;
+
+      case 2:
+        maze(d2, ym) = 0;
+        maze(xm, d3) = 0;
+        maze(xm, d4) = 0;
+        break;
+
+      case 3:
+        maze(d1, ym) = 0;
+        maze(xm, d3) = 0;
+        maze(xm, d4) = 0;
+        break;
+    } // the doors are opened for this cell
+    std::cout << maze << std::endl;
+
+    ROS_INFO("finished generating maze with width %d , height %d",
+             xh - xl + 1,
+             yh - yl + 1);
+    std::cout << maze << std::endl;
+    return;
+  }
+
+  else if (xl < xh - 1 && yl < yh - 2)
+  { // the case of 3*4+
+    ROS_INFO("entered 3*4+ mode");
+    int doorcount = 0;
+    int ym        = 0;
+    for (int i = yl; i <= yh; i++)
+    {
+      maze(xl + 1, i) = 1;
+    } // filling a center wall
+    if (yl - 1 >= 0)
+    {
+      if (maze(xl + 1, yl - 1) == 0)
+      {
+        maze(xl + 1, yl) = 0;
+        doorcount++;
+      }
+    }
+    if (yh + 1 <= maze.rows() - 1)
+    {
+      if (maze(xl + 1, yh + 1) == 0)
+      {
+        maze(xl + 1, yh) = 0;
+        doorcount++;
+      }
+    } // opening doors if the wall blocks the old doors
+    if (doorcount == 0)
+    {
+      ym               = std::rand() % (yh - yl + 1) + yl;
+      maze(xl + 1, ym) = 0;
+    }
+  } // the case of 4+*3
+  //
+  else if (xl < xh - 2 && yl < yh - 1)
+  { // the case of 4+*3
+    ROS_INFO("entered 4+*3 mode");
+    int doorcount = 0;
+    int xm        = 0;
+    for (int i = xl; i <= xh; i++)
+    {
+      maze(i, yl + 1) = 1;
+    } // filling a center wall
+    if (xl - 1 >= 0)
+    {
+      if (maze(xl - 1, yl + 1) == 0)
+      {
+        maze(xl, yl + 1) = 0;
+        doorcount++;
+      }
+    }
+    if (xh + 1 <= maze.cols() - 1)
+    {
+      if (maze(xh + 1, yl + 1) == 0)
+      {
+        maze(xh, yl + 1) = 0;
+        doorcount++;
+      }
+    } // opening doors if the wall blocks the old doors
+    if (doorcount == 0)
+    {
+      xm               = std::rand() % (xh - xl + 1) + xl;
+      maze(xm, yl + 1) = 0;
+    }
+  } // the case of 4+*3
+
+  else if (xl < xh - 1 && yl < yh - 1)
+  { // the case of 3*3
+    maze(xl + 1, yl + 1) = 1;
+    return;
+  }
+  else
+  {
+    ROS_INFO("finished generating maze with width %d , height %d",
+             xh - xl + 1,
+             yh - yl + 1);
+    return;
+  }
+}
+
+void
+Maps::recursizeDivisionMaze(Eigen::MatrixXi& maze)
+{
+  //! @todo all bugs here...
+  int sx = maze.rows();
+  int sy = maze.cols();
+
+  int px, py;
+
+  if (sx > 5)
+    px = (std::rand() % (sx - 3) + 1);
+  else
+    return;
+
+  if (sy > 5)
+    py = (std::rand() % (sy - 3) + 1);
+  else
+    return;
+
+  ROS_INFO("debug %d %d %d %d", sx, sy, px, py);
+
+  int x1, x2, y1, y2;
+
+  if (px != 1)
+    x1 = (std::rand() % (px - 1) + 1);
+  else
+    x1 = 1;
+
+  if ((sx - px - 3) > 0)
+    x2 = (std::rand() % (sx - px - 3) + px + 1);
+  else
+    x2 = px + 1;
+
+  if (py != 1)
+    y1 = (std::rand() % (py - 1) + 1);
+  else
+    y1 = 1;
+
+  if ((sy - py - 3) > 0)
+    y2 = (std::rand() % (sy - py - 3) + py + 1);
+  else
+    y2 = py + 1;
+  ROS_INFO("%d %d %d %d", x1, x2, y1, y2);
+
+  if (px != 1 && px != (sx - 2))
+  {
+    for (int i = 1; i < (sy - 1); ++i)
+    {
+      if (i != y1 && i != y2)
+        maze(px, i) = 1;
+    }
+  }
+  if (py != 1 && py != (sy - 2))
+  {
+    for (int i = 1; i < (sx - 1); ++i)
+    {
+      if (i != x1 && i != x2)
+        maze(i, py) = 1;
+    }
+  }
+  switch (std::rand() % 4)
+  {
+    case 0:
+      maze(x1, py) = 1;
+      break;
+    case 1:
+      maze(x2, py) = 1;
+      break;
+    case 2:
+      maze(px, y1) = 1;
+      break;
+    case 3:
+      maze(px, y2) = 1;
+      break;
+  }
+
+  if (px > 2 && py > 2)
+  {
+    Eigen::MatrixXi sub = maze.block(0, 0, px + 1, py + 1);
+    recursizeDivisionMaze(sub);
+    maze.block(0, 0, px, py) = sub;
+  }
+  if (px > 2 && (sy - py - 1) > 2)
+  {
+    Eigen::MatrixXi sub = maze.block(0, py, px + 1, sy - py);
+    recursizeDivisionMaze(sub);
+    maze.block(0, py, px + 1, sy - py) = sub;
+  }
+  if (py > 2 && (sx - px - 1) > 2)
+  {
+    Eigen::MatrixXi sub = maze.block(px, 0, sx - px, py + 1);
+    recursizeDivisionMaze(sub);
+    maze.block(px, 0, sx - px, py + 1) = sub;
+  }
+  if ((sx - px - 1) > 2 && (sy - py - 1) > 2)
+  {
+
+    Eigen::MatrixXi sub = maze.block(px, py, sy - px, sy - py);
+
+    recursizeDivisionMaze(sub);
+    maze.block(px, py, sy - px, sy - py) = sub;
+  }
+}
+
+void
+Maps::maze2D()
+{
+  double width;
+  int    type;
+  int    addWallX;
+  int    addWallY;
+  info.nh_private->param("road_width", width, 1.0);
+  info.nh_private->param("add_wall_x", addWallX, 0);
+  info.nh_private->param("add_wall_y", addWallY, 0);
+  info.nh_private->param("maze_type", type, 1);
+
+  int mx = info.sizeX / (width * info.scale);
+  int my = info.sizeY / (width * info.scale);
+
+  Eigen::MatrixXi maze(mx, my);
+  maze.setZero();
+
+  switch (type)
+  {
+    case 1:
+      recursiveDivision(0, maze.cols() - 1, 0, maze.rows() - 1, maze);
+      break;
+  }
+
+  if (addWallX)
+  {
+    for (int i = 0; i < mx; ++i)
+    {
+      maze(i, 0)      = 1;
+      maze(i, my - 1) = 1;
+    }
+  }
+  if (addWallY)
+  {
+    for (int i = 0; i < my; ++i)
+    {
+      maze(0, i)      = 1;
+      maze(mx - 1, i) = 1;
+    }
+  }
+
+  std::cout << maze << std::endl;
+
+  for (int i = 0; i < mx; ++i)
+  {
+    for (int j = 0; j < my; ++j)
+    {
+      if (maze(i, j))
+      {
+        for (int ii = 0; ii < width * info.scale; ++ii)
+        {
+          for (int jj = 0; jj < width * info.scale; ++jj)
+          {
+            for (int k = 0; k < info.sizeZ; ++k)
+            {
+              pcl::PointXYZ pt_random;
+              pt_random.x =
+                i * width + ii / info.scale - info.sizeX / (2.0 * info.scale);
+              pt_random.y =
+                j * width + jj / info.scale - info.sizeY / (2.0 * info.scale);
+              pt_random.z = k / info.scale;
+              info.cloud->points.push_back(pt_random);
+            }
+          }
+        }
+      }
+    }
+  }
+  info.cloud->width    = info.cloud->points.size();
+  info.cloud->height   = 1;
+  info.cloud->is_dense = true;
+  pcl2ros();
+}
+
+Maps::BasicInfo
+Maps::getInfo() const
+{
+  return info;
+}
+
+void
+Maps::setInfo(const BasicInfo& value)
+{
+  info = value;
+}
+
+Maps::Maps()
+{
+}
+
+void
+Maps::generate(int type)
+{
+  switch (type)
+  {
+    default:
+    case 1:
+      perlin3D();
+      break;
+    case 2:
+      randomMapGenerate();
+      break;
+    case 3:
+      std::srand(info.seed);
+      maze2D();
+      break;
+    case 4: // generating 3d maze
+      std::srand(info.seed);
+      Maze3DGen();
+      break;
+  }
+}
+
+pcl::PointXYZ
+MazePoint::getPoint()
+{
+  return point;
+}
+
+int
+MazePoint::getPoint1()
+{
+  return point1;
+}
+
+int
+MazePoint::getPoint2()
+{
+  return point2;
+}
+
+double
+MazePoint::getDist1()
+{
+  return dist1;
+}
+
+double
+MazePoint::getDist2()
+{
+  return dist2;
+}
+
+void
+MazePoint::setPoint(pcl::PointXYZ p)
+{
+  point = p;
+}
+
+void
+MazePoint::setPoint1(int p)
+{
+  point1 = p;
+}
+
+void
+MazePoint::setPoint2(int p)
+{
+  point2 = p;
+}
+
+void
+MazePoint::setDist1(double set)
+{
+  dist1 = set;
+}
+
+void
+MazePoint::setDist2(double set)
+{
+  dist2 = set;
+}
+
+void
+Maps::Maze3DGen()
+{
+  // getting required info parameters from the given node
+  int    numNodes;
+  double connectivity;
+  int    nodeRad;
+  int    roadRad;
+
+  info.nh_private->param("numNodes", numNodes, 10);
+  info.nh_private->param("connectivity", connectivity, 0.5);
+  info.nh_private->param("nodeRad", nodeRad, 3);
+  info.nh_private->param("roadRad", roadRad, 2);
+  ROS_INFO("received parameters : numNodes: %d connectivity: "
+           "%f nodeRad: %d roadRad: %d",
+           numNodes,
+           connectivity,
+           nodeRad,
+           roadRad);
+  // generating random points
+  std::vector<pcl::PointXYZ> base;
+
+  for (int i = 0; i < numNodes; i++)
+  {
+    double rx = std::rand() / RAND_MAX +
+                (std::rand() % info.sizeX) / info.scale -
+                info.sizeX / (2 * info.scale);
+    double ry = std::rand() / RAND_MAX +
+                (std::rand() % info.sizeY) / info.scale -
+                info.sizeY / (2 * info.scale);
+    double rz = std::rand() / RAND_MAX +
+                (std::rand() % info.sizeZ) / info.scale -
+                info.sizeZ / (2 * info.scale);
+    ROS_INFO("point: x: %f , y: %f , z: %f", rx, ry, rz);
+
+    pcl::PointXYZ pt_random;
+    pt_random.x = rx;
+    pt_random.y = ry;
+    pt_random.z = rz;
+    base.push_back(pt_random);
+  } // generating random cores in the space
+
+  for (int i = 0; i < info.sizeX; i++)
+  {
+    for (int j = 0; j < info.sizeY; j++)
+    {
+      for (int k = 0; k < info.sizeZ; k++)
+      { // for every scaled coordinate points
+        pcl::PointXYZ test;
+        test.x = i / info.scale - info.sizeX / (2 * info.scale);
+        test.y = j / info.scale - info.sizeY / (2 * info.scale);
+        test.z = k / info.scale -
+                 info.sizeZ /
+                   (2 * info.scale); // marking the corresponding point location
+
+        MazePoint mp;
+        mp.setPoint(test);
+        mp.setPoint2(-1);
+        mp.setPoint1(-1);
+        mp.setDist1(10000.0);
+        mp.setDist2(100000.0); // setting super large starting values
+        for (int ii = 0; ii < numNodes; ii++)
+        {
+          double dist =
+            std::sqrt((base[ii].x - test.x) * (base[ii].x - test.x) +
+                      (base[ii].y - test.y) * (base[ii].y - test.y) +
+                      (base[ii].z - test.z) * (base[ii].z - test.z));
+          if (dist < mp.getDist1())
+          {
+
+            mp.setDist2(mp.getDist1());
+            mp.setDist1(dist);
+
+            mp.setPoint2(mp.getPoint1());
+            mp.setPoint1(ii);
+          }
+          else if (dist < mp.getDist2())
+          {
+            mp.setDist2(dist);
+            mp.setPoint2(ii);
+          } // finding the distances to the nearest two cores
+        }
+        if (std::abs(mp.getDist2() - mp.getDist1()) < 1 / info.scale)
+        { // the tested location is on one of the middle planes
+          if ((mp.getPoint1() + mp.getPoint2()) >
+                int((1 - connectivity) * numNodes) &&
+              (mp.getPoint1() + mp.getPoint2()) <
+                int((1 + connectivity) * numNodes))
+          { // this is a holed wall
+            double judge =
+              std::sqrt((base[mp.getPoint1()].x - base[mp.getPoint2()].x) *
+                          (base[mp.getPoint1()].x - base[mp.getPoint2()].x) +
+                        (base[mp.getPoint1()].y - base[mp.getPoint2()].y) *
+                          (base[mp.getPoint1()].y - base[mp.getPoint2()].y) +
+                        (base[mp.getPoint1()].z - base[mp.getPoint2()].z) *
+                          (base[mp.getPoint1()].z - base[mp.getPoint2()].z));
+            if (mp.getDist1() + mp.getDist2() - judge >=
+                roadRad / (info.scale * 3))
+            {
+              info.cloud->points.push_back(mp.getPoint());
+            }
+          }
+          else
+          {
+            info.cloud->points.push_back(mp.getPoint());
+          }
+        }
+      }
+    }
+  }
+
+  info.cloud->width  = info.cloud->points.size();
+  info.cloud->height = 1;
+  ROS_INFO("the number of points before optimization is %d", info.cloud->width);
+  info.cloud->points.resize(info.cloud->width * info.cloud->height);
+  pcl2ros();
+}
diff --git a/uav_simulator/mockamap/src/mockamap.cpp b/uav_simulator/mockamap/src/mockamap.cpp
new file mode 100755
index 0000000..b2734c1
--- /dev/null
+++ b/uav_simulator/mockamap/src/mockamap.cpp
@@ -0,0 +1,136 @@
+#include "self_msgs_and_srvs/GlbObsRcv.h"
+
+#include <ros/ros.h>
+#include <sensor_msgs/PointCloud2.h>
+
+#include <algorithm>
+#include <iostream>
+#include <vector>
+
+#include <pcl/kdtree/kdtree_flann.h>
+#include <pcl/point_cloud.h>
+#include <pcl_conversions/pcl_conversions.h>
+
+#include "maps.hpp"
+
+ros::Publisher _pcl_pub;
+sensor_msgs::PointCloud2 _output;
+
+void
+optimizeMap(mocka::Maps::BasicInfo& in)
+{
+  std::vector<int>* temp = new std::vector<int>;
+
+  pcl::KdTreeFLANN<pcl::PointXYZ>     kdtree;
+  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
+
+  cloud->width  = in.cloud->width;
+  cloud->height = in.cloud->height;
+  cloud->points.resize(cloud->width * cloud->height);
+
+  for (int i = 0; i < cloud->width; i++)
+  {
+    cloud->points[i].x = in.cloud->points[i].x;
+    cloud->points[i].y = in.cloud->points[i].y;
+    cloud->points[i].z = in.cloud->points[i].z;
+  }
+
+  kdtree.setInputCloud(cloud);
+  double radius = 1.75 / in.scale; // 1.75 is the rounded up value of sqrt(3)
+
+  for (int i = 0; i < cloud->width; i++)
+  {
+    std::vector<int>   pointIdxRadiusSearch;
+    std::vector<float> pointRadiusSquaredDistance;
+
+    if (kdtree.radiusSearch(cloud->points[i], radius, pointIdxRadiusSearch,
+                            pointRadiusSquaredDistance) >= 27)
+    {
+      temp->push_back(i);
+    }
+  }
+  for (int i = temp->size() - 1; i >= 0; i--)
+  {
+    in.cloud->points.erase(in.cloud->points.begin() +
+                           temp->at(i)); // erasing the enclosed points
+  }
+  in.cloud->width -= temp->size();
+
+  pcl::toROSMsg(*in.cloud, *in.output);
+  in.output->header.frame_id = "map";
+  ROS_INFO("finish: number of points after optimization %d", in.cloud->width);
+  delete temp;
+  return;
+}
+
+bool 
+pubGlbObs(self_msgs_and_srvs::GlbObsRcv::Request &req, self_msgs_and_srvs::GlbObsRcv::Response &res)
+{
+  _pcl_pub.publish(_output);
+  return true;
+}
+
+int
+main(int argc, char** argv)
+{
+  ros::init(argc, argv, "mockamap");
+  ros::NodeHandle nh;
+  ros::NodeHandle nh_private("~");
+
+  _pcl_pub = nh.advertise<sensor_msgs::PointCloud2>("mock_map", 1);
+  pcl::PointCloud<pcl::PointXYZ> cloud;
+  
+  // Fill in the cloud data
+
+  int seed;
+
+  int sizeX;
+  int sizeY;
+  int sizeZ;
+
+  double scale;
+  double update_freq;
+
+  int type;
+
+  nh_private.param("seed", seed, 4546);
+  nh_private.param("update_freq", update_freq, 1.0);
+  nh_private.param("resolution", scale, 0.38);
+  nh_private.param("x_length", sizeX, 100);
+  nh_private.param("y_length", sizeY, 100);
+  nh_private.param("z_length", sizeZ, 10);
+
+  nh_private.param("type", type, 1);
+
+  scale = 1 / scale;
+  sizeX = sizeX * scale;
+  sizeY = sizeY * scale;
+  sizeZ = sizeZ * scale;
+
+  mocka::Maps::BasicInfo info;
+  info.nh_private = &nh_private;
+  info.sizeX      = sizeX;
+  info.sizeY      = sizeY;
+  info.sizeZ      = sizeZ;
+  info.seed       = seed;
+  info.scale      = scale;
+  info.output     = &_output;
+  info.cloud      = &cloud;
+
+  mocka::Maps map;
+  map.setInfo(info);
+  map.generate(type);
+
+  ros::ServiceServer pub_glb_obs_service = nh_private.advertiseService("/pub_glb_obs", pubGlbObs);
+  ros::spin();
+
+  //! @note publish loop
+  // ros::Rate loop_rate(update_freq);
+  // while (ros::ok())
+  // {
+  //   pcl_pub.publish(output);
+  //   ros::spinOnce();
+  //   loop_rate.sleep();
+  // }
+  // return 0;
+}
diff --git a/uav_simulator/mockamap/src/perlinnoise.cpp b/uav_simulator/mockamap/src/perlinnoise.cpp
new file mode 100755
index 0000000..c5d96fe
--- /dev/null
+++ b/uav_simulator/mockamap/src/perlinnoise.cpp
@@ -0,0 +1,123 @@
+#include "perlinnoise.hpp"
+
+#include <algorithm>
+#include <cmath>
+#include <numeric>
+#include <random>
+
+// THIS IS A DIRECT TRANSLATION TO C++11 FROM THE REFERENCE
+// JAVA IMPLEMENTATION OF THE IMPROVED PERLIN FUNCTION (see
+// http://mrl.nyu.edu/~perlin/noise/)
+// THE ORIGINAL JAVA IMPLEMENTATION IS COPYRIGHT 2002 KEN PERLIN
+
+// I ADDED AN EXTRA METHOD THAT GENERATES A NEW PERMUTATION VECTOR (THIS IS NOT
+// PRESENT IN THE ORIGINAL IMPLEMENTATION)
+
+// Initialize with the reference values for the permutation vector
+PerlinNoise::PerlinNoise()
+{
+
+  // Initialize the permutation vector with the reference values
+  p = { 151, 160, 137, 91,  90,  15,  131, 13,  201, 95,  96,  53,  194, 233,
+        7,   225, 140, 36,  103, 30,  69,  142, 8,   99,  37,  240, 21,  10,
+        23,  190, 6,   148, 247, 120, 234, 75,  0,   26,  197, 62,  94,  252,
+        219, 203, 117, 35,  11,  32,  57,  177, 33,  88,  237, 149, 56,  87,
+        174, 20,  125, 136, 171, 168, 68,  175, 74,  165, 71,  134, 139, 48,
+        27,  166, 77,  146, 158, 231, 83,  111, 229, 122, 60,  211, 133, 230,
+        220, 105, 92,  41,  55,  46,  245, 40,  244, 102, 143, 54,  65,  25,
+        63,  161, 1,   216, 80,  73,  209, 76,  132, 187, 208, 89,  18,  169,
+        200, 196, 135, 130, 116, 188, 159, 86,  164, 100, 109, 198, 173, 186,
+        3,   64,  52,  217, 226, 250, 124, 123, 5,   202, 38,  147, 118, 126,
+        255, 82,  85,  212, 207, 206, 59,  227, 47,  16,  58,  17,  182, 189,
+        28,  42,  223, 183, 170, 213, 119, 248, 152, 2,   44,  154, 163, 70,
+        221, 153, 101, 155, 167, 43,  172, 9,   129, 22,  39,  253, 19,  98,
+        108, 110, 79,  113, 224, 232, 178, 185, 112, 104, 218, 246, 97,  228,
+        251, 34,  242, 193, 238, 210, 144, 12,  191, 179, 162, 241, 81,  51,
+        145, 235, 249, 14,  239, 107, 49,  192, 214, 31,  181, 199, 106, 157,
+        184, 84,  204, 176, 115, 121, 50,  45,  127, 4,   150, 254, 138, 236,
+        205, 93,  222, 114, 67,  29,  24,  72,  243, 141, 128, 195, 78,  66,
+        215, 61,  156, 180 };
+  // Duplicate the permutation vector
+  p.insert(p.end(), p.begin(), p.end());
+}
+
+// Generate a new permutation vector based on the value of seed
+PerlinNoise::PerlinNoise(unsigned int seed)
+{
+  p.resize(256);
+
+  // Fill p with values from 0 to 255
+  std::iota(p.begin(), p.end(), 0);
+
+  // Initialize a random engine with seed
+  std::default_random_engine engine(seed);
+
+  // Suffle  using the above random engine
+  std::shuffle(p.begin(), p.end(), engine);
+
+  // Duplicate the permutation vector
+  p.insert(p.end(), p.begin(), p.end());
+}
+
+double
+PerlinNoise::noise(double x, double y, double z)
+{
+  // Find the unit cube that contains the point
+  int X = (int)floor(x) & 255;
+  int Y = (int)floor(y) & 255;
+  int Z = (int)floor(z) & 255;
+
+  // Find relative x, y,z of point in cube
+  x -= floor(x);
+  y -= floor(y);
+  z -= floor(z);
+
+  // Compute fade curves for each of x, y, z
+  double u = fade(x);
+  double v = fade(y);
+  double w = fade(z);
+
+  // Hash coordinates of the 8 cube corners
+  int A  = p[X] + Y;
+  int AA = p[A] + Z;
+  int AB = p[A + 1] + Z;
+  int B  = p[X + 1] + Y;
+  int BA = p[B] + Z;
+  int BB = p[B + 1] + Z;
+
+  // Add blended results from 8 corners of cube
+  double res =
+    lerp(w,      //
+         lerp(v, //
+              lerp(u, grad(p[AA], x, y, z), grad(p[BA], x - 1, y, z)),
+              lerp(u, grad(p[AB], x, y - 1, z), grad(p[BB], x - 1, y - 1, z))),
+         lerp(v,                                 //
+              lerp(u,                            //
+                   grad(p[AA + 1], x, y, z - 1), //
+                   grad(p[BA + 1], x - 1, y, z - 1)),
+              lerp(u, //
+                   grad(p[AB + 1], x, y - 1, z - 1),
+                   grad(p[BB + 1], x - 1, y - 1, z - 1))));
+  return (res + 1.0) / 2.0;
+}
+
+double
+PerlinNoise::fade(double t)
+{
+  return t * t * t * (t * (t * 6 - 15) + 10);
+}
+
+double
+PerlinNoise::lerp(double t, double a, double b)
+{
+  return a + t * (b - a);
+}
+
+double
+PerlinNoise::grad(int hash, double x, double y, double z)
+{
+  int h = hash & 15;
+  // Convert lower 4 bits of hash into 12 gradient directions
+  double u = h < 8 ? x : y, v = h < 4 ? y : h == 12 || h == 14 ? x : z;
+  return ((h & 1) == 0 ? u : -u) + ((h & 2) == 0 ? v : -v);
+}
diff --git a/uav_simulator/odom_visualization/CMakeLists.txt b/uav_simulator/odom_visualization/CMakeLists.txt
new file mode 100755
index 0000000..7b42d04
--- /dev/null
+++ b/uav_simulator/odom_visualization/CMakeLists.txt
@@ -0,0 +1,208 @@
+#cmake_minimum_required(VERSION 2.4.6)
+#include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+#rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+
+#rosbuild_add_executable(odom_visualization src/odom_visualization.cpp)
+#target_link_libraries(odom_visualization pose_utils)
+
+#----------------------------------
+cmake_minimum_required(VERSION 2.8.3)
+project(odom_visualization)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  sensor_msgs
+  nav_msgs
+  visualization_msgs
+  quadrotor_msgs
+  tf
+  pose_utils
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+#add_message_files(
+#   FILES
+#   MultiOccupancyGrid.msg
+#   MultiSparseMap3D.msg
+#   SparseMap3D.msg
+#   VerticalOccupancyGridList.msg
+   #plan_cmd.msg
+#)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+#generate_messages(
+#   DEPENDENCIES
+#   geometry_msgs
+#   nav_msgs
+#)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES irobot_msgs
+#  CATKIN_DEPENDS geometry_msgs nav_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+find_package(Armadillo REQUIRED)
+include_directories(${ARMADILLO_INCLUDE_DIRS})
+
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(irobot_msgs
+#   src/${PROJECT_NAME}/irobot_msgs.cpp
+# )
+
+## Declare a cpp executable
+add_executable(odom_visualization src/odom_visualization.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(multi_map_visualization multi_map_server_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(odom_visualization
+   ${catkin_LIBRARIES}
+   ${ARMADILLO_LIBRARIES}
+   pose_utils
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS irobot_msgs irobot_msgs_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_irobot_msgs.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
diff --git a/uav_simulator/odom_visualization/Makefile b/uav_simulator/odom_visualization/Makefile
new file mode 100755
index 0000000..b75b928
--- /dev/null
+++ b/uav_simulator/odom_visualization/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/uav_simulator/odom_visualization/bin/odom_visualization b/uav_simulator/odom_visualization/bin/odom_visualization
new file mode 100755
index 0000000..0f9c815
Binary files /dev/null and b/uav_simulator/odom_visualization/bin/odom_visualization differ
diff --git a/uav_simulator/odom_visualization/bin/odom_visualization_vicon45 b/uav_simulator/odom_visualization/bin/odom_visualization_vicon45
new file mode 100755
index 0000000..43ed166
Binary files /dev/null and b/uav_simulator/odom_visualization/bin/odom_visualization_vicon45 differ
diff --git a/uav_simulator/odom_visualization/build/CATKIN_IGNORE b/uav_simulator/odom_visualization/build/CATKIN_IGNORE
new file mode 100755
index 0000000..e69de29
diff --git a/uav_simulator/odom_visualization/build/CMakeCache.txt b/uav_simulator/odom_visualization/build/CMakeCache.txt
new file mode 100755
index 0000000..e97f490
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/CMakeCache.txt
@@ -0,0 +1,517 @@
+# This is the CMakeCache file.
+# For build in directory: /home/jchen/workspace/src/odom_visualization/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Build shared libraries (DLLs).
+BUILD_SHARED_LIBS:BOOL=ON
+
+//Catkin enable testing
+CATKIN_ENABLE_TESTING:BOOL=ON
+
+//Prefix to apply to package generated via gendebian
+CATKIN_PACKAGE_PREFIX:STRING=
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+//Catkin skip testing
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+// syntax should this version of CMake try to support.
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+// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
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+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
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+//CXX compiler.
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+
+//Flags used by the compiler during all build types.
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+
+//Flags used by the compiler during debug builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler.
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+
+//Flags used by the compiler during all build types.
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+
+//Flags used by the compiler during debug builds.
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+
+//Flags used by the compiler during release minsize builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
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+
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+
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+
+//Flags used by the linker during release builds.
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+
+//Flags used by the linker during Release with Debug Info builds.
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+
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+
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+
+//Path to a program.
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+
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+CMAKE_MODULE_LINKER_FLAGS:STRING=' '
+
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+
+//Flags used by the linker during release minsize builds.
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+
+//Flags used by the linker during release builds.
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+
+//Flags used by the linker during Release with Debug Info builds.
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+
+//Path to a program.
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+
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+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=odom_visualization
+
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+
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+
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+
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+
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+
+//Flags used by the linker during release minsize builds.
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+
+//Flags used by the linker during release builds.
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+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//The CMake toolchain file
+CMAKE_TOOLCHAIN_FILE:FILEPATH=/opt/ros/indigo/share/ros/core/rosbuild/rostoolchain.cmake
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+//Path to a program.
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+
+//Path to a file.
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+
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+
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+
+//rospack executable
+ROSPACK_EXE:FILEPATH=/opt/ros/indigo/bin/rospack
+
+//Path to a library.
+RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so
+
+//Enable debian style python package layout
+SETUPTOOLS_DEB_LAYOUT:BOOL=ON
+
+//Path to a file.
+TOOLCHAINCONFIG:FILEPATH=TOOLCHAINCONFIG-NOTFOUND
+
+//LSB Distrib tag
+UBUNTU:BOOL=TRUE
+
+//LSB Distrib - codename tag
+UBUNTU_TRUSTY:BOOL=TRUE
+
+//Path to a file.
+USERCONFIG:FILEPATH=USERCONFIG-NOTFOUND
+
+//Path to a file.
+_CATKIN_GTEST_INCLUDE:FILEPATH=/usr/include/gtest/gtest.h
+
+//Path to a file.
+_CATKIN_GTEST_SRC:FILEPATH=/usr/src/gtest/src/gtest.cc
+
+//Path to a file.
+_file_name:FILEPATH=/home/jchen/workspace/src/odom_visualization/src/odom_visualization.cpp
+
+//The directory containing a CMake configuration file for catkin.
+catkin_DIR:PATH=/opt/ros/indigo/share/catkin/cmake
+
+//The directory containing a CMake configuration file for gencpp.
+gencpp_DIR:PATH=/opt/ros/indigo/share/gencpp/cmake
+
+//The directory containing a CMake configuration file for genlisp.
+genlisp_DIR:PATH=/opt/ros/indigo/share/genlisp/cmake
+
+//The directory containing a CMake configuration file for genmsg.
+genmsg_DIR:PATH=/opt/ros/indigo/share/genmsg/cmake
+
+//The directory containing a CMake configuration file for genpy.
+genpy_DIR:PATH=/opt/ros/indigo/share/genpy/cmake
+
+//Value Computed by CMake
+gtest_BINARY_DIR:STATIC=/home/jchen/workspace/src/odom_visualization/build/gtest
+
+//Dependencies for the target
+gtest_LIB_DEPENDS:STATIC=general;-lpthread;
+
+//Value Computed by CMake
+gtest_SOURCE_DIR:STATIC=/usr/src/gtest
+
+//Build gtest's sample programs.
+gtest_build_samples:BOOL=OFF
+
+//Build all of gtest's own tests.
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+
+//Disable uses of pthreads in gtest.
+gtest_disable_pthreads:BOOL=OFF
+
+//Use shared (DLL) run-time lib even when Google Test is built
+// as static lib.
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+
+//Dependencies for the target
+gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest;
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+//Path to a library.
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+
+//Value Computed by CMake
+odom_visualization_BINARY_DIR:STATIC=/home/jchen/workspace/src/odom_visualization/build
+
+//Value Computed by CMake
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+
+//The directory containing a CMake configuration file for roslib.
+roslib_DIR:PATH=/opt/ros/indigo/share/roslib/cmake
+
+//The directory containing a CMake configuration file for rosunit.
+rosunit_DIR:PATH=/opt/ros/indigo/share/rosunit/cmake
+
+
+########################
+# INTERNAL cache entries
+########################
+
+//catkin environment
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+//This is the directory where this CMakeCache.txt was created
+CMAKE_CACHEFILE_DIR:INTERNAL=/home/jchen/workspace/src/odom_visualization/build
+//Major version of cmake used to create the current loaded cache
+CMAKE_CACHE_MAJOR_VERSION:INTERNAL=2
+//Minor version of cmake used to create the current loaded cache
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+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/BaseCube_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Base_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Base_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Col_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Col_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Cube_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Cube_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/GenCube_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/GenCube_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Gen_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Gen_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/GlueCube_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/GlueCube_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Glue_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Glue_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Mat_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Mat_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/OpCube_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/OpCube_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Op_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Op_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Proxy.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/ProxyCube.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Row_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/Row_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpBase_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpBase_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpCol_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpCol_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpGlue_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpGlue_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpMat_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpMat_iterators_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpMat_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpOp_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpOp_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpProxy.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpRow_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpRow_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpSubview_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpSubview_iterators_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpSubview_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpValProxy_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/SpValProxy_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/access.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/arma_config.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/arma_ostream_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/arma_ostream_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/arma_static_check.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/arma_version.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/arrayops_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/arrayops_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/atlas_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/atlas_wrapper.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/auxlib_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/auxlib_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/blas_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/blas_wrapper.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/cmath_wrap.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/compiler_setup.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/cond_rel_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/cond_rel_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/config.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/constants.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/constants_compat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/debug.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/diagmat_proxy.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/diagview_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/diagview_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/diskio_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/diskio_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eGlueCube_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eGlueCube_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eGlue_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eGlue_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eOpCube_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eOpCube_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eOp_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eOp_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eglue_core_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eglue_core_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eop_aux.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eop_core_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/eop_core_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/field_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/field_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_accu.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_as_scalar.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_chol.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_conv.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_conv_to.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_cor.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_cov.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_cross.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_cumsum.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_det.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_diagmat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_diagvec.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_dot.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_eig.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_elem.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_eps.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_eye.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_flip.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_hist.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_histc.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_inv.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_join.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_kron.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_log_det.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_lu.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_max.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_mean.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_median.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_min.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_misc.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_n_unique.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_norm.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_ones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_pinv.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_princomp.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_prod.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_qr.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_randn.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_randu.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_rank.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_repmat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_reshape.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_resize.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_shuffle.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_solve.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_sort.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_sort_index.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_speye.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_spones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_sprandn.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_sprandu.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_stddev.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_strans.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_sum.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_svd.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_syl_lyap.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_symmat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_toeplitz.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_trace.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_trans.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_trig.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_trimat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_trunc_exp.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_trunc_log.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_unique.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_var.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/fn_zeros.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/format_wrap.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/forward_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/gemm.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/gemm_mixed.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/gemv.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_conv_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_conv_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_cor_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_cor_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_cov_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_cov_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_cross_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_cross_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_hist_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_hist_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_histc_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_histc_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_join_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_join_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_kron_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_kron_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_mixed_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_mixed_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_relational_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_relational_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_solve_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_solve_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_times_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_times_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_toeplitz_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/glue_toeplitz_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/hdf5_misc.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/include_atlas.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/injector_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/injector_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/lapack_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/lapack_wrapper.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/memory.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/mtGlueCube_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/mtGlueCube_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/mtGlue_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/mtGlue_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/mtOpCube_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/mtOpCube_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/mtOp_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/mtOp_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/mtSpOp_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/mtSpOp_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_chol_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_chol_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_cor_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_cor_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_cov_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_cov_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_cumsum_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_cumsum_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_cx_scalar_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_cx_scalar_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_diagmat_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_diagmat_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_diagvec_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_diagvec_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_dot_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_dot_meat.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_dotext_bones.hpp
+ /home/jchen/workspace/src/armadillo/armadillo/include/armadillo_bits/op_dotext_meat.hpp
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+
+#=============================================================================
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+
+# fast build rule for target.
+_catkin_empty_exported_target/fast:
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+.PHONY : _catkin_empty_exported_target/fast
+
+#=============================================================================
+# Target rules for targets named clean_test_results
+
+# Build rule for target.
+clean_test_results: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 clean_test_results
+.PHONY : clean_test_results
+
+# fast build rule for target.
+clean_test_results/fast:
+	$(MAKE) -f CMakeFiles/clean_test_results.dir/build.make CMakeFiles/clean_test_results.dir/build
+.PHONY : clean_test_results/fast
+
+#=============================================================================
+# Target rules for targets named doxygen
+
+# Build rule for target.
+doxygen: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 doxygen
+.PHONY : doxygen
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+# fast build rule for target.
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+	$(MAKE) -f CMakeFiles/doxygen.dir/build.make CMakeFiles/doxygen.dir/build
+.PHONY : doxygen/fast
+
+#=============================================================================
+# Target rules for targets named odom_visualization
+
+# Build rule for target.
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+
+# fast build rule for target.
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+	$(MAKE) -f CMakeFiles/odom_visualization.dir/build.make CMakeFiles/odom_visualization.dir/build
+.PHONY : odom_visualization/fast
+
+#=============================================================================
+# Target rules for targets named rosbuild_clean-test-results
+
+# Build rule for target.
+rosbuild_clean-test-results: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 rosbuild_clean-test-results
+.PHONY : rosbuild_clean-test-results
+
+# fast build rule for target.
+rosbuild_clean-test-results/fast:
+	$(MAKE) -f CMakeFiles/rosbuild_clean-test-results.dir/build.make CMakeFiles/rosbuild_clean-test-results.dir/build
+.PHONY : rosbuild_clean-test-results/fast
+
+#=============================================================================
+# Target rules for targets named rosbuild_precompile
+
+# Build rule for target.
+rosbuild_precompile: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 rosbuild_precompile
+.PHONY : rosbuild_precompile
+
+# fast build rule for target.
+rosbuild_precompile/fast:
+	$(MAKE) -f CMakeFiles/rosbuild_precompile.dir/build.make CMakeFiles/rosbuild_precompile.dir/build
+.PHONY : rosbuild_precompile/fast
+
+#=============================================================================
+# Target rules for targets named rosbuild_premsgsrvgen
+
+# Build rule for target.
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+	$(MAKE) -f CMakeFiles/Makefile2 rosbuild_premsgsrvgen
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+
+# fast build rule for target.
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+	$(MAKE) -f CMakeFiles/rosbuild_premsgsrvgen.dir/build.make CMakeFiles/rosbuild_premsgsrvgen.dir/build
+.PHONY : rosbuild_premsgsrvgen/fast
+
+#=============================================================================
+# Target rules for targets named rospack_genmsg
+
+# Build rule for target.
+rospack_genmsg: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 rospack_genmsg
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+# fast build rule for target.
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+#=============================================================================
+# Target rules for targets named test-results
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+.PHONY : test-results-run/fast
+
+#=============================================================================
+# Target rules for targets named tests
+
+# Build rule for target.
+tests: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 tests
+.PHONY : tests
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+.PHONY : tests/fast
+
+#=============================================================================
+# Target rules for targets named gtest
+
+# Build rule for target.
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+	$(MAKE) -f CMakeFiles/Makefile2 gtest
+.PHONY : gtest
+
+# fast build rule for target.
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+	$(MAKE) -f gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/build
+.PHONY : gtest/fast
+
+#=============================================================================
+# Target rules for targets named gtest_main
+
+# Build rule for target.
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+	$(MAKE) -f CMakeFiles/Makefile2 gtest_main
+.PHONY : gtest_main
+
+# fast build rule for target.
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+	$(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/build
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+src/odom_visualization.o: src/odom_visualization.cpp.o
+.PHONY : src/odom_visualization.o
+
+# target to build an object file
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+	$(MAKE) -f CMakeFiles/odom_visualization.dir/build.make CMakeFiles/odom_visualization.dir/src/odom_visualization.cpp.o
+.PHONY : src/odom_visualization.cpp.o
+
+src/odom_visualization.i: src/odom_visualization.cpp.i
+.PHONY : src/odom_visualization.i
+
+# target to preprocess a source file
+src/odom_visualization.cpp.i:
+	$(MAKE) -f CMakeFiles/odom_visualization.dir/build.make CMakeFiles/odom_visualization.dir/src/odom_visualization.cpp.i
+.PHONY : src/odom_visualization.cpp.i
+
+src/odom_visualization.s: src/odom_visualization.cpp.s
+.PHONY : src/odom_visualization.s
+
+# target to generate assembly for a file
+src/odom_visualization.cpp.s:
+	$(MAKE) -f CMakeFiles/odom_visualization.dir/build.make CMakeFiles/odom_visualization.dir/src/odom_visualization.cpp.s
+.PHONY : src/odom_visualization.cpp.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... ROSBUILD_genmsg_cpp"
+	@echo "... ROSBUILD_genmsg_lisp"
+	@echo "... ROSBUILD_gensrv_cpp"
+	@echo "... ROSBUILD_gensrv_lisp"
+	@echo "... _catkin_empty_exported_target"
+	@echo "... clean_test_results"
+	@echo "... doxygen"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... odom_visualization"
+	@echo "... rebuild_cache"
+	@echo "... rosbuild_clean-test-results"
+	@echo "... rosbuild_precompile"
+	@echo "... rosbuild_premsgsrvgen"
+	@echo "... rospack_genmsg"
+	@echo "... rospack_genmsg_libexe"
+	@echo "... rospack_gensrv"
+	@echo "... run_tests"
+	@echo "... test"
+	@echo "... test-future"
+	@echo "... test-results"
+	@echo "... test-results-run"
+	@echo "... tests"
+	@echo "... gtest"
+	@echo "... gtest_main"
+	@echo "... src/odom_visualization.o"
+	@echo "... src/odom_visualization.i"
+	@echo "... src/odom_visualization.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/uav_simulator/odom_visualization/build/catkin/catkin_generated/version/package.cmake b/uav_simulator/odom_visualization/build/catkin/catkin_generated/version/package.cmake
new file mode 100755
index 0000000..1cbfc82
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,9 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.6.9")
+set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
+set(catkin_BUILD_DEPENDS "python-empy" "python-argparse" "python-catkin-pkg")
+set(catkin_DEPRECATED "")
+set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "gtest" "python-empy" "python-nose")
+set(catkin_MAINTAINER "Dirk Thomas <dthomas@osrfoundation.org>")
+set(catkin_BUILDTOOL_DEPENDS "cmake")
+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
\ No newline at end of file
diff --git a/uav_simulator/odom_visualization/build/catkin_generated/env_cached.sh b/uav_simulator/odom_visualization/build/catkin_generated/env_cached.sh
new file mode 100755
index 0000000..d6be91d
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/uav_simulator/odom_visualization/build/catkin_generated/generate_cached_setup.py b/uav_simulator/odom_visualization/build/catkin_generated/generate_cached_setup.py
new file mode 100755
index 0000000..356ba29
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,29 @@
+from __future__ import print_function
+import argparse
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/indigo/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/indigo/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in "/home/jchen/workspace/devel;/opt/ros/indigo".split(';'):
+        python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/jchen/workspace/src/odom_visualization/build/devel/env.sh')
+
+output_filename = '/home/jchen/workspace/src/odom_visualization/build/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    #print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/uav_simulator/odom_visualization/build/catkin_generated/installspace/.rosinstall b/uav_simulator/odom_visualization/build/catkin_generated/installspace/.rosinstall
new file mode 100755
index 0000000..6fb13af
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /usr/local/setup.sh
diff --git a/uav_simulator/odom_visualization/build/catkin_generated/installspace/_setup_util.py b/uav_simulator/odom_visualization/build/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 0000000..f679b87
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/jchen/workspace/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/uav_simulator/odom_visualization/build/catkin_generated/installspace/env.sh b/uav_simulator/odom_visualization/build/catkin_generated/installspace/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/uav_simulator/odom_visualization/build/catkin_generated/installspace/setup.bash b/uav_simulator/odom_visualization/build/catkin_generated/installspace/setup.bash
new file mode 100755
index 0000000..ff47af8
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/uav_simulator/odom_visualization/build/catkin_generated/installspace/setup.sh b/uav_simulator/odom_visualization/build/catkin_generated/installspace/setup.sh
new file mode 100755
index 0000000..250c328
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin_generated/installspace/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/usr/local}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/uav_simulator/odom_visualization/build/catkin_generated/installspace/setup.zsh b/uav_simulator/odom_visualization/build/catkin_generated/installspace/setup.zsh
new file mode 100755
index 0000000..b660717
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate sh # emulate POSIX
+. "$_CATKIN_SETUP_DIR/setup.sh"
+emulate zsh # back to zsh mode
diff --git a/uav_simulator/odom_visualization/build/catkin_generated/ordered_paths.cmake b/uav_simulator/odom_visualization/build/catkin_generated/ordered_paths.cmake
new file mode 100755
index 0000000..22f3651
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/indigo/lib")
\ No newline at end of file
diff --git a/uav_simulator/odom_visualization/build/catkin_generated/setup_cached.sh b/uav_simulator/odom_visualization/build/catkin_generated/setup_cached.sh
new file mode 100755
index 0000000..822e309
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin_generated/setup_cached.sh
@@ -0,0 +1,19 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+
+# modified environment variables
+export CATKIN_TEST_RESULTS_DIR="/home/jchen/workspace/src/odom_visualization/build/test_results"
+export CMAKE_PREFIX_PATH="/home/jchen/workspace/src/odom_visualization/build/devel:$CMAKE_PREFIX_PATH"
+export CPATH="/home/jchen/workspace/src/odom_visualization/build/devel/include:$CPATH"
+export LD_LIBRARY_PATH="/home/jchen/workspace/src/odom_visualization/build/devel/lib:/home/jchen/workspace/src/odom_visualization/build/devel/lib/x86_64-linux-gnu:/home/jchen/workspace/devel/lib/x86_64-linux-gnu:/opt/ros/indigo/lib/x86_64-linux-gnu:/home/jchen/workspace/devel/lib:/opt/ros/indigo/lib"
+export PATH="/home/jchen/workspace/src/odom_visualization/build/devel/bin:$PATH"
+export PKG_CONFIG_PATH="/home/jchen/workspace/src/odom_visualization/build/devel/lib/pkgconfig:/home/jchen/workspace/src/odom_visualization/build/devel/lib/x86_64-linux-gnu/pkgconfig:/home/jchen/workspace/devel/lib/x86_64-linux-gnu/pkgconfig:/opt/ros/indigo/lib/x86_64-linux-gnu/pkgconfig:/home/jchen/workspace/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig"
+export PYTHONPATH="/home/jchen/workspace/src/odom_visualization/build/devel/lib/python2.7/dist-packages:$PYTHONPATH"
+export ROSLISP_PACKAGE_DIRECTORIES="/home/jchen/workspace/src/odom_visualization/build/devel/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES"
+export ROS_PACKAGE_PATH="/home/jchen/workspace/src/odom_visualization:$ROS_PACKAGE_PATH"
+export ROS_TEST_RESULTS_DIR="/home/jchen/workspace/src/odom_visualization/build/test_results"
\ No newline at end of file
diff --git a/uav_simulator/odom_visualization/build/catkin_generated/stamps/odom_visualization/interrogate_setup_dot_py.py.stamp b/uav_simulator/odom_visualization/build/catkin_generated/stamps/odom_visualization/interrogate_setup_dot_py.py.stamp
new file mode 100755
index 0000000..26882f0
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin_generated/stamps/odom_visualization/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,250 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+import os
+import sys
+
+import distutils.core
+try:
+    import setuptools
+except ImportError:
+    pass
+
+from argparse import ArgumentParser
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    based on setuptools logic and the package_dir dict, builds a dict
+    of location roots for each pkg in pkgs.
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = parent_location
+                else:
+                    locations[key] = allprefix
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules):
+    """
+    Generates lines to add to a cmake file which will set variables
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :pkgs: [list of str] python_packages declared in catkin package
+    :modules: [list of str] python modules
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if not '.' in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        parent_name = '.'.join(splits[:1])
+        if location != locations[parent_name]:
+            raise RuntimeError(
+                "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [os.path.join(locations[pkg], pkg)]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/")))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace("\\", "/")))
+
+    return result
+
+
+def _create_mock_setup_function(package_name, outfile):
+    """
+    Creates a function to call instead of distutils.core.setup or
+    setuptools.setup, which just captures some args and writes them
+    into a file that can be used from cmake
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        '''
+        Checks kwargs and writes a scriptfile
+        '''
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError("version not found in setup.py")
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """
+    Script main, parses arguments and invokes Dummy.setup indirectly.
+    """
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    try:
+        fake_setup = _create_mock_setup_function(package_name=args.package_name,
+                                                outfile=args.outfile)
+
+        distutils_backup = distutils.core.setup
+        distutils.core.setup = fake_setup
+        try:
+            setuptools_backup = setuptools.setup
+            setuptools.setup = fake_setup
+        except NameError:
+            pass
+
+        with open(args.setupfile_path, 'r') as fh:
+            exec(fh.read())
+    finally:
+        distutils.core.setup = distutils_backup
+        try:
+            setuptools.setup = setuptools_backup
+        except NameError:
+            pass
+
+if __name__ == '__main__':
+    main()
diff --git a/uav_simulator/odom_visualization/build/catkin_generated/stamps/odom_visualization/package.xml.stamp b/uav_simulator/odom_visualization/build/catkin_generated/stamps/odom_visualization/package.xml.stamp
new file mode 100755
index 0000000..7c2708a
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/catkin_generated/stamps/odom_visualization/package.xml.stamp
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>catkin</name>
+  <version>0.6.9</version>
+  <description>Low-level build system macros and infrastructure for ROS.</description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/catkin</url>
+  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
+  <url type="repository">https://github.com/ros/catkin</url>
+
+  <author>Troy Straszheim</author>
+  <author>Morten Kjaergaard</author>
+  <author>Brian Gerkey</author>
+  <author>Dirk Thomas</author>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <buildtool_export_depend>cmake</buildtool_export_depend>
+
+  <depend>python-argparse</depend>
+  <depend version_gte="0.2.2">python-catkin-pkg</depend>
+
+  <build_depend>python-empy</build_depend>
+
+  <build_export_depend>gtest</build_export_depend>
+  <build_export_depend>python-empy</build_export_depend>
+  <build_export_depend>python-nose</build_export_depend>
+
+  <test_depend>python-mock</test_depend>
+  <test_depend>python-nose</test_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml"/>
+    <architecture_independent/>
+  </export>
+</package>
diff --git a/uav_simulator/odom_visualization/build/cmake_install.cmake b/uav_simulator/odom_visualization/build/cmake_install.cmake
new file mode 100755
index 0000000..c49a22a
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/cmake_install.cmake
@@ -0,0 +1,140 @@
+# Install script for directory: /home/jchen/workspace/src/odom_visualization
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "RelWithDebInfo")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+        file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+      endif()
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
+        file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
+      endif()
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/_setup_util.py")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/home/jchen/workspace/src/odom_visualization/build/catkin_generated/installspace/_setup_util.py")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/env.sh")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/home/jchen/workspace/src/odom_visualization/build/catkin_generated/installspace/env.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/setup.bash")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/jchen/workspace/src/odom_visualization/build/catkin_generated/installspace/setup.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/setup.sh")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/jchen/workspace/src/odom_visualization/build/catkin_generated/installspace/setup.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/setup.zsh")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/jchen/workspace/src/odom_visualization/build/catkin_generated/installspace/setup.zsh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/.rosinstall")
+  IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+  IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/jchen/workspace/src/odom_visualization/build/catkin_generated/installspace/.rosinstall")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/indigo/share/catkin/cmake/env-hooks/05.catkin_make.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/indigo/share/catkin/cmake/env-hooks/05.catkin_make_isolated.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/home/jchen/workspace/src/odom_visualization/build/gtest/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+
+IF(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+ELSE(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+ENDIF(CMAKE_INSTALL_COMPONENT)
+
+FILE(WRITE "/home/jchen/workspace/src/odom_visualization/build/${CMAKE_INSTALL_MANIFEST}" "")
+FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
+  FILE(APPEND "/home/jchen/workspace/src/odom_visualization/build/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
+ENDFOREACH(file)
diff --git a/uav_simulator/odom_visualization/build/devel/.catkin b/uav_simulator/odom_visualization/build/devel/.catkin
new file mode 100755
index 0000000..21313c2
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/devel/.catkin
@@ -0,0 +1 @@
+/home/jchen/workspace/src/odom_visualization
\ No newline at end of file
diff --git a/uav_simulator/odom_visualization/build/devel/.rosinstall b/uav_simulator/odom_visualization/build/devel/.rosinstall
new file mode 100755
index 0000000..2b78b8b
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/jchen/workspace/src/odom_visualization/build/devel/setup.sh
diff --git a/uav_simulator/odom_visualization/build/devel/_setup_util.py b/uav_simulator/odom_visualization/build/devel/_setup_util.py
new file mode 100755
index 0000000..f679b87
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/devel/_setup_util.py
@@ -0,0 +1,287 @@
+#!/usr/bin/python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'CPATH': 'include',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': 'bin',
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    '''
+    Generate shell code to reset environment variables
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    '''
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            value = _rollback_env_variable(unmodified_environ, key, subfolder)
+            if value is not None:
+                environ[key] = value
+                lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+    '''
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolder: str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    '''
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    if subfolder:
+        if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+            subfolder = subfolder[1:]
+        if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+            subfolder = subfolder[:-1]
+    for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+        path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+        path_to_remove = None
+        for env_path in env_paths:
+            env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+            if env_path_clean == path_to_find:
+                path_to_remove = env_path
+                break
+        if path_to_remove:
+            env_paths.remove(path_to_remove)
+            value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    '''
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    '''
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    '''
+    Generate shell code to prepend environment variables
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    '''
+    Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    '''
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    '''
+    Generate shell code with found environment hooks
+    for the all workspaces.
+    '''
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        # environment at generation time
+        CMAKE_PREFIX_PATH = '/home/jchen/workspace/devel;/opt/ros/indigo'.split(';')
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potantial "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/uav_simulator/odom_visualization/build/devel/env.sh b/uav_simulator/odom_visualization/build/devel/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/uav_simulator/odom_visualization/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/uav_simulator/odom_visualization/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh
new file mode 100755
index 0000000..ac87f86
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh
@@ -0,0 +1,4 @@
+# generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in
+
+export CATKIN_TEST_RESULTS_DIR="/home/jchen/workspace/src/odom_visualization/build/test_results"
+export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR"
diff --git a/uav_simulator/odom_visualization/build/devel/etc/catkin/profile.d/05.catkin_make.bash b/uav_simulator/odom_visualization/build/devel/etc/catkin/profile.d/05.catkin_make.bash
new file mode 100755
index 0000000..bb6ab44
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/devel/etc/catkin/profile.d/05.catkin_make.bash
@@ -0,0 +1,64 @@
+function _catkin_make()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build
+    case $prev in
+        -C|--directory|--source|--build)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -DCATKIN_DEVEL_PREFIX=* || "$cur" == -DCMAKE_INSTALL_PREFIX=* ]]; then
+        COMPREPLY=()
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_DEVEL_PREFIX= -DCATKIN_ENABLE_TESTING= -DCMAKE_INSTALL_PREFIX= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make catkin_make
diff --git a/uav_simulator/odom_visualization/build/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/uav_simulator/odom_visualization/build/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
new file mode 100755
index 0000000..5cdc4dd
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
@@ -0,0 +1,62 @@
+function _catkin_make_isolated()
+{
+    local cur prev
+    cur=${COMP_WORDS[COMP_CWORD]}
+    prev=${COMP_WORDS[COMP_CWORD-1]}
+
+    # autocomplete path arguments for -C, --directory, --source, --build, --devel, --install
+    case $prev in
+        -C|--directory|--source|--build|--devel|--install)
+            _filedir -d
+            return 0
+            ;;
+    esac
+
+    if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+        # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+        COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+    elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+        # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+        COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+    elif [[ "$cur" == -* ]]; then
+        local opts="$( _parse_help "$1" )"
+        [[ $opts ]] || opts="$( _parse_usage "$1" )"
+        if [[ "$cur" == -* ]]; then
+            # suggest some common CMake arguments
+            opts="$opts -DCATKIN_ENABLE_TESTING= -DCMAKE_BUILD_TYPE="
+        fi
+        COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+        [[ $COMPREPLY == *= ]] && compopt -o nospace
+    else
+        # check if custom workspace root has been specified on the command line
+        local workspace_dir="."
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+                # eval to expand tilde
+                eval workspace_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+        # check if custom build folder has been specified on the command line
+        local build_dir="build_isolated"
+        for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+            if [[ ${COMP_WORDS[i]} == --build ]]; then
+                # eval to expand tilde
+                eval build_dir=${COMP_WORDS[i+1]}
+            fi
+        done
+
+        # determine location of Makefile
+        local makefile_dir
+        if [[ "$build_dir" = /* ]]; then
+            makefile_dir="$build_dir"
+        else
+            makefile_dir="$workspace_dir/$build_dir"
+        fi
+        COMPREPLY=()
+        if [ -f "$makefile_dir/Makefile" ]; then
+            cur=${COMP_WORDS[COMP_CWORD]}
+            COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+        fi
+    fi
+} &&
+complete -F _catkin_make_isolated catkin_make_isolated
diff --git a/uav_simulator/odom_visualization/build/devel/setup.bash b/uav_simulator/odom_visualization/build/devel/setup.bash
new file mode 100755
index 0000000..ff47af8
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/uav_simulator/odom_visualization/build/devel/setup.sh b/uav_simulator/odom_visualization/build/devel/setup.sh
new file mode 100755
index 0000000..e6c238a
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/devel/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/jchen/workspace/src/odom_visualization/build/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f $_SETUP_TMP
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/uav_simulator/odom_visualization/build/devel/setup.zsh b/uav_simulator/odom_visualization/build/devel/setup.zsh
new file mode 100755
index 0000000..b660717
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate sh # emulate POSIX
+. "$_CATKIN_SETUP_DIR/setup.sh"
+emulate zsh # back to zsh mode
diff --git a/uav_simulator/odom_visualization/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/uav_simulator/odom_visualization/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100755
index 0000000..c5c4680
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -0,0 +1,16 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Relative path conversion top directories.
+SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/usr/src/gtest")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/jchen/workspace/src/odom_visualization/build")
+
+# Force unix paths in dependencies.
+SET(CMAKE_FORCE_UNIX_PATHS 1)
+
+
+# The C and CXX include file regular expressions for this directory.
+SET(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+SET(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+SET(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
+SET(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
diff --git a/uav_simulator/odom_visualization/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake b/uav_simulator/odom_visualization/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake
new file mode 100755
index 0000000..3fca856
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake
@@ -0,0 +1,29 @@
+# The set of languages for which implicit dependencies are needed:
+SET(CMAKE_DEPENDS_LANGUAGES
+  "CXX"
+  )
+# The set of files for implicit dependencies of each language:
+SET(CMAKE_DEPENDS_CHECK_CXX
+  "/usr/src/gtest/src/gtest-all.cc" "/home/jchen/workspace/src/odom_visualization/build/gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o"
+  )
+SET(CMAKE_CXX_COMPILER_ID "GNU")
+
+# Preprocessor definitions for this target.
+SET(CMAKE_TARGET_DEFINITIONS
+  "GTEST_CREATE_SHARED_LIBRARY=1"
+  "ROS_PACKAGE_NAME=\"odom_visualization\""
+  )
+
+# Targets to which this target links.
+SET(CMAKE_TARGET_LINKED_INFO_FILES
+  )
+
+# The include file search paths:
+SET(CMAKE_C_TARGET_INCLUDE_PATH
+  "/home/jchen/workspace/src/odom_visualization/include"
+  "/usr/src/gtest/include"
+  "/usr/src/gtest"
+  )
+SET(CMAKE_CXX_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
+SET(CMAKE_Fortran_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
+SET(CMAKE_ASM_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
diff --git a/uav_simulator/odom_visualization/build/gtest/CMakeFiles/gtest.dir/build.make b/uav_simulator/odom_visualization/build/gtest/CMakeFiles/gtest.dir/build.make
new file mode 100755
index 0000000..5765003
--- /dev/null
+++ b/uav_simulator/odom_visualization/build/gtest/CMakeFiles/gtest.dir/build.make
@@ -0,0 +1,102 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/jchen/workspace/src/odom_visualization
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/jchen/workspace/src/odom_visualization/build
+
+# Include any dependencies generated for this target.
+include gtest/CMakeFiles/gtest.dir/depend.make
+
+# Include the progress variables for this target.
+include gtest/CMakeFiles/gtest.dir/progress.make
+
+# Include the compile flags for this target's objects.
+include gtest/CMakeFiles/gtest.dir/flags.make
+
+gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o: gtest/CMakeFiles/gtest.dir/flags.make
+gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o: /usr/src/gtest/src/gtest-all.cc
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200.7361 210.0604 156.0868 200.9731 209.9104 156.0868 201.1873 209.7256 156.0868 201.3722 209.5114 156.0868 201.5221 209.2744 156.0868 201.6326 209.0219 156.0868 201.7003 208.7614 156.0868 201.7231 208.5009 156.0868 201.7003 208.2483 156.0868 201.6326 208.0114 156.0868 201.5221 207.7972 156.0868 201.3722 207.6123 156.0868 201.1873 207.4624 156.0868 200.9731 207.3518 156.0868 200.7361 207.2842 156.0868 200.4836 208.7614 156.0868 200.2231 187.2614 156.0868 180.2231 187.2842 156.0868 179.9626 187.3518 156.0868 179.7101 187.4623 156.0868 179.4731 187.6123 156.0868 179.2589 187.7972 156.0868 179.074 188.0114 156.0868 178.9241 188.2483 156.0868 178.8136 188.5009 156.0868 178.7459 188.7614 156.0868 178.7231 189.0219 156.0868 178.7459 189.2744 156.0868 178.8136 189.5114 156.0868 178.9241 189.7256 156.0868 179.074 189.9105 156.0868 179.2589 190.0604 156.0868 179.4731 190.1709 156.0868 179.7101 190.2386 156.0868 179.9626 190.2614 156.0868 180.2231 190.2386 156.0868 180.4836 190.1709 156.0868 180.7361 190.0604 156.0868 180.9731 189.9105 156.0868 181.1873 189.7256 156.0868 181.3722 189.5114 156.0868 181.5221 189.2744 156.0868 181.6326 189.0219 156.0868 181.7003 188.7614 156.0868 181.7231 188.5009 156.0868 181.7003 188.2483 156.0868 181.6326 188.0114 156.0868 181.5221 187.7972 156.0868 181.3722 187.6123 156.0868 181.1873 187.4623 156.0868 180.9731 187.3518 156.0868 180.7361 187.2842 156.0868 180.4836 188.7614 156.0868 180.2231 207.2614 156.0868 180.2231 207.2842 156.0868 179.9626 207.3518 156.0868 179.7101 207.4624 156.0868 179.4731 207.6123 156.0868 179.2589 207.7972 156.0868 179.074 208.0114 156.0868 178.9241 208.2483 156.0868 178.8136 208.5009 156.0868 178.7459 208.7614 156.0868 178.7231 209.0219 156.0868 178.7459 209.2744 156.0868 178.8136 209.5114 156.0868 178.9241 209.7256 156.0868 179.074 209.9104 156.0868 179.2589 210.0604 156.0868 179.4731 210.1709 156.0868 179.7101 210.2386 156.0868 179.9626 210.2614 156.0868 180.2231 210.2386 156.0868 180.4836 210.1709 156.0868 180.7361 210.0604 156.0868 180.9731 209.9104 156.0868 181.1873 209.7256 156.0868 181.3722 209.5114 156.0868 181.5221 209.2744 156.0868 181.6326 209.0219 156.0868 181.7003 208.7614 156.0868 181.7231 208.5009 156.0868 181.7003 208.2483 156.0868 181.6326 208.0114 156.0868 181.5221 207.7972 156.0868 181.3722 207.6123 156.0868 181.1873 207.4624 156.0868 180.9731 207.3518 156.0868 180.7361 207.2842 156.0868 180.4836 208.7614 156.0868 180.2231 187.2614 156.0868 200.2231 187.2842 156.0868 199.9626 187.3518 156.0868 199.7101 187.4623 156.0868 199.4731 187.6123 156.0868 199.2589 187.7972 156.0868 199.074 188.0114 156.0868 198.9241 188.2483 156.0868 198.8136 188.5009 156.0868 198.7459 188.7614 156.0868 198.7231 189.0219 156.0868 198.7459 189.2744 156.0868 198.8136 189.5114 156.0868 198.9241 189.7256 156.0868 199.074 189.9105 156.0868 199.2589 190.0604 156.0868 199.4731 190.1709 156.0868 199.7101 190.2386 156.0868 199.9626 190.2614 156.0868 200.2231 190.2386 156.0868 200.4836 190.1709 156.0868 200.7361 190.0604 156.0868 200.9731 189.9105 156.0868 201.1873 189.7256 156.0868 201.3722 189.5114 156.0868 201.5221 189.2744 156.0868 201.6326 189.0219 156.0868 201.7003 188.7614 156.0868 201.7231 188.5009 156.0868 201.7003 188.2483 156.0868 201.6326 188.0114 156.0868 201.5221 187.7972 156.0868 201.3722 187.6123 156.0868 201.1873 187.4623 156.0868 200.9731 187.3518 156.0868 200.7361 187.2842 156.0868 200.4836 188.7614 156.0868 200.2231 206.2614 157.5868 172.7231 191.2614 157.5868 172.7231 198.7614 163.0868 190.2231 180.1864 219.6368 196.2231 180.1864 204.9618 196.2231 183.2114 204.9618 196.2231 181.9611 219.9543 196.2231 181.7614 219.9368 196.2231 183.2114 219.6368 196.2231 191.098 186.0868 196.2231 188.5547 186.0118 196.2231 206.098 186.0868 196.2231 208.8047 186.0118 196.2231 191.098 188.5368 196.2231 188.5547 188.5368 196.2231 191.098 193.0868 196.2231 215.5617 185.9543 196.2231 215.3681 186.0062 196.2231 214.3114 185.0868 196.2231 217.7614 185.0868 196.2231 217.7614 186.0118 196.2231 216.1668 186.0118 196.2231 216.1547 186.0062 196.2231 215.9611 185.9543 196.2231 215.7614 185.9368 196.2231 214.7655 186.5118 196.2231 214.6807 186.6935 196.2231 214.3114 186.0118 196.2231 214.6289 186.8871 196.2231 214.6114 187.0868 196.2231 215.356 186.0118 196.2231 215.1864 186.0909 196.2231 214.6289 187.2865 196.2231 214.6807 187.4801 196.2231 214.3114 188.5368 196.2231 215.0222 186.2059 196.2231 214.8804 186.3476 196.2231 216.7573 187.6618 196.2231 216.842 187.4801 196.2231 217.7614 188.5368 196.2231 216.8939 187.2865 196.2231 216.9114 187.0868 196.2231 216.8939 186.8871 196.2231 216.842 186.6935 196.2231 216.7573 186.5118 196.2231 216.6423 186.3476 196.2231 216.5006 186.2059 196.2231 216.3364 186.0909 196.2231 214.7655 187.6618 196.2231 214.8804 187.826 196.2231 215.0222 187.9678 196.2231 216.3364 188.0827 196.2231 216.5006 187.9678 196.2231 216.6423 187.826 196.2231 215.1864 188.0827 196.2231 215.3681 188.1675 196.2231 215.5617 188.2193 196.2231 215.7614 188.2368 196.2231 215.9611 188.2193 196.2231 216.1547 188.1675 196.2231 182.8939 186.8871 196.2231 182.842 186.6935 196.2231 183.2114 186.0118 196.2231 182.7573 186.5118 196.2231 182.6423 186.3476 196.2231 182.5006 186.2059 196.2231 182.3364 186.0909 196.2231 182.1668 186.0118 196.2231 180.1864 188.5368 196.2231 181.1864 188.0827 196.2231 181.3681 188.1675 196.2231 181.5617 188.2193 196.2231 181.7614 188.2368 196.2231 183.2114 188.5368 196.2231 180.1864 186.0118 196.2231 181.1864 186.0909 196.2231 181.0222 186.2059 196.2231 181.9611 188.2193 196.2231 182.1547 188.1675 196.2231 182.3364 188.0827 196.2231 180.8804 186.3476 196.2231 180.7655 186.5118 196.2231 180.6807 186.6935 196.2231 180.6807 187.4801 196.2231 180.7655 187.6618 196.2231 182.5006 187.9678 196.2231 182.6423 187.826 196.2231 182.7573 187.6618 196.2231 182.842 187.4801 196.2231 182.8939 187.2865 196.2231 182.9114 187.0868 196.2231 180.8804 187.826 196.2231 181.0222 187.9678 196.2231 180.6289 186.8871 196.2231 180.6114 187.0868 196.2231 180.6289 187.2865 196.2231 180.1864 185.0868 196.2231 181.3681 186.0062 196.2231 181.356 186.0118 196.2231 182.1547 186.0062 196.2231 181.9611 185.9543 196.2231 183.2114 185.0868 196.2231 181.7614 185.9368 196.2231 181.5617 185.9543 196.2231 179.7614 204.9618 196.2231 179.7614 219.6368 196.2231 179.7614 223.0868 196.2231 180.1864 223.0868 196.2231 179.7614 185.0868 196.2231 179.7614 186.0118 196.2231 179.7614 188.5368 196.2231 182.1547 220.0062 196.2231 181.7614 222.2368 196.2231 183.2114 223.0868 196.2231 181.5617 222.2193 196.2231 181.3681 222.1675 196.2231 181.9611 222.2193 196.2231 182.1547 222.1675 196.2231 182.3364 222.0827 196.2231 181.5617 219.9543 196.2231 181.3681 220.0062 196.2231 181.1864 220.0909 196.2231 181.0222 220.2059 196.2231 180.6807 221.4801 196.2231 180.7655 221.6618 196.2231 180.8804 221.826 196.2231 180.8804 220.3476 196.2231 180.7655 220.5118 196.2231 180.6807 220.6935 196.2231 181.0222 221.9678 196.2231 181.1864 222.0827 196.2231 182.5006 221.9678 196.2231 182.6423 221.826 196.2231 182.7573 221.6618 196.2231 182.9114 221.0868 196.2231 182.8939 220.8871 196.2231 182.6423 220.3476 196.2231 182.5006 220.2059 196.2231 182.3364 220.0909 196.2231 180.6289 220.8871 196.2231 180.6114 221.0868 196.2231 180.6289 221.2865 196.2231 182.842 220.6935 196.2231 182.7573 220.5118 196.2231 182.842 221.4801 196.2231 182.8939 221.2865 196.2231 184.9785 219.3178 196.2231 185.1889 219.2614 196.2231 188.5547 219.6368 196.2231 184.7614 219.3368 196.2231 184.5443 219.3178 196.2231 184.5443 216.8558 196.2231 184.3339 216.9122 196.2231 184.1364 217.0043 196.2231 183.9579 217.1293 196.2231 185.3864 217.0043 196.2231 185.1889 216.9122 196.2231 188.5547 204.9618 196.2231 184.9785 216.8558 196.2231 184.7614 216.8368 196.2231 183.8038 218.8903 196.2231 183.9579 219.0444 196.2231 185.936 217.6593 196.2231 185.8439 217.4618 196.2231 183.8038 217.2833 196.2231 183.6788 217.4618 196.2231 183.5868 217.6593 196.2231 183.6788 218.7118 196.2231 184.1364 219.1693 196.2231 184.3339 219.2614 196.2231 185.7189 217.2833 196.2231 185.5649 217.1293 196.2231 185.3864 219.1693 196.2231 185.5649 219.0444 196.2231 185.7189 218.8903 196.2231 185.9924 218.3039 196.2231 186.0114 218.0868 196.2231 185.9924 217.8697 196.2231 183.5304 217.8697 196.2231 183.5114 218.0868 196.2231 183.5304 218.3039 196.2231 183.5868 218.5143 196.2231 185.8439 218.7118 196.2231 185.936 218.5143 196.2231 185.7189 190.8903 196.2231 185.8439 190.7118 196.2231 183.5304 189.8697 196.2231 183.5114 190.0868 196.2231 185.936 190.5143 196.2231 185.9924 190.3039 196.2231 183.5304 190.3039 196.2231 183.5868 190.5143 196.2231 183.6788 190.7118 196.2231 183.8038 190.8903 196.2231 186.0114 190.0868 196.2231 185.9924 189.8697 196.2231 185.936 189.6593 196.2231 185.1889 188.9122 196.2231 185.3864 189.0043 196.2231 185.5649 189.1293 196.2231 206.098 188.5368 196.2231 208.8047 188.5368 196.2231 206.098 193.0868 196.2231 208.8047 204.9618 196.2231 185.8439 189.4618 196.2231 185.7189 189.2833 196.2231 184.9785 188.8558 196.2231 184.7614 188.8368 196.2231 184.5443 188.8558 196.2231 184.3339 188.9122 196.2231 184.1364 189.0043 196.2231 183.9579 189.1293 196.2231 183.8038 189.2833 196.2231 183.9579 191.0444 196.2231 184.1364 191.1693 196.2231 184.3339 191.2614 196.2231 183.6788 189.4618 196.2231 183.5868 189.6593 196.2231 184.5443 191.3178 196.2231 184.7614 191.3368 196.2231 184.9785 191.3178 196.2231 185.1889 191.2614 196.2231 185.3864 191.1693 196.2231 185.5649 191.0444 196.2231 213.8439 218.7118 196.2231 213.936 218.5143 196.2231 214.3114 219.6368 196.2231 212.3339 216.9122 196.2231 212.1364 217.0043 196.2231 213.7189 218.8903 196.2231 212.1364 219.1693 196.2231 212.3339 219.2614 196.2231 208.8047 219.6368 196.2231 213.9924 217.8697 196.2231 214.3114 204.9618 196.2231 214.0114 218.0868 196.2231 213.9924 218.3039 196.2231 213.1889 216.9122 196.2231 212.9785 216.8558 196.2231 212.7614 216.8368 196.2231 212.5443 216.8558 196.2231 211.9579 217.1293 196.2231 211.8038 217.2833 196.2231 211.6788 217.4618 196.2231 211.5114 218.0868 196.2231 211.5304 217.8697 196.2231 211.5868 217.6593 196.2231 211.5304 218.3039 196.2231 211.5868 218.5143 196.2231 211.6788 218.7118 196.2231 213.1889 219.2614 196.2231 213.3864 219.1693 196.2231 213.5649 219.0444 196.2231 211.8038 218.8903 196.2231 211.9579 219.0444 196.2231 212.5443 219.3178 196.2231 212.7614 219.3368 196.2231 212.9785 219.3178 196.2231 213.936 217.6593 196.2231 213.8439 217.4618 196.2231 213.7189 217.2833 196.2231 213.5649 217.1293 196.2231 213.3864 217.0043 196.2231 211.5304 189.8697 196.2231 211.5114 190.0868 196.2231 211.5868 189.6593 196.2231 212.5443 188.8558 196.2231 212.7614 188.8368 196.2231 212.3339 188.9122 196.2231 212.1364 189.0043 196.2231 211.9579 189.1293 196.2231 211.8038 189.2833 196.2231 211.6788 189.4618 196.2231 214.0114 190.0868 196.2231 213.9924 189.8697 196.2231 213.936 189.6593 196.2231 213.8439 189.4618 196.2231 213.7189 189.2833 196.2231 213.5649 189.1293 196.2231 213.3864 189.0043 196.2231 213.9924 190.3039 196.2231 213.936 190.5143 196.2231 213.5649 191.0444 196.2231 213.7189 190.8903 196.2231 213.8439 190.7118 196.2231 213.1889 188.9122 196.2231 212.9785 188.8558 196.2231 211.5304 190.3039 196.2231 211.5868 190.5143 196.2231 211.6788 190.7118 196.2231 211.8038 190.8903 196.2231 211.9579 191.0444 196.2231 212.1364 191.1693 196.2231 212.3339 191.2614 196.2231 212.5443 191.3178 196.2231 212.7614 191.3368 196.2231 212.9785 191.3178 196.2231 213.1889 191.2614 196.2231 213.3864 191.1693 196.2231 208.8047 185.0868 196.2231 188.5547 185.0868 196.2231 214.6289 220.8871 196.2231 214.6114 221.0868 196.2231 216.8939 220.8871 196.2231 216.842 220.6935 196.2231 217.7614 219.6368 196.2231 215.3681 220.0062 196.2231 215.5617 219.9543 196.2231 215.7614 219.9368 196.2231 188.5547 223.0868 196.2231 208.8047 223.0868 196.2231 214.3114 223.0868 196.2231 214.6289 221.2865 196.2231 215.3681 222.1675 196.2231 215.5617 222.2193 196.2231 215.7614 222.2368 196.2231 217.7614 223.0868 196.2231 215.9611 222.2193 196.2231 216.1547 222.1675 196.2231 215.1864 220.0909 196.2231 215.0222 220.2059 196.2231 214.8804 220.3476 196.2231 216.3364 222.0827 196.2231 216.5006 221.9678 196.2231 216.6423 221.826 196.2231 216.8939 221.2865 196.2231 216.9114 221.0868 196.2231 216.7573 220.5118 196.2231 216.6423 220.3476 196.2231 216.5006 220.2059 196.2231 214.7655 220.5118 196.2231 214.6807 220.6935 196.2231 214.6807 221.4801 196.2231 214.7655 221.6618 196.2231 214.8804 221.826 196.2231 216.7573 221.6618 196.2231 216.842 221.4801 196.2231 216.3364 220.0909 196.2231 216.1547 220.0062 196.2231 215.9611 219.9543 196.2231 215.0222 221.9678 196.2231 215.1864 222.0827 196.2231 217.7614 204.9618 196.2231 179.7614 223.0868 191.2231 180.1864 223.0868 191.2231 180.1864 219.6368 191.2231 181.9611 188.2193 191.2231 181.7614 188.2368 191.2231 183.2114 188.5368 191.2231 215.5617 219.9543 191.2231 215.7614 219.9368 191.2231 214.3114 219.6368 191.2231 216.8939 220.8871 191.2231 216.9114 221.0868 191.2231 217.7614 219.6368 191.2231 214.3114 223.0868 191.2231 214.6807 221.4801 191.2231 214.6289 221.2865 191.2231 214.6807 220.6935 191.2231 214.6289 220.8871 191.2231 214.6114 221.0868 191.2231 215.9611 219.9543 191.2231 216.1547 220.0062 191.2231 215.5617 222.2193 191.2231 215.3681 222.1675 191.2231 215.1864 222.0827 191.2231 215.0222 221.9678 191.2231 214.7655 220.5118 191.2231 214.8804 220.3476 191.2231 215.0222 220.2059 191.2231 217.7614 223.0868 191.2231 216.8939 221.2865 191.2231 216.842 221.4801 191.2231 214.8804 221.826 191.2231 214.7655 221.6618 191.2231 215.1864 220.0909 191.2231 215.3681 220.0062 191.2231 216.3364 220.0909 191.2231 216.5006 220.2059 191.2231 216.6423 220.3476 191.2231 216.7573 221.6618 191.2231 216.6423 221.826 191.2231 216.5006 221.9678 191.2231 215.9611 222.2193 191.2231 215.7614 222.2368 191.2231 216.7573 220.5118 191.2231 216.842 220.6935 191.2231 216.3364 222.0827 191.2231 216.1547 222.1675 191.2231 217.7614 188.5368 191.2231 214.3114 193.9618 191.2231 217.7614 193.9618 191.2231 214.3114 214.2118 191.2231 217.7614 214.2118 191.2231 216.8939 187.2865 191.2231 216.842 187.4801 191.2231 214.8804 187.826 191.2231 214.7655 187.6618 191.2231 214.3114 188.5368 191.2231 214.6807 187.4801 191.2231 214.6289 187.2865 191.2231 214.6114 187.0868 191.2231 214.6289 186.8871 191.2231 214.3114 185.5118 191.2231 216.7573 187.6618 191.2231 216.6423 187.826 191.2231 216.5006 187.9678 191.2231 215.3681 188.1675 191.2231 215.5617 188.2193 191.2231 215.7614 188.2368 191.2231 215.1864 188.0827 191.2231 215.0222 187.9678 191.2231 214.6807 186.6935 191.2231 214.7655 186.5118 191.2231 214.8804 186.3476 191.2231 216.7573 186.5118 191.2231 216.842 186.6935 191.2231 217.7614 185.5118 191.2231 216.8939 186.8871 191.2231 216.9114 187.0868 191.2231 216.3364 188.0827 191.2231 216.1547 188.1675 191.2231 215.9611 188.2193 191.2231 216.1547 186.0062 191.2231 216.3364 186.0909 191.2231 215.0222 186.2059 191.2231 215.1864 186.0909 191.2231 215.3681 186.0062 191.2231 216.5006 186.2059 191.2231 216.6423 186.3476 191.2231 215.5617 185.9543 191.2231 215.7614 185.9368 191.2231 215.9611 185.9543 191.2231 211.9579 219.0444 191.2231 208.8864 219.6368 191.2231 212.1364 219.1693 191.2231 212.3339 219.2614 191.2231 213.3864 219.1693 191.2231 213.1889 219.2614 191.2231 211.5114 218.0868 191.2231 211.5304 218.3039 191.2231 211.5868 218.5143 191.2231 211.5304 217.8697 191.2231 211.5868 217.6593 191.2231 208.8864 214.2118 191.2231 211.6788 217.4618 191.2231 211.8038 217.2833 191.2231 212.9785 219.3178 191.2231 212.7614 219.3368 191.2231 212.5443 219.3178 191.2231 211.8038 218.8903 191.2231 211.6788 218.7118 191.2231 211.9579 217.1293 191.2231 212.1364 217.0043 191.2231 212.3339 216.9122 191.2231 212.5443 216.8558 191.2231 212.7614 216.8368 191.2231 212.9785 216.8558 191.2231 213.936 218.5143 191.2231 213.8439 218.7118 191.2231 213.7189 218.8903 191.2231 213.5649 219.0444 191.2231 213.936 217.6593 191.2231 213.9924 217.8697 191.2231 214.0114 218.0868 191.2231 213.9924 218.3039 191.2231 213.1889 216.9122 191.2231 213.3864 217.0043 191.2231 213.5649 217.1293 191.2231 213.7189 217.2833 191.2231 213.8439 217.4618 191.2231 213.7189 189.2833 191.2231 213.8439 189.4618 191.2231 212.3339 191.2614 191.2231 212.1364 191.1693 191.2231 208.8864 193.9618 191.2231 214.0114 190.0868 191.2231 213.9924 190.3039 191.2231 213.936 190.5143 191.2231 213.8439 190.7118 191.2231 211.5868 190.5143 191.2231 211.5304 190.3039 191.2231 208.8864 188.5368 191.2231 211.5114 190.0868 191.2231 211.5304 189.8697 191.2231 213.936 189.6593 191.2231 213.9924 189.8697 191.2231 213.7189 190.8903 191.2231 213.5649 191.0444 191.2231 213.3864 191.1693 191.2231 212.7614 191.3368 191.2231 212.5443 191.3178 191.2231 213.1889 191.2614 191.2231 212.9785 191.3178 191.2231 211.9579 191.0444 191.2231 211.8038 190.8903 191.2231 211.6788 190.7118 191.2231 213.1889 188.9122 191.2231 213.3864 189.0043 191.2231 213.5649 189.1293 191.2231 211.5868 189.6593 191.2231 211.6788 189.4618 191.2231 211.8038 189.2833 191.2231 211.9579 189.1293 191.2231 212.1364 189.0043 191.2231 212.3339 188.9122 191.2231 212.5443 188.8558 191.2231 212.7614 188.8368 191.2231 212.9785 188.8558 191.2231 206.2614 196.5868 191.2231 191.2614 196.5868 191.2231 188.6364 193.9618 191.2231 191.2614 211.5868 191.2231 188.6364 214.2118 191.2231 206.2614 211.5868 191.2231 188.6364 188.5368 191.2231 184.5443 216.8558 191.2231 184.7614 216.8368 191.2231 183.2114 214.2118 191.2231 184.9785 216.8558 191.2231 184.5443 219.3178 191.2231 183.2114 219.6368 191.2231 184.7614 219.3368 191.2231 188.6364 219.6368 191.2231 184.9785 219.3178 191.2231 183.9579 217.1293 191.2231 184.1364 217.0043 191.2231 184.3339 216.9122 191.2231 185.1889 216.9122 191.2231 185.3864 217.0043 191.2231 184.3339 219.2614 191.2231 184.1364 219.1693 191.2231 183.9579 219.0444 191.2231 185.5649 219.0444 191.2231 185.3864 219.1693 191.2231 185.1889 219.2614 191.2231 185.5649 217.1293 191.2231 185.7189 217.2833 191.2231 185.8439 217.4618 191.2231 185.936 217.6593 191.2231 185.9924 217.8697 191.2231 183.5868 217.6593 191.2231 183.6788 217.4618 191.2231 183.8038 217.2833 191.2231 183.8038 218.8903 191.2231 183.6788 218.7118 191.2231 183.5868 218.5143 191.2231 186.0114 218.0868 191.2231 185.9924 218.3039 191.2231 185.936 218.5143 191.2231 183.5304 218.3039 191.2231 183.5114 218.0868 191.2231 183.5304 217.8697 191.2231 185.8439 218.7118 191.2231 185.7189 218.8903 191.2231 185.8439 190.7118 191.2231 185.7189 190.8903 191.2231 184.9785 191.3178 191.2231 184.7614 191.3368 191.2231 183.2114 193.9618 191.2231 184.5443 191.3178 191.2231 184.3339 191.2614 191.2231 184.1364 191.1693 191.2231 183.9579 191.0444 191.2231 185.5649 191.0444 191.2231 185.3864 191.1693 191.2231 185.1889 191.2614 191.2231 183.8038 190.8903 191.2231 183.6788 190.7118 191.2231 183.5868 190.5143 191.2231 185.1889 188.9122 191.2231 185.3864 189.0043 191.2231 185.5649 189.1293 191.2231 185.7189 189.2833 191.2231 184.3339 188.9122 191.2231 184.5443 188.8558 191.2231 184.7614 188.8368 191.2231 184.9785 188.8558 191.2231 185.8439 189.4618 191.2231 185.936 189.6593 191.2231 185.9924 189.8697 191.2231 186.0114 190.0868 191.2231 185.9924 190.3039 191.2231 185.936 190.5143 191.2231 183.5304 190.3039 191.2231 183.5114 190.0868 191.2231 183.5304 189.8697 191.2231 183.5868 189.6593 191.2231 183.6788 189.4618 191.2231 183.8038 189.2833 191.2231 183.9579 189.1293 191.2231 184.1364 189.0043 191.2231 208.8864 185.5118 191.2231 188.6364 185.5118 191.2231 183.2114 185.5118 191.2231 181.3681 222.1675 191.2231 181.1864 222.0827 191.2231 182.1547 222.1675 191.2231 181.9611 222.2193 191.2231 183.2114 223.0868 191.2231 181.7614 222.2368 191.2231 181.5617 222.2193 191.2231 181.1864 220.0909 191.2231 181.3681 220.0062 191.2231 181.5617 219.9543 191.2231 181.7614 219.9368 191.2231 181.9611 219.9543 191.2231 182.1547 220.0062 191.2231 180.6807 220.6935 191.2231 180.7655 220.5118 191.2231 180.7655 221.6618 191.2231 180.6807 221.4801 191.2231 182.3364 220.0909 191.2231 182.5006 220.2059 191.2231 182.6423 220.3476 191.2231 181.0222 221.9678 191.2231 180.8804 221.826 191.2231 180.8804 220.3476 191.2231 181.0222 220.2059 191.2231 182.7573 220.5118 191.2231 182.842 220.6935 191.2231 182.8939 220.8871 191.2231 182.9114 221.0868 191.2231 182.8939 221.2865 191.2231 182.6423 221.826 191.2231 182.5006 221.9678 191.2231 182.3364 222.0827 191.2231 182.842 221.4801 191.2231 182.7573 221.6618 191.2231 180.6289 221.2865 191.2231 180.6114 221.0868 191.2231 180.6289 220.8871 191.2231 188.6364 223.0868 191.2231 208.8864 223.0868 191.2231 180.1864 214.2118 191.2231 180.1864 193.9618 191.2231 180.1864 188.5368 191.2231 181.3681 188.1675 191.2231 181.1864 188.0827 191.2231 181.5617 188.2193 191.2231 180.8804 186.3476 191.2231 181.0222 186.2059 191.2231 180.1864 185.5118 191.2231 181.1864 186.0909 191.2231 181.3681 186.0062 191.2231 182.1547 186.0062 191.2231 182.3364 186.0909 191.2231 182.5006 186.2059 191.2231 182.6423 186.3476 191.2231 182.7573 186.5118 191.2231 182.842 186.6935 191.2231 182.8939 186.8871 191.2231 182.9114 187.0868 191.2231 182.8939 187.2865 191.2231 182.842 187.4801 191.2231 182.7573 187.6618 191.2231 182.6423 187.826 191.2231 182.5006 187.9678 191.2231 182.3364 188.0827 191.2231 182.1547 188.1675 191.2231 181.0222 187.9678 191.2231 180.8804 187.826 191.2231 180.7655 187.6618 191.2231 180.6289 186.8871 191.2231 180.6114 187.0868 191.2231 180.6807 186.6935 191.2231 180.7655 186.5118 191.2231 181.5617 185.9543 191.2231 181.7614 185.9368 191.2231 181.9611 185.9543 191.2231 180.6807 187.4801 191.2231 180.6289 187.2865 191.2231 179.7614 219.6368 191.2231 179.7614 214.2118 191.2231 179.7614 193.9618 191.2231 179.7614 188.5368 191.2231 179.7614 185.5118 191.2231 217.7614 185.0868 191.2231 214.3114 185.0868 191.2231 208.8864 185.0868 191.2231 188.6364 185.0868 191.2231 183.2114 185.0868 191.2231 180.1864 185.0868 191.2231 179.7614 185.0868 191.2231 191.2614 211.5868 181.2231 191.2614 196.5868 181.2231 206.2614 211.5868 181.2231 206.2614 196.5868 181.2231 193.1232 202.0347 181.2231 193.5652 201.0868 181.2231 194.1651 200.2301 181.2231 194.9047 199.4905 181.2231 195.7614 198.8907 181.2231 196.7093 198.4486 181.2231 204.3995 206.1389 181.2231 203.9575 207.0868 181.2231 203.3576 207.9435 181.2231 202.6181 208.6831 181.2231 197.7195 209.9957 181.2231 198.7614 210.0868 181.2231 199.8033 209.9957 181.2231 196.7093 209.725 181.2231 195.7614 209.283 181.2231 194.9047 208.6831 181.2231 201.7614 209.283 181.2231 200.8135 209.725 181.2231 194.1651 207.9435 181.2231 193.5652 207.0868 181.2231 193.1232 206.1389 181.2231 192.8525 205.1287 181.2231 192.7614 204.0868 181.2231 192.8525 203.0449 181.2231 197.7195 198.178 181.2231 198.7614 198.0868 181.2231 199.8033 198.178 181.2231 200.8135 198.4486 181.2231 201.7614 198.8907 181.2231 202.6181 199.4905 181.2231 203.3576 200.2301 181.2231 203.9575 201.0868 181.2231 204.3995 202.0347 181.2231 204.6702 203.0449 181.2231 204.7614 204.0868 181.2231 204.6702 205.1287 181.2231 199.8033 198.178 171.2231 200.8135 198.4486 171.2231 201.7614 198.8907 171.2231 202.6181 199.4905 171.2231 203.3576 200.2301 171.2231 203.9575 201.0868 171.2231 204.3995 202.0347 171.2231 204.6702 203.0449 171.2231 204.7614 204.0868 171.2231 204.6702 205.1287 171.2231 204.3995 206.1389 171.2231 203.9575 207.0868 171.2231 203.3576 207.9435 171.2231 202.6181 208.6831 171.2231 201.7614 209.283 171.2231 200.8135 209.725 171.2231 199.8033 209.9957 171.2231 198.7614 210.0868 171.2231 197.7195 209.9957 171.2231 196.7093 209.725 171.2231 195.7614 209.283 171.2231 194.9047 208.6831 171.2231 194.1651 207.9435 171.2231 193.5652 207.0868 171.2231 193.1232 206.1389 171.2231 192.8525 205.1287 171.2231 192.7614 204.0868 171.2231 192.8525 203.0449 171.2231 193.1232 202.0347 171.2231 193.5652 201.0868 171.2231 194.1651 200.2301 171.2231 194.9047 199.4905 171.2231 195.7614 198.8907 171.2231 196.7093 198.4486 171.2231 197.7195 198.178 171.2231 198.7614 198.0868 171.2231 204.598 187.5868 211.2231 206.098 186.0868 211.2231 204.598 191.5868 211.2231 206.098 193.0868 211.2231 192.598 191.5868 211.2231 191.098 193.0868 211.2231 192.598 187.5868 211.2231 191.098 186.0868 211.2231 192.598 191.5868 196.2231 192.598 187.5868 196.2231 204.598 187.5868 196.2231 204.598 191.5868 196.2231 198.7614 194.0868 171.2231 200.3257 194.2099 167.2231 200.3257 194.2099 171.2231 201.8516 194.5762 167.2231 201.8516 194.5762 171.2231 203.3013 195.1767 167.2231 203.3013 195.1767 171.2231 204.6392 195.9966 167.2231 204.6392 195.9966 171.2231 205.8325 197.0157 167.2231 205.8325 197.0157 171.2231 206.8516 198.2089 167.2231 206.8516 198.2089 171.2231 207.6714 199.5469 167.2231 207.6714 199.5469 171.2231 208.272 200.9966 167.2231 208.272 200.9966 171.2231 208.6383 202.5225 167.2231 208.6383 202.5225 171.2231 208.7614 204.0868 167.2231 208.7614 204.0868 171.2231 208.6383 205.6511 167.2231 208.6383 205.6511 171.2231 208.272 207.177 167.2231 208.272 207.177 171.2231 207.6714 208.6267 167.2231 207.6714 208.6267 171.2231 206.8516 209.9647 167.2231 206.8516 209.9647 171.2231 205.8325 211.1579 167.2231 205.8325 211.1579 171.2231 204.6392 212.177 167.2231 204.6392 212.177 171.2231 203.3013 212.9969 167.2231 203.3013 212.9969 171.2231 201.8516 213.5974 167.2231 201.8516 213.5974 171.2231 200.3257 213.9637 167.2231 200.3257 213.9637 171.2231 198.7614 214.0868 167.2231 198.7614 214.0868 171.2231 197.197 213.9637 167.2231 197.197 213.9637 171.2231 195.6712 213.5974 167.2231 195.6712 213.5974 171.2231 194.2215 212.9969 167.2231 194.2215 212.9969 171.2231 192.8835 212.177 167.2231 192.8835 212.177 171.2231 191.6903 211.1579 167.2231 191.6903 211.1579 171.2231 190.6712 209.9647 167.2231 190.6712 209.9647 171.2231 189.8513 208.6267 167.2231 189.8513 208.6267 171.2231 189.2508 207.177 167.2231 189.2508 207.177 171.2231 188.8845 205.6511 167.2231 188.8845 205.6511 171.2231 188.7614 204.0868 167.2231 188.7614 204.0868 171.2231 188.8845 202.5225 167.2231 188.8845 202.5225 171.2231 189.2508 200.9966 167.2231 189.2508 200.9966 171.2231 189.8513 199.5469 167.2231 189.8513 199.5469 171.2231 190.6712 198.2089 167.2231 190.6712 198.2089 171.2231 191.6903 197.0157 167.2231 191.6903 197.0157 171.2231 192.8835 195.9966 167.2231 192.8835 195.9966 171.2231 194.2215 195.1767 167.2231 194.2215 195.1767 171.2231 195.6712 194.5762 167.2231 195.6712 194.5762 171.2231 197.197 194.2099 167.2231 197.197 194.2099 171.2231 198.7614 194.0868 167.2231 198.7614 204.0868 167.2231 156.7419 103.0868 199.3583 157.3955 103.0868 200.1151 156.9241 103.0868 199.1708 157.6992 103.0868 199.8026 157.071 103.0868 198.9545 157.9441 103.0868 199.4421 157.1781 103.0868 198.716 158.1226 103.0868 199.0445 157.2422 103.0868 198.4625 158.2294 103.0868 198.622 157.2612 103.0868 198.2017 158.2611 103.0868 198.1874 157.2347 103.0868 197.9416 158.217 103.0868 197.7539 157.1635 103.0868 197.69 158.0982 103.0868 197.3346 157.0496 103.0868 197.4546 157.9084 103.0868 196.9423 156.8966 103.0868 197.2426 157.6534 103.0868 196.589 156.7091 103.0868 197.0604 157.3409 103.0868 196.2852 156.4928 103.0868 196.9135 156.9804 103.0868 196.0404 156.2542 103.0868 196.8064 156.5828 103.0868 195.8619 156.0007 103.0868 196.7423 156.1603 103.0868 195.7551 155.74 103.0868 196.7232 155.7257 103.0868 195.7234 155.4799 103.0868 196.7498 155.2922 103.0868 195.7675 155.2283 103.0868 196.821 154.8729 103.0868 195.8863 154.9929 103.0868 196.9349 154.4806 103.0868 196.0761 154.7809 103.0868 197.0879 154.1272 103.0868 196.3311 154.5987 103.0868 197.2754 153.8235 103.0868 196.6436 154.4518 103.0868 197.4917 153.5787 103.0868 197.0041 154.3447 103.0868 197.7302 153.4002 103.0868 197.4017 154.2806 103.0868 197.9837 153.2934 103.0868 197.8242 154.2615 103.0868 198.2445 153.2616 103.0868 198.2588 154.288 103.0868 198.5046 153.3058 103.0868 198.6923 154.3593 103.0868 198.7562 153.4246 103.0868 199.1116 154.4732 103.0868 198.9916 153.6144 103.0868 199.5039 154.6262 103.0868 199.2036 153.8694 103.0868 199.8572 154.8137 103.0868 199.3858 154.1819 103.0868 200.1609 155.03 103.0868 199.5327 154.5424 103.0868 200.4058 155.2685 103.0868 199.6398 154.94 103.0868 200.5843 155.522 103.0868 199.7039 155.3624 103.0868 200.6911 155.7828 103.0868 199.7229 155.7971 103.0868 200.7229 156.0429 103.0868 199.6964 156.2306 103.0868 200.6787 156.2945 103.0868 199.6252 156.6499 103.0868 200.5599 156.5298 103.0868 199.5113 157.0422 103.0868 200.3701 155.7828 83.08682 199.7229 155.7971 83.08682 200.7229 155.522 83.08682 199.7039 155.3624 83.08682 200.6911 155.2685 83.08682 199.6398 154.94 83.08682 200.5843 155.03 83.08682 199.5327 154.5424 83.08682 200.4058 154.8137 83.08682 199.3858 154.1819 83.08682 200.1609 154.6262 83.08682 199.2036 153.8694 83.08682 199.8572 154.4732 83.08682 198.9916 153.6144 83.08682 199.5039 154.3593 83.08682 198.7562 153.4246 83.08682 199.1116 154.288 83.08682 198.5046 153.3058 83.08682 198.6923 154.2615 83.08682 198.2445 153.2616 83.08682 198.2588 154.2806 83.08682 197.9837 153.2934 83.08682 197.8242 154.3447 83.08682 197.7302 153.4002 83.08682 197.4017 154.4518 83.08682 197.4917 153.5787 83.08682 197.0041 154.5987 83.08682 197.2754 153.8235 83.08682 196.6436 154.7809 83.08682 197.0879 154.1272 83.08682 196.3311 154.9929 83.08682 196.9349 154.4806 83.08682 196.0761 155.2283 83.08682 196.821 154.8729 83.08682 195.8863 155.4799 83.08682 196.7498 155.2922 83.08682 195.7675 155.74 83.08682 196.7232 155.7257 83.08682 195.7234 156.0007 83.08682 196.7423 156.1603 83.08682 195.7551 156.2542 83.08682 196.8064 156.5828 83.08682 195.8619 156.4928 83.08682 196.9135 156.9804 83.08682 196.0404 156.7091 83.08682 197.0604 157.3409 83.08682 196.2852 156.8966 83.08682 197.2426 157.6534 83.08682 196.589 157.0496 83.08682 197.4546 157.9084 83.08682 196.9423 157.1635 83.08682 197.69 158.0982 83.08682 197.3346 157.2347 83.08682 197.9416 158.217 83.08682 197.7539 157.2612 83.08682 198.2017 158.2611 83.08682 198.1874 157.2422 83.08682 198.4625 158.2294 83.08682 198.622 157.1781 83.08682 198.716 158.1226 83.08682 199.0445 157.071 83.08682 198.9545 157.9441 83.08682 199.4421 156.9241 83.08682 199.1708 157.6992 83.08682 199.8026 156.7419 83.08682 199.3583 157.3955 83.08682 200.1151 156.5298 83.08682 199.5113 157.0422 83.08682 200.3701 156.2945 83.08682 199.6252 156.6499 83.08682 200.5599 156.0429 83.08682 199.6964 156.2306 83.08682 200.6787 196.9919 103.0868 231.3583 197.6455 103.0868 232.1151 197.1741 103.0868 231.1708 197.9492 103.0868 231.8026 197.321 103.0868 230.9545 198.1941 103.0868 231.4421 197.4281 103.0868 230.716 198.3726 103.0868 231.0445 197.4922 103.0868 230.4625 198.4794 103.0868 230.622 197.5112 103.0868 230.2017 198.5111 103.0868 230.1874 197.4847 103.0868 229.9416 198.467 103.0868 229.7539 197.4135 103.0868 229.69 198.3482 103.0868 229.3346 197.2996 103.0868 229.4546 198.1584 103.0868 228.9423 197.1466 103.0868 229.2426 197.9034 103.0868 228.589 196.9591 103.0868 229.0604 197.5909 103.0868 228.2852 196.7428 103.0868 228.9135 197.2304 103.0868 228.0404 196.5042 103.0868 228.8064 196.8328 103.0868 227.8619 196.2507 103.0868 228.7423 196.4103 103.0868 227.7551 195.99 103.0868 228.7232 195.9757 103.0868 227.7234 195.7299 103.0868 228.7498 195.5422 103.0868 227.7675 195.4783 103.0868 228.821 195.1229 103.0868 227.8863 195.2429 103.0868 228.9349 194.7306 103.0868 228.0761 195.0309 103.0868 229.0879 194.3772 103.0868 228.3311 194.8487 103.0868 229.2754 194.0735 103.0868 228.6436 194.7018 103.0868 229.4917 193.8287 103.0868 229.0041 194.5947 103.0868 229.7302 193.6502 103.0868 229.4017 194.5306 103.0868 229.9837 193.5434 103.0868 229.8242 194.5115 103.0868 230.2445 193.5116 103.0868 230.2588 194.538 103.0868 230.5046 193.5558 103.0868 230.6923 194.6093 103.0868 230.7562 193.6746 103.0868 231.1116 194.7232 103.0868 230.9916 193.8644 103.0868 231.5039 194.8762 103.0868 231.2036 194.1194 103.0868 231.8572 195.0637 103.0868 231.3858 194.4319 103.0868 232.1609 195.28 103.0868 231.5327 194.7924 103.0868 232.4058 195.5185 103.0868 231.6398 195.19 103.0868 232.5843 195.772 103.0868 231.7039 195.6124 103.0868 232.6911 196.0328 103.0868 231.7229 196.0471 103.0868 232.7229 196.2929 103.0868 231.6964 196.4806 103.0868 232.6787 196.5445 103.0868 231.6252 196.8999 103.0868 232.5599 196.7798 103.0868 231.5113 197.2922 103.0868 232.3701 196.0328 83.08682 231.7229 196.0471 83.08682 232.7229 195.772 83.08682 231.7039 195.6124 83.08682 232.6911 195.5185 83.08682 231.6398 195.19 83.08682 232.5843 195.28 83.08682 231.5327 194.7924 83.08682 232.4058 195.0637 83.08682 231.3858 194.4319 83.08682 232.1609 194.8762 83.08682 231.2036 194.1194 83.08682 231.8572 194.7232 83.08682 230.9916 193.8644 83.08682 231.5039 194.6093 83.08682 230.7562 193.6746 83.08682 231.1116 194.538 83.08682 230.5046 193.5558 83.08682 230.6923 194.5115 83.08682 230.2445 193.5116 83.08682 230.2588 194.5306 83.08682 229.9837 193.5434 83.08682 229.8242 194.5947 83.08682 229.7302 193.6502 83.08682 229.4017 194.7018 83.08682 229.4917 193.8287 83.08682 229.0041 194.8487 83.08682 229.2754 194.0735 83.08682 228.6436 195.0309 83.08682 229.0879 194.3772 83.08682 228.3311 195.2429 83.08682 228.9349 194.7306 83.08682 228.0761 195.4783 83.08682 228.821 195.1229 83.08682 227.8863 195.7299 83.08682 228.7498 195.5422 83.08682 227.7675 195.99 83.08682 228.7232 195.9757 83.08682 227.7234 196.2507 83.08682 228.7423 196.4103 83.08682 227.7551 196.5042 83.08682 228.8064 196.8328 83.08682 227.8619 196.7428 83.08682 228.9135 197.2304 83.08682 228.0404 196.9591 83.08682 229.0604 197.5909 83.08682 228.2852 197.1466 83.08682 229.2426 197.9034 83.08682 228.589 197.2996 83.08682 229.4546 198.1584 83.08682 228.9423 197.4135 83.08682 229.69 198.3482 83.08682 229.3346 197.4847 83.08682 229.9416 198.467 83.08682 229.7539 197.5112 83.08682 230.2017 198.5111 83.08682 230.1874 197.4922 83.08682 230.4625 198.4794 83.08682 230.622 197.4281 83.08682 230.716 198.3726 83.08682 231.0445 197.321 83.08682 230.9545 198.1941 83.08682 231.4421 197.1741 83.08682 231.1708 197.9492 83.08682 231.8026 196.9919 83.08682 231.3583 197.6455 83.08682 232.1151 196.7798 83.08682 231.5113 197.2922 83.08682 232.3701 196.5445 83.08682 231.6252 196.8999 83.08682 232.5599 196.2929 83.08682 231.6964 196.4806 83.08682 232.6787 223.0114 139.0868 156.2231 223.0114 139.0868 158.2231 222.9848 139.3907 156.2231 222.9848 139.3907 158.2231 222.9058 139.6853 156.2231 222.9058 139.6853 158.2231 222.7769 139.9618 156.2231 222.7769 139.9618 158.2231 222.602 140.2117 156.2231 222.602 140.2117 158.2231 222.3863 140.4274 156.2231 222.3863 140.4274 158.2231 222.1364 140.6024 156.2231 222.1364 140.6024 158.2231 221.8599 140.7313 156.2231 221.8599 140.7313 158.2231 221.5653 140.8102 156.2231 221.5653 140.8102 158.2231 221.2614 140.8368 156.2231 221.2614 140.8368 158.2231 220.9575 140.8102 156.2231 220.9575 140.8102 158.2231 220.6629 140.7313 156.2231 220.6629 140.7313 158.2231 220.3864 140.6024 156.2231 220.3864 140.6024 158.2231 220.1365 140.4274 156.2231 220.1365 140.4274 158.2231 219.9208 140.2117 156.2231 219.9208 140.2117 158.2231 219.7458 139.9618 156.2231 219.7458 139.9618 158.2231 219.6169 139.6853 156.2231 219.6169 139.6853 158.2231 219.538 139.3907 156.2231 219.538 139.3907 158.2231 219.5114 139.0868 156.2231 219.5114 139.0868 158.2231 219.538 138.7829 156.2231 219.538 138.7829 158.2231 219.6169 138.4883 156.2231 219.6169 138.4883 158.2231 219.7458 138.2118 156.2231 219.7458 138.2118 158.2231 219.9208 137.9619 156.2231 219.9208 137.9619 158.2231 220.1365 137.7462 156.2231 220.1365 137.7462 158.2231 220.3864 137.5713 156.2231 220.3864 137.5713 158.2231 220.6629 137.4423 156.2231 220.6629 137.4423 158.2231 220.9575 137.3634 156.2231 220.9575 137.3634 158.2231 221.2614 137.3368 156.2231 221.2614 137.3368 158.2231 221.5653 137.3634 156.2231 221.5653 137.3634 158.2231 221.8599 137.4423 156.2231 221.8599 137.4423 158.2231 222.1364 137.5713 156.2231 222.1364 137.5713 158.2231 222.3863 137.7462 156.2231 222.3863 137.7462 158.2231 222.602 137.9619 156.2231 222.602 137.9619 158.2231 222.7769 138.2118 156.2231 222.7769 138.2118 158.2231 222.9058 138.4883 156.2231 222.9058 138.4883 158.2231 222.9848 138.7829 156.2231 222.9848 138.7829 158.2231 178.0114 139.0868 156.2231 178.0114 139.0868 158.2231 177.9848 139.3907 156.2231 177.9848 139.3907 158.2231 177.9058 139.6853 156.2231 177.9058 139.6853 158.2231 177.7769 139.9618 156.2231 177.7769 139.9618 158.2231 177.602 140.2117 156.2231 177.602 140.2117 158.2231 177.3863 140.4274 156.2231 177.3863 140.4274 158.2231 177.1364 140.6024 156.2231 177.1364 140.6024 158.2231 176.8599 140.7313 156.2231 176.8599 140.7313 158.2231 176.5653 140.8102 156.2231 176.5653 140.8102 158.2231 176.2614 140.8368 156.2231 176.2614 140.8368 158.2231 175.9575 140.8102 156.2231 175.9575 140.8102 158.2231 175.6629 140.7313 156.2231 175.6629 140.7313 158.2231 175.3864 140.6024 156.2231 175.3864 140.6024 158.2231 175.1365 140.4274 156.2231 175.1365 140.4274 158.2231 174.9208 140.2117 156.2231 174.9208 140.2117 158.2231 174.7458 139.9618 156.2231 174.7458 139.9618 158.2231 174.6169 139.6853 156.2231 174.6169 139.6853 158.2231 174.538 139.3907 156.2231 174.538 139.3907 158.2231 174.5114 139.0868 156.2231 174.5114 139.0868 158.2231 174.538 138.7829 156.2231 174.538 138.7829 158.2231 174.6169 138.4883 156.2231 174.6169 138.4883 158.2231 174.7458 138.2118 156.2231 174.7458 138.2118 158.2231 174.9208 137.9619 156.2231 174.9208 137.9619 158.2231 175.1365 137.7462 156.2231 175.1365 137.7462 158.2231 175.3864 137.5713 156.2231 175.3864 137.5713 158.2231 175.6629 137.4423 156.2231 175.6629 137.4423 158.2231 175.9575 137.3634 156.2231 175.9575 137.3634 158.2231 176.2614 137.3368 156.2231 176.2614 137.3368 158.2231 176.5653 137.3634 156.2231 176.5653 137.3634 158.2231 176.8599 137.4423 156.2231 176.8599 137.4423 158.2231 177.1364 137.5713 156.2231 177.1364 137.5713 158.2231 177.3863 137.7462 156.2231 177.3863 137.7462 158.2231 177.602 137.9619 156.2231 177.602 137.9619 158.2231 177.7769 138.2118 156.2231 177.7769 138.2118 158.2231 177.9058 138.4883 156.2231 177.9058 138.4883 158.2231 177.9848 138.7829 156.2231 177.9848 138.7829 158.2231 238.7614 151.0868 160.2231 243.2614 151.0868 160.2231 238.7614 148.0868 160.2231 243.2614 148.0868 160.2231 158.7614 148.0868 160.2231 154.2614 148.0868 160.2231 158.7614 151.0868 160.2231 154.2614 151.0868 160.2231 208.7614 149.5868 198.4731 208.7614 151.0868 198.4731 208.4575 149.5868 198.4997 208.4575 151.0868 198.4997 208.1629 149.5868 198.5786 208.1629 151.0868 198.5786 207.8864 149.5868 198.7075 207.8864 151.0868 198.7075 207.6365 149.5868 198.8825 207.6365 151.0868 198.8825 207.4208 149.5868 199.0982 207.4208 151.0868 199.0982 207.2458 149.5868 199.3481 207.2458 151.0868 199.3481 207.1169 149.5868 199.6246 207.1169 151.0868 199.6246 207.038 149.5868 199.9192 207.038 151.0868 199.9192 207.0114 149.5868 200.2231 207.0114 151.0868 200.2231 207.038 149.5868 200.527 207.038 151.0868 200.527 207.1169 149.5868 200.8216 207.1169 151.0868 200.8216 207.2458 149.5868 201.0981 207.2458 151.0868 201.0981 207.4208 149.5868 201.348 207.4208 151.0868 201.348 207.6365 149.5868 201.5637 207.6365 151.0868 201.5637 207.8864 149.5868 201.7386 207.8864 151.0868 201.7386 208.1629 149.5868 201.8676 208.1629 151.0868 201.8676 208.4575 149.5868 201.9465 208.4575 151.0868 201.9465 208.7614 149.5868 201.9731 208.7614 151.0868 201.9731 209.0653 149.5868 201.9465 209.0653 151.0868 201.9465 209.3599 149.5868 201.8676 209.3599 151.0868 201.8676 209.6364 149.5868 201.7386 209.6364 151.0868 201.7386 209.8863 149.5868 201.5637 209.8863 151.0868 201.5637 210.102 149.5868 201.348 210.102 151.0868 201.348 210.2769 149.5868 201.0981 210.2769 151.0868 201.0981 210.4058 149.5868 200.8216 210.4058 151.0868 200.8216 210.4848 149.5868 200.527 210.4848 151.0868 200.527 210.5114 149.5868 200.2231 210.5114 151.0868 200.2231 210.4848 149.5868 199.9192 210.4848 151.0868 199.9192 210.4058 149.5868 199.6246 210.4058 151.0868 199.6246 210.2769 149.5868 199.3481 210.2769 151.0868 199.3481 210.102 149.5868 199.0982 210.102 151.0868 199.0982 209.8863 149.5868 198.8825 209.8863 151.0868 198.8825 209.6364 149.5868 198.7075 209.6364 151.0868 198.7075 209.3599 149.5868 198.5786 209.3599 151.0868 198.5786 209.0653 149.5868 198.4997 209.0653 151.0868 198.4997 188.7614 149.5868 198.4731 188.7614 151.0868 198.4731 188.4575 149.5868 198.4997 188.4575 151.0868 198.4997 188.1629 149.5868 198.5786 188.1629 151.0868 198.5786 187.8864 149.5868 198.7075 187.8864 151.0868 198.7075 187.6365 149.5868 198.8825 187.6365 151.0868 198.8825 187.4208 149.5868 199.0982 187.4208 151.0868 199.0982 187.2458 149.5868 199.3481 187.2458 151.0868 199.3481 187.1169 149.5868 199.6246 187.1169 151.0868 199.6246 187.038 149.5868 199.9192 187.038 151.0868 199.9192 187.0114 149.5868 200.2231 187.0114 151.0868 200.2231 187.038 149.5868 200.527 187.038 151.0868 200.527 187.1169 149.5868 200.8216 187.1169 151.0868 200.8216 187.2458 149.5868 201.0981 187.2458 151.0868 201.0981 187.4208 149.5868 201.348 187.4208 151.0868 201.348 187.6365 149.5868 201.5637 187.6365 151.0868 201.5637 187.8864 149.5868 201.7386 187.8864 151.0868 201.7386 188.1629 149.5868 201.8676 188.1629 151.0868 201.8676 188.4575 149.5868 201.9465 188.4575 151.0868 201.9465 188.7614 149.5868 201.9731 188.7614 151.0868 201.9731 189.0653 149.5868 201.9465 189.0653 151.0868 201.9465 189.3599 149.5868 201.8676 189.3599 151.0868 201.8676 189.6364 149.5868 201.7386 189.6364 151.0868 201.7386 189.8863 149.5868 201.5637 189.8863 151.0868 201.5637 190.102 149.5868 201.348 190.102 151.0868 201.348 190.2769 149.5868 201.0981 190.2769 151.0868 201.0981 190.4058 149.5868 200.8216 190.4058 151.0868 200.8216 190.4848 149.5868 200.527 190.4848 151.0868 200.527 190.5114 149.5868 200.2231 190.5114 151.0868 200.2231 190.4848 149.5868 199.9192 190.4848 151.0868 199.9192 190.4058 149.5868 199.6246 190.4058 151.0868 199.6246 190.2769 149.5868 199.3481 190.2769 151.0868 199.3481 190.102 149.5868 199.0982 190.102 151.0868 199.0982 189.8863 149.5868 198.8825 189.8863 151.0868 198.8825 189.6364 149.5868 198.7075 189.6364 151.0868 198.7075 189.3599 149.5868 198.5786 189.3599 151.0868 198.5786 189.0653 149.5868 198.4997 189.0653 151.0868 198.4997 188.7614 149.5868 178.4731 188.7614 151.0868 178.4731 188.4575 149.5868 178.4997 188.4575 151.0868 178.4997 188.1629 149.5868 178.5786 188.1629 151.0868 178.5786 187.8864 149.5868 178.7076 187.8864 151.0868 178.7076 187.6365 149.5868 178.8825 187.6365 151.0868 178.8825 187.4208 149.5868 179.0982 187.4208 151.0868 179.0982 187.2458 149.5868 179.3481 187.2458 151.0868 179.3481 187.1169 149.5868 179.6246 187.1169 151.0868 179.6246 187.038 149.5868 179.9192 187.038 151.0868 179.9192 187.0114 149.5868 180.2231 187.0114 151.0868 180.2231 187.038 149.5868 180.527 187.038 151.0868 180.527 187.1169 149.5868 180.8216 187.1169 151.0868 180.8216 187.2458 149.5868 181.0981 187.2458 151.0868 181.0981 187.4208 149.5868 181.348 187.4208 151.0868 181.348 187.6365 149.5868 181.5637 187.6365 151.0868 181.5637 187.8864 149.5868 181.7386 187.8864 151.0868 181.7386 188.1629 149.5868 181.8676 188.1629 151.0868 181.8676 188.4575 149.5868 181.9465 188.4575 151.0868 181.9465 188.7614 149.5868 181.9731 188.7614 151.0868 181.9731 189.0653 149.5868 181.9465 189.0653 151.0868 181.9465 189.3599 149.5868 181.8676 189.3599 151.0868 181.8676 189.6364 149.5868 181.7386 189.6364 151.0868 181.7386 189.8863 149.5868 181.5637 189.8863 151.0868 181.5637 190.102 149.5868 181.348 190.102 151.0868 181.348 190.2769 149.5868 181.0981 190.2769 151.0868 181.0981 190.4058 149.5868 180.8216 190.4058 151.0868 180.8216 190.4848 149.5868 180.527 190.4848 151.0868 180.527 190.5114 149.5868 180.2231 190.5114 151.0868 180.2231 190.4848 149.5868 179.9192 190.4848 151.0868 179.9192 190.4058 149.5868 179.6246 190.4058 151.0868 179.6246 190.2769 149.5868 179.3481 190.2769 151.0868 179.3481 190.102 149.5868 179.0982 190.102 151.0868 179.0982 189.8863 149.5868 178.8825 189.8863 151.0868 178.8825 189.6364 149.5868 178.7076 189.6364 151.0868 178.7076 189.3599 149.5868 178.5786 189.3599 151.0868 178.5786 189.0653 149.5868 178.4997 189.0653 151.0868 178.4997 208.7614 149.5868 178.4731 208.7614 151.0868 178.4731 208.4575 149.5868 178.4997 208.4575 151.0868 178.4997 208.1629 149.5868 178.5786 208.1629 151.0868 178.5786 207.8864 149.5868 178.7076 207.8864 151.0868 178.7076 207.6365 149.5868 178.8825 207.6365 151.0868 178.8825 207.4208 149.5868 179.0982 207.4208 151.0868 179.0982 207.2458 149.5868 179.3481 207.2458 151.0868 179.3481 207.1169 149.5868 179.6246 207.1169 151.0868 179.6246 207.038 149.5868 179.9192 207.038 151.0868 179.9192 207.0114 149.5868 180.2231 207.0114 151.0868 180.2231 207.038 149.5868 180.527 207.038 151.0868 180.527 207.1169 149.5868 180.8216 207.1169 151.0868 180.8216 207.2458 149.5868 181.0981 207.2458 151.0868 181.0981 207.4208 149.5868 181.348 207.4208 151.0868 181.348 207.6365 149.5868 181.5637 207.6365 151.0868 181.5637 207.8864 149.5868 181.7386 207.8864 151.0868 181.7386 208.1629 149.5868 181.8676 208.1629 151.0868 181.8676 208.4575 149.5868 181.9465 208.4575 151.0868 181.9465 208.7614 149.5868 181.9731 208.7614 151.0868 181.9731 209.0653 149.5868 181.9465 209.0653 151.0868 181.9465 209.3599 149.5868 181.8676 209.3599 151.0868 181.8676 209.6364 149.5868 181.7386 209.6364 151.0868 181.7386 209.8863 149.5868 181.5637 209.8863 151.0868 181.5637 210.102 149.5868 181.348 210.102 151.0868 181.348 210.2769 149.5868 181.0981 210.2769 151.0868 181.0981 210.4058 149.5868 180.8216 210.4058 151.0868 180.8216 210.4848 149.5868 180.527 210.4848 151.0868 180.527 210.5114 149.5868 180.2231 210.5114 151.0868 180.2231 210.4848 149.5868 179.9192 210.4848 151.0868 179.9192 210.4058 149.5868 179.6246 210.4058 151.0868 179.6246 210.2769 149.5868 179.3481 210.2769 151.0868 179.3481 210.102 149.5868 179.0982 210.102 151.0868 179.0982 209.8863 149.5868 178.8825 209.8863 151.0868 178.8825 209.6364 149.5868 178.7076 209.6364 151.0868 178.7076 209.3599 149.5868 178.5786 209.3599 151.0868 178.5786 209.0653 149.5868 178.4997 209.0653 151.0868 178.4997 237.3202 149.5868 175.1231 237.4114 151.0868 174.9276 237.4528 149.5868 174.8387 237.4528 151.0868 174.8387 237.534 149.5868 174.5357 237.534 151.0868 174.5357 237.5614 149.5868 174.2231 237.5614 151.0868 174.2231 237.534 149.5868 173.9105 237.534 151.0868 173.9105 237.4528 149.5868 173.6075 237.4528 151.0868 173.6075 237.4114 151.0868 173.5186 237.3202 149.5868 173.3231 237.3202 151.0868 173.3231 237.1403 149.5868 173.0661 237.1403 151.0868 173.0661 236.9184 149.5868 172.8442 236.9184 151.0868 172.8442 236.6614 149.5868 172.6643 236.6614 151.0868 172.6643 236.377 149.5868 172.5316 236.377 151.0868 172.5316 236.074 149.5868 172.4505 236.074 151.0868 172.4505 235.7614 149.5868 172.4231 235.7614 151.0868 172.4231 235.4488 149.5868 172.4505 235.4488 151.0868 172.4505 235.1457 149.5868 172.5316 235.1457 151.0868 172.5316 234.8614 149.5868 172.6643 234.8614 151.0868 172.6643 234.6044 149.5868 172.8442 234.6044 151.0868 172.8442 234.3825 149.5868 173.0661 234.3825 151.0868 173.0661 234.2025 149.5868 173.3231 234.2025 151.0868 173.3231 234.0699 149.5868 173.6075 234.0699 151.0868 173.6075 233.9887 149.5868 173.9105 233.9887 151.0868 173.9105 233.9614 149.5868 174.2231 233.9614 151.0868 174.2231 233.9887 149.5868 174.5357 233.9887 151.0868 174.5357 234.0699 149.5868 174.8387 234.0699 151.0868 174.8387 234.2025 149.5868 175.1231 234.2025 151.0868 175.1231 234.3825 149.5868 175.3801 234.3825 151.0868 175.3801 234.6044 149.5868 175.602 234.6044 151.0868 175.602 234.8614 149.5868 175.7819 234.8614 151.0868 175.7819 235.1457 149.5868 175.9145 235.1457 151.0868 175.9145 235.4488 149.5868 175.9958 235.4488 151.0868 175.9958 235.7614 149.5868 176.0231 235.7614 151.0868 176.0231 236.074 149.5868 175.9958 236.074 151.0868 175.9958 236.377 149.5868 175.9145 236.377 151.0868 175.9145 236.6614 149.5868 175.7819 236.6614 151.0868 175.7819 236.9184 149.5868 175.602 236.9184 151.0868 175.602 237.1403 149.5868 175.3801 237.1403 151.0868 175.3801 237.3202 151.0868 175.1231 161.7614 149.5868 236.4231 161.7614 151.0868 236.4231 161.4488 149.5868 236.4505 161.4488 151.0868 236.4505 161.1457 149.5868 236.5317 161.1457 151.0868 236.5317 160.8614 149.5868 236.6643 160.8614 151.0868 236.6643 160.6044 149.5868 236.8442 160.6044 151.0868 236.8442 160.3825 149.5868 237.0661 160.3825 151.0868 237.0661 160.2025 149.5868 237.3231 160.2025 151.0868 237.3231 160.0699 149.5868 237.6075 160.0699 151.0868 237.6075 159.9887 149.5868 237.9105 159.9887 151.0868 237.9105 159.9614 149.5868 238.2231 159.9614 151.0868 238.2231 159.9887 149.5868 238.5357 159.9887 151.0868 238.5357 160.0699 149.5868 238.8387 160.0699 151.0868 238.8387 160.2025 149.5868 239.1231 160.2025 151.0868 239.1231 160.3825 149.5868 239.3801 160.3825 151.0868 239.3801 160.6044 149.5868 239.602 160.6044 151.0868 239.602 160.8614 149.5868 239.7819 160.8614 151.0868 239.7819 161.1457 149.5868 239.9145 161.1457 151.0868 239.9145 161.4488 149.5868 239.9958 161.4488 151.0868 239.9958 161.7614 149.5868 240.0231 161.7614 151.0868 240.0231 162.074 149.5868 239.9958 162.074 151.0868 239.9958 162.377 149.5868 239.9145 162.377 151.0868 239.9145 162.6614 149.5868 239.7819 162.6614 151.0868 239.7819 162.9184 149.5868 239.602 162.9184 151.0868 239.602 163.1403 149.5868 239.3801 163.1403 151.0868 239.3801 163.3202 149.5868 239.1231 163.3202 151.0868 239.1231 163.4528 149.5868 238.8387 163.4528 151.0868 238.8387 163.534 149.5868 238.5357 163.534 151.0868 238.5357 163.5614 149.5868 238.2231 163.5614 151.0868 238.2231 163.534 149.5868 237.9105 163.534 151.0868 237.9105 163.4528 149.5868 237.6075 163.4528 151.0868 237.6075 163.3202 149.5868 237.3231 163.3202 151.0868 237.3231 163.1403 149.5868 237.0661 163.1403 151.0868 237.0661 162.9184 149.5868 236.8442 162.9184 151.0868 236.8442 162.6614 149.5868 236.6643 162.6614 151.0868 236.6643 162.377 149.5868 236.5317 162.377 151.0868 236.5317 162.074 149.5868 236.4505 162.074 151.0868 236.4505 248.2614 133.1717 218.6161 248.2614 132.9217 218.9731 248.2614 126.0868 213.2231 248.2614 126.7887 166.2947 248.2614 127.1585 165.925 248.2614 133.4798 173.308 248.2614 127.5868 165.625 248.2614 133.1717 173.6161 248.2614 126.1324 167.7022 248.2614 126.2677 167.197 248.2614 126.4887 166.7231 248.2614 134.6527 172.7611 248.2614 134.2318 172.8739 248.2614 129.0868 165.2231 248.2614 133.8368 173.058 248.2614 128.5659 165.2687 248.2614 128.0608 165.404 248.2614 126.0868 168.2231 248.2614 132.9217 173.9731 248.2614 132.7376 174.3681 248.2614 132.6248 174.789 248.2614 132.5868 175.2231 248.2614 126.0868 182.2231 248.2614 132.6248 175.6572 248.2614 132.7376 219.3681 248.2614 132.6248 219.789 248.2614 126.0868 227.2231 248.2614 132.5868 220.2231 248.2614 132.6248 220.6572 248.2614 143.0868 210.2231 248.2614 135.0868 217.7231 248.2614 129.0868 210.2231 248.2614 134.6527 217.7611 248.2614 126.4887 211.7231 248.2614 133.4798 218.308 248.2614 126.2677 212.197 248.2614 126.1324 212.7022 248.2614 126.7887 211.2947 248.2614 127.1585 210.925 248.2614 127.5868 210.625 248.2614 134.2318 217.8739 248.2614 133.8368 218.058 248.2614 128.5659 210.2687 248.2614 128.0608 210.404 248.2614 127.5868 184.8212 248.2614 127.1585 184.5212 248.2614 133.4798 177.1382 248.2614 126.7887 184.1515 248.2614 135.5209 177.6851 248.2614 135.9419 177.5723 248.2614 151.0868 177.2481 248.2614 136.3368 177.3882 248.2614 136.6938 177.1382 248.2614 132.7376 176.0782 248.2614 132.9217 176.4731 248.2614 126.1324 182.744 248.2614 133.1717 176.8301 248.2614 126.2677 183.2492 248.2614 126.4887 183.7231 248.2614 137.0019 176.8301 248.2614 137.2519 176.4731 248.2614 137.436 176.0782 248.2614 129.0868 230.2231 248.2614 133.8368 222.3882 248.2614 134.2318 222.5723 248.2614 151.0868 233.3231 248.2614 137.436 221.0782 248.2614 151.0868 220.2231 248.2614 137.5488 220.6572 248.2614 137.5868 220.2231 248.2614 137.5488 219.789 248.2614 137.436 219.3681 248.2614 151.0868 206.0981 248.2614 137.2519 218.9731 248.2614 137.0019 218.6161 248.2614 144.7969 185.5246 248.2614 143.955 185.2991 248.2614 134.6527 177.6851 248.2614 143.0868 185.2231 248.2614 134.2318 177.5723 248.2614 129.0868 185.2231 248.2614 133.8368 177.3882 248.2614 128.5659 185.1775 248.2614 128.0608 185.0422 248.2614 148.0252 234.4409 248.2614 147.8421 233.678 248.2614 137.5488 175.6572 248.2614 137.5868 175.2231 248.2614 151.0868 170.8231 248.2614 128.0608 230.0422 248.2614 127.5868 229.8212 248.2614 133.4798 222.1382 248.2614 127.1585 229.5212 248.2614 126.7887 229.1515 248.2614 136.3368 218.058 248.2614 135.9419 217.8739 248.2614 135.5209 217.7611 248.2614 148.0868 165.2231 248.2614 136.6938 173.308 248.2614 136.3368 173.058 248.2614 132.7376 221.0782 248.2614 132.9217 221.4731 248.2614 126.1324 227.744 248.2614 133.1717 221.8301 248.2614 126.2677 228.2492 248.2614 126.4887 228.7231 248.2614 128.5659 230.1775 248.2614 135.9419 222.5723 248.2614 146.0257 231.178 248.2614 145.3568 230.7681 248.2614 143.955 210.1471 248.2614 144.7969 209.9216 248.2614 147.4169 207.7231 248.2614 147.7853 206.9332 248.2614 136.6938 218.308 248.2614 137.5488 174.789 248.2614 137.436 174.3681 248.2614 151.0868 165.2231 248.2614 137.2519 173.9731 248.2614 137.0019 173.6161 248.2614 135.9419 172.8739 248.2614 135.5209 172.7611 248.2614 135.0868 172.7231 248.2614 134.6527 222.6851 248.2614 135.0868 222.7231 248.2614 143.0868 230.2231 248.2614 135.5209 222.6851 248.2614 143.869 230.2847 248.2614 144.6319 230.4678 248.2614 151.0868 237.2231 248.2614 148.0868 237.2231 248.2614 148.0868 235.2231 248.2614 147.5418 232.9532 248.2614 147.1319 232.2842 248.2614 146.6223 231.6876 248.2614 135.0868 177.7231 248.2614 146.3007 186.3929 248.2614 145.5868 185.893 248.2614 136.3368 222.3882 248.2614 136.6938 222.1382 248.2614 137.0019 221.8301 248.2614 137.2519 221.4731 248.2614 151.0868 184.5981 248.2614 148.0108 189.3549 248.2614 147.7853 188.513 248.2614 145.5868 209.5532 248.2614 146.3007 209.0533 248.2614 146.917 208.437 248.2614 147.4169 187.7231 248.2614 146.917 187.0092 248.2614 148.0108 206.0913 248.2614 148.0868 205.2231 248.2614 151.0868 195.8481 248.2614 148.0868 194.9731 248.2614 148.0868 190.2231 149.2614 135.9419 172.8739 149.2614 136.3368 173.058 149.2614 148.0868 165.2231 149.2614 127.5868 184.8212 149.2614 128.0608 185.0422 149.2614 133.4798 177.1382 149.2614 128.5659 185.1775 149.2614 133.8368 177.3882 149.2614 129.0868 185.2231 149.2614 134.2318 177.5723 149.2614 126.2677 183.2492 149.2614 126.4887 183.7231 149.2614 126.1324 182.744 149.2614 133.1717 176.8301 149.2614 126.0868 182.2231 149.2614 132.9217 176.4731 149.2614 132.7376 176.0782 149.2614 126.7887 184.1515 149.2614 127.1585 184.5212 149.2614 132.6248 175.6572 149.2614 132.5868 175.2231 149.2614 126.0868 168.2231 149.2614 132.6248 174.789 149.2614 133.1717 221.8301 149.2614 132.9217 221.4731 149.2614 126.0868 227.2231 149.2614 132.7376 221.0782 149.2614 132.6248 220.6572 149.2614 132.5868 220.2231 149.2614 126.0868 213.2231 149.2614 132.6248 219.789 149.2614 127.5868 165.625 149.2614 127.1585 165.925 149.2614 133.4798 173.308 149.2614 126.7887 166.2947 149.2614 134.2318 172.8739 149.2614 134.6527 172.7611 149.2614 129.0868 165.2231 149.2614 135.0868 172.7231 149.2614 135.5209 172.7611 149.2614 129.0868 230.2231 149.2614 135.0868 222.7231 149.2614 134.6527 222.6851 149.2614 132.7376 174.3681 149.2614 132.9217 173.9731 149.2614 126.1324 167.7022 149.2614 133.1717 173.6161 149.2614 126.2677 167.197 149.2614 126.4887 166.7231 149.2614 133.8368 173.058 149.2614 128.5659 165.2687 149.2614 128.0608 165.404 149.2614 126.7887 229.1515 149.2614 127.1585 229.5212 149.2614 133.4798 222.1382 149.2614 127.5868 229.8212 149.2614 126.1324 227.744 149.2614 126.2677 228.2492 149.2614 126.4887 228.7231 149.2614 137.5488 219.789 149.2614 137.5868 220.2231 149.2614 151.0868 220.2231 149.2614 137.5488 220.6572 149.2614 151.0868 233.3231 149.2614 135.9419 222.5723 149.2614 135.5209 222.6851 149.2614 143.955 230.2991 149.2614 136.6938 173.308 149.2614 137.0019 173.6161 149.2614 151.0868 165.2231 149.2614 137.2519 173.9731 149.2614 151.0868 170.8231 149.2614 135.9419 177.5723 149.2614 135.5209 177.6851 149.2614 143.0868 185.2231 149.2614 135.0868 177.7231 149.2614 134.6527 177.6851 149.2614 137.436 221.0782 149.2614 137.2519 221.4731 149.2614 137.0019 221.8301 149.2614 134.2318 222.5723 149.2614 133.8368 222.3882 149.2614 128.5659 230.1775 149.2614 128.0608 230.0422 149.2614 137.436 174.3681 149.2614 137.5488 174.789 149.2614 151.0868 177.2481 149.2614 137.5868 175.2231 149.2614 143.0868 230.2231 149.2614 137.5488 175.6572 149.2614 137.436 176.0782 149.2614 144.7969 185.5246 149.2614 137.2519 176.4731 149.2614 137.0019 176.8301 149.2614 143.955 185.2991 149.2614 136.6938 177.1382 149.2614 136.3368 177.3882 149.2614 146.3007 231.3929 149.2614 145.5868 230.893 149.2614 144.7969 230.5246 149.2614 136.6938 222.1382 149.2614 136.3368 222.3882 149.2614 146.917 232.0092 149.2614 147.4169 232.7231 149.2614 147.7853 233.513 149.2614 145.5868 185.893 149.2614 146.3007 186.3929 149.2614 151.0868 184.5981 149.2614 145.5868 209.5532 149.2614 135.9419 217.8739 149.2614 146.3007 209.0533 149.2614 136.3368 218.058 149.2614 148.0108 206.0913 149.2614 147.7853 206.9332 149.2614 151.0868 206.0981 149.2614 148.0868 237.2231 149.2614 151.0868 237.2231 149.2614 148.0868 235.2231 149.2614 148.0108 234.3549 149.2614 133.4798 218.308 149.2614 128.5659 210.2687 149.2614 128.0608 210.404 149.2614 129.0868 210.2231 149.2614 133.8368 218.058 149.2614 134.2318 217.8739 149.2614 132.7376 219.3681 149.2614 132.9217 218.9731 149.2614 126.1324 212.7022 149.2614 133.1717 218.6161 149.2614 126.2677 212.197 149.2614 126.4887 211.7231 149.2614 126.7887 211.2947 149.2614 127.5868 210.625 149.2614 127.1585 210.925 149.2614 144.7969 209.9216 149.2614 143.955 210.1471 149.2614 135.5209 217.7611 149.2614 143.0868 210.2231 149.2614 135.0868 217.7231 149.2614 134.6527 217.7611 149.2614 146.917 187.0092 149.2614 147.4169 187.7231 149.2614 147.7853 188.513 149.2614 147.4169 207.7231 149.2614 146.917 208.437 149.2614 136.6938 218.308 149.2614 137.0019 218.6161 149.2614 137.2519 218.9731 149.2614 137.436 219.3681 149.2614 148.0108 189.3549 149.2614 148.0868 190.2231 149.2614 151.0868 195.8481 149.2614 148.0868 194.9731 149.2614 148.0868 205.2231 244.2614 135.0868 173.7231 245.7614 135.0868 173.7231 244.2614 135.3473 173.7459 245.7614 135.3473 173.7459 244.2614 135.5998 173.8136 245.7614 135.5998 173.8136 244.2614 135.8368 173.9241 245.7614 135.8368 173.9241 244.2614 136.051 174.074 245.7614 136.051 174.074 244.2614 136.2359 174.2589 245.7614 136.2359 174.2589 244.2614 136.3858 174.4731 245.7614 136.3858 174.4731 244.2614 136.4963 174.7101 245.7614 136.4963 174.7101 244.2614 136.564 174.9626 245.7614 136.564 174.9626 244.2614 136.5868 175.2231 245.7614 136.5868 175.2231 244.2614 136.564 175.4836 245.7614 136.564 175.4836 244.2614 136.4963 175.7361 245.7614 136.4963 175.7361 244.2614 136.3858 175.9731 245.7614 136.3858 175.9731 244.2614 136.2359 176.1873 245.7614 136.2359 176.1873 244.2614 136.051 176.3722 245.7614 136.051 176.3722 244.2614 135.8368 176.5221 245.7614 135.8368 176.5221 244.2614 135.5998 176.6326 245.7614 135.5998 176.6326 244.2614 135.3473 176.7003 245.7614 135.3473 176.7003 244.2614 135.0868 176.7231 245.7614 135.0868 176.7231 244.2614 134.8263 176.7003 245.7614 134.8263 176.7003 244.2614 134.5738 176.6326 245.7614 134.5738 176.6326 244.2614 134.3368 176.5221 245.7614 134.3368 176.5221 244.2614 134.1226 176.3722 245.7614 134.1226 176.3722 244.2614 133.9377 176.1873 245.7614 133.9377 176.1873 244.2614 133.7878 175.9731 245.7614 133.7878 175.9731 244.2614 133.6773 175.7361 245.7614 133.6773 175.7361 244.2614 133.6096 175.4836 245.7614 133.6096 175.4836 244.2614 133.5868 175.2231 245.7614 133.5868 175.2231 244.2614 133.6096 174.9626 245.7614 133.6096 174.9626 244.2614 133.6773 174.7101 245.7614 133.6773 174.7101 244.2614 133.7878 174.4731 245.7614 133.7878 174.4731 244.2614 133.9377 174.2589 245.7614 133.9377 174.2589 244.2614 134.1226 174.074 245.7614 134.1226 174.074 244.2614 134.3368 173.9241 245.7614 134.3368 173.9241 244.2614 134.5738 173.8136 245.7614 134.5738 173.8136 244.2614 134.8263 173.7459 245.7614 134.8263 173.7459 244.2614 135.0868 218.7231 245.7614 135.0868 218.7231 244.2614 135.3473 218.7459 245.7614 135.3473 218.7459 244.2614 135.5998 218.8136 245.7614 135.5998 218.8136 244.2614 135.8368 218.9241 245.7614 135.8368 218.9241 244.2614 136.051 219.074 245.7614 136.051 219.074 244.2614 136.2359 219.2589 245.7614 136.2359 219.2589 244.2614 136.3858 219.4731 245.7614 136.3858 219.4731 244.2614 136.4963 219.7101 245.7614 136.4963 219.7101 244.2614 136.564 219.9626 245.7614 136.564 219.9626 244.2614 136.5868 220.2231 245.7614 136.5868 220.2231 244.2614 136.564 220.4836 245.7614 136.564 220.4836 244.2614 136.4963 220.7361 245.7614 136.4963 220.7361 244.2614 136.3858 220.9731 245.7614 136.3858 220.9731 244.2614 136.2359 221.1873 245.7614 136.2359 221.1873 244.2614 136.051 221.3722 245.7614 136.051 221.3722 244.2614 135.8368 221.5221 245.7614 135.8368 221.5221 244.2614 135.5998 221.6326 245.7614 135.5998 221.6326 244.2614 135.3473 221.7003 245.7614 135.3473 221.7003 244.2614 135.0868 221.7231 245.7614 135.0868 221.7231 244.2614 134.8263 221.7003 245.7614 134.8263 221.7003 244.2614 134.5738 221.6326 245.7614 134.5738 221.6326 244.2614 134.3368 221.5221 245.7614 134.3368 221.5221 244.2614 134.1226 221.3722 245.7614 134.1226 221.3722 244.2614 133.9377 221.1873 245.7614 133.9377 221.1873 244.2614 133.7878 220.9731 245.7614 133.7878 220.9731 244.2614 133.6773 220.7361 245.7614 133.6773 220.7361 244.2614 133.6096 220.4836 245.7614 133.6096 220.4836 244.2614 133.5868 220.2231 245.7614 133.5868 220.2231 244.2614 133.6096 219.9626 245.7614 133.6096 219.9626 244.2614 133.6773 219.7101 245.7614 133.6773 219.7101 244.2614 133.7878 219.4731 245.7614 133.7878 219.4731 244.2614 133.9377 219.2589 245.7614 133.9377 219.2589 244.2614 134.1226 219.074 245.7614 134.1226 219.074 244.2614 134.3368 218.9241 245.7614 134.3368 218.9241 244.2614 134.5738 218.8136 245.7614 134.5738 218.8136 244.2614 134.8263 218.7459 245.7614 134.8263 218.7459 153.2614 135.0868 221.7231 151.7614 135.0868 221.7231 153.2614 135.3473 221.7003 151.7614 135.3473 221.7003 153.2614 135.5998 221.6326 151.7614 135.5998 221.6326 153.2614 135.8368 221.5221 151.7614 135.8368 221.5221 153.2614 136.051 221.3722 151.7614 136.051 221.3722 153.2614 136.2359 221.1873 151.7614 136.2359 221.1873 153.2614 136.3858 220.9731 151.7614 136.3858 220.9731 153.2614 136.4963 220.7361 151.7614 136.4963 220.7361 153.2614 136.564 220.4836 151.7614 136.564 220.4836 153.2614 136.5868 220.2231 151.7614 136.5868 220.2231 153.2614 136.564 219.9626 151.7614 136.564 219.9626 153.2614 136.4963 219.7101 151.7614 136.4963 219.7101 153.2614 136.3858 219.4731 151.7614 136.3858 219.4731 153.2614 136.2359 219.2589 151.7614 136.2359 219.2589 153.2614 136.051 219.074 151.7614 136.051 219.074 153.2614 135.8368 218.9241 151.7614 135.8368 218.9241 153.2614 135.5998 218.8136 151.7614 135.5998 218.8136 153.2614 135.3473 218.7459 151.7614 135.3473 218.7459 153.2614 135.0868 218.7231 151.7614 135.0868 218.7231 153.2614 134.8263 218.7459 151.7614 134.8263 218.7459 153.2614 134.5738 218.8136 151.7614 134.5738 218.8136 153.2614 134.3368 218.9241 151.7614 134.3368 218.9241 153.2614 134.1226 219.074 151.7614 134.1226 219.074 153.2614 133.9377 219.2589 151.7614 133.9377 219.2589 153.2614 133.7878 219.4731 151.7614 133.7878 219.4731 153.2614 133.6773 219.7101 151.7614 133.6773 219.7101 153.2614 133.6096 219.9626 151.7614 133.6096 219.9626 153.2614 133.5868 220.2231 151.7614 133.5868 220.2231 153.2614 133.6096 220.4836 151.7614 133.6096 220.4836 153.2614 133.6773 220.7361 151.7614 133.6773 220.7361 153.2614 133.7878 220.9731 151.7614 133.7878 220.9731 153.2614 133.9377 221.1873 151.7614 133.9377 221.1873 153.2614 134.1226 221.3722 151.7614 134.1226 221.3722 153.2614 134.3368 221.5221 151.7614 134.3368 221.5221 153.2614 134.5738 221.6326 151.7614 134.5738 221.6326 153.2614 134.8263 221.7003 151.7614 134.8263 221.7003 153.2614 135.0868 176.7231 151.7614 135.0868 176.7231 153.2614 135.3473 176.7003 151.7614 135.3473 176.7003 153.2614 135.5998 176.6326 151.7614 135.5998 176.6326 153.2614 135.8368 176.5221 151.7614 135.8368 176.5221 153.2614 136.051 176.3722 151.7614 136.051 176.3722 153.2614 136.2359 176.1873 151.7614 136.2359 176.1873 153.2614 136.3858 175.9731 151.7614 136.3858 175.9731 153.2614 136.4963 175.7361 151.7614 136.4963 175.7361 153.2614 136.564 175.4836 151.7614 136.564 175.4836 153.2614 136.5868 175.2231 151.7614 136.5868 175.2231 153.2614 136.564 174.9626 151.7614 136.564 174.9626 153.2614 136.4963 174.7101 151.7614 136.4963 174.7101 153.2614 136.3858 174.4731 151.7614 136.3858 174.4731 153.2614 136.2359 174.2589 151.7614 136.2359 174.2589 153.2614 136.051 174.074 151.7614 136.051 174.074 153.2614 135.8368 173.9241 151.7614 135.8368 173.9241 153.2614 135.5998 173.8136 151.7614 135.5998 173.8136 153.2614 135.3473 173.7459 151.7614 135.3473 173.7459 153.2614 135.0868 173.7231 151.7614 135.0868 173.7231 153.2614 134.8263 173.7459 151.7614 134.8263 173.7459 153.2614 134.5738 173.8136 151.7614 134.5738 173.8136 153.2614 134.3368 173.9241 151.7614 134.3368 173.9241 153.2614 134.1226 174.074 151.7614 134.1226 174.074 153.2614 133.9377 174.2589 151.7614 133.9377 174.2589 153.2614 133.7878 174.4731 151.7614 133.7878 174.4731 153.2614 133.6773 174.7101 151.7614 133.6773 174.7101 153.2614 133.6096 174.9626 151.7614 133.6096 174.9626 153.2614 133.5868 175.2231 151.7614 133.5868 175.2231 153.2614 133.6096 175.4836 151.7614 133.6096 175.4836 153.2614 133.6773 175.7361 151.7614 133.6773 175.7361 153.2614 133.7878 175.9731 151.7614 133.7878 175.9731 153.2614 133.9377 176.1873 151.7614 133.9377 176.1873 153.2614 134.1226 176.3722 151.7614 134.1226 176.3722 153.2614 134.3368 176.5221 151.7614 134.3368 176.5221 153.2614 134.5738 176.6326 151.7614 134.5738 176.6326 153.2614 134.8263 176.7003 151.7614 134.8263 176.7003 222.2793 148.0868 193.2231 222.2793 148.0868 194.9731 198.7614 148.0868 194.9731 153.2614 148.0868 205.2231 165.2255 148.0868 174.2231 165.0811 148.0868 173.9731 198.7614 148.0868 173.9731 244.2614 148.0868 235.2231 238.2434 148.0868 241.7231 238.2434 148.0868 239.9241 248.1854 148.0868 238.0913 247.9598 148.0868 238.9332 247.5915 148.0868 239.7231 247.0916 148.0868 240.437 239.2255 148.0868 238.2231 238.2434 148.0868 236.5221 244.2614 148.0868 232.7231 238.2434 148.0868 232.7231 244.2614 148.0868 220.2231 238.2434 148.0868 220.2231 244.2614 148.0868 206.9731 238.2434 148.0868 206.9731 244.2614 148.0868 205.2231 238.2434 148.0868 194.9731 244.2614 148.0868 190.2231 244.2614 148.0868 185.4731 238.2434 148.0868 185.4731 244.2614 148.0868 180.4731 238.2434 148.0868 180.4731 238.2434 148.0868 175.9241 239.2255 148.0868 174.2231 244.2614 148.0868 173.9731 239.0811 148.0868 173.9731 238.2434 148.0868 172.5221 244.2614 148.0868 165.2231 244.1296 148.0868 160.2991 244.9715 148.0868 160.5246 247.0916 148.0868 162.0092 247.5915 148.0868 162.7231 247.9598 148.0868 163.513 248.1854 148.0868 164.3549 245.7614 148.0868 160.893 246.4753 148.0868 161.3929 153.2614 148.0868 173.9731 153.2614 148.0868 165.2231 160.0293 148.0868 171.2231 149.3373 148.0868 164.3549 149.5629 148.0868 163.513 149.9313 148.0868 162.7231 151.7614 148.0868 160.893 152.5513 148.0868 160.5246 153.3931 148.0868 160.2991 162.7404 148.0868 169.1775 163.4934 148.0868 171.2231 162.2353 148.0868 169.0422 161.7614 148.0868 168.8212 163.2614 148.0868 169.2231 198.7614 148.0868 169.2231 198.7614 148.0868 163.2231 163.2614 148.0868 163.2231 160.4423 148.0868 165.197 160.307 148.0868 165.7022 160.2614 148.0868 166.2231 160.307 148.0868 166.744 162.7404 148.0868 163.2687 162.2353 148.0868 163.404 161.7614 148.0868 163.625 161.333 148.0868 163.925 160.9633 148.0868 164.2947 160.6633 148.0868 164.7231 160.4423 148.0868 167.2492 160.6633 148.0868 167.7231 160.9633 148.0868 168.1515 161.333 148.0868 168.5212 150.4312 148.0868 162.0092 151.0475 148.0868 161.3929 185.2614 148.0868 180.2231 185.2833 148.0868 180.4731 163.4934 148.0868 177.2231 160.0293 148.0868 177.2231 153.2614 148.0868 180.4731 158.2973 148.0868 174.2231 158.4416 148.0868 173.9731 191.7925 148.0868 178.4731 191.4425 148.0868 177.9733 191.0111 148.0868 177.5419 190.5114 148.0868 177.192 189.9585 148.0868 176.9342 192.2395 148.0868 180.4731 192.2614 148.0868 180.2231 198.7614 148.0868 180.4731 192.2082 148.0868 179.6153 192.0503 148.0868 179.026 189.3692 148.0868 176.7763 188.7614 148.0868 176.7231 188.1536 148.0868 176.7763 187.5643 148.0868 176.9342 187.0114 148.0868 177.192 186.5116 148.0868 177.5419 186.0802 148.0868 177.9733 185.7303 148.0868 178.4731 185.4725 148.0868 179.026 185.3146 148.0868 179.6153 153.2614 148.0868 185.4731 185.3146 148.0868 180.8309 189.9585 148.0868 183.512 190.5114 148.0868 183.2542 198.7614 148.0868 185.4731 191.0111 148.0868 182.9043 191.4425 148.0868 182.4729 185.4725 148.0868 181.4202 185.7303 148.0868 181.9731 186.0802 148.0868 182.4729 186.5116 148.0868 182.9043 187.0114 148.0868 183.2542 187.5643 148.0868 183.512 188.1536 148.0868 183.6699 188.7614 148.0868 183.7231 189.3692 148.0868 183.6699 191.7925 148.0868 181.9731 192.0503 148.0868 181.4202 192.2082 148.0868 180.8309 153.2614 148.0868 190.2231 160.2614 148.0868 190.2231 160.307 148.0868 190.744 160.4423 148.0868 191.2492 160.6633 148.0868 191.7231 160.9633 148.0868 192.1515 161.333 148.0868 192.5212 161.7614 148.0868 192.8212 162.2353 148.0868 193.0422 160.4423 148.0868 189.197 160.307 148.0868 189.7022 162.2353 148.0868 187.404 161.7614 148.0868 187.625 161.333 148.0868 187.925 160.9633 148.0868 188.2947 160.6633 148.0868 188.7231 185.7303 148.0868 198.4731 185.4725 148.0868 199.026 191.7925 148.0868 201.9731 198.7614 148.0868 206.9731 191.4425 148.0868 202.4729 191.0111 148.0868 202.9043 187.0114 148.0868 197.192 186.5116 148.0868 197.5419 186.0802 148.0868 197.9733 186.0802 148.0868 202.4729 153.2614 148.0868 206.9731 185.7303 148.0868 201.9731 185.4725 148.0868 201.4202 188.1536 148.0868 203.6699 188.7614 148.0868 203.7231 189.3692 148.0868 203.6699 185.3146 148.0868 199.6153 185.2614 148.0868 200.2231 185.3146 148.0868 200.8309 189.9585 148.0868 203.512 190.5114 148.0868 203.2542 192.2082 148.0868 199.6153 192.0503 148.0868 199.026 191.7925 148.0868 198.4731 191.4425 148.0868 197.9733 192.0503 148.0868 201.4202 192.2082 148.0868 200.8309 192.2614 148.0868 200.2231 191.0111 148.0868 197.5419 190.5114 148.0868 197.192 189.9585 148.0868 196.9342 189.3692 148.0868 196.7763 188.7614 148.0868 196.7231 188.1536 148.0868 196.7763 187.5643 148.0868 196.9342 186.5116 148.0868 202.9043 187.0114 148.0868 203.2542 187.5643 148.0868 203.512 160.6633 148.0868 211.7231 160.4423 148.0868 212.197 162.2353 148.0868 210.404 161.7614 148.0868 210.625 161.333 148.0868 210.925 160.9633 148.0868 211.2947 160.307 148.0868 212.7022 160.2614 148.0868 213.2231 153.2614 148.0868 220.2231 160.307 148.0868 213.744 160.4423 148.0868 214.2492 160.6633 148.0868 214.7231 160.9633 148.0868 215.1515 161.333 148.0868 215.5212 198.7614 148.0868 210.2231 163.2614 148.0868 210.2231 162.7404 148.0868 210.2687 161.7614 148.0868 215.8212 162.2353 148.0868 216.0422 162.7404 148.0868 216.1775 160.307 148.0868 227.744 160.4423 148.0868 228.2492 153.2614 148.0868 232.7231 160.6633 148.0868 228.7231 160.9633 148.0868 229.1515 162.2353 148.0868 224.404 161.7614 148.0868 224.625 161.333 148.0868 224.925 160.9633 148.0868 225.2947 160.6633 148.0868 225.7231 160.4423 148.0868 226.197 160.307 148.0868 226.7022 160.2614 148.0868 227.2231 161.333 148.0868 229.5212 161.7614 148.0868 229.8212 162.2353 148.0868 230.0422 198.7614 148.0868 224.2231 163.2614 148.0868 224.2231 162.7404 148.0868 224.2687 163.4934 148.0868 241.2231 198.7614 148.0868 241.7231 152.1257 148.0868 241.7231 153.2614 148.0868 235.2231 160.0293 148.0868 241.2231 149.3373 148.0868 238.0913 149.5629 148.0868 238.9332 165.2255 148.0868 238.2231 163.4934 148.0868 235.2231 198.7614 148.0868 232.7231 160.0293 148.0868 235.2231 158.2973 148.0868 238.2231 151.7614 148.0868 241.5532 151.0475 148.0868 241.0533 150.4312 148.0868 240.437 149.9313 148.0868 239.7231 246.4753 148.0868 241.0533 245.7614 148.0868 241.5532 245.3971 148.0868 241.7231 243.2614 148.0868 242.2231 244.9715 148.0868 241.9216 244.1296 148.0868 242.1471 238.2434 148.0868 160.2231 234.7823 148.0868 163.2687 234.2614 148.0868 163.2231 235.2874 148.0868 169.0422 237.4934 148.0868 171.2231 234.7823 148.0868 169.1775 234.0293 148.0868 171.2231 234.2614 148.0868 169.2231 222.2793 148.0868 169.2231 235.7614 148.0868 168.8212 236.1897 148.0868 168.5212 236.5595 148.0868 168.1515 222.2793 148.0868 160.2231 237.2614 148.0868 166.2231 237.2158 148.0868 165.7022 236.5595 148.0868 164.2947 236.1897 148.0868 163.925 236.8595 148.0868 167.7231 237.0805 148.0868 167.2492 237.2158 148.0868 166.744 237.0805 148.0868 165.197 236.8595 148.0868 164.7231 235.7614 148.0868 163.625 235.2874 148.0868 163.404 222.2793 148.0868 173.9731 232.4416 148.0868 173.9731 232.2973 148.0868 174.2231 222.2793 148.0868 180.4731 237.4934 148.0868 177.2231 234.0293 148.0868 177.2231 237.4934 148.0868 235.2231 234.0293 148.0868 235.2231 222.2793 148.0868 232.7231 222.2793 148.0868 241.7231 232.2973 148.0868 238.2231 234.0293 148.0868 241.2231 237.4934 148.0868 241.2231 211.7925 148.0868 181.9731 212.0503 148.0868 181.4202 222.2793 148.0868 185.4731 209.9585 148.0868 183.512 210.5114 148.0868 183.2542 212.2082 148.0868 180.8309 212.2395 148.0868 180.4731 205.7303 148.0868 181.9731 206.0802 148.0868 182.4729 211.0111 148.0868 182.9043 211.4425 148.0868 182.4729 205.2614 148.0868 180.2231 205.2833 148.0868 180.4731 205.3146 148.0868 180.8309 205.4725 148.0868 181.4202 206.5116 148.0868 182.9043 207.0114 148.0868 183.2542 207.5643 148.0868 183.512 208.1536 148.0868 183.6699 208.7614 148.0868 183.7231 209.3692 148.0868 183.6699 211.7925 148.0868 178.4731 211.4425 148.0868 177.9733 212.2614 148.0868 180.2231 212.2082 148.0868 179.6153 212.0503 148.0868 179.026 211.0111 148.0868 177.5419 210.5114 148.0868 177.192 209.9585 148.0868 176.9342 209.3692 148.0868 176.7763 208.7614 148.0868 176.7231 208.1536 148.0868 176.7763 207.5643 148.0868 176.9342 207.0114 148.0868 177.192 206.5116 148.0868 177.5419 206.0802 148.0868 177.9733 205.7303 148.0868 178.4731 205.4725 148.0868 179.026 205.3146 148.0868 179.6153 198.7614 148.0868 160.2231 222.2793 148.0868 163.2231 234.2614 148.0868 187.2231 222.2793 148.0868 187.2231 198.7614 148.0868 187.2231 163.2614 148.0868 187.2231 162.7404 148.0868 187.2687 234.7823 148.0868 193.1775 235.2874 148.0868 193.0422 235.7614 148.0868 192.8212 236.1897 148.0868 192.5212 234.2614 148.0868 193.2231 237.0805 148.0868 189.197 236.8595 148.0868 188.7231 236.5595 148.0868 188.2947 236.1897 148.0868 187.925 236.5595 148.0868 192.1515 236.8595 148.0868 191.7231 237.0805 148.0868 191.2492 235.7614 148.0868 187.625 235.2874 148.0868 187.404 234.7823 148.0868 187.2687 237.2158 148.0868 190.744 237.2614 148.0868 190.2231 237.2158 148.0868 189.7022 162.7404 148.0868 193.1775 163.2614 148.0868 193.2231 198.7614 148.0868 193.2231 222.2793 148.0868 206.9731 235.2874 148.0868 216.0422 235.7614 148.0868 215.8212 236.1897 148.0868 215.5212 222.2793 148.0868 216.2231 234.2614 148.0868 216.2231 234.7823 148.0868 216.1775 235.7614 148.0868 210.625 235.2874 148.0868 210.404 236.5595 148.0868 215.1515 236.8595 148.0868 214.7231 237.0805 148.0868 214.2492 237.0805 148.0868 212.197 236.8595 148.0868 211.7231 236.5595 148.0868 211.2947 236.1897 148.0868 210.925 237.2158 148.0868 213.744 237.2614 148.0868 213.2231 237.2158 148.0868 212.7022 234.7823 148.0868 210.2687 234.2614 148.0868 210.2231 222.2793 148.0868 210.2231 163.2614 148.0868 216.2231 198.7614 148.0868 220.2231 222.2793 148.0868 220.2231 222.2793 148.0868 224.2231 234.2614 148.0868 224.2231 234.7823 148.0868 230.1775 235.2874 148.0868 230.0422 237.2158 148.0868 227.744 237.2614 148.0868 227.2231 235.7614 148.0868 229.8212 236.1897 148.0868 229.5212 236.5595 148.0868 229.1515 237.2158 148.0868 226.7022 237.0805 148.0868 226.197 236.8595 148.0868 228.7231 237.0805 148.0868 228.2492 236.8595 148.0868 225.7231 236.5595 148.0868 225.2947 236.1897 148.0868 224.925 235.7614 148.0868 224.625 235.2874 148.0868 224.404 234.7823 148.0868 224.2687 198.7614 148.0868 216.2231 162.7404 148.0868 230.1775 163.2614 148.0868 230.2231 198.7614 148.0868 230.2231 222.2793 148.0868 230.2231 205.4725 148.0868 201.4202 205.7303 148.0868 201.9731 210.5114 148.0868 197.192 209.9585 148.0868 196.9342 208.7614 148.0868 203.7231 209.3692 148.0868 203.6699 209.9585 148.0868 203.512 211.4425 148.0868 202.4729 211.7925 148.0868 201.9731 212.0503 148.0868 201.4202 212.2082 148.0868 200.8309 210.5114 148.0868 203.2542 211.0111 148.0868 202.9043 212.2614 148.0868 200.2231 212.2082 148.0868 199.6153 212.0503 148.0868 199.026 211.7925 148.0868 198.4731 207.5643 148.0868 196.9342 207.0114 148.0868 197.192 206.5116 148.0868 197.5419 206.0802 148.0868 197.9733 205.7303 148.0868 198.4731 205.4725 148.0868 199.026 205.3146 148.0868 199.6153 205.2614 148.0868 200.2231 205.3146 148.0868 200.8309 206.0802 148.0868 202.4729 206.5116 148.0868 202.9043 207.0114 148.0868 203.2542 209.3692 148.0868 196.7763 208.7614 148.0868 196.7231 208.1536 148.0868 196.7763 207.5643 148.0868 203.512 208.1536 148.0868 203.6699 211.4425 148.0868 197.9733 211.0111 148.0868 197.5419 234.2614 148.0868 230.2231 238.2434 148.0868 242.2231 222.2793 148.0868 242.2231 198.7614 148.0868 242.2231 154.2614 148.0868 242.2231 153.3931 148.0868 242.1471 152.5513 148.0868 241.9216 153.2614 129.0868 210.2231 153.2614 143.0868 210.2231 153.2614 148.0108 206.0913 153.2614 146.3007 209.0533 153.2614 145.5868 209.5532 153.2614 144.7969 209.9216 153.2614 146.917 208.437 153.2614 147.4169 207.7231 153.2614 147.7853 206.9332 153.2614 126.0868 213.2231 153.2614 143.0868 230.2231 153.2614 148.0108 234.3549 153.2614 147.7853 233.513 153.2614 147.4169 232.7231 153.2614 129.0868 230.2231 153.2614 126.0868 227.2231 153.2614 128.0608 230.0422 153.2614 127.5868 229.8212 153.2614 127.1585 229.5212 153.2614 126.7887 229.1515 153.2614 128.5659 230.1775 153.2614 126.7887 211.2947 153.2614 127.1585 210.925 153.2614 127.5868 210.625 153.2614 126.1324 227.744 153.2614 126.2677 228.2492 153.2614 126.4887 228.7231 153.2614 146.917 232.0092 153.2614 146.3007 231.3929 153.2614 145.5868 230.893 153.2614 128.5659 210.2687 153.2614 128.0608 210.404 153.2614 126.1324 212.7022 153.2614 126.2677 212.197 153.2614 126.4887 211.7231 153.2614 144.7969 230.5246 153.2614 143.955 230.2991 153.2614 143.955 210.1471 244.2614 129.0868 230.2231 244.2614 143.0868 230.2231 244.2614 146.917 208.437 244.2614 146.3007 209.0533 244.2614 145.5868 209.5532 244.2614 144.7969 209.9216 244.2614 148.0108 206.0913 244.2614 147.7853 206.9332 244.2614 147.4169 207.7231 244.2614 126.0868 227.2231 244.2614 129.0868 210.2231 244.2614 126.0868 213.2231 244.2614 143.0868 210.2231 244.2614 128.0608 210.404 244.2614 127.5868 210.625 244.2614 127.1585 210.925 244.2614 126.7887 211.2947 244.2614 128.5659 210.2687 244.2614 126.7887 229.1515 244.2614 127.1585 229.5212 244.2614 127.5868 229.8212 244.2614 126.1324 212.7022 244.2614 126.2677 212.197 244.2614 126.4887 211.7231 244.2614 128.5659 230.1775 244.2614 128.0608 230.0422 244.2614 126.1324 227.744 244.2614 126.2677 228.2492 244.2614 126.4887 228.7231 244.2614 147.1319 232.2842 244.2614 147.5418 232.9532 244.2614 147.8421 233.678 244.2614 148.0252 234.4409 244.2614 143.869 230.2847 244.2614 144.6319 230.4678 244.2614 143.955 210.1471 244.2614 145.3568 230.7681 244.2614 146.0257 231.178 244.2614 146.6223 231.6876 244.2614 129.0868 185.2231 244.2614 143.0868 185.2231 244.2614 129.0868 165.2231 244.2614 126.0868 182.2231 244.2614 126.7887 184.1515 244.2614 127.1585 184.5212 244.2614 127.5868 184.8212 244.2614 126.0868 168.2231 244.2614 128.5659 185.1775 244.2614 128.0608 185.0422 244.2614 126.1324 182.744 244.2614 126.2677 183.2492 244.2614 126.4887 183.7231 244.2614 147.4169 187.7231 244.2614 146.917 187.0092 244.2614 146.3007 186.3929 244.2614 147.7853 188.513 244.2614 148.0108 189.3549 244.2614 127.5868 165.625 244.2614 127.1585 165.925 244.2614 126.7887 166.2947 244.2614 128.5659 165.2687 244.2614 128.0608 165.404 244.2614 143.955 185.2991 244.2614 144.7969 185.5246 244.2614 145.5868 185.893 244.2614 126.1324 167.7022 244.2614 126.2677 167.197 244.2614 126.4887 166.7231 153.2614 129.0868 165.2231 153.2614 126.7887 166.2947 153.2614 127.1585 165.925 153.2614 127.5868 165.625 153.2614 126.1324 167.7022 153.2614 126.2677 167.197 153.2614 126.4887 166.7231 153.2614 126.0868 168.2231 153.2614 129.0868 185.2231 153.2614 143.0868 185.2231 153.2614 128.5659 165.2687 153.2614 128.0608 165.404 153.2614 126.0868 182.2231 153.2614 148.0108 189.3549 153.2614 147.7853 188.513 153.2614 147.4169 187.7231 153.2614 128.5659 185.1775 153.2614 144.7969 185.5246 153.2614 145.5868 185.893 153.2614 146.3007 186.3929 153.2614 146.917 187.0092 153.2614 126.1324 182.744 153.2614 126.2677 183.2492 153.2614 128.0608 185.0422 153.2614 127.5868 184.8212 153.2614 127.1585 184.5212 153.2614 126.7887 184.1515 153.2614 126.4887 183.7231 153.2614 143.955 185.2991 151.7614 136.6938 177.1382 151.7614 137.0019 176.8301 151.7614 137.2519 176.4731 151.7614 137.436 176.0782 151.7614 137.5488 175.6572 151.7614 137.5868 175.2231 151.7614 137.5488 174.789 151.7614 137.436 174.3681 151.7614 137.2519 173.9731 151.7614 137.0019 173.6161 151.7614 136.6938 173.308 151.7614 136.3368 173.058 151.7614 135.9419 172.8739 151.7614 135.5209 172.7611 151.7614 135.0868 172.7231 151.7614 134.6527 172.7611 151.7614 134.2318 172.8739 151.7614 133.8368 173.058 151.7614 133.4798 173.308 151.7614 133.1717 173.6161 151.7614 132.9217 173.9731 151.7614 132.7376 174.3681 151.7614 132.6248 174.789 151.7614 132.5868 175.2231 151.7614 132.6248 175.6572 151.7614 132.7376 176.0782 151.7614 132.9217 176.4731 151.7614 133.1717 176.8301 151.7614 133.4798 177.1382 151.7614 133.8368 177.3882 151.7614 134.2318 177.5723 151.7614 134.6527 177.6851 151.7614 135.0868 177.7231 151.7614 135.5209 177.6851 151.7614 135.9419 177.5723 151.7614 136.3368 177.3882 151.7614 135.0868 222.7231 151.7614 135.5209 222.6851 151.7614 135.9419 222.5723 151.7614 136.3368 222.3882 151.7614 136.6938 222.1382 151.7614 137.0019 221.8301 151.7614 137.2519 221.4731 151.7614 137.436 221.0782 151.7614 137.5488 220.6572 151.7614 137.5868 220.2231 151.7614 137.5488 219.789 151.7614 137.436 219.3681 151.7614 137.2519 218.9731 151.7614 137.0019 218.6161 151.7614 136.6938 218.308 151.7614 136.3368 218.058 151.7614 135.9419 217.8739 151.7614 135.5209 217.7611 151.7614 135.0868 217.7231 151.7614 134.6527 217.7611 151.7614 134.2318 217.8739 151.7614 133.8368 218.058 151.7614 133.4798 218.308 151.7614 133.1717 218.6161 151.7614 132.9217 218.9731 151.7614 132.7376 219.3681 151.7614 132.6248 219.789 151.7614 132.5868 220.2231 151.7614 132.6248 220.6572 151.7614 132.7376 221.0782 151.7614 132.9217 221.4731 151.7614 133.1717 221.8301 151.7614 133.4798 222.1382 151.7614 133.8368 222.3882 151.7614 134.2318 222.5723 151.7614 134.6527 222.6851 245.7614 135.5209 222.6851 245.7614 135.0868 222.7231 245.7614 134.6527 222.6851 245.7614 134.2318 222.5723 245.7614 133.8368 222.3882 245.7614 133.4798 222.1382 245.7614 133.1717 221.8301 245.7614 132.9217 221.4731 245.7614 132.7376 221.0782 245.7614 132.6248 220.6572 245.7614 132.5868 220.2231 245.7614 132.6248 219.789 245.7614 132.7376 219.3681 245.7614 132.9217 218.9731 245.7614 133.1717 218.6161 245.7614 133.4798 218.308 245.7614 133.8368 218.058 245.7614 134.2318 217.8739 245.7614 134.6527 217.7611 245.7614 135.0868 217.7231 245.7614 135.5209 217.7611 245.7614 135.9419 217.8739 245.7614 136.3368 218.058 245.7614 136.6938 218.308 245.7614 137.0019 218.6161 245.7614 137.2519 218.9731 245.7614 137.436 219.3681 245.7614 137.5488 219.789 245.7614 137.5868 220.2231 245.7614 137.5488 220.6572 245.7614 137.436 221.0782 245.7614 137.2519 221.4731 245.7614 137.0019 221.8301 245.7614 136.6938 222.1382 245.7614 136.3368 222.3882 245.7614 135.9419 222.5723 245.7614 135.0868 172.7231 245.7614 135.5209 172.7611 245.7614 135.9419 172.8739 245.7614 136.3368 173.058 245.7614 136.6938 173.308 245.7614 137.0019 173.6161 245.7614 137.2519 173.9731 245.7614 137.436 174.3681 245.7614 137.5488 174.789 245.7614 137.5868 175.2231 245.7614 137.5488 175.6572 245.7614 137.436 176.0782 245.7614 137.2519 176.4731 245.7614 137.0019 176.8301 245.7614 136.6938 177.1382 245.7614 136.3368 177.3882 245.7614 135.9419 177.5723 245.7614 135.5209 177.6851 245.7614 135.0868 177.7231 245.7614 134.6527 177.6851 245.7614 134.2318 177.5723 245.7614 133.8368 177.3882 245.7614 133.4798 177.1382 245.7614 133.1717 176.8301 245.7614 132.9217 176.4731 245.7614 132.7376 176.0782 245.7614 132.6248 175.6572 245.7614 132.5868 175.2231 245.7614 132.6248 174.789 245.7614 132.7376 174.3681 245.7614 132.9217 173.9731 245.7614 133.1717 173.6161 245.7614 133.4798 173.308 245.7614 133.8368 173.058 245.7614 134.2318 172.8739 245.7614 134.6527 172.7611 198.7614 151.0868 195.8481 198.7614 151.0868 177.2481 161.4488 151.0868 172.4505 161.7614 151.0868 172.4231 237.3202 151.0868 237.3231 237.4114 151.0868 237.5186 237.4114 151.0868 233.3231 151.1471 151.0868 241.1231 151.7614 151.0868 241.5532 152.5513 151.0868 241.9216 198.7614 151.0868 241.1231 198.7614 151.0868 233.3231 149.3373 151.0868 238.0913 151.0475 151.0868 241.0533 149.5629 151.0868 238.9332 149.9313 151.0868 239.7231 150.4312 151.0868 240.437 162.2353 151.0868 169.0422 161.7614 151.0868 168.8212 161.333 151.0868 168.5212 160.9633 151.0868 168.1515 160.6633 151.0868 167.7231 161.333 151.0868 163.925 161.7614 151.0868 163.625 162.2353 151.0868 163.404 158.7614 151.0868 156.2231 222.2364 151.0868 169.2231 198.7614 151.0868 169.2231 198.7614 151.0868 170.8231 163.2614 151.0868 169.2231 162.7404 151.0868 169.1775 160.4423 151.0868 167.2492 160.307 151.0868 166.744 160.2614 151.0868 166.2231 149.3373 151.0868 164.3549 160.307 151.0868 165.7022 149.5629 151.0868 163.513 151.7614 151.0868 160.893 151.0475 151.0868 161.3929 160.4423 151.0868 165.197 150.4312 151.0868 162.0092 149.9313 151.0868 162.7231 160.9633 151.0868 164.2947 160.6633 151.0868 164.7231 153.3931 151.0868 160.2991 152.5513 151.0868 160.5246 238.7614 151.0868 156.2231 237.4114 151.0868 156.2231 237.4114 151.0868 170.8231 244.1296 151.0868 160.2991 248.1854 151.0868 164.3549 247.9598 151.0868 163.513 247.5915 151.0868 162.7231 247.0916 151.0868 162.0092 246.4753 151.0868 161.3929 245.7614 151.0868 160.893 244.9715 151.0868 160.5246 237.4528 151.0868 237.6075 237.534 151.0868 237.9105 248.1854 151.0868 238.0913 237.5614 151.0868 238.2231 247.9598 151.0868 238.9332 247.5915 151.0868 239.7231 237.534 151.0868 238.5357 247.0916 151.0868 240.437 237.4114 151.0868 238.9276 237.4114 151.0868 241.1231 237.4528 151.0868 238.8387 246.3757 151.0868 241.1231 246.4753 151.0868 241.0533 243.2614 151.0868 242.2231 244.1296 151.0868 242.1471 244.9715 151.0868 241.9216 235.4488 151.0868 236.4505 235.7614 151.0868 236.4231 237.3202 151.0868 239.1231 237.1403 151.0868 239.3801 236.9184 151.0868 239.602 234.3825 151.0868 239.3801 222.2364 151.0868 241.1231 234.6044 151.0868 239.602 234.8614 151.0868 239.7819 234.2025 151.0868 239.1231 234.0699 151.0868 238.8387 233.9887 151.0868 238.5357 236.6614 151.0868 239.7819 236.377 151.0868 239.9145 236.074 151.0868 239.9958 235.7614 151.0868 240.0231 235.4488 151.0868 239.9958 235.1457 151.0868 239.9145 233.9614 151.0868 238.2231 233.9887 151.0868 237.9105 222.2364 151.0868 233.3231 234.0699 151.0868 237.6075 234.2025 151.0868 237.3231 234.3825 151.0868 237.0661 236.074 151.0868 236.4505 236.377 151.0868 236.5317 236.6614 151.0868 236.6643 234.6044 151.0868 236.8442 234.8614 151.0868 236.6643 235.1457 151.0868 236.5317 236.9184 151.0868 236.8442 237.1403 151.0868 237.0661 237.4114 151.0868 177.2481 222.2364 151.0868 177.2481 222.2364 151.0868 170.8231 235.2874 151.0868 169.0422 235.7614 151.0868 168.8212 236.1897 151.0868 168.5212 234.2614 151.0868 169.2231 234.7823 151.0868 169.1775 234.7823 151.0868 163.2687 235.2874 151.0868 163.404 235.7614 151.0868 163.625 236.1897 151.0868 163.925 236.5595 151.0868 164.2947 236.8595 151.0868 164.7231 237.0805 151.0868 165.197 237.0805 151.0868 167.2492 236.8595 151.0868 167.7231 236.5595 151.0868 168.1515 237.2158 151.0868 165.7022 237.2614 151.0868 166.2231 237.2158 151.0868 166.744 162.7404 151.0868 163.2687 163.2614 151.0868 163.2231 198.7614 151.0868 156.2231 198.7614 151.0868 163.2231 222.2364 151.0868 156.2231 222.2364 151.0868 163.2231 234.2614 151.0868 163.2231 234.2614 151.0868 187.2231 234.7823 151.0868 187.2687 237.4114 151.0868 184.5981 222.2364 151.0868 187.2231 237.4114 151.0868 195.8481 236.1897 151.0868 192.5212 235.7614 151.0868 192.8212 235.2874 151.0868 193.0422 234.7823 151.0868 193.1775 234.2614 151.0868 193.2231 235.2874 151.0868 187.404 235.7614 151.0868 187.625 236.1897 151.0868 187.925 236.5595 151.0868 188.2947 236.8595 151.0868 188.7231 237.0805 151.0868 189.197 237.0805 151.0868 191.2492 236.8595 151.0868 191.7231 236.5595 151.0868 192.1515 237.2158 151.0868 189.7022 237.2614 151.0868 190.2231 237.2158 151.0868 190.744 160.4423 151.0868 189.197 160.6633 151.0868 188.7231 160.4423 151.0868 191.2492 160.307 151.0868 190.744 160.2614 151.0868 190.2231 160.307 151.0868 189.7022 161.7614 151.0868 187.625 162.2353 151.0868 187.404 162.7404 151.0868 193.1775 163.2614 151.0868 193.2231 162.2353 151.0868 193.0422 161.7614 151.0868 192.8212 161.333 151.0868 192.5212 160.9633 151.0868 192.1515 160.6633 151.0868 191.7231 160.9633 151.0868 188.2947 161.333 151.0868 187.925 222.2364 151.0868 184.5981 198.7614 151.0868 187.2231 198.7614 151.0868 184.5981 163.2614 151.0868 187.2231 162.7404 151.0868 187.2687 222.2364 151.0868 195.8481 222.2364 151.0868 193.2231 198.7614 151.0868 193.2231 235.7614 151.0868 210.625 236.1897 151.0868 210.925 237.4114 151.0868 206.0981 235.2874 151.0868 210.404 236.1897 151.0868 215.5212 235.7614 151.0868 215.8212 237.4114 151.0868 220.2231 235.2874 151.0868 216.0422 236.5595 151.0868 211.2947 236.8595 151.0868 211.7231 237.0805 151.0868 212.197 222.2364 151.0868 210.2231 234.2614 151.0868 210.2231 234.7823 151.0868 210.2687 237.2158 151.0868 212.7022 237.2614 151.0868 213.2231 237.2158 151.0868 213.744 237.0805 151.0868 214.2492 236.8595 151.0868 214.7231 236.5595 151.0868 215.1515 160.9633 151.0868 211.2947 160.6633 151.0868 211.7231 160.4423 151.0868 212.197 161.333 151.0868 215.5212 160.9633 151.0868 215.1515 160.6633 151.0868 214.7231 160.4423 151.0868 214.2492 160.307 151.0868 213.744 160.2614 151.0868 213.2231 160.307 151.0868 212.7022 161.333 151.0868 210.925 161.7614 151.0868 210.625 162.2353 151.0868 210.404 162.7404 151.0868 216.1775 163.2614 151.0868 216.2231 198.7614 151.0868 220.2231 162.2353 151.0868 216.0422 161.7614 151.0868 215.8212 222.2364 151.0868 206.0981 198.7614 151.0868 210.2231 198.7614 151.0868 206.0981 163.2614 151.0868 210.2231 162.7404 151.0868 210.2687 234.7823 151.0868 216.1775 234.2614 151.0868 216.2231 222.2364 151.0868 220.2231 222.2364 151.0868 216.2231 198.7614 151.0868 216.2231 236.5595 151.0868 225.2947 236.8595 151.0868 225.7231 237.2614 151.0868 227.2231 237.2158 151.0868 227.744 237.0805 151.0868 228.2492 235.2874 151.0868 230.0422 235.7614 151.0868 229.8212 236.1897 151.0868 229.5212 234.7823 151.0868 224.2687 235.2874 151.0868 224.404 237.0805 151.0868 226.197 237.2158 151.0868 226.7022 236.8595 151.0868 228.7231 236.5595 151.0868 229.1515 235.7614 151.0868 224.625 236.1897 151.0868 224.925 160.6633 151.0868 228.7231 160.4423 151.0868 228.2492 162.7404 151.0868 230.1775 162.2353 151.0868 230.0422 161.7614 151.0868 229.8212 160.9633 151.0868 225.2947 160.6633 151.0868 225.7231 160.4423 151.0868 226.197 163.2614 151.0868 230.2231 161.333 151.0868 229.5212 160.9633 151.0868 229.1515 160.307 151.0868 227.744 160.2614 151.0868 227.2231 160.307 151.0868 226.7022 161.333 151.0868 224.925 161.7614 151.0868 224.625 162.2353 151.0868 224.404 162.7404 151.0868 224.2687 163.2614 151.0868 224.2231 198.7614 151.0868 224.2231 222.2364 151.0868 224.2231 234.2614 151.0868 224.2231 234.7823 151.0868 230.1775 234.2614 151.0868 230.2231 222.2364 151.0868 230.2231 198.7614 151.0868 230.2231 162.377 151.0868 172.5316 162.6614 151.0868 172.6643 162.074 151.0868 172.4505 162.9184 151.0868 172.8442 163.1403 151.0868 173.0661 163.3202 151.0868 173.3231 163.4528 151.0868 173.6075 163.534 151.0868 173.9105 163.5614 151.0868 174.2231 163.534 151.0868 174.5357 163.4528 151.0868 174.8387 163.3202 151.0868 175.1231 163.1403 151.0868 175.3801 160.0699 151.0868 174.8387 159.9887 151.0868 174.5357 159.9614 151.0868 174.2231 159.9887 151.0868 173.9105 160.0699 151.0868 173.6075 160.2025 151.0868 173.3231 160.3825 151.0868 173.0661 160.6044 151.0868 172.8442 160.8614 151.0868 172.6643 161.1457 151.0868 172.5316 162.9184 151.0868 175.602 162.6614 151.0868 175.7819 162.377 151.0868 175.9145 162.074 151.0868 175.9958 161.7614 151.0868 176.0231 161.4488 151.0868 175.9958 161.1457 151.0868 175.9145 160.8614 151.0868 175.7819 160.6044 151.0868 175.602 160.3825 151.0868 175.3801 160.2025 151.0868 175.1231 153.3931 151.0868 242.1471 154.2614 151.0868 242.2231 198.7614 151.0868 242.2231 222.2364 151.0868 242.2231 237.4114 151.0868 242.2231 245.7614 151.0868 241.5532 237.3202 149.5868 239.1231 237.4528 149.5868 238.8387 237.534 149.5868 238.5357 237.5614 149.5868 238.2231 237.534 149.5868 237.9105 237.4528 149.5868 237.6075 237.3202 149.5868 237.3231 237.1403 149.5868 237.0661 236.9184 149.5868 236.8442 236.6614 149.5868 236.6643 236.377 149.5868 236.5317 236.074 149.5868 236.4505 235.7614 149.5868 236.4231 235.4488 149.5868 236.4505 235.1457 149.5868 236.5317 234.8614 149.5868 236.6643 234.6044 149.5868 236.8442 234.3825 149.5868 237.0661 234.2025 149.5868 237.3231 234.0699 149.5868 237.6075 233.9887 149.5868 237.9105 233.9614 149.5868 238.2231 233.9887 149.5868 238.5357 234.0699 149.5868 238.8387 234.2025 149.5868 239.1231 234.3825 149.5868 239.3801 234.6044 149.5868 239.602 234.8614 149.5868 239.7819 235.1457 149.5868 239.9145 235.4488 149.5868 239.9958 235.7614 149.5868 240.0231 236.074 149.5868 239.9958 236.377 149.5868 239.9145 236.6614 149.5868 239.7819 236.9184 149.5868 239.602 237.1403 149.5868 239.3801 161.7614 149.5868 172.4231 161.4488 149.5868 172.4505 161.1457 149.5868 172.5316 160.8614 149.5868 172.6643 160.6044 149.5868 172.8442 160.3825 149.5868 173.0661 160.2025 149.5868 173.3231 160.0699 149.5868 173.6075 159.9887 149.5868 173.9105 159.9614 149.5868 174.2231 159.9887 149.5868 174.5357 160.0699 149.5868 174.8387 160.2025 149.5868 175.1231 160.3825 149.5868 175.3801 160.6044 149.5868 175.602 160.8614 149.5868 175.7819 161.1457 149.5868 175.9145 161.4488 149.5868 175.9958 161.7614 149.5868 176.0231 162.074 149.5868 175.9958 162.377 149.5868 175.9145 162.6614 149.5868 175.7819 162.9184 149.5868 175.602 163.1403 149.5868 175.3801 163.3202 149.5868 175.1231 163.4528 149.5868 174.8387 163.534 149.5868 174.5357 163.5614 149.5868 174.2231 163.534 149.5868 173.9105 163.4528 149.5868 173.6075 163.3202 149.5868 173.3231 163.1403 149.5868 173.0661 162.9184 149.5868 172.8442 162.6614 149.5868 172.6643 162.377 149.5868 172.5316 162.074 149.5868 172.4505 163.4934 149.5868 241.2231 165.2255 149.5868 238.2231 163.4934 149.5868 235.2231 158.2973 149.5868 238.2231 160.0293 149.5868 241.2231 160.0293 149.5868 235.2231 237.4934 149.5868 177.2231 239.2255 149.5868 174.2231 232.2973 149.5868 174.2231 234.0293 149.5868 177.2231 237.4934 149.5868 171.2231 234.0293 149.5868 171.2231 160.0293 149.5868 177.2231 163.4934 149.5868 177.2231 165.2255 149.5868 174.2231 163.4934 149.5868 171.2231 160.0293 149.5868 171.2231 158.2973 149.5868 174.2231 232.2973 149.5868 238.2231 234.0293 149.5868 241.2231 237.4934 149.5868 241.2231 239.2255 149.5868 238.2231 237.4934 149.5868 235.2231 234.0293 149.5868 235.2231 210.5114 149.5868 177.192 211.0111 149.5868 177.5419 211.4425 149.5868 177.9733 211.7925 149.5868 178.4731 212.0503 149.5868 179.026 212.2082 149.5868 179.6153 212.2614 149.5868 180.2231 212.2082 149.5868 180.8309 212.0503 149.5868 181.4202 211.7925 149.5868 181.9731 211.4425 149.5868 182.4729 211.0111 149.5868 182.9043 210.5114 149.5868 183.2542 209.9585 149.5868 183.512 209.3692 149.5868 183.6699 208.7614 149.5868 183.7231 208.1536 149.5868 183.6699 207.5643 149.5868 183.512 207.0114 149.5868 183.2542 206.5116 149.5868 182.9043 206.0802 149.5868 182.4729 205.7303 149.5868 181.9731 205.4725 149.5868 181.4202 205.3146 149.5868 180.8309 205.2614 149.5868 180.2231 205.3146 149.5868 179.6153 205.4725 149.5868 179.026 205.7303 149.5868 178.4731 206.0802 149.5868 177.9733 206.5116 149.5868 177.5419 207.0114 149.5868 177.192 207.5643 149.5868 176.9342 208.1536 149.5868 176.7763 208.7614 149.5868 176.7231 209.3692 149.5868 176.7763 209.9585 149.5868 176.9342 187.0114 149.5868 183.2542 186.5116 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197.9733 191.7925 149.5868 198.4731 192.0503 149.5868 199.026 192.2082 149.5868 199.6153 192.2614 149.5868 200.2231 192.2082 149.5868 200.8309 192.0503 149.5868 201.4202 191.7925 149.5868 201.9731 191.4425 149.5868 202.4729 191.0111 149.5868 202.9043 190.5114 149.5868 203.2542 189.9585 149.5868 203.512 189.3692 149.5868 203.6699 188.7614 149.5868 203.7231 188.1536 149.5868 203.6699 187.5643 149.5868 203.512 187.0114 149.5868 203.2542 186.5116 149.5868 202.9043 186.0802 149.5868 202.4729 185.7303 149.5868 201.9731 185.4725 149.5868 201.4202 185.3146 149.5868 200.8309 185.2614 149.5868 200.2231 185.3146 149.5868 199.6153 185.4725 149.5868 199.026 185.7303 149.5868 198.4731 186.0802 149.5868 197.9733 186.5116 149.5868 197.5419 187.0114 149.5868 197.192 187.5643 149.5868 196.9342 188.1536 149.5868 196.7763 188.7614 149.5868 196.7231 189.3692 149.5868 196.7763 189.9585 149.5868 196.9342 209.9585 149.5868 196.9342 210.5114 149.5868 197.192 211.0111 149.5868 197.5419 211.4425 149.5868 197.9733 211.7925 149.5868 198.4731 212.0503 149.5868 199.026 212.2082 149.5868 199.6153 212.2614 149.5868 200.2231 212.2082 149.5868 200.8309 212.0503 149.5868 201.4202 211.7925 149.5868 201.9731 211.4425 149.5868 202.4729 211.0111 149.5868 202.9043 210.5114 149.5868 203.2542 209.9585 149.5868 203.512 209.3692 149.5868 203.6699 208.7614 149.5868 203.7231 208.1536 149.5868 203.6699 207.5643 149.5868 203.512 207.0114 149.5868 203.2542 206.5116 149.5868 202.9043 206.0802 149.5868 202.4729 205.7303 149.5868 201.9731 205.4725 149.5868 201.4202 205.3146 149.5868 200.8309 205.2614 149.5868 200.2231 205.3146 149.5868 199.6153 205.4725 149.5868 199.026 205.7303 149.5868 198.4731 206.0802 149.5868 197.9733 206.5116 149.5868 197.5419 207.0114 149.5868 197.192 207.5643 149.5868 196.9342 208.1536 149.5868 196.7763 208.7614 149.5868 196.7231 209.3692 149.5868 196.7763 175.697 135.8862 160.2231 175.1498 136.0328 160.2231 168.7614 131.0868 160.2231 179.462 139.6512 160.2231 179.3154 140.1984 160.2231 179.076 140.7118 160.2231 223.3504 136.5972 160.2231 222.8864 136.2722 160.2231 228.7614 131.0868 160.2231 222.373 136.0328 160.2231 221.8257 135.8862 160.2231 179.462 138.5225 160.2231 220.1498 136.0328 160.2231 219.6364 136.2722 160.2231 173.4468 137.4618 160.2231 173.2074 137.9752 160.2231 162.3335 133.4264 160.2231 236.4218 134.6589 160.2231 224.462 138.5225 160.2231 224.3154 137.9752 160.2231 224.076 137.4618 160.2231 233.7614 132.4266 160.2231 235.1893 133.4264 160.2231 223.751 136.9978 160.2231 230.4979 131.2387 160.2231 232.1816 131.6899 160.2231 221.2614 135.8368 160.2231 220.697 135.8862 160.2231 179.076 137.4618 160.2231 178.751 136.9978 160.2231 178.3504 136.5972 160.2231 177.8864 136.2722 160.2231 161.1009 134.6589 160.2231 173.0608 138.5225 160.2231 160.1011 136.0868 160.2231 159.3645 137.6666 160.2231 173.0114 139.0868 160.2231 158.9133 139.3503 160.2231 218.2074 140.1984 160.2231 218.4468 140.7118 160.2231 179.3154 137.9752 160.2231 173.4468 140.7118 160.2231 173.7717 141.1759 160.2231 174.1723 141.5765 160.2231 174.6364 141.9014 160.2231 175.1498 142.1408 160.2231 177.373 142.1408 160.2231 177.8864 141.9014 160.2231 218.7717 141.1759 160.2231 219.1723 141.5765 160.2231 219.6364 141.9014 160.2231 220.1498 142.1408 160.2231 220.697 142.2874 160.2231 221.2614 142.3368 160.2231 221.8257 142.2874 160.2231 219.1723 136.5972 160.2231 218.7717 136.9978 160.2231 218.4468 137.4618 160.2231 177.373 136.0328 160.2231 176.8257 135.8862 160.2231 176.2614 135.8368 160.2231 174.6364 136.2722 160.2231 174.1723 136.5972 160.2231 167.0249 131.2387 160.2231 173.7717 136.9978 160.2231 165.3412 131.6899 160.2231 163.7614 132.4266 160.2231 158.7614 141.0868 160.2231 173.0608 139.6512 160.2231 173.2074 140.1984 160.2231 178.3504 141.5765 160.2231 178.751 141.1759 160.2231 218.2074 137.9752 160.2231 218.0608 138.5225 160.2231 179.5114 139.0868 160.2231 218.0114 139.0868 160.2231 218.0608 139.6512 160.2231 237.4216 136.0868 160.2231 238.1583 137.6666 160.2231 224.5114 139.0868 160.2231 238.6095 139.3503 160.2231 224.462 139.6512 160.2231 238.7614 141.0868 160.2231 224.3154 140.1984 160.2231 224.076 140.7118 160.2231 223.751 141.1759 160.2231 175.697 142.2874 160.2231 176.2614 142.3368 160.2231 176.8257 142.2874 160.2231 222.373 142.1408 160.2231 222.8864 141.9014 160.2231 223.3504 141.5765 160.2231 168.7614 131.0868 156.2231 161.1009 134.6589 156.2231 228.7614 131.0868 156.2231 160.1011 136.0868 156.2231 159.3645 137.6666 156.2231 158.9133 139.3503 156.2231 158.7614 141.0868 156.2231 163.7614 132.4266 156.2231 162.3335 133.4264 156.2231 167.0249 131.2387 156.2231 165.3412 131.6899 156.2231 238.7614 141.0868 156.2231 230.4979 131.2387 156.2231 232.1816 131.6899 156.2231 236.4218 134.6589 156.2231 235.1893 133.4264 156.2231 233.7614 132.4266 156.2231 238.6095 139.3503 156.2231 238.1583 137.6666 156.2231 237.4216 136.0868 156.2231 179.5114 139.0868 158.2231 179.462 139.6512 158.2231 179.3154 140.1984 158.2231 179.076 140.7118 158.2231 178.751 141.1759 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222.8864 141.9014 158.2231 222.373 142.1408 158.2231 221.8257 142.2874 158.2231 221.2614 142.3368 158.2231 220.697 142.2874 158.2231 220.1498 142.1408 158.2231 219.6364 141.9014 158.2231 219.1723 141.5765 158.2231 218.7717 141.1759 158.2231 218.4468 140.7118 158.2231 218.2074 140.1984 158.2231 218.0608 139.6512 158.2231 218.0114 139.0868 158.2231 218.0608 138.5225 158.2231 218.2074 137.9752 158.2231 218.4468 137.4618 158.2231 218.7717 136.9978 158.2231 219.1723 136.5972 158.2231 219.6364 136.2722 158.2231 220.1498 136.0328 158.2231 220.697 135.8862 158.2231 221.2614 135.8368 158.2231 221.8257 135.8862 158.2231 222.373 136.0328 158.2231 222.8864 136.2722 158.2231 223.3504 136.5972 158.2231 223.751 136.9978 158.2231 224.076 137.4618 158.2231 224.3154 137.9752 158.2231 224.462 138.5225 158.2231 210.0495 175.0868 206.7121 209.7079 163.0868 206.9615 211.371 163.0868 205.7472 211.371 175.0868 205.7472 212.9004 163.0868 204.3684 212.9004 175.0868 204.3684 214.2798 163.0868 202.8397 214.2798 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193.5247 190.7663 175.0868 194.5872 190.6215 175.0868 194.8049 194.8436 175.0868 196.5895 190.4412 175.0868 194.9942 190.2307 175.0868 195.1493 195.5947 175.0868 179.4898 195.8343 175.0868 179.5946 196.6153 175.0868 180.8752 196.5988 175.0868 181.1361 196.5373 175.0868 181.3902 196.4325 175.0868 181.6298 198.443 175.0868 182.7299 199.6807 175.0868 182.7796 192.6625 175.0868 194.5881 190.9326 175.0868 194.0935 193.4641 175.0868 195.5324 196.052 175.0868 179.7393 196.2413 175.0868 179.9197 196.3964 175.0868 180.1302 195.1519 175.0868 182.4109 194.891 175.0868 182.3944 192.3141 175.0868 186.3912 194.6369 175.0868 182.3328 191.4193 175.0868 188.6923 191.7714 175.0868 187.5047 189.9285 175.0868 192.4472 189.6744 175.0868 192.3857 191.5756 175.0868 192.3713 190.7302 175.0868 193.0876 190.8464 175.0868 193.3219 189.1536 175.0868 192.3982 194.3973 175.0868 182.228 194.1795 175.0868 182.0833 194.4102 175.0868 196.3319 190.8711 175.0868 194.3476 189.2248 175.0868 195.3518 188.9707 175.0868 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197.2589 241.9105 105.0868 197.2589 241.7256 103.0868 197.074 241.7256 105.0868 197.074 241.5114 103.0868 196.9241 241.5114 105.0868 196.9241 241.2744 103.0868 196.8136 241.2744 105.0868 196.8136 241.0219 103.0868 196.7459 241.0219 105.0868 196.7459 248.2614 107.0868 172.2231 248.2614 107.0868 224.2231 248.2614 103.0868 172.2231 248.2614 103.0868 224.2231 158.2614 107.0868 162.2231 238.2614 107.0868 162.2231 158.2614 103.0868 162.2231 238.2614 103.0868 162.2231 148.2614 107.0868 224.2231 148.2614 107.0868 172.2231 148.2614 103.0868 224.2231 148.2614 103.0868 172.2231 158.2614 103.0868 234.2231 238.2614 103.0868 234.2231 158.2614 107.0868 234.2231 238.2614 107.0868 234.2231 201.0323 107.0868 163.2687 201.5374 107.0868 163.404 193.1923 107.0868 231.2492 158.0595 107.0868 196.2947 193.4133 107.0868 231.7231 158.3595 107.0868 196.7231 193.7133 107.0868 232.1515 193.1923 107.0868 167.2492 155.7614 107.0868 195.2231 156.2823 107.0868 195.2687 193.057 107.0868 166.744 156.5249 107.0868 162.375 193.0114 107.0868 166.2231 193.057 107.0868 165.7022 193.1923 107.0868 165.197 194.9853 107.0868 163.404 194.5114 107.0868 163.625 194.083 107.0868 163.925 157.6898 107.0868 200.5212 157.2614 107.0868 200.8212 152.9423 107.0868 199.2492 152.807 107.0868 198.744 152.7614 107.0868 198.2231 152.807 107.0868 197.7022 152.9423 107.0868 197.197 193.057 107.0868 230.744 193.0114 107.0868 230.2231 157.6898 107.0868 195.925 193.057 107.0868 229.7022 193.1923 107.0868 229.197 193.4133 107.0868 164.7231 193.7133 107.0868 164.2947 158.5805 107.0868 199.2492 148.4133 107.0868 225.9596 148.8645 107.0868 227.6433 158.0595 107.0868 200.1515 154.2614 107.0868 200.8212 153.833 107.0868 200.5212 153.1633 107.0868 196.7231 153.4633 107.0868 196.2947 153.833 107.0868 195.925 193.4133 107.0868 228.7231 193.7133 107.0868 228.2947 194.083 107.0868 227.925 195.4904 107.0868 163.2687 196.0114 107.0868 163.2231 200.5114 107.0868 163.2231 194.083 107.0868 232.5212 158.7158 107.0868 198.744 158.3595 107.0868 199.7231 156.7874 107.0868 201.0422 156.2823 107.0868 201.1775 155.7614 107.0868 201.2231 155.2404 107.0868 201.1775 154.7353 107.0868 201.0422 153.4633 107.0868 200.1515 153.1633 107.0868 199.7231 156.7874 107.0868 195.404 157.2614 107.0868 195.625 202.0114 107.0868 163.625 202.4397 107.0868 163.925 202.8095 107.0868 164.2947 194.5114 107.0868 168.8212 194.083 107.0868 168.5212 196.0114 107.0868 227.2231 155.2404 107.0868 195.2687 150.6009 107.0868 165.7952 149.6011 107.0868 167.2231 203.1095 107.0868 164.7231 203.3305 107.0868 165.197 203.4658 107.0868 165.7022 203.1095 107.0868 231.7231 202.8095 107.0868 232.1515 194.5114 107.0868 227.625 194.9853 107.0868 227.404 195.4904 107.0868 227.2687 193.4133 107.0868 167.7231 193.7133 107.0868 168.1515 151.8335 107.0868 164.5626 153.2614 107.0868 163.5628 240.2404 107.0868 195.2687 239.9979 107.0868 162.375 240.7614 107.0868 195.2231 241.6816 107.0868 162.8262 243.2614 107.0868 163.5628 242.6897 107.0868 195.925 242.2614 107.0868 195.625 241.7874 107.0868 195.404 154.2614 107.0868 195.625 154.7353 107.0868 195.404 148.4133 107.0868 170.4866 148.8645 107.0868 168.8029 154.8412 107.0868 162.8262 241.2823 107.0868 195.2687 248.1095 107.0868 170.4866 247.6583 107.0868 168.8029 201.5374 107.0868 227.404 202.0114 107.0868 227.625 201.5374 107.0868 169.0422 202.4397 107.0868 227.925 202.8095 107.0868 228.2947 203.1095 107.0868 228.7231 203.3305 107.0868 229.197 203.4658 107.0868 229.7022 203.5114 107.0868 230.2231 203.4658 107.0868 230.744 203.3305 107.0868 231.2492 246.9216 107.0868 167.2231 245.9218 107.0868 165.7952 244.6893 107.0868 164.5626 240.2404 107.0868 201.1775 240.7614 107.0868 201.2231 239.9979 107.0868 234.0712 241.6816 107.0868 233.62 158.5805 107.0868 197.197 158.7158 107.0868 197.7022 158.7614 107.0868 198.2231 243.0595 107.0868 196.2947 243.3595 107.0868 196.7231 243.5805 107.0868 197.197 239.7353 107.0868 201.0422 239.2614 107.0868 200.8212 238.833 107.0868 200.5212 202.4397 107.0868 232.5212 202.0114 107.0868 232.8212 201.5374 107.0868 233.0422 238.4633 107.0868 200.1515 203.3305 107.0868 167.2492 203.1095 107.0868 167.7231 202.8095 107.0868 168.1515 237.9423 107.0868 199.2492 238.1633 107.0868 199.7231 203.5114 107.0868 166.2231 203.4658 107.0868 166.744 238.4633 107.0868 196.2947 238.833 107.0868 195.925 239.2614 107.0868 195.625 239.7353 107.0868 195.404 243.7158 107.0868 197.7022 243.7614 107.0868 198.2231 243.7158 107.0868 198.744 243.5805 107.0868 199.2492 243.3595 107.0868 199.7231 243.0595 107.0868 200.1515 242.6897 107.0868 200.5212 243.2614 107.0868 232.8834 244.6893 107.0868 231.8835 241.2823 107.0868 201.1775 245.9218 107.0868 230.651 246.9216 107.0868 229.2231 202.0114 107.0868 168.8212 202.4397 107.0868 168.5212 196.0114 107.0868 169.2231 195.4904 107.0868 169.1775 194.9853 107.0868 169.0422 195.4904 107.0868 233.1775 194.9853 107.0868 233.0422 194.5114 107.0868 232.8212 237.807 107.0868 198.744 237.7614 107.0868 198.2231 237.807 107.0868 197.7022 237.9423 107.0868 197.197 238.1633 107.0868 196.7231 242.2614 107.0868 200.8212 241.7874 107.0868 201.0422 248.1095 107.0868 225.9596 247.6583 107.0868 227.6433 201.0323 107.0868 227.2687 201.0323 107.0868 169.1775 200.5114 107.0868 169.2231 201.0323 107.0868 233.1775 200.5114 107.0868 233.2231 196.0114 107.0868 233.2231 153.2614 107.0868 232.8834 154.8412 107.0868 233.62 156.5249 107.0868 234.0712 200.5114 107.0868 227.2231 149.6011 107.0868 229.2231 150.6009 107.0868 230.651 151.8335 107.0868 231.8835 156.5249 103.0868 234.0712 154.8412 103.0868 233.62 247.6583 103.0868 227.6433 246.9216 103.0868 229.2231 245.9218 103.0868 230.651 244.6893 103.0868 231.8835 243.2614 103.0868 232.8834 248.1095 103.0868 225.9596 148.4133 103.0868 225.9596 148.8645 103.0868 227.6433 149.6011 103.0868 229.2231 153.2614 103.0868 232.8834 151.8335 103.0868 231.8835 150.6009 103.0868 230.651 241.6816 103.0868 233.62 239.9979 103.0868 234.0712 239.9979 103.0868 162.375 241.6816 103.0868 162.8262 248.1095 103.0868 170.4866 247.6583 103.0868 168.8029 246.9216 103.0868 167.2231 243.2614 103.0868 163.5628 244.6893 103.0868 164.5626 245.9218 103.0868 165.7952 148.8645 103.0868 168.8029 149.6011 103.0868 167.2231 150.6009 103.0868 165.7952 151.8335 103.0868 164.5626 153.2614 103.0868 163.5628 148.4133 103.0868 170.4866 156.5249 103.0868 162.375 154.8412 103.0868 162.8262 237.9423 105.0868 197.197 237.807 105.0868 197.7022 237.7614 105.0868 198.2231 237.807 105.0868 198.744 237.9423 105.0868 199.2492 238.1633 105.0868 199.7231 238.4633 105.0868 200.1515 238.833 105.0868 200.5212 239.2614 105.0868 200.8212 239.7353 105.0868 201.0422 240.2404 105.0868 201.1775 240.7614 105.0868 201.2231 241.2823 105.0868 201.1775 241.7874 105.0868 201.0422 242.2614 105.0868 200.8212 242.6897 105.0868 200.5212 243.0595 105.0868 200.1515 243.3595 105.0868 199.7231 243.5805 105.0868 199.2492 243.7158 105.0868 198.744 243.7614 105.0868 198.2231 243.7158 105.0868 197.7022 243.5805 105.0868 197.197 243.3595 105.0868 196.7231 243.0595 105.0868 196.2947 242.6897 105.0868 195.925 242.2614 105.0868 195.625 241.7874 105.0868 195.404 241.2823 105.0868 195.2687 240.7614 105.0868 195.2231 240.2404 105.0868 195.2687 239.7353 105.0868 195.404 239.2614 105.0868 195.625 238.833 105.0868 195.925 238.4633 105.0868 196.2947 238.1633 105.0868 196.7231 155.7614 105.0868 201.2231 156.2823 105.0868 201.1775 156.7874 105.0868 201.0422 157.2614 105.0868 200.8212 157.6898 105.0868 200.5212 158.0595 105.0868 200.1515 158.3595 105.0868 199.7231 158.5805 105.0868 199.2492 158.7158 105.0868 198.744 158.7614 105.0868 198.2231 158.7158 105.0868 197.7022 158.5805 105.0868 197.197 158.3595 105.0868 196.7231 158.0595 105.0868 196.2947 157.6898 105.0868 195.925 157.2614 105.0868 195.625 156.7874 105.0868 195.404 156.2823 105.0868 195.2687 155.7614 105.0868 195.2231 155.2404 105.0868 195.2687 154.7353 105.0868 195.404 154.2614 105.0868 195.625 153.833 105.0868 195.925 153.4633 105.0868 196.2947 153.1633 105.0868 196.7231 152.9423 105.0868 197.197 152.807 105.0868 197.7022 152.7614 105.0868 198.2231 152.807 105.0868 198.744 152.9423 105.0868 199.2492 153.1633 105.0868 199.7231 153.4633 105.0868 200.1515 153.833 105.0868 200.5212 154.2614 105.0868 200.8212 154.7353 105.0868 201.0422 155.2404 105.0868 201.1775 203.4658 105.0868 166.744 203.5114 105.0868 166.2231 203.4658 105.0868 165.7022 203.3305 105.0868 165.197 203.1095 105.0868 164.7231 202.8095 105.0868 164.2947 202.4397 105.0868 163.925 202.0114 105.0868 163.625 201.5374 105.0868 163.404 201.0323 105.0868 163.2687 200.5114 105.0868 163.2231 196.0114 105.0868 163.2231 195.4904 105.0868 163.2687 194.9853 105.0868 163.404 194.5114 105.0868 163.625 194.083 105.0868 163.925 193.7133 105.0868 164.2947 193.4133 105.0868 164.7231 193.1923 105.0868 165.197 193.057 105.0868 165.7022 193.0114 105.0868 166.2231 193.057 105.0868 166.744 193.1923 105.0868 167.2492 193.4133 105.0868 167.7231 193.7133 105.0868 168.1515 194.083 105.0868 168.5212 194.5114 105.0868 168.8212 194.9853 105.0868 169.0422 195.4904 105.0868 169.1775 196.0114 105.0868 169.2231 200.5114 105.0868 169.2231 201.0323 105.0868 169.1775 201.5374 105.0868 169.0422 202.0114 105.0868 168.8212 202.4397 105.0868 168.5212 202.8095 105.0868 168.1515 203.1095 105.0868 167.7231 203.3305 105.0868 167.2492 193.1923 105.0868 231.2492 193.4133 105.0868 231.7231 193.7133 105.0868 232.1515 194.083 105.0868 232.5212 194.5114 105.0868 232.8212 194.9853 105.0868 233.0422 195.4904 105.0868 233.1775 196.0114 105.0868 233.2231 200.5114 105.0868 233.2231 201.0323 105.0868 233.1775 201.5374 105.0868 233.0422 202.0114 105.0868 232.8212 202.4397 105.0868 232.5212 202.8095 105.0868 232.1515 203.1095 105.0868 231.7231 203.3305 105.0868 231.2492 203.4658 105.0868 230.744 203.5114 105.0868 230.2231 203.4658 105.0868 229.7022 203.3305 105.0868 229.197 203.1095 105.0868 228.7231 202.8095 105.0868 228.2947 202.4397 105.0868 227.925 202.0114 105.0868 227.625 201.5374 105.0868 227.404 201.0323 105.0868 227.2687 200.5114 105.0868 227.2231 196.0114 105.0868 227.2231 195.4904 105.0868 227.2687 194.9853 105.0868 227.404 194.5114 105.0868 227.625 194.083 105.0868 227.925 193.7133 105.0868 228.2947 193.4133 105.0868 228.7231 193.1923 105.0868 229.197 193.057 105.0868 229.7022 193.0114 105.0868 230.2231 193.057 105.0868 230.744 196.9919 103.0868 167.3583 197.6455 103.0868 168.1151 197.1741 103.0868 167.1708 197.9492 103.0868 167.8026 197.321 103.0868 166.9545 198.1941 103.0868 167.4421 197.4281 103.0868 166.716 198.3726 103.0868 167.0445 197.4922 103.0868 166.4625 198.4794 103.0868 166.622 197.5112 103.0868 166.2017 198.5111 103.0868 166.1874 197.4847 103.0868 165.9416 198.467 103.0868 165.7539 197.4135 103.0868 165.69 198.3482 103.0868 165.3346 197.2996 103.0868 165.4546 198.1584 103.0868 164.9423 197.1466 103.0868 165.2426 197.9034 103.0868 164.589 196.9591 103.0868 165.0604 197.5909 103.0868 164.2852 196.7428 103.0868 164.9135 197.2304 103.0868 164.0404 196.5042 103.0868 164.8064 196.8328 103.0868 163.8619 196.2507 103.0868 164.7423 196.4103 103.0868 163.7551 195.99 103.0868 164.7232 195.9757 103.0868 163.7234 195.7299 103.0868 164.7498 195.5422 103.0868 163.7675 195.4783 103.0868 164.821 195.1229 103.0868 163.8863 195.2429 103.0868 164.9349 194.7306 103.0868 164.0761 195.0309 103.0868 165.0879 194.3772 103.0868 164.3311 194.8487 103.0868 165.2754 194.0735 103.0868 164.6436 194.7018 103.0868 165.4917 193.8287 103.0868 165.0041 194.5947 103.0868 165.7302 193.6502 103.0868 165.4017 194.5306 103.0868 165.9837 193.5434 103.0868 165.8242 194.5115 103.0868 166.2445 193.5116 103.0868 166.2588 194.538 103.0868 166.5046 193.5558 103.0868 166.6923 194.6093 103.0868 166.7562 193.6746 103.0868 167.1116 194.7232 103.0868 166.9916 193.8644 103.0868 167.5039 194.8762 103.0868 167.2036 194.1194 103.0868 167.8572 195.0637 103.0868 167.3858 194.4319 103.0868 168.1609 195.28 103.0868 167.5327 194.7924 103.0868 168.4058 195.5185 103.0868 167.6398 195.19 103.0868 168.5843 195.772 103.0868 167.7039 195.6124 103.0868 168.6911 196.0328 103.0868 167.7229 196.0471 103.0868 168.7229 196.2929 103.0868 167.6964 196.4806 103.0868 168.6787 196.5445 103.0868 167.6252 196.8999 103.0868 168.5599 196.7798 103.0868 167.5113 197.2922 103.0868 168.3701 196.0328 83.08682 167.7229 196.0471 83.08682 168.7229 195.772 83.08682 167.7039 195.6124 83.08682 168.6911 195.5185 83.08682 167.6398 195.19 83.08682 168.5843 195.28 83.08682 167.5327 194.7924 83.08682 168.4058 195.0637 83.08682 167.3858 194.4319 83.08682 168.1609 194.8762 83.08682 167.2036 194.1194 83.08682 167.8572 194.7232 83.08682 166.9916 193.8644 83.08682 167.5039 194.6093 83.08682 166.7562 193.6746 83.08682 167.1116 194.538 83.08682 166.5046 193.5558 83.08682 166.6923 194.5115 83.08682 166.2445 193.5116 83.08682 166.2588 194.5306 83.08682 165.9837 193.5434 83.08682 165.8242 194.5947 83.08682 165.7302 193.6502 83.08682 165.4017 194.7018 83.08682 165.4917 193.8287 83.08682 165.0041 194.8487 83.08682 165.2754 194.0735 83.08682 164.6436 195.0309 83.08682 165.0879 194.3772 83.08682 164.3311 195.2429 83.08682 164.9349 194.7306 83.08682 164.0761 195.4783 83.08682 164.821 195.1229 83.08682 163.8863 195.7299 83.08682 164.7498 195.5422 83.08682 163.7675 195.99 83.08682 164.7232 195.9757 83.08682 163.7234 196.2507 83.08682 164.7423 196.4103 83.08682 163.7551 196.5042 83.08682 164.8064 196.8328 83.08682 163.8619 196.7428 83.08682 164.9135 197.2304 83.08682 164.0404 196.9591 83.08682 165.0604 197.5909 83.08682 164.2852 197.1466 83.08682 165.2426 197.9034 83.08682 164.589 197.2996 83.08682 165.4546 198.1584 83.08682 164.9423 197.4135 83.08682 165.69 198.3482 83.08682 165.3346 197.4847 83.08682 165.9416 198.467 83.08682 165.7539 197.5112 83.08682 166.2017 198.5111 83.08682 166.1874 197.4922 83.08682 166.4625 198.4794 83.08682 166.622 197.4281 83.08682 166.716 198.3726 83.08682 167.0445 197.321 83.08682 166.9545 198.1941 83.08682 167.4421 197.1741 83.08682 167.1708 197.9492 83.08682 167.8026 196.9919 83.08682 167.3583 197.6455 83.08682 168.1151 196.7798 83.08682 167.5113 197.2922 83.08682 168.3701 196.5445 83.08682 167.6252 196.8999 83.08682 168.5599 196.2929 83.08682 167.6964 196.4806 83.08682 168.6787 241.8793 103.0868 199.2233 242.6245 103.0868 199.8901 242.0359 103.0868 199.014 242.8857 103.0868 199.5412 242.1539 103.0868 198.7806 243.0823 103.0868 199.1523 242.2296 103.0868 198.5303 243.2084 103.0868 198.7352 242.2606 103.0868 198.2707 243.2601 103.0868 198.3025 242.2461 103.0868 198.0097 243.2359 103.0868 197.8674 242.1865 103.0868 197.7551 243.1366 103.0868 197.4431 242.0836 103.0868 197.5147 242.9651 103.0868 197.0425 241.9405 103.0868 197.2959 242.7266 103.0868 196.6777 241.7616 103.0868 197.1052 242.4284 103.0868 196.36 241.5523 103.0868 196.9485 242.0795 103.0868 196.0988 241.3189 103.0868 196.8306 241.6906 103.0868 195.9022 241.0686 103.0868 196.7549 241.2735 103.0868 195.7761 240.809 103.0868 196.7239 240.8408 103.0868 195.7244 240.548 103.0868 196.7384 240.4057 103.0868 195.7485 240.2934 103.0868 196.798 239.9814 103.0868 195.8479 240.053 103.0868 196.9009 239.5808 103.0868 196.0194 239.8342 103.0868 197.044 239.216 103.0868 196.2579 239.6435 103.0868 197.2229 238.8983 103.0868 196.5561 239.4868 103.0868 197.4322 238.6371 103.0868 196.905 239.3688 103.0868 197.6656 238.4405 103.0868 197.2939 239.2932 103.0868 197.9159 238.3144 103.0868 197.711 239.2621 103.0868 198.1755 238.2626 103.0868 198.1437 239.2767 103.0868 198.4365 238.2868 103.0868 198.5788 239.3363 103.0868 198.6911 238.3862 103.0868 199.0031 239.4392 103.0868 198.9315 238.5577 103.0868 199.4037 239.5823 103.0868 199.1503 238.7962 103.0868 199.7684 239.7612 103.0868 199.341 239.0944 103.0868 200.0862 239.9705 103.0868 199.4977 239.4433 103.0868 200.3474 240.2039 103.0868 199.6156 239.8322 103.0868 200.544 240.4541 103.0868 199.6913 240.2493 103.0868 200.6701 240.7138 103.0868 199.7223 240.682 103.0868 200.7218 240.9748 103.0868 199.7078 241.1171 103.0868 200.6977 241.2294 103.0868 199.6482 241.5414 103.0868 200.5983 241.4698 103.0868 199.5453 241.942 103.0868 200.4268 241.6886 103.0868 199.4022 242.3067 103.0868 200.1883 240.9748 83.08682 199.7078 241.1171 83.08682 200.6977 240.7138 83.08682 199.7223 240.682 83.08682 200.7218 240.4541 83.08682 199.6913 240.2493 83.08682 200.6701 240.2039 83.08682 199.6156 239.8322 83.08682 200.544 239.9705 83.08682 199.4977 239.4433 83.08682 200.3474 239.7612 83.08682 199.341 239.0944 83.08682 200.0862 239.5823 83.08682 199.1503 238.7962 83.08682 199.7684 239.4392 83.08682 198.9315 238.5577 83.08682 199.4037 239.3363 83.08682 198.6911 238.3862 83.08682 199.0031 239.2767 83.08682 198.4365 238.2868 83.08682 198.5788 239.2621 83.08682 198.1755 238.2626 83.08682 198.1437 239.2932 83.08682 197.9159 238.3144 83.08682 197.711 239.3688 83.08682 197.6656 238.4405 83.08682 197.2939 239.4868 83.08682 197.4322 238.6371 83.08682 196.905 239.6435 83.08682 197.2229 238.8983 83.08682 196.5561 239.8342 83.08682 197.044 239.216 83.08682 196.2579 240.053 83.08682 196.9009 239.5808 83.08682 196.0194 240.2934 83.08682 196.798 239.9814 83.08682 195.8479 240.548 83.08682 196.7384 240.4057 83.08682 195.7485 240.809 83.08682 196.7239 240.8408 83.08682 195.7244 241.0686 83.08682 196.7549 241.2735 83.08682 195.7761 241.3189 83.08682 196.8306 241.6906 83.08682 195.9022 241.5523 83.08682 196.9485 242.0795 83.08682 196.0988 241.7616 83.08682 197.1052 242.4284 83.08682 196.36 241.9405 83.08682 197.2959 242.7266 83.08682 196.6777 242.0836 83.08682 197.5147 242.9651 83.08682 197.0425 242.1865 83.08682 197.7551 243.1366 83.08682 197.4431 242.2461 83.08682 198.0097 243.2359 83.08682 197.8674 242.2606 83.08682 198.2707 243.2601 83.08682 198.3025 242.2296 83.08682 198.5303 243.2084 83.08682 198.7352 242.1539 83.08682 198.7806 243.0823 83.08682 199.1523 242.0359 83.08682 199.014 242.8857 83.08682 199.5412 241.8793 83.08682 199.2233 242.6245 83.08682 199.8901 241.6886 83.08682 199.4022 242.3067 83.08682 200.1883 241.4698 83.08682 199.5453 241.942 83.08682 200.4268 241.2294 83.08682 199.6482 241.5414 83.08682 200.5983 160.1557 47.28681 177.3367 160.2003 47.28681 177.9329 160.1557 49.08681 177.3367 160.2003 49.08681 177.9329 160.2768 49.08681 178.2683 160.2768 47.28681 178.2683 160.3333 49.08681 178.5158 160.3333 47.28681 178.5158 160.5517 47.28681 179.0724 160.5517 49.08681 179.0724 161.2665 49.08681 180.7684 161.2665 47.28681 180.7684 162.4878 49.08681 183.6661 162.4878 47.28681 183.6661 163.9568 49.08681 188.4297 163.9568 47.28681 188.4297 164.9442 49.08681 193.316 164.9442 47.28681 193.316 165.4402 49.08681 198.2762 165.4402 47.28681 198.2762 165.44 49.08681 200.7687 165.44 47.28681 200.7687 165.4397 49.08681 203.2613 165.4397 47.28681 203.2613 164.9429 49.08681 208.2214 164.9429 47.28681 208.2214 163.9546 49.08681 213.1075 163.9546 47.28681 213.1075 162.4847 49.08681 217.8709 162.4847 47.28681 217.8709 161.2629 49.08681 220.7684 161.2629 47.28681 220.7684 160.5478 49.08681 222.4642 160.5478 47.28681 222.4642 160.3292 47.28681 223.0207 160.3292 49.08681 223.0207 160.2727 49.08681 223.2683 160.2727 47.28681 223.2683 160.1961 49.08681 223.6036 160.1961 47.28681 223.6036 160.1514 47.28681 224.1998 160.1514 49.08681 224.1998 160.1513 49.08681 225.6114 160.1513 47.28681 225.6114 160.2005 47.28681 226.2372 160.2005 49.08681 226.2372 160.347 47.28681 226.8475 160.347 49.08681 226.8475 160.5871 47.28681 227.4274 160.5871 49.08681 227.4274 160.915 47.28681 227.9626 160.915 49.08681 227.9626 161.3226 47.28681 228.44 161.3226 49.08681 228.44 164.9007 49.08681 232.0187 164.9007 47.28681 232.0187 171.6494 49.08681 238.7686 171.6494 47.28681 238.7686 172.9784 49.08681 240.0979 172.9784 47.28681 240.0979 173.4556 47.28681 240.5055 173.4556 49.08681 240.5055 173.9908 47.28681 240.8336 173.9908 49.08681 240.8336 174.5707 47.28681 241.0738 174.5707 49.08681 241.0738 175.181 47.28681 241.2204 175.181 49.08681 241.2204 175.8067 47.28681 241.2697 175.8067 49.08681 241.2697 180.2998 47.28681 241.2701 180.2998 49.08681 241.2701 178.1491 47.28681 241.2699 178.1491 49.08681 241.2699 180.9256 49.08681 241.3194 180.9256 47.28681 241.3194 181.5359 49.08681 241.466 181.5359 47.28681 241.466 182.1158 49.08681 241.7062 182.1158 47.28681 241.7062 182.6509 49.08681 242.0343 182.6509 47.28681 242.0343 183.1282 49.08681 242.4419 183.1282 47.28681 242.4419 183.5358 49.08681 242.9193 183.5358 47.28681 242.9193 183.8637 49.08681 243.4545 183.8637 47.28681 243.4545 184.1038 49.08681 244.0344 184.1038 47.28681 244.0344 184.2503 49.08681 244.6447 184.2503 47.28681 244.6447 184.2995 49.08681 245.2705 184.2995 47.28681 245.2705 184.2983 49.08681 258.1078 184.2983 47.28681 258.1078 184.359 47.28681 258.8024 184.359 49.08681 258.8024 184.5394 47.28681 259.4759 184.5394 49.08681 259.4759 184.834 47.28681 260.1078 184.834 49.08681 260.1078 185.2339 47.28681 260.679 185.2339 49.08681 260.679 185.7269 47.28681 261.1721 185.7269 49.08681 261.1721 186.298 47.28681 261.5721 186.298 49.08681 261.5721 186.6473 49.08681 261.735 186.6473 47.28681 261.735 186.9299 49.08681 261.8668 186.9299 47.28681 261.8668 187.6034 47.28681 262.0473 187.6034 49.08681 262.0473 188.298 47.28681 262.1081 188.298 49.08681 262.1081 213.298 49.08681 262.1104 213.298 47.28681 262.1104 213.9925 47.28681 262.0497 213.9925 49.08681 262.0497 214.6661 47.28681 261.8693 214.6661 49.08681 261.8693 214.9487 49.08681 261.7376 214.9487 47.28681 261.7376 215.298 49.08681 261.5747 215.298 47.28681 261.5747 215.8692 47.28681 261.1748 215.8692 49.08681 261.1748 216.3623 47.28681 260.6818 216.3623 49.08681 260.6818 216.7622 47.28681 260.1107 216.7622 49.08681 260.1107 217.057 47.28681 259.4788 217.057 49.08681 259.4788 217.2375 47.28681 258.8054 217.2375 49.08681 258.8054 217.2983 47.28681 258.1108 217.2983 49.08681 258.1108 217.2995 49.08681 245.2735 217.2995 47.28681 245.2735 217.3488 49.08681 244.6477 217.3488 47.28681 244.6477 217.4954 49.08681 244.0374 217.4954 47.28681 244.0374 217.7356 49.08681 243.4576 217.7356 47.28681 243.4576 218.0636 49.08681 242.9224 218.0636 47.28681 242.9224 218.4713 49.08681 242.4452 218.4713 47.28681 242.4452 218.9486 49.08681 242.0376 218.9486 47.28681 242.0376 219.4839 49.08681 241.7097 219.4839 47.28681 241.7097 220.0638 49.08681 241.4695 220.0638 47.28681 241.4695 220.6741 49.08681 241.323 220.6741 47.28681 241.323 221.2998 49.08681 241.2738 221.2998 47.28681 241.2738 225.793 49.08681 241.2743 225.793 47.28681 241.2743 226.4187 47.28681 241.2251 226.4187 49.08681 241.2251 227.0291 47.28681 241.0786 227.0291 49.08681 241.0786 227.609 47.28681 240.8385 227.609 49.08681 240.8385 228.1442 47.28681 240.5105 228.1442 49.08681 240.5105 228.6215 47.28681 240.1029 228.6215 49.08681 240.1029 229.9508 49.08681 238.7739 229.9508 47.28681 238.7739 233.7011 49.08681 235.0243 233.7011 47.28681 235.0243 236.7007 49.08681 232.0252 236.7007 47.28681 232.0252 240.2794 49.08681 228.4472 240.2794 47.28681 228.4472 240.6871 47.28681 227.9699 240.6871 49.08681 227.9699 241.0151 47.28681 227.4347 241.0151 49.08681 227.4347 241.2554 47.28681 226.8549 241.2554 49.08681 226.8549 241.402 47.28681 226.2446 241.402 49.08681 226.2446 241.4513 47.28681 225.6188 241.4513 49.08681 225.6188 241.4514 49.08681 224.2073 241.4514 47.28681 224.2073 241.4068 47.28681 223.611 241.4068 49.08681 223.611 241.3303 49.08681 223.2757 241.3303 47.28681 223.2757 241.2738 49.08681 223.0281 241.2738 47.28681 223.0281 241.0554 47.28681 222.4716 241.0554 49.08681 222.4716 240.3406 49.08681 220.7756 240.3406 47.28681 220.7756 239.1193 49.08681 217.8779 239.1193 47.28681 217.8779 237.6502 49.08681 213.1142 237.6502 47.28681 213.1142 236.6629 49.08681 208.228 236.6629 47.28681 208.228 236.1669 49.08681 203.2677 236.1669 47.28681 203.2677 236.1671 49.08681 200.7752 236.1671 47.28681 200.7752 236.1674 49.08681 198.2827 236.1674 47.28681 198.2827 236.6642 49.08681 193.3225 236.6642 47.28681 193.3225 237.6525 49.08681 188.4364 237.6525 47.28681 188.4364 239.1224 49.08681 183.6731 239.1224 47.28681 183.6731 240.3442 49.08681 180.7756 240.3442 47.28681 180.7756 241.0593 49.08681 179.0798 241.0593 47.28681 179.0798 241.2778 47.28681 178.5232 241.2778 49.08681 178.5232 241.3344 49.08681 178.2757 241.3344 47.28681 178.2757 241.4109 49.08681 177.9403 241.4109 47.28681 177.9403 241.4557 47.28681 177.3441 241.4557 49.08681 177.3441 241.4558 49.08681 175.9325 241.4558 47.28681 175.9325 241.4066 47.28681 175.3068 241.4066 49.08681 175.3068 241.2602 47.28681 174.6965 241.2602 49.08681 174.6965 241.02 47.28681 174.1165 241.02 49.08681 174.1165 240.6921 47.28681 173.5813 240.6921 49.08681 173.5813 240.2845 47.28681 173.104 240.2845 49.08681 173.104 236.7064 49.08681 169.5252 236.7064 47.28681 169.5252 233.7074 49.08681 166.5257 233.7074 47.28681 166.5257 231.2069 49.08681 164.0248 231.2069 47.28681 164.0248 229.9577 49.08681 162.7754 229.9577 47.28681 162.7754 228.6287 49.08681 161.4461 228.6287 47.28681 161.4461 228.1515 47.28681 161.0384 228.1515 49.08681 161.0384 227.6163 47.28681 160.7104 227.6163 49.08681 160.7104 227.0364 47.28681 160.4701 227.0364 49.08681 160.4701 226.4261 47.28681 160.3236 226.4261 49.08681 160.3236 225.8004 47.28681 160.2743 225.8004 49.08681 160.2743 217.3072 49.08681 160.2735 217.3072 47.28681 160.2735 217.3075 49.08681 157.2735 217.3075 47.28681 157.2735 217.2583 47.28681 156.6477 217.2583 49.08681 156.6477 217.1119 47.28681 156.0374 217.1119 49.08681 156.0374 216.8717 47.28681 155.4575 216.8717 49.08681 155.4575 216.5438 47.28681 154.9223 216.5438 49.08681 154.9223 216.1362 47.28681 154.445 216.1362 49.08681 154.445 215.659 47.28681 154.0373 215.659 49.08681 154.0373 215.1238 47.28681 153.7093 215.1238 49.08681 153.7093 214.9586 49.08681 153.6408 214.9586 47.28681 153.6408 214.5439 49.08681 153.469 214.5439 47.28681 153.469 213.9336 47.28681 153.3224 213.9336 49.08681 153.3224 213.3079 47.28681 153.2731 213.3079 49.08681 153.2731 188.3079 49.08681 153.2708 188.3079 47.28681 153.2708 187.6821 47.28681 153.32 187.6821 49.08681 153.32 187.0718 47.28681 153.4665 187.0718 49.08681 153.4665 186.6571 49.08681 153.6382 186.6571 47.28681 153.6382 186.4919 49.08681 153.7066 186.4919 47.28681 153.7066 185.9567 47.28681 154.0346 185.9567 49.08681 154.0346 185.4794 47.28681 154.4421 185.4794 49.08681 154.4421 185.0717 47.28681 154.9194 185.0717 49.08681 154.9194 184.7437 47.28681 155.4546 184.7437 49.08681 155.4546 184.5034 47.28681 156.0344 184.5034 49.08681 156.0344 184.3568 47.28681 156.6447 184.3568 49.08681 156.6447 184.3075 47.28681 157.2705 184.3075 49.08681 157.2705 184.3072 49.08681 160.2705 184.3072 47.28681 160.2705 175.8141 47.28681 160.2697 175.8141 49.08681 160.2697 178.1565 47.28681 160.2699 178.1565 49.08681 160.2699 175.1884 47.28681 160.3189 175.1884 49.08681 160.3189 174.578 47.28681 160.4654 174.578 49.08681 160.4654 173.9981 47.28681 160.7055 173.9981 49.08681 160.7055 173.4629 47.28681 161.0334 173.4629 49.08681 161.0334 172.9856 47.28681 161.441 172.9856 49.08681 161.441 161.3276 47.28681 173.0968 161.3276 49.08681 173.0968 164.9064 47.28681 169.5187 164.9064 49.08681 169.5187 170.4069 47.28681 164.0192 170.4069 49.08681 164.0192 171.6563 47.28681 162.77 171.6563 49.08681 162.77 160.92 47.28681 173.5741 160.92 49.08681 173.5741 160.592 47.28681 174.1092 160.592 49.08681 174.1092 160.3517 47.28681 174.6891 160.3517 49.08681 174.6891 160.2051 47.28681 175.2994 160.2051 49.08681 175.2994 160.1558 47.28681 175.9251 160.1558 49.08681 175.9251 178.2144 49.08681 219.1001 178.1512 49.08681 219.1444 178.151 49.08681 220.7699 171.65 49.08681 232.0193 233.7014 49.08681 232.025 233.7063 49.08681 178.275 178.1562 49.08681 164.0199 164.5665 49.08681 173.2915 164.8191 49.08681 173.3592 165.7831 49.08681 175.0292 165.7154 49.08681 175.2818 171.6549 49.08681 178.2693 165.6049 49.08681 175.5188 164.0453 49.08681 176.2458 163.7928 49.08681 176.1781 163.5558 49.08681 176.0676 165.056 49.08681 173.4697 171.6557 49.08681 169.5193 165.2702 49.08681 173.6197 165.4551 49.08681 173.8046 165.605 49.08681 174.0188 165.4549 49.08681 175.7329 165.27 49.08681 175.9178 165.0558 49.08681 176.0678 163.793 49.08681 173.3591 164.0456 49.08681 173.2914 164.3061 49.08681 173.2686 165.7155 49.08681 174.2557 165.7832 49.08681 174.5083 165.8059 49.08681 174.7688 164.8188 49.08681 176.1782 164.5663 49.08681 176.2459 164.3058 49.08681 176.2687 163.3416 49.08681 175.9176 163.1568 49.08681 175.7327 163.0068 49.08681 175.5185 163.007 49.08681 174.0185 162.8964 49.08681 174.2555 162.8287 49.08681 174.508 162.8059 49.08681 174.7685 162.8287 49.08681 175.029 162.8963 49.08681 175.2816 163.1569 49.08681 173.8044 163.3418 49.08681 173.6195 163.556 49.08681 173.4695 171.6562 49.08681 164.0193 173.3297 49.08681 164.009 173.3974 49.08681 163.7565 173.5079 49.08681 163.5195 173.6579 49.08681 163.3053 173.8428 49.08681 163.1204 174.057 49.08681 162.9705 174.294 49.08681 162.86 174.5465 49.08681 162.7924 174.807 49.08681 162.7696 175.0675 49.08681 162.7924 175.32 49.08681 162.8601 175.557 49.08681 162.9706 175.7712 49.08681 163.1206 176.2165 49.08681 163.7567 176.106 49.08681 163.5197 175.956 49.08681 163.3055 186.6562 49.08681 164.0207 214.9576 49.08681 164.0233 226.294 49.08681 162.8648 226.5466 49.08681 162.7971 225.5079 49.08681 163.5242 225.6579 49.08681 163.3101 226.807 49.08681 162.7743 227.0675 49.08681 162.7972 227.32 49.08681 162.8649 225.8428 49.08681 163.1252 226.057 49.08681 162.9752 225.3288 49.08681 164.0242 225.3297 49.08681 164.0137 225.3974 49.08681 163.7612 227.557 49.08681 162.9754 227.7712 49.08681 163.1254 227.956 49.08681 163.3103 228.106 49.08681 163.5245 228.2165 49.08681 163.7615 229.9576 49.08681 164.0246 229.9571 49.08681 169.5246 237.0456 49.08681 173.2981 237.3061 49.08681 173.2753 237.5665 49.08681 173.2981 233.7071 49.08681 169.525 236.556 49.08681 173.4762 236.793 49.08681 173.3657 237.8191 49.08681 173.3658 238.056 49.08681 173.4763 238.2702 49.08681 173.6263 238.0558 49.08681 176.0744 237.8188 49.08681 176.1849 237.5663 49.08681 176.2525 237.3058 49.08681 176.2753 237.0453 49.08681 176.2525 236.7928 49.08681 176.1848 236.5558 49.08681 176.0743 236.3416 49.08681 175.9243 235.8964 49.08681 174.2621 236.007 49.08681 174.0252 236.1568 49.08681 175.7394 236.0068 49.08681 175.5252 235.8963 49.08681 175.2882 236.1569 49.08681 173.811 236.3418 49.08681 173.6262 238.4551 49.08681 173.8112 238.605 49.08681 174.0254 238.7155 49.08681 174.2624 238.7832 49.08681 174.515 238.8059 49.08681 174.7754 238.7831 49.08681 175.0359 238.7154 49.08681 175.2885 238.6049 49.08681 175.5254 238.4549 49.08681 175.7396 238.27 49.08681 175.9245 235.8287 49.08681 175.0356 235.8059 49.08681 174.7752 235.8287 49.08681 174.5147 233.7043 49.08681 200.775 233.7061 49.08681 180.775 233.7024 49.08681 220.775 233.7022 49.08681 223.275 235.824 49.08681 226.5147 235.8917 49.08681 226.2622 236.0022 49.08681 226.0252 236.1522 49.08681 225.811 236.3371 49.08681 225.6262 236.5513 49.08681 225.4762 236.7883 49.08681 225.3657 237.8143 49.08681 225.3658 238.0513 49.08681 225.4763 238.6001 49.08681 227.5254 238.7107 49.08681 227.2885 238.7784 49.08681 227.0359 238.8012 49.08681 226.7754 238.7784 49.08681 226.515 238.7108 49.08681 226.2624 238.6003 49.08681 226.0254 237.0408 49.08681 225.2981 237.3013 49.08681 225.2753 237.5618 49.08681 225.2981 238.2655 49.08681 225.6263 238.4503 49.08681 225.8112 237.5615 49.08681 228.2525 237.301 49.08681 228.2753 236.3369 49.08681 227.9243 236.152 49.08681 227.7394 236.0021 49.08681 227.5252 237.8141 49.08681 228.1849 235.8916 49.08681 227.2882 235.8239 49.08681 227.0356 235.8012 49.08681 226.7752 237.0406 49.08681 228.2525 236.788 49.08681 228.1848 236.5511 49.08681 228.0743 238.4502 49.08681 227.7396 238.2653 49.08681 227.9245 238.0511 49.08681 228.0744 227.0608 49.08681 235.7972 227.3134 49.08681 235.8649 229.9514 49.08681 232.0246 214.9514 49.08681 232.0233 225.8361 49.08681 236.1252 226.0503 49.08681 235.9752 228.2774 49.08681 237.535 228.2097 49.08681 237.7875 225.3907 49.08681 236.7612 225.5012 49.08681 236.5242 225.6512 49.08681 236.3101 226.2873 49.08681 235.8648 226.5399 49.08681 235.7971 226.8003 49.08681 235.7743 227.5503 49.08681 235.9754 227.7645 49.08681 236.1254 227.9494 49.08681 236.3103 228.3002 49.08681 237.2745 228.0993 49.08681 236.5245 228.2098 49.08681 236.7615 228.2774 49.08681 237.014 225.5011 49.08681 238.0242 225.3906 49.08681 237.7873 228.0992 49.08681 238.0245 227.9492 49.08681 238.2386 227.7643 49.08681 238.4235 227.5501 49.08681 238.5735 227.3131 49.08681 238.6839 227.0606 49.08681 238.7516 226.8001 49.08681 238.7743 226.5396 49.08681 238.7515 225.8359 49.08681 238.4233 225.6511 49.08681 238.2384 226.2871 49.08681 238.6838 226.0501 49.08681 238.5733 225.323 49.08681 237.5347 225.3002 49.08681 237.2742 225.323 49.08681 237.0137 197.0504 49.08681 235.2668 195.9796 49.08681 234.5169 207.2958 49.08681 232.5226 206.5459 49.08681 233.5934 200.8003 49.08681 236.272 205.6214 49.08681 234.5178 204.5504 49.08681 235.2675 203.3655 49.08681 235.8199 202.1027 49.08681 236.1582 199.498 49.08681 236.1579 198.2352 49.08681 235.8194 186.65 49.08681 232.0207 195.0552 49.08681 233.5924 173.5012 49.08681 236.5195 173.6512 49.08681 236.3053 173.8361 49.08681 236.1204 175.7645 49.08681 236.1206 175.9494 49.08681 236.3055 178.15 49.08681 232.0199 176.0993 49.08681 236.5197 176.2774 49.08681 237.5302 176.2097 49.08681 237.7828 176.0992 49.08681 238.0197 175.9492 49.08681 238.2339 173.323 49.08681 237.009 173.3907 49.08681 236.7565 174.0503 49.08681 235.9705 174.2873 49.08681 235.86 174.5399 49.08681 235.7924 174.8003 49.08681 235.7696 175.0608 49.08681 235.7924 175.3134 49.08681 235.8601 175.5503 49.08681 235.9706 176.2098 49.08681 236.7567 176.2774 49.08681 237.0093 176.3002 49.08681 237.2697 173.3906 49.08681 237.7825 173.5011 49.08681 238.0195 173.6511 49.08681 238.2337 173.323 49.08681 237.5299 173.3002 49.08681 237.2695 173.8359 49.08681 238.4186 174.0501 49.08681 238.5686 175.7643 49.08681 238.4188 175.5501 49.08681 238.5687 175.3131 49.08681 238.6792 175.0606 49.08681 238.7468 174.8001 49.08681 238.7696 174.2871 49.08681 238.6791 174.5396 49.08681 238.7468 163.152 49.08681 227.7327 163.0021 49.08681 227.5185 163.5513 49.08681 225.4695 163.7883 49.08681 225.3591 164.0408 49.08681 225.2914 171.6508 49.08681 223.2693 165.0513 49.08681 225.4697 165.2655 49.08681 225.6197 165.4503 49.08681 225.8046 165.6003 49.08681 226.0188 165.7108 49.08681 226.2557 165.7784 49.08681 226.5083 165.8012 49.08681 226.7688 165.7784 49.08681 227.0293 163.788 49.08681 228.1781 163.5511 49.08681 228.0676 164.3013 49.08681 225.2686 164.5618 49.08681 225.2915 164.8143 49.08681 225.3592 165.7107 49.08681 227.2818 165.6001 49.08681 227.5188 165.4501 49.08681 227.7329 162.8916 49.08681 227.2816 162.8239 49.08681 227.029 162.8012 49.08681 226.7685 162.824 49.08681 226.508 162.8917 49.08681 226.2555 163.0022 49.08681 226.0185 163.1522 49.08681 225.8044 163.3371 49.08681 225.6195 163.3369 49.08681 227.9176 165.2653 49.08681 227.9178 165.0511 49.08681 228.0678 164.8141 49.08681 228.1782 164.5615 49.08681 228.2459 164.301 49.08681 228.2686 164.0406 49.08681 228.2458 170.0008 49.08681 215.2692 170.6709 49.08681 212.7692 170.3025 49.08681 213.5591 170.0768 49.08681 214.4009 171.6528 49.08681 200.7693 171.651 49.08681 220.7693 171.6512 49.08681 218.9642 171.1703 49.08681 218.4832 170.6705 49.08681 217.7692 170.3022 49.08681 216.9793 170.0767 49.08681 216.1374 171.1709 49.08681 212.0553 171.6519 49.08681 211.5744 170.0793 49.08681 187.1374 171.6538 49.08681 189.9642 171.1729 49.08681 189.4832 170.6731 49.08681 188.7692 170.3048 49.08681 187.9793 170.0034 49.08681 186.2692 170.0795 49.08681 185.4009 170.3051 49.08681 184.5591 171.6547 49.08681 180.7693 227.771 49.08681 165.4235 227.5568 49.08681 165.5735 227.9559 49.08681 165.2386 227.3198 49.08681 165.6839 227.0672 49.08681 165.7516 226.8067 49.08681 165.7743 228.2841 49.08681 164.014 228.285 49.08681 164.0245 228.3069 49.08681 164.2745 228.2841 49.08681 164.535 228.2164 49.08681 164.7875 228.1058 49.08681 165.0245 226.5463 49.08681 165.7515 226.2937 49.08681 165.6838 214.9571 49.08681 169.5233 226.0568 49.08681 165.5733 225.8426 49.08681 165.4233 225.3973 49.08681 164.7873 225.3296 49.08681 164.5347 225.3069 49.08681 164.2742 225.6577 49.08681 165.2384 225.5078 49.08681 165.0242 173.3296 49.08681 164.5299 173.3069 49.08681 164.2695 173.3288 49.08681 164.0195 176.2841 49.08681 164.0093 176.285 49.08681 164.0197 176.3069 49.08681 164.2697 175.0672 49.08681 165.7468 174.8067 49.08681 165.7696 174.5463 49.08681 165.7468 174.2937 49.08681 165.6791 174.0568 49.08681 165.5686 173.8426 49.08681 165.4186 176.2841 49.08681 164.5302 176.2164 49.08681 164.7828 178.1557 49.08681 169.5199 176.1058 49.08681 165.0197 175.9559 49.08681 165.2339 175.771 49.08681 165.4188 175.5568 49.08681 165.5687 175.3198 49.08681 165.6792 173.6577 49.08681 165.2337 173.5078 49.08681 165.0195 173.3973 49.08681 164.7825 205.8677 49.08681 223.2724 206.5468 49.08681 223.9516 214.9522 49.08681 223.2733 207.2965 49.08681 225.0226 208.1869 49.08681 230.075 207.8485 49.08681 231.3378 207.529 49.08681 232.0226 207.8489 49.08681 226.2075 208.1872 49.08681 227.4703 208.301 49.08681 228.7727 186.6508 49.08681 223.2707 195.7353 49.08681 223.2715 186.651 49.08681 220.7707 195.9806 49.08681 223.0262 197.0516 49.08681 222.2764 198.2365 49.08681 221.7241 199.4993 49.08681 221.3858 205.6224 49.08681 223.0271 214.9524 49.08681 220.7733 204.5516 49.08681 222.2771 200.8017 49.08681 221.272 202.104 49.08681 221.386 203.3668 49.08681 221.7245 194.3055 49.08681 232.5214 194.0724 49.08681 232.0214 193.7531 49.08681 231.3365 193.7535 49.08681 226.2062 194.3061 49.08681 225.0214 195.0561 49.08681 223.9505 193.4148 49.08681 230.0737 193.301 49.08681 228.7713 193.4151 49.08681 227.4689 230.4336 49.08681 218.4886 229.9526 49.08681 218.9695 229.9524 49.08681 220.7746 229.8172 49.08681 219.1049 225.735 49.08681 220.1983 224.8931 49.08681 219.9726 229.1033 49.08681 219.6047 228.3133 49.08681 219.973 227.4714 49.08681 220.1985 226.6032 49.08681 220.2743 224.1033 49.08681 219.6042 223.3894 49.08681 219.1043 222.7731 49.08681 218.4879 222.2733 49.08681 217.7739 221.905 49.08681 216.984 221.6795 49.08681 216.1421 221.6036 49.08681 215.2739 221.6797 49.08681 214.4057 214.9543 49.08681 200.7733 221.9053 49.08681 213.5638 222.2738 49.08681 212.7739 222.7737 49.08681 212.06 223.3901 49.08681 211.4438 226.6041 49.08681 210.2743 227.4723 49.08681 210.3504 229.9543 49.08681 200.7746 228.3142 49.08681 210.576 229.104 49.08681 210.9444 224.104 49.08681 210.944 224.894 49.08681 210.5757 225.7359 49.08681 210.3502 230.9336 49.08681 217.7747 231.302 49.08681 216.9849 231.5276 49.08681 216.143 229.8179 49.08681 211.4444 229.9533 49.08681 211.5798 230.4342 49.08681 212.0607 230.934 49.08681 212.7747 231.3023 49.08681 213.5647 231.5278 49.08681 214.4065 231.6036 49.08681 215.2748 174.1321 49.08681 220.1936 173.2903 49.08681 219.9679 177.5004 49.08681 219.6 176.7105 49.08681 219.9682 175.8686 49.08681 220.1937 175.0003 49.08681 220.2696 172.5004 49.08681 219.5995 171.7865 49.08681 219.0996 180.0008 49.08681 215.2701 179.9248 49.08681 216.1383 179.6991 49.08681 216.9802 179.3307 49.08681 217.77 178.8307 49.08681 218.4839 178.8313 49.08681 212.056 179.3312 49.08681 212.77 186.6528 49.08681 200.7707 179.6994 49.08681 213.5599 179.9249 49.08681 214.4018 175.8695 49.08681 210.3457 176.7113 49.08681 210.5713 178.1528 49.08681 200.7699 177.5012 49.08681 210.9397 178.1519 49.08681 211.3954 178.2151 49.08681 211.4397 171.7872 49.08681 211.4391 172.5012 49.08681 210.9393 173.2911 49.08681 210.571 174.133 49.08681 210.3455 175.0012 49.08681 210.2696 177.503 49.08681 190.6 176.7131 49.08681 190.9682 173.2929 49.08681 190.9679 172.503 49.08681 190.5995 171.7892 49.08681 190.0995 175.8712 49.08681 191.1937 175.003 49.08681 191.2696 174.1348 49.08681 191.1936 178.2177 49.08681 182.4397 178.834 49.08681 183.056 186.6547 49.08681 180.7707 178.1545 49.08681 182.3954 179.3338 49.08681 183.77 179.7021 49.08681 184.5599 179.9276 49.08681 185.4018 179.3333 49.08681 188.77 178.8334 49.08681 189.4839 178.217 49.08681 190.1001 178.1538 49.08681 190.1444 180.0034 49.08681 186.2701 179.9274 49.08681 187.1383 179.7017 49.08681 187.9802 170.6735 49.08681 183.7692 171.1735 49.08681 183.0553 171.6545 49.08681 182.5744 171.7899 49.08681 182.4391 175.0039 49.08681 181.2696 175.8721 49.08681 181.3457 178.1547 49.08681 180.7699 176.714 49.08681 181.5713 177.5038 49.08681 181.9397 172.5038 49.08681 181.9393 173.2938 49.08681 181.571 174.1356 49.08681 181.3455 226.6068 49.08681 181.2743 227.475 49.08681 181.3504 229.9561 49.08681 180.7746 229.9553 49.08681 189.9695 229.8199 49.08681 190.1049 221.6063 49.08681 186.2739 221.6823 49.08681 185.4056 214.9561 49.08681 180.7733 228.3168 49.08681 181.576 229.1067 49.08681 181.9444 229.8206 49.08681 182.4444 229.1059 49.08681 190.6047 228.316 49.08681 190.973 227.4741 49.08681 191.1985 224.1059 49.08681 190.6042 223.392 49.08681 190.1043 222.7758 49.08681 189.4879 222.276 49.08681 188.7739 221.9077 49.08681 187.984 221.6822 49.08681 187.1421 222.7764 49.08681 183.06 223.3927 49.08681 182.4438 221.908 49.08681 184.5638 222.2764 49.08681 183.7739 226.6058 49.08681 191.2743 225.7376 49.08681 191.1983 224.8958 49.08681 190.9726 224.1067 49.08681 181.944 224.8966 49.08681 181.5757 225.7385 49.08681 181.3502 229.9559 49.08681 182.5798 230.4368 49.08681 183.0607 230.4362 49.08681 189.4886 230.9362 49.08681 188.7747 230.9367 49.08681 183.7747 231.3049 49.08681 184.5647 231.5304 49.08681 185.4065 231.6063 49.08681 186.2748 231.5303 49.08681 187.143 231.3046 49.08681 187.9849 198.2403 49.08681 179.8194 199.5031 49.08681 180.1579 200.8054 49.08681 180.272 204.5555 49.08681 179.2675 203.3706 49.08681 179.8199 202.1078 49.08681 180.1582 207.5347 49.08681 169.5226 207.854 49.08681 170.2075 214.9563 49.08681 178.2733 207.8536 49.08681 175.3378 207.301 49.08681 176.5226 208.1923 49.08681 171.4703 208.3061 49.08681 172.7727 208.192 49.08681 174.075 206.551 49.08681 177.5934 205.8718 49.08681 178.2724 205.6265 49.08681 178.5178 203.3719 49.08681 165.7245 204.5567 49.08681 166.2771 207.3016 49.08681 169.0226 205.6275 49.08681 167.0271 206.5519 49.08681 167.9516 195.0612 49.08681 167.9505 195.9857 49.08681 167.0262 197.0567 49.08681 166.2764 198.2416 49.08681 165.7241 199.5044 49.08681 165.3858 200.8068 49.08681 165.272 202.1091 49.08681 165.386 195.0603 49.08681 177.5924 194.3106 49.08681 176.5214 186.6549 49.08681 178.2707 193.4202 49.08681 171.4689 193.7586 49.08681 170.2062 186.6557 49.08681 169.5207 194.0781 49.08681 169.5214 194.3113 49.08681 169.0214 197.0555 49.08681 179.2668 195.9847 49.08681 178.5169 195.7394 49.08681 178.2715 193.7582 49.08681 175.3365 193.4199 49.08681 174.0737 193.3061 49.08681 172.7713 229.9522 49.08681 223.2746 229.9563 49.08681 178.2746 178.1508 49.08681 223.2699 178.1549 49.08681 178.2699 205.6265 47.28681 178.5178 205.8718 47.28681 178.2724 214.9563 47.28681 178.2733 229.8172 47.28681 219.1049 229.9526 47.28681 218.9695 229.9524 47.28681 220.7746 195.9806 47.28681 223.0262 195.7353 47.28681 223.2715 186.6508 47.28681 223.2707 233.7071 47.28681 169.525 233.7022 47.28681 223.275 171.65 47.28681 232.0193 171.651 47.28681 220.7693 171.6549 47.28681 178.2693 171.6547 47.28681 180.7693 171.6545 47.28681 182.5744 171.1735 47.28681 183.0553 170.6735 47.28681 183.7692 170.3051 47.28681 184.5591 170.0795 47.28681 185.4009 170.0034 47.28681 186.2692 170.6731 47.28681 188.7692 170.3048 47.28681 187.9793 170.0793 47.28681 187.1374 171.1729 47.28681 189.4832 171.6538 47.28681 189.9642 171.1709 47.28681 212.0553 170.6709 47.28681 212.7692 170.0768 47.28681 214.4009 170.3025 47.28681 213.5591 171.6519 47.28681 211.5744 171.6528 47.28681 200.7693 170.0008 47.28681 215.2692 170.0767 47.28681 216.1374 170.3022 47.28681 216.9793 171.6512 47.28681 218.9642 171.1703 47.28681 218.4832 170.6705 47.28681 217.7692 171.6508 47.28681 223.2693 165.7784 47.28681 227.0293 165.8012 47.28681 226.7688 164.5615 47.28681 228.2459 164.8141 47.28681 228.1782 165.0511 47.28681 228.0678 165.2653 47.28681 227.9178 165.4501 47.28681 227.7329 165.6001 47.28681 227.5188 165.7107 47.28681 227.2818 163.7883 47.28681 225.3591 163.5513 47.28681 225.4695 163.0021 47.28681 227.5185 163.152 47.28681 227.7327 163.3369 47.28681 227.9176 163.5511 47.28681 228.0676 163.788 47.28681 228.1781 164.0406 47.28681 228.2458 164.301 47.28681 228.2686 165.7784 47.28681 226.5083 165.7108 47.28681 226.2557 165.6003 47.28681 226.0188 165.4503 47.28681 225.8046 165.2655 47.28681 225.6197 165.0513 47.28681 225.4697 164.0408 47.28681 225.2914 163.3371 47.28681 225.6195 163.1522 47.28681 225.8044 163.0022 47.28681 226.0185 162.8916 47.28681 227.2816 162.8239 47.28681 227.029 162.8012 47.28681 226.7685 162.824 47.28681 226.508 162.8917 47.28681 226.2555 164.8143 47.28681 225.3592 164.5618 47.28681 225.2915 164.3013 47.28681 225.2686 175.7643 47.28681 238.4188 175.9492 47.28681 238.2339 176.0992 47.28681 238.0197 176.2097 47.28681 237.7828 173.8361 47.28681 236.1204 173.6512 47.28681 236.3053 178.15 47.28681 232.0199 176.2098 47.28681 236.7567 176.0993 47.28681 236.5197 173.3906 47.28681 237.7825 173.323 47.28681 237.5299 173.3002 47.28681 237.2695 173.5011 47.28681 238.0195 173.6511 47.28681 238.2337 176.2774 47.28681 237.5302 176.3002 47.28681 237.2697 176.2774 47.28681 237.0093 175.9494 47.28681 236.3055 175.7645 47.28681 236.1206 175.5503 47.28681 235.9706 173.5012 47.28681 236.5195 173.3907 47.28681 236.7565 173.323 47.28681 237.009 173.8359 47.28681 238.4186 174.0501 47.28681 238.5686 174.2871 47.28681 238.6791 174.5396 47.28681 238.7468 174.8001 47.28681 238.7696 175.0606 47.28681 238.7468 175.3131 47.28681 238.6792 175.5501 47.28681 238.5687 174.5399 47.28681 235.7924 174.2873 47.28681 235.86 174.0503 47.28681 235.9705 175.3134 47.28681 235.8601 175.0608 47.28681 235.7924 174.8003 47.28681 235.7696 186.65 47.28681 232.0207 194.0724 47.28681 232.0214 194.3055 47.28681 232.5214 195.0552 47.28681 233.5924 200.8003 47.28681 236.272 195.9796 47.28681 234.5169 197.0504 47.28681 235.2668 204.5504 47.28681 235.2675 205.6214 47.28681 234.5178 206.5459 47.28681 233.5934 214.9514 47.28681 232.0233 198.2352 47.28681 235.8194 199.498 47.28681 236.1579 202.1027 47.28681 236.1582 203.3655 47.28681 235.8199 228.2774 47.28681 237.014 228.2098 47.28681 236.7615 229.9514 47.28681 232.0246 225.8359 47.28681 238.4233 226.0501 47.28681 238.5733 226.2871 47.28681 238.6838 226.5396 47.28681 238.7515 226.8001 47.28681 238.7743 227.0606 47.28681 238.7516 227.3131 47.28681 238.6839 227.0608 47.28681 235.7972 226.8003 47.28681 235.7743 226.5399 47.28681 235.7971 226.2873 47.28681 235.8648 226.0503 47.28681 235.9752 225.8361 47.28681 236.1252 225.6512 47.28681 236.3101 225.5012 47.28681 236.5242 225.3907 47.28681 236.7612 225.323 47.28681 237.0137 225.5011 47.28681 238.0242 225.6511 47.28681 238.2384 227.5501 47.28681 238.5735 227.7643 47.28681 238.4235 227.9492 47.28681 238.2386 228.0992 47.28681 238.0245 228.2097 47.28681 237.7875 228.2774 47.28681 237.535 228.3002 47.28681 237.2745 228.0993 47.28681 236.5245 227.9494 47.28681 236.3103 227.7645 47.28681 236.1254 227.5503 47.28681 235.9754 227.3134 47.28681 235.8649 225.3906 47.28681 237.7873 225.323 47.28681 237.5347 225.3002 47.28681 237.2742 233.7014 47.28681 232.025 237.0406 47.28681 228.2525 237.301 47.28681 228.2753 237.5615 47.28681 228.2525 236.152 47.28681 227.7394 236.0021 47.28681 227.5252 235.8916 47.28681 227.2882 236.3369 47.28681 227.9243 236.5511 47.28681 228.0743 236.788 47.28681 228.1848 238.2653 47.28681 227.9245 238.0511 47.28681 228.0744 237.8141 47.28681 228.1849 236.3371 47.28681 225.6262 236.1522 47.28681 225.811 236.0022 47.28681 226.0252 235.8917 47.28681 226.2622 235.824 47.28681 226.5147 235.8012 47.28681 226.7752 235.8239 47.28681 227.0356 237.0408 47.28681 225.2981 236.7883 47.28681 225.3657 236.5513 47.28681 225.4762 238.0513 47.28681 225.4763 237.8143 47.28681 225.3658 237.5618 47.28681 225.2981 237.3013 47.28681 225.2753 238.4502 47.28681 227.7396 238.6001 47.28681 227.5254 238.7107 47.28681 227.2885 238.7784 47.28681 227.0359 238.8012 47.28681 226.7754 238.7784 47.28681 226.515 238.7108 47.28681 226.2624 238.6003 47.28681 226.0254 238.4503 47.28681 225.8112 238.2655 47.28681 225.6263 233.7043 47.28681 200.775 233.7024 47.28681 220.775 233.7061 47.28681 180.775 233.7063 47.28681 178.275 237.8188 47.28681 176.1849 238.0558 47.28681 176.0744 237.8191 47.28681 173.3658 237.5665 47.28681 173.2981 237.3061 47.28681 173.2753 235.8963 47.28681 175.2882 236.0068 47.28681 175.5252 236.5558 47.28681 176.0743 236.7928 47.28681 176.1848 237.0453 47.28681 176.2525 237.3058 47.28681 176.2753 237.5663 47.28681 176.2525 236.3418 47.28681 173.6262 236.1569 47.28681 173.811 236.007 47.28681 174.0252 235.8964 47.28681 174.2621 236.1568 47.28681 175.7394 236.3416 47.28681 175.9243 237.0456 47.28681 173.2981 236.793 47.28681 173.3657 236.556 47.28681 173.4762 238.27 47.28681 175.9245 238.4549 47.28681 175.7396 238.6049 47.28681 175.5254 238.605 47.28681 174.0254 238.4551 47.28681 173.8112 238.2702 47.28681 173.6263 238.056 47.28681 173.4763 238.7155 47.28681 174.2624 238.7832 47.28681 174.515 238.8059 47.28681 174.7754 238.7831 47.28681 175.0359 238.7154 47.28681 175.2885 235.8287 47.28681 174.5147 235.8059 47.28681 174.7752 235.8287 47.28681 175.0356 214.9576 47.28681 164.0233 228.2165 47.28681 163.7615 228.106 47.28681 163.5245 227.956 47.28681 163.3103 229.9571 47.28681 169.5246 229.9576 47.28681 164.0246 228.2841 47.28681 164.014 227.7712 47.28681 163.1254 227.557 47.28681 162.9754 227.32 47.28681 162.8649 227.0675 47.28681 162.7972 226.807 47.28681 162.7743 226.5466 47.28681 162.7971 226.294 47.28681 162.8648 226.057 47.28681 162.9752 225.8428 47.28681 163.1252 225.6579 47.28681 163.3101 225.5079 47.28681 163.5242 225.3974 47.28681 163.7612 225.3297 47.28681 164.0137 225.3288 47.28681 164.0242 186.6562 47.28681 164.0207 178.1562 47.28681 164.0199 176.2841 47.28681 164.0093 176.2165 47.28681 163.7567 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176.2458 164.3058 47.28681 176.2687 164.5663 47.28681 176.2459 173.3974 47.28681 163.7565 171.6562 47.28681 164.0193 163.1569 47.28681 173.8044 163.007 47.28681 174.0185 162.8964 47.28681 174.2555 162.8287 47.28681 174.508 162.8059 47.28681 174.7685 162.8287 47.28681 175.029 162.8963 47.28681 175.2816 163.0068 47.28681 175.5185 163.1568 47.28681 175.7327 163.3416 47.28681 175.9176 226.8067 47.28681 165.7743 227.0672 47.28681 165.7516 227.3198 47.28681 165.6839 227.5568 47.28681 165.5735 227.771 47.28681 165.4235 225.5078 47.28681 165.0242 225.6577 47.28681 165.2384 214.9571 47.28681 169.5233 225.8426 47.28681 165.4233 226.0568 47.28681 165.5733 226.2937 47.28681 165.6838 226.5463 47.28681 165.7515 227.9559 47.28681 165.2386 228.1058 47.28681 165.0245 228.2164 47.28681 164.7875 228.2841 47.28681 164.535 228.3069 47.28681 164.2745 228.285 47.28681 164.0245 225.3069 47.28681 164.2742 225.3296 47.28681 164.5347 225.3973 47.28681 164.7873 173.3297 47.28681 164.009 173.3288 47.28681 164.0195 173.3069 47.28681 164.2695 176.2841 47.28681 164.5302 176.3069 47.28681 164.2697 176.285 47.28681 164.0197 175.5568 47.28681 165.5687 175.771 47.28681 165.4188 178.1557 47.28681 169.5199 173.3296 47.28681 164.5299 173.3973 47.28681 164.7825 173.5078 47.28681 165.0195 173.6577 47.28681 165.2337 173.8426 47.28681 165.4186 174.0568 47.28681 165.5686 174.2937 47.28681 165.6791 174.5463 47.28681 165.7468 174.8067 47.28681 165.7696 175.0672 47.28681 165.7468 175.3198 47.28681 165.6792 175.9559 47.28681 165.2339 176.1058 47.28681 165.0197 176.2164 47.28681 164.7828 214.9522 47.28681 223.2733 205.8677 47.28681 223.2724 214.9524 47.28681 220.7733 205.6224 47.28681 223.0271 204.5516 47.28681 222.2771 199.4993 47.28681 221.3858 198.2365 47.28681 221.7241 186.651 47.28681 220.7707 197.0516 47.28681 222.2764 203.3668 47.28681 221.7245 202.104 47.28681 221.386 200.8017 47.28681 221.272 207.2958 47.28681 232.5226 207.529 47.28681 232.0226 207.8485 47.28681 231.3378 208.1869 47.28681 230.075 208.301 47.28681 228.7727 208.1872 47.28681 227.4703 207.8489 47.28681 226.2075 207.2965 47.28681 225.0226 206.5468 47.28681 223.9516 193.4151 47.28681 227.4689 193.301 47.28681 228.7713 193.4148 47.28681 230.0737 193.7531 47.28681 231.3365 195.0561 47.28681 223.9505 194.3061 47.28681 225.0214 193.7535 47.28681 226.2062 226.6032 47.28681 220.2743 227.4714 47.28681 220.1985 228.3133 47.28681 219.973 229.1033 47.28681 219.6047 229.9543 47.28681 200.7746 229.9533 47.28681 211.5798 229.8179 47.28681 211.4444 229.104 47.28681 210.9444 228.3142 47.28681 210.576 227.4723 47.28681 210.3504 221.6797 47.28681 214.4057 221.9053 47.28681 213.5638 214.9543 47.28681 200.7733 222.2738 47.28681 212.7739 225.735 47.28681 220.1983 221.6036 47.28681 215.2739 221.6795 47.28681 216.1421 221.905 47.28681 216.984 226.6041 47.28681 210.2743 225.7359 47.28681 210.3502 224.894 47.28681 210.5757 224.104 47.28681 210.944 223.3901 47.28681 211.4438 222.7737 47.28681 212.06 222.2733 47.28681 217.7739 222.7731 47.28681 218.4879 223.3894 47.28681 219.1043 224.1033 47.28681 219.6042 224.8931 47.28681 219.9726 230.4342 47.28681 212.0607 230.934 47.28681 212.7747 230.4336 47.28681 218.4886 230.9336 47.28681 217.7747 231.302 47.28681 216.9849 231.5276 47.28681 216.143 231.6036 47.28681 215.2748 231.5278 47.28681 214.4065 231.3023 47.28681 213.5647 171.7865 47.28681 219.0996 172.5004 47.28681 219.5995 173.2903 47.28681 219.9679 174.1321 47.28681 220.1936 175.0003 47.28681 220.2696 178.151 47.28681 220.7699 175.8686 47.28681 220.1937 176.7105 47.28681 219.9682 177.5012 47.28681 210.9397 176.7113 47.28681 210.5713 178.1528 47.28681 200.7699 175.8695 47.28681 210.3457 175.0012 47.28681 210.2696 174.133 47.28681 210.3455 173.2911 47.28681 210.571 172.5012 47.28681 210.9393 171.7872 47.28681 211.4391 179.3312 47.28681 212.77 178.8313 47.28681 212.056 186.6528 47.28681 200.7707 178.2151 47.28681 211.4397 178.1519 47.28681 211.3954 177.5004 47.28681 219.6 178.1512 47.28681 219.1444 178.2144 47.28681 219.1001 178.8307 47.28681 218.4839 179.3307 47.28681 217.77 179.6991 47.28681 216.9802 179.9248 47.28681 216.1383 180.0008 47.28681 215.2701 179.9249 47.28681 214.4018 179.6994 47.28681 213.5599 178.1547 47.28681 180.7699 178.1545 47.28681 182.3954 177.5038 47.28681 181.9397 176.714 47.28681 181.5713 175.8721 47.28681 181.3457 175.0039 47.28681 181.2696 174.1356 47.28681 181.3455 173.2938 47.28681 181.571 172.5038 47.28681 181.9393 171.7899 47.28681 182.4391 180.0034 47.28681 186.2701 179.9276 47.28681 185.4018 186.6547 47.28681 180.7707 178.834 47.28681 183.056 178.2177 47.28681 182.4397 179.7021 47.28681 184.5599 179.3338 47.28681 183.77 178.8334 47.28681 189.4839 179.3333 47.28681 188.77 179.7017 47.28681 187.9802 179.9274 47.28681 187.1383 171.7892 47.28681 190.0995 172.503 47.28681 190.5995 175.8712 47.28681 191.1937 176.7131 47.28681 190.9682 173.2929 47.28681 190.9679 174.1348 47.28681 191.1936 175.003 47.28681 191.2696 177.503 47.28681 190.6 178.1538 47.28681 190.1444 178.217 47.28681 190.1001 229.8206 47.28681 182.4444 229.1067 47.28681 181.9444 229.9561 47.28681 180.7746 228.3168 47.28681 181.576 224.8966 47.28681 181.5757 224.1067 47.28681 181.944 214.9561 47.28681 180.7733 227.475 47.28681 181.3504 226.6068 47.28681 181.2743 225.7385 47.28681 181.3502 223.3927 47.28681 182.4438 222.7764 47.28681 183.06 222.2764 47.28681 183.7739 221.9077 47.28681 187.984 221.6822 47.28681 187.1421 221.6063 47.28681 186.2739 222.276 47.28681 188.7739 222.7758 47.28681 189.4879 223.392 47.28681 190.1043 221.908 47.28681 184.5638 221.6823 47.28681 185.4056 226.6058 47.28681 191.2743 227.4741 47.28681 191.1985 228.316 47.28681 190.973 229.1059 47.28681 190.6047 224.1059 47.28681 190.6042 224.8958 47.28681 190.9726 225.7376 47.28681 191.1983 230.4368 47.28681 183.0607 229.9559 47.28681 182.5798 229.8199 47.28681 190.1049 229.9553 47.28681 189.9695 230.4362 47.28681 189.4886 230.9362 47.28681 188.7747 231.3046 47.28681 187.9849 231.5303 47.28681 187.143 231.6063 47.28681 186.2748 231.5304 47.28681 185.4065 231.3049 47.28681 184.5647 230.9367 47.28681 183.7747 197.0555 47.28681 179.2668 198.2403 47.28681 179.8194 199.5031 47.28681 180.1579 200.8054 47.28681 180.272 202.1078 47.28681 180.1582 203.3706 47.28681 179.8199 204.5555 47.28681 179.2675 193.7582 47.28681 175.3365 194.3106 47.28681 176.5214 186.6549 47.28681 178.2707 195.0603 47.28681 177.5924 195.7394 47.28681 178.2715 195.9847 47.28681 178.5169 193.7586 47.28681 170.2062 193.4202 47.28681 171.4689 186.6557 47.28681 169.5207 193.3061 47.28681 172.7713 193.4199 47.28681 174.0737 207.5347 47.28681 169.5226 207.3016 47.28681 169.0226 206.5519 47.28681 167.9516 205.6275 47.28681 167.0271 204.5567 47.28681 166.2771 203.3719 47.28681 165.7245 198.2416 47.28681 165.7241 197.0567 47.28681 166.2764 195.9857 47.28681 167.0262 195.0612 47.28681 167.9505 194.3113 47.28681 169.0214 194.0781 47.28681 169.5214 202.1091 47.28681 165.386 200.8068 47.28681 165.272 199.5044 47.28681 165.3858 208.192 47.28681 174.075 208.3061 47.28681 172.7727 208.1923 47.28681 171.4703 207.854 47.28681 170.2075 206.551 47.28681 177.5934 207.301 47.28681 176.5226 207.8536 47.28681 175.3378 178.1549 47.28681 178.2699 178.1508 47.28681 223.2699 229.9522 47.28681 223.2746 229.9563 47.28681 178.2746 225.2569 27.98681 163.7742 225.2569 16.28681 163.7742 176.3569 27.98681 163.7697 200.8069 16.28681 163.772 176.3569 16.28681 163.7697 176.3503 27.98681 236.7697 176.3503 16.28681 236.7697 225.2503 16.28681 236.7742 225.2503 27.98681 236.7742 200.8003 16.28681 236.772 221.5509 27.98681 229.3739 221.5563 27.98681 171.1739 181.3563 27.98681 171.1702 181.3509 27.98681 229.3702 181.3563 35.98681 171.1702 221.5563 35.98681 171.1739 181.3509 35.98681 229.3702 221.5509 35.98681 229.3739 179.2529 16.28681 238.2665 179.5223 16.28681 238.1943 178.2243 16.28681 240.0478 178.2 16.28681 239.7699 178.2243 16.28681 239.4921 178.2965 16.28681 239.2227 178.4144 16.28681 238.9699 178.5744 16.28681 238.7415 178.7716 16.28681 238.5443 179.0001 16.28681 238.3843 179.8001 16.28681 238.1701 180.078 16.28681 238.1944 180.3474 16.28681 238.2666 181.3757 16.28681 239.4924 181.4 16.28681 239.7702 180.6001 16.28681 238.3845 180.8286 16.28681 238.5445 181.0258 16.28681 238.7417 179.522 16.28681 241.3457 179.2526 16.28681 241.2735 175.7996 16.28681 243.7697 178.9999 16.28681 241.1556 178.7714 16.28681 240.9956 181.1857 16.28681 238.9702 181.3036 16.28681 239.223 181.3757 16.28681 240.048 200.7996 16.28681 243.772 181.3034 16.28681 240.3174 181.1856 16.28681 240.5702 181.0256 16.28681 240.7986 180.8283 16.28681 240.9958 180.5999 16.28681 241.1558 180.3471 16.28681 241.2736 180.0777 16.28681 241.3458 179.7998 16.28681 241.3701 178.5742 16.28681 240.7984 178.4143 16.28681 240.5699 178.2964 16.28681 240.3172 225.7996 16.28681 243.7743 225.807 16.28681 163.0743 175.807 16.28681 163.0697 200.807 16.28681 163.072 220.7716 16.28681 238.5481 221.0001 16.28681 238.3882 221.2529 16.28681 238.2703 221.5223 16.28681 238.1982 221.8001 16.28681 238.1739 222.078 16.28681 238.1982 220.2 16.28681 239.7738 220.2243 16.28681 239.4959 220.2965 16.28681 239.2265 220.4144 16.28681 238.9738 220.5744 16.28681 238.7453 222.8283 16.28681 240.9997 222.5999 16.28681 241.1596 222.3471 16.28681 241.2775 222.0777 16.28681 241.3496 221.2526 16.28681 241.2774 221.522 16.28681 241.3496 221.7998 16.28681 241.3739 220.9999 16.28681 241.1595 220.7714 16.28681 240.9995 220.5742 16.28681 240.8022 220.2243 16.28681 240.0516 220.4143 16.28681 240.5738 220.2964 16.28681 240.321 222.3474 16.28681 238.2704 222.6001 16.28681 238.3883 222.8286 16.28681 238.5483 223.0258 16.28681 238.7456 223.1857 16.28681 238.974 223.3036 16.28681 239.2268 223.3757 16.28681 239.4962 223.4 16.28681 239.774 223.3757 16.28681 240.0519 223.3034 16.28681 240.3213 223.1856 16.28681 240.574 223.0256 16.28681 240.8025 220.2072 16.28681 160.7738 220.2315 16.28681 160.4959 200.8076 16.28681 156.772 220.3037 16.28681 160.2265 220.4216 16.28681 159.9738 220.5814 16.28681 161.8022 220.4215 16.28681 161.5738 222.0852 16.28681 159.1982 222.3546 16.28681 159.2704 225.8076 16.28681 156.7743 222.6073 16.28681 159.3883 220.3036 16.28681 161.321 220.2315 16.28681 161.0516 220.5816 16.28681 159.7453 220.7789 16.28681 159.5481 221.0073 16.28681 159.3882 222.8358 16.28681 159.5483 223.033 16.28681 159.7455 223.1929 16.28681 159.974 223.1928 16.28681 161.574 223.3107 16.28681 161.3213 223.3829 16.28681 161.0519 222.6071 16.28681 162.1596 222.3543 16.28681 162.2774 221.2598 16.28681 162.2774 221.0071 16.28681 162.1595 220.7786 16.28681 161.9995 221.2601 16.28681 159.2703 221.5295 16.28681 159.1982 221.8074 16.28681 159.1739 223.3108 16.28681 160.2268 223.3829 16.28681 160.4962 223.4072 16.28681 160.774 223.0328 16.28681 161.8025 222.8356 16.28681 161.9997 222.0849 16.28681 162.3496 221.807 16.28681 162.3739 221.5292 16.28681 162.3496 178.2072 16.28681 160.7699 175.8076 16.28681 156.7697 178.2315 16.28681 160.4921 178.3037 16.28681 160.2227 181.4072 16.28681 160.7702 181.3829 16.28681 161.048 178.4216 16.28681 159.9699 178.5816 16.28681 159.7415 178.7789 16.28681 159.5443 181.3829 16.28681 160.4924 179.0073 16.28681 159.3843 179.2601 16.28681 159.2665 179.5295 16.28681 159.1943 181.033 16.28681 159.7417 180.8358 16.28681 159.5445 180.6073 16.28681 159.3845 181.1929 16.28681 159.9702 181.3108 16.28681 160.223 179.2598 16.28681 162.2735 179.0071 16.28681 162.1556 179.8074 16.28681 159.1701 180.0852 16.28681 159.1944 180.3546 16.28681 159.2666 181.3107 16.28681 161.3174 181.1928 16.28681 161.5702 181.0328 16.28681 161.7986 180.8356 16.28681 161.9958 180.6071 16.28681 162.1558 180.3543 16.28681 162.2736 178.7786 16.28681 161.9956 178.5814 16.28681 161.7984 178.4215 16.28681 161.5699 180.0849 16.28681 162.3458 179.807 16.28681 162.3701 179.5292 16.28681 162.3457 178.3036 16.28681 161.3171 178.2315 16.28681 161.0478 225.8076 12.28681 156.7743 175.8076 12.28681 156.7697 175.7996 12.28681 243.7697 225.7996 12.28681 243.7743 225.8023 12.28681 214.7743 225.8023 14.81921 214.7743 225.8026 14.81921 210.7743 225.8026 12.28681 210.7743 181.4072 12.28681 160.7702 181.3829 12.28681 161.048 181.3107 12.28681 161.3174 181.1928 12.28681 161.5702 181.0328 12.28681 161.7986 180.8356 12.28681 161.9958 180.6071 12.28681 162.1558 180.3543 12.28681 162.2736 180.0849 12.28681 162.3458 179.807 12.28681 162.3701 179.5292 12.28681 162.3457 179.2598 12.28681 162.2735 179.0071 12.28681 162.1556 178.7786 12.28681 161.9956 178.5814 12.28681 161.7984 178.4215 12.28681 161.5699 178.3036 12.28681 161.3171 178.2315 12.28681 161.0478 178.2072 12.28681 160.7699 178.2315 12.28681 160.4921 178.3037 12.28681 160.2227 178.4216 12.28681 159.9699 178.5816 12.28681 159.7415 178.7789 12.28681 159.5443 179.0073 12.28681 159.3843 179.2601 12.28681 159.2665 179.5295 12.28681 159.1943 179.8074 12.28681 159.1701 180.0852 12.28681 159.1944 180.3546 12.28681 159.2666 180.6073 12.28681 159.3845 180.8358 12.28681 159.5445 181.033 12.28681 159.7417 181.1929 12.28681 159.9702 181.3108 12.28681 160.223 181.3829 12.28681 160.4924 181.4 12.28681 239.7702 181.3757 12.28681 240.048 181.3034 12.28681 240.3174 181.1856 12.28681 240.5702 181.0256 12.28681 240.7986 180.8283 12.28681 240.9958 180.5999 12.28681 241.1558 180.3471 12.28681 241.2736 180.0777 12.28681 241.3458 179.7998 12.28681 241.3701 179.522 12.28681 241.3457 179.2526 12.28681 241.2735 178.9999 12.28681 241.1556 178.7714 12.28681 240.9956 178.5742 12.28681 240.7984 178.4143 12.28681 240.5699 178.2964 12.28681 240.3172 178.2243 12.28681 240.0478 178.2 12.28681 239.7699 178.2243 12.28681 239.4921 178.2965 12.28681 239.2227 178.4144 12.28681 238.9699 178.5744 12.28681 238.7415 178.7716 12.28681 238.5443 179.0001 12.28681 238.3843 179.2529 12.28681 238.2665 179.5223 12.28681 238.1943 179.8001 12.28681 238.1701 180.078 12.28681 238.1944 180.3474 12.28681 238.2666 180.6001 12.28681 238.3845 180.8286 12.28681 238.5445 181.0258 12.28681 238.7417 181.1857 12.28681 238.9702 181.3036 12.28681 239.223 181.3757 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220.6745 166.0868 192.1766 220.6745 183.0868 192.1766 220.7517 166.0868 189.5712 220.7517 183.0868 189.5712 220.5203 166.0868 186.9749 220.5203 183.0868 186.9749 219.9834 166.0868 184.4242 219.9834 183.0868 184.4242 219.1486 166.0868 181.9549 219.1486 183.0868 181.9549 218.0276 166.0868 179.6017 218.0276 183.0868 179.6017 216.6361 166.0868 177.3975 216.6361 183.0868 177.3975 214.9937 166.0868 175.3735 214.9937 183.0868 175.3735 213.1235 166.0868 173.5579 213.1235 183.0868 173.5579 211.0516 166.0868 171.9762 211.0516 183.0868 171.9762 208.8072 166.0868 170.6506 208.8072 183.0868 170.6506 206.4218 166.0868 169.5999 206.4218 183.0868 169.5999 203.9289 166.0868 168.8386 203.9289 183.0868 168.8386 201.3634 166.0868 168.3775 201.3634 183.0868 168.3775 198.7614 166.0868 168.2231 198.7614 183.0868 168.2231 196.1594 166.0868 168.3775 196.1594 183.0868 168.3775 193.5939 166.0868 168.8386 193.5939 183.0868 168.8386 191.1009 166.0868 169.5999 191.1009 183.0868 169.5999 188.7155 166.0868 170.6506 188.7155 183.0868 170.6506 186.4712 166.0868 171.9762 186.4712 183.0868 171.9762 184.3993 166.0868 173.5579 184.3993 183.0868 173.5579 182.529 166.0868 175.3735 182.529 183.0868 175.3735 180.8867 166.0868 177.3975 180.8867 183.0868 177.3975 179.4952 166.0868 179.6017 179.4952 183.0868 179.6017 178.3742 166.0868 181.9549 178.3742 183.0868 181.9549 177.5394 166.0868 184.4242 177.5394 183.0868 184.4242 177.0025 166.0868 186.9749 177.0025 183.0868 186.9749 176.771 166.0868 189.5712 176.771 183.0868 189.5712 176.8483 166.0868 192.1766 176.8483 183.0868 192.1766 177.2331 166.0868 194.7546 177.2331 183.0868 194.7546 177.9202 166.0868 197.269 177.9202 183.0868 197.269 178.8998 166.0868 199.6845 178.8998 183.0868 199.6845 180.1583 166.0868 201.9672 180.1583 183.0868 201.9672 181.6779 166.0868 204.085 181.6779 183.0868 204.085 183.4373 166.0868 206.0083 183.4373 183.0868 206.0083 185.4118 166.0868 207.7099 185.4118 183.0868 207.7099 187.5737 166.0868 209.1661 187.5737 183.0868 209.1661 189.8927 183.0868 210.3563 192.3361 180.0868 211.2639 206.7614 166.0868 208.5534 208.9687 166.0868 207.4222 190.7614 166.0868 208.5534 218.3395 166.0868 186.1369 218.6947 166.0868 188.5916 218.7434 166.0868 191.0715 218.4847 166.0868 193.5382 217.9227 166.0868 195.954 217.066 166.0868 198.2817 215.9278 166.0868 200.4854 214.5256 166.0868 202.5312 212.8809 166.0868 204.3878 211.0191 166.0868 206.0265 179.1833 166.0868 186.1369 179.8396 166.0868 183.745 180.7869 166.0868 181.4528 182.0107 166.0868 179.2954 183.4921 166.0868 177.3061 185.2083 166.0868 175.5155 187.133 166.0868 173.951 189.2365 166.0868 172.6368 191.4865 166.0868 171.5931 193.8484 166.0868 170.8359 196.2859 166.0868 170.3769 198.7614 166.0868 170.2231 201.2369 166.0868 170.3769 203.6744 166.0868 170.8359 206.0363 166.0868 171.5931 208.2863 166.0868 172.6368 210.3898 166.0868 173.951 212.3144 166.0868 175.5155 214.0307 166.0868 177.3061 215.5121 166.0868 179.2954 216.7359 166.0868 181.4528 217.6832 166.0868 183.745 188.554 166.0868 207.4222 186.5037 166.0868 206.0265 184.6419 166.0868 204.3878 182.9972 166.0868 202.5312 181.595 166.0868 200.4854 180.4568 166.0868 198.2817 179.6 166.0868 195.954 179.0381 166.0868 193.5382 178.7794 166.0868 191.0715 178.828 166.0868 188.5916 206.7614 180.0868 208.5534 208.9687 180.0868 207.4222 211.0191 180.0868 206.0265 212.8809 180.0868 204.3878 214.5256 180.0868 202.5312 215.9278 180.0868 200.4854 217.066 180.0868 198.2817 217.9227 180.0868 195.954 218.4847 180.0868 193.5382 218.7434 180.0868 191.0715 218.6947 180.0868 188.5916 218.3395 180.0868 186.1369 217.6832 180.0868 183.745 216.7359 180.0868 181.4528 215.5121 180.0868 179.2954 214.0307 180.0868 177.3061 212.3144 180.0868 175.5155 210.3898 180.0868 173.951 208.2863 180.0868 172.6368 206.0363 180.0868 171.5931 203.6744 180.0868 170.8359 201.2369 180.0868 170.3769 198.7614 180.0868 170.2231 196.2859 180.0868 170.3769 193.8484 180.0868 170.8359 191.4865 180.0868 171.5931 189.2365 180.0868 172.6368 187.133 180.0868 173.951 185.2083 180.0868 175.5155 183.4921 180.0868 177.3061 182.0107 180.0868 179.2954 180.7869 180.0868 181.4528 179.8396 180.0868 183.745 179.1833 180.0868 186.1369 178.828 180.0868 188.5916 178.7794 180.0868 191.0715 179.0381 180.0868 193.5382 179.6 180.0868 195.954 180.4568 180.0868 198.2817 181.595 180.0868 200.4854 182.9972 180.0868 202.5312 184.6419 180.0868 204.3878 186.5037 180.0868 206.0265 188.554 180.0868 207.4222 190.7614 180.0868 208.5534 217.2614 187.0868 187.7231 217.2614 187.0868 191.2231 217.2386 187.3473 187.7231 217.2386 187.3473 191.2231 217.1709 187.5998 187.7231 217.1709 187.5998 191.2231 217.0604 187.8368 187.7231 217.0604 187.8368 191.2231 216.9105 188.051 187.7231 216.9105 188.051 191.2231 216.7256 188.2359 187.7231 216.7256 188.2359 191.2231 216.5114 188.3858 187.7231 216.5114 188.3858 191.2231 216.2744 188.4963 187.7231 216.2744 188.4963 191.2231 216.0219 188.564 187.7231 216.0219 188.564 191.2231 215.7614 188.5868 187.7231 215.7614 188.5868 191.2231 215.5009 188.564 187.7231 215.5009 188.564 191.2231 215.2483 188.4963 187.7231 215.2483 188.4963 191.2231 215.0114 188.3858 187.7231 215.0114 188.3858 191.2231 214.7972 188.2359 187.7231 214.7972 188.2359 191.2231 214.6123 188.051 187.7231 214.6123 188.051 191.2231 214.4623 187.8368 187.7231 214.4623 187.8368 191.2231 214.3518 187.5998 187.7231 214.3518 187.5998 191.2231 214.2842 187.3473 187.7231 214.2842 187.3473 191.2231 214.2614 187.0868 187.7231 214.2614 187.0868 191.2231 214.2842 186.8263 187.7231 214.2842 186.8263 191.2231 214.3518 186.5738 187.7231 214.3518 186.5738 191.2231 214.4623 186.3368 187.7231 214.4623 186.3368 191.2231 214.6123 186.1226 187.7231 214.6123 186.1226 191.2231 214.7972 185.9377 187.7231 214.7972 185.9377 191.2231 215.0114 185.7878 187.7231 215.0114 185.7878 191.2231 215.2483 185.6773 187.7231 215.2483 185.6773 191.2231 215.5009 185.6096 187.7231 215.5009 185.6096 191.2231 215.7614 185.5868 187.7231 215.7614 185.5868 191.2231 216.0219 185.6096 187.7231 216.0219 185.6096 191.2231 216.2744 185.6773 187.7231 216.2744 185.6773 191.2231 216.5114 185.7878 187.7231 216.5114 185.7878 191.2231 216.7256 185.9377 187.7231 216.7256 185.9377 191.2231 216.9105 186.1226 187.7231 216.9105 186.1226 191.2231 217.0604 186.3368 187.7231 217.0604 186.3368 191.2231 217.1709 186.5738 187.7231 217.1709 186.5738 191.2231 217.2386 186.8263 187.7231 217.2386 186.8263 191.2231 217.2614 221.0868 187.7231 217.2614 221.0868 191.2231 217.2386 221.3473 187.7231 217.2386 221.3473 191.2231 217.1709 221.5998 187.7231 217.1709 221.5998 191.2231 217.0604 221.8368 187.7231 217.0604 221.8368 191.2231 216.9105 222.051 187.7231 216.9105 222.051 191.2231 216.7256 222.2359 187.7231 216.7256 222.2359 191.2231 216.5114 222.3858 187.7231 216.5114 222.3858 191.2231 216.2744 222.4963 187.7231 216.2744 222.4963 191.2231 216.0219 222.564 187.7231 216.0219 222.564 191.2231 215.7614 222.5868 187.7231 215.7614 222.5868 191.2231 215.5009 222.564 187.7231 215.5009 222.564 191.2231 215.2483 222.4963 187.7231 215.2483 222.4963 191.2231 215.0114 222.3858 187.7231 215.0114 222.3858 191.2231 214.7972 222.2359 187.7231 214.7972 222.2359 191.2231 214.6123 222.051 187.7231 214.6123 222.051 191.2231 214.4623 221.8368 187.7231 214.4623 221.8368 191.2231 214.3518 221.5998 187.7231 214.3518 221.5998 191.2231 214.2842 221.3473 187.7231 214.2842 221.3473 191.2231 214.2614 221.0868 187.7231 214.2614 221.0868 191.2231 214.2842 220.8263 187.7231 214.2842 220.8263 191.2231 214.3518 220.5738 187.7231 214.3518 220.5738 191.2231 214.4623 220.3368 187.7231 214.4623 220.3368 191.2231 214.6123 220.1226 187.7231 214.6123 220.1226 191.2231 214.7972 219.9377 187.7231 214.7972 219.9377 191.2231 215.0114 219.7878 187.7231 215.0114 219.7878 191.2231 215.2483 219.6773 187.7231 215.2483 219.6773 191.2231 215.5009 219.6096 187.7231 215.5009 219.6096 191.2231 215.7614 219.5868 187.7231 215.7614 219.5868 191.2231 216.0219 219.6096 187.7231 216.0219 219.6096 191.2231 216.2744 219.6773 187.7231 216.2744 219.6773 191.2231 216.5114 219.7878 187.7231 216.5114 219.7878 191.2231 216.7256 219.9377 187.7231 216.7256 219.9377 191.2231 216.9105 220.1226 187.7231 216.9105 220.1226 191.2231 217.0604 220.3368 187.7231 217.0604 220.3368 191.2231 217.1709 220.5738 187.7231 217.1709 220.5738 191.2231 217.2386 220.8263 187.7231 217.2386 220.8263 191.2231 183.2614 187.0868 187.7231 183.2614 187.0868 191.2231 183.2386 187.3473 187.7231 183.2386 187.3473 191.2231 183.1709 187.5998 187.7231 183.1709 187.5998 191.2231 183.0604 187.8368 187.7231 183.0604 187.8368 191.2231 182.9104 188.051 187.7231 182.9104 188.051 191.2231 182.7256 188.2359 187.7231 182.7256 188.2359 191.2231 182.5114 188.3858 187.7231 182.5114 188.3858 191.2231 182.2744 188.4963 187.7231 182.2744 188.4963 191.2231 182.0219 188.564 187.7231 182.0219 188.564 191.2231 181.7614 188.5868 187.7231 181.7614 188.5868 191.2231 181.5009 188.564 187.7231 181.5009 188.564 191.2231 181.2483 188.4963 187.7231 181.2483 188.4963 191.2231 181.0114 188.3858 187.7231 181.0114 188.3858 191.2231 180.7972 188.2359 187.7231 180.7972 188.2359 191.2231 180.6123 188.051 187.7231 180.6123 188.051 191.2231 180.4624 187.8368 187.7231 180.4624 187.8368 191.2231 180.3518 187.5998 187.7231 180.3518 187.5998 191.2231 180.2842 187.3473 187.7231 180.2842 187.3473 191.2231 180.2614 187.0868 187.7231 180.2614 187.0868 191.2231 180.2842 186.8263 187.7231 180.2842 186.8263 191.2231 180.3518 186.5738 187.7231 180.3518 186.5738 191.2231 180.4624 186.3368 187.7231 180.4624 186.3368 191.2231 180.6123 186.1226 187.7231 180.6123 186.1226 191.2231 180.7972 185.9377 187.7231 180.7972 185.9377 191.2231 181.0114 185.7878 187.7231 181.0114 185.7878 191.2231 181.2483 185.6773 187.7231 181.2483 185.6773 191.2231 181.5009 185.6096 187.7231 181.5009 185.6096 191.2231 181.7614 185.5868 187.7231 181.7614 185.5868 191.2231 182.0219 185.6096 187.7231 182.0219 185.6096 191.2231 182.2744 185.6773 187.7231 182.2744 185.6773 191.2231 182.5114 185.7878 187.7231 182.5114 185.7878 191.2231 182.7256 185.9377 187.7231 182.7256 185.9377 191.2231 182.9104 186.1226 187.7231 182.9104 186.1226 191.2231 183.0604 186.3368 187.7231 183.0604 186.3368 191.2231 183.1709 186.5738 187.7231 183.1709 186.5738 191.2231 183.2386 186.8263 187.7231 183.2386 186.8263 191.2231 183.2614 221.0868 187.7231 183.2614 221.0868 191.2231 183.2386 221.3473 187.7231 183.2386 221.3473 191.2231 183.1709 221.5998 187.7231 183.1709 221.5998 191.2231 183.0604 221.8368 187.7231 183.0604 221.8368 191.2231 182.9104 222.051 187.7231 182.9104 222.051 191.2231 182.7256 222.2359 187.7231 182.7256 222.2359 191.2231 182.5114 222.3858 187.7231 182.5114 222.3858 191.2231 182.2744 222.4963 187.7231 182.2744 222.4963 191.2231 182.0219 222.564 187.7231 182.0219 222.564 191.2231 181.7614 222.5868 187.7231 181.7614 222.5868 191.2231 181.5009 222.564 187.7231 181.5009 222.564 191.2231 181.2483 222.4963 187.7231 181.2483 222.4963 191.2231 181.0114 222.3858 187.7231 181.0114 222.3858 191.2231 180.7972 222.2359 187.7231 180.7972 222.2359 191.2231 180.6123 222.051 187.7231 180.6123 222.051 191.2231 180.4624 221.8368 187.7231 180.4624 221.8368 191.2231 180.3518 221.5998 187.7231 180.3518 221.5998 191.2231 180.2842 221.3473 187.7231 180.2842 221.3473 191.2231 180.2614 221.0868 187.7231 180.2614 221.0868 191.2231 180.2842 220.8263 187.7231 180.2842 220.8263 191.2231 180.3518 220.5738 187.7231 180.3518 220.5738 191.2231 180.4624 220.3368 187.7231 180.4624 220.3368 191.2231 180.6123 220.1226 187.7231 180.6123 220.1226 191.2231 180.7972 219.9377 187.7231 180.7972 219.9377 191.2231 181.0114 219.7878 187.7231 181.0114 219.7878 191.2231 181.2483 219.6773 187.7231 181.2483 219.6773 191.2231 181.5009 219.6096 187.7231 181.5009 219.6096 191.2231 181.7614 219.5868 187.7231 181.7614 219.5868 191.2231 182.0219 219.6096 187.7231 182.0219 219.6096 191.2231 182.2744 219.6773 187.7231 182.2744 219.6773 191.2231 182.5114 219.7878 187.7231 182.5114 219.7878 191.2231 182.7256 219.9377 187.7231 182.7256 219.9377 191.2231 182.9104 220.1226 187.7231 182.9104 220.1226 191.2231 183.0604 220.3368 187.7231 183.0604 220.3368 191.2231 183.1709 220.5738 187.7231 183.1709 220.5738 191.2231 183.2386 220.8263 187.7231 183.2386 220.8263 191.2231 185.7614 212.0868 189.2231 185.8373 212.955 189.2231 182.1955 218.6248 189.2231 186.0629 213.7969 189.2231 186.4313 214.5868 189.2231 183.0114 218.9217 189.2231 186.9312 215.3007 189.2231 183.3684 219.1717 189.2231 182.6164 218.7376 189.2231 207.6296 217.0108 189.2231 208.4715 216.7853 189.2231 212.5114 225.0868 189.2231 209.2614 216.4169 189.2231 209.9753 215.917 189.2231 210.5916 215.3007 189.2231 211.0915 214.5868 189.2231 211.4598 213.7969 189.2231 211.6854 212.955 189.2231 211.7614 212.0868 189.2231 212.5114 190.3368 189.2231 211.7614 196.0868 189.2231 211.6854 195.2186 189.2231 211.4598 194.3767 189.2231 180.5114 218.9217 189.2231 177.7614 190.3368 189.2231 180.9063 218.7376 189.2231 181.3273 218.6248 189.2231 184.2614 221.0868 189.2231 184.2234 220.6527 189.2231 189.0513 216.7853 189.2231 184.1106 220.2318 189.2231 183.9264 219.8368 189.2231 182.1955 223.5488 189.2231 182.7614 225.0868 189.2231 181.7614 223.5868 189.2231 181.8931 225.0108 189.2231 181.3273 223.5488 189.2231 181.0513 224.7853 189.2231 180.9063 223.436 189.2231 180.2614 224.4169 189.2231 183.6765 219.4798 189.2231 187.5475 215.917 189.2231 188.2614 216.4169 189.2231 189.8931 217.0108 189.2231 190.7614 217.0868 189.2231 206.7614 217.0868 189.2231 186.9312 192.8729 189.2231 186.4313 193.5868 189.2231 186.0629 194.3767 189.2231 185.8373 195.2186 189.2231 211.0915 193.5868 189.2231 210.5916 192.8729 189.2231 209.9753 192.2566 189.2231 181.7614 218.5868 189.2231 185.7614 196.0868 189.2231 179.5963 219.8368 189.2231 177.7614 220.0868 189.2231 179.8463 219.4798 189.2231 180.1544 219.1717 189.2231 183.6765 222.6938 189.2231 183.9264 222.3368 189.2231 189.0513 191.3883 189.2231 188.2614 191.7567 189.2231 187.5475 192.2566 189.2231 179.4122 220.2318 189.2231 179.2994 220.6527 189.2231 177.8373 220.9551 189.2231 179.2614 221.0868 189.2231 178.0629 221.7969 189.2231 179.2994 221.5209 189.2231 178.4313 222.5868 189.2231 182.6164 223.436 189.2231 183.0114 223.2519 189.2231 183.3684 223.0019 189.2231 184.1106 221.9419 189.2231 184.2234 221.5209 189.2231 209.2614 191.7567 189.2231 208.4715 191.3883 189.2231 207.6296 191.1628 189.2231 179.4122 221.9419 189.2231 179.5963 222.3368 189.2231 178.9312 223.3007 189.2231 179.8463 222.6938 189.2231 179.5475 223.917 189.2231 180.1544 223.0019 189.2231 180.5114 223.2519 189.2231 206.7614 191.0868 189.2231 190.7614 191.0868 189.2231 189.8931 191.1628 189.2231 218.1106 220.2318 189.2231 217.9264 219.8368 189.2231 219.7614 220.0868 189.2231 217.3684 219.1717 189.2231 217.0114 218.9217 189.2231 219.7614 190.3368 189.2231 217.6765 219.4798 189.2231 213.5963 219.8368 189.2231 213.8463 219.4798 189.2231 214.1544 219.1717 189.2231 216.6164 218.7376 189.2231 216.1955 218.6248 189.2231 215.7614 218.5868 189.2231 215.3273 218.6248 189.2231 214.9063 218.7376 189.2231 214.5114 218.9217 189.2231 213.4122 220.2318 189.2231 213.2994 220.6527 189.2231 213.2614 221.0868 189.2231 213.2994 221.5209 189.2231 213.4122 221.9419 189.2231 213.5963 222.3368 189.2231 213.8463 222.6938 189.2231 214.1544 223.0019 189.2231 214.5114 223.2519 189.2231 214.7614 225.0868 189.2231 217.2614 224.4169 189.2231 217.0114 223.2519 189.2231 217.9753 223.917 189.2231 217.3684 223.0019 189.2231 218.5916 223.3007 189.2231 217.6765 222.6938 189.2231 219.0915 222.5868 189.2231 214.9063 223.436 189.2231 215.3273 223.5488 189.2231 215.6296 225.0108 189.2231 215.7614 223.5868 189.2231 216.4715 224.7853 189.2231 216.1955 223.5488 189.2231 216.6164 223.436 189.2231 217.9264 222.3368 189.2231 218.1106 221.9419 189.2231 219.4598 221.7969 189.2231 218.2234 221.5209 189.2231 219.6854 220.9551 189.2231 218.2614 221.0868 189.2231 218.2234 220.6527 189.2231 184.2614 187.0868 189.2231 184.2234 186.6527 189.2231 212.5114 183.0868 189.2231 184.1106 186.2318 189.2231 183.9264 185.8368 189.2231 183.6765 185.4798 189.2231 183.3684 185.1717 189.2231 183.0114 184.9217 189.2231 181.7614 189.5868 189.2231 182.1955 189.5488 189.2231 182.6164 189.436 189.2231 177.7614 183.0868 189.2231 181.3273 184.6248 189.2231 180.9063 184.7376 189.2231 179.2614 187.0868 189.2231 179.2994 186.6527 189.2231 179.2994 187.5209 189.2231 179.4122 187.9419 189.2231 179.5963 188.3368 189.2231 179.8463 188.6938 189.2231 180.1544 189.0019 189.2231 180.5114 189.2519 189.2231 180.9063 189.436 189.2231 181.3273 189.5488 189.2231 183.0114 189.2519 189.2231 183.3684 189.0019 189.2231 183.6765 188.6938 189.2231 180.5114 184.9217 189.2231 180.1544 185.1717 189.2231 179.8463 185.4798 189.2231 182.6164 184.7376 189.2231 182.1955 184.6248 189.2231 181.7614 184.5868 189.2231 179.5963 185.8368 189.2231 179.4122 186.2318 189.2231 183.9264 188.3368 189.2231 184.1106 187.9419 189.2231 184.2234 187.5209 189.2231 213.2614 187.0868 189.2231 213.2994 187.5209 189.2231 218.1106 186.2318 189.2231 217.9264 185.8368 189.2231 219.7614 183.0868 189.2231 218.1106 187.9419 189.2231 218.2234 187.5209 189.2231 218.2614 187.0868 189.2231 218.2234 186.6527 189.2231 215.3273 184.6248 189.2231 214.9063 184.7376 189.2231 213.8463 185.4798 189.2231 213.5963 185.8368 189.2231 213.4122 186.2318 189.2231 213.2994 186.6527 189.2231 217.6765 185.4798 189.2231 217.3684 185.1717 189.2231 217.0114 184.9217 189.2231 214.5114 184.9217 189.2231 214.1544 185.1717 189.2231 216.6164 184.7376 189.2231 216.1955 184.6248 189.2231 215.7614 184.5868 189.2231 213.4122 187.9419 189.2231 213.5963 188.3368 189.2231 213.8463 188.6938 189.2231 214.1544 189.0019 189.2231 214.5114 189.2519 189.2231 214.9063 189.436 189.2231 216.1955 189.5488 189.2231 215.7614 189.5868 189.2231 215.3273 189.5488 189.2231 216.6164 189.436 189.2231 217.0114 189.2519 189.2231 217.3684 189.0019 189.2231 217.6765 188.6938 189.2231 217.9264 188.3368 189.2231 189.8931 217.0108 185.2231 189.0513 216.7853 185.2231 181.3273 218.6248 185.2231 188.2614 216.4169 185.2231 187.5475 215.917 185.2231 186.9312 215.3007 185.2231 180.9063 218.7376 185.2231 180.2614 224.4169 185.2231 181.0513 224.7853 185.2231 181.3273 223.5488 185.2231 179.4122 220.2318 185.2231 179.5963 219.8368 185.2231 177.7614 220.0868 185.2231 179.8463 219.4798 185.2231 180.1544 219.1717 185.2231 212.5114 190.3368 185.2231 211.0915 193.5868 185.2231 211.4598 194.3767 185.2231 211.6854 212.955 185.2231 211.4598 213.7969 185.2231 212.5114 225.0868 185.2231 180.5114 218.9217 185.2231 186.4313 214.5868 185.2231 186.0629 213.7969 185.2231 211.7614 212.0868 185.2231 185.8373 212.955 185.2231 185.7614 212.0868 185.2231 177.7614 190.3368 185.2231 185.7614 196.0868 185.2231 185.8373 195.2186 185.2231 182.6164 218.7376 185.2231 183.0114 218.9217 185.2231 206.7614 217.0868 185.2231 181.7614 223.5868 185.2231 181.8931 225.0108 185.2231 182.1955 223.5488 185.2231 182.7614 225.0868 185.2231 182.6164 223.436 185.2231 178.4313 222.5868 185.2231 179.4122 221.9419 185.2231 178.0629 221.7969 185.2231 179.2994 221.5209 185.2231 177.8373 220.9551 185.2231 179.2614 221.0868 185.2231 179.2994 220.6527 185.2231 186.0629 194.3767 185.2231 186.4313 193.5868 185.2231 186.9312 192.8729 185.2231 211.0915 214.5868 185.2231 210.5916 215.3007 185.2231 209.9753 215.917 185.2231 190.7614 217.0868 185.2231 181.7614 218.5868 185.2231 182.1955 218.6248 185.2231 180.9063 223.436 185.2231 180.5114 223.2519 185.2231 179.5475 223.917 185.2231 180.1544 223.0019 185.2231 178.9312 223.3007 185.2231 179.8463 222.6938 185.2231 179.5963 222.3368 185.2231 211.6854 195.2186 185.2231 211.7614 196.0868 185.2231 187.5475 192.2566 185.2231 188.2614 191.7567 185.2231 189.0513 191.3883 185.2231 209.2614 191.7567 185.2231 208.4715 191.3883 185.2231 207.6296 191.1628 185.2231 209.9753 192.2566 185.2231 210.5916 192.8729 185.2231 183.3684 219.1717 185.2231 183.6765 219.4798 185.2231 207.6296 217.0108 185.2231 183.9264 219.8368 185.2231 184.1106 220.2318 185.2231 189.8931 191.1628 185.2231 190.7614 191.0868 185.2231 206.7614 191.0868 185.2231 209.2614 216.4169 185.2231 208.4715 216.7853 185.2231 183.3684 223.0019 185.2231 183.0114 223.2519 185.2231 184.2234 220.6527 185.2231 184.2614 221.0868 185.2231 184.2234 221.5209 185.2231 184.1106 221.9419 185.2231 183.9264 222.3368 185.2231 183.6765 222.6938 185.2231 213.2994 220.6527 185.2231 213.4122 220.2318 185.2231 215.7614 218.5868 185.2231 216.1955 218.6248 185.2231 219.7614 190.3368 185.2231 216.6164 218.7376 185.2231 217.0114 218.9217 185.2231 213.2614 221.0868 185.2231 213.5963 219.8368 185.2231 213.8463 219.4798 185.2231 214.1544 219.1717 185.2231 217.9264 219.8368 185.2231 219.7614 220.0868 185.2231 217.6765 219.4798 185.2231 217.3684 219.1717 185.2231 214.5114 218.9217 185.2231 214.9063 218.7376 185.2231 215.3273 218.6248 185.2231 219.0915 222.5868 185.2231 217.9264 222.3368 185.2231 218.5916 223.3007 185.2231 217.6765 222.6938 185.2231 217.9753 223.917 185.2231 217.3684 223.0019 185.2231 217.2614 224.4169 185.2231 218.1106 220.2318 185.2231 218.2234 220.6527 185.2231 219.6854 220.9551 185.2231 218.2614 221.0868 185.2231 219.4598 221.7969 185.2231 218.2234 221.5209 185.2231 218.1106 221.9419 185.2231 217.0114 223.2519 185.2231 216.6164 223.436 185.2231 216.4715 224.7853 185.2231 216.1955 223.5488 185.2231 215.6296 225.0108 185.2231 215.7614 223.5868 185.2231 214.7614 225.0868 185.2231 214.1544 223.0019 185.2231 213.8463 222.6938 185.2231 213.5963 222.3368 185.2231 215.3273 223.5488 185.2231 214.9063 223.436 185.2231 214.5114 223.2519 185.2231 213.4122 221.9419 185.2231 213.2994 221.5209 185.2231 183.0114 184.9217 185.2231 183.3684 185.1717 185.2231 212.5114 183.0868 185.2231 183.6765 185.4798 185.2231 183.9264 185.8368 185.2231 184.2234 187.5209 185.2231 184.1106 187.9419 185.2231 183.9264 188.3368 185.2231 181.3273 189.5488 185.2231 180.9063 189.436 185.2231 179.8463 188.6938 185.2231 179.5963 188.3368 185.2231 179.4122 187.9419 185.2231 179.2994 187.5209 185.2231 179.2614 187.0868 185.2231 177.7614 183.0868 185.2231 179.2994 186.6527 185.2231 179.4122 186.2318 185.2231 184.1106 186.2318 185.2231 184.2234 186.6527 185.2231 184.2614 187.0868 185.2231 183.6765 188.6938 185.2231 183.3684 189.0019 185.2231 183.0114 189.2519 185.2231 182.6164 189.436 185.2231 182.1955 189.5488 185.2231 181.7614 189.5868 185.2231 180.5114 189.2519 185.2231 180.1544 189.0019 185.2231 179.5963 185.8368 185.2231 179.8463 185.4798 185.2231 180.1544 185.1717 185.2231 180.5114 184.9217 185.2231 180.9063 184.7376 185.2231 181.3273 184.6248 185.2231 181.7614 184.5868 185.2231 182.1955 184.6248 185.2231 182.6164 184.7376 185.2231 213.4122 186.2318 185.2231 213.5963 185.8368 185.2231 213.8463 185.4798 185.2231 213.4122 187.9419 185.2231 213.2994 187.5209 185.2231 213.2614 187.0868 185.2231 213.2994 186.6527 185.2231 218.2234 187.5209 185.2231 218.1106 187.9419 185.2231 219.7614 183.0868 185.2231 217.6765 185.4798 185.2231 217.9264 185.8368 185.2231 218.1106 186.2318 185.2231 218.2234 186.6527 185.2231 218.2614 187.0868 185.2231 215.7614 189.5868 185.2231 215.3273 189.5488 185.2231 214.1544 185.1717 185.2231 214.5114 184.9217 185.2231 214.9063 184.7376 185.2231 216.6164 184.7376 185.2231 217.0114 184.9217 185.2231 217.3684 185.1717 185.2231 217.9264 188.3368 185.2231 217.6765 188.6938 185.2231 217.3684 189.0019 185.2231 217.0114 189.2519 185.2231 216.6164 189.436 185.2231 216.1955 189.5488 185.2231 214.9063 189.436 185.2231 214.5114 189.2519 185.2231 214.1544 189.0019 185.2231 213.8463 188.6938 185.2231 213.5963 188.3368 185.2231 215.3273 184.6248 185.2231 215.7614 184.5868 185.2231 216.1955 184.6248 185.2231 179.8463 222.6938 191.2231 179.5963 222.3368 191.2231 179.4122 221.9419 191.2231 179.2994 221.5209 191.2231 179.2614 221.0868 191.2231 179.2994 220.6527 191.2231 179.4122 220.2318 191.2231 179.5963 219.8368 191.2231 179.8463 219.4798 191.2231 180.1544 219.1717 191.2231 180.5114 218.9217 191.2231 180.9063 218.7376 191.2231 181.3273 218.6248 191.2231 181.7614 218.5868 191.2231 182.1955 218.6248 191.2231 182.6164 218.7376 191.2231 183.0114 218.9217 191.2231 183.3684 219.1717 191.2231 183.6765 219.4798 191.2231 183.9264 219.8368 191.2231 184.1106 220.2318 191.2231 184.2234 220.6527 191.2231 184.2614 221.0868 191.2231 184.2234 221.5209 191.2231 184.1106 221.9419 191.2231 183.9264 222.3368 191.2231 183.6765 222.6938 191.2231 183.3684 223.0019 191.2231 183.0114 223.2519 191.2231 182.6164 223.436 191.2231 182.1955 223.5488 191.2231 181.7614 223.5868 191.2231 181.3273 223.5488 191.2231 180.9063 223.436 191.2231 180.5114 223.2519 191.2231 180.1544 223.0019 191.2231 217.6765 222.6938 191.2231 217.3684 223.0019 191.2231 217.0114 223.2519 191.2231 216.6164 223.436 191.2231 216.1955 223.5488 191.2231 215.7614 223.5868 191.2231 215.3273 223.5488 191.2231 214.9063 223.436 191.2231 214.5114 223.2519 191.2231 214.1544 223.0019 191.2231 213.8463 222.6938 191.2231 213.5963 222.3368 191.2231 213.4122 221.9419 191.2231 213.2994 221.5209 191.2231 213.2614 221.0868 191.2231 213.2994 220.6527 191.2231 213.4122 220.2318 191.2231 213.5963 219.8368 191.2231 213.8463 219.4798 191.2231 214.1544 219.1717 191.2231 214.5114 218.9217 191.2231 214.9063 218.7376 191.2231 215.3273 218.6248 191.2231 215.7614 218.5868 191.2231 216.1955 218.6248 191.2231 216.6164 218.7376 191.2231 217.0114 218.9217 191.2231 217.3684 219.1717 191.2231 217.6765 219.4798 191.2231 217.9264 219.8368 191.2231 218.1106 220.2318 191.2231 218.2234 220.6527 191.2231 218.2614 221.0868 191.2231 218.2234 221.5209 191.2231 218.1106 221.9419 191.2231 217.9264 222.3368 191.2231 216.1955 189.5488 191.2231 215.7614 189.5868 191.2231 215.3273 189.5488 191.2231 214.9063 189.436 191.2231 214.5114 189.2519 191.2231 214.1544 189.0019 191.2231 213.8463 188.6938 191.2231 213.5963 188.3368 191.2231 213.4122 187.9419 191.2231 213.2994 187.5209 191.2231 213.2614 187.0868 191.2231 213.2994 186.6527 191.2231 213.4122 186.2318 191.2231 213.5963 185.8368 191.2231 213.8463 185.4798 191.2231 214.1544 185.1717 191.2231 214.5114 184.9217 191.2231 214.9063 184.7376 191.2231 215.3273 184.6248 191.2231 215.7614 184.5868 191.2231 216.1955 184.6248 191.2231 216.6164 184.7376 191.2231 217.0114 184.9217 191.2231 217.3684 185.1717 191.2231 217.6765 185.4798 191.2231 217.9264 185.8368 191.2231 218.1106 186.2318 191.2231 218.2234 186.6527 191.2231 218.2614 187.0868 191.2231 218.2234 187.5209 191.2231 218.1106 187.9419 191.2231 217.9264 188.3368 191.2231 217.6765 188.6938 191.2231 217.3684 189.0019 191.2231 217.0114 189.2519 191.2231 216.6164 189.436 191.2231 181.3273 184.6248 191.2231 181.7614 184.5868 191.2231 182.1955 184.6248 191.2231 182.6164 184.7376 191.2231 183.0114 184.9217 191.2231 183.3684 185.1717 191.2231 183.6765 185.4798 191.2231 183.9264 185.8368 191.2231 184.1106 186.2318 191.2231 184.2234 186.6527 191.2231 184.2614 187.0868 191.2231 184.2234 187.5209 191.2231 184.1106 187.9419 191.2231 183.9264 188.3368 191.2231 183.6765 188.6938 191.2231 183.3684 189.0019 191.2231 183.0114 189.2519 191.2231 182.6164 189.436 191.2231 182.1955 189.5488 191.2231 181.7614 189.5868 191.2231 181.3273 189.5488 191.2231 180.9063 189.436 191.2231 180.5114 189.2519 191.2231 180.1544 189.0019 191.2231 179.8463 188.6938 191.2231 179.5963 188.3368 191.2231 179.4122 187.9419 191.2231 179.2994 187.5209 191.2231 179.2614 187.0868 191.2231 179.2994 186.6527 191.2231 179.4122 186.2318 191.2231 179.5963 185.8368 191.2231 179.8463 185.4798 191.2231 180.1544 185.1717 191.2231 180.5114 184.9217 191.2231 180.9063 184.7376 191.2231 179.2614 221.0868 187.7231 179.2994 221.5209 187.7231 179.4122 221.9419 187.7231 179.5963 222.3368 187.7231 179.8463 222.6938 187.7231 180.1544 223.0019 187.7231 180.5114 223.2519 187.7231 180.9063 223.436 187.7231 181.3273 223.5488 187.7231 181.7614 223.5868 187.7231 182.1955 223.5488 187.7231 182.6164 223.436 187.7231 183.0114 223.2519 187.7231 183.3684 223.0019 187.7231 183.6765 222.6938 187.7231 183.9264 222.3368 187.7231 184.1106 221.9419 187.7231 184.2234 221.5209 187.7231 184.2614 221.0868 187.7231 184.2234 220.6527 187.7231 184.1106 220.2318 187.7231 183.9264 219.8368 187.7231 183.6765 219.4798 187.7231 183.3684 219.1717 187.7231 183.0114 218.9217 187.7231 182.6164 218.7376 187.7231 182.1955 218.6248 187.7231 181.7614 218.5868 187.7231 181.3273 218.6248 187.7231 180.9063 218.7376 187.7231 180.5114 218.9217 187.7231 180.1544 219.1717 187.7231 179.8463 219.4798 187.7231 179.5963 219.8368 187.7231 179.4122 220.2318 187.7231 179.2994 220.6527 187.7231 179.2614 187.0868 187.7231 179.2994 187.5209 187.7231 179.4122 187.9419 187.7231 179.5963 188.3368 187.7231 179.8463 188.6938 187.7231 180.1544 189.0019 187.7231 180.5114 189.2519 187.7231 180.9063 189.436 187.7231 181.3273 189.5488 187.7231 181.7614 189.5868 187.7231 182.1955 189.5488 187.7231 182.6164 189.436 187.7231 183.0114 189.2519 187.7231 183.3684 189.0019 187.7231 183.6765 188.6938 187.7231 183.9264 188.3368 187.7231 184.1106 187.9419 187.7231 184.2234 187.5209 187.7231 184.2614 187.0868 187.7231 184.2234 186.6527 187.7231 184.1106 186.2318 187.7231 183.9264 185.8368 187.7231 183.6765 185.4798 187.7231 183.3684 185.1717 187.7231 183.0114 184.9217 187.7231 182.6164 184.7376 187.7231 182.1955 184.6248 187.7231 181.7614 184.5868 187.7231 181.3273 184.6248 187.7231 180.9063 184.7376 187.7231 180.5114 184.9217 187.7231 180.1544 185.1717 187.7231 179.8463 185.4798 187.7231 179.5963 185.8368 187.7231 179.4122 186.2318 187.7231 179.2994 186.6527 187.7231 213.2614 221.0868 187.7231 213.2994 221.5209 187.7231 213.4122 221.9419 187.7231 213.5963 222.3368 187.7231 213.8463 222.6938 187.7231 214.1544 223.0019 187.7231 214.5114 223.2519 187.7231 214.9063 223.436 187.7231 215.3273 223.5488 187.7231 215.7614 223.5868 187.7231 216.1955 223.5488 187.7231 216.6164 223.436 187.7231 217.0114 223.2519 187.7231 217.3684 223.0019 187.7231 217.6765 222.6938 187.7231 217.9264 222.3368 187.7231 218.1106 221.9419 187.7231 218.2234 221.5209 187.7231 218.2614 221.0868 187.7231 218.2234 220.6527 187.7231 218.1106 220.2318 187.7231 217.9264 219.8368 187.7231 217.6765 219.4798 187.7231 217.3684 219.1717 187.7231 217.0114 218.9217 187.7231 216.6164 218.7376 187.7231 216.1955 218.6248 187.7231 215.7614 218.5868 187.7231 215.3273 218.6248 187.7231 214.9063 218.7376 187.7231 214.5114 218.9217 187.7231 214.1544 219.1717 187.7231 213.8463 219.4798 187.7231 213.5963 219.8368 187.7231 213.4122 220.2318 187.7231 213.2994 220.6527 187.7231 213.2614 187.0868 187.7231 213.2994 187.5209 187.7231 213.4122 187.9419 187.7231 213.5963 188.3368 187.7231 213.8463 188.6938 187.7231 214.1544 189.0019 187.7231 214.5114 189.2519 187.7231 214.9063 189.436 187.7231 215.3273 189.5488 187.7231 215.7614 189.5868 187.7231 216.1955 189.5488 187.7231 216.6164 189.436 187.7231 217.0114 189.2519 187.7231 217.3684 189.0019 187.7231 217.6765 188.6938 187.7231 217.9264 188.3368 187.7231 218.1106 187.9419 187.7231 218.2234 187.5209 187.7231 218.2614 187.0868 187.7231 218.2234 186.6527 187.7231 218.1106 186.2318 187.7231 217.9264 185.8368 187.7231 217.6765 185.4798 187.7231 217.3684 185.1717 187.7231 217.0114 184.9217 187.7231 216.6164 184.7376 187.7231 216.1955 184.6248 187.7231 215.7614 184.5868 187.7231 215.3273 184.6248 187.7231 214.9063 184.7376 187.7231 214.5114 184.9217 187.7231 214.1544 185.1717 187.7231 213.8463 185.4798 187.7231 213.5963 185.8368 187.7231 213.4122 186.2318 187.7231 213.2994 186.6527 187.7231 244.2614 109.0043 219.5981 244.2614 108.9122 219.7956 244.2614 107.0868 170.2231 244.2614 108.8558 220.006 244.2614 107.0868 225.2231 244.2614 108.8368 220.2231 244.2614 108.8558 220.4402 244.2614 109.2833 174.2655 244.2614 109.1293 174.4196 244.2614 109.0043 174.5981 244.2614 108.9122 174.7956 244.2614 109.4618 219.1406 244.2614 109.6593 219.0485 244.2614 109.8698 218.9921 244.2614 109.2833 219.2655 244.2614 109.1293 219.4196 244.2614 110.3039 173.9921 244.2614 110.0868 173.9731 244.2614 109.8698 173.9921 244.2614 109.6593 174.0485 244.2614 109.4618 174.1406 244.2614 108.8558 175.006 244.2614 108.8368 175.2231 244.2614 109.0043 175.8481 244.2614 111.3368 220.2231 244.2614 108.9122 175.6506 244.2614 111.3178 220.006 244.2614 111.2614 219.7956 244.2614 134.2833 174.2655 244.2614 134.1293 174.4196 244.2614 111.2614 174.7956 244.2614 109.1293 176.0266 244.2614 109.2833 176.1807 244.2614 109.4618 176.3056 244.2614 111.1693 219.5981 244.2614 111.0444 219.4196 244.2614 110.8903 219.2655 244.2614 111.0444 174.4196 244.2614 139.0868 170.2231 244.2614 111.1693 174.5981 244.2614 110.0868 176.4731 244.2614 133.9122 175.6506 244.2614 134.0043 175.8481 244.2614 136.1693 219.5981 244.2614 136.0444 219.4196 244.2614 136.3178 175.4402 244.2614 136.3368 175.2231 244.2614 110.7118 219.1406 244.2614 110.5143 219.0485 244.2614 108.8558 175.4402 244.2614 110.3039 218.9921 244.2614 110.0868 218.9731 244.2614 110.7118 176.3056 244.2614 110.8903 176.1807 244.2614 133.8368 175.2231 244.2614 108.9122 220.6506 244.2614 109.0043 220.8481 244.2614 109.1293 221.0266 244.2614 110.0868 221.4731 244.2614 109.8698 221.4541 244.2614 109.6593 221.3977 244.2614 134.8697 221.4541 244.2614 135.0868 221.4731 244.2614 139.0868 225.2231 244.2614 135.3039 221.4541 244.2614 135.5143 221.3977 244.2614 135.0868 173.9731 244.2614 134.8697 173.9921 244.2614 134.6593 174.0485 244.2614 134.4618 174.1406 244.2614 133.8558 175.4402 244.2614 110.3039 176.4541 244.2614 110.5143 176.3977 244.2614 111.0444 176.0266 244.2614 111.1693 175.8481 244.2614 111.2614 175.6506 244.2614 134.8697 218.9921 244.2614 134.6593 219.0485 244.2614 134.8697 176.4541 244.2614 134.4618 219.1406 244.2614 134.6593 176.3977 244.2614 134.6593 221.3977 244.2614 134.4618 221.3056 244.2614 111.3178 175.4402 244.2614 111.3368 175.2231 244.2614 133.8558 175.006 244.2614 111.3178 175.006 244.2614 133.9122 174.7956 244.2614 134.0043 174.5981 244.2614 110.8903 174.2655 244.2614 110.7118 174.1406 244.2614 110.5143 174.0485 244.2614 109.2833 221.1807 244.2614 109.4618 221.3056 244.2614 135.7118 221.3056 244.2614 135.8903 221.1807 244.2614 136.0444 221.0266 244.2614 135.8903 219.2655 244.2614 135.7118 219.1406 244.2614 136.2614 175.6506 244.2614 134.1293 176.0266 244.2614 134.2833 176.1807 244.2614 134.4618 176.3056 244.2614 110.8903 221.1807 244.2614 111.0444 221.0266 244.2614 111.2614 220.6506 244.2614 134.0043 220.8481 244.2614 134.1293 221.0266 244.2614 136.1693 220.8481 244.2614 136.2614 220.6506 244.2614 136.3178 220.4402 244.2614 135.7118 176.3056 244.2614 135.8903 176.1807 244.2614 136.0444 176.0266 244.2614 136.1693 175.8481 244.2614 136.3178 175.006 244.2614 136.2614 174.7956 244.2614 136.1693 174.5981 244.2614 136.0444 174.4196 244.2614 135.8903 174.2655 244.2614 135.7118 174.1406 244.2614 110.3039 221.4541 244.2614 110.5143 221.3977 244.2614 110.7118 221.3056 244.2614 111.1693 220.8481 244.2614 134.2833 221.1807 244.2614 135.0868 218.9731 244.2614 135.0868 176.4731 244.2614 135.3039 218.9921 244.2614 135.3039 176.4541 244.2614 135.5143 219.0485 244.2614 135.5143 176.3977 244.2614 135.5143 174.0485 244.2614 135.3039 173.9921 244.2614 136.3368 220.2231 244.2614 136.3178 220.006 244.2614 136.2614 219.7956 244.2614 109.6593 176.3977 244.2614 109.8698 176.4541 244.2614 134.2833 219.2655 244.2614 134.1293 219.4196 244.2614 134.0043 219.5981 244.2614 133.9122 219.7956 244.2614 133.8558 220.006 244.2614 133.8368 220.2231 244.2614 111.3178 220.4402 244.2614 133.8558 220.4402 244.2614 133.9122 220.6506 241.2614 139.0868 167.2231 241.2614 107.0868 167.2231 156.2614 139.0868 167.2231 156.2614 107.0868 167.2231 153.2614 109.6593 221.3977 153.2614 109.4618 221.3056 153.2614 107.0868 225.2231 153.2614 139.0868 225.2231 153.2614 135.0868 221.4731 153.2614 134.8697 221.4541 153.2614 109.2833 221.1807 153.2614 109.1293 221.0266 153.2614 109.0043 220.8481 153.2614 110.3039 221.4541 153.2614 110.0868 221.4731 153.2614 109.8698 221.4541 153.2614 111.2614 175.6506 153.2614 111.1693 175.8481 153.2614 108.8368 220.2231 153.2614 111.0444 176.0266 153.2614 110.8903 176.1807 153.2614 110.7118 176.3056 153.2614 110.5143 176.3977 153.2614 110.3039 176.4541 153.2614 134.6593 221.3977 153.2614 134.4618 221.3056 153.2614 134.2833 219.2655 153.2614 136.3368 175.2231 153.2614 134.1293 219.4196 153.2614 134.0043 219.5981 153.2614 135.8903 176.1807 153.2614 135.7118 176.3056 153.2614 133.8368 220.2231 153.2614 135.5143 176.3977 153.2614 135.3039 176.4541 153.2614 135.7118 221.3056 153.2614 135.5143 221.3977 153.2614 135.3039 221.4541 153.2614 136.2614 175.6506 153.2614 136.1693 175.8481 153.2614 136.0444 176.0266 153.2614 108.8558 175.006 153.2614 108.9122 174.7956 153.2614 107.0868 170.2231 153.2614 109.0043 174.5981 153.2614 109.0043 219.5981 153.2614 109.1293 219.4196 153.2614 111.3368 175.2231 153.2614 110.0868 218.9731 153.2614 109.8698 218.9921 153.2614 109.6593 219.0485 153.2614 136.1693 220.8481 153.2614 136.0444 221.0266 153.2614 135.8903 221.1807 153.2614 136.3178 175.4402 153.2614 133.8558 220.006 153.2614 133.9122 219.7956 153.2614 109.0043 175.8481 153.2614 108.9122 175.6506 153.2614 108.8558 175.4402 153.2614 108.8368 175.2231 153.2614 111.3178 175.4402 153.2614 108.8558 220.006 153.2614 108.9122 219.7956 153.2614 109.2833 219.2655 153.2614 109.4618 219.1406 153.2614 111.1693 220.8481 153.2614 111.0444 221.0266 153.2614 136.0444 219.4196 153.2614 139.0868 170.2231 153.2614 135.8903 219.2655 153.2614 135.7118 219.1406 153.2614 109.4618 176.3056 153.2614 109.2833 176.1807 153.2614 109.1293 176.0266 153.2614 109.1293 174.4196 153.2614 109.2833 174.2655 153.2614 109.4618 174.1406 153.2614 136.3368 220.2231 153.2614 136.3178 220.4402 153.2614 136.2614 220.6506 153.2614 108.9122 220.6506 153.2614 108.8558 220.4402 153.2614 110.8903 221.1807 153.2614 110.7118 221.3056 153.2614 110.5143 221.3977 153.2614 136.1693 219.5981 153.2614 136.2614 219.7956 153.2614 136.3178 220.006 153.2614 110.0868 176.4731 153.2614 109.8698 176.4541 153.2614 109.6593 176.3977 153.2614 134.6593 176.3977 153.2614 134.4618 176.3056 153.2614 135.0868 176.4731 153.2614 111.1693 219.5981 153.2614 111.2614 219.7956 153.2614 109.6593 174.0485 153.2614 109.8698 173.9921 153.2614 110.0868 173.9731 153.2614 110.8903 174.2655 153.2614 111.0444 174.4196 153.2614 133.9122 174.7956 153.2614 134.4618 219.1406 153.2614 134.6593 219.0485 153.2614 134.8697 218.9921 153.2614 111.2614 220.6506 153.2614 134.2833 221.1807 153.2614 134.1293 221.0266 153.2614 134.0043 220.8481 153.2614 133.9122 220.6506 153.2614 133.8558 220.4402 153.2614 110.7118 219.1406 153.2614 110.5143 219.0485 153.2614 110.3039 218.9921 153.2614 134.8697 176.4541 153.2614 134.2833 176.1807 153.2614 134.1293 176.0266 153.2614 134.0043 175.8481 153.2614 133.9122 175.6506 153.2614 110.8903 219.2655 153.2614 111.0444 219.4196 153.2614 111.1693 174.5981 153.2614 111.2614 174.7956 153.2614 111.3178 175.006 153.2614 111.3178 220.006 153.2614 111.3368 220.2231 153.2614 111.3178 220.4402 153.2614 133.8558 175.4402 153.2614 133.8368 175.2231 153.2614 133.8558 175.006 153.2614 136.3178 175.006 153.2614 110.3039 173.9921 153.2614 110.5143 174.0485 153.2614 110.7118 174.1406 153.2614 134.0043 174.5981 153.2614 134.1293 174.4196 153.2614 134.2833 174.2655 153.2614 134.4618 174.1406 153.2614 134.6593 174.0485 153.2614 134.8697 173.9921 153.2614 135.0868 173.9731 153.2614 135.3039 173.9921 153.2614 135.5143 174.0485 153.2614 135.0868 218.9731 153.2614 135.3039 218.9921 153.2614 135.5143 219.0485 153.2614 135.7118 174.1406 153.2614 135.8903 174.2655 153.2614 136.0444 174.4196 153.2614 136.1693 174.5981 153.2614 136.2614 174.7956 156.2614 139.0868 228.2231 156.2614 107.0868 228.2231 241.2614 139.0868 228.2231 241.2614 107.0868 228.2231 241.2614 142.0868 225.2231 241.2614 142.0868 170.2231 156.2614 142.0868 225.2231 156.2614 142.0868 170.2231 197.5304 107.0868 211.506 197.5114 107.0868 211.7231 197.6789 107.0868 184.3481 197.8038 107.0868 184.5266 198.7614 107.0868 210.4731 198.9784 107.0868 212.9541 198.7614 107.0868 212.9731 197.9579 107.0868 184.6807 198.1364 107.0868 184.8056 198.3339 107.0868 184.8977 199.3864 107.0868 184.8056 199.5649 107.0868 184.6807 198.9784 107.0868 210.4921 197.5304 107.0868 183.506 197.5114 107.0868 183.7231 155.7404 107.0868 167.2687 198.1364 107.0868 210.6406 198.1364 107.0868 212.8056 198.3339 107.0868 212.8977 198.5443 107.0868 212.9541 153.307 107.0868 225.744 197.5304 107.0868 211.9402 153.4423 107.0868 226.2492 197.6789 107.0868 212.3481 197.8038 107.0868 212.5266 197.9579 107.0868 212.6807 199.1889 107.0868 184.8977 198.3339 107.0868 182.5485 198.1364 107.0868 182.6406 197.9579 107.0868 182.7655 197.8038 107.0868 182.9196 197.6789 107.0868 183.0981 197.5868 107.0868 183.2956 198.3339 107.0868 210.5485 198.5443 107.0868 210.4921 197.5304 107.0868 183.9402 197.5868 107.0868 184.1506 197.9579 107.0868 210.7655 197.8038 107.0868 210.9196 197.6789 107.0868 211.0981 197.5868 107.0868 211.2956 155.7404 107.0868 228.1775 197.5868 107.0868 212.1506 198.5443 107.0868 184.9541 198.7614 107.0868 184.9731 198.9784 107.0868 184.9541 199.7189 107.0868 184.5266 199.8439 107.0868 184.3481 199.936 107.0868 184.1506 153.307 107.0868 169.7022 153.4423 107.0868 169.197 153.6633 107.0868 168.7231 153.9633 107.0868 168.2947 154.333 107.0868 167.925 199.1889 107.0868 212.8977 199.3864 107.0868 212.8056 199.5649 107.0868 212.6807 199.9924 107.0868 211.506 200.0114 107.0868 211.7231 199.9924 107.0868 211.9402 199.7189 107.0868 182.9196 199.5649 107.0868 182.7655 199.3864 107.0868 182.6406 199.1889 107.0868 182.5485 198.9784 107.0868 182.4921 198.7614 107.0868 182.4731 198.5443 107.0868 182.4921 155.2353 107.0868 228.0422 154.7614 107.0868 227.8212 154.333 107.0868 227.5212 242.7614 107.0868 167.625 199.7189 107.0868 210.9196 199.5649 107.0868 210.7655 154.7614 107.0868 167.625 155.2353 107.0868 167.404 153.9633 107.0868 227.1515 153.6633 107.0868 226.7231 199.7189 107.0868 212.5266 199.8439 107.0868 212.3481 241.7823 107.0868 228.1775 199.936 107.0868 212.1506 242.2874 107.0868 228.0422 241.7823 107.0868 167.2687 199.936 107.0868 183.2956 199.8439 107.0868 183.0981 200.0114 107.0868 183.7231 199.9924 107.0868 183.506 242.2874 107.0868 167.404 244.2158 107.0868 225.744 244.0805 107.0868 226.2492 243.8595 107.0868 226.7231 243.5595 107.0868 227.1515 243.1897 107.0868 227.5212 242.7614 107.0868 227.8212 243.1897 107.0868 167.925 243.5595 107.0868 168.2947 243.8595 107.0868 168.7231 199.9924 107.0868 183.9402 199.1889 107.0868 210.5485 199.3864 107.0868 210.6406 199.936 107.0868 211.2956 199.8439 107.0868 211.0981 244.2158 107.0868 169.7022 244.0805 107.0868 169.197 236.2614 135.0868 173.9731 236.2614 135.3039 173.9921 236.2614 135.5143 174.0485 236.2614 135.7118 174.1406 236.2614 135.8903 174.2655 236.2614 136.0444 174.4196 236.2614 136.1693 174.5981 236.2614 136.2614 174.7956 236.2614 136.3178 175.006 236.2614 136.3368 175.2231 236.2614 136.3178 175.4402 236.2614 136.2614 175.6506 236.2614 136.1693 175.8481 236.2614 136.0444 176.0266 236.2614 135.8903 176.1807 236.2614 135.7118 176.3056 236.2614 135.5143 176.3977 236.2614 135.3039 176.4541 236.2614 135.0868 176.4731 236.2614 134.8697 176.4541 236.2614 134.6593 176.3977 236.2614 134.4618 176.3056 236.2614 134.2833 176.1807 236.2614 134.1293 176.0266 236.2614 134.0043 175.8481 236.2614 133.9122 175.6506 236.2614 133.8558 175.4402 236.2614 133.8368 175.2231 236.2614 133.8558 175.006 236.2614 133.9122 174.7956 236.2614 134.0043 174.5981 236.2614 134.1293 174.4196 236.2614 134.2833 174.2655 236.2614 134.4618 174.1406 236.2614 134.6593 174.0485 236.2614 134.8697 173.9921 236.2614 135.0868 175.2231 236.2614 110.0868 173.9731 236.2614 110.3039 173.9921 236.2614 110.5143 174.0485 236.2614 110.7118 174.1406 236.2614 110.8903 174.2655 236.2614 111.0444 174.4196 236.2614 111.1693 174.5981 236.2614 111.2614 174.7956 236.2614 111.3178 175.006 236.2614 111.3368 175.2231 236.2614 111.3178 175.4402 236.2614 111.2614 175.6506 236.2614 111.1693 175.8481 236.2614 111.0444 176.0266 236.2614 110.8903 176.1807 236.2614 110.7118 176.3056 236.2614 110.5143 176.3977 236.2614 110.3039 176.4541 236.2614 110.0868 176.4731 236.2614 109.8698 176.4541 236.2614 109.6593 176.3977 236.2614 109.4618 176.3056 236.2614 109.2833 176.1807 236.2614 109.1293 176.0266 236.2614 109.0043 175.8481 236.2614 108.9122 175.6506 236.2614 108.8558 175.4402 236.2614 108.8368 175.2231 236.2614 108.8558 175.006 236.2614 108.9122 174.7956 236.2614 109.0043 174.5981 236.2614 109.1293 174.4196 236.2614 109.2833 174.2655 236.2614 109.4618 174.1406 236.2614 109.6593 174.0485 236.2614 109.8698 173.9921 236.2614 110.0868 175.2231 236.2614 110.0868 218.9731 236.2614 110.3039 218.9921 236.2614 110.5143 219.0485 236.2614 110.7118 219.1406 236.2614 110.8903 219.2655 236.2614 111.0444 219.4196 236.2614 111.1693 219.5981 236.2614 111.2614 219.7956 236.2614 111.3178 220.006 236.2614 111.3368 220.2231 236.2614 111.3178 220.4402 236.2614 111.2614 220.6506 236.2614 111.1693 220.8481 236.2614 111.0444 221.0266 236.2614 110.8903 221.1807 236.2614 110.7118 221.3056 236.2614 110.5143 221.3977 236.2614 110.3039 221.4541 236.2614 110.0868 221.4731 236.2614 109.8698 221.4541 236.2614 109.6593 221.3977 236.2614 109.4618 221.3056 236.2614 109.2833 221.1807 236.2614 109.1293 221.0266 236.2614 109.0043 220.8481 236.2614 108.9122 220.6506 236.2614 108.8558 220.4402 236.2614 108.8368 220.2231 236.2614 108.8558 220.006 236.2614 108.9122 219.7956 236.2614 109.0043 219.5981 236.2614 109.1293 219.4196 236.2614 109.2833 219.2655 236.2614 109.4618 219.1406 236.2614 109.6593 219.0485 236.2614 109.8698 218.9921 236.2614 110.0868 220.2231 236.2614 135.0868 218.9731 236.2614 135.3039 218.9921 236.2614 135.5143 219.0485 236.2614 135.7118 219.1406 236.2614 135.8903 219.2655 236.2614 136.0444 219.4196 236.2614 136.1693 219.5981 236.2614 136.2614 219.7956 236.2614 136.3178 220.006 236.2614 136.3368 220.2231 236.2614 136.3178 220.4402 236.2614 136.2614 220.6506 236.2614 136.1693 220.8481 236.2614 136.0444 221.0266 236.2614 135.8903 221.1807 236.2614 135.7118 221.3056 236.2614 135.5143 221.3977 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161.2614 135.3039 218.9921 161.2614 135.0868 218.9731 161.2614 134.8697 218.9921 161.2614 134.6593 219.0485 161.2614 134.4618 219.1406 161.2614 134.2833 219.2655 161.2614 134.1293 219.4196 161.2614 134.0043 219.5981 161.2614 133.9122 219.7956 161.2614 133.8558 220.006 161.2614 133.8368 220.2231 161.2614 133.8558 220.4402 161.2614 133.9122 220.6506 161.2614 134.0043 220.8481 161.2614 134.1293 221.0266 161.2614 134.2833 221.1807 161.2614 134.4618 221.3056 161.2614 134.6593 221.3977 161.2614 134.8697 221.4541 161.2614 135.0868 220.2231 155.7404 139.0868 167.2687 155.2353 139.0868 167.404 154.7614 139.0868 167.625 154.333 139.0868 167.925 153.9633 139.0868 168.2947 153.6633 139.0868 168.7231 153.4423 139.0868 169.197 153.307 139.0868 169.7022 244.2158 139.0868 169.7022 244.0805 139.0868 169.197 243.8595 139.0868 168.7231 243.5595 139.0868 168.2947 243.1897 139.0868 167.925 242.7614 139.0868 167.625 242.2874 139.0868 167.404 241.7823 139.0868 167.2687 241.7823 139.0868 228.1775 242.2874 139.0868 228.0422 242.7614 139.0868 227.8212 243.1897 139.0868 227.5212 243.5595 139.0868 227.1515 243.8595 139.0868 226.7231 244.0805 139.0868 226.2492 244.2158 139.0868 225.744 153.307 139.0868 225.744 153.4423 139.0868 226.2492 153.6633 139.0868 226.7231 153.9633 139.0868 227.1515 154.333 139.0868 227.5212 154.7614 139.0868 227.8212 155.2353 139.0868 228.0422 155.7404 139.0868 228.1775 198.7614 117.0868 182.4731 198.9784 117.0868 182.4921 199.1889 117.0868 182.5485 199.3864 117.0868 182.6406 199.5649 117.0868 182.7655 199.7189 117.0868 182.9196 199.8439 117.0868 183.0981 199.936 117.0868 183.2956 199.9924 117.0868 183.506 200.0114 117.0868 183.7231 199.9924 117.0868 183.9402 199.936 117.0868 184.1506 199.8439 117.0868 184.3481 199.7189 117.0868 184.5266 199.5649 117.0868 184.6807 199.3864 117.0868 184.8056 199.1889 117.0868 184.8977 198.9784 117.0868 184.9541 198.7614 117.0868 184.9731 198.5443 117.0868 184.9541 198.3339 117.0868 184.8977 198.1364 117.0868 184.8056 197.9579 117.0868 184.6807 197.8038 117.0868 184.5266 197.6789 117.0868 184.3481 197.5868 117.0868 184.1506 197.5304 117.0868 183.9402 197.5114 117.0868 183.7231 197.5304 117.0868 183.506 197.5868 117.0868 183.2956 197.6789 117.0868 183.0981 197.8038 117.0868 182.9196 197.9579 117.0868 182.7655 198.1364 117.0868 182.6406 198.3339 117.0868 182.5485 198.5443 117.0868 182.4921 198.7614 117.0868 183.7231 198.7614 117.0868 210.4731 198.9784 117.0868 210.4921 199.1889 117.0868 210.5485 199.3864 117.0868 210.6406 199.5649 117.0868 210.7655 199.7189 117.0868 210.9196 199.8439 117.0868 211.0981 199.936 117.0868 211.2956 199.9924 117.0868 211.506 200.0114 117.0868 211.7231 199.9924 117.0868 211.9402 199.936 117.0868 212.1506 199.8439 117.0868 212.3481 199.7189 117.0868 212.5266 199.5649 117.0868 212.6807 199.3864 117.0868 212.8056 199.1889 117.0868 212.8977 198.9784 117.0868 212.9541 198.7614 117.0868 212.9731 198.5443 117.0868 212.9541 198.3339 117.0868 212.8977 198.1364 117.0868 212.8056 197.9579 117.0868 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176.0678 165.27 43.28681 175.9178 165.4549 43.28681 175.7329 165.6049 43.28681 175.5188 165.6049 47.28681 175.5188 165.7154 43.28681 175.2818 165.7831 43.28681 175.0292 165.8059 43.28681 174.7688 165.7832 43.28681 174.5083 165.7155 43.28681 174.2557 165.605 43.28681 174.0188 165.605 47.28681 174.0188 165.4551 43.28681 173.8046 165.2702 43.28681 173.6197 165.056 43.28681 173.4697 164.8191 43.28681 173.3592 164.5665 43.28681 173.2915 164.3013 43.28681 225.2686 164.0408 43.28681 225.2914 163.7883 43.28681 225.3591 163.5513 43.28681 225.4695 163.3371 43.28681 225.6195 163.1522 43.28681 225.8044 163.0022 43.28681 226.0185 162.8917 43.28681 226.2555 162.824 43.28681 226.508 162.8012 43.28681 226.7685 162.8239 43.28681 227.029 162.8916 43.28681 227.2816 163.0021 43.28681 227.5185 163.152 43.28681 227.7327 163.3369 43.28681 227.9176 163.5511 43.28681 228.0676 163.788 43.28681 228.1781 164.0406 43.28681 228.2458 164.301 43.28681 228.2686 164.5615 43.28681 228.2459 164.8141 43.28681 228.1782 165.0511 43.28681 228.0678 165.0511 47.28681 228.0678 165.2653 43.28681 227.9178 165.4502 43.28681 227.7329 165.4502 47.28681 227.7329 165.6002 43.28681 227.5188 165.6002 47.28681 227.5188 165.7107 43.28681 227.2818 165.7107 47.28681 227.2818 165.7784 43.28681 227.0293 165.8012 43.28681 226.7688 165.7784 43.28681 226.5083 165.7108 43.28681 226.2557 165.6003 43.28681 226.0188 165.6003 47.28681 226.0188 165.4503 43.28681 225.8046 165.2655 43.28681 225.6197 165.0513 43.28681 225.4697 164.8143 43.28681 225.3592 164.8143 47.28681 225.3592 164.5618 43.28681 225.2915 237.3061 43.28681 173.2753 237.0456 43.28681 173.2981 236.793 43.28681 173.3657 236.556 43.28681 173.4762 236.3419 43.28681 173.6262 236.3419 47.28681 173.6262 236.1569 43.28681 173.811 236.007 43.28681 174.0252 235.8964 43.28681 174.2621 235.8287 43.28681 174.5147 235.8059 43.28681 174.7752 235.8287 43.28681 175.0356 235.8963 43.28681 175.2882 236.0068 43.28681 175.5252 236.1568 43.28681 175.7394 236.3416 43.28681 175.9243 236.5558 43.28681 176.0743 236.5558 47.28681 176.0743 236.7928 43.28681 176.1848 237.0453 43.28681 176.2525 237.3058 43.28681 176.2753 237.5663 43.28681 176.2525 237.8188 43.28681 176.1849 238.0558 43.28681 176.0744 238.0558 47.28681 176.0744 238.27 43.28681 175.9245 238.4549 43.28681 175.7396 238.6049 43.28681 175.5254 238.7154 43.28681 175.2885 238.7831 43.28681 175.0359 238.8059 43.28681 174.7754 238.7832 43.28681 174.515 238.7155 43.28681 174.2624 238.605 43.28681 174.0254 238.4551 43.28681 173.8112 238.2702 43.28681 173.6263 238.056 43.28681 173.4763 237.8191 43.28681 173.3658 237.5665 43.28681 173.2981 237.3013 43.28681 225.2753 237.0408 43.28681 225.2981 236.7883 43.28681 225.3657 236.5513 43.28681 225.4762 236.3371 43.28681 225.6262 236.3371 47.28681 225.6262 236.1522 43.28681 225.811 236.0022 43.28681 226.0252 235.8917 43.28681 226.2622 235.824 43.28681 226.5147 235.8012 43.28681 226.7752 235.8239 43.28681 227.0357 235.8239 47.28681 227.0357 235.8916 43.28681 227.2882 236.0021 43.28681 227.5252 236.152 43.28681 227.7394 236.3369 43.28681 227.9243 236.5511 43.28681 228.0743 236.5511 47.28681 228.0743 236.788 43.28681 228.1848 237.0406 43.28681 228.2525 237.301 43.28681 228.2753 237.5615 43.28681 228.2525 237.8141 43.28681 228.1849 238.0511 43.28681 228.0744 238.2653 43.28681 227.9245 238.4502 43.28681 227.7396 238.4502 47.28681 227.7396 238.6001 43.28681 227.5254 238.7107 43.28681 227.2885 238.7784 43.28681 227.0359 238.8012 43.28681 226.7754 238.7784 43.28681 226.515 238.7108 43.28681 226.2624 238.7108 47.28681 226.2624 238.6003 43.28681 226.0254 238.4503 43.28681 225.8112 238.2655 43.28681 225.6263 238.0513 43.28681 225.4763 237.8143 43.28681 225.3658 237.5618 43.28681 225.2981 169.8053 15.87936 181.8264 169.8052 14.16657 183.2251 169.8067 10.28681 166.5643 169.805 12.61034 184.796 169.8049 11.22793 186.5219 169.8047 10.28681 187.9525 169.8056 23.89486 178.2335 169.8063 23.60518 170.6221 169.8056 26.07859 177.8856 169.8063 25.08495 170.831 169.8056 28.28681 177.7691 169.8063 27.98361 171.1694 169.8062 30.96232 171.4309 169.8065 15.43746 168.8467 169.8065 15.69309 168.9248 169.8055 19.69716 179.6062 169.8064 17.52366 169.4297 169.8056 21.75982 178.8092 169.8064 19.45775 169.8778 169.8063 21.48737 170.2743 169.8066 11.46267 167.2603 169.8066 11.81301 167.4392 169.8054 17.72973 180.6157 169.8065 12.93269 167.9481 169.8065 14.14426 168.4164 169.8067 10.69324 166.8243 169.8062 34.01157 171.6179 169.8062 37.12253 171.731 169.8056 47.28681 177.7691 169.8062 40.28681 171.7691 169.8062 47.28681 171.7691 231.8054 17.72973 180.6213 231.8067 10.28681 166.5699 231.8053 15.87936 181.8321 231.8052 14.16657 183.2307 231.8047 10.28681 187.9582 231.8049 11.22793 186.5276 231.805 12.61034 184.8017 231.8056 28.28681 177.7748 231.8063 27.98361 171.1751 231.8056 26.07859 177.8912 231.8063 25.08495 170.8367 231.8056 23.89486 178.2392 231.8065 15.69309 168.9305 231.8065 15.43746 168.8524 231.8055 19.69716 179.6119 231.8065 14.14426 168.422 231.8065 12.93269 167.9538 231.8066 11.81301 167.4448 231.8063 23.60518 170.6278 231.8063 21.48737 170.2799 231.8056 21.75982 178.8149 231.8064 19.45775 169.8835 231.8064 17.52366 169.4354 231.8062 37.12253 171.7367 231.8062 34.01157 171.6236 231.8062 30.96232 171.4366 231.8066 11.46267 167.2659 231.8067 10.69324 166.8299 231.8062 40.28681 171.7748 231.8056 47.28681 177.7748 231.8062 47.28681 171.7748 240.8065 47.28681 168.7756 234.8065 47.28681 168.7751 243.1036 47.28681 179.7042 242.7338 47.28681 180.0739 234.5241 47.28681 168.7884 241.0888 47.28681 168.789 241.5981 47.28681 168.882 243.2608 47.28681 170.0508 243.5208 47.28681 170.4985 243.8056 47.28681 177.7759 243.8062 47.28681 171.7759 243.7929 47.28681 171.4936 243.6999 47.28681 170.9843 240.8054 47.28681 180.7756 241.3263 47.28681 180.7301 241.8314 47.28681 180.5948 242.3054 47.28681 180.3738 234.8054 47.28681 180.7751 234.2844 47.28681 180.7295 231.8195 47.28681 171.4925 231.9126 47.28681 170.9832 232.0918 47.28681 170.4975 232.3519 47.28681 170.0498 232.6851 47.28681 169.6536 234.0148 47.28681 168.8813 233.5291 47.28681 169.0605 233.0814 47.28681 169.3205 242.9277 47.28681 169.6545 242.5314 47.28681 169.3213 242.0838 47.28681 169.0613 243.76 47.28681 178.2968 243.6246 47.28681 178.802 243.4036 47.28681 179.2759 233.3054 47.28681 180.373 233.7793 47.28681 180.5941 231.9865 47.28681 178.8009 232.2074 47.28681 179.2749 232.5073 47.28681 179.7032 232.8771 47.28681 180.073 231.8512 47.28681 178.2958 157.8062 47.28681 171.7681 157.8056 47.28681 177.768 166.8054 47.28681 180.7689 167.3263 47.28681 180.7233 166.8065 47.28681 168.7689 160.8065 47.28681 168.7683 167.0888 47.28681 168.7822 167.8314 47.28681 180.588 168.3054 47.28681 180.3671 157.8195 47.28681 171.4857 168.9277 47.28681 169.6477 169.2608 47.28681 170.0441 169.7929 47.28681 171.4868 169.6999 47.28681 170.9775 169.5208 47.28681 170.4918 169.76 47.28681 178.2901 169.6246 47.28681 178.7952 168.7338 47.28681 180.0672 169.1036 47.28681 179.6974 169.4036 47.28681 179.2691 160.8054 47.28681 180.7683 158.6851 47.28681 169.6468 158.3519 47.28681 170.0431 158.0918 47.28681 170.4907 157.9126 47.28681 170.9765 160.5242 47.28681 168.7816 160.0148 47.28681 168.8746 159.5291 47.28681 169.0537 159.0814 47.28681 169.3137 168.5314 47.28681 169.3146 168.0838 47.28681 169.0545 167.5981 47.28681 168.8753 160.2844 47.28681 180.7227 159.7793 47.28681 180.5873 158.2074 47.28681 179.2681 158.5073 47.28681 179.6965 158.8771 47.28681 180.0663 159.3054 47.28681 180.3663 157.8512 47.28681 178.289 157.9865 47.28681 178.7941 169.8024 10.28681 213.5858 169.8023 11.22793 215.0164 169.8004 10.28681 234.974 169.8021 12.61034 216.7423 169.802 14.16657 218.3132 169.8015 21.75982 222.7291 169.8007 19.16154 231.7243 169.8016 19.69716 221.9321 169.8007 17.30908 232.1633 169.8014 28.28681 223.7691 169.8009 28.08273 230.3589 169.8015 26.07859 223.6527 169.8008 25.20929 230.6909 169.8015 23.89486 223.3047 169.8008 23.13826 230.9877 169.8008 21.10662 231.3334 169.8009 37.14648 229.8067 169.8009 34.0602 229.918 169.8009 31.03609 230.1019 169.8005 12.3369 233.8502 169.8005 11.4896 234.2639 169.8017 17.72973 220.9226 169.8018 15.87936 219.7118 169.8005 10.74966 234.6797 169.8009 40.28681 229.7691 169.8014 47.28681 223.7691 169.8009 47.28681 229.7691 169.8006 15.5565 232.6549 169.8006 14.76014 232.9092 169.8006 13.5048 233.36 178.268 10.28681 238.9843 178.5145 10.28681 238.7378 173.8005 10.28681 234.2695 169.6147 10.28681 236.2417 169.5993 10.28681 236.3097 169.5467 10.28681 236.474 169.5131 10.28681 236.554 178.8001 10.28681 238.5379 179.1161 10.28681 238.3906 179.4528 10.28681 238.3004 173.8066 10.28681 167.2695 169.6074 10.28681 165.2691 169.6164 10.28681 165.2971 169.671 10.28681 165.4665 169.7251 10.28681 165.7138 169.7503 10.28681 165.9283 160.8037 10.28681 198.7683 160.8034 10.28681 202.7683 166.8037 10.28681 198.7689 166.8034 10.28681 202.7689 166.8135 10.28681 202.7937 167.2683 10.28681 203.9201 167.5031 10.28681 204.5018 167.607 10.28681 204.7591 179.1157 10.28681 242.1494 178.7998 10.28681 242.002 178.0357 10.28681 243.9555 178.5142 10.28681 241.802 174.6829 10.28681 242.9477 178.2677 10.28681 241.5555 167.7248 10.28681 205.0695 168.158 10.28681 206.2113 168.2459 10.28681 206.4429 180.8001 10.28681 238.5381 181.0857 10.28681 238.7381 200.8005 10.28681 234.272 181.3321 10.28681 238.9846 181.5321 10.28681 239.2702 180.4838 10.28681 242.1495 180.1471 10.28681 242.2397 181.4831 10.28681 244.5659 179.7998 10.28681 242.2701 179.4525 10.28681 242.2397 169.7539 10.28681 165.9584 169.8024 10.28681 166.3716 169.584 10.28681 190.3511 169.6145 10.28681 190.1187 169.7551 10.28681 189.0482 179.8001 10.28681 238.2701 180.1474 10.28681 238.3005 180.4842 10.28681 238.3907 178.0678 10.28681 241.2699 177.9205 10.28681 240.9539 171.4703 10.28681 241.5561 177.8303 10.28681 240.6172 168.4417 10.28681 239.7996 177.7999 10.28681 240.2699 169.7789 10.28681 188.5226 169.7571 10.28681 189.0041 169.7673 10.28681 235.4102 169.7522 10.28681 235.6089 169.7496 10.28681 235.644 181.5319 10.28681 241.2702 184.9781 10.28681 244.7705 181.6793 10.28681 240.9543 200.7995 10.28681 244.772 181.7695 10.28681 240.6175 181.3319 10.28681 241.5558 181.0854 10.28681 241.8023 180.7998 10.28681 242.0022 169.7814 10.28681 213.014 169.7967 10.28681 213.2237 181.6794 10.28681 239.5862 181.7696 10.28681 239.9229 181.7999 10.28681 240.2702 168.0951 10.28681 238.6961 167.8182 10.28681 238.9598 168.836 10.28681 237.852 168.8293 10.28681 237.8617 177.8304 10.28681 239.9226 169.5482 10.28681 210.9963 169.4691 10.28681 190.8979 169.6448 10.28681 211.6442 169.7163 10.28681 212.124 169.7535 10.28681 212.6332 167.7775 10.28681 238.9985 167.7131 10.28681 239.0598 167.5402 10.28681 239.2039 169.2904 10.28681 191.748 169.301 10.28681 209.8403 169.4665 10.28681 210.6143 178.068 10.28681 239.2699 177.9206 10.28681 239.5859 169.3855 10.28681 236.8577 169.2683 10.28681 237.1366 169.1109 10.28681 237.4028 169.389 10.28681 191.2791 169.4716 10.28681 210.6381 168.7186 10.28681 237.9967 168.4501 10.28681 238.3243 168.3243 10.28681 238.4779 168.2978 10.28681 238.5032 169.0856 10.28681 237.4456 168.896 10.28681 237.7661 169.0946 10.28681 192.4715 168.9832 10.28681 192.8832 168.9234 10.28681 193.0676 167.8148 10.28681 196.2196 167.5191 10.28681 197.0021 168.8774 10.28681 208.308 168.2411 10.28681 195.0912 168.9256 10.28681 208.4682 168.9818 10.28681 208.655 168.4227 10.28681 194.6106 168.9235 10.28681 208.4611 168.717 10.28681 193.7036 169.2229 10.28681 209.5503 166.8139 10.28681 198.744 168.5521 10.28681 207.3377 168.299 10.28681 206.583 168.2946 10.28681 194.9496 167.505 10.28681 197.0369 167.3221 10.28681 197.4887 178.5214 10.28681 162.802 178.807 10.28681 163.002 179.123 10.28681 163.1494 181.7768 10.28681 160.9229 181.8072 10.28681 161.2702 200.8068 10.28681 165.272 181.7767 10.28681 161.6175 167.5472 10.28681 162.334 167.729 10.28681 162.4959 168.4488 10.28681 161.7384 167.8212 10.28681 162.578 168.0463 10.28681 162.7785 168.1271 10.28681 162.8505 168.296 10.28681 163.0368 177.8072 10.28681 161.2699 177.8375 10.28681 161.6172 171.4777 10.28681 159.9825 177.8376 10.28681 160.9226 174.6906 10.28681 158.5915 177.9278 10.28681 160.5858 178.0752 10.28681 160.2699 178.2752 10.28681 159.9844 178.0436 10.28681 157.5843 178.5217 10.28681 159.7378 178.8073 10.28681 159.5379 179.1233 10.28681 159.3906 179.46 10.28681 159.3004 181.4911 10.28681 156.9745 179.8073 10.28681 159.2701 180.1546 10.28681 159.3005 181.0929 10.28681 159.7381 184.9862 10.28681 156.7705 180.8073 10.28681 159.5381 180.4914 10.28681 159.3907 181.6865 10.28681 161.9543 181.5391 10.28681 162.2702 181.3391 10.28681 162.5558 181.0926 10.28681 162.8023 180.807 10.28681 163.0022 180.491 10.28681 163.1495 181.6866 10.28681 160.5862 200.8076 10.28681 156.772 181.5393 10.28681 160.2702 181.3394 10.28681 159.9846 180.1543 10.28681 163.2397 179.807 10.28681 163.2701 179.4597 10.28681 163.2397 168.4414 10.28681 163.1972 168.6326 10.28681 163.408 168.7263 10.28681 163.541 169.1041 10.28681 164.0904 169.1569 10.28681 164.1803 169.2247 10.28681 164.3215 168.8287 10.28681 163.6866 169.0591 10.28681 164.0137 178.2749 10.28681 162.5555 178.075 10.28681 162.2699 169.4597 10.28681 164.811 177.9277 10.28681 161.9539 169.455 10.28681 164.8013 169.397 10.28681 164.6805 222.491 10.28681 163.1533 231.9986 10.28681 165.2748 222.807 10.28681 163.006 223.0926 10.28681 162.8061 222.1543 10.28681 163.2435 221.807 10.28681 163.2739 221.4597 10.28681 163.2435 221.1229 10.28681 163.1532 220.2752 10.28681 159.9882 220.5217 10.28681 159.7417 216.629 10.28681 156.7734 221.1233 10.28681 159.3945 221.46 10.28681 159.3042 220.124 10.28681 156.978 221.8073 10.28681 159.2739 223.5714 10.28681 157.5884 222.1546 10.28681 159.3043 222.4914 10.28681 159.3946 222.8073 10.28681 159.5419 223.0929 10.28681 159.7419 226.9242 10.28681 158.5963 223.3394 10.28681 159.9885 223.5393 10.28681 160.2741 223.6866 10.28681 160.59 230.1368 10.28681 159.9879 223.7768 10.28681 160.9268 233.1654 10.28681 161.7443 223.8072 10.28681 161.2741 220.8073 10.28681 159.5418 223.6865 10.28681 161.9581 223.5391 10.28681 162.274 223.3391 10.28681 162.5596 220.807 10.28681 163.0059 220.5214 10.28681 162.8059 220.2749 10.28681 162.5593 220.075 10.28681 162.2737 219.9277 10.28681 161.9578 219.8375 10.28681 161.621 219.8072 10.28681 161.2737 233.5671 10.28681 162.7954 233.7894 10.28681 162.5837 232.0078 10.28681 165.2342 232.0604 10.28681 165.07 223.7767 10.28681 161.6214 232.1667 10.28681 164.817 219.8376 10.28681 160.9264 219.9278 10.28681 160.5897 220.0752 10.28681 160.2737 233.1731 10.28681 163.1999 233.2828 10.28681 163.066 233.3094 10.28681 163.0408 233.8884 10.28681 162.4895 233.894 10.28681 162.4842 234.0669 10.28681 162.34 232.2216 10.28681 164.6863 232.3388 10.28681 164.4074 232.3869 10.28681 164.326 232.7778 10.28681 163.6823 232.7809 10.28681 163.6785 232.8883 10.28681 163.5475 232.5219 10.28681 164.0977 232.7111 10.28681 163.7778 200.8066 10.28681 167.272 227.8066 10.28681 167.2744 231.9924 10.28681 165.3023 240.8034 10.28681 202.7756 240.8037 10.28681 198.7756 234.8034 10.28681 202.7751 234.8037 10.28681 198.7751 233.055 10.28681 194.2063 232.7297 10.28681 193.236 220.5145 10.28681 238.7417 220.8001 10.28681 238.5418 232.0908 10.28681 236.5572 231.9907 10.28681 236.2469 227.8005 10.28681 234.2744 231.9361 10.28681 236.0775 231.882 10.28681 235.8301 223.5319 10.28681 241.2741 223.3319 10.28681 241.5596 226.9165 10.28681 242.9524 221.1161 10.28681 238.3945 221.4528 10.28681 238.3042 221.8001 10.28681 238.2739 234.7936 10.28681 198.7502 234.3388 10.28681 197.6238 234.104 10.28681 197.0421 234.0001 10.28681 196.7849 233.8823 10.28681 196.4745 233.4491 10.28681 195.3327 231.8568 10.28681 235.6157 231.8332 10.28681 235.4154 231.8047 10.28681 235.1724 233.3612 10.28681 195.101 233.3081 10.28681 194.961 232.6836 10.28681 193.0829 232.6815 10.28681 193.0757 232.6253 10.28681 192.889 231.8004 10.28681 234.9797 231.8024 10.28681 213.5915 231.8282 10.28681 213.0213 231.85 10.28681 212.5399 231.852 10.28681 212.4958 231.9926 10.28681 211.4252 232.0231 10.28681 211.1929 231.9623 10.28681 189.8997 231.8908 10.28681 189.42 231.853 10.28681 165.9593 231.8549 10.28681 165.9351 231.8575 10.28681 165.9 223.5635 10.28681 243.9597 223.0854 10.28681 241.8061 222.7998 10.28681 242.006 222.4838 10.28681 242.1533 222.1471 10.28681 242.2435 220.116 10.28681 244.5695 221.7998 10.28681 242.2739 221.4525 10.28681 242.2435 221.1157 10.28681 242.1532 220.7998 10.28681 242.0059 216.6209 10.28681 244.7734 220.5142 10.28681 241.8059 231.8257 10.28681 188.5299 231.8103 10.28681 188.3203 233.1582 10.28681 239.8056 223.7999 10.28681 240.2741 230.1294 10.28681 241.5614 223.7695 10.28681 240.6214 223.6793 10.28681 240.9581 219.9205 10.28681 240.9578 220.0678 10.28681 241.2737 220.2677 10.28681 241.5593 219.8303 10.28681 240.621 219.7999 10.28681 240.2737 219.8304 10.28681 239.9264 219.9206 10.28681 239.5897 220.068 10.28681 239.2737 220.268 10.28681 238.9882 222.1474 10.28681 238.3043 222.4842 10.28681 238.3946 222.8001 10.28681 238.5419 231.8536 10.28681 188.9107 223.0857 10.28681 238.7419 223.3321 10.28681 238.9885 232.0588 10.28681 190.5476 232.138 10.28681 210.646 232.2181 10.28681 210.2648 232.3167 10.28681 209.796 232.5125 10.28681 209.0725 232.6239 10.28681 208.6608 233.7852 10.28681 238.9654 233.8204 10.28681 238.9967 234.0599 10.28681 239.21 233.506 10.28681 238.7167 233.48 10.28681 238.6935 233.3113 10.28681 238.5075 223.7696 10.28681 239.9268 233.1492 10.28681 238.3287 232.9745 10.28681 238.1359 223.5321 10.28681 239.2741 223.6794 10.28681 239.59 232.1475 10.28681 236.733 232.2101 10.28681 236.8635 232.4502 10.28681 237.3637 232.6838 10.28681 208.4763 232.8901 10.28681 207.8404 233.1844 10.28681 206.9333 232.1406 10.28681 190.9297 232.1355 10.28681 190.9058 234.088 10.28681 204.5418 233.7923 10.28681 205.3244 232.8808 10.28681 238.0028 232.7689 10.28681 237.8439 232.548 10.28681 237.5303 232.503 10.28681 237.4535 232.4833 10.28681 237.4201 233.3125 10.28681 206.5943 233.366 10.28681 206.4527 232.3842 10.28681 191.9937 232.3061 10.28681 191.7036 234.7932 10.28681 202.7999 234.285 10.28681 204.0552 234.1021 10.28681 204.5071 231.8018 15.87936 219.7175 231.802 14.16657 218.3189 231.8014 28.28681 223.7748 231.8009 28.08273 230.3645 231.8009 31.03609 230.1076 231.8021 12.61034 216.7479 231.8022 11.22793 215.022 231.8008 25.20929 230.6966 231.8015 26.07859 223.6584 231.8008 23.13826 230.9933 231.8015 23.89486 223.3104 231.8008 21.10662 231.339 231.8015 21.75982 222.7347 231.8007 19.16154 231.7299 231.8007 17.30908 232.169 231.8016 19.69716 221.9377 231.8006 15.5565 232.6606 231.8017 17.72973 220.9283 231.8005 10.74966 234.6854 231.8005 11.4896 234.2695 231.8009 34.0602 229.9237 231.8009 37.14648 229.8124 231.8014 47.28681 223.7748 231.8009 40.28681 229.7748 231.8009 47.28681 229.7748 231.8005 12.3369 233.8559 231.8006 13.5048 233.3656 231.8006 14.76014 232.9149 234.8006 47.28681 232.7751 240.8006 47.28681 232.7756 240.8017 47.28681 220.7756 234.8017 47.28681 220.7751 243.3997 47.28681 222.2759 243.6206 47.28681 222.7498 243.7559 47.28681 223.255 243.8014 47.28681 223.7759 243.8009 47.28681 229.7759 232.6794 47.28681 231.8962 232.3463 47.28681 231.4999 231.9072 47.28681 230.5664 232.0863 47.28681 231.0522 241.3227 47.28681 220.8213 241.8278 47.28681 220.9566 243.0998 47.28681 221.8475 242.73 47.28681 221.4777 242.3017 47.28681 221.1777 231.8142 47.28681 230.0571 234.5183 47.28681 232.7617 234.2808 47.28681 220.8206 242.922 47.28681 231.8971 243.2552 47.28681 231.5009 243.5153 47.28681 231.0532 241.083 47.28681 232.7623 241.5923 47.28681 232.6694 242.078 47.28681 232.4902 242.5257 47.28681 232.2302 233.0757 47.28681 232.2294 233.5233 47.28681 232.4895 234.009 47.28681 232.6687 231.8471 47.28681 223.2539 231.9825 47.28681 222.7488 233.7756 47.28681 220.9559 233.3017 47.28681 221.1769 243.7876 47.28681 230.0582 243.6945 47.28681 230.5675 232.8733 47.28681 221.4768 232.5035 47.28681 221.8465 232.2035 47.28681 222.2748 243.8056 28.28681 177.7759 243.8063 27.98361 171.1761 243.8062 30.96232 171.4377 243.8063 25.08495 170.8378 243.8056 26.09171 177.8909 243.8063 23.60518 170.6289 243.8056 23.92067 178.2348 243.8063 21.48737 170.281 243.8043 8.314625 192.2865 243.8041 7.745713 194.4098 243.8065 4.286811 168.7759 243.8064 19.45775 169.8846 243.8056 21.79746 178.8037 243.8064 17.52366 169.4365 243.8055 19.74534 179.5915 243.8065 15.69309 168.9316 243.8053 15.94332 181.7866 243.8052 14.23507 183.1699 243.805 12.68077 184.7242 243.8049 11.29746 186.4324 243.8009 37.14648 229.8135 243.8009 34.0602 229.9248 243.8014 28.28681 223.7759 243.8054 17.78681 180.5894 243.8065 15.19033 168.7759 243.8065 15.43746 168.8535 243.8047 10.10028 188.2759 243.8045 9.10236 190.2344 243.8032 7.401854 204.971 243.803 7.745713 207.1421 243.8006 4.286811 232.7759 243.8028 8.314625 209.2653 243.8026 9.10236 211.3174 243.8062 34.01157 171.6247 243.8062 37.12253 171.7377 243.8062 40.28681 171.7759 243.8024 10.10028 213.2759 243.8022 11.29746 215.1194 243.8021 12.68077 216.8276 243.8019 14.23507 218.3819 243.8018 15.94332 219.7653 243.8006 15.19033 232.7759 243.8009 40.28681 229.7759 243.8039 7.401854 196.5808 243.8037 7.286813 198.7759 243.8034 7.286813 202.7759 243.8015 21.79746 222.7481 243.8007 19.10427 231.7435 243.8016 19.74534 221.9604 243.8007 17.22613 232.1915 243.8017 17.78681 220.9624 243.8006 15.45047 232.6943 243.8009 31.03609 230.1087 243.8009 28.08273 230.3656 243.8015 26.09171 223.6609 243.8008 25.20929 230.6977 243.8015 23.92067 223.317 243.8008 23.13826 230.9944 243.8008 21.07713 231.3456 223.7999 4.286811 240.2741 223.7696 4.286811 239.9268 233.1582 4.286811 239.8056 237.3009 4.286811 229.5253 223.6794 4.286811 239.59 223.5321 4.286811 239.2741 219.8072 4.286811 161.2737 181.7767 4.286811 161.6175 181.8072 4.286811 161.2702 219.8375 4.286811 161.621 219.9277 4.286811 161.9578 220.075 4.286811 162.2737 223.3321 4.286811 238.9885 223.0857 4.286811 238.7419 222.8001 4.286811 238.5419 180.1474 4.286811 238.3005 179.8001 4.286811 238.2701 234.9197 4.286811 225.4001 181.8076 4.286811 156.9391 184.9862 4.286811 156.7705 221.4597 4.286811 163.2435 221.807 4.286811 163.2739 238.6811 4.286811 172.3939 222.1543 4.286811 163.2435 222.4842 4.286811 238.3946 222.1474 4.286811 238.3043 221.8001 4.286811 238.2739 180.1543 4.286811 163.2397 180.491 4.286811 163.1495 235.5381 4.286811 176.8818 235.9307 4.286811 177.1567 235.5337 4.286811 224.6685 163.8234 4.286811 229.4768 168.4417 4.286811 239.7996 163.3604 4.286811 229.3527 157.8006 4.286811 232.768 162.926 4.286811 229.1501 162.5333 4.286811 228.8751 239.0686 4.286811 228.8821 238.676 4.286811 229.157 238.2415 4.286811 229.3596 239.8852 4.286811 227.7161 240.0093 4.286811 227.2531 239.6829 4.286811 225.4005 239.408 4.286811 225.0078 239.0734 4.286811 176.8821 239.069 4.286811 224.6688 220.2749 4.286811 162.5593 220.5214 4.286811 162.8059 220.807 4.286811 163.0059 230.1294 4.286811 241.5614 226.9165 4.286811 242.9524 223.7996 4.286811 243.9026 236.8286 4.286811 172.067 236.3656 4.286811 172.1911 235.9311 4.286811 172.3936 235.5384 4.286811 172.6685 235.1995 4.286811 173.0075 234.9242 4.286811 176.1501 216.629 4.286811 156.7734 219.8076 4.286811 156.9426 237.7785 4.286811 229.4836 239.4076 4.286811 228.5432 239.6826 4.286811 228.1505 239.8854 4.286811 225.835 239.4124 4.286811 176.5432 239.6874 4.286811 176.1505 239.89 4.286811 175.7161 240.0141 4.286811 175.2531 240.0559 4.286811 174.7756 240.0142 4.286811 174.298 239.8902 4.286811 173.835 221.4528 4.286811 238.3042 221.1161 4.286811 238.3945 181.7696 4.286811 239.9229 220.8001 4.286811 238.5418 220.5145 4.286811 238.7417 221.1229 4.286811 163.1532 238.2467 4.286811 172.1912 237.7837 4.286811 172.0671 237.3062 4.286811 172.0253 181.3391 4.286811 162.5558 234.5977 4.286811 174.2975 181.0926 4.286811 162.8023 234.5559 4.286811 174.7751 234.5977 4.286811 175.2526 180.807 4.286811 163.0022 234.7217 4.286811 175.7156 235.1947 4.286811 225.0075 235.1991 4.286811 176.5428 181.5321 4.286811 239.2702 181.3321 4.286811 238.9846 181.0857 4.286811 238.7381 234.9195 4.286811 228.1501 235.1944 4.286811 228.5428 235.5333 4.286811 228.8818 235.926 4.286811 229.1567 236.3604 4.286811 229.3594 236.8234 4.286811 229.4835 164.3009 4.286811 229.5186 164.7785 4.286811 229.4769 177.9206 4.286811 239.5859 166.4076 4.286811 228.5365 166.6826 4.286811 228.1439 178.5145 4.286811 238.7378 166.8852 4.286811 227.7094 167.0093 4.286811 227.2464 167.0512 4.286811 226.7689 167.0094 4.286811 226.2914 166.8854 4.286811 225.8283 238.6764 4.286811 224.3939 238.242 4.286811 224.1912 238.6807 4.286811 177.157 240.0094 4.286811 226.298 240.0512 4.286811 226.7756 222.491 4.286811 163.1533 222.807 4.286811 163.006 223.0926 4.286811 162.8061 220.268 4.286811 238.9882 220.068 4.286811 239.2737 219.9206 4.286811 239.5897 184.9781 4.286811 244.7705 181.7996 4.286811 244.6014 181.7999 4.286811 240.2702 236.8239 4.286811 224.067 236.3609 4.286811 224.1911 235.9264 4.286811 224.3936 181.6794 4.286811 239.5862 234.7171 4.286811 225.8345 234.593 4.286811 226.2975 180.8001 4.286811 238.5381 180.4842 4.286811 238.3907 166.4124 4.286811 176.5365 178.5214 4.286811 162.802 178.807 4.286811 163.002 166.0734 4.286811 176.8754 239.6876 4.286811 173.4005 239.4127 4.286811 173.0078 239.0738 4.286811 172.6688 223.8075 4.286811 157.6456 226.9242 4.286811 158.5963 223.8072 4.286811 161.2741 230.1368 4.286811 159.9879 233.1654 4.286811 161.7443 219.7999 4.286811 240.2737 219.7995 4.286811 244.6048 216.6209 4.286811 244.7734 181.5391 4.286811 162.2702 181.6865 4.286811 161.9543 234.7219 4.286811 173.8345 234.9245 4.286811 173.4001 161.7171 4.286811 225.8279 161.593 4.286811 226.2909 179.123 4.286811 163.1494 179.4597 4.286811 163.2397 179.807 4.286811 163.2701 166.408 4.286811 225.0012 166.069 4.286811 224.6622 164.3057 4.286811 177.5186 165.6764 4.286811 224.3872 165.242 4.286811 224.1846 165.676 4.286811 229.1503 166.0686 4.286811 228.8754 178.068 4.286811 239.2699 177.7999 4.286811 240.2699 177.7996 4.286811 243.8983 174.6829 4.286811 242.9477 223.3391 4.286811 162.5596 223.5391 4.286811 162.274 223.6865 4.286811 161.9581 234.5512 4.286811 226.7751 234.5929 4.286811 227.2526 234.7169 4.286811 227.7156 165.2467 4.286811 172.1846 164.7837 4.286811 172.0605 168.4488 4.286811 161.7384 161.7217 4.286811 175.709 161.5977 4.286811 175.2459 157.8065 4.286811 168.7681 161.5559 4.286811 174.7684 161.5977 4.286811 174.2909 164.779 4.286811 224.0605 164.3014 4.286811 224.0186 163.8281 4.286811 177.4768 165.2415 4.286811 229.3529 177.8304 4.286811 239.9226 171.4703 4.286811 241.5561 236.3651 4.286811 177.3594 236.8281 4.286811 177.4835 237.3014 4.286811 224.0253 237.3057 4.286811 177.5253 237.779 4.286811 224.0671 237.7832 4.286811 177.4836 238.2462 4.286811 177.3596 219.8304 4.286811 239.9264 166.6874 4.286811 176.1439 166.89 4.286811 175.7094 167.0141 4.286811 175.2464 167.0559 4.286811 174.7689 167.0142 4.286811 174.2914 166.8902 4.286811 173.8283 161.9197 4.286811 225.3934 162.1991 4.286811 176.5361 161.9242 4.286811 176.1434 161.5512 4.286811 226.7684 161.5929 4.286811 227.2459 161.7169 4.286811 227.709 166.6829 4.286811 225.3939 178.8001 4.286811 238.5379 179.1161 4.286811 238.3906 164.7832 4.286811 177.4769 179.4528 4.286811 238.3004 165.2462 4.286811 177.3529 165.6807 4.286811 177.1503 178.268 4.286811 238.9843 223.7767 4.286811 161.6214 162.1947 4.286811 225.0008 162.5381 4.286811 176.8751 162.9307 4.286811 177.1501 163.8239 4.286811 224.0604 163.3609 4.286811 224.1844 162.9264 4.286811 224.387 161.9195 4.286811 228.1434 162.1944 4.286811 228.5361 177.9277 4.286811 161.9539 178.075 4.286811 162.2699 162.5384 4.286811 172.6619 162.1995 4.286811 173.0008 163.3651 4.286811 177.3527 162.5337 4.286811 224.6619 162.9311 4.286811 172.3869 161.9245 4.286811 173.3934 161.7219 4.286811 173.8279 164.3062 4.286811 172.0186 163.8286 4.286811 172.0604 163.3656 4.286811 172.1844 174.6906 4.286811 158.5915 177.8075 4.286811 157.6414 177.8072 4.286811 161.2699 166.6876 4.286811 173.3939 166.4127 4.286811 173.0012 178.2749 4.286811 162.5555 166.0738 4.286811 172.6622 165.6811 4.286811 172.3872 177.8375 4.286811 161.6172 171.4777 4.286811 159.9825 157.8056 23.92067 178.227 157.8063 21.48737 170.2732 157.8056 21.79746 178.7959 157.8064 19.45775 169.8767 157.8055 19.74534 179.5836 157.8064 17.52366 169.4286 157.8065 15.69309 168.9237 157.8056 28.28681 177.768 157.8063 27.98361 171.1683 157.8056 26.09171 177.8831 157.8063 25.08495 170.8299 157.8063 23.60518 170.621 157.8039 7.401854 196.573 157.8041 7.745713 194.4019 157.8043 8.314625 192.2787 157.8045 9.10236 190.2266 157.8047 10.10028 188.2681 157.8049 11.29746 186.4246 157.805 12.68077 184.7163 157.8052 14.23507 183.162 157.8053 15.94332 181.7787 157.8065 15.19033 168.7681 157.8054 17.78681 180.5815 157.8065 15.43746 168.8456 157.8062 37.12253 171.7299 157.8062 34.01157 171.6168 157.8062 30.96232 171.4298 157.8015 21.79746 222.7402 157.8008 21.07713 231.3377 157.8015 23.92067 223.3092 157.8008 23.13826 230.9866 157.8015 26.09171 223.653 157.8008 25.20929 230.6898 157.8014 28.28681 223.768 157.8009 28.08273 230.3578 157.8009 31.03609 230.1008 157.8018 15.94332 219.7574 157.8019 14.23507 218.3741 157.8021 12.68077 216.8198 157.8022 11.29746 215.1115 157.8028 8.314625 209.2574 157.803 7.745713 207.1342 157.8016 19.74534 221.9525 157.8007 17.22613 232.1836 157.8007 19.10427 231.7357 157.8017 17.78681 220.9546 157.8006 15.19033 232.768 157.8006 15.45047 232.6865 157.8024 10.10028 213.268 157.8026 9.10236 211.3095 157.8032 7.401854 204.9631 157.8034 7.286813 202.7681 157.8037 7.286813 198.768 157.8062 40.28681 171.7681 157.8009 34.0602 229.9169 157.8009 37.14648 229.8056 157.8014 47.28681 223.768 157.8009 40.28681 229.768 157.8009 47.28681 229.768 157.8142 47.28681 230.0504 166.8017 47.28681 220.7689 160.8017 47.28681 220.7683 167.3227 47.28681 220.8145 158.5035 47.28681 221.8397 158.8733 47.28681 221.47 159.3017 47.28681 221.1701 159.7756 47.28681 220.9492 168.3017 47.28681 221.1709 167.8278 47.28681 220.9499 169.6206 47.28681 222.7431 169.3997 47.28681 222.2691 169.0998 47.28681 221.8407 168.73 47.28681 221.4709 166.8006 47.28681 232.7689 167.083 47.28681 232.7556 160.2808 47.28681 220.8139 169.7559 47.28681 223.2482 157.8471 47.28681 223.2471 157.9825 47.28681 222.742 158.2035 47.28681 222.2681 169.7876 47.28681 230.0515 169.6945 47.28681 230.5608 169.5153 47.28681 231.0465 169.2552 47.28681 231.4941 168.922 47.28681 231.8904 167.5923 47.28681 232.6626 168.078 47.28681 232.4835 168.5257 47.28681 232.2235 160.8006 47.28681 232.7683 160.5183 47.28681 232.755 160.009 47.28681 232.6619 158.3463 47.28681 231.4931 158.0863 47.28681 231.0454 157.9072 47.28681 230.5597 158.6794 47.28681 231.8895 159.0757 47.28681 232.2226 159.5233 47.28681 232.4827 223.8072 6.286811 161.2741 219.8072 6.286811 161.2737 223.7768 6.286811 160.9268 223.6866 6.286811 160.59 223.5393 6.286811 160.2741 223.3394 6.286811 159.9885 223.0929 6.286811 159.7419 222.8073 6.286811 159.5419 222.4914 6.286811 159.3946 222.1546 6.286811 159.3043 221.8073 6.286811 159.2739 221.46 6.286811 159.3042 221.1233 6.286811 159.3945 220.8073 6.286811 159.5418 220.5217 6.286811 159.7417 220.2752 6.286811 159.9882 220.0752 6.286811 160.2737 219.9278 6.286811 160.5897 219.8376 6.286811 160.9264 181.8072 6.286811 161.2702 177.8072 6.286811 161.2699 181.7768 6.286811 160.9229 181.6866 6.286811 160.5862 181.5393 6.286811 160.2702 181.3394 6.286811 159.9846 181.0929 6.286811 159.7381 180.8073 6.286811 159.5381 180.4914 6.286811 159.3907 180.1546 6.286811 159.3005 179.8073 6.286811 159.2701 179.46 6.286811 159.3004 179.1233 6.286811 159.3906 178.8073 6.286811 159.5379 178.5217 6.286811 159.7378 178.2752 6.286811 159.9844 178.0752 6.286811 160.2699 177.9278 6.286811 160.5858 177.8376 6.286811 160.9226 177.7999 6.286811 240.2699 181.7999 6.286811 240.2702 177.8303 6.286811 240.6172 177.9205 6.286811 240.9539 178.0678 6.286811 241.2699 178.2677 6.286811 241.5555 178.5142 6.286811 241.802 178.7998 6.286811 242.002 179.1157 6.286811 242.1494 179.4525 6.286811 242.2397 179.7998 6.286811 242.2701 180.1471 6.286811 242.2397 180.4838 6.286811 242.1495 180.7998 6.286811 242.0022 181.0854 6.286811 241.8023 181.3319 6.286811 241.5558 181.5319 6.286811 241.2702 181.6793 6.286811 240.9543 181.7695 6.286811 240.6175 219.7999 6.286811 240.2737 223.7999 6.286811 240.2741 219.8303 6.286811 240.621 219.9205 6.286811 240.9578 220.0678 6.286811 241.2737 220.2677 6.286811 241.5593 220.5142 6.286811 241.8059 220.7998 6.286811 242.0059 221.1157 6.286811 242.1532 221.4525 6.286811 242.2435 221.7998 6.286811 242.2739 222.1471 6.286811 242.2435 222.4838 6.286811 242.1533 222.7998 6.286811 242.006 223.0854 6.286811 241.8061 223.3319 6.286811 241.5596 223.5319 6.286811 241.2741 223.6793 6.286811 240.9581 223.7695 6.286811 240.6214 234.8006 40.28681 232.7751 240.8006 40.28681 232.7756 160.8006 40.28681 232.7683 166.8006 40.28681 232.7689 234.8065 40.28681 168.7751 240.8065 40.28681 168.7756 166.8065 40.28681 168.7689 160.8065 40.28681 168.7683 166.8017 28.28681 220.7689 160.8017 28.28681 220.7683 160.8054 28.28681 180.7683 166.8054 28.28681 180.7689 240.8054 28.28681 180.7756 234.8054 28.28681 180.7751 240.8017 28.28681 220.7756 234.8017 28.28681 220.7751 237.3009 43.28681 229.5253 236.8234 43.28681 229.4835 236.3604 43.28681 229.3594 235.926 43.28681 229.1567 235.5333 43.28681 228.8818 235.1944 43.28681 228.5428 234.9195 43.28681 228.1501 234.7169 43.28681 227.7156 234.5929 43.28681 227.2526 234.5512 43.28681 226.7751 234.593 43.28681 226.2975 234.7171 43.28681 225.8345 234.9197 43.28681 225.4001 235.1947 43.28681 225.0075 235.5337 43.28681 224.6685 235.9264 43.28681 224.3936 236.3609 43.28681 224.1911 236.8239 43.28681 224.067 237.3014 43.28681 224.0253 237.779 43.28681 224.0671 238.242 43.28681 224.1912 238.6764 43.28681 224.3939 239.069 43.28681 224.6688 239.408 43.28681 225.0078 239.6829 43.28681 225.4005 239.8854 43.28681 225.835 240.0094 43.28681 226.298 240.0512 43.28681 226.7756 240.0093 43.28681 227.2531 239.8852 43.28681 227.7161 239.6826 43.28681 228.1505 239.4076 43.28681 228.5432 239.0686 43.28681 228.8821 238.676 43.28681 229.157 238.2415 43.28681 229.3596 237.7785 43.28681 229.4836 237.3057 43.28681 177.5253 236.8281 43.28681 177.4835 236.3651 43.28681 177.3594 235.9307 43.28681 177.1567 235.5381 43.28681 176.8818 235.1991 43.28681 176.5428 234.9242 43.28681 176.1501 234.7217 43.28681 175.7156 234.5977 43.28681 175.2526 234.5559 43.28681 174.7751 234.5977 43.28681 174.2975 234.7219 43.28681 173.8345 234.9245 43.28681 173.4001 235.1995 43.28681 173.0075 235.5384 43.28681 172.6685 235.9311 43.28681 172.3936 236.3656 43.28681 172.1911 236.8286 43.28681 172.067 237.3062 43.28681 172.0253 237.7837 43.28681 172.0671 238.2467 43.28681 172.1912 238.6811 43.28681 172.3939 239.0738 43.28681 172.6688 239.4127 43.28681 173.0078 239.6876 43.28681 173.4005 239.8902 43.28681 173.835 240.0142 43.28681 174.298 240.0559 43.28681 174.7756 240.0141 43.28681 175.2531 239.89 43.28681 175.7161 239.6874 43.28681 176.1505 239.4124 43.28681 176.5432 239.0734 43.28681 176.8821 238.6807 43.28681 177.157 238.2462 43.28681 177.3596 237.7832 43.28681 177.4836 164.3009 43.28681 229.5186 163.8234 43.28681 229.4768 163.3604 43.28681 229.3527 162.926 43.28681 229.1501 162.5333 43.28681 228.8751 162.1944 43.28681 228.5361 161.9195 43.28681 228.1434 161.7169 43.28681 227.709 161.5929 43.28681 227.2459 161.5512 43.28681 226.7684 161.593 43.28681 226.2909 161.7171 43.28681 225.8279 161.9197 43.28681 225.3934 162.1947 43.28681 225.0008 162.5337 43.28681 224.6619 162.9264 43.28681 224.387 163.3609 43.28681 224.1844 163.8239 43.28681 224.0604 164.3014 43.28681 224.0186 164.779 43.28681 224.0605 165.242 43.28681 224.1846 165.6764 43.28681 224.3872 166.069 43.28681 224.6622 166.408 43.28681 225.0012 166.6829 43.28681 225.3939 166.8854 43.28681 225.8283 167.0094 43.28681 226.2914 167.0512 43.28681 226.7689 167.0093 43.28681 227.2464 166.8852 43.28681 227.7094 166.6826 43.28681 228.1439 166.4076 43.28681 228.5365 166.0686 43.28681 228.8754 165.676 43.28681 229.1503 165.2415 43.28681 229.3529 164.7785 43.28681 229.4769 164.3057 43.28681 177.5186 163.8281 43.28681 177.4768 163.3651 43.28681 177.3527 162.9307 43.28681 177.1501 162.5381 43.28681 176.8751 162.1991 43.28681 176.5361 161.9242 43.28681 176.1434 161.7217 43.28681 175.709 161.5977 43.28681 175.2459 161.5559 43.28681 174.7684 161.5977 43.28681 174.2909 161.7219 43.28681 173.8279 161.9245 43.28681 173.3934 162.1995 43.28681 173.0008 162.5384 43.28681 172.6619 162.9311 43.28681 172.3869 163.3656 43.28681 172.1844 163.8286 43.28681 172.0604 164.3062 43.28681 172.0186 164.7837 43.28681 172.0605 165.2467 43.28681 172.1846 165.6811 43.28681 172.3872 166.0738 43.28681 172.6622 166.4127 43.28681 173.0012 166.6876 43.28681 173.3939 166.8902 43.28681 173.8283 167.0142 43.28681 174.2914 167.0559 43.28681 174.7689 167.0141 43.28681 175.2464 166.89 43.28681 175.7094 166.6874 43.28681 176.1439 166.4124 43.28681 176.5365 166.0734 43.28681 176.8754 165.6807 43.28681 177.1503 165.2462 43.28681 177.3529 164.7832 43.28681 177.4769 235.8882 11.27716 238.0023 235.6606 11.10212 238.1527 236.901 12.17126 237.3333 236.7187 11.99685 237.4538 236.2856 11.58277 237.7398 238.9197 15.02452 236 238.2894 13.96598 236.4163 234.6002 10.53439 238.8549 234.2963 10.39514 239.0546 234.2778 10.38666 239.0668 237.9716 13.51582 236.6261 237.595 12.98224 236.8749 235.1312 10.79495 238.5023 234.9916 10.7139 238.5946 234.799 10.62549 238.7242 239.3428 15.85072 235.7204 239.5266 16.20949 235.5991 243.7502 16.93979 232.8092 243.7264 17.38996 232.8249 240.1876 17.71706 235.1624 243.7788 16.39742 232.7903 243.6191 18.65992 232.8958 240.8028 19.37762 234.7552 243.6238 18.62255 232.8927 243.7183 17.54428 232.8303 243.7955 15.47551 232.7793 240.6905 19.0747 234.8294 243.5293 19.36932 232.9552 243.4971 19.6234 232.9764 243.3949 20.20096 233.0439 241.5924 21.36945 234.2345 241.3203 20.74722 234.4142 241.8264 21.79151 234.08 243.3356 20.53659 233.0831 243.176 21.19032 233.1885 243.0965 21.42368 233.241 243.0948 21.42855 233.2421 243.0049 21.69253 233.3015 241.7188 21.59741 234.151 241.2219 20.52211 234.4792 240.9374 19.74519 234.6665 242.9204 21.87811 233.3573 242.7995 22.0816 233.4372 242.7289 22.16889 233.4838 242.7243 22.17457 233.4869 242.6521 22.24125 233.5345 242.3004 22.29052 233.7669 242.6426 22.24851 233.5408 242.3268 22.30286 233.7494 242.2487 22.26644 233.801 242.1528 22.19798 233.8644 242.0484 22.09601 233.9333 241.8388 21.81389 234.0718 242.5222 22.31024 233.6204 242.4649 22.32121 233.6582 242.5839 22.28535 233.5796 242.4074 22.32102 233.6962 242.3907 22.31893 233.7072 166.4682 10.79926 238.4968 166.1583 10.96106 238.2908 165.7115 11.27693 237.9956 165.5172 11.4143 237.8672 164.9022 11.96432 237.4607 167.3223 10.38665 239.0607 167.3038 10.39514 239.0485 166.9999 10.53439 238.8487 166.8012 10.62546 238.7181 164.8778 11.99106 237.4446 164.2331 12.69815 237.0186 163.6209 13.50889 236.6141 163.5832 13.55882 236.5892 162.9352 14.5775 236.1609 162.3674 15.61542 235.7857 162.2556 15.84933 235.7119 161.8106 16.78114 235.4178 157.8043 15.47568 232.7705 161.1945 18.27426 235.0107 160.0839 21.21284 234.2769 159.8856 21.59777 234.1458 158.5041 21.42831 233.2329 157.8807 17.38968 232.8209 157.8463 16.94029 232.7982 157.8459 16.93542 232.798 157.8118 16.05237 232.7754 158.079 19.36948 232.952 157.9842 18.65499 232.8894 160.6672 19.74566 234.6619 160.7981 19.37765 234.7478 160.9073 19.07361 234.8203 157.968 18.53211 232.8786 159.8432 21.68014 234.1178 159.7753 21.78133 234.0729 158.8724 22.16699 233.4763 158.7088 21.93164 233.3682 158.5368 21.53827 233.2545 159.6059 22.03374 233.9609 159.4727 22.17661 233.873 159.4556 22.19172 233.8617 158.7993 22.07838 233.428 160.5568 20.05622 234.5893 160.3199 20.66931 234.4328 160.2798 20.76164 234.4063 159.1579 22.32242 233.6649 159.2158 22.31807 233.7032 159.2764 22.30208 233.7433 158.3553 20.92904 233.1346 158.2064 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168.2424 158.5106 21.42368 168.3029 157.8569 16.93983 168.7347 157.8888 17.54428 168.7137 157.903 17.70597 168.7043 158.11 19.6234 168.5675 158.1304 19.73869 168.5541 160.5476 20.07857 166.9578 158.6867 21.87811 168.1867 159.6485 21.97513 167.5513 159.7683 21.81389 167.4722 159.2803 22.30286 167.7946 159.3067 22.29052 167.7771 158.9645 22.24851 168.0031 158.2122 20.20098 168.5001 158.2715 20.53659 168.4609 158.4311 21.19032 168.3554 158.955 22.24125 168.0094 159.3583 22.26644 167.743 159.4543 22.19798 167.6796 158.8782 22.16889 168.0601 160.0147 21.36945 167.3094 160.2867 20.74724 167.1297 160.3852 20.52211 167.0647 158.8076 22.0816 168.1068 159.5587 22.09601 167.6106 158.8828 22.17457 168.0571 159.0849 22.31024 167.9236 159.1422 22.32121 167.8857 159.0232 22.28535 167.9644 159.1997 22.32102 167.8478 159.2164 22.31893 167.8367 235.2955 10.88103 163.1513 235.4488 10.96106 163.2532 236.0439 11.38182 163.6464 236.0899 11.4143 163.6768 236.7049 11.96432 164.0832 234.2471 10.36937 162.4585 234.2841 10.38635 162.4828 234.5552 10.51059 162.6611 234.8059 10.62546 162.8259 237.374 12.69815 164.5254 238.0239 13.55882 164.9548 237.0447 12.33693 164.3077 237.284 12.59941 164.4659 238.5491 14.38451 165.3019 238.6719 14.5775 165.383 239.2397 15.61542 165.7582 239.7965 16.78114 166.1262 240.809 19.37765 166.7961 243.7023 17.70562 168.7071 240.4126 18.27426 166.5333 243.7608 16.94029 168.7457 243.7611 16.93542 168.746 243.7953 16.05237 168.7685 239.8894 17.00613 166.1875 243.7993 15.74069 168.7712 243.803 15.46145 168.7736 241.0503 20.05622 166.9546 243.6228 18.65501 168.6546 243.6392 18.53211 168.6653 242.8983 21.93164 168.1758 242.9293 21.86078 168.1963 241.3273 20.76165 167.1376 243.0703 21.53827 168.2894 243.103 21.42849 168.311 243.2518 20.92904 168.4094 243.4007 20.19875 168.5078 241.0593 20.07936 166.9606 241.2872 20.66931 167.1112 243.4792 19.73873 168.5596 243.4506 19.95439 168.5407 241.5231 21.21284 167.2671 241.7639 21.68014 167.4262 242.7346 22.16699 168.0676 241.8318 21.78134 167.4711 241.9621 21.97542 167.5572 242.8078 22.07838 168.116 242.0012 22.03374 167.583 242.1344 22.17661 167.671 242.1515 22.19172 167.6823 242.233 22.25315 167.7362 242.3065 22.29242 167.7848 242.3082 22.29331 167.7859 242.3307 22.30208 167.8007 242.3913 22.31807 167.8408 242.4492 22.32242 167.879 242.4566 22.32219 167.8839 242.515 22.31376 167.9225 242.5723 22.29388 167.9604 242.5811 22.28976 167.9662 242.6439 22.2519 168.0077 242.7168 22.18861 168.0559 177.8075 6.286811 157.6414 178.0436 6.286811 157.5843 181.8076 6.286811 156.9391 181.4911 6.286811 156.9745 223.5714 6.286811 157.5884 220.124 6.286811 156.978 219.8076 6.286811 156.9426 223.8075 6.286811 157.6456 178.0357 6.286811 243.9555 181.4831 6.286811 244.5659 181.7996 6.286811 244.6014 177.7996 6.286811 243.8983 223.7996 6.286811 243.9026 223.5635 6.286811 243.9597 219.7995 6.286811 244.6048 220.116 6.286811 244.5695 234.8017 26.39406 220.6753 240.8017 26.4053 220.677 234.8018 25.47492 220.5288 240.8017 25.47485 220.5297 234.8018 24.52228 220.377 240.8018 24.5444 220.3823 234.8018 22.72496 219.8924 240.8018 22.72451 219.8946 234.8018 22.69225 219.8836 240.8019 20.96555 219.2194 240.8022 16.24246 216.1522 234.802 17.65186 217.2974 240.802 17.70668 217.3379 234.802 17.70857 217.3345 240.8019 19.28681 218.3641 234.802 19.23789 218.3352 240.8019 20.12618 218.7918 234.8019 20.12635 218.7911 234.8019 20.92425 219.2005 240.8025 12.69836 211.7756 234.8024 13.66491 213.2727 240.8024 13.72451 213.3558 234.8024 13.72847 213.352 240.8023 14.91021 214.82 234.8023 14.84983 214.752 240.8022 15.57633 215.4861 234.8022 15.57649 215.4856 234.8022 16.18375 216.0986 240.803 10.68016 206.518 234.8029 11.12634 208.2082 240.8029 11.16779 208.3379 234.8029 11.174 208.335 240.8027 11.843 210.0969 234.8027 11.79279 209.9825 240.8026 12.27067 210.9363 234.8026 12.27066 210.9359 234.8026 12.64212 211.677 240.8032 10.38542 204.6571 234.8032 10.36956 204.499 240.8031 10.53279 205.5876 234.8031 10.53247 205.5873 234.803 10.65018 206.3736 234.8039 10.36956 197.0511 240.8039 10.38542 196.8941 234.804 10.53247 195.9629 240.804 10.53279 195.9637 234.8041 10.65018 195.1766 240.8041 10.68016 195.0332 234.8042 11.12634 193.342 240.8042 11.16779 193.2133 240.8047 13.72451 188.1955 234.8047 13.66491 188.2775 240.8045 12.69836 189.7756 234.8045 12.64212 189.8732 240.8045 12.27067 190.615 234.8045 12.27066 190.6143 240.8044 11.843 191.4544 234.8044 11.79279 191.5677 234.8042 11.174 193.2151 240.8051 17.70668 184.2133 234.8051 17.65186 184.2528 240.805 16.24246 185.399 234.8049 16.18375 185.4516 240.8049 15.57633 186.0652 234.8049 15.57649 186.0646 240.8048 14.91021 186.7313 234.8048 14.84983 186.7981 234.8047 13.72847 188.1981 240.8053 22.72451 181.6566 234.8053 22.69225 181.6666 240.8052 20.96555 182.3318 234.8052 20.92425 182.3497 240.8052 20.12618 182.7595 234.8052 20.12635 182.7591 240.8052 19.28681 183.1872 234.8052 19.23789 183.215 234.8051 17.70857 184.2157 240.8054 26.4053 180.8742 234.8054 26.39406 180.8749 240.8054 25.47485 181.0216 234.8054 25.47492 181.0213 240.8053 24.5444 181.169 234.8053 24.52228 181.1731 234.8053 22.72496 181.6578 160.8039 10.38542 196.8868 166.8039 10.36956 197.0449 160.804 10.53279 195.9564 166.804 10.53247 195.9567 160.8041 10.68016 195.0259 166.8041 10.65018 195.1704 166.8042 11.12634 193.3358 160.8042 11.16779 193.206 166.8042 11.174 193.2089 160.8044 11.843 191.4471 166.8044 11.79279 191.5614 160.8045 12.27067 190.6077 166.8045 12.27066 190.6081 160.8046 12.69836 189.7683 166.8045 12.64212 189.867 166.8047 13.66491 188.2713 160.8047 13.72451 188.1882 166.8047 13.72847 188.1919 160.8048 14.91021 186.724 166.8048 14.84983 186.7919 160.8049 15.57633 186.0579 166.8049 15.57649 186.0584 160.805 16.24246 185.3917 166.8049 16.18375 185.4454 166.805 17.65186 184.2466 160.8051 17.70668 184.206 166.8051 17.70857 184.2095 160.8052 19.28681 183.1799 166.8052 19.23789 183.2088 160.8052 20.12618 182.7522 166.8052 20.12635 182.7529 160.8052 20.96555 182.3245 166.8052 20.92425 182.3435 166.8053 22.69225 181.6604 160.8053 22.72451 181.6493 166.8053 22.72496 181.6515 160.8053 24.5444 181.1617 166.8053 24.52228 181.1669 160.8054 25.47485 181.0143 166.8054 25.47492 181.0151 160.8054 26.4053 180.8669 166.8054 26.39406 180.8687 160.8017 26.4053 220.6697 166.8017 26.39406 220.6691 160.8018 25.47485 220.5223 166.8017 25.47492 220.5226 160.8018 24.5444 220.375 166.8018 24.52228 220.3708 160.8018 22.72451 219.8873 166.8018 22.72496 219.8862 166.8018 22.69225 219.8774 160.8019 20.96555 219.2121 166.8019 20.92425 219.1942 160.8019 20.12618 218.7845 166.8019 20.12635 218.7848 160.802 19.28681 218.3568 166.802 19.23789 218.329 160.802 17.70668 217.3306 166.802 17.70857 217.3283 166.802 17.65186 217.2912 160.8022 16.24246 216.1449 166.8022 16.18375 216.0924 160.8022 15.57633 215.4788 166.8022 15.57649 215.4794 160.8023 14.91021 214.8127 166.8023 14.84983 214.7458 160.8024 13.72451 213.3485 166.8024 13.72847 213.3458 166.8024 13.66491 213.2665 160.8025 12.69836 211.7683 166.8025 12.64212 211.6708 160.8026 12.27067 210.929 166.8026 12.27066 210.9297 160.8027 11.843 210.0896 166.8027 11.79279 209.9763 160.8029 11.16779 208.3306 166.8029 11.174 208.3289 166.8029 11.12634 208.2019 160.803 10.68016 206.5107 166.803 10.65018 206.3674 160.8031 10.53279 205.5803 166.8031 10.53247 205.5811 160.8032 10.38542 204.6498 166.8032 10.36956 204.4929 227.8005 8.286812 234.2744 227.8066 8.286812 167.2744 173.8005 8.286812 234.2695 173.8066 8.286812 167.2695 166.8001 10.69079 238.624 166.8001 10.79072 238.4976 166.8001 10.88754 238.3751 166.8001 11.06308 238.1868 166.8002 11.27129 237.9967 166.8002 11.39394 237.8848 166.8002 11.80528 237.5701 166.8002 11.99244 237.4482 166.8002 12.3011 237.2471 166.8002 12.88184 236.921 166.8003 13.50912 236.6149 166.8003 13.58137 236.5796 166.8003 14.58849 236.1571 166.8003 15.70892 235.755 166.8004 15.84772 235.7106 166.8004 16.43405 235.5234 166.8004 18.0571 235.0683 166.8004 19.07546 234.827 166.8005 19.80083 234.6551 166.8006 37.21843 232.8056 160.8006 37.21843 232.805 166.8006 34.20495 232.9142 160.8006 34.20495 232.9137 166.8006 33.83825 232.9365 160.8006 33.83825 232.936 166.8006 31.25645 233.0935 160.8006 31.25645 233.093 166.8006 28.38378 233.3434 160.8006 28.38378 233.3429 166.8006 28.23012 233.3612 160.8006 28.23012 233.3607 166.8005 25.599 233.6652 160.8005 25.599 233.6647 166.8005 23.60113 233.9515 160.8005 23.60113 233.9509 166.8005 23.2489 234.0114 160.8005 23.24892 234.0109 166.8005 21.65219 234.2831 160.8005 21.624 234.2877 160.8005 19.74659 234.6664 234.8004 19.07546 234.8332 234.8004 18.0571 235.0745 234.8004 16.43405 235.5297 234.8004 15.84772 235.7168 234.8004 15.70892 235.7612 234.8003 14.58849 236.1633 234.8003 13.58137 236.5858 234.8003 13.50912 236.6211 234.8003 12.88184 236.9272 234.8002 12.3011 237.2534 234.8002 11.99244 237.4544 234.8002 11.80528 237.5763 234.8002 11.39394 237.891 234.8002 11.27129 238.0029 234.8001 11.06308 238.193 234.8001 10.88754 238.3813 234.8001 10.79072 238.5038 234.8001 10.69079 238.6302 234.8005 19.80083 234.6613 240.8005 19.74659 234.6737 234.8005 21.65219 234.2893 240.8005 21.624 234.295 234.8005 23.2489 234.0176 240.8005 23.24892 234.0182 234.8005 23.60113 233.9577 240.8005 23.60113 233.9582 234.8005 25.599 233.6714 240.8005 25.599 233.672 234.8006 28.23012 233.3674 240.8006 28.23012 233.3679 234.8006 28.38378 233.3497 240.8006 28.38378 233.3502 234.8006 31.25645 233.0997 240.8006 31.25645 233.1003 234.8006 33.83825 232.9427 240.8006 33.83825 232.9433 234.8006 34.20495 232.9204 240.8006 34.20495 232.921 234.8006 37.21843 232.8118 240.8006 37.21843 232.8123 234.807 10.6835 162.9097 234.807 10.87357 163.1518 234.807 10.88196 163.1625 234.807 11.13848 163.4312 234.8069 11.3265 163.602 234.8069 11.38094 163.6447 234.8069 11.74613 163.9317 234.8069 12.25824 164.2707 234.8069 12.32894 164.3108 234.8069 12.59847 164.4634 234.8069 12.86015 164.6116 234.8068 13.14507 164.7571 234.8068 14.08996 165.1863 234.8068 14.38304 165.2995 234.8068 15.15525 165.5978 234.8067 16.32507 165.987 234.8067 16.55931 166.0585 234.8067 17.0075 166.1821 234.8067 18.25783 166.5269 234.8066 20.08161 166.9494 234.8065 37.19504 168.7378 240.8065 37.19504 168.7384 234.8065 36.15427 168.7 240.8065 36.15427 168.7005 234.8065 34.1575 168.6274 240.8065 34.1575 168.628 234.8065 31.1846 168.4451 240.8065 31.1846 168.4457 234.8065 30.43427 168.3792 240.8065 30.43427 168.3798 234.8065 28.28753 168.1908 240.8065 28.28753 168.1913 234.8066 25.47881 167.8629 240.8065 25.47881 167.8634 234.8066 25.22117 167.8265 240.8066 25.22117 167.8271 234.8066 24.05071 167.6613 240.8066 24.05071 167.6619 234.8066 22.01643 167.3272 240.8066 22.01643 167.3278 234.8066 20.77024 167.0838 240.8066 20.77024 167.0844 240.8066 20.08161 166.9499 166.8067 18.25783 166.5207 166.8067 17.0061 166.1755 166.8067 16.55931 166.0523 166.8067 16.32507 165.9808 166.8068 15.15525 165.5916 166.8068 14.38203 165.2929 166.8068 14.08996 165.18 166.8068 13.14507 164.7509 166.8069 12.86015 164.6054 166.8069 12.59781 164.4568 166.8069 12.32915 164.3047 166.8069 12.25824 164.2646 166.8069 11.74613 163.9255 166.8069 11.38105 163.6386 166.8069 11.3265 163.5957 166.807 11.13848 163.425 166.807 10.88196 163.1563 166.807 10.87363 163.1457 166.807 10.6835 162.9035 160.8065 37.19504 168.7311 166.8065 37.19504 168.7316 160.8065 36.15171 168.6931 166.8065 36.15171 168.6937 160.8065 34.1575 168.6207 166.8065 34.1575 168.6212 160.8065 31.1846 168.4384 166.8065 31.1846 168.4389 160.8065 30.43188 168.3723 166.8065 30.43188 168.3728 160.8065 28.28753 168.184 166.8065 28.28753 168.1846 160.8066 25.47881 167.8562 166.8065 25.47881 167.8567 160.8066 25.21905 167.8195 166.8066 25.21905 167.82 160.8066 24.05071 167.6546 166.8066 24.05071 167.6551 160.8066 22.01643 167.3204 166.8066 22.01643 167.321 160.8066 20.7685 167.0767 166.8066 20.7685 167.0773 160.8066 20.08161 166.9426 166.8066 20.08161 166.9431 167.0878 40.28681 168.7935 167.3274 40.28681 168.8145 167.5951 40.28681 168.8863 167.8325 40.28681 168.9499 168.079 40.28681 169.0648 168.3064 40.28681 169.1709 168.5249 40.28681 169.3239 168.7348 40.28681 169.4709 168.9196 40.28681 169.6558 169.1045 40.28681 169.8407 169.2515 40.28681 170.0506 169.4044 40.28681 170.2691 169.5105 40.28681 170.4966 169.6254 40.28681 170.7431 169.689 40.28681 170.9805 169.7607 40.28681 171.2482 169.7816 40.28681 171.4878 169.7495 10.30089 165.9383 169.4049 10.34644 164.7315 169.105 10.39704 164.1989 168.307 10.35484 163.135 167.328 10.48178 162.6651 167.833 10.53556 163.0077 167.8331 10.36267 162.7295 168.307 10.57822 163.4196 168.7353 10.65287 163.9319 168.7353 10.35155 163.6161 169.105 10.62632 164.4072 169.4049 10.86928 165.1428 169.6259 10.59222 165.5273 169.7611 10.965 166.3798 167.328 10.64623 162.9297 167.3279 10.84751 163.1862 167.3279 11.10695 163.4579 167.3279 11.29672 163.6303 167.3278 11.7195 163.9626 167.3278 12.83892 164.6457 167.3278 12.23446 164.3035 167.3278 13.12483 164.7917 167.3277 14.07237 165.2221 167.3277 15.13989 165.6345 167.3277 16.31159 166.0243 167.3277 16.54615 166.096 167.3276 18.24668 166.5649 167.3276 20.07214 166.9878 167.3275 22.00839 167.3659 167.3275 24.04394 167.7002 167.3275 25.47282 167.9019 167.3274 31.18122 168.4844 167.3275 28.28291 168.2299 167.3274 34.15528 168.6668 167.3274 37.19394 168.7772 167.833 10.74523 163.2749 167.833 11.0133 163.5557 167.833 11.20829 163.7328 167.833 11.64037 164.0724 167.8329 12.16386 164.419 167.8329 12.77587 164.7656 167.8329 13.06474 164.9131 167.8328 14.02016 165.3471 167.8328 15.09428 165.762 167.8328 16.27154 166.1537 167.8328 16.50707 166.2256 167.8327 18.21356 166.6962 167.8327 20.04399 167.1202 167.8326 21.98453 167.4992 167.8326 24.02384 167.8341 167.8326 25.45505 168.0361 167.8326 28.2692 168.3646 167.8325 31.17119 168.6194 167.8325 34.1487 168.802 167.8325 37.19067 168.9126 168.3069 10.8604 163.7153 168.3069 11.06389 163.9002 168.7353 10.86792 164.1273 168.3069 11.51118 164.2518 168.7352 11.33584 164.4952 168.3069 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221.3137 158.2035 24.23254 221.842 158.5036 22.39336 220.9063 158.5035 24.3216 221.423 158.8734 22.50762 220.5547 158.8733 24.39848 221.0613 159.3018 22.60031 220.2695 159.3017 24.46084 220.768 159.7757 22.6686 220.0593 159.7757 24.50679 220.5519 160.2809 22.71043 219.9306 160.2808 24.53493 220.4195 157.8471 26.14617 223.1349 157.9825 26.19897 222.6326 158.2035 26.24851 222.1613 158.5035 26.29329 221.7353 158.8733 26.33194 221.3676 159.3017 26.36329 221.0693 159.7757 26.38639 220.8496 160.2808 26.40054 220.715 160.2816 12.65889 211.7911 159.7765 12.54167 211.8587 159.3025 12.35028 211.9692 158.8742 12.09052 212.1191 158.5044 11.77029 212.3039 158.2044 11.39932 212.5181 157.9834 10.98887 212.755 157.848 10.55143 213.0076 157.8479 11.71891 214.8053 157.9832 12.12756 214.5085 158.2042 12.51098 214.2299 158.5042 12.85753 213.9781 158.874 13.15669 213.7608 159.3024 13.39934 213.5846 159.7763 13.57814 213.4547 160.2815 13.68763 213.3752 157.8477 13.06791 216.4712 157.9831 13.44328 216.1333 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8.312874 198.7681 158.2057 8.786813 198.7681 158.5056 9.215177 198.7681 158.8754 9.584945 198.7682 159.3037 9.884891 198.7682 159.7777 10.10589 198.7682 160.2828 10.24124 198.7683 160.2831 10.63557 195.0164 160.2836 12.65889 189.7455 160.284 16.21196 185.3578 157.8512 28.28681 178.289 157.8512 26.14617 178.4012 157.9865 28.28681 178.7941 157.9865 26.19897 178.9035 158.2074 28.28681 179.2681 158.2074 26.24851 179.3749 158.5073 28.28681 179.6965 158.5073 26.29329 179.801 158.8771 28.28681 180.0663 158.8771 26.33194 180.1687 159.3054 28.28681 180.3663 159.3054 26.36329 180.4671 159.7793 28.28681 180.5873 159.7793 26.38639 180.6869 160.2844 28.28681 180.7227 160.2844 26.40054 180.8216 157.8511 24.02898 178.7365 157.8511 21.95844 179.2913 157.9864 24.134 179.2306 157.9864 22.11453 179.7717 158.2074 24.23254 179.6942 158.2073 22.26098 180.2225 158.5073 24.3216 180.1132 158.5073 22.39336 180.6299 158.877 24.39848 180.475 158.877 22.50762 180.9816 159.3054 24.46084 180.7684 159.3053 22.60031 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231.5081 231.9817 25.34258 231.714 231.8464 25.27696 231.2131 231.9817 28.1857 231.3854 231.8464 28.13501 230.8828 231.9817 31.11146 231.1309 231.8464 31.07436 230.6271 231.9817 34.1097 230.9485 231.8464 34.08533 230.444 231.9817 37.17109 230.8382 231.8464 37.15898 230.3332 234.2808 28.28681 220.8206 233.7756 28.28681 220.9559 233.3017 28.28681 221.1769 232.8733 28.28681 221.4768 232.5035 28.28681 221.8465 232.2035 28.28681 222.2748 231.9825 28.28681 222.7488 231.8471 28.28681 223.2539 234.2808 24.51275 220.4216 234.2809 22.67808 219.9269 234.281 19.21497 218.3745 234.2811 17.62493 217.3341 234.2813 14.81581 214.7823 234.2815 13.62789 213.2992 234.2818 11.75102 210.0007 234.2823 10.32419 204.5034 231.8479 11.65111 214.7182 231.848 10.48744 212.9027 231.9834 10.92647 212.6529 232.2044 11.33839 212.4185 232.2046 10.41829 210.5829 232.5045 10.81081 210.4114 232.8743 11.14964 210.2634 233.7768 10.95386 208.2627 233.3029 10.74317 208.3293 232.8745 10.45721 208.4198 234.2821 10.60552 206.3826 233.777 10.4729 206.4096 234.2819 11.08289 208.2219 233.7766 11.627 210.0549 233.3027 11.42449 210.1433 234.2816 12.6025 211.6995 233.7765 12.48487 211.7663 233.3025 12.29278 211.8756 232.8742 12.03209 212.0239 232.5044 11.7107 212.2067 231.9832 12.06142 214.4236 232.2042 12.44642 214.1473 232.5042 12.79439 213.8975 232.874 13.09476 213.6819 233.3024 13.33842 213.507 233.7763 13.51794 213.3781 233.7762 14.71477 214.8723 233.3022 14.5498 215.0193 232.8739 14.32589 215.2189 232.5041 14.04986 215.4649 232.2041 13.73009 215.7499 231.9831 13.37629 216.0652 231.8477 12.99922 216.4013 234.2812 16.1531 216.1323 233.7761 16.0621 216.2324 233.3021 15.91349 216.3959 232.8737 15.71181 216.6179 232.5039 15.46319 216.8916 232.204 15.17516 217.2086 231.9829 14.85648 217.5594 231.8476 14.51685 217.9333 231.8474 16.18716 219.2972 231.9828 16.48559 218.8897 232.2039 16.76561 218.5074 232.5038 17.0187 218.1618 232.8736 17.23717 217.8635 233.302 17.41439 217.6215 233.776 17.54496 217.4433 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28.28681 180.7301 241.8314 28.28681 180.5948 242.3054 28.28681 180.3738 242.7338 28.28681 180.0739 243.1036 28.28681 179.7042 243.4036 28.28681 179.2759 243.6246 28.28681 178.802 243.76 28.28681 178.2968 243.7582 7.807758 198.7759 243.7583 7.919945 196.6352 243.6228 8.312874 198.7759 243.623 8.422293 196.688 243.4018 8.786813 198.7759 243.402 8.893636 196.7376 243.1019 9.215177 198.7758 243.102 9.319653 196.7823 242.7321 9.584945 198.7758 242.7323 9.687398 196.8209 242.3037 9.884891 198.7758 242.3039 9.985697 196.8522 241.8298 10.10589 198.7757 241.83 10.20549 196.8753 241.3247 10.24124 198.7757 241.3249 10.34009 196.8894 243.7585 8.255274 194.5181 243.7587 8.810074 192.4475 243.6232 8.749352 194.6231 243.6234 9.290469 192.6036 243.4022 9.212934 194.7216 243.4024 9.74121 192.75 243.1022 9.631937 194.8106 243.1024 10.14861 192.8824 242.7324 9.993628 194.8875 242.7326 10.50028 192.9966 242.3041 10.28702 194.9498 242.3043 10.78554 193.0893 241.8301 10.50319 194.9957 241.8303 10.99573 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81.08682 198.9731 239.3518 83.08682 198.7361 239.3518 81.08682 198.7361 239.2842 83.08682 198.4836 239.2842 81.08682 198.4836 239.2614 83.08682 198.2231 239.2614 81.08682 198.2231 239.2842 83.08682 197.9626 239.2842 81.08682 197.9626 239.3518 83.08682 197.7101 239.3518 81.08682 197.7101 239.4624 83.08682 197.4731 239.4624 81.08682 197.4731 239.6123 83.08682 197.2589 239.6123 81.08682 197.2589 239.7972 83.08682 197.074 239.7972 81.08682 197.074 240.0114 83.08682 196.9241 240.0114 81.08682 196.9241 240.2483 83.08682 196.8136 240.2483 81.08682 196.8136 240.5009 83.08682 196.7459 240.5009 81.08682 196.7459 240.7614 83.08682 196.7231 240.7614 81.08682 196.7231 241.0219 83.08682 196.7459 241.0219 81.08682 196.7459 241.2744 83.08682 196.8136 241.2744 81.08682 196.8136 241.5114 83.08682 196.9241 241.5114 81.08682 196.9241 241.7256 83.08682 197.074 241.7256 81.08682 197.074 241.9105 83.08682 197.2589 241.9105 81.08682 197.2589 242.0604 83.08682 197.4731 242.0604 81.08682 197.4731 242.1709 83.08682 197.7101 242.1709 81.08682 197.7101 242.2386 83.08682 197.9626 242.2386 81.08682 197.9626 242.2614 83.08682 198.2231 242.2614 81.08682 198.2231 242.2386 83.08682 198.4836 242.2386 81.08682 198.4836 242.1709 83.08682 198.7361 242.1709 81.08682 198.7361 242.0604 83.08682 198.9731 242.0604 81.08682 198.9731 241.9105 83.08682 199.1873 241.9105 81.08682 199.1873 241.7256 83.08682 199.3722 241.7256 81.08682 199.3722 241.5114 83.08682 199.5221 241.5114 81.08682 199.5221 241.2744 83.08682 199.6326 241.2744 81.08682 199.6326 241.0219 83.08682 199.7003 241.0219 81.08682 199.7003 248.2614 83.08682 188.6481 248.2614 79.08682 172.6481 248.2614 83.08682 172.2491 248.2614 79.08682 172.2231 248.2614 83.08682 172.2231 248.2614 83.08682 224.2231 248.2614 79.08682 224.2231 248.2614 83.08682 224.1971 248.2614 79.08682 223.7981 248.2614 83.08682 207.7981 248.2614 79.08682 209.2981 248.2614 79.08682 187.1481 158.2614 83.08682 234.2231 158.2614 79.08682 234.2231 160.6114 83.08682 234.2231 162.1114 79.08682 234.2231 172.2864 83.08682 234.2231 172.2864 79.08682 234.2231 187.4614 83.08682 234.2231 186.0614 79.08682 234.2231 209.0614 83.08682 234.2231 210.4614 79.08682 234.2231 224.2364 83.08682 234.2231 224.2364 79.08682 234.2231 235.9114 83.08682 234.2231 234.4114 79.08682 234.2231 238.2614 83.08682 234.2231 238.2614 79.08682 234.2231 148.2614 83.08682 207.7981 148.2614 79.08682 223.7981 148.2614 83.08682 224.1971 148.2614 79.08682 224.2231 148.2614 83.08682 224.2231 148.2614 83.08682 172.2231 148.2614 79.08682 172.2231 148.2614 83.08682 172.2491 148.2614 79.08682 172.6481 148.2614 83.08682 188.6481 148.2614 79.08682 187.1481 148.2614 79.08682 209.2981 158.2614 79.08682 162.2231 158.2614 83.08682 162.2231 162.1114 79.08682 162.2231 160.6114 83.08682 162.2231 172.2864 79.08682 162.2231 172.2864 83.08682 162.2231 186.0614 79.08682 162.2231 187.4614 83.08682 162.2231 210.4614 79.08682 162.2231 209.0614 83.08682 162.2231 224.2364 79.08682 162.2231 224.2364 83.08682 162.2231 234.4114 79.08682 162.2231 235.9114 83.08682 162.2231 238.2614 79.08682 162.2231 238.2614 83.08682 162.2231 224.2364 79.08682 227.6221 166.7009 79.08682 179.0503 166.9614 79.08682 179.0731 162.1114 79.08682 187.1481 193.7133 79.08682 164.2947 193.6927 79.08682 164.3241 186.0614 79.08682 164.3241 151.8335 79.08682 164.5626 152.1742 79.08682 164.3241 162.1114 79.08682 164.3241 234.4114 79.08682 227.6221 148.4133 79.08682 225.9596 162.1114 79.08682 223.7981 162.1114 79.08682 227.6221 156.5249 79.08682 234.0712 151.8335 79.08682 231.8835 150.6009 79.08682 230.651 149.6011 79.08682 229.2231 148.8645 79.08682 227.6433 148.8588 79.08682 227.6221 154.8412 79.08682 233.62 153.2614 79.08682 232.8834 239.9979 79.08682 234.0712 247.6583 79.08682 227.6433 246.9216 79.08682 229.2231 245.9218 79.08682 230.651 244.6893 79.08682 231.8835 243.2614 79.08682 232.8834 241.6816 79.08682 233.62 234.4114 79.08682 223.7981 248.1095 79.08682 225.9596 247.664 79.08682 227.6221 244.3485 79.08682 164.3241 244.6893 79.08682 164.5626 234.4114 79.08682 172.6481 245.9218 79.08682 165.7952 246.9216 79.08682 167.2231 247.6583 79.08682 168.8029 248.1095 79.08682 170.4866 239.9979 79.08682 162.375 234.4114 79.08682 164.3241 241.6816 79.08682 162.8262 243.2614 79.08682 163.5628 153.2614 79.08682 163.5628 154.8412 79.08682 162.8262 156.5249 79.08682 162.375 162.1114 79.08682 172.6481 148.4133 79.08682 170.4866 148.8645 79.08682 168.8029 149.6011 79.08682 167.2231 150.6009 79.08682 165.7952 202.0114 79.08682 163.625 201.5374 79.08682 163.404 195.4904 79.08682 163.2687 194.9853 79.08682 163.404 194.5114 79.08682 163.625 194.083 79.08682 163.925 202.8301 79.08682 164.3241 202.8095 79.08682 164.2947 202.4397 79.08682 163.925 201.0323 79.08682 163.2687 200.5114 79.08682 163.2231 196.0114 79.08682 163.2231 202.4397 79.08682 168.5212 202.8095 79.08682 168.1515 210.4614 79.08682 172.6481 203.5114 79.08682 166.2231 203.4658 79.08682 165.7022 210.4614 79.08682 164.3241 203.3305 79.08682 165.197 203.1095 79.08682 164.7231 203.1095 79.08682 167.7231 203.3305 79.08682 167.2492 203.4658 79.08682 166.744 193.4133 79.08682 164.7231 193.1923 79.08682 165.197 193.057 79.08682 165.7022 193.0114 79.08682 166.2231 193.057 79.08682 166.744 186.0614 79.08682 172.6481 193.1923 79.08682 167.2492 193.4133 79.08682 167.7231 193.7133 79.08682 168.1515 201.0323 79.08682 169.1775 201.5374 79.08682 169.0422 202.0114 79.08682 168.8212 194.083 79.08682 168.5212 194.5114 79.08682 168.8212 194.9853 79.08682 169.0422 195.4904 79.08682 169.1775 196.0114 79.08682 169.2231 200.5114 79.08682 169.2231 202.0052 79.08682 227.6221 201.5374 79.08682 227.404 210.4614 79.08682 223.7981 201.0323 79.08682 227.2687 200.5114 79.08682 227.2231 186.0614 79.08682 223.7981 196.0114 79.08682 227.2231 195.4904 79.08682 227.2687 194.9853 79.08682 227.404 194.5176 79.08682 227.6221 186.0614 79.08682 227.6221 194.5114 79.08682 227.625 194.083 79.08682 227.925 193.7133 79.08682 228.2947 193.4133 79.08682 228.7231 193.1923 79.08682 229.197 193.057 79.08682 229.7022 193.0114 79.08682 230.2231 193.057 79.08682 230.744 193.1923 79.08682 231.2492 194.083 79.08682 232.5212 194.5114 79.08682 232.8212 194.9853 79.08682 233.0422 195.4904 79.08682 233.1775 193.4133 79.08682 231.7231 193.7133 79.08682 232.1515 201.5374 79.08682 233.0422 202.0114 79.08682 232.8212 203.4658 79.08682 229.7022 203.3305 79.08682 229.197 210.4614 79.08682 227.6221 203.1095 79.08682 228.7231 202.8095 79.08682 228.2947 202.4397 79.08682 227.925 202.0114 79.08682 227.625 196.0114 79.08682 233.2231 200.5114 79.08682 233.2231 201.0323 79.08682 233.1775 202.4397 79.08682 232.5212 202.8095 79.08682 232.1515 203.1095 79.08682 231.7231 203.3305 79.08682 231.2492 203.4658 79.08682 230.744 203.5114 79.08682 230.2231 162.1114 79.08682 209.2981 157.6898 79.08682 200.5212 158.0595 79.08682 200.1515 156.2823 79.08682 201.1775 156.7874 79.08682 201.0422 157.2614 79.08682 200.8212 158.3595 79.08682 199.7231 158.5805 79.08682 199.2492 158.7158 79.08682 198.744 158.7614 79.08682 198.2231 158.7158 79.08682 197.7022 158.5805 79.08682 197.197 158.3595 79.08682 196.7231 152.9423 79.08682 199.2492 153.1633 79.08682 199.7231 152.9423 79.08682 197.197 152.807 79.08682 197.7022 152.7614 79.08682 198.2231 152.807 79.08682 198.744 155.2404 79.08682 195.2687 154.7353 79.08682 195.404 154.2614 79.08682 195.625 153.833 79.08682 195.925 158.0595 79.08682 196.2947 157.6898 79.08682 195.925 157.2614 79.08682 195.625 156.7874 79.08682 195.404 156.2823 79.08682 195.2687 155.7614 79.08682 195.2231 153.4633 79.08682 196.2947 153.1633 79.08682 196.7231 153.4633 79.08682 200.1515 153.833 79.08682 200.5212 154.2614 79.08682 200.8212 154.7353 79.08682 201.0422 155.2404 79.08682 201.1775 155.7614 79.08682 201.2231 172.2864 79.08682 227.6221 167.4744 79.08682 220.2826 167.7114 79.08682 220.1721 172.2864 79.08682 223.7981 167.9256 79.08682 220.0222 168.1105 79.08682 219.8373 168.2604 79.08682 219.6231 168.3709 79.08682 219.3861 168.4386 79.08682 219.1336 165.4842 79.08682 219.1336 165.5518 79.08682 219.3861 165.6623 79.08682 219.6231 165.8123 79.08682 219.8373 165.9972 79.08682 220.0222 166.2114 79.08682 220.1721 166.4484 79.08682 220.2826 168.4614 79.08682 218.8731 168.4386 79.08682 218.6126 172.2864 79.08682 209.2981 168.3709 79.08682 218.3601 168.2604 79.08682 218.1231 166.4484 79.08682 217.4636 166.2114 79.08682 217.5741 166.7009 79.08682 220.3503 166.9614 79.08682 220.3731 167.2219 79.08682 220.3503 168.1105 79.08682 217.9089 167.9256 79.08682 217.724 167.7114 79.08682 217.5741 166.7009 79.08682 217.3959 165.9972 79.08682 217.724 165.8123 79.08682 217.9089 165.6623 79.08682 218.1231 165.5518 79.08682 218.3601 165.4842 79.08682 218.6126 165.4614 79.08682 218.8731 167.4744 79.08682 217.4636 167.2219 79.08682 217.3959 166.9614 79.08682 217.3731 168.4386 79.08682 177.8336 168.4614 79.08682 177.5731 172.2864 79.08682 172.6481 167.4744 79.08682 178.9826 167.7114 79.08682 178.8721 172.2864 79.08682 187.1481 167.9256 79.08682 178.7222 168.1105 79.08682 178.5373 168.2604 79.08682 178.3231 168.3709 79.08682 178.0861 167.2219 79.08682 179.0503 165.9972 79.08682 176.424 165.8123 79.08682 176.6089 165.6623 79.08682 176.8231 165.5518 79.08682 177.0601 165.5518 79.08682 178.0861 165.6623 79.08682 178.3231 165.8123 79.08682 178.5373 165.9972 79.08682 178.7222 168.4386 79.08682 177.3126 168.3709 79.08682 177.0601 168.2604 79.08682 176.8231 165.4842 79.08682 177.3126 165.4614 79.08682 177.5731 165.4842 79.08682 177.8336 166.7009 79.08682 176.0959 166.4484 79.08682 176.1636 166.2114 79.08682 176.2741 166.2114 79.08682 178.8721 166.4484 79.08682 178.9826 168.1105 79.08682 176.6089 167.9256 79.08682 176.424 167.7114 79.08682 176.2741 167.4744 79.08682 176.1636 167.2219 79.08682 176.0959 166.9614 79.08682 176.0731 172.2864 79.08682 164.3241 178.1244 79.08682 230.9307 178.3614 79.08682 230.8202 178.5756 79.08682 230.6702 178.7604 79.08682 230.4853 178.9104 79.08682 230.2711 179.0886 79.08682 229.2607 179.0209 79.08682 229.0081 178.9104 79.08682 228.7712 178.7604 79.08682 228.557 179.0209 79.08682 230.0342 179.0886 79.08682 229.7816 179.1114 79.08682 229.5212 178.5756 79.08682 228.3721 178.3614 79.08682 228.2221 178.1244 79.08682 228.1116 176.6472 79.08682 228.3721 176.8614 79.08682 228.2221 177.0984 79.08682 228.1116 176.4623 79.08682 230.4853 176.3123 79.08682 230.2711 176.2018 79.08682 230.0342 177.8719 79.08682 228.0439 177.6114 79.08682 228.0212 177.3509 79.08682 228.0439 176.4623 79.08682 228.557 176.3123 79.08682 228.7712 176.2018 79.08682 229.0081 176.1342 79.08682 229.2607 176.1114 79.08682 229.5212 176.1342 79.08682 229.7816 176.6472 79.08682 230.6702 176.8614 79.08682 230.8202 177.0984 79.08682 230.9307 177.3509 79.08682 230.9984 177.6114 79.08682 231.0212 177.8719 79.08682 230.9984 178.5756 79.08682 168.0741 178.7604 79.08682 167.8892 178.9104 79.08682 167.675 177.6114 79.08682 168.425 177.8719 79.08682 168.4022 178.1244 79.08682 168.3346 178.3614 79.08682 168.2241 179.0209 79.08682 167.4381 179.0886 79.08682 167.1855 179.1114 79.08682 166.925 179.0886 79.08682 166.6646 179.0209 79.08682 166.412 178.9104 79.08682 166.175 178.7604 79.08682 165.9609 176.2018 79.08682 167.4381 176.3123 79.08682 167.675 176.4623 79.08682 167.8892 176.6472 79.08682 168.0741 176.8614 79.08682 168.2241 177.0984 79.08682 165.5155 176.8614 79.08682 165.626 176.6472 79.08682 165.776 176.4623 79.08682 165.9609 176.3123 79.08682 166.175 176.2018 79.08682 166.412 176.1342 79.08682 166.6646 176.1114 79.08682 166.925 176.1342 79.08682 167.1855 177.0984 79.08682 168.3346 177.3509 79.08682 168.4022 178.5756 79.08682 165.776 178.3614 79.08682 165.626 178.1244 79.08682 165.5155 177.8719 79.08682 165.4478 177.6114 79.08682 165.425 177.3509 79.08682 165.4478 219.1719 79.08682 228.0439 218.9114 79.08682 228.0212 218.6509 79.08682 228.0439 218.3984 79.08682 228.1116 217.9472 79.08682 230.6702 218.1614 79.08682 230.8202 219.6614 79.08682 230.8202 219.4244 79.08682 230.9307 219.1719 79.08682 230.9984 218.3984 79.08682 230.9307 218.6509 79.08682 230.9984 218.9114 79.08682 231.0212 219.8756 79.08682 230.6702 220.0605 79.08682 230.4853 220.2104 79.08682 230.2711 219.8756 79.08682 228.3721 219.6614 79.08682 228.2221 219.4244 79.08682 228.1116 218.1614 79.08682 228.2221 217.9472 79.08682 228.3721 217.7623 79.08682 228.557 217.4342 79.08682 229.7816 217.5018 79.08682 230.0342 220.3209 79.08682 230.0342 220.3886 79.08682 229.7816 217.4114 79.08682 229.5212 217.4342 79.08682 229.2607 217.6123 79.08682 230.2711 217.7623 79.08682 230.4853 220.4114 79.08682 229.5212 220.3886 79.08682 229.2607 220.3209 79.08682 229.0081 220.2104 79.08682 228.7712 220.0605 79.08682 228.557 217.6123 79.08682 228.7712 217.5018 79.08682 229.0081 224.2364 79.08682 223.7981 186.0614 79.08682 187.1481 210.4614 79.08682 187.1481 224.2364 79.08682 187.1481 224.2364 79.08682 172.6481 220.3886 79.08682 167.1855 220.4114 79.08682 166.925 224.2364 79.08682 164.3241 218.9114 79.08682 168.425 219.1719 79.08682 168.4022 219.4244 79.08682 168.3346 219.6614 79.08682 168.2241 219.8756 79.08682 168.0741 219.6614 79.08682 165.626 219.4244 79.08682 165.5155 220.0605 79.08682 167.8892 220.2104 79.08682 167.675 220.3209 79.08682 167.4381 220.3886 79.08682 166.6646 220.3209 79.08682 166.412 220.2104 79.08682 166.175 220.0605 79.08682 165.9609 219.8756 79.08682 165.776 218.3984 79.08682 165.5155 218.1614 79.08682 165.626 217.5018 79.08682 167.4381 217.6123 79.08682 167.675 217.7623 79.08682 167.8892 218.6509 79.08682 168.4022 218.3984 79.08682 168.3346 217.9472 79.08682 168.0741 218.1614 79.08682 168.2241 219.1719 79.08682 165.4478 218.9114 79.08682 165.425 218.6509 79.08682 165.4478 217.6123 79.08682 166.175 217.5018 79.08682 166.412 217.9472 79.08682 165.776 217.7623 79.08682 165.9609 217.4342 79.08682 166.6646 217.4114 79.08682 166.925 217.4342 79.08682 167.1855 230.0744 79.08682 220.2826 229.8218 79.08682 220.3503 229.5614 79.08682 220.3731 231.0386 79.08682 218.6126 230.9709 79.08682 218.3601 234.4114 79.08682 209.2981 230.0744 79.08682 217.4636 230.3114 79.08682 217.5741 230.5256 79.08682 217.724 229.8218 79.08682 217.3959 229.5614 79.08682 217.3731 224.2364 79.08682 209.2981 229.3009 79.08682 217.3959 229.3009 79.08682 220.3503 230.3114 79.08682 220.1721 230.5256 79.08682 220.0222 230.7104 79.08682 219.8373 231.0614 79.08682 218.8731 230.8604 79.08682 218.1231 230.7104 79.08682 217.9089 229.0484 79.08682 217.4636 228.8114 79.08682 217.5741 228.5972 79.08682 217.724 228.0842 79.08682 218.6126 228.0614 79.08682 218.8731 228.0842 79.08682 219.1336 228.1518 79.08682 219.3861 228.2623 79.08682 219.6231 228.4123 79.08682 219.8373 228.5972 79.08682 220.0222 228.8114 79.08682 220.1721 229.0484 79.08682 220.2826 230.8604 79.08682 219.6231 230.9709 79.08682 219.3861 231.0386 79.08682 219.1336 228.4123 79.08682 217.9089 228.2623 79.08682 218.1231 228.1518 79.08682 218.3601 210.4614 79.08682 209.2981 186.0614 79.08682 209.2981 231.0386 79.08682 177.3126 230.9709 79.08682 177.0601 230.8604 79.08682 176.8231 230.7104 79.08682 176.6089 229.5614 79.08682 179.0731 229.8218 79.08682 179.0503 234.4114 79.08682 187.1481 230.0744 79.08682 178.9826 230.3114 79.08682 178.8721 229.0484 79.08682 176.1636 228.8114 79.08682 176.2741 229.3009 79.08682 179.0503 229.0484 79.08682 178.9826 230.5256 79.08682 178.7222 230.7104 79.08682 178.5373 230.8604 79.08682 178.3231 230.5256 79.08682 176.424 230.3114 79.08682 176.2741 230.0744 79.08682 176.1636 228.2623 79.08682 178.3231 228.4123 79.08682 178.5373 228.2623 79.08682 176.8231 228.1518 79.08682 177.0601 228.1518 79.08682 178.0861 228.5972 79.08682 178.7222 228.8114 79.08682 178.8721 230.9709 79.08682 178.0861 231.0386 79.08682 177.8336 231.0614 79.08682 177.5731 229.8218 79.08682 176.0959 229.5614 79.08682 176.0731 229.3009 79.08682 176.0959 228.5972 79.08682 176.424 228.4123 79.08682 176.6089 228.0842 79.08682 177.3126 228.0614 79.08682 177.5731 228.0842 79.08682 177.8336 241.2823 79.08682 201.1775 240.7614 79.08682 201.2231 240.2404 79.08682 201.1775 239.7353 79.08682 201.0422 241.7874 79.08682 201.0422 242.2614 79.08682 200.8212 242.6897 79.08682 200.5212 242.6897 79.08682 195.925 242.2614 79.08682 195.625 241.7874 79.08682 195.404 241.2823 79.08682 195.2687 240.7614 79.08682 195.2231 240.2404 79.08682 195.2687 239.7353 79.08682 195.404 243.0595 79.08682 200.1515 243.3595 79.08682 199.7231 243.5805 79.08682 199.2492 239.2614 79.08682 195.625 238.833 79.08682 195.925 238.4633 79.08682 196.2947 243.7158 79.08682 198.744 243.7614 79.08682 198.2231 243.7158 79.08682 197.7022 243.5805 79.08682 197.197 243.3595 79.08682 196.7231 243.0595 79.08682 196.2947 238.1633 79.08682 196.7231 237.9423 79.08682 197.197 237.807 79.08682 197.7022 237.7614 79.08682 198.2231 237.807 79.08682 198.744 238.4633 79.08682 200.1515 238.833 79.08682 200.5212 239.2614 79.08682 200.8212 237.9423 79.08682 199.2492 238.1633 79.08682 199.7231 160.6114 83.08682 188.6481 179.5397 83.08682 227.223 179.8388 83.08682 227.5221 187.4614 83.08682 227.5221 243.2614 83.08682 163.5628 241.6816 83.08682 162.8262 235.9114 83.08682 164.2241 239.9979 83.08682 162.375 248.1095 83.08682 170.4866 235.9114 83.08682 172.2491 247.6583 83.08682 168.8029 246.9216 83.08682 167.2231 245.9218 83.08682 165.7952 244.6893 83.08682 164.5626 244.2057 83.08682 164.2241 239.9979 83.08682 234.0712 235.9114 83.08682 227.5221 241.6816 83.08682 233.62 243.2614 83.08682 232.8834 244.6893 83.08682 231.8835 245.9218 83.08682 230.651 246.9216 83.08682 229.2231 247.6583 83.08682 227.6433 247.6908 83.08682 227.5221 148.4133 83.08682 225.9596 148.832 83.08682 227.5221 160.6114 83.08682 227.5221 148.8645 83.08682 227.6433 149.6011 83.08682 229.2231 150.6009 83.08682 230.651 151.8335 83.08682 231.8835 153.2614 83.08682 232.8834 154.8412 83.08682 233.62 156.5249 83.08682 234.0712 160.6114 83.08682 224.1971 150.6009 83.08682 165.7952 149.6011 83.08682 167.2231 160.6114 83.08682 172.2491 148.8645 83.08682 168.8029 148.4133 83.08682 170.4866 160.6114 83.08682 164.2241 156.5249 83.08682 162.375 154.8412 83.08682 162.8262 153.2614 83.08682 163.5628 152.3171 83.08682 164.2241 151.8335 83.08682 164.5626 174.7923 83.08682 230.5472 174.657 83.08682 230.0421 179.9095 83.08682 227.5928 180.2095 83.08682 228.0212 180.4305 83.08682 228.4951 176.5853 83.08682 232.3402 176.1114 83.08682 232.1192 175.683 83.08682 231.8193 174.6114 83.08682 229.5212 174.657 83.08682 229.0002 172.2864 83.08682 227.5221 174.7923 83.08682 228.4951 175.0133 83.08682 228.0212 175.3132 83.08682 227.5928 175.3839 83.08682 227.5221 179.5397 83.08682 231.8193 179.1114 83.08682 232.1192 178.6374 83.08682 232.3402 178.1323 83.08682 232.4756 177.6114 83.08682 232.5211 177.0904 83.08682 232.4756 175.3132 83.08682 231.4495 175.0133 83.08682 231.0212 180.5658 83.08682 229.0002 180.6114 83.08682 229.5212 180.5658 83.08682 230.0421 180.4305 83.08682 230.5472 180.2095 83.08682 231.0212 179.9095 83.08682 231.4495 175.683 83.08682 227.223 176.1114 83.08682 226.9231 172.2864 83.08682 224.1971 176.5853 83.08682 226.7021 178.1323 83.08682 226.5667 187.4614 83.08682 224.1971 177.6114 83.08682 226.5212 177.0904 83.08682 226.5667 178.6374 83.08682 226.7021 179.1114 83.08682 226.9231 174.7923 83.08682 167.9511 174.657 83.08682 167.446 172.2864 83.08682 172.2491 178.6374 83.08682 164.106 178.8907 83.08682 164.2241 187.4614 83.08682 164.2241 179.1114 83.08682 164.327 179.5397 83.08682 164.6269 180.4305 83.08682 165.899 180.5658 83.08682 166.4041 180.6114 83.08682 166.925 187.4614 83.08682 172.2491 179.9095 83.08682 164.9967 180.2095 83.08682 165.425 172.2864 83.08682 164.2241 174.6114 83.08682 166.925 174.657 83.08682 166.4041 174.7923 83.08682 165.899 180.5658 83.08682 167.446 180.4305 83.08682 167.9511 180.2095 83.08682 168.425 179.9095 83.08682 168.8534 179.5397 83.08682 169.2232 179.1114 83.08682 169.5231 175.0133 83.08682 165.425 175.3132 83.08682 164.9967 175.683 83.08682 164.6269 178.6374 83.08682 169.7441 178.1323 83.08682 169.8795 177.6114 83.08682 169.925 177.0904 83.08682 169.8795 176.5853 83.08682 169.7441 176.1114 83.08682 169.5231 175.683 83.08682 169.2232 175.3132 83.08682 168.8534 175.0133 83.08682 168.425 176.1114 83.08682 164.327 176.332 83.08682 164.2241 176.5853 83.08682 164.106 177.0904 83.08682 163.9706 177.6114 83.08682 163.925 178.1323 83.08682 163.9706 217.8853 83.08682 169.7441 217.4114 83.08682 169.5231 209.0614 83.08682 172.2491 216.983 83.08682 169.2232 216.6132 83.08682 168.8534 216.3133 83.08682 168.425 216.0923 83.08682 167.9511 215.957 83.08682 167.446 215.9114 83.08682 166.925 209.0614 83.08682 164.2241 215.957 83.08682 166.4041 216.0923 83.08682 165.899 216.3133 83.08682 165.425 216.6132 83.08682 164.9967 216.983 83.08682 164.6269 217.4114 83.08682 164.327 217.632 83.08682 164.2241 224.2364 83.08682 164.2241 221.5095 83.08682 165.425 221.7305 83.08682 165.899 221.8658 83.08682 166.4041 221.9114 83.08682 166.925 224.2364 83.08682 172.2491 221.8658 83.08682 167.446 221.7305 83.08682 167.9511 221.5095 83.08682 168.425 221.2095 83.08682 168.8534 220.4114 83.08682 164.327 220.8397 83.08682 164.6269 221.2095 83.08682 164.9967 220.8397 83.08682 169.2232 220.4114 83.08682 169.5231 219.9375 83.08682 169.7441 219.4323 83.08682 169.8795 218.9114 83.08682 169.925 218.3904 83.08682 169.8795 219.9375 83.08682 164.106 220.1907 83.08682 164.2241 217.8853 83.08682 164.106 218.3904 83.08682 163.9706 218.9114 83.08682 163.925 219.4323 83.08682 163.9706 220.4114 83.08682 232.1192 219.9375 83.08682 232.3402 220.8397 83.08682 231.8193 215.957 83.08682 229.0002 216.0923 83.08682 228.4951 209.0614 83.08682 227.5221 221.8658 83.08682 230.0421 221.7305 83.08682 230.5472 220.8397 83.08682 227.223 221.1389 83.08682 227.5221 224.2364 83.08682 227.5221 221.2095 83.08682 227.5928 221.5095 83.08682 228.0212 221.5095 83.08682 231.0212 221.2095 83.08682 231.4495 219.4323 83.08682 232.4756 218.9114 83.08682 232.5211 218.3904 83.08682 232.4756 217.8853 83.08682 232.3402 217.4114 83.08682 232.1192 216.3133 83.08682 228.0212 216.6132 83.08682 227.5928 216.6839 83.08682 227.5221 221.7305 83.08682 228.4951 221.8658 83.08682 229.0002 221.9114 83.08682 229.5212 216.983 83.08682 231.8193 216.6132 83.08682 231.4495 216.3133 83.08682 231.0212 216.0923 83.08682 230.5472 215.957 83.08682 230.0421 215.9114 83.08682 229.5212 209.0614 83.08682 224.1971 216.983 83.08682 227.223 217.4114 83.08682 226.9231 218.9114 83.08682 226.5212 224.2364 83.08682 224.1971 218.3904 83.08682 226.5667 217.8853 83.08682 226.7021 219.4323 83.08682 226.5667 219.9375 83.08682 226.7021 220.4114 83.08682 226.9231 235.9114 83.08682 207.7981 235.9114 83.08682 224.1971 248.1095 83.08682 225.9596 235.9114 83.08682 188.6481 230.5874 83.08682 216.054 231.0614 83.08682 216.275 228.0614 83.08682 221.4712 227.633 83.08682 221.1712 232.5158 83.08682 219.394 232.3805 83.08682 219.8992 230.0823 83.08682 221.8275 229.5614 83.08682 221.8731 229.0404 83.08682 221.8275 228.5353 83.08682 221.6922 227.2633 83.08682 220.8015 226.9633 83.08682 220.3731 226.7423 83.08682 219.8992 227.2633 83.08682 216.9447 227.633 83.08682 216.575 224.2364 83.08682 207.7981 228.0614 83.08682 216.275 228.5353 83.08682 216.054 229.0404 83.08682 215.9187 229.5614 83.08682 215.8731 230.0823 83.08682 215.9187 232.1595 83.08682 220.3731 231.8595 83.08682 220.8015 231.4897 83.08682 221.1712 231.0614 83.08682 221.4712 230.5874 83.08682 221.6922 231.4897 83.08682 216.575 231.8595 83.08682 216.9447 232.1595 83.08682 217.3731 226.607 83.08682 219.394 226.5614 83.08682 218.8731 226.607 83.08682 218.3522 232.3805 83.08682 217.847 232.5158 83.08682 218.3522 232.5614 83.08682 218.8731 226.7423 83.08682 217.847 226.9633 83.08682 217.3731 226.607 83.08682 178.094 226.5614 83.08682 177.5731 226.607 83.08682 177.0522 226.7423 83.08682 176.547 232.3805 83.08682 178.5992 232.1595 83.08682 179.0731 226.9633 83.08682 176.0731 227.2633 83.08682 175.6447 227.633 83.08682 175.275 232.1595 83.08682 176.0731 232.3805 83.08682 176.547 228.0614 83.08682 174.975 228.5353 83.08682 174.754 229.0404 83.08682 174.6187 229.5614 83.08682 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164.1423 83.08682 217.847 164.3633 83.08682 217.3731 167.4823 83.08682 215.9187 167.9874 83.08682 216.054 209.0614 83.08682 207.7981 187.4614 83.08682 207.7981 164.1423 83.08682 219.8992 164.007 83.08682 219.394 168.4614 83.08682 216.275 168.8898 83.08682 216.575 164.6632 83.08682 216.9447 165.033 83.08682 216.575 165.4614 83.08682 216.275 165.9353 83.08682 216.054 166.4404 83.08682 215.9187 166.9614 83.08682 215.8731 169.7805 83.08682 219.8992 169.5595 83.08682 220.3731 169.2595 83.08682 220.8015 168.8898 83.08682 221.1712 168.4614 83.08682 221.4712 167.9874 83.08682 221.6922 165.9353 83.08682 221.6922 165.4614 83.08682 221.4712 165.033 83.08682 221.1712 167.4823 83.08682 221.8275 166.9614 83.08682 221.8731 166.4404 83.08682 221.8275 169.7805 83.08682 176.547 169.9158 83.08682 177.0522 166.4404 83.08682 174.6187 166.9614 83.08682 174.5731 167.4823 83.08682 174.6187 169.5595 83.08682 179.0731 169.2595 83.08682 179.5015 164.3633 83.08682 179.0731 164.1423 83.08682 178.5992 164.007 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240.7614 81.08682 195.2231 241.2823 81.08682 195.2687 241.7874 81.08682 195.404 242.2614 81.08682 195.625 242.6897 81.08682 195.925 243.0595 81.08682 196.2947 243.3595 81.08682 196.7231 243.5805 81.08682 197.197 243.7158 81.08682 197.7022 243.7614 81.08682 198.2231 243.7158 81.08682 198.744 243.5805 81.08682 199.2492 243.3595 81.08682 199.7231 243.0595 81.08682 200.1515 242.6897 81.08682 200.5212 242.2614 81.08682 200.8212 241.7874 81.08682 201.0422 241.2823 81.08682 201.1775 240.7614 81.08682 201.2231 240.2404 81.08682 201.1775 239.7353 81.08682 201.0422 239.2614 81.08682 200.8212 238.833 81.08682 200.5212 238.4633 81.08682 200.1515 238.1633 81.08682 199.7231 155.7614 81.08682 195.2231 156.2823 81.08682 195.2687 156.7874 81.08682 195.404 157.2614 81.08682 195.625 157.6898 81.08682 195.925 158.0595 81.08682 196.2947 158.3595 81.08682 196.7231 158.5805 81.08682 197.197 158.7158 81.08682 197.7022 158.7614 81.08682 198.2231 158.7158 81.08682 198.744 158.5805 81.08682 199.2492 158.3595 81.08682 199.7231 158.0595 81.08682 200.1515 157.6898 81.08682 200.5212 157.2614 81.08682 200.8212 156.7874 81.08682 201.0422 156.2823 81.08682 201.1775 155.7614 81.08682 201.2231 155.2404 81.08682 201.1775 154.7353 81.08682 201.0422 154.2614 81.08682 200.8212 153.833 81.08682 200.5212 153.4633 81.08682 200.1515 153.1633 81.08682 199.7231 152.9423 81.08682 199.2492 152.807 81.08682 198.744 152.7614 81.08682 198.2231 152.807 81.08682 197.7022 152.9423 81.08682 197.197 153.1633 81.08682 196.7231 153.4633 81.08682 196.2947 153.833 81.08682 195.925 154.2614 81.08682 195.625 154.7353 81.08682 195.404 155.2404 81.08682 195.2687 203.4658 81.08682 229.7022 203.5114 81.08682 230.2231 203.4658 81.08682 230.744 203.3305 81.08682 231.2492 203.1095 81.08682 231.7231 202.8095 81.08682 232.1515 202.4397 81.08682 232.5212 202.0114 81.08682 232.8212 201.5374 81.08682 233.0422 201.0323 81.08682 233.1775 200.5114 81.08682 233.2231 196.0114 81.08682 233.2231 195.4904 81.08682 233.1775 194.9853 81.08682 233.0422 194.5114 81.08682 232.8212 194.083 81.08682 232.5212 193.7133 81.08682 232.1515 193.4133 81.08682 231.7231 193.1923 81.08682 231.2492 193.057 81.08682 230.744 193.0114 81.08682 230.2231 193.057 81.08682 229.7022 193.1923 81.08682 229.197 193.4133 81.08682 228.7231 193.7133 81.08682 228.2947 194.083 81.08682 227.925 194.5114 81.08682 227.625 194.9853 81.08682 227.404 195.4904 81.08682 227.2687 196.0114 81.08682 227.2231 200.5114 81.08682 227.2231 201.0323 81.08682 227.2687 201.5374 81.08682 227.404 202.0114 81.08682 227.625 202.4397 81.08682 227.925 202.8095 81.08682 228.2947 203.1095 81.08682 228.7231 203.3305 81.08682 229.197 193.1923 81.08682 165.197 193.4133 81.08682 164.7231 193.7133 81.08682 164.2947 194.083 81.08682 163.925 194.5114 81.08682 163.625 194.9853 81.08682 163.404 195.4904 81.08682 163.2687 196.0114 81.08682 163.2231 200.5114 81.08682 163.2231 201.0323 81.08682 163.2687 201.5374 81.08682 163.404 202.0114 81.08682 163.625 202.4397 81.08682 163.925 202.8095 81.08682 164.2947 203.1095 81.08682 164.7231 203.3305 81.08682 165.197 203.4658 81.08682 165.7022 203.5114 81.08682 166.2231 203.4658 81.08682 166.744 203.3305 81.08682 167.2492 203.1095 81.08682 167.7231 202.8095 81.08682 168.1515 202.4397 81.08682 168.5212 202.0114 81.08682 168.8212 201.5374 81.08682 169.0422 201.0323 81.08682 169.1775 200.5114 81.08682 169.2231 196.0114 81.08682 169.2231 195.4904 81.08682 169.1775 194.9853 81.08682 169.0422 194.5114 81.08682 168.8212 194.083 81.08682 168.5212 193.7133 81.08682 168.1515 193.4133 81.08682 167.7231 193.1923 81.08682 167.2492 193.057 81.08682 166.744 193.0114 81.08682 166.2231 193.057 81.08682 165.7022 218.9114 81.08682 228.0212 218.6509 81.08682 228.0439 218.3984 81.08682 228.1116 218.1614 81.08682 228.2221 217.9472 81.08682 228.3721 217.7623 81.08682 228.557 217.6123 81.08682 228.7712 217.5018 81.08682 229.0081 217.4342 81.08682 229.2607 217.4114 81.08682 229.5212 217.4342 81.08682 229.7816 217.5018 81.08682 230.0342 217.6123 81.08682 230.2711 217.7623 81.08682 230.4853 217.9472 81.08682 230.6702 218.1614 81.08682 230.8202 218.3984 81.08682 230.9307 218.6509 81.08682 230.9984 218.9114 81.08682 231.0212 219.1719 81.08682 230.9984 219.4244 81.08682 230.9307 219.6614 81.08682 230.8202 219.8756 81.08682 230.6702 220.0605 81.08682 230.4853 220.2104 81.08682 230.2711 220.3209 81.08682 230.0342 220.3886 81.08682 229.7816 220.4114 81.08682 229.5212 220.3886 81.08682 229.2607 220.3209 81.08682 229.0081 220.2104 81.08682 228.7712 220.0605 81.08682 228.557 219.8756 81.08682 228.3721 219.6614 81.08682 228.2221 219.4244 81.08682 228.1116 219.1719 81.08682 228.0439 218.9114 81.08682 165.425 218.6509 81.08682 165.4478 218.3984 81.08682 165.5155 218.1614 81.08682 165.626 217.9472 81.08682 165.776 217.7623 81.08682 165.9609 217.6123 81.08682 166.175 217.5018 81.08682 166.412 217.4342 81.08682 166.6646 217.4114 81.08682 166.925 217.4342 81.08682 167.1855 217.5018 81.08682 167.4381 217.6123 81.08682 167.675 217.7623 81.08682 167.8892 217.9472 81.08682 168.0741 218.1614 81.08682 168.2241 218.3984 81.08682 168.3346 218.6509 81.08682 168.4022 218.9114 81.08682 168.425 219.1719 81.08682 168.4022 219.4244 81.08682 168.3346 219.6614 81.08682 168.2241 219.8756 81.08682 168.0741 220.0605 81.08682 167.8892 220.2104 81.08682 167.675 220.3209 81.08682 167.4381 220.3886 81.08682 167.1855 220.4114 81.08682 166.925 220.3886 81.08682 166.6646 220.3209 81.08682 166.412 220.2104 81.08682 166.175 220.0605 81.08682 165.9609 219.8756 81.08682 165.776 219.6614 81.08682 165.626 219.4244 81.08682 165.5155 219.1719 81.08682 165.4478 229.5614 81.08682 176.0731 229.3009 81.08682 176.0959 229.0484 81.08682 176.1636 228.8114 81.08682 176.2741 228.5972 81.08682 176.424 228.4123 81.08682 176.6089 228.2623 81.08682 176.8231 228.1518 81.08682 177.0601 228.0842 81.08682 177.3126 228.0614 81.08682 177.5731 228.0842 81.08682 177.8336 228.1518 81.08682 178.0861 228.2623 81.08682 178.3231 228.4123 81.08682 178.5373 228.5972 81.08682 178.7222 228.8114 81.08682 178.8721 229.0484 81.08682 178.9826 229.3009 81.08682 179.0503 229.5614 81.08682 179.0731 229.8218 81.08682 179.0503 230.0744 81.08682 178.9826 230.3114 81.08682 178.8721 230.5256 81.08682 178.7222 230.7104 81.08682 178.5373 230.8604 81.08682 178.3231 230.9709 81.08682 178.0861 231.0386 81.08682 177.8336 231.0614 81.08682 177.5731 231.0386 81.08682 177.3126 230.9709 81.08682 177.0601 230.8604 81.08682 176.8231 230.7104 81.08682 176.6089 230.5256 81.08682 176.424 230.3114 81.08682 176.2741 230.0744 81.08682 176.1636 229.8218 81.08682 176.0959 166.9614 81.08682 176.0731 166.7009 81.08682 176.0959 166.4484 81.08682 176.1636 166.2114 81.08682 176.2741 165.9972 81.08682 176.424 165.8123 81.08682 176.6089 165.6623 81.08682 176.8231 165.5518 81.08682 177.0601 165.4842 81.08682 177.3126 165.4614 81.08682 177.5731 165.4842 81.08682 177.8336 165.5518 81.08682 178.0861 165.6623 81.08682 178.3231 165.8123 81.08682 178.5373 165.9972 81.08682 178.7222 166.2114 81.08682 178.8721 166.4484 81.08682 178.9826 166.7009 81.08682 179.0503 166.9614 81.08682 179.0731 167.2219 81.08682 179.0503 167.4744 81.08682 178.9826 167.7114 81.08682 178.8721 167.9256 81.08682 178.7222 168.1105 81.08682 178.5373 168.2604 81.08682 178.3231 168.3709 81.08682 178.0861 168.4386 81.08682 177.8336 168.4614 81.08682 177.5731 168.4386 81.08682 177.3126 168.3709 81.08682 177.0601 168.2604 81.08682 176.8231 168.1105 81.08682 176.6089 167.9256 81.08682 176.424 167.7114 81.08682 176.2741 167.4744 81.08682 176.1636 167.2219 81.08682 176.0959 229.5614 81.08682 217.3731 229.3009 81.08682 217.3959 229.0484 81.08682 217.4636 228.8114 81.08682 217.5741 228.5972 81.08682 217.724 228.4123 81.08682 217.9089 228.2623 81.08682 218.1231 228.1518 81.08682 218.3601 228.0842 81.08682 218.6126 228.0614 81.08682 218.8731 228.0842 81.08682 219.1336 228.1518 81.08682 219.3861 228.2623 81.08682 219.6231 228.4123 81.08682 219.8373 228.5972 81.08682 220.0222 228.8114 81.08682 220.1721 229.0484 81.08682 220.2826 229.3009 81.08682 220.3503 229.5614 81.08682 220.3731 229.8218 81.08682 220.3503 230.0744 81.08682 220.2826 230.3114 81.08682 220.1721 230.5256 81.08682 220.0222 230.7104 81.08682 219.8373 230.8604 81.08682 219.6231 230.9709 81.08682 219.3861 231.0386 81.08682 219.1336 231.0614 81.08682 218.8731 231.0386 81.08682 218.6126 230.9709 81.08682 218.3601 230.8604 81.08682 218.1231 230.7104 81.08682 217.9089 230.5256 81.08682 217.724 230.3114 81.08682 217.5741 230.0744 81.08682 217.4636 229.8218 81.08682 217.3959 166.9614 81.08682 217.3731 166.7009 81.08682 217.3959 166.4484 81.08682 217.4636 166.2114 81.08682 217.5741 165.9972 81.08682 217.724 165.8123 81.08682 217.9089 165.6623 81.08682 218.1231 165.5518 81.08682 218.3601 165.4842 81.08682 218.6126 165.4614 81.08682 218.8731 165.4842 81.08682 219.1336 165.5518 81.08682 219.3861 165.6623 81.08682 219.6231 165.8123 81.08682 219.8373 165.9972 81.08682 220.0222 166.2114 81.08682 220.1721 166.4484 81.08682 220.2826 166.7009 81.08682 220.3503 166.9614 81.08682 220.3731 167.2219 81.08682 220.3503 167.4744 81.08682 220.2826 167.7114 81.08682 220.1721 167.9256 81.08682 220.0222 168.1105 81.08682 219.8373 168.2604 81.08682 219.6231 168.3709 81.08682 219.3861 168.4386 81.08682 219.1336 168.4614 81.08682 218.8731 168.4386 81.08682 218.6126 168.3709 81.08682 218.3601 168.2604 81.08682 218.1231 168.1105 81.08682 217.9089 167.9256 81.08682 217.724 167.7114 81.08682 217.5741 167.4744 81.08682 217.4636 167.2219 81.08682 217.3959 177.6114 81.08682 228.0212 177.3509 81.08682 228.0439 177.0984 81.08682 228.1116 176.8614 81.08682 228.2221 176.6472 81.08682 228.3721 176.4623 81.08682 228.557 176.3123 81.08682 228.7712 176.2018 81.08682 229.0081 176.1342 81.08682 229.2607 176.1114 81.08682 229.5212 176.1342 81.08682 229.7816 176.2018 81.08682 230.0342 176.3123 81.08682 230.2711 176.4623 81.08682 230.4853 176.6472 81.08682 230.6702 176.8614 81.08682 230.8202 177.0984 81.08682 230.9307 177.3509 81.08682 230.9984 177.6114 81.08682 231.0212 177.8719 81.08682 230.9984 178.1244 81.08682 230.9307 178.3614 81.08682 230.8202 178.5756 81.08682 230.6702 178.7604 81.08682 230.4853 178.9104 81.08682 230.2711 179.0209 81.08682 230.0342 179.0886 81.08682 229.7816 179.1114 81.08682 229.5212 179.0886 81.08682 229.2607 179.0209 81.08682 229.0081 178.9104 81.08682 228.7712 178.7604 81.08682 228.557 178.5756 81.08682 228.3721 178.3614 81.08682 228.2221 178.1244 81.08682 228.1116 177.8719 81.08682 228.0439 177.6114 81.08682 165.425 177.3509 81.08682 165.4478 177.0984 81.08682 165.5155 176.8614 81.08682 165.626 176.6472 81.08682 165.776 176.4623 81.08682 165.9609 176.3123 81.08682 166.175 176.2018 81.08682 166.412 176.1342 81.08682 166.6646 176.1114 81.08682 166.925 176.1342 81.08682 167.1855 176.2018 81.08682 167.4381 176.3123 81.08682 167.675 176.4623 81.08682 167.8892 176.6472 81.08682 168.0741 176.8614 81.08682 168.2241 177.0984 81.08682 168.3346 177.3509 81.08682 168.4022 177.6114 81.08682 168.425 177.8719 81.08682 168.4022 178.1244 81.08682 168.3346 178.3614 81.08682 168.2241 178.5756 81.08682 168.0741 178.7604 81.08682 167.8892 178.9104 81.08682 167.675 179.0209 81.08682 167.4381 179.0886 81.08682 167.1855 179.1114 81.08682 166.925 179.0886 81.08682 166.6646 179.0209 81.08682 166.412 178.9104 81.08682 166.175 178.7604 81.08682 165.9609 178.5756 81.08682 165.776 178.3614 81.08682 165.626 178.1244 81.08682 165.5155 177.8719 81.08682 165.4478 176.5853 81.08682 169.7441 177.0904 81.08682 169.8795 177.6114 81.08682 169.925 178.1323 81.08682 169.8795 178.6374 81.08682 169.7441 179.1114 81.08682 169.5231 179.5397 81.08682 169.2232 179.9095 81.08682 168.8534 180.2095 81.08682 168.425 180.4305 81.08682 167.9511 180.5658 81.08682 167.446 180.6114 81.08682 166.925 180.5658 81.08682 166.4041 180.4305 81.08682 165.899 180.2095 81.08682 165.425 179.9095 81.08682 164.9967 179.5397 81.08682 164.6269 179.1114 81.08682 164.327 178.6374 81.08682 164.106 178.1323 81.08682 163.9706 177.6114 81.08682 163.925 177.0904 81.08682 163.9706 176.5853 81.08682 164.106 176.1114 81.08682 164.327 175.683 81.08682 164.6269 175.3132 81.08682 164.9967 175.0133 81.08682 165.425 174.7923 81.08682 165.899 174.657 81.08682 166.4041 174.6114 81.08682 166.925 174.657 81.08682 167.446 174.7923 81.08682 167.9511 175.0133 81.08682 168.425 175.3132 81.08682 168.8534 175.683 81.08682 169.2232 176.1114 81.08682 169.5231 174.657 81.08682 230.0421 174.7923 81.08682 230.5472 175.0133 81.08682 231.0212 175.3132 81.08682 231.4495 175.683 81.08682 231.8193 176.1114 81.08682 232.1192 176.5853 81.08682 232.3402 177.0904 81.08682 232.4756 177.6114 81.08682 232.5211 178.1323 81.08682 232.4756 178.6374 81.08682 232.3402 179.1114 81.08682 232.1192 179.5397 81.08682 231.8193 179.9095 81.08682 231.4495 180.2095 81.08682 231.0212 180.4305 81.08682 230.5472 180.5658 81.08682 230.0421 180.6114 81.08682 229.5212 180.5658 81.08682 229.0002 180.4305 81.08682 228.4951 180.2095 81.08682 228.0212 179.9095 81.08682 227.5928 179.5397 81.08682 227.223 179.1114 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220.1832 173.7468 49.08681 233.2378 173.9471 49.08681 233.4058 174.1735 49.08681 233.5366 165.7548 49.08681 222.0656 165.8002 49.08681 221.8081 165.8001 49.08681 221.5466 159.488 49.08681 219.3184 163.4454 49.08681 220.4488 163.4456 49.08681 222.9063 174.9379 49.08681 230.6828 174.6765 49.08681 230.6828 174.419 49.08681 230.7282 174.1733 49.08681 230.8177 173.9469 49.08681 230.9484 176.1669 49.08681 232.8108 176.2563 49.08681 232.5652 163.9175 49.08681 220.2286 163.6718 49.08681 220.3181 163.2451 49.08681 220.6169 163.077 49.08681 220.8172 162.9463 49.08681 221.0437 174.4192 49.08681 233.626 174.6767 49.08681 233.6714 162.8569 49.08681 221.2894 162.8115 49.08681 221.5469 162.8116 49.08681 221.8083 173.3584 49.08681 231.789 173.313 49.08681 232.0465 174.9382 49.08681 233.6713 175.1957 49.08681 233.6259 175.4414 49.08681 233.5364 176.3016 49.08681 232.3076 176.3016 49.08681 232.0462 164.4367 49.08681 223.1717 164.6942 49.08681 223.1263 164.9399 49.08681 223.0369 163.0772 49.08681 222.5379 163.2453 49.08681 222.7382 173.3131 49.08681 232.3079 173.3585 49.08681 232.5654 165.1663 49.08681 222.9061 165.3666 49.08681 222.738 175.4411 49.08681 230.8175 165.5346 49.08681 222.5377 165.6654 49.08681 222.3113 173.7466 49.08681 231.1165 173.5785 49.08681 231.3168 173.4478 49.08681 231.5432 175.6678 49.08681 233.4057 175.8681 49.08681 233.2376 176.0361 49.08681 233.0373 180.2709 61.2731 233.8902 165.4203 53.08681 219.0424 165.4203 61.2731 219.0424 162.5917 61.2731 216.2142 183.0991 67.62815 231.0616 168.2485 67.62815 216.2137 165.4198 67.62815 213.3855 168.2485 75.08682 216.2137 165.4198 79.08682 213.3855 183.0991 79.08682 231.0616 165.7539 79.08682 218.5496 165.8284 79.08682 218.3449 162.1908 79.08682 216.6151 167.4895 79.08682 217.7401 167.6782 79.08682 217.849 165.0195 79.08682 219.4433 165.9374 79.08682 219.5901 165.8285 79.08682 219.4014 165.9373 79.08682 218.1561 166.0773 79.08682 217.9892 166.2442 79.08682 217.8491 166.4329 79.08682 217.7402 166.6377 79.08682 217.6656 166.8522 79.08682 217.6278 167.8451 79.08682 217.9891 167.9852 79.08682 218.156 167.0701 79.08682 217.6278 167.2847 79.08682 217.6656 178.3282 79.08682 228.4971 178.4951 79.08682 228.6371 166.6379 79.08682 220.0805 166.4331 79.08682 220.006 166.2444 79.08682 219.897 166.0775 79.08682 219.757 165.7539 79.08682 219.1967 165.7161 79.08682 218.9821 165.7161 79.08682 218.7642 176.8944 79.08682 230.5451 177.0831 79.08682 230.654 177.2879 79.08682 230.7285 168.2066 79.08682 218.9819 168.1687 79.08682 219.1964 177.9347 79.08682 228.3136 178.1395 79.08682 228.3881 168.1687 79.08682 218.5494 168.0941 79.08682 218.3446 178.6352 79.08682 228.804 178.7441 79.08682 228.9927 178.8187 79.08682 229.1974 178.8565 79.08682 229.412 178.8566 79.08682 229.6299 178.8188 79.08682 229.8445 176.7275 79.08682 230.405 176.5874 79.08682 230.2381 178.3284 79.08682 230.5449 178.1397 79.08682 230.6539 179.8701 79.08682 234.2911 168.2065 79.08682 218.764 177.0829 79.08682 228.3882 177.2877 79.08682 228.3137 167.9853 79.08682 219.5899 177.5022 79.08682 228.2758 167.4897 79.08682 220.0059 167.2849 79.08682 220.0804 176.4039 79.08682 229.8447 167.0704 79.08682 220.1183 177.9349 79.08682 230.7285 177.7204 79.08682 230.7663 177.5025 79.08682 230.7663 168.0942 79.08682 219.4012 177.7201 79.08682 228.2758 176.4785 79.08682 230.0494 166.8525 79.08682 220.1183 178.7442 79.08682 230.0493 178.6353 79.08682 230.238 178.4953 79.08682 230.4049 176.3661 79.08682 229.4122 176.4039 79.08682 229.1977 167.6784 79.08682 219.8969 176.4784 79.08682 228.9929 176.5873 79.08682 228.8042 167.8453 79.08682 219.7568 176.7273 79.08682 228.6373 176.8942 79.08682 228.4972 176.3661 79.08682 229.6301 123.5545 65.04244 290.6171 145.5231 74.22467 238.9432 105.8752 65.04244 272.941 108.7039 65.04244 275.7692 119.0637 67.62603 265.4075 120.7258 65.04244 287.7889 131.0856 67.62603 277.4272 115.4352 65.04244 298.7379 119.0866 65.04244 289.4284 108.7082 65.04244 285.3681 107.6556 65.04244 282.9604 107.4553 65.04244 283.1285 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107.9557 65.04244 297.2658 108.0451 65.04244 297.5115 115.035 65.04244 290.9597 108.0905 65.04244 297.769 108.0906 65.04244 298.0304 115.2353 65.04244 291.1278 108.0452 65.04244 298.2879 115.4617 65.04244 291.2585 116.4836 65.04244 288.4501 116.7293 65.04244 288.5395 116.9558 65.04244 288.6702 117.1561 65.04244 288.8382 117.3242 65.04244 289.0385 117.4549 65.04244 289.2649 117.5444 65.04244 289.5106 117.455 65.04244 290.5328 117.3243 65.04244 290.7592 117.1563 65.04244 290.9595 116.2264 65.04244 291.3933 115.9649 65.04244 291.3933 113.7662 65.04244 300.1386 115.7074 65.04244 291.3479 111.8793 65.04244 301.2282 111.0151 65.04244 301.5428 114.6466 65.04244 289.5109 114.736 65.04244 289.2652 111.5765 65.04244 289.4636 107.8236 65.04244 282.7601 109.463 65.04244 285.8038 116.2261 65.04244 288.4047 115.9647 65.04244 288.4047 110.1307 65.04244 286.364 111.1269 65.04244 287.7863 115.235 65.04244 288.6703 115.4615 65.04244 288.5396 110.691 65.04244 287.0316 115.7072 65.04244 288.4501 104.4829 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301.2292 103.3614 65.04244 301.9742 105.5357 65.04244 298.9606 105.3676 65.04244 298.7603 105.2369 65.04244 298.5339 99.42675 65.04244 300.1399 105.1474 65.04244 298.2882 97.75749 65.04244 298.7395 105.102 65.04244 298.0307 96.35678 65.04244 297.0705 105.102 65.04244 297.7692 95.26716 65.04244 295.1836 105.1473 65.04244 297.5118 94.95253 65.04244 294.3194 105.2367 65.04244 297.266 105.3675 65.04244 297.0396 106.4657 65.04244 299.3941 105.5072 65.04244 302.3524 106.7271 65.04244 299.3941 107.6861 65.04244 302.3522 106.9846 65.04244 299.3487 106.2082 65.04244 299.3488 105.9625 65.04244 299.2593 105.736 65.04244 299.1286 107.8251 65.04244 298.7601 107.657 65.04244 298.9604 109.8319 65.04244 301.9736 107.4567 65.04244 299.1285 107.2303 65.04244 299.2593 98.58981 65.04244 289.7698 98.58983 65.04244 290.0313 98.54445 65.04244 290.2888 98.45504 65.04244 290.5345 95.73612 65.04244 290.5348 95.64667 65.04244 290.2891 94.14319 65.04244 290.9904 95.60124 65.04244 290.0316 94.14299 65.04244 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106.4639 65.04244 280.4056 106.2064 65.04244 280.451 105.9607 65.04244 280.5404 106.7254 65.04244 280.4055 106.9829 65.04244 280.4509 109.1244 65.04244 277.6583 112.9799 65.04244 279.1532 111.1144 65.04244 278.2452 107.9674 65.04244 281.3021 111.0444 65.04244 278.2246 107.9542 65.04244 281.2658 107.8234 65.04244 281.0394 105.961 65.04244 283.2593 105.366 65.04244 281.0396 105.534 65.04244 280.8393 105.7343 65.04244 280.6712 105.5342 65.04244 282.9606 105.3661 65.04244 282.7603 105.2354 65.04244 282.5339 105.1459 65.04244 282.2882 105.1005 65.04244 282.0307 105.1005 65.04244 281.7692 107.2286 65.04244 280.5403 107.4551 65.04244 280.671 107.6554 65.04244 280.8391 96.35547 65.04244 282.7311 105.7345 65.04244 283.1286 119.0866 61.04244 289.4284 116.2186 61.04244 292.2969 105.2062 43.31155 273.6101 102.1953 43.31155 276.6215 108.0349 43.31155 276.4383 105.024 43.31155 279.4497 107.0647 61.04244 277.4086 104.1967 61.04244 280.2772 165.0195 75.08682 219.4433 162.3167 53.08681 222.1466 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75.08682 219.8969 176.3661 75.08682 229.4122 168.2065 75.08682 218.764 168.1687 75.08682 218.5494 168.0941 75.08682 218.3446 177.7201 75.08682 228.2758 167.4897 75.08682 220.0059 176.3661 75.08682 229.6301 177.0829 75.08682 228.3882 176.8942 75.08682 228.4972 167.8453 75.08682 219.7568 176.7273 75.08682 228.6373 176.5873 75.08682 228.8042 178.8188 75.08682 229.8445 178.7442 75.08682 230.0493 178.6353 75.08682 230.238 178.4953 75.08682 230.4049 178.3284 75.08682 230.5449 178.1397 75.08682 230.6539 177.9349 75.08682 230.7285 165.7539 75.08682 218.5496 165.8284 75.08682 218.3449 165.9373 75.08682 218.1561 166.0773 75.08682 217.9892 166.2442 75.08682 217.8491 166.4329 75.08682 217.7402 166.6377 75.08682 217.6656 163.0772 53.08681 222.5379 162.9464 53.08681 222.3115 162.857 53.08681 222.0658 162.8116 53.08681 221.8083 175.6676 53.08681 230.9482 175.4411 53.08681 230.8175 175.1954 53.08681 230.7281 175.8679 53.08681 231.1163 176.036 53.08681 231.3166 176.1667 53.08681 231.543 176.2562 53.08681 231.7887 176.3016 53.08681 232.0462 164.9396 53.08681 220.318 165.1661 53.08681 220.4487 165.3664 53.08681 220.6167 164.4364 53.08681 220.1832 164.6939 53.08681 220.2286 174.4192 53.08681 233.626 174.6767 53.08681 233.6714 174.1735 53.08681 233.5366 173.9471 53.08681 233.4058 173.7468 53.08681 233.2378 173.5787 53.08681 233.0375 163.4456 53.08681 222.9063 163.2453 53.08681 222.7382 165.5345 53.08681 220.817 165.6652 53.08681 221.0434 165.7547 53.08681 221.2891 164.1752 53.08681 223.1718 163.9178 53.08681 223.1264 173.3585 53.08681 232.5654 173.4479 53.08681 232.8111 163.672 53.08681 223.037 165.8001 53.08681 221.5466 165.8002 53.08681 221.8081 165.7548 53.08681 222.0656 174.1733 53.08681 230.8177 174.419 53.08681 230.7282 165.5346 53.08681 222.5377 174.6765 53.08681 230.6828 165.1663 53.08681 222.9061 164.9399 53.08681 223.0369 165.6654 53.08681 222.3113 174.9379 53.08681 230.6828 164.6942 53.08681 223.1263 164.4367 53.08681 223.1717 173.3131 53.08681 232.3079 173.313 53.08681 232.0465 173.3584 53.08681 231.789 173.4478 53.08681 231.5432 173.5785 53.08681 231.3168 165.3666 53.08681 222.738 173.7466 53.08681 231.1165 173.9469 53.08681 230.9484 174.9382 53.08681 233.6713 175.1957 53.08681 233.6259 175.4414 53.08681 233.5364 175.6678 53.08681 233.4057 175.8681 53.08681 233.2376 176.0361 53.08681 233.0373 176.1669 53.08681 232.8108 176.2563 53.08681 232.5652 176.3016 53.08681 232.3076 164.175 53.08681 220.1832 163.9175 53.08681 220.2286 163.6718 53.08681 220.3181 163.4454 53.08681 220.4488 163.2451 53.08681 220.6169 163.077 53.08681 220.8172 162.9463 53.08681 221.0437 162.8569 53.08681 221.2894 162.8115 53.08681 221.5469 100.1722 69.00072 276.3447 100.2865 70.04244 276.2911 101.1522 70.04244 275.9226 119.7706 65.78013 297.0704 119.6072 65.04244 297.3629 120.574 65.04244 295.3407 119.9084 66.5933 296.8112 120.1841 69.56724 296.2522 120.1123 68.44523 296.4035 120.0136 67.40689 296.6047 99.13009 65.04244 276.8896 99.43259 65.80828 276.7206 101.1521 65.04244 275.9224 99.56499 66.20393 276.6495 99.80955 67.07423 276.5226 100.0125 68.0081 276.4216 120.2054 70.04244 296.2064 120.5737 70.04244 295.3406 120.5771 70.04244 295.3327 121.2785 65.04244 292.9673 121.2137 70.04244 293.2626 121.5831 65.04244 290.5104 121.5456 70.04244 291.1223 121.26 70.04244 292.9645 121.4794 65.04244 288.0368 121.5658 70.04244 288.9566 121.5513 70.04244 290.5101 120.9702 65.04244 285.6139 121.274 70.04244 286.8106 121.4414 70.04244 288.0419 120.0694 65.04244 283.3078 120.6761 70.04244 284.7289 120.9333 70.04244 285.6245 118.8015 65.04244 281.1813 119.7846 70.04244 282.7551 120.0402 70.04244 283.321 117.2012 65.04244 279.2923 118.6182 70.04244 280.9302 118.7853 70.04244 281.1916 115.3119 65.04244 277.6922 115.563 70.04244 277.8755 117.2012 70.04244 279.2923 113.1851 65.04244 276.4248 113.7379 70.04244 276.7095 115.3015 70.04244 277.7084 110.8789 65.04244 275.5244 111.7639 70.04244 275.8184 113.1719 70.04244 276.454 108.4559 65.04244 275.0157 109.6821 70.04244 275.2208 110.8683 70.04244 275.5613 105.9823 65.04244 274.9124 107.536 70.04244 274.9294 108.4508 70.04244 275.0536 103.2301 70.04244 275.2822 103.5282 70.04244 275.236 103.5254 65.04244 275.2174 105.3703 70.04244 274.95 105.9826 70.04244 274.9441 101.1601 70.04244 275.9193 93.17891 67.39365 283.1921 93.28261 66.5933 282.9885 92.73784 65.04244 284.1584 93.42041 65.78013 282.7293 93.58389 65.04244 282.4368 91.59558 65.04244 289.86 91.60021 65.78013 289.5249 91.72332 65.04244 287.946 91.61042 66.5933 289.2315 92.10717 67.39365 286.0155 92.46074 67.39365 284.8791 92.763 67.39365 284.1691 92.10642 67.39365 286.0189 92.10629 65.04244 286.0189 91.84482 67.39365 287.1765 91.7507 67.39365 287.9493 91.62234 67.39365 289.0034 94.0781 67.39365 298.1651 93.95369 66.5933 297.9735 94.69442 65.04244 299.0302 93.79811 65.78013 297.7246 93.62651 65.04244 297.4367 99.06101 65.04244 302.8703 98.77313 65.78013 302.6987 97.46733 65.04244 301.8026 98.52417 66.5933 302.5432 95.98746 67.39365 300.505 95.18003 67.39365 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88.24245 288.0328 104.933 94.74244 288.0328 104.8049 94.74244 288.1686 104.6341 88.24245 288.3498 104.6341 94.74244 288.3498 104.5657 94.74244 288.4538 104.3947 88.24245 288.714 104.3947 94.74244 288.714 104.3701 94.74244 288.771 104.2222 88.24245 289.1141 104.2222 94.74244 289.1141 104.1361 94.74244 289.4777 104.1218 88.24245 289.5382 104.1218 94.74244 289.5382 104.1038 94.74244 289.8491 104.0966 88.24245 289.9732 104.0966 94.74244 289.9732 104.1256 94.74244 290.2206 104.1473 88.24245 290.4061 104.1473 94.74244 290.4061 104.2009 94.74244 290.5849 104.2724 88.24245 290.8235 104.2724 94.74244 290.8235 104.3283 94.74244 290.9347 101.5149 89.74245 295.6302 101.5149 92.94245 295.6302 100.3166 92.94245 294.2844 100.3166 88.24245 294.2844 105.9378 92.94245 282.2698 105.9378 88.24245 282.2698 104.1732 89.74245 282.6347 104.1732 92.94245 282.6347 113.5322 92.94245 293.1453 113.5322 88.24245 293.1453 114.0985 89.74245 291.4346 114.0985 92.94245 291.4346 100.3262 94.54244 295.6397 100.248 94.54244 295.5519 100.2474 94.74244 295.5524 114.1661 94.74244 293.7646 114.1659 94.13442 293.7645 113.6762 94.74244 294.6024 114.1467 94.10131 293.8023 114.0917 93.98899 293.9071 114.0412 93.86679 294.0001 114.0214 93.81243 294.0357 113.9787 93.67704 294.1116 113.943 93.53582 294.1735 113.9148 93.38922 294.2217 113.9043 93.31972 294.2394 113.8876 93.16648 294.2674 113.8795 93.01204 294.2809 113.8786 92.94245 294.2824 114.3569 94.39807 293.3656 114.294 94.32748 293.503 114.4203 94.45552 293.2198 114.5573 94.74244 292.8764 114.5098 94.51295 293.0004 114.4484 94.47651 293.153 114.2323 94.24396 293.6321 114.2058 94.2034 293.6858 114.8444 94.46747 291.9494 114.8313 94.48392 292.0028 114.8447 94.74244 291.9495 114.8109 94.50243 292.0811 114.6271 94.54244 292.6826 114.5695 94.535 292.8435 114.557 94.53038 292.8764 114.7662 94.52943 292.2431 114.7178 94.54164 292.4055 114.701 94.54244 292.4593 115.0246 94.74244 290.9958 115.0152 93.88346 291.0655 115.0086 93.93968 291.1124 114.9916 94.05693 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294.2824 113.6762 85.74245 294.6024 106.4807 94.74244 281.4006 106.4807 93.78694 281.4007 107.4503 94.74244 281.4429 106.5514 93.67704 281.3999 106.6228 93.53582 281.3999 106.6788 93.38922 281.4002 106.6993 93.31972 281.4005 106.7319 93.16648 281.401 106.7477 93.01204 281.4012 106.7494 92.94245 281.4012 106.1996 94.10131 281.4091 106.3178 93.98899 281.4044 105.5126 94.74244 281.4691 105.5583 94.45552 281.4634 105.7163 94.39807 281.4454 105.8667 94.32748 281.4311 106.0093 94.24396 281.4201 106.0691 94.2034 281.4161 106.4236 93.86679 281.4016 106.4644 93.81243 281.4009 104.5395 94.52943 281.6522 104.5587 94.53085 281.6477 104.5587 94.74244 281.6475 104.7043 94.54164 281.6129 104.7593 94.54244 281.6005 104.9897 94.54244 281.5529 105.1578 94.535 281.5223 105.3235 94.51295 281.4956 105.4864 94.47651 281.4725 105.5127 94.46884 281.4692 103.6622 94.16267 281.922 103.7896 94.2568 281.8764 103.6313 94.74244 281.9335 103.8544 94.29784 281.854 103.9962 94.37381 281.807 104.1445 94.4358 281.7609 104.2989 94.48392 281.716 104.3768 94.50243 281.6945 103.0838 92.94245 282.1592 103.0915 93.09846 282.1557 102.7425 94.74244 282.3233 103.1143 93.25177 282.1454 103.152 93.40211 282.1286 103.1747 93.47086 282.1186 103.2345 93.61597 282.0925 103.3081 93.75359 282.0613 103.3952 93.88346 282.0253 103.4391 93.93968 282.0076 103.5453 94.05693 281.966 103.6313 94.13471 281.9336 103.0838 89.74245 282.1592 102.7425 89.74245 282.3233 101.9039 89.74245 282.8119 101.9039 94.74244 282.8119 101.1266 89.74245 283.3929 101.1266 94.74244 283.3929 100.4205 89.74245 284.0587 100.4205 94.74244 284.0587 99.79488 94.74244 284.8007 99.79488 85.74245 284.8007 100.4205 88.24245 284.0587 100.4205 85.74245 284.0587 101.1266 88.24245 283.3929 101.1266 85.74245 283.3929 101.9039 88.24245 282.8119 101.9039 85.74245 282.8119 102.7425 88.24245 282.3233 102.7425 85.74245 282.3233 103.6313 88.24245 281.9335 103.6313 85.74245 281.9335 104.5587 88.24245 281.6475 104.5587 85.74245 281.6475 105.5126 88.24245 281.4691 105.5126 85.74245 281.4691 106.4807 88.24245 281.4006 106.4807 85.74245 281.4006 106.7494 88.24245 281.4012 107.4503 85.74245 281.4429 99.51165 94.2034 294.5976 99.44028 94.10131 294.4881 99.1321 94.74244 293.9677 99.64444 94.74244 294.7919 99.64463 94.34264 294.7918 99.62582 94.32748 294.7654 99.54494 94.24396 294.6474 99.37709 93.98899 294.3881 99.32176 93.86679 294.2978 99.30077 93.81243 294.2629 99.25649 93.67704 294.188 99.2207 93.53582 294.1262 99.19304 93.38922 294.0776 99.18296 93.31972 294.0596 99.16709 93.16648 294.0312 99.15941 93.01204 294.0174 99.85181 94.47651 295.074 99.80792 94.45552 295.0163 99.71341 94.39807 294.8885 100.1698 94.54244 295.464 100.0592 94.535 295.3337 99.95319 94.51295 295.2036 100.8866 94.37381 296.1973 100.7725 94.4358 296.092 100.9331 94.74244 296.2392 100.6565 94.48392 295.9808 100.5988 94.50243 295.9239 100.4809 94.52943 295.8042 100.3644 94.54164 295.6811 101.6478 92.94245 296.8114 101.6409 93.09846 296.8065 101.6927 94.74244 296.8433 101.6206 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285.4126 114.279 94.74244 286.2647 114.279 85.74245 286.2647 113.094 94.74244 295.3789 113.094 85.74245 295.3789 112.4271 94.74244 296.084 112.4271 85.74245 296.084 111.6841 94.74244 296.7084 111.6841 85.74245 296.7084 110.8748 94.74244 297.2441 110.8748 85.74245 297.2441 110.0098 94.74244 297.684 110.0098 85.74245 297.684 109.1002 94.74244 298.0224 109.1002 85.74245 298.0224 108.1579 94.74244 298.255 108.1579 85.74245 298.255 107.1953 94.74244 298.3786 107.1953 85.74245 298.3786 106.2249 94.74244 298.3918 106.2249 85.74245 298.3918 99.12715 85.74245 296.5499 98.47295 94.74244 295.7328 98.47295 85.74245 295.7328 97.90773 94.74244 294.8518 97.90773 85.74245 294.8518 97.4377 94.74244 293.9166 97.4377 85.74245 293.9166 97.068 94.74244 292.9373 97.068 85.74245 292.9373 96.80269 94.74244 291.9248 96.80269 85.74245 291.9248 96.64467 94.74244 290.8901 96.64467 85.74245 290.8901 96.59568 94.74244 289.8445 96.59568 85.74245 289.8445 96.65625 94.74244 288.7995 96.65625 85.74245 288.7995 96.82571 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288.8371 108.665 94.90412 288.5066 107.917 95.68183 287.9969 107.828 95.5905 287.8969 107.7489 95.48023 287.8081 107.6817 95.35349 287.7326 107.6278 95.21308 287.6721 108.967 95.06217 289.1761 108.8212 95.06217 288.807 108.6465 94.95234 288.4858 107.796 96.05339 288.1419 107.6699 95.96207 288.0003 107.5543 95.8435 287.8704 107.4517 95.70034 287.7552 107.3644 95.53577 287.6572 107.2944 95.35349 287.5786 107.5644 94.90412 287.6009 107.2121 94.95234 287.4862 109.0331 95.15755 289.5313 108.9276 95.21308 289.1318 108.7846 95.15755 288.7659 108.6234 94.99588 288.4599 107.7126 96.40025 288.3985 107.5511 96.32534 288.2172 107.3988 96.21506 288.0462 107.2592 96.07189 287.8893 107.1353 95.89904 287.7502 107.0299 95.70034 287.6318 106.9454 95.48023 287.5369 106.846 94.99588 287.4254 109.0448 95.24365 289.8947 108.982 95.35349 289.4738 108.8737 95.35349 289.0713 108.7389 95.24365 288.7146 108.5963 95.03376 288.4294 107.6625 96.69156 288.7542 107.4704 96.64802 288.5385 107.2848 96.56192 288.33 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289.9147 106.6112 97.22849 289.6365 106.3661 97.17295 289.3613 106.1294 97.06312 289.0954 105.9061 96.90145 288.8447 105.7014 96.69156 288.6148 105.5197 96.43812 288.4107 105.3653 96.14681 288.2373 105.2414 95.82412 288.0981 105.0957 95.11401 287.9345 108.3193 95.47727 291.5548 108.4713 95.79996 291.1699 108.5563 96.05339 290.7285 108.5845 96.21506 290.2539 108.5701 96.27059 289.7734 108.5296 96.21506 289.3161 108.4803 96.05339 288.9105 108.4382 95.79996 288.5822 108.4163 95.47727 288.3523 108.4233 95.11401 288.2351 107.4897 96.69156 291.1849 107.2849 96.90145 290.955 107.0617 97.06312 290.7043 106.8249 97.17295 290.4384 106.5799 97.22849 290.1632 106.3321 97.22849 289.885 106.0871 97.17295 289.6098 105.8503 97.06312 289.3439 105.6271 96.90145 289.0932 105.4223 96.69156 288.8632 105.2407 96.43812 288.6592 105.0862 96.14681 288.4857 104.9623 95.82412 288.3466 104.8166 95.11401 288.183 108.0402 95.47727 291.8032 108.2287 95.82412 291.4531 108.3502 96.11544 291.0339 108.4121 96.32534 290.5665 108.4268 96.43516 290.0767 108.4095 96.43516 289.5932 108.3773 96.32534 289.1451 108.3466 96.11544 288.7602 108.3316 95.82412 288.4625 108.3431 95.47727 288.2701 108.3866 95.10571 288.194 107.3682 96.40025 291.6041 107.1906 96.64802 291.4047 106.9905 96.85323 291.1799 106.7722 97.01129 290.9348 106.5407 97.11865 290.6748 106.3012 97.17295 290.4058 106.0589 97.17295 290.1338 105.8194 97.11865 289.8647 105.5879 97.01129 289.6048 105.3696 96.85323 289.3597 105.1695 96.64802 289.1349 104.9919 96.40025 288.9354 104.8409 96.11544 288.7658 104.7197 95.79996 288.6298 104.5773 95.10571 288.4698 107.7289 95.46086 292.0092 107.9497 95.82412 291.7016 108.1049 96.14681 291.3139 108.1992 96.40025 290.8643 108.2426 96.56192 290.3761 108.249 96.61745 289.8771 108.2345 96.56192 289.3966 108.2158 96.40025 288.9637 108.2082 96.14681 288.6048 108.2238 95.82412 288.3414 108.2706 95.46086 288.1887 108.3512 95.0893 288.1542 107.1921 96.05339 291.9432 107.0479 96.32534 291.7813 106.8783 96.56192 291.5909 106.6872 96.75785 291.3762 106.4788 96.90876 291.1422 106.2578 97.01129 290.894 106.0291 97.06312 290.6371 105.7977 97.06312 290.3774 105.569 97.01129 290.1205 105.348 96.90876 289.8723 105.1396 96.75785 289.6382 104.9485 96.56192 289.4236 104.7789 96.32534 289.2332 104.6347 96.05339 289.0712 104.5191 95.75218 288.9413 107.0857 95.06513 292.33 107.3922 95.42839 292.168 107.6404 95.79996 291.9098 107.8258 96.14681 291.5624 107.9504 96.43812 291.1405 108.0216 96.64802 290.6648 108.0514 96.75785 290.1615 108.0551 96.75785 289.6593 108.0489 96.64802 289.1881 108.0487 96.43812 288.776 108.0682 96.14681 288.4476 108.1172 95.79996 288.2217 108.2006 95.42839 288.1101 108.3179 95.06513 288.1168 106.9592 95.68183 292.1879 106.8516 95.96207 292.0671 106.7174 96.21506 291.9164 106.5597 96.43516 291.7392 106.3819 96.61745 291.5396 106.188 96.75785 291.3218 105.9824 96.85323 291.0909 105.7696 96.90145 290.8519 105.5544 96.90145 290.6103 105.3416 96.85323 290.3713 105.136 96.75785 290.1404 104.9421 96.61745 289.9226 104.7643 96.43516 289.7229 104.6065 96.21506 289.5458 104.4724 95.96207 289.3951 104.3648 95.68183 289.2743 104.3831 95.0893 288.7886 104.2383 95.06513 289.1322 104.1461 95.03376 289.493 106.7167 95.03376 292.3799 107.0378 95.38061 292.2762 107.3077 95.75218 292.0731 107.5193 96.11544 291.7738 107.6713 96.43812 291.3889 107.7687 96.69156 290.9365 107.8214 96.85323 290.44 107.8431 96.90876 289.9274 107.8495 96.85323 289.4284 107.8568 96.69156 288.9724 107.8797 96.43812 288.5862 107.9298 96.11544 288.2922 108.0142 95.75218 288.106 108.1347 95.38061 288.036 108.2873 95.03376 288.0824 106.6735 95.31857 292.3313 106.6025 95.5905 292.2516 106.5054 95.8435 292.1425 106.3842 96.07189 292.0065 106.2418 96.27059 291.8465 106.0813 96.43516 291.6663 105.9063 96.56192 291.4697 105.7206 96.64802 291.2612 105.5285 96.69156 291.0455 105.3343 96.69156 290.8273 105.1422 96.64802 290.6116 104.9565 96.56192 290.4031 104.7815 96.43516 290.2065 104.621 96.27059 290.0263 104.4786 96.07189 289.8663 104.3575 95.8435 289.7303 104.2603 95.5905 289.6212 106.3074 95.24365 292.3321 106.2457 95.48023 292.2627 106.1612 95.70034 292.1678 106.0558 95.89904 292.0495 105.9319 96.07189 291.9104 105.7922 96.21506 291.7535 105.64 96.32534 291.5825 105.4785 96.40025 291.4011 105.3114 96.43812 291.2135 105.1423 96.43812 291.0237 104.9752 96.40025 290.836 104.8137 96.32534 290.6546 104.6614 96.21506 290.4836 104.5218 96.07189 290.3268 104.3979 95.89904 290.1876 104.2925 95.70034 290.0693 104.208 95.48023 289.9744 104.1087 94.99588 289.8628 105.9789 94.95234 292.3135 105.9478 95.15755 292.2785 105.8966 95.35349 292.2211 105.8267 95.53577 292.1425 105.7394 95.70034 292.0445 105.6368 95.8435 291.9292 105.5211 95.96207 291.7994 105.395 96.05339 291.6577 105.2613 96.11544 291.5075 105.1229 96.14681 291.3521 104.9829 96.14681 291.1949 104.8445 96.11544 291.0394 104.7107 96.05339 290.8892 104.5846 95.96207 290.7476 104.4689 95.8435 290.6177 104.3663 95.70034 290.5025 104.2791 95.53577 290.4045 104.2091 95.35349 290.3259 104.1579 95.15755 290.2684 104.1463 95.24365 289.905 104.1893 95.31857 289.5415 104.2862 95.38061 289.186 104.4346 95.42839 288.8464 104.6312 95.46086 288.5304 104.8718 95.47727 288.2449 105.1508 95.47727 287.9964 105.4622 95.46086 287.7905 105.7988 95.42839 287.6316 106.1533 95.38061 287.5235 106.5176 95.31857 287.4684 106.8836 95.24365 287.4676 107.2433 95.15755 287.5212 107.5884 95.06217 287.6278 107.9114 94.95965 287.7853 108.205 94.85227 287.99 104.1268 94.95234 290.2335 105.6026 95.06217 292.1718 105.5632 95.21308 292.1276 105.5093 95.35349 292.0671 105.4421 95.48023 291.9916 105.3631 95.5905 291.9028 105.274 95.68183 291.8028 105.1769 95.75218 291.6937 105.0738 95.79996 291.578 104.9672 95.82412 291.4583 104.8594 95.82412 291.3372 104.7528 95.79996 291.2174 104.6498 95.75218 291.1018 104.5527 95.68183 290.9927 104.4636 95.5905 290.8926 104.3846 95.48023 290.8039 104.3173 95.35349 290.7284 104.2634 95.21308 290.6679 104.224 95.06217 290.6236 104.2001 94.90412 290.5967 105.2959 94.85227 292.0327 105.2797 94.95965 292.0144 105.2529 95.06217 291.9843 105.2163 95.15755 291.9432 105.1706 95.24365 291.8919 105.1169 95.31857 291.8316 105.0564 95.38061 291.7637 104.9904 95.42839 291.6896 104.9204 95.46086 291.611 104.848 95.47727 291.5296 104.7748 95.47727 291.4474 104.7023 95.46086 291.366 104.6324 95.42839 291.2874 104.5664 95.38061 291.2133 104.5059 95.31857 291.1454 104.4522 95.24365 291.0851 104.4065 95.15755 291.0338 104.3699 95.06217 290.9927 104.3431 94.95965 290.9626 104.9943 94.79798 291.819 105.2186 93.74245 283.2407 105.1408 93.74245 282.3385 104.9321 93.74245 282.3817 113.8712 93.74245 292.4207 113.9382 93.74245 292.2184 113.051 93.74245 292.0369 113.9088 88.24245 293.5124 113.8392 88.24245 293.3981 113.9378 88.24245 294.1623 113.9761 88.24245 294.0341 99.23297 88.24245 294.1272 106.3786 88.24245 291.3841 106.6396 88.24245 291.3992 106.8993 88.24245 291.3688 106.1503 88.24245 281.6549 106.0675 88.24245 281.76 105.0962 88.24245 289.9439 105.1266 88.24245 290.2036 105.2017 88.24245 290.4541 105.3191 88.24245 290.6877 105.4753 88.24245 290.8973 105.6655 88.24245 291.0767 105.884 88.24245 291.2203 106.1241 88.24245 291.3238 106.2496 88.24245 281.5651 106.0033 88.24245 281.8775 105.9596 88.24245 282.0039 105.9375 88.24245 282.136 113.9925 88.24245 293.9013 113.9866 88.24245 293.7676 113.9584 88.24245 293.6367 99.32485 88.24245 294.2245 99.43167 88.24245 294.3051 99.55044 88.24245 294.3668 106.6158 88.24245 281.41 106.4856 88.24245 281.4409 106.3624 88.24245 281.4931 113.7515 88.24245 293.297 113.6482 88.24245 293.212 99.94407 88.24245 294.4239 99.81027 88.24245 294.4271 99.67783 88.24245 294.4078 107.3071 88.24245 288.5793 107.0669 88.24245 288.4758 106.8125 88.24245 288.4156 100.0755 88.24245 294.3985 100.2008 88.24245 294.3516 107.1497 88.24245 291.2937 107.3833 88.24245 291.1763 107.593 88.24245 291.0201 107.7724 88.24245 290.8299 105.1715 88.24245 289.4284 105.1113 88.24245 289.6829 107.916 88.24245 290.6114 108.0195 88.24245 290.3713 108.0798 88.24245 290.1168 108.0949 88.24245 289.8558 108.0644 88.24245 289.5961 107.9894 88.24245 289.3457 107.872 88.24245 289.112 107.7158 88.24245 288.9023 107.5255 88.24245 288.7229 106.5515 88.24245 288.4005 106.2918 88.24245 288.4309 106.0413 88.24245 288.506 105.8077 88.24245 288.6234 105.598 88.24245 288.7796 105.4186 88.24245 288.9698 105.275 88.24245 289.1883 105.884 94.74244 291.2203 105.6655 94.74244 291.0767 106.5955 94.74244 289.8999 105.4753 94.74244 290.8973 105.3191 94.74244 290.6877 106.6396 94.74244 291.3992 106.3786 94.74244 291.3841 106.1241 94.74244 291.3238 107.3833 94.74244 291.1763 107.1497 94.74244 291.2937 106.8993 94.74244 291.3688 107.916 94.74244 290.6114 107.7724 94.74244 290.8299 107.593 94.74244 291.0201 108.0949 94.74244 289.8558 108.0798 94.74244 290.1168 108.0195 94.74244 290.3713 107.872 94.74244 289.112 107.9894 94.74244 289.3457 108.0644 94.74244 289.5961 107.3071 94.74244 288.5793 107.5255 94.74244 288.7229 107.7158 94.74244 288.9023 106.5515 94.74244 288.4005 106.8125 94.74244 288.4156 107.0669 94.74244 288.4758 105.8077 94.74244 288.6234 106.0413 94.74244 288.506 106.2918 94.74244 288.4309 105.275 94.74244 289.1883 105.4186 94.74244 288.9698 105.598 94.74244 288.7796 105.0962 94.74244 289.9439 105.1113 94.74244 289.6829 105.1715 94.74244 289.4284 105.2017 94.74244 290.4541 105.1266 94.74244 290.2036 115.0308 89.74245 290.8605 114.2314 89.74245 291.4504 114.3651 89.74245 291.4438 114.7338 89.74245 291.2946 114.8345 89.74245 291.2064 114.919 89.74245 291.1027 114.9851 89.74245 290.9863 114.4958 89.74245 291.415 114.6198 89.74245 291.3648 103.3416 89.74245 282.091 103.2098 89.74245 282.1143 104.1204 89.74245 282.5117 104.0478 89.74245 282.3993 103.9575 89.74245 282.3005 103.852 89.74245 282.2181 103.7343 89.74245 282.1545 103.6076 89.74245 282.1114 103.4755 89.74245 282.0901 101.4348 89.74245 295.7374 101.3921 89.74245 296.5068 101.4598 89.74245 296.6222 101.5459 89.74245 296.7247 101.3737 89.74245 295.8565 101.3333 89.74245 295.9841 101.3147 89.74245 296.1166 101.3185 89.74245 296.2504 101.3445 89.74245 296.3817 115.0308 92.94245 290.8605 114.9851 92.94245 290.9863 114.919 92.94245 291.1027 114.8345 92.94245 291.2064 114.7338 92.94245 291.2946 114.6198 92.94245 291.3648 114.4958 92.94245 291.415 114.3651 92.94245 291.4438 114.2314 92.94245 291.4504 114.0974 93.27921 291.5103 114.0787 93.55513 291.7224 113.9483 93.74205 292.1946 112.4884 93.73941 291.8507 113.9767 93.73593 292.1224 113.989 93.72938 292.0872 111.93 93.7303 291.6658 114.002 93.72244 292.05 111.3802 93.71519 291.4838 114.0132 93.71318 292.0149 114.0295 93.69367 291.958 110.8431 93.6942 291.306 114.0333 93.68913 291.9447 110.3228 93.66749 291.1337 114.0502 93.65813 291.8764 114.0588 93.63449 291.8352 109.8233 93.63526 290.9684 114.064 93.62014 291.8102 114.0696 93.59962 291.7796 109.3842 93.60086 290.823 114.0792 93.55255 291.7191 114.0863 93.49969 291.6628 114.0901 93.45619 291.6245 114.0914 93.44107 291.6112 114.0931 93.41295 291.5897 114.0958 93.34802 291.5468 114.0959 93.34231 291.5438 114.0981 93.2159 291.4842 114.0982 93.20665 291.4804 114.0983 93.17227 291.469 114.0985 93.09711 291.4501 114.0985 93.02045 291.4385 114.0985 93.08128 291.4477 114.231 93.09673 291.4655 114.2282 93.27951 291.525 114.2257 93.34914 291.5614 115.0029 93.6874 291.0821 114.2134 93.50395 291.6784 114.1942 93.60694 291.7981 114.173 93.66744 291.8982 114.1341 93.72406 292.0426 114.8499 94.31977 291.8878 114.0966 93.7468 292.1553 114.5208 94.0298 292.4024 114.5553 94.07221 292.4133 114.568 94.07244 292.3748 114.7073 94.4168 292.4064 114.6916 94.4173 292.4563 114.6783 94.29502 292.4014 114.6637 94.29523 292.4475 114.6885 94.40376 292.4553 114.597 94.14359 292.4265 114.6179 94.17926 292.433 114.6315 94.17929 292.3908 114.6535 94.26948 292.4443 114.3978 93.89562 292.3282 114.3866 93.89524 292.36 114.427 93.93146 292.3728 114.2953 93.82997 292.2987 114.2845 93.82964 292.3278 114.3185 93.8515 292.3385 114.1843 93.78179 292.2661 114.1739 93.7816 292.2928 114.1985 93.79227 292.3006 114.0677 93.75224 292.2311 114.0575 93.75229 292.2561 114.0704 93.75555 292.2602 114.1225 93.73344 292.0794 114.214 93.77669 292.1849 114.241 93.76306 292.1039 114.3261 93.82489 292.2107 114.1551 93.69942 291.9693 114.2531 93.75334 292.0646 114.3545 93.8106 292.1228 114.4303 93.89022 292.2319 114.4895 93.97711 292.3537 114.4776 93.97676 292.3887 114.2754 93.7276 291.9865 114.3673 93.80033 292.0803 114.4603 93.8749 292.1358 114.5239 93.97109 292.248 114.1881 93.62815 291.8296 114.2947 93.69403 291.9109 114.3911 93.77298 291.9958 114.474 93.86386 292.0894 114.5559 93.95439 292.1424 114.6047 94.06554 292.2586 114.3112 93.65273 291.8383 114.4121 93.73725 291.9142 114.4996 93.83448 291.9971 114.5706 93.94241 292.0915 114.639 94.04717 292.1426 114.6707 94.17127 292.2634 114.205 93.55835 291.7359 114.318 93.63043 291.8049 114.4302 93.69326 291.8359 114.5224 93.79605 291.908 114.5981 93.91058 291.9902 114.6547 94.03408 292.0867 114.7074 94.15097 292.1364 114.7204 94.2857 292.2624 114.3303 93.5794 291.7394 114.4379 93.6695 291.8 114.5424 93.74874 291.8226 114.6228 93.86899 291.8924 114.6844 93.99944 291.9754 114.7243 94.13665 292.0751 114.7597 94.26328 292.1238 114.7525 94.40606 292.2556 114.2197 93.44389 291.6261 114.3402 93.52239 291.6792 114.4519 93.61518 291.7297 114.5509 93.72319 291.7835 114.6448 93.81781 291.7987 114.7111 93.95428 291.8679 114.7562 94.0989 291.953 114.7777 94.24762 292.0569 114.7945 94.38139 292.1052 114.2219 93.41518 291.6044 114.3479 93.45964 291.6247 114.4634 93.55455 291.6652 114.5667 93.66477 291.7069 114.6542 93.79016 291.7558 114.7349 93.89874 291.7648 114.7849 94.04984 291.835 114.8118 94.20655 291.9236 114.8137 94.36432 292.0326 114.3508 93.42972 291.6021 114.4727 93.4879 291.6069 114.5799 93.59958 291.6367 114.6718 93.72693 291.6716 114.7453 93.86874 291.7175 114.8106 93.98954 291.7217 114.8425 94.15332 291.7946 114.3558 93.36106 291.5576 114.4762 93.45617 291.5828 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105.6046 93.83778 281.6889 105.6958 93.78152 281.6794 105.7338 93.75425 281.6759 105.8162 93.68592 281.6693 105.8899 93.61129 281.6643 105.9552 93.53086 281.6608 105.9801 93.49532 281.6596 106.0328 93.40747 281.6576 106.0757 93.31678 281.6564 106.1089 93.22347 281.6556 106.121 93.17949 281.6554 106.1401 93.08295 281.6551 106.1493 92.98606 281.6549 106.0675 92.94245 281.76 105.2508 93.88104 281.8353 105.3477 93.85939 281.8184 105.3904 93.84659 281.8117 105.4838 93.81113 281.7983 105.5721 93.7672 281.7875 105.6552 93.7152 281.779 105.6898 93.69001 281.7759 105.7646 93.62688 281.7701 105.8317 93.55799 281.766 105.8909 93.48378 281.7633 105.9134 93.45102 281.7625 105.9612 93.37008 281.7611 106 93.28658 281.7604 106.03 93.20073 281.7601 106.041 93.16029 281.7601 106.0582 93.07155 281.76 106.0666 92.98252 281.76 106.0033 92.94245 281.8775 105.2542 93.81632 281.9417 105.3429 93.79616 281.9256 105.382 93.78426 281.9192 105.4676 93.75127 281.9068 105.5486 93.71043 281.897 105.6248 93.66208 281.8894 105.6565 93.63864 281.8868 105.7252 93.57994 281.8821 105.7867 93.51585 281.879 105.841 93.4468 281.8773 105.8618 93.4163 281.8769 105.9056 93.34095 281.8764 105.9413 93.26318 281.8764 105.9689 93.1832 281.8767 105.9789 93.14551 281.8769 105.9948 93.0628 281.8772 106.0025 92.9798 281.8775 105.9596 92.94245 282.0039 101.5459 92.94245 296.7247 101.4598 92.94245 296.6222 101.3921 92.94245 296.5068 101.3445 92.94245 296.3817 101.3185 92.94245 296.2504 101.3147 92.94245 296.1166 101.3333 92.94245 295.9841 101.3737 92.94245 295.8565 101.4348 92.94245 295.7374 101.4499 93.27921 295.5914 101.2756 93.55513 295.4692 100.9319 93.74205 295.1202 101.9597 93.73941 294.0278 100.9802 93.73593 295.1809 101.0045 93.72938 295.2091 102.3989 93.7303 293.6366 101.0302 93.72244 295.239 102.8314 93.71519 293.2515 101.055 93.71318 295.2662 101.0961 93.69367 295.3088 103.254 93.6942 292.8753 101.1057 93.68913 295.3187 103.6633 93.66749 292.5108 101.1564 93.65813 295.3675 101.1878 93.63449 295.3955 104.0563 93.63526 292.1609 101.2068 93.62014 295.4125 101.2305 93.59962 295.4327 104.4017 93.60086 291.8533 101.2782 93.55255 295.4713 101.3234 93.49969 295.5056 101.3546 93.45619 295.528 101.3655 93.44107 295.5358 101.3833 93.41295 295.548 101.4191 93.34802 295.5718 101.4216 93.34231 295.5734 101.4722 93.2159 295.6051 101.4754 93.20665 295.607 101.4852 93.17227 295.6129 101.5015 93.09711 295.6225 101.5115 93.02045 295.6283 101.5036 93.08128 295.6237 101.4219 93.09673 295.7295 101.3718 93.27951 295.6974 101.3415 93.34914 295.677 101.2463 93.50395 295.6078 101.1522 93.60694 295.5314 101.0761 93.66744 295.463 100.9545 94.19159 296.2453 100.9705 93.72406 295.357 100.8917 93.7468 295.2682 100.4656 94.0298 295.5121 100.4389 94.07221 295.5365 100.4659 94.07244 295.5667 100.3689 94.4168 295.6716 100.3335 94.4173 295.633 100.3877 94.29502 295.6489 100.3551 94.29523 295.6133 100.3359 94.40376 295.6308 100.4067 94.14359 295.5661 100.3905 94.17926 295.5808 100.4203 94.17929 295.6137 100.363 94.26948 295.6061 100.5914 93.89562 295.4427 100.5695 93.89524 295.417 100.5382 93.93146 295.4457 100.6682 93.82997 295.3686 100.6484 93.82964 295.3447 100.6221 93.8515 295.3688 100.7519 93.78179 295.2888 100.7339 93.7816 295.2664 100.715 93.79227 295.2838 100.8405 93.75224 295.2053 100.824 93.75229 295.184 100.814 93.75555 295.1931 100.9445 93.73344 295.3287 100.8073 93.77669 295.3551 100.8641 93.76306 295.419 100.729 93.82489 295.4393 101.0235 93.69942 295.4119 100.892 93.75334 295.4491 100.7909 93.8106 295.5078 100.6585 93.89022 295.5189 100.5234 93.97711 295.5093 100.499 93.97676 295.4815 100.9485 93.7276 295.5075 100.8213 93.80033 295.5401 100.7268 93.8749 295.593 100.5978 93.97109 295.592 101.128 93.62815 295.5103 101.0043 93.69403 295.562 100.8826 93.77298 295.603 100.7601 93.86386 295.628 100.6732 93.95439 295.6724 100.5482 94.06554 295.6566 101.059 93.65273 295.6126 100.9428 93.73725 295.662 100.8273 93.83448 295.6964 100.71 93.94241 295.7106 100.6315 94.04717 295.7443 100.511 94.17127 295.7114 101.2007 93.55835 295.5719 101.0844 93.63043 295.6352 101.0015 93.69326 295.7169 100.893 93.79605 295.7606 100.7839 93.91058 295.7851 100.6721 94.03408 295.7858 100.6027 94.15097 295.8067 100.487 94.2857 295.7549 101.135 93.5794 295.6786 101.0287 93.6695 295.7415 100.957 93.74874 295.8206 100.8563 93.86899 295.8554 100.7537 93.99944 295.8672 100.6474 94.13665 295.8519 100.5874 94.26328 295.8582 100.4769 94.40606 295.7861 101.2884 93.44389 295.6394 101.1822 93.52239 295.7172 101.0827 93.61518 295.7888 100.9865 93.72319 295.8476 100.9265 93.81781 295.9213 100.8334 93.95428 295.9441 100.7371 94.0989 295.9406 100.6364 94.24762 295.9073 100.5862 94.38139 295.8976 101.3061 93.41518 295.6522 101.2256 93.45964 295.7512 101.1327 93.55455 295.8309 101.045 93.66477 295.8996 100.9589 93.79016 295.9509 100.9108 93.89874 296.0163 100.8249 94.04984 296.0245 100.7348 94.20655 296.0035 100.6394 94.36432 295.9506 101.2437 93.42972 295.7649 101.1786 93.4879 295.8682 101.0992 93.59958 295.9461 101.023 93.72693 296.0083 100.9465 93.86874 296.0489 100.9103 93.98954 296.1034 100.8312 94.15332 296.0945 100.7467 94.31977 296.0544 101.2798 93.36106 295.7916 101.1977 93.45617 295.8832 101.1487 93.52796 295.9873 101.0824 93.65635 296.0597 101.0173 93.8001 296.112 100.9497 93.95697 296.1391 100.9249 94.08797 296.1803 100.8519 94.2622 296.1526 101.3966 93.20646 295.7135 101.3104 93.28894 295.8135 101.2355 93.38346 295.9125 101.1692 93.49385 296.004 101.1366 93.57874 296.1055 101.0828 93.7234 296.1689 101.0279 93.88241 296.2083 100.9684 94.05268 296.2192 101.4061 93.17196 295.7196 101.3355 93.21353 295.8309 101.2676 93.30722 295.9366 101.2099 93.41574 296.0366 101.1591 93.54177 296.1241 101.1428 93.63894 296.2196 101.1004 93.79899 296.2709 101.0546 93.9718 296.2946 101.0021 94.15345 296.2873 101.345 93.178 295.8373 101.2937 93.22765 295.9558 101.2444 93.33386 296.0635 101.2037 93.45703 296.1604 101.1676 93.59867 296.2403 101.1669 93.70698 296.3267 101.1348 93.88121 296.3629 101.0967 94.06601 296.3688 101.5214 93.22595 296.7066 101.5397 93.0854 296.7201 101.4543 93.0727 296.618 101.4913 93.36392 296.684 101.438 93.20085 296.6056 101.3872 93.06072 296.503 101.4732 93.42709 296.6705 101.411 93.32679 296.5849 101.3726 93.17716 296.4918 101.3402 93.0498 296.3783 101.4258 93.56057 296.6344 101.3949 93.38452 296.5725 101.3486 93.29174 296.4731 101.3272 93.15555 296.3683 101.3146 93.04024 296.2474 101.368 93.6874 296.5897 101.3523 93.50667 296.5394 101.3342 93.34432 296.4618 101.3057 93.25973 296.3515 101.3029 93.13661 296.2385 101.3111 93.0323 296.114 101.3002 93.80734 296.5362 101.3003 93.62299 296.4983 101.2961 93.45574 296.4318 101.2929 93.30759 296.3414 101.2836 93.23164 296.2236 101.3005 93.12088 296.1061 101.3299 93.02621 295.9817 101.2663 93.85934 296.5091 101.2391 93.73322 296.4491 101.2495 93.56206 296.3944 101.2588 93.40914 296.3144 101.2721 93.27533 296.2146 101.2829 93.20825 296.0929 101.32 93.10877 295.9747 101.3704 93.02214 295.8544 101.185 93.96793 296.4428 101.2084 93.78109 296.4241 101.1945 93.66305 296.3496 101.217 93.50624 296.2808 101.2414 93.36814 296.1905 101.2723 93.24844 296.0849 101.3035 93.1902 295.9629 101.3608 93.10065 295.848 101.4315 93.02021 295.7354 100.4493 93.55461 294.541 100.4603 93.57292 294.5592 100.4749 93.5932 294.5821 100.5114 93.63524 294.6362 100.5513 93.67026 294.6912 100.5875 93.69367 294.7375 100.5957 93.69898 294.748 100.6166 93.70948 294.7734 100.6659 93.72769 294.8298 100.6757 93.72975 294.8401 100.7185 93.73873 294.8855 100.3995 93.45638 294.4553 100.4029 93.46572 294.4618 100.4295 93.52188 294.5085 100.3625 93.34197 294.3841 100.3717 93.37744 294.4028 100.3802 93.40462 294.4193 100.3218 93.0812 294.2966 100.3257 93.13108 294.3056 100.3295 93.16583 294.3142 100.3368 93.2158 294.3301 100.3402 93.23914 294.3375 100.3541 93.30974 294.3671 100.3169 92.97724 294.2851 100.3197 93.05446 294.2918 100.1773 94.4173 295.4576 100.68 93.75229 295.0223 100.6697 93.75555 295.0311 100.5877 93.7816 295.1022 100.5682 93.79227 295.119 100.5 93.82964 295.1781 100.4731 93.8515 295.2014 100.4191 93.89524 295.2481 100.387 93.93146 295.2759 100.3469 93.97676 295.3106 100.3127 94.0298 295.3403 100.2853 94.07221 295.364 100.2522 94.14359 295.3927 100.2357 94.17926 295.407 100.2075 94.26948 295.4314 100.1994 94.29523 295.4384 100.1797 94.40376 295.4555 100.4356 93.82755 295.1095 100.35 93.89305 295.1725 100.2722 93.97421 295.227 100.2043 94.06903 295.2716 100.1478 94.17521 295.3052 100.1041 94.29016 295.3271 100.4696 93.76849 294.9763 100.5271 93.77928 295.0395 100.6222 93.74943 294.9642 99.23297 92.94245 294.1272 99.32485 92.94245 294.2245 99.23373 93.00621 294.1285 100.2011 92.97713 294.3523 100.2041 93.05413 294.3588 100.2144 93.1655 294.3804 100.2104 93.1307 294.3721 100.2402 93.31037 294.4323 100.2255 93.23913 294.4033 100.2677 93.40669 294.4839 100.2587 93.37902 294.4675 100.3197 93.52676 294.5735 100.2916 93.4691 294.5264 100.4057 93.64348 294.7034 100.3676 93.60031 294.6482 100.3521 93.57936 294.6249 99.24089 93.14775 294.141 99.25572 93.28829 294.1666 99.26512 93.35208 294.1828 99.29094 93.48682 294.2268 99.32437 93.61682 294.2829 99.36575 93.74171 294.3509 99.38539 93.79193 294.3827 99.43712 93.90498 294.465 99.49621 94.00908 294.5565 99.56298 94.10384 294.6568 99.59412 94.14152 294.7026 99.66976 94.21914 294.8111 99.75165 94.28475 294.9246 100.4479 93.67996 294.7607 100.2008 92.94245 294.3516 100.0758 92.97798 294.3992 100.0791 93.05694 294.4057 100.0859 93.13555 294.4191 100.0903 93.17134 294.4275 100.1024 93.24722 294.4506 100.1184 93.32086 294.48 100.1385 93.39208 294.5159 100.1482 93.42087 294.5328 100.1742 93.48596 294.5765 100.2046 93.54627 294.6252 100.2396 93.60145 294.6788 100.2562 93.62345 294.7033 100.2972 93.66884 294.7613 100.3424 93.70719 294.8218 100.4944 93.70954 294.8198 100.392 93.7382 294.8847 100.5163 93.72029 294.8464 100.4153 93.74942 294.913 100.5676 93.73871 294.9055 99.83997 94.33805 295.0427 99.88095 94.35748 295.0961 99.97555 94.39105 295.216 100.0744 94.41107 295.3367 100.0125 94.2721 295.2161 99.92475 94.24133 295.1058 99.88673 94.22342 295.0568 99.80477 94.17417 294.9484 99.72878 94.11347 294.8444 99.65861 94.04164 294.7452 99.62975 94.00678 294.7035 99.56788 93.91921 294.6121 99.51319 93.82315 294.529 99.46535 93.71905 294.4544 99.44721 93.67287 294.4257 99.40902 93.55823 294.3643 99.3782 93.43915 294.3138 99.35443 93.31598 294.2743 99.34577 93.25774 294.2598 99.33213 93.12953 294.2368 99.32556 93.00054 294.2257 99.43167 92.94245 294.3051 100.0632 94.15901 295.2037 99.98217 94.13087 295.103 99.94707 94.11443 295.0582 99.87145 94.06907 294.9593 99.80141 94.01307 294.8645 99.73682 93.9468 294.7743 99.71028 93.91465 294.7364 99.65346 93.83396 294.6535 99.60332 93.74561 294.5784 99.55957 93.65006 294.5111 99.543 93.60773 294.4853 99.50817 93.50283 294.4301 99.48011 93.39411 294.3849 99.4585 93.28189 294.3496 99.45064 93.22889 294.3366 99.43827 93.11235 294.3161 99.43231 92.9952 294.3062 99.55044 92.94245 294.3668 100.1264 94.05448 295.1793 100.0518 94.02879 295.0876 100.0195 94.01371 295.0469 99.95008 93.972 294.957 99.88587 93.92041 294.871 99.82679 93.85936 294.7891 99.80255 93.82977 294.7547 99.75077 93.75553 294.6798 99.7052 93.67437 294.6119 99.66554 93.58676 294.5513 99.65056 93.54802 294.5281 99.61912 93.45213 294.4785 99.59387 93.35295 294.438 99.57447 93.25077 294.4064 99.56742 93.20257 294.3949 99.55635 93.09667 294.3766 99.55101 92.99032 294.3677 99.67783 92.94245 294.4078 100.2005 93.96107 295.1433 100.132 93.93756 295.0602 100.1024 93.9237 295.0232 100.0387 93.88531 294.9416 99.98009 93.83778 294.8634 99.92628 93.78152 294.7892 99.90425 93.75425 294.758 99.85733 93.68592 294.6901 99.81617 93.61129 294.6287 99.78049 93.53086 294.5739 99.76705 93.49532 294.5529 99.73891 93.40747 294.5083 99.71639 93.31678 294.4718 99.69913 93.22347 294.4434 99.69287 93.17949 294.4331 99.68305 93.08295 294.4166 99.67833 92.98606 294.4087 99.81027 92.94245 294.4271 100.2838 93.88104 295.0967 100.2207 93.85939 295.0213 100.1935 93.84659 294.9877 100.1353 93.81113 294.9134 100.0817 93.7672 294.8423 100.0328 93.7152 294.7746 100.0128 93.69001 294.7462 99.97041 93.62688 294.6843 99.93337 93.55799 294.6283 99.90139 93.48378 294.5784 99.88938 93.45102 294.5592 99.86431 93.37008 294.5185 99.84432 93.28658 294.4853 99.82905 93.20073 294.4595 99.82353 93.16029 294.45 99.81488 93.07155 294.4351 99.81072 92.98252 294.4278 99.94407 92.94245 294.4239 100.3742 93.81632 295.0406 100.3159 93.79616 294.9718 100.2909 93.78426 294.9411 100.2373 93.75127 294.8732 100.1883 93.71043 294.8079 100.1437 93.66208 294.7457 100.1256 93.63864 294.7196 100.0871 93.57994 294.6625 100.0538 93.51585 294.6107 100.0251 93.4468 294.5646 100.0143 93.4163 294.5468 99.99194 93.34095 294.509 99.97417 93.26318 294.4782 99.96065 93.1832 294.4541 99.95577 93.14551 294.4453 99.94813 93.0628 294.4314 99.94446 92.9798 294.4247 100.0755 92.94245 294.3985 105.2703 89.05857 299.8116 105.2708 89.06109 299.8117 105.2909 89.05409 299.8144 105.3009 89.03576 299.8157 105.2958 89.03524 299.815 105.2914 89.03556 299.8144 105.2873 89.03652 299.8139 105.2838 89.03791 299.8135 105.2801 89.03993 299.8129 105.2774 89.04214 299.8126 105.2749 89.04464 299.8123 105.2728 89.04758 299.812 105.2716 89.05003 299.8118 105.2707 89.05296 299.8117 105.2703 89.05582 299.8116 105.272 89.06448 299.8119 105.2736 89.06714 299.8121 105.2762 89.06997 299.8124 105.2787 89.0719 299.8128 105.282 89.07363 299.8132 105.7059 89.25727 299.8602 105.303 89.03628 299.816 105.9853 89.24169 299.8812 105.9568 89.36751 299.8741 106.5875 89.43061 299.8974 107.7395 90.15786 299.8342 107.9962 89.89323 299.8004 107.0604 89.85548 299.889 107.3464 89.67612 299.8716 106.9054 89.78671 299.891 106.3824 89.55449 299.8976 106.5874 89.6455 299.895 106.6667 89.45545 299.8996 106.9531 89.54843 299.8878 109.3759 90.37049 299.5007 109.1923 90.30551 299.5568 108.8137 90.63307 299.6507 108.7606 90.60967 299.6617 108.8241 90.17751 299.6424 108.4194 90.45945 299.7321 107.8409 90.20282 299.819 107.9955 90.27142 299.7958 108.0234 89.90232 299.7974 108.5239 90.07315 299.7121 111.0917 90.9867 298.832 110.7005 90.84459 299.0126 110.7024 91.43913 299.0165 110.6044 90.80966 299.057 110.5326 91.36837 299.0868 110.4766 90.76324 299.116 110.1077 91.19127 299.2628 109.8433 90.53587 299.3577 109.3766 90.87815 299.5025 109.468 90.91793 299.4784 109.6581 90.99918 299.4143 110.7324 91.45165 299.004 111.3411 91.69773 298.7021 111.6223 91.18127 298.5419 111.3795 91.71288 298.6805 111.688 91.20536 298.506 111.6296 91.8113 298.5403 111.7754 91.23755 298.4537 113.8485 92.00725 296.7842 114.0351 92.64761 296.5821 114.0863 92.09565 296.5162 114.0887 92.66254 296.5184 114.2918 92.17205 296.2847 111.9437 91.29975 298.3439 111.9434 91.93117 298.3434 112.255 91.41479 298.1408 112.1876 92.02442 298.1901 112.338 91.44546 298.0867 112.1898 92.02522 298.1885 112.8711 91.64339 297.6855 112.7206 92.21875 297.8045 113.0167 91.69756 297.56 112.9557 92.29986 297.6096 113.0796 91.72098 297.5057 113.0802 92.34284 297.5063 113.3748 91.83084 297.2512 113.2283 92.39392 297.3836 113.7293 91.96285 296.9017 113.678 92.53918 296.9575 113.71 92.54953 296.9272 114.3864 92.20713 296.1675 114.3408 92.73276 296.2188 114.4601 92.23445 296.0763 114.4518 92.76367 296.0868 114.8522 92.37934 295.5414 114.836 92.85903 295.5651 114.9407 92.88136 295.4016 114.9448 92.41333 295.3957 114.9446 92.88218 295.3955 114.974 92.42404 295.3498 115.1872 92.9339 295.0168 115.206 92.50914 294.9851 116.4519 92.98603 291.5888 116.4525 92.98543 291.5849 116.4272 92.93799 291.7268 116.4532 92.98435 291.581 116.4535 92.98366 291.5791 116.454 92.98209 291.5761 116.4544 92.98072 291.5742 116.4549 92.97829 291.5712 116.4553 92.97481 291.5683 116.4556 92.97242 291.567 116.4559 92.96583 291.5653 116.4549 92.9607 291.5711 116.4558 92.96961 291.5659 116.4559 92.96321 291.5653 116.4557 92.95925 291.5661 116.4555 92.95678 291.5672 116.4553 92.95447 291.5686 116.4549 92.95201 291.5708 116.4545 92.94999 291.5734 116.454 92.94829 291.5763 116.4537 92.94751 291.5781 116.453 92.94638 291.5822 116.4523 92.94587 291.5861 115.4925 92.61321 294.4613 115.4689 92.98226 294.5064 115.5216 92.62377 294.4081 115.5046 92.98839 294.4417 115.6349 92.66437 294.1642 115.6383 93.00597 294.1657 115.7988 92.72311 293.8112 115.6826 93.0118 294.0742 115.9227 92.76667 293.4908 115.9118 93.03108 293.5293 116.0371 92.80693 293.1948 115.9344 93.03298 293.4755 116.1001 92.82876 293.0084 116.1469 93.03517 292.8614 116.1466 92.84456 292.8486 116.1502 93.03487 292.8496 116.2628 92.88406 292.449 116.2549 93.0252 292.4682 116.2849 92.89157 292.373 116.3197 93.01923 292.2324 146.1636 88.51654 340.3619 146.1495 88.55073 340.3745 146.1477 88.54829 340.3761 146.146 88.54511 340.3776 146.1518 88.55287 340.3724 147.2326 88.95636 339.41 148.057 89.29559 338.6759 147.6621 89.24576 339.0276 146.145 88.54225 340.3785 146.1443 88.53845 340.3791 146.1441 88.53543 340.3793 146.1443 88.5318 340.3791 150.582 90.26231 336.4276 150.0372 90.12629 336.9127 149.7253 89.88503 337.1905 149.7452 90.02597 337.1728 148.8885 89.60139 337.9356 148.9111 89.73947 337.9154 148.3874 89.43153 338.3818 148.3438 89.54457 338.4206 148.0765 89.42743 338.6586 150.5627 90.1689 336.4448 150.6435 90.19629 336.3728 151.4193 90.47133 335.6821 151.4078 90.41542 335.6923 151.7349 90.55013 335.401 151.7396 90.51053 335.3969 151.742 90.51146 335.3947 151.7443 90.51287 335.3927 146.1449 88.52889 340.3786 146.1461 88.52564 340.3775 151.7466 90.51505 335.3906 151.7484 90.51736 335.389 151.7501 90.52043 335.3876 151.7511 90.52331 335.3866 151.7519 90.52698 335.3859 151.7522 90.53007 335.3857 151.752 90.53385 335.3858 151.7515 90.53681 335.3863 151.745 90.54755 335.3921 151.7427 90.54902 335.3941 147.2458 89.06331 339.3983 146.6465 88.8006 339.9319 146.4081 88.6171 340.1442 146.4112 88.68294 340.1415 146.1542 88.55445 340.3703 146.151 88.51898 340.3731 146.1532 88.51747 340.3712 146.1557 88.51641 340.369 151.7402 90.54996 335.3964 151.7375 90.5503 335.3987 146.1491 88.52092 340.3749 146.1477 88.52285 340.3761 146.1582 88.51588 340.3667 146.1609 88.5159 340.3643 151.7504 90.54018 335.3872 151.7492 90.54272 335.3884 151.7471 90.54555 335.3902 144.5555 89.21823 336.9672 142.3531 89.62005 334.0981 142.8392 89.86592 333.6623 137.6057 90.27194 328.6578 132.6503 88.85662 328.2599 135.404 88.83036 330.64 135.9484 89.23508 330.1498 133.008 90.97707 323.0702 133.6472 91.28426 322.4942 128.5694 91.67984 317.3259 146.0843 91.42382 327.3172 143.2561 91.80505 323.5732 142.7951 91.78663 323.988 132.5463 93.20809 309.6054 129.997 93.5354 306.3099 129.2455 93.50486 306.9835 115.7547 92.69284 299.6625 110.0373 87.76377 309.7238 110.8078 87.55427 311.3171 112.2884 88.86996 309.9952 120.7281 87.66123 320.2069 123.1532 87.73062 322.203 123.7036 88.27131 321.7072 134.8637 88.39608 331.1266 137.0737 88.15098 333.5679 137.3223 88.15918 333.7676 137.6482 88.41777 333.4747 142.4904 88.3478 337.8359 143.0879 88.37528 338.2792 143.2138 88.45511 338.1665 143.9154 88.41335 338.8932 144.849 88.46477 339.5452 143.6597 88.72429 337.7679 144.9797 88.47197 339.6365 145.8048 88.52722 340.1651 137.5589 88.16699 333.9577 140.1828 88.25834 336.0441 140.4314 88.43718 335.8211 140.5053 88.26957 336.3006 134.4845 88.06953 331.4685 123.9226 87.75263 322.8363 128.8193 87.89747 326.8476 129.289 88.34284 326.4234 131.6473 87.98112 329.1643 132.099 87.99449 329.5344 112.6584 87.4392 313.5342 112.4852 88.04888 312.2187 111.8269 87.41742 312.8431 111.8052 87.41698 312.8245 112.9729 88.76633 311.1737 111.4556 87.41001 312.5249 111.4645 87.41008 312.533 111.369 87.40938 312.4461 112.8241 88.77136 311.004 111.3433 87.41044 312.4174 111.3162 87.4146 312.3745 111.075 87.48162 311.8697 112.7187 88.79167 310.8013 111.2076 87.44477 312.1472 111.307 87.41716 312.3553 108.3853 88.2173 306.2882 108.9564 88.72179 305.7763 106.3757 88.76898 302.1091 105.9085 88.89875 301.1303 109.6873 89.32514 305.1188 111.1675 90.41026 303.7874 110.4243 89.88796 304.4558 111.9168 90.89202 303.1135 112.6721 91.33325 302.4342 113.4336 91.73394 301.7494 114.2012 92.0941 301.0592 114.9749 92.41374 300.3636 116.5406 92.93141 298.956 117.3327 93.12944 298.2441 118.1308 93.28694 297.5267 118.935 93.40392 296.8039 119.7454 93.48036 296.0756 119.2978 93.3627 294.3517 117.8044 93.16479 292.8992 124.0191 93.98987 298.9709 123.0212 93.85726 297.9917 122.261 93.80054 298.6723 123.0057 93.8552 297.9764 121.8878 93.70664 296.8812 120.6554 93.5429 295.6761 120.4322 93.51329 295.4584 124.9374 94.11199 299.8732 124.3135 94.02902 299.2601 123.5189 93.95796 299.9694 125.1136 94.13729 300.0444 124.9593 94.11514 299.8945 124.148 94.03614 300.6174 124.4527 94.05396 300.9508 125.1794 94.14297 300.1114 125.2686 94.13342 300.224 128.5405 93.72241 304.4271 125.5484 94.10068 300.5807 124.735 94.02409 301.3053 125.4048 94.11883 300.3961 134.4286 92.96275 312.0541 133.7594 92.95465 312.656 139.9141 92.24772 319.1907 143.1967 91.81305 323.4946 148.3634 91.10613 330.3912 147.6177 91.21125 329.379 147.3156 91.18146 329.6497 147.2116 91.26848 328.8279 150.723 90.74529 333.746 150.3293 90.81053 333.1591 149.4047 90.95391 331.8338 151.6117 90.57765 335.1795 151.2533 90.64952 334.5787 146.8092 91.11505 330.1036 141.029 91.54771 325.5769 142.2024 91.73654 324.5212 136.9259 92.25514 319.5399 137.5983 92.33631 318.9343 132.9981 92.90317 313.3408 129.291 91.99259 316.6765 134.2919 91.55378 321.9132 130.0192 92.26179 316.0211 134.9421 91.78562 321.3272 130.754 92.48745 315.3599 135.5978 91.97981 320.7364 131.4954 92.66957 314.6927 136.2591 92.13631 320.1406 132.2435 92.80814 314.0197 145.8032 90.9224 331.0053 151.1963 90.66095 334.483 139.8718 91.24066 326.6182 139.2992 91.04281 327.1335 138.7307 90.81541 327.6452 138.1662 90.55845 328.1533 124.3788 88.88888 321.099 129.895 88.87605 325.8768 125.0607 89.4629 320.4849 130.5066 89.3716 325.3254 125.7492 89.99337 319.8648 131.1236 89.82947 324.769 126.4444 90.4803 319.239 131.7462 90.24967 324.2076 127.1461 90.92369 318.6072 136.4968 89.61026 329.6561 143.3276 90.09185 333.2245 143.8182 90.29784 332.7846 144.8062 90.65 331.899 127.8544 91.32353 317.9695 132.3743 90.6322 323.6414 137.0492 89.95587 329.1587 139.1831 89.48569 332.095 138.1567 88.79862 333.0176 141.8693 89.35424 334.5318 140.9084 88.76281 335.3934 112.2183 89.65283 307.6661 113.0186 90.2379 306.9492 113.8256 90.77944 306.2264 114.6392 91.27745 305.4976 115.4595 91.73192 304.7629 116.2864 92.14286 304.0223 115.2521 90.67934 308.5439 114.4007 90.09528 309.3026 114.514 90.08255 309.499 113.5562 89.46605 310.055 113.6656 89.44959 310.2546 110.0024 87.77335 309.6512 110.6376 88.3521 309.0822 111.4246 89.02423 308.3771 122.6139 93.83468 300.7772 123.2272 93.90369 301.4379 121.7157 93.66671 301.579 122.3133 93.72607 302.2522 120.8244 93.45407 302.3746 121.4064 93.50329 303.0603 119.94 93.19673 303.1641 120.5064 93.23535 303.8622 119.0624 92.89471 303.9476 119.6133 92.92225 304.6579 121.3875 93.69432 299.4544 120.5207 93.54458 300.2305 119.6606 93.3513 301.0007 118.807 93.11449 301.765 117.9602 92.83414 302.5234 113.1111 89.52944 309.2606 113.9408 90.14425 308.5199 114.7772 90.71437 307.7731 116.1104 91.21824 307.7791 115.6205 91.2398 307.0202 116.9757 91.71199 307.0081 116.4707 91.72055 306.2612 117.848 92.16057 306.2309 117.3277 92.15663 305.4961 118.7272 92.56399 305.4475 118.1916 92.54801 304.7249 117.1199 92.51026 303.2758 119.0078 92.56636 305.7996 118.1247 92.15961 306.5859 117.2486 91.7075 307.3661 116.3796 91.21001 308.1401 115.5174 90.66715 308.9078 114.6623 90.07891 309.6693 113.8141 89.44531 310.4246 121.9943 93.49556 303.747 122.9009 93.7173 302.9393 122.6098 93.73958 302.5919 123.8144 93.89348 302.1255 123.5278 93.91946 301.7745 128.4031 93.42596 307.7385 127.5679 93.30062 308.4872 126.7399 93.12886 309.2294 125.9189 92.91068 309.9653 121.0948 93.22825 304.5484 125.1052 92.64607 310.6949 120.2023 92.91537 305.3435 124.2986 92.33503 311.418 119.3167 92.55692 306.1324 123.4992 91.97756 312.1348 118.4383 92.1529 306.9151 122.7069 91.57367 312.8452 117.5668 91.70332 307.6914 121.9218 91.12335 313.5492 116.7023 91.20816 308.4616 121.1438 90.62661 314.2469 115.8449 90.66744 309.2255 120.373 90.08344 314.9382 114.9944 90.08116 309.9832 119.6093 89.49384 315.6231 114.151 89.4493 310.7346 118.8529 88.85781 316.3016 113.3146 88.77187 311.4798 118.1035 88.17536 316.9738 117.487 87.57205 317.5269 142.8435 89.5361 333.6611 136.2941 91.59946 320.1175 131.5432 92.04817 314.661 133.0283 92.53389 313.3247 140.5167 88.23348 336.2878 140.1974 88.22243 336.0337 140.9167 88.61051 335.3886 115.0472 91.72532 300.318 116.6045 92.32808 298.9179 117.809 93.12517 292.8999 128.542 93.68292 304.422 130.0062 93.49488 306.3153 128.439 93.0362 307.7201 132.5472 93.16856 309.6007 134.4361 92.92232 312.0583 146.0857 91.38426 327.3121 147.2133 91.22895 328.8226 142.2147 91.49018 324.5156 148.3654 91.06663 330.3856 149.407 90.91445 331.8279 150.332 90.77113 333.1529 150.7258 90.70591 333.7397 151.1993 90.62162 334.4765 151.615 90.53835 335.1729 139.9147 92.20814 319.1862 143.1976 91.77348 323.4899 143.2613 91.76491 323.574 125.5597 94.06011 300.5868 123.853 93.52052 302.1073 125.4072 94.07941 300.3906 123.5664 93.54901 301.7564 123.2664 93.53749 301.4195 124.972 94.0767 299.8997 125.1201 94.09796 300.0435 125.1834 94.10348 300.1076 125.2802 94.09307 300.2301 123.0115 93.81575 297.9758 123.0339 93.81874 297.9978 121.4265 93.34732 299.4372 124.0252 93.95046 298.9701 122.653 93.4742 300.7592 124.3262 93.9905 299.2657 124.9438 94.07264 299.8723 118.1792 92.85543 297.5025 118.973 93.09082 296.789 119.7711 93.30736 296.0716 119.3028 93.32312 294.352 120.445 93.47476 295.4658 120.6606 93.50337 295.6761 121.8934 93.66716 296.8809 117.3897 92.60118 298.2121 115.8237 92.03613 299.6199 114.275 91.39566 301.0123 110.7673 90.80049 299.3115 112.7436 90.6798 302.3893 109.3672 90.11329 300.5716 107.9823 89.35428 301.8183 106.7778 88.62776 302.902 106.3906 88.73391 302.0973 105.9232 88.86351 301.1186 111.4719 88.68849 308.3523 108.4067 88.18114 306.2879 109.7326 89.02182 305.0971 112.3364 88.52142 309.969 110.0537 87.72958 309.7113 110.0239 87.73776 309.6493 112.8726 88.41617 310.977 111.2289 87.4094 312.1445 112.7669 88.43766 310.7746 111.0916 87.44757 311.8572 110.8292 87.51887 311.3146 111.4805 87.37612 312.5192 111.4786 87.37608 312.5176 111.3835 87.37535 312.4311 111.3587 87.37638 312.4034 111.3326 87.38056 312.3617 112.6724 87.40531 313.5185 111.8409 87.38346 312.8275 113.3663 88.41417 311.4501 113.0245 88.41098 311.1443 129.9264 88.56852 325.8568 123.9367 87.71894 322.8204 124.4195 88.53296 321.0735 123.1755 87.69718 322.1938 120.7423 87.62763 320.1909 137.0861 88.11566 333.5539 134.5023 88.03482 331.458 135.4245 88.59313 330.6271 132.1123 87.96004 329.5194 128.8395 87.86353 326.8376 137.5711 88.13157 333.944 145.8139 88.48971 340.1546 144.9893 88.4347 339.6256 143.9254 88.37636 338.8818 142.5011 88.31119 337.8239 141.8754 89.09127 334.5291 136.5214 89.20171 329.6395 131.1648 89.30027 324.7403 125.8039 89.38088 319.8269 130.0781 91.49 315.9794 134.9853 91.11883 321.2967 139.8956 90.72566 326.6023 128.6332 90.8594 317.2798 133.6942 90.57542 322.4603 138.757 90.26797 327.6271 143.8211 89.945 332.7848 141.0482 91.13307 325.5652 118.0321 92.10664 302.4767 119.7198 92.76602 300.9654 120.2762 92.13641 305.2939 118.5183 91.32511 306.86 119.9717 92.15393 304.9576 118.2047 91.33729 306.5312 119.6864 92.15464 304.6092 117.9265 91.34429 306.1773 119.1352 92.13908 303.8994 117.4059 91.35309 305.4432 116.3635 91.3692 303.971 122.0545 92.86821 303.7096 121.759 92.89117 303.366 121.4664 92.8857 303.0233 120.8843 92.84612 302.3381 111.2295 89.88851 303.7509 113.0834 89.66013 306.9088 114.7139 90.55369 305.4484 114.0065 89.54426 308.478 115.6963 90.48815 306.9694 114.4667 89.48581 309.26 116.1866 90.45469 307.7276 114.5803 89.47096 309.4562 116.4578 90.44125 308.0868 114.7311 89.46582 309.6245 115.0633 89.46398 309.9381 116.7807 90.4343 308.4081 121.9953 90.31387 313.4973 123.5744 91.11194 312.0812 125.1748 91.83169 310.6464 126.7963 92.47311 309.1927 137.6322 89.75998 328.6395 132.4207 89.96923 323.6081 127.2085 90.15636 318.5623 120.4373 89.43747 314.8944 120.6577 93.54268 295.6737 119.3049 93.32391 294.3496 124.0214 93.98973 298.9685 123.0137 93.81665 297.9735 124.9398 94.11189 299.8709 124.0273 93.95139 298.9677 125.1159 94.13717 300.042 124.9459 94.07359 299.8699 125.4074 94.11872 300.3941 125.1858 94.10446 300.1055 128.5431 93.7222 304.425 125.4097 94.08037 300.3887 132.5489 93.2078 309.6033 139.9167 92.24742 319.1887 146.0869 91.42366 327.3152 143.2002 91.77431 323.488 148.3661 91.10607 330.3891 151.6179 90.53924 335.1713 151.6207 90.54068 335.1699 151.6232 90.54264 335.1687 151.6255 90.54503 335.1678 151.6273 90.54781 335.167 151.6288 90.55088 335.1666 151.6298 90.55416 335.1664 151.6303 90.55755 335.1666 151.6302 90.56095 335.167 151.6297 90.56426 335.1677 151.6272 90.57023 335.1699 151.6287 90.56739 335.1687 151.6253 90.57272 335.1712 151.623 90.57477 335.1728 151.6204 90.57633 335.1744 151.6177 90.57734 335.1762 151.6147 90.57778 335.1779 117.809 93.16368 292.8946 117.8067 93.16451 292.8969 117.8112 93.16233 292.8925 117.8133 93.16049 292.8907 117.8151 93.15824 292.8891 117.8167 93.1556 292.8878 117.8189 93.14953 292.8863 117.818 93.15267 292.8869 117.8195 93.14626 292.8862 117.8197 93.14295 292.8865 117.8195 93.1397 292.8871 117.8189 93.13658 292.8881 117.818 93.13369 292.8895 117.8167 93.13112 292.8911 117.8151 93.12892 292.8931 117.8133 93.12718 292.8952 117.8112 93.12591 292.8975 151.1992 90.66107 334.4812 151.202 90.6606 334.4794 151.2047 90.65957 334.4776 151.2072 90.658 334.4759 151.2094 90.65594 334.4743 151.2113 90.65345 334.4728 151.2127 90.6506 334.4716 151.2137 90.64748 334.4706 151.2142 90.64417 334.4699 151.2142 90.64077 334.4695 151.2137 90.63739 334.4694 151.2128 90.63412 334.4696 151.2113 90.63105 334.4702 151.2095 90.62829 334.471 151.2073 90.6259 334.4721 151.2048 90.62395 334.4734 151.2021 90.62251 334.4749 150.7259 90.74537 333.7441 150.7287 90.74488 333.7422 150.7313 90.74382 333.7403 150.7337 90.74224 333.7385 150.7359 90.74017 333.7369 150.7377 90.73767 333.7354 150.7391 90.73481 333.7342 150.74 90.73169 333.7332 150.7405 90.72839 333.7325 150.7405 90.725 333.7321 150.74 90.72163 333.7321 150.7391 90.71837 333.7323 150.7377 90.71532 333.7329 150.7359 90.71256 333.7338 150.7337 90.71018 333.7349 150.7313 90.70824 333.7363 150.7286 90.7068 333.7379 150.3321 90.8106 333.1571 150.3349 90.81008 333.1552 150.3375 90.80901 333.1533 150.3399 90.80741 333.1515 150.342 90.80532 333.1499 150.3438 90.80282 333.1484 150.3451 90.79996 333.1471 150.346 90.79684 333.1462 150.3465 90.79354 333.1455 150.3465 90.79016 333.1451 150.346 90.7868 333.1451 150.3451 90.78355 333.1454 150.3437 90.7805 333.146 150.3419 90.77776 333.1469 150.3398 90.77539 333.1481 150.3374 90.77346 333.1495 150.3347 90.77202 333.1511 149.4074 90.95391 331.8318 149.4101 90.95334 331.8298 149.4127 90.95223 331.8279 149.415 90.95059 331.8261 149.417 90.94848 331.8244 149.4187 90.94596 331.8229 149.42 90.9431 331.8217 149.4209 90.93998 331.8207 149.4214 90.93669 331.8201 149.4213 90.93332 331.8197 149.4208 90.92998 331.8197 149.4199 90.92675 331.8201 149.4185 90.92373 331.8207 149.4167 90.92101 331.8217 149.4146 90.91866 331.8229 149.4123 90.91674 331.8244 149.4097 90.91532 331.8261 148.3688 91.10546 330.3872 148.3713 91.1043 330.3852 148.3735 91.10263 330.3834 148.3755 91.1005 330.3817 148.3772 91.09796 330.3802 148.3785 91.0951 330.379 148.3793 91.09197 330.3781 148.3797 91.08869 330.3775 148.3796 91.08534 330.3771 148.3791 91.08202 330.3771 148.3782 91.07881 330.3775 148.3768 91.07582 330.3782 148.375 91.07312 330.3792 148.373 91.07079 330.3805 148.3706 91.0689 330.382 148.3681 91.06749 330.3837 147.2143 91.26837 328.8259 147.2169 91.26771 328.8239 147.2194 91.26651 328.822 147.2216 91.26481 328.8202 147.2235 91.26265 328.8185 147.2251 91.2601 328.817 147.2264 91.25723 328.8158 147.2272 91.25411 328.8149 147.2275 91.25083 328.8143 147.2275 91.2475 328.814 147.2269 91.2442 328.8141 147.2259 91.24102 328.8145 147.2246 91.23804 328.8152 147.2229 91.23537 328.8162 147.2208 91.23307 328.8175 147.2185 91.23119 328.819 147.216 91.22981 328.8207 146.0895 91.42296 327.3132 146.0919 91.42173 327.3113 146.0941 91.42 327.3095 146.096 91.41782 327.3078 146.0976 91.41526 327.3064 146.0988 91.41238 327.3052 146.0996 91.40927 327.3043 146.0999 91.406 327.3037 146.0998 91.40268 327.3034 146.0992 91.39939 327.3035 146.0983 91.39623 327.3039 146.0969 91.39328 327.3046 146.0952 91.39062 327.3057 146.0931 91.38834 327.307 146.0908 91.38648 327.3085 146.0883 91.38511 327.3103 143.1993 91.81281 323.4926 143.2019 91.81203 323.4906 143.2042 91.81073 323.4887 143.2063 91.80895 323.4869 143.2082 91.80673 323.4852 143.2097 91.80416 323.4838 143.2108 91.80126 323.4827 143.2115 91.79816 323.4818 143.2118 91.79492 323.4813 143.2117 91.79162 323.4811 143.2111 91.78836 323.4812 143.2101 91.78524 323.4816 143.2088 91.78234 323.4823 143.207 91.77972 323.4834 143.205 91.77747 323.4847 143.2027 91.77565 323.4862 139.9192 92.24658 319.1867 139.9215 92.24524 319.1848 139.9236 92.24343 319.183 139.9254 92.2412 319.1814 139.9268 92.2386 319.18 139.9279 92.23572 319.1789 139.9286 92.23262 319.1781 139.9289 92.22939 319.1775 139.9287 92.22611 319.1773 139.9281 92.22289 319.1774 139.9272 92.21979 319.1779 139.9258 92.21691 319.1787 139.9241 92.21432 319.1797 139.922 92.2121 319.181 139.9198 92.21029 319.1826 139.9173 92.20896 319.1843 132.5497 93.16942 309.5989 132.5513 93.20699 309.6014 132.5536 93.20566 309.5994 132.5557 93.20387 309.5977 132.5575 93.20166 309.596 132.559 93.19908 309.5946 132.5601 93.19622 309.5935 132.5608 93.19313 309.5927 132.5611 93.18991 309.5921 132.5609 93.18666 309.5919 132.5604 93.18343 309.592 132.5594 93.18033 309.5925 132.5581 93.17745 309.5932 132.5564 93.17485 309.5943 132.5544 93.1726 309.5956 132.5521 93.17078 309.5971 128.5445 93.68383 304.4201 128.5456 93.72146 304.423 128.5479 93.7202 304.4211 128.55 93.71847 304.4193 128.5519 93.7163 304.4176 128.5534 93.71376 304.4162 128.5545 93.71092 304.415 128.5553 93.70784 304.4141 128.5556 93.70463 304.4136 128.5555 93.70135 304.4133 128.555 93.69811 304.4134 128.5541 93.69498 304.4138 128.5528 93.69205 304.4145 128.5511 93.6894 304.4155 128.5492 93.68711 304.4169 128.5469 93.68524 304.4184 125.41 94.11808 300.392 125.4123 94.11691 300.3901 125.4145 94.11524 300.3882 125.4164 94.11314 300.3865 125.418 94.11064 300.385 125.4192 94.10782 300.3838 125.4201 94.10475 300.3829 125.4205 94.10153 300.3822 125.4204 94.09824 300.3819 125.42 94.09496 300.382 125.4191 94.09179 300.3824 125.4179 94.08882 300.3831 125.4162 94.08612 300.3841 125.4143 94.08377 300.3854 125.4121 94.08184 300.3869 125.1819 94.14289 300.1092 125.1844 94.14226 300.1071 125.1867 94.14111 300.1051 125.1889 94.13946 300.1032 125.1908 94.13736 300.1015 125.1925 94.13487 300.1001 125.1938 94.13205 300.0989 125.1947 94.12899 300.0981 125.1952 94.12576 300.0976 125.1953 94.12245 300.0975 125.195 94.11917 300.0977 125.1944 94.11598 300.0982 125.1933 94.11299 300.0992 125.1918 94.11027 300.1004 125.1901 94.1079 300.1019 125.188 94.10594 300.1036 125.1182 94.13652 300.0397 125.1204 94.13535 300.0376 125.1225 94.13368 300.0356 125.1244 94.13157 300.0339 125.1261 94.12908 300.0325 125.1275 94.12625 300.0315 125.1285 94.12319 300.0309 125.1293 94.11997 300.0306 125.1296 94.11669 300.0307 125.1296 94.11342 300.0312 125.1292 94.11026 300.0321 125.1284 94.10729 300.0334 125.1273 94.10461 300.035 125.1259 94.10227 300.0368 125.1241 94.10035 300.0389 125.1222 94.0989 300.0411 124.9421 94.11123 299.8686 124.9443 94.11006 299.8665 124.9464 94.10839 299.8646 124.9484 94.10628 299.8629 124.9501 94.10379 299.8615 124.9514 94.10096 299.8605 124.9525 94.0979 299.8598 124.9532 94.09468 299.8596 124.9536 94.0914 299.8597 124.9535 94.08812 299.8602 124.9531 94.08496 299.8611 124.9523 94.082 299.8623 124.9511 94.0793 299.8638 124.9497 94.07697 299.8657 124.9479 94.07505 299.8677 124.0237 93.98905 298.9663 124.026 93.98786 298.9642 124.0281 93.98617 298.9622 124.03 93.98403 298.9606 124.0317 93.98152 298.9592 124.033 93.97869 298.9582 124.0341 93.97561 298.9576 124.0348 93.97239 298.9573 124.0351 93.9691 298.9574 124.035 93.96583 298.9579 124.0346 93.96267 298.9588 124.0337 93.95972 298.9601 124.0326 93.95704 298.9616 124.0311 93.95472 298.9635 124.0293 93.95282 298.9655 123.008 93.85504 297.9741 123.0103 93.85433 297.9718 123.0126 93.85311 297.9697 123.0147 93.85139 297.9678 123.0166 93.84924 297.9662 123.0182 93.84671 297.9648 123.0196 93.84385 297.9638 123.0206 93.84077 297.9632 123.0213 93.83754 297.9629 123.0216 93.83425 297.9631 123.0215 93.83098 297.9636 123.021 93.82784 297.9645 123.0202 93.82489 297.9658 123.019 93.82224 297.9674 123.0175 93.81993 297.9692 123.0157 93.81806 297.9713 121.8901 93.70645 296.8789 121.8924 93.70571 296.8766 121.8947 93.70446 296.8745 121.8968 93.70272 296.8726 121.8986 93.70054 296.871 121.9003 93.69799 296.8697 121.9016 93.69512 296.8687 121.9026 93.69203 296.8681 121.9033 93.68879 296.8678 121.9035 93.6855 296.868 121.9034 93.68223 296.8686 121.9029 93.6791 296.8695 121.9021 93.67617 296.8708 121.9009 93.67353 296.8724 121.8993 93.67124 296.8742 121.8976 93.6694 296.8763 121.8955 93.66802 296.8786 120.66 93.54192 295.6715 120.6622 93.54064 295.6694 120.6643 93.53887 295.6675 120.6662 93.53666 295.6659 120.6678 93.53408 295.6646 120.6691 93.53121 295.6636 120.6701 93.52809 295.663 120.6707 93.52484 295.6628 120.671 93.52155 295.663 120.6708 93.51829 295.6636 120.6703 93.51516 295.6646 120.6694 93.51225 295.6659 120.6682 93.50962 295.6675 120.6667 93.50737 295.6694 120.6649 93.50555 295.6715 120.6628 93.50421 295.6737 119.307 93.32522 294.3473 119.3088 93.32701 294.3452 119.3104 93.32923 294.3433 119.3116 93.33183 294.3417 119.3125 93.33473 294.3403 119.3131 93.33786 294.3394 119.3132 93.34111 294.3388 119.313 93.34442 294.3385 119.3124 93.34767 294.3387 119.3115 93.35079 294.3393 119.3102 93.3537 294.3402 119.3086 93.3563 294.3415 119.3067 93.35854 294.3431 119.3046 93.36033 294.345 119.3024 93.36165 294.3471 119.3001 93.36244 294.3493 143.9137 88.41169 338.8957 140.5147 88.23246 336.2903 137.0721 88.149 333.57 137.0841 88.11456 333.5564 120.7266 87.65902 320.2088 112.6568 87.43703 313.5362 111.4628 87.40792 312.5349 111.8389 87.38217 312.8298 111.3672 87.40723 312.4479 111.0726 87.47951 311.8706 111.3298 87.37931 312.363 111.0888 87.44634 311.8584 106.3731 88.76702 302.1101 105.9203 88.86245 301.1199 105.9173 88.86193 301.1212 145.8033 88.5257 340.1678 145.802 88.52368 340.1702 145.8009 88.52121 340.1723 145.8 88.51837 340.1741 145.7994 88.51525 340.1754 145.7992 88.51194 340.1762 145.7992 88.50852 340.1766 145.7996 88.50511 340.1764 145.8002 88.50181 340.1758 145.8011 88.49871 340.1746 145.8023 88.49589 340.173 145.8037 88.49345 340.1711 145.8052 88.49146 340.1687 145.8069 88.48997 340.1661 145.8087 88.48904 340.1634 145.8105 88.48867 340.1604 145.8122 88.4889 340.1575 105.9143 88.86196 301.1227 105.9113 88.86254 301.1241 105.9085 88.86366 301.1256 105.906 88.86528 301.1271 105.9038 88.86735 301.1284 105.9019 88.86983 301.1296 105.9004 88.87265 301.1307 105.8994 88.8757 301.1315 105.8989 88.87894 301.1322 105.8989 88.88225 301.1327 105.8994 88.88555 301.1329 105.9004 88.88874 301.1328 105.9019 88.89173 301.1325 105.9037 88.89444 301.132 105.906 88.89681 301.1312 106.3709 88.76463 302.1108 106.3691 88.7619 302.1113 106.3676 88.75889 302.1116 106.3667 88.7557 302.1116 106.3662 88.75241 302.1114 106.3663 88.74909 302.111 106.3668 88.74588 302.1103 106.3678 88.74282 302.1094 106.3693 88.74003 302.1083 106.3712 88.73757 302.1071 106.3734 88.73552 302.1058 106.376 88.73393 302.1043 106.3788 88.73284 302.1029 106.3817 88.73228 302.1014 106.3847 88.73228 302.0999 106.3877 88.73283 302.0986 110.0509 87.72837 309.7126 110.0349 87.76168 309.7247 110.0328 87.75919 309.7254 110.0311 87.75638 309.7258 110.0298 87.75332 309.726 110.029 87.75009 309.726 110.0287 87.7468 309.7257 110.0288 87.74352 309.7252 110.0295 87.74034 309.7245 110.0306 87.73737 309.7235 110.0322 87.73467 309.7224 110.0342 87.73232 309.7211 110.0365 87.73038 309.7198 110.0391 87.72892 309.7183 110.042 87.72797 309.7168 110.0449 87.72756 309.7153 110.0479 87.72769 309.7139 111.0705 87.47701 311.8713 111.0688 87.47418 311.8717 111.0676 87.47112 311.8719 111.0668 87.46789 311.8719 111.0665 87.46459 311.8716 111.0666 87.46131 311.8711 111.0673 87.45814 311.8703 111.0685 87.45517 311.8694 111.0701 87.45249 311.8682 111.0721 87.45015 311.867 111.0744 87.44824 311.8656 111.077 87.4468 311.8641 111.0799 87.44586 311.8627 111.0828 87.44548 311.8612 111.0858 87.44564 311.8597 111.3139 87.41249 312.3755 111.3118 87.40998 312.3763 111.3102 87.40715 312.3768 111.3089 87.40407 312.3771 111.3081 87.40083 312.3772 111.3078 87.39752 312.3769 111.308 87.39424 312.3764 111.3087 87.39107 312.3757 111.3099 87.38809 312.3747 111.3114 87.38541 312.3735 111.3134 87.38307 312.3722 111.3157 87.38117 312.3707 111.3183 87.37973 312.3692 111.3211 87.37881 312.3676 111.324 87.37843 312.366 111.3269 87.3786 312.3645 111.3412 87.4083 312.4188 111.3394 87.40577 312.42 111.338 87.40291 312.4209 111.3369 87.39981 312.4215 111.3363 87.39656 312.4218 111.3361 87.39323 312.4217 111.3363 87.38993 312.4213 111.3369 87.38674 312.4206 111.338 87.38377 312.4196 111.3395 87.38108 312.4183 111.3413 87.37875 312.4167 111.3434 87.37684 312.415 111.3458 87.37542 312.4131 111.3483 87.37452 312.4111 111.3509 87.37416 312.4091 111.3536 87.37436 312.4071 111.3562 87.3751 312.4052 111.3657 87.40468 312.4494 111.3645 87.40181 312.4506 111.3636 87.39871 312.4515 111.3631 87.39544 312.4519 111.363 87.39211 312.452 111.3633 87.3888 312.4517 111.364 87.38562 312.4509 111.365 87.38264 312.4499 111.3664 87.37995 312.4485 111.3681 87.37763 312.4467 111.37 87.37574 312.4448 111.3721 87.37432 312.4426 111.3744 87.37343 312.4403 111.3767 87.37309 312.438 111.379 87.37329 312.4356 111.3813 87.37406 312.4333 111.4614 87.40538 312.5365 111.4603 87.40251 312.5378 111.4595 87.3994 312.5387 111.4591 87.39614 312.5392 111.4591 87.3928 312.5393 111.4594 87.3895 312.539 111.46 87.38632 312.5383 111.4611 87.38334 312.5372 111.4624 87.38066 312.5357 111.464 87.37834 312.534 111.4658 87.37645 312.5319 111.4679 87.37504 312.5297 111.47 87.37416 312.5273 111.4722 87.37381 312.5248 111.4744 87.37403 312.5223 111.4766 87.37479 312.5199 111.8254 87.41526 312.8451 111.824 87.41271 312.8468 111.823 87.40984 312.8481 111.8223 87.40673 312.8491 111.8219 87.40346 312.8496 111.8219 87.40013 312.8497 111.8222 87.39684 312.8494 111.8229 87.39366 312.8487 111.8239 87.39069 312.8476 111.8252 87.38801 312.8461 111.8268 87.38569 312.8443 111.8286 87.38381 312.8422 111.8305 87.3824 312.8399 111.8326 87.38153 312.8374 111.8347 87.38118 312.8349 111.8368 87.3814 312.8323 112.6555 87.43447 313.5379 112.6545 87.4316 313.5392 112.6538 87.42848 313.5401 112.6534 87.42522 313.5407 112.6534 87.4219 313.5408 112.6538 87.4186 313.5405 112.6545 87.41543 313.5397 112.6555 87.41247 313.5386 112.6568 87.4098 313.5371 112.6584 87.4075 313.5353 112.6601 87.40562 313.5332 112.6621 87.40423 313.5309 112.6642 87.40335 313.5285 112.6663 87.40303 313.5259 112.6684 87.40325 313.5234 112.6705 87.40401 313.5209 120.7253 87.65644 320.2105 120.7243 87.65355 320.2118 120.7237 87.65044 320.2127 120.7234 87.64719 320.2131 120.7234 87.64389 320.2132 120.7238 87.64062 320.2129 120.7245 87.63748 320.2121 120.7255 87.63456 320.211 120.7268 87.63193 320.2095 120.7284 87.62967 320.2077 120.7302 87.62783 320.2055 120.7321 87.62648 320.2033 120.7342 87.62563 320.2008 120.7363 87.62532 320.1983 120.7384 87.62555 320.1957 120.7404 87.62633 320.1932 123.9348 87.71767 322.8228 123.9211 87.75043 322.8383 123.9198 87.74786 322.8399 123.9189 87.74497 322.8412 123.9182 87.74187 322.8421 123.9179 87.73862 322.8426 123.9179 87.73532 322.8427 123.9183 87.73206 322.8424 123.919 87.72892 322.8416 123.92 87.72599 322.8405 123.9213 87.72336 322.839 123.9229 87.72109 322.8372 123.9246 87.71924 322.8351 123.9266 87.71787 322.8328 123.9286 87.71701 322.8303 123.9307 87.71669 322.8278 123.9328 87.71691 322.8252 132.1104 87.95885 329.5218 132.1084 87.95818 329.5243 132.1063 87.95806 329.5269 132.1042 87.95848 329.5294 132.1022 87.95945 329.5318 132.1003 87.96093 329.5341 132.0985 87.96288 329.5362 132.097 87.96524 329.5379 132.0958 87.96796 329.5394 132.0948 87.97095 329.5404 132.0942 87.97414 329.5411 132.0939 87.97743 329.5413 132.0939 87.98075 329.5411 132.0943 87.98398 329.5405 132.0951 87.98706 329.5395 132.0961 87.98988 329.5382 132.0975 87.99238 329.5364 137.0706 88.14661 333.5718 137.0695 88.14385 333.5733 137.0687 88.14083 333.5745 137.0682 88.13761 333.5752 137.068 88.13428 333.5755 137.0682 88.13095 333.5755 137.0688 88.12769 333.5749 137.0697 88.12461 333.5739 137.0709 88.1218 333.5726 137.0723 88.11932 333.5709 137.074 88.11724 333.5689 137.0759 88.11564 333.5666 137.0779 88.11455 333.5641 137.08 88.11399 333.5616 137.0821 88.114 333.559 137.5691 88.13048 333.9465 137.5671 88.12993 333.949 137.565 88.12994 333.9517 137.5629 88.1305 333.9542 137.5609 88.13162 333.9567 137.559 88.13323 333.9589 137.5574 88.13532 333.9609 137.5559 88.13781 333.9626 137.5547 88.14064 333.964 137.5539 88.14373 333.9649 137.5533 88.14699 333.9655 137.5531 88.15033 333.9656 137.5533 88.15366 333.9653 137.5538 88.15688 333.9645 137.5546 88.1599 333.9633 137.5558 88.16265 333.9618 137.5572 88.16503 333.9599 140.5127 88.232 336.293 140.5106 88.23211 336.2956 140.5085 88.23278 336.2982 140.5066 88.234 336.3006 140.5047 88.23573 336.3029 140.5031 88.23792 336.3049 140.5017 88.2405 336.3065 140.5006 88.24342 336.3078 140.4998 88.24658 336.3087 140.4993 88.24989 336.3091 140.4992 88.25325 336.3091 140.4994 88.25659 336.3087 140.5 88.25979 336.3078 140.5009 88.26277 336.3065 140.5021 88.26544 336.3048 140.5036 88.26773 336.3028 142.4991 88.31024 337.8265 142.4971 88.30986 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282.4907 101.3372 74.04244 282.4117 101.3372 71.04244 282.4117 101.2037 71.04244 282.4907 101.0792 71.04244 282.5403 101.0597 74.04244 282.5481 101.0597 71.04244 282.5481 100.9084 74.04244 282.5826 100.9084 71.04244 282.5826 100.7536 74.04244 282.5932 100.7536 71.04244 282.5932 100.5991 74.04244 282.5798 100.5991 71.04244 282.5798 100.4485 74.04244 282.5427 100.4485 71.04244 282.5427 100.3054 74.04244 282.4827 100.3054 71.04244 282.4827 100.1734 74.04244 282.4013 100.1734 71.04244 282.4013 100.0555 74.04244 282.3005 100.0555 71.04244 282.3005 104.3989 74.04244 280.7048 104.3989 71.04244 280.7048 104.3158 74.04244 280.8331 104.3158 71.04244 280.8331 104.2142 74.04244 280.9471 104.2142 71.04244 280.9471 104.0964 74.04244 281.0444 104.0964 71.04244 281.0444 103.9651 74.04244 281.1226 103.9651 71.04244 281.1226 103.8235 74.04244 281.1799 103.8235 71.04244 281.1799 105.5945 74.04244 279.0277 105.5945 71.04244 279.0277 105.5817 74.04244 279.1874 105.5817 71.04244 279.1874 105.5435 74.04244 279.343 105.5435 71.04244 279.343 105.481 74.04244 279.4906 105.481 71.04244 279.4906 105.3957 74.04244 279.6262 105.3957 71.04244 279.6262 105.2898 74.04244 279.7465 105.2898 71.04244 279.7465 105.166 74.04244 279.8483 105.166 71.04244 279.8483 104.867 71.04244 280.093 104.867 74.04244 280.093 104.8567 71.04244 280.1045 104.6092 74.04244 280.3808 104.6092 71.04244 280.3808 102.9544 71.04244 281.5055 102.9544 74.04244 281.5055 102.1228 71.04244 281.9175 102.1228 74.04244 281.9175 97.64805 75.54244 279.8934 97.67091 75.2056 279.9163 97.71459 74.56195 279.96 97.76059 74.04244 280.006 99.44463 71.04244 281.6897 98.98519 71.04244 281.2303 105.5945 71.04244 278.2858 105.5943 74.04244 276.6733 105.5943 75.54244 276.5139 105.5943 75.2056 276.5463 105.5943 74.56256 276.608 106.3214 77.54244 303.397 107.4224 77.54244 303.3745 108.518 77.54244 303.2622 109.6008 77.54244 303.0611 110.6635 77.54244 302.7723 111.6992 77.54244 302.3979 112.7009 77.54244 301.9403 113.662 77.54244 301.4026 114.5761 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278.1184 99.06571 77.54244 278.6949 98.17745 77.54244 279.3459 97.34522 77.54244 280.0671 96.57454 77.54244 280.8539 95.87055 77.54244 281.7008 95.23794 77.54244 282.6022 94.6809 77.54244 283.5523 94.20317 77.54244 284.5445 93.80789 77.54244 285.5725 93.49771 77.54244 286.6292 93.27471 77.54244 287.7076 93.14035 77.54244 288.8007 93.09552 77.54244 289.9011 93.14054 77.54244 291.0014 93.27511 77.54244 292.0945 93.49832 77.54244 293.1729 93.80868 77.54244 294.2296 94.20414 77.54244 295.2574 94.68206 77.54244 296.2496 95.23927 77.54244 297.1995 95.87205 77.54244 298.1009 96.57619 77.54244 298.9476 97.34701 77.54244 299.7342 98.17938 77.54244 300.4553 99.06775 77.54244 301.1062 100.0062 77.54244 301.6825 100.9885 77.54244 302.1804 102.0082 77.54244 302.5965 103.0583 77.54244 302.9282 104.132 77.54244 303.1732 105.2221 77.54244 303.3298 116.9166 75.54244 281.3173 117.5818 75.54244 282.1871 118.1739 75.54244 283.1082 118.689 75.54244 284.0746 119.1236 75.54244 285.0797 119.4748 75.54244 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108.5958 74.04244 293.3638 107.964 74.04244 293.6585 106.5967 74.04244 303.156 107.408 74.04244 303.1394 107.2905 74.04244 293.839 110.5348 74.04244 290.5941 110.3544 74.04244 291.2676 119.849 74.04244 290.4397 109.167 74.04244 292.9638 109.6599 74.04244 292.4707 110.0598 74.04244 291.8995 116.0709 74.04244 299.1822 93.3311 74.04244 289.901 102.5955 74.04244 289.9002 105.9013 74.04244 293.8391 105.2278 74.04244 293.6587 104.5958 74.04244 293.3641 104.0247 74.04244 292.9642 103.5316 74.04244 292.4713 103.1316 74.04244 291.9002 102.8369 74.04244 291.2683 102.6564 74.04244 290.5948 106.3262 74.04244 303.1615 97.50839 74.04244 299.5626 96.75102 74.04244 298.7898 96.74941 74.04244 281.0117 104.5952 74.04244 286.4359 105.2271 74.04244 286.1412 106.3237 74.04244 276.6382 105.9006 74.04244 285.9607 97.50663 74.04244 280.2387 104.0241 74.04244 286.8359 103.5311 74.04244 287.329 103.1312 74.04244 287.9002 102.8366 74.04244 288.5321 102.6562 74.04244 289.2056 119.9795 75.2052 289.3522 107.416 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301.0845 100.019 76.37265 301.6596 100.9994 76.37265 302.1565 102.0171 76.37265 302.5719 103.0652 76.37265 302.9029 104.1368 76.37265 303.1474 105.2248 76.37265 303.3037 106.3219 76.37265 303.3709 107.4208 76.37265 303.3483 108.5143 76.37265 303.2363 109.5949 76.37265 303.0355 110.6556 76.37265 302.7474 111.6893 76.37265 302.3737 112.6891 76.37265 301.917 113.6483 76.37265 301.3803 114.5606 76.37265 300.7672 115.4199 76.37265 300.0819 116.2205 76.37265 299.3287 116.1643 75.2052 299.2737 116.957 76.37265 298.5128 117.6246 76.37265 297.6396 118.2187 76.37265 296.7149 118.7355 76.37265 295.7448 119.1716 76.37265 294.7358 119.5239 76.37265 293.6947 119.7902 76.37265 292.6282 119.9687 76.37265 291.5437 120.0582 76.37265 290.4482 120.0581 76.37265 289.349 119.9684 76.37265 288.2536 119.7897 76.37265 287.169 119.5232 76.37265 286.1027 119.1707 76.37265 285.0616 118.7345 76.37265 284.0527 118.2175 76.37265 283.0827 117.6231 76.37265 282.1581 116.9554 76.37265 281.285 116.2188 76.37265 280.4692 116.1626 75.2052 280.5242 107.4184 76.37265 276.4512 108.5118 76.37265 276.563 109.5925 76.37265 276.7636 110.6533 76.37265 277.0516 111.687 76.37265 277.4251 112.6869 76.37265 277.8816 113.6462 76.37265 278.4181 114.5586 76.37265 279.031 115.4181 76.37265 279.7162 97.41702 75.2052 280.1435 119.9796 75.2052 290.445 106.3235 75.2052 303.2923 97.4188 75.2052 299.6579 102.5955 74.54244 289.9002 102.6564 74.54244 290.5948 102.8369 74.54244 291.2683 103.1316 74.54244 291.9002 103.5316 74.54244 292.4713 104.0247 74.54244 292.9642 104.5958 74.54244 293.3641 105.2278 74.54244 293.6587 105.9013 74.54244 293.8391 106.5959 74.54244 293.8999 107.2905 74.54244 293.839 107.964 74.54244 293.6585 108.5958 74.54244 293.3638 109.167 74.54244 292.9638 109.6599 74.54244 292.4707 110.0598 74.54244 291.8995 110.3544 74.54244 291.2676 110.5348 74.54244 290.5941 110.5955 74.54244 289.8995 110.5347 74.54244 289.2049 110.3542 74.54244 288.5314 110.0594 74.54244 287.8995 109.6595 74.54244 287.3284 109.1664 74.54244 286.8354 108.5952 74.54244 286.4356 107.9633 74.54244 286.1409 107.2898 74.54244 285.9606 106.5952 74.54244 285.8999 105.9006 74.54244 285.9607 105.2271 74.54244 286.1412 104.5952 74.54244 286.4359 104.0241 74.54244 286.8359 103.5311 74.54244 287.329 103.1312 74.54244 287.9002 102.8366 74.54244 288.5321 102.6562 74.54244 289.2056 102.5955 86.44245 289.9002 102.6564 83.74245 290.5948 102.6564 86.44245 290.5948 102.8369 83.74245 291.2683 102.8369 86.44245 291.2683 103.1316 83.74245 291.9002 103.1316 86.44245 291.9002 103.5316 83.74245 292.4713 103.5316 86.44245 292.4713 104.0247 83.74245 292.9642 104.0247 86.44245 292.9642 104.5958 83.74245 293.3641 104.5958 86.44245 293.3641 105.2278 83.74245 293.6587 105.2278 86.44245 293.6587 105.9013 83.74245 293.8391 105.9013 86.44245 293.8391 106.5959 83.74245 293.8999 106.5959 86.44245 293.8999 107.2905 83.74245 293.839 107.2905 86.44245 293.839 107.964 83.74245 293.6585 107.964 86.44245 293.6585 108.5958 83.74245 293.3638 108.5958 86.44245 293.3638 109.167 83.74245 292.9638 109.167 86.44245 292.9638 109.6599 83.74245 292.4707 109.6599 86.44245 292.4707 110.0598 83.74245 291.8995 110.0598 86.44245 291.8995 110.3544 83.74245 291.2676 110.3544 86.44245 291.2676 110.5348 83.74245 290.5941 110.5348 86.44245 290.5941 110.5955 83.74245 289.8995 110.5955 86.44245 289.8995 110.5347 83.74245 289.2049 110.5347 86.44245 289.2049 110.3542 83.74245 288.5314 110.3542 86.44245 288.5314 110.0594 83.74245 287.8995 110.0594 86.44245 287.8995 109.6595 83.74245 287.3284 109.6595 86.44245 287.3284 109.1664 83.74245 286.8354 109.1664 86.44245 286.8354 108.5952 83.74245 286.4356 108.5952 86.44245 286.4356 107.9633 83.74245 286.1409 107.9633 86.44245 286.1409 107.2898 83.74245 285.9606 107.2898 86.44245 285.9606 106.5952 83.74245 285.8999 106.5952 86.44245 285.8999 105.9006 83.74245 285.9607 105.9006 86.44245 285.9607 105.2271 83.74245 286.1412 105.2271 86.44245 286.1412 104.5952 83.74245 286.4359 104.5952 86.44245 286.4359 104.0241 83.74245 286.8359 104.0241 86.44245 286.8359 103.5311 83.74245 287.329 103.5311 86.44245 287.329 103.1312 83.74245 287.9002 103.1312 86.44245 287.9002 102.8366 83.74245 288.5321 102.8366 86.44245 288.5321 102.6562 83.74245 289.2056 102.6562 86.44245 289.2056 102.5955 83.74245 289.9002 111.7308 88.24245 293.2787 111.5809 88.24245 293.3837 112.2235 88.24245 294.8281 99.09553 88.24245 289.9005 105.1205 88.24245 289.9 105.1429 88.24245 289.6438 105.6858 88.24245 285.2749 105.6084 88.24245 285.1091 99.49949 88.24245 287.5289 99.37512 88.24245 287.8711 99.1674 88.24245 288.864 105.7908 88.24245 285.4248 105.9202 88.24245 285.5542 106.0701 88.24245 285.6592 105.2094 88.24245 289.3955 106.236 88.24245 285.7366 113.2426 88.24245 293.3703 112.0425 88.24245 292.8335 111.9652 88.24245 292.9993 111.9636 88.24245 295.1376 111.415 88.24245 293.4611 111.2077 88.24245 295.814 110.0058 88.24245 292.4745 102.6606 88.24245 291.5659 102.8106 88.24245 291.6708 107.3471 88.24245 297.3621 107.6111 88.24245 297.3154 102.9401 88.24245 293.1501 103.7744 88.24245 282.9506 102.8424 88.24245 283.4064 105.6083 88.24245 284.3908 101.4607 88.24245 291.671 101.6106 88.24245 291.566 101.7765 88.24245 291.4886 112.6059 88.24245 294.3727 112.683 88.24245 294.2807 111.8602 88.24245 293.1493 112.9458 88.24245 293.8855 112.9914 88.24245 293.8169 108.4488 88.24245 297.1673 109.4125 88.24245 296.8507 103.0451 88.24245 293.0002 99.9485 88.24245 286.4294 99.92636 88.24245 286.4688 105.561 88.24245 284.5676 101.9822 88.24245 283.9866 105.5451 88.24245 284.75 101.2274 88.24245 284.6622 105.561 88.24245 284.9323 100.9676 88.24245 284.9716 100.5852 88.24245 285.427 105.6857 88.24245 284.2249 105.7906 88.24245 284.075 104.7366 88.24245 282.6339 105.9201 88.24245 283.9456 105.0576 88.24245 282.5771 106.07 88.24245 283.8406 105.5754 88.24245 282.4855 106.2358 88.24245 283.7632 106.4126 88.24245 283.7158 106.096 88.24245 282.4188 105.8487 88.24245 282.4371 99.16759 88.24245 290.937 99.37549 88.24245 291.9299 101.1017 88.24245 292.293 99.47813 88.24245 292.2122 101.0857 88.24245 292.4754 99.65592 88.24245 292.7012 101.1017 88.24245 292.6577 99.75779 88.24245 292.9813 101.1491 88.24245 292.8345 113.2647 88.24245 293.3309 113.4338 88.24245 292.9801 112.0899 88.24245 292.6567 113.4884 88.24245 292.8298 112.1058 88.24245 292.4743 113.6916 88.24245 292.2708 112.0898 88.24245 292.292 113.8159 88.24245 291.9286 112.0424 88.24245 292.1152 114.0237 88.24245 290.9357 111.9651 88.24245 291.9494 111.8601 88.24245 291.7994 102.94 88.24245 291.8002 103.045 88.24245 291.9502 103.1224 88.24245 292.116 101.4609 88.24245 293.2796 100.6877 88.24245 294.4949 101.6108 88.24245 293.3846 101.0224 88.24245 294.8933 101.7767 88.24245 293.462 101.2284 88.24245 295.1385 101.9535 88.24245 293.5093 101.9844 88.24245 295.8149 102.1358 88.24245 293.5252 101.3314 88.24245 293.1502 100.3727 88.24245 294.0821 100.5088 88.24245 294.2818 100.508 88.24245 285.5189 100.2453 88.24245 285.9142 100.1997 88.24245 285.9828 99.75724 88.24245 286.8196 99.70262 88.24245 286.9699 101.149 88.24245 292.1162 101.2264 88.24245 291.9503 101.3313 88.24245 291.8004 107.7254 88.24245 288.9516 107.8728 88.24245 289.1622 110.3808 88.24245 291.6701 107.9815 88.24245 289.3952 108.0481 88.24245 289.6436 111.2382 88.24245 293.5085 111.0559 88.24245 293.5244 110.3461 88.24245 296.3947 110.8736 88.24245 293.5085 110.6968 88.24245 293.4611 110.5309 88.24245 293.3838 108.1282 88.24245 297.2239 99.85633 88.24245 293.18 100.0053 88.24245 293.4803 101.2265 88.24245 293.0003 100.0997 88.24245 293.6394 100.2895 88.24245 293.96 101.9533 88.24245 291.4412 102.1356 88.24245 291.4252 102.318 88.24245 291.4412 108.0705 88.24245 289.8997 108.0481 88.24245 290.1558 107.9816 88.24245 290.4042 103.1698 88.24245 292.6575 103.1224 88.24245 292.8343 110.1465 88.24245 292.9995 110.2515 88.24245 293.1494 110.3809 88.24245 293.2789 102.8107 88.24245 293.2795 106.4012 88.24245 297.3973 106.5666 88.24245 297.3955 106.9587 88.24245 297.391 107.0913 88.24245 297.3812 102.3182 88.24245 293.5093 102.8461 88.24245 296.3954 102.4949 88.24245 293.4619 103.7798 88.24245 296.8512 102.6608 88.24245 293.3845 104.7436 88.24245 297.1676 105.006 88.24245 297.214 105.523 88.24245 297.3053 107.3331 88.24245 291.1772 110.0691 88.24245 292.1154 107.5437 88.24245 291.0297 107.7255 88.24245 290.8479 107.873 88.24245 290.6372 110.1464 88.24245 291.9495 110.2514 88.24245 291.7996 107.2701 88.24245 285.5541 111.5807 88.24245 291.5651 111.7306 88.24245 291.67 103.1698 88.24245 292.2928 103.1857 88.24245 292.4751 110.0218 88.24245 292.6569 110.0691 88.24245 292.8337 105.8453 88.24245 297.3623 106.0423 88.24245 297.3747 105.3182 88.24245 290.6375 105.4657 88.24245 290.8481 105.6475 88.24245 291.0299 106.7773 88.24245 283.7158 106.7899 88.24245 282.4024 106.595 88.24245 283.6998 106.6215 88.24245 282.4042 106.2323 88.24245 282.4086 109.4113 88.24245 282.9485 108.4475 88.24245 282.6321 107.2699 88.24245 283.9454 108.1847 88.24245 282.5856 107.12 88.24245 283.8405 107.6668 88.24245 282.4942 106.9541 88.24245 283.7631 107.3457 88.24245 282.4375 107.1467 88.24245 282.4249 110.5307 88.24245 291.5652 107.5435 88.24245 288.7698 107.3329 88.24245 288.6224 110.6966 88.24245 291.4878 110.8734 88.24245 291.4404 111.0557 88.24245 291.4244 107.1001 88.24245 291.2858 106.8518 88.24245 291.3524 106.5957 88.24245 291.3748 105.2095 88.24245 290.4045 105.143 88.24245 290.1561 113.3347 88.24245 286.6197 107.5818 88.24245 285.1089 113.4333 88.24245 286.8183 113.5351 88.24245 287.0986 113.7129 88.24245 287.5875 107.5044 88.24245 285.2748 113.8156 88.24245 287.8698 107.3995 88.24245 285.4247 114.0955 88.24245 289.8992 114.0235 88.24245 288.8627 105.3181 88.24245 289.1625 106.5951 88.24245 285.7998 106.4128 88.24245 285.7839 105.4655 88.24245 288.9518 106.9543 88.24245 285.7365 106.7775 88.24245 285.7839 111.238 88.24245 291.4404 111.4148 88.24245 291.4877 107.3993 88.24245 284.0748 107.5043 88.24245 284.2248 110.3449 88.24245 283.4043 107.5817 88.24245 284.3906 111.2066 88.24245 283.9848 107.6291 88.24245 284.5674 111.9627 88.24245 284.6611 107.6451 88.24245 284.7497 112.1687 88.24245 284.9064 107.6291 88.24245 284.9321 113.1857 88.24245 286.3194 113.0914 88.24245 286.1602 112.9015 88.24245 285.8397 112.8183 88.24245 285.7176 105.6473 88.24245 288.77 105.8579 88.24245 288.6225 106.0909 88.24245 288.5138 106.3395 88.24245 291.3525 106.0912 88.24245 291.2859 105.8581 88.24245 291.1773 112.6822 88.24245 285.5178 112.5033 88.24245 285.3048 106.3393 88.24245 288.4473 106.5954 88.24245 288.4248 106.8515 88.24245 288.4472 110.0217 88.24245 292.2922 102.4948 88.24245 291.4885 107.1201 88.24245 285.6591 107.0999 88.24245 288.5137 117.7619 86.44245 294.5605 119.9168 86.44245 295.6264 117.8788 86.44245 294.2698 120.2823 86.44245 294.6876 118.3303 86.44245 292.8501 120.7323 86.44245 293.1251 118.604 86.44245 291.3857 121.0045 86.44245 291.522 118.6955 86.44245 289.8988 121.0955 86.44245 289.8985 118.6037 86.44245 288.4118 121.0042 86.44245 288.275 118.3298 86.44245 286.9474 120.7317 86.44245 286.672 117.878 86.44245 285.5278 120.2814 86.44245 285.1095 117.7611 86.44245 285.2372 119.9158 86.44245 284.1709 118.2171 86.44245 298.571 116.2163 86.44245 297.2382 117.9329 86.44245 298.9394 115.5383 86.44245 298.0507 108.1425 86.44245 301.9006 108.2968 86.44245 304.2997 109.1852 86.44245 301.7195 109.8234 86.44245 304.036 110.6181 86.44245 301.3117 111.3858 86.44245 303.5857 111.9899 86.44245 300.7308 112.888 86.44245 302.9633 113.2801 86.44245 299.9858 114.3111 86.44245 302.1766 114.4688 86.44245 299.0879 115.6372 86.44245 301.2356 116.8495 86.44245 300.152 101.8801 86.44245 301.0432 101.8077 86.44245 303.5866 103.2853 86.44245 301.5382 103.3703 86.44245 304.0366 104.7406 86.44245 301.8568 104.8968 86.44245 304.3 105.0507 86.44245 301.9008 96.9761 86.44245 297.2399 94.97555 86.44245 298.5732 97.16934 86.44245 297.4865 95.25979 86.44245 298.9415 98.1731 86.44245 298.5874 96.34342 86.44245 300.1538 99.30453 86.44245 299.5565 97.55596 86.44245 301.2372 100.5465 86.44245 300.3793 98.88218 86.44245 302.1781 100.3054 86.44245 302.9645 93.27529 86.44245 295.6288 95.42998 86.44245 294.5625 92.90966 86.44245 294.6901 95.06526 86.44245 293.569 92.45937 86.44245 293.1277 94.70175 86.44245 292.1243 92.18685 86.44245 291.5246 94.51854 86.44245 290.6458 92.09553 86.44245 289.9012 94.5184 86.44245 289.156 95.42913 86.44245 285.2392 93.27424 86.44245 284.1733 95.06459 86.44245 286.2327 92.90878 86.44245 285.112 94.70135 86.44245 287.6776 92.45877 86.44245 286.6746 92.18655 86.44245 288.2777 104.7384 86.44245 277.9432 105.0486 86.44245 277.8992 104.8942 86.44245 275.5 103.2831 86.44245 278.2621 94.97397 86.44245 281.2286 96.97476 86.44245 282.5615 95.25814 86.44245 280.8603 97.16796 86.44245 282.3149 96.34154 86.44245 279.6477 98.17151 86.44245 281.2139 97.55389 86.44245 278.5641 99.30277 86.44245 280.2445 98.87994 86.44245 277.6231 100.5446 86.44245 279.4215 100.303 86.44245 276.8364 101.8781 86.44245 278.7573 101.8052 86.44245 276.214 103.3677 86.44245 275.7637 93.5309 78.04244 283.6097 92.90966 78.04244 294.6901 92.45937 78.04244 293.1277 92.18685 78.04244 291.5246 92.09553 78.04244 289.9012 92.18655 78.04244 288.2777 92.45877 78.04244 286.6746 92.90878 78.04244 285.112 93.53205 78.04244 296.1924 94.97555 86.54244 298.5732 94.37046 86.54244 297.6971 94.31873 78.04244 297.6154 103.3703 78.04244 304.0366 101.8077 78.04244 303.5866 100.3054 78.04244 302.9645 98.88218 78.04244 302.1781 97.55596 78.04244 301.2372 96.34342 78.04244 300.1538 95.25979 78.04244 298.9415 104.9734 78.04244 304.3088 108.2203 78.04244 304.3085 117.9329 78.04244 298.9394 116.8495 78.04244 300.152 115.6372 78.04244 301.2356 114.3111 78.04244 302.1766 112.888 78.04244 302.9633 111.3858 78.04244 303.5857 109.8234 78.04244 304.036 118.822 86.54244 297.6949 118.2171 86.54244 298.571 118.8703 86.54244 297.6112 118.8737 78.04244 297.6132 119.6602 78.04244 296.19 120.2814 78.04244 285.1095 120.7317 78.04244 286.672 121.0042 78.04244 288.275 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285.0577 113.0771 88.1227 285.1174 112.9402 88.18131 285.1585 112.8424 88.02635 285.0422 112.7095 88.09863 285.0651 112.5815 88.18243 285.0682 112.5041 88.0582 284.9783 112.3851 88.15127 284.9632 112.3072 88.027 284.8758 112.1992 88.12686 284.843 112.0253 88.1066 284.7089 112.1036 88.23154 284.7918 112.0663 87.91542 284.6957 111.9696 87.96096 284.6425 111.9632 87.96446 284.6374 111.9429 87.97563 284.621 111.8365 88.0342 284.5349 112.1989 87.85737 284.7543 112.1299 87.88542 284.7307 112.1206 88.00244 284.7583 112.1112 87.89424 284.7204 112.2279 87.903 284.7894 112.2854 87.82223 284.7838 112.2705 87.82829 284.7787 112.4859 87.75359 284.8107 112.4428 87.76667 284.8103 112.4252 87.93421 284.8895 112.4374 87.76859 284.8094 112.3447 87.8105 284.8016 112.3757 87.79035 284.799 112.3398 87.803 284.793 112.7571 87.67913 284.7879 112.6339 87.71042 284.8064 112.6802 87.7781 284.8586 112.6071 87.71723 284.8104 112.8998 87.65004 284.7431 112.7805 87.67434 284.7805 112.8114 87.71832 284.8148 112.7744 87.67559 284.7824 113.0317 87.63008 284.6789 112.6307 87.9745 284.9739 112.5504 87.85061 284.8837 112.5988 87.71933 284.8117 112.7621 87.90209 284.9499 112.9772 87.96728 285 112.8951 87.84267 284.9068 113.1105 87.92281 284.9396 113.0266 87.79759 284.8458 112.9353 86.44245 284.7281 112.7748 86.44245 284.7836 112.6072 86.44245 284.8111 112.4373 86.44245 284.8098 112.2701 86.44245 284.7798 112.1104 86.44245 284.722 111.9628 86.44245 284.6379 101.6108 86.44245 293.3846 101.7767 86.44245 293.462 112.0898 86.44245 292.292 106.7773 86.44245 283.7158 106.9541 86.44245 283.7631 112.1058 86.44245 292.4743 103.1224 86.44245 292.116 103.1698 86.44245 292.2928 106.0701 86.44245 285.6592 101.4609 86.44245 293.2796 111.415 86.44245 293.4611 111.5809 86.44245 293.3837 111.8602 86.44245 293.1493 111.7308 86.44245 293.2787 116.4721 86.44245 296.89 117.2563 86.44245 295.6233 111.9652 86.44245 292.9993 112.0425 86.44245 292.8335 112.0899 86.44245 292.6567 107.2699 86.44245 283.9454 107.12 86.44245 283.8405 107.7109 86.44245 277.8514 106.2218 86.44245 277.8056 106.595 86.44245 283.6998 106.4126 86.44245 283.7158 106.2358 86.44245 283.7632 106.07 86.44245 283.8406 105.9201 86.44245 283.9456 101.1491 86.44245 292.8345 101.1017 86.44245 292.6577 110.3808 86.44245 291.6701 110.2514 86.44245 291.7996 107.6291 86.44245 284.9321 107.5818 86.44245 285.1089 107.5044 86.44245 285.2748 107.3995 86.44245 285.4247 107.2701 86.44245 285.5541 107.1201 86.44245 285.6591 106.9543 86.44245 285.7365 117.2553 86.44245 284.1744 116.4709 86.44245 282.9079 101.1017 86.44245 292.293 101.0857 86.44245 292.4754 95.60356 86.44245 294.9582 96.30848 86.44245 296.2706 101.2265 86.44245 293.0003 101.3314 86.44245 293.1502 102.8107 86.44245 293.2795 110.0058 86.44245 292.4745 110.0218 86.44245 292.6569 107.3993 86.44245 284.0748 107.5043 86.44245 284.2248 107.5817 86.44245 284.3906 107.6291 86.44245 284.5674 107.6451 86.44245 284.7497 106.236 86.44245 285.7366 106.4128 86.44245 285.7839 106.5951 86.44245 285.7998 106.7775 86.44245 285.7839 103.0451 86.44245 293.0002 102.9401 86.44245 293.1501 101.149 86.44245 292.1162 101.2264 86.44245 291.9503 101.3313 86.44245 291.8004 101.4607 86.44245 291.671 101.6106 86.44245 291.566 101.7765 86.44245 291.4886 112.0424 86.44245 292.1152 111.9651 86.44245 291.9494 111.8601 86.44245 291.7994 111.7306 86.44245 291.67 110.1464 86.44245 291.9495 110.0691 86.44245 292.1154 110.0217 86.44245 292.2922 102.6608 86.44245 293.3845 102.4949 86.44245 293.4619 102.3182 86.44245 293.5093 102.1358 86.44245 293.5252 101.9535 86.44245 293.5093 111.2382 86.44245 293.5085 111.0559 86.44245 293.5244 110.8736 86.44245 293.5085 110.6968 86.44245 293.4611 110.5309 86.44245 293.3838 110.0691 86.44245 292.8337 110.1465 86.44245 292.9995 110.2515 86.44245 293.1494 105.5451 86.44245 284.75 105.561 86.44245 284.5676 105.6083 86.44245 284.3908 105.6857 86.44245 284.2249 105.7906 86.44245 284.075 105.6084 86.44245 285.1091 105.6858 86.44245 285.2749 103.045 86.44245 291.9502 102.94 86.44245 291.8002 111.5807 86.44245 291.5651 111.4148 86.44245 291.4877 111.238 86.44245 291.4404 111.0557 86.44245 291.4244 110.8734 86.44245 291.4404 110.6966 86.44245 291.4878 110.5307 86.44245 291.5652 106.224 86.44245 301.9942 107.7131 86.44245 301.9481 103.1224 86.44245 292.8343 103.1698 86.44245 292.6575 103.1857 86.44245 292.4751 110.3809 86.44245 293.2789 105.561 86.44245 284.9323 105.7908 86.44245 285.4248 105.9202 86.44245 285.5542 102.8106 86.44245 291.6708 102.6606 86.44245 291.5659 95.60263 86.44245 284.8435 96.30731 86.44245 283.531 102.4948 86.44245 291.4885 102.318 86.44245 291.4412 102.1356 86.44245 291.4252 101.9533 86.44245 291.4412 108.0481 97.99245 290.1558 107.9816 97.99245 290.4042 107.873 97.99245 290.6372 107.7255 97.99245 290.8479 107.5437 97.99245 291.0297 107.3331 97.99245 291.1772 107.1001 97.99245 291.2858 106.8518 97.99245 291.3524 106.5957 97.99245 291.3748 106.3395 97.99245 291.3525 106.0912 97.99245 291.2859 105.8581 97.99245 291.1773 105.6475 97.99245 291.0299 105.4657 97.99245 290.8481 105.3182 97.99245 290.6375 105.2095 97.99245 290.4045 105.143 97.99245 290.1561 105.1205 97.99245 289.9 105.1429 97.99245 289.6438 105.2094 97.99245 289.3955 105.3181 97.99245 289.1625 105.4655 97.99245 288.9518 105.6473 97.99245 288.77 105.8579 97.99245 288.6225 106.0909 97.99245 288.5138 106.3393 97.99245 288.4473 106.5954 97.99245 288.4248 106.8515 97.99245 288.4472 107.0999 97.99245 288.5137 107.3329 97.99245 288.6224 107.5435 97.99245 288.7698 107.7254 97.99245 288.9516 107.8728 97.99245 289.1622 107.9815 97.99245 289.3952 108.0481 97.99245 289.6436 108.0705 97.99245 289.8997 105.4444 98.24244 289.481 105.3891 98.24244 289.6872 106.5955 98.24244 289.8999 105.3705 98.24244 289.8999 105.3892 98.24244 290.1127 105.808 98.24244 288.9615 105.6571 98.24244 289.1125 105.5346 98.24244 289.2874 106.3827 98.24244 288.6935 106.1764 98.24244 288.7488 105.9829 98.24244 288.839 107.0144 98.24244 288.7487 106.8081 98.24244 288.6934 106.5954 98.24244 288.6748 107.5339 98.24244 289.1123 107.3829 98.24244 288.9614 107.2079 98.24244 288.8389 107.8019 98.24244 289.687 107.7466 98.24244 289.4808 107.6564 98.24244 289.2872 107.7467 98.24244 290.3187 107.8019 98.24244 290.1124 107.8205 98.24244 289.8997 107.383 98.24244 290.8382 107.534 98.24244 290.6872 107.6565 98.24244 290.5122 106.8084 98.24244 291.1062 107.0146 98.24244 291.0509 107.2081 98.24244 290.9607 106.1767 98.24244 291.051 106.3829 98.24244 291.1062 106.5956 98.24244 291.1248 105.6572 98.24244 290.6874 105.8082 98.24244 290.8383 105.9831 98.24244 290.9608 105.4444 98.24244 290.3189 105.5347 98.24244 290.5124 118.0955 74.54244 289.8988 118.005 83.74245 291.3401 118.005 74.54244 291.3401 117.7345 83.74245 292.7588 117.7345 74.54244 292.7588 117.2883 83.74245 294.1323 117.2883 74.54244 294.1323 116.6736 83.74245 295.4391 116.6736 74.54244 295.4391 115.8998 83.74245 296.6585 115.8998 74.54244 296.6585 114.9794 83.74245 297.7714 114.9794 74.54244 297.7714 113.9267 83.74245 298.7601 113.9267 74.54244 298.7601 112.7584 83.74245 299.6091 112.7584 74.54244 299.6091 111.4929 83.74245 300.3049 111.4929 74.54244 300.3049 110.1502 83.74245 300.8367 110.1502 74.54244 300.8367 108.7514 83.74245 301.196 108.7514 74.54244 301.196 107.3187 83.74245 301.3771 107.3187 74.54244 301.3771 105.8745 83.74245 301.3772 105.8745 74.54244 301.3772 104.4417 83.74245 301.1963 104.4417 74.54244 301.1963 103.0428 83.74245 300.8373 103.0428 74.54244 300.8373 101.7 83.74245 300.3058 101.7 74.54244 300.3058 100.4344 83.74245 299.6102 100.4344 74.54244 299.6102 99.26596 83.74245 298.7614 99.26596 74.54244 298.7614 98.21311 83.74245 297.7729 98.21311 74.54244 297.7729 97.29244 83.74245 296.6602 97.29244 74.54244 296.6602 96.5185 83.74245 295.4409 96.5185 74.54244 295.4409 95.90348 83.74245 294.1343 95.90348 74.54244 294.1343 95.45708 83.74245 292.7608 95.45708 74.54244 292.7608 95.18634 83.74245 291.3422 95.18634 74.54244 291.3422 95.09552 83.74245 289.9009 95.09552 74.54244 289.9009 95.18608 83.74245 288.4595 95.18608 74.54244 288.4595 95.45656 83.74245 287.0409 95.45656 74.54244 287.0409 95.90271 83.74245 285.6674 95.90271 74.54244 285.6674 96.5175 83.74245 284.3606 96.5175 74.54244 284.3606 97.29122 83.74245 283.1412 97.29122 74.54244 283.1412 98.21167 83.74245 282.0283 98.21167 74.54244 282.0283 99.26434 83.74245 281.0396 99.26434 74.54244 281.0396 100.4326 83.74245 280.1906 100.4326 74.54244 280.1906 101.6981 83.74245 279.4948 101.6981 74.54244 279.4948 103.0408 83.74245 278.963 103.0408 74.54244 278.963 104.4396 83.74245 278.6037 104.4396 74.54244 278.6037 105.8724 83.74245 278.4226 105.8724 74.54244 278.4226 107.3166 83.74245 278.4225 107.3166 74.54244 278.4225 108.7494 83.74245 278.6033 108.7494 74.54244 278.6033 110.1482 83.74245 278.9624 110.1482 74.54244 278.9624 111.491 83.74245 279.4939 111.491 74.54244 279.4939 112.7566 83.74245 280.1895 112.7566 74.54244 280.1895 113.9251 83.74245 281.0383 113.9251 74.54244 281.0383 114.9779 83.74245 282.0268 114.9779 74.54244 282.0268 115.8986 83.74245 283.1395 115.8986 74.54244 283.1395 116.6725 83.74245 284.3587 116.6725 74.54244 284.3587 117.2876 83.74245 285.6654 117.2876 74.54244 285.6654 117.734 83.74245 287.0389 117.734 74.54244 287.0389 118.0047 83.74245 288.4575 118.0047 74.54244 288.4575 118.0955 83.74245 289.8988 113.7462 71.04244 295.1242 99.44586 71.04244 295.1255 98.98534 71.04244 282.7504 105.2271 71.04244 286.1412 104.8572 71.04244 286.3137 104.8571 71.04244 284.675 113.745 71.04244 282.749 106.5947 71.04244 280.3498 106.3255 71.04244 280.3734 106.8638 71.04244 280.3734 105.4073 71.04244 280.9036 105.5984 71.04244 280.7126 105.8197 71.04244 280.5576 105.2524 71.04244 281.125 105.1382 71.04244 281.3699 105.0683 71.04244 281.6308 108.1212 71.04244 281.6305 108.0513 71.04244 281.3696 106.0645 71.04244 280.4434 107.7823 71.04244 282.8961 107.8848 71.04244 282.7496 108.3328 71.04244 282.7496 107.9372 71.04244 282.6747 107.1248 71.04244 280.4433 107.3697 71.04244 280.5574 105.1383 71.04244 282.4301 104.8569 71.04244 282.7499 105.0684 71.04244 282.1691 105.0448 71.04244 281.9 108.0514 71.04244 282.4299 108.1213 71.04244 282.1689 108.1448 71.04244 281.8997 107.9371 71.04244 281.1247 107.7821 71.04244 280.9034 107.591 71.04244 280.7124 105.5986 71.04244 283.0873 105.8199 71.04244 283.2423 105.2525 71.04244 282.675 105.305 71.04244 282.7498 105.4075 71.04244 282.8963 106.0648 71.04244 283.3564 106.3258 71.04244 283.4263 108.333 71.04244 284.6747 106.5949 71.04244 283.4498 106.8641 71.04244 283.4263 107.1251 71.04244 283.3563 107.3699 71.04244 283.2421 107.5912 71.04244 283.0871 113.7455 71.04244 288.1612 113.7452 71.04244 284.6742 110.0594 71.04244 287.8995 110.1817 71.04244 288.1615 108.7219 71.04244 286.5242 109.1664 71.04244 286.8354 109.6595 71.04244 287.3284 108.7215 71.04244 282.7495 108.7217 71.04244 284.6747 103.0091 71.04244 288.1622 101.0798 71.04244 288.1624 104.5952 71.04244 286.4359 103.1312 71.04244 287.9002 103.5311 71.04244 287.329 104.0241 71.04244 286.8359 99.44522 71.04244 288.1625 99.4449 71.04244 284.6755 98.98583 71.04244 288.1626 101.0793 71.04244 282.7502 99.44473 71.04244 282.7503 110.182 71.04244 291.6375 110.3544 71.04244 291.2676 113.7458 71.04244 291.6372 110.5348 71.04244 290.5941 110.5955 71.04244 289.8995 110.5347 71.04244 289.2049 110.3542 71.04244 288.5314 110.0598 71.04244 291.8995 109.9711 71.04244 292.0262 108.7225 71.04244 293.2751 108.7227 71.04244 295.1246 109.6599 71.04244 292.4707 109.167 71.04244 292.9638 107.2905 71.04244 293.839 107.964 71.04244 293.6585 108.334 71.04244 295.1247 108.3338 71.04244 293.486 108.5958 71.04244 293.3638 104.858 71.04244 295.125 105.9013 71.04244 293.8391 106.5959 71.04244 293.8999 104.8579 71.04244 293.4863 105.2278 71.04244 293.6587 103.2203 71.04244 292.0268 101.0801 71.04244 292.027 104.5958 71.04244 293.3641 104.0247 71.04244 292.9642 103.5316 71.04244 292.4713 102.6564 71.04244 290.5948 102.8369 71.04244 291.2683 101.0801 71.04244 291.6383 103.0094 71.04244 291.6381 103.1316 71.04244 291.9002 102.8366 71.04244 288.5321 102.6562 71.04244 289.2056 102.5955 71.04244 289.9002 108.3332 71.04244 286.3134 107.9633 71.04244 286.1409 107.2898 71.04244 285.9606 106.5952 71.04244 285.8999 105.9006 71.04244 285.9607 108.5952 71.04244 286.4356 108.0527 71.04244 297.3696 107.9385 71.04244 297.1247 107.7835 71.04244 296.9034 107.5925 71.04244 296.7124 107.3711 71.04244 296.5574 107.1263 71.04244 296.4433 106.5964 71.04244 299.4498 106.8656 71.04244 299.4263 105.1397 71.04244 297.3699 105.0698 71.04244 297.6308 105.0463 71.04244 297.9 105.0698 71.04244 298.1691 105.1398 71.04244 298.4301 107.3714 71.04244 299.2421 107.5927 71.04244 299.0871 107.7837 71.04244 298.8961 107.9387 71.04244 298.6747 108.0528 71.04244 298.4299 106.327 71.04244 296.3734 106.5961 71.04244 296.3498 106.8653 71.04244 296.3734 106.066 71.04244 296.4434 105.8211 71.04244 296.5576 105.5998 71.04244 296.7126 105.8214 71.04244 299.2423 105.6 71.04244 299.0873 105.409 71.04244 298.8963 105.254 71.04244 298.675 106.3272 71.04244 299.4263 106.0663 71.04244 299.3564 108.1227 71.04244 298.1689 108.1463 71.04244 297.8997 108.1227 71.04244 297.6305 105.4088 71.04244 296.9036 105.2538 71.04244 297.125 107.1265 71.04244 299.3563 113.7459 71.04244 292.0258 114.5455 71.04244 289.8991 114.5691 71.04244 290.1683 115.0991 71.04244 288.7117 114.9081 71.04244 288.9028 114.569 71.04244 289.63 114.7531 71.04244 289.1241 114.639 71.04244 289.369 114.639 71.04244 290.4292 114.7533 71.04244 290.6741 114.9083 71.04244 290.8954 117.622 71.04244 290.168 117.6455 71.04244 289.8988 117.622 71.04244 289.6297 117.4378 71.04244 289.1239 117.552 71.04244 289.3687 116.0954 71.04244 288.349 115.8262 71.04244 288.3725 117.0917 71.04244 288.7115 117.2828 71.04244 288.9025 116.8704 71.04244 288.5566 116.6255 71.04244 288.4424 116.3645 71.04244 288.3725 115.5653 71.04244 288.4425 115.3204 71.04244 288.5567 115.0993 71.04244 291.0864 115.3207 71.04244 291.2414 115.5655 71.04244 291.3555 115.8265 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288.3742 97.09539 71.04244 288.3507 96.82624 71.04244 288.3743 96.82651 71.04244 291.4272 97.09567 71.04244 291.4507 97.36482 71.04244 291.4271 97.62579 71.04244 291.3572 97.87065 71.04244 291.243 98.09195 71.04244 291.088 98.98619 71.04244 292.0272 99.44557 71.04244 292.0271 99.44554 71.04244 291.6385 107.7701 70.04244 289.4722 107.8265 70.04244 289.6827 106.5955 70.04244 289.8999 107.8455 70.04244 289.8997 107.8266 70.04244 290.1168 107.3989 70.04244 288.9422 107.553 70.04244 289.0963 107.678 70.04244 289.2747 106.8125 70.04244 288.6688 107.0229 70.04244 288.7252 107.2204 70.04244 288.8172 106.1679 70.04244 288.7253 106.3784 70.04244 288.6689 106.5954 70.04244 288.6499 105.6379 70.04244 289.0964 105.792 70.04244 288.9424 105.9704 70.04244 288.8174 105.3645 70.04244 289.6829 105.4209 70.04244 289.4724 105.5129 70.04244 289.2749 105.4209 70.04244 290.3275 105.3645 70.04244 290.117 105.3455 70.04244 289.8999 105.7921 70.04244 290.8575 105.638 70.04244 290.7034 105.513 70.04244 290.5249 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288.3999 106.3349 71.54244 288.4226 106.0824 71.54244 288.4903 105.8454 71.54244 288.6009 105.6312 71.54244 288.7509 105.4464 71.54244 288.9358 105.2964 71.54244 289.15 105.1859 71.54244 289.3869 105.1183 71.54244 289.6395 109.6599 71.54244 292.4707 109.167 71.54244 292.9638 108.5958 71.54244 293.3638 107.964 71.54244 293.6585 107.2905 71.54244 293.839 106.5959 71.54244 293.8999 105.9013 71.54244 293.8391 105.2278 71.54244 293.6587 104.5958 71.54244 293.3641 104.0247 71.54244 292.9642 103.5316 71.54244 292.4713 103.1316 71.54244 291.9002 102.8369 71.54244 291.2683 102.6564 71.54244 290.5948 102.5955 71.54244 289.9002 102.6562 71.54244 289.2056 102.8366 71.54244 288.5321 103.1312 71.54244 287.9002 103.5311 71.54244 287.329 104.0241 71.54244 286.8359 104.5952 71.54244 286.4359 105.2271 71.54244 286.1412 105.9006 71.54244 285.9607 106.5952 71.54244 285.8999 107.2898 71.54244 285.9606 107.9633 71.54244 286.1409 108.5952 71.54244 286.4356 109.1664 71.54244 286.8354 109.6595 71.54244 287.3284 110.0594 71.54244 287.8995 110.3542 71.54244 288.5314 110.5347 71.54244 289.2049 110.5955 71.54244 289.8995 110.5348 71.54244 290.5941 110.3544 71.54244 291.2676 110.0598 71.54244 291.8995 98.552 73.04244 289.3704 98.62195 73.04244 289.6314 97.09553 73.04244 289.9007 98.64553 73.04244 289.9006 98.622 73.04244 290.1697 98.09174 73.04244 288.7132 98.2828 73.04244 288.9043 98.43779 73.04244 289.1256 97.36454 73.04244 288.3742 97.62552 73.04244 288.4441 97.8704 73.04244 288.5583 96.56526 73.04244 288.4442 96.82624 73.04244 288.3743 97.09539 73.04244 288.3507 95.90807 73.04244 288.9045 96.09909 73.04244 288.7134 96.32041 73.04244 288.5585 95.56905 73.04244 289.6317 95.63896 73.04244 289.3707 95.75312 73.04244 289.1258 95.63905 73.04244 290.431 95.5691 73.04244 290.17 95.54553 73.04244 289.9009 96.09931 73.04244 291.0882 95.90825 73.04244 290.8971 95.75326 73.04244 290.6758 96.82651 73.04244 291.4272 96.56553 73.04244 291.3573 96.32065 73.04244 291.2431 97.62579 73.04244 291.3572 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299.4263 106.5964 73.04244 299.4498 107.7837 73.04244 298.8961 107.5927 73.04244 299.0871 107.3714 73.04244 299.2421 108.0528 73.04244 298.4299 107.9387 73.04244 298.6747 117.552 73.04244 289.3687 117.622 73.04244 289.6297 116.0955 73.04244 289.899 117.6455 73.04244 289.8988 117.622 73.04244 290.168 117.0917 73.04244 288.7115 117.2828 73.04244 288.9025 117.4378 73.04244 289.1239 116.3645 73.04244 288.3725 116.6255 73.04244 288.4424 116.8704 73.04244 288.5566 115.5653 73.04244 288.4425 115.8262 73.04244 288.3725 116.0954 73.04244 288.349 114.9081 73.04244 288.9028 115.0991 73.04244 288.7117 115.3204 73.04244 288.5567 114.569 73.04244 289.63 114.639 73.04244 289.369 114.7531 73.04244 289.1241 114.639 73.04244 290.4292 114.5691 73.04244 290.1683 114.5455 73.04244 289.8991 115.0993 73.04244 291.0864 114.9083 73.04244 290.8954 114.7533 73.04244 290.6741 115.8265 73.04244 291.4255 115.5655 73.04244 291.3555 115.3207 73.04244 291.2414 116.6258 73.04244 291.3554 116.3648 73.04244 291.4254 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156.0868 236.7833 236.3409 156.0868 235.2796 235.9573 156.0868 236.7359 236.0193 156.0868 235.2342 235.728 156.0868 236.7235 235.6946 156.0868 235.2238 235.4995 156.0868 236.7461 236.5968 156.0868 236.9773 237.2504 156.0868 235.6187 236.3969 156.0868 236.8644 236.9601 156.0868 235.473 236.6558 156.0868 235.3595 237.0629 156.0868 237.4774 238.2064 156.0868 236.4847 236.9338 156.0868 237.2874 238.0041 156.0868 236.2305 236.7772 156.0868 237.1194 237.7755 156.0868 235.9997 237.5233 156.0868 235.795 232.9504 156.0868 237.175 232.8536 156.0868 237.4851 234.2828 156.0868 237.9704 232.7908 156.0868 237.8038 232.7629 156.0868 238.1274 235.3707 156.0868 235.2486 235.0514 156.0868 235.3083 235.2771 156.0868 236.8034 234.7404 156.0868 235.4022 234.4414 156.0868 235.5291 237.2272 156.0868 237.9048 238.6334 156.0868 237.3564 237.1614 156.0868 237.6848 238.5229 156.0868 237.0509 238.38 156.0868 236.7592 237.2549 156.0868 238.3619 238.7599 156.0868 238.3188 237.2586 156.0868 238.1323 238.7526 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235.2238 235.9573 151.0868 236.7359 234.8713 151.0868 237.0157 234.1579 151.0868 235.6876 235.066 151.0868 236.894 234.4414 151.0868 235.5291 234.7404 151.0868 235.4022 234.428 151.0868 237.536 233.2415 151.0868 236.5952 234.5485 151.0868 237.3405 233.4322 151.0868 236.3323 234.6974 151.0868 237.1657 233.6503 151.0868 236.0916 233.8931 151.0868 235.8758 235.4522 151.0868 239.6909 234.867 151.0868 241.0867 235.2318 151.0868 239.6265 234.5626 151.0868 240.9732 235.0238 151.0868 239.5292 234.2723 151.0868 240.8275 234.833 151.0868 239.4013 234.2828 151.0868 237.9704 232.8536 151.0868 237.4851 234.3387 151.0868 237.7476 232.9504 151.0868 237.175 233.0802 151.0868 236.8772 234.2755 151.0868 238.4282 232.7701 151.0868 238.4522 234.2616 151.0868 238.199 232.7629 151.0868 238.1274 232.7908 151.0868 237.8038 234.5208 151.0868 239.0663 233.1428 151.0868 239.687 234.4066 151.0868 238.867 232.9999 151.0868 239.3953 234.3242 151.0868 238.6527 232.8893 151.0868 239.0898 232.8124 151.0868 238.7742 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209.9093 140.9539 135.2231 209.9434 141.1626 135.2231 210.1098 140.9808 135.2231 210.155 141.1841 135.2231 210.312 140.9861 135.2231 210.3677 141.1841 135.2231 210.5136 140.97 135.2231 210.5794 141.1626 135.2231 210.7123 140.9325 135.2231 210.7877 141.1198 135.2231 210.9059 140.8741 135.2231 210.9907 141.0561 135.2231 211.0923 140.7955 135.2231 211.1862 140.9722 135.2231 211.2692 140.6975 135.2231 211.3722 140.869 135.2231 211.4347 140.5813 135.2231 211.5468 140.7474 135.2231 211.5869 140.4481 135.2231 211.7082 140.6089 135.2231 211.7241 140.2995 135.2231 211.8548 140.4547 135.2231 211.8447 140.1371 135.2231 211.985 140.2865 135.2231 211.9474 139.9629 135.2231 212.0975 140.1059 135.2231 212.0309 139.7787 135.2231 212.1912 139.915 135.2231 212.0944 139.5867 135.2231 212.2651 139.7155 135.2231 212.1372 139.389 135.2231 212.3184 139.5095 135.2231 212.1587 139.1879 135.2231 209.3407 137.4248 135.2231 209.1506 137.3047 135.2231 209.1693 137.532 135.2231 208.976 137.4262 135.2231 209.0102 137.6569 135.2231 208.8146 137.5647 135.2231 208.8653 137.798 135.2231 208.668 137.7189 135.2231 208.7362 137.9537 135.2231 208.5378 137.8871 135.2231 208.6244 138.1222 135.2231 208.4253 138.0677 135.2231 208.5312 138.3017 135.2231 208.3316 138.2587 135.2231 208.4575 138.4901 135.2231 208.2577 138.4581 135.2231 208.4043 138.6852 135.2231 208.2044 138.6641 135.2231 208.3721 138.8849 135.2231 208.1722 138.8744 135.2231 208.3614 139.0868 135.2231 208.1614 139.0868 135.2231 208.3721 139.2888 135.2231 208.1722 139.2993 135.2231 208.4043 139.4884 135.2231 208.2044 139.5095 135.2231 208.4575 139.6836 135.2231 208.2577 139.7155 135.2231 208.5312 139.8719 135.2231 208.3316 139.915 135.2231 208.6244 140.0514 135.2231 208.4253 140.1059 135.2231 208.7362 140.2199 135.2231 208.5378 140.2865 135.2231 208.8653 140.3756 135.2231 208.668 140.4547 135.2231 209.0102 140.5167 135.2231 208.8146 140.6089 135.2231 208.976 140.7474 135.2231 212.3506 139.2993 135.2231 212.3614 139.0868 135.2231 212.1587 138.9857 135.2231 212.3506 138.8744 135.2231 212.1372 138.7846 135.2231 212.3184 138.6641 135.2231 212.0944 138.5869 135.2231 212.2651 138.4581 135.2231 212.0309 138.3949 135.2231 212.1912 138.2587 135.2231 211.9474 138.2107 135.2231 212.0975 138.0677 135.2231 211.8447 138.0365 135.2231 211.985 137.8871 135.2231 211.7241 137.8741 135.2231 211.8548 137.7189 135.2231 211.5869 137.7255 135.2231 211.7082 137.5647 135.2231 211.4347 137.5924 135.2231 211.5468 137.4262 135.2231 211.2692 137.4761 135.2231 211.3722 137.3047 135.2231 211.0923 137.3781 135.2231 211.1862 137.2014 135.2231 210.9059 137.2995 135.2231 210.9907 137.1175 135.2231 210.7123 137.2411 135.2231 210.7877 137.0538 135.2231 210.5136 137.2036 135.2231 210.5794 137.011 135.2231 210.312 137.1875 135.2231 210.3677 136.9895 135.2231 210.1098 137.1929 135.2231 210.155 136.9895 135.2231 209.9093 137.2197 135.2231 209.9434 137.011 135.2231 209.7129 137.2677 135.2231 209.735 137.0538 135.2231 209.5226 137.3363 135.2231 209.532 137.1175 135.2231 209.3366 137.2014 135.2231 211.0234 138.608 135.7231 211.2232 138.553 135.7231 211.0723 138.6963 135.7231 211.2722 138.653 135.7231 211.1109 138.7896 135.7231 211.3109 138.7575 135.7231 211.1388 138.8865 135.7231 211.3389 138.8654 135.7231 211.1557 138.986 135.7231 211.3557 138.9755 135.7231 211.1614 139.0868 135.7231 211.3614 139.0868 135.7231 211.1557 139.1876 135.7231 211.3557 139.1981 135.7231 211.1388 139.2871 135.7231 211.3389 139.3082 135.7231 211.1109 139.3841 135.7231 211.3109 139.4161 135.7231 211.0723 139.4773 135.7231 209.4993 139.5656 135.7231 209.2996 139.6206 135.7231 209.4505 139.4773 135.7231 209.2505 139.5206 135.7231 209.4119 139.3841 135.7231 209.2118 139.4161 135.7231 209.384 139.2871 135.7231 209.1839 139.3082 135.7231 209.367 139.1876 135.7231 209.167 139.1981 135.7231 209.3614 139.0868 135.7231 209.1614 139.0868 135.7231 209.367 138.986 135.7231 209.167 138.9755 135.7231 209.384 138.8865 135.7231 209.1839 138.8654 135.7231 209.4119 138.7896 135.7231 209.2118 138.7575 135.7231 209.4505 138.6963 135.7231 210.2614 138.1868 135.7231 210.3171 137.9882 135.7231 210.3621 138.1925 135.7231 210.428 137.9995 135.7231 210.4617 138.2094 135.7231 210.5371 138.0219 135.7231 210.5586 138.2373 135.7231 210.6434 138.0553 135.7231 210.6519 138.2759 135.7231 210.7458 138.0992 135.7231 210.7402 138.3248 135.7231 210.8432 138.1533 135.7231 210.8225 138.3832 135.7231 210.9347 138.217 135.7231 210.8978 138.4504 135.7231 211.0193 138.2895 135.7231 210.965 138.5257 135.7231 211.096 138.3703 135.7231 211.1642 138.4584 135.7231 210.3621 139.9812 135.7231 210.3171 140.1854 135.7231 210.2614 139.9868 135.7231 210.2057 140.1854 135.7231 210.1606 139.9812 135.7231 210.0948 140.1741 135.7231 210.0611 139.9642 135.7231 209.9857 140.1517 135.7231 209.9641 139.9363 135.7231 209.8793 140.1183 135.7231 209.8709 139.8977 135.7231 209.7769 140.0744 135.7231 209.7826 139.8489 135.7231 209.6795 140.0203 135.7231 209.7002 139.7905 135.7231 209.5881 139.9567 135.7231 209.625 139.7232 135.7231 209.5035 139.8841 135.7231 209.5577 139.6479 135.7231 209.4268 139.8033 135.7231 209.3585 139.7152 135.7231 211.2722 139.5206 135.7231 211.2232 139.6206 135.7231 211.0234 139.5656 135.7231 211.1642 139.7152 135.7231 210.965 139.6479 135.7231 211.096 139.8033 135.7231 210.8978 139.7232 135.7231 211.0193 139.8841 135.7231 210.8225 139.7905 135.7231 210.9347 139.9567 135.7231 210.7402 139.8489 135.7231 210.8432 140.0203 135.7231 210.6519 139.8977 135.7231 210.7458 140.0744 135.7231 210.5586 139.9363 135.7231 210.6434 140.1183 135.7231 210.4617 139.9642 135.7231 210.5371 140.1517 135.7231 210.428 140.1741 135.7231 209.2505 138.653 135.7231 209.2996 138.553 135.7231 209.4993 138.608 135.7231 209.3585 138.4584 135.7231 209.5577 138.5257 135.7231 209.4268 138.3703 135.7231 209.625 138.4504 135.7231 209.5035 138.2895 135.7231 209.7002 138.3832 135.7231 209.5881 138.217 135.7231 209.7826 138.3248 135.7231 209.6795 138.1533 135.7231 209.8709 138.2759 135.7231 209.7769 138.0992 135.7231 209.9641 138.2373 135.7231 209.8793 138.0553 135.7231 210.0611 138.2094 135.7231 209.9857 138.0219 135.7231 210.1606 138.1925 135.7231 210.0948 137.9995 135.7231 210.2057 137.9882 135.7231 211.0234 139.5656 135.2231 211.2232 139.6206 135.2231 211.0723 139.4773 135.2231 211.2722 139.5206 135.2231 211.1109 139.3841 135.2231 211.3109 139.4161 135.2231 211.1388 139.2871 135.2231 211.3389 139.3082 135.2231 211.1557 139.1876 135.2231 211.3557 139.1981 135.2231 211.1614 139.0868 135.2231 211.3614 139.0868 135.2231 211.1557 138.986 135.2231 211.3557 138.9755 135.2231 211.1388 138.8865 135.2231 211.3389 138.8654 135.2231 211.1109 138.7896 135.2231 211.3109 138.7575 135.2231 211.0723 138.6963 135.2231 209.4993 138.608 135.2231 209.2996 138.553 135.2231 209.4505 138.6963 135.2231 209.2505 138.653 135.2231 209.4119 138.7896 135.2231 209.2118 138.7575 135.2231 209.384 138.8865 135.2231 209.1839 138.8654 135.2231 209.367 138.986 135.2231 209.167 138.9755 135.2231 209.3614 139.0868 135.2231 209.1614 139.0868 135.2231 209.367 139.1876 135.2231 209.167 139.1981 135.2231 209.384 139.2871 135.2231 209.1839 139.3082 135.2231 209.4119 139.3841 135.2231 209.2118 139.4161 135.2231 209.4505 139.4773 135.2231 210.3621 138.1925 135.2231 210.3171 137.9882 135.2231 210.2614 138.1868 135.2231 210.2057 137.9882 135.2231 210.1606 138.1925 135.2231 210.0948 137.9995 135.2231 210.0611 138.2094 135.2231 209.9857 138.0219 135.2231 209.9641 138.2373 135.2231 209.8793 138.0553 135.2231 209.8709 138.2759 135.2231 209.7769 138.0992 135.2231 209.7826 138.3248 135.2231 209.6795 138.1533 135.2231 209.7002 138.3832 135.2231 209.5881 138.217 135.2231 209.625 138.4504 135.2231 209.5035 138.2895 135.2231 209.5577 138.5257 135.2231 209.4268 138.3703 135.2231 209.3585 138.4584 135.2231 211.2722 138.653 135.2231 211.2232 138.553 135.2231 211.0234 138.608 135.2231 211.1642 138.4584 135.2231 210.965 138.5257 135.2231 211.096 138.3703 135.2231 210.8978 138.4504 135.2231 211.0193 138.2895 135.2231 210.8225 138.3832 135.2231 210.9347 138.217 135.2231 210.7402 138.3248 135.2231 210.8432 138.1533 135.2231 210.6519 138.2759 135.2231 210.7458 138.0992 135.2231 210.5586 138.2373 135.2231 210.6434 138.0553 135.2231 210.4617 138.2094 135.2231 210.5371 138.0219 135.2231 210.428 137.9995 135.2231 210.1606 139.9812 135.2231 210.2057 140.1854 135.2231 210.2614 139.9868 135.2231 210.3171 140.1854 135.2231 210.3621 139.9812 135.2231 210.428 140.1741 135.2231 210.4617 139.9642 135.2231 210.5371 140.1517 135.2231 210.5586 139.9363 135.2231 210.6434 140.1183 135.2231 210.6519 139.8977 135.2231 210.7458 140.0744 135.2231 210.7402 139.8489 135.2231 210.8432 140.0203 135.2231 210.8225 139.7905 135.2231 210.9347 139.9567 135.2231 210.8978 139.7232 135.2231 211.0193 139.8841 135.2231 210.965 139.6479 135.2231 211.096 139.8033 135.2231 211.1642 139.7152 135.2231 209.2505 139.5206 135.2231 209.2996 139.6206 135.2231 209.4993 139.5656 135.2231 209.3585 139.7152 135.2231 209.5577 139.6479 135.2231 209.4268 139.8033 135.2231 209.625 139.7232 135.2231 209.5035 139.8841 135.2231 209.7002 139.7905 135.2231 209.5881 139.9567 135.2231 209.7826 139.8489 135.2231 209.6795 140.0203 135.2231 209.8709 139.8977 135.2231 209.7769 140.0744 135.2231 209.9641 139.9363 135.2231 209.8793 140.1183 135.2231 210.0611 139.9642 135.2231 209.9857 140.1517 135.2231 210.0948 140.1741 135.2231 185.3403 138.672 135.7231 185.3614 139.0868 135.7231 185.1562 139.2876 135.7231 185.3403 139.5016 135.7231 185.1149 139.687 135.7231 185.2775 139.9121 135.7231 185.0328 140.08 135.7231 185.1734 140.3142 135.7231 184.9107 140.4625 135.7231 185.0291 140.7037 135.7231 184.7499 140.8305 135.7231 184.8462 141.0765 135.7231 184.5521 141.1799 135.7231 184.6265 141.429 135.7231 184.3195 141.5072 135.7231 184.3723 141.7574 135.7231 184.0544 141.8088 135.7231 184.0861 142.0585 135.7231 183.7597 142.0815 135.7231 183.771 142.329 135.7231 183.4385 142.3226 135.7231 183.4301 142.5662 135.7231 183.0943 142.5293 135.7231 183.067 142.7678 135.7231 182.7306 142.6995 135.7231 182.6853 142.9316 135.7231 182.3514 142.8314 135.7231 182.2891 143.0559 135.7231 181.9606 142.9236 135.7231 181.8822 143.1395 135.7231 181.5624 142.9752 135.7231 181.4691 143.1815 135.7231 181.161 142.9855 135.7231 181.0537 143.1815 135.7231 180.7606 142.9545 135.7231 180.6405 143.1395 135.7231 180.3656 142.8825 135.7231 180.2337 143.0559 135.7231 179.9801 142.7703 135.7231 179.8374 142.9316 135.7231 179.6081 142.619 135.7231 179.4558 142.7678 135.7231 179.2537 142.4303 135.7231 179.0926 142.5662 135.7231 178.9205 142.2062 135.7231 178.7518 142.329 135.7231 178.6122 141.949 135.7231 178.4366 142.0585 135.7231 178.332 141.6614 135.7231 178.1505 141.7574 135.7231 178.0828 141.3466 135.7231 177.8963 141.429 135.7231 177.8673 141.0077 135.7231 177.6766 141.0765 135.7231 177.6877 140.6486 135.7231 177.4937 140.7037 135.7231 177.5461 140.2729 135.7231 177.3494 140.3142 135.7231 177.4438 139.8846 135.7231 177.2453 139.9121 135.7231 177.3821 139.4878 135.7231 177.1824 139.5016 135.7231 177.3614 139.0868 135.7231 177.1614 139.0868 135.7231 177.3821 138.6858 135.7231 177.1824 138.672 135.7231 177.4438 138.2891 135.7231 177.2453 138.2615 135.7231 177.5461 137.9008 135.7231 177.3494 137.8594 135.7231 177.6877 137.525 135.7231 177.4937 137.47 135.7231 177.8673 137.1659 135.7231 177.6766 137.0971 135.7231 178.0828 136.8271 135.7231 177.8963 136.7446 135.7231 178.332 136.5122 135.7231 178.1505 136.4162 135.7231 178.6122 136.2247 135.7231 178.4366 136.1152 135.7231 178.9205 135.9674 135.7231 178.7518 135.8446 135.7231 179.2537 135.7433 135.7231 179.0926 135.6074 135.7231 179.6081 135.5546 135.7231 179.4558 135.4058 135.7231 179.9801 135.4033 135.7231 179.8374 135.242 135.7231 180.3656 135.2911 135.7231 180.2337 135.1177 135.7231 180.7606 135.2191 135.7231 180.6405 135.0341 135.7231 181.161 135.1881 135.7231 181.0537 134.9921 135.7231 181.5624 135.1984 135.7231 181.4691 134.9921 135.7231 181.9606 135.25 135.7231 181.8822 135.0341 135.7231 182.3514 135.3422 135.7231 182.2891 135.1177 135.7231 182.7306 135.4741 135.7231 182.6853 135.242 135.7231 183.0943 135.6444 135.7231 183.067 135.4058 135.7231 183.4385 135.8511 135.7231 183.4301 135.6074 135.7231 183.7597 136.0921 135.7231 183.771 135.8446 135.7231 184.0544 136.3648 135.7231 184.0861 136.1152 135.7231 184.3195 136.6664 135.7231 184.3723 136.4162 135.7231 184.5521 136.9937 135.7231 184.6265 136.7446 135.7231 184.7499 137.3432 135.7231 184.8462 137.0971 135.7231 184.9107 137.7111 135.7231 185.0291 137.47 135.7231 185.0328 138.0936 135.7231 185.1734 137.8594 135.7231 185.1149 138.4866 135.7231 185.2775 138.2615 135.7231 185.1562 138.886 135.7231 185.2775 139.9121 135.2231 185.3403 139.5016 135.2231 185.1562 139.2876 135.2231 185.3614 139.0868 135.2231 185.1562 138.886 135.2231 185.3403 138.672 135.2231 185.1149 138.4866 135.2231 185.2775 138.2615 135.2231 185.0328 138.0936 135.2231 185.1734 137.8594 135.2231 184.9107 137.7111 135.2231 185.0291 137.47 135.2231 184.7499 137.3432 135.2231 184.8462 137.0971 135.2231 184.5521 136.9937 135.2231 184.6265 136.7446 135.2231 184.3195 136.6664 135.2231 184.3723 136.4162 135.2231 184.0544 136.3648 135.2231 184.0861 136.1152 135.2231 183.7597 136.0921 135.2231 183.771 135.8446 135.2231 183.4385 135.8511 135.2231 183.4301 135.6074 135.2231 183.0943 135.6444 135.2231 183.067 135.4058 135.2231 182.7306 135.4741 135.2231 182.6853 135.242 135.2231 182.3514 135.3422 135.2231 182.2891 135.1177 135.2231 181.9606 135.25 135.2231 181.8822 135.0341 135.2231 181.5624 135.1984 135.2231 181.4691 134.9921 135.2231 181.161 135.1881 135.2231 181.0537 134.9921 135.2231 180.7606 135.2191 135.2231 180.6405 135.0341 135.2231 180.3656 135.2911 135.2231 180.2337 135.1177 135.2231 179.9801 135.4033 135.2231 179.8374 135.242 135.2231 179.6081 135.5546 135.2231 179.4558 135.4058 135.2231 179.2537 135.7433 135.2231 179.0926 135.6074 135.2231 178.9205 135.9674 135.2231 178.7518 135.8446 135.2231 178.6122 136.2247 135.2231 178.4366 136.1152 135.2231 178.332 136.5122 135.2231 178.1505 136.4162 135.2231 178.0828 136.8271 135.2231 177.8963 136.7446 135.2231 177.8673 137.1659 135.2231 177.6766 137.0971 135.2231 177.6877 137.525 135.2231 177.4937 137.47 135.2231 177.5461 137.9008 135.2231 177.3494 137.8594 135.2231 177.4438 138.2891 135.2231 177.2453 138.2615 135.2231 177.3821 138.6858 135.2231 177.1824 138.672 135.2231 177.3614 139.0868 135.2231 177.1614 139.0868 135.2231 177.3821 139.4878 135.2231 177.1824 139.5016 135.2231 177.4438 139.8846 135.2231 177.2453 139.9121 135.2231 177.5461 140.2729 135.2231 177.3494 140.3142 135.2231 177.6877 140.6486 135.2231 177.4937 140.7037 135.2231 177.8673 141.0077 135.2231 177.6766 141.0765 135.2231 178.0828 141.3466 135.2231 177.8963 141.429 135.2231 178.332 141.6614 135.2231 178.1505 141.7574 135.2231 178.6122 141.949 135.2231 178.4366 142.0585 135.2231 178.9205 142.2062 135.2231 178.7518 142.329 135.2231 179.2537 142.4303 135.2231 179.0926 142.5662 135.2231 179.6081 142.619 135.2231 179.4558 142.7678 135.2231 179.9801 142.7703 135.2231 179.8374 142.9316 135.2231 180.3656 142.8825 135.2231 180.2337 143.0559 135.2231 180.7606 142.9545 135.2231 180.6405 143.1395 135.2231 181.161 142.9855 135.2231 181.0537 143.1815 135.2231 181.5624 142.9752 135.2231 181.4691 143.1815 135.2231 181.9606 142.9236 135.2231 181.8822 143.1395 135.2231 182.3514 142.8314 135.2231 182.2891 143.0559 135.2231 182.7306 142.6995 135.2231 182.6853 142.9316 135.2231 183.0943 142.5293 135.2231 183.067 142.7678 135.2231 183.4385 142.3226 135.2231 183.4301 142.5662 135.2231 183.7597 142.0815 135.2231 183.771 142.329 135.2231 184.0544 141.8088 135.2231 184.0861 142.0585 135.2231 184.3195 141.5072 135.2231 184.3723 141.7574 135.2231 184.5521 141.1799 135.2231 184.6265 141.429 135.2231 184.7499 140.8305 135.2231 184.8462 141.0765 135.2231 184.9107 140.4625 135.2231 185.0291 140.7037 135.2231 185.0328 140.08 135.2231 185.1734 140.3142 135.2231 185.1149 139.687 135.2231 183.1587 139.1879 135.7231 183.3506 139.2993 135.7231 183.1372 139.389 135.7231 183.3184 139.5095 135.7231 183.0944 139.5867 135.7231 183.2651 139.7155 135.7231 183.0309 139.7787 135.7231 183.1912 139.915 135.7231 182.9474 139.9629 135.7231 183.0975 140.1059 135.7231 182.8447 140.1371 135.7231 182.985 140.2865 135.7231 182.7241 140.2995 135.7231 182.8548 140.4547 135.7231 182.5869 140.4481 135.7231 182.7082 140.6089 135.7231 182.4347 140.5813 135.7231 182.5468 140.7474 135.7231 182.2692 140.6975 135.7231 182.3722 140.869 135.7231 182.0923 140.7955 135.7231 182.1862 140.9722 135.7231 181.9059 140.8741 135.7231 181.9907 141.0561 135.7231 181.7123 140.9325 135.7231 181.7877 141.1198 135.7231 181.5136 140.97 135.7231 181.5794 141.1626 135.7231 181.312 140.9861 135.7231 181.3677 141.1841 135.7231 181.1098 140.9808 135.7231 181.155 141.1841 135.7231 180.9093 140.9539 135.7231 180.9434 141.1626 135.7231 180.7129 140.9059 135.7231 180.735 141.1198 135.7231 180.5226 140.8373 135.7231 180.532 141.0561 135.7231 180.3407 140.7489 135.7231 180.1693 137.532 135.7231 180.1506 137.3047 135.7231 180.3407 137.4248 135.7231 180.3366 137.2014 135.7231 180.5226 137.3363 135.7231 180.532 137.1175 135.7231 180.7129 137.2677 135.7231 180.735 137.0538 135.7231 180.9093 137.2197 135.7231 180.9434 137.011 135.7231 181.1098 137.1929 135.7231 181.155 136.9895 135.7231 181.312 137.1875 135.7231 181.3677 136.9895 135.7231 181.5136 137.2036 135.7231 181.5794 137.011 135.7231 181.7123 137.2411 135.7231 181.7877 137.0538 135.7231 181.9059 137.2995 135.7231 181.9907 137.1175 135.7231 182.0923 137.3781 135.7231 182.1862 137.2014 135.7231 182.2692 137.4761 135.7231 182.3722 137.3047 135.7231 182.4347 137.5924 135.7231 182.5468 137.4262 135.7231 182.5869 137.7255 135.7231 182.7082 137.5647 135.7231 182.7241 137.8741 135.7231 182.8548 137.7189 135.7231 182.8447 138.0365 135.7231 182.985 137.8871 135.7231 182.9474 138.2107 135.7231 183.0975 138.0677 135.7231 183.0309 138.3949 135.7231 183.1912 138.2587 135.7231 183.0944 138.5869 135.7231 183.2651 138.4581 135.7231 183.1372 138.7846 135.7231 183.3184 138.6641 135.7231 183.1587 138.9857 135.7231 183.3506 138.8744 135.7231 183.3614 139.0868 135.7231 180.3366 140.9722 135.7231 180.1506 140.869 135.7231 180.1693 140.6416 135.7231 179.976 140.7474 135.7231 180.0102 140.5167 135.7231 179.8146 140.6089 135.7231 179.8653 140.3756 135.7231 179.668 140.4547 135.7231 179.7362 140.2199 135.7231 179.5378 140.2865 135.7231 179.6244 140.0514 135.7231 179.4253 140.1059 135.7231 179.5312 139.8719 135.7231 179.3316 139.915 135.7231 179.4575 139.6836 135.7231 179.2577 139.7155 135.7231 179.4043 139.4884 135.7231 179.2044 139.5095 135.7231 179.3721 139.2888 135.7231 179.1722 139.2993 135.7231 179.3614 139.0868 135.7231 179.1614 139.0868 135.7231 179.3721 138.8849 135.7231 179.1722 138.8744 135.7231 179.4043 138.6852 135.7231 179.2044 138.6641 135.7231 179.4575 138.4901 135.7231 179.2577 138.4581 135.7231 179.5312 138.3017 135.7231 179.3316 138.2587 135.7231 179.6244 138.1222 135.7231 179.4253 138.0677 135.7231 179.7362 137.9537 135.7231 179.5378 137.8871 135.7231 179.8653 137.798 135.7231 179.668 137.7189 135.7231 180.0102 137.6569 135.7231 179.8146 137.5647 135.7231 179.976 137.4262 135.7231 180.3407 137.4248 135.2231 180.1506 137.3047 135.2231 180.1693 137.532 135.2231 179.976 137.4262 135.2231 180.0102 137.6569 135.2231 179.8146 137.5647 135.2231 179.8653 137.798 135.2231 179.668 137.7189 135.2231 179.7362 137.9537 135.2231 179.5378 137.8871 135.2231 179.6244 138.1222 135.2231 179.4253 138.0677 135.2231 179.5312 138.3017 135.2231 179.3316 138.2587 135.2231 179.4575 138.4901 135.2231 179.2577 138.4581 135.2231 179.4043 138.6852 135.2231 179.2044 138.6641 135.2231 179.3721 138.8849 135.2231 179.1722 138.8744 135.2231 179.3614 139.0868 135.2231 179.1614 139.0868 135.2231 179.3721 139.2888 135.2231 179.1722 139.2993 135.2231 179.4043 139.4884 135.2231 179.2044 139.5095 135.2231 179.4575 139.6836 135.2231 179.2577 139.7155 135.2231 179.5312 139.8719 135.2231 179.3316 139.915 135.2231 179.6244 140.0514 135.2231 179.4253 140.1059 135.2231 179.7362 140.2199 135.2231 179.5378 140.2865 135.2231 179.8653 140.3756 135.2231 179.668 140.4547 135.2231 180.0102 140.5167 135.2231 179.8146 140.6089 135.2231 180.1693 140.6416 135.2231 179.976 140.7474 135.2231 180.1506 140.869 135.2231 180.3407 140.7489 135.2231 180.3366 140.9722 135.2231 180.5226 140.8373 135.2231 180.532 141.0561 135.2231 180.7129 140.9059 135.2231 180.735 141.1198 135.2231 180.9093 140.9539 135.2231 180.9434 141.1626 135.2231 181.1098 140.9808 135.2231 181.155 141.1841 135.2231 181.312 140.9861 135.2231 181.3677 141.1841 135.2231 181.5136 140.97 135.2231 181.5794 141.1626 135.2231 181.7123 140.9325 135.2231 181.7877 141.1198 135.2231 181.9059 140.8741 135.2231 181.9907 141.0561 135.2231 182.0923 140.7955 135.2231 182.1862 140.9722 135.2231 182.2692 140.6975 135.2231 182.3722 140.869 135.2231 182.4347 140.5813 135.2231 182.5468 140.7474 135.2231 182.5869 140.4481 135.2231 182.7082 140.6089 135.2231 182.7241 140.2995 135.2231 182.8548 140.4547 135.2231 182.8447 140.1371 135.2231 182.985 140.2865 135.2231 182.9474 139.9629 135.2231 183.0975 140.1059 135.2231 183.0309 139.7787 135.2231 183.1912 139.915 135.2231 183.0944 139.5867 135.2231 183.2651 139.7155 135.2231 183.1372 139.389 135.2231 183.3184 139.5095 135.2231 183.1587 139.1879 135.2231 183.3506 139.2993 135.2231 183.3614 139.0868 135.2231 183.1587 138.9857 135.2231 183.3506 138.8744 135.2231 183.1372 138.7846 135.2231 183.3184 138.6641 135.2231 183.0944 138.5869 135.2231 183.2651 138.4581 135.2231 183.0309 138.3949 135.2231 183.1912 138.2587 135.2231 182.9474 138.2107 135.2231 183.0975 138.0677 135.2231 182.8447 138.0365 135.2231 182.985 137.8871 135.2231 182.7241 137.8741 135.2231 182.8548 137.7189 135.2231 182.5869 137.7255 135.2231 182.7082 137.5647 135.2231 182.4347 137.5924 135.2231 182.5468 137.4262 135.2231 182.2692 137.4761 135.2231 182.3722 137.3047 135.2231 182.0923 137.3781 135.2231 182.1862 137.2014 135.2231 181.9059 137.2995 135.2231 181.9907 137.1175 135.2231 181.7123 137.2411 135.2231 181.7877 137.0538 135.2231 181.5136 137.2036 135.2231 181.5794 137.011 135.2231 181.312 137.1875 135.2231 181.3677 136.9895 135.2231 181.1098 137.1929 135.2231 181.155 136.9895 135.2231 180.9093 137.2197 135.2231 180.9434 137.011 135.2231 180.7129 137.2677 135.2231 180.735 137.0538 135.2231 180.5226 137.3363 135.2231 180.532 137.1175 135.2231 180.3366 137.2014 135.2231 182.0234 138.608 135.7231 182.2232 138.553 135.7231 182.0723 138.6963 135.7231 182.2722 138.653 135.7231 182.1109 138.7896 135.7231 182.3109 138.7575 135.7231 182.1388 138.8865 135.7231 182.3389 138.8654 135.7231 182.1557 138.986 135.7231 182.3557 138.9755 135.7231 182.1614 139.0868 135.7231 182.3614 139.0868 135.7231 182.1557 139.1876 135.7231 182.3557 139.1981 135.7231 182.1388 139.2871 135.7231 182.3389 139.3082 135.7231 182.1109 139.3841 135.7231 182.3109 139.4161 135.7231 182.0723 139.4773 135.7231 181.2614 138.1868 135.7231 181.3171 137.9882 135.7231 181.3621 138.1925 135.7231 181.428 137.9995 135.7231 181.4617 138.2094 135.7231 181.5371 138.0219 135.7231 181.5586 138.2373 135.7231 181.6434 138.0553 135.7231 181.6519 138.2759 135.7231 181.7458 138.0992 135.7231 181.7402 138.3248 135.7231 181.8432 138.1533 135.7231 181.8225 138.3832 135.7231 181.9347 138.217 135.7231 181.8978 138.4504 135.7231 182.0193 138.2895 135.7231 181.965 138.5257 135.7231 182.096 138.3703 135.7231 182.1642 138.4584 135.7231 180.4505 138.6963 135.7231 180.2996 138.553 135.7231 180.4993 138.608 135.7231 180.3585 138.4584 135.7231 180.5577 138.5257 135.7231 180.4268 138.3703 135.7231 180.625 138.4504 135.7231 180.5035 138.2895 135.7231 180.7002 138.3832 135.7231 180.5881 138.217 135.7231 180.7826 138.3248 135.7231 180.6795 138.1533 135.7231 180.8709 138.2759 135.7231 180.7769 138.0992 135.7231 180.9641 138.2373 135.7231 180.8793 138.0553 135.7231 181.0611 138.2094 135.7231 180.9857 138.0219 135.7231 181.1606 138.1925 135.7231 181.0948 137.9995 135.7231 181.2057 137.9882 135.7231 180.4993 139.5656 135.7231 180.2996 139.6206 135.7231 180.4505 139.4773 135.7231 180.2505 139.5206 135.7231 180.4119 139.3841 135.7231 180.2118 139.4161 135.7231 180.384 139.2871 135.7231 180.1839 139.3082 135.7231 180.367 139.1876 135.7231 180.167 139.1981 135.7231 180.3614 139.0868 135.7231 180.1614 139.0868 135.7231 180.367 138.986 135.7231 180.167 138.9755 135.7231 180.384 138.8865 135.7231 180.1839 138.8654 135.7231 180.4119 138.7896 135.7231 180.2118 138.7575 135.7231 180.2505 138.653 135.7231 181.3621 139.9812 135.7231 181.3171 140.1854 135.7231 181.2614 139.9868 135.7231 181.2057 140.1854 135.7231 181.1606 139.9812 135.7231 181.0948 140.1741 135.7231 181.0611 139.9642 135.7231 180.9857 140.1517 135.7231 180.9641 139.9363 135.7231 180.8793 140.1183 135.7231 180.8709 139.8977 135.7231 180.7769 140.0744 135.7231 180.7826 139.8489 135.7231 180.6795 140.0203 135.7231 180.7002 139.7905 135.7231 180.5881 139.9567 135.7231 180.625 139.7232 135.7231 180.5035 139.8841 135.7231 180.5577 139.6479 135.7231 180.4268 139.8033 135.7231 180.3585 139.7152 135.7231 182.2722 139.5206 135.7231 182.2232 139.6206 135.7231 182.0234 139.5656 135.7231 182.1642 139.7152 135.7231 181.965 139.6479 135.7231 182.096 139.8033 135.7231 181.8978 139.7232 135.7231 182.0193 139.8841 135.7231 181.8225 139.7905 135.7231 181.9347 139.9567 135.7231 181.7402 139.8489 135.7231 181.8432 140.0203 135.7231 181.6519 139.8977 135.7231 181.7458 140.0744 135.7231 181.5586 139.9363 135.7231 181.6434 140.1183 135.7231 181.4617 139.9642 135.7231 181.5371 140.1517 135.7231 181.428 140.1741 135.7231 180.4993 138.608 135.2231 180.2996 138.553 135.2231 180.4505 138.6963 135.2231 180.2505 138.653 135.2231 180.4119 138.7896 135.2231 180.2118 138.7575 135.2231 180.384 138.8865 135.2231 180.1839 138.8654 135.2231 180.367 138.986 135.2231 180.167 138.9755 135.2231 180.3614 139.0868 135.2231 180.1614 139.0868 135.2231 180.367 139.1876 135.2231 180.167 139.1981 135.2231 180.384 139.2871 135.2231 180.1839 139.3082 135.2231 180.4119 139.3841 135.2231 180.2118 139.4161 135.2231 180.4505 139.4773 135.2231 182.0234 139.5656 135.2231 182.2232 139.6206 135.2231 182.0723 139.4773 135.2231 182.2722 139.5206 135.2231 182.1109 139.3841 135.2231 182.3109 139.4161 135.2231 182.1388 139.2871 135.2231 182.3389 139.3082 135.2231 182.1557 139.1876 135.2231 182.3557 139.1981 135.2231 182.1614 139.0868 135.2231 182.3614 139.0868 135.2231 182.1557 138.986 135.2231 182.3557 138.9755 135.2231 182.1388 138.8865 135.2231 182.3389 138.8654 135.2231 182.1109 138.7896 135.2231 182.3109 138.7575 135.2231 182.0723 138.6963 135.2231 181.1606 139.9812 135.2231 181.2057 140.1854 135.2231 181.2614 139.9868 135.2231 181.3171 140.1854 135.2231 181.3621 139.9812 135.2231 181.428 140.1741 135.2231 181.4617 139.9642 135.2231 181.5371 140.1517 135.2231 181.5586 139.9363 135.2231 181.6434 140.1183 135.2231 181.6519 139.8977 135.2231 181.7458 140.0744 135.2231 181.7402 139.8489 135.2231 181.8432 140.0203 135.2231 181.8225 139.7905 135.2231 181.9347 139.9567 135.2231 181.8978 139.7232 135.2231 182.0193 139.8841 135.2231 181.965 139.6479 135.2231 182.096 139.8033 135.2231 182.1642 139.7152 135.2231 180.2505 139.5206 135.2231 180.2996 139.6206 135.2231 180.4993 139.5656 135.2231 180.3585 139.7152 135.2231 180.5577 139.6479 135.2231 180.4268 139.8033 135.2231 180.625 139.7232 135.2231 180.5035 139.8841 135.2231 180.7002 139.7905 135.2231 180.5881 139.9567 135.2231 180.7826 139.8489 135.2231 180.6795 140.0203 135.2231 180.8709 139.8977 135.2231 180.7769 140.0744 135.2231 180.9641 139.9363 135.2231 180.8793 140.1183 135.2231 181.0611 139.9642 135.2231 180.9857 140.1517 135.2231 181.0948 140.1741 135.2231 181.3621 138.1925 135.2231 181.3171 137.9882 135.2231 181.2614 138.1868 135.2231 181.2057 137.9882 135.2231 181.1606 138.1925 135.2231 181.0948 137.9995 135.2231 181.0611 138.2094 135.2231 180.9857 138.0219 135.2231 180.9641 138.2373 135.2231 180.8793 138.0553 135.2231 180.8709 138.2759 135.2231 180.7769 138.0992 135.2231 180.7826 138.3248 135.2231 180.6795 138.1533 135.2231 180.7002 138.3832 135.2231 180.5881 138.217 135.2231 180.625 138.4504 135.2231 180.5035 138.2895 135.2231 180.5577 138.5257 135.2231 180.4268 138.3703 135.2231 180.3585 138.4584 135.2231 182.2722 138.653 135.2231 182.2232 138.553 135.2231 182.0234 138.608 135.2231 182.1642 138.4584 135.2231 181.965 138.5257 135.2231 182.096 138.3703 135.2231 181.8978 138.4504 135.2231 182.0193 138.2895 135.2231 181.8225 138.3832 135.2231 181.9347 138.217 135.2231 181.7402 138.3248 135.2231 181.8432 138.1533 135.2231 181.6519 138.2759 135.2231 181.7458 138.0992 135.2231 181.5586 138.2373 135.2231 181.6434 138.0553 135.2231 181.4617 138.2094 135.2231 181.5371 138.0219 135.2231 181.428 137.9995 135.2231 231.2614 147.5868 131.2231 231.2614 147.5868 131.7231 232.7374 147.4577 131.7231 232.7374 147.4577 131.2231 234.1686 147.0742 131.7231 234.1686 147.0742 131.2231 235.5114 146.448 131.7231 235.5114 146.448 131.2231 236.7251 145.5982 131.7231 236.7251 145.5982 131.2231 237.7728 144.5505 131.7231 237.7728 144.5505 131.2231 238.6226 143.3368 131.7231 238.6226 143.3368 131.2231 239.2488 141.994 131.7231 239.2488 141.994 131.2231 239.6322 140.5628 131.7231 239.6322 140.5628 131.2231 239.7614 139.0868 131.7231 239.7614 139.0868 131.2231 239.6322 137.6108 131.7231 239.6322 137.6108 131.2231 239.2488 136.1796 131.7231 239.2488 136.1796 131.2231 238.6226 134.8368 131.7231 238.6226 134.8368 131.2231 237.7728 133.6231 131.7231 237.7728 133.6231 131.2231 236.7251 132.5754 131.7231 236.7251 132.5754 131.2231 235.5114 131.7256 131.7231 235.5114 131.7256 131.2231 234.1686 131.0994 131.7231 234.1686 131.0994 131.2231 232.7374 130.7159 131.7231 232.7374 130.7159 131.2231 231.2614 130.5868 131.7231 231.2614 130.5868 131.2231 166.2614 130.5868 131.2231 166.2614 130.5868 131.7231 164.8623 130.7027 131.7231 164.8623 130.7027 131.2231 163.5014 131.0474 131.7231 163.5014 131.0474 131.2231 162.2158 131.6113 131.7231 162.2158 131.6113 131.2231 161.0406 132.3791 131.7231 161.0406 132.3791 131.2231 160.0077 133.3299 131.7231 160.0077 133.3299 131.2231 159.1455 134.4378 131.7231 159.1455 134.4378 131.2231 158.4773 135.6724 131.7231 158.4773 135.6724 131.2231 158.0215 137.0002 131.7231 158.0215 137.0002 131.2231 157.7904 138.3849 131.7231 157.7904 138.3849 131.2231 157.7904 139.7887 131.7231 157.7904 139.7887 131.2231 158.0215 141.1734 131.7231 158.0215 141.1734 131.2231 158.4773 142.5012 131.7231 158.4773 142.5012 131.2231 159.1455 143.7359 131.7231 159.1455 143.7359 131.2231 160.0077 144.8437 131.7231 160.0077 144.8437 131.2231 161.0406 145.7945 131.7231 161.0406 145.7945 131.2231 162.2158 146.5623 131.7231 162.2158 146.5623 131.2231 163.5014 147.1263 131.7231 163.5014 147.1263 131.2231 164.8623 147.4709 131.7231 164.8623 147.4709 131.2231 166.2614 147.5868 131.7231 166.2614 147.5868 131.2231 234.6146 127.0956 149.6731 234.6146 151.0777 149.6731 234.5689 151.0908 149.675 234.5308 127.0716 149.68 234.531 151.1015 149.6813 234.5244 127.0698 149.6806 234.4802 151.116 149.6898 234.449 127.0484 149.6995 234.4494 151.1247 149.7004 234.391 151.1413 149.7206 234.438 127.0453 149.7022 234.3714 151.1468 149.7313 234.4271 127.0422 149.7061 234.2984 151.1674 149.7731 234.2984 127.0058 149.7731 234.3121 151.1635 149.7638 234.3464 127.0194 149.7429 234.3714 127.0264 149.7315 153.7637 139.2766 152.1731 153.7681 139.0869 152.1731 175.0114 139.0868 152.1731 194.7114 126.5868 152.1731 194.7114 139.0868 152.1731 177.4924 138.8697 152.1731 194.2653 139.0868 152.1731 189.6653 139.0868 152.1731 189.5652 139.0868 152.1731 177.5114 139.0868 152.1731 177.4924 139.3039 152.1731 155.8062 145.9368 152.1731 175.0304 139.3039 152.1731 175.0868 139.5143 152.1731 159.4752 128.5899 152.1731 160.2579 128.1253 152.1731 175.1789 138.4618 152.1731 161.0803 127.7213 152.1731 161.5321 127.5162 152.1731 161.9139 127.3767 152.1731 175.3038 138.2833 152.1731 156.3834 131.428 152.1731 156.6325 131.131 152.1731 175.0868 138.6593 152.1731 175.0304 138.8697 152.1731 154.6611 134.4505 152.1731 154.7429 134.2334 152.1731 154.9113 133.8518 152.1731 155.0561 133.5668 152.1731 155.3399 133.0082 152.1731 153.7859 138.3202 152.1731 153.7987 138.1556 152.1731 153.8184 137.9046 152.1731 173.2646 126.5868 152.1731 175.8339 137.9122 152.1731 168.5231 126.5868 152.1731 175.6364 138.0043 152.1731 168.5113 126.5871 152.1731 175.4579 138.1293 152.1731 162.4192 127.192 152.1731 162.7553 127.0975 152.1731 163.3322 126.9352 152.1731 156.9982 130.6949 152.1731 157.2681 130.4067 152.1731 157.284 130.3898 152.1731 157.9671 129.7359 152.1731 158.6913 129.1409 152.1731 158.6981 129.1354 152.1731 155.5184 132.714 152.1731 155.8308 132.1994 152.1731 156.0453 131.9 152.1731 153.9096 137.2197 152.1731 153.9435 136.9654 152.1731 154.0874 136.2852 152.1731 154.1391 136.0406 152.1731 154.3381 135.3595 152.1731 154.4055 135.129 152.1731 154.1279 142.0879 152.1731 154.2358 142.4944 152.1731 154.3395 142.8134 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177.0649 138.1293 152.1731 185.2646 126.5868 152.1731 176.8864 138.0043 152.1731 182.2646 126.5868 152.1731 176.6889 137.9122 152.1731 179.2646 126.5868 152.1731 176.4785 137.8558 152.1731 176.2646 126.5868 152.1731 176.2614 137.8368 152.1731 176.0443 137.8558 152.1731 164.4799 126.7149 152.1731 165.2775 126.6305 152.1731 165.4241 126.615 152.1731 158.6914 149.0325 152.1731 158.6631 149.0116 152.1731 157.9592 148.4291 152.1731 161.914 150.7968 152.1731 161.485 150.6381 152.1731 161.0804 150.4524 152.1731 160.6267 150.2443 152.1731 160.2614 150.042 152.1731 164.6764 151.4855 152.1731 168.5232 151.5867 152.1731 166.9362 151.5867 152.1731 175.4579 140.0444 152.1731 176.2614 140.3368 152.1731 176.7544 151.5862 152.1731 176.0443 140.3178 152.1731 174.7847 151.5863 152.1731 175.8339 140.2614 152.1731 175.6364 140.1693 152.1731 189.5652 151.5859 152.1731 186.8051 151.586 152.1731 177.0649 140.0444 152.1731 166.7776 151.5868 152.1731 165.664 151.5725 152.1731 165.2778 151.5385 152.1731 162.7767 151.0911 152.1731 162.7532 151.0838 152.1731 176.4785 140.3178 152.1731 176.6889 140.2614 152.1731 176.8864 140.1693 152.1731 177.2189 139.8903 152.1731 177.3439 139.7118 152.1731 177.436 139.5143 152.1731 194.8114 139.0868 150.2731 202.7114 139.0868 150.2731 194.8114 139.0868 150.1731 202.7114 139.0868 150.1731 194.7114 139.0868 150.2731 194.7114 139.0868 150.1731 191.6146 139.0868 150.2731 191.6146 139.0868 150.1731 191.2937 139.0868 150.2997 191.2641 139.0868 150.2033 190.9815 139.0868 150.3787 190.9239 139.0868 150.2929 190.6865 139.0868 150.5081 190.6041 139.0868 150.4395 190.4169 139.0868 150.6843 190.314 139.0868 150.6385 190.18 139.0868 150.9024 190.0622 139.0868 150.8842 189.9821 139.0868 151.1566 189.8562 139.0868 151.1694 189.8289 139.0868 151.4398 189.7019 139.0868 151.4855 189.7243 139.0868 151.7444 189.604 139.0868 151.8234 189.6713 139.0868 152.0621 194.8114 139.0868 152.1231 195.0621 139.0868 152.1231 195.0592 139.0868 152.1036 195.0411 139.0868 152.0363 195.0117 139.0868 151.9731 194.9717 139.0868 151.916 194.9224 139.0868 151.8667 194.8653 139.0868 151.8267 194.8114 139.0868 151.8007 157.2909 131.4461 141.6981 156.7108 132.1837 141.6981 156.9506 132.4523 139.0642 160.0584 129.0676 141.698 159.3135 129.5687 141.698 159.4301 129.9269 139.0642 158.5997 130.1338 141.6981 157.9231 130.7609 141.6981 158.1031 131.0824 139.0642 241.1681 140.4502 131.2231 241.1478 140.5606 131.2231 241.6903 140.6474 133.8255 240.7808 136.0238 131.2231 240.8219 136.1744 131.2231 241.3393 135.9859 133.8255 242.7389 136.4141 141.6981 242.494 135.5224 141.6981 242.1713 135.6545 139.0643 242.0069 141.5494 136.4397 242.1631 140.7278 136.4397 229.5146 150.9909 142.7731 229.5146 151.1528 144.3411 230.6045 151.1712 144.3403 229.5146 151.2483 145.2657 229.5146 151.3795 146.9892 230.5764 151.3966 146.9887 229.0559 151.5224 149.4642 228.9722 151.5231 149.492 228.9725 151.5291 149.6424 168.3903 150.9112 142.1248 168.4568 150.9067 142.0908 168.4488 150.858 141.6987 186.9502 151.5096 149.6427 232.2343 126.625 151.941 232.1715 126.6202 151.9897 230.5742 126.635 149.6421 232.1361 126.6175 152.0172 232.1198 126.6164 152.0276 232.0445 126.6116 152.0669 231.9857 126.6078 152.0976 231.9073 126.6037 152.1239 231.8445 126.6004 152.1449 231.8244 126.5995 152.1497 231.7628 126.5971 152.1586 231.6767 126.5937 152.1711 232.3939 126.6394 151.6564 232.4501 126.6446 151.6752 232.3819 126.6378 151.7807 232.3692 126.6365 151.8003 232.3575 126.6354 151.8152 232.2845 126.6291 151.8931 232.1492 126.6591 149.6421 232.254 126.6265 151.9258 232.5527 126.6571 151.3734 232.5178 126.6523 151.5178 232.5113 126.6515 151.5369 232.4596 126.6456 151.6537 233.6532 127.0009 146.9882 233.689 126.9368 148.1731 233.6146 126.92 148.1731 233.4457 126.8868 148.1868 233.4325 126.8843 148.19 232.1057 126.7917 146.9882 233.2837 126.8559 148.2266 233.263 126.852 148.2337 233.2557 126.8507 148.237 233.1096 126.8237 148.3025 233.0905 126.8202 148.3151 232.9712 126.7985 148.3933 232.9505 126.7947 148.4098 232.9404 126.7929 148.4195 232.8298 126.7728 148.5256 232.8118 126.7694 148.5493 232.7304 126.7541 148.6567 232.7163 126.7513 148.6794 232.7066 126.7493 148.6988 232.6417 126.7359 148.8283 232.6301 126.733 148.8647 232.5921 126.7236 148.9846 232.5866 126.722 149.0093 232.5826 126.7203 149.041 232.5659 126.7131 149.172 232.5646 126.711 149.2231 232.5646 126.7003 149.6422 232.5646 126.6599 151.2231 235.2439 127.4448 146.9882 234.5343 127.1426 148.1731 234.1721 127.0458 148.1731 236.0587 127.7625 146.9882 235.4292 127.4335 148.1731 235.298 127.3908 148.1731 237.1632 128.2163 148.1731 236.9377 128.1044 148.1731 236.8756 128.1471 146.9882 236.3075 127.7916 148.1731 236.1179 127.7143 148.1731 237.744 128.5627 148.1731 237.6803 128.6002 146.9882 237.9869 128.7076 148.1731 238.4608 129.1226 146.9882 238.3162 128.9297 148.1731 238.526 129.0884 148.1731 239.065 129.4962 148.1731 239.2096 129.7126 146.9882 239.2755 129.6823 148.1731 239.7687 130.1181 148.1731 239.9198 130.3681 146.9882 239.9857 130.3413 148.1731 240.4261 130.7944 148.1731 240.5837 131.085 146.9883 240.6489 131.0614 148.1731 241.0357 131.5248 148.1731 241.1929 131.8573 146.9883 241.2767 131.848 148.1731 241.7964 132.6307 148.1731 241.7397 132.6787 146.9883 241.8105 132.6558 148.1731 242.2555 133.4508 148.1731 242.2191 133.5412 146.9883 242.2883 133.5215 148.1731 242.6526 134.3069 148.1731 242.6268 134.4365 146.9883 242.6947 134.4196 148.1731 242.9855 135.1981 148.1731 242.9595 135.3558 146.9883 243.0301 135.3407 148.1731 243.1054 135.5813 148.1731 243.2166 136.2899 146.9883 243.2828 136.2789 148.1731 243.3377 136.4949 148.1731 243.3975 137.2294 146.9883 243.4644 137.2213 148.1731 243.4993 137.422 148.1731 243.5037 138.1649 146.9883 243.5709 138.1604 148.1731 243.5906 138.3632 148.1731 243.5384 139.0868 146.9883 243.6051 139.0869 148.1731 243.6097 139.3153 148.1731 243.5037 140.0087 146.9883 243.5965 139.7002 148.1731 243.3975 140.9442 146.9884 243.5139 140.6404 148.1731 243.569 140.0131 148.1731 243.2166 141.8837 146.9884 243.3605 141.5698 148.1731 243.4624 140.952 148.1731 242.9595 142.8177 146.9884 243.1358 142.4876 148.1731 243.281 141.8943 148.1731 242.6268 143.737 146.9884 242.8391 143.3934 148.1731 243.0234 142.8307 148.1731 242.2191 144.6323 146.9884 242.3095 144.6158 148.1731 242.6973 143.7583 148.1731 241.7397 145.4948 146.9884 241.8578 145.4411 148.1731 242.2894 144.6524 148.1731 241.1929 146.3161 146.9884 241.3428 146.2328 148.1731 241.8088 145.5165 148.1731 240.5837 147.0884 146.9884 240.764 146.9882 148.1731 241.261 146.3395 148.1731 239.9198 147.8052 146.9885 240.4673 147.3331 148.1731 240.6539 147.1162 148.1731 239.1068 148.6427 148.1731 239.276 148.4918 148.1731 239.2096 148.4607 146.9885 239.8106 148.0151 148.1731 239.9862 147.8327 148.1731 237.6803 149.5729 146.9885 238.3557 149.2159 148.1731 238.4608 149.0506 146.9885 238.5265 149.0856 148.1731 236.9376 150.0687 148.1731 237.176 149.9499 148.1731 236.8756 150.026 146.9885 237.5585 149.7321 148.1731 237.7444 149.6118 148.1731 236.3311 150.3709 148.1731 236.0587 150.4105 146.9885 236.1177 150.4584 148.1731 235.2439 150.7281 146.9886 235.2978 150.7816 148.1731 235.4523 150.7312 148.1731 232.1492 151.514 149.6423 232.5646 151.4729 149.6425 232.5646 151.4621 149.2231 232.5817 151.4529 149.041 232.6163 151.443 148.8978 232.1057 151.381 146.9886 232.5778 151.454 149.0572 232.6234 151.4413 148.8766 232.6288 151.4401 148.8644 232.6909 151.4267 148.7238 232.7069 151.4236 148.6991 232.7802 151.4094 148.5857 232.7926 151.4071 148.5698 232.8116 151.4036 148.5494 232.9071 151.3861 148.4472 232.9412 151.3799 148.4207 233.0377 151.3624 148.3458 233.0533 151.3596 148.3357 233.0908 151.3527 148.316 233.4327 151.2886 148.192 233.544 151.267 148.1755 233.6532 151.1719 146.9886 233.2029 151.3321 148.2572 233.2566 151.322 148.2397 233.3777 151.2993 148.2002 233.6146 151.2529 148.1731 233.6886 151.235 148.1731 234.543 151.0279 148.1731 232.2846 151.5444 151.893 232.318 151.5417 151.8616 232.3812 151.5358 151.78 232.4093 151.5331 151.7437 232.4201 151.5321 151.7268 232.4584 151.5279 151.653 232.4897 151.5246 151.5929 232.5154 151.5214 151.5158 232.5367 151.5188 151.4518 232.5416 151.5181 151.4311 232.5501 151.5166 151.3713 232.5627 151.5144 151.2837 232.5646 151.5135 151.2231 231.6146 151.5818 152.1731 231.7652 151.5766 152.1611 230.5742 151.538 149.6424 231.9098 151.57 152.1261 231.929 151.569 152.1196 232.0453 151.5621 152.0681 232.0674 151.5608 152.0583 232.1721 151.5534 151.9903 232.1925 151.552 151.9771 232.2077 151.5508 151.9653 232.2342 151.5486 151.9403 228.5641 151.5865 152.1731 228.9996 151.5865 152.1731 230.5821 151.5867 152.1731 230.6087 151.5866 152.1731 205.6146 151.5304 150.1731 205.9397 151.5314 150.199 222.4829 151.5211 149.6425 205.9647 151.5317 150.2051 206.2519 151.5343 150.2747 206.2929 151.5348 150.2886 206.3049 151.535 150.2939 206.5912 151.5395 150.4207 206.6237 151.5403 150.4417 206.8609 151.5456 150.5954 206.8947 151.5464 150.6219 206.9139 151.547 150.6399 207.1325 151.5536 150.8453 207.1643 151.5548 150.8863 207.3293 151.5612 151.0995 207.3524 151.5622 151.1356 207.3706 151.5631 151.1706 207.503 151.5699 151.4252 207.5235 151.5713 151.4868 207.6045 151.5771 151.7302 207.6144 151.578 151.7723 207.6219 151.5791 151.8239 207.6604 151.5845 152.0915 213.8208 151.586 152.1731 207.664 151.5859 152.1731 220.0269 151.5862 152.1731 222.7381 151.5863 152.1731 225.8208 151.5863 152.1731 189.5679 151.5847 152.1067 189.6067 151.5791 151.8238 189.702 151.5714 151.4856 189.6121 151.5783 151.7844 189.8439 151.5637 151.19 189.8576 151.5632 151.1704 190.0272 151.5561 150.9259 190.0549 151.5551 150.8928 190.0628 151.5549 150.8848 190.2857 151.5478 150.6622 190.3155 151.5471 150.6406 190.546 151.5415 150.4737 190.5833 151.5407 150.4514 190.6049 151.5403 150.4411 190.8773 151.5356 150.3103 190.9249 151.5351 150.2961 191.1852 151.5322 150.2186 191.228 151.5319 150.2099 191.2644 151.5317 150.2058 191.5477 151.5305 150.1742 191.6146 151.5305 150.1731 198.7614 151.5075 149.6428 198.7614 151.5297 150.1731 201.7177 151.5294 150.1731 166.9485 151.538 149.6424 168.5503 151.5291 149.6424 175.0399 151.5211 149.6425 165.3736 151.514 149.6423 163.7691 151.2902 149.6423 162.9546 151.0897 149.6423 161.306 150.4974 149.6423 162.1329 150.8264 149.6423 160.4831 150.1013 149.6423 159.6761 149.6374 149.6423 158.8951 149.1054 149.6422 158.1473 148.5074 149.6422 157.4396 147.8452 149.6422 156.7794 147.1233 149.6422 156.1741 146.3473 149.6422 155.6309 145.5232 149.6422 155.1546 144.6586 149.6422 154.7492 143.7615 149.6422 154.4177 142.84 149.6422 154.1612 141.9031 149.6421 153.9802 140.9594 149.6421 153.8736 140.0177 149.6421 153.8386 139.0868 149.6421 153.8736 138.1559 149.6421 153.9802 137.2142 149.6421 154.1612 136.2705 149.6421 154.4177 135.3336 149.6421 154.7492 134.4121 149.6421 155.1546 133.5149 149.6421 155.6309 132.6503 149.6421 156.1741 131.8263 149.6421 156.7794 131.0502 149.6421 157.4396 130.3282 149.6421 158.1473 129.6661 149.6421 160.4831 128.072 149.6421 159.6761 128.536 149.6421 158.8951 129.068 149.6421 161.306 127.676 149.6421 162.9546 127.0835 149.6421 162.1329 127.3469 149.6421 163.7691 126.8831 149.6421 166.9485 126.635 149.6421 165.3736 126.6591 149.6421 168.6359 126.6865 148.6926 168.5789 126.6477 149.6421 168.5503 126.6438 149.6421 168.5477 126.6264 150.1617 168.5417 126.6223 150.2623 168.5117 126.5935 151.5348 168.9759 126.8774 145.8719 168.8209 126.7934 146.9883 168.5391 126.7892 146.9882 168.7633 126.7621 147.4036 169.5356 127.1517 143.0924 169.2617 127.0205 144.3399 168.5008 127.0149 144.3398 169.2004 126.9911 144.6192 170.7808 127.3971 141.0847 170.2644 127.3187 141.698 168.4488 127.3136 141.698 170.2068 127.3099 141.7665 169.9321 127.263 142.1451 169.7159 127.2136 142.5566 169.653 127.1954 142.7113 174.958 127.67 139.0642 172.312 127.5478 139.9579 168.3966 127.6776 139.0642 172.1154 127.5461 139.9734 171.9264 127.5401 140.0187 171.9012 127.539 140.0271 171.7199 127.5282 140.1067 171.5556 127.5138 140.2121 171.5367 127.5118 140.2267 171.3926 127.4937 140.36 171.3545 127.4878 140.4032 208.0925 127.5275 139.9569 198.7614 127.53 139.9569 198.7614 127.6486 139.0643 185.4776 127.5337 139.957 175.0115 127.5449 139.9577 222.5113 127.543 139.9577 219.505 127.5377 139.9575 222.5648 127.67 139.0642 227.2583 127.3187 141.698 226.742 127.3971 141.0847 229.1262 127.6776 139.0642 226.1683 127.4878 140.4032 226.0289 127.507 140.2621 225.8716 127.5228 140.1464 225.8495 127.5246 140.133 225.6723 127.5364 140.046 225.4866 127.5441 139.9886 225.4581 127.5449 139.9825 225.265 127.5478 139.959 225.2108 127.5478 139.9579 227.9871 127.1517 143.0924 227.8448 127.2029 142.6472 229.074 127.3136 141.698 228.2611 127.0205 144.3399 227.6413 127.2528 142.2295 227.554 127.2701 142.0875 227.316 127.3099 141.7665 228.7018 126.7934 146.9883 228.5468 126.8774 145.8719 229.022 127.0149 144.3398 228.3224 126.9911 144.6192 228.8869 126.6865 148.6926 228.7595 126.7621 147.4036 228.9836 126.7892 146.9882 231.6146 126.5918 152.1731 230.6087 126.5888 152.1731 229.0111 126.5935 151.5348 230.0021 126.587 152.1731 229.0114 126.5871 152.1731 228.9811 126.6223 150.2623 228.9751 126.6264 150.1617 228.9725 126.6438 149.6421 228.9439 126.6477 149.6421 228.9486 151.5234 149.4998 228.9443 151.5234 149.5012 228.9288 151.5235 149.5049 228.8264 151.5236 149.5195 228.8107 151.5237 149.5217 228.7027 151.5232 149.5198 228.6932 151.5231 149.5197 228.6775 151.523 149.518 228.5808 151.5219 149.4988 228.5605 151.5216 149.4948 228.4637 151.5198 149.459 228.4502 151.5195 149.454 228.436 151.5192 149.4473 228.3332 151.5163 149.3866 225.8105 151.5172 149.5217 228.3552 151.5169 149.3996 225.7647 151.5171 149.5209 225.693 151.517 149.5197 225.6773 151.517 149.518 225.6348 151.5166 149.5095 225.5603 151.5159 149.4947 225.5089 151.5151 149.4757 225.4501 151.5141 149.4539 225.4358 151.5138 149.4472 228.2575 151.5133 149.3239 228.2426 151.5128 149.3117 228.2315 151.5122 149.3007 225.3908 151.5126 149.4206 225.3331 151.5111 149.3865 225.284 151.5093 149.3459 225.2425 151.5078 149.3115 225.2314 151.5073 149.3005 225.1919 151.5051 149.2537 225.1545 151.5031 149.2092 225.117 151.5002 149.147 225.0938 151.4984 149.1085 225.087 151.4978 149.0945 225.062 151.4946 149.0288 225.0445 151.4924 148.9828 223.5146 151.4818 148.7731 223.5051 151.4877 148.8922 225.0206 151.4868 148.8675 225.0279 151.4885 148.9029 223.4774 151.4933 149.0066 223.4723 151.494 149.0215 223.5025 151.4882 148.9031 223.4688 151.4943 149.0294 223.4239 151.4991 149.1307 223.4131 151.4999 149.1474 223.3599 151.5036 149.2294 223.35 151.5042 149.242 223.3383 151.5047 149.2544 223.2682 151.5081 149.3289 223.2457 151.5088 149.3463 223.1752 151.5112 149.4008 223.1616 151.5115 149.4094 223.1389 151.5121 149.4212 223.0557 151.5139 149.4643 223.0205 151.5144 149.476 222.9442 151.5154 149.5013 222.9286 151.5156 149.505 222.8946 151.5158 149.5098 222.8105 151.5162 149.5217 222.7647 151.5162 149.5209 222.693 151.5161 149.5197 222.6772 151.516 149.518 222.6348 151.5157 149.5095 222.5602 151.515 149.4947 225.9442 151.5165 149.5013 225.9286 151.5166 149.505 228.087 151.5025 149.0946 228.1546 151.5079 149.2094 228.1063 151.5041 149.1293 228.0939 151.5032 149.1086 228.1741 151.509 149.2326 225.8946 151.5168 149.5098 226.5146 151.4833 148.7731 226.5051 151.4892 148.8922 228.0206 151.4914 148.8677 228.0265 151.4928 148.8962 226.4774 151.4947 149.0066 226.4723 151.4954 149.0215 228.0446 151.4971 148.9829 226.5025 151.4897 148.9031 226.4688 151.4958 149.0294 226.4239 151.5005 149.1307 226.4131 151.5013 149.1474 226.3599 151.505 149.2294 226.35 151.5055 149.242 226.3383 151.5061 149.2544 226.2682 151.5093 149.3289 226.2457 151.5101 149.3463 226.1752 151.5124 149.4007 226.1616 151.5127 149.4094 226.1389 151.5132 149.4212 226.0557 151.515 149.4643 228.0571 151.4987 149.0159 226.0205 151.5155 149.476 222.423 150.8584 141.6989 222.4057 150.9093 142.1169 222.4638 150.9057 142.0872 222.4767 150.9049 142.0805 222.5807 150.9006 142.0466 222.5879 150.9003 142.0442 222.605 150.8998 142.0403 222.7029 150.8981 142.027 222.7224 150.8977 142.0243 222.8265 150.8979 142.0265 222.8392 150.8979 142.0268 222.8556 150.8981 142.0286 222.9484 150.9002 142.0475 222.9719 150.9007 142.0523 229.074 150.858 141.6987 223.0655 150.9048 142.0873 223.0815 150.9055 142.0933 223.0952 150.9062 142.0999 223.174 150.9117 142.1467 223.1977 150.9134 142.1607 223.2717 150.9206 142.2223 223.288 150.9222 142.2359 223.298 150.9233 142.2459 225.7225 150.893 142.0243 225.7646 150.8931 142.0252 225.8392 150.8932 142.0268 225.8557 150.8934 142.0287 225.8944 150.8944 142.0365 225.972 150.8962 142.0523 226.0204 150.8984 142.0704 226.0815 150.9011 142.0933 226.0952 150.9019 142.0999 225.5879 150.8956 142.0442 225.6051 150.8951 142.0403 223.442 150.9473 142.4511 223.3751 150.934 142.3374 223.4229 150.9433 142.4169 223.4359 150.9458 142.4386 223.3551 150.9313 142.3136 225.6346 150.8945 142.0363 225.0146 150.9821 142.7731 225.0242 150.9683 142.6534 223.5087 150.9735 142.6791 223.5027 150.9702 142.65 225.0523 150.955 142.5384 225.0574 150.9532 142.5235 223.4847 150.9602 142.5633 225.0268 150.9671 142.643 225.0604 150.9524 142.5168 225.1061 150.9403 142.4141 225.1161 150.9385 142.3988 225.1705 150.9286 142.3153 225.1809 150.927 142.3022 225.1908 150.9257 142.2917 225.263 150.9166 142.2156 225.2835 150.9147 142.1998 225.3561 150.9079 142.1441 225.3711 150.9067 142.1347 225.3903 150.9055 142.1248 225.4768 150.9001 142.0805 223.4721 150.9564 142.5303 225.5087 150.8988 142.0701 226.1384 150.905 142.1256 226.1976 150.9092 142.1607 226.2452 150.914 142.2003 226.2879 150.9182 142.2359 226.298 150.9194 142.2458 226.3373 150.925 142.2926 226.3751 150.9303 142.3374 226.4122 150.9376 142.3992 226.4358 150.9423 142.4385 228.5877 150.8987 142.0443 228.6048 150.8983 142.0403 228.6346 150.898 142.0363 228.7222 150.8969 142.0243 228.7646 150.8972 142.0252 228.8389 150.8977 142.0268 228.8552 150.898 142.0286 228.8944 150.8992 142.0366 228.9716 150.9015 142.0522 228.0146 150.9835 142.7731 228.0242 150.9697 142.6534 226.5087 150.9704 142.6791 226.5013 150.9662 142.6433 228.0188 151.4907 148.8522 228.0146 151.4867 148.7731 226.5146 151.4321 147.8586 228.0146 151.4327 147.8074 226.5146 151.3667 146.9893 228.0146 151.3708 146.9893 226.5146 151.242 145.3301 228.0146 151.2433 145.3055 226.5146 151.1411 144.3412 228.0146 151.1444 144.3412 226.5146 150.9812 142.7731 226.5104 150.9721 142.6936 228.0523 150.9563 142.5385 228.0574 150.9545 142.5236 226.4847 150.9569 142.5632 228.0268 150.9685 142.643 228.0604 150.9537 142.5168 228.1061 150.9417 142.4141 228.1161 150.9399 142.3988 228.1705 150.9301 142.3154 228.1809 150.9286 142.3022 228.1908 150.9274 142.2917 228.2629 150.9184 142.2156 228.2835 150.9166 142.1998 228.356 150.9101 142.1442 228.371 150.909 142.1347 228.3903 150.9078 142.1248 228.4766 150.9028 142.0806 226.4419 150.9438 142.451 226.4672 150.9516 142.5174 228.5087 150.9016 142.0701 223.5104 150.9752 142.6936 223.5146 150.9842 142.7731 225.0146 151.1411 144.3413 223.5146 151.1424 144.3413 225.0146 151.2428 145.3444 223.5146 151.2445 145.3534 225.0146 151.3656 146.9894 223.5146 151.3658 146.9894 225.0146 151.4328 147.8891 223.5146 151.4339 147.9088 225.0146 151.482 148.7731 225.0188 151.486 148.8521 222.5089 151.5142 149.4757 222.4699 151.5135 149.4613 222.45 151.5132 149.4539 219.7027 151.5134 149.5198 219.8105 151.5137 149.5217 216.8105 151.5093 149.5217 216.7647 151.5092 149.5209 219.693 151.5134 149.5197 219.6773 151.5133 149.518 219.5808 151.5124 149.4988 213.8105 151.5057 149.5217 213.7027 151.5055 149.5198 213.693 151.5055 149.5197 213.6772 151.5054 149.518 216.693 151.509 149.5197 216.6773 151.5089 149.518 216.6348 151.5085 149.5095 219.5603 151.5122 149.4947 219.4637 151.5105 149.459 219.4501 151.5103 149.4539 219.4358 151.51 149.4472 219.3552 151.5078 149.3996 219.3331 151.5072 149.3865 207.693 151.5041 149.5197 207.6772 151.504 149.518 207.7647 151.5042 149.5209 207.8104 151.5042 149.5217 210.8104 151.5044 149.5217 210.7647 151.5043 149.5209 210.693 151.5043 149.5197 210.6772 151.5042 149.518 210.6348 151.5038 149.5095 213.5808 151.5045 149.4988 213.5602 151.5043 149.4947 213.4637 151.5027 149.459 213.45 151.5024 149.4539 213.4358 151.5021 149.4472 213.3552 151.4999 149.3996 213.333 151.4993 149.3865 204.6348 151.5031 149.5095 204.5602 151.5024 149.4947 204.6772 151.5035 149.518 204.8104 151.5037 149.5217 204.7647 151.5036 149.5209 204.693 151.5036 149.5197 207.6348 151.5037 149.5095 207.5602 151.503 149.4947 207.5089 151.5021 149.4757 207.45 151.5012 149.4539 207.4358 151.5009 149.4472 207.3908 151.4997 149.4206 207.333 151.4981 149.3865 210.5602 151.5032 149.4947 210.5089 151.5023 149.4757 210.45 151.5013 149.4539 210.4358 151.501 149.4472 210.3908 151.4998 149.4206 210.333 151.4983 149.3865 204.5089 151.5016 149.4757 204.45 151.5006 149.4539 204.4358 151.5003 149.4472 204.333 151.4975 149.3865 201.8104 151.5027 149.5217 204.3908 151.499 149.4206 201.7647 151.5027 149.5209 201.693 151.5026 149.5197 201.6772 151.5025 149.518 201.6348 151.5021 149.5095 201.5602 151.5015 149.4947 201.5089 151.5006 149.4757 201.45 151.4996 149.4539 201.4358 151.4993 149.4472 216.5603 151.5077 149.4947 216.5089 151.5068 149.4757 216.4501 151.5058 149.4539 216.4358 151.5055 149.4472 216.3908 151.5042 149.4206 216.3331 151.5026 149.3865 222.2425 151.5069 149.3115 222.2314 151.5064 149.3005 222.284 151.5085 149.3459 222.4358 151.5129 149.4472 222.3908 151.5118 149.4206 222.333 151.5103 149.3865 219.9442 151.513 149.5013 219.9286 151.5131 149.505 222.087 151.497 149.0945 222.1544 151.5023 149.2092 222.117 151.4994 149.147 222.0938 151.4976 149.1084 222.1919 151.5043 149.2537 219.8264 151.5136 149.5194 220.5146 151.4799 148.7731 220.5051 151.4858 148.8922 222.0206 151.486 148.8675 220.5041 151.486 148.8965 222.0445 151.4916 148.9828 222.0279 151.4878 148.9029 220.4774 151.4913 149.0066 220.4739 151.4918 149.0166 220.4723 151.492 149.0215 220.4239 151.4971 149.1307 220.3599 151.5016 149.2294 220.3564 151.5018 149.2337 220.35 151.5021 149.242 220.2723 151.5057 149.3246 220.2682 151.5059 149.3289 220.1752 151.5089 149.4007 220.1616 151.5093 149.4094 220.0655 151.5113 149.4592 220.0557 151.5115 149.4643 222.062 151.4938 149.0288 219.9486 151.5129 149.4998 219.2575 151.5043 149.3239 219.2425 151.5038 149.3115 219.2314 151.5032 149.3005 216.9442 151.5086 149.5013 216.9286 151.5087 149.505 219.087 151.4936 149.0945 219.1545 151.499 149.2093 219.1063 151.4952 149.1293 219.0938 151.4942 149.1085 219.1741 151.5001 149.2326 216.8946 151.5089 149.5098 217.5146 151.4752 148.7731 217.5051 151.4812 148.8922 219.0206 151.4825 148.8676 219.0265 151.4839 148.8962 217.4774 151.4868 149.0066 217.4723 151.4875 149.0215 219.0445 151.4882 148.9828 217.5025 151.4817 148.9031 217.4688 151.4878 149.0294 217.4239 151.4926 149.1307 217.4131 151.4934 149.1474 217.3599 151.4971 149.2294 217.35 151.4977 149.242 217.3383 151.4982 149.2544 217.2682 151.5015 149.3289 217.2457 151.5022 149.3463 217.1752 151.5045 149.4007 217.1616 151.5049 149.4094 217.1389 151.5054 149.4212 217.0557 151.5072 149.4643 219.0571 151.4898 149.0159 217.0205 151.5076 149.476 207.284 151.4963 149.3459 207.2425 151.4947 149.3115 207.2314 151.4942 149.3005 210.284 151.4964 149.3459 210.2425 151.4948 149.3115 210.2314 151.4943 149.3005 216.284 151.5007 149.3459 216.2425 151.4991 149.3115 216.2314 151.4986 149.3006 204.9441 151.5028 149.5013 204.9285 151.503 149.505 207.087 151.4845 149.0945 207.1544 151.49 149.2092 207.117 151.487 149.147 207.0938 151.4852 149.1084 207.1919 151.492 149.2537 204.8946 151.5032 149.5098 205.5146 151.4683 148.7731 205.5051 151.4743 148.8922 207.0206 151.4734 148.8675 207.0279 151.4751 148.9029 205.4774 151.48 149.0066 205.4723 151.4807 149.0215 207.0445 151.4791 148.9828 205.5025 151.4749 148.9031 205.4688 151.4811 149.0294 205.4239 151.486 149.1307 205.4131 151.4867 149.1474 205.3599 151.4906 149.2294 205.35 151.4912 149.242 205.3383 151.4917 149.2544 205.2682 151.4952 149.3289 205.2457 151.496 149.3463 205.1751 151.4984 149.4008 205.1616 151.4988 149.4095 205.1389 151.4993 149.4212 205.0556 151.5012 149.4643 207.062 151.4813 149.0288 205.0205 151.5017 149.476 213.2575 151.4964 149.3239 213.2425 151.4958 149.3115 213.2314 151.4953 149.3005 204.284 151.4956 149.3459 204.2425 151.4941 149.3115 204.2314 151.4935 149.3005 201.3908 151.4981 149.4206 201.333 151.4965 149.3865 201.284 151.4947 149.3459 201.2425 151.4931 149.3115 201.2314 151.4926 149.3005 201.1919 151.4904 149.2537 207.9441 151.5033 149.5013 207.9285 151.5035 149.505 210.087 151.4846 149.0945 210.1544 151.4901 149.2092 210.117 151.4871 149.147 210.0938 151.4853 149.1084 210.1919 151.4921 149.2537 207.8946 151.5037 149.5098 208.5146 151.4686 148.7731 208.5051 151.4746 148.8922 210.0206 151.4734 148.8675 210.0279 151.4752 148.9029 208.4774 151.4803 149.0066 208.4723 151.481 149.0216 210.0445 151.4791 148.9828 208.5025 151.4752 148.9031 208.4688 151.4814 149.0294 208.4239 151.4863 149.1307 208.4131 151.4871 149.1474 208.3598 151.491 149.2294 208.35 151.4916 149.242 208.3383 151.4921 149.2544 208.2682 151.4956 149.3289 208.2457 151.4964 149.3463 208.1751 151.4988 149.4008 208.1615 151.4992 149.4095 208.1389 151.4998 149.4212 208.0556 151.5017 149.4643 210.062 151.4814 149.0288 208.0205 151.5022 149.476 201.9441 151.5019 149.5013 201.9285 151.502 149.505 204.087 151.4838 149.0945 204.1544 151.4893 149.2092 204.117 151.4863 149.147 204.0938 151.4845 149.1084 204.1919 151.4914 149.2537 201.8946 151.5022 149.5098 202.5146 151.4673 148.7731 202.5051 151.4733 148.8922 204.0206 151.4726 148.8675 204.0279 151.4744 148.9029 202.4774 151.479 149.0066 202.4723 151.4797 149.0215 204.0445 151.4784 148.9828 202.5025 151.4739 148.9031 202.4688 151.4801 149.0294 202.4239 151.485 149.1307 202.4131 151.4857 149.1474 202.3599 151.4896 149.2294 202.35 151.4902 149.242 202.3383 151.4908 149.2544 202.2682 151.4942 149.3289 202.2457 151.495 149.3463 202.1751 151.4974 149.4008 202.1616 151.4978 149.4095 202.1389 151.4983 149.4212 202.0556 151.5003 149.4643 204.062 151.4806 149.0288 202.0205 151.5008 149.476 201.1544 151.4883 149.2092 201.117 151.4853 149.147 201.0938 151.4835 149.1084 201.087 151.4828 149.0945 201.062 151.4796 149.0288 201.0445 151.4774 148.9828 199.5146 151.4665 148.7731 199.5051 151.4726 148.8922 201.0206 151.4716 148.8675 201.0279 151.4734 148.9029 199.5041 151.4728 148.8965 199.4774 151.4782 149.0066 199.4739 151.4787 149.0166 199.4723 151.479 149.0216 199.4239 151.4842 149.1307 199.3598 151.4889 149.2294 199.3564 151.4891 149.2337 199.35 151.4895 149.242 199.2722 151.4933 149.3246 199.2682 151.4935 149.3289 199.1751 151.4968 149.4008 199.1615 151.4972 149.4095 198.9486 151.5012 149.4998 199.0556 151.4997 149.4643 199.0655 151.4994 149.4592 198.9441 151.5013 149.5013 198.9285 151.5015 149.505 198.8264 151.5021 149.5194 213.9441 151.5049 149.5013 213.9285 151.505 149.505 216.087 151.4888 149.0945 216.1545 151.4943 149.2093 216.117 151.4913 149.147 216.0938 151.4894 149.1085 216.1919 151.4964 149.2537 213.8264 151.5056 149.5194 214.5146 151.4707 148.7731 214.5051 151.4767 148.8922 216.0206 151.4775 148.8676 214.5041 151.4769 148.8965 216.0445 151.4833 148.9828 216.0279 151.4793 148.9029 214.4774 151.4824 149.0066 214.4739 151.4828 149.0166 214.4723 151.4831 149.0215 214.4239 151.4883 149.1307 214.3599 151.4929 149.2294 214.3564 151.4931 149.2337 214.35 151.4935 149.242 214.2723 151.4972 149.3246 214.2682 151.4974 149.3289 214.1752 151.5006 149.4008 214.1616 151.501 149.4094 214.0655 151.5031 149.4592 214.0557 151.5033 149.4643 216.062 151.4855 149.0288 213.9486 151.5048 149.4998 210.9441 151.5035 149.5013 210.9285 151.5037 149.505 213.087 151.4855 149.0945 213.1545 151.491 149.2092 213.1063 151.4871 149.1293 213.0938 151.4861 149.1085 213.1741 151.4921 149.2326 210.8946 151.5039 149.5098 211.5146 151.4687 148.7731 211.5051 151.4748 148.8922 213.0206 151.4742 148.8675 213.0265 151.4756 148.8962 211.4774 151.4805 149.0066 211.4723 151.4812 149.0216 213.0445 151.48 148.9828 211.5025 151.4754 148.9031 211.4688 151.4816 149.0294 211.4239 151.4865 149.1307 211.4131 151.4873 149.1474 211.3598 151.4912 149.2294 211.35 151.4918 149.242 211.3383 151.4924 149.2544 211.2682 151.4958 149.3289 211.2457 151.4966 149.3463 211.1751 151.499 149.4008 211.1615 151.4994 149.4095 211.1389 151.5 149.4212 211.0556 151.5019 149.4643 213.0571 151.4816 149.0159 211.0205 151.5024 149.476 198.7614 150.9031 142.0251 198.7646 150.9031 142.0252 198.7614 150.8648 141.6994 198.8388 150.9033 142.0268 198.8552 150.9035 142.0286 198.8944 150.9044 142.0366 198.9716 150.9062 142.0522 199.0203 150.9083 142.0704 201.722 150.9033 142.0243 201.7646 150.9034 142.0252 199.0812 150.9109 142.0932 199.0949 150.9117 142.0997 199.1384 150.9147 142.1256 199.1974 150.9187 142.1606 201.8388 150.9036 142.0268 201.8552 150.9039 142.0286 201.8944 150.9048 142.0366 202.0812 150.9113 142.0932 204.722 150.9034 142.0243 202.0203 150.9087 142.0704 201.9716 150.9066 142.0522 207.7221 150.9017 142.0243 207.7646 150.9018 142.0252 207.8389 150.9019 142.0268 207.8553 150.9021 142.0286 204.7646 150.9035 142.0252 202.0949 150.9121 142.0997 202.1384 150.9151 142.1256 202.1974 150.9191 142.1606 204.8388 150.9037 142.0268 204.8552 150.9039 142.0286 204.8944 150.9048 142.0366 210.9484 150.9009 142.0475 210.9717 150.9014 142.0523 210.8554 150.8988 142.0286 210.7222 150.8984 142.0243 210.8265 150.8986 142.0265 210.8389 150.8986 142.0268 207.8944 150.903 142.0366 207.9717 150.9048 142.0522 208.0203 150.9068 142.0704 208.0813 150.9094 142.0932 208.095 150.9102 142.0998 208.1384 150.9131 142.1256 208.1975 150.9171 142.1606 204.9716 150.9066 142.0522 205.0203 150.9087 142.0704 205.0812 150.9113 142.0932 205.0949 150.9121 142.0998 205.1384 150.9151 142.1256 205.1974 150.9191 142.1606 211.0655 150.9054 142.0873 211.0813 150.9061 142.0932 213.7222 150.8962 142.0243 213.7646 150.8963 142.0252 211.0951 150.9068 142.0998 211.174 150.9122 142.1467 211.1975 150.9138 142.1607 213.8389 150.8964 142.0268 213.8553 150.8966 142.0286 213.8944 150.8976 142.0366 213.9717 150.8994 142.0523 214.0204 150.9015 142.0704 214.0813 150.9042 142.0932 214.095 150.905 142.0998 214.1384 150.908 142.1256 214.1975 150.9121 142.1606 199.2452 150.9232 142.2003 199.2878 150.9273 142.2357 199.2979 150.9284 142.2457 201.5875 150.9056 142.0443 201.6045 150.9052 142.0404 199.442 150.9515 142.4511 199.375 150.9388 142.3373 199.4122 150.9457 142.3992 199.4358 150.9501 142.4384 199.3373 150.9337 142.2926 201.6346 150.9047 142.0363 201.0146 150.9873 142.7731 201.0242 150.9742 142.6535 199.5087 150.9768 142.679 199.5013 150.9728 142.6433 201.0522 150.9615 142.5386 201.0573 150.9599 142.5237 199.4847 150.964 142.5632 201.0268 150.973 142.643 201.0604 150.9591 142.5168 201.106 150.9477 142.4143 201.1161 150.9459 142.3988 201.1704 150.9366 142.3155 201.1807 150.9351 142.3024 201.1908 150.9339 142.2917 201.2627 150.9253 142.2158 201.2835 150.9234 142.1998 201.3558 150.9171 142.1443 201.3706 150.916 142.1349 201.3903 150.9149 142.1248 201.4764 150.9098 142.0807 199.4672 150.9589 142.5174 201.5087 150.9086 142.0701 202.2452 150.9237 142.2003 202.2878 150.9277 142.2357 202.2979 150.9288 142.2457 204.5876 150.9058 142.0443 204.6045 150.9053 142.0404 202.442 150.952 142.451 202.375 150.9392 142.3373 202.4122 150.9462 142.3992 202.4358 150.9506 142.4384 202.3373 150.9342 142.2926 204.6346 150.9048 142.0363 204.0146 150.9877 142.7731 204.0242 150.9746 142.6535 202.5087 150.9773 142.679 202.5013 150.9733 142.6433 204.0522 150.9619 142.5386 204.0573 150.9603 142.5236 202.4846 150.9645 142.5632 204.0268 150.9735 142.643 204.0604 150.9595 142.5168 204.106 150.948 142.4143 204.1161 150.9463 142.3988 204.1704 150.9369 142.3155 204.1807 150.9354 142.3024 204.1908 150.9342 142.2917 204.2627 150.9255 142.2158 204.2835 150.9237 142.1998 204.3559 150.9173 142.1443 204.3707 150.9163 142.1349 204.3903 150.9151 142.1248 204.4764 150.91 142.0807 202.4672 150.9594 142.5174 204.5087 150.9088 142.0701 205.2452 150.9236 142.2003 205.2878 150.9276 142.2357 205.2979 150.9288 142.2458 207.5876 150.9042 142.0443 207.6046 150.9037 142.0404 205.442 150.952 142.4511 205.375 150.9392 142.3373 205.4122 150.9461 142.3992 205.4358 150.9506 142.4384 205.3373 150.9341 142.2926 207.6346 150.9032 142.0363 207.0146 150.9869 142.7731 207.0242 150.9737 142.6534 205.5087 150.9773 142.679 205.5013 150.9733 142.6433 207.0522 150.9609 142.5386 207.0573 150.9593 142.5236 205.4847 150.9645 142.5632 207.0268 150.9726 142.643 207.0604 150.9585 142.5168 207.106 150.947 142.4142 207.1161 150.9452 142.3988 207.1704 150.9357 142.3154 207.1808 150.9342 142.3024 207.1908 150.933 142.2917 207.2628 150.9243 142.2157 207.2835 150.9224 142.1998 207.3559 150.916 142.1443 207.3707 150.9149 142.1349 207.3903 150.9137 142.1248 207.4765 150.9085 142.0807 205.4672 150.9594 142.5174 207.5087 150.9073 142.0701 208.2452 150.9216 142.2003 208.2878 150.9256 142.2358 208.298 150.9268 142.2458 210.5877 150.9009 142.0443 210.6047 150.9004 142.0404 208.442 150.9499 142.4511 208.375 150.9371 142.3374 208.4122 150.9441 142.3992 208.4358 150.9485 142.4385 208.3373 150.932 142.2926 210.7029 150.8988 142.0269 210.0146 150.9841 142.7731 210.0242 150.9709 142.6534 208.5087 150.9753 142.6791 210.0251 150.9705 142.6497 208.4847 150.9624 142.5633 208.5013 150.9713 142.6433 210.0522 150.958 142.5386 210.0553 150.957 142.5296 210.0573 150.9564 142.5236 210.1052 150.9442 142.4162 210.1061 150.944 142.4142 210.1705 150.9327 142.3154 210.1728 150.9323 142.3125 210.1808 150.9312 142.3023 210.2571 150.9218 142.2217 210.2628 150.9211 142.2157 210.3559 150.9128 142.1442 210.3708 150.9117 142.1348 210.4638 150.906 142.0872 210.4765 150.9053 142.0807 208.4672 150.9573 142.5174 210.5807 150.9012 142.0466 211.2717 150.9208 142.2223 211.2879 150.9224 142.2358 211.298 150.9235 142.2458 213.5877 150.8985 142.0443 213.6047 150.8981 142.0404 211.442 150.9468 142.4511 211.3751 150.934 142.3374 211.4229 150.943 142.4169 211.4358 150.9454 142.4385 211.3551 150.9313 142.3136 213.6346 150.8976 142.0363 213.0146 150.9818 142.7731 213.0242 150.9685 142.6534 211.5087 150.9723 142.6791 211.5027 150.9691 142.65 213.0522 150.9556 142.5386 213.0573 150.9539 142.5236 211.4847 150.9594 142.5633 213.0268 150.9674 142.643 213.0604 150.9532 142.5168 213.1061 150.9415 142.4142 213.1161 150.9398 142.3988 213.1705 150.9302 142.3154 213.1808 150.9287 142.3023 213.1908 150.9275 142.2917 213.2628 150.9187 142.2157 213.2835 150.9168 142.1998 213.3559 150.9103 142.1442 213.3708 150.9092 142.1348 213.3903 150.908 142.1248 213.4765 150.9028 142.0806 211.4721 150.9557 142.5303 213.5087 150.9016 142.0701 214.2878 150.9208 142.2357 214.2979 150.922 142.2457 216.7221 150.8973 142.0243 214.2452 150.9167 142.2003 216.7646 150.8975 142.0252 216.8389 150.8977 142.0268 216.8553 150.898 142.0286 216.8944 150.8989 142.0366 216.9716 150.9009 142.0522 217.0204 150.9031 142.0704 217.0812 150.9058 142.0932 217.0949 150.9066 142.0997 217.1384 150.9097 142.1256 217.1974 150.9138 142.1606 216.5876 150.8996 142.0443 216.6047 150.8992 142.0404 214.442 150.9456 142.451 214.375 150.9326 142.3373 214.4122 150.9396 142.3992 214.4358 150.9441 142.4384 214.3373 150.9274 142.2926 216.6346 150.8987 142.0363 216.0146 150.9828 142.7731 216.0242 150.9695 142.6534 214.5087 150.9713 142.679 214.5013 150.9673 142.6433 216.0522 150.9565 142.5385 216.0573 150.9548 142.5236 214.4846 150.9583 142.5632 216.0268 150.9683 142.643 216.0604 150.954 142.5168 216.1061 150.9423 142.4142 216.1161 150.9406 142.3988 216.1704 150.931 142.3154 216.1808 150.9295 142.3023 216.1908 150.9283 142.2917 216.2628 150.9195 142.2157 216.2835 150.9177 142.1998 216.3559 150.9112 142.1442 216.3708 150.9101 142.1348 216.3903 150.909 142.1248 216.4765 150.9038 142.0806 214.4672 150.9531 142.5174 216.5087 150.9026 142.0701 217.2452 150.9186 142.2003 217.2878 150.9227 142.2357 217.2978 150.9239 142.2457 219.7222 150.8994 142.0243 219.7646 150.8995 142.0252 219.839 150.8997 142.0268 219.8554 150.8999 142.0286 219.8944 150.9009 142.0366 219.9717 150.9028 142.0523 220.0204 150.9049 142.0704 220.0813 150.9077 142.0932 220.095 150.9085 142.0998 219.5877 150.9017 142.0443 219.6048 150.9012 142.0403 217.4419 150.9478 142.4509 217.375 150.9346 142.3372 217.4122 150.9418 142.3992 217.4358 150.9464 142.4384 217.3373 150.9294 142.2926 219.6346 150.9008 142.0363 219.0146 150.9859 142.7731 219.0242 150.9723 142.6534 217.5087 150.9738 142.679 217.5013 150.9698 142.6433 219.0522 150.9593 142.5385 219.0573 150.9576 142.5236 217.4846 150.9607 142.5631 219.0268 150.9712 142.643 219.0604 150.9568 142.5168 219.1061 150.945 142.4142 219.1161 150.9432 142.3988 219.1705 150.9335 142.3154 219.1808 150.932 142.3023 219.1908 150.9308 142.2917 219.2628 150.9219 142.2157 219.2835 150.92 142.1998 219.356 150.9135 142.1442 219.3709 150.9124 142.1348 219.3903 150.9112 142.1248 219.4766 150.906 142.0806 217.4672 150.9555 142.5174 219.5087 150.9048 142.0701 220.1384 150.9115 142.1256 220.1975 150.9157 142.1606 220.2452 150.9204 142.2003 220.2878 150.9246 142.2357 220.2979 150.9258 142.2457 220.3373 150.9313 142.2926 220.375 150.9365 142.3373 220.4122 150.9437 142.3992 220.4358 150.9483 142.4384 220.4419 150.9497 142.451 220.4672 150.9574 142.5174 220.4846 150.9627 142.5632 222.371 150.9115 142.1347 222.0146 150.9861 142.7731 222.0242 150.9725 142.6534 220.5087 150.9759 142.679 220.5013 150.9718 142.6433 222.0251 150.9721 142.6497 222.0523 150.9593 142.5385 222.0553 150.9582 142.5296 222.0574 150.9575 142.5235 222.1052 150.945 142.4162 222.1061 150.9448 142.4141 222.1705 150.9331 142.3153 222.1728 150.9328 142.3125 222.1809 150.9316 142.3022 222.2571 150.922 142.2217 222.2629 150.9212 142.2156 222.3561 150.9126 142.1441 222.0188 151.4853 148.8521 222.0146 151.4813 148.7731 220.5146 151.4352 147.9573 222.0146 151.4348 147.9283 220.5146 151.3644 146.9895 222.0146 151.3657 146.9895 220.5146 151.2464 145.3752 222.0146 151.2459 145.362 220.5146 151.1432 144.3414 222.0146 151.1435 144.3414 220.5146 150.9866 142.7731 220.5104 150.9776 142.6936 168.4356 151.5218 149.4471 168.4499 151.522 149.4539 168.5089 151.5227 149.4757 168.5506 151.5231 149.4912 168.3908 151.5209 149.4206 168.3329 151.5198 149.3864 168.284 151.5183 149.3459 168.2424 151.517 149.3114 168.2312 151.5166 149.3003 168.1919 151.5148 149.2537 168.1543 151.5131 149.209 168.117 151.5105 149.147 168.0937 151.5089 149.1083 168.0869 151.5083 149.0943 168.062 151.5055 149.0288 168.0445 151.5034 148.9826 168.0279 151.4998 148.9029 168.0206 151.4981 148.8674 168.0188 151.4974 148.852 168.0146 151.4936 148.7731 168.0146 151.4355 147.7262 166.9464 151.3966 146.9887 175.0526 151.5137 149.4653 174.9486 151.5152 149.4998 174.9441 151.5153 149.5013 174.9285 151.5155 149.505 174.8264 151.5161 149.5194 174.8105 151.5162 149.5217 174.7027 151.5162 149.5198 174.693 151.5162 149.5197 174.6772 151.5161 149.518 174.5808 151.5153 149.4988 174.5602 151.5151 149.4947 171.693 151.5171 149.5197 171.6772 151.5171 149.518 174.4637 151.5137 149.459 174.45 151.5134 149.4539 174.4358 151.5131 149.4472 174.333 151.5106 149.3865 171.8104 151.5171 149.5217 174.3552 151.5111 149.3996 171.7647 151.5171 149.5209 171.6348 151.5168 149.5095 171.5602 151.5162 149.4947 171.5089 151.5154 149.4757 171.45 151.5146 149.4539 171.4357 151.5143 149.4472 171.3908 151.5132 149.4206 171.333 151.5118 149.3865 171.284 151.5101 149.3459 171.2425 151.5086 149.3115 171.2313 151.5081 149.3005 171.1919 151.506 149.2537 171.1544 151.5041 149.2092 174.2575 151.5078 149.3239 174.2425 151.5073 149.3115 174.2314 151.5068 149.3005 171.117 151.5012 149.147 171.0937 151.4995 149.1084 171.0869 151.4989 149.0944 169.5146 151.4867 148.7731 169.5051 151.4926 148.8922 171.0206 151.488 148.8675 171.0279 151.4897 148.9029 169.4774 151.4982 149.0066 169.4723 151.4989 149.0216 171.0445 151.4936 148.9827 169.5025 151.4932 148.9031 169.4688 151.4993 149.0294 169.4239 151.5042 149.1307 169.4131 151.505 149.1474 169.3598 151.5089 149.2294 169.35 151.5095 149.242 169.3383 151.51 149.2544 169.2682 151.5135 149.3289 169.2457 151.5144 149.3463 169.1751 151.5169 149.4008 169.1615 151.5174 149.4095 169.1389 151.5179 149.4212 169.0556 151.52 149.4644 169.0205 151.5206 149.476 168.9441 151.522 149.5013 171.062 151.4958 149.0288 168.9285 151.5222 149.505 168.8946 151.5225 149.5098 168.8104 151.5233 149.5217 168.7647 151.5234 149.5209 168.6929 151.5237 149.5197 168.6771 151.5237 149.518 168.6348 151.5235 149.5095 168.5601 151.5232 149.4947 171.9441 151.5162 149.5013 171.9285 151.5164 149.505 174.087 151.4974 149.0944 174.1544 151.5027 149.2092 174.1063 151.499 149.1293 174.0937 151.4981 149.1084 174.1742 151.5037 149.2326 171.8946 151.5166 149.5098 172.5146 151.482 148.7731 172.5051 151.488 148.8922 174.0206 151.4865 148.8675 174.0265 151.4879 148.8962 172.4774 151.4936 149.0066 172.4723 151.4943 149.0215 174.0445 151.4921 148.9828 172.5025 151.4885 148.9031 172.4688 151.4947 149.0294 172.4239 151.4995 149.1307 172.4131 151.5002 149.1474 172.3599 151.504 149.2294 172.35 151.5046 149.242 172.3383 151.5052 149.2544 172.2682 151.5085 149.3289 172.2457 151.5093 149.3463 172.1752 151.5117 149.4008 172.1616 151.5121 149.4094 172.1389 151.5126 149.4212 172.0557 151.5146 149.4643 174.0571 151.4937 149.0159 172.0205 151.5151 149.476 168.4771 150.9053 142.0804 168.5087 150.9039 142.0701 168.5883 150.9003 142.0441 168.6056 150.8997 142.0402 168.6346 150.8991 142.0362 168.723 150.8972 142.0243 168.7646 150.8971 142.0252 168.8396 150.897 142.0269 168.8562 150.8972 142.0287 168.8944 150.898 142.0365 168.9725 150.8996 142.0525 175.0997 150.8584 141.6989 169.0204 150.9016 142.0704 169.0819 150.9042 142.0935 169.0957 150.905 142.1001 169.1384 150.9079 142.1256 169.198 150.912 142.161 169.2452 150.9166 142.2003 169.2883 150.9208 142.2362 169.2983 150.922 142.2461 171.7224 150.8929 142.0243 171.7646 150.8931 142.0252 171.8391 150.8934 142.0268 171.8555 150.8936 142.0286 171.8944 150.8946 142.0365 171.9718 150.8966 142.0523 172.0204 150.8988 142.0704 172.0814 150.9017 142.0933 172.095 150.9025 142.0998 171.5878 150.8953 142.0442 171.605 150.8948 142.0403 169.4421 150.9461 142.4513 169.436 150.9446 142.4389 169.3373 150.9274 142.2926 169.3753 150.9328 142.3377 171.6346 150.8943 142.0363 169.4122 150.94 142.3992 171.0146 150.9812 142.7731 171.0242 150.9674 142.6534 169.5087 150.9727 142.6794 169.5013 150.9685 142.6433 171.0188 151.4872 148.8521 171.0146 151.4833 148.7731 169.5146 151.4327 147.8077 171.0146 151.4321 147.8588 169.5146 151.3708 146.9893 171.0146 151.3667 146.9893 169.5146 151.2433 145.3056 171.0146 151.242 145.3302 169.5146 151.1444 144.3412 171.0146 151.1411 144.3412 169.5146 150.9835 142.7731 169.5104 150.9743 142.6938 171.0523 150.954 142.5384 171.0574 150.9523 142.5235 169.4848 150.9592 142.5635 171.0268 150.9662 142.643 171.0604 150.9515 142.5168 171.1061 150.9394 142.4141 171.1161 150.9376 142.3988 171.1705 150.9277 142.3153 171.1809 150.9261 142.3022 171.1908 150.9249 142.2917 171.263 150.9158 142.2156 171.2835 150.9139 142.1998 171.3561 150.9072 142.1441 171.3711 150.9061 142.1347 171.3903 150.9049 142.1248 171.4768 150.8996 142.0805 169.4672 150.9538 142.5174 171.5087 150.8984 142.0701 172.1384 150.9056 142.1256 172.1975 150.9099 142.1607 172.2452 150.9147 142.2003 172.2879 150.919 142.2358 172.2979 150.9202 142.2457 172.3373 150.9258 142.2926 172.375 150.9312 142.3373 172.4122 150.9386 142.3992 172.4358 150.9432 142.4384 172.4419 150.9447 142.451 172.4672 150.9525 142.5174 172.4846 150.9579 142.5632 174.0146 150.9843 142.7731 174.0242 150.9706 142.6534 172.5087 150.9713 142.679 174.0268 150.9694 142.643 172.5013 150.9671 142.6433 174.0523 150.9574 142.5385 174.0573 150.9557 142.5236 174.0604 150.9549 142.5168 174.1061 150.943 142.4142 174.1161 150.9412 142.3988 174.1705 150.9315 142.3154 174.1809 150.9299 142.3022 174.1908 150.9287 142.2917 174.2629 150.9198 142.2156 174.2835 150.9179 142.1998 174.356 150.9114 142.1442 174.3709 150.9103 142.1347 174.5087 150.9028 142.0701 174.4766 150.904 142.0806 174.3903 150.9092 142.1248 174.5877 150.8998 142.0443 174.6048 150.8994 142.0403 174.6346 150.8989 142.0363 174.7223 150.8976 142.0243 174.7646 150.8978 142.0252 174.839 150.8981 142.0268 174.8553 150.8983 142.0286 174.8944 150.8993 142.0366 174.9717 150.9013 142.0523 175.0203 150.9036 142.0704 175.0813 150.9064 142.0932 175.0949 150.9072 142.0998 168.0146 151.1528 144.3411 168.0146 150.9909 142.7731 166.8779 150.8704 141.6986 168.0242 150.9768 142.6533 168.0268 150.9756 142.643 168.0523 150.9631 142.5384 168.0574 150.9613 142.5234 168.0603 150.9605 142.5168 168.1062 150.9479 142.4139 168.1161 150.946 142.3988 168.1707 150.9356 142.3151 168.181 150.934 142.302 168.1908 150.9327 142.2917 168.2631 150.923 142.2154 168.2835 150.921 142.1998 168.3563 150.9138 142.144 168.3714 150.9125 142.1345 168.0146 151.3794 146.9892 168.0146 151.2483 145.2659 166.9183 151.1712 144.3403 174.0188 151.4857 148.8521 174.0146 151.4818 148.7731 172.5146 151.4328 147.8892 174.0146 151.4339 147.9088 172.5146 151.3656 146.9894 174.0146 151.3658 146.9894 172.5146 151.2428 145.3445 174.0146 151.2445 145.3534 172.5146 151.1411 144.3413 174.0146 151.1424 144.3413 172.5146 150.9821 142.7731 172.5104 150.9729 142.6936 198.8104 151.5022 149.5217 198.7614 151.5022 149.5209 198.7027 151.5021 149.5198 198.693 151.5021 149.5197 198.6772 151.502 149.518 198.5808 151.5012 149.4988 195.6929 151.5026 149.5197 195.6771 151.5026 149.518 198.4637 151.4994 149.459 198.45 151.4992 149.4539 195.8104 151.5027 149.5217 198.5602 151.501 149.4947 195.7027 151.5027 149.5198 198.4358 151.4989 149.4472 198.3552 151.4967 149.3996 198.333 151.4962 149.3865 192.6348 151.5032 149.5095 192.5602 151.5025 149.4947 192.6771 151.5035 149.518 192.8104 151.5036 149.5217 192.7647 151.5036 149.5209 192.693 151.5036 149.5197 195.5808 151.5018 149.4988 195.5602 151.5016 149.4947 195.4637 151.5 149.459 195.45 151.4998 149.4539 195.4357 151.4995 149.4471 195.3552 151.4974 149.3996 195.333 151.4968 149.3865 192.5089 151.5017 149.4757 192.45 151.5008 149.4539 192.4357 151.5005 149.4472 192.333 151.4978 149.3865 189.8104 151.5042 149.5217 192.3908 151.4993 149.4206 189.7027 151.5041 149.5198 189.693 151.5041 149.5197 189.6772 151.504 149.518 189.5808 151.5032 149.4988 189.5602 151.503 149.4947 189.4637 151.5014 149.459 189.45 151.5012 149.4539 189.4358 151.5009 149.4472 192.284 151.4959 149.3459 192.2425 151.4944 149.3115 192.2314 151.4939 149.3005 195.2575 151.494 149.3239 195.2425 151.4934 149.3115 195.2314 151.4929 149.3005 189.3552 151.4988 149.3996 189.333 151.4982 149.3865 189.2575 151.4953 149.3239 189.2425 151.4948 149.3115 189.2314 151.4943 149.3005 189.1741 151.4911 149.2326 198.2575 151.4933 149.3239 198.2425 151.4927 149.3115 198.2314 151.4922 149.3005 189.9441 151.5033 149.5013 189.9285 151.5035 149.505 192.087 151.4842 149.0944 192.1544 151.4897 149.2092 192.117 151.4867 149.147 192.0937 151.4849 149.1084 192.1919 151.4917 149.2537 189.8264 151.5041 149.5194 190.5146 151.4686 148.7731 190.5051 151.4746 148.8922 192.0206 151.4731 148.8675 190.5041 151.4748 148.8965 192.0445 151.4788 148.9828 192.0279 151.4748 148.9029 190.4774 151.4803 149.0066 190.4739 151.4807 149.0166 190.4723 151.481 149.0216 190.4239 151.4862 149.1307 190.3598 151.4909 149.2294 190.3564 151.4911 149.2337 190.35 151.4915 149.242 190.2722 151.4953 149.3246 190.2682 151.4955 149.3289 190.1751 151.4988 149.4008 190.1615 151.4992 149.4095 190.0655 151.5014 149.4592 190.0556 151.5016 149.4643 192.062 151.481 149.0288 189.9486 151.5032 149.4998 192.9441 151.5027 149.5013 192.9285 151.5029 149.505 195.087 151.4832 149.0944 195.1544 151.4887 149.2092 195.1063 151.4849 149.1293 195.0937 151.4839 149.1084 195.1741 151.4897 149.2326 192.8946 151.5031 149.5098 193.5146 151.4678 148.7731 193.5051 151.4739 148.8922 195.0206 151.4721 148.8675 195.0265 151.4735 148.8962 193.4774 151.4795 149.0066 193.4723 151.4803 149.0216 195.0445 151.4778 148.9828 193.5025 151.4744 148.9031 193.4688 151.4806 149.0294 193.4239 151.4855 149.1307 193.4131 151.4863 149.1474 193.3598 151.4902 149.2294 193.3499 151.4908 149.242 193.3383 151.4914 149.2544 193.2682 151.4949 149.3289 193.2457 151.4957 149.3463 193.1751 151.4981 149.4008 193.1615 151.4985 149.4095 193.1389 151.4991 149.4212 193.0556 151.501 149.4643 195.0571 151.4794 149.0159 193.0205 151.5016 149.476 189.1544 151.49 149.2092 189.1063 151.4862 149.1293 189.0937 151.4852 149.1084 189.087 151.4846 149.0945 189.0571 151.4807 149.0159 189.0445 151.4791 148.9828 187.5146 151.4686 148.7731 187.5051 151.4746 148.8922 189.0206 151.4734 148.8675 189.0265 151.4748 148.8962 187.5041 151.4748 148.8965 187.4774 151.4803 149.0066 187.4739 151.4808 149.0166 187.4723 151.481 149.0216 187.4239 151.4863 149.1307 187.3598 151.491 149.2294 187.3564 151.4912 149.2337 187.3499 151.4916 149.242 187.2722 151.4954 149.3246 187.2682 151.4956 149.3289 187.1751 151.4989 149.4008 187.1615 151.4993 149.4095 187.0655 151.5016 149.4592 187.0556 151.5018 149.4643 186.9486 151.5034 149.4998 186.9441 151.5035 149.5013 186.9285 151.5036 149.505 186.8264 151.5043 149.5194 186.8104 151.5044 149.5217 186.7027 151.5043 149.5198 186.693 151.5043 149.5197 186.6772 151.5042 149.518 186.5808 151.5034 149.4988 186.45 151.5014 149.4539 183.8104 151.5056 149.5217 186.4637 151.5016 149.459 186.5602 151.5032 149.4947 180.6929 151.5092 149.5197 180.7647 151.5092 149.5209 180.8104 151.5091 149.5217 183.7027 151.5056 149.5198 186.4358 151.5011 149.4472 186.3552 151.499 149.3996 186.333 151.4984 149.3865 183.6929 151.5056 149.5197 183.6771 151.5055 149.518 183.5808 151.5048 149.4988 180.6771 151.5092 149.518 180.6348 151.5089 149.5095 180.5601 151.5083 149.4947 180.5089 151.5076 149.4757 180.4499 151.5067 149.4539 180.4357 151.5065 149.4471 180.333 151.5039 149.3864 177.8104 151.5135 149.5217 180.3908 151.5054 149.4206 177.7027 151.5136 149.5198 177.6929 151.5136 149.5197 177.6771 151.5135 149.518 177.5808 151.5129 149.4988 177.5601 151.5127 149.4947 177.4637 151.5113 149.459 177.4499 151.5111 149.4539 177.4357 151.5108 149.4471 183.5601 151.5046 149.4947 183.4637 151.5031 149.459 183.4499 151.5029 149.4539 183.4357 151.5026 149.4471 183.3552 151.5005 149.3996 183.333 151.5 149.3864 177.3552 151.5089 149.3996 177.333 151.5083 149.3864 177.2575 151.5057 149.3239 177.2424 151.5052 149.3115 177.2313 151.5047 149.3005 177.1742 151.5017 149.2326 180.284 151.5022 149.3459 180.2424 151.5007 149.3114 180.2313 151.5002 149.3004 183.2575 151.4972 149.3239 183.2424 151.4966 149.3115 183.2313 151.4961 149.3005 186.2575 151.4956 149.3239 186.2425 151.495 149.3115 186.2314 151.4945 149.3005 177.1544 151.5007 149.2091 177.1063 151.497 149.1293 177.0937 151.4961 149.1084 177.0869 151.4954 149.0944 177.0571 151.4917 149.0159 177.0445 151.4902 148.9827 177.0265 151.486 148.8962 175.5051 151.4872 148.8922 177.0206 151.4846 148.8675 175.5146 151.4813 148.7731 175.5041 151.4874 148.8965 175.4774 151.4928 149.0066 175.4739 151.4933 149.0166 175.4723 151.4935 149.0215 175.4239 151.4987 149.1307 175.3599 151.5032 149.2294 175.3564 151.5034 149.2337 175.35 151.5038 149.242 175.1752 151.5109 149.4008 175.1616 151.5113 149.4094 175.2723 151.5075 149.3246 175.2682 151.5077 149.3289 175.0655 151.5135 149.4592 175.0557 151.5137 149.4643 177.9441 151.5125 149.5013 177.9285 151.5127 149.505 180.0869 151.4909 149.0944 180.1544 151.4962 149.2091 180.117 151.4933 149.147 180.0937 151.4916 149.1084 180.1919 151.4981 149.2537 177.8264 151.5134 149.5194 178.5146 151.4778 148.7731 178.5051 151.4837 148.8922 180.0206 151.48 148.8675 178.5041 151.4839 148.8965 180.0445 151.4856 148.9827 180.0279 151.4817 148.9029 178.4774 151.4893 149.0066 178.4739 151.4898 149.0166 178.4723 151.4901 149.0216 178.4239 151.4953 149.1307 178.3598 151.4999 149.2294 178.3564 151.5001 149.2337 178.35 151.5005 149.242 178.2723 151.5043 149.3246 178.2682 151.5045 149.3289 178.1751 151.5078 149.4008 178.1616 151.5083 149.4095 178.0655 151.5105 149.4592 178.0556 151.5108 149.4643 180.062 151.4878 149.0288 177.9486 151.5124 149.4998 180.9441 151.5081 149.5013 180.9285 151.5082 149.505 183.0869 151.4866 149.0944 183.1544 151.492 149.2092 183.1063 151.4882 149.1293 183.0937 151.4872 149.1084 183.1742 151.493 149.2326 180.8946 151.5085 149.5098 181.5146 151.4727 148.7731 181.5051 151.4788 148.8922 183.0206 151.4755 148.8675 183.0265 151.4769 148.8962 181.4774 151.4844 149.0066 181.4723 151.4852 149.0216 183.0445 151.4812 148.9827 181.5025 151.4793 148.9031 181.4688 151.4856 149.0294 181.4239 151.4905 149.1307 181.4131 151.4913 149.1474 181.3598 151.4952 149.2294 181.3499 151.4958 149.242 181.3383 151.4964 149.2544 181.2682 151.4999 149.3289 181.2457 151.5007 149.3463 181.1751 151.5033 149.4008 181.1615 151.5037 149.4095 181.1389 151.5043 149.4212 181.0556 151.5063 149.4644 183.0571 151.4828 149.0159 181.0205 151.5068 149.476 183.9441 151.5046 149.5013 183.9285 151.5048 149.505 186.087 151.4848 149.0945 186.1544 151.4902 149.2092 186.1063 151.4864 149.1293 186.0937 151.4855 149.1084 186.1741 151.4913 149.2326 183.8264 151.5055 149.5194 184.5146 151.4694 148.7731 184.5051 151.4754 148.8922 186.0206 151.4736 148.8675 184.5041 151.4757 148.8965 186.0445 151.4793 148.9828 186.0265 151.475 148.8962 184.4774 151.4812 149.0066 184.4739 151.4816 149.0166 184.4723 151.4819 149.0216 184.4239 151.4872 149.1307 184.3598 151.4919 149.2294 184.3564 151.4921 149.2337 184.3499 151.4925 149.242 184.2722 151.4964 149.3246 184.2682 151.4966 149.3289 184.1751 151.5 149.4008 184.1615 151.5003 149.4095 184.0655 151.5027 149.4592 184.0556 151.5029 149.4644 186.0571 151.481 149.0159 183.9486 151.5045 149.4998 195.9441 151.5018 149.5013 195.9285 151.5019 149.505 198.087 151.4825 149.0945 198.1544 151.488 149.2092 198.1063 151.4842 149.1293 198.0937 151.4832 149.1084 198.1741 151.4891 149.2326 195.8264 151.5026 149.5194 196.5146 151.4668 148.7731 196.5051 151.4729 148.8922 198.0206 151.4713 148.8675 196.5041 151.4731 148.8965 198.0445 151.4771 148.9828 198.0265 151.4727 148.8962 196.4774 151.4785 149.0066 196.4739 151.479 149.0166 196.4723 151.4793 149.0216 196.4239 151.4846 149.1307 196.3598 151.4893 149.2294 196.3564 151.4895 149.2337 196.3499 151.4898 149.242 196.2722 151.4937 149.3246 196.2682 151.4939 149.3289 196.1751 151.4972 149.4008 196.1615 151.4976 149.4095 196.0655 151.4998 149.4592 196.0556 151.5001 149.4643 198.0571 151.4787 149.0159 195.9486 151.5017 149.4998 175.1169 150.9088 142.1128 175.1384 150.9104 142.1256 175.1974 150.9146 142.1606 175.2452 150.9194 142.2003 177.7223 150.8994 142.0243 175.2878 150.9237 142.2357 175.2978 150.9248 142.2457 177.7646 150.8995 142.0252 177.8391 150.8997 142.0268 177.8555 150.8999 142.0286 183.8389 150.8965 142.0268 183.8553 150.8967 142.0286 183.8265 150.8964 142.0265 183.7222 150.8961 142.0243 180.7223 150.8974 142.0243 180.7646 150.8975 142.0252 177.8944 150.9008 142.0365 177.9718 150.9027 142.0523 178.0203 150.9048 142.0704 178.0814 150.9075 142.0933 178.0951 150.9083 142.0998 178.1384 150.9113 142.1256 178.1976 150.9154 142.1607 180.839 150.8976 142.0268 180.8555 150.8978 142.0286 180.8944 150.8987 142.0365 180.9718 150.9005 142.0523 181.0204 150.9026 142.0704 181.0814 150.9053 142.0933 181.0951 150.906 142.0998 181.1384 150.909 142.1256 181.1976 150.9131 142.1607 186.8388 150.8988 142.0268 186.7646 150.8985 142.0252 186.722 150.8983 142.0243 186.8552 150.899 142.0286 186.8944 150.9 142.0366 186.9716 150.9019 142.0522 183.9484 150.8989 142.0475 183.9717 150.8995 142.0522 184.0655 150.9036 142.0873 184.0813 150.9043 142.0932 184.095 150.9051 142.0998 184.174 150.9106 142.1467 184.1975 150.9122 142.1606 187.0203 150.904 142.0704 187.0812 150.9068 142.0932 189.722 150.9017 142.0243 189.7646 150.9018 142.0252 189.8388 150.9021 142.0268 187.0949 150.9075 142.0997 187.1384 150.9106 142.1256 187.1974 150.9147 142.1605 189.8551 150.9023 142.0286 189.8944 150.9033 142.0366 189.9715 150.9051 142.0522 190.0203 150.9073 142.0704 190.0812 150.91 142.0932 190.0948 150.9108 142.0997 190.1384 150.9138 142.1256 190.1974 150.9179 142.1605 192.722 150.9034 142.0243 192.7646 150.9035 142.0252 192.8388 150.9037 142.0268 192.8552 150.9039 142.0286 192.8944 150.9049 142.0366 192.9716 150.9067 142.0522 193.0203 150.9088 142.0704 193.0812 150.9114 142.0932 193.0949 150.9122 142.0997 193.1384 150.9152 142.1256 193.1974 150.9192 142.1606 177.5878 150.9018 142.0442 177.6048 150.9013 142.0403 175.4419 150.9491 142.4509 175.375 150.9357 142.3372 175.4122 150.943 142.3992 175.4358 150.9476 142.4384 175.3373 150.9304 142.2926 177.6346 150.9008 142.0363 177.0146 150.9866 142.7731 177.0242 150.973 142.6534 175.5087 150.9754 142.679 175.5013 150.9713 142.6433 177.0188 151.4839 148.852 177.0146 151.4799 148.7731 175.5146 151.4348 147.9284 177.0146 151.4352 147.9575 175.5146 151.3657 146.9895 177.0146 151.3644 146.9895 175.5146 151.2459 145.3621 177.0146 151.2464 145.3753 175.5146 151.1435 144.3414 177.0146 151.1432 144.3414 175.5146 150.9861 142.7731 175.5104 150.9771 142.6935 177.0523 150.9599 142.5385 177.0574 150.9581 142.5236 175.4846 150.9621 142.5631 177.0268 150.9718 142.643 177.0604 150.9574 142.5168 177.1061 150.9455 142.4141 177.1161 150.9437 142.3988 177.1705 150.934 142.3154 177.1809 150.9324 142.3022 177.1908 150.9312 142.2917 177.2629 150.9222 142.2156 177.2835 150.9203 142.1998 177.356 150.9137 142.1442 177.3709 150.9126 142.1347 177.3903 150.9114 142.1248 177.4766 150.9062 142.0806 175.4672 150.9568 142.5174 177.5087 150.9049 142.0701 193.2452 150.9238 142.2003 193.2878 150.9278 142.2357 193.2979 150.929 142.2457 195.722 150.9033 142.0243 195.7646 150.9034 142.0252 195.8388 150.9036 142.0268 195.8552 150.9038 142.0286 195.8944 150.9047 142.0366 195.9716 150.9065 142.0522 196.0203 150.9086 142.0704 196.0812 150.9112 142.0932 196.0949 150.912 142.0998 195.5876 150.9057 142.0443 195.6045 150.9052 142.0404 193.442 150.9522 142.4511 193.375 150.9394 142.3373 193.4122 150.9463 142.3992 193.4358 150.9507 142.4384 193.3373 150.9343 142.2926 195.6346 150.9047 142.0363 195.0146 150.9875 142.7731 195.0242 150.9745 142.6535 193.5087 150.9774 142.679 193.5013 150.9735 142.6433 195.0522 150.9618 142.5386 195.0573 150.9601 142.5237 193.4846 150.9647 142.5632 195.0268 150.9733 142.643 195.0604 150.9594 142.5168 195.106 150.9479 142.4143 195.1161 150.9462 142.3988 195.1704 150.9368 142.3155 195.1807 150.9353 142.3024 195.1908 150.9341 142.2917 195.2627 150.9254 142.2158 195.2835 150.9236 142.1998 195.3558 150.9172 142.1443 195.3707 150.9161 142.1349 195.3903 150.915 142.1248 195.4764 150.9099 142.0807 193.4672 150.9596 142.5174 195.5087 150.9087 142.0701 196.1384 150.915 142.1256 196.1974 150.919 142.1606 196.2452 150.9235 142.2003 196.2878 150.9275 142.2357 196.2979 150.9287 142.2458 196.3373 150.934 142.2926 198.5875 150.9053 142.0443 198.6045 150.9048 142.0404 196.375 150.939 142.3373 196.4122 150.946 142.3992 196.4358 150.9504 142.4384 198.6346 150.9044 142.0363 198.722 150.903 142.0243 198.0146 150.987 142.7731 198.0242 150.9739 142.6535 196.5087 150.977 142.679 196.5013 150.973 142.6433 198.0522 150.9613 142.5386 198.0573 150.9596 142.5237 196.4847 150.9642 142.5632 198.0268 150.9728 142.643 198.0604 150.9589 142.5168 198.106 150.9474 142.4143 198.1161 150.9457 142.3988 198.1704 150.9363 142.3155 198.1807 150.9348 142.3024 198.1908 150.9336 142.2917 198.2627 150.925 142.2158 198.2835 150.9232 142.1998 198.3558 150.9168 142.1443 198.3707 150.9157 142.1349 198.3903 150.9146 142.1248 198.4764 150.9095 142.0807 196.442 150.9518 142.4511 196.4672 150.9591 142.5174 198.5087 150.9083 142.0701 190.2452 150.9225 142.2003 190.2877 150.9266 142.2357 190.2978 150.9277 142.2457 192.5876 150.9057 142.0443 192.6045 150.9053 142.0404 190.4419 150.9511 142.451 190.375 150.9382 142.3372 190.4122 150.9453 142.3992 190.4358 150.9497 142.4383 190.3373 150.9331 142.2926 192.6346 150.9048 142.0363 192.0146 150.9876 142.7731 192.0242 150.9745 142.6535 190.5087 150.9765 142.679 190.5013 150.9726 142.6433 192.0522 150.9617 142.5386 192.0573 150.9601 142.5237 190.4846 150.9637 142.5632 192.0268 150.9733 142.643 192.0604 150.9593 142.5168 192.106 150.9478 142.4143 192.1161 150.9461 142.3988 192.1704 150.9367 142.3155 192.1807 150.9352 142.3024 192.1908 150.934 142.2917 192.2627 150.9254 142.2158 192.2835 150.9235 142.1998 192.3558 150.9172 142.1443 192.3707 150.9161 142.1349 192.3903 150.915 142.1248 192.4764 150.9099 142.0807 190.4672 150.9586 142.5174 192.5087 150.9087 142.0701 187.2452 150.9194 142.2003 187.2877 150.9235 142.2357 187.2978 150.9246 142.2457 189.5875 150.9039 142.0443 189.6045 150.9034 142.0404 187.4419 150.9482 142.451 187.375 150.9352 142.3372 187.4122 150.9423 142.3992 187.4358 150.9467 142.4383 187.3373 150.93 142.2926 189.6346 150.903 142.0363 189.0146 150.9856 142.7731 189.0242 150.9724 142.6535 187.5087 150.9737 142.679 187.5013 150.9697 142.6433 189.0522 150.9597 142.5386 189.0573 150.958 142.5237 187.4846 150.9608 142.5632 189.0268 150.9713 142.643 189.0604 150.9573 142.5168 189.106 150.9458 142.4143 189.1161 150.944 142.3988 189.1704 150.9347 142.3155 189.1807 150.9332 142.3024 189.1908 150.932 142.2917 189.2627 150.9234 142.2158 189.2835 150.9215 142.1998 189.3558 150.9152 142.1443 189.3707 150.9141 142.1349 189.3903 150.913 142.1248 189.4764 150.908 142.0807 187.4672 150.9556 142.5174 189.5087 150.9068 142.0701 184.2717 150.9194 142.2223 184.2878 150.921 142.2357 184.2979 150.9221 142.2457 186.5876 150.9005 142.0443 186.6045 150.9001 142.0404 184.442 150.9457 142.451 184.375 150.9327 142.3373 184.4229 150.9418 142.4169 184.4358 150.9443 142.4384 184.3551 150.93 142.3136 186.6346 150.8996 142.0363 186.0146 150.9827 142.7731 186.0242 150.9695 142.6534 184.5087 150.9714 142.679 184.5027 150.9681 142.65 186.0522 150.9566 142.5386 186.0573 150.955 142.5236 184.4847 150.9584 142.5632 186.0268 150.9683 142.643 186.0604 150.9542 142.5168 186.106 150.9427 142.4143 186.1161 150.9409 142.3988 186.1704 150.9315 142.3155 186.1808 150.93 142.3023 186.1908 150.9288 142.2917 186.2628 150.9201 142.2158 186.2835 150.9183 142.1998 186.3559 150.9119 142.1443 186.3707 150.9109 142.1349 186.3903 150.9097 142.1248 186.4764 150.9047 142.0807 184.4721 150.9547 142.5303 186.5087 150.9035 142.0701 181.2452 150.9177 142.2003 181.2879 150.9218 142.2358 181.298 150.923 142.2458 183.5877 150.8985 142.0443 183.6047 150.898 142.0404 181.442 150.9466 142.4511 181.3751 150.9335 142.3374 181.4122 150.9406 142.3992 181.4358 150.9451 142.4385 181.3373 150.9284 142.2926 183.7029 150.8964 142.0269 183.0146 150.9818 142.7731 183.0242 150.9685 142.6534 181.5087 150.9723 142.6791 183.0251 150.968 142.6497 181.4847 150.9593 142.5633 181.5013 150.9683 142.6433 183.0522 150.9555 142.5385 183.0553 150.9545 142.5296 183.0573 150.9538 142.5236 183.1052 150.9416 142.4162 183.1061 150.9414 142.4142 183.1705 150.93 142.3154 183.1728 150.9297 142.3125 183.1808 150.9285 142.3023 183.2571 150.9192 142.2217 183.2628 150.9185 142.2157 183.3559 150.9102 142.1442 183.3708 150.9091 142.1348 183.4638 150.9035 142.0872 183.4765 150.9027 142.0806 181.4672 150.9541 142.5174 183.5807 150.8987 142.0466 178.2452 150.9201 142.2003 178.2879 150.9243 142.2358 178.298 150.9254 142.2458 180.5878 150.8999 142.0442 180.6048 150.8994 142.0403 178.442 150.9492 142.4511 178.375 150.9361 142.3374 178.4122 150.9432 142.3992 178.4358 150.9478 142.4385 178.3373 150.9309 142.2926 180.6346 150.8989 142.0363 180.0146 150.9844 142.7731 180.0242 150.9709 142.6534 178.5087 150.9753 142.6791 178.5013 150.9712 142.6433 180.0523 150.9579 142.5385 180.0573 150.9562 142.5236 178.4847 150.9621 142.5633 180.0268 150.9698 142.643 180.0604 150.9554 142.5168 180.1061 150.9436 142.4142 180.1161 150.9418 142.3988 180.1705 150.9321 142.3154 180.1808 150.9306 142.3023 180.1908 150.9293 142.2917 180.2629 150.9204 142.2157 180.2835 150.9185 142.1998 180.356 150.9119 142.1442 180.3709 150.9108 142.1348 180.3903 150.9096 142.1248 180.4766 150.9043 142.0806 178.4672 150.9568 142.5174 180.5087 150.903 142.0701 178.5104 150.9769 142.6936 178.5146 150.9859 142.7731 180.0146 151.1394 144.3415 178.5146 151.1417 144.3415 180.0146 151.2454 145.4133 178.5146 151.2461 145.3929 180.0146 151.3592 146.9896 178.5146 151.3621 146.9895 180.0146 151.4351 148.0389 178.5146 151.4352 147.9953 180.0146 151.4752 148.7731 180.0188 151.4792 148.852 181.5104 150.974 142.6937 181.5146 150.9828 142.7731 183.0146 151.1353 144.3416 181.5146 151.1371 144.3416 183.0146 151.2442 145.4539 181.5146 151.2446 145.4345 183.0146 151.354 146.9897 181.5146 151.3563 146.9896 183.0146 151.4352 148.1248 181.5146 151.435 148.0838 183.0146 151.4707 148.7731 183.0188 151.4747 148.8521 184.5104 150.973 142.6936 184.5146 150.9818 142.7731 186.0146 151.1349 144.3417 184.5146 151.1347 144.3416 186.0146 151.2454 145.4792 184.5146 151.2445 145.4688 186.0146 151.3522 146.9897 184.5146 151.3527 146.9897 186.0146 151.4364 148.1794 184.5146 151.4357 148.1566 186.0146 151.4687 148.7731 186.0188 151.4728 148.8521 189.0188 151.4726 148.8521 189.0146 151.4686 148.7731 187.5146 151.4372 148.1955 189.0146 151.438 148.2075 187.5146 151.3523 146.9897 189.0146 151.3527 146.9898 187.5146 151.2465 145.4863 189.0146 151.2476 145.4914 187.5146 151.1358 144.3417 189.0146 151.1368 144.3417 187.5146 150.9841 142.7731 187.5104 150.9753 142.6936 192.0188 151.4723 148.8521 192.0146 151.4683 148.7731 190.5146 151.4387 148.2182 192.0146 151.4391 148.2301 190.5146 151.3529 146.9898 192.0146 151.3528 146.9898 190.5146 151.2486 145.496 192.0146 151.2492 145.5012 190.5146 151.1377 144.3418 192.0146 151.138 144.3418 190.5146 150.9869 142.7731 190.5104 150.9781 142.6936 193.5104 150.979 142.6936 193.5146 150.9877 142.7731 195.0146 151.1375 144.3418 193.5146 151.1379 144.3418 195.0146 151.2494 145.5126 193.5146 151.2494 145.507 195.0146 151.3518 146.9898 193.5146 151.3524 146.9898 195.0146 151.4395 148.2549 193.5146 151.4394 148.2429 195.0146 151.4673 148.7731 195.0188 151.4713 148.8521 196.5104 150.9786 142.6936 196.5146 150.9873 142.7731 198.0146 151.1367 144.3418 196.5146 151.1371 144.3418 198.0146 151.2492 145.5195 196.5146 151.2493 145.517 198.0146 151.3509 146.9898 196.5146 151.3513 146.9898 198.0146 151.4395 148.2699 196.5146 151.4395 148.2645 198.0146 151.4665 148.7731 198.0188 151.4705 148.8521 201.0188 151.4708 148.8521 201.0146 151.4668 148.7731 199.5146 151.4395 148.2699 201.0146 151.4395 148.2644 199.5146 151.3509 146.9898 201.0146 151.3513 146.9898 199.5146 151.2492 145.5195 201.0146 151.2493 145.517 199.5146 151.1367 144.3418 201.0146 151.1371 144.3418 199.5146 150.987 142.7731 199.5104 150.9784 142.6936 204.0188 151.4719 148.8521 204.0146 151.4678 148.7731 202.5146 151.4395 148.2548 204.0146 151.4394 148.2428 202.5146 151.3518 146.9898 204.0146 151.3524 146.9898 202.5146 151.2494 145.5125 204.0146 151.2494 145.507 202.5146 151.1375 144.3418 204.0146 151.1379 144.3418 202.5146 150.9876 142.7731 202.5104 150.9789 142.6936 205.5104 150.9789 142.6936 205.5146 150.9876 142.7731 207.0146 151.1377 144.3418 205.5146 151.138 144.3418 207.0146 151.2486 145.496 205.5146 151.2492 145.5012 207.0146 151.3529 146.9898 205.5146 151.3528 146.9898 207.0146 151.4387 148.2182 205.5146 151.4391 148.23 207.0146 151.4686 148.7731 207.0188 151.4726 148.8521 208.5104 150.9769 142.6937 208.5146 150.9856 142.7731 210.0146 151.1358 144.3417 208.5146 151.1368 144.3417 210.0146 151.2465 145.4862 208.5146 151.2476 145.4914 210.0146 151.3523 146.9897 208.5146 151.3527 146.9898 210.0146 151.4372 148.1954 208.5146 151.438 148.2075 210.0146 151.4686 148.7731 210.0188 151.4726 148.8521 213.0188 151.4734 148.8521 213.0146 151.4694 148.7731 211.5146 151.4364 148.1793 213.0146 151.4357 148.1565 211.5146 151.3522 146.9897 213.0146 151.3527 146.9897 211.5146 151.2453 145.4791 213.0146 151.2445 145.4687 211.5146 151.1349 144.3417 213.0146 151.1347 144.3416 211.5146 150.9827 142.7731 211.5104 150.9739 142.6937 216.0188 151.4768 148.8521 216.0146 151.4727 148.7731 214.5146 151.4351 148.1246 216.0146 151.435 148.0836 214.5146 151.354 146.9897 216.0146 151.3564 146.9896 214.5146 151.2442 145.4538 216.0146 151.2446 145.4344 214.5146 151.1353 144.3416 216.0146 151.1371 144.3416 214.5146 150.9818 142.7731 214.5104 150.973 142.6936 219.0188 151.4817 148.8521 219.0146 151.4778 148.7731 217.5146 151.4351 148.0387 219.0146 151.4352 147.9951 217.5146 151.3593 146.9896 219.0146 151.3621 146.9895 217.5146 151.2454 145.4132 219.0146 151.2461 145.3928 217.5146 151.1394 144.3415 219.0146 151.1417 144.3415 217.5146 150.9844 142.7731 217.5104 150.9755 142.6935 229.5146 151.4936 148.7731 229.5051 151.4994 148.8922 229.5146 151.4355 147.7257 229.5041 151.4996 148.8965 229.4774 151.5046 149.0065 229.4739 151.505 149.0166 229.4723 151.5052 149.0215 229.4239 151.5099 149.1306 229.3599 151.5139 149.2293 229.3564 151.5141 149.2337 229.35 151.5144 149.2419 229.2723 151.5176 149.3246 229.2683 151.5177 149.3288 229.1753 151.5203 149.4007 229.1618 151.5206 149.4093 229.0655 151.5222 149.4592 229.0204 150.904 142.0704 229.066 150.9063 142.0875 229.0811 150.9071 142.0932 229.0947 150.9079 142.0996 229.1384 150.9113 142.1256 230.6448 150.8704 141.6986 229.1972 150.9159 142.1604 229.2452 150.9211 142.2003 229.2876 150.9256 142.2355 229.2975 150.9269 142.2453 229.3373 150.9328 142.2926 229.3747 150.9384 142.3369 229.4123 150.9461 142.3992 229.4356 150.9509 142.4381 229.4417 150.9525 142.4505 229.4672 150.9606 142.5174 229.4845 150.9661 142.5628 229.5013 150.9757 142.6433 229.5086 150.9799 142.6787 229.5104 150.9816 142.6933 242.9113 140.8621 141.6982 242.57 140.8002 139.0644 242.7389 141.7595 141.6982 242.405 141.6631 139.0644 242.494 142.6511 141.6982 242.1713 142.519 139.0644 242.1771 143.5284 141.6982 241.8695 143.3604 139.0644 241.789 144.3826 141.6983 241.5005 144.1793 139.0644 241.3326 145.2056 141.6983 241.0668 144.9685 139.0644 240.812 145.9896 141.6983 240.5722 145.7211 139.0645 240.2319 146.7272 141.6983 240.021 146.4303 139.0645 239.5997 147.4123 141.6983 239.4196 147.0908 139.0645 238.9231 148.0393 141.6984 238.7747 147.6973 139.0645 238.0927 148.2461 139.0646 237.9611 147.8199 136.4399 237.3791 148.7351 139.0646 236.5819 148.7155 136.4399 240.7522 144.6854 136.4398 241.1579 143.9369 136.4398 240.7575 143.6654 133.8256 241.5035 143.1605 136.4398 241.3393 142.1877 133.8256 241.7868 142.3625 136.4398 238.6046 147.2896 136.4399 239.2107 146.707 136.4398 238.9611 146.2765 133.8256 239.7742 146.0756 136.4398 239.9573 145.0403 133.8256 240.2897 145.4002 136.4398 233.6694 149.333 133.8257 233.6342 148.7922 131.2231 233.0451 148.9264 131.2231 232.1976 149.5677 133.8258 232.1574 149.0467 131.2231 230.7036 149.6025 133.8258 235.1098 148.8815 133.8257 236.5011 148.2154 133.8257 235.5953 148.099 131.2231 237.7985 147.3424 133.8256 238.4816 146.0055 131.2231 237.8331 146.6243 131.2231 237.5833 146.8231 131.2231 237.1325 147.1819 131.2231 236.3839 147.6752 131.2231 240.2867 143.3704 131.2231 240.06 143.8393 131.2231 239.5993 144.6076 131.2231 241.0061 141.3319 131.2231 240.8207 141.9989 131.2231 240.7663 142.1945 131.2231 240.4498 143.033 131.2231 239.5657 144.6537 131.2231 239.0717 145.3318 131.2231 238.6531 145.8097 131.2231 235.0482 148.3324 131.2231 234.7707 148.4509 131.2231 233.9191 148.7273 131.2231 231.2614 149.0868 131.2231 230.657 149.0868 131.2231 229.177 149.6007 133.8258 229.1486 149.0868 131.2231 222.9283 149.6094 133.8259 223.096 149.0868 131.2231 198.7614 149.0868 131.2231 242.6675 139.9387 139.0643 243.0128 139.9681 141.6982 243.046 139.0868 141.6982 243.0128 138.2055 141.6981 242.6675 138.2349 139.0643 230.6448 127.3014 141.698 230.6839 127.6689 139.0642 232.1308 127.3171 141.698 232.1659 127.6898 139.0642 233.6161 127.5228 141.698 233.6394 127.9027 139.0642 235.1356 127.9548 141.698 235.1302 128.3383 139.0642 236.6954 128.6322 141.698 236.6401 129.0103 139.0642 237.4644 129.0676 141.698 237.3791 129.4378 139.0642 238.2092 129.5687 141.698 238.0927 129.9269 139.0642 238.9231 130.1338 141.6981 238.7747 130.4758 139.0642 239.5997 130.7609 141.6981 239.4196 131.0824 139.0642 240.2319 131.4461 141.6981 240.021 131.7429 139.0642 240.812 132.1837 141.6981 240.5722 132.4523 139.0642 241.3326 132.9678 141.6981 241.0668 133.2049 139.0643 241.789 133.7908 141.6981 242.6996 139.0868 139.0643 242.2866 139.0868 136.4397 241.8695 134.8131 139.0643 241.5035 135.013 136.4396 241.7868 135.811 136.4396 241.6903 137.5262 133.8255 242.1631 137.4458 136.4397 242.0069 136.6242 136.4397 242.57 137.3734 139.0643 242.405 136.5105 139.0643 242.9113 137.3115 141.6981 241.0166 136.8877 131.2231 241.1463 137.6132 131.2231 241.1744 137.7702 131.2231 241.8071 139.0868 133.8255 241.1579 134.2366 136.4396 240.7575 134.5082 133.8255 240.4683 135.1839 131.2231 238.9611 131.8968 133.8255 238.6539 132.3632 131.2231 239.9573 133.1331 133.8255 239.101 132.8785 131.2231 239.5643 133.5209 131.2231 236.5011 129.9577 133.8255 236.3772 130.497 131.2231 236.4244 130.5227 131.2231 237.1646 130.3691 133.8255 237.1707 131.0195 131.2231 237.7985 130.8309 133.8255 237.583 131.3509 131.2231 238.3987 131.3409 133.8255 237.8686 131.5803 131.2231 238.5142 132.2023 131.2231 239.6252 133.6054 131.2231 240.0822 134.3756 131.2231 240.2865 134.8032 131.2231 240.7522 133.488 136.4396 241.5005 133.9942 139.0643 242.1771 134.6451 141.6981 233.6694 128.84 133.8255 233.634 129.382 131.2231 233.9644 129.4589 131.2231 235.1098 129.2915 133.8255 231.2614 129.0868 131.2231 231.3566 129.0873 131.2231 230.7036 128.5701 133.8255 232.1976 128.6051 133.8255 232.1606 129.129 131.2231 232.2047 129.1313 131.2231 233.0916 129.2557 131.2231 234.8148 129.7394 131.2231 235.0485 129.8404 131.2231 235.6377 130.0952 131.2231 222.7422 128.0885 136.4396 229.165 128.0995 136.4396 230.708 128.0946 136.4396 232.1938 128.1225 136.4396 233.6639 128.3457 136.4396 235.1288 128.7886 136.4396 236.5819 129.4574 136.4396 237.2851 129.8772 136.4396 237.9611 130.3532 136.4396 238.6046 130.8836 136.4396 239.2107 131.4663 136.4396 239.7742 132.0977 136.4396 240.2897 132.7732 136.4396 241.2524 138.6621 131.2231 241.2514 139.0868 131.2231 241.2503 139.5587 131.2231 155.0288 135.5224 141.6981 154.7839 136.4141 141.6981 155.1178 136.5105 139.0643 154.9527 137.3734 139.0643 155.3597 137.4458 136.4397 160.8273 128.6322 141.698 160.8826 129.0103 139.0642 162.3872 127.9548 141.698 162.3925 128.3383 139.0642 163.9067 127.5228 141.698 163.8834 127.9027 139.0642 165.3919 127.3171 141.698 165.3568 127.6898 139.0642 166.8779 127.3014 141.698 166.8389 127.6689 139.0642 160.1437 129.4378 139.0642 159.5617 130.3532 136.4396 160.9409 129.4574 136.4396 229.177 128.5718 133.8255 222.9283 128.5625 133.8255 198.7614 128.0616 136.4397 174.7805 128.0885 136.4396 168.3577 128.0995 136.4396 166.8148 128.0946 136.4396 165.329 128.1225 136.4396 163.8589 128.3457 136.4396 162.394 128.7886 136.4396 198.7614 150.5183 139.0655 174.958 150.5003 139.065 168.3966 150.4939 139.0648 166.8389 150.5029 139.0648 165.3919 150.855 141.6986 165.3568 150.4822 139.0647 163.9067 150.6496 141.6985 163.8834 150.2697 139.0647 162.3872 150.2178 141.6985 162.3925 149.8343 139.0646 160.8273 149.5406 141.6984 160.8826 149.1625 139.0646 160.0584 149.1053 141.6984 160.1437 148.7351 139.0646 159.3135 148.6044 141.6984 159.4301 148.2461 139.0646 158.5997 148.0393 141.6984 158.748 147.6973 139.0645 157.9231 147.4123 141.6983 158.1031 147.0908 139.0645 157.2909 146.7272 141.6983 157.5018 146.4303 139.0645 156.7108 145.9896 141.6983 156.9506 145.7211 139.0645 156.1902 145.2056 141.6983 156.456 144.9685 139.0644 155.7337 144.3826 141.6983 156.0223 144.1793 139.0644 155.3457 143.5284 141.6982 155.6533 143.3604 139.0644 155.0288 142.6511 141.6982 155.3515 142.519 139.0644 154.7839 141.7595 141.6982 155.1178 141.6631 139.0644 154.6114 140.8621 141.6982 154.9527 140.8002 139.0644 154.51 139.9681 141.6982 154.8552 139.9387 139.0643 154.4768 139.0868 141.6982 154.8232 139.0868 139.0643 154.51 138.2055 141.6981 154.6114 137.3115 141.6981 154.8552 138.2349 139.0643 155.2362 139.0868 136.4397 155.7156 139.0868 133.8255 155.8324 140.6474 133.8255 157.5655 133.1331 133.8255 157.2331 132.7732 136.4396 156.7706 133.488 136.4396 156.456 133.2049 139.0643 156.1902 132.9678 141.6981 155.8324 137.5262 133.8255 156.1835 135.9859 133.8255 155.5159 136.6242 136.4397 155.7359 135.811 136.4396 155.3515 135.6545 139.0643 156.7653 134.5082 133.8255 156.3649 134.2366 136.4396 156.0192 135.013 136.4396 156.0223 133.9942 139.0643 155.6533 134.8131 139.0643 155.7337 133.7908 141.6981 155.3457 134.6451 141.6981 158.5616 131.8968 133.8255 158.3121 131.4663 136.4396 157.7486 132.0977 136.4396 157.5018 131.7429 139.0642 163.8533 128.84 133.8255 163.8886 129.3814 131.2231 164.4777 129.2472 131.2231 165.3252 128.6051 133.8255 165.3653 129.127 131.2231 166.8192 128.5701 133.8255 162.413 129.2915 133.8255 161.0217 129.9577 133.8255 161.9275 130.0746 131.2231 158.8696 132.3639 131.2231 159.0411 132.1681 131.2231 158.748 130.4758 139.0642 158.9182 130.8836 136.4396 159.7243 130.8309 133.8255 159.6896 131.5493 131.2231 159.9394 131.3505 131.2231 160.3902 130.9917 131.2231 161.1388 130.4984 131.2231 157.0729 135.1406 131.2231 157.2361 134.8032 131.2231 157.4627 134.3343 131.2231 156.702 136.1747 131.2231 156.7564 135.9791 131.2231 157.9235 133.566 131.2231 157.957 133.5199 131.2231 158.451 132.8418 131.2231 162.4745 129.8412 131.2231 162.7521 129.7228 131.2231 163.6037 129.4463 131.2231 166.2614 129.0868 131.2231 166.8658 129.0868 131.2231 168.3458 128.5718 133.8255 168.3742 129.0868 131.2231 174.5944 128.5625 133.8255 174.4267 129.0868 131.2231 198.7614 128.5411 133.8255 198.7614 129.0868 131.2231 223.096 129.0868 131.2231 155.7359 142.3625 136.4398 156.1835 142.1877 133.8256 155.5159 141.5494 136.4397 155.3597 140.7278 136.4397 156.0192 143.1605 136.4398 156.3649 143.9369 136.4398 156.7653 143.6654 133.8256 156.7706 144.6854 136.4398 157.5655 145.0403 133.8256 156.3764 140.5604 131.2231 156.3484 140.4035 131.2231 156.2703 139.5115 131.2231 156.2714 139.0868 131.2231 157.2363 143.3704 131.2231 157.0544 142.9897 131.2231 156.7419 142.1498 131.2231 156.7008 141.9992 131.2231 156.5061 141.2859 131.2231 158.5616 146.2765 133.8256 158.8689 145.8104 131.2231 158.4218 145.2951 131.2231 161.0217 148.2154 133.8257 161.1456 147.6766 131.2231 161.0984 147.651 131.2231 160.3582 147.8041 133.8257 160.3521 147.1541 131.2231 159.7243 147.3424 133.8256 159.9398 146.8228 131.2231 159.1241 146.8325 133.8256 159.6542 146.5933 131.2231 159.0086 145.9714 131.2231 157.9584 144.6527 131.2231 157.8975 144.5682 131.2231 157.4405 143.798 131.2231 163.8533 149.333 133.8257 163.8888 148.7916 131.2231 163.5583 148.7147 131.2231 162.413 148.8815 133.8257 166.2614 149.0868 131.2231 166.1662 149.0863 131.2231 166.8192 149.6025 133.8258 165.3252 149.5677 133.8258 165.3621 149.0446 131.2231 165.3181 149.0423 131.2231 164.4312 148.9179 131.2231 162.7079 148.4342 131.2231 162.4743 148.3332 131.2231 161.8851 148.0784 131.2231 157.2331 145.4002 136.4398 157.7486 146.0756 136.4398 158.3121 146.707 136.4398 158.9182 147.2896 136.4399 159.5617 147.8199 136.4399 160.2376 148.2958 136.4399 160.9409 148.7155 136.4399 162.394 149.3841 136.44 163.8589 149.8268 136.44 165.329 150.0498 136.44 166.8148 150.0774 136.4401 168.3458 149.6007 133.8258 168.3577 150.0723 136.4401 174.5944 149.6094 133.8259 174.7805 150.0823 136.4403 198.7614 149.6289 133.8262 198.7614 150.1062 136.4407 222.7422 150.0823 136.4403 222.5648 150.5003 139.065 229.165 150.0723 136.4401 229.1262 150.4939 139.0648 230.708 150.0774 136.4401 230.6839 150.5029 139.0648 232.1938 150.0498 136.44 232.1659 150.4822 139.0647 233.6639 149.8268 136.44 233.6394 150.2697 139.0647 235.1288 149.3841 136.44 235.1302 149.8343 139.0646 236.6401 149.1625 139.0646 156.2725 138.615 131.2231 156.3547 137.7235 131.2231 156.375 137.613 131.2231 156.5166 136.8417 131.2231 238.2092 148.6044 141.6984 237.4644 149.1053 141.6984 236.6954 149.5406 141.6984 235.1356 150.2178 141.6985 233.6161 150.6496 141.6985 232.1308 150.855 141.6986 164.5756 126.7426 149.6421 163.8696 127.0009 146.9882 165.4171 126.7917 146.9882 166.9464 126.7759 146.9882 159.062 129.1226 146.9882 159.8425 128.6002 146.9882 160.6472 128.1471 146.9882 161.4641 127.7625 146.9882 162.2788 127.4448 146.9882 159.1962 129.295 144.3398 159.9639 128.7829 144.3398 160.7554 128.3391 144.3398 162.3564 127.6522 144.3398 166.9183 127.0009 144.3398 165.4176 127.0144 144.3398 163.9088 127.2182 144.3398 158.3132 129.7126 146.9882 157.603 130.3681 146.9882 156.9391 131.085 146.9883 156.3299 131.8573 146.9883 155.783 132.6787 146.9883 155.3036 133.5412 146.9883 154.896 134.4365 146.9883 154.5632 135.3558 146.9883 154.3061 136.2899 146.9883 154.1253 137.2294 146.9883 154.0191 138.1649 146.9883 153.9843 139.0868 146.9883 154.0191 140.0087 146.9883 154.1253 140.9442 146.9884 154.3061 141.8837 146.9884 154.5632 142.8177 146.9884 154.896 143.737 146.9884 155.3036 144.6323 146.9884 155.783 145.4948 146.9884 156.3299 146.3161 146.9884 156.9391 147.0884 146.9884 157.603 147.8052 146.9885 158.3132 148.4607 146.9885 159.062 149.0506 146.9885 159.8425 149.5729 146.9885 165.4171 151.381 146.9886 163.8696 151.1719 146.9886 162.2788 150.7281 146.9886 161.4641 150.4105 146.9885 160.6472 150.026 146.9885 158.4593 129.8739 144.3398 157.7602 130.5176 144.3398 157.1065 131.2219 144.3398 156.5063 131.9809 144.3398 155.9676 132.7884 144.3398 155.4954 133.6365 144.3399 155.094 134.5169 144.3399 154.7665 135.4208 144.3399 154.5135 136.3392 144.3399 154.3357 137.2627 144.3399 154.2312 138.1818 144.3399 154.1971 139.0868 144.3399 154.2312 139.9918 144.3399 154.3357 140.9109 144.3399 154.5135 141.8344 144.34 154.7665 142.7527 144.34 155.094 143.6567 144.34 155.4954 144.537 144.34 155.9676 145.385 144.34 156.5063 146.1924 144.34 157.1065 146.9514 144.3401 157.7602 147.6557 144.3401 158.4593 148.2993 144.3401 159.1962 148.8781 144.3401 159.9639 149.3901 144.3401 160.7554 149.8338 144.3402 165.4176 151.158 144.3403 163.9088 150.9544 144.3402 162.3564 150.5205 144.3402 230.5764 126.7759 146.9882 238.3266 148.8781 144.3401 237.5588 149.3901 144.3401 236.7674 149.8338 144.3402 235.1663 150.5205 144.3402 232.1052 151.158 144.3403 233.614 150.9544 144.3402 239.0634 148.2993 144.3401 239.7625 147.6557 144.3401 240.4163 146.9514 144.3401 241.0164 146.1924 144.34 241.5551 145.385 144.34 242.0273 144.537 144.34 242.4287 143.6567 144.34 242.7563 142.7527 144.34 243.0093 141.8344 144.34 243.1871 140.9109 144.3399 243.2915 139.9918 144.3399 243.3256 139.0868 144.3399 243.2915 138.1818 144.3399 243.1871 137.2627 144.3399 243.0093 136.3392 144.3399 242.7563 135.4208 144.3399 242.4287 134.5169 144.3399 242.0273 133.6365 144.3399 241.5551 132.7884 144.3398 241.0164 131.9809 144.3398 240.4163 131.2219 144.3398 239.7625 130.5176 144.3398 239.0634 129.8739 144.3398 238.3266 129.295 144.3398 237.5588 128.7829 144.3398 236.7674 128.3391 144.3398 230.6045 127.0009 144.3398 232.1052 127.0144 144.3398 233.614 127.2182 144.3398 235.1663 127.6522 144.3398 174.4267 149.0868 131.2231 168.3742 149.0868 131.2231 166.8658 149.0868 131.2231 229.1486 129.0868 131.2231 230.657 129.0868 131.2231 205.6146 151.5341 150.2731 199.2032 151.533 150.2731 199.2034 151.5485 150.7269 190.4194 151.5486 150.6877 190.3644 151.5499 150.7268 198.6139 151.5485 150.7269 191.6146 151.107 154.1731 198.6148 151.0985 154.1731 198.6143 151.2981 153.7585 195.0112 151.5866 152.3728 194.9809 151.5855 152.4188 198.6136 151.5511 152.8243 194.9757 151.5853 152.4254 194.9714 151.5851 152.4299 194.9317 151.5834 152.4714 194.9219 151.5831 152.4789 194.8818 151.5815 152.5094 194.875 151.5813 152.5137 194.8649 151.581 152.5189 194.8183 151.5796 152.5427 194.8018 151.5792 152.548 194.7588 151.5783 152.562 194.7503 151.5782 152.5639 194.7346 151.578 152.5661 194.6882 151.5776 152.5724 194.6653 151.5775 152.5731 194.6019 151.5779 152.568 189.7598 151.5523 152.8242 194.5959 151.578 152.5666 194.5411 151.5789 152.5533 194.533 151.5791 152.5506 194.5286 151.5792 152.5487 194.4748 151.5807 152.5249 194.4656 151.581 152.5189 194.4221 151.5825 152.4907 194.4157 151.5828 152.4857 194.4086 151.5831 152.479 194.3693 151.5847 152.4422 194.3596 151.585 152.4296 194.3309 151.5862 152.3926 194.3263 151.5864 152.3855 189.7341 151.5628 152.739 194.3196 151.5866 152.3727 189.7266 151.5657 152.7013 194.297 151.5873 152.3292 189.6719 151.5854 152.3408 194.3031 151.5871 152.3409 189.6746 151.5848 152.3839 189.6796 151.5838 152.4642 194.2904 151.5873 152.3096 194.2772 151.5874 152.27 194.2751 151.5873 152.2613 194.2724 151.587 152.2424 194.266 151.5864 152.1983 189.6646 151.5868 152.2231 194.2664 151.5859 152.1731 189.6684 151.5847 152.1018 189.674 151.5839 152.0625 194.267 151.5852 152.1356 189.7121 151.5785 151.7953 194.2678 151.585 152.1276 189.8015 151.5719 151.5054 189.7275 151.5774 151.7454 190.1148 151.5576 150.9769 189.986 151.5628 151.1593 194.2725 151.5846 152.1039 189.9384 151.5647 151.2267 189.8328 151.5702 151.4417 190.1413 151.5567 150.9456 194.2801 151.5839 152.0652 190.1826 151.5554 150.9051 194.2905 151.5833 152.0367 194.3017 151.5827 152.0063 190.3627 151.5499 150.7281 194.3053 151.5825 151.9987 194.3199 151.582 151.9737 194.3375 151.5814 151.9438 194.3598 151.5809 151.9168 194.3774 151.5804 151.8954 194.3833 151.5803 151.8894 194.409 151.5798 151.8676 194.4319 151.5794 151.8482 194.4658 151.5789 151.8277 194.4855 151.5787 151.8158 194.4931 151.5786 151.812 194.5289 151.5783 151.7984 194.5526 151.5781 151.7893 194.596 151.5779 151.7802 194.6139 151.5778 151.7764 194.7481 151.5779 151.7818 194.7564 151.578 151.7836 194.7346 151.5779 151.78 194.6223 151.5778 151.7754 194.6653 151.5778 151.7742 194.686 151.5777 151.7736 194.8018 151.5783 151.7981 194.817 151.5784 151.803 194.865 151.5789 151.8272 194.873 151.579 151.8313 194.8801 151.5791 151.8357 194.9219 151.5798 151.8673 194.9309 151.5799 151.8741 194.9714 151.5808 151.9162 194.9744 151.5809 151.9193 194.9797 151.581 151.9258 195.0113 151.582 151.9734 195.0149 151.5821 151.9788 195.0411 151.5833 152.0363 195.0438 151.5834 152.0438 195.0652 151.5859 152.1764 195.0597 151.5871 152.2397 198.6136 151.5872 152.3409 195.0652 151.5859 152.1731 195.0595 151.5846 152.1055 195.0652 151.5858 152.168 195.059 151.5871 152.2425 195.0445 151.5874 152.3003 195.041 151.5874 152.3099 195.027 151.5871 152.3409 195.0154 151.5868 152.3666 205.6146 151.1062 154.1731 205.8769 151.1166 154.1554 205.9524 151.1252 154.1396 199.2012 151.0978 154.1731 199.4085 151.0975 154.1731 199.2026 151.2981 153.7585 206.1466 151.1473 154.0991 206.2284 151.1606 154.074 206.2803 151.1713 154.0523 206.4979 151.2165 153.9616 206.5868 151.2408 153.9073 190.6881 151.229 153.9355 190.4785 151.2861 153.8079 190.42 151.3053 153.7583 190.7288 151.2179 153.9603 190.9823 151.1656 154.0654 191.0117 151.1595 154.0776 191.0625 151.1513 154.0933 191.2942 151.1237 154.144 191.3352 151.1188 154.153 190.027 151.4437 153.3554 190.1838 151.3852 153.5405 198.6139 151.4547 153.298 190.2366 151.3655 153.6027 189.7628 151.5511 152.8342 189.8334 151.5219 153.0045 189.8731 151.5055 153.1004 189.986 151.4602 153.2873 189.9921 151.4577 153.2975 191.6146 151.5342 150.2731 191.5667 151.5342 150.2737 191.2939 151.5353 150.3019 198.614 151.5329 150.2731 197.8208 151.5328 150.2731 191.2625 151.5354 150.3052 191.2217 151.5357 150.3131 190.9825 151.5382 150.3822 190.9282 151.5388 150.3979 190.6878 151.5427 150.5109 190.6474 151.5434 150.5299 190.6117 151.5441 150.5508 206.8001 151.5482 150.6748 206.5877 151.5436 150.5372 206.8322 151.549 150.7 206.5435 151.5426 150.5086 206.2809 151.5385 150.3923 206.2598 151.5382 150.3829 206.2208 151.5377 150.3697 205.9527 151.5353 150.3048 205.9238 151.5351 150.2978 199.2046 151.5872 152.3409 207.5646 151.5868 152.2231 207.5606 151.5846 152.098 207.53 151.5803 151.8852 207.5169 151.5785 151.7943 207.5074 151.5776 151.7543 207.442 151.573 151.5578 207.4109 151.5709 151.4641 207.2996 151.5653 151.2501 207.2677 151.5637 151.1887 207.2457 151.5627 151.1544 207.1049 151.5574 150.9724 207.0585 151.5557 150.9125 206.8659 151.55 150.7316 206.8608 151.5498 150.7268 207.5318 151.5771 152.561 207.4834 151.558 152.78 199.2044 151.5511 152.8243 207.544 151.5818 152.506 207.556 151.5847 152.3408 207.3541 151.5044 153.1045 207.4433 151.5414 152.8885 207.469 151.552 152.8263 207.4696 151.5523 152.8243 206.9916 151.3646 153.6039 207.1035 151.4064 153.4724 199.2037 151.4547 153.298 206.7568 151.2873 153.8036 206.8103 151.3049 153.758 206.8641 151.3226 153.7123 207.1975 151.4414 153.3619 207.2368 151.4572 153.2974 207.2988 151.4822 153.1953 202.8114 139.0868 150.2731 202.7114 139.0868 152.1231 202.8114 139.0868 152.1731 195.0653 139.0868 152.1731 195.0592 139.0868 152.2426 195.0526 139.0868 152.2731 207.564 139.0868 152.1731 207.5646 139.0868 152.2231 207.564 139.0868 152.2731 222.3439 139.7118 152.1731 222.436 139.5143 152.1731 202.8114 126.5868 152.1731 209.2646 126.5868 152.1731 207.664 139.0868 152.1731 212.2646 126.5868 152.1731 220.1789 138.4618 152.1731 220.0868 138.6593 152.1731 220.0304 138.8697 152.1731 220.0114 139.0868 152.1731 222.4924 139.3039 152.1731 222.5114 139.0868 152.1731 215.2646 126.5868 152.1731 218.2646 126.5868 152.1731 221.2646 126.5868 152.1731 220.3038 139.8903 152.1731 220.4579 140.0444 152.1731 220.8339 140.2614 152.1731 222.4924 138.8697 152.1731 222.436 138.6593 152.1731 222.3439 138.4618 152.1731 220.8339 137.9122 152.1731 221.0443 137.8558 152.1731 221.2614 137.8368 152.1731 220.6364 138.0043 152.1731 220.4579 138.1293 152.1731 220.3038 138.2833 152.1731 220.6364 140.1693 152.1731 220.0304 139.3039 152.1731 220.0868 139.5143 152.1731 220.1789 139.7118 152.1731 222.0649 140.0444 152.1731 222.2189 139.8903 152.1731 222.2189 138.2833 152.1731 222.0649 138.1293 152.1731 221.0443 140.3178 152.1731 221.2614 140.3368 152.1731 221.4785 140.3178 152.1731 221.6889 140.2614 152.1731 221.8864 140.1693 152.1731 221.4785 137.8558 152.1731 224.2646 126.5868 152.1731 221.6889 137.9122 152.1731 227.7572 126.5868 152.1731 221.8864 138.0043 152.1731 228.9997 126.5868 152.1731 230.5065 126.7042 153.443 232.1766 126.7467 153.443 232.0642 126.9094 154.0252 232.7959 127.2481 154.5573 233.6617 127.407 154.5573 233.5914 127.5574 154.8019 167.2054 151.1933 154.2981 167.2722 151.0612 154.5574 168.8016 151.1865 154.2981 167.3354 150.9076 154.802 168.9198 150.8958 154.802 168.863 151.0518 154.5574 157.1252 145.5513 155.2431 156.9403 145.675 155.0309 156.4721 144.9329 155.0309 158.1971 146.8925 155.2431 157.3216 145.4134 155.4374 156.875 144.7018 155.4374 156.4825 143.9588 155.4374 156.9528 143.7139 155.7684 155.4017 139.9265 155.4374 155.3703 139.0868 155.4374 155.9013 139.0868 155.7684 163.2082 147.0195 156.2231 164.0947 147.2759 156.2231 164.2223 148.1622 156.1697 161.9113 146.3889 156.2231 162.8658 146.853 156.2231 162.8487 147.7133 156.1697 157.997 143.0698 156.1697 158.6618 144.2516 156.1697 158.1937 144.707 156.0153 157.4611 143.419 156.0153 156.924 142.0357 156.0153 157.5088 141.8011 156.1697 155.1722 134.6364 154.298 155.3335 134.6895 154.5573 155.0331 135.544 154.5573 155.0303 134.5908 154.0252 155.4053 133.7391 154.0252 162.7684 127.226 153.443 163.6278 127.0048 153.443 163.7295 127.1681 154.0252 165.5236 127.0194 154.298 165.5904 127.1498 154.5573 164.7268 127.2481 154.5573 158.3674 131.4474 155.4374 157.3216 132.7602 155.4374 157.1252 132.6223 155.2431 158.1971 131.2812 155.2431 159.456 130.1179 155.2431 159.5972 130.3066 155.4374 174.7644 128.2332 155.6129 174.738 128.5056 155.7684 169.0175 128.4005 155.7684 157.997 135.1038 156.1697 158.6618 133.922 156.1697 159.1457 134.458 156.2231 174.711 151.5154 153.136 174.7232 151.5593 152.8195 168.5425 151.5625 152.8194 157.9449 129.7974 152.8192 158.6708 129.1948 152.8192 158.7368 129.2958 153.443 234.0646 127.9313 155.1041 234.0646 128.0815 155.2362 233.4549 127.9246 155.2431 232.7159 130.7113 156.2231 232.1013 130.6587 156.2231 231.8383 129.7701 156.1697 234.0646 148.309 156.1072 234.0646 148.6631 156.0194 233.2622 148.8971 156.0154 234.0646 149.1465 155.8468 234.0646 149.3136 155.761 233.3005 149.5172 155.7684 207.5222 151.5294 152.9585 207.4494 151.4975 153.136 222.8117 151.5154 153.136 207.0685 151.3413 153.6684 206.9859 151.3123 153.7394 222.8087 151.3662 153.74 168.824 151.5869 152.2731 168.5215 151.5869 152.2731 163.2176 151.2102 152.2731 162.746 151.0729 152.2731 162.7241 151.0452 152.8194 162.309 150.9457 152.2731 161.9036 150.7935 152.2731 161.8771 150.7622 152.8194 157.2069 147.705 152.2731 156.6217 147.0412 152.2731 156.6273 146.9996 152.8193 168.4235 126.5868 152.2731 168.5215 126.5867 152.2731 168.5425 126.6113 152.8192 232.0777 151.5598 152.1627 231.9734 151.5663 152.2089 232.2449 151.5191 152.8194 231.962 151.567 152.214 231.9408 151.5682 152.2212 231.7967 151.575 152.256 232.115 151.5575 152.1462 232.2452 151.5478 152.1627 232.1386 151.5558 152.1309 232.2403 151.5482 152.0649 233.8236 151.3077 150.8267 232.6646 151.4924 150.8268 232.6646 151.5025 151.2231 232.6625 151.5036 151.2903 232.646 151.5065 151.4051 233.9239 151.2995 152.1627 232.6391 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153.443 174.711 126.6585 153.1358 159.4904 128.7558 153.443 160.2751 128.2772 153.443 161.086 127.8618 153.443 161.9187 127.5112 153.443 167.0163 126.7042 153.443 165.3462 126.7467 153.443 164.4896 126.8457 153.443 158.0205 148.2786 153.443 157.2937 147.6744 153.1358 157.3474 147.6227 153.443 156.6641 146.9617 153.1358 156.7231 146.9139 153.443 156.0886 146.2003 153.1358 156.1529 146.1572 153.443 155.5726 145.3954 153.1358 155.6415 145.3576 153.443 155.1196 144.553 153.1358 155.1926 144.521 153.443 154.7331 143.6796 153.1358 154.8094 143.6536 153.443 154.4157 142.7818 153.1358 154.4946 142.7618 153.443 154.1687 141.8668 153.1358 154.2494 141.8527 153.443 153.9931 140.9416 153.1358 154.075 140.933 153.443 153.8886 140.0129 153.1358 153.971 140.0091 153.443 153.8541 139.0868 153.1358 153.9366 139.0868 153.443 153.8886 138.1607 153.1358 153.971 138.1645 153.443 153.9931 137.232 153.1358 154.075 137.2406 153.443 154.1687 136.3069 153.1358 154.2494 136.3209 153.443 154.4157 135.3918 153.1358 154.4946 135.4118 153.443 154.7331 134.494 153.1358 154.8094 134.5201 153.443 155.1196 133.6206 153.1358 155.1926 133.6527 153.443 155.5726 132.7783 153.1358 155.6415 132.8161 153.443 156.0886 131.9733 153.1358 156.1529 132.0165 153.443 156.6641 131.2119 153.1358 156.7231 131.2597 153.443 157.2937 130.4993 153.1358 157.3474 130.551 153.443 158.0205 129.8951 153.443 158.7368 148.8778 153.443 159.4904 149.4179 153.4431 160.2751 149.8965 153.4431 161.086 150.3119 153.4431 174.7088 151.4511 153.4432 168.6231 151.469 153.4431 167.0163 151.4696 153.4431 198.7614 128.1957 155.4374 198.7614 128.7267 155.7684 186.7668 128.3912 155.6129 186.7499 128.6638 155.7684 168.9071 129.0215 156.0153 174.6388 129.114 156.0153 174.4629 129.8076 156.1697 186.6909 129.2532 156.0153 186.5904 129.8963 156.1697 165.4211 130.6557 156.2231 164.8655 130.7013 156.2231 164.2223 130.0114 156.1697 166.8372 130.5868 156.2231 166.2614 130.5868 156.2231 165.6845 129.7701 156.1697 164.0927 130.8943 156.2231 163.5575 131.0279 156.2231 162.8487 130.4603 156.1697 162.8657 131.3234 156.2231 162.3188 131.557 156.2231 161.5975 131.0967 156.1697 160.1204 133.2098 156.2231 159.4917 132.8471 156.1697 160.7553 132.6463 156.2231 160.4754 131.899 156.1697 161.1537 132.2927 156.2231 161.7512 131.9154 156.2231 157.2084 137.7069 156.1697 157.5088 136.3725 156.1697 158.0544 136.874 156.2231 158.5525 135.513 156.2231 158.5347 135.5447 156.2231 158.1342 136.653 156.2231 160.096 133.2354 156.2231 159.8843 133.4987 156.2231 159.2217 134.323 156.2231 157.8776 137.849 156.2231 157.7999 138.2773 156.2231 157.1061 139.0868 156.1697 164.2605 129.2766 156.0153 162.7742 129.7418 156.0153 162.7172 129.4252 155.9029 164.2222 128.6565 155.7684 165.8578 128.4096 155.7684 165.8516 128.7075 155.9029 167.4512 128.6791 155.9029 167.3956 129.0039 156.0153 168.6711 129.7485 156.1697 174.1922 130.5868 156.2231 186.4389 130.5868 156.2231 167.4798 128.3811 155.7684 168.9763 128.6981 155.9029 174.6969 128.7992 155.9029 186.725 128.9513 155.9029 198.7614 129.3084 156.0153 168.2828 130.5868 156.2231 167.1902 129.737 156.1697 165.8227 129.033 156.0153 164.2496 128.9527 155.9029 162.6501 129.1356 155.7684 158.5452 131.6316 155.6129 159.7429 130.5157 155.6129 159.8912 130.7461 155.7684 161.2034 129.8392 155.7684 160.0403 130.9988 155.9029 161.3116 130.1143 155.9029 160.1886 131.2746 156.0153 161.4146 130.415 156.0153 158.1937 133.4667 156.0153 157.4611 134.7546 156.0153 156.9528 134.4597 155.7684 157.5281 132.913 155.6129 158.7289 131.8343 155.7684 157.7432 133.0812 155.7684 158.917 132.0565 155.9029 161.0921 129.5885 155.6129 156.875 133.4719 155.4374 157.3225 133.7557 155.7684 159.1079 132.2988 156.0153 156.3741 135.9408 155.7684 155.8692 135.7781 155.4374 156.636 135.1893 155.7684 156.1466 134.9851 155.4374 186.777 128.1346 155.4374 168.9198 127.278 154.8019 168.863 127.1221 154.5573 174.7538 127.1862 154.5573 174.7389 127.0394 154.298 186.768 127.1179 154.298 186.7626 126.9735 154.0252 198.7614 126.9985 154.0252 198.7614 126.8688 153.7398 167.3354 127.2662 154.8019 167.2722 127.1127 154.5573 160.9796 129.3614 155.4374 160.8679 129.1569 155.2431 161.7203 128.9689 155.4374 161.6229 128.7589 155.2431 162.4944 128.6339 155.4374 162.4104 128.4197 155.2431 164.1287 128.1434 155.4374 164.0679 127.9246 155.2431 165.8145 127.8927 155.4374 165.7711 127.672 155.2431 167.4696 127.8625 155.4374 167.4374 127.6403 155.2431 169.0291 127.8804 155.4374 169.0062 127.6566 155.2431 174.7819 127.7516 155.2431 174.7776 127.5422 155.0309 186.7817 127.6722 155.0309 186.7787 127.468 154.802 198.7614 127.3224 154.5573 156.4825 134.2149 155.4374 156.0608 134.016 155.0309 156.4721 133.2407 155.0309 156.9403 132.4986 155.0309 157.4627 131.7943 155.0309 159.1935 129.7984 154.8019 159.8003 129.1389 154.5573 160.6549 128.8118 154.8019 160.5575 128.6693 154.5573 161.4331 128.4051 154.8019 161.3449 128.2594 154.5573 162.2415 128.0596 154.8019 155.6982 133.8588 154.5573 156.125 133.0575 154.5573 156.7684 132.3883 154.8019 156.6108 132.2909 154.5573 157.301 131.6721 154.8019 157.1528 131.5641 154.5573 157.8853 130.9989 154.8019 157.747 130.8815 154.5573 158.5176 130.3732 154.8019 158.3896 130.2475 154.5573 159.0759 129.6658 154.5573 164.6598 127.1182 154.298 163.861 127.407 154.5573 163.7929 127.2776 154.298 167.1383 126.8689 154.0252 165.4585 126.9094 154.0252 164.596 127.0084 154.0252 168.8016 126.9874 154.298 174.7249 126.9133 154.0252 186.7588 126.8507 153.7398 198.7614 126.762 153.443 222.814 126.7229 153.443 222.8117 126.6585 153.1358 174.7088 126.7229 153.443 168.6783 126.7795 153.7398 167.2054 126.9805 154.298 168.7389 126.8734 154.0252 174.7141 126.8078 153.7398 186.7579 126.7502 153.443 198.7614 126.6795 153.1358 155.9757 132.9825 154.298 156.4691 132.2057 154.298 157.0194 131.4696 154.298 157.6225 130.7787 154.298 158.2742 130.1377 154.298 158.9696 129.5501 154.298 159.703 129.0186 154.298 160.4689 128.5456 154.298 161.264 128.1333 154.298 155.5424 133.7945 154.298 155.8444 132.9176 154.0252 156.3445 132.132 154.0252 156.9023 131.3878 154.0252 157.5133 130.6899 154.0252 158.1731 130.0429 154.0252 158.8765 129.4505 154.0252 159.6177 128.9153 154.0252 160.391 128.4396 154.0252 161.1925 128.0256 154.0252 162.8678 127.3898 154.0252 162.932 127.4991 154.298 163.0026 127.6279 154.5573 163.9314 127.5574 154.8019 165.6559 127.3014 154.8019 156.0205 137.493 155.7684 155.4017 138.2471 155.4374 155.4957 137.4134 155.4374 155.6517 136.5891 155.4374 157.7897 139.0872 156.2231 157.7823 139.6829 156.2231 157.2084 140.4667 156.1697 157.8806 140.3248 156.2231 157.9929 141.0577 156.2231 159.1433 143.7155 156.2231 159.8726 144.6846 156.2231 159.4917 145.3265 156.1697 160.7515 145.5591 156.2231 161.7449 146.2699 156.2231 161.5975 147.077 156.1697 158.1434 141.5181 156.2231 158.4234 142.3753 156.2231 158.5677 142.6528 156.2231 159.0691 143.617 156.2231 156.5946 140.5834 156.0153 156.483 139.0868 156.0153 156.5946 137.5902 156.0153 156.924 136.1379 156.0153 164.6191 147.4276 156.2231 165.4217 147.5208 156.2231 165.6845 148.4035 156.1697 165.9384 147.5808 156.2231 159.9171 144.7438 156.2231 160.4754 146.2747 156.1697 161.4146 147.7586 156.0154 162.7742 148.4319 156.0154 156.636 142.9843 155.7684 156.1466 143.1885 155.4374 156.3741 142.2328 155.7684 155.4957 140.7602 155.4374 156.0205 140.6807 155.7684 155.6517 141.5845 155.4374 155.8692 142.3955 155.4374 166.2614 147.5868 156.2231 166.8372 147.5868 156.2231 167.1902 148.4366 156.1697 168.6711 148.4251 156.1697 168.9071 149.1522 156.0154 174.6388 149.0597 156.0154 168.2828 147.5868 156.2231 174.1922 147.5868 156.2231 174.4629 148.3661 156.1697 186.4389 147.5868 156.2231 186.5904 148.2773 156.1697 198.7614 147.5868 156.2231 198.7614 148.2421 156.1697 198.7614 148.8653 156.0154 186.725 149.2225 155.9029 186.6909 148.9206 156.0154 174.6969 149.3745 155.9029 168.9763 149.4756 155.9029 167.3956 149.1698 156.0154 198.7614 149.4472 155.7685 186.7668 149.7827 155.613 186.7499 149.5101 155.7685 174.7644 149.9406 155.6129 174.738 149.6681 155.7684 169.034 150.0455 155.6129 169.0175 149.7732 155.7684 167.4798 149.7926 155.7684 167.4512 149.4946 155.9029 165.8516 149.4661 155.9029 165.8227 149.1406 156.0154 164.2605 148.8971 156.0154 155.709 134.8197 155.0309 155.4189 135.6468 155.0309 155.1919 136.4921 155.0309 155.0293 137.35 155.0309 154.9317 138.2163 155.0309 154.8991 139.0868 155.0309 154.9317 139.9573 155.0309 155.0293 140.8236 155.0309 159.3208 148.2249 155.0309 158.6567 147.6581 155.0309 158.0359 147.0418 155.0309 157.4627 146.3794 155.0309 156.0608 144.1576 155.0309 155.709 143.3539 155.0309 155.4189 142.5268 155.0309 154.7985 136.4166 154.5573 154.6308 137.3012 154.5573 154.5304 138.1928 154.5573 154.4969 139.0868 154.5573 154.5304 139.9808 154.5573 154.6308 140.8724 154.5573 154.7985 141.7571 154.5573 161.3449 149.9143 154.5574 160.5575 149.5044 154.5574 160.6549 149.3619 154.802 159.1935 148.3753 154.802 159.8003 149.0348 154.5574 159.0759 148.5079 154.5574 158.5176 147.8005 154.802 158.3896 147.9262 154.5574 157.8853 147.1747 154.802 157.747 147.2922 154.5573 157.301 146.5016 154.802 157.1528 146.6096 154.5573 156.7684 145.7853 154.802 156.6108 145.8827 154.5573 156.125 145.1161 154.5573 155.6982 144.3148 154.5573 155.3335 143.4842 154.5573 161.8166 148.9712 155.6129 162.575 149.3014 155.6129 162.4944 149.5398 155.4375 164.1287 150.0303 155.4375 164.0679 150.2492 155.2431 165.7711 150.5018 155.2431 165.7172 150.6986 155.0309 167.3916 150.732 155.031 186.777 150.0394 155.4375 174.7819 150.4223 155.2431 174.7783 150.192 155.4375 169.0062 150.5172 155.2431 169.0291 150.2933 155.4375 167.4696 150.3112 155.4375 167.4849 150.0645 155.6129 165.8445 150.0354 155.6129 165.8578 149.7641 155.7684 164.2222 149.5172 155.7684 164.2496 149.221 155.9029 162.7172 148.7485 155.9029 161.3116 148.0593 155.9029 168.9686 150.7178 155.031 167.4374 150.5335 155.2431 165.8145 150.281 155.4375 164.181 149.7866 155.6129 162.6501 149.038 155.7684 161.2034 148.3345 155.7684 154.7218 135.4667 154.0252 154.4811 136.3603 154.0252 154.3095 137.2652 154.0252 154.2071 138.1758 154.0252 154.173 139.0868 154.0252 154.2071 139.9978 154.0252 154.3095 140.9084 154.0252 154.4811 141.8133 154.0252 154.7218 142.707 154.0252 155.1919 141.6816 155.0309 155.0331 142.6296 154.5573 155.1722 143.5372 154.298 155.5424 144.3791 154.2981 155.9757 145.1912 154.2981 156.4691 145.968 154.2981 157.0194 146.7041 154.2981 157.6225 147.3949 154.2981 158.2742 148.036 154.2981 158.9696 148.6235 154.2981 159.703 149.1551 154.2981 160.4689 149.6282 154.2981 161.264 150.0405 154.2981 155.0303 143.5828 154.0252 155.4053 144.4345 154.0252 155.8444 145.2561 154.0252 156.3445 146.0417 154.0252 156.9023 146.7858 154.0252 157.5133 147.4838 154.0252 158.1731 148.1308 154.0252 158.8765 148.7232 154.0252 159.6177 149.2584 154.0252 160.391 149.7341 154.0252 161.1925 150.1481 154.0252 162.0194 150.4985 154.0252 162.0862 150.3898 154.2981 162.161 150.262 154.5574 161.4331 149.7686 154.802 160.759 149.1997 155.0309 159.456 148.0558 155.2431 158.3674 146.7262 155.4375 157.5281 145.2607 155.6129 157.3225 144.4179 155.7684 164.4896 151.3281 153.4431 163.6278 151.1689 153.4431 163.7295 151.0057 154.0253 162.8678 150.7839 154.0252 163.7929 150.8962 154.2981 162.932 150.6747 154.2981 163.861 150.7667 154.5574 163.0026 150.5459 154.5574 162.2415 150.1141 154.802 166.9121 151.5867 152.2731 166.9329 151.5614 152.8194 165.3462 151.427 153.4431 165.4585 151.2644 154.0253 164.596 151.1653 154.0253 165.5236 151.1544 154.2981 164.6598 151.0556 154.2981 165.5904 151.024 154.5574 164.7268 150.9257 154.5574 163.9314 150.6164 154.802 157.7432 145.0925 155.7684 158.5452 146.5421 155.6129 159.5972 147.8671 155.4375 160.8679 149.0168 155.2431 161.5265 149.6025 155.0309 162.7684 150.9477 153.4431 159.1079 145.8748 156.0154 158.917 146.1171 155.9029 158.7289 146.3393 155.7684 159.7429 147.658 155.6129 160.9796 148.8123 155.4375 161.6229 149.4148 155.2431 162.3254 149.9451 155.0309 161.9187 150.6625 153.4431 161.1324 150.2383 153.7399 160.3257 149.8233 153.7399 159.5462 149.3457 153.7399 158.7984 148.8076 153.7399 158.088 148.2114 153.7399 157.4211 147.5594 153.7399 156.803 146.8555 153.7398 156.2387 146.1045 153.7398 155.7326 145.3113 153.7398 155.2883 144.4816 153.7398 154.9089 143.6215 153.7398 154.5971 142.737 153.7398 154.354 141.835 153.7398 154.1808 140.922 153.7398 154.0776 140.0041 153.7398 154.0433 139.0868 153.7398 154.0776 138.1695 153.7398 154.1808 137.2516 153.7398 154.354 136.3386 153.7398 154.5971 135.4366 153.7398 154.9089 134.5522 153.7398 155.2883 133.692 153.7398 155.7326 132.8623 153.7398 156.2387 132.0691 153.7398 156.803 131.3181 153.7398 157.4211 130.6143 153.7398 158.088 129.9623 153.7398 158.7984 129.366 153.7398 159.5462 128.828 153.7398 160.3257 128.3505 153.7398 161.1324 127.9355 153.7398 162.0194 127.6753 154.0252 162.0862 127.784 154.298 162.161 127.9118 154.5573 174.7538 150.9878 154.5574 174.7675 150.8202 154.8021 174.7776 150.6317 155.031 186.7738 150.8913 154.5575 186.7787 150.7062 154.8021 186.7817 150.502 155.031 186.7816 150.2794 155.2432 174.7141 151.3662 153.74 174.7249 151.2608 154.0253 168.6783 151.3944 153.7399 168.7389 151.3005 154.0253 167.1383 151.305 154.0253 174.7389 151.1346 154.2982 198.7614 149.9784 155.4375 198.7614 150.4497 155.031 198.7614 150.852 154.5575 160.1886 146.8991 156.0154 160.0403 147.1748 155.9029 159.8912 147.4275 155.7684 161.0921 148.5852 155.6129 161.7203 149.2047 155.4375 162.4104 149.754 155.2431 164.0012 150.4442 155.0309 165.6559 150.8723 154.802 210.9323 148.2773 156.1697 214.5982 147.5868 156.2231 223.0599 148.3661 156.1697 223.3306 147.5868 156.2231 228.8516 148.4251 156.1697 229.24 147.5868 156.2231 230.3325 148.4366 156.1697 230.6855 147.5868 156.2231 231.2614 147.5868 156.2231 231.7001 149.1406 156.0154 230.1272 149.1698 156.0154 228.6157 149.1522 156.0154 222.8839 149.0597 156.0154 210.8319 148.9206 156.0154 222.8259 149.3745 155.9029 210.7978 149.2225 155.9029 210.7729 149.5101 155.7685 234.0646 149.0074 155.8964 233.2732 149.221 155.9029 231.6712 149.4661 155.9029 231.6649 149.7641 155.7684 230.0716 149.4946 155.9029 230.0429 149.7926 155.7684 228.5464 149.4756 155.9029 228.5053 149.7732 155.7684 222.7848 149.6681 155.7684 210.7559 149.7827 155.613 231.2614 130.5868 156.2231 230.3325 129.737 156.1697 230.1272 129.0039 156.0153 228.6157 129.0215 156.0153 228.5464 128.6981 155.9029 198.7614 129.9315 156.1697 198.7614 130.5868 156.2231 210.9323 129.8963 156.1697 223.3306 130.5868 156.2231 223.0599 129.8076 156.1697 229.24 130.5868 156.2231 228.8516 129.7485 156.1697 230.6855 130.5868 156.2231 231.6712 128.7075 155.9029 233.2732 128.9527 155.9029 233.2622 129.2766 156.0153 231.7001 129.033 156.0153 230.0716 128.6791 155.9029 228.5053 128.4005 155.7684 231.6783 128.1383 155.6129 233.3417 128.3871 155.6129 234.0646 128.5768 155.6061 234.0646 128.2976 155.4262 233.3941 128.1434 155.4374 231.7082 127.8927 155.4374 230.0531 127.8625 155.4374 210.7978 128.9513 155.9029 210.8319 129.2532 156.0153 222.8259 128.7992 155.9029 222.8839 129.114 156.0153 230.0429 128.3811 155.7684 228.4888 128.1282 155.6129 222.7584 128.2332 155.6129 222.7445 127.9819 155.4374 210.7559 128.3912 155.6129 210.7458 128.1346 155.4374 210.7729 128.6638 155.7684 222.7848 128.5056 155.7684 222.7452 150.6317 155.031 210.741 150.502 155.031 222.7408 150.4223 155.2431 210.7412 150.2794 155.2432 222.7445 150.192 155.4375 210.7458 150.0394 155.4375 222.7584 149.9406 155.6129 228.603 150.8958 154.802 228.5541 150.7178 155.031 228.5166 150.5172 155.2431 228.4937 150.2933 155.4375 228.4888 150.0455 155.6129 230.2505 151.0612 154.5574 230.1874 150.9076 154.802 230.1312 150.732 155.031 230.0854 150.5335 155.2431 230.0531 150.3112 155.4375 230.0379 150.0645 155.6129 232.7959 150.9257 154.5574 230.3173 151.1933 154.2981 231.9324 151.024 154.5574 231.8668 150.8723 154.802 231.8056 150.6986 155.0309 231.7517 150.5018 155.2431 231.7082 150.281 155.4375 231.6783 150.0354 155.6129 210.749 150.8913 154.5575 222.7689 150.9878 154.5574 222.7839 151.1346 154.2982 222.7979 151.2608 154.0253 231.9992 151.1544 154.2981 232.863 151.0556 154.2981 233.7299 150.8962 154.2981 234.0646 150.8539 154.2252 230.3845 151.305 154.0253 232.0642 151.2644 154.0253 232.9268 151.1653 154.0253 228.8996 151.469 153.4431 228.8445 151.3944 153.7399 228.7839 151.3005 154.0253 228.7212 151.1865 154.2981 228.6598 151.0518 154.5574 222.7553 150.8202 154.8021 210.744 150.7062 154.8021 231.7517 127.672 155.2431 230.0854 127.6403 155.2431 228.5166 127.6566 155.2431 228.603 127.278 154.8019 228.6598 127.1221 154.5573 230.1874 127.2662 154.8019 230.2505 127.1127 154.5573 231.8668 127.3014 154.8019 231.8056 127.4752 155.0309 230.1312 127.4418 155.0309 228.5541 127.456 155.0309 222.7452 127.5422 155.0309 231.6649 128.4096 155.7684 230.0379 128.1092 155.6129 228.4937 127.8804 155.4374 222.7408 127.7516 155.2431 210.7412 127.8946 155.2431 234.0646 129.3602 155.9728 161.8166 129.2025 155.6129 162.575 128.8722 155.6129 164.181 128.3871 155.6129 165.8445 128.1383 155.6129 167.4849 128.1092 155.6129 169.034 128.1282 155.6129 174.7783 127.9819 155.4374 186.7816 127.8946 155.2431 198.7614 127.7245 155.0309 210.741 127.6722 155.0309 210.744 127.468 154.802 222.7553 127.3538 154.8019 222.7689 127.1862 154.5573 232.863 127.1182 154.298 231.9324 127.1498 154.5573 231.9992 127.0194 154.298 232.9268 127.0084 154.0252 233.0332 126.8457 153.443 228.7212 126.9874 154.298 230.3173 126.9805 154.298 230.3845 126.8689 154.0252 228.8445 126.7795 153.7398 228.7839 126.8734 154.0252 222.7979 126.9133 154.0252 222.7839 127.0394 154.298 210.7548 127.1179 154.298 210.749 127.283 154.5573 158.0359 131.1319 155.0309 158.6567 130.5156 155.0309 159.3208 129.9488 155.0309 160.759 128.974 155.0309 161.5265 128.5713 155.0309 162.3254 128.2286 155.0309 164.0012 127.7295 155.0309 165.7172 127.4752 155.0309 167.3916 127.4418 155.0309 168.9686 127.456 155.0309 174.7675 127.3538 154.8019 186.7738 127.283 154.5573 198.7614 127.1501 154.298 210.7602 126.9735 154.0252 222.8087 126.8078 153.7398 228.8996 126.7049 153.443 234.0646 127.5073 154.5541 175.0114 139.0868 156.2231 175.0304 139.3039 156.2231 222.4924 139.3039 156.2231 222.5114 139.0868 156.2231 222.4924 138.8697 156.2231 222.436 138.6593 156.2231 222.3439 138.4618 156.2231 175.0304 138.8697 156.2231 175.0868 138.6593 156.2231 220.0868 138.6593 156.2231 220.0304 138.8697 156.2231 177.5114 139.0868 156.2231 220.0114 139.0868 156.2231 177.4924 139.3039 156.2231 220.0304 139.3039 156.2231 220.0868 139.5143 156.2231 222.2189 138.2833 156.2231 221.4785 137.8558 156.2231 221.2614 137.8368 156.2231 220.4579 138.1293 156.2231 220.3038 138.2833 156.2231 177.4924 138.8697 156.2231 177.436 138.6593 156.2231 177.3439 138.4618 156.2231 177.2189 138.2833 156.2231 177.0649 138.1293 156.2231 176.8864 140.1693 156.2231 177.0649 140.0444 156.2231 177.2189 139.8903 156.2231 177.3439 139.7118 156.2231 177.436 139.5143 156.2231 220.3038 139.8903 156.2231 220.4579 140.0444 156.2231 222.3439 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140.3178 156.2231 176.6889 140.2614 156.2231 177.4924 138.8697 152.2731 177.5114 139.0868 152.2731 189.5652 139.0868 152.2731 176.8864 138.0043 152.2731 177.0649 138.1293 152.2731 177.2189 138.2833 152.2731 222.4924 138.8697 152.2731 222.5114 139.0868 152.2731 177.3439 138.4618 152.2731 177.436 138.6593 152.2731 221.0443 140.3178 152.2731 220.8339 140.2614 152.2731 207.664 139.0868 152.2731 220.6364 140.1693 152.2731 220.4579 140.0444 152.2731 175.0304 139.3039 152.2731 220.3038 139.8903 152.2731 220.1789 139.7118 152.2731 220.0868 139.5143 152.2731 189.6653 139.0868 152.2731 176.4785 137.8558 152.2731 176.6889 137.9122 152.2731 175.0114 139.0868 152.2731 175.0868 138.6593 152.2731 175.0304 138.8697 152.2731 175.1789 139.7118 152.2731 194.278 139.0868 152.2731 176.2614 137.8368 152.2731 221.2614 140.3368 152.2731 175.0868 139.5143 152.2731 175.8339 137.9122 152.2731 176.0443 137.8558 152.2731 177.2189 139.8903 152.2731 177.0649 140.0444 152.2731 176.2614 140.3368 152.2731 175.3038 139.8903 152.2731 175.3038 138.2833 152.2731 175.4579 138.1293 152.2731 220.0304 138.8697 152.2731 220.0114 139.0868 152.2731 220.0304 139.3039 152.2731 222.0649 138.1293 152.2731 222.2189 138.2833 152.2731 222.4924 139.3039 152.2731 222.436 139.5143 152.2731 222.3439 139.7118 152.2731 176.8864 140.1693 152.2731 176.6889 140.2614 152.2731 176.4785 140.3178 152.2731 176.0443 140.3178 152.2731 175.8339 140.2614 152.2731 175.6364 140.1693 152.2731 175.4579 140.0444 152.2731 175.1789 138.4618 152.2731 220.1789 138.4618 152.2731 220.0868 138.6593 152.2731 220.3038 138.2833 152.2731 220.4579 138.1293 152.2731 220.6364 138.0043 152.2731 220.8339 137.9122 152.2731 221.0443 137.8558 152.2731 222.3439 138.4618 152.2731 222.436 138.6593 152.2731 222.2189 139.8903 152.2731 222.0649 140.0444 152.2731 175.6364 138.0043 152.2731 221.4785 140.3178 152.2731 221.6889 140.2614 152.2731 221.8864 140.1693 152.2731 177.4924 139.3039 152.2731 177.436 139.5143 152.2731 177.3439 139.7118 152.2731 221.2614 137.8368 152.2731 221.4785 137.8558 152.2731 221.6889 137.9122 152.2731 221.8864 138.0043 152.2731 194.2713 139.0868 152.2426 207.6253 139.0868 152.6228 207.535 139.0868 152.5617 207.5273 139.0868 152.9607 207.447 139.0868 152.89 207.3731 139.0868 153.2768 207.3034 139.0868 153.1981 207.167 139.0868 153.562 207.1084 139.0868 153.4765 206.9152 139.0868 153.8077 206.8681 139.0868 153.7169 206.6251 139.0868 154.0067 206.5896 139.0868 153.9118 206.3053 139.0868 154.1532 206.2816 139.0868 154.0555 205.9651 139.0868 154.2429 205.9532 139.0868 154.1435 205.6146 139.0868 154.2731 205.6146 139.0868 154.1731 191.6146 139.0868 154.2731 191.6146 139.0868 154.1731 191.2641 139.0868 154.2429 191.2937 139.0868 154.1465 190.9239 139.0868 154.1532 190.9815 139.0868 154.0674 190.6041 139.0868 154.0067 190.6865 139.0868 153.9381 190.314 139.0868 153.8077 190.4169 139.0868 153.7619 190.0622 139.0868 153.562 190.18 139.0868 153.5438 189.8562 139.0868 153.2768 189.9821 139.0868 153.2897 189.7019 139.0868 152.9607 189.8289 139.0868 153.0064 189.604 139.0868 152.6228 189.7243 139.0868 152.7018 189.6713 139.0868 152.3841 206.2816 139.0868 150.3907 207.535 139.0868 151.8845 207.3034 139.0868 151.2481 207.447 139.0868 151.5562 207.1084 139.0868 150.9697 206.8681 139.0868 150.7293 206.5896 139.0868 150.5343 205.9532 139.0868 150.3027 205.6146 139.0868 150.2731 207.6253 139.0868 151.8234 207.5273 139.0868 151.4855 207.3731 139.0868 151.1694 207.167 139.0868 150.8842 206.9152 139.0868 150.6385 206.6251 139.0868 150.4395 206.3053 139.0868 150.2929 205.9651 139.0868 150.2033 205.6146 139.0868 150.1731 202.8114 139.0868 150.1731 194.2894 139.0868 152.3099 194.4081 139.0868 152.4795 194.4653 139.0868 152.5195 195.0411 139.0868 152.3099 194.3588 139.0868 152.4302 194.5285 139.0868 152.549 194.5958 139.0868 152.567 194.6653 139.0868 152.5731 194.7347 139.0868 152.567 194.8021 139.0868 152.549 194.8653 139.0868 152.5195 194.9224 139.0868 152.4795 194.9717 139.0868 152.4302 195.0117 139.0868 152.3731 194.3188 139.0868 152.3731 194.2713 139.0868 152.1036 194.3188 139.0868 151.9731 194.2894 139.0868 152.0363 194.4081 139.0868 151.8667 194.3588 139.0868 151.916 194.5285 139.0868 151.7972 194.4653 139.0868 151.8267 194.5958 139.0868 151.7792 194.6653 139.0868 151.7731 194.7114 139.0868 151.7758 194.7347 139.0868 151.7792 194.8021 139.0868 151.7972 228.076 126.7422 144.6434 228.0992 126.7304 144.7732 228.1012 126.5868 144.7728 228.2987 126.6283 145.8907 228.3764 126.5868 146.3982 227.7434 126.9032 143.1231 227.7572 126.5868 143.1867 227.7434 126.5868 143.1231 227.6121 126.9546 142.7112 227.6011 126.5868 142.6839 227.5993 126.958 142.6848 227.4244 127.0046 142.3247 227.3931 126.5868 142.2717 227.3923 127.0115 142.2722 227.3439 127.0219 142.1933 227.1243 126.5868 141.8964 227.1243 127.0618 141.8964 226.5506 127.1492 141.2131 226.4541 126.5868 141.0981 225.9772 127.2401 140.5301 225.9772 126.5868 140.5301 225.8657 127.2593 140.4169 225.8539 126.5868 140.4069 225.8533 127.2609 140.4078 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171.9696 126.5868 140.2334 171.9829 127.2914 140.2286 171.8116 126.5868 140.307 171.8379 127.2806 140.2924 171.97 127.2904 140.2343 171.6914 127.2642 140.3886 171.7065 127.2662 140.3769 171.8126 127.2778 140.3086 171.6701 127.2608 140.4083 171.6689 126.5868 140.4069 171.5761 127.246 140.4954 171.5456 126.5868 140.5301 171.5456 127.2401 140.5301 170.9722 127.1492 141.2131 171.0687 126.5868 141.0981 170.3985 127.0618 141.8964 170.3985 126.5868 141.8964 170.145 127.0149 142.2466 170.1297 126.5868 142.2717 170.1314 127.0115 142.2726 169.9457 126.9653 142.6273 169.9217 126.5868 142.6839 169.9226 126.958 142.6843 169.8876 126.9471 142.7704 169.7794 126.5868 143.1231 169.7794 126.9032 143.1231 169.4467 126.7422 144.6434 169.4215 126.5868 144.7728 169.1464 126.5868 146.3982 169.224 126.6283 145.8907 169.4236 126.7304 144.7732 224.2646 126.5868 141.0981 193.0211 126.5868 149.4779 193.1396 126.5868 149.4226 192.026 126.5868 142.6429 191.2646 126.5868 141.0981 192.0599 126.5868 142.5166 192.1151 126.5868 142.3981 192.5081 126.5868 149.4779 192.3896 126.5868 149.4226 192.2825 126.5868 149.3476 192.6344 126.5868 149.5117 192.7646 126.5868 149.5231 192.8948 126.5868 149.5117 192.0599 126.5868 149.0296 192.1151 126.5868 149.1481 192.1901 126.5868 149.2552 193.2467 126.5868 149.3476 193.3392 126.5868 149.2552 193.4141 126.5868 149.1481 193.3392 126.5868 142.291 193.2467 126.5868 142.1986 198.7646 126.5868 141.0981 193.1396 126.5868 142.1236 193.0211 126.5868 142.0683 192.8948 126.5868 142.0345 192.7646 126.5868 142.0231 193.4141 126.5868 142.3981 198.7614 126.5868 142.1231 193.4694 126.5868 142.5166 198.0581 126.5868 142.1846 193.5032 126.5868 142.6429 197.3762 126.5868 142.3673 196.7364 126.5868 142.6657 192.0146 126.5868 142.7731 192.0146 126.5868 148.7731 192.026 126.5868 148.9033 195.254 126.5868 144.1481 193.5146 126.5868 142.7731 195.6589 126.5868 143.5698 196.1581 126.5868 143.0706 194.9556 126.5868 144.7879 194.7729 126.5868 145.4698 193.5146 126.5868 148.7731 194.7114 126.5868 146.1731 193.5032 126.5868 148.9033 193.4694 126.5868 149.0296 192.6344 126.5868 142.0345 192.5081 126.5868 142.0683 192.3896 126.5868 142.1236 192.2825 126.5868 142.1986 192.1901 126.5868 142.291 207.2825 126.5868 149.3476 207.3896 126.5868 149.4226 207.5081 126.5868 149.4779 205.2467 126.5868 149.3476 207.0146 126.5868 148.7731 205.1396 126.5868 149.4226 205.0211 126.5868 149.4779 204.6344 126.5868 149.5117 204.7646 126.5868 149.5231 204.8948 126.5868 149.5117 205.3392 126.5868 149.2552 205.4141 126.5868 149.1481 205.4694 126.5868 149.0296 207.6344 126.5868 149.5117 207.7646 126.5868 149.5231 207.8948 126.5868 149.5117 207.026 126.5868 148.9033 207.0599 126.5868 149.0296 207.1151 126.5868 149.1481 207.1901 126.5868 149.2552 208.0211 126.5868 149.4779 208.1396 126.5868 149.4226 208.2467 126.5868 149.3476 207.1151 126.5868 142.3981 207.0599 126.5868 142.5166 205.4694 126.5868 142.5166 207.026 126.5868 142.6429 208.3392 126.5868 149.2552 208.4141 126.5868 149.1481 208.4694 126.5868 149.0296 205.3392 126.5868 142.291 209.2646 126.5868 141.0981 205.4141 126.5868 142.3981 204.0599 126.5868 149.0296 204.1151 126.5868 149.1481 204.1901 126.5868 149.2552 204.2825 126.5868 149.3476 204.5081 126.5868 142.0683 204.3896 126.5868 142.1236 204.2825 126.5868 142.1986 204.1901 126.5868 142.291 200.1466 126.5868 142.3673 199.4647 126.5868 142.1846 198.7646 126.5868 142.1234 204.3896 126.5868 149.4226 204.5081 126.5868 149.4779 205.2467 126.5868 142.1986 205.1396 126.5868 142.1236 205.0211 126.5868 142.0683 204.8948 126.5868 142.0345 204.7646 126.5868 142.0231 204.6344 126.5868 142.0345 202.7499 126.5868 145.4698 204.0146 126.5868 142.7731 202.8114 126.5868 146.1731 204.0146 126.5868 148.7731 204.026 126.5868 148.9033 204.1151 126.5868 142.3981 204.0599 126.5868 142.5166 200.7864 126.5868 142.6657 208.5032 126.5868 142.6429 208.4694 126.5868 142.5166 208.4141 126.5868 142.3981 208.3392 126.5868 142.291 207.3896 126.5868 142.1236 207.2825 126.5868 142.1986 207.1901 126.5868 142.291 202.5671 126.5868 144.7879 202.2688 126.5868 144.1481 204.026 126.5868 142.6429 201.8639 126.5868 143.5698 201.3647 126.5868 143.0706 208.2467 126.5868 142.1986 208.1396 126.5868 142.1236 208.0211 126.5868 142.0683 207.5081 126.5868 142.0683 207.6344 126.5868 142.0345 208.5032 126.5868 148.9033 208.5146 126.5868 148.7731 208.5146 126.5868 142.7731 207.8948 126.5868 142.0345 207.7646 126.5868 142.0231 205.5032 126.5868 148.9033 205.5146 126.5868 148.7731 207.0146 126.5868 142.7731 205.5146 126.5868 142.7731 205.5032 126.5868 142.6429 228.4478 126.5868 146.8931 228.4508 126.5868 146.9156 228.5168 126.5868 147.4202 228.5267 126.5868 147.4956 228.8722 126.5868 150.5591 228.8436 126.5868 150.2671 228.8093 126.5868 149.9167 228.9102 126.5868 150.9475 228.9275 126.5868 151.1911 228.952 126.5868 151.5354 228.9714 126.5868 151.8071 228.9867 126.5868 152.023 228.6026 126.5868 148.0756 228.6786 126.5868 148.656 228.6849 126.5868 148.7039 228.7074 126.5868 148.8763 228.7464 126.5868 149.2746 225.8949 126.5868 149.5117 225.7646 126.5868 149.5231 225.6344 126.5868 149.5117 225.1151 126.5868 142.3981 225.0599 126.5868 142.5166 225.026 126.5868 142.6429 226.0211 126.5868 149.4779 226.1396 126.5868 149.4226 226.2467 126.5868 149.3476 226.5146 126.5868 142.7731 226.5032 126.5868 142.6429 225.5081 126.5868 142.0683 225.3896 126.5868 142.1236 226.3392 126.5868 149.2552 226.4141 126.5868 149.1481 226.4694 126.5868 149.0296 226.4694 126.5868 142.5166 225.2825 126.5868 142.1986 225.1901 126.5868 142.291 225.0599 126.5868 149.0296 225.1151 126.5868 149.1481 225.1901 126.5868 149.2552 225.2825 126.5868 149.3476 225.3896 126.5868 149.4226 225.5081 126.5868 149.4779 226.1396 126.5868 142.1236 226.0211 126.5868 142.0683 225.0146 126.5868 142.7731 225.0146 126.5868 148.7731 225.026 126.5868 148.9033 226.4141 126.5868 142.3981 226.3392 126.5868 142.291 226.2467 126.5868 142.1986 225.8949 126.5868 142.0345 225.7646 126.5868 142.0231 225.6344 126.5868 142.0345 226.5032 126.5868 148.9033 226.5146 126.5868 148.7731 173.2646 126.5868 141.0981 172.5032 126.5868 142.6429 172.4694 126.5868 142.5166 172.4141 126.5868 149.1481 172.4694 126.5868 149.0296 171.8949 126.5868 149.5117 172.0211 126.5868 149.4779 172.1396 126.5868 149.4226 172.2467 126.5868 149.3476 172.3392 126.5868 149.2552 171.5081 126.5868 142.0683 171.6344 126.5868 142.0345 171.7646 126.5868 142.0231 171.2825 126.5868 149.3476 171.3896 126.5868 149.4226 171.8949 126.5868 142.0345 171.5081 126.5868 149.4779 171.6344 126.5868 149.5117 171.7646 126.5868 149.5231 172.4141 126.5868 142.3981 172.3392 126.5868 142.291 172.2467 126.5868 142.1986 172.1396 126.5868 142.1236 172.0211 126.5868 142.0683 171.1151 126.5868 142.3981 171.0599 126.5868 142.5166 171.026 126.5868 142.6429 171.0146 126.5868 142.7731 171.0599 126.5868 149.0296 168.7273 126.5868 149.6808 171.026 126.5868 148.9033 168.7751 126.5868 149.2837 171.0146 126.5868 148.7731 171.1151 126.5868 149.1481 168.678 126.5868 150.2669 168.7084 126.5868 149.9048 172.5032 126.5868 148.9033 172.5146 126.5868 148.7731 172.5146 126.5868 142.7731 171.3896 126.5868 142.1236 171.2825 126.5868 142.1986 171.1901 126.5868 142.291 171.1901 126.5868 149.2552 168.6002 126.5868 151.1946 168.6543 126.5868 150.5494 169.0016 126.5868 147.4197 169.0708 126.5868 146.9317 168.55 126.5868 151.808 168.5599 126.5868 151.674 168.5715 126.5868 151.5354 168.8448 126.5868 148.7046 168.8484 126.5868 148.6749 168.9217 126.5868 148.0663 168.9883 126.5868 147.5135 168.9952 126.5868 147.4649 174.0599 126.5868 149.0296 174.1151 126.5868 149.1481 174.1901 126.5868 149.2552 174.2825 126.5868 149.3476 174.3896 126.5868 149.4226 174.1901 126.5868 142.291 174.1151 126.5868 142.3981 174.0599 126.5868 142.5166 174.026 126.5868 142.6429 174.5081 126.5868 149.4779 174.6344 126.5868 149.5117 174.7646 126.5868 149.5231 174.8948 126.5868 149.5117 175.0211 126.5868 149.4779 175.1396 126.5868 149.4226 175.2467 126.5868 149.3476 174.6344 126.5868 142.0345 174.5081 126.5868 142.0683 174.0146 126.5868 142.7731 174.0146 126.5868 148.7731 174.026 126.5868 148.9033 174.3896 126.5868 142.1236 174.2825 126.5868 142.1986 175.3392 126.5868 149.2552 175.4141 126.5868 149.1481 175.4694 126.5868 149.0296 175.5032 126.5868 142.6429 175.4694 126.5868 142.5166 176.2646 126.5868 141.0981 175.4141 126.5868 142.3981 175.3392 126.5868 142.291 175.2467 126.5868 142.1986 175.1396 126.5868 142.1236 175.0211 126.5868 142.0683 174.8948 126.5868 142.0345 174.7646 126.5868 142.0231 175.5032 126.5868 148.9033 175.5146 126.5868 148.7731 175.5146 126.5868 142.7731 177.0599 126.5868 149.0296 177.1151 126.5868 149.1481 177.1901 126.5868 149.2552 177.2825 126.5868 149.3476 177.3896 126.5868 149.4226 177.1901 126.5868 142.291 177.1151 126.5868 142.3981 177.0599 126.5868 142.5166 177.026 126.5868 142.6429 177.5081 126.5868 149.4779 177.6344 126.5868 149.5117 177.7646 126.5868 149.5231 177.8948 126.5868 149.5117 178.0211 126.5868 149.4779 178.1396 126.5868 149.4226 178.2467 126.5868 149.3476 177.6344 126.5868 142.0345 177.5081 126.5868 142.0683 177.0146 126.5868 142.7731 177.0146 126.5868 148.7731 177.026 126.5868 148.9033 177.3896 126.5868 142.1236 177.2825 126.5868 142.1986 178.3392 126.5868 149.2552 178.4141 126.5868 149.1481 178.4694 126.5868 149.0296 178.5032 126.5868 142.6429 178.4694 126.5868 142.5166 179.2646 126.5868 141.0981 178.4141 126.5868 142.3981 178.3392 126.5868 142.291 178.2467 126.5868 142.1986 178.1396 126.5868 142.1236 178.0211 126.5868 142.0683 177.8948 126.5868 142.0345 177.7646 126.5868 142.0231 178.5032 126.5868 148.9033 178.5146 126.5868 148.7731 178.5146 126.5868 142.7731 180.0599 126.5868 149.0296 180.1151 126.5868 149.1481 180.1901 126.5868 149.2552 180.2825 126.5868 149.3476 180.3896 126.5868 149.4226 180.1901 126.5868 142.291 180.1151 126.5868 142.3981 180.0599 126.5868 142.5166 180.026 126.5868 142.6429 180.5081 126.5868 149.4779 180.6344 126.5868 149.5117 180.7646 126.5868 149.5231 180.8949 126.5868 149.5117 181.0211 126.5868 149.4779 181.1396 126.5868 149.4226 181.2467 126.5868 149.3476 180.6344 126.5868 142.0345 180.5081 126.5868 142.0683 180.0146 126.5868 142.7731 180.0146 126.5868 148.7731 180.026 126.5868 148.9033 180.3896 126.5868 142.1236 180.2825 126.5868 142.1986 181.3392 126.5868 149.2552 181.4141 126.5868 149.1481 181.4694 126.5868 149.0296 181.5032 126.5868 142.6429 181.4694 126.5868 142.5166 182.2646 126.5868 141.0981 181.4141 126.5868 142.3981 181.3392 126.5868 142.291 181.2467 126.5868 142.1986 181.1396 126.5868 142.1236 181.0211 126.5868 142.0683 180.8949 126.5868 142.0345 180.7646 126.5868 142.0231 181.5032 126.5868 148.9033 181.5146 126.5868 148.7731 181.5146 126.5868 142.7731 184.4141 126.5868 149.1481 184.4694 126.5868 149.0296 183.3896 126.5868 149.4226 183.5081 126.5868 149.4779 184.0211 126.5868 149.4779 184.1396 126.5868 149.4226 184.5032 126.5868 142.6429 184.4694 126.5868 142.5166 185.2646 126.5868 141.0981 183.0599 126.5868 149.0296 183.1151 126.5868 149.1481 183.6344 126.5868 149.5117 183.7646 126.5868 149.5231 183.8948 126.5868 149.5117 184.2467 126.5868 149.3476 184.3392 126.5868 149.2552 183.1151 126.5868 142.3981 183.0599 126.5868 142.5166 183.026 126.5868 142.6429 183.1901 126.5868 149.2552 183.2825 126.5868 149.3476 183.7646 126.5868 142.0231 183.8948 126.5868 142.0345 183.6344 126.5868 142.0345 183.5081 126.5868 142.0683 183.3896 126.5868 142.1236 183.0146 126.5868 142.7731 183.0146 126.5868 148.7731 183.026 126.5868 148.9033 184.5032 126.5868 148.9033 184.5146 126.5868 148.7731 184.5146 126.5868 142.7731 184.4141 126.5868 142.3981 184.3392 126.5868 142.291 184.2467 126.5868 142.1986 184.1396 126.5868 142.1236 184.0211 126.5868 142.0683 183.2825 126.5868 142.1986 183.1901 126.5868 142.291 187.4141 126.5868 149.1481 187.4694 126.5868 149.0296 186.3896 126.5868 149.4226 186.5081 126.5868 149.4779 187.0211 126.5868 149.4779 187.1396 126.5868 149.4226 187.5032 126.5868 142.6429 187.4694 126.5868 142.5166 188.2646 126.5868 141.0981 186.0599 126.5868 149.0296 186.1151 126.5868 149.1481 186.6344 126.5868 149.5117 186.7646 126.5868 149.5231 186.8948 126.5868 149.5117 187.2467 126.5868 149.3476 187.3392 126.5868 149.2552 186.8948 126.5868 142.0345 186.7646 126.5868 142.0231 186.1151 126.5868 142.3981 186.0599 126.5868 142.5166 186.026 126.5868 142.6429 186.1901 126.5868 149.2552 186.2825 126.5868 149.3476 186.6344 126.5868 142.0345 186.5081 126.5868 142.0683 186.3896 126.5868 142.1236 186.0146 126.5868 142.7731 186.0146 126.5868 148.7731 186.026 126.5868 148.9033 187.5032 126.5868 148.9033 187.5146 126.5868 148.7731 187.5146 126.5868 142.7731 187.4141 126.5868 142.3981 187.3392 126.5868 142.291 187.2467 126.5868 142.1986 187.1396 126.5868 142.1236 187.0211 126.5868 142.0683 186.2825 126.5868 142.1986 186.1901 126.5868 142.291 189.1901 126.5868 142.291 189.1151 126.5868 142.3981 189.0599 126.5868 142.5166 189.026 126.5868 142.6429 189.2825 126.5868 149.3476 189.3896 126.5868 149.4226 189.8948 126.5868 149.5117 190.0211 126.5868 149.4779 190.1396 126.5868 149.4226 190.2467 126.5868 149.3476 189.6344 126.5868 142.0345 189.5081 126.5868 142.0683 189.0599 126.5868 149.0296 189.1151 126.5868 149.1481 189.1901 126.5868 149.2552 189.5081 126.5868 149.4779 189.6344 126.5868 149.5117 189.7646 126.5868 149.5231 189.3896 126.5868 142.1236 189.2825 126.5868 142.1986 190.3392 126.5868 149.2552 190.4141 126.5868 149.1481 190.4694 126.5868 149.0296 190.5032 126.5868 142.6429 190.4694 126.5868 142.5166 190.4141 126.5868 142.3981 190.3392 126.5868 142.291 190.2467 126.5868 142.1986 190.1396 126.5868 142.1236 190.0211 126.5868 142.0683 189.8948 126.5868 142.0345 189.7646 126.5868 142.0231 189.0146 126.5868 142.7731 189.0146 126.5868 148.7731 189.026 126.5868 148.9033 190.5032 126.5868 148.9033 190.5146 126.5868 148.7731 190.5146 126.5868 142.7731 210.2825 126.5868 149.3476 210.3896 126.5868 149.4226 210.5081 126.5868 149.4779 210.6344 126.5868 149.5117 210.7646 126.5868 149.5231 210.8948 126.5868 149.5117 211.0211 126.5868 149.4779 211.1396 126.5868 149.4226 211.2467 126.5868 149.3476 211.3392 126.5868 149.2552 211.4141 126.5868 149.1481 211.4694 126.5868 149.0296 210.1151 126.5868 142.3981 210.0599 126.5868 142.5166 210.026 126.5868 142.6429 210.0599 126.5868 149.0296 210.1151 126.5868 149.1481 210.1901 126.5868 149.2552 210.5081 126.5868 142.0683 210.3896 126.5868 142.1236 211.5032 126.5868 142.6429 211.4694 126.5868 142.5166 212.2646 126.5868 141.0981 211.4141 126.5868 142.3981 211.3392 126.5868 142.291 210.2825 126.5868 142.1986 210.1901 126.5868 142.291 211.2467 126.5868 142.1986 211.1396 126.5868 142.1236 211.0211 126.5868 142.0683 210.0146 126.5868 142.7731 210.0146 126.5868 148.7731 210.026 126.5868 148.9033 211.5032 126.5868 148.9033 211.5146 126.5868 148.7731 211.5146 126.5868 142.7731 210.8948 126.5868 142.0345 210.7646 126.5868 142.0231 210.6344 126.5868 142.0345 213.8949 126.5868 149.5117 214.0211 126.5868 149.4779 214.1396 126.5868 149.4226 214.2467 126.5868 149.3476 214.5032 126.5868 142.6429 214.4694 126.5868 142.5166 215.2646 126.5868 141.0981 214.4141 126.5868 142.3981 214.3392 126.5868 142.291 214.3392 126.5868 149.2552 214.4141 126.5868 149.1481 214.4694 126.5868 149.0296 213.5081 126.5868 142.0683 213.3896 126.5868 142.1236 213.2825 126.5868 142.1986 213.1901 126.5868 142.291 213.1151 126.5868 142.3981 213.0599 126.5868 142.5166 213.026 126.5868 142.6429 213.2825 126.5868 149.3476 213.3896 126.5868 149.4226 213.5081 126.5868 149.4779 213.6344 126.5868 149.5117 213.7646 126.5868 149.5231 213.0599 126.5868 149.0296 213.1151 126.5868 149.1481 213.1901 126.5868 149.2552 214.5032 126.5868 148.9033 214.5146 126.5868 148.7731 214.5146 126.5868 142.7731 214.2467 126.5868 142.1986 214.1396 126.5868 142.1236 214.0211 126.5868 142.0683 213.0146 126.5868 142.7731 213.0146 126.5868 148.7731 213.026 126.5868 148.9033 213.8949 126.5868 142.0345 213.7646 126.5868 142.0231 213.6344 126.5868 142.0345 216.1151 126.5868 142.3981 216.0599 126.5868 142.5166 216.026 126.5868 142.6429 216.8949 126.5868 149.5117 217.0211 126.5868 149.4779 217.1396 126.5868 149.4226 217.2467 126.5868 149.3476 216.5081 126.5868 142.0683 216.3896 126.5868 142.1236 217.3392 126.5868 149.2552 217.4141 126.5868 149.1481 217.4694 126.5868 149.0296 217.5032 126.5868 142.6429 217.4694 126.5868 142.5166 218.2646 126.5868 141.0981 217.4141 126.5868 142.3981 217.3392 126.5868 142.291 216.2825 126.5868 142.1986 216.1901 126.5868 142.291 216.0599 126.5868 149.0296 216.1151 126.5868 149.1481 216.1901 126.5868 149.2552 216.2825 126.5868 149.3476 216.6344 126.5868 149.5117 216.7646 126.5868 149.5231 216.3896 126.5868 149.4226 216.5081 126.5868 149.4779 217.5032 126.5868 148.9033 217.5146 126.5868 148.7731 217.5146 126.5868 142.7731 216.0146 126.5868 142.7731 216.0146 126.5868 148.7731 216.026 126.5868 148.9033 217.2467 126.5868 142.1986 217.1396 126.5868 142.1236 217.0211 126.5868 142.0683 216.8949 126.5868 142.0345 216.7646 126.5868 142.0231 216.6344 126.5868 142.0345 219.1151 126.5868 142.3981 219.0599 126.5868 142.5166 219.026 126.5868 142.6429 219.8948 126.5868 149.5117 220.0211 126.5868 149.4779 220.1396 126.5868 149.4226 220.2467 126.5868 149.3476 219.5081 126.5868 142.0683 219.3896 126.5868 142.1236 220.3392 126.5868 149.2552 220.4141 126.5868 149.1481 220.4694 126.5868 149.0296 220.5032 126.5868 142.6429 220.4694 126.5868 142.5166 221.2646 126.5868 141.0981 220.4141 126.5868 142.3981 220.3392 126.5868 142.291 219.2825 126.5868 142.1986 219.1901 126.5868 142.291 219.0599 126.5868 149.0296 219.1151 126.5868 149.1481 219.1901 126.5868 149.2552 219.2825 126.5868 149.3476 219.6344 126.5868 149.5117 219.7646 126.5868 149.5231 219.3896 126.5868 149.4226 219.5081 126.5868 149.4779 220.5032 126.5868 148.9033 220.5146 126.5868 148.7731 220.5146 126.5868 142.7731 219.0146 126.5868 142.7731 219.0146 126.5868 148.7731 219.026 126.5868 148.9033 220.2467 126.5868 142.1986 220.1396 126.5868 142.1236 220.0211 126.5868 142.0683 219.8948 126.5868 142.0345 219.7646 126.5868 142.0231 219.6344 126.5868 142.0345 222.1151 126.5868 142.3981 222.0599 126.5868 142.5166 222.026 126.5868 142.6429 222.8948 126.5868 149.5117 223.0211 126.5868 149.4779 223.1396 126.5868 149.4226 223.2467 126.5868 149.3476 222.5081 126.5868 142.0683 222.3896 126.5868 142.1236 223.3392 126.5868 149.2552 223.4141 126.5868 149.1481 223.4694 126.5868 149.0296 223.5032 126.5868 142.6429 223.4694 126.5868 142.5166 223.4141 126.5868 142.3981 223.3392 126.5868 142.291 222.2825 126.5868 142.1986 222.1901 126.5868 142.291 222.0599 126.5868 149.0296 222.1151 126.5868 149.1481 222.1901 126.5868 149.2552 222.2825 126.5868 149.3476 222.6344 126.5868 149.5117 222.7646 126.5868 149.5231 222.3896 126.5868 149.4226 222.5081 126.5868 149.4779 223.5032 126.5868 148.9033 223.5146 126.5868 148.7731 223.5146 126.5868 142.7731 222.0146 126.5868 142.7731 222.0146 126.5868 148.7731 222.026 126.5868 148.9033 223.2467 126.5868 142.1986 223.1396 126.5868 142.1236 223.0211 126.5868 142.0683 222.8948 126.5868 142.0345 222.7646 126.5868 142.0231 222.6344 126.5868 142.0345 169.0519 126.8647 145.883 169.2756 126.978 144.6327 169.3109 126.9628 144.6382 168.619 126.6102 150.265 168.713 126.6743 148.6982 168.7492 126.6594 148.7004 168.8125 126.6134 148.7032 168.6553 126.5952 150.2659 168.5508 126.5905 151.535 168.5808 126.6193 150.2637 168.9645 126.6591 147.4202 168.9851 126.6257 147.4204 169.0002 126.5896 147.4197 169.2205 126.667 145.8934 169.2111 126.7049 145.8951 168.6749 126.6835 148.6956 168.7826 126.6389 148.702 168.9391 126.6888 147.4192 168.9093 126.7143 147.4174 168.876 126.7347 147.4149 168.84 126.7498 147.4117 168.8021 126.759 147.4079 169.0144 126.874 145.8778 169.1959 126.7408 145.8957 169.1755 126.774 145.8952 169.1501 126.8037 145.8936 169.1206 126.8291 145.891 169.0876 126.8496 145.8874 169.443 126.7808 144.6465 169.3436 126.9423 144.6427 169.3729 126.9169 144.6459 169.398 126.8873 144.648 169.4184 126.8543 144.6488 169.4335 126.8184 144.6483 169.2384 126.9875 144.6264 169.5731 127.1478 143.101 169.5772 127.1467 143.1019 169.6097 127.1381 143.1087 169.6446 127.1228 143.1154 169.6768 127.1022 143.1209 169.7057 127.0769 143.125 169.7306 127.0474 143.1276 169.7508 127.0145 143.1288 169.7755 126.9415 143.1265 169.7744 126.9457 143.1267 169.7659 126.9789 143.1284 169.8006 127.134 142.7596 169.7676 127.1591 142.7501 169.7313 127.178 142.7386 169.6927 127.1902 142.7256 169.8826 126.9892 142.7735 169.871 127.0301 142.7739 169.8531 127.0686 142.7716 169.8294 127.1036 142.7668 169.9405 127.0072 142.63 169.929 127.048 142.6298 169.9114 127.0863 142.6267 169.8882 127.1212 142.6207 169.86 127.1517 142.612 169.8277 127.1767 142.6009 169.7923 127.1958 142.5877 169.7546 127.2081 142.5728 170.1398 127.0563 142.2485 169.9676 127.257 142.1664 170.0022 127.2442 142.1862 170.0348 127.2249 142.2041 170.0645 127.1997 142.2194 170.0906 127.1694 142.2318 170.1122 127.1347 142.2409 170.1287 127.0967 142.2465 170.3933 127.1029 141.8972 170.3831 127.1428 141.8936 170.3679 127.1805 141.8856 170.3484 127.215 141.8736 170.3251 127.2453 141.8577 170.2984 127.2705 141.8385 170.2693 127.29 141.8165 170.2385 127.3033 141.7923 170.8124 127.3903 141.1104 170.9669 127.1902 141.214 170.9566 127.23 141.2106 170.9415 127.2676 141.2028 170.922 127.3019 141.1909 170.8987 127.3322 141.1753 170.8721 127.3574 141.1563 170.8431 127.377 141.1344 171.5403 127.2809 140.5312 171.5299 127.3206 140.5278 171.5148 127.3581 140.5202 171.4954 127.3924 140.5085 171.4721 127.4225 140.4931 171.4456 127.4478 140.4743 171.4166 127.4674 140.4526 171.386 127.4809 140.4287 172.0005 127.3323 140.2193 171.7018 127.3064 140.3763 171.5709 127.2867 140.4961 171.5609 127.3262 140.4923 171.5463 127.3636 140.4839 171.5276 127.3979 140.4713 171.5052 127.428 140.4548 171.4799 127.4533 140.4349 171.4521 127.473 140.412 171.4228 127.4866 140.3868 171.6867 127.3045 140.3881 171.678 127.3437 140.3825 171.6656 127.3809 140.3719 171.6498 127.4149 140.3565 171.631 127.445 140.3368 171.6097 127.4704 140.3133 171.5865 127.4903 140.2867 171.5619 127.5042 140.2575 171.6934 127.3456 140.3704 171.6812 127.3827 140.3596 171.6658 127.4168 140.3439 171.6475 127.4469 140.3239 171.6267 127.4722 140.3 171.6041 127.4922 140.2729 171.5802 127.5061 140.2434 171.8341 127.3206 140.2907 171.8273 127.3595 140.2835 171.8178 127.3964 140.2707 171.8057 127.4303 140.2529 171.7914 127.4603 140.2303 171.7752 127.4857 140.2037 171.7576 127.5058 140.1737 171.739 127.5201 140.1411 171.9802 127.3311 140.2262 171.9755 127.3699 140.2178 171.9688 127.4066 140.2036 171.9605 127.4404 140.1841 171.9506 127.4704 140.1597 171.9394 127.4959 140.131 171.9272 127.5161 140.0988 171.9144 127.5306 140.0639 171.9961 127.371 140.2108 171.9898 127.4077 140.1965 171.982 127.4415 140.1768 171.9727 127.4715 140.1522 171.9622 127.4969 140.1233 171.9508 127.5172 140.0908 171.9388 127.5317 140.0557 172.1529 127.3381 140.1826 172.1217 127.5375 140.0117 172.1278 127.5229 140.0482 172.1335 127.5026 140.0819 172.1389 127.4771 140.1119 172.1436 127.4471 140.1376 172.1475 127.4134 140.1583 172.1507 127.3768 140.1734 172.3115 127.3399 140.1699 172.3116 127.3785 140.1606 172.3117 127.4151 140.1452 172.3118 127.4488 140.1242 172.3119 127.4788 140.0981 172.3119 127.5042 140.0677 172.312 127.5246 140.0335 172.312 127.5392 139.9966 225.2108 127.5392 139.9966 219.5051 127.3297 140.1699 185.4776 127.5251 139.9959 208.0925 127.519 139.9958 208.0925 127.5044 140.0328 185.4775 127.5106 140.0329 185.4775 127.4903 140.0672 185.4775 127.4648 140.0978 185.4774 127.4348 140.124 185.4774 127.401 140.145 185.4773 127.3643 140.1605 185.4773 127.3257 140.1699 208.0926 127.4841 140.0671 208.0926 127.4587 140.0977 208.0926 127.4287 140.1239 208.0927 127.3949 140.145 208.0927 127.3582 140.1605 208.0928 127.3195 140.1699 219.505 127.5291 139.9963 219.505 127.5145 140.0333 219.505 127.4942 140.0675 219.5051 127.4687 140.098 219.5051 127.4387 140.1241 219.5051 127.405 140.1451 219.5051 127.3683 140.1605 225.2112 127.3399 140.1699 225.2111 127.3785 140.1606 225.211 127.4151 140.1452 225.211 127.4488 140.1242 225.2109 127.4788 140.0981 225.2109 127.5042 140.0677 225.2108 127.5246 140.0335 225.744 127.3152 140.323 225.4337 127.3362 140.1949 225.255 127.3398 140.1709 225.2555 127.3784 140.1615 225.2563 127.415 140.1462 225.2574 127.4487 140.1252 225.2586 127.4787 140.0992 225.2601 127.5042 140.0687 225.2616 127.5245 140.0346 225.2633 127.5392 139.9978 225.4108 127.337 140.19 225.4136 127.3756 140.1809 225.4176 127.4123 140.166 225.4226 127.446 140.1455 225.4285 127.476 140.1201 225.4352 127.5015 140.0902 225.4425 127.5217 140.0568 225.4502 127.5363 140.0206 225.4369 127.3748 140.186 225.4414 127.4115 140.1711 225.447 127.4453 140.1508 225.4536 127.4753 140.1255 225.4611 127.5007 140.0958 225.4692 127.521 140.0625 225.4778 127.5356 140.0265 225.5835 127.3286 140.2415 225.5888 127.3674 140.2334 225.5963 127.4042 140.2196 225.6057 127.438 140.2004 225.6168 127.4681 140.1765 225.6294 127.4935 140.1483 225.643 127.5137 140.1166 225.6575 127.5281 140.0822 225.7263 127.317 140.3121 225.7335 127.356 140.3052 225.7438 127.393 140.2929 225.7569 127.4269 140.2756 225.7723 127.457 140.2537 225.7898 127.4824 140.2278 225.8088 127.5024 140.1985 225.8289 127.5166 140.1666 225.7515 127.3543 140.3162 225.7622 127.3913 140.3042 225.7756 127.4252 140.2872 225.7916 127.4553 140.2656 225.8097 127.4806 140.24 225.8294 127.5007 140.2111 225.8502 127.5148 140.1796 225.8706 127.2997 140.4168 226.0023 127.4995 140.2919 225.9763 127.4857 140.32 225.9518 127.4658 140.3456 225.9293 127.4405 140.3682 225.9094 127.4104 140.387 225.8927 127.3763 140.4016 225.8797 127.3391 140.4116 225.9825 127.2809 140.5312 225.9928 127.3206 140.5278 226.0079 127.3581 140.5202 226.0274 127.3924 140.5085 226.0507 127.4225 140.4931 226.0772 127.4478 140.4743 226.1061 127.4674 140.4526 226.1368 127.4809 140.4287 227.2843 127.3033 141.7923 226.5558 127.1902 141.214 226.5662 127.23 141.2106 226.5813 127.2676 141.2028 226.6007 127.3019 141.1909 226.6241 127.3322 141.1753 226.6506 127.3574 141.1563 226.6797 127.377 141.1344 226.7104 127.3903 141.1104 227.1295 127.1029 141.8972 227.1397 127.1428 141.8936 227.1548 127.1805 141.8856 227.1743 127.215 141.8736 227.1977 127.2453 141.8577 227.2243 127.2705 141.8385 227.2534 127.29 141.8165 227.3491 127.0634 142.1949 227.3601 127.1036 142.1928 227.3765 127.1416 142.1868 227.3978 127.1763 142.1772 227.4235 127.2066 142.1643 227.4528 127.2318 142.1484 227.485 127.2511 142.1299 227.519 127.264 142.1094 227.4296 127.0461 142.3267 227.4408 127.0866 142.3251 227.4576 127.1247 142.32 227.4796 127.1594 142.3115 227.5061 127.1897 142.2999 227.5365 127.2149 142.2854 227.5697 127.2341 142.2686 227.605 127.2469 142.2497 227.8055 127.1976 142.6623 227.7673 127.1853 142.6762 227.7313 127.1664 142.6883 227.6986 127.1413 142.6985 227.6701 127.1109 142.7063 227.6466 127.0759 142.7116 227.6288 127.0375 142.7142 227.6172 126.9966 142.7141 227.9497 127.1475 143.101 227.9455 127.147 143.1019 227.9051 127.1352 143.1103 227.8671 127.1165 143.1174 227.8326 127.0915 143.1229 227.8177 127.0763 143.1247 227.8027 127.061 143.1266 227.7781 127.0258 143.1286 227.7598 126.987 143.1286 227.7481 126.9457 143.1268 227.7476 126.9415 143.1264 228.2843 126.9875 144.6264 228.3117 126.7049 145.8951 228.0892 126.8184 144.6483 228.1044 126.8543 144.6488 228.5195 126.5923 147.4202 228.3268 126.7408 145.8957 228.7207 126.759 147.4079 228.942 126.6193 150.2637 228.5377 126.6257 147.4204 228.3023 126.667 145.8934 228.7103 126.6134 148.7032 228.9038 126.6102 150.265 228.8675 126.5952 150.2659 228.972 126.5905 151.535 228.7401 126.6389 148.702 228.7736 126.6594 148.7004 228.8098 126.6743 148.6982 228.8479 126.6835 148.6956 228.5583 126.6591 147.4202 228.5837 126.6888 147.4192 228.6135 126.7143 147.4174 228.6468 126.7347 147.4149 228.6828 126.7498 147.4117 228.3473 126.774 145.8952 228.3726 126.8037 145.8936 228.4021 126.8291 145.891 228.4351 126.8496 145.8874 228.4709 126.8647 145.883 228.5084 126.874 145.8778 228.1247 126.8873 144.648 228.1499 126.9169 144.6459 228.1791 126.9423 144.6427 228.2118 126.9628 144.6382 228.2472 126.978 144.6327 228.0797 126.7808 144.6465 225.0146 144.0868 148.7731 225.0146 144.0868 145.7731 225.0146 150.5868 145.7731 225.0146 150.5868 142.7731 226.5146 144.0868 148.7731 226.5032 144.0868 148.9033 226.4694 144.0868 149.0296 226.4141 144.0868 149.1481 226.3392 144.0868 149.2552 226.2467 144.0868 149.3476 226.1396 144.0868 149.4226 226.0211 144.0868 149.4779 225.8949 144.0868 149.5117 225.7646 144.0868 149.5231 225.6344 144.0868 149.5117 225.5081 144.0868 149.4779 225.3896 144.0868 149.4226 225.2825 144.0868 149.3476 225.1901 144.0868 149.2552 225.1151 144.0868 149.1481 225.0599 144.0868 149.0296 225.026 144.0868 148.9033 226.5146 150.5868 142.7731 226.5146 150.5868 145.7731 226.5146 144.0868 145.7731 225.026 150.5868 142.6429 225.0599 150.5868 142.5166 225.1151 150.5868 142.3981 225.1901 150.5868 142.291 225.2825 150.5868 142.1986 225.3896 150.5868 142.1236 225.5081 150.5868 142.0683 225.6344 150.5868 142.0345 225.7646 150.5868 142.0231 225.8949 150.5868 142.0345 226.0211 150.5868 142.0683 226.1396 150.5868 142.1236 226.2467 150.5868 142.1986 226.3392 150.5868 142.291 226.4141 150.5868 142.3981 226.4694 150.5868 142.5166 226.5032 150.5868 142.6429 226.5032 150.5868 145.6429 225.026 150.5868 145.6429 225.0599 150.5868 145.5166 225.1151 150.5868 145.3981 225.1901 150.5868 145.291 225.2825 150.5868 145.1986 225.3896 150.5868 145.1236 226.0211 150.5868 145.0683 226.1396 150.5868 145.1236 226.2467 150.5868 145.1986 226.3392 150.5868 145.291 225.7646 150.5868 145.0231 225.8949 150.5868 145.0345 226.4141 150.5868 145.3981 226.4694 150.5868 145.5166 225.6344 150.5868 145.0345 225.5081 150.5868 145.0683 225.026 144.0868 145.6429 225.0599 144.0868 145.5166 225.1151 144.0868 145.3981 225.1901 144.0868 145.291 225.2825 144.0868 145.1986 225.3896 144.0868 145.1236 225.5081 144.0868 145.0683 225.6344 144.0868 145.0345 225.7646 144.0868 145.0231 225.8949 144.0868 145.0345 226.0211 144.0868 145.0683 226.1396 144.0868 145.1236 226.2467 144.0868 145.1986 226.3392 144.0868 145.291 226.4141 144.0868 145.3981 226.4694 144.0868 145.5166 226.5032 144.0868 145.6429 222.0146 144.0868 148.7731 222.0146 144.0868 145.7731 222.0146 150.5868 145.7731 222.0146 150.5868 142.7731 223.5146 144.0868 148.7731 223.5032 144.0868 148.9033 223.4694 144.0868 149.0296 223.4141 144.0868 149.1481 223.3392 144.0868 149.2552 223.2467 144.0868 149.3476 223.1396 144.0868 149.4226 223.0211 144.0868 149.4779 222.8948 144.0868 149.5117 222.7646 144.0868 149.5231 222.6344 144.0868 149.5117 222.5081 144.0868 149.4779 222.3896 144.0868 149.4226 222.2825 144.0868 149.3476 222.1901 144.0868 149.2552 222.1151 144.0868 149.1481 222.0599 144.0868 149.0296 222.026 144.0868 148.9033 223.5146 150.5868 142.7731 223.5146 150.5868 145.7731 223.5146 144.0868 145.7731 223.2726 150.5868 142.2213 223.0659 150.5868 142.0863 222.8265 150.5868 142.0257 222.5805 150.5868 142.046 222.105 150.5868 142.4161 222.0249 150.5868 142.6497 222.0553 150.5868 142.5296 222.1728 150.5868 142.3124 222.2567 150.5868 142.2213 222.3544 150.5868 142.1452 222.4633 150.5868 142.0863 222.7027 150.5868 142.0257 222.9487 150.5868 142.046 223.1748 150.5868 142.1452 223.3565 150.5868 142.3124 223.4242 150.5868 142.4161 223.474 150.5868 142.5296 223.5044 150.5868 142.6497 223.5032 150.5868 145.6429 222.026 150.5868 145.6429 222.0599 150.5868 145.5166 222.1151 150.5868 145.3981 222.1901 150.5868 145.291 222.2825 150.5868 145.1986 222.3896 150.5868 145.1236 223.0211 150.5868 145.0683 223.1396 150.5868 145.1236 223.2467 150.5868 145.1986 223.3392 150.5868 145.291 222.6344 150.5868 145.0345 222.7646 150.5868 145.0231 223.4141 150.5868 145.3981 223.4694 150.5868 145.5166 222.8948 150.5868 145.0345 222.5081 150.5868 145.0683 168.0146 144.0868 148.7731 168.0146 144.0868 145.7731 168.0146 150.5868 145.7731 168.0146 150.5868 142.7731 169.5146 144.0868 148.7731 169.5032 144.0868 148.9033 169.4694 144.0868 149.0296 169.4141 144.0868 149.1481 169.3392 144.0868 149.2552 169.2467 144.0868 149.3476 169.1396 144.0868 149.4226 169.0211 144.0868 149.4779 168.8949 144.0868 149.5117 168.7646 144.0868 149.5231 168.6344 144.0868 149.5117 168.5081 144.0868 149.4779 168.3896 144.0868 149.4226 168.2825 144.0868 149.3476 168.1901 144.0868 149.2552 168.1151 144.0868 149.1481 168.0599 144.0868 149.0296 168.026 144.0868 148.9033 169.5146 150.5868 142.7731 169.5146 150.5868 145.7731 169.5146 144.0868 145.7731 168.026 150.5868 142.6429 168.0599 150.5868 142.5166 168.1151 150.5868 142.3981 168.1901 150.5868 142.291 168.2825 150.5868 142.1986 168.3896 150.5868 142.1236 168.5081 150.5868 142.0683 168.6344 150.5868 142.0345 168.7646 150.5868 142.0231 168.8949 150.5868 142.0345 169.0211 150.5868 142.0683 169.1396 150.5868 142.1236 169.2467 150.5868 142.1986 169.3392 150.5868 142.291 169.4141 150.5868 142.3981 169.4694 150.5868 142.5166 169.5032 150.5868 142.6429 169.5032 150.5868 145.6429 168.026 150.5868 145.6429 168.0599 150.5868 145.5166 168.1151 150.5868 145.3981 168.1901 150.5868 145.291 168.2825 150.5868 145.1986 168.3896 150.5868 145.1236 169.0211 150.5868 145.0683 169.1396 150.5868 145.1236 169.2467 150.5868 145.1986 169.3392 150.5868 145.291 168.7646 150.5868 145.0231 169.4141 150.5868 145.3981 169.4694 150.5868 145.5166 168.6344 150.5868 145.0345 168.5081 150.5868 145.0683 168.8949 150.5868 145.0345 171.0146 144.0868 148.7731 171.0146 144.0868 145.7731 171.0146 150.5868 145.7731 171.0146 150.5868 142.7731 172.5146 144.0868 148.7731 172.5032 144.0868 148.9033 172.4694 144.0868 149.0296 172.4141 144.0868 149.1481 172.3392 144.0868 149.2552 172.2467 144.0868 149.3476 172.1396 144.0868 149.4226 172.0211 144.0868 149.4779 171.8949 144.0868 149.5117 171.7646 144.0868 149.5231 171.6344 144.0868 149.5117 171.5081 144.0868 149.4779 171.3896 144.0868 149.4226 171.2825 144.0868 149.3476 171.1901 144.0868 149.2552 171.1151 144.0868 149.1481 171.0599 144.0868 149.0296 171.026 144.0868 148.9033 172.5146 150.5868 142.7731 172.5146 150.5868 145.7731 172.5146 144.0868 145.7731 171.026 150.5868 142.6429 171.0599 150.5868 142.5166 171.1151 150.5868 142.3981 171.1901 150.5868 142.291 171.2825 150.5868 142.1986 171.3896 150.5868 142.1236 171.5081 150.5868 142.0683 171.6344 150.5868 142.0345 171.7646 150.5868 142.0231 171.8949 150.5868 142.0345 172.0211 150.5868 142.0683 172.1396 150.5868 142.1236 172.2467 150.5868 142.1986 172.3392 150.5868 142.291 172.4141 150.5868 142.3981 172.4694 150.5868 142.5166 172.5032 150.5868 142.6429 172.5032 150.5868 145.6429 171.026 150.5868 145.6429 171.0599 150.5868 145.5166 171.1151 150.5868 145.3981 171.1901 150.5868 145.291 171.2825 150.5868 145.1986 171.3896 150.5868 145.1236 172.0211 150.5868 145.0683 172.1396 150.5868 145.1236 172.2467 150.5868 145.1986 172.3392 150.5868 145.291 171.7646 150.5868 145.0231 172.4141 150.5868 145.3981 172.4694 150.5868 145.5166 171.6344 150.5868 145.0345 171.5081 150.5868 145.0683 171.8949 150.5868 145.0345 174.0146 144.0868 148.7731 174.0146 144.0868 145.7731 174.0146 150.5868 145.7731 174.0146 150.5868 142.7731 175.5146 144.0868 148.7731 175.5044 144.0868 148.8965 175.474 144.0868 149.0166 175.4242 144.0868 149.1301 175.3565 144.0868 149.2338 175.2726 144.0868 149.3249 175.1748 144.0868 149.401 175.0659 144.0868 149.4599 174.9487 144.0868 149.5001 174.8265 144.0868 149.5205 174.7027 144.0868 149.5205 174.5805 144.0868 149.5001 174.4633 144.0868 149.4599 174.3544 144.0868 149.401 174.2567 144.0868 149.3249 174.1728 144.0868 149.2338 174.105 144.0868 149.1301 174.0553 144.0868 149.0166 174.0249 144.0868 148.8965 175.5146 150.5868 142.7731 175.5146 150.5868 145.7731 175.5146 144.0868 145.7731 174.026 150.5868 142.6429 174.0599 150.5868 142.5166 174.1151 150.5868 142.3981 174.1901 150.5868 142.291 174.2825 150.5868 142.1986 174.3896 150.5868 142.1236 174.5081 150.5868 142.0683 174.6344 150.5868 142.0345 174.7646 150.5868 142.0231 174.8948 150.5868 142.0345 175.0211 150.5868 142.0683 175.1396 150.5868 142.1236 175.2467 150.5868 142.1986 175.3392 150.5868 142.291 175.4141 150.5868 142.3981 175.4694 150.5868 142.5166 175.5032 150.5868 142.6429 175.5032 150.5868 145.6429 174.026 150.5868 145.6429 174.0599 150.5868 145.5166 174.1151 150.5868 145.3981 174.1901 150.5868 145.291 174.2825 150.5868 145.1986 174.3896 150.5868 145.1236 175.0211 150.5868 145.0683 175.1396 150.5868 145.1236 175.2467 150.5868 145.1986 175.3392 150.5868 145.291 174.7646 150.5868 145.0231 175.4141 150.5868 145.3981 175.4694 150.5868 145.5166 174.6344 150.5868 145.0345 174.5081 150.5868 145.0683 174.8948 150.5868 145.0345 177.0146 144.0868 148.7731 177.0146 144.0868 145.7731 177.0146 150.5868 145.7731 177.0146 150.5868 142.7731 178.5146 144.0868 148.7731 178.5044 144.0868 148.8965 178.474 144.0868 149.0166 178.4242 144.0868 149.1301 178.3565 144.0868 149.2338 178.2726 144.0868 149.3249 178.1748 144.0868 149.401 178.0659 144.0868 149.4599 177.9487 144.0868 149.5001 177.8265 144.0868 149.5205 177.7027 144.0868 149.5205 177.5805 144.0868 149.5001 177.4633 144.0868 149.4599 177.3544 144.0868 149.401 177.2567 144.0868 149.3249 177.1728 144.0868 149.2338 177.105 144.0868 149.1301 177.0553 144.0868 149.0166 177.0249 144.0868 148.8965 178.5146 150.5868 142.7731 178.5146 150.5868 145.7731 178.5146 144.0868 145.7731 177.026 150.5868 142.6429 177.0599 150.5868 142.5166 177.1151 150.5868 142.3981 177.1901 150.5868 142.291 177.2825 150.5868 142.1986 177.3896 150.5868 142.1236 177.5081 150.5868 142.0683 177.6344 150.5868 142.0345 177.7646 150.5868 142.0231 177.8948 150.5868 142.0345 178.0211 150.5868 142.0683 178.1396 150.5868 142.1236 178.2467 150.5868 142.1986 178.3392 150.5868 142.291 178.4141 150.5868 142.3981 178.4694 150.5868 142.5166 178.5032 150.5868 142.6429 178.5032 150.5868 145.6429 177.026 150.5868 145.6429 177.0599 150.5868 145.5166 177.1151 150.5868 145.3981 177.1901 150.5868 145.291 177.2825 150.5868 145.1986 177.3896 150.5868 145.1236 178.0211 150.5868 145.0683 178.1396 150.5868 145.1236 178.2467 150.5868 145.1986 178.3392 150.5868 145.291 177.7646 150.5868 145.0231 178.4141 150.5868 145.3981 178.4694 150.5868 145.5166 177.6344 150.5868 145.0345 177.5081 150.5868 145.0683 177.8948 150.5868 145.0345 180.0146 144.0868 148.7731 180.0146 144.0868 145.7731 180.0146 150.5868 145.7731 180.0146 150.5868 142.7731 181.5146 144.0868 148.7731 181.5032 144.0868 148.9033 181.4694 144.0868 149.0296 181.4141 144.0868 149.1481 181.3392 144.0868 149.2552 181.2467 144.0868 149.3476 181.1396 144.0868 149.4226 181.0211 144.0868 149.4779 180.8949 144.0868 149.5117 180.7646 144.0868 149.5231 180.6344 144.0868 149.5117 180.5081 144.0868 149.4779 180.3896 144.0868 149.4226 180.2825 144.0868 149.3476 180.1901 144.0868 149.2552 180.1151 144.0868 149.1481 180.0599 144.0868 149.0296 180.026 144.0868 148.9033 181.5146 150.5868 142.7731 181.5146 150.5868 145.7731 181.5146 144.0868 145.7731 180.026 150.5868 142.6429 180.0599 150.5868 142.5166 180.1151 150.5868 142.3981 180.1901 150.5868 142.291 180.2825 150.5868 142.1986 180.3896 150.5868 142.1236 180.5081 150.5868 142.0683 180.6344 150.5868 142.0345 180.7646 150.5868 142.0231 180.8949 150.5868 142.0345 181.0211 150.5868 142.0683 181.1396 150.5868 142.1236 181.2467 150.5868 142.1986 181.3392 150.5868 142.291 181.4141 150.5868 142.3981 181.4694 150.5868 142.5166 181.5032 150.5868 142.6429 181.5032 150.5868 145.6429 180.026 150.5868 145.6429 180.0599 150.5868 145.5166 180.1151 150.5868 145.3981 180.1901 150.5868 145.291 180.2825 150.5868 145.1986 180.3896 150.5868 145.1236 181.0211 150.5868 145.0683 181.1396 150.5868 145.1236 181.2467 150.5868 145.1986 181.3392 150.5868 145.291 180.7646 150.5868 145.0231 181.4141 150.5868 145.3981 181.4694 150.5868 145.5166 180.6344 150.5868 145.0345 180.5081 150.5868 145.0683 180.8949 150.5868 145.0345 183.0146 144.0868 148.7731 183.0146 144.0868 145.7731 183.0146 150.5868 145.7731 183.0146 150.5868 142.7731 184.5146 144.0868 148.7731 184.5044 144.0868 148.8965 184.474 144.0868 149.0166 184.4242 144.0868 149.1301 184.3565 144.0868 149.2338 184.2726 144.0868 149.3249 184.1748 144.0868 149.401 184.0659 144.0868 149.4599 183.9487 144.0868 149.5001 183.8265 144.0868 149.5205 183.7027 144.0868 149.5205 183.5805 144.0868 149.5001 183.4633 144.0868 149.4599 183.3544 144.0868 149.401 183.2567 144.0868 149.3249 183.1728 144.0868 149.2338 183.105 144.0868 149.1301 183.0552 144.0868 149.0166 183.0249 144.0868 148.8965 184.5146 150.5868 142.7731 184.5146 150.5868 145.7731 184.5146 144.0868 145.7731 184.2726 150.5868 142.2213 184.0659 150.5868 142.0863 183.8265 150.5868 142.0257 183.5805 150.5868 142.046 183.105 150.5868 142.4161 183.0249 150.5868 142.6497 183.0552 150.5868 142.5296 183.1728 150.5868 142.3124 183.3544 150.5868 142.1452 183.2567 150.5868 142.2213 183.4633 150.5868 142.0863 183.7027 150.5868 142.0257 183.9487 150.5868 142.046 184.1748 150.5868 142.1452 184.3565 150.5868 142.3124 184.4242 150.5868 142.4161 184.474 150.5868 142.5296 184.5044 150.5868 142.6497 184.5032 150.5868 145.6429 183.026 150.5868 145.6429 183.0599 150.5868 145.5166 183.1151 150.5868 145.3981 183.1901 150.5868 145.291 183.2825 150.5868 145.1986 183.3896 150.5868 145.1236 184.2467 150.5868 145.1986 184.3392 150.5868 145.291 183.8948 150.5868 145.0345 184.1396 150.5868 145.1236 184.4141 150.5868 145.3981 184.4694 150.5868 145.5166 183.6344 150.5868 145.0345 183.7646 150.5868 145.0231 184.0211 150.5868 145.0683 183.5081 150.5868 145.0683 186.0146 144.0868 148.7731 186.0146 144.0868 145.7731 186.0146 150.5868 145.7731 186.0146 150.5868 142.7731 187.5146 144.0868 148.7731 187.5044 144.0868 148.8965 187.474 144.0868 149.0166 187.4242 144.0868 149.1301 187.3565 144.0868 149.2338 187.2726 144.0868 149.3249 187.1748 144.0868 149.401 187.0659 144.0868 149.4599 186.9487 144.0868 149.5001 186.8265 144.0868 149.5205 186.7027 144.0868 149.5205 186.5805 144.0868 149.5001 186.4633 144.0868 149.4599 186.3544 144.0868 149.401 186.2567 144.0868 149.3249 186.1728 144.0868 149.2338 186.105 144.0868 149.1301 186.0553 144.0868 149.0166 186.0249 144.0868 148.8965 187.5146 150.5868 142.7731 187.5146 150.5868 145.7731 187.5146 144.0868 145.7731 186.026 150.5868 142.6429 186.0599 150.5868 142.5166 186.1151 150.5868 142.3981 186.1901 150.5868 142.291 186.2825 150.5868 142.1986 186.3896 150.5868 142.1236 186.5081 150.5868 142.0683 186.6344 150.5868 142.0345 186.7646 150.5868 142.0231 186.8948 150.5868 142.0345 187.0211 150.5868 142.0683 187.1396 150.5868 142.1236 187.2467 150.5868 142.1986 187.3392 150.5868 142.291 187.4141 150.5868 142.3981 187.4694 150.5868 142.5166 187.5032 150.5868 142.6429 187.5032 150.5868 145.6429 186.026 150.5868 145.6429 186.0599 150.5868 145.5166 186.1151 150.5868 145.3981 186.1901 150.5868 145.291 186.2825 150.5868 145.1986 186.3896 150.5868 145.1236 187.3392 150.5868 145.291 187.4141 150.5868 145.3981 187.4694 150.5868 145.5166 186.7646 150.5868 145.0231 187.0211 150.5868 145.0683 187.1396 150.5868 145.1236 187.2467 150.5868 145.1986 186.6344 150.5868 145.0345 186.5081 150.5868 145.0683 186.8948 150.5868 145.0345 189.0146 144.0868 148.7731 189.0146 144.0868 145.7731 189.0146 150.5868 145.7731 189.0146 150.5868 142.7731 190.5146 144.0868 148.7731 190.5044 144.0868 148.8965 190.474 144.0868 149.0166 190.4242 144.0868 149.1301 190.3565 144.0868 149.2338 190.2726 144.0868 149.3249 190.1748 144.0868 149.401 190.0659 144.0868 149.4599 189.9487 144.0868 149.5001 189.8265 144.0868 149.5205 189.7027 144.0868 149.5205 189.5805 144.0868 149.5001 189.4633 144.0868 149.4599 189.3544 144.0868 149.401 189.2567 144.0868 149.3249 189.1728 144.0868 149.2338 189.105 144.0868 149.1301 189.0553 144.0868 149.0166 189.0249 144.0868 148.8965 190.5146 150.5868 142.7731 190.5146 150.5868 145.7731 190.5146 144.0868 145.7731 189.026 150.5868 142.6429 189.0599 150.5868 142.5166 189.1151 150.5868 142.3981 189.1901 150.5868 142.291 189.2825 150.5868 142.1986 189.3896 150.5868 142.1236 189.5081 150.5868 142.0683 189.6344 150.5868 142.0345 189.7646 150.5868 142.0231 189.8948 150.5868 142.0345 190.0211 150.5868 142.0683 190.1396 150.5868 142.1236 190.2467 150.5868 142.1986 190.3392 150.5868 142.291 190.4141 150.5868 142.3981 190.4694 150.5868 142.5166 190.5032 150.5868 142.6429 190.5032 150.5868 145.6429 189.026 150.5868 145.6429 189.0599 150.5868 145.5166 189.1151 150.5868 145.3981 189.1901 150.5868 145.291 189.2825 150.5868 145.1986 189.3896 150.5868 145.1236 189.7646 150.5868 145.0231 190.3392 150.5868 145.291 190.4141 150.5868 145.3981 190.4694 150.5868 145.5166 190.0211 150.5868 145.0683 190.1396 150.5868 145.1236 190.2467 150.5868 145.1986 189.6344 150.5868 145.0345 189.5081 150.5868 145.0683 189.8948 150.5868 145.0345 192.0146 144.0868 148.7731 192.0146 144.0868 145.7731 192.0146 150.5868 145.7731 192.0146 150.5868 142.7731 193.5146 144.0868 148.7731 193.5032 144.0868 148.9033 193.4694 144.0868 149.0296 193.4141 144.0868 149.1481 193.3392 144.0868 149.2552 193.2467 144.0868 149.3476 193.1396 144.0868 149.4226 193.0211 144.0868 149.4779 192.8948 144.0868 149.5117 192.7646 144.0868 149.5231 192.6344 144.0868 149.5117 192.5081 144.0868 149.4779 192.3896 144.0868 149.4226 192.2825 144.0868 149.3476 192.1901 144.0868 149.2552 192.1151 144.0868 149.1481 192.0599 144.0868 149.0296 192.026 144.0868 148.9033 193.5146 150.5868 142.7731 193.5146 150.5868 145.7731 193.5146 144.0868 145.7731 192.026 150.5868 142.6429 192.0599 150.5868 142.5166 192.1151 150.5868 142.3981 192.1901 150.5868 142.291 192.2825 150.5868 142.1986 192.3896 150.5868 142.1236 192.5081 150.5868 142.0683 192.6344 150.5868 142.0345 192.7646 150.5868 142.0231 192.8948 150.5868 142.0345 193.0211 150.5868 142.0683 193.1396 150.5868 142.1236 193.2467 150.5868 142.1986 193.3392 150.5868 142.291 193.4141 150.5868 142.3981 193.4694 150.5868 142.5166 193.5032 150.5868 142.6429 193.5032 150.5868 145.6429 192.026 150.5868 145.6429 192.0599 150.5868 145.5166 192.1151 150.5868 145.3981 192.1901 150.5868 145.291 192.2825 150.5868 145.1986 192.3896 150.5868 145.1236 193.0211 150.5868 145.0683 193.1396 150.5868 145.1236 193.2467 150.5868 145.1986 193.3392 150.5868 145.291 193.4141 150.5868 145.3981 193.4694 150.5868 145.5166 192.6344 150.5868 145.0345 192.5081 150.5868 145.0683 192.7646 150.5868 145.0231 192.8948 150.5868 145.0345 195.0146 144.0868 148.7731 195.0146 144.0868 145.7731 195.0146 150.5868 145.7731 195.0146 150.5868 142.7731 196.5146 144.0868 148.7731 196.5044 144.0868 148.8965 196.474 144.0868 149.0166 196.4242 144.0868 149.1301 196.3565 144.0868 149.2338 196.2726 144.0868 149.3249 196.1748 144.0868 149.401 196.0659 144.0868 149.4599 195.9487 144.0868 149.5001 195.8265 144.0868 149.5205 195.7027 144.0868 149.5205 195.5805 144.0868 149.5001 195.4633 144.0868 149.4599 195.3544 144.0868 149.401 195.2567 144.0868 149.3249 195.1728 144.0868 149.2338 195.105 144.0868 149.1301 195.0553 144.0868 149.0166 195.0249 144.0868 148.8965 196.5146 150.5868 142.7731 196.5146 150.5868 145.7731 196.5146 144.0868 145.7731 195.026 150.5868 142.6429 195.0599 150.5868 142.5166 195.1151 150.5868 142.3981 195.1901 150.5868 142.291 195.2825 150.5868 142.1986 195.3896 150.5868 142.1236 195.5081 150.5868 142.0683 195.6344 150.5868 142.0345 195.7646 150.5868 142.0231 195.8948 150.5868 142.0345 196.0211 150.5868 142.0683 196.1396 150.5868 142.1236 196.2467 150.5868 142.1986 196.3392 150.5868 142.291 196.4141 150.5868 142.3981 196.4694 150.5868 142.5166 196.5032 150.5868 142.6429 196.5032 150.5868 145.6429 195.026 150.5868 145.6429 195.0599 150.5868 145.5166 195.1151 150.5868 145.3981 195.1901 150.5868 145.291 195.2825 150.5868 145.1986 195.3896 150.5868 145.1236 195.6344 150.5868 145.0345 195.5081 150.5868 145.0683 195.7646 150.5868 145.0231 196.0211 150.5868 145.0683 196.1396 150.5868 145.1236 196.2467 150.5868 145.1986 196.3392 150.5868 145.291 196.4141 150.5868 145.3981 196.4694 150.5868 145.5166 195.8948 150.5868 145.0345 198.0146 144.0868 148.7731 198.0146 144.0868 145.7731 198.0146 150.5868 145.7731 198.0146 150.5868 142.7731 198.7027 144.0868 149.5205 198.8265 144.0868 149.5205 199.5146 144.0868 148.7731 199.5044 144.0868 148.8965 199.474 144.0868 149.0166 199.4242 144.0868 149.1301 199.3565 144.0868 149.2338 199.2726 144.0868 149.3249 199.1748 144.0868 149.401 199.0659 144.0868 149.4599 198.9487 144.0868 149.5001 198.5805 144.0868 149.5001 198.4633 144.0868 149.4599 198.3544 144.0868 149.401 198.2567 144.0868 149.3249 198.1728 144.0868 149.2338 198.105 144.0868 149.1301 198.0553 144.0868 149.0166 198.0249 144.0868 148.8965 199.5146 150.5868 142.7731 199.5146 150.5868 145.7731 199.5146 144.0868 145.7731 198.026 150.5868 142.6429 198.0599 150.5868 142.5166 198.1151 150.5868 142.3981 198.1901 150.5868 142.291 198.2825 150.5868 142.1986 198.3896 150.5868 142.1236 198.5081 150.5868 142.0683 198.6344 150.5868 142.0345 198.7646 150.5868 142.0231 198.8948 150.5868 142.0345 199.0211 150.5868 142.0683 199.1396 150.5868 142.1236 199.2467 150.5868 142.1986 199.3392 150.5868 142.291 199.4141 150.5868 142.3981 199.4694 150.5868 142.5166 199.5032 150.5868 142.6429 199.5032 150.5868 145.6429 198.026 150.5868 145.6429 198.0599 150.5868 145.5166 198.1151 150.5868 145.3981 198.1901 150.5868 145.291 198.2825 150.5868 145.1986 198.3896 150.5868 145.1236 198.8948 150.5868 145.0345 199.1396 150.5868 145.1236 199.2467 150.5868 145.1986 199.3392 150.5868 145.291 199.4141 150.5868 145.3981 199.4694 150.5868 145.5166 198.7646 150.5868 145.0231 199.0211 150.5868 145.0683 198.6344 150.5868 145.0345 198.5081 150.5868 145.0683 201.0146 144.0868 148.7731 201.0146 144.0868 145.7731 201.0146 150.5868 145.7731 201.0146 150.5868 142.7731 202.5146 144.0868 148.7731 202.5032 144.0868 148.9033 202.4694 144.0868 149.0296 202.4141 144.0868 149.1481 202.3392 144.0868 149.2552 202.2467 144.0868 149.3476 202.1396 144.0868 149.4226 202.0211 144.0868 149.4779 201.8948 144.0868 149.5117 201.7646 144.0868 149.5231 201.6344 144.0868 149.5117 201.5081 144.0868 149.4779 201.3896 144.0868 149.4226 201.2825 144.0868 149.3476 201.1901 144.0868 149.2552 201.1151 144.0868 149.1481 201.0599 144.0868 149.0296 201.026 144.0868 148.9033 202.5146 150.5868 142.7731 202.5146 150.5868 145.7731 202.5146 144.0868 145.7731 201.026 150.5868 142.6429 201.0599 150.5868 142.5166 201.1151 150.5868 142.3981 201.1901 150.5868 142.291 201.2825 150.5868 142.1986 201.3896 150.5868 142.1236 201.5081 150.5868 142.0683 201.6344 150.5868 142.0345 201.7646 150.5868 142.0231 201.8948 150.5868 142.0345 202.0211 150.5868 142.0683 202.1396 150.5868 142.1236 202.2467 150.5868 142.1986 202.3392 150.5868 142.291 202.4141 150.5868 142.3981 202.4694 150.5868 142.5166 202.5032 150.5868 142.6429 202.5032 150.5868 145.6429 201.026 150.5868 145.6429 201.0599 150.5868 145.5166 201.1151 150.5868 145.3981 201.1901 150.5868 145.291 201.2825 150.5868 145.1986 201.3896 150.5868 145.1236 201.6344 150.5868 145.0345 201.5081 150.5868 145.0683 201.7646 150.5868 145.0231 202.0211 150.5868 145.0683 202.1396 150.5868 145.1236 202.2467 150.5868 145.1986 202.3392 150.5868 145.291 202.4141 150.5868 145.3981 202.4694 150.5868 145.5166 201.8948 150.5868 145.0345 204.0146 144.0868 148.7731 204.0146 144.0868 145.7731 204.0146 150.5868 145.7731 204.0146 150.5868 142.7731 205.5146 144.0868 148.7731 205.5032 144.0868 148.9033 205.4694 144.0868 149.0296 205.4141 144.0868 149.1481 205.3392 144.0868 149.2552 205.2467 144.0868 149.3476 205.1396 144.0868 149.4226 205.0211 144.0868 149.4779 204.8948 144.0868 149.5117 204.7646 144.0868 149.5231 204.6344 144.0868 149.5117 204.5081 144.0868 149.4779 204.3896 144.0868 149.4226 204.2825 144.0868 149.3476 204.1901 144.0868 149.2552 204.1151 144.0868 149.1481 204.0599 144.0868 149.0296 204.026 144.0868 148.9033 205.5146 150.5868 142.7731 205.5146 150.5868 145.7731 205.5146 144.0868 145.7731 204.026 150.5868 142.6429 204.0599 150.5868 142.5166 204.1151 150.5868 142.3981 204.1901 150.5868 142.291 204.2825 150.5868 142.1986 204.3896 150.5868 142.1236 204.5081 150.5868 142.0683 204.6344 150.5868 142.0345 204.7646 150.5868 142.0231 204.8948 150.5868 142.0345 205.0211 150.5868 142.0683 205.1396 150.5868 142.1236 205.2467 150.5868 142.1986 205.3392 150.5868 142.291 205.4141 150.5868 142.3981 205.4694 150.5868 142.5166 205.5032 150.5868 142.6429 205.5032 150.5868 145.6429 204.026 150.5868 145.6429 204.0599 150.5868 145.5166 204.1151 150.5868 145.3981 204.1901 150.5868 145.291 204.2825 150.5868 145.1986 204.3896 150.5868 145.1236 205.0211 150.5868 145.0683 205.1396 150.5868 145.1236 205.2467 150.5868 145.1986 205.3392 150.5868 145.291 205.4141 150.5868 145.3981 205.4694 150.5868 145.5166 204.6344 150.5868 145.0345 204.5081 150.5868 145.0683 204.7646 150.5868 145.0231 204.8948 150.5868 145.0345 207.0146 144.0868 148.7731 207.0146 144.0868 145.7731 207.0146 150.5868 145.7731 207.0146 150.5868 142.7731 208.5146 144.0868 148.7731 208.5032 144.0868 148.9033 208.4694 144.0868 149.0296 208.4141 144.0868 149.1481 208.3392 144.0868 149.2552 208.2467 144.0868 149.3476 208.1396 144.0868 149.4226 208.0211 144.0868 149.4779 207.8948 144.0868 149.5117 207.7646 144.0868 149.5231 207.6344 144.0868 149.5117 207.5081 144.0868 149.4779 207.3896 144.0868 149.4226 207.2825 144.0868 149.3476 207.1901 144.0868 149.2552 207.1151 144.0868 149.1481 207.0599 144.0868 149.0296 207.026 144.0868 148.9033 208.5146 150.5868 142.7731 208.5146 150.5868 145.7731 208.5146 144.0868 145.7731 207.026 150.5868 142.6429 207.0599 150.5868 142.5166 207.1151 150.5868 142.3981 207.1901 150.5868 142.291 207.2825 150.5868 142.1986 207.3896 150.5868 142.1236 207.5081 150.5868 142.0683 207.6344 150.5868 142.0345 207.7646 150.5868 142.0231 207.8948 150.5868 142.0345 208.0211 150.5868 142.0683 208.1396 150.5868 142.1236 208.2467 150.5868 142.1986 208.3392 150.5868 142.291 208.4141 150.5868 142.3981 208.4694 150.5868 142.5166 208.5032 150.5868 142.6429 208.5032 150.5868 145.6429 207.026 150.5868 145.6429 207.0599 150.5868 145.5166 207.1151 150.5868 145.3981 207.1901 150.5868 145.291 207.2825 150.5868 145.1986 207.3896 150.5868 145.1236 208.3392 150.5868 145.291 208.4141 150.5868 145.3981 208.4694 150.5868 145.5166 207.7646 150.5868 145.0231 208.0211 150.5868 145.0683 208.1396 150.5868 145.1236 208.2467 150.5868 145.1986 207.6344 150.5868 145.0345 207.5081 150.5868 145.0683 207.8948 150.5868 145.0345 210.0146 144.0868 148.7731 210.0146 144.0868 145.7731 210.0146 150.5868 145.7731 210.0146 150.5868 142.7731 211.5146 144.0868 148.7731 211.5032 144.0868 148.9033 211.4694 144.0868 149.0296 211.4141 144.0868 149.1481 211.3392 144.0868 149.2552 211.2467 144.0868 149.3476 211.1396 144.0868 149.4226 211.0211 144.0868 149.4779 210.8948 144.0868 149.5117 210.7646 144.0868 149.5231 210.6344 144.0868 149.5117 210.5081 144.0868 149.4779 210.3896 144.0868 149.4226 210.2825 144.0868 149.3476 210.1901 144.0868 149.2552 210.1151 144.0868 149.1481 210.0599 144.0868 149.0296 210.026 144.0868 148.9033 211.5146 150.5868 142.7731 211.5146 150.5868 145.7731 211.5146 144.0868 145.7731 211.2726 150.5868 142.2213 211.0659 150.5868 142.0863 210.8265 150.5868 142.0257 210.5805 150.5868 142.046 210.105 150.5868 142.4161 210.0249 150.5868 142.6497 210.0553 150.5868 142.5296 210.1728 150.5868 142.3124 210.3544 150.5868 142.1452 210.2567 150.5868 142.2213 210.4633 150.5868 142.0863 210.7027 150.5868 142.0257 210.9487 150.5868 142.046 211.1748 150.5868 142.1452 211.3565 150.5868 142.3124 211.4242 150.5868 142.4161 211.474 150.5868 142.5296 211.5044 150.5868 142.6497 211.5032 150.5868 145.6429 210.026 150.5868 145.6429 210.0599 150.5868 145.5166 210.1151 150.5868 145.3981 210.1901 150.5868 145.291 210.2825 150.5868 145.1986 210.3896 150.5868 145.1236 210.6344 150.5868 145.0345 211.3392 150.5868 145.291 211.4141 150.5868 145.3981 211.4694 150.5868 145.5166 211.0211 150.5868 145.0683 211.1396 150.5868 145.1236 211.2467 150.5868 145.1986 210.5081 150.5868 145.0683 210.8948 150.5868 145.0345 210.7646 150.5868 145.0231 213.0146 144.0868 148.7731 213.0146 144.0868 145.7731 213.0146 150.5868 145.7731 213.0146 150.5868 142.7731 214.5146 144.0868 148.7731 214.5044 144.0868 148.8965 214.474 144.0868 149.0166 214.4242 144.0868 149.1301 214.3565 144.0868 149.2338 214.2726 144.0868 149.3249 214.1748 144.0868 149.401 214.0659 144.0868 149.4599 213.9487 144.0868 149.5001 213.8265 144.0868 149.5205 213.7027 144.0868 149.5205 213.5805 144.0868 149.5001 213.4633 144.0868 149.4599 213.3544 144.0868 149.401 213.2567 144.0868 149.3249 213.1728 144.0868 149.2338 213.105 144.0868 149.1301 213.0553 144.0868 149.0166 213.0249 144.0868 148.8965 214.5146 150.5868 142.7731 214.5146 150.5868 145.7731 214.5146 144.0868 145.7731 213.026 150.5868 142.6429 213.0599 150.5868 142.5166 213.1151 150.5868 142.3981 213.1901 150.5868 142.291 213.2825 150.5868 142.1986 213.3896 150.5868 142.1236 213.5081 150.5868 142.0683 213.6344 150.5868 142.0345 213.7646 150.5868 142.0231 213.8949 150.5868 142.0345 214.0211 150.5868 142.0683 214.1396 150.5868 142.1236 214.2467 150.5868 142.1986 214.3392 150.5868 142.291 214.4141 150.5868 142.3981 214.4694 150.5868 142.5166 214.5032 150.5868 142.6429 214.5032 150.5868 145.6429 213.026 150.5868 145.6429 213.0599 150.5868 145.5166 213.1151 150.5868 145.3981 213.1901 150.5868 145.291 213.2825 150.5868 145.1986 213.3896 150.5868 145.1236 213.7646 150.5868 145.0231 214.3392 150.5868 145.291 214.4141 150.5868 145.3981 214.4694 150.5868 145.5166 214.0211 150.5868 145.0683 214.1396 150.5868 145.1236 214.2467 150.5868 145.1986 213.6344 150.5868 145.0345 213.5081 150.5868 145.0683 213.8949 150.5868 145.0345 216.0146 144.0868 148.7731 216.0146 144.0868 145.7731 216.0146 150.5868 145.7731 216.0146 150.5868 142.7731 217.5146 144.0868 148.7731 217.5032 144.0868 148.9033 217.4694 144.0868 149.0296 217.4141 144.0868 149.1481 217.3392 144.0868 149.2552 217.2467 144.0868 149.3476 217.1396 144.0868 149.4226 217.0211 144.0868 149.4779 216.8949 144.0868 149.5117 216.7646 144.0868 149.5231 216.6344 144.0868 149.5117 216.5081 144.0868 149.4779 216.3896 144.0868 149.4226 216.2825 144.0868 149.3476 216.1901 144.0868 149.2552 216.1151 144.0868 149.1481 216.0599 144.0868 149.0296 216.026 144.0868 148.9033 217.5146 150.5868 142.7731 217.5146 150.5868 145.7731 217.5146 144.0868 145.7731 216.026 150.5868 142.6429 216.0599 150.5868 142.5166 216.1151 150.5868 142.3981 216.1901 150.5868 142.291 216.2825 150.5868 142.1986 216.3896 150.5868 142.1236 216.5081 150.5868 142.0683 216.6344 150.5868 142.0345 216.7646 150.5868 142.0231 216.8949 150.5868 142.0345 217.0211 150.5868 142.0683 217.1396 150.5868 142.1236 217.2467 150.5868 142.1986 217.3392 150.5868 142.291 217.4141 150.5868 142.3981 217.4694 150.5868 142.5166 217.5032 150.5868 142.6429 217.5032 150.5868 145.6429 216.026 150.5868 145.6429 216.0599 150.5868 145.5166 216.1151 150.5868 145.3981 216.1901 150.5868 145.291 216.2825 150.5868 145.1986 216.3896 150.5868 145.1236 217.0211 150.5868 145.0683 217.1396 150.5868 145.1236 217.2467 150.5868 145.1986 217.3392 150.5868 145.291 216.7646 150.5868 145.0231 217.4141 150.5868 145.3981 217.4694 150.5868 145.5166 216.6344 150.5868 145.0345 216.5081 150.5868 145.0683 216.8949 150.5868 145.0345 219.0146 144.0868 148.7731 219.0146 144.0868 145.7731 219.0146 150.5868 145.7731 219.0146 150.5868 142.7731 220.5146 144.0868 148.7731 220.5044 144.0868 148.8965 220.474 144.0868 149.0166 220.4242 144.0868 149.1301 220.3565 144.0868 149.2338 220.2726 144.0868 149.3249 220.1748 144.0868 149.401 220.0659 144.0868 149.4599 219.9487 144.0868 149.5001 219.8265 144.0868 149.5205 219.7027 144.0868 149.5205 219.5805 144.0868 149.5001 219.4633 144.0868 149.4599 219.3544 144.0868 149.401 219.2567 144.0868 149.3249 219.1728 144.0868 149.2338 219.105 144.0868 149.1301 219.0553 144.0868 149.0166 219.0249 144.0868 148.8965 220.5146 150.5868 142.7731 220.5146 150.5868 145.7731 220.5146 144.0868 145.7731 219.026 150.5868 142.6429 219.0599 150.5868 142.5166 219.1151 150.5868 142.3981 219.1901 150.5868 142.291 219.2825 150.5868 142.1986 219.3896 150.5868 142.1236 219.5081 150.5868 142.0683 219.6344 150.5868 142.0345 219.7646 150.5868 142.0231 219.8948 150.5868 142.0345 220.0211 150.5868 142.0683 220.1396 150.5868 142.1236 220.2467 150.5868 142.1986 220.3392 150.5868 142.291 220.4141 150.5868 142.3981 220.4694 150.5868 142.5166 220.5032 150.5868 142.6429 219.026 150.5868 145.6429 219.0599 150.5868 145.5166 219.1151 150.5868 145.3981 220.5032 150.5868 145.6429 220.4694 150.5868 145.5166 219.1901 150.5868 145.291 219.2825 150.5868 145.1986 219.3896 150.5868 145.1236 219.7646 150.5868 145.0231 220.2467 150.5868 145.1986 220.1396 150.5868 145.1236 220.0211 150.5868 145.0683 220.3392 150.5868 145.291 220.4141 150.5868 145.3981 219.8948 150.5868 145.0345 219.6344 150.5868 145.0345 219.5081 150.5868 145.0683 222.026 144.0868 145.6429 222.0599 144.0868 145.5166 222.1151 144.0868 145.3981 222.1901 144.0868 145.291 222.2825 144.0868 145.1986 222.3896 144.0868 145.1236 222.5081 144.0868 145.0683 222.6344 144.0868 145.0345 222.7646 144.0868 145.0231 222.8948 144.0868 145.0345 223.0211 144.0868 145.0683 223.1396 144.0868 145.1236 223.2467 144.0868 145.1986 223.3392 144.0868 145.291 223.4141 144.0868 145.3981 223.4694 144.0868 145.5166 223.5032 144.0868 145.6429 219.026 144.0868 145.6429 219.0599 144.0868 145.5166 219.1151 144.0868 145.3981 219.1901 144.0868 145.291 219.2825 144.0868 145.1986 219.3896 144.0868 145.1236 219.5081 144.0868 145.0683 219.6344 144.0868 145.0345 219.7646 144.0868 145.0231 219.8948 144.0868 145.0345 220.0211 144.0868 145.0683 220.1396 144.0868 145.1236 220.2467 144.0868 145.1986 220.3392 144.0868 145.291 220.4141 144.0868 145.3981 220.4694 144.0868 145.5166 220.5032 144.0868 145.6429 216.026 144.0868 145.6429 216.0599 144.0868 145.5166 216.1151 144.0868 145.3981 216.1901 144.0868 145.291 216.2825 144.0868 145.1986 216.3896 144.0868 145.1236 216.5081 144.0868 145.0683 216.6344 144.0868 145.0345 216.7646 144.0868 145.0231 216.8949 144.0868 145.0345 217.0211 144.0868 145.0683 217.1396 144.0868 145.1236 217.2467 144.0868 145.1986 217.3392 144.0868 145.291 217.4141 144.0868 145.3981 217.4694 144.0868 145.5166 217.5032 144.0868 145.6429 213.026 144.0868 145.6429 213.0599 144.0868 145.5166 213.1151 144.0868 145.3981 213.1901 144.0868 145.291 213.2825 144.0868 145.1986 213.3896 144.0868 145.1236 213.5081 144.0868 145.0683 213.6344 144.0868 145.0345 213.7646 144.0868 145.0231 213.8949 144.0868 145.0345 214.0211 144.0868 145.0683 214.1396 144.0868 145.1236 214.2467 144.0868 145.1986 214.3392 144.0868 145.291 214.4141 144.0868 145.3981 214.4694 144.0868 145.5166 214.5032 144.0868 145.6429 210.026 144.0868 145.6429 210.0599 144.0868 145.5166 210.1151 144.0868 145.3981 210.1901 144.0868 145.291 210.2825 144.0868 145.1986 210.3896 144.0868 145.1236 210.5081 144.0868 145.0683 210.6344 144.0868 145.0345 210.7646 144.0868 145.0231 210.8948 144.0868 145.0345 211.0211 144.0868 145.0683 211.1396 144.0868 145.1236 211.2467 144.0868 145.1986 211.3392 144.0868 145.291 211.4141 144.0868 145.3981 211.4694 144.0868 145.5166 211.5032 144.0868 145.6429 207.026 144.0868 145.6429 207.0599 144.0868 145.5166 207.1151 144.0868 145.3981 207.1901 144.0868 145.291 207.2825 144.0868 145.1986 207.3896 144.0868 145.1236 207.5081 144.0868 145.0683 207.6344 144.0868 145.0345 207.7646 144.0868 145.0231 207.8948 144.0868 145.0345 208.0211 144.0868 145.0683 208.1396 144.0868 145.1236 208.2467 144.0868 145.1986 208.3392 144.0868 145.291 208.4141 144.0868 145.3981 208.4694 144.0868 145.5166 208.5032 144.0868 145.6429 204.026 144.0868 145.6429 204.0599 144.0868 145.5166 204.1151 144.0868 145.3981 204.1901 144.0868 145.291 204.2825 144.0868 145.1986 204.3896 144.0868 145.1236 204.5081 144.0868 145.0683 204.6344 144.0868 145.0345 204.7646 144.0868 145.0231 204.8948 144.0868 145.0345 205.0211 144.0868 145.0683 205.1396 144.0868 145.1236 205.2467 144.0868 145.1986 205.3392 144.0868 145.291 205.4141 144.0868 145.3981 205.4694 144.0868 145.5166 205.5032 144.0868 145.6429 201.026 144.0868 145.6429 201.0599 144.0868 145.5166 201.1151 144.0868 145.3981 201.1901 144.0868 145.291 201.2825 144.0868 145.1986 201.3896 144.0868 145.1236 201.5081 144.0868 145.0683 201.6344 144.0868 145.0345 201.7646 144.0868 145.0231 201.8948 144.0868 145.0345 202.0211 144.0868 145.0683 202.1396 144.0868 145.1236 202.2467 144.0868 145.1986 202.3392 144.0868 145.291 202.4141 144.0868 145.3981 202.4694 144.0868 145.5166 202.5032 144.0868 145.6429 198.026 144.0868 145.6429 198.0599 144.0868 145.5166 198.1151 144.0868 145.3981 198.1901 144.0868 145.291 198.2825 144.0868 145.1986 198.3896 144.0868 145.1236 198.5081 144.0868 145.0683 198.6344 144.0868 145.0345 198.7646 144.0868 145.0231 198.8948 144.0868 145.0345 199.0211 144.0868 145.0683 199.1396 144.0868 145.1236 199.2467 144.0868 145.1986 199.3392 144.0868 145.291 199.4141 144.0868 145.3981 199.4694 144.0868 145.5166 199.5032 144.0868 145.6429 195.026 144.0868 145.6429 195.0599 144.0868 145.5166 195.1151 144.0868 145.3981 195.1901 144.0868 145.291 195.2825 144.0868 145.1986 195.3896 144.0868 145.1236 195.5081 144.0868 145.0683 195.6344 144.0868 145.0345 195.7646 144.0868 145.0231 195.8948 144.0868 145.0345 196.0211 144.0868 145.0683 196.1396 144.0868 145.1236 196.2467 144.0868 145.1986 196.3392 144.0868 145.291 196.4141 144.0868 145.3981 196.4694 144.0868 145.5166 196.5032 144.0868 145.6429 192.026 144.0868 145.6429 192.0599 144.0868 145.5166 192.1151 144.0868 145.3981 192.1901 144.0868 145.291 192.2825 144.0868 145.1986 192.3896 144.0868 145.1236 192.5081 144.0868 145.0683 192.6344 144.0868 145.0345 192.7646 144.0868 145.0231 192.8948 144.0868 145.0345 193.0211 144.0868 145.0683 193.1396 144.0868 145.1236 193.2467 144.0868 145.1986 193.3392 144.0868 145.291 193.4141 144.0868 145.3981 193.4694 144.0868 145.5166 193.5032 144.0868 145.6429 189.026 144.0868 145.6429 189.0599 144.0868 145.5166 189.1151 144.0868 145.3981 189.1901 144.0868 145.291 189.2825 144.0868 145.1986 189.3896 144.0868 145.1236 189.5081 144.0868 145.0683 189.6344 144.0868 145.0345 189.7646 144.0868 145.0231 189.8948 144.0868 145.0345 190.0211 144.0868 145.0683 190.1396 144.0868 145.1236 190.2467 144.0868 145.1986 190.3392 144.0868 145.291 190.4141 144.0868 145.3981 190.4694 144.0868 145.5166 190.5032 144.0868 145.6429 186.026 144.0868 145.6429 186.0599 144.0868 145.5166 186.1151 144.0868 145.3981 186.1901 144.0868 145.291 186.2825 144.0868 145.1986 186.3896 144.0868 145.1236 186.5081 144.0868 145.0683 186.6344 144.0868 145.0345 186.7646 144.0868 145.0231 186.8948 144.0868 145.0345 187.0211 144.0868 145.0683 187.1396 144.0868 145.1236 187.2467 144.0868 145.1986 187.3392 144.0868 145.291 187.4141 144.0868 145.3981 187.4694 144.0868 145.5166 187.5032 144.0868 145.6429 183.026 144.0868 145.6429 183.0599 144.0868 145.5166 183.1151 144.0868 145.3981 183.1901 144.0868 145.291 183.2825 144.0868 145.1986 183.3896 144.0868 145.1236 183.5081 144.0868 145.0683 183.6344 144.0868 145.0345 183.7646 144.0868 145.0231 183.8948 144.0868 145.0345 184.0211 144.0868 145.0683 184.1396 144.0868 145.1236 184.2467 144.0868 145.1986 184.3392 144.0868 145.291 184.4141 144.0868 145.3981 184.4694 144.0868 145.5166 184.5032 144.0868 145.6429 180.026 144.0868 145.6429 180.0599 144.0868 145.5166 180.1151 144.0868 145.3981 180.1901 144.0868 145.291 180.2825 144.0868 145.1986 180.3896 144.0868 145.1236 180.5081 144.0868 145.0683 180.6344 144.0868 145.0345 180.7646 144.0868 145.0231 180.8949 144.0868 145.0345 181.0211 144.0868 145.0683 181.1396 144.0868 145.1236 181.2467 144.0868 145.1986 181.3392 144.0868 145.291 181.4141 144.0868 145.3981 181.4694 144.0868 145.5166 181.5032 144.0868 145.6429 177.026 144.0868 145.6429 177.0599 144.0868 145.5166 177.1151 144.0868 145.3981 177.1901 144.0868 145.291 177.2825 144.0868 145.1986 177.3896 144.0868 145.1236 177.5081 144.0868 145.0683 177.6344 144.0868 145.0345 177.7646 144.0868 145.0231 177.8948 144.0868 145.0345 178.0211 144.0868 145.0683 178.1396 144.0868 145.1236 178.2467 144.0868 145.1986 178.3392 144.0868 145.291 178.4141 144.0868 145.3981 178.4694 144.0868 145.5166 178.5032 144.0868 145.6429 174.026 144.0868 145.6429 174.0599 144.0868 145.5166 174.1151 144.0868 145.3981 174.1901 144.0868 145.291 174.2825 144.0868 145.1986 174.3896 144.0868 145.1236 174.5081 144.0868 145.0683 174.6344 144.0868 145.0345 174.7646 144.0868 145.0231 174.8948 144.0868 145.0345 175.0211 144.0868 145.0683 175.1396 144.0868 145.1236 175.2467 144.0868 145.1986 175.3392 144.0868 145.291 175.4141 144.0868 145.3981 175.4694 144.0868 145.5166 175.5032 144.0868 145.6429 171.026 144.0868 145.6429 171.0599 144.0868 145.5166 171.1151 144.0868 145.3981 171.1901 144.0868 145.291 171.2825 144.0868 145.1986 171.3896 144.0868 145.1236 171.5081 144.0868 145.0683 171.6344 144.0868 145.0345 171.7646 144.0868 145.0231 171.8949 144.0868 145.0345 172.0211 144.0868 145.0683 172.1396 144.0868 145.1236 172.2467 144.0868 145.1986 172.3392 144.0868 145.291 172.4141 144.0868 145.3981 172.4694 144.0868 145.5166 172.5032 144.0868 145.6429 168.026 144.0868 145.6429 168.0599 144.0868 145.5166 168.1151 144.0868 145.3981 168.1901 144.0868 145.291 168.2825 144.0868 145.1986 168.3896 144.0868 145.1236 168.5081 144.0868 145.0683 168.6344 144.0868 145.0345 168.7646 144.0868 145.0231 168.8949 144.0868 145.0345 169.0211 144.0868 145.0683 169.1396 144.0868 145.1236 169.2467 144.0868 145.1986 169.3392 144.0868 145.291 169.4141 144.0868 145.3981 169.4694 144.0868 145.5166 169.5032 144.0868 145.6429 228.0146 144.0868 148.7731 228.0146 144.0868 145.7731 228.0146 150.5868 145.7731 228.0146 150.5868 142.7731 228.9487 144.0868 149.5001 229.5146 144.0868 148.7731 229.5044 144.0868 148.8965 229.474 144.0868 149.0166 229.4242 144.0868 149.1301 229.3565 144.0868 149.2338 229.2726 144.0868 149.3249 229.1748 144.0868 149.401 229.0659 144.0868 149.4599 228.7027 144.0868 149.5205 228.8265 144.0868 149.5205 228.5805 144.0868 149.5001 228.4633 144.0868 149.4599 228.3544 144.0868 149.401 228.2567 144.0868 149.3249 228.1728 144.0868 149.2338 228.105 144.0868 149.1301 228.0552 144.0868 149.0166 228.0249 144.0868 148.8965 229.5146 150.5868 142.7731 229.5146 150.5868 145.7731 229.5146 144.0868 145.7731 228.026 150.5868 142.6429 228.0599 150.5868 142.5166 228.1151 150.5868 142.3981 228.1901 150.5868 142.291 228.2825 150.5868 142.1986 228.3896 150.5868 142.1236 228.5081 150.5868 142.0683 228.6344 150.5868 142.0345 228.7646 150.5868 142.0231 228.8949 150.5868 142.0345 229.0211 150.5868 142.0683 229.1396 150.5868 142.1236 229.2467 150.5868 142.1986 229.3392 150.5868 142.291 229.4141 150.5868 142.3981 229.4694 150.5868 142.5166 229.5032 150.5868 142.6429 229.5032 150.5868 145.6429 228.026 150.5868 145.6429 228.0599 150.5868 145.5166 228.1151 150.5868 145.3981 228.1901 150.5868 145.291 228.2825 150.5868 145.1986 228.3896 150.5868 145.1236 229.0211 150.5868 145.0683 229.1396 150.5868 145.1236 229.2467 150.5868 145.1986 229.3392 150.5868 145.291 228.7646 150.5868 145.0231 228.8949 150.5868 145.0345 229.4141 150.5868 145.3981 229.4694 150.5868 145.5166 228.6344 150.5868 145.0345 228.5081 150.5868 145.0683 228.026 144.0868 145.6429 228.0599 144.0868 145.5166 228.1151 144.0868 145.3981 228.1901 144.0868 145.291 228.2825 144.0868 145.1986 228.3896 144.0868 145.1236 228.5081 144.0868 145.0683 228.6344 144.0868 145.0345 228.7646 144.0868 145.0231 228.8949 144.0868 145.0345 229.0211 144.0868 145.0683 229.1396 144.0868 145.1236 229.2467 144.0868 145.1986 229.3392 144.0868 145.291 229.4141 144.0868 145.3981 229.4694 144.0868 145.5166 229.5032 144.0868 145.6429 226.5146 127.5868 142.7731 226.5146 127.5868 145.7731 226.5146 134.0868 145.7731 226.5146 134.0868 148.7731 225.0146 134.0868 148.7731 225.026 134.0868 148.9033 225.0599 134.0868 149.0296 225.1151 134.0868 149.1481 225.1901 134.0868 149.2552 225.2825 134.0868 149.3476 225.3896 134.0868 149.4226 225.5081 134.0868 149.4779 225.6344 134.0868 149.5117 225.7646 134.0868 149.5231 225.8949 134.0868 149.5117 226.0211 134.0868 149.4779 226.1396 134.0868 149.4226 226.2467 134.0868 149.3476 226.3392 134.0868 149.2552 226.4141 134.0868 149.1481 226.4694 134.0868 149.0296 226.5032 134.0868 148.9033 225.0146 134.0868 145.7731 225.0146 127.5868 145.7731 225.0146 127.5868 142.7731 226.5032 127.5868 142.6429 226.4694 127.5868 142.5166 226.4141 127.5868 142.3981 226.3392 127.5868 142.291 226.2467 127.5868 142.1986 226.1396 127.5868 142.1236 226.0211 127.5868 142.0683 225.8949 127.5868 142.0345 225.7646 127.5868 142.0231 225.6344 127.5868 142.0345 225.5081 127.5868 142.0683 225.3896 127.5868 142.1236 225.2825 127.5868 142.1986 225.1901 127.5868 142.291 225.1151 127.5868 142.3981 225.0599 127.5868 142.5166 225.026 127.5868 142.6429 225.026 127.5868 145.6429 226.4694 127.5868 145.5166 226.5032 127.5868 145.6429 226.4141 127.5868 145.3981 226.3392 127.5868 145.291 226.2467 127.5868 145.1986 226.1396 127.5868 145.1236 226.0211 127.5868 145.0683 225.8949 127.5868 145.0345 225.1901 127.5868 145.291 225.1151 127.5868 145.3981 225.0599 127.5868 145.5166 225.7646 127.5868 145.0231 225.5081 127.5868 145.0683 225.3896 127.5868 145.1236 225.2825 127.5868 145.1986 225.6344 127.5868 145.0345 226.5032 134.0868 145.6429 226.4694 134.0868 145.5166 226.4141 134.0868 145.3981 226.3392 134.0868 145.291 226.2467 134.0868 145.1986 226.1396 134.0868 145.1236 226.0211 134.0868 145.0683 225.8949 134.0868 145.0345 225.7646 134.0868 145.0231 225.6344 134.0868 145.0345 225.5081 134.0868 145.0683 225.3896 134.0868 145.1236 225.2825 134.0868 145.1986 225.1901 134.0868 145.291 225.1151 134.0868 145.3981 225.0599 134.0868 145.5166 225.026 134.0868 145.6429 223.5146 127.5868 142.7731 223.5146 127.5868 145.7731 223.5146 134.0868 145.7731 223.5146 134.0868 148.7731 222.0146 134.0868 148.7731 222.026 134.0868 148.9033 222.0599 134.0868 149.0296 222.1151 134.0868 149.1481 222.1901 134.0868 149.2552 222.2825 134.0868 149.3476 222.3896 134.0868 149.4226 222.5081 134.0868 149.4779 222.6344 134.0868 149.5117 222.7646 134.0868 149.5231 222.8948 134.0868 149.5117 223.0211 134.0868 149.4779 223.1396 134.0868 149.4226 223.2467 134.0868 149.3476 223.3392 134.0868 149.2552 223.4141 134.0868 149.1481 223.4694 134.0868 149.0296 223.5032 134.0868 148.9033 222.0146 134.0868 145.7731 222.0146 127.5868 145.7731 222.0146 127.5868 142.7731 223.5032 127.5868 142.6429 223.4694 127.5868 142.5166 223.4141 127.5868 142.3981 223.3392 127.5868 142.291 223.2467 127.5868 142.1986 223.1396 127.5868 142.1236 223.0211 127.5868 142.0683 222.8948 127.5868 142.0345 222.7646 127.5868 142.0231 222.6344 127.5868 142.0345 222.5081 127.5868 142.0683 222.3896 127.5868 142.1236 222.2825 127.5868 142.1986 222.1901 127.5868 142.291 222.1151 127.5868 142.3981 222.0599 127.5868 142.5166 222.026 127.5868 142.6429 222.026 127.5868 145.6429 223.4694 127.5868 145.5166 223.5032 127.5868 145.6429 223.4141 127.5868 145.3981 223.3392 127.5868 145.291 223.2467 127.5868 145.1986 223.1396 127.5868 145.1236 223.0211 127.5868 145.0683 222.8948 127.5868 145.0345 222.1901 127.5868 145.291 222.1151 127.5868 145.3981 222.0599 127.5868 145.5166 222.7646 127.5868 145.0231 222.5081 127.5868 145.0683 222.3896 127.5868 145.1236 222.2825 127.5868 145.1986 222.6344 127.5868 145.0345 172.5146 127.5868 142.7731 172.5146 127.5868 145.7731 172.5146 134.0868 145.7731 172.5146 134.0868 148.7731 171.0146 134.0868 148.7731 171.026 134.0868 148.9033 171.0599 134.0868 149.0296 171.1151 134.0868 149.1481 171.1901 134.0868 149.2552 171.2825 134.0868 149.3476 171.3896 134.0868 149.4226 171.5081 134.0868 149.4779 171.6344 134.0868 149.5117 171.7646 134.0868 149.5231 171.8949 134.0868 149.5117 172.0211 134.0868 149.4779 172.1396 134.0868 149.4226 172.2467 134.0868 149.3476 172.3392 134.0868 149.2552 172.4141 134.0868 149.1481 172.4694 134.0868 149.0296 172.5032 134.0868 148.9033 171.0146 134.0868 145.7731 171.0146 127.5868 145.7731 171.0146 127.5868 142.7731 172.5032 127.5868 142.6429 172.4694 127.5868 142.5166 172.4141 127.5868 142.3981 172.3392 127.5868 142.291 172.2467 127.5868 142.1986 172.1396 127.5868 142.1236 172.0211 127.5868 142.0683 171.8949 127.5868 142.0345 171.7646 127.5868 142.0231 171.6344 127.5868 142.0345 171.5081 127.5868 142.0683 171.3896 127.5868 142.1236 171.2825 127.5868 142.1986 171.1901 127.5868 142.291 171.1151 127.5868 142.3981 171.0599 127.5868 142.5166 171.026 127.5868 142.6429 172.4694 127.5868 145.5166 172.5032 127.5868 145.6429 171.1151 127.5868 145.3981 171.0599 127.5868 145.5166 171.026 127.5868 145.6429 171.5081 127.5868 145.0683 171.3896 127.5868 145.1236 172.4141 127.5868 145.3981 172.3392 127.5868 145.291 172.2467 127.5868 145.1986 171.2825 127.5868 145.1986 171.1901 127.5868 145.291 172.1396 127.5868 145.1236 172.0211 127.5868 145.0683 171.8949 127.5868 145.0345 171.6344 127.5868 145.0345 171.7646 127.5868 145.0231 175.5146 127.5868 142.7731 175.5146 127.5868 145.7731 175.5146 134.0868 145.7731 175.5146 134.0868 148.7731 174.0146 134.0868 148.7731 174.026 134.0868 148.9033 174.0599 134.0868 149.0296 174.1151 134.0868 149.1481 174.1901 134.0868 149.2552 174.2825 134.0868 149.3476 174.3896 134.0868 149.4226 174.5081 134.0868 149.4779 174.6344 134.0868 149.5117 174.7646 134.0868 149.5231 174.8948 134.0868 149.5117 175.0211 134.0868 149.4779 175.1396 134.0868 149.4226 175.2467 134.0868 149.3476 175.3392 134.0868 149.2552 175.4141 134.0868 149.1481 175.4694 134.0868 149.0296 175.5032 134.0868 148.9033 174.0146 134.0868 145.7731 174.0146 127.5868 145.7731 174.0146 127.5868 142.7731 175.5032 127.5868 142.6429 175.4694 127.5868 142.5166 175.4141 127.5868 142.3981 175.3392 127.5868 142.291 175.2467 127.5868 142.1986 175.1396 127.5868 142.1236 175.0211 127.5868 142.0683 174.8948 127.5868 142.0345 174.7646 127.5868 142.0231 174.6344 127.5868 142.0345 174.5081 127.5868 142.0683 174.3896 127.5868 142.1236 174.2825 127.5868 142.1986 174.1901 127.5868 142.291 174.1151 127.5868 142.3981 174.0599 127.5868 142.5166 174.026 127.5868 142.6429 175.4694 127.5868 145.5166 175.5032 127.5868 145.6429 174.1151 127.5868 145.3981 174.0599 127.5868 145.5166 174.026 127.5868 145.6429 174.5081 127.5868 145.0683 174.3896 127.5868 145.1236 175.4141 127.5868 145.3981 175.3392 127.5868 145.291 175.2467 127.5868 145.1986 174.2825 127.5868 145.1986 174.1901 127.5868 145.291 175.1396 127.5868 145.1236 175.0211 127.5868 145.0683 174.8948 127.5868 145.0345 174.6344 127.5868 145.0345 174.7646 127.5868 145.0231 178.5146 127.5868 142.7731 178.5146 127.5868 145.7731 178.5146 134.0868 145.7731 178.5146 134.0868 148.7731 177.0146 134.0868 148.7731 177.026 134.0868 148.9033 177.0599 134.0868 149.0296 177.1151 134.0868 149.1481 177.1901 134.0868 149.2552 177.2825 134.0868 149.3476 177.3896 134.0868 149.4226 177.5081 134.0868 149.4779 177.6344 134.0868 149.5117 177.7646 134.0868 149.5231 177.8948 134.0868 149.5117 178.0211 134.0868 149.4779 178.1396 134.0868 149.4226 178.2467 134.0868 149.3476 178.3392 134.0868 149.2552 178.4141 134.0868 149.1481 178.4694 134.0868 149.0296 178.5032 134.0868 148.9033 177.0146 134.0868 145.7731 177.0146 127.5868 145.7731 177.0146 127.5868 142.7731 178.5032 127.5868 142.6429 178.4694 127.5868 142.5166 178.4141 127.5868 142.3981 178.3392 127.5868 142.291 178.2467 127.5868 142.1986 178.1396 127.5868 142.1236 178.0211 127.5868 142.0683 177.8948 127.5868 142.0345 177.7646 127.5868 142.0231 177.6344 127.5868 142.0345 177.5081 127.5868 142.0683 177.3896 127.5868 142.1236 177.2825 127.5868 142.1986 177.1901 127.5868 142.291 177.1151 127.5868 142.3981 177.0599 127.5868 142.5166 177.026 127.5868 142.6429 178.4694 127.5868 145.5166 178.5032 127.5868 145.6429 177.1151 127.5868 145.3981 177.0599 127.5868 145.5166 177.026 127.5868 145.6429 177.5081 127.5868 145.0683 177.3896 127.5868 145.1236 178.4141 127.5868 145.3981 178.3392 127.5868 145.291 178.2467 127.5868 145.1986 177.2825 127.5868 145.1986 177.1901 127.5868 145.291 178.1396 127.5868 145.1236 178.0211 127.5868 145.0683 177.8948 127.5868 145.0345 177.6344 127.5868 145.0345 177.7646 127.5868 145.0231 181.5146 127.5868 142.7731 181.5146 127.5868 145.7731 181.5146 134.0868 145.7731 181.5146 134.0868 148.7731 180.0146 134.0868 148.7731 180.026 134.0868 148.9033 180.0599 134.0868 149.0296 180.1151 134.0868 149.1481 180.1901 134.0868 149.2552 180.2825 134.0868 149.3476 180.3896 134.0868 149.4226 180.5081 134.0868 149.4779 180.6344 134.0868 149.5117 180.7646 134.0868 149.5231 180.8949 134.0868 149.5117 181.0211 134.0868 149.4779 181.1396 134.0868 149.4226 181.2467 134.0868 149.3476 181.3392 134.0868 149.2552 181.4141 134.0868 149.1481 181.4694 134.0868 149.0296 181.5032 134.0868 148.9033 180.0146 134.0868 145.7731 180.0146 127.5868 145.7731 180.0146 127.5868 142.7731 181.5032 127.5868 142.6429 181.4694 127.5868 142.5166 181.4141 127.5868 142.3981 181.3392 127.5868 142.291 181.2467 127.5868 142.1986 181.1396 127.5868 142.1236 181.0211 127.5868 142.0683 180.8949 127.5868 142.0345 180.7646 127.5868 142.0231 180.6344 127.5868 142.0345 180.5081 127.5868 142.0683 180.3896 127.5868 142.1236 180.2825 127.5868 142.1986 180.1901 127.5868 142.291 180.1151 127.5868 142.3981 180.0599 127.5868 142.5166 180.026 127.5868 142.6429 181.4694 127.5868 145.5166 181.5032 127.5868 145.6429 180.1151 127.5868 145.3981 180.0599 127.5868 145.5166 180.026 127.5868 145.6429 180.5081 127.5868 145.0683 180.3896 127.5868 145.1236 181.4141 127.5868 145.3981 181.3392 127.5868 145.291 181.2467 127.5868 145.1986 180.2825 127.5868 145.1986 180.1901 127.5868 145.291 181.1396 127.5868 145.1236 181.0211 127.5868 145.0683 180.8949 127.5868 145.0345 180.6344 127.5868 145.0345 180.7646 127.5868 145.0231 184.5146 127.5868 142.7731 184.5146 127.5868 145.7731 184.5146 134.0868 145.7731 184.5146 134.0868 148.7731 183.0146 134.0868 148.7731 183.026 134.0868 148.9033 183.0599 134.0868 149.0296 183.1151 134.0868 149.1481 183.1901 134.0868 149.2552 183.2825 134.0868 149.3476 183.3896 134.0868 149.4226 183.5081 134.0868 149.4779 183.6344 134.0868 149.5117 183.7646 134.0868 149.5231 183.8948 134.0868 149.5117 184.0211 134.0868 149.4779 184.1396 134.0868 149.4226 184.2467 134.0868 149.3476 184.3392 134.0868 149.2552 184.4141 134.0868 149.1481 184.4694 134.0868 149.0296 184.5032 134.0868 148.9033 183.0146 134.0868 145.7731 183.0146 127.5868 145.7731 183.0146 127.5868 142.7731 184.5032 127.5868 142.6429 184.4694 127.5868 142.5166 184.4141 127.5868 142.3981 184.3392 127.5868 142.291 184.2467 127.5868 142.1986 184.1396 127.5868 142.1236 184.0211 127.5868 142.0683 183.8948 127.5868 142.0345 183.7646 127.5868 142.0231 183.6344 127.5868 142.0345 183.5081 127.5868 142.0683 183.3896 127.5868 142.1236 183.2825 127.5868 142.1986 183.1901 127.5868 142.291 183.1151 127.5868 142.3981 183.0599 127.5868 142.5166 183.026 127.5868 142.6429 184.5032 127.5868 145.6429 183.1151 127.5868 145.3981 183.0599 127.5868 145.5166 183.026 127.5868 145.6429 184.4141 127.5868 145.3981 184.3392 127.5868 145.291 184.4694 127.5868 145.5166 183.5081 127.5868 145.0683 183.3896 127.5868 145.1236 183.2825 127.5868 145.1986 183.1901 127.5868 145.291 184.2467 127.5868 145.1986 184.1396 127.5868 145.1236 184.0211 127.5868 145.0683 183.8948 127.5868 145.0345 183.7646 127.5868 145.0231 183.6344 127.5868 145.0345 187.5146 127.5868 142.7731 187.5146 127.5868 145.7731 187.5146 134.0868 145.7731 187.5146 134.0868 148.7731 186.0146 134.0868 148.7731 186.026 134.0868 148.9033 186.0599 134.0868 149.0296 186.1151 134.0868 149.1481 186.1901 134.0868 149.2552 186.2825 134.0868 149.3476 186.3896 134.0868 149.4226 186.5081 134.0868 149.4779 186.6344 134.0868 149.5117 186.7646 134.0868 149.5231 186.8948 134.0868 149.5117 187.0211 134.0868 149.4779 187.1396 134.0868 149.4226 187.2467 134.0868 149.3476 187.3392 134.0868 149.2552 187.4141 134.0868 149.1481 187.4694 134.0868 149.0296 187.5032 134.0868 148.9033 186.0146 134.0868 145.7731 186.0146 127.5868 145.7731 186.0146 127.5868 142.7731 187.5032 127.5868 142.6429 187.4694 127.5868 142.5166 187.4141 127.5868 142.3981 187.3392 127.5868 142.291 187.2467 127.5868 142.1986 187.1396 127.5868 142.1236 187.0211 127.5868 142.0683 186.8948 127.5868 142.0345 186.7646 127.5868 142.0231 186.6344 127.5868 142.0345 186.5081 127.5868 142.0683 186.3896 127.5868 142.1236 186.2825 127.5868 142.1986 186.1901 127.5868 142.291 186.1151 127.5868 142.3981 186.0599 127.5868 142.5166 186.026 127.5868 142.6429 187.5032 127.5868 145.6429 186.1151 127.5868 145.3981 186.0599 127.5868 145.5166 186.026 127.5868 145.6429 187.4141 127.5868 145.3981 187.3392 127.5868 145.291 187.4694 127.5868 145.5166 186.5081 127.5868 145.0683 186.3896 127.5868 145.1236 186.2825 127.5868 145.1986 186.1901 127.5868 145.291 187.2467 127.5868 145.1986 187.1396 127.5868 145.1236 187.0211 127.5868 145.0683 186.8948 127.5868 145.0345 186.7646 127.5868 145.0231 186.6344 127.5868 145.0345 190.5146 127.5868 142.7731 190.5146 127.5868 145.7731 190.5146 134.0868 145.7731 190.5146 134.0868 148.7731 189.0146 134.0868 148.7731 189.026 134.0868 148.9033 189.0599 134.0868 149.0296 189.1151 134.0868 149.1481 189.1901 134.0868 149.2552 189.2825 134.0868 149.3476 189.3896 134.0868 149.4226 189.5081 134.0868 149.4779 189.6344 134.0868 149.5117 189.7646 134.0868 149.5231 189.8948 134.0868 149.5117 190.0211 134.0868 149.4779 190.1396 134.0868 149.4226 190.2467 134.0868 149.3476 190.3392 134.0868 149.2552 190.4141 134.0868 149.1481 190.4694 134.0868 149.0296 190.5032 134.0868 148.9033 189.0146 134.0868 145.7731 189.0146 127.5868 145.7731 189.0146 127.5868 142.7731 190.5032 127.5868 142.6429 190.4694 127.5868 142.5166 190.4141 127.5868 142.3981 190.3392 127.5868 142.291 190.2467 127.5868 142.1986 190.1396 127.5868 142.1236 190.0211 127.5868 142.0683 189.8948 127.5868 142.0345 189.7646 127.5868 142.0231 189.6344 127.5868 142.0345 189.5081 127.5868 142.0683 189.3896 127.5868 142.1236 189.2825 127.5868 142.1986 189.1901 127.5868 142.291 189.1151 127.5868 142.3981 189.0599 127.5868 142.5166 189.026 127.5868 142.6429 190.5032 127.5868 145.6429 189.1151 127.5868 145.3981 189.0599 127.5868 145.5166 189.026 127.5868 145.6429 190.4141 127.5868 145.3981 190.3392 127.5868 145.291 190.4694 127.5868 145.5166 189.5081 127.5868 145.0683 189.3896 127.5868 145.1236 189.2825 127.5868 145.1986 189.1901 127.5868 145.291 190.2467 127.5868 145.1986 190.1396 127.5868 145.1236 190.0211 127.5868 145.0683 189.8948 127.5868 145.0345 189.7646 127.5868 145.0231 189.6344 127.5868 145.0345 193.5146 127.5868 142.7731 193.5146 127.5868 145.7731 193.5146 134.0868 145.7731 193.5146 134.0868 148.7731 192.0146 134.0868 148.7731 192.026 134.0868 148.9033 192.0599 134.0868 149.0296 192.1151 134.0868 149.1481 192.1901 134.0868 149.2552 192.2825 134.0868 149.3476 192.3896 134.0868 149.4226 192.5081 134.0868 149.4779 192.6344 134.0868 149.5117 192.7646 134.0868 149.5231 192.8948 134.0868 149.5117 193.0211 134.0868 149.4779 193.1396 134.0868 149.4226 193.2467 134.0868 149.3476 193.3392 134.0868 149.2552 193.4141 134.0868 149.1481 193.4694 134.0868 149.0296 193.5032 134.0868 148.9033 192.0146 134.0868 145.7731 192.0146 127.5868 145.7731 192.0146 127.5868 142.7731 193.5032 127.5868 142.6429 193.4694 127.5868 142.5166 193.4141 127.5868 142.3981 193.3392 127.5868 142.291 193.2467 127.5868 142.1986 193.1396 127.5868 142.1236 193.0211 127.5868 142.0683 192.8948 127.5868 142.0345 192.7646 127.5868 142.0231 192.6344 127.5868 142.0345 192.5081 127.5868 142.0683 192.3896 127.5868 142.1236 192.2825 127.5868 142.1986 192.1901 127.5868 142.291 192.1151 127.5868 142.3981 192.0599 127.5868 142.5166 192.026 127.5868 142.6429 193.4694 127.5868 145.5166 193.5032 127.5868 145.6429 192.1151 127.5868 145.3981 192.0599 127.5868 145.5166 192.026 127.5868 145.6429 192.5081 127.5868 145.0683 192.3896 127.5868 145.1236 193.4141 127.5868 145.3981 193.3392 127.5868 145.291 193.2467 127.5868 145.1986 192.2825 127.5868 145.1986 192.1901 127.5868 145.291 193.1396 127.5868 145.1236 193.0211 127.5868 145.0683 192.8948 127.5868 145.0345 192.7646 127.5868 145.0231 192.6344 127.5868 145.0345 205.5146 127.5868 142.7731 205.5146 127.5868 145.7731 205.5146 134.0868 145.7731 205.5146 134.0868 148.7731 204.0146 134.0868 148.7731 204.026 134.0868 148.9033 204.0599 134.0868 149.0296 204.1151 134.0868 149.1481 204.1901 134.0868 149.2552 204.2825 134.0868 149.3476 204.3896 134.0868 149.4226 204.5081 134.0868 149.4779 204.6344 134.0868 149.5117 204.7646 134.0868 149.5231 204.8948 134.0868 149.5117 205.0211 134.0868 149.4779 205.1396 134.0868 149.4226 205.2467 134.0868 149.3476 205.3392 134.0868 149.2552 205.4141 134.0868 149.1481 205.4694 134.0868 149.0296 205.5032 134.0868 148.9033 204.0146 134.0868 145.7731 204.0146 127.5868 145.7731 204.0146 127.5868 142.7731 205.5032 127.5868 142.6429 205.4694 127.5868 142.5166 205.4141 127.5868 142.3981 205.3392 127.5868 142.291 205.2467 127.5868 142.1986 205.1396 127.5868 142.1236 205.0211 127.5868 142.0683 204.8948 127.5868 142.0345 204.7646 127.5868 142.0231 204.6344 127.5868 142.0345 204.5081 127.5868 142.0683 204.3896 127.5868 142.1236 204.2825 127.5868 142.1986 204.1901 127.5868 142.291 204.1151 127.5868 142.3981 204.0599 127.5868 142.5166 204.026 127.5868 142.6429 204.026 127.5868 145.6429 205.4694 127.5868 145.5166 205.5032 127.5868 145.6429 205.4141 127.5868 145.3981 205.3392 127.5868 145.291 205.2467 127.5868 145.1986 205.1396 127.5868 145.1236 205.0211 127.5868 145.0683 204.8948 127.5868 145.0345 204.1901 127.5868 145.291 204.1151 127.5868 145.3981 204.0599 127.5868 145.5166 204.7646 127.5868 145.0231 204.5081 127.5868 145.0683 204.3896 127.5868 145.1236 204.2825 127.5868 145.1986 204.6344 127.5868 145.0345 208.5146 127.5868 142.7731 208.5146 127.5868 145.7731 208.5146 134.0868 145.7731 208.5146 134.0868 148.7731 207.0146 134.0868 148.7731 207.026 134.0868 148.9033 207.0599 134.0868 149.0296 207.1151 134.0868 149.1481 207.1901 134.0868 149.2552 207.2825 134.0868 149.3476 207.3896 134.0868 149.4226 207.5081 134.0868 149.4779 207.6344 134.0868 149.5117 207.7646 134.0868 149.5231 207.8948 134.0868 149.5117 208.0211 134.0868 149.4779 208.1396 134.0868 149.4226 208.2467 134.0868 149.3476 208.3392 134.0868 149.2552 208.4141 134.0868 149.1481 208.4694 134.0868 149.0296 208.5032 134.0868 148.9033 207.0146 134.0868 145.7731 207.0146 127.5868 145.7731 207.0146 127.5868 142.7731 208.5032 127.5868 142.6429 208.4694 127.5868 142.5166 208.4141 127.5868 142.3981 208.3392 127.5868 142.291 208.2467 127.5868 142.1986 208.1396 127.5868 142.1236 208.0211 127.5868 142.0683 207.8948 127.5868 142.0345 207.7646 127.5868 142.0231 207.6344 127.5868 142.0345 207.5081 127.5868 142.0683 207.3896 127.5868 142.1236 207.2825 127.5868 142.1986 207.1901 127.5868 142.291 207.1151 127.5868 142.3981 207.0599 127.5868 142.5166 207.026 127.5868 142.6429 207.026 127.5868 145.6429 208.5032 127.5868 145.6429 208.4141 127.5868 145.3981 208.3392 127.5868 145.291 208.4694 127.5868 145.5166 208.2467 127.5868 145.1986 208.1396 127.5868 145.1236 208.0211 127.5868 145.0683 207.8948 127.5868 145.0345 207.7646 127.5868 145.0231 207.1901 127.5868 145.291 207.1151 127.5868 145.3981 207.0599 127.5868 145.5166 207.5081 127.5868 145.0683 207.3896 127.5868 145.1236 207.2825 127.5868 145.1986 207.6344 127.5868 145.0345 211.5146 127.5868 142.7731 211.5146 127.5868 145.7731 211.5146 134.0868 145.7731 211.5146 134.0868 148.7731 210.0146 134.0868 148.7731 210.026 134.0868 148.9033 210.0599 134.0868 149.0296 210.1151 134.0868 149.1481 210.1901 134.0868 149.2552 210.2825 134.0868 149.3476 210.3896 134.0868 149.4226 210.5081 134.0868 149.4779 210.6344 134.0868 149.5117 210.7646 134.0868 149.5231 210.8948 134.0868 149.5117 211.0211 134.0868 149.4779 211.1396 134.0868 149.4226 211.2467 134.0868 149.3476 211.3392 134.0868 149.2552 211.4141 134.0868 149.1481 211.4694 134.0868 149.0296 211.5032 134.0868 148.9033 210.0146 134.0868 145.7731 210.0146 127.5868 145.7731 210.0146 127.5868 142.7731 211.5032 127.5868 142.6429 211.4694 127.5868 142.5166 211.4141 127.5868 142.3981 211.3392 127.5868 142.291 211.2467 127.5868 142.1986 211.1396 127.5868 142.1236 211.0211 127.5868 142.0683 210.8948 127.5868 142.0345 210.7646 127.5868 142.0231 210.6344 127.5868 142.0345 210.5081 127.5868 142.0683 210.3896 127.5868 142.1236 210.2825 127.5868 142.1986 210.1901 127.5868 142.291 210.1151 127.5868 142.3981 210.0599 127.5868 142.5166 210.026 127.5868 142.6429 210.026 127.5868 145.6429 211.5032 127.5868 145.6429 211.4141 127.5868 145.3981 211.3392 127.5868 145.291 211.4694 127.5868 145.5166 211.2467 127.5868 145.1986 211.1396 127.5868 145.1236 211.0211 127.5868 145.0683 210.8948 127.5868 145.0345 210.7646 127.5868 145.0231 210.1901 127.5868 145.291 210.1151 127.5868 145.3981 210.0599 127.5868 145.5166 210.5081 127.5868 145.0683 210.3896 127.5868 145.1236 210.2825 127.5868 145.1986 210.6344 127.5868 145.0345 214.5146 127.5868 142.7731 214.5146 127.5868 145.7731 214.5146 134.0868 145.7731 214.5146 134.0868 148.7731 213.0146 134.0868 148.7731 213.026 134.0868 148.9033 213.0599 134.0868 149.0296 213.1151 134.0868 149.1481 213.1901 134.0868 149.2552 213.2825 134.0868 149.3476 213.3896 134.0868 149.4226 213.5081 134.0868 149.4779 213.6344 134.0868 149.5117 213.7646 134.0868 149.5231 213.8949 134.0868 149.5117 214.0211 134.0868 149.4779 214.1396 134.0868 149.4226 214.2467 134.0868 149.3476 214.3392 134.0868 149.2552 214.4141 134.0868 149.1481 214.4694 134.0868 149.0296 214.5032 134.0868 148.9033 213.0146 134.0868 145.7731 213.0146 127.5868 145.7731 213.0146 127.5868 142.7731 214.5032 127.5868 142.6429 214.4694 127.5868 142.5166 214.4141 127.5868 142.3981 214.3392 127.5868 142.291 214.2467 127.5868 142.1986 214.1396 127.5868 142.1236 214.0211 127.5868 142.0683 213.8949 127.5868 142.0345 213.7646 127.5868 142.0231 213.6344 127.5868 142.0345 213.5081 127.5868 142.0683 213.3896 127.5868 142.1236 213.2825 127.5868 142.1986 213.1901 127.5868 142.291 213.1151 127.5868 142.3981 213.0599 127.5868 142.5166 213.026 127.5868 142.6429 213.026 127.5868 145.6429 214.4694 127.5868 145.5166 214.5032 127.5868 145.6429 214.4141 127.5868 145.3981 214.3392 127.5868 145.291 214.2467 127.5868 145.1986 214.1396 127.5868 145.1236 214.0211 127.5868 145.0683 213.8949 127.5868 145.0345 213.1901 127.5868 145.291 213.1151 127.5868 145.3981 213.0599 127.5868 145.5166 213.7646 127.5868 145.0231 213.5081 127.5868 145.0683 213.3896 127.5868 145.1236 213.2825 127.5868 145.1986 213.6344 127.5868 145.0345 217.5146 127.5868 142.7731 217.5146 127.5868 145.7731 217.5146 134.0868 145.7731 217.5146 134.0868 148.7731 216.0146 134.0868 148.7731 216.026 134.0868 148.9033 216.0599 134.0868 149.0296 216.1151 134.0868 149.1481 216.1901 134.0868 149.2552 216.2825 134.0868 149.3476 216.3896 134.0868 149.4226 216.5081 134.0868 149.4779 216.6344 134.0868 149.5117 216.7646 134.0868 149.5231 216.8949 134.0868 149.5117 217.0211 134.0868 149.4779 217.1396 134.0868 149.4226 217.2467 134.0868 149.3476 217.3392 134.0868 149.2552 217.4141 134.0868 149.1481 217.4694 134.0868 149.0296 217.5032 134.0868 148.9033 216.0146 134.0868 145.7731 216.0146 127.5868 145.7731 216.0146 127.5868 142.7731 217.5032 127.5868 142.6429 217.4694 127.5868 142.5166 217.4141 127.5868 142.3981 217.3392 127.5868 142.291 217.2467 127.5868 142.1986 217.1396 127.5868 142.1236 217.0211 127.5868 142.0683 216.8949 127.5868 142.0345 216.7646 127.5868 142.0231 216.6344 127.5868 142.0345 216.5081 127.5868 142.0683 216.3896 127.5868 142.1236 216.2825 127.5868 142.1986 216.1901 127.5868 142.291 216.1151 127.5868 142.3981 216.0599 127.5868 142.5166 216.026 127.5868 142.6429 216.026 127.5868 145.6429 217.4694 127.5868 145.5166 217.5032 127.5868 145.6429 217.4141 127.5868 145.3981 217.3392 127.5868 145.291 217.2467 127.5868 145.1986 217.1396 127.5868 145.1236 217.0211 127.5868 145.0683 216.8949 127.5868 145.0345 216.1901 127.5868 145.291 216.1151 127.5868 145.3981 216.0599 127.5868 145.5166 216.7646 127.5868 145.0231 216.5081 127.5868 145.0683 216.3896 127.5868 145.1236 216.2825 127.5868 145.1986 216.6344 127.5868 145.0345 220.5146 127.5868 142.7731 220.5146 127.5868 145.7731 220.5146 134.0868 145.7731 220.5146 134.0868 148.7731 219.0146 134.0868 148.7731 219.026 134.0868 148.9033 219.0599 134.0868 149.0296 219.1151 134.0868 149.1481 219.1901 134.0868 149.2552 219.2825 134.0868 149.3476 219.3896 134.0868 149.4226 219.5081 134.0868 149.4779 219.6344 134.0868 149.5117 219.7646 134.0868 149.5231 219.8948 134.0868 149.5117 220.0211 134.0868 149.4779 220.1396 134.0868 149.4226 220.2467 134.0868 149.3476 220.3392 134.0868 149.2552 220.4141 134.0868 149.1481 220.4694 134.0868 149.0296 220.5032 134.0868 148.9033 219.0146 134.0868 145.7731 219.0146 127.5868 145.7731 219.0146 127.5868 142.7731 220.5032 127.5868 142.6429 220.4694 127.5868 142.5166 220.4141 127.5868 142.3981 220.3392 127.5868 142.291 220.2467 127.5868 142.1986 220.1396 127.5868 142.1236 220.0211 127.5868 142.0683 219.8948 127.5868 142.0345 219.7646 127.5868 142.0231 219.6344 127.5868 142.0345 219.5081 127.5868 142.0683 219.3896 127.5868 142.1236 219.2825 127.5868 142.1986 219.1901 127.5868 142.291 219.1151 127.5868 142.3981 219.0599 127.5868 142.5166 219.026 127.5868 142.6429 219.1151 127.5868 145.3981 219.0599 127.5868 145.5166 219.026 127.5868 145.6429 220.4694 127.5868 145.5166 220.5032 127.5868 145.6429 219.5081 127.5868 145.0683 219.3896 127.5868 145.1236 220.4141 127.5868 145.3981 220.3392 127.5868 145.291 220.2467 127.5868 145.1986 220.1396 127.5868 145.1236 220.0211 127.5868 145.0683 219.8948 127.5868 145.0345 219.2825 127.5868 145.1986 219.1901 127.5868 145.291 219.7646 127.5868 145.0231 219.6344 127.5868 145.0345 223.5032 134.0868 145.6429 223.4694 134.0868 145.5166 223.4141 134.0868 145.3981 223.3392 134.0868 145.291 223.2467 134.0868 145.1986 223.1396 134.0868 145.1236 223.0211 134.0868 145.0683 222.8948 134.0868 145.0345 222.7646 134.0868 145.0231 222.6344 134.0868 145.0345 222.5081 134.0868 145.0683 222.3896 134.0868 145.1236 222.2825 134.0868 145.1986 222.1901 134.0868 145.291 222.1151 134.0868 145.3981 222.0599 134.0868 145.5166 222.026 134.0868 145.6429 220.5032 134.0868 145.6429 220.4694 134.0868 145.5166 220.4141 134.0868 145.3981 220.3392 134.0868 145.291 220.2467 134.0868 145.1986 220.1396 134.0868 145.1236 220.0211 134.0868 145.0683 219.8948 134.0868 145.0345 219.7646 134.0868 145.0231 219.6344 134.0868 145.0345 219.5081 134.0868 145.0683 219.3896 134.0868 145.1236 219.2825 134.0868 145.1986 219.1901 134.0868 145.291 219.1151 134.0868 145.3981 219.0599 134.0868 145.5166 219.026 134.0868 145.6429 217.5032 134.0868 145.6429 217.4694 134.0868 145.5166 217.4141 134.0868 145.3981 217.3392 134.0868 145.291 217.2467 134.0868 145.1986 217.1396 134.0868 145.1236 217.0211 134.0868 145.0683 216.8949 134.0868 145.0345 216.7646 134.0868 145.0231 216.6344 134.0868 145.0345 216.5081 134.0868 145.0683 216.3896 134.0868 145.1236 216.2825 134.0868 145.1986 216.1901 134.0868 145.291 216.1151 134.0868 145.3981 216.0599 134.0868 145.5166 216.026 134.0868 145.6429 214.5032 134.0868 145.6429 214.4694 134.0868 145.5166 214.4141 134.0868 145.3981 214.3392 134.0868 145.291 214.2467 134.0868 145.1986 214.1396 134.0868 145.1236 214.0211 134.0868 145.0683 213.8949 134.0868 145.0345 213.7646 134.0868 145.0231 213.6344 134.0868 145.0345 213.5081 134.0868 145.0683 213.3896 134.0868 145.1236 213.2825 134.0868 145.1986 213.1901 134.0868 145.291 213.1151 134.0868 145.3981 213.0599 134.0868 145.5166 213.026 134.0868 145.6429 211.5032 134.0868 145.6429 211.4694 134.0868 145.5166 211.4141 134.0868 145.3981 211.3392 134.0868 145.291 211.2467 134.0868 145.1986 211.1396 134.0868 145.1236 211.0211 134.0868 145.0683 210.8948 134.0868 145.0345 210.7646 134.0868 145.0231 210.6344 134.0868 145.0345 210.5081 134.0868 145.0683 210.3896 134.0868 145.1236 210.2825 134.0868 145.1986 210.1901 134.0868 145.291 210.1151 134.0868 145.3981 210.0599 134.0868 145.5166 210.026 134.0868 145.6429 208.5032 134.0868 145.6429 208.4694 134.0868 145.5166 208.4141 134.0868 145.3981 208.3392 134.0868 145.291 208.2467 134.0868 145.1986 208.1396 134.0868 145.1236 208.0211 134.0868 145.0683 207.8948 134.0868 145.0345 207.7646 134.0868 145.0231 207.6344 134.0868 145.0345 207.5081 134.0868 145.0683 207.3896 134.0868 145.1236 207.2825 134.0868 145.1986 207.1901 134.0868 145.291 207.1151 134.0868 145.3981 207.0599 134.0868 145.5166 207.026 134.0868 145.6429 205.5032 134.0868 145.6429 205.4694 134.0868 145.5166 205.4141 134.0868 145.3981 205.3392 134.0868 145.291 205.2467 134.0868 145.1986 205.1396 134.0868 145.1236 205.0211 134.0868 145.0683 204.8948 134.0868 145.0345 204.7646 134.0868 145.0231 204.6344 134.0868 145.0345 204.5081 134.0868 145.0683 204.3896 134.0868 145.1236 204.2825 134.0868 145.1986 204.1901 134.0868 145.291 204.1151 134.0868 145.3981 204.0599 134.0868 145.5166 204.026 134.0868 145.6429 193.5032 134.0868 145.6429 193.4694 134.0868 145.5166 193.4141 134.0868 145.3981 193.3392 134.0868 145.291 193.2467 134.0868 145.1986 193.1396 134.0868 145.1236 193.0211 134.0868 145.0683 192.8948 134.0868 145.0345 192.7646 134.0868 145.0231 192.6344 134.0868 145.0345 192.5081 134.0868 145.0683 192.3896 134.0868 145.1236 192.2825 134.0868 145.1986 192.1901 134.0868 145.291 192.1151 134.0868 145.3981 192.0599 134.0868 145.5166 192.026 134.0868 145.6429 190.5032 134.0868 145.6429 190.4694 134.0868 145.5166 190.4141 134.0868 145.3981 190.3392 134.0868 145.291 190.2467 134.0868 145.1986 190.1396 134.0868 145.1236 190.0211 134.0868 145.0683 189.8948 134.0868 145.0345 189.7646 134.0868 145.0231 189.6344 134.0868 145.0345 189.5081 134.0868 145.0683 189.3896 134.0868 145.1236 189.2825 134.0868 145.1986 189.1901 134.0868 145.291 189.1151 134.0868 145.3981 189.0599 134.0868 145.5166 189.026 134.0868 145.6429 187.5032 134.0868 145.6429 187.4694 134.0868 145.5166 187.4141 134.0868 145.3981 187.3392 134.0868 145.291 187.2467 134.0868 145.1986 187.1396 134.0868 145.1236 187.0211 134.0868 145.0683 186.8948 134.0868 145.0345 186.7646 134.0868 145.0231 186.6344 134.0868 145.0345 186.5081 134.0868 145.0683 186.3896 134.0868 145.1236 186.2825 134.0868 145.1986 186.1901 134.0868 145.291 186.1151 134.0868 145.3981 186.0599 134.0868 145.5166 186.026 134.0868 145.6429 184.5032 134.0868 145.6429 184.4694 134.0868 145.5166 184.4141 134.0868 145.3981 184.3392 134.0868 145.291 184.2467 134.0868 145.1986 184.1396 134.0868 145.1236 184.0211 134.0868 145.0683 183.8948 134.0868 145.0345 183.7646 134.0868 145.0231 183.6344 134.0868 145.0345 183.5081 134.0868 145.0683 183.3896 134.0868 145.1236 183.2825 134.0868 145.1986 183.1901 134.0868 145.291 183.1151 134.0868 145.3981 183.0599 134.0868 145.5166 183.026 134.0868 145.6429 181.5032 134.0868 145.6429 181.4694 134.0868 145.5166 181.4141 134.0868 145.3981 181.3392 134.0868 145.291 181.2467 134.0868 145.1986 181.1396 134.0868 145.1236 181.0211 134.0868 145.0683 180.8949 134.0868 145.0345 180.7646 134.0868 145.0231 180.6344 134.0868 145.0345 180.5081 134.0868 145.0683 180.3896 134.0868 145.1236 180.2825 134.0868 145.1986 180.1901 134.0868 145.291 180.1151 134.0868 145.3981 180.0599 134.0868 145.5166 180.026 134.0868 145.6429 178.5032 134.0868 145.6429 178.4694 134.0868 145.5166 178.4141 134.0868 145.3981 178.3392 134.0868 145.291 178.2467 134.0868 145.1986 178.1396 134.0868 145.1236 178.0211 134.0868 145.0683 177.8948 134.0868 145.0345 177.7646 134.0868 145.0231 177.6344 134.0868 145.0345 177.5081 134.0868 145.0683 177.3896 134.0868 145.1236 177.2825 134.0868 145.1986 177.1901 134.0868 145.291 177.1151 134.0868 145.3981 177.0599 134.0868 145.5166 177.026 134.0868 145.6429 175.5032 134.0868 145.6429 175.4694 134.0868 145.5166 175.4141 134.0868 145.3981 175.3392 134.0868 145.291 175.2467 134.0868 145.1986 175.1396 134.0868 145.1236 175.0211 134.0868 145.0683 174.8948 134.0868 145.0345 174.7646 134.0868 145.0231 174.6344 134.0868 145.0345 174.5081 134.0868 145.0683 174.3896 134.0868 145.1236 174.2825 134.0868 145.1986 174.1901 134.0868 145.291 174.1151 134.0868 145.3981 174.0599 134.0868 145.5166 174.026 134.0868 145.6429 172.5032 134.0868 145.6429 172.4694 134.0868 145.5166 172.4141 134.0868 145.3981 172.3392 134.0868 145.291 172.2467 134.0868 145.1986 172.1396 134.0868 145.1236 172.0211 134.0868 145.0683 171.8949 134.0868 145.0345 171.7646 134.0868 145.0231 171.6344 134.0868 145.0345 171.5081 134.0868 145.0683 171.3896 134.0868 145.1236 171.2825 134.0868 145.1986 171.1901 134.0868 145.291 171.1151 134.0868 145.3981 171.0599 134.0868 145.5166 171.026 134.0868 145.6429 194.7114 139.0868 146.1731 194.7729 139.0868 145.4698 194.9556 139.0868 144.7879 195.254 139.0868 144.1481 195.6589 139.0868 143.5698 196.1581 139.0868 143.0706 196.7364 139.0868 142.6657 197.3762 139.0868 142.3673 198.0581 139.0868 142.1846 198.7614 139.0868 142.1231 199.4647 139.0868 142.1846 200.1466 139.0868 142.3673 200.7864 139.0868 142.6657 201.3647 139.0868 143.0706 201.8639 139.0868 143.5698 202.2688 139.0868 144.1481 202.5671 139.0868 144.7879 202.7499 139.0868 145.4698 202.8114 139.0868 146.1731 194.8114 139.0868 146.1731 194.8714 139.0868 145.4872 195.0496 139.0868 144.8221 195.3406 139.0868 144.1981 195.7355 139.0868 143.6341 196.2224 139.0868 143.1472 196.7864 139.0868 142.7523 197.4104 139.0868 142.4613 198.0755 139.0868 142.2831 198.7614 139.0868 142.2231 199.4473 139.0868 142.2831 200.1124 139.0868 142.4613 200.7364 139.0868 142.7523 201.3004 139.0868 143.1472 201.7873 139.0868 143.6341 202.1822 139.0868 144.1981 202.4732 139.0868 144.8221 202.6514 139.0868 145.4872 202.7114 139.0868 146.1731 202.7114 126.5868 146.1731 202.6514 126.5868 145.4872 202.4732 126.5868 144.8221 202.1822 126.5868 144.1981 201.7873 126.5868 143.6341 201.3004 126.5868 143.1472 200.7364 126.5868 142.7523 200.1124 126.5868 142.4613 199.4473 126.5868 142.2831 198.7614 126.5868 142.2231 198.0755 126.5868 142.2831 197.4104 126.5868 142.4613 196.7864 126.5868 142.7523 196.2224 126.5868 143.1472 195.7355 126.5868 143.6341 195.3406 126.5868 144.1981 195.0496 126.5868 144.8221 194.8714 126.5868 145.4872 194.8114 126.5868 146.1731 194.8114 126.5868 152.1231 202.7114 126.5868 152.1231 196.2475 126.5868 146.6164 196.3626 126.5868 147.0462 199.2047 126.5868 148.687 199.6345 126.5868 148.5718 200.0377 126.5868 148.3838 200.4022 126.5868 148.1286 197.485 126.5868 148.3838 197.1205 126.5868 148.1286 196.8059 126.5868 147.8139 197.8883 126.5868 148.5718 198.3181 126.5868 148.687 198.7614 126.5868 148.7258 201.1601 126.5868 147.0462 200.9721 126.5868 147.4494 200.7169 126.5868 147.8139 196.5507 126.5868 147.4494 201.2753 126.5868 146.6164 201.3141 126.5868 146.1731 201.2753 126.5868 145.7298 201.1601 126.5868 145.3 200.9721 126.5868 144.8968 200.7169 126.5868 144.5323 200.4022 126.5868 144.2176 200.0377 126.5868 143.9624 199.6345 126.5868 143.7743 199.2047 126.5868 143.6592 198.7614 126.5868 143.6204 198.3181 126.5868 143.6592 197.8883 126.5868 143.7743 197.485 126.5868 143.9624 197.1205 126.5868 144.2176 196.8059 126.5868 144.5323 196.5507 126.5868 144.8968 196.3626 126.5868 145.3 196.2475 126.5868 145.7298 196.2087 126.5868 146.1731 198.7614 138.1206 146.1731 198.3181 136.5868 148.687 197.8883 136.5868 148.5718 198.7614 136.5868 148.7258 197.1205 136.5868 148.1286 196.8059 136.5868 147.8139 197.485 136.5868 148.3838 196.3626 136.5868 147.0462 196.2475 136.5868 146.6164 196.5507 136.5868 147.4494 196.2475 136.5868 145.7298 196.3626 136.5868 145.3 196.2087 136.5868 146.1731 196.8059 136.5868 144.5323 197.1205 136.5868 144.2176 196.5507 136.5868 144.8968 197.8883 136.5868 143.7743 198.3181 136.5868 143.6592 197.485 136.5868 143.9624 199.2047 136.5868 143.6592 199.6345 136.5868 143.7743 198.7614 136.5868 143.6204 200.4022 136.5868 144.2176 200.7169 136.5868 144.5323 200.0377 136.5868 143.9624 201.1601 136.5868 145.3 201.2753 136.5868 145.7298 200.9721 136.5868 144.8968 201.2753 136.5868 146.6164 201.1601 136.5868 147.0462 201.3141 136.5868 146.1731 200.7169 136.5868 147.8139 200.4022 136.5868 148.1286 200.9721 136.5868 147.4494 199.6345 136.5868 148.5718 199.2047 136.5868 148.687 200.0377 136.5868 148.3838 221.2614 139.0868 150.472 222.4924 139.3039 151.2231 222.436 139.5143 151.2231 222.5114 139.0868 151.2231 222.2189 139.8903 151.2231 222.0649 140.0444 151.2231 222.3439 139.7118 151.2231 221.6889 140.2614 151.2231 221.4785 140.3178 151.2231 221.8864 140.1693 151.2231 221.0443 140.3178 151.2231 220.8339 140.2614 151.2231 221.2614 140.3368 151.2231 220.4579 140.0444 151.2231 220.3038 139.8903 151.2231 220.6364 140.1693 151.2231 220.0868 139.5143 151.2231 220.0304 139.3039 151.2231 220.1789 139.7118 151.2231 220.0304 138.8697 151.2231 220.0868 138.6593 151.2231 220.0114 139.0868 151.2231 220.3038 138.2833 151.2231 220.4579 138.1293 151.2231 220.1789 138.4618 151.2231 220.8339 137.9122 151.2231 221.0443 137.8558 151.2231 220.6364 138.0043 151.2231 221.4785 137.8558 151.2231 221.6889 137.9122 151.2231 221.2614 137.8368 151.2231 222.0649 138.1293 151.2231 222.2189 138.2833 151.2231 221.8864 138.0043 151.2231 222.436 138.6593 151.2231 222.4924 138.8697 151.2231 222.3439 138.4618 151.2231 176.2614 139.0868 150.472 177.4924 139.3039 151.2231 177.436 139.5143 151.2231 177.5114 139.0868 151.2231 177.2189 139.8903 151.2231 177.0649 140.0444 151.2231 177.3439 139.7118 151.2231 176.6889 140.2614 151.2231 176.4785 140.3178 151.2231 176.8864 140.1693 151.2231 176.0443 140.3178 151.2231 175.8339 140.2614 151.2231 176.2614 140.3368 151.2231 175.4579 140.0444 151.2231 175.3038 139.8903 151.2231 175.6364 140.1693 151.2231 175.0868 139.5143 151.2231 175.0304 139.3039 151.2231 175.1789 139.7118 151.2231 175.0304 138.8697 151.2231 175.0868 138.6593 151.2231 175.0114 139.0868 151.2231 175.3038 138.2833 151.2231 175.4579 138.1293 151.2231 175.1789 138.4618 151.2231 175.8339 137.9122 151.2231 176.0443 137.8558 151.2231 175.6364 138.0043 151.2231 176.4785 137.8558 151.2231 176.6889 137.9122 151.2231 176.2614 137.8368 151.2231 177.0649 138.1293 151.2231 177.2189 138.2833 151.2231 176.8864 138.0043 151.2231 177.436 138.6593 151.2231 177.4924 138.8697 151.2231 177.3439 138.4618 151.2231 168.0114 142.1179 131.7231 167.4585 142.3757 131.7231 168.9425 136.837 131.7231 177.4312 142.3007 131.7231 176.9313 141.5868 131.7231 176.5629 140.7969 131.7231 176.3373 139.955 131.7231 168.5111 136.4057 131.7231 176.2614 139.0868 131.7231 168.0114 136.0557 131.7231 167.4585 135.7979 131.7231 200.7614 139.0868 131.7231 182.9715 134.3883 131.7231 183.7614 134.7567 131.7231 169.2925 137.3368 131.7231 178.7614 143.4169 131.7231 178.0475 142.917 131.7231 169.5503 137.8897 131.7231 169.7082 138.479 131.7231 169.7614 139.0868 131.7231 166.8692 142.5336 131.7231 166.2614 142.5868 131.7231 165.6536 142.5336 131.7231 165.0643 142.3757 131.7231 164.5114 142.1179 131.7231 164.0116 141.768 131.7231 163.5802 141.3366 131.7231 163.2303 140.8368 131.7231 162.9725 140.2839 131.7231 162.8146 139.6946 131.7231 162.7614 139.0868 131.7231 162.8146 138.479 131.7231 184.4753 135.2566 131.7231 185.0916 135.8729 131.7231 185.5915 136.5868 131.7231 186.2614 139.0868 131.7231 205.0382 145.1948 131.7231 204.0114 144.716 131.7231 203.0833 144.0661 131.7231 202.2821 143.2649 131.7231 201.6322 142.3368 131.7231 201.1534 141.3099 131.7231 200.8601 140.2155 131.7231 186.1854 138.2186 131.7231 185.9598 137.3767 131.7231 186.1854 139.955 131.7231 185.9598 140.7969 131.7231 206.1327 145.4881 131.7231 216.5114 133.4576 131.7231 226.2614 139.0868 131.7231 226.3373 138.2186 131.7231 162.9725 137.8897 131.7231 163.2303 137.3368 131.7231 163.5802 136.837 131.7231 164.0116 136.4057 131.7231 164.5114 136.0557 131.7231 165.0643 135.7979 131.7231 165.6536 135.64 131.7231 176.3373 138.2186 131.7231 176.5629 137.3767 131.7231 166.8692 135.64 131.7231 166.2614 135.5868 131.7231 201.1534 136.8637 131.7231 201.6322 135.8368 131.7231 202.2821 134.9087 131.7231 218.2407 134.9087 131.7231 226.9313 141.5868 131.7231 226.5629 140.7969 131.7231 217.4395 134.1075 131.7231 226.3373 139.955 131.7231 169.7082 139.6946 131.7231 169.5503 140.2839 131.7231 179.5513 143.7853 131.7231 176.9313 136.5868 131.7231 177.4312 135.8729 131.7231 178.0475 135.2566 131.7231 178.7614 134.7567 131.7231 179.5513 134.3883 131.7231 180.3931 134.1628 131.7231 185.5915 141.5868 131.7231 185.0916 142.3007 131.7231 184.4753 142.917 131.7231 203.0833 134.1075 131.7231 204.0114 133.4576 131.7231 205.0382 132.9788 131.7231 218.8905 142.3368 131.7231 218.2407 143.2649 131.7231 169.2925 140.8368 131.7231 168.9425 141.3366 131.7231 180.3931 144.0108 131.7231 168.5111 141.768 131.7231 226.5629 137.3767 131.7231 226.9313 136.5868 131.7231 215.4845 132.9788 131.7231 227.4312 135.8729 131.7231 214.3901 132.6856 131.7231 228.0475 135.2566 131.7231 228.7614 134.7567 131.7231 181.2614 134.0868 131.7231 182.1296 134.1628 131.7231 200.8601 137.9581 131.7231 215.4845 145.1948 131.7231 214.3901 145.4881 131.7231 181.2614 144.0868 131.7231 182.1296 144.0108 131.7231 182.9715 143.7853 131.7231 218.8905 135.8368 131.7231 228.0475 142.917 131.7231 227.4312 142.3007 131.7231 231.2614 144.0868 131.7231 230.3931 144.0108 131.7231 217.4395 144.0661 131.7231 216.5114 144.716 131.7231 206.1327 132.6856 131.7231 207.2614 132.5868 131.7231 229.5513 134.3883 131.7231 213.2614 132.5868 131.7231 232.1296 144.0108 131.7231 219.3694 141.3099 131.7231 230.3931 134.1628 131.7231 231.2614 134.0868 131.7231 232.1296 134.1628 131.7231 232.9715 134.3883 131.7231 233.7614 134.7567 131.7231 234.4753 135.2566 131.7231 235.0916 135.8729 131.7231 235.5915 136.5868 131.7231 235.9598 137.3767 131.7231 236.1854 138.2186 131.7231 236.2614 139.0868 131.7231 236.1854 139.955 131.7231 235.9598 140.7969 131.7231 235.5915 141.5868 131.7231 235.0916 142.3007 131.7231 234.4753 142.917 131.7231 233.7614 143.4169 131.7231 232.9715 143.7853 131.7231 183.7614 143.4169 131.7231 207.2614 145.5868 131.7231 213.2614 145.5868 131.7231 219.3694 136.8637 131.7231 219.6626 137.9581 131.7231 228.7614 143.4169 131.7231 219.7614 139.0868 131.7231 219.6626 140.2155 131.7231 229.5513 143.7853 131.7231 207.2614 132.5868 135.2231 213.2614 132.5868 135.2231 213.2614 145.5868 135.2231 214.3901 145.4881 135.2231 215.4845 145.1948 135.2231 216.5114 144.716 135.2231 217.4395 144.0661 135.2231 218.2407 143.2649 135.2231 218.8905 142.3368 135.2231 219.3694 141.3099 135.2231 219.6626 140.2155 135.2231 219.7614 139.0868 135.2231 219.6626 137.9581 135.2231 219.3694 136.8637 135.2231 218.8905 135.8368 135.2231 218.2407 134.9087 135.2231 217.4395 134.1075 135.2231 216.5114 133.4576 135.2231 215.4845 132.9788 135.2231 214.3901 132.6856 135.2231 207.2614 145.5868 135.2231 206.1327 132.6856 135.2231 205.0382 132.9788 135.2231 204.0114 133.4576 135.2231 203.0833 134.1075 135.2231 202.2821 134.9087 135.2231 201.6322 135.8368 135.2231 201.1534 136.8637 135.2231 200.8601 137.9581 135.2231 200.7614 139.0868 135.2231 200.8601 140.2155 135.2231 201.1534 141.3099 135.2231 201.6322 142.3368 135.2231 202.2821 143.2649 135.2231 203.0833 144.0661 135.2231 204.0114 144.716 135.2231 205.0382 145.1948 135.2231 206.1327 145.4881 135.2231 214.0916 142.3007 135.2231 213.4753 142.917 135.2231 214.9598 140.7969 135.2231 215.1854 139.955 135.2231 215.2614 139.0868 135.2231 215.1854 138.2186 135.2231 212.7614 143.4169 135.2231 210.2614 144.0868 135.2231 211.1296 144.0108 135.2231 211.9715 143.7853 135.2231 214.9598 137.3767 135.2231 214.5915 136.5868 135.2231 214.5915 141.5868 135.2231 205.5629 137.3767 135.2231 205.9313 136.5868 135.2231 205.3373 139.955 135.2231 205.5629 140.7969 135.2231 205.9313 141.5868 135.2231 206.4312 135.8729 135.2231 205.3373 138.2186 135.2231 205.2614 139.0868 135.2231 207.0475 135.2566 135.2231 207.7614 134.7567 135.2231 210.2614 134.0868 135.2231 209.3931 134.1628 135.2231 208.5513 134.3883 135.2231 214.0916 135.8729 135.2231 213.4753 135.2566 135.2231 212.7614 134.7567 135.2231 211.9715 134.3883 135.2231 211.1296 134.1628 135.2231 209.3931 144.0108 135.2231 208.5513 143.7853 135.2231 207.7614 143.4169 135.2231 207.0475 142.917 135.2231 206.4312 142.3007 135.2231 162.7614 139.0868 135.2231 162.8146 139.6946 135.2231 162.9725 140.2839 135.2231 163.2303 140.8368 135.2231 163.5802 141.3366 135.2231 164.0116 141.768 135.2231 164.5114 142.1179 135.2231 165.0643 142.3757 135.2231 165.6536 142.5336 135.2231 166.2614 142.5868 135.2231 166.8692 142.5336 135.2231 167.4585 142.3757 135.2231 168.0114 142.1179 135.2231 168.5111 141.768 135.2231 168.9425 141.3366 135.2231 169.2925 140.8368 135.2231 169.5503 140.2839 135.2231 169.7082 139.6946 135.2231 169.7614 139.0868 135.2231 169.7082 138.479 135.2231 169.5503 137.8897 135.2231 169.2925 137.3368 135.2231 168.9425 136.837 135.2231 168.5111 136.4057 135.2231 168.0114 136.0557 135.2231 167.4585 135.7979 135.2231 166.8692 135.64 135.2231 166.2614 135.5868 135.2231 165.6536 135.64 135.2231 165.0643 135.7979 135.2231 164.5114 136.0557 135.2231 164.0116 136.4057 135.2231 163.5802 136.837 135.2231 163.2303 137.3368 135.2231 162.9725 137.8897 135.2231 162.8146 138.479 135.2231 168.1091 138.3214 135.2231 168.1979 138.5868 135.2231 168.7109 138.5868 135.2231 164.4136 138.3214 135.2231 164.5385 138.0711 135.2231 164.1758 137.7083 135.2231 165.496 137.2391 135.2231 165.7614 137.1503 135.2231 165.7614 136.6373 135.2231 168.1091 139.8522 135.2231 167.9842 140.1026 135.2231 168.347 140.4653 135.2231 167.0267 140.9346 135.2231 166.7614 141.0233 135.2231 166.7614 141.5363 135.2231 164.4136 139.8522 135.2231 164.3249 139.5868 135.2231 163.8119 139.5868 135.2231 167.0267 137.2391 135.2231 167.2771 137.3639 135.2231 167.6399 137.0012 135.2231 168.1979 139.5868 135.2231 168.1437 140.732 135.2231 167.2771 140.8097 135.2231 167.6399 141.1724 135.2231 167.9066 140.9692 135.2231 164.3249 138.5868 135.2231 163.8119 138.5868 135.2231 163.767 138.9191 135.2231 163.767 139.2545 135.2231 164.379 137.4416 135.2231 165.2456 137.3639 135.2231 164.8829 137.0012 135.2231 164.6162 137.2045 135.2231 166.0937 136.5924 135.2231 166.4291 136.5924 135.2231 166.7614 136.6373 135.2231 166.7614 137.1503 135.2231 167.9066 137.2045 135.2231 168.7109 139.5868 135.2231 168.7557 139.2545 135.2231 168.7557 138.9191 135.2231 165.2456 140.8097 135.2231 164.8829 141.1724 135.2231 165.496 140.9346 135.2231 164.6162 140.9692 135.2231 166.4291 141.5812 135.2231 166.0937 141.5812 135.2231 165.7614 141.5363 135.2231 165.7614 141.0233 135.2231 168.1437 137.4416 135.2231 168.347 137.7083 135.2231 167.9842 138.0711 135.2231 164.379 140.732 135.2231 164.1758 140.4653 135.2231 164.5385 140.1026 135.2231 176.2614 139.0868 135.2231 176.3373 139.955 135.2231 176.5629 140.7969 135.2231 176.9313 141.5868 135.2231 177.4312 142.3007 135.2231 178.0475 142.917 135.2231 178.7614 143.4169 135.2231 179.5513 143.7853 135.2231 180.3931 144.0108 135.2231 181.2614 144.0868 135.2231 182.1296 144.0108 135.2231 182.9715 143.7853 135.2231 183.7614 143.4169 135.2231 184.4753 142.917 135.2231 185.0916 142.3007 135.2231 185.5915 141.5868 135.2231 185.9598 140.7969 135.2231 186.1854 139.955 135.2231 186.2614 139.0868 135.2231 186.1854 138.2186 135.2231 185.9598 137.3767 135.2231 185.5915 136.5868 135.2231 185.0916 135.8729 135.2231 184.4753 135.2566 135.2231 183.7614 134.7567 135.2231 182.9715 134.3883 135.2231 182.1296 134.1628 135.2231 181.2614 134.0868 135.2231 180.3931 134.1628 135.2231 179.5513 134.3883 135.2231 178.7614 134.7567 135.2231 178.0475 135.2566 135.2231 177.4312 135.8729 135.2231 176.9313 136.5868 135.2231 176.5629 137.3767 135.2231 176.3373 138.2186 135.2231 226.2614 139.0868 135.2231 226.3373 139.955 135.2231 226.5629 140.7969 135.2231 226.9313 141.5868 135.2231 227.4312 142.3007 135.2231 228.0475 142.917 135.2231 228.7614 143.4169 135.2231 229.5513 143.7853 135.2231 230.3931 144.0108 135.2231 231.2614 144.0868 135.2231 232.1296 144.0108 135.2231 232.9715 143.7853 135.2231 233.7614 143.4169 135.2231 234.4753 142.917 135.2231 235.0916 142.3007 135.2231 235.5915 141.5868 135.2231 235.9598 140.7969 135.2231 236.1854 139.955 135.2231 236.2614 139.0868 135.2231 236.1854 138.2186 135.2231 235.9598 137.3767 135.2231 235.5915 136.5868 135.2231 235.0916 135.8729 135.2231 234.4753 135.2566 135.2231 233.7614 134.7567 135.2231 232.9715 134.3883 135.2231 232.1296 134.1628 135.2231 231.2614 134.0868 135.2231 230.3931 134.1628 135.2231 229.5513 134.3883 135.2231 228.7614 134.7567 135.2231 228.0475 135.2566 135.2231 227.4312 135.8729 135.2231 226.9313 136.5868 135.2231 226.5629 137.3767 135.2231 226.3373 138.2186 135.2231 226.4693 139.9318 135.7231 226.6888 140.7511 135.7231 227.0473 141.5198 135.7231 227.5338 142.2146 135.7231 228.1336 142.8144 135.7231 228.8284 143.3009 135.7231 229.5971 143.6594 135.7231 230.4164 143.8789 135.7231 231.2614 143.9528 135.7231 232.1064 143.8789 135.7231 232.9257 143.6594 135.7231 233.6944 143.3009 135.7231 234.3892 142.8144 135.7231 234.989 142.2146 135.7231 235.4755 141.5198 135.7231 235.8339 140.7511 135.7231 236.0535 139.9318 135.7231 236.1274 139.0868 135.7231 236.0535 138.2418 135.7231 235.8339 137.4225 135.7231 235.4755 136.6538 135.7231 234.989 135.959 135.7231 234.3892 135.3592 135.7231 233.6944 134.8727 135.7231 232.9257 134.5142 135.7231 232.1064 134.2947 135.7231 231.2614 134.2208 135.7231 230.4164 134.2947 135.7231 229.5971 134.5142 135.7231 228.8284 134.8727 135.7231 228.1336 135.3592 135.7231 227.5338 135.959 135.7231 227.0473 136.6538 135.7231 226.6888 137.4225 135.7231 226.4693 138.2418 135.7231 226.3954 139.0868 135.7231 228.1206 141.7222 135.7231 228.626 142.2276 135.7231 229.2114 142.6375 135.7231 229.8591 142.9396 135.7231 230.5494 143.1245 135.7231 231.2614 143.1868 135.7231 231.9733 143.1245 135.7231 232.6637 142.9396 135.7231 233.3114 142.6375 135.7231 233.8968 142.2276 135.7231 234.4022 141.7222 135.7231 234.8121 141.1368 135.7231 235.1141 140.4891 135.7231 235.2991 139.7988 135.7231 235.3614 139.0868 135.7231 235.2991 138.3749 135.7231 235.1141 137.6845 135.7231 234.8121 137.0368 135.7231 234.4022 136.4514 135.7231 233.8968 135.946 135.7231 233.3114 135.5361 135.7231 232.6637 135.2341 135.7231 231.9733 135.0491 135.7231 231.2614 134.9868 135.7231 230.5494 135.0491 135.7231 229.8591 135.2341 135.7231 229.2114 135.5361 135.7231 228.626 135.946 135.7231 228.1206 136.4514 135.7231 227.7107 137.0368 135.7231 227.4086 137.6845 135.7231 227.2237 138.3749 135.7231 227.1614 139.0868 135.7231 227.2237 139.7988 135.7231 227.4086 140.4891 135.7231 227.7107 141.1368 135.7231 230.5841 142.9276 135.2231 230.5494 143.1245 135.2231 231.2614 142.9868 135.2231 231.2614 143.1868 135.2231 231.9386 142.9276 135.2231 231.9733 143.1245 135.2231 232.5953 142.7516 135.2231 232.6637 142.9396 135.2231 233.2114 142.4643 135.2231 233.3114 142.6375 135.2231 233.7683 142.0744 135.2231 233.8968 142.2276 135.2231 234.249 141.5937 135.2231 234.4022 141.7222 135.2231 234.6389 141.0368 135.2231 234.8121 141.1368 135.2231 234.9262 140.4207 135.2231 235.1141 140.4891 135.2231 235.1021 139.764 135.2231 235.2991 139.7988 135.2231 235.1614 139.0868 135.2231 235.3614 139.0868 135.2231 235.1021 138.4096 135.2231 235.2991 138.3749 135.2231 234.9262 137.7529 135.2231 235.1141 137.6845 135.2231 234.6389 137.1368 135.2231 234.8121 137.0368 135.2231 234.249 136.5799 135.2231 234.4022 136.4514 135.2231 233.7683 136.0992 135.2231 233.8968 135.946 135.2231 233.2114 135.7093 135.2231 233.3114 135.5361 135.2231 232.5953 135.422 135.2231 232.6637 135.2341 135.2231 231.9386 135.2461 135.2231 231.9733 135.0491 135.2231 231.2614 135.1868 135.2231 231.2614 134.9868 135.2231 230.5841 135.2461 135.2231 230.5494 135.0491 135.2231 229.9275 135.422 135.2231 229.8591 135.2341 135.2231 229.3114 135.7093 135.2231 229.2114 135.5361 135.2231 228.7545 136.0992 135.2231 228.626 135.946 135.2231 228.2738 136.5799 135.2231 228.1206 136.4514 135.2231 227.8839 137.1368 135.2231 227.7107 137.0368 135.2231 227.5966 137.7529 135.2231 227.4086 137.6845 135.2231 227.4206 138.4096 135.2231 227.2237 138.3749 135.2231 227.3614 139.0868 135.2231 227.1614 139.0868 135.2231 227.4206 139.764 135.2231 227.2237 139.7988 135.2231 227.5966 140.4207 135.2231 227.4086 140.4891 135.2231 227.8839 141.0368 135.2231 227.7107 141.1368 135.2231 228.2738 141.5937 135.2231 228.1206 141.7222 135.2231 228.7545 142.0744 135.2231 228.626 142.2276 135.2231 229.3114 142.4643 135.2231 229.2114 142.6375 135.2231 229.9275 142.7516 135.2231 229.8591 142.9396 135.2231 227.3614 139.0868 135.7231 227.4206 139.764 135.7231 227.5966 140.4207 135.7231 227.8839 141.0368 135.7231 228.2738 141.5937 135.7231 228.7545 142.0744 135.7231 229.3114 142.4643 135.7231 229.9275 142.7516 135.7231 230.5841 142.9276 135.7231 231.2614 142.9868 135.7231 231.9386 142.9276 135.7231 232.5953 142.7516 135.7231 233.2114 142.4643 135.7231 233.7683 142.0744 135.7231 234.249 141.5937 135.7231 234.6389 141.0368 135.7231 234.9262 140.4207 135.7231 235.1021 139.764 135.7231 235.1614 139.0868 135.7231 235.1021 138.4096 135.7231 234.9262 137.7529 135.7231 234.6389 137.1368 135.7231 234.249 136.5799 135.7231 233.7683 136.0992 135.7231 233.2114 135.7093 135.7231 232.5953 135.422 135.7231 231.9386 135.2461 135.7231 231.2614 135.1868 135.7231 230.5841 135.2461 135.7231 229.9275 135.422 135.7231 229.3114 135.7093 135.7231 228.7545 136.0992 135.7231 228.2738 136.5799 135.7231 227.8839 137.1368 135.7231 227.5966 137.7529 135.7231 227.4206 138.4096 135.7231 229.1933 139.4515 135.7231 229.288 139.805 135.7231 229.4427 140.1368 135.7231 229.6527 140.4367 135.7231 229.9115 140.6955 135.7231 230.2114 140.9055 135.7231 230.5431 141.0602 135.7231 230.8967 141.1549 135.7231 231.2614 141.1868 135.7231 231.626 141.1549 135.7231 231.9796 141.0602 135.7231 232.3114 140.9055 135.7231 232.6112 140.6955 135.7231 232.8701 140.4367 135.7231 233.08 140.1368 135.7231 233.2347 139.805 135.7231 233.3295 139.4515 135.7231 233.3614 139.0868 135.7231 233.3295 138.7221 135.7231 233.2347 138.3686 135.7231 233.08 138.0368 135.7231 232.8701 137.7369 135.7231 232.6112 137.4781 135.7231 232.3114 137.2682 135.7231 231.9796 137.1135 135.7231 231.626 137.0187 135.7231 231.2614 136.9868 135.7231 230.8967 137.0187 135.7231 230.5431 137.1135 135.7231 230.2114 137.2682 135.7231 229.9115 137.4781 135.7231 229.6527 137.7369 135.7231 229.4427 138.0368 135.7231 229.288 138.3686 135.7231 229.1933 138.7221 135.7231 229.1614 139.0868 135.7231 230.3114 140.7322 135.2231 230.2114 140.9055 135.2231 230.6116 140.8722 135.2231 230.5431 141.0602 135.2231 230.9315 140.9579 135.2231 230.8967 141.1549 135.2231 231.2614 140.9868 135.2231 231.2614 141.1868 135.2231 231.5913 140.9579 135.2231 231.626 141.1549 135.2231 231.9112 140.8722 135.2231 231.9796 141.0602 135.2231 232.2114 140.7322 135.2231 232.3114 140.9055 135.2231 232.4827 140.5423 135.2231 232.6112 140.6955 135.2231 232.7169 140.3081 135.2231 232.8701 140.4367 135.2231 232.9068 140.0368 135.2231 233.08 140.1368 135.2231 233.0468 139.7366 135.2231 233.2347 139.805 135.2231 233.1325 139.4167 135.2231 233.3295 139.4515 135.2231 233.1614 139.0868 135.2231 233.3614 139.0868 135.2231 233.1325 138.7569 135.2231 233.3295 138.7221 135.2231 233.0468 138.437 135.2231 233.2347 138.3686 135.2231 232.9068 138.1368 135.2231 233.08 138.0368 135.2231 232.7169 137.8655 135.2231 232.8701 137.7369 135.2231 232.4827 137.6313 135.2231 232.6112 137.4781 135.2231 232.2114 137.4414 135.2231 232.3114 137.2682 135.2231 231.9112 137.3014 135.2231 231.9796 137.1135 135.2231 231.5913 137.2157 135.2231 231.626 137.0187 135.2231 231.2614 137.1868 135.2231 231.2614 136.9868 135.2231 230.9315 137.2157 135.2231 230.8967 137.0187 135.2231 230.6116 137.3014 135.2231 230.5431 137.1135 135.2231 230.3114 137.4414 135.2231 230.2114 137.2682 135.2231 230.0401 137.6313 135.2231 229.9115 137.4781 135.2231 229.8059 137.8655 135.2231 229.6527 137.7369 135.2231 229.6159 138.1368 135.2231 229.4427 138.0368 135.2231 229.476 138.437 135.2231 229.288 138.3686 135.2231 229.3903 138.7569 135.2231 229.1933 138.7221 135.2231 229.3614 139.0868 135.2231 229.1614 139.0868 135.2231 229.3903 139.4167 135.2231 229.1933 139.4515 135.2231 229.476 139.7366 135.2231 229.288 139.805 135.2231 229.6159 140.0368 135.2231 229.4427 140.1368 135.2231 229.8059 140.3081 135.2231 229.6527 140.4367 135.2231 230.0401 140.5423 135.2231 229.9115 140.6955 135.2231 229.3614 139.0868 135.7231 229.3903 139.4167 135.7231 229.476 139.7366 135.7231 229.6159 140.0368 135.7231 229.8059 140.3081 135.7231 230.0401 140.5423 135.7231 230.3114 140.7322 135.7231 230.6116 140.8722 135.7231 230.9315 140.9579 135.7231 231.2614 140.9868 135.7231 231.5913 140.9579 135.7231 231.9112 140.8722 135.7231 232.2114 140.7322 135.7231 232.4827 140.5423 135.7231 232.7169 140.3081 135.7231 232.9068 140.0368 135.7231 233.0468 139.7366 135.7231 233.1325 139.4167 135.7231 233.1614 139.0868 135.7231 233.1325 138.7569 135.7231 233.0468 138.437 135.7231 232.9068 138.1368 135.7231 232.7169 137.8655 135.7231 232.4827 137.6313 135.7231 232.2114 137.4414 135.7231 231.9112 137.3014 135.7231 231.5913 137.2157 135.7231 231.2614 137.1868 135.7231 230.9315 137.2157 135.7231 230.6116 137.3014 135.7231 230.3114 137.4414 135.7231 230.0401 137.6313 135.7231 229.8059 137.8655 135.7231 229.6159 138.1368 135.7231 229.476 138.437 135.7231 229.3903 138.7569 135.7231 231.2614 140.1868 135.7231 231.4524 140.1701 135.7231 231.6376 140.1205 135.7231 231.8114 140.0394 135.7231 231.9685 139.9295 135.7231 232.104 139.7939 135.7231 232.214 139.6368 135.7231 232.295 139.463 135.7231 232.3447 139.2778 135.7231 232.3614 139.0868 135.7231 232.3447 138.8958 135.7231 232.295 138.7106 135.7231 232.214 138.5368 135.7231 232.104 138.3797 135.7231 231.9685 138.2442 135.7231 231.8114 138.1342 135.7231 231.6376 138.0531 135.7231 231.4524 138.0035 135.7231 231.2614 137.9868 135.7231 231.0704 138.0035 135.7231 230.8852 138.0531 135.7231 230.7114 138.1342 135.7231 230.5543 138.2442 135.7231 230.4187 138.3797 135.7231 230.3088 138.5368 135.7231 230.2277 138.7106 135.7231 230.1781 138.8958 135.7231 230.1614 139.0868 135.7231 230.1781 139.2778 135.7231 230.2277 139.463 135.7231 230.3088 139.6368 135.7231 230.4187 139.7939 135.7231 230.5543 139.9295 135.7231 230.7114 140.0394 135.7231 230.8852 140.1205 135.7231 231.0704 140.1701 135.7231 230.1614 139.0868 135.2231 230.1781 139.2778 135.2231 230.2277 139.463 135.2231 230.3088 139.6368 135.2231 230.4187 139.7939 135.2231 230.5543 139.9295 135.2231 230.7114 140.0394 135.2231 230.8852 140.1205 135.2231 231.0704 140.1701 135.2231 231.2614 140.1868 135.2231 231.4524 140.1701 135.2231 231.6376 140.1205 135.2231 231.8114 140.0394 135.2231 231.9685 139.9295 135.2231 232.104 139.7939 135.2231 232.214 139.6368 135.2231 232.295 139.463 135.2231 232.3447 139.2778 135.2231 232.3614 139.0868 135.2231 232.3447 138.8958 135.2231 232.295 138.7106 135.2231 232.214 138.5368 135.2231 232.104 138.3797 135.2231 231.9685 138.2442 135.2231 231.8114 138.1342 135.2231 231.6376 138.0531 135.2231 231.4524 138.0035 135.2231 231.2614 137.9868 135.2231 231.0704 138.0035 135.2231 230.8852 138.0531 135.2231 230.7114 138.1342 135.2231 230.5543 138.2442 135.2231 230.4187 138.3797 135.2231 230.3088 138.5368 135.2231 230.2277 138.7106 135.2231 230.1781 138.8958 135.2231 231.2614 139.0868 134.7231 231.0172 139.1299 134.7443 231.0284 139.1716 134.7443 231.0134 139.0868 134.7443 231.0715 139.2462 134.7443 231.102 139.2767 134.7443 231.0467 139.2108 134.7443 231.1766 139.3198 134.7443 231.2183 139.331 134.7443 231.1374 139.3015 134.7443 231.3044 139.331 134.7443 231.3462 139.3198 134.7443 231.2614 139.3348 134.7443 231.4208 139.2767 134.7443 231.4513 139.2462 134.7443 231.3854 139.3015 134.7443 231.4944 139.1716 134.7443 231.5056 139.1299 134.7443 231.4761 139.2108 134.7443 231.5056 139.0438 134.7443 231.4944 139.002 134.7443 231.5093 139.0868 134.7443 231.4513 138.9274 134.7443 231.4208 138.8969 134.7443 231.4761 138.9628 134.7443 231.3462 138.8538 134.7443 231.3044 138.8426 134.7443 231.3854 138.8721 134.7443 231.2183 138.8426 134.7443 231.1766 138.8538 134.7443 231.2614 138.8389 134.7443 231.102 138.8969 134.7443 231.0715 138.9274 134.7443 231.1374 138.8721 134.7443 231.0284 139.002 134.7443 231.0172 139.0438 134.7443 231.0467 138.9628 134.7443 230.7801 139.1717 134.8073 230.8022 139.2539 134.8073 230.8382 139.3312 134.8073 230.887 139.4009 134.8073 230.9473 139.4612 134.8073 231.017 139.51 134.8073 231.0942 139.546 134.8073 231.1765 139.5681 134.8073 231.2614 139.5755 134.8073 231.3462 139.5681 134.8073 231.4285 139.546 134.8073 231.5057 139.51 134.8073 231.5755 139.4612 134.8073 231.6357 139.4009 134.8073 231.6846 139.3312 134.8073 231.7206 139.2539 134.8073 231.7426 139.1717 134.8073 231.7501 139.0868 134.8073 231.7426 139.0019 134.8073 231.7206 138.9197 134.8073 231.6846 138.8425 134.8073 231.6357 138.7727 134.8073 231.5755 138.7125 134.8073 231.5057 138.6636 134.8073 231.4285 138.6276 134.8073 231.3462 138.6056 134.8073 231.2614 138.5981 134.8073 231.1765 138.6056 134.8073 231.0942 138.6276 134.8073 231.017 138.6636 134.8073 230.9473 138.7125 134.8073 230.887 138.7727 134.8073 230.8382 138.8425 134.8073 230.8022 138.9197 134.8073 230.7801 139.0019 134.8073 230.7727 139.0868 134.8073 230.557 139.211 134.9103 230.5893 139.3314 134.9103 230.642 139.4444 134.9103 230.7135 139.5466 134.9103 230.8016 139.6347 134.9103 230.9038 139.7062 134.9103 231.0168 139.7589 134.9103 231.1372 139.7912 134.9103 231.2614 139.802 134.9103 231.3856 139.7912 134.9103 231.506 139.7589 134.9103 231.619 139.7062 134.9103 231.7211 139.6347 134.9103 231.8093 139.5466 134.9103 231.8808 139.4444 134.9103 231.9335 139.3314 134.9103 231.9657 139.211 134.9103 231.9766 139.0868 134.9103 231.9657 138.9626 134.9103 231.9335 138.8422 134.9103 231.8808 138.7292 134.9103 231.8093 138.6271 134.9103 231.7211 138.5389 134.9103 231.619 138.4674 134.9103 231.506 138.4147 134.9103 231.3856 138.3824 134.9103 231.2614 138.3716 134.9103 231.1372 138.3824 134.9103 231.0168 138.4147 134.9103 230.9038 138.4674 134.9103 230.8016 138.5389 134.9103 230.7135 138.6271 134.9103 230.642 138.7292 134.9103 230.5893 138.8422 134.9103 230.557 138.9626 134.9103 230.5462 139.0868 134.9103 230.3544 139.2467 135.0502 230.3959 139.4018 135.0502 230.4638 139.5473 135.0502 230.5559 139.6788 135.0502 230.6694 139.7923 135.0502 230.8009 139.8844 135.0502 230.9464 139.9523 135.0502 231.1015 139.9938 135.0502 231.2614 140.0078 135.0502 231.4213 139.9938 135.0502 231.5764 139.9523 135.0502 231.7219 139.8844 135.0502 231.8534 139.7923 135.0502 231.9669 139.6788 135.0502 232.059 139.5473 135.0502 232.1268 139.4018 135.0502 232.1684 139.2467 135.0502 232.1824 139.0868 135.0502 232.1684 138.9269 135.0502 232.1268 138.7718 135.0502 232.059 138.6263 135.0502 231.9669 138.4948 135.0502 231.8534 138.3813 135.0502 231.7219 138.2892 135.0502 231.5764 138.2214 135.0502 231.4213 138.1798 135.0502 231.2614 138.1658 135.0502 231.1015 138.1798 135.0502 230.9464 138.2214 135.0502 230.8009 138.2892 135.0502 230.6694 138.3813 135.0502 230.5559 138.4948 135.0502 230.4638 138.6263 135.0502 230.3959 138.7718 135.0502 230.3544 138.9269 135.0502 230.3404 139.0868 135.0502 205.4693 139.9318 135.7231 205.6888 140.7511 135.7231 206.0473 141.5198 135.7231 206.5338 142.2146 135.7231 207.1336 142.8144 135.7231 207.8284 143.3009 135.7231 208.5971 143.6594 135.7231 209.4164 143.8789 135.7231 210.2614 143.9528 135.7231 211.1064 143.8789 135.7231 211.9257 143.6594 135.7231 212.6944 143.3009 135.7231 213.3892 142.8144 135.7231 213.989 142.2146 135.7231 214.4755 141.5198 135.7231 214.8339 140.7511 135.7231 215.0535 139.9318 135.7231 215.1274 139.0868 135.7231 215.0535 138.2418 135.7231 214.8339 137.4225 135.7231 214.4755 136.6538 135.7231 213.989 135.959 135.7231 213.3892 135.3592 135.7231 212.6944 134.8727 135.7231 211.9257 134.5142 135.7231 211.1064 134.2947 135.7231 210.2614 134.2208 135.7231 209.4164 134.2947 135.7231 208.5971 134.5142 135.7231 207.8284 134.8727 135.7231 207.1336 135.3592 135.7231 206.5338 135.959 135.7231 206.0473 136.6538 135.7231 205.6888 137.4225 135.7231 205.4693 138.2418 135.7231 205.3954 139.0868 135.7231 214.2991 139.7988 135.7231 214.3614 139.0868 135.7231 214.2991 138.3749 135.7231 214.1141 137.6845 135.7231 213.8121 137.0368 135.7231 213.4022 136.4514 135.7231 212.8968 135.946 135.7231 212.3114 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209.4187 138.3797 135.2231 209.3088 138.5368 135.2231 209.2277 138.7106 135.2231 209.1781 138.8958 135.2231 210.2614 139.0868 134.7231 210.0172 139.1299 134.7443 210.0284 139.1716 134.7443 210.0134 139.0868 134.7443 210.0715 139.2462 134.7443 210.102 139.2767 134.7443 210.0467 139.2108 134.7443 210.1766 139.3198 134.7443 210.2183 139.331 134.7443 210.1374 139.3015 134.7443 210.3044 139.331 134.7443 210.3462 139.3198 134.7443 210.2614 139.3348 134.7443 210.4208 139.2767 134.7443 210.4513 139.2462 134.7443 210.3854 139.3015 134.7443 210.4944 139.1716 134.7443 210.5056 139.1299 134.7443 210.4761 139.2108 134.7443 210.5056 139.0438 134.7443 210.4944 139.002 134.7443 210.5093 139.0868 134.7443 210.4513 138.9274 134.7443 210.4208 138.8969 134.7443 210.4761 138.9628 134.7443 210.3462 138.8538 134.7443 210.3044 138.8426 134.7443 210.3854 138.8721 134.7443 210.2183 138.8426 134.7443 210.1766 138.8538 134.7443 210.2614 138.8389 134.7443 210.102 138.8969 134.7443 210.0715 138.9274 134.7443 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134.9103 209.5462 139.0868 134.9103 209.3544 139.2467 135.0502 209.3959 139.4018 135.0502 209.4638 139.5473 135.0502 209.5559 139.6788 135.0502 209.6694 139.7923 135.0502 209.8009 139.8844 135.0502 209.9464 139.9523 135.0502 210.1015 139.9938 135.0502 210.2614 140.0078 135.0502 210.4213 139.9938 135.0502 210.5764 139.9523 135.0502 210.7219 139.8844 135.0502 210.8534 139.7923 135.0502 210.9669 139.6788 135.0502 211.059 139.5473 135.0502 211.1268 139.4018 135.0502 211.1684 139.2467 135.0502 211.1824 139.0868 135.0502 211.1684 138.9269 135.0502 211.1268 138.7718 135.0502 211.059 138.6263 135.0502 210.9669 138.4948 135.0502 210.8534 138.3813 135.0502 210.7219 138.2892 135.0502 210.5764 138.2214 135.0502 210.4213 138.1798 135.0502 210.2614 138.1658 135.0502 210.1015 138.1798 135.0502 209.9464 138.2214 135.0502 209.8009 138.2892 135.0502 209.6694 138.3813 135.0502 209.5559 138.4948 135.0502 209.4638 138.6263 135.0502 209.3959 138.7718 135.0502 209.3544 138.9269 135.0502 209.3404 139.0868 135.0502 184.6389 137.1368 135.2231 184.8121 137.0368 135.2231 184.249 136.5799 135.2231 184.4022 136.4514 135.2231 183.7683 136.0992 135.2231 183.8968 135.946 135.2231 183.2114 135.7093 135.2231 183.3114 135.5361 135.2231 182.5953 135.422 135.2231 182.6637 135.2341 135.2231 181.9386 135.2461 135.2231 181.9733 135.0491 135.2231 181.2614 135.1868 135.2231 181.2614 134.9868 135.2231 180.5841 135.2461 135.2231 180.5494 135.0491 135.2231 179.9275 135.422 135.2231 179.8591 135.2341 135.2231 179.3114 135.7093 135.2231 179.2114 135.5361 135.2231 178.7545 136.0992 135.2231 178.626 135.946 135.2231 178.2738 136.5799 135.2231 178.1206 136.4514 135.2231 177.8839 137.1368 135.2231 177.7107 137.0368 135.2231 177.5966 137.7529 135.2231 177.4086 137.6845 135.2231 177.4206 138.4096 135.2231 177.2237 138.3749 135.2231 177.4206 139.764 135.2231 177.2237 139.7988 135.2231 177.5966 140.4207 135.2231 177.4086 140.4891 135.2231 177.8839 141.0368 135.2231 177.7107 141.1368 135.2231 178.2738 141.5937 135.2231 178.1206 141.7222 135.2231 178.7545 142.0744 135.2231 178.626 142.2276 135.2231 179.3114 142.4643 135.2231 179.2114 142.6375 135.2231 179.9275 142.7516 135.2231 179.8591 142.9396 135.2231 180.5841 142.9276 135.2231 180.5494 143.1245 135.2231 181.2614 142.9868 135.2231 181.2614 143.1868 135.2231 181.9386 142.9276 135.2231 181.9733 143.1245 135.2231 182.5953 142.7516 135.2231 182.6637 142.9396 135.2231 183.2114 142.4643 135.2231 183.3114 142.6375 135.2231 183.7683 142.0744 135.2231 183.8968 142.2276 135.2231 184.249 141.5937 135.2231 184.4022 141.7222 135.2231 184.6389 141.0368 135.2231 184.8121 141.1368 135.2231 184.9262 140.4207 135.2231 185.1141 140.4891 135.2231 185.1021 139.764 135.2231 185.2991 139.7988 135.2231 185.1614 139.0868 135.2231 185.1021 138.4096 135.2231 185.2991 138.3749 135.2231 184.9262 137.7529 135.2231 185.1141 137.6845 135.2231 177.4206 139.764 135.7231 177.5966 140.4207 135.7231 177.8839 141.0368 135.7231 178.2738 141.5937 135.7231 178.7545 142.0744 135.7231 179.3114 142.4643 135.7231 179.9275 142.7516 135.7231 180.5841 142.9276 135.7231 181.2614 142.9868 135.7231 181.9386 142.9276 135.7231 182.5953 142.7516 135.7231 183.2114 142.4643 135.7231 183.7683 142.0744 135.7231 184.249 141.5937 135.7231 184.6389 141.0368 135.7231 184.9262 140.4207 135.7231 185.1021 139.764 135.7231 185.1614 139.0868 135.7231 185.1021 138.4096 135.7231 184.9262 137.7529 135.7231 184.6389 137.1368 135.7231 184.249 136.5799 135.7231 183.7683 136.0992 135.7231 183.2114 135.7093 135.7231 182.5953 135.422 135.7231 181.9386 135.2461 135.7231 181.2614 135.1868 135.7231 180.5841 135.2461 135.7231 179.9275 135.422 135.7231 179.3114 135.7093 135.7231 178.7545 136.0992 135.7231 178.2738 136.5799 135.7231 177.8839 137.1368 135.7231 177.5966 137.7529 135.7231 177.4206 138.4096 135.7231 179.1933 139.4515 135.7231 179.288 139.805 135.7231 179.4427 140.1368 135.7231 179.6527 140.4367 135.7231 179.9115 140.6955 135.7231 180.2114 140.9055 135.7231 180.5431 141.0602 135.7231 180.8967 141.1549 135.7231 181.2614 141.1868 135.7231 181.626 141.1549 135.7231 181.9796 141.0602 135.7231 182.3114 140.9055 135.7231 182.6112 140.6955 135.7231 182.8701 140.4367 135.7231 183.08 140.1368 135.7231 183.2347 139.805 135.7231 183.3295 139.4515 135.7231 183.3295 138.7221 135.7231 183.2347 138.3686 135.7231 183.08 138.0368 135.7231 182.8701 137.7369 135.7231 182.6112 137.4781 135.7231 182.3114 137.2682 135.7231 181.9796 137.1135 135.7231 181.626 137.0187 135.7231 181.2614 136.9868 135.7231 180.8967 137.0187 135.7231 180.5431 137.1135 135.7231 180.2114 137.2682 135.7231 179.9115 137.4781 135.7231 179.6527 137.7369 135.7231 179.4427 138.0368 135.7231 179.288 138.3686 135.7231 179.1933 138.7221 135.7231 180.0401 137.6313 135.2231 179.9115 137.4781 135.2231 179.8059 137.8655 135.2231 179.6527 137.7369 135.2231 179.6159 138.1368 135.2231 179.4427 138.0368 135.2231 179.476 138.437 135.2231 179.288 138.3686 135.2231 179.3903 138.7569 135.2231 179.1933 138.7221 135.2231 179.3903 139.4167 135.2231 179.1933 139.4515 135.2231 179.476 139.7366 135.2231 179.288 139.805 135.2231 179.6159 140.0368 135.2231 179.4427 140.1368 135.2231 179.8059 140.3081 135.2231 179.6527 140.4367 135.2231 180.0401 140.5423 135.2231 179.9115 140.6955 135.2231 180.3114 140.7322 135.2231 180.2114 140.9055 135.2231 180.6115 140.8722 135.2231 180.5431 141.0602 135.2231 180.9315 140.9579 135.2231 180.8967 141.1549 135.2231 181.2614 140.9868 135.2231 181.2614 141.1868 135.2231 181.5913 140.9579 135.2231 181.626 141.1549 135.2231 181.9112 140.8722 135.2231 181.9796 141.0602 135.2231 182.2114 140.7322 135.2231 182.3114 140.9055 135.2231 182.4827 140.5423 135.2231 182.6112 140.6955 135.2231 182.7169 140.3081 135.2231 182.8701 140.4367 135.2231 182.9068 140.0368 135.2231 183.08 140.1368 135.2231 183.0468 139.7366 135.2231 183.2347 139.805 135.2231 183.1325 139.4167 135.2231 183.3295 139.4515 135.2231 183.1614 139.0868 135.2231 183.1325 138.7569 135.2231 183.3295 138.7221 135.2231 183.0468 138.437 135.2231 183.2347 138.3686 135.2231 182.9068 138.1368 135.2231 183.08 138.0368 135.2231 182.7169 137.8655 135.2231 182.8701 137.7369 135.2231 182.4827 137.6313 135.2231 182.6112 137.4781 135.2231 182.2114 137.4414 135.2231 182.3114 137.2682 135.2231 181.9112 137.3014 135.2231 181.9796 137.1135 135.2231 181.5913 137.2157 135.2231 181.626 137.0187 135.2231 181.2614 137.1868 135.2231 181.2614 136.9868 135.2231 180.9315 137.2157 135.2231 180.8967 137.0187 135.2231 180.6115 137.3014 135.2231 180.5431 137.1135 135.2231 180.3114 137.4414 135.2231 180.2114 137.2682 135.2231 179.3903 139.4167 135.7231 179.476 139.7366 135.7231 179.6159 140.0368 135.7231 179.8059 140.3081 135.7231 180.0401 140.5423 135.7231 180.3114 140.7322 135.7231 180.6115 140.8722 135.7231 180.9315 140.9579 135.7231 181.2614 140.9868 135.7231 181.5913 140.9579 135.7231 181.9112 140.8722 135.7231 182.2114 140.7322 135.7231 182.4827 140.5423 135.7231 182.7169 140.3081 135.7231 182.9068 140.0368 135.7231 183.0468 139.7366 135.7231 183.1325 139.4167 135.7231 183.1614 139.0868 135.7231 183.1325 138.7569 135.7231 183.0468 138.437 135.7231 182.9068 138.1368 135.7231 182.7169 137.8655 135.7231 182.4827 137.6313 135.7231 182.2114 137.4414 135.7231 181.9112 137.3014 135.7231 181.5913 137.2157 135.7231 181.2614 137.1868 135.7231 180.9315 137.2157 135.7231 180.6115 137.3014 135.7231 180.3114 137.4414 135.7231 180.0401 137.6313 135.7231 179.8059 137.8655 135.7231 179.6159 138.1368 135.7231 179.476 138.437 135.7231 179.3903 138.7569 135.7231 181.2614 140.1868 135.7231 181.4524 140.1701 135.7231 181.6376 140.1205 135.7231 181.8114 140.0394 135.7231 181.9685 139.9295 135.7231 182.104 139.7939 135.7231 182.214 139.6368 135.7231 182.295 139.463 135.7231 182.3447 139.2778 135.7231 182.3447 138.8958 135.7231 182.295 138.7106 135.7231 182.214 138.5368 135.7231 182.104 138.3797 135.7231 181.9685 138.2442 135.7231 181.8114 138.1342 135.7231 181.6376 138.0531 135.7231 181.4524 138.0035 135.7231 181.2614 137.9868 135.7231 181.0704 138.0035 135.7231 180.8852 138.0531 135.7231 180.7114 138.1342 135.7231 180.5543 138.2442 135.7231 180.4187 138.3797 135.7231 180.3088 138.5368 135.7231 180.2277 138.7106 135.7231 180.1781 138.8958 135.7231 180.1781 139.2778 135.7231 180.2277 139.463 135.7231 180.3088 139.6368 135.7231 180.4187 139.7939 135.7231 180.5543 139.9295 135.7231 180.7114 140.0394 135.7231 180.8852 140.1205 135.7231 181.0704 140.1701 135.7231 181.2614 139.0868 134.7231 181.0172 139.1299 134.7443 181.0284 139.1716 134.7443 181.0134 139.0868 134.7443 181.0715 139.2462 134.7443 181.102 139.2767 134.7443 181.0467 139.2108 134.7443 181.1766 139.3198 134.7443 181.2183 139.331 134.7443 181.1374 139.3015 134.7443 181.3044 139.331 134.7443 181.3462 139.3198 134.7443 181.2614 139.3348 134.7443 181.4208 139.2767 134.7443 181.4513 139.2462 134.7443 181.3854 139.3015 134.7443 181.4944 139.1716 134.7443 181.5056 139.1299 134.7443 181.4761 139.2108 134.7443 181.5056 139.0438 134.7443 181.4944 139.002 134.7443 181.5093 139.0868 134.7443 181.4513 138.9274 134.7443 181.4208 138.8969 134.7443 181.4761 138.9628 134.7443 181.3462 138.8538 134.7443 181.3044 138.8426 134.7443 181.3854 138.8721 134.7443 181.2183 138.8426 134.7443 181.1766 138.8538 134.7443 181.2614 138.8389 134.7443 181.102 138.8969 134.7443 181.0715 138.9274 134.7443 181.1374 138.8721 134.7443 181.0284 139.002 134.7443 181.0172 139.0438 134.7443 181.0467 138.9628 134.7443 180.7801 139.1717 134.8073 180.8022 139.2539 134.8073 180.8382 139.3312 134.8073 180.887 139.4009 134.8073 180.9473 139.4612 134.8073 181.017 139.51 134.8073 181.0942 139.546 134.8073 181.1765 139.5681 134.8073 181.2614 139.5755 134.8073 181.3462 139.5681 134.8073 181.4285 139.546 134.8073 181.5057 139.51 134.8073 181.5755 139.4612 134.8073 181.6357 139.4009 134.8073 181.6846 139.3312 134.8073 181.7206 139.2539 134.8073 181.7426 139.1717 134.8073 181.7501 139.0868 134.8073 181.7426 139.0019 134.8073 181.7206 138.9197 134.8073 181.6846 138.8425 134.8073 181.6357 138.7727 134.8073 181.5755 138.7125 134.8073 181.5057 138.6636 134.8073 181.4285 138.6276 134.8073 181.3462 138.6056 134.8073 181.2614 138.5981 134.8073 181.1765 138.6056 134.8073 181.0942 138.6276 134.8073 181.017 138.6636 134.8073 180.9473 138.7125 134.8073 180.887 138.7727 134.8073 180.8382 138.8425 134.8073 180.8022 138.9197 134.8073 180.7801 139.0019 134.8073 180.7727 139.0868 134.8073 180.557 139.211 134.9103 180.5893 139.3314 134.9103 180.642 139.4444 134.9103 180.7135 139.5466 134.9103 180.8016 139.6347 134.9103 180.9038 139.7062 134.9103 181.0168 139.7589 134.9103 181.1372 139.7912 134.9103 181.2614 139.802 134.9103 181.3856 139.7912 134.9103 181.506 139.7589 134.9103 181.619 139.7062 134.9103 181.7211 139.6347 134.9103 181.8093 139.5466 134.9103 181.8808 139.4444 134.9103 181.9335 139.3314 134.9103 181.9657 139.211 134.9103 181.9766 139.0868 134.9103 181.9657 138.9626 134.9103 181.9335 138.8422 134.9103 181.8808 138.7292 134.9103 181.8093 138.6271 134.9103 181.7211 138.5389 134.9103 181.619 138.4674 134.9103 181.506 138.4147 134.9103 181.3856 138.3824 134.9103 181.2614 138.3716 134.9103 181.1372 138.3824 134.9103 181.0168 138.4147 134.9103 180.9038 138.4674 134.9103 180.8016 138.5389 134.9103 180.7135 138.6271 134.9103 180.642 138.7292 134.9103 180.5893 138.8422 134.9103 180.557 138.9626 134.9103 180.5462 139.0868 134.9103 180.3544 139.2467 135.0502 180.3959 139.4018 135.0502 180.4638 139.5473 135.0502 180.5559 139.6788 135.0502 180.6694 139.7923 135.0502 180.8009 139.8844 135.0502 180.9464 139.9523 135.0502 181.1015 139.9938 135.0502 181.2614 140.0078 135.0502 181.4213 139.9938 135.0502 181.5764 139.9523 135.0502 181.7219 139.8844 135.0502 181.8534 139.7923 135.0502 181.9669 139.6788 135.0502 182.059 139.5473 135.0502 182.1268 139.4018 135.0502 182.1684 139.2467 135.0502 182.1824 139.0868 135.0502 182.1684 138.9269 135.0502 182.1268 138.7718 135.0502 182.059 138.6263 135.0502 181.9669 138.4948 135.0502 181.8534 138.3813 135.0502 181.7219 138.2892 135.0502 181.5764 138.2214 135.0502 181.4213 138.1798 135.0502 181.2614 138.1658 135.0502 181.1015 138.1798 135.0502 180.9464 138.2214 135.0502 180.8009 138.2892 135.0502 180.6694 138.3813 135.0502 180.5559 138.4948 135.0502 180.4638 138.6263 135.0502 180.3959 138.7718 135.0502 180.3544 138.9269 135.0502 180.3404 139.0868 135.0502 180.1781 139.2778 135.2231 180.2277 139.463 135.2231 180.3088 139.6368 135.2231 180.4187 139.7939 135.2231 180.5543 139.9295 135.2231 180.7114 140.0394 135.2231 180.8852 140.1205 135.2231 181.0704 140.1701 135.2231 181.2614 140.1868 135.2231 181.4524 140.1701 135.2231 181.6376 140.1205 135.2231 181.8114 140.0394 135.2231 181.9685 139.9295 135.2231 182.104 139.7939 135.2231 182.214 139.6368 135.2231 182.295 139.463 135.2231 182.3447 139.2778 135.2231 182.3447 138.8958 135.2231 182.295 138.7106 135.2231 182.214 138.5368 135.2231 182.104 138.3797 135.2231 181.9685 138.2442 135.2231 181.8114 138.1342 135.2231 181.6376 138.0531 135.2231 181.4524 138.0035 135.2231 181.2614 137.9868 135.2231 181.0704 138.0035 135.2231 180.8852 138.0531 135.2231 180.7114 138.1342 135.2231 180.5543 138.2442 135.2231 180.4187 138.3797 135.2231 180.3088 138.5368 135.2231 180.2277 138.7106 135.2231 180.1781 138.8958 135.2231 166.7614 141.0233 134.2231 166.7614 141.5363 134.2231 167.0267 140.9346 134.2231 167.2771 140.8097 134.2231 167.6399 141.1724 134.2231 167.9066 140.9692 134.2231 168.1437 140.732 134.2231 168.347 140.4653 134.2231 167.9842 140.1026 134.2231 168.1091 139.8522 134.2231 168.1979 139.5868 134.2231 168.7109 139.5868 134.2231 168.7557 139.2545 134.2231 168.7557 138.9191 134.2231 168.7109 138.5868 134.2231 168.1979 138.5868 134.2231 168.1091 138.3214 134.2231 167.9842 138.0711 134.2231 168.347 137.7083 134.2231 168.1437 137.4416 134.2231 167.9066 137.2045 134.2231 167.6399 137.0012 134.2231 167.2771 137.3639 134.2231 167.0267 137.2391 134.2231 166.7614 137.1503 134.2231 166.7614 136.6373 134.2231 166.4291 136.5924 134.2231 166.0937 136.5924 134.2231 165.7614 136.6373 134.2231 165.7614 137.1503 134.2231 165.496 137.2391 134.2231 165.2456 137.3639 134.2231 164.8829 137.0012 134.2231 164.6162 137.2045 134.2231 164.379 137.4416 134.2231 164.1758 137.7083 134.2231 164.5385 138.0711 134.2231 164.4136 138.3214 134.2231 164.3249 138.5868 134.2231 163.8119 138.5868 134.2231 163.767 138.9191 134.2231 163.767 139.2545 134.2231 163.8119 139.5868 134.2231 164.3249 139.5868 134.2231 164.4136 139.8522 134.2231 164.5385 140.1026 134.2231 164.1758 140.4653 134.2231 164.379 140.732 134.2231 164.6162 140.9692 134.2231 164.8829 141.1724 134.2231 165.2456 140.8097 134.2231 165.496 140.9346 134.2231 165.7614 141.0233 134.2231 165.7614 141.5363 134.2231 166.0937 141.5812 134.2231 166.4291 141.5812 134.2231 165.6976 138.8816 134.2231 165.7418 138.7868 134.2231 165.6614 139.0868 134.2231 165.6705 139.191 134.2231 165.6976 139.292 134.2231 166.8252 138.8816 134.2231 166.8523 138.9826 134.2231 166.8614 139.0868 134.2231 166.6471 139.5464 134.2231 166.721 139.4725 134.2231 166.781 139.3868 134.2231 165.6705 138.9826 134.2231 165.8757 139.5464 134.2231 165.8018 139.4725 134.2231 165.7418 139.3868 134.2231 166.8523 139.191 134.2231 166.8252 139.292 134.2231 166.5614 139.6064 134.2231 166.4666 139.6506 134.2231 166.3656 139.6777 134.2231 166.0562 138.523 134.2231 166.1572 138.4959 134.2231 166.6471 138.6272 134.2231 166.721 138.7011 134.2231 166.781 138.7868 134.2231 166.2614 139.6868 134.2231 166.1572 139.6777 134.2231 166.0562 139.6506 134.2231 165.9614 139.6064 134.2231 165.8018 138.7011 134.2231 165.8757 138.6272 134.2231 165.9614 138.5672 134.2231 166.2614 138.4868 134.2231 166.3656 138.4959 134.2231 166.4666 138.523 134.2231 166.5614 138.5672 134.2231 165.6614 139.0868 135.2231 165.6705 139.191 135.2231 165.6976 139.292 135.2231 165.7418 139.3868 135.2231 165.8018 139.4725 135.2231 165.8757 139.5464 135.2231 165.9614 139.6064 135.2231 166.0562 139.6506 135.2231 166.1572 139.6777 135.2231 166.2614 139.6868 135.2231 166.3656 139.6777 135.2231 166.4666 139.6506 135.2231 166.5614 139.6064 135.2231 166.6471 139.5464 135.2231 166.721 139.4725 135.2231 166.781 139.3868 135.2231 166.8252 139.292 135.2231 166.8523 139.191 135.2231 166.8614 139.0868 135.2231 166.8523 138.9826 135.2231 166.8252 138.8816 135.2231 166.781 138.7868 135.2231 166.721 138.7011 135.2231 166.6471 138.6272 135.2231 166.5614 138.5672 135.2231 166.4666 138.523 135.2231 166.3656 138.4959 135.2231 166.2614 138.4868 135.2231 166.1572 138.4959 135.2231 166.0562 138.523 135.2231 165.9614 138.5672 135.2231 165.8757 138.6272 135.2231 165.8018 138.7011 135.2231 165.7418 138.7868 135.2231 165.6976 138.8816 135.2231 165.6705 138.9826 135.2231 166.0114 139.5198 135.2231 166.0904 139.5567 135.2231 166.1746 139.5792 135.2231 166.2614 139.5868 135.2231 166.3482 139.5792 135.2231 166.4324 139.5567 135.2231 166.5114 139.5198 135.2231 166.5828 139.4698 135.2231 166.6444 139.4082 135.2231 166.6944 139.3368 135.2231 166.7312 139.2578 135.2231 166.7538 139.1736 135.2231 166.7614 139.0868 135.2231 166.7538 139 135.2231 166.7312 138.9158 135.2231 166.6944 138.8368 135.2231 166.6444 138.7654 135.2231 166.5828 138.7038 135.2231 166.5114 138.6538 135.2231 166.4324 138.617 135.2231 166.3482 138.5944 135.2231 166.2614 138.5868 135.2231 166.1746 138.5944 135.2231 166.0904 138.617 135.2231 166.0114 138.6538 135.2231 165.94 138.7038 135.2231 165.8784 138.7654 135.2231 165.8284 138.8368 135.2231 165.7915 138.9158 135.2231 165.769 139 135.2231 165.7614 139.0868 135.2231 165.769 139.1736 135.2231 165.7915 139.2578 135.2231 165.8284 139.3368 135.2231 165.8784 139.4082 135.2231 165.94 139.4698 135.2231 165.7614 139.0868 134.2231 165.769 139.1736 134.2231 165.7915 139.2578 134.2231 165.8284 139.3368 134.2231 165.8784 139.4082 134.2231 165.94 139.4698 134.2231 166.0114 139.5198 134.2231 166.0904 139.5567 134.2231 166.1746 139.5792 134.2231 166.2614 139.5868 134.2231 166.3482 139.5792 134.2231 166.4324 139.5567 134.2231 166.5114 139.5198 134.2231 166.5828 139.4698 134.2231 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53.08681 220.171 233.3623 75.08682 216.2078 233.3623 67.62815 216.2078 234.7782 75.08682 217.6235 235.8933 75.08682 218.7384 236.5919 75.08682 219.4368 254.1271 58.46774 236.9688 236.5919 79.08682 219.4368 256.0918 74.22467 238.9332 299.4265 43.31155 276.6036 296.5983 43.31155 279.4323 296.4151 43.31155 273.5928 293.5869 43.31155 276.4215 295.5813 48.83668 272.7591 292.7531 48.83668 275.5878 245.7041 61.2731 222.8911 228.0281 61.2731 240.5704 230.8562 61.2731 237.7417 242.1073 58.46774 248.9907 280.5913 51.86911 263.4282 268.5716 51.86911 275.4501 277.9052 48.83668 290.4384 280.7334 48.83668 287.6097 242.1233 49.08681 219.3109 236.0771 49.08681 220.8106 221.3431 49.08681 233.8866 236.2452 49.08681 220.6103 239.0191 49.08681 216.2073 237.94 49.08681 223.0303 238.1664 49.08681 222.8995 227.2754 49.08681 234.1615 227.1947 49.08681 233.6212 227.4404 49.08681 233.5318 226.418 49.08681 230.7235 226.1723 49.08681 230.813 225.9459 49.08681 230.9437 225.7456 49.08681 231.1118 225.5775 49.08681 231.3121 225.4468 49.08681 231.5386 236.9176 49.08681 220.222 236.6719 49.08681 220.3115 236.4454 49.08681 220.4422 228.1659 49.08681 232.8062 228.2553 49.08681 232.5605 235.857 49.08681 221.2828 228.3007 49.08681 232.303 225.3574 49.08681 231.7843 225.312 49.08681 232.0418 225.3121 49.08681 232.3032 238.3667 49.08681 222.7315 238.5347 49.08681 222.5311 238.6654 49.08681 222.3047 227.1944 49.08681 230.7235 226.9369 49.08681 230.6781 226.6755 49.08681 230.6781 224.4473 49.08681 236.9902 225.5777 49.08681 233.0328 228.0352 49.08681 233.0326 235.8116 49.08681 221.5403 235.8116 49.08681 221.8018 235.8571 49.08681 222.0592 235.9465 49.08681 222.3049 236.0773 49.08681 222.5314 237.9397 49.08681 220.3114 237.694 49.08681 220.222 225.3575 49.08681 232.5607 225.4469 49.08681 232.8064 225.7458 49.08681 233.2331 225.9461 49.08681 233.4012 226.1725 49.08681 233.5319 238.7548 49.08681 222.059 238.8002 49.08681 221.8015 226.4183 49.08681 233.6213 226.6757 49.08681 233.6667 226.9372 49.08681 233.6667 236.9178 49.08681 223.1198 237.1753 49.08681 223.1652 238.8002 49.08681 221.54 238.7548 49.08681 221.2825 238.6653 49.08681 221.0368 237.4365 49.08681 220.1766 237.175 49.08681 220.1766 228.3006 49.08681 232.0415 228.2552 49.08681 231.784 228.1658 49.08681 231.5383 227.6668 49.08681 233.401 227.8671 49.08681 233.2329 237.4368 49.08681 223.1652 237.6943 49.08681 223.1197 228.035 49.08681 231.3119 227.8669 49.08681 231.1116 235.9464 49.08681 221.0371 227.6666 49.08681 230.9436 227.4402 49.08681 230.8129 236.2454 49.08681 222.7316 236.4457 49.08681 222.8997 236.6721 49.08681 223.0304 238.5346 49.08681 220.8104 238.3665 49.08681 220.6101 238.1662 49.08681 220.4421 239.0191 61.2731 216.2073 224.1712 53.08681 231.0579 224.1712 61.2731 231.0579 221.3431 61.2731 233.8866 236.1904 67.62815 213.3791 221.3425 67.62815 228.2297 218.5144 67.62815 231.0584 221.3425 75.08682 228.2297 218.5144 79.08682 231.0584 236.1904 79.08682 213.3791 223.6785 79.08682 230.7244 223.4737 79.08682 230.6499 221.744 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288.6546 290.9327 65.04244 287.0152 293.5335 65.04244 280.2521 293.5336 65.04244 280.5136 291.4929 65.04244 286.3475 292.9152 65.04244 285.3514 293.7992 65.04244 281.2432 293.6684 65.04244 281.0168 292.1605 65.04244 285.7872 293.579 65.04244 280.7711 299.5604 65.04244 291.9954 301.6561 65.04244 290.4797 299.8585 65.04244 291.1764 300.0097 65.04244 290.318 299.1247 65.04244 292.7502 298.5646 65.04244 293.4179 297.897 65.04244 293.9782 293.7342 65.04244 285.0532 294.1676 65.04244 281.6115 293.9673 65.04244 281.4435 301.6692 65.04244 289.2482 301.7999 65.04244 289.0217 295.8883 65.04244 281.6114 301.968 65.04244 288.8214 302.1682 65.04244 288.6533 301.5799 65.04244 290.2704 301.5344 65.04244 290.0129 300.0097 65.04244 289.4465 301.5344 65.04244 289.7514 299.8582 65.04244 288.5882 301.5798 65.04244 289.4939 295.6619 65.04244 281.7421 295.4162 65.04244 281.8316 295.464 65.04244 284.9017 295.1587 65.04244 281.877 294.8973 65.04244 281.877 297.1414 65.04244 285.351 297.8962 65.04244 285.7867 296.3224 65.04244 285.053 298.5639 65.04244 286.3469 299.1242 65.04244 287.0145 299.5601 65.04244 287.7692 303.6262 65.04244 288.5092 303.6625 65.04244 288.5225 301.9682 65.04244 290.9428 301.8001 65.04244 290.7425 301.6693 65.04244 290.516 306.358 65.04244 295.1644 307.1031 65.04244 293.1169 304.0895 65.04244 290.9425 303.8892 65.04244 291.1106 303.6628 65.04244 291.2414 305.2688 65.04244 297.0515 303.4171 65.04244 291.3309 303.8684 65.04244 298.7207 303.1596 65.04244 291.3763 302.1994 65.04244 300.1215 302.8981 65.04244 291.3763 300.3125 65.04244 301.2111 302.6406 65.04244 291.3309 299.4483 65.04244 301.5257 302.3949 65.04244 291.2415 302.1685 65.04244 291.1108 304.523 65.04244 290.0126 307.4812 65.04244 290.971 304.523 65.04244 289.7511 307.4811 65.04244 288.7921 304.4776 65.04244 289.4936 304.4776 65.04244 290.2701 304.3882 65.04244 290.5158 304.2575 65.04244 290.7423 303.889 65.04244 288.6532 304.0893 65.04244 288.8212 307.1025 65.04244 286.6464 304.2574 65.04244 289.0215 304.3881 65.04244 289.2479 294.8987 65.04244 297.8884 295.1602 65.04244 297.8884 295.4177 65.04244 297.9338 295.6634 65.04244 298.0232 295.6636 65.04244 300.7421 295.4179 65.04244 300.8316 296.1193 65.04244 302.3351 295.1604 65.04244 300.877 293.9404 65.04244 302.3352 294.899 65.04244 300.877 295.8898 65.04244 298.1539 296.0902 65.04244 298.322 296.2582 65.04244 298.5223 296.389 65.04244 298.7487 295.8901 65.04244 300.6114 298.2651 65.04244 301.9565 296.0903 65.04244 300.4433 296.4784 65.04244 298.9944 296.5239 65.04244 299.2518 296.5239 65.04244 299.5133 294.1693 65.04244 300.6115 291.7946 65.04244 301.9571 294.3958 65.04244 300.7422 294.6415 65.04244 300.8316 293.9688 65.04244 298.3222 294.1691 65.04244 298.1541 296.4785 65.04244 299.7708 296.3891 65.04244 300.0165 296.2584 65.04244 300.243 294.3955 65.04244 298.0233 294.6412 65.04244 297.9339 290.6112 65.04244 301.5265 293.5807 65.04244 299.7711 293.5353 65.04244 299.5136 293.6701 65.04244 298.7489 293.8008 65.04244 298.5225 293.5353 65.04244 299.2521 293.5807 65.04244 298.9946 293.969 65.04244 300.4435 293.8009 65.04244 300.2432 293.6702 65.04244 300.0168 282.5375 65.04244 289.4135 286.1907 65.04244 298.7224 286.6406 65.04244 291.3324 286.3949 65.04244 291.243 289.747 65.04244 301.212 285.5344 65.04244 290.0143 285.5799 65.04244 290.2718 285.6693 65.04244 290.5175 285.5344 65.04244 289.7528 285.5798 65.04244 289.4953 282.7872 65.04244 287.3539 284.2821 65.04244 283.4984 283.3741 65.04244 285.3639 286.431 65.04244 288.5108 283.3535 65.04244 285.4338 286.3947 65.04244 288.5241 286.1682 65.04244 288.6548 288.3882 65.04244 290.5173 286.1685 65.04244 291.1123 285.9682 65.04244 290.9442 285.8001 65.04244 290.7439 288.0895 65.04244 290.944 287.8892 65.04244 291.1121 287.6628 65.04244 291.2429 287.4171 65.04244 291.3323 287.1596 65.04244 291.3777 286.8981 65.04244 291.3778 285.6692 65.04244 289.2496 285.7999 65.04244 289.0232 285.968 65.04244 288.8229 287.8599 65.04244 300.1228 288.2575 65.04244 290.7437 294.5572 61.04244 277.3916 297.4258 61.04244 280.2597 278.739 43.31155 291.272 281.7504 43.31155 294.2829 281.5672 43.31155 288.4434 284.5786 43.31155 291.4542 282.5375 61.04244 289.4135 285.4061 61.04244 292.2816 224.5721 75.08682 231.4587 227.2754 53.08681 234.1615 225.3065 53.08681 232.1929 226.7861 53.08681 233.6723 223.8736 75.08682 230.7603 222.7585 75.08682 229.6454 305.2675 61.04244 282.7121 306.3571 61.04244 284.5989 307.1025 61.04244 286.6464 307.4811 61.04244 288.7921 307.4812 61.04244 290.971 307.1031 61.04244 293.1169 306.358 61.04244 295.1644 305.2688 61.04244 297.0515 303.8684 61.04244 298.7207 302.1994 61.04244 300.1215 300.3125 61.04244 301.2111 299.4483 61.04244 301.5257 298.2651 61.04244 301.9565 296.1193 61.04244 302.3351 293.9404 61.04244 302.3352 291.7946 61.04244 301.9571 289.747 61.04244 301.212 287.8599 61.04244 300.1228 282.7872 61.04244 287.3539 283.3535 61.04244 285.4338 283.3741 61.04244 285.3639 284.2821 61.04244 283.4984 285.4861 61.04244 281.8088 286.953 61.04244 280.3416 288.6424 61.04244 279.1372 290.5078 61.04244 278.2289 292.4976 61.04244 277.6417 295.4159 61.04244 278.9338 295.1585 61.04244 278.8884 295.6617 61.04244 279.0232 294.897 61.04244 278.8884 294.6395 61.04244 278.9339 294.3938 61.04244 279.0233 293.6683 61.04244 279.7489 293.5789 61.04244 279.9946 294.1674 61.04244 279.1541 293.9671 61.04244 279.3222 293.7991 61.04244 279.5225 286.6404 61.04244 288.4346 286.8978 61.04244 288.3892 287.1593 61.04244 288.3891 287.4168 61.04244 288.4345 288.2574 61.04244 289.023 288.3881 61.04244 289.2494 288.4013 61.04244 289.2857 293.6684 61.04244 281.0168 293.7992 61.04244 281.2432 296.3872 61.04244 279.7487 296.4767 61.04244 279.9944 296.5221 61.04244 280.2518 296.2565 61.04244 279.5223 296.0884 61.04244 279.322 295.8881 61.04244 279.1539 287.6625 61.04244 288.5239 296.3874 61.04244 281.0165 296.4768 61.04244 280.7708 296.5222 61.04244 280.5133 293.5335 61.04244 280.2521 293.5336 61.04244 280.5136 293.579 61.04244 280.7711 295.6619 61.04244 281.7421 295.8883 61.04244 281.6114 296.0886 61.04244 281.4433 296.2567 61.04244 281.243 294.3941 61.04244 281.7422 294.6398 61.04244 281.8316 288.0893 61.04244 288.8227 294.8973 61.04244 281.877 295.1587 61.04244 281.877 295.4162 61.04244 281.8316 287.889 61.04244 288.6546 293.9673 61.04244 281.4435 294.1676 61.04244 281.6115 286.3949 61.04244 291.243 286.1685 61.04244 291.1123 285.9682 61.04244 290.9442 286.431 61.04244 288.5108 286.3947 61.04244 288.5241 286.1682 61.04244 288.6548 285.968 61.04244 288.8229 285.5344 61.04244 289.7528 285.5344 61.04244 290.0143 285.5799 61.04244 290.2718 285.6693 61.04244 290.5175 285.8001 61.04244 290.7439 285.7999 61.04244 289.0232 285.6692 61.04244 289.2496 285.5798 61.04244 289.4953 293.969 61.04244 300.4435 294.1693 61.04244 300.6115 293.9688 61.04244 298.3222 293.8008 61.04244 298.5225 293.6701 61.04244 298.7489 295.1604 61.04244 300.877 294.899 61.04244 300.877 294.6415 61.04244 300.8316 294.3958 61.04244 300.7422 295.4179 61.04244 300.8316 295.6636 61.04244 300.7421 295.8901 61.04244 300.6114 296.0903 61.04244 300.4433 296.2584 61.04244 300.243 296.3891 61.04244 300.0165 296.4785 61.04244 299.7708 296.5239 61.04244 299.5133 296.5239 61.04244 299.2518 296.4784 61.04244 298.9944 296.389 61.04244 298.7487 293.5807 61.04244 298.9946 293.5353 61.04244 299.2521 293.5353 61.04244 299.5136 293.5807 61.04244 299.7711 293.6702 61.04244 300.0168 293.8009 61.04244 300.2432 295.8898 61.04244 298.1539 288.4015 61.04244 290.4809 296.0902 61.04244 298.322 296.2582 61.04244 298.5223 288.2575 61.04244 290.7437 288.3882 61.04244 290.5173 294.1691 61.04244 298.1541 295.6634 61.04244 298.0232 295.4177 61.04244 297.9338 295.1602 61.04244 297.8884 286.4313 61.04244 291.2562 286.6406 61.04244 291.3324 286.8981 61.04244 291.3778 287.1596 61.04244 291.3777 287.4171 61.04244 291.3323 294.8987 61.04244 297.8884 294.6412 61.04244 297.9339 294.3955 61.04244 298.0233 287.6628 61.04244 291.2429 287.8892 61.04244 291.1121 288.0895 61.04244 290.944 296.3224 61.04244 285.053 295.464 61.04244 284.9017 304.2574 61.04244 289.0215 304.0893 61.04244 288.8212 303.4168 61.04244 288.4331 303.1593 61.04244 288.3877 302.1682 61.04244 288.6533 301.968 61.04244 288.8214 303.889 61.04244 288.6532 303.6625 61.04244 288.5225 302.8978 61.04244 288.3877 302.6404 61.04244 288.4331 302.3947 61.04244 288.5226 294.5925 61.04244 284.9018 293.7342 61.04244 285.0532 292.9152 61.04244 285.3514 292.1605 61.04244 285.7872 291.4929 61.04244 286.3475 290.9327 61.04244 287.0152 299.1242 61.04244 287.0145 298.5639 61.04244 286.3469 297.8962 61.04244 285.7867 297.1414 61.04244 285.351 290.0477 61.04244 289.4474 288.4776 61.04244 289.4951 290.199 61.04244 288.5891 290.497 61.04244 287.77 301.9682 61.04244 290.9428 302.1685 61.04244 291.1108 302.3949 61.04244 291.2415 302.6406 61.04244 291.3309 302.8981 61.04244 291.3763 303.1596 61.04244 291.3763 303.4171 61.04244 291.3309 303.6628 61.04244 291.2414 303.8892 61.04244 291.1106 299.5604 61.04244 291.9954 301.6693 61.04244 290.516 299.1247 61.04244 292.7502 298.5646 61.04244 293.4179 299.8585 61.04244 291.1764 300.0097 61.04244 290.318 301.5799 61.04244 290.2704 301.8001 61.04244 290.7425 297.897 61.04244 293.9782 297.1422 61.04244 294.4141 299.5601 61.04244 287.7692 301.7999 61.04244 289.0217 299.8582 61.04244 288.5882 301.6692 61.04244 289.2482 301.5798 61.04244 289.4939 300.0097 61.04244 289.4465 301.5344 61.04244 289.7514 301.5344 61.04244 290.0129 290.4974 61.04244 291.9962 290.1992 61.04244 291.1773 288.4776 61.04244 290.2716 290.0478 61.04244 290.319 288.523 61.04244 290.014 288.523 61.04244 289.7526 292.1612 61.04244 293.9787 291.4935 61.04244 293.4186 290.9332 61.04244 292.751 292.916 61.04244 294.4144 293.7351 61.04244 294.7125 294.5934 61.04244 294.8638 304.0895 61.04244 290.9425 304.2575 61.04244 290.7423 304.3882 61.04244 290.5158 304.4776 61.04244 290.2701 304.523 61.04244 290.0126 304.523 61.04244 289.7511 295.4649 61.04244 294.8637 296.3233 61.04244 294.7122 304.4776 61.04244 289.4936 304.3881 61.04244 289.2479 222.7567 75.08682 229.626 222.7566 75.08682 229.4081 234.7588 75.08682 217.6217 234.5409 75.08682 217.6217 234.3263 75.08682 217.6595 234.1216 75.08682 217.7341 233.9329 75.08682 217.843 233.766 75.08682 217.9831 233.4425 75.08682 218.5435 233.517 75.08682 218.3388 233.6259 75.08682 218.1501 235.8952 75.08682 218.7579 235.8952 75.08682 218.9757 224.111 75.08682 230.7622 223.8931 75.08682 230.7622 223.2848 75.08682 228.493 223.1179 75.08682 228.6331 222.9779 75.08682 228.8 235.674 75.08682 219.5838 235.7829 75.08682 219.3951 235.8574 75.08682 219.1903 224.719 75.08682 230.5408 224.8859 75.08682 230.4007 225.0259 75.08682 230.2338 234.9736 75.08682 220.0743 225.1348 75.08682 230.0451 225.2093 75.08682 229.8403 225.2471 75.08682 229.6257 225.2471 75.08682 229.4079 225.2093 75.08682 229.1933 222.869 75.08682 228.9888 222.7945 75.08682 229.1935 235.1783 75.08682 219.9998 235.367 75.08682 219.8908 235.5339 75.08682 219.7507 224.3255 75.08682 230.7243 224.5303 75.08682 230.6498 233.4047 75.08682 218.976 233.4426 75.08682 219.1905 224.7188 75.08682 228.4929 224.5301 75.08682 228.384 224.3253 75.08682 228.3095 224.1107 75.08682 228.2717 234.1218 75.08682 219.9999 234.3265 75.08682 220.0744 225.0258 75.08682 228.7999 234.5411 75.08682 220.1122 223.8928 75.08682 228.2717 223.6783 75.08682 228.3095 223.4735 75.08682 228.3841 233.4047 75.08682 218.7581 225.1347 75.08682 228.9886 234.759 75.08682 220.1121 233.5171 75.08682 219.3953 233.6261 75.08682 219.584 224.8857 75.08682 228.633 233.7661 75.08682 219.7509 233.9331 75.08682 219.8909 234.9734 75.08682 217.6595 235.1781 75.08682 217.734 235.3668 75.08682 217.8429 235.5337 75.08682 217.983 235.6738 75.08682 218.1499 235.7828 75.08682 218.3385 235.8573 75.08682 218.5433 223.6785 75.08682 230.7244 223.4737 75.08682 230.6499 223.285 75.08682 230.5409 223.1181 75.08682 230.4009 222.978 75.08682 230.234 222.8691 75.08682 230.0453 222.7945 75.08682 229.8406 227.6668 53.08681 233.401 227.4404 53.08681 233.5318 227.1947 53.08681 233.6212 226.9372 53.08681 233.6667 236.0771 53.08681 220.8106 235.9464 53.08681 221.0371 235.857 53.08681 221.2828 236.2452 53.08681 220.6103 236.4454 53.08681 220.4422 236.6719 53.08681 220.3115 236.9176 53.08681 220.222 237.175 53.08681 220.1766 225.4468 53.08681 231.5386 225.5775 53.08681 231.3121 225.7456 53.08681 231.1118 225.312 53.08681 232.0418 225.3574 53.08681 231.7843 238.7548 53.08681 222.059 238.8002 53.08681 221.8015 238.6654 53.08681 222.3047 238.5347 53.08681 222.5311 238.3667 53.08681 222.7315 238.1664 53.08681 222.8995 228.0352 53.08681 233.0326 227.8671 53.08681 233.2329 225.9459 53.08681 230.9437 226.1723 53.08681 230.813 226.418 53.08681 230.7235 228.3007 53.08681 232.303 228.2553 53.08681 232.5605 237.6943 53.08681 223.1197 237.94 53.08681 223.0303 228.1659 53.08681 232.8062 226.6755 53.08681 230.6781 226.9369 53.08681 230.6781 227.1944 53.08681 230.7235 235.9465 53.08681 222.3049 235.8571 53.08681 222.0592 227.6666 53.08681 230.9436 235.8116 53.08681 221.8018 228.035 53.08681 231.3119 228.1658 53.08681 231.5383 227.4402 53.08681 230.8129 235.8116 53.08681 221.5403 228.2552 53.08681 231.784 228.3006 53.08681 232.0415 237.4368 53.08681 223.1652 237.1753 53.08681 223.1652 236.9178 53.08681 223.1198 236.6721 53.08681 223.0304 236.4457 53.08681 222.8997 227.8669 53.08681 231.1116 236.2454 53.08681 222.7316 236.0773 53.08681 222.5314 238.8002 53.08681 221.54 238.7548 53.08681 221.2825 238.6653 53.08681 221.0368 238.5346 53.08681 220.8104 238.3665 53.08681 220.6101 238.1662 53.08681 220.4421 237.9397 53.08681 220.3114 237.694 53.08681 220.222 237.4365 53.08681 220.1766 225.3121 53.08681 232.3032 225.3575 53.08681 232.5607 225.4469 53.08681 232.8064 225.5777 53.08681 233.0328 225.7458 53.08681 233.2331 225.9461 53.08681 233.4012 226.1725 53.08681 233.5319 226.4183 53.08681 233.6213 226.6757 53.08681 233.6667 281.4736 69.00072 296.306 281.42 70.04244 296.1918 281.0515 70.04244 295.3261 302.1992 65.78013 276.7076 302.4918 65.04244 276.8711 300.4696 65.04244 275.9043 301.94 66.5933 276.5698 301.381 69.56724 276.2942 301.5324 68.44523 276.366 301.7335 67.40689 276.4646 282.0184 65.04244 297.3482 281.8495 65.80828 297.0457 281.0513 65.04244 295.3262 281.7784 66.20393 296.9132 281.6515 67.07423 296.6687 281.5505 68.0081 296.4658 301.3352 70.04244 276.2729 300.4695 70.04244 275.9046 300.4616 70.04244 275.9012 298.0962 65.04244 275.1997 298.3914 70.04244 275.2645 295.6392 65.04244 274.8952 296.2512 70.04244 274.9326 298.0933 70.04244 275.2183 293.1656 65.04244 274.9989 294.0855 70.04244 274.9124 295.6389 70.04244 274.9269 290.7427 65.04244 275.5081 291.9394 70.04244 275.2043 293.1708 70.04244 275.0368 288.4367 65.04244 276.4089 289.8578 70.04244 275.8022 290.7534 70.04244 275.545 286.3102 65.04244 277.6767 287.884 70.04244 276.6936 288.4498 70.04244 276.4381 284.4212 65.04244 279.2771 286.059 70.04244 277.86 286.3205 70.04244 277.6929 282.8211 65.04244 281.1664 283.0044 70.04244 280.9152 284.4212 70.04244 279.2771 281.5537 65.04244 283.2931 281.8383 70.04244 282.7404 282.8373 70.04244 281.1767 280.6533 65.04244 285.5994 280.9472 70.04244 284.7144 281.5828 70.04244 283.3063 280.1445 65.04244 288.0223 280.3497 70.04244 286.7961 280.6902 70.04244 285.61 280.0413 65.04244 290.496 280.0582 70.04244 288.9422 280.1825 70.04244 288.0275 280.4111 70.04244 293.2481 280.3648 70.04244 292.95 280.3463 65.04244 292.9529 280.0788 70.04244 291.108 280.073 70.04244 290.4957 281.0481 70.04244 295.3181 288.3209 67.39365 303.2993 288.1174 66.5933 303.1956 289.2872 65.04244 303.7404 287.8582 65.78013 303.0578 287.5657 65.04244 302.8944 294.9888 65.04244 304.8827 294.6538 65.78013 304.878 293.0748 65.04244 304.7549 294.3604 66.5933 304.8678 291.1444 67.39365 304.3711 290.008 67.39365 304.0175 289.298 67.39365 303.7153 291.1478 67.39365 304.3718 291.1477 65.04244 304.372 292.3053 67.39365 304.6334 293.0782 67.39365 304.7276 294.1323 67.39365 304.8559 303.294 67.39365 302.4002 303.1024 66.5933 302.5245 304.1591 65.04244 301.7838 302.8534 65.78013 302.6801 302.5656 65.04244 302.8518 307.9991 65.04244 297.4172 307.8276 65.78013 297.7051 306.9315 65.04244 299.0109 307.672 66.5933 297.9541 305.6339 67.39365 300.4908 304.7594 67.39365 301.2982 304.1427 67.39365 301.762 305.6362 67.39365 300.4883 305.6363 65.04244 300.4884 306.4415 67.39365 299.6166 306.9094 67.39365 298.9943 307.5476 67.39365 298.1457 315.823 79.48974 359.7351 313.2375 79.24472 350.0892 315.9862 80.89298 360.3439 313.2375 82.04244 350.0892 316.0693 82.04244 360.654 315.6011 78.21242 358.907 315.3267 77.09738 357.8834 315.0077 76.17633 356.6932 314.6531 75.47549 355.3706 314.2731 75.01479 353.9529 313.2375 74.12157 350.0892 360.1373 75.01479 305.2516 356.2735 74.12157 304.2167 356.2735 79.24472 304.2167 356.2735 82.04244 304.2167 366.8387 82.04244 307.0466 366.5287 80.89298 306.9636 365.9198 79.48974 306.8005 365.0917 78.21242 306.5787 364.068 77.09738 306.3045 362.8778 76.17633 305.9857 361.555 75.47549 305.6314 348.6268 82.04244 239.1035 340.8934 82.04244 246.8383 348.3999 80.89298 239.3305 340.8934 79.24472 246.8383 347.9541 79.48974 239.7763 340.8934 74.12157 246.8383 343.7216 75.01479 244.0097 344.7593 75.47549 242.9717 345.7275 76.17633 242.0033 346.5987 77.09738 241.132 347.348 78.21242 240.3825 365.8038 82.04244 310.9104 355.2386 82.04244 308.0805 365.4938 80.89298 310.8274 355.2386 79.24472 308.0805 364.8848 79.48974 310.6643 355.2386 74.12157 308.0805 359.1024 75.01479 309.1154 360.5201 75.47549 309.4952 361.8429 76.17633 309.8495 363.0331 77.09738 310.1683 364.0567 78.21242 310.4425 312.2057 82.04244 361.6896 309.3739 82.04244 351.1249 312.1226 80.89298 361.3796 309.3739 79.24472 351.1249 309.3739 74.12157 351.1249 310.4095 75.01479 354.9885 311.4631 77.09738 358.919 311.7375 78.21242 359.9426 311.9594 79.48974 360.7707 310.7895 75.47549 356.4062 311.1441 76.17633 357.7289 249.1645 75.01479 338.5839 251.9927 74.12157 335.7553 251.9927 79.24472 335.7553 248.1268 75.47549 339.6219 244.932 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322.1846 302.9247 67.86608 322.1825 310.6097 74.46629 350.7936 310.6145 74.46076 350.7923 303.113 67.71183 322.1677 310.9165 74.22734 350.7114 310.7838 74.31184 350.747 303.2078 67.65481 322.1554 303.26 67.62342 322.1487 310.929 74.21938 350.708 311.0522 74.1662 350.675 303.2999 67.60682 322.1419 303.3992 67.56544 322.1248 311.0614 74.16219 350.6725 303.4811 67.5455 322.1075 311.1843 74.13149 350.6396 303.5326 67.53296 322.0966 303.569 67.53006 322.0875 303.0082 67.16805 319.9962 302.0143 67.97322 320.1707 302.1914 67.71832 320.1523 301.6869 68.61874 320.1847 302.8364 67.50379 321.1364 302.6502 67.6597 321.1595 302.6493 67.2946 320.0779 302.7406 67.24608 320.059 302.3734 67.51205 320.1271 302.5574 67.35495 320.0957 302.2768 67.26538 319.0486 302.095 67.4232 319.0883 302.9203 67.18321 320.018 302.831 67.20908 320.039 301.4133 69.4134 320.1673 301.2086 70.30358 320.1205 327.9099 72.69475 296.6195 328.55 72.83568 296.7909 326.6784 72.403 296.2896 326.8287 72.50697 296.3299 325.8253 72.33268 296.0611 325.2714 72.15208 295.9128 325.096 72.2572 295.8658 325.1086 72.13953 295.8692 323.7224 72.11504 295.4978 323.9247 72.04823 295.552 323.3526 72.10237 295.3988 321.2224 72.04933 298.9692 322.3171 72.10999 299.2624 323.333 72.16628 299.5346 323.9117 72.115 299.6896 324.0607 72.25717 299.7295 324.0732 72.13948 299.7328 325.4313 72.42834 300.0966 325.2478 72.31748 300.0475 325.7948 72.49941 300.194 325.6434 72.403 300.1534 327.5151 72.83568 300.6547 316.4948 74.91554 295.0366 316.0948 74.96013 295.0483 321.2042 74.95697 296.4187 321.1318 75.02809 296.6889 321.1455 75.01757 296.6379 315.2337 75.02172 295.0534 321.1241 75.03408 296.7179 315.1638 75.02499 295.0529 321.0855 75.04244 296.8621 314.5292 75.04097 295.0411 314.3624 75.04223 295.0367 314.3582 75.04225 295.0366 314.3455 75.0423 295.0363 314.2947 75.04242 295.0348 314.2708 75.04244 295.0341 321.183 74.98867 296.4979 315.9756 74.97342 295.0518 315.411 75.01342 295.0549 321.2629 74.85567 296.1997 321.2752 74.82738 296.1535 317.27 74.77149 294.9802 321.3044 74.76073 296.0447 317.4924 74.70632 294.9508 321.3223 74.70345 295.9778 317.6357 74.66437 294.9318 321.2274 74.9223 296.3321 321.2457 74.89492 296.2637 316.849 74.85758 295.0153 316.9697 74.83782 295.0081 318.0281 74.49809 294.8539 317.9541 74.53529 294.8714 318.3802 74.2593 294.7424 318.2775 74.34317 294.7812 321.3816 74.49446 295.7564 321.3652 74.56638 295.8178 318.0356 74.4943 294.8521 321.4754 73.9988 295.4064 318.5923 74.00279 294.6275 321.4494 74.15888 295.5035 318.5468 74.07501 294.6592 321.4408 74.21126 295.5353 321.4106 74.3679 295.6483 321.4272 74.29494 295.586 318.4252 74.21449 294.722 318.47 74.16996 294.7017 318.6949 73.7591 294.5237 318.6613 73.86487 294.5681 318.6112 73.97267 294.6143 321.4863 73.93126 295.3654 321.4937 73.88619 295.3381 318.7151 73.6492 294.4786 321.5162 73.68015 295.254 318.7201 73.56232 294.4438 321.5713 73.02603 295.0483 318.7143 73.4172 294.3866 321.5636 73.14389 295.0768 318.7217 73.53524 294.433 321.5475 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253.2674 328.6107 91.79816 253.2667 328.6101 91.79492 253.2664 328.6099 91.79162 253.2665 328.61 91.78836 253.2671 328.6105 91.78524 253.2681 328.6112 91.78234 253.2695 328.6123 91.77972 253.2712 328.6136 91.77747 253.2733 328.6151 91.77565 253.2755 324.3156 92.24658 256.5591 324.3136 92.24524 256.5567 324.3119 92.24343 256.5546 324.3103 92.2412 256.5529 324.3089 92.2386 256.5514 324.3078 92.23572 256.5503 324.3069 92.23262 256.5496 324.3064 92.22939 256.5494 324.3062 92.22611 256.5495 324.3063 92.22289 256.5501 324.3068 92.21979 256.5511 324.3075 92.21691 256.5525 324.3086 92.21432 256.5542 324.3099 92.2121 256.5562 324.3115 92.21029 256.5585 324.3132 92.20896 256.5609 314.7277 93.16942 263.9285 314.7302 93.20699 263.9269 314.7283 93.20566 263.9246 314.7265 93.20387 263.9225 314.7249 93.20166 263.9207 314.7235 93.19908 263.9192 314.7224 93.19622 263.9181 314.7215 93.19313 263.9174 314.721 93.18991 263.9172 314.7208 93.18666 263.9173 314.7209 93.18343 263.9179 314.7214 93.18033 263.9188 314.7221 93.17745 263.9202 314.7232 93.17485 263.9219 314.7245 93.1726 263.9239 314.726 93.17078 263.9261 309.549 93.68383 267.9337 309.5519 93.72146 267.9327 309.55 93.7202 267.9303 309.5482 93.71847 267.9282 309.5465 93.7163 267.9264 309.5451 93.71376 267.9248 309.5439 93.71092 267.9237 309.543 93.70784 267.923 309.5424 93.70463 267.9226 309.5422 93.70135 267.9227 309.5422 93.69811 267.9232 309.5427 93.69498 267.9241 309.5434 93.69205 267.9255 309.5444 93.6894 267.9271 309.5457 93.68711 267.9291 309.5473 93.68524 267.9313 305.5209 94.11808 271.0683 305.5189 94.11691 271.0659 305.5171 94.11524 271.0637 305.5154 94.11314 271.0618 305.5139 94.11064 271.0603 305.5127 94.10782 271.059 305.5117 94.10475 271.0582 305.5111 94.10153 271.0578 305.5108 94.09824 271.0578 305.5109 94.09496 271.0583 305.5112 94.09179 271.0591 305.512 94.08882 271.0604 305.513 94.08612 271.062 305.5143 94.08377 271.0639 305.5158 94.08184 271.0661 305.2381 94.14289 271.2963 305.236 94.14226 271.2938 305.234 94.14111 271.2915 305.2321 94.13946 271.2893 305.2304 94.13736 271.2874 305.2289 94.13487 271.2858 305.2278 94.13205 271.2845 305.2269 94.12899 271.2835 305.2265 94.12576 271.283 305.2263 94.12245 271.2829 305.2265 94.11917 271.2832 305.2271 94.11598 271.2839 305.228 94.11299 271.285 305.2293 94.11027 271.2864 305.2308 94.1079 271.2882 305.2325 94.10594 271.2902 305.1686 94.13652 271.3601 305.1664 94.13535 271.3579 305.1645 94.13368 271.3558 305.1628 94.13157 271.3539 305.1614 94.12908 271.3522 305.1604 94.12625 271.3508 305.1597 94.12319 271.3497 305.1595 94.11997 271.349 305.1596 94.11669 271.3486 305.1601 94.11342 271.3487 305.161 94.11026 271.3491 305.1622 94.10729 271.3498 305.1638 94.10461 271.351 305.1657 94.10227 271.3524 305.1678 94.10035 271.3541 305.17 94.0989 271.3561 304.9975 94.11123 271.5362 304.9954 94.11006 271.5339 304.9934 94.10839 271.5318 304.9918 94.10628 271.5299 304.9904 94.10379 271.5282 304.9894 94.10096 271.5268 304.9887 94.0979 271.5257 304.9884 94.09468 271.525 304.9886 94.0914 271.5247 304.9891 94.08812 271.5247 304.9899 94.08496 271.5252 304.9912 94.082 271.526 304.9927 94.0793 271.5271 304.9945 94.07697 271.5286 304.9966 94.07505 271.5303 304.0951 93.98905 272.4545 304.093 93.98786 272.4523 304.0911 93.98617 272.4501 304.0895 93.98403 272.4483 304.0881 93.98152 272.4466 304.0871 93.97869 272.4452 304.0864 93.97561 272.4442 304.0862 93.97239 272.4435 304.0863 93.9691 272.4432 304.0868 93.96583 272.4432 304.0877 93.96267 272.4437 304.0889 93.95972 272.4445 304.0905 93.95704 272.4457 304.0923 93.95472 272.4472 304.0944 93.95282 272.4489 303.1029 93.85504 273.4702 303.1007 93.85433 273.4679 303.0986 93.85311 273.4657 303.0967 93.85139 273.4636 303.095 93.84924 273.4617 303.0937 93.84671 273.46 303.0927 93.84385 273.4587 303.0921 93.84077 273.4577 303.0918 93.83754 273.457 303.092 93.83425 273.4567 303.0925 93.83098 273.4568 303.0934 93.82784 273.4573 303.0947 93.82489 273.4581 303.0962 93.82224 273.4593 303.0981 93.81993 273.4608 303.1001 93.81806 273.4626 302.0077 93.70645 274.5881 302.0055 93.70571 274.5858 302.0034 93.70446 274.5836 302.0015 93.70272 274.5815 301.9999 93.70054 274.5796 301.9985 93.69799 274.578 301.9975 93.69512 274.5766 301.9969 93.69203 274.5756 301.9967 93.68879 274.575 301.9969 93.6855 274.5747 301.9974 93.68223 274.5748 301.9984 93.6791 274.5753 301.9996 93.67617 274.5762 302.0013 93.67353 274.5774 302.0031 93.67124 274.5789 302.0052 93.6694 274.5807 302.0074 93.66802 274.5827 300.8004 93.54192 275.8182 300.7983 93.54064 275.816 300.7964 93.53887 275.8139 300.7947 93.53666 275.8121 300.7934 93.53408 275.8105 300.7925 93.53121 275.8091 300.7919 93.52809 275.8081 300.7917 93.52484 275.8075 300.7919 93.52155 275.8073 300.7925 93.51829 275.8074 300.7934 93.51516 275.8079 300.7947 93.51225 275.8088 300.7963 93.50962 275.81 300.7982 93.50737 275.8116 300.8003 93.50555 275.8134 300.8026 93.50421 275.8154 299.4762 93.32522 277.1713 299.4741 93.32701 277.1694 299.4722 93.32923 277.1679 299.4706 93.33183 277.1666 299.4692 93.33473 277.1657 299.4682 93.33786 277.1652 299.4676 93.34111 277.165 299.4674 93.34442 277.1652 299.4676 93.34767 277.1658 299.4682 93.35079 277.1668 299.4691 93.3537 277.1681 299.4704 93.3563 277.1697 299.472 93.35854 277.1716 299.4739 93.36033 277.1736 299.476 93.36165 277.1759 299.4782 93.36244 277.1781 344.0245 88.41169 252.5645 341.4192 88.23246 255.9635 338.6988 88.149 259.4062 338.6853 88.11456 259.3941 325.3377 87.65902 275.7517 318.6651 87.43703 283.8214 317.6638 87.40792 285.0154 317.9587 87.38217 284.6393 317.5768 87.40723 285.111 316.9995 87.47951 285.4056 317.4919 87.37931 285.1484 316.9873 87.44634 285.3895 307.2389 88.76702 290.1051 306.2487 88.86245 290.558 306.2501 88.86193 290.561 345.2966 88.5257 250.6749 345.2991 88.52368 250.6763 345.3012 88.52121 250.6774 345.303 88.51837 250.6782 345.3043 88.51525 250.6788 345.3051 88.51194 250.679 345.3054 88.50852 250.679 345.3053 88.50511 250.6787 345.3046 88.50181 250.678 345.3035 88.49871 250.6771 345.3019 88.49589 250.6759 345.2999 88.49345 250.6746 345.2976 88.49146 250.673 345.295 88.48997 250.6713 345.2922 88.48904 250.6696 345.2893 88.48867 250.6678 345.2864 88.4889 250.666 306.2515 88.86196 290.564 306.253 88.86254 290.5669 306.2545 88.86366 290.5697 306.2559 88.86528 290.5722 306.2573 88.86735 290.5745 306.2585 88.86983 290.5764 306.2596 88.87265 290.5778 306.2604 88.8757 290.5788 306.2611 88.87894 290.5793 306.2615 88.88225 290.5793 306.2617 88.88555 290.5788 306.2617 88.88874 290.5778 306.2614 88.89173 290.5764 306.2609 88.89444 290.5745 306.2601 88.89681 290.5723 307.2397 88.76463 290.1073 307.2402 88.7619 290.1092 307.2405 88.75889 290.1106 307.2405 88.7557 290.1116 307.2403 88.75241 290.112 307.2398 88.74909 290.112 307.2392 88.74588 290.1115 307.2383 88.74282 290.1105 307.2372 88.74003 290.109 307.236 88.73757 290.1071 307.2346 88.73552 290.1048 307.2332 88.73393 290.1023 307.2317 88.73284 290.0995 307.2302 88.73228 290.0965 307.2288 88.73228 290.0935 307.2274 88.73283 290.0905 314.8414 87.72837 286.4274 314.8535 87.76168 286.4433 314.8542 87.75919 286.4454 314.8547 87.75638 286.4472 314.8549 87.75332 286.4484 314.8549 87.75009 286.4493 314.8546 87.7468 286.4496 314.8541 87.74352 286.4494 314.8533 87.74034 286.4487 314.8524 87.73737 286.4476 314.8513 87.73467 286.446 314.85 87.73232 286.444 314.8486 87.73038 286.4417 314.8472 87.72892 286.4391 314.8457 87.72797 286.4363 314.8442 87.72756 286.4333 314.8428 87.72769 286.4303 317.0001 87.47701 285.4077 317.0006 87.47418 285.4094 317.0008 87.47112 285.4107 317.0007 87.46789 285.4115 317.0005 87.46459 285.4118 317 87.46131 285.4116 316.9992 87.45814 285.4109 316.9982 87.45517 285.4098 316.9971 87.45249 285.4082 316.9959 87.45015 285.4062 316.9945 87.44824 285.4038 316.993 87.4468 285.4012 316.9915 87.44586 285.3984 316.99 87.44548 285.3954 316.9886 87.44564 285.3924 317.5044 87.41249 285.1644 317.5052 87.40998 285.1664 317.5057 87.40715 285.1681 317.506 87.40407 285.1693 317.5061 87.40083 285.1701 317.5058 87.39752 285.1704 317.5053 87.39424 285.1702 317.5046 87.39107 285.1695 317.5036 87.38809 285.1684 317.5024 87.38541 285.1668 317.5011 87.38307 285.1648 317.4996 87.38117 285.1625 317.4981 87.37973 285.16 317.4965 87.37881 285.1572 317.4949 87.37843 285.1543 317.4933 87.3786 285.1513 317.5477 87.4083 285.137 317.5489 87.40577 285.1388 317.5498 87.40291 285.1403 317.5504 87.39981 285.1413 317.5507 87.39656 285.142 317.5506 87.39323 285.1422 317.5502 87.38993 285.142 317.5495 87.38674 285.1413 317.5484 87.38377 285.1402 317.5472 87.38108 285.1387 317.5456 87.37875 285.1369 317.5439 87.37684 285.1348 317.542 87.37542 285.1325 317.54 87.37452 285.1299 317.538 87.37416 285.1273 317.536 87.37436 285.1246 317.534 87.3751 285.1221 317.5783 87.40468 285.1126 317.5795 87.40181 285.1138 317.5803 87.39871 285.1146 317.5808 87.39544 285.1151 317.5809 87.39211 285.1152 317.5805 87.3888 285.1149 317.5798 87.38562 285.1142 317.5787 87.38264 285.1132 317.5773 87.37995 285.1118 317.5756 87.37763 285.1102 317.5736 87.37574 285.1083 317.5715 87.37432 285.1062 317.5692 87.37343 285.1039 317.5668 87.37309 285.1016 317.5645 87.37329 285.0992 317.5622 87.37406 285.0969 317.6654 87.40538 285.0168 317.6667 87.40251 285.018 317.6676 87.3994 285.0187 317.6681 87.39614 285.0191 317.6682 87.3928 285.0192 317.6679 87.3895 285.0189 317.6672 87.38632 285.0182 317.6661 87.38334 285.0172 317.6646 87.38066 285.0158 317.6629 87.37834 285.0142 317.6608 87.37645 285.0124 317.6585 87.37504 285.0104 317.6562 87.37416 285.0083 317.6537 87.37381 285.0061 317.6512 87.37403 285.0038 317.6488 87.37479 285.0017 317.974 87.41526 284.6529 317.9757 87.41271 284.6542 317.977 87.40984 284.6553 317.9779 87.40673 284.656 317.9785 87.40346 284.6564 317.9786 87.40013 284.6564 317.9783 87.39684 284.656 317.9776 87.39366 284.6553 317.9765 87.39069 284.6543 317.975 87.38801 284.653 317.9732 87.38569 284.6515 317.9711 87.38381 284.6497 317.9688 87.3824 284.6477 317.9663 87.38153 284.6456 317.9638 87.38118 284.6435 317.9612 87.3814 284.6414 318.6667 87.43447 283.8227 318.668 87.4316 283.8237 318.669 87.42848 283.8244 318.6695 87.42522 283.8248 318.6697 87.4219 283.8248 318.6693 87.4186 283.8245 318.6686 87.41543 283.8238 318.6675 87.41247 283.8228 318.666 87.4098 283.8215 318.6642 87.4075 283.8199 318.6621 87.40562 283.8181 318.6598 87.40423 283.8161 318.6573 87.40335 283.8141 318.6548 87.40303 283.812 318.6522 87.40325 283.8099 318.6497 87.40401 283.8078 325.3394 87.65644 275.7529 325.3406 87.65355 275.7539 325.3415 87.65044 275.7546 325.342 87.64719 275.7549 325.3421 87.64389 275.7548 325.3417 87.64062 275.7545 325.341 87.63748 275.7537 325.3399 87.63456 275.7527 325.3383 87.63193 275.7514 325.3365 87.62967 275.7498 325.3344 87.62783 275.7481 325.3321 87.62648 275.7461 325.3297 87.62563 275.7441 325.3271 87.62532 275.742 325.3246 87.62555 275.7399 325.3221 87.62633 275.7379 327.9516 87.71767 272.5434 327.9672 87.75043 272.5571 327.9688 87.74786 272.5584 327.9701 87.74497 272.5594 327.971 87.74187 272.56 327.9715 87.73862 272.5604 327.9716 87.73532 272.5603 327.9712 87.73206 272.56 327.9705 87.72892 272.5593 327.9694 87.72599 272.5582 327.9678 87.72336 272.5569 327.966 87.72109 272.5554 327.964 87.71924 272.5536 327.9617 87.71787 272.5517 327.9592 87.71701 272.5496 327.9567 87.71669 272.5476 327.9541 87.71691 272.5455 334.6506 87.95885 264.3678 334.6531 87.95818 264.3699 334.6557 87.95806 264.372 334.6583 87.95848 264.374 334.6607 87.95945 264.3761 334.663 87.96093 264.378 334.6651 87.96288 264.3797 334.6668 87.96524 264.3812 334.6683 87.96796 264.3825 334.6693 87.97095 264.3834 334.67 87.97414 264.384 334.6702 87.97743 264.3843 334.67 87.98075 264.3843 334.6694 87.98398 264.3839 334.6684 87.98706 264.3832 334.667 87.98988 264.3821 334.6653 87.99238 264.3808 338.7007 88.14661 259.4076 338.7022 88.14385 259.4087 338.7034 88.14083 259.4096 338.7041 88.13761 259.41 338.7044 88.13428 259.4102 338.7043 88.13095 259.41 338.7038 88.12769 259.4094 338.7028 88.12461 259.4086 338.7014 88.1218 259.4074 338.6997 88.11932 259.4059 338.6977 88.11724 259.4042 338.6954 88.11564 259.4024 338.693 88.11455 259.4004 338.6905 88.11399 259.3983 338.6878 88.114 259.3962 339.0753 88.13048 258.9091 339.0779 88.12993 258.9111 339.0805 88.12994 258.9132 339.0831 88.1305 258.9153 339.0856 88.13162 258.9173 339.0878 88.13323 258.9192 339.0898 88.13532 258.9209 339.0915 88.13781 258.9223 339.0928 88.14064 258.9235 339.0938 88.14373 258.9244 339.0943 88.14699 258.9249 339.0944 88.15033 258.9251 339.0941 88.15366 258.9249 339.0934 88.15688 258.9244 339.0922 88.1599 258.9236 339.0906 88.16265 258.9225 339.0888 88.16503 258.921 341.4218 88.232 255.9656 341.4245 88.23211 255.9676 341.4271 88.23278 255.9697 341.4295 88.234 255.9717 341.4318 88.23573 255.9735 341.4338 88.23792 255.9751 341.4354 88.2405 255.9765 341.4367 88.24342 255.9776 341.4375 88.24658 255.9784 341.438 88.24989 255.9789 341.438 88.25325 255.979 341.4375 88.25659 255.9788 341.4367 88.25979 255.9782 341.4353 88.26277 255.9773 341.4337 88.26544 255.9761 341.4317 88.26773 255.9746 342.9554 88.31024 253.9791 342.9581 88.30986 253.9811 342.9608 88.31005 253.9832 342.9634 88.3108 253.9852 342.9659 88.31211 253.9871 342.9681 88.31392 253.9889 342.9701 88.3162 253.9905 342.9717 88.31886 253.9918 342.9729 88.32183 253.9929 342.9737 88.32505 253.9936 342.9741 88.32839 253.994 342.974 88.33178 253.9941 342.9734 88.33512 253.9938 342.9724 88.3383 253.9932 342.971 88.34123 253.9923 342.9692 88.34384 253.991 342.9671 88.34606 253.9895 344.0267 88.40956 252.566 344.0286 88.407 252.5672 344.0301 88.4041 252.5682 344.0312 88.40093 252.5688 344.0319 88.39761 252.5691 344.0321 88.39421 252.5691 344.0318 88.39083 252.5687 344.031 88.38758 252.568 344.0299 88.38455 252.567 344.0283 88.38182 252.5657 344.0263 88.37948 252.5642 344.0241 88.3776 252.5625 344.0216 88.37622 252.5606 344.0189 88.37539 252.5587 344.0162 88.37514 252.5567 344.0134 88.37547 252.5547 344.7679 88.47039 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284.8964 94.11026 308.4164 284.8952 94.10729 308.4156 284.8936 94.10461 308.4145 284.8918 94.10227 308.413 284.8897 94.10035 308.4113 284.8874 94.0989 308.4094 285.0599 94.11123 308.2293 285.0621 94.11006 308.2315 285.064 94.10839 308.2337 285.0657 94.10628 308.2356 285.067 94.10379 308.2373 285.0681 94.10096 308.2386 285.0687 94.0979 308.2397 285.069 94.09468 308.2404 285.0689 94.0914 308.2408 285.0684 94.08812 308.2407 285.0675 94.08496 308.2403 285.0663 94.082 308.2395 285.0647 94.0793 308.2383 285.0629 94.07697 308.2369 285.0608 94.07505 308.2351 285.9623 93.98905 307.311 285.9644 93.98786 307.3132 285.9663 93.98617 307.3153 285.968 93.98403 307.3172 285.9693 93.98152 307.3189 285.9703 93.97869 307.3202 285.971 93.97561 307.3213 285.9713 93.97239 307.322 285.9711 93.9691 307.3223 285.9706 93.96583 307.3222 285.9697 93.96267 307.3218 285.9685 93.95972 307.3209 285.9669 93.95704 307.3198 285.9651 93.95472 307.3183 285.9631 93.95282 307.3165 286.9545 93.85504 306.2952 286.9567 93.85433 306.2975 286.9588 93.85311 306.2998 286.9608 93.85139 306.3019 286.9624 93.84924 306.3038 286.9638 93.84671 306.3054 286.9647 93.84385 306.3068 286.9654 93.84077 306.3078 286.9656 93.83754 306.3085 286.9655 93.83425 306.3088 286.9649 93.83098 306.3087 286.964 93.82784 306.3082 286.9628 93.82489 306.3074 286.9612 93.82224 306.3062 286.9594 93.81993 306.3046 286.9573 93.81806 306.3029 288.0497 93.70645 305.1773 288.052 93.70571 305.1796 288.0541 93.70446 305.1819 288.0559 93.70272 305.1839 288.0576 93.70054 305.1858 288.0589 93.69799 305.1875 288.0599 93.69512 305.1888 288.0605 93.69203 305.1898 288.0607 93.68879 305.1905 288.0606 93.6855 305.1907 288.06 93.68223 305.1906 288.0591 93.6791 305.1901 288.0578 93.67617 305.1893 288.0562 93.67353 305.1881 288.0543 93.67124 305.1865 288.0522 93.6694 305.1848 288.05 93.66802 305.1828 289.2571 93.54192 303.9472 289.2592 93.54064 303.9494 289.2611 93.53887 303.9515 289.2627 93.53666 303.9534 289.264 93.53408 303.955 289.265 93.53121 303.9563 289.2655 93.52809 303.9573 289.2657 93.52484 303.9579 289.2655 93.52155 303.9582 289.265 93.51829 303.958 289.264 93.51516 303.9575 289.2627 93.51225 303.9566 289.2611 93.50962 303.9554 289.2592 93.50737 303.9539 289.2571 93.50555 303.952 289.2549 93.50421 303.95 290.5812 93.32522 302.5942 290.5833 93.32701 302.596 290.5852 93.32923 302.5976 290.5869 93.33183 302.5988 290.5882 93.33473 302.5997 290.5892 93.33786 302.6003 290.5898 93.34111 302.6004 290.59 93.34442 302.6002 290.5899 93.34767 302.5996 290.5893 93.35079 302.5986 290.5884 93.3537 302.5974 290.587 93.3563 302.5957 290.5855 93.35854 302.5939 290.5836 93.36033 302.5918 290.5815 93.36165 302.5896 290.5792 93.36244 302.5873 246.0329 88.41169 327.2009 248.6382 88.23246 323.8019 251.3586 88.149 320.3593 251.3721 88.11456 320.3713 264.7197 87.65902 304.0138 271.3924 87.43703 295.944 272.3937 87.40792 294.75 272.0987 87.38217 295.1261 272.4807 87.40723 294.6544 273.058 87.47951 294.3598 272.5656 87.37931 294.617 273.0702 87.44634 294.376 282.8185 88.76702 289.6603 283.8087 88.86245 289.2075 283.8074 88.86193 289.2045 244.7608 88.5257 329.0905 244.7583 88.52368 329.0892 244.7562 88.52121 329.0881 244.7545 88.51837 329.0872 244.7532 88.51525 329.0867 244.7523 88.51194 329.0864 244.752 88.50852 329.0864 244.7521 88.50511 329.0868 244.7528 88.50181 329.0874 244.7539 88.49871 329.0883 244.7555 88.49589 329.0895 244.7575 88.49345 329.0909 244.7598 88.49146 329.0924 244.7624 88.48997 329.0941 244.7652 88.48904 329.0959 244.7681 88.48867 329.0977 244.771 88.4889 329.0994 283.8059 88.86196 289.2015 283.8044 88.86254 289.1985 283.803 88.86366 289.1958 283.8015 88.86528 289.1932 283.8002 88.86735 289.191 283.799 88.86983 289.1891 283.7979 88.87265 289.1876 283.797 88.8757 289.1866 283.7963 88.87894 289.1861 283.7959 88.88225 289.1861 283.7957 88.88555 289.1866 283.7958 88.88874 289.1876 283.796 88.89173 289.189 283.7966 88.89444 289.1909 283.7973 88.89681 289.1932 282.8178 88.76463 289.6581 282.8172 88.7619 289.6563 282.8169 88.75889 289.6549 282.8169 88.7557 289.6539 282.8171 88.75241 289.6534 282.8176 88.74909 289.6535 282.8182 88.74588 289.654 282.8192 88.74282 289.655 282.8202 88.74003 289.6565 282.8215 88.73757 289.6584 282.8228 88.73552 289.6606 282.8242 88.73393 289.6632 282.8257 88.73284 289.666 282.8272 88.73228 289.6689 282.8286 88.73228 289.6719 282.83 88.73283 289.6749 275.216 87.72837 293.3381 275.2039 87.76168 293.3221 275.2032 87.75919 293.32 275.2027 87.75638 293.3183 275.2025 87.75332 293.317 275.2026 87.75009 293.3162 275.2028 87.7468 293.3159 275.2033 87.74352 293.316 275.2041 87.74034 293.3167 275.205 87.73737 293.3178 275.2062 87.73467 293.3194 275.2074 87.73232 293.3214 275.2088 87.73038 293.3237 275.2102 87.72892 293.3263 275.2117 87.72797 293.3291 275.2132 87.72756 293.3321 275.2146 87.72769 293.3351 273.0573 87.47701 294.3577 273.0568 87.47418 294.356 273.0567 87.47112 294.3547 273.0567 87.46789 294.354 273.057 87.46459 294.3536 273.0575 87.46131 294.3538 273.0582 87.45814 294.3545 273.0592 87.45517 294.3557 273.0603 87.45249 294.3573 273.0616 87.45015 294.3593 273.063 87.44824 294.3616 273.0644 87.4468 294.3642 273.0659 87.44586 294.3671 273.0674 87.44548 294.37 273.0688 87.44564 294.373 272.553 87.41249 294.6011 272.5523 87.40998 294.599 272.5517 87.40715 294.5974 272.5514 87.40407 294.5961 272.5514 87.40083 294.5953 272.5516 87.39752 294.595 272.5521 87.39424 294.5952 272.5529 87.39107 294.5959 272.5538 87.38809 294.5971 272.555 87.38541 294.5986 272.5563 87.38307 294.6006 272.5578 87.38117 294.6029 272.5594 87.37973 294.6055 272.561 87.37881 294.6083 272.5625 87.37843 294.6112 272.5641 87.3786 294.6141 272.5097 87.4083 294.6284 272.5085 87.40577 294.6266 272.5076 87.40291 294.6252 272.507 87.39981 294.6241 272.5068 87.39656 294.6235 272.5068 87.39323 294.6232 272.5072 87.38993 294.6235 272.5079 87.38674 294.6242 272.509 87.38377 294.6252 272.5103 87.38108 294.6267 272.5118 87.37875 294.6285 272.5136 87.37684 294.6306 272.5155 87.37542 294.633 272.5174 87.37452 294.6355 272.5195 87.37416 294.6381 272.5215 87.37436 294.6408 272.5234 87.3751 294.6434 272.4791 87.40468 294.6529 272.4779 87.40181 294.6517 272.4771 87.39871 294.6508 272.4766 87.39544 294.6503 272.4766 87.39211 294.6502 272.4769 87.3888 294.6505 272.4776 87.38562 294.6512 272.4787 87.38264 294.6522 272.4801 87.37995 294.6536 272.4818 87.37763 294.6553 272.4838 87.37574 294.6572 272.4859 87.37432 294.6593 272.4882 87.37343 294.6615 272.4906 87.37309 294.6639 272.493 87.37329 294.6662 272.4953 87.37406 294.6685 272.392 87.40538 294.7486 272.3908 87.40251 294.7475 272.3898 87.3994 294.7467 272.3893 87.39614 294.7463 272.3892 87.3928 294.7463 272.3895 87.3895 294.7466 272.3903 87.38632 294.7472 272.3914 87.38334 294.7483 272.3928 87.38066 294.7496 272.3946 87.37834 294.7512 272.3966 87.37645 294.753 272.3989 87.37504 294.755 272.4013 87.37416 294.7572 272.4037 87.37381 294.7594 272.4062 87.37403 294.7616 272.4086 87.37479 294.7638 272.0834 87.41526 295.1125 272.0818 87.41271 295.1112 272.0805 87.40984 295.1102 272.0795 87.40673 295.1094 272.079 87.40346 295.1091 272.0788 87.40013 295.1091 272.0791 87.39684 295.1094 272.0798 87.39366 295.1101 272.081 87.39069 295.1111 272.0825 87.38801 295.1124 272.0843 87.38569 295.114 272.0863 87.38381 295.1158 272.0887 87.3824 295.1177 272.0911 87.38153 295.1198 272.0936 87.38118 295.1219 272.0962 87.3814 295.124 271.3907 87.43447 295.9427 271.3894 87.4316 295.9417 271.3884 87.42848 295.941 271.3879 87.42522 295.9406 271.3878 87.4219 295.9406 271.3881 87.4186 295.941 271.3888 87.41543 295.9417 271.39 87.41247 295.9427 271.3914 87.4098 295.944 271.3933 87.4075 295.9456 271.3953 87.40562 295.9473 271.3977 87.40423 295.9493 271.4001 87.40335 295.9514 271.4027 87.40303 295.9535 271.4052 87.40325 295.9556 271.4077 87.40401 295.9577 264.7181 87.65644 304.0125 264.7168 87.65355 304.0115 264.7159 87.65044 304.0109 264.7154 87.64719 304.0106 264.7153 87.64389 304.0106 264.7157 87.64062 304.011 264.7164 87.63748 304.0117 264.7176 87.63456 304.0127 264.7191 87.63193 304.014 264.7209 87.62967 304.0156 264.723 87.62783 304.0174 264.7253 87.62648 304.0193 264.7278 87.62563 304.0214 264.7303 87.62532 304.0235 264.7329 87.62555 304.0256 264.7353 87.62633 304.0276 262.1058 87.71767 307.222 262.0903 87.75043 307.2083 262.0886 87.74786 307.207 262.0874 87.74497 307.2061 262.0864 87.74187 307.2054 262.0859 87.73862 307.2051 262.0859 87.73532 307.2051 262.0862 87.73206 307.2055 262.0869 87.72892 307.2062 262.0881 87.72599 307.2072 262.0896 87.72336 307.2085 262.0914 87.72109 307.2101 262.0935 87.71924 307.2118 262.0958 87.71787 307.2138 262.0982 87.71701 307.2158 262.1007 87.71669 307.2179 262.1033 87.71691 307.22 255.4068 87.95885 315.3976 255.4042 87.95818 315.3956 255.4017 87.95806 315.3935 255.3991 87.95848 315.3914 255.3967 87.95945 315.3894 255.3944 87.96093 315.3875 255.3924 87.96288 315.3858 255.3906 87.96524 315.3842 255.3892 87.96796 315.383 255.3881 87.97095 315.382 255.3874 87.97414 315.3814 255.3872 87.97743 315.3811 255.3874 87.98075 315.3811 255.388 87.98398 315.3815 255.389 87.98706 315.3823 255.3904 87.98988 315.3833 255.3921 87.99238 315.3847 251.3567 88.14661 320.3579 251.3552 88.14385 320.3567 251.354 88.14083 320.3559 251.3533 88.13761 320.3554 251.353 88.13428 320.3552 251.3531 88.13095 320.3554 251.3536 88.12769 320.356 251.3546 88.12461 320.3569 251.356 88.1218 320.3581 251.3577 88.11932 320.3595 251.3597 88.11724 320.3612 251.362 88.11564 320.3631 251.3644 88.11455 320.3651 251.367 88.11399 320.3672 251.3696 88.114 320.3692 250.9821 88.13048 320.8563 250.9795 88.12993 320.8543 250.9769 88.12994 320.8522 250.9743 88.1305 320.8501 250.9719 88.13162 320.8481 250.9696 88.13323 320.8462 250.9676 88.13532 320.8446 250.9659 88.13781 320.8431 250.9646 88.14064 320.8419 250.9636 88.14373 320.8411 250.9631 88.14699 320.8405 250.963 88.15033 320.8403 250.9633 88.15366 320.8405 250.9641 88.15688 320.841 250.9652 88.1599 320.8418 250.9668 88.16265 320.843 250.9686 88.16503 320.8444 248.6356 88.232 323.7999 248.6329 88.23211 323.7978 248.6303 88.23278 323.7957 248.6279 88.234 323.7938 248.6257 88.23573 323.7919 248.6237 88.23792 323.7903 248.622 88.2405 323.7889 248.6207 88.24342 323.7878 248.6199 88.24658 323.787 248.6194 88.24989 323.7865 248.6194 88.25325 323.7864 248.6199 88.25659 323.7866 248.6208 88.25979 323.7872 248.6221 88.26277 323.7881 248.6237 88.26544 323.7893 248.6257 88.26773 323.7908 247.102 88.31024 325.7863 247.0993 88.30986 325.7843 247.0966 88.31005 325.7823 247.094 88.3108 325.7802 247.0915 88.31211 325.7783 247.0893 88.31392 325.7765 247.0873 88.3162 325.7749 247.0857 88.31886 325.7736 247.0845 88.32183 325.7725 247.0837 88.32505 325.7718 247.0833 88.32839 325.7714 247.0834 88.33178 325.7713 247.084 88.33512 325.7716 247.085 88.3383 325.7722 247.0864 88.34123 325.7732 247.0882 88.34384 325.7744 247.0903 88.34606 325.7759 246.0307 88.40956 327.1994 246.0288 88.407 327.1982 246.0273 88.4041 327.1972 246.0262 88.40093 327.1966 246.0255 88.39761 327.1963 246.0253 88.39421 327.1963 246.0256 88.39083 327.1967 246.0264 88.38758 327.1974 246.0275 88.38455 327.1984 246.0291 88.38182 327.1997 246.0311 88.37948 327.2012 246.0334 88.3776 327.203 246.0358 88.37622 327.2048 246.0385 88.37539 327.2068 246.0413 88.37514 327.2088 246.044 88.37547 327.2108 245.2895 88.47039 328.2653 245.2872 88.46831 328.2639 245.2852 88.4658 328.2627 245.2836 88.46294 328.2618 245.2824 88.4598 328.2611 245.2816 88.45647 328.2608 245.2814 88.45306 328.2608 245.2816 88.44966 328.2612 245.2823 88.44638 328.2619 245.2834 88.44331 328.2628 245.285 88.44053 328.264 245.287 88.43814 328.2655 245.2893 88.4362 328.2672 245.2918 88.43476 328.269 245.2945 88.43388 328.2709 245.2973 88.43357 328.2727 245.3002 88.43384 328.2746 295.9727 65.04244 286.5124 296.3773 65.04244 285.068 295.3731 65.04244 286.3997 295.5207 65.04244 284.907 294.7631 65.04244 286.3928 294.6492 65.04244 284.8971 294.1611 65.04244 286.492 293.7893 65.04244 285.0388 293.5855 65.04244 286.6941 292.967 65.04244 285.3276 293.0537 65.04244 286.9932 292.2073 65.04244 285.7548 292.582 65.04244 287.38 291.5334 65.04244 286.3075 292.1846 65.04244 287.8429 290.9656 65.04244 286.9688 291.8735 65.04244 288.3678 290.5213 65.04244 287.7186 291.6584 65.04244 288.9387 290.214 65.04244 288.5341 291.5457 65.04244 289.5383 290.053 65.04244 289.3907 291.5388 65.04244 290.1484 290.0431 65.04244 290.2622 291.638 65.04244 290.7503 290.1848 65.04244 291.1222 291.8401 65.04244 291.3259 290.4736 65.04244 291.9445 292.1392 65.04244 291.8577 290.9008 65.04244 292.7041 292.526 65.04244 292.3295 291.4535 65.04244 293.3781 292.9889 65.04244 292.7269 292.1148 65.04244 293.9458 293.5138 65.04244 293.0379 292.8646 65.04244 294.3901 294.0847 65.04244 293.253 293.6801 65.04244 294.6974 294.6843 65.04244 293.3657 294.5367 65.04244 294.8584 295.2944 65.04244 293.3726 295.4082 65.04244 294.8683 295.8963 65.04244 293.2735 296.2682 65.04244 294.7267 296.4719 65.04244 293.0713 297.0905 65.04244 294.4378 297.0037 65.04244 292.7723 297.8501 65.04244 294.0106 297.4755 65.04244 292.3854 298.5241 65.04244 293.458 297.8729 65.04244 291.9225 299.0918 65.04244 292.7967 298.1839 65.04244 291.3976 299.5361 65.04244 292.0469 298.399 65.04244 290.8267 299.8434 65.04244 291.2313 298.5117 65.04244 290.2272 300.0044 65.04244 290.3747 298.5186 65.04244 289.6171 300.0143 65.04244 289.5032 298.4195 65.04244 289.0151 299.8727 65.04244 288.6433 298.2173 65.04244 288.4395 299.5838 65.04244 287.821 297.9183 65.04244 287.9077 299.1566 65.04244 287.0613 297.5314 65.04244 287.436 298.604 65.04244 286.3874 297.0685 65.04244 287.0386 297.9427 65.04244 285.8196 296.5436 65.04244 286.7276 297.1929 65.04244 285.3753 298.5186 0.04244339 289.6171 300.0143 0.04244339 289.5032 298.5117 0.04244339 290.2272 300.0044 0.04244339 290.3747 298.399 0.04244339 290.8267 299.8434 0.04244339 291.2313 298.1839 0.04244339 291.3976 299.5361 0.04244339 292.0469 297.8729 0.04244339 291.9225 299.0918 0.04244339 292.7967 297.4755 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286.1241 293.0284 74.54244 286.4188 292.4573 74.54244 286.8188 291.9643 74.54244 287.3118 291.5644 74.54244 287.883 291.2698 74.54244 288.515 291.0894 74.54244 289.1885 291.0287 74.54244 289.8831 291.0895 74.54244 290.5777 291.2701 74.54244 291.2511 291.5648 74.54244 291.883 291.9648 74.54244 292.4541 292.4578 74.54244 292.9471 293.029 74.54244 293.347 293.661 74.54244 293.6416 294.3345 74.54244 293.822 295.0291 86.44245 293.8827 295.7237 83.74245 293.8219 295.7237 86.44245 293.8219 296.3971 83.74245 293.6414 296.3971 86.44245 293.6414 297.029 83.74245 293.3466 297.029 86.44245 293.3466 297.6001 83.74245 292.9467 297.6001 86.44245 292.9467 298.0931 83.74245 292.4536 298.0931 86.44245 292.4536 298.493 83.74245 291.8824 298.493 86.44245 291.8824 298.7876 83.74245 291.2505 298.7876 86.44245 291.2505 298.968 83.74245 290.5769 298.968 86.44245 290.5769 299.0287 83.74245 289.8824 299.0287 86.44245 289.8824 298.9679 83.74245 289.1878 298.9679 86.44245 289.1878 298.7874 83.74245 288.5143 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291.5648 83.74245 291.883 291.5648 86.44245 291.883 291.9648 83.74245 292.4541 291.9648 86.44245 292.4541 292.4578 83.74245 292.9471 292.4578 86.44245 292.9471 293.029 83.74245 293.347 293.029 86.44245 293.347 293.661 83.74245 293.6416 293.661 86.44245 293.6416 294.3345 83.74245 293.822 294.3345 86.44245 293.822 295.0291 83.74245 293.8827 298.4076 88.24245 284.7474 298.5126 88.24245 284.8974 299.957 88.24245 284.2548 295.0294 88.24245 297.3827 295.0289 88.24245 291.3577 294.7727 88.24245 291.3353 290.4038 88.24245 290.7925 290.2379 88.24245 290.8698 292.6578 88.24245 296.9788 293 88.24245 297.1031 293.9929 88.24245 297.3109 290.5537 88.24245 290.6875 290.6831 88.24245 290.5581 290.7881 88.24245 290.4081 294.5244 88.24245 291.2688 290.8654 88.24245 290.2422 298.4992 88.24245 283.2357 297.9624 88.24245 284.4357 298.1282 88.24245 284.5131 300.2664 88.24245 284.5146 298.5899 88.24245 285.0632 300.9429 88.24245 285.2705 297.6034 88.24245 286.4725 296.6947 88.24245 293.8176 296.7997 88.24245 293.6677 302.491 88.24245 289.1311 302.4443 88.24245 288.8671 298.279 88.24245 293.5381 288.0795 88.24245 292.7038 288.5353 88.24245 293.6358 289.5197 88.24245 290.8699 296.7998 88.24245 295.0175 296.6948 88.24245 294.8676 296.6175 88.24245 294.7017 299.5015 88.24245 283.8724 299.4096 88.24245 283.7952 298.2781 88.24245 284.6181 299.0144 88.24245 283.5325 298.9458 88.24245 283.4869 302.2961 88.24245 288.0295 301.9796 88.24245 287.0657 298.129 88.24245 293.4331 291.5583 88.24245 296.5298 291.5976 88.24245 296.5519 289.6965 88.24245 290.9172 289.1154 88.24245 294.496 289.8788 88.24245 290.9332 289.791 88.24245 295.2508 290.0611 88.24245 290.9172 290.1005 88.24245 295.5107 290.5559 88.24245 295.8931 289.3538 88.24245 290.7926 289.2039 88.24245 290.6876 287.7627 88.24245 291.7416 289.0744 88.24245 290.5582 287.7059 88.24245 291.4207 288.9694 88.24245 290.4083 287.6143 88.24245 290.9028 288.8921 88.24245 290.2424 288.8447 88.24245 290.0656 287.5476 88.24245 290.3822 287.566 88.24245 290.6296 296.0659 88.24245 297.3106 297.0588 88.24245 297.1028 297.4219 88.24245 295.3766 297.341 88.24245 297.0001 297.6042 88.24245 295.3925 297.83 88.24245 296.8223 297.7865 88.24245 295.3765 298.1102 88.24245 296.7205 297.9633 88.24245 295.3292 298.4598 88.24245 283.2135 298.109 88.24245 283.0444 297.7855 88.24245 284.3884 297.9587 88.24245 282.9898 297.6032 88.24245 284.3724 297.3997 88.24245 282.7867 297.4209 88.24245 284.3884 297.0574 88.24245 282.6623 297.2441 88.24245 284.4358 296.0646 88.24245 282.4546 297.0782 88.24245 284.5132 296.9283 88.24245 284.6182 296.9291 88.24245 293.5382 297.0791 88.24245 293.4332 297.2449 88.24245 293.3559 298.4085 88.24245 295.0174 299.6238 88.24245 295.7905 298.5135 88.24245 294.8674 300.0221 88.24245 295.4559 298.5908 88.24245 294.7015 300.2674 88.24245 295.2499 298.6382 88.24245 294.5248 300.9437 88.24245 294.4938 298.6541 88.24245 294.3424 298.2791 88.24245 295.1468 299.2109 88.24245 296.1055 299.4107 88.24245 295.9694 290.6478 88.24245 295.9703 291.043 88.24245 296.233 291.1116 88.24245 296.2785 291.9485 88.24245 296.721 292.0988 88.24245 296.7756 297.2451 88.24245 295.3292 297.0792 88.24245 295.2519 296.9293 88.24245 295.1469 294.0805 88.24245 288.7529 294.2911 88.24245 288.6054 296.799 88.24245 286.0975 294.5241 88.24245 288.4967 294.7724 88.24245 288.4302 298.6373 88.24245 285.24 298.6533 88.24245 285.4224 301.5236 88.24245 286.1321 298.6374 88.24245 285.6047 298.59 88.24245 285.7815 298.5127 88.24245 285.9474 302.3528 88.24245 288.3501 298.3088 88.24245 296.6219 298.6091 88.24245 296.4729 298.1292 88.24245 295.2518 298.7683 88.24245 296.3786 299.0888 88.24245 296.1887 296.5701 88.24245 294.5249 296.5541 88.24245 294.3426 296.57 88.24245 294.1603 295.0286 88.24245 288.4077 295.2847 88.24245 288.4301 295.5331 88.24245 288.4966 297.7864 88.24245 293.3085 297.9631 88.24245 293.3558 298.1284 88.24245 286.3317 298.2783 88.24245 286.2267 298.4077 88.24245 286.0973 298.4084 88.24245 293.6675 302.5262 88.24245 290.0771 302.5243 88.24245 289.9117 302.5199 88.24245 289.5195 302.5101 88.24245 289.387 298.6382 88.24245 294.1601 301.5242 88.24245 293.6321 298.5908 88.24245 293.9833 301.9801 88.24245 292.6985 298.5134 88.24245 293.8174 302.2965 88.24245 291.7347 302.3428 88.24245 291.4723 302.4342 88.24245 290.9552 296.306 88.24245 289.1451 297.2443 88.24245 286.4092 296.1585 88.24245 288.9345 295.9767 88.24245 288.7527 295.7661 88.24245 288.6053 297.0784 88.24245 286.3318 296.9284 88.24245 286.2269 290.683 88.24245 289.2082 296.6939 88.24245 284.8975 296.7989 88.24245 284.7476 297.4217 88.24245 293.3085 297.604 88.24245 293.2925 297.7857 88.24245 286.4565 297.9625 88.24245 286.4091 302.4911 88.24245 290.6329 302.5036 88.24245 290.436 295.7663 88.24245 291.16 295.9769 88.24245 291.0126 296.1587 88.24245 290.8307 288.8446 88.24245 289.701 287.5312 88.24245 289.6884 288.8287 88.24245 289.8833 287.5331 88.24245 289.8567 287.5375 88.24245 290.2459 288.0773 88.24245 287.067 287.761 88.24245 288.0308 289.0743 88.24245 289.2083 287.7145 88.24245 288.2936 288.9693 88.24245 289.3583 287.623 88.24245 288.8115 288.892 88.24245 289.5242 287.5663 88.24245 289.1325 287.5538 88.24245 289.3316 296.694 88.24245 285.9476 293.8987 88.24245 288.9347 293.7513 88.24245 289.1453 296.6167 88.24245 285.7817 296.5693 88.24245 285.6049 296.5533 88.24245 285.4226 296.4147 88.24245 289.3781 296.4813 88.24245 289.6264 296.5037 88.24245 289.8826 295.5333 88.24245 291.2687 295.285 88.24245 291.3353 291.7486 88.24245 283.1435 290.2377 88.24245 288.8965 291.9472 88.24245 283.045 292.2274 88.24245 282.9431 292.7164 88.24245 282.7653 290.4036 88.24245 288.9738 292.9987 88.24245 282.6627 290.5536 88.24245 289.0788 295.028 88.24245 282.3827 293.9915 88.24245 282.4548 294.2913 88.24245 291.1602 290.9287 88.24245 289.8831 290.9128 88.24245 290.0654 294.0807 88.24245 291.0127 290.8654 88.24245 289.524 290.9128 88.24245 289.7008 296.5693 88.24245 285.2402 296.6166 88.24245 285.0634 289.2037 88.24245 289.0789 289.3536 88.24245 288.9739 288.5332 88.24245 286.1333 289.5195 88.24245 288.8966 289.1137 88.24245 285.2716 289.6963 88.24245 288.8492 289.79 88.24245 284.5156 289.8786 88.24245 288.8332 290.0353 88.24245 284.3096 290.061 88.24245 288.8491 291.4483 88.24245 283.2925 291.2891 88.24245 283.3869 290.9686 88.24245 283.5767 290.8465 88.24245 283.6599 293.8989 88.24245 290.8309 293.7514 88.24245 290.6203 293.6427 88.24245 290.3873 296.4813 88.24245 290.1387 296.4148 88.24245 290.3871 296.3062 88.24245 290.6201 290.6467 88.24245 283.796 290.4337 88.24245 283.9749 293.5762 88.24245 290.139 293.5537 88.24245 289.8829 293.5761 88.24245 289.6267 297.4211 88.24245 286.4565 296.6174 88.24245 293.9835 290.788 88.24245 289.3581 293.6426 88.24245 289.3784 299.6893 86.44245 278.7163 300.7553 86.44245 276.5614 299.3987 86.44245 278.5994 299.8165 86.44245 276.196 297.979 86.44245 278.1479 298.254 86.44245 275.746 296.5146 86.44245 277.8743 296.6509 86.44245 275.4737 295.0276 86.44245 277.7827 295.0274 86.44245 275.3827 293.5407 86.44245 277.8746 293.4039 86.44245 275.474 292.0763 86.44245 278.1484 291.8009 86.44245 275.7466 290.6567 86.44245 278.6002 290.2384 86.44245 276.1968 290.366 86.44245 278.7172 289.2998 86.44245 276.5625 303.6999 86.44245 278.2611 302.367 86.44245 280.2619 304.0683 86.44245 278.5453 303.1796 86.44245 280.94 307.0294 86.44245 288.3358 309.4286 86.44245 288.1814 306.8483 86.44245 287.293 309.1649 86.44245 286.6549 306.4405 86.44245 285.8602 308.7146 86.44245 285.0924 305.8597 86.44245 284.4883 308.0922 86.44245 283.5902 305.1147 86.44245 283.1982 307.3055 86.44245 282.1671 304.2168 86.44245 282.0094 306.3645 86.44245 280.8411 305.2808 86.44245 279.6287 306.1721 86.44245 294.5981 308.7155 86.44245 294.6705 306.6671 86.44245 293.193 309.1655 86.44245 293.108 306.9857 86.44245 291.7377 309.4289 86.44245 291.5814 307.0297 86.44245 291.4275 302.3688 86.44245 299.5021 303.702 86.44245 301.5027 302.6154 86.44245 299.3089 304.0704 86.44245 301.2185 303.7162 86.44245 298.3052 305.2827 86.44245 300.1348 304.6854 86.44245 297.1737 306.3661 86.44245 298.9223 305.5082 86.44245 295.9318 307.3069 86.44245 297.5961 308.0933 86.44245 296.1728 300.7577 86.44245 303.203 299.6914 86.44245 301.0483 299.819 86.44245 303.5686 298.6979 86.44245 301.413 298.2566 86.44245 304.0189 297.2532 86.44245 301.7765 296.6535 86.44245 304.2914 295.7747 86.44245 301.9597 295.03 86.44245 304.3827 294.2849 86.44245 301.9598 290.3681 86.44245 301.0491 289.3022 86.44245 303.204 291.3616 86.44245 301.4136 290.2409 86.44245 303.5695 292.8064 86.44245 301.7769 291.8034 86.44245 304.0195 293.4065 86.44245 304.2917 283.0721 86.44245 291.7398 283.028 86.44245 291.4297 280.6289 86.44245 291.584 283.3909 86.44245 293.1951 286.3575 86.44245 301.5043 287.6904 86.44245 299.5035 285.9891 86.44245 301.2201 287.4438 86.44245 299.3103 284.7766 86.44245 300.1367 286.3428 86.44245 298.3067 283.693 86.44245 298.9244 285.3734 86.44245 297.1755 282.7519 86.44245 297.5983 284.5504 86.44245 295.9337 281.9653 86.44245 296.1752 283.8862 86.44245 294.6001 281.3428 86.44245 294.673 280.8926 86.44245 293.1106 288.7386 78.04244 302.9473 299.819 78.04244 303.5686 298.2566 78.04244 304.0189 296.6535 78.04244 304.2914 295.03 78.04244 304.3827 293.4065 78.04244 304.2917 291.8034 78.04244 304.0195 290.2409 78.04244 303.5695 301.3212 78.04244 302.9462 303.702 86.54244 301.5027 302.826 86.54244 302.1078 302.7443 78.04244 302.1595 309.1655 78.04244 293.108 308.7155 78.04244 294.6705 308.0933 78.04244 296.1728 307.3069 78.04244 297.5961 306.3661 78.04244 298.9223 305.2827 78.04244 300.1348 304.0704 78.04244 301.2185 309.4377 78.04244 291.5049 309.4374 78.04244 288.2579 304.0683 78.04244 278.5453 305.2808 78.04244 279.6287 306.3645 78.04244 280.8411 307.3055 78.04244 282.1671 308.0922 78.04244 283.5902 308.7146 78.04244 285.0924 309.1649 78.04244 286.6549 302.8238 86.54244 277.6562 303.6999 86.54244 278.2611 302.7401 86.54244 277.6079 302.742 78.04244 277.6045 301.3188 78.04244 276.8181 290.2384 78.04244 276.1968 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284.3884 289.0743 86.44245 289.2083 288.9693 86.44245 289.3583 282.9802 86.44245 288.7674 282.9345 86.44245 290.2565 288.8287 86.44245 289.8833 288.8447 86.44245 290.0656 288.8921 86.44245 290.2424 288.9694 86.44245 290.4083 289.0744 86.44245 290.5582 297.9633 86.44245 295.3292 297.7865 86.44245 295.3765 296.799 86.44245 286.0975 296.9284 86.44245 286.2269 290.061 86.44245 288.8491 290.2377 86.44245 288.8965 290.4036 86.44245 288.9738 290.5536 86.44245 289.0788 290.683 86.44245 289.2082 290.788 86.44245 289.3581 290.8654 86.44245 289.524 289.3033 86.44245 279.223 288.0368 86.44245 280.0074 297.4219 86.44245 295.3766 297.6042 86.44245 295.3925 300.087 86.44245 300.8747 301.3995 86.44245 300.1698 298.1292 86.44245 295.2518 298.2791 86.44245 295.1468 298.4084 86.44245 293.6675 297.6034 86.44245 286.4725 297.7857 86.44245 286.4565 289.2037 86.44245 289.0789 289.3536 86.44245 288.9739 289.5195 86.44245 288.8966 289.6963 86.44245 288.8492 289.8786 86.44245 288.8332 290.8654 86.44245 290.2422 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289.1329 293.6191 71.54244 289.3698 293.5515 71.54244 289.6224 293.5287 71.54244 289.8829 293.5515 71.54244 290.1433 293.6192 71.54244 290.3959 293.7297 71.54244 290.6329 293.8797 71.54244 290.847 294.0646 71.54244 291.0319 294.2788 71.54244 291.1818 294.5158 71.54244 291.2923 294.7684 71.54244 291.36 297.5996 71.54244 286.8183 298.0927 71.54244 287.3113 298.4926 71.54244 287.8824 298.7874 71.54244 288.5143 298.9679 71.54244 289.1878 299.0287 71.54244 289.8824 298.968 71.54244 290.5769 298.7876 71.54244 291.2505 298.493 71.54244 291.8824 298.0931 71.54244 292.4536 297.6001 71.54244 292.9467 297.029 71.54244 293.3466 296.3971 71.54244 293.6414 295.7237 71.54244 293.8219 295.0291 71.54244 293.8827 294.3345 71.54244 293.822 293.661 71.54244 293.6416 293.029 71.54244 293.347 292.4578 71.54244 292.9471 291.9648 71.54244 292.4541 291.5648 71.54244 291.883 291.2701 71.54244 291.2511 291.0895 71.54244 290.5777 291.0287 71.54244 289.8831 291.0894 71.54244 289.1885 291.2698 71.54244 288.515 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290.4135 288.3711 73.04244 290.6583 288.4852 73.04244 289.3532 288.5552 73.04244 289.6141 288.5787 73.04244 289.8833 288.0249 73.04244 288.696 288.216 73.04244 288.887 288.371 73.04244 289.1083 287.5587 73.04244 288.4269 287.8036 73.04244 288.5411 302.4985 73.04244 288.4255 302.7594 73.04244 288.3556 303.0287 73.04244 289.882 303.0286 73.04244 288.332 303.2977 73.04244 288.3555 301.8413 73.04244 288.8858 302.0323 73.04244 288.6947 302.2536 73.04244 288.5397 301.5022 73.04244 289.613 301.5722 73.04244 289.352 301.6863 73.04244 289.1071 301.5722 73.04244 290.4122 301.5023 73.04244 290.1513 301.4787 73.04244 289.8821 302.0325 73.04244 291.0694 301.8414 73.04244 290.8784 301.6864 73.04244 290.6571 302.7597 73.04244 291.4085 302.4987 73.04244 291.3386 302.2538 73.04244 291.2244 303.559 73.04244 291.3385 303.298 73.04244 291.4084 303.0289 73.04244 291.432 304.2162 73.04244 290.8782 304.0252 73.04244 291.0693 303.8038 73.04244 291.2243 304.5552 73.04244 290.151 304.4853 73.04244 290.412 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73.04244 281.1576 296.4843 73.04244 279.8525 296.5543 73.04244 280.1134 296.5779 73.04244 280.3826 296.0241 73.04244 279.1953 296.2151 73.04244 279.3863 296.3701 73.04244 279.6076 295.5578 73.04244 278.9262 295.8027 73.04244 279.0403 289.0189 53.76472 100.5526 286.1908 53.76472 97.72393 289.0189 61.04244 100.5526 286.1908 61.04244 97.72393 303.8668 53.76472 115.4032 301.0386 53.76472 112.5745 303.8668 61.04244 115.4032 301.0386 61.04244 112.5745 246.8579 73.53008 142.7059 244.8931 57.77315 144.6703 267.7507 68.32063 121.8169 265.786 52.5637 123.7813 256.9129 57.77315 156.6923 258.8776 73.53008 154.7278 277.8057 52.5637 135.8032 279.7705 68.32063 133.8388 227.2755 53.08681 162.2847 227.2755 49.08681 162.2847 230.8563 61.2731 158.7046 226.7861 53.08681 162.774 224.1713 61.2731 165.3884 224.1713 53.08681 165.3884 225.3066 53.08681 164.2533 221.3426 75.08682 168.2165 221.3426 67.62815 168.2165 222.7586 75.08682 166.8008 223.8737 75.08682 165.686 224.5722 75.08682 164.9875 242.1074 58.46774 147.4555 224.5722 79.08682 164.9875 244.0722 74.22467 145.4911 281.7505 43.31155 102.1634 284.5787 43.31155 104.9921 278.7391 43.31155 105.1742 281.5673 43.31155 108.0029 277.9053 48.83668 106.0079 280.7335 48.83668 108.8366 228.0281 61.2731 155.8759 245.7042 61.2731 173.5552 242.876 61.2731 170.7265 254.1271 58.46774 159.4775 268.5717 51.86911 120.9961 280.5914 51.86911 133.018 295.5813 48.83668 123.6872 292.7532 48.83668 120.8585 224.4474 49.08681 159.4561 225.9459 49.08681 165.5025 239.0192 49.08681 180.239 225.7457 49.08681 165.3345 221.3431 49.08681 162.5597 228.166 49.08681 163.6401 228.0352 49.08681 163.4136 239.2952 49.08681 174.3067 238.7549 49.08681 174.3873 238.6655 49.08681 174.1416 235.8571 49.08681 175.1635 235.9465 49.08681 175.4092 236.0772 49.08681 175.6356 236.2453 49.08681 175.8359 236.4455 49.08681 176.004 236.6719 49.08681 176.1348 225.3575 49.08681 164.662 225.4469 49.08681 164.9077 225.5776 49.08681 165.1342 237.9401 49.08681 173.416 237.6944 49.08681 173.3265 226.4181 49.08681 165.7227 237.4369 49.08681 173.2811 236.9176 49.08681 176.2242 237.1751 49.08681 176.2697 237.4366 49.08681 176.2697 227.8672 49.08681 163.2133 227.6669 49.08681 163.0453 227.4405 49.08681 162.9145 235.8571 49.08681 174.387 235.8117 49.08681 174.6445 235.8117 49.08681 174.906 242.1234 49.08681 177.1353 238.1663 49.08681 176.0042 238.1665 49.08681 173.5467 226.6755 49.08681 165.7682 226.937 49.08681 165.7682 227.1945 49.08681 165.7228 227.4402 49.08681 165.6334 227.6667 49.08681 165.5027 225.447 49.08681 163.6398 225.3576 49.08681 163.8855 237.6941 49.08681 176.2243 237.9398 49.08681 176.1349 238.3666 49.08681 175.8361 238.5346 49.08681 175.6359 238.6654 49.08681 175.4094 227.1948 49.08681 162.825 226.9373 49.08681 162.7796 238.7548 49.08681 175.1638 238.8003 49.08681 174.9063 238.8003 49.08681 174.6448 228.2553 49.08681 164.6623 228.3007 49.08681 164.4048 226.6758 49.08681 162.7796 226.4183 49.08681 162.825 226.1726 49.08681 162.9144 225.3121 49.08681 164.143 225.3121 49.08681 164.4045 237.1754 49.08681 173.2811 236.9179 49.08681 173.3265 236.6722 49.08681 173.4159 238.5348 49.08681 173.9151 238.3668 49.08681 173.7148 228.3007 49.08681 164.1433 228.2554 49.08681 163.8858 236.4458 49.08681 173.5466 236.2454 49.08681 173.7146 226.1724 49.08681 165.6333 236.0773 49.08681 173.9149 235.9466 49.08681 174.1413 227.867 49.08681 165.3347 228.0351 49.08681 165.1344 228.1658 49.08681 164.9079 225.9462 49.08681 163.0451 225.7459 49.08681 163.2131 225.5778 49.08681 163.4134 221.3431 61.2731 162.5597 236.191 53.08681 177.4103 236.191 61.2731 177.4103 239.0192 61.2731 180.239 218.5144 67.62815 165.3879 233.3623 67.62815 180.2385 236.1905 67.62815 183.0671 233.3623 75.08682 180.2385 236.1905 79.08682 183.0671 218.5144 79.08682 165.3879 235.8574 79.08682 177.903 235.7829 79.08682 178.1077 239.4201 79.08682 179.8381 234.1217 79.08682 178.7122 233.933 79.08682 178.6032 236.5919 79.08682 177.0095 235.674 79.08682 176.8625 235.783 79.08682 177.0512 235.6739 79.08682 178.2964 235.5338 79.08682 178.4633 235.3669 79.08682 178.6034 235.1782 79.08682 178.7123 234.9734 79.08682 178.7868 234.7589 79.08682 178.8246 233.7661 79.08682 178.4632 233.626 79.08682 178.2962 234.541 79.08682 178.8246 234.3264 79.08682 178.7867 223.2849 79.08682 167.9532 223.118 79.08682 167.8132 234.9737 79.08682 176.372 235.1784 79.08682 176.4465 235.3671 79.08682 176.5555 235.534 79.08682 176.6956 235.8575 79.08682 177.2559 235.8953 79.08682 177.4705 235.8953 79.08682 177.6884 224.719 79.08682 165.9055 224.5303 79.08682 165.7965 224.3256 79.08682 165.722 233.4048 79.08682 177.4703 233.4427 79.08682 177.2557 223.6783 79.08682 168.1367 223.4736 79.08682 168.0622 233.4426 79.08682 177.9028 233.5171 79.08682 178.1075 222.978 79.08682 167.6462 222.869 79.08682 167.4575 222.7945 79.08682 167.2528 222.7567 79.08682 167.0382 222.7567 79.08682 166.8203 222.7946 79.08682 166.6057 224.8859 79.08682 166.0455 225.026 79.08682 166.2125 223.2851 79.08682 165.9053 223.4738 79.08682 165.7964 221.744 79.08682 162.1589 233.4048 79.08682 177.6882 224.5301 79.08682 168.0623 224.3254 79.08682 168.1368 233.6262 79.08682 176.8623 224.1108 79.08682 168.1746 234.1219 79.08682 176.4464 234.3266 79.08682 176.3719 225.2094 79.08682 166.6059 234.5412 79.08682 176.3341 223.6786 79.08682 165.7219 223.8931 79.08682 165.6841 224.111 79.08682 165.6841 233.5172 79.08682 177.051 223.8929 79.08682 168.1746 225.1349 79.08682 166.4012 234.7591 79.08682 176.3341 222.8691 79.08682 166.401 222.9781 79.08682 166.2123 223.1182 79.08682 166.0454 225.2472 79.08682 167.0384 225.2093 79.08682 167.253 233.9331 79.08682 176.5553 225.1348 79.08682 167.4577 225.0258 79.08682 167.6464 233.7662 79.08682 176.6954 224.8858 79.08682 167.8133 224.7189 79.08682 167.9534 225.2472 79.08682 166.8205 278.07 65.04244 105.8433 256.0919 74.22467 157.513 295.746 65.04244 123.5225 292.9179 65.04244 120.6939 282.5562 67.62603 131.0536 280.8981 65.04244 108.6719 270.5365 67.62603 119.0317 286.1908 65.04244 97.72393 282.5376 65.04244 107.0328 292.9153 65.04244 111.0949 293.9675 65.04244 113.5028 294.1678 65.04244 113.3348 293.6687 65.04244 113.9295 282.7873 65.04244 109.0924 293.5792 65.04244 114.1752 283.3742 65.04244 111.0824 293.5338 65.04244 114.4327 284.2821 65.04244 112.9479 293.5338 65.04244 114.6942 285.4862 65.04244 114.6375 293.5791 65.04244 114.9517 286.9531 65.04244 116.1047 293.7343 65.04244 111.3931 299.5605 65.04244 104.4509 299.8585 65.04244 105.2699 302.2537 65.04244 106.5642 295.4164 65.04244 113.1147 296.3225 65.04244 111.3933 295.4641 65.04244 111.5446 284.0345 65.04244 106.6933 284.0345 65.04244 106.4318 284.0799 65.04244 106.1744 284.6685 65.04244 105.3339 284.895 65.04244 105.2032 285.1407 65.04244 105.1138 300.0098 65.04244 106.1283 300.0097 65.04244 106.9998 299.8583 65.04244 107.8581 294.3943 65.04244 113.2041 294.64 65.04244 113.1147 294.5926 65.04244 111.5445 294.8975 65.04244 113.0693 295.1589 65.04244 113.0693 299.5601 65.04244 108.6771 299.1243 65.04244 109.4318 298.564 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107.7915 286.1626 65.04244 107.9222 290.9328 65.04244 109.4311 285.9169 65.04244 108.0116 297.1423 65.04244 102.0322 295.627 65.04244 99.93632 296.3233 65.04244 101.7341 295.465 65.04244 101.5826 297.897 65.04244 102.4681 298.5646 65.04244 103.0284 299.1248 65.04244 103.6961 290.199 65.04244 107.8572 286.7575 65.04244 107.4232 286.5894 65.04244 107.6235 294.3955 65.04244 99.92298 294.169 65.04244 99.79222 286.7576 65.04244 105.7025 293.9688 65.04244 99.62414 293.8007 65.04244 99.42382 295.4176 65.04244 100.0125 295.1601 65.04244 100.0579 294.5935 65.04244 101.5826 294.8987 65.04244 100.0579 293.7351 65.04244 101.7338 294.6412 65.04244 100.0124 286.8883 65.04244 105.9289 286.9777 65.04244 106.1746 290.0479 65.04244 106.1273 287.0231 65.04244 106.4321 287.0231 65.04244 106.6936 290.4974 65.04244 104.4501 290.9333 65.04244 103.6953 290.1993 65.04244 105.269 291.4936 65.04244 103.0277 292.1613 65.04244 102.4676 292.9161 65.04244 102.0318 293.6569 65.04244 97.96588 293.6701 65.04244 97.92952 296.0901 65.04244 99.62433 295.8898 65.04244 99.79238 295.6633 65.04244 99.92309 300.3125 65.04244 95.23521 298.2651 65.04244 94.48979 296.0903 65.04244 97.50301 296.2583 65.04244 97.70332 296.389 65.04244 97.92977 302.1994 65.04244 96.32482 296.4784 65.04244 98.17548 303.8684 65.04244 97.72554 296.5238 65.04244 98.43298 305.2688 65.04244 99.3948 296.5238 65.04244 98.69445 306.3581 65.04244 101.2819 296.4784 65.04244 98.95194 306.6726 65.04244 102.1461 296.3889 65.04244 99.19763 296.2582 65.04244 99.42405 295.1604 65.04244 97.06929 296.1194 65.04244 94.11124 294.8989 65.04244 97.06927 293.9405 65.04244 94.11104 294.6414 65.04244 97.11465 295.4179 65.04244 97.11472 295.6636 65.04244 97.20417 295.89 65.04244 97.33493 293.8009 65.04244 97.7031 293.969 65.04244 97.50282 291.7947 65.04244 94.48921 294.1693 65.04244 97.33477 294.3957 65.04244 97.20405 303.0345 65.04244 106.695 303.0345 65.04244 106.4336 303.0799 65.04244 106.1761 303.1694 65.04244 105.9304 305.8883 65.04244 105.9306 305.9777 65.04244 106.1763 307.4813 65.04244 105.4753 306.0231 65.04244 106.4338 307.4811 65.04244 107.6542 306.0231 65.04244 106.6953 303.3002 65.04244 105.704 303.4682 65.04244 105.5037 303.6685 65.04244 105.3356 303.895 65.04244 105.2049 305.7576 65.04244 105.7042 307.1032 65.04244 103.3294 305.5895 65.04244 105.5039 304.1407 65.04244 105.1155 304.3982 65.04244 105.0701 304.6596 65.04244 105.0702 305.7575 65.04244 107.4249 307.1026 65.04244 109.7999 305.8882 65.04244 107.1985 305.9776 65.04244 106.9528 303.468 65.04244 107.625 303.3 65.04244 107.4247 304.9172 65.04244 105.1156 305.1629 65.04244 105.205 305.3893 65.04244 105.3358 303.1693 65.04244 107.1982 303.0799 65.04244 106.9525 306.6718 65.04244 110.9832 304.9169 65.04244 108.0134 304.6594 65.04244 108.0587 303.8948 65.04244 107.9238 303.6683 65.04244 107.7931 304.3979 65.04244 108.0587 304.1404 65.04244 108.0133 305.5894 65.04244 107.6252 305.389 65.04244 107.7932 305.1626 65.04244 107.924 294.5573 65.04244 119.0547 303.8668 65.04244 115.4032 296.4769 65.04244 114.9519 296.3875 65.04244 115.1976 306.3572 65.04244 111.8473 295.1587 65.04244 116.0579 295.4161 65.04244 116.0125 295.6619 65.04244 115.9231 294.8972 65.04244 116.0579 294.6397 65.04244 116.0124 292.4977 65.04244 118.8046 288.6425 65.04244 117.3091 290.5078 65.04244 118.2174 293.6553 65.04244 115.161 290.5778 65.04244 118.238 293.6685 65.04244 115.1974 293.7993 65.04244 115.4238 295.6621 65.04244 113.2042 296.2567 65.04244 115.4241 296.0886 65.04244 115.6243 295.8883 65.04244 115.7924 296.0888 65.04244 113.503 296.2569 65.04244 113.7033 296.3876 65.04244 113.9298 296.477 65.04244 114.1755 296.5224 65.04244 114.433 296.5223 65.04244 114.6944 294.394 65.04244 115.923 294.1676 65.04244 115.7922 293.9673 65.04244 115.6241 305.2675 65.04244 113.7342 295.8885 65.04244 113.3349 282.5376 61.04244 107.0328 285.4062 61.04244 104.1647 296.4151 43.31155 122.8535 299.4266 43.31155 119.8427 293.587 43.31155 120.0248 296.5984 43.31155 117.014 294.5573 61.04244 119.0547 297.4259 61.04244 116.1866 236.5919 75.08682 177.0095 239.2952 53.08681 174.3067 237.3263 53.08681 176.2752 238.8059 53.08681 174.7959 235.8934 75.08682 177.7079 234.7783 75.08682 178.8227 287.86 61.04244 96.32352 289.7471 61.04244 95.23425 291.7947 61.04244 94.48921 293.9405 61.04244 94.11104 296.1194 61.04244 94.11124 298.2651 61.04244 94.48979 300.3125 61.04244 95.23521 302.1994 61.04244 96.32482 303.8684 61.04244 97.72554 305.2688 61.04244 99.3948 306.3581 61.04244 101.2819 306.6726 61.04244 102.1461 307.1032 61.04244 103.3294 307.4813 61.04244 105.4753 307.4811 61.04244 107.6542 307.1026 61.04244 109.7999 306.3572 61.04244 111.8473 305.2675 61.04244 113.7342 292.4977 61.04244 118.8046 290.5778 61.04244 118.238 290.5078 61.04244 118.2174 288.6425 61.04244 117.3091 286.9531 61.04244 116.1047 285.4862 61.04244 114.6375 284.2821 61.04244 112.9479 283.3742 61.04244 111.0824 282.7873 61.04244 109.0924 284.0799 61.04244 106.1744 284.0345 61.04244 106.4318 284.1694 61.04244 105.9287 284.0345 61.04244 106.6933 284.0799 61.04244 106.9508 284.1693 61.04244 107.1965 284.8948 61.04244 107.9221 285.1404 61.04244 108.0116 284.3 61.04244 107.423 284.468 61.04244 107.6233 284.6683 61.04244 107.7914 293.5791 61.04244 114.9517 293.5338 61.04244 114.6942 293.5338 61.04244 114.4327 293.5792 61.04244 114.1752 294.1678 61.04244 113.3348 294.3943 61.04244 113.2041 294.4306 61.04244 113.1908 286.1626 61.04244 107.9222 286.389 61.04244 107.7915 284.895 61.04244 105.2032 285.1407 61.04244 105.1138 285.3982 61.04244 105.0684 284.6685 61.04244 105.3339 284.4682 61.04244 105.5019 284.3002 61.04244 105.7022 293.6687 61.04244 113.9295 286.1629 61.04244 105.2033 285.9172 61.04244 105.1139 285.6596 61.04244 105.0684 285.3979 61.04244 108.057 285.6594 61.04244 108.057 285.9169 61.04244 108.0116 286.8883 61.04244 105.9289 286.7576 61.04244 105.7025 286.5895 61.04244 105.5021 286.3893 61.04244 105.3341 286.8882 61.04244 107.1968 286.9776 61.04244 106.9511 293.9675 61.04244 113.5028 287.0231 61.04244 106.6936 287.0231 61.04244 106.4321 286.9777 61.04244 106.1746 293.7994 61.04244 113.7031 286.5894 61.04244 107.6235 286.7575 61.04244 107.4232 296.3875 61.04244 115.1976 296.2567 61.04244 115.4241 296.0886 61.04244 115.6243 293.6553 61.04244 115.161 293.6685 61.04244 115.1974 293.7993 61.04244 115.4238 293.9673 61.04244 115.6241 294.8972 61.04244 116.0579 295.1587 61.04244 116.0579 295.4161 61.04244 116.0125 295.6619 61.04244 115.9231 295.8883 61.04244 115.7924 294.1676 61.04244 115.7922 294.394 61.04244 115.923 294.6397 61.04244 116.0124 305.5894 61.04244 107.6252 305.7575 61.04244 107.4249 303.468 61.04244 107.625 303.6683 61.04244 107.7931 303.8948 61.04244 107.9238 306.0231 61.04244 106.4338 306.0231 61.04244 106.6953 305.9776 61.04244 106.9528 305.8882 61.04244 107.1985 305.9777 61.04244 106.1763 305.8883 61.04244 105.9306 305.7576 61.04244 105.7042 305.5895 61.04244 105.5039 305.3893 61.04244 105.3358 305.1629 61.04244 105.205 304.9172 61.04244 105.1156 304.6596 61.04244 105.0702 304.3982 61.04244 105.0701 304.1407 61.04244 105.1155 303.895 61.04244 105.2049 304.1404 61.04244 108.0133 304.3979 61.04244 108.0587 304.6594 61.04244 108.0587 304.9169 61.04244 108.0134 305.1626 61.04244 107.924 305.389 61.04244 107.7932 303.3002 61.04244 105.704 295.6257 61.04244 113.1909 303.4682 61.04244 105.5037 303.6685 61.04244 105.3356 295.8885 61.04244 113.3349 295.6621 61.04244 113.2042 303.3 61.04244 107.4247 303.1694 61.04244 105.9304 303.0799 61.04244 106.1761 303.0345 61.04244 106.4336 296.4007 61.04244 115.1613 296.4769 61.04244 114.9519 296.5223 61.04244 114.6944 296.5224 61.04244 114.433 296.477 61.04244 114.1755 303.0345 61.04244 106.695 303.0799 61.04244 106.9525 303.1693 61.04244 107.1982 296.3876 61.04244 113.9298 296.2569 61.04244 113.7033 296.0888 61.04244 113.503 290.1993 61.04244 105.269 290.0479 61.04244 106.1273 294.1693 61.04244 97.33477 293.969 61.04244 97.50282 293.5807 61.04244 98.17521 293.5352 61.04244 98.4327 293.8007 61.04244 99.42382 293.9688 61.04244 99.62414 293.8009 61.04244 97.7031 293.6701 61.04244 97.92952 293.5352 61.04244 98.69417 293.5806 61.04244 98.95167 293.67 61.04244 99.19738 290.0478 61.04244 106.9989 290.199 61.04244 107.8572 290.4971 61.04244 108.6763 290.9328 61.04244 109.4311 291.4929 61.04244 110.0988 292.1605 61.04244 110.6591 292.1613 61.04244 102.4676 291.4936 61.04244 103.0277 290.9333 61.04244 103.6953 290.4974 61.04244 104.4501 294.5926 61.04244 111.5445 294.64 61.04244 113.1147 293.7343 61.04244 111.3931 292.9153 61.04244 111.0949 296.0901 61.04244 99.62433 296.2582 61.04244 99.42405 296.3889 61.04244 99.19763 296.4784 61.04244 98.95194 296.5238 61.04244 98.69445 296.5238 61.04244 98.43298 296.4784 61.04244 98.17548 296.389 61.04244 97.92977 296.2583 61.04244 97.70332 297.1423 61.04244 102.0322 295.6633 61.04244 99.92309 297.897 61.04244 102.4681 298.5646 61.04244 103.0284 296.3233 61.04244 101.7341 295.465 61.04244 101.5826 295.4176 61.04244 100.0125 295.8898 61.04244 99.79238 299.1248 61.04244 103.6961 299.5605 61.04244 104.4509 292.9161 61.04244 102.0318 294.169 61.04244 99.79222 293.7351 61.04244 101.7338 294.3955 61.04244 99.92298 294.6412 61.04244 100.0124 294.5935 61.04244 101.5826 294.8987 61.04244 100.0579 295.1601 61.04244 100.0579 297.1415 61.04244 111.0953 296.3225 61.04244 111.3933 295.4164 61.04244 113.1147 295.4641 61.04244 111.5446 295.1589 61.04244 113.0693 294.8975 61.04244 113.0693 299.1243 61.04244 109.4318 298.564 61.04244 110.0994 297.8963 61.04244 110.6596 299.5601 61.04244 108.6771 299.8583 61.04244 107.8581 300.0097 61.04244 106.9998 296.0903 61.04244 97.50301 295.89 61.04244 97.33493 295.6636 61.04244 97.20417 295.4179 61.04244 97.11472 295.1604 61.04244 97.06929 294.8989 61.04244 97.06927 300.0098 61.04244 106.1283 299.8585 61.04244 105.2699 294.6414 61.04244 97.11465 294.3957 61.04244 97.20405 234.7589 75.08682 178.8246 234.541 75.08682 178.8246 222.7567 75.08682 166.8203 222.7567 75.08682 167.0382 222.7945 75.08682 167.2528 222.869 75.08682 167.4575 222.978 75.08682 167.6462 223.118 75.08682 167.8132 223.6783 75.08682 168.1367 223.4736 75.08682 168.0622 223.2849 75.08682 167.9532 223.8931 75.08682 165.6841 224.111 75.08682 165.6841 235.8953 75.08682 177.4705 235.8953 75.08682 177.6884 233.626 75.08682 178.2962 233.7661 75.08682 178.4632 233.933 75.08682 178.6032 224.719 75.08682 165.9055 224.5303 75.08682 165.7965 224.3256 75.08682 165.722 235.674 75.08682 176.8625 235.534 75.08682 176.6956 235.3671 75.08682 176.5555 225.2094 75.08682 166.6059 235.1784 75.08682 176.4465 234.9737 75.08682 176.372 234.7591 75.08682 176.3341 234.5412 75.08682 176.3341 234.3266 75.08682 176.3719 234.1217 75.08682 178.7122 234.3264 75.08682 178.7867 225.1349 75.08682 166.4012 225.026 75.08682 166.2125 224.8859 75.08682 166.0455 235.8575 75.08682 177.2559 235.783 75.08682 177.0512 224.1108 75.08682 168.1746 224.3254 75.08682 168.1368 233.6262 75.08682 176.8623 233.5172 75.08682 177.051 233.4427 75.08682 177.2557 233.4048 75.08682 177.4703 225.1348 75.08682 167.4577 225.2093 75.08682 167.253 233.9331 75.08682 176.5553 225.2472 75.08682 167.0384 233.4048 75.08682 177.6882 233.4426 75.08682 177.9028 233.5171 75.08682 178.1075 223.8929 75.08682 168.1746 234.1219 75.08682 176.4464 225.2472 75.08682 166.8205 224.5301 75.08682 168.0623 224.7189 75.08682 167.9534 233.7662 75.08682 176.6954 224.8858 75.08682 167.8133 225.0258 75.08682 167.6464 222.7946 75.08682 166.6057 222.8691 75.08682 166.401 222.9781 75.08682 166.2123 223.1182 75.08682 166.0454 223.2851 75.08682 165.9053 223.4738 75.08682 165.7964 223.6786 75.08682 165.7219 235.8574 75.08682 177.903 235.7829 75.08682 178.1077 235.6739 75.08682 178.2964 235.5338 75.08682 178.4633 235.3669 75.08682 178.6034 235.1782 75.08682 178.7123 234.9734 75.08682 178.7868 238.5348 53.08681 173.9151 238.6655 53.08681 174.1416 238.7549 53.08681 174.3873 238.8003 53.08681 174.6448 225.9459 53.08681 165.5025 226.1724 53.08681 165.6333 226.4181 53.08681 165.7227 225.7457 53.08681 165.3345 225.5776 53.08681 165.1342 225.4469 53.08681 164.9077 225.3575 53.08681 164.662 225.3121 53.08681 164.4045 236.6719 53.08681 176.1348 236.4455 53.08681 176.004 236.2453 53.08681 175.8359 237.1751 53.08681 176.2697 236.9176 53.08681 176.2242 227.1948 53.08681 162.825 226.9373 53.08681 162.7796 227.4405 53.08681 162.9145 227.6669 53.08681 163.0453 227.8672 53.08681 163.2133 228.0352 53.08681 163.4136 238.1665 53.08681 173.5467 238.3668 53.08681 173.7148 236.0772 53.08681 175.6356 235.9465 53.08681 175.4092 235.8571 53.08681 175.1635 237.4369 53.08681 173.2811 237.6944 53.08681 173.3265 228.2554 53.08681 163.8858 228.166 53.08681 163.6401 237.9401 53.08681 173.416 235.8117 53.08681 174.906 235.8117 53.08681 174.6445 235.8571 53.08681 174.387 227.4402 53.08681 165.6334 227.1945 53.08681 165.7228 236.0773 53.08681 173.9149 226.937 53.08681 165.7682 236.4458 53.08681 173.5466 236.6722 53.08681 173.4159 235.9466 53.08681 174.1413 226.6755 53.08681 165.7682 236.9179 53.08681 173.3265 237.1754 53.08681 173.2811 228.3007 53.08681 164.1433 228.3007 53.08681 164.4048 228.2553 53.08681 164.6623 228.1658 53.08681 164.9079 228.0351 53.08681 165.1344 236.2454 53.08681 173.7146 227.867 53.08681 165.3347 227.6667 53.08681 165.5027 226.6758 53.08681 162.7796 226.4183 53.08681 162.825 226.1726 53.08681 162.9144 225.9462 53.08681 163.0451 225.7459 53.08681 163.2131 225.5778 53.08681 163.4134 225.447 53.08681 163.6398 225.3576 53.08681 163.8855 225.3121 53.08681 164.143 237.4366 53.08681 176.2697 237.6941 53.08681 176.2243 237.9398 53.08681 176.1349 238.1663 53.08681 176.0042 238.3666 53.08681 175.8361 238.5346 53.08681 175.6359 238.6654 53.08681 175.4094 238.7548 53.08681 175.1638 238.8003 53.08681 174.9063 301.4496 69.00072 120.1199 301.3353 70.04244 120.1734 300.4696 70.04244 120.5418 281.855 65.78013 99.39065 282.0185 65.04244 99.09814 281.0513 65.04244 101.1201 281.7171 66.5933 99.64983 281.4414 69.56724 100.2088 281.5133 68.44523 100.0574 281.6119 67.40689 99.85632 302.4919 65.04244 119.5752 302.1893 65.80828 119.7441 300.4697 65.04244 120.542 302.0569 66.20393 119.8152 301.8123 67.07423 119.9421 301.6094 68.0081 120.043 281.4201 70.04244 100.2546 281.0516 70.04244 101.1202 281.0482 70.04244 101.1282 280.3464 65.04244 103.4934 280.4112 70.04244 103.1982 280.0413 65.04244 105.9503 280.0789 70.04244 105.3384 280.3649 70.04244 103.4963 280.1446 65.04244 108.424 280.0583 70.04244 107.5041 280.0731 70.04244 105.9506 280.6534 65.04244 110.8469 280.3498 70.04244 109.6502 280.1825 70.04244 108.4188 281.5537 65.04244 113.1532 280.9473 70.04244 111.7319 280.6903 70.04244 110.8363 282.8212 65.04244 115.2799 281.8384 70.04244 113.7059 281.5829 70.04244 113.14 284.4212 65.04244 117.1692 283.0045 70.04244 115.5311 282.8374 70.04244 115.2696 286.3102 65.04244 118.7696 286.0591 70.04244 118.5863 284.4212 70.04244 117.1692 288.4367 65.04244 120.0374 287.884 70.04244 119.7527 286.3206 70.04244 118.7534 290.7428 65.04244 120.9382 289.8579 70.04244 120.6441 288.4499 70.04244 120.0082 293.1657 65.04244 121.4474 291.9395 70.04244 121.242 290.7534 70.04244 120.9013 295.6393 65.04244 121.5511 294.0856 70.04244 121.5339 293.1708 70.04244 121.4095 298.3915 70.04244 121.1818 298.0934 70.04244 121.228 298.0963 65.04244 121.2466 296.2513 70.04244 121.5137 295.639 70.04244 121.5194 300.4617 70.04244 120.5451 308.4442 67.39365 113.2738 308.3404 66.5933 113.4773 308.8854 65.04244 112.3076 308.2026 65.78013 113.7365 308.0391 65.04244 114.029 310.0287 65.04244 106.6062 310.024 65.78013 106.9413 309.9006 65.04244 108.5202 310.0138 66.5933 107.2347 309.5164 67.39365 110.4505 309.1627 67.39365 111.5869 308.8603 67.39365 112.2969 309.5172 67.39365 110.4472 309.5173 65.04244 110.4472 309.779 67.39365 109.2896 309.8733 67.39365 108.5168 310.0018 67.39365 107.4628 307.5477 67.39365 98.30063 307.6721 66.5933 98.49222 306.9316 65.04244 97.43537 307.8276 65.78013 98.74118 307.9992 65.04244 99.02906 302.5657 65.04244 93.59455 302.8535 65.78013 93.76616 304.1592 65.04244 94.66247 303.1025 66.5933 93.92174 305.6388 67.39365 95.96038 306.4461 67.39365 96.83496 306.9097 67.39365 97.4518 305.6363 67.39365 95.95804 305.6364 65.04244 95.95794 304.7647 67.39365 95.15254 304.1426 67.39365 94.68451 303.294 67.39365 94.04615 364.8849 79.48974 85.78201 355.2387 79.24472 88.36578 365.4938 80.89298 85.61891 355.2387 82.04244 88.36578 365.8039 82.04244 85.53587 364.0568 78.21242 86.00382 363.0332 77.09738 86.27802 361.843 76.17633 86.5968 360.5202 75.47549 86.95111 359.1024 75.01479 87.33086 355.2387 74.12157 88.36578 310.4096 75.01479 41.4578 309.374 74.12157 45.32141 309.374 79.24472 45.32141 309.374 82.04244 45.32141 312.2058 82.04244 34.7567 312.1227 80.89298 35.06672 311.9595 79.48974 35.67561 311.7375 78.21242 36.50366 311.4631 77.09738 37.5273 311.1441 76.17633 38.71741 310.7896 75.47549 40.04013 244.2594 82.04244 52.95623 251.9928 82.04244 60.69104 244.4863 80.89298 53.18321 251.9928 79.24472 60.69104 244.932 79.48974 53.629 251.9928 74.12157 60.69104 249.1646 75.01479 57.86235 248.1269 75.47549 56.82442 247.1586 76.17633 55.85601 246.2875 77.09738 54.98469 245.5382 78.21242 54.23524 316.0694 82.04244 35.79233 313.2376 82.04244 46.35704 315.9863 80.89298 36.10235 313.2376 79.24472 46.35704 315.8231 79.48974 36.71124 313.2376 74.12157 46.35704 314.2732 75.01479 42.49343 314.6532 75.47549 41.07575 315.0078 76.17633 39.75304 315.3268 77.09738 38.56293 315.6011 78.21242 37.53929 366.8388 82.04244 89.39967 356.2736 82.04244 92.22958 366.5288 80.89298 89.48271 356.2736 79.24472 92.22958 356.2736 74.12157 92.22958 360.1374 75.01479 91.19466 364.0681 77.09738 90.14181 365.0917 78.21242 89.86762 365.9198 79.48974 89.64581 361.5551 75.47549 90.81491 362.8779 76.17633 90.4606 343.7216 75.01479 152.4366 340.8935 74.12157 149.6079 340.8935 79.24472 149.6079 344.7594 75.47549 153.4746 347.9542 79.48974 156.67 347.3481 78.21242 156.0637 348.3999 80.89298 157.1158 340.8935 82.04244 149.6079 348.6269 82.04244 157.3427 346.5988 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92.72673 304.0474 71.50408 92.56414 304.1188 71.56414 92.57235 304.1702 71.59824 92.58427 304.2003 71.6145 92.59371 304.2301 71.62775 92.60488 304.2644 71.6394 92.62015 304.29 71.64545 92.63325 304.3153 71.64911 92.64775 303.6734 70.95293 92.67345 303.746 71.09249 92.63151 303.7608 71.11869 92.62432 303.8677 71.28961 92.58443 303.9644 71.41621 92.56631 308.9608 71.64545 97.30493 308.9739 71.6394 97.33049 308.9493 71.37142 97.55255 308.9892 71.62775 97.36482 309.0003 71.6145 97.39459 309.0098 71.59824 97.42474 309.0217 71.56414 97.47616 309.0299 71.50408 97.54753 309.0277 71.41621 97.63053 309.0096 71.28961 97.72727 308.7589 70.51145 98.10556 308.9303 71.65035 97.25454 308.9463 71.64911 97.27966 308.9696 71.11869 97.83417 308.9624 71.09249 97.84887 308.9205 70.95293 97.92156 308.8672 70.79548 97.99412 308.769 70.53635 98.09685 308.7483 70.48651 98.11368 308.6638 70.29558 98.1697 308.5745 70.10555 98.21688 307.9539 69.26981 98.06783 307.9372 69.26861 98.04357 308.2556 69.68708 98.12628 308.1006 69.35599 98.21007 308.1528 69.4101 98.23847 308.2129 69.48366 98.26052 307.971 69.27333 98.09051 308.077 69.33488 98.19396 308.0538 69.31646 98.17594 308.0333 69.30227 98.15806 308.0133 69.29049 98.13865 307.9886 69.27908 98.11176 308.496 69.94931 98.24763 308.3825 69.74249 98.27286 308.2869 69.58818 98.27415 305.9689 69.26861 95.6305 307.6852 71.65035 95.62159 306.8013 69.26861 96.5323 307.7577 71.65035 95.71678 305.884 71.65035 93.84126 305.9731 71.65035 93.90921 306.8601 71.65035 94.73439 296.6797 65.04244 97.06372 296.6546 65.04244 96.7772 296.5802 65.04244 96.49938 296.4587 65.04244 96.2387 296.2937 65.04244 96.00309 296.0904 65.04244 95.7997 295.8548 65.04244 95.63471 295.5941 65.04244 95.51313 295.3163 65.04244 95.43867 295.0298 65.04244 95.41358 294.7433 65.04244 95.43862 294.4655 65.04244 95.51303 294.2048 65.04244 95.63455 293.9692 65.04244 95.7995 293.7658 65.04244 96.00286 293.6008 65.04244 96.23844 293.4792 65.04244 96.4991 293.4048 65.04244 96.7769 293.3796 65.04244 97.06343 296.6795 65.04244 98.56372 293.3795 65.04244 98.56343 293.4046 65.04244 98.84995 293.479 65.04244 99.12776 293.6005 65.04244 99.38845 293.7655 65.04244 99.62406 293.9688 65.04244 99.82745 294.2044 65.04244 99.99244 294.465 65.04244 100.114 294.7429 65.04244 100.1885 295.0294 65.04244 100.2136 295.3159 65.04244 100.1885 295.5937 65.04244 100.1141 295.8544 65.04244 99.99259 296.09 65.04244 99.82765 296.2934 65.04244 99.62429 296.4584 65.04244 99.38871 296.58 65.04244 99.12805 296.6544 65.04244 98.85025 285.5289 65.04244 104.9127 285.2424 65.04244 104.9377 284.9646 65.04244 105.0122 284.7039 65.04244 105.1337 284.4683 65.04244 105.2986 284.2649 65.04244 105.502 284.0999 65.04244 105.7376 283.9783 65.04244 105.9982 283.9039 65.04244 106.276 283.8788 65.04244 106.5626 283.9038 65.04244 106.8491 283.9783 65.04244 107.1269 284.0998 65.04244 107.3876 284.2647 65.04244 107.6232 284.4681 65.04244 107.8266 284.7037 65.04244 107.9916 284.9643 65.04244 108.1131 285.2421 65.04244 108.1876 285.5286 65.04244 108.2127 287.0289 65.04244 104.9128 287.0286 65.04244 108.2128 287.3152 65.04244 108.1878 287.593 65.04244 108.1134 287.8536 65.04244 107.9919 288.0893 65.04244 107.8269 288.2927 65.04244 107.6236 288.4577 65.04244 107.388 288.5792 65.04244 107.1273 288.6537 65.04244 106.8495 288.6788 65.04244 106.563 288.6538 65.04244 106.2765 288.5793 65.04244 105.9987 288.4578 65.04244 105.738 288.2929 65.04244 105.5024 288.0895 65.04244 105.299 287.8539 65.04244 105.134 287.5933 65.04244 105.0124 287.3155 65.04244 104.9379 293.3779 65.04244 116.0634 293.403 65.04244 116.3499 293.4774 65.04244 116.6278 293.5989 65.04244 116.8884 293.7639 65.04244 117.1241 293.9672 65.04244 117.3274 294.2028 65.04244 117.4924 294.4635 65.04244 117.614 294.7413 65.04244 117.6885 295.0278 65.04244 117.7136 295.3143 65.04244 117.6885 295.5921 65.04244 117.6141 295.8528 65.04244 117.4926 296.0884 65.04244 117.3276 296.2918 65.04244 117.1243 296.4568 65.04244 116.8887 296.5784 65.04244 116.628 296.6528 65.04244 116.3502 296.6779 65.04244 116.0637 293.3781 65.04244 114.5634 296.6781 65.04244 114.5637 296.653 65.04244 114.2772 296.5786 65.04244 113.9994 296.4571 65.04244 113.7387 296.2921 65.04244 113.5031 296.0888 65.04244 113.2997 295.8532 65.04244 113.1347 295.5925 65.04244 113.0131 295.3147 65.04244 112.9387 295.0282 65.04244 112.9136 294.7417 65.04244 112.9386 294.4639 65.04244 113.013 294.2032 65.04244 113.1346 293.9676 65.04244 113.2995 293.7642 65.04244 113.5029 293.5992 65.04244 113.7384 293.4776 65.04244 113.9991 293.4031 65.04244 114.2769 291.8465 65.04244 109.7453 292.4474 65.04244 110.2495 293.1266 65.04244 110.6418 293.8637 65.04244 110.9101 294.6362 65.04244 111.0464 295.4206 65.04244 111.0465 296.1931 65.04244 110.9104 296.9302 65.04244 110.6421 297.6095 65.04244 110.25 298.2105 65.04244 109.7458 298.7147 65.04244 109.145 299.107 65.04244 108.4657 299.3753 65.04244 107.7287 299.5116 65.04244 106.9562 299.5117 65.04244 106.1718 299.3756 65.04244 105.3993 299.1073 65.04244 104.6622 298.7152 65.04244 103.9828 298.2111 65.04244 103.3819 297.6102 65.04244 102.8776 296.9309 65.04244 102.4854 296.1939 65.04244 102.217 295.4214 65.04244 102.0807 294.637 65.04244 102.0807 293.8645 65.04244 102.2168 293.1274 65.04244 102.485 292.448 65.04244 102.8772 291.8471 65.04244 103.3813 291.3428 65.04244 103.9821 290.9506 65.04244 104.6614 290.6822 65.04244 105.3985 290.5459 65.04244 106.171 290.5459 65.04244 106.9554 290.682 65.04244 107.7279 290.9502 65.04244 108.465 291.3424 65.04244 109.1443 304.5286 65.04244 108.2144 304.8152 65.04244 108.1894 305.093 65.04244 108.115 305.3536 65.04244 107.9935 305.5893 65.04244 107.8285 305.7927 65.04244 107.6252 305.9577 65.04244 107.3896 306.0792 65.04244 107.1289 306.1537 65.04244 106.8511 306.1788 65.04244 106.5646 306.1538 65.04244 106.2781 306.0793 65.04244 106.0002 305.9578 65.04244 105.7396 305.7929 65.04244 105.504 305.5895 65.04244 105.3006 305.3539 65.04244 105.1356 305.0933 65.04244 105.014 304.8155 65.04244 104.9395 304.5289 65.04244 104.9144 303.0286 65.04244 108.2143 303.0289 65.04244 104.9143 302.7424 65.04244 104.9393 302.4646 65.04244 105.0138 302.2039 65.04244 105.1353 301.9683 65.04244 105.3002 301.7649 65.04244 105.5036 301.5999 65.04244 105.7392 301.4783 65.04244 105.9998 301.4039 65.04244 106.2776 301.3788 65.04244 106.5642 301.4038 65.04244 106.8507 301.4783 65.04244 107.1285 301.5998 65.04244 107.3892 301.7647 65.04244 107.6248 301.9681 65.04244 107.8282 302.2037 65.04244 107.9932 302.4643 65.04244 108.1147 302.7421 65.04244 108.1892 280.0912 70.19888 105.3394 280.0706 70.19888 107.5033 280.3619 70.19888 109.6476 280.9589 70.19888 111.7277 281.8492 70.19888 113.7001 287.8899 70.19888 119.7418 289.8621 70.19888 120.6326 291.9421 70.19888 121.23 294.0863 70.19888 121.5216 296.2503 70.19888 121.5014 281.8345 71.03013 101.4338 281.4353 70.57032 100.587 281.4136 70.49597 100.5351 281.1498 70.49644 101.1677 281.0597 70.19888 101.1326 281.3999 70.15191 100.3128 281.0939 70.35147 101.1459 281.391 70.25923 100.3751 281.396 70.19865 100.3399 281.4077 70.47572 100.521 281.3931 70.37578 100.4516 281.3931 70.37255 100.4494 281.3927 70.35113 100.4354 281.4741 70.65925 100.6534 281.2262 70.63023 101.1974 281.479 70.66878 100.6611 281.3212 70.74955 101.2343 281.5271 70.74953 100.7323 281.5571 70.93345 101.326 281.4324 70.85147 101.2775 282.578 70.9935 99.512 302.0029 71.03013 118.8829 302.0781 70.9935 119.0157 300.3124 70.85147 120.1609 300.8571 70.75006 120.066 300.3556 70.74955 120.2721 300.2639 70.93345 120.0362 300.3925 70.63023 120.3671 300.9288 70.66878 120.1144 300.4222 70.49644 120.4435 301.0029 70.57032 120.1582 300.9365 70.65925 120.1193 300.4439 70.35147 120.4995 301.1545 70.35113 120.2008 301.1404 70.37255 120.2004 301.1383 70.37578 120.2003 301.0689 70.47572 120.1858 301.0548 70.49597 120.1799 301.2148 70.25923 120.2025 300.4572 70.19888 120.5337 301.25 70.19865 120.1975 301.2771 70.15191 120.1936 281.6922 70.9935 101.3786 282.7107 71.03013 99.58718 300.1561 71.03013 119.7588 300.2114 70.9935 119.9011 298.2024 71.03013 120.3597 296.1825 71.03013 120.6729 298.2366 70.9935 120.5084 296.195 70.9935 120.825 298.2691 70.93345 120.6497 296.2068 70.93345 120.9695 298.2991 70.85147 120.7801 296.2177 70.85147 121.1028 298.3258 70.74955 120.8963 296.2274 70.74955 121.2218 298.3487 70.63023 120.9957 296.2357 70.63023 121.3233 298.3671 70.49644 121.0756 296.2424 70.49644 121.405 298.3805 70.35147 121.1341 296.2473 70.35147 121.4649 298.3888 70.19888 121.1698 283.6807 71.03013 115.0267 282.5802 71.03013 113.3043 283.5584 70.9935 115.118 282.446 70.9935 113.3769 283.4421 70.93345 115.2046 282.3185 70.93345 113.446 283.3349 70.85147 115.2846 282.2009 70.85147 113.5097 283.2393 70.74955 115.356 282.096 70.74955 113.5665 283.1576 70.63023 115.4169 282.0063 70.63023 113.615 283.0918 70.49644 115.4659 281.9342 70.49644 113.654 283.0437 70.35147 115.5018 281.8815 70.35147 113.6826 283.0144 70.19888 115.5237 294.1386 71.03013 120.692 294.129 70.9935 120.8443 294.1199 70.93345 120.989 294.1115 70.85147 121.1225 294.104 70.74955 121.2416 294.0976 70.63023 121.3433 294.0924 70.49644 121.4251 294.0886 70.35147 121.485 292.1133 71.03013 120.4165 292.0818 70.9935 120.5658 292.052 70.93345 120.7077 292.0244 70.85147 120.8386 291.9998 70.74955 120.9554 291.9789 70.63023 121.0551 291.962 70.49644 121.1353 291.9496 70.35147 121.1941 289.8747 70.35147 120.5982 289.8954 70.49644 120.5418 289.9237 70.63023 120.4648 289.9588 70.74955 120.3692 290 70.85147 120.2572 290.0461 70.93345 120.1316 290.0961 70.9935 119.9955 290.1487 71.03013 119.8523 287.9073 70.35147 119.7096 287.9359 70.49644 119.6568 287.975 70.63023 119.5847 288.0235 70.74955 119.4951 288.0804 70.85147 119.3902 288.1441 70.93345 119.2726 288.2131 70.9935 119.1451 288.2858 71.03013 119.0109 286.0665 70.19888 118.5764 286.0884 70.35147 118.547 286.1243 70.49644 118.4989 286.1733 70.63023 118.4332 286.2343 70.74955 118.3515 286.3056 70.85147 118.2559 286.3856 70.93345 118.1486 286.4723 70.9935 118.0324 286.5635 71.03013 117.9101 285.0178 71.03013 116.5728 284.9099 70.9935 116.6807 284.8074 70.93345 116.7832 284.7127 70.85147 116.8778 284.6283 70.74955 116.9621 284.5563 70.63023 117.0342 284.4983 70.49644 117.0921 284.4558 70.35147 117.1346 284.4299 70.19888 117.1605 281.7392 71.03013 111.4413 281.596 70.9935 111.4938 281.4599 70.93345 111.5438 281.3343 70.85147 111.5899 281.2223 70.74955 111.631 281.1266 70.63023 111.6661 281.0496 70.49644 111.6944 280.9933 70.35147 111.7151 281.1753 71.03013 109.4766 281.026 70.9935 109.508 280.8841 70.93345 109.5378 280.7532 70.85147 109.5653 280.6364 70.74955 109.5899 280.5367 70.63023 109.6109 280.4565 70.49644 109.6277 280.3977 70.35147 109.6401 280.1072 70.35147 107.501 280.1671 70.49644 107.4972 280.2489 70.63023 107.4921 280.3506 70.74955 107.4857 280.4697 70.85147 107.4782 280.6033 70.93345 107.4698 280.7479 70.9935 107.4607 280.9002 71.03013 107.4512 280.1277 70.35147 105.3423 280.1875 70.49644 105.3473 280.2693 70.63023 105.354 280.3708 70.74955 105.3623 280.4898 70.85147 105.372 280.6231 70.93345 105.3829 280.7676 70.9935 105.3948 280.9197 71.03013 105.4073 280.4232 70.19888 103.2009 280.4589 70.35147 103.2092 280.5174 70.49644 103.2226 280.5973 70.63023 103.241 280.6966 70.74955 103.2639 280.8129 70.85147 103.2907 280.9433 70.93345 103.3207 281.0846 70.9935 103.3532 281.2333 71.03013 103.3874 338.0648 82.31861 152.4361 338.0648 74.12157 152.4361 356.2927 82.31861 92.30106 313.3091 82.31861 46.3762 252.0451 82.31861 60.63872 249.1641 74.12157 63.5192 348.3383 95.44602 157.0541 348.168 95.65431 156.8838 348.7643 96.04244 157.4802 348.6966 94.56185 157.4125 348.7238 94.35428 157.4397 348.7376 94.24893 157.4535 348.4981 95.1717 157.2139 348.5885 94.94847 157.3044 348.61 94.89553 157.3259 348.7452 94.04244 157.461 348.7643 83.91506 157.4802 348.7452 83.21341 157.461 348.6723 94.65866 157.3882 348.6224 94.85726 157.3383 348.473 95.21573 157.1888 348.3589 95.41581 157.0747 347.953 95.83843 156.6687 347.767 95.9422 156.4827 347.7435 95.95533 156.4592 347.5515 96.0154 156.2671 347.5269 96.02309 156.2425 347.4974 96.02848 156.2131 347.3305 96.04244 156.0462 348.1617 95.65981 156.8775 347.9795 95.81959 156.6952 340.9458 82.31861 149.5556 340.893 75.01479 155.2648 343.0157 89.68602 157.3879 345.9356 83.91506 160.3083 343.1074 91.21887 157.4796 345.9356 96.04244 160.3083 343.1074 96.04244 157.4796 340.0708 83.48014 154.4424 342.8989 76.17633 157.2711 343.7701 77.09738 158.1425 340.9419 84.40119 155.3138 341.9307 75.47549 156.3027 339.1025 82.7793 153.474 344.5194 78.21242 158.8919 345.1255 79.48974 159.4981 341.6912 85.51624 156.0632 342.7431 88.19679 157.1152 342.2974 86.79355 156.6694 345.8438 82.3822 160.2166 345.5712 80.89298 159.9439 346.8474 95.91873 155.5629 346.8151 95.90497 155.5307 345.9361 96.04244 154.6515 347.1091 96.01779 155.8247 346.0096 94.75825 154.725 345.9991 94.71842 154.7145 347.085 96.01139 155.8006 347.0307 95.99701 155.7463 346.6155 95.76815 155.331 346.5898 95.74637 155.3053 346.422 95.57308 155.1374 346.408 95.55863 155.1235 346.2517 95.33615 154.9671 346.2325 95.30348 154.948 346.1049 95.04127 154.8203 345.9407 94.41575 154.6561 345.9374 94.38973 154.6528 345.9361 94.37926 154.6515 348.9421 83.11294 157.2524 348.7275 82.38426 157.3139 347.8309 92.04244 152.757 347.6749 91.21887 152.913 344.5217 92.04244 156.0656 344.5217 94.04244 156.0656 344.5586 94.05126 156.0287 342.0708 82.7793 150.5063 343.1719 83.48014 151.3419 344.2175 84.40119 152.0387 345.1781 85.51624 152.5769 346.0263 86.79355 152.9412 346.7379 88.19679 153.1211 347.2927 89.68602 153.1116 368.2587 92.04244 95.91561 367.5767 92.04244 91.97596 367.8619 94.04244 93.47408 367.0666 83.11294 89.6356 367.0004 83.21341 89.35639 367.0004 94.04244 89.35639 368.2228 94.04244 95.92091 368.54 94.04244 98.07196 368.9205 92.04244 102.5616 368.9162 94.04244 102.5619 368.9281 94.04244 102.7033 368.9804 92.04244 109.2401 369.0246 94.04244 107.35 368.9452 94.04244 109.2387 368.8293 94.04244 111.9935 368.4378 92.04244 115.8969 368.4187 94.04244 115.8949 368.3429 94.04244 116.6156 367.2973 92.04244 122.4776 367.5673 94.04244 121.198 367.2686 94.04244 122.4709 366.5056 94.04244 125.7227 365.5681 92.04244 128.9287 365.5399 94.04244 128.9202 365.1619 94.04244 130.1718 363.2643 92.04244 135.1976 363.5415 94.04244 134.5279 363.2468 94.04244 135.1898 360.4047 92.04244 141.2333 361.651 94.04244 138.7736 360.3735 94.04244 141.217 359.4976 94.04244 142.8922 357.0125 92.04244 146.9866 357.0899 94.04244 146.8676 357.009 94.04244 146.9841 353.1154 92.04244 152.4105 350.5544 92.04244 155.4809 354.4375 94.04244 150.684 353.0869 94.04244 152.388 351.5507 94.04244 154.3263 366.3377 96.04244 96.84047 366.5532 96.04244 98.30147 366.864 96.01782 98.26557 366.828 96.04244 101.5814 366.9308 96.04244 102.8077 367.2432 96.01782 102.7914 365.6479 96.04244 120.5598 365.6068 96.04244 120.8025 365.9135 96.01782 120.8643 363.1806 96.04244 129.7644 361.6899 96.04244 133.7721 361.9795 96.01782 133.8903 361.4896 96.04244 134.2217 359.8504 96.04244 137.903 360.1321 96.01782 138.0392 359.5083 96.04244 138.5573 357.7552 96.04244 141.9104 358.0278 96.01782 142.064 357.2452 96.04244 142.7524 355.4126 96.04244 145.7783 355.675 96.01782 145.9487 354.7103 96.04244 146.7888 352.8318 96.04244 149.4915 353.083 96.01782 149.678 367.8377 94.35532 93.47843 368.5155 94.35532 98.07479 369 94.35532 107.3497 368.8048 94.35532 111.9917 367.5432 94.35532 121.1931 366.4818 94.35532 125.7163 363.5187 94.35532 134.5186 357.0693 94.35532 146.8542 354.4177 94.35532 150.6693 365.5412 96.04244 92.14115 365.8935 96.04244 93.82785 366.2014 96.01782 93.77251 365.0678 96.04244 89.87403 365.1202 96.04171 89.86 365.3697 96.01403 89.79316 365.4261 96.00776 89.77806 366.5018 95.94456 93.71852 365.664 95.94095 89.71433 365.7186 95.92562 89.6997 366.7871 95.82446 93.66724 365.7569 95.91097 89.68944 367.0505 95.66048 93.61991 366.0347 95.77413 89.61504 365.9429 95.81938 89.63965 366.43 95.45217 89.50915 366.316 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106.0728 310.6276 69.15129 106.1156 310.5097 68.99921 106.3164 310.4129 68.87018 106.5147 310.3998 68.85243 106.5446 310.333 68.76015 106.7133 310.3024 68.71685 106.8019 310.2735 68.67536 106.8943 310.25 68.64097 106.9779 310.2288 68.60942 107.0616 310.2097 68.5805 107.1459 310.1824 68.538 107.2881 310.168 68.51456 107.3803 311.6577 70.33339 105.1309 311.2281 70.20856 105.8292 311.0757 69.99433 105.9391 310.9338 69.79142 106.0601 310.7919 69.58514 106.2048 310.63 69.34552 106.4106 310.6084 69.31335 106.4424 310.5176 69.1765 106.5925 310.4427 69.06283 106.7419 310.4326 69.04741 106.7645 310.3807 68.96828 106.8927 310.3569 68.93187 106.9603 310.3344 68.89753 107.0311 310.316 68.86956 107.0952 310.2994 68.84438 107.1596 310.2844 68.82181 107.2246 310.2629 68.78987 107.3345 310.9766 70.0774 106.4739 310.8683 69.89118 106.5421 310.7597 69.704 106.6276 310.6356 69.4904 106.7555 310.6192 69.46213 106.7758 310.5498 69.34334 106.8733 310.493 69.24699 106.9726 310.4853 69.23413 106.9878 310.4463 69.1692 107.0747 310.4285 69.14008 107.121 310.4118 69.11318 107.1698 310.3983 69.09181 107.2143 310.3861 69.07312 107.2592 310.3753 69.05695 107.3047 310.3601 69.03546 107.3822 310.3522 69.02529 107.4328 310.3631 72.32041 114.3159 310.4114 72.33332 114.2358 310.5668 72.53842 114.3359 310.3313 72.62143 115.5269 309.9491 72.21635 116.2196 309.7412 71.88634 116.6276 309.5411 71.45064 117.0567 309.4027 71.03369 117.3907 309.1782 70.87415 114.8096 309.0575 70.91114 115.38 309.0099 70.90569 115.9622 309.1605 71.15792 115.8228 309.3075 70.64024 117.6559 309.0363 70.85789 116.5438 309.1813 71.1532 116.356 309.3287 71.4147 116.1617 309.1362 70.76878 117.1124 309.2626 71.11154 116.8818 309.3983 71.41584 116.6431 309.4268 71.4731 116.5939 309.5162 71.38449 117.114 309.6434 71.84937 116.2263 309.3587 71.46383 116.1216 309.3084 71.38105 115.6768 309.2005 71.12562 115.2917 310.1468 72.45272 115.8539 309.8536 72.13352 115.8776 309.5796 71.78623 115.8214 309.338 71.42295 115.6465 309.3377 71.31541 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310.2323 72.1061 114.2039 310.1944 72.09326 114.2646 309.9846 71.81628 114.2839 310.0979 72.04948 114.4088 310.2487 72.27758 114.4974 310.4475 72.50307 114.5306 310.6639 72.71194 114.5572 310.9142 72.90818 114.5528 310.1412 71.88761 114.0547 310.1154 71.88076 114.0983 310.0887 71.87133 114.1408 310.0517 71.85486 114.1952 310.1663 71.89186 114.0095 310.3059 72.12309 114.0782 310.3572 72.19635 114.1034 310.4597 72.34291 114.1539 310.6268 72.55028 114.2361 310.7466 72.67955 114.295 310.0188 71.83721 114.2402 310.143 72.07182 114.3432 310.3143 72.30418 114.3947 310.5072 72.52268 114.4339 310.7347 72.73034 114.4417 310.8065 72.74417 114.3245 310.9978 72.92364 114.4186 311.2389 70.52938 106.37 311.4239 70.49533 105.7344 311.6984 70.41024 105.1371 312.0547 70.27645 104.5945 312.4831 70.09763 104.1214 312.9718 69.87869 103.7309 311.2615 70.57216 106.3746 311.4558 70.55552 105.7412 311.7389 70.48689 105.1459 312.1032 70.36814 104.6052 312.5386 70.20253 104.1337 313.0331 69.99462 103.7445 312.7857 72.92364 107.7487 311.9465 72.68109 111.0983 311.574 72.68109 112.3107 311.1638 72.19768 112.1682 311.861 71.89186 107.687 311.8038 72.19768 109.7804 312.0163 72.12309 107.6974 312.0733 72.19635 107.7012 312.1873 72.34291 107.7088 311.5271 72.19768 110.9859 312.2303 72.68109 109.8621 312.3731 72.55028 107.7212 312.5063 72.67955 107.7301 312.5729 72.74417 107.7345 311.8619 71.88761 107.6354 312.7719 72.86105 107.2809 312.7651 72.77374 106.9072 312.7635 72.72263 106.7373 312.9411 70.64024 104.1 312.891 71.03369 104.3772 312.8507 71.38449 104.6736 312.8437 71.45064 104.7357 312.8023 71.88634 105.2074 312.7783 72.21635 105.6646 312.7667 72.45272 106.0801 312.7628 72.62143 106.4556 312.5209 70.76878 104.4849 312.515 71.11154 104.7478 312.5132 71.41584 105.0224 312.5132 71.4731 105.0793 312.517 71.84937 105.506 312.5246 72.13352 105.913 312.5334 72.33681 106.2793 312.5422 72.48194 106.6082 312.5491 72.56913 106.8542 312.5532 72.61326 107.0023 312.5573 72.65156 107.1515 312.15 70.85789 104.9273 312.1817 71.1532 105.1625 312.2121 71.4147 105.4045 312.2181 71.46383 105.4542 312.2592 71.78623 105.8246 312.2927 72.02917 106.1743 312.318 72.2027 106.487 312.3369 72.3265 106.7667 312.3486 72.40084 106.9754 312.3546 72.43847 107.1009 312.3599 72.47113 107.2274 312.3652 72.50307 107.3765 311.8363 70.90569 105.4177 311.897 71.15792 105.6138 311.9521 71.38105 105.8142 311.9625 71.42295 105.8552 312.0318 71.6976 106.1599 312.0845 71.90413 106.4463 312.1219 72.0513 106.7017 312.148 72.15599 106.93 312.1631 72.21862 107.1003 312.1704 72.25022 107.2027 312.1764 72.27758 107.3058 312.1818 72.30418 107.4275 312.1847 72.32041 107.5201 312.7758 72.88731 107.435 312.7804 72.90818 107.5907 312.5693 72.73034 107.597 311.5863 70.91114 105.9457 311.666 71.12562 106.0937 311.7368 71.31541 106.2454 311.7502 71.35105 106.2766 311.8372 71.58444 106.5082 311.9018 71.75947 106.7267 311.9465 71.88363 106.9222 311.9767 71.97137 107.0974 311.9936 72.02343 107.2282 312.0015 72.04948 107.307 312.0077 72.07182 107.3865 312.013 72.09326 107.4802 312.0154 72.1061 107.5517 312.0165 72.11605 107.6239 312.5658 72.71194 107.4616 312.3711 72.53842 107.6047 312.7677 72.81799 107.0786 312.5622 72.68898 107.3276 312.3684 72.52268 107.4901 312.1865 72.33332 107.6137 311.8614 71.88076 107.5847 311.8594 71.87133 107.5345 311.8547 71.85486 107.4689 311.8487 71.83721 107.4134 311.8409 71.81628 107.3586 311.8239 71.77371 107.2677 311.7928 71.70082 107.1469 311.746 71.59638 107.0132 311.6776 71.44795 106.8657 311.584 71.24914 106.7122 311.5697 71.21875 106.6919 311.4927 71.05689 106.5937 311.4056 70.87415 106.5 311.7055 74.53005 120.0837 311.803 74.1116 119.9177 311.6799 74.32861 119.2232 312.0559 74.38079 117.0061 311.7517 74.89538 121.1192 311.8533 74.61968 120.9316 311.9827 74.96865 122.0791 312.4366 74.87139 122.8333 312.4973 74.75463 122.6652 312.3264 75.01161 123.1035 312.3748 74.96006 122.9911 311.9597 73.13871 119.67 311.8574 74.17981 117.6768 311.7615 73.98743 118.3721 311.7704 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294.7909 94.74244 109.0444 296.2303 94.74244 108.7471 296.3414 88.24245 108.6912 296.3414 94.74244 108.6912 296.5412 94.74244 108.5425 296.691 88.24245 108.431 296.691 94.74244 108.431 296.8191 94.74244 108.2951 296.99 88.24245 108.114 296.99 94.74244 108.114 297.0583 94.74244 108.01 297.2294 88.24245 107.7499 297.2294 94.74244 107.7499 297.254 94.74244 107.6928 297.402 88.24245 107.3497 297.402 94.74244 107.3497 297.4881 94.74244 106.9861 297.5024 88.24245 106.9257 297.5024 94.74244 106.9257 297.5205 94.74244 106.6148 297.5277 88.24245 106.4906 297.5277 94.74244 106.4906 297.4988 94.74244 106.2432 297.4771 88.24245 106.0578 297.4771 94.74244 106.0578 297.4235 94.74244 105.8789 297.3521 88.24245 105.6403 297.3521 94.74244 105.6403 297.2962 94.74244 105.5292 300.1105 89.74245 100.8341 300.1105 92.94245 100.8341 301.3085 92.94245 102.1801 301.3085 88.24245 102.1801 295.6851 92.94245 114.1937 295.6851 88.24245 114.1937 297.4498 89.74245 113.8292 297.4498 92.94245 113.8292 288.0927 92.94245 103.3169 288.0927 88.24245 103.3169 287.5261 89.74245 105.0274 287.5261 92.94245 105.0274 301.2991 94.54244 100.8249 301.3773 94.54244 100.9127 301.3779 94.74244 100.9122 287.4589 94.74244 102.6974 287.4591 94.13442 102.6975 287.949 94.74244 101.8597 287.4783 94.10131 102.6597 287.5334 93.98899 102.555 287.5839 93.86679 102.462 287.6036 93.81243 102.4263 287.6464 93.67704 102.3505 287.682 93.53582 102.2886 287.7103 93.38922 102.2404 287.7208 93.31972 102.2227 287.7375 93.16648 102.1947 287.7456 93.01204 102.1812 287.7465 92.94245 102.1797 287.2681 94.39807 103.0964 287.3309 94.32748 102.959 287.2046 94.45552 103.2422 287.0676 94.74244 103.5855 287.115 94.51295 103.4616 287.1766 94.47651 103.309 287.3927 94.24396 102.83 287.4192 94.2034 102.7762 286.7803 94.46747 104.5125 286.7934 94.48392 104.4591 286.78 94.74244 104.5124 286.8138 94.50243 104.3808 286.9977 94.54244 103.7794 287.0553 94.535 103.6184 287.0678 94.53038 103.5856 286.8586 94.52943 104.2188 286.907 94.54164 104.0564 286.9237 94.54244 104.0026 286.6 94.74244 105.4661 286.6093 93.88346 105.3964 286.6159 93.93968 105.3495 286.633 94.05693 105.2367 286.6534 94.16267 105.1134 286.6775 94.2568 104.9803 286.6906 94.29784 104.913 286.7209 94.37381 104.7667 286.7551 94.4358 104.6153 286.5695 92.94245 105.733 286.5703 93.09846 105.7246 286.5298 94.74244 106.4341 286.5695 89.74245 105.733 286.5728 93.25177 105.6997 286.5771 93.40211 105.6585 286.5798 93.47086 105.6339 286.5872 93.61597 105.5691 286.5969 93.75359 105.4897 286.6 93.78646 105.4661 286.9805 94.74244 109.2977 286.7213 94.74244 108.3624 286.7213 89.74245 108.3624 286.5704 94.74244 107.4037 286.5704 89.74245 107.4037 286.5298 89.74245 106.4341 286.9805 85.74245 109.2977 286.7213 88.24245 108.3624 286.7213 85.74245 108.3624 286.5704 88.24245 107.4037 286.5704 85.74245 107.4037 286.5298 88.24245 106.4341 286.5298 85.74245 106.4341 286.6 88.24245 105.4661 286.6 85.74245 105.4661 286.78 88.24245 104.5124 286.78 85.74245 104.5124 287.0676 88.24245 103.5855 287.0676 85.74245 103.5855 287.4589 88.24245 102.6974 287.4589 85.74245 102.6974 287.7465 88.24245 102.1797 287.949 85.74245 101.8597 295.142 94.74244 115.0628 295.142 93.78694 115.0628 294.1725 94.74244 115.0203 295.0714 93.67704 115.0635 295 93.53582 115.0635 294.944 93.38922 115.0632 294.9234 93.31972 115.0629 294.8909 93.16648 115.0625 294.8751 93.01204 115.0622 294.8734 92.94245 115.0622 295.4232 94.10131 115.0544 295.3049 93.98899 115.0591 296.1101 94.74244 114.9945 296.0645 94.45552 115.0002 295.9065 94.39807 115.0181 295.7561 94.32748 115.0324 295.6134 94.24396 115.0434 295.5537 94.2034 115.0474 295.1991 93.86679 115.0619 295.1584 93.81243 115.0626 297.0833 94.52943 114.8115 297.0641 94.53085 114.8161 297.0641 94.74244 114.8163 296.9185 94.54164 114.8509 296.8635 94.54244 114.8632 296.6331 94.54244 114.9108 296.465 94.535 114.9414 296.2992 94.51295 114.9681 296.1364 94.47651 114.9911 296.1101 94.46884 114.9944 297.9606 94.16267 114.5419 297.8333 94.2568 114.5876 297.9916 94.74244 114.5305 297.7684 94.29784 114.61 297.6267 94.37381 114.6569 297.4784 94.4358 114.703 297.324 94.48392 114.7478 297.246 94.50243 114.7693 298.5391 92.94245 114.3049 298.5314 93.09846 114.3083 298.8804 94.74244 114.1408 298.5086 93.25177 114.3186 298.4709 93.40211 114.3355 298.4482 93.47086 114.3455 298.3883 93.61597 114.3715 298.3148 93.75359 114.4027 298.2277 93.88346 114.4387 298.1838 93.93968 114.4564 298.0776 94.05693 114.498 297.9916 94.13471 114.5303 298.5391 89.74245 114.3049 298.8804 89.74245 114.1408 299.7191 89.74245 113.6524 299.7191 94.74244 113.6524 300.4966 89.74245 113.0715 300.4966 94.74244 113.0715 301.2028 89.74245 112.4058 301.2028 94.74244 112.4058 301.8285 94.74244 111.664 301.8285 85.74245 111.664 301.2028 88.24245 112.4058 301.2028 85.74245 112.4058 300.4966 88.24245 113.0715 300.4966 85.74245 113.0715 299.7191 88.24245 113.6524 299.7191 85.74245 113.6524 298.8804 88.24245 114.1408 298.8804 85.74245 114.1408 297.9916 88.24245 114.5305 297.9916 85.74245 114.5305 297.0641 88.24245 114.8163 297.0641 85.74245 114.8163 296.1101 88.24245 114.9945 296.1101 85.74245 114.9945 295.142 88.24245 115.0628 295.142 85.74245 115.0628 294.8734 88.24245 115.0622 294.1725 85.74245 115.0203 302.1135 94.2034 101.8671 302.1849 94.10131 101.9766 302.493 94.74244 102.4971 301.9808 94.74244 101.6728 301.9806 94.34264 101.6729 301.9994 94.32748 101.6993 302.0802 94.24396 101.8173 302.2481 93.98899 102.0767 302.3034 93.86679 102.1669 302.3244 93.81243 102.2018 302.3686 93.67704 102.2767 302.4044 93.53582 102.3386 302.432 93.38922 102.3872 302.4421 93.31972 102.4051 302.458 93.16648 102.4336 302.4656 93.01204 102.4474 301.7734 94.47651 101.3906 301.8173 94.45552 101.4483 301.9118 94.39807 101.5762 301.4555 94.54244 101.0006 301.5661 94.535 101.1309 301.6721 94.51295 101.2611 300.7388 94.37381 100.2671 300.8529 94.4358 100.3725 300.6923 94.74244 100.2253 300.969 94.48392 100.4838 301.0266 94.50243 100.5406 301.1445 94.52943 100.6604 301.261 94.54164 100.7834 299.9778 92.94245 99.65288 299.9846 93.09846 99.65781 299.9329 94.74244 99.62098 300.005 93.25177 99.67243 300.0384 93.40211 99.69672 300.0584 93.47086 99.71134 300.1109 93.61597 99.75016 300.1747 93.75359 99.79825 300.2494 93.88346 99.85569 300.2867 93.93968 99.88488 300.3758 94.05693 99.95604 300.4723 94.16267 100.0353 300.5755 94.2568 100.1228 300.6274 94.29784 100.1678 300.6921 94.34197 100.2255 299.9778 89.74245 99.65288 299.9329 89.74245 99.62098 299.1095 89.74245 99.1072 299.1095 94.74244 99.1072 298.233 89.74245 98.69064 298.233 94.74244 98.69064 297.3146 89.74245 98.3767 297.3146 94.74244 98.3767 296.3665 94.74244 98.1695 296.3665 85.74245 98.1695 297.3146 88.24245 98.3767 297.3146 85.74245 98.3767 298.233 88.24245 98.69064 298.233 85.74245 98.69064 299.1095 88.24245 99.1072 299.1095 85.74245 99.1072 299.9329 88.24245 99.62098 299.9329 85.74245 99.62098 300.6923 88.24245 100.2253 300.6923 85.74245 100.2253 301.3779 88.24245 100.9122 301.3779 85.74245 100.9122 301.9808 88.24245 101.6728 301.9808 85.74245 101.6728 302.4665 88.24245 102.4489 302.493 85.74245 102.4971 302.4665 92.94245 102.4489 302.9078 94.74244 103.3745 302.9078 85.74245 103.3745 303.22 94.74244 104.2934 303.22 85.74245 104.2934 303.4254 94.74244 105.2419 303.4254 85.74245 105.2419 303.5213 94.74244 106.2077 303.5213 85.74245 106.2077 303.5065 94.74244 107.1781 303.5065 85.74245 107.1781 303.3812 94.74244 108.1405 303.3812 85.74245 108.1405 303.147 94.74244 109.0823 303.147 85.74245 109.0823 302.807 94.74244 109.9913 302.807 85.74245 109.9913 302.3656 94.74244 110.8556 302.3656 85.74245 110.8556 293.214 94.74244 114.8676 293.214 85.74245 114.8676 292.2793 94.74244 114.6066 292.2793 85.74245 114.6066 291.3804 94.74244 114.2407 291.3804 85.74245 114.2407 290.529 94.74244 113.7748 290.529 85.74245 113.7748 289.7363 94.74244 113.2149 289.7363 85.74245 113.2149 289.0126 94.74244 112.5682 289.0126 85.74245 112.5682 288.6796 94.74244 112.215 288.6796 85.74245 112.215 288.3674 94.74244 111.8433 288.3674 85.74245 111.8433 287.8089 94.74244 111.0495 287.8089 85.74245 111.0495 287.3446 94.74244 110.1973 287.3446 85.74245 110.1973 288.5314 94.74244 101.0833 288.5314 85.74245 101.0833 289.1984 94.74244 100.3784 289.1984 85.74245 100.3784 289.9414 94.74244 99.7541 289.9414 85.74245 99.7541 290.7508 94.74244 99.21857 290.7508 85.74245 99.21857 291.616 94.74244 98.7788 291.616 85.74245 98.7788 292.5256 94.74244 98.44051 292.5256 85.74245 98.44051 293.4679 94.74244 98.20812 293.4679 85.74245 98.20812 294.4305 94.74244 98.08465 294.4305 85.74245 98.08465 295.401 94.74244 98.07173 295.401 85.74245 98.07173 302.4984 85.74245 99.91487 303.1524 94.74244 100.7321 303.1524 85.74245 100.7321 303.7175 94.74244 101.6132 303.7175 85.74245 101.6132 304.1874 94.74244 102.5485 304.1874 85.74245 102.5485 304.5569 94.74244 103.5278 304.5569 85.74245 103.5278 304.822 94.74244 104.5404 304.822 85.74245 104.5404 304.9798 94.74244 105.5752 304.9798 85.74245 105.5752 305.0286 94.74244 106.6208 305.0286 85.74245 106.6208 304.9679 94.74244 107.6657 304.9679 85.74245 107.6657 304.7982 94.74244 108.6986 304.7982 85.74245 108.6986 304.5215 94.74244 109.7081 304.5215 85.74245 109.7081 304.1408 94.74244 110.6831 304.1408 85.74245 110.6831 303.6603 94.74244 111.613 303.6603 85.74245 111.613 303.0852 94.74244 112.4876 303.0852 85.74245 112.4876 302.4219 94.74244 113.2973 302.4219 85.74245 113.2973 301.6775 94.74244 114.0332 301.6775 85.74245 114.0332 300.8603 94.74244 114.6872 300.8603 85.74245 114.6872 299.9792 94.74244 115.2523 299.9792 85.74245 115.2523 299.0439 94.74244 115.7221 299.0439 85.74245 115.7221 298.0645 94.74244 116.0917 298.0645 85.74245 116.0917 297.052 94.74244 116.3568 297.052 85.74245 116.3568 296.0172 94.74244 116.5146 296.0172 85.74245 116.5146 294.9716 94.74244 116.5634 294.9716 85.74245 116.5634 293.9267 94.74244 116.5027 293.9267 85.74245 116.5027 292.8938 94.74244 116.333 292.8938 85.74245 116.333 291.8843 94.74244 116.0563 291.8843 85.74245 116.0563 290.9093 94.74244 115.6756 290.9093 85.74245 115.6756 289.9794 94.74244 115.1951 289.9794 85.74245 115.1951 289.1048 94.74244 114.62 289.1048 85.74245 114.62 288.2951 94.74244 113.9566 288.2951 85.74245 113.9566 287.5592 94.74244 113.2123 287.5592 85.74245 113.2123 286.9052 94.74244 112.3951 286.9052 85.74245 112.3951 286.3401 94.74244 111.514 286.3401 85.74245 111.514 285.8702 94.74244 110.5786 285.8702 85.74245 110.5786 285.5007 94.74244 109.5993 285.5007 85.74245 109.5993 285.2356 94.74244 108.5867 285.2356 85.74245 108.5867 285.0778 94.74244 107.552 285.0778 85.74245 107.552 285.0289 94.74244 106.5064 285.0289 85.74245 106.5064 285.0897 94.74244 105.4614 285.0897 85.74245 105.4614 285.2593 94.74244 104.4286 285.2593 85.74245 104.4286 285.5361 94.74244 103.4191 285.5361 85.74245 103.4191 285.9167 94.74244 102.444 285.9167 85.74245 102.444 286.3973 94.74244 101.5141 286.3973 85.74245 101.5141 286.9724 94.74244 100.6396 286.9724 85.74245 100.6396 287.6357 94.74244 99.82989 287.6357 85.74245 99.82989 288.3801 94.74244 99.09399 288.3801 85.74245 99.09399 289.1973 94.74244 98.43993 289.1973 85.74245 98.43993 290.0784 94.74244 97.87487 290.0784 85.74245 97.87487 291.0137 94.74244 97.40501 291.0137 85.74245 97.40501 291.9931 94.74244 97.03549 291.9931 85.74245 97.03549 293.0056 94.74244 96.77037 293.0056 85.74245 96.77037 294.0404 94.74244 96.61254 294.0404 85.74245 96.61254 295.086 94.74244 96.56374 295.086 85.74245 96.56374 296.1309 94.74244 96.62449 296.1309 85.74245 96.62449 297.1638 94.74244 96.79415 297.1638 85.74245 96.79415 298.1733 94.74244 97.07083 298.1733 85.74245 97.07083 299.1483 94.74244 97.45153 299.1483 85.74245 97.45153 300.0782 94.74244 97.93205 300.0782 85.74245 97.93205 300.9528 94.74244 98.50714 300.9528 85.74245 98.50714 301.7625 94.74244 99.1705 301.7625 85.74245 99.1705 302.4984 94.74244 99.91487 300.1081 93.74245 102.0425 300.8507 93.74245 101.5241 300.709 93.74245 101.365 297.1121 94.85227 105.1859 297.1203 94.79798 105.1952 297.08 94.95234 105.1499 297.0985 94.90412 105.1707 297.0569 94.99588 105.124 297.0298 95.03376 105.0935 296.9992 95.06513 105.0591 296.9658 95.0893 105.0216 296.9305 95.10571 104.9819 296.8938 95.11401 104.9408 296.8568 95.11401 104.8992 296.8202 95.10571 104.858 296.7848 95.0893 104.8183 296.7515 95.06513 104.7808 296.7209 95.03376 104.7464 296.6937 94.99588 104.7159 296.6706 94.95234 104.69 296.6521 94.90412 104.6692 296.6386 94.85227 104.654 297.2977 94.85227 105.5195 295.9981 94.90412 104.2648 295.2798 94.99588 104.0891 294.181 95.0893 104.2374 293.8419 95.10571 104.3935 293.5293 95.11401 104.598 293.2502 95.11401 104.8464 293.0108 95.10571 105.1332 292.5794 95.03376 106.1562 292.5419 94.99588 106.5261 292.56 94.95234 106.8967 292.7599 94.85227 107.6076 292.9373 94.79798 107.932 292.9455 94.85227 107.9412 293.3869 94.95234 108.4371 293.3638 94.99588 108.4112 293.4055 94.90412 108.4579 293.5498 95.31857 108.4951 293.6035 95.24365 108.5554 293.6492 95.15755 108.6067 293.6858 95.06217 108.6478 293.4272 94.79798 108.4824 293.7288 94.85227 108.6962 292.6332 94.90412 107.26 292.7762 94.95965 107.6259 292.9591 94.90412 107.9564 293.7069 95.68183 108.4663 293.796 95.5905 108.5663 293.875 95.48023 108.6551 293.9422 95.35349 108.7306 293.9961 95.21308 108.7911 292.6572 95.06217 107.2869 292.8029 95.06217 107.656 292.9776 94.95234 107.9772 293.828 96.05339 108.3212 293.9541 95.96207 108.4629 294.0697 95.8435 108.5928 294.1723 95.70034 108.7081 294.2595 95.53577 108.8061 294.3295 95.35349 108.8847 294.0595 94.90412 108.8623 294.4118 94.95234 108.9771 292.5911 95.15755 106.9317 292.6965 95.21308 107.3311 292.8395 95.15755 107.6971 293.0007 94.99588 108.0032 293.9115 96.40025 108.0647 294.0729 96.32534 108.2461 294.2252 96.21506 108.4171 294.3648 96.07189 108.574 294.4887 95.89904 108.7131 294.594 95.70034 108.8315 294.6785 95.48023 108.9264 294.7778 94.99588 109.038 292.5796 95.24365 106.5683 292.6423 95.35349 106.9892 292.7504 95.35349 107.3917 292.8852 95.24365 107.7484 293.0278 95.03376 108.0337 293.9616 96.69156 107.709 294.1537 96.64802 107.9248 294.3393 96.56192 108.1333 294.5143 96.43516 108.3299 294.6748 96.27059 108.5102 294.8171 96.07189 108.6702 294.9382 95.8435 108.8062 295.0354 95.5905 108.9153 292.6717 95.06513 105.7955 292.6227 95.31857 106.2048 292.6413 95.48023 106.6377 292.7122 95.53577 107.0678 292.8177 95.48023 107.4672 292.9389 95.31857 107.8087 293.0584 95.06513 108.068 293.9875 96.90145 107.2738 294.2027 96.90145 107.5155 294.4154 96.85323 107.7545 294.621 96.75785 107.9855 294.8148 96.61745 108.2033 294.9926 96.43516 108.403 295.1503 96.21506 108.5802 295.2845 95.96207 108.7309 295.392 95.68183 108.8517 295.1495 95.03376 109.0436 295.5185 95.06513 108.9938 295.8765 95.0893 108.8897 292.8166 95.0893 105.4519 292.7196 95.38061 105.8493 292.6936 95.5905 106.2845 292.7258 95.70034 106.7326 292.7995 95.70034 107.1658 292.8967 95.5905 107.556 292.9994 95.38061 107.8767 293.0917 95.0893 108.1055 294.0023 97.01129 106.784 294.2309 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91.35309 122.1089 304.7942 91.3692 120.6365 310.4852 92.86821 120.3762 310.1898 92.89117 120.0325 309.8973 92.8857 119.6897 309.3153 92.84612 119.0044 299.6602 89.88851 120.4155 301.5135 89.66013 123.5737 303.1443 90.55369 122.1136 302.4364 89.54426 125.1431 304.1264 90.48815 123.6348 302.8964 89.48581 125.9252 304.6166 90.45469 124.3931 303.01 89.47096 126.1214 304.8877 90.44125 124.7524 303.1607 89.46582 126.2897 303.4929 89.46398 126.6034 305.2106 90.4343 125.0737 310.4242 90.31387 130.1638 312.0036 91.11194 128.7481 313.6043 91.83169 127.3135 315.2261 92.47311 125.8601 326.0584 89.75998 145.3089 320.8478 89.96923 140.2766 315.6365 90.15636 135.2298 308.866 89.43747 131.5606 309.0899 93.54268 112.34 307.7374 93.32391 111.0157 312.453 93.98973 115.6354 311.4455 93.81665 114.6402 313.3712 94.11189 116.538 312.4589 93.95139 115.6346 313.5473 94.13717 116.7091 313.3774 94.07359 116.537 313.8388 94.11872 117.0612 313.6172 94.10446 116.7727 316.9737 93.7222 121.0928 313.841 94.08037 117.0559 320.9786 93.2078 126.2718 328.3446 92.24742 135.8585 334.5134 91.42366 143.9862 331.6274 91.77431 140.1584 336.792 91.10607 147.0605 340.0429 90.53924 151.8433 340.0457 90.54068 151.8419 340.0482 90.54264 151.8407 340.0505 90.54503 151.8397 340.0523 90.54781 151.839 340.0538 90.55088 151.8385 340.0548 90.55416 151.8384 340.0553 90.55755 151.8385 340.0552 90.56095 151.8389 340.0547 90.56426 151.8396 340.0522 90.57023 151.8418 340.0537 90.56739 151.8406 340.0503 90.57272 151.8432 340.048 90.57477 151.8447 340.0455 90.57633 151.8464 340.0426 90.57734 151.8481 340.0397 90.57778 151.8498 306.2417 93.16368 109.5604 306.2394 93.16451 109.5627 306.2439 93.16233 109.5583 306.246 93.16049 109.5564 306.2478 93.15824 109.5549 306.2494 93.1556 109.5536 306.2516 93.14953 109.5521 306.2507 93.15267 109.5527 306.2522 93.14626 109.552 306.2524 93.14295 109.5522 306.2522 93.1397 109.5529 306.2516 93.13658 109.5539 306.2507 93.13369 109.5552 306.2494 93.13112 109.5569 306.2478 93.12892 109.5588 306.246 93.12718 109.561 306.2439 93.12591 109.5633 339.6243 90.66107 151.1531 339.6272 90.6606 151.1513 339.6299 90.65957 151.1495 339.6324 90.658 151.1477 339.6346 90.65594 151.1461 339.6364 90.65345 151.1447 339.6379 90.6506 151.1434 339.6388 90.64748 151.1425 339.6394 90.64417 151.1418 339.6394 90.64077 151.1414 339.6389 90.63739 151.1413 339.6379 90.63412 151.1415 339.6365 90.63105 151.142 339.6347 90.62829 151.1428 339.6325 90.6259 151.1439 339.63 90.62395 151.1452 339.6273 90.62251 151.1468 339.1511 90.74537 150.4159 339.1539 90.74488 150.414 339.1566 90.74382 150.4121 339.159 90.74224 150.4103 339.1611 90.74017 150.4087 339.1629 90.73767 150.4072 339.1643 90.73481 150.406 339.1653 90.73169 150.405 339.1658 90.72839 150.4043 339.1658 90.725 150.4039 339.1653 90.72163 150.4039 339.1643 90.71837 150.4041 339.1629 90.71532 150.4047 339.1611 90.71256 150.4056 339.159 90.71018 150.4067 339.1565 90.70824 150.4081 339.1539 90.7068 150.4097 338.7575 90.8106 149.8289 338.7603 90.81008 149.8269 338.7629 90.80901 149.825 338.7653 90.80741 149.8232 338.7674 90.80532 149.8216 338.7691 90.80282 149.8201 338.7705 90.79996 149.8188 338.7714 90.79684 149.8179 338.7719 90.79354 149.8172 338.7719 90.79016 149.8168 338.7714 90.7868 149.8168 338.7704 90.78355 149.8171 338.7691 90.7805 149.8177 338.7673 90.77776 149.8186 338.7651 90.77539 149.8198 338.7627 90.77346 149.8212 338.7601 90.77202 149.8228 337.833 90.95391 148.5034 337.8357 90.95334 148.5014 337.8383 90.95223 148.4995 337.8406 90.95059 148.4976 337.8427 90.94848 148.496 337.8443 90.94596 148.4945 337.8457 90.9431 148.4932 337.8465 90.93998 148.4923 337.847 90.93669 148.4916 337.8469 90.93332 148.4913 337.8464 90.92998 148.4913 337.8455 90.92675 148.4916 337.8441 90.92373 148.4923 337.8424 90.92101 148.4932 337.8403 90.91866 148.4945 337.8379 90.91674 148.496 337.8353 90.91532 148.4976 336.7947 91.10546 147.0585 336.7972 91.1043 147.0566 336.7994 91.10263 147.0547 336.8014 91.1005 147.0531 336.8031 91.09796 147.0516 336.8043 91.0951 147.0504 336.8052 91.09197 147.0494 336.8056 91.08869 147.0488 336.8055 91.08534 147.0485 336.805 91.08202 147.0485 336.8041 91.07881 147.0489 336.8027 91.07582 147.0496 336.8009 91.07312 147.0506 336.7989 91.07079 147.0518 336.7965 91.0689 147.0533 336.794 91.06749 147.055 335.6405 91.26837 145.4971 335.6431 91.26771 145.4951 335.6455 91.26651 145.4931 335.6477 91.26481 145.4913 335.6497 91.26265 145.4896 335.6513 91.2601 145.4882 335.6525 91.25723 145.487 335.6533 91.25411 145.486 335.6537 91.25083 145.4854 335.6536 91.2475 145.4851 335.6531 91.2442 145.4852 335.6521 91.24102 145.4856 335.6507 91.23804 145.4863 335.649 91.23537 145.4873 335.647 91.23307 145.4886 335.6446 91.23119 145.4901 335.6421 91.22981 145.4919 334.5159 91.42296 143.9842 334.5184 91.42173 143.9822 334.5205 91.42 143.9804 334.5225 91.41782 143.9788 334.524 91.41526 143.9773 334.5252 91.41238 143.9761 334.526 91.40927 143.9752 334.5263 91.406 143.9746 334.5262 91.40268 143.9744 334.5257 91.39939 143.9745 334.5247 91.39623 143.9748 334.5234 91.39328 143.9756 334.5216 91.39062 143.9766 334.5196 91.38834 143.9779 334.5173 91.38648 143.9795 334.5148 91.38511 143.9812 331.6265 91.81281 140.163 331.629 91.81203 140.161 331.6314 91.81073 140.1591 331.6335 91.80895 140.1573 331.6353 91.80673 140.1557 331.6368 91.80416 140.1542 331.638 91.80126 140.1531 331.6387 91.79816 140.1522 331.639 91.79492 140.1517 331.6388 91.79162 140.1515 331.6383 91.78836 140.1516 331.6373 91.78524 140.152 331.6359 91.78234 140.1528 331.6342 91.77972 140.1538 331.6321 91.77747 140.1551 331.6298 91.77565 140.1567 328.3471 92.24658 135.8565 328.3494 92.24524 135.8546 328.3515 92.24343 135.8528 328.3533 92.2412 135.8512 328.3548 92.2386 135.8498 328.3559 92.23572 135.8487 328.3565 92.23262 135.8479 328.3568 92.22939 135.8473 328.3567 92.22611 135.8471 328.3561 92.22289 135.8473 328.3551 92.21979 135.8477 328.3537 92.21691 135.8485 328.352 92.21432 135.8495 328.35 92.2121 135.8508 328.3477 92.21029 135.8524 328.3452 92.20896 135.8541 320.9794 93.16942 126.2673 320.981 93.20699 126.2698 320.9833 93.20566 126.2679 320.9854 93.20387 126.2661 320.9872 93.20166 126.2645 320.9887 93.19908 126.2631 320.9898 93.19622 126.262 320.9905 93.19313 126.2611 320.9908 93.18991 126.2606 320.9906 93.18666 126.2604 320.9901 93.18343 126.2605 320.9891 93.18033 126.2609 320.9877 93.17745 126.2617 320.986 93.17485 126.2627 320.9841 93.1726 126.2641 320.9818 93.17078 126.2656 316.9751 93.68383 121.0878 316.9762 93.72146 121.0908 316.9785 93.7202 121.0888 316.9806 93.71847 121.087 316.9825 93.7163 121.0854 316.984 93.71376 121.0839 316.9851 93.71092 121.0828 316.9859 93.70784 121.0819 316.9862 93.70463 121.0813 316.9862 93.70135 121.081 316.9856 93.69811 121.0811 316.9847 93.69498 121.0815 316.9834 93.69205 121.0823 316.9818 93.6894 121.0833 316.9798 93.68711 121.0846 316.9776 93.68524 121.0861 313.8413 94.11808 117.0592 313.8437 94.11691 117.0572 313.8459 94.11524 117.0554 313.8478 94.11314 117.0537 313.8493 94.11064 117.0522 313.8506 94.10782 117.051 313.8514 94.10475 117.05 313.8518 94.10153 117.0494 313.8518 94.09824 117.0491 313.8513 94.09496 117.0492 313.8505 94.09179 117.0495 313.8492 94.08882 117.0503 313.8476 94.08612 117.0513 313.8457 94.08377 117.0526 313.8435 94.08184 117.0541 313.6134 94.14289 116.7764 313.6158 94.14226 116.7742 313.6181 94.14111 116.7722 313.6203 94.13946 116.7703 313.6222 94.13736 116.7686 313.6239 94.13487 116.7672 313.6252 94.13205 116.766 313.6261 94.12899 116.7652 313.6266 94.12576 116.7647 313.6268 94.12245 116.7646 313.6264 94.11917 116.7648 313.6257 94.11598 116.7654 313.6247 94.11299 116.7663 313.6232 94.11027 116.7675 313.6215 94.1079 116.769 313.6195 94.10594 116.7707 313.5496 94.13652 116.7068 313.5518 94.13535 116.7047 313.5539 94.13368 116.7027 313.5558 94.13157 116.701 313.5575 94.12908 116.6997 313.5589 94.12625 116.6986 313.5599 94.12319 116.698 313.5607 94.11997 116.6977 313.561 94.11669 116.6978 313.561 94.11342 116.6983 313.5606 94.11026 116.6992 313.5598 94.10729 116.7005 313.5587 94.10461 116.7021 313.5573 94.10227 116.7039 313.5556 94.10035 116.706 313.5536 94.0989 116.7083 313.3735 94.11123 116.5357 313.3758 94.11006 116.5336 313.3779 94.10839 116.5317 313.3798 94.10628 116.53 313.3815 94.10379 116.5286 313.3829 94.10096 116.5276 313.384 94.0979 116.5269 313.3847 94.09468 116.5266 313.385 94.0914 116.5268 313.385 94.08812 116.5273 313.3845 94.08496 116.5281 313.3837 94.082 116.5294 313.3826 94.0793 116.5309 313.3811 94.07697 116.5327 313.3793 94.07505 116.5348 312.4554 93.98905 115.6332 312.4576 93.98786 115.6311 312.4597 93.98617 115.6292 312.4616 93.98403 115.6275 312.4633 93.98152 115.6261 312.4646 93.97869 115.6251 312.4657 93.97561 115.6245 312.4664 93.97239 115.6242 312.4667 93.9691 115.6243 312.4666 93.96583 115.6249 312.4662 93.96267 115.6257 312.4653 93.95972 115.627 312.4642 93.95704 115.6285 312.4627 93.95472 115.6304 312.4609 93.95282 115.6324 311.4398 93.85504 114.6408 311.4421 93.85433 114.6385 311.4443 93.85311 114.6364 311.4465 93.85139 114.6345 311.4483 93.84924 114.6329 311.45 93.84671 114.6315 311.4514 93.84385 114.6305 311.4524 93.84077 114.6299 311.4531 93.83754 114.6297 311.4533 93.83425 114.6298 311.4533 93.83098 114.6304 311.4528 93.82784 114.6313 311.4519 93.82489 114.6325 311.4508 93.82224 114.6341 311.4493 93.81993 114.6359 311.4475 93.81806 114.638 310.3221 93.70645 113.5454 310.3244 93.70571 113.5431 310.3267 93.70446 113.541 310.3287 93.70272 113.5391 310.3306 93.70054 113.5375 310.3323 93.69799 113.5362 310.3336 93.69512 113.5352 310.3346 93.69203 113.5346 310.3353 93.68879 113.5344 310.3356 93.6855 113.5345 310.3354 93.68223 113.5351 310.3349 93.6791 113.536 310.3341 93.67617 113.5373 310.3329 93.67353 113.5389 310.3313 93.67124 113.5408 310.3295 93.6694 113.5428 310.3275 93.66802 113.5451 309.0922 93.54192 112.3378 309.0944 93.54064 112.3357 309.0965 93.53887 112.3338 309.0984 93.53666 112.3322 309.1 93.53408 112.3309 309.1013 93.53121 112.3299 309.1023 93.52809 112.3293 309.1029 93.52484 112.3291 309.1032 93.52155 112.3293 309.103 93.51829 112.3299 309.1025 93.51516 112.3309 309.1016 93.51225 112.3322 309.1004 93.50962 112.3338 309.0989 93.50737 112.3357 309.0971 93.50555 112.3378 309.095 93.50421 112.34 307.7395 93.32522 111.0134 307.7413 93.32701 111.0113 307.7428 93.32923 111.0094 307.7441 93.33183 111.0077 307.745 93.33473 111.0064 307.7455 93.33786 111.0054 307.7457 93.34111 111.0048 307.7455 93.34442 111.0046 307.7449 93.34767 111.0048 307.7439 93.35079 111.0053 307.7426 93.3537 111.0063 307.741 93.3563 111.0076 307.7391 93.35854 111.0092 307.7371 93.36033 111.011 307.7349 93.36165 111.0131 307.7326 93.36244 111.0154 332.338 88.41169 155.5662 328.9395 88.23246 152.9602 325.4974 88.149 150.2393 325.5094 88.11456 150.2257 309.1543 87.65902 136.8752 301.0858 87.43703 130.201 299.8919 87.40792 129.1995 300.268 87.38217 129.4945 299.7964 87.40723 129.1125 299.5019 87.47951 128.5351 299.759 87.37931 129.0276 299.518 87.44634 128.5229 294.8042 88.76702 118.7738 294.3515 88.86245 117.7835 294.3485 88.86193 117.7848 334.2274 88.5257 156.8387 334.2261 88.52368 156.8411 334.225 88.52121 156.8432 334.2241 88.51837 156.845 334.2236 88.51525 156.8463 334.2233 88.51194 156.8471 334.2233 88.50852 156.8475 334.2237 88.50511 156.8473 334.2243 88.50181 156.8466 334.2252 88.49871 156.8455 334.2264 88.49589 156.8439 334.2278 88.49345 156.8419 334.2293 88.49146 156.8396 334.231 88.48997 156.837 334.2328 88.48904 156.8342 334.2346 88.48867 156.8313 334.2363 88.4889 156.8284 294.3455 88.86196 117.7863 294.3425 88.86254 117.7877 294.3398 88.86366 117.7892 294.3372 88.86528 117.7906 294.335 88.86735 117.792 294.3331 88.86983 117.7932 294.3316 88.87265 117.7943 294.3306 88.8757 117.7952 294.3302 88.87894 117.7958 294.3302 88.88225 117.7963 294.3306 88.88555 117.7965 294.3316 88.88874 117.7964 294.3331 88.89173 117.7961 294.3349 88.89444 117.7956 294.3372 88.89681 117.7948 294.802 88.76463 118.7745 294.8001 88.7619 118.775 294.7987 88.75889 118.7753 294.7977 88.7557 118.7753 294.7973 88.75241 118.7751 294.7973 88.74909 118.7747 294.7978 88.74588 118.774 294.7988 88.74282 118.7731 294.8003 88.74003 118.772 294.8022 88.73757 118.7708 294.8045 88.73552 118.7694 294.807 88.73393 118.768 294.8098 88.73284 118.7665 294.8128 88.73228 118.7651 294.8157 88.73228 118.7636 294.8187 88.73283 118.7623 298.4805 87.72837 126.3769 298.4645 87.76168 126.389 298.4624 87.75919 126.3897 298.4607 87.75638 126.3902 298.4595 87.75332 126.3904 298.4586 87.75009 126.3904 298.4583 87.7468 126.3901 298.4585 87.74352 126.3896 298.4591 87.74034 126.3888 298.4603 87.73737 126.3879 298.4619 87.73467 126.3868 298.4638 87.73232 126.3855 298.4662 87.73038 126.3841 298.4688 87.72892 126.3827 298.4716 87.72797 126.3812 298.4746 87.72756 126.3797 298.4776 87.72769 126.3783 299.4998 87.47701 128.5358 299.4981 87.47418 128.5363 299.4968 87.47112 128.5365 299.496 87.46789 128.5364 299.4957 87.46459 128.5361 299.4959 87.46131 128.5356 299.4966 87.45814 128.5349 299.4978 87.45517 128.5339 299.4993 87.45249 128.5328 299.5014 87.45015 128.5315 299.5037 87.44824 128.5301 299.5063 87.4468 128.5287 299.5091 87.44586 128.5272 299.5121 87.44548 128.5257 299.5151 87.44564 128.5243 299.743 87.41249 129.0401 299.741 87.40998 129.0409 299.7393 87.40715 129.0414 299.7381 87.40407 129.0417 299.7373 87.40083 129.0417 299.737 87.39752 129.0415 299.7372 87.39424 129.041 299.7379 87.39107 129.0403 299.739 87.38809 129.0393 299.7406 87.38541 129.0381 299.7426 87.38307 129.0368 299.7449 87.38117 129.0353 299.7474 87.37973 129.0338 299.7502 87.37881 129.0322 299.7531 87.37843 129.0306 299.7561 87.3786 129.029 299.7704 87.4083 129.0834 299.7686 87.40577 129.0846 299.7671 87.40291 129.0855 299.7661 87.39981 129.0861 299.7654 87.39656 129.0864 299.7652 87.39323 129.0863 299.7655 87.38993 129.0859 299.7661 87.38674 129.0852 299.7672 87.38377 129.0842 299.7687 87.38108 129.0829 299.7705 87.37875 129.0813 299.7726 87.37684 129.0796 299.7749 87.37542 129.0777 299.7775 87.37452 129.0757 299.7801 87.37416 129.0737 299.7828 87.37436 129.0717 299.7854 87.3751 129.0698 299.7948 87.40468 129.114 299.7936 87.40181 129.1152 299.7928 87.39871 129.1161 299.7923 87.39544 129.1165 299.7922 87.39211 129.1166 299.7925 87.3888 129.1163 299.7932 87.38562 129.1156 299.7942 87.38264 129.1145 299.7955 87.37995 129.113 299.7972 87.37763 129.1113 299.7991 87.37574 129.1094 299.8013 87.37432 129.1072 299.8035 87.37343 129.1049 299.8058 87.37309 129.1026 299.8082 87.37329 129.1002 299.8105 87.37406 129.0979 299.8905 87.40538 129.2011 299.8894 87.40251 129.2024 299.8887 87.3994 129.2033 299.8883 87.39614 129.2038 299.8882 87.3928 129.2039 299.8885 87.3895 129.2036 299.8892 87.38632 129.2029 299.8902 87.38334 129.2018 299.8915 87.38066 129.2004 299.8931 87.37834 129.1986 299.895 87.37645 129.1965 299.897 87.37504 129.1943 299.8991 87.37416 129.1919 299.9013 87.37381 129.1894 299.9035 87.37403 129.1869 299.9057 87.37479 129.1845 300.2544 87.41526 129.5098 300.2531 87.41271 129.5115 300.2521 87.40984 129.5128 300.2514 87.40673 129.5137 300.251 87.40346 129.5143 300.251 87.40013 129.5144 300.2513 87.39684 129.5141 300.252 87.39366 129.5134 300.253 87.39069 129.5123 300.2543 87.38801 129.5108 300.2559 87.38569 129.509 300.2576 87.38381 129.5069 300.2596 87.3824 129.5046 300.2617 87.38153 129.5021 300.2638 87.38118 129.4996 300.2659 87.3814 129.497 301.0845 87.43447 130.2027 301.0834 87.4316 130.204 301.0827 87.42848 130.205 301.0824 87.42522 130.2055 301.0824 87.4219 130.2056 301.0827 87.4186 130.2053 301.0834 87.41543 130.2046 301.0844 87.41247 130.2034 301.0857 87.4098 130.2019 301.0873 87.4075 130.2001 301.0891 87.40562 130.198 301.091 87.40423 130.1957 301.0931 87.40335 130.1933 301.0952 87.40303 130.1907 301.0973 87.40325 130.1882 301.0994 87.40401 130.1857 309.1531 87.65644 136.8768 309.1521 87.65355 136.8781 309.1514 87.65044 136.879 309.1511 87.64719 136.8795 309.1511 87.64389 136.8795 309.1515 87.64062 136.8792 309.1522 87.63748 136.8784 309.1533 87.63456 136.8773 309.1546 87.63193 136.8758 309.1561 87.62967 136.8739 309.1579 87.62783 136.8719 309.1599 87.62648 136.8695 309.1619 87.62563 136.8671 309.164 87.62532 136.8646 309.1661 87.62555 136.862 309.1681 87.62633 136.8595 312.3621 87.71767 139.4897 312.3483 87.75043 139.5052 312.3471 87.74786 139.5068 312.3461 87.74497 139.5081 312.3454 87.74187 139.509 312.3451 87.73862 139.5095 312.3452 87.73532 139.5096 312.3455 87.73206 139.5093 312.3462 87.72892 139.5085 312.3473 87.72599 139.5074 312.3486 87.72336 139.5059 312.3501 87.72109 139.5041 312.3519 87.71924 139.502 312.3538 87.71787 139.4997 312.3559 87.71701 139.4972 312.358 87.71669 139.4947 312.3601 87.71691 139.4921 320.5364 87.95885 146.1902 320.5344 87.95818 146.1927 320.5323 87.95806 146.1952 320.5302 87.95848 146.1978 320.5282 87.95945 146.2002 320.5263 87.96093 146.2025 320.5246 87.96288 146.2046 320.5231 87.96524 146.2063 320.5218 87.96796 146.2078 320.5209 87.97095 146.2088 320.5202 87.97414 146.2095 320.5199 87.97743 146.2097 320.52 87.98075 146.2095 320.5204 87.98398 146.2089 320.5211 87.98706 146.2079 320.5221 87.98988 146.2065 320.5235 87.99238 146.2048 325.496 88.14661 150.2411 325.4948 88.14385 150.2426 325.494 88.14083 150.2438 325.4935 88.13761 150.2445 325.4934 88.13428 150.2448 325.4935 88.13095 150.2447 325.4941 88.12769 150.2442 325.495 88.12461 150.2432 325.4962 88.1218 150.2418 325.4976 88.11932 150.2401 325.4993 88.11724 150.2381 325.5012 88.11564 150.2359 325.5032 88.11455 150.2334 325.5053 88.11399 150.2309 325.5074 88.114 150.2283 325.9944 88.13048 150.6158 325.9923 88.12993 150.6184 325.9902 88.12994 150.621 325.9881 88.1305 150.6236 325.9862 88.13162 150.626 325.9843 88.13323 150.6283 325.9826 88.13532 150.6303 325.9812 88.13781 150.632 325.98 88.14064 150.6334 325.9791 88.14373 150.6343 325.9786 88.14699 150.6348 325.9784 88.15033 150.6349 325.9785 88.15366 150.6346 325.979 88.15688 150.6338 325.9799 88.1599 150.6327 325.981 88.16265 150.6311 325.9824 88.16503 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102.5636 294.3345 83.74245 102.6243 294.3345 86.44245 102.6243 293.6611 83.74245 102.8047 293.6611 86.44245 102.8047 293.0291 83.74245 103.0993 293.0291 86.44245 103.0993 292.4579 83.74245 103.4992 292.4579 86.44245 103.4992 291.9649 83.74245 103.9921 291.9649 86.44245 103.9921 291.5649 83.74245 104.5633 291.5649 86.44245 104.5633 291.2702 83.74245 105.1951 291.2702 86.44245 105.1951 291.0896 83.74245 105.8686 291.0896 86.44245 105.8686 291.0288 83.74245 106.5632 291.0288 86.44245 106.5632 291.0895 83.74245 107.2578 291.0895 86.44245 107.2578 291.2699 83.74245 107.9313 291.2699 86.44245 107.9313 291.5645 83.74245 108.5633 291.5645 86.44245 108.5633 291.9644 83.74245 109.1344 291.9644 86.44245 109.1344 292.4574 83.74245 109.6275 292.4574 86.44245 109.6275 293.0285 83.74245 110.0275 293.0285 86.44245 110.0275 293.6604 83.74245 110.3222 293.6604 86.44245 110.3222 294.3338 83.74245 110.5027 294.3338 86.44245 110.5027 295.0284 83.74245 110.5636 295.0284 86.44245 110.5636 295.723 83.74245 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290.4177 88.24245 100.6485 291.619 88.24245 103.9883 298.964 88.24245 104.8983 298.8141 88.24245 104.7933 294.2786 88.24245 99.10118 294.0145 88.24245 99.14783 298.6848 88.24245 103.314 297.8486 88.24245 113.5133 298.7807 88.24245 113.0576 296.015 88.24245 112.0728 300.1639 88.24245 104.7934 300.014 88.24245 104.8984 299.8481 88.24245 104.9757 289.0193 88.24245 102.0897 288.9421 88.24245 102.1816 289.7647 88.24245 103.3132 288.6793 88.24245 102.5767 288.6337 88.24245 102.6453 293.1769 88.24245 99.29582 292.2131 88.24245 99.6122 298.5798 88.24245 103.4639 301.6752 88.24245 110.0352 301.6973 88.24245 109.9959 296.0624 88.24245 111.896 299.6411 88.24245 112.4777 296.0783 88.24245 111.7137 300.3959 88.24245 111.8023 296.0624 88.24245 111.5313 300.6558 88.24245 111.4928 301.0383 88.24245 111.0375 295.9376 88.24245 112.2387 295.8326 88.24245 112.3886 296.8864 88.24245 113.8299 295.7032 88.24245 112.518 296.5654 88.24245 113.8866 295.5532 88.24245 112.623 296.0476 88.24245 113.9781 295.3873 88.24245 112.7003 295.2106 88.24245 112.7476 295.527 88.24245 114.0447 295.7743 88.24245 114.0264 302.4569 88.24245 105.5277 302.2492 88.24245 104.5348 300.5231 88.24245 104.1714 302.1466 88.24245 104.2525 300.5391 88.24245 103.9891 301.9689 88.24245 103.7635 300.5231 88.24245 103.8067 301.8671 88.24245 103.4833 300.4758 88.24245 103.6299 288.3602 88.24245 103.1313 288.1911 88.24245 103.4821 289.535 88.24245 103.8057 288.1364 88.24245 103.6324 289.519 88.24245 103.9881 287.9332 88.24245 104.1913 289.5349 88.24245 104.1704 287.8088 88.24245 104.5335 289.5823 88.24245 104.3472 287.6008 88.24245 105.5264 289.6596 88.24245 104.5131 289.7646 88.24245 104.663 298.6846 88.24245 104.6638 298.5797 88.24245 104.5139 298.5024 88.24245 104.348 300.1641 88.24245 103.1847 300.9374 88.24245 101.9696 300.0141 88.24245 103.0797 300.6029 88.24245 101.5712 299.8483 88.24245 103.0023 300.3969 88.24245 101.3259 299.6715 88.24245 102.955 299.641 88.24245 100.6494 299.4891 88.24245 102.939 300.2935 88.24245 103.3141 301.2524 88.24245 102.3825 301.1163 88.24245 102.1827 301.1155 88.24245 110.9456 301.3783 88.24245 110.5504 301.4239 88.24245 110.4818 301.8665 88.24245 109.6451 301.9212 88.24245 109.4948 300.4757 88.24245 104.3482 300.3983 88.24245 104.5141 300.2933 88.24245 104.664 293.8988 88.24245 107.5116 293.7513 88.24245 107.301 291.2438 88.24245 104.7926 293.6427 88.24245 107.0679 293.5762 88.24245 106.8196 290.3868 88.24245 102.9541 290.5691 88.24245 102.9382 291.2794 88.24245 100.068 290.7514 88.24245 102.9541 290.9282 88.24245 103.0015 291.0941 88.24245 103.0789 293.4975 88.24245 99.23918 301.7686 88.24245 103.2847 301.6196 88.24245 102.9844 300.3984 88.24245 103.4641 301.5253 88.24245 102.8252 301.3355 88.24245 102.5046 299.6713 88.24245 105.023 299.489 88.24245 105.039 299.3066 88.24245 105.023 293.5538 88.24245 106.5634 293.5762 88.24245 106.3073 293.6428 88.24245 106.059 298.455 88.24245 103.8066 298.5024 88.24245 103.6298 291.4784 88.24245 103.4633 291.3734 88.24245 103.3133 291.244 88.24245 103.1839 298.8142 88.24245 103.1846 295.2245 88.24245 99.06613 295.0591 88.24245 99.06796 294.667 88.24245 99.07231 294.5344 88.24245 99.08216 299.3068 88.24245 102.9549 298.7794 88.24245 100.0687 299.13 88.24245 103.0023 297.8458 88.24245 99.61271 298.9642 88.24245 103.0796 296.8821 88.24245 99.29615 296.6197 88.24245 99.24974 296.1026 88.24245 99.1583 294.2914 88.24245 105.2861 291.5556 88.24245 104.3474 294.0808 88.24245 105.4336 293.899 88.24245 105.6154 293.7515 88.24245 105.826 291.4783 88.24245 104.5132 291.3733 88.24245 104.6632 294.3535 88.24245 110.9092 290.0439 88.24245 104.8974 289.894 88.24245 104.7925 298.455 88.24245 104.1712 298.4391 88.24245 103.9889 291.6031 88.24245 103.8059 291.5557 88.24245 103.6291 295.7804 88.24245 99.10131 295.5834 88.24245 99.08884 296.3063 88.24245 105.8262 296.1588 88.24245 105.6156 295.977 88.24245 105.4337 294.8459 88.24245 112.7476 294.8331 88.24245 114.061 295.0282 88.24245 112.7636 295.0014 88.24245 114.0592 295.3906 88.24245 114.0548 292.2118 88.24245 113.5144 293.1755 88.24245 113.831 294.3533 88.24245 112.5179 293.4383 88.24245 113.8775 294.5032 88.24245 112.6229 293.9562 88.24245 113.9691 294.6691 88.24245 112.7002 294.2772 88.24245 114.0258 294.4763 88.24245 114.0384 291.0939 88.24245 104.8975 294.0806 88.24245 107.6934 294.2912 88.24245 107.8409 290.928 88.24245 104.9749 290.7512 88.24245 105.0222 290.5689 88.24245 105.0382 294.5244 88.24245 105.1775 294.7728 88.24245 105.111 295.0289 88.24245 105.0886 296.4149 88.24245 106.0592 296.4814 88.24245 106.3076 288.289 88.24245 109.8425 294.0417 88.24245 111.3544 288.1905 88.24245 109.6438 288.0887 88.24245 109.3636 287.911 88.24245 108.8746 294.119 88.24245 111.1885 287.8084 88.24245 108.5923 294.224 88.24245 111.0386 287.5288 88.24245 106.5629 287.6007 88.24245 107.5994 296.3061 88.24245 107.3012 295.0284 88.24245 110.6636 295.2107 88.24245 110.6795 296.1586 88.24245 107.5118 294.6693 88.24245 110.7269 294.8461 88.24245 110.6795 290.3866 88.24245 105.0222 290.2098 88.24245 104.9748 294.2239 88.24245 112.3884 294.1189 88.24245 112.2385 291.2782 88.24245 113.0584 294.0416 88.24245 112.0726 290.4166 88.24245 112.4778 293.9942 88.24245 111.8958 289.6607 88.24245 111.8013 293.9783 88.24245 111.7135 289.4547 88.24245 111.556 293.9943 88.24245 111.5311 288.4379 88.24245 110.1428 288.5322 88.24245 110.302 288.7221 88.24245 110.6226 288.8052 88.24245 110.7447 295.9768 88.24245 107.6936 295.7662 88.24245 107.841 295.5332 88.24245 107.9497 295.285 88.24245 105.111 295.5334 88.24245 105.1776 295.7664 88.24245 105.2863 288.9413 88.24245 110.9445 289.1202 88.24245 111.1575 295.2848 88.24245 108.0162 295.0287 88.24245 108.0386 294.7725 88.24245 108.0161 291.603 88.24245 104.1706 299.1298 88.24245 104.9756 294.5034 88.24245 110.8042 294.5242 88.24245 107.9496 283.8632 86.44245 101.9009 281.7085 86.44245 100.8346 283.7463 86.44245 102.1915 281.3429 86.44245 101.7733 283.2945 86.44245 103.6111 280.8926 86.44245 103.3357 283.0206 86.44245 105.0755 280.6201 86.44245 104.9388 282.9288 86.44245 106.5625 280.5288 86.44245 106.5623 283.0204 86.44245 108.0494 280.6198 86.44245 108.1857 283.294 86.44245 109.5139 280.892 86.44245 109.7888 283.7455 86.44245 110.9336 281.3421 86.44245 111.3514 283.8624 86.44245 111.2242 281.7075 86.44245 112.2901 283.4088 86.44245 97.89027 285.4094 86.44245 99.22351 283.6931 86.44245 97.52194 286.0875 86.44245 98.41104 293.484 86.44245 94.56259 293.3301 86.44245 92.16342 292.4413 86.44245 94.74347 291.8035 86.44245 92.42682 291.0083 86.44245 95.15103 290.241 86.44245 92.87683 289.6363 86.44245 95.73161 288.7387 86.44245 93.49895 288.3461 86.44245 96.47637 287.3154 86.44245 94.28537 287.1571 86.44245 97.37406 285.9892 86.44245 95.22619 284.7767 86.44245 96.30959 299.7462 86.44245 95.42105 299.8191 86.44245 92.8777 298.3412 86.44245 94.92578 298.2566 86.44245 92.42742 296.8859 86.44245 94.60694 296.7301 86.44245 92.16373 296.5758 86.44245 94.56287 304.6495 86.44245 99.22526 306.6503 86.44245 97.89239 304.4564 86.44245 98.97866 306.3662 86.44245 97.524 303.4528 86.44245 97.87761 305.2828 86.44245 96.31146 302.3215 86.44245 96.90823 304.0704 86.44245 95.22784 301.0798 86.44245 96.08522 302.7444 86.44245 94.28678 301.3213 86.44245 93.5001 308.3501 86.44245 100.837 306.1952 86.44245 101.9029 308.7155 86.44245 101.7758 306.5597 86.44245 102.8965 309.1655 86.44245 103.3383 306.923 86.44245 104.3413 309.4378 86.44245 104.9414 307.1059 86.44245 105.8198 309.5288 86.44245 106.5649 307.1058 86.44245 107.3096 306.1943 86.44245 111.2262 308.349 86.44245 112.2925 306.5591 86.44245 110.2328 308.7147 86.44245 111.3539 306.9226 86.44245 108.788 309.165 86.44245 109.7914 309.4375 86.44245 108.1884 296.8837 86.44245 118.5205 296.5736 86.44245 118.5646 296.7275 86.44245 120.9637 298.3391 86.44245 118.202 306.6488 86.44245 115.2369 304.6482 86.44245 113.9036 306.3645 86.44245 115.6052 304.455 86.44245 114.1502 305.2809 86.44245 116.8176 303.4512 86.44245 115.2511 304.0684 86.44245 117.901 302.3198 86.44245 116.2202 302.7421 86.44245 118.8418 301.0778 86.44245 117.043 301.3189 86.44245 119.6282 299.7442 86.44245 117.707 299.8166 86.44245 120.2503 298.2541 86.44245 120.7003 308.0923 78.04244 112.8561 308.7155 78.04244 101.7758 309.1655 78.04244 103.3383 309.4378 78.04244 104.9414 309.5288 78.04244 106.5649 309.4375 78.04244 108.1884 309.165 78.04244 109.7914 308.7147 78.04244 111.3539 308.0934 78.04244 100.2735 306.6503 86.54244 97.89239 307.2553 86.54244 98.76853 307.307 78.04244 98.85023 298.2566 78.04244 92.42742 299.8191 78.04244 92.8777 301.3213 78.04244 93.5001 302.7444 78.04244 94.28678 304.0704 78.04244 95.22784 305.2828 78.04244 96.31146 306.3662 78.04244 97.524 296.6536 78.04244 92.15489 293.4066 78.04244 92.1546 283.6931 78.04244 97.52194 284.7767 78.04244 96.30959 285.9892 78.04244 95.22619 287.3154 78.04244 94.28537 288.7387 78.04244 93.49895 290.241 78.04244 92.87683 291.8035 78.04244 92.42682 282.8037 86.54244 98.7663 283.4088 86.54244 97.89027 282.7554 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120.0569 43.31155 107.9881 117.046 43.31155 104.9767 119.0867 61.04244 107.0178 116.2187 61.04244 104.1492 177.0415 75.08682 164.9831 174.3387 53.08681 162.2798 176.3073 53.08681 164.2488 174.828 53.08681 162.7692 177.7399 75.08682 165.6817 178.8548 75.08682 166.7967 96.35555 61.04244 113.7151 95.26628 61.04244 111.828 94.52124 61.04244 109.7804 94.14307 61.04244 107.6346 94.14327 61.04244 105.4557 94.52182 61.04244 103.31 95.26724 61.04244 101.2625 96.35686 61.04244 99.37566 97.75758 61.04244 97.70666 99.42683 61.04244 96.30625 101.3139 61.04244 95.21697 102.1781 61.04244 94.9025 103.3615 61.04244 94.47193 105.5073 61.04244 94.09377 107.6862 61.04244 94.09397 109.8319 61.04244 94.47252 111.8794 61.04244 95.21794 113.7662 61.04244 96.30755 118.8367 61.04244 109.0774 118.27 61.04244 110.9973 118.2494 61.04244 111.0673 117.3411 61.04244 112.9326 116.1367 61.04244 114.622 114.6696 61.04244 116.0889 112.9799 61.04244 117.2929 111.1144 61.04244 118.2009 109.1244 61.04244 118.7878 106.2064 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71.74622 130.8125 84.79429 70.46083 130.9381 84.82633 70.60777 130.9238 63.50354 77.92518 152.3633 63.52621 78.55244 152.3859 85.67843 68.61874 129.4595 84.62842 67.16805 128.6356 84.56499 67.16311 128.5729 84.69362 67.18321 128.6984 84.76046 67.20908 128.7612 84.82878 67.24608 128.8238 84.89837 67.2946 128.8858 84.96905 67.35495 128.9471 84.20707 67.50379 129.7089 85.11273 67.51205 129.0663 84.35682 67.6597 129.822 85.25778 67.71832 129.1792 86.12474 70.30358 129.643 85.92409 69.4134 129.5812 85.73565 67.26538 128.1806 85.87321 67.4232 128.3059 85.40198 67.97322 129.2837 82.7891 75.7554 130.1374 62.02628 82.30503 150.8857 82.78334 75.75389 130.1322 61.97773 82.29907 150.8372 82.76693 75.74956 130.1171 61.90663 82.27296 150.7661 82.65837 75.72093 130.0176 61.8266 82.24356 150.686 82.62105 75.71108 129.9834 61.78666 82.21912 150.6461 82.53066 75.66658 129.907 61.68163 82.15483 150.541 82.48947 75.64631 129.8722 82.43516 75.61958 129.8263 61.66544 82.14051 150.5248 82.39778 75.59253 129.7975 61.54284 82.03205 150.4022 82.34408 75.55367 129.7561 82.25823 75.49153 129.6898 61.5289 82.01972 150.3883 82.25421 75.48862 129.6867 61.42072 81.88662 150.2801 82.19641 75.43271 129.6466 82.11407 75.35305 129.5894 61.35349 81.8039 150.2128 82.05813 75.29894 129.5505 61.29524 81.7064 150.1546 81.96268 75.17935 129.4928 61.19818 81.54392 150.0575 81.90352 75.10523 129.4571 61.16989 81.47964 150.0292 81.84669 75.03403 129.4227 81.8035 74.96356 129.4018 61.0533 81.21473 149.9126 81.7653 74.90124 129.3832 81.64812 74.71006 129.3264 61.04127 81.1874 149.9006 81.62915 74.6791 129.3172 60.9457 80.87133 149.805 81.60218 74.6351 129.3041 81.50893 74.43402 129.2744 81.48645 74.38555 129.2672 60.88122 80.65805 149.7405 81.37914 74.15413 129.233 60.84746 80.47129 149.7067 81.32826 74.00418 129.2294 60.77494 80.07012 149.6342 81.29653 73.91064 129.2272 60.77082 80.01203 149.63 81.1799 73.56685 129.2192 60.73476 79.50468 149.594 81.17884 73.56374 129.2191 81.13586 73.36742 129.2381 81.07357 73.0829 129.2657 60.7239 79.35188 149.5831 86.22725 75.07566 126.6568 83.9111 75.43691 128.9725 83.63703 75.33464 128.7225 83.77645 75.39947 128.8467 83.35121 75.11827 128.4875 83.49462 75.2411 128.602 83.20904 74.96649 128.381 83.07044 74.78703 128.2846 84.12564 74.35006 127.0123 82.93773 74.5821 128.2 84.25036 74.55654 127.1049 84.38196 74.73738 127.2083 84.51821 74.89031 127.3207 84.65682 75.01408 127.44 84.7956 75.10833 127.5641 84.93248 75.17366 127.6908 85.06567 75.21138 127.8182 84.00986 74.12103 126.9323 82.81308 74.3548 128.1288 83.73191 73.33916 126.7762 83.61294 72.78414 126.7438 82.36442 73.02802 127.9921 82.69841 74.10891 128.072 83.90478 73.87326 126.8658 82.50487 73.57884 128.003 85.2139 73.98036 125.7284 85.32077 74.21043 125.8174 86.5208 74.16265 124.6201 86.44916 74.00307 124.5485 86.42487 73.93115 124.5242 85.11846 73.73146 125.6523 86.34038 73.68103 124.4397 86.30033 73.56246 124.3996 84.96639 73.19493 125.542 86.20927 73.14472 124.3085 86.184 73.02882 124.2832 84.86903 72.63739 125.4879 86.11587 72.40714 124.2151 86.13557 72.58689 124.2348 87.39263 75.02672 125.4921 87.35475 75.02203 125.4542 86.09553 75.03778 126.528 87.26303 74.9877 125.3625 85.96119 74.97216 126.3988 85.82609 74.87747 126.271 87.00032 74.82888 125.0997 85.69229 74.75315 126.1468 86.87096 74.70836 124.9703 85.562 74.59951 126.0285 87.19366 74.96173 125.2931 87.13176 74.92228 125.2312 87.03305 74.85938 125.1324 86.74774 74.5502 124.8471 86.7072 74.49815 124.8065 85.43744 74.41786 125.918 86.63189 74.36723 124.7312 86.54425 74.21487 124.6436 88.88053 75.03378 124.0433 88.83465 75.02021 123.975 88.28086 72.40705 122.0531 88.28143 72.45284 122.0555 88.29602 72.8474 122.1181 88.30718 73.02781 122.1666 88.319 73.21906 122.218 88.34828 73.55535 122.3481 88.34907 73.56231 122.3517 88.38199 73.85247 122.5012 88.40319 74.00122 122.5991 88.41867 74.10993 122.6706 88.43691 74.21279 122.755 88.45761 74.32958 122.8508 88.49147 74.48439 123.0043 88.49507 74.49748 123.0198 88.53329 74.6361 123.184 88.55908 74.70628 123.2845 88.8003 75.01004 123.9238 88.73049 74.97022 123.7913 88.72039 74.96064 123.7672 88.66932 74.91226 123.6452 88.63098 74.859 123.535 88.62739 74.85401 123.5247 88.57802 74.75782 123.3582 88.97367 75.04241 124.1511 88.95632 75.04199 124.1331 88.92282 75.03974 124.0957 82.21921 70.87092 128.2331 60.77399 77.88214 149.6332 60.80182 77.63807 149.6611 60.90607 76.7236 149.7653 82.43392 68.16375 129.3028 61.44209 74.79956 150.3014 82.39205 68.32366 129.2104 61.31058 75.08785 150.1699 82.30913 68.64032 129.0275 61.24446 75.30007 150.1038 82.27149 68.95856 128.8893 61.09632 75.77558 149.9556 82.20983 69.4799 128.663 61.01501 76.18077 149.8743 82.21155 69.73633 128.5838 82.21745 70.61013 128.3137 82.47325 68.07167 129.3712 61.58634 74.53221 150.4457 61.50461 74.66252 150.364 82.57524 67.85121 129.5429 82.67154 67.7142 129.6825 61.74586 74.32295 150.6053 82.54161 67.91161 129.4902 82.56696 67.86608 129.5299 61.6277 74.46629 150.4871 61.63116 74.46076 150.4906 82.67395 67.71183 129.6856 61.85223 74.22734 150.7117 61.7551 74.31184 150.6145 82.73192 67.65481 129.7616 82.76383 67.62342 129.8034 61.86138 74.21938 150.7208 61.95155 74.1662 150.811 82.78969 67.60682 129.8346 82.85414 67.56544 129.9121 61.95836 74.16219 150.8178 82.91005 67.5455 129.9743 62.0477 74.1317 150.9072 82.94525 67.53296 130.0135 82.97129 67.53006 130.0404 84.50234 67.16805 128.5094 83.85437 67.97322 127.7358 84.25212 67.2946 128.2395 83.95881 67.71832 127.88 83.67861 68.61874 127.4593 83.42887 67.50379 128.9306 83.31579 67.6597 128.7808 84.07169 67.51205 128.0251 84.19086 67.35495 128.1688 84.95746 67.26538 127.4023 84.83218 67.4232 127.2647 84.43949 67.18321 128.4442 84.31415 67.24608 128.3091 84.37669 67.20908 128.3774 83.55693 69.4134 127.2136 83.49514 70.30358 127.013 91.62242 67.39365 107.4427 91.6105 66.5933 107.2146 91.7234 65.04244 108.5002 91.60029 65.78013 106.9213 91.59566 65.04244 106.5862 93.58396 65.04244 114.0094 93.42049 65.78013 113.7168 92.73792 65.04244 112.2878 93.28269 66.5933 113.4576 92.10547 67.39365 110.4239 91.84365 67.39365 109.2629 91.75054 67.39365 108.4969 92.10649 67.39365 110.4272 92.10636 65.04244 110.4273 92.45852 67.39365 111.5606 92.7633 67.39365 112.277 93.179 67.39365 113.2541 100.0245 71.04244 107.3707 99.85948 71.04244 107.6063 102.2488 71.04244 107.7106 120.549 71.04244 105.4053 120.2393 71.04244 103.4078 117.5246 71.04244 105.7223 120.2955 71.04244 109.4296 117.3595 71.04244 107.6079 119.7374 71.04244 111.3725 117.1561 71.04244 107.8112 118.9054 71.04244 113.2148 119.6451 71.04244 101.4756 117.1563 71.04244 105.2833 117.3597 71.04244 105.4867 117.7456 71.04244 106.5473 120.5679 71.04244 107.4266 117.7206 71.04244 106.2608 117.6462 71.04244 105.983 117.7205 71.04244 106.8338 117.646 71.04244 107.1116 117.5245 71.04244 107.3723 114.5955 71.04244 108.197 114.3089 71.04244 108.1719 116.4942 71.04244 116.4467 112.9456 71.04244 106.5469 112.9707 71.04244 106.2604 111.0785 71.04244 106.1545 113.0452 71.04244 105.9826 110.9424 71.04244 105.382 113.5351 71.04244 105.283 113.7707 71.04244 105.118 109.7779 71.04244 103.3646 110.6742 71.04244 104.6449 113.1667 71.04244 105.7219 110.282 71.04244 103.9655 114.0311 71.04244 108.0975 113.7705 71.04244 107.9759 109.7773 71.04244 109.7286 113.5349 71.04244 107.8109 113.3315 71.04244 107.6075 110.2816 71.04244 109.1277 113.1666 71.04244 107.3719 114.0314 71.04244 104.9965 114.3092 71.04244 104.9221 116.9205 71.04244 107.9762 116.6598 71.04244 108.0977 117.8168 71.04244 114.918 116.382 71.04244 108.1721 116.0955 71.04244 108.1972 113.3317 71.04244 105.4863 112.9706 71.04244 106.8334 111.0784 71.04244 106.9389 113.0451 71.04244 107.1112 110.9422 71.04244 107.7114 110.6738 71.04244 108.4485 114.5958 71.04244 104.897 116.0958 71.04244 104.8972 117.6586 71.04244 97.96661 116.3823 71.04244 104.9223 118.7788 71.04244 99.64923 116.6601 71.04244 104.9967 116.9207 71.04244 105.1183 101.5226 71.04244 119.5948 103.4546 71.04244 120.1894 105.534 71.04244 117.3102 114.9653 71.04244 117.769 109.1764 71.04244 110.2327 113.2618 71.04244 118.8573 107.1589 71.04244 117.5968 107.4734 71.04244 120.5188 107.4196 71.04244 117.4753 109.4764 71.04244 120.2467 105.3307 71.04244 117.1068 105.1657 71.04244 116.8712 99.69631 71.04244 118.7282 105.0442 71.04244 116.6105 98.0139 71.04244 117.6077 104.9698 71.04244 116.3327 104.9447 71.04244 116.0461 108.2196 71.04244 116.333 108.1452 71.04244 116.6108 108.0236 71.04244 116.8714 111.4194 71.04244 119.689 107.8586 71.04244 117.107 107.6552 71.04244 117.3104 105.4521 71.04244 120.4995 106.0303 71.04244 117.5967 105.7696 71.04244 117.4752 106.8811 71.04244 117.6713 106.5946 71.04244 117.6963 106.3081 71.04244 117.6712 108.2198 71.04244 114.2599 108.2449 71.04244 114.5465 108.2447 71.04244 116.0465 105.166 71.04244 113.7212 105.331 71.04244 113.4856 105.4305 71.04244 110.8929 104.6934 71.04244 110.6245 104.0142 71.04244 110.2322 103.4133 71.04244 109.728 105.5344 71.04244 113.2822 105.77 71.04244 113.1173 106.203 71.04244 111.0291 108.1454 71.04244 113.9821 107.7599 71.04244 110.8931 108.497 71.04244 110.6249 106.595 71.04244 112.8963 106.9874 71.04244 111.0292 106.3085 71.04244 112.9213 106.0307 71.04244 112.9958 104.9449 71.04244 114.5461 104.97 71.04244 114.2596 105.0444 71.04244 113.9818 107.6556 71.04244 113.2824 107.8589 71.04244 113.4858 108.0239 71.04244 113.7214 106.8815 71.04244 112.9214 107.1594 71.04244 112.9959 107.42 71.04244 113.1174 99.15979 71.04244 108.0961 98.88198 71.04244 108.1705 95.83173 71.04244 105.4847 96.03512 71.04244 105.2814 96.27073 71.04244 105.1164 98.59545 71.04244 108.1956 97.09545 71.04244 108.1954 95.47064 71.04244 106.8318 95.44561 71.04244 106.5453 98.59575 71.04244 104.8956 98.88227 71.04244 104.9207 99.16007 71.04244 104.9951 103.4139 71.04244 103.364 102.517 71.04244 108.4477 99.42047 71.04244 107.9746 99.65608 71.04244 107.8096 96.80893 71.04244 108.1703 96.53113 71.04244 108.0959 96.27047 71.04244 107.9743 96.03489 71.04244 107.8093 95.83153 71.04244 107.6059 95.66658 71.04244 107.3703 95.54506 71.04244 107.1096 96.53141 71.04244 104.9949 96.80923 71.04244 104.9205 97.09575 71.04244 104.8954 99.42073 71.04244 105.1167 99.65632 71.04244 105.2817 102.9097 71.04244 103.9649 102.5174 71.04244 104.6441 102.9092 71.04244 109.1271 95.4707 71.04244 106.2588 95.54516 71.04244 105.981 95.66674 71.04244 105.7203 102.1127 71.04244 106.9381 100.2205 71.04244 106.8322 100.146 71.04244 107.11 99.85968 71.04244 105.4851 100.0246 71.04244 105.7207 102.249 71.04244 105.3812 100.1462 71.04244 105.9814 102.1128 71.04244 106.1537 100.2206 71.04244 106.2592 100.2456 71.04244 106.5457 107.8602 71.04244 99.60701 107.6568 71.04244 99.81037 106.0323 71.04244 95.49575 106.3101 71.04244 95.42134 106.5966 71.04244 95.3963 105.7716 71.04244 95.61728 105.536 71.04244 95.78223 104.0149 71.04244 102.8599 105.5356 71.04244 99.81018 104.6942 71.04244 102.4677 105.3323 71.04244 99.60678 105.1673 71.04244 99.37117 105.0458 71.04244 99.11049 104.9714 71.04244 98.83267 105.046 71.04244 96.48182 105.1676 71.04244 96.22117 105.3326 71.04244 95.98558 107.4216 71.04244 95.61743 107.1609 71.04244 95.49586 106.8831 71.04244 95.42139 108.2214 71.04244 96.75993 108.2465 71.04244 97.04645 108.2463 71.04244 98.54645 108.2212 71.04244 98.83296 108.1468 71.04244 99.11077 108.0252 71.04244 99.37143 106.2038 71.04244 102.0634 106.9882 71.04244 102.0635 106.8827 71.04244 100.1713 107.6572 71.04244 95.78242 107.8605 71.04244 95.98581 108.0255 71.04244 96.22143 108.147 71.04244 96.4821 107.1605 71.04244 100.0968 107.7607 71.04244 102.1997 107.4212 71.04244 99.97531 108.4978 71.04244 102.4681 109.177 71.04244 102.8603 106.5962 71.04244 100.1963 106.3097 71.04244 100.1712 105.4313 71.04244 102.1995 106.0319 71.04244 100.0967 105.7712 71.04244 99.97517 104.9463 71.04244 98.54615 104.9465 71.04244 97.04615 104.9716 71.04244 96.75963 107.0504 70.30033 90.53862 107.0566 70.48651 90.43997 107.7098 71.65035 89.85292 107.1366 69.62 90.90253 107.089 69.80131 90.8047 107.2916 69.69725 90.86763 107.0652 69.96315 90.71805 107.0531 70.12589 90.6313 107.5228 69.26861 91.10746 107.4928 69.26986 91.10502 107.463 69.27369 91.10128 107.4181 69.28488 91.09288 107.3921 69.29466 91.08633 107.3668 69.30677 91.0786 107.342 69.32137 91.06964 107.3153 69.34051 91.05821 107.2904 69.36195 91.04568 107.2451 69.41156 91.01736 107.2373 69.42162 91.0117 107.1889 69.4986 90.96889 107.1451 69.59639 90.91536 109.4065 69.26861 91.33721 107.0584 70.51145 90.42677 107.0608 70.53635 90.41363 107.4421 71.37142 89.98542 107.1007 70.79548 90.27725 107.4062 71.50408 89.91314 107.4721 71.56414 89.88456 107.5226 71.59824 89.86917 107.5535 71.6145 89.86227 107.5848 71.62775 89.85707 107.6222 71.6394 89.85312 107.6509 71.64545 89.85169 107.68 71.64911 89.85162 107.1369 70.95293 90.19482 107.1789 71.09249 90.12216 107.1881 71.11869 90.10858 107.2607 71.28961 90.02058 107.3354 71.41621 89.95652 114.0318 71.64545 91.56208 114.0559 71.6394 91.57765 114.1456 71.37142 91.78226 114.0863 71.62775 91.59976 114.1108 71.6145 91.61995 114.1341 71.59824 91.64135 114.1701 71.56414 91.67993 114.2129 71.50408 91.73764 114.2525 71.41621 91.81061 114.2851 71.28961 91.90347 114.2572 70.51145 92.3564 113.9802 71.65035 91.53368 114.0066 71.64911 91.54743 114.304 71.11869 92.01599 114.3051 71.09249 92.03232 114.3052 70.95293 92.11624 114.2953 70.79548 92.20574 114.2616 70.53635 92.34378 114.2521 70.48651 92.36871 114.207 70.29558 92.45946 114.1532 70.10555 92.54502 113.5412 69.26981 92.72619 113.5146 69.26861 92.71356 113.8317 69.68708 92.62599 113.7394 69.35599 92.77603 113.7987 69.4101 92.77457 113.8618 69.48366 92.76361 113.5674 69.27333 92.73728 113.7109 69.33488 92.77389 113.6818 69.31646 92.76989 113.6551 69.30227 92.76465 113.6281 69.29049 92.75785 113.5932 69.27908 92.74692 114.1006 69.94931 92.61087 114.0149 69.74249 92.68944 113.9327 69.58818 92.7384 110.6035 69.26861 91.60794 112.0853 71.65035 90.74208 111.7752 69.26861 91.97272 112.1958 71.65035 90.78823 109.6353 71.65035 90.10085 109.7465 71.65035 90.11515 110.9273 71.65035 90.38625 89.90081 71.64545 107.5985 89.90224 71.6394 107.5698 90.03456 71.37142 107.3898 89.90619 71.62775 107.5325 89.9114 71.6145 107.5011 89.91831 71.59824 107.4703 89.93371 71.56414 107.4198 89.9623 71.50408 107.3539 90.00569 71.41621 107.2831 90.06977 71.28961 107.2084 90.47599 70.51145 107.0061 89.90202 71.65035 107.6574 89.90072 71.64911 107.6276 90.15778 71.11869 107.1358 90.17136 71.09249 107.1266 90.24403 70.95293 107.0847 90.32646 70.79548 107.0485 90.46285 70.53635 107.0086 90.48918 70.48651 107.0044 90.59037 70.29558 106.9981 90.69136 70.10555 107.0019 91.15422 69.26981 107.4413 91.1566 69.26861 107.4706 90.92223 69.68708 107.2398 91.09831 69.35599 107.2447 91.06738 69.4101 107.1941 91.02633 69.48366 107.1449 91.15075 69.27333 107.4131 91.11071 69.33488 107.2705 91.12179 69.31646 107.2977 91.13059 69.30227 107.3234 91.13823 69.29049 107.3502 91.14619 69.27908 107.3859 90.77467 69.94931 107.0145 90.88554 69.74249 107.0494 90.96904 69.58818 107.0961 92.50518 70.30033 114.1563 92.41661 70.48651 114.2002 91.58164 71.65035 113.9281 92.77719 69.62 113.8996 92.71627 69.80131 113.9898 92.66948 69.69725 113.7829 92.65316 69.96315 114.0538 92.58404 70.12589 114.1075 92.7616 69.26861 113.4628 92.77449 69.26986 113.49 92.78611 69.27369 113.5176 92.8013 69.28488 113.5607 92.80862 69.29466 113.5865 92.8146 69.30677 113.6123 92.81922 69.32137 113.6382 92.82268 69.34051 113.6671 92.82429 69.36195 113.6949 92.82243 69.41156 113.7483 92.82138 69.42162 113.7578 92.80854 69.4986 113.8212 92.78405 69.59639 113.8859 92.01871 69.26861 111.7166 92.40431 70.51145 114.2053 92.39169 70.53635 114.2097 91.83019 71.37142 114.0936 92.25363 70.79548 114.2434 91.78556 71.50408 114.1609 91.72785 71.56414 114.1181 91.68928 71.59824 114.082 91.66789 71.6145 114.0588 91.64769 71.62775 114.0342 91.6256 71.6394 114.0038 91.61003 71.64545 113.9797 91.59539 71.64911 113.9545 92.16414 70.95293 114.2532 92.08022 71.09249 114.2532 92.06389 71.11869 114.2521 91.95137 71.28961 114.2332 91.85852 71.41621 114.2005 91.65468 69.26861 110.5446 90.16388 71.65035 109.6942 91.38471 69.26861 109.3474 90.14862 71.65035 109.5754 90.83357 71.65035 112.1365 90.79039 71.65035 112.0332 90.43476 71.65035 110.875 92.95993 70.30033 98.14864 92.8776 70.48651 98.09391 92.69578 71.65035 97.23473 93.31821 69.62 98.25588 93.2097 69.80131 98.24818 93.36547 69.69725 98.10422 93.12272 69.96315 98.22552 93.04159 70.12589 98.19255 93.68875 69.26861 98.02394 93.67165 69.26986 98.04869 93.65354 69.27369 98.07257 93.62382 69.28488 98.10726 93.60513 69.29466 98.12651 93.58578 69.30677 98.14459 93.56563 69.32137 98.16156 93.54236 69.34051 98.17899 93.51905 69.36195 98.19431 93.47187 69.41156 98.21939 93.46311 69.42162 98.22324 93.4018 69.4986 98.24382 93.33358 69.59639 98.25492 94.82958 69.26861 96.50747 92.86706 70.51145 98.08578 92.85691 70.53635 98.07707 92.67672 71.37142 97.53273 92.75876 70.79548 97.97432 92.59618 71.50408 97.5277 92.60438 71.56414 97.45633 92.61631 71.59824 97.40492 92.62574 71.6145 97.37476 92.63691 71.62775 97.34499 92.65218 71.6394 97.31066 92.66529 71.64545 97.28512 92.67978 71.64911 97.25984 92.70548 70.95293 97.90175 92.66355 71.09249 97.82906 92.65635 71.11869 97.81435 92.61646 71.28961 97.70745 92.59835 71.41621 97.6107 97.33697 71.64545 92.61429 97.36251 71.6394 92.60119 97.58458 71.37142 92.62577 97.39685 71.62775 92.58592 97.42662 71.6145 92.57476 97.45677 71.59824 92.56533 97.50819 71.56414 92.55342 97.57956 71.50408 92.54522 97.66255 71.41621 92.5474 97.75931 71.28961 92.56555 98.13759 70.51145 92.81621 97.28657 71.65035 92.64478 97.31169 71.64911 92.62878 97.8662 71.11869 92.60546 97.88091 71.09249 92.61265 97.95359 70.95293 92.6546 98.02616 70.79548 92.70789 98.12888 70.53635 92.80606 98.14571 70.48651 92.82676 98.20172 70.29558 92.91125 98.24891 70.10555 93.00062 98.09986 69.26981 93.62115 98.07559 69.26861 93.63789 98.15831 69.68708 93.31951 98.2421 69.35599 93.47447 98.2705 69.4101 93.42234 98.29255 69.48366 93.36222 98.12254 69.27333 93.60404 98.22599 69.33488 93.49808 98.20798 69.31646 93.52127 98.19009 69.30227 93.54177 98.17069 69.29049 93.56179 98.14379 69.27908 93.58651 98.27966 69.94931 93.07907 98.30489 69.74249 93.19253 98.30619 69.58818 93.2882 95.66253 69.26861 95.60622 95.65362 71.65035 93.88994 96.56433 69.26861 94.77384 95.74881 71.65035 93.81735 93.87329 71.65035 95.6911 93.94124 71.65035 95.60201 94.76642 71.65035 94.71495 97.09575 65.04244 104.8954 96.80923 65.04244 104.9205 96.53141 65.04244 104.9949 96.27073 65.04244 105.1164 96.03512 65.04244 105.2814 95.83173 65.04244 105.4847 95.66674 65.04244 105.7203 95.54516 65.04244 105.981 95.4707 65.04244 106.2588 95.44561 65.04244 106.5453 95.47064 65.04244 106.8318 95.54506 65.04244 107.1096 95.66658 65.04244 107.3703 95.83153 65.04244 107.6059 96.03489 65.04244 107.8093 96.27047 65.04244 107.9743 96.53113 65.04244 108.0959 96.80893 65.04244 108.1703 97.09545 65.04244 108.1954 98.59575 65.04244 104.8956 98.59545 65.04244 108.1956 98.88198 65.04244 108.1705 99.15979 65.04244 108.0961 99.42047 65.04244 107.9746 99.65608 65.04244 107.8096 99.85948 65.04244 107.6063 100.0245 65.04244 107.3707 100.146 65.04244 107.11 100.2205 65.04244 106.8322 100.2456 65.04244 106.5457 100.2206 65.04244 106.2592 100.1462 65.04244 105.9814 100.0246 65.04244 105.7207 99.85968 65.04244 105.4851 99.65632 65.04244 105.2817 99.42073 65.04244 105.1167 99.16007 65.04244 104.9951 98.88227 65.04244 104.9207 104.9447 65.04244 116.0461 104.9698 65.04244 116.3327 105.0442 65.04244 116.6105 105.1657 65.04244 116.8712 105.3307 65.04244 117.1068 105.534 65.04244 117.3102 105.7696 65.04244 117.4752 106.0303 65.04244 117.5967 106.3081 65.04244 117.6712 106.5946 65.04244 117.6963 106.8811 65.04244 117.6713 107.1589 65.04244 117.5968 107.4196 65.04244 117.4753 107.6552 65.04244 117.3104 107.8586 65.04244 117.107 108.0236 65.04244 116.8714 108.1452 65.04244 116.6108 108.2196 65.04244 116.333 108.2447 65.04244 116.0465 104.9449 65.04244 114.5461 108.2449 65.04244 114.5465 108.2198 65.04244 114.2599 108.1454 65.04244 113.9821 108.0239 65.04244 113.7214 107.8589 65.04244 113.4858 107.6556 65.04244 113.2824 107.42 65.04244 113.1174 107.1594 65.04244 112.9959 106.8815 65.04244 112.9214 106.595 65.04244 112.8963 106.3085 65.04244 112.9213 106.0307 65.04244 112.9958 105.77 65.04244 113.1173 105.5344 65.04244 113.2822 105.331 65.04244 113.4856 105.166 65.04244 113.7212 105.0444 65.04244 113.9818 104.97 65.04244 114.2596 116.0955 65.04244 108.1972 116.382 65.04244 108.1721 116.6598 65.04244 108.0977 116.9205 65.04244 107.9762 117.1561 65.04244 107.8112 117.3595 65.04244 107.6079 117.5245 65.04244 107.3723 117.646 65.04244 107.1116 117.7205 65.04244 106.8338 117.7456 65.04244 106.5473 117.7206 65.04244 106.2608 117.6462 65.04244 105.983 117.5246 65.04244 105.7223 117.3597 65.04244 105.4867 117.1563 65.04244 105.2833 116.9207 65.04244 105.1183 116.6601 65.04244 104.9967 116.3823 65.04244 104.9223 116.0958 65.04244 104.8972 114.5955 65.04244 108.197 114.5958 65.04244 104.897 114.3092 65.04244 104.9221 114.0314 65.04244 104.9965 113.7707 65.04244 105.118 113.5351 65.04244 105.283 113.3317 65.04244 105.4863 113.1667 65.04244 105.7219 113.0452 65.04244 105.9826 112.9707 65.04244 106.2604 112.9456 65.04244 106.5469 112.9706 65.04244 106.8334 113.0451 65.04244 107.1112 113.1666 65.04244 107.3719 113.3315 65.04244 107.6075 113.5349 65.04244 107.8109 113.7705 65.04244 107.9759 114.0311 65.04244 108.0975 114.3089 65.04244 108.1719 109.7773 65.04244 109.7286 110.2816 65.04244 109.1277 110.6738 65.04244 108.4485 110.9422 65.04244 107.7114 111.0784 65.04244 106.9389 111.0785 65.04244 106.1545 110.9424 65.04244 105.382 110.6742 65.04244 104.6449 110.282 65.04244 103.9655 109.7779 65.04244 103.3646 109.177 65.04244 102.8603 108.4978 65.04244 102.4681 107.7607 65.04244 102.1997 106.9882 65.04244 102.0635 106.2038 65.04244 102.0634 105.4313 65.04244 102.1995 104.6942 65.04244 102.4677 104.0149 65.04244 102.8599 103.4139 65.04244 103.364 102.9097 65.04244 103.9649 102.5174 65.04244 104.6441 102.249 65.04244 105.3812 102.1128 65.04244 106.1537 102.1127 65.04244 106.9381 102.2488 65.04244 107.7106 102.517 65.04244 108.4477 102.9092 65.04244 109.1271 103.4133 65.04244 109.728 104.0142 65.04244 110.2322 104.6934 65.04244 110.6245 105.4305 65.04244 110.8929 106.203 65.04244 111.0291 106.9874 65.04244 111.0292 107.7599 65.04244 110.8931 108.497 65.04244 110.6249 109.1764 65.04244 110.2327 108.2465 65.04244 97.04645 108.2214 65.04244 96.75993 108.147 65.04244 96.4821 108.0255 65.04244 96.22143 107.8605 65.04244 95.98581 107.6572 65.04244 95.78242 107.4216 65.04244 95.61743 107.1609 65.04244 95.49586 106.8831 65.04244 95.42139 106.5966 65.04244 95.3963 106.3101 65.04244 95.42134 106.0323 65.04244 95.49575 105.7716 65.04244 95.61728 105.536 65.04244 95.78223 105.3326 65.04244 95.98558 105.1676 65.04244 96.22117 105.046 65.04244 96.48182 104.9716 65.04244 96.75963 104.9465 65.04244 97.04615 108.2463 65.04244 98.54645 104.9463 65.04244 98.54615 104.9714 65.04244 98.83267 105.0458 65.04244 99.11049 105.1673 65.04244 99.37117 105.3323 65.04244 99.60678 105.5356 65.04244 99.81018 105.7712 65.04244 99.97517 106.0319 65.04244 100.0967 106.3097 65.04244 100.1712 106.5962 65.04244 100.1963 106.8827 65.04244 100.1713 107.1605 65.04244 100.0968 107.4212 65.04244 99.97531 107.6568 65.04244 99.81037 107.8602 65.04244 99.60701 108.0252 65.04244 99.37143 108.1468 65.04244 99.11077 108.2212 65.04244 98.83296 105.3714 70.19888 121.4839 107.5353 70.19888 121.5045 109.6797 70.19888 121.2132 111.7597 70.19888 120.6162 113.7321 70.19888 119.7259 119.7739 70.19888 113.6852 120.6646 70.19888 111.713 121.262 70.19888 109.633 121.5536 70.19888 107.4888 121.5334 70.19888 105.3248 101.4659 71.03013 119.7406 100.619 70.57032 120.1398 100.5671 70.49597 120.1615 101.1997 70.49644 120.4253 101.1647 70.19888 120.5154 100.3448 70.15191 120.1752 101.1779 70.35147 120.4813 100.4072 70.25923 120.1841 100.372 70.19865 120.1791 100.553 70.47572 120.1674 100.4836 70.37578 120.1819 100.4815 70.37255 120.182 100.4674 70.35113 120.1824 100.6855 70.65925 120.101 101.2294 70.63023 120.3489 100.6931 70.66878 120.096 101.2663 70.74955 120.2539 100.7643 70.74953 120.0479 101.3581 70.93345 120.018 101.3096 70.85147 120.1427 99.54402 70.9935 118.9971 118.9149 71.03013 99.57216 119.0477 70.9935 99.49699 120.1929 70.85147 101.2627 120.098 70.75006 100.718 120.3042 70.74955 101.2195 120.0682 70.93345 101.3112 120.3992 70.63023 101.1826 120.1464 70.66878 100.6463 120.4756 70.49644 101.1529 120.1902 70.57032 100.5722 120.1514 70.65925 100.6386 120.5315 70.35147 101.1312 120.2328 70.35113 100.4206 120.2324 70.37255 100.4347 120.2324 70.37578 100.4368 120.2178 70.47572 100.5062 120.2119 70.49597 100.5203 120.2346 70.25923 100.3603 120.5657 70.19888 101.1179 120.2295 70.19865 100.3251 120.2257 70.15191 100.298 101.4106 70.9935 119.8828 99.61922 71.03013 118.8644 119.7909 71.03013 101.419 119.9331 70.9935 101.3637 120.3917 71.03013 103.3727 120.7049 71.03013 105.3926 120.5404 70.9935 103.3385 120.857 70.9935 105.3801 120.6817 70.93345 103.306 121.0015 70.93345 105.3683 120.8121 70.85147 103.276 121.1349 70.85147 105.3574 120.9284 70.74955 103.2492 121.2538 70.74955 105.3477 121.0277 70.63023 103.2264 121.3554 70.63023 105.3394 121.1076 70.49644 103.208 121.4371 70.49644 105.3327 121.1661 70.35147 103.1945 121.4969 70.35147 105.3278 121.2018 70.19888 103.1863 115.0588 71.03013 117.8944 113.3363 71.03013 118.9949 115.15 70.9935 118.0167 113.409 70.9935 119.1291 115.2367 70.93345 118.1329 113.478 70.93345 119.2566 115.3166 70.85147 118.2402 113.5417 70.85147 119.3742 115.388 70.74955 118.3358 113.5985 70.74955 119.4791 115.4489 70.63023 118.4175 113.647 70.63023 119.5688 115.4979 70.49644 118.4832 113.6861 70.49644 119.6408 115.5338 70.35147 118.5314 113.7147 70.35147 119.6937 115.5557 70.19888 118.5608 120.724 71.03013 107.4365 120.8763 70.9935 107.4461 121.021 70.93345 107.4552 121.1545 70.85147 107.4636 121.2736 70.74955 107.4711 121.3753 70.63023 107.4775 121.4571 70.49644 107.4827 121.5171 70.35147 107.4864 120.4486 71.03013 109.4618 120.5979 70.9935 109.4933 120.7397 70.93345 109.5231 120.8707 70.85147 109.5507 120.9874 70.74955 109.5753 121.0871 70.63023 109.5962 121.1674 70.49644 109.6131 121.2261 70.35147 109.6255 120.6302 70.35147 111.7004 120.5738 70.49644 111.6797 120.4969 70.63023 111.6514 120.4012 70.74955 111.6163 120.2892 70.85147 111.5751 120.1636 70.93345 111.529 120.0275 70.9935 111.479 119.8843 71.03013 111.4264 119.7417 70.35147 113.6678 119.6889 70.49644 113.6392 119.6168 70.63023 113.6001 119.5272 70.74955 113.5516 119.4222 70.85147 113.4947 119.3046 70.93345 113.431 119.1771 70.9935 113.3619 119.043 71.03013 113.2893 118.6084 70.19888 115.5086 118.5791 70.35147 115.4867 118.5309 70.49644 115.4508 118.4652 70.63023 115.4018 118.3835 70.74955 115.3408 118.2879 70.85147 115.2695 118.1807 70.93345 115.1895 118.0645 70.9935 115.1028 117.9422 71.03013 115.0115 116.6048 71.03013 116.5573 116.7127 70.9935 116.6652 116.8152 70.93345 116.7677 116.9098 70.85147 116.8624 116.9942 70.74955 116.9467 117.0662 70.63023 117.0188 117.1242 70.49644 117.0768 117.1666 70.35147 117.1193 117.1925 70.19888 117.1452 111.4733 71.03013 119.8359 111.5259 70.9935 119.9791 111.5758 70.93345 120.1152 111.6219 70.85147 120.2408 111.663 70.74955 120.3528 111.6982 70.63023 120.4485 111.7264 70.49644 120.5255 111.7471 70.35147 120.5818 109.5086 71.03013 120.3998 109.54 70.9935 120.5491 109.5699 70.93345 120.691 109.5974 70.85147 120.8219 109.6219 70.74955 120.9387 109.6429 70.63023 121.0384 109.6598 70.49644 121.1186 109.6721 70.35147 121.1774 107.533 70.35147 121.4679 107.5293 70.49644 121.408 107.5241 70.63023 121.3262 107.5177 70.74955 121.2245 107.5102 70.85147 121.1054 107.5019 70.93345 120.9719 107.4928 70.9935 120.8272 107.4832 71.03013 120.6749 105.3744 70.35147 121.4474 105.3793 70.49644 121.3875 105.386 70.63023 121.3058 105.3943 70.74955 121.2043 105.404 70.85147 121.0853 105.415 70.93345 120.952 105.4268 70.9935 120.8075 105.4393 71.03013 120.6554 103.233 70.19888 121.1519 103.2412 70.35147 121.1162 103.2547 70.49644 121.0577 103.2731 70.63023 120.9778 103.2959 70.74955 120.8785 103.3227 70.85147 120.7622 103.3527 70.93345 120.6318 103.3852 70.9935 120.4905 103.4195 71.03013 120.3418 152.4681 82.31861 63.5103 152.4681 74.12157 63.5103 92.33309 82.31861 45.28237 46.40823 82.31861 88.26604 60.67074 82.31861 149.53 63.55123 74.12157 152.411 157.0861 95.44602 53.2368 156.9158 95.65431 53.40709 157.5122 96.04244 52.81082 157.4445 94.56185 52.87847 157.4717 94.35428 52.85129 157.4855 94.24893 52.8375 157.246 95.1717 53.07701 157.3365 94.94847 52.98654 157.3579 94.89553 52.96508 157.4931 94.04244 52.82994 157.5122 83.91506 52.81082 157.4931 83.21341 52.82994 157.4202 94.65866 52.90279 157.3703 94.85726 52.95266 157.2209 95.21573 53.10211 157.1068 95.41581 53.21618 156.7008 95.83843 53.6221 156.5148 95.9422 53.80807 156.4912 95.95533 53.83159 156.2992 96.0154 54.02364 156.2746 96.02309 54.04822 156.2451 96.02848 54.07767 156.0782 96.04244 54.24456 156.9096 95.65981 53.41336 156.7273 95.81959 53.59561 149.5876 82.31861 60.62929 155.2968 75.01479 60.68213 157.4199 89.68602 58.55942 160.3404 83.91506 55.63951 157.5117 91.21887 58.46768 160.3404 96.04244 55.63951 157.5117 96.04244 58.46768 154.4745 83.48014 61.50433 157.3032 76.17633 58.67616 158.1745 77.09738 57.805 155.3458 84.40119 60.63317 156.3348 75.47549 59.64439 153.5061 82.7793 62.47256 158.9239 78.21242 57.05569 159.5302 79.48974 56.44956 156.0952 85.51624 59.88386 157.1473 88.19679 58.83202 156.7015 86.79355 59.27773 160.2486 82.3822 55.73125 159.976 80.89298 56.00385 155.5949 95.91873 54.72772 155.5627 95.90497 54.75998 154.6835 96.04244 55.63899 155.8567 96.01779 54.466 154.757 94.75825 55.56549 154.7466 94.71842 55.57595 155.8326 96.01139 54.49011 155.7783 95.99701 54.54437 155.363 95.76815 54.9596 155.3374 95.74637 54.98526 155.1695 95.57308 55.15312 155.1555 95.55863 55.16711 154.9992 95.33615 55.32339 154.98 95.30348 55.34257 154.8524 95.04127 55.47015 154.6882 94.41575 55.63434 154.6848 94.38973 55.63766 154.6835 94.37926 55.63899 157.2844 83.11294 52.63297 157.3459 82.38426 52.84756 152.789 92.04244 53.74414 152.945 91.21887 53.90019 156.0976 92.04244 57.05334 156.0976 94.04244 57.05334 156.0607 94.05126 57.01644 150.5383 82.7793 59.50425 151.3739 83.48014 58.40322 152.0708 84.40119 57.35753 152.609 85.51624 56.39694 152.9732 86.79355 55.54877 153.1531 88.19679 54.83717 153.1437 89.68602 54.28238 95.94764 92.04244 33.31638 92.00799 92.04244 33.99837 93.50611 94.04244 33.71316 89.66764 83.11294 34.5085 89.38842 83.21341 34.57469 89.38842 94.04244 34.57469 95.95294 94.04244 33.35234 98.104 94.04244 33.03512 102.5936 92.04244 32.65459 102.594 94.04244 32.6589 102.7354 94.04244 32.64705 109.2722 92.04244 32.59471 107.382 94.04244 32.55047 109.2707 94.04244 32.62991 112.0255 94.04244 32.74578 115.9289 92.04244 33.13724 115.9269 94.04244 33.15635 116.6476 94.04244 33.23219 122.5097 92.04244 34.27775 121.23 94.04244 34.0078 122.5029 94.04244 34.30649 125.7547 94.04244 35.06953 128.9608 92.04244 36.00695 128.9522 94.04244 36.0352 130.2039 94.04244 36.41321 135.2297 92.04244 38.31075 134.5599 94.04244 38.03353 135.2219 94.04244 38.3283 141.2653 92.04244 41.17039 138.8056 94.04244 39.9241 141.249 94.04244 41.20161 142.9243 94.04244 42.07747 147.0186 92.04244 44.56258 146.8996 94.04244 44.48514 147.0161 94.04244 44.56613 152.4426 92.04244 48.45967 155.5129 92.04244 51.02068 150.716 94.04244 47.13761 152.42 94.04244 48.48816 154.3583 94.04244 50.02442 96.8725 96.04244 35.23736 98.3335 96.04244 35.02191 98.29759 96.01782 34.71111 101.6134 96.04244 34.74708 102.8397 96.04244 34.64433 102.8234 96.01782 34.33188 120.5919 96.04244 35.92723 120.8345 96.04244 35.9683 120.8964 96.01782 35.6616 129.7964 96.04244 38.39449 133.8041 96.04244 39.88523 133.9223 96.01782 39.59556 134.2537 96.04244 40.08544 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88.24245 107.4695 104.2723 94.74244 107.4695 104.4121 94.74244 107.7478 104.4679 88.24245 107.859 104.4679 94.74244 107.859 104.6167 94.74244 108.0587 104.7282 88.24245 108.2085 104.7282 94.74244 108.2085 104.864 94.74244 108.3366 105.0452 88.24245 108.5075 105.0452 94.74244 108.5075 105.1492 94.74244 108.5758 106.5444 94.74244 109.038 106.6686 88.24245 109.0452 106.6686 94.74244 109.0452 106.9159 94.74244 109.0163 107.1014 88.24245 108.9946 107.1014 94.74244 108.9946 107.2803 94.74244 108.941 107.5189 88.24245 108.8696 107.5189 94.74244 108.8696 107.63 94.74244 108.8137 107.9083 88.24245 108.674 107.9083 94.74244 108.674 107.9581 94.74244 108.6368 108.2578 88.24245 108.4137 108.2578 94.74244 108.4137 108.5141 94.74244 108.1419 108.5568 88.24245 108.0967 108.5568 94.74244 108.0967 108.7279 94.74244 107.8365 108.7962 88.24245 107.7326 108.7962 94.74244 107.7326 108.8948 94.74244 107.5039 108.9688 88.24245 107.3324 108.9688 94.74244 107.3324 109.0118 94.74244 107.1507 109.0692 88.24245 106.9084 109.0692 94.74244 106.9084 109.0765 94.74244 106.7842 108.7791 94.74244 105.3448 108.7233 88.24245 105.2336 108.7233 94.74244 105.2336 108.5745 94.74244 105.0339 108.463 88.24245 104.8841 108.463 94.74244 104.8841 108.3272 94.74244 104.756 108.146 88.24245 104.5851 108.146 94.74244 104.5851 108.042 94.74244 104.5167 107.7819 88.24245 104.3457 107.7819 94.74244 104.3457 107.7248 94.74244 104.3211 107.3817 88.24245 104.1731 107.3817 94.74244 104.1731 107.0182 94.74244 104.087 106.9577 88.24245 104.0727 106.9577 94.74244 104.0727 106.6468 94.74244 104.0546 106.5226 88.24245 104.0474 106.5226 94.74244 104.0474 106.2753 94.74244 104.0763 106.0898 88.24245 104.098 106.0898 94.74244 104.098 105.9109 94.74244 104.1516 105.6724 88.24245 104.223 105.6724 94.74244 104.223 105.5612 94.74244 104.2789 100.8662 89.74245 101.4646 100.8662 92.94245 101.4646 102.2122 92.94245 100.2665 102.2122 88.24245 100.2665 114.2258 92.94245 105.89 114.2258 88.24245 105.89 113.8612 89.74245 104.1253 113.8612 92.94245 104.1253 103.3489 92.94245 113.4824 103.3489 88.24245 113.4824 105.0594 89.74245 114.049 105.0594 92.94245 114.049 100.8569 94.54244 100.276 100.9447 94.54244 100.1978 100.9442 94.74244 100.1972 102.7294 94.74244 114.1162 102.7295 94.13442 114.116 101.8917 94.74244 113.6261 102.6917 94.10131 114.0968 102.587 93.98899 114.0417 102.494 93.86679 113.9912 102.4583 93.81243 113.9715 102.3826 93.67704 113.9287 102.3206 93.53582 113.893 102.2724 93.38922 113.8648 102.2547 93.31972 113.8543 102.2267 93.16648 113.8376 102.2132 93.01204 113.8295 102.2117 92.94245 113.8286 103.1284 94.39807 114.307 102.991 94.32748 114.2442 103.2742 94.45552 114.3705 103.6175 94.74244 114.5075 103.4936 94.51295 114.4601 103.341 94.47651 114.3985 102.862 94.24396 114.1824 102.8083 94.2034 114.1559 104.5445 94.46747 114.7948 104.4912 94.48392 114.7817 104.5445 94.74244 114.7951 104.4129 94.50243 114.7613 103.8114 94.54244 114.5774 103.6505 94.535 114.5198 103.6176 94.53038 114.5073 104.2509 94.52943 114.7165 104.0885 94.54164 114.6681 104.0347 94.54244 114.6513 105.4981 94.74244 114.9751 105.4284 93.88346 114.9658 105.3815 93.93968 114.9591 105.2687 94.05693 114.9421 105.1455 94.16267 114.9217 105.0124 94.2568 114.8975 104.945 94.29784 114.8845 104.7988 94.37381 114.8542 104.6473 94.4358 114.82 105.765 92.94245 115.0056 105.7566 93.09846 115.0048 106.4661 94.74244 115.0453 105.765 89.74245 115.0056 105.7317 93.25177 115.0023 105.6906 93.40211 114.998 105.666 93.47086 114.9953 105.6011 93.61597 114.9879 105.5218 93.75359 114.9782 105.4981 93.78646 114.9751 109.3297 94.74244 114.5946 108.3945 94.74244 114.8538 108.3945 89.74245 114.8538 107.4357 94.74244 115.0047 107.4357 89.74245 115.0047 106.4661 89.74245 115.0453 109.3297 85.74245 114.5946 108.3945 88.24245 114.8538 108.3945 85.74245 114.8538 107.4357 88.24245 115.0047 107.4357 85.74245 115.0047 106.4661 88.24245 115.0453 106.4661 85.74245 115.0453 105.4981 88.24245 114.9751 105.4981 85.74245 114.9751 104.5445 88.24245 114.7951 104.5445 85.74245 114.7951 103.6175 88.24245 114.5075 103.6175 85.74245 114.5075 102.7294 88.24245 114.1162 102.7294 85.74245 114.1162 102.2117 88.24245 113.8286 101.8917 85.74245 113.6261 115.0949 94.74244 106.4331 115.0948 93.78694 106.4331 115.0524 94.74244 107.4026 115.0955 93.67704 106.5037 115.0956 93.53582 106.5752 115.0952 93.38922 106.6311 115.095 93.31972 106.6516 115.0945 93.16648 106.6842 115.0942 93.01204 106.7 115.0942 92.94245 106.7017 115.0865 94.10131 106.1519 115.0911 93.98899 106.2701 115.0265 94.74244 105.465 115.0323 94.45552 105.5106 115.0502 94.39807 105.6686 115.0644 94.32748 105.819 115.0755 94.24396 105.9616 115.0794 94.2034 106.0214 115.0939 93.86679 106.3759 115.0946 93.81243 106.4167 114.8436 94.52943 104.4918 114.8482 94.53085 104.511 114.8483 94.74244 104.511 114.8829 94.54164 104.6566 114.8952 94.54244 104.7116 114.9428 94.54244 104.942 114.9734 94.535 105.1101 115.0001 94.51295 105.2759 115.0231 94.47651 105.4387 115.0265 94.46884 105.465 114.574 94.16267 103.6145 114.6196 94.2568 103.7418 114.5625 94.74244 103.5835 114.642 94.29784 103.8067 114.6889 94.37381 103.9484 114.735 94.4358 104.0967 114.7799 94.48392 104.2511 114.8013 94.50243 104.3291 114.3369 92.94245 103.036 114.3404 93.09846 103.0437 114.1729 94.74244 102.6946 114.3507 93.25177 103.0665 114.3675 93.40211 103.1042 114.3775 93.47086 103.1269 114.4035 93.61597 103.1867 114.4348 93.75359 103.2603 114.4707 93.88346 103.3474 114.4884 93.93968 103.3913 114.53 94.05693 103.4975 114.5624 94.13471 103.5835 114.3369 89.74245 103.036 114.1729 89.74245 102.6946 113.6844 89.74245 101.856 113.6844 94.74244 101.856 113.1035 89.74245 101.0785 113.1035 94.74244 101.0785 112.4378 89.74245 100.3723 112.4378 94.74244 100.3723 111.696 94.74244 99.74658 111.696 85.74245 99.74658 112.4378 88.24245 100.3723 112.4378 85.74245 100.3723 113.1035 88.24245 101.0785 113.1035 85.74245 101.0785 113.6844 88.24245 101.856 113.6844 85.74245 101.856 114.1729 88.24245 102.6946 114.1729 85.74245 102.6946 114.5625 88.24245 103.5835 114.5625 85.74245 103.5835 114.8483 88.24245 104.511 114.8483 85.74245 104.511 115.0265 88.24245 105.465 115.0265 85.74245 105.465 115.0949 88.24245 106.4331 115.0949 85.74245 106.4331 115.0942 88.24245 106.7017 115.0524 85.74245 107.4026 101.8992 94.2034 99.46157 102.0086 94.10131 99.39021 102.5291 94.74244 99.08213 101.7048 94.74244 99.59432 101.7049 94.34264 99.59451 101.7314 94.32748 99.5757 101.8493 94.24396 99.49485 102.1087 93.98899 99.32704 102.1989 93.86679 99.27174 102.2339 93.81243 99.25074 102.3088 93.67704 99.20648 102.3706 93.53582 99.1707 102.4192 93.38922 99.14305 102.4372 93.31972 99.13298 102.4656 93.16648 99.1171 102.4794 93.01204 99.10943 101.4226 94.47651 99.80163 101.4804 94.45552 99.75776 101.6082 94.39807 99.66327 101.0326 94.54244 100.1196 101.1629 94.535 100.009 101.2931 94.51295 99.90299 100.2992 94.37381 100.8362 100.4045 94.4358 100.7222 100.2573 94.74244 100.8827 100.5158 94.48392 100.6061 100.5726 94.50243 100.5485 100.6924 94.52943 100.4306 100.8155 94.54164 100.3141 99.68491 92.94245 101.5973 99.68984 93.09846 101.5904 99.65301 94.74244 101.6422 99.70447 93.25177 101.5701 99.72875 93.40211 101.5367 99.74337 93.47086 101.5167 99.78218 93.61597 101.4642 99.83028 93.75359 101.4004 99.88772 93.88346 101.3257 99.91691 93.93968 101.2884 99.98808 94.05693 101.1993 100.0674 94.16267 101.1028 100.1548 94.2568 100.9995 100.1998 94.29784 100.9477 100.2575 94.34197 100.883 99.68491 89.74245 101.5973 99.65301 89.74245 101.6422 99.13924 89.74245 102.4655 99.13924 94.74244 102.4655 98.72267 89.74245 103.3421 98.72267 94.74244 103.3421 98.40873 89.74245 104.2604 98.40873 94.74244 104.2604 98.20153 94.74244 105.2086 98.20153 85.74245 105.2086 98.40873 88.24245 104.2604 98.40873 85.74245 104.2604 98.72267 88.24245 103.3421 98.72267 85.74245 103.3421 99.13924 88.24245 102.4655 99.13924 85.74245 102.4655 99.65301 88.24245 101.6422 99.65301 85.74245 101.6422 100.2573 88.24245 100.8827 100.2573 85.74245 100.8827 100.9442 88.24245 100.1972 100.9442 85.74245 100.1972 101.7048 88.24245 99.59432 101.7048 85.74245 99.59432 102.4809 88.24245 99.10861 102.5291 85.74245 99.08213 102.4809 92.94245 99.10861 103.4065 94.74244 98.66724 103.4065 85.74245 98.66724 104.3254 94.74244 98.35507 104.3254 85.74245 98.35507 105.274 94.74244 98.14968 105.274 85.74245 98.14968 106.2397 94.74244 98.05375 106.2397 85.74245 98.05375 107.2101 94.74244 98.06854 107.2101 85.74245 98.06854 108.1725 94.74244 98.19385 108.1725 85.74245 98.19385 109.1143 94.74244 98.42804 109.1143 85.74245 98.42804 110.0233 94.74244 98.76807 110.0233 85.74245 98.76807 110.8876 94.74244 99.20951 110.8876 85.74245 99.20951 114.8996 94.74244 108.3611 114.8996 85.74245 108.3611 114.6386 94.74244 109.2958 114.6386 85.74245 109.2958 114.2728 94.74244 110.1947 114.2728 85.74245 110.1947 113.8068 94.74244 111.0461 113.8068 85.74245 111.0461 113.2469 94.74244 111.8388 113.2469 85.74245 111.8388 112.6003 94.74244 112.5625 112.6003 85.74245 112.5625 112.247 94.74244 112.8955 112.247 85.74245 112.8955 111.8753 94.74244 113.2077 111.8753 85.74245 113.2077 111.0816 94.74244 113.7661 111.0816 85.74245 113.7661 110.2293 94.74244 114.2304 110.2293 85.74245 114.2304 101.1154 94.74244 113.0438 101.1154 85.74245 113.0438 100.4104 94.74244 112.3767 100.4104 85.74245 112.3767 99.78613 94.74244 111.6336 99.78613 85.74245 111.6336 99.2506 94.74244 110.8243 99.2506 85.74245 110.8243 98.81082 94.74244 109.9591 98.81082 85.74245 109.9591 98.47254 94.74244 109.0495 98.47254 85.74245 109.0495 98.24015 94.74244 108.1072 98.24015 85.74245 108.1072 98.11669 94.74244 107.1446 98.11669 85.74245 107.1446 98.10375 94.74244 106.1741 98.10375 85.74245 106.1741 99.94689 85.74245 99.07672 100.7641 94.74244 98.42266 100.7641 85.74245 98.42266 101.6452 94.74244 97.8576 101.6452 85.74245 97.8576 102.5805 94.74244 97.38774 102.5805 85.74245 97.38774 103.5599 94.74244 97.01822 103.5599 85.74245 97.01822 104.5724 94.74244 96.75309 104.5724 85.74245 96.75309 105.6072 94.74244 96.59526 105.6072 85.74245 96.59526 106.6528 94.74244 96.54647 106.6528 85.74245 96.54647 107.6977 94.74244 96.60722 107.6977 85.74245 96.60722 108.7306 94.74244 96.77687 108.7306 85.74245 96.77687 109.7401 94.74244 97.05356 109.7401 85.74245 97.05356 110.7151 94.74244 97.43424 110.7151 85.74245 97.43424 111.645 94.74244 97.91477 111.645 85.74245 97.91477 112.5196 94.74244 98.48987 112.5196 85.74245 98.48987 113.3293 94.74244 99.15323 113.3293 85.74245 99.15323 114.0652 94.74244 99.89759 114.0652 85.74245 99.89759 114.7192 94.74244 100.7148 114.7192 85.74245 100.7148 115.2843 94.74244 101.5959 115.2843 85.74245 101.5959 115.7542 94.74244 102.5312 115.7542 85.74245 102.5312 116.1237 94.74244 103.5106 116.1237 85.74245 103.5106 116.3888 94.74244 104.5231 116.3888 85.74245 104.5231 116.5466 94.74244 105.5579 116.5466 85.74245 105.5579 116.5954 94.74244 106.6035 116.5954 85.74245 106.6035 116.5347 94.74244 107.6484 116.5347 85.74245 107.6484 116.365 94.74244 108.6813 116.365 85.74245 108.6813 116.0883 94.74244 109.6908 116.0883 85.74245 109.6908 115.7077 94.74244 110.6658 115.7077 85.74245 110.6658 115.2271 94.74244 111.5957 115.2271 85.74245 111.5957 114.652 94.74244 112.4703 114.652 85.74245 112.4703 113.9887 94.74244 113.28 113.9887 85.74245 113.28 113.2443 94.74244 114.0159 113.2443 85.74245 114.0159 112.4271 94.74244 114.6699 112.4271 85.74245 114.6699 111.546 94.74244 115.235 111.546 85.74245 115.235 110.6107 94.74244 115.7049 110.6107 85.74245 115.7049 109.6313 94.74244 116.0744 109.6313 85.74245 116.0744 108.6188 94.74244 116.3395 108.6188 85.74245 116.3395 107.584 94.74244 116.4973 107.584 85.74245 116.4973 106.5384 94.74244 116.5461 106.5384 85.74245 116.5461 105.4935 94.74244 116.4854 105.4935 85.74245 116.4854 104.4606 94.74244 116.3157 104.4606 85.74245 116.3157 103.4511 94.74244 116.039 103.4511 85.74245 116.039 102.4761 94.74244 115.6584 102.4761 85.74245 115.6584 101.5462 94.74244 115.1778 101.5462 85.74245 115.1778 100.6716 94.74244 114.6027 100.6716 85.74245 114.6027 99.86192 94.74244 113.9394 99.86192 85.74245 113.9394 99.12602 94.74244 113.195 99.12602 85.74245 113.195 98.47196 94.74244 112.3778 98.47196 85.74245 112.3778 97.9069 94.74244 111.4967 97.9069 85.74245 111.4967 97.43704 94.74244 110.5614 97.43704 85.74245 110.5614 97.06752 94.74244 109.582 97.06752 85.74245 109.582 96.8024 94.74244 108.5695 96.8024 85.74245 108.5695 96.64457 94.74244 107.5347 96.64457 85.74245 107.5347 96.59577 94.74244 106.4891 96.59577 85.74245 106.4891 96.65653 94.74244 105.4442 96.65653 85.74245 105.4442 96.82617 94.74244 104.4113 96.82617 85.74245 104.4113 97.10286 94.74244 103.4018 97.10286 85.74245 103.4018 97.48355 94.74244 102.4268 97.48355 85.74245 102.4268 97.96408 94.74244 101.4969 97.96408 85.74245 101.4969 98.53917 94.74244 100.6223 98.53917 85.74245 100.6223 99.20253 94.74244 99.81261 99.20253 85.74245 99.81261 99.94689 94.74244 99.07672 102.0745 93.74245 101.467 101.5562 93.74245 100.7244 101.397 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95.35349 108.9328 107.4237 95.35349 108.8246 107.7804 95.24365 108.6899 108.0657 95.03376 108.5473 107.7411 96.69156 107.6135 107.9568 96.64802 107.4214 108.1653 96.56192 107.2358 108.3619 96.43516 107.0608 108.5422 96.27059 106.9003 108.7022 96.07189 106.758 108.8383 95.8435 106.6369 108.9474 95.5905 106.5398 105.8275 95.06513 108.9034 106.2368 95.31857 108.9524 106.6697 95.48023 108.9338 107.0998 95.53577 108.8628 107.4992 95.48023 108.7574 107.8407 95.31857 108.6362 108.1001 95.06513 108.5167 107.3058 96.90145 107.5876 107.5475 96.90145 107.3724 107.7866 96.85323 107.1597 108.0175 96.75785 106.9541 108.2353 96.61745 106.7603 108.435 96.43516 106.5825 108.6122 96.21506 106.4248 108.7629 95.96207 106.2906 108.8838 95.68183 106.1831 109.0756 95.03376 106.4256 109.0258 95.06513 106.0566 108.9218 95.0893 105.6985 105.484 95.0893 108.7585 105.8813 95.38061 108.8555 106.3165 95.5905 108.8815 106.7646 95.70034 108.8493 107.1978 95.70034 108.7756 107.588 95.5905 108.6784 107.9087 95.38061 108.5757 108.1375 95.0893 108.4833 106.8161 97.01129 107.5728 107.073 97.06312 107.3442 107.3328 97.06312 107.1129 107.5897 97.01129 106.8842 107.8379 96.90876 106.6632 108.072 96.75785 106.4549 108.2867 96.56192 106.2638 108.4771 96.32534 106.0943 108.6391 96.05339 105.9501 108.769 95.75218 105.8345 105.5418 95.42839 108.7071 105.9696 95.68183 108.7769 106.4257 95.8435 108.7843 106.883 95.89904 108.744 107.3131 95.8435 108.673 107.6881 95.68183 108.5894 107.9828 95.42839 108.5097 108.1773 95.10571 108.448 106.3003 97.01129 107.5539 106.5604 97.11865 107.3224 106.8294 97.17295 107.0829 107.1015 97.17295 106.8407 107.3706 97.11865 106.6012 107.6306 97.01129 106.3698 107.8758 96.85323 106.1516 108.1006 96.64802 105.9515 108.3001 96.40025 105.7739 108.4697 96.11544 105.6229 108.6058 95.79996 105.5018 108.7657 95.10571 105.3594 105.2258 95.46086 108.5103 105.6367 95.75218 108.6226 106.0905 95.96207 108.6694 106.5617 96.07189 108.6632 107.0221 96.07189 108.6201 107.443 95.96207 108.5574 107.7972 95.75218 108.4922 108.0615 95.46086 108.4398 108.2184 95.11401 108.4113 105.7887 96.90145 107.5146 106.0395 97.06312 107.2914 106.3054 97.17295 107.0547 106.5807 97.22849 106.8097 106.859 97.22849 106.562 107.1342 97.17295 106.317 107.4001 97.06312 106.0803 107.6509 96.90145 105.8571 107.8809 96.69156 105.6524 108.0849 96.43812 105.4708 108.2584 96.14681 105.3163 108.3976 95.82412 105.1925 108.5612 95.11401 105.0468 104.9404 95.47727 108.2697 105.3252 95.79996 108.4219 105.7666 96.05339 108.507 106.2412 96.21506 108.5352 106.7217 96.27059 108.5209 107.179 96.21506 108.4805 107.5846 96.05339 108.4313 107.9129 95.79996 108.3892 108.1428 95.47727 108.3673 108.26 95.11401 108.3743 105.3103 96.69156 107.4402 105.5403 96.90145 107.2355 105.7911 97.06312 107.0123 106.057 97.17295 106.7756 106.3322 97.22849 106.5306 106.6106 97.22849 106.2829 106.8858 97.17295 106.0379 107.1517 97.06312 105.8012 107.4025 96.90145 105.578 107.6324 96.69156 105.3733 107.8365 96.43812 105.1917 108.01 96.14681 105.0372 108.1492 95.82412 104.9134 108.3128 95.11401 104.7677 104.6919 95.47727 107.9906 105.0421 95.82412 108.1792 105.4612 96.11544 108.3008 105.9286 96.32534 108.3628 106.4184 96.43516 108.3775 106.902 96.43516 108.3604 107.35 96.32534 108.3282 107.7349 96.11544 108.2976 108.0326 95.82412 108.2827 108.2251 95.47727 108.2941 108.3012 95.10571 108.3377 104.8912 96.40025 107.3187 105.0906 96.64802 107.1411 105.3154 96.85323 106.941 105.5606 97.01129 106.7228 105.8206 97.11865 106.4914 106.0897 97.17295 106.2519 106.3618 97.17295 106.0097 106.6309 97.11865 105.7702 106.8909 97.01129 105.5387 107.136 96.85323 105.3205 107.3608 96.64802 105.1204 107.5603 96.40025 104.9429 107.73 96.11544 104.7918 107.866 95.79996 104.6707 108.026 95.10571 104.5284 104.486 95.46086 107.6793 104.7936 95.82412 107.9001 105.1812 96.14681 108.0554 105.6309 96.40025 108.1497 106.119 96.56192 108.1932 106.6181 96.61745 108.1997 107.0986 96.56192 108.1854 107.5314 96.40025 108.1668 107.8903 96.14681 108.1592 108.1537 95.82412 108.1749 108.3064 95.46086 108.2217 108.3409 95.0893 108.3023 104.5521 96.05339 107.1425 104.7141 96.32534 106.9983 104.9045 96.56192 106.8288 105.1192 96.75785 106.6377 105.3533 96.90876 106.4293 105.6015 97.01129 106.2084 105.8584 97.06312 105.9797 106.1182 97.06312 105.7484 106.3752 97.01129 105.5198 106.6234 96.90876 105.2988 106.8575 96.75785 105.0904 107.0722 96.56192 104.8993 107.2626 96.32534 104.7298 107.4246 96.05339 104.5856 107.5545 95.75218 104.47 104.1654 95.06513 107.036 104.3273 95.42839 107.3426 104.5855 95.79996 107.5908 104.9328 96.14681 107.7763 105.3547 96.43812 107.9009 105.8304 96.64802 107.9722 106.3337 96.75785 108.0022 106.8359 96.75785 108.0059 107.3071 96.64802 107.9998 107.7192 96.43812 107.9997 108.0476 96.14681 108.0192 108.2735 95.79996 108.0683 108.385 95.42839 108.1517 108.3784 95.06513 108.269 104.3075 95.68183 106.9095 104.4283 95.96207 106.802 104.579 96.21506 106.6678 104.7562 96.43516 106.5101 104.9559 96.61745 106.3323 105.1737 96.75785 106.1385 105.4047 96.85323 105.9329 105.6437 96.90145 105.7202 105.8854 96.90145 105.505 106.1244 96.85323 105.2923 106.3554 96.75785 105.0867 106.5731 96.61745 104.8929 106.7728 96.43516 104.7151 106.95 96.21506 104.5574 107.1007 95.96207 104.4232 107.2216 95.68183 104.3157 107.7072 95.0893 104.3341 107.3637 95.06513 104.1892 107.0029 95.03376 104.097 104.1156 95.03376 106.667 104.2192 95.38061 106.9881 104.4222 95.75218 107.2581 104.7215 96.11544 107.4697 105.1063 96.43812 107.6218 105.5588 96.69156 107.7193 106.0552 96.85323 107.7721 106.5678 96.90876 107.7938 107.0668 96.85323 107.8003 107.5228 96.69156 107.8077 107.909 96.43812 107.8307 108.203 96.11544 107.8809 108.3892 95.75218 107.9653 108.4591 95.38061 108.0858 108.4127 95.03376 108.2384 104.1641 95.31857 106.6238 104.2438 95.5905 106.5528 104.353 95.8435 106.4557 104.489 96.07189 106.3346 104.649 96.27059 106.1922 104.8293 96.43516 106.0318 105.0259 96.56192 105.8568 105.2344 96.64802 105.6712 105.4501 96.69156 105.4791 105.6684 96.69156 105.2849 105.8841 96.64802 105.0928 106.0926 96.56192 104.9072 106.2892 96.43516 104.7322 106.4695 96.27059 104.5717 106.6295 96.07189 104.4294 106.7656 95.8435 104.3083 106.8747 95.5905 104.2111 104.1634 95.24365 106.2577 104.2328 95.48023 106.196 104.3277 95.70034 106.1115 104.4461 95.89904 106.0062 104.5852 96.07189 105.8823 104.7421 96.21506 105.7427 104.9131 96.32534 105.5904 105.0945 96.40025 105.429 105.2822 96.43812 105.2619 105.4721 96.43812 105.0929 105.6598 96.40025 104.9258 105.8412 96.32534 104.7644 106.0122 96.21506 104.6121 106.1691 96.07189 104.4725 106.3082 95.89904 104.3486 106.4266 95.70034 104.2433 106.5215 95.48023 104.1588 106.6331 94.99588 104.0595 104.1821 94.95234 105.9293 104.217 95.15755 105.8981 104.2745 95.35349 105.847 104.3531 95.53577 105.777 104.4511 95.70034 105.6898 104.5664 95.8435 105.5872 104.6963 95.96207 105.4716 104.8379 96.05339 105.3455 104.9882 96.11544 105.2117 105.1436 96.14681 105.0734 105.3009 96.14681 104.9334 105.4563 96.11544 104.795 105.6066 96.05339 104.6613 105.7482 95.96207 104.5352 105.8781 95.8435 104.4196 105.9934 95.70034 104.317 106.0914 95.53577 104.2297 106.17 95.35349 104.1598 106.2275 95.15755 104.1086 106.5909 95.24365 104.0971 106.9544 95.31857 104.1402 107.3099 95.38061 104.2371 107.6494 95.42839 104.3855 107.9654 95.46086 104.5823 108.2508 95.47727 104.8229 108.4993 95.47727 105.102 108.7052 95.46086 105.4133 108.8639 95.42839 105.75 108.9721 95.38061 106.1045 109.0271 95.31857 106.4688 109.0278 95.24365 106.8349 108.9742 95.15755 107.1945 108.8674 95.06217 107.5396 108.7099 94.95965 107.8626 108.5052 94.85227 108.1561 106.2624 94.95234 104.0775 104.3238 95.06217 105.553 104.368 95.21308 105.5136 104.4286 95.35349 105.4597 104.5041 95.48023 105.3925 104.5929 95.5905 105.3135 104.6929 95.68183 105.2244 104.802 95.75218 105.1273 104.9177 95.79996 105.0243 105.0375 95.82412 104.9177 105.1586 95.82412 104.8099 105.2783 95.79996 104.7033 105.394 95.75218 104.6004 105.5032 95.68183 104.5032 105.6032 95.5905 104.4142 105.692 95.48023 104.3352 105.7675 95.35349 104.268 105.828 95.21308 104.2141 105.8723 95.06217 104.1747 105.8992 94.90412 104.1507 104.463 94.85227 105.2463 104.4813 94.95965 105.23 104.5114 95.06217 105.2033 104.5525 95.15755 105.1667 104.6038 95.24365 105.121 104.6641 95.31857 105.0673 104.7321 95.38061 105.0068 104.8062 95.42839 104.9409 104.8848 95.46086 104.8709 104.9661 95.47727 104.7985 105.0484 95.47727 104.7253 105.1298 95.46086 104.6528 105.2084 95.42839 104.5829 105.2825 95.38061 104.5169 105.3505 95.31857 104.4564 105.4108 95.24365 104.4027 105.4621 95.15755 104.3571 105.5032 95.06217 104.3205 105.5332 94.95965 104.2937 104.6768 94.79798 104.9447 113.255 93.74245 105.1706 114.1572 93.74245 105.093 114.1141 93.74245 104.8843 104.0734 93.74245 113.8215 104.2757 93.74245 113.8885 104.4573 93.74245 113.0014 102.9817 88.24245 113.859 103.096 88.24245 113.7894 102.3318 88.24245 113.8878 102.46 88.24245 113.9261 102.3696 88.24245 99.18297 105.1114 88.24245 106.3291 105.0962 88.24245 106.5901 105.1266 88.24245 106.8498 114.8406 88.24245 106.1026 114.7355 88.24245 106.0197 106.5518 88.24245 105.0469 106.2921 88.24245 105.0773 106.0417 88.24245 105.1523 105.808 88.24245 105.2697 105.5983 88.24245 105.4259 105.4189 88.24245 105.6161 105.2752 88.24245 105.8345 105.1717 88.24245 106.0746 114.9304 88.24245 106.2019 114.6181 88.24245 105.9555 114.4916 88.24245 105.9118 114.3596 88.24245 105.8897 102.5928 88.24245 113.9426 102.7265 88.24245 113.9366 102.8574 88.24245 113.9085 102.2723 88.24245 99.27484 102.1916 88.24245 99.38164 102.1299 88.24245 99.5004 115.0854 88.24245 106.5681 115.0545 88.24245 106.4379 115.0024 88.24245 106.3147 103.1971 88.24245 113.7017 103.2822 88.24245 113.5984 102.0727 88.24245 99.89402 102.0696 88.24245 99.76023 102.0889 88.24245 99.62778 107.916 88.24245 107.2581 108.0195 88.24245 107.018 108.0798 88.24245 106.7635 102.0981 88.24245 100.0254 102.145 88.24245 100.1508 105.2016 88.24245 107.1002 105.319 88.24245 107.3339 105.4752 88.24245 107.5436 105.6654 88.24245 107.723 107.0673 88.24245 105.1224 106.8129 88.24245 105.0621 105.8838 88.24245 107.8667 106.1239 88.24245 107.9702 106.3784 88.24245 108.0305 106.6394 88.24245 108.0457 106.8991 88.24245 108.0153 107.1496 88.24245 107.9403 107.3832 88.24245 107.8229 107.5929 88.24245 107.6667 107.7723 88.24245 107.4765 108.095 88.24245 106.5025 108.0646 88.24245 106.2428 107.9896 88.24245 105.9924 107.8722 88.24245 105.7587 107.716 88.24245 105.549 107.5258 88.24245 105.3696 107.3074 88.24245 105.2259 105.2752 94.74244 105.8345 105.4189 94.74244 105.6161 106.5956 94.74244 106.5463 105.5983 94.74244 105.4259 105.808 94.74244 105.2697 105.0962 94.74244 106.5901 105.1114 94.74244 106.3291 105.1717 94.74244 106.0746 105.319 94.74244 107.3339 105.2016 94.74244 107.1002 105.1266 94.74244 106.8498 105.8838 94.74244 107.8667 105.6654 94.74244 107.723 105.4752 94.74244 107.5436 106.6394 94.74244 108.0457 106.3784 94.74244 108.0305 106.1239 94.74244 107.9702 107.3832 94.74244 107.8229 107.1496 94.74244 107.9403 106.8991 94.74244 108.0153 107.916 94.74244 107.2581 107.7723 94.74244 107.4765 107.5929 94.74244 107.6667 108.095 94.74244 106.5025 108.0798 94.74244 106.7635 108.0195 94.74244 107.018 107.8722 94.74244 105.7587 107.9896 94.74244 105.9924 108.0646 94.74244 106.2428 107.3074 94.74244 105.2259 107.5258 94.74244 105.3696 107.716 94.74244 105.549 106.5518 94.74244 105.0469 106.8129 94.74244 105.0621 107.0673 94.74244 105.1224 106.0417 94.74244 105.1523 106.2921 94.74244 105.0773 105.6334 89.74245 114.9814 105.0437 89.74245 114.1819 105.0503 89.74245 114.3155 105.1994 89.74245 114.6843 105.2875 89.74245 114.785 105.3913 89.74245 114.8696 105.5076 89.74245 114.9357 105.079 89.74245 114.4463 105.1292 89.74245 114.5703 114.405 89.74245 103.2938 114.3818 89.74245 103.162 113.9842 89.74245 104.0725 114.0967 89.74245 104 114.1954 89.74245 103.9097 114.2778 89.74245 103.8042 114.3414 89.74245 103.6865 114.3846 89.74245 103.5598 114.4059 89.74245 103.4277 100.759 89.74245 101.3845 99.98962 89.74245 101.3417 99.87419 89.74245 101.4094 99.77166 89.74245 101.4954 100.6399 89.74245 101.3234 100.5123 89.74245 101.2829 100.3798 89.74245 101.2643 100.246 89.74245 101.2681 100.1147 89.74245 101.2941 105.6334 92.94245 114.9814 105.5076 92.94245 114.9357 105.3913 92.94245 114.8696 105.2875 92.94245 114.785 105.1994 92.94245 114.6843 105.1292 92.94245 114.5703 105.079 92.94245 114.4463 105.0503 92.94245 114.3155 105.0437 92.94245 114.1819 104.9838 93.27921 114.0479 104.7717 93.55513 114.0291 104.2996 93.74205 113.8986 104.6437 93.73941 112.4388 104.3718 93.73593 113.9271 104.4069 93.72938 113.9394 104.8286 93.7303 111.8805 104.4441 93.72244 113.9524 105.0108 93.71519 111.3307 104.4792 93.71318 113.9636 104.5361 93.69367 113.9799 105.1887 93.6942 110.7936 104.5494 93.68913 113.9837 105.361 93.66749 110.2733 104.6177 93.65813 114.0006 104.6588 93.63449 114.0092 105.5265 93.63526 109.7738 104.6839 93.62014 114.0144 104.7144 93.59962 114.02 105.6719 93.60086 109.3348 104.775 93.55255 114.0296 104.8313 93.49969 114.0368 104.8696 93.45619 114.0405 104.8829 93.44107 114.0419 104.9044 93.41295 114.0436 104.9473 93.34802 114.0463 104.9503 93.34231 114.0464 105.0099 93.2159 114.0485 105.0137 93.20665 114.0486 105.0251 93.17227 114.0488 105.044 93.09711 114.049 105.0556 93.02045 114.049 105.0464 93.08128 114.049 105.0286 93.09673 114.1815 104.9691 93.27951 114.1787 104.9327 93.34914 114.1762 105.4118 93.6874 114.9534 104.8156 93.50395 114.1639 104.696 93.60694 114.1447 104.5958 93.66744 114.1235 104.4514 93.72406 114.0844 104.6061 94.31977 114.8003 104.3388 93.7468 114.0469 104.0916 94.0298 114.4711 104.0807 94.07221 114.5056 104.1192 94.07244 114.5183 104.0876 94.4168 114.6576 104.0376 94.4173 114.6419 104.0925 94.29502 114.6286 104.0465 94.29523 114.614 104.0386 94.40376 114.6388 104.0675 94.14359 114.5474 104.0609 94.17926 114.5682 104.1031 94.17929 114.5818 104.0497 94.26948 114.6038 104.1659 93.89562 114.3482 104.134 93.89524 114.3369 104.1212 93.93146 114.3773 104.1954 93.82997 114.2456 104.1663 93.82964 114.2348 104.1555 93.8515 114.2688 104.228 93.78179 114.1347 104.2012 93.7816 114.1242 104.1935 93.79227 114.1488 104.263 93.75224 114.018 104.238 93.75229 114.0078 104.2339 93.75555 114.0208 104.4147 93.73344 114.0729 104.3091 93.77669 114.1643 104.3902 93.76306 114.1913 104.2833 93.82489 114.2765 104.5247 93.69942 114.1055 104.4294 93.75334 114.2034 104.3712 93.8106 114.3048 104.2621 93.89022 114.3806 104.1403 93.97711 114.4398 104.1053 93.97676 114.4279 104.5075 93.7276 114.2258 104.4137 93.80033 114.3177 104.3582 93.8749 114.4107 104.246 93.97109 114.4742 104.6644 93.62815 114.1385 104.5831 93.69403 114.2451 104.4982 93.77298 114.3415 104.4046 93.86386 114.4244 104.3516 93.95439 114.5063 104.2354 94.06554 114.555 104.6558 93.65273 114.2616 104.5798 93.73725 114.3625 104.497 93.83448 114.45 104.4025 93.94241 114.5209 104.3514 94.04717 114.5893 104.2306 94.17127 114.6211 104.7582 93.55835 114.1555 104.6891 93.63043 114.2685 104.6581 93.69326 114.3807 104.586 93.79605 114.4728 104.5038 93.91058 114.5485 104.4073 94.03408 114.605 104.3576 94.15097 114.6578 104.2315 94.2857 114.6707 104.7546 93.5794 114.2808 104.694 93.6695 114.3884 104.6714 93.74874 114.4928 104.6016 93.86899 114.5733 104.5186 93.99944 114.6348 104.4189 94.13665 114.6747 104.3702 94.26328 114.7101 104.2384 94.40606 114.7028 104.8679 93.44389 114.1702 104.8148 93.52239 114.2906 104.7643 93.61518 114.4024 104.7105 93.72319 114.5014 104.6953 93.81781 114.5952 104.6261 93.95428 114.6615 104.541 94.0989 114.7066 104.4371 94.24762 114.7281 104.3887 94.38139 114.7448 104.8896 93.41518 114.1724 104.8694 93.45964 114.2984 104.8288 93.55455 114.4139 104.7871 93.66477 114.5172 104.7382 93.79016 114.6047 104.7292 93.89874 114.6854 104.6589 94.04984 114.7353 104.5704 94.20655 114.7622 104.4614 94.36432 114.7641 104.8919 93.42972 114.3012 104.8871 93.4879 114.4232 104.8573 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146.2418 87.97743 81.05517 146.2416 87.98075 81.05512 146.241 87.98398 81.05472 146.2399 87.98706 81.05399 146.2386 87.98988 81.05294 146.2368 87.99238 81.05161 150.2731 88.14661 76.07915 150.2747 88.14385 76.08028 150.2758 88.14083 76.08111 150.2766 88.13761 76.0816 150.2769 88.13428 76.08175 150.2768 88.13095 76.08155 150.2762 88.12769 76.081 150.2752 88.12461 76.08011 150.2739 88.1218 76.07893 150.2722 88.11932 76.07747 150.2702 88.11724 76.07579 150.2679 88.11564 76.07392 150.2655 88.11455 76.07192 150.2629 88.11399 76.06983 150.2603 88.114 76.06774 150.6479 88.13048 75.58072 150.6505 88.12993 75.58277 150.6531 88.12994 75.58487 150.6556 88.1305 75.58695 150.6581 88.13162 75.58895 150.6603 88.13323 75.59082 150.6623 88.13532 75.59249 150.664 88.13781 75.59394 150.6654 88.14064 75.59512 150.6663 88.14373 75.59599 150.6669 88.14699 75.59653 150.667 88.15033 75.59672 150.6666 88.15366 75.59657 150.6659 88.15688 75.59606 150.6647 88.1599 75.59523 150.6632 88.16265 75.59407 150.6613 88.16503 75.59265 152.9949 88.232 72.63762 152.9976 88.23211 72.6397 153.0001 88.23278 72.64176 153.0026 88.234 72.64373 153.0048 88.23573 72.64556 153.0068 88.23792 72.64719 153.0085 88.2405 72.64858 153.0097 88.24342 72.64969 153.0106 88.24658 72.65049 153.0111 88.24989 72.65096 153.011 88.25325 72.65108 153.0106 88.25659 72.65085 153.0097 88.25979 72.65027 153.0084 88.26277 72.64936 153.0068 88.26544 72.64816 153.0048 88.26773 72.64668 154.5289 88.31024 70.65143 154.5316 88.30986 70.65346 154.5342 88.31005 70.65551 154.5369 88.3108 70.65753 154.5393 88.31211 70.65946 154.5416 88.31392 70.66124 154.5435 88.3162 70.66283 154.5451 88.31886 70.66416 154.5464 88.32183 70.66522 154.5472 88.32505 70.66597 154.5475 88.32839 70.66638 154.5474 88.33178 70.66645 154.5469 88.33512 70.66616 154.5459 88.3383 70.66554 154.5445 88.34123 70.6646 154.5427 88.34384 70.66336 154.5406 88.34606 70.66186 155.6004 88.40956 69.23854 155.6023 88.407 69.23977 155.6038 88.4041 69.24073 155.6049 88.40093 69.24136 155.6056 88.39761 69.24166 155.6058 88.39421 69.24163 155.6055 88.39083 69.24126 155.6047 88.38758 69.24056 155.6036 88.38455 69.23955 155.602 88.38182 69.23827 155.6 88.37948 69.23674 155.5978 88.3776 69.23501 155.5953 88.37622 69.23314 155.5926 88.37539 69.23118 155.5899 88.37514 69.22918 155.5871 88.37547 69.22721 156.3418 88.47039 68.17282 156.3441 88.46831 68.17424 156.3461 88.4658 68.17543 156.3477 88.46294 68.17636 156.3489 88.4598 68.17697 156.3497 88.45647 68.17727 156.3499 88.45306 68.17725 156.3497 88.44966 68.1769 156.349 88.44638 68.17623 156.3479 88.44331 68.17527 156.3463 88.44053 68.17404 156.3443 88.43814 68.17258 156.342 88.4362 68.17093 156.3395 88.43476 68.16914 156.3368 88.43388 68.16725 156.334 88.43357 68.16535 156.3311 88.43384 68.16345 105.651 65.04244 109.9164 105.2462 65.04244 111.3608 106.2506 65.04244 110.0292 106.1027 65.04244 111.5219 106.8606 65.04244 110.0363 106.9742 65.04244 111.5319 107.4626 65.04244 109.9372 107.8342 65.04244 111.3905 108.0382 65.04244 109.7351 108.6565 65.04244 111.1018 108.5701 65.04244 109.4362 109.4163 65.04244 110.6747 109.0419 65.04244 109.0494 110.0903 65.04244 110.1222 109.4394 65.04244 108.5866 110.6582 65.04244 109.461 109.7505 65.04244 108.0618 111.1026 65.04244 108.7113 109.9657 65.04244 107.4909 111.4101 65.04244 107.8958 110.0786 65.04244 106.8914 111.5712 65.04244 107.0392 110.0856 65.04244 106.2813 111.5812 65.04244 106.1677 109.9865 65.04244 105.6793 111.4398 65.04244 105.3077 109.7845 65.04244 105.1036 111.1511 65.04244 104.4854 109.4855 65.04244 104.5718 110.724 65.04244 103.7256 109.0987 65.04244 104.1 110.1715 65.04244 103.0516 108.6359 65.04244 103.7025 109.5103 65.04244 102.4837 108.1111 65.04244 103.3914 108.7606 65.04244 102.0393 107.5402 65.04244 103.1762 107.9451 65.04244 101.7318 106.9407 65.04244 103.0634 107.0885 65.04244 101.5707 106.3306 65.04244 103.0563 106.217 65.04244 101.5606 105.7286 65.04244 103.1554 105.357 65.04244 101.7021 105.153 65.04244 103.3574 104.5347 65.04244 101.9908 104.6211 65.04244 103.6564 103.7749 65.04244 102.4179 104.1493 65.04244 104.0432 103.1009 65.04244 102.9704 103.7518 65.04244 104.506 102.533 65.04244 103.6316 103.4407 65.04244 105.0308 102.0886 65.04244 104.3813 103.2255 65.04244 105.6017 101.7811 65.04244 105.1968 103.1127 65.04244 106.2012 101.62 65.04244 106.0534 103.1056 65.04244 106.8113 101.61 65.04244 106.9249 103.2047 65.04244 107.4133 101.7514 65.04244 107.7849 103.4068 65.04244 107.9889 102.0401 65.04244 108.6072 103.7057 65.04244 108.5208 102.4672 65.04244 109.367 104.0925 65.04244 108.9926 103.0197 65.04244 110.041 104.5553 65.04244 109.3901 103.6809 65.04244 110.6089 105.0801 65.04244 109.7012 104.4306 65.04244 111.0533 103.1056 0.04244339 106.8113 101.61 0.04244339 106.9249 103.1127 0.04244339 106.2012 101.62 0.04244339 106.0534 103.2255 0.04244339 105.6017 101.7811 0.04244339 105.1968 103.4407 0.04244339 105.0308 102.0886 0.04244339 104.3813 103.7518 0.04244339 104.506 102.533 0.04244339 103.6316 104.1493 0.04244339 104.0432 103.1009 0.04244339 102.9704 104.6211 0.04244339 103.6564 103.7749 0.04244339 102.4179 105.153 0.04244339 103.3574 104.5347 0.04244339 101.9908 105.7286 0.04244339 103.1554 105.357 0.04244339 101.7021 106.3306 0.04244339 103.0563 106.217 0.04244339 101.5606 106.9407 0.04244339 103.0634 107.0885 0.04244339 101.5707 107.5402 0.04244339 103.1762 107.9451 0.04244339 101.7318 108.1111 0.04244339 103.3914 108.7606 0.04244339 102.0393 108.6359 0.04244339 103.7025 109.5103 0.04244339 102.4837 109.0987 0.04244339 104.1 110.1715 0.04244339 103.0516 109.4855 0.04244339 104.5718 110.724 0.04244339 103.7256 109.7845 0.04244339 105.1036 111.1511 0.04244339 104.4854 109.9865 0.04244339 105.6793 111.4398 0.04244339 105.3077 110.0856 0.04244339 106.2813 111.5812 0.04244339 106.1677 110.0786 0.04244339 106.8914 111.5712 0.04244339 107.0392 109.9657 0.04244339 107.4909 111.4101 0.04244339 107.8958 109.7505 0.04244339 108.0618 111.1026 0.04244339 108.7113 109.4394 0.04244339 108.5866 110.6582 0.04244339 109.461 109.0419 0.04244339 109.0494 110.0903 0.04244339 110.1222 108.5701 0.04244339 109.4362 109.4163 0.04244339 110.6747 108.0382 0.04244339 109.7351 108.6565 0.04244339 111.1018 107.4626 0.04244339 109.9372 107.8342 0.04244339 111.3905 106.8606 0.04244339 110.0363 106.9742 0.04244339 111.5319 106.2506 0.04244339 110.0292 106.1027 0.04244339 111.5219 105.651 0.04244339 109.9164 105.2462 0.04244339 111.3608 105.0801 0.04244339 109.7012 104.4306 0.04244339 111.0533 104.5553 0.04244339 109.3901 103.6809 0.04244339 110.6089 104.0925 0.04244339 108.9926 103.0197 0.04244339 110.041 103.7057 0.04244339 108.5208 102.4672 0.04244339 109.367 103.4068 0.04244339 107.9889 102.0401 0.04244339 108.6072 103.2047 0.04244339 107.4133 101.7514 0.04244339 107.7849 95.86937 76.22919 116.2541 95.84487 77.54244 116.2762 95.10581 77.54244 115.3913 106.0191 76.22919 121.0018 106.0178 77.54244 121.0348 104.8685 77.54244 120.9431 116.5147 76.22919 117.0774 116.5374 77.54244 117.1015 115.6673 77.54244 117.858 121.0597 76.22919 106.8353 121.0927 77.54244 106.8359 121.0239 77.54244 107.9868 97.09963 73.5808 117.1011 97.09628 73.61605 117.1045 96.85546 73.61596 116.8836 107.5943 73.5119 120.6982 107.5943 73.61621 120.7125 107.159 73.61596 120.7383 92.44367 73.5119 107.545 92.42936 73.61621 107.545 92.39521 73.61596 106.8274 96.40701 71.04244 115.6725 96.45414 71.04244 115.7248 96.30239 71.64713 115.7771 96.23555 72.3226 115.9227 96.03572 73.61605 116.0437 96.03907 73.5808 116.0403 96.06495 73.61596 116.0771 96.15784 72.6103 115.9216 96.20089 72.32341 115.8786 95.94618 74.55828 116.1332 95.94279 74.91926 116.1876 95.92165 74.91967 116.1577 95.87937 75.54244 116.2 95.16658 75.54244 115.3446 92.19995 76.22919 107.9809 92.40238 75.54244 109.1123 92.35943 76.22919 109.1201 92.65113 75.54244 110.2319 92.60892 76.22919 110.243 92.98802 75.54244 111.3281 92.94684 76.22919 111.3426 93.41095 75.54244 112.3941 93.37105 76.22919 112.4118 93.91724 75.54244 113.4232 93.87887 76.22919 113.444 94.50369 75.54244 114.4087 94.46709 76.22919 114.4325 95.13199 76.22919 115.3712 92.23048 74.91926 106.8307 92.30908 74.49318 107.545 92.26754 74.91976 107.545 92.13147 76.22919 106.8326 92.20691 75.54244 107.545 92.24338 75.54244 107.9766 92.61484 72.53961 107.545 92.62526 72.3226 106.8228 92.66143 72.32328 107.545 92.82225 71.57659 107.545 92.92003 71.04244 106.817 92.95387 71.04244 107.5451 92.41777 73.61596 105.6983 92.42955 73.61621 105.545 92.44385 73.5119 105.545 92.64746 72.3226 105.712 92.61502 72.53961 105.545 92.66162 72.32328 105.545 92.94176 71.04244 105.7296 92.82243 71.57659 105.545 92.95405 71.04244 105.5451 92.30926 74.49318 105.545 92.2533 74.91926 105.6884 92.26773 74.91976 105.545 92.20709 75.54244 105.545 92.15445 76.22919 105.6825 92.31195 75.54244 104.544 95.49359 76.22919 97.27061 94.82735 75.54244 98.20722 94.79174 76.22919 98.18199 94.20201 75.54244 99.16857 94.1645 76.22919 99.14624 93.65503 75.54244 100.1766 93.61586 76.22919 100.1573 93.18986 75.54244 101.2248 93.14929 76.22919 101.2087 92.80944 75.54244 102.3067 92.76773 76.22919 102.2939 92.51619 75.54244 103.4155 92.47358 76.22919 103.406 92.26873 76.22919 104.5379 96.33635 74.91926 96.4872 95.9234 74.91967 96.9329 96.26564 76.22919 96.41787 95.88113 75.54244 96.89063 95.52709 75.54244 97.29859 96.15955 72.6103 97.16909 96.0408 73.5808 97.05033 96.45401 73.61596 96.60256 96.03745 73.61605 97.04698 95.94793 74.55828 96.95744 96.2026 72.32341 97.21215 96.6183 72.3226 96.76364 96.30408 71.64713 97.31365 96.82881 71.04244 96.97006 96.40867 71.04244 97.41827 97.09821 73.61605 95.98641 97.10156 73.5808 95.98976 97.22031 72.6103 96.10853 97.26335 72.32341 96.15159 97.36483 71.64713 96.25308 97.46943 71.04244 96.3577 97.00869 74.55828 95.89688 96.98416 74.91967 95.87234 96.94189 75.54244 95.83007 97.13165 75.54244 95.66211 105.4475 76.22919 92.12496 104.3123 75.54244 92.30487 104.3054 76.22919 92.26177 103.188 75.54244 92.5313 103.1777 76.22919 92.48888 102.0853 75.54244 92.84633 102.0716 76.22919 92.80487 101.0111 75.54244 93.24799 100.9942 76.22919 93.20774 99.97219 75.54244 93.73371 99.95214 76.22919 93.69494 98.97516 75.54244 94.30045 98.9521 76.22919 94.26339 98.02632 75.54244 94.94461 98.00038 76.22919 94.9095 97.10301 76.22919 95.62918 106.5969 74.91926 92.17836 105.5969 74.91976 92.21823 106.5969 76.22919 92.07933 105.5969 75.54244 92.1576 105.451 75.54244 92.16847 105.5969 72.53961 92.56554 105.5969 73.5119 92.39437 106.5969 73.61596 92.34313 105.5969 73.61621 92.38006 105.5969 74.49318 92.25978 105.5969 72.32328 92.61213 106.5969 72.3226 92.57322 105.5969 71.57659 92.77294 106.5969 71.04244 92.86805 105.5969 71.04244 92.90456 107.5969 73.61621 92.38024 107.5969 73.5119 92.39455 107.5969 72.53961 92.56572 107.5969 72.32328 92.61231 107.5969 71.57659 92.77313 107.5969 71.04244 92.90474 107.5969 74.49318 92.25995 107.5969 74.91976 92.21842 107.5969 75.54244 92.15779 107.7429 75.54244 92.16869 116.0902 76.22919 95.63091 115.167 75.54244 94.94617 115.193 76.22919 94.91107 114.2183 75.54244 94.30184 114.2414 76.22919 94.26479 113.2214 75.54244 93.73493 113.2414 76.22919 93.69615 112.1826 75.54244 93.249 112.1995 76.22919 93.20877 111.1084 75.54244 92.84716 111.1221 76.22919 92.8057 110.0058 75.54244 92.53192 110.0161 76.22919 92.4895 108.8815 75.54244 92.30529 108.8884 76.22919 92.26219 107.7463 76.22919 92.12517 116.8567 74.91926 96.48908 116.209 74.91967 95.87409 116.9274 76.22919 96.41976 116.2513 75.54244 95.83183 116.0615 75.54244 95.66384 115.9728 72.6103 96.11025 116.0916 73.5808 95.9915 116.739 73.61596 96.60441 116.0949 73.61605 95.98815 116.1845 74.55828 95.89863 115.9298 72.32341 96.15329 116.5747 72.3226 96.76547 115.8283 71.64713 96.25477 116.3641 71.04244 96.97184 115.7236 71.04244 96.35937 117.1555 73.61605 97.0489 117.1521 73.5808 97.05225 117.0334 72.6103 97.171 116.9903 72.32341 97.21405 116.8888 71.64713 97.31553 116.7842 71.04244 97.42012 117.245 74.55828 96.95938 117.2696 74.91967 96.93486 117.3118 75.54244 96.89258 117.6658 75.54244 97.30062 120.9843 75.54244 105.5476 120.8796 75.54244 104.5466 120.9228 76.22919 104.5405 120.6756 75.54244 103.418 120.7182 76.22919 103.4086 120.3825 75.54244 102.3093 120.4243 76.22919 102.2964 120.0023 75.54244 101.2273 120.0429 76.22919 101.2112 119.5373 75.54244 100.1789 119.5765 76.22919 100.1597 118.9905 75.54244 99.17084 119.0281 76.22919 99.14852 118.3654 75.54244 98.20937 118.401 76.22919 98.18414 117.6993 76.22919 97.27263 120.8821 74.49318 105.5476 120.9381 74.91926 105.6911 120.7618 73.61621 105.5476 120.7736 73.61596 105.7009 120.7475 73.5119 105.5476 120.5764 72.53961 105.5476 120.5439 72.3226 105.7146 120.5298 72.32328 105.5476 120.369 71.57659 105.5476 120.2496 71.04244 105.7321 120.2373 71.04244 105.5475 120.7959 73.61596 106.83 120.7617 73.61621 107.5476 120.7474 73.5119 107.5476 120.5659 72.3226 106.8254 120.5762 72.53961 107.5476 120.5296 72.32328 107.5476 120.2711 71.04244 106.8195 120.3688 71.57659 107.5476 120.2372 71.04244 107.5475 120.8819 74.49318 107.5476 120.9607 74.91926 106.8333 120.9235 74.91976 107.5476 120.9841 75.54244 107.5476 120.9476 75.54244 107.9792 120.991 76.22919 107.9835 120.8313 76.22919 109.1227 120.7884 75.54244 109.1149 120.5816 76.22919 110.2456 120.5394 75.54244 110.2344 120.2435 76.22919 111.3451 120.2023 75.54244 111.3306 119.8191 76.22919 112.4142 119.7792 75.54244 112.3965 119.3111 76.22919 113.4463 119.2727 75.54244 113.4255 118.7227 76.22919 114.4347 118.6861 75.54244 114.4109 118.0576 76.22919 115.3733 118.023 75.54244 115.3466 117.3101 75.54244 116.202 117.3201 76.22919 116.256 117.2467 74.91926 116.1896 117.1504 73.5808 116.0423 117.1538 73.61605 116.0456 117.1245 73.61596 116.079 117.2433 74.55828 116.1352 117.2678 74.91967 116.1597 117.0317 72.6103 115.9235 116.9539 72.3226 115.9246 116.9886 72.32341 115.8804 116.8871 71.64713 115.7789 116.7354 71.04244 115.7267 116.7825 71.04244 115.6743 116.3339 73.61596 116.8854 116.093 73.61605 117.1062 116.0896 73.5808 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94.89273 105.1681 74.04244 94.99454 105.1681 71.04244 94.99454 104.861 71.04244 95.24678 104.8587 71.04244 95.24946 104.5978 74.04244 95.54448 104.861 74.04244 95.24678 104.5978 71.04244 95.54448 104.4699 71.04244 95.74629 104.3851 74.04244 95.88012 104.3851 71.04244 95.88012 104.2283 71.04244 96.24523 104.2283 74.04244 96.24523 104.1313 71.04244 96.63058 104.1313 74.04244 96.63058 101.3713 71.04244 99.0373 102.3542 71.04244 98.43872 102.3542 74.04244 98.43872 101.5371 71.04244 98.9363 100.0474 71.04244 98.93616 97.64996 75.54244 96.53826 97.67281 75.2056 96.56112 97.71648 74.56195 96.60479 97.76248 74.04244 96.6508 105.5968 74.04244 93.31953 105.5968 75.54244 93.1602 105.5968 75.2056 93.19255 105.5968 74.56256 93.25432 96.54411 74.04244 105.1168 96.54411 71.04244 105.1168 96.44228 74.04244 105.2406 96.44228 71.04244 105.2406 96.32199 74.04244 105.3464 96.32199 71.04244 105.3464 96.18634 74.04244 105.4318 96.18634 71.04244 105.4318 96.03879 74.04244 105.4943 96.03879 71.04244 105.4943 95.88315 74.04244 105.5325 95.88315 71.04244 105.5325 95.72341 74.04244 105.5453 95.72341 71.04244 105.5453 97.4006 71.04244 104.3497 97.4006 74.04244 104.3497 97.52883 71.04244 104.2666 97.52883 74.04244 104.2666 97.6429 71.04244 104.165 97.6429 74.04244 104.165 97.74016 71.04244 104.0472 97.74016 74.04244 104.0472 97.81834 71.04244 103.9159 97.81834 74.04244 103.9159 97.87561 71.04244 103.7743 97.87561 74.04244 103.7743 97.07653 71.04244 104.56 97.07653 74.04244 104.56 96.80029 71.04244 104.8074 96.78874 74.04244 104.8178 96.78874 71.04244 104.8178 98.99622 74.04244 100.0063 98.99622 71.04244 100.0063 99.09706 74.04244 100.1242 99.09706 71.04244 100.1242 99.17845 74.04244 100.2562 99.17845 71.04244 100.2562 99.23844 74.04244 100.3993 99.23844 71.04244 100.3993 99.2756 74.04244 100.5499 99.2756 71.04244 100.5499 99.289 74.04244 100.7044 99.289 71.04244 100.7044 99.27835 74.04244 100.8592 99.27835 71.04244 100.8592 99.24389 74.04244 101.0104 99.24389 71.04244 101.0104 99.23608 71.04244 101.03 99.18646 74.04244 101.1545 99.18646 71.04244 101.1545 99.10742 74.04244 101.288 99.10742 71.04244 101.288 98.61328 71.04244 102.0736 98.61328 74.04244 102.0736 98.20127 71.04244 102.9052 98.20127 74.04244 102.9052 96.70172 74.04244 97.71137 98.38545 71.04244 99.3954 97.9261 71.04244 98.93597 96.5892 75.54244 97.59883 96.61206 75.2056 97.62168 96.65572 74.56195 97.66535 93.20968 75.54244 105.5451 93.24204 75.2056 105.5451 93.30381 74.56256 105.5451 93.36901 74.04244 105.5451 99.10646 74.04244 111.8032 99.10646 71.04244 111.8032 99.18547 74.04244 111.9367 99.18547 71.04244 111.9367 99.24288 74.04244 112.0808 99.24288 71.04244 112.0808 99.27732 74.04244 112.2321 99.27732 71.04244 112.2321 99.28794 74.04244 112.3869 99.28794 71.04244 112.3869 99.2745 74.04244 112.5414 99.2745 71.04244 112.5414 99.23732 74.04244 112.692 99.23732 71.04244 112.692 99.1773 74.04244 112.835 99.1773 71.04244 112.835 99.09588 74.04244 112.9671 99.09588 71.04244 112.9671 98.99502 74.04244 113.0849 98.99502 71.04244 113.0849 97.4002 74.04244 108.7413 97.4002 71.04244 108.7413 97.52841 74.04244 108.8243 97.52841 71.04244 108.8243 97.64247 74.04244 108.926 97.64247 71.04244 108.926 97.7397 74.04244 109.0438 97.7397 71.04244 109.0438 97.81786 74.04244 109.1751 97.81786 71.04244 109.1751 97.8751 74.04244 109.3167 97.8751 71.04244 109.3167 95.72323 74.04244 107.5453 95.72323 71.04244 107.5453 95.88297 74.04244 107.5582 95.88297 71.04244 107.5582 96.0386 74.04244 107.5964 96.0386 71.04244 107.5964 96.18613 74.04244 107.6589 96.18613 71.04244 107.6589 96.32177 74.04244 107.7443 96.32177 71.04244 107.7443 96.44203 74.04244 107.8502 96.44203 71.04244 107.8502 96.54384 74.04244 107.974 96.54384 71.04244 107.974 96.78842 71.04244 108.273 96.78842 74.04244 108.273 96.79998 71.04244 108.2834 97.07617 74.04244 108.5308 97.2937 71.04244 108.6721 97.07617 71.04244 108.5308 98.2006 71.04244 110.1859 98.2006 74.04244 110.1859 98.61247 71.04244 111.0176 98.61247 74.04244 111.0176 98.38414 71.04244 113.6957 96.58757 75.54244 115.4919 96.61042 75.2056 115.4691 96.6541 74.56195 115.4254 96.70011 74.04244 115.3794 93.36883 74.04244 107.5451 93.2095 75.54244 107.5451 93.24185 75.2056 107.5451 93.30362 74.56256 107.5451 105.166 74.04244 118.0978 105.166 71.04244 118.0978 105.2897 74.04244 118.1996 105.2897 71.04244 118.1996 105.3956 74.04244 118.3199 105.3956 71.04244 118.3199 105.4809 74.04244 118.4556 105.4809 71.04244 118.4556 105.5435 74.04244 118.6031 105.5435 71.04244 118.6031 105.5816 74.04244 118.7588 105.5816 71.04244 118.7588 105.5945 74.04244 118.9185 105.5945 71.04244 118.9185 104.0948 71.04244 116.0657 104.0948 74.04244 116.0657 104.0785 71.04244 115.8937 104.0785 74.04244 115.8937 104.0329 71.04244 115.7271 104.0329 74.04244 115.7271 103.9593 71.04244 115.5708 103.9593 74.04244 115.5708 103.8599 71.04244 115.4295 103.8599 74.04244 115.4295 103.7376 71.04244 115.3074 103.7376 74.04244 115.3074 103.5962 71.04244 115.2082 103.5962 74.04244 115.2082 103.4397 71.04244 115.1348 103.4397 74.04244 115.1348 104.1295 71.04244 116.4616 104.1295 74.04244 116.4616 104.2264 71.04244 116.8469 104.2264 74.04244 116.8469 104.3832 71.04244 117.2121 104.3832 74.04244 117.2121 104.468 71.04244 117.3459 104.5958 74.04244 117.5478 104.5958 71.04244 117.5478 104.8566 71.04244 117.8428 104.859 74.04244 117.8455 104.859 71.04244 117.8455 100.0556 74.04244 114.1457 100.0556 71.04244 114.1457 100.1735 74.04244 114.0448 100.1735 71.04244 114.0448 100.3055 74.04244 113.9635 100.3055 71.04244 113.9635 100.4486 74.04244 113.9035 100.4486 71.04244 113.9035 100.5992 74.04244 113.8663 100.5992 71.04244 113.8663 100.7537 74.04244 113.8529 100.7537 71.04244 113.8529 100.9085 74.04244 113.8636 100.9085 71.04244 113.8636 101.0597 74.04244 113.898 101.0597 71.04244 113.898 101.2038 74.04244 113.9554 101.2038 71.04244 113.9554 101.3373 74.04244 114.0345 101.3373 71.04244 114.0345 101.3699 71.04244 114.0543 102.3527 74.04244 114.6531 102.3527 71.04244 114.6531 97.76067 74.04244 116.4402 97.64813 75.54244 116.5527 97.67098 75.2056 116.5298 97.71466 74.56195 116.4862 105.5944 75.54244 119.9322 105.5944 75.2056 119.8999 105.5944 74.56256 119.8381 105.5944 74.04244 119.7729 111.1861 74.04244 103.6087 111.1861 71.04244 103.6087 110.634 71.04244 102.8865 110.634 74.04244 102.8865 109.9695 71.04244 102.2662 109.9695 74.04244 102.2662 109.2112 71.04244 101.765 109.2112 74.04244 101.765 109.019 74.04244 101.6369 109.019 71.04244 101.6369 108.852 74.04244 101.4774 108.852 71.04244 101.4774 108.7152 74.04244 101.2913 108.7152 71.04244 101.2913 108.6128 74.04244 101.0842 108.6128 71.04244 101.0842 108.5971 71.04244 101.0309 108.5479 74.04244 100.8626 108.5479 71.04244 100.8626 108.5224 74.04244 100.633 108.5224 71.04244 100.633 108.5373 74.04244 100.4025 108.5373 71.04244 100.4025 108.5919 74.04244 100.1781 108.5919 71.04244 100.1781 108.6846 74.04244 99.96662 108.6846 71.04244 99.96662 108.8127 74.04244 99.77442 108.8127 71.04244 99.77442 108.9722 74.04244 99.60739 108.9722 71.04244 99.60739 109.1583 74.04244 99.4706 109.1583 71.04244 99.4706 109.3083 71.04244 99.3964 109.3654 74.04244 99.36819 109.3654 71.04244 99.36819 109.587 74.04244 99.30329 109.587 71.04244 99.30329 109.8166 74.04244 99.27787 109.8166 71.04244 99.27787 110.0471 74.04244 99.2927 110.0471 71.04244 99.2927 110.2715 74.04244 99.34732 110.483 71.04244 99.44008 110.483 74.04244 99.44008 110.3836 71.04244 99.3965 110.2715 71.04244 99.34732 111.3402 74.04244 99.98133 111.3402 71.04244 99.98133 111.8212 71.04244 100.377 112.1231 74.04244 100.6254 112.1231 71.04244 100.6254 112.5066 71.04244 101.0312 112.8194 74.04244 101.3622 112.8194 71.04244 101.3622 113.4182 74.04244 102.1803 113.4182 71.04244 102.1803 113.5253 74.04244 102.3849 113.5253 71.04244 102.3849 113.5952 74.04244 102.605 113.5952 71.04244 102.605 113.6258 74.04244 102.834 113.6258 71.04244 102.834 113.6162 74.04244 103.0647 113.6162 71.04244 103.0647 113.5666 74.04244 103.2903 113.5666 71.04244 103.2903 113.4787 74.04244 103.5039 113.4787 71.04244 103.5039 113.355 74.04244 103.6989 113.355 71.04244 103.6989 113.1993 74.04244 103.8695 113.1993 71.04244 103.8695 113.0163 74.04244 104.0105 113.0163 71.04244 104.0105 112.8117 74.04244 104.1176 112.8117 71.04244 104.1176 112.5916 74.04244 104.1875 112.5916 71.04244 104.1875 112.3626 74.04244 104.2181 112.3626 71.04244 104.2181 112.1319 74.04244 104.2085 112.1319 71.04244 104.2085 111.9063 74.04244 104.1589 111.9063 71.04244 104.1589 111.8208 71.04244 104.1237 111.6927 74.04244 104.071 111.6927 71.04244 104.071 111.4977 74.04244 103.9473 111.4977 71.04244 103.9473 111.3271 74.04244 103.7916 111.3271 71.04244 103.7916 103.98 74.04244 111.3276 103.98 71.04244 111.3276 104.1722 74.04244 111.4557 104.1722 71.04244 111.4557 104.3393 74.04244 111.6152 104.3393 71.04244 111.6152 104.4685 71.04244 111.791 104.476 74.04244 111.8013 104.476 71.04244 111.8013 104.5785 74.04244 112.0083 104.5785 71.04244 112.0083 104.6434 74.04244 112.23 104.6434 71.04244 112.23 104.6688 74.04244 112.4596 104.6688 71.04244 112.4596 104.6539 74.04244 112.6901 104.6539 71.04244 112.6901 104.5993 74.04244 112.9145 104.5993 71.04244 112.9145 104.5066 74.04244 113.126 104.5066 71.04244 113.126 104.4683 71.04244 113.1833 104.3785 74.04244 113.3182 104.3785 71.04244 113.3182 104.219 74.04244 113.4852 104.219 71.04244 113.4852 104.0329 74.04244 113.622 104.0329 71.04244 113.622 103.8829 71.04244 113.6962 103.8259 74.04244 113.7244 103.8259 71.04244 113.7244 103.6042 74.04244 113.7893 103.6042 71.04244 113.7893 103.3746 74.04244 113.8147 103.3746 71.04244 113.8147 103.1442 74.04244 113.7999 103.1442 71.04244 113.7999 102.9197 74.04244 113.7453 102.7082 71.04244 113.6525 102.7082 74.04244 113.6525 102.8076 71.04244 113.6961 102.9197 71.04244 113.7453 101.851 74.04244 113.1113 101.851 71.04244 113.1113 101.37 71.04244 112.7156 101.0681 74.04244 112.4672 101.0681 71.04244 112.4672 100.3718 74.04244 111.7304 100.3718 71.04244 111.7304 99.77301 74.04244 110.9123 99.77301 71.04244 110.9123 99.66595 74.04244 110.7077 99.66595 71.04244 110.7077 99.59605 74.04244 110.4876 99.59605 71.04244 110.4876 99.56544 74.04244 110.2586 99.56544 71.04244 110.2586 99.57505 74.04244 110.0279 99.57505 71.04244 110.0279 99.62458 74.04244 109.8023 99.62458 71.04244 109.8023 99.71252 74.04244 109.5887 99.71252 71.04244 109.5887 99.83622 74.04244 109.3937 99.83622 71.04244 109.3937 99.99191 74.04244 109.2231 99.99191 71.04244 109.2231 100.1749 74.04244 109.0821 100.1749 71.04244 109.0821 100.3795 74.04244 108.975 100.3795 71.04244 108.975 100.5996 74.04244 108.9051 100.5996 71.04244 108.9051 100.8286 74.04244 108.8745 100.8286 71.04244 108.8745 101.0593 74.04244 108.8841 101.0593 71.04244 108.8841 101.2849 74.04244 108.9337 101.2849 71.04244 108.9337 101.3704 71.04244 108.9689 101.4985 74.04244 109.0216 101.4985 71.04244 109.0216 101.6935 74.04244 109.1453 101.6935 71.04244 109.1453 101.8641 74.04244 109.301 101.8641 71.04244 109.301 102.0051 74.04244 109.4839 102.0051 71.04244 109.4839 102.5572 71.04244 110.2061 102.5572 74.04244 110.2061 103.2217 71.04244 110.8264 103.2217 74.04244 110.8264 114.0057 74.04244 101.1559 114.0847 74.04244 101.2894 114.0847 71.04244 101.2894 114.0057 71.04244 101.1559 113.9561 71.04244 101.0314 113.9483 74.04244 101.0118 113.9483 71.04244 101.0118 113.9139 74.04244 100.8605 113.9139 71.04244 100.8605 113.9033 74.04244 100.7058 113.9033 71.04244 100.7058 113.9167 74.04244 100.5512 113.9167 71.04244 100.5512 113.9539 74.04244 100.4006 113.9539 71.04244 100.4006 114.0139 74.04244 100.2576 114.0139 71.04244 100.2576 114.0953 74.04244 100.1255 114.0953 71.04244 100.1255 114.1962 74.04244 100.0077 114.1962 71.04244 100.0077 115.791 74.04244 104.3514 115.791 71.04244 104.3514 115.6628 74.04244 104.2683 115.6628 71.04244 104.2683 115.5487 74.04244 104.1666 115.5487 71.04244 104.1666 115.4515 74.04244 104.0488 115.4515 71.04244 104.0488 115.3733 74.04244 103.9175 115.3733 71.04244 103.9175 115.3161 74.04244 103.7759 115.3161 71.04244 103.7759 117.468 74.04244 105.5473 117.468 71.04244 105.5473 117.3082 74.04244 105.5344 117.3082 71.04244 105.5344 117.1526 74.04244 105.4962 117.1526 71.04244 105.4962 117.0051 74.04244 105.4337 117.0051 71.04244 105.4337 116.8694 74.04244 105.3483 116.8694 71.04244 105.3483 116.7492 74.04244 105.2424 116.7492 71.04244 105.2424 116.6474 74.04244 105.1186 116.6474 71.04244 105.1186 116.4028 71.04244 104.8196 116.4028 74.04244 104.8196 116.3912 71.04244 104.8092 116.115 74.04244 104.5618 116.115 71.04244 104.5618 114.9906 71.04244 102.9067 114.9906 74.04244 102.9067 114.5787 71.04244 102.0751 114.5787 74.04244 102.0751 116.6036 75.54244 97.60066 116.5808 75.2056 97.62351 116.5371 74.56195 97.66717 116.4911 74.04244 97.71317 114.8071 71.04244 99.39691 115.2665 71.04244 98.93755 118.2098 71.04244 105.5474 119.8224 74.04244 105.5475 119.9817 75.54244 105.5475 119.9494 75.2056 105.5475 119.8876 74.56256 105.5475 93.09844 77.54244 106.2697 93.1208 77.54244 107.3708 93.23284 77.54244 108.4663 93.4338 77.54244 109.5491 93.72235 77.54244 110.6119 94.09658 77.54244 111.6477 94.55398 77.54244 112.6495 95.09152 77.54244 113.6107 95.70561 77.54244 114.5249 96.39218 77.54244 115.386 97.14665 77.54244 116.1883 97.96399 77.54244 116.9263 98.83879 77.54244 117.5954 99.76519 77.54244 118.1908 100.7371 77.54244 118.7088 101.7479 77.54244 119.1459 102.791 77.54244 119.4991 103.8595 77.54244 119.7661 104.9461 77.54244 119.9451 106.0437 77.54244 120.035 107.145 77.54244 120.0351 108.2427 77.54244 119.9454 109.3293 77.54244 119.7666 110.3978 77.54244 119.4998 111.441 77.54244 119.1468 112.4519 77.54244 118.7099 113.4239 77.54244 118.1921 114.3504 77.54244 117.5968 115.2253 77.54244 116.9279 116.0428 77.54244 116.19 116.7974 77.54244 115.3879 117.4841 77.54244 114.5269 118.0984 77.54244 113.6128 118.6361 77.54244 112.6517 119.0937 77.54244 111.65 119.4681 77.54244 110.6143 119.7569 77.54244 109.5515 119.958 77.54244 108.4688 120.0703 77.54244 107.3732 120.0928 77.54244 106.2722 120.0256 77.54244 105.1729 119.8689 77.54244 104.0828 119.624 77.54244 103.0091 119.2923 77.54244 101.9589 118.8761 77.54244 100.9393 118.3783 77.54244 99.957 117.802 77.54244 99.01853 117.1511 77.54244 98.13015 116.43 77.54244 97.29779 115.6434 77.54244 96.52696 114.7966 77.54244 95.82282 113.8953 77.54244 95.19004 112.9454 77.54244 94.63284 111.9532 77.54244 94.15492 110.9253 77.54244 93.75946 109.8687 77.54244 93.44908 108.7902 77.54244 93.22588 107.6972 77.54244 93.09132 106.5968 77.54244 93.0463 105.4965 77.54244 93.09112 104.4034 77.54244 93.22548 103.3249 77.54244 93.44849 102.2682 77.54244 93.75866 101.2403 77.54244 94.15393 100.248 77.54244 94.63168 99.29799 77.54244 95.18871 98.39653 77.54244 95.82132 97.54962 77.54244 96.52531 96.76291 77.54244 97.29598 96.04164 77.54244 98.12822 95.39061 77.54244 99.01648 94.81414 77.54244 99.95484 94.31608 77.54244 100.9371 93.89974 77.54244 101.9566 93.56788 77.54244 103.0067 93.32273 77.54244 104.0804 93.1659 77.54244 105.1705 115.1763 75.54244 116.8689 114.3064 75.54244 117.534 113.3851 75.54244 118.1259 112.4187 75.54244 118.6408 111.4135 75.54244 119.0752 110.3762 75.54244 119.4262 109.3138 75.54244 119.6915 108.2333 75.54244 119.8693 116.7395 75.54244 115.3376 117.4223 75.54244 114.4816 118.0331 75.54244 113.5727 118.5677 75.54244 112.617 119.0227 75.54244 111.621 119.395 75.54244 110.5912 119.6821 75.54244 109.5345 119.8821 75.54244 108.4579 114.7501 75.54244 95.88374 107.691 75.54244 93.16775 108.7778 75.54244 93.30155 109.8501 75.54244 93.52349 110.9007 75.54244 93.83209 111.9227 75.54244 94.22531 112.9093 75.54244 94.70051 113.8538 75.54244 95.25455 105.5027 75.54244 93.16755 104.4158 75.54244 93.30115 103.3435 75.54244 93.52289 102.2928 75.54244 93.8313 101.2707 75.54244 94.22433 100.2841 75.54244 94.69936 99.33944 75.54244 95.25323 98.44309 75.54244 95.88225 93.24218 75.54244 105.1783 93.39812 75.54244 104.0944 93.64189 75.54244 103.0268 93.97186 75.54244 101.9827 94.38584 75.54244 100.9689 94.88107 75.54244 99.99229 95.45426 75.54244 99.05925 96.1016 75.54244 98.17604 93.30875 75.54244 108.4554 93.50857 75.54244 109.5321 93.79548 75.54244 110.5889 94.16758 75.54244 111.6187 94.62239 75.54244 112.6148 95.15687 75.54244 113.5706 95.76747 75.54244 114.4796 96.45014 75.54244 115.3358 104.9555 75.54244 119.869 103.875 75.54244 119.691 102.8126 75.54244 119.4255 101.7755 75.54244 119.0743 100.7703 75.54244 118.6398 99.804 75.54244 118.1247 98.88285 75.54244 117.5326 98.01303 75.54244 116.8674 119.7935 75.54244 104.0968 119.9493 75.54244 105.1807 117.0911 75.54244 98.17796 117.7383 75.54244 99.06129 118.3113 75.54244 99.99443 118.8064 75.54244 100.9712 119.2202 75.54244 101.985 119.55 75.54244 103.0292 102.5956 74.04244 106.5459 119.8517 74.04244 106.5475 110.5956 74.04244 106.5467 106.5952 74.04244 110.5463 119.8351 74.04244 107.3588 115.8779 74.04244 116.0217 106.5944 74.04244 119.7997 107.2898 74.04244 110.4856 110.5348 74.04244 107.2413 107.1354 74.04244 119.7997 108.5953 74.04244 110.0106 109.1665 74.04244 109.6107 109.6595 74.04244 109.1177 110.0595 74.04244 108.5466 110.3543 74.04244 107.9147 107.9633 74.04244 110.3052 103.1313 74.04244 108.546 102.8367 74.04244 107.914 93.33946 74.04244 106.5451 93.35594 74.04244 107.3564 102.6563 74.04244 107.2405 105.9007 74.04244 110.4855 105.2272 74.04244 110.3049 106.0534 74.04244 119.7996 103.5312 74.04244 109.1172 104.0242 74.04244 109.6102 104.5953 74.04244 110.0102 97.31153 74.04244 116.02 106.5968 74.04244 93.28187 106.596 74.04244 102.5463 102.6564 74.04244 105.8513 102.837 74.04244 105.1779 103.1317 74.04244 104.546 103.5317 74.04244 103.9749 104.0247 74.04244 103.4819 104.5959 74.04244 103.082 105.2279 74.04244 102.7874 105.9014 74.04244 102.607 93.33396 74.04244 106.2745 96.9345 74.04244 97.45741 97.70747 74.04244 96.70018 115.4855 74.04244 96.7018 110.0599 74.04244 104.5466 110.3545 74.04244 105.1786 119.8573 74.04244 106.2769 110.5349 74.04244 105.8521 116.2584 74.04244 97.45917 109.66 74.04244 103.9754 109.167 74.04244 103.4824 108.5959 74.04244 103.0824 107.964 74.04244 102.7877 107.2906 74.04244 102.6071 107.1408 75.2052 119.9304 93.22539 75.2052 107.3644 97.61983 75.2052 96.6031 115.5732 75.2052 96.60473 119.9881 75.2052 106.2743 119.9657 75.2052 107.3668 120.0666 76.37265 106.2727 119.9995 76.37265 105.1756 119.8432 76.37265 104.0876 119.5987 76.37265 103.016 119.2677 76.37265 101.9679 118.8523 76.37265 100.9502 118.3554 76.37265 99.96979 117.7802 76.37265 99.03314 117.1306 76.37265 98.14649 116.4109 76.37265 97.31574 115.6259 76.37265 96.54642 114.7807 76.37265 95.84364 113.8811 76.37265 95.21209 112.933 76.37265 94.65596 111.9428 76.37265 94.17897 110.9169 76.37265 93.78428 109.8623 76.37265 93.47451 108.786 76.37265 93.25174 107.6951 76.37265 93.11744 106.5968 76.37265 93.07251 106.5968 75.2052 93.15109 97.56718 76.37265 96.54476 98.41244 76.37265 95.84215 99.31216 76.37265 95.21076 100.2603 76.37265 94.65481 101.2507 76.37265 94.178 102.2766 76.37265 93.78349 103.3313 76.37265 93.47392 104.4076 76.37265 93.25135 105.4986 76.37265 93.11724 96.78201 76.37265 97.31394 96.06214 76.37265 98.14456 95.41236 76.37265 99.0311 94.83702 76.37265 99.96764 94.33992 76.37265 100.948 93.92439 76.37265 101.9655 93.59317 76.37265 103.0136 93.34849 76.37265 104.0852 93.19197 76.37265 105.1731 93.12464 76.37265 106.2702 93.14696 76.37265 107.3692 93.25878 76.37265 108.4626 93.45935 76.37265 109.5433 93.74735 76.37265 110.6041 94.12084 76.37265 111.6378 94.57736 76.37265 112.6377 95.11385 76.37265 113.597 95.72676 76.37265 114.5094 96.41199 76.37265 115.3688 97.16499 76.37265 116.1695 97.21999 75.2052 116.1134 97.98075 76.37265 116.9062 98.85385 76.37265 117.5739 99.77846 76.37265 118.1682 100.7484 76.37265 118.6852 101.7573 76.37265 119.1214 102.7984 76.37265 119.474 103.8648 76.37265 119.7405 104.9493 76.37265 119.9191 106.0448 76.37265 120.0088 107.144 76.37265 120.0089 108.2395 76.37265 119.9194 109.324 76.37265 119.7409 110.3904 76.37265 119.4747 111.4316 76.37265 119.1223 112.4406 76.37265 118.6863 113.4106 76.37265 118.1695 114.3354 76.37265 117.5753 115.2086 76.37265 116.9078 116.0245 76.37265 116.1713 115.9695 75.2052 116.1151 120.0441 76.37265 107.3716 119.9321 76.37265 108.465 119.7313 76.37265 109.5457 119.4431 76.37265 110.6064 119.0694 76.37265 111.6401 118.6127 76.37265 112.6399 118.0761 76.37265 113.5991 117.463 76.37265 114.5114 116.7776 76.37265 115.3707 116.3536 75.2052 97.36957 106.048 75.2052 119.9303 93.2032 75.2052 106.2718 96.83924 75.2052 97.36779 106.596 74.54244 102.5463 105.9014 74.54244 102.607 105.2279 74.54244 102.7874 104.5959 74.54244 103.082 104.0247 74.54244 103.4819 103.5317 74.54244 103.9749 103.1317 74.54244 104.546 102.837 74.54244 105.1779 102.6564 74.54244 105.8513 102.5956 74.54244 106.5459 102.6563 74.54244 107.2405 102.8367 74.54244 107.914 103.1313 74.54244 108.546 103.5312 74.54244 109.1172 104.0242 74.54244 109.6102 104.5953 74.54244 110.0102 105.2272 74.54244 110.3049 105.9007 74.54244 110.4855 106.5952 74.54244 110.5463 107.2898 74.54244 110.4856 107.9633 74.54244 110.3052 108.5953 74.54244 110.0106 109.1665 74.54244 109.6107 109.6595 74.54244 109.1177 110.0595 74.54244 108.5466 110.3543 74.54244 107.9147 110.5348 74.54244 107.2413 110.5956 74.54244 106.5467 110.5349 74.54244 105.8521 110.3545 74.54244 105.1786 110.0599 74.54244 104.5466 109.66 74.54244 103.9754 109.167 74.54244 103.4824 108.5959 74.54244 103.0824 107.964 74.54244 102.7877 107.2906 74.54244 102.6071 106.596 86.44245 102.5463 105.9014 83.74245 102.607 105.9014 86.44245 102.607 105.2279 83.74245 102.7874 105.2279 86.44245 102.7874 104.5959 83.74245 103.082 104.5959 86.44245 103.082 104.0247 83.74245 103.4819 104.0247 86.44245 103.4819 103.5317 83.74245 103.9749 103.5317 86.44245 103.9749 103.1317 83.74245 104.546 103.1317 86.44245 104.546 102.837 83.74245 105.1779 102.837 86.44245 105.1779 102.6564 83.74245 105.8513 102.6564 86.44245 105.8513 102.5956 83.74245 106.5459 102.5956 86.44245 106.5459 102.6563 83.74245 107.2405 102.6563 86.44245 107.2405 102.8367 83.74245 107.914 102.8367 86.44245 107.914 103.1313 83.74245 108.546 103.1313 86.44245 108.546 103.5312 83.74245 109.1172 103.5312 86.44245 109.1172 104.0242 83.74245 109.6102 104.0242 86.44245 109.6102 104.5953 83.74245 110.0102 104.5953 86.44245 110.0102 105.2272 83.74245 110.3049 105.2272 86.44245 110.3049 105.9007 83.74245 110.4855 105.9007 86.44245 110.4855 106.5952 83.74245 110.5463 106.5952 86.44245 110.5463 107.2898 83.74245 110.4856 107.2898 86.44245 110.4856 107.9633 83.74245 110.3052 107.9633 86.44245 110.3052 108.5953 83.74245 110.0106 108.5953 86.44245 110.0106 109.1665 83.74245 109.6107 109.1665 86.44245 109.6107 109.6595 83.74245 109.1177 109.6595 86.44245 109.1177 110.0595 83.74245 108.5466 110.0595 86.44245 108.5466 110.3543 83.74245 107.9147 110.3543 86.44245 107.9147 110.5348 83.74245 107.2413 110.5348 86.44245 107.2413 110.5956 83.74245 106.5467 110.5956 86.44245 106.5467 110.5349 83.74245 105.8521 110.5349 86.44245 105.8521 110.3545 83.74245 105.1786 110.3545 86.44245 105.1786 110.0599 83.74245 104.5466 110.0599 86.44245 104.5466 109.66 83.74245 103.9754 109.66 86.44245 103.9754 109.167 83.74245 103.4824 109.167 86.44245 103.4824 108.5959 83.74245 103.0824 108.5959 86.44245 103.0824 107.964 83.74245 102.7877 107.964 86.44245 102.7877 107.2906 83.74245 102.6071 107.2906 86.44245 102.6071 106.596 83.74245 102.5463 103.2158 88.24245 111.6809 103.1108 88.24245 111.531 101.6663 88.24245 112.1733 106.5963 88.24245 99.0463 106.5957 88.24245 105.0713 106.8519 88.24245 105.0937 111.2207 88.24245 105.6374 111.3866 88.24245 105.5601 108.9679 88.24245 99.45069 108.6257 88.24245 99.32627 107.6328 88.24245 99.11837 111.0708 88.24245 105.7424 110.9413 88.24245 105.8718 110.8363 88.24245 106.0217 107.1002 88.24245 105.1603 110.759 88.24245 106.1876 103.124 88.24245 113.1927 103.661 88.24245 111.9927 103.4951 88.24245 111.9154 101.3569 88.24245 111.9134 103.0335 88.24245 111.3651 100.6806 88.24245 111.1574 104.0203 88.24245 109.9561 104.9303 88.24245 102.6111 104.8253 88.24245 102.761 99.13321 88.24245 107.2965 99.17987 88.24245 107.5606 103.346 88.24245 102.8903 113.5453 88.24245 103.7265 113.0897 88.24245 102.7944 112.1048 88.24245 105.5601 104.8254 88.24245 101.4112 104.9304 88.24245 101.5611 105.0077 88.24245 101.727 102.1217 88.24245 112.5558 102.2136 88.24245 112.633 103.3452 88.24245 111.8104 102.6088 88.24245 112.8958 102.6774 88.24245 112.9414 99.32785 88.24245 108.3982 99.64423 88.24245 109.362 103.4959 88.24245 102.9953 110.0672 88.24245 99.8999 110.0279 88.24245 99.87776 111.928 88.24245 105.5127 112.5097 88.24245 101.934 111.7457 88.24245 105.4968 111.8343 88.24245 101.1792 111.5634 88.24245 105.5127 111.5249 88.24245 100.9193 111.0695 88.24245 100.5368 112.2707 88.24245 105.6375 112.4206 88.24245 105.7425 113.8619 88.24245 104.6887 112.55 88.24245 105.8719 113.9186 88.24245 105.0097 112.655 88.24245 106.0219 114.0102 88.24245 105.5275 112.7323 88.24245 106.1877 112.7797 88.24245 106.3645 114.0768 88.24245 106.0481 114.0585 88.24245 105.8008 105.5598 88.24245 99.11817 104.5669 88.24245 99.32589 104.2034 88.24245 101.052 104.2846 88.24245 99.42848 104.0211 88.24245 101.036 103.7956 88.24245 99.60617 103.8388 88.24245 101.052 103.5154 88.24245 99.708 103.662 88.24245 101.0993 103.1633 88.24245 113.2148 103.5141 88.24245 113.384 103.8378 88.24245 112.0401 103.6644 88.24245 113.4387 104.0201 88.24245 112.0561 104.2233 88.24245 113.6419 104.2024 88.24245 112.0402 104.5655 88.24245 113.7663 104.3792 88.24245 111.9928 105.5584 88.24245 113.9742 104.5451 88.24245 111.9155 104.695 88.24245 111.8105 104.6959 88.24245 102.8904 104.5459 88.24245 102.9954 104.38 88.24245 103.0727 103.2167 88.24245 101.411 102.0017 88.24245 100.6377 103.1117 88.24245 101.5609 101.6032 88.24245 100.9722 103.0344 88.24245 101.7268 101.3579 88.24245 101.1782 102.987 88.24245 101.9036 100.6814 88.24245 101.9341 102.971 88.24245 102.0859 103.3462 88.24245 101.2816 102.4145 88.24245 100.3227 102.2147 88.24245 100.4588 110.9776 88.24245 100.4596 110.5824 88.24245 100.1968 110.5138 88.24245 100.1512 109.6771 88.24245 99.70858 109.5268 88.24245 99.65393 104.3802 88.24245 101.0994 104.5461 88.24245 101.1768 104.696 88.24245 101.2817 107.5436 88.24245 107.6763 107.333 88.24245 107.8238 104.8246 88.24245 110.3312 107.1 88.24245 107.9324 106.8516 88.24245 107.9989 102.9861 88.24245 111.1883 102.9702 88.24245 111.006 100.1001 88.24245 110.2957 102.9862 88.24245 110.8237 103.0335 88.24245 110.6469 103.1109 88.24245 110.481 99.2712 88.24245 108.0776 103.3167 88.24245 99.80651 103.0164 88.24245 99.95545 103.4961 88.24245 101.1767 102.8572 88.24245 100.0497 102.5366 88.24245 100.2396 105.0551 88.24245 101.9038 105.071 88.24245 102.0861 105.055 88.24245 102.2685 106.5955 88.24245 108.0213 106.3393 88.24245 107.9989 106.091 88.24245 107.9323 103.8386 88.24245 103.1201 103.6618 88.24245 103.0727 103.4953 88.24245 110.0967 103.3453 88.24245 110.2017 103.2159 88.24245 110.3311 103.2166 88.24245 102.7609 99.09815 88.24245 106.3506 99.09999 88.24245 106.516 99.10433 88.24245 106.9081 99.11419 88.24245 107.0407 102.9869 88.24245 102.2683 100.1008 88.24245 102.7957 103.0343 88.24245 102.4451 99.64474 88.24245 103.7293 103.1116 88.24245 102.611 99.32818 88.24245 104.693 99.28178 88.24245 104.9554 99.19033 88.24245 105.4725 105.3181 88.24245 107.2837 104.3794 88.24245 110.0195 105.4656 88.24245 107.4943 105.6474 88.24245 107.6761 105.858 88.24245 107.8236 104.5453 88.24245 110.0968 104.6952 88.24245 110.2018 110.9412 88.24245 107.2216 104.9295 88.24245 111.5312 104.8245 88.24245 111.6811 104.2033 88.24245 103.1201 104.0209 88.24245 103.136 103.838 88.24245 109.972 103.6612 88.24245 110.0194 99.13334 88.24245 105.7947 99.12088 88.24245 105.9917 105.8582 88.24245 105.2688 105.6476 88.24245 105.4163 105.4658 88.24245 105.5981 112.7796 88.24245 106.7292 114.0931 88.24245 106.742 112.7956 88.24245 106.5469 114.0912 88.24245 106.5737 114.0869 88.24245 106.1845 113.5465 88.24245 109.3633 113.863 88.24245 108.3996 112.5499 88.24245 107.2218 113.9095 88.24245 108.1368 112.6549 88.24245 107.0718 114.0011 88.24245 107.6189 112.7322 88.24245 106.906 114.0579 88.24245 107.2979 114.0705 88.24245 107.0988 104.9296 88.24245 110.4812 107.7254 88.24245 107.4945 107.8729 88.24245 107.2839 105.0069 88.24245 110.6471 105.0543 88.24245 110.8239 105.0702 88.24245 111.0062 105.2095 88.24245 107.0507 105.143 88.24245 106.8023 105.1206 88.24245 106.5462 106.0913 88.24245 105.1602 106.3396 88.24245 105.0937 109.8745 88.24245 113.2861 111.3864 88.24245 107.5334 109.6759 88.24245 113.3846 109.3956 88.24245 113.4864 108.9066 88.24245 113.6641 111.2205 88.24245 107.4561 108.6243 88.24245 113.7667 111.0706 88.24245 107.3511 106.5949 88.24245 114.0463 107.6314 88.24245 113.9744 107.3332 88.24245 105.269 110.6956 88.24245 106.5467 110.7116 88.24245 106.3643 107.5438 88.24245 105.4165 110.7589 88.24245 106.9058 110.7115 88.24245 106.729 105.0542 88.24245 111.1885 105.0068 88.24245 111.3653 112.4205 88.24245 107.3512 112.2705 88.24245 107.4561 113.0904 88.24245 110.2969 112.1046 88.24245 107.5335 112.5098 88.24245 111.1585 111.9278 88.24245 107.5808 111.8333 88.24245 111.9144 111.7455 88.24245 107.5968 111.588 88.24245 112.1204 111.5632 88.24245 107.5808 110.1748 88.24245 113.1371 110.334 88.24245 113.0429 110.6546 88.24245 112.853 110.7767 88.24245 112.7699 107.7256 88.24245 105.5983 107.8731 88.24245 105.8089 107.9817 88.24245 106.0419 105.143 88.24245 106.29 105.2096 88.24245 106.0417 105.3183 88.24245 105.8087 110.9765 88.24245 112.6338 111.1896 88.24245 112.4549 108.0482 88.24245 106.2903 108.0706 88.24245 106.5464 108.0482 88.24245 106.8026 104.2026 88.24245 109.9721 105.0077 88.24245 102.4452 110.8362 88.24245 107.0717 107.9816 88.24245 107.0509 101.9329 86.44245 117.7118 100.8666 86.44245 119.8665 102.2236 86.44245 117.8288 101.8053 86.44245 120.2322 103.6432 86.44245 118.2806 103.3678 86.44245 120.6825 105.1076 86.44245 118.5545 104.9708 86.44245 120.955 106.5945 86.44245 118.6463 106.5943 86.44245 121.0463 108.0815 86.44245 118.5547 108.2178 86.44245 120.9553 109.5459 86.44245 118.2811 109.8209 86.44245 120.683 110.9656 86.44245 117.8296 111.3834 86.44245 120.233 111.2562 86.44245 117.7127 112.3221 86.44245 119.8676 97.9223 86.44245 118.1663 99.25553 86.44245 116.1657 97.55397 86.44245 117.882 98.44307 86.44245 115.4876 94.59461 86.44245 108.0911 92.19544 86.44245 108.245 94.7755 86.44245 109.1338 92.45886 86.44245 109.7716 95.18307 86.44245 110.5668 92.90885 86.44245 111.3341 95.76364 86.44245 111.9387 93.53098 86.44245 112.8364 96.5084 86.44245 113.229 94.3174 86.44245 114.2596 97.40608 86.44245 114.4179 95.25822 86.44245 115.5859 96.34162 86.44245 116.7984 95.45307 86.44245 101.8289 92.90973 86.44245 101.756 94.95781 86.44245 103.2339 92.45944 86.44245 103.3185 94.63897 86.44245 104.6892 92.19576 86.44245 104.845 94.5949 86.44245 104.9993 99.25729 86.44245 96.92553 97.92442 86.44245 94.92474 99.01068 86.44245 97.11873 97.55603 86.44245 95.20892 97.90964 86.44245 98.12229 96.34349 86.44245 96.29232 96.94026 86.44245 99.25354 95.25988 86.44245 97.50466 96.11725 86.44245 100.4953 94.3188 86.44245 98.83071 93.53213 86.44245 100.2538 100.8691 86.44245 93.22501 101.935 86.44245 95.3799 101.8078 86.44245 92.85955 102.9285 86.44245 95.01537 103.3703 86.44245 92.40955 104.3733 86.44245 94.65212 104.9734 86.44245 92.13732 105.8518 86.44245 94.46918 106.5969 86.44245 92.0463 107.3416 86.44245 94.46932 111.2583 86.44245 95.38075 112.3246 86.44245 93.22605 110.2648 86.44245 95.01603 111.3859 86.44245 92.86043 108.8201 86.44245 94.65253 109.8235 86.44245 92.41014 108.2204 86.44245 92.13762 118.5526 86.44245 104.6913 118.5966 86.44245 105.0015 120.9958 86.44245 104.8476 118.234 86.44245 103.236 115.2689 86.44245 94.92633 113.9357 86.44245 96.92687 115.6372 86.44245 95.21057 114.1822 86.44245 97.12012 116.8496 86.44245 96.29418 115.2831 86.44245 98.12387 117.933 86.44245 97.50673 116.2523 86.44245 99.2553 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88.24163 99.36083 109.7257 88.18807 99.2691 109.708 88.19012 99.27878 109.6792 88.19346 99.29461 109.5678 88.20373 99.33461 109.5047 88.20954 99.35723 109.3946 88.21717 99.37768 109.3158 88.22264 99.39231 109.209 88.22773 99.39557 109.0696 88.23438 99.39981 109.0495 88.2349 99.39746 109.0171 88.23573 99.39367 108.9937 88.23633 99.39094 110.0579 88.13197 98.93963 109.9981 88.14677 99.03876 109.9729 88.15158 99.06834 109.9229 88.16111 99.12702 109.8989 88.16508 99.15 109.7911 88.18048 99.23312 109.7435 88.18601 99.25928 109.8613 88.17045 99.17901 112.3767 87.46031 94.25591 112.4833 87.46031 94.30664 112.8582 87.46031 94.50566 113.4347 87.46031 94.81169 113.8936 87.46031 95.10409 114.3431 87.46031 95.39055 114.3509 87.46031 95.39598 111.7261 87.76788 113.1054 111.632 87.89398 113.1911 111.8299 87.62724 113.0078 111.819 87.64206 113.0182 111.5134 88.05127 113.2956 109.9804 88.05129 114.1805 109.8306 87.89398 114.2309 109.7094 87.76789 114.2695 109.5873 87.64208 114.3064 109.5734 87.6278 114.3105 103.4805 87.76788 114.269 103.3592 87.89398 114.2303 103.617 87.62724 114.3101 103.6025 87.64206 114.3059 103.2095 88.05127 114.1799 101.6766 88.05129 113.2947 101.558 87.89398 113.1902 101.464 87.76789 113.1045 101.371 87.64208 113.0172 101.3605 87.6278 113.0072 98.34999 87.76788 107.7098 98.32283 87.89398 107.5855 98.38265 87.62724 107.8486 98.37908 87.64206 107.834 98.29169 88.05127 107.4306 98.29185 88.05129 105.6605 98.32302 87.89398 105.5056 98.35021 87.76789 105.3813 98.37931 87.64208 105.2571 98.38288 87.62724 105.2425 101.4651 87.76788 99.98716 101.5592 87.89398 99.90148 101.3613 87.62724 100.0848 101.3722 87.64206 100.0744 101.6778 88.05127 99.79705 103.2109 88.05129 98.91213 103.3606 87.89398 98.86167 103.4819 87.76789 98.82305 103.6039 87.64208 98.78619 103.6184 87.62724 98.78195 109.7108 87.76788 98.82362 109.832 87.89398 98.86225 109.5748 87.6278 98.78266 109.5887 87.64206 98.78673 109.9817 88.05127 98.91275 111.5146 88.05129 99.79794 111.6332 87.89398 99.90239 111.7273 87.76789 99.98809 111.8202 87.64208 100.0754 111.8311 87.62724 100.0858 114.8994 88.05129 107.4321 114.8682 87.89398 107.587 114.841 87.76789 107.7113 114.8119 87.64208 107.8355 114.8083 87.62724 107.8501 114.8416 87.77063 105.3834 114.8689 87.89552 105.5089 114.809 87.63252 105.2445 114.8123 87.64604 105.2581 114.9002 88.05147 105.6654 114.6722 86.44245 105.2388 114.6722 87.64933 105.2378 114.5054 87.68051 105.2065 114.5115 87.67911 105.2083 114.5054 86.44245 105.2066 114.6587 87.65104 105.2372 114.4885 87.6844 105.2016 114.3465 86.44245 105.1465 114.372 87.71617 105.156 114.2055 87.77285 105.0643 114.2417 87.75997 105.0856 114.2 86.44245 105.0605 114.3413 87.72455 105.144 114.3466 87.72309 105.1461 114.0775 87.8316 104.9581 114.1243 87.81015 104.9969 114.0702 86.44245 104.9509 114.1548 87.79613 105.0222 114.2003 87.77521 105.0601 113.9623 87.90255 104.82 113.9743 87.89298 104.8395 113.9609 86.44245 104.8209 114.0212 87.86512 104.8933 114.0708 87.8356 104.9504 113.9354 87.92398 104.7762 113.8751 86.44245 104.6743 113.884 87.96501 104.6925 113.8172 88.04444 104.5218 113.8671 87.9851 104.6493 113.8766 87.97379 104.6736 114.6648 87.67682 105.2632 113.8946 88.11731 104.7704 113.9521 88.01214 104.86 114.0292 87.91173 104.9398 114.1501 87.9408 105.1253 114.1242 87.81833 105.008 114.3861 87.78321 105.2248 114.5216 87.7229 105.252 114.7481 88.07939 105.6666 114.6008 88.12345 105.6507 114.4617 88.18258 105.6182 114.4351 88.02899 105.4671 114.3086 88.10195 105.421 114.1963 88.18655 105.3604 114.1741 88.06355 105.2428 114.0788 88.15752 105.1709 114.0549 88.03448 105.0553 113.978 88.13533 104.9737 114.2859 87.97904 105.3016 114.2613 87.8564 105.1823 114.4115 87.90598 105.3459 114.5728 87.96939 105.4975 114.5482 87.84601 105.3747 114.7185 87.92456 105.5116 114.6926 87.80055 105.3873 114.6001 88.12271 107.4472 114.0778 88.15128 107.9268 113.977 88.12689 108.1238 114.672 87.64437 107.8563 114.6644 87.67266 107.8306 114.5113 87.67378 107.8858 114.6582 87.64609 107.8569 114.3717 87.71038 107.9381 114.4876 87.67913 107.8926 114.5212 87.71834 107.8422 114.5052 87.67515 107.8875 114.2414 87.7536 108.0085 114.3404 87.71881 107.9503 114.3857 87.77812 107.8698 114.3464 87.71719 107.9479 114.0286 87.90304 108.1558 114.0209 87.85733 108.2006 114.0704 87.82819 108.1435 114.2 87.76859 108.0339 114.1494 87.93424 107.9705 114.1522 87.79029 108.0736 114.1237 87.81054 108.0868 114.124 87.80309 108.0971 114.0765 87.82463 108.1366 113.9731 87.88542 108.2557 113.9512 88.00248 108.2364 113.9619 87.89423 108.2739 113.8667 87.97566 108.4445 113.8762 87.96451 108.4202 113.8934 88.10663 108.3269 113.8831 87.95636 108.4025 113.9351 87.91537 108.3177 113.8169 88.0342 108.572 113.9227 88.23163 108.2169 114.0541 88.02703 108.0414 114.1954 88.18243 107.7376 114.1733 88.05821 107.8541 114.3078 88.09863 107.6763 114.461 88.18132 107.4801 114.4344 88.02635 107.6297 114.411 87.90211 107.7498 114.2852 87.97451 107.7947 114.2608 87.85064 107.9129 114.2042 87.76667 108.0303 114.6921 87.79759 107.7077 114.7179 87.92281 107.5845 114.7474 88.07902 107.4311 114.5722 87.96728 107.5989 114.5477 87.84268 107.7206 113.9605 86.44245 108.2731 114.6719 86.44245 107.8553 113.8747 86.44245 108.4197 114.0699 86.44245 108.1431 114.1997 86.44245 108.0335 114.5051 86.44245 107.8875 114.3462 86.44245 107.9475 111.3781 88.12271 100.0647 111.4304 88.09863 100.4323 111.5323 88.15128 100.7568 111.7683 87.64437 100.2069 111.7423 87.67266 100.2007 111.7133 87.67391 100.3616 111.7619 87.64609 100.2191 111.6889 87.71038 100.5079 111.7076 87.67913 100.3848 111.6807 87.71834 100.3304 111.7119 87.67515 100.367 111.6848 87.7536 100.6559 111.6839 87.71881 100.5411 111.6368 87.77812 100.4616 111.6849 87.71719 100.5347 111.706 87.90304 100.9139 111.7409 87.85733 100.943 111.7163 87.82819 100.8715 111.6861 87.76859 100.7045 111.6059 87.93424 100.7166 111.6966 87.79029 100.7658 111.6938 87.81054 100.7971 111.7028 87.80309 100.8019 111.7133 87.82463 100.8628 111.7647 87.88542 101.0119 111.7371 88.00248 101.0212 111.7749 87.89423 101.0307 111.8751 87.97566 101.1985 111.8588 87.96451 101.1781 111.7865 88.10663 101.1165 111.8469 87.95636 101.1632 111.7994 87.91537 101.0758 111.9606 88.0342 101.3054 111.6524 88.12689 100.9426 111.706 88.23163 101.0362 111.6196 88.02703 100.8346 111.4272 88.18243 100.5603 111.5171 88.05821 100.6377 111.337 88.18132 100.2016 111.4533 88.02635 100.2994 111.5456 87.90211 100.3797 111.5215 87.97451 100.5111 111.6117 87.85064 100.5914 111.6851 87.76667 100.699 111.6496 87.79759 100.1152 111.5559 87.92281 100.0313 111.4378 88.07902 99.92906 111.4955 87.96728 100.1647 111.5886 87.84268 100.2468 111.7735 86.44245 101.0315 111.7674 86.44245 100.2065 111.8576 86.44245 101.1791 111.7156 86.44245 100.8717 111.6856 86.44245 100.7045 111.7119 86.44245 100.367 111.6844 86.44245 100.5347 109.4998 87.6448 98.89688 109.4921 87.64667 98.90827 109.5191 87.67263 98.91689 109.9066 88.07901 99.04484 109.8189 88.1227 99.16432 109.7209 88.18131 99.26834 109.5781 88.02635 99.21652 109.4744 88.09863 99.30282 109.3651 88.18243 99.36952 109.2532 88.0582 99.33036 109.1424 88.15127 99.37671 109.0314 88.027 99.33996 108.9214 88.12686 99.36552 108.7038 88.1066 99.33628 108.813 88.23154 99.36894 108.7326 87.91542 99.30442 108.6223 87.96096 99.30669 108.6142 87.96446 99.30541 108.5884 87.97563 99.30133 108.4532 88.0342 99.27996 108.8768 87.85737 99.28884 108.8053 87.88542 99.30292 108.811 88.00244 99.33147 108.7839 87.89424 99.30336 108.9195 87.903 99.30483 108.9664 87.82223 99.27119 108.951 87.82829 99.27423 109.1536 87.75359 99.19424 109.1161 87.76667 99.21546 109.1404 87.93421 99.29283 109.1109 87.76859 99.21738 109.0268 87.8105 99.25695 109.0523 87.79035 99.23921 109.0182 87.803 99.2519 109.377 87.67913 99.03896 109.2796 87.71042 99.11656 109.3458 87.7781 99.13864 109.2584 87.71723 99.13347 109.4783 87.65004 98.92877 109.3937 87.67434 99.02084 109.4375 87.71832 99.03508 109.3894 87.67559 99.02554 109.5605 87.63008 98.80727 109.3606 87.9745 99.26319 109.246 87.85061 99.22522 109.2519 87.71933 99.13867 109.4624 87.90209 99.17675 109.6737 87.96728 99.11264 109.556 87.84267 99.07302 109.759 87.92281 98.99362 109.6395 87.79759 98.95439 109.5016 86.44245 98.89804 109.3902 86.44245 99.02635 109.2588 86.44245 99.13397 109.111 86.44245 99.21778 108.9512 86.44245 99.27538 108.784 86.44245 99.30509 108.6141 86.44245 99.30607 103.3736 88.12271 99.16374 104.0501 88.15128 99.37625 104.2711 88.12689 99.3651 103.6919 87.64437 98.89697 103.6735 87.67266 98.91636 103.7983 87.67391 99.02188 103.6998 87.64622 98.9094 103.9129 87.71038 99.11617 103.8155 87.67913 99.03845 103.755 87.71834 99.03457 103.8024 87.67515 99.02581 104.039 87.7536 99.19374 103.9391 87.71881 99.13714 103.8467 87.77812 99.13816 103.9341 87.71719 99.1331 104.273 87.90304 99.30441 104.3156 87.85733 99.28865 104.2414 87.82819 99.27427 104.0817 87.76859 99.21691 104.0521 87.93424 99.29238 104.14 87.79029 99.23844 104.1657 87.81054 99.25652 104.1744 87.80309 99.25113 104.2324 87.82463 99.27252 104.3872 87.88542 99.30252 104.3815 88.00248 99.33107 104.4086 87.89423 99.30308 104.604 87.97566 99.30023 104.5782 87.96451 99.30416 104.4887 88.10663 99.33591 104.5593 87.95636 99.30703 104.4599 87.91537 99.30442 104.7393 88.0342 99.27962 104.3788 88.23163 99.36554 104.1611 88.02703 99.33952 103.8274 88.18243 99.36901 103.9394 88.05821 99.32988 103.7181 88.09863 99.30229 103.4716 88.18132 99.26778 103.6145 88.02635 99.21598 103.7302 87.90211 99.17623 103.8319 87.97451 99.26269 103.9465 87.85064 99.22474 104.0765 87.76667 99.215 103.5531 87.79759 98.95384 103.4336 87.92281 98.99305 103.286 88.07902 99.04424 103.5189 87.96728 99.11209 103.6365 87.84268 99.07247 104.4085 86.44245 99.30469 103.691 86.44245 98.89752 104.5784 86.44245 99.3057 104.2413 86.44245 99.27494 104.0815 86.44245 99.21732 103.8023 86.44245 99.02584 103.9338 86.44245 99.13348 101.4231 87.6448 100.2064 101.4291 87.64667 100.2188 101.4501 87.67263 100.1998 101.7546 88.07901 99.92818 101.8143 88.1227 100.0638 101.8554 88.18131 100.2007 101.7391 88.02635 100.2985 101.762 88.09863 100.4314 101.7651 88.18243 100.5595 101.6752 88.0582 100.6368 101.66 88.15127 100.7559 101.5726 88.027 100.8337 101.5398 88.12686 100.9417 101.4056 88.1066 101.1156 101.4885 88.23154 101.0373 101.3925 87.91542 101.0746 101.3393 87.96096 101.1713 101.3341 87.96446 101.1777 101.3177 87.97563 101.198 101.2316 88.0342 101.3044 101.4511 87.85737 100.942 101.4275 87.88542 101.011 101.4551 88.00244 101.0203 101.4172 87.89424 101.0297 101.4862 87.903 100.913 101.4806 87.82223 100.8555 101.4755 87.82829 100.8704 101.5075 87.75359 100.655 101.5071 87.76667 100.6981 101.5863 87.93421 100.7157 101.5062 87.76859 100.7035 101.4984 87.8105 100.7962 101.4958 87.79035 100.7652 101.4898 87.803 100.8011 101.4848 87.67913 100.3838 101.5033 87.71042 100.507 101.5555 87.7781 100.4607 101.5073 87.71723 100.5338 101.44 87.65004 100.2411 101.4774 87.67434 100.3604 101.5117 87.71832 100.3295 101.4793 87.67559 100.3665 101.3758 87.63008 100.1091 101.6708 87.9745 100.5102 101.5806 87.85061 100.5905 101.5085 87.71933 100.5421 101.6468 87.90209 100.3788 101.6969 87.96728 100.1638 101.6038 87.84267 100.2459 101.6365 87.92281 100.0304 101.5428 87.79759 100.1143 101.425 86.44245 100.2055 101.4805 86.44245 100.3661 101.5079 86.44245 100.5337 101.5066 86.44245 100.7036 101.4766 86.44245 100.8708 101.4187 86.44245 101.0305 101.3346 86.44245 101.1781 98.59111 88.12271 105.6454 99.11338 88.15128 105.1658 99.21424 88.12689 104.9688 98.51924 87.64437 105.2363 98.52681 87.67266 105.262 98.68062 87.67391 105.2066 98.53398 87.64622 105.2357 98.81955 87.71038 105.1546 98.70359 87.67913 105.2 98.66997 87.71834 105.2504 98.68605 87.67515 105.2051 98.94979 87.7536 105.0841 98.85085 87.71881 105.1423 98.80553 87.77812 105.2228 98.84481 87.71719 105.1447 99.16265 87.90304 104.9368 99.17031 87.85733 104.892 99.12076 87.82819 104.9491 98.99119 87.76859 105.0587 99.04179 87.93424 105.1221 99.03901 87.79029 105.019 99.06752 87.81054 105.0058 99.06722 87.80309 104.9955 99.11471 87.82463 104.956 99.21812 87.88542 104.8369 99.23998 88.00248 104.8562 99.22929 87.89423 104.8187 99.32451 87.97566 104.6481 99.31502 87.96451 104.6724 99.29777 88.10663 104.7657 99.30809 87.95636 104.6901 99.2561 87.91537 104.7749 99.37433 88.0342 104.5206 99.2685 88.23163 104.8757 99.13712 88.02703 105.0512 98.99581 88.18243 105.355 99.01789 88.05821 105.2385 98.88337 88.09863 105.4163 98.73022 88.18132 105.6125 98.75679 88.02635 105.4629 98.78022 87.90211 105.3428 98.90597 87.97451 105.2979 98.93041 87.85064 105.1797 98.98696 87.76667 105.0623 98.4991 87.79759 105.3849 98.47329 87.92281 105.5081 98.44382 88.07902 105.6615 98.61902 87.96728 105.4937 98.64355 87.84268 105.372 98.845 86.44245 105.1451 99.23066 86.44245 104.8195 98.51928 86.44245 105.2373 99.31647 86.44245 104.6729 99.12128 86.44245 104.9495 98.99147 86.44245 105.0591 98.68607 86.44245 105.2051 98.51889 87.6448 107.8559 98.53261 87.64667 107.8569 98.52658 87.67263 107.8292 98.44366 88.07901 107.4296 98.59095 88.1227 107.4458 98.73005 88.18131 107.4787 98.75659 88.02635 107.6283 98.88317 88.09863 107.6749 98.99559 88.18243 107.7362 99.01765 88.0582 107.8528 99.11314 88.15127 107.9255 99.13685 88.027 108.04 99.21395 88.12686 108.1225 99.29746 88.1066 108.3256 99.27111 88.23154 108.2146 99.25543 87.91542 108.3165 99.31256 87.96096 108.4109 99.3155 87.96446 108.4186 99.32486 87.97563 108.4429 99.37397 88.0342 108.5707 99.16984 87.85737 108.1994 99.21781 87.88542 108.2543 99.23968 88.00244 108.2351 99.22887 87.89424 108.2726 99.16236 87.903 108.1545 99.10975 87.82223 108.1306 99.1201 87.82829 108.1425 98.94954 87.75359 108.0071 98.98668 87.76667 108.0289 99.04153 87.93421 107.9692 98.99093 87.76859 108.0325 99.06725 87.8105 108.0855 99.03913 87.79035 108.0723 99.06716 87.803 108.0955 98.70334 87.67913 107.8912 98.81925 87.71042 107.9367 98.80529 87.7781 107.8684 98.84451 87.71723 107.9467 98.55731 87.65004 107.8586 98.67933 87.67434 107.8858 98.66974 87.71832 107.8407 98.68556 87.67559 107.8872 98.41098 87.63008 107.8482 98.90574 87.9745 107.7933 98.93017 87.85061 107.9115 98.85227 87.71933 107.9497 98.78001 87.90209 107.7484 98.61883 87.96728 107.5974 98.64334 87.84267 107.7191 98.4731 87.92281 107.5831 98.49889 87.79759 107.7062 98.51904 86.44245 107.8538 98.68582 86.44245 107.8861 98.84474 86.44245 107.9461 98.9912 86.44245 108.0321 99.12099 86.44245 108.1417 99.23035 86.44245 108.2717 99.31613 86.44245 108.4183 101.8131 88.12271 113.0279 101.7609 88.09863 112.6603 101.6589 88.15128 112.3358 101.4229 87.64437 112.8857 101.4489 87.67266 112.8919 101.4779 87.67391 112.731 101.4293 87.64609 112.8735 101.5023 87.71038 112.5847 101.4836 87.67913 112.7078 101.5105 87.71834 112.7622 101.4793 87.67515 112.7256 101.5064 87.7536 112.4367 101.5073 87.71881 112.5515 101.5544 87.77812 112.631 101.5064 87.71719 112.5579 101.4852 87.90304 112.1787 101.4503 87.85733 112.1496 101.4749 87.82819 112.2211 101.5051 87.76859 112.3881 101.5853 87.93424 112.376 101.4946 87.79029 112.3268 101.4974 87.81054 112.2955 101.4884 87.80309 112.2907 101.4779 87.82463 112.2298 101.4265 87.88542 112.0807 101.4541 88.00248 112.0714 101.4163 87.89423 112.0619 101.3161 87.97566 111.8941 101.3324 87.96451 111.9145 101.4047 88.10663 111.9761 101.3443 87.95636 111.9294 101.3918 87.91537 112.0168 101.2306 88.0342 111.7872 101.5388 88.12689 112.15 101.4853 88.23163 112.0564 101.5716 88.02703 112.258 101.764 88.18243 112.5323 101.6741 88.05821 112.4549 101.8542 88.18132 112.891 101.7379 88.02635 112.7932 101.6456 87.90211 112.7129 101.6697 87.97451 112.5815 101.5795 87.85064 112.5012 101.5061 87.76667 112.3936 101.5416 87.79759 112.9774 101.6353 87.92281 113.0613 101.7534 88.07902 113.1635 101.6957 87.96728 112.9279 101.6026 87.84268 112.8458 101.5068 86.44245 112.5579 101.4177 86.44245 112.0611 101.4238 86.44245 112.8861 101.3337 86.44245 111.9135 101.4756 86.44245 112.2209 101.5056 86.44245 112.3881 101.4793 86.44245 112.7256 103.6914 87.6448 114.1957 103.6991 87.64667 114.1843 103.6721 87.67263 114.1757 103.2846 88.07901 114.0478 103.3723 88.1227 113.9283 103.4703 88.18131 113.8243 103.6131 88.02635 113.8761 103.7168 88.09863 113.7898 103.8261 88.18243 113.7231 103.9381 88.0582 113.7622 104.0488 88.15127 113.7159 104.1598 88.027 113.7526 104.2698 88.12686 113.7271 104.4874 88.1066 113.7563 104.3782 88.23154 113.7237 104.4586 87.91542 113.7882 104.5689 87.96096 113.7859 104.577 87.96446 113.7872 104.6028 87.97563 113.7913 104.738 88.0342 113.8126 104.3144 87.85737 113.8038 104.3859 87.88542 113.7897 104.3802 88.00244 113.7611 104.4073 87.89424 113.7892 104.2717 87.903 113.7878 104.2248 87.82223 113.8214 104.2402 87.82829 113.8184 104.0376 87.75359 113.8984 104.0752 87.76667 113.8771 104.0508 87.93421 113.7998 104.0803 87.76859 113.8752 104.1644 87.8105 113.8357 104.1389 87.79035 113.8534 104.173 87.803 113.8407 103.8142 87.67913 114.0536 103.9116 87.71042 113.976 103.8454 87.7781 113.954 103.9328 87.71723 113.9591 103.7129 87.65004 114.1638 103.7975 87.67434 114.0718 103.7537 87.71832 114.0575 103.8019 87.67559 114.0671 103.6308 87.63008 114.2853 103.8306 87.9745 113.8294 103.9452 87.85061 113.8674 103.9393 87.71933 113.9539 103.7289 87.90209 113.9159 103.5175 87.96728 113.98 103.6352 87.84267 114.0196 103.4322 87.92281 114.099 103.5517 87.79759 114.1382 103.6896 86.44245 114.1946 103.801 86.44245 114.0662 103.9324 86.44245 113.9586 104.0802 86.44245 113.8748 104.24 86.44245 113.8172 104.4072 86.44245 113.7875 104.5771 86.44245 113.7865 109.8176 88.12271 113.9289 109.1411 88.15128 113.7164 108.9201 88.12689 113.7275 109.4993 87.64437 114.1956 109.5177 87.67266 114.1762 109.3929 87.67391 114.0707 109.4919 87.64609 114.184 109.2783 87.71038 113.9764 109.3757 87.67913 114.0541 109.4362 87.71834 114.058 109.3888 87.67515 114.0668 109.1522 87.7536 113.8989 109.2521 87.71881 113.9555 109.3445 87.77812 113.9544 109.2571 87.71719 113.9595 108.9182 87.90304 113.7882 108.8756 87.85733 113.804 108.9498 87.82819 113.8183 109.1095 87.76859 113.8757 109.1391 87.93424 113.8002 109.0512 87.79029 113.8542 109.0255 87.81054 113.8361 109.0168 87.80309 113.8415 108.9588 87.82463 113.8201 108.804 87.88542 113.7901 108.8097 88.00248 113.7615 108.7826 87.89423 113.7895 108.5872 87.97566 113.7924 108.613 87.96451 113.7884 108.7025 88.10663 113.7567 108.6319 87.95636 113.7856 108.7313 87.91537 113.7882 108.4519 88.0342 113.813 108.8124 88.23163 113.7271 109.0301 88.02703 113.7531 109.3638 88.18243 113.7236 109.2518 88.05821 113.7627 109.4731 88.09863 113.7903 109.7196 88.18132 113.8248 109.5767 88.02635 113.8766 109.461 87.90211 113.9164 109.3593 87.97451 113.8299 109.2447 87.85064 113.8679 109.1147 87.76667 113.8776 109.6381 87.79759 114.1388 109.7576 87.92281 114.0996 109.9052 88.07902 114.0484 109.6723 87.96728 113.9805 109.5547 87.84268 114.0201 109.2574 86.44245 113.9591 108.7827 86.44245 113.7879 109.5002 86.44245 114.1951 108.6128 86.44245 113.7869 108.9499 86.44245 113.8177 109.1097 86.44245 113.8753 109.3889 86.44245 114.0668 111.7681 87.6448 112.8861 111.7621 87.64667 112.8738 111.7411 87.67263 112.8928 111.4366 88.07901 113.1644 111.3769 88.1227 113.0288 111.3358 88.18131 112.8919 111.4521 88.02635 112.7941 111.4292 88.09863 112.6612 111.4261 88.18243 112.5331 111.516 88.0582 112.4558 111.5312 88.15127 112.3367 111.6186 88.027 112.2589 111.6514 88.12686 112.1509 111.7856 88.1066 111.977 111.7027 88.23154 112.0553 111.7987 87.91542 112.018 111.8519 87.96096 111.9213 111.8571 87.96446 111.9149 111.8735 87.97563 111.8946 111.9596 88.0342 111.7882 111.7401 87.85737 112.1506 111.7637 87.88542 112.0816 111.7361 88.00244 112.0723 111.774 87.89424 112.0629 111.705 87.903 112.1796 111.7106 87.82223 112.2371 111.7157 87.82829 112.2222 111.6837 87.75359 112.4376 111.6841 87.76667 112.3945 111.6049 87.93421 112.3769 111.685 87.76859 112.3891 111.6928 87.8105 112.2964 111.6954 87.79035 112.3274 111.7014 87.803 112.2915 111.7064 87.67913 112.7088 111.6879 87.71042 112.5856 111.6357 87.7781 112.6319 111.6839 87.71723 112.5588 111.7512 87.65004 112.8515 111.7138 87.67434 112.7322 111.6795 87.71832 112.7631 111.7119 87.67559 112.7261 111.8154 87.63008 112.9834 111.5205 87.9745 112.5824 111.6107 87.85061 112.5021 111.6827 87.71933 112.5505 111.5445 87.90209 112.7138 111.4943 87.96728 112.9288 111.5875 87.84267 112.8467 111.5547 87.92281 113.0622 111.6485 87.79759 112.9783 111.7662 86.44245 112.8871 111.7108 86.44245 112.7265 111.6833 86.44245 112.5589 111.6846 86.44245 112.389 111.7146 86.44245 112.2218 111.7725 86.44245 112.0621 111.8566 86.44245 111.9145 103.1117 86.44245 101.5609 103.0344 86.44245 101.7268 104.2024 86.44245 112.0402 112.7796 86.44245 106.7292 112.7322 86.44245 106.906 104.0201 86.44245 112.0561 104.38 86.44245 103.0727 104.2033 86.44245 103.1201 110.8363 86.44245 106.0217 103.2167 86.44245 101.411 103.0335 86.44245 111.3651 103.1108 86.44245 111.531 103.3452 86.44245 111.8104 103.2158 86.44245 111.6809 99.60364 86.44245 116.4216 100.8702 86.44245 117.206 103.4951 86.44245 111.9154 103.661 86.44245 111.9927 103.8378 86.44245 112.0401 112.5499 86.44245 107.2218 112.6549 86.44245 107.0718 118.6439 86.44245 107.6638 118.6899 86.44245 106.1748 112.7956 86.44245 106.5469 112.7797 86.44245 106.3645 112.7323 86.44245 106.1877 112.655 86.44245 106.0219 112.55 86.44245 105.8719 103.662 86.44245 101.0993 103.8388 86.44245 101.052 104.8246 86.44245 110.3312 104.6952 86.44245 110.2018 111.5632 86.44245 107.5808 111.3864 86.44245 107.5334 111.2205 86.44245 107.4561 111.0706 86.44245 107.3511 110.9412 86.44245 107.2216 110.8362 86.44245 107.0717 110.7589 86.44245 106.9058 112.3191 86.44245 117.2071 113.5858 86.44245 116.4229 104.2034 86.44245 101.052 104.0211 86.44245 101.036 101.5393 86.44245 95.55341 100.2267 86.44245 96.25809 103.4961 86.44245 101.1767 103.3462 86.44245 101.2816 103.2166 86.44245 102.7609 104.0203 86.44245 109.9561 103.838 86.44245 109.972 112.4205 86.44245 107.3512 112.2705 86.44245 107.4561 112.1046 86.44245 107.5335 111.9278 86.44245 107.5808 111.7455 86.44245 107.5968 110.759 86.44245 106.1876 110.7116 86.44245 106.3643 110.6956 86.44245 106.5467 110.7115 86.44245 106.729 103.4959 86.44245 102.9953 103.346 86.44245 102.8903 104.3802 86.44245 101.0994 104.5461 86.44245 101.1768 104.696 86.44245 101.2817 104.8254 86.44245 101.4112 104.9304 86.44245 101.5611 105.0077 86.44245 101.727 104.3792 86.44245 111.9928 104.5451 86.44245 111.9155 104.695 86.44245 111.8105 104.8245 86.44245 111.6811 104.5453 86.44245 110.0968 104.3794 86.44245 110.0195 104.2026 86.44245 109.9721 103.1116 86.44245 102.611 103.0343 86.44245 102.4451 102.9869 86.44245 102.2683 102.971 86.44245 102.0859 102.987 86.44245 101.9036 102.9861 86.44245 111.1883 102.9702 86.44245 111.006 102.9862 86.44245 110.8237 103.0335 86.44245 110.6469 103.1109 86.44245 110.481 103.6612 86.44245 110.0194 103.4953 86.44245 110.0967 103.3453 86.44245 110.2017 111.7457 86.44245 105.4968 111.928 86.44245 105.5127 112.1048 86.44245 105.5601 112.2707 86.44245 105.6375 112.4206 86.44245 105.7425 111.3866 86.44245 105.5601 111.2207 86.44245 105.6374 104.5459 86.44245 102.9954 104.6959 86.44245 102.8904 104.9295 86.44245 111.5312 105.0068 86.44245 111.3653 105.0542 86.44245 111.1885 105.0702 86.44245 111.0062 105.0543 86.44245 110.8239 105.0069 86.44245 110.6471 104.9296 86.44245 110.4812 94.50138 86.44245 106.1726 94.54712 86.44245 107.6616 103.6618 86.44245 103.0727 103.8386 86.44245 103.1201 104.0209 86.44245 103.136 103.2159 86.44245 110.3311 111.5634 86.44245 105.5127 111.0708 86.44245 105.7424 110.9413 86.44245 105.8718 104.8253 86.44245 102.761 104.9303 86.44245 102.6111 111.6539 86.44245 95.55433 112.9664 86.44245 96.25925 105.0077 86.44245 102.4452 105.055 86.44245 102.2685 105.071 86.44245 102.0861 105.0551 86.44245 101.9038 106.3393 97.99245 107.9989 106.091 97.99245 107.9323 105.858 97.99245 107.8236 105.6474 97.99245 107.6761 105.4656 97.99245 107.4943 105.3181 97.99245 107.2837 105.2095 97.99245 107.0507 105.143 97.99245 106.8023 105.1206 97.99245 106.5462 105.143 97.99245 106.29 105.2096 97.99245 106.0417 105.3183 97.99245 105.8087 105.4658 97.99245 105.5981 105.6476 97.99245 105.4163 105.8582 97.99245 105.2688 106.0913 97.99245 105.1602 106.3396 97.99245 105.0937 106.5957 97.99245 105.0713 106.8519 97.99245 105.0937 107.1002 97.99245 105.1603 107.3332 97.99245 105.269 107.5438 97.99245 105.4165 107.7256 97.99245 105.5983 107.8731 97.99245 105.8089 107.9817 97.99245 106.0419 108.0482 97.99245 106.2903 108.0706 97.99245 106.5464 108.0482 97.99245 106.8026 107.9816 97.99245 107.0509 107.8729 97.99245 107.2839 107.7254 97.99245 107.4945 107.5436 97.99245 107.6763 107.333 97.99245 107.8238 107.1 97.99245 107.9324 106.8516 97.99245 107.9989 106.5955 97.99245 108.0213 107.0147 98.24244 105.3952 106.8084 98.24244 105.3399 106.5956 98.24244 106.5463 106.5957 98.24244 105.3213 106.383 98.24244 105.3399 107.5341 98.24244 105.759 107.3831 98.24244 105.608 107.2082 98.24244 105.4855 107.802 98.24244 106.3337 107.7468 98.24244 106.1274 107.6565 98.24244 105.9339 107.7467 98.24244 106.9654 107.802 98.24244 106.7591 107.8206 98.24244 106.5464 107.3829 98.24244 107.4848 107.5339 98.24244 107.3338 107.6564 98.24244 107.1589 106.8082 98.24244 107.7527 107.0145 98.24244 107.6975 107.208 98.24244 107.6072 106.1765 98.24244 107.6974 106.3828 98.24244 107.7527 106.5955 98.24244 107.7713 105.6571 98.24244 107.3336 105.8081 98.24244 107.4846 105.983 98.24244 107.6071 105.3892 98.24244 106.7589 105.4444 98.24244 106.9652 105.5347 98.24244 107.1587 105.4445 98.24244 106.1272 105.3892 98.24244 106.3335 105.3706 98.24244 106.5462 105.8083 98.24244 105.6078 105.6573 98.24244 105.7588 105.5348 98.24244 105.9337 106.1767 98.24244 105.3951 105.9832 98.24244 105.4854 106.5946 74.54244 118.0463 105.1532 83.74245 117.9555 105.1532 74.54244 117.9555 103.7347 83.74245 117.6847 103.7347 74.54244 117.6847 102.3612 83.74245 117.2383 102.3612 74.54244 117.2383 101.0545 83.74245 116.6233 101.0545 74.54244 116.6233 99.83522 83.74245 115.8494 99.83522 74.54244 115.8494 98.72254 83.74245 114.9287 98.72254 74.54244 114.9287 97.73403 83.74245 113.8759 97.73403 74.54244 113.8759 96.88527 83.74245 112.7074 96.88527 74.54244 112.7074 96.18965 83.74245 111.4418 96.18965 74.54244 111.4418 95.65813 83.74245 110.099 95.65813 74.54244 110.099 95.29911 83.74245 108.7002 95.29911 74.54244 108.7002 95.11823 83.74245 107.2673 95.11823 74.54244 107.2673 95.11837 83.74245 105.8232 95.11837 74.54244 105.8232 95.29949 83.74245 104.3904 95.29949 74.54244 104.3904 95.65878 83.74245 102.9916 95.65878 74.54244 102.9916 96.19054 83.74245 101.6489 96.19054 74.54244 101.6489 96.88639 83.74245 100.3834 96.88639 74.54244 100.3834 97.73537 83.74245 99.21511 97.73537 74.54244 99.21511 98.72408 83.74245 98.16244 98.72408 74.54244 98.16244 99.83692 83.74245 97.24198 99.83692 74.54244 97.24198 101.0564 83.74245 96.46826 101.0564 74.54244 96.46826 102.3631 83.74245 95.85348 102.3631 74.54244 95.85348 103.7367 83.74245 95.40733 103.7367 74.54244 95.40733 105.1553 83.74245 95.13685 105.1553 74.54244 95.13685 106.5967 83.74245 95.0463 106.5967 74.54244 95.0463 108.038 83.74245 95.13711 108.038 74.54244 95.13711 109.4566 83.74245 95.40785 109.4566 74.54244 95.40785 110.83 83.74245 95.85426 110.83 74.54244 95.85426 112.1367 83.74245 96.46928 112.1367 74.54244 96.46928 113.356 83.74245 97.24322 113.356 74.54244 97.24322 114.4687 83.74245 98.16387 114.4687 74.54244 98.16387 115.4572 83.74245 99.21673 115.4572 74.54244 99.21673 116.3059 83.74245 100.3852 116.3059 74.54244 100.3852 117.0016 83.74245 101.6508 117.0016 74.54244 101.6508 117.5331 83.74245 102.9936 117.5331 74.54244 102.9936 117.8921 83.74245 104.3924 117.8921 74.54244 104.3924 118.073 83.74245 105.8253 118.073 74.54244 105.8253 118.0728 83.74245 107.2694 118.0728 74.54244 107.2694 117.8917 83.74245 108.7022 117.8917 74.54244 108.7022 117.5324 83.74245 110.101 117.5324 74.54244 110.101 117.0007 83.74245 111.4437 117.0007 74.54244 111.4437 116.3048 83.74245 112.7092 116.3048 74.54244 112.7092 115.4558 83.74245 113.8775 115.4558 74.54244 113.8775 114.4671 83.74245 114.9302 114.4671 74.54244 114.9302 113.3543 83.74245 115.8506 113.3543 74.54244 115.8506 112.1349 83.74245 116.6243 112.1349 74.54244 116.6243 110.8281 83.74245 117.2391 110.8281 74.54244 117.2391 109.4545 83.74245 117.6853 109.4545 74.54244 117.6853 108.0359 83.74245 117.9558 108.0359 74.54244 117.9558 106.5946 83.74245 118.0463 101.37 71.04244 113.696 101.3713 71.04244 99.39568 113.7464 71.04244 98.93741 110.3545 71.04244 105.1786 110.1821 71.04244 104.8087 111.8208 71.04244 104.8088 113.7451 71.04244 113.6971 116.1456 71.04244 106.5472 116.1221 71.04244 106.278 116.122 71.04244 106.8163 115.592 71.04244 105.3598 115.7831 71.04244 105.5508 115.938 71.04244 105.7722 115.3707 71.04244 105.2048 115.1259 71.04244 105.0906 114.8649 71.04244 105.0206 114.8646 71.04244 108.0735 115.1256 71.04244 108.0036 116.0522 71.04244 106.017 113.5992 71.04244 107.7343 113.7456 71.04244 107.8369 113.7456 71.04244 108.2849 113.8205 71.04244 107.8893 116.0521 71.04244 107.0773 115.9379 71.04244 107.3222 114.0656 71.04244 105.0905 113.7459 71.04244 104.809 114.3266 71.04244 105.0205 114.5957 71.04244 104.997 114.0653 71.04244 108.0035 114.3263 71.04244 108.0735 114.5955 71.04244 108.097 115.3705 71.04244 107.8894 115.5918 71.04244 107.7345 115.7829 71.04244 107.5435 113.4083 71.04244 105.5506 113.2533 71.04244 105.7719 113.8207 71.04244 105.2046 113.7459 71.04244 105.257 113.5994 71.04244 105.3596 113.1391 71.04244 106.0168 113.0692 71.04244 106.2777 111.8204 71.04244 108.2847 113.0456 71.04244 106.5469 113.0691 71.04244 106.816 113.139 71.04244 107.077 113.2532 71.04244 107.3219 113.4081 71.04244 107.5432 108.3329 71.04244 113.6966 111.8199 71.04244 113.6969 108.5953 71.04244 110.0106 108.3332 71.04244 110.1327 109.9708 71.04244 108.6733 109.6595 71.04244 109.1177 109.1665 71.04244 109.6107 113.7456 71.04244 108.6736 111.8204 71.04244 108.6734 108.3339 71.04244 102.9602 108.3341 71.04244 101.0308 110.0599 71.04244 104.5466 108.5959 71.04244 103.0824 109.167 71.04244 103.4824 109.66 71.04244 103.9754 108.3342 71.04244 99.39631 111.8213 71.04244 99.39663 108.3343 71.04244 98.93692 113.7462 71.04244 101.0313 113.7464 71.04244 99.39681 104.8573 71.04244 110.1324 105.2272 71.04244 110.3049 104.857 71.04244 113.6963 105.9007 71.04244 110.4855 106.5952 71.04244 110.5463 107.2898 71.04244 110.4856 107.9633 71.04244 110.3052 104.5953 71.04244 110.0102 104.4686 71.04244 109.9215 103.22 71.04244 108.6726 101.3704 71.04244 108.6725 104.0242 71.04244 109.6102 103.5312 71.04244 109.1172 102.6563 71.04244 107.2405 102.8367 71.04244 107.914 101.3704 71.04244 108.2838 103.0092 71.04244 108.2839 103.1313 71.04244 108.546 101.3708 71.04244 104.8079 102.6564 71.04244 105.8513 102.5956 71.04244 106.5459 103.0095 71.04244 104.808 102.837 71.04244 105.1779 104.4693 71.04244 103.1707 104.4695 71.04244 101.0305 103.1317 71.04244 104.546 103.5317 71.04244 103.9749 104.0247 71.04244 103.4819 105.9014 71.04244 102.607 105.2279 71.04244 102.7874 104.8581 71.04244 101.0305 104.858 71.04244 102.9598 104.5959 71.04244 103.082 107.964 71.04244 102.7877 107.2906 71.04244 102.6071 106.596 71.04244 102.5463 110.1817 71.04244 108.2846 110.3543 71.04244 107.9147 110.5348 71.04244 107.2413 110.5956 71.04244 106.5467 110.5349 71.04244 105.8521 110.0595 71.04244 108.5466 99.12561 71.04244 108.0021 99.37048 71.04244 107.888 99.59181 71.04244 107.733 99.78288 71.04244 107.542 99.93787 71.04244 107.3207 100.0521 71.04244 107.0758 97.0456 71.04244 106.5454 97.06912 71.04244 106.8146 99.12586 71.04244 105.0891 98.86489 71.04244 105.0191 98.59574 71.04244 104.9956 98.32659 71.04244 105.0191 98.06561 71.04244 105.089 97.25319 71.04244 107.3204 97.40814 71.04244 107.5418 97.59918 71.04244 107.7328 97.82048 71.04244 107.8878 98.06534 71.04244 108.002 100.1221 71.04244 106.2766 100.1456 71.04244 106.5457 100.122 71.04244 106.8149 100.0522 71.04244 106.0156 99.93801 71.04244 105.7707 99.78306 71.04244 105.5494 97.25334 71.04244 105.7705 97.40833 71.04244 105.5491 97.59939 71.04244 105.3581 97.82073 71.04244 105.2032 97.06918 71.04244 106.2763 97.13912 71.04244 106.0153 98.32631 71.04244 108.072 98.59546 71.04244 108.0956 98.86462 71.04244 108.072 99.59204 71.04244 105.3583 99.37072 71.04244 105.2033 97.13903 71.04244 107.0756 104.4683 71.04244 113.6962 106.5949 71.04244 114.4963 106.3257 71.04244 114.5198 107.7822 71.04244 115.0501 107.5912 71.04244 114.859 106.864 71.04244 114.5199 107.3699 71.04244 114.704 107.125 71.04244 114.5898 106.0647 71.04244 114.5897 105.8199 71.04244 114.7039 105.5985 71.04244 114.8588 106.3254 71.04244 117.5727 106.5946 71.04244 117.5963 106.8638 71.04244 117.5728 107.3696 71.04244 117.3887 107.1247 71.04244 117.5029 108.1447 71.04244 116.0464 108.1212 71.04244 115.7773 107.782 71.04244 117.0427 107.5909 71.04244 117.2338 107.937 71.04244 116.8214 108.0512 71.04244 116.5766 108.1212 71.04244 116.3156 108.0513 71.04244 115.5163 107.9371 71.04244 115.2714 105.4075 71.04244 115.0499 105.2525 71.04244 115.2712 105.1383 71.04244 115.516 105.0683 71.04244 115.777 105.0447 71.04244 116.0462 105.0683 71.04244 116.3153 105.1382 71.04244 116.5763 106.0645 71.04244 117.5028 105.8196 71.04244 117.3886 105.5983 71.04244 117.2336 105.4073 71.04244 117.0425 105.2523 71.04244 116.8212 105.8216 71.04244 95.70389 106.8655 71.04244 98.57277 107.1265 71.04244 98.50287 107.3713 71.04244 98.38871 107.5927 71.04244 98.23376 107.1267 71.04244 95.58982 106.5963 71.04244 98.5963 104.8583 71.04244 98.9366 106.3272 71.04244 98.57273 107.7837 71.04244 98.04273 107.9387 71.04244 97.82142 108.0529 71.04244 97.57656 108.053 71.04244 96.5163 107.9389 71.04244 96.27142 107.7839 71.04244 96.05009 107.5929 71.04244 95.85902 107.3716 71.04244 95.70403 106.8658 71.04244 95.51987 106.5966 71.04244 95.4963 106.3275 71.04244 95.51982 106.0665 71.04244 95.58972 105.2542 71.04244 96.27117 105.14 71.04244 96.51603 105.6003 71.04244 95.85884 105.4092 71.04244 96.04987 105.6 71.04244 98.23358 105.8213 71.04244 98.38857 106.0662 71.04244 98.50277 108.1229 71.04244 97.31559 108.1465 71.04244 97.04644 108.123 71.04244 96.77729 105.07 71.04244 96.777 105.0465 71.04244 97.04616 105.07 71.04244 97.31531 105.1399 71.04244 97.5763 105.2541 71.04244 97.82118 105.409 71.04244 98.04251 104.4697 71.04244 98.93656 104.4696 71.04244 99.39596 104.8583 71.04244 99.396 107.023 70.04244 107.721 106.8125 70.04244 107.7773 106.5956 70.04244 106.5463 106.5955 70.04244 107.7963 106.3784 70.04244 107.7773 107.5531 70.04244 107.3499 107.399 70.04244 107.5039 107.2205 70.04244 107.6289 107.8266 70.04244 106.7635 107.7702 70.04244 106.9739 107.6781 70.04244 107.1714 107.7703 70.04244 106.1189 107.8266 70.04244 106.3293 107.8456 70.04244 106.5464 107.3992 70.04244 105.5888 107.5532 70.04244 105.7429 107.6782 70.04244 105.9214 106.8128 70.04244 105.3153 107.0232 70.04244 105.3717 107.2207 70.04244 105.4638 106.1682 70.04244 105.3716 106.3787 70.04244 105.3153 106.5957 70.04244 105.2963 105.6381 70.04244 105.7427 105.7922 70.04244 105.5887 105.9707 70.04244 105.4637 105.3646 70.04244 106.3291 105.421 70.04244 106.1187 105.5131 70.04244 105.9212 105.4209 70.04244 106.9737 105.3646 70.04244 106.7632 105.3456 70.04244 106.5462 105.792 70.04244 107.5038 105.638 70.04244 107.3497 105.513 70.04244 107.1712 106.168 70.04244 107.7209 105.9705 70.04244 107.6288 106.5957 70.29244 105.0463 106.3353 70.29244 105.0691 106.0827 70.29244 105.1367 105.8457 70.29244 105.2472 105.6315 70.29244 105.3971 105.4466 70.29244 105.582 105.2966 70.29244 105.7962 105.1861 70.29244 106.0331 105.1184 70.29244 106.2857 105.0956 70.29244 106.5462 105.1184 70.29244 106.8066 105.186 70.29244 107.0592 105.2965 70.29244 107.2962 105.4465 70.29244 107.5104 105.6313 70.29244 107.6953 105.8455 70.29244 107.8453 106.0824 70.29244 107.9558 106.335 70.29244 108.0235 106.5955 70.29244 108.0463 106.8559 70.29244 108.0235 107.1085 70.29244 107.9559 107.3455 70.29244 107.8454 107.5597 70.29244 107.6955 107.7446 70.29244 107.5106 107.8946 70.29244 107.2964 108.0051 70.29244 107.0595 108.0728 70.29244 106.8069 108.0956 70.29244 106.5464 108.0728 70.29244 106.286 108.0052 70.29244 106.0334 107.8947 70.29244 105.7964 107.7448 70.29244 105.5822 107.5599 70.29244 105.3973 107.3457 70.29244 105.2473 107.1088 70.29244 105.1368 106.8562 70.29244 105.0691 106.5957 71.54244 105.0463 106.3353 71.54244 105.0691 106.0827 71.54244 105.1367 105.8457 71.54244 105.2472 105.6315 71.54244 105.3971 105.4466 71.54244 105.582 105.2966 71.54244 105.7962 105.1861 71.54244 106.0331 105.1184 71.54244 106.2857 105.0956 71.54244 106.5462 105.1184 71.54244 106.8066 105.186 71.54244 107.0592 105.2965 71.54244 107.2962 105.4465 71.54244 107.5104 105.6313 71.54244 107.6953 105.8455 71.54244 107.8453 106.0824 71.54244 107.9558 106.335 71.54244 108.0235 106.5955 71.54244 108.0463 106.8559 71.54244 108.0235 107.1085 71.54244 107.9559 107.3455 71.54244 107.8454 107.5597 71.54244 107.6955 107.7446 71.54244 107.5106 107.8946 71.54244 107.2964 108.0051 71.54244 107.0595 108.0728 71.54244 106.8069 108.0956 71.54244 106.5464 108.0728 71.54244 106.286 108.0052 71.54244 106.0334 107.8947 71.54244 105.7964 107.7448 71.54244 105.5822 107.5599 71.54244 105.3973 107.3457 71.54244 105.2473 107.1088 71.54244 105.1368 106.8562 71.54244 105.0691 104.0242 71.54244 109.6102 103.5312 71.54244 109.1172 103.1313 71.54244 108.546 102.8367 71.54244 107.914 102.6563 71.54244 107.2405 102.5956 71.54244 106.5459 102.6564 71.54244 105.8513 102.837 71.54244 105.1779 103.1317 71.54244 104.546 103.5317 71.54244 103.9749 104.0247 71.54244 103.4819 104.5959 71.54244 103.082 105.2279 71.54244 102.7874 105.9014 71.54244 102.607 106.596 71.54244 102.5463 107.2906 71.54244 102.6071 107.964 71.54244 102.7877 108.5959 71.54244 103.0824 109.167 71.54244 103.4824 109.66 71.54244 103.9754 110.0599 71.54244 104.5466 110.3545 71.54244 105.1786 110.5349 71.54244 105.8521 110.5956 71.54244 106.5467 110.5348 71.54244 107.2413 110.3543 71.54244 107.9147 110.0595 71.54244 108.5466 109.6595 71.54244 109.1177 109.1665 71.54244 109.6107 108.5953 71.54244 110.0106 107.9633 71.54244 110.3052 107.2898 71.54244 110.4856 106.5952 71.54244 110.5463 105.9007 71.54244 110.4855 105.2272 71.54244 110.3049 104.5953 71.54244 110.0102 107.1265 73.04244 98.50287 106.8655 73.04244 98.57277 106.5965 73.04244 97.0463 106.5963 73.04244 98.5963 106.3272 73.04244 98.57273 107.7837 73.04244 98.04273 107.5927 73.04244 98.23376 107.3713 73.04244 98.38871 108.1229 73.04244 97.31559 108.0529 73.04244 97.57656 107.9387 73.04244 97.82142 108.053 73.04244 96.5163 108.123 73.04244 96.77729 108.1465 73.04244 97.04644 107.5929 73.04244 95.85902 107.7839 73.04244 96.05009 107.9389 73.04244 96.27142 106.8658 73.04244 95.51987 107.1267 73.04244 95.58982 107.3716 73.04244 95.70403 106.0665 73.04244 95.58972 106.3275 73.04244 95.51982 106.5966 73.04244 95.4963 105.4092 73.04244 96.04987 105.6003 73.04244 95.85884 105.8216 73.04244 95.70389 105.07 73.04244 96.777 105.14 73.04244 96.51603 105.2542 73.04244 96.27117 105.1399 73.04244 97.5763 105.07 73.04244 97.31531 105.0465 73.04244 97.04616 105.6 73.04244 98.23358 105.409 73.04244 98.04251 105.2541 73.04244 97.82118 106.0662 73.04244 98.50277 105.8213 73.04244 98.38857 115.1256 73.04244 108.0036 114.8646 73.04244 108.0735 114.5956 73.04244 106.547 114.5955 73.04244 108.097 114.3263 73.04244 108.0735 115.7829 73.04244 107.5435 115.5918 73.04244 107.7345 115.3705 73.04244 107.8894 116.122 73.04244 106.8163 116.0521 73.04244 107.0773 115.9379 73.04244 107.3222 116.0522 73.04244 106.017 116.1221 73.04244 106.278 116.1456 73.04244 106.5472 115.592 73.04244 105.3598 115.7831 73.04244 105.5508 115.938 73.04244 105.7722 114.8649 73.04244 105.0206 115.1259 73.04244 105.0906 115.3707 73.04244 105.2048 114.0656 73.04244 105.0905 114.3266 73.04244 105.0205 114.5957 73.04244 104.997 113.4083 73.04244 105.5506 113.5994 73.04244 105.3596 113.8207 73.04244 105.2046 113.0692 73.04244 106.2777 113.1391 73.04244 106.0168 113.2533 73.04244 105.7719 113.139 73.04244 107.077 113.0691 73.04244 106.816 113.0456 73.04244 106.5469 113.5992 73.04244 107.7343 113.4081 73.04244 107.5432 113.2532 73.04244 107.3219 114.0653 73.04244 108.0035 113.8205 73.04244 107.8893 99.12561 73.04244 108.0021 98.86462 73.04244 108.072 98.59561 73.04244 106.5456 98.59546 73.04244 108.0956 98.32631 73.04244 108.072 99.78288 73.04244 107.542 99.59181 73.04244 107.733 99.37048 73.04244 107.888 100.122 73.04244 106.8149 100.0521 73.04244 107.0758 99.93787 73.04244 107.3207 100.0522 73.04244 106.0156 100.1221 73.04244 106.2766 100.1456 73.04244 106.5457 99.59204 73.04244 105.3583 99.78306 73.04244 105.5494 99.93801 73.04244 105.7707 98.86489 73.04244 105.0191 99.12586 73.04244 105.0891 99.37072 73.04244 105.2033 98.06561 73.04244 105.089 98.32659 73.04244 105.0191 98.59574 73.04244 104.9956 97.40833 73.04244 105.5491 97.59939 73.04244 105.3581 97.82073 73.04244 105.2032 97.06918 73.04244 106.2763 97.13912 73.04244 106.0153 97.25334 73.04244 105.7705 97.13903 73.04244 107.0756 97.06912 73.04244 106.8146 97.0456 73.04244 106.5454 97.59918 73.04244 107.7328 97.40814 73.04244 107.5418 97.25319 73.04244 107.3204 98.06534 73.04244 108.002 97.82048 73.04244 107.8878 107.1247 73.04244 117.5029 106.8638 73.04244 117.5728 106.5947 73.04244 116.0463 106.5946 73.04244 117.5963 106.3254 73.04244 117.5727 107.782 73.04244 117.0427 107.5909 73.04244 117.2338 107.3696 73.04244 117.3887 108.1212 73.04244 116.3156 108.0512 73.04244 116.5766 107.937 73.04244 116.8214 108.0513 73.04244 115.5163 108.1212 73.04244 115.7773 108.1447 73.04244 116.0464 107.5912 73.04244 114.859 107.7822 73.04244 115.0501 107.9371 73.04244 115.2714 106.864 73.04244 114.5199 107.125 73.04244 114.5898 107.3699 73.04244 114.704 106.0647 73.04244 114.5897 106.3257 73.04244 114.5198 106.5949 73.04244 114.4963 105.4075 73.04244 115.0499 105.5985 73.04244 114.8588 105.8199 73.04244 114.7039 105.0683 73.04244 115.777 105.1383 73.04244 115.516 105.2525 73.04244 115.2712 105.1382 73.04244 116.5763 105.0683 73.04244 116.3153 105.0447 73.04244 116.0462 105.5983 73.04244 117.2336 105.4073 73.04244 117.0425 105.2523 73.04244 116.8212 106.0645 73.04244 117.5028 105.8196 73.04244 117.3886 200.2614 98.08682 170.2231 200.2614 98.08682 224.2231 200.2614 85.08682 170.2231 200.2614 85.08682 224.2231 162.2614 98.08682 168.2231 198.2614 98.08682 168.2231 162.2614 85.08682 168.2231 198.2614 85.08682 168.2231 160.2614 94.20713 191.8912 160.2614 98.08682 170.2231 160.2614 88.83166 191.8912 160.2614 85.08682 170.2231 160.2614 88.83166 202.555 160.2614 85.08682 224.2231 160.2614 94.20713 202.555 160.2614 98.08682 224.2231 162.2614 85.08682 226.2231 198.2614 85.08682 226.2231 162.2614 98.08682 226.2231 198.2614 98.08682 226.2231 162.2614 100.0868 224.2231 198.2614 100.0868 224.2231 162.2614 100.0868 170.2231 198.2614 100.0868 170.2231 198.2614 83.08682 170.2231 198.2614 83.08682 224.2231 162.2614 83.08682 170.2231 162.2614 83.08682 224.2231 198.6087 85.08682 226.1927 198.6087 98.08682 226.1927 198.9454 85.08682 226.1025 198.9454 98.08682 226.1025 199.2614 85.08682 225.9552 199.2614 98.08682 225.9552 199.547 85.08682 225.7552 199.547 98.08682 225.7552 199.7935 85.08682 225.5087 199.7935 98.08682 225.5087 199.9934 85.08682 225.2231 199.9934 98.08682 225.2231 200.1408 85.08682 224.9071 200.1408 98.08682 224.9071 200.231 85.08682 224.5704 200.231 98.08682 224.5704 200.231 98.43412 224.2231 200.1408 98.77085 224.2231 200.2011 98.42884 224.5704 200.1122 98.76046 224.5704 200.1122 98.41316 224.9071 200.0274 98.7296 224.9071 199.9671 98.38758 225.2231 199.889 98.67921 225.2231 199.7702 98.35286 225.5087 199.7011 98.61082 225.5087 199.5274 98.31005 225.7552 199.4694 98.52651 225.7552 199.2462 98.26046 225.9552 199.2011 98.42884 225.9552 198.935 98.2056 226.1025 198.9042 98.32077 226.1025 198.6034 98.14712 226.1927 198.5877 98.2056 226.1927 199.9934 99.08682 224.2231 199.9671 99.07162 224.5704 199.889 99.02651 224.9071 199.7614 98.95285 225.2231 199.5882 98.85286 225.5087 199.3747 98.7296 225.7552 199.1274 98.58682 225.9552 198.8538 98.42884 226.1025 198.5621 98.26046 226.1927 199.7935 99.37239 224.2231 199.547 99.61891 224.2231 199.7702 99.35286 224.5704 199.5274 99.59563 224.5704 199.7011 99.29486 224.9071 199.4694 99.52651 224.9071 199.5882 99.20016 225.2231 199.3747 99.41365 225.2231 199.435 99.07162 225.5087 199.2462 99.26046 225.5087 199.2462 98.91316 225.7552 199.0877 99.07162 225.7552 199.0274 98.7296 225.9552 198.9042 98.85286 225.9552 198.7854 98.52651 226.1025 198.7011 98.61082 226.1025 198.5274 98.31005 226.1927 198.4846 98.35286 226.1927 199.2614 99.81887 224.2231 199.2462 99.79255 224.5704 199.2011 99.71441 224.9071 199.1274 99.58682 225.2231 199.0274 99.41365 225.5087 198.9042 99.20016 225.7552 198.7614 98.95285 225.9552 198.6034 98.67921 226.1025 198.435 98.38758 226.1927 198.9454 99.9662 224.2231 198.6087 100.0564 224.2231 198.935 99.93765 224.5704 198.6034 100.0265 224.5704 198.9042 99.85286 224.9071 198.5877 99.93765 224.9071 198.8538 99.71441 225.2231 198.5621 99.79255 225.2231 198.7854 99.52651 225.5087 198.5274 99.59563 225.5087 198.7011 99.29486 225.7552 198.4846 99.35286 225.7552 198.6034 99.02651 225.9552 198.435 99.07162 225.9552 198.4953 98.7296 226.1025 198.3802 98.76046 226.1025 198.3802 98.41316 226.1927 198.3217 98.42884 226.1927 198.2614 100.0564 224.5704 198.2614 99.9662 224.9071 198.2614 99.81887 225.2231 198.2614 99.61891 225.5087 198.2614 99.37239 225.7552 198.2614 99.08682 225.9552 198.2614 98.77085 226.1025 198.2614 98.43412 226.1927 198.6087 83.1172 224.2231 198.9454 83.20743 224.2231 198.6034 83.14712 224.5704 198.935 83.23598 224.5704 198.5877 83.23598 224.9071 198.9042 83.32077 224.9071 198.5621 83.38108 225.2231 198.8538 83.45922 225.2231 198.5274 83.57801 225.5087 198.7854 83.64712 225.5087 198.4846 83.82077 225.7552 198.7011 83.87877 225.7552 198.435 84.10201 225.9552 198.6034 84.14712 225.9552 198.3802 84.41316 226.1025 198.4953 84.44403 226.1025 198.3217 84.7448 226.1927 198.3802 84.76046 226.1927 199.2614 83.35476 224.2231 199.2462 83.38108 224.5704 199.2011 83.45922 224.9071 199.1274 83.58682 225.2231 199.0274 83.75999 225.5087 198.9042 83.97348 225.7552 198.7614 84.22079 225.9552 198.6034 84.49442 226.1025 198.435 84.78605 226.1927 198.2614 83.1172 224.5704 198.2614 83.20743 224.9071 198.2614 83.35476 225.2231 198.2614 83.55473 225.5087 198.2614 83.80124 225.7552 198.2614 84.08682 225.9552 198.2614 84.40277 226.1025 198.2614 84.73952 226.1927 199.547 83.55473 224.2231 199.7935 83.80124 224.2231 199.5274 83.57801 224.5704 199.7702 83.82077 224.5704 199.4694 83.64712 224.9071 199.7011 83.87877 224.9071 199.3747 83.75999 225.2231 199.5882 83.97348 225.2231 199.2462 83.91316 225.5087 199.435 84.10201 225.5087 199.0877 84.10201 225.7552 199.2462 84.26046 225.7552 198.9042 84.32077 225.9552 199.0274 84.44403 225.9552 198.7011 84.56281 226.1025 198.7854 84.64712 226.1025 198.4846 84.82077 226.1927 198.5274 84.86358 226.1927 199.9934 84.08682 224.2231 199.9671 84.10201 224.5704 199.889 84.14712 224.9071 199.7614 84.22079 225.2231 199.5882 84.32077 225.5087 199.3747 84.44403 225.7552 199.1274 84.58682 225.9552 198.8538 84.7448 226.1025 198.5621 84.91316 226.1927 200.1408 84.40277 224.2231 200.231 84.73952 224.2231 200.1122 84.41316 224.5704 200.2011 84.7448 224.5704 200.0274 84.44403 224.9071 200.1122 84.76046 224.9071 199.889 84.49442 225.2231 199.9671 84.78605 225.2231 199.7011 84.56281 225.5087 199.7702 84.82077 225.5087 199.4694 84.64712 225.7552 199.5274 84.86358 225.7552 199.2011 84.7448 225.9552 199.2462 84.91316 225.9552 198.9042 84.85286 226.1025 198.935 84.96804 226.1025 198.5877 84.96804 226.1927 198.6034 85.02651 226.1927 198.6087 100.0564 170.2231 198.9454 99.9662 170.2231 199.2614 99.81887 170.2231 199.547 99.61891 170.2231 199.7935 99.37239 170.2231 199.9934 99.08682 170.2231 200.1408 98.77085 170.2231 200.231 98.43412 170.2231 162.2614 100.0564 224.5704 162.2614 99.9662 224.9071 162.2614 99.81887 225.2231 162.2614 99.61891 225.5087 162.2614 99.37239 225.7552 162.2614 99.08682 225.9552 162.2614 98.77085 226.1025 162.2614 98.43412 226.1927 160.2918 85.08682 224.5704 160.2918 98.08682 224.5704 160.382 85.08682 224.9071 160.382 98.08682 224.9071 160.5293 85.08682 225.2231 160.5293 98.08682 225.2231 160.7293 85.08682 225.5087 160.7293 98.08682 225.5087 160.9758 85.08682 225.7552 160.9758 98.08682 225.7552 161.2614 85.08682 225.9552 161.2614 98.08682 225.9552 161.5773 85.08682 226.1025 161.5773 98.08682 226.1025 161.9141 85.08682 226.1927 161.9141 98.08682 226.1927 162.2614 83.1172 224.5704 162.2614 83.20743 224.9071 162.2614 83.35476 225.2231 162.2614 83.55473 225.5087 162.2614 83.80124 225.7552 162.2614 84.08682 225.9552 162.2614 84.40277 226.1025 162.2614 84.73952 226.1927 198.6087 83.1172 170.2231 198.9454 83.20743 170.2231 199.2614 83.35476 170.2231 199.547 83.55473 170.2231 199.7935 83.80124 170.2231 199.9934 84.08682 170.2231 200.1408 84.40277 170.2231 200.231 84.73952 170.2231 200.231 85.08682 169.8758 200.231 98.08682 169.8758 200.1408 85.08682 169.5391 200.1408 98.08682 169.5391 199.9934 85.08682 169.2231 199.9934 98.08682 169.2231 199.7935 85.08682 168.9375 199.7935 98.08682 168.9375 199.547 85.08682 168.691 199.547 98.08682 168.691 199.2614 85.08682 168.4911 199.2614 98.08682 168.4911 198.9454 85.08682 168.3437 198.9454 98.08682 168.3437 198.6087 85.08682 168.2535 198.6087 98.08682 168.2535 200.2011 98.42884 169.8758 198.7011 98.61082 168.3437 198.4846 98.35286 168.2535 198.435 98.38758 168.2535 198.2614 98.43412 168.2535 198.3217 98.42884 168.2535 198.5274 98.31005 168.2535 198.7854 98.52651 168.3437 199.0274 98.7296 168.4911 198.5621 98.26046 168.2535 198.6034 98.67921 168.3437 198.3802 98.41316 168.2535 198.4953 98.7296 168.3437 198.3802 98.76046 168.3437 198.2614 98.77085 168.3437 198.8538 98.42884 168.3437 199.1274 98.58682 168.4911 199.3747 98.7296 168.691 198.5877 98.2056 168.2535 198.9042 98.85286 168.4911 198.7614 98.95285 168.4911 198.6034 99.02651 168.4911 198.435 99.07162 168.4911 198.2614 99.08682 168.4911 198.9042 98.32077 168.3437 199.2011 98.42884 168.4911 199.4694 98.52651 168.691 199.7011 98.61082 168.9375 198.6034 98.14712 168.2535 199.2462 98.91316 168.691 199.0877 99.07162 168.691 198.9042 99.20016 168.691 198.7011 99.29486 168.691 198.4846 99.35286 168.691 198.2614 99.37239 168.691 198.935 98.2056 168.3437 199.2462 98.26046 168.4911 199.5274 98.31005 168.691 199.7702 98.35286 168.9375 199.9671 98.38758 169.2231 199.5882 98.85286 168.9375 199.435 99.07162 168.9375 199.2462 99.26046 168.9375 199.0274 99.41365 168.9375 198.7854 99.52651 168.9375 198.5274 99.59563 168.9375 198.2614 99.61891 168.9375 199.889 98.67921 169.2231 199.7614 98.95285 169.2231 199.5882 99.20016 169.2231 199.3747 99.41365 169.2231 199.1274 99.58682 169.2231 198.8538 99.71441 169.2231 198.5621 99.79255 169.2231 198.2614 99.81887 169.2231 200.1122 98.41316 169.5391 200.0274 98.7296 169.5391 199.889 99.02651 169.5391 199.7011 99.29486 169.5391 199.4694 99.52651 169.5391 199.2011 99.71441 169.5391 198.9042 99.85286 169.5391 198.5877 99.93765 169.5391 198.2614 99.9662 169.5391 200.1122 98.76046 169.8758 199.9671 99.07162 169.8758 199.7702 99.35286 169.8758 199.5274 99.59563 169.8758 199.2462 99.79255 169.8758 198.935 99.93765 169.8758 198.6034 100.0265 169.8758 198.2614 100.0564 169.8758 161.9141 100.0564 224.2231 161.5773 99.9662 224.2231 161.9194 100.0265 224.5704 161.5877 99.93765 224.5704 161.935 99.93765 224.9071 161.6186 99.85286 224.9071 161.9606 99.79255 225.2231 161.669 99.71441 225.2231 161.9953 99.59563 225.5087 161.7374 99.52651 225.5087 162.0381 99.35286 225.7552 161.8217 99.29486 225.7552 162.0877 99.07162 225.9552 161.9194 99.02651 225.9552 162.1426 98.76046 226.1025 162.0274 98.7296 226.1025 162.2011 98.42884 226.1927 162.1426 98.41316 226.1927 161.2614 99.81887 224.2231 161.2766 99.79255 224.5704 161.3217 99.71441 224.9071 161.3954 99.58682 225.2231 161.4953 99.41365 225.5087 161.6186 99.20016 225.7552 161.7614 98.95285 225.9552 161.9194 98.67921 226.1025 162.0877 98.38758 226.1927 160.9758 99.61891 224.2231 160.7293 99.37239 224.2231 160.9953 99.59563 224.5704 160.7526 99.35286 224.5704 161.0533 99.52651 224.9071 160.8217 99.29486 224.9071 161.148 99.41365 225.2231 160.9346 99.20016 225.2231 161.2766 99.26046 225.5087 161.0877 99.07162 225.5087 161.435 99.07162 225.7552 161.2766 98.91316 225.7552 161.6186 98.85286 225.9552 161.4953 98.7296 225.9552 161.8217 98.61082 226.1025 161.7374 98.52651 226.1025 162.0381 98.35286 226.1927 161.9953 98.31005 226.1927 160.5293 99.08682 224.2231 160.5556 99.07162 224.5704 160.6338 99.02651 224.9071 160.7614 98.95285 225.2231 160.9346 98.85286 225.5087 161.148 98.7296 225.7552 161.3954 98.58682 225.9552 161.669 98.42884 226.1025 161.9606 98.26046 226.1927 160.382 98.77085 224.2231 160.2918 98.43412 224.2231 160.4105 98.76046 224.5704 160.3217 98.42884 224.5704 160.4953 98.7296 224.9071 160.4105 98.41316 224.9071 160.6338 98.67921 225.2231 160.5556 98.38758 225.2231 160.8217 98.61082 225.5087 160.7526 98.35286 225.5087 161.0533 98.52651 225.7552 160.9953 98.31005 225.7552 161.3217 98.42884 225.9552 161.2766 98.26046 225.9552 161.6186 98.32077 226.1025 161.5877 98.2056 226.1025 161.935 98.2056 226.1927 161.9194 98.14712 226.1927 160.2918 84.73952 224.2231 160.382 84.40277 224.2231 160.3217 84.7448 224.5704 160.4105 84.41316 224.5704 160.4105 84.76046 224.9071 160.4953 84.44403 224.9071 160.5556 84.78605 225.2231 160.6338 84.49442 225.2231 160.7526 84.82077 225.5087 160.8217 84.56281 225.5087 160.9953 84.86358 225.7552 161.0533 84.64712 225.7552 161.2766 84.91316 225.9552 161.3217 84.7448 225.9552 161.5877 84.96804 226.1025 161.6186 84.85286 226.1025 161.9194 85.02651 226.1927 161.935 84.96804 226.1927 160.5293 84.08682 224.2231 160.5556 84.10201 224.5704 160.6338 84.14712 224.9071 160.7614 84.22079 225.2231 160.9346 84.32077 225.5087 161.148 84.44403 225.7552 161.3954 84.58682 225.9552 161.669 84.7448 226.1025 161.9606 84.91316 226.1927 160.7293 83.80124 224.2231 160.9758 83.55473 224.2231 160.7526 83.82077 224.5704 160.9953 83.57801 224.5704 160.8217 83.87877 224.9071 161.0533 83.64712 224.9071 160.9346 83.97348 225.2231 161.148 83.75999 225.2231 161.0877 84.10201 225.5087 161.2766 83.91316 225.5087 161.2766 84.26046 225.7552 161.435 84.10201 225.7552 161.4953 84.44403 225.9552 161.6186 84.32077 225.9552 161.7374 84.64712 226.1025 161.8217 84.56281 226.1025 161.9953 84.86358 226.1927 162.0381 84.82077 226.1927 161.2614 83.35476 224.2231 161.2766 83.38108 224.5704 161.3217 83.45922 224.9071 161.3954 83.58682 225.2231 161.4953 83.75999 225.5087 161.6186 83.97348 225.7552 161.7614 84.22079 225.9552 161.9194 84.49442 226.1025 162.0877 84.78605 226.1927 161.5773 83.20743 224.2231 161.9141 83.1172 224.2231 161.5877 83.23598 224.5704 161.9194 83.14712 224.5704 161.6186 83.32077 224.9071 161.935 83.23598 224.9071 161.669 83.45922 225.2231 161.9606 83.38108 225.2231 161.7374 83.64712 225.5087 161.9953 83.57801 225.5087 161.8217 83.87877 225.7552 162.0381 83.82077 225.7552 161.9194 84.14712 225.9552 162.0877 84.10201 225.9552 162.0274 84.44403 226.1025 162.1426 84.41316 226.1025 162.1426 84.76046 226.1927 162.2011 84.7448 226.1927 198.2614 83.1172 169.8758 198.6034 83.14712 169.8758 198.7854 84.64712 168.3437 198.5274 84.86358 168.2535 198.5621 84.91316 168.2535 198.6034 85.02651 168.2535 198.4846 84.82077 168.2535 198.7011 84.56281 168.3437 198.9042 84.32077 168.4911 198.435 84.78605 168.2535 198.8538 84.7448 168.3437 198.5877 84.96804 168.2535 198.9042 84.85286 168.3437 198.935 84.96804 168.3437 198.6034 84.49442 168.3437 198.7614 84.22079 168.4911 198.9042 83.97348 168.691 198.3802 84.76046 168.2535 199.0274 84.44403 168.4911 199.1274 84.58682 168.4911 199.2011 84.7448 168.4911 199.2462 84.91316 168.4911 198.4953 84.44403 168.3437 198.6034 84.14712 168.4911 198.7011 83.87877 168.691 198.7854 83.64712 168.9375 198.3217 84.7448 168.2535 199.0877 84.10201 168.691 199.2462 84.26046 168.691 199.3747 84.44403 168.691 199.4694 84.64712 168.691 199.5274 84.86358 168.691 198.3802 84.41316 168.3437 198.435 84.10201 168.4911 198.4846 83.82077 168.691 198.5274 83.57801 168.9375 198.5621 83.38108 169.2231 198.2614 84.73952 168.2535 199.0274 83.75999 168.9375 199.2462 83.91316 168.9375 199.435 84.10201 168.9375 199.5882 84.32077 168.9375 199.7011 84.56281 168.9375 199.7702 84.82077 168.9375 198.2614 84.40277 168.3437 198.2614 84.08682 168.4911 198.2614 83.80124 168.691 198.2614 83.55473 168.9375 198.2614 83.35476 169.2231 198.2614 83.20743 169.5391 198.8538 83.45922 169.2231 199.1274 83.58682 169.2231 199.3747 83.75999 169.2231 199.5882 83.97348 169.2231 199.7614 84.22079 169.2231 199.889 84.49442 169.2231 199.9671 84.78605 169.2231 198.5877 83.23598 169.5391 198.9042 83.32077 169.5391 199.2011 83.45922 169.5391 199.4694 83.64712 169.5391 199.7011 83.87877 169.5391 199.889 84.14712 169.5391 200.0274 84.44403 169.5391 200.1122 84.76046 169.5391 198.935 83.23598 169.8758 199.2462 83.38108 169.8758 199.5274 83.57801 169.8758 199.7702 83.82077 169.8758 199.9671 84.10201 169.8758 200.1122 84.41316 169.8758 200.2011 84.7448 169.8758 162.2614 100.0564 169.8758 162.2614 99.9662 169.5391 162.2614 99.81887 169.2231 162.2614 99.61891 168.9375 162.2614 99.37239 168.691 162.2614 99.08682 168.4911 162.2614 98.77085 168.3437 162.2614 98.43412 168.2535 161.9141 100.0564 170.2231 161.5773 99.9662 170.2231 161.2614 99.81887 170.2231 160.9758 99.61891 170.2231 160.7293 99.37239 170.2231 160.5293 99.08682 170.2231 160.382 98.77085 170.2231 160.2918 98.43412 170.2231 161.9141 83.1172 170.2231 161.5773 83.20743 170.2231 161.2614 83.35476 170.2231 160.9758 83.55473 170.2231 160.7293 83.80124 170.2231 160.5293 84.08682 170.2231 160.382 84.40277 170.2231 160.2918 84.73952 170.2231 162.2614 83.1172 169.8758 162.2614 83.20743 169.5391 162.2614 83.35476 169.2231 162.2614 83.55473 168.9375 162.2614 83.80124 168.691 162.2614 84.08682 168.4911 162.2614 84.40277 168.3437 162.2614 84.73952 168.2535 161.9194 100.0265 169.8758 161.7374 98.52651 168.3437 161.9953 98.31005 168.2535 161.9606 98.26046 168.2535 161.9141 98.08682 168.2535 161.9194 98.14712 168.2535 162.0381 98.35286 168.2535 161.8217 98.61082 168.3437 161.6186 98.85286 168.4911 162.0877 98.38758 168.2535 161.669 98.42884 168.3437 161.935 98.2056 168.2535 161.6186 98.32077 168.3437 161.5877 98.2056 168.3437 161.5773 98.08682 168.3437 161.9194 98.67921 168.3437 161.7614 98.95285 168.4911 161.6186 99.20016 168.691 162.1426 98.41316 168.2535 161.4953 98.7296 168.4911 161.3954 98.58682 168.4911 161.3217 98.42884 168.4911 161.2766 98.26046 168.4911 161.2614 98.08682 168.4911 162.0274 98.7296 168.3437 161.9194 99.02651 168.4911 161.8217 99.29486 168.691 161.7374 99.52651 168.9375 162.2011 98.42884 168.2535 161.435 99.07162 168.691 161.2766 98.91316 168.691 161.148 98.7296 168.691 161.0533 98.52651 168.691 160.9953 98.31005 168.691 160.9758 98.08682 168.691 162.1426 98.76046 168.3437 162.0877 99.07162 168.4911 162.0381 99.35286 168.691 161.9953 99.59563 168.9375 161.9606 99.79255 169.2231 161.4953 99.41365 168.9375 161.2766 99.26046 168.9375 161.0877 99.07162 168.9375 160.9346 98.85286 168.9375 160.8217 98.61082 168.9375 160.7526 98.35286 168.9375 160.7293 98.08682 168.9375 161.669 99.71441 169.2231 161.3954 99.58682 169.2231 161.148 99.41365 169.2231 160.9346 99.20016 169.2231 160.7614 98.95285 169.2231 160.6338 98.67921 169.2231 160.5556 98.38758 169.2231 160.5293 98.08682 169.2231 161.935 99.93765 169.5391 161.6186 99.85286 169.5391 161.3217 99.71441 169.5391 161.0533 99.52651 169.5391 160.8217 99.29486 169.5391 160.6338 99.02651 169.5391 160.4953 98.7296 169.5391 160.4105 98.41316 169.5391 160.382 98.08682 169.5391 161.5877 99.93765 169.8758 161.2766 99.79255 169.8758 160.9953 99.59563 169.8758 160.7526 99.35286 169.8758 160.5556 99.07162 169.8758 160.4105 98.76046 169.8758 160.3217 98.42884 169.8758 160.2918 98.08682 169.8758 160.2918 85.08682 169.8758 160.3217 84.7448 169.8758 161.8217 84.56281 168.3437 162.0381 84.82077 168.2535 162.0877 84.78605 168.2535 162.2011 84.7448 168.2535 161.9953 84.86358 168.2535 161.7374 84.64712 168.3437 161.4953 84.44403 168.4911 161.9606 84.91316 168.2535 161.9194 84.49442 168.3437 162.1426 84.76046 168.2535 162.0274 84.44403 168.3437 162.1426 84.41316 168.3437 161.669 84.7448 168.3437 161.3954 84.58682 168.4911 161.148 84.44403 168.691 161.935 84.96804 168.2535 161.6186 84.32077 168.4911 161.7614 84.22079 168.4911 161.9194 84.14712 168.4911 162.0877 84.10201 168.4911 161.6186 84.85286 168.3437 161.3217 84.7448 168.4911 161.0533 84.64712 168.691 160.8217 84.56281 168.9375 161.9194 85.02651 168.2535 161.2766 84.26046 168.691 161.435 84.10201 168.691 161.6186 83.97348 168.691 161.8217 83.87877 168.691 162.0381 83.82077 168.691 161.5877 84.96804 168.3437 161.2766 84.91316 168.4911 160.9953 84.86358 168.691 160.7526 84.82077 168.9375 160.5556 84.78605 169.2231 161.9141 85.08682 168.2535 160.9346 84.32077 168.9375 161.0877 84.10201 168.9375 161.2766 83.91316 168.9375 161.4953 83.75999 168.9375 161.7374 83.64712 168.9375 161.9953 83.57801 168.9375 161.5773 85.08682 168.3437 161.2614 85.08682 168.4911 160.9758 85.08682 168.691 160.7293 85.08682 168.9375 160.5293 85.08682 169.2231 160.382 85.08682 169.5391 160.6338 84.49442 169.2231 160.7614 84.22079 169.2231 160.9346 83.97348 169.2231 161.148 83.75999 169.2231 161.3954 83.58682 169.2231 161.669 83.45922 169.2231 161.9606 83.38108 169.2231 160.4105 84.76046 169.5391 160.4953 84.44403 169.5391 160.6338 84.14712 169.5391 160.8217 83.87877 169.5391 161.0533 83.64712 169.5391 161.3217 83.45922 169.5391 161.6186 83.32077 169.5391 161.935 83.23598 169.5391 160.4105 84.41316 169.8758 160.5556 84.10201 169.8758 160.7526 83.82077 169.8758 160.9953 83.57801 169.8758 161.2766 83.38108 169.8758 161.5877 83.23598 169.8758 161.9194 83.14712 169.8758 164.2614 88.83166 191.8912 164.2614 94.20713 191.8912 164.2614 94.20713 202.555 164.2614 88.83166 202.555 214.5943 51.08681 257.2733 214.6036 51.08681 155.2732 214.5943 77.08682 257.2733 214.6036 77.08682 155.2732 212.6038 51.08681 153.2731 182.6038 51.08681 153.2703 212.6038 77.08682 153.2731 182.6038 77.08682 153.2703 180.5943 51.08681 257.2702 180.5943 77.08682 257.2702 180.6036 51.08681 155.2701 180.6036 77.08682 155.2701 212.5941 51.08681 259.2731 212.5941 77.08682 259.2731 182.5941 51.08681 259.2703 182.5941 77.08682 259.2703 212.5943 79.08682 257.2731 212.6036 79.08682 155.2731 182.5943 79.08682 257.2703 182.6036 79.08682 155.2703 182.5943 49.08681 257.2703 182.6036 49.08681 155.2703 212.5943 49.08681 257.2731 212.6036 49.08681 155.2731 212.6037 79.05643 154.9258 182.6037 79.05643 154.923 212.6037 78.9662 154.589 182.6037 78.9662 154.5863 212.6037 78.81887 154.2731 182.6037 78.81887 154.2703 212.6038 78.61891 153.9875 182.6038 78.61891 153.9847 212.6038 78.37239 153.741 182.6038 78.37239 153.7382 212.6038 78.08682 153.541 182.6038 78.08682 153.5383 212.6038 77.77085 153.3937 182.6038 77.77085 153.3909 212.6038 77.43412 153.3034 182.6038 77.43412 153.3007 182.2617 79.02651 154.923 182.0798 77.52651 153.3909 182.3378 77.31005 153.3007 182.3031 77.26046 153.3007 182.2565 77.08682 153.3007 182.2618 77.14712 153.3007 182.3806 77.35286 153.3007 182.1641 77.61082 153.3909 181.961 77.85286 153.5382 182.4302 77.38758 153.3007 182.0114 77.42884 153.3909 182.2775 77.2056 153.3007 181.961 77.32077 153.3909 181.9302 77.2056 153.3909 181.9198 77.08682 153.3909 182.2618 77.67921 153.3909 182.1038 77.95284 153.5382 181.961 78.20016 153.7382 182.485 77.41316 153.3007 181.8377 77.7296 153.5382 181.7378 77.58682 153.5382 181.6641 77.42884 153.5382 181.619 77.26046 153.5382 181.6038 77.08682 153.5382 182.3699 77.7296 153.3909 182.2618 78.02651 153.5382 182.1641 78.29486 153.7382 182.0798 78.52651 153.9847 182.5435 77.42884 153.3007 181.7774 78.07162 153.7382 181.619 77.91316 153.7381 181.4904 77.7296 153.7381 181.3957 77.52651 153.7381 181.3377 77.31005 153.7381 181.3182 77.08682 153.7381 182.485 77.76046 153.3909 182.4301 78.07162 153.5382 182.3805 78.35286 153.7382 182.3377 78.59563 153.9847 182.303 78.79255 154.2703 181.8377 78.41365 153.9847 181.619 78.26046 153.9846 181.4301 78.07162 153.9846 181.2769 77.85286 153.9846 181.1641 77.61082 153.9846 181.0949 77.35286 153.9846 181.0717 77.08682 153.9846 182.0113 78.71441 154.2703 181.7377 78.58682 154.2702 181.4904 78.41365 154.2702 181.2769 78.20016 154.2702 181.1037 77.95284 154.2702 180.9761 77.67921 154.2702 180.898 77.38758 154.2702 180.8717 77.08682 154.2702 182.2774 78.93765 154.5863 181.9609 78.85286 154.5862 181.664 78.71441 154.5862 181.3957 78.52651 154.5862 181.164 78.29486 154.5861 180.9761 78.02651 154.5861 180.8377 77.7296 154.5861 180.7529 77.41316 154.5861 180.7243 77.08682 154.5861 181.93 78.93765 154.923 181.6189 78.79255 154.9229 181.3376 78.59563 154.9229 181.0949 78.35286 154.9229 180.8979 78.07162 154.9229 180.7528 77.76046 154.9228 180.664 77.42884 154.9228 180.6341 77.08682 154.9228 182.2563 79.05643 155.2703 181.9196 78.9662 155.2703 181.6036 78.81887 155.2702 181.3181 78.61891 155.2702 181.0715 78.37239 155.2702 180.8716 78.08682 155.2702 180.7243 77.77085 155.2701 180.634 77.43412 155.2701 214.5733 77.08682 154.9259 214.5434 77.42884 154.9259 213.0435 77.61082 153.3937 212.8271 77.35286 153.3035 212.7775 77.38758 153.3035 212.6641 77.42884 153.3034 212.8699 77.31005 153.3035 213.1278 77.52651 153.3937 213.3698 77.7296 153.5411 212.9046 77.26046 153.3035 212.9458 77.67921 153.3937 212.7226 77.41316 153.3034 212.8378 77.7296 153.3937 212.7226 77.76046 153.3937 213.1962 77.42884 153.3937 213.4698 77.58682 153.5411 213.7171 77.7296 153.7411 212.9302 77.2056 153.3035 213.2466 77.85286 153.5411 213.1038 77.95284 153.541 212.9458 78.02651 153.541 212.7774 78.07162 153.541 213.2466 77.32077 153.3937 213.5435 77.42884 153.5411 213.8118 77.52651 153.7411 214.0435 77.61082 153.9876 212.9458 77.14712 153.3035 213.5886 77.91316 153.7411 213.4301 78.07162 153.741 213.2466 78.20016 153.741 213.0435 78.29486 153.741 212.827 78.35286 153.741 213.2775 77.2056 153.3937 213.5886 77.26046 153.5411 213.8698 77.31005 153.7411 214.1126 77.35286 153.9876 214.3095 77.38758 154.2732 212.9511 77.08682 153.3035 213.9306 77.85286 153.9876 213.7774 78.07162 153.9876 213.5886 78.26046 153.9876 213.3698 78.41365 153.9875 213.1278 78.52651 153.9875 212.8698 78.59563 153.9875 213.2879 77.08682 153.3937 213.6038 77.08682 153.5411 213.8894 77.08682 153.7411 214.1358 77.08682 153.9876 214.3358 77.08682 154.2732 214.4831 77.08682 154.5892 214.2313 77.67921 154.2732 214.1037 77.95284 154.2732 213.9306 78.20016 154.2732 213.7171 78.41365 154.2732 213.4698 78.58682 154.2731 213.1961 78.71441 154.2731 212.9045 78.79255 154.2731 214.4545 77.41316 154.5892 214.3697 77.7296 154.5892 214.2313 78.02651 154.5892 214.0434 78.29486 154.5892 213.8117 78.52651 154.5891 213.5434 78.71441 154.5891 213.2465 78.85286 154.5891 212.93 78.93765 154.589 214.4545 77.76046 154.9259 214.3094 78.07162 154.9259 214.1125 78.35286 154.9259 213.8697 78.59563 154.9259 213.5885 78.79255 154.9259 213.2773 78.93765 154.9258 212.9457 79.02651 154.9258 214.5733 77.43412 155.2732 214.483 77.77085 155.2732 214.3357 78.08682 155.2732 214.1357 78.37239 155.2732 213.8892 78.61891 155.2732 213.6036 78.81887 155.2731 213.2877 78.9662 155.2731 212.9509 79.05643 155.2731 182.2565 51.08681 153.3007 181.9198 51.08681 153.3909 181.6038 51.08681 153.5382 181.3182 51.08681 153.7381 181.0717 51.08681 153.9846 180.8717 51.08681 154.2702 180.7243 51.08681 154.5861 180.6341 51.08681 154.9228 182.247 79.05643 257.2703 181.9103 78.9662 257.2703 181.5943 78.81887 257.2702 181.3088 78.61891 257.2702 181.0622 78.37239 257.2702 180.8623 78.08682 257.2702 180.7149 77.77085 257.2702 180.6247 77.43412 257.2702 182.5943 79.05643 257.6176 212.5943 79.05643 257.6204 182.5943 78.9662 257.9544 212.5943 78.9662 257.9571 182.5942 78.81887 258.2703 212.5942 78.81887 258.2731 182.5942 78.61891 258.5559 212.5942 78.61891 258.5586 182.5942 78.37239 258.8024 212.5942 78.37239 258.8052 182.5942 78.08682 259.0024 212.5942 78.08682 259.0051 182.5942 77.77085 259.1497 212.5942 77.77085 259.1524 182.5941 77.43412 259.2399 212.5941 77.43412 259.2427 212.9416 79.05643 257.2731 213.2784 78.9662 257.2731 213.5943 78.81887 257.2732 213.8799 78.61891 257.2732 214.1264 78.37239 257.2732 214.3264 78.08682 257.2732 214.4737 77.77085 257.2732 214.5639 77.43412 257.2732 214.5733 51.08681 154.9259 214.4831 51.08681 154.5892 214.3358 51.08681 154.2732 214.1358 51.08681 153.9876 213.8894 51.08681 153.7411 213.6038 51.08681 153.5411 213.2879 51.08681 153.3937 212.9511 51.08681 153.3035 182.6037 49.1172 154.923 212.6037 49.1172 154.9258 182.6037 49.20743 154.5863 212.6037 49.20743 154.589 182.6037 49.35476 154.2703 212.6037 49.35476 154.2731 182.6038 49.55472 153.9847 212.6038 49.55472 153.9875 182.6038 49.80124 153.7382 212.6038 49.80124 153.741 182.6038 50.08681 153.5383 212.6038 50.08681 153.541 182.6038 50.40277 153.3909 212.6038 50.40277 153.3937 182.6038 50.73952 153.3007 212.6038 50.73952 153.3034 180.664 50.74479 154.9228 182.1641 50.56281 153.3909 182.3806 50.82077 153.3007 182.4302 50.78604 153.3007 182.5435 50.74479 153.3007 182.3378 50.86357 153.3007 182.0798 50.64712 153.3909 181.8377 50.44403 153.5382 182.3031 50.91316 153.3007 182.2618 50.49441 153.3909 182.485 50.76046 153.3007 182.3699 50.44403 153.3909 182.485 50.41316 153.3909 182.0114 50.74479 153.3909 181.7378 50.58681 153.5382 181.4904 50.44403 153.7381 182.2775 50.96803 153.3007 181.961 50.32077 153.5382 182.1038 50.22079 153.5382 182.2618 50.14712 153.5382 182.4301 50.102 153.5382 181.961 50.85285 153.3909 181.6641 50.74479 153.5382 181.3957 50.64712 153.7381 181.1641 50.56281 153.9846 182.2618 51.0265 153.3007 181.619 50.26046 153.7381 181.7774 50.102 153.7382 181.961 49.97347 153.7382 182.1641 49.87877 153.7382 182.3805 49.82077 153.7382 181.9302 50.96803 153.3909 181.619 50.91316 153.5382 181.3377 50.86357 153.7381 181.0949 50.82077 153.9846 180.898 50.78604 154.2702 181.2769 50.32077 153.9846 181.4301 50.102 153.9846 181.619 49.91316 153.9846 181.8377 49.75999 153.9847 182.0798 49.64712 153.9847 182.3377 49.578 153.9847 180.9761 50.49441 154.2702 181.1037 50.22079 154.2702 181.2769 49.97347 154.2702 181.4904 49.75999 154.2702 181.7377 49.58681 154.2702 182.0113 49.45922 154.2703 182.303 49.38108 154.2703 180.7529 50.76046 154.5861 180.8377 50.44403 154.5861 180.9761 50.14712 154.5861 181.164 49.87877 154.5861 181.3957 49.64712 154.5862 181.664 49.45922 154.5862 181.9609 49.32077 154.5862 182.2774 49.23598 154.5863 180.7528 50.41316 154.9228 180.8979 50.102 154.9229 181.0949 49.82077 154.9229 181.3376 49.578 154.9229 181.6189 49.38108 154.9229 181.93 49.23598 154.923 182.2617 49.14712 154.923 180.634 50.73952 155.2701 180.7243 50.40277 155.2701 180.8716 50.08681 155.2702 181.0715 49.80124 155.2702 181.3181 49.55472 155.2702 181.6036 49.35476 155.2702 181.9196 49.20743 155.2703 182.2563 49.1172 155.2703 182.2523 79.02651 257.6176 181.9207 78.93765 257.6176 182.2679 78.93765 257.9544 181.9515 78.85286 257.9543 182.2935 78.79255 258.2703 182.0018 78.71441 258.2703 182.3282 78.59563 258.5559 182.0702 78.52651 258.5559 182.371 78.35286 258.8024 182.1545 78.29486 258.8024 182.4205 78.07162 259.0024 182.2521 78.02651 259.0024 182.4754 77.76046 259.1497 182.3602 77.7296 259.1497 182.5338 77.42884 259.2399 182.4754 77.41316 259.2399 181.6095 78.79255 257.6175 181.6546 78.71441 257.9543 181.7282 78.58682 258.2702 181.8282 78.41365 258.5558 181.9514 78.20016 258.8023 182.0942 77.95284 259.0023 182.2521 77.67921 259.1497 182.4205 77.38758 259.2399 181.3283 78.59563 257.6175 181.0855 78.35286 257.6175 181.3862 78.52651 257.9543 181.1546 78.29486 257.9542 181.4809 78.41365 258.2702 181.2674 78.20016 258.2702 181.6094 78.26046 258.5558 181.4206 78.07162 258.5558 181.7678 78.07162 258.8023 181.6094 77.91316 258.8023 181.9514 77.85286 259.0023 181.8281 77.7296 259.0023 182.1545 77.61082 259.1497 182.0702 77.52651 259.1497 182.3709 77.35286 259.2399 182.3281 77.31005 259.2399 180.8886 78.07162 257.6175 180.9667 78.02651 257.9542 181.0942 77.95284 258.2702 181.2674 77.85286 258.5558 181.4808 77.7296 258.8023 181.7281 77.58682 259.0023 182.0018 77.42884 259.1497 182.2934 77.26046 259.2399 180.7435 77.76046 257.6175 180.6546 77.42884 257.6174 180.8282 77.7296 257.9542 180.7434 77.41316 257.9542 180.9666 77.67921 258.2702 180.8885 77.38758 258.2702 181.1545 77.61082 258.5558 181.0854 77.35286 258.5558 181.3861 77.52651 258.8023 181.3281 77.31005 258.8023 181.6545 77.42884 259.0023 181.6094 77.26046 259.0023 181.9514 77.32077 259.1497 181.9205 77.2056 259.1497 182.2678 77.2056 259.2399 182.2521 77.14712 259.2399 180.6247 77.08682 257.6174 180.7149 77.08682 257.9542 180.8622 77.08682 258.2702 181.0621 77.08682 258.5558 181.3086 77.08682 258.8023 181.5942 77.08682 259.0023 181.9101 77.08682 259.1497 182.2469 77.08682 259.2399 214.534 77.42884 257.6206 214.4451 77.76046 257.6205 214.4451 77.41316 257.9573 214.3603 77.7296 257.9573 214.3 77.38758 258.2732 214.2218 77.67921 258.2732 214.103 77.35286 258.5588 214.0339 77.61082 258.5588 213.8602 77.31005 258.8053 213.8022 77.52651 258.8053 213.579 77.26046 259.0052 213.5339 77.42884 259.0052 213.2678 77.2056 259.1525 213.2369 77.32077 259.1525 212.9362 77.14712 259.2427 212.9205 77.2056 259.2427 214.3 78.07162 257.6205 214.2219 78.02651 257.9573 214.0942 77.95284 258.2732 213.921 77.85286 258.5588 213.7075 77.7296 258.8052 213.4602 77.58682 259.0052 213.1865 77.42884 259.1525 212.8949 77.26046 259.2427 214.5639 77.08682 257.6206 214.4736 77.08682 257.9573 214.3263 77.08682 258.2732 214.1263 77.08682 258.5588 213.8798 77.08682 258.8053 213.5942 77.08682 259.0052 213.2782 77.08682 259.1525 212.9414 77.08682 259.2427 214.1031 78.35286 257.6205 213.8603 78.59563 257.6205 214.034 78.29486 257.9573 213.8023 78.52651 257.9572 213.9211 78.20016 258.2732 213.7076 78.41365 258.2732 213.7679 78.07162 258.5588 213.579 78.26046 258.5587 213.579 77.91316 258.8052 213.4205 78.07162 258.8052 213.3602 77.7296 259.0052 213.2369 77.85286 259.0052 213.1182 77.52651 259.1525 213.0339 77.61082 259.1525 212.8602 77.31005 259.2427 212.8174 77.35286 259.2427 213.5791 78.79255 257.6205 213.534 78.71441 257.9572 213.4603 78.58682 258.2731 213.3603 78.41365 258.5587 213.237 78.20016 258.8052 213.0942 77.95284 259.0052 212.9362 77.67921 259.1525 212.7678 77.38758 259.2427 213.2679 78.93765 257.6204 212.9363 79.02651 257.6204 213.2371 78.85286 257.9572 212.9206 78.93765 257.9571 213.1866 78.71441 258.2731 212.895 78.79255 258.2731 213.1182 78.52651 258.5587 212.8603 78.59563 258.5587 213.0339 78.29486 258.8052 212.8174 78.35286 258.8052 212.9362 78.02651 259.0051 212.7678 78.07162 259.0051 212.8281 77.7296 259.1525 212.7129 77.76046 259.1525 212.7129 77.41316 259.2427 212.6545 77.42884 259.2427 212.9457 49.14712 154.9258 213.1278 50.64712 153.3937 212.8699 50.86357 153.3035 212.9046 50.91316 153.3035 212.9458 51.0265 153.3035 212.8271 50.82077 153.3035 213.0435 50.56281 153.3937 213.2466 50.32077 153.5411 212.7775 50.78604 153.3035 213.1962 50.74479 153.3937 212.9302 50.96803 153.3035 213.2466 50.85285 153.3937 213.2775 50.96803 153.3937 212.9458 50.49441 153.3937 213.1038 50.22079 153.541 213.2466 49.97347 153.741 212.7226 50.76046 153.3034 213.3698 50.44403 153.5411 213.4698 50.58681 153.5411 213.5435 50.74479 153.5411 213.5886 50.91316 153.5411 212.8378 50.44403 153.3937 212.9458 50.14712 153.541 213.0435 49.87877 153.741 213.1278 49.64712 153.9875 212.6641 50.74479 153.3034 213.4301 50.102 153.741 213.5886 50.26046 153.7411 213.7171 50.44403 153.7411 213.8118 50.64712 153.7411 213.8698 50.86357 153.7411 212.7226 50.41316 153.3937 212.7774 50.102 153.541 212.827 49.82077 153.741 212.8698 49.578 153.9875 212.9045 49.38108 154.2731 213.3698 49.75999 153.9875 213.5886 49.91316 153.9876 213.7774 50.102 153.9876 213.9306 50.32077 153.9876 214.0435 50.56281 153.9876 214.1126 50.82077 153.9876 213.1961 49.45922 154.2731 213.4698 49.58681 154.2731 213.7171 49.75999 154.2732 213.9306 49.97347 154.2732 214.1037 50.22079 154.2732 214.2313 50.49441 154.2732 214.3095 50.78604 154.2732 212.93 49.23598 154.589 213.2465 49.32077 154.5891 213.5434 49.45922 154.5891 213.8117 49.64712 154.5891 214.0434 49.87877 154.5892 214.2313 50.14712 154.5892 214.3697 50.44403 154.5892 214.4545 50.76046 154.5892 213.2773 49.23598 154.9258 213.5885 49.38108 154.9259 213.8697 49.578 154.9259 214.1125 49.82077 154.9259 214.3094 50.102 154.9259 214.4545 50.41316 154.9259 214.5434 50.74479 154.9259 212.9509 49.1172 155.2731 213.2877 49.20743 155.2731 213.6036 49.35476 155.2731 213.8892 49.55472 155.2732 214.1357 49.80124 155.2732 214.3357 50.08681 155.2732 214.483 50.40277 155.2732 214.5733 50.73952 155.2732 182.247 49.1172 257.2703 181.9103 49.20743 257.2703 181.5943 49.35476 257.2702 181.3088 49.55472 257.2702 181.0622 49.80124 257.2702 180.8623 50.08681 257.2702 180.7149 50.40277 257.2702 180.6247 50.73952 257.2702 180.6247 51.08681 257.6174 180.7149 51.08681 257.9542 180.8622 51.08681 258.2702 181.0621 51.08681 258.5558 181.3086 51.08681 258.8023 181.5942 51.08681 259.0023 181.9101 51.08681 259.1497 182.2469 51.08681 259.2399 212.9414 51.08681 259.2427 213.2782 51.08681 259.1525 213.5942 51.08681 259.0052 213.8798 51.08681 258.8053 214.1263 51.08681 258.5588 214.3263 51.08681 258.2732 214.4736 51.08681 257.9573 214.5639 51.08681 257.6206 212.9416 49.1172 257.2731 213.2784 49.20743 257.2731 213.5943 49.35476 257.2732 213.8799 49.55472 257.2732 214.1264 49.80124 257.2732 214.3264 50.08681 257.2732 214.4737 50.40277 257.2732 214.5639 50.73952 257.2732 180.6546 50.74479 257.6174 180.7435 50.41316 257.6175 180.7434 50.76046 257.9542 180.8282 50.44403 257.9542 180.8885 50.78604 258.2702 180.9666 50.49441 258.2702 181.0854 50.82077 258.5558 181.1545 50.56281 258.5558 181.3281 50.86357 258.8023 181.3861 50.64712 258.8023 181.6094 50.91316 259.0023 181.6545 50.74479 259.0023 181.9205 50.96803 259.1497 181.9514 50.85285 259.1497 182.2521 51.0265 259.2399 182.2678 50.96803 259.2399 180.8886 50.102 257.6175 180.9667 50.14712 257.9542 181.0942 50.22079 258.2702 181.2674 50.32077 258.5558 181.4808 50.44403 258.8023 181.7281 50.58681 259.0023 182.0018 50.74479 259.1497 182.2934 50.91316 259.2399 181.0855 49.82077 257.6175 181.3283 49.578 257.6175 181.1546 49.87877 257.9542 181.3862 49.64712 257.9543 181.2674 49.97347 258.2702 181.4809 49.75999 258.2702 181.4206 50.102 258.5558 181.6094 49.91316 258.5558 181.6094 50.26046 258.8023 181.7678 50.102 258.8023 181.8281 50.44403 259.0023 181.9514 50.32077 259.0023 182.0702 50.64712 259.1497 182.1545 50.56281 259.1497 182.3281 50.86357 259.2399 182.3709 50.82077 259.2399 181.6095 49.38108 257.6175 181.6546 49.45922 257.9543 181.7282 49.58681 258.2702 181.8282 49.75999 258.5558 181.9514 49.97347 258.8023 182.0942 50.22079 259.0023 182.2521 50.49441 259.1497 182.4205 50.78604 259.2399 181.9207 49.23598 257.6176 182.2523 49.14712 257.6176 181.9515 49.32077 257.9543 182.2679 49.23598 257.9544 182.0018 49.45922 258.2703 182.2935 49.38108 258.2703 182.0702 49.64712 258.5559 182.3282 49.578 258.5559 182.1545 49.87877 258.8024 182.371 49.82077 258.8024 182.2521 50.14712 259.0024 182.4205 50.102 259.0024 182.3602 50.44403 259.1497 182.4754 50.41316 259.1497 182.4754 50.76046 259.2399 182.5338 50.74479 259.2399 182.5943 49.1172 257.6176 182.5943 49.20743 257.9544 182.5942 49.35476 258.2703 182.5942 49.55472 258.5559 182.5942 49.80124 258.8024 182.5942 50.08681 259.0024 182.5942 50.40277 259.1497 182.5941 50.73952 259.2399 212.9363 49.14712 257.6204 213.2679 49.23598 257.6204 212.9206 49.23598 257.9571 213.2371 49.32077 257.9572 212.895 49.38108 258.2731 213.1866 49.45922 258.2731 212.8603 49.578 258.5587 213.1182 49.64712 258.5587 212.8174 49.82077 258.8052 213.0339 49.87877 258.8052 212.7678 50.102 259.0051 212.9362 50.14712 259.0051 212.7129 50.41316 259.1525 212.8281 50.44403 259.1525 212.6545 50.74479 259.2427 212.7129 50.76046 259.2427 213.5791 49.38108 257.6205 213.534 49.45922 257.9572 213.4603 49.58681 258.2731 213.3603 49.75999 258.5587 213.237 49.97347 258.8052 213.0942 50.22079 259.0052 212.9362 50.49441 259.1525 212.7678 50.78604 259.2427 212.5943 49.1172 257.6204 212.5943 49.20743 257.9571 212.5942 49.35476 258.2731 212.5942 49.55472 258.5586 212.5942 49.80124 258.8052 212.5942 50.08681 259.0051 212.5942 50.40277 259.1524 212.5941 50.73952 259.2427 213.8603 49.578 257.6205 214.1031 49.82077 257.6205 213.8023 49.64712 257.9572 214.034 49.87877 257.9573 213.7076 49.75999 258.2732 213.9211 49.97347 258.2732 213.579 49.91316 258.5587 213.7679 50.102 258.5588 213.4205 50.102 258.8052 213.579 50.26046 258.8052 213.2369 50.32077 259.0052 213.3602 50.44403 259.0052 213.0339 50.56281 259.1525 213.1182 50.64712 259.1525 212.8174 50.82077 259.2427 212.8602 50.86357 259.2427 214.3 50.102 257.6205 214.2219 50.14712 257.9573 214.0942 50.22079 258.2732 213.921 50.32077 258.5588 213.7075 50.44403 258.8052 213.4602 50.58681 259.0052 213.1865 50.74479 259.1525 212.8949 50.91316 259.2427 214.4451 50.41316 257.6205 214.534 50.74479 257.6206 214.3603 50.44403 257.9573 214.4451 50.76046 257.9573 214.2218 50.49441 258.2732 214.3 50.78604 258.2732 214.0339 50.56281 258.5588 214.103 50.82077 258.5588 213.8022 50.64712 258.8053 213.8602 50.86357 258.8053 213.5339 50.74479 259.0052 213.579 50.91316 259.0052 213.2369 50.85285 259.1525 213.2678 50.96803 259.1525 212.9205 50.96803 259.2427 212.9362 51.0265 259.2427 160.2857 156.0868 174.4922 158.8724 156.0868 175.0316 160.3441 156.0868 174.7143 158.9767 156.0868 175.3392 160.4357 156.0868 174.9249 159.1137 156.0868 175.6337 160.5584 156.0868 175.119 160.82 156.0868 173.0553 159.6939 156.0868 172.0493 160.6528 156.0868 173.2127 159.4709 156.0868 172.2856 160.5115 156.0868 173.3937 159.2749 156.0868 172.5446 160.3996 156.0868 173.5942 160.8847 156.0868 175.4403 160.22 156.0868 176.7968 161.0808 156.0868 175.5598 160.5073 156.0868 176.9484 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156.0868 174.6527 232.8893 156.0868 175.0898 234.4066 156.0868 174.867 235.066 156.0868 172.894 234.1579 156.0868 171.6876 234.8713 156.0868 173.0157 233.8931 156.0868 171.8758 234.6974 156.0868 173.1657 233.6503 156.0868 172.0916 234.5485 156.0868 173.3405 234.664 156.0868 175.2458 233.7473 156.0868 176.4465 234.833 156.0868 175.4013 233.9995 156.0868 176.6512 235.0238 156.0868 175.5292 234.2723 156.0868 176.8275 235.2318 156.0868 175.6265 232.9999 156.0868 175.3953 233.1428 156.0868 175.687 234.5208 156.0868 175.0663 233.3164 156.0868 175.9615 233.5187 156.0868 176.2157 233.4322 156.0868 172.3323 233.2415 156.0868 172.5952 234.428 156.0868 173.536 233.0802 156.0868 172.8772 234.3387 156.0868 173.7476 236.182 156.0868 172.7833 236.3409 156.0868 171.2796 235.9573 156.0868 172.7359 236.0193 156.0868 171.2342 235.728 156.0868 172.7235 235.6946 156.0868 171.2238 235.4995 156.0868 172.7461 236.5968 156.0868 172.9773 237.2504 156.0868 171.6187 236.3969 156.0868 172.8644 236.9601 156.0868 171.473 236.6558 156.0868 171.3595 237.0629 156.0868 173.4774 238.2064 156.0868 172.4847 236.9338 156.0868 173.2874 238.0041 156.0868 172.2305 236.7772 156.0868 173.1194 237.7755 156.0868 171.9997 237.5233 156.0868 171.795 232.9504 156.0868 173.175 232.8536 156.0868 173.4851 234.2828 156.0868 173.9704 232.7908 156.0868 173.8038 232.7629 156.0868 174.1274 235.3707 156.0868 171.2486 235.0514 156.0868 171.3083 235.2771 156.0868 172.8034 234.7404 156.0868 171.4022 234.4414 156.0868 171.5291 237.2272 156.0868 173.9048 238.6334 156.0868 173.3564 237.1614 156.0868 173.6848 238.5229 156.0868 173.0509 238.38 156.0868 172.7592 237.2549 156.0868 174.3619 238.7599 156.0868 174.3188 237.2586 156.0868 174.1323 238.7526 156.0868 173.994 238.7103 156.0868 173.672 237.0383 156.0868 175.0102 238.4425 156.0868 175.569 237.1435 156.0868 174.8061 238.5723 156.0868 175.2712 237.2163 156.0868 174.5883 238.6692 156.0868 174.9611 238.7319 156.0868 174.6424 236.1356 156.0868 175.6757 236.7823 156.0868 177.044 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175.6015 236.7823 151.0868 177.044 236.1356 151.0868 175.6757 236.4714 151.0868 177.1379 235.9095 151.0868 175.7158 236.152 151.0868 177.1976 235.7948 151.0868 175.7227 235.8282 151.0868 177.2224 235.6799 151.0868 175.7209 235.5035 151.0868 177.212 235.1819 151.0868 177.1666 236.9031 151.0868 175.1959 237.8725 151.0868 176.3546 236.7413 151.0868 175.3588 237.6296 151.0868 176.5704 236.5564 151.0868 175.4951 237.3649 151.0868 176.7586 237.0814 151.0868 176.9171 237.1435 151.0868 174.8061 238.4425 151.0868 175.569 237.0383 151.0868 175.0102 238.2813 151.0868 175.851 238.0905 151.0868 176.1139 237.2586 151.0868 174.1323 238.7599 151.0868 174.3188 237.2549 151.0868 174.3619 238.7319 151.0868 174.6424 237.2163 151.0868 174.5883 238.6692 151.0868 174.9611 238.5723 151.0868 175.2712 236.9601 151.0868 171.473 237.2504 151.0868 171.6187 236.5968 151.0868 172.9773 237.5233 151.0868 171.795 236.7772 151.0868 173.1194 237.7755 151.0868 171.9997 236.9338 151.0868 173.2874 237.1614 151.0868 173.6848 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178.1494 234.1036 84.86358 178.4074 232.818 83.64712 177.4654 233.134 83.75999 177.5601 233.4195 83.91316 177.6886 233.666 84.10201 177.8471 233.866 84.32077 178.0307 234.0133 84.56281 178.2338 234.1036 84.82077 178.4502 232.818 83.45922 177.7338 233.134 83.58682 177.8074 233.4195 83.75999 177.9074 233.666 83.97348 178.0307 233.866 84.22079 178.1734 234.0133 84.49442 178.3314 234.1036 84.78605 178.4998 232.818 83.32077 178.0307 233.134 83.45922 178.0811 233.4195 83.64712 178.1494 233.666 83.87877 178.2338 233.866 84.14712 178.3314 234.0133 84.44403 178.4395 234.1036 84.76046 178.5547 210.7331 84.81275 178.4601 210.7331 84.78137 178.5082 210.7331 84.8516 178.4179 210.7331 84.89686 178.3827 210.7331 84.94731 178.3554 210.7331 85.00156 178.3368 210.7331 85.05814 178.3273 210.7331 85.1155 178.3273 210.7331 85.17207 178.3368 210.7331 85.22632 178.3554 210.7331 85.27677 178.3827 210.7331 85.32203 178.4179 210.7385 85.35164 178.4586 212.7027 83.20317 178.0058 212.7027 83.19518 178.024 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84.05889 177.1001 212.0186 83.81394 177.2907 212.0186 83.60372 177.5191 212.0186 83.43395 177.779 212.0186 83.23307 178.3641 211.7027 84.94378 176.9473 211.7027 84.66162 176.9944 211.7027 84.39106 177.0873 211.7027 84.13948 177.2234 211.7027 83.91373 177.3991 211.7027 83.71998 177.6096 211.7027 83.56352 177.8491 211.7027 83.37839 178.3884 211.4171 84.9603 177.1466 211.4171 84.71071 177.1882 211.4171 84.47138 177.2704 211.4171 84.24884 177.3908 211.4171 84.04916 177.5463 211.4171 83.87778 177.7324 211.4171 83.73938 177.9443 211.4171 83.57563 178.4213 211.1706 84.98065 177.3923 211.1706 84.77123 177.4272 211.1706 84.57041 177.4962 211.1706 84.38367 177.5972 211.1706 84.21612 177.7276 211.1706 84.07231 177.8838 211.1706 83.95619 178.0616 211.1706 83.81877 178.4618 210.9706 85.1694 177.6769 210.9706 85.00424 177.6769 210.9706 84.84133 177.7041 210.9706 84.68512 177.7577 210.9706 84.53987 177.8363 210.9706 84.40953 177.9377 210.9706 84.29768 178.0592 210.9706 84.20734 178.1975 210.8233 85.25474 178.0103 210.8233 85.14331 177.9917 210.8233 85.03033 177.9917 210.8233 84.91889 178.0103 210.8233 84.81204 178.047 210.8233 84.71268 178.1008 210.8233 84.62353 178.1702 210.8233 84.54701 178.2533 210.8233 84.48522 178.3479 210.9706 84.10045 178.5089 210.8233 84.4121 178.5609 212.0186 83.30926 178.0632 211.7027 83.44861 178.111 211.4171 83.63774 178.176 211.1706 83.8709 178.256 210.9706 84.141 178.3488 210.8233 84.43984 178.4513 210.7331 84.75833 178.5607 210.7331 84.74426 178.6163 160.2616 156.0868 238.199 158.7701 156.0868 238.4522 160.2755 156.0868 238.4282 158.8124 156.0868 238.7742 160.3242 156.0868 238.6527 158.8893 156.0868 239.0898 160.4066 156.0868 238.867 161.066 156.0868 236.894 160.1579 156.0868 235.6876 160.8713 156.0868 237.0157 159.8931 156.0868 235.8758 160.6974 156.0868 237.1657 159.6503 156.0868 236.0916 160.5485 156.0868 237.3405 160.664 156.0868 239.2458 159.7473 156.0868 240.4465 160.833 156.0868 239.4013 159.9995 156.0868 240.6512 161.0238 156.0868 239.5292 160.2723 156.0868 240.8275 161.2318 156.0868 239.6265 158.9999 156.0868 239.3953 159.1428 156.0868 239.687 160.5208 156.0868 239.0663 159.3164 156.0868 239.9615 159.5187 156.0868 240.2157 159.4322 156.0868 236.3323 159.2415 156.0868 236.5952 160.428 156.0868 237.536 159.0802 156.0868 236.8772 160.3387 156.0868 237.7476 162.182 156.0868 236.7833 162.3409 156.0868 235.2796 161.9573 156.0868 236.7359 162.0193 156.0868 235.2342 161.728 156.0868 236.7235 161.6946 156.0868 235.2238 161.4995 156.0868 236.7461 162.5968 156.0868 236.9773 163.2504 156.0868 235.6187 162.3969 156.0868 236.8644 162.9601 156.0868 235.473 162.6558 156.0868 235.3595 163.0629 156.0868 237.4774 164.2064 156.0868 236.4847 162.9338 156.0868 237.2874 164.0041 156.0868 236.2305 162.7772 156.0868 237.1194 163.7755 156.0868 235.9997 163.5233 156.0868 235.795 158.9504 156.0868 237.175 158.8536 156.0868 237.4851 160.2828 156.0868 237.9704 158.7908 156.0868 237.8038 158.7629 156.0868 238.1274 161.3707 156.0868 235.2486 161.0514 156.0868 235.3083 161.2771 156.0868 236.8034 160.7404 156.0868 235.4022 160.4414 156.0868 235.5291 163.2272 156.0868 237.9048 164.6334 156.0868 237.3564 163.1614 156.0868 237.6848 164.5229 156.0868 237.0509 164.38 156.0868 236.7592 163.2549 156.0868 238.3619 164.7599 156.0868 238.3188 163.2586 156.0868 238.1323 164.7526 156.0868 237.994 164.7103 156.0868 237.672 163.0383 156.0868 239.0102 164.4425 156.0868 239.569 163.1435 156.0868 238.8061 164.5723 156.0868 239.2712 163.2163 156.0868 238.5883 164.6692 156.0868 238.9611 164.7319 156.0868 238.6424 162.1356 156.0868 239.6757 162.7823 156.0868 241.044 162.3529 156.0868 239.6015 163.0814 156.0868 240.9171 162.5564 156.0868 239.4951 163.3649 156.0868 240.7586 162.7413 156.0868 239.3588 163.6296 156.0868 240.5704 163.8725 156.0868 240.3546 162.9031 156.0868 239.1959 164.0905 156.0868 240.1139 164.2813 156.0868 239.851 160.5626 156.0868 240.9732 160.867 156.0868 241.0867 161.4522 156.0868 239.6909 161.1819 156.0868 241.1666 161.6799 156.0868 239.7209 161.5035 156.0868 241.212 161.7948 156.0868 239.7227 161.8282 156.0868 241.2224 161.9095 156.0868 239.7158 162.152 156.0868 241.1976 162.4714 156.0868 241.1379 161.2771 151.0868 236.8034 161.0514 151.0868 235.3083 161.4995 151.0868 236.7461 161.3707 151.0868 235.2486 161.728 151.0868 236.7235 161.6946 151.0868 235.2238 161.9573 151.0868 236.7359 160.8713 151.0868 237.0157 160.1579 151.0868 235.6876 161.066 151.0868 236.894 160.4414 151.0868 235.5291 160.7404 151.0868 235.4022 160.428 151.0868 237.536 159.2415 151.0868 236.5952 160.5485 151.0868 237.3405 159.4322 151.0868 236.3323 160.6974 151.0868 237.1657 159.6503 151.0868 236.0916 159.8931 151.0868 235.8758 161.4522 151.0868 239.6909 160.867 151.0868 241.0867 161.2318 151.0868 239.6265 160.5626 151.0868 240.9732 161.0238 151.0868 239.5292 160.2723 151.0868 240.8275 160.833 151.0868 239.4013 160.2828 151.0868 237.9704 158.8536 151.0868 237.4851 160.3387 151.0868 237.7476 158.9504 151.0868 237.175 159.0802 151.0868 236.8772 160.2755 151.0868 238.4282 158.7701 151.0868 238.4522 160.2616 151.0868 238.199 158.7629 151.0868 238.1274 158.7908 151.0868 237.8038 160.5208 151.0868 239.0663 159.1428 151.0868 239.687 160.4066 151.0868 238.867 158.9999 151.0868 239.3953 160.3242 151.0868 238.6527 158.8893 151.0868 239.0898 158.8124 151.0868 238.7742 162.0193 151.0868 235.2342 162.3409 151.0868 235.2796 162.182 151.0868 236.7833 162.6558 151.0868 235.3595 162.3969 151.0868 236.8644 159.9995 151.0868 240.6512 159.7473 151.0868 240.4465 160.664 151.0868 239.2458 159.5187 151.0868 240.2157 159.3164 151.0868 239.9615 162.3529 151.0868 239.6015 162.7823 151.0868 241.044 162.1356 151.0868 239.6757 162.4714 151.0868 241.1379 161.9095 151.0868 239.7158 162.152 151.0868 241.1976 161.7948 151.0868 239.7227 161.8282 151.0868 241.2224 161.6799 151.0868 239.7209 161.5035 151.0868 241.212 161.1819 151.0868 241.1666 162.9031 151.0868 239.1959 163.8725 151.0868 240.3546 162.7413 151.0868 239.3588 163.6296 151.0868 240.5704 162.5564 151.0868 239.4951 163.3649 151.0868 240.7586 163.0814 151.0868 240.9171 163.1435 151.0868 238.8061 164.4425 151.0868 239.569 163.0383 151.0868 239.0102 164.2813 151.0868 239.851 164.0905 151.0868 240.1139 163.2586 151.0868 238.1323 164.7599 151.0868 238.3188 163.2549 151.0868 238.3619 164.7319 151.0868 238.6424 163.2163 151.0868 238.5883 164.6692 151.0868 238.9611 164.5723 151.0868 239.2712 162.9601 151.0868 235.473 163.2504 151.0868 235.6187 162.5968 151.0868 236.9773 163.5233 151.0868 235.795 162.7772 151.0868 237.1194 163.7755 151.0868 235.9997 162.9338 151.0868 237.2874 163.1614 151.0868 237.6848 164.6334 151.0868 237.3564 163.2272 151.0868 237.9048 164.7103 151.0868 237.672 164.7526 151.0868 237.994 164.0041 151.0868 236.2305 164.2064 151.0868 236.4847 163.0629 151.0868 237.4774 164.38 151.0868 236.7592 164.5229 151.0868 237.0509 169.3552 159.4668 213.8762 169.3552 159.4668 213.6262 169.3552 160.8668 213.8762 169.3552 160.8668 213.6262 169.3552 160.9884 213.8868 169.3552 161.0318 213.6406 169.3552 161.1062 213.9184 169.3552 161.1917 213.6835 169.3552 161.2168 213.97 169.3552 161.3418 213.7535 169.3552 161.3168 214.04 169.3552 161.4775 213.8485 169.3552 161.403 214.1262 169.3552 161.5946 213.9656 169.3552 161.473 214.2262 169.3552 161.6895 214.1012 169.3552 161.5246 214.3368 169.3552 161.7595 214.2513 169.3552 161.5562 214.4546 169.3552 161.8024 214.4112 169.3552 161.5668 214.5762 169.3552 161.8168 214.5762 169.3552 157.9468 213.6262 169.3552 157.9468 213.8762 169.3552 157.8418 213.6262 169.3552 157.8418 213.8762 169.3552 156.5168 213.8762 169.3552 156.5168 213.6262 168.7052 161.5668 214.5762 168.7052 161.8168 214.5762 168.7052 161.5562 214.4547 168.7052 161.8024 214.4113 168.7052 161.5246 214.3368 168.7052 161.7595 214.2513 168.7052 161.473 214.2262 168.7052 161.6895 214.1012 168.7052 161.403 214.1263 168.7052 161.5946 213.9656 168.7052 161.3168 214.04 168.7052 161.4775 213.8485 168.7052 161.2168 213.97 168.7052 161.3418 213.7535 168.7052 161.1062 213.9184 168.7052 161.1917 213.6835 168.7052 160.9884 213.8869 168.7052 161.0318 213.6407 168.7052 160.8668 213.8762 168.7052 160.8668 213.6262 168.7052 159.4668 213.8762 168.7052 159.4668 213.6262 169.3552 158.1418 213.8762 169.4852 158.0443 213.8762 169.3552 158.2468 213.8762 169.5552 158.0968 213.8762 168.7052 158.1418 213.8762 168.7052 158.2468 213.8762 168.5752 158.0443 213.8762 168.5052 158.0968 213.8762 168.4802 161.5668 215.6769 168.2302 161.5668 215.5561 168.4802 161.5668 215.2102 168.2302 161.5668 215.2561 168.4802 161.5668 216.5299 168.3102 161.5668 216.3722 168.4802 161.5668 215.849 168.2302 161.5668 215.9628 169.5802 161.5668 215.849 169.8302 161.5668 215.9628 169.5802 161.5668 216.5298 169.7502 161.5668 216.3722 169.5802 161.5668 215.2102 169.8302 161.5668 215.2561 169.5802 161.5668 215.6769 169.8302 161.5668 215.5561 168.4802 161.5668 214.6112 168.4802 161.5668 214.9929 168.2512 161.5668 214.6112 169.5802 161.5668 214.9929 169.5802 161.5668 214.6112 169.8092 161.5668 214.6112 168.5222 161.8168 216.5708 168.5252 161.8168 216.5762 169.5352 161.8168 216.5762 169.5628 161.8168 215.2063 169.555 161.8168 215.2026 168.5272 161.8168 215.1764 169.5523 161.8168 215.8356 168.5235 161.8168 215.1843 168.5186 161.8168 215.1914 169.5383 161.8168 216.5708 168.5125 161.8168 215.1976 168.5302 161.8168 215.794 168.5295 161.8168 215.8022 169.7502 161.8168 216.3722 169.8302 161.8168 215.9628 169.5595 161.8168 215.8395 168.5302 161.8168 215.7324 169.8302 161.8168 215.5561 169.8302 161.8168 215.2561 169.5712 161.8168 215.2086 169.5479 161.8168 215.1976 169.5418 161.8168 215.1914 169.5368 161.8168 215.1843 169.5332 161.8168 215.1764 169.5309 161.8168 215.168 168.5294 161.8168 215.168 169.546 161.8168 215.8305 169.5405 161.8168 215.8244 169.5361 161.8168 215.8176 169.5454 161.8168 215.6965 169.5515 161.8168 215.6914 168.4892 161.8168 215.2086 168.2302 161.8168 215.2561 168.2302 161.8168 215.5561 169.5327 161.8168 215.7167 169.5358 161.8168 215.7093 169.5584 161.8168 215.6874 169.5462 161.8168 216.5614 169.5419 161.8168 216.5658 168.5296 161.8168 215.7245 168.4976 161.8168 215.2063 168.5054 161.8168 215.2026 168.5275 161.8168 215.8101 168.5243 161.8168 215.8176 168.5199 161.8168 215.8244 168.5019 161.8168 215.6874 168.5088 161.8168 215.6915 168.515 161.8168 215.6966 168.5203 161.8168 215.7026 168.5245 161.8168 215.7093 168.5276 161.8168 215.7167 169.5373 161.8168 215.0643 169.8092 161.8168 214.6112 168.2512 161.8168 214.6112 169.5342 161.8168 215.0703 168.5185 161.8168 216.5659 169.5306 161.8168 215.0833 168.5231 161.8168 215.0643 168.5261 161.8168 215.0703 169.532 161.8168 215.0767 169.5328 161.8168 215.8101 169.5308 161.8168 215.8022 169.5302 161.8168 215.794 169.5401 161.8168 215.7026 168.5284 161.8168 215.0767 168.5297 161.8168 215.0833 168.5302 161.8168 215.0901 169.5302 161.8168 215.7324 169.5308 161.8168 215.7245 168.5009 161.8168 215.8395 168.2302 161.8168 215.9628 168.3102 161.8168 216.3722 168.5302 161.8168 215.1594 169.5302 161.8168 215.1594 169.5302 161.8168 215.0901 168.5144 161.8168 215.8305 168.508 161.8168 215.8356 168.5142 161.8168 216.5614 169.5552 158.0968 213.6262 169.4852 158.0443 213.6262 169.3552 158.2468 213.6262 169.3552 158.1418 213.6262 168.5052 158.0968 213.6262 168.7052 158.2468 213.6262 168.5752 158.0443 213.6262 168.7052 158.1418 213.6262 168.7052 156.5168 213.6262 168.7052 156.5168 213.8762 168.7052 157.8418 213.6262 168.7052 157.8418 213.8762 168.7052 157.9468 213.8762 168.7052 157.9468 213.6262 169.5332 161.5668 216.5822 169.5315 161.5668 216.5879 168.5282 161.5668 216.5838 168.5302 161.5574 216.7934 168.5302 161.5667 216.5973 169.5304 161.5667 216.5946 168.5298 161.5668 216.5915 168.53 161.5667 216.594 168.5291 161.5668 216.5879 169.5352 161.5668 216.5762 168.5252 161.5668 216.5762 169.5302 161.4731 217.2542 168.5302 161.4731 217.2542 169.5302 161.5229 217.0426 168.5302 161.5229 217.0426 169.5302 161.5574 216.7933 169.5302 161.5667 216.5973 168.5298 161.8167 216.5958 168.5302 161.8167 216.5995 168.5272 161.8168 216.5828 168.5289 161.8168 216.5891 168.5142 161.5668 216.5614 168.5009 161.5668 215.8395 168.508 161.5668 215.8356 168.5144 161.5668 215.8305 168.5199 161.5668 215.8244 168.5243 161.5668 215.8176 168.5275 161.5668 215.8101 168.5295 161.5668 215.8022 168.5302 161.5668 215.794 169.3552 153.8168 213.8762 169.3552 153.8168 213.6262 169.8302 161.5668 214.5762 169.8302 161.8168 214.5762 168.2302 161.5668 214.5762 168.2302 161.8168 214.5762 168.8052 153.1168 213.8762 169.2552 153.1168 213.8762 168.7052 153.8168 213.8762 169.5419 161.5668 216.5658 169.5383 161.5668 216.5708 168.5054 161.5668 215.2026 169.5595 161.5668 215.8395 169.5515 161.5668 215.6914 168.5272 161.5668 215.1764 169.5584 161.5668 215.6874 168.5276 161.5668 215.7167 168.5245 161.5668 215.7093 168.4976 161.5668 215.2063 168.5203 161.5668 215.7026 168.5302 161.5668 215.7324 168.5125 161.5668 215.1976 169.5462 161.5668 216.5614 169.555 161.5668 215.2026 169.5628 161.5668 215.2063 169.5712 161.5668 215.2086 168.5019 161.5668 215.6874 168.4892 161.5668 215.2086 168.5088 161.5668 215.6915 168.515 161.5668 215.6966 168.5296 161.5668 215.7245 168.5186 161.5668 215.1914 169.5523 161.5668 215.8356 169.5361 161.5668 215.8176 169.5328 161.5668 215.8101 169.5308 161.5668 215.8022 169.5405 161.5668 215.8244 169.546 161.5668 215.8305 169.5454 161.5668 215.6965 169.5401 161.5668 215.7026 168.5235 161.5668 215.1843 169.5358 161.5668 215.7093 169.5327 161.5668 215.7167 169.5302 161.5668 215.1594 169.5309 161.5668 215.168 168.5302 161.5668 215.1594 169.5332 161.5668 215.1764 169.5368 161.5668 215.1843 169.5418 161.5668 215.1914 169.5479 161.5668 215.1976 168.5222 161.5668 216.5708 169.5308 161.5668 215.7245 169.5302 161.5668 215.7324 169.5302 161.5668 215.794 168.5294 161.5668 215.168 169.5306 161.5668 215.0833 168.5284 161.5668 215.0767 168.5261 161.5668 215.0703 169.5373 161.5668 215.0643 169.5342 161.5668 215.0703 169.532 161.5668 215.0767 168.5231 161.5668 215.0643 168.5185 161.5668 216.5659 169.5302 161.5668 215.0901 168.5302 161.5668 215.0901 168.5297 161.5668 215.0833 169.2552 153.1168 213.6262 168.8052 153.1168 213.6262 168.7052 153.8168 213.6262 168.5303 160.1118 222.0858 169.5303 160.1118 222.0858 169.5303 160.475 223.3129 168.5303 160.475 223.3129 168.5303 160.3409 223.1746 169.5303 160.3409 223.1746 168.5303 160.2307 223.0166 169.5303 160.2307 223.0166 168.5303 160.1472 222.843 169.5303 160.1472 222.843 168.5303 160.0925 222.6583 169.5303 160.0925 222.6583 168.5303 160.0681 222.4673 169.5303 160.0681 222.4673 168.5303 160.0746 222.2748 169.5303 160.0746 222.2747 168.5303 161.3117 224.0477 169.5303 161.3117 224.0476 169.5303 161.5668 224.6112 168.5303 161.5668 224.6112 169.5303 161.556 224.4843 168.5303 161.556 224.4843 169.5303 161.5239 224.361 168.5303 161.5239 224.361 169.5303 161.4713 224.245 168.5303 161.4713 224.245 169.5303 161.3999 224.1395 168.5303 161.3999 224.1395 168.5303 161.5668 225.4112 169.5303 161.5668 225.4112 168.5303 161.8168 224.6112 168.5303 161.8168 225.4112 169.5303 161.8168 224.6112 169.5303 161.8168 225.4112 169.5303 161.4767 223.8598 168.5303 161.4767 223.8598 168.5303 161.5943 223.9823 169.5303 161.5943 223.9823 168.5303 161.6895 224.123 169.5303 161.6895 224.1229 168.5303 161.7595 224.2777 169.5303 161.7595 224.2776 168.5303 161.8024 224.442 169.5303 161.8024 224.442 168.5303 160.6399 223.125 169.5303 160.6399 223.125 169.5303 160.3524 222.1536 168.5303 160.3524 222.1536 169.5303 160.323 222.3032 168.5303 160.323 222.3032 169.5303 160.3179 222.4556 168.5303 160.3179 222.4556 169.5303 160.3372 222.6068 168.5303 160.3372 222.6069 169.5303 160.3804 222.7531 168.5303 160.3804 222.7531 169.5303 160.4466 222.8905 168.5303 160.4466 222.8905 169.5303 160.5338 223.0155 168.5303 160.5338 223.0155 168.5302 161.7137 217.322 169.5302 161.7137 217.322 168.5302 161.7685 217.0893 168.5302 161.8064 216.8151 169.5302 161.7685 217.0893 169.5302 161.8064 216.8151 169.5302 161.8167 216.5994 169.5304 161.8167 216.5957 169.5314 161.8168 216.5891 169.5321 161.8168 216.5851 169.5329 161.8168 216.5827 167.3552 159.4668 213.8762 167.3552 159.4668 213.6262 167.3552 160.8668 213.8762 167.3552 160.8668 213.6262 167.3552 160.9884 213.8869 167.3552 161.0318 213.6407 167.3552 161.1062 213.9185 167.3552 161.1917 213.6835 167.3552 161.2168 213.97 167.3552 161.3418 213.7535 167.3552 161.3168 214.04 167.3552 161.4775 213.8485 167.3552 161.403 214.1263 167.3552 161.5946 213.9656 167.3552 161.473 214.2262 167.3552 161.6895 214.1012 167.3552 161.5246 214.3368 167.3552 161.7595 214.2513 167.3552 161.5562 214.4547 167.3552 161.8024 214.4113 167.3552 161.5668 214.5762 167.3552 161.8168 214.5762 167.3552 157.8418 213.6262 167.3552 157.8418 213.8762 167.3552 156.5168 213.6262 167.3552 156.5168 213.8762 167.3552 153.8168 213.8762 167.3552 153.8168 213.6262 166.7052 161.5668 214.5762 166.7052 161.8168 214.5762 166.7052 161.5562 214.4547 166.7052 161.8024 214.4113 166.7052 161.5246 214.3368 166.7052 161.7595 214.2513 166.7052 161.473 214.2262 166.7052 161.6895 214.1012 166.7052 161.403 214.1263 166.7052 161.5946 213.9656 166.7052 161.3168 214.04 166.7052 161.4775 213.8485 166.7052 161.2168 213.97 166.7052 161.3418 213.7535 166.7052 161.1062 213.9185 166.7052 161.1917 213.6835 166.7052 160.9884 213.8869 166.7052 161.0318 213.6407 166.7052 160.8668 213.8762 166.7052 160.8668 213.6262 166.7052 159.4668 213.8762 166.7052 159.4668 213.6262 167.4852 158.0443 213.8762 167.5552 158.0968 213.8762 167.3552 158.1418 213.8762 167.3552 158.2468 213.8762 166.7052 158.1418 213.8762 166.5752 158.0443 213.8762 166.7052 158.2468 213.8762 167.3552 157.9468 213.8762 166.8052 153.1168 213.8762 167.2552 153.1168 213.8762 166.7052 153.8168 213.8762 166.7052 156.5168 213.8762 166.7052 157.8418 213.8762 166.7052 157.9468 213.8762 167.5802 161.5668 215.849 167.8302 161.5668 215.9628 167.5802 161.5668 216.5299 167.7502 161.5668 216.3723 167.5802 161.5668 215.2102 167.8302 161.5668 215.2561 167.5802 161.5668 215.6769 167.8302 161.5668 215.5561 166.4802 161.5668 215.6769 166.2302 161.5668 215.5561 166.4802 161.5668 215.2103 166.2302 161.5668 215.2561 166.4802 161.5668 216.5299 166.3102 161.5668 216.3723 166.4802 161.5668 215.849 166.2302 161.5668 215.9628 166.4802 161.5668 214.6112 166.4802 161.5668 214.9929 166.2512 161.5668 214.6112 167.5802 161.5668 214.9929 167.5802 161.5668 214.6112 167.8092 161.5668 214.6112 166.5222 161.8168 216.5709 166.5252 161.8168 216.5762 167.5352 161.8168 216.5762 167.5628 161.8168 215.2063 167.555 161.8168 215.2026 166.5272 161.8168 215.1765 167.5523 161.8168 215.8356 166.5235 161.8168 215.1843 166.5186 161.8168 215.1914 167.5383 161.8168 216.5708 166.5125 161.8168 215.1976 167.7502 161.8168 216.3723 167.8302 161.8168 215.9628 167.5595 161.8168 215.8396 166.5302 161.8168 215.7941 166.5295 161.8168 215.8022 167.8302 161.8168 215.5561 167.8302 161.8168 215.2561 167.5712 161.8168 215.2086 167.5479 161.8168 215.1976 167.5418 161.8168 215.1914 167.5368 161.8168 215.1843 167.546 161.8168 215.8305 167.5405 161.8168 215.8245 167.5361 161.8168 215.8176 167.5454 161.8168 215.6966 167.5515 161.8168 215.6915 166.5302 161.8168 215.7325 166.5275 161.8168 215.8101 166.5243 161.8168 215.8176 166.5199 161.8168 215.8245 166.4892 161.8168 215.2086 166.2302 161.8168 215.2561 166.2302 161.8168 215.5561 167.5327 161.8168 215.7167 167.5358 161.8168 215.7093 167.5584 161.8168 215.6874 167.5462 161.8168 216.5614 167.5419 161.8168 216.5659 166.5019 161.8168 215.6875 166.5088 161.8168 215.6915 166.4976 161.8168 215.2063 166.515 161.8168 215.6966 166.5203 161.8168 215.7026 167.5306 161.8168 215.0833 166.5231 161.8168 215.0644 166.5261 161.8168 215.0704 167.5373 161.8168 215.0644 167.8092 161.8168 214.6112 166.2512 161.8168 214.6112 167.5342 161.8168 215.0704 166.5296 161.8168 215.7245 166.5054 161.8168 215.2026 166.5185 161.8168 216.5659 166.5245 161.8168 215.7094 166.5276 161.8168 215.7167 167.5332 161.8168 215.1764 167.5309 161.8168 215.1681 166.5294 161.8168 215.1681 167.5302 161.8168 215.1594 166.5302 161.8168 215.1594 167.532 161.8168 215.0767 167.5328 161.8168 215.8101 167.5308 161.8168 215.8022 167.5302 161.8168 215.794 167.5401 161.8168 215.7026 167.5302 161.8168 215.7324 167.5308 161.8168 215.7245 166.5284 161.8168 215.0767 166.5297 161.8168 215.0834 166.5302 161.8168 215.0901 166.5009 161.8168 215.8396 166.2302 161.8168 215.9628 166.3102 161.8168 216.3723 166.5144 161.8168 215.8305 166.508 161.8168 215.8356 166.5142 161.8168 216.5614 167.5302 161.8168 215.0901 167.3552 158.2468 213.6262 167.5552 158.0968 213.6262 167.3552 158.1418 213.6262 167.4852 158.0443 213.6262 166.7052 157.8418 213.6262 166.7052 157.9468 213.6262 166.5752 158.0443 213.6262 166.7052 158.2468 213.6262 166.7052 158.1418 213.6262 167.2552 153.1168 213.6262 166.8052 153.1168 213.6262 166.7052 153.8168 213.6262 166.7052 156.5168 213.6262 167.3552 157.9468 213.6262 167.5332 161.5668 216.5822 167.5315 161.5668 216.588 166.5282 161.5668 216.5838 166.5302 161.5574 216.7934 166.5302 161.5667 216.5974 167.5304 161.5667 216.5946 166.5298 161.5668 216.5915 166.53 161.5667 216.594 166.5291 161.5668 216.588 167.5352 161.5668 216.5762 166.5252 161.5668 216.5762 167.5302 161.4731 217.2542 166.5302 161.4731 217.2542 167.5302 161.5229 217.0427 166.5302 161.5229 217.0427 167.5302 161.5574 216.7934 167.5302 161.5667 216.5974 166.5298 161.8167 216.5958 166.5302 161.8167 216.5995 166.5272 161.8168 216.5828 166.5289 161.8168 216.5891 166.5142 161.5668 216.5614 166.5009 161.5668 215.8396 166.508 161.5668 215.8356 166.5144 161.5668 215.8305 166.5199 161.5668 215.8245 166.5243 161.5668 215.8176 166.5275 161.5668 215.8101 166.5295 161.5668 215.8022 166.5302 161.5668 215.7941 167.8302 161.5668 214.5762 167.8302 161.8168 214.5762 166.2302 161.5668 214.5762 166.2302 161.8168 214.5762 166.5052 158.0968 213.8762 167.5419 161.5668 216.5659 167.5383 161.5668 216.5708 166.5054 161.5668 215.2026 167.5595 161.5668 215.8396 167.5515 161.5668 215.6915 166.5272 161.5668 215.1765 167.5584 161.5668 215.6874 166.5245 161.5668 215.7094 166.5203 161.5668 215.7026 166.4976 161.5668 215.2063 166.5125 161.5668 215.1976 167.5462 161.5668 216.5614 167.555 161.5668 215.2026 167.5628 161.5668 215.2063 167.5712 161.5668 215.2086 166.5276 161.5668 215.7167 166.5019 161.5668 215.6875 166.4892 161.5668 215.2086 166.5088 161.5668 215.6915 166.515 161.5668 215.6966 166.5302 161.5668 215.7325 166.5186 161.5668 215.1914 167.5523 161.5668 215.8356 167.5361 161.5668 215.8176 167.5328 161.5668 215.8101 167.5308 161.5668 215.8022 167.5405 161.5668 215.8245 167.546 161.5668 215.8305 167.5454 161.5668 215.6966 167.5401 161.5668 215.7026 166.5235 161.5668 215.1843 167.5358 161.5668 215.7093 167.5327 161.5668 215.7167 167.5332 161.5668 215.1764 167.5368 161.5668 215.1843 167.5418 161.5668 215.1914 167.5479 161.5668 215.1976 166.5222 161.5668 216.5709 166.5296 161.5668 215.7245 167.5308 161.5668 215.7245 167.5302 161.5668 215.7324 167.5302 161.5668 215.794 167.5306 161.5668 215.0833 166.5284 161.5668 215.0767 166.5261 161.5668 215.0704 167.5373 161.5668 215.0644 167.5342 161.5668 215.0704 167.532 161.5668 215.0767 166.5231 161.5668 215.0644 166.5185 161.5668 216.5659 167.5309 161.5668 215.1681 166.5294 161.5668 215.1681 167.5302 161.5668 215.1594 166.5302 161.5668 215.1594 167.5302 161.5668 215.0901 166.5302 161.5668 215.0901 166.5297 161.5668 215.0834 166.5052 158.0968 213.6262 166.5303 160.1118 222.0858 167.5303 160.1118 222.0858 167.5303 160.475 223.3129 166.5303 160.475 223.3129 166.5303 160.3409 223.1746 167.5303 160.3409 223.1746 166.5303 160.2307 223.0166 167.5303 160.2307 223.0166 166.5303 160.1472 222.8431 167.5303 160.1472 222.8431 166.5303 160.0925 222.6584 167.5303 160.0925 222.6584 166.5303 160.0681 222.4673 167.5303 160.0681 222.4673 166.5303 160.0746 222.2748 167.5303 160.0746 222.2748 166.5303 161.3117 224.0477 167.5303 161.3117 224.0477 167.5303 161.5668 224.6112 166.5303 161.5668 224.6112 167.5303 161.556 224.4843 166.5303 161.556 224.4843 167.5303 161.5239 224.3611 166.5303 161.5239 224.3611 167.5303 161.4713 224.245 166.5303 161.4713 224.245 167.5303 161.3999 224.1396 166.5303 161.3999 224.1396 166.5303 161.5668 225.4113 167.5303 161.5668 225.4112 166.5303 161.8168 224.6112 166.5303 161.8168 225.4113 167.5303 161.8168 224.6112 167.5303 161.8168 225.4112 167.5303 161.4767 223.8598 166.5303 161.4767 223.8599 166.5303 161.5943 223.9823 167.5303 161.5943 223.9823 166.5303 161.6895 224.123 167.5303 161.6895 224.123 166.5303 161.7595 224.2777 167.5303 161.7595 224.2777 166.5303 161.8024 224.442 167.5303 161.8024 224.442 166.5303 160.6399 223.1251 167.5303 160.6399 223.1251 167.5303 160.3524 222.1536 166.5303 160.3524 222.1536 167.5303 160.323 222.3032 166.5303 160.323 222.3032 167.5303 160.3179 222.4556 166.5303 160.3179 222.4556 167.5303 160.3372 222.6069 166.5303 160.3372 222.6069 167.5303 160.3804 222.7531 166.5303 160.3804 222.7531 167.5303 160.4466 222.8905 166.5303 160.4466 222.8905 167.5303 160.5338 223.0156 166.5303 160.5338 223.0156 166.5302 161.7137 217.322 167.5302 161.7137 217.322 166.5302 161.7685 217.0893 166.5302 161.8064 216.8151 167.5302 161.7685 217.0893 167.5302 161.8064 216.8151 167.5302 161.8167 216.5995 167.5304 161.8167 216.5958 167.5314 161.8168 216.5891 167.5321 161.8168 216.5851 167.5329 161.8168 216.5827 169.3552 159.4668 213.4112 169.3552 158.1418 213.4112 169.3552 157.8418 213.4112 169.3552 156.5168 213.4112 168.7052 156.5168 213.4112 168.7052 157.8418 213.4112 168.7052 158.1418 213.4112 168.7052 159.4668 213.4112 168.2302 161.8168 217.7112 168.2302 161.5668 217.7112 168.4802 161.5668 217.7112 169.8302 161.5668 217.7112 169.8302 161.8168 217.7112 168.2302 161.8168 214.6112 169.5802 161.8168 217.7112 169.5803 161.8168 225.4112 168.4802 161.8168 217.7112 168.4803 161.8168 225.4112 169.5802 161.5668 217.7112 167.3552 159.4668 213.4112 167.3552 158.1418 213.4112 167.3552 157.8418 213.4112 167.3552 156.5168 213.4112 166.7052 156.5168 213.4112 166.7052 157.8418 213.4112 166.7052 158.1418 213.4112 166.7052 159.4668 213.4112 166.2302 161.8168 217.7113 166.2302 161.5668 217.7113 166.4802 161.5668 217.7112 167.8302 161.5668 217.7112 167.8302 161.8168 217.7112 166.2302 161.8168 214.6112 167.5802 161.8168 217.7112 167.5803 161.8168 225.4112 166.4802 161.8168 217.7112 166.4803 161.8168 225.4113 167.5802 161.5668 217.7112 164.0303 161.8168 225.4113 165.0303 161.8168 225.4113 164.0303 161.5668 225.4113 165.0303 161.5668 225.4113 164.0752 158.0443 213.6263 164.2052 158.1418 213.6263 164.0752 158.0443 213.8763 164.2052 158.1418 213.8763 164.8552 158.1418 213.8763 164.8552 158.1418 213.6263 164.9852 158.0443 213.8763 164.9852 158.0443 213.6263 165.3302 161.5668 215.9628 165.3302 161.5668 217.7113 165.3302 161.8168 215.9628 165.3302 161.8168 217.7113 165.3302 161.8168 215.5561 165.3302 161.8168 215.2561 165.3302 161.5668 215.5561 165.3302 161.5668 215.2561 165.0802 161.5668 215.849 165.0802 161.5668 216.5299 165.2502 161.5668 216.3723 165.0802 161.5668 215.677 165.0802 161.5668 215.2103 165.0802 161.5668 217.7113 165.0802 161.5668 214.9929 165.3092 161.5668 214.6113 165.0802 161.5668 214.6113 163.9802 161.5668 216.5299 163.9802 161.5668 215.849 163.8102 161.5668 216.3723 163.7302 161.5668 215.9629 163.9802 161.5668 217.7113 163.7302 161.5668 217.7113 163.9802 161.5668 215.677 163.9802 161.5668 215.2103 163.7302 161.5668 215.5561 163.7302 161.5668 215.2561 163.7512 161.5668 214.6113 163.9802 161.5668 214.9929 163.9802 161.5668 214.6113 163.7302 161.8168 215.9629 163.7302 161.8168 217.7113 163.7302 161.8168 215.5561 163.7302 161.8168 215.2561 164.0303 161.8168 224.6113 165.0303 161.8168 224.6113 164.0245 161.8168 215.7094 164.0203 161.8168 215.7026 163.9976 161.8168 215.2064 165.2502 161.8168 216.3723 164.0186 161.8168 215.1915 164.0235 161.8168 215.1844 164.0276 161.8168 215.7168 164.0275 161.8168 215.8102 165.0352 161.8168 216.5763 164.0243 161.8168 215.8176 164.0199 161.8168 215.8245 165.0309 161.8168 215.1681 165.0332 161.8168 215.1765 164.0294 161.8168 215.1681 164.0125 161.8168 215.1976 165.0462 161.8168 216.5614 164.0054 161.8168 215.2026 165.0419 161.8168 216.5659 165.0383 161.8168 216.5709 165.0418 161.8168 215.1915 165.0479 161.8168 215.1976 164.0272 161.8168 215.1765 165.055 161.8168 215.2026 164.0019 161.8168 215.6875 163.9892 161.8168 215.2086 164.0088 161.8168 215.6915 164.015 161.8168 215.6966 164.0142 161.8168 216.5614 163.8102 161.8168 216.3723 164.0009 161.8168 215.8396 164.008 161.8168 215.8356 164.0144 161.8168 215.8305 164.0295 161.8168 215.8022 164.0302 161.8168 215.7941 164.0302 161.8168 215.7325 165.0595 161.8168 215.8396 165.0523 161.8168 215.8356 165.0368 161.8168 215.1844 165.0628 161.8168 215.2063 165.0712 161.8168 215.2086 164.0296 161.8168 215.7245 165.0308 161.8168 215.8022 165.0328 161.8168 215.8101 165.0361 161.8168 215.8176 165.0405 161.8168 215.8245 165.046 161.8168 215.8305 164.0185 161.8168 216.5659 164.0222 161.8168 216.5709 164.0252 161.8168 216.5763 165.0584 161.8168 215.6875 165.0515 161.8168 215.6915 163.7512 161.8168 214.6113 165.3092 161.8168 214.6113 164.0231 161.8168 215.0644 164.0261 161.8168 215.0704 165.0327 161.8168 215.7167 165.0308 161.8168 215.7245 164.0297 161.8168 215.0834 165.0373 161.8168 215.0644 165.0342 161.8168 215.0704 164.0284 161.8168 215.0768 165.0302 161.8168 215.7325 165.0302 161.8168 215.7941 165.0454 161.8168 215.6966 165.0401 161.8168 215.7026 165.0358 161.8168 215.7094 165.032 161.8168 215.0768 165.0306 161.8168 215.0834 165.0302 161.8168 215.0901 165.0302 161.8168 215.1595 164.0302 161.8168 215.1595 164.0302 161.8168 215.0901 163.7302 161.8168 214.6113 165.0802 161.8168 217.7113 165.0803 161.8168 225.4113 163.9802 161.8168 217.7113 163.9803 161.8168 225.4113 164.8552 159.4668 213.6263 164.8552 158.2468 213.6263 164.8552 159.4668 213.8763 164.8552 158.2468 213.8763 164.8552 157.8418 213.6263 164.8552 156.5168 213.6263 164.8552 157.8418 213.8763 164.8552 156.5168 213.8763 164.8552 159.4668 213.4113 164.8552 158.1418 213.4113 164.8552 157.8418 213.4113 164.8552 156.5168 213.4113 164.2052 156.5168 213.6263 164.2052 157.8418 213.6263 164.2052 156.5168 213.8763 164.2052 157.8418 213.8763 164.2052 158.2468 213.6263 164.2052 158.2468 213.8763 164.2052 156.5168 213.4113 164.2052 157.8418 213.4113 164.2052 158.1418 213.4113 164.2052 159.4668 213.4113 164.2052 159.4668 213.6263 164.2052 159.4668 213.8763 171.0303 161.8168 225.4112 172.0303 161.8168 225.4112 171.0303 161.5668 225.4112 172.0303 161.5668 225.4112 171.8552 158.1418 213.6262 171.9852 158.0443 213.6262 171.8552 158.1418 213.8762 171.9852 158.0443 213.8762 171.0752 158.0443 213.8762 171.0752 158.0443 213.6262 171.2052 158.1418 213.8762 171.2052 158.1418 213.6262 172.0802 161.5668 215.8489 172.0802 161.5668 216.5298 172.3302 161.5668 215.9627 172.2502 161.5668 216.3722 172.3302 161.5668 215.556 172.0802 161.5668 215.6769 172.3302 161.5668 215.256 172.0802 161.5668 215.2102 172.0802 161.5668 217.7112 172.3302 161.5668 217.7112 172.0802 161.5668 214.9928 172.3092 161.5668 214.6112 172.0802 161.5668 214.6112 170.9802 161.5668 216.5298 170.9802 161.5668 215.8489 170.8102 161.5668 216.3722 170.7302 161.5668 215.9627 170.9802 161.5668 217.7112 170.7302 161.5668 217.7112 170.9802 161.5668 215.6769 170.9802 161.5668 215.2102 170.7302 161.5668 215.556 170.7302 161.5668 215.256 170.7512 161.5668 214.6112 170.9802 161.5668 214.9928 170.9802 161.5668 214.6112 170.7302 161.8168 215.9627 170.7302 161.8168 217.7112 170.7302 161.8168 215.556 170.7302 161.8168 215.256 171.0303 161.8168 224.6112 172.0303 161.8168 224.6112 171.0245 161.8168 215.7093 171.0203 161.8168 215.7025 170.9976 161.8168 215.2062 171.0186 161.8168 215.1914 171.0235 161.8168 215.1843 172.2502 161.8168 216.3722 172.055 161.8168 215.2025 172.0628 161.8168 215.2062 171.0294 161.8168 215.168 171.0276 161.8168 215.7167 171.0275 161.8168 215.8101 172.0352 161.8168 216.5762 171.0243 161.8168 215.8175 171.0199 161.8168 215.8244 172.0309 161.8168 215.168 172.0332 161.8168 215.1764 172.0368 161.8168 215.1842 172.0418 161.8168 215.1914 172.0479 161.8168 215.1975 171.0142 161.8168 216.5613 170.8102 161.8168 216.3722 171.0009 161.8168 215.8395 171.008 161.8168 215.8355 171.0144 161.8168 215.8305 171.0295 161.8168 215.8021 171.0302 161.8168 215.794 171.0302 161.8168 215.7324 172.3302 161.8168 215.9627 172.0595 161.8168 215.8395 172.0523 161.8168 215.8355 170.7512 161.8168 214.6112 172.3092 161.8168 214.6112 171.0231 161.8168 215.0643 171.0261 161.8168 215.0703 171.0019 161.8168 215.6874 170.9892 161.8168 215.2086 171.0088 161.8168 215.6914 171.015 161.8168 215.6965 172.0383 161.8168 216.5708 171.0054 161.8168 215.2025 171.0296 161.8168 215.7244 171.0125 161.8168 215.1975 172.0462 161.8168 216.5613 172.0419 161.8168 216.5658 172.0584 161.8168 215.6874 172.0515 161.8168 215.6914 171.0272 161.8168 215.1764 172.0308 161.8168 215.8021 172.0328 161.8168 215.81 172.0361 161.8168 215.8175 172.0405 161.8168 215.8244 172.046 161.8168 215.8304 171.0297 161.8168 215.0833 172.0373 161.8168 215.0643 172.0342 161.8168 215.0703 171.0185 161.8168 216.5658 171.0222 161.8168 216.5708 171.0252 161.8168 216.5762 172.0712 161.8168 215.2085 172.3302 161.8168 215.256 172.3302 161.8168 215.556 171.0284 161.8168 215.0767 172.0327 161.8168 215.7167 172.0308 161.8168 215.7244 172.032 161.8168 215.0767 172.0306 161.8168 215.0833 172.0302 161.8168 215.09 172.0454 161.8168 215.6965 172.0401 161.8168 215.7025 172.0358 161.8168 215.7093 172.0302 161.8168 215.7324 172.0302 161.8168 215.794 172.0302 161.8168 215.1594 171.0302 161.8168 215.1594 171.0302 161.8168 215.09 170.7302 161.8168 214.6112 172.0802 161.8168 217.7112 172.0803 161.8168 225.4112 172.3302 161.8168 217.7112 170.9802 161.8168 217.7112 170.9803 161.8168 225.4112 171.8552 159.4668 213.6262 171.8552 158.2468 213.6262 171.8552 159.4668 213.8762 171.8552 158.2468 213.8762 171.8552 157.8418 213.6262 171.8552 156.5168 213.6262 171.8552 157.8418 213.8762 171.8552 156.5168 213.8762 171.8552 159.4668 213.4112 171.8552 158.1418 213.4112 171.8552 157.8418 213.4112 171.8552 156.5168 213.4112 171.2052 156.5168 213.6262 171.2052 157.8418 213.6262 171.2052 156.5168 213.8762 171.2052 157.8418 213.8762 171.2052 158.2468 213.6262 171.2052 158.2468 213.8762 171.2052 156.5168 213.4112 171.2052 157.8418 213.4112 171.2052 158.1418 213.4112 171.2052 159.4668 213.4112 171.2052 159.4668 213.6262 171.2052 159.4668 213.8762 166.2801 156.3168 212.9113 166.2801 156.2168 212.9113 165.5802 156.3168 212.9113 165.5802 156.2168 212.9113 162.5303 162.4168 225.1613 173.5303 162.4168 225.1611 165.6942 162.4168 224.4437 164.1614 162.4168 224.4437 164.0774 162.4168 223.7221 162.5302 162.4168 217.7113 165.9454 162.4168 222.2864 173.5302 162.4168 217.7111 163.9102 162.4168 222.2864 164.0632 162.4168 223.6004 165.7924 162.4168 223.6004 165.7782 162.4168 223.7221 171.9832 162.4168 223.722 171.8992 162.4168 224.4436 170.3665 162.4168 224.4436 170.2824 162.4168 223.722 171.9974 162.4168 223.6003 170.2682 162.4168 223.6003 170.1152 162.4168 222.2863 172.1504 162.4168 222.2863 161.7802 161.7168 217.7113 162.5302 161.7168 217.7113 161.7802 162.8668 217.7113 174.2302 162.9168 217.7111 161.8302 162.9168 217.7113 161.8228 162.9163 217.7113 173.5302 161.7168 217.7111 174.2802 161.7168 217.7111 174.2802 162.8668 217.7111 174.2796 162.8746 217.7111 161.8151 162.9145 217.7113 161.8078 162.9115 217.7113 161.8011 162.9074 217.7113 161.7857 162.8896 217.7113 161.7827 162.8824 217.7113 161.7808 162.8747 217.7113 174.2529 162.9114 217.7111 174.2457 162.9144 217.7111 174.238 162.9162 217.7111 161.795 162.9023 217.7113 161.7899 162.8963 217.7113 174.2778 162.8823 217.7111 174.2748 162.8895 217.7111 174.2707 162.8962 217.7111 174.2656 162.9022 217.7111 174.2596 162.9073 217.7111 170.4801 156.3168 212.9112 170.4801 156.2168 212.9112 169.7801 156.3168 212.9112 169.7801 156.2168 212.9112 161.8302 162.9168 212.9113 161.7801 162.9168 212.9113 161.8302 162.9168 212.9613 161.7801 162.9168 212.9613 172.9801 162.9168 212.9111 172.7801 162.9168 212.9111 172.9802 162.9168 213.3441 172.7801 162.9168 213.3441 163.0802 162.9168 213.3443 163.2801 162.9168 213.3443 163.0802 162.9168 212.9113 163.2801 162.9168 212.9113 174.2801 162.9168 212.9111 174.2301 162.9168 212.9111 174.2801 162.9168 212.9611 174.2301 162.9168 212.9611 173.5302 160.5168 217.7111 172.0802 160.5168 217.7112 172.0802 159.4668 217.7112 173.0802 156.5168 217.7111 173.0802 156.2168 217.7111 173.7802 156.2168 217.7111 170.9802 160.5168 217.7112 169.5802 160.5168 217.7112 170.9802 159.4668 217.7112 169.5802 159.4668 217.7112 165.5802 156.5168 217.7113 165.5802 156.2168 217.7113 166.2802 156.2168 217.7113 169.7802 156.5168 217.7112 169.2302 157.4168 217.7112 169.2302 156.5168 217.7112 173.7802 156.5168 217.7111 174.2802 156.5168 217.7111 174.2802 157.8442 217.7111 174.2802 157.8468 217.7111 174.2802 160.5168 217.7111 166.2802 156.5168 217.7113 166.8302 156.5168 217.7112 166.8302 157.4168 217.7112 167.5802 159.4668 217.7112 166.4802 159.4668 217.7112 162.9802 156.5168 217.7113 167.3302 157.4168 217.7112 167.3302 157.7168 217.7112 168.4802 160.5168 217.7112 167.5802 160.5168 217.7112 168.4802 159.4668 217.7112 169.7802 156.2168 217.7112 170.4802 156.2168 217.7112 170.4802 156.5168 217.7112 162.2802 156.5168 217.7113 165.0802 159.4668 217.7113 161.7802 156.5168 217.7113 163.9802 159.4668 217.7113 161.7803 157.8445 217.7113 168.7302 157.7168 217.7112 168.7302 157.4168 217.7112 166.4802 160.5168 217.7112 165.0802 160.5168 217.7113 162.9802 156.2168 217.7113 162.2802 156.2168 217.7113 163.9802 160.5168 217.7113 162.5302 160.5168 217.7113 161.7802 157.8468 217.7113 161.7802 160.5168 217.7113 162.9801 156.3168 212.9113 162.9801 156.2168 212.9113 162.2801 156.3168 212.9113 162.2801 156.2168 212.9113 161.8302 161.7168 212.9113 161.7801 161.7168 212.9113 161.8302 159.0668 212.9113 161.7801 159.0668 212.9113 161.8302 160.5168 212.9113 161.7801 160.5168 212.9113 163.0802 162.4838 212.9113 163.2801 162.4838 212.9113 168.3802 156.3168 212.9112 168.3802 156.2168 212.9112 167.6801 156.3168 212.9112 167.6801 156.2168 212.9112 174.2801 156.5168 212.9111 174.2801 157.4168 212.9111 174.2801 156.5168 212.9611 174.2801 157.4168 212.9611 174.2802 157.8444 217.7077 174.2802 157.8468 217.6611 174.2802 157.8463 217.6707 174.2802 157.6468 217.4611 174.2802 157.8458 217.6802 174.2802 157.8454 217.6893 174.2802 157.8449 217.6984 174.2802 156.5168 217.4611 174.2802 157.837 217.5993 174.2802 157.8443 217.6298 174.2802 157.7086 217.4709 174.2802 157.6781 217.4636 174.2802 157.7644 217.4993 174.2802 157.7882 217.5197 174.2802 157.8086 217.5436 174.2802 157.7376 217.4829 174.2802 157.825 217.5703 174.2801 159.0668 212.9111 174.2801 160.5168 212.9111 174.2801 159.0668 212.9611 174.2801 160.5168 212.9611 174.2802 157.7668 215.9111 174.2802 158.6668 215.9111 174.2802 157.7668 215.9611 174.2802 158.6668 215.9611 173.7801 156.3168 212.9111 173.7801 156.2168 212.9111 173.0802 156.3168 212.9111 173.0802 156.2168 212.9111 174.2301 160.5168 212.9111 174.2301 159.0668 212.9111 174.2301 161.7168 212.9111 174.2801 161.7168 212.9111 172.7801 162.4838 212.9111 172.9801 162.4838 212.9111 161.7802 157.4168 214.4113 161.7802 157.4168 213.572 161.7802 157.0668 214.4113 161.7802 157.0668 213.572 161.7801 160.5168 212.9613 161.7801 159.0668 212.9613 161.7803 157.8451 217.6991 161.7802 157.8455 217.6894 161.7802 157.8438 217.6266 161.7802 157.846 217.6799 161.7802 157.8464 217.6703 161.7802 157.8468 217.6613 161.7803 157.8446 217.7087 161.7802 157.6468 217.4613 161.7802 156.5168 217.4613 161.7802 157.82 217.5613 161.7802 157.8 217.5328 161.7802 157.7754 217.5081 161.7802 157.7468 217.4881 161.7802 157.7152 217.4734 161.7802 157.6815 217.4644 161.7802 157.8347 217.5929 161.7802 158.6668 215.9113 161.7802 157.7668 215.9113 161.7802 158.6668 215.9613 161.7802 157.7668 215.9613 169.3552 156.9668 213.8812 169.3552 156.5168 213.8812 168.7052 156.9668 213.8812 168.7052 156.5168 213.8812 174.2801 161.7168 212.9611 174.2802 161.7168 214.1611 174.238 161.7168 214.1798 174.2802 161.7168 216.5611 174.238 161.7168 216.5425 174.0837 161.7168 216.3243 174.0943 161.7168 216.3692 174.1116 161.7168 216.4119 174.1352 161.7168 216.4515 174.1647 161.7168 216.487 174.1992 161.7168 216.5176 173.5301 161.7168 212.9111 174.1992 161.7168 214.2047 174.1647 161.7168 214.2353 174.1352 161.7168 214.2708 174.1116 161.7168 214.3104 174.0943 161.7168 214.3531 174.0837 161.7168 214.398 174.0802 161.7168 214.444 174.0802 161.7168 216.2783 169.3552 158.1418 213.8812 169.3552 159.4668 214.6112 169.3552 156.9668 214.6112 169.3552 157.8418 213.8812 169.5552 157.9918 213.8812 168.7052 157.8418 213.8812 168.5052 157.9918 213.8812 168.7052 158.1418 213.8812 162.9801 156.5168 212.9113 164.2052 156.5168 213.8813 164.0052 156.5168 212.9113 165.0551 156.5168 212.9113 165.5802 156.5168 212.9113 164.8552 156.5168 213.8813 161.7801 156.5168 212.9613 161.7801 156.5168 212.9113 162.2801 156.5168 212.9113 166.7052 156.5168 213.8812 167.3552 156.5168 213.8812 166.8303 156.5168 220.7612 167.6803 156.5168 220.7612 167.6801 156.5168 212.9112 167.5551 156.5168 212.9112 166.5052 156.5168 212.9112 166.2801 156.5168 212.9113 161.7801 161.7168 212.9613 173.7801 156.5168 212.9111 167.5803 161.1668 224.7112 167.5803 160.5168 224.7112 166.4803 161.1668 224.7112 166.4803 160.5168 224.7112 171.0052 156.5168 212.9112 170.4801 156.5168 212.9112 171.2052 156.5168 213.8812 171.8552 156.5168 213.8812 173.0802 156.5168 212.9111 172.0551 156.5168 212.9112 168.7302 157.4168 216.7112 168.7302 157.7168 216.7112 167.3302 157.4168 216.7112 167.3302 157.7168 216.7112 167.5803 161.1668 225.4112 166.4803 161.1668 225.4113 165.0803 161.1668 225.4113 163.9803 161.1668 225.4113 163.9803 161.1668 224.7113 165.0803 161.1668 224.7113 165.0803 160.5168 224.7113 163.9803 160.5168 224.7113 167.3552 156.9668 214.6112 167.3552 156.9668 213.8812 166.7052 156.9668 214.6112 166.7052 156.9668 213.8812 167.3552 159.4668 214.6112 166.7052 159.4668 214.6112 164.2052 156.9668 214.6113 164.8552 156.9668 214.6113 164.2052 156.9668 213.8813 164.8552 156.9668 213.8813 164.8552 159.4668 214.6113 164.2052 159.4668 214.6113 167.3552 157.8418 213.8812 167.5552 157.9918 213.8812 167.5551 157.9918 212.9112 167.3552 158.1418 213.8812 166.5052 157.9918 212.9112 166.5052 157.9918 213.8813 166.7052 157.8418 213.8812 166.7052 158.1418 213.8812 164.0052 157.9918 212.9113 164.0052 157.9918 213.8813 164.2052 157.8418 213.8813 164.2052 158.1418 213.8813 165.0552 157.9918 213.8813 165.0551 157.9918 212.9113 164.8552 157.8418 213.8813 164.8552 158.1418 213.8813 166.2302 161.5668 214.6112 167.8302 161.8168 214.6112 167.8302 161.5668 214.6112 167.5802 159.4668 214.6112 166.4802 159.4668 214.6112 165.3302 161.8168 214.6113 165.3302 161.5668 214.6113 165.0802 159.4668 214.6113 163.9802 159.4668 214.6113 163.7302 161.5668 214.6113 162.5302 159.0668 215.9113 162.5301 159.0668 212.9113 162.5302 157.4168 215.9113 162.5301 157.4168 212.9113 161.7802 159.0668 215.9113 161.7802 157.4168 215.9113 161.7801 157.4168 212.9113 161.7801 157.4168 212.9613 162.5301 160.5168 212.9113 161.8612 161.7168 216.5177 161.8957 161.7168 216.4872 161.7802 161.7168 216.5613 161.8224 161.7168 216.5426 161.9251 161.7168 214.2709 161.8957 161.7168 214.2355 162.5301 161.7168 212.9113 161.8611 161.7168 214.2049 161.8223 161.7168 214.18 161.9252 161.7168 216.4517 161.9488 161.7168 216.4121 161.9661 161.7168 216.3693 161.9766 161.7168 214.3982 161.9661 161.7168 214.3533 161.9488 161.7168 214.3105 161.7802 161.7168 214.1613 161.9766 161.7168 216.3244 161.9802 161.7168 216.2785 161.9802 161.7168 214.4441 169.2303 156.7168 220.7612 166.8303 156.7168 220.7612 169.2303 156.5168 220.7612 168.3803 156.5168 220.7612 168.3803 156.2168 220.7612 167.6803 156.2168 220.7612 169.2302 157.4168 219.2612 166.8302 157.4168 219.2612 169.5803 161.1668 225.4112 168.4803 161.1668 225.4112 168.4803 161.1668 224.7112 169.5803 161.1668 224.7112 172.0803 161.1668 225.4112 170.9803 161.1668 225.4112 170.9803 161.1668 224.7112 172.0803 161.1668 224.7112 169.5803 160.5168 224.7112 168.4803 160.5168 224.7112 172.0803 160.5168 224.7112 170.9803 160.5168 224.7112 173.0303 160.7668 226.1611 173.0303 161.9168 226.1611 163.0303 160.7668 226.1613 163.0303 161.9168 226.1613 162.5303 160.5168 225.1613 162.7303 160.5168 225.5613 173.3303 160.5168 225.5611 173.5303 160.5168 225.1611 168.7052 156.9668 214.6112 168.7052 159.4668 214.6112 171.8552 156.9668 214.6112 171.8552 156.9668 213.8812 171.2052 156.9668 214.6112 171.2052 156.9668 213.8812 171.8552 159.4668 214.6112 171.2052 159.4668 214.6112 168.5052 157.9918 212.9112 169.5551 157.9918 212.9112 171.8552 157.8418 213.8812 172.0552 157.9918 213.8812 172.0551 157.9918 212.9112 171.8552 158.1418 213.8812 171.0052 157.9918 212.9112 171.0052 157.9918 213.8812 171.2052 157.8418 213.8812 171.2052 158.1418 213.8812 168.4802 159.4668 214.6112 168.2302 161.5668 214.6112 169.8302 161.8168 214.6112 169.8302 161.5668 214.6112 169.5802 159.4668 214.6112 172.3302 161.5668 214.6112 172.0802 159.4668 214.6112 170.9802 159.4668 214.6112 170.7302 161.5668 214.6112 172.3302 161.8168 214.6112 173.5302 159.0668 215.9111 173.5302 157.4168 215.9111 173.5301 159.0668 212.9111 173.5301 157.4168 212.9111 174.2802 159.0668 215.9111 174.2802 157.4168 215.9111 174.2802 157.4168 213.5718 174.2802 157.4168 214.4111 173.5301 160.5168 212.9111 163.2802 159.4668 214.6113 163.2801 159.4668 212.9113 163.2802 162.9168 214.6113 172.7802 159.4668 214.6112 172.7802 162.9168 214.6112 172.7801 159.4668 212.9111 172.0551 159.4668 212.9112 166.5052 159.4668 212.9112 164.0052 159.4668 212.9113 165.0551 159.4668 212.9113 171.0052 159.4668 212.9112 169.5551 159.4668 212.9112 168.5052 159.4668 212.9112 167.5551 159.4668 212.9112 168.5052 156.5168 212.9112 168.3802 156.5168 212.9112 169.7801 156.5168 212.9112 169.5551 156.5168 212.9112 174.2802 157.0668 214.4111 174.2802 157.0668 213.5718 174.2136 161.061 224.1723 174.2136 159.6526 224.1723 174.2636 159.6298 224.5653 174.2636 161.0838 224.5653 174.2803 159.6068 224.9611 174.2803 161.1068 224.9611 173.6987 159.8281 221.1481 173.6987 160.8855 221.1481 173.7863 160.843 220.4156 173.7863 159.8706 220.4156 173.7249 159.8604 220.5921 173.7249 160.8532 220.5921 173.6895 159.8497 220.7755 173.6895 160.8639 220.7755 173.6807 159.8389 220.9621 173.6807 160.8747 220.9621 174.5803 161.1068 224.9611 174.5803 159.6068 224.9611 174.5626 159.6313 224.54 174.5626 161.0824 224.54 174.5094 159.6555 224.1219 174.5094 161.0581 224.1219 173.9945 160.8826 221.0977 173.9945 159.8311 221.0977 173.9806 159.8394 220.9547 173.9806 160.8743 220.9547 173.9873 159.8477 220.8111 173.9873 160.8659 220.8111 174.0146 159.8559 220.67 174.0146 160.8577 220.67 174.0618 159.8638 220.5343 174.0618 160.8499 220.5343 174.3802 161.2168 214.4611 174.3802 161.9668 214.4611 174.3802 161.2168 216.2611 174.3802 161.9668 216.2611 174.0802 161.1997 214.444 174.0802 161.1997 216.2783 174.0837 161.1537 214.398 174.0943 161.1088 214.3531 174.1116 161.066 214.3104 174.1352 161.0264 214.2708 174.1647 160.9909 214.2353 174.1992 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214.2691 174.5766 160.9799 214.2243 174.5802 160.934 214.1783 174.4016 161.2083 216.2696 174.4224 161.1981 216.2798 174.4612 161.1732 216.3047 174.4957 161.1427 216.3353 174.5251 161.1072 216.3708 174.5488 161.0676 216.4104 174.5661 161.0248 216.4531 174.5767 160.9799 216.498 174.5802 160.934 216.544 174.2802 158.6668 215.8326 174.5802 158.6668 215.1219 174.5802 158.6668 215.9611 174.5802 157.7668 215.1219 174.2802 157.7668 215.8326 174.5802 157.7668 215.9611 174.2558 157.7668 215.8903 173.9302 157.7668 215.8903 174.2802 157.7668 215.0611 173.9302 158.6668 215.8903 174.2558 158.6668 215.8903 174.2802 158.6668 215.0611 174.5802 157.0668 214.4111 174.5802 157.0668 214.2826 174.5802 158.2668 214.2826 174.5802 158.2668 214.4111 174.2802 158.2668 213.5718 174.2802 158.2668 214.4111 174.5802 157.0668 213.5111 174.9302 157.0668 214.3403 174.6045 157.0668 214.3403 174.6045 158.2668 214.3403 174.5802 158.2668 213.5111 174.9302 158.2668 214.3403 174.2802 156.3168 217.4611 174.2802 156.3168 215.4611 174.2946 156.1239 215.484 174.2946 156.1239 217.4383 174.3374 155.9352 215.5063 174.3375 155.9352 217.4159 174.4078 155.755 215.5277 174.4079 155.755 217.3946 174.5042 155.5872 215.5475 174.5042 155.5872 217.3747 175.494 154.1274 217.2018 175.494 154.1274 215.7204 175.5355 154.0534 215.7291 175.5355 154.0534 217.1931 175.5639 153.9735 215.7386 175.5639 153.9735 217.1836 175.5783 153.8899 215.7485 175.5783 153.8899 217.1737 175.5785 153.8051 215.7585 175.5785 153.8051 217.1637 175.5643 153.7215 215.7684 175.5643 153.7215 217.1538 175.5361 153.6415 215.7779 175.5361 153.6415 217.1443 175.4949 153.5674 215.7867 175.4949 153.5674 217.1355 175.4417 153.5014 215.7945 175.4417 153.5014 217.1277 175.3781 153.4453 215.8012 175.3781 153.4453 217.1211 174.7525 155.7556 217.3947 174.7525 155.7556 215.5276 174.6784 155.8847 215.5123 174.6784 155.8847 217.41 174.6242 156.0233 215.4959 174.6243 156.0233 217.4264 174.5913 156.1684 215.4787 174.5913 156.1684 217.4436 174.5802 156.3168 215.4611 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168.5301 162.9168 213.3442 168.5301 163.2168 213.3442 172.9802 163.2168 213.3441 167.5301 163.2168 213.3442 167.5301 162.9168 213.3442 163.0802 163.2168 213.3443 163.0802 163.2168 212.9613 163.0802 163.0918 212.6932 163.0802 163.1349 212.7363 163.0802 163.1699 212.7863 163.0802 162.4838 212.6113 163.0802 162.8668 212.6113 163.0802 162.9276 212.6166 163.0802 163.1957 212.8416 163.0802 163.2115 212.9005 163.0802 162.9865 212.6324 163.0802 163.0418 212.6582 168.5301 162.4838 212.9112 168.5301 162.4838 212.6112 168.5301 162.8668 212.9112 168.5301 162.8668 212.6112 168.5301 162.8755 212.912 168.5301 162.9276 212.6165 168.5301 162.8839 212.9142 168.5301 162.9865 212.6323 168.5301 162.8918 212.9179 168.5301 163.0418 212.6581 168.5301 162.899 212.9229 168.5301 163.0918 212.6931 168.5301 162.9051 212.9291 168.5301 163.1349 212.7362 168.5301 162.9101 212.9362 168.5301 163.1699 212.7862 168.5301 162.9138 212.9441 168.5301 163.1957 212.8415 168.5301 162.916 212.9525 168.5301 163.2115 212.9004 168.5301 162.9168 212.9612 168.5301 163.2168 212.9612 172.9801 162.4838 212.6112 172.9801 162.8668 212.6112 172.9801 163.2168 212.9611 172.9801 163.2115 212.9004 172.9801 163.0418 212.658 172.9801 163.0918 212.693 172.9801 163.1349 212.7362 172.9801 162.9865 212.6323 172.9801 162.9276 212.6165 172.9801 163.1957 212.8414 172.9801 163.1699 212.7861 167.5301 162.9168 212.9612 167.5301 163.2168 212.9612 167.5301 162.916 212.9525 167.5301 163.2115 212.9004 167.5301 162.9138 212.9441 167.5301 163.1957 212.8415 167.5301 162.9101 212.9362 167.5301 163.1699 212.7862 167.5301 162.9051 212.9291 167.5301 163.1349 212.7362 167.5301 162.899 212.9229 167.5301 163.0918 212.6931 167.5301 162.8918 212.9179 167.5301 163.0418 212.6581 167.5301 162.8839 212.9142 167.5301 162.9865 212.6323 167.5301 162.8755 212.912 167.5301 162.9276 212.6165 167.5301 162.8668 212.9112 167.5301 162.8668 212.6112 167.5301 162.4838 212.9112 167.5301 162.4838 212.6112 174.2301 163.2168 212.9611 174.2301 163.2115 212.9004 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160.6833 219.8028 174.0536 160.6507 219.7951 173.9798 160.8169 219.9664 173.9798 159.8967 219.9664 174.0536 160.0629 219.7951 174.0503 160.0303 219.8028 174.0282 160.7665 219.854 174.0374 160.7421 219.8327 174.0448 160.7141 219.8155 174.0448 159.9996 219.8155 174.0374 159.9716 219.8327 174.0282 159.9471 219.854 173.993 160.8123 219.9357 174.0057 160.8021 219.9062 174.0176 160.7867 219.8787 174.0176 159.9269 219.8787 174.0057 159.9115 219.9062 173.993 159.9013 219.9357 174.3258 160.0234 219.9215 174.3291 160.056 219.9137 174.2553 159.8898 220.085 174.2553 160.8238 220.085 174.3291 160.6576 219.9137 174.3258 160.6902 219.9215 174.3038 159.9402 219.9726 174.3129 159.9647 219.9514 174.3203 159.9927 219.9341 174.3203 160.721 219.9341 174.3129 160.7489 219.9514 174.3038 160.7734 219.9726 174.2931 160.7936 219.9974 174.2812 160.809 220.0249 174.2685 160.8192 220.0544 174.2685 159.8945 220.0544 174.2812 159.9046 220.0249 174.2931 159.92 219.9974 174.5803 161.3568 224.9611 174.2803 161.3568 224.9611 174.5803 162.8668 226.1611 174.5802 162.8668 212.9611 174.5748 162.9276 212.9611 174.575 162.9276 226.1611 174.559 162.9865 212.9611 174.5592 162.9865 226.1611 174.5333 163.0418 212.9611 174.5335 163.0418 226.1611 174.4983 163.0918 212.9611 174.4985 163.0918 226.1611 174.4551 163.1349 212.9611 174.4553 163.1349 226.1611 174.4051 163.1699 212.9611 174.4053 163.1699 226.1611 174.3498 163.1957 212.9611 174.35 163.1957 226.1611 174.2909 163.2115 212.9611 174.2911 163.2115 226.1611 174.2303 163.2168 226.1611 174.2803 159.3568 224.9611 174.5803 159.3568 224.9611 174.2803 161.5568 224.7611 174.2802 161.5568 219.5111 174.5803 161.5568 224.7611 174.5802 161.5568 219.5111 174.5802 159.3568 219.3111 174.5802 161.3568 219.3111 174.2802 159.3568 219.3111 174.2802 161.3568 219.3111 174.5803 159.1568 224.7611 174.5802 159.1568 219.5111 174.2803 159.1568 224.7611 174.2802 159.1568 219.5111 169.5893 162.9168 219.8612 169.5893 163.2168 219.8612 172.6891 163.2168 225.8676 172.8761 163.2168 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174.8804 158.5068 226.4611 174.8804 158.5068 226.7611 174.8283 158.5068 226.4566 174.7762 158.5068 226.752 174.7777 158.5068 226.443 174.6751 158.5068 226.7249 174.7303 158.5068 226.4209 174.5803 158.5068 226.6807 174.6875 158.5068 226.3909 174.4947 158.5068 226.6208 174.6505 158.5068 226.354 174.4207 158.5068 226.5468 174.6205 158.5068 226.3111 174.3607 158.5068 226.4611 174.5984 158.5068 226.2637 174.3165 158.5068 226.3663 174.5849 158.5068 226.2132 174.2895 158.5068 226.2653 174.5803 158.5068 226.1611 174.2803 158.5068 226.1611 168.0354 156.7968 226.4612 168.0354 156.7968 226.7612 168.0354 157.1968 226.4612 168.0354 157.1968 226.7612 168.0354 157.2489 226.4567 168.0354 157.301 226.7521 168.0354 157.2994 226.4431 168.0354 157.402 226.725 168.0354 157.3468 226.421 168.0354 157.4968 226.6808 168.0354 157.3896 226.391 168.0354 157.5825 226.6208 168.0354 157.4266 226.3541 168.0354 157.6564 226.5469 168.0354 157.4566 226.3112 168.0354 157.7164 226.4612 168.0354 157.4787 226.2638 168.0354 157.7606 226.3664 168.0354 157.4922 226.2133 168.0354 157.7877 226.2654 168.0354 157.4968 226.1612 168.0354 157.7968 226.1612 173.5303 157.7968 226.1611 174.2303 157.7968 226.1611 173.5303 157.4968 226.1611 174.2303 157.4968 226.1611 173.5303 156.7968 226.4611 173.5303 156.7968 226.7611 173.5303 157.4922 226.2132 173.5303 157.7877 226.2653 173.5303 157.4787 226.2637 173.5303 157.7606 226.3663 173.5303 157.4566 226.3111 173.5303 157.7164 226.4611 173.5303 157.4266 226.354 173.5303 157.6564 226.5468 173.5303 157.3896 226.391 173.5303 157.5825 226.6208 173.5303 157.3468 226.4209 173.5303 157.4968 226.6808 173.5303 157.2994 226.443 173.5303 157.402 226.725 173.5303 157.2489 226.4566 173.5303 157.301 226.752 173.5303 157.1968 226.4611 173.5303 157.1968 226.7611 174.6301 156.3168 212.6111 174.6909 156.3168 212.6164 174.7498 156.3168 212.6322 174.8051 156.3168 212.658 174.8551 156.3168 212.693 174.8983 156.3168 212.7361 174.9333 156.3168 212.7861 174.959 156.3168 212.8414 174.9748 156.3168 212.9003 174.9801 156.3168 212.9611 174.6801 156.3168 212.9611 174.6794 156.3168 212.9524 174.6771 156.3168 212.944 174.6734 156.3168 212.9361 174.6685 156.3168 212.929 174.6623 156.3168 212.9228 174.6551 156.3168 212.9178 174.6472 156.3168 212.9141 174.6388 156.3168 212.9119 174.6302 156.3168 212.9111 174.9802 156.3168 215.0111 174.6802 156.3168 215.0111 174.2633 157.4984 226.1611 174.5803 157.8468 226.1611 174.5796 157.826 217.72 174.5798 157.828 217.7167 174.5799 157.8309 217.7121 174.5802 157.8357 217.7043 174.5802 157.8383 217.6983 174.5803 157.842 217.6896 174.5803 157.8432 217.6847 174.5803 157.8456 217.6756 174.5802 157.846 217.6707 174.5742 157.7828 217.7618 174.5751 157.7869 217.759 174.5788 157.8139 226.1611 174.5715 157.7704 217.7701 174.576 157.7939 217.7529 174.5775 157.8041 217.744 174.5782 157.8097 217.7391 174.5784 157.8116 217.7372 174.5786 157.8139 217.7344 174.5792 157.8211 217.7258 174.5535 157.7127 217.8025 174.5546 157.7154 217.8013 174.5679 157.7545 226.1611 174.5588 157.7278 217.7947 174.5637 157.7424 217.7871 174.5677 157.7544 217.7807 174.5683 157.7562 217.7797 174.5259 157.6598 217.824 174.547 157.6978 226.1611 174.518 157.6492 217.8275 174.5167 157.6455 226.1611 174.5157 157.6462 217.8285 174.4944 157.6177 217.8377 174.5372 157.6807 217.8157 174.5465 157.698 217.8088 174.55 157.7046 217.8062 174.4551 157.5789 217.8484 174.4697 157.593 217.8446 174.4778 157.5993 226.1611 174.477 157.6 217.8427 174.4917 157.6142 217.8388 174.4072 157.5451 217.856 174.4316 157.5605 226.1611 174.3918 157.5376 217.8572 174.3794 157.5301 226.1611 174.3787 157.5313 217.8582 174.3741 157.5291 217.8586 174.4249 157.5573 217.8533 174.4308 157.5614 217.8524 174.4529 157.5768 217.8489 174.319 157.5088 217.8609 174.3224 157.5099 217.8608 174.3227 157.5092 226.1611 174.3377 157.5146 217.8605 174.3559 157.5202 217.86 174.2803 162.8668 226.1611 174.2803 157.8468 226.1611 162.3618 160.8855 221.1483 162.3618 159.8281 221.1483 162.3799 159.8389 220.9623 162.3799 160.8747 220.9623 162.3711 159.8497 220.7757 162.3711 160.8639 220.7757 162.3356 159.8604 220.5922 162.3356 160.8532 220.5922 162.2742 159.8706 220.4158 162.2742 160.843 220.4158 161.847 159.6526 224.1725 161.847 161.061 224.1725 161.7803 161.1068 224.9613 161.7803 159.6068 224.9613 161.797 159.6298 224.5655 161.797 161.0838 224.5655 161.9987 160.8499 220.5345 161.9987 159.8638 220.5345 162.0459 159.8559 220.6702 162.0459 160.8577 220.6702 162.0732 159.8477 220.8113 162.0732 160.8659 220.8113 162.08 159.8394 220.9549 162.08 160.8743 220.9549 162.0661 159.8311 221.0979 162.0661 160.8826 221.0979 161.5512 161.0581 224.1221 161.5512 159.6555 224.1221 161.4981 159.6313 224.5402 161.4981 161.0824 224.5402 161.4803 159.6068 224.9613 161.4803 161.1068 224.9613 161.6802 161.2168 214.4613 161.6802 161.2168 216.2613 161.6802 161.9668 214.4613 161.6802 161.9668 216.2613 161.9802 161.1997 216.2785 161.9802 161.1997 214.4441 161.9766 161.1537 216.3244 161.9661 161.1088 216.3693 161.9488 161.066 216.4121 161.9252 161.0264 216.4517 161.8957 160.9909 216.4872 161.8612 160.9604 216.5177 161.8224 160.9355 216.5426 161.8016 160.9253 216.5528 161.7802 160.9168 216.5613 161.7802 160.9168 214.1613 161.8016 160.9253 214.1698 161.8223 160.9355 214.18 161.8611 160.9604 214.2049 161.8957 160.9909 214.2355 161.9251 161.0264 214.2709 161.9488 161.066 214.3105 161.9661 161.1088 214.3533 161.9766 161.1537 214.3982 161.6587 161.9753 216.2698 161.6587 161.2083 216.2698 161.638 161.1981 216.28 161.638 161.9855 216.28 161.5992 161.1732 216.3049 161.5992 162.0104 216.3049 161.5647 161.1427 216.3355 161.5647 162.041 216.3355 161.5352 161.1072 216.371 161.5352 162.0764 216.371 161.5116 161.0676 216.4105 161.5116 162.116 216.4105 161.4943 161.0248 216.4533 161.4943 162.1588 216.4533 161.4837 160.9799 216.4982 161.4837 162.2037 216.4982 161.4802 160.934 216.5442 161.4802 162.2496 216.5442 161.5992 161.1732 214.4177 161.5647 161.1427 214.3872 161.5352 161.1072 214.3517 161.5116 161.0676 214.3121 161.4943 161.0248 214.2693 161.4837 160.9799 214.2245 161.4802 160.934 214.1785 161.6587 161.2083 214.4528 161.638 161.1981 214.4427 161.6587 161.9753 214.4528 161.638 161.9855 214.4427 161.5992 162.0104 214.4177 161.5647 162.041 214.3872 161.5352 162.0764 214.3517 161.5116 162.116 214.3121 161.4943 162.1588 214.2693 161.4837 162.2037 214.2245 161.4802 162.2496 214.1785 161.7802 157.7668 215.8327 161.4802 157.7668 215.122 161.4802 157.7668 215.9613 161.4802 158.6668 215.9613 161.4802 158.6668 215.122 161.7802 158.6668 215.8327 161.8046 158.6668 215.8905 162.1302 158.6668 215.8905 161.7802 158.6668 215.0613 161.7802 157.7668 215.0613 162.1302 157.7668 215.8905 161.8046 157.7668 215.8905 161.7802 158.2668 214.4113 161.4802 158.2668 214.4113 161.7802 158.2668 213.572 161.4802 158.2668 214.2827 161.1302 158.2668 214.3405 161.4802 158.2668 213.5113 161.1302 157.0668 214.3405 161.4802 157.0668 213.5113 161.4558 158.2668 214.3405 161.4558 157.0668 214.3405 161.4802 157.0668 214.2827 160.6823 153.4453 217.1213 160.6823 153.4453 215.8014 160.6187 153.5014 215.7947 160.6187 153.5014 217.1279 160.5655 153.5674 215.7869 160.5655 153.5674 217.1358 160.5243 153.6415 215.7781 160.5243 153.6415 217.1445 160.4961 153.7215 215.7687 160.4962 153.7215 217.154 160.4819 153.8051 215.7588 160.4819 153.8051 217.1639 160.4821 153.8899 215.7487 160.4821 153.8899 217.1739 160.4965 153.9735 215.7388 160.4965 153.9735 217.1838 160.5249 154.0534 215.7294 160.5249 154.0534 217.1933 160.5663 154.1274 215.7206 160.5664 154.1274 217.2021 161.5562 155.5872 217.3749 161.5562 155.5872 215.5477 161.6525 155.755 215.5278 161.6526 155.755 217.3948 161.7229 155.9352 215.5065 161.7229 155.9352 217.4161 161.7658 156.1239 215.4842 161.7658 156.1239 217.4385 161.7802 156.3168 215.4613 161.7802 156.3168 217.4613 160.3181 154.2958 217.222 160.318 154.2958 215.7007 160.2517 154.1774 215.7147 160.2517 154.1774 217.208 160.2063 154.0495 215.7298 160.2063 154.0495 217.1929 160.1832 153.9158 215.7457 160.1832 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219.8613 166.2277 162.9168 219.8612 161.8302 158.7168 212.9113 161.8302 158.7168 212.6113 161.4301 158.7168 212.6113 161.4301 156.3168 212.6113 161.3754 156.3168 212.6156 161.3754 158.7168 212.6156 161.322 156.3168 212.6284 161.322 158.7168 212.6284 161.2713 156.3168 212.6495 161.2713 158.7168 212.6495 161.2244 156.3168 212.6782 161.2244 158.7168 212.6782 161.1827 156.3168 212.7138 161.1827 158.7168 212.7138 161.147 156.3168 212.7556 161.147 158.7168 212.7556 161.1183 156.3168 212.8024 161.1183 158.7168 212.8024 161.0973 156.3168 212.8532 161.0973 158.7168 212.8532 161.0845 156.3168 212.9066 161.0845 158.7168 212.9066 161.0802 156.3168 212.9613 161.0802 158.7168 212.9613 161.3802 158.7168 212.9613 161.3802 156.3168 212.9613 161.3808 158.7168 212.9535 161.3808 156.3168 212.9535 161.3826 158.7168 212.9459 161.3826 156.3168 212.9459 161.3856 158.7168 212.9386 161.3856 156.3168 212.9386 161.3897 158.7168 212.9319 161.3897 156.3168 212.9319 161.3948 158.7168 212.926 161.3948 156.3168 212.926 161.4008 158.7168 212.9209 161.4008 156.3168 212.9209 161.4075 158.7168 212.9168 161.4075 156.3168 212.9168 161.4147 158.7168 212.9138 161.4147 156.3168 212.9138 161.4223 158.7168 212.9119 161.4223 156.3168 212.9119 161.4301 158.7168 212.9113 161.4301 156.3168 212.9113 161.0802 158.3168 214.5113 161.0802 158.3168 213.1113 161.3802 158.3168 214.5113 161.3802 158.3168 213.1113 161.0802 156.7168 213.1113 161.3802 156.7168 213.1113 161.0802 156.7168 214.5113 161.3802 156.7168 214.5113 161.0802 158.7168 215.0113 161.0802 156.3168 215.0113 161.3802 158.7168 215.0113 161.3802 156.3168 215.0113 161.4802 157.8468 217.6613 161.4802 157.8438 217.6266 161.4802 157.8347 217.5929 161.4802 157.82 217.5613 161.4802 157.8 217.5328 161.4802 157.7754 217.5081 161.4802 157.7468 217.4881 161.4802 157.7152 217.4734 161.4802 157.6815 217.4644 161.4802 157.6468 217.4613 163.3843 162.9168 219.8613 163.3843 163.2168 219.8613 161.4302 152.5168 216.0986 161.6089 152.7577 216.0701 161.4302 152.5168 216.824 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160.624 219.9113 162.0058 160.6171 219.7926 161.7303 160.0896 219.9113 162.0058 160.0965 219.7926 162.0102 160.0303 219.803 162.0069 160.0629 219.7952 162.0807 159.8967 219.9665 162.0807 160.8169 219.9665 162.0069 160.6507 219.7952 162.0102 160.6833 219.803 162.0323 159.9471 219.8541 162.0231 159.9716 219.8329 162.0157 159.9996 219.8156 162.0157 160.7141 219.8156 162.0231 160.7421 219.8329 162.0323 160.7665 219.8541 162.0429 160.7867 219.8789 162.0548 160.8021 219.9064 162.0675 160.8123 219.9359 162.0675 159.9013 219.9359 162.0548 159.9115 219.9064 162.0429 159.9269 219.8789 161.7347 160.6902 219.9217 161.7314 160.6576 219.9139 161.8052 160.8238 220.0852 161.8052 159.8898 220.0852 161.7314 160.056 219.9139 161.7347 160.0234 219.9217 161.7567 160.7734 219.9728 161.7476 160.7489 219.9515 161.7402 160.721 219.9343 161.7402 159.9927 219.9343 161.7476 159.9647 219.9515 161.7567 159.9402 219.9728 161.792 160.8192 220.0546 161.7793 160.809 220.0251 161.7674 160.7936 219.9976 161.7674 159.92 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219.5113 166.4712 163.2168 219.8612 166.4712 162.9168 219.8612 163.5715 163.2168 226.0613 166.2842 163.2168 226.0612 163.5715 162.9168 226.0613 166.2842 162.9168 226.0612 163.3716 162.9168 225.8677 163.1844 162.9168 220.0677 163.3716 163.2168 225.8677 163.1844 163.2168 220.0677 166.6711 162.9168 220.0677 166.4841 162.9168 225.8677 166.6711 163.2168 220.0677 166.4841 163.2168 225.8677 161.7803 159.1598 224.796 161.4803 159.1598 224.796 161.7803 159.1689 224.8297 161.4803 159.1689 224.8297 161.7803 159.1836 224.8613 161.4803 159.1836 224.8613 161.7803 159.2036 224.8899 161.4803 159.2036 224.8899 161.7803 159.2283 224.9145 161.4803 159.2283 224.9145 161.7803 159.2568 224.9345 161.4803 159.2568 224.9345 161.7803 159.2884 224.9492 161.4803 159.2884 224.9493 161.7803 159.3221 224.9583 161.4803 159.3221 224.9583 161.7802 159.3221 219.3144 161.4802 159.3221 219.3144 161.7802 159.2884 219.3234 161.4802 159.2884 219.3234 161.7802 159.2568 219.3381 161.4802 159.2568 219.3381 161.7802 159.2283 219.3581 161.4802 159.2283 219.3581 161.7802 159.2036 219.3828 161.4802 159.2036 219.3828 161.7802 159.1836 219.4113 161.4803 159.1836 219.4113 161.7802 159.1689 219.4429 161.4803 159.1689 219.4429 161.7802 159.1598 219.4766 161.4803 159.1598 219.4766 161.7803 161.3881 224.9589 161.4803 161.3881 224.9589 161.7803 161.4186 224.9515 161.4803 161.4186 224.9515 161.7803 161.4476 224.9395 161.4803 161.4476 224.9395 161.7803 161.4744 224.9231 161.4803 161.4744 224.9231 161.7803 161.4982 224.9027 161.4803 161.4982 224.9027 161.7803 161.5186 224.8789 161.4803 161.5186 224.8789 161.7803 161.535 224.8521 161.4803 161.535 224.8521 161.7803 161.547 224.8231 161.4803 161.547 224.8231 161.7803 161.5543 224.7926 161.4803 161.5543 224.7926 166.6696 162.9168 220.0357 166.6696 163.2168 220.0357 166.6629 162.9168 220.0044 166.6629 163.2168 220.0044 166.6514 162.9168 219.9745 166.6514 163.2168 219.9745 166.6352 162.9168 219.9468 166.6352 163.2168 219.9468 166.6149 162.9168 219.9221 166.6149 163.2168 219.9221 166.5908 162.9168 219.901 166.5908 163.2168 219.901 166.5637 162.9168 219.8839 166.5637 163.2168 219.8839 166.5342 162.9168 219.8714 166.5342 163.2168 219.8714 166.5031 162.9168 219.8638 166.5031 163.2168 219.8638 163.3756 162.9168 225.9017 163.3756 163.2168 225.9017 163.3853 162.9168 225.9344 163.3853 163.2168 225.9344 163.4005 162.9168 225.965 163.4005 163.2168 225.965 163.4206 162.9168 225.9926 163.4206 163.2168 225.9926 163.4451 162.9168 226.0163 163.4451 163.2168 226.0163 163.4734 162.9168 226.0356 163.4734 163.2168 226.0356 163.5044 162.9168 226.0497 163.5044 163.2168 226.0497 163.5375 162.9168 226.0584 163.5375 163.2168 226.0584 166.3182 162.9168 226.0583 166.3182 163.2168 226.0583 166.3512 162.9168 226.0497 166.3512 163.2168 226.0497 166.3823 162.9168 226.0355 166.3823 163.2168 226.0355 166.4105 162.9168 226.0163 166.4105 163.2168 226.0163 166.4351 162.9168 225.9925 166.4351 163.2168 225.9925 166.4552 162.9168 225.9649 166.4552 163.2168 225.9649 166.4703 162.9168 225.9343 166.4703 163.2168 225.9343 166.4801 162.9168 225.9016 166.4801 163.2168 225.9016 163.3524 162.9168 219.8639 163.3524 163.2168 219.8639 163.3213 162.9168 219.8715 163.3213 163.2168 219.8715 163.2918 162.9168 219.884 163.2918 163.2168 219.884 163.2647 162.9168 219.901 163.2647 163.2168 219.901 163.2406 162.9168 219.9222 163.2406 163.2168 219.9222 163.2203 162.9168 219.9469 163.2203 163.2168 219.9469 163.2041 162.9168 219.9745 163.2041 163.2168 219.9745 163.1926 162.9168 220.0044 163.1926 163.2168 220.0044 163.1859 162.9168 220.0357 163.1859 163.2168 220.0357 161.7802 161.5543 219.48 161.4803 161.5543 219.48 161.7802 161.547 219.4495 161.4803 161.547 219.4495 161.7802 161.535 219.4205 161.4803 161.535 219.4205 161.7802 161.5186 219.3937 161.4803 161.5186 219.3938 161.7802 161.4982 219.3699 161.4802 161.4982 219.3699 161.7802 161.4744 219.3495 161.4802 161.4744 219.3495 161.7802 161.4476 219.3331 161.4802 161.4476 219.3331 161.7802 161.4186 219.3211 161.4802 161.4186 219.3211 161.7802 161.3881 219.3138 161.4802 161.3881 219.3138 161.7973 157.4984 217.8613 161.8302 157.4968 217.8613 161.7974 157.4984 226.1613 161.8303 157.4968 226.1613 161.6813 157.5301 226.1613 161.6808 157.5316 217.8584 161.738 157.5092 226.1613 161.6997 157.5222 217.86 161.7147 157.5174 217.8604 161.7328 157.5117 217.8609 161.7381 157.51 217.861 161.7509 157.5059 217.8613 161.6518 157.5459 217.856 161.6637 157.54 217.857 161.5886 157.595 217.8443 161.6068 157.5775 217.849 161.6291 157.5605 226.1613 161.616 157.571 217.8504 161.6296 157.5614 217.8526 161.6472 157.5491 217.8553 161.5834 157.6 217.8429 161.5829 157.5993 226.1613 161.5693 157.6136 217.8392 161.5243 157.6788 217.8167 161.5388 157.6531 217.8266 161.544 157.6455 226.1613 161.5424 157.6484 217.8281 161.5444 157.6459 217.8289 161.5641 157.6203 217.8371 161.5137 157.6978 226.1613 161.4927 157.7545 226.1613 161.4931 157.7545 217.7802 161.4941 157.751 217.7824 161.497 157.7398 217.7892 161.5038 157.7226 217.7975 161.509 157.7094 217.8038 161.5141 157.6966 217.8099 161.4822 157.811 217.7372 161.4828 157.8044 217.7444 161.4851 157.7899 217.7561 161.487 157.7779 217.7658 161.4905 157.7648 217.7739 161.4819 157.8139 217.7341 161.4819 157.8139 226.1613 161.481 157.8234 217.7237 161.4803 157.8468 226.1613 161.4802 157.8468 217.6642 161.4802 157.8461 217.6703 161.4802 157.8452 217.6776 161.4802 157.8433 217.6846 161.4802 157.842 217.6894 161.4802 157.8413 217.6916 161.4803 157.838 217.699 161.4803 157.8358 217.7038 161.4803 157.8344 217.7069 161.4804 157.8333 217.7086 161.4808 157.827 217.7182 161.4803 158.5068 226.1613 161.4802 157.0668 214.4113 161.4803 162.2068 226.1613 161.7803 158.5068 226.1613 161.7803 162.2068 226.1613 161.7803 162.8668 226.1613 161.7803 157.8468 226.1613 162.5303 163.2168 226.1613 173.5303 163.2168 226.1611 162.5303 163.9168 226.7613 162.5303 163.5168 226.7613 173.5303 163.9168 226.7611 173.5303 163.5168 226.7611 162.5303 163.4126 226.7522 173.5303 163.4126 226.752 162.5303 163.3116 226.7251 173.5303 163.3116 226.725 162.5303 163.2168 226.6809 173.5303 163.2168 226.6808 162.5303 163.1311 226.6209 173.5303 163.1311 226.6208 162.5303 163.0572 226.547 173.5303 163.0572 226.5468 162.5303 162.9972 226.4613 173.5303 162.9972 226.4611 162.5303 162.953 226.3665 173.5303 162.953 226.3663 162.5303 162.9259 226.2655 173.5303 162.9259 226.2653 162.5303 162.9168 226.1613 173.5303 162.9168 226.1611 162.5303 163.5168 226.4613 162.5303 163.9168 226.4613 173.5303 163.5168 226.4611 173.5303 163.9168 226.4611 173.5303 163.2214 226.2132 162.5303 163.2214 226.2134 173.5303 163.2349 226.2637 162.5303 163.2349 226.2639 173.5303 163.257 226.3111 162.5303 163.257 226.3113 173.5303 163.287 226.354 162.5303 163.287 226.3541 173.5303 163.324 226.391 162.5303 163.324 226.3911 173.5303 163.3668 226.4209 162.5303 163.3668 226.4211 173.5303 163.4142 226.443 162.5303 163.4142 226.4432 173.5303 163.4647 226.4566 162.5303 163.4647 226.4568 162.5303 157.4968 226.1613 168.0253 157.4968 226.1612 162.5303 157.4922 226.2134 168.0253 157.4922 226.2133 162.5303 157.4787 226.2639 168.0253 157.4787 226.2638 162.5303 157.4566 226.3113 168.0253 157.4566 226.3112 162.5303 157.4266 226.3541 168.0253 157.4266 226.3541 162.5303 157.3896 226.3911 168.0253 157.3896 226.391 162.5303 157.3468 226.4211 168.0253 157.3468 226.421 162.5303 157.2994 226.4432 168.0253 157.2994 226.4431 162.5303 157.2489 226.4568 168.0253 157.2489 226.4567 162.5303 157.1968 226.4613 168.0253 157.1968 226.4612 168.0253 156.7968 226.4612 162.5303 156.7968 226.4613 162.5303 157.1968 226.7613 168.0254 157.1968 226.7612 168.0254 157.301 226.7521 162.5303 157.301 226.7522 168.0254 157.402 226.725 162.5303 157.402 226.7251 168.0254 157.4968 226.6808 162.5303 157.4968 226.6809 168.0254 157.5825 226.6208 162.5303 157.5825 226.6209 168.0254 157.6564 226.5469 162.5303 157.6564 226.547 168.0253 157.7164 226.4612 162.5303 157.7164 226.4613 168.0253 157.7606 226.3664 162.5303 157.7606 226.3665 168.0253 157.7877 226.2654 162.5303 157.7877 226.2655 168.0253 157.7968 226.1612 162.5303 157.7968 226.1613 168.0254 156.7968 226.7612 162.5303 156.7968 226.7613 161.1804 158.5068 226.4613 161.1804 162.2068 226.4613 161.2324 158.5068 226.4568 161.2324 162.2068 226.4568 161.283 158.5068 226.4432 161.283 162.2068 226.4432 161.3303 158.5068 226.4211 161.3303 162.2068 226.4211 161.3732 158.5068 226.3911 161.3732 162.2068 226.3911 161.4102 158.5068 226.3542 161.4102 162.2068 226.3542 161.4402 158.5068 226.3113 161.4402 162.2068 226.3113 161.4622 158.5068 226.2639 161.4622 162.2068 226.2639 161.4758 158.5068 226.2134 161.4758 162.2068 226.2134 160.7803 162.2068 226.4613 160.7803 158.5068 226.4613 163.3843 157.4968 219.8613 163.6278 157.4968 219.8613 163.3843 157.7968 219.8613 163.6278 157.7968 219.8613 163.5715 157.7968 226.0613 163.5715 157.4968 226.0613 163.5375 157.7968 226.0584 163.5375 157.4968 226.0584 163.5044 157.7968 226.0497 163.5044 157.4968 226.0497 163.4734 157.7968 226.0356 163.4734 157.4968 226.0356 163.4451 157.7968 226.0163 163.4451 157.4968 226.0163 163.4206 157.7968 225.9926 163.4206 157.4968 225.9926 163.4005 157.7968 225.965 163.4005 157.4968 225.965 163.3853 157.7968 225.9344 163.3853 157.4968 225.9344 163.3756 157.7968 225.9017 163.3756 157.4968 225.9017 163.3716 157.7968 225.8677 163.3716 157.4968 225.8677 163.1844 157.7968 220.0677 163.1844 157.4968 220.0677 163.1859 157.7968 220.0357 163.1859 157.4968 220.0357 163.1926 157.7968 220.0044 163.1926 157.4968 220.0044 163.2041 157.7968 219.9745 163.2041 157.4968 219.9745 163.2203 157.7968 219.9469 163.2203 157.4968 219.9469 163.2406 157.7968 219.9222 163.2406 157.4968 219.9222 163.2647 157.7968 219.901 163.2647 157.4968 219.901 163.2918 157.7968 219.884 163.2918 157.4968 219.884 163.3213 157.7968 219.8715 163.3213 157.4968 219.8715 163.3524 157.7968 219.8639 163.3524 157.4968 219.8639 166.4712 157.7968 219.8612 166.4712 157.4968 219.8612 166.5031 157.7968 219.8638 166.5031 157.4968 219.8638 166.5342 157.7968 219.8714 166.5342 157.4968 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174.3237 157.7963 217.8162 174.3209 157.7915 217.8222 174.3178 157.7867 217.8279 174.3143 157.7819 217.8331 174.3105 157.7772 217.8379 174.3205 157.7604 217.8416 174.3476 157.7344 217.8416 174.496 157.7762 217.7793 174.4927 157.7648 217.7876 174.5413 157.817 217.7352 174.5404 157.8089 217.7443 174.5392 157.7998 217.7532 174.5375 157.7897 217.762 174.504 157.8206 217.7352 174.5032 157.8135 217.7443 174.5021 157.8055 217.7532 174.5006 157.7966 217.762 174.4987 157.787 217.7706 174.3888 157.8115 217.7706 174.3522 157.8196 217.7706 174.39 157.8171 217.762 174.3531 157.824 217.762 174.3909 157.8224 217.7532 174.3538 157.828 217.7532 174.3915 157.8271 217.7443 174.3543 157.8316 217.7443 174.392 157.8313 217.7352 174.3547 157.8349 217.7352 174.3549 157.8377 217.7261 174.5423 157.8302 217.7168 174.5419 157.8241 217.7261 174.5049 157.8322 217.7168 174.505 157.8345 217.7123 174.4391 157.7339 217.8162 174.4448 157.745 217.8096 174.4496 157.7558 217.8025 174.4536 157.7661 217.7953 174.4569 157.776 217.7876 174.4598 157.7858 217.7793 174.462 157.7951 217.7706 174.4637 157.8034 217.762 174.465 157.8111 217.7532 174.466 157.818 217.7443 174.4666 157.8242 217.7352 174.4671 157.8295 217.7261 174.3551 157.8402 217.7168 174.3552 157.8422 217.7077 174.3176 157.8422 217.7168 174.3173 157.8385 217.7352 174.3171 157.8362 217.7443 174.3167 157.8337 217.7532 174.3162 157.8308 217.762 174.3339 157.8237 217.7706 174.351 157.8147 217.7793 174.3674 157.8039 217.7876 174.4287 157.8226 217.7443 174.428 157.8168 217.7532 174.4269 157.8103 217.762 174.4254 157.8033 217.7706 174.4235 157.7955 217.7793 174.4211 157.7872 217.7876 174.4183 157.7789 217.7953 174.415 157.7702 217.8025 174.4109 157.7611 217.8096 174.4062 157.7518 217.8162 174.4009 157.7427 217.8222 174.5051 157.8366 217.7077 174.5052 157.8403 217.6984 174.4302 157.8421 217.6984 174.4302 157.8432 217.6939 174.5045 157.8268 217.7261 174.4674 157.8342 217.7168 174.4301 157.8379 217.7123 174.4301 157.8394 217.7077 174.3552 157.8439 217.6984 174.5052 157.8418 217.6939 174.5053 157.8431 217.6893 174.4302 157.8449 217.6848 174.4302 157.8441 217.6893 174.3552 157.8451 217.6893 174.4302 157.8465 217.6707 174.4302 157.8456 217.6802 174.2603 157.785 217.8583 174.2621 157.7859 217.8575 174.2479 157.8001 217.8591 174.2504 157.8011 217.858 174.2686 157.7898 217.8536 174.2621 157.8083 217.8481 174.2643 157.8103 217.8448 174.2866 157.7928 217.8416 174.2822 157.8018 217.8379 174.2772 157.8105 217.8331 174.2709 157.8177 217.8307 174.2934 157.7863 217.8416 174.2892 157.7956 217.8379 174.2846 157.8048 217.8331 174.2792 157.8132 217.8279 174.307 157.7733 217.8416 174.275 157.8245 217.8135 174.2778 157.8318 217.7876 174.2784 157.8335 217.7814 174.3478 157.8043 217.7953 174.3316 157.8151 217.7876 174.3148 157.8244 217.7793 174.3495 157.8095 217.7876 174.3329 157.8195 217.7793 174.3156 157.8278 217.7706 174.2978 157.8343 217.762 174.2791 157.8378 217.753 174.2796 157.8406 217.735 174.2798 157.8421 217.7249 174.28 157.8434 217.7167 170.5885 162.6003 224.7989 170.5724 162.8668 224.6612 170.5399 162.8656 224.6588 170.556 162.599 224.7965 170.5083 162.862 224.6518 170.5243 162.5954 224.7895 170.4783 162.856 224.6403 170.4944 162.5895 224.778 170.4509 162.848 224.6247 170.4669 162.5814 224.7624 170.4266 162.8379 224.6053 170.4427 162.5714 224.743 170.4063 162.8263 224.5827 170.4223 162.5597 224.7203 170.3903 162.8132 224.5574 170.4064 162.5467 224.6951 170.3792 162.7992 224.5302 170.3952 162.5326 224.6679 170.3732 162.7845 224.5018 170.3892 162.5179 224.6394 171.6772 162.6003 224.7988 171.6932 162.8668 224.6612 171.7097 162.599 224.7965 171.7257 162.8656 224.6588 171.7413 162.5954 224.7895 171.7574 162.862 224.6518 171.7713 162.5895 224.778 171.7873 162.856 224.6403 171.7987 162.5814 224.7623 171.8148 162.848 224.6247 171.823 162.5714 224.7429 171.839 162.8379 224.6053 171.8433 162.5597 224.7203 171.8594 162.8263 224.5827 171.8593 162.5467 224.6951 171.8753 162.8132 224.5574 171.8704 162.5326 224.6678 171.8864 162.7992 224.5302 171.8764 162.5179 224.6394 171.8924 162.7845 224.5017 170.302 162.4688 223.8906 171.9636 162.4688 223.8906 170.2892 162.4275 223.7802 171.9764 162.4275 223.7801 170.2958 162.4449 223.8366 171.9699 162.4449 223.8366 165.7714 162.4275 223.7802 165.6874 162.7845 224.5018 165.6714 162.5179 224.6395 165.7586 162.4688 223.8907 165.7649 162.4449 223.8367 164.3835 162.6003 224.7989 164.3674 162.8668 224.6613 164.3349 162.8656 224.6589 164.351 162.599 224.7966 164.3033 162.862 224.6519 164.3193 162.5954 224.7896 164.2733 162.856 224.6404 164.2893 162.5895 224.7781 164.2459 162.848 224.6248 164.2619 162.5814 224.7624 164.2216 162.8379 224.6054 164.2377 162.5714 224.7431 164.2013 162.8263 224.5828 164.2173 162.5597 224.7204 164.1853 162.8132 224.5575 164.2014 162.5467 224.6952 164.1742 162.7992 224.5303 164.1902 162.5326 224.668 164.1682 162.7845 224.5018 164.1843 162.5179 224.6395 165.4882 162.8668 224.6613 165.4722 162.6003 224.7989 165.5047 162.599 224.7966 165.5207 162.8656 224.6589 165.5363 162.5954 224.7895 165.5524 162.862 224.6519 165.5663 162.5895 224.7781 165.5823 162.856 224.6404 165.5937 162.5814 224.7624 165.6098 162.848 224.6248 165.618 162.5714 224.743 165.634 162.8379 224.6054 165.6383 162.5597 224.7204 165.6544 162.8263 224.5828 165.6543 162.5467 224.6952 165.6703 162.8132 224.5575 165.6654 162.5326 224.6679 165.6814 162.7992 224.5303 164.0842 162.4275 223.7803 164.0908 162.4449 223.8367 164.097 162.4688 223.8907 171.8552 157.9468 213.6262 171.8552 157.9468 213.8762 171.2052 153.8168 213.6262 171.2052 153.8168 213.8762 171.0052 158.0968 213.8762 171.0052 158.0968 213.6262 171.8552 160.8668 213.8762 171.8552 160.8668 213.6262 171.8552 160.9884 213.8868 171.8552 161.0318 213.6406 171.8552 161.1062 213.9184 171.8552 161.1917 213.6835 171.8552 161.2168 213.97 171.8552 161.3418 213.7534 171.8552 161.3168 214.0399 171.8552 161.4775 213.8484 171.8552 161.403 214.1262 171.8552 161.5946 213.9655 171.8552 161.473 214.2262 171.8552 161.6895 214.1012 171.8552 161.5246 214.3368 171.8552 161.7595 214.2512 171.8552 161.5562 214.4546 171.8552 161.8024 214.4112 171.8552 161.5668 214.5762 171.8552 161.8168 214.5762 171.2052 161.5668 214.5762 171.2052 161.8168 214.5762 171.2052 161.5562 214.4546 171.2052 161.8024 214.4112 171.2052 161.5246 214.3368 171.2052 161.7595 214.2512 171.2052 161.473 214.2262 171.2052 161.6895 214.1012 171.2052 161.403 214.1262 171.2052 161.5946 213.9655 171.2052 161.3168 214.0399 171.2052 161.4775 213.8484 171.2052 161.2168 213.97 171.2052 161.3418 213.7534 171.2052 161.1062 213.9184 171.2052 161.1917 213.6835 171.2052 160.9884 213.8868 171.2052 161.0318 213.6406 171.2052 160.8668 213.8762 171.2052 160.8668 213.6262 171.3052 153.1168 213.8762 171.7552 153.1168 213.8762 171.8552 153.8168 213.8762 171.2052 157.9468 213.8762 171.2052 157.9468 213.6262 171.7552 153.1168 213.6262 171.3052 153.1168 213.6262 171.8552 153.8168 213.6262 172.0332 161.5668 216.5821 172.0315 161.5668 216.5879 171.0282 161.5668 216.5838 171.0302 161.5574 216.7933 171.0302 161.5667 216.5973 172.0304 161.5667 216.5946 171.0298 161.5668 216.5914 171.03 161.5667 216.5939 171.0291 161.5668 216.5879 172.0352 161.5668 216.5762 171.0252 161.5668 216.5762 172.0302 161.4731 217.2542 171.0302 161.4731 217.2542 172.0302 161.5229 217.0426 171.0302 161.5229 217.0426 172.0302 161.5574 216.7933 172.0302 161.5667 216.5973 171.0298 161.8167 216.5957 171.0302 161.8167 216.5994 171.0272 161.8168 216.5827 171.0289 161.8168 216.5891 171.0142 161.5668 216.5613 171.0009 161.5668 215.8395 171.008 161.5668 215.8355 171.0144 161.5668 215.8305 171.0199 161.5668 215.8244 171.0243 161.5668 215.8175 171.0275 161.5668 215.8101 171.0295 161.5668 215.8021 171.0302 161.5668 215.794 172.3302 161.5668 214.5762 172.3302 161.8168 214.5762 170.7302 161.5668 214.5762 170.7302 161.8168 214.5762 172.0552 158.0968 213.8762 172.0419 161.5668 216.5658 172.0383 161.5668 216.5708 171.0054 161.5668 215.2025 172.0595 161.5668 215.8395 172.0515 161.5668 215.6914 171.0272 161.5668 215.1764 172.0584 161.5668 215.6874 171.0276 161.5668 215.7167 171.0245 161.5668 215.7093 170.9976 161.5668 215.2062 171.0203 161.5668 215.7025 171.0222 161.5668 216.5708 171.0125 161.5668 215.1975 172.0462 161.5668 216.5613 172.055 161.5668 215.2025 172.0628 161.5668 215.2062 172.0712 161.5668 215.2085 171.0019 161.5668 215.6874 170.9892 161.5668 215.2086 171.0088 161.5668 215.6914 171.015 161.5668 215.6965 171.0302 161.5668 215.7324 171.0186 161.5668 215.1914 172.0523 161.5668 215.8355 172.0361 161.5668 215.8175 172.0328 161.5668 215.81 172.0308 161.5668 215.8021 172.0405 161.5668 215.8244 172.046 161.5668 215.8304 172.0454 161.5668 215.6965 172.0401 161.5668 215.7025 171.0235 161.5668 215.1843 172.0358 161.5668 215.7093 172.0327 161.5668 215.7167 172.0302 161.5668 215.1594 172.0309 161.5668 215.168 171.0302 161.5668 215.1594 172.0332 161.5668 215.1764 172.0368 161.5668 215.1842 172.0418 161.5668 215.1914 172.0479 161.5668 215.1975 171.0296 161.5668 215.7244 172.0308 161.5668 215.7244 172.0302 161.5668 215.7324 172.0302 161.5668 215.794 171.0294 161.5668 215.168 171.0185 161.5668 216.5658 172.0306 161.5668 215.0833 171.0284 161.5668 215.0767 171.0261 161.5668 215.0703 172.0373 161.5668 215.0643 172.0342 161.5668 215.0703 172.032 161.5668 215.0767 171.0231 161.5668 215.0643 172.0302 161.5668 215.09 171.0302 161.5668 215.09 171.0297 161.5668 215.0833 172.0552 158.0968 213.6262 171.0303 160.1118 222.0857 172.0303 160.1118 222.0857 172.0303 160.475 223.3128 171.0303 160.475 223.3128 171.0303 160.3409 223.1745 172.0303 160.3409 223.1745 171.0303 160.2307 223.0166 172.0303 160.2307 223.0166 171.0303 160.1472 222.843 172.0303 160.1472 222.843 171.0303 160.0925 222.6583 172.0303 160.0925 222.6583 171.0303 160.0681 222.4672 172.0303 160.0681 222.4672 171.0303 160.0746 222.2747 172.0303 160.0746 222.2747 171.0303 161.3117 224.0476 172.0303 161.3117 224.0476 172.0303 161.5668 224.6112 171.0303 161.5668 224.6112 172.0303 161.556 224.4842 171.0303 161.556 224.4843 172.0303 161.5239 224.361 171.0303 161.5239 224.361 172.0303 161.4713 224.245 171.0303 161.4713 224.245 172.0303 161.3999 224.1395 171.0303 161.3999 224.1395 172.0303 161.4767 223.8598 171.0303 161.4767 223.8598 171.0303 161.5943 223.9823 172.0303 161.5943 223.9823 171.0303 161.6895 224.1229 172.0303 161.6895 224.1229 171.0303 161.7595 224.2776 172.0303 161.7595 224.2776 171.0303 161.8024 224.442 172.0303 161.8024 224.442 171.0303 160.6399 223.125 172.0303 160.6399 223.125 172.0303 160.3524 222.1535 171.0303 160.3524 222.1535 172.0303 160.323 222.3031 171.0303 160.323 222.3032 172.0303 160.3179 222.4555 171.0303 160.3179 222.4556 172.0303 160.3372 222.6068 171.0303 160.3372 222.6068 172.0303 160.3804 222.753 171.0303 160.3804 222.753 172.0303 160.4466 222.8904 171.0303 160.4466 222.8905 172.0303 160.5338 223.0155 171.0303 160.5338 223.0155 171.0302 161.7137 217.322 172.0302 161.7137 217.322 171.0302 161.7685 217.0892 171.0302 161.8064 216.815 172.0302 161.7685 217.0892 172.0302 161.8064 216.815 172.0302 161.8167 216.5994 172.0304 161.8167 216.5957 172.0314 161.8168 216.589 172.0321 161.8168 216.585 172.0329 161.8168 216.5826 164.2052 157.9468 213.8763 164.2052 157.9468 213.6263 164.8552 153.8168 213.8763 164.8552 153.8168 213.6263 165.0552 158.0968 213.6263 165.0552 158.0968 213.8763 164.8552 160.8668 213.8763 164.8552 160.8668 213.6263 164.8552 160.9884 213.8869 164.8552 161.0318 213.6407 164.8552 161.1062 213.9185 164.8552 161.1917 213.6836 164.8552 161.2168 213.97 164.8552 161.3418 213.7536 164.8552 161.3168 214.04 164.8552 161.4775 213.8485 164.8552 161.403 214.1263 164.8552 161.5946 213.9656 164.8552 161.473 214.2263 164.8552 161.6895 214.1013 164.8552 161.5246 214.3368 164.8552 161.7595 214.2514 164.8552 161.5562 214.4547 164.8552 161.8024 214.4113 164.8552 161.5668 214.5763 164.8552 161.8168 214.5763 164.2052 161.5668 214.5763 164.2052 161.8168 214.5763 164.2052 161.5562 214.4547 164.2052 161.8024 214.4113 164.2052 161.5246 214.3369 164.2052 161.7595 214.2514 164.2052 161.473 214.2263 164.2052 161.6895 214.1013 164.2052 161.403 214.1263 164.2052 161.5946 213.9656 164.2052 161.3168 214.0401 164.2052 161.4775 213.8485 164.2052 161.2168 213.9701 164.2052 161.3418 213.7536 164.2052 161.1062 213.9185 164.2052 161.1917 213.6836 164.2052 160.9884 213.8869 164.2052 161.0318 213.6407 164.2052 160.8668 213.8763 164.2052 160.8668 213.6263 164.8552 157.9468 213.8763 164.3052 153.1168 213.8763 164.7552 153.1168 213.8763 164.2052 153.8168 213.8763 164.7552 153.1168 213.6263 164.3052 153.1168 213.6263 164.2052 153.8168 213.6263 164.8552 157.9468 213.6263 165.0332 161.5668 216.5822 165.0315 161.5668 216.588 164.0282 161.5668 216.5839 164.0302 161.5574 216.7934 164.0302 161.5667 216.5974 165.0304 161.5667 216.5947 164.0298 161.5668 216.5915 164.03 161.5667 216.5941 164.0291 161.5668 216.588 165.0352 161.5668 216.5763 164.0252 161.5668 216.5763 165.0302 161.4731 217.2543 164.0302 161.4731 217.2543 165.0302 161.5229 217.0427 164.0302 161.5229 217.0427 165.0302 161.5574 216.7934 165.0302 161.5667 216.5974 164.0298 161.8167 216.5959 164.0302 161.8167 216.5995 164.0272 161.8168 216.5828 164.0289 161.8168 216.5892 164.0142 161.5668 216.5614 164.0009 161.5668 215.8396 164.008 161.5668 215.8356 164.0144 161.5668 215.8305 164.0199 161.5668 215.8245 164.0243 161.5668 215.8176 164.0275 161.5668 215.8102 164.0295 161.5668 215.8022 164.0302 161.5668 215.7941 165.3302 161.5668 214.5763 165.3302 161.8168 214.5763 163.7302 161.5668 214.5763 163.7302 161.8168 214.5763 164.0052 158.0968 213.8763 165.0595 161.5668 215.8396 165.0523 161.5668 215.8356 165.0515 161.5668 215.6915 164.0272 161.5668 215.1765 165.0584 161.5668 215.6875 165.0342 161.5668 215.0704 165.032 161.5668 215.0768 164.0245 161.5668 215.7094 164.0203 161.5668 215.7026 163.9976 161.5668 215.2064 164.0222 161.5668 216.5709 165.0462 161.5668 216.5614 164.0054 161.5668 215.2026 165.0419 161.5668 216.5659 165.0383 161.5668 216.5709 165.0308 161.5668 215.8022 165.0328 161.5668 215.8101 164.0186 161.5668 215.1915 165.0373 161.5668 215.0644 164.0276 161.5668 215.7168 164.0019 161.5668 215.6875 163.9892 161.5668 215.2086 164.0088 161.5668 215.6915 164.015 161.5668 215.6966 165.046 161.5668 215.8305 164.0125 161.5668 215.1976 165.0302 161.5668 215.1595 165.0309 161.5668 215.1681 164.0302 161.5668 215.1595 165.0332 161.5668 215.1765 165.0368 161.5668 215.1844 165.0418 161.5668 215.1915 165.0479 161.5668 215.1976 165.055 161.5668 215.2026 165.0628 161.5668 215.2063 165.0712 161.5668 215.2086 164.0302 161.5668 215.7325 165.0361 161.5668 215.8176 165.0405 161.5668 215.8245 165.0454 161.5668 215.6966 165.0401 161.5668 215.7026 164.0235 161.5668 215.1844 165.0358 161.5668 215.7094 165.0327 161.5668 215.7167 164.0185 161.5668 216.5659 164.0296 161.5668 215.7245 165.0308 161.5668 215.7245 165.0302 161.5668 215.7325 165.0302 161.5668 215.7941 164.0294 161.5668 215.1681 164.0231 161.5668 215.0644 164.0261 161.5668 215.0704 164.0284 161.5668 215.0768 164.0297 161.5668 215.0834 165.0306 161.5668 215.0834 165.0302 161.5668 215.0901 164.0302 161.5668 215.0901 164.0052 158.0968 213.6263 164.0303 160.1118 222.0858 165.0303 160.1118 222.0858 165.0303 160.475 223.3129 164.0303 160.475 223.313 164.0303 160.3409 223.1746 165.0303 160.3409 223.1746 164.0303 160.2307 223.0167 165.0303 160.2307 223.0167 164.0303 160.1472 222.8431 165.0303 160.1472 222.8431 164.0303 160.0925 222.6584 165.0303 160.0925 222.6584 164.0303 160.0681 222.4673 165.0303 160.0681 222.4673 164.0303 160.0746 222.2748 165.0303 160.0746 222.2748 164.0303 161.3117 224.0477 165.0303 161.3117 224.0477 165.0303 161.5668 224.6113 164.0303 161.5668 224.6113 165.0303 161.556 224.4844 164.0303 161.556 224.4844 165.0303 161.5239 224.3611 164.0303 161.5239 224.3611 165.0303 161.4713 224.2451 164.0303 161.4713 224.2451 165.0303 161.3999 224.1396 164.0303 161.3999 224.1396 165.0303 161.4767 223.8599 164.0303 161.4767 223.8599 164.0303 161.5943 223.9824 165.0303 161.5943 223.9824 164.0303 161.6895 224.123 165.0303 161.6895 224.123 164.0303 161.7595 224.2777 165.0303 161.7595 224.2777 164.0303 161.8024 224.4421 165.0303 161.8024 224.4421 164.0303 160.6399 223.1251 165.0303 160.6399 223.1251 165.0303 160.3524 222.1536 164.0303 160.3524 222.1536 165.0303 160.323 222.3032 164.0303 160.323 222.3033 165.0303 160.3179 222.4557 164.0303 160.3179 222.4557 165.0303 160.3372 222.6069 164.0303 160.3372 222.6069 165.0303 160.3804 222.7531 164.0303 160.3804 222.7531 165.0303 160.4466 222.8905 164.0303 160.4466 222.8906 165.0303 160.5338 223.0156 164.0303 160.5338 223.0156 164.0302 161.7137 217.3221 165.0302 161.7137 217.3221 164.0302 161.7685 217.0894 164.0302 161.8064 216.8152 165.0302 161.7685 217.0893 165.0302 161.8064 216.8151 165.0302 161.8167 216.5995 165.0304 161.8167 216.5958 165.0314 161.8168 216.5892 165.0321 161.8168 216.5851 165.0329 161.8168 216.5827 200.9189 156.2368 239.2608 200.9189 156.2218 239.2608 200.9131 156.2218 239.261 200.9131 156.2368 239.261 200.9033 156.2218 239.2627 200.9033 156.2368 239.2627 200.8934 156.2218 239.2659 200.8934 156.2368 239.2659 200.8835 156.2218 239.271 200.8835 156.2368 239.271 200.8739 156.2218 239.278 200.8739 156.2368 239.278 200.866 156.2218 239.286 200.866 156.2368 239.286 200.8578 156.2218 239.2971 200.8578 156.2368 239.2971 200.8511 156.2218 239.3103 200.8511 156.2368 239.3103 200.8464 156.2218 239.3253 200.8464 156.2368 239.3253 200.8457 156.2368 239.3302 200.8441 156.2218 239.3414 200.8441 156.2368 239.3414 200.8445 156.2218 239.3577 200.8445 156.2368 239.3577 200.8476 156.2218 239.3736 200.8476 156.2368 239.3736 200.853 156.2218 239.3882 200.853 156.2368 239.3882 200.8604 156.2218 239.401 200.8604 156.2368 239.401 200.8694 156.2218 239.4118 200.8694 156.2368 239.4118 200.8791 156.2218 239.4201 200.8791 156.2368 239.4201 200.8888 156.2218 239.426 200.8888 156.2368 239.426 200.8987 156.2218 239.4301 200.8987 156.2368 239.4301 200.9088 156.2218 239.4325 200.9088 156.2368 239.4325 200.9189 156.2218 239.4333 200.9189 156.2368 239.4333 200.9189 156.2368 239.2833 200.9189 156.2218 239.2833 200.9245 156.2218 239.2838 200.9245 156.2368 239.2838 200.9301 156.2218 239.2851 200.9301 156.2368 239.2851 200.936 156.2218 239.2876 200.936 156.2368 239.2876 200.9425 156.2218 239.2915 200.9425 156.2368 239.2915 200.9493 156.2218 239.297 200.9493 156.2368 239.297 200.9568 156.2218 239.3054 200.9568 156.2368 239.3054 200.9631 156.2218 239.3153 200.9631 156.2368 239.3153 200.968 156.2218 239.3267 200.968 156.2368 239.3267 200.9706 156.2218 239.337 200.9706 156.2368 239.337 200.9714 156.2218 239.347 200.9714 156.2368 239.347 200.9706 156.2218 239.3571 200.9706 156.2368 239.3571 200.9681 156.2218 239.367 200.9681 156.2368 239.367 200.9638 156.2218 239.3773 200.9638 156.2368 239.3773 200.9576 156.2218 239.3875 200.9576 156.2368 239.3875 200.95 156.2218 239.3963 200.95 156.2368 239.3963 200.9428 156.2218 239.4024 200.9428 156.2368 239.4024 200.936 156.2218 239.4065 200.936 156.2368 239.4065 200.9297 156.2218 239.4091 200.9297 156.2368 239.4091 200.924 156.2218 239.4104 200.924 156.2368 239.4104 200.9189 156.2218 239.4108 200.9189 156.2368 239.4108 200.9133 156.2218 239.4103 200.9133 156.2368 239.4103 200.9078 156.2218 239.4089 200.9078 156.2368 239.4089 200.9018 156.2218 239.4065 200.9018 156.2368 239.4065 200.8954 156.2218 239.4026 200.8954 156.2368 239.4026 200.8886 156.2218 239.397 200.8886 156.2368 239.397 200.8811 156.2218 239.3886 200.8811 156.2368 239.3886 200.8748 156.2218 239.3788 200.8748 156.2368 239.3788 200.8698 156.2218 239.3674 200.8698 156.2368 239.3674 200.8673 156.2218 239.3571 200.8673 156.2368 239.3571 200.8664 156.2218 239.347 200.8664 156.2368 239.347 200.8673 156.2218 239.3369 200.8673 156.2368 239.3369 200.8697 156.2218 239.3271 200.8697 156.2368 239.3271 200.874 156.2218 239.3167 200.874 156.2368 239.3167 200.8802 156.2218 239.3065 200.8802 156.2368 239.3065 200.8879 156.2218 239.2977 200.8879 156.2368 239.2977 200.8951 156.2218 239.2917 200.8951 156.2368 239.2917 200.9019 156.2218 239.2876 200.9019 156.2368 239.2876 200.9081 156.2218 239.285 200.9081 156.2368 239.285 200.9138 156.2218 239.2837 200.9138 156.2368 239.2837 200.9247 156.2218 239.433 200.9247 156.2368 239.433 200.9345 156.2218 239.4314 200.9345 156.2368 239.4314 200.9445 156.2218 239.4281 200.9445 156.2368 239.4281 200.9543 156.2218 239.4231 200.9543 156.2368 239.4231 200.9639 156.2218 239.416 200.9639 156.2368 239.416 200.9719 156.2218 239.4081 200.9719 156.2368 239.4081 200.9801 156.2218 239.397 200.9801 156.2368 239.397 200.9868 156.2218 239.3838 200.9868 156.2368 239.3838 200.9915 156.2218 239.3688 200.9915 156.2368 239.3688 200.9938 156.2218 239.3527 200.9938 156.2368 239.3527 200.9934 156.2218 239.3364 200.9934 156.2368 239.3364 200.9922 156.2368 239.3302 200.9903 156.2218 239.3205 200.9903 156.2368 239.3205 200.9848 156.2218 239.3059 200.9848 156.2368 239.3059 200.9774 156.2218 239.293 200.9774 156.2368 239.293 200.9684 156.2218 239.2823 200.9684 156.2368 239.2823 200.9587 156.2218 239.2739 200.9587 156.2368 239.2739 200.9491 156.2218 239.2681 200.9491 156.2368 239.2681 200.9391 156.2218 239.264 200.9391 156.2368 239.264 200.929 156.2218 239.2616 200.929 156.2368 239.2616 200.1613 156.2368 239.3354 200.1619 156.2368 239.3392 200.0579 156.2368 239.3392 200.1289 156.2368 239.2886 200.1354 156.2368 239.2929 200.1423 156.2368 239.2991 200.1467 156.2368 239.3042 200.0703 156.2368 239.3079 200.0777 156.2368 239.2988 200.0643 156.2368 239.3182 200.085 156.2368 239.2925 200.0603 156.2368 239.3284 200.0919 156.2368 239.2881 200.0982 156.2368 239.2853 200.1533 156.2368 239.3139 200.1584 156.2368 239.3252 200.104 156.2368 239.2838 200.1093 156.2368 239.2833 200.1118 156.2368 239.2834 200.1172 156.2368 239.2841 200.1228 156.2368 239.2858 200.7464 156.2368 239.2608 200.7464 156.2218 239.2608 200.7406 156.2218 239.261 200.7406 156.2368 239.261 200.7308 156.2218 239.2627 200.7308 156.2368 239.2627 200.7209 156.2218 239.2659 200.7209 156.2368 239.2659 200.711 156.2218 239.271 200.711 156.2368 239.271 200.7014 156.2218 239.278 200.7014 156.2368 239.278 200.6935 156.2218 239.286 200.6935 156.2368 239.286 200.6853 156.2218 239.2971 200.6853 156.2368 239.2971 200.6786 156.2218 239.3103 200.6786 156.2368 239.3103 200.6739 156.2218 239.3253 200.6739 156.2368 239.3253 200.6732 156.2368 239.3303 200.6716 156.2218 239.3414 200.6716 156.2368 239.3414 200.672 156.2218 239.3577 200.672 156.2368 239.3577 200.6751 156.2218 239.3736 200.6751 156.2368 239.3736 200.6805 156.2218 239.3882 200.6805 156.2368 239.3882 200.6879 156.2218 239.401 200.6879 156.2368 239.401 200.6969 156.2218 239.4118 200.6969 156.2368 239.4118 200.7066 156.2218 239.4201 200.7066 156.2368 239.4201 200.7163 156.2218 239.426 200.7163 156.2368 239.426 200.7262 156.2218 239.4301 200.7262 156.2368 239.4301 200.7363 156.2218 239.4325 200.7363 156.2368 239.4325 200.7464 156.2218 239.4333 200.7464 156.2368 239.4333 200.7464 156.2368 239.2833 200.7464 156.2218 239.2833 200.752 156.2218 239.2838 200.752 156.2368 239.2838 200.7576 156.2218 239.2851 200.7576 156.2368 239.2851 200.7635 156.2218 239.2876 200.7635 156.2368 239.2876 200.77 156.2218 239.2915 200.77 156.2368 239.2915 200.7768 156.2218 239.297 200.7768 156.2368 239.297 200.7843 156.2218 239.3054 200.7843 156.2368 239.3054 200.7906 156.2218 239.3153 200.7906 156.2368 239.3153 200.7955 156.2218 239.3267 200.7955 156.2368 239.3267 200.7981 156.2218 239.337 200.7981 156.2368 239.337 200.7989 156.2218 239.347 200.7989 156.2368 239.347 200.7981 156.2218 239.3571 200.7981 156.2368 239.3571 200.7956 156.2218 239.367 200.7956 156.2368 239.367 200.7913 156.2218 239.3773 200.7913 156.2368 239.3773 200.7851 156.2218 239.3875 200.7851 156.2368 239.3875 200.7775 156.2218 239.3963 200.7775 156.2368 239.3963 200.7703 156.2218 239.4024 200.7703 156.2368 239.4024 200.7635 156.2218 239.4065 200.7635 156.2368 239.4065 200.7572 156.2218 239.4091 200.7572 156.2368 239.4091 200.7515 156.2218 239.4104 200.7515 156.2368 239.4104 200.7464 156.2218 239.4108 200.7464 156.2368 239.4108 200.7408 156.2218 239.4103 200.7408 156.2368 239.4103 200.7353 156.2218 239.4089 200.7353 156.2368 239.4089 200.7293 156.2218 239.4065 200.7293 156.2368 239.4065 200.7229 156.2218 239.4026 200.7229 156.2368 239.4026 200.7161 156.2218 239.397 200.7161 156.2368 239.397 200.7086 156.2218 239.3886 200.7086 156.2368 239.3886 200.7023 156.2218 239.3788 200.7023 156.2368 239.3788 200.6973 156.2218 239.3674 200.6973 156.2368 239.3674 200.6948 156.2218 239.3571 200.6948 156.2368 239.3571 200.6939 156.2218 239.347 200.6939 156.2368 239.347 200.6948 156.2218 239.3369 200.6948 156.2368 239.3369 200.6972 156.2218 239.3271 200.6972 156.2368 239.3271 200.7015 156.2218 239.3167 200.7015 156.2368 239.3167 200.7077 156.2218 239.3065 200.7077 156.2368 239.3065 200.7154 156.2218 239.2977 200.7154 156.2368 239.2977 200.7226 156.2218 239.2917 200.7226 156.2368 239.2917 200.7294 156.2218 239.2876 200.7294 156.2368 239.2876 200.7356 156.2218 239.285 200.7356 156.2368 239.285 200.7413 156.2218 239.2837 200.7413 156.2368 239.2837 200.7522 156.2218 239.433 200.7522 156.2368 239.433 200.762 156.2218 239.4314 200.762 156.2368 239.4314 200.7719 156.2218 239.4281 200.7719 156.2368 239.4281 200.7818 156.2218 239.4231 200.7818 156.2368 239.4231 200.7914 156.2218 239.416 200.7914 156.2368 239.416 200.7994 156.2218 239.4081 200.7994 156.2368 239.4081 200.8076 156.2218 239.397 200.8076 156.2368 239.397 200.8143 156.2218 239.3838 200.8143 156.2368 239.3838 200.819 156.2218 239.3688 200.819 156.2368 239.3688 200.8213 156.2218 239.3527 200.8213 156.2368 239.3527 200.8209 156.2218 239.3364 200.8209 156.2368 239.3364 200.8197 156.2368 239.3302 200.8178 156.2218 239.3205 200.8178 156.2368 239.3205 200.8123 156.2218 239.3059 200.8123 156.2368 239.3059 200.8049 156.2218 239.293 200.8049 156.2368 239.293 200.7959 156.2218 239.2823 200.7959 156.2368 239.2823 200.7862 156.2218 239.274 200.7862 156.2368 239.274 200.7766 156.2218 239.2681 200.7766 156.2368 239.2681 200.7666 156.2218 239.264 200.7666 156.2368 239.264 200.7566 156.2218 239.2616 200.7566 156.2368 239.2616 200.3546 156.2368 238.5434 200.3563 156.2368 238.5654 200.3563 156.2218 238.5654 200.3546 156.2218 238.5434 200.3489 156.2218 238.5191 200.3489 156.2368 238.5191 200.3393 156.2218 238.4961 200.3393 156.2368 238.4961 200.326 156.2218 238.4751 200.326 156.2368 238.4751 200.3094 156.2218 238.4565 200.3094 156.2368 238.4565 200.2899 156.2218 238.4409 200.2899 156.2368 238.4409 200.2682 156.2218 238.4288 200.2682 156.2368 238.4288 200.2447 156.2218 238.4204 200.2447 156.2368 238.4204 200.2201 156.2218 238.4161 200.2201 156.2368 238.4161 200.1952 156.2218 238.4158 200.1952 156.2368 238.4158 200.1706 156.2218 238.4197 200.1706 156.2368 238.4197 200.147 156.2218 238.4276 200.147 156.2368 238.4276 200.125 156.2218 238.4394 200.125 156.2368 238.4394 200.1052 156.2218 238.4546 200.1052 156.2368 238.4546 200.0883 156.2218 238.4728 200.0883 156.2368 238.4728 200.0746 156.2218 238.4936 200.0746 156.2368 238.4936 200.0645 156.2218 238.5164 200.0645 156.2368 238.5164 200.0583 156.2218 238.5406 200.0583 156.2368 238.5406 200.0563 156.2218 238.5654 200.0563 156.2368 238.5654 200.0585 156.2218 238.5915 200.0585 156.2368 238.5915 200.0653 156.2218 238.6167 200.0653 156.2368 238.6167 200.0764 156.2218 238.6404 200.0764 156.2368 238.6404 200.0914 156.2218 238.6618 200.0914 156.2368 238.6618 200.1098 156.2218 238.6803 200.1098 156.2368 238.6803 200.1313 156.2218 238.6953 200.1313 156.2368 238.6953 200.155 156.2218 238.7064 200.155 156.2368 238.7064 200.1802 156.2218 238.7131 200.1802 156.2368 238.7131 200.2063 156.2218 238.7154 200.2063 156.2368 238.7154 200.2323 156.2218 238.7131 200.2323 156.2368 238.7131 200.2576 156.2218 238.7064 200.2576 156.2368 238.7064 200.2813 156.2218 238.6953 200.2813 156.2368 238.6953 200.3027 156.2218 238.6803 200.3027 156.2368 238.6803 200.3212 156.2218 238.6618 200.3212 156.2368 238.6618 200.3362 156.2218 238.6404 200.3362 156.2368 238.6404 200.3472 156.2218 238.6167 200.3472 156.2368 238.6167 200.354 156.2218 238.5915 200.354 156.2368 238.5915 199.5856 156.2218 237.5546 199.6053 156.2218 237.5394 199.5389 156.2218 237.6915 199.835 156.2218 237.6434 199.8366 156.2218 237.6654 199.8344 156.2218 237.6915 199.6273 156.2218 237.5276 199.651 156.2218 237.5197 199.6756 156.2218 237.5158 199.7005 156.2218 237.5161 199.725 156.2218 237.5204 199.7485 156.2218 237.5288 199.7703 156.2218 237.5409 199.7898 156.2218 237.5565 199.8064 156.2218 237.5751 199.6606 156.2218 237.8132 199.6353 156.2218 237.8064 199.7616 156.2218 237.7953 199.5449 156.2218 237.6164 199.5387 156.2218 237.6406 199.5366 156.2218 237.6654 199.5549 156.2218 237.5936 199.5686 156.2218 237.5728 199.8197 156.2218 237.5961 199.8293 156.2218 237.6191 199.7831 156.2218 237.7803 199.8015 156.2218 237.7618 199.8276 156.2218 237.7167 199.8165 156.2218 237.7404 199.7379 156.2218 237.8064 199.7127 156.2218 237.8132 199.6866 156.2218 237.8154 199.6116 156.2218 237.7953 199.5902 156.2218 237.7803 199.5717 156.2218 237.7619 199.5567 156.2218 237.7404 199.5457 156.2218 237.7167 199.5366 156.2368 237.6654 199.5389 156.2368 237.6915 199.5457 156.2368 237.7167 199.5567 156.2368 237.7404 199.5717 156.2368 237.7619 199.5902 156.2368 237.7803 199.6116 156.2368 237.7953 199.6353 156.2368 237.8064 199.6606 156.2368 237.8132 199.6866 156.2368 237.8154 199.7127 156.2368 237.8132 199.7379 156.2368 237.8064 199.7616 156.2368 237.7953 199.7831 156.2368 237.7803 199.8015 156.2368 237.7618 199.8165 156.2368 237.7404 199.8276 156.2368 237.7167 199.8344 156.2368 237.6915 199.8366 156.2368 237.6654 199.835 156.2368 237.6434 199.8293 156.2368 237.6191 199.8197 156.2368 237.5961 199.8064 156.2368 237.5751 199.7898 156.2368 237.5565 199.7703 156.2368 237.5409 199.7485 156.2368 237.5288 199.725 156.2368 237.5204 199.7005 156.2368 237.5161 199.6756 156.2368 237.5158 199.651 156.2368 237.5197 199.6273 156.2368 237.5276 199.6053 156.2368 237.5394 199.5856 156.2368 237.5546 199.5686 156.2368 237.5728 199.5549 156.2368 237.5936 199.5449 156.2368 237.6164 199.5387 156.2368 237.6406 200.6085 156.2368 237.0773 199.2447 156.2368 237.804 199.2847 156.2368 237.647 200.6666 156.2368 237.5276 200.6446 156.2368 237.5393 200.6248 156.2368 237.5545 200.6079 156.2368 237.5728 200.5942 156.2368 237.5936 200.5841 156.2368 237.6164 200.2063 156.2368 238.9404 200.3756 156.2368 238.9256 199.5495 156.2368 237.2448 199.6778 156.2368 237.146 200.037 156.2368 238.9256 199.8728 156.2368 238.8816 199.4392 156.2368 237.3635 199.5796 156.2368 238.7123 199.2313 156.2368 237.9654 199.2461 156.2368 238.1347 200.5397 156.2368 238.8816 199.3502 156.2368 237.4988 199.7188 156.2368 238.8098 200.6938 156.2368 238.8098 200.833 156.2368 238.7123 200.4559 156.2368 237.0229 200.2964 156.2368 236.9946 200.1344 156.2368 236.9931 199.9744 156.2368 237.0184 199.8208 156.2368 237.0699 199.2901 156.2368 238.2989 199.3619 156.2368 238.4529 199.4594 156.2368 238.5921 200.75 156.2368 237.1561 200.7148 156.2368 237.5158 200.6902 156.2368 237.5197 200.8765 156.2368 237.2573 200.7643 156.2368 237.5204 200.7397 156.2368 237.516 200.5779 156.2368 237.6406 200.5759 156.2368 237.6654 201.071 156.2368 237.515 200.8589 156.2368 237.5961 200.9845 156.2368 237.3781 200.8456 156.2368 237.5751 200.584 156.2368 237.7141 200.5939 156.2368 237.7368 200.6075 156.2368 237.7575 200.5779 156.2368 237.6901 201.1813 156.2368 237.9654 201.1665 156.2368 238.1347 201.1225 156.2368 238.2989 201.0506 156.2368 238.4529 200.9532 156.2368 238.5921 201.1336 156.2368 237.6644 201.1707 156.2368 237.8221 200.829 156.2368 237.5565 200.8095 156.2368 237.5409 200.7878 156.2368 237.5288 200.6656 156.2368 237.8028 200.6438 156.2368 237.791 200.6243 156.2368 237.7758 200.6891 156.2368 237.8108 200.7135 156.2368 237.8149 200.7383 156.2368 237.8149 200.7627 156.2368 237.8108 200.8442 156.2368 237.7575 200.8578 156.2368 237.7368 200.8677 156.2368 237.7141 200.8738 156.2368 237.6901 200.7861 156.2368 237.8028 200.8079 156.2368 237.791 200.8275 156.2368 237.7758 200.8759 156.2368 237.6654 200.8742 156.2368 237.6434 200.8685 156.2368 237.6191 199.869 156.2368 239.2608 199.869 156.2218 239.2608 199.8627 156.2218 239.2611 199.8627 156.2368 239.2611 199.8521 156.2218 239.263 199.8521 156.2368 239.263 199.8413 156.2218 239.2669 199.8413 156.2368 239.2669 199.8306 156.2218 239.273 199.8306 156.2368 239.273 199.8208 156.2218 239.281 199.8208 156.2368 239.281 199.8124 156.2218 239.2905 199.8124 156.2368 239.2905 199.8051 156.2218 239.3019 199.8051 156.2368 239.3019 199.7993 156.2218 239.315 199.7993 156.2368 239.315 199.869 156.2368 239.4333 199.869 156.2218 239.4333 199.8748 156.2218 239.433 199.8748 156.2368 239.433 199.8846 156.2218 239.4314 199.8846 156.2368 239.4314 199.8945 156.2218 239.4282 199.8945 156.2368 239.4282 199.9044 156.2218 239.4231 199.9044 156.2368 239.4231 199.914 156.2218 239.4161 199.914 156.2368 239.4161 199.9219 156.2218 239.4081 199.9219 156.2368 239.4081 199.9301 156.2218 239.397 199.9301 156.2368 239.397 199.9368 156.2218 239.3838 199.9368 156.2368 239.3838 199.9416 156.2218 239.3688 199.9416 156.2368 239.3688 199.9438 156.2218 239.3527 199.9438 156.2368 239.3527 199.9434 156.2218 239.3364 199.9434 156.2368 239.3364 199.9422 156.2368 239.3303 199.9403 156.2218 239.3205 199.9403 156.2368 239.3205 199.9349 156.2218 239.3059 199.9349 156.2368 239.3059 199.9275 156.2218 239.2931 199.9275 156.2368 239.2931 199.9185 156.2218 239.2823 199.9185 156.2368 239.2823 199.9088 156.2218 239.274 199.9088 156.2368 239.274 199.8991 156.2218 239.2681 199.8991 156.2368 239.2681 199.8892 156.2218 239.264 199.8892 156.2368 239.264 199.8791 156.2218 239.2616 199.8791 156.2368 239.2616 199.8249 156.2368 239.315 199.8249 156.2218 239.315 199.832 156.2218 239.3043 199.832 156.2368 239.3043 199.8392 156.2218 239.2965 199.8392 156.2368 239.2965 199.8464 156.2218 239.2908 199.8464 156.2368 239.2908 199.8538 156.2218 239.2867 199.8538 156.2368 239.2867 199.8598 156.2218 239.2846 199.8598 156.2368 239.2846 199.8654 156.2218 239.2835 199.8654 156.2368 239.2835 199.8706 156.2218 239.2834 199.8706 156.2368 239.2834 199.876 156.2218 239.2841 199.876 156.2368 239.2841 199.8817 156.2218 239.2857 199.8817 156.2368 239.2857 199.8853 156.2218 239.2872 199.8853 156.2368 239.2872 199.8918 156.2218 239.291 199.8918 156.2368 239.291 199.8985 156.2218 239.2963 199.8985 156.2368 239.2963 199.9055 156.2218 239.3037 199.9055 156.2368 239.3037 199.9123 156.2218 239.3137 199.9123 156.2368 239.3137 199.9175 156.2218 239.325 199.9175 156.2368 239.325 199.9189 156.2368 239.3303 199.9203 156.2218 239.3353 199.9203 156.2368 239.3353 199.9214 156.2218 239.345 199.9214 156.2368 239.345 199.9212 156.2218 239.3533 199.9212 156.2368 239.3533 199.9194 156.2218 239.363 199.9194 156.2368 239.363 199.9158 156.2218 239.3732 199.9158 156.2368 239.3732 199.9104 156.2218 239.3836 199.9104 156.2368 239.3836 199.9085 156.2218 239.3864 199.9085 156.2368 239.3864 199.9008 156.2218 239.3956 199.9008 156.2368 239.3956 199.8935 156.2218 239.4019 199.8935 156.2368 239.4019 199.8867 156.2218 239.4062 199.8867 156.2368 239.4062 199.8798 156.2218 239.4091 199.8798 156.2368 239.4091 199.8741 156.2218 239.4104 199.8741 156.2368 239.4104 199.8689 156.2218 239.4108 199.8689 156.2368 239.4108 199.8633 156.2218 239.4103 199.8633 156.2368 239.4103 199.8578 156.2218 239.4089 199.8578 156.2368 239.4089 199.8518 156.2218 239.4065 199.8518 156.2368 239.4065 199.8469 156.2218 239.4036 199.8469 156.2368 239.4036 199.8401 156.2218 239.3984 199.8401 156.2368 239.3984 199.8332 156.2218 239.3912 199.8332 156.2368 239.3912 199.8266 156.2218 239.3819 199.8266 156.2368 239.3819 199.8249 156.2218 239.3791 199.8249 156.2368 239.3791 199.7993 156.2218 239.3791 199.7993 156.2368 239.3791 199.802 156.2218 239.3859 199.802 156.2368 239.3859 199.8085 156.2218 239.3981 199.8085 156.2368 239.3981 199.8164 156.2218 239.4085 199.8164 156.2368 239.4085 199.8255 156.2218 239.4173 199.8255 156.2368 239.4173 199.8274 156.2218 239.4188 199.8274 156.2368 239.4188 199.8373 156.2218 239.4252 199.8373 156.2368 239.4252 199.8478 156.2218 239.4298 199.8478 156.2368 239.4298 199.8588 156.2218 239.4325 199.8588 156.2368 239.4325 200.5739 156.2368 239.2608 200.5739 156.2218 239.2608 200.5681 156.2218 239.2611 200.5681 156.2368 239.2611 200.5583 156.2218 239.2627 200.5583 156.2368 239.2627 200.5484 156.2218 239.2659 200.5484 156.2368 239.2659 200.5385 156.2218 239.271 200.5385 156.2368 239.271 200.5289 156.2218 239.278 200.5289 156.2368 239.278 200.521 156.2218 239.286 200.521 156.2368 239.286 200.5128 156.2218 239.2971 200.5128 156.2368 239.2971 200.5061 156.2218 239.3103 200.5061 156.2368 239.3103 200.5014 156.2218 239.3253 200.5014 156.2368 239.3253 200.5007 156.2368 239.3303 200.4991 156.2218 239.3414 200.4991 156.2368 239.3414 200.4995 156.2218 239.3577 200.4995 156.2368 239.3577 200.5026 156.2218 239.3736 200.5026 156.2368 239.3736 200.508 156.2218 239.3882 200.508 156.2368 239.3882 200.5154 156.2218 239.401 200.5154 156.2368 239.401 200.5244 156.2218 239.4118 200.5244 156.2368 239.4118 200.5341 156.2218 239.4201 200.5341 156.2368 239.4201 200.5438 156.2218 239.426 200.5438 156.2368 239.426 200.5537 156.2218 239.4301 200.5537 156.2368 239.4301 200.5638 156.2218 239.4325 200.5638 156.2368 239.4325 200.5739 156.2218 239.4333 200.5739 156.2368 239.4333 200.5739 156.2368 239.2833 200.5739 156.2218 239.2833 200.5795 156.2218 239.2838 200.5795 156.2368 239.2838 200.5851 156.2218 239.2852 200.5851 156.2368 239.2852 200.591 156.2218 239.2876 200.591 156.2368 239.2876 200.5975 156.2218 239.2915 200.5975 156.2368 239.2915 200.6043 156.2218 239.297 200.6043 156.2368 239.297 200.6118 156.2218 239.3054 200.6118 156.2368 239.3054 200.6181 156.2218 239.3153 200.6181 156.2368 239.3153 200.623 156.2218 239.3267 200.623 156.2368 239.3267 200.6256 156.2218 239.337 200.6256 156.2368 239.337 200.6264 156.2218 239.347 200.6264 156.2368 239.347 200.6256 156.2218 239.3571 200.6256 156.2368 239.3571 200.6231 156.2218 239.367 200.6231 156.2368 239.367 200.6188 156.2218 239.3774 200.6188 156.2368 239.3774 200.6126 156.2218 239.3875 200.6126 156.2368 239.3875 200.605 156.2218 239.3963 200.605 156.2368 239.3963 200.5978 156.2218 239.4024 200.5978 156.2368 239.4024 200.591 156.2218 239.4065 200.591 156.2368 239.4065 200.5847 156.2218 239.4091 200.5847 156.2368 239.4091 200.579 156.2218 239.4104 200.579 156.2368 239.4104 200.5739 156.2218 239.4108 200.5739 156.2368 239.4108 200.5683 156.2218 239.4103 200.5683 156.2368 239.4103 200.5628 156.2218 239.4089 200.5628 156.2368 239.4089 200.5568 156.2218 239.4065 200.5568 156.2368 239.4065 200.5504 156.2218 239.4026 200.5504 156.2368 239.4026 200.5436 156.2218 239.397 200.5436 156.2368 239.397 200.5361 156.2218 239.3886 200.5361 156.2368 239.3886 200.5298 156.2218 239.3788 200.5298 156.2368 239.3788 200.5248 156.2218 239.3674 200.5248 156.2368 239.3674 200.5223 156.2218 239.3571 200.5223 156.2368 239.3571 200.5214 156.2218 239.347 200.5214 156.2368 239.347 200.5223 156.2218 239.3369 200.5223 156.2368 239.3369 200.5247 156.2218 239.3271 200.5247 156.2368 239.3271 200.529 156.2218 239.3167 200.529 156.2368 239.3167 200.5352 156.2218 239.3065 200.5352 156.2368 239.3065 200.5429 156.2218 239.2977 200.5429 156.2368 239.2977 200.5501 156.2218 239.2917 200.5501 156.2368 239.2917 200.5569 156.2218 239.2876 200.5569 156.2368 239.2876 200.5631 156.2218 239.285 200.5631 156.2368 239.285 200.5688 156.2218 239.2837 200.5688 156.2368 239.2837 200.5797 156.2218 239.433 200.5797 156.2368 239.433 200.5895 156.2218 239.4314 200.5895 156.2368 239.4314 200.5995 156.2218 239.4281 200.5995 156.2368 239.4281 200.6093 156.2218 239.4231 200.6093 156.2368 239.4231 200.6189 156.2218 239.416 200.6189 156.2368 239.416 200.6269 156.2218 239.4081 200.6269 156.2368 239.4081 200.6351 156.2218 239.397 200.6351 156.2368 239.397 200.6418 156.2218 239.3838 200.6418 156.2368 239.3838 200.6465 156.2218 239.3688 200.6465 156.2368 239.3688 200.6488 156.2218 239.3527 200.6488 156.2368 239.3527 200.6484 156.2218 239.3364 200.6484 156.2368 239.3364 200.6472 156.2368 239.3303 200.6453 156.2218 239.3205 200.6453 156.2368 239.3205 200.6398 156.2218 239.3059 200.6398 156.2368 239.3059 200.6324 156.2218 239.2931 200.6324 156.2368 239.2931 200.6234 156.2218 239.2823 200.6234 156.2368 239.2823 200.6137 156.2218 239.274 200.6137 156.2368 239.274 200.6041 156.2218 239.2681 200.6041 156.2368 239.2681 200.5941 156.2218 239.264 200.5941 156.2368 239.264 200.5841 156.2218 239.2616 200.5841 156.2368 239.2616 199.6821 156.2368 239.4065 199.6757 156.2368 239.4026 199.7434 156.2368 239.3153 199.7164 156.2368 239.2876 199.7228 156.2368 239.2915 199.6551 156.2368 239.3788 199.71 156.2368 239.4091 199.7044 156.2368 239.4104 199.7485 156.2368 239.367 199.6885 156.2368 239.285 199.6941 156.2368 239.2837 199.65 156.2368 239.3271 199.6881 156.2368 239.409 199.7483 156.2368 239.3267 199.7509 156.2368 239.337 199.7518 156.2368 239.3471 199.7509 156.2368 239.3572 199.6992 156.2368 239.4108 199.6936 156.2368 239.4103 199.7296 156.2368 239.2971 199.7371 156.2368 239.3055 199.6614 156.2368 239.3887 199.6689 156.2368 239.3971 199.7379 156.2368 239.3875 199.7303 156.2368 239.3964 199.7442 156.2368 239.3774 199.7231 156.2368 239.4024 199.7163 156.2368 239.4065 199.7104 156.2368 239.2852 199.6502 156.2368 239.3674 199.6476 156.2368 239.3571 199.6467 156.2368 239.3471 199.6476 156.2368 239.337 199.6992 156.2368 239.2833 199.7049 156.2368 239.2838 199.6606 156.2368 239.3066 199.6682 156.2368 239.2978 199.6543 156.2368 239.3167 199.6754 156.2368 239.2917 199.6822 156.2368 239.2876 200.2846 156.2218 239.4333 200.2846 156.2368 239.4333 200.2846 156.2218 239.3721 200.2846 156.2368 239.3721 200.3093 156.2218 239.4333 200.3093 156.2368 239.4333 200.3093 156.2368 239.3303 200.3093 156.2218 239.21 200.3093 156.2368 239.21 200.2846 156.2218 239.21 200.2846 156.2368 239.21 200.2846 156.2368 239.3303 200.2846 156.2218 239.3471 200.2846 156.2368 239.3471 200.2184 156.2218 239.2808 200.2184 156.2368 239.2808 200.2678 156.2368 239.3303 200.1933 156.2218 239.2808 200.1933 156.2368 239.2808 200.2399 156.2218 239.3274 200.2399 156.2368 239.3274 200.2387 156.2368 239.3303 200.1976 156.2218 239.4333 200.1976 156.2368 239.4333 200.2184 156.2218 239.4333 200.2184 156.2368 239.4333 200.2547 156.2218 239.3422 200.2547 156.2368 239.3422 199.232 156.2368 238.5279 199.25 156.2368 238.5536 199.25 156.2368 239.1502 200.591 156.2368 239.0226 200.6602 156.2368 238.9903 200.6602 156.2368 239.1502 199.9612 156.2368 239.3303 199.6267 156.2368 239.3253 199.626 156.2368 239.3303 199.613 156.2368 239.3303 200.6602 156.2368 239.3303 193.3734 156.2368 239.3365 193.3722 156.2368 239.3304 193.8544 156.2368 239.3303 193.0539 156.2368 239.3254 193.0532 156.2368 239.3304 193.0402 156.2368 239.3304 191.612 156.2368 238.528 191.63 156.2368 238.5537 191.63 156.2368 239.1503 192.3234 156.2368 239.3365 192.3222 156.2368 239.3304 192.3412 156.2368 239.3304 192.0067 156.2368 239.3254 192.006 156.2368 239.3304 191.993 156.2368 239.3304 189.5634 156.2368 239.3366 189.5622 156.2368 239.3304 190.0444 156.2368 239.3304 189.2439 156.2368 239.3254 189.2432 156.2368 239.3304 189.2302 156.2368 239.3304 187.802 156.2368 238.5281 187.8199 156.2368 238.5537 187.82 156.2368 239.1504 189.0714 156.2368 239.3254 189.0707 156.2368 239.3304 189.0577 156.2368 239.3304 188.1967 156.2368 239.3255 188.196 156.2368 239.3304 188.183 156.2368 239.3304 197.1834 156.2368 239.3364 197.1822 156.2368 239.3303 197.6644 156.2368 239.3303 196.8639 156.2368 239.3253 196.8632 156.2368 239.3303 196.8502 156.2368 239.3303 195.422 156.2368 238.528 195.4399 156.2368 238.5536 195.44 156.2368 239.1503 196.1334 156.2368 239.3365 196.1322 156.2368 239.3303 196.1512 156.2368 239.3303 195.8167 156.2368 239.3253 195.816 156.2368 239.3303 195.803 156.2368 239.3303 200.1895 156.2368 239.4353 200.3205 156.2368 239.4353 200.3205 156.2368 239.3303 200.1895 156.2368 239.1502 200.1895 156.2368 239.3303 200.3205 156.2368 239.1502 199.9611 156.2368 236.8691 199.9387 156.2368 236.8727 199.8124 156.2368 236.6488 199.7871 156.2368 236.9235 199.8124 156.2368 236.1488 200.6601 156.2368 235.4238 200.6124 156.2368 236.1488 200.3205 156.2368 235.4238 200.3205 156.2368 236.1488 200.1894 156.2368 235.4238 200.1894 156.2368 236.1488 200.0246 156.2368 235.4238 200.0246 156.2368 236.1488 199.9611 156.2368 235.4238 199.9611 156.2368 236.1488 199.7871 156.2368 235.4238 200.6124 156.2368 236.6488 200.6601 156.2368 236.937 200.4943 156.2368 236.8779 200.3205 156.2368 236.6488 200.3205 156.2368 236.8471 200.3103 156.2368 236.8452 200.1894 156.2368 236.6488 200.1894 156.2368 236.8441 200.0246 156.2368 236.6488 200.1233 156.2368 236.8435 199.9611 156.2368 236.6488 200.0246 156.2368 236.8591 192.6187 156.2368 239.3304 192.5776 156.2368 239.4334 192.5695 156.2368 239.4354 192.6347 156.2368 239.3423 192.6646 156.2368 239.3722 192.5984 156.2368 239.4334 192.6646 156.2368 239.4334 192.7005 156.2368 239.4354 192.6893 156.2368 239.4334 192.7005 156.2368 239.3304 192.6893 156.2368 239.2101 192.6646 156.2368 239.2101 192.5695 156.2368 239.1503 192.5695 156.2368 239.3304 192.5733 156.2368 239.2809 192.6893 156.2368 239.3304 192.7005 156.2368 239.1503 192.5984 156.2368 239.2809 192.6478 156.2368 239.3304 192.6646 156.2368 239.3304 192.6646 156.2368 239.3472 196.4287 156.2368 239.3303 196.3876 156.2368 239.4334 196.3795 156.2368 239.4353 196.4447 156.2368 239.3423 196.4746 156.2368 239.3721 196.4084 156.2368 239.4334 196.4746 156.2368 239.4334 196.5105 156.2368 239.4353 196.4993 156.2368 239.4334 196.5105 156.2368 239.3303 196.4993 156.2368 239.21 196.4746 156.2368 239.21 196.3795 156.2368 239.1502 196.3795 156.2368 239.3303 196.3833 156.2368 239.2809 196.4993 156.2368 239.3303 196.5105 156.2368 239.1502 196.4084 156.2368 239.2809 196.4578 156.2368 239.3303 196.4746 156.2368 239.3303 196.4746 156.2368 239.3471 196.1511 156.2368 236.8692 196.1287 156.2368 236.8727 196.0025 156.2368 236.6489 195.9771 156.2368 236.9235 196.0024 156.2368 236.1489 196.8501 156.2368 235.4238 196.8024 156.2368 236.1488 196.5105 156.2368 235.4238 196.5105 156.2368 236.1488 196.3794 156.2368 235.4239 196.3795 156.2368 236.1488 196.2146 156.2368 235.4239 196.2146 156.2368 236.1488 196.1511 156.2368 235.4239 196.1511 156.2368 236.1488 195.9771 156.2368 235.4239 196.8024 156.2368 236.6488 196.8501 156.2368 236.937 196.6843 156.2368 236.878 196.5105 156.2368 236.6488 196.5105 156.2368 236.8471 196.5003 156.2368 236.8453 196.3795 156.2368 236.6488 196.3795 156.2368 236.8442 196.2146 156.2368 236.6488 196.3134 156.2368 236.8435 196.1511 156.2368 236.6489 196.2146 156.2368 236.8592 195.9637 156.2368 239.3365 195.9625 156.2368 239.3303 195.9772 156.2368 239.3303 195.9606 156.2368 239.3206 195.9772 156.2368 239.1503 195.9552 156.2368 239.306 195.9477 156.2368 239.2931 195.8281 156.2368 239.2971 195.8214 156.2368 239.3104 195.803 156.2368 239.1503 195.8637 156.2368 239.266 195.8539 156.2368 239.2711 195.9388 156.2368 239.2823 195.9291 156.2368 239.274 195.9194 156.2368 239.2681 195.8442 156.2368 239.2781 195.8363 156.2368 239.286 195.9095 156.2368 239.264 195.8994 156.2368 239.2617 195.8892 156.2368 239.2609 195.8834 156.2368 239.2611 195.8736 156.2368 239.2628 195.8233 156.2368 239.3883 195.8308 156.2368 239.4011 195.803 156.2368 239.4353 195.8397 156.2368 239.4119 195.9571 156.2368 239.3838 195.9618 156.2368 239.3689 195.9772 156.2368 239.4353 195.8144 156.2368 239.3414 195.8148 156.2368 239.3578 195.8179 156.2368 239.3736 195.9641 156.2368 239.3528 195.9342 156.2368 239.4161 195.9422 156.2368 239.4082 195.9504 156.2368 239.3971 195.8494 156.2368 239.4202 195.8591 156.2368 239.4261 195.869 156.2368 239.4302 195.9049 156.2368 239.4315 195.9148 156.2368 239.4282 195.9246 156.2368 239.4232 195.8791 156.2368 239.4326 195.8892 156.2368 239.4334 195.895 156.2368 239.4331 196.2147 156.2368 239.4353 196.1928 156.2368 239.4361 196.1958 156.2368 239.4348 196.1985 156.2368 239.4329 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239.4233 189.3614 156.2368 239.4162 189.3694 156.2368 239.4083 189.3776 156.2368 239.3972 189.4176 156.2368 239.3737 189.3843 156.2368 239.384 189.4145 156.2368 239.3579 189.2416 156.2368 239.3415 189.242 156.2368 239.3579 189.2451 156.2368 239.3737 189.5568 156.2368 239.384 189.5615 156.2368 239.369 190.0444 156.2368 239.4354 189.4211 156.2368 239.3105 189.4164 156.2368 239.3254 189.3897 156.2368 239.3304 189.4157 156.2368 239.3304 189.3909 156.2368 239.3366 189.4141 156.2368 239.3415 189.3913 156.2368 239.3529 189.389 156.2368 239.369 189.5638 156.2368 239.3529 189.4394 156.2368 239.412 189.4491 156.2368 239.4203 189.3222 156.2368 239.4332 189.5339 156.2368 239.4162 189.5419 156.2368 239.4083 189.5501 156.2368 239.3972 189.2766 156.2368 239.4203 189.2863 156.2368 239.4262 189.2962 156.2368 239.4303 189.5045 156.2368 239.4316 189.5145 156.2368 239.4283 189.5243 156.2368 239.4233 189.3063 156.2368 239.4327 189.3164 156.2368 239.4335 189.4687 156.2368 239.4303 189.4588 156.2368 239.4262 189.4788 156.2368 239.4327 189.4889 156.2368 239.4335 189.4947 156.2368 239.4332 188.7547 156.2368 239.3529 188.7543 156.2368 239.3366 188.6057 156.2368 239.3595 188.6049 156.2368 239.3441 188.6065 156.2368 239.3304 188.7478 156.2368 239.384 188.7525 156.2368 239.369 188.6273 156.2368 239.4087 188.6364 156.2368 239.4175 188.741 156.2368 239.3972 188.6103 156.2368 239.3792 188.6129 156.2368 239.3861 188.6194 156.2368 239.3983 188.6383 156.2368 239.419 188.6483 156.2368 239.4254 188.6588 156.2368 239.43 188.8099 156.2368 239.3276 188.723 156.2368 239.3809 188.7162 156.2368 239.3908 188.6365 156.2368 239.3804 188.713 156.2368 239.3945 188.643 156.2368 239.39 188.6499 156.2368 239.3975 188.7312 156.2368 239.3595 188.7279 156.2368 239.3705 188.7054 156.2368 239.4283 188.7153 156.2368 239.4233 188.686 156.2368 239.4104 188.6807 156.2368 239.411 188.6751 156.2368 239.4106 188.6696 156.2368 239.4094 188.6637 156.2368 239.4071 188.6567 156.2368 239.403 188.6955 156.2368 239.4316 188.7249 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200.984 164.5359 237.6684 201.141 164.5359 237.5353 201.2754 164.5359 237.3795 201.3839 164.5359 237.2046 201.4639 164.5359 237.0149 201.5073 164.5353 236.8488 201.4961 164.5297 237.0256 201.5417 164.529 236.8488 201.5192 164.5344 236.8488 201.5268 164.5178 237.0359 201.5745 164.5171 236.8488 201.5521 164.5265 236.8488 201.5552 164.5004 237.0453 201.6048 164.4999 236.8488 201.5842 164.5131 236.8488 201.5802 164.4782 237.0536 201.6316 164.4779 236.8488 201.6131 164.4946 236.8488 201.6013 164.4518 237.0606 201.6541 164.4515 236.8488 201.6378 164.4723 236.8488 201.6291 164.3896 237.0699 201.6839 164.3895 236.8488 201.6738 164.4177 236.8488 201.635 164.3556 237.0718 201.6905 164.3556 236.8488 201.6852 164.3859 236.8488 201.6915 164.3368 236.8488 201.6889 164.3368 236.8591 201.6358 164.3368 237.0721 201.6195 164.3368 237.1108 201.5448 164.3368 237.2878 201.544 164.3556 237.2874 201.5083 164.3368 237.3468 201.4207 164.3556 237.4862 201.4214 164.3368 237.4867 201.3582 164.3368 237.5601 201.2679 164.3556 237.6634 201.2686 164.3368 237.664 201.1737 164.3368 237.7444 201.0894 164.3556 237.8146 201.09 164.3368 237.8153 200.9603 164.3368 237.8943 200.8896 164.3556 237.9362 200.89 164.3368 237.937 200.7242 164.3368 238.0053 200.6733 164.3556 238.0253 200.6735 164.3368 238.0262 200.4725 164.3368 238.0742 200.4457 164.3556 238.0796 200.4458 164.3368 238.0805 200.2125 164.3556 238.0979 200.2125 164.3368 238.0988 199.9792 164.3556 238.0796 199.9791 164.3368 238.0805 199.9524 164.3368 238.0742 199.5349 164.3368 237.9371 199.5353 164.3556 237.9363 199.4646 164.3368 237.8943 199.3355 164.3556 237.8146 199.335 164.3368 237.8153 199.2512 164.3368 237.7444 199.157 164.3556 237.6634 199.1564 164.3368 237.664 199.0668 164.3368 237.5601 199.0042 164.3556 237.4862 199.0035 164.3368 237.4867 198.9167 164.3368 237.3468 198.8809 164.3556 237.2874 198.8801 164.3368 237.2878 198.8054 164.3368 237.1108 198.7891 164.3368 237.0721 198.736 164.3368 236.8591 198.7334 164.3368 236.8488 198.7434 164.3979 236.8488 198.7413 164.3894 236.8488 198.7958 164.3896 237.0699 198.7565 164.4289 236.8488 198.7534 164.4217 236.8488 198.8071 164.422 237.0661 198.7746 164.4575 236.8488 198.7708 164.4515 236.8488 198.8236 164.4518 237.0606 198.7966 164.4818 236.8488 198.7932 164.478 236.8488 198.8447 164.4782 237.0536 198.8697 164.5004 237.0453 198.8221 164.502 236.8488 198.8981 164.5178 237.0359 198.8502 164.5176 236.8488 198.9174 164.5359 236.8488 198.8834 164.5298 236.8488 198.9288 164.5297 237.0257 199.0108 164.5297 237.2202 199.1221 164.5297 237.3996 199.26 164.5297 237.5595 199.4211 164.5297 237.6959 199.6014 164.5297 237.8057 199.7966 164.5297 237.8861 200.002 164.5297 237.9351 200.2125 164.5297 237.9516 200.4229 164.5297 237.9351 200.6283 164.5297 237.8861 200.8235 164.5297 237.8057 201.0038 164.5297 237.6959 201.1649 164.5297 237.5594 201.3028 164.5297 237.3995 201.4141 164.5297 237.2202 198.9821 164.5178 237.2351 199.096 164.5178 237.4187 199.2372 164.5178 237.5825 199.4021 164.5178 237.7222 199.5868 164.5178 237.8346 199.7867 164.5178 237.9169 199.9969 164.5178 237.9671 200.2125 164.5178 237.984 200.428 164.5178 237.9671 200.6382 164.5178 237.9169 200.8381 164.5178 237.8346 201.0228 164.5178 237.7222 201.1877 164.5178 237.5824 201.3289 164.5178 237.4187 201.4428 164.5178 237.235 198.9556 164.5004 237.2488 199.072 164.5004 237.4364 199.2162 164.5004 237.6036 199.3847 164.5004 237.7464 199.5733 164.5004 237.8612 199.7775 164.5004 237.9453 199.9923 164.5004 237.9966 200.2125 164.5004 238.0138 200.4326 164.5004 237.9966 200.6474 164.5004 237.9453 200.8516 164.5004 237.8612 201.0402 164.5004 237.7464 201.2087 164.5004 237.6036 201.3529 164.5004 237.4364 201.4693 164.5004 237.2487 198.9321 164.4782 237.2609 199.0507 164.4782 237.4521 199.1976 164.4782 237.6224 199.3692 164.4782 237.7678 199.5614 164.4782 237.8848 199.7694 164.4782 237.9704 199.9882 164.4782 238.0227 200.2125 164.4782 238.0402 200.4367 164.4782 238.0227 200.6555 164.4782 237.9704 200.8635 164.4782 237.8848 201.0557 164.4782 237.7678 201.2273 164.4782 237.6224 201.3742 164.4782 237.452 201.4928 164.4782 237.2609 198.9124 164.4518 237.2711 199.0328 164.4518 237.4652 199.182 164.4518 237.6382 199.3562 164.4518 237.7859 199.5513 164.4518 237.9046 199.7626 164.4518 237.9916 199.9847 164.4518 238.0446 200.2125 164.4518 238.0624 200.4402 164.4518 238.0446 200.6623 164.4518 237.9916 200.8736 164.4518 237.9046 201.0687 164.4518 237.7858 201.2429 164.4518 237.6381 201.3921 164.4518 237.4652 201.5125 164.4518 237.2711 198.897 164.422 237.2791 199.0188 164.422 237.4755 199.1698 164.422 237.6505 199.3461 164.422 237.7999 199.5435 164.422 237.9201 199.7572 164.422 238.0081 199.9821 164.422 238.0617 200.2125 164.422 238.0798 200.4429 164.422 238.0617 200.6677 164.422 238.0081 200.8814 164.422 237.9201 201.0788 164.422 237.7999 201.2552 164.422 237.6505 201.4061 164.422 237.4754 201.5279 164.422 237.279 201.6177 164.422 237.0661 201.6582 164.4463 236.8488 198.8863 164.3896 237.2846 199.0092 164.3896 237.4825 199.1614 164.3896 237.659 199.3391 164.3896 237.8096 199.5381 164.3896 237.9307 199.7536 164.3896 238.0194 199.9802 164.3896 238.0735 200.2125 164.3896 238.0917 200.4447 164.3896 238.0735 200.6714 164.3896 238.0194 200.8868 164.3896 237.9307 201.0858 164.3896 237.8096 201.2636 164.3896 237.6589 201.4157 164.3896 237.4825 201.5385 164.3896 237.2845 202.1174 160.2368 233.9319 202.1175 160.7306 239.877 202.1175 160.7123 239.9533 202.1175 160.2368 239.4656 202.1175 160.6823 240.0258 202.1174 160.2368 234.4656 202.1175 160.2368 240.2988 202.1175 160.315 240.2926 202.1175 160.3913 240.2743 202.1175 160.6413 240.0927 202.1175 160.5904 240.1523 202.1175 160.4638 240.2443 202.1175 160.5307 240.2033 202.1174 164.7138 234.4584 202.1175 160.2368 238.9319 202.1174 164.7266 234.4886 202.1175 164.5853 238.8366 202.1175 160.7368 239.7988 202.1174 164.7344 234.5204 202.1174 164.7368 234.5515 202.1175 164.7368 238.6426 202.1175 164.6154 238.8265 202.1175 164.734 238.6758 202.1175 164.6448 238.8109 202.1174 159.2368 232.8988 202.1174 164.5894 234.3586 202.1174 164.6202 234.3697 202.1174 164.6488 234.3858 202.1174 164.6744 234.4063 202.1174 164.6962 234.4308 202.1175 164.7258 238.7081 202.1175 164.7123 238.7385 202.1175 164.6712 238.7907 202.1175 164.694 238.7663 201.2124 159.2368 232.8988 199.2124 159.2368 232.8988 197.4024 159.2368 232.8988 195.4024 159.2368 232.8989 193.5924 159.2368 232.8989 191.5924 159.2368 232.8989 189.7824 159.2368 232.899 187.7824 159.2368 232.899 186.8774 159.2368 232.899 198.9125 157.1368 240.2988 197.7025 160.1368 240.2988 197.7025 157.1368 240.2988 187.4825 157.1368 240.299 186.8775 160.2368 240.299 198.9125 160.1368 240.2988 201.5125 160.1368 240.2988 201.5125 157.1368 240.2988 187.4825 160.1368 240.299 190.0825 160.1368 240.2989 190.0825 157.1368 240.2989 191.2925 157.1368 240.2989 191.2925 160.1368 240.2989 193.8925 160.1368 240.2989 195.1025 157.1368 240.2989 195.1025 160.1368 240.2989 193.8925 157.1368 240.2989 197.906 164.7368 237.1461 197.7881 164.7368 237.3988 186.8775 164.7368 238.6428 197.6281 164.7368 237.6273 193.8181 164.7368 237.6273 196.1246 164.7368 238.1745 195.8552 164.7368 238.1024 187.3968 164.7368 237.399 187.2789 164.7368 237.1462 193.9781 164.7368 237.3989 195.6025 164.7368 237.9845 195.374 164.7368 237.8245 193.6209 164.7368 237.8246 193.3925 164.7368 237.9845 196.4025 164.7368 238.1988 188.2352 164.7368 238.1025 187.9825 164.7368 237.9846 195.1768 164.7368 237.6273 195.0168 164.7368 237.3989 194.8989 164.7368 237.1461 187.754 164.7368 237.8246 187.5568 164.7368 237.6274 191.3668 164.7368 237.6274 190.286 164.7368 237.1462 191.564 164.7368 237.8246 190.1681 164.7368 237.3989 191.7925 164.7368 237.9846 190.0081 164.7368 237.6274 192.0452 164.7368 238.1024 189.8109 164.7368 237.8246 189.5825 164.7368 237.9846 189.3297 164.7368 238.1025 192.5925 164.7368 238.1989 192.3146 164.7368 238.1746 186.8774 164.7368 234.5518 191.7173 164.7368 235.2595 191.9497 164.7368 235.1337 196.0096 164.7368 235.0478 196.2703 164.7368 235.0043 193.2351 164.7368 235.1337 197.4309 164.7368 237.8245 197.2025 164.7368 237.9845 196.9497 164.7368 238.1024 187.2691 164.7368 236.0795 187.3753 164.7368 235.8375 187.5198 164.7368 235.6162 188.1397 164.7368 235.1337 188.3896 164.7368 235.0479 199.3373 164.7368 235.2593 197.0451 164.7368 235.1336 199.1288 164.7368 235.4217 198.9498 164.7368 235.6161 192.9852 164.7368 235.0479 199.5697 164.7368 235.1336 196.5345 164.7368 235.0043 196.7952 164.7368 235.0478 200.3445 164.7368 235.0043 200.6052 164.7368 235.0477 193.1397 164.7368 238.1024 192.8703 164.7368 238.1746 187.6988 164.7368 235.4218 187.9073 164.7368 235.2595 200.8551 164.7368 235.1335 201.0875 164.7368 235.2593 201.2961 164.7368 235.4216 189.0603 164.7368 238.1746 188.7825 164.7368 238.199 188.5046 164.7368 238.1747 187.2068 164.7368 236.8768 187.1824 164.7368 236.599 187.2043 164.7368 236.3356 188.6503 164.7368 235.0044 188.9145 164.7368 235.0044 189.1752 164.7368 235.0479 189.4251 164.7368 235.1337 189.6575 164.7368 235.2595 191.3298 164.7368 235.6162 191.5088 164.7368 235.4218 197.2775 164.7368 235.2594 197.4861 164.7368 235.4217 197.6651 164.7368 235.6161 200.0803 164.7368 235.0043 199.8196 164.7368 235.0478 196.6803 164.7368 238.1745 189.8661 164.7368 235.4218 190.0451 164.7368 235.6162 190.1896 164.7368 235.8374 192.1996 164.7368 235.0479 192.4603 164.7368 235.0044 192.7245 164.7368 235.0044 195.1398 164.7368 235.6161 195.3188 164.7368 235.4217 193.6761 164.7368 235.4217 195.5273 164.7368 235.2594 193.4675 164.7368 235.2594 195.7597 164.7368 235.1336 201.475 164.7368 235.616 201.6196 164.7368 235.8373 201.7257 164.7368 236.0792 201.7906 164.7368 236.3354 197.9781 164.7368 236.8767 198.0025 164.7368 236.5988 197.9806 164.7368 236.3355 198.6343 164.7368 236.3355 197.9157 164.7368 236.0793 198.6991 164.7368 236.0793 197.8096 164.7368 235.8373 198.8053 164.7368 235.8373 191.2068 164.7368 237.3989 191.0889 164.7368 237.1462 190.3582 164.7368 236.8768 191.0168 164.7368 236.8768 190.3824 164.7368 236.5989 190.9924 164.7368 236.5989 190.3606 164.7368 236.3356 191.0143 164.7368 236.3356 190.2957 164.7368 236.0794 191.0791 164.7368 236.0794 191.1853 164.7368 235.8374 194.9953 164.7368 235.8374 193.8551 164.7368 235.6161 194.8891 164.7368 236.0794 193.9996 164.7368 235.8374 194.1057 164.7368 236.0794 194.8243 164.7368 236.3355 194.1706 164.7368 236.3355 194.8024 164.7368 236.5989 194.1924 164.7368 236.5989 194.8267 164.7368 236.8767 194.1681 164.7368 236.8767 194.096 164.7368 237.1461 186.8775 164.5853 238.8369 186.8775 160.7368 239.799 193.5924 162.9035 233.8989 191.5924 162.9035 233.8989 186.8774 164.5894 234.3588 195.4024 162.9035 233.8989 201.2124 162.9035 233.8988 199.2124 162.9035 233.8988 197.4024 162.9035 233.8988 187.7824 162.9035 233.899 189.7824 162.9035 233.899 186.8775 160.7306 239.8772 186.8775 160.7123 239.9535 186.8775 160.6823 240.026 186.8775 160.6413 240.0929 186.8775 160.5904 240.1525 186.8775 160.5307 240.2035 186.8775 160.4638 240.2445 186.8775 160.3913 240.2745 186.8775 160.315 240.2928 201.2124 160.7368 233.8988 201.2124 159.2368 233.0988 199.2124 160.7368 233.8988 199.2124 159.2368 233.0988 201.7906 163.7368 236.3354 201.7257 163.7368 236.0792 201.6196 163.7368 235.8373 201.475 163.7368 235.616 201.2961 163.7368 235.4216 201.0875 163.7368 235.2593 200.8551 163.7368 235.1335 200.6052 163.7368 235.0477 200.3445 163.7368 235.0043 200.0803 163.7368 235.0043 199.8196 163.7368 235.0478 199.5697 163.7368 235.1336 199.3373 163.7368 235.2593 199.1288 163.7368 235.4217 198.9498 163.7368 235.6161 198.8053 163.7368 235.8373 198.6991 163.7368 236.0793 198.6343 163.7368 236.3355 198.7352 163.7368 236.8593 198.8029 163.7368 237.1118 198.9134 163.7368 237.3488 199.0634 163.7368 237.563 199.2483 163.7368 237.7479 199.4625 163.7368 237.8978 199.6994 163.7368 238.0083 199.952 163.7368 238.076 200.2125 163.7368 238.0988 200.4729 163.7368 238.076 200.7255 163.7368 238.0083 200.9625 163.7368 237.8978 201.1766 163.7368 237.7478 201.3615 163.7368 237.563 201.5115 163.7368 237.3488 201.622 163.7368 237.1118 201.6897 163.7368 236.8592 198.7334 164.1368 236.8488 201.6915 164.1368 236.8488 198.9367 164.5368 236.3488 201.4882 164.5368 236.3488 198.9788 164.5368 236.1886 201.446 164.5368 236.1886 199.0577 164.5368 236.0017 199.4519 164.5368 235.5445 199.2971 164.5368 235.6756 199.1647 164.5368 235.8293 200.9729 164.5368 235.5444 200.7996 164.5368 235.439 201.1277 164.5368 235.6756 201.2602 164.5368 235.8292 200.612 164.5368 235.3617 201.3672 164.5368 236.0016 200.4147 164.5368 235.3146 200.2124 164.5368 235.2988 200.0102 164.5368 235.3146 199.8128 164.5368 235.3617 199.6252 164.5368 235.439 201.6891 164.367 236.3488 201.69 164.3556 236.3488 201.635 164.3556 236.1257 199.1569 164.3556 235.5342 198.7899 164.3556 236.1258 198.8808 164.3556 235.9102 199.0042 164.3556 235.7114 199.3354 164.3556 235.383 199.5353 164.3556 235.2613 199.7516 164.3556 235.1723 199.9792 164.3556 235.1179 200.2124 164.3556 235.0997 200.4457 164.3556 235.1179 200.6732 164.3556 235.1723 200.8896 164.3556 235.2613 201.0894 164.3556 235.3829 201.2679 164.3556 235.5342 201.4207 164.3556 235.7114 201.544 164.3556 235.9102 201.6814 164.3983 236.3488 201.6836 164.3894 236.3488 201.6291 164.3896 236.1277 201.6685 164.429 236.3488 201.6715 164.4217 236.3488 201.6177 164.422 236.1315 201.6505 164.4572 236.3488 201.6541 164.4516 236.3488 201.6013 164.4518 236.1369 201.5802 164.4782 236.1439 201.6285 164.4816 236.3488 201.6028 164.502 236.3488 201.605 164.5003 236.3488 201.5551 164.5004 236.1523 201.5268 164.5178 236.1617 201.5742 164.5178 236.3488 201.5074 164.5359 236.3488 201.5414 164.5298 236.3488 201.4961 164.5297 236.1719 201.4639 164.5359 236.1826 201.3839 164.5359 235.993 201.2754 164.5359 235.8181 201.141 164.5359 235.6622 200.9839 164.5359 235.5292 200.8081 164.5359 235.4222 200.6178 164.5359 235.3438 200.4176 164.5359 235.296 200.2124 164.5359 235.28 200.0072 164.5359 235.296 199.807 164.5359 235.3438 199.6167 164.5359 235.4222 199.4409 164.5359 235.5292 199.2839 164.5359 235.6623 199.1495 164.5359 235.8181 199.041 164.5359 235.993 198.961 164.5359 236.1827 198.9176 164.5353 236.3488 198.9288 164.5297 236.1719 198.8832 164.529 236.3488 198.9057 164.5344 236.3488 198.8981 164.5178 236.1617 198.8504 164.5171 236.3488 198.8729 164.5265 236.3488 198.8697 164.5004 236.1523 198.8201 164.4999 236.3488 198.8407 164.513 236.3488 198.8446 164.4782 236.144 198.7933 164.4779 236.3488 198.8117 164.4946 236.3488 198.8236 164.4518 236.137 198.7708 164.4515 236.3488 198.787 164.4722 236.3488 198.7958 164.3896 236.1277 198.741 164.3895 236.3488 198.751 164.4177 236.3488 198.7344 164.3556 236.3488 198.7397 164.3859 236.3488 201.414 164.5297 235.9774 201.3027 164.5297 235.798 201.1649 164.5297 235.6381 201.0038 164.5297 235.5016 200.8235 164.5297 235.3919 200.6282 164.5297 235.3115 200.4229 164.5297 235.2625 200.2124 164.5297 235.246 200.0019 164.5297 235.2625 199.7966 164.5297 235.3115 199.6014 164.5297 235.3919 199.421 164.5297 235.5017 199.26 164.5297 235.6381 199.1221 164.5297 235.798 199.0108 164.5297 235.9774 201.4428 164.5178 235.9625 201.3288 164.5178 235.7788 201.1877 164.5178 235.6151 201.0227 164.5178 235.4754 200.8381 164.5178 235.363 200.6382 164.5178 235.2807 200.4279 164.5178 235.2305 200.2124 164.5178 235.2136 199.9969 164.5178 235.2305 199.7866 164.5178 235.2807 199.5868 164.5178 235.363 199.4021 164.5178 235.4754 199.2372 164.5178 235.6152 199.096 164.5178 235.7789 198.9821 164.5178 235.9626 201.4693 164.5004 235.9488 201.3529 164.5004 235.7612 201.2087 164.5004 235.5939 201.0402 164.5004 235.4512 200.8516 164.5004 235.3364 200.6474 164.5004 235.2523 200.4326 164.5004 235.201 200.2124 164.5004 235.1838 199.9923 164.5004 235.201 199.7775 164.5004 235.2523 199.5733 164.5004 235.3364 199.3846 164.5004 235.4512 199.2162 164.5004 235.594 199.072 164.5004 235.7612 198.9555 164.5004 235.9488 201.4928 164.4782 235.9367 201.3742 164.4782 235.7455 201.2273 164.4782 235.5752 201.0557 164.4782 235.4297 200.8635 164.4782 235.3128 200.6555 164.4782 235.2272 200.4367 164.4782 235.1749 200.2124 164.4782 235.1574 199.9882 164.4782 235.1749 199.7694 164.4782 235.2272 199.5613 164.4782 235.3128 199.3692 164.4782 235.4298 199.1976 164.4782 235.5752 199.0507 164.4782 235.7456 198.9321 164.4782 235.9367 201.5125 164.4518 235.9265 201.3921 164.4518 235.7324 201.2429 164.4518 235.5594 201.0686 164.4518 235.4117 200.8735 164.4518 235.293 200.6623 164.4518 235.206 200.4401 164.4518 235.153 200.2124 164.4518 235.1352 199.9847 164.4518 235.153 199.7625 164.4518 235.206 199.5513 164.4518 235.293 199.3562 164.4518 235.4118 199.1819 164.4518 235.5594 199.0328 164.4518 235.7324 198.9123 164.4518 235.9265 201.5279 164.422 235.9185 201.406 164.422 235.7221 201.2551 164.422 235.5471 201.0788 164.422 235.3977 200.8814 164.422 235.2775 200.6676 164.422 235.1895 200.4428 164.422 235.1359 200.2124 164.422 235.1178 199.982 164.422 235.1359 199.7572 164.422 235.1895 199.5435 164.422 235.2775 199.346 164.422 235.3977 199.1697 164.422 235.5471 199.0188 164.422 235.7222 198.897 164.422 235.9185 198.8071 164.422 236.1315 198.7667 164.4463 236.3488 201.5385 164.3896 235.913 201.4157 164.3896 235.7151 201.2635 164.3896 235.5386 201.0858 164.3896 235.388 200.8868 164.3896 235.2669 200.6713 164.3896 235.1782 200.4447 164.3896 235.1241 200.2124 164.3896 235.1059 199.9801 164.3896 235.1241 199.7535 164.3896 235.1782 199.5381 164.3896 235.2669 199.3391 164.3896 235.388 199.1613 164.3896 235.5386 199.0092 164.3896 235.7151 198.8863 164.3896 235.9131 201.6175 160.2368 238.6988 201.6175 160.2368 239.6988 201.6174 160.2368 233.6988 201.6174 160.2368 234.6988 199.8124 152.8368 236.6488 199.8124 152.8368 236.1488 200.0308 152.2368 236.1488 200.6124 152.8368 236.1488 200.3941 152.2368 236.1488 200.6124 152.8368 236.6488 200.0308 152.2368 236.6488 200.3941 152.2368 236.6488 186.8774 164.7344 234.5206 186.8774 164.7266 234.4888 186.8774 164.7138 234.4586 186.8774 164.6962 234.431 186.8774 164.6744 234.4066 186.8774 164.6488 234.386 186.8774 164.6202 234.37 186.8775 164.6154 238.8268 186.8775 164.6448 238.8112 186.8775 164.6712 238.7909 186.8775 164.694 238.7665 186.8775 164.7123 238.7388 186.8775 164.7258 238.7083 186.8775 164.734 238.676 193.2989 156.2218 239.2609 193.2931 156.2218 239.2612 193.2833 156.2218 239.2628 193.2734 156.2218 239.266 193.2635 156.2218 239.2711 193.2539 156.2218 239.2781 193.246 156.2218 239.2861 193.2378 156.2218 239.2972 193.2311 156.2218 239.3104 193.2264 156.2218 239.3254 193.2241 156.2218 239.3415 193.2245 156.2218 239.3578 193.2276 156.2218 239.3737 193.233 156.2218 239.3883 193.2404 156.2218 239.4011 193.2494 156.2218 239.4119 193.2591 156.2218 239.4202 193.2688 156.2218 239.4261 193.2787 156.2218 239.4302 193.2888 156.2218 239.4326 193.2989 156.2218 239.4334 193.2989 156.2368 239.2834 193.2989 156.2218 239.2834 193.3045 156.2218 239.2839 193.3045 156.2368 239.2839 193.3101 156.2218 239.2853 193.3101 156.2368 239.2853 193.316 156.2218 239.2877 193.316 156.2368 239.2877 193.3225 156.2218 239.2916 193.3225 156.2368 239.2916 193.3293 156.2218 239.2971 193.3293 156.2368 239.2971 193.3368 156.2218 239.3056 193.3368 156.2368 239.3056 193.3431 156.2218 239.3154 193.3431 156.2368 239.3154 193.348 156.2218 239.3268 193.348 156.2368 239.3268 193.3506 156.2218 239.3371 193.3506 156.2368 239.3371 193.3514 156.2218 239.3471 193.3514 156.2368 239.3471 193.3506 156.2218 239.3572 193.3506 156.2368 239.3572 193.3481 156.2218 239.3671 193.3481 156.2368 239.3671 193.3439 156.2218 239.3775 193.3439 156.2368 239.3775 193.3376 156.2218 239.3876 193.3376 156.2368 239.3876 193.33 156.2218 239.3964 193.33 156.2368 239.3964 193.3228 156.2218 239.4025 193.3228 156.2368 239.4025 193.316 156.2218 239.4066 193.316 156.2368 239.4066 193.3097 156.2218 239.4092 193.3097 156.2368 239.4092 193.304 156.2218 239.4105 193.304 156.2368 239.4105 193.2989 156.2218 239.4109 193.2989 156.2368 239.4109 193.2933 156.2218 239.4104 193.2933 156.2368 239.4104 193.2878 156.2218 239.4091 193.2878 156.2368 239.4091 193.2818 156.2218 239.4066 193.2818 156.2368 239.4066 193.2754 156.2218 239.4027 193.2754 156.2368 239.4027 193.2686 156.2218 239.3972 193.2686 156.2368 239.3972 193.2611 156.2218 239.3887 193.2611 156.2368 239.3887 193.2547 156.2218 239.3789 193.2547 156.2368 239.3789 193.2498 156.2218 239.3675 193.2498 156.2368 239.3675 193.2473 156.2218 239.3572 193.2473 156.2368 239.3572 193.2464 156.2218 239.3471 193.2464 156.2368 239.3471 193.2473 156.2218 239.337 193.2473 156.2368 239.337 193.2497 156.2218 239.3272 193.2497 156.2368 239.3272 193.254 156.2218 239.3168 193.254 156.2368 239.3168 193.2602 156.2218 239.3067 193.2602 156.2368 239.3067 193.2679 156.2218 239.2978 193.2679 156.2368 239.2978 193.2751 156.2218 239.2918 193.2751 156.2368 239.2918 193.2819 156.2218 239.2877 193.2819 156.2368 239.2877 193.2881 156.2218 239.2851 193.2881 156.2368 239.2851 193.2938 156.2218 239.2838 193.2938 156.2368 239.2838 193.3047 156.2218 239.4331 193.3145 156.2218 239.4315 193.3245 156.2218 239.4282 193.3343 156.2218 239.4232 193.3439 156.2218 239.4161 193.3519 156.2218 239.4082 193.3601 156.2218 239.3971 193.3668 156.2218 239.3839 193.3715 156.2218 239.3689 193.3738 156.2218 239.3528 193.3734 156.2218 239.3365 193.3703 156.2218 239.3206 193.3648 156.2218 239.306 193.3574 156.2218 239.2932 193.3484 156.2218 239.2824 193.3387 156.2218 239.2741 193.3291 156.2218 239.2682 193.3191 156.2218 239.2641 193.309 156.2218 239.2617 192.5413 156.2368 239.3355 192.5419 156.2368 239.3393 192.4379 156.2368 239.3393 192.5089 156.2368 239.2887 192.5155 156.2368 239.2931 192.5223 156.2368 239.2992 192.5267 156.2368 239.3043 192.4503 156.2368 239.308 192.4577 156.2368 239.2989 192.4443 156.2368 239.3183 192.465 156.2368 239.2926 192.4403 156.2368 239.3285 192.4719 156.2368 239.2882 192.4782 156.2368 239.2854 192.5333 156.2368 239.314 192.5384 156.2368 239.3253 192.484 156.2368 239.2839 192.4893 156.2368 239.2834 192.4918 156.2368 239.2835 192.4971 156.2368 239.2842 192.5028 156.2368 239.2859 193.1264 156.2218 239.2609 193.1206 156.2218 239.2612 193.1108 156.2218 239.2628 193.1009 156.2218 239.266 193.091 156.2218 239.2711 193.0814 156.2218 239.2781 193.0735 156.2218 239.2861 193.0653 156.2218 239.2972 193.0586 156.2218 239.3104 193.0539 156.2218 239.3254 193.0516 156.2218 239.3415 193.052 156.2218 239.3578 193.0551 156.2218 239.3737 193.0605 156.2218 239.3883 193.0679 156.2218 239.4011 193.0769 156.2218 239.4119 193.0866 156.2218 239.4203 193.0963 156.2218 239.4261 193.1062 156.2218 239.4302 193.1163 156.2218 239.4326 193.1264 156.2218 239.4334 193.1264 156.2368 239.2834 193.1264 156.2218 239.2834 193.132 156.2218 239.2839 193.132 156.2368 239.2839 193.1376 156.2218 239.2853 193.1376 156.2368 239.2853 193.1435 156.2218 239.2877 193.1435 156.2368 239.2877 193.15 156.2218 239.2916 193.15 156.2368 239.2916 193.1568 156.2218 239.2971 193.1568 156.2368 239.2971 193.1643 156.2218 239.3056 193.1643 156.2368 239.3056 193.1706 156.2218 239.3154 193.1706 156.2368 239.3154 193.1755 156.2218 239.3268 193.1755 156.2368 239.3268 193.1781 156.2218 239.3371 193.1781 156.2368 239.3371 193.1789 156.2218 239.3471 193.1789 156.2368 239.3471 193.1781 156.2218 239.3572 193.1781 156.2368 239.3572 193.1756 156.2218 239.3671 193.1756 156.2368 239.3671 193.1714 156.2218 239.3775 193.1714 156.2368 239.3775 193.1651 156.2218 239.3876 193.1651 156.2368 239.3876 193.1575 156.2218 239.3964 193.1575 156.2368 239.3964 193.1503 156.2218 239.4025 193.1503 156.2368 239.4025 193.1435 156.2218 239.4066 193.1435 156.2368 239.4066 193.1372 156.2218 239.4092 193.1372 156.2368 239.4092 193.1316 156.2218 239.4105 193.1316 156.2368 239.4105 193.1264 156.2218 239.4109 193.1264 156.2368 239.4109 193.1208 156.2218 239.4104 193.1208 156.2368 239.4104 193.1153 156.2218 239.4091 193.1153 156.2368 239.4091 193.1093 156.2218 239.4066 193.1093 156.2368 239.4066 193.1029 156.2218 239.4027 193.1029 156.2368 239.4027 193.0961 156.2218 239.3972 193.0961 156.2368 239.3972 193.0886 156.2218 239.3888 193.0886 156.2368 239.3888 193.0823 156.2218 239.3789 193.0823 156.2368 239.3789 193.0773 156.2218 239.3675 193.0773 156.2368 239.3675 193.0748 156.2218 239.3572 193.0748 156.2368 239.3572 193.0739 156.2218 239.3471 193.0739 156.2368 239.3471 193.0748 156.2218 239.337 193.0748 156.2368 239.337 193.0772 156.2218 239.3272 193.0772 156.2368 239.3272 193.0815 156.2218 239.3168 193.0815 156.2368 239.3168 193.0877 156.2218 239.3067 193.0877 156.2368 239.3067 193.0954 156.2218 239.2978 193.0954 156.2368 239.2978 193.1026 156.2218 239.2918 193.1026 156.2368 239.2918 193.1094 156.2218 239.2877 193.1094 156.2368 239.2877 193.1156 156.2218 239.2851 193.1156 156.2368 239.2851 193.1213 156.2218 239.2838 193.1213 156.2368 239.2838 193.1322 156.2218 239.4331 193.142 156.2218 239.4315 193.152 156.2218 239.4282 193.1618 156.2218 239.4232 193.1714 156.2218 239.4161 193.1794 156.2218 239.4082 193.1876 156.2218 239.3971 193.1943 156.2218 239.3839 193.199 156.2218 239.3689 193.2013 156.2218 239.3528 193.2009 156.2218 239.3365 193.1978 156.2218 239.3206 193.1923 156.2218 239.306 193.1849 156.2218 239.2932 193.1759 156.2218 239.2824 193.1662 156.2218 239.2741 193.1566 156.2218 239.2682 193.1466 156.2218 239.2641 193.1366 156.2218 239.2617 192.7346 156.2368 238.5435 192.7363 156.2368 238.5655 192.7363 156.2218 238.5655 192.7346 156.2218 238.5435 192.7289 156.2218 238.5192 192.7289 156.2368 238.5192 192.7193 156.2218 238.4962 192.7193 156.2368 238.4962 192.706 156.2218 238.4752 192.706 156.2368 238.4752 192.6894 156.2218 238.4566 192.6894 156.2368 238.4566 192.6699 156.2218 238.441 192.6699 156.2368 238.441 192.6482 156.2218 238.4289 192.6482 156.2368 238.4289 192.6247 156.2218 238.4205 192.6247 156.2368 238.4205 192.6001 156.2218 238.4162 192.6001 156.2368 238.4162 192.5752 156.2218 238.4159 192.5752 156.2368 238.4159 192.5506 156.2218 238.4198 192.5506 156.2368 238.4198 192.527 156.2218 238.4277 192.527 156.2368 238.4277 192.505 156.2218 238.4395 192.505 156.2368 238.4395 192.4852 156.2218 238.4547 192.4852 156.2368 238.4547 192.4683 156.2218 238.4729 192.4683 156.2368 238.4729 192.4546 156.2218 238.4937 192.4546 156.2368 238.4937 192.4445 156.2218 238.5166 192.4445 156.2368 238.5166 192.4383 156.2218 238.5407 192.4383 156.2368 238.5407 192.4363 156.2218 238.5655 192.4363 156.2368 238.5655 192.4385 156.2218 238.5916 192.4385 156.2368 238.5916 192.4453 156.2218 238.6168 192.4453 156.2368 238.6168 192.4564 156.2218 238.6405 192.4564 156.2368 238.6405 192.4714 156.2218 238.662 192.4714 156.2368 238.662 192.4898 156.2218 238.6804 192.4898 156.2368 238.6804 192.5113 156.2218 238.6954 192.5113 156.2368 238.6954 192.535 156.2218 238.7065 192.535 156.2368 238.7065 192.5602 156.2218 238.7133 192.5602 156.2368 238.7133 192.5863 156.2218 238.7155 192.5863 156.2368 238.7155 192.6123 156.2218 238.7133 192.6123 156.2368 238.7133 192.6376 156.2218 238.7065 192.6376 156.2368 238.7065 192.6613 156.2218 238.6954 192.6613 156.2368 238.6954 192.6827 156.2218 238.6804 192.6827 156.2368 238.6804 192.7012 156.2218 238.662 192.7012 156.2368 238.662 192.7162 156.2218 238.6405 192.7162 156.2368 238.6405 192.7272 156.2218 238.6168 192.7272 156.2368 238.6168 192.734 156.2218 238.5916 192.734 156.2368 238.5916 191.9656 156.2218 237.5547 191.9853 156.2218 237.5395 191.9189 156.2218 237.6916 192.215 156.2218 237.6435 192.2166 156.2218 237.6655 192.2144 156.2218 237.6916 192.0073 156.2218 237.5278 192.031 156.2218 237.5198 192.0556 156.2218 237.5159 192.0805 156.2218 237.5162 192.1051 156.2218 237.5205 192.1285 156.2218 237.5289 192.1503 156.2218 237.541 192.1697 156.2218 237.5566 192.1864 156.2218 237.5752 192.0406 156.2218 237.8133 192.0153 156.2218 237.8065 192.1416 156.2218 237.7954 191.9249 156.2218 237.6166 191.9187 156.2218 237.6407 191.9166 156.2218 237.6655 191.9349 156.2218 237.5937 191.9486 156.2218 237.5729 192.1997 156.2218 237.5962 192.2093 156.2218 237.6192 192.1631 156.2218 237.7804 192.1815 156.2218 237.762 192.2076 156.2218 237.7168 192.1965 156.2218 237.7405 192.1179 156.2218 237.8065 192.0927 156.2218 237.8133 192.0666 156.2218 237.8155 191.9916 156.2218 237.7954 191.9702 156.2218 237.7804 191.9517 156.2218 237.762 191.9367 156.2218 237.7405 191.9257 156.2218 237.7168 191.9166 156.2368 237.6655 191.9189 156.2368 237.6916 191.9257 156.2368 237.7168 191.9367 156.2368 237.7405 191.9517 156.2368 237.762 191.9702 156.2368 237.7804 191.9916 156.2368 237.7954 192.0153 156.2368 237.8065 192.0406 156.2368 237.8133 192.0666 156.2368 237.8155 192.0927 156.2368 237.8133 192.1179 156.2368 237.8065 192.1416 156.2368 237.7954 192.1631 156.2368 237.7804 192.1815 156.2368 237.762 192.1965 156.2368 237.7405 192.2076 156.2368 237.7168 192.2144 156.2368 237.6916 192.2166 156.2368 237.6655 192.215 156.2368 237.6435 192.2093 156.2368 237.6192 192.1997 156.2368 237.5962 192.1864 156.2368 237.5752 192.1697 156.2368 237.5566 192.1503 156.2368 237.541 192.1285 156.2368 237.5289 192.1051 156.2368 237.5205 192.0805 156.2368 237.5162 192.0556 156.2368 237.5159 192.031 156.2368 237.5198 192.0073 156.2368 237.5278 191.9853 156.2368 237.5395 191.9656 156.2368 237.5547 191.9486 156.2368 237.5729 191.9349 156.2368 237.5937 191.9249 156.2368 237.6166 191.9187 156.2368 237.6407 192.9885 156.2368 237.0774 191.6247 156.2368 237.8041 191.6647 156.2368 237.6471 193.0466 156.2368 237.5277 193.0246 156.2368 237.5395 193.0048 156.2368 237.5547 192.9879 156.2368 237.5729 192.9742 156.2368 237.5937 192.9641 156.2368 237.6165 192.5863 156.2368 238.9405 192.7556 156.2368 238.9257 191.9295 156.2368 237.2449 192.0578 156.2368 237.1461 192.417 156.2368 238.9257 192.2528 156.2368 238.8817 191.8192 156.2368 237.3636 191.9596 156.2368 238.7124 191.6113 156.2368 237.9655 191.6261 156.2368 238.1349 192.9197 156.2368 238.8817 191.7302 156.2368 237.4989 192.0988 156.2368 238.8099 193.0738 156.2368 238.8099 193.213 156.2368 238.7124 192.8359 156.2368 237.023 192.6764 156.2368 236.9947 192.5144 156.2368 236.9932 192.3544 156.2368 237.0185 192.2008 156.2368 237.07 191.6701 156.2368 238.299 191.7419 156.2368 238.453 191.8394 156.2368 238.5923 193.13 156.2368 237.1562 193.0948 156.2368 237.5159 193.0702 156.2368 237.5198 193.2565 156.2368 237.2574 193.1443 156.2368 237.5205 193.1197 156.2368 237.5162 192.9579 156.2368 237.6407 192.9559 156.2368 237.6655 193.451 156.2368 237.5151 193.2389 156.2368 237.5962 193.3645 156.2368 237.3782 193.2256 156.2368 237.5752 192.964 156.2368 237.7142 192.9739 156.2368 237.7369 192.9875 156.2368 237.7577 192.9579 156.2368 237.6902 193.5613 156.2368 237.9655 193.5465 156.2368 238.1348 193.5025 156.2368 238.299 193.4306 156.2368 238.453 193.3332 156.2368 238.5922 193.5136 156.2368 237.6645 193.5507 156.2368 237.8222 193.209 156.2368 237.5566 193.1895 156.2368 237.541 193.1678 156.2368 237.5289 193.0456 156.2368 237.8029 193.0238 156.2368 237.7911 193.0043 156.2368 237.7759 193.0691 156.2368 237.8109 193.0935 156.2368 237.815 193.1183 156.2368 237.815 193.1427 156.2368 237.8109 193.2242 156.2368 237.7577 193.2378 156.2368 237.7369 193.2478 156.2368 237.7142 193.2538 156.2368 237.6902 193.1661 156.2368 237.8029 193.1879 156.2368 237.7911 193.2075 156.2368 237.7759 193.2559 156.2368 237.6655 193.2543 156.2368 237.6435 193.2485 156.2368 237.6192 192.249 156.2218 239.2609 192.2427 156.2218 239.2612 192.2321 156.2218 239.2631 192.2213 156.2218 239.267 192.2106 156.2218 239.2731 192.2008 156.2218 239.2811 192.1924 156.2218 239.2906 192.1851 156.2218 239.302 192.1793 156.2218 239.3152 192.249 156.2218 239.4334 192.2548 156.2218 239.4332 192.2646 156.2218 239.4315 192.2745 156.2218 239.4283 192.2844 156.2218 239.4232 192.294 156.2218 239.4162 192.3019 156.2218 239.4082 192.3101 156.2218 239.3971 192.3168 156.2218 239.3839 192.3216 156.2218 239.3689 192.3238 156.2218 239.3529 192.3234 156.2218 239.3365 192.3204 156.2218 239.3206 192.3149 156.2218 239.306 192.3075 156.2218 239.2932 192.2985 156.2218 239.2824 192.2888 156.2218 239.2741 192.2791 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239.2853 192.9651 156.2368 239.2853 192.971 156.2218 239.2877 192.971 156.2368 239.2877 192.9775 156.2218 239.2916 192.9775 156.2368 239.2916 192.9843 156.2218 239.2971 192.9843 156.2368 239.2971 192.9918 156.2218 239.3056 192.9918 156.2368 239.3056 192.9981 156.2218 239.3154 192.9981 156.2368 239.3154 193.003 156.2218 239.3268 193.003 156.2368 239.3268 193.0056 156.2218 239.3371 193.0056 156.2368 239.3371 193.0064 156.2218 239.3472 193.0064 156.2368 239.3472 193.0056 156.2218 239.3572 193.0056 156.2368 239.3572 193.0031 156.2218 239.3671 193.0031 156.2368 239.3671 192.9989 156.2218 239.3775 192.9989 156.2368 239.3775 192.9926 156.2218 239.3876 192.9926 156.2368 239.3876 192.985 156.2218 239.3965 192.985 156.2368 239.3965 192.9778 156.2218 239.4025 192.9778 156.2368 239.4025 192.971 156.2218 239.4066 192.971 156.2368 239.4066 192.9647 156.2218 239.4092 192.9647 156.2368 239.4092 192.9591 156.2218 239.4105 192.9591 156.2368 239.4105 192.9539 156.2218 239.4109 192.9539 156.2368 239.4109 192.9483 156.2218 239.4104 192.9483 156.2368 239.4104 192.9428 156.2218 239.4091 192.9428 156.2368 239.4091 192.9368 156.2218 239.4066 192.9368 156.2368 239.4066 192.9304 156.2218 239.4027 192.9304 156.2368 239.4027 192.9236 156.2218 239.3972 192.9236 156.2368 239.3972 192.9161 156.2218 239.3888 192.9161 156.2368 239.3888 192.9098 156.2218 239.3789 192.9098 156.2368 239.3789 192.9048 156.2218 239.3675 192.9048 156.2368 239.3675 192.9023 156.2218 239.3572 192.9023 156.2368 239.3572 192.9014 156.2218 239.3472 192.9014 156.2368 239.3472 192.9023 156.2218 239.3371 192.9023 156.2368 239.3371 192.9047 156.2218 239.3272 192.9047 156.2368 239.3272 192.909 156.2218 239.3168 192.909 156.2368 239.3168 192.9152 156.2218 239.3067 192.9152 156.2368 239.3067 192.9229 156.2218 239.2978 192.9229 156.2368 239.2978 192.9301 156.2218 239.2918 192.9301 156.2368 239.2918 192.9369 156.2218 239.2877 192.9369 156.2368 239.2877 192.9431 156.2218 239.2851 192.9431 156.2368 239.2851 192.9488 156.2218 239.2838 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192.0792 156.2368 239.4109 192.0736 156.2368 239.4104 192.1096 156.2368 239.2972 192.1171 156.2368 239.3056 192.0414 156.2368 239.3888 192.0489 156.2368 239.3972 192.1179 156.2368 239.3877 192.1103 156.2368 239.3965 192.1242 156.2368 239.3775 192.1031 156.2368 239.4025 192.0963 156.2368 239.4066 192.0904 156.2368 239.2853 192.0302 156.2368 239.3675 192.0276 156.2368 239.3572 192.0267 156.2368 239.3472 192.0276 156.2368 239.3371 192.0792 156.2368 239.2834 192.0849 156.2368 239.2839 192.0406 156.2368 239.3067 192.0482 156.2368 239.2979 192.0343 156.2368 239.3169 192.0554 156.2368 239.2918 192.0622 156.2368 239.2877 192.6646 156.2218 239.4334 192.6646 156.2218 239.3722 192.6893 156.2218 239.4334 192.6893 156.2218 239.2101 192.6646 156.2218 239.2101 192.6646 156.2218 239.3472 192.5984 156.2218 239.2809 192.5733 156.2218 239.2809 192.6199 156.2218 239.3275 192.5776 156.2218 239.4334 192.5984 156.2218 239.4334 192.6347 156.2218 239.3423 193.4924 159.0368 234.3989 193.4924 158.7368 234.3989 193.4924 159.0368 233.5572 193.4924 158.7368 233.0989 193.4924 158.8096 233.1381 193.4924 158.875 233.1888 193.4924 158.9311 233.2496 193.4924 158.9764 233.3188 193.4924 159.0096 233.3945 193.4924 159.03 233.4747 191.6924 158.7368 234.3989 191.6924 159.0368 234.3989 191.6924 158.7368 233.0989 191.6924 159.0368 233.5572 191.6924 158.9311 233.2496 191.6924 158.875 233.1889 191.6924 158.8096 233.1382 191.6924 159.03 233.4747 191.6924 159.0096 233.3946 191.6924 158.9764 233.3189 191.5924 158.7368 234.3989 191.5924 159.2368 234.3989 193.5924 159.2368 234.3989 193.5924 158.7368 234.3989 193.5924 158.7368 233.0989 191.5924 158.7368 233.0989 190.1875 160.2368 238.6989 190.1875 160.2368 239.6989 190.1874 160.2368 233.6989 190.1874 160.2368 234.6989 194.0924 164.1368 236.5989 194.0924 163.7368 236.5989 194.072 163.7368 236.352 194.0715 164.3368 236.3489 194.0715 164.1368 236.3489 194.0158 164.3368 236.1256 194.0112 163.7368 236.1118 191.1129 164.1368 236.352 191.1134 164.1368 236.3489 191.1737 163.7368 236.1119 191.1134 164.3368 236.3489 191.1691 164.3368 236.1256 191.1129 163.7368 236.352 191.0924 163.7368 236.5989 191.0924 164.1368 236.5989 194.072 164.1368 236.352 193.9116 163.7368 235.885 193.9248 164.3368 235.9099 194.0102 164.3368 236.1123 193.7761 163.7368 235.6776 193.8014 164.3368 235.711 193.91 164.3368 235.886 193.6083 163.7368 235.4953 193.6485 164.3368 235.5337 193.7741 164.3368 235.6793 193.4129 163.7368 235.3431 193.4699 164.3368 235.3824 193.6062 164.3368 235.4978 193.195 163.7368 235.2252 193.27 164.3368 235.2606 193.4109 164.3368 235.3464 192.9607 163.7368 235.1448 193.0535 164.3368 235.1715 193.1934 164.3368 235.2291 192.7163 163.7368 235.104 192.8258 164.3368 235.1172 192.9596 164.3368 235.1491 192.4685 163.7368 235.104 192.5924 164.3368 235.0989 192.7159 164.3368 235.1086 192.2242 163.7368 235.1448 192.3591 164.3368 235.1172 192.4689 164.3368 235.1086 191.9899 163.7368 235.2253 192.1314 164.3368 235.1715 192.2252 164.3368 235.1491 191.772 163.7368 235.3432 191.9149 164.3368 235.2607 191.9915 164.3368 235.2291 191.5765 163.7368 235.4953 191.7149 164.3368 235.3824 191.774 164.3368 235.3464 191.4087 163.7368 235.6776 191.5363 164.3368 235.5337 191.5786 164.3368 235.4979 191.2732 163.7368 235.885 191.3835 164.3368 235.711 191.4107 164.3368 235.6794 191.1747 164.3368 236.1123 191.26 164.3368 235.9099 191.2749 164.3368 235.886 190.9924 163.7368 236.5989 191.0168 163.7368 236.8768 191.0889 163.7368 237.1462 191.2068 163.7368 237.3989 191.3668 163.7368 237.6274 191.564 163.7368 237.8246 191.7925 163.7368 237.9846 192.0452 163.7368 238.1024 192.3146 163.7368 238.1746 192.5925 163.7368 238.1989 192.8703 163.7368 238.1746 193.1397 163.7368 238.1024 193.3925 163.7368 237.9845 193.6209 163.7368 237.8246 193.8181 163.7368 237.6273 193.9781 163.7368 237.3989 194.096 163.7368 237.1461 194.1681 163.7368 236.8767 194.1924 163.7368 236.5989 193.4925 158.6737 239.2185 193.4925 158.588 239.1585 193.4925 157.3368 239.7989 193.4925 159.3368 239.2989 193.4925 158.9737 239.2989 193.4925 159.3368 239.7989 193.4925 158.8695 239.2898 193.4925 158.7685 239.2627 193.4925 157.3679 239.2881 193.4925 157.3368 239.2989 193.4924 158.3737 235.2989 193.4924 157.4868 235.2989 193.4925 158.3737 238.6989 193.4925 157.4868 239.1053 193.4925 158.3828 238.8031 193.4925 157.3968 239.2723 193.4925 157.4761 239.17 193.4925 157.4629 239.2001 193.4925 158.4099 238.9041 193.4925 158.4541 238.9989 193.4925 158.5141 239.0846 193.4925 157.4449 239.2277 193.4925 157.4227 239.252 193.4925 157.4841 239.138 191.6925 158.9737 239.2989 191.6925 159.3368 239.2989 191.6925 159.3368 239.7989 191.6925 158.5141 239.0846 191.6925 158.588 239.1585 191.6925 157.3368 239.7989 191.6925 158.6737 239.2185 191.6925 158.7685 239.2627 191.6925 158.8695 239.2898 191.6925 157.4868 239.1053 191.6924 157.4868 235.2989 191.6924 158.3737 235.2989 191.6925 157.4449 239.2277 191.6925 157.4629 239.2002 191.6925 158.4099 238.9041 191.6925 157.3368 239.2989 191.6925 157.3679 239.2881 191.6925 157.3968 239.2723 191.6925 158.4541 238.9989 191.6925 157.4227 239.252 191.6925 158.3737 238.6989 191.6925 158.3828 238.8031 191.6925 157.4841 239.1381 191.6925 157.4761 239.17 191.4377 164.5368 237.1961 191.5447 164.5368 237.3684 192.7947 164.5368 237.8831 193.8682 164.5368 236.8489 191.3167 164.5368 236.8489 193.826 164.5368 237.0091 191.3589 164.5368 237.0091 193.7472 164.5368 237.196 193.6402 164.5368 237.3684 192.1929 164.5368 237.836 192.3902 164.5368 237.8831 192.0053 164.5368 237.7587 191.832 164.5368 237.6533 191.6772 164.5368 237.5221 192.5925 164.5368 237.8989 192.9921 164.5368 237.836 193.1797 164.5368 237.7587 193.353 164.5368 237.6532 193.5077 164.5368 237.5221 191.1158 164.3668 236.8489 191.1149 164.3556 236.8489 191.1699 164.3556 237.072 192.0807 164.3368 238.0054 192.1314 164.3368 238.0263 192.1317 164.3556 238.0254 191.341 164.5359 237.0151 191.421 164.5359 237.2047 191.5295 164.5359 237.3796 191.6639 164.5359 237.5355 191.8209 164.5359 237.6685 191.9968 164.5359 237.7755 192.1871 164.5359 237.8539 192.3873 164.5359 237.9017 192.5925 164.5359 237.9177 192.7976 164.5359 237.9017 192.9978 164.5359 237.8539 193.1882 164.5359 237.7755 193.364 164.5359 237.6685 193.521 164.5359 237.5354 193.6554 164.5359 237.3796 193.7639 164.5359 237.2047 193.8439 164.5359 237.015 193.8873 164.5353 236.8489 193.8761 164.5297 237.0257 193.9217 164.529 236.8489 193.8992 164.5344 236.8489 193.9068 164.5178 237.036 193.9545 164.5171 236.8489 193.9321 164.5265 236.8489 193.9352 164.5004 237.0454 193.9848 164.4999 236.8489 193.9642 164.5131 236.8489 193.9602 164.4782 237.0537 194.0116 164.4779 236.8489 193.9931 164.4946 236.8489 193.9813 164.4518 237.0607 194.0341 164.4515 236.8489 194.0178 164.4723 236.8489 194.0091 164.3896 237.07 194.0639 164.3895 236.8489 194.0538 164.4177 236.8489 194.015 164.3556 237.0719 194.0705 164.3556 236.8489 194.0652 164.3859 236.8489 194.0715 164.3368 236.8489 194.0689 164.3368 236.8592 194.0158 164.3368 237.0722 193.9995 164.3368 237.1109 193.9248 164.3368 237.2879 193.9241 164.3556 237.2875 193.8883 164.3368 237.3469 193.8007 164.3556 237.4863 193.8014 164.3368 237.4868 193.7382 164.3368 237.5602 193.6479 164.3556 237.6635 193.6486 164.3368 237.6641 193.5537 164.3368 237.7445 193.4694 164.3556 237.8147 193.47 164.3368 237.8154 193.3403 164.3368 237.8944 193.2696 164.3556 237.9364 193.27 164.3368 237.9372 193.1042 164.3368 238.0054 193.0533 164.3556 238.0254 193.0535 164.3368 238.0263 192.8525 164.3368 238.0743 192.8257 164.3556 238.0798 192.8258 164.3368 238.0806 192.5925 164.3556 238.098 192.5925 164.3368 238.0989 192.3592 164.3556 238.0798 192.3591 164.3368 238.0806 192.3324 164.3368 238.0743 191.9149 164.3368 237.9372 191.9153 164.3556 237.9364 191.8446 164.3368 237.8944 191.7155 164.3556 237.8148 191.715 164.3368 237.8155 191.6312 164.3368 237.7445 191.537 164.3556 237.6635 191.5364 164.3368 237.6641 191.4468 164.3368 237.5602 191.3842 164.3556 237.4863 191.3835 164.3368 237.4868 191.2967 164.3368 237.3469 191.2609 164.3556 237.2875 191.2601 164.3368 237.2879 191.1854 164.3368 237.1109 191.1691 164.3368 237.0722 191.116 164.3368 236.8592 191.1134 164.3368 236.8489 191.1234 164.3979 236.8489 191.1213 164.3894 236.8489 191.1758 164.3896 237.07 191.1365 164.4289 236.8489 191.1334 164.4217 236.8489 191.1871 164.422 237.0662 191.1546 164.4575 236.8489 191.1508 164.4515 236.8489 191.2036 164.4518 237.0608 191.1766 164.4818 236.8489 191.1732 164.478 236.8489 191.2247 164.4782 237.0538 191.2497 164.5004 237.0454 191.2021 164.502 236.8489 191.2781 164.5178 237.036 191.2302 164.5176 236.8489 191.2974 164.5359 236.8489 191.2634 164.5298 236.8489 191.3088 164.5297 237.0258 191.3908 164.5297 237.2203 191.5021 164.5297 237.3997 191.64 164.5297 237.5596 191.8011 164.5297 237.6961 191.9814 164.5297 237.8058 192.1766 164.5297 237.8862 192.382 164.5297 237.9352 192.5925 164.5297 237.9517 192.8029 164.5297 237.9352 193.0083 164.5297 237.8862 193.2035 164.5297 237.8058 193.3838 164.5297 237.696 193.5449 164.5297 237.5596 193.6828 164.5297 237.3997 193.7941 164.5297 237.2203 191.3621 164.5178 237.2352 191.4761 164.5178 237.4188 191.6172 164.5178 237.5826 191.7821 164.5178 237.7223 191.9668 164.5178 237.8347 192.1667 164.5178 237.917 192.3769 164.5178 237.9672 192.5925 164.5178 237.9841 192.808 164.5178 237.9672 193.0182 164.5178 237.917 193.2181 164.5178 237.8347 193.4028 164.5178 237.7223 193.5677 164.5178 237.5825 193.7089 164.5178 237.4188 193.8228 164.5178 237.2351 191.3356 164.5004 237.2489 191.452 164.5004 237.4365 191.5962 164.5004 237.6038 191.7647 164.5004 237.7465 191.9533 164.5004 237.8613 192.1575 164.5004 237.9454 192.3723 164.5004 237.9967 192.5925 164.5004 238.0139 192.8126 164.5004 237.9967 193.0274 164.5004 237.9454 193.2316 164.5004 237.8613 193.4202 164.5004 237.7465 193.5887 164.5004 237.6037 193.7329 164.5004 237.4365 193.8493 164.5004 237.2489 191.3121 164.4782 237.261 191.4307 164.4782 237.4522 191.5776 164.4782 237.6225 191.7492 164.4782 237.768 191.9414 164.4782 237.8849 192.1494 164.4782 237.9705 192.3682 164.4782 238.0228 192.5925 164.4782 238.0403 192.8167 164.4782 238.0228 193.0355 164.4782 237.9705 193.2435 164.4782 237.8849 193.4357 164.4782 237.7679 193.6073 164.4782 237.6225 193.7542 164.4782 237.4521 193.8728 164.4782 237.261 191.2924 164.4518 237.2712 191.4128 164.4518 237.4653 191.562 164.4518 237.6383 191.7362 164.4518 237.786 191.9314 164.4518 237.9047 192.1426 164.4518 237.9917 192.3647 164.4518 238.0447 192.5925 164.4518 238.0625 192.8202 164.4518 238.0447 193.0424 164.4518 237.9917 193.2536 164.4518 237.9047 193.4487 164.4518 237.7859 193.623 164.4518 237.6383 193.7721 164.4518 237.4653 193.8925 164.4518 237.2712 191.277 164.422 237.2792 191.3988 164.422 237.4756 191.5498 164.422 237.6506 191.7261 164.422 237.8 191.9235 164.422 237.9202 192.1372 164.422 238.0082 192.3621 164.422 238.0618 192.5925 164.422 238.0799 192.8229 164.422 238.0618 193.0477 164.422 238.0082 193.2614 164.422 237.9202 193.4588 164.422 237.8 193.6352 164.422 237.6506 193.7861 164.422 237.4755 193.9079 164.422 237.2792 193.9978 164.422 237.0662 194.0382 164.4463 236.8489 191.2664 164.3896 237.2847 191.3892 164.3896 237.4826 191.5414 164.3896 237.6591 191.7191 164.3896 237.8097 191.9181 164.3896 237.9308 192.1336 164.3896 238.0195 192.3602 164.3896 238.0736 192.5925 164.3896 238.0918 192.8247 164.3896 238.0736 193.0514 164.3896 238.0195 193.2668 164.3896 237.9308 193.4658 164.3896 237.8097 193.6436 164.3896 237.6591 193.7957 164.3896 237.4826 193.9185 164.3896 237.2846 193.5924 160.7368 233.8989 193.5924 159.2368 233.0989 191.5924 160.7368 233.8989 191.5924 159.2368 233.0989 194.1706 163.7368 236.3355 194.1057 163.7368 236.0794 193.9996 163.7368 235.8374 193.8551 163.7368 235.6161 193.6761 163.7368 235.4217 193.4675 163.7368 235.2594 193.2351 163.7368 235.1337 192.9852 163.7368 235.0479 192.7245 163.7368 235.0044 192.4603 163.7368 235.0044 192.1996 163.7368 235.0479 191.9497 163.7368 235.1337 191.7173 163.7368 235.2595 191.5088 163.7368 235.4218 191.3298 163.7368 235.6162 191.1853 163.7368 235.8374 191.0791 163.7368 236.0794 191.0143 163.7368 236.3356 191.1152 163.7368 236.8594 191.1829 163.7368 237.1119 191.2934 163.7368 237.3489 191.4434 163.7368 237.5631 191.6283 163.7368 237.748 191.8425 163.7368 237.898 192.0794 163.7368 238.0084 192.332 163.7368 238.0761 192.5925 163.7368 238.0989 192.8529 163.7368 238.0761 193.1055 163.7368 238.0084 193.3425 163.7368 237.8979 193.5567 163.7368 237.748 193.7415 163.7368 237.5631 193.8915 163.7368 237.3489 194.002 163.7368 237.1119 194.0697 163.7368 236.8594 191.1134 164.1368 236.8489 194.0715 164.1368 236.8489 191.3167 164.5368 236.3489 193.8682 164.5368 236.3489 191.3589 164.5368 236.1887 193.826 164.5368 236.1887 191.4377 164.5368 236.0018 191.8319 164.5368 235.5446 191.6772 164.5368 235.6757 191.5447 164.5368 235.8294 193.3529 164.5368 235.5446 193.1796 164.5368 235.4391 193.5077 164.5368 235.6757 193.6402 164.5368 235.8294 192.992 164.5368 235.3618 193.7472 164.5368 236.0018 192.7947 164.5368 235.3147 192.5924 164.5368 235.2989 192.3902 164.5368 235.3147 192.1928 164.5368 235.3618 192.0052 164.5368 235.4391 194.0691 164.367 236.3489 194.07 164.3556 236.3489 194.015 164.3556 236.1259 191.537 164.3556 235.5343 191.1699 164.3556 236.1259 191.2608 164.3556 235.9103 191.3842 164.3556 235.7115 191.7154 164.3556 235.3831 191.9153 164.3556 235.2614 192.1316 164.3556 235.1724 192.3592 164.3556 235.1181 192.5924 164.3556 235.0998 192.8257 164.3556 235.1181 193.0532 164.3556 235.1724 193.2696 164.3556 235.2614 193.4694 164.3556 235.3831 193.6479 164.3556 235.5343 193.8007 164.3556 235.7115 193.924 164.3556 235.9103 194.0614 164.3983 236.3489 194.0636 164.3894 236.3489 194.0091 164.3896 236.1278 194.0485 164.429 236.3489 194.0515 164.4217 236.3489 193.9977 164.422 236.1316 194.0305 164.4572 236.3489 194.0341 164.4516 236.3489 193.9813 164.4518 236.1371 193.9602 164.4782 236.1441 194.0085 164.4816 236.3489 193.9828 164.502 236.3489 193.985 164.5003 236.3489 193.9351 164.5004 236.1524 193.9068 164.5178 236.1618 193.9542 164.5178 236.3489 193.8874 164.5359 236.3489 193.9214 164.5298 236.3489 193.8761 164.5297 236.172 193.8439 164.5359 236.1827 193.7639 164.5359 235.9931 193.6554 164.5359 235.8182 193.521 164.5359 235.6623 193.3639 164.5359 235.5293 193.1881 164.5359 235.4223 192.9978 164.5359 235.3439 192.7976 164.5359 235.2961 192.5924 164.5359 235.2801 192.3872 164.5359 235.2961 192.187 164.5359 235.3439 191.9967 164.5359 235.4223 191.8209 164.5359 235.5293 191.6639 164.5359 235.6624 191.5295 164.5359 235.8182 191.421 164.5359 235.9931 191.341 164.5359 236.1828 191.2976 164.5353 236.3489 191.3088 164.5297 236.1721 191.2632 164.529 236.3489 191.2857 164.5344 236.3489 191.2781 164.5178 236.1618 191.2304 164.5171 236.3489 191.2529 164.5265 236.3489 191.2497 164.5004 236.1524 191.2001 164.4999 236.3489 191.2207 164.513 236.3489 191.2247 164.4782 236.1441 191.1733 164.4779 236.3489 191.1917 164.4946 236.3489 191.2036 164.4518 236.1371 191.1508 164.4515 236.3489 191.167 164.4722 236.3489 191.1758 164.3896 236.1278 191.121 164.3895 236.3489 191.131 164.4177 236.3489 191.1144 164.3556 236.3489 191.1197 164.3859 236.3489 193.794 164.5297 235.9775 193.6827 164.5297 235.7981 193.5449 164.5297 235.6382 193.3838 164.5297 235.5018 193.2035 164.5297 235.392 193.0083 164.5297 235.3116 192.8029 164.5297 235.2626 192.5924 164.5297 235.2461 192.382 164.5297 235.2626 192.1766 164.5297 235.3116 191.9814 164.5297 235.392 191.8011 164.5297 235.5018 191.64 164.5297 235.6383 191.5021 164.5297 235.7982 191.3908 164.5297 235.9776 193.8228 164.5178 235.9626 193.7088 164.5178 235.779 193.5677 164.5178 235.6152 193.4028 164.5178 235.4755 193.2181 164.5178 235.3631 193.0182 164.5178 235.2808 192.8079 164.5178 235.2306 192.5924 164.5178 235.2138 192.3769 164.5178 235.2306 192.1667 164.5178 235.2808 191.9668 164.5178 235.3631 191.7821 164.5178 235.4755 191.6172 164.5178 235.6153 191.476 164.5178 235.779 191.3621 164.5178 235.9627 193.8493 164.5004 235.9489 193.7329 164.5004 235.7613 193.5887 164.5004 235.5941 193.4202 164.5004 235.4513 193.2316 164.5004 235.3365 193.0274 164.5004 235.2524 192.8126 164.5004 235.2011 192.5924 164.5004 235.1839 192.3723 164.5004 235.2011 192.1575 164.5004 235.2524 191.9533 164.5004 235.3365 191.7646 164.5004 235.4513 191.5962 164.5004 235.5941 191.452 164.5004 235.7613 191.3355 164.5004 235.949 193.8728 164.4782 235.9368 193.7542 164.4782 235.7456 193.6073 164.4782 235.5753 193.4357 164.4782 235.4299 193.2435 164.4782 235.3129 193.0355 164.4782 235.2273 192.8167 164.4782 235.175 192.5924 164.4782 235.1575 192.3682 164.4782 235.175 192.1494 164.4782 235.2273 191.9413 164.4782 235.3129 191.7492 164.4782 235.4299 191.5776 164.4782 235.5753 191.4307 164.4782 235.7457 191.3121 164.4782 235.9368 193.8925 164.4518 235.9266 193.7721 164.4518 235.7325 193.6229 164.4518 235.5595 193.4486 164.4518 235.4118 193.2535 164.4518 235.2931 193.0423 164.4518 235.2061 192.8201 164.4518 235.1531 192.5924 164.4518 235.1353 192.3647 164.4518 235.1531 192.1425 164.4518 235.2061 191.9313 164.4518 235.2931 191.7362 164.4518 235.4119 191.5619 164.4518 235.5595 191.4128 164.4518 235.7325 191.2924 164.4518 235.9266 193.9079 164.422 235.9186 193.7861 164.422 235.7222 193.6351 164.422 235.5472 193.4588 164.422 235.3978 193.2614 164.422 235.2776 193.0476 164.422 235.1896 192.8228 164.422 235.136 192.5924 164.422 235.1179 192.362 164.422 235.136 192.1372 164.422 235.1896 191.9235 164.422 235.2776 191.7261 164.422 235.3978 191.5497 164.422 235.5472 191.3988 164.422 235.7223 191.277 164.422 235.9187 191.1871 164.422 236.1316 191.1467 164.4463 236.3489 193.9185 164.3896 235.9131 193.7957 164.3896 235.7152 193.6435 164.3896 235.5387 193.4658 164.3896 235.3881 193.2668 164.3896 235.267 193.0513 164.3896 235.1783 192.8247 164.3896 235.1242 192.5924 164.3896 235.106 192.3601 164.3896 235.1242 192.1335 164.3896 235.1783 191.9181 164.3896 235.267 191.7191 164.3896 235.3881 191.5413 164.3896 235.5388 191.3892 164.3896 235.7152 191.2663 164.3896 235.9132 193.9975 160.2368 239.6989 193.9975 160.2368 238.6989 193.9974 160.2368 233.6989 193.9974 160.2368 234.6989 192.1924 152.8368 236.6489 192.1924 152.8368 236.1489 192.4108 152.2368 236.1489 192.9924 152.8368 236.1489 192.7741 152.2368 236.1489 192.9924 152.8368 236.6489 192.4108 152.2368 236.6489 192.7741 152.2368 236.6489 189.4889 156.2218 239.261 189.4831 156.2218 239.2612 189.4733 156.2218 239.2628 189.4634 156.2218 239.2661 189.4535 156.2218 239.2712 189.4439 156.2218 239.2782 189.436 156.2218 239.2861 189.4278 156.2218 239.2973 189.4211 156.2218 239.3105 189.4164 156.2218 239.3254 189.4141 156.2218 239.3415 189.4145 156.2218 239.3579 189.4176 156.2218 239.3737 189.423 156.2218 239.3883 189.4304 156.2218 239.4012 189.4394 156.2218 239.412 189.4491 156.2218 239.4203 189.4588 156.2218 239.4262 189.4687 156.2218 239.4303 189.4788 156.2218 239.4327 189.4889 156.2218 239.4335 189.4889 156.2368 239.2835 189.4889 156.2218 239.2835 189.4945 156.2218 239.2839 189.4945 156.2368 239.2839 189.5001 156.2218 239.2853 189.5001 156.2368 239.2853 189.506 156.2218 239.2878 189.506 156.2368 239.2878 189.5125 156.2218 239.2916 189.5125 156.2368 239.2916 189.5193 156.2218 239.2972 189.5193 156.2368 239.2972 189.5268 156.2218 239.3056 189.5268 156.2368 239.3056 189.5331 156.2218 239.3155 189.5331 156.2368 239.3155 189.538 156.2218 239.3269 189.538 156.2368 239.3269 189.5406 156.2218 239.3371 189.5406 156.2368 239.3371 189.5414 156.2218 239.3472 189.5414 156.2368 239.3472 189.5406 156.2218 239.3573 189.5406 156.2368 239.3573 189.5381 156.2218 239.3672 189.5381 156.2368 239.3672 189.5339 156.2218 239.3775 189.5339 156.2368 239.3775 189.5276 156.2218 239.3877 189.5276 156.2368 239.3877 189.52 156.2218 239.3965 189.52 156.2368 239.3965 189.5128 156.2218 239.4026 189.5128 156.2368 239.4026 189.506 156.2218 239.4067 189.506 156.2368 239.4067 189.4997 156.2218 239.4092 189.4997 156.2368 239.4092 189.494 156.2218 239.4106 189.494 156.2368 239.4106 189.4889 156.2218 239.411 189.4889 156.2368 239.411 189.4833 156.2218 239.4105 189.4833 156.2368 239.4105 189.4778 156.2218 239.4091 189.4778 156.2368 239.4091 189.4718 156.2218 239.4066 189.4718 156.2368 239.4066 189.4654 156.2218 239.4028 189.4654 156.2368 239.4028 189.4586 156.2218 239.3972 189.4586 156.2368 239.3972 189.4511 156.2218 239.3888 189.4511 156.2368 239.3888 189.4448 156.2218 239.3789 189.4448 156.2368 239.3789 189.4398 156.2218 239.3675 189.4398 156.2368 239.3675 189.4373 156.2218 239.3573 189.4373 156.2368 239.3573 189.4364 156.2218 239.3472 189.4364 156.2368 239.3472 189.4373 156.2218 239.3371 189.4373 156.2368 239.3371 189.4397 156.2218 239.3272 189.4397 156.2368 239.3272 189.444 156.2218 239.3169 189.444 156.2368 239.3169 189.4503 156.2218 239.3067 189.4503 156.2368 239.3067 189.4579 156.2218 239.2979 189.4579 156.2368 239.2979 189.4651 156.2218 239.2919 189.4651 156.2368 239.2919 189.4719 156.2218 239.2877 189.4719 156.2368 239.2877 189.4781 156.2218 239.2852 189.4781 156.2368 239.2852 189.4838 156.2218 239.2839 189.4838 156.2368 239.2839 189.4947 156.2218 239.4332 189.5045 156.2218 239.4316 189.5145 156.2218 239.4283 189.5243 156.2218 239.4233 189.5339 156.2218 239.4162 189.5419 156.2218 239.4083 189.5501 156.2218 239.3972 189.5568 156.2218 239.384 189.5615 156.2218 239.369 189.5638 156.2218 239.3529 189.5634 156.2218 239.3366 189.5603 156.2218 239.3207 189.5549 156.2218 239.3061 189.5474 156.2218 239.2932 189.5384 156.2218 239.2824 189.5287 156.2218 239.2741 189.5191 156.2218 239.2682 189.5091 156.2218 239.2641 189.4991 156.2218 239.2617 188.7313 156.2368 239.3356 188.7319 156.2368 239.3393 188.6279 156.2368 239.3393 188.6989 156.2368 239.2888 188.7055 156.2368 239.2931 188.7123 156.2368 239.2993 188.7167 156.2368 239.3043 188.6403 156.2368 239.3081 188.6477 156.2368 239.299 188.6343 156.2368 239.3183 188.655 156.2368 239.2926 188.6303 156.2368 239.3286 188.6619 156.2368 239.2882 188.6682 156.2368 239.2855 188.7233 156.2368 239.3141 188.7285 156.2368 239.3253 188.674 156.2368 239.284 188.6793 156.2368 239.2835 188.6818 156.2368 239.2835 188.6871 156.2368 239.2843 188.6928 156.2368 239.2859 189.3164 156.2218 239.261 189.3106 156.2218 239.2612 189.3008 156.2218 239.2628 189.2909 156.2218 239.2661 189.281 156.2218 239.2712 189.2714 156.2218 239.2782 189.2635 156.2218 239.2861 189.2553 156.2218 239.2973 189.2486 156.2218 239.3105 189.2439 156.2218 239.3254 189.2416 156.2218 239.3415 189.242 156.2218 239.3579 189.2451 156.2218 239.3737 189.2505 156.2218 239.3883 189.2579 156.2218 239.4012 189.2669 156.2218 239.412 189.2766 156.2218 239.4203 189.2863 156.2218 239.4262 189.2962 156.2218 239.4303 189.3063 156.2218 239.4327 189.3164 156.2218 239.4335 189.3164 156.2368 239.2835 189.3164 156.2218 239.2835 189.322 156.2218 239.2839 189.322 156.2368 239.2839 189.3276 156.2218 239.2853 189.3276 156.2368 239.2853 189.3335 156.2218 239.2878 189.3335 156.2368 239.2878 189.34 156.2218 239.2916 189.34 156.2368 239.2916 189.3468 156.2218 239.2972 189.3468 156.2368 239.2972 189.3543 156.2218 239.3056 189.3543 156.2368 239.3056 189.3606 156.2218 239.3155 189.3606 156.2368 239.3155 189.3655 156.2218 239.3269 189.3655 156.2368 239.3269 189.3681 156.2218 239.3371 189.3681 156.2368 239.3371 189.3689 156.2218 239.3472 189.3689 156.2368 239.3472 189.3681 156.2218 239.3573 189.3681 156.2368 239.3573 189.3656 156.2218 239.3672 189.3656 156.2368 239.3672 189.3614 156.2218 239.3775 189.3614 156.2368 239.3775 189.3551 156.2218 239.3877 189.3551 156.2368 239.3877 189.3475 156.2218 239.3965 189.3475 156.2368 239.3965 189.3403 156.2218 239.4026 189.3403 156.2368 239.4026 189.3335 156.2218 239.4067 189.3335 156.2368 239.4067 189.3272 156.2218 239.4092 189.3272 156.2368 239.4092 189.3215 156.2218 239.4106 189.3215 156.2368 239.4106 189.3164 156.2218 239.411 189.3164 156.2368 239.411 189.3108 156.2218 239.4105 189.3108 156.2368 239.4105 189.3053 156.2218 239.4091 189.3053 156.2368 239.4091 189.2993 156.2218 239.4066 189.2993 156.2368 239.4066 189.2929 156.2218 239.4028 189.2929 156.2368 239.4028 189.2861 156.2218 239.3972 189.2861 156.2368 239.3972 189.2786 156.2218 239.3888 189.2786 156.2368 239.3888 189.2723 156.2218 239.3789 189.2723 156.2368 239.3789 189.2673 156.2218 239.3675 189.2673 156.2368 239.3675 189.2648 156.2218 239.3573 189.2648 156.2368 239.3573 189.2639 156.2218 239.3472 189.2639 156.2368 239.3472 189.2648 156.2218 239.3371 189.2648 156.2368 239.3371 189.2672 156.2218 239.3272 189.2672 156.2368 239.3272 189.2715 156.2218 239.3169 189.2715 156.2368 239.3169 189.2778 156.2218 239.3067 189.2778 156.2368 239.3067 189.2854 156.2218 239.2979 189.2854 156.2368 239.2979 189.2926 156.2218 239.2919 189.2926 156.2368 239.2919 189.2994 156.2218 239.2877 189.2994 156.2368 239.2877 189.3056 156.2218 239.2852 189.3056 156.2368 239.2852 189.3113 156.2218 239.2839 189.3113 156.2368 239.2839 189.3222 156.2218 239.4332 189.332 156.2218 239.4316 189.342 156.2218 239.4283 189.3518 156.2218 239.4233 189.3614 156.2218 239.4162 189.3694 156.2218 239.4083 189.3776 156.2218 239.3972 189.3843 156.2218 239.384 189.389 156.2218 239.369 189.3913 156.2218 239.3529 189.3909 156.2218 239.3366 189.3878 156.2218 239.3207 189.3824 156.2218 239.3061 189.3749 156.2218 239.2932 189.3659 156.2218 239.2824 189.3562 156.2218 239.2741 189.3466 156.2218 239.2682 189.3366 156.2218 239.2641 189.3266 156.2218 239.2617 188.9246 156.2368 238.5435 188.9263 156.2368 238.5656 188.9263 156.2218 238.5656 188.9246 156.2218 238.5435 188.9189 156.2218 238.5193 188.9189 156.2368 238.5193 188.9093 156.2218 238.4963 188.9093 156.2368 238.4963 188.896 156.2218 238.4752 188.896 156.2368 238.4752 188.8794 156.2218 238.4566 188.8794 156.2368 238.4566 188.8599 156.2218 238.4411 188.8599 156.2368 238.4411 188.8382 156.2218 238.4289 188.8382 156.2368 238.4289 188.8147 156.2218 238.4206 188.8147 156.2368 238.4206 188.7901 156.2218 238.4162 188.7901 156.2368 238.4162 188.7652 156.2218 238.416 188.7652 156.2368 238.416 188.7406 156.2218 238.4199 188.7406 156.2368 238.4199 188.717 156.2218 238.4278 188.717 156.2368 238.4278 188.695 156.2218 238.4395 188.695 156.2368 238.4395 188.6752 156.2218 238.4547 188.6752 156.2368 238.4547 188.6583 156.2218 238.473 188.6583 156.2368 238.473 188.6446 156.2218 238.4938 188.6446 156.2368 238.4938 188.6345 156.2218 238.5166 188.6345 156.2368 238.5166 188.6283 156.2218 238.5408 188.6283 156.2368 238.5408 188.6263 156.2218 238.5656 188.6263 156.2368 238.5656 188.6286 156.2218 238.5916 188.6286 156.2368 238.5916 188.6353 156.2218 238.6169 188.6353 156.2368 238.6169 188.6464 156.2218 238.6406 188.6464 156.2368 238.6406 188.6614 156.2218 238.662 188.6614 156.2368 238.662 188.6799 156.2218 238.6805 188.6799 156.2368 238.6805 188.7013 156.2218 238.6955 188.7013 156.2368 238.6955 188.725 156.2218 238.7065 188.725 156.2368 238.7065 188.7502 156.2218 238.7133 188.7502 156.2368 238.7133 188.7763 156.2218 238.7156 188.7763 156.2368 238.7156 188.8023 156.2218 238.7133 188.8023 156.2368 238.7133 188.8276 156.2218 238.7065 188.8276 156.2368 238.7065 188.8513 156.2218 238.6955 188.8513 156.2368 238.6955 188.8727 156.2218 238.6805 188.8727 156.2368 238.6805 188.8912 156.2218 238.662 188.8912 156.2368 238.662 188.9062 156.2218 238.6406 188.9062 156.2368 238.6406 188.9172 156.2218 238.6169 188.9172 156.2368 238.6169 188.924 156.2218 238.5916 188.924 156.2368 238.5916 188.2456 156.2218 237.516 188.2705 156.2218 237.5162 188.1089 156.2218 237.6916 188.405 156.2218 237.6436 188.4066 156.2218 237.6656 188.3598 156.2218 237.5567 188.3764 156.2218 237.5752 188.3403 156.2218 237.5411 188.1753 156.2218 237.5395 188.1974 156.2218 237.5278 188.221 156.2218 237.5199 188.3897 156.2218 237.5963 188.3993 156.2218 237.6193 188.3865 156.2218 237.7406 188.3715 156.2218 237.762 188.3531 156.2218 237.7805 188.3316 156.2218 237.7955 188.2566 156.2218 237.8156 188.2306 156.2218 237.8133 188.2053 156.2218 237.8065 188.1817 156.2218 237.7955 188.1602 156.2218 237.7805 188.1066 156.2218 237.6656 188.1087 156.2218 237.6408 188.1149 156.2218 237.6166 188.1249 156.2218 237.5938 188.1386 156.2218 237.573 188.1556 156.2218 237.5547 188.2951 156.2218 237.5206 188.3185 156.2218 237.529 188.4044 156.2218 237.6916 188.3976 156.2218 237.7169 188.1417 156.2218 237.762 188.1268 156.2218 237.7406 188.1157 156.2218 237.7169 188.3079 156.2218 237.8065 188.2827 156.2218 237.8133 188.1066 156.2368 237.6656 188.1089 156.2368 237.6916 188.1157 156.2368 237.7169 188.1268 156.2368 237.7406 188.1417 156.2368 237.762 188.1602 156.2368 237.7805 188.1817 156.2368 237.7955 188.2053 156.2368 237.8065 188.2306 156.2368 237.8133 188.2566 156.2368 237.8156 188.2827 156.2368 237.8133 188.3079 156.2368 237.8065 188.3316 156.2368 237.7955 188.3531 156.2368 237.7805 188.3715 156.2368 237.762 188.3865 156.2368 237.7406 188.3976 156.2368 237.7169 188.4044 156.2368 237.6916 188.4066 156.2368 237.6656 188.405 156.2368 237.6436 188.3993 156.2368 237.6193 188.3897 156.2368 237.5963 188.3764 156.2368 237.5752 188.3598 156.2368 237.5567 188.3403 156.2368 237.5411 188.3185 156.2368 237.529 188.2951 156.2368 237.5206 188.2705 156.2368 237.5162 188.2456 156.2368 237.516 188.221 156.2368 237.5199 188.1974 156.2368 237.5278 188.1753 156.2368 237.5395 188.1556 156.2368 237.5547 188.1386 156.2368 237.573 188.1249 156.2368 237.5938 188.1149 156.2368 237.6166 188.1087 156.2368 237.6408 189.1785 156.2368 237.0774 189.2366 156.2368 237.5278 189.2146 156.2368 237.5395 189.1948 156.2368 237.5547 188.7763 156.2368 238.9406 189.1779 156.2368 237.573 189.1642 156.2368 237.5938 189.1541 156.2368 237.6166 188.9456 156.2368 238.9258 187.9202 156.2368 237.499 188.607 156.2368 238.9258 188.4428 156.2368 238.8818 187.8147 156.2368 237.8042 187.8547 156.2368 237.6472 189.1098 156.2368 238.8818 188.1195 156.2368 237.245 188.2478 156.2368 237.1462 188.1496 156.2368 238.7125 188.2888 156.2368 238.81 187.8013 156.2368 237.9656 187.8161 156.2368 238.1349 189.2638 156.2368 238.8099 189.403 156.2368 238.7125 188.0092 156.2368 237.3637 187.8601 156.2368 238.2991 187.9319 156.2368 238.4531 188.0294 156.2368 238.5923 189.32 156.2368 237.1563 189.2848 156.2368 237.516 189.2602 156.2368 237.5199 189.1459 156.2368 237.6656 189.0259 156.2368 237.0231 188.8664 156.2368 236.9948 188.7044 156.2368 236.9932 188.5444 156.2368 237.0186 188.3908 156.2368 237.07 189.5545 156.2368 237.3782 189.399 156.2368 237.5566 189.3795 156.2368 237.5411 189.2591 156.2368 237.811 189.2835 156.2368 237.8151 189.4465 156.2368 237.2575 189.1479 156.2368 237.6407 189.3578 156.2368 237.5289 189.3343 156.2368 237.5206 189.3097 156.2368 237.5162 189.1479 156.2368 237.6903 189.7036 156.2368 237.6646 189.641 156.2368 237.5152 189.4289 156.2368 237.5963 189.4156 156.2368 237.5752 189.154 156.2368 237.7143 189.164 156.2368 237.737 189.1775 156.2368 237.7577 189.5232 156.2368 238.5923 189.6206 156.2368 238.4531 189.6925 156.2368 238.299 189.7365 156.2368 238.1349 189.7513 156.2368 237.9656 189.7407 156.2368 237.8223 189.3083 156.2368 237.8151 189.3327 156.2368 237.811 189.1943 156.2368 237.7759 189.2138 156.2368 237.7911 189.2356 156.2368 237.8029 189.4142 156.2368 237.7577 189.4278 156.2368 237.737 189.4378 156.2368 237.7143 189.4438 156.2368 237.6903 189.3561 156.2368 237.8029 189.3779 156.2368 237.7911 189.3975 156.2368 237.7759 189.4459 156.2368 237.6656 189.4442 156.2368 237.6435 189.4385 156.2368 237.6193 188.439 156.2218 239.261 188.4328 156.2218 239.2613 188.4221 156.2218 239.2632 188.4113 156.2218 239.2671 188.4006 156.2218 239.2731 188.3908 156.2218 239.2811 188.3824 156.2218 239.2906 188.3751 156.2218 239.3021 188.3693 156.2218 239.3152 188.439 156.2218 239.4335 188.4448 156.2218 239.4332 188.4546 156.2218 239.4316 188.4645 156.2218 239.4283 188.4744 156.2218 239.4233 188.484 156.2218 239.4162 188.4919 156.2218 239.4083 188.5001 156.2218 239.3972 188.5068 156.2218 239.384 188.5115 156.2218 239.369 188.5138 156.2218 239.3529 188.5134 156.2218 239.3366 188.5103 156.2218 239.3207 188.5049 156.2218 239.3061 188.4975 156.2218 239.2932 188.4885 156.2218 239.2824 188.4788 156.2218 239.2741 188.4691 156.2218 239.2682 188.4592 156.2218 239.2642 188.4491 156.2218 239.2618 188.395 156.2218 239.3152 188.402 156.2218 239.3045 188.4092 156.2218 239.2967 188.4164 156.2218 239.291 188.4238 156.2218 239.2869 188.4298 156.2218 239.2847 188.4354 156.2218 239.2837 188.4406 156.2218 239.2835 188.446 156.2218 239.2842 188.4517 156.2218 239.2859 188.4553 156.2218 239.2874 188.4618 156.2218 239.2911 188.4685 156.2218 239.2965 188.4755 156.2218 239.3039 188.4823 156.2218 239.3139 188.4875 156.2218 239.3251 188.4903 156.2218 239.3355 188.4915 156.2218 239.3451 188.4912 156.2218 239.3534 188.4894 156.2218 239.3632 188.4859 156.2218 239.3734 188.4804 156.2218 239.3837 188.4785 156.2218 239.3866 188.4708 156.2218 239.3958 188.4635 156.2218 239.4021 188.4567 156.2218 239.4064 188.4498 156.2218 239.4092 188.4441 156.2218 239.4106 188.4389 156.2218 239.411 188.4333 156.2218 239.4105 188.4278 156.2218 239.4091 188.4218 156.2218 239.4066 188.4169 156.2218 239.4038 188.4101 156.2218 239.3986 188.4032 156.2218 239.3914 188.3966 156.2218 239.3821 188.395 156.2218 239.3792 188.3694 156.2218 239.3792 188.372 156.2218 239.3861 188.3785 156.2218 239.3983 188.3864 156.2218 239.4087 188.3955 156.2218 239.4175 188.3974 156.2218 239.419 188.4073 156.2218 239.4254 188.4178 156.2218 239.43 188.4288 156.2218 239.4327 189.1439 156.2218 239.261 189.1381 156.2218 239.2612 189.1283 156.2218 239.2628 189.1184 156.2218 239.2661 189.1085 156.2218 239.2712 189.0989 156.2218 239.2782 189.091 156.2218 239.2861 189.0828 156.2218 239.2973 189.0761 156.2218 239.3105 189.0714 156.2218 239.3254 189.0691 156.2218 239.3415 189.0695 156.2218 239.3579 189.0726 156.2218 239.3737 189.078 156.2218 239.3883 189.0854 156.2218 239.4012 189.0944 156.2218 239.412 189.1041 156.2218 239.4203 189.1138 156.2218 239.4262 189.1237 156.2218 239.4303 189.1338 156.2218 239.4327 189.1439 156.2218 239.4335 189.1439 156.2368 239.2835 189.1439 156.2218 239.2835 189.1495 156.2218 239.2839 189.1495 156.2368 239.2839 189.1551 156.2218 239.2853 189.1551 156.2368 239.2853 189.161 156.2218 239.2878 189.161 156.2368 239.2878 189.1675 156.2218 239.2916 189.1675 156.2368 239.2916 189.1743 156.2218 239.2972 189.1743 156.2368 239.2972 189.1818 156.2218 239.3056 189.1818 156.2368 239.3056 189.1881 156.2218 239.3155 189.1881 156.2368 239.3155 189.193 156.2218 239.3269 189.193 156.2368 239.3269 189.1956 156.2218 239.3372 189.1956 156.2368 239.3372 189.1964 156.2218 239.3472 189.1964 156.2368 239.3472 189.1956 156.2218 239.3573 189.1956 156.2368 239.3573 189.1931 156.2218 239.3672 189.1931 156.2368 239.3672 189.1889 156.2218 239.3775 189.1889 156.2368 239.3775 189.1826 156.2218 239.3877 189.1826 156.2368 239.3877 189.175 156.2218 239.3965 189.175 156.2368 239.3965 189.1678 156.2218 239.4026 189.1678 156.2368 239.4026 189.161 156.2218 239.4067 189.161 156.2368 239.4067 189.1547 156.2218 239.4092 189.1547 156.2368 239.4092 189.149 156.2218 239.4106 189.149 156.2368 239.4106 189.1439 156.2218 239.411 189.1439 156.2368 239.411 189.1383 156.2218 239.4105 189.1383 156.2368 239.4105 189.1328 156.2218 239.4091 189.1328 156.2368 239.4091 189.1268 156.2218 239.4066 189.1268 156.2368 239.4066 189.1204 156.2218 239.4028 189.1204 156.2368 239.4028 189.1136 156.2218 239.3972 189.1136 156.2368 239.3972 189.1061 156.2218 239.3888 189.1061 156.2368 239.3888 189.0998 156.2218 239.3789 189.0998 156.2368 239.3789 189.0948 156.2218 239.3675 189.0948 156.2368 239.3675 189.0923 156.2218 239.3573 189.0923 156.2368 239.3573 189.0914 156.2218 239.3472 189.0914 156.2368 239.3472 189.0923 156.2218 239.3371 189.0923 156.2368 239.3371 189.0947 156.2218 239.3272 189.0947 156.2368 239.3272 189.099 156.2218 239.3169 189.099 156.2368 239.3169 189.1053 156.2218 239.3067 189.1053 156.2368 239.3067 189.1129 156.2218 239.2979 189.1129 156.2368 239.2979 189.1201 156.2218 239.2919 189.1201 156.2368 239.2919 189.1269 156.2218 239.2877 189.1269 156.2368 239.2877 189.1331 156.2218 239.2852 189.1331 156.2368 239.2852 189.1388 156.2218 239.2839 189.1388 156.2368 239.2839 189.1497 156.2218 239.4332 189.1595 156.2218 239.4316 189.1695 156.2218 239.4283 189.1793 156.2218 239.4233 189.1889 156.2218 239.4162 189.1969 156.2218 239.4083 189.2051 156.2218 239.3972 189.2118 156.2218 239.384 189.2165 156.2218 239.369 189.2188 156.2218 239.3529 189.2184 156.2218 239.3366 189.2153 156.2218 239.3207 189.2098 156.2218 239.3061 189.2024 156.2218 239.2932 189.1934 156.2218 239.2824 189.1837 156.2218 239.2741 189.1741 156.2218 239.2682 189.1641 156.2218 239.2641 189.1541 156.2218 239.2617 188.2521 156.2368 239.4067 188.2457 156.2368 239.4028 188.3134 156.2368 239.3155 188.2864 156.2368 239.2878 188.2928 156.2368 239.2916 188.2251 156.2368 239.3789 188.2801 156.2368 239.4092 188.2744 156.2368 239.4106 188.3185 156.2368 239.3672 188.2584 156.2368 239.2852 188.2641 156.2368 239.2839 188.22 156.2368 239.3273 188.2581 156.2368 239.4091 188.3184 156.2368 239.3269 188.3209 156.2368 239.3372 188.3218 156.2368 239.3472 188.3209 156.2368 239.3573 188.2693 156.2368 239.411 188.2636 156.2368 239.4105 188.2389 156.2368 239.3972 188.2314 156.2368 239.3888 188.3071 156.2368 239.3056 188.2996 156.2368 239.2972 188.3079 156.2368 239.3877 188.3003 156.2368 239.3965 188.3142 156.2368 239.3775 188.2931 156.2368 239.4026 188.2863 156.2368 239.4067 188.2804 156.2368 239.2853 188.2202 156.2368 239.3675 188.2176 156.2368 239.3573 188.2167 156.2368 239.3472 188.2176 156.2368 239.3371 188.2693 156.2368 239.2835 188.2749 156.2368 239.2839 188.2306 156.2368 239.3067 188.2382 156.2368 239.2979 188.2243 156.2368 239.3169 188.2454 156.2368 239.2919 188.2522 156.2368 239.2878 188.8546 156.2218 239.4335 188.8546 156.2218 239.3722 188.8793 156.2218 239.4335 188.8793 156.2218 239.2102 188.8546 156.2218 239.2102 188.8546 156.2218 239.3472 188.7884 156.2218 239.281 188.7633 156.2218 239.281 188.8099 156.2218 239.3276 188.7676 156.2218 239.4335 188.7884 156.2218 239.4335 188.8247 156.2218 239.3424 189.6824 159.0368 234.399 189.6824 158.7368 234.399 189.6824 159.0368 233.5572 189.6824 158.7368 233.0989 189.6824 158.8096 233.1382 189.6824 158.875 233.1889 189.6824 158.9311 233.2497 189.6824 158.9764 233.3189 189.6824 159.0096 233.3946 189.6824 159.03 233.4748 187.8824 158.7368 234.399 187.8824 159.0368 234.399 187.8824 158.7368 233.099 187.8824 159.0368 233.5572 187.8824 158.9311 233.2497 187.8824 158.875 233.1889 187.8824 158.8096 233.1382 187.8824 159.03 233.4748 187.8824 159.0096 233.3946 187.8824 158.9764 233.3189 187.7824 158.7368 234.399 187.7824 159.2368 234.399 189.7824 159.2368 234.399 189.7824 158.7368 234.399 189.7824 158.7368 233.0989 187.7824 158.7368 233.099 190.2825 164.1368 236.5989 190.2825 163.7368 236.5989 190.262 163.7368 236.352 190.2615 164.3368 236.3489 190.2615 164.1368 236.3489 190.2058 164.3368 236.1256 190.2012 163.7368 236.1119 187.3029 164.1368 236.3521 187.3034 164.1368 236.349 187.3637 163.7368 236.1119 187.3034 164.3368 236.349 187.3591 164.3368 236.1257 187.3029 163.7368 236.3521 187.2825 163.7368 236.599 187.2825 164.1368 236.599 190.262 164.1368 236.352 190.1016 163.7368 235.885 190.1148 164.3368 235.9099 190.2002 164.3368 236.1123 189.9662 163.7368 235.6776 189.9914 164.3368 235.711 190.1 164.3368 235.886 189.7984 163.7368 235.4954 189.8385 164.3368 235.5337 189.9641 164.3368 235.6794 189.6029 163.7368 235.3432 189.6599 164.3368 235.3824 189.7962 164.3368 235.4979 189.385 163.7368 235.2253 189.46 164.3368 235.2607 189.6009 164.3368 235.3464 189.1507 163.7368 235.1448 189.2435 164.3368 235.1716 189.3834 164.3368 235.2292 188.9063 163.7368 235.1041 189.0158 164.3368 235.1172 189.1496 164.3368 235.1492 188.6585 163.7368 235.1041 188.7824 164.3368 235.099 188.9059 164.3368 235.1086 188.4142 163.7368 235.1449 188.5491 164.3368 235.1172 188.6589 164.3368 235.1086 188.1799 163.7368 235.2253 188.3213 164.3368 235.1716 188.4152 164.3368 235.1492 187.962 163.7368 235.3432 188.1049 164.3368 235.2607 188.1815 164.3368 235.2292 187.7665 163.7368 235.4954 187.9049 164.3368 235.3824 187.964 164.3368 235.3465 187.5987 163.7368 235.6777 187.7263 164.3368 235.5338 187.7686 164.3368 235.4979 187.4632 163.7368 235.8851 187.5735 164.3368 235.7111 187.6007 164.3368 235.6794 187.3647 164.3368 236.1123 187.4501 164.3368 235.91 187.4649 164.3368 235.8861 187.1824 163.7368 236.599 187.2068 163.7368 236.8768 187.2789 163.7368 237.1462 187.3968 163.7368 237.399 187.5568 163.7368 237.6274 187.754 163.7368 237.8246 187.9825 163.7368 237.9846 188.2352 163.7368 238.1025 188.5046 163.7368 238.1747 188.7825 163.7368 238.199 189.0603 163.7368 238.1746 189.3297 163.7368 238.1025 189.5825 163.7368 237.9846 189.8109 163.7368 237.8246 190.0081 163.7368 237.6274 190.1681 163.7368 237.3989 190.286 163.7368 237.1462 190.3582 163.7368 236.8768 190.3824 163.7368 236.5989 186.8774 160.2368 233.932 186.8774 160.2368 234.466 186.8775 160.2368 239.466 186.8775 160.2368 238.932 189.6825 158.6737 239.2186 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158.4099 238.9042 187.8825 157.3368 239.299 187.8825 157.3679 239.2881 187.8825 157.3968 239.2724 187.8825 158.4541 238.999 187.8825 157.4227 239.2521 187.8825 158.3737 238.699 187.8825 158.3828 238.8032 187.8825 157.4841 239.1381 187.8825 157.4761 239.17 188.022 164.5368 237.6533 188.1953 164.5368 237.7588 190.016 164.5368 237.0092 190.0582 164.5368 236.8489 187.5067 164.5368 236.849 187.5489 164.5368 237.0092 187.6277 164.5368 237.1961 187.7347 164.5368 237.3685 187.8672 164.5368 237.5222 188.3829 164.5368 237.836 188.5802 164.5368 237.8831 188.7825 164.5368 237.899 189.3697 164.5368 237.7588 189.543 164.5368 237.6533 189.6977 164.5368 237.5221 188.9847 164.5368 237.8831 189.1821 164.5368 237.836 189.9372 164.5368 237.1961 189.8302 164.5368 237.3685 187.3058 164.3668 236.849 187.3049 164.3556 236.849 187.3599 164.3556 237.072 188.2707 164.3368 238.0055 188.3214 164.3368 238.0263 188.3217 164.3556 238.0255 187.531 164.5359 237.0151 187.611 164.5359 237.2048 187.7195 164.5359 237.3796 187.8539 164.5359 237.5355 188.011 164.5359 237.6686 188.1868 164.5359 237.7756 188.3771 164.5359 237.8539 188.5773 164.5359 237.9017 188.7825 164.5359 237.9178 188.9877 164.5359 237.9017 189.1878 164.5359 237.8539 189.3782 164.5359 237.7756 189.554 164.5359 237.6686 189.711 164.5359 237.5355 189.8454 164.5359 237.3796 189.9539 164.5359 237.2047 190.0339 164.5359 237.0151 190.0773 164.5353 236.8489 190.0661 164.5297 237.0258 190.1117 164.529 236.8489 190.0892 164.5344 236.8489 190.0968 164.5178 237.036 190.1445 164.5171 236.8489 190.1221 164.5265 236.8489 190.1252 164.5004 237.0454 190.1748 164.4999 236.8489 190.1542 164.5131 236.8489 190.1502 164.4782 237.0538 190.2016 164.4779 236.8489 190.1831 164.4946 236.8489 190.1713 164.4518 237.0608 190.2241 164.4515 236.8489 190.2079 164.4723 236.8489 190.1991 164.3896 237.07 190.2539 164.3895 236.8489 190.2438 164.4177 236.8489 190.205 164.3556 237.072 190.2605 164.3556 236.8489 190.2552 164.3859 236.8489 190.2615 164.3368 236.8489 190.2589 164.3368 236.8592 190.2058 164.3368 237.0723 190.1895 164.3368 237.1109 190.1148 164.3368 237.2879 190.1141 164.3556 237.2875 190.0783 164.3368 237.3469 189.9907 164.3556 237.4863 189.9914 164.3368 237.4869 189.9282 164.3368 237.5602 189.8379 164.3556 237.6635 189.8386 164.3368 237.6641 189.7437 164.3368 237.7445 189.6595 164.3556 237.8148 189.66 164.3368 237.8155 189.5303 164.3368 237.8944 189.4596 164.3556 237.9364 189.46 164.3368 237.9372 189.2942 164.3368 238.0055 189.2433 164.3556 238.0255 189.2435 164.3368 238.0263 189.0425 164.3368 238.0743 189.0157 164.3556 238.0798 189.0158 164.3368 238.0807 188.7825 164.3556 238.0981 188.7825 164.3368 238.099 188.5492 164.3556 238.0798 188.5491 164.3368 238.0807 188.5224 164.3368 238.0743 188.1049 164.3368 237.9372 188.1053 164.3556 237.9364 188.0346 164.3368 237.8945 187.9055 164.3556 237.8148 187.905 164.3368 237.8155 187.8212 164.3368 237.7446 187.727 164.3556 237.6636 187.7264 164.3368 237.6642 187.6368 164.3368 237.5603 187.5742 164.3556 237.4864 187.5735 164.3368 237.4869 187.4867 164.3368 237.347 187.4509 164.3556 237.2876 187.4501 164.3368 237.288 187.3754 164.3368 237.111 187.3591 164.3368 237.0723 187.306 164.3368 236.8593 187.3034 164.3368 236.849 187.3134 164.3979 236.849 187.3114 164.3894 236.849 187.3658 164.3896 237.0701 187.3265 164.4289 236.849 187.3234 164.4217 236.849 187.3771 164.422 237.0663 187.3446 164.4575 236.849 187.3408 164.4515 236.849 187.3936 164.4518 237.0608 187.3666 164.4818 236.849 187.3632 164.478 236.849 187.4147 164.4782 237.0538 187.4397 164.5004 237.0455 187.3921 164.502 236.849 187.4681 164.5178 237.0361 187.4202 164.5176 236.849 187.4874 164.5359 236.849 187.4534 164.5298 236.849 187.4988 164.5297 237.0258 187.5808 164.5297 237.2204 187.6921 164.5297 237.3997 187.83 164.5297 237.5596 187.9911 164.5297 237.6961 188.1714 164.5297 237.8059 188.3666 164.5297 237.8862 188.572 164.5297 237.9353 188.7825 164.5297 237.9517 188.9929 164.5297 237.9353 189.1983 164.5297 237.8862 189.3935 164.5297 237.8059 189.5738 164.5297 237.6961 189.7349 164.5297 237.5596 189.8728 164.5297 237.3997 189.9841 164.5297 237.2203 187.5521 164.5178 237.2352 187.6661 164.5178 237.4189 187.8072 164.5178 237.5826 187.9721 164.5178 237.7224 188.1568 164.5178 237.8348 188.3567 164.5178 237.9171 188.567 164.5178 237.9673 188.7825 164.5178 237.9841 188.998 164.5178 237.9673 189.2082 164.5178 237.917 189.4081 164.5178 237.8347 189.5928 164.5178 237.7223 189.7577 164.5178 237.5826 189.8989 164.5178 237.4189 190.0128 164.5178 237.2352 187.5256 164.5004 237.2489 187.642 164.5004 237.4366 187.7862 164.5004 237.6038 187.9547 164.5004 237.7466 188.1433 164.5004 237.8614 188.3475 164.5004 237.9455 188.5623 164.5004 237.9967 188.7825 164.5004 238.014 189.0026 164.5004 237.9967 189.2174 164.5004 237.9454 189.4216 164.5004 237.8614 189.6102 164.5004 237.7466 189.7787 164.5004 237.6038 189.9229 164.5004 237.4365 190.0393 164.5004 237.2489 187.5021 164.4782 237.2611 187.6207 164.4782 237.4522 187.7676 164.4782 237.6226 187.9392 164.4782 237.768 188.1314 164.4782 237.885 188.3394 164.4782 237.9706 188.5582 164.4782 238.0228 188.7825 164.4782 238.0404 189.0067 164.4782 238.0228 189.2255 164.4782 237.9706 189.4335 164.4782 237.8849 189.6257 164.4782 237.768 189.7973 164.4782 237.6226 189.9442 164.4782 237.4522 190.0628 164.4782 237.261 187.4824 164.4518 237.2713 187.6028 164.4518 237.4654 187.752 164.4518 237.6383 187.9262 164.4518 237.786 188.1213 164.4518 237.9048 188.3326 164.4518 237.9917 188.5547 164.4518 238.0448 188.7825 164.4518 238.0626 189.0102 164.4518 238.0448 189.2324 164.4518 237.9917 189.4436 164.4518 237.9048 189.6387 164.4518 237.786 189.813 164.4518 237.6383 189.9621 164.4518 237.4653 190.0825 164.4518 237.2713 187.467 164.422 237.2792 187.5888 164.422 237.4756 187.7398 164.422 237.6507 187.9161 164.422 237.8001 188.1135 164.422 237.9203 188.3273 164.422 238.0082 188.5521 164.422 238.0619 188.7825 164.422 238.0799 189.0129 164.422 238.0619 189.2377 164.422 238.0082 189.4514 164.422 237.9202 189.6488 164.422 237.8001 189.8252 164.422 237.6506 189.9761 164.422 237.4756 190.0979 164.422 237.2792 190.1878 164.422 237.0662 190.2282 164.4463 236.8489 187.4564 164.3896 237.2847 187.5792 164.3896 237.4827 187.7314 164.3896 237.6591 187.9091 164.3896 237.8098 188.1081 164.3896 237.9309 188.3236 164.3896 238.0196 188.5502 164.3896 238.0737 188.7825 164.3896 238.0919 189.0148 164.3896 238.0737 189.2414 164.3896 238.0196 189.4568 164.3896 237.9309 189.6558 164.3896 237.8097 189.8336 164.3896 237.6591 189.9857 164.3896 237.4827 190.1085 164.3896 237.2847 189.7824 160.7368 233.899 189.7824 159.2368 233.0989 187.7824 160.7368 233.899 187.7824 159.2368 233.099 190.3606 163.7368 236.3356 190.2957 163.7368 236.0794 190.1896 163.7368 235.8374 190.0451 163.7368 235.6162 189.8661 163.7368 235.4218 189.6575 163.7368 235.2595 189.4251 163.7368 235.1337 189.1752 163.7368 235.0479 188.9145 163.7368 235.0044 188.6503 163.7368 235.0044 188.3896 163.7368 235.0479 188.1397 163.7368 235.1337 187.9073 163.7368 235.2595 187.6988 163.7368 235.4218 187.5198 163.7368 235.6162 187.3753 163.7368 235.8375 187.2691 163.7368 236.0795 187.2043 163.7368 236.3356 187.3052 163.7368 236.8594 187.3729 163.7368 237.112 187.4834 163.7368 237.349 187.6334 163.7368 237.5632 187.8183 163.7368 237.748 188.0325 163.7368 237.898 188.2694 163.7368 238.0085 188.522 163.7368 238.0762 188.7825 163.7368 238.099 189.0429 163.7368 238.0762 189.2955 163.7368 238.0085 189.5325 163.7368 237.898 189.7467 163.7368 237.748 189.9315 163.7368 237.5631 190.0815 163.7368 237.3489 190.192 163.7368 237.112 190.2597 163.7368 236.8594 187.3034 164.1368 236.849 190.2615 164.1368 236.8489 187.5067 164.5368 236.349 190.0582 164.5368 236.3489 190.016 164.5368 236.1887 189.8302 164.5368 235.8294 189.6977 164.5368 235.6758 187.5489 164.5368 236.1888 189.5429 164.5368 235.5446 189.9372 164.5368 236.0018 189.3696 164.5368 235.4391 189.182 164.5368 235.3619 188.9847 164.5368 235.3148 188.7824 164.5368 235.299 188.5802 164.5368 235.3148 187.6277 164.5368 236.0018 188.0219 164.5368 235.5446 188.1952 164.5368 235.4391 188.3828 164.5368 235.3619 187.8672 164.5368 235.6758 187.7347 164.5368 235.8294 190.2591 164.367 236.3489 190.26 164.3556 236.3489 190.205 164.3556 236.1259 187.727 164.3556 235.5344 187.3599 164.3556 236.1259 187.4508 164.3556 235.9104 187.5742 164.3556 235.7116 187.9055 164.3556 235.3831 188.1053 164.3556 235.2615 188.3216 164.3556 235.1724 188.5492 164.3556 235.1181 188.7824 164.3556 235.0998 189.0157 164.3556 235.1181 189.2432 164.3556 235.1724 189.4596 164.3556 235.2615 189.6594 164.3556 235.3831 189.8379 164.3556 235.5344 189.9907 164.3556 235.7115 190.114 164.3556 235.9104 190.2514 164.3983 236.3489 190.2536 164.3894 236.3489 190.1991 164.3896 236.1279 190.2385 164.429 236.3489 190.2415 164.4217 236.3489 190.1877 164.422 236.1316 190.2205 164.4572 236.3489 190.2241 164.4516 236.3489 190.1713 164.4518 236.1371 190.1502 164.4782 236.1441 190.1985 164.4816 236.3489 190.1728 164.502 236.3489 190.175 164.5003 236.3489 190.1251 164.5004 236.1524 190.0968 164.5178 236.1619 190.1442 164.5178 236.3489 190.0773 164.5359 236.3489 190.1114 164.5298 236.3489 190.0661 164.5297 236.1721 190.0339 164.5359 236.1828 189.9539 164.5359 235.9932 189.8454 164.5359 235.8183 189.711 164.5359 235.6624 189.554 164.5359 235.5293 189.3781 164.5359 235.4223 189.1878 164.5359 235.344 188.9876 164.5359 235.2962 188.7824 164.5359 235.2801 188.5772 164.5359 235.2962 188.377 164.5359 235.344 188.1867 164.5359 235.4223 188.0109 164.5359 235.5294 187.8539 164.5359 235.6624 187.7195 164.5359 235.8183 187.611 164.5359 235.9932 187.531 164.5359 236.1828 187.4876 164.5353 236.349 187.4988 164.5297 236.1721 187.4532 164.529 236.349 187.4757 164.5344 236.349 187.468 164.5178 236.1619 187.4204 164.5171 236.349 187.4429 164.5265 236.349 187.4397 164.5004 236.1525 187.3901 164.4999 236.349 187.4107 164.513 236.349 187.4147 164.4782 236.1441 187.3633 164.4779 236.349 187.3817 164.4946 236.349 187.3936 164.4518 236.1371 187.3408 164.4515 236.349 187.357 164.4722 236.349 187.3658 164.3896 236.1279 187.311 164.3895 236.349 187.321 164.4177 236.349 187.3044 164.3556 236.349 187.3097 164.3859 236.349 189.9841 164.5297 235.9776 189.8727 164.5297 235.7982 189.7349 164.5297 235.6383 189.5738 164.5297 235.5018 189.3935 164.5297 235.392 189.1983 164.5297 235.3117 188.9929 164.5297 235.2627 188.7824 164.5297 235.2462 188.572 164.5297 235.2627 188.3666 164.5297 235.3117 188.1714 164.5297 235.3921 187.9911 164.5297 235.5018 187.83 164.5297 235.6383 187.6921 164.5297 235.7982 187.5808 164.5297 235.9776 190.0128 164.5178 235.9627 189.8988 164.5178 235.779 189.7577 164.5178 235.6153 189.5928 164.5178 235.4755 189.4081 164.5178 235.3632 189.2082 164.5178 235.2809 188.9979 164.5178 235.2307 188.7824 164.5178 235.2138 188.5669 164.5178 235.2307 188.3567 164.5178 235.2809 188.1568 164.5178 235.3632 187.9721 164.5178 235.4756 187.8072 164.5178 235.6153 187.666 164.5178 235.779 187.5521 164.5178 235.9627 190.0393 164.5004 235.949 189.9229 164.5004 235.7613 189.7787 164.5004 235.5941 189.6102 164.5004 235.4513 189.4216 164.5004 235.3365 189.2174 164.5004 235.2525 189.0026 164.5004 235.2012 188.7824 164.5004 235.184 188.5623 164.5004 235.2012 188.3475 164.5004 235.2525 188.1433 164.5004 235.3365 187.9546 164.5004 235.4514 187.7862 164.5004 235.5941 187.642 164.5004 235.7614 187.5256 164.5004 235.949 190.0628 164.4782 235.9368 189.9442 164.4782 235.7457 189.7973 164.4782 235.5753 189.6257 164.4782 235.4299 189.4335 164.4782 235.313 189.2255 164.4782 235.2273 189.0067 164.4782 235.1751 188.7824 164.4782 235.1575 188.5582 164.4782 235.1751 188.3394 164.4782 235.2273 188.1313 164.4782 235.313 187.9392 164.4782 235.4299 187.7676 164.4782 235.5754 187.6207 164.4782 235.7457 187.5021 164.4782 235.9369 190.0825 164.4518 235.9266 189.9621 164.4518 235.7326 189.8129 164.4518 235.5596 189.6387 164.4518 235.4119 189.4435 164.4518 235.2931 189.2323 164.4518 235.2062 189.0101 164.4518 235.1531 188.7824 164.4518 235.1353 188.5547 164.4518 235.1532 188.3325 164.4518 235.2062 188.1213 164.4518 235.2932 187.9262 164.4518 235.4119 187.7519 164.4518 235.5596 187.6028 164.4518 235.7326 187.4824 164.4518 235.9267 190.0979 164.422 235.9187 189.9761 164.422 235.7223 189.8251 164.422 235.5473 189.6488 164.422 235.3978 189.4514 164.422 235.2777 189.2377 164.422 235.1897 189.0128 164.422 235.136 188.7824 164.422 235.118 188.552 164.422 235.136 188.3272 164.422 235.1897 188.1135 164.422 235.2777 187.9161 164.422 235.3979 187.7397 164.422 235.5473 187.5888 164.422 235.7223 187.467 164.422 235.9187 187.3771 164.422 236.1317 187.3367 164.4463 236.349 190.1085 164.3896 235.9132 189.9857 164.3896 235.7152 189.8335 164.3896 235.5388 189.6558 164.3896 235.3881 189.4568 164.3896 235.267 189.2413 164.3896 235.1783 189.0147 164.3896 235.1242 188.7824 164.3896 235.106 188.5502 164.3896 235.1242 188.3235 164.3896 235.1783 188.1081 164.3896 235.267 187.9091 164.3896 235.3882 187.7313 164.3896 235.5388 187.5792 164.3896 235.7153 187.4563 164.3896 235.9132 186.3777 160.2368 238.699 186.3778 160.2368 239.699 186.3777 160.2368 233.699 186.3777 160.2368 234.699 188.3824 152.8368 236.649 188.3824 152.8368 236.149 188.6008 152.2368 236.149 189.1824 152.8368 236.149 188.9641 152.2368 236.149 189.1824 152.8368 236.649 188.9641 152.2368 236.649 188.6008 152.2368 236.649 188.3079 156.2218 239.3877 188.3142 156.2218 239.3775 188.3371 156.2218 239.384 188.3418 156.2218 239.369 188.2306 156.2218 239.3067 188.2243 156.2218 239.3169 188.2014 156.2218 239.3105 188.1967 156.2218 239.3255 188.3304 156.2218 239.3972 188.3222 156.2218 239.4083 188.3003 156.2218 239.3965 188.3143 156.2218 239.4162 188.2931 156.2218 239.4026 188.3046 156.2218 239.4233 188.2863 156.2218 239.4067 188.2948 156.2218 239.4283 188.2801 156.2218 239.4092 188.2849 156.2218 239.4316 188.2744 156.2218 239.4106 188.2751 156.2218 239.4332 188.2693 156.2218 239.411 188.2693 156.2218 239.4335 188.2636 156.2218 239.4105 188.2591 156.2218 239.4327 188.2581 156.2218 239.4091 188.249 156.2218 239.4303 188.2521 156.2218 239.4067 188.2391 156.2218 239.4262 188.2457 156.2218 239.4028 188.2294 156.2218 239.4203 188.2389 156.2218 239.3972 188.2197 156.2218 239.412 188.2314 156.2218 239.3888 188.2108 156.2218 239.4012 188.2251 156.2218 239.3789 188.2033 156.2218 239.3884 188.2202 156.2218 239.3675 188.1979 156.2218 239.3737 188.2176 156.2218 239.3573 188.1948 156.2218 239.3579 188.2167 156.2218 239.3472 188.1944 156.2218 239.3415 188.2176 156.2218 239.3371 188.22 156.2218 239.3273 188.2081 156.2218 239.2973 188.2163 156.2218 239.2861 188.2382 156.2218 239.2979 188.2243 156.2218 239.2782 188.2454 156.2218 239.2919 188.2339 156.2218 239.2712 188.2522 156.2218 239.2878 188.2437 156.2218 239.2661 188.2584 156.2218 239.2852 188.2536 156.2218 239.2629 188.2641 156.2218 239.2839 188.2635 156.2218 239.2612 188.2693 156.2218 239.2835 188.2693 156.2218 239.261 188.2749 156.2218 239.2839 188.2794 156.2218 239.2618 188.2804 156.2218 239.2853 188.2895 156.2218 239.2642 188.2864 156.2218 239.2878 188.2994 156.2218 239.2682 188.2928 156.2218 239.2916 188.3091 156.2218 239.2741 188.2996 156.2218 239.2972 188.3188 156.2218 239.2824 188.3071 156.2218 239.3056 188.3277 156.2218 239.2932 188.3134 156.2218 239.3155 188.3352 156.2218 239.3061 188.3184 156.2218 239.3269 188.3406 156.2218 239.3207 188.3209 156.2218 239.3372 188.3437 156.2218 239.3366 188.3218 156.2218 239.3472 188.3441 156.2218 239.3529 188.3209 156.2218 239.3573 188.3185 156.2218 239.3672 188.5479 156.2218 239.4219 188.5849 156.2218 239.4159 188.5852 156.2218 239.4186 188.5728 156.2218 239.4363 188.5697 156.2218 239.4371 188.5479 156.2218 239.4155 188.5562 156.2218 239.4029 188.5476 156.2218 239.4186 188.559 156.2218 239.4014 188.5619 156.2218 239.4004 188.565 156.2218 239.3999 188.5681 156.2218 239.4 188.5712 156.2218 239.4005 188.5741 156.2218 239.4016 188.5769 156.2218 239.4031 188.5793 156.2218 239.405 188.5814 156.2218 239.4073 188.5487 156.2218 239.4125 188.5499 156.2218 239.4097 188.5538 156.2218 239.4048 188.5516 156.2218 239.4071 188.583 156.2218 239.41 188.5842 156.2218 239.4129 188.5664 156.2218 239.4374 188.5632 156.2218 239.4371 188.56 156.2218 239.4363 188.557 156.2218 239.4349 188.5543 156.2218 239.433 188.552 156.2218 239.4307 188.5502 156.2218 239.428 188.5488 156.2218 239.425 188.5849 156.2218 239.4219 188.5785 156.2218 239.433 188.5758 156.2218 239.4349 188.584 156.2218 239.425 188.5826 156.2218 239.428 188.5808 156.2218 239.4307 188.5444 156.2218 237.0186 188.5087 156.2218 236.8729 188.7044 156.2218 236.9932 188.6934 156.2218 236.8436 188.8664 156.2218 236.9948 188.8803 156.2218 236.8454 189.0259 156.2218 237.0231 189.0643 156.2218 236.8781 189.1785 156.2218 237.0774 189.2404 156.2218 236.9408 189.32 156.2218 237.1563 189.4037 156.2218 237.0318 189.4465 156.2218 237.2575 189.5496 156.2218 237.1486 189.5545 156.2218 237.3782 189.6742 156.2218 237.2879 189.641 156.2218 237.5152 189.774 156.2218 237.4459 189.7036 156.2218 237.6646 189.8463 156.2218 237.6183 189.7407 156.2218 237.8223 189.889 156.2218 237.8002 189.7513 156.2218 237.9656 189.9013 156.2218 237.9656 189.7365 156.2218 238.1349 189.8842 156.2218 238.1609 189.6925 156.2218 238.299 189.8334 156.2218 238.3503 189.6206 156.2218 238.4531 189.7506 156.2218 238.5281 189.5232 156.2218 238.5923 189.6381 156.2218 238.6887 189.403 156.2218 238.7125 189.4994 156.2218 238.8274 189.2638 156.2218 238.8099 189.3388 156.2218 238.9399 189.1098 156.2218 238.8818 189.1611 156.2218 239.0227 188.9456 156.2218 238.9258 188.9716 156.2218 239.0735 188.7763 156.2218 238.9406 188.7763 156.2218 239.0906 188.607 156.2218 238.9258 188.5809 156.2218 239.0735 188.4428 156.2218 238.8818 188.3915 156.2218 239.0227 188.2888 156.2218 238.81 188.2138 156.2218 238.9399 188.1496 156.2218 238.7125 188.0531 156.2218 238.8274 188.0294 156.2218 238.5923 187.9145 156.2218 238.6887 187.9319 156.2218 238.4531 187.802 156.2218 238.5281 187.8601 156.2218 238.2991 187.7191 156.2218 238.3504 187.8161 156.2218 238.1349 187.6684 156.2218 238.161 187.8013 156.2218 237.9656 187.6513 156.2218 237.9656 187.8147 156.2218 237.8042 187.6668 156.2218 237.7793 187.8547 156.2218 237.6472 187.7129 156.2218 237.5982 187.9202 156.2218 237.499 187.7884 156.2218 237.4272 188.0092 156.2218 237.3637 187.8912 156.2218 237.2711 188.1195 156.2218 237.245 188.0184 156.2218 237.1341 188.2478 156.2218 237.1462 188.1665 156.2218 237.0201 188.3908 156.2218 237.07 188.3315 156.2218 236.9322 188.9018 156.2218 239.3792 188.9274 156.2218 239.3792 188.9045 156.2218 239.3861 188.929 156.2218 239.3821 188.911 156.2218 239.3982 188.9188 156.2218 239.4087 188.9356 156.2218 239.3914 188.9279 156.2218 239.4175 188.9425 156.2218 239.3986 188.9299 156.2218 239.419 188.9494 156.2218 239.4038 188.9398 156.2218 239.4254 188.9543 156.2218 239.4066 188.9503 156.2218 239.43 188.9602 156.2218 239.4091 188.9612 156.2218 239.4327 188.9658 156.2218 239.4105 188.9714 156.2218 239.4335 188.9713 156.2218 239.411 188.9772 156.2218 239.4332 188.9766 156.2218 239.4106 188.987 156.2218 239.4316 188.9822 156.2218 239.4092 188.997 156.2218 239.4283 188.9891 156.2218 239.4064 189.0068 156.2218 239.4233 188.996 156.2218 239.4021 189.0164 156.2218 239.4162 189.0032 156.2218 239.3958 189.0244 156.2218 239.4083 189.0109 156.2218 239.3866 189.0326 156.2218 239.3972 189.0128 156.2218 239.3837 189.0393 156.2218 239.384 189.0183 156.2218 239.3734 189.044 156.2218 239.369 189.0218 156.2218 239.3632 189.0463 156.2218 239.3529 189.0236 156.2218 239.3534 189.0459 156.2218 239.3366 189.0239 156.2218 239.3451 189.0228 156.2218 239.3355 189.0428 156.2218 239.3207 189.0199 156.2218 239.3251 189.0373 156.2218 239.3061 189.0147 156.2218 239.3139 189.0299 156.2218 239.2932 189.0079 156.2218 239.3039 189.0209 156.2218 239.2824 189.001 156.2218 239.2965 189.0112 156.2218 239.2741 188.9942 156.2218 239.2911 189.0016 156.2218 239.2682 188.9877 156.2218 239.2874 188.9916 156.2218 239.2642 188.9841 156.2218 239.2859 188.9816 156.2218 239.2617 188.9785 156.2218 239.2842 188.9714 156.2218 239.261 188.973 156.2218 239.2835 188.9652 156.2218 239.2613 188.9678 156.2218 239.2837 188.9545 156.2218 239.2632 188.9623 156.2218 239.2847 188.9437 156.2218 239.2671 188.9562 156.2218 239.2869 188.9331 156.2218 239.2731 188.9488 156.2218 239.291 188.9232 156.2218 239.2811 188.9417 156.2218 239.2967 188.9148 156.2218 239.2906 188.9345 156.2218 239.3045 188.9075 156.2218 239.3021 188.9274 156.2218 239.3152 188.9018 156.2218 239.3152 188.6279 156.2218 239.3393 188.6049 156.2218 239.3441 188.6303 156.2218 239.3286 188.6066 156.2218 239.3288 188.6343 156.2218 239.3183 188.6103 156.2218 239.3792 188.6365 156.2218 239.3804 188.6129 156.2218 239.3861 188.6588 156.2218 239.43 188.6483 156.2218 239.4254 188.6567 156.2218 239.403 188.6383 156.2218 239.419 188.6499 156.2218 239.3975 188.6364 156.2218 239.4175 188.643 156.2218 239.39 188.6273 156.2218 239.4087 188.6194 156.2218 239.3983 188.6637 156.2218 239.4071 188.6696 156.2218 239.4094 188.6697 156.2218 239.4327 188.6751 156.2218 239.4106 188.6799 156.2218 239.4335 188.6807 156.2218 239.411 188.6857 156.2218 239.4332 188.686 156.2218 239.4104 188.6955 156.2218 239.4316 188.6924 156.2218 239.4087 188.7054 156.2218 239.4283 188.6988 156.2218 239.4057 188.7153 156.2218 239.4233 188.7057 156.2218 239.4011 188.7249 156.2218 239.4162 188.7329 156.2218 239.4083 188.7543 156.2218 239.3366 188.7547 156.2218 239.3529 188.7312 156.2218 239.3595 188.7525 156.2218 239.369 188.7279 156.2218 239.3705 188.7478 156.2218 239.384 188.723 156.2218 239.3809 188.741 156.2218 239.3972 188.7162 156.2218 239.3908 188.713 156.2218 239.3945 188.6106 156.2218 239.3143 188.6165 156.2218 239.3012 188.6403 156.2218 239.3081 188.6232 156.2218 239.2908 188.6477 156.2218 239.299 188.6326 156.2218 239.2803 188.655 156.2218 239.2926 188.6427 156.2218 239.2723 188.6619 156.2218 239.2882 188.6532 156.2218 239.2666 188.6682 156.2218 239.2855 188.6638 156.2218 239.263 188.674 156.2218 239.284 188.6742 156.2218 239.2612 188.6793 156.2218 239.2835 188.6799 156.2218 239.261 188.6818 156.2218 239.2835 188.6871 156.2218 239.2843 188.69 156.2218 239.2618 188.6928 156.2218 239.2859 188.7001 156.2218 239.2642 188.6989 156.2218 239.2888 188.71 156.2218 239.2682 188.7055 156.2218 239.2931 188.7197 156.2218 239.2741 188.7123 156.2218 239.2993 188.7294 156.2218 239.2824 188.7167 156.2218 239.3043 188.7384 156.2218 239.2932 188.7233 156.2218 239.3141 188.7458 156.2218 239.3061 188.7285 156.2218 239.3253 188.7513 156.2218 239.3207 188.7313 156.2218 239.3356 188.7319 156.2218 239.3393 188.6057 156.2218 239.3595 189.164 156.2218 237.737 189.154 156.2218 237.7143 189.3327 156.2218 237.811 189.3097 156.2218 237.5162 189.3343 156.2218 237.5206 189.1459 156.2218 237.6656 189.3578 156.2218 237.5289 189.3795 156.2218 237.5411 189.3779 156.2218 237.7911 189.3561 156.2218 237.8029 189.1479 156.2218 237.6903 189.1479 156.2218 237.6407 189.2602 156.2218 237.5199 189.2848 156.2218 237.516 189.4459 156.2218 237.6656 189.4438 156.2218 237.6903 189.4378 156.2218 237.7143 189.4278 156.2218 237.737 189.4142 156.2218 237.7577 189.3975 156.2218 237.7759 189.2356 156.2218 237.8029 189.2138 156.2218 237.7911 189.2591 156.2218 237.811 189.1943 156.2218 237.7759 189.2835 156.2218 237.8151 189.3083 156.2218 237.8151 189.1775 156.2218 237.7577 189.1948 156.2218 237.5547 189.2146 156.2218 237.5395 189.1779 156.2218 237.573 189.1642 156.2218 237.5938 189.1541 156.2218 237.6166 189.2366 156.2218 237.5278 189.399 156.2218 237.5566 189.4156 156.2218 237.5752 189.4289 156.2218 237.5963 189.4385 156.2218 237.6193 189.4442 156.2218 237.6435 188.0799 156.2218 239.281 188.0915 156.2218 239.4335 188.0682 156.2218 239.4335 188.1481 156.2218 239.261 188.1725 156.2218 239.261 188.1481 156.2218 239.2746 188.1725 156.2218 239.4335 188.1481 156.2218 239.3076 188.1481 156.2218 239.4335 188.0682 156.2218 239.3115 188.0675 156.2218 239.3068 188.066 156.2218 239.3022 188.0944 156.2218 239.2984 188.0925 156.2218 239.3029 188.0915 156.2218 239.3076 188.0638 156.2218 239.298 188.0609 156.2218 239.2942 188.0734 156.2218 239.2751 188.0574 156.2218 239.291 188.0661 156.2218 239.2702 188.0535 156.2218 239.2883 188.0581 156.2218 239.2666 188.0491 156.2218 239.2864 188.0497 156.2218 239.2644 188.0445 156.2218 239.2852 188.041 156.2218 239.2636 188.0397 156.2218 239.2848 188.0322 156.2218 239.2642 188.035 156.2218 239.2852 188.0237 156.2218 239.2662 188.0304 156.2218 239.2864 188.0156 156.2218 239.2695 188.026 156.2218 239.2883 188.0082 156.2218 239.2742 188.022 156.2218 239.291 188.0016 156.2218 239.28 188.0186 156.2218 239.2942 187.9961 156.2218 239.2868 188.0157 156.2218 239.298 187.9917 156.2218 239.2944 188.0134 156.2218 239.3022 187.9886 156.2218 239.3025 188.0112 156.2218 239.4335 187.9886 156.2218 239.4335 188.0112 156.2218 239.3115 188.012 156.2218 239.3068 188.1471 156.2218 239.3029 188.1453 156.2218 239.2984 188.1427 156.2218 239.2943 188.1395 156.2218 239.2907 188.1357 156.2218 239.2877 188.1412 156.2218 239.2698 188.1315 156.2218 239.2854 188.1335 156.2218 239.2663 188.127 156.2218 239.2837 188.1253 156.2218 239.2642 188.1222 156.2218 239.2829 188.1169 156.2218 239.2635 188.1174 156.2218 239.2829 188.1085 156.2218 239.2643 188.1126 156.2218 239.2837 188.1003 156.2218 239.2665 188.1081 156.2218 239.2854 188.0927 156.2218 239.2701 188.1039 156.2218 239.2877 188.0858 156.2218 239.275 188.1001 156.2218 239.2907 188.0969 156.2218 239.2943 197.1089 156.2218 239.2608 197.1031 156.2218 239.2611 197.0933 156.2218 239.2627 197.0834 156.2218 239.266 197.0735 156.2218 239.2711 197.0639 156.2218 239.2781 197.056 156.2218 239.286 197.0478 156.2218 239.2971 197.0411 156.2218 239.3103 197.0364 156.2218 239.3253 197.0341 156.2218 239.3414 197.0345 156.2218 239.3578 197.0376 156.2218 239.3736 197.043 156.2218 239.3882 197.0504 156.2218 239.4011 197.0594 156.2218 239.4119 197.0691 156.2218 239.4202 197.0788 156.2218 239.4261 197.0887 156.2218 239.4302 197.0988 156.2218 239.4326 197.1089 156.2218 239.4333 197.1089 156.2368 239.2833 197.1089 156.2218 239.2833 197.1145 156.2218 239.2838 197.1145 156.2368 239.2838 197.1201 156.2218 239.2852 197.1201 156.2368 239.2852 197.126 156.2218 239.2877 197.126 156.2368 239.2877 197.1325 156.2218 239.2915 197.1325 156.2368 239.2915 197.1393 156.2218 239.2971 197.1393 156.2368 239.2971 197.1468 156.2218 239.3055 197.1468 156.2368 239.3055 197.1531 156.2218 239.3154 197.1531 156.2368 239.3154 197.158 156.2218 239.3268 197.158 156.2368 239.3268 197.1606 156.2218 239.337 197.1606 156.2368 239.337 197.1614 156.2218 239.3471 197.1614 156.2368 239.3471 197.1606 156.2218 239.3572 197.1606 156.2368 239.3572 197.1581 156.2218 239.3671 197.1581 156.2368 239.3671 197.1539 156.2218 239.3774 197.1539 156.2368 239.3774 197.1476 156.2218 239.3876 197.1476 156.2368 239.3876 197.14 156.2218 239.3964 197.14 156.2368 239.3964 197.1328 156.2218 239.4025 197.1328 156.2368 239.4025 197.126 156.2218 239.4066 197.126 156.2368 239.4066 197.1197 156.2218 239.4091 197.1197 156.2368 239.4091 197.114 156.2218 239.4104 197.114 156.2368 239.4104 197.1089 156.2218 239.4108 197.1089 156.2368 239.4108 197.1033 156.2218 239.4104 197.1033 156.2368 239.4104 197.0978 156.2218 239.409 197.0978 156.2368 239.409 197.0918 156.2218 239.4065 197.0918 156.2368 239.4065 197.0854 156.2218 239.4027 197.0854 156.2368 239.4027 197.0786 156.2218 239.3971 197.0786 156.2368 239.3971 197.0711 156.2218 239.3887 197.0711 156.2368 239.3887 197.0648 156.2218 239.3788 197.0648 156.2368 239.3788 197.0598 156.2218 239.3674 197.0598 156.2368 239.3674 197.0573 156.2218 239.3572 197.0573 156.2368 239.3572 197.0564 156.2218 239.3471 197.0564 156.2368 239.3471 197.0573 156.2218 239.337 197.0573 156.2368 239.337 197.0597 156.2218 239.3271 197.0597 156.2368 239.3271 197.064 156.2218 239.3168 197.064 156.2368 239.3168 197.0702 156.2218 239.3066 197.0702 156.2368 239.3066 197.0779 156.2218 239.2978 197.0779 156.2368 239.2978 197.0851 156.2218 239.2917 197.0851 156.2368 239.2917 197.0919 156.2218 239.2876 197.0919 156.2368 239.2876 197.0981 156.2218 239.2851 197.0981 156.2368 239.2851 197.1038 156.2218 239.2837 197.1038 156.2368 239.2837 197.1147 156.2218 239.4331 197.1245 156.2218 239.4315 197.1345 156.2218 239.4282 197.1443 156.2218 239.4231 197.1539 156.2218 239.4161 197.1619 156.2218 239.4082 197.1701 156.2218 239.397 197.1768 156.2218 239.3838 197.1815 156.2218 239.3689 197.1838 156.2218 239.3528 197.1834 156.2218 239.3364 197.1803 156.2218 239.3206 197.1748 156.2218 239.3059 197.1674 156.2218 239.2931 197.1584 156.2218 239.2823 197.1487 156.2218 239.274 197.1391 156.2218 239.2681 197.1291 156.2218 239.264 197.1191 156.2218 239.2616 196.3513 156.2368 239.3355 196.3519 156.2368 239.3392 196.2479 156.2368 239.3392 196.3189 156.2368 239.2887 196.3255 156.2368 239.293 196.3323 156.2368 239.2992 196.3368 156.2368 239.3042 196.2603 156.2368 239.3079 196.2677 156.2368 239.2989 196.2543 156.2368 239.3182 196.275 156.2368 239.2925 196.2503 156.2368 239.3285 196.2819 156.2368 239.2881 196.2882 156.2368 239.2854 196.3433 156.2368 239.3139 196.3484 156.2368 239.3252 196.294 156.2368 239.2839 196.2993 156.2368 239.2834 196.3018 156.2368 239.2834 196.3071 156.2368 239.2841 196.3128 156.2368 239.2858 196.9364 156.2218 239.2608 196.9306 156.2218 239.2611 196.9208 156.2218 239.2627 196.9109 156.2218 239.266 196.901 156.2218 239.2711 196.8914 156.2218 239.2781 196.8835 156.2218 239.286 196.8753 156.2218 239.2971 196.8686 156.2218 239.3104 196.8639 156.2218 239.3253 196.8616 156.2218 239.3414 196.862 156.2218 239.3578 196.8651 156.2218 239.3736 196.8705 156.2218 239.3882 196.8779 156.2218 239.4011 196.8869 156.2218 239.4119 196.8966 156.2218 239.4202 196.9063 156.2218 239.4261 196.9162 156.2218 239.4302 196.9263 156.2218 239.4326 196.9364 156.2218 239.4333 196.9364 156.2368 239.2834 196.9364 156.2218 239.2834 196.9421 156.2218 239.2838 196.9421 156.2368 239.2838 196.9476 156.2218 239.2852 196.9476 156.2368 239.2852 196.9535 156.2218 239.2877 196.9535 156.2368 239.2877 196.96 156.2218 239.2915 196.96 156.2368 239.2915 196.9668 156.2218 239.2971 196.9668 156.2368 239.2971 196.9743 156.2218 239.3055 196.9743 156.2368 239.3055 196.9806 156.2218 239.3154 196.9806 156.2368 239.3154 196.9855 156.2218 239.3268 196.9855 156.2368 239.3268 196.9881 156.2218 239.337 196.9881 156.2368 239.337 196.9889 156.2218 239.3471 196.9889 156.2368 239.3471 196.9881 156.2218 239.3572 196.9881 156.2368 239.3572 196.9856 156.2218 239.3671 196.9856 156.2368 239.3671 196.9813 156.2218 239.3774 196.9813 156.2368 239.3774 196.9751 156.2218 239.3876 196.9751 156.2368 239.3876 196.9675 156.2218 239.3964 196.9675 156.2368 239.3964 196.9603 156.2218 239.4025 196.9603 156.2368 239.4025 196.9535 156.2218 239.4066 196.9535 156.2368 239.4066 196.9472 156.2218 239.4091 196.9472 156.2368 239.4091 196.9415 156.2218 239.4105 196.9415 156.2368 239.4105 196.9364 156.2218 239.4108 196.9364 156.2368 239.4108 196.9308 156.2218 239.4104 196.9308 156.2368 239.4104 196.9253 156.2218 239.409 196.9253 156.2368 239.409 196.9193 156.2218 239.4065 196.9193 156.2368 239.4065 196.9129 156.2218 239.4027 196.9129 156.2368 239.4027 196.9061 156.2218 239.3971 196.9061 156.2368 239.3971 196.8986 156.2218 239.3887 196.8986 156.2368 239.3887 196.8923 156.2218 239.3788 196.8923 156.2368 239.3788 196.8873 156.2218 239.3674 196.8873 156.2368 239.3674 196.8848 156.2218 239.3572 196.8848 156.2368 239.3572 196.8839 156.2218 239.3471 196.8839 156.2368 239.3471 196.8848 156.2218 239.337 196.8848 156.2368 239.337 196.8872 156.2218 239.3271 196.8872 156.2368 239.3271 196.8915 156.2218 239.3168 196.8915 156.2368 239.3168 196.8977 156.2218 239.3066 196.8977 156.2368 239.3066 196.9054 156.2218 239.2978 196.9054 156.2368 239.2978 196.9126 156.2218 239.2917 196.9126 156.2368 239.2917 196.9194 156.2218 239.2876 196.9194 156.2368 239.2876 196.9256 156.2218 239.2851 196.9256 156.2368 239.2851 196.9313 156.2218 239.2837 196.9313 156.2368 239.2837 196.9422 156.2218 239.4331 196.952 156.2218 239.4315 196.962 156.2218 239.4282 196.9718 156.2218 239.4232 196.9814 156.2218 239.4161 196.9894 156.2218 239.4082 196.9976 156.2218 239.3971 197.0043 156.2218 239.3838 197.009 156.2218 239.3689 197.0113 156.2218 239.3528 197.0109 156.2218 239.3364 197.0078 156.2218 239.3206 197.0023 156.2218 239.3059 196.9949 156.2218 239.2931 196.9859 156.2218 239.2823 196.9762 156.2218 239.274 196.9666 156.2218 239.2681 196.9566 156.2218 239.264 196.9466 156.2218 239.2616 196.5446 156.2368 238.5434 196.5463 156.2368 238.5655 196.5463 156.2218 238.5655 196.5446 156.2218 238.5434 196.5389 156.2218 238.5192 196.5389 156.2368 238.5192 196.5293 156.2218 238.4962 196.5293 156.2368 238.4962 196.516 156.2218 238.4751 196.516 156.2368 238.4751 196.4994 156.2218 238.4565 196.4994 156.2368 238.4565 196.4799 156.2218 238.441 196.4799 156.2368 238.441 196.4582 156.2218 238.4288 196.4582 156.2368 238.4288 196.4347 156.2218 238.4205 196.4347 156.2368 238.4205 196.4101 156.2218 238.4161 196.4101 156.2368 238.4161 196.3852 156.2218 238.4159 196.3852 156.2368 238.4159 196.3606 156.2218 238.4198 196.3606 156.2368 238.4198 196.337 156.2218 238.4277 196.337 156.2368 238.4277 196.315 156.2218 238.4394 196.315 156.2368 238.4394 196.2952 156.2218 238.4546 196.2952 156.2368 238.4546 196.2783 156.2218 238.4729 196.2783 156.2368 238.4729 196.2646 156.2218 238.4937 196.2646 156.2368 238.4937 196.2545 156.2218 238.5165 196.2545 156.2368 238.5165 196.2483 156.2218 238.5406 196.2483 156.2368 238.5406 196.2463 156.2218 238.5655 196.2463 156.2368 238.5655 196.2485 156.2218 238.5915 196.2485 156.2368 238.5915 196.2553 156.2218 238.6168 196.2553 156.2368 238.6168 196.2664 156.2218 238.6405 196.2664 156.2368 238.6405 196.2814 156.2218 238.6619 196.2814 156.2368 238.6619 196.2999 156.2218 238.6804 196.2999 156.2368 238.6804 196.3213 156.2218 238.6954 196.3213 156.2368 238.6954 196.345 156.2218 238.7064 196.345 156.2368 238.7064 196.3702 156.2218 238.7132 196.3702 156.2368 238.7132 196.3963 156.2218 238.7155 196.3963 156.2368 238.7155 196.4223 156.2218 238.7132 196.4223 156.2368 238.7132 196.4476 156.2218 238.7064 196.4476 156.2368 238.7064 196.4713 156.2218 238.6954 196.4713 156.2368 238.6954 196.4927 156.2218 238.6804 196.4927 156.2368 238.6804 196.5112 156.2218 238.6619 196.5112 156.2368 238.6619 196.5262 156.2218 238.6405 196.5262 156.2368 238.6405 196.5372 156.2218 238.6168 196.5372 156.2368 238.6168 196.544 156.2218 238.5915 196.544 156.2368 238.5915 195.7756 156.2218 237.5546 195.7953 156.2218 237.5394 195.7289 156.2218 237.6915 196.025 156.2218 237.6434 196.0266 156.2218 237.6655 196.0244 156.2218 237.6915 195.8173 156.2218 237.5277 195.841 156.2218 237.5198 195.8656 156.2218 237.5159 195.8905 156.2218 237.5161 195.9151 156.2218 237.5205 195.9385 156.2218 237.5289 195.9603 156.2218 237.541 195.9797 156.2218 237.5565 195.9964 156.2218 237.5751 195.8506 156.2218 237.8132 195.8253 156.2218 237.8064 195.9516 156.2218 237.7954 195.7349 156.2218 237.6165 195.7287 156.2218 237.6406 195.7266 156.2218 237.6655 195.7449 156.2218 237.5937 195.7586 156.2218 237.5729 196.0097 156.2218 237.5962 196.0193 156.2218 237.6192 195.9731 156.2218 237.7804 195.9916 156.2218 237.7619 196.0176 156.2218 237.7168 196.0065 156.2218 237.7405 195.9279 156.2218 237.8064 195.9027 156.2218 237.8132 195.8766 156.2218 237.8155 195.8016 156.2218 237.7954 195.7802 156.2218 237.7804 195.7617 156.2218 237.7619 195.7467 156.2218 237.7405 195.7357 156.2218 237.7168 195.7266 156.2368 237.6655 195.7289 156.2368 237.6915 195.7357 156.2368 237.7168 195.7467 156.2368 237.7405 195.7617 156.2368 237.7619 195.7802 156.2368 237.7804 195.8016 156.2368 237.7954 195.8253 156.2368 237.8064 195.8506 156.2368 237.8132 195.8766 156.2368 237.8155 195.9027 156.2368 237.8132 195.9279 156.2368 237.8064 195.9516 156.2368 237.7954 195.9731 156.2368 237.7804 195.9916 156.2368 237.7619 196.0065 156.2368 237.7405 196.0176 156.2368 237.7168 196.0244 156.2368 237.6915 196.0266 156.2368 237.6655 196.025 156.2368 237.6434 196.0193 156.2368 237.6192 196.0097 156.2368 237.5962 195.9964 156.2368 237.5751 195.9797 156.2368 237.5565 195.9603 156.2368 237.541 195.9385 156.2368 237.5289 195.9151 156.2368 237.5205 195.8905 156.2368 237.5161 195.8656 156.2368 237.5159 195.841 156.2368 237.5198 195.8173 156.2368 237.5277 195.7953 156.2368 237.5394 195.7756 156.2368 237.5546 195.7586 156.2368 237.5729 195.7449 156.2368 237.5937 195.7349 156.2368 237.6165 195.7287 156.2368 237.6406 196.7985 156.2368 237.0773 195.4347 156.2368 237.8041 195.4747 156.2368 237.6471 196.8566 156.2368 237.5277 196.8346 156.2368 237.5394 196.8148 156.2368 237.5546 196.7979 156.2368 237.5729 196.7842 156.2368 237.5937 196.7741 156.2368 237.6165 196.3963 156.2368 238.9405 196.5656 156.2368 238.9257 195.7395 156.2368 237.2449 195.8678 156.2368 237.1461 196.227 156.2368 238.9257 196.0628 156.2368 238.8817 195.6292 156.2368 237.3636 195.7696 156.2368 238.7124 195.4213 156.2368 237.9655 195.4361 156.2368 238.1348 196.7297 156.2368 238.8817 195.5402 156.2368 237.4989 195.9088 156.2368 238.8099 196.8838 156.2368 238.8098 197.023 156.2368 238.7124 196.6459 156.2368 237.023 196.4864 156.2368 236.9946 196.3244 156.2368 236.9931 196.1644 156.2368 237.0184 196.0108 156.2368 237.0699 195.4801 156.2368 238.299 195.5519 156.2368 238.453 195.6494 156.2368 238.5922 196.94 156.2368 237.1562 196.9048 156.2368 237.5159 196.8802 156.2368 237.5198 197.0665 156.2368 237.2574 196.9543 156.2368 237.5205 196.9297 156.2368 237.5161 196.7679 156.2368 237.6406 196.7659 156.2368 237.6655 197.261 156.2368 237.5151 197.0489 156.2368 237.5962 197.1745 156.2368 237.3781 197.0356 156.2368 237.5751 196.774 156.2368 237.7142 196.7839 156.2368 237.7369 196.7975 156.2368 237.7576 196.7679 156.2368 237.6902 197.3713 156.2368 237.9654 197.3565 156.2368 238.1348 197.3125 156.2368 238.2989 197.2406 156.2368 238.453 197.1432 156.2368 238.5922 197.3236 156.2368 237.6645 197.3607 156.2368 237.8222 197.019 156.2368 237.5565 196.9995 156.2368 237.541 196.9777 156.2368 237.5288 196.8556 156.2368 237.8028 196.8338 156.2368 237.791 196.8143 156.2368 237.7758 196.8791 156.2368 237.8109 196.9035 156.2368 237.815 196.9283 156.2368 237.815 196.9527 156.2368 237.8109 197.0342 156.2368 237.7576 197.0478 156.2368 237.7369 197.0578 156.2368 237.7142 197.0638 156.2368 237.6902 196.9761 156.2368 237.8028 196.9979 156.2368 237.791 197.0175 156.2368 237.7758 197.0659 156.2368 237.6655 197.0642 156.2368 237.6434 197.0585 156.2368 237.6192 196.059 156.2218 239.2609 196.0527 156.2218 239.2611 196.0421 156.2218 239.2631 196.0313 156.2218 239.267 196.0206 156.2218 239.273 196.0108 156.2218 239.281 196.0024 156.2218 239.2905 195.9951 156.2218 239.302 195.9893 156.2218 239.3151 196.059 156.2218 239.4334 196.0648 156.2218 239.4331 196.0746 156.2218 239.4315 196.0845 156.2218 239.4282 196.0944 156.2218 239.4232 196.104 156.2218 239.4161 196.1119 156.2218 239.4082 196.1201 156.2218 239.3971 196.1268 156.2218 239.3838 196.1315 156.2218 239.3689 196.1338 156.2218 239.3528 196.1334 156.2218 239.3365 196.1303 156.2218 239.3206 196.1249 156.2218 239.306 196.1175 156.2218 239.2931 196.1085 156.2218 239.2823 196.0988 156.2218 239.274 196.0891 156.2218 239.2681 196.0792 156.2218 239.264 196.0691 156.2218 239.2617 196.0149 156.2218 239.3151 196.022 156.2218 239.3044 196.0292 156.2218 239.2966 196.0364 156.2218 239.2909 196.0438 156.2218 239.2868 196.0498 156.2218 239.2846 196.0554 156.2218 239.2836 196.0606 156.2218 239.2834 196.066 156.2218 239.2841 196.0717 156.2218 239.2857 196.0753 156.2218 239.2873 196.0818 156.2218 239.291 196.0885 156.2218 239.2964 196.0955 156.2218 239.3038 196.1023 156.2218 239.3138 196.1075 156.2218 239.325 196.1103 156.2218 239.3354 196.1114 156.2218 239.345 196.1112 156.2218 239.3533 196.1094 156.2218 239.363 196.1058 156.2218 239.3733 196.1004 156.2218 239.3836 196.0985 156.2218 239.3865 196.0908 156.2218 239.3957 196.0835 156.2218 239.402 196.0767 156.2218 239.4062 196.0698 156.2218 239.4091 196.0641 156.2218 239.4105 196.0589 156.2218 239.4109 196.0533 156.2218 239.4104 196.0478 156.2218 239.409 196.0418 156.2218 239.4065 196.0369 156.2218 239.4037 196.0301 156.2218 239.3984 196.0232 156.2218 239.3913 196.0166 156.2218 239.382 196.0149 156.2218 239.3791 195.9893 156.2218 239.3791 195.992 156.2218 239.386 195.9985 156.2218 239.3981 196.0064 156.2218 239.4086 196.0155 156.2218 239.4174 196.0174 156.2218 239.4189 196.0273 156.2218 239.4253 196.0378 156.2218 239.4299 196.0488 156.2218 239.4326 196.7639 156.2218 239.2608 196.7581 156.2218 239.2611 196.7483 156.2218 239.2627 196.7384 156.2218 239.266 196.7285 156.2218 239.2711 196.7189 156.2218 239.2781 196.711 156.2218 239.286 196.7028 156.2218 239.2971 196.6961 156.2218 239.3104 196.6914 156.2218 239.3253 196.6891 156.2218 239.3414 196.6895 156.2218 239.3578 196.6926 156.2218 239.3736 196.698 156.2218 239.3882 196.7054 156.2218 239.4011 196.7144 156.2218 239.4119 196.7241 156.2218 239.4202 196.7338 156.2218 239.4261 196.7437 156.2218 239.4302 196.7538 156.2218 239.4326 196.7639 156.2218 239.4333 196.7639 156.2368 239.2834 196.7639 156.2218 239.2834 196.7695 156.2218 239.2838 196.7695 156.2368 239.2838 196.7751 156.2218 239.2852 196.7751 156.2368 239.2852 196.781 156.2218 239.2877 196.781 156.2368 239.2877 196.7875 156.2218 239.2915 196.7875 156.2368 239.2915 196.7943 156.2218 239.2971 196.7943 156.2368 239.2971 196.8018 156.2218 239.3055 196.8018 156.2368 239.3055 196.8081 156.2218 239.3154 196.8081 156.2368 239.3154 196.813 156.2218 239.3268 196.813 156.2368 239.3268 196.8156 156.2218 239.337 196.8156 156.2368 239.337 196.8164 156.2218 239.3471 196.8164 156.2368 239.3471 196.8156 156.2218 239.3572 196.8156 156.2368 239.3572 196.8131 156.2218 239.3671 196.8131 156.2368 239.3671 196.8088 156.2218 239.3774 196.8088 156.2368 239.3774 196.8026 156.2218 239.3876 196.8026 156.2368 239.3876 196.795 156.2218 239.3964 196.795 156.2368 239.3964 196.7878 156.2218 239.4025 196.7878 156.2368 239.4025 196.781 156.2218 239.4066 196.781 156.2368 239.4066 196.7747 156.2218 239.4091 196.7747 156.2368 239.4091 196.769 156.2218 239.4105 196.769 156.2368 239.4105 196.7639 156.2218 239.4109 196.7639 156.2368 239.4109 196.7583 156.2218 239.4104 196.7583 156.2368 239.4104 196.7528 156.2218 239.409 196.7528 156.2368 239.409 196.7468 156.2218 239.4065 196.7468 156.2368 239.4065 196.7404 156.2218 239.4027 196.7404 156.2368 239.4027 196.7336 156.2218 239.3971 196.7336 156.2368 239.3971 196.7261 156.2218 239.3887 196.7261 156.2368 239.3887 196.7198 156.2218 239.3788 196.7198 156.2368 239.3788 196.7148 156.2218 239.3674 196.7148 156.2368 239.3674 196.7123 156.2218 239.3572 196.7123 156.2368 239.3572 196.7114 156.2218 239.3471 196.7114 156.2368 239.3471 196.7123 156.2218 239.337 196.7123 156.2368 239.337 196.7147 156.2218 239.3271 196.7147 156.2368 239.3271 196.719 156.2218 239.3168 196.719 156.2368 239.3168 196.7252 156.2218 239.3066 196.7252 156.2368 239.3066 196.7329 156.2218 239.2978 196.7329 156.2368 239.2978 196.7401 156.2218 239.2917 196.7401 156.2368 239.2917 196.7469 156.2218 239.2876 196.7469 156.2368 239.2876 196.7531 156.2218 239.2851 196.7531 156.2368 239.2851 196.7588 156.2218 239.2837 196.7588 156.2368 239.2837 196.7697 156.2218 239.4331 196.7795 156.2218 239.4315 196.7895 156.2218 239.4282 196.7993 156.2218 239.4232 196.8089 156.2218 239.4161 196.8169 156.2218 239.4082 196.8251 156.2218 239.3971 196.8318 156.2218 239.3838 196.8365 156.2218 239.3689 196.8388 156.2218 239.3528 196.8384 156.2218 239.3365 196.8353 156.2218 239.3206 196.8298 156.2218 239.306 196.8224 156.2218 239.2931 196.8134 156.2218 239.2823 196.8037 156.2218 239.274 196.7941 156.2218 239.2681 196.7841 156.2218 239.264 196.7741 156.2218 239.2616 195.8721 156.2368 239.4065 195.8657 156.2368 239.4027 195.9334 156.2368 239.3154 195.9064 156.2368 239.2877 195.9128 156.2368 239.2915 195.8451 156.2368 239.3788 195.9001 156.2368 239.4091 195.8944 156.2368 239.4105 195.9385 156.2368 239.3671 195.8784 156.2368 239.2851 195.8841 156.2368 239.2837 195.84 156.2368 239.3271 195.8781 156.2368 239.409 195.9384 156.2368 239.3268 195.9409 156.2368 239.337 195.9418 156.2368 239.3471 195.9409 156.2368 239.3572 195.8892 156.2368 239.4109 195.8836 156.2368 239.4104 195.8589 156.2368 239.3971 195.8514 156.2368 239.3887 195.9271 156.2368 239.3055 195.9196 156.2368 239.2971 195.9279 156.2368 239.3876 195.9203 156.2368 239.3964 195.9342 156.2368 239.3774 195.9131 156.2368 239.4025 195.9063 156.2368 239.4066 195.9004 156.2368 239.2852 195.8401 156.2368 239.3674 195.8376 156.2368 239.3572 195.8368 156.2368 239.3471 195.8376 156.2368 239.337 195.8892 156.2368 239.2834 195.8949 156.2368 239.2838 195.8506 156.2368 239.3066 195.8582 156.2368 239.2978 195.8443 156.2368 239.3168 195.8654 156.2368 239.2917 195.8722 156.2368 239.2876 196.4746 156.2218 239.4334 196.4746 156.2218 239.3721 196.4993 156.2218 239.4334 196.4993 156.2218 239.21 196.4746 156.2218 239.21 196.4746 156.2218 239.3471 196.4084 156.2218 239.2809 196.3833 156.2218 239.2809 196.4299 156.2218 239.3274 196.3876 156.2218 239.4334 196.4084 156.2218 239.4334 196.4447 156.2218 239.3423 197.3024 159.0368 234.3988 197.3024 158.7368 234.3988 197.3024 159.0368 233.5571 197.3024 158.7368 233.0988 197.3024 158.8096 233.1381 197.3024 158.875 233.1888 197.3024 158.9311 233.2496 197.3024 158.9764 233.3188 197.3024 159.0096 233.3945 197.3024 159.03 233.4747 195.5024 158.7368 234.3989 195.5024 159.0368 234.3989 195.5024 158.7368 233.0989 195.5024 159.0368 233.5571 195.5024 158.9311 233.2496 195.5024 158.875 233.1888 195.5024 158.8096 233.1381 195.5024 159.03 233.4747 195.5024 159.0096 233.3945 195.5024 158.9764 233.3188 195.4024 158.7368 234.3989 195.4024 159.2368 234.3989 197.4024 159.2368 234.3988 197.4024 158.7368 234.3988 197.4024 158.7368 233.0988 195.4024 158.7368 233.0989 197.9024 164.1368 236.5988 197.9024 163.7368 236.5988 197.882 163.7368 236.3519 197.8815 164.3368 236.3488 197.8815 164.1368 236.3488 197.8258 164.3368 236.1255 197.8212 163.7368 236.1118 194.9229 164.1368 236.352 194.9234 164.1368 236.3489 194.9837 163.7368 236.1118 194.9234 164.3368 236.3489 194.9791 164.3368 236.1256 194.9229 163.7368 236.352 194.9024 163.7368 236.5989 194.9024 164.1368 236.5989 197.882 164.1368 236.3519 197.7216 163.7368 235.8849 197.7348 164.3368 235.9098 197.8202 164.3368 236.1122 197.5861 163.7368 235.6775 197.6114 164.3368 235.7109 197.72 164.3368 235.8859 197.4183 163.7368 235.4953 197.4585 164.3368 235.5336 197.5841 164.3368 235.6793 197.2229 163.7368 235.3431 197.2799 164.3368 235.3823 197.4162 164.3368 235.4978 197.005 163.7368 235.2252 197.08 164.3368 235.2606 197.2209 164.3368 235.3463 196.7707 163.7368 235.1447 196.8635 164.3368 235.1715 197.0034 164.3368 235.229 196.5263 163.7368 235.104 196.6358 164.3368 235.1171 196.7696 164.3368 235.1491 196.2785 163.7368 235.104 196.4024 164.3368 235.0988 196.5259 164.3368 235.1085 196.0342 163.7368 235.1448 196.169 164.3368 235.1171 196.2789 164.3368 235.1085 195.7999 163.7368 235.2252 195.9413 164.3368 235.1715 196.0352 164.3368 235.1491 195.582 163.7368 235.3431 195.7249 164.3368 235.2606 195.8015 164.3368 235.2291 195.3865 163.7368 235.4953 195.5249 164.3368 235.3823 195.584 164.3368 235.3464 195.2187 163.7368 235.6775 195.3463 164.3368 235.5337 195.3886 164.3368 235.4978 195.0832 163.7368 235.8849 195.1935 164.3368 235.7109 195.2208 164.3368 235.6793 194.9847 164.3368 236.1122 195.07 164.3368 235.9099 195.0849 164.3368 235.886 194.8024 163.7368 236.5989 194.8267 163.7368 236.8767 194.8989 163.7368 237.1461 195.0168 163.7368 237.3989 195.1768 163.7368 237.6273 195.374 163.7368 237.8245 195.6025 163.7368 237.9845 195.8552 163.7368 238.1024 196.1246 163.7368 238.1745 196.4025 163.7368 238.1988 196.6803 163.7368 238.1745 196.9497 163.7368 238.1024 197.2025 163.7368 237.9845 197.4309 163.7368 237.8245 197.6281 163.7368 237.6273 197.7881 163.7368 237.3988 197.906 163.7368 237.1461 197.9781 163.7368 236.8767 198.0025 163.7368 236.5988 197.3025 158.6737 239.2185 197.3025 158.588 239.1585 197.3025 157.3368 239.7988 197.3025 159.3368 239.2988 197.3025 158.9737 239.2988 197.3025 159.3368 239.7988 197.3025 158.8695 239.2897 197.3025 158.7685 239.2626 197.3025 157.3679 239.288 197.3025 157.3368 239.2988 197.3024 158.3737 235.2988 197.3024 157.4868 235.2988 197.3025 158.3737 238.6988 197.3025 157.4868 239.1052 197.3025 158.3828 238.803 197.3025 157.3968 239.2722 197.3025 157.4761 239.1699 197.3025 157.4629 239.2001 197.3025 158.4099 238.904 197.3025 158.4541 238.9988 197.3025 158.5141 239.0845 197.3025 157.4449 239.2277 197.3025 157.4227 239.2519 197.3025 157.4841 239.138 195.5025 158.9737 239.2989 195.5025 159.3368 239.2989 195.5025 159.3368 239.7989 195.5025 158.5141 239.0845 195.5025 158.588 239.1585 195.5025 157.3368 239.7989 195.5025 158.6737 239.2185 195.5025 158.7685 239.2627 195.5025 158.8695 239.2897 195.5025 157.4868 239.1052 195.5024 157.4868 235.2989 195.5024 158.3737 235.2989 195.5025 157.4449 239.2277 195.5025 157.4629 239.2001 195.5025 158.4099 238.9041 195.5025 157.3368 239.2989 195.5025 157.3679 239.288 195.5025 157.3968 239.2723 195.5025 158.4541 238.9989 195.5025 157.4227 239.252 195.5025 158.3737 238.6989 195.5025 158.3828 238.8031 195.5025 157.4841 239.138 195.5025 157.4761 239.1699 195.2477 164.5368 237.196 195.3547 164.5368 237.3684 196.6047 164.5368 237.883 197.6782 164.5368 236.8488 195.1267 164.5368 236.8489 197.636 164.5368 237.009 195.1689 164.5368 237.0091 197.5572 164.5368 237.196 197.4502 164.5368 237.3684 196.0029 164.5368 237.8359 196.2002 164.5368 237.883 195.8153 164.5368 237.7587 195.642 164.5368 237.6532 195.4872 164.5368 237.522 196.4025 164.5368 237.8988 196.8021 164.5368 237.8359 196.9897 164.5368 237.7587 197.163 164.5368 237.6532 197.3177 164.5368 237.522 194.9258 164.3668 236.8489 194.9249 164.3556 236.8489 194.9799 164.3556 237.0719 195.8907 164.3368 238.0054 195.9414 164.3368 238.0262 195.9417 164.3556 238.0254 195.151 164.5359 237.015 195.231 164.5359 237.2046 195.3395 164.5359 237.3795 195.4739 164.5359 237.5354 195.6309 164.5359 237.6685 195.8068 164.5359 237.7755 195.9971 164.5359 237.8538 196.1973 164.5359 237.9016 196.4025 164.5359 237.9177 196.6076 164.5359 237.9016 196.8078 164.5359 237.8538 196.9982 164.5359 237.7755 197.174 164.5359 237.6684 197.331 164.5359 237.5354 197.4654 164.5359 237.3795 197.5739 164.5359 237.2046 197.6539 164.5359 237.015 197.6973 164.5353 236.8488 197.6861 164.5297 237.0257 197.7317 164.529 236.8488 197.7092 164.5344 236.8488 197.7168 164.5178 237.0359 197.7645 164.5171 236.8488 197.7421 164.5265 236.8488 197.7452 164.5004 237.0453 197.7948 164.4999 236.8488 197.7742 164.5131 236.8488 197.7702 164.4782 237.0537 197.8216 164.4779 236.8488 197.8031 164.4946 236.8488 197.7913 164.4518 237.0607 197.8441 164.4515 236.8488 197.8278 164.4723 236.8488 197.8191 164.3896 237.0699 197.8739 164.3895 236.8488 197.8638 164.4177 236.8488 197.825 164.3556 237.0719 197.8805 164.3556 236.8488 197.8752 164.3859 236.8488 197.8815 164.3368 236.8488 197.8789 164.3368 236.8591 197.8258 164.3368 237.0722 197.8095 164.3368 237.1108 197.7348 164.3368 237.2878 197.7341 164.3556 237.2874 197.6983 164.3368 237.3468 197.6107 164.3556 237.4862 197.6114 164.3368 237.4868 197.5482 164.3368 237.5601 197.4579 164.3556 237.6634 197.4586 164.3368 237.664 197.3637 164.3368 237.7444 197.2794 164.3556 237.8147 197.28 164.3368 237.8154 197.1503 164.3368 237.8943 197.0796 164.3556 237.9363 197.08 164.3368 237.9371 196.9142 164.3368 238.0054 196.8633 164.3556 238.0254 196.8635 164.3368 238.0262 196.6625 164.3368 238.0742 196.6357 164.3556 238.0797 196.6358 164.3368 238.0806 196.4025 164.3556 238.098 196.4025 164.3368 238.0989 196.1692 164.3556 238.0797 196.1691 164.3368 238.0806 196.1424 164.3368 238.0742 195.7249 164.3368 237.9371 195.7253 164.3556 237.9363 195.6546 164.3368 237.8943 195.5255 164.3556 237.8147 195.525 164.3368 237.8154 195.4412 164.3368 237.7445 195.347 164.3556 237.6634 195.3464 164.3368 237.6641 195.2568 164.3368 237.5601 195.1942 164.3556 237.4863 195.1935 164.3368 237.4868 195.1067 164.3368 237.3469 195.0708 164.3556 237.2875 195.0701 164.3368 237.2879 194.9954 164.3368 237.1109 194.9791 164.3368 237.0722 194.926 164.3368 236.8592 194.9234 164.3368 236.8489 194.9334 164.3979 236.8489 194.9313 164.3894 236.8489 194.9858 164.3896 237.0699 194.9465 164.4289 236.8489 194.9434 164.4217 236.8489 194.9971 164.422 237.0662 194.9646 164.4575 236.8489 194.9608 164.4515 236.8489 195.0136 164.4518 237.0607 194.9866 164.4818 236.8489 194.9832 164.478 236.8489 195.0347 164.4782 237.0537 195.0597 164.5004 237.0454 195.0121 164.502 236.8489 195.0881 164.5178 237.0359 195.0402 164.5176 236.8489 195.1074 164.5359 236.8489 195.0734 164.5298 236.8489 195.1188 164.5297 237.0257 195.2008 164.5297 237.2203 195.3121 164.5297 237.3996 195.45 164.5297 237.5595 195.6111 164.5297 237.696 195.7914 164.5297 237.8058 195.9866 164.5297 237.8861 196.192 164.5297 237.9351 196.4025 164.5297 237.9516 196.6129 164.5297 237.9351 196.8183 164.5297 237.8861 197.0135 164.5297 237.8058 197.1938 164.5297 237.696 197.3549 164.5297 237.5595 197.4928 164.5297 237.3996 197.6041 164.5297 237.2202 195.1721 164.5178 237.2351 195.2861 164.5178 237.4188 195.4272 164.5178 237.5825 195.5921 164.5178 237.7223 195.7768 164.5178 237.8347 195.9767 164.5178 237.917 196.1869 164.5178 237.9671 196.4025 164.5178 237.984 196.618 164.5178 237.9671 196.8282 164.5178 237.9169 197.0281 164.5178 237.8346 197.2128 164.5178 237.7222 197.3777 164.5178 237.5825 197.5189 164.5178 237.4188 197.6328 164.5178 237.2351 195.1456 164.5004 237.2488 195.262 164.5004 237.4365 195.4062 164.5004 237.6037 195.5747 164.5004 237.7465 195.7633 164.5004 237.8613 195.9675 164.5004 237.9454 196.1823 164.5004 237.9966 196.4025 164.5004 238.0139 196.6226 164.5004 237.9966 196.8374 164.5004 237.9453 197.0416 164.5004 237.8613 197.2302 164.5004 237.7465 197.3987 164.5004 237.6037 197.5429 164.5004 237.4364 197.6593 164.5004 237.2488 195.1221 164.4782 237.261 195.2407 164.4782 237.4521 195.3876 164.4782 237.6225 195.5592 164.4782 237.7679 195.7514 164.4782 237.8849 195.9594 164.4782 237.9705 196.1782 164.4782 238.0227 196.4025 164.4782 238.0403 196.6267 164.4782 238.0227 196.8455 164.4782 237.9705 197.0535 164.4782 237.8848 197.2457 164.4782 237.7679 197.4173 164.4782 237.6224 197.5642 164.4782 237.4521 197.6828 164.4782 237.2609 195.1024 164.4518 237.2712 195.2228 164.4518 237.4653 195.372 164.4518 237.6382 195.5462 164.4518 237.7859 195.7413 164.4518 237.9047 195.9526 164.4518 237.9916 196.1747 164.4518 238.0447 196.4025 164.4518 238.0625 196.6302 164.4518 238.0447 196.8524 164.4518 237.9916 197.0636 164.4518 237.9046 197.2587 164.4518 237.7859 197.4329 164.4518 237.6382 197.5821 164.4518 237.4652 197.7025 164.4518 237.2711 195.087 164.422 237.2791 195.2088 164.422 237.4755 195.3598 164.422 237.6506 195.5361 164.422 237.8 195.7335 164.422 237.9201 195.9472 164.422 238.0081 196.1721 164.422 238.0618 196.4025 164.422 238.0798 196.6329 164.422 238.0618 196.8577 164.422 238.0081 197.0714 164.422 237.9201 197.2688 164.422 237.7999 197.4452 164.422 237.6505 197.5961 164.422 237.4755 197.7179 164.422 237.2791 197.8078 164.422 237.0661 197.8482 164.4463 236.8488 195.0764 164.3896 237.2846 195.1992 164.3896 237.4826 195.3514 164.3896 237.659 195.5291 164.3896 237.8097 195.7281 164.3896 237.9308 195.9436 164.3896 238.0195 196.1702 164.3896 238.0736 196.4025 164.3896 238.0918 196.6347 164.3896 238.0736 196.8614 164.3896 238.0195 197.0768 164.3896 237.9308 197.2758 164.3896 237.8096 197.4536 164.3896 237.659 197.6057 164.3896 237.4826 197.7285 164.3896 237.2846 197.4024 160.7368 233.8988 197.4024 159.2368 233.0988 195.4024 160.7368 233.8989 195.4024 159.2368 233.0989 197.9806 163.7368 236.3355 197.9157 163.7368 236.0793 197.8096 163.7368 235.8373 197.6651 163.7368 235.6161 197.4861 163.7368 235.4217 197.2775 163.7368 235.2594 197.0451 163.7368 235.1336 196.7952 163.7368 235.0478 196.5345 163.7368 235.0043 196.2703 163.7368 235.0043 196.0096 163.7368 235.0478 195.7597 163.7368 235.1336 195.5273 163.7368 235.2594 195.3188 163.7368 235.4217 195.1398 163.7368 235.6161 194.9953 163.7368 235.8374 194.8891 163.7368 236.0794 194.8243 163.7368 236.3355 194.9252 163.7368 236.8593 194.9929 163.7368 237.1119 195.1034 163.7368 237.3489 195.2534 163.7368 237.563 195.4383 163.7368 237.7479 195.6525 163.7368 237.8979 195.8894 163.7368 238.0084 196.142 163.7368 238.0761 196.4025 163.7368 238.0989 196.6629 163.7368 238.0761 196.9155 163.7368 238.0084 197.1525 163.7368 237.8979 197.3666 163.7368 237.7479 197.5515 163.7368 237.563 197.7015 163.7368 237.3488 197.812 163.7368 237.1119 197.8797 163.7368 236.8593 194.9234 164.1368 236.8489 197.8815 164.1368 236.8488 195.1267 164.5368 236.3489 197.6782 164.5368 236.3488 195.1688 164.5368 236.1887 197.636 164.5368 236.1886 195.2477 164.5368 236.0017 195.6419 164.5368 235.5445 195.4871 164.5368 235.6757 195.3547 164.5368 235.8293 197.1629 164.5368 235.5445 196.9896 164.5368 235.439 197.3177 164.5368 235.6757 197.4502 164.5368 235.8293 196.802 164.5368 235.3618 197.5572 164.5368 236.0017 196.6047 164.5368 235.3147 196.4024 164.5368 235.2989 196.2002 164.5368 235.3147 196.0028 164.5368 235.3618 195.8152 164.5368 235.439 197.8791 164.367 236.3488 197.88 164.3556 236.3488 197.825 164.3556 236.1258 195.347 164.3556 235.5343 194.9799 164.3556 236.1258 195.0708 164.3556 235.9103 195.1942 164.3556 235.7115 195.5254 164.3556 235.383 195.7253 164.3556 235.2614 195.9416 164.3556 235.1723 196.1692 164.3556 235.118 196.4024 164.3556 235.0997 196.6357 164.3556 235.118 196.8632 164.3556 235.1723 197.0796 164.3556 235.2614 197.2794 164.3556 235.383 197.4579 164.3556 235.5343 197.6107 164.3556 235.7114 197.734 164.3556 235.9102 197.8714 164.3983 236.3488 197.8736 164.3894 236.3488 197.8191 164.3896 236.1277 197.8585 164.429 236.3488 197.8615 164.4217 236.3488 197.8077 164.422 236.1315 197.8405 164.4572 236.3488 197.8441 164.4516 236.3488 197.7913 164.4518 236.137 197.7702 164.4782 236.144 197.8185 164.4816 236.3488 197.7928 164.502 236.3488 197.795 164.5003 236.3488 197.7451 164.5004 236.1523 197.7168 164.5178 236.1618 197.7642 164.5178 236.3488 197.6973 164.5359 236.3488 197.7314 164.5298 236.3488 197.6861 164.5297 236.172 197.6539 164.5359 236.1827 197.5739 164.5359 235.9931 197.4654 164.5359 235.8182 197.331 164.5359 235.6623 197.1739 164.5359 235.5292 196.9981 164.5359 235.4222 196.8078 164.5359 235.3439 196.6076 164.5359 235.2961 196.4024 164.5359 235.28 196.1972 164.5359 235.2961 195.997 164.5359 235.3439 195.8067 164.5359 235.4222 195.6309 164.5359 235.5292 195.4739 164.5359 235.6623 195.3395 164.5359 235.8182 195.231 164.5359 235.9931 195.151 164.5359 236.1827 195.1076 164.5353 236.3489 195.1188 164.5297 236.172 195.0732 164.529 236.3489 195.0957 164.5344 236.3489 195.0881 164.5178 236.1618 195.0404 164.5171 236.3489 195.0629 164.5265 236.3489 195.0597 164.5004 236.1524 195.0101 164.4999 236.3489 195.0307 164.513 236.3489 195.0346 164.4782 236.144 194.9833 164.4779 236.3489 195.0017 164.4946 236.3489 195.0136 164.4518 236.137 194.9608 164.4515 236.3489 194.977 164.4722 236.3489 194.9858 164.3896 236.1278 194.931 164.3895 236.3489 194.941 164.4177 236.3489 194.9244 164.3556 236.3489 194.9297 164.3859 236.3489 197.604 164.5297 235.9774 197.4927 164.5297 235.7981 197.3549 164.5297 235.6382 197.1938 164.5297 235.5017 197.0135 164.5297 235.3919 196.8182 164.5297 235.3116 196.6129 164.5297 235.2626 196.4024 164.5297 235.2461 196.192 164.5297 235.2626 195.9866 164.5297 235.3116 195.7914 164.5297 235.3919 195.611 164.5297 235.5017 195.45 164.5297 235.6382 195.3121 164.5297 235.7981 195.2008 164.5297 235.9775 197.6328 164.5178 235.9626 197.5188 164.5178 235.7789 197.3777 164.5178 235.6152 197.2127 164.5178 235.4754 197.0281 164.5178 235.363 196.8282 164.5178 235.2807 196.6179 164.5178 235.2306 196.4024 164.5178 235.2137 196.1869 164.5178 235.2306 195.9766 164.5178 235.2808 195.7768 164.5178 235.3631 195.5921 164.5178 235.4755 195.4272 164.5178 235.6152 195.286 164.5178 235.7789 195.1721 164.5178 235.9626 197.6593 164.5004 235.9489 197.5429 164.5004 235.7612 197.3987 164.5004 235.594 197.2302 164.5004 235.4512 197.0416 164.5004 235.3364 196.8374 164.5004 235.2523 196.6226 164.5004 235.2011 196.4024 164.5004 235.1838 196.1823 164.5004 235.2011 195.9675 164.5004 235.2524 195.7633 164.5004 235.3364 195.5746 164.5004 235.4512 195.4062 164.5004 235.594 195.262 164.5004 235.7613 195.1455 164.5004 235.9489 197.6828 164.4782 235.9367 197.5642 164.4782 235.7456 197.4173 164.4782 235.5752 197.2457 164.4782 235.4298 197.0535 164.4782 235.3128 196.8455 164.4782 235.2272 196.6267 164.4782 235.175 196.4024 164.4782 235.1574 196.1782 164.4782 235.175 195.9594 164.4782 235.2272 195.7513 164.4782 235.3129 195.5592 164.4782 235.4298 195.3876 164.4782 235.5753 195.2407 164.4782 235.7456 195.1221 164.4782 235.9368 197.7025 164.4518 235.9265 197.5821 164.4518 235.7324 197.4329 164.4518 235.5595 197.2586 164.4518 235.4118 197.0635 164.4518 235.293 196.8523 164.4518 235.2061 196.6301 164.4518 235.153 196.4024 164.4518 235.1352 196.1747 164.4518 235.153 195.9525 164.4518 235.2061 195.7413 164.4518 235.293 195.5462 164.4518 235.4118 195.3719 164.4518 235.5595 195.2228 164.4518 235.7325 195.1024 164.4518 235.9266 197.7179 164.422 235.9186 197.596 164.422 235.7222 197.4451 164.422 235.5471 197.2688 164.422 235.3977 197.0714 164.422 235.2776 196.8576 164.422 235.1896 196.6328 164.422 235.1359 196.4024 164.422 235.1179 196.172 164.422 235.1359 195.9472 164.422 235.1896 195.7335 164.422 235.2776 195.5361 164.422 235.3977 195.3597 164.422 235.5472 195.2088 164.422 235.7222 195.087 164.422 235.9186 194.9971 164.422 236.1316 194.9567 164.4463 236.3489 197.7285 164.3896 235.9131 197.6057 164.3896 235.7151 197.4535 164.3896 235.5387 197.2758 164.3896 235.388 197.0768 164.3896 235.2669 196.8613 164.3896 235.1782 196.6347 164.3896 235.1241 196.4024 164.3896 235.1059 196.1701 164.3896 235.1241 195.9435 164.3896 235.1782 195.7281 164.3896 235.2669 195.5291 164.3896 235.3881 195.3513 164.3896 235.5387 195.1992 164.3896 235.7151 195.0763 164.3896 235.9131 196.0025 152.8368 236.6489 196.0024 152.8368 236.1489 196.2208 152.2368 236.1488 196.8024 152.8368 236.1488 196.5841 152.2368 236.1488 196.8024 152.8368 236.6488 196.2208 152.2368 236.6488 196.5841 152.2368 236.6488 195.9279 156.2218 239.3876 195.9342 156.2218 239.3774 195.9571 156.2218 239.3838 195.9618 156.2218 239.3689 195.8506 156.2218 239.3066 195.8443 156.2218 239.3168 195.8214 156.2218 239.3104 195.8167 156.2218 239.3253 195.9504 156.2218 239.3971 195.9422 156.2218 239.4082 195.9203 156.2218 239.3964 195.9342 156.2218 239.4161 195.9131 156.2218 239.4025 195.9246 156.2218 239.4232 195.9063 156.2218 239.4066 195.9148 156.2218 239.4282 195.9001 156.2218 239.4091 195.9049 156.2218 239.4315 195.8944 156.2218 239.4105 195.895 156.2218 239.4331 195.8892 156.2218 239.4109 195.8892 156.2218 239.4334 195.8836 156.2218 239.4104 195.8791 156.2218 239.4326 195.8781 156.2218 239.409 195.869 156.2218 239.4302 195.8721 156.2218 239.4065 195.8591 156.2218 239.4261 195.8657 156.2218 239.4027 195.8494 156.2218 239.4202 195.8589 156.2218 239.3971 195.8397 156.2218 239.4119 195.8514 156.2218 239.3887 195.8308 156.2218 239.4011 195.8451 156.2218 239.3788 195.8233 156.2218 239.3883 195.8401 156.2218 239.3674 195.8179 156.2218 239.3736 195.8376 156.2218 239.3572 195.8148 156.2218 239.3578 195.8368 156.2218 239.3471 195.8144 156.2218 239.3414 195.8376 156.2218 239.337 195.84 156.2218 239.3271 195.8281 156.2218 239.2971 195.8363 156.2218 239.286 195.8582 156.2218 239.2978 195.8442 156.2218 239.2781 195.8654 156.2218 239.2917 195.8539 156.2218 239.2711 195.8722 156.2218 239.2876 195.8637 156.2218 239.266 195.8784 156.2218 239.2851 195.8736 156.2218 239.2628 195.8841 156.2218 239.2837 195.8834 156.2218 239.2611 195.8892 156.2218 239.2834 195.8892 156.2218 239.2609 195.8949 156.2218 239.2838 195.8994 156.2218 239.2617 195.9004 156.2218 239.2852 195.9095 156.2218 239.264 195.9064 156.2218 239.2877 195.9194 156.2218 239.2681 195.9128 156.2218 239.2915 195.9291 156.2218 239.274 195.9196 156.2218 239.2971 195.9388 156.2218 239.2823 195.9271 156.2218 239.3055 195.9477 156.2218 239.2931 195.9334 156.2218 239.3154 195.9552 156.2218 239.306 195.9384 156.2218 239.3268 195.9606 156.2218 239.3206 195.9409 156.2218 239.337 195.9637 156.2218 239.3365 195.9418 156.2218 239.3471 195.9641 156.2218 239.3528 195.9409 156.2218 239.3572 195.9385 156.2218 239.3671 196.2042 156.2218 239.4127 196.2049 156.2218 239.4158 196.1679 156.2218 239.4218 196.2052 156.2218 239.4185 196.1679 156.2218 239.4154 196.1687 156.2218 239.4124 196.1762 156.2218 239.4028 196.179 156.2218 239.4013 196.1819 156.2218 239.4003 196.185 156.2218 239.3998 196.1881 156.2218 239.3999 196.1912 156.2218 239.4004 196.1941 156.2218 239.4015 196.1968 156.2218 239.403 196.1993 156.2218 239.4049 196.2049 156.2218 239.4218 196.204 156.2218 239.4249 196.2026 156.2218 239.4279 196.1676 156.2218 239.4185 196.1699 156.2218 239.4096 196.1716 156.2218 239.4069 196.1738 156.2218 239.4047 196.2014 156.2218 239.4072 196.203 156.2218 239.4099 196.2008 156.2218 239.4306 196.1985 156.2218 239.4329 196.1958 156.2218 239.4348 196.1928 156.2218 239.4361 196.1896 156.2218 239.437 196.1864 156.2218 239.4373 196.1831 156.2218 239.437 196.18 156.2218 239.4361 196.177 156.2218 239.4348 196.1743 156.2218 239.4329 196.172 156.2218 239.4306 196.1688 156.2218 239.4249 196.1702 156.2218 239.4279 195.5402 156.2218 237.4989 195.4084 156.2218 237.4271 195.6292 156.2218 237.3636 195.5112 156.2218 237.271 195.7395 156.2218 237.2449 195.6384 156.2218 237.134 195.8678 156.2218 237.1461 195.7865 156.2218 237.02 196.0108 156.2218 237.0699 195.9515 156.2218 236.9321 196.1644 156.2218 237.0184 196.1287 156.2218 236.8727 196.3244 156.2218 236.9931 196.3134 156.2218 236.8435 196.4864 156.2218 236.9946 196.5003 156.2218 236.8453 196.6459 156.2218 237.023 196.6843 156.2218 236.878 196.7985 156.2218 237.0773 196.8604 156.2218 236.9407 196.94 156.2218 237.1562 197.0237 156.2218 237.0317 197.0665 156.2218 237.2574 197.1696 156.2218 237.1484 197.1745 156.2218 237.3781 197.2942 156.2218 237.2878 197.261 156.2218 237.5151 197.394 156.2218 237.4458 197.3236 156.2218 237.6645 197.4663 156.2218 237.6182 197.3607 156.2218 237.8222 197.509 156.2218 237.8001 197.3713 156.2218 237.9654 197.5213 156.2218 237.9654 197.3565 156.2218 238.1348 197.5042 156.2218 238.1608 197.3125 156.2218 238.2989 197.4534 156.2218 238.3502 197.2406 156.2218 238.453 197.3706 156.2218 238.528 197.1432 156.2218 238.5922 197.2581 156.2218 238.6886 197.023 156.2218 238.7124 197.1194 156.2218 238.8273 196.8838 156.2218 238.8098 196.9588 156.2218 238.9397 196.7297 156.2218 238.8817 196.781 156.2218 239.0226 196.5656 156.2218 238.9257 196.5916 156.2218 239.0734 196.3963 156.2218 238.9405 196.3963 156.2218 239.0905 196.227 156.2218 238.9257 196.2009 156.2218 239.0734 196.0628 156.2218 238.8817 196.0115 156.2218 239.0226 195.9088 156.2218 238.8099 195.8338 156.2218 238.9398 195.7696 156.2218 238.7124 195.6731 156.2218 238.8273 195.6494 156.2218 238.5922 195.5345 156.2218 238.6886 195.5519 156.2218 238.453 195.422 156.2218 238.528 195.4801 156.2218 238.299 195.3391 156.2218 238.3503 195.4361 156.2218 238.1348 195.2884 156.2218 238.1608 195.4213 156.2218 237.9655 195.2713 156.2218 237.9655 195.4347 156.2218 237.8041 195.2868 156.2218 237.7792 195.4747 156.2218 237.6471 195.3329 156.2218 237.5981 196.5218 156.2218 239.3791 196.5474 156.2218 239.3791 196.5245 156.2218 239.386 196.549 156.2218 239.382 196.531 156.2218 239.3981 196.5388 156.2218 239.4086 196.5556 156.2218 239.3913 196.5479 156.2218 239.4174 196.5625 156.2218 239.3984 196.5499 156.2218 239.4189 196.5694 156.2218 239.4037 196.5598 156.2218 239.4253 196.5743 156.2218 239.4065 196.5703 156.2218 239.4299 196.5802 156.2218 239.409 196.5812 156.2218 239.4326 196.5858 156.2218 239.4104 196.5914 156.2218 239.4333 196.5913 156.2218 239.4109 196.5972 156.2218 239.4331 196.5966 156.2218 239.4104 196.607 156.2218 239.4315 196.6022 156.2218 239.4091 196.617 156.2218 239.4282 196.6091 156.2218 239.4062 196.6268 156.2218 239.4232 196.616 156.2218 239.4019 196.6364 156.2218 239.4161 196.6232 156.2218 239.3957 196.6444 156.2218 239.4082 196.6309 156.2218 239.3865 196.6526 156.2218 239.3971 196.6328 156.2218 239.3836 196.6593 156.2218 239.3838 196.6383 156.2218 239.3733 196.664 156.2218 239.3689 196.6418 156.2218 239.363 196.6663 156.2218 239.3528 196.6436 156.2218 239.3533 196.6659 156.2218 239.3365 196.6439 156.2218 239.345 196.6428 156.2218 239.3354 196.6628 156.2218 239.3206 196.6399 156.2218 239.325 196.6573 156.2218 239.306 196.6347 156.2218 239.3138 196.6499 156.2218 239.2931 196.6279 156.2218 239.3038 196.6409 156.2218 239.2823 196.621 156.2218 239.2964 196.6312 156.2218 239.274 196.6142 156.2218 239.291 196.6216 156.2218 239.2681 196.6077 156.2218 239.2873 196.6116 156.2218 239.264 196.6041 156.2218 239.2857 196.6016 156.2218 239.2616 196.5985 156.2218 239.2841 196.5914 156.2218 239.2608 196.593 156.2218 239.2834 196.5852 156.2218 239.2611 196.5878 156.2218 239.2835 196.5745 156.2218 239.2631 196.5823 156.2218 239.2846 196.5637 156.2218 239.2669 196.5762 156.2218 239.2868 196.5531 156.2218 239.273 196.5688 156.2218 239.2909 196.5432 156.2218 239.281 196.5617 156.2218 239.2966 196.5348 156.2218 239.2905 196.5545 156.2218 239.3044 196.5275 156.2218 239.302 196.5474 156.2218 239.3151 196.5218 156.2218 239.3151 196.2479 156.2218 239.3392 196.2249 156.2218 239.344 196.2503 156.2218 239.3285 196.2266 156.2218 239.3287 196.2543 156.2218 239.3182 196.2303 156.2218 239.3791 196.2565 156.2218 239.3803 196.2329 156.2218 239.386 196.2788 156.2218 239.4299 196.2683 156.2218 239.4253 196.2767 156.2218 239.4029 196.2583 156.2218 239.4189 196.2699 156.2218 239.3974 196.2564 156.2218 239.4174 196.263 156.2218 239.3899 196.2473 156.2218 239.4086 196.2394 156.2218 239.3981 196.2837 156.2218 239.407 196.2896 156.2218 239.4093 196.2897 156.2218 239.4326 196.2951 156.2218 239.4105 196.2999 156.2218 239.4334 196.3007 156.2218 239.4109 196.3057 156.2218 239.4331 196.306 156.2218 239.4103 196.3155 156.2218 239.4315 196.3124 156.2218 239.4085 196.3254 156.2218 239.4282 196.3188 156.2218 239.4056 196.3353 156.2218 239.4232 196.3257 156.2218 239.401 196.3449 156.2218 239.4161 196.3529 156.2218 239.4082 196.3743 156.2218 239.3365 196.3747 156.2218 239.3528 196.3511 156.2218 239.3594 196.3725 156.2218 239.3689 196.3479 156.2218 239.3704 196.3677 156.2218 239.3838 196.343 156.2218 239.3807 196.361 156.2218 239.3971 196.3362 156.2218 239.3907 196.333 156.2218 239.3944 196.2306 156.2218 239.3142 196.2364 156.2218 239.3011 196.2603 156.2218 239.3079 196.2432 156.2218 239.2906 196.2677 156.2218 239.2989 196.2526 156.2218 239.2802 196.275 156.2218 239.2925 196.2627 156.2218 239.2722 196.2819 156.2218 239.2881 196.2732 156.2218 239.2665 196.2882 156.2218 239.2854 196.2837 156.2218 239.2629 196.294 156.2218 239.2839 196.2942 156.2218 239.2611 196.2993 156.2218 239.2834 196.2999 156.2218 239.2609 196.3018 156.2218 239.2834 196.3071 156.2218 239.2841 196.31 156.2218 239.2616 196.3128 156.2218 239.2858 196.3201 156.2218 239.264 196.3189 156.2218 239.2887 196.3301 156.2218 239.2681 196.3255 156.2218 239.293 196.3397 156.2218 239.274 196.3323 156.2218 239.2992 196.3494 156.2218 239.2823 196.3368 156.2218 239.3042 196.3584 156.2218 239.2931 196.3433 156.2218 239.3139 196.3658 156.2218 239.306 196.3484 156.2218 239.3252 196.3713 156.2218 239.3206 196.3513 156.2218 239.3355 196.3519 156.2218 239.3392 196.2257 156.2218 239.3594 197.0642 156.2218 237.6434 197.0659 156.2218 237.6655 196.7659 156.2218 237.6655 196.9527 156.2218 237.8109 196.9761 156.2218 237.8028 196.9979 156.2218 237.791 196.9777 156.2218 237.5288 196.9543 156.2218 237.5205 196.9297 156.2218 237.5161 197.0638 156.2218 237.6902 197.0578 156.2218 237.7142 197.0478 156.2218 237.7369 197.0342 156.2218 237.7576 197.0175 156.2218 237.7758 196.7679 156.2218 237.6406 196.8802 156.2218 237.5198 196.9048 156.2218 237.5159 196.8346 156.2218 237.5394 196.7842 156.2218 237.5937 196.8148 156.2218 237.5546 196.7979 156.2218 237.5729 196.7741 156.2218 237.6165 196.8566 156.2218 237.5277 196.9283 156.2218 237.815 196.8143 156.2218 237.7758 196.7975 156.2218 237.7576 196.7839 156.2218 237.7369 196.9995 156.2218 237.541 197.019 156.2218 237.5565 197.0356 156.2218 237.5751 196.9035 156.2218 237.815 196.8791 156.2218 237.8109 196.8338 156.2218 237.791 196.8556 156.2218 237.8028 196.774 156.2218 237.7142 196.7679 156.2218 237.6902 197.0489 156.2218 237.5962 197.0585 156.2218 237.6192 195.7681 156.2218 239.2609 195.7925 156.2218 239.2609 195.7681 156.2218 239.2745 195.7925 156.2218 239.4334 195.6999 156.2218 239.2809 195.7115 156.2218 239.4334 195.6882 156.2218 239.4334 195.7681 156.2218 239.4334 195.7681 156.2218 239.3075 195.6882 156.2218 239.3114 195.6875 156.2218 239.3067 195.686 156.2218 239.3021 195.7653 156.2218 239.2983 195.7627 156.2218 239.2942 195.6838 156.2218 239.2979 195.6809 156.2218 239.2941 195.6934 156.2218 239.2749 195.6774 156.2218 239.2908 195.6861 156.2218 239.2701 195.6735 156.2218 239.2882 195.6781 156.2218 239.2665 195.6691 156.2218 239.2863 195.6697 156.2218 239.2643 195.6645 156.2218 239.2851 195.661 156.2218 239.2635 195.6597 156.2218 239.2847 195.6522 156.2218 239.264 195.655 156.2218 239.2851 195.6437 156.2218 239.2661 195.6504 156.2218 239.2863 195.6356 156.2218 239.2694 195.646 156.2218 239.2882 195.6282 156.2218 239.2741 195.642 156.2218 239.2908 195.6216 156.2218 239.2799 195.6385 156.2218 239.2941 195.6161 156.2218 239.2866 195.6356 156.2218 239.2979 195.6117 156.2218 239.2942 195.6334 156.2218 239.3021 195.6086 156.2218 239.3024 195.7671 156.2218 239.3028 195.7144 156.2218 239.2983 195.7125 156.2218 239.3028 195.7115 156.2218 239.3075 195.6312 156.2218 239.4334 195.6086 156.2218 239.4334 195.6312 156.2218 239.3114 195.632 156.2218 239.3067 195.7595 156.2218 239.2906 195.7557 156.2218 239.2876 195.7612 156.2218 239.2697 195.7515 156.2218 239.2852 195.7535 156.2218 239.2662 195.747 156.2218 239.2836 195.7453 156.2218 239.2641 195.7422 156.2218 239.2828 195.7369 156.2218 239.2634 195.7374 156.2218 239.2828 195.7285 156.2218 239.2642 195.7326 156.2218 239.2836 195.7203 156.2218 239.2664 195.7281 156.2218 239.2852 195.7127 156.2218 239.27 195.7239 156.2218 239.2876 195.7058 156.2218 239.2749 195.7201 156.2218 239.2906 195.7169 156.2218 239.2942 192.1179 156.2218 239.3877 192.1242 156.2218 239.3775 192.1471 156.2218 239.3839 192.1518 156.2218 239.369 192.0406 156.2218 239.3067 192.0343 156.2218 239.3169 192.0114 156.2218 239.3104 192.0067 156.2218 239.3254 192.1404 156.2218 239.3971 192.1322 156.2218 239.4082 192.1103 156.2218 239.3965 192.1242 156.2218 239.4162 192.1031 156.2218 239.4025 192.1146 156.2218 239.4232 192.0963 156.2218 239.4066 192.1048 156.2218 239.4283 192.0901 156.2218 239.4092 192.0949 156.2218 239.4315 192.0844 156.2218 239.4105 192.085 156.2218 239.4332 192.0792 156.2218 239.4109 192.0792 156.2218 239.4334 192.0736 156.2218 239.4104 192.0691 156.2218 239.4326 192.0681 156.2218 239.4091 192.059 156.2218 239.4302 192.0621 156.2218 239.4066 192.0491 156.2218 239.4261 192.0557 156.2218 239.4028 192.0394 156.2218 239.4203 192.0489 156.2218 239.3972 192.0297 156.2218 239.412 192.0414 156.2218 239.3888 192.0208 156.2218 239.4012 192.0351 156.2218 239.3789 192.0133 156.2218 239.3883 192.0302 156.2218 239.3675 192.0079 156.2218 239.3737 192.0276 156.2218 239.3572 192.0048 156.2218 239.3578 192.0267 156.2218 239.3472 192.0044 156.2218 239.3415 192.0276 156.2218 239.3371 192.03 156.2218 239.3272 192.0181 156.2218 239.2972 192.0263 156.2218 239.2861 192.0482 156.2218 239.2979 192.0343 156.2218 239.2782 192.0554 156.2218 239.2918 192.0439 156.2218 239.2711 192.0622 156.2218 239.2877 192.0537 156.2218 239.2661 192.0685 156.2218 239.2852 192.0636 156.2218 239.2628 192.0741 156.2218 239.2838 192.0735 156.2218 239.2612 192.0792 156.2218 239.2834 192.0792 156.2218 239.2609 192.0849 156.2218 239.2839 192.0894 156.2218 239.2617 192.0904 156.2218 239.2853 192.0995 156.2218 239.2641 192.0964 156.2218 239.2877 192.1094 156.2218 239.2682 192.1028 156.2218 239.2916 192.1191 156.2218 239.2741 192.1096 156.2218 239.2972 192.1288 156.2218 239.2824 192.1171 156.2218 239.3056 192.1377 156.2218 239.2932 192.1234 156.2218 239.3154 192.1452 156.2218 239.306 192.1284 156.2218 239.3269 192.1506 156.2218 239.3206 192.1309 156.2218 239.3371 192.1537 156.2218 239.3365 192.1318 156.2218 239.3472 192.1541 156.2218 239.3529 192.1309 156.2218 239.3573 192.1285 156.2218 239.3671 192.3942 156.2218 239.4128 192.3949 156.2218 239.4158 192.3579 156.2218 239.4218 192.3952 156.2218 239.4186 192.3579 156.2218 239.4155 192.3587 156.2218 239.4125 192.3662 156.2218 239.4028 192.369 156.2218 239.4014 192.3719 156.2218 239.4004 192.375 156.2218 239.3999 192.3781 156.2218 239.3999 192.3812 156.2218 239.4005 192.3841 156.2218 239.4015 192.3869 156.2218 239.403 192.3893 156.2218 239.405 192.3949 156.2218 239.4218 192.394 156.2218 239.425 192.3926 156.2218 239.428 192.3576 156.2218 239.4186 192.3599 156.2218 239.4096 192.3616 156.2218 239.407 192.3638 156.2218 239.4047 192.3914 156.2218 239.4073 192.393 156.2218 239.4099 192.3908 156.2218 239.4306 192.3885 156.2218 239.4329 192.3858 156.2218 239.4348 192.3828 156.2218 239.4362 192.3796 156.2218 239.4371 192.3764 156.2218 239.4373 192.3731 156.2218 239.4371 192.37 156.2218 239.4362 192.367 156.2218 239.4348 192.3643 156.2218 239.4329 192.362 156.2218 239.4306 192.3588 156.2218 239.425 192.3602 156.2218 239.428 191.7302 156.2218 237.4989 191.5984 156.2218 237.4272 191.8192 156.2218 237.3636 191.7012 156.2218 237.271 191.9295 156.2218 237.2449 191.8284 156.2218 237.1341 192.0578 156.2218 237.1461 191.9765 156.2218 237.0201 192.2008 156.2218 237.07 192.1415 156.2218 236.9322 192.3544 156.2218 237.0185 192.3187 156.2218 236.8728 192.5144 156.2218 236.9932 192.5034 156.2218 236.8436 192.6764 156.2218 236.9947 192.6903 156.2218 236.8453 192.8359 156.2218 237.023 192.8743 156.2218 236.878 192.9885 156.2218 237.0774 193.0504 156.2218 236.9407 193.13 156.2218 237.1562 193.2137 156.2218 237.0317 193.2565 156.2218 237.2574 193.3596 156.2218 237.1485 193.3645 156.2218 237.3782 193.4842 156.2218 237.2878 193.451 156.2218 237.5151 193.584 156.2218 237.4458 193.5136 156.2218 237.6645 193.6563 156.2218 237.6182 193.5507 156.2218 237.8222 193.699 156.2218 237.8002 193.5613 156.2218 237.9655 193.7113 156.2218 237.9655 193.5465 156.2218 238.1348 193.6942 156.2218 238.1609 193.5025 156.2218 238.299 193.6434 156.2218 238.3503 193.4306 156.2218 238.453 193.5605 156.2218 238.528 193.3332 156.2218 238.5922 193.4481 156.2218 238.6887 193.213 156.2218 238.7124 193.3094 156.2218 238.8273 193.0738 156.2218 238.8099 193.1488 156.2218 238.9398 192.9197 156.2218 238.8817 192.971 156.2218 239.0227 192.7556 156.2218 238.9257 192.7816 156.2218 239.0734 192.5863 156.2218 238.9405 192.5863 156.2218 239.0905 192.417 156.2218 238.9257 192.3909 156.2218 239.0734 192.2528 156.2218 238.8817 192.2015 156.2218 239.0227 192.0988 156.2218 238.8099 192.0238 156.2218 238.9398 191.9596 156.2218 238.7124 191.8631 156.2218 238.8273 191.8394 156.2218 238.5923 191.7245 156.2218 238.6887 191.7419 156.2218 238.453 191.612 156.2218 238.528 191.6701 156.2218 238.299 191.5291 156.2218 238.3503 191.6261 156.2218 238.1349 191.4784 156.2218 238.1609 191.6113 156.2218 237.9655 191.4613 156.2218 237.9655 191.6247 156.2218 237.8041 191.4768 156.2218 237.7793 191.6647 156.2218 237.6471 191.5229 156.2218 237.5981 192.7118 156.2218 239.3792 192.7374 156.2218 239.3792 192.7145 156.2218 239.386 192.739 156.2218 239.382 192.721 156.2218 239.3982 192.7288 156.2218 239.4087 192.7456 156.2218 239.3913 192.7379 156.2218 239.4174 192.7525 156.2218 239.3985 192.7399 156.2218 239.419 192.7594 156.2218 239.4037 192.7498 156.2218 239.4253 192.7643 156.2218 239.4066 192.7603 156.2218 239.4299 192.7702 156.2218 239.409 192.7712 156.2218 239.4326 192.7758 156.2218 239.4104 192.7814 156.2218 239.4334 192.7813 156.2218 239.4109 192.7872 156.2218 239.4331 192.7866 156.2218 239.4105 192.797 156.2218 239.4315 192.7922 156.2218 239.4092 192.807 156.2218 239.4283 192.7991 156.2218 239.4063 192.8168 156.2218 239.4232 192.806 156.2218 239.402 192.8264 156.2218 239.4162 192.8132 156.2218 239.3957 192.8344 156.2218 239.4082 192.8209 156.2218 239.3865 192.8426 156.2218 239.3971 192.8228 156.2218 239.3836 192.8493 156.2218 239.3839 192.8283 156.2218 239.3733 192.854 156.2218 239.3689 192.8318 156.2218 239.3631 192.8563 156.2218 239.3529 192.8336 156.2218 239.3534 192.8559 156.2218 239.3365 192.8339 156.2218 239.3451 192.8328 156.2218 239.3354 192.8528 156.2218 239.3206 192.8299 156.2218 239.3251 192.8473 156.2218 239.306 192.8247 156.2218 239.3138 192.8399 156.2218 239.2932 192.8179 156.2218 239.3038 192.8309 156.2218 239.2824 192.811 156.2218 239.2964 192.8212 156.2218 239.2741 192.8042 156.2218 239.2911 192.8116 156.2218 239.2682 192.7977 156.2218 239.2873 192.8016 156.2218 239.2641 192.7941 156.2218 239.2858 192.7916 156.2218 239.2617 192.7885 156.2218 239.2842 192.7814 156.2218 239.2609 192.783 156.2218 239.2834 192.7752 156.2218 239.2612 192.7778 156.2218 239.2836 192.7645 156.2218 239.2631 192.7723 156.2218 239.2847 192.7537 156.2218 239.267 192.7662 156.2218 239.2868 192.7431 156.2218 239.2731 192.7588 156.2218 239.2909 192.7332 156.2218 239.2811 192.7517 156.2218 239.2966 192.7248 156.2218 239.2906 192.7445 156.2218 239.3044 192.7175 156.2218 239.302 192.7374 156.2218 239.3151 192.7118 156.2218 239.3151 192.4379 156.2218 239.3393 192.415 156.2218 239.344 192.4403 156.2218 239.3285 192.4166 156.2218 239.3287 192.4443 156.2218 239.3183 192.4203 156.2218 239.3792 192.4465 156.2218 239.3804 192.4229 156.2218 239.386 192.4688 156.2218 239.4299 192.4583 156.2218 239.4254 192.4667 156.2218 239.4029 192.4483 156.2218 239.419 192.4599 156.2218 239.3975 192.4464 156.2218 239.4174 192.453 156.2218 239.39 192.4373 156.2218 239.4087 192.4294 156.2218 239.3982 192.4737 156.2218 239.407 192.4796 156.2218 239.4093 192.4797 156.2218 239.4326 192.4851 156.2218 239.4106 192.4899 156.2218 239.4334 192.4907 156.2218 239.4109 192.4957 156.2218 239.4331 192.496 156.2218 239.4104 192.5055 156.2218 239.4315 192.5024 156.2218 239.4086 192.5154 156.2218 239.4283 192.5088 156.2218 239.4057 192.5253 156.2218 239.4232 192.5157 156.2218 239.4011 192.5349 156.2218 239.4162 192.5429 156.2218 239.4082 192.5643 156.2218 239.3365 192.5647 156.2218 239.3529 192.5411 156.2218 239.3594 192.5625 156.2218 239.3689 192.5379 156.2218 239.3705 192.5578 156.2218 239.3839 192.533 156.2218 239.3808 192.551 156.2218 239.3971 192.5262 156.2218 239.3907 192.523 156.2218 239.3944 192.4206 156.2218 239.3143 192.4264 156.2218 239.3012 192.4503 156.2218 239.308 192.4332 156.2218 239.2907 192.4577 156.2218 239.2989 192.4426 156.2218 239.2803 192.465 156.2218 239.2926 192.4527 156.2218 239.2723 192.4719 156.2218 239.2882 192.4632 156.2218 239.2666 192.4782 156.2218 239.2854 192.4738 156.2218 239.2629 192.484 156.2218 239.2839 192.4842 156.2218 239.2612 192.4893 156.2218 239.2834 192.4899 156.2218 239.2609 192.4918 156.2218 239.2835 192.4971 156.2218 239.2842 192.5 156.2218 239.2617 192.5028 156.2218 239.2859 192.5101 156.2218 239.2641 192.5089 156.2218 239.2887 192.52 156.2218 239.2682 192.5155 156.2218 239.2931 192.5297 156.2218 239.2741 192.5223 156.2218 239.2992 192.5394 156.2218 239.2824 192.5267 156.2218 239.3043 192.5484 156.2218 239.2932 192.5333 156.2218 239.314 192.5558 156.2218 239.306 192.5384 156.2218 239.3253 192.5613 156.2218 239.3206 192.5413 156.2218 239.3355 192.5419 156.2218 239.3393 192.4157 156.2218 239.3594 193.2543 156.2218 237.6435 193.2559 156.2218 237.6655 192.9559 156.2218 237.6655 193.1427 156.2218 237.8109 193.1661 156.2218 237.8029 193.1879 156.2218 237.7911 193.1678 156.2218 237.5289 193.1443 156.2218 237.5205 193.1197 156.2218 237.5162 193.2538 156.2218 237.6902 193.2478 156.2218 237.7142 193.2378 156.2218 237.7369 193.2242 156.2218 237.7577 193.2075 156.2218 237.7759 192.9579 156.2218 237.6407 193.0702 156.2218 237.5198 193.0948 156.2218 237.5159 193.0246 156.2218 237.5395 192.9742 156.2218 237.5937 193.0048 156.2218 237.5547 192.9879 156.2218 237.5729 192.9641 156.2218 237.6165 193.0466 156.2218 237.5277 193.1183 156.2218 237.815 193.0043 156.2218 237.7759 192.9875 156.2218 237.7577 192.9739 156.2218 237.7369 193.1895 156.2218 237.541 193.209 156.2218 237.5566 193.2256 156.2218 237.5752 193.0935 156.2218 237.815 193.0691 156.2218 237.8109 193.0238 156.2218 237.7911 193.0456 156.2218 237.8029 192.964 156.2218 237.7142 192.9579 156.2218 237.6902 193.2389 156.2218 237.5962 193.2485 156.2218 237.6192 191.9581 156.2218 239.2609 191.9825 156.2218 239.2609 191.9581 156.2218 239.2746 191.9825 156.2218 239.4334 191.8899 156.2218 239.281 191.9015 156.2218 239.4334 191.8782 156.2218 239.4334 191.9581 156.2218 239.4334 191.9581 156.2218 239.3075 191.8782 156.2218 239.3114 191.8775 156.2218 239.3067 191.876 156.2218 239.3022 191.9553 156.2218 239.2984 191.9527 156.2218 239.2943 191.8738 156.2218 239.298 191.8709 156.2218 239.2942 191.8834 156.2218 239.275 191.8674 156.2218 239.2909 191.8761 156.2218 239.2702 191.8635 156.2218 239.2882 191.8681 156.2218 239.2666 191.8591 156.2218 239.2863 191.8597 156.2218 239.2643 191.8545 156.2218 239.2851 191.851 156.2218 239.2635 191.8497 156.2218 239.2847 191.8422 156.2218 239.2641 191.845 156.2218 239.2851 191.8337 156.2218 239.2661 191.8404 156.2218 239.2863 191.8256 156.2218 239.2695 191.836 156.2218 239.2882 191.8182 156.2218 239.2741 191.832 156.2218 239.2909 191.8116 156.2218 239.2799 191.8285 156.2218 239.2942 191.8061 156.2218 239.2867 191.8256 156.2218 239.298 191.8017 156.2218 239.2943 191.8234 156.2218 239.3022 191.7986 156.2218 239.3025 191.9571 156.2218 239.3028 191.9044 156.2218 239.2984 191.9025 156.2218 239.3028 191.9015 156.2218 239.3075 191.8212 156.2218 239.4334 191.7986 156.2218 239.4334 191.8212 156.2218 239.3114 191.822 156.2218 239.3067 191.9495 156.2218 239.2907 191.9457 156.2218 239.2876 191.9512 156.2218 239.2698 191.9415 156.2218 239.2853 191.9435 156.2218 239.2663 191.937 156.2218 239.2837 191.9353 156.2218 239.2641 191.9322 156.2218 239.2829 191.9269 156.2218 239.2634 191.9274 156.2218 239.2829 191.9185 156.2218 239.2642 191.9226 156.2218 239.2837 191.9103 156.2218 239.2664 191.9181 156.2218 239.2853 191.9027 156.2218 239.2701 191.9139 156.2218 239.2876 191.8958 156.2218 239.2749 191.9101 156.2218 239.2907 191.9069 156.2218 239.2943 199.7379 156.2218 239.3875 199.7442 156.2218 239.3774 199.7671 156.2218 239.3838 199.7718 156.2218 239.3688 199.6606 156.2218 239.3066 199.6543 156.2218 239.3167 199.6314 156.2218 239.3103 199.6267 156.2218 239.3253 199.7604 156.2218 239.397 199.7522 156.2218 239.4081 199.7303 156.2218 239.3964 199.7442 156.2218 239.4161 199.7231 156.2218 239.4024 199.7346 156.2218 239.4231 199.7163 156.2218 239.4065 199.7248 156.2218 239.4282 199.71 156.2218 239.4091 199.7149 156.2218 239.4314 199.7044 156.2218 239.4104 199.705 156.2218 239.433 199.6992 156.2218 239.4108 199.6992 156.2218 239.4333 199.6936 156.2218 239.4103 199.6891 156.2218 239.4325 199.6881 156.2218 239.409 199.679 156.2218 239.4301 199.6821 156.2218 239.4065 199.6691 156.2218 239.426 199.6757 156.2218 239.4026 199.6594 156.2218 239.4201 199.6689 156.2218 239.3971 199.6497 156.2218 239.4118 199.6614 156.2218 239.3887 199.6408 156.2218 239.401 199.6551 156.2218 239.3788 199.6333 156.2218 239.3882 199.6502 156.2218 239.3674 199.6279 156.2218 239.3736 199.6476 156.2218 239.3571 199.6248 156.2218 239.3577 199.6467 156.2218 239.3471 199.6244 156.2218 239.3414 199.6476 156.2218 239.337 199.65 156.2218 239.3271 199.6381 156.2218 239.2971 199.6463 156.2218 239.286 199.6682 156.2218 239.2978 199.6542 156.2218 239.2781 199.6754 156.2218 239.2917 199.6639 156.2218 239.271 199.6822 156.2218 239.2876 199.6737 156.2218 239.266 199.6885 156.2218 239.285 199.6836 156.2218 239.2627 199.6941 156.2218 239.2837 199.6934 156.2218 239.2611 199.6992 156.2218 239.2833 199.6992 156.2218 239.2608 199.7049 156.2218 239.2838 199.7094 156.2218 239.2616 199.7104 156.2218 239.2852 199.7194 156.2218 239.264 199.7164 156.2218 239.2876 199.7294 156.2218 239.2681 199.7228 156.2218 239.2915 199.7391 156.2218 239.274 199.7296 156.2218 239.2971 199.7488 156.2218 239.2823 199.7371 156.2218 239.3055 199.7577 156.2218 239.2931 199.7434 156.2218 239.3153 199.7652 156.2218 239.3059 199.7483 156.2218 239.3267 199.7706 156.2218 239.3205 199.7509 156.2218 239.337 199.7737 156.2218 239.3364 199.7518 156.2218 239.3471 199.7741 156.2218 239.3527 199.7509 156.2218 239.3572 199.7485 156.2218 239.367 200.0142 156.2218 239.4127 200.0149 156.2218 239.4157 199.9779 156.2218 239.4217 200.0151 156.2218 239.4185 199.9779 156.2218 239.4154 199.9787 156.2218 239.4123 199.9862 156.2218 239.4027 199.989 156.2218 239.4013 199.9919 156.2218 239.4003 199.995 156.2218 239.3998 199.9981 156.2218 239.3998 200.0012 156.2218 239.4003 200.0041 156.2218 239.4014 200.0068 156.2218 239.4029 200.0093 156.2218 239.4049 200.0149 156.2218 239.4217 200.014 156.2218 239.4249 200.0126 156.2218 239.4279 199.9776 156.2218 239.4185 199.9799 156.2218 239.4095 199.9816 156.2218 239.4069 199.9838 156.2218 239.4046 200.0114 156.2218 239.4072 200.013 156.2218 239.4098 200.0108 156.2218 239.4305 200.0084 156.2218 239.4328 200.0058 156.2218 239.4347 200.0028 156.2218 239.4361 199.9996 156.2218 239.4369 199.9964 156.2218 239.4372 199.9931 156.2218 239.4369 199.99 156.2218 239.4361 199.987 156.2218 239.4347 199.9843 156.2218 239.4328 199.982 156.2218 239.4305 199.9788 156.2218 239.4249 199.9802 156.2218 239.4279 199.3502 156.2218 237.4988 199.2184 156.2218 237.427 199.4392 156.2218 237.3635 199.3212 156.2218 237.2709 199.5495 156.2218 237.2448 199.4484 156.2218 237.134 199.6778 156.2218 237.146 199.5965 156.2218 237.02 199.8208 156.2218 237.0699 199.7615 156.2218 236.9321 199.9744 156.2218 237.0184 199.9387 156.2218 236.8727 200.1344 156.2218 236.9931 200.1233 156.2218 236.8435 200.2964 156.2218 236.9946 200.3103 156.2218 236.8452 200.4559 156.2218 237.0229 200.4943 156.2218 236.8779 200.6085 156.2218 237.0773 200.6704 156.2218 236.9406 200.75 156.2218 237.1561 200.8337 156.2218 237.0316 200.8765 156.2218 237.2573 200.9796 156.2218 237.1484 200.9845 156.2218 237.3781 201.1042 156.2218 237.2877 201.071 156.2218 237.515 201.204 156.2218 237.4457 201.1336 156.2218 237.6644 201.2763 156.2218 237.6181 201.1707 156.2218 237.8221 201.319 156.2218 237.8001 201.1813 156.2218 237.9654 201.3313 156.2218 237.9654 201.1665 156.2218 238.1347 201.3142 156.2218 238.1607 201.1225 156.2218 238.2989 201.2634 156.2218 238.3502 201.0506 156.2218 238.4529 201.1805 156.2218 238.5279 200.9532 156.2218 238.5921 201.0681 156.2218 238.6885 200.833 156.2218 238.7123 200.9294 156.2218 238.8272 200.6938 156.2218 238.8098 200.7688 156.2218 238.9397 200.5397 156.2218 238.8816 200.591 156.2218 239.0226 200.3756 156.2218 238.9256 200.4016 156.2218 239.0733 200.2063 156.2218 238.9404 200.2063 156.2218 239.0904 200.037 156.2218 238.9256 200.0109 156.2218 239.0733 199.8728 156.2218 238.8816 199.8215 156.2218 239.0226 199.7188 156.2218 238.8098 199.6438 156.2218 238.9397 199.5796 156.2218 238.7123 199.4831 156.2218 238.8272 199.4594 156.2218 238.5921 199.3445 156.2218 238.6886 199.3619 156.2218 238.4529 199.232 156.2218 238.5279 199.2901 156.2218 238.2989 199.1491 156.2218 238.3502 199.2461 156.2218 238.1347 199.0984 156.2218 238.1608 199.2313 156.2218 237.9654 199.0813 156.2218 237.9654 199.2447 156.2218 237.804 199.0968 156.2218 237.7792 199.2847 156.2218 237.647 199.1429 156.2218 237.598 200.3318 156.2218 239.3791 200.3574 156.2218 239.3791 200.3345 156.2218 239.3859 200.359 156.2218 239.3819 200.341 156.2218 239.3981 200.3488 156.2218 239.4085 200.3656 156.2218 239.3912 200.3579 156.2218 239.4173 200.3725 156.2218 239.3984 200.3599 156.2218 239.4188 200.3794 156.2218 239.4036 200.3698 156.2218 239.4252 200.3843 156.2218 239.4064 200.3803 156.2218 239.4298 200.3902 156.2218 239.4089 200.3912 156.2218 239.4325 200.3957 156.2218 239.4103 200.4014 156.2218 239.4333 200.4013 156.2218 239.4108 200.4072 156.2218 239.433 200.4066 156.2218 239.4104 200.417 156.2218 239.4314 200.4122 156.2218 239.4091 200.427 156.2218 239.4281 200.4191 156.2218 239.4062 200.4368 156.2218 239.4231 200.426 156.2218 239.4019 200.4464 156.2218 239.416 200.4332 156.2218 239.3956 200.4544 156.2218 239.4081 200.4409 156.2218 239.3864 200.4626 156.2218 239.397 200.4428 156.2218 239.3835 200.4693 156.2218 239.3838 200.4483 156.2218 239.3732 200.474 156.2218 239.3688 200.4518 156.2218 239.363 200.4763 156.2218 239.3527 200.4536 156.2218 239.3533 200.4759 156.2218 239.3364 200.4539 156.2218 239.345 200.4528 156.2218 239.3353 200.4728 156.2218 239.3205 200.4499 156.2218 239.325 200.4673 156.2218 239.3059 200.4447 156.2218 239.3137 200.4599 156.2218 239.2931 200.4379 156.2218 239.3037 200.4509 156.2218 239.2823 200.431 156.2218 239.2963 200.4412 156.2218 239.274 200.4242 156.2218 239.291 200.4316 156.2218 239.2681 200.4177 156.2218 239.2872 200.4216 156.2218 239.264 200.4141 156.2218 239.2857 200.4116 156.2218 239.2616 200.4085 156.2218 239.2841 200.4014 156.2218 239.2608 200.403 156.2218 239.2833 200.3952 156.2218 239.2611 200.3978 156.2218 239.2835 200.3845 156.2218 239.263 200.3923 156.2218 239.2845 200.3737 156.2218 239.2669 200.3862 156.2218 239.2867 200.363 156.2218 239.2729 200.3788 156.2218 239.2908 200.3532 156.2218 239.281 200.3717 156.2218 239.2965 200.3448 156.2218 239.2905 200.3645 156.2218 239.3043 200.3375 156.2218 239.3019 200.3574 156.2218 239.315 200.3318 156.2218 239.315 200.0579 156.2218 239.3392 200.035 156.2218 239.3439 200.0603 156.2218 239.3284 200.0366 156.2218 239.3286 200.0643 156.2218 239.3182 200.0403 156.2218 239.3791 200.0665 156.2218 239.3802 200.0429 156.2218 239.3859 200.0888 156.2218 239.4298 200.0783 156.2218 239.4252 200.0867 156.2218 239.4028 200.0683 156.2218 239.4188 200.0799 156.2218 239.3974 200.0664 156.2218 239.4173 200.073 156.2218 239.3898 200.0573 156.2218 239.4085 200.0494 156.2218 239.3981 200.0937 156.2218 239.4069 200.0996 156.2218 239.4092 200.0997 156.2218 239.4325 200.1051 156.2218 239.4105 200.1099 156.2218 239.4333 200.1107 156.2218 239.4108 200.1157 156.2218 239.433 200.116 156.2218 239.4102 200.1255 156.2218 239.4314 200.1224 156.2218 239.4085 200.1354 156.2218 239.4282 200.1287 156.2218 239.4056 200.1453 156.2218 239.4231 200.1357 156.2218 239.401 200.1549 156.2218 239.4161 200.1629 156.2218 239.4081 200.1843 156.2218 239.3364 200.1847 156.2218 239.3527 200.1611 156.2218 239.3593 200.1825 156.2218 239.3688 200.1579 156.2218 239.3704 200.1777 156.2218 239.3838 200.153 156.2218 239.3807 200.171 156.2218 239.397 200.1462 156.2218 239.3906 200.143 156.2218 239.3943 200.0406 156.2218 239.3141 200.0464 156.2218 239.3011 200.0703 156.2218 239.3079 200.0532 156.2218 239.2906 200.0777 156.2218 239.2988 200.0626 156.2218 239.2801 200.085 156.2218 239.2925 200.0727 156.2218 239.2722 200.0919 156.2218 239.2881 200.0832 156.2218 239.2665 200.0982 156.2218 239.2853 200.0937 156.2218 239.2628 200.104 156.2218 239.2838 200.1042 156.2218 239.261 200.1093 156.2218 239.2833 200.1099 156.2218 239.2608 200.1118 156.2218 239.2834 200.1172 156.2218 239.2841 200.12 156.2218 239.2616 200.1228 156.2218 239.2858 200.1301 156.2218 239.264 200.1289 156.2218 239.2886 200.14 156.2218 239.2681 200.1354 156.2218 239.2929 200.1497 156.2218 239.274 200.1423 156.2218 239.2991 200.1594 156.2218 239.2823 200.1467 156.2218 239.3042 200.1684 156.2218 239.2931 200.1533 156.2218 239.3139 200.1758 156.2218 239.3059 200.1584 156.2218 239.3252 200.1813 156.2218 239.3205 200.1613 156.2218 239.3354 200.1619 156.2218 239.3392 200.0357 156.2218 239.3593 200.8742 156.2218 237.6434 200.8759 156.2218 237.6654 200.5759 156.2218 237.6654 200.7627 156.2218 237.8108 200.7861 156.2218 237.8028 200.8079 156.2218 237.791 200.7878 156.2218 237.5288 200.7643 156.2218 237.5204 200.7397 156.2218 237.516 200.8738 156.2218 237.6901 200.8677 156.2218 237.7141 200.8578 156.2218 237.7368 200.8442 156.2218 237.7575 200.8275 156.2218 237.7758 200.5779 156.2218 237.6406 200.6902 156.2218 237.5197 200.7148 156.2218 237.5158 200.6446 156.2218 237.5393 200.5942 156.2218 237.5936 200.6248 156.2218 237.5545 200.6079 156.2218 237.5728 200.5841 156.2218 237.6164 200.6666 156.2218 237.5276 200.7383 156.2218 237.8149 200.6243 156.2218 237.7758 200.6075 156.2218 237.7575 200.5939 156.2218 237.7368 200.8095 156.2218 237.5409 200.829 156.2218 237.5565 200.8456 156.2218 237.5751 200.7135 156.2218 237.8149 200.6891 156.2218 237.8108 200.6438 156.2218 237.791 200.6656 156.2218 237.8028 200.584 156.2218 237.7141 200.5779 156.2218 237.6901 200.8589 156.2218 237.5961 200.8685 156.2218 237.6191 199.5781 156.2218 239.2608 199.6025 156.2218 239.2608 199.5781 156.2218 239.2745 199.6025 156.2218 239.4333 199.5099 156.2218 239.2808 199.5215 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239.2983 199.5225 156.2218 239.3027 199.5215 156.2218 239.3074 199.4412 156.2218 239.4333 199.4186 156.2218 239.4333 199.4412 156.2218 239.3113 199.442 156.2218 239.3066 199.5695 156.2218 239.2906 199.5657 156.2218 239.2875 199.5712 156.2218 239.2697 199.5615 156.2218 239.2852 199.5635 156.2218 239.2662 199.557 156.2218 239.2836 199.5553 156.2218 239.264 199.5522 156.2218 239.2828 199.5469 156.2218 239.2633 199.5474 156.2218 239.2828 199.5385 156.2218 239.2641 199.5426 156.2218 239.2836 199.5303 156.2218 239.2663 199.5381 156.2218 239.2852 199.5227 156.2218 239.27 199.5339 156.2218 239.2875 199.5158 156.2218 239.2748 199.5301 156.2218 239.2906 199.5269 156.2218 239.2942 170.5751 156.1968 176.7278 168.0751 156.1968 176.7279 170.5751 156.1968 175.0278 168.0751 156.1968 175.0279 168.1751 158.0868 175.8028 168.175 158.0853 179.1078 170.4751 158.0868 175.8028 170.4753 158.0853 179.1078 170.4753 158.0853 179.9529 170.5252 157.5153 180.0028 170.5251 157.5153 175.7528 168.175 158.0853 179.953 168.1252 157.5153 180.0028 168.1251 157.5153 175.7528 168.6561 157.2338 180.0028 168.1252 157.0583 180.0028 170.0061 157.2338 180.0028 170.5252 157.0583 180.0028 170.0061 157.4338 180.0028 168.6561 157.4338 180.0028 170.0061 157.2338 180.1328 168.6561 157.2338 180.1328 170.0061 157.2038 180.1628 168.6561 157.2038 180.1628 170.0061 157.2085 180.1624 168.6561 157.2085 180.1625 170.0061 157.2131 180.1613 168.6561 157.2131 180.1614 170.0061 157.2174 180.1595 168.6561 157.2174 180.1596 170.0061 157.2214 180.1571 168.6561 157.2214 180.1571 170.0061 157.225 180.154 168.6561 157.225 180.154 170.0061 157.2281 180.1504 168.6561 157.2281 180.1505 170.0061 157.2305 180.1464 168.6561 157.2305 180.1464 170.0061 157.2323 180.1421 168.6561 157.2323 180.1421 170.0061 157.2334 180.1375 168.6561 157.2334 180.1375 168.6561 156.4514 180.1628 170.0061 156.4514 180.1628 168.6561 157.3519 180.3465 168.6561 157.3719 180.3342 168.6561 157.3301 180.3555 168.6561 157.3072 180.361 168.6561 157.2838 180.3628 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227.7525 161.8168 189.9271 227.7575 161.8168 189.92 227.723 161.8168 190.9455 227.7144 161.8168 190.9448 227.7143 161.8168 189.9448 227.645 161.8168 189.9448 227.6316 161.8168 189.943 227.6383 161.8168 189.9443 227.6383 161.8168 190.9452 227.645 161.8168 190.9448 227.1662 161.8168 191.2448 230.2661 161.8168 189.8947 237.9661 161.8168 189.8946 230.2662 161.8168 190.9947 237.9662 161.8168 190.9946 226.1811 159.4668 190.1198 226.1811 158.2468 190.1198 226.4311 159.4668 190.1198 226.4311 158.2468 190.1198 226.1811 157.8418 190.1198 226.1811 156.5168 190.1198 226.4311 157.8418 190.1198 226.4311 156.5168 190.1198 225.9662 159.4668 190.1198 225.9662 158.1418 190.1198 225.9662 157.8418 190.1198 225.9662 156.5168 190.1198 226.1811 156.5168 190.7698 226.1811 157.8418 190.7698 226.4312 156.5168 190.7698 226.4312 157.8418 190.7698 226.1811 158.2468 190.7698 226.4312 158.2468 190.7698 225.9662 156.5168 190.7698 225.9662 157.8418 190.7698 225.9662 158.1418 190.7698 225.9662 159.4668 190.7698 226.1811 159.4668 190.7698 226.4312 159.4668 190.7698 237.9661 161.8168 183.9446 237.966 161.8168 182.9446 237.9661 161.5668 183.9446 237.966 161.5668 182.9446 226.181 158.1418 183.1198 226.181 158.0443 182.9898 226.431 158.1418 183.1198 226.431 158.0443 182.9898 226.4311 158.0443 183.8998 226.1811 158.0443 183.8998 226.4311 158.1418 183.7698 226.1811 158.1418 183.7698 228.4038 161.5668 182.8948 229.0847 161.5668 182.8948 228.5176 161.5668 182.6448 228.9271 161.5668 182.7248 228.1109 161.5668 182.6448 228.2317 161.5668 182.8948 227.8109 161.5668 182.6448 227.7651 161.5668 182.8948 230.266 161.5668 182.8947 230.266 161.5668 182.6447 227.5477 161.5668 182.8948 227.166 161.5668 182.6658 227.166 161.5668 182.8948 229.0847 161.5668 183.9948 228.4038 161.5668 183.9948 228.9271 161.5668 184.1648 228.5176 161.5668 184.2448 230.2661 161.5668 183.9947 230.2661 161.5668 184.2447 228.2317 161.5668 183.9948 227.7651 161.5668 183.9948 228.1109 161.5668 184.2448 227.8109 161.5668 184.2448 227.1661 161.5668 184.2238 227.5477 161.5668 183.9948 227.1661 161.5668 183.9948 228.5176 161.8168 184.2448 230.2661 161.8168 184.2447 228.1109 161.8168 184.2448 227.8109 161.8168 184.2448 237.1661 161.8168 183.9446 237.166 161.8168 182.9446 228.2715 161.8168 183.9473 228.2642 161.8168 183.9504 227.7611 161.8168 183.9774 228.2574 161.8168 183.9547 228.3649 161.8168 183.9474 229.131 161.8168 182.9397 228.3724 161.8168 183.9506 228.3793 161.8168 183.9551 228.3944 161.8168 182.9155 228.5176 161.8168 182.6448 228.9271 161.8168 182.7248 227.7229 161.8168 182.944 227.7391 161.8168 183.9514 227.7313 161.8168 183.9478 227.166 161.8168 182.6658 227.6192 161.8168 182.9376 227.1661 161.8168 184.2238 227.6252 161.8168 182.9407 227.6192 161.8168 183.9519 228.2423 161.8168 183.973 227.7634 161.8168 183.9858 228.2463 161.8168 183.9661 228.2514 161.8168 183.9599 229.1162 161.8168 183.9608 228.9271 161.8168 184.1648 228.3944 161.8168 183.9741 228.3904 161.8168 183.9669 228.3853 161.8168 183.9605 228.357 161.8168 183.9454 228.3489 161.8168 183.9448 228.2873 161.8168 183.9448 228.2463 161.8168 182.9234 227.7611 161.8168 182.9122 227.7634 161.8168 182.9038 229.1257 161.8168 182.9367 227.7574 161.8168 183.9696 228.2793 161.8168 183.9454 227.6252 161.8168 183.9488 227.6315 161.8168 182.943 227.6382 161.8168 182.9443 227.7463 161.8168 183.9564 227.7313 161.8168 182.9418 227.7391 161.8168 182.9381 229.1207 161.8168 183.9565 229.1257 161.8168 183.9528 229.1311 161.8168 183.9498 227.8109 161.8168 182.6448 228.1109 161.8168 182.6448 228.2422 161.8168 182.9165 228.2514 161.8168 182.9296 228.2574 161.8168 182.9349 228.2642 161.8168 182.9391 228.2715 161.8168 182.9422 228.2793 161.8168 182.9441 228.2873 161.8168 182.9448 228.3489 161.8168 182.9448 228.357 161.8168 182.9441 228.3649 161.8168 182.9421 228.3724 161.8168 182.9389 228.3793 161.8168 182.9345 228.3853 161.8168 182.929 228.3904 161.8168 182.9226 227.7524 161.8168 183.9625 229.1162 161.8168 182.9288 229.1207 161.8168 182.933 227.7462 161.8168 182.9332 227.7524 161.8168 182.9271 227.7574 161.8168 182.92 227.7229 161.8168 183.9455 227.7142 161.8168 183.9448 227.7142 161.8168 182.9448 227.6449 161.8168 182.9448 227.6449 161.8168 183.9448 227.6382 161.8168 183.9452 227.6316 161.8168 183.9466 227.1661 161.8168 184.2448 230.266 161.8168 182.8947 237.966 161.8168 182.8946 230.266 161.8168 182.6447 230.2661 161.8168 183.9947 237.9661 161.8168 183.9946 226.181 159.4668 183.1198 226.181 158.2468 183.1198 226.431 159.4668 183.1198 226.431 158.2468 183.1198 226.181 157.8418 183.1198 226.181 156.5168 183.1198 226.431 157.8418 183.1198 226.431 156.5168 183.1198 225.966 159.4668 183.1198 225.966 158.1418 183.1198 225.966 157.8418 183.1198 225.966 156.5168 183.1198 226.1811 156.5168 183.7698 226.1811 157.8418 183.7698 226.4311 156.5168 183.7698 226.4311 157.8418 183.7698 226.1811 158.2468 183.7698 226.4311 158.2468 183.7698 225.9661 156.5168 183.7698 225.9661 157.8418 183.7698 225.9661 158.1418 183.7698 225.9661 159.4668 183.7698 226.1811 159.4668 183.7698 226.4311 159.4668 183.7698 225.4661 156.3168 188.6948 225.4661 156.2168 188.6948 225.4661 156.3168 189.3948 225.4661 156.2168 189.3948 237.7162 162.4168 192.4446 237.716 162.4168 181.4446 236.9986 162.4168 189.2808 236.9986 162.4168 190.8135 236.277 162.4168 190.8975 230.2662 162.4168 192.4447 234.8412 162.4168 189.0296 230.266 162.4168 181.4447 234.8413 162.4168 191.0648 236.1553 162.4168 190.9117 236.1553 162.4168 189.1826 236.277 162.4168 189.1968 236.2769 162.4168 182.9918 236.9985 162.4168 183.0758 236.9985 162.4168 184.6085 236.2769 162.4168 184.6925 236.1552 162.4168 182.9776 236.1552 162.4168 184.7067 234.8412 162.4168 184.8598 234.8412 162.4168 182.8246 230.266 162.9168 180.7447 230.2662 161.7168 193.1947 230.2662 161.7168 192.4447 230.2662 162.8668 193.1947 230.2662 162.8747 193.1941 230.2662 162.8824 193.1923 230.2662 162.9168 193.1447 230.2662 162.9163 193.1521 230.2662 162.9145 193.1598 230.266 161.7168 181.4447 230.266 161.7168 180.6947 230.266 162.8668 180.6947 230.266 162.8746 180.6954 230.2662 162.9023 193.1799 230.2662 162.8963 193.1851 230.2662 162.8896 193.1892 230.2662 162.9115 193.1671 230.2662 162.9074 193.1739 230.266 162.8823 180.6972 230.266 162.8895 180.7002 230.266 162.8962 180.7043 230.266 162.9022 180.7094 230.266 162.9073 180.7153 230.266 162.9114 180.722 230.266 162.9144 180.7293 230.266 162.9162 180.7369 225.4661 156.3168 184.4948 225.4661 156.2168 184.4948 225.4661 156.3168 185.1948 225.4661 156.2168 185.1948 225.4662 162.9168 193.1448 225.4662 162.9168 193.1948 225.5162 162.9168 193.1448 225.5162 162.9168 193.1948 225.466 162.9168 181.9948 225.466 162.9168 182.1948 225.899 162.9168 181.9948 225.899 162.9168 182.1948 225.8992 162.9168 191.8948 225.8992 162.9168 191.6948 225.4662 162.9168 191.8948 225.4662 162.9168 191.6948 225.466 162.9168 180.6948 225.466 162.9168 180.7448 225.516 162.9168 180.6948 225.516 162.9168 180.7448 230.266 160.5168 181.4447 230.266 160.5168 182.8947 230.266 159.4668 182.8947 230.266 156.5168 181.8947 230.266 156.2168 181.8947 230.266 156.2168 181.1947 230.2661 160.5168 183.9947 230.2661 160.5168 185.3947 230.2661 159.4668 183.9947 230.2661 159.4668 185.3947 230.2661 156.5168 189.3947 230.2661 156.2168 189.3947 230.2661 156.2168 188.6947 230.2661 156.5168 185.1947 230.2661 157.4168 185.7447 230.2661 156.5168 185.7447 230.266 156.5168 181.1947 230.266 156.5168 180.6947 230.266 157.8442 180.6948 230.266 157.8468 180.6947 230.266 160.5168 180.6947 230.2661 156.5168 188.6947 230.2661 156.5168 188.1447 230.2661 157.4168 188.1447 230.2661 159.4668 187.3947 230.2661 159.4668 188.4947 230.2662 156.5168 191.9947 230.2661 157.4168 187.6447 230.2661 157.7168 187.6447 230.2661 160.5168 186.4947 230.2661 160.5168 187.3947 230.2661 159.4668 186.4947 230.2661 156.2168 185.1947 230.2661 156.2168 184.4947 230.2661 156.5168 184.4947 230.2662 156.5168 192.6947 230.2661 159.4668 189.8947 230.2662 156.5168 193.1947 230.2662 159.4668 190.9947 230.2662 157.8445 193.1947 230.2661 157.7168 186.2447 230.2661 157.4168 186.2447 230.2661 160.5168 188.4947 230.2661 160.5168 189.8947 230.2662 156.2168 191.9947 230.2662 156.2168 192.6947 230.2662 160.5168 190.9947 230.2662 160.5168 192.4447 230.2662 157.8468 193.1947 230.2662 160.5168 193.1947 225.4662 156.3168 191.9948 225.4662 156.2168 191.9948 225.4662 156.3168 192.6948 225.4662 156.2168 192.6948 225.4662 161.7168 193.1448 225.4662 161.7168 193.1948 225.4662 159.0668 193.1448 225.4662 159.0668 193.1948 225.4662 160.5168 193.1448 225.4662 160.5168 193.1948 225.4662 162.4838 191.8948 225.4662 162.4838 191.6948 225.4661 156.3168 186.5948 225.4661 156.2168 186.5948 225.4661 156.3168 187.2948 225.4661 156.2168 187.2948 225.466 156.5168 180.6948 225.466 157.4168 180.6948 225.516 156.5168 180.6948 225.516 157.4168 180.6948 230.216 157.8468 180.6947 230.2255 157.8463 180.6947 230.016 157.6468 180.6947 230.016 156.5168 180.6947 230.235 157.8458 180.6948 230.2442 157.8454 180.6948 230.1542 157.837 180.6947 230.1847 157.8443 180.6947 230.0378 157.7376 180.6947 230.2533 157.8449 180.6948 230.2625 157.8444 180.6948 230.0258 157.7086 180.6947 230.0185 157.6781 180.6947 230.0746 157.7882 180.6947 230.0985 157.8086 180.6947 230.1252 157.825 180.6947 230.0542 157.7644 180.6947 225.466 159.0668 180.6948 225.466 160.5168 180.6948 225.516 159.0668 180.6948 225.516 160.5168 180.6948 228.466 157.7668 180.6948 228.466 158.6668 180.6948 228.516 157.7668 180.6948 228.516 158.6668 180.6948 225.466 156.3168 181.1948 225.466 156.2168 181.1948 225.466 156.3168 181.8948 225.466 156.2168 181.8948 225.466 160.5168 180.7448 225.466 159.0668 180.7448 225.466 161.7168 180.7448 225.466 161.7168 180.6948 225.466 162.4838 182.1948 225.466 162.4838 181.9948 226.9662 157.4168 193.1948 226.1269 157.4168 193.1948 226.9662 157.0668 193.1948 226.1269 157.0668 193.1948 225.5162 160.5168 193.1948 225.5162 159.0668 193.1948 230.2252 157.8464 193.1947 230.2162 157.8468 193.1947 230.1815 157.8438 193.1947 230.2636 157.8446 193.1947 230.2539 157.8451 193.1947 230.2442 157.8455 193.1947 230.2347 157.846 193.1947 230.1478 157.8347 193.1947 230.1162 157.82 193.1947 230.0876 157.8 193.1947 230.0162 156.5168 193.1947 230.0162 157.6468 193.1947 230.0192 157.6815 193.1947 230.0283 157.7152 193.1947 230.063 157.7754 193.1947 230.043 157.7468 193.1947 228.4662 158.6668 193.1948 228.4662 157.7668 193.1948 228.5162 158.6668 193.1948 228.5162 157.7668 193.1948 226.4361 156.9668 185.6198 226.4361 156.5168 185.6198 226.4361 156.9668 186.2698 226.4361 156.5168 186.2698 228.8791 161.7168 180.8912 228.924 161.7168 180.8807 228.9668 161.7168 180.8634 229.0064 161.7168 180.8397 229.0419 161.7168 180.8103 225.516 161.7168 180.6948 226.716 161.7168 180.6948 226.7347 161.7168 180.737 229.116 161.7168 180.6948 229.0973 161.7168 180.7369 229.0724 161.7168 180.7757 226.7902 161.7168 180.8103 226.8256 161.7168 180.8397 225.466 161.7168 181.4448 226.8652 161.7168 180.8634 226.908 161.7168 180.8807 226.7596 161.7168 180.7758 226.9529 161.7168 180.8912 226.9989 161.7168 180.8948 228.8332 161.7168 180.8948 226.4361 158.1418 185.6198 227.1661 159.4668 185.6198 227.1661 156.9668 185.6198 226.4361 157.8418 185.6198 226.4361 157.9918 185.4198 226.4361 157.8418 186.2698 226.4361 157.9918 186.4698 226.4361 158.1418 186.2698 225.4662 156.5168 189.9198 225.4661 156.5168 189.3948 225.4662 156.5168 191.9948 226.4362 156.5168 190.7698 226.4362 156.5168 190.1198 225.4662 156.5168 190.9698 225.5162 156.5168 193.1948 225.4662 156.5168 193.1948 225.4662 156.5168 192.6948 226.4361 156.5168 188.2698 226.4361 156.5168 187.6198 225.4661 156.5168 187.4198 225.4661 156.5168 187.2948 233.3161 156.5168 188.1447 233.3161 156.5168 187.2947 225.4661 156.5168 188.6948 225.4661 156.5168 188.4698 225.5162 161.7168 193.1948 225.466 156.5168 181.1948 237.2661 161.1668 187.3946 237.2661 160.5168 187.3946 237.2661 161.1668 188.4946 237.2661 160.5168 188.4946 225.4661 156.5168 183.9698 225.4661 156.5168 184.4948 226.4361 156.5168 183.7698 226.436 156.5168 183.1198 225.466 156.5168 181.8948 225.466 156.5168 182.9198 229.2661 157.4168 186.2447 229.2661 157.7168 186.2447 229.2661 157.4168 187.6448 229.2661 157.7168 187.6448 237.9661 161.1668 187.3946 237.9661 161.1668 188.4946 237.9661 161.1668 189.8946 237.9662 161.1668 190.9946 237.2662 161.1668 190.9946 237.2661 161.1668 189.8946 237.2661 160.5168 189.8946 237.2662 160.5168 190.9946 227.1661 156.9668 187.6198 226.4361 156.9668 187.6198 227.1661 156.9668 188.2698 226.4361 156.9668 188.2698 227.1661 159.4668 187.6198 227.1661 159.4668 188.2698 227.1662 156.9668 190.7698 227.1661 156.9668 190.1198 226.4362 156.9668 190.7698 226.4362 156.9668 190.1198 227.1661 159.4668 190.1198 227.1662 159.4668 190.7698 226.4361 157.9918 187.4198 225.4661 157.9918 187.4198 226.4361 157.8418 187.6198 226.4361 158.1418 187.6198 225.4661 157.9918 188.4698 226.4361 157.9918 188.4698 226.4361 157.8418 188.2698 226.4361 158.1418 188.2698 225.4662 157.9918 190.9698 226.4362 157.9918 190.9698 226.4362 157.8418 190.7698 226.4362 158.1418 190.7698 226.4361 157.9918 189.9198 225.4662 157.9918 189.9198 226.4362 157.8418 190.1198 226.4362 158.1418 190.1198 227.1661 161.5668 188.7448 227.1661 161.8168 187.1448 227.1661 161.5668 187.1448 227.1661 159.4668 187.3948 227.1661 159.4668 188.4948 227.1661 161.8168 189.6448 227.1661 161.5668 189.6448 227.1661 159.4668 189.8948 227.1662 159.4668 190.9948 227.1662 161.5668 191.2448 228.4662 159.0668 192.4448 225.4662 159.0668 192.4448 228.4662 157.4168 192.4448 225.4662 157.4168 192.4448 228.4662 159.0668 193.1948 228.4662 157.4168 193.1948 225.4662 157.4168 193.1948 225.5162 157.4168 193.1948 225.4662 160.5168 192.4448 226.953 161.7168 192.9983 226.9082 161.7168 193.0089 225.4662 161.7168 192.4448 226.7903 161.7168 193.0793 226.7598 161.7168 193.1138 226.7349 161.7168 193.1526 229.0726 161.7168 193.1138 229.042 161.7168 193.0792 226.8654 161.7168 193.0262 226.8258 161.7168 193.0498 229.1162 161.7168 193.1948 229.0975 161.7168 193.1526 229.0066 161.7168 193.0498 228.967 161.7168 193.0262 228.9242 161.7168 193.0088 226.7162 161.7168 193.1948 228.8793 161.7168 192.9983 228.8334 161.7168 192.9948 226.999 161.7168 192.9948 233.3161 156.7168 185.7447 233.3161 156.7168 188.1447 233.3161 156.5168 185.7447 233.3161 156.5168 186.5947 233.3161 156.2168 186.5947 233.3161 156.2168 187.2947 231.8161 157.4168 185.7447 231.8161 157.4168 188.1447 237.9661 161.1668 185.3946 237.9661 161.1668 186.4946 237.2661 161.1668 186.4946 237.2661 161.1668 185.3946 237.966 161.1668 182.8946 237.9661 161.1668 183.9946 237.2661 161.1668 183.9946 237.266 161.1668 182.8946 237.2661 160.5168 185.3946 237.2661 160.5168 186.4946 237.266 160.5168 182.8946 237.2661 160.5168 183.9946 238.716 160.7668 181.9446 238.716 161.9168 181.9446 238.7162 160.7668 191.9446 238.7162 161.9168 191.9446 237.7162 160.5168 192.4446 238.1162 160.5168 192.2446 238.116 160.5168 181.6446 237.716 160.5168 181.4446 227.1661 156.9668 186.2698 227.1661 159.4668 186.2698 227.166 156.9668 183.1198 226.436 156.9668 183.1198 227.1661 156.9668 183.7698 226.4361 156.9668 183.7698 227.166 159.4668 183.1198 227.1661 159.4668 183.7698 225.4661 157.9918 186.4698 225.4661 157.9918 185.4198 226.436 157.8418 183.1198 226.436 157.9918 182.9198 225.466 157.9918 182.9198 226.436 158.1418 183.1198 225.4661 157.9918 183.9698 226.4361 157.9918 183.9698 226.4361 157.8418 183.7698 226.4361 158.1418 183.7698 227.1661 159.4668 186.4948 227.1661 161.5668 186.7448 227.1661 161.8168 185.1448 227.1661 161.5668 185.1448 227.1661 159.4668 185.3948 227.166 161.5668 182.6448 227.166 159.4668 182.8948 227.1661 159.4668 183.9948 227.1661 161.5668 184.2448 227.166 161.8168 182.6448 228.466 159.0668 181.4448 228.466 157.4168 181.4448 225.466 159.0668 181.4448 225.466 157.4168 181.4448 228.466 159.0668 180.6948 228.466 157.4168 180.6948 226.966 157.4168 180.6948 226.1267 157.4168 180.6948 225.466 160.5168 181.4448 227.1662 159.4668 191.6948 225.4662 159.4668 191.6948 227.1662 162.9168 191.6948 227.166 159.4668 182.1948 227.166 162.9168 182.1948 225.466 159.4668 182.1948 225.466 159.4668 182.9198 225.4662 159.4668 190.9698 225.4661 159.4668 186.4698 225.4661 159.4668 187.4198 225.4661 159.4668 183.9698 225.4661 159.4668 185.4198 225.4661 159.4668 188.4698 225.4662 159.4668 189.9198 225.4661 156.5168 186.4698 225.4661 156.5168 186.5948 225.4661 156.5168 185.1948 225.4661 156.5168 185.4198 226.966 157.0668 180.6948 226.1267 157.0668 180.6948 236.7272 161.061 180.7613 236.7272 159.6526 180.7613 237.1202 159.6298 180.7113 237.1202 161.0838 180.7113 237.516 159.6068 180.6946 237.516 161.1068 180.6946 233.703 159.8281 181.2762 233.703 160.8855 181.2762 232.9705 160.843 181.1886 232.9705 159.8706 181.1886 233.147 159.8604 181.25 233.147 160.8532 181.25 233.3304 159.8497 181.2855 233.3304 160.8639 181.2855 233.517 159.8389 181.2943 233.517 160.8747 181.2943 237.516 161.1068 180.3946 237.516 159.6068 180.3946 237.0949 159.6313 180.4124 237.0949 161.0824 180.4124 236.6768 159.6555 180.4656 236.6768 161.0581 180.4656 233.6526 160.8826 180.9805 233.6526 159.8311 180.9805 233.5096 159.8394 180.9944 233.5096 160.8743 180.9944 233.366 159.8477 180.9876 233.366 160.8659 180.9876 233.2249 159.8559 180.9603 233.2249 160.8577 180.9603 233.0892 159.8638 180.9131 233.0892 160.8499 180.9131 227.016 161.2168 180.5948 227.016 161.9668 180.5948 228.816 161.2168 180.5948 228.816 161.9668 180.5948 226.9989 161.1997 180.8948 228.8332 161.1997 180.8948 226.9529 161.1537 180.8912 226.908 161.1088 180.8807 226.8652 161.066 180.8634 226.8256 161.0264 180.8397 226.7902 160.9909 180.8103 226.7596 160.9604 180.7758 226.7347 160.9355 180.737 226.7245 160.9253 180.7162 226.716 160.9168 180.6948 229.116 160.9168 180.6948 229.1075 160.9253 180.7162 229.0973 160.9355 180.7369 229.0724 160.9604 180.7757 229.0419 160.9909 180.8103 229.0064 161.0264 180.8397 228.9668 161.066 180.8634 228.924 161.1088 180.8807 228.8791 161.1537 180.8912 228.8347 161.9855 180.5526 226.9724 162.0104 180.5138 228.8596 162.0104 180.5138 226.9419 162.041 180.4793 228.8901 162.041 180.4792 226.9064 162.0764 180.4498 228.9256 162.0764 180.4498 226.8668 162.116 180.4262 228.9652 162.116 180.4262 226.824 162.1588 180.4089 229.008 162.1588 180.4089 226.7791 162.2037 180.3983 229.0529 162.2037 180.3983 226.7332 162.2496 180.3948 229.0989 162.2496 180.3948 228.8245 161.9753 180.5733 227.0075 161.9753 180.5733 226.9973 161.9855 180.5526 226.9724 161.1732 180.5138 226.9419 161.1427 180.4793 226.9064 161.1072 180.4498 226.8668 161.0676 180.4262 226.824 161.0248 180.4089 226.7791 160.9799 180.3983 226.7332 160.934 180.3948 227.0075 161.2083 180.5733 226.9973 161.1981 180.5526 228.8245 161.2083 180.5733 228.8347 161.1981 180.5526 228.8596 161.1732 180.5138 228.8901 161.1427 180.4792 228.9256 161.1072 180.4498 228.9652 161.0676 180.4262 229.008 161.0248 180.4089 229.0529 160.9799 180.3983 229.0989 160.934 180.3948 228.3874 158.6668 180.6948 227.6767 158.6668 180.3948 228.516 158.6668 180.3948 227.6767 157.7668 180.3948 228.3874 157.7668 180.6948 228.516 157.7668 180.3948 228.4452 157.7668 180.7191 228.4452 157.7668 181.0448 227.616 157.7668 180.6948 228.4452 158.6668 181.0448 228.4452 158.6668 180.7191 227.616 158.6668 180.6948 226.966 157.0668 180.3948 226.8374 157.0668 180.3948 226.8374 158.2668 180.3948 226.966 158.2668 180.3948 226.1267 158.2668 180.6948 226.966 158.2668 180.6948 226.066 157.0668 180.3948 226.8952 157.0668 180.0448 226.8952 157.0668 180.3704 226.8952 158.2668 180.3704 226.066 158.2668 180.3948 226.8952 158.2668 180.0448 230.016 156.3168 180.6947 228.016 156.3168 180.6948 228.0389 156.1239 180.6804 229.9932 156.1239 180.6804 228.0612 155.9352 180.6375 229.9708 155.9352 180.6375 228.0825 155.755 180.5671 229.9495 155.755 180.5671 228.1024 155.5872 180.4708 229.9296 155.5872 180.4707 229.7567 154.1274 179.4809 228.2753 154.1274 179.4809 228.284 154.0534 179.4395 229.748 154.0534 179.4394 228.2935 153.9735 179.4111 229.7385 153.9735 179.4111 228.3034 153.8899 179.3966 229.7286 153.8899 179.3966 228.3134 153.8051 179.3965 229.7185 153.8051 179.3965 228.3233 153.7215 179.4107 229.7087 153.7215 179.4107 228.3328 153.6415 179.4388 229.6992 153.6415 179.4388 228.3416 153.5674 179.4801 229.6904 153.5674 179.4801 228.3494 153.5014 179.5333 229.6826 153.5014 179.5332 228.356 153.4453 179.5968 229.6759 153.4453 179.5968 229.9496 155.7556 180.2224 228.0825 155.7556 180.2225 228.0672 155.8847 180.2966 229.9648 155.8847 180.2966 228.0508 156.0233 180.3507 229.9812 156.0233 180.3507 228.0336 156.1684 180.3837 229.9984 156.1684 180.3837 228.016 156.3168 180.3948 230.016 156.3168 180.3947 228.2553 154.2958 179.2326 229.7767 154.2958 179.2326 229.6474 153.2043 179.4181 228.3846 153.2043 179.4181 228.3739 153.2941 179.3164 229.658 153.2941 179.3164 228.3614 153.3998 179.2313 229.6706 153.3998 179.2313 228.3474 153.5184 179.1653 229.6846 153.5184 179.1653 228.3322 153.6464 179.1203 229.6997 153.6464 179.1203 228.3164 153.7801 179.0975 229.7156 153.7801 179.0975 228.3003 153.9158 179.0978 229.7317 153.9158 179.0977 228.2845 154.0495 179.1209 229.7475 154.0495 179.1209 228.2693 154.1774 179.1663 229.7626 154.1774 179.1663 225.516 156.3168 180.6948 225.516 156.3168 180.3948 236.1007 162.4266 182.9712 236.1007 162.4266 184.7131 233.1079 163.1359 182.6228 233.108 163.1359 185.0616 232.7643 163.1965 182.5828 232.7644 163.1965 185.1016 232.416 163.2168 182.5422 232.4161 163.2168 185.1422 233.0388 162.844 185.0697 233.0388 162.844 182.6147 232.4161 162.9168 185.1422 232.416 162.9168 182.5422 232.7295 162.8986 182.5787 232.7295 162.8986 185.1057 225.8991 162.9168 186.4448 225.8991 163.2168 186.4448 225.899 163.2168 181.9948 225.8991 163.2168 187.4448 225.8991 162.9168 187.4448 225.8992 163.2168 191.8948 225.5162 163.2168 191.8948 225.2481 163.0918 191.8948 225.2912 163.1349 191.8948 225.3412 163.1699 191.8948 225.1662 162.4838 191.8948 225.1662 162.8668 191.8948 225.1715 162.9276 191.8948 225.3965 163.1957 191.8948 225.4554 163.2115 191.8948 225.1873 162.9865 191.8948 225.2131 163.0418 191.8948 225.4661 162.4838 186.4448 225.1661 162.4838 186.4448 225.4661 162.8668 186.4448 225.1661 162.8668 186.4448 225.4669 162.8755 186.4448 225.1714 162.9276 186.4448 225.4691 162.8839 186.4448 225.1872 162.9865 186.4448 225.4728 162.8918 186.4448 225.213 163.0418 186.4448 225.4778 162.899 186.4448 225.248 163.0918 186.4448 225.484 162.9051 186.4448 225.2911 163.1349 186.4448 225.4911 162.9101 186.4448 225.3411 163.1699 186.4448 225.499 162.9138 186.4448 225.3964 163.1957 186.4448 225.5074 162.916 186.4448 225.4553 163.2115 186.4448 225.5161 162.9168 186.4448 225.5161 163.2168 186.4448 225.2685 163.1143 181.9948 225.2329 163.0725 181.9948 225.2042 163.0257 181.9948 225.1832 162.975 181.9948 225.166 162.4838 181.9948 225.166 162.8668 181.9948 225.1703 162.9216 181.9948 225.516 163.2168 181.9948 225.4613 163.2125 181.9948 225.4079 163.1997 181.9948 225.3571 163.1787 181.9948 225.3103 163.15 181.9948 225.5161 162.9168 187.4448 225.5161 163.2168 187.4448 225.5074 162.916 187.4448 225.4553 163.2115 187.4448 225.499 162.9138 187.4448 225.3964 163.1957 187.4448 225.4911 162.9101 187.4448 225.3411 163.1699 187.4448 225.484 162.9051 187.4448 225.2911 163.1349 187.4448 225.4778 162.899 187.4448 225.248 163.0918 187.4448 225.4728 162.8918 187.4448 225.213 163.0418 187.4448 225.4691 162.8839 187.4448 225.1872 162.9865 187.4448 225.4669 162.8755 187.4448 225.1714 162.9276 187.4448 225.4661 162.8668 187.4448 225.1661 162.8668 187.4448 225.4661 162.4838 187.4448 225.1661 162.4838 187.4448 225.516 163.2168 180.7448 225.4613 163.2125 180.7448 225.4078 163.1997 180.7448 225.3571 163.1787 180.7448 225.3103 163.15 180.7448 225.2685 163.1143 180.7448 225.2329 163.0725 180.7448 225.2042 163.0257 180.7448 225.1831 162.975 180.7448 225.1703 162.9216 180.7448 225.166 162.8668 180.7448 225.5162 163.2168 193.1448 225.4554 163.2115 193.1448 225.3965 163.1957 193.1448 225.3412 163.1699 193.1448 225.2912 163.1349 193.1448 225.2481 163.0918 193.1448 225.2131 163.0418 193.1448 225.1873 162.9865 193.1448 225.1715 162.9276 193.1448 225.1662 162.8668 193.1448 225.166 158.7168 180.7448 225.466 158.7168 180.7448 227.066 156.7168 179.9948 225.666 156.7168 179.9948 227.066 156.7168 180.2948 225.666 156.7168 180.2948 225.666 158.3168 179.9948 227.066 158.3168 179.9948 225.666 158.3168 180.2948 227.066 158.3168 180.2948 232.416 163.2168 182.2988 232.416 162.9168 182.2988 229.3787 152.5168 180.3448 229.4073 152.7577 180.5235 228.6533 152.5168 180.3448 228.6248 152.7577 180.5235 228.559 152.7643 180.5147 228.5914 152.7594 180.5213 228.4243 152.8686 180.3742 229.6077 152.8686 180.3741 229.4406 152.7594 180.5213 229.473 152.7643 180.5147 228.476 152.7968 180.4709 228.5005 152.7833 180.4891 228.5284 152.7723 180.5038 229.5036 152.7723 180.5038 229.5315 152.7833 180.4891 229.556 152.7968 180.4708 229.5764 152.8126 180.4496 229.592 152.8301 180.426 229.6026 152.8489 180.4006 228.4295 152.8489 180.4006 228.44 152.8301 180.426 228.4557 152.8126 180.4496 229.4445 152.5234 180.3359 229.4121 152.5185 180.3425 229.5791 152.6276 180.1954 228.4529 152.6276 180.1954 228.6199 152.5185 180.3425 228.5875 152.5234 180.3359 229.5275 152.5559 180.2921 229.503 152.5423 180.3103 229.4751 152.5314 180.3251 228.5569 152.5314 180.3251 228.529 152.5423 180.3103 228.5045 152.5559 180.2921 229.574 152.608 180.2218 229.5635 152.5892 180.2472 229.5478 152.5716 180.2709 228.4842 152.5716 180.2709 228.4685 152.5892 180.2472 228.458 152.608 180.2218 232.466 160.0896 180.6447 232.3473 160.0965 180.9202 232.466 160.624 180.6447 232.3473 160.6171 180.9202 232.3577 160.6833 180.9247 232.3499 160.6507 180.9214 232.5212 160.8169 180.9951 232.5212 159.8967 180.9951 232.3499 160.0629 180.9214 232.3577 160.0303 180.9247 232.4088 160.7665 180.9467 232.3876 160.7421 180.9376 232.3703 160.7141 180.9301 232.3703 159.9996 180.9301 232.3876 159.9716 180.9376 232.4088 159.9471 180.9467 232.4906 160.8123 180.9819 232.4611 160.8021 180.9692 232.4336 160.7867 180.9574 232.4336 159.9269 180.9574 232.4611 159.9115 180.9692 232.4906 159.9013 180.9819 232.4763 160.0234 180.6492 232.4686 160.056 180.6458 232.6399 159.8898 180.7196 232.6399 160.8238 180.7196 232.4686 160.6576 180.6458 232.4763 160.6902 180.6492 232.5275 159.9402 180.6712 232.5062 159.9647 180.662 232.489 159.9927 180.6546 232.489 160.721 180.6546 232.5062 160.7489 180.662 232.5275 160.7734 180.6712 232.5523 160.7936 180.6819 232.5798 160.809 180.6937 232.6093 160.8192 180.7064 232.6093 159.8945 180.7064 232.5798 159.9046 180.6937 232.5523 159.92 180.6819 237.516 161.3568 180.3946 237.516 161.3568 180.6946 238.716 162.8668 180.3946 225.516 162.8668 180.3948 225.516 162.9276 180.4001 238.716 162.9276 180.3999 225.516 162.9865 180.4159 238.716 162.9865 180.4157 225.516 163.0418 180.4417 238.716 163.0418 180.4415 225.516 163.0918 180.4767 238.716 163.0918 180.4765 225.516 163.1349 180.5198 238.716 163.1349 180.5196 225.516 163.1699 180.5698 238.716 163.1699 180.5696 225.516 163.1957 180.6251 238.716 163.1957 180.6249 225.516 163.2115 180.684 238.716 163.2115 180.6838 238.716 163.2168 180.7446 237.516 159.3568 180.6946 237.516 159.3568 180.3946 237.316 161.5568 180.6946 232.066 161.5568 180.6947 237.316 161.5568 180.3946 232.066 161.5568 180.3947 231.866 159.3568 180.3947 231.866 161.3568 180.3947 231.866 159.3568 180.6947 231.866 161.3568 180.6947 237.316 159.1568 180.3946 232.066 159.1568 180.3947 237.316 159.1568 180.6946 232.066 159.1568 180.6947 232.4161 162.9168 185.3856 232.4161 163.2168 185.3856 238.4225 163.2168 182.2859 232.6225 163.2168 182.0989 238.4225 162.9168 182.2859 232.6225 162.9168 182.0989 238.616 162.9168 182.4858 238.6161 162.9168 185.1985 238.616 163.2168 182.4858 238.6161 163.2168 185.1985 232.6225 163.2168 185.5856 238.4225 163.2168 185.3984 232.6225 162.9168 185.5856 238.4225 162.9168 185.3984 227.566 158.7168 180.2948 227.566 158.7168 179.9948 225.516 158.7168 180.2948 225.516 158.7168 179.9948 225.5073 158.7168 180.2956 225.4613 158.7168 179.9991 225.4989 158.7168 180.2978 225.4078 158.7168 180.0119 225.491 158.7168 180.3015 225.3571 158.7168 180.033 225.4839 158.7168 180.3065 225.166 158.7168 180.3448 225.466 158.7168 180.3448 225.1703 158.7168 180.2901 225.4668 158.7168 180.3361 225.1831 158.7168 180.2367 225.469 158.7168 180.3277 225.2041 158.7168 180.1859 225.4727 158.7168 180.3198 225.2328 158.7168 180.1391 225.4777 158.7168 180.3127 225.2685 158.7168 180.0973 225.3103 158.7168 180.0617 237.513 159.3221 180.6946 237.513 159.3221 180.3946 237.5039 159.2884 180.6946 237.5039 159.2884 180.3946 237.4892 159.2568 180.6946 237.4892 159.2568 180.3946 237.4692 159.2283 180.6946 237.4692 159.2283 180.3946 237.4446 159.2036 180.6946 237.4446 159.2036 180.3946 237.416 159.1836 180.6946 237.416 159.1836 180.3946 237.3844 159.1689 180.6946 237.3844 159.1689 180.3946 237.3507 159.1598 180.6946 237.3507 159.1598 180.3946 232.0313 159.1598 180.6947 232.0313 159.1598 180.3947 231.9976 159.1689 180.6947 231.9976 159.1689 180.3947 231.966 159.1836 180.6947 231.966 159.1836 180.3947 231.9375 159.2036 180.6947 231.9375 159.2036 180.3947 231.9128 159.2283 180.6947 231.9128 159.2283 180.3947 231.8928 159.2568 180.6947 231.8928 159.2568 180.3947 231.8781 159.2884 180.6947 231.8781 159.2884 180.3947 231.869 159.3221 180.6947 231.869 159.3221 180.3947 237.3473 161.5543 180.6946 237.3473 161.5543 180.3946 237.3778 161.547 180.6946 237.3778 161.547 180.3946 237.4068 161.535 180.6946 237.4068 161.535 180.3946 237.4336 161.5186 180.6946 237.4336 161.5186 180.3946 237.4574 161.4982 180.6946 237.4574 161.4982 180.3946 237.4778 161.4744 180.6946 237.4778 161.4744 180.3946 237.4942 161.4476 180.6946 237.4942 161.4476 180.3946 237.5062 161.4186 180.6946 237.5062 161.4186 180.3946 237.5135 161.3881 180.6946 237.5135 161.3881 180.3946 232.4186 162.9168 185.4176 232.4186 163.2168 185.4176 232.4263 162.9168 185.4487 232.4263 163.2168 185.4487 232.4388 162.9168 185.4782 232.4388 163.2168 185.4782 232.4558 162.9168 185.5053 232.4558 163.2168 185.5053 232.477 162.9168 185.5293 232.477 163.2168 185.5293 232.5017 162.9168 185.5497 232.5017 163.2168 185.5497 232.5293 162.9168 185.5659 232.5293 163.2168 185.5659 232.5592 162.9168 185.5774 232.5592 163.2168 185.5774 232.5905 162.9168 185.584 232.5905 163.2168 185.584 238.6131 162.9168 182.4517 238.6131 163.2168 182.4517 238.6045 162.9168 182.4187 238.6045 163.2168 182.4187 238.5903 162.9168 182.3876 238.5903 163.2168 182.3876 238.5711 162.9168 182.3594 238.5711 163.2168 182.3594 238.5473 162.9168 182.3349 238.5473 163.2168 182.3349 238.5197 162.9168 182.3148 238.5197 163.2168 182.3148 238.4891 162.9168 182.2996 238.4891 163.2168 182.2996 238.4564 162.9168 182.2899 238.4564 163.2168 182.2899 238.4564 162.9168 185.3944 238.4564 163.2168 185.3944 238.4892 162.9168 185.3846 238.4892 163.2168 185.3846 238.5198 162.9168 185.3695 238.5198 163.2168 185.3695 238.5474 162.9168 185.3493 238.5474 163.2168 185.3493 238.5711 162.9168 185.3248 238.5711 163.2168 185.3248 238.5903 162.9168 185.2966 238.5903 163.2168 185.2966 238.6045 162.9168 185.2655 238.6045 163.2168 185.2655 238.6132 162.9168 185.2325 238.6132 163.2168 185.2325 230.016 157.6468 180.3947 230.0185 157.6781 180.3947 230.0258 157.7086 180.3947 230.0378 157.7376 180.3947 230.0542 157.7644 180.3947 230.0746 157.7882 180.3947 230.0984 157.8086 180.3947 230.1252 157.825 180.3947 230.1542 157.837 180.3947 230.1847 157.8443 180.3947 230.216 157.8468 180.3947 232.5905 162.9168 182.1004 232.5905 163.2168 182.1004 232.5592 162.9168 182.107 232.5592 163.2168 182.107 232.5293 162.9168 182.1186 232.5293 163.2168 182.1186 232.5016 162.9168 182.1347 232.5016 163.2168 182.1347 232.4769 162.9168 182.1551 232.4769 163.2168 182.1551 232.4558 162.9168 182.1791 232.4558 163.2168 182.1791 232.4387 162.9168 182.2062 232.4387 163.2168 182.2062 232.4262 162.9168 182.2357 232.4262 163.2168 182.2357 232.4186 162.9168 182.2668 232.4186 163.2168 182.2668 231.8685 161.3881 180.6947 231.8685 161.3881 180.3947 231.8758 161.4186 180.6947 231.8758 161.4186 180.3947 231.8878 161.4476 180.6947 231.8878 161.4476 180.3947 231.9042 161.4744 180.6947 231.9042 161.4744 180.3947 231.9246 161.4982 180.6947 231.9246 161.4982 180.3947 231.9485 161.5186 180.6947 231.9485 161.5186 180.3947 231.9752 161.535 180.6947 231.9752 161.535 180.3947 232.0042 161.547 180.6947 232.0042 161.547 180.3947 232.0347 161.5543 180.6947 232.0347 161.5543 180.3947 230.416 157.7981 180.7334 230.416 157.5059 180.6654 230.416 157.797 180.74 230.416 157.4984 180.7118 230.416 157.7968 180.7447 230.416 157.4968 180.7447 230.4161 157.7968 186.9397 230.4161 157.4968 186.9397 237.2161 157.8468 184.4025 237.216 157.8468 183.2818 237.3537 158.1134 184.3865 237.3537 158.1134 183.2978 237.2137 157.848 183.2492 237.3513 158.1146 183.2653 237.2067 157.8516 183.2176 237.3443 158.1182 183.2336 237.1952 157.8576 183.1876 237.3329 158.1241 183.2037 237.1795 157.8657 183.1602 237.3172 158.1322 183.1762 237.1602 157.8757 183.136 237.2978 158.1422 183.152 237.1375 157.8874 183.1156 237.2752 158.1539 183.1316 237.1123 157.9004 183.0996 237.25 158.1669 183.1157 237.0851 157.9145 183.0885 237.2227 158.181 183.1045 237.0566 157.9291 183.0825 237.1943 158.1957 183.0986 236.5832 158.5113 184.6569 236.5831 158.5113 183.0274 236.4789 158.5561 183.0153 236.479 158.5561 184.669 236.3694 158.5857 183.0025 236.3695 158.5857 184.6818 236.2569 158.5995 182.9894 236.2569 158.5995 184.6949 236.1435 158.5972 182.9762 236.1435 158.5972 184.7081 236.0315 158.579 182.9632 236.0316 158.579 184.7211 237.3444 158.1182 184.4506 237.3514 158.1146 184.419 237.1943 158.1957 184.5857 237.2978 158.1422 184.5323 237.3172 158.1322 184.5081 237.3329 158.1241 184.4806 237.2227 158.181 184.5797 237.25 158.1669 184.5686 237.2752 158.1539 184.5527 237.2137 157.848 184.435 237.2067 157.8516 184.4667 237.1952 157.8576 184.4966 237.1796 157.8657 184.5241 237.1602 157.8757 184.5483 237.1376 157.8874 184.5687 237.1123 157.9004 184.5846 237.0851 157.9145 184.5957 237.0566 157.9291 184.6017 236.4455 158.2448 183.0114 236.4455 158.2448 184.6729 236.1007 158.287 184.7131 236.1007 158.287 182.9712 236.1707 158.2985 182.9794 236.1707 158.2985 184.7049 236.2416 158.2999 182.9876 236.2416 158.2999 184.6967 236.3119 158.2912 182.9958 236.3119 158.2912 184.6885 236.3804 158.2728 183.0038 236.3804 158.2728 184.6805 233.1079 157.5777 182.6228 233.108 157.5777 185.0616 233.0388 157.8696 185.0697 233.0388 157.8696 182.6147 232.7295 157.8151 182.5787 232.7643 157.5171 182.5828 232.416 157.7968 182.5422 232.416 157.4968 182.5422 232.4161 157.7968 185.1422 232.4161 157.4968 185.1422 232.7295 157.8151 185.1057 232.7644 157.5171 185.1016 238.4225 157.7968 182.2859 238.4225 157.4968 182.2859 238.4564 157.7968 182.2899 238.4564 157.4968 182.2899 238.4891 157.7968 182.2996 238.4891 157.4968 182.2996 238.5197 157.7968 182.3148 238.5197 157.4968 182.3148 238.5473 157.7968 182.3349 238.5473 157.4968 182.3349 238.5711 157.7968 182.3594 238.5711 157.4968 182.3594 238.5903 157.7968 182.3876 238.5903 157.4968 182.3876 238.6045 157.7968 182.4187 238.6045 157.4968 182.4187 238.6131 157.7968 182.4517 238.6131 157.4968 182.4517 238.616 157.7968 182.4858 238.616 157.4968 182.4858 232.6225 157.4968 182.0989 232.6225 157.7968 182.0989 232.416 157.7968 182.2988 232.416 157.4968 182.2988 232.4186 157.7968 182.2668 232.4186 157.4968 182.2668 232.4262 157.7968 182.2357 232.4262 157.4968 182.2357 232.4387 157.7968 182.2062 232.4387 157.4968 182.2062 232.4558 157.7968 182.1791 232.4558 157.4968 182.1791 232.4769 157.7968 182.1551 232.4769 157.4968 182.1551 232.5016 157.7968 182.1347 232.5016 157.4968 182.1347 232.5293 157.7968 182.1186 232.5293 157.4968 182.1186 232.5592 157.7968 182.107 232.5592 157.4968 182.107 232.5905 157.7968 182.1004 232.5905 157.4968 182.1004 232.4161 157.4968 185.3856 232.4161 157.7968 185.3856 232.6225 157.7968 185.5856 232.6225 157.4968 185.5856 232.5905 157.7968 185.584 232.5905 157.4968 185.584 232.5592 157.7968 185.5774 232.5592 157.4968 185.5774 232.5293 157.7968 185.5659 232.5293 157.4968 185.5659 232.5017 157.7968 185.5497 232.5017 157.4968 185.5497 232.477 157.7968 185.5293 232.477 157.4968 185.5293 232.4558 157.7968 185.5053 232.4558 157.4968 185.5053 232.4388 157.7968 185.4782 232.4388 157.4968 185.4782 232.4263 157.7968 185.4487 232.4263 157.4968 185.4487 232.4186 157.7968 185.4176 232.4186 157.4968 185.4176 238.4225 157.4968 185.3984 238.4225 157.7968 185.3984 238.6161 157.7968 185.1985 238.6161 157.4968 185.1985 238.6132 157.7968 185.2325 238.6132 157.4968 185.2325 238.6045 157.7968 185.2655 238.6045 157.4968 185.2655 238.5903 157.7968 185.2966 238.5903 157.4968 185.2966 238.5711 157.7968 185.3248 238.5711 157.4968 185.3248 238.5474 157.7968 185.3493 238.5474 157.4968 185.3493 238.5198 157.7968 185.3695 238.5198 157.4968 185.3695 238.4892 157.7968 185.3846 238.4892 157.4968 185.3846 238.4564 157.7968 185.3944 238.4564 157.4968 185.3944 238.716 162.2068 180.3946 238.716 162.2068 180.6946 238.7681 162.2068 180.3901 238.8202 162.2068 180.6855 238.8186 162.2068 180.3765 238.9212 162.2068 180.6584 238.866 162.2068 180.3544 239.016 162.2068 180.6142 238.9088 162.2068 180.3244 239.1017 162.2068 180.5542 238.9458 162.2068 180.2874 239.1756 162.2068 180.4803 238.9758 162.2068 180.2446 239.2356 162.2068 180.3946 238.9979 162.2068 180.1972 239.2798 162.2068 180.2998 239.0114 162.2068 180.1467 239.3069 162.2068 180.1988 239.016 162.2068 180.0946 239.316 162.2068 180.0946 239.016 162.2068 179.6946 239.316 162.2068 179.6946 239.316 158.5068 179.6946 239.016 158.5068 179.6946 239.016 158.5068 180.0946 239.316 158.5068 180.0946 239.0114 158.5068 180.1467 239.3069 158.5068 180.1988 238.9979 158.5068 180.1972 239.2798 158.5068 180.2998 238.9758 158.5068 180.2446 239.2356 158.5068 180.3946 238.9458 158.5068 180.2874 239.1756 158.5068 180.4803 238.9088 158.5068 180.3244 239.1017 158.5068 180.5542 238.866 158.5068 180.3544 239.016 158.5068 180.6142 238.8186 158.5068 180.3765 238.9212 158.5068 180.6584 238.7681 158.5068 180.3901 238.8202 158.5068 180.6855 238.716 158.5068 180.3946 238.716 158.5068 180.6946 239.0161 156.7968 186.9396 239.3161 156.7968 186.9396 239.0161 157.1968 186.9396 239.3161 157.1968 186.9396 239.0115 157.2489 186.9396 239.307 157.301 186.9396 238.998 157.2994 186.9396 239.2799 157.402 186.9396 238.9759 157.3468 186.9396 239.2357 157.4968 186.9396 238.9459 157.3896 186.9396 239.1757 157.5825 186.9396 238.9089 157.4266 186.9396 239.1018 157.6564 186.9396 238.8661 157.4566 186.9396 239.0161 157.7164 186.9396 238.8187 157.4787 186.9396 238.9213 157.7606 186.9396 238.7682 157.4922 186.9396 238.8203 157.7877 186.9396 238.7161 157.4968 186.9396 238.7161 157.7968 186.9396 238.716 157.7968 181.4446 238.716 157.7968 180.7446 238.716 157.4968 181.4446 238.716 157.4968 180.7446 239.016 156.7968 181.4446 239.316 156.7968 181.4446 238.7681 157.4922 181.4446 238.8202 157.7877 181.4446 238.8186 157.4787 181.4446 238.9212 157.7606 181.4446 238.866 157.4566 181.4446 239.016 157.7164 181.4446 238.9089 157.4266 181.4446 239.1017 157.6564 181.4446 238.9458 157.3896 181.4446 239.1757 157.5825 181.4446 238.9758 157.3468 181.4446 239.2356 157.4968 181.4446 238.9979 157.2994 181.4446 239.2798 157.402 181.4446 239.0115 157.2489 181.4446 239.3069 157.301 181.4446 239.016 157.1968 181.4446 239.316 157.1968 181.4446 225.166 156.3168 180.3448 225.1703 156.3168 180.2901 225.1831 156.3168 180.2367 225.2041 156.3168 180.1859 225.2328 156.3168 180.1391 225.2685 156.3168 180.0973 225.3103 156.3168 180.0617 225.3571 156.3168 180.033 225.4078 156.3168 180.0119 225.4613 156.3168 179.9991 225.516 156.3168 179.9948 225.516 156.3168 180.2948 225.5073 156.3168 180.2956 225.4989 156.3168 180.2978 225.491 156.3168 180.3015 225.4839 156.3168 180.3065 225.4777 156.3168 180.3127 225.4727 156.3168 180.3198 225.469 156.3168 180.3277 225.4668 156.3168 180.3361 225.466 156.3168 180.3448 227.566 156.3168 179.9948 227.566 156.3168 180.2948 238.716 157.4984 180.7117 238.716 157.8468 180.3946 230.2749 157.826 180.3953 230.2716 157.828 180.3952 230.267 157.8309 180.3951 230.2592 157.8357 180.3948 230.2532 157.8383 180.3948 230.2442 157.8421 180.3947 230.2396 157.8432 180.3947 230.2305 157.8456 180.3947 230.2255 157.846 180.3947 238.716 157.7545 180.407 230.3356 157.7544 180.4072 238.716 157.8139 180.3962 230.3346 157.7562 180.4066 230.325 157.7704 180.4035 230.3167 157.7828 180.4008 230.3139 157.7869 180.3999 230.3078 157.7939 180.3989 230.2989 157.8041 180.3975 230.294 157.8097 180.3967 230.292 157.8116 180.3965 230.2893 157.8139 180.3963 230.2807 157.8211 180.3957 230.3574 157.7127 180.4215 230.3562 157.7154 180.4203 230.3496 157.7278 180.4162 230.3419 157.7424 180.4113 230.3789 157.6598 180.449 238.716 157.6978 180.4279 230.3823 157.6492 180.457 238.716 157.6455 180.4583 230.3833 157.6462 180.4592 230.3926 157.6177 180.4806 230.3706 157.6807 180.4378 230.3637 157.698 180.4285 230.3611 157.7046 180.425 230.4033 157.5789 180.5198 230.3995 157.593 180.5053 238.716 157.5993 180.4971 230.3976 157.6 180.498 230.3937 157.6142 180.4833 230.4109 157.5451 180.5678 238.716 157.5605 180.5434 230.4121 157.5376 180.5832 238.716 157.5301 180.5956 230.4131 157.5313 180.5963 230.4135 157.5291 180.6009 230.4082 157.5573 180.5501 230.4072 157.5614 180.5442 230.4038 157.5768 180.522 230.4158 157.5088 180.656 230.4157 157.5099 180.6526 238.716 157.5092 180.6523 230.4154 157.5146 180.6373 230.4149 157.5202 180.6191 238.716 157.8468 180.6946 238.716 162.8668 180.6946 233.7031 160.8855 192.6131 233.7031 159.8281 192.6131 233.5172 159.8389 192.5951 233.5172 160.8747 192.5951 233.3306 159.8497 192.6039 233.3306 160.8639 192.6039 233.1471 159.8604 192.6394 233.1471 160.8532 192.6394 232.9707 159.8706 192.7008 232.9707 160.843 192.7008 236.7273 159.6526 193.128 236.7273 161.061 193.128 237.5162 161.1068 193.1946 237.5162 159.6068 193.1946 237.1204 159.6298 193.1779 237.1204 161.0838 193.1779 233.0894 160.8499 192.9763 233.0894 159.8638 192.9763 233.2251 159.8559 192.9291 233.2251 160.8577 192.9291 233.3662 159.8477 192.9018 233.3662 160.8659 192.9018 233.5097 159.8394 192.895 233.5097 160.8743 192.895 233.6528 159.8311 192.9089 233.6528 160.8826 192.9089 236.677 161.0581 193.4237 236.677 159.6555 193.4237 237.0951 159.6313 193.4769 237.0951 161.0824 193.4769 237.5162 159.6068 193.4946 237.5162 161.1068 193.4946 227.0162 161.2168 193.2948 228.8162 161.2168 193.2948 227.0162 161.9668 193.2948 228.8162 161.9668 193.2948 228.8334 161.1997 192.9948 226.999 161.1997 192.9948 228.8793 161.1537 192.9983 228.9242 161.1088 193.0088 228.967 161.066 193.0262 229.0066 161.0264 193.0498 229.042 160.9909 193.0792 229.0726 160.9604 193.1138 229.0975 160.9355 193.1526 229.1077 160.9253 193.1733 229.1162 160.9168 193.1948 226.7162 160.9168 193.1948 226.7247 160.9253 193.1734 226.7349 160.9355 193.1526 226.7598 160.9604 193.1138 226.7903 160.9909 193.0793 226.8258 161.0264 193.0498 226.8654 161.066 193.0262 226.9082 161.1088 193.0089 226.953 161.1537 192.9983 228.8247 161.9753 193.3162 228.8247 161.2083 193.3162 228.8349 161.1981 193.3369 228.8349 161.9855 193.3369 228.8598 161.1732 193.3757 228.8598 162.0104 193.3757 228.8903 161.1427 193.4103 228.8903 162.041 193.4103 228.9258 161.1072 193.4397 228.9258 162.0764 193.4397 228.9654 161.0676 193.4634 228.9654 162.116 193.4634 229.0082 161.0248 193.4807 229.0082 162.1588 193.4807 229.0531 160.9799 193.4912 229.0531 162.2037 193.4912 229.099 160.934 193.4948 229.099 162.2496 193.4948 227.0077 161.2083 193.3162 226.9975 161.1981 193.337 226.9726 161.1732 193.3758 226.9421 161.1427 193.4103 226.9066 161.1072 193.4397 226.867 161.0676 193.4634 226.8242 161.0248 193.4807 226.7793 160.9799 193.4913 226.7334 160.934 193.4948 227.0077 161.9753 193.3162 226.9975 161.9855 193.337 226.9726 162.0104 193.3758 226.9421 162.041 193.4103 226.9066 162.0764 193.4397 226.867 162.116 193.4634 226.8242 162.1588 193.4807 226.7793 162.2037 193.4913 226.7334 162.2496 193.4948 228.3876 157.7668 193.1948 227.6769 157.7668 193.4948 228.5162 157.7668 193.4948 228.5162 158.6668 193.4948 227.6769 158.6668 193.4948 228.3876 158.6668 193.1948 228.4453 158.6668 193.1704 228.4453 158.6668 192.8448 227.6162 158.6668 193.1948 227.6162 157.7668 193.1948 228.4453 157.7668 192.8448 228.4453 157.7668 193.1704 226.9662 158.2668 193.1948 226.9662 158.2668 193.4948 226.1269 158.2668 193.1948 226.8376 158.2668 193.4948 226.8954 158.2668 193.8448 226.0662 158.2668 193.4948 226.8954 157.0668 193.8448 226.0662 157.0668 193.4948 226.8954 158.2668 193.5192 226.8954 157.0668 193.5192 226.8376 157.0668 193.4948 229.6762 153.4453 194.2927 228.3563 153.4453 194.2927 228.3496 153.5014 194.3563 229.6828 153.5014 194.3562 228.3418 153.5674 194.4094 229.6906 153.5674 194.4094 228.333 153.6415 194.4507 229.6994 153.6415 194.4507 228.3235 153.7215 194.4788 229.7089 153.7215 194.4788 228.3136 153.8051 194.493 229.7188 153.8051 194.493 228.3036 153.8899 194.4929 229.7288 153.8899 194.4929 228.2937 153.9735 194.4785 229.7387 153.9735 194.4784 228.2843 154.0534 194.4501 229.7482 154.0534 194.4501 228.2755 154.1274 194.4086 229.7569 154.1274 194.4086 229.9298 155.5872 193.4188 228.1026 155.5872 193.4188 228.0827 155.755 193.3224 229.9497 155.755 193.3224 228.0614 155.9352 193.252 229.971 155.9352 193.252 228.039 156.1239 193.2092 229.9933 156.1239 193.2091 228.0162 156.3168 193.1948 230.0162 156.3168 193.1947 229.7769 154.2958 194.6569 228.2555 154.2958 194.6569 228.2696 154.1774 194.7233 229.7629 154.1774 194.7232 228.2847 154.0495 194.7687 229.7477 154.0495 194.7686 228.3005 153.9158 194.7918 229.7319 153.9158 194.7918 228.3166 153.7801 194.792 229.7158 153.7801 194.792 228.3325 153.6464 194.7693 229.7 153.6464 194.7692 228.3476 153.5184 194.7242 229.6848 153.5184 194.7242 228.3616 153.3998 194.6582 229.6708 153.3998 194.6582 228.3742 153.2941 194.5732 229.6583 153.2941 194.5731 228.3848 153.2043 194.4714 229.6476 153.2043 194.4714 228.0827 155.7556 193.6671 229.9497 155.7556 193.6671 230.0162 156.3168 193.4947 228.0162 156.3168 193.4948 228.0338 156.1684 193.5058 229.9986 156.1684 193.5058 228.051 156.0233 193.5388 229.9814 156.0233 193.5388 228.0674 155.8847 193.593 229.965 155.8847 193.5929 225.5162 156.3168 193.4948 225.5162 156.3168 193.1948 232.4161 163.2168 188.7472 232.4162 163.2168 191.3472 232.7645 163.1965 191.3066 232.7644 163.1965 188.7878 233.1081 163.1359 191.2666 233.108 163.1359 188.8278 236.1008 162.4266 190.9181 236.1008 162.4266 189.1762 233.0388 162.844 188.8197 233.0389 162.844 191.2747 232.7296 162.8986 191.3107 232.7296 162.8986 188.7837 232.4162 162.9168 191.3472 232.4161 162.9168 188.7472 225.4662 158.7168 193.1448 225.1662 158.7168 193.1448 225.1662 158.7168 193.5448 225.1662 156.3168 193.5448 225.1715 156.3168 193.6056 225.1715 158.7168 193.6056 225.1873 156.3168 193.6645 225.1873 158.7168 193.6645 225.2131 156.3168 193.7198 225.2131 158.7168 193.7198 225.2481 156.3168 193.7698 225.2481 158.7168 193.7698 225.2912 156.3168 193.8129 225.2912 158.7168 193.8129 225.3412 156.3168 193.8479 225.3412 158.7168 193.8479 225.3965 156.3168 193.8737 225.3965 158.7168 193.8737 225.4554 156.3168 193.8895 225.4554 158.7168 193.8895 225.5162 156.3168 193.8948 225.5162 158.7168 193.8948 225.5162 158.7168 193.5948 225.5162 156.3168 193.5948 225.5075 158.7168 193.5941 225.5075 156.3168 193.5941 225.4991 158.7168 193.5918 225.4991 156.3168 193.5918 225.4912 158.7168 193.5881 225.4912 156.3168 193.5881 225.4841 158.7168 193.5831 225.4841 156.3168 193.5831 225.4779 158.7168 193.5769 225.4779 156.3168 193.5769 225.4729 158.7168 193.5698 225.4729 156.3168 193.5698 225.4692 158.7168 193.5619 225.4692 156.3168 193.5619 225.467 158.7168 193.5535 225.467 156.3168 193.5535 225.4662 158.7168 193.5448 225.4662 156.3168 193.5448 227.0662 158.3168 193.8948 225.6662 158.3168 193.8948 227.0662 158.3168 193.5948 225.6662 158.3168 193.5948 225.6662 156.7168 193.8948 225.6662 156.7168 193.5948 227.0662 156.7168 193.8948 227.0662 156.7168 193.5948 227.5662 158.7168 193.8948 227.5662 156.3168 193.8948 227.5662 158.7168 193.5948 227.5662 156.3168 193.5948 230.2162 157.8468 193.4947 230.1815 157.8438 193.4947 230.1478 157.8347 193.4947 230.1162 157.82 193.4947 230.0876 157.8 193.4947 230.063 157.7754 193.4947 230.043 157.7468 193.4947 230.0283 157.7152 193.4947 230.0192 157.6815 193.4947 230.0162 157.6468 193.4947 232.4162 162.9168 191.5906 232.4162 163.2168 191.5906 228.6535 152.5168 193.5448 228.625 152.7577 193.366 229.3789 152.5168 193.5447 229.4074 152.7577 193.366 229.4732 152.7643 193.3748 229.4408 152.7594 193.3682 229.6078 152.8686 193.5154 228.4245 152.8686 193.5154 228.5916 152.7594 193.3682 228.5592 152.7643 193.3749 229.5562 152.7968 193.4187 229.5317 152.7833 193.4004 229.5038 152.7723 193.3857 228.5286 152.7723 193.3857 228.5007 152.7833 193.4004 228.4762 152.7968 193.4187 229.6027 152.8489 193.4889 229.5922 152.8301 193.4635 229.5765 152.8126 193.4399 228.4559 152.8126 193.4399 228.4402 152.8301 193.4636 228.4297 152.8489 193.4889 228.5877 152.5234 193.5536 228.6201 152.5185 193.547 228.4531 152.6276 193.6941 229.5793 152.6276 193.6941 229.4123 152.5185 193.547 229.4447 152.5234 193.5536 228.5047 152.5559 193.5974 228.5292 152.5423 193.5792 228.5571 152.5314 193.5644 229.4753 152.5314 193.5644 229.5032 152.5423 193.5792 229.5277 152.5559 193.5974 229.548 152.5716 193.6186 229.5637 152.5892 193.6423 229.5742 152.608 193.6677 228.4582 152.608 193.6677 228.4687 152.5892 193.6423 228.4844 152.5716 193.6187 232.4662 160.624 193.2447 232.3475 160.6171 192.9692 232.4662 160.0896 193.2447 232.3475 160.0965 192.9692 232.3578 160.0303 192.9647 232.3501 160.0629 192.9681 232.5214 159.8967 192.8943 232.5214 160.8169 192.8943 232.3501 160.6507 192.9681 232.3578 160.6833 192.9647 232.409 159.9471 192.9427 232.3877 159.9716 192.9519 232.3705 159.9996 192.9593 232.3705 160.7141 192.9593 232.3877 160.7421 192.9519 232.409 160.7665 192.9427 232.4338 160.7867 192.932 232.4613 160.8021 192.9202 232.4908 160.8123 192.9075 232.4908 159.9013 192.9075 232.4613 159.9115 192.9202 232.4338 159.9269 192.932 232.4765 160.6902 193.2402 232.4688 160.6576 193.2436 232.6401 160.8238 193.1698 232.6401 159.8898 193.1698 232.4688 160.056 193.2436 232.4765 160.0234 193.2402 232.5277 160.7734 193.2182 232.5064 160.7489 193.2274 232.4892 160.721 193.2348 232.4892 159.9927 193.2348 232.5064 159.9647 193.2274 232.5277 159.9402 193.2182 232.6095 160.8192 193.183 232.58 160.809 193.1957 232.5525 160.7936 193.2075 232.5525 159.92 193.2075 232.58 159.9046 193.1957 232.6095 159.8945 193.183 237.5162 161.3568 193.1946 237.5162 161.3568 193.4946 225.5162 163.1349 193.3698 225.5162 163.1699 193.3198 225.5162 163.1957 193.2645 225.5162 163.2115 193.2056 225.5162 162.8668 193.4948 225.5162 162.9276 193.4895 225.5162 162.9865 193.4737 225.5162 163.0418 193.4479 225.5162 163.0918 193.4129 238.7162 163.2168 193.1446 238.7162 163.2115 193.2054 238.7162 163.1957 193.2643 238.7162 163.1699 193.3196 238.7162 163.1349 193.3696 238.7162 163.0918 193.4127 238.7162 163.0418 193.4477 238.7162 162.9865 193.4735 238.7162 162.9276 193.4893 238.7162 162.8668 193.4946 237.3162 159.1568 193.1946 232.0662 159.1568 193.1947 237.3162 159.1568 193.4946 232.0662 159.1568 193.4947 237.5162 159.3568 193.4946 237.5162 159.3568 193.1946 231.8662 159.3568 193.1947 231.8662 161.3568 193.1947 231.8662 159.3568 193.4947 231.8662 161.3568 193.4947 237.3162 161.5568 193.4946 232.0662 161.5568 193.4947 237.3162 161.5568 193.1946 232.0662 161.5568 193.1947 232.4161 163.2168 188.5038 232.4161 162.9168 188.5038 238.6162 163.2168 191.4035 238.6161 163.2168 188.6908 238.6162 162.9168 191.4035 238.6161 162.9168 188.6908 238.4226 162.9168 191.6034 232.6226 162.9168 191.7905 238.4226 163.2168 191.6034 232.6226 163.2168 191.7905 232.6226 162.9168 188.3039 238.4226 162.9168 188.4909 232.6226 163.2168 188.3039 238.4226 163.2168 188.4909 237.3509 159.1598 193.1946 237.3509 159.1598 193.4946 237.3846 159.1689 193.1946 237.3846 159.1689 193.4946 237.4162 159.1836 193.1946 237.4162 159.1836 193.4946 237.4448 159.2036 193.1946 237.4448 159.2036 193.4946 237.4694 159.2283 193.1946 237.4694 159.2283 193.4946 237.4894 159.2568 193.1946 237.4894 159.2568 193.4946 237.5041 159.2884 193.1946 237.5041 159.2884 193.4946 237.5132 159.3221 193.1946 237.5132 159.3221 193.4946 231.8692 159.3221 193.1947 231.8692 159.3221 193.4947 231.8783 159.2884 193.1947 231.8783 159.2884 193.4947 231.893 159.2568 193.1947 231.893 159.2568 193.4947 231.913 159.2283 193.1947 231.913 159.2283 193.4947 231.9376 159.2036 193.1947 231.9376 159.2036 193.4947 231.9662 159.1836 193.1947 231.9662 159.1836 193.4947 231.9978 159.1689 193.1947 231.9978 159.1689 193.4947 232.0315 159.1598 193.1947 232.0315 159.1598 193.4947 237.5137 161.3881 193.1946 237.5137 161.3881 193.4946 237.5064 161.4186 193.1946 237.5064 161.4186 193.4946 237.4944 161.4476 193.1946 237.4944 161.4476 193.4946 237.478 161.4744 193.1946 237.478 161.4744 193.4946 237.4576 161.4982 193.1946 237.4576 161.4982 193.4946 237.4337 161.5186 193.1946 237.4338 161.5186 193.4946 237.407 161.535 193.1946 237.407 161.535 193.4946 237.378 161.547 193.1946 237.378 161.547 193.4946 237.3475 161.5543 193.1946 237.3475 161.5543 193.4946 232.5906 162.9168 188.3054 232.5906 163.2168 188.3054 232.5592 162.9168 188.312 232.5592 163.2168 188.312 232.5294 162.9168 188.3236 232.5294 163.2168 188.3236 232.5017 162.9168 188.3397 232.5017 163.2168 188.3397 232.477 162.9168 188.3601 232.477 163.2168 188.3601 232.4559 162.9168 188.3841 232.4559 163.2168 188.3841 232.4388 162.9168 188.4113 232.4388 163.2168 188.4113 232.4263 162.9168 188.4407 232.4263 163.2168 188.4407 232.4187 162.9168 188.4718 232.4187 163.2168 188.4718 238.4565 162.9168 191.5993 238.4565 163.2168 191.5993 238.4893 162.9168 191.5896 238.4893 163.2168 191.5896 238.5199 162.9168 191.5745 238.5199 163.2168 191.5745 238.5475 162.9168 191.5543 238.5475 163.2168 191.5543 238.5712 162.9168 191.5298 238.5712 163.2168 191.5298 238.5904 162.9168 191.5016 238.5904 163.2168 191.5016 238.6046 162.9168 191.4705 238.6046 163.2168 191.4705 238.6133 162.9168 191.4375 238.6133 163.2168 191.4375 238.6132 162.9168 188.6567 238.6132 163.2168 188.6567 238.6045 162.9168 188.6237 238.6045 163.2168 188.6237 238.5904 162.9168 188.5926 238.5904 163.2168 188.5926 238.5712 162.9168 188.5644 238.5712 163.2168 188.5644 238.5474 162.9168 188.5399 238.5474 163.2168 188.5399 238.5198 162.9168 188.5198 238.5198 163.2168 188.5198 238.4892 162.9168 188.5046 238.4892 163.2168 188.5046 238.4565 162.9168 188.4949 238.4565 163.2168 188.4949 232.4187 162.9168 191.6226 232.4187 163.2168 191.6226 232.4264 162.9168 191.6537 232.4264 163.2168 191.6537 232.4389 162.9168 191.6832 232.4389 163.2168 191.6832 232.4559 162.9168 191.7103 232.4559 163.2168 191.7103 232.477 162.9168 191.7343 232.477 163.2168 191.7343 232.5018 162.9168 191.7547 232.5018 163.2168 191.7547 232.5294 162.9168 191.7709 232.5294 163.2168 191.7709 232.5593 162.9168 191.7824 232.5593 163.2168 191.7824 232.5906 162.9168 191.789 232.5906 163.2168 191.789 232.0349 161.5543 193.1947 232.0349 161.5543 193.4947 232.0044 161.547 193.1947 232.0044 161.547 193.4947 231.9754 161.535 193.1947 231.9754 161.535 193.4947 231.9486 161.5186 193.1947 231.9486 161.5186 193.4947 231.9248 161.4982 193.1947 231.9248 161.4982 193.4947 231.9044 161.4744 193.1947 231.9044 161.4744 193.4947 231.888 161.4476 193.1947 231.888 161.4476 193.4947 231.876 161.4186 193.1947 231.876 161.4186 193.4947 231.8687 161.3881 193.1947 231.8687 161.3881 193.4947 230.4162 157.4984 193.1777 230.4162 157.4968 193.1447 238.7162 157.4984 193.1775 238.7162 157.4968 193.1446 230.4153 157.5174 193.2603 230.4157 157.5117 193.2422 238.7162 157.5092 193.237 230.4159 157.51 193.2368 230.4162 157.5059 193.224 238.7162 157.5301 193.2936 230.4109 157.5459 193.3232 230.4119 157.54 193.3112 230.4133 157.5316 193.2942 230.4149 157.5222 193.2752 230.3991 157.595 193.3863 230.4039 157.5775 193.3682 238.7162 157.5605 193.3459 230.4053 157.571 193.3589 230.4074 157.5614 193.3453 230.4102 157.5491 193.3277 230.3978 157.6 193.3916 238.7162 157.5993 193.3921 230.3941 157.6136 193.4057 238.7162 157.6455 193.431 238.7162 157.6978 193.4613 230.3642 157.6978 193.4613 230.3716 157.6788 193.4507 230.3815 157.6531 193.4361 230.383 157.6484 193.4325 230.3838 157.6459 193.4306 230.3919 157.6203 193.4109 230.3441 157.7398 193.478 230.3523 157.7226 193.4712 230.3586 157.7094 193.4659 230.2921 157.811 193.4928 230.2993 157.8044 193.4922 238.7162 157.7545 193.4822 230.311 157.7899 193.4898 230.3206 157.778 193.4879 230.3288 157.7648 193.4845 230.3351 157.7545 193.4818 230.3373 157.751 193.4809 230.289 157.8139 193.4931 238.7162 157.8139 193.4931 230.2785 157.8234 193.494 238.7162 157.8468 193.4946 230.2191 157.8468 193.4947 230.2252 157.8461 193.4948 230.2324 157.8452 193.4948 230.2395 157.8433 193.4948 230.2442 157.842 193.4948 230.2465 157.8413 193.4948 230.2538 157.838 193.4947 230.2587 157.8358 193.4947 230.2617 157.8344 193.4946 230.2635 157.8333 193.4945 230.273 157.827 193.4942 226.9662 157.0668 193.4948 238.7162 158.5068 193.4946 238.7162 162.2068 193.4946 238.7162 157.8468 193.1946 238.7162 158.5068 193.1946 238.7162 162.2068 193.1946 238.7162 162.8668 193.1946 238.716 163.2168 181.4446 238.7162 163.2168 192.4446 239.3162 163.9168 192.4446 239.3162 163.5168 192.4446 239.316 163.9168 181.4446 239.316 163.5168 181.4446 239.3071 163.4126 192.4446 239.3069 163.4126 181.4446 239.28 163.3116 192.4446 239.2798 163.3116 181.4446 239.2358 163.2168 192.4446 239.2356 163.2168 181.4446 239.1758 163.1311 192.4446 239.1757 163.1311 181.4446 239.1019 163.0572 192.4446 239.1017 163.0572 181.4446 239.0162 162.9972 192.4446 239.016 162.9972 181.4446 238.9214 162.953 192.4446 238.9212 162.953 181.4446 238.8204 162.9259 192.4446 238.8202 162.9259 181.4446 238.7162 162.9168 192.4446 238.716 162.9168 181.4446 239.0162 163.5168 192.4446 239.0162 163.9168 192.4446 239.016 163.5168 181.4446 239.016 163.9168 181.4446 238.7681 163.2214 181.4446 238.7683 163.2214 192.4446 238.8186 163.2349 181.4446 238.8188 163.2349 192.4446 238.866 163.257 181.4446 238.8662 163.257 192.4446 238.9089 163.287 181.4446 238.909 163.287 192.4446 238.9458 163.324 181.4446 238.946 163.324 192.4446 238.9758 163.3668 181.4446 238.976 163.3668 192.4446 238.9979 163.4142 181.4446 238.9981 163.4142 192.4446 239.0115 163.4647 181.4446 239.0116 163.4647 192.4446 238.7162 157.4968 192.4446 238.7161 157.4968 186.9496 238.7683 157.4922 192.4446 238.7682 157.4922 186.9496 238.8188 157.4787 192.4446 238.8187 157.4787 186.9496 238.8662 157.4566 192.4446 238.8661 157.4566 186.9496 238.909 157.4266 192.4446 238.9089 157.4266 186.9496 238.946 157.3896 192.4446 238.9459 157.3896 186.9496 238.976 157.3468 192.4446 238.9759 157.3468 186.9496 238.9981 157.2994 192.4446 238.998 157.2994 186.9496 239.0116 157.2489 192.4446 239.0115 157.2489 186.9496 239.0162 157.1968 192.4446 239.0161 157.1968 186.9496 239.0161 156.7968 186.9496 239.0162 156.7968 192.4446 239.3162 157.1968 192.4446 239.3161 157.1968 186.9496 239.307 157.301 186.9496 239.3071 157.301 192.4446 239.2799 157.402 186.9496 239.28 157.402 192.4446 239.2357 157.4968 186.9496 239.2358 157.4968 192.4446 239.1757 157.5825 186.9496 239.1758 157.5825 192.4446 239.1018 157.6564 186.9496 239.1019 157.6564 192.4446 239.0161 157.7164 186.9496 239.0162 157.7164 192.4446 238.9213 157.7606 186.9496 238.9214 157.7606 192.4446 238.8203 157.7877 186.9496 238.8204 157.7877 192.4446 238.7161 157.7968 186.9496 238.7162 157.7968 192.4446 239.3161 156.7968 186.9496 239.3162 156.7968 192.4446 239.0162 158.5068 193.7946 239.0162 162.2068 193.7946 239.0116 158.5068 193.7425 239.0116 162.2068 193.7425 238.9981 158.5068 193.692 238.9981 162.2068 193.692 238.976 158.5068 193.6446 238.976 162.2068 193.6446 238.946 158.5068 193.6018 238.946 162.2068 193.6018 238.909 158.5068 193.5648 238.909 162.2068 193.5648 238.8662 158.5068 193.5348 238.8662 162.2068 193.5348 238.8188 158.5068 193.5127 238.8188 162.2068 193.5127 238.7683 158.5068 193.4992 238.7683 162.2068 193.4992 239.0162 162.2068 194.1946 239.0162 158.5068 194.1946 232.4162 157.4968 191.5906 232.4162 157.4968 191.3472 232.4162 157.7968 191.5906 232.4162 157.7968 191.3472 238.6162 157.7968 191.4035 238.6162 157.4968 191.4035 238.6133 157.7968 191.4375 238.6133 157.4968 191.4375 238.6046 157.7968 191.4705 238.6046 157.4968 191.4705 238.5904 157.7968 191.5016 238.5904 157.4968 191.5016 238.5712 157.7968 191.5298 238.5712 157.4968 191.5298 238.5475 157.7968 191.5543 238.5475 157.4968 191.5543 238.5199 157.7968 191.5745 238.5199 157.4968 191.5745 238.4893 157.7968 191.5896 238.4893 157.4968 191.5896 238.4565 157.7968 191.5993 238.4565 157.4968 191.5993 238.4226 157.7968 191.6034 238.4226 157.4968 191.6034 232.6226 157.7968 191.7905 232.6226 157.4968 191.7905 232.5906 157.7968 191.789 232.5906 157.4968 191.789 232.5593 157.7968 191.7824 232.5593 157.4968 191.7824 232.5294 157.7968 191.7709 232.5294 157.4968 191.7709 232.5018 157.7968 191.7547 232.5018 157.4968 191.7547 232.477 157.7968 191.7343 232.477 157.4968 191.7343 232.4559 157.7968 191.7103 232.4559 157.4968 191.7103 232.4389 157.7968 191.6832 232.4389 157.4968 191.6832 232.4264 157.7968 191.6537 232.4264 157.4968 191.6537 232.4187 157.7968 191.6226 232.4187 157.4968 191.6226 232.4161 157.7968 188.5038 232.4161 157.4968 188.5038 232.4187 157.7968 188.4718 232.4187 157.4968 188.4718 232.4263 157.7968 188.4407 232.4263 157.4968 188.4407 232.4388 157.7968 188.4113 232.4388 157.4968 188.4113 232.4559 157.7968 188.3841 232.4559 157.4968 188.3841 232.477 157.7968 188.3601 232.477 157.4968 188.3601 232.5017 157.7968 188.3397 232.5017 157.4968 188.3397 232.5294 157.7968 188.3236 232.5294 157.4968 188.3236 232.5592 157.7968 188.312 232.5592 157.4968 188.312 232.5906 157.7968 188.3054 232.5906 157.4968 188.3054 232.6226 157.7968 188.3039 232.6226 157.4968 188.3039 237.2162 157.8468 190.6075 237.3538 158.1134 190.5915 237.3515 158.1146 190.624 237.2138 157.848 190.64 237.3444 158.1182 190.6557 237.2068 157.8516 190.6717 237.333 158.1241 190.6856 237.1953 157.8576 190.7016 237.3173 158.1322 190.7131 237.1797 157.8657 190.7291 237.2979 158.1422 190.7373 237.1603 157.8757 190.7533 237.2753 158.1539 190.7577 237.1376 157.8874 190.7737 237.2501 158.1669 190.7736 237.1124 157.9004 190.7896 237.2228 158.181 190.7847 237.0852 157.9145 190.8007 237.1944 158.1957 190.7907 237.0567 157.9291 190.8067 237.3538 158.1134 189.5028 237.2161 157.8468 189.4868 237.2138 157.848 189.4542 237.3514 158.1146 189.4703 237.2068 157.8516 189.4226 237.3444 158.1182 189.4386 237.1953 157.8576 189.3926 237.333 158.1241 189.4087 237.1796 157.8657 189.3652 237.3173 158.1322 189.3812 237.1603 157.8757 189.341 237.2979 158.1422 189.357 237.1376 157.8874 189.3206 237.2753 158.1539 189.3366 237.1124 157.9004 189.3046 237.25 158.1669 189.3207 237.0852 157.9145 189.2935 237.2228 158.181 189.3096 237.0567 157.9291 189.2875 237.1944 158.1957 189.3036 238.4226 157.7968 188.4909 238.4226 157.4968 188.4909 238.4565 157.7968 188.4949 238.4565 157.4968 188.4949 238.4892 157.7968 188.5046 238.4892 157.4968 188.5046 238.5198 157.7968 188.5198 238.5198 157.4968 188.5198 238.5474 157.7968 188.5399 238.5474 157.4968 188.5399 238.5712 157.7968 188.5644 238.5712 157.4968 188.5644 238.5904 157.7968 188.5926 238.5904 157.4968 188.5926 238.6045 157.7968 188.6237 238.6045 157.4968 188.6237 238.6132 157.7968 188.6567 238.6132 157.4968 188.6567 238.6161 157.7968 188.6908 238.6161 157.4968 188.6908 230.4161 157.4968 186.9497 230.4161 157.7968 186.9497 230.4162 157.7968 193.1447 238.7162 157.7968 193.1446 232.4161 157.7968 188.7472 232.4161 157.4968 188.7472 232.7296 157.8151 191.3107 232.7296 157.8151 188.7837 233.0389 157.8696 191.2747 233.0388 157.8696 188.8197 236.0316 158.579 189.1682 236.0317 158.579 190.9261 236.1436 158.5972 190.9131 236.1436 158.5972 189.1812 236.257 158.5995 190.8999 236.257 158.5995 189.1944 236.3696 158.5857 190.8868 236.3695 158.5857 189.2075 236.479 158.5561 190.874 236.479 158.5561 189.2203 236.5833 158.5113 190.8619 236.5832 158.5113 189.2324 236.4456 158.2448 189.2164 236.4456 158.2448 190.8779 236.3805 158.2728 190.8855 236.3804 158.2728 189.2088 236.312 158.2912 190.8935 236.312 158.2912 189.2008 236.2417 158.2999 190.9017 236.2416 158.2999 189.1926 236.1708 158.2985 190.9099 236.1708 158.2985 189.1844 236.1008 158.287 190.9181 236.1008 158.287 189.1762 233.108 157.5777 188.8278 233.1081 157.5777 191.2666 232.7645 157.5171 191.3066 232.7644 157.5171 188.7878 239.3162 162.2068 194.1946 239.3162 158.5068 194.1946 239.3162 162.2068 193.7946 239.3071 162.2068 193.6904 239.28 162.2068 193.5894 239.2358 162.2068 193.4946 239.1758 162.2068 193.4089 239.1019 162.2068 193.335 239.0162 162.2068 193.275 238.9214 162.2068 193.2308 238.8204 162.2068 193.2037 238.8204 158.5068 193.2037 238.9214 158.5068 193.2308 239.0162 158.5068 193.275 239.1019 158.5068 193.335 239.1758 158.5068 193.4089 239.2358 158.5068 193.4946 239.28 158.5068 193.5894 239.3071 158.5068 193.6904 239.3162 158.5068 193.7946 238.7162 157.8421 193.1944 238.7162 157.8336 193.1928 238.7162 157.8255 193.1899 238.7162 157.818 193.1855 238.7162 157.8115 193.18 238.7162 157.8059 193.1734 238.7162 157.8016 193.1659 238.7162 157.7986 193.1578 238.7162 157.797 193.1493 238.716 157.797 180.7399 238.716 157.7986 180.7314 238.716 157.8016 180.7233 238.716 157.8059 180.7159 238.716 157.8115 180.7093 238.716 157.818 180.7037 238.716 157.8255 180.6994 238.716 157.8336 180.6964 238.716 157.8421 180.6948 238.716 162.9168 180.7446 238.716 162.9162 180.7368 238.716 162.9144 180.7292 238.716 162.9114 180.7219 238.716 162.8746 180.6952 238.716 162.8823 180.6971 238.716 162.8895 180.7001 238.716 162.8962 180.7042 238.716 162.9022 180.7093 238.716 162.9073 180.7152 238.7162 162.8747 193.194 238.7162 162.8824 193.1921 238.7162 162.8896 193.1891 238.7162 162.8963 193.1849 238.7162 162.9168 193.1446 238.7162 162.9163 193.152 238.7162 162.9145 193.1597 238.7162 162.9115 193.167 238.7162 162.9074 193.1738 238.7162 162.9023 193.1798 230.384 157.8181 193.1856 230.3877 157.8164 193.1842 230.3878 157.8107 193.1919 230.4147 157.7832 193.1709 230.4152 157.7651 193.1759 230.4147 157.7659 193.178 230.3976 157.8115 193.18 230.3993 157.8106 193.1791 230.3995 157.804 193.1858 230.3922 157.6687 193.3542 230.3878 157.7822 193.2291 230.3922 157.778 193.2257 230.3922 157.7658 193.2399 230.3831 157.6908 193.3711 230.3591 157.8051 193.2425 230.3591 157.7977 193.2597 230.3529 157.8024 193.2616 230.3591 157.7388 193.3977 230.3455 157.8135 193.2456 230.3455 157.8077 193.2635 230.3378 157.8126 193.265 230.3529 157.8091 193.2441 230.3529 157.7625 193.3668 230.3529 157.7492 193.4018 230.3455 157.7607 193.4059 230.3335 157.8337 193.1927 230.3376 157.8327 193.1924 230.3378 157.828 193.2109 230.3207 157.8259 193.2489 230.3207 157.8222 193.2673 230.3115 157.8266 193.2681 230.2588 157.8383 193.4197 230.254 157.8401 193.4197 230.2636 157.8377 193.3821 230.2348 157.8456 193.3448 230.2395 157.845 193.3448 230.2443 157.8431 193.4198 230.2491 157.8417 193.4198 230.2443 157.8441 193.3448 230.2443 157.8451 193.2698 230.2491 157.8431 193.3448 230.254 157.8438 193.2697 230.254 157.8419 193.3447 230.2636 157.8348 193.4571 230.2732 157.8294 193.4568 230.2827 157.8229 193.4563 230.2636 157.8406 193.3072 230.2636 157.842 193.2697 230.2732 157.8398 193.2696 230.2732 157.8419 193.2321 230.2827 157.8401 193.232 230.2925 157.8379 193.2318 230.2925 157.8341 193.2691 230.2827 157.8373 193.2694 230.2732 157.8377 193.307 230.2636 157.8391 193.3446 230.3115 157.7963 193.4532 230.302 157.8063 193.4546 230.2925 157.8152 193.4556 230.3207 157.8296 193.2305 230.302 157.8306 193.2687 230.302 157.8355 193.2315 230.3115 157.8327 193.2311 230.3378 157.7717 193.4093 230.3294 157.7825 193.4121 230.3207 157.7853 193.4512 230.3207 157.7927 193.4144 230.3115 157.8024 193.4161 230.302 157.8112 193.4174 230.2925 157.819 193.4183 230.2827 157.8258 193.419 230.2732 157.8315 193.4194 230.2636 157.8363 193.4196 230.3293 157.8348 193.193 230.3294 157.8307 193.2116 230.3294 157.8264 193.2298 230.3378 157.8229 193.2289 230.3294 157.822 193.2481 230.2732 157.8336 193.3819 230.2827 157.8287 193.3816 230.2925 157.8227 193.381 230.302 157.8161 193.3802 230.3115 157.8084 193.3791 230.3207 157.8001 193.3776 230.3294 157.7913 193.3757 230.3378 157.7819 193.3732 230.3455 157.7724 193.3703 230.3455 157.8253 193.21 230.3529 157.8157 193.2265 230.3455 157.8194 193.2278 230.3378 157.8178 193.2469 230.3294 157.8176 193.2663 230.3529 157.7758 193.3317 230.3455 157.7842 193.3347 230.3378 157.7922 193.3371 230.3294 157.8 193.3392 230.3207 157.8075 193.3408 230.3115 157.8145 193.3421 230.302 157.8209 193.3431 230.2925 157.8265 193.3437 230.2827 157.8315 193.3442 230.2732 157.8357 193.3445 230.2827 157.8344 193.3068 230.2925 157.8303 193.3064 230.302 157.8258 193.3059 230.3115 157.8206 193.3051 230.3207 157.8148 193.3041 230.3294 157.8088 193.3027 230.3378 157.8024 193.3011 230.3455 157.7959 193.2991 230.3529 157.7891 193.2967 230.3591 157.783 193.2942 230.3591 157.8198 193.208 230.3529 157.8224 193.209 230.3454 157.8307 193.1918 230.3591 157.7536 193.3632 230.3591 157.7683 193.3287 230.3658 157.7595 193.3247 230.3591 157.8125 193.2252 230.3658 157.8086 193.2235 230.3658 157.8168 193.2066 230.3721 157.8047 193.2214 230.3658 157.8004 193.2403 230.3721 157.7957 193.2379 230.3778 157.7911 193.2352 230.3658 157.7432 193.3584 230.3721 157.7506 193.32 230.3778 157.7027 193.3789 230.3721 157.7146 193.3858 230.3658 157.7268 193.3922 230.3294 157.8132 193.2845 230.3378 157.8075 193.283 230.3455 157.8018 193.2813 230.3529 157.7958 193.2791 230.3591 157.7904 193.2769 230.3658 157.7841 193.2741 230.3658 157.7759 193.2909 230.3721 157.7777 193.2707 230.3721 157.7687 193.2872 230.3778 157.7715 193.2671 230.3778 157.7616 193.2831 230.3831 157.7546 193.2785 230.3831 157.7333 193.3094 230.3778 157.742 193.315 230.3658 157.7923 193.2572 230.3721 157.7867 193.2543 230.3778 157.7813 193.2512 230.3831 157.7759 193.2476 230.3921 157.8144 193.1826 230.3922 157.8083 193.19 230.3878 157.805 193.1993 230.3922 157.8023 193.1971 230.3922 157.7901 193.2114 230.3878 157.7936 193.2142 230.3831 157.7972 193.2168 230.3831 157.8078 193.2013 230.3778 157.8108 193.2033 230.3831 157.8131 193.1936 230.3778 157.8157 193.1953 230.3822 157.8189 193.1862 230.3721 157.8137 193.205 230.3778 157.8009 193.2192 230.3831 157.7865 193.2322 230.3878 157.7708 193.244 230.3878 157.748 193.2737 230.3922 157.7415 193.2685 230.3922 157.7172 193.2971 230.3949 157.813 193.1816 230.396 157.8061 193.188 230.396 157.7997 193.1948 230.3995 157.7972 193.1923 230.396 157.7933 193.2016 230.3995 157.7904 193.1988 230.3995 157.7566 193.2313 230.3995 157.7702 193.2183 230.4027 157.7664 193.2142 230.4028 157.8087 193.1771 230.4051 157.8071 193.1751 230.4027 157.8019 193.1836 230.4056 157.7999 193.1811 230.4027 157.7948 193.1897 230.4056 157.7925 193.1869 230.4027 157.7877 193.1958 230.4056 157.7851 193.1927 230.4027 157.7806 193.202 230.4056 157.7777 193.1984 230.3995 157.6484 193.3352 230.3995 157.7025 193.2832 230.4027 157.6955 193.2756 230.4027 157.7523 193.2265 230.4056 157.7629 193.2099 230.4056 157.7481 193.2214 230.4081 157.7595 193.2052 230.4081 157.7441 193.2159 230.396 157.774 193.2221 230.396 157.7612 193.2358 230.396 157.7355 193.2631 230.3995 157.7296 193.2573 230.4027 157.7239 193.251 230.4056 157.7185 193.2444 230.4056 157.6889 193.2674 230.4081 157.6825 193.2586 230.4103 157.6765 193.2494 230.4081 157.7749 193.1946 230.4081 157.7903 193.1839 230.4103 157.7723 193.1905 230.4103 157.7883 193.1807 230.4121 157.7699 193.1865 230.4113 157.7873 193.1791 230.4121 157.7864 193.1775 230.4121 157.737 193.2043 230.4103 157.7404 193.2102 230.4103 157.7563 193.2004 230.4136 157.6662 193.2304 230.4121 157.6711 193.2401 230.4136 157.7678 193.1822 230.4129 157.7855 193.1759 230.4121 157.7946 193.173 230.4103 157.7962 193.1758 230.4081 157.798 193.1786 230.4155 157.7643 193.1737 230.4136 157.7847 193.1742 230.416 157.7268 193.1796 230.416 157.6548 193.2006 230.4158 157.7278 193.1829 230.4155 157.6581 193.2109 230.4155 157.7289 193.1861 230.4147 157.6619 193.2208 230.4147 157.7312 193.1923 230.4136 157.7339 193.1983 230.4162 157.7981 193.1561 230.4156 157.7988 193.1586 230.2252 157.8465 193.3448 230.2732 157.8436 193.1946 230.2826 157.8423 193.1944 230.3019 157.8396 193.1941 230.3198 157.8372 193.1938 230.3207 157.8333 193.2122 230.3114 157.8383 193.1939 230.3529 157.8288 193.1912 230.3598 157.8271 193.1907 230.3639 157.8256 193.1899 230.372 157.8227 193.1883 230.3777 157.8206 193.1871 230.396 157.7869 193.2085 230.3995 157.7837 193.2053 230.407 157.8059 193.1735 230.4097 157.804 193.1705 230.4114 157.8027 193.1682 230.4128 157.8016 193.166 230.414 157.8005 193.1635 230.415 157.7996 193.1611 230.4162 157.797 193.1494 230.3255 157.8318 180.6776 230.3254 157.8352 180.6963 230.3167 157.8365 180.6961 230.281 157.835 180.5827 230.281 157.8323 180.5453 230.2901 157.8278 180.5457 230.2717 157.8382 180.5824 230.2717 157.8362 180.545 230.3342 157.8099 180.6058 230.3342 157.8051 180.5877 230.3425 157.7984 180.5896 230.3501 157.798 180.6095 230.3501 157.7916 180.5919 230.3574 157.7846 180.5946 230.3574 157.7917 180.6119 230.3645 157.7772 180.5979 230.3771 157.8159 180.6941 230.3772 157.821 180.7021 230.3713 157.8233 180.7007 230.388 157.7476 180.6161 230.3927 157.7404 180.622 230.3927 157.7649 180.6503 230.388 157.7991 180.6829 230.388 157.7934 180.6755 230.3927 157.7895 180.6786 230.4061 157.762 180.6808 230.4061 157.7769 180.6921 230.4033 157.7798 180.6885 230.4149 157.7303 180.6997 230.4156 157.7279 180.7063 230.4156 157.7636 180.7178 230.4124 157.7361 180.6869 230.4138 157.733 180.6932 230.4124 157.7693 180.7042 230.4138 157.7671 180.7086 230.4124 157.6696 180.6522 230.4138 157.6647 180.6623 230.4153 157.7644 180.7155 230.4151 157.7991 180.7298 230.4149 157.7827 180.72 230.4149 157.7652 180.7132 230.4144 157.7834 180.7182 230.4144 157.7661 180.7109 230.4138 157.7842 180.7164 230.4149 157.6603 180.6727 230.4156 157.6566 180.6832 230.416 157.6534 180.6939 230.4106 157.6751 180.6425 230.4106 157.7395 180.6808 230.4085 157.7431 180.675 230.4085 157.6809 180.6332 230.4114 157.8023 180.722 230.4098 157.8036 180.7197 230.4116 157.795 180.7158 230.4116 157.7868 180.7112 230.4106 157.7878 180.7096 230.4106 157.7717 180.7 230.4096 157.7967 180.713 230.4096 157.7888 180.708 230.4085 157.7742 180.6959 230.4085 157.7587 180.6855 230.4061 157.747 180.6695 230.4033 157.7654 180.6764 230.4061 157.7994 180.709 230.4078 157.8051 180.7173 230.4033 157.8013 180.7066 230.4033 157.6936 180.6161 230.4061 157.6871 180.6244 230.4033 157.7511 180.6644 230.3999 157.7695 180.6718 230.3999 157.7559 180.6589 230.3999 157.8036 180.704 230.4017 157.7955 180.699 230.4017 157.8025 180.7052 230.4033 157.7942 180.7005 230.4061 157.7919 180.7034 230.3999 157.7014 180.6074 230.3999 157.6468 180.556 230.4061 157.7171 180.647 230.4033 157.7224 180.6402 230.3999 157.7286 180.6332 230.3927 157.7158 180.5936 230.3999 157.7832 180.6847 230.4017 157.7815 180.6865 230.3999 157.79 180.6911 230.3999 157.7968 180.6975 230.3965 157.7993 180.6951 230.3965 157.8058 180.7019 230.3927 157.8079 180.6999 230.3958 157.8126 180.7083 230.388 157.8164 180.7051 230.3827 157.7973 180.6726 230.3827 157.8079 180.6881 230.3771 157.8013 180.67 230.3927 157.6667 180.537 230.388 157.6789 180.527 230.388 157.7247 180.5864 230.3827 157.6912 180.5181 230.3827 157.7337 180.5799 230.3771 157.7037 180.51 230.3574 157.7415 180.4907 230.3645 157.7289 180.4963 230.3711 157.7161 180.5028 230.3827 157.7655 180.6262 230.3827 157.7549 180.6108 230.3771 157.772 180.622 230.3771 157.7622 180.606 230.3711 157.7785 180.6183 230.3711 157.7696 180.6018 230.3645 157.7852 180.6149 230.3574 157.8276 180.6988 230.3574 157.8205 180.6812 230.3645 157.8256 180.6996 230.3645 157.8173 180.6826 230.3771 157.811 180.686 230.3711 157.8052 180.6678 230.3711 157.8141 180.6843 230.3645 157.8093 180.6657 230.3574 157.8133 180.6639 230.3574 157.7989 180.6293 230.3645 157.7932 180.6318 230.3711 157.7874 180.6348 230.3771 157.7818 180.638 230.3827 157.7761 180.6417 230.388 157.7705 180.6458 230.3501 157.7534 180.4861 230.35 157.8296 180.698 230.3425 157.8263 180.6791 230.3501 157.8235 180.6801 230.3425 157.8207 180.6612 230.3501 157.8171 180.6624 230.3501 157.8107 180.6448 230.3574 157.8061 180.6466 230.3645 157.8013 180.6488 230.3711 157.7963 180.6513 230.3771 157.7915 180.654 230.3827 157.7867 180.6572 230.388 157.7819 180.6606 230.3927 157.7772 180.6645 230.3965 157.7604 180.6545 230.3965 157.7344 180.6274 230.3342 157.7762 180.4789 230.3425 157.7648 180.4822 230.2901 157.817 180.4337 230.2992 157.8089 180.4346 230.3081 157.7998 180.4358 230.3169 157.7897 180.4375 230.2901 157.8206 180.471 230.2992 157.8135 180.4718 230.3081 157.8055 180.4729 230.3169 157.7966 180.4743 230.3255 157.787 180.4763 230.3255 157.8115 180.5861 230.3255 157.8196 180.6227 230.3169 157.8171 180.585 230.3169 157.824 180.6218 230.3081 157.8224 180.5841 230.3081 157.828 180.6212 230.2992 157.8271 180.5834 230.2992 157.8316 180.6207 230.2901 157.8313 180.583 230.2901 157.8349 180.6203 230.281 157.8377 180.6201 230.2717 157.8302 180.4326 230.281 157.8241 180.433 230.2717 157.8322 180.4701 230.2671 157.8345 180.47 230.3711 157.7339 180.5358 230.3645 157.745 180.5302 230.3574 157.7558 180.5254 230.3501 157.7661 180.5214 230.3425 157.776 180.518 230.3342 157.7858 180.5152 230.3255 157.7951 180.5129 230.3169 157.8034 180.5112 230.3081 157.8111 180.5099 230.2992 157.818 180.509 230.2901 157.8242 180.5083 230.281 157.8295 180.5079 230.2717 157.8402 180.6199 230.2626 157.8422 180.6198 230.2717 157.8422 180.6573 230.2901 157.8385 180.6576 230.2992 157.8362 180.6579 230.3081 157.8337 180.6582 230.3169 157.8308 180.6587 230.3255 157.8237 180.641 230.3342 157.8147 180.6239 230.3425 157.8039 180.6075 230.2992 157.8226 180.5462 230.3081 157.8168 180.547 230.3169 157.8103 180.5481 230.3255 157.8033 180.5495 230.3342 157.7955 180.5514 230.3425 157.7872 180.5538 230.3501 157.7789 180.5566 230.3574 157.7702 180.56 230.3645 157.7611 180.5641 230.3711 157.7518 180.5688 230.3771 157.7427 180.574 230.2626 157.8366 180.4698 230.2533 157.8403 180.4697 230.2533 157.8421 180.5447 230.2488 157.8432 180.5447 230.281 157.8268 180.4704 230.2717 157.8342 180.5075 230.2671 157.8379 180.5449 230.2626 157.8394 180.5448 230.2533 157.8439 180.6197 230.2488 157.8418 180.4697 230.2442 157.8431 180.4697 230.2397 157.8449 180.5447 230.2442 157.8441 180.5447 230.2442 157.8451 180.6197 230.2256 157.8465 180.5447 230.2351 157.8456 180.5447 230.4132 157.785 180.7146 230.4124 157.7859 180.7129 230.414 157.8001 180.727 230.4129 157.8011 180.7246 230.4085 157.7898 180.7064 230.403 157.8083 180.7128 230.3996 157.8103 180.7107 230.3976 157.8115 180.7094 230.3965 157.7928 180.6883 230.3927 157.8018 180.6928 230.388 157.8105 180.6977 230.3845 157.8181 180.7039 230.3965 157.7863 180.6815 230.3927 157.7956 180.6857 230.388 157.8048 180.6903 230.3827 157.8132 180.6958 230.3965 157.7733 180.668 230.3684 157.8245 180.7 230.3424 157.8318 180.6972 230.3354 157.8336 180.6965 230.3501 157.8043 180.6272 230.3425 157.8151 180.6433 230.3342 157.8244 180.6602 230.3425 157.8095 180.6254 230.3342 157.8195 180.642 230.3255 157.8278 180.6593 230.3169 157.8343 180.6771 230.3079 157.8378 180.6958 230.2898 157.8406 180.6954 230.2798 157.8421 180.6951 230.2716 157.8434 180.6949 237.3537 162.6003 184.3865 237.2161 162.8668 184.4025 237.2137 162.8656 184.435 237.3514 162.599 184.419 237.2067 162.862 184.4667 237.3444 162.5954 184.4506 237.1952 162.856 184.4966 237.3329 162.5895 184.4806 237.1796 162.848 184.5241 237.3172 162.5814 184.5081 237.1602 162.8379 184.5483 237.2978 162.5714 184.5323 237.1376 162.8263 184.5687 237.2752 162.5597 184.5527 237.1123 162.8132 184.5846 237.25 162.5467 184.5686 237.0851 162.7992 184.5957 237.2227 162.5326 184.5797 237.0566 162.7845 184.6017 237.1943 162.5179 184.5857 237.3537 162.6003 183.2978 237.216 162.8668 183.2818 237.3513 162.599 183.2653 237.2137 162.8656 183.2492 237.3443 162.5954 183.2336 237.2067 162.862 183.2176 237.3329 162.5895 183.2037 237.1952 162.856 183.1876 237.3172 162.5814 183.1762 237.1795 162.848 183.1602 237.2978 162.5714 183.152 237.1602 162.8379 183.136 237.2752 162.5597 183.1316 237.1375 162.8263 183.1156 237.25 162.5467 183.1157 237.1123 162.8132 183.0996 237.2227 162.5326 183.1045 237.0851 162.7992 183.0885 237.1943 162.5179 183.0986 237.0566 162.7845 183.0825 236.4455 162.4688 184.6729 236.4455 162.4688 183.0114 236.335 162.4275 184.6858 236.335 162.4275 182.9985 236.3915 162.4449 184.6792 236.3915 162.4449 183.0051 236.3351 162.4275 189.2035 237.0567 162.7845 189.2875 237.1944 162.5179 189.3036 236.4456 162.4688 189.2164 236.3916 162.4449 189.2101 237.3538 162.6003 190.5915 237.2162 162.8668 190.6075 237.2138 162.8656 190.64 237.3515 162.599 190.624 237.2068 162.862 190.6717 237.3444 162.5954 190.6557 237.1953 162.856 190.7016 237.333 162.5895 190.6856 237.1797 162.848 190.7291 237.3173 162.5814 190.7131 237.1603 162.8379 190.7533 237.2979 162.5714 190.7373 237.1376 162.8263 190.7737 237.2753 162.5597 190.7577 237.1124 162.8132 190.7896 237.2501 162.5467 190.7736 237.0852 162.7992 190.8007 237.2228 162.5326 190.7847 237.0567 162.7845 190.8067 237.1944 162.5179 190.7907 237.2161 162.8668 189.4868 237.3538 162.6003 189.5028 237.3514 162.599 189.4703 237.2138 162.8656 189.4542 237.3444 162.5954 189.4386 237.2068 162.862 189.4226 237.333 162.5895 189.4087 237.1953 162.856 189.3926 237.3173 162.5814 189.3812 237.1796 162.848 189.3652 237.2979 162.5714 189.357 237.1603 162.8379 189.341 237.2753 162.5597 189.3366 237.1376 162.8263 189.3206 237.25 162.5467 189.3207 237.1124 162.8132 189.3046 237.2228 162.5326 189.3096 237.0852 162.7992 189.2935 236.3351 162.4275 190.8908 236.3916 162.4449 190.8842 236.4456 162.4688 190.8779 226.181 157.9468 183.1198 226.431 157.9468 183.1198 226.1811 153.8168 183.7698 226.4311 153.8168 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208.6745 157.0516 221.9733 208.7115 157.0146 221.9733 208.7414 156.9718 221.9733 208.7635 156.9244 221.9733 209.4351 156.1868 221.9732 208.4361 156.9218 222.8333 208.4361 157.1218 222.8333 208.4816 156.9218 222.8333 208.4816 157.1218 222.8333 208.499 156.9203 222.8333 208.5337 157.1172 222.8333 208.5158 156.9158 222.8333 208.5843 157.1037 222.8333 208.5316 156.9084 222.8333 208.6316 157.0816 222.8333 208.5459 156.8984 222.8333 208.6745 157.0516 222.8332 208.5583 156.8861 222.8333 208.7115 157.0146 222.8332 208.5682 156.8718 222.8333 208.7415 156.9718 222.8332 208.5756 156.856 222.8333 208.7635 156.9244 222.8332 208.5801 156.8392 222.8333 208.7771 156.8739 222.8332 208.6514 156.4347 222.8333 208.8484 156.4694 222.8332 208.665 156.3842 222.8333 208.8529 156.4526 222.8332 208.6871 156.3368 222.8332 208.8603 156.4368 222.8332 208.7171 156.294 222.8332 208.8703 156.4225 222.8332 208.7541 156.257 222.8332 208.8826 156.4102 222.8332 208.7969 156.227 222.8332 208.8969 156.4002 222.8332 208.8443 156.2049 222.8332 208.9127 156.3928 222.8332 208.8948 156.1914 222.8332 208.9295 156.3883 222.8332 208.9469 156.1868 222.8332 208.9469 156.3868 222.8332 209.4352 156.1868 222.8332 209.4861 156.3868 222.8332 209.4861 156.1868 222.8332 208.8484 156.4694 223.2433 208.7771 156.8739 223.2433 208.9469 156.3868 223.2433 208.9295 156.3883 223.2433 208.9127 156.3928 223.2433 208.8969 156.4002 223.2433 208.8826 156.4102 223.2433 208.8703 156.4225 223.2433 208.8603 156.4368 223.2433 208.8529 156.4526 223.2433 209.4861 156.3868 223.2433 209.4861 156.1868 223.2433 208.9469 156.1868 223.2433 208.8948 156.1914 223.2433 208.8443 156.2049 223.2433 208.7969 156.227 223.2433 208.7541 156.257 223.2433 208.7171 156.294 223.2433 208.6871 156.3368 223.2433 208.665 156.3842 223.2433 208.6515 156.4347 223.2433 208.5801 156.8392 223.2433 208.4817 156.9218 223.2433 208.499 156.9203 223.2433 208.5158 156.9158 223.2433 208.5317 156.9084 223.2433 208.5459 156.8984 223.2433 208.5583 156.8861 223.2433 208.5682 156.8718 223.2433 208.5756 156.856 223.2433 208.4361 156.9218 223.2433 208.4361 157.1218 223.2433 208.4817 157.1218 223.2433 208.5337 157.1172 223.2433 208.5843 157.1037 223.2433 208.6316 157.0816 223.2433 208.6745 157.0516 223.2433 208.7115 157.0146 223.2433 208.7415 156.9718 223.2433 208.7636 156.9244 223.2433 209.4352 156.1868 223.2433 204.536 156.9218 220.7033 204.536 157.1218 220.7033 204.4905 156.9218 220.7033 204.4905 157.1218 220.7033 204.4731 156.9203 220.7033 204.4384 157.1172 220.7033 204.4563 156.9158 220.7033 204.3879 157.1037 220.7033 204.4405 156.9084 220.7033 204.3405 157.0816 220.7033 204.4262 156.8984 220.7033 204.2976 157.0516 220.7033 204.4139 156.8861 220.7033 204.2607 157.0146 220.7033 204.4039 156.8718 220.7033 204.2307 156.9718 220.7033 204.3965 156.856 220.7033 204.2086 156.9244 220.7033 204.392 156.8392 220.7033 204.195 156.8739 220.7033 204.3207 156.4347 220.7033 204.1237 156.4694 220.7033 204.3071 156.3842 220.7033 204.1192 156.4526 220.7033 204.285 156.3368 220.7033 204.1118 156.4368 220.7033 204.255 156.294 220.7033 204.1018 156.4225 220.7033 204.2181 156.257 220.7033 204.0895 156.4102 220.7033 204.1752 156.227 220.7033 204.0752 156.4002 220.7033 204.1278 156.2049 220.7033 204.0594 156.3928 220.7033 204.0773 156.1914 220.7033 204.0426 156.3883 220.7033 204.0252 156.1868 220.7033 204.0252 156.3868 220.7033 203.9743 156.1868 220.7033 203.486 156.3868 220.7033 203.486 156.1868 220.7033 204.1237 156.4694 220.2933 204.195 156.8739 220.2933 204.0252 156.3868 220.2933 204.0426 156.3883 220.2933 204.0594 156.3928 220.2933 204.0752 156.4002 220.2933 204.0895 156.4102 220.2933 204.1018 156.4225 220.2933 204.1118 156.4368 220.2933 204.1192 156.4526 220.2933 203.486 156.3868 220.2933 203.486 156.1868 220.2933 204.0252 156.1868 220.2933 204.0773 156.1914 220.2933 204.1278 156.2049 220.2933 204.1752 156.227 220.2933 204.2181 156.257 220.2933 204.255 156.294 220.2933 204.285 156.3368 220.2933 204.3071 156.3842 220.2933 204.3207 156.4347 220.2933 204.392 156.8392 220.2933 204.4905 156.9218 220.2933 204.4731 156.9203 220.2933 204.4563 156.9158 220.2933 204.4405 156.9084 220.2933 204.4262 156.8984 220.2933 204.4139 156.8861 220.2933 204.4039 156.8718 220.2933 204.3965 156.856 220.2933 204.536 156.9218 220.2933 204.536 157.1218 220.2933 204.4905 157.1218 220.2933 204.4384 157.1172 220.2933 204.3879 157.1037 220.2933 204.3405 157.0816 220.2933 204.2976 157.0516 220.2933 204.2606 157.0146 220.2933 204.2307 156.9718 220.2933 204.2086 156.9244 220.2933 203.9743 156.1868 220.2933 208.436 156.9218 220.2933 208.436 157.1218 220.2933 208.4816 156.9218 220.2933 208.4816 157.1218 220.2933 208.499 156.9203 220.2933 208.5337 157.1172 220.2933 208.5158 156.9158 220.2933 208.5842 157.1037 220.2933 208.5316 156.9084 220.2933 208.6316 157.0816 220.2933 208.5459 156.8984 220.2933 208.6744 157.0516 220.2933 208.5582 156.8861 220.2933 208.7114 157.0146 220.2933 208.5682 156.8718 220.2933 208.7414 156.9718 220.2933 208.5756 156.856 220.2933 208.7635 156.9244 220.2933 208.5801 156.8392 220.2933 208.777 156.8739 220.2933 208.6514 156.4347 220.2933 208.8484 156.4694 220.2933 208.6649 156.3842 220.2933 208.8529 156.4526 220.2933 208.687 156.3368 220.2933 208.8602 156.4368 220.2933 208.717 156.294 220.2933 208.8702 156.4225 220.2933 208.754 156.257 220.2933 208.8826 156.4102 220.2933 208.7968 156.227 220.2933 208.8968 156.4002 220.2933 208.8442 156.2049 220.2933 208.9126 156.3928 220.2933 208.8948 156.1914 220.2933 208.9295 156.3883 220.2933 208.9468 156.1868 220.2933 208.9468 156.3868 220.2933 209.4351 156.1868 220.2932 209.486 156.3868 220.2932 209.486 156.1868 220.2932 208.8484 156.4694 220.7033 208.777 156.8739 220.7033 208.9468 156.3868 220.7033 208.9295 156.3883 220.7033 208.9127 156.3928 220.7033 208.8968 156.4002 220.7033 208.8826 156.4102 220.7033 208.8703 156.4225 220.7033 208.8603 156.4368 220.7033 208.8529 156.4526 220.7033 209.486 156.3868 220.7032 209.486 156.1868 220.7032 208.9468 156.1868 220.7033 208.8948 156.1914 220.7033 208.8442 156.2049 220.7033 208.7969 156.227 220.7033 208.754 156.257 220.7033 208.717 156.294 220.7033 208.687 156.3368 220.7033 208.6649 156.3842 220.7033 208.6514 156.4347 220.7033 208.5801 156.8392 220.7033 208.4816 156.9218 220.7033 208.499 156.9203 220.7033 208.5158 156.9158 220.7033 208.5316 156.9084 220.7033 208.5459 156.8984 220.7033 208.5582 156.8861 220.7033 208.5682 156.8718 220.7033 208.5756 156.856 220.7033 208.436 156.9218 220.7033 208.436 157.1218 220.7033 208.4816 157.1218 220.7033 208.5337 157.1172 220.7033 208.5842 157.1037 220.7033 208.6316 157.0816 220.7033 208.6744 157.0516 220.7033 208.7114 157.0146 220.7033 208.7414 156.9718 220.7033 208.7635 156.9244 220.7033 209.4351 156.1868 220.7032 204.536 156.9218 219.4333 204.536 157.1218 219.4333 204.4905 156.9218 219.4333 204.4905 157.1218 219.4333 204.4731 156.9203 219.4333 204.4384 157.1172 219.4333 204.4562 156.9158 219.4333 204.3878 157.1037 219.4333 204.4405 156.9084 219.4333 204.3404 157.0816 219.4333 204.4262 156.8984 219.4333 204.2976 157.0516 219.4333 204.4138 156.8861 219.4333 204.2606 157.0146 219.4333 204.4039 156.8718 219.4333 204.2306 156.9718 219.4333 204.3965 156.856 219.4333 204.2085 156.9244 219.4333 204.392 156.8392 219.4333 204.195 156.8739 219.4333 204.3207 156.4347 219.4333 204.1237 156.4694 219.4333 204.3071 156.3842 219.4333 204.1192 156.4526 219.4333 204.285 156.3368 219.4333 204.1118 156.4368 219.4333 204.255 156.294 219.4333 204.1018 156.4225 219.4333 204.218 156.257 219.4333 204.0895 156.4102 219.4333 204.1752 156.227 219.4333 204.0752 156.4002 219.4333 204.1278 156.2049 219.4333 204.0594 156.3928 219.4333 204.0773 156.1914 219.4333 204.0426 156.3883 219.4333 204.0252 156.1868 219.4333 204.0252 156.3868 219.4333 203.9743 156.1868 219.4333 203.486 156.3868 219.4333 203.486 156.1868 219.4333 204.1237 156.4694 219.0233 204.195 156.8739 219.0233 204.0252 156.3868 219.0233 204.0426 156.3883 219.0233 204.0594 156.3928 219.0233 204.0752 156.4002 219.0233 204.0895 156.4102 219.0233 204.1018 156.4225 219.0233 204.1118 156.4368 219.0233 204.1192 156.4526 219.0233 203.486 156.3868 219.0233 203.486 156.1868 219.0233 204.0252 156.1868 219.0233 204.0773 156.1914 219.0233 204.1278 156.2049 219.0233 204.1752 156.227 219.0233 204.218 156.257 219.0233 204.255 156.294 219.0233 204.285 156.3368 219.0233 204.3071 156.3842 219.0233 204.3206 156.4347 219.0233 204.392 156.8392 219.0233 204.4904 156.9218 219.0233 204.4731 156.9203 219.0233 204.4562 156.9158 219.0233 204.4404 156.9084 219.0233 204.4262 156.8984 219.0233 204.4138 156.8861 219.0233 204.4038 156.8718 219.0233 204.3965 156.856 219.0233 204.536 156.9218 219.0233 204.536 157.1218 219.0233 204.4904 157.1218 219.0233 204.4384 157.1172 219.0233 204.3878 157.1037 219.0233 204.3404 157.0816 219.0233 204.2976 157.0516 219.0233 204.2606 157.0146 219.0233 204.2306 156.9718 219.0233 204.2085 156.9244 219.0233 203.9743 156.1868 219.0233 206.0407 155.3253 225.2997 206.1767 155.3253 225.4176 206.0315 155.3253 225.3445 206.0268 155.3253 225.4221 206.1768 155.3253 225.4221 206.1728 155.3253 225.4918 206.162 155.3253 225.5433 206.1525 155.3253 225.5677 206.1424 155.3253 225.5855 206.135 155.3253 225.595 206.0513 155.3253 225.5736 206.0416 155.3253 225.5485 206.0318 155.3253 225.5034 206.0853 155.3253 225.6095 206.0915 155.3253 225.6113 206.1007 155.3253 225.6122 206.0483 155.3253 225.2778 206.0562 155.3253 225.2621 206.063 155.3253 225.2527 206.1083 155.3253 225.2352 206.1139 155.3253 225.2367 206.1006 155.3253 225.2344 206.1202 155.3253 225.2397 206.096 155.3253 225.2347 206.1262 155.3253 225.2436 206.1336 155.3253 225.2505 206.1417 155.3253 225.2607 206.1493 155.3253 225.2737 206.161 155.3253 225.3018 206.1279 155.3253 225.6018 206.1215 155.3253 225.6064 206.1155 155.3253 225.6094 206.1101 155.3253 225.6111 206.1041 155.3253 225.612 206.0595 155.3253 225.5877 206.0795 155.3253 225.6068 206.0734 155.3253 225.6027 206.0674 155.3253 225.5974 206.069 155.3253 225.2466 206.0755 155.3253 225.2417 206.083 155.3253 225.2378 206.1713 155.3253 225.345 206.0892 155.3253 225.2357 206.4747 155.3253 225.5024 206.3212 155.3253 225.4893 206.3224 155.3253 225.4677 206.4768 155.3253 225.4642 206.4719 155.3253 225.4535 206.3856 155.3253 225.3901 206.3886 155.3253 225.39 206.3967 155.3253 225.612 206.4692 155.3253 225.5328 206.3313 155.3253 225.5695 206.325 155.3253 225.5445 206.3213 155.3253 225.4985 206.403 155.3253 225.3912 206.4147 155.3253 225.3944 206.4259 155.3253 225.3993 206.326 155.3253 225.4481 206.3307 155.3253 225.4339 206.3368 155.3253 225.4222 206.3609 155.3253 225.3975 206.3684 155.3253 225.3938 206.377 155.3253 225.3912 206.4156 155.3253 225.6077 206.4524 155.3253 225.5735 206.4239 155.3253 225.6034 206.4422 155.3253 225.5874 206.4327 155.3253 225.597 206.3932 155.3253 225.6122 206.3816 155.3253 225.6114 206.3717 155.3253 225.6093 206.438 155.3253 225.4069 206.4468 155.3253 225.415 206.4577 155.3253 225.4286 206.4615 155.3253 225.556 206.4061 155.3253 225.6108 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225.5034 206.0416 155.3353 225.5485 206.0513 155.3353 225.5736 206.0595 155.3353 225.5877 206.0674 155.3353 225.5974 206.0734 155.3353 225.6027 206.0795 155.3353 225.6068 206.0853 155.3353 225.6095 206.0915 155.3353 225.6113 206.096 155.3353 225.2347 206.0892 155.3353 225.2357 206.083 155.3353 225.2378 206.0755 155.3353 225.2417 206.069 155.3353 225.2466 206.063 155.3353 225.2527 206.0562 155.3353 225.2621 206.0483 155.3353 225.2778 206.0407 155.3353 225.2997 206.0315 155.3353 225.3445 206.3932 155.3353 225.6122 206.3967 155.3353 225.612 206.4061 155.3353 225.6108 206.4156 155.3353 225.6077 206.4239 155.3353 225.6034 206.4327 155.3353 225.597 206.4422 155.3353 225.5874 206.4524 155.3353 225.5735 206.4615 155.3353 225.556 206.4692 155.3353 225.5328 206.4747 155.3353 225.5024 206.4768 155.3353 225.4642 206.3212 155.3353 225.4893 206.3213 155.3353 225.4985 206.325 155.3353 225.5445 206.3313 155.3353 225.5695 206.3356 155.3353 225.5792 206.3409 155.3353 225.5877 206.3473 155.3353 225.5951 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155.3253 225.5243 205.8736 155.3353 225.5243 205.8752 155.3253 225.5227 205.8752 155.3353 225.5227 205.8772 155.3253 225.5211 205.8772 155.3353 225.5211 205.8799 155.3253 225.5196 205.8799 155.3353 225.5196 205.8829 155.3253 225.5185 205.8829 155.3353 225.5185 205.8857 155.3253 225.518 205.8857 155.3353 225.518 205.8826 155.3253 225.3287 205.8826 155.3353 225.3287 205.8794 155.3253 225.3282 205.8794 155.3353 225.3282 205.8768 155.3253 225.3274 205.8768 155.3353 225.3274 205.8743 155.3253 225.3262 205.8743 155.3353 225.3262 205.8715 155.3253 225.3238 205.8715 155.3353 225.3238 205.8701 155.3253 225.3221 205.8701 155.3353 225.3221 205.8684 155.3253 225.3188 205.8684 155.3353 225.3188 205.8669 155.3253 225.3145 205.8669 155.3353 225.3145 205.866 155.3253 225.3094 205.866 155.3353 225.3094 205.8307 155.3253 225.6113 205.8307 155.3353 225.6113 205.8437 155.3253 225.6085 205.8437 155.3353 225.6085 205.8557 155.3253 225.6038 205.8557 155.3353 225.6038 205.8632 155.3253 225.5995 205.8632 155.3353 225.5995 205.8671 155.3253 225.5964 205.8671 155.3353 225.5964 205.8704 155.3253 225.5928 205.8704 155.3353 225.5928 205.8726 155.3253 225.5896 205.8726 155.3353 225.5896 205.8738 155.3253 225.5869 205.8738 155.3353 225.5869 205.8745 155.3253 225.5842 205.8745 155.3353 225.5842 205.8032 155.3253 225.6286 205.8032 155.3353 225.6286 205.7768 155.3253 225.6252 205.7768 155.3353 225.6252 205.7598 155.3253 225.6203 205.7598 155.3353 225.6203 205.7434 155.3253 225.6125 205.7434 155.3353 225.6125 205.7305 155.3253 225.6037 205.7305 155.3353 225.6037 205.7238 155.3253 225.5979 205.7238 155.3353 225.5979 205.711 155.3253 225.5836 205.711 155.3353 225.5836 205.7008 155.3253 225.5679 205.7008 155.3353 225.5679 205.6939 155.3253 225.5524 205.6939 155.3353 225.5524 205.6897 155.3253 225.5366 205.6897 155.3353 225.5366 205.6879 155.3253 225.5162 205.6879 155.3353 225.5162 205.6883 155.3253 225.5085 205.6883 155.3353 225.5085 205.6907 155.3253 225.4925 205.6907 155.3353 225.4925 205.6959 155.3253 225.4767 205.6959 155.3353 225.4767 205.7057 155.3253 225.4572 205.7057 155.3353 225.4572 205.7139 155.3253 225.4457 205.7139 155.3353 225.4457 205.7235 155.3253 225.4359 205.7235 155.3353 225.4359 205.7368 155.3253 225.4259 205.7368 155.3353 225.4259 205.756 155.3253 225.4151 205.756 155.3353 225.4151 205.7783 155.3253 225.4059 205.7783 155.3353 225.4059 205.8085 155.3353 225.2178 205.8085 155.3253 225.2178 205.8217 155.3253 225.2184 205.8217 155.3353 225.2184 205.8433 155.3253 225.2224 205.8433 155.3353 225.2224 205.859 155.3253 225.2281 205.859 155.3353 225.2281 205.8744 155.3253 225.2364 205.8744 155.3353 225.2364 205.8765 155.3253 225.2378 205.8765 155.3353 225.2378 205.889 155.3253 225.2478 205.889 155.3353 225.2478 205.8971 155.3253 225.2567 205.8971 155.3353 225.2567 205.9022 155.3253 225.2647 205.9022 155.3353 225.2647 205.9062 155.3253 225.2735 205.9062 155.3353 225.2735 205.9088 155.3253 225.2827 205.9088 155.3353 225.2827 205.7734 155.3353 225.4042 205.7528 155.3353 225.3954 205.7403 155.3353 225.3874 205.7301 155.3353 225.3786 205.7215 155.3353 225.3682 205.7086 155.3353 225.2852 205.7139 155.3353 225.2728 205.7226 155.3353 225.2593 205.7352 155.3353 225.2449 205.7473 155.3353 225.235 205.7592 155.3353 225.228 205.7732 155.3353 225.2227 205.7903 155.3353 225.2189 205.7142 155.3353 225.3556 205.7091 155.3353 225.3424 205.7057 155.3353 225.3267 205.7046 155.3353 225.3094 205.7057 155.3353 225.2961 205.7734 155.3253 225.4042 205.7528 155.3253 225.3954 205.7403 155.3253 225.3874 205.7301 155.3253 225.3786 205.7215 155.3253 225.3682 205.7142 155.3253 225.3556 205.7091 155.3253 225.3424 205.7057 155.3253 225.3267 205.7046 155.3253 225.3094 205.7057 155.3253 225.2961 205.7086 155.3253 225.2852 205.7139 155.3253 225.2728 205.7226 155.3253 225.2593 205.7352 155.3253 225.2449 205.7473 155.3253 225.235 205.7592 155.3253 225.228 205.7732 155.3253 225.2227 205.7903 155.3253 225.2189 174.2194 155.3253 193.454 174.3373 155.3253 193.318 174.2642 155.3253 193.4632 174.3418 155.3253 193.4679 174.3418 155.3253 193.3179 174.4116 155.3253 193.3219 174.4631 155.3253 193.3327 174.4874 155.3253 193.3422 174.5052 155.3253 193.3523 174.5147 155.3253 193.3597 174.4934 155.3253 193.4433 174.4682 155.3253 193.4531 174.4231 155.3253 193.4629 174.5292 155.3253 193.4094 174.531 155.3253 193.4032 174.5319 155.3253 193.394 174.1975 155.3253 193.4464 174.1818 155.3253 193.4384 174.1725 155.3253 193.4317 174.1549 155.3253 193.3864 174.1564 155.3253 193.3808 174.1542 155.3253 193.394 174.1594 155.3253 193.3745 174.1544 155.3253 193.3987 174.1634 155.3253 193.3685 174.1702 155.3253 193.3611 174.1804 155.3253 193.353 174.1935 155.3253 193.3453 174.2215 155.3253 193.3337 174.5216 155.3253 193.3668 174.5261 155.3253 193.3732 174.5291 155.3253 193.3792 174.5308 155.3253 193.3846 174.5317 155.3253 193.3906 174.5074 155.3253 193.4352 174.5265 155.3253 193.4152 174.5225 155.3253 193.4213 174.5171 155.3253 193.4273 174.1663 155.3253 193.4257 174.1614 155.3253 193.4192 174.1575 155.3253 193.4117 174.2647 155.3253 193.3234 174.1555 155.3253 193.4055 174.4221 155.3253 193.02 174.409 155.3253 193.1735 174.3874 155.3253 193.1723 174.3839 155.3253 193.0179 174.3732 155.3253 193.0228 174.3098 155.3253 193.1091 174.3097 155.3253 193.1061 174.5318 155.3253 193.098 174.4525 155.3253 193.0255 174.4882 155.3253 193.1638 174.4642 155.3253 193.1697 174.4183 155.3253 193.1734 174.311 155.3253 193.0917 174.3141 155.3253 193.08 174.319 155.3253 193.0687 174.3678 155.3253 193.1687 174.3536 155.3253 193.164 174.3419 155.3253 193.1578 174.3172 155.3253 193.1338 174.3135 155.3253 193.1263 174.3109 155.3253 193.1177 174.5274 155.3253 193.0791 174.4932 155.3253 193.0423 174.5231 155.3253 193.0708 174.5072 155.3253 193.0525 174.5167 155.3253 193.062 174.5319 155.3253 193.1015 174.5311 155.3253 193.1131 174.529 155.3253 193.123 174.3267 155.3253 193.0567 174.3347 155.3253 193.0479 174.3483 155.3253 193.037 174.4758 155.3253 193.0332 174.5305 155.3253 193.0886 174.3307 155.3253 193.1496 174.3225 155.3253 193.1412 174.5257 155.3253 193.1317 174.521 155.3253 193.1398 174.5148 155.3253 193.1473 174.5074 155.3253 193.1538 174.4989 155.3253 193.1591 174.2194 155.3253 192.854 174.3373 155.3253 192.718 174.2642 155.3253 192.8632 174.3418 155.3253 192.8679 174.3418 155.3253 192.7179 174.4116 155.3253 192.7219 174.4631 155.3253 192.7327 174.4874 155.3253 192.7422 174.5052 155.3253 192.7523 174.5147 155.3253 192.7597 174.4934 155.3253 192.8433 174.4682 155.3253 192.8531 174.4231 155.3253 192.8629 174.5292 155.3253 192.8094 174.531 155.3253 192.8032 174.5319 155.3253 192.794 174.1975 155.3253 192.8464 174.1818 155.3253 192.8384 174.1724 155.3253 192.8317 174.1549 155.3253 192.7864 174.1564 155.3253 192.7808 174.1541 155.3253 192.794 174.1594 155.3253 192.7745 174.1544 155.3253 192.7987 174.1633 155.3253 192.7685 174.1702 155.3253 192.7611 174.1804 155.3253 192.753 174.1934 155.3253 192.7454 174.2215 155.3253 192.7337 174.5216 155.3253 192.7668 174.5261 155.3253 192.7732 174.5291 155.3253 192.7792 174.5308 155.3253 192.7846 174.5317 155.3253 192.7906 174.5074 155.3253 192.8352 174.5265 155.3253 192.8152 174.5225 155.3253 192.8213 174.5171 155.3253 192.8273 174.1663 155.3253 192.8257 174.1614 155.3253 192.8192 174.1575 155.3253 192.8117 174.2647 155.3253 192.7234 174.1555 155.3253 192.8055 174.3418 155.3353 193.3179 174.3373 155.3353 193.318 174.2647 155.3353 193.3234 174.2215 155.3353 193.3337 174.1935 155.3353 193.3453 174.1804 155.3353 193.353 174.1702 155.3353 193.3611 174.1634 155.3353 193.3685 174.1594 155.3353 193.3745 174.1564 155.3353 193.3808 174.1549 155.3353 193.3864 174.1542 155.3353 193.394 174.5319 155.3353 193.394 174.5317 155.3353 193.3906 174.5308 155.3353 193.3846 174.5291 155.3353 193.3792 174.5261 155.3353 193.3732 174.5216 155.3353 193.3668 174.5147 155.3353 193.3597 174.5052 155.3353 193.3523 174.4874 155.3353 193.3422 174.4631 155.3353 193.3327 174.4116 155.3353 193.3219 174.3418 155.3353 193.4679 174.4231 155.3353 193.4629 174.4682 155.3353 193.4531 174.4934 155.3353 193.4433 174.5074 155.3353 193.4352 174.5171 155.3353 193.4273 174.5225 155.3353 193.4213 174.5265 155.3353 193.4152 174.5292 155.3353 193.4094 174.531 155.3353 193.4032 174.1544 155.3353 193.3987 174.1555 155.3353 193.4055 174.1575 155.3353 193.4117 174.1614 155.3353 193.4192 174.1663 155.3353 193.4257 174.1725 155.3353 193.4317 174.1818 155.3353 193.4384 174.1975 155.3353 193.4464 174.2194 155.3353 193.454 174.2642 155.3353 193.4632 174.5319 155.3353 193.1015 174.5318 155.3353 193.098 174.5305 155.3353 193.0886 174.5274 155.3353 193.0791 174.5231 155.3353 193.0708 174.5167 155.3353 193.062 174.5072 155.3353 193.0525 174.4932 155.3353 193.0423 174.4758 155.3353 193.0332 174.4525 155.3353 193.0255 174.4221 155.3353 193.02 174.3839 155.3353 193.0179 174.409 155.3353 193.1735 174.4183 155.3353 193.1734 174.4642 155.3353 193.1697 174.4882 155.3353 193.1638 174.4989 155.3353 193.1591 174.5074 155.3353 193.1538 174.5148 155.3353 193.1473 174.521 155.3353 193.1398 174.5257 155.3353 193.1317 174.529 155.3353 193.123 174.5311 155.3353 193.1131 174.3097 155.3353 193.1061 174.3098 155.3353 193.1091 174.3109 155.3353 193.1177 174.3135 155.3353 193.1263 174.3172 155.3353 193.1338 174.3225 155.3353 193.1412 174.3307 155.3353 193.1496 174.3419 155.3353 193.1578 174.3536 155.3353 193.164 174.3678 155.3353 193.1687 174.3874 155.3353 193.1723 174.3732 155.3353 193.0228 174.3483 155.3353 193.037 174.3347 155.3353 193.0479 174.3267 155.3353 193.0567 174.319 155.3353 193.0687 174.3141 155.3353 193.08 174.311 155.3353 193.0917 174.5319 155.3353 192.794 174.5317 155.3353 192.7906 174.5308 155.3353 192.7846 174.5291 155.3353 192.7792 174.5261 155.3353 192.7732 174.5216 155.3353 192.7668 174.5147 155.3353 192.7597 174.5052 155.3353 192.7523 174.4874 155.3353 192.7422 174.4631 155.3353 192.7327 174.4116 155.3353 192.7219 174.3418 155.3353 192.7179 174.3418 155.3353 192.8679 174.4231 155.3353 192.8629 174.4682 155.3353 192.8531 174.4934 155.3353 192.8433 174.5074 155.3353 192.8352 174.5171 155.3353 192.8273 174.5225 155.3353 192.8213 174.5265 155.3353 192.8152 174.5292 155.3353 192.8094 174.531 155.3353 192.8032 174.1541 155.3353 192.794 174.1544 155.3353 192.7987 174.1555 155.3353 192.8055 174.1575 155.3353 192.8117 174.1614 155.3353 192.8192 174.1663 155.3353 192.8257 174.1724 155.3353 192.8317 174.1818 155.3353 192.8384 174.1975 155.3353 192.8464 174.2194 155.3353 192.854 174.2642 155.3353 192.8632 174.3373 155.3353 192.718 174.2647 155.3353 192.7234 174.2215 155.3353 192.7337 174.1934 155.3353 192.7454 174.1804 155.3353 192.753 174.1702 155.3353 192.7611 174.1633 155.3353 192.7685 174.1594 155.3353 192.7745 174.1564 155.3353 192.7808 174.1549 155.3353 192.7864 174.5486 155.3353 193.394 174.1477 155.3353 193.4352 174.1423 155.3353 193.4227 174.5471 155.3353 193.3777 174.1389 155.3353 193.4101 174.1375 155.3353 193.394 174.1378 155.3353 193.3871 174.1397 155.3353 193.3737 174.1436 155.3353 193.361 174.1492 155.3353 193.3494 174.1577 155.3353 193.3373 174.1708 155.3353 193.3238 174.1888 155.3353 193.3102 174.2137 155.3353 193.2968 174.2485 155.3353 193.2845 174.2901 155.3353 193.2765 174.3418 155.3353 193.2735 174.3508 155.3353 193.2736 174.4137 155.3353 193.279 174.4549 155.3353 193.2894 174.4767 155.3353 193.2983 174.4983 155.3353 193.3107 174.5172 155.3353 193.3257 174.5292 155.3353 193.3388 174.5387 155.3353 193.3534 174.5437 155.3353 193.3648 174.3349 155.3353 193.5123 174.3953 155.3353 193.5094 174.3418 155.3353 193.5124 174.1555 155.3353 193.4471 174.1665 155.3353 193.4595 174.1838 155.3353 193.4735 174.2086 155.3353 193.488 174.2306 155.3353 193.4968 174.2726 155.3353 193.5071 174.5483 155.3353 193.4008 174.5464 155.3353 193.4136 174.5426 155.3353 193.426 174.537 155.3353 193.4372 174.5286 155.3353 193.4492 174.5145 155.3353 193.4634 174.4956 155.3353 193.4773 174.4707 155.3353 193.4904 174.4379 155.3353 193.5015 174.4891 155.3353 192.9991 174.5323 155.3353 193.1568 174.252 155.3353 193.0244 174.3067 155.3353 192.9762 174.3415 155.3353 193.0179 174.3607 155.3353 192.9735 174.3487 155.3353 193.0179 174.1401 155.3353 193.0914 174.1454 155.3353 193.0728 174.1634 155.3353 193.0774 174.1446 155.3353 193.154 174.1411 155.3353 193.1448 174.1582 155.3353 193.1384 174.1598 155.3353 193.1409 174.1616 155.3353 193.143 174.1502 155.3353 193.1636 174.4754 155.3353 192.9925 174.4452 155.3353 192.9826 174.3972 155.3353 192.9749 174.1703 155.3353 193.0667 174.154 155.3353 193.0552 174.1802 155.3353 193.0553 174.1652 155.3353 193.0393 174.1924 155.3353 193.0449 174.1795 155.3353 193.0246 174.202 155.3353 193.0391 174.1994 155.3353 193.0097 174.2184 155.3353 193.0324 174.2267 155.3353 192.9956 174.261 155.3353 192.9843 174.1584 155.3353 193.0887 174.1554 155.3353 193.1002 174.1377 155.3353 193.111 174.1541 155.3353 193.115 174.1375 155.3353 193.1187 174.1543 155.3353 193.12 174.1383 155.3353 193.1318 174.1552 155.3353 193.1293 174.1566 155.3353 193.1348 174.164 155.3353 193.1449 174.1569 155.3353 193.1718 174.1857 155.3353 193.1463 174.1936 155.3353 193.1898 174.1878 155.3353 193.1901 174.5403 155.3353 193.1419 174.5453 155.3353 193.1275 174.548 155.3353 193.1122 174.5486 155.3353 193.1011 174.5434 155.3353 193.0632 174.5377 155.3353 193.0482 174.5288 155.3353 193.0331 174.5179 155.3353 193.0203 174.5051 155.3353 193.0093 174.1768 155.3353 193.148 174.1664 155.3353 193.1464 174.1687 155.3353 193.1472 174.1683 155.3353 193.1821 174.1713 155.3353 193.1478 174.1745 155.3353 193.1862 174.1745 155.3353 193.148 174.1789 155.3353 193.1883 174.1828 155.3353 193.1894 174.5209 155.3353 193.1718 174.5095 155.3353 193.1832 174.4966 155.3353 193.1926 174.481 155.3353 193.2004 174.5472 155.3353 193.0806 174.2136 155.3353 193.1568 174.2145 155.3353 193.1596 174.215 155.3353 193.163 174.1982 155.3353 193.1892 174.2153 155.3353 193.1669 174.2024 155.3353 193.1881 174.1926 155.3353 193.1457 174.196 155.3353 193.1459 174.2008 155.3353 193.1465 174.2043 155.3353 193.1476 174.2067 155.3353 193.1488 174.2088 155.3353 193.1502 174.4098 155.3353 193.2124 174.4363 155.3353 193.2111 174.4611 155.3353 193.2068 174.2106 155.3353 193.152 174.2121 155.3353 193.1541 174.3324 155.3353 193.0267 174.3199 155.3353 193.0361 174.3087 155.3353 193.0478 174.3003 155.3353 193.0601 174.2937 155.3353 193.0742 174.2895 155.3353 193.0881 174.2877 155.3353 193.1036 174.2875 155.3353 193.1082 174.2885 155.3353 193.1257 174.2916 155.3353 193.1413 174.296 155.3353 193.1541 174.3022 155.3353 193.1653 174.3101 155.3353 193.1755 174.3193 155.3353 193.1839 174.334 155.3353 193.1934 174.3559 155.3353 193.2033 174.3792 155.3353 193.2096 174.2082 155.3353 193.185 174.2141 155.3353 193.1762 174.2102 155.3353 193.1832 174.2128 155.3353 193.1795 174.2116 155.3353 193.1815 174.2149 155.3353 193.1726 174.2055 155.3353 193.1867 174.5486 155.3353 192.794 174.1477 155.3353 192.8352 174.1422 155.3353 192.8227 174.5471 155.3353 192.7777 174.1389 155.3353 192.8101 174.1375 155.3353 192.794 174.1378 155.3353 192.7871 174.1397 155.3353 192.7737 174.1436 155.3353 192.761 174.1492 155.3353 192.7494 174.1577 155.3353 192.7373 174.1708 155.3353 192.7238 174.1888 155.3353 192.7102 174.2137 155.3353 192.6968 174.2485 155.3353 192.6845 174.2901 155.3353 192.6764 174.3418 155.3353 192.6735 174.3508 155.3353 192.6736 174.4137 155.3353 192.679 174.4549 155.3353 192.6894 174.4767 155.3353 192.6983 174.4983 155.3353 192.7107 174.5172 155.3353 192.7257 174.5292 155.3353 192.7388 174.5387 155.3353 192.7534 174.5437 155.3353 192.7648 174.3349 155.3353 192.9123 174.3953 155.3353 192.9094 174.3418 155.3353 192.9124 174.1555 155.3353 192.8471 174.1665 155.3353 192.8595 174.1838 155.3353 192.8735 174.2086 155.3353 192.888 174.2305 155.3353 192.8968 174.2726 155.3353 192.9071 174.5483 155.3353 192.8008 174.5464 155.3353 192.8136 174.5425 155.3353 192.826 174.537 155.3353 192.8372 174.5286 155.3353 192.8492 174.5145 155.3353 192.8634 174.4956 155.3353 192.8773 174.4707 155.3353 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192.9916 172.6023 155.3353 192.9967 172.5572 155.3353 193.0065 172.5321 155.3353 193.0162 172.518 155.3353 193.0244 172.5084 155.3353 193.0322 172.503 155.3353 193.0382 172.4989 155.3353 193.0444 172.4962 155.3353 193.0502 172.4944 155.3353 193.0564 172.871 155.3353 193.0609 172.87 155.3353 193.054 172.868 155.3353 193.0479 172.864 155.3353 193.0403 172.8592 155.3353 193.0338 172.853 155.3353 193.0279 172.8436 155.3353 193.0211 172.8279 155.3353 193.0131 172.8061 155.3353 193.0056 172.7612 155.3353 192.9963 172.4935 155.3353 193.3581 172.4937 155.3353 193.3616 172.4949 155.3353 193.371 172.498 155.3353 193.3805 172.5023 155.3353 193.3888 172.5087 155.3353 193.3976 172.5183 155.3353 193.4071 172.5323 155.3353 193.4173 172.5497 155.3353 193.4264 172.5729 155.3353 193.4341 172.6033 155.3353 193.4395 172.6415 155.3353 193.4416 172.6164 155.3353 193.2861 172.6072 155.3353 193.2862 172.5612 155.3353 193.2899 172.5362 155.3353 193.2962 172.5265 155.3353 193.3004 172.518 155.3353 193.3057 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193.1018 167.5997 154.8853 193.0609 167.6169 154.8853 193.0733 167.6049 154.8853 193.0946 167.6218 154.8853 193.0778 167.4712 154.8853 193.2579 167.4567 154.8853 193.2768 167.4468 154.8853 193.2687 167.4581 154.8853 193.2455 167.4339 154.8853 193.255 167.4486 154.8853 193.233 167.4224 154.8853 193.2375 167.4407 154.8853 193.2182 167.4349 154.8853 193.2015 167.4135 154.8853 193.2171 167.4317 154.8853 193.1833 167.4083 154.8853 193.1956 167.4311 154.8853 193.1707 167.4065 154.8853 193.1721 167.4327 154.8853 193.1515 167.4079 154.8853 193.1515 167.4368 154.8853 193.1349 167.4119 154.8853 193.132 167.419 154.8853 193.1132 167.5654 154.8853 193.0694 167.5508 154.8853 193.0659 167.5432 154.8853 193.0434 167.5329 154.8853 193.0644 167.5313 154.8853 193.0429 167.5229 154.8853 193.0649 167.5092 154.8853 193.0446 167.507 154.8853 193.0675 167.4908 154.8853 193.0491 167.4925 154.8853 193.0724 167.4723 154.8853 193.0571 167.4784 154.8853 193.08 167.4561 154.8853 193.0676 167.4653 154.8853 193.0901 167.4411 154.8853 193.0812 167.4567 154.8953 193.2768 167.4712 154.8953 193.2579 167.4311 154.8953 193.1707 167.4317 154.8953 193.1833 167.4349 154.8953 193.2015 167.4407 154.8953 193.2182 167.4486 154.8953 193.233 167.4581 154.8953 193.2455 167.5329 154.8953 193.0644 167.5229 154.8953 193.0649 167.507 154.8953 193.0675 167.4925 154.8953 193.0724 167.4784 154.8953 193.08 167.4653 154.8953 193.0901 167.4538 154.8953 193.1027 167.444 154.8953 193.118 167.4368 154.8953 193.1349 167.4327 154.8953 193.1515 167.6342 154.8953 193.1722 167.634 154.8953 193.164 167.6317 154.8953 193.1463 167.627 154.8953 193.1297 167.62 154.8953 193.1148 167.6112 154.8953 193.1018 167.6049 154.8953 193.0946 167.5933 154.8953 193.0842 167.5802 154.8953 193.0756 167.5654 154.8953 193.0694 167.5508 154.8953 193.0659 167.5942 154.8953 193.2579 167.6021 154.8953 193.2505 167.6138 154.8953 193.2368 167.6227 154.8953 193.2224 167.6288 154.8953 193.2076 167.6328 154.8953 193.1911 167.6085 154.8953 193.2768 167.6588 154.8953 193.1723 167.6578 154.8953 193.1907 167.6536 154.8953 193.2117 167.6466 154.8953 193.2303 167.6368 154.8953 193.2474 167.624 154.8953 193.2631 167.6169 154.8953 193.0733 167.6218 154.8953 193.0778 167.6334 154.8953 193.0907 167.644 154.8953 193.1071 167.6516 154.8953 193.1249 167.657 154.8953 193.1473 167.5313 154.8953 193.0429 167.5432 154.8953 193.0434 167.5634 154.8953 193.0464 167.5826 154.8953 193.0523 167.5997 154.8953 193.0609 167.4065 154.8953 193.1721 167.4079 154.8953 193.1515 167.4119 154.8953 193.132 167.419 154.8953 193.1132 167.4286 154.8953 193.0966 167.4411 154.8953 193.0812 167.4561 154.8953 193.0676 167.4723 154.8953 193.0571 167.4908 154.8953 193.0491 167.5092 154.8953 193.0446 167.4468 154.8953 193.2687 167.4339 154.8953 193.255 167.4224 154.8953 193.2375 167.4135 154.8953 193.2171 167.4083 154.8953 193.1956 167.9161 155.7553 192.7295 167.9156 155.7583 192.7295 167.9142 155.7612 192.7295 167.912 155.7634 192.7295 167.9092 155.7648 192.7295 167.9061 155.7653 192.7295 167.1061 155.7553 192.7295 167.1067 155.7588 192.7295 167.1084 155.7618 192.7295 167.1111 155.764 192.7295 167.1143 155.7652 192.7295 167.9159 154.8936 192.7295 167.9147 154.8903 192.7295 167.9125 154.8877 192.7295 167.9095 154.8859 192.7295 167.9061 154.8853 192.7295 167.1062 154.8936 192.7295 167.1074 154.8903 192.7295 167.1096 154.8877 192.7295 167.1126 154.8859 192.7295 167.1161 154.8853 192.7295 167.1161 155.7653 193.6295 167.113 155.7648 193.6295 167.1102 155.7634 193.6295 167.108 155.7612 193.6295 167.1066 155.7584 193.6295 167.1061 155.7553 193.6295 167.9061 155.7653 193.6295 167.9095 155.7647 193.6295 167.9125 155.763 193.6295 167.9155 155.7588 193.6295 167.9161 155.7553 193.6295 167.1145 154.8854 193.6295 167.1115 154.8864 193.6295 167.109 154.8883 193.6295 167.1072 154.8908 193.6295 167.1062 154.8938 193.6295 167.9061 154.8853 193.6295 167.9095 154.8859 193.6295 167.9125 154.8877 193.6295 167.9147 154.8903 193.6295 167.9159 154.8936 193.6295 167.9061 154.8953 193.6295 167.1161 154.8953 193.6295 167.1161 155.7553 193.6295 167.9061 155.7553 193.6295 167.9061 155.7553 192.7295 167.1161 155.7553 192.7295 167.9061 154.8953 192.7295 167.1161 154.8953 192.7295 168.0111 155.7653 194.4795 168.0111 155.7653 193.5795 167.0111 155.7653 193.5795 167.0111 155.7653 194.4795 168.0111 155.7753 194.4795 167.0111 155.7753 193.5795 167.5216 155.7753 193.5795 167.8511 155.7753 193.5795 168.0111 155.7753 193.5795 167.0111 155.7753 194.4795 167.5216 155.7753 194.4795 167.8511 155.7753 194.4795 167.0111 155.7653 192.7795 167.011 155.7653 191.8795 168.011 155.7653 191.8795 168.0111 155.7653 192.7795 168.0111 155.7753 192.7795 167.011 155.7753 191.8795 167.5215 155.7753 191.8795 167.8511 155.7753 191.8795 168.011 155.7753 191.8795 167.0111 155.7753 192.3913 167.0111 155.7753 192.7795 167.5216 155.7753 192.7795 167.8511 155.7753 192.7795 234.5896 155.0753 227.5674 234.5896 155.0753 225.4174 235.9896 155.0753 227.5673 235.9896 155.0753 225.4174 235.9896 155.7753 225.4174 234.5896 155.7753 225.4174 234.5896 155.7753 227.5674 235.9896 155.7753 227.5673 172.8988 157.1268 178.6759 172.8691 157.1268 178.6952 172.8746 157.1268 178.7476 172.8314 157.1268 178.7611 172.5849 157.1268 178.6344 172.5628 157.1268 178.5999 172.528 157.1268 178.648 172.9329 157.1268 178.2427 172.9008 157.1268 178.2851 172.9677 157.1268 178.2733 172.9186 157.1268 178.3018 172.9966 157.1268 178.3087 172.9449 157.1268 178.3326 173.0185 157.1268 178.3471 172.9648 157.1268 178.3649 173.0343 157.1268 178.3891 172.9786 157.1268 178.3983 173.0437 157.1268 178.4363 172.9875 157.1268 178.4353 173.0462 157.1268 178.4776 172.9908 157.1268 178.478 172.9902 157.1268 178.4963 173.042 157.1268 178.5339 172.9852 157.1268 178.5361 173.0299 157.1268 178.5844 172.9745 157.1268 178.5735 173.0128 157.1268 178.6245 172.9588 157.1268 178.6071 172.989 157.1268 178.6613 172.9389 157.1268 178.6363 172.9131 157.1268 178.7284 172.9517 157.1268 178.7004 172.9247 157.1268 178.6525 172.9628 157.1268 178.6903 172.6238 157.1268 178.2851 172.5914 157.1268 178.2427 172.5691 157.1268 178.2607 172.5945 157.1268 178.313 172.54 157.1268 178.2918 172.5731 157.1268 178.3412 172.5133 157.1268 178.3323 172.5553 157.1268 178.3745 172.5423 157.1268 178.4121 172.4941 157.1268 178.3769 172.5352 157.1268 178.4529 172.4824 157.1268 178.4253 172.5338 157.1268 178.4813 172.4785 157.1268 178.4783 172.5373 157.1268 178.5244 172.4814 157.1268 178.5246 172.5466 157.1268 178.5619 172.4905 157.1268 178.5684 172.5066 157.1268 178.6107 172.836 157.1268 178.7093 172.803 157.1268 178.7173 172.786 157.1268 178.7678 172.7629 157.1268 178.7204 172.7592 157.1268 178.7689 172.7403 157.1268 178.7194 172.7094 157.1268 178.7649 172.7045 157.1268 178.7135 172.668 157.1268 178.7548 172.672 157.1268 178.7025 172.6265 157.1268 178.737 172.6401 157.1268 178.6855 172.5901 157.1268 178.7133 172.6106 157.1268 178.6627 172.5563 157.1268 178.6826 172.5914 157.1168 178.2427 172.6238 157.1168 178.2851 172.5338 157.1168 178.4813 172.5352 157.1168 178.4529 172.5423 157.1168 178.4121 172.5553 157.1168 178.3745 172.5731 157.1168 178.3412 172.5945 157.1168 178.313 172.7629 157.1168 178.7204 172.7403 157.1168 178.7194 172.7045 157.1168 178.7135 172.672 157.1168 178.7025 172.6401 157.1168 178.6855 172.6106 157.1168 178.6627 172.5849 157.1168 178.6344 172.5628 157.1168 178.5999 172.5466 157.1168 178.5619 172.5373 157.1168 178.5244 172.9908 157.1168 178.478 172.9902 157.1168 178.4963 172.9852 157.1168 178.5361 172.9745 157.1168 178.5735 172.9588 157.1168 178.6071 172.9389 157.1168 178.6363 172.9247 157.1168 178.6525 172.8988 157.1168 178.6759 172.8691 157.1168 178.6952 172.836 157.1168 178.7093 172.803 157.1168 178.7173 172.9008 157.1168 178.2851 172.9186 157.1168 178.3018 172.9449 157.1168 178.3326 172.9648 157.1168 178.3649 172.9786 157.1168 178.3983 172.9875 157.1168 178.4353 172.9329 157.1168 178.2427 173.0462 157.1168 178.4776 173.0437 157.1168 178.4363 173.0343 157.1168 178.3891 173.0185 157.1168 178.3471 172.9966 157.1168 178.3087 172.9677 157.1168 178.2733 172.9517 157.1168 178.7004 172.9628 157.1168 178.6903 172.989 157.1168 178.6613 173.0128 157.1168 178.6245 173.0299 157.1168 178.5844 173.042 157.1168 178.5339 172.7592 157.1168 178.7689 172.786 157.1168 178.7678 172.8314 157.1168 178.7611 172.8746 157.1168 178.7476 172.9131 157.1168 178.7284 172.4785 157.1168 178.4783 172.4814 157.1168 178.5246 172.4905 157.1168 178.5684 172.5066 157.1168 178.6107 172.528 157.1168 178.648 172.5563 157.1168 178.6826 172.5901 157.1168 178.7133 172.6265 157.1168 178.737 172.668 157.1168 178.7548 172.7094 157.1168 178.7649 172.5691 157.1168 178.2607 172.54 157.1168 178.2918 172.5133 157.1168 178.3323 172.4941 157.1168 178.3769 172.4824 157.1168 178.4253 171.9403 156.2168 180.0883 171.9403 156.2133 180.088 173.5003 156.2168 180.0883 173.5003 156.2133 180.088 171.9403 156.21 180.087 173.5003 156.21 180.0871 171.9403 156.2068 180.0856 173.5003 156.2068 180.0856 171.9403 156.2051 180.0845 173.5003 156.204 180.0836 171.9403 156.2027 180.0824 173.5003 156.2015 180.0811 173.5003 156.1995 180.0783 171.9403 156.2006 180.0801 171.9403 156.1995 180.0783 173.5003 156.198 180.0751 171.9403 156.1981 180.0751 173.5003 156.1971 180.0717 171.9403 156.1968 180.0683 173.5003 156.1968 180.0683 171.9403 156.1971 180.0718 173.5038 156.2134 180.0877 173.5038 156.2101 180.0868 173.5072 156.2135 180.0868 173.5072 156.2104 180.0859 173.5103 156.2138 180.0853 173.5103 156.2109 180.0845 173.5132 156.2142 180.0834 173.5132 156.2116 180.0827 173.5156 156.2146 180.0809 173.5156 156.2124 180.0803 173.5176 156.2134 180.0777 173.5038 156.207 180.0853 173.5072 156.2074 180.0845 173.5103 156.2082 180.0833 173.5132 156.2091 180.0815 173.5156 156.2104 180.0794 173.5176 156.2104 180.0759 173.5191 156.2145 180.0747 173.5191 156.2124 180.0735 173.52 156.2146 180.0709 173.5038 156.2168 180.088 173.5072 156.2168 180.0871 173.5103 156.2168 180.0856 173.5132 156.2168 180.0836 173.5156 156.2168 180.0811 173.5176 156.2168 180.0783 173.5191 156.2168 180.0751 173.52 156.2168 180.0717 173.5203 156.2168 180.0683 173.5038 156.2041 180.0834 173.5038 156.2017 180.0809 173.5072 156.2047 180.0827 173.5072 156.2024 180.0803 173.5103 156.2057 180.0815 173.5103 156.2035 180.0794 173.5132 156.207 180.08 173.5132 156.2051 180.0781 173.5156 156.2086 180.0781 173.5156 156.207 180.0765 173.5038 156.1997 180.0781 173.5072 156.2005 180.0777 173.5103 156.2018 180.0769 173.5132 156.2035 180.0759 173.5156 156.2057 180.0747 173.5176 156.2082 180.0733 173.5191 156.2109 180.0717 173.5038 156.1983 180.075 173.5038 156.1974 180.0717 173.5072 156.1992 180.0747 173.5072 156.1983 180.0715 173.5103 156.2005 180.0742 173.5103 156.1997 180.0713 173.5132 156.2024 180.0735 173.5132 156.2017 180.0709 173.5156 156.2047 180.0727 173.5156 156.2041 180.0705 173.5176 156.207 180.07 173.5191 156.2101 180.0695 173.52 156.2134 180.0689 173.5038 156.1971 180.0683 173.5072 156.198 180.0683 173.5103 156.1995 180.0683 173.5132 156.2015 180.0683 173.5156 156.204 180.0683 171.9335 156.2168 180.087 171.9314 156.2168 180.0862 171.9314 156.214 180.086 171.9225 156.214 180.077 171.9213 156.2158 180.0744 171.9213 156.2132 180.0733 171.9206 156.2137 180.0688 171.9206 156.215 180.0708 171.9203 156.2168 180.0683 171.9374 156.2137 180.0878 171.9374 156.2107 180.0871 171.9374 156.2078 180.0859 171.9374 156.2052 180.0843 171.9374 156.2028 180.0823 171.9374 156.2008 180.0799 171.9374 156.1992 180.0773 171.9374 156.198 180.0744 171.9374 156.1973 180.0714 171.9372 156.1971 180.0683 171.9207 156.2168 180.0718 171.9213 156.2113 180.0711 171.9213 156.2106 180.0683 171.9225 156.2077 180.0683 171.9225 156.2114 180.0757 171.9225 156.2094 180.0737 171.9225 156.2081 180.0711 171.9242 156.2132 180.0795 171.9242 156.2168 180.0801 171.923 156.2168 180.0783 171.9242 156.2099 180.0779 171.9242 156.2073 180.0752 171.9242 156.2056 180.072 171.9263 156.2168 180.0825 171.9263 156.2146 180.0823 171.9241 156.2051 180.0683 171.9262 156.2027 180.0683 171.9263 156.2104 180.081 171.9263 156.2085 180.0798 171.9263 156.2068 180.0783 171.9263 156.2053 180.0767 171.9263 156.2041 180.0747 171.9263 156.2033 180.0727 171.9263 156.2028 180.0705 171.9287 156.2168 180.0845 171.9287 156.2143 180.0843 171.9263 156.2124 180.0818 171.9287 156.2118 180.0838 171.9287 156.2094 180.0828 171.9287 156.2073 180.0814 171.9287 156.2053 180.0798 171.9287 156.2037 180.0778 171.9287 156.2023 180.0757 171.9287 156.2014 180.0733 171.9287 156.2008 180.0708 171.9286 156.2006 180.0683 171.9312 156.199 180.0683 171.9314 156.2113 180.0853 171.9314 156.2087 180.0842 171.9314 156.2063 180.0828 171.9314 156.2042 180.0809 171.9314 156.2023 180.0788 171.9314 156.2009 180.0764 171.9314 156.1998 180.0738 171.9314 156.1992 180.0711 171.9369 156.2168 180.088 171.9343 156.2138 180.0871 171.9343 156.2109 180.0864 171.9343 156.2082 180.0853 171.9343 156.2056 180.0837 171.9343 156.2033 180.0818 171.9343 156.2014 180.0795 171.9343 156.1998 180.077 171.9343 156.1987 180.0742 171.9343 156.198 180.0713 171.9341 156.1978 180.0683 173.5203 156.2168 179.5883 173.52 156.2133 179.5883 173.5191 156.21 179.5883 173.5176 156.2068 179.5883 173.5156 156.204 179.5883 173.5132 156.2015 179.5883 173.5103 156.1995 179.5883 173.5072 156.198 179.5883 173.5038 156.1971 179.5883 173.5003 156.1968 179.5883 173.5203 157.1168 180.0683 173.52 157.1168 180.0717 173.5191 157.1168 180.0751 173.5176 157.1168 180.0783 173.5156 157.1168 180.0811 173.5132 157.1168 180.0836 173.5103 157.1168 180.0856 173.5072 157.1168 180.0871 173.5038 157.1168 180.088 173.5003 157.1168 180.0883 171.9403 157.1168 180.0883 171.9368 157.1168 180.088 171.9335 157.1168 180.0871 171.9303 157.1168 180.0856 171.9275 157.1168 180.0836 171.925 157.1168 180.0812 171.923 157.1168 180.0783 171.9215 157.1168 180.0751 171.9206 157.1168 180.0718 171.9203 157.1168 180.0683 171.9203 156.2168 179.5883 171.9206 156.2137 179.5883 171.9213 156.2106 179.5883 171.9225 156.2077 179.5883 171.9241 156.2051 179.5883 171.9262 156.2027 179.5883 171.9286 156.2006 179.5883 171.9312 156.199 179.5883 171.9341 156.1978 179.5883 171.9372 156.197 179.5883 171.9403 156.1968 179.5883 173.5003 157.1365 180.0717 173.5003 157.1356 180.0751 173.5038 157.1362 180.0717 173.5038 157.1353 180.075 173.5072 157.1353 180.0715 173.5072 157.1345 180.0747 173.5103 157.1339 180.0713 173.5103 157.1331 180.0742 173.5132 157.1319 180.0709 173.5132 157.1312 180.0735 173.5156 157.1295 180.0705 173.5156 157.1289 180.0727 173.5176 157.1267 180.07 173.5176 157.1255 180.0733 173.5191 157.1235 180.0695 173.5191 157.1227 180.0717 173.52 157.1202 180.0689 173.52 157.119 180.0709 173.5003 157.1341 180.0783 173.5038 157.1339 180.0781 173.5072 157.1331 180.0777 173.5103 157.1318 180.0769 173.5132 157.1301 180.0759 173.5156 157.1279 180.0747 173.5003 157.1368 180.0683 173.5038 157.1365 180.0683 173.5072 157.1356 180.0683 173.5103 157.1341 180.0683 173.5132 157.1321 180.0683 173.5156 157.1297 180.0683 173.5003 157.1321 180.0811 173.5003 157.1297 180.0836 173.5038 157.1319 180.0809 173.5038 157.1295 180.0834 173.5072 157.1312 180.0803 173.5072 157.1289 180.0827 173.5103 157.1301 180.0794 173.5103 157.1279 180.0815 173.5132 157.1286 180.0781 173.5132 157.1267 180.08 173.5156 157.1267 180.0765 173.5156 157.1251 180.0781 173.5176 157.1232 180.0759 173.5003 157.1268 180.0856 173.5038 157.1267 180.0853 173.5072 157.1262 180.0845 173.5103 157.1255 180.0833 173.5132 157.1245 180.0815 173.5156 157.1232 180.0794 173.5176 157.1202 180.0777 173.5191 157.1212 180.0735 173.5191 157.1192 180.0747 173.5003 157.1237 180.0871 173.5003 157.1203 180.088 173.5038 157.1235 180.0868 173.5038 157.1202 180.0877 173.5072 157.1232 180.0859 173.5072 157.1201 180.0868 173.5103 157.1227 180.0845 173.5103 157.1198 180.0853 173.5132 157.1221 180.0827 173.5132 157.1195 180.0834 173.5156 157.1212 180.0803 173.5156 157.119 180.0809 171.9403 157.1199 180.0881 171.9403 157.123 180.0873 171.9368 157.1229 180.087 171.9403 157.1259 180.0861 171.9368 157.1257 180.0858 171.9403 157.1286 180.0845 171.9368 157.1284 180.0842 171.9403 157.1309 180.0824 171.9368 157.1307 180.0822 171.9403 157.133 180.0801 171.9368 157.1327 180.0799 171.9215 157.1208 180.0738 171.9206 157.1188 180.0711 171.9215 157.1223 180.0723 171.923 157.1249 180.0742 171.923 157.1227 180.0764 171.925 157.1272 180.0758 171.925 157.1283 180.0741 171.9275 157.1305 180.0753 171.9206 157.1201 180.0694 171.9215 157.1233 180.0704 171.923 157.1263 180.0714 171.925 157.129 180.0723 171.9275 157.1314 180.073 171.9303 157.1333 180.0736 171.925 157.1295 180.0703 171.9275 157.1319 180.0707 171.9303 157.1339 180.071 171.9335 157.1354 180.0712 171.9215 157.1237 180.0683 171.923 157.1268 180.0683 171.925 157.1297 180.0683 171.9275 157.1321 180.0683 171.9303 157.1341 180.0683 171.9335 157.1356 180.0683 171.9368 157.1365 180.0683 171.9335 157.1347 180.0741 171.9368 157.1355 180.0744 171.9368 157.1363 180.0714 171.9403 157.1356 180.0751 171.9403 157.1365 180.0718 171.9403 157.1368 180.0683 171.9403 157.1341 180.0783 171.9368 157.1344 180.0772 171.9335 157.1336 180.0768 171.9303 157.1322 180.0762 171.9335 157.132 180.0793 171.9303 157.1308 180.0785 171.9275 157.1292 180.0773 171.9335 157.1301 180.0816 171.9303 157.1291 180.0805 171.9275 157.1276 180.0791 171.925 157.1259 180.0774 171.9335 157.1278 180.0835 171.9303 157.127 180.0823 171.9275 157.1258 180.0807 171.925 157.1244 180.0787 171.9335 157.1253 180.085 171.9303 157.1247 180.0837 171.9275 157.1238 180.082 171.925 157.1226 180.0798 171.923 157.1199 180.0778 171.9215 157.1189 180.0748 171.9335 157.1226 180.0862 171.9303 157.1222 180.0848 171.9275 157.1215 180.0829 171.925 157.1208 180.0805 171.9368 157.1199 180.0877 171.9335 157.1197 180.0869 171.9303 157.1195 180.0854 171.9275 157.1192 180.0834 171.925 157.1188 180.081 173.5203 157.1168 179.5883 173.52 157.1203 179.5883 173.5191 157.1237 179.5883 173.5176 157.1268 179.5883 173.5156 157.1297 179.5883 173.5132 157.1321 179.5883 173.5103 157.1341 179.5883 173.5072 157.1356 179.5883 173.5038 157.1365 179.5883 173.5003 157.1368 179.5883 171.9203 157.1168 179.5883 171.9206 157.1203 179.5883 171.9215 157.1237 179.5883 171.923 157.1268 179.5883 171.925 157.1297 179.5883 171.9275 157.1321 179.5883 171.9303 157.1341 179.5883 171.9335 157.1356 179.5883 171.9368 157.1365 179.5883 171.9403 157.1368 179.5883 173.5003 156.1968 176.9083 171.9403 156.1968 176.9083 173.5003 156.197 176.9051 171.9403 156.1971 176.9048 173.5003 156.1978 176.9021 171.9403 156.198 176.9015 173.5003 156.199 176.8992 171.9403 156.1995 176.8983 173.5003 156.2006 176.8965 171.9403 156.2015 176.8954 173.5003 156.2027 176.8941 171.9403 156.204 176.893 173.5003 156.2051 176.8921 171.9403 156.2068 176.891 173.5003 156.2068 176.891 171.9403 156.21 176.8895 173.5003 156.21 176.8895 171.9403 156.2133 176.8886 173.5003 156.2133 176.8886 171.9403 156.2168 176.8883 173.5003 156.2168 176.8883 171.9368 156.1971 176.9083 171.9368 156.1974 176.9049 171.9206 156.2133 176.9083 171.9203 156.2168 176.9083 171.9206 156.2142 176.9061 171.9215 156.2134 176.9024 171.9206 156.2162 176.9049 171.9215 156.2156 176.9016 171.9215 156.2104 176.906 171.9215 156.2116 176.9039 171.923 156.2074 176.9049 171.923 156.2091 176.9019 171.925 156.2057 176.9019 171.923 156.2118 176.8996 171.923 156.2151 176.8984 171.925 156.2047 176.9039 171.9274 156.2024 176.9031 171.925 156.207 176.9 171.925 156.2086 176.8984 171.925 156.2104 176.8972 171.925 156.2124 176.8962 171.925 156.2146 176.8956 171.925 156.2168 176.8954 171.9215 156.21 176.9083 171.923 156.2068 176.9083 171.925 156.2041 176.9061 171.9274 156.2017 176.9056 171.9303 156.1997 176.9053 171.9274 156.2035 176.9006 171.9274 156.2051 176.8984 171.9274 156.207 176.8966 171.9274 156.2091 176.895 171.9274 156.2116 176.8939 171.9274 156.2142 176.8932 171.9274 156.2168 176.893 171.925 156.204 176.9083 171.9274 156.2015 176.9083 171.9303 156.1995 176.9083 171.9334 156.198 176.9083 171.9303 156.2005 176.9024 171.9303 156.2018 176.8996 171.9303 156.2035 176.8972 171.9303 156.2057 176.895 171.9303 156.2082 176.8933 171.9303 156.2109 176.892 171.9303 156.2138 176.8912 171.9303 156.2168 176.891 171.9334 156.1983 176.905 171.9334 156.1992 176.9019 171.9334 156.2005 176.8989 171.9334 156.2024 176.8962 171.9334 156.2047 176.8939 171.9334 156.2074 176.892 171.9334 156.2104 176.8906 171.9334 156.2135 176.8898 171.9334 156.2168 176.8895 171.9368 156.1983 176.9016 171.9368 156.1997 176.8984 171.9368 156.2017 176.8956 171.9368 156.2041 176.8932 171.9368 156.207 176.8912 171.9368 156.2101 176.8898 171.9368 156.2134 176.8889 171.9368 156.2168 176.8886 173.52 156.2137 176.9083 173.52 156.2146 176.906 173.5203 156.2168 176.9083 173.52 156.2168 176.9051 173.5164 156.205 176.9083 173.5144 156.2026 176.9083 173.5144 156.2028 176.906 173.5119 156.2006 176.9083 173.5119 156.2008 176.9057 173.5092 156.1989 176.9083 173.5063 156.1977 176.9083 173.5063 156.198 176.9053 173.5032 156.2137 176.8887 173.5032 156.2107 176.8895 173.5032 156.2078 176.8907 173.5032 156.2052 176.8923 173.5032 156.2028 176.8943 173.5032 156.2008 176.8966 173.5032 156.1992 176.8993 173.5032 156.198 176.9022 173.5032 156.1973 176.9052 173.5032 156.197 176.9083 173.5032 156.2168 176.8885 173.5063 156.2138 176.8894 173.5063 156.2109 176.8901 173.5063 156.2082 176.8913 173.5063 156.2056 176.8928 173.5063 156.2033 176.8948 173.5063 156.2014 176.8971 173.5063 156.1998 176.8996 173.5063 156.1987 176.9024 173.5092 156.1992 176.9055 173.5092 156.1998 176.9028 173.5092 156.2009 176.9002 173.5092 156.2023 176.8978 173.5092 156.2042 176.8956 173.5092 156.2063 176.8938 173.5092 156.2087 176.8923 173.5092 156.2113 176.8913 173.5092 156.214 176.8906 173.5063 156.2168 176.8892 173.5092 156.2168 176.8904 173.5119 156.2143 176.8922 173.5119 156.2118 176.8928 173.5119 156.2094 176.8938 173.5119 156.2073 176.8951 173.5119 156.2053 176.8968 173.5119 156.2037 176.8987 173.5119 156.2023 176.9009 173.5119 156.2014 176.9033 173.5144 156.2033 176.9039 173.5144 156.2041 176.9018 173.5144 156.2053 176.8999 173.5144 156.2068 176.8982 173.5144 156.2085 176.8968 173.5144 156.2104 176.8956 173.5144 156.2124 176.8948 173.5144 156.2146 176.8942 173.5119 156.2168 176.892 173.5144 156.2168 176.8941 173.5164 156.2056 176.9046 173.5164 156.2073 176.9013 173.5164 156.2099 176.8987 173.5164 156.2132 176.897 173.5164 156.2168 176.8965 173.5181 156.2077 176.9083 173.5181 156.2081 176.9055 173.5181 156.2094 176.9029 173.5181 156.2114 176.9009 173.5181 156.214 176.8996 173.5181 156.2168 176.8992 173.5193 156.2106 176.9083 173.5193 156.2113 176.9055 173.5193 156.2132 176.9032 173.5193 156.2158 176.9021 171.9403 156.1968 177.3883 171.9368 156.1971 177.3883 171.9334 156.198 177.3883 171.9303 156.1995 177.3883 171.9274 156.2015 177.3883 171.925 156.204 177.3883 171.923 156.2068 177.3883 171.9215 156.21 177.3883 171.9206 156.2133 177.3883 171.9203 156.2168 177.3883 171.9203 157.1168 176.9083 171.9206 157.1168 176.9048 171.9215 157.1168 176.9015 171.923 157.1168 176.8983 171.925 157.1168 176.8954 171.9274 157.1168 176.893 171.9303 157.1168 176.891 171.9334 157.1168 176.8895 171.9368 157.1168 176.8886 171.9403 157.1168 176.8883 173.5003 157.1168 176.8883 173.5037 157.1168 176.8886 173.5071 157.1168 176.8895 173.5103 157.1168 176.891 173.5131 157.1168 176.893 173.5156 157.1168 176.8954 173.5176 157.1168 176.8983 173.5191 157.1168 176.9014 173.52 157.1168 176.9048 173.5203 157.1168 176.9083 173.5032 156.197 177.3883 173.5003 156.1968 177.3883 173.5063 156.1977 177.3883 173.5092 156.1989 177.3883 173.5119 156.2006 177.3883 173.5144 156.2026 177.3883 173.5164 156.205 177.3883 173.5181 156.2077 177.3883 173.5193 156.2106 177.3883 173.52 156.2137 177.3883 173.5203 156.2168 177.3883 171.9368 157.1202 176.8889 171.9215 157.1221 176.9039 171.9206 157.1195 176.9061 171.9206 157.1203 176.9083 171.9215 157.1232 176.906 171.9215 157.1237 176.9083 171.9215 157.1192 176.9019 171.923 157.1202 176.8989 171.923 157.1245 176.9019 171.925 157.1232 176.8972 171.923 157.1262 176.9049 171.923 157.1268 176.9083 171.925 157.1212 176.8962 171.9274 157.1221 176.8939 171.925 157.1251 176.8984 171.925 157.1267 176.9 171.925 157.1279 176.9019 171.925 157.1289 176.9039 171.925 157.1295 176.9061 171.925 157.1297 176.9083 171.925 157.119 176.8956 171.9274 157.1195 176.8932 171.9303 157.1198 176.8912 171.9274 157.1245 176.895 171.9274 157.1267 176.8966 171.9274 157.1286 176.8984 171.9274 157.1301 176.9006 171.9274 157.1312 176.9031 171.9274 157.1319 176.9056 171.9274 157.1321 176.9083 171.9303 157.1227 176.892 171.9303 157.1255 176.8933 171.9303 157.1279 176.895 171.9303 157.1301 176.8972 171.9303 157.1318 176.8996 171.9303 157.1331 176.9024 171.9303 157.1339 176.9053 171.9303 157.1341 176.9083 171.9334 157.1201 176.8898 171.9334 157.1232 176.8906 171.9334 157.1262 176.892 171.9334 157.1289 176.8939 171.9334 157.1312 176.8962 171.9334 157.1331 176.8989 171.9334 157.1345 176.9019 171.9334 157.1353 176.905 171.9334 157.1356 176.9083 171.9368 157.1235 176.8898 171.9368 157.1267 176.8912 171.9368 157.1295 176.8932 171.9368 157.1319 176.8956 171.9368 157.1339 176.8984 171.9368 157.1353 176.9016 171.9368 157.1362 176.9049 171.9368 157.1365 176.9083 171.9403 157.1203 176.8886 171.9403 157.1237 176.8895 171.9403 157.1268 176.891 171.9403 157.1297 176.893 171.9403 157.1321 176.8954 171.9403 157.1341 176.8983 171.9403 157.1356 176.9015 171.9403 157.1365 176.9048 171.9403 157.1368 176.9083 173.52 157.1196 176.9062 173.52 157.1203 176.9083 173.5156 157.1188 176.8956 173.5131 157.1192 176.8931 173.5103 157.1195 176.8912 173.5071 157.1197 176.8897 173.5037 157.1199 176.8888 173.5003 157.1199 176.8885 173.5037 157.1229 176.8895 173.5003 157.123 176.8892 173.5037 157.1257 176.8907 173.5003 157.1259 176.8905 173.5037 157.1284 176.8923 173.5003 157.1286 176.8921 173.5003 157.1309 176.8941 173.5037 157.1307 176.8943 173.5003 157.133 176.8965 173.5037 157.1327 176.8967 173.5003 157.1346 176.8992 173.5037 157.1344 176.8993 173.5003 157.1358 176.9021 173.5037 157.1355 176.9022 173.5003 157.1366 176.9051 173.5037 157.1363 176.9052 173.5003 157.1368 176.9083 173.5037 157.1365 176.9083 173.5071 157.1226 176.8904 173.5071 157.1253 176.8915 173.5071 157.1278 176.8931 173.5071 157.1301 176.895 173.5071 157.132 176.8972 173.5071 157.1336 176.8997 173.5071 157.1347 176.9025 173.5071 157.1354 176.9053 173.5071 157.1356 176.9083 173.5103 157.1222 176.8918 173.5103 157.1247 176.8928 173.5103 157.127 176.8943 173.5103 157.1291 176.896 173.5103 157.1308 176.8981 173.5103 157.1322 176.9004 173.5103 157.1333 176.9029 173.5103 157.1339 176.9056 173.5103 157.1341 176.9083 173.5131 157.1215 176.8937 173.5131 157.1238 176.8946 173.5131 157.1258 176.8959 173.5131 157.1276 176.8974 173.5131 157.1292 176.8993 173.5131 157.1305 176.9013 173.5131 157.1314 176.9035 173.5131 157.1319 176.9059 173.5131 157.1321 176.9083 173.5156 157.1208 176.8961 173.5156 157.1226 176.8968 173.5156 157.1244 176.8979 173.5156 157.1259 176.8992 173.5156 157.1272 176.9007 173.5156 157.1283 176.9024 173.5156 157.129 176.9043 173.5156 157.1295 176.9063 173.5156 157.1297 176.9083 173.5176 157.1199 176.8988 173.5176 157.1227 176.9002 173.5176 157.1249 176.9024 173.5176 157.1263 176.9052 173.5176 157.1268 176.9083 173.5191 157.1189 176.9018 173.5191 157.1208 176.9027 173.5191 157.1223 176.9042 173.5191 157.1233 176.9062 173.5191 157.1237 176.9083 171.9403 157.1368 177.3883 171.9368 157.1365 177.3883 171.9334 157.1356 177.3883 171.9303 157.1341 177.3883 171.9274 157.1321 177.3883 171.925 157.1297 177.3883 171.923 157.1268 177.3883 171.9215 157.1237 177.3883 171.9206 157.1203 177.3883 171.9203 157.1168 177.3883 173.5003 157.1368 177.3883 173.5037 157.1365 177.3883 173.5071 157.1356 177.3883 173.5103 157.1341 177.3883 173.5131 157.1321 177.3883 173.5156 157.1297 177.3883 173.5176 157.1268 177.3883 173.5191 157.1237 177.3883 173.52 157.1203 177.3883 173.5203 157.1168 177.3883 171.9403 157.1168 177.3883 173.5003 157.1168 177.3883 171.9403 156.2168 177.3883 173.5003 156.2168 177.3883 173.5003 156.2168 179.5883 171.9403 156.2168 179.5883 173.5003 157.1168 179.5883 171.9403 157.1168 179.5883 173.6203 156.1968 179.2883 171.8203 156.1968 179.2883 171.8203 156.1968 180.5883 173.6203 156.1968 180.5883 173.6203 156.1868 179.2883 173.6203 156.1868 180.5883 173.5748 156.1868 180.5883 171.8203 156.1868 180.5883 171.8203 156.1868 179.2883 173.5748 156.1868 179.2883 171.8203 156.1968 177.6883 173.6203 156.1968 177.6883 173.6203 156.1968 176.3883 171.8203 156.1968 176.3883 173.6203 156.1868 176.3883 173.6203 156.1868 177.6883 173.5748 156.1868 177.6883 171.8203 156.1868 177.6883 171.8203 156.1868 176.3883 173.5748 156.1868 176.3883 163.8727 154.8253 207.5606 163.8727 154.8253 208.5106 163.5727 154.8253 207.5606 163.5727 154.8253 208.5106 163.5727 155.7653 208.5106 163.8727 155.7653 208.5106 163.8727 155.7753 207.5606 163.6864 155.7753 207.5606 163.5727 155.7753 207.5606 163.5727 155.7753 207.5683 163.5727 155.7653 207.5683 163.5727 155.7553 207.6633 163.5727 155.7584 207.6638 163.5727 154.8919 208.4727 163.5727 154.8889 208.4709 163.5727 154.8853 207.6733 163.5727 154.8859 207.6699 163.5727 154.8903 207.6646 163.5727 154.8877 207.6669 163.5727 155.7634 207.6674 163.5727 155.7648 207.6702 163.5727 155.7653 207.6733 163.5727 155.7648 208.4664 163.5727 155.7653 208.4633 163.5727 155.7634 208.4691 163.5727 155.7612 208.4714 163.5727 155.7584 208.4728 163.5727 154.8867 208.4683 163.5727 154.8936 207.6634 163.5727 155.7612 207.6652 163.5727 155.7553 208.4733 163.5727 154.8953 208.4733 163.5727 154.8855 208.465 163.8727 155.7753 207.5683 163.8727 155.7653 207.5683 162.4727 154.8253 207.5606 162.4727 154.8253 208.5106 162.1727 154.8253 207.5606 162.1727 154.8253 208.5106 162.1727 155.7653 208.5106 162.4727 155.7653 208.5106 162.4727 155.7753 207.5606 162.4727 155.7653 207.5683 162.4727 155.7753 207.5683 162.4727 154.8889 208.4709 162.4727 154.8919 208.4727 162.4727 155.7648 207.6702 162.4727 155.7634 207.6674 162.4727 154.8936 207.6634 162.4727 154.8903 207.6646 162.4727 154.8877 207.6669 162.4727 154.8859 207.6699 162.4727 154.8855 208.465 162.4727 154.8867 208.4683 162.4727 155.7653 207.6733 162.4727 155.7612 207.6652 162.4727 155.7584 207.6638 162.4727 155.7553 207.6633 162.4727 154.8953 208.4733 162.4727 155.7553 208.4733 162.4727 155.7584 208.4728 162.4727 155.7612 208.4714 162.4727 155.7634 208.4692 162.4727 155.7648 208.4664 162.4727 155.7653 208.4633 162.4727 154.8853 207.6733 162.1727 155.7753 207.5606 162.1727 155.7753 207.5683 162.1727 155.7653 207.5683 162.9406 154.8853 207.986 162.932 154.8853 207.9992 162.9087 154.8853 207.9968 162.9027 154.8853 208.0159 162.959 154.8853 208.1255 162.9744 154.8853 208.1353 162.953 154.8853 208.1508 163.1331 154.8853 207.9708 163.1143 154.8853 207.9851 163.1195 154.8853 207.9553 163.1069 154.8853 207.9772 163.1038 154.8853 207.9425 163.0932 154.8853 207.9655 163.0867 154.8853 207.9328 163.0788 154.8853 207.9567 163.068 154.8853 207.9258 163.064 154.8853 207.9505 163.0471 154.8853 207.9216 163.0475 154.8853 207.9466 163.0287 154.8853 207.9205 163.0285 154.8853 207.9451 163.0204 154.8853 207.9454 163.0037 154.8853 207.9223 163.0027 154.8853 207.9476 162.9812 154.8853 207.9277 162.9861 154.8853 207.9523 162.9634 154.8853 207.9353 162.9712 154.8853 207.9593 162.9471 154.8853 207.9459 162.9582 154.8853 207.9682 162.9173 154.8853 207.9796 162.9297 154.8853 207.9625 162.951 154.8853 207.9745 162.9342 154.8853 207.9575 163.1143 154.8853 208.1082 163.1331 154.8853 208.1226 163.1251 154.8853 208.1325 163.1019 154.8853 208.1212 163.1113 154.8853 208.1455 163.0893 154.8853 208.1307 163.0933 154.8853 208.1573 163.0746 154.8853 208.1387 163.0578 154.8853 208.1444 163.0735 154.8853 208.1659 163.0397 154.8853 208.1476 163.052 154.8853 208.171 163.0271 154.8853 208.1482 163.0284 154.8853 208.1728 163.0079 154.8853 208.1466 163.0079 154.8853 208.1715 162.9913 154.8853 208.1425 162.9883 154.8853 208.1675 162.9696 154.8853 208.1603 162.9257 154.8853 208.0139 162.9222 154.8853 208.0286 162.8997 154.8853 208.0361 162.9208 154.8853 208.0464 162.8993 154.8853 208.048 162.9212 154.8853 208.0565 162.901 154.8853 208.0702 162.9239 154.8853 208.0723 162.9055 154.8853 208.0886 162.9288 154.8853 208.0868 162.9134 154.8853 208.107 162.9363 154.8853 208.1009 162.9239 154.8853 208.1232 162.9464 154.8853 208.1141 162.937 154.8853 208.1377 163.1331 154.8953 208.1226 163.1143 154.8953 208.1082 163.0271 154.8953 208.1482 163.0397 154.8953 208.1476 163.0578 154.8953 208.1444 163.0746 154.8953 208.1387 163.0893 154.8953 208.1307 163.1019 154.8953 208.1212 162.9208 154.8953 208.0464 162.9212 154.8953 208.0565 162.9239 154.8953 208.0723 162.9288 154.8953 208.0868 162.9363 154.8953 208.1009 162.9464 154.8953 208.1141 162.959 154.8953 208.1255 162.9744 154.8953 208.1353 162.9913 154.8953 208.1425 163.0079 154.8953 208.1466 163.0285 154.8953 207.9451 163.0204 154.8953 207.9454 163.0027 154.8953 207.9476 162.9861 154.8953 207.9523 162.9712 154.8953 207.9593 162.9582 154.8953 207.9682 162.951 154.8953 207.9745 162.9406 154.8953 207.986 162.932 154.8953 207.9992 162.9257 154.8953 208.0139 162.9222 154.8953 208.0286 163.1143 154.8953 207.9851 163.1069 154.8953 207.9772 163.0932 154.8953 207.9655 163.0788 154.8953 207.9567 163.064 154.8953 207.9505 163.0475 154.8953 207.9466 163.1331 154.8953 207.9708 163.0287 154.8953 207.9205 163.0471 154.8953 207.9216 163.068 154.8953 207.9258 163.0867 154.8953 207.9328 163.1038 154.8953 207.9425 163.1195 154.8953 207.9553 162.9297 154.8953 207.9625 162.9342 154.8953 207.9575 162.9471 154.8953 207.9459 162.9634 154.8953 207.9353 162.9812 154.8953 207.9277 163.0037 154.8953 207.9223 162.8993 154.8953 208.048 162.8997 154.8953 208.0361 162.9027 154.8953 208.0159 162.9087 154.8953 207.9968 162.9173 154.8953 207.9796 163.0284 154.8953 208.1728 163.0079 154.8953 208.1715 162.9883 154.8953 208.1675 162.9696 154.8953 208.1603 162.953 154.8953 208.1508 162.937 154.8953 208.1377 162.9239 154.8953 208.1232 162.9134 154.8953 208.107 162.9055 154.8953 208.0886 162.901 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194.93 155.3353 239.3683 194.9183 155.3353 239.3403 194.9107 155.3353 239.3273 194.9026 155.3353 239.317 194.8952 155.3353 239.3102 194.8892 155.3353 239.3062 194.8829 155.3353 239.3033 194.8773 155.3353 239.3017 194.2696 155.3353 239.2843 194.2536 155.3353 239.2857 194.2409 155.3353 239.2891 194.2285 155.3353 239.2946 194.2696 155.3353 239.6954 194.2859 155.3353 239.694 194.2988 155.3353 239.6906 194.3103 155.3353 239.6855 194.3249 155.3353 239.676 194.3379 155.3353 239.6641 194.353 155.3353 239.6451 194.3654 155.3353 239.6235 194.3742 155.3353 239.6018 194.2766 155.3353 239.2846 194.29 155.3353 239.2866 194.3027 155.3353 239.2905 194.3143 155.3353 239.2961 194.3264 155.3353 239.3045 194.3399 155.3353 239.3176 194.3535 155.3353 239.3357 194.3669 155.3353 239.3606 194.1514 155.3353 239.4818 194.1543 155.3353 239.5422 194.1513 155.3353 239.4887 194.2166 155.3353 239.3023 194.2042 155.3353 239.3133 194.1902 155.3353 239.3306 194.1757 155.3353 239.3555 194.1669 155.3353 239.3774 194.1566 155.3353 239.4195 194.2629 155.3353 239.6951 194.2501 155.3353 239.6933 194.2377 155.3353 239.6894 194.2265 155.3353 239.6839 194.2145 155.3353 239.6754 194.2003 155.3353 239.6614 194.1864 155.3353 239.6424 194.1733 155.3353 239.6175 194.1622 155.3353 239.5847 194.3792 155.3353 239.3954 194.3872 155.3353 239.437 194.3902 155.3353 239.4887 194.3901 155.3353 239.4977 194.3847 155.3353 239.5606 194.5068 155.3353 239.6792 194.6811 155.3353 239.5921 194.6712 155.3353 239.6222 194.6458 155.3353 239.4955 194.5723 155.3353 239.2869 194.5909 155.3353 239.2923 194.5863 155.3353 239.3103 194.5097 155.3353 239.2914 194.5189 155.3353 239.288 194.5252 155.3353 239.3051 194.5228 155.3353 239.3067 194.5207 155.3353 239.3085 194.5001 155.3353 239.2971 194.6646 155.3353 239.6359 194.6393 155.3353 239.3988 194.6875 155.3353 239.4535 194.6458 155.3353 239.4884 194.6902 155.3353 239.5075 194.6888 155.3353 239.5441 194.597 155.3353 239.3171 194.6085 155.3353 239.3008 194.6084 155.3353 239.3271 194.6244 155.3353 239.312 194.6188 155.3353 239.3392 194.6391 155.3353 239.3264 194.6246 155.3353 239.3488 194.654 155.3353 239.3463 194.6313 155.3353 239.3653 194.6681 155.3353 239.3736 194.6794 155.3353 239.4078 194.575 155.3353 239.3053 194.5634 155.3353 239.3023 194.5527 155.3353 239.2846 194.5487 155.3353 239.301 194.545 155.3353 239.2843 194.5437 155.3353 239.3011 194.5318 155.3353 239.2851 194.5344 155.3353 239.3021 194.5289 155.3353 239.3035 194.5186 155.3353 239.311 194.4919 155.3353 239.3038 194.5173 155.3353 239.3326 194.4738 155.3353 239.3405 194.4736 155.3353 239.3347 194.5218 155.3353 239.6872 194.5362 155.3353 239.6921 194.5515 155.3353 239.6949 194.5626 155.3353 239.6954 194.5157 155.3353 239.3236 194.6005 155.3353 239.6903 194.6155 155.3353 239.6845 194.6306 155.3353 239.6756 194.6434 155.3353 239.6647 194.6544 155.3353 239.652 194.5173 155.3353 239.3133 194.5164 155.3353 239.3156 194.4816 155.3353 239.3152 194.5159 155.3353 239.3181 194.4775 155.3353 239.3214 194.5157 155.3353 239.3214 194.4754 155.3353 239.3257 194.4743 155.3353 239.3296 194.4918 155.3353 239.6678 194.4805 155.3353 239.6564 194.4711 155.3353 239.6434 194.4633 155.3353 239.6278 194.5831 155.3353 239.694 194.5069 155.3353 239.3604 194.5041 155.3353 239.3613 194.5007 155.3353 239.3619 194.4745 155.3353 239.345 194.4968 155.3353 239.3621 194.4756 155.3353 239.3493 194.518 155.3353 239.3395 194.5178 155.3353 239.3428 194.5171 155.3353 239.3477 194.516 155.3353 239.3512 194.5148 155.3353 239.3536 194.5134 155.3353 239.3556 194.4513 155.3353 239.5566 194.4526 155.3353 239.5831 194.4569 155.3353 239.6079 194.5117 155.3353 239.3574 194.5096 155.3353 239.359 194.6369 155.3353 239.4793 194.6276 155.3353 239.4668 194.6159 155.3353 239.4556 194.6036 155.3353 239.4472 194.5895 155.3353 239.4406 194.5756 155.3353 239.4364 194.5601 155.3353 239.4345 194.5555 155.3353 239.4343 194.538 155.3353 239.4353 194.5223 155.3353 239.4384 194.5096 155.3353 239.4429 194.4984 155.3353 239.449 194.4881 155.3353 239.4569 194.4798 155.3353 239.4662 194.4703 155.3353 239.4808 194.4603 155.3353 239.5028 194.4541 155.3353 239.5261 194.4787 155.3353 239.3551 194.4875 155.3353 239.3609 194.4804 155.3353 239.357 194.4842 155.3353 239.3596 194.4822 155.3353 239.3584 194.4911 155.3353 239.3617 194.477 155.3353 239.3523 194.8696 155.3353 239.2843 194.8536 155.3353 239.2857 194.841 155.3353 239.2891 194.8285 155.3353 239.2946 194.8697 155.3353 239.6954 194.886 155.3353 239.694 194.8988 155.3353 239.6906 194.9103 155.3353 239.6855 194.9249 155.3353 239.676 194.9379 155.3353 239.6641 194.953 155.3353 239.6451 194.9654 155.3353 239.6235 194.9742 155.3353 239.6018 194.8766 155.3353 239.2846 194.89 155.3353 239.2865 194.9027 155.3353 239.2905 194.9142 155.3353 239.2961 194.9264 155.3353 239.3045 194.9399 155.3353 239.3176 194.9535 155.3353 239.3357 194.9669 155.3353 239.3606 194.7514 155.3353 239.4818 194.7543 155.3353 239.5421 194.7513 155.3353 239.4887 194.8166 155.3353 239.3023 194.8042 155.3353 239.3133 194.7902 155.3353 239.3306 194.7757 155.3353 239.3554 194.7669 155.3353 239.3774 194.7566 155.3353 239.4194 194.8629 155.3353 239.6951 194.8501 155.3353 239.6932 194.8377 155.3353 239.6894 194.8265 155.3353 239.6839 194.8145 155.3353 239.6754 194.8002 155.3353 239.6614 194.7864 155.3353 239.6424 194.7733 155.3353 239.6175 194.7622 155.3353 239.5847 194.9792 155.3353 239.3954 194.9872 155.3353 239.437 194.9902 155.3353 239.4887 194.9901 155.3353 239.4977 194.9847 155.3353 239.5606 194.2696 155.3253 239.6954 194.2629 155.3253 239.6951 194.2501 155.3253 239.6933 194.2377 155.3253 239.6894 194.2265 155.3253 239.6839 194.2145 155.3253 239.6754 194.2003 155.3253 239.6614 194.1864 155.3253 239.6424 194.1733 155.3253 239.6175 194.1622 155.3253 239.5847 194.1543 155.3253 239.5422 194.1513 155.3253 239.4887 194.4736 155.3253 239.3347 194.4743 155.3253 239.3296 194.4754 155.3253 239.3257 194.4775 155.3253 239.3214 194.4816 155.3253 239.3152 194.4919 155.3253 239.3038 194.5001 155.3253 239.2971 194.5097 155.3253 239.2914 194.5189 155.3253 239.288 194.5318 155.3253 239.2851 194.545 155.3253 239.2843 194.3902 155.3253 239.4887 194.3901 155.3253 239.4977 194.3847 155.3253 239.5606 194.3742 155.3253 239.6018 194.3654 155.3253 239.6235 194.353 155.3253 239.6451 194.3379 155.3253 239.6641 194.3249 155.3253 239.676 194.3103 155.3253 239.6855 194.2988 155.3253 239.6906 194.2859 155.3253 239.694 194.1514 155.3253 239.4818 194.1566 155.3253 239.4195 194.1669 155.3253 239.3774 194.1757 155.3253 239.3555 194.1902 155.3253 239.3306 194.2042 155.3253 239.3133 194.2166 155.3253 239.3023 194.2285 155.3253 239.2946 194.2409 155.3253 239.2891 194.2536 155.3253 239.2857 194.2696 155.3253 239.2843 194.4968 155.3253 239.3621 194.4911 155.3253 239.3617 194.4875 155.3253 239.3609 194.4842 155.3253 239.3596 194.4822 155.3253 239.3584 194.4804 155.3253 239.357 194.4787 155.3253 239.3551 194.477 155.3253 239.3523 194.4756 155.3253 239.3493 194.4745 155.3253 239.345 194.4738 155.3253 239.3405 194.4513 155.3253 239.5566 194.4541 155.3253 239.5261 194.4603 155.3253 239.5028 194.4703 155.3253 239.4808 194.4798 155.3253 239.4662 194.4881 155.3253 239.4569 194.4984 155.3253 239.449 194.5096 155.3253 239.4429 194.5223 155.3253 239.4384 194.538 155.3253 239.4353 194.5555 155.3253 239.4343 194.6902 155.3253 239.5075 194.6888 155.3253 239.5441 194.6811 155.3253 239.5921 194.6712 155.3253 239.6222 194.6646 155.3253 239.6359 194.6544 155.3253 239.652 194.6434 155.3253 239.6647 194.6306 155.3253 239.6756 194.6155 155.3253 239.6845 194.6005 155.3253 239.6903 194.5831 155.3253 239.694 194.5626 155.3253 239.6954 194.518 155.3253 239.3395 194.5178 155.3253 239.3428 194.5171 155.3253 239.3477 194.516 155.3253 239.3512 194.5148 155.3253 239.3536 194.5134 155.3253 239.3556 194.5117 155.3253 239.3574 194.5096 155.3253 239.359 194.5069 155.3253 239.3604 194.5041 155.3253 239.3613 194.5007 155.3253 239.3619 194.5487 155.3253 239.301 194.5437 155.3253 239.3011 194.5344 155.3253 239.3021 194.5289 155.3253 239.3035 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194.6458 155.3253 239.4955 194.6458 155.3253 239.4884 194.6393 155.3253 239.3988 194.6313 155.3253 239.3653 194.6246 155.3253 239.3488 194.6188 155.3253 239.3392 194.6084 155.3253 239.3271 194.597 155.3253 239.3171 194.5863 155.3253 239.3103 194.575 155.3253 239.3053 194.5634 155.3253 239.3023 194.5157 155.3253 239.3236 194.5173 155.3253 239.3326 194.2766 155.3253 239.2846 194.29 155.3253 239.2866 194.3027 155.3253 239.2905 194.3143 155.3253 239.2961 194.3264 155.3253 239.3045 194.3399 155.3253 239.3176 194.3535 155.3253 239.3357 194.3669 155.3253 239.3606 194.3792 155.3253 239.3954 194.3872 155.3253 239.437 194.5527 155.3253 239.2846 194.5723 155.3253 239.2869 194.5909 155.3253 239.2923 194.6085 155.3253 239.3008 194.6244 155.3253 239.312 194.6391 155.3253 239.3264 194.654 155.3253 239.3463 194.6681 155.3253 239.3736 194.6794 155.3253 239.4078 194.6875 155.3253 239.4535 194.7513 155.3253 239.4887 194.7514 155.3253 239.4818 194.7566 155.3253 239.4194 194.7669 155.3253 239.3774 194.7757 155.3253 239.3554 194.7902 155.3253 239.3306 194.8042 155.3253 239.3133 194.8166 155.3253 239.3023 194.8285 155.3253 239.2946 194.841 155.3253 239.2891 194.8536 155.3253 239.2857 194.8696 155.3253 239.2843 194.8629 155.3253 239.6951 194.8501 155.3253 239.6932 194.8377 155.3253 239.6894 194.8265 155.3253 239.6839 194.8145 155.3253 239.6754 194.8002 155.3253 239.6614 194.7864 155.3253 239.6424 194.7733 155.3253 239.6175 194.7622 155.3253 239.5847 194.7543 155.3253 239.5421 194.8766 155.3253 239.2846 194.89 155.3253 239.2865 194.9027 155.3253 239.2905 194.9142 155.3253 239.2961 194.9264 155.3253 239.3045 194.9399 155.3253 239.3176 194.9535 155.3253 239.3357 194.9669 155.3253 239.3606 194.9792 155.3253 239.3954 194.9872 155.3253 239.437 194.0069 155.3353 239.4843 194.0069 155.3253 239.4843 193.9951 155.3253 239.4846 193.9951 155.3353 239.4846 193.9671 155.3253 239.4879 193.9671 155.3353 239.4879 193.9507 155.3253 239.4924 193.9507 155.3353 239.4924 193.9387 155.3253 239.498 193.9387 155.3353 239.498 193.9311 155.3253 239.503 193.9311 155.3353 239.503 193.9244 155.3253 239.5093 193.9244 155.3353 239.5093 193.9176 155.3253 239.518 193.9176 155.3353 239.518 193.9102 155.3253 239.5312 193.9102 155.3353 239.5312 193.9056 155.3253 239.5444 193.9056 155.3353 239.5444 193.9023 155.3253 239.5612 193.9023 155.3353 239.5612 193.9013 155.3253 239.5781 193.9013 155.3353 239.5781 193.9024 155.3253 239.5999 193.9024 155.3353 239.5999 193.9069 155.3253 239.6236 193.9069 155.3353 239.6236 193.9114 155.3253 239.6361 193.9114 155.3353 239.6361 193.9178 155.3253 239.6477 193.9178 155.3353 239.6477 193.9204 155.3253 239.6513 193.9204 155.3353 239.6513 193.9269 155.3253 239.6585 193.9269 155.3353 239.6585 193.935 155.3253 239.6651 193.935 155.3353 239.6651 193.9458 155.3253 239.6711 193.9458 155.3353 239.6711 193.9573 155.3253 239.6752 193.9573 155.3353 239.6752 193.9721 155.3253 239.678 193.9721 155.3353 239.678 193.987 155.3253 239.6788 193.987 155.3353 239.6788 194.044 155.3353 239.6465 194.044 155.3253 239.6465 194.043 155.3253 239.64 194.043 155.3353 239.64 194.0417 155.3253 239.6363 194.0417 155.3353 239.6363 194.0377 155.3253 239.6284 194.0377 155.3353 239.6284 194.0361 155.3253 239.6237 194.0361 155.3353 239.6237 194.035 155.3253 239.6185 194.035 155.3353 239.6185 194.0347 155.3253 239.6119 194.0347 155.3353 239.6119 194.0847 155.3353 239.6191 194.0847 155.3253 239.6191 194.0841 155.3253 239.6274 194.0841 155.3353 239.6274 194.0821 155.3253 239.6359 194.0821 155.3353 239.6359 194.0789 155.3253 239.644 194.0789 155.3353 239.644 194.0736 155.3253 239.6528 194.0736 155.3353 239.6528 194.0661 155.3253 239.6619 194.0661 155.3353 239.6619 194.0545 155.3253 239.6721 194.0545 155.3353 239.6721 194.0382 155.3253 239.6824 194.0382 155.3353 239.6824 194.0205 155.3253 239.6897 194.0205 155.3353 239.6897 194.0019 155.3253 239.694 194.0019 155.3353 239.694 193.9814 155.3253 239.6954 193.9814 155.3353 239.6954 193.918 155.3353 239.3831 193.918 155.3253 239.3831 193.9181 155.3253 239.3891 193.9181 155.3353 239.3891 193.9205 155.3253 239.4082 193.9205 155.3353 239.4082 193.9242 155.3253 239.4209 193.9242 155.3353 239.4209 193.9302 155.3253 239.4331 193.9302 155.3353 239.4331 193.9365 155.3253 239.4419 193.9365 155.3353 239.4419 193.9443 155.3253 239.4496 193.9443 155.3353 239.4496 193.9528 155.3253 239.4555 193.9528 155.3353 239.4555 193.9628 155.3253 239.4605 193.9628 155.3353 239.4605 193.9749 155.3253 239.4643 193.9749 155.3353 239.4643 193.9906 155.3253 239.4669 193.9906 155.3353 239.4669 194.0069 155.3253 239.4677 194.0069 155.3353 239.4677 194.0585 155.3353 239.5843 194.0585 155.3253 239.5843 194.0613 155.3253 239.5846 194.0613 155.3353 239.5846 194.0635 155.3253 239.5851 194.0635 155.3353 239.5851 194.0656 155.3253 239.586 194.0656 155.3353 239.586 194.0686 155.3253 239.5878 194.0686 155.3353 239.5878 194.0721 155.3253 239.5906 194.0721 155.3353 239.5906 194.0765 155.3253 239.5954 194.0765 155.3353 239.5954 194.078 155.3253 239.5974 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220.9436 156.2868 233.8298 220.924 156.4368 233.806 220.924 156.2868 233.806 220.9014 156.4368 233.7858 220.9014 156.2868 233.7858 220.879 156.4368 233.7714 220.879 156.2868 233.7714 220.8552 156.4368 233.7608 220.8552 156.2868 233.7608 220.835 156.4368 233.7553 220.835 156.2868 233.7553 220.8156 156.4368 233.7529 220.8156 156.2868 233.7529 220.7972 156.4368 233.7536 220.7972 156.2868 233.7536 220.777 156.4368 233.7576 220.777 156.2868 233.7576 220.7539 156.4368 233.7662 220.7539 156.2868 233.7662 220.7305 156.4368 233.7796 220.7305 156.2868 233.7796 220.7044 156.4368 233.8003 220.7044 156.2868 233.8003 220.6806 156.4368 233.8264 220.6806 156.2868 233.8264 220.6541 156.4368 233.867 220.6541 156.2868 233.867 220.6296 156.4368 233.9229 220.6296 156.2868 233.9229 220.6089 156.4368 233.9979 220.6089 156.2868 233.9979 220.5926 156.4368 234.1279 220.5926 156.2868 234.1279 220.5988 156.4368 234.3003 220.5988 156.2868 234.3003 221.1435 156.2868 234.1275 221.1435 156.4368 234.1275 221.145 156.4368 234.2198 221.145 156.2868 234.2198 221.1302 156.4368 234.4095 221.1302 156.2868 234.4095 221.1092 156.4368 234.4996 221.1072 156.2868 234.508 221.1072 156.4368 234.508 221.0775 156.4368 234.5791 221.0775 156.2868 234.5791 221.0444 156.4368 234.6328 221.0444 156.2868 234.6328 221.0038 156.4368 234.6808 221.0038 156.2868 234.6808 220.9674 156.4368 234.7121 220.9674 156.2868 234.7121 220.9328 156.4368 234.7335 220.9328 156.2868 234.7335 220.8976 156.4368 234.7482 220.8976 156.2868 234.7482 220.8621 156.4368 234.7569 220.8621 156.2868 234.7569 220.8221 156.4368 234.7601 220.8221 156.2868 234.7601 220.7656 156.4368 234.7559 220.7656 156.2868 234.7559 220.7226 156.4368 234.7458 220.7226 156.2868 234.7458 220.6807 156.4368 234.7288 220.6807 156.2868 234.7288 220.6461 156.4368 234.7075 220.6461 156.2868 234.7075 220.6074 156.4368 234.6747 220.6074 156.2868 234.6747 220.5664 156.4368 234.6278 220.5664 156.2868 234.6278 220.5278 156.4368 234.5656 220.5278 156.2868 234.5656 220.5 156.4368 234.4996 220.4996 156.2868 234.4988 220.4782 156.4368 234.4104 220.4782 156.2868 234.4104 220.4637 156.4368 234.2617 220.4637 156.2868 234.2617 226.2952 156.3368 239.7586 226.2953 156.3368 241.8086 226.2171 156.3368 239.7518 226.1413 156.3368 239.7315 216.988 156.3368 234.9335 216.9383 156.3368 234.9929 216.7254 156.3368 233.7973 217.3338 156.3368 233.189 217.8451 156.3368 233.3087 217.7669 156.3368 233.3149 216.3953 156.3368 241.8087 225.8724 156.3368 239.4625 225.9055 156.3368 239.5336 217.0772 156.3368 233.6333 217.1697 156.3368 233.5408 217.3513 156.3368 233.7305 217.2447 156.3368 233.4337 217.2999 156.3368 233.3152 217.4916 156.3368 233.4552 225.3451 156.3368 232.8086 225.3451 156.3368 233.0586 224.9997 156.3368 233.3331 225.3544 156.3368 233.1759 225.0721 156.3368 233.3631 225.3818 156.3368 233.2904 225.139 156.3368 233.4041 216.8512 156.3368 235.2063 216.8452 156.3368 235.2835 216.4734 156.3368 237.7656 216.8452 156.3368 235.8087 216.8513 156.3368 235.887 216.5951 156.3368 233.8087 216.8983 156.3368 235.0592 216.3952 156.3368 233.8087 217.3451 156.3368 233.8087 217.3451 156.3368 234.0587 216.9701 156.3368 233.7082 217.3302 156.3368 234.2518 216.8517 156.3368 233.7635 225.8724 156.3368 238.0547 217.267 156.3368 236.3026 217.3452 156.3368 236.3087 216.5491 156.3368 239.7316 216.4734 156.3368 239.7519 216.3952 156.3368 239.7587 225.9505 156.3368 239.5979 226.006 156.3368 239.6533 226.0702 156.3368 239.6983 217.3451 156.3368 233.0587 217.3451 156.3368 232.8087 224.8451 156.3368 233.3086 224.9234 156.3368 233.3148 226.2951 156.3368 233.8086 225.8392 156.3368 235.2061 225.8213 156.3368 235.1308 216.3952 156.3368 237.7587 216.869 156.3368 235.1309 217.2855 156.3368 234.4402 217.2124 156.3368 234.6194 217.1124 156.3368 234.7852 217.4406 156.3368 233.5148 217.3996 156.3368 233.5817 217.3696 156.3368 233.6542 217.6906 156.3368 233.3332 217.6181 156.3368 233.3632 217.5513 156.3368 233.4042 225.3452 156.3368 236.3086 225.432 156.3368 236.301 225.9055 156.3368 237.9836 225.9505 156.3368 237.9194 225.815 156.3368 235.9796 226.2952 156.3368 237.7586 225.7782 156.3368 236.0586 225.7282 156.3368 236.13 225.4884 156.3368 233.4994 225.5648 156.3368 233.5889 225.339 156.3368 233.7304 225.7546 156.3368 233.7269 225.8634 156.3368 233.7719 225.4779 156.3368 234.6193 216.8697 156.3368 235.9632 216.8997 156.3368 236.0357 216.9407 156.3368 236.1026 216.6202 156.3368 239.6985 216.6845 156.3368 239.6535 216.74 156.3368 239.598 216.785 156.3368 239.5337 216.6845 156.3368 237.864 216.6202 156.3368 237.819 225.3207 156.3368 233.6541 225.2906 156.3368 233.5816 225.4269 156.3368 233.3991 225.2497 156.3368 233.5147 225.1987 156.3368 233.4551 225.4048 156.3368 234.44 225.3601 156.3368 234.2516 225.6543 156.3368 233.6654 225.3451 156.3368 234.0586 225.3451 156.3368 233.8086 225.792 156.3368 235.0591 225.7521 156.3368 234.9928 225.9778 156.3368 233.7994 225.7023 156.3368 234.9334 225.5779 156.3368 234.7851 225.8376 156.3368 235.8954 225.8452 156.3368 235.8086 225.8452 156.3368 235.2834 226.0951 156.3368 233.8086 225.6666 156.3368 236.1916 226.2171 156.3368 237.7654 225.5952 156.3368 236.2416 226.1413 156.3368 237.7857 225.5162 156.3368 236.2785 226.0702 156.3368 237.8189 226.006 156.3368 237.8639 216.9916 156.3368 236.1623 217.0513 156.3368 236.2132 216.5491 156.3368 237.7859 217.1182 156.3368 236.2542 217.1907 156.3368 236.2843 216.8452 156.3368 239.3087 216.8452 156.3368 238.2087 225.8452 156.3368 238.2086 216.8384 156.3368 238.1306 225.852 156.3368 238.1305 216.8181 156.3368 238.0548 216.7849 156.3368 237.9837 216.7399 156.3368 237.9195 216.8181 156.3368 239.4626 216.8384 156.3368 239.3869 225.8521 156.3368 239.3867 225.8452 156.3368 239.3086 216.3951 160.4368 232.8087 216.3951 156.1868 232.8087 216.3952 156.1868 233.8087 216.3952 159.8868 239.7587 216.3953 160.4368 241.8087 216.3952 159.8868 237.7587 216.8453 159.6853 241.6587 216.8453 157.9853 241.6587 216.8452 159.6853 234.8087 216.8452 157.9853 234.8087 225.5453 160.8368 241.6586 217.9953 160.8368 241.6587 225.5452 160.8368 234.8086 217.9952 160.8368 234.8087 224.0015 161.2368 233.5528 224.0015 161.2368 234.1059 224.1431 161.2368 234.1059 221.7577 161.2368 234.655 221.7396 161.2368 234.6581 221.9505 161.2368 234.6581 220.8943 161.2368 234.4422 220.8943 161.2368 234.6581 221.0563 161.2368 234.6581 218.1526 161.2368 234.628 218.2405 161.2368 234.6581 218.9318 161.2368 234.6581 216.8952 161.2368 235.554 217.32 161.2368 235.0786 217.3664 161.2368 234.9729 216.8952 161.2368 234.6582 217.4295 161.2368 234.8762 217.5077 161.2368 234.7913 217.5988 161.2368 234.7204 217.2917 161.2368 235.1905 218.9318 161.2368 236.3087 216.9861 161.2368 236.0962 216.9428 161.2368 236.0216 216.9129 161.2368 235.9407 216.8974 161.2368 235.8558 216.8952 161.2368 235.8087 217.3952 161.2368 236.3087 217.3481 161.2368 236.3065 217.2633 161.2368 236.291 217.0416 161.2368 236.1623 217.1077 161.2368 236.2178 217.1823 161.2368 236.2611 218.9318 161.2368 235.554 218.6704 161.2368 235.1904 218.6421 161.2368 235.0785 218.2618 161.2368 234.6654 218.3633 161.2368 234.7204 218.4544 161.2368 234.7913 218.5326 161.2368 234.8762 218.5957 161.2368 234.9728 217.7003 161.2368 234.6654 217.7216 161.2368 234.6581 216.8952 161.2368 234.1822 217.8095 161.2368 234.628 217.9233 161.2368 234.609 218.0388 161.2368 234.609 218.9318 161.2368 234.1821 220.066 161.2368 233.9557 220.0338 161.2368 233.8865 219.8957 161.2368 234.1059 220.2043 161.2368 233.5688 219.8957 161.2368 233.4308 220.1613 161.2368 233.5845 220.1213 161.2368 233.6067 220.3928 161.2368 233.5529 220.3827 161.2368 233.5614 220.3868 161.2368 233.6758 220.3739 161.2368 233.5713 220.0322 161.2368 233.7299 220.0451 161.2368 233.6958 220.063 161.2368 233.6639 220.0853 161.2368 233.635 220.3665 161.2368 233.5823 220.3608 161.2368 233.5943 220.3602 161.2368 233.6119 220.0242 161.2368 233.8469 220.0211 161.2368 233.8062 220.0245 161.2368 233.7656 220.3626 161.2368 233.6294 220.3679 161.2368 233.6462 220.3761 161.2368 233.6618 220.1095 161.2368 234.6574 220.1095 161.2368 234.1918 219.8957 161.2368 234.1821 219.8957 161.2368 234.6581 220.5523 161.2368 234.6573 220.6201 161.2368 234.5596 220.6116 161.2368 234.5462 220.6009 161.2368 234.5342 220.2655 161.2368 234.1821 220.193 161.2368 234.1059 220.1095 161.2368 234.0183 220.6303 161.2368 234.5898 220.6264 161.2368 234.5743 220.62 161.2368 234.6581 220.7185 161.2368 234.6581 220.6665 161.2368 234.6544 220.7152 161.2368 234.6419 220.8813 161.2368 234.4852 220.8613 161.2368 234.5254 220.8348 161.2368 234.5617 220.8026 161.2368 234.5931 220.761 161.2368 234.6213 220.7185 161.2368 234.6405 221.0563 161.2368 234.1821 220.9015 161.2368 234.4005 220.8677 161.2368 234.2066 220.8943 161.2368 234.1821 220.8847 161.2368 234.0395 220.8943 161.2368 234.1059 220.8846 161.2368 233.5529 220.8942 161.2368 233.4308 220.7185 161.2368 233.5529 220.7185 161.2368 233.4308 220.4317 161.2368 233.5529 220.2493 161.2368 233.5602 220.3204 161.2368 233.5529 220.7185 161.2368 233.8609 220.7185 161.2368 234.0393 220.7793 161.2368 234.1059 220.8488 161.2368 234.1821 220.851 161.2368 234.1845 221.7534 161.2368 234.295 221.7806 161.2368 234.2678 221.6228 161.2368 234.1821 221.8121 161.2368 234.2457 221.847 161.2368 234.2295 221.6228 161.2368 234.3419 221.715 161.2368 234.3614 221.7313 161.2368 234.3265 221.7223 161.2368 234.6291 221.6918 161.2368 234.5977 221.6667 161.2368 234.5617 221.648 161.2368 234.5221 221.6359 161.2368 234.48 221.631 161.2368 234.4364 221.705 161.2368 234.3986 221.8842 161.2368 234.2195 221.9225 161.2368 234.2161 221.9505 161.2368 234.1821 221.9505 161.2368 234.2186 221.9609 161.2368 234.2195 221.998 161.2368 234.2295 222.171 161.2368 234.1821 222.0329 161.2368 234.2457 222.0644 161.2368 234.2678 222.0917 161.2368 234.295 222.1137 161.2368 234.3265 222.13 161.2368 234.3614 222.14 161.2368 234.3986 222.171 161.2368 234.6581 222.7518 161.2368 234.6523 222.6812 161.2368 234.6374 222.3433 161.2368 234.6581 222.6134 161.2368 234.6129 222.5869 161.2368 234.5952 222.5634 161.2368 234.5735 222.8237 161.2368 234.6573 222.9746 161.2368 234.6581 222.9157 161.2368 234.6573 222.5437 161.2368 234.5485 222.5281 161.2368 234.5207 222.517 161.2368 234.4908 222.5055 161.2368 234.4509 222.498 161.2368 234.4102 222.3433 161.2368 234.1821 222.9157 161.2368 234.1821 222.9746 161.2368 234.1821 222.9157 161.2368 234.1059 222.9746 161.2368 234.1059 222.9156 161.2368 233.5528 222.9746 161.2368 233.4307 222.4879 161.2368 233.5528 222.3432 161.2368 233.4307 222.4879 161.2368 234.1059 222.3433 161.2368 234.1059 222.4879 161.2368 234.1821 222.4879 161.2368 234.3051 224.1431 161.2368 234.182 224.0015 161.2368 234.182 224.1431 161.2368 234.658 224.0015 161.2368 234.6573 223.5186 161.2368 234.658 223.5795 161.2368 234.6573 223.5186 161.2368 234.1821 223.5795 161.2368 234.182 223.5186 161.2368 234.1059 223.5795 161.2368 234.1059 223.5186 161.2368 233.4307 223.5795 161.2368 233.5528 224.1431 161.2368 233.4307 224.4832 161.2368 234.7003 224.4759 161.2368 234.658 225.0159 161.2368 235.1035 224.5526 161.2368 235.1035 224.1431 161.2368 235.5539 224.9854 161.2368 234.2192 224.8788 161.2368 234.2192 225.0313 161.2368 234.523 224.9146 161.2368 234.4491 225.0516 161.2368 234.658 224.9471 161.2368 234.658 224.9476 161.2368 234.6613 225.5649 161.2368 234.658 225.1114 161.2368 234.658 225.077 161.2368 234.8267 225.5649 161.2368 235.5539 225.2068 161.2368 234.19 225.5649 161.2368 234.182 225.2084 161.2368 234.182 225.5649 161.2368 234.1058 225.2237 161.2368 234.1059 224.8784 161.2368 233.5528 225.3346 161.2368 233.5528 225.5649 161.2368 233.4307 225.2684 161.2368 233.8842 224.3804 161.2368 234.1059 224.2846 161.2368 233.5528 224.7691 161.2368 233.5528 224.7917 161.2368 233.6899 224.9206 161.2368 233.8164 224.8125 161.2368 233.8164 224.9409 161.2368 233.9429 224.8558 161.2368 234.08 224.9627 161.2368 234.08 224.3936 161.2368 234.182 224.4189 161.2368 234.3281 223.4578 161.2368 234.1821 223.4578 161.2368 234.6573 223.0336 161.2368 234.6573 223.0335 161.2368 234.1821 223.0335 161.2368 234.1059 223.0335 161.2368 233.5528 223.4578 161.2368 233.5528 223.4578 161.2368 234.1059 222.1814 161.2368 233.9674 222.171 161.2368 233.9918 222.171 161.2368 234.1059 222.1604 161.2368 234.0164 222.1317 161.2368 234.0614 222.1943 161.2368 233.9155 222.171 161.2368 233.4308 221.9505 161.2368 233.4308 221.9505 161.2368 233.567 222.0195 161.2368 233.5858 222.06 161.2368 233.6069 222.0976 161.2368 233.6328 221.7552 161.2368 233.5528 221.8392 161.2368 233.5528 221.9308 161.2368 233.5617 221.7552 161.2368 234.1718 221.6228 161.2368 234.1059 221.7552 161.2368 234.1059 221.6228 161.2368 233.5528 221.9505 161.2368 234.1576 221.9308 161.2368 234.163 221.8392 161.2368 234.1718 222.0195 161.2368 234.1388 222.0976 161.2368 234.0919 222.0773 161.2368 234.1059 222.0601 161.2368 234.1178 221.4275 161.2368 234.6573 221.3815 161.2368 234.6387 221.3395 161.2368 234.6125 221.3026 161.2368 234.5793 221.272 161.2368 234.5402 221.2486 161.2368 234.4965 221.2332 161.2368 234.4493 221.2155 161.2368 234.3716 221.2088 161.2368 233.5529 221.0563 161.2368 233.4308 221.2088 161.2368 234.1059 221.0563 161.2368 234.1059 221.2088 161.2368 234.1821 221.2088 161.2368 234.2922 221.0563 161.2368 235.554 221.4679 161.2368 234.6678 221.4304 161.2368 234.6581 221.6885 161.2368 234.6667 221.9505 161.2368 235.554 221.5884 161.2368 234.6774 221.5092 161.2368 234.6734 219.7477 161.2368 234.4852 219.7277 161.2368 234.5254 219.7607 161.2368 234.6581 219.7012 161.2368 234.5617 219.6691 161.2368 234.5931 219.6275 161.2368 234.6213 219.5816 161.2368 234.642 219.5329 161.2368 234.6545 219.4865 161.2368 234.6581 219.7607 161.2368 234.4423 219.7679 161.2368 234.4005 219.7175 161.2368 234.1845 219.7342 161.2368 234.2066 219.7607 161.2368 234.1821 219.7153 161.2368 234.1821 219.7607 161.2368 234.1059 219.6458 161.2368 234.1059 219.7511 161.2368 234.0395 219.2982 161.2368 233.5529 219.2533 161.2368 233.6759 218.9294 161.2368 233.6639 218.9317 161.2368 233.6609 218.9317 161.2368 233.4308 218.9518 161.2368 233.635 218.9878 161.2368 233.6067 219.0278 161.2368 233.5845 219.0708 161.2368 233.5688 219.1157 161.2368 233.5602 219.1868 161.2368 233.5529 219.2593 161.2368 233.5529 219.7607 161.2368 233.4308 219.7511 161.2368 233.5529 219.2491 161.2368 233.5614 219.2273 161.2368 233.5943 219.2266 161.2368 233.6119 219.233 161.2368 233.5824 219.229 161.2368 233.6294 219.2344 161.2368 233.6462 219.2403 161.2368 233.5713 219.2425 161.2368 233.6619 218.9324 161.2368 233.9557 218.9003 161.2368 233.8865 216.8952 161.2368 234.106 218.8907 161.2368 233.8469 216.8952 161.2368 233.8087 218.8875 161.2368 233.8063 217.0706 161.2368 233.4308 218.8987 161.2368 233.7299 218.9116 161.2368 233.6958 216.9427 161.2368 233.5959 216.9129 161.2368 233.6768 216.8974 161.2368 233.7617 218.891 161.2368 233.7656 217.0416 161.2368 233.4552 216.9861 161.2368 233.5212 219.4187 161.2368 234.6574 218.976 161.2368 234.6574 218.976 161.2368 234.1918 219.4967 161.2368 234.5898 219.4929 161.2368 234.5743 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234.5596 220.6264 161.3868 234.5743 220.6303 161.3868 234.5898 220.6665 161.3868 234.6544 220.7152 161.3868 234.6419 220.761 161.3868 234.6213 220.8026 161.3868 234.5931 220.8943 161.3868 234.4422 220.8813 161.3868 234.4852 220.8613 161.3868 234.5254 220.8348 161.3868 234.5617 220.9015 161.3868 234.4005 220.8677 161.3868 234.2066 220.851 161.3868 234.1845 220.3868 161.3868 233.6758 220.3761 161.3868 233.6618 220.3679 161.3868 233.6462 220.3626 161.3868 233.6294 220.3602 161.3868 233.6119 220.3608 161.3868 233.5943 220.3665 161.3868 233.5823 220.3739 161.3868 233.5713 220.3827 161.3868 233.5614 220.1095 161.3868 234.6574 220.1095 161.3868 234.1918 220.5523 161.3868 234.6573 219.7511 161.3868 233.5529 219.7511 161.3868 234.0395 219.2982 161.3868 233.5529 219.4674 161.3868 234.5343 219.478 161.3868 234.5462 219.4866 161.3868 234.5596 219.4929 161.3868 234.5743 219.4967 161.3868 234.5898 219.5329 161.3868 234.6545 219.5816 161.3868 234.642 219.6275 161.3868 234.6213 219.6691 161.3868 234.5931 219.7607 161.3868 234.4422 219.7477 161.3868 234.4852 219.7277 161.3868 234.5254 219.7012 161.3868 234.5617 219.7679 161.3868 234.4005 219.7342 161.3868 234.2066 219.7175 161.3868 234.1845 219.2533 161.3868 233.6759 219.2425 161.3868 233.6619 219.2344 161.3868 233.6462 219.229 161.3868 233.6294 219.2266 161.3868 233.6119 219.2273 161.3868 233.5943 219.233 161.3868 233.5824 219.2403 161.3868 233.5713 219.2491 161.3868 233.5614 219.2593 161.3868 233.5529 219.1868 161.3868 233.5529 219.1157 161.3868 233.5602 219.0708 161.3868 233.5688 219.0278 161.3868 233.5845 218.9878 161.3868 233.6067 218.9518 161.3868 233.635 218.9294 161.3868 233.6639 218.9116 161.3868 233.6958 218.8987 161.3868 233.7299 218.891 161.3868 233.7656 218.8875 161.3868 233.8063 218.8907 161.3868 233.8469 218.9003 161.3868 233.8865 218.9324 161.3868 233.9557 218.976 161.3868 234.0183 218.976 161.3868 234.1918 219.4187 161.3868 234.6574 218.976 161.3868 234.6574 218.527 161.3868 235.4017 218.527 161.2368 235.4017 218.5019 161.3868 235.4951 218.5019 161.2368 235.4951 218.4611 161.3868 235.5827 218.4611 161.2368 235.5827 218.4057 161.3868 235.6618 218.4057 161.2368 235.6618 218.3374 161.3868 235.7301 218.3374 161.2368 235.7301 218.2582 161.3868 235.7855 218.2582 161.2368 235.7855 218.1707 161.3868 235.8264 218.1707 161.2368 235.8264 218.0773 161.3868 235.8514 218.0773 161.2368 235.8514 217.9811 161.3868 235.8598 217.9811 161.2368 235.8598 217.8848 161.3868 235.8514 217.8848 161.2368 235.8514 217.7915 161.3868 235.8264 217.7915 161.2368 235.8264 217.7039 161.3868 235.7855 217.7039 161.2368 235.7855 217.6248 161.3868 235.7301 217.6248 161.2368 235.7301 217.5564 161.3868 235.6618 217.5564 161.2368 235.6618 217.501 161.3868 235.5827 217.501 161.2368 235.5827 217.4602 161.3868 235.4951 217.4602 161.2368 235.4951 217.4352 161.3868 235.4018 217.4352 161.2368 235.4018 218.6704 161.3868 235.1904 218.6421 161.3868 235.0785 218.5957 161.3868 234.9728 218.5326 161.3868 234.8762 218.4544 161.3868 234.7913 218.3633 161.3868 234.7204 218.2618 161.3868 234.6654 218.1526 161.3868 234.628 218.0388 161.3868 234.609 217.9233 161.3868 234.609 217.8095 161.3868 234.628 217.7003 161.3868 234.6654 217.5988 161.3868 234.7204 217.5077 161.3868 234.7913 217.4295 161.3868 234.8762 217.3664 161.3868 234.9729 217.32 161.3868 235.0786 217.2917 161.3868 235.1905 217.787 161.2368 235.1632 217.631 161.2368 234.9221 218.2191 161.2368 234.9221 217.9143 161.2368 235.2776 217.8737 161.2368 235.2522 217.8739 161.2368 235.2847 217.8348 161.2368 235.2974 218.321 161.2368 235.7044 217.8567 161.2368 235.6968 217.8226 161.2368 235.6863 218.321 161.2368 234.9221 217.7979 161.2368 235.3153 217.838 161.2368 235.2204 217.8108 161.2368 235.1933 217.7612 161.2368 234.9221 217.9294 161.2368 235.1798 217.8921 161.2368 235.7014 217.9484 161.2368 235.7044 217.9481 161.2368 235.2047 217.9699 161.2368 235.2269 217.7908 161.2368 235.6702 217.762 161.2368 235.6491 217.7372 161.2368 235.6234 217.7188 161.2368 235.5939 217.9944 161.2368 235.2461 218.0104 161.2368 235.2559 218.0277 161.2368 235.2633 218.0458 161.2368 235.2682 218.0644 161.2368 235.2704 218.2184 161.2368 235.2704 217.7638 161.2368 235.3382 217.7402 161.2368 235.3638 217.7211 161.2368 235.393 217.707 161.2368 235.4248 217.6982 161.2368 235.4585 217.6949 161.2368 235.4931 217.6974 161.2368 235.5278 217.7054 161.2368 235.5617 217.9944 161.3868 235.2461 217.9699 161.3868 235.2269 217.9481 161.3868 235.2047 217.9294 161.3868 235.1798 217.7612 161.3868 234.9221 217.631 161.3868 234.9221 217.787 161.3868 235.1632 217.8108 161.3868 235.1933 217.838 161.3868 235.2204 217.8737 161.3868 235.2522 217.9143 161.3868 235.2776 217.8739 161.3868 235.2847 217.8348 161.3868 235.2974 217.7979 161.3868 235.3153 217.7638 161.3868 235.3382 217.7402 161.3868 235.3638 217.7211 161.3868 235.393 217.707 161.3868 235.4248 217.6982 161.3868 235.4585 217.6949 161.3868 235.4931 217.6974 161.3868 235.5278 217.7054 161.3868 235.5617 217.7188 161.3868 235.5939 217.7372 161.3868 235.6234 217.762 161.3868 235.6491 217.7908 161.3868 235.6702 217.8226 161.3868 235.6863 217.8567 161.3868 235.6968 217.8921 161.3868 235.7014 217.9484 161.3868 235.7044 218.321 161.3868 235.7044 218.321 161.3868 234.9221 218.2191 161.3868 234.9221 218.2184 161.3868 235.2704 218.0644 161.3868 235.2704 217.8642 161.3868 235.5986 217.8642 161.2368 235.5986 217.8467 161.3868 235.5861 217.8467 161.2368 235.5861 217.8316 161.3868 235.5708 217.8316 161.2368 235.5708 217.8193 161.3868 235.5532 217.8193 161.2368 235.5532 217.8101 161.3868 235.5337 217.8101 161.2368 235.5337 217.8045 161.3868 235.513 217.8045 161.2368 235.513 217.8024 161.3868 235.4916 217.8024 161.2368 235.4916 217.8041 161.3868 235.4702 217.8041 161.2368 235.4702 217.8093 161.3868 235.4493 217.8093 161.2368 235.4493 217.818 161.3868 235.4297 217.818 161.2368 235.4297 217.83 161.3868 235.4118 217.83 161.2368 235.4118 217.8448 161.3868 235.3962 217.8448 161.2368 235.3962 217.8621 161.3868 235.3834 217.8621 161.2368 235.3834 217.8813 161.3868 235.3737 217.8813 161.2368 235.3737 217.9132 161.3868 235.364 217.9132 161.2368 235.364 217.9463 161.3868 235.3599 217.9463 161.2368 235.3599 218.2191 161.3868 235.3599 218.2191 161.2368 235.3599 218.2191 161.3868 235.6191 218.2191 161.2368 235.6191 217.9463 161.3868 235.6191 217.9463 161.2368 235.6191 217.9181 161.3868 235.6159 217.9181 161.2368 235.6159 217.8906 161.3868 235.609 217.8906 161.2368 235.609 218.0458 161.3868 235.2682 218.0277 161.3868 235.2633 218.0104 161.3868 235.2559 225.8416 160.5837 241.6586 225.8406 160.5889 234.8086 225.8403 160.5888 241.6586 225.8306 160.6295 241.6586 225.8271 160.6394 234.8086 225.8266 160.6392 241.6586 225.8126 160.673 241.6586 225.805 160.6868 234.8086 225.8044 160.6864 241.6586 225.788 160.7131 241.6586 225.775 160.7296 234.8086 225.7744 160.729 241.6586 225.7574 160.7489 241.6586 225.738 160.7666 234.8086 225.7375 160.7659 241.6586 225.6952 160.7966 234.8086 225.7216 160.7795 241.6586 225.6948 160.7959 241.6586 225.6478 160.8187 234.8086 225.6815 160.8041 241.6586 225.6476 160.8181 241.6586 225.5973 160.8323 234.8086 225.638 160.8221 241.6586 225.5973 160.8319 241.6586 225.5922 160.8331 241.6586 225.5921 156.8405 234.8086 225.5922 156.8405 241.6586 225.6379 156.8515 234.8086 225.638 156.8515 241.6586 225.6814 156.8695 234.8086 225.6815 156.8695 241.6586 225.7215 156.8941 234.8086 225.7216 156.8941 241.6586 225.7573 156.9247 234.8086 225.7574 156.9247 241.6586 225.7879 156.9605 234.8086 225.788 156.9605 241.6586 225.8125 157.0006 234.8086 225.8126 157.0006 241.6586 225.8305 157.0441 234.8086 225.8306 157.0441 241.6586 225.8415 157.0899 234.8086 225.8416 157.0899 241.6586 227.9952 156.1868 239.2586 227.9952 156.1868 238.2586 227.9952 159.8868 239.2586 227.9952 159.8868 238.2586 214.6952 156.1868 238.2588 214.6952 156.1868 239.2588 227.9891 159.8868 239.3368 227.9891 156.1868 239.3368 227.9708 159.8868 239.4131 227.9708 156.1868 239.4131 227.9407 159.8868 239.4856 227.9407 156.1868 239.4856 227.8997 159.8868 239.5525 227.8997 156.1868 239.5525 227.8488 159.8868 239.6121 227.8488 156.1868 239.6121 227.7891 159.8868 239.6631 227.7891 156.1868 239.6631 227.7222 159.8868 239.7041 227.7222 156.1868 239.7041 227.6497 159.8868 239.7341 227.6497 156.1868 239.7341 227.5735 159.8868 239.7524 227.5735 156.1868 239.7524 227.582 159.8868 237.7662 227.582 156.1868 237.7662 227.6662 159.8868 237.7887 227.6662 156.1868 237.7887 227.7452 159.8868 237.8256 227.7452 156.1868 237.8256 227.8166 159.8868 237.8755 227.8166 156.1868 237.8755 227.8782 159.8868 237.9372 227.8782 156.1868 237.9372 227.9282 159.8868 238.0086 227.9282 156.1868 238.0086 227.9651 159.8868 238.0876 227.9651 156.1868 238.0876 227.9876 159.8868 238.1717 227.9876 156.1868 238.1717 215.117 156.1868 237.7649 215.0407 156.1868 237.7832 214.9682 156.1868 237.8133 214.9013 156.1868 237.8543 214.8417 156.1868 237.9052 214.7907 156.1868 237.9649 214.7497 156.1868 238.0318 214.7197 156.1868 238.1043 214.7014 156.1868 238.1806 214.7014 156.1868 239.337 214.7197 156.1868 239.4133 214.7497 156.1868 239.4858 214.7907 156.1868 239.5527 214.8417 156.1868 239.6123 214.9013 156.1868 239.6633 214.9682 156.1868 239.7043 215.0407 156.1868 239.7343 215.117 156.1868 239.7526 216.4734 156.1868 237.7656 216.5491 156.1868 237.7859 216.6202 156.1868 237.819 216.6845 156.1868 237.864 216.7399 156.1868 237.9195 216.7849 156.1868 237.9837 216.8181 156.1868 238.0548 216.8384 156.1868 238.1306 216.8384 156.1868 239.3869 216.8181 156.1868 239.4626 216.785 156.1868 239.5337 216.74 156.1868 239.598 216.6845 156.1868 239.6535 216.6202 156.1868 239.6985 216.5491 156.1868 239.7316 216.4734 156.1868 239.7519 225.8521 156.1868 239.3867 225.8724 156.1868 239.4625 225.9055 156.1868 239.5336 225.9505 156.1868 239.5979 226.006 156.1868 239.6533 226.0702 156.1868 239.6983 226.1413 156.1868 239.7315 226.2171 156.1868 239.7518 226.2171 156.1868 237.7654 226.1413 156.1868 237.7857 226.0702 156.1868 237.8189 226.006 156.1868 237.8639 225.9505 156.1868 237.9194 225.9055 156.1868 237.9836 225.8724 156.1868 238.0547 225.852 156.1868 238.1305 225.0762 159.0539 234.8086 225.0952 158.8368 234.8086 219.6486 159.7944 234.8087 219.8027 159.6403 234.8087 222.6142 159.0539 234.8087 219.9277 159.4618 234.8087 223.4176 157.6622 234.8086 223.2202 157.7543 234.8086 220.0952 158.8368 234.8087 223.0417 157.8793 234.8086 219.8027 158.0333 234.8087 219.6486 157.8793 234.8087 222.8876 158.0333 234.8087 222.7626 158.2118 234.8087 222.6705 158.4093 234.8087 217.6142 159.0539 234.8087 217.6705 159.2643 234.8087 222.6142 158.6197 234.8087 222.5952 158.8368 234.8087 220.0762 159.0539 234.8087 220.0198 159.2643 234.8087 217.7626 159.4618 234.8087 217.8876 159.6403 234.8087 218.0417 159.7944 234.8087 225.0762 158.6197 234.8086 225.0198 158.4093 234.8086 217.7626 158.2118 234.8087 217.6705 158.4093 234.8087 217.6142 158.6197 234.8087 217.5952 158.8368 234.8087 218.2202 159.9193 234.8087 218.4176 160.0114 234.8087 218.6281 160.0678 234.8087 224.8027 159.6403 234.8086 224.9277 159.4618 234.8086 225.0198 159.2643 234.8086 224.6486 157.8793 234.8086 224.4702 157.7543 234.8086 224.2727 157.6622 234.8086 224.0622 157.6058 234.8086 219.0622 157.6058 234.8087 219.2727 157.6622 234.8087 219.4702 157.7543 234.8087 218.8452 160.0868 234.8087 219.0622 160.0678 234.8087 219.2727 160.0114 234.8087 224.6486 159.7944 234.8086 218.8452 157.5868 234.8087 218.6281 157.6058 234.8087 218.4176 157.6622 234.8087 222.7626 159.4618 234.8087 222.6705 159.2643 234.8087 219.4702 159.9193 234.8087 218.2202 157.7543 234.8087 218.0417 157.8793 234.8087 217.8876 158.0333 234.8087 222.8876 159.6403 234.8087 223.0417 159.7944 234.8086 223.2202 159.9193 234.8086 224.9277 158.2118 234.8086 224.8027 158.0333 234.8086 223.8452 157.5868 234.8086 223.6281 157.6058 234.8086 220.0762 158.6197 234.8087 220.0198 158.4093 234.8087 219.9277 158.2118 234.8087 223.4176 160.0114 234.8086 223.6281 160.0678 234.8086 223.8452 160.0868 234.8086 224.0622 160.0678 234.8086 224.2727 160.0114 234.8086 224.4702 159.9193 234.8086 219.1542 158.9618 241.0725 219.1466 158.9812 241.0716 219.1263 158.9618 241.0764 218.9703 159.1373 241.0696 218.9896 159.1381 241.0716 218.9703 159.2067 241.0582 219.0711 159.3082 241.0141 218.9703 159.2935 241.0288 218.9703 159.3426 241.0121 218.9885 159.3395 241.0141 218.9703 159.3927 240.9952 219.0313 159.4898 240.9402 219.0652 159.6088 240.8576 218.9703 159.5714 240.8991 218.9703 159.5017 240.9366 219.0932 159.7071 240.7636 218.9703 159.6906 240.8063 218.9703 159.6278 240.8553 219.1122 159.7739 240.6756 218.9703 159.7728 240.7168 218.9703 159.7313 240.762 219.1257 159.8213 240.5876 218.9703 159.8338 240.6259 218.9703 159.8012 240.6744 219.1345 159.8523 240.4994 218.9703 159.8713 240.5454 218.9703 159.8519 240.5872 218.9702 159.9043 240.3794 218.9703 159.9007 240.4101 219.1391 159.8682 240.4102 218.9703 159.8941 240.466 218.9703 159.8846 240.4992 219.8298 159.1173 240.5876 219.8932 158.9618 240.5096 219.8608 159.1261 240.4994 219.9103 158.9618 240.4188 219.8767 159.1306 240.4102 219.9105 158.9618 240.4102 219.9121 158.9618 240.3295 219.7823 159.1038 240.6756 219.8622 158.9618 240.5925 219.8638 158.9618 240.5885 219.4982 159.0228 240.9402 219.6457 158.9618 240.8514 219.6173 159.0567 240.8576 219.7414 158.9618 240.7635 219.7156 159.0847 240.7635 219.7525 158.9618 240.7533 219.8167 158.9618 240.6724 219.348 158.98 241.0141 219.4994 158.9618 240.9486 219.5124 158.9618 240.94 219.3007 158.9618 241.0315 219.3453 158.9618 241.0189 219.3532 158.9618 241.0153 218.9702 159.9037 240.3295 219.1396 159.8699 240.3295 219.3094 159.8055 240.3295 219.466 159.7135 240.3295 219.3087 159.804 240.4102 219.6048 159.5964 240.3295 219.465 159.7121 240.4102 219.3015 159.7891 240.4994 219.2876 159.76 240.5876 219.2663 159.7155 240.6756 219.2363 159.6529 240.7636 219.1921 159.5607 240.8576 219.1386 159.4491 240.9402 219.8783 159.1311 240.3295 219.8124 159.3002 240.4102 219.7975 159.2931 240.4994 219.7685 159.2792 240.5876 219.7239 159.2578 240.6756 219.6613 159.2278 240.7636 219.5692 159.1837 240.8576 219.4576 159.1302 240.9402 219.3166 159.0627 241.0141 219.1576 158.9618 241.072 219.4554 159.6986 240.4994 219.4368 159.6723 240.5876 219.4083 159.632 240.6756 219.3682 159.5753 240.7636 219.3091 159.4919 240.8576 219.2376 159.3909 240.9402 219.1473 159.2634 241.0141 219.0383 159.1095 241.0716 218.9703 159.044 241.085 219.7219 159.4576 240.3295 219.6036 159.5951 240.4102 219.5919 159.5835 240.4994 219.5691 159.5607 240.5876 219.5342 159.5258 240.6756 219.4851 159.4767 240.7636 219.4129 159.4044 240.8576 219.3254 159.3169 240.9402 219.2149 159.2064 241.0141 219.0815 159.0731 241.0716 218.9703 158.9618 241.0985 219.8139 159.3011 240.3295 219.7205 159.4565 240.4102 219.707 159.447 240.4994 219.6807 159.4284 240.5876 219.6404 159.3998 240.6756 219.5838 159.3597 240.7636 219.5004 159.3007 240.8576 219.3994 159.2292 240.9402 219.2718 159.1389 241.0141 219.1179 159.0299 241.0716 219.0438 158.9618 241.0881 218.7203 159.1432 241.0706 218.7009 159.1381 241.0716 218.7203 159.1232 241.0737 218.7203 159.1696 241.0665 218.7203 159.2949 241.0276 218.7021 159.3395 241.0141 218.5559 159.8523 240.4994 218.7203 159.9007 240.4214 218.5514 159.8682 240.4102 218.7203 159.9012 240.4102 218.7202 159.9042 240.3397 218.5648 159.8213 240.5876 218.7203 159.8841 240.5037 218.7203 159.885 240.4993 218.5973 159.7071 240.7636 218.7203 159.8026 240.6752 218.5783 159.7739 240.6756 218.7203 159.808 240.6682 218.7203 159.853 240.5873 218.6592 159.4898 240.9402 218.7202 159.6287 240.8563 218.6253 159.6088 240.8576 218.7202 159.6486 240.8425 218.7202 159.7412 240.7547 218.7202 159.3432 241.0126 218.7202 159.3683 241.0048 218.7202 159.522 240.93 218.6194 159.3082 241.0141 218.5442 158.9618 241.0695 218.544 158.9812 241.0716 218.4754 158.9618 241.0582 218.3739 159.0627 241.0141 218.3885 158.9618 241.0288 218.3394 158.9618 241.0121 218.3426 158.98 241.0141 218.2894 158.9618 240.9952 218.1923 159.0228 240.9402 218.0733 159.0567 240.8576 218.1106 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240.3295 218.2351 157.975 240.4994 218.2537 158.0013 240.5876 218.2822 158.0416 240.6756 218.3223 158.0983 240.7636 218.3814 158.1817 240.8576 218.4529 158.2827 240.9402 218.5432 158.4102 241.0141 218.6522 158.5641 241.0716 218.7203 158.6337 241.0861 217.9686 158.2161 240.3295 218.0869 158.0785 240.4102 218.0986 158.0902 240.4994 218.1214 158.1129 240.5876 218.1563 158.1479 240.6756 218.2054 158.1969 240.7636 218.2776 158.2692 240.8576 218.3652 158.3567 240.9402 218.4757 158.4672 241.0141 218.609 158.6006 241.0716 218.7203 158.7118 241.0985 217.8766 158.3725 240.3295 217.97 158.2171 240.4102 217.9835 158.2266 240.4994 218.0098 158.2453 240.5876 218.0501 158.2738 240.6756 218.1067 158.3139 240.7636 218.1901 158.373 240.8576 218.2911 158.4445 240.9402 218.4187 158.5348 241.0141 218.5726 158.6437 241.0716 218.6443 158.7118 241.0868 219.1365 158.7118 241.0721 219.1466 158.6924 241.0716 219.1497 158.7118 241.07 218.9703 158.5279 241.0725 218.9896 158.5355 241.0716 218.9703 158.5558 241.0765 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158.7118 240.7438 219.7823 158.5699 240.6756 219.82 158.7118 240.6626 219.8298 158.5563 240.5876 219.8612 158.7118 240.5875 219.8623 158.7118 240.5853 219.8608 158.5475 240.4994 219.8928 158.7118 240.5029 219.9094 158.7118 240.4192 219.8767 158.543 240.4102 219.9097 158.7118 240.4102 219.9121 158.7118 240.3295 219.8782 158.5422 240.3295 219.8139 158.3725 240.3295 219.7219 158.216 240.3295 219.8124 158.3734 240.4102 219.6048 158.0773 240.3295 219.7205 158.2171 240.4102 219.7975 158.3805 240.4994 219.7685 158.3945 240.5876 219.7239 158.4158 240.6756 219.6613 158.4458 240.7636 219.5692 158.49 240.8576 219.4576 158.5434 240.9402 219.1396 157.8037 240.3295 219.3087 157.8696 240.4102 219.3015 157.8845 240.4994 219.2876 157.9136 240.5876 219.2663 157.9581 240.6756 219.2363 158.0207 240.7636 219.1921 158.1129 240.8576 219.1386 158.2245 240.9402 219.0711 158.3654 241.0141 218.9703 158.5245 241.072 219.707 158.2266 240.4994 219.6807 158.2453 240.5876 219.6404 158.2738 240.6756 219.5838 158.3139 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238.1087 219.2559 159.6935 238.1087 219.3185 159.6566 238.1087 219.3943 159.6121 238.1087 219.4537 159.562 238.1087 219.7588 159.0973 238.1087 219.7348 159.1605 238.1087 219.7019 159.2475 238.1087 219.665 159.3101 238.1087 219.6205 159.3858 238.1087 219.5704 159.4453 238.1087 219.517 159.5086 238.1087 218.9702 159.7785 237.1087 218.7202 159.7785 237.1087 218.7202 159.7785 238.1087 218.7202 158.9618 237.1087 218.7202 159.8412 239.2191 218.6807 159.7703 238.1087 217.9117 159.0014 238.1087 217.9035 158.9618 238.1087 217.8409 158.9618 239.2191 217.9316 159.0973 238.1087 217.9556 159.1605 238.1087 217.9886 159.2475 238.1087 218.0254 159.3101 238.1087 218.0699 159.3858 238.1087 218.1201 159.4453 238.1087 218.5847 159.7504 238.1087 218.5215 159.7264 238.1087 218.4346 159.6935 238.1087 218.3719 159.6566 238.1087 218.2962 159.6121 238.1087 218.2368 159.562 238.1087 218.1735 159.5086 238.1087 217.9035 158.9618 237.1087 217.9035 158.7118 237.1087 217.9035 158.7118 238.1087 218.7202 158.7118 237.1087 217.8409 158.7118 239.2191 218.6807 157.9033 238.1087 218.7202 157.8951 238.1087 218.7202 157.8325 239.2191 217.9117 158.6723 238.1087 218.5847 157.9232 238.1087 218.5215 157.9472 238.1087 218.4346 157.9801 238.1087 218.3719 158.017 238.1087 218.2962 158.0615 238.1087 218.2368 158.1117 238.1087 217.9316 158.5763 238.1087 217.9556 158.5131 238.1087 217.9886 158.4262 238.1087 218.0254 158.3635 238.1087 218.0699 158.2878 238.1087 218.1201 158.2283 238.1087 218.1735 158.1651 238.1087 218.7202 157.8951 237.1087 218.9702 158.7118 237.1087 218.9702 157.8951 237.1087 218.9702 157.8951 238.1087 218.9702 157.8325 239.2191 219.0098 157.9033 238.1087 219.7787 158.6723 238.1087 219.787 158.7118 238.1087 219.8496 158.7118 239.2191 219.7588 158.5763 238.1087 219.7348 158.5131 238.1087 219.7019 158.4262 238.1087 219.665 158.3635 238.1087 219.6205 158.2878 238.1087 219.5704 158.2283 238.1087 219.1058 157.9232 238.1087 219.169 157.9472 238.1087 219.2559 157.9801 238.1087 219.3185 158.017 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235.3087 219.4702 157.7543 235.3087 219.6487 157.8793 235.3087 219.8027 158.0333 235.3087 219.9277 158.2118 235.3087 220.0198 158.4093 235.3087 220.0762 158.6197 235.3087 218.8451 157.4368 229.6587 218.8451 157.5236 229.6663 218.6888 157.4368 229.645 218.6888 157.526 229.6528 218.5373 157.4368 229.6044 218.5373 157.5331 229.6128 218.3951 157.4368 229.5381 218.3951 157.5446 229.5476 218.2666 157.4368 229.4481 218.2666 157.5602 229.4589 218.1557 157.4368 229.3372 218.1557 157.5795 229.3497 218.0657 157.4368 229.2087 218.0657 157.6018 229.2232 217.9994 157.4368 229.0665 217.9994 157.6265 229.0831 217.9588 157.4368 228.915 217.9588 157.6528 228.9339 217.9451 157.4368 228.7587 217.9451 157.6799 228.78 217.9588 157.4368 228.6024 217.9588 157.7071 228.6261 217.9994 157.4368 228.4509 217.9994 157.7334 228.4768 218.0656 157.4368 228.3087 218.0656 157.7581 228.3368 218.1556 157.4368 228.1802 218.1556 157.7804 228.2103 218.2666 157.4368 228.0693 218.2666 157.7996 228.101 218.3951 157.4368 227.9793 218.3951 157.8153 228.0124 218.5372 157.4368 227.913 218.5372 157.8268 227.9471 218.6888 157.4368 227.8724 218.6888 157.8338 227.9071 218.8451 157.4368 227.8587 218.8451 157.8362 227.8936 218.8451 157.6078 229.6889 218.6888 157.6125 229.676 218.5373 157.6264 229.6379 218.3951 157.6491 229.5756 218.2666 157.6798 229.491 218.1557 157.7178 229.3868 218.0657 157.7617 229.266 217.9994 157.8104 229.1324 217.9588 157.8622 228.99 217.9451 157.9156 228.8432 217.9588 157.9691 228.6963 217.9994 158.0209 228.5539 218.0657 158.0695 228.4203 218.1556 158.1135 228.2995 218.2666 158.1514 228.1953 218.3951 158.1822 228.1107 218.5372 158.2049 228.0484 218.6888 158.2188 228.0103 218.8451 158.2235 227.9974 218.8451 157.6868 229.7257 218.6888 157.6936 229.7138 218.5373 157.714 229.6787 218.3951 157.7471 229.6213 218.2666 157.7921 229.5433 218.1557 157.8476 229.4473 218.0657 157.9118 229.336 217.9994 157.9829 229.2129 217.9588 158.0587 229.0816 217.9451 158.1368 228.9463 217.9588 158.2149 228.8109 217.9994 158.2907 228.6797 218.0657 158.3618 228.5566 218.1556 158.4261 228.4453 218.2666 158.4815 228.3492 218.3951 158.5265 228.2713 218.5373 158.5597 228.2139 218.6888 158.58 228.1787 218.8451 158.5868 228.1669 218.8451 157.7582 229.7757 218.6888 157.767 229.7652 218.5373 157.7931 229.7341 218.3951 157.8357 229.6833 218.2666 157.8936 229.6144 218.1557 157.9649 229.5294 218.0657 158.0475 229.431 217.9994 158.1389 229.3221 217.9588 158.2362 229.206 217.9451 158.3367 229.0863 217.9588 158.4372 228.9665 217.9994 158.5346 228.8505 218.0657 158.626 228.7415 218.1556 158.7086 228.6431 218.2666 158.7799 228.5581 218.3951 158.8377 228.4892 218.5373 158.8803 228.4384 218.6888 158.9064 228.4073 218.8451 158.9152 228.3968 218.8451 157.8198 229.8373 218.6888 157.8303 229.8285 218.5373 157.8614 229.8024 218.3951 157.9122 229.7598 218.2666 157.9811 229.702 218.1557 158.0661 229.6307 218.0657 158.1645 229.5481 217.9994 158.2735 229.4567 217.9588 158.3896 229.3593 217.9451 158.5093 229.2588 217.9588 158.629 229.1584 217.9994 158.7451 229.061 218.0657 158.854 228.9696 218.1556 158.9524 228.887 218.2666 159.0374 228.8157 218.3951 159.1063 228.7578 218.5373 159.1571 228.7152 218.6888 159.1882 228.6891 218.8451 159.1987 228.6803 218.8451 157.8698 229.9087 218.6888 157.8817 229.9019 218.5373 157.9168 229.8816 218.3951 157.9742 229.8484 218.2666 158.0522 229.8034 218.1557 158.1482 229.748 218.0657 158.2595 229.6837 217.9994 158.3827 229.6126 217.9588 158.5139 229.5369 217.9451 158.6492 229.4587 217.9588 158.7846 229.3806 217.9994 158.9158 229.3048 218.0657 159.039 229.2337 218.1556 159.1502 229.1695 218.2666 159.2463 229.114 218.3951 159.3242 229.069 218.5373 159.3817 229.0359 218.6888 159.4168 229.0155 218.8451 159.4287 229.0087 218.8451 157.9067 229.9877 218.6888 157.9195 229.983 218.5373 157.9577 229.9691 218.3951 158.02 229.9465 218.2666 158.1045 229.9157 218.1557 158.2088 229.8778 218.0657 158.3295 229.8338 217.9994 158.4631 229.7852 217.9588 158.6055 229.7333 217.9451 158.7524 229.6799 217.9588 158.8992 229.6264 217.9994 159.0416 229.5746 218.0657 159.1752 229.526 218.1557 159.296 229.482 218.2666 159.4002 229.4441 218.3951 159.4848 229.4133 218.5373 159.5471 229.3906 218.6888 159.5852 229.3767 218.8451 159.5981 229.3721 218.8451 157.9292 230.0719 218.6888 157.9427 230.0695 218.5373 157.9827 230.0625 218.3951 158.048 230.0509 218.2666 158.1366 230.0353 218.1557 158.2458 230.0161 218.0657 158.3724 229.9938 217.9994 158.5124 229.9691 217.9588 158.6616 229.9427 217.9451 158.8155 229.9156 217.9588 158.9694 229.8885 217.9994 159.1187 229.8622 218.0657 159.2587 229.8375 218.1557 159.3853 229.8152 218.2666 159.4945 229.7959 218.3951 159.5831 229.7803 218.5373 159.6484 229.7687 218.6888 159.6884 229.7617 218.8451 159.7019 229.7593 218.8451 157.9368 230.1587 218.6888 157.9505 230.1587 218.5373 157.9911 230.1587 218.3951 158.0574 230.1587 218.2666 158.1474 230.1587 218.1557 158.2583 230.1587 218.0657 158.3868 230.1587 217.9994 158.529 230.1587 217.9588 158.6805 230.1587 217.9451 158.8368 230.1587 217.9588 158.9931 230.1587 217.9994 159.1446 230.1587 218.0657 159.2868 230.1587 218.1557 159.4153 230.1587 218.2666 159.5263 230.1587 218.3951 159.6162 230.1587 218.5373 159.6825 230.1587 218.6888 159.7231 230.1587 218.8451 159.7368 230.1587 218.8451 154.1868 228.2587 218.8451 154.4868 227.9587 218.9767 154.4868 227.9696 218.9274 154.1868 228.2655 218.9838 154.4868 227.9714 219.0074 154.1868 228.2858 219.1048 154.4868 228.0021 219.1183 154.4868 228.0079 219.083 154.1868 228.319 219.2258 154.4868 228.0551 219.2442 154.4868 228.0671 219.1522 154.1868 228.3641 219.3364 154.4868 228.1274 219.358 154.4868 228.1473 219.2129 154.1868 228.4201 219.4337 154.4868 228.2169 219.4562 154.4868 228.2458 219.2637 154.1868 228.4852 219.5148 154.4868 228.3211 219.5357 154.4868 228.3598 219.303 154.1868 228.5579 219.5777 154.4868 228.4373 219.5944 154.4868 228.4859 219.3298 154.1868 228.636 219.6206 154.4868 228.5623 219.6303 154.4868 228.6202 219.3434 154.1868 228.7174 219.6423 154.4868 228.6926 219.6423 154.4868 228.7587 219.3434 154.1868 228.8 219.6423 154.4868 228.8248 219.6303 154.4868 228.8972 219.3298 154.1868 228.8815 219.6206 154.4868 228.9551 219.5944 154.4868 229.0315 219.303 154.1868 228.9595 219.5777 154.4868 229.0801 219.5358 154.4868 229.1575 219.2637 154.1868 229.0322 219.5148 154.4868 229.1963 219.4562 154.4868 229.2716 219.2129 154.1868 229.0973 219.4337 154.4868 229.3005 219.358 154.4868 229.3701 219.1522 154.1868 229.1533 219.3365 154.4868 229.39 219.2443 154.4868 229.4503 219.0831 154.1868 229.1984 219.2258 154.4868 229.4623 219.1183 154.4868 229.5095 219.0074 154.1868 229.2316 219.1049 154.4868 229.5154 218.9839 154.4868 229.546 218.9274 154.1868 229.2519 218.9768 154.4868 229.5478 218.8451 154.4868 229.5587 218.8451 154.1868 229.2587 218.8451 156.1868 229.5587 218.984 156.1868 229.5466 219.1187 156.1868 229.5105 219.2451 156.1868 229.4515 219.3593 156.1868 229.3715 219.4579 156.1868 229.2729 219.5379 156.1868 229.1587 219.5968 156.1868 229.0323 219.6329 156.1868 228.8976 219.6451 156.1868 228.7587 219.6329 156.1868 228.6198 219.5968 156.1868 228.4851 219.5379 156.1868 228.3587 219.4579 156.1868 228.2445 219.3593 156.1868 228.1459 219.2451 156.1868 228.0659 219.1187 156.1868 228.007 218.984 156.1868 227.9709 218.8451 156.1868 227.9587 217.9451 158.8368 230.8087 217.9588 158.9931 230.8087 217.9994 159.1446 230.8087 218.0657 159.2868 230.8087 218.1557 159.4153 230.8087 218.2666 159.5263 230.8087 218.3951 159.6162 230.8087 218.5373 159.6825 230.8087 218.6888 159.7231 230.8087 218.8451 159.7368 230.8087 219.0014 159.7231 230.8087 219.0014 159.7231 230.1587 219.1529 159.6825 230.8087 219.1529 159.6825 230.1587 219.2951 159.6162 230.8087 219.2951 159.6162 230.1587 219.4236 159.5263 230.8087 219.4236 159.5263 230.1587 219.5345 159.4153 230.8087 219.5345 159.4153 230.1587 219.6245 159.2868 230.8087 219.6245 159.2868 230.1587 219.6908 159.1446 230.8087 219.6908 159.1446 230.1587 219.7314 158.9931 230.8087 219.7314 158.9931 230.1587 219.7451 158.8368 230.8087 219.7451 158.8368 230.1587 217.5951 158.8368 230.8087 217.6141 159.0539 230.8087 217.6705 159.2643 230.8087 217.7626 159.4618 230.8087 217.8876 159.6403 230.8087 218.0416 159.7944 230.8087 218.2201 159.9193 230.8087 218.4176 160.0114 230.8087 218.628 160.0678 230.8087 218.8451 160.0868 230.8087 219.0622 160.0678 230.8087 219.2726 160.0114 230.8087 219.4701 159.9193 230.8087 219.6486 159.7944 230.8087 219.8027 159.6403 230.8087 219.9276 159.4618 230.8087 220.0197 159.2643 230.8087 220.0761 159.0539 230.8087 220.0951 158.8368 230.8087 219.7451 157.4368 228.7587 219.7451 156.1868 228.7587 219.7314 156.1868 228.6024 219.7314 157.4368 228.6024 219.6908 156.1868 228.4509 219.6908 157.4368 228.4509 219.6245 156.1868 228.3087 219.6245 157.4368 228.3087 219.5345 156.1868 228.1802 219.5345 157.4368 228.1802 219.4236 156.1868 228.0693 219.4236 157.4368 228.0693 219.2951 156.1868 227.9793 219.2951 157.4368 227.9793 219.1529 156.1868 227.913 219.1529 157.4368 227.913 219.0014 156.1868 227.8724 219.0014 157.4368 227.8724 218.8451 156.1868 227.8587 218.6888 156.1868 227.8724 218.5372 156.1868 227.913 218.3951 156.1868 227.9793 218.2666 156.1868 228.0693 218.1556 156.1868 228.1802 218.0656 156.1868 228.3087 217.9994 156.1868 228.4509 217.9588 156.1868 228.6024 217.9451 156.1868 228.7587 217.9588 156.1868 228.915 217.9994 156.1868 229.0665 218.0657 156.1868 229.2087 218.1557 156.1868 229.3372 218.2666 156.1868 229.4481 218.3951 156.1868 229.5381 218.5373 156.1868 229.6044 218.6888 156.1868 229.645 218.8451 156.1868 229.6587 219.0014 156.1868 229.645 219.0014 157.4368 229.645 219.1529 156.1868 229.6044 219.1529 157.4368 229.6044 219.2951 156.1868 229.5381 219.2951 157.4368 229.5381 219.4236 156.1868 229.4481 219.4236 157.4368 229.4481 219.5345 156.1868 229.3372 219.5345 157.4368 229.3372 219.6245 156.1868 229.2087 219.6245 157.4368 229.2087 219.6908 156.1868 229.0665 219.6908 157.4368 229.0665 219.7314 156.1868 228.915 219.7314 157.4368 228.915 219.2951 158.0574 230.8087 219.4701 157.7543 230.8087 219.1529 157.9911 230.8087 219.2726 157.6622 230.8087 219.0014 157.9505 230.8087 219.0622 157.6058 230.8087 218.8451 157.9368 230.8087 218.8451 157.5868 230.8087 218.6888 157.9505 230.8087 218.628 157.6058 230.8087 218.5373 157.9911 230.8087 218.4176 157.6622 230.8087 218.3951 158.0574 230.8087 218.2201 157.7543 230.8087 218.2666 158.1474 230.8087 218.0416 157.8793 230.8087 218.1557 158.2583 230.8087 217.8876 158.0333 230.8087 218.0657 158.3868 230.8087 217.7626 158.2118 230.8087 217.9994 158.529 230.8087 217.6705 158.4093 230.8087 217.9588 158.6805 230.8087 217.6141 158.6197 230.8087 219.7314 158.6805 230.8087 220.0761 158.6197 230.8087 219.6908 158.529 230.8087 220.0197 158.4093 230.8087 219.6245 158.3868 230.8087 219.9276 158.2118 230.8087 219.5345 158.2583 230.8087 219.8027 158.0333 230.8087 219.4236 158.1474 230.8087 219.6486 157.8793 230.8087 219.0014 157.8338 227.9071 219.1529 157.8268 227.9471 219.2951 157.8153 228.0124 219.4236 157.7996 228.101 219.5345 157.7804 228.2102 219.6245 157.7581 228.3368 219.6908 157.7334 228.4768 219.7314 157.7071 228.626 219.7451 157.6799 228.78 219.7314 157.6528 228.9339 219.6908 157.6265 229.0831 219.6245 157.6018 229.2231 219.5345 157.5795 229.3497 219.4236 157.5602 229.4589 219.2951 157.5446 229.5476 219.1529 157.5331 229.6128 219.0014 157.526 229.6528 219.0014 158.2188 228.0103 219.1529 158.2049 228.0484 219.2951 158.1822 228.1107 219.4236 158.1514 228.1953 219.5345 158.1135 228.2995 219.6245 158.0695 228.4203 219.6908 158.0209 228.5539 219.7314 157.9691 228.6963 219.7451 157.9156 228.8431 219.7314 157.8622 228.99 219.6908 157.8104 229.1324 219.6245 157.7617 229.266 219.5345 157.7178 229.3867 219.4236 157.6798 229.491 219.2951 157.6491 229.5755 219.1529 157.6264 229.6378 219.0014 157.6125 229.676 219.0014 158.58 228.1787 219.1529 158.5597 228.2138 219.2951 158.5265 228.2713 219.4236 158.4815 228.3492 219.5345 158.4261 228.4453 219.6245 158.3618 228.5565 219.6908 158.2907 228.6797 219.7314 158.2149 228.8109 219.7451 158.1368 228.9463 219.7314 158.0587 229.0816 219.6908 157.9829 229.2128 219.6245 157.9118 229.336 219.5345 157.8476 229.4473 219.4236 157.7921 229.5433 219.2951 157.7471 229.6213 219.1529 157.714 229.6787 219.0014 157.6936 229.7138 219.0014 158.9064 228.4073 219.1529 158.8803 228.4384 219.2951 158.8377 228.4892 219.4236 158.7799 228.5581 219.5345 158.7086 228.6431 219.6245 158.626 228.7415 219.6908 158.5346 228.8504 219.7314 158.4372 228.9665 219.7451 158.3367 229.0862 219.7314 158.2362 229.2059 219.6908 158.1389 229.322 219.6245 158.0475 229.4309 219.5345 157.9649 229.5294 219.4236 157.8936 229.6144 219.2951 157.8357 229.6833 219.1529 157.7931 229.7341 219.0014 157.767 229.7652 219.0014 159.1882 228.6891 219.1529 159.1571 228.7152 219.2951 159.1063 228.7578 219.4236 159.0374 228.8156 219.5345 158.9524 228.8869 219.6245 158.854 228.9695 219.6908 158.7451 229.0609 219.7314 158.629 229.1583 219.7451 158.5093 229.2588 219.7314 158.3896 229.3592 219.6908 158.2735 229.4566 219.6245 158.1645 229.548 219.5345 158.0661 229.6307 219.4236 157.9811 229.702 219.2951 157.9122 229.7598 219.1529 157.8614 229.8024 219.0014 157.8303 229.8285 219.0014 159.4168 229.0155 219.1529 159.3817 229.0358 219.2951 159.3242 229.069 219.4236 159.2463 229.114 219.5345 159.1502 229.1694 219.6245 159.039 229.2337 219.6908 158.9158 229.3048 219.7314 158.7846 229.3805 219.7451 158.6492 229.4587 219.7314 158.5139 229.5368 219.6908 158.3827 229.6126 219.6245 158.2595 229.6837 219.5345 158.1482 229.748 219.4236 158.0522 229.8034 219.2951 157.9742 229.8484 219.1529 157.9168 229.8816 219.0014 157.8817 229.9019 219.0014 159.5852 229.3767 219.1529 159.5471 229.3906 219.2951 159.4848 229.4133 219.4236 159.4002 229.4441 219.5345 159.296 229.482 219.6245 159.1752 229.526 219.6908 159.0416 229.5746 219.7314 158.8992 229.6264 219.7451 158.7524 229.6799 219.7314 158.6055 229.7333 219.6908 158.4631 229.7852 219.6245 158.3295 229.8338 219.5345 158.2088 229.8777 219.4236 158.1045 229.9157 219.2951 158.02 229.9465 219.1529 157.9577 229.9691 219.0014 157.9195 229.983 219.0014 159.6884 229.7617 219.1529 159.6484 229.7687 219.2951 159.5831 229.7803 219.4236 159.4945 229.7959 219.5345 159.3853 229.8151 219.6245 159.2587 229.8374 219.6908 159.1187 229.8621 219.7314 158.9694 229.8885 219.7451 158.8155 229.9156 219.7314 158.6616 229.9427 219.6908 158.5124 229.969 219.6245 158.3724 229.9937 219.5345 158.2458 230.016 219.4236 158.1366 230.0353 219.2951 158.048 230.0509 219.1529 157.9827 230.0625 219.0014 157.9427 230.0695 219.7314 158.6805 230.1587 219.6908 158.529 230.1587 219.6245 158.3868 230.1587 219.5345 158.2583 230.1587 219.4236 158.1474 230.1587 219.2951 158.0574 230.1587 219.1529 157.9911 230.1587 219.0014 157.9505 230.1587 218.7062 156.1868 229.5466 218.5715 156.1868 229.5105 218.4451 156.1868 229.4515 218.3309 156.1868 229.3715 218.2322 156.1868 229.2729 218.1523 156.1868 229.1587 218.0933 156.1868 229.0323 218.0572 156.1868 228.8976 218.0451 156.1868 228.7587 218.0572 156.1868 228.6198 218.0933 156.1868 228.4851 218.1522 156.1868 228.3587 218.2322 156.1868 228.2445 218.3308 156.1868 228.1459 218.4451 156.1868 228.0659 218.5715 156.1868 228.007 218.7061 156.1868 227.9709 218.7061 154.4868 227.9709 218.5715 154.4868 228.007 218.4451 154.4868 228.0659 218.3308 154.4868 228.1459 218.2322 154.4868 228.2445 218.1522 154.4868 228.3587 218.0933 154.4868 228.4851 218.0572 154.4868 228.6198 218.0451 154.4868 228.7587 218.0572 154.4868 228.8976 218.0933 154.4868 229.0323 218.1523 154.4868 229.1587 218.2322 154.4868 229.2729 218.3309 154.4868 229.3715 218.4451 154.4868 229.4515 218.5715 154.4868 229.5105 218.7062 154.4868 229.5466 218.7583 154.1868 228.2663 218.7583 154.1868 229.2511 218.6741 154.1868 229.2286 218.5951 154.1868 229.1917 218.4121 154.1868 229.0087 218.3752 154.1868 228.9297 218.3527 154.1868 228.6719 218.3752 154.1868 228.5877 218.4121 154.1868 228.5087 218.462 154.1868 228.4373 218.5237 154.1868 229.1417 218.4621 154.1868 229.0801 218.3527 154.1868 228.8455 218.3451 154.1868 228.7587 218.5237 154.1868 228.3757 218.5951 154.1868 228.3257 218.6741 154.1868 228.2889 224.1542 158.9618 241.0724 224.1466 158.9812 241.0715 224.1263 158.9618 241.0764 223.9703 159.1373 241.0695 223.9896 159.1381 241.0715 223.9703 159.2067 241.0581 224.0711 159.3082 241.014 223.9703 159.2935 241.0287 223.9703 159.3426 241.012 223.9885 159.3395 241.014 223.9703 159.3927 240.9951 224.0313 159.4898 240.9401 224.0652 159.6088 240.8575 223.9703 159.5714 240.8991 223.9703 159.5017 240.9365 224.0932 159.7071 240.7635 223.9703 159.6906 240.8062 223.9703 159.6278 240.8552 224.1122 159.7739 240.6755 223.9703 159.7728 240.7167 223.9703 159.7313 240.7619 224.1257 159.8213 240.5875 223.9703 159.8338 240.6258 223.9703 159.8012 240.6743 224.1345 159.8523 240.4993 223.9703 159.8713 240.5454 223.9703 159.8519 240.5871 223.9703 159.9043 240.3793 223.9703 159.9007 240.41 224.1391 159.8682 240.4101 223.9703 159.8941 240.4659 223.9703 159.8846 240.4991 224.8298 159.1173 240.5875 224.8932 158.9618 240.5095 224.8608 159.1261 240.4993 224.9103 158.9618 240.4187 224.8767 159.1306 240.4101 224.9105 158.9618 240.4101 224.9121 158.9618 240.3294 224.7823 159.1038 240.6755 224.8622 158.9618 240.5925 224.8638 158.9618 240.5884 224.4982 159.0228 240.9401 224.6457 158.9618 240.8514 224.6173 159.0567 240.8575 224.7414 158.9618 240.7634 224.7156 159.0847 240.7635 224.7525 158.9618 240.7532 224.8167 158.9618 240.6724 224.348 158.98 241.014 224.4994 158.9618 240.9486 224.5124 158.9618 240.9399 224.3007 158.9618 241.0314 224.3453 158.9618 241.0188 224.3532 158.9618 241.0152 223.9703 159.9037 240.3294 224.1396 159.8699 240.3294 224.3094 159.8055 240.3294 224.466 159.7135 240.3294 224.3087 159.804 240.4101 224.6048 159.5964 240.3294 224.465 159.7121 240.4101 224.3015 159.7891 240.4993 224.2876 159.76 240.5875 224.2663 159.7155 240.6755 224.2363 159.6529 240.7635 224.1921 159.5607 240.8575 224.1386 159.4491 240.9401 224.8783 159.1311 240.3294 224.8124 159.3002 240.4101 224.7975 159.2931 240.4993 224.7685 159.2792 240.5875 224.7239 159.2578 240.6755 224.6613 159.2278 240.7635 224.5692 159.1837 240.8575 224.4576 159.1302 240.9401 224.3166 159.0627 241.014 224.1576 158.9618 241.072 224.4554 159.6986 240.4993 224.4368 159.6723 240.5875 224.4083 159.632 240.6755 224.3682 159.5753 240.7635 224.3091 159.4919 240.8575 224.2376 159.3909 240.9401 224.1473 159.2634 241.014 224.0383 159.1095 241.0715 223.9703 159.044 241.0849 224.7219 159.4576 240.3294 224.6036 159.5951 240.4101 224.5919 159.5835 240.4993 224.5691 159.5607 240.5875 224.5342 159.5258 240.6755 224.4851 159.4767 240.7635 224.4129 159.4044 240.8575 224.3254 159.3169 240.9401 224.2149 159.2064 241.014 224.0815 159.0731 241.0715 223.9703 158.9618 241.0984 224.8139 159.3011 240.3294 224.7205 159.4565 240.4101 224.707 159.447 240.4993 224.6807 159.4284 240.5875 224.6404 159.3998 240.6755 224.5838 159.3597 240.7635 224.5004 159.3007 240.8575 224.3994 159.2292 240.9401 224.2718 159.1389 241.014 224.1179 159.0299 241.0715 224.0438 158.9618 241.088 223.7203 159.1432 241.0705 223.7009 159.1381 241.0715 223.7203 159.1232 241.0736 223.7203 159.1696 241.0664 223.7203 159.2949 241.0275 223.7021 159.3395 241.014 223.5559 159.8523 240.4993 223.7203 159.9007 240.4213 223.5514 159.8682 240.4102 223.7203 159.9012 240.4101 223.7202 159.9042 240.3397 223.5648 159.8213 240.5875 223.7203 159.8841 240.5036 223.7203 159.885 240.4992 223.5973 159.7071 240.7635 223.7203 159.8026 240.6751 223.5783 159.7739 240.6755 223.7203 159.808 240.6681 223.7203 159.853 240.5872 223.6592 159.4898 240.9401 223.7202 159.6287 240.8562 223.6253 159.6088 240.8575 223.7202 159.6486 240.8424 223.7202 159.7412 240.7546 223.7202 159.3432 241.0125 223.7202 159.3683 241.0047 223.7202 159.522 240.9299 223.6194 159.3082 241.014 223.5442 158.9618 241.0695 223.544 158.9812 241.0715 223.4754 158.9618 241.0581 223.3739 159.0627 241.014 223.3885 158.9618 241.0287 223.3394 158.9618 241.0121 223.3426 158.98 241.014 223.2894 158.9618 240.9951 223.1923 159.0228 240.9401 223.0733 159.0567 240.8575 223.1106 158.9618 240.8991 223.1803 158.9618 240.9365 222.975 159.0847 240.7635 222.9915 158.9618 240.8063 223.0543 158.9618 240.8552 222.9082 159.1038 240.6755 222.9093 158.9618 240.7167 222.9508 158.9618 240.7619 222.8607 159.1173 240.5876 222.8483 158.9618 240.6259 222.8808 158.9618 240.6743 222.8297 159.1261 240.4993 222.8107 158.9618 240.5454 222.8302 158.9618 240.5871 222.7778 158.9618 240.3794 222.7814 158.9618 240.41 222.8138 159.1306 240.4102 222.7879 158.9618 240.4659 222.7975 158.9618 240.4991 222.7784 158.9618 240.3294 222.8122 159.1311 240.3294 222.8765 159.301 240.3294 222.9686 159.4575 240.3294 222.8781 159.3002 240.4102 223.0857 159.5964 240.3294 222.97 159.4565 240.4102 222.893 159.2931 240.4993 222.922 159.2792 240.5876 222.9666 159.2578 240.6755 223.0292 159.2278 240.7635 223.1213 159.1837 240.8575 223.2329 159.1302 240.9401 223.5519 159.4491 240.9401 223.4984 159.5607 240.8575 223.4542 159.6529 240.7635 223.4243 159.7155 240.6755 223.4029 159.76 240.5875 223.389 159.7891 240.4993 223.3818 159.804 240.4102 223.5507 159.8698 240.3294 223.7202 159.9037 240.3294 222.9835 159.447 240.4993 223.0098 159.4284 240.5876 223.0501 159.3998 240.6755 223.1067 159.3597 240.7635 223.1901 159.3007 240.8575 223.2911 159.2292 240.9401 223.4187 159.1389 241.014 223.5726 159.0299 241.0715 223.6381 158.9618 241.0849 223.2244 159.7134 240.3294 223.0869 159.5951 240.4102 223.0986 159.5835 240.4993 223.1214 159.5607 240.5875 223.1563 159.5258 240.6755 223.2054 159.4767 240.7635 223.2776 159.4044 240.8575 223.3652 159.3169 240.9401 223.4757 159.2064 241.014 223.609 159.0731 241.0715 223.7203 158.9618 241.0984 223.3809 159.8054 240.3294 223.2255 159.7121 240.4102 223.2351 159.6986 240.4993 223.2537 159.6723 240.5875 223.2822 159.632 240.6755 223.3223 159.5753 240.7635 223.3814 159.4919 240.8575 223.4529 159.3909 240.9401 223.5432 159.2634 241.014 223.6522 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222.922 158.3945 240.5876 222.893 158.3805 240.4993 222.8781 158.3734 240.4102 222.8123 158.5422 240.3294 222.7784 158.7118 240.3294 223.2351 157.975 240.4993 223.2537 158.0013 240.5875 223.2822 158.0416 240.6755 223.3223 158.0983 240.7635 223.3814 158.1817 240.8575 223.4529 158.2827 240.9401 223.5432 158.4102 241.014 223.6522 158.5641 241.0715 223.7203 158.6337 241.086 222.9686 158.2161 240.3294 223.0869 158.0785 240.4102 223.0986 158.0902 240.4993 223.1214 158.1129 240.5875 223.1563 158.1479 240.6755 223.2054 158.1969 240.7635 223.2776 158.2692 240.8575 223.3652 158.3567 240.9401 223.4757 158.4672 241.014 223.609 158.6006 241.0715 223.7203 158.7118 241.0984 222.8765 158.3727 240.3294 222.97 158.2171 240.4102 222.9835 158.2266 240.4993 223.0098 158.2453 240.5876 223.0501 158.2738 240.6755 223.1067 158.3139 240.7635 223.1901 158.373 240.8575 223.2911 158.4445 240.9401 223.4187 158.5348 241.014 223.5726 158.6437 241.0715 223.6443 158.7118 241.0867 224.1365 158.7118 241.072 224.1466 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240.8575 224.637 158.7118 240.856 224.664 158.7118 240.8368 224.7156 158.5889 240.7635 224.7402 158.7118 240.7623 224.7592 158.7118 240.7438 224.7823 158.5699 240.6755 224.82 158.7118 240.6626 224.8298 158.5563 240.5875 224.8612 158.7118 240.5874 224.8623 158.7118 240.5853 224.8608 158.5475 240.4993 224.8928 158.7118 240.5029 224.9094 158.7118 240.4191 224.8767 158.543 240.4101 224.9097 158.7118 240.4101 224.9121 158.7118 240.3294 224.8782 158.5422 240.3294 224.8139 158.3725 240.3294 224.7219 158.216 240.3294 224.8124 158.3734 240.4101 224.6048 158.0773 240.3294 224.7205 158.2171 240.4101 224.7975 158.3805 240.4993 224.7685 158.3945 240.5875 224.7239 158.4158 240.6755 224.6613 158.4458 240.7635 224.5692 158.49 240.8575 224.4576 158.5434 240.9401 224.1395 157.8037 240.3294 224.3087 157.8696 240.4101 224.3015 157.8845 240.4993 224.2876 157.9136 240.5875 224.2663 157.9581 240.6755 224.2363 158.0207 240.7635 224.1921 158.1129 240.8575 224.1386 158.2245 240.9401 224.0711 158.3654 241.014 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159.7785 238.1086 223.9702 159.8412 239.219 224.7787 159.0014 238.1086 224.1057 159.7504 238.1086 224.169 159.7264 238.1086 224.2559 159.6935 238.1086 224.3185 159.6566 238.1086 224.3943 159.6121 238.1086 224.4537 159.562 238.1086 224.7588 159.0973 238.1086 224.7348 159.1605 238.1086 224.7019 159.2475 238.1086 224.665 159.3101 238.1086 224.6205 159.3858 238.1086 224.5704 159.4453 238.1086 224.517 159.5086 238.1086 223.9702 159.7785 237.1086 223.7202 158.9618 237.1086 223.7202 159.7785 237.1086 223.7202 159.7785 238.1086 223.7202 159.8412 239.219 223.6807 159.7703 238.1086 222.9117 159.0014 238.1087 222.9035 158.9618 238.1087 222.8409 158.9618 239.219 222.9316 159.0973 238.1087 222.9556 159.1605 238.1087 222.9886 159.2475 238.1087 223.0254 159.3101 238.1087 223.0699 159.3858 238.1086 223.1201 159.4453 238.1086 223.5847 159.7504 238.1086 223.5215 159.7264 238.1086 223.4346 159.6935 238.1086 223.3719 159.6566 238.1086 223.2962 159.6121 238.1086 223.2368 159.562 238.1086 223.1735 159.5086 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224.1057 157.9232 238.1086 224.169 157.9472 238.1086 224.2559 157.9801 238.1086 224.3185 158.017 238.1086 224.3943 158.0615 238.1086 224.4537 158.1117 238.1086 224.517 158.1651 238.1086 224.7869 158.7118 237.1086 223.8452 157.8868 237.1086 224.7952 158.8368 237.1086 222.8952 158.8368 237.1087 223.8452 159.7868 237.1086 224.7952 158.8368 235.6086 224.7807 159.0018 235.6086 224.0101 159.7724 235.6086 223.8452 159.7868 235.6086 223.6802 159.7724 235.6086 222.8952 158.8368 235.6087 222.9096 159.0018 235.6087 222.9525 159.1617 235.6087 223.0225 159.3118 235.6087 223.1174 159.4475 235.6087 223.2345 159.5646 235.6086 223.3702 159.6595 235.6086 223.5203 159.7295 235.6086 224.1701 159.7295 235.6086 224.3202 159.6595 235.6086 224.4558 159.5646 235.6086 224.5729 159.4475 235.6086 224.6679 159.3118 235.6086 224.7379 159.1617 235.6086 222.9096 158.6718 235.6087 223.6802 157.9012 235.6086 223.8452 157.8868 235.6086 224.0101 157.9012 235.6086 224.7807 158.6718 235.6086 224.7379 158.5119 235.6086 224.6679 158.3618 235.6086 224.5729 158.2262 235.6086 224.4558 158.1091 235.6086 224.3202 158.0141 235.6086 224.1701 157.9441 235.6086 223.5203 157.9441 235.6086 223.3702 158.0141 235.6086 223.2345 158.1091 235.6086 223.1174 158.2262 235.6087 223.0225 158.3618 235.6087 222.9525 158.5119 235.6087 225.0952 158.8368 235.3086 225.0762 159.0539 235.3086 225.0198 159.2643 235.3086 224.9277 159.4618 235.3086 224.8027 159.6403 235.3086 224.6487 159.7944 235.3086 224.4702 159.9193 235.3086 224.2727 160.0114 235.3086 224.0622 160.0678 235.3086 223.8452 160.0868 235.3086 223.6281 160.0678 235.3086 223.4176 160.0114 235.3086 223.2202 159.9193 235.3086 223.0417 159.7944 235.3087 222.8876 159.6403 235.3087 222.7626 159.4618 235.3087 222.6706 159.2643 235.3087 222.6142 159.0539 235.3087 222.5952 158.8368 235.3087 222.6142 158.6197 235.3087 222.6706 158.4093 235.3087 222.7626 158.2118 235.3087 222.8876 158.0333 235.3087 223.0417 157.8793 235.3087 223.2202 157.7543 235.3086 223.4176 157.6622 235.3086 223.6281 157.6058 235.3086 223.8452 157.5868 235.3086 224.0622 157.6058 235.3086 224.2727 157.6622 235.3086 224.4702 157.7543 235.3086 224.6487 157.8793 235.3086 224.8027 158.0333 235.3086 224.9277 158.2118 235.3086 225.0198 158.4093 235.3086 225.0762 158.6197 235.3086 223.8451 157.4368 229.6586 223.8451 157.5236 229.6662 223.6888 157.4368 229.645 223.6888 157.526 229.6528 223.5373 157.4368 229.6044 223.5373 157.5331 229.6128 223.3951 157.4368 229.5381 223.3951 157.5446 229.5475 223.2666 157.4368 229.4481 223.2666 157.5602 229.4589 223.1557 157.4368 229.3372 223.1557 157.5795 229.3496 223.0657 157.4368 229.2086 223.0657 157.6018 229.2231 222.9994 157.4368 229.0665 222.9994 157.6265 229.0831 222.9588 157.4368 228.9149 222.9588 157.6528 228.9338 222.9451 157.4368 228.7586 222.9451 157.6799 228.7799 222.9588 157.4368 228.6024 222.9588 157.7071 228.626 222.9994 157.4368 228.4508 222.9994 157.7334 228.4768 223.0657 157.4368 228.3087 223.0657 157.7581 228.3368 223.1556 157.4368 228.1801 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179.643 162.8988 155.7753 179.643 162.9422 156.1868 179.6633 162.9422 155.7753 179.6633 162.9815 156.1868 179.6908 162.9815 155.7753 179.6908 163.0154 156.1868 179.7247 163.0154 155.7753 179.7247 163.0429 156.1868 179.7639 163.0429 155.7753 179.7639 163.0631 156.1868 179.8074 163.0631 155.7753 179.8074 163.0756 156.1868 179.8537 163.0756 155.7753 179.8537 163.0798 156.1868 183.9014 163.0798 155.7753 183.9014 163.0756 156.1868 183.9492 163.0756 155.7753 183.9492 163.0632 156.1868 183.9955 163.0632 155.7753 183.9955 163.0429 156.1868 184.0389 163.0429 155.7753 184.0389 163.0155 156.1868 184.0782 163.0155 155.7753 184.0782 162.9816 156.1868 184.1121 162.9816 155.7753 184.1121 162.9423 156.1868 184.1396 162.9423 155.7753 184.1396 162.8988 156.1868 184.1598 162.8988 155.7753 184.1598 162.8526 156.1868 184.1723 162.8526 155.7753 184.1723 162.8048 156.1868 184.1764 162.8048 155.7753 184.1764 162.757 156.1868 184.1723 162.757 155.7753 184.1723 162.7107 156.1868 184.1599 162.7107 155.7753 184.1599 162.6673 156.1868 184.1396 162.6673 155.7753 184.1396 162.628 156.1868 184.1121 162.628 155.7753 184.1121 162.5941 156.1868 184.0782 162.5941 155.7753 184.0782 162.5666 156.1868 184.0389 162.5666 155.7753 184.0389 162.5464 156.1868 183.9955 162.5464 155.7753 183.9955 162.534 156.1868 183.9492 162.534 155.7753 183.9492 162.5298 156.1868 183.9014 162.5298 155.7753 183.9014 162.534 156.1868 183.8537 162.534 155.7753 183.8537 162.5464 156.1868 183.8074 162.5464 155.7753 183.8074 162.5666 156.1868 183.7639 162.5666 155.7753 183.7639 162.5941 156.1868 183.7247 162.5941 155.7753 183.7247 162.628 156.1868 183.6908 162.628 155.7753 183.6908 162.6673 156.1868 183.6633 162.6673 155.7753 183.6633 162.7107 156.1868 183.643 162.7107 155.7753 183.643 162.757 156.1868 183.6306 162.757 155.7753 183.6306 162.8048 156.1868 183.6264 162.8048 155.7753 183.6264 162.8525 156.1868 183.6306 162.8525 155.7753 183.6306 162.8988 156.1868 183.643 162.8988 155.7753 183.643 162.9423 156.1868 183.6633 162.9423 155.7753 183.6633 162.9815 156.1868 183.6908 162.9815 155.7753 183.6908 163.0155 156.1868 183.7247 163.0155 155.7753 183.7247 163.0429 156.1868 183.7639 163.0429 155.7753 183.7639 163.0632 156.1868 183.8074 163.0632 155.7753 183.8074 163.0756 156.1868 183.8537 163.0756 155.7753 183.8537 160.3047 156.1868 178.6015 160.3047 155.7753 178.6015 160.2526 156.1868 178.5969 160.2526 155.7753 178.5969 160.2021 156.1868 178.5834 160.2021 155.7753 178.5834 160.1547 156.1868 178.5613 160.1547 155.7753 178.5613 160.1119 156.1868 178.5313 160.1119 155.7753 178.5313 160.0749 156.1868 178.4943 160.0749 155.7753 178.4943 160.0449 156.1868 178.4515 160.0449 155.7753 178.4515 160.0228 156.1868 178.4041 160.0228 155.7753 178.4041 160.0093 156.1868 178.3536 160.0093 155.7753 178.3536 160.0047 156.1868 178.3015 160.0047 155.7753 178.3015 160.0093 156.1868 178.2494 160.0093 155.7753 178.2494 160.0228 156.1868 178.1989 160.0228 155.7753 178.1989 160.0449 156.1868 178.1515 160.0449 155.7753 178.1515 160.0749 156.1868 178.1086 160.0749 155.7753 178.1086 160.1119 156.1868 178.0717 160.1119 155.7753 178.0717 160.1547 156.1868 178.0417 160.1547 155.7753 178.0417 160.2021 156.1868 178.0196 160.2021 155.7753 178.0196 160.2526 156.1868 178.006 160.2526 155.7753 178.006 160.3047 156.1868 178.0015 160.3047 155.7753 178.0015 161.0047 156.1868 178.0015 161.0047 155.7753 178.0015 161.0568 156.1868 178.006 161.0568 155.7753 178.006 161.1073 156.1868 178.0196 161.1073 155.7753 178.0196 161.1547 156.1868 178.0417 161.1547 155.7753 178.0417 161.1975 156.1868 178.0717 161.1975 155.7753 178.0717 161.2345 156.1868 178.1086 161.2345 155.7753 178.1086 161.2645 156.1868 178.1515 161.2645 155.7753 178.1515 161.2866 156.1868 178.1988 161.2866 155.7753 178.1988 161.3002 156.1868 178.2494 161.3002 155.7753 178.2494 161.3047 156.1868 178.3015 161.3047 155.7753 178.3015 161.3002 156.1868 178.3536 161.3002 155.7753 178.3536 161.2866 156.1868 178.4041 161.2866 155.7753 178.4041 161.2645 156.1868 178.4515 161.2645 155.7753 178.4515 161.2345 156.1868 178.4943 161.2345 155.7753 178.4943 161.1976 156.1868 178.5313 161.1976 155.7753 178.5313 161.1547 156.1868 178.5613 161.1547 155.7753 178.5613 161.1073 156.1868 178.5834 161.1073 155.7753 178.5834 161.0568 156.1868 178.5969 161.0568 155.7753 178.5969 161.0047 156.1868 178.6015 161.0047 155.7753 178.6015 160.3048 156.1868 185.8015 160.3048 155.7753 185.8015 160.2527 156.1868 185.7969 160.2527 155.7753 185.7969 160.2022 156.1868 185.7834 160.2022 155.7753 185.7834 160.1548 156.1868 185.7613 160.1548 155.7753 185.7613 160.112 156.1868 185.7313 160.112 155.7753 185.7313 160.075 156.1868 185.6943 160.075 155.7753 185.6943 160.045 156.1868 185.6515 160.045 155.7753 185.6515 160.0229 156.1868 185.6041 160.0229 155.7753 185.6041 160.0094 156.1868 185.5536 160.0094 155.7753 185.5536 160.0048 156.1868 185.5015 160.0048 155.7753 185.5015 160.0094 156.1868 185.4494 160.0094 155.7753 185.4494 160.0229 156.1868 185.3989 160.0229 155.7753 185.3989 160.045 156.1868 185.3515 160.045 155.7753 185.3515 160.0505 156.1868 185.3436 160.0505 155.7753 185.3436 160.075 156.1868 185.3086 160.075 155.7753 185.3086 160.112 156.1868 185.2717 160.112 155.7753 185.2717 160.1548 156.1868 185.2417 160.1548 155.7753 185.2417 160.2022 156.1868 185.2196 160.2022 155.7753 185.2196 160.2527 156.1868 185.206 160.2527 155.7753 185.206 160.3048 156.1868 185.2015 160.3048 155.7753 185.2015 161.0048 156.1868 185.2015 161.0048 155.7753 185.2015 161.0569 156.1868 185.206 161.0569 155.7753 185.206 161.1074 156.1868 185.2196 161.1074 155.7753 185.2196 161.1548 156.1868 185.2416 161.1548 155.7753 185.2416 161.1976 156.1868 185.2716 161.1976 155.7753 185.2716 161.2346 156.1868 185.3086 161.2346 155.7753 185.3086 161.2591 156.1868 185.3436 161.2591 155.7753 185.3436 161.2646 156.1868 185.3515 161.2646 155.7753 185.3515 161.2867 156.1868 185.3989 161.2867 155.7753 185.3989 161.3003 156.1868 185.4494 161.3003 155.7753 185.4494 161.3048 156.1868 185.5015 161.3048 155.7753 185.5015 161.3003 156.1868 185.5536 161.3003 155.7753 185.5536 161.2867 156.1868 185.6041 161.2867 155.7753 185.6041 161.2646 156.1868 185.6515 161.2646 155.7753 185.6515 161.2346 156.1868 185.6943 161.2346 155.7753 185.6943 161.1977 156.1868 185.7313 161.1977 155.7753 185.7313 161.1548 156.1868 185.7613 161.1548 155.7753 185.7613 161.1074 156.1868 185.7834 161.1074 155.7753 185.7834 161.0569 156.1868 185.7969 161.0569 155.7753 185.7969 161.0048 156.1868 185.8015 161.0048 155.7753 185.8015 189.2824 156.1868 236.399 189.2824 155.7753 236.399 189.2748 156.1868 236.4859 189.2748 155.7753 236.4859 189.2522 156.1868 236.5701 189.2522 155.7753 236.5701 189.2154 156.1868 236.6491 189.2154 155.7753 236.6491 189.1654 156.1868 236.7204 189.1654 155.7753 236.7204 189.1038 156.1868 236.7821 189.1038 155.7753 236.7821 189.0324 156.1868 236.8321 189.0324 155.7753 236.8321 188.9534 156.1868 236.8689 188.9534 155.7753 236.8689 188.8692 156.1868 236.8915 188.8692 155.7753 236.8915 188.7824 156.1868 236.8991 188.7824 155.7753 236.8991 188.6955 156.1868 236.8915 188.6955 155.7753 236.8915 188.6114 156.1868 236.8689 188.6114 155.7753 236.8689 188.5324 156.1868 236.8321 188.5324 155.7753 236.8321 188.461 156.1868 236.7821 188.461 155.7753 236.7821 188.3993 156.1868 236.7205 188.3993 155.7753 236.7205 188.3493 156.1868 236.6491 188.3493 155.7753 236.6491 188.3125 156.1868 236.5701 188.3125 155.7753 236.5701 188.29 156.1868 236.4859 188.29 155.7753 236.4859 188.2824 156.1868 236.3991 188.2824 155.7753 236.3991 188.29 156.1868 236.3122 188.29 155.7753 236.3122 188.3125 156.1868 236.2281 188.3125 155.7753 236.2281 188.3493 156.1868 236.1491 188.3493 155.7753 236.1491 188.3993 156.1868 236.0777 188.3993 155.7753 236.0777 188.461 156.1868 236.016 188.461 155.7753 236.016 188.5324 156.1868 235.966 188.5324 155.7753 235.966 188.6113 156.1868 235.9292 188.6113 155.7753 235.9292 188.6955 156.1868 235.9067 188.6955 155.7753 235.9067 188.7824 156.1868 235.8991 188.7824 155.7753 235.8991 188.8692 156.1868 235.9067 188.8692 155.7753 235.9067 188.9534 156.1868 235.9292 188.9534 155.7753 235.9292 189.0323 156.1868 235.966 189.0323 155.7753 235.966 189.1038 156.1868 236.016 189.1038 155.7753 236.016 189.1654 156.1868 236.0777 189.1654 155.7753 236.0777 189.2154 156.1868 236.149 189.2154 155.7753 236.149 189.2522 156.1868 236.228 189.2522 155.7753 236.228 189.2748 156.1868 236.3122 189.2748 155.7753 236.3122 193.0924 156.1868 236.399 193.0924 155.7753 236.399 193.0848 156.1868 236.4858 193.0848 155.7753 236.4858 193.0622 156.1868 236.57 193.0622 155.7753 236.57 193.0254 156.1868 236.649 193.0254 155.7753 236.649 192.9754 156.1868 236.7204 192.9754 155.7753 236.7204 192.9138 156.1868 236.782 192.9138 155.7753 236.782 192.8424 156.1868 236.832 192.8424 155.7753 236.832 192.7634 156.1868 236.8688 192.7634 155.7753 236.8688 192.6792 156.1868 236.8914 192.6792 155.7753 236.8914 192.5924 156.1868 236.899 192.5924 155.7753 236.899 192.5055 156.1868 236.8914 192.5055 155.7753 236.8914 192.4214 156.1868 236.8688 192.4214 155.7753 236.8688 192.3424 156.1868 236.832 192.3424 155.7753 236.832 192.271 156.1868 236.782 192.271 155.7753 236.782 192.2093 156.1868 236.7204 192.2093 155.7753 236.7204 192.1593 156.1868 236.649 192.1593 155.7753 236.649 192.1225 156.1868 236.57 192.1225 155.7753 236.57 192.1 156.1868 236.4858 192.1 155.7753 236.4858 192.0924 156.1868 236.399 192.0924 155.7753 236.399 192.1 156.1868 236.3122 192.1 155.7753 236.3122 192.1225 156.1868 236.228 192.1225 155.7753 236.228 192.1593 156.1868 236.149 192.1593 155.7753 236.149 192.2093 156.1868 236.0776 192.2093 155.7753 236.0776 192.271 156.1868 236.016 192.271 155.7753 236.016 192.3424 156.1868 235.966 192.3424 155.7753 235.966 192.4213 156.1868 235.9292 192.4213 155.7753 235.9292 192.5055 156.1868 235.9066 192.5055 155.7753 235.9066 192.5924 156.1868 235.899 192.5924 155.7753 235.899 192.6792 156.1868 235.9066 192.6792 155.7753 235.9066 192.7634 156.1868 235.9291 192.7634 155.7753 235.9291 192.8424 156.1868 235.966 192.8424 155.7753 235.966 192.9138 156.1868 236.016 192.9138 155.7753 236.016 192.9754 156.1868 236.0776 192.9754 155.7753 236.0776 193.0254 156.1868 236.149 193.0254 155.7753 236.149 193.0622 156.1868 236.228 193.0622 155.7753 236.228 193.0848 156.1868 236.3122 193.0848 155.7753 236.3122 175.3395 156.1868 217.342 175.2507 155.7753 217.4041 175.1753 156.1868 217.457 175.1753 155.7753 217.457 174.9936 156.1868 217.5417 174.9936 155.7753 217.5417 174.8 156.1868 217.5936 174.8 155.7753 217.5936 174.6003 156.1868 217.6111 174.6003 155.7753 217.6111 174.4006 156.1868 217.5936 174.4006 155.7753 217.5936 174.207 156.1868 217.5417 174.207 155.7753 217.5417 174.0253 156.1868 217.457 174.0253 155.7753 217.457 173.8611 156.1868 217.342 173.8611 155.7753 217.342 173.7193 156.1868 217.2003 173.7193 155.7753 217.2003 173.6044 156.1868 217.0361 173.6044 155.7753 217.0361 173.5754 156.1868 216.9739 173.5196 155.7753 216.8544 173.5196 156.1868 216.8544 173.4677 156.1868 216.6608 173.4677 155.7753 216.6608 173.4503 156.1868 216.4611 173.4503 155.7753 216.4611 173.4677 156.1868 216.2614 173.4677 155.7753 216.2614 173.4697 155.7753 216.254 173.5196 156.1868 216.0678 173.5196 155.7753 216.0678 173.5754 156.1868 215.9482 173.6043 155.7753 215.8861 173.6043 156.1868 215.8861 173.7193 156.1868 215.7219 173.7193 155.7753 215.7219 173.861 156.1868 215.5801 173.861 155.7753 215.5801 174.0252 156.1868 215.4651 174.0252 155.7753 215.4651 174.2069 156.1868 215.3804 174.2069 155.7753 215.3804 174.4006 156.1868 215.3285 174.4006 155.7753 215.3285 174.6002 156.1868 215.3111 174.6002 155.7753 215.3111 174.8 156.1868 215.3285 174.8 155.7753 215.3285 174.9936 156.1868 215.3804 174.9936 155.7753 215.3804 175.1753 156.1868 215.4651 175.1753 155.7753 215.4651 175.2507 155.7753 215.518 175.3395 156.1868 215.5801 175.3395 155.7753 215.5801 175.4812 156.1868 215.7218 175.4812 155.7753 215.7218 175.5962 156.1868 215.886 175.5962 155.7753 215.886 175.6809 156.1868 216.0677 175.6809 155.7753 216.0677 175.7308 155.7753 216.2539 175.7328 156.1868 216.2613 175.7328 155.7753 216.2613 175.7503 156.1868 216.4611 175.7503 155.7753 216.4611 175.7328 156.1868 216.6607 175.7328 155.7753 216.6607 175.6809 156.1868 216.8544 175.6809 155.7753 216.8544 175.5962 156.1868 217.0361 175.5962 155.7753 217.0361 175.4812 156.1868 217.2003 175.4812 155.7753 217.2003 175.3395 155.7753 217.342 200.7124 156.1868 236.3989 200.7124 155.7753 236.3989 200.7048 156.1868 236.4857 200.7048 155.7753 236.4857 200.6822 156.1868 236.5699 200.6822 155.7753 236.5699 200.6454 156.1868 236.6489 200.6454 155.7753 236.6489 200.5954 156.1868 236.7203 200.5954 155.7753 236.7203 200.5338 156.1868 236.7819 200.5338 155.7753 236.7819 200.4624 156.1868 236.8319 200.4624 155.7753 236.8319 200.3834 156.1868 236.8687 200.3834 155.7753 236.8687 200.2992 156.1868 236.8913 200.2992 155.7753 236.8913 200.2124 156.1868 236.8989 200.2124 155.7753 236.8989 200.1255 156.1868 236.8913 200.1255 155.7753 236.8913 200.0414 156.1868 236.8687 200.0414 155.7753 236.8687 199.9624 156.1868 236.8319 199.9624 155.7753 236.8319 199.891 156.1868 236.7819 199.891 155.7753 236.7819 199.8293 156.1868 236.7203 199.8293 155.7753 236.7203 199.7794 156.1868 236.6489 199.7794 155.7753 236.6489 199.7425 156.1868 236.5699 199.7425 155.7753 236.5699 199.72 156.1868 236.4857 199.72 155.7753 236.4857 199.7124 156.1868 236.3989 199.7124 155.7753 236.3989 199.72 156.1868 236.3121 199.72 155.7753 236.3121 199.7425 156.1868 236.2279 199.7425 155.7753 236.2279 199.7793 156.1868 236.1489 199.7793 155.7753 236.1489 199.8293 156.1868 236.0775 199.8293 155.7753 236.0775 199.891 156.1868 236.0159 199.891 155.7753 236.0159 199.9624 156.1868 235.9659 199.9624 155.7753 235.9659 200.0413 156.1868 235.929 200.0413 155.7753 235.929 200.1255 156.1868 235.9065 200.1255 155.7753 235.9065 200.2124 156.1868 235.8989 200.2124 155.7753 235.8989 200.2992 156.1868 235.9065 200.2992 155.7753 235.9065 200.3834 156.1868 235.929 200.3834 155.7753 235.929 200.4624 156.1868 235.9659 200.4624 155.7753 235.9659 200.5337 156.1868 236.0159 200.5337 155.7753 236.0159 200.5954 156.1868 236.0775 200.5954 155.7753 236.0775 200.6454 156.1868 236.1489 200.6454 155.7753 236.1489 200.6822 156.1868 236.2279 200.6822 155.7753 236.2279 200.7048 156.1868 236.3121 200.7048 155.7753 236.3121 196.9024 156.1868 236.3989 196.9024 155.7753 236.3989 196.8948 156.1868 236.4858 196.8948 155.7753 236.4858 196.8722 156.1868 236.5699 196.8722 155.7753 236.5699 196.8354 156.1868 236.6489 196.8354 155.7753 236.6489 196.7854 156.1868 236.7203 196.7854 155.7753 236.7203 196.7238 156.1868 236.782 196.7238 155.7753 236.782 196.6524 156.1868 236.832 196.6524 155.7753 236.832 196.5734 156.1868 236.8688 196.5734 155.7753 236.8688 196.4892 156.1868 236.8914 196.4892 155.7753 236.8914 196.4024 156.1868 236.8989 196.4024 155.7753 236.8989 196.3155 156.1868 236.8914 196.3155 155.7753 236.8914 196.2313 156.1868 236.8688 196.2313 155.7753 236.8688 196.1524 156.1868 236.832 196.1524 155.7753 236.832 196.081 156.1868 236.782 196.081 155.7753 236.782 196.0193 156.1868 236.7203 196.0193 155.7753 236.7203 195.9694 156.1868 236.649 195.9694 155.7753 236.649 195.9325 156.1868 236.57 195.9325 155.7753 236.57 195.91 156.1868 236.4858 195.91 155.7753 236.4858 195.9024 156.1868 236.399 195.9024 155.7753 236.399 195.91 156.1868 236.3121 195.91 155.7753 236.3121 195.9325 156.1868 236.2279 195.9325 155.7753 236.2279 195.9693 156.1868 236.149 195.9693 155.7753 236.149 196.0193 156.1868 236.0776 196.0193 155.7753 236.0776 196.081 156.1868 236.0159 196.081 155.7753 236.0159 196.1524 156.1868 235.9659 196.1524 155.7753 235.9659 196.2313 156.1868 235.9291 196.2313 155.7753 235.9291 196.3155 156.1868 235.9065 196.3155 155.7753 235.9065 196.4024 156.1868 235.899 196.4024 155.7753 235.899 196.4892 156.1868 235.9065 196.4892 155.7753 235.9065 196.5734 156.1868 235.9291 196.5734 155.7753 235.9291 196.6524 156.1868 235.9659 196.6524 155.7753 235.9659 196.7238 156.1868 236.0159 196.7238 155.7753 236.0159 196.7854 156.1868 236.0775 196.7854 155.7753 236.0775 196.8354 156.1868 236.1489 196.8354 155.7753 236.1489 196.8722 156.1868 236.2279 196.8722 155.7753 236.2279 196.8948 156.1868 236.3121 196.8948 155.7753 236.3121 167.4902 156.1868 213.7512 167.4902 155.7753 213.7512 167.4832 156.1868 213.8311 167.4832 155.7753 213.8311 167.4625 156.1868 213.9085 167.4625 155.7753 213.9085 167.4286 156.1868 213.9812 167.4286 155.7753 213.9812 167.3826 156.1868 214.0469 167.3826 155.7753 214.0469 167.3259 156.1868 214.1036 167.3259 155.7753 214.1036 167.2602 156.1868 214.1495 167.2602 155.7753 214.1495 167.1876 156.1868 214.1834 167.1876 155.7753 214.1834 167.1101 156.1868 214.2042 167.1101 155.7753 214.2042 167.0302 156.1868 214.2112 167.0302 155.7753 214.2112 166.9504 156.1868 214.2042 166.9504 155.7753 214.2042 166.8729 156.1868 214.1834 166.8729 155.7753 214.1834 166.8002 156.1868 214.1495 166.8002 155.7753 214.1495 166.7346 156.1868 214.1036 166.7346 155.7753 214.1036 166.6779 156.1868 214.0469 166.6779 155.7753 214.0469 166.6319 156.1868 213.9812 166.6319 155.7753 213.9812 166.598 156.1868 213.9085 166.598 155.7753 213.9085 166.5772 156.1868 213.8311 166.5772 155.7753 213.8311 166.5702 156.1868 213.7512 166.5702 155.7753 213.7512 166.5772 156.1868 213.6713 166.5772 155.7753 213.6713 166.598 156.1868 213.5939 166.598 155.7753 213.5939 166.6318 156.1868 213.5212 166.6318 155.7753 213.5212 166.6778 156.1868 213.4555 166.6778 155.7753 213.4555 166.7345 156.1868 213.3988 166.7345 155.7753 213.3988 166.8002 156.1868 213.3528 166.8002 155.7753 213.3528 166.8729 156.1868 213.3189 166.8729 155.7753 213.3189 166.9503 156.1868 213.2982 166.9503 155.7753 213.2982 167.0302 156.1868 213.2912 167.0302 155.7753 213.2912 167.1101 156.1868 213.2982 167.1101 155.7753 213.2982 167.1876 156.1868 213.3189 167.1876 155.7753 213.3189 167.2602 156.1868 213.3528 167.2602 155.7753 213.3528 167.3259 156.1868 213.3988 167.3259 155.7753 213.3988 167.3826 156.1868 213.4555 167.3826 155.7753 213.4555 167.4286 156.1868 213.5212 167.4286 155.7753 213.5212 167.4625 156.1868 213.5938 167.4625 155.7753 213.5938 167.4832 156.1868 213.6713 167.4832 155.7753 213.6713 169.4902 156.1868 213.7511 169.4902 155.7753 213.7511 169.4832 156.1868 213.831 169.4832 155.7753 213.831 169.4625 156.1868 213.9085 169.4625 155.7753 213.9085 169.4286 156.1868 213.9811 169.4286 155.7753 213.9811 169.3826 156.1868 214.0468 169.3826 155.7753 214.0468 169.3259 156.1868 214.1035 169.3259 155.7753 214.1035 169.2602 156.1868 214.1495 169.2602 155.7753 214.1495 169.1876 156.1868 214.1834 169.1876 155.7753 214.1834 169.1101 156.1868 214.2042 169.1101 155.7753 214.2042 169.0302 156.1868 214.2111 169.0302 155.7753 214.2111 168.9504 156.1868 214.2042 168.9504 155.7753 214.2042 168.8729 156.1868 214.1834 168.8729 155.7753 214.1834 168.8002 156.1868 214.1495 168.8002 155.7753 214.1495 168.7346 156.1868 214.1035 168.7346 155.7753 214.1035 168.6779 156.1868 214.0468 168.6779 155.7753 214.0468 168.6319 156.1868 213.9812 168.6319 155.7753 213.9812 168.598 156.1868 213.9085 168.598 155.7753 213.9085 168.5772 156.1868 213.831 168.5772 155.7753 213.831 168.5702 156.1868 213.7512 168.5702 155.7753 213.7512 168.5772 156.1868 213.6713 168.5772 155.7753 213.6713 168.598 156.1868 213.5938 168.598 155.7753 213.5938 168.6318 156.1868 213.5212 168.6318 155.7753 213.5212 168.6778 156.1868 213.4555 168.6778 155.7753 213.4555 168.7345 156.1868 213.3988 168.7345 155.7753 213.3988 168.8002 156.1868 213.3528 168.8002 155.7753 213.3528 168.8729 156.1868 213.3189 168.8729 155.7753 213.3189 168.9503 156.1868 213.2981 168.9503 155.7753 213.2981 169.0302 156.1868 213.2911 169.0302 155.7753 213.2911 169.1101 156.1868 213.2981 169.1101 155.7753 213.2981 169.1876 156.1868 213.3189 169.1876 155.7753 213.3189 169.2602 156.1868 213.3528 169.2602 155.7753 213.3528 169.3259 156.1868 213.3988 169.3259 155.7753 213.3988 169.3826 156.1868 213.4555 169.3826 155.7753 213.4555 169.4286 156.1868 213.5211 169.4286 155.7753 213.5211 169.4625 156.1868 213.5938 169.4625 155.7753 213.5938 169.4832 156.1868 213.6713 169.4832 155.7753 213.6713 164.8259 156.1868 214.1036 164.7969 155.7753 214.1239 164.7602 156.1868 214.1496 164.7602 155.7753 214.1496 164.6876 156.1868 214.1835 164.6876 155.7753 214.1835 164.6101 156.1868 214.2042 164.6101 155.7753 214.2042 164.5302 156.1868 214.2112 164.5302 155.7753 214.2112 164.4504 156.1868 214.2042 164.4504 155.7753 214.2042 164.3729 156.1868 214.1835 164.3729 155.7753 214.1835 164.3002 156.1868 214.1496 164.3002 155.7753 214.1496 164.2346 156.1868 214.1036 164.2346 155.7753 214.1036 164.1779 156.1868 214.0469 164.1779 155.7753 214.0469 164.1319 156.1868 213.9812 164.1319 155.7753 213.9812 164.098 156.1868 213.9085 164.098 155.7753 213.9085 164.0772 156.1868 213.8311 164.0772 155.7753 213.8311 164.0702 156.1868 213.7512 164.0702 155.7753 213.7512 164.0772 156.1868 213.6713 164.0772 155.7753 213.6713 164.098 156.1868 213.5939 164.098 155.7753 213.5939 164.1318 156.1868 213.5212 164.1318 155.7753 213.5212 164.1778 156.1868 213.4555 164.1778 155.7753 213.4555 164.2345 156.1868 213.3988 164.2345 155.7753 213.3988 164.3002 156.1868 213.3528 164.3002 155.7753 213.3528 164.3729 156.1868 213.319 164.3729 155.7753 213.319 164.4503 156.1868 213.2982 164.4503 155.7753 213.2982 164.5302 156.1868 213.2912 164.5302 155.7753 213.2912 164.6101 156.1868 213.2982 164.6101 155.7753 213.2982 164.6876 156.1868 213.319 164.6876 155.7753 213.319 164.7602 156.1868 213.3528 164.7602 155.7753 213.3528 164.7969 155.7753 213.3785 164.8259 156.1868 213.3988 164.8259 155.7753 213.3988 164.8826 156.1868 213.4555 164.8826 155.7753 213.4555 164.9286 156.1868 213.5212 164.9286 155.7753 213.5212 164.9625 156.1868 213.5939 164.9625 155.7753 213.5939 164.9832 156.1868 213.6713 164.9832 155.7753 213.6713 164.9902 156.1868 213.7512 164.9902 155.7753 213.7512 164.9832 156.1868 213.8311 164.9832 155.7753 213.8311 164.9625 156.1868 213.9085 164.9625 155.7753 213.9085 164.9286 156.1868 213.9812 164.9286 155.7753 213.9812 164.8826 156.1868 214.0469 164.8826 155.7753 214.0469 164.8259 155.7753 214.1036 161.66 156.1868 217.5938 161.5206 155.7753 217.606 161.4603 156.1868 217.6113 161.4603 155.7753 217.6113 161.2606 156.1868 217.5938 161.2606 155.7753 217.5938 161.067 156.1868 217.5419 161.067 155.7753 217.5419 160.8853 156.1868 217.4572 160.8853 155.7753 217.4572 160.7211 156.1868 217.3422 160.7211 155.7753 217.3422 160.5793 156.1868 217.2005 160.5793 155.7753 217.2005 160.4644 156.1868 217.0363 160.4644 155.7753 217.0363 160.3796 156.1868 216.8546 160.3796 155.7753 216.8546 160.3277 156.1868 216.661 160.3277 155.7753 216.661 160.3103 156.1868 216.4613 160.3103 155.7753 216.4613 160.3277 156.1868 216.2616 160.3277 155.7753 216.2616 160.3297 155.7753 216.2542 160.3796 156.1868 216.0679 160.3796 155.7753 216.0679 160.4643 156.1868 215.8863 160.4643 155.7753 215.8863 160.5793 156.1868 215.7221 160.5793 155.7753 215.7221 160.721 156.1868 215.5803 160.721 155.7753 215.5803 160.8852 156.1868 215.4653 160.8852 155.7753 215.4653 161.0669 156.1868 215.3806 161.0669 155.7753 215.3806 161.2606 156.1868 215.3287 161.2606 155.7753 215.3287 161.4602 156.1868 215.3113 161.4602 155.7753 215.3113 161.5206 155.7753 215.3165 161.66 156.1868 215.3287 161.66 155.7753 215.3287 161.8536 156.1868 215.3806 161.8536 155.7753 215.3806 162.0353 156.1868 215.4653 162.0353 155.7753 215.4653 162.1995 156.1868 215.5803 162.1995 155.7753 215.5803 162.3412 156.1868 215.722 162.3412 155.7753 215.722 162.4562 156.1868 215.8862 162.4562 155.7753 215.8862 162.5409 156.1868 216.0679 162.5409 155.7753 216.0679 162.5908 155.7753 216.2541 162.5928 156.1868 216.2615 162.5928 155.7753 216.2615 162.6103 156.1868 216.4612 162.6103 155.7753 216.4612 162.5928 156.1868 216.6609 162.5928 155.7753 216.6609 162.5409 156.1868 216.8546 162.5409 155.7753 216.8546 162.4562 156.1868 217.0362 162.4562 155.7753 217.0362 162.3412 156.1868 217.2005 162.3412 155.7753 217.2005 162.1995 156.1868 217.3422 162.1995 155.7753 217.3422 162.0353 156.1868 217.4572 162.0353 155.7753 217.4572 161.8536 156.1868 217.5419 161.8536 155.7753 217.5419 161.66 155.7753 217.5938 158.7269 156.1868 238.7039 158.6985 156.1868 238.2231 158.7269 155.7753 238.7039 158.6985 155.7753 238.2231 158.6984 155.7753 237.5033 158.6974 156.1868 231.6591 158.6972 155.7753 230.0238 158.6979 155.7753 234.5328 158.6981 156.1868 235.5066 158.6972 156.1868 229.9029 158.6971 156.1868 229.4729 158.6968 155.7753 227.6378 158.6969 156.1868 228.3986 158.6967 156.1868 227.1286 158.6962 155.7753 224.273 158.6962 156.1868 224.3439 158.6957 155.7753 221.1717 158.6959 156.1868 222.404 158.6955 156.1868 219.864 158.6953 156.1868 218.3176 158.6953 155.7753 218.5691 158.6952 155.7753 218.0226 158.6958 156.1868 221.3665 158.6957 156.1868 220.9365 158.6955 155.7753 219.8387 158.6954 155.7753 219.1656 158.6936 156.1868 208.028 158.6934 155.7753 206.7748 158.6936 156.1868 208.2655 158.6941 155.7753 210.9298 158.6941 156.1868 211.4608 158.6947 155.7753 214.7613 158.6949 155.7753 216.2542 158.6932 156.1868 205.8053 158.693 156.1868 204.5553 158.6927 155.7753 202.4439 158.6929 156.1868 203.623 158.6926 156.1868 202.2003 158.6924 156.1868 200.9428 158.692 155.7753 198.0285 158.6921 156.1868 198.8215 158.6914 155.7753 194.6032 158.6909 156.1868 191.6357 158.6911 155.7753 192.3915 158.691 155.7753 191.8665 158.6905 155.7753 189.1957 158.6905 156.1868 189.1957 158.69 155.7753 186.1036 158.6902 156.1868 186.9457 158.6899 155.7753 185.3436 158.6899 156.1868 185.3436 158.6898 156.1868 184.689 158.6894 155.7753 182.2557 158.6896 156.1868 183.3061 158.6894 156.1868 182.2557 158.6889 155.7753 179.4261 158.6889 156.1868 179.2571 158.6889 156.1868 178.9136 158.6885 155.7753 177.0123 158.6881 156.1868 174.2231 158.6881 155.7753 174.2231 158.6884 156.1868 176.2058 158.6887 156.1868 177.845 158.7259 156.1868 173.7423 158.7259 155.7753 173.7423 158.8385 156.1868 173.2734 158.8385 155.7753 173.2734 159.0231 156.1868 172.8278 159.0231 155.7753 172.8278 159.275 156.1868 172.4166 159.275 155.7753 172.4166 159.2711 156.1868 172.4231 159.5882 156.1868 172.0499 159.5882 155.7753 172.0499 159.9549 156.1868 171.7367 159.9549 155.7753 171.7367 160.3661 156.1868 171.4847 160.3661 155.7753 171.4847 160.8117 156.1868 171.3001 160.8117 155.7753 171.3001 161.2806 156.1868 171.1875 161.2806 155.7753 171.1875 161.7614 156.1868 171.1591 161.7614 155.7753 171.1591 161.52 155.7753 171.1734 175.2501 155.7753 171.1561 173.3502 155.7753 171.1566 173.5747 156.1868 171.1565 165.7796 156.1868 171.1582 165.6605 155.7753 171.1583 165.2289 155.7753 171.1584 166.5227 155.7753 171.1581 164.7963 155.7753 171.1585 163.6858 155.7753 171.1587 163.2758 155.7753 171.1588 170.0703 156.1868 171.1573 168.5112 155.7753 171.1576 167.8507 155.7753 171.1578 167.5212 155.7753 171.1579 182.0155 155.7753 171.1546 187.5366 156.1868 171.1534 187.5366 155.7753 171.1534 172.1164 155.7753 171.1568 170.8603 156.1868 171.1571 172.2587 155.7753 171.1568 173.1625 155.7753 171.1566 171.8201 155.7753 171.1569 170.5949 155.7753 171.1572 169.5547 155.7753 171.1574 187.5855 156.1868 171.1737 187.5855 155.7753 171.1737 187.6057 156.1868 171.2226 187.6057 155.7753 171.2226 187.5855 156.1868 171.2714 187.5855 155.7753 171.2714 187.5623 156.1868 171.2687 187.5623 155.7753 171.2687 187.5373 156.1868 171.282 187.5373 155.7753 171.282 186.2899 156.1868 172.0577 186.2899 155.7753 172.0577 185.0959 156.1868 172.9134 185.0959 155.7753 172.9134 185.7806 156.1868 172.4227 183.9604 156.1868 173.8453 183.9604 155.7753 173.8453 182.8882 156.1868 174.8495 182.8882 155.7753 174.8495 182.0156 155.7753 175.7812 181.8841 156.1868 175.9216 181.8841 155.7753 175.9216 181.6511 156.1868 176.2055 180.9893 155.7753 177.012 180.9522 156.1868 177.0572 180.9522 155.7753 177.0572 180.0966 155.7753 178.2512 180.3879 156.1868 177.8447 180.0966 156.1868 178.2512 179.3662 155.7753 179.4258 179.3209 156.1868 179.4987 179.3209 155.7753 179.4987 179.4713 156.1868 179.2568 179.6849 156.1868 178.9133 178.6284 156.1868 180.7942 178.6284 155.7753 180.7942 178.0222 156.1868 182.1323 178.0222 155.7753 182.1323 177.9758 155.7753 182.2554 177.5048 156.1868 183.5071 177.5048 155.7753 183.5071 177.5805 156.1868 183.3058 177.9758 156.1868 182.2554 177.0784 156.1868 184.9128 177.0784 155.7753 184.9128 177.1463 156.1868 184.6887 176.978 155.7753 185.3433 176.978 156.1868 185.3433 176.8008 155.7753 186.1033 176.7448 156.1868 186.3434 176.7448 155.7753 186.3434 176.5056 156.1868 187.7927 176.5056 155.7753 187.7927 176.6454 156.1868 186.9454 176.3616 156.1868 189.2546 176.3616 155.7753 189.2546 176.3674 156.1868 189.1954 176.3674 155.7753 189.1954 176.3136 156.1868 190.7228 176.3136 155.7753 190.7228 176.3616 156.1868 192.191 176.3616 155.7753 192.191 176.3435 156.1868 191.6354 176.351 155.7753 191.8662 176.3814 155.7753 192.3912 176.5057 156.1868 193.6529 176.5057 155.7753 193.6529 176.6625 155.7753 194.6029 176.745 156.1868 195.1022 176.745 155.7753 195.1022 177.0785 156.1868 196.5328 177.0785 155.7753 196.5328 177.505 156.1868 197.9385 177.505 155.7753 197.9385 177.8372 156.1868 198.8212 178.0225 156.1868 199.3133 178.0225 155.7753 199.3133 177.5388 155.7753 198.0282 178.6287 156.1868 200.6513 178.6287 155.7753 200.6513 179.3212 156.1868 201.9468 179.3212 155.7753 201.9468 178.7844 156.1868 200.9425 180.0969 156.1868 203.1943 180.0969 155.7753 203.1943 179.4786 156.1868 202.2 179.6301 155.7753 202.4436 180.9526 156.1868 204.3883 180.9526 155.7753 204.3883 180.4039 156.1868 203.6226 181.8845 156.1868 205.5238 181.8845 155.7753 205.5238 181.0894 156.1868 204.555 182.8887 156.1868 206.596 182.8887 155.7753 206.596 182.1478 156.1868 205.805 182.016 155.7753 205.6642 183.9609 156.1868 207.6001 183.9609 155.7753 207.6001 183.0792 155.7753 206.7744 184.4817 156.1868 208.0276 185.0964 155.7753 208.532 184.7712 156.1868 208.2651 185.0964 156.1868 208.532 186.2905 156.1868 209.3876 186.2905 155.7753 209.3876 187.5379 156.1868 210.1633 187.5379 155.7753 210.1633 188.8334 156.1868 210.8558 188.8334 155.7753 210.8558 188.9959 155.7753 210.9294 190.1678 156.1868 211.4603 190.1715 155.7753 211.462 190.1715 156.1868 211.462 191.5463 156.1868 211.9794 191.5463 155.7753 211.9794 190.687 156.1868 211.656 192.952 156.1868 212.4058 192.952 155.7753 212.4058 194.3826 156.1868 212.7394 194.3826 155.7753 212.7394 195.5614 155.7753 212.934 195.832 156.1868 212.9786 195.832 155.7753 212.9786 197.2939 156.1868 213.1226 197.2939 155.7753 213.1226 198.307 155.7753 213.1557 198.762 156.1868 213.1706 198.762 155.7753 213.1706 200.2302 156.1868 213.1226 200.2302 155.7753 213.1226 201.6921 156.1868 212.9785 201.6921 155.7753 212.9785 203.1414 156.1868 212.7392 203.1414 155.7753 212.7392 204.572 155.7753 212.4057 203.9742 156.1868 212.5451 204.572 156.1868 212.4057 205.9777 156.1868 211.9792 205.9777 155.7753 211.9792 205.9457 155.7753 211.9889 205.0457 155.7753 212.262 207.3526 156.1868 211.4617 207.3526 155.7753 211.4617 207.2726 155.7753 211.4918 206.3457 155.7753 211.8407 207.3562 156.1868 211.4601 208.5281 155.7753 210.9291 208.6906 156.1868 210.8555 208.6906 155.7753 210.8555 209.9861 155.7753 210.163 209.435 156.1868 210.4576 209.9861 156.1868 210.163 211.2335 156.1868 209.3873 211.2335 155.7753 209.3873 212.4275 156.1868 208.5316 212.4275 155.7753 208.5316 211.5214 155.7753 209.1809 212.7528 156.1868 208.2647 213.5631 155.7753 207.5997 213.0422 156.1868 208.0272 213.5631 156.1868 207.5997 214.4447 155.7753 206.774 214.6352 156.1868 206.5955 214.6352 155.7753 206.5955 215.6393 155.7753 205.5233 215.376 156.1868 205.8045 215.6393 156.1868 205.5233 216.5712 156.1868 204.3878 216.5712 155.7753 204.3878 216.4344 156.1868 204.5545 217.4268 155.7753 203.1937 217.1199 156.1868 203.6221 217.4268 156.1868 203.1937 218.2025 156.1868 201.9463 218.2025 155.7753 201.9463 218.0451 156.1868 202.1994 217.8937 155.7753 202.443 217.5947 156.1868 202.9238 218.895 155.7753 200.6508 218.7394 156.1868 200.9419 218.895 156.1868 200.6508 219.5012 156.1868 199.3127 219.5012 155.7753 199.3127 219.6864 156.1868 198.8206 219.9849 155.7753 198.0276 220.0186 156.1868 197.9379 220.0186 155.7753 197.9379 220.445 156.1868 196.5322 220.445 155.7753 196.5322 220.7786 156.1868 195.1016 220.7786 155.7753 195.1016 220.4616 156.1868 196.4611 221.0179 156.1868 193.6522 221.0179 155.7753 193.6522 220.861 155.7753 194.6023 221.1421 155.7753 192.3905 221.1618 156.1868 192.1903 221.1618 155.7753 192.1903 221.2099 156.1868 190.7222 221.2099 155.7753 190.7222 221.18 156.1868 191.6348 221.1725 155.7753 191.8656 221.1618 156.1868 189.254 221.1618 155.7753 189.254 221.0178 156.1868 187.7921 221.0178 155.7753 187.7921 221.1559 156.1868 189.1948 221.1559 155.7753 189.1948 220.7785 155.7753 186.3428 220.8779 156.1868 186.9448 220.7785 156.1868 186.3428 220.4449 156.1868 184.9122 220.4449 155.7753 184.9122 220.4615 156.1868 184.9833 220.5453 155.7753 185.3427 220.5453 156.1868 185.3427 220.7225 155.7753 186.1027 220.0184 156.1868 183.5065 220.0184 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171.2779 209.9374 156.1868 171.2711 209.9374 155.7753 171.2711 209.9171 156.1868 171.2222 209.9171 155.7753 171.2222 209.9374 156.1868 171.1733 209.9374 155.7753 171.1733 209.9896 156.1868 171.1584 209.9896 155.7753 171.1584 211.5208 155.7753 171.1579 217.5942 156.1868 171.1556 220.4613 156.1868 171.1545 226.9121 155.7753 171.1521 221.8198 156.1868 171.154 225.0942 156.1868 171.1528 227.3158 156.1868 171.1519 228.5077 155.7753 171.1515 235.7634 156.1868 171.1488 235.7634 155.7753 171.1488 234.2641 156.1868 171.1493 233.1768 155.7753 171.1497 231.8174 155.7753 171.1502 230.454 155.7753 171.1508 229.3744 155.7753 171.1512 236.2422 156.1868 171.1864 236.2422 155.7753 171.1864 236.7111 156.1868 171.299 236.7111 155.7753 171.299 236.7746 155.7753 171.3253 237.1567 156.1868 171.4836 237.1567 155.7753 171.4836 237.5609 155.7753 171.7312 237.5679 156.1868 171.7355 237.5679 155.7753 171.7355 237.9346 156.1868 172.0487 237.9346 155.7753 172.0487 238.2478 156.1868 172.4154 238.2478 155.7753 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222.8333 204.4405 156.9084 222.8333 204.4262 156.8984 222.8333 204.4139 156.8861 222.8333 204.4039 156.8718 222.8333 204.3965 156.856 222.8333 204.5361 156.9218 222.8333 204.5361 157.1218 222.8333 204.4905 157.1218 222.8333 204.4384 157.1172 222.8333 204.3879 157.1037 222.8333 204.3405 157.0816 222.8333 204.2977 157.0516 222.8333 204.2607 157.0146 222.8333 204.2307 156.9718 222.8333 204.2086 156.9244 222.8333 203.9743 156.1868 222.8333 204.5361 156.9218 221.9733 204.5361 157.1218 221.9733 204.4905 156.9218 221.9733 204.4905 157.1218 221.9733 204.4731 156.9203 221.9733 204.4384 157.1172 221.9733 204.4563 156.9158 221.9733 204.3879 157.1037 221.9733 204.4405 156.9084 221.9733 204.3405 157.0816 221.9733 204.4262 156.8984 221.9733 204.2976 157.0516 221.9733 204.4139 156.8861 221.9733 204.2607 157.0146 221.9733 204.4039 156.8718 221.9733 204.2307 156.9718 221.9733 204.3965 156.856 221.9733 204.2086 156.9244 221.9733 204.392 156.8392 221.9733 204.195 156.8739 221.9733 204.3207 156.4347 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204.8976 157.7014 218.7902 204.8924 157.7138 218.7984 204.9074 157.6775 218.7816 204.9031 157.688 218.7843 204.9074 157.7068 218.7926 204.9074 157.6896 218.7848 204.9074 157.7183 218.8006 204.903 157.7292 218.8103 204.9074 157.7211 218.8026 204.9074 157.7299 218.8114 204.9074 157.7334 218.8149 204.8992 157.7384 218.8219 204.9074 157.7434 218.8292 204.8961 157.7458 218.835 204.9074 157.7469 218.8366 204.8939 157.7512 218.8491 204.9074 157.7508 218.845 204.9074 157.7553 218.8618 204.8925 157.7545 218.8639 204.9074 157.7555 218.8647 204.8661 157.7358 218.8338 204.8638 157.7413 218.8483 204.8624 157.7447 218.8636 204.8771 157.7508 218.8636 204.8785 157.7474 218.8483 204.8808 157.7418 218.8338 204.884 157.7343 218.8205 204.8879 157.7248 218.8085 208.3387 157.6742 223.3874 208.2744 157.7508 223.3874 208.2773 157.7494 223.3874 208.2899 157.7435 223.3874 208.2979 157.738 223.3874 208.3023 157.735 223.3874 208.3045 157.7334 223.3874 208.3141 157.7238 223.3874 208.3168 157.7211 223.3874 208.3202 157.7163 223.3874 208.3248 157.7096 223.3874 208.3268 157.7068 223.3874 208.3332 157.6931 223.3874 208.3342 157.691 223.3874 208.2576 157.7553 223.3874 208.2525 157.7557 223.3874 208.3085 157.681 223.4563 208.319 157.6807 223.4441 208.32 157.6843 223.4409 208.338 157.6757 223.3965 208.3383 157.675 223.3924 208.3358 157.6834 223.3995 208.3067 157.7306 223.3993 208.2671 157.7524 223.3994 208.2538 157.7549 223.4015 208.2956 157.7381 223.4056 208.2913 157.7427 223.3913 208.3161 157.7218 223.392 208.32 157.7143 223.4052 208.3279 157.704 223.3965 208.3301 157.6949 223.4091 208.3283 157.6797 223.4288 208.3291 157.6794 223.4267 208.3301 157.6848 223.4211 208.3335 157.6782 223.4156 208.3345 157.678 223.4131 208.3358 157.6771 223.4069 208.3231 157.6803 223.4375 208.3221 157.6954 223.43 208.2792 157.6794 223.4765 208.2671 157.6852 223.4794 208.265 157.6779 223.482 208.2538 157.6877 223.4815 208.2528 157.6761 223.4844 208.2485 157.6755 223.4853 208.255 157.7513 223.4167 208.2557 157.7453 223.4312 208.2561 157.7372 223.4446 208.3221 157.7054 223.4179 208.2561 157.7272 223.4566 208.3101 157.7236 223.4129 208.3119 157.7149 223.4259 208.3119 157.7048 223.4379 208.3101 157.6936 223.4487 208.3065 157.6809 223.458 208.2557 157.7153 223.467 208.2985 157.7315 223.4196 208.2999 157.723 223.4327 208.2999 157.7129 223.4447 208.2985 157.7015 223.4553 208.2956 157.6889 223.4642 208.2955 157.6806 223.4673 208.293 157.6805 223.4687 208.2797 157.7483 223.396 208.283 157.7441 223.4107 208.2853 157.7378 223.4249 208.2864 157.7295 223.4382 208.2864 157.7194 223.4502 208.2853 157.7078 223.4607 208.283 157.6949 223.4693 208.2694 157.7486 223.4144 208.2709 157.7425 223.4288 208.2717 157.7343 223.4422 208.2717 157.7242 223.4542 208.2709 157.7125 223.4646 208.2694 157.6994 223.473 208.255 157.7021 223.4753 208.2827 157.6797 223.4748 208.4313 157.1218 223.5159 208.4253 157.1218 223.5303 208.417 157.1218 223.5435 208.4059 157.1218 223.5561 208.3669 157.1218 223.5792 208.3519 157.1218 223.5824 204.5369 156.9218 223.497 204.5377 157.1218 223.5013 204.5382 156.9218 223.5048 204.5394 156.9218 223.5098 204.5456 157.1218 223.5259 204.5529 156.9218 223.5393 204.5542 156.9218 223.5409 204.5629 156.9218 223.5515 204.5654 157.1218 223.554 204.5758 156.9218 223.5631 204.5786 157.1218 223.5651 204.5891 156.9218 223.5718 204.6182 156.9218 223.5818 204.6036 156.9218 223.5781 204.5935 156.9218 223.5737 208.4352 156.9218 218.7696 208.4339 156.9218 218.7618 208.432 156.9218 218.7543 208.4192 156.9218 218.7273 208.4092 156.9218 218.715 208.3963 156.9218 218.7035 208.383 156.9218 218.6948 208.3685 156.9218 218.6885 208.3539 156.9218 218.6848 204.6224 156.9218 218.6842 204.6251 156.9218 218.6838 204.6179 156.9218 218.6846 204.6145 156.9218 218.6854 204.607 156.9218 218.6873 204.6096 156.9218 218.6867 204.6034 156.9218 218.688 204.5921 156.9218 218.6928 204.5889 156.9218 218.6941 204.58 156.9218 218.7001 204.5758 156.9218 218.7024 204.5785 156.9218 218.7014 204.5678 156.9218 218.7102 204.5632 156.9218 218.7135 204.5655 156.9218 218.7127 204.5562 156.9218 218.723 204.5532 156.9218 218.7254 204.5476 156.9218 218.7363 204.5448 156.9218 218.7402 204.5412 156.9218 218.7508 204.5401 156.9218 218.7525 204.5397 156.9218 218.757 204.5375 156.9218 218.7654 204.5369 156.9218 218.7675 204.5367 156.9218 218.7739 204.6345 156.9218 218.6833 204.536 156.9218 218.7833 208.336 157.1218 218.6833 204.6345 157.1218 218.6833 208.4358 157.1218 218.7745 208.4344 157.1218 218.7653 208.4325 157.1218 218.7569 208.4265 157.1218 218.7407 208.4178 157.1218 218.7258 208.4067 157.1218 218.7126 208.3935 157.1218 218.7014 208.3786 157.1218 218.6928 208.3454 157.1218 218.6837 208.354 157.1218 218.6849 208.3624 157.1218 218.6868 208.3686 157.1218 218.688 208.3831 157.1218 218.694 208.3963 157.1218 218.7024 208.4088 157.1218 218.7134 208.4265 157.1218 218.7383 208.432 157.1218 218.7524 208.4351 157.1218 218.7675 204.536 157.1218 218.7833 204.5365 157.1218 218.7739 204.5373 157.1218 218.7652 204.5396 157.1218 218.7569 204.5408 157.1218 218.7507 204.5455 157.1218 218.7407 204.5468 157.1218 218.7362 204.5542 157.1218 218.7258 204.5551 157.1218 218.7231 204.5653 157.1218 218.7126 204.5661 157.1218 218.7105 204.5911 157.1218 218.6928 204.5785 157.1218 218.7015 204.6051 157.1218 218.6874 204.6091 157.1218 218.6865 204.6202 157.1218 218.6842 204.626 157.1218 218.6837 204.618 157.1218 218.6849 204.5934 157.1218 218.6928 209.3843 156.3868 230.0979 209.3843 156.1868 230.0979 208.8451 156.3868 230.0979 208.8451 156.1868 230.0979 208.8278 156.3883 230.0979 208.7931 156.1914 230.0979 208.811 156.3928 230.0979 208.7425 156.2049 230.0979 208.7951 156.4002 230.0979 208.6952 156.227 230.0979 208.7809 156.4102 230.0979 208.6523 156.257 230.0979 208.7686 156.4225 230.0979 208.6153 156.294 230.0979 208.7586 156.4368 230.0979 208.5854 156.3368 230.0979 208.7512 156.4526 230.0979 208.5632 156.3842 230.0979 208.7467 156.4694 230.0979 208.5497 156.4347 230.0979 208.6753 156.8739 230.0979 208.4784 156.8392 230.0979 208.6618 156.9244 230.0979 208.4739 156.856 230.0979 208.6397 156.9718 230.0979 208.4665 156.8718 230.0979 208.6097 157.0146 230.0979 208.4565 156.8861 230.0979 208.5727 157.0516 230.0979 208.4442 156.8984 230.0979 208.5299 157.0816 230.0979 208.4299 156.9084 230.0979 208.4825 157.1037 230.0979 208.4141 156.9158 230.0979 208.432 157.1172 230.0979 208.3973 156.9203 230.0979 208.3799 157.1218 230.0979 208.3799 156.9218 230.0979 208.3343 157.1218 230.0979 208.3343 156.9218 230.0979 208.7467 156.4694 230.5079 208.6754 156.8739 230.5079 208.8452 156.3868 230.5079 208.8278 156.3883 230.5079 208.811 156.3928 230.5079 208.7952 156.4002 230.5079 208.7809 156.4102 230.5079 208.7686 156.4225 230.5079 208.7586 156.4368 230.5079 208.7512 156.4526 230.5079 209.3843 156.3868 230.5079 209.3843 156.1868 230.5079 208.8452 156.1868 230.5079 208.7931 156.1914 230.5079 208.7425 156.2049 230.5079 208.6952 156.227 230.5079 208.6523 156.257 230.5079 208.6154 156.294 230.5079 208.5854 156.3368 230.5079 208.5633 156.3842 230.5079 208.5497 156.4347 230.5079 208.4784 156.8392 230.5079 208.3799 156.9218 230.5079 208.3973 156.9203 230.5079 208.4141 156.9158 230.5079 208.4299 156.9084 230.5079 208.4442 156.8984 230.5079 208.4565 156.8861 230.5079 208.4665 156.8718 230.5079 208.4739 156.856 230.5079 208.3343 156.9218 230.5079 208.3343 157.1218 230.5079 208.3799 157.1218 230.5079 208.432 157.1172 230.5079 208.4825 157.1037 230.5079 208.5299 157.0816 230.5079 208.5727 157.0516 230.5079 208.6097 157.0146 230.5079 208.6397 156.9718 230.5079 208.6618 156.9244 230.5079 203.3843 156.3868 229.238 203.3843 156.1868 229.238 203.9235 156.3868 229.2379 203.9235 156.1868 229.2379 203.9409 156.3883 229.2379 203.9756 156.1914 229.2379 203.9577 156.3928 229.2379 204.0261 156.2049 229.2379 203.9735 156.4002 229.2379 204.0735 156.227 229.2379 203.9878 156.4102 229.2379 204.1164 156.257 229.2379 204.0001 156.4225 229.2379 204.1533 156.294 229.2379 204.0101 156.4368 229.2379 204.1833 156.3368 229.2379 204.0175 156.4526 229.2379 204.2054 156.3842 229.2379 204.022 156.4694 229.2379 204.219 156.4347 229.2379 204.0933 156.8739 229.2379 204.2903 156.8392 229.2379 204.1069 156.9244 229.2379 204.2948 156.856 229.2379 204.1289 156.9718 229.2379 204.3022 156.8718 229.2379 204.1589 157.0146 229.2379 204.3122 156.8861 229.2379 204.1959 157.0516 229.2379 204.3245 156.8984 229.2379 204.2388 157.0816 229.2379 204.3388 156.9084 229.2379 204.2862 157.1037 229.2379 204.3546 156.9158 229.2379 204.3367 157.1172 229.2379 204.3714 156.9203 229.2379 204.3888 157.1218 229.2379 204.3888 156.9218 229.2379 204.4343 157.1218 229.2379 204.4343 156.9218 229.2379 204.022 156.4694 228.8279 204.0933 156.8739 228.8279 203.9235 156.3868 228.828 203.9409 156.3883 228.828 203.9577 156.3928 228.828 203.9735 156.4002 228.828 203.9878 156.4102 228.828 204.0001 156.4225 228.828 204.0101 156.4368 228.828 204.0175 156.4526 228.8279 203.3843 156.3868 228.828 203.3843 156.1868 228.828 203.9235 156.1868 228.828 203.9756 156.1914 228.828 204.0261 156.2049 228.8279 204.0735 156.227 228.8279 204.1163 156.257 228.8279 204.1533 156.294 228.8279 204.1833 156.3368 228.8279 204.2054 156.3842 228.8279 204.219 156.4347 228.8279 204.2903 156.8392 228.8279 204.3888 156.9218 228.8279 204.3714 156.9203 228.8279 204.3545 156.9158 228.8279 204.3388 156.9084 228.8279 204.3245 156.8984 228.8279 204.3121 156.8861 228.8279 204.3022 156.8718 228.8279 204.2948 156.856 228.8279 204.4343 156.9218 228.8279 204.4343 157.1218 228.8279 204.3888 157.1218 228.8279 204.3367 157.1172 228.8279 204.2861 157.1037 228.8279 204.2388 157.0816 228.8279 204.1959 157.0516 228.8279 204.1589 157.0146 228.8279 204.1289 156.9718 228.8279 204.1068 156.9244 228.8279 209.3843 156.3868 228.8279 209.3843 156.1868 228.8279 208.8451 156.3868 228.8279 208.8451 156.1868 228.8279 208.8278 156.3883 228.8279 208.793 156.1914 228.8279 208.8109 156.3928 228.8279 208.7425 156.2049 228.8279 208.7951 156.4002 228.8279 208.6951 156.227 228.8279 208.7808 156.4102 228.8279 208.6523 156.257 228.8279 208.7685 156.4225 228.8279 208.6153 156.294 228.8279 208.7585 156.4368 228.8279 208.5853 156.3368 228.8279 208.7512 156.4526 228.8279 208.5632 156.3842 228.8279 208.7467 156.4694 228.8279 208.5497 156.4347 228.8279 208.6753 156.8739 228.8279 208.4784 156.8392 228.8279 208.6618 156.9244 228.8279 208.4739 156.856 228.8279 208.6397 156.9718 228.8279 208.4665 156.8718 228.8279 208.6097 157.0146 228.8279 208.4565 156.8861 228.8279 208.5727 157.0516 228.8279 208.4442 156.8984 228.8279 208.5299 157.0816 228.8279 208.4299 156.9084 228.8279 208.4825 157.1037 228.8279 208.4141 156.9158 228.8279 208.432 157.1172 228.8279 208.3973 156.9203 228.8279 208.3799 157.1218 228.8279 208.3799 156.9218 228.8279 208.3343 157.1218 228.8279 208.3343 156.9218 228.8279 208.7467 156.4694 229.2379 208.6753 156.8739 229.2379 208.8451 156.3868 229.2379 208.8278 156.3883 229.2379 208.8109 156.3928 229.2379 208.7951 156.4002 229.2379 208.7809 156.4102 229.2379 208.7685 156.4225 229.2379 208.7585 156.4368 229.2379 208.7512 156.4526 229.2379 209.3843 156.3868 229.2379 209.3843 156.1868 229.2379 208.8451 156.1868 229.2379 208.793 156.1914 229.2379 208.7425 156.2049 229.2379 208.6951 156.227 229.2379 208.6523 156.257 229.2379 208.6153 156.294 229.2379 208.5853 156.3368 229.2379 208.5632 156.3842 229.2379 208.5497 156.4347 229.2379 208.4784 156.8392 229.2379 208.3799 156.9218 229.2379 208.3973 156.9203 229.2379 208.4141 156.9158 229.2379 208.4299 156.9084 229.2379 208.4442 156.8984 229.2379 208.4565 156.8861 229.2379 208.4665 156.8718 229.2379 208.4739 156.856 229.2379 208.3343 156.9218 229.2379 208.3343 157.1218 229.2379 208.3799 157.1218 229.2379 208.432 157.1172 229.2379 208.4825 157.1037 229.2379 208.5299 157.0816 229.2379 208.5727 157.0516 229.2379 208.6097 157.0146 229.2379 208.6397 156.9718 229.2379 208.6618 156.9244 229.2379 203.3843 156.3868 226.6979 203.3843 156.1868 226.6979 203.9235 156.3868 226.6979 203.9235 156.1868 226.6979 203.9408 156.3883 226.6979 203.9756 156.1914 226.6979 203.9577 156.3928 226.6979 204.0261 156.2049 226.6979 203.9735 156.4002 226.6979 204.0735 156.227 226.6979 203.9878 156.4102 226.6979 204.1163 156.257 226.6979 204.0001 156.4225 226.6979 204.1533 156.294 226.6979 204.0101 156.4368 226.6979 204.1833 156.3368 226.6979 204.0175 156.4526 226.6979 204.2054 156.3842 226.6979 204.022 156.4694 226.6979 204.2189 156.4347 226.6979 204.0933 156.8739 226.6979 204.2902 156.8392 226.6979 204.1068 156.9244 226.6979 204.2947 156.856 226.6979 204.1289 156.9718 226.6979 204.3021 156.8718 226.6979 204.1589 157.0146 226.6979 204.3121 156.8861 226.6979 204.1959 157.0516 226.6979 204.3244 156.8984 226.6979 204.2387 157.0816 226.6979 204.3387 156.9084 226.6979 204.2861 157.1037 226.6979 204.3545 156.9158 226.6979 204.3366 157.1172 226.6979 204.3714 156.9203 226.6979 204.3887 157.1218 226.6979 204.3887 156.9218 226.6979 204.4343 157.1218 226.6979 204.4343 156.9218 226.6979 204.022 156.4694 226.2879 204.0933 156.8739 226.2879 203.9235 156.3868 226.2879 203.9408 156.3883 226.2879 203.9577 156.3928 226.2879 203.9735 156.4002 226.2879 203.9878 156.4102 226.2879 204.0001 156.4225 226.2879 204.0101 156.4368 226.2879 204.0175 156.4526 226.2879 203.3843 156.3868 226.288 203.3843 156.1868 226.288 203.9235 156.1868 226.2879 203.9756 156.1914 226.2879 204.0261 156.2049 226.2879 204.0735 156.227 226.2879 204.1163 156.257 226.2879 204.1533 156.294 226.2879 204.1833 156.3368 226.2879 204.2054 156.3842 226.2879 204.2189 156.4347 226.2879 204.2902 156.8392 226.2879 204.3887 156.9218 226.2879 204.3713 156.9203 226.2879 204.3545 156.9158 226.2879 204.3387 156.9084 226.2879 204.3244 156.8984 226.2879 204.3121 156.8861 226.2879 204.3021 156.8718 226.2879 204.2947 156.856 226.2879 204.4343 156.9218 226.2879 204.4343 157.1218 226.2879 204.3887 157.1218 226.2879 204.3366 157.1172 226.2879 204.2861 157.1037 226.2879 204.2387 157.0816 226.2879 204.1959 157.0516 226.2879 204.1589 157.0146 226.2879 204.1289 156.9718 226.2879 204.1068 156.9244 226.2879 209.3843 156.3868 226.2879 209.3843 156.1868 226.2879 208.8451 156.3868 226.2879 208.8451 156.1868 226.2879 208.8277 156.3883 226.2879 208.793 156.1914 226.2879 208.8109 156.3928 226.2879 208.7425 156.2049 226.2879 208.7951 156.4002 226.2879 208.6951 156.227 226.2879 208.7808 156.4102 226.2879 208.6523 156.257 226.2879 208.7685 156.4225 226.2879 208.6153 156.294 226.2879 208.7585 156.4368 226.2879 208.5853 156.3368 226.2879 208.7511 156.4526 226.2879 208.5632 156.3842 226.2879 208.7466 156.4694 226.2879 208.5497 156.4347 226.2879 208.6753 156.8739 226.2879 208.4783 156.8392 226.2879 208.6618 156.9244 226.2879 208.4738 156.856 226.2879 208.6397 156.9718 226.2879 208.4665 156.8718 226.2879 208.6097 157.0146 226.2879 208.4565 156.8861 226.2879 208.5727 157.0516 226.2879 208.4441 156.8984 226.2879 208.5299 157.0816 226.2879 208.4299 156.9084 226.2879 208.4825 157.1037 226.2879 208.4141 156.9158 226.2879 208.432 157.1172 226.2879 208.3972 156.9203 226.2879 208.3799 157.1218 226.2879 208.3799 156.9218 226.2879 208.3343 157.1218 226.2879 208.3343 156.9218 226.2879 208.7466 156.4694 226.6979 208.6753 156.8739 226.6979 208.8451 156.3868 226.6979 208.8277 156.3883 226.6979 208.8109 156.3928 226.6979 208.7951 156.4002 226.6979 208.7808 156.4102 226.6979 208.7685 156.4225 226.6979 208.7585 156.4368 226.6979 208.7511 156.4526 226.6979 209.3843 156.3868 226.6979 209.3843 156.1868 226.6979 208.8451 156.1868 226.6979 208.793 156.1914 226.6979 208.7425 156.2049 226.6979 208.6951 156.227 226.6979 208.6523 156.257 226.6979 208.6153 156.294 226.6979 208.5853 156.3368 226.6979 208.5632 156.3842 226.6979 208.5497 156.4347 226.6979 208.4783 156.8392 226.6979 208.3799 156.9218 226.6979 208.3972 156.9203 226.6979 208.4141 156.9158 226.6979 208.4299 156.9084 226.6979 208.4441 156.8984 226.6979 208.4565 156.8861 226.6979 208.4665 156.8718 226.6979 208.4738 156.856 226.6979 208.3343 156.9218 226.6979 208.3343 157.1218 226.6979 208.3799 157.1218 226.6979 208.432 157.1172 226.6979 208.4825 157.1037 226.6979 208.5299 157.0816 226.6979 208.5727 157.0516 226.6979 208.6097 157.0146 226.6979 208.6397 156.9718 226.6979 208.6618 156.9244 226.6979 209.3843 156.3868 227.5579 209.3843 156.1868 227.5579 208.8451 156.3868 227.5579 208.8451 156.1868 227.5579 208.8278 156.3883 227.5579 208.793 156.1914 227.5579 208.8109 156.3928 227.5579 208.7425 156.2049 227.5579 208.7951 156.4002 227.5579 208.6951 156.227 227.5579 208.7808 156.4102 227.5579 208.6523 156.257 227.5579 208.7685 156.4225 227.5579 208.6153 156.294 227.5579 208.7585 156.4368 227.5579 208.5853 156.3368 227.5579 208.7511 156.4526 227.5579 208.5632 156.3842 227.5579 208.7466 156.4694 227.5579 208.5497 156.4347 227.5579 208.6753 156.8739 227.5579 208.4784 156.8392 227.5579 208.6618 156.9244 227.5579 208.4738 156.856 227.5579 208.6397 156.9718 227.5579 208.4665 156.8718 227.5579 208.6097 157.0146 227.5579 208.4565 156.8861 227.5579 208.5727 157.0516 227.5579 208.4441 156.8984 227.5579 208.5299 157.0816 227.5579 208.4299 156.9084 227.5579 208.4825 157.1037 227.5579 208.4141 156.9158 227.5579 208.432 157.1172 227.5579 208.3972 156.9203 227.5579 208.3799 157.1218 227.5579 208.3799 156.9218 227.5579 208.3343 157.1218 227.5579 208.3343 156.9218 227.5579 208.7466 156.4694 227.9679 208.6753 156.8739 227.9679 208.8451 156.3868 227.9679 208.8278 156.3883 227.9679 208.8109 156.3928 227.9679 208.7951 156.4002 227.9679 208.7808 156.4102 227.9679 208.7685 156.4225 227.9679 208.7585 156.4368 227.9679 208.7512 156.4526 227.9679 209.3843 156.3868 227.9679 209.3843 156.1868 227.9679 208.8451 156.1868 227.9679 208.793 156.1914 227.9679 208.7425 156.2049 227.9679 208.6951 156.227 227.9679 208.6523 156.257 227.9679 208.6153 156.294 227.9679 208.5853 156.3368 227.9679 208.5632 156.3842 227.9679 208.5497 156.4347 227.9679 208.4784 156.8392 227.9679 208.3799 156.9218 227.9679 208.3972 156.9203 227.9679 208.4141 156.9158 227.9679 208.4299 156.9084 227.9679 208.4442 156.8984 227.9679 208.4565 156.8861 227.9679 208.4665 156.8718 227.9679 208.4739 156.856 227.9679 208.3343 156.9218 227.9679 208.3343 157.1218 227.9679 208.3799 157.1218 227.9679 208.432 157.1172 227.9679 208.4825 157.1037 227.9679 208.5299 157.0816 227.9679 208.5727 157.0516 227.9679 208.6097 157.0146 227.9679 208.6397 156.9718 227.9679 208.6618 156.9244 227.9679 203.3843 156.3868 230.5079 203.3843 156.1868 230.5079 203.9235 156.3868 230.5079 203.9235 156.1868 230.5079 203.9409 156.3883 230.5079 203.9756 156.1914 230.5079 203.9577 156.3928 230.5079 204.0261 156.2049 230.5079 203.9735 156.4002 230.5079 204.0735 156.227 230.5079 203.9878 156.4102 230.5079 204.1164 156.257 230.5079 204.0001 156.4225 230.5079 204.1533 156.294 230.5079 204.0101 156.4368 230.5079 204.1833 156.3368 230.5079 204.0175 156.4526 230.5079 204.2054 156.3842 230.5079 204.022 156.4694 230.5079 204.219 156.4347 230.5079 204.0933 156.8739 230.5079 204.2903 156.8392 230.5079 204.1069 156.9244 230.5079 204.2948 156.856 230.5079 204.129 156.9718 230.5079 204.3022 156.8718 230.5079 204.159 157.0146 230.5079 204.3122 156.8861 230.5079 204.1959 157.0516 230.5079 204.3245 156.8984 230.5079 204.2388 157.0816 230.5079 204.3388 156.9084 230.5079 204.2862 157.1037 230.5079 204.3546 156.9158 230.5079 204.3367 157.1172 230.5079 204.3714 156.9203 230.5079 204.3888 157.1218 230.5079 204.3888 156.9218 230.5079 204.4344 157.1218 230.5079 204.4344 156.9218 230.5079 204.022 156.4694 230.0979 204.0933 156.8739 230.0979 203.9235 156.3868 230.0979 203.9409 156.3883 230.0979 203.9577 156.3928 230.0979 203.9735 156.4002 230.0979 203.9878 156.4102 230.0979 204.0001 156.4225 230.0979 204.0101 156.4368 230.0979 204.0175 156.4526 230.0979 203.3843 156.3868 230.098 203.3843 156.1868 230.098 203.9235 156.1868 230.0979 203.9756 156.1914 230.0979 204.0261 156.2049 230.0979 204.0735 156.227 230.0979 204.1164 156.257 230.0979 204.1533 156.294 230.0979 204.1833 156.3368 230.0979 204.2054 156.3842 230.0979 204.219 156.4347 230.0979 204.2903 156.8392 230.0979 204.3888 156.9218 230.0979 204.3714 156.9203 230.0979 204.3546 156.9158 230.0979 204.3388 156.9084 230.0979 204.3245 156.8984 230.0979 204.3122 156.8861 230.0979 204.3022 156.8718 230.0979 204.2948 156.856 230.0979 204.4343 156.9218 230.0979 204.4343 157.1218 230.0979 204.3888 157.1218 230.0979 204.3367 157.1172 230.0979 204.2862 157.1037 230.0979 204.2388 157.0816 230.0979 204.1959 157.0516 230.0979 204.159 157.0146 230.0979 204.129 156.9718 230.0979 204.1069 156.9244 230.0979 208.3343 156.9218 226.0479 208.2369 156.3694 226.1438 208.3337 156.9218 226.0385 208.2359 156.368 226.1346 208.333 156.9218 226.0298 208.2351 156.3669 226.1277 208.3309 156.9218 226.0214 208.2324 156.3657 226.1182 208.3296 156.9218 226.0152 208.2304 156.3648 226.1112 208.3251 156.9218 226.0052 208.2262 156.3641 226.1025 208.3235 156.9218 226.0008 208.2229 156.3634 226.0956 208.3162 156.9218 225.9903 208.2174 156.363 226.088 208.3152 156.9218 225.9876 208.2129 156.3627 226.0815 208.3049 156.9218 225.9773 208.2064 156.3627 226.0751 208.3041 156.9218 225.9751 208.2006 156.3627 226.0693 208.2917 156.9218 225.9662 208.1934 156.3631 226.0642 208.1865 156.3634 226.0593 208.2792 156.9218 225.9573 208.2768 156.9218 225.9575 208.1789 156.3641 226.0556 208.2651 156.9218 225.9519 208.171 156.3648 226.0518 208.2606 156.9218 225.9515 208.1631 156.3658 226.0495 208.2501 156.9218 225.9488 208.1545 156.3669 226.0471 208.2437 156.9218 225.9486 208.1466 156.3682 226.0462 208.1384 156.3694 226.0453 208.2343 156.9218 225.9479 204.5328 156.9218 225.9479 204.6302 156.3694 226.0453 204.5234 156.9218 225.9484 204.621 156.368 226.046 204.6176 156.3675 226.0467 204.5162 156.9218 225.9492 204.6045 156.3657 226.0495 204.5053 156.9218 225.9519 204.5016 156.9218 225.9527 204.5906 156.3625 226.0552 204.4904 156.9218 225.9574 204.5876 156.3639 226.0564 204.4872 156.9218 225.9587 204.474 156.9218 225.967 204.5774 156.3632 226.0625 204.5742 156.3629 226.0645 204.5634 156.3627 226.0736 204.4615 156.9218 225.9781 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156.3368 226.1438 204.5906 156.2953 226.1352 204.596 156.2928 226.1438 204.6033 156.2913 226.1318 204.6055 156.2903 226.1438 204.6128 156.2883 226.1438 204.6165 156.2888 226.1297 204.6179 156.2879 226.1438 204.6302 156.2879 226.129 204.6302 156.2868 226.1438 204.6302 156.3527 226.05 204.6154 156.3415 226.0559 204.6302 156.3406 226.0551 204.6302 156.3369 226.0574 204.6146 156.3283 226.0642 204.6302 156.3273 226.0634 204.6302 156.3227 226.0674 204.6142 156.3165 226.0746 204.6302 156.3155 226.0737 204.6302 156.3104 226.0797 204.6142 156.3064 226.0866 204.5483 156.3382 226.1132 204.5503 156.3293 226.126 204.5536 156.3225 226.1438 204.6302 156.3054 226.0857 204.6302 156.3005 226.094 204.6146 156.2983 226.1 204.5585 156.3388 226.0933 204.5585 156.3287 226.1053 204.5602 156.3201 226.1183 204.5637 156.3131 226.1319 204.5681 156.3087 226.1438 204.5748 156.3547 226.067 204.5719 156.3422 226.0759 204.5704 156.3307 226.0865 204.5704 156.3206 226.0985 204.5719 156.3122 226.1116 204.5748 156.3056 226.1256 204.5851 156.3358 226.0706 204.584 156.3242 226.081 204.584 156.3141 226.093 204.5851 156.3058 226.1063 204.5874 156.2995 226.1205 204.6032 156.3584 226.0518 204.601 156.3442 226.0582 204.5995 156.3311 226.0666 204.5987 156.3194 226.077 204.5987 156.3093 226.089 204.5995 156.3011 226.1024 204.601 156.2951 226.1168 204.6154 156.2924 226.1145 204.6302 156.2973 226.0992 204.6302 156.2931 226.1097 204.6302 156.2914 226.1137 204.6302 156.2885 226.1265 208.1384 156.3573 226.0485 208.1384 156.3526 226.0498 208.1384 156.3368 226.0572 208.1384 156.3323 226.0603 208.1384 156.3282 226.0632 208.1384 156.3225 226.0672 208.1384 156.3195 226.0702 208.1384 156.3102 226.0795 208.1384 156.3067 226.0844 208.1384 156.3002 226.0938 208.1384 156.2969 226.1009 208.1384 156.2868 226.1438 208.1384 156.2879 226.1315 208.1384 156.2883 226.1264 208.1384 156.2896 226.1218 208.1384 156.2928 226.1096 208.1384 156.2938 226.1074 208.219 156.3282 226.1438 208.2214 156.3311 226.1413 208.2218 156.3323 226.1438 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156.3081 226.0945 208.1877 156.3081 226.1067 208.1984 156.3104 226.1201 208.2027 156.3102 226.1438 208.1705 156.3213 226.0753 208.1841 156.3193 226.0858 208.1963 156.3193 226.0981 208.2068 156.3213 226.1117 208.2153 156.3253 226.1262 208.1625 156.3372 226.0603 208.1775 156.334 226.0684 208.1913 156.3324 226.0786 208.2035 156.3324 226.0909 208.2138 156.334 226.1047 208.2218 156.3372 226.1197 208.2269 156.3505 226.1146 208.1385 156.3195 230.7256 208.1385 156.3225 230.7286 204.6302 156.3227 230.7284 208.1385 156.3694 230.7505 204.6302 156.3694 230.7505 208.1385 156.3573 230.7472 204.6302 156.3551 230.7469 208.1385 156.3526 230.746 204.6302 156.3369 230.7384 208.1385 156.3368 230.7386 204.6302 156.3406 230.7407 204.6302 156.3527 230.7459 204.6302 156.3273 230.7324 208.1385 156.3282 230.7326 208.1385 156.3323 230.7354 208.1385 156.3102 230.7163 204.6302 156.3155 230.7221 204.6302 156.3104 230.7161 204.6302 156.2973 230.6967 208.1385 156.2969 230.6948 204.6302 156.3005 230.7019 208.1385 156.3002 230.702 204.6302 156.3054 230.7101 208.1385 156.3073 230.7122 208.1385 156.2883 230.6694 208.1385 156.2896 230.674 204.6302 156.2931 230.6862 208.1385 156.2928 230.6862 208.1385 156.2938 230.6883 204.6302 156.2868 230.6521 208.1385 156.2868 230.652 204.6302 156.2879 230.6669 208.1385 156.2879 230.6642 204.6302 156.2885 230.6694 204.6302 156.2914 230.6821 208.1409 156.3311 230.735 208.1481 156.3151 230.721 208.1435 156.2884 230.6693 208.1507 156.2879 230.652 208.2251 156.3368 230.652 208.2324 156.3526 230.652 208.2274 156.3419 230.6604 208.2337 156.3573 230.652 208.2369 156.3694 230.652 208.236 156.3682 230.6602 208.232 156.354 230.665 208.2219 156.3323 230.652 208.219 156.3282 230.652 208.2215 156.3311 230.6544 208.2151 156.3225 230.652 208.2153 156.3253 230.6695 208.2121 156.3195 230.652 208.1978 156.3067 230.652 208.2028 156.3102 230.652 208.2075 156.3151 230.6616 208.1885 156.3002 230.652 208.1889 156.3016 230.6661 208.1813 156.2969 230.652 208.1748 156.2938 230.652 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193.396 169.3863 155.3253 193.402 169.0355 155.3253 193.4004 169.0306 155.3253 193.3939 169.0267 155.3253 193.3863 169.1339 155.3253 193.2981 169.0247 155.3253 193.3802 169.2913 155.3253 192.9947 169.2782 155.3253 193.1481 169.2566 155.3253 193.147 169.2531 155.3253 192.9926 169.2424 155.3253 192.9974 169.179 155.3253 193.0837 169.1789 155.3253 193.0808 169.401 155.3253 193.0726 169.3217 155.3253 193.0001 169.3574 155.3253 193.1384 169.3334 155.3253 193.1443 169.2875 155.3253 193.148 169.1802 155.3253 193.0664 169.1833 155.3253 193.0546 169.1882 155.3253 193.0434 169.237 155.3253 193.1434 169.2229 155.3253 193.1386 169.2111 155.3253 193.1325 169.1864 155.3253 193.1084 169.1827 155.3253 193.1009 169.1801 155.3253 193.0923 169.3966 155.3253 193.0537 169.3624 155.3253 193.0169 169.3923 155.3253 193.0454 169.3764 155.3253 193.0271 169.3859 155.3253 193.0366 169.4011 155.3253 193.0762 169.4003 155.3253 193.0878 169.3982 155.3253 193.0977 169.1959 155.3253 193.0314 169.2039 155.3253 193.0225 169.2175 155.3253 193.0116 169.345 155.3253 193.0079 169.3997 155.3253 193.0632 169.1999 155.3253 193.1242 169.1917 155.3253 193.1159 169.3949 155.3253 193.1064 169.3902 155.3253 193.1145 169.384 155.3253 193.122 169.3766 155.3253 193.1285 169.3681 155.3253 193.1338 169.0886 155.3253 192.8287 169.2065 155.3253 192.6926 169.1334 155.3253 192.8379 169.211 155.3253 192.8426 169.211 155.3253 192.6926 169.2808 155.3253 192.6965 169.3323 155.3253 192.7074 169.3566 155.3253 192.7169 169.3744 155.3253 192.727 169.3839 155.3253 192.7343 169.3626 155.3253 192.818 169.3374 155.3253 192.8278 169.2923 155.3253 192.8376 169.3984 155.3253 192.784 169.4002 155.3253 192.7778 169.4011 155.3253 192.7687 169.0667 155.3253 192.8211 169.051 155.3253 192.8131 169.0416 155.3253 192.8063 169.0241 155.3253 192.761 169.0256 155.3253 192.7555 169.0233 155.3253 192.7687 169.0286 155.3253 192.7491 169.0236 155.3253 192.7733 169.0325 155.3253 192.7432 169.0394 155.3253 192.7357 169.0496 155.3253 192.7277 169.0626 155.3253 192.72 169.0907 155.3253 192.7083 169.3908 155.3253 192.7415 169.3953 155.3253 192.7479 169.3983 155.3253 192.7539 169.4 155.3253 192.7592 169.4009 155.3253 192.7652 169.3766 155.3253 192.8099 169.3957 155.3253 192.7898 169.3917 155.3253 192.796 169.3863 155.3253 192.802 169.0355 155.3253 192.8004 169.0306 155.3253 192.7939 169.0267 155.3253 192.7863 169.1339 155.3253 192.6981 169.0247 155.3253 192.7802 169.211 155.3353 193.2926 169.2065 155.3353 193.2926 169.1339 155.3353 193.2981 169.0907 155.3353 193.3083 169.0627 155.3353 193.32 169.0496 155.3353 193.3277 169.0394 155.3353 193.3357 169.0325 155.3353 193.3432 169.0286 155.3353 193.3491 169.0256 155.3353 193.3554 169.0241 155.3353 193.361 169.0234 155.3353 193.3687 169.4011 155.3353 193.3687 169.4009 155.3353 193.3652 169.4 155.3353 193.3592 169.3983 155.3353 193.3539 169.3953 155.3353 193.3479 169.3908 155.3353 193.3415 169.3839 155.3353 193.3343 169.3744 155.3353 193.3269 169.3566 155.3353 193.3169 169.3323 155.3353 193.3074 169.2808 155.3353 193.2965 169.211 155.3353 193.4426 169.2923 155.3353 193.4376 169.3374 155.3353 193.4278 169.3626 155.3353 193.418 169.3766 155.3353 193.4098 169.3863 155.3353 193.402 169.3917 155.3353 193.396 169.3957 155.3353 193.3898 169.3984 155.3353 193.384 169.4002 155.3353 193.3778 169.0236 155.3353 193.3733 169.0247 155.3353 193.3802 169.0267 155.3353 193.3863 169.0306 155.3353 193.3939 169.0355 155.3353 193.4004 169.0417 155.3353 193.4063 169.051 155.3353 193.4131 169.0667 155.3353 193.4211 169.0886 155.3353 193.4287 169.1334 155.3353 193.4379 169.4011 155.3353 193.0762 169.401 155.3353 193.0726 169.3997 155.3353 193.0632 169.3966 155.3353 193.0537 169.3923 155.3353 193.0454 169.3859 155.3353 193.0366 169.3764 155.3353 193.0271 169.3624 155.3353 193.0169 169.345 155.3353 193.0079 169.3217 155.3353 193.0001 169.2913 155.3353 192.9947 169.2531 155.3353 192.9926 169.2782 155.3353 193.1481 169.2875 155.3353 193.148 169.3334 155.3353 193.1443 169.3574 155.3353 193.1384 169.3681 155.3353 193.1338 169.3766 155.3353 193.1285 169.384 155.3353 193.122 169.3902 155.3353 193.1145 169.3949 155.3353 193.1064 169.3982 155.3353 193.0977 169.4003 155.3353 193.0878 169.1789 155.3353 193.0808 169.179 155.3353 193.0837 169.1801 155.3353 193.0923 169.1827 155.3353 193.1009 169.1864 155.3353 193.1084 169.1917 155.3353 193.1159 169.1999 155.3353 193.1242 169.2111 155.3353 193.1325 169.2229 155.3353 193.1386 169.237 155.3353 193.1434 169.2566 155.3353 193.147 169.2424 155.3353 192.9974 169.2175 155.3353 193.0116 169.2039 155.3353 193.0225 169.1959 155.3353 193.0314 169.1882 155.3353 193.0434 169.1833 155.3353 193.0546 169.1802 155.3353 193.0664 169.4011 155.3353 192.7687 169.4009 155.3353 192.7652 169.4 155.3353 192.7592 169.3983 155.3353 192.7539 169.3953 155.3353 192.7479 169.3908 155.3353 192.7415 169.3839 155.3353 192.7343 169.3744 155.3353 192.727 169.3566 155.3353 192.7169 169.3323 155.3353 192.7074 169.2808 155.3353 192.6965 169.211 155.3353 192.6926 169.211 155.3353 192.8426 169.2923 155.3353 192.8376 169.3374 155.3353 192.8278 169.3626 155.3353 192.818 169.3766 155.3353 192.8099 169.3863 155.3353 192.802 169.3917 155.3353 192.796 169.3957 155.3353 192.7898 169.3984 155.3353 192.784 169.4002 155.3353 192.7778 169.0233 155.3353 192.7687 169.0236 155.3353 192.7733 169.0247 155.3353 192.7802 169.0267 155.3353 192.7863 169.0306 155.3353 192.7939 169.0355 155.3353 192.8004 169.0416 155.3353 192.8063 169.051 155.3353 192.8131 169.0667 155.3353 192.8211 169.0886 155.3353 192.8287 169.1334 155.3353 192.8379 169.2065 155.3353 192.6926 169.1339 155.3353 192.6981 169.0907 155.3353 192.7083 169.0626 155.3353 192.72 169.0496 155.3353 192.7277 169.0394 155.3353 192.7357 169.0325 155.3353 192.7432 169.0286 155.3353 192.7491 169.0256 155.3353 192.7555 169.0241 155.3353 192.761 169.4178 155.3353 193.3687 169.0169 155.3353 193.4098 169.0115 155.3353 193.3974 169.4163 155.3353 193.3524 169.0081 155.3353 193.3847 169.0067 155.3353 193.3687 169.007 155.3353 193.3617 169.0089 155.3353 193.3484 169.0128 155.3353 193.3356 169.0184 155.3353 193.3241 169.0269 155.3353 193.312 169.04 155.3353 193.2984 169.058 155.3353 193.2849 169.0829 155.3353 193.2714 169.1177 155.3353 193.2591 169.1593 155.3353 193.2511 169.211 155.3353 193.2481 169.22 155.3353 193.2482 169.2829 155.3353 193.2537 169.3241 155.3353 193.2641 169.3459 155.3353 193.273 169.3675 155.3353 193.2853 169.3864 155.3353 193.3004 169.3984 155.3353 193.3134 169.4079 155.3353 193.328 169.4129 155.3353 193.3395 169.2041 155.3353 193.4869 169.2645 155.3353 193.4841 169.211 155.3353 193.487 169.0247 155.3353 193.4217 169.0357 155.3353 193.4341 169.053 155.3353 193.4482 169.0778 155.3353 193.4627 169.0998 155.3353 193.4715 169.1418 155.3353 193.4818 169.4175 155.3353 193.3754 169.4156 155.3353 193.3882 169.4118 155.3353 193.4006 169.4062 155.3353 193.4118 169.3978 155.3353 193.4239 169.3837 155.3353 193.4381 169.3648 155.3353 193.452 169.3399 155.3353 193.4651 169.3071 155.3353 193.4761 169.3583 155.3353 192.9737 169.4015 155.3353 193.1315 169.1212 155.3353 192.999 169.1759 155.3353 192.9509 169.2107 155.3353 192.9926 169.2299 155.3353 192.9481 169.2179 155.3353 192.9926 169.0093 155.3353 193.066 169.0146 155.3353 193.0475 169.0326 155.3353 193.052 169.0138 155.3353 193.1287 169.0103 155.3353 193.1195 169.0274 155.3353 193.1131 169.029 155.3353 193.1156 169.0308 155.3353 193.1176 169.0194 155.3353 193.1382 169.3446 155.3353 192.9671 169.3144 155.3353 192.9572 169.2664 155.3353 192.9495 169.0395 155.3353 193.0413 169.0232 155.3353 193.0298 169.0494 155.3353 193.0299 169.0344 155.3353 193.0139 169.0616 155.3353 193.0196 169.0487 155.3353 192.9993 169.0712 155.3353 193.0137 169.0686 155.3353 192.9844 169.0876 155.3353 193.007 169.0959 155.3353 192.9703 169.1302 155.3353 192.959 169.0276 155.3353 193.0634 169.0246 155.3353 193.0749 169.0069 155.3353 193.0856 169.0233 155.3353 193.0896 169.0067 155.3353 193.0933 169.0235 155.3353 193.0947 169.0075 155.3353 193.1065 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155.3353 193.1205 169.07 155.3353 193.1212 169.0735 155.3353 193.1223 169.076 155.3353 193.1235 169.078 155.3353 193.1249 169.279 155.3353 193.187 169.3055 155.3353 193.1857 169.3303 155.3353 193.1814 169.0798 155.3353 193.1266 169.0813 155.3353 193.1287 169.2016 155.3353 193.0014 169.1891 155.3353 193.0107 169.1779 155.3353 193.0224 169.1695 155.3353 193.0348 169.1629 155.3353 193.0488 169.1588 155.3353 193.0627 169.1569 155.3353 193.0782 169.1567 155.3353 193.0829 169.1577 155.3353 193.1003 169.1608 155.3353 193.116 169.1652 155.3353 193.1287 169.1714 155.3353 193.1399 169.1793 155.3353 193.1502 169.1885 155.3353 193.1585 169.2032 155.3353 193.168 169.2251 155.3353 193.178 169.2484 155.3353 193.1843 169.0774 155.3353 193.1596 169.0833 155.3353 193.1508 169.0794 155.3353 193.1579 169.082 155.3353 193.1541 169.0808 155.3353 193.1562 169.0841 155.3353 193.1472 169.0747 155.3353 193.1614 169.4178 155.3353 192.7687 169.0169 155.3353 192.8098 169.0114 155.3353 192.7974 169.4163 155.3353 192.7524 169.0081 155.3353 192.7847 169.0067 155.3353 192.7687 169.007 155.3353 192.7617 169.0089 155.3353 192.7484 169.0128 155.3353 192.7356 169.0184 155.3353 192.7241 169.0269 155.3353 192.712 169.04 155.3353 192.6984 169.058 155.3353 192.6849 169.0829 155.3353 192.6714 169.1177 155.3353 192.6591 169.1593 155.3353 192.6511 169.211 155.3353 192.6481 169.22 155.3353 192.6482 169.2829 155.3353 192.6537 169.3241 155.3353 192.6641 169.3459 155.3353 192.673 169.3675 155.3353 192.6853 169.3864 155.3353 192.7004 169.3984 155.3353 192.7134 169.4079 155.3353 192.728 169.4129 155.3353 192.7395 169.2041 155.3353 192.8869 169.2645 155.3353 192.884 169.211 155.3353 192.887 169.0247 155.3353 192.8217 169.0357 155.3353 192.8341 169.053 155.3353 192.8482 169.0778 155.3353 192.8627 169.0997 155.3353 192.8715 169.1418 155.3353 192.8818 169.4175 155.3353 192.7754 169.4156 155.3353 192.7882 169.4117 155.3353 192.8006 169.4062 155.3353 192.8118 169.3978 155.3353 192.8239 169.3837 155.3353 192.8381 169.3648 155.3353 192.852 169.3399 155.3353 192.865 169.3071 155.3353 192.8761 169.4178 155.3253 193.3687 169.4175 155.3253 193.3754 169.4156 155.3253 193.3882 169.4118 155.3253 193.4006 169.4062 155.3253 193.4118 169.3978 155.3253 193.4239 169.3837 155.3253 193.4381 169.3648 155.3253 193.452 169.3399 155.3253 193.4651 169.3071 155.3253 193.4761 169.2645 155.3253 193.4841 169.211 155.3253 193.487 169.057 155.3253 193.1648 169.052 155.3253 193.1641 169.0481 155.3253 193.163 169.0437 155.3253 193.1609 169.0375 155.3253 193.1567 169.0261 155.3253 193.1464 169.0194 155.3253 193.1382 169.0138 155.3253 193.1287 169.0103 155.3253 193.1195 169.0075 155.3253 193.1065 169.0067 155.3253 193.0933 169.211 155.3253 193.2481 169.22 155.3253 193.2482 169.2829 155.3253 193.2537 169.3241 155.3253 193.2641 169.3459 155.3253 193.273 169.3675 155.3253 193.2853 169.3864 155.3253 193.3004 169.3984 155.3253 193.3134 169.4079 155.3253 193.328 169.4129 155.3253 193.3395 169.4163 155.3253 193.3524 169.2041 155.3253 193.4869 169.1418 155.3253 193.4818 169.0998 155.3253 193.4715 169.0778 155.3253 193.4627 169.053 155.3253 193.4482 169.0357 155.3253 193.4341 169.0247 155.3253 193.4217 169.0169 155.3253 193.4098 169.0115 155.3253 193.3974 169.0081 155.3253 193.3847 169.0067 155.3253 193.3687 169.0845 155.3253 193.1415 169.0841 155.3253 193.1472 169.0833 155.3253 193.1508 169.082 155.3253 193.1541 169.0808 155.3253 193.1562 169.0794 155.3253 193.1579 169.0774 155.3253 193.1596 169.0747 155.3253 193.1614 169.0716 155.3253 193.1627 169.0674 155.3253 193.1639 169.0628 155.3253 193.1645 169.279 155.3253 193.187 169.2484 155.3253 193.1843 169.2251 155.3253 193.178 169.2032 155.3253 193.168 169.1885 155.3253 193.1585 169.1793 155.3253 193.1502 169.1714 155.3253 193.1399 169.1652 155.3253 193.1287 169.1608 155.3253 193.116 169.1577 155.3253 193.1003 169.1567 155.3253 193.0829 169.2299 155.3253 192.9481 169.2664 155.3253 192.9495 169.3144 155.3253 192.9572 169.3446 155.3253 192.9671 169.3583 155.3253 192.9737 169.3743 155.3253 192.9839 169.3871 155.3253 192.9949 169.398 155.3253 193.0078 169.4069 155.3253 193.0229 169.4126 155.3253 193.0379 169.4164 155.3253 193.0552 169.4178 155.3253 193.0757 169.0618 155.3253 193.1203 169.0652 155.3253 193.1205 169.07 155.3253 193.1212 169.0735 155.3253 193.1223 169.076 155.3253 193.1235 169.078 155.3253 193.1249 169.0798 155.3253 193.1266 169.0813 155.3253 193.1287 169.0828 155.3253 193.1315 169.0837 155.3253 193.1342 169.0842 155.3253 193.1377 169.0233 155.3253 193.0896 169.0235 155.3253 193.0947 169.0244 155.3253 193.104 169.0258 155.3253 193.1095 169.0274 155.3253 193.1131 169.029 155.3253 193.1156 169.0308 155.3253 193.1176 169.0332 155.3253 193.1196 169.0356 155.3253 193.121 169.0379 155.3253 193.1219 169.0405 155.3253 193.1224 169.0437 155.3253 193.1227 169.211 155.3253 192.6481 169.22 155.3253 192.6482 169.2829 155.3253 192.6537 169.3241 155.3253 192.6641 169.3459 155.3253 192.673 169.3675 155.3253 192.6853 169.3864 155.3253 192.7004 169.3984 155.3253 192.7134 169.4079 155.3253 192.728 169.4129 155.3253 192.7395 169.4163 155.3253 192.7524 169.4178 155.3253 192.7687 169.4172 155.3253 193.0869 169.4145 155.3253 193.1021 169.4095 155.3253 193.1165 169.4015 155.3253 193.1315 169.3901 155.3253 193.1465 169.3787 155.3253 193.1579 169.3658 155.3253 193.1672 169.3502 155.3253 193.175 169.3303 155.3253 193.1814 169.3055 155.3253 193.1857 169.1569 155.3253 193.0782 169.1588 155.3253 193.0627 169.1629 155.3253 193.0488 169.1695 155.3253 193.0348 169.1779 155.3253 193.0224 169.1891 155.3253 193.0107 169.2016 155.3253 193.0014 169.2179 155.3253 192.9926 169.2107 155.3253 192.9926 169.1212 155.3253 192.999 169.0876 155.3253 193.007 169.0712 155.3253 193.0137 169.0616 155.3253 193.0196 169.0494 155.3253 193.0299 169.0395 155.3253 193.0413 169.0326 155.3253 193.052 169.0276 155.3253 193.0634 169.0246 155.3253 193.0749 169.046 155.3253 193.1226 169.0549 155.3253 193.121 169.007 155.3253 193.3617 169.0089 155.3253 193.3484 169.0128 155.3253 193.3356 169.0184 155.3253 193.3241 169.0269 155.3253 193.312 169.04 155.3253 193.2984 169.058 155.3253 193.2849 169.0829 155.3253 193.2714 169.1177 155.3253 193.2591 169.1593 155.3253 193.2511 169.0069 155.3253 193.0856 169.0093 155.3253 193.066 169.0146 155.3253 193.0475 169.0232 155.3253 193.0298 169.0344 155.3253 193.0139 169.0487 155.3253 192.9993 169.0686 155.3253 192.9844 169.0959 155.3253 192.9703 169.1302 155.3253 192.959 169.1759 155.3253 192.9509 169.211 155.3253 192.887 169.2041 155.3253 192.8869 169.1418 155.3253 192.8818 169.0997 155.3253 192.8715 169.0778 155.3253 192.8627 169.053 155.3253 192.8482 169.0357 155.3253 192.8341 169.0247 155.3253 192.8217 169.0169 155.3253 192.8098 169.0114 155.3253 192.7974 169.0081 155.3253 192.7847 169.0067 155.3253 192.7687 169.4175 155.3253 192.7754 169.4156 155.3253 192.7882 169.4117 155.3253 192.8006 169.4062 155.3253 192.8118 169.3978 155.3253 192.8239 169.3837 155.3253 192.8381 169.3648 155.3253 192.852 169.3399 155.3253 192.865 169.3071 155.3253 192.8761 169.2645 155.3253 192.884 169.007 155.3253 192.7617 169.0089 155.3253 192.7484 169.0128 155.3253 192.7356 169.0184 155.3253 192.7241 169.0269 155.3253 192.712 169.04 155.3253 192.6984 169.058 155.3253 192.6849 169.0829 155.3253 192.6714 169.1177 155.3253 192.6591 169.1593 155.3253 192.6511 169.2067 155.3353 193.6315 169.2067 155.3253 193.6315 169.207 155.3253 193.6432 169.207 155.3353 193.6432 169.2102 155.3253 193.6712 169.2102 155.3353 193.6712 169.2148 155.3253 193.6877 169.2148 155.3353 193.6877 169.2203 155.3253 193.6997 169.2203 155.3353 193.6997 169.2253 155.3253 193.7072 169.2253 155.3353 193.7072 169.2316 155.3253 193.714 169.2316 155.3353 193.714 169.2404 155.3253 193.7207 169.2404 155.3353 193.7207 169.2536 155.3253 193.7281 169.2536 155.3353 193.7281 169.2668 155.3253 193.7328 169.2668 155.3353 193.7328 169.2835 155.3253 193.736 169.2835 155.3353 193.736 169.3004 155.3253 193.737 169.3004 155.3353 193.737 169.3223 155.3253 193.736 169.3223 155.3353 193.736 169.3459 155.3253 193.7314 169.3459 155.3353 193.7314 169.3585 155.3253 193.727 169.3585 155.3353 193.727 169.3701 155.3253 193.7205 169.3701 155.3353 193.7205 169.3736 155.3253 193.718 169.3736 155.3353 193.718 169.3808 155.3253 193.7115 169.3808 155.3353 193.7115 169.3875 155.3253 193.7033 169.3875 155.3353 193.7033 169.3934 155.3253 193.6925 169.3934 155.3353 193.6925 169.3975 155.3253 193.681 169.3975 155.3353 193.681 169.4003 155.3253 193.6662 169.4003 155.3353 193.6662 169.4011 155.3253 193.6513 169.4011 155.3353 193.6513 169.3688 155.3353 193.5943 169.3688 155.3253 193.5943 169.3624 155.3253 193.5953 169.3624 155.3353 193.5953 169.3587 155.3253 193.5966 169.3587 155.3353 193.5966 169.3507 155.3253 193.6006 169.3507 155.3353 193.6006 169.3461 155.3253 193.6023 169.3461 155.3353 193.6023 169.3409 155.3253 193.6033 169.3409 155.3353 193.6033 169.3343 155.3253 193.6037 169.3343 155.3353 193.6037 169.3414 155.3353 193.5537 169.3414 155.3253 193.5537 169.3498 155.3253 193.5542 169.3498 155.3353 193.5542 169.3582 155.3253 193.5562 169.3582 155.3353 193.5562 169.3664 155.3253 193.5595 169.3664 155.3353 193.5595 169.3752 155.3253 193.5648 169.3752 155.3353 193.5648 169.3842 155.3253 193.5723 169.3842 155.3353 193.5723 169.3945 155.3253 193.5838 169.3945 155.3353 193.5838 169.4048 155.3253 193.6001 169.4048 155.3353 193.6001 169.4121 155.3253 193.6179 169.4121 155.3353 193.6179 169.4163 155.3253 193.6365 169.4163 155.3353 193.6365 169.4178 155.3253 193.657 169.4178 155.3353 193.657 169.1055 155.3353 193.7203 169.1055 155.3253 193.7203 169.1115 155.3253 193.7202 169.1115 155.3353 193.7202 169.1305 155.3253 193.7178 169.1305 155.3353 193.7178 169.1433 155.3253 193.7141 169.1433 155.3353 193.7141 169.1554 155.3253 193.7081 169.1554 155.3353 193.7081 169.1643 155.3253 193.7018 169.1643 155.3353 193.7018 169.172 155.3253 193.694 169.172 155.3353 193.694 169.1779 155.3253 193.6856 169.1779 155.3353 193.6856 169.1828 155.3253 193.6756 169.1828 155.3353 193.6756 169.1866 155.3253 193.6634 169.1866 155.3353 193.6634 169.1892 155.3253 193.6478 169.1892 155.3353 193.6478 169.19 155.3253 193.6315 169.19 155.3353 193.6315 169.3067 155.3353 193.5798 169.3067 155.3253 193.5798 169.307 155.3253 193.577 169.307 155.3353 193.577 169.3075 155.3253 193.5748 169.3075 155.3353 193.5748 169.3084 155.3253 193.5727 169.3084 155.3353 193.5727 169.3101 155.3253 193.5697 169.3101 155.3353 193.5697 169.313 155.3253 193.5662 169.313 155.3353 193.5662 169.3178 155.3253 193.5618 169.3178 155.3353 193.5618 169.3197 155.3253 193.5603 169.3197 155.3353 193.5603 169.3242 155.3253 193.5576 169.3242 155.3353 193.5576 169.3293 155.3253 193.5555 169.3293 155.3353 193.5555 169.3349 155.3253 193.5542 169.3349 155.3353 193.5542 169.0924 155.3353 193.6037 169.0924 155.3253 193.6037 169.0894 155.3253 193.6035 169.0894 155.3353 193.6035 169.0872 155.3253 193.6029 169.0872 155.3353 193.6029 169.0833 155.3253 193.601 169.0833 155.3353 193.601 169.081 155.3253 193.5991 169.081 155.3353 193.5991 169.0773 155.3253 193.5967 169.0773 155.3353 193.5967 169.0747 155.3253 193.5959 169.0747 155.3353 193.5959 169.0677 155.3253 193.5947 169.0677 155.3353 193.5947 169.0579 155.3253 193.5943 169.0579 155.3353 193.5943 169.0529 155.3253 193.5946 169.0529 155.3353 193.5946 169.0491 155.3253 193.5955 169.0491 155.3353 193.5955 169.0457 155.3253 193.5969 169.0457 155.3353 193.5969 169.042 155.3253 193.5991 169.042 155.3353 193.5991 169.0389 155.3253 193.6016 169.0389 155.3353 193.6016 169.0363 155.3253 193.6045 169.0363 155.3353 193.6045 169.0331 155.3253 193.6095 169.0331 155.3353 193.6095 169.0293 155.3253 193.6182 169.0293 155.3353 193.6182 169.025 155.3253 193.6329 169.025 155.3353 193.6329 169.0234 155.3253 193.648 169.0234 155.3353 193.648 169.0854 155.3353 193.5592 169.0854 155.3253 193.5592 169.0928 155.3253 193.5596 169.0928 155.3353 193.5596 169.0996 155.3253 193.5608 169.0996 155.3353 193.5608 169.104 155.3253 193.5622 169.104 155.3353 193.5622 169.1069 155.3253 193.5637 169.1069 155.3353 193.5637 169.1095 155.3253 193.5657 169.1095 155.3353 193.5657 169.1118 155.3253 193.568 169.1118 155.3353 193.568 169.1147 155.3253 193.5723 169.1147 155.3353 193.5723 169.1165 155.3253 193.576 169.1165 155.3353 193.576 169.1174 155.3253 193.5792 169.1174 155.3353 193.5792 169.1178 155.3253 193.5837 169.1178 155.3353 193.5837 169.024 155.3253 193.6602 169.024 155.3353 193.6602 169.0268 155.3253 193.6732 169.0268 155.3353 193.6732 169.0301 155.3253 193.6816 169.0301 155.3353 193.6816 169.0349 155.3253 193.6897 169.0349 155.3353 193.6897 169.0407 155.3253 193.6967 169.0407 155.3353 193.6967 169.0474 155.3253 193.7024 169.0474 155.3353 193.7024 169.0606 155.3253 193.7103 169.0606 155.3353 193.7103 169.0741 155.3253 193.7158 169.0741 155.3353 193.7158 169.0881 155.3253 193.719 169.0881 155.3353 193.719 169.332 155.3253 193.6035 169.332 155.3353 193.6035 169.3282 155.3253 193.6028 169.3282 155.3353 193.6028 169.3227 155.3253 193.6009 169.3227 155.3353 193.6009 169.3161 155.3253 193.5976 169.3161 155.3353 193.5976 169.3133 155.3253 193.5957 169.3133 155.3353 193.5957 169.3116 155.3253 193.5942 169.3116 155.3353 193.5942 169.31 155.3253 193.5921 169.31 155.3353 193.5921 169.3085 155.3253 193.5894 169.3085 155.3353 193.5894 169.3074 155.3253 193.5865 169.3074 155.3353 193.5865 169.3069 155.3253 193.5836 169.3069 155.3353 193.5836 169.1176 155.3253 193.5867 169.1176 155.3353 193.5867 169.1172 155.3253 193.5899 169.1172 155.3353 193.5899 169.1163 155.3253 193.5926 169.1163 155.3353 193.5926 169.1151 155.3253 193.595 169.1151 155.3353 193.595 169.1128 155.3253 193.5979 169.1128 155.3353 193.5979 169.111 155.3253 193.5992 169.111 155.3353 193.5992 169.1077 155.3253 193.6009 169.1077 155.3353 193.6009 169.1034 155.3253 193.6024 169.1034 155.3353 193.6024 169.0983 155.3253 193.6034 169.0983 155.3353 193.6034 169.4002 155.3253 193.6386 169.4002 155.3353 193.6386 169.3974 155.3253 193.6257 169.3974 155.3353 193.6257 169.3927 155.3253 193.6137 169.3927 155.3353 193.6137 169.3885 155.3253 193.6062 169.3885 155.3353 193.6062 169.3854 155.3253 193.6023 169.3854 155.3353 193.6023 169.3817 155.3253 193.5989 169.3817 155.3353 193.5989 169.3786 155.3253 193.5968 169.3786 155.3353 193.5968 169.3758 155.3253 193.5955 169.3758 155.3353 193.5955 169.3731 155.3253 193.5948 169.3731 155.3353 193.5948 169.4176 155.3253 193.6662 169.4176 155.3353 193.6662 169.4142 155.3253 193.6925 169.4142 155.3353 193.6925 169.4092 155.3253 193.7095 169.4092 155.3353 193.7095 169.4014 155.3253 193.7259 169.4014 155.3353 193.7259 169.3927 155.3253 193.7389 169.3927 155.3353 193.7389 169.3868 155.3253 193.7455 169.3868 155.3353 193.7455 169.3725 155.3253 193.7583 169.3725 155.3353 193.7583 169.3568 155.3253 193.7686 169.3568 155.3353 193.7686 169.3414 155.3253 193.7754 169.3414 155.3353 193.7754 169.3255 155.3253 193.7796 169.3255 155.3353 193.7796 169.3051 155.3253 193.7815 169.3051 155.3353 193.7815 169.2974 155.3253 193.781 169.2974 155.3353 193.781 169.2814 155.3253 193.7786 169.2814 155.3353 193.7786 169.2657 155.3253 193.7734 169.2657 155.3353 193.7734 169.2461 155.3253 193.7636 169.2461 155.3353 193.7636 169.2346 155.3253 193.7554 169.2346 155.3353 193.7554 169.2248 155.3253 193.7458 169.2248 155.3353 193.7458 169.2148 155.3253 193.7325 169.2148 155.3353 193.7325 169.204 155.3253 193.7133 169.204 155.3353 193.7133 169.1948 155.3253 193.691 169.1948 155.3353 193.691 169.0067 155.3353 193.6608 169.0067 155.3253 193.6608 169.0073 155.3253 193.6476 169.0073 155.3353 193.6476 169.0113 155.3253 193.626 169.0113 155.3353 193.626 169.017 155.3253 193.6104 169.017 155.3353 193.6104 169.0253 155.3253 193.595 169.0253 155.3353 193.595 169.0267 155.3253 193.5928 169.0267 155.3353 193.5928 169.0367 155.3253 193.5803 169.0367 155.3353 193.5803 169.0456 155.3253 193.5722 169.0456 155.3353 193.5722 169.0536 155.3253 193.5671 169.0536 155.3353 193.5671 169.0624 155.3253 193.5631 169.0624 155.3353 193.5631 169.0717 155.3253 193.5605 169.0717 155.3353 193.5605 169.1932 155.3353 193.696 169.1843 155.3353 193.7165 169.1763 155.3353 193.7291 169.1676 155.3353 193.7392 169.1571 155.3353 193.7478 169.0741 155.3353 193.7608 169.0617 155.3353 193.7554 169.0482 155.3353 193.7468 169.0339 155.3353 193.7341 169.024 155.3353 193.7221 169.0169 155.3353 193.7101 169.0116 155.3353 193.6961 169.0078 155.3353 193.679 169.1445 155.3353 193.7552 169.1313 155.3353 193.7603 169.1156 155.3353 193.7636 169.0984 155.3353 193.7648 169.085 155.3353 193.7636 169.1932 155.3253 193.696 169.1843 155.3253 193.7165 169.1763 155.3253 193.7291 169.1676 155.3253 193.7392 169.1571 155.3253 193.7478 169.1445 155.3253 193.7552 169.1313 155.3253 193.7603 169.1156 155.3253 193.7636 169.0984 155.3253 193.7648 169.085 155.3253 193.7636 169.0741 155.3253 193.7608 169.0617 155.3253 193.7554 169.0482 155.3253 193.7468 169.0339 155.3253 193.7341 169.024 155.3253 193.7221 169.0169 155.3253 193.7101 169.0116 155.3253 193.6961 169.0078 155.3253 193.679 168.82 155.7753 194.0172 168.82 155.7753 192.4172 168.82 155.3253 194.0172 168.82 155.3253 192.4172 169.555 155.7753 194.0172 169.6201 155.3253 194.0172 169.6201 155.7753 194.0172 169.62 155.7753 192.4172 169.62 155.3253 192.4172 169.555 155.7753 192.4172 170.8158 155.3253 193.4541 170.9337 155.3253 193.318 170.8606 155.3253 193.4633 170.9382 155.3253 193.468 170.9382 155.3253 193.318 171.008 155.3253 193.3219 171.0595 155.3253 193.3328 171.0838 155.3253 193.3423 171.1016 155.3253 193.3524 171.1111 155.3253 193.3597 171.0898 155.3253 193.4434 171.0646 155.3253 193.4532 171.0195 155.3253 193.4629 171.1256 155.3253 193.4094 171.1274 155.3253 193.4032 171.1283 155.3253 193.3941 170.7939 155.3253 193.4465 170.7782 155.3253 193.4385 170.7689 155.3253 193.4317 170.7513 155.3253 193.3864 170.7528 155.3253 193.3809 170.7506 155.3253 193.3941 170.7558 155.3253 193.3745 170.7508 155.3253 193.3987 170.7598 155.3253 193.3686 170.7666 155.3253 193.3611 170.7768 155.3253 193.3531 170.7899 155.3253 193.3454 170.8179 155.3253 193.3337 171.118 155.3253 193.3669 171.1225 155.3253 193.3733 171.1255 155.3253 193.3793 171.1272 155.3253 193.3846 171.1281 155.3253 193.3906 171.1038 155.3253 193.4352 171.1229 155.3253 193.4152 171.1189 155.3253 193.4214 171.1135 155.3253 193.4274 170.7627 155.3253 193.4258 170.7578 155.3253 193.4193 170.7539 155.3253 193.4117 170.8611 155.3253 193.3235 170.7519 155.3253 193.4056 171.0186 155.3253 193.0201 171.0054 155.3253 193.1735 170.9838 155.3253 193.1724 170.9803 155.3253 193.018 170.9696 155.3253 193.0228 170.9062 155.3253 193.1091 170.9061 155.3253 193.1062 171.1282 155.3253 193.098 171.0489 155.3253 193.0255 171.0846 155.3253 193.1638 171.0606 155.3253 193.1697 171.0147 155.3253 193.1734 170.9074 155.3253 193.0918 170.9105 155.3253 193.08 170.9154 155.3253 193.0688 170.9642 155.3253 193.1688 170.9501 155.3253 193.164 170.9383 155.3253 193.1579 170.9136 155.3253 193.1338 170.9099 155.3253 193.1263 170.9073 155.3253 193.1177 171.1239 155.3253 193.0791 171.0896 155.3253 193.0424 171.1195 155.3253 193.0708 171.1036 155.3253 193.0525 171.1131 155.3253 193.062 171.1283 155.3253 193.1016 171.1275 155.3253 193.1132 171.1254 155.3253 193.1231 170.9231 155.3253 193.0568 170.9311 155.3253 193.0479 170.9447 155.3253 193.037 171.0722 155.3253 193.0333 171.1269 155.3253 193.0886 170.9271 155.3253 193.1496 170.9189 155.3253 193.1412 171.1221 155.3253 193.1318 171.1174 155.3253 193.1399 171.1112 155.3253 193.1474 171.1038 155.3253 193.1539 171.0953 155.3253 193.1592 170.8158 155.3253 192.8541 170.9337 155.3253 192.718 170.8606 155.3253 192.8633 170.9382 155.3253 192.868 170.9382 155.3253 192.718 171.008 155.3253 192.7219 171.0595 155.3253 192.7328 171.0838 155.3253 192.7423 171.1016 155.3253 192.7523 171.1111 155.3253 192.7597 171.0898 155.3253 192.8434 171.0646 155.3253 192.8532 171.0195 155.3253 192.863 171.1256 155.3253 192.8094 171.1274 155.3253 192.8032 171.1283 155.3253 192.7941 170.7939 155.3253 192.8465 170.7782 155.3253 192.8385 170.7688 155.3253 192.8317 170.7513 155.3253 192.7864 170.7528 155.3253 192.7808 170.7505 155.3253 192.7941 170.7558 155.3253 192.7745 170.7508 155.3253 192.7987 170.7597 155.3253 192.7686 170.7666 155.3253 192.7611 170.7768 155.3253 192.7531 170.7899 155.3253 192.7454 170.8179 155.3253 192.7337 171.118 155.3253 192.7669 171.1225 155.3253 192.7733 171.1255 155.3253 192.7793 171.1272 155.3253 192.7846 171.1281 155.3253 192.7906 171.1038 155.3253 192.8352 171.1229 155.3253 192.8152 171.1189 155.3253 192.8214 171.1135 155.3253 192.8274 170.7627 155.3253 192.8258 170.7578 155.3253 192.8193 170.7539 155.3253 192.8117 170.8611 155.3253 192.7235 170.7519 155.3253 192.8056 170.9382 155.3353 193.318 170.9337 155.3353 193.318 170.8611 155.3353 193.3235 170.8179 155.3353 193.3337 170.7899 155.3353 193.3454 170.7768 155.3353 193.3531 170.7666 155.3353 193.3611 170.7598 155.3353 193.3686 170.7558 155.3353 193.3745 170.7528 155.3353 193.3809 170.7513 155.3353 193.3864 170.7506 155.3353 193.3941 171.1283 155.3353 193.3941 171.1281 155.3353 193.3906 171.1272 155.3353 193.3846 171.1255 155.3353 193.3793 171.1225 155.3353 193.3733 171.118 155.3353 193.3669 171.1111 155.3353 193.3597 171.1016 155.3353 193.3524 171.0838 155.3353 193.3423 171.0595 155.3353 193.3328 171.008 155.3353 193.3219 170.9382 155.3353 193.468 171.0195 155.3353 193.4629 171.0646 155.3353 193.4532 171.0898 155.3353 193.4434 171.1038 155.3353 193.4352 171.1135 155.3353 193.4274 171.1189 155.3353 193.4214 171.1229 155.3353 193.4152 171.1256 155.3353 193.4094 171.1274 155.3353 193.4032 170.7508 155.3353 193.3987 170.7519 155.3353 193.4056 170.7539 155.3353 193.4117 170.7578 155.3353 193.4193 170.7627 155.3353 193.4258 170.7689 155.3353 193.4317 170.7782 155.3353 193.4385 170.7939 155.3353 193.4465 170.8158 155.3353 193.4541 170.8606 155.3353 193.4633 171.1283 155.3353 193.1016 171.1282 155.3353 193.098 171.1269 155.3353 193.0886 171.1239 155.3353 193.0791 171.1195 155.3353 193.0708 171.1131 155.3353 193.062 171.1036 155.3353 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239.3801 163.2768 155.7753 239.1852 163.3202 155.7753 239.1231 162.377 155.7753 239.9145 162.6614 155.7753 239.7819 162.5715 155.7753 206.0506 162.6143 155.7753 206.0391 162.2734 155.7753 205.8004 162.2773 155.7753 205.8446 162.5715 155.7753 205.5503 162.5274 155.7753 205.5464 163.2762 155.7753 202.4438 162.3328 155.7753 205.9637 162.3641 155.7753 205.995 162.4004 155.7753 206.0204 162.4405 155.7753 206.0391 162.4833 155.7753 206.0506 162.5274 155.7753 206.0544 162.4405 155.7753 205.5617 162.4004 155.7753 205.5805 162.3641 155.7753 205.6059 162.3328 155.7753 205.6372 162.2887 155.7753 205.8873 162.3074 155.7753 205.9274 162.722 155.7753 205.9637 162.7474 155.7753 205.9274 162.722 155.7753 205.6372 162.6907 155.7753 205.6059 162.4833 155.7753 205.5503 162.6544 155.7753 206.0204 162.6907 155.7753 205.995 162.7776 155.7753 205.7563 162.7661 155.7753 205.7136 162.7474 155.7753 205.6734 162.6544 155.7753 205.5805 162.6143 155.7753 205.5617 162.3074 155.7753 205.6734 162.2887 155.7753 205.7136 162.2773 155.7753 205.7563 162.7661 155.7753 205.8873 162.7776 155.7753 205.8445 162.7814 155.7753 205.8004 161.5202 155.7753 189.1957 163.276 155.7753 189.1956 163.6861 155.7753 189.1956 164.7966 155.7753 189.1956 165.2294 155.7753 206.7747 165.6612 155.7753 214.7612 166.5234 155.7753 214.7612 163.6863 155.7753 202.4438 164.7968 155.7753 202.4438 165.2294 155.7753 202.4438 165.661 155.7753 202.4438 167.5219 155.7753 214.7612 167.8514 155.7753 214.7612 168.5119 155.7753 214.7611 161.5204 155.7753 198.0285 163.2761 155.7753 198.0285 163.6862 155.7753 198.0285 164.7967 155.7753 198.0284 165.2293 155.7753 198.0284 165.6609 155.7753 198.0284 166.5231 155.7753 198.0284 167.5216 155.7753 198.0284 167.8511 155.7753 198.0284 168.5116 155.7753 198.0284 169.555 155.7753 198.0284 169.5553 155.7753 214.7611 169.5552 155.7753 210.9297 168.5117 155.7753 202.4437 169.5551 155.7753 202.4437 170.5954 155.7753 202.4437 170.5953 155.7753 198.0283 171.8206 155.7753 202.4437 171.8205 155.7753 198.0283 171.8204 155.7753 194.603 172.1167 155.7753 194.603 172.259 155.7753 192.3913 173.1629 155.7753 192.3912 172.1167 155.7753 192.3913 172.259 155.7753 194.603 163.6865 155.7753 218.0225 163.6865 155.7753 216.2541 164.797 155.7753 218.0225 164.797 155.7753 216.2541 165.2296 155.7753 218.0225 165.2296 155.7753 216.2541 165.6612 155.7753 218.0225 165.6612 155.7753 216.2541 166.5234 155.7753 218.0225 166.5234 155.7753 216.2541 167.5219 155.7753 218.0225 167.5219 155.7753 216.2541 167.8514 155.7753 218.0225 167.8514 155.7753 216.2541 168.5119 155.7753 218.0225 168.5119 155.7753 216.2541 169.5554 155.7753 218.0224 169.5553 155.7753 216.254 170.5956 155.7753 218.0224 170.5956 155.7753 216.254 171.8208 155.7753 218.0224 171.8208 155.7753 216.254 172.1171 155.7753 218.0224 172.117 155.7753 216.254 172.2594 155.7753 218.0224 172.2594 155.7753 216.254 173.1632 155.7753 218.0224 173.1632 155.7753 216.254 172.2593 155.7753 214.7611 173.1632 155.7753 214.7611 173.3505 155.7753 192.3912 169.5552 155.7753 206.7746 170.5955 155.7753 206.7746 171.8206 155.7753 206.7746 172.1169 155.7753 206.7746 172.2592 155.7753 206.7746 173.1631 155.7753 206.7746 173.3507 155.7753 206.7746 169.555 155.7753 191.8663 170.5952 155.7753 191.8663 171.8204 155.7753 191.8663 172.1167 155.7753 191.8663 172.259 155.7753 191.8663 173.1629 155.7753 191.8663 173.3505 155.7753 191.8663 167.5215 155.7753 189.1956 167.851 155.7753 189.1956 168.5115 155.7753 189.1956 169.5549 155.7753 189.1955 170.5952 155.7753 189.1955 171.8204 155.7753 189.1955 172.1166 155.7753 189.1955 172.259 155.7753 189.1955 173.1628 155.7753 189.1955 173.3505 155.7753 189.1955 165.2291 155.7753 186.1035 165.6608 155.7753 186.1035 166.5229 155.7753 186.1035 167.5214 155.7753 186.1035 167.851 155.7753 186.1035 168.5115 155.7753 186.1035 169.5549 155.7753 186.1034 170.5951 155.7753 186.1034 171.8203 155.7753 186.1034 172.1166 155.7753 186.1034 172.2589 155.7753 186.1034 173.1628 155.7753 186.1034 173.3504 155.7753 186.1034 165.2291 155.7753 185.3435 165.6607 155.7753 185.3435 166.5229 155.7753 185.3435 167.5214 155.7753 185.3435 167.8509 155.7753 185.3435 168.5114 155.7753 185.3435 169.5549 155.7753 185.3434 170.5951 155.7753 185.3434 171.8203 155.7753 185.3434 172.1166 155.7753 185.3434 172.2589 155.7753 185.3434 173.1628 155.7753 185.3434 173.3504 155.7753 185.3434 165.2291 155.7753 182.2556 165.6607 155.7753 182.2556 166.5229 155.7753 182.2556 167.5214 155.7753 182.2556 167.8509 155.7753 182.2556 168.5114 155.7753 182.2555 169.5548 155.7753 182.2555 170.5951 155.7753 182.2555 171.8203 155.7753 182.2555 172.1165 155.7753 182.2555 172.2589 155.7753 182.2555 173.1627 155.7753 182.2555 173.3504 155.7753 182.2555 165.229 155.7753 179.426 165.6607 155.7753 179.426 166.5229 155.7753 179.426 167.5214 155.7753 179.426 167.8509 155.7753 179.426 168.5114 155.7753 179.426 169.5548 155.7753 179.4259 170.5951 155.7753 179.4259 171.8202 155.7753 179.4259 172.1165 155.7753 179.4259 172.2588 155.7753 179.4259 173.1627 155.7753 179.4259 173.3503 155.7753 179.4259 164.7973 155.7753 237.5032 165.2299 155.7753 237.5032 165.6615 155.7753 237.5032 166.5237 155.7753 237.5032 167.5222 155.7753 237.5032 167.8517 155.7753 237.5032 168.5122 155.7753 237.5032 169.5556 155.7753 237.5031 170.5959 155.7753 237.5031 171.8211 155.7753 237.5031 172.1173 155.7753 237.5031 172.2597 155.7753 237.5031 173.1635 155.7753 237.5031 173.3512 155.7753 237.5031 175.251 155.7753 237.5031 182.0165 155.7753 237.503 195.5617 155.7753 237.5028 172.2593 155.7753 210.9296 173.1631 155.7753 210.9296 173.3508 155.7753 210.9296 175.2506 155.7753 210.9296 182.0164 155.7753 234.5325 195.5617 155.7753 234.5323 175.251 155.7753 234.5326 173.3511 155.7753 234.5326 173.1635 155.7753 234.5326 172.2596 155.7753 234.5326 172.1173 155.7753 234.5326 171.821 155.7753 234.5326 170.5959 155.7753 234.5326 169.5556 155.7753 234.5326 168.5122 155.7753 234.5326 167.8517 155.7753 234.5327 167.5222 155.7753 234.5327 166.5237 155.7753 234.5327 165.6615 155.7753 234.5327 165.2298 155.7753 234.5327 164.7972 155.7753 234.5327 198.3074 155.7753 237.5027 161.5208 155.7753 230.0238 163.2766 155.7753 230.0238 163.6867 155.7753 230.0238 164.7972 155.7753 230.0238 165.2298 155.7753 230.0238 165.6614 155.7753 230.0237 166.5236 155.7753 230.0237 167.5221 155.7753 230.0237 167.8516 155.7753 230.0237 168.5121 155.7753 230.0237 169.5555 155.7753 230.0237 170.5958 155.7753 230.0237 171.821 155.7753 230.0236 172.1172 155.7753 230.0236 172.2596 155.7753 230.0236 173.1634 155.7753 230.0236 173.3511 155.7753 230.0236 175.2509 155.7753 230.0236 182.0164 155.7753 230.0235 195.5616 155.7753 230.0233 198.3073 155.7753 230.0233 205.046 155.7753 237.5026 161.5208 155.7753 227.6378 161.5207 155.7753 224.2729 163.2766 155.7753 227.6377 163.2765 155.7753 224.2729 163.6867 155.7753 227.6377 163.6866 155.7753 224.2729 164.7971 155.7753 227.6377 164.7971 155.7753 224.2729 165.2297 155.7753 227.6377 165.2297 155.7753 224.2729 165.6614 155.7753 227.6377 165.6613 155.7753 224.2729 166.5236 155.7753 227.6377 166.5235 155.7753 224.2728 167.5221 155.7753 227.6377 167.522 155.7753 224.2728 167.8516 155.7753 227.6377 167.8515 155.7753 224.2728 168.5121 155.7753 227.6376 168.512 155.7753 224.2728 169.5555 155.7753 227.6376 169.5554 155.7753 224.2728 170.5958 155.7753 227.6376 170.5957 155.7753 224.2728 171.8209 155.7753 227.6376 171.8209 155.7753 224.2728 172.1172 155.7753 227.6376 172.1172 155.7753 224.2728 172.2595 155.7753 227.6376 172.2595 155.7753 224.2728 173.1634 155.7753 227.6376 173.1633 155.7753 224.2727 173.351 155.7753 227.6376 173.351 155.7753 224.2727 175.2509 155.7753 227.6376 175.2508 155.7753 224.2727 182.0163 155.7753 227.6374 182.0163 155.7753 224.2726 195.5616 155.7753 227.6372 195.5615 155.7753 224.2724 198.3072 155.7753 227.6372 198.3072 155.7753 224.2724 161.5207 155.7753 219.8387 161.5207 155.7753 219.1656 163.2765 155.7753 219.8387 163.2765 155.7753 219.1655 163.6865 155.7753 219.8387 163.6865 155.7753 219.1655 164.797 155.7753 219.8386 164.797 155.7753 219.1655 165.2296 155.7753 219.8386 165.2296 155.7753 219.1655 165.6613 155.7753 219.8386 165.6612 155.7753 219.1655 166.5234 155.7753 219.8386 166.5234 155.7753 219.1655 167.522 155.7753 219.8386 167.5219 155.7753 219.1655 167.8515 155.7753 219.8386 167.8515 155.7753 219.1655 168.512 155.7753 219.8386 168.5119 155.7753 219.1654 169.5554 155.7753 219.8386 169.5554 155.7753 219.1654 170.5957 155.7753 219.8386 170.5956 155.7753 219.1654 171.8208 155.7753 219.8385 171.8208 155.7753 219.1654 172.1171 155.7753 219.8385 172.1171 155.7753 219.1654 172.2594 155.7753 219.8385 172.2594 155.7753 219.1654 173.1633 155.7753 219.8385 173.1632 155.7753 219.1654 173.3509 155.7753 219.8385 173.3509 155.7753 219.1654 175.2508 155.7753 219.8385 175.2508 155.7753 219.1654 182.0162 155.7753 219.8384 182.0162 155.7753 219.1652 195.5615 155.7753 219.8382 195.5615 155.7753 219.1651 198.3071 155.7753 219.8381 198.3071 155.7753 219.165 205.0458 155.7753 219.1649 161.5207 155.7753 218.569 163.2765 155.7753 218.569 163.6865 155.7753 218.569 164.797 155.7753 218.569 165.2296 155.7753 218.569 165.6612 155.7753 218.569 166.5234 155.7753 218.569 167.5219 155.7753 218.5689 167.8514 155.7753 218.5689 168.5119 155.7753 218.5689 169.5554 155.7753 218.5689 170.5956 155.7753 218.5689 171.8208 155.7753 218.5689 172.1171 155.7753 218.5689 172.2594 155.7753 218.5689 173.1632 155.7753 218.5689 173.3509 155.7753 218.5688 175.2508 155.7753 218.5688 182.0162 155.7753 218.5687 195.5615 155.7753 218.5685 198.3071 155.7753 218.5685 205.946 155.7753 237.5026 206.346 155.7753 237.5026 207.273 155.7753 237.5026 211.5217 155.7753 227.637 161.5207 155.7753 221.1717 163.2765 155.7753 221.1717 163.6866 155.7753 221.1717 164.797 155.7753 221.1717 165.2296 155.7753 221.1717 165.6613 155.7753 221.1717 166.5235 155.7753 221.1716 167.522 155.7753 221.1716 167.8515 155.7753 221.1716 168.512 155.7753 221.1716 169.5554 155.7753 221.1716 170.5957 155.7753 221.1716 171.8208 155.7753 221.1716 172.1171 155.7753 221.1716 172.2594 155.7753 221.1716 173.1633 155.7753 221.1716 173.3509 155.7753 221.1715 175.2508 155.7753 221.1715 182.0162 155.7753 221.1714 195.5615 155.7753 221.1712 198.3071 155.7753 221.1712 205.0458 155.7753 221.1711 205.9458 155.7753 221.1711 206.3458 155.7753 221.1711 207.2727 155.7753 221.171 226.913 155.7753 227.6368 226.913 155.7753 230.0228 195.5614 155.7753 216.2537 198.3071 155.7753 216.2536 205.0457 155.7753 216.2535 205.9457 155.7753 216.2535 206.3457 155.7753 216.2535 207.2727 155.7753 216.2535 211.5215 155.7753 216.2534 211.5215 155.7753 214.7605 226.9128 155.7753 216.2532 226.9128 155.7753 214.7603 228.5082 155.7753 202.4428 228.5083 155.7753 206.7738 228.5083 155.7753 210.9288 228.5084 155.7753 214.7603 228.5084 155.7753 216.2532 228.5079 155.7753 185.3426 228.508 155.7753 186.1026 228.508 155.7753 189.1947 228.5084 155.7753 219.1646 226.9128 155.7753 219.1646 211.5215 155.7753 219.1648 226.9128 155.7753 218.5681 228.5084 155.7753 218.568 195.5615 155.7753 218.0221 198.3071 155.7753 218.022 205.0458 155.7753 218.0219 205.9458 155.7753 218.0219 206.3458 155.7753 218.0219 207.2727 155.7753 218.0219 211.5215 155.7753 218.0218 226.9128 155.7753 218.0216 228.5084 155.7753 218.0216 229.3749 155.7753 202.4428 229.375 155.7753 206.7737 229.375 155.7753 210.9288 229.3751 155.7753 214.7603 229.3751 155.7753 216.2532 229.3747 155.7753 185.3426 229.3747 155.7753 186.1026 229.3747 155.7753 189.1947 230.4547 155.7753 216.2531 230.4544 155.7753 198.0275 230.4545 155.7753 202.4428 230.4545 155.7753 206.7737 230.4546 155.7753 210.9288 230.4546 155.7753 214.7602 230.4542 155.7753 185.3425 230.4542 155.7753 186.1026 230.4543 155.7753 189.1947 230.4543 155.7753 191.8654 228.5086 155.7753 227.6368 229.3753 155.7753 227.6368 230.4548 155.7753 227.6367 231.8183 155.7753 227.6367 231.8182 155.7753 224.2719 229.3752 155.7753 223.5054 231.8181 155.7753 216.2531 231.8176 155.7753 179.425 231.8176 155.7753 182.2546 231.8177 155.7753 185.3425 231.8177 155.7753 186.1025 231.8177 155.7753 189.1946 231.8177 155.7753 191.8654 231.8178 155.7753 192.3904 231.8178 155.7753 194.6021 231.8178 155.7753 198.0274 231.8179 155.7753 202.4428 231.818 155.7753 206.7737 231.818 155.7753 210.9288 231.8181 155.7753 214.7602 229.3754 155.7753 237.5023 230.455 155.7753 237.5022 231.8184 155.7753 237.5022 226.9131 155.7753 234.5318 228.5087 155.7753 234.5318 229.3754 155.7753 234.5318 230.4549 155.7753 234.5317 231.8184 155.7753 234.5317 233.1776 155.7753 224.2719 233.1776 155.7753 227.6367 233.1775 155.7753 216.2531 233.1769 155.7753 179.425 233.177 155.7753 182.2546 233.177 155.7753 185.3425 233.177 155.7753 186.1025 233.1771 155.7753 189.1946 233.1771 155.7753 191.8654 233.1771 155.7753 192.3904 233.1771 155.7753 194.6021 233.1772 155.7753 198.0274 233.1773 155.7753 202.4428 233.1773 155.7753 206.7737 233.1774 155.7753 210.9287 233.1774 155.7753 214.7602 228.5086 155.7753 230.0228 229.3753 155.7753 230.0228 230.4549 155.7753 230.0228 231.8183 155.7753 230.0228 233.1777 155.7753 230.0227 236.7755 155.7753 230.0227 236.7754 155.7753 227.6367 236.7754 155.7753 224.2718 236.7747 155.7753 179.425 236.7748 155.7753 182.2546 236.7748 155.7753 185.3424 236.7748 155.7753 186.1025 236.7749 155.7753 189.1945 236.7749 155.7753 191.8654 236.7749 155.7753 192.3903 236.775 155.7753 194.602 236.775 155.7753 198.0274 236.7751 155.7753 202.4427 236.7751 155.7753 206.7736 236.7752 155.7753 210.9287 236.7752 155.7753 214.7601 236.7753 155.7753 216.253 236.7753 155.7753 218.0214 236.7753 155.7753 218.5679 236.7753 155.7753 219.1645 236.7753 155.7753 219.8376 236.7753 155.7753 221.1706 230.5457 154.8853 223.0876 230.5543 154.8853 223.0745 230.5776 154.8853 223.0769 230.5836 154.8853 223.0577 230.5273 154.8853 222.9482 230.5119 154.8853 222.9384 230.5333 154.8853 222.9229 230.3532 154.8853 223.1028 230.372 154.8853 223.0885 230.3668 154.8853 223.1183 230.3795 154.8853 223.0965 230.3825 154.8853 223.1311 230.3931 154.8853 223.1082 230.3996 154.8853 223.1409 230.4075 154.8853 223.117 230.4183 154.8853 223.1479 230.4223 154.8853 223.1231 230.4392 154.8853 223.1521 230.4388 154.8853 223.1271 230.4576 154.8853 223.1532 230.4578 154.8853 223.1285 230.4659 154.8853 223.1283 230.4826 154.8853 223.1513 230.4836 154.8853 223.126 230.5051 154.8853 223.1459 230.5002 154.8853 223.1213 230.5229 154.8853 223.1383 230.5151 154.8853 223.1143 230.5388 154.8853 223.1281 230.5281 154.8853 223.1055 230.569 154.8853 223.094 230.5566 154.8853 223.1112 230.5353 154.8853 223.0992 230.5521 154.8853 223.1161 230.372 154.8853 222.9655 230.3532 154.8853 222.951 230.3612 154.8853 222.9411 230.3844 154.8853 222.9524 230.375 154.8853 222.9282 230.397 154.8853 222.9429 230.3924 154.8853 222.9167 230.4118 154.8853 222.935 230.4285 154.8853 222.9292 230.4129 154.8853 222.9078 230.4466 154.8853 222.9261 230.4344 154.8853 222.9026 230.4593 154.8853 222.9255 230.4579 154.8853 222.9008 230.4784 154.8853 222.927 230.4785 154.8853 222.9022 230.4951 154.8853 222.9311 230.498 154.8853 222.9062 230.5167 154.8853 222.9133 230.5606 154.8853 223.0597 230.5641 154.8853 223.0451 230.5866 154.8853 223.0375 230.5655 154.8853 223.0272 230.587 154.8853 223.0256 230.5651 154.8853 223.0172 230.5853 154.8853 223.0035 230.5624 154.8853 223.0013 230.5808 154.8853 222.9851 230.5575 154.8853 222.9869 230.5729 154.8853 222.9666 230.55 154.8853 222.9727 230.5624 154.8853 222.9505 230.5399 154.8853 222.9596 230.5487 154.8853 222.9354 230.3532 154.8953 222.951 230.372 154.8953 222.9655 230.4593 154.8953 222.9255 230.4466 154.8953 222.9261 230.4285 154.8953 222.9292 230.4118 154.8953 222.935 230.397 154.8953 222.9429 230.3844 154.8953 222.9524 230.5655 154.8953 223.0272 230.5651 154.8953 223.0172 230.5624 154.8953 223.0013 230.5575 154.8953 222.9869 230.55 154.8953 222.9727 230.5399 154.8953 222.9596 230.5273 154.8953 222.9482 230.5119 154.8953 222.9384 230.4951 154.8953 222.9311 230.4784 154.8953 222.927 230.4578 154.8953 223.1285 230.4659 154.8953 223.1283 230.4836 154.8953 223.126 230.5002 154.8953 223.1213 230.5151 154.8953 223.1143 230.5281 154.8953 223.1055 230.5353 154.8953 223.0992 230.5457 154.8953 223.0876 230.5543 154.8953 223.0745 230.5606 154.8953 223.0597 230.5641 154.8953 223.0451 230.372 154.8953 223.0885 230.3795 154.8953 223.0965 230.3931 154.8953 223.1082 230.4075 154.8953 223.117 230.4223 154.8953 223.1231 230.4388 154.8953 223.1271 230.3532 154.8953 223.1028 230.4576 154.8953 223.1532 230.4392 154.8953 223.1521 230.4183 154.8953 223.1479 230.3996 154.8953 223.1409 230.3825 154.8953 223.1311 230.3668 154.8953 223.1183 230.5566 154.8953 223.1112 230.5521 154.8953 223.1161 230.5388 154.8953 223.1281 230.5229 154.8953 223.1383 230.5051 154.8953 223.1459 230.4826 154.8953 223.1513 230.587 154.8953 223.0256 230.5866 154.8953 223.0375 230.5836 154.8953 223.0577 230.5776 154.8953 223.0769 230.569 154.8953 223.094 230.4579 154.8953 222.9008 230.4785 154.8953 222.9022 230.498 154.8953 222.9062 230.5167 154.8953 222.9133 230.5333 154.8953 222.9229 230.5487 154.8953 222.9354 230.5624 154.8953 222.9505 230.5729 154.8953 222.9666 230.5808 154.8953 222.9851 230.5853 154.8953 223.0035 230.3612 154.8953 222.9411 230.375 154.8953 222.9282 230.3924 154.8953 222.9167 230.4129 154.8953 222.9078 230.4344 154.8953 222.9026 230.9004 155.7553 223.4104 230.9004 155.7584 223.4099 230.9004 155.7612 223.4085 230.9004 155.7634 223.4062 230.9004 155.7648 223.4035 230.9004 155.7553 222.6004 230.9004 155.7584 222.6009 230.9004 155.7612 222.6023 230.9004 155.7634 222.6045 230.9004 155.7648 222.6073 230.9004 154.8953 223.4104 230.9004 154.8919 223.4098 230.9004 154.8889 223.408 230.9004 154.8867 223.4054 230.9004 154.8855 223.4021 230.9004 154.8953 222.6004 230.9004 154.8922 222.6009 230.9004 154.8894 222.6023 230.9004 154.8872 222.6045 230.9004 154.8858 222.6073 230.9004 154.8853 222.6104 230.0004 155.7648 222.6073 230.0004 155.7634 222.6045 230.0004 155.7612 222.6023 230.0004 155.7584 222.6009 230.0004 155.7553 222.6004 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201.4792 235.7646 158.5118 201.7792 238.6645 159.2868 201.1791 234.4646 156.1868 207.9292 238.6646 156.1868 207.9291 238.6646 159.2868 207.9291 234.5646 156.9349 207.9292 235.7646 158.5118 207.3292 235.7646 158.5118 207.6292 235.7646 157.6868 207.6292 235.7646 157.6868 207.3292 235.7646 156.8868 207.3292 235.7646 156.8868 201.7792 235.7646 157.6868 201.7792 238.6645 156.1868 201.1791 234.4645 156.1868 201.1792 234.5645 156.9349 201.1792 234.5646 156.9349 205.8042 162.3324 156.1649 205.6377 162.7814 156.1685 205.8006 162.7805 156.1684 205.8225 162.7659 156.1682 205.8877 162.7727 156.1683 205.8662 162.7776 156.1684 205.8445 162.7576 156.1682 205.9077 162.7474 156.1681 205.9274 162.7354 156.1679 205.9462 162.7215 156.1678 205.9642 162.6907 156.1675 205.995 162.6536 156.1672 206.0208 162.6143 156.1669 206.0391 162.5706 156.1665 206.0507 162.5265 156.1661 206.0544 162.4405 156.1654 206.0391 162.4824 156.1657 206.0503 162.3998 156.165 206.02 162.3641 156.1647 205.995 162.3074 156.1642 205.9274 162.3194 156.1643 205.9461 162.3325 156.1644 205.9633 162.3478 156.1646 205.98 162.2821 156.1641 205.8662 162.2887 156.1641 205.8873 162.2972 156.1642 205.9077 162.2773 156.1641 205.8446 162.2744 156.1641 205.8225 162.2734 156.1641 205.8006 162.2744 156.1641 205.7783 162.2886 156.1643 205.714 162.2821 156.1642 205.7346 162.2773 156.1642 205.7563 162.2972 156.1645 205.6931 162.3074 156.1646 205.6734 162.3997 156.1655 205.581 162.3641 156.1652 205.6059 162.4405 156.1659 205.5617 162.4824 156.1663 205.5505 162.5265 156.1667 205.5464 162.6135 156.1674 205.5615 162.5706 156.167 205.5502 162.6544 156.1677 205.5805 162.6731 156.1678 205.5924 162.7355 156.1682 205.6547 162.722 156.1682 205.6372 162.707 156.1681 205.6208 162.6902 156.1679 205.6055 162.7727 156.1685 205.7347 162.7661 156.1684 205.7136 162.7576 156.1684 205.6931 162.7474 156.1683 205.6734 162.7805 156.1685 205.7783 162.7776 156.1685 205.7563 170.861 156.1868 218.3175 170.8609 156.1868 211.4606 170.0709 156.1868 211.4606 190.6871 156.1868 219.8635 190.6871 156.1868 218.3172 173.5754 156.1868 218.3174 203.9743 156.1868 221.3659 203.9743 156.1868 220.9359 190.6871 156.1868 220.9361 209.4352 156.1868 228.3979 217.5951 156.1868 229.902 217.5951 156.1868 229.472 209.4353 156.1868 229.4721 217.5951 156.1868 231.6582 220.4621 156.1868 231.6582 220.4621 156.1868 229.9019 227.3167 156.1868 231.6581 234.2646 156.1868 203.6219 234.2649 156.1868 228.3975 234.265 156.1868 229.4718 209.435 156.1868 211.4601 173.5748 156.1868 177.8448 165.7797 156.1868 179.257 165.7797 156.1868 178.9135 165.7801 156.1868 202.2002 227.3165 156.1868 220.9355 227.3165 156.1868 218.3166 227.3165 156.1868 221.3655 234.2648 156.1868 221.3654 217.5949 156.1868 218.3168 209.4351 156.1868 218.3169 209.4351 156.1868 219.8632 217.5949 156.1868 219.8631 203.9743 156.1868 218.317 190.6871 156.1868 221.3661 190.6872 156.1868 222.4035 203.9743 156.1868 222.4033 203.9744 156.1868 224.3433 190.6872 156.1868 224.3435 209.4351 156.1868 222.4032 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156.1868 238.5356 163.5614 156.1868 238.2231 165.7805 156.1868 235.5065 163.534 156.1868 237.9105 163.4528 156.1868 238.8387 163.3202 156.1868 239.1231 163.1403 156.1868 239.3801 162.377 156.1868 239.9145 162.6614 156.1868 239.7819 162.9184 156.1868 239.602 161.1457 156.1868 236.5317 161.4488 156.1868 236.4505 161.7614 156.1868 236.4231 162.0739 156.1868 236.4504 162.377 156.1868 236.5316 162.6614 156.1868 236.6642 162.9184 156.1868 236.8442 163.1402 156.1868 237.0661 160.2025 156.1868 237.3231 160.3825 156.1868 237.0661 163.3202 156.1868 237.3231 163.4528 156.1868 237.6074 162.074 156.1868 239.9958 161.7614 156.1868 240.0231 161.4488 156.1868 239.9958 161.1458 156.1868 239.9145 160.8614 156.1868 239.782 160.6044 156.1868 239.602 160.3825 156.1868 239.3801 160.6044 156.1868 236.8442 160.8614 156.1868 236.6643 159.9887 156.1868 237.9106 160.0699 156.1868 237.6075 160.2026 156.1868 239.1231 160.0699 156.1868 238.8388 159.9887 156.1868 238.5357 159.9614 156.1868 238.2231 165.7802 156.1868 211.4607 165.7805 156.1868 231.659 165.7805 156.1868 229.9028 165.7805 156.1868 229.4727 165.7804 156.1868 228.3985 165.7804 156.1868 227.1285 165.7804 156.1868 224.3438 165.7804 156.1868 222.4039 165.7803 156.1868 221.3665 165.7803 156.1868 220.9364 165.7803 156.1868 219.8639 165.7803 156.1868 218.3175 165.7801 156.1868 208.2654 165.78 156.1868 200.9427 165.78 156.1868 198.8214 165.7799 156.1868 189.1956 165.7799 156.1868 191.6356 165.7798 156.1868 183.306 165.7798 156.1868 182.2556 165.7797 156.1868 177.8449 165.7797 156.1868 176.2057 163.1403 156.1868 175.3801 163.3202 156.1868 175.1231 163.4528 156.1868 174.8387 162.9184 156.1868 175.602 162.6614 156.1868 175.7819 162.377 156.1868 175.9145 162.074 156.1868 175.9958 161.7614 156.1868 176.0231 161.4488 156.1868 175.9958 161.1458 156.1868 175.9145 160.8614 156.1868 175.782 160.6044 156.1868 175.602 160.3825 156.1868 175.3801 161.7614 156.1868 172.4231 162.0739 156.1868 172.4504 165.7796 156.1868 172.423 161.4488 156.1868 172.4505 162.377 156.1868 172.5316 162.6614 156.1868 172.6642 162.9184 156.1868 172.8442 163.1402 156.1868 173.0661 163.3202 156.1868 173.3231 163.4528 156.1868 173.6074 163.534 156.1868 173.9105 163.5614 156.1868 174.2231 163.534 156.1868 174.5356 160.6044 156.1868 172.8442 160.8614 156.1868 172.6643 161.1457 156.1868 172.5317 160.2026 156.1868 175.1231 160.0699 156.1868 174.8388 159.9887 156.1868 174.5357 159.9614 156.1868 174.2231 159.9887 156.1868 173.9106 160.0699 156.1868 173.6075 160.2025 156.1868 173.3231 160.3825 156.1868 173.0661 173.5747 156.1868 172.4229 173.5748 156.1868 176.2056 173.5748 156.1868 178.9134 173.5749 156.1868 182.2555 173.5749 156.1868 183.3059 173.5749 156.1868 184.6888 173.5749 156.1868 185.3434 173.5749 156.1868 186.9455 173.575 156.1868 189.1955 173.575 156.1868 191.6355 173.5751 156.1868 198.8213 173.5751 156.1868 200.9426 173.5752 156.1868 202.2001 173.5752 156.1868 203.6228 173.5752 156.1868 204.5551 173.5752 156.1868 205.8051 173.5752 156.1868 208.0278 173.5753 156.1868 208.2653 217.5948 156.1868 211.4599 217.5948 156.1868 208.0271 217.5948 156.1868 208.2646 217.5947 156.1868 205.8045 217.5947 156.1868 204.5545 217.5947 156.1868 203.6221 220.4617 156.1868 203.6221 220.4617 156.1868 202.1994 220.4617 156.1868 198.8206 220.4617 156.1868 200.9419 221.8201 156.1868 191.6348 221.8202 156.1868 198.8206 221.8201 156.1868 189.1948 221.8201 156.1868 186.9448 221.82 156.1868 185.3427 221.82 156.1868 184.6881 220.4615 156.1868 184.6881 220.4614 156.1868 183.3052 220.4614 156.1868 182.2548 220.4614 156.1868 179.2562 220.4614 156.1868 178.9127 220.4614 156.1868 177.8441 217.5943 156.1868 177.8441 217.5943 156.1868 176.205 217.5942 156.1868 172.4223 220.4613 156.1868 172.4222 221.8199 156.1868 172.4222 225.0942 156.1868 172.4221 227.3158 156.1868 172.4221 234.2641 156.1868 172.422 235.761 156.1868 172.422 236.377 156.1868 172.5305 236.6614 156.1868 172.6631 236.0739 156.1868 172.4493 234.2642 156.1868 176.2047 235.7614 156.1868 176.0219 235.4488 156.1868 175.9946 235.1458 156.1868 175.9134 234.8614 156.1868 175.7808 234.6044 156.1868 175.6008 237.4528 156.1868 174.8376 237.534 156.1868 174.5345 237.3202 156.1868 175.1219 237.1403 156.1868 175.3789 236.9184 156.1868 175.6008 236.6614 156.1868 175.7808 236.377 156.1868 175.9134 236.074 156.1868 175.9946 236.9184 156.1868 172.843 237.1402 156.1868 173.0649 237.3202 156.1868 173.3219 237.4528 156.1868 173.6063 237.534 156.1868 173.9094 237.5614 156.1868 174.2219 234.2642 156.1868 177.8439 234.2643 156.1868 183.305 234.2643 156.1868 184.6879 234.2643 156.1868 185.3425 234.2643 156.1868 186.9446 234.2644 156.1868 189.1946 234.2645 156.1868 200.9417 234.2645 156.1868 198.8204 234.2644 156.1868 191.6346 234.2646 156.1868 202.1992 234.2646 156.1868 204.5542 234.2646 156.1868 205.8042 234.2646 156.1868 208.0269 234.2646 156.1868 208.2644 234.2648 156.1868 220.9354 234.2648 156.1868 219.8629 234.2648 156.1868 218.3165 234.2647 156.1868 211.4597 234.2649 156.1868 224.3428 234.2649 156.1868 227.1275 234.2651 156.1868 237.2349 234.3825 156.1868 237.0673 234.2651 156.1868 235.5055 234.6044 156.1868 236.8454 234.8614 156.1868 236.6654 235.1457 156.1868 236.5328 235.4488 156.1868 236.4516 235.7613 156.1868 236.4243 236.0739 156.1868 236.4516 236.377 156.1868 236.5328 235.7614 156.1868 240.0243 235.4488 156.1868 239.9969 234.265 156.1868 229.9017 234.265 156.1868 231.658 236.6614 156.1868 236.6654 236.9184 156.1868 236.8453 237.1402 156.1868 237.0672 237.3202 156.1868 237.3242 237.4528 156.1868 237.6086 234.8614 156.1868 239.7831 234.6044 156.1868 239.6031 235.1458 156.1868 239.9157 237.534 156.1868 237.9117 237.5614 156.1868 238.2242 237.534 156.1868 238.5368 237.4528 156.1868 238.8399 237.3202 156.1868 239.1242 237.1403 156.1868 239.3813 236.9184 156.1868 239.6031 236.074 156.1868 239.9969 236.377 156.1868 239.9157 236.6614 156.1868 239.7831 227.3168 156.1868 235.5056 234.0699 156.1868 237.6086 234.2025 156.1868 237.3243 234.3825 156.1868 239.3813 234.2651 156.1868 239.2136 234.2025 156.1868 239.1243 234.0699 156.1868 238.8399 233.9887 156.1868 238.5368 233.9614 156.1868 238.2243 233.9887 156.1868 237.9117 225.0952 156.1868 235.5056 221.8208 156.1868 235.5057 220.4622 156.1868 235.5057 217.5952 156.1868 235.5057 209.4353 156.1868 235.5059 203.9745 156.1868 235.5059 190.6873 156.1868 235.5061 173.5756 156.1868 235.5064 221.8207 156.1868 231.6582 170.8604 156.1868 176.2056 170.8604 156.1868 177.8448 209.4351 156.1868 221.3658 217.595 156.1868 221.3657 170.0707 156.1868 198.8213 170.8607 156.1868 198.8213 170.0708 156.1868 208.2653 170.0708 156.1868 208.0278 170.8608 156.1868 208.0278 170.8608 156.1868 205.8051 170.8608 156.1868 204.5551 170.0708 156.1868 203.6228 170.8608 156.1868 203.6228 170.0708 156.1868 202.2001 234.3825 156.1868 175.379 234.2642 156.1868 175.21 227.3159 156.1868 176.2048 234.2025 156.1868 175.122 234.0699 156.1868 174.8376 233.9887 156.1868 174.5345 233.9614 156.1868 174.222 233.9887 156.1868 173.9094 234.6044 156.1868 172.8431 234.8614 156.1868 172.6631 234.3825 156.1868 173.065 235.1457 156.1868 172.5305 235.4488 156.1868 172.4493 234.0699 156.1868 173.6063 234.2025 156.1868 173.322 234.2641 156.1868 173.234 227.3166 156.1868 227.1276 227.3166 156.1868 228.3976 227.3167 156.1868 229.4718 227.3167 156.1868 229.9019 227.3164 156.1868 208.2645 227.3164 156.1868 211.4598 227.3163 156.1868 208.027 227.3163 156.1868 205.8043 227.3163 156.1868 204.5543 227.3163 156.1868 203.622 227.3163 156.1868 202.1993 227.3162 156.1868 198.8205 227.3161 156.1868 191.6347 227.3162 156.1868 200.9418 227.316 156.1868 185.3426 227.316 156.1868 186.9447 227.3161 156.1868 189.1947 227.3159 156.1868 177.844 225.0951 156.1868 231.6581 225.0945 156.1868 191.6347 225.0946 156.1868 198.8205 225.0947 156.1868 200.9418 225.0947 156.1868 202.1993 225.0947 156.1868 203.622 225.0947 156.1868 204.5543 225.0947 156.1868 205.8043 225.0948 156.1868 208.027 225.0948 156.1868 208.2645 225.0948 156.1868 211.4598 225.0945 156.1868 189.1947 225.0944 156.1868 186.9447 225.0944 156.1868 185.3426 225.0943 156.1868 177.844 225.0943 156.1868 178.9126 225.0943 156.1868 179.2561 221.8199 156.1868 177.8441 221.82 156.1868 178.9127 221.82 156.1868 179.2562 221.82 156.1868 182.2548 221.82 156.1868 183.3052 221.8203 156.1868 200.9419 221.8203 156.1868 202.1994 221.8203 156.1868 203.622 221.8203 156.1868 204.5544 221.8204 156.1868 205.8044 221.8204 156.1868 208.027 221.8204 156.1868 208.2645 221.8204 156.1868 211.4599 220.4617 156.1868 204.5544 220.4618 156.1868 205.8044 220.4618 156.1868 208.0271 220.4618 156.1868 208.2646 220.4618 156.1868 211.4599 220.462 156.1868 224.343 220.462 156.1868 222.4031 221.8206 156.1868 224.343 221.8206 156.1868 222.4031 225.095 156.1868 224.343 225.095 156.1868 222.403 227.3166 156.1868 224.3429 227.3166 156.1868 222.403 234.2649 156.1868 222.4029 220.462 156.1868 221.3656 221.8206 156.1868 221.3656 225.095 156.1868 221.3656 220.462 156.1868 220.9356 220.462 156.1868 219.8631 221.8206 156.1868 220.9356 221.8206 156.1868 219.8631 225.095 156.1868 220.9356 225.0949 156.1868 219.863 227.3165 156.1868 219.863 220.462 156.1868 218.3167 221.8205 156.1868 218.3167 225.0949 156.1868 218.3167 225.0943 156.1868 176.2048 221.8199 156.1868 176.2049 220.4613 156.1868 176.2049 209.4353 156.1868 231.6584 209.4353 156.1868 229.9021 209.4352 156.1868 227.1279 203.9745 156.1868 229.9022 203.9745 156.1868 231.6584 203.9744 156.1868 229.4722 203.9744 156.1868 228.3979 203.9744 156.1868 227.1279 190.6873 156.1868 231.6586 190.6873 156.1868 229.9024 190.6873 156.1868 229.4724 190.6873 156.1868 228.3981 190.6872 156.1868 227.1281 173.5756 156.1868 231.6589 173.5756 156.1868 229.9026 173.5756 156.1868 229.4726 173.5755 156.1868 228.3984 173.5755 156.1868 227.1284 173.5755 156.1868 224.3437 173.5755 156.1868 222.4038 173.5754 156.1868 221.3663 173.5754 156.1868 220.9363 173.5754 156.1868 219.8638 170.8612 156.1868 235.5064 170.8612 156.1868 231.6589 170.8612 156.1868 229.9027 170.8611 156.1868 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24825 33655 24826 33659 24830 33750 24913 33750 24913 33659 24830 33653 24824 33750 24913 33653 24824 33751 24914 33751 24914 33653 24824 33658 24829 33751 24914 33658 24829 33752 10926 33752 10926 33658 24829 32006 23267 33752 10926 32006 23267 33753 24915 33753 24915 32006 23267 32008 23283 33753 24915 32008 23283 33754 24916 33754 24916 32008 23283 32010 10904 33754 24916 32010 10904 33755 3047 33755 3047 32010 10904 32012 10960 33755 3047 32012 10960 33756 7142 33655 24826 33750 24913 32608 23779 32608 23779 33750 24913 33716 24887 32608 23779 33716 24887 33715 24886 32286 23457 32608 23779 33757 24917 33757 24917 32608 23779 32522 23693 33757 24917 32522 23693 33758 24918 33758 24918 32522 23693 32468 23639 33142 24313 33146 24317 33722 24893 33722 24893 33146 24317 33147 24318 33722 24893 33147 24318 33738 1064 33738 1064 33147 24318 33145 24316 33738 1064 33145 24316 33144 24315 33058 24229 33053 24224 33744 24908 33744 24908 33053 24224 33048 24219 33744 24908 33048 24219 33743 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31992 10939 33749 24912 31990 23280 31990 23280 33749 24912 33789 2291 31990 23280 33789 2291 31988 23264 31988 23264 33789 2291 33790 24933 31988 23264 33790 24933 31986 23263 31986 23263 33790 24933 33791 24934 31986 23263 33791 24934 33766 24922 33426 24597 33428 24599 33792 3826 33792 3826 33428 24599 32568 23739 33792 3826 32568 23739 33793 219 33793 219 32568 23739 32573 23744 33793 219 32573 23744 33794 4505 33794 4505 32573 23744 32574 23745 33794 4505 32574 23745 33795 1137 33795 1137 32574 23745 32575 23746 33795 1137 32575 23746 33796 10960 33796 10960 32575 23746 32576 23747 33796 10960 32576 23747 33719 24890 33719 24890 32576 23747 33375 24546 33719 24890 33375 24546 33374 24545 33427 24598 33431 24602 32582 23753 32582 23753 33431 24602 33425 24596 32582 23753 33425 24596 33430 24601 33483 24654 32582 23753 33765 24916 33765 24916 32582 23753 33430 24601 33765 24916 33430 24601 33792 3826 33792 3826 33430 24601 33429 24600 33792 3826 33429 24600 33426 24597 31974 10933 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107490 132028 107368 132150 107490 132029 107369 132065 107405 132194 107534 132195 107535 132065 107405 132195 107535 132086 107426 132086 107426 132195 107535 132196 107536 132086 107426 132196 107536 132085 107425 132085 107425 132196 107536 132197 107537 132085 107425 132197 107537 132084 107424 132084 107424 132197 107537 132198 107538 132084 107424 132198 107538 132083 107423 132083 107423 132198 107538 132199 107539 132083 107423 132199 107539 132082 107422 132082 107422 132199 107539 132200 107540 132082 107422 132200 107540 132081 107421 132081 107421 132200 107540 132201 107541 132081 107421 132201 107541 132080 107420 132080 107420 132201 107541 132202 107542 132080 107420 132202 107542 132079 107419 132079 107419 132202 107542 132203 107543 132079 107419 132203 107543 132078 107418 132078 107418 132203 107543 132204 107544 132078 107418 132204 107544 132077 107417 131991 107331 132205 107545 132206 107546 131991 107331 132206 107546 132004 107344 132004 107344 132206 107546 132207 107547 132004 107344 132207 107547 132003 107343 132003 107343 132207 107547 132208 107548 132003 107343 132208 107548 132002 107342 132002 107342 132208 107548 132209 107549 132002 107342 132209 107549 131986 107326 131986 107326 132209 107549 132210 107550 131986 107326 132210 107550 132038 107378 132038 107378 132210 107550 132211 107551 132038 107378 132211 107551 132037 107377 132037 107377 132211 107551 132212 107552 132037 107377 132212 107552 132036 107376 132036 107376 132212 107552 132213 107553 132036 107376 132213 107553 132035 107375 132035 107375 132213 107553 132214 107554 132035 107375 132214 107554 132034 107374 132034 107374 132214 107554 132215 107555 132034 107374 132215 107555 132052 107392 132052 107392 132215 107555 132216 107556 132052 107392 132216 107556 132033 107373 132059 107399 132217 107557 132218 107558 132059 107399 132218 107558 132060 107400 132060 107400 132218 107558 132219 107559 132060 107400 132219 107559 132061 107401 132061 107401 132219 107559 132220 107560 132061 107401 132220 107560 132062 107402 132062 107402 132220 107560 132221 107561 132062 107402 132221 107561 132063 107403 132063 107403 132221 107561 132222 107562 132063 107403 132222 107562 132064 107404 132064 107404 132222 107562 132223 107563 132064 107404 132223 107563 132068 107408 132068 107408 132223 107563 132224 107564 132068 107408 132224 107564 132069 107409 132069 107409 132224 107564 132225 107565 132069 107409 132225 107565 132053 107393 132053 107393 132225 107565 132226 107566 132053 107393 132226 107566 132054 107394 132054 107394 132226 107566 132227 107567 132054 107394 132227 107567 132055 107395 132055 107395 132227 107567 132183 107523 132055 107395 132183 107523 132057 107397 132019 107359 132228 107568 132229 107569 132019 107359 132229 107569 132021 107361 132021 107361 132229 107569 132230 107570 132021 107361 132230 107570 132023 107363 132023 107363 132230 107570 132231 107571 132023 107363 132231 107571 132024 107364 132024 107364 132231 107571 132232 107572 132024 107364 132232 107572 131998 107338 131998 107338 132232 107572 132233 107573 131998 107338 132233 107573 131999 107339 131999 107339 132233 107573 132234 107574 131999 107339 132234 107574 132000 107340 132000 107340 132234 107574 132235 107575 132000 107340 132235 107575 132025 107365 132025 107365 132235 107575 132236 107576 132025 107365 132236 107576 132040 107380 132040 107380 132236 107576 132237 107577 132040 107380 132237 107577 132041 107381 132041 107381 132237 107577 132238 107578 132041 107381 132238 107578 132043 107383 132043 107383 132238 107578 132239 107579 132043 107383 132239 107579 132045 107385 132110 107450 132240 107580 132241 107581 132110 107450 132241 107581 132111 107451 132111 107451 132241 107581 132242 107582 132111 107451 132242 107582 132112 107452 132112 107452 132242 107582 132243 107583 132112 107452 132243 107583 132113 107453 132113 107453 132243 107583 132244 107584 132113 107453 132244 107584 132114 107454 132114 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132017 107357 132017 107357 132279 107619 132228 107568 132017 107357 132228 107568 132019 107359 132045 107385 132239 107579 132280 107620 132045 107385 132280 107620 132039 107379 132039 107379 132280 107620 132281 107621 132039 107379 132281 107621 132027 107367 132027 107367 132281 107621 132217 107557 132027 107367 132217 107557 132059 107399 131947 107287 132182 107522 132282 107622 131947 107287 132282 107622 131948 107288 131948 107288 132282 107622 132283 107623 131948 107288 132283 107623 131949 107289 131949 107289 132283 107623 132284 107624 131949 107289 132284 107624 131950 107290 131950 107290 132284 107624 132285 107625 131950 107290 132285 107625 131951 107291 131951 107291 132285 107625 132286 107626 131951 107291 132286 107626 131952 107292 131952 107292 132286 107626 132287 107627 131952 107292 132287 107627 131953 107293 131953 107293 132287 107627 132288 107628 131953 107293 132288 107628 131954 107294 131954 107294 132288 107628 132289 107629 131954 107294 132289 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136921 112002 136961 110032 136708 111805 136709 88888 136738 89151 136962 88408 136709 88888 136709 88888 136962 88408 136963 92371 136709 88888 136963 92371 136961 110032 136727 111819 136708 111805 136931 112012 136931 112012 136708 111805 136961 110032 136931 112012 136961 110032 136937 112018 136937 112018 136961 110032 136964 112041 136937 112018 136964 112041 136725 111817 136725 111817 136964 112041 136714 111806 136737 277 136965 127 136738 89151 136738 89151 136965 127 136962 88408 136964 112041 136961 110032 136966 100116 136966 100116 136961 110032 136967 29726 136967 29726 136961 110032 136968 112042 136968 112042 136961 110032 136963 92371 136968 112042 136963 92371 136969 88888 136963 92371 136962 88408 136969 88888 136969 88888 136962 88408 136965 127 136744 111830 136768 111852 136920 112001 136970 675 136772 85357 136971 88895 136971 88895 136772 85357 136743 29726 136971 88895 136743 29726 136972 26374 136758 111842 136746 111831 136914 111995 136914 111995 136746 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140471 92406 140471 92406 140365 114939 140364 92406 140471 92406 140364 92406 140391 256 140391 256 140364 92406 140478 92395 140391 256 140478 92395 140389 256 140389 256 140478 92395 140442 256 140389 256 140442 256 140437 114987 140437 114987 140442 256 140445 114994 139417 88854 139472 114262 140483 3581 140483 3581 139472 114262 140484 115012 140485 115013 139385 114195 139982 1016 139982 1016 139385 114195 139384 600 140484 115012 139472 114262 139466 114257 140484 115012 139466 114257 140486 115014 140486 115014 139466 114257 139443 114238 140486 115014 139443 114238 140487 115015 140487 115015 139443 114238 139442 114237 140487 115015 139442 114237 140488 115016 140488 115016 139442 114237 139461 114252 140488 115016 139461 114252 140489 115017 140489 115017 139461 114252 139440 114235 140489 115017 139440 114235 140490 2612 140490 2612 139440 114235 139439 114234 140490 2612 139439 114234 140491 2614 140491 2614 139439 114234 139456 114247 140491 2614 139456 114247 140492 115018 140492 115018 139456 114247 139389 114199 140492 115018 139389 114199 140493 115019 140493 115019 139389 114199 139387 114197 140493 115019 139387 114197 140494 115020 140494 115020 139387 114197 139385 114195 140494 115020 139385 114195 140485 115013 139991 1010 139414 114216 140495 10630 140495 10630 139414 114216 139413 114215 140495 10630 139413 114215 139372 24934 140495 10630 139372 24934 140496 23335 140496 23335 139372 24934 139382 2292 140496 23335 139382 2292 140497 115021 140497 115021 139382 2292 139381 23280 140497 115021 139381 23280 140498 10592 140498 10592 139381 23280 139379 179 140498 10592 139379 179 140499 1149 140499 1149 139379 179 139378 3026 140499 1149 139378 3026 140500 2992 140500 2992 139378 3026 139401 184 140500 2992 139401 184 140501 31754 140501 31754 139401 184 139403 1515 140501 31754 139403 1515 140502 115022 140502 115022 139403 1515 139371 7176 140502 115022 139371 7176 140503 115023 140503 115023 139371 7176 139396 114205 140503 115023 139396 114205 140074 1711 139486 31291 139485 114270 140504 115024 140504 115024 139485 114270 140505 115025 139500 98090 140506 2599 139409 114214 139409 114214 140506 2599 140507 115026 139409 114214 140507 115026 140508 115027 139496 114276 139487 31292 140509 115028 140509 115028 139487 31292 140510 10559 140511 115029 140512 90143 140513 115030 140513 115030 140512 90143 139365 114188 140513 115030 139365 114188 140514 111802 140514 111802 139365 114188 140515 115031 140516 111803 140517 115032 139436 114233 140518 88600 140519 89474 139436 114233 139436 114233 140519 89474 140520 103713 139436 114233 140520 103713 140516 111803 140521 115033 140522 115034 140523 115035 140524 115036 140525 115037 140526 115038 140527 115039 140528 115040 140529 115041 140529 115041 140528 115040 140530 115042 140529 115041 140530 115042 140531 115043 140525 115037 140532 115044 140526 115038 140526 115038 140532 115044 140506 2599 140526 115038 140506 2599 140523 115035 139500 98090 139502 88988 140506 2599 140506 2599 139502 88988 139979 100825 140506 2599 139979 100825 140523 115035 140523 115035 139979 100825 140533 115045 140523 115035 140533 115045 140521 115033 140534 115046 140535 115047 140536 115048 140524 115036 140526 115038 140530 115042 140530 115042 140526 115038 140537 115049 140530 115042 140537 115049 140531 115043 140522 115034 140538 115050 140523 115035 140523 115035 140538 115050 140539 115051 140523 115035 140539 115051 140536 115048 140536 115048 140539 115051 140540 115052 140536 115048 140540 115052 140534 115046 139504 114280 140541 115053 139506 114282 139506 114282 140541 115053 140542 115054 140541 115053 140543 115055 140542 115054 140542 115054 140543 115055 140544 115056 140545 115057 140546 115058 140547 115059 140547 115059 140546 115058 140548 115060 140181 114776 139400 114208 140183 1012 140183 1012 139400 114208 139399 114207 140183 1012 139399 114207 140184 2716 140168 114767 140406 114965 139369 114189 139369 114189 139424 114225 140168 114767 140168 114767 139424 114225 139423 114224 140168 114767 139423 114224 140166 114765 140166 114765 139423 114224 140164 114763 140164 114763 139423 114224 139422 114223 140164 114763 139422 114223 140178 114774 140178 114774 139422 114223 139402 114209 140178 114774 139402 114209 140179 114201 140179 114201 139402 114209 139400 114208 140179 114201 139400 114208 140181 114776 140409 114208 140410 114966 139392 114202 139392 114202 140410 114966 139394 114203 140415 114969 140414 110461 139406 114212 139406 114212 140414 110461 140458 88928 139406 114212 140458 88928 140459 88928 140462 105638 139431 1538 140461 673 140461 673 139431 1538 139406 114212 140461 673 139406 114212 140460 115005 140460 115005 139406 114212 140459 88928 140462 105638 140138 673 139431 1538 139431 1538 140138 673 140139 88928 139431 1538 140139 88928 140141 114750 140155 2325 140153 114757 139470 32341 139470 32341 140153 114757 139471 114261 139459 114250 140425 114978 139460 114251 139460 114251 140425 114978 140429 114982 139460 114251 140429 114982 139462 114253 140428 114981 140427 114980 139459 114250 139459 114250 140427 114980 140426 114979 139459 114250 140426 114979 140425 114978 139459 114250 139444 114239 140428 114981 140428 114981 139444 114239 139468 114259 140428 114981 139468 114259 140135 114749 140135 114749 139468 114259 139467 114258 140135 114749 139467 114258 140144 114751 139462 114253 140429 114982 139463 114254 139463 114254 140429 114982 140431 1014 139463 114254 140431 1014 140434 114985 139415 114217 140480 115009 140479 115008 140479 115008 140477 115007 139415 114217 139415 114217 140477 115007 140476 94133 139415 114217 140476 94133 139373 114191 139373 114191 140476 94133 140475 48564 139373 114191 140475 48564 140474 288 140474 288 140473 92982 139373 114191 139373 114191 140473 92982 140472 110462 139373 114191 140472 110462 140447 114996 139373 114191 140447 114996 139374 114192 139374 114192 140447 114996 140451 115000 139374 114192 140451 115000 139428 114229 139428 114229 140451 115000 140450 114999 139428 114229 140450 114999 139429 114230 139429 114230 140450 114999 140449 114998 139429 114230 140449 114998 139430 114231 139430 114231 140449 114998 140446 114995 139430 114231 140446 114995 139383 114194 140446 114995 140448 114997 139383 114194 139383 114194 140448 114997 140076 114711 139383 114194 140076 114711 139425 114226 139425 114226 140076 114711 140075 114710 139425 114226 140075 114710 139426 114227 140075 114710 140455 115004 139426 114227 139426 114227 140455 115004 140454 115003 139426 114227 140454 115003 139427 114228 139427 114228 140454 115003 140453 115002 139427 114228 140453 115002 139380 114193 139380 114193 140453 115002 140452 115001 139380 114193 140452 115001 139399 114207 139399 114207 140452 115001 140184 2716 140409 114208 139392 114202 140412 114967 140412 114967 139392 114202 139391 114201 140412 114967 139391 114201 140413 114968 140413 114968 139391 114201 139421 114222 140413 114968 139421 114222 140404 114963 140404 114963 139421 114222 139397 114206 140404 114963 139397 114206 140405 114964 140405 114964 139397 114206 139370 114190 140405 114964 139370 114190 140406 114965 140406 114965 139370 114190 139369 114189 139394 114203 140410 114966 139395 114204 139395 114204 140410 114966 140422 114976 139395 114204 140422 114976 139445 114240 139445 114240 140422 114976 140421 114975 139445 114240 140421 114975 139446 114241 139446 114241 140421 114975 140420 114974 139446 114241 140420 114974 139447 114242 139447 114242 140420 114974 140424 114977 139447 114242 140424 114977 139480 114265 139480 114265 140424 114977 140423 2794 139480 114265 140423 2794 139481 114266 139481 114266 140423 2794 140419 114973 139481 114266 140419 114973 139483 114268 139483 114268 140419 114973 140418 114972 139483 114268 140418 114972 139484 114269 139484 114269 140418 114972 140417 114971 139484 114269 140417 114971 139405 114211 139405 114211 140417 114971 140416 114970 139405 114211 140416 114970 139406 114212 139406 114212 140416 114970 140415 114969 139431 1538 140141 114750 139432 25159 139432 25159 140141 114750 140143 3818 139432 25159 140143 3818 139477 10908 139477 10908 140143 3818 140149 114754 139477 10908 140149 114754 139475 36683 139475 36683 140149 114754 140151 114755 139475 36683 140151 114755 139473 3023 139473 3023 140151 114755 140160 114760 139473 3023 140160 114760 139438 23287 139438 23287 140160 114760 140159 114759 139438 23287 140159 114759 139437 1512 139437 1512 140159 114759 140158 114758 139437 1512 140158 114758 139435 198 139435 198 140158 114758 140157 2367 139435 198 140157 2367 139469 114260 139469 114260 140157 2367 140156 50721 139469 114260 140156 50721 139470 32341 139470 32341 140156 50721 140155 2325 140144 114751 139467 114258 140145 114259 140145 114259 139467 114258 139465 114256 140145 114259 139465 114256 140147 114752 140147 114752 139465 114256 139464 114255 140147 114752 139464 114255 140148 114753 140148 114753 139464 114255 139419 114220 140148 114753 139419 114220 140152 114756 140152 114756 139419 114220 139418 114219 140152 114756 139418 114219 140153 114757 140153 114757 139418 114219 139471 114261 139463 114254 140434 114985 139441 114236 139441 114236 140434 114985 140433 114984 139441 114236 140433 114984 139454 114245 140433 114984 140432 114983 139454 114245 139454 114245 140432 114983 140435 114986 139454 114245 140435 114986 139455 114246 139455 114246 140435 114986 140439 114989 139455 114246 140439 114989 139457 114248 140439 114989 140438 114988 139457 114248 139457 114248 140438 114988 140437 114987 139457 114248 140437 114987 139458 114249 139458 114249 140437 114987 140445 114994 139458 114249 140445 114994 139390 114200 139390 114200 140445 114994 140444 114993 139390 114200 140444 114993 139388 114198 139388 114198 140444 114993 140443 114992 139388 114198 140443 114992 139386 114196 140443 114992 140441 114991 139386 114196 139386 114196 140441 114991 139416 114218 139416 114218 140441 114991 140440 114990 139416 114218 140440 114990 139415 114217 139415 114217 140440 114990 140480 115009 140549 88642 140550 88602 140407 127 140407 127 140550 88602 140403 100116 140551 88977 140549 88642 140408 88888 140408 88888 140549 88642 140407 127 140552 89004 140551 88977 140411 92471 140411 92471 140551 88977 140408 88888 140550 88602 140552 89004 140403 100116 140403 100116 140552 89004 140411 92471 140551 88977 140552 89004 140549 88642 140549 88642 140552 89004 140550 88602 140129 88882 140128 114746 140553 29726 140553 29726 140128 114746 140554 97302 140555 89003 140554 97302 140137 100116 140137 100116 140554 97302 140128 114746 140555 89003 140137 100116 140556 133 140556 133 140137 100116 140379 675 140557 105348 140558 110732 140154 105382 140154 105382 140558 110732 140146 105654 140557 105348 140154 105382 140559 29725 140559 29725 140154 105382 140150 88894 140136 88609 140146 105654 140560 115061 140560 115061 140146 105654 140558 110732 140130 29726 140561 359 140140 288 140140 288 140561 359 140562 289 140140 288 140562 289 140142 105382 140561 359 140130 29726 140553 29726 140553 29726 140130 29726 140129 88882 140150 88894 140142 105382 140559 29725 140559 29725 140142 105382 140562 289 140563 97778 140134 114748 140560 115061 140560 115061 140134 114748 140136 88609 140379 675 140133 114747 140556 133 140556 133 140133 114747 140564 110734 140564 110734 140133 114747 140563 97778 140563 97778 140133 114747 140132 88928 140563 97778 140132 88928 140134 114748 140557 105348 140559 29725 140558 110732 140558 110732 140559 29725 140560 115061 140555 89003 140556 133 140554 97302 140554 97302 140556 133 140553 29726 140564 110734 140563 97778 140556 133 140556 133 140563 97778 140560 115061 140556 133 140560 115061 140553 29726 140553 29726 140560 115061 140559 29725 140553 29726 140559 29725 140561 359 140561 359 140559 29725 140562 289 140565 115062 140190 114783 140192 114784 140565 115062 140192 114784 140566 115063 140566 115063 140192 114784 140194 114785 140566 115063 140194 114785 140204 114787 140566 115063 140204 114787 140163 114762 140566 115063 140163 114762 140567 115064 140567 115064 140163 114762 140162 114761 140567 115064 140162 114761 140175 114773 140174 114772 140568 115065 140177 288 140177 288 140568 115065 140567 115064 140177 288 140567 115064 140175 114773 140568 115065 140174 114772 140569 115066 140569 115066 140174 114772 140172 114770 140569 115066 140172 114770 140171 114769 140169 114768 140570 115067 140173 114771 140173 114771 140570 115067 140569 115066 140173 114771 140569 115066 140171 114769 140571 115068 140570 115067 140167 114766 140167 114766 140570 115067 140169 114768 140180 114775 140572 115069 140165 114764 140165 114764 140572 115069 140571 115068 140165 114764 140571 115068 140167 114766 140572 115069 140180 114775 140573 115070 140573 115070 140180 114775 140182 114777 140573 115070 140182 114777 140185 114778 140574 115071 140573 115070 140186 114779 140186 114779 140573 115070 140185 114778 140574 115071 140186 114779 140575 115072 140575 115072 140186 114779 140187 114780 140575 115072 140187 114780 140189 114782 140575 115072 140189 114782 140188 114781 140575 115072 140188 114781 140576 115073 140576 115073 140188 114781 140093 114721 140576 115073 140093 114721 140092 114720 140565 115062 140576 115073 140190 114783 140190 114783 140576 115073 140092 114720 140570 115067 140571 115068 140569 115066 140569 115066 140571 115068 140572 115069 140576 115073 140565 115062 140575 115072 140575 115072 140565 115062 140566 115063 140573 115070 140574 115071 140572 115069 140572 115069 140574 115071 140575 115072 140572 115069 140575 115072 140569 115066 140569 115066 140575 115072 140566 115063 140569 115066 140566 115063 140568 115065 140568 115065 140566 115063 140567 115064 140577 289 140578 88642 140197 114786 140197 114786 140578 88642 140196 127 140579 359 140577 289 140199 29726 140199 29726 140577 289 140197 114786 140580 276 140579 359 140200 133 140200 133 140579 359 140199 29726 140581 133 140580 276 140201 276 140201 276 140580 276 140200 133 140581 133 140201 276 140202 1014 140581 133 140202 1014 140582 675 140582 675 140202 1014 140203 1014 140582 675 140203 1014 140240 133 140583 88599 140582 675 140241 114822 140241 114822 140582 675 140240 133 140583 88599 140241 114822 140091 1012 140583 88599 140091 1012 140584 127 140584 127 140091 1012 140090 1012 140584 127 140090 1012 140195 88642 140578 88642 140584 127 140196 127 140196 127 140584 127 140195 88642 140577 289 140579 359 140581 133 140581 133 140579 359 140580 276 140578 88642 140577 289 140584 127 140584 127 140577 289 140581 133 140584 127 140581 133 140583 88599 140583 88599 140581 133 140582 675 140585 115074 140239 114821 140238 114820 140585 115074 140238 114820 140586 115075 140238 114820 140316 114896 140586 115075 140586 115075 140316 114896 140315 114895 140586 115075 140315 114895 140587 115076 140587 115076 140315 114895 140314 114894 140587 115076 140314 114894 140588 115077 140588 115077 140314 114894 140310 114890 140588 115077 140310 114890 140589 115078 140589 115078 140310 114890 140309 114889 140589 115078 140309 114889 140590 115079 140590 115079 140309 114889 140308 114888 140590 115079 140308 114888 140591 115080 140591 115080 140308 114888 140307 114887 140591 115080 140307 114887 140592 115081 140592 115081 140307 114887 140319 114899 140592 115081 140319 114899 140593 115082 140593 115082 140319 114899 140318 114898 140593 115082 140318 114898 140594 115083 140594 115083 140318 114898 140317 114897 140594 115083 140317 114897 140595 115084 140595 115084 140317 114897 140303 114883 140595 115084 140303 114883 140596 115085 140596 115085 140303 114883 140302 114882 140596 115085 140302 114882 140597 115086 140597 115086 140302 114882 140306 114886 140597 115086 140306 114886 140598 115087 140598 115087 140306 114886 140305 114885 140598 115087 140305 114885 140599 115088 140599 115088 140305 114885 140304 114884 140599 115088 140304 114884 140600 115089 140600 115089 140304 114884 140313 114893 140600 115089 140313 114893 140601 115090 140601 115090 140313 114893 140312 114892 140601 115090 140312 114892 140602 115091 140602 115091 140312 114892 140311 114891 140602 115091 140311 114891 140603 115092 140311 114891 140207 114790 140603 115092 140603 115092 140207 114790 140206 114789 140603 115092 140206 114789 140604 115093 140604 115093 140206 114789 140205 114788 140604 115093 140205 114788 140605 115094 140605 115094 140205 114788 140211 114794 140605 115094 140211 114794 140606 115095 140606 115095 140211 114794 140209 114792 140606 115095 140209 114792 140607 115096 140607 115096 140209 114792 140208 114791 140607 115096 140208 114791 140608 115097 140608 115097 140208 114791 140216 114799 140608 115097 140216 114799 140609 115098 140609 115098 140216 114799 140213 114796 140609 115098 140213 114796 140610 115099 140610 115099 140213 114796 140212 114795 140610 115099 140212 114795 140611 115100 140611 115100 140212 114795 140214 114797 140611 115100 140214 114797 140612 115101 140612 115101 140214 114797 140215 114798 140612 115101 140215 114798 140613 115102 140613 115102 140215 114798 140218 114801 140613 115102 140218 114801 140614 115103 140614 115103 140218 114801 140217 114800 140614 115103 140217 114800 140615 115104 140615 115104 140217 114800 140210 114793 140615 115104 140210 114793 140616 115105 140616 115105 140210 114793 140220 114803 140616 115105 140220 114803 140617 115106 140617 115106 140220 114803 140219 114802 140617 115106 140219 114802 140618 115107 140618 115107 140219 114802 140088 114719 140618 115107 140088 114719 140619 115108 140084 114716 140620 115109 140085 114717 140085 114717 140620 115109 140621 115110 140085 114717 140621 115110 140226 114809 140226 114809 140621 115110 140622 115111 140226 114809 140622 115111 140221 114804 140221 114804 140622 115111 140623 115112 140221 114804 140623 115112 140222 114805 140222 114805 140623 115112 140624 115113 140222 114805 140624 115113 140223 114806 140223 114806 140624 115113 140625 115114 140223 114806 140625 115114 140224 114807 140224 114807 140625 115114 140626 115115 140224 114807 140626 115115 140225 114808 140225 114808 140626 115115 140627 115116 140225 114808 140627 115116 140234 114817 140234 114817 140627 115116 140628 115117 140234 114817 140628 115117 140235 114818 140235 114818 140628 115117 140629 115118 140235 114818 140629 115118 140236 114819 140236 114819 140629 115118 140630 115119 140236 114819 140630 115119 140227 114810 140227 114810 140630 115119 140631 115120 140227 114810 140631 115120 140228 114811 140228 114811 140631 115120 140632 115121 140228 114811 140632 115121 140229 114812 140229 114812 140632 115121 140633 115122 140229 114812 140633 115122 140232 114815 140232 114815 140633 115122 140634 115123 140232 114815 140634 115123 140233 114816 140233 114816 140634 115123 140635 115124 140233 114816 140635 115124 140231 114814 140231 114814 140635 115124 140636 115125 140231 114814 140636 115125 140230 114813 140230 114813 140636 115125 140619 115108 140230 114813 140619 115108 140087 114718 140087 114718 140619 115108 140088 114719 140637 115126 140620 115109 140244 114824 140244 114824 140620 115109 140084 114716 140244 114824 140082 114714 140637 115126 140637 115126 140082 114714 140638 115127 140082 114714 140081 114713 140638 115127 140638 115127 140081 114713 140275 114855 140638 115127 140275 114855 140639 115128 140639 115128 140275 114855 140276 114856 140639 115128 140276 114856 140640 115129 140640 115129 140276 114856 140279 114859 140640 115129 140279 114859 140641 115130 140641 115130 140279 114859 140278 114858 140641 115130 140278 114858 140642 115131 140642 115131 140278 114858 140277 114857 140642 115131 140277 114857 140643 115132 140643 115132 140277 114857 140283 114863 140643 115132 140283 114863 140644 115133 140644 115133 140283 114863 140274 114854 140644 115133 140274 114854 140645 115134 140645 115134 140274 114854 140273 114853 140645 115134 140273 114853 140646 115135 140646 115135 140273 114853 140271 114851 140646 115135 140271 114851 140647 115136 140647 115136 140271 114851 140270 114850 140647 115136 140270 114850 140648 115137 140648 115137 140270 114850 140272 114852 140648 115137 140272 114852 140649 115138 140649 115138 140272 114852 140285 114865 140649 115138 140285 114865 140650 115139 140650 115139 140285 114865 140284 114864 140650 115139 140284 114864 140651 115140 140651 115140 140284 114864 140282 114862 140651 115140 140282 114862 140652 115141 140652 115141 140282 114862 140281 114861 140652 115141 140281 114861 140653 115142 140653 115142 140281 114861 140280 114860 140653 115142 140280 114860 140654 115143 140654 115143 140280 114860 140083 114715 140654 115143 140083 114715 140655 115144 140083 114715 140243 114823 140655 115144 140655 115144 140243 114823 140245 114825 140655 115144 140245 114825 140656 115145 140656 115145 140245 114825 140269 114849 140656 115145 140269 114849 140657 115146 140657 115146 140269 114849 140268 114848 140657 115146 140268 114848 140658 115147 140658 115147 140268 114848 140265 114845 140658 115147 140265 114845 140659 115148 140659 115148 140265 114845 140264 114844 140659 115148 140264 114844 140660 115149 140660 115149 140264 114844 140263 114843 140660 115149 140263 114843 140661 115150 140661 115150 140263 114843 140262 114842 140661 115150 140262 114842 140662 115151 140662 115151 140262 114842 140261 114841 140662 115151 140261 114841 140663 115152 140663 115152 140261 114841 140260 114840 140663 115152 140260 114840 140664 115153 140664 115153 140260 114840 140247 114827 140664 115153 140247 114827 140665 115154 140665 115154 140247 114827 140246 114826 140665 115154 140246 114826 140666 115155 140667 115156 140666 115155 140251 114831 140251 114831 140666 115155 140246 114826 140252 114832 140668 115157 140669 115158 140667 115156 140251 114831 140253 114833 140667 115156 140253 114833 140670 115159 140670 115159 140253 114833 140267 114847 140670 115159 140267 114847 140671 115160 140671 115160 140267 114847 140266 114846 140671 115160 140266 114846 140672 115161 140672 115161 140266 114846 140259 114839 140672 115161 140259 114839 140673 115162 140673 115162 140259 114839 140258 114838 140673 115162 140258 114838 140674 115163 140674 115163 140258 114838 140257 114837 140674 115163 140257 114837 140675 115164 140675 115164 140257 114837 140256 114836 140675 115164 140256 114836 140676 115165 140676 115165 140256 114836 140255 114835 140676 115165 140255 114835 140677 115166 140677 115166 140255 114835 140254 114834 140677 115166 140254 114834 140678 115167 140678 115167 140254 114834 140249 114829 140678 115167 140249 114829 140679 115168 140679 115168 140249 114829 140248 114828 140679 115168 140248 114828 140680 115169 140680 115169 140248 114828 140288 114868 140680 115169 140288 114868 140681 115170 140288 114868 140301 114881 140681 115170 140681 115170 140301 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140758 88895 140320 94097 140321 1014 140758 88895 140321 1014 140759 675 140759 675 140321 1014 140343 1014 140759 675 140343 1014 140342 92376 140760 277 140759 675 140341 114918 140341 114918 140759 675 140342 92376 140760 277 140341 114918 140761 127 140761 127 140341 114918 140080 1012 140761 127 140080 1012 140079 277 140770 115253 140761 127 140078 114712 140078 114712 140761 127 140079 277 140770 115253 140078 114712 140354 114929 140770 115253 140354 114929 140772 115255 140772 115255 140354 114929 140353 114928 140772 115255 140353 114928 140774 115257 140774 115257 140353 114928 140352 114927 140774 115257 140352 114927 140776 115259 140776 115259 140352 114927 140351 114926 140776 115259 140351 114926 140778 115261 140778 115261 140351 114926 140350 114925 140778 115261 140350 114925 140780 115263 140780 115263 140350 114925 140349 114924 140780 115263 140349 114924 140782 115265 140782 115265 140349 114924 140348 114923 140782 115265 140348 114923 140784 115267 140784 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156882 127214 156865 127197 156882 127214 156866 127198 156866 127198 156882 127214 156883 127215 156866 127198 156883 127215 156867 127199 156867 127199 156883 127215 156884 127216 156867 127199 156884 127216 156868 127200 156868 127200 156884 127216 156885 127217 156868 127200 156885 127217 156869 127201 156869 127201 156885 127217 156886 127218 156869 127201 156886 127218 156870 127202 156870 127202 156886 127218 156887 127219 156870 127202 156887 127219 156871 127203 156871 127203 156887 127219 156888 127220 156871 127203 156888 127220 156872 127204 156872 127204 156888 127220 156889 127221 156872 127204 156889 127221 156873 127205 156873 127205 156889 127221 156890 127222 156873 127205 156890 127222 156874 127206 156874 127206 156890 127222 156891 127223 156874 127206 156891 127223 156875 127207 156875 127207 156891 127223 156892 127224 156875 127207 156892 127224 156876 127208 156876 127208 156892 127224 156893 127225 156876 127208 156893 127225 156878 127210 156878 127210 156893 127225 156894 127226 156878 127210 156894 127226 156877 127209 156877 127209 156894 127226 156895 127227 156877 127209 156895 127227 156804 127137 156804 127137 156895 127227 156822 127155 156841 127174 156861 127193 156879 127211 156879 127211 156861 127193 156896 127228 156879 127211 156896 127228 156880 127212 156880 127212 156896 127228 156897 127229 156880 127212 156897 127229 156881 127213 156881 127213 156897 127229 156898 127230 156881 127213 156898 127230 156882 127214 156882 127214 156898 127230 156899 127231 156882 127214 156899 127231 156883 127215 156883 127215 156899 127231 156900 127232 156883 127215 156900 127232 156884 127216 156884 127216 156900 127232 156901 127233 156884 127216 156901 127233 156885 127217 156885 127217 156901 127233 156902 127234 156885 127217 156902 127234 156886 127218 156886 127218 156902 127234 156903 127235 156886 127218 156903 127235 156887 127219 156887 127219 156903 127235 156904 127236 156887 127219 156904 127236 156888 127220 156888 127220 156904 127236 156905 127237 156888 127220 156905 127237 156889 127221 156889 127221 156905 127237 156906 127238 156889 127221 156906 127238 156890 127222 156890 127222 156906 127238 156907 127239 156890 127222 156907 127239 156891 127223 156891 127223 156907 127239 156908 127240 156891 127223 156908 127240 156892 127224 156892 127224 156908 127240 156909 127241 156892 127224 156909 127241 156893 127225 156893 127225 156909 127241 156910 127242 156893 127225 156910 127242 156894 127226 156894 127226 156910 127242 156911 127243 156894 127226 156911 127243 156895 127227 156895 127227 156911 127243 156912 127244 156895 127227 156912 127244 156822 127155 156822 127155 156912 127244 156842 127175 156861 127193 156794 127127 156896 127228 156896 127228 156794 127127 156793 127126 156896 127228 156793 127126 156897 127229 156897 127229 156793 127126 156792 127125 156897 127229 156792 127125 156898 127230 156898 127230 156792 127125 156791 127124 156898 127230 156791 127124 156899 127231 156899 127231 156791 127124 156790 127123 156899 127231 156790 127123 156900 127232 156900 127232 156790 127123 156789 127122 156900 127232 156789 127122 156901 127233 156901 127233 156789 127122 156788 127121 156901 127233 156788 127121 156902 127234 156902 127234 156788 127121 156787 127120 156902 127234 156787 127120 156903 127235 156903 127235 156787 127120 156786 127119 156903 127235 156786 127119 156904 127236 156904 127236 156786 127119 156785 127118 156904 127236 156785 127118 156905 127237 156905 127237 156785 127118 156784 127117 156905 127237 156784 127117 156906 127238 156906 127238 156784 127117 156783 127116 156906 127238 156783 127116 156907 127239 156907 127239 156783 127116 156782 127115 156907 127239 156782 127115 156908 127240 156908 127240 156782 127115 156781 127114 156908 127240 156781 127114 156909 127241 156909 127241 156781 127114 156780 127113 156909 127241 156780 127113 156910 127242 156910 127242 156780 127113 156779 127112 156910 127242 156779 127112 156911 127243 156911 127243 156779 127112 156778 127111 156911 127243 156778 127111 156912 127244 156912 127244 156778 127111 156777 127110 156912 127244 156777 127110 156842 127175 156842 127175 156777 127110 156776 127109</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Drone_Vis" name="Drone Vis" type="NODE">
+        <matrix sid="transform">-8.74228e-11 -8.74228e-11 -0.002 0.4 -0.002 0 8.74228e-11 0.4 0 0.002 -8.74228e-11 -1.49012e-8 0 0 0 1</matrix>
+        <instance_geometry url="#Drone_Vis-mesh" name="Drone Vis">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="材质-material" target="#材质-material"/>
+              <instance_material symbol="材质_001-material" target="#材质_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/uav_simulator/odom_visualization/meshes/f250.dae b/uav_simulator/odom_visualization/meshes/f250.dae
new file mode 100755
index 0000000..977a906
--- /dev/null
+++ b/uav_simulator/odom_visualization/meshes/f250.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.90.1</authoring_tool>
+    </contributor>
+    <created>2021-02-21T15:14:24</created>
+    <modified>2021-02-21T15:14:24</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="材质-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="材质_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="材质-material" name="材质">
+      <instance_effect url="#材质-effect"/>
+    </material>
+    <material id="材质_001-material" name="材质.001">
+      <instance_effect url="#材质_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="普通F250_2-mesh" name="普通F250 2">
+      <mesh>
+        <source id="普通F250_2-mesh-positions">
+          <float_array id="普通F250_2-mesh-positions-array" count="294864">160.1735 43 177.3367 160.2181 43 177.9329 160.1735 44.8 177.3367 160.2181 44.8 177.9329 160.2946 44.8 178.2683 160.2946 43 178.2683 160.3511 44.8 178.5158 160.3511 43 178.5158 160.5695 43 179.0724 160.5695 44.8 179.0724 161.2843 44.8 180.7684 161.2843 43 180.7684 162.5056 44.8 183.6661 162.5056 43 183.6661 163.9746 44.8 188.4297 163.9746 43 188.4297 164.962 44.8 193.316 164.962 43 193.316 165.458 44.8 198.2762 165.458 43 198.2762 165.4577 44.8 200.7687 165.4577 43 200.7687 165.4575 44.8 203.2613 165.4575 43 203.2613 164.9607 44.8 208.2214 164.9607 43 208.2214 163.9724 44.8 213.1075 163.9724 43 213.1075 162.5025 44.8 217.8709 162.5025 43 217.8709 161.2807 44.8 220.7684 161.2807 43 220.7684 160.5656 44.8 222.4642 160.5656 43 222.4642 160.347 43 223.0207 160.347 44.8 223.0207 160.2905 44.8 223.2683 160.2905 43 223.2683 160.2139 44.8 223.6036 160.2139 43 223.6036 160.1692 43 224.1998 160.1692 44.8 224.1998 160.1691 44.8 225.6114 160.1691 43 225.6114 160.2183 43 226.2372 160.2183 44.8 226.2372 160.3647 43 226.8475 160.3647 44.8 226.8475 160.6049 43 227.4274 160.6049 44.8 227.4274 160.9328 43 227.9626 160.9328 44.8 227.9626 161.3404 43 228.44 161.3404 44.8 228.44 164.9185 44.8 232.0187 164.9185 43 232.0187 171.6672 44.8 238.7686 171.6672 43 238.7686 172.9962 44.8 240.0979 172.9962 43 240.0979 173.4734 43 240.5055 173.4734 44.8 240.5055 174.0086 43 240.8336 174.0086 44.8 240.8336 174.5885 43 241.0738 174.5885 44.8 241.0738 175.1988 43 241.2204 175.1988 44.8 241.2204 175.8245 43 241.2697 175.8245 44.8 241.2697 180.3177 43 241.2701 180.3177 44.8 241.2701 178.1669 43 241.2699 178.1669 44.8 241.2699 180.9434 44.8 241.3194 180.9434 43 241.3194 181.5537 44.8 241.466 181.5537 43 241.466 182.1336 44.8 241.7062 182.1336 43 241.7062 182.6687 44.8 242.0343 182.6687 43 242.0343 183.146 44.8 242.4419 183.146 43 242.4419 183.5536 44.8 242.9193 183.5536 43 242.9193 183.8815 44.8 243.4545 183.8815 43 243.4545 184.1216 44.8 244.0344 184.1216 43 244.0344 184.2681 44.8 244.6447 184.2681 43 244.6447 184.3173 44.8 245.2705 184.3173 43 245.2705 184.3161 44.8 258.1078 184.3161 43 258.1078 184.3768 43 258.8024 184.3768 44.8 258.8024 184.5572 43 259.4759 184.5572 44.8 259.4759 184.8518 43 260.1078 184.8518 44.8 260.1078 185.2517 43 260.679 185.2517 44.8 260.679 185.7447 43 261.1721 185.7447 44.8 261.1721 186.3158 43 261.5721 186.3158 44.8 261.5721 186.6651 44.8 261.735 186.6651 43 261.735 186.9477 44.8 261.8668 186.9477 43 261.8668 187.6212 43 262.0473 187.6212 44.8 262.0473 188.3157 43 262.1081 188.3157 44.8 262.1081 213.3157 44.8 262.1104 213.3157 43 262.1104 214.0103 43 262.0497 214.0103 44.8 262.0497 214.6838 43 261.8693 214.6838 44.8 261.8693 214.9665 44.8 261.7376 214.9665 43 261.7376 215.3158 44.8 261.5747 215.3158 43 261.5747 215.887 43 261.1748 215.887 44.8 261.1748 216.38 43 260.6818 216.38 44.8 260.6818 216.78 43 260.1107 216.78 44.8 260.1107 217.0747 43 259.4788 217.0747 44.8 259.4788 217.2553 43 258.8054 217.2553 44.8 258.8054 217.3161 43 258.1108 217.3161 44.8 258.1108 217.3173 44.8 245.2735 217.3173 43 245.2735 217.3666 44.8 244.6477 217.3666 43 244.6477 217.5132 44.8 244.0374 217.5132 43 244.0374 217.7534 44.8 243.4576 217.7534 43 243.4576 218.0814 44.8 242.9224 218.0814 43 242.9224 218.4891 44.8 242.4452 218.4891 43 242.4452 218.9664 44.8 242.0376 218.9664 43 242.0376 219.5016 44.8 241.7097 219.5016 43 241.7097 220.0816 44.8 241.4695 220.0816 43 241.4695 220.6919 44.8 241.323 220.6919 43 241.323 221.3176 44.8 241.2738 221.3176 43 241.2738 225.8108 44.8 241.2743 225.8108 43 241.2743 226.4365 43 241.2251 226.4365 44.8 241.2251 227.0469 43 241.0786 227.0469 44.8 241.0786 227.6268 43 240.8385 227.6268 44.8 240.8385 228.162 43 240.5105 228.162 44.8 240.5105 228.6393 43 240.1029 228.6393 44.8 240.1029 229.9686 44.8 238.7739 229.9686 43 238.7739 233.7189 44.8 235.0243 233.7189 43 235.0243 236.7185 44.8 232.0252 236.7185 43 232.0252 240.2972 44.8 228.4472 240.2972 43 228.4472 240.7049 43 227.9699 240.7049 44.8 227.9699 241.0329 43 227.4347 241.0329 44.8 227.4347 241.2732 43 226.8549 241.2732 44.8 226.8549 241.4198 43 226.2446 241.4198 44.8 226.2446 241.4691 43 225.6188 241.4691 44.8 225.6188 241.4692 44.8 224.2073 241.4692 43 224.2073 241.4246 43 223.611 241.4246 44.8 223.611 241.348 44.8 223.2757 241.348 43 223.2757 241.2916 44.8 223.0281 241.2916 43 223.0281 241.0732 43 222.4716 241.0732 44.8 222.4716 240.3584 44.8 220.7756 240.3584 43 220.7756 239.1371 44.8 217.8779 239.1371 43 217.8779 237.668 44.8 213.1142 237.668 43 213.1142 236.6806 44.8 208.228 236.6806 43 208.228 236.1847 44.8 203.2677 236.1847 43 203.2677 236.1849 44.8 200.7752 236.1849 43 200.7752 236.1852 44.8 198.2827 236.1852 43 198.2827 236.682 44.8 193.3225 236.682 43 193.3225 237.6703 44.8 188.4364 237.6703 43 188.4364 239.1402 44.8 183.6731 239.1402 43 183.6731 240.362 44.8 180.7756 240.362 43 180.7756 241.0771 44.8 179.0798 241.0771 43 179.0798 241.2956 43 178.5232 241.2956 44.8 178.5232 241.3522 44.8 178.2757 241.3522 43 178.2757 241.4287 44.8 177.9403 241.4287 43 177.9403 241.4735 43 177.3441 241.4735 44.8 177.3441 241.4736 44.8 175.9325 241.4736 43 175.9325 241.4244 43 175.3068 241.4244 44.8 175.3068 241.2779 43 174.6965 241.2779 44.8 174.6965 241.0378 43 174.1165 241.0378 44.8 174.1165 240.7099 43 173.5813 240.7099 44.8 173.5813 240.3023 43 173.104 240.3023 44.8 173.104 236.7242 44.8 169.5252 236.7242 43 169.5252 233.7252 44.8 166.5257 233.7252 43 166.5257 231.2247 44.8 164.0248 231.2247 43 164.0248 229.9755 44.8 162.7754 229.9755 43 162.7754 228.6465 44.8 161.4461 228.6465 43 161.4461 228.1693 43 161.0384 228.1693 44.8 161.0384 227.6341 43 160.7104 227.6341 44.8 160.7104 227.0542 43 160.4701 227.0542 44.8 160.4701 226.4439 43 160.3236 226.4439 44.8 160.3236 225.8182 43 160.2743 225.8182 44.8 160.2743 217.325 44.8 160.2735 217.325 43 160.2735 217.3253 44.8 157.2735 217.3253 43 157.2735 217.2761 43 156.6477 217.2761 44.8 156.6477 217.1296 43 156.0374 217.1296 44.8 156.0374 216.8895 43 155.4575 216.8895 44.8 155.4575 216.5616 43 154.9223 216.5616 44.8 154.9223 216.154 43 154.445 216.154 44.8 154.445 215.6768 43 154.0373 215.6768 44.8 154.0373 215.1416 43 153.7093 215.1416 44.8 153.7093 214.9764 44.8 153.6408 214.9764 43 153.6408 214.5617 44.8 153.469 214.5617 43 153.469 213.9514 43 153.3224 213.9514 44.8 153.3224 213.3257 43 153.2731 213.3257 44.8 153.2731 188.3257 44.8 153.2708 188.3257 43 153.2708 187.6999 43 153.32 187.6999 44.8 153.32 187.0896 43 153.4665 187.0896 44.8 153.4665 186.6749 44.8 153.6382 186.6749 43 153.6382 186.5097 44.8 153.7066 186.5097 43 153.7066 185.9745 43 154.0346 185.9745 44.8 154.0346 185.4971 43 154.4421 185.4971 44.8 154.4421 185.0895 43 154.9194 185.0895 44.8 154.9194 184.7615 43 155.4546 184.7615 44.8 155.4546 184.5212 43 156.0344 184.5212 44.8 156.0344 184.3746 43 156.6447 184.3746 44.8 156.6447 184.3253 43 157.2705 184.3253 44.8 157.2705 184.325 44.8 160.2705 184.325 43 160.2705 175.8319 43 160.2697 175.8319 44.8 160.2697 178.1743 43 160.2699 178.1743 44.8 160.2699 175.2062 43 160.3189 175.2062 44.8 160.3189 174.5958 43 160.4654 174.5958 44.8 160.4654 174.0159 43 160.7055 174.0159 44.8 160.7055 173.4807 43 161.0334 173.4807 44.8 161.0334 173.0034 43 161.441 173.0034 44.8 161.441 161.3454 43 173.0968 161.3454 44.8 173.0968 164.9242 43 169.5187 164.9242 44.8 169.5187 170.4247 43 164.0192 170.4247 44.8 164.0192 171.6741 43 162.77 171.6741 44.8 162.77 160.9378 43 173.5741 160.9378 44.8 173.5741 160.6098 43 174.1092 160.6098 44.8 174.1092 160.3695 43 174.6891 160.3695 44.8 174.6891 160.2229 43 175.2994 160.2229 44.8 175.2994 160.1736 43 175.9251 160.1736 44.8 175.9251 178.2322 44.8 219.1001 178.169 44.8 219.1444 178.1688 44.8 220.7699 171.6678 44.8 232.0193 233.7192 44.8 232.025 233.7241 44.8 178.275 178.174 44.8 164.0199 164.5843 44.8 173.2915 164.8369 44.8 173.3592 165.8009 44.8 175.0292 165.7332 44.8 175.2818 171.6727 44.8 178.2693 165.6227 44.8 175.5188 164.0631 44.8 176.2458 163.8106 44.8 176.1781 163.5736 44.8 176.0676 165.0738 44.8 173.4697 171.6735 44.8 169.5193 165.288 44.8 173.6197 165.4729 44.8 173.8046 165.6228 44.8 174.0188 165.4727 44.8 175.7329 165.2878 44.8 175.9178 165.0736 44.8 176.0678 163.8108 44.8 173.3591 164.0634 44.8 173.2914 164.3238 44.8 173.2686 165.7333 44.8 174.2557 165.8009 44.8 174.5083 165.8237 44.8 174.7688 164.8366 44.8 176.1782 164.5841 44.8 176.2459 164.3236 44.8 176.2687 163.3594 44.8 175.9176 163.1746 44.8 175.7327 163.0246 44.8 175.5185 163.0247 44.8 174.0185 162.9142 44.8 174.2555 162.8465 44.8 174.508 162.8237 44.8 174.7685 162.8465 44.8 175.029 162.9141 44.8 175.2816 163.1747 44.8 173.8044 163.3596 44.8 173.6195 163.5738 44.8 173.4695 171.674 44.8 164.0193 173.3475 44.8 164.009 173.4152 44.8 163.7565 173.5257 44.8 163.5195 173.6757 44.8 163.3053 173.8606 44.8 163.1204 174.0748 44.8 162.9705 174.3118 44.8 162.86 174.5643 44.8 162.7924 174.8248 44.8 162.7696 175.0853 44.8 162.7924 175.3378 44.8 162.8601 175.5748 44.8 162.9706 175.789 44.8 163.1206 176.2343 44.8 163.7567 176.1238 44.8 163.5197 175.9738 44.8 163.3055 186.674 44.8 164.0207 214.9754 44.8 164.0233 226.3118 44.8 162.8648 226.5643 44.8 162.7971 225.5257 44.8 163.5242 225.6757 44.8 163.3101 226.8248 44.8 162.7743 227.0853 44.8 162.7972 227.3378 44.8 162.8649 225.8606 44.8 163.1252 226.0748 44.8 162.9752 225.3466 44.8 164.0242 225.3475 44.8 164.0137 225.4152 44.8 163.7612 227.5748 44.8 162.9754 227.789 44.8 163.1254 227.9738 44.8 163.3103 228.1238 44.8 163.5245 228.2343 44.8 163.7615 229.9754 44.8 164.0246 229.9749 44.8 169.5246 237.0634 44.8 173.2981 237.3238 44.8 173.2753 237.5843 44.8 173.2981 233.7249 44.8 169.525 236.5738 44.8 173.4762 236.8108 44.8 173.3657 237.8369 44.8 173.3658 238.0738 44.8 173.4763 238.288 44.8 173.6263 238.0736 44.8 176.0744 237.8366 44.8 176.1849 237.5841 44.8 176.2525 237.3236 44.8 176.2753 237.0631 44.8 176.2525 236.8106 44.8 176.1848 236.5736 44.8 176.0743 236.3594 44.8 175.9243 235.9142 44.8 174.2621 236.0247 44.8 174.0252 236.1746 44.8 175.7394 236.0246 44.8 175.5252 235.9141 44.8 175.2882 236.1747 44.8 173.811 236.3596 44.8 173.6262 238.4729 44.8 173.8112 238.6228 44.8 174.0254 238.7333 44.8 174.2624 238.8009 44.8 174.515 238.8237 44.8 174.7754 238.8009 44.8 175.0359 238.7332 44.8 175.2885 238.6227 44.8 175.5254 238.4727 44.8 175.7396 238.2878 44.8 175.9245 235.8465 44.8 175.0356 235.8237 44.8 174.7752 235.8465 44.8 174.5147 233.7221 44.8 200.775 233.7239 44.8 180.775 233.7202 44.8 220.775 233.72 44.8 223.275 235.8418 44.8 226.5147 235.9095 44.8 226.2622 236.02 44.8 226.0252 236.17 44.8 225.811 236.3549 44.8 225.6262 236.5691 44.8 225.4762 236.8061 44.8 225.3657 237.8321 44.8 225.3658 238.0691 44.8 225.4763 238.6179 44.8 227.5254 238.7285 44.8 227.2885 238.7962 44.8 227.0359 238.819 44.8 226.7754 238.7962 44.8 226.515 238.7286 44.8 226.2624 238.6181 44.8 226.0254 237.0586 44.8 225.2981 237.3191 44.8 225.2753 237.5796 44.8 225.2981 238.2833 44.8 225.6263 238.4681 44.8 225.8112 237.5793 44.8 228.2525 237.3188 44.8 228.2753 236.3547 44.8 227.9243 236.1698 44.8 227.7394 236.0199 44.8 227.5252 237.8319 44.8 228.1849 235.9094 44.8 227.2882 235.8417 44.8 227.0356 235.819 44.8 226.7752 237.0584 44.8 228.2525 236.8058 44.8 228.1848 236.5688 44.8 228.0743 238.468 44.8 227.7396 238.283 44.8 227.9245 238.0688 44.8 228.0744 227.0786 44.8 235.7972 227.3312 44.8 235.8649 229.9692 44.8 232.0246 214.9692 44.8 232.0233 225.8539 44.8 236.1252 226.0681 44.8 235.9752 228.2952 44.8 237.535 228.2275 44.8 237.7875 225.4085 44.8 236.7612 225.519 44.8 236.5242 225.669 44.8 236.3101 226.3051 44.8 235.8648 226.5577 44.8 235.7971 226.8181 44.8 235.7743 227.5681 44.8 235.9754 227.7823 44.8 236.1254 227.9672 44.8 236.3103 228.318 44.8 237.2745 228.1171 44.8 236.5245 228.2276 44.8 236.7615 228.2952 44.8 237.014 225.5189 44.8 238.0242 225.4084 44.8 237.7873 228.117 44.8 238.0245 227.967 44.8 238.2386 227.7821 44.8 238.4235 227.5679 44.8 238.5735 227.3309 44.8 238.6839 227.0783 44.8 238.7516 226.8179 44.8 238.7743 226.5574 44.8 238.7515 225.8537 44.8 238.4233 225.6688 44.8 238.2384 226.3049 44.8 238.6838 226.0679 44.8 238.5733 225.3408 44.8 237.5347 225.318 44.8 237.2742 225.3408 44.8 237.0137 197.0682 44.8 235.2668 195.9974 44.8 234.5169 207.3136 44.8 232.5226 206.5637 44.8 233.5934 200.8181 44.8 236.272 205.6392 44.8 234.5178 204.5682 44.8 235.2675 203.3833 44.8 235.8199 202.1205 44.8 236.1582 199.5158 44.8 236.1579 198.253 44.8 235.8194 186.6678 44.8 232.0207 195.073 44.8 233.5924 173.519 44.8 236.5195 173.669 44.8 236.3053 173.8539 44.8 236.1204 175.7823 44.8 236.1206 175.9672 44.8 236.3055 178.1678 44.8 232.0199 176.1171 44.8 236.5197 176.2952 44.8 237.5302 176.2275 44.8 237.7828 176.117 44.8 238.0197 175.967 44.8 238.2339 173.3408 44.8 237.009 173.4085 44.8 236.7565 174.0681 44.8 235.9705 174.3051 44.8 235.86 174.5577 44.8 235.7924 174.8181 44.8 235.7696 175.0786 44.8 235.7924 175.3312 44.8 235.8601 175.5681 44.8 235.9706 176.2276 44.8 236.7567 176.2952 44.8 237.0093 176.318 44.8 237.2697 173.4084 44.8 237.7825 173.5189 44.8 238.0195 173.6688 44.8 238.2337 173.3408 44.8 237.5299 173.318 44.8 237.2695 173.8537 44.8 238.4186 174.0679 44.8 238.5686 175.7821 44.8 238.4188 175.5679 44.8 238.5687 175.3309 44.8 238.6792 175.0783 44.8 238.7468 174.8179 44.8 238.7696 174.3049 44.8 238.6791 174.5574 44.8 238.7468 163.1698 44.8 227.7327 163.0199 44.8 227.5185 163.5691 44.8 225.4695 163.8061 44.8 225.3591 164.0586 44.8 225.2914 171.6686 44.8 223.2693 165.0691 44.8 225.4697 165.2833 44.8 225.6197 165.4681 44.8 225.8046 165.6181 44.8 226.0188 165.7286 44.8 226.2557 165.7962 44.8 226.5083 165.819 44.8 226.7688 165.7962 44.8 227.0293 163.8058 44.8 228.1781 163.5688 44.8 228.0676 164.3191 44.8 225.2686 164.5796 44.8 225.2915 164.8321 44.8 225.3592 165.7285 44.8 227.2818 165.6179 44.8 227.5188 165.4679 44.8 227.7329 162.9094 44.8 227.2816 162.8417 44.8 227.029 162.819 44.8 226.7685 162.8418 44.8 226.508 162.9095 44.8 226.2555 163.02 44.8 226.0185 163.17 44.8 225.8044 163.3549 44.8 225.6195 163.3547 44.8 227.9176 165.283 44.8 227.9178 165.0689 44.8 228.0678 164.8319 44.8 228.1782 164.5793 44.8 228.2459 164.3188 44.8 228.2686 164.0584 44.8 228.2458 170.0186 44.8 215.2692 170.6887 44.8 212.7692 170.3203 44.8 213.5591 170.0946 44.8 214.4009 171.6706 44.8 200.7693 171.6688 44.8 220.7693 171.669 44.8 218.9642 171.1881 44.8 218.4832 170.6882 44.8 217.7692 170.32 44.8 216.9793 170.0945 44.8 216.1374 171.1887 44.8 212.0553 171.6696 44.8 211.5744 170.0971 44.8 187.1374 171.6716 44.8 189.9642 171.1907 44.8 189.4832 170.6909 44.8 188.7692 170.3226 44.8 187.9793 170.0212 44.8 186.2692 170.0973 44.8 185.4009 170.3229 44.8 184.5591 171.6725 44.8 180.7693 227.7888 44.8 165.4235 227.5746 44.8 165.5735 227.9736 44.8 165.2386 227.3376 44.8 165.6839 227.085 44.8 165.7516 226.8245 44.8 165.7743 228.3019 44.8 164.014 228.3028 44.8 164.0245 228.3247 44.8 164.2745 228.3019 44.8 164.535 228.2342 44.8 164.7875 228.1236 44.8 165.0245 226.5641 44.8 165.7515 226.3115 44.8 165.6838 214.9749 44.8 169.5233 226.0746 44.8 165.5733 225.8604 44.8 165.4233 225.4151 44.8 164.7873 225.3474 44.8 164.5347 225.3247 44.8 164.2742 225.6755 44.8 165.2384 225.5256 44.8 165.0242 173.3474 44.8 164.5299 173.3247 44.8 164.2695 173.3466 44.8 164.0195 176.3019 44.8 164.0093 176.3028 44.8 164.0197 176.3247 44.8 164.2697 175.085 44.8 165.7468 174.8245 44.8 165.7696 174.5641 44.8 165.7468 174.3115 44.8 165.6791 174.0746 44.8 165.5686 173.8604 44.8 165.4186 176.3019 44.8 164.5302 176.2342 44.8 164.7828 178.1735 44.8 169.5199 176.1236 44.8 165.0197 175.9737 44.8 165.2339 175.7888 44.8 165.4188 175.5746 44.8 165.5687 175.3376 44.8 165.6792 173.6755 44.8 165.2337 173.5256 44.8 165.0195 173.4151 44.8 164.7825 205.8855 44.8 223.2724 206.5646 44.8 223.9516 214.97 44.8 223.2733 207.3143 44.8 225.0226 208.2047 44.8 230.075 207.8663 44.8 231.3378 207.5468 44.8 232.0226 207.8667 44.8 226.2075 208.205 44.8 227.4703 208.3188 44.8 228.7727 186.6686 44.8 223.2707 195.753 44.8 223.2715 186.6688 44.8 220.7707 195.9984 44.8 223.0262 197.0694 44.8 222.2764 198.2543 44.8 221.7241 199.5171 44.8 221.3858 205.6402 44.8 223.0271 214.9702 44.8 220.7733 204.5694 44.8 222.2771 200.8195 44.8 221.272 202.1218 44.8 221.386 203.3846 44.8 221.7245 194.3233 44.8 232.5214 194.0901 44.8 232.0214 193.7709 44.8 231.3365 193.7713 44.8 226.2062 194.3239 44.8 225.0214 195.0739 44.8 223.9505 193.4326 44.8 230.0737 193.3188 44.8 228.7713 193.4328 44.8 227.4689 230.4514 44.8 218.4886 229.9704 44.8 218.9695 229.9702 44.8 220.7746 229.835 44.8 219.1049 225.7528 44.8 220.1983 224.9109 44.8 219.9726 229.121 44.8 219.6047 228.3311 44.8 219.973 227.4892 44.8 220.1985 226.621 44.8 220.2743 224.121 44.8 219.6042 223.4072 44.8 219.1043 222.7909 44.8 218.4879 222.2911 44.8 217.7739 221.9228 44.8 216.984 221.6973 44.8 216.1421 221.6214 44.8 215.2739 221.6975 44.8 214.4057 214.9721 44.8 200.7733 221.9231 44.8 213.5638 222.2915 44.8 212.7739 222.7915 44.8 212.06 223.4079 44.8 211.4438 226.6219 44.8 210.2743 227.4901 44.8 210.3504 229.9721 44.8 200.7746 228.332 44.8 210.576 229.1218 44.8 210.9444 224.1218 44.8 210.944 224.9118 44.8 210.5757 225.7537 44.8 210.3502 230.9514 44.8 217.7747 231.3198 44.8 216.9849 231.5454 44.8 216.143 229.8357 44.8 211.4444 229.9711 44.8 211.5798 230.452 44.8 212.0607 230.9518 44.8 212.7747 231.3201 44.8 213.5647 231.5456 44.8 214.4065 231.6214 44.8 215.2748 174.1499 44.8 220.1936 173.3081 44.8 219.9679 177.5182 44.8 219.6 176.7283 44.8 219.9682 175.8864 44.8 220.1937 175.0181 44.8 220.2696 172.5182 44.8 219.5995 171.8043 44.8 219.0996 180.0186 44.8 215.2701 179.9425 44.8 216.1383 179.7169 44.8 216.9802 179.3485 44.8 217.77 178.8485 44.8 218.4839 178.8491 44.8 212.056 179.3489 44.8 212.77 186.6706 44.8 200.7707 179.7172 44.8 213.5599 179.9427 44.8 214.4018 175.8873 44.8 210.3457 176.7291 44.8 210.5713 178.1706 44.8 200.7699 177.519 44.8 210.9397 178.1697 44.8 211.3954 178.2329 44.8 211.4397 171.805 44.8 211.4391 172.519 44.8 210.9393 173.3089 44.8 210.571 174.1508 44.8 210.3455 175.019 44.8 210.2696 177.5208 44.8 190.6 176.7309 44.8 190.9682 173.3107 44.8 190.9679 172.5208 44.8 190.5995 171.807 44.8 190.0995 175.889 44.8 191.1937 175.0208 44.8 191.2696 174.1526 44.8 191.1936 178.2355 44.8 182.4397 178.8518 44.8 183.056 186.6725 44.8 180.7707 178.1723 44.8 182.3954 179.3516 44.8 183.77 179.7199 44.8 184.5599 179.9454 44.8 185.4018 179.3511 44.8 188.77 178.8512 44.8 189.4839 178.2348 44.8 190.1001 178.1716 44.8 190.1444 180.0212 44.8 186.2701 179.9452 44.8 187.1383 179.7195 44.8 187.9802 170.6913 44.8 183.7692 171.1913 44.8 183.0553 171.6723 44.8 182.5744 171.8076 44.8 182.4391 175.0217 44.8 181.2696 175.8899 44.8 181.3457 178.1725 44.8 180.7699 176.7318 44.8 181.5713 177.5216 44.8 181.9397 172.5216 44.8 181.9393 173.3116 44.8 181.571 174.1534 44.8 181.3455 226.6246 44.8 181.2743 227.4928 44.8 181.3504 229.9739 44.8 180.7746 229.973 44.8 189.9695 229.8377 44.8 190.1049 221.6241 44.8 186.2739 221.7001 44.8 185.4056 214.9739 44.8 180.7733 228.3346 44.8 181.576 229.1245 44.8 181.9444 229.8384 44.8 182.4444 229.1237 44.8 190.6047 228.3338 44.8 190.973 227.4919 44.8 191.1985 224.1237 44.8 190.6042 223.4098 44.8 190.1043 222.7936 44.8 189.4879 222.2937 44.8 188.7739 221.9255 44.8 187.984 221.7 44.8 187.1421 222.7942 44.8 183.06 223.4105 44.8 182.4438 221.9258 44.8 184.5638 222.2942 44.8 183.7739 226.6236 44.8 191.2743 225.7554 44.8 191.1983 224.9136 44.8 190.9726 224.1245 44.8 181.944 224.9144 44.8 181.5757 225.7563 44.8 181.3502 229.9737 44.8 182.5798 230.4546 44.8 183.0607 230.454 44.8 189.4886 230.954 44.8 188.7747 230.9544 44.8 183.7747 231.3227 44.8 184.5647 231.5482 44.8 185.4065 231.6241 44.8 186.2748 231.548 44.8 187.143 231.3224 44.8 187.9849 198.2581 44.8 179.8194 199.5209 44.8 180.1579 200.8232 44.8 180.272 204.5733 44.8 179.2675 203.3884 44.8 179.8199 202.1256 44.8 180.1582 207.5525 44.8 169.5226 207.8718 44.8 170.2075 214.9741 44.8 178.2733 207.8714 44.8 175.3378 207.3188 44.8 176.5226 208.2101 44.8 171.4703 208.3239 44.8 172.7727 208.2098 44.8 174.075 206.5688 44.8 177.5934 205.8896 44.8 178.2724 205.6443 44.8 178.5178 203.3897 44.8 165.7245 204.5745 44.8 166.2771 207.3194 44.8 169.0226 205.6453 44.8 167.0271 206.5697 44.8 167.9516 195.079 44.8 167.9505 196.0035 44.8 167.0262 197.0745 44.8 166.2764 198.2594 44.8 165.7241 199.5222 44.8 165.3858 200.8246 44.8 165.272 202.1269 44.8 165.386 195.0781 44.8 177.5924 194.3284 44.8 176.5214 186.6727 44.8 178.2707 193.438 44.8 171.4689 193.7764 44.8 170.2062 186.6735 44.8 169.5207 194.0959 44.8 169.5214 194.3291 44.8 169.0214 197.0733 44.8 179.2668 196.0025 44.8 178.5169 195.7572 44.8 178.2715 193.776 44.8 175.3365 193.4377 44.8 174.0737 193.3239 44.8 172.7713 229.97 44.8 223.2746 229.9741 44.8 178.2746 178.1686 44.8 223.2699 178.1727 44.8 178.2699 205.6443 43 178.5178 205.8896 43 178.2724 214.9741 43 178.2733 229.835 43 219.1049 229.9704 43 218.9695 229.9702 43 220.7746 195.9984 43 223.0262 195.753 43 223.2715 186.6686 43 223.2707 233.7249 43 169.525 233.72 43 223.275 171.6678 43 232.0193 171.6688 43 220.7693 171.6727 43 178.2693 171.6725 43 180.7693 171.6723 43 182.5744 171.1913 43 183.0553 170.6913 43 183.7692 170.3229 43 184.5591 170.0973 43 185.4009 170.0212 43 186.2692 170.6909 43 188.7692 170.3226 43 187.9793 170.0971 43 187.1374 171.1907 43 189.4832 171.6716 43 189.9642 171.1887 43 212.0553 170.6887 43 212.7692 170.0946 43 214.4009 170.3203 43 213.5591 171.6696 43 211.5744 171.6706 43 200.7693 170.0186 43 215.2692 170.0945 43 216.1374 170.32 43 216.9793 171.669 43 218.9642 171.1881 43 218.4832 170.6882 43 217.7692 171.6686 43 223.2693 165.7962 43 227.0293 165.819 43 226.7688 164.5793 43 228.2459 164.8319 43 228.1782 165.0689 43 228.0678 165.283 43 227.9178 165.4679 43 227.7329 165.6179 43 227.5188 165.7285 43 227.2818 163.8061 43 225.3591 163.5691 43 225.4695 163.0199 43 227.5185 163.1698 43 227.7327 163.3547 43 227.9176 163.5688 43 228.0676 163.8058 43 228.1781 164.0584 43 228.2458 164.3188 43 228.2686 165.7962 43 226.5083 165.7286 43 226.2557 165.6181 43 226.0188 165.4681 43 225.8046 165.2833 43 225.6197 165.0691 43 225.4697 164.0586 43 225.2914 163.3549 43 225.6195 163.17 43 225.8044 163.02 43 226.0185 162.9094 43 227.2816 162.8417 43 227.029 162.819 43 226.7685 162.8418 43 226.508 162.9095 43 226.2555 164.8321 43 225.3592 164.5796 43 225.2915 164.3191 43 225.2686 175.7821 43 238.4188 175.967 43 238.2339 176.117 43 238.0197 176.2275 43 237.7828 173.8539 43 236.1204 173.669 43 236.3053 178.1678 43 232.0199 176.2276 43 236.7567 176.1171 43 236.5197 173.4084 43 237.7825 173.3408 43 237.5299 173.318 43 237.2695 173.5189 43 238.0195 173.6688 43 238.2337 176.2952 43 237.5302 176.318 43 237.2697 176.2952 43 237.0093 175.9672 43 236.3055 175.7823 43 236.1206 175.5681 43 235.9706 173.519 43 236.5195 173.4085 43 236.7565 173.3408 43 237.009 173.8537 43 238.4186 174.0679 43 238.5686 174.3049 43 238.6791 174.5574 43 238.7468 174.8179 43 238.7696 175.0783 43 238.7468 175.3309 43 238.6792 175.5679 43 238.5687 174.5577 43 235.7924 174.3051 43 235.86 174.0681 43 235.9705 175.3312 43 235.8601 175.0786 43 235.7924 174.8181 43 235.7696 186.6678 43 232.0207 194.0901 43 232.0214 194.3233 43 232.5214 195.073 43 233.5924 200.8181 43 236.272 195.9974 43 234.5169 197.0682 43 235.2668 204.5682 43 235.2675 205.6392 43 234.5178 206.5637 43 233.5934 214.9692 43 232.0233 198.253 43 235.8194 199.5158 43 236.1579 202.1205 43 236.1582 203.3833 43 235.8199 228.2952 43 237.014 228.2276 43 236.7615 229.9692 43 232.0246 225.8537 43 238.4233 226.0679 43 238.5733 226.3049 43 238.6838 226.5574 43 238.7515 226.8179 43 238.7743 227.0783 43 238.7516 227.3309 43 238.6839 227.0786 43 235.7972 226.8181 43 235.7743 226.5577 43 235.7971 226.3051 43 235.8648 226.0681 43 235.9752 225.8539 43 236.1252 225.669 43 236.3101 225.519 43 236.5242 225.4085 43 236.7612 225.3408 43 237.0137 225.5189 43 238.0242 225.6688 43 238.2384 227.5679 43 238.5735 227.7821 43 238.4235 227.967 43 238.2386 228.117 43 238.0245 228.2275 43 237.7875 228.2952 43 237.535 228.318 43 237.2745 228.1171 43 236.5245 227.9672 43 236.3103 227.7823 43 236.1254 227.5681 43 235.9754 227.3312 43 235.8649 225.4084 43 237.7873 225.3408 43 237.5347 225.318 43 237.2742 233.7192 43 232.025 237.0584 43 228.2525 237.3188 43 228.2753 237.5793 43 228.2525 236.1698 43 227.7394 236.0199 43 227.5252 235.9094 43 227.2882 236.3547 43 227.9243 236.5688 43 228.0743 236.8058 43 228.1848 238.283 43 227.9245 238.0688 43 228.0744 237.8319 43 228.1849 236.3549 43 225.6262 236.17 43 225.811 236.02 43 226.0252 235.9095 43 226.2622 235.8418 43 226.5147 235.819 43 226.7752 235.8417 43 227.0356 237.0586 43 225.2981 236.8061 43 225.3657 236.5691 43 225.4762 238.0691 43 225.4763 237.8321 43 225.3658 237.5796 43 225.2981 237.3191 43 225.2753 238.468 43 227.7396 238.6179 43 227.5254 238.7285 43 227.2885 238.7962 43 227.0359 238.819 43 226.7754 238.7962 43 226.515 238.7286 43 226.2624 238.6181 43 226.0254 238.4681 43 225.8112 238.2833 43 225.6263 233.7221 43 200.775 233.7202 43 220.775 233.7239 43 180.775 233.7241 43 178.275 237.8366 43 176.1849 238.0736 43 176.0744 237.8369 43 173.3658 237.5843 43 173.2981 237.3238 43 173.2753 235.9141 43 175.2882 236.0246 43 175.5252 236.5736 43 176.0743 236.8106 43 176.1848 237.0631 43 176.2525 237.3236 43 176.2753 237.5841 43 176.2525 236.3596 43 173.6262 236.1747 43 173.811 236.0247 43 174.0252 235.9142 43 174.2621 236.1746 43 175.7394 236.3594 43 175.9243 237.0634 43 173.2981 236.8108 43 173.3657 236.5738 43 173.4762 238.2878 43 175.9245 238.4727 43 175.7396 238.6227 43 175.5254 238.6228 43 174.0254 238.4729 43 173.8112 238.288 43 173.6263 238.0738 43 173.4763 238.7333 43 174.2624 238.8009 43 174.515 238.8237 43 174.7754 238.8009 43 175.0359 238.7332 43 175.2885 235.8465 43 174.5147 235.8237 43 174.7752 235.8465 43 175.0356 214.9754 43 164.0233 228.2343 43 163.7615 228.1238 43 163.5245 227.9738 43 163.3103 229.9749 43 169.5246 229.9754 43 164.0246 228.3019 43 164.014 227.789 43 163.1254 227.5748 43 162.9754 227.3378 43 162.8649 227.0853 43 162.7972 226.8248 43 162.7743 226.5643 43 162.7971 226.3118 43 162.8648 226.0748 43 162.9752 225.8606 43 163.1252 225.6757 43 163.3101 225.5257 43 163.5242 225.4152 43 163.7612 225.3475 43 164.0137 225.3466 43 164.0242 186.674 43 164.0207 178.174 43 164.0199 176.3019 43 164.0093 176.2343 43 163.7567 174.3118 43 162.86 176.1238 43 163.5197 175.9738 43 163.3055 174.5643 43 162.7924 174.8248 43 162.7696 174.0748 43 162.9705 173.8606 43 163.1204 173.6757 43 163.3053 173.5257 43 163.5195 175.789 43 163.1206 175.5748 43 162.9706 175.3378 43 162.8601 175.0853 43 162.7924 165.2878 43 175.9178 165.0736 43 176.0678 164.8366 43 176.1782 171.6735 43 169.5193 165.7333 43 174.2557 165.6228 43 174.0188 163.5736 43 176.0676 163.8106 43 176.1781 165.4727 43 175.7329 165.6227 43 175.5188 165.7332 43 175.2818 165.8009 43 175.0292 165.8237 43 174.7688 165.8009 43 174.5083 165.4729 43 173.8046 165.288 43 173.6197 165.0738 43 173.4697 164.8369 43 173.3592 164.5843 43 173.2915 164.3238 43 173.2686 164.0634 43 173.2914 163.3596 43 173.6195 163.5738 43 173.4695 163.8108 43 173.3591 164.0631 43 176.2458 164.3236 43 176.2687 164.5841 43 176.2459 173.4152 43 163.7565 171.674 43 164.0193 163.1747 43 173.8044 163.0247 43 174.0185 162.9142 43 174.2555 162.8465 43 174.508 162.8237 43 174.7685 162.8465 43 175.029 162.9141 43 175.2816 163.0246 43 175.5185 163.1746 43 175.7327 163.3594 43 175.9176 226.8245 43 165.7743 227.085 43 165.7516 227.3376 43 165.6839 227.5746 43 165.5735 227.7888 43 165.4235 225.5256 43 165.0242 225.6755 43 165.2384 214.9749 43 169.5233 225.8604 43 165.4233 226.0746 43 165.5733 226.3115 43 165.6838 226.5641 43 165.7515 227.9736 43 165.2386 228.1236 43 165.0245 228.2342 43 164.7875 228.3019 43 164.535 228.3247 43 164.2745 228.3028 43 164.0245 225.3247 43 164.2742 225.3474 43 164.5347 225.4151 43 164.7873 173.3475 43 164.009 173.3466 43 164.0195 173.3247 43 164.2695 176.3019 43 164.5302 176.3247 43 164.2697 176.3028 43 164.0197 175.5746 43 165.5687 175.7888 43 165.4188 178.1735 43 169.5199 173.3474 43 164.5299 173.4151 43 164.7825 173.5256 43 165.0195 173.6755 43 165.2337 173.8604 43 165.4186 174.0746 43 165.5686 174.3115 43 165.6791 174.5641 43 165.7468 174.8245 43 165.7696 175.085 43 165.7468 175.3376 43 165.6792 175.9737 43 165.2339 176.1236 43 165.0197 176.2342 43 164.7828 214.97 43 223.2733 205.8855 43 223.2724 214.9702 43 220.7733 205.6402 43 223.0271 204.5694 43 222.2771 199.5171 43 221.3858 198.2543 43 221.7241 186.6688 43 220.7707 197.0694 43 222.2764 203.3846 43 221.7245 202.1218 43 221.386 200.8195 43 221.272 207.3136 43 232.5226 207.5468 43 232.0226 207.8663 43 231.3378 208.2047 43 230.075 208.3188 43 228.7727 208.205 43 227.4703 207.8667 43 226.2075 207.3143 43 225.0226 206.5646 43 223.9516 193.4328 43 227.4689 193.3188 43 228.7713 193.4326 43 230.0737 193.7709 43 231.3365 195.0739 43 223.9505 194.3239 43 225.0214 193.7713 43 226.2062 226.621 43 220.2743 227.4892 43 220.1985 228.3311 43 219.973 229.121 43 219.6047 229.9721 43 200.7746 229.9711 43 211.5798 229.8357 43 211.4444 229.1218 43 210.9444 228.332 43 210.576 227.4901 43 210.3504 221.6975 43 214.4057 221.9231 43 213.5638 214.9721 43 200.7733 222.2915 43 212.7739 225.7528 43 220.1983 221.6214 43 215.2739 221.6973 43 216.1421 221.9228 43 216.984 226.6219 43 210.2743 225.7537 43 210.3502 224.9118 43 210.5757 224.1218 43 210.944 223.4079 43 211.4438 222.7915 43 212.06 222.2911 43 217.7739 222.7909 43 218.4879 223.4072 43 219.1043 224.121 43 219.6042 224.9109 43 219.9726 230.452 43 212.0607 230.9518 43 212.7747 230.4514 43 218.4886 230.9514 43 217.7747 231.3198 43 216.9849 231.5454 43 216.143 231.6214 43 215.2748 231.5456 43 214.4065 231.3201 43 213.5647 171.8043 43 219.0996 172.5182 43 219.5995 173.3081 43 219.9679 174.1499 43 220.1936 175.0181 43 220.2696 178.1688 43 220.7699 175.8864 43 220.1937 176.7283 43 219.9682 177.519 43 210.9397 176.7291 43 210.5713 178.1706 43 200.7699 175.8873 43 210.3457 175.019 43 210.2696 174.1508 43 210.3455 173.3089 43 210.571 172.519 43 210.9393 171.805 43 211.4391 179.3489 43 212.77 178.8491 43 212.056 186.6706 43 200.7707 178.2329 43 211.4397 178.1697 43 211.3954 177.5182 43 219.6 178.169 43 219.1444 178.2322 43 219.1001 178.8485 43 218.4839 179.3485 43 217.77 179.7169 43 216.9802 179.9425 43 216.1383 180.0186 43 215.2701 179.9427 43 214.4018 179.7172 43 213.5599 178.1725 43 180.7699 178.1723 43 182.3954 177.5216 43 181.9397 176.7318 43 181.5713 175.8899 43 181.3457 175.0217 43 181.2696 174.1534 43 181.3455 173.3116 43 181.571 172.5216 43 181.9393 171.8076 43 182.4391 180.0212 43 186.2701 179.9454 43 185.4018 186.6725 43 180.7707 178.8518 43 183.056 178.2355 43 182.4397 179.7199 43 184.5599 179.3516 43 183.77 178.8512 43 189.4839 179.3511 43 188.77 179.7195 43 187.9802 179.9452 43 187.1383 171.807 43 190.0995 172.5208 43 190.5995 175.889 43 191.1937 176.7309 43 190.9682 173.3107 43 190.9679 174.1526 43 191.1936 175.0208 43 191.2696 177.5208 43 190.6 178.1716 43 190.1444 178.2348 43 190.1001 229.8384 43 182.4444 229.1245 43 181.9444 229.9739 43 180.7746 228.3346 43 181.576 224.9144 43 181.5757 224.1245 43 181.944 214.9739 43 180.7733 227.4928 43 181.3504 226.6246 43 181.2743 225.7563 43 181.3502 223.4105 43 182.4438 222.7942 43 183.06 222.2942 43 183.7739 221.9255 43 187.984 221.7 43 187.1421 221.6241 43 186.2739 222.2937 43 188.7739 222.7936 43 189.4879 223.4098 43 190.1043 221.9258 43 184.5638 221.7001 43 185.4056 226.6236 43 191.2743 227.4919 43 191.1985 228.3338 43 190.973 229.1237 43 190.6047 224.1237 43 190.6042 224.9136 43 190.9726 225.7554 43 191.1983 230.4546 43 183.0607 229.9737 43 182.5798 229.8377 43 190.1049 229.973 43 189.9695 230.454 43 189.4886 230.954 43 188.7747 231.3224 43 187.9849 231.548 43 187.143 231.6241 43 186.2748 231.5482 43 185.4065 231.3227 43 184.5647 230.9544 43 183.7747 197.0733 43 179.2668 198.2581 43 179.8194 199.5209 43 180.1579 200.8232 43 180.272 202.1256 43 180.1582 203.3884 43 179.8199 204.5733 43 179.2675 193.776 43 175.3365 194.3284 43 176.5214 186.6727 43 178.2707 195.0781 43 177.5924 195.7572 43 178.2715 196.0025 43 178.5169 193.7764 43 170.2062 193.438 43 171.4689 186.6735 43 169.5207 193.3239 43 172.7713 193.4377 43 174.0737 207.5525 43 169.5226 207.3194 43 169.0226 206.5697 43 167.9516 205.6453 43 167.0271 204.5745 43 166.2771 203.3897 43 165.7245 198.2594 43 165.7241 197.0745 43 166.2764 196.0035 43 167.0262 195.079 43 167.9505 194.3291 43 169.0214 194.0959 43 169.5214 202.1269 43 165.386 200.8246 43 165.272 199.5222 43 165.3858 208.2098 43 174.075 208.3239 43 172.7727 208.2101 43 171.4703 207.8718 43 170.2075 206.5688 43 177.5934 207.3188 43 176.5226 207.8714 43 175.3378 178.1727 43 178.2699 178.1686 43 223.2699 229.97 43 223.2746 229.9741 43 178.2746 196.0292 98.80001 228.5231 196.0292 100.8 228.5231 195.734 98.80001 228.5489 195.734 100.8 228.5489 195.4477 98.80001 228.6256 195.4477 100.8 228.6256 195.1792 98.80001 228.7509 195.1792 100.8 228.7509 194.9364 98.80001 228.9208 194.9364 100.8 228.9208 194.7269 98.80001 229.1304 194.7269 100.8 229.1304 194.5569 98.80001 229.3731 194.5569 100.8 229.3731 194.4317 98.80001 229.6417 194.4317 100.8 229.6417 194.355 98.80001 229.9279 194.355 100.8 229.9279 194.3292 98.80001 230.2231 194.3292 100.8 230.2231 194.355 98.80001 230.5183 194.355 100.8 230.5183 194.4317 98.80001 230.8045 194.4317 100.8 230.8045 194.5569 98.80001 231.0731 194.5569 100.8 231.0731 194.7269 98.80001 231.3158 194.7269 100.8 231.3158 194.9364 98.80001 231.5254 194.9364 100.8 231.5254 195.1792 98.80001 231.6953 195.1792 100.8 231.6953 195.4477 98.80001 231.8206 195.4477 100.8 231.8206 195.734 98.80001 231.8973 195.734 100.8 231.8973 196.0292 98.80001 231.9231 196.0292 100.8 231.9231 200.5292 98.80001 228.5231 200.5292 100.8 228.5231 200.5292 98.80001 231.9231 200.5292 100.8 231.9231 200.8244 98.80001 231.8973 200.8244 100.8 231.8973 201.1106 98.80001 231.8206 201.1106 100.8 231.8206 201.3792 98.80001 231.6953 201.3792 100.8 231.6953 201.6219 98.80001 231.5254 201.6219 100.8 231.5254 201.8314 98.80001 231.3158 201.8314 100.8 231.3158 202.0014 98.80001 231.0731 202.0014 100.8 231.0731 202.1267 98.80001 230.8045 202.1267 100.8 230.8045 202.2033 98.80001 230.5183 202.2033 100.8 230.5183 202.2292 98.80001 230.2231 202.2292 100.8 230.2231 202.2033 98.80001 229.9279 202.2033 100.8 229.9279 202.1267 98.80001 229.6417 202.1267 100.8 229.6417 202.0014 98.80001 229.3731 202.0014 100.8 229.3731 201.8314 98.80001 229.1304 201.8314 100.8 229.1304 201.6219 98.80001 228.9208 201.6219 100.8 228.9208 201.3792 98.80001 228.7509 201.3792 100.8 228.7509 201.1106 98.80001 228.6256 201.1106 100.8 228.6256 200.8244 98.80001 228.5489 200.8244 100.8 228.5489 196.0292 98.80001 164.5231 196.0292 100.8 164.5231 195.734 98.80001 164.5489 195.734 100.8 164.5489 195.4477 98.80001 164.6256 195.4477 100.8 164.6256 195.1792 98.80001 164.7509 195.1792 100.8 164.7509 194.9364 98.80001 164.9208 194.9364 100.8 164.9208 194.7269 98.80001 165.1304 194.7269 100.8 165.1304 194.5569 98.80001 165.3731 194.5569 100.8 165.3731 194.4317 98.80001 165.6417 194.4317 100.8 165.6417 194.355 98.80001 165.9279 194.355 100.8 165.9279 194.3292 98.80001 166.2231 194.3292 100.8 166.2231 194.355 98.80001 166.5183 194.355 100.8 166.5183 194.4317 98.80001 166.8045 194.4317 100.8 166.8045 194.5569 98.80001 167.0731 194.5569 100.8 167.0731 194.7269 98.80001 167.3158 194.7269 100.8 167.3158 194.9364 98.80001 167.5254 194.9364 100.8 167.5254 195.1792 98.80001 167.6953 195.1792 100.8 167.6953 195.4477 98.80001 167.8206 195.4477 100.8 167.8206 195.734 98.80001 167.8973 195.734 100.8 167.8973 196.0292 98.80001 167.9231 196.0292 100.8 167.9231 200.5292 98.80001 164.5231 200.5292 100.8 164.5231 200.5292 98.80001 167.9231 200.5292 100.8 167.9231 200.8244 98.80001 167.8973 200.8244 100.8 167.8973 201.1106 98.80001 167.8206 201.1106 100.8 167.8206 201.3792 98.80001 167.6953 201.3792 100.8 167.6953 201.6219 98.80001 167.5254 201.6219 100.8 167.5254 201.8314 98.80001 167.3158 201.8314 100.8 167.3158 202.0014 98.80001 167.0731 202.0014 100.8 167.0731 202.1267 98.80001 166.8045 202.1267 100.8 166.8045 202.2033 98.80001 166.5183 202.2033 100.8 166.5183 202.2292 98.80001 166.2231 202.2292 100.8 166.2231 202.2033 98.80001 165.9279 202.2033 100.8 165.9279 202.1267 98.80001 165.6417 202.1267 100.8 165.6417 202.0014 98.80001 165.3731 202.0014 100.8 165.3731 201.8314 98.80001 165.1304 201.8314 100.8 165.1304 201.6219 98.80001 164.9208 201.6219 100.8 164.9208 201.3792 98.80001 164.7509 201.3792 100.8 164.7509 201.1106 98.80001 164.6256 201.1106 100.8 164.6256 200.8244 98.80001 164.5489 200.8244 100.8 164.5489 155.7792 98.80001 196.7231 155.7792 100.8 196.7231 155.5187 98.80001 196.7459 155.5187 100.8 196.7459 155.2661 98.80001 196.8136 155.2661 100.8 196.8136 155.0292 98.80001 196.9241 155.0292 100.8 196.9241 154.815 98.80001 197.074 154.815 100.8 197.074 154.6301 98.80001 197.2589 154.6301 100.8 197.2589 154.4801 98.80001 197.4731 154.4801 100.8 197.4731 154.3696 98.80001 197.7101 154.3696 100.8 197.7101 154.302 98.80001 197.9626 154.302 100.8 197.9626 154.2792 98.80001 198.2231 154.2792 100.8 198.2231 154.302 98.80001 198.4836 154.302 100.8 198.4836 154.3696 98.80001 198.7361 154.3696 100.8 198.7361 154.4801 98.80001 198.9731 154.4801 100.8 198.9731 154.6301 98.80001 199.1873 154.6301 100.8 199.1873 154.815 98.80001 199.3722 154.815 100.8 199.3722 155.0292 98.80001 199.5221 155.0292 100.8 199.5221 155.2661 98.80001 199.6326 155.2661 100.8 199.6326 155.5187 98.80001 199.7003 155.5187 100.8 199.7003 155.7792 98.80001 199.7231 155.7792 100.8 199.7231 156.0397 98.80001 199.7003 156.0397 100.8 199.7003 156.2922 98.80001 199.6326 156.2922 100.8 199.6326 156.5292 98.80001 199.5221 156.5292 100.8 199.5221 156.7434 98.80001 199.3722 156.7434 100.8 199.3722 156.9282 98.80001 199.1873 156.9282 100.8 199.1873 157.0782 98.80001 198.9731 157.0782 100.8 198.9731 157.1887 98.80001 198.7361 157.1887 100.8 198.7361 157.2564 98.80001 198.4836 157.2564 100.8 198.4836 157.2792 98.80001 198.2231 157.2792 100.8 198.2231 157.2564 98.80001 197.9626 157.2564 100.8 197.9626 157.1887 98.80001 197.7101 157.1887 100.8 197.7101 157.0782 98.80001 197.4731 157.0782 100.8 197.4731 156.9282 98.80001 197.2589 156.9282 100.8 197.2589 156.7434 98.80001 197.074 156.7434 100.8 197.074 156.5292 98.80001 196.9241 156.5292 100.8 196.9241 156.2922 98.80001 196.8136 156.2922 100.8 196.8136 156.0397 98.80001 196.7459 156.0397 100.8 196.7459 240.7792 98.80001 196.7231 240.7792 100.8 196.7231 240.5187 98.80001 196.7459 240.5187 100.8 196.7459 240.2661 98.80001 196.8136 240.2661 100.8 196.8136 240.0292 98.80001 196.9241 240.0292 100.8 196.9241 239.815 98.80001 197.074 239.815 100.8 197.074 239.6301 98.80001 197.2589 239.6301 100.8 197.2589 239.4801 98.80001 197.4731 239.4801 100.8 197.4731 239.3696 98.80001 197.7101 239.3696 100.8 197.7101 239.302 98.80001 197.9626 239.302 100.8 197.9626 239.2792 98.80001 198.2231 239.2792 100.8 198.2231 239.302 98.80001 198.4836 239.302 100.8 198.4836 239.3696 98.80001 198.7361 239.3696 100.8 198.7361 239.4801 98.80001 198.9731 239.4801 100.8 198.9731 239.6301 98.80001 199.1873 239.6301 100.8 199.1873 239.815 98.80001 199.3722 239.815 100.8 199.3722 240.0292 98.80001 199.5221 240.0292 100.8 199.5221 240.2661 98.80001 199.6326 240.2661 100.8 199.6326 240.5187 98.80001 199.7003 240.5187 100.8 199.7003 240.7792 98.80001 199.7231 240.7792 100.8 199.7231 241.0397 98.80001 199.7003 241.0397 100.8 199.7003 241.2922 98.80001 199.6326 241.2922 100.8 199.6326 241.5292 98.80001 199.5221 241.5292 100.8 199.5221 241.7434 98.80001 199.3722 241.7434 100.8 199.3722 241.9282 98.80001 199.1873 241.9282 100.8 199.1873 242.0782 98.80001 198.9731 242.0782 100.8 198.9731 242.1887 98.80001 198.7361 242.1887 100.8 198.7361 242.2564 98.80001 198.4836 242.2564 100.8 198.4836 242.2792 98.80001 198.2231 242.2792 100.8 198.2231 242.2564 98.80001 197.9626 242.2564 100.8 197.9626 242.1887 98.80001 197.7101 242.1887 100.8 197.7101 242.0782 98.80001 197.4731 242.0782 100.8 197.4731 241.9282 98.80001 197.2589 241.9282 100.8 197.2589 241.7434 98.80001 197.074 241.7434 100.8 197.074 241.5292 98.80001 196.9241 241.5292 100.8 196.9241 241.2922 98.80001 196.8136 241.2922 100.8 196.8136 241.0397 98.80001 196.7459 241.0397 100.8 196.7459 248.2792 102.8 172.2231 248.2792 102.8 224.2231 248.2792 98.80001 172.2231 248.2792 98.80001 224.2231 158.2792 102.8 162.2231 238.2792 102.8 162.2231 158.2792 98.80001 162.2231 238.2792 98.80001 162.2231 148.2792 102.8 224.2231 148.2792 102.8 172.2231 148.2792 98.80001 224.2231 148.2792 98.80001 172.2231 158.2792 98.80001 234.2231 238.2792 98.80001 234.2231 158.2792 102.8 234.2231 238.2792 102.8 234.2231 201.0501 102.8 163.2687 201.5552 102.8 163.404 193.2101 102.8 231.2492 158.0773 102.8 196.2947 193.4311 102.8 231.7231 158.3773 102.8 196.7231 193.731 102.8 232.1515 193.2101 102.8 167.2492 155.7792 102.8 195.2231 156.3001 102.8 195.2687 193.0747 102.8 166.744 156.5427 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89.92032 191.8912 164.2792 89.92032 202.555 164.2792 84.54485 202.555 295.9559 49.4779 283.8901 298.7846 49.4779 281.0619 295.9559 56.75563 283.8901 298.7846 56.75563 281.0619 281.1053 49.4779 298.738 283.934 49.4779 295.9098 281.1053 56.75563 298.738 283.934 56.75563 295.9098 253.8026 69.24326 241.729 251.8382 53.48633 239.7642 274.6916 64.03382 262.6219 272.7272 48.27689 260.6571 239.8163 53.48633 251.784 241.7807 69.24326 253.7488 260.7053 48.27689 272.6768 262.6697 64.03382 274.6416 234.2238 48.8 222.1466 234.2238 44.8 222.1466 237.8039 56.98629 225.7274 233.7345 48.8 221.6573 231.1201 56.98629 219.0424 231.1201 48.8 219.0424 232.2552 48.8 220.1777 228.292 70.80001 216.2138 228.292 63.34134 216.2138 229.7077 70.80001 217.6297 230.8226 70.80001 218.7448 231.521 70.80001 219.4433 249.053 54.18093 236.9785 231.521 74.80001 219.4433 251.0174 69.93785 238.9433 294.3452 39.02473 276.6216 291.5165 39.02473 279.4498 291.3343 39.02473 273.6102 288.5056 39.02473 276.4384 290.5007 44.54986 272.7764 287.672 44.54986 275.6046 240.6326 56.98629 222.8993 222.9533 56.98629 240.5753 225.782 56.98629 237.7472 237.0311 54.18093 248.9983 275.5124 47.58229 263.4428 263.4905 47.58229 275.4625 272.8214 44.54986 290.4525 275.6501 44.54986 287.6243 237.0525 44.8 219.3185 231.006 44.8 220.8171 216.2695 44.8 233.8903 231.1741 44.8 220.6168 233.9488 44.8 216.2143 232.8684 44.8 223.0371 233.0949 44.8 222.9064 222.2019 44.8 234.1664 222.1212 44.8 233.626 222.367 44.8 233.5366 221.345 44.8 230.7282 221.0993 44.8 230.8176 220.8729 44.8 230.9483 220.6726 44.8 231.1164 220.5045 44.8 231.3166 220.3737 44.8 231.5431 231.8465 44.8 220.2286 231.6008 44.8 220.318 231.3744 44.8 220.4487 223.0925 44.8 232.8112 223.182 44.8 232.5655 230.7858 44.8 221.2892 223.2274 44.8 232.308 220.2843 44.8 231.7888 220.2389 44.8 232.0463 220.2388 44.8 232.3077 233.2952 44.8 222.7383 233.4633 44.8 222.538 233.594 44.8 222.3116 222.1215 44.8 230.7283 221.864 44.8 230.6828 221.6025 44.8 230.6828 219.3732 44.8 236.9945 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289.5557 60.75563 300.8488 288.8836 60.75563 298.3392 289.0838 60.75563 298.1711 291.393 60.75563 299.7883 291.3035 60.75563 300.034 291.1728 60.75563 300.2604 289.3103 60.75563 298.0404 289.556 60.75563 297.951 285.5254 60.75563 301.5429 288.4952 60.75563 299.788 288.4498 60.75563 299.5305 288.5847 60.75563 298.7659 288.7155 60.75563 298.5394 288.4498 60.75563 299.2691 288.4953 60.75563 299.0115 288.8833 60.75563 300.4605 288.7153 60.75563 300.2602 288.5846 60.75563 300.0337 277.4539 60.75563 289.4284 281.1053 60.75563 298.738 281.5566 60.75563 291.348 281.3109 60.75563 291.2586 284.6612 60.75563 301.2283 280.4507 60.75563 290.0298 280.496 60.75563 290.2873 280.5855 60.75563 290.533 280.4507 60.75563 289.7683 280.4961 60.75563 289.5108 277.7039 60.75563 287.3688 279.1995 60.75563 283.5136 278.2912 60.75563 285.3789 281.3475 60.75563 288.5264 278.2705 60.75563 285.4489 281.3112 60.75563 288.5397 281.0847 60.75563 288.6704 283.3044 60.75563 290.5332 281.0845 60.75563 291.1278 280.8842 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230.4051 219.953 70.80001 230.2382 229.9026 70.80001 220.0805 220.062 70.80001 230.0495 220.1365 70.80001 229.8448 220.1744 70.80001 229.6302 220.1744 70.80001 229.4123 220.1366 70.80001 229.1977 217.7963 70.80001 228.9928 217.7218 70.80001 229.1975 230.1073 70.80001 220.006 230.296 70.80001 219.8971 230.463 70.80001 219.7571 219.2526 70.80001 230.7286 219.4573 70.80001 230.6541 228.3339 70.80001 218.9819 228.3717 70.80001 219.1965 219.6462 70.80001 228.4973 219.4575 70.80001 228.3883 219.2528 70.80001 228.3138 219.0382 70.80001 228.2759 229.0508 70.80001 220.0059 229.2555 70.80001 220.0805 219.9532 70.80001 228.8043 229.4701 70.80001 220.1183 218.8203 70.80001 228.2759 218.6058 70.80001 228.3137 218.401 70.80001 228.3882 228.3339 70.80001 218.764 220.0621 70.80001 228.993 229.688 70.80001 220.1183 228.4462 70.80001 219.4013 228.5552 70.80001 219.59 219.8131 70.80001 228.6374 228.6952 70.80001 219.7569 228.8621 70.80001 219.897 229.9028 70.80001 217.6657 230.1076 70.80001 217.7403 230.2962 70.80001 217.8492 230.4631 70.80001 217.9893 230.6032 70.80001 218.1562 230.7121 70.80001 218.3449 230.7866 70.80001 218.5497 218.6055 70.80001 230.7285 218.4008 70.80001 230.654 218.2121 70.80001 230.545 218.0452 70.80001 230.4049 217.9052 70.80001 230.238 217.7962 70.80001 230.0493 217.7217 70.80001 229.8446 222.5934 48.8 233.4059 222.367 48.8 233.5366 222.1212 48.8 233.626 221.8637 48.8 233.6714 231.006 48.8 220.8171 230.8752 48.8 221.0435 230.7858 48.8 221.2892 231.1741 48.8 220.6168 231.3744 48.8 220.4487 231.6008 48.8 220.318 231.8465 48.8 220.2286 232.104 48.8 220.1832 220.3737 48.8 231.5431 220.5045 48.8 231.3166 220.6726 48.8 231.1164 220.2389 48.8 232.0463 220.2843 48.8 231.7888 233.6835 48.8 222.0659 233.7289 48.8 221.8084 233.594 48.8 222.3116 233.4633 48.8 222.538 233.2952 48.8 222.7383 233.0949 48.8 222.9064 222.9618 48.8 233.0376 222.7937 48.8 233.2379 220.8729 48.8 230.9483 221.0993 48.8 230.8176 221.345 48.8 230.7282 223.2274 48.8 232.308 223.182 48.8 232.5655 232.6227 48.8 223.1265 232.8684 48.8 223.0371 223.0925 48.8 232.8112 221.6025 48.8 230.6828 221.864 48.8 230.6828 222.1215 48.8 230.7283 230.8751 48.8 222.3114 230.7857 48.8 222.0656 222.5936 48.8 230.9485 230.7403 48.8 221.8081 222.9619 48.8 231.3169 223.0927 48.8 231.5433 222.3672 48.8 230.8177 230.7404 48.8 221.5467 223.1821 48.8 231.789 223.2274 48.8 232.0465 232.3652 48.8 223.1719 232.1038 48.8 223.1718 231.8463 48.8 223.1264 231.6006 48.8 223.037 231.3742 48.8 222.9062 222.7939 48.8 231.1166 231.1739 48.8 222.7381 231.0058 48.8 222.5378 233.7289 48.8 221.5469 233.6836 48.8 221.2895 233.5942 48.8 221.0437 233.4634 48.8 220.8173 233.2954 48.8 220.617 233.0951 48.8 220.4489 232.8687 48.8 220.3181 232.623 48.8 220.2287 232.3655 48.8 220.1833 220.2388 48.8 232.3077 220.2842 48.8 232.5652 220.3736 48.8 232.8109 220.5043 48.8 233.0374 220.6724 48.8 233.2377 220.8727 48.8 233.4058 221.0991 48.8 233.5365 221.3448 48.8 233.626 221.6023 48.8 233.6714 294.273 60.75563 292.4035 293.0999 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286.476 287.1012 60.75563 287.8596 285.8213 60.75563 287.0723 286.7901 60.75563 288.3844 285.438 60.75563 287.7349 286.5749 60.75563 288.9553 285.1603 60.75563 288.4483 286.462 60.75563 289.5549 284.9948 60.75563 289.1957 284.9453 60.75563 289.9596 294.4519 60.75563 292.0649 294.6045 60.75563 291.7135 293.3151 60.75563 290.8446 294.8267 60.75563 290.981 293.4279 60.75563 290.245 294.9345 60.75563 290.2232 293.4349 60.75563 289.6349 294.9254 60.75563 289.4577 293.3359 60.75563 289.0329 294.7995 60.75563 288.7026 293.1338 60.75563 288.4573 294.5599 60.75563 287.9756 292.8349 60.75563 287.9255 294.212 60.75563 287.2937 292.4481 60.75563 287.4536 293.7642 60.75563 286.6729 293.2268 60.75563 286.1277 291.9853 60.75563 287.0561 292.6126 60.75563 285.671 291.4605 60.75563 286.745 291.9357 60.75563 285.3133 290.8896 60.75563 286.5298 291.2123 60.75563 285.0632 290.29 60.75563 286.417 290.4591 60.75563 284.9264 289.68 60.75563 286.41 289.6939 60.75563 284.9062 289.078 60.75563 286.509 288.9345 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285.0031 289.68 30.75563 286.41 289.6939 30.75563 284.9062 290.29 30.75563 286.417 290.4591 30.75563 284.9264 290.8896 30.75563 286.5298 291.2123 30.75563 285.0632 291.4605 30.75563 286.745 291.9357 30.75563 285.3133 291.9853 30.75563 287.0561 293.0999 30.75563 291.4154 294.273 30.75563 292.4035 292.7888 30.75563 291.9402 293.8401 30.75563 293.0349 292.3913 30.75563 292.4031 293.3159 30.75563 293.5927 291.9194 30.75563 292.7898 292.7127 30.75563 294.064 291.3876 30.75563 293.0888 292.0446 30.75563 294.4377 290.812 30.75563 293.2908 291.3273 30.75563 294.705 290.21 30.75563 293.3899 290.5776 30.75563 294.8597 289.8131 30.75563 294.8982 293.3151 30.75563 290.8446 294.6045 30.75563 291.7135 294.4519 30.75563 292.0649 292.6126 30.75563 285.671 293.2268 30.75563 286.1277 292.4481 30.75563 287.4536 293.7642 30.75563 286.6729 292.8349 30.75563 287.9255 294.212 30.75563 287.2937 293.1338 30.75563 288.4573 294.5599 30.75563 287.9756 293.3359 30.75563 289.0329 294.7995 30.75563 288.7026 293.4349 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280.2885 300.6612 71.25563 280.2462 301.374 71.25563 281.1017 304.3406 71.94238 288.4653 304.1382 71.25563 287.3339 304.1812 71.94238 287.3261 303.8894 71.25563 286.2144 303.9317 71.94238 286.2032 303.5526 71.25563 285.1181 303.5937 71.94238 285.1036 303.1296 71.25563 284.0521 303.1695 71.94238 284.0344 302.6233 71.25563 283.0231 302.6617 71.94238 283.0023 302.0369 71.25563 282.0375 302.0735 71.94238 282.0137 301.4086 71.94238 281.075 304.3101 70.63245 289.6156 304.2315 70.20637 288.9012 304.2731 70.63294 288.9012 304.4091 71.94238 289.6136 304.3337 71.25563 288.9012 304.2972 71.25563 288.4697 303.9257 68.2528 288.9012 303.9153 68.03579 289.6234 303.8791 68.03647 288.9012 303.7183 67.28977 288.9012 303.6206 66.75563 289.6292 303.5867 66.75563 288.9012 304.1228 69.32915 290.7479 304.111 69.32939 290.9012 304.0967 69.22509 290.9012 303.8931 68.03579 290.7342 303.9255 68.2528 290.9012 303.8789 68.03647 290.9012 303.5988 66.75563 290.7166 303.7182 67.28977 290.9012 303.5865 66.75563 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289.9437 66.75563 303.5782 290.9437 66.75563 303.5417 288.9437 69.32939 304.066 288.9437 69.22509 304.0517 288.9437 68.2528 303.8805 288.9437 68.03647 303.8339 288.9437 67.28977 303.6731 288.9437 66.75563 303.5415 288.9437 70.20637 304.1863 288.9437 70.63294 304.2278 288.9437 71.25563 304.2884 288.7977 71.25563 304.2775 280.4504 71.94238 300.8153 281.3736 71.25563 301.5 281.3476 71.94238 301.5352 282.3223 71.25563 302.1444 282.2992 71.94238 302.1814 283.3192 71.25563 302.7113 283.2992 71.94238 302.7501 284.358 71.25563 303.1972 284.3411 71.94238 303.2375 285.4322 71.25563 303.5991 285.4185 71.94238 303.6405 286.5348 71.25563 303.9143 286.5245 71.94238 303.9567 287.659 71.25563 304.1409 287.6521 71.94238 304.184 288.7943 71.94238 304.3211 279.6839 70.63245 299.9571 280.3316 70.63286 300.5721 279.6132 71.94238 300.0265 280.2893 71.25563 300.6144 280.479 71.25563 300.7824 280.5678 68.32349 300.336 280.449 69.29399 300.4547 279.8016 69.32915 299.8418 280.4457 69.32924 300.4581 280.3561 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275.9585 295.0257 73.25563 276.3192 296.0887 73.25563 276.7658 297.1127 73.25563 277.2954 298.0915 73.25563 277.9048 299.0188 73.25563 278.5899 299.8887 73.25563 279.3466 302.1012 73.25563 281.9957 302.6907 73.25563 282.9865 303.1997 73.25563 284.021 303.6249 73.25563 285.0927 303.9636 73.25563 286.1947 304.2137 73.25563 287.3203 304.3735 73.25563 288.462 304.4421 73.25563 289.613 275.585 73.25563 291.9103 275.7901 73.25563 293.0448 276.0847 73.25563 294.1595 276.467 73.25563 295.2472 276.9344 73.25563 296.3011 277.4841 73.25563 297.3146 278.1126 73.25563 298.2812 278.8159 73.25563 299.1948 279.5896 73.25563 300.0496 280.4287 73.25563 300.8403 281.328 73.25563 301.5617 282.2818 73.25563 302.2095 283.284 73.25563 302.7794 284.3283 73.25563 303.2679 285.4082 73.25563 303.6719 286.5167 73.25563 303.9888 287.6469 73.25563 304.2167 288.7916 73.25563 304.354 289.9436 73.25563 304.3999 291.0957 73.25563 304.3542 292.2404 73.25563 304.2171 293.3707 73.25563 303.9895 294.4793 73.25563 303.6727 295.5592 73.25563 303.2689 296.6036 73.25563 302.7806 297.6059 73.25563 302.2109 298.5598 73.25563 301.5633 299.4592 73.25563 300.842 300.2985 73.25563 300.0515 301.0723 73.25563 299.1968 301.7758 73.25563 298.2833 302.4045 73.25563 297.3169 302.9544 73.25563 296.3035 303.422 73.25563 295.2497 303.8044 73.25563 294.162 304.0993 73.25563 293.0474 304.3046 73.25563 291.9129 304.4191 73.25563 290.7657 285.1636 69.75563 287.2843 285.1636 66.75563 287.2843 285.0356 69.75563 287.4765 285.0356 66.75563 287.4765 284.876 69.75563 287.6436 284.876 66.75563 287.6436 284.69 69.75563 287.7804 284.7202 66.75563 287.7582 284.7002 66.75563 287.7728 284.69 66.75563 287.7804 284.4829 69.75563 287.8828 284.4829 66.75563 287.8828 284.2613 69.75563 287.9477 284.2613 66.75563 287.9477 284.0317 69.75563 287.9731 284.0317 66.75563 287.9731 283.8012 69.75563 287.9583 283.8012 66.75563 287.9583 283.5768 69.75563 287.9036 283.5768 66.75563 287.9036 283.3653 69.75563 287.8109 283.3653 66.75563 287.8109 283.308 66.75563 287.7727 283.1731 69.75563 287.6828 283.1731 66.75563 287.6828 283.0061 69.75563 287.5233 283.0061 66.75563 287.5233 282.8693 69.75563 287.3372 282.8693 66.75563 287.3372 282.7951 66.75563 287.1872 282.7669 69.75563 287.1302 282.7669 66.75563 287.1302 282.702 69.75563 286.9085 282.702 66.75563 286.9085 282.6766 69.75563 286.679 282.6766 66.75563 286.679 282.6914 69.75563 286.4485 282.6914 66.75563 286.4485 282.746 69.75563 286.2241 282.8388 66.75563 286.0126 282.8388 69.75563 286.0126 282.7952 66.75563 286.1119 282.746 66.75563 286.2241 283.38 69.75563 285.1553 283.38 66.75563 285.1553 284.0241 69.75563 284.3724 284.0241 66.75563 284.3724 284.7205 66.75563 283.7143 284.7609 69.75563 283.6762 284.7609 66.75563 283.6762 285.5789 69.75563 283.0773 285.5789 66.75563 283.0773 285.7836 69.75563 282.9703 285.7836 66.75563 282.9703 286.0037 69.75563 282.9004 286.0037 66.75563 282.9004 286.2326 69.75563 282.8698 286.2326 66.75563 282.8698 286.4634 69.75563 282.8793 286.4634 66.75563 282.8793 286.689 69.75563 282.9289 286.689 66.75563 282.9289 286.9026 69.75563 283.0168 286.9026 66.75563 283.0168 287.0976 69.75563 283.1405 287.0976 66.75563 283.1405 287.2682 69.75563 283.2962 287.2682 66.75563 283.2962 287.4092 69.75563 283.4792 287.4092 66.75563 283.4792 287.5162 69.75563 283.6838 287.5162 66.75563 283.6838 287.5861 69.75563 283.9039 287.5861 66.75563 283.9039 287.6167 69.75563 284.1329 287.6167 66.75563 284.1329 287.6072 69.75563 284.3636 287.6072 66.75563 284.3636 287.5576 69.75563 284.5892 287.5576 66.75563 284.5892 287.4697 69.75563 284.8028 287.4697 66.75563 284.8028 287.346 69.75563 284.9978 287.346 66.75563 284.9978 287.1903 69.75563 285.1684 287.1903 66.75563 285.1684 287.0073 69.75563 285.3094 287.0073 66.75563 285.3094 286.2852 66.75563 285.8616 286.2852 69.75563 285.8616 285.6649 66.75563 286.526 285.6649 69.75563 286.526 294.7263 69.75563 292.5155 294.7263 66.75563 292.5155 294.8544 69.75563 292.3233 294.8544 66.75563 292.3233 295.0139 69.75563 292.1563 295.0139 66.75563 292.1563 295.1698 66.75563 292.0417 295.2 69.75563 292.0195 295.2 66.75563 292.0195 295.407 69.75563 291.9171 295.407 66.75563 291.9171 295.6287 69.75563 291.8522 295.6287 66.75563 291.8522 295.8583 69.75563 291.8268 295.8583 66.75563 291.8268 296.0887 69.75563 291.8416 296.0887 66.75563 291.8416 296.3132 69.75563 291.8962 296.3132 66.75563 291.8962 296.5247 69.75563 291.989 296.5247 66.75563 291.989 296.7168 69.75563 292.117 296.7168 66.75563 292.117 296.8839 69.75563 292.2766 296.8839 66.75563 292.2766 297.0207 69.75563 292.4627 297.0207 66.75563 292.4627 297.1231 69.75563 292.6697 297.1231 66.75563 292.6697 297.188 69.75563 292.8913 297.188 66.75563 292.8913 297.2134 69.75563 293.1209 297.2134 66.75563 293.1209 297.1986 69.75563 293.3514 297.1986 66.75563 293.3514 297.144 69.75563 293.5758 297.144 66.75563 293.5758 297.0512 69.75563 293.7873 297.0512 66.75563 293.7873 296.51 69.75563 294.6445 296.51 66.75563 294.6445 295.8752 66.75563 295.4161 295.8659 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294.9971 292.544 69.75563 294.802 292.544 66.75563 294.802 292.6997 69.75563 294.6314 292.6997 66.75563 294.6314 292.8826 69.75563 294.4904 292.8826 66.75563 294.4904 293.6047 66.75563 293.9383 293.6047 69.75563 293.9383 294.2251 66.75563 293.2738 294.2251 69.75563 293.2738 284.6881 69.75563 282.4108 284.6881 66.75563 282.4108 284.5545 69.75563 282.4898 284.5545 66.75563 282.4898 284.4104 69.75563 282.5472 284.4104 66.75563 282.5472 284.2592 69.75563 282.5816 284.2592 66.75563 282.5816 284.1044 69.75563 282.5923 284.1044 66.75563 282.5923 283.9499 69.75563 282.5788 283.9499 66.75563 282.5788 283.7993 69.75563 282.5416 283.7993 66.75563 282.5416 283.6562 69.75563 282.4816 283.6562 66.75563 282.4816 283.5242 69.75563 282.4002 283.5242 66.75563 282.4002 283.4064 69.75563 282.2993 283.4064 66.75563 282.2993 287.4459 69.75563 280.38 287.4459 66.75563 280.38 287.4296 69.75563 280.552 287.4296 66.75563 280.552 287.384 69.75563 280.7187 287.384 66.75563 280.7187 287.3103 69.75563 280.875 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282.7956 66.75563 281.6885 280.9993 71.25563 279.8919 281.0222 70.91879 279.9147 281.0658 70.27513 279.9584 281.1119 69.75563 280.0044 288.9462 69.75563 276.6731 288.9462 71.25563 276.5138 288.9462 70.91879 276.5462 288.9462 70.27575 276.608 279.8935 69.75563 288.4704 279.8935 66.75563 288.4704 279.7916 69.75563 288.5942 279.7916 66.75563 288.5942 279.6714 69.75563 288.7001 279.6714 66.75563 288.7001 279.5357 69.75563 288.7854 279.5357 66.75563 288.7854 279.3882 69.75563 288.8479 279.3882 66.75563 288.8479 279.2325 69.75563 288.8861 279.2325 66.75563 288.8861 279.0728 69.75563 288.8989 279.0728 66.75563 288.8989 280.75 66.75563 287.7033 280.75 69.75563 287.7033 280.8782 66.75563 287.6202 280.8782 69.75563 287.6202 280.9923 66.75563 287.5186 280.9923 69.75563 287.5186 281.0895 66.75563 287.4008 281.0895 69.75563 287.4008 281.1677 66.75563 287.2695 281.1677 69.75563 287.2695 281.225 66.75563 287.1279 281.225 69.75563 287.1279 280.6435 66.75563 287.7724 280.4259 69.75563 287.9136 280.4259 66.75563 287.9136 280.1497 66.75563 288.1611 280.1381 69.75563 288.1714 280.1381 66.75563 288.1714 282.3456 69.75563 283.3599 282.3456 66.75563 283.3599 282.4464 69.75563 283.4778 282.4464 66.75563 283.4778 282.5278 69.75563 283.6098 282.5278 66.75563 283.6098 282.5878 69.75563 283.7529 282.5878 66.75563 283.7529 282.625 69.75563 283.9035 282.625 66.75563 283.9035 282.6384 69.75563 284.058 282.6384 66.75563 284.058 282.6277 69.75563 284.2128 282.6277 66.75563 284.2128 282.5933 69.75563 284.3641 282.5933 66.75563 284.3641 282.5358 69.75563 284.5081 282.5358 66.75563 284.5081 282.4568 69.75563 284.6416 282.4568 66.75563 284.6416 281.9627 66.75563 285.4272 281.9627 69.75563 285.4272 281.5506 66.75563 286.2588 281.5506 69.75563 286.2588 278.3309 66.75563 288.8988 276.5591 71.25563 288.8987 276.5914 70.91879 288.8987 276.6532 70.27575 288.8987 276.7184 69.75563 288.8987 281.7348 66.75563 282.749 280.0511 69.75563 281.065 279.9386 71.25563 280.9524 279.9614 70.91879 280.9753 280.0051 70.27513 281.019 288.5154 69.75563 301.4514 288.5154 66.75563 301.4514 288.6391 69.75563 301.5532 288.6391 66.75563 301.5532 288.745 69.75563 301.6735 288.745 66.75563 301.6735 288.8303 69.75563 301.8092 288.8303 66.75563 301.8092 288.8928 69.75563 301.9567 288.8928 66.75563 301.9567 288.931 69.75563 302.1124 288.9439 66.75563 302.2721 288.9439 69.75563 302.2721 288.9432 66.75563 302.264 288.931 66.75563 302.1124 287.4442 66.75563 299.4193 287.4442 69.75563 299.4193 287.4279 66.75563 299.2473 287.4279 69.75563 299.2473 287.3823 66.75563 299.0807 287.3823 69.75563 299.0807 287.3087 66.75563 298.9244 287.3087 69.75563 298.9244 287.2092 66.75563 298.7831 287.2092 69.75563 298.7831 287.087 66.75563 298.6611 287.087 69.75563 298.6611 286.9455 66.75563 298.5618 286.9455 69.75563 298.5618 286.7891 66.75563 298.4885 286.7891 69.75563 298.4885 287.4788 66.75563 299.8152 287.4788 69.75563 299.8152 287.5758 66.75563 300.2005 287.5758 69.75563 300.2005 287.7326 66.75563 300.5657 287.7326 69.75563 300.5657 287.9452 66.75563 300.9014 287.9452 69.75563 300.9014 288.206 66.75563 301.1965 288.2084 69.75563 301.1991 288.2084 66.75563 301.1991 283.4049 69.75563 297.4993 283.4049 66.75563 297.4993 283.5228 69.75563 297.3985 283.5228 66.75563 297.3985 283.6549 69.75563 297.3171 283.6549 66.75563 297.3171 283.798 69.75563 297.2571 283.798 66.75563 297.2571 283.9486 69.75563 297.2199 283.9486 66.75563 297.2199 284.1031 69.75563 297.2065 284.1031 66.75563 297.2065 284.2579 69.75563 297.2172 284.2579 66.75563 297.2172 284.4091 69.75563 297.2516 284.4091 66.75563 297.2516 284.5532 69.75563 297.3091 284.5532 66.75563 297.3091 284.6867 69.75563 297.3881 284.6867 66.75563 297.3881 284.7193 66.75563 297.408 284.8851 66.75563 297.509 285.7021 69.75563 298.0067 285.7021 66.75563 298.0067 281.1101 69.75563 299.7938 283.3954 66.75563 297.5089 282.7941 66.75563 298.1101 280.9975 71.25563 299.9063 281.0204 70.91879 299.8835 281.064 70.27513 299.8398 288.9438 71.25563 303.2858 288.9438 70.91879 303.2535 288.9438 70.27575 303.1917 288.9438 69.75563 303.1265 295.2019 69.75563 297.389 295.2019 66.75563 297.389 295.3354 69.75563 297.31 295.3354 66.75563 297.31 295.4795 69.75563 297.2526 295.4795 66.75563 297.2526 295.6308 69.75563 297.2182 295.6308 66.75563 297.2182 295.7855 69.75563 297.2076 295.7855 66.75563 297.2076 295.9401 69.75563 297.221 295.9401 66.75563 297.221 296.0907 69.75563 297.2582 296.0907 66.75563 297.2582 296.2337 69.75563 297.3182 296.2337 66.75563 297.3182 296.3658 69.75563 297.3996 296.3658 66.75563 297.3996 296.4836 69.75563 297.5005 296.4836 66.75563 297.5005 292.444 69.75563 299.4198 292.444 66.75563 299.4198 292.4603 69.75563 299.2478 292.4603 66.75563 299.2478 292.506 69.75563 299.0812 292.506 66.75563 299.0812 292.5796 69.75563 298.9249 292.5796 66.75563 298.9249 292.6791 69.75563 298.7836 292.6791 66.75563 298.7836 292.8014 69.75563 298.6616 292.8014 66.75563 298.6616 292.9429 69.75563 298.5624 292.9429 66.75563 298.5624 293.0993 69.75563 298.489 293.0993 66.75563 298.489 290.9567 69.75563 302.1126 290.9439 69.75563 302.2723 290.9439 66.75563 302.2723 290.9445 66.75563 302.2641 290.9567 66.75563 302.1126 290.9949 69.75563 301.9569 290.9949 66.75563 301.9569 291.0575 69.75563 301.8094 291.0575 66.75563 301.8094 291.1428 69.75563 301.6737 291.1428 66.75563 301.6737 291.2487 69.75563 301.5535 291.2487 66.75563 301.5535 291.3725 69.75563 301.4517 291.3725 66.75563 301.4517 291.6795 66.75563 301.1994 291.6819 66.75563 301.1968 291.9427 69.75563 300.9017 291.6795 69.75563 301.1994 291.9427 66.75563 300.9017 292.0706 66.75563 300.6999 292.1555 69.75563 300.5661 292.1555 66.75563 300.5661 292.3123 66.75563 300.201 292.3123 69.75563 300.201 292.4093 66.75563 299.8157 292.4093 69.75563 299.8157 295.1693 66.75563 297.4089 294.1864 66.75563 298.0075 294.1864 69.75563 298.0075 295.0035 66.75563 297.5099 296.4932 66.75563 297.5101 298.8906 71.25563 299.908 298.8678 70.91879 299.8851 298.8241 70.27513 299.8414 298.7781 69.75563 299.7954 290.9438 69.75563 303.1267 290.9438 71.25563 303.286 290.9438 70.91879 303.2537 290.9438 70.27575 303.1919 299.9965 69.75563 291.3294 299.9965 66.75563 291.3294 300.0983 69.75563 291.2057 300.0983 66.75563 291.2057 300.2186 69.75563 291.0998 300.2186 66.75563 291.0998 300.3543 69.75563 291.0145 300.3543 66.75563 291.0145 300.5018 69.75563 290.9519 300.5018 66.75563 290.9519 300.6574 69.75563 290.9137 300.6574 66.75563 290.9137 300.8172 69.75563 290.9009 300.8172 66.75563 290.9009 299.14 66.75563 292.0965 299.14 69.75563 292.0965 299.0118 66.75563 292.1796 299.0118 69.75563 292.1796 298.8977 66.75563 292.2812 298.8977 69.75563 292.2812 298.8004 66.75563 292.3991 298.8004 69.75563 292.3991 298.7222 66.75563 292.5303 298.7222 69.75563 292.5303 298.665 66.75563 292.6719 298.665 69.75563 292.6719 299.4641 66.75563 291.8862 299.4641 69.75563 291.8862 299.7403 66.75563 291.6388 299.7518 69.75563 291.6284 299.7518 66.75563 291.6284 297.5444 69.75563 296.4399 297.5444 66.75563 296.4399 297.4435 69.75563 296.3221 297.4435 66.75563 296.3221 297.3621 69.75563 296.19 297.3621 66.75563 296.19 297.3021 69.75563 296.0469 297.3021 66.75563 296.0469 297.265 69.75563 295.8963 297.265 66.75563 295.8963 297.2516 69.75563 295.7418 297.2516 66.75563 295.7418 297.2622 69.75563 295.587 297.2622 66.75563 295.587 297.2967 69.75563 295.4358 297.2967 66.75563 295.4358 297.3045 66.75563 295.4162 297.3541 69.75563 295.2917 297.3541 66.75563 295.2917 297.4331 69.75563 295.1582 297.4331 66.75563 295.1582 297.9273 66.75563 294.3726 297.9273 69.75563 294.3726 298.3393 66.75563 293.541 298.3393 69.75563 293.541 299.8388 69.75563 298.7348 298.1551 66.75563 297.0508 298.6145 66.75563 297.5102 299.9514 71.25563 298.8474 299.9285 70.91879 298.8245 299.8849 70.27513 298.7809 303.3309 71.25563 290.9011 303.2985 70.91879 290.9011 303.2368 70.27575 290.9011 303.1716 69.75563 290.9011 297.4341 69.75563 284.643 297.4341 66.75563 284.643 297.3551 69.75563 284.5095 297.3551 66.75563 284.5095 297.2977 69.75563 284.3654 297.2977 66.75563 284.3654 297.2633 69.75563 284.2141 297.2633 66.75563 284.2141 297.2526 69.75563 284.0594 297.2526 66.75563 284.0594 297.2661 69.75563 283.9048 297.2661 66.75563 283.9048 297.3033 69.75563 283.7542 297.3033 66.75563 283.7542 297.3633 69.75563 283.6112 297.3633 66.75563 283.6112 297.4447 69.75563 283.4791 297.4447 66.75563 283.4791 297.5455 69.75563 283.3613 297.5455 66.75563 283.3613 299.1404 69.75563 287.705 299.1404 66.75563 287.705 299.0122 69.75563 287.6219 299.0122 66.75563 287.6219 298.8981 69.75563 287.5202 298.8981 66.75563 287.5202 298.8009 69.75563 287.4024 298.8009 66.75563 287.4024 298.7227 69.75563 287.2711 298.7227 66.75563 287.2711 298.6655 69.75563 287.1295 298.6655 66.75563 287.1295 300.8174 69.75563 288.9009 300.8174 66.75563 288.9009 300.6576 69.75563 288.8881 300.6576 66.75563 288.8881 300.502 69.75563 288.8499 300.502 66.75563 288.8499 300.3544 69.75563 288.7873 300.3544 66.75563 288.7873 300.2188 69.75563 288.7019 300.2188 66.75563 288.7019 300.0986 69.75563 288.596 300.0986 66.75563 288.596 299.9967 69.75563 288.4723 299.9967 66.75563 288.4723 299.7521 66.75563 288.1732 299.7521 69.75563 288.1732 299.7406 66.75563 288.1629 299.4644 69.75563 287.9154 299.2469 66.75563 287.7741 299.4644 66.75563 287.9154 298.34 66.75563 286.2604 298.34 69.75563 286.2604 297.9281 66.75563 285.4287 297.9281 69.75563 285.4287 298.1564 66.75563 282.7505 299.953 71.25563 280.9543 299.9302 70.91879 280.9771 299.8865 70.27513 281.0208 299.8405 69.75563 281.0668 303.1717 69.75563 288.9011 303.3311 71.25563 288.9011 303.2987 70.91879 288.9011 303.2369 70.27575 288.9011 291.3746 69.75563 278.3484 291.3746 66.75563 278.3484 291.2509 69.75563 278.2466 291.2509 66.75563 278.2466 291.145 69.75563 278.1263 291.145 66.75563 278.1263 291.0597 69.75563 277.9906 291.0597 66.75563 277.9906 290.9971 69.75563 277.8431 290.9971 66.75563 277.8431 290.9589 69.75563 277.6875 290.9589 66.75563 277.6875 290.9461 69.75563 277.5277 290.9461 66.75563 277.5277 292.4458 66.75563 280.3805 292.4458 69.75563 280.3805 292.462 66.75563 280.5525 292.462 69.75563 280.5525 292.5076 66.75563 280.7192 292.5076 69.75563 280.7192 292.5813 66.75563 280.8754 292.5813 69.75563 280.8754 292.6807 66.75563 281.0167 292.6807 69.75563 281.0167 292.803 66.75563 281.1388 292.803 69.75563 281.1388 292.9444 66.75563 281.238 292.9444 69.75563 281.238 293.1008 66.75563 281.3114 293.1008 69.75563 281.3114 292.4111 66.75563 279.9847 292.4111 69.75563 279.9847 292.3142 66.75563 279.5993 292.3142 69.75563 279.5993 292.1574 66.75563 279.2341 292.1574 69.75563 279.2341 292.0726 66.75563 279.1003 291.9447 69.75563 278.8985 291.9447 66.75563 278.8985 291.684 66.75563 278.6034 291.6816 69.75563 278.6007 291.6816 66.75563 278.6007 296.485 69.75563 282.3005 296.485 66.75563 282.3005 296.3671 69.75563 282.4014 296.3671 66.75563 282.4014 296.2351 69.75563 282.4828 296.2351 66.75563 282.4828 296.092 69.75563 282.5428 296.092 66.75563 282.5428 295.9414 69.75563 282.5799 295.9414 66.75563 282.5799 295.7868 69.75563 282.5933 295.7868 66.75563 282.5933 295.6321 69.75563 282.5827 295.6321 66.75563 282.5827 295.4808 69.75563 282.5482 295.4808 66.75563 282.5482 295.3367 69.75563 282.4908 295.3367 66.75563 282.4908 295.2033 69.75563 282.4118 295.2033 66.75563 282.4118 295.1707 66.75563 282.3919 294.1879 69.75563 281.7931 294.1879 66.75563 281.7931 298.7799 69.75563 280.006 298.8924 71.25563 279.8935 298.8696 70.91879 279.9164 298.8259 70.27513 279.96 290.9462 71.25563 276.514 290.9462 70.91879 276.5464 290.9462 70.27575 276.6081 290.9462 69.75563 276.6733 285.3545 69.75563 292.8376 285.3545 66.75563 292.8376 285.9066 66.75563 293.5597 285.9066 69.75563 293.5597 286.5711 66.75563 294.18 286.5711 69.75563 294.18 287.3294 66.75563 294.6813 287.3294 69.75563 294.6813 287.5216 69.75563 294.8093 287.5216 66.75563 294.8093 287.6886 69.75563 294.9689 287.6886 66.75563 294.9689 287.8254 69.75563 295.1549 287.8254 66.75563 295.1549 287.9278 69.75563 295.362 287.9278 66.75563 295.362 287.9435 66.75563 295.4154 287.9927 69.75563 295.5836 287.9927 66.75563 295.5836 288.0181 69.75563 295.8132 288.0181 66.75563 295.8132 288.0033 69.75563 296.0437 288.0033 66.75563 296.0437 287.9487 69.75563 296.2681 287.9487 66.75563 296.2681 287.8559 69.75563 296.4796 287.8559 66.75563 296.4796 287.7279 69.75563 296.6718 287.7279 66.75563 296.6718 287.5683 69.75563 296.8388 287.5683 66.75563 296.8388 287.3822 69.75563 296.9756 287.3822 66.75563 296.9756 287.2322 66.75563 297.0498 287.1752 69.75563 297.078 287.1752 66.75563 297.078 286.9536 69.75563 297.1429 286.9536 66.75563 297.1429 286.724 69.75563 297.1683 286.724 66.75563 297.1683 286.4935 69.75563 297.1535 286.4935 66.75563 297.1535 286.2691 69.75563 297.0989 286.0576 66.75563 297.0061 286.0576 69.75563 297.0061 286.157 66.75563 297.0497 286.2691 66.75563 297.0989 285.2004 69.75563 296.4649 285.2004 66.75563 296.4649 284.7194 66.75563 296.0692 284.4175 69.75563 295.8208 284.4175 66.75563 295.8208 284.034 66.75563 295.415 283.7212 69.75563 295.084 283.7212 66.75563 295.084 283.1224 69.75563 294.266 283.1224 66.75563 294.266 283.0201 69.75563 294.0725 283.0201 66.75563 294.0725 282.951 69.75563 293.8649 282.951 66.75563 293.8649 282.917 69.75563 293.6487 282.917 66.75563 293.6487 282.919 69.75563 293.4299 282.919 66.75563 293.4299 282.9571 69.75563 293.2144 282.9571 66.75563 293.2144 283.0301 69.75563 293.0081 283.0301 66.75563 293.0081 283.1361 69.75563 292.8166 283.1361 66.75563 292.8166 283.2721 69.75563 292.6452 283.2721 66.75563 292.6452 283.4345 69.75563 292.4985 283.4345 66.75563 292.4985 283.6188 69.75563 292.3806 283.6188 66.75563 292.3806 283.82 69.75563 292.2945 283.82 66.75563 292.2945 284.0327 69.75563 292.2428 284.0327 66.75563 292.2428 284.251 69.75563 292.2268 284.251 66.75563 292.2268 284.4689 69.75563 292.247 284.4689 66.75563 292.247 284.6805 69.75563 292.3027 284.6805 66.75563 292.3027 284.7198 66.75563 292.3204 284.88 69.75563 292.3925 284.88 66.75563 292.3925 285.0621 69.75563 292.5139 285.0621 66.75563 292.5139 285.2217 69.75563 292.6636 285.2217 66.75563 292.6636 292.5606 69.75563 285.1186 292.5606 66.75563 285.1186 292.3684 69.75563 284.9905 292.3684 66.75563 284.9905 292.2013 69.75563 284.831 292.2013 66.75563 284.831 292.0721 66.75563 284.6552 292.0645 69.75563 284.6449 292.0645 66.75563 284.6449 291.9621 69.75563 284.4379 291.9621 66.75563 284.4379 291.8972 69.75563 284.2162 291.8972 66.75563 284.2162 291.8718 69.75563 283.9866 291.8718 66.75563 283.9866 291.8866 69.75563 283.7562 291.8866 66.75563 283.7562 291.9413 69.75563 283.5317 291.9413 66.75563 283.5317 292.034 69.75563 283.3202 292.034 66.75563 283.3202 292.0722 66.75563 283.2629 292.1621 69.75563 283.1281 292.1621 66.75563 283.1281 292.3216 69.75563 282.961 292.3216 66.75563 282.961 292.5077 69.75563 282.8242 292.5077 66.75563 282.8242 292.6577 66.75563 282.75 292.7147 69.75563 282.7218 292.7147 66.75563 282.7218 292.9364 69.75563 282.6569 292.9364 66.75563 282.6569 293.1659 69.75563 282.6315 293.1659 66.75563 282.6315 293.3964 69.75563 282.6463 293.3964 66.75563 282.6463 293.6208 69.75563 282.7009 293.8323 66.75563 282.7937 293.8323 69.75563 282.7937 293.733 66.75563 282.7501 293.6208 66.75563 282.7009 294.6896 69.75563 283.3349 294.6896 66.75563 283.3349 295.1705 66.75563 283.7306 295.4725 69.75563 283.979 295.4725 66.75563 283.979 296.1687 69.75563 284.7159 296.1687 66.75563 284.7159 296.7676 69.75563 285.5339 296.7676 66.75563 285.5339 296.8746 69.75563 285.7385 296.8746 66.75563 285.7385 296.9445 69.75563 285.9587 296.9445 66.75563 285.9587 296.9751 69.75563 286.1876 296.9751 66.75563 286.1876 296.9655 69.75563 286.4183 296.9655 66.75563 286.4183 296.916 69.75563 286.6439 296.916 66.75563 286.6439 296.828 69.75563 286.8575 296.828 66.75563 286.8575 296.7044 69.75563 287.0525 296.7044 66.75563 287.0525 296.5487 69.75563 287.2232 296.5487 66.75563 287.2232 296.3657 69.75563 287.3641 296.3657 66.75563 287.3641 296.1611 69.75563 287.4712 296.1611 66.75563 287.4712 295.9409 69.75563 287.5411 295.9409 66.75563 287.5411 295.712 69.75563 287.5717 295.712 66.75563 287.5717 295.4812 69.75563 287.5621 295.4812 66.75563 287.5621 295.2557 69.75563 287.5126 295.2557 66.75563 287.5126 295.1702 66.75563 287.4774 295.0421 69.75563 287.4246 295.0421 66.75563 287.4246 294.8471 69.75563 287.3009 294.8471 66.75563 287.3009 294.6765 69.75563 287.1452 294.6765 66.75563 287.1452 294.5355 69.75563 286.9623 294.5355 66.75563 286.9623 293.9833 66.75563 286.2402 293.9833 69.75563 286.2402 293.3189 66.75563 285.6198 293.3189 69.75563 285.6198 282.5348 69.75563 295.2904 282.4559 69.75563 295.1568 282.4559 66.75563 295.1568 282.5348 66.75563 295.2904 282.5845 66.75563 295.4149 282.5923 69.75563 295.4345 282.5923 66.75563 295.4345 282.6267 69.75563 295.5857 282.6267 66.75563 295.5857 282.6373 69.75563 295.7405 282.6373 66.75563 295.7405 282.6239 69.75563 295.895 282.6239 66.75563 295.895 282.5867 69.75563 296.0456 282.5867 66.75563 296.0456 282.5267 69.75563 296.1886 282.5267 66.75563 296.1886 282.4453 69.75563 296.3207 282.4453 66.75563 296.3207 282.3444 69.75563 296.4385 282.3444 66.75563 296.4385 280.7496 69.75563 292.0949 280.7496 66.75563 292.0949 280.8778 69.75563 292.178 280.8778 66.75563 292.178 280.9918 69.75563 292.2796 280.9918 66.75563 292.2796 281.0891 69.75563 292.3974 281.0891 66.75563 292.3974 281.1672 69.75563 292.5287 281.1672 66.75563 292.5287 281.2245 69.75563 292.6704 281.2245 66.75563 292.6704 279.0726 69.75563 290.8989 279.0726 66.75563 290.8989 279.2323 69.75563 290.9118 279.2323 66.75563 290.9118 279.388 69.75563 290.95 279.388 66.75563 290.95 279.5355 69.75563 291.0126 279.5355 66.75563 291.0126 279.6712 69.75563 291.0979 279.6712 66.75563 291.0979 279.7914 69.75563 291.2038 279.7914 66.75563 291.2038 279.8932 69.75563 291.3276 279.8932 66.75563 291.3276 280.1378 66.75563 291.6267 280.1378 69.75563 291.6267 280.1493 66.75563 291.637 280.4255 69.75563 291.8845 280.4255 66.75563 291.8845 281.55 66.75563 293.5395 281.55 69.75563 293.5395 281.9618 66.75563 294.3712 281.9618 69.75563 294.3712 279.9369 71.25563 298.8456 279.9598 70.91879 298.8227 280.0035 70.27513 298.779 280.0495 69.75563 298.733 281.7335 66.75563 297.0493 281.2741 66.75563 297.5087 278.3308 66.75563 290.8988 276.7182 69.75563 290.8987 276.5589 71.25563 290.8987 276.5912 70.91879 290.8987 276.653 70.27575 290.8987 303.4421 73.25563 290.1765 303.4198 73.25563 289.0755 303.3078 73.25563 287.9799 303.1068 73.25563 286.8971 302.8182 73.25563 285.8343 302.444 73.25563 284.7985 301.9866 73.25563 283.7967 301.4491 73.25563 282.8355 300.835 73.25563 281.9213 300.1484 73.25563 281.0602 299.3939 73.25563 280.258 298.5766 73.25563 279.5199 297.7018 73.25563 278.8509 296.7754 73.25563 278.2554 295.8035 73.25563 277.7374 294.7927 73.25563 277.3003 293.7496 73.25563 276.9471 292.6811 73.25563 276.6801 291.5945 73.25563 276.5011 290.4969 73.25563 276.4112 289.3955 73.25563 276.4111 288.2979 73.25563 276.5008 287.2113 73.25563 276.6796 286.1428 73.25563 276.9464 285.0996 73.25563 277.2994 284.0887 73.25563 277.7363 283.1167 73.25563 278.2541 282.1902 73.25563 278.8494 281.3153 73.25563 279.5183 280.4978 73.25563 280.2562 279.7432 73.25563 281.0584 279.0564 73.25563 281.9193 278.4422 73.25563 282.8334 277.9045 73.25563 283.7945 277.4469 73.25563 284.7962 277.0725 73.25563 285.8319 276.7837 73.25563 286.8947 276.5826 73.25563 287.9775 276.4703 73.25563 289.073 276.4478 73.25563 290.1741 276.515 73.25563 291.2733 276.6716 73.25563 292.3634 276.9166 73.25563 293.4371 277.2483 73.25563 294.4873 277.6644 73.25563 295.5069 278.1623 73.25563 296.4892 278.7386 73.25563 297.4277 279.3895 73.25563 298.3161 280.1106 73.25563 299.1484 280.8972 73.25563 299.9193 281.7439 73.25563 300.6234 282.6453 73.25563 301.2562 283.5952 73.25563 301.8134 284.5874 73.25563 302.2913 285.6152 73.25563 302.6868 286.6719 73.25563 302.9971 287.7503 73.25563 303.2203 288.8434 73.25563 303.3549 289.9437 73.25563 303.3999 291.0441 73.25563 303.3551 292.1372 73.25563 303.2207 293.2157 73.25563 302.9977 294.2724 73.25563 302.6875 295.3003 73.25563 302.2923 296.2926 73.25563 301.8145 297.2426 73.25563 301.2575 298.1441 73.25563 300.6249 298.9909 73.25563 299.9209 299.7777 73.25563 299.1502 300.4989 73.25563 298.318 301.15 73.25563 297.4297 301.7264 73.25563 296.4914 302.2245 73.25563 295.5091 302.6408 73.25563 294.4896 302.9727 73.25563 293.4395 303.2178 73.25563 292.3658 303.3747 73.25563 291.2758 281.3643 71.25563 279.5773 282.2342 71.25563 278.9122 283.1555 71.25563 278.3203 284.1219 71.25563 277.8054 285.1271 71.25563 277.371 286.1644 71.25563 277.02 287.2268 71.25563 276.7547 288.3073 71.25563 276.5769 279.8011 71.25563 281.1086 279.1183 71.25563 281.9647 278.5075 71.25563 282.8735 277.9729 71.25563 283.8292 277.5179 71.25563 284.8252 277.1456 71.25563 285.855 276.8585 71.25563 286.9118 276.6585 71.25563 287.9884 281.7905 71.25563 300.5625 288.8496 71.25563 303.2785 287.7628 71.25563 303.1447 286.6905 71.25563 302.9227 285.6398 71.25563 302.6141 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286.2758 82.15563 301.4302 285.1547 82.15563 303.5858 287.7205 82.15563 301.7937 286.7171 82.15563 304.0361 288.3202 82.15563 304.3086 277.988 82.15563 291.7549 277.944 82.15563 291.4447 275.5448 82.15563 291.5986 278.3066 82.15563 293.2102 281.2717 82.15563 301.5199 282.6049 82.15563 299.5194 280.9033 82.15563 301.2356 282.3583 82.15563 299.3261 279.691 82.15563 300.152 281.2575 82.15563 298.3223 278.6076 82.15563 298.9395 280.2883 82.15563 297.1909 277.6668 82.15563 297.6133 279.4655 82.15563 295.949 276.8804 82.15563 296.19 278.8016 82.15563 294.6153 276.2582 82.15563 294.6877 275.8082 82.15563 293.1252 283.6525 73.75563 302.9634 294.7328 73.75563 303.5867 293.1702 73.75563 304.0367 291.5671 73.75563 304.3089 289.9436 73.75563 304.3999 288.3202 73.75563 304.3086 286.7171 73.75563 304.0361 285.1547 73.75563 303.5858 296.2351 73.75563 302.9645 298.6162 82.25563 301.5215 297.74 82.25563 302.1264 297.6583 73.75563 302.1781 304.0811 73.75563 293.1278 303.6308 73.75563 294.6902 303.0085 73.75563 296.1924 302.2218 73.75563 297.6155 301.2807 73.75563 298.9416 300.1971 73.75563 300.1539 298.9845 73.75563 301.2373 304.3536 73.75563 291.5247 304.354 73.75563 288.2778 298.9866 73.75563 278.5642 300.199 73.75563 279.6478 301.2824 73.75563 280.8604 302.2232 73.75563 282.1866 303.0096 73.75563 283.6098 303.6317 73.75563 285.1121 304.0817 73.75563 286.6747 297.7423 82.25563 277.6748 298.6183 82.25563 278.2799 297.6586 82.25563 277.6265 297.6606 73.75563 277.6231 296.2375 73.75563 276.8364 285.1572 73.75563 276.2132 286.7197 73.75563 275.7632 288.3228 73.75563 275.4909 289.9463 73.75563 275.3999 291.5698 73.75563 275.4913 293.1728 73.75563 275.7638 294.7353 73.75563 276.2141 283.6549 73.75563 276.8353 281.2738 82.25563 278.2784 282.1499 82.25563 277.6734 281.2738 82.15563 278.2784 282.2316 73.75563 277.6217 280.9054 82.15563 278.5625 275.8088 73.75563 286.6721 276.2591 82.15563 285.1096 276.2591 73.75563 285.1096 276.8815 82.15563 283.6074 276.8815 73.75563 283.6074 277.6682 82.15563 282.1843 277.6682 73.75563 282.1843 278.6092 82.15563 280.8583 278.6092 73.75563 280.8583 279.6929 82.15563 279.6459 279.6929 73.75563 279.6459 280.9054 73.75563 278.5625 275.5363 73.75563 288.2751 275.5451 82.15563 288.1986 275.8088 82.15563 286.6721 275.536 73.75563 291.5221 280.9033 73.75563 301.2356 279.691 73.75563 300.152 278.6076 73.75563 298.9395 277.6668 73.75563 297.6133 276.8804 73.75563 296.19 276.2582 73.75563 294.6877 275.8082 73.75563 293.1252 282.1477 82.25563 302.125 281.2717 82.25563 301.5199 282.2314 82.25563 302.1733 282.2294 73.75563 302.1767 284.2184 82.25563 276.5786 283.6589 82.25563 276.8439 283.2564 82.25563 277.0347 282.2336 82.25563 277.6251 275.5451 82.25563 288.1986 275.5389 82.25563 288.2753 275.4591 82.25563 289.2599 275.445 73.75563 289.8986 275.4591 82.25563 289.8986 275.459 82.25563 290.5376 275.5386 82.25563 291.5219 275.5448 82.25563 291.5986 283.254 82.25563 302.7639 283.6565 82.25563 302.9548 284.216 82.25563 303.2202 295.6715 82.25563 303.2212 296.231 82.25563 302.9559 296.6336 82.25563 302.7651 297.6564 82.25563 302.1747 304.3448 82.25563 291.6012 304.3511 82.25563 291.5245 304.4308 82.25563 290.54 304.445 73.75563 289.9013 304.4309 82.25563 289.9013 304.4309 82.25563 289.2625 304.3513 82.25563 288.278 304.3451 82.25563 288.2012 296.6359 82.25563 277.036 296.2334 82.25563 276.845 295.674 82.25563 276.5797 277.9443 82.15563 288.3529 278.1253 82.15563 287.3103 278.5332 82.15563 285.8774 279.114 82.15563 284.5055 279.859 82.15563 283.2154 280.7569 82.15563 282.0266 281.7941 82.15563 280.9572 282.6067 82.15563 280.2792 281.7941 73.75563 280.9572 282.9548 73.75563 280.0233 284.2215 73.75563 279.2391 285.575 73.75563 278.6166 286.9947 73.75563 278.1651 288.4591 73.75563 277.8915 289.9461 73.75563 277.7999 291.433 73.75563 277.8918 292.8974 73.75563 278.1657 294.317 73.75563 278.6174 295.6704 73.75563 279.2402 296.9369 73.75563 280.0246 278.8016 73.75563 294.6153 278.3066 73.75563 293.2102 277.988 73.75563 291.7549 277.8507 73.75563 290.2714 277.8967 73.75563 288.7824 278.1253 73.75563 287.3103 278.5332 73.75563 285.8774 279.114 73.75563 284.5055 279.859 73.75563 283.2154 280.7569 73.75563 282.0266 298.0975 73.75563 280.9587 299.1345 73.75563 282.0283 300.0322 73.75563 283.2172 300.777 73.75563 284.5075 301.3575 73.75563 285.8795 301.7651 73.75563 287.3124 301.9934 73.75563 288.7846 302.0392 73.75563 290.2736 301.9016 73.75563 291.7571 301.5828 73.75563 293.2123 290.6888 73.75563 301.977 289.199 73.75563 301.9769 287.7205 73.75563 301.7937 286.2758 73.75563 301.4302 284.8866 73.75563 300.8919 283.5742 73.75563 300.187 282.3583 73.75563 299.3261 281.2575 73.75563 298.3223 280.2883 73.75563 297.1909 279.4655 73.75563 295.949 301.0875 73.75563 294.6174 300.4233 73.75563 295.9509 299.6003 73.75563 297.1927 298.6309 73.75563 298.3239 297.5299 73.75563 299.3275 296.3139 73.75563 300.1881 295.0013 73.75563 300.8928 293.6121 73.75563 301.4309 292.1672 73.75563 301.7941 281.4577 82.58693 278.5545 284.6925 83.3367 283.4103 284.6925 82.15563 283.4103 282.7256 82.15563 287.8675 282.7256 83.75035 287.8675 282.6841 83.92636 288.0211 284.5762 83.75035 284.663 284.6884 83.92632 284.5503 282.9941 82.15563 287.0829 283.4501 82.15563 286.1493 284.0308 82.15563 285.2877 284.5762 82.15563 284.663 281.6988 83.3367 288.5945 281.6988 82.15563 288.5945 275.8762 82.58693 288.2199 275.8814 82.59239 291.577 281.6986 83.34145 291.2038 281.6986 82.15563 291.2038 282.7252 83.76062 291.931 282.6827 83.93808 291.7731 284.5752 82.15563 295.1359 284.5752 83.75035 295.1359 284.6875 83.92636 295.2486 284.0308 82.15563 294.5122 283.4509 82.15563 293.6519 282.9953 82.15563 292.7197 282.7252 82.15563 291.931 284.6914 83.3367 296.3886 284.6914 82.15563 296.3886 281.4557 82.58693 301.2438 284.3632 82.58693 302.9228 286.951 83.3367 297.6935 286.951 82.15563 297.6935 291.7946 82.15563 297.1683 291.7946 83.75035 297.1683 291.9483 83.92636 297.1274 288.0941 83.75035 297.1679 287.9403 83.92632 297.1271 290.9808 82.15563 297.328 289.9443 82.15563 297.3999 288.9078 82.15563 297.3279 288.0941 82.15563 297.1679 292.9375 83.3367 297.694 292.9375 82.15563 297.694 295.5244 82.58693 302.9238 298.4322 82.58693 301.2453 295.1974 83.3367 296.3895 295.1974 82.15563 296.3895 297.1643 82.15563 291.9323 297.1643 83.75035 291.9323 297.2059 83.92636 291.7787 295.3138 83.75035 295.1369 295.2015 83.92632 295.2496 296.8958 82.15563 292.7169 296.4398 82.15563 293.6505 295.8592 82.15563 294.5121 295.3138 82.15563 295.1369 298.1911 83.3367 291.2054 298.1911 82.15563 291.2054 304.0137 82.58693 291.5799 304.014 82.58693 288.2225 298.1914 83.3367 288.596 298.1914 82.15563 288.596 295.3148 82.15563 284.664 295.3148 83.75035 284.664 295.2025 83.92636 284.5512 297.1647 83.75035 287.8688 297.2062 83.92632 288.0224 295.86 82.15563 285.2888 296.4405 82.15563 286.1505 296.8963 82.15563 287.0842 297.1647 82.15563 287.8688 295.1986 83.3367 283.4113 295.1986 82.15563 283.4113 298.4343 82.58693 278.556 295.5268 82.58693 276.877 292.9389 83.3367 282.1064 292.9389 82.15563 282.1064 288.0954 82.15563 282.6316 288.0954 83.75035 282.6316 287.9416 83.92636 282.6724 291.7959 83.75035 282.6319 291.9496 83.92632 282.6728 288.9092 82.15563 282.4718 289.9457 82.15563 282.3999 290.9822 82.15563 282.472 291.7959 82.15563 282.6319 286.9524 83.3367 282.1058 286.9524 82.15563 282.1058 284.3656 82.58693 276.876 282.6001 83.95312 288.2886 282.5949 83.95274 288.2998 282.5669 83.95062 291.4432 282.619 83.95401 291.5637 282.6214 83.95416 291.5692 282.637 83.9548 291.6148 282.2615 83.92243 290.9707 282.3373 83.93038 291.0594 282.383 83.93518 291.113 282.3864 83.93553 291.1169 282.4458 83.94092 291.2129 282.5169 83.94738 291.3279 282.5215 83.94767 291.3384 282.5402 83.94889 291.3817 279.3953 83.56222 290.2854 279.4295 83.56232 290.8406 281.6255 83.84511 290.7001 281.7403 83.8598 290.7023 281.7796 83.86473 290.7095 281.8535 83.87403 290.7232 281.8858 83.87805 290.7326 281.9313 83.88362 290.7514 282.0112 83.8934 290.7844 282.0773 83.90127 290.8246 282.0908 83.90287 290.8327 282.1196 83.90629 290.8502 282.2132 83.91693 290.9297 276.4103 83.1735 291.0339 276.3824 83.1735 290.4969 276.3656 83.1735 290.1738 276.3786 83.1735 289.3005 279.3942 83.56222 289.5451 276.3798 83.1735 289.2215 279.023 83.50969 288.9265 276.4109 83.1735 288.7588 282.078 83.90129 288.9713 282.0584 83.89899 288.9849 282.3117 83.92774 288.7712 282.094 83.90317 288.9602 282.2974 83.92627 288.7892 282.2139 83.91698 288.8677 282.1759 83.91275 288.9034 281.9395 83.88461 289.0429 281.9224 83.8825 289.0494 281.8094 83.86845 289.0812 281.7804 83.86478 289.0846 281.6977 83.8543 289.0944 281.6811 83.85218 289.0949 281.6264 83.84516 289.0935 280.5673 83.70869 289.0256 279.4311 83.56228 288.9527 282.5394 83.94877 288.4184 282.525 83.94774 288.4491 282.496 83.94567 288.511 282.4479 83.94132 288.5891 282.4192 83.93872 288.6356 282.3864 83.93537 288.677 282.3375 83.93038 288.7386 282.6217 83.95381 288.2213 282.6166 83.95365 288.2373 287.668 83.95312 282.7334 287.622 83.95172 282.7374 287.0831 83.92627 282.7216 287.0744 83.92554 282.719 284.9562 83.56222 280.5964 286.8157 83.90129 282.6226 286.7941 83.89899 282.6124 286.9734 83.91698 282.6885 286.9235 83.91275 282.6734 286.8334 83.90317 282.6309 286.6845 83.88461 282.5385 286.6703 83.8825 282.5269 286.5862 83.86845 282.445 286.5688 83.86478 282.4216 286.5189 83.8543 282.3548 286.5103 83.85218 282.3407 286.4841 83.84516 282.2926 285.8963 83.67475 281.1049 285.5083 83.56228 280.321 285.3334 83.51156 279.9675 287.5252 83.94877 282.7457 287.4914 83.94774 282.7486 287.4234 83.94567 282.7545 287.3317 83.94132 282.7518 287.277 83.93872 282.7503 287.2247 83.93537 282.7425 287.147 83.93038 282.731 287.7371 83.95381 282.7184 287.7207 83.95365 282.722 284.9613 83.94892 284.2265 284.9199 83.95069 284.2822 284.8435 83.95397 284.3848 284.8373 83.95423 284.3932 284.8324 83.95433 284.3988 284.8077 83.95482 284.427 285.1736 83.92272 283.786 285.1363 83.93035 283.8916 285.1096 83.93582 283.9671 285.0589 83.94092 284.0613 284.9929 83.94757 284.1842 284.9808 83.94808 284.2004 284.3232 83.56222 280.9646 283.8687 83.56232 281.2664 285.0885 83.84516 283.0982 285.1445 83.85996 283.1995 285.1575 83.86476 283.2361 285.1834 83.8743 283.3088 285.1913 83.87826 283.341 285.1976 83.88364 283.3881 285.2093 83.89367 283.476 285.2078 83.90126 283.5506 285.2073 83.90331 283.5707 285.2066 83.90665 283.6036 285.1856 83.91692 283.7201 285.1842 83.91755 283.7273 282.1917 83.1735 278.7482 282.6467 83.1735 278.4525 282.901 83.1735 278.2871 283.6806 83.1735 277.8505 283.7231 83.1735 277.8267 284.1662 83.1735 277.6085 294.8573 83.42513 279.3643 294.3837 83.56231 280.3209 295.1108 83.56222 280.6935 294.8027 83.84516 283.099 296.0222 83.56228 281.2682 295.8241 83.56222 281.1318 296.2406 83.51162 280.9403 294.6929 83.8825 283.3774 294.7218 83.86845 283.2637 294.6866 83.90583 283.5982 294.6843 83.90317 283.5707 294.6827 83.90129 283.5513 294.6807 83.89899 283.5274 294.6899 83.88461 283.3955 294.7333 83.86478 283.2369 294.7662 83.8543 283.1604 294.7741 83.85218 283.1457 294.9114 83.94774 284.1994 294.8723 83.94567 284.1434 294.8287 83.94132 284.0627 294.8028 83.93872 284.0145 294.7833 83.93537 283.9654 294.7544 83.93038 283.8923 294.7306 83.92627 283.8323 294.7044 83.91698 283.7207 294.6925 83.91275 283.67 295.0604 83.95381 284.3971 295.0491 83.95365 284.3847 295.0128 83.95312 284.3447 294.9308 83.94877 284.2272 294.9264 83.94853 284.221 292.1705 83.95397 282.7243 292.1601 83.95423 282.7232 292.1528 83.95433 282.7217 292.1161 83.95482 282.7145 293.0574 83.90331 282.6324 293.0286 83.90665 282.6482 293.075 83.90126 282.6227 292.9171 83.91692 282.6882 292.8541 83.92272 282.7109 292.744 83.93035 282.7313 292.665 83.93583 282.746 292.5584 83.94092 282.7492 292.419 83.94757 282.7534 292.3988 83.94808 282.7511 292.3664 83.94892 282.7473 292.3431 83.94952 282.7445 293.4073 83.84516 282.2933 293.3475 83.85996 282.3924 293.3223 83.86476 282.4219 293.2723 83.8743 282.4806 293.2483 83.87826 282.5036 293.1405 83.89367 282.5867 293.0929 83.8992 282.6129 293.2107 83.88364 282.5326 295.726 83.1735 277.6095 295.8327 83.1735 277.6603 296.2076 83.1735 277.8593 296.7841 83.1735 278.1653 297.2429 83.1735 278.4577 297.6925 83.1735 278.7442 297.7003 83.1735 278.7496 300.4956 83.56222 290.2589 297.8119 83.90129 290.8286 297.8316 83.89899 290.8149 297.5774 83.92782 291.0297 297.7959 83.90317 290.8397 297.5925 83.92627 291.0106 297.676 83.91698 290.9321 297.714 83.91275 290.8965 297.9504 83.88461 290.7569 297.9675 83.8825 290.7504 298.0805 83.86845 290.7186 298.1095 83.86478 290.7152 298.1922 83.8543 290.7054 298.2088 83.85218 290.705 298.2635 83.84516 290.7063 299.2983 83.71183 290.7727 300.4589 83.56228 290.8471 300.867 83.50969 290.8733 297.2949 83.95275 291.5004 297.3506 83.94877 291.3814 297.3649 83.94774 291.3507 297.3939 83.94567 291.2888 297.4421 83.94132 291.2108 297.4708 83.93872 291.1642 297.5036 83.93537 291.1228 297.5524 83.93038 291.0612 297.2683 83.95381 291.5786 297.2734 83.95365 291.5626 297.2898 83.95312 291.5112 297.3501 83.94892 288.4207 297.3247 83.95056 288.3619 297.2719 83.95397 288.2395 297.2678 83.95423 288.2299 297.2654 83.95433 288.2229 297.2533 83.95482 288.1874 297.6254 83.92272 288.8247 297.6766 83.91692 288.868 297.683 83.91619 288.8735 297.5527 83.93035 288.7396 297.5005 83.93583 288.6786 297.4444 83.94092 288.5878 297.371 83.94757 288.4692 297.363 83.94808 288.4506 300.4949 83.56222 289.5198 300.46 83.56232 288.9545 298.2637 83.84516 289.095 298.0339 83.8743 289.0718 298.1097 83.86476 289.0858 298.148 83.85996 289.0928 298.002 83.87826 289.0625 297.9581 83.88364 289.0444 297.8761 83.89367 289.0107 297.8122 83.90126 288.972 297.7951 83.90331 288.9616 297.7669 83.90665 288.9446 303.4793 83.1735 288.7613 303.5074 83.1735 289.3031 303.5245 83.1735 289.6329 303.5112 83.1735 290.4995 303.5099 83.1735 290.5837 303.4791 83.1735 291.0411 292.222 83.95312 297.0664 292.268 83.95172 297.0625 292.8069 83.92627 297.0783 292.8155 83.92554 297.0809 294.9338 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280.7518 61.72188 302.3735 280.1653 62.13544 302.4323 279.5705 62.50481 302.5788 281.1425 61.26232 302.319 280.6461 61.72443 302.3406 280.0776 62.13684 302.4197 279.4597 62.49885 302.5788 278.8528 62.82309 302.8351 281.0101 61.26171 302.2504 280.5369 61.72381 302.3026 279.9885 62.13489 302.4033 279.3859 62.49201 302.5751 278.756 62.79706 302.8381 278.1597 63.07418 303.2075 280.8719 61.2592 302.1746 280.4235 61.72 302.2585 279.8972 62.1294 302.3821 279.3123 62.48238 302.5676 278.694 62.77848 302.8359 278.0725 63.0223 303.2034 277.427 63.1687 303.6652 278.0193 62.98903 303.1954 278.6341 62.7585 302.8296 279.2384 62.46969 302.5554 279.8034 62.12033 302.355 280.3056 61.71311 302.2073 280.6272 61.25122 302.0291 277.3788 63.11837 303.6447 277.9701 62.95656 303.1829 277.9241 62.92448 303.1656 278.5755 62.73678 302.8186 278.5178 62.71315 302.8023 279.1634 62.45385 302.5375 279.0869 62.43494 302.5132 279.7064 62.10781 302.321 279.5361 62.08013 302.2463 280.0975 61.69558 302.1032 279.8382 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298.8022 276.7242 67.10754 299.4999 276.4889 67.39859 300.1578 297.1877 61.88314 303.1322 296.4286 65.21408 307.4172 296.308 65.03034 306.8862 296.3229 65.05311 306.952 296.1959 64.54447 307.0563 296.2461 64.82659 306.3222 296.1464 64.41442 306.2792 296.2464 64.78403 306.2097 296.217 64.2521 305.5097 296.2961 64.49633 305.4704 296.2475 64.63899 305.8264 296.406 64.06156 304.7672 296.7088 63.84753 304.0701 296.7215 63.89552 304.0633 296.5218 64.09713 304.5131 296.452 64.19791 304.7492 296.345 64.35245 305.1114 297.0135 63.67165 303.5834 296.9387 63.72128 303.6876 296.725 63.89189 304.0552 297.1645 63.57147 303.3729 297.1169 63.60305 303.4393 296.9282 62.92724 303.5426 296.5241 63.21752 304.174 297.4299 62.62093 302.9943 297.5225 63.37737 302.973 297.4046 63.43638 303.0939 297.2809 63.50332 303.2317 297.9378 63.2003 302.6113 297.8112 63.24966 302.7123 298.0697 63.15271 302.5137 297.646 63.31999 302.8558 297.6146 63.33456 302.8856 296.2282 63.48424 304.8722 296.048 63.72052 305.6191 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274.1844 302.4223 89.16725 275.6733 303.1081 89.21648 275.0915 303.2117 88.90991 276.5579 303.9099 88.94854 275.9916 303.995 88.6079 277.4356 304.7055 88.63544 276.8848 299.5022 89.40751 275.1096 300.2781 89.25776 275.9766 301.0482 89.06449 276.8369 301.8124 88.82768 277.6906 302.5706 88.54733 278.5376 309.307 85.24263 283.3878 308.5664 85.85744 282.5581 307.8198 86.42755 281.7215 307.8259 86.93143 280.3883 307.067 86.95299 280.878 307.0551 87.42517 279.5228 306.3082 87.43374 280.0277 306.2781 87.87376 278.6505 305.5432 87.86981 279.1706 305.4949 88.27718 277.7711 304.7721 88.26119 278.3065 303.3229 88.22345 279.3779 305.847 88.27954 277.4906 306.6332 87.8728 278.3738 307.4132 87.42069 279.25 308.187 86.9232 280.1192 308.9546 86.38034 280.9815 309.7159 85.7921 281.8368 310.4711 85.1585 282.6851 303.7949 89.20875 274.5036 302.9875 89.43049 273.597 302.64 89.45277 273.888 302.1737 89.60667 272.6832 301.8227 89.63264 272.9698 307.7877 89.13914 268.0956 308.5361 89.01381 268.9309 309.2783 88.84205 269.7591 310.014 88.62387 270.5802 304.5961 88.94144 275.4033 310.7434 88.35926 271.3941 305.3911 88.62856 276.296 311.4664 88.04821 272.2008 306.1799 88.27011 277.1817 312.183 87.69075 273.0003 306.9624 87.86609 278.0603 312.8933 87.28686 273.7927 307.7386 87.41651 278.9319 313.5971 86.83654 274.578 308.5086 86.92135 279.7965 314.2947 86.33979 275.3561 309.2723 86.38063 280.6541 314.9858 85.79663 276.127 310.0299 85.79434 281.5047 315.6706 85.20703 276.8908 310.7811 85.16249 282.3482 316.349 84.571 277.6474 311.5261 84.48506 283.1848 317.021 83.88855 278.3969 317.574 83.28524 279.0135 333.7129 85.24928 253.6599 320.1681 87.31265 260.2069 314.7107 87.76136 264.9568 313.3746 88.24708 263.4714 336.3391 83.94667 255.9872 336.085 83.93562 256.3064 335.44 84.3237 255.587 300.3647 87.43851 281.4502 298.9649 88.04127 279.8926 292.9471 88.83836 278.687 304.4711 89.39611 267.9561 306.3647 89.20806 266.4922 307.7692 88.74939 268.0597 309.6506 88.88175 263.9519 312.1085 88.63551 262.0634 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267.6627 333.9948 83.84475 258.9324 340.2069 84.2029 250.6907 339.6777 84.14788 251.5153 338.9338 84.08955 252.5789 337.8756 84.02438 254.0031 334.5806 84.80445 254.6282 329.6901 84.91489 259.9813 324.7899 85.01345 265.337 319.8755 85.09407 270.697 316.0288 87.20319 266.4221 321.3471 86.83202 261.5158 326.6535 86.43885 256.6065 317.329 86.57259 267.8672 322.5104 86.28861 262.8072 327.6781 85.98116 257.7454 332.8367 85.65819 252.6822 325.6166 86.84626 255.4537 302.5239 87.81983 278.4656 301.013 88.4792 276.7777 305.3415 87.8496 276.222 306.9074 87.03829 277.9802 305.0051 87.86711 276.5265 306.5784 87.05048 278.2938 304.6567 87.86782 276.8117 306.2245 87.05748 278.572 303.9468 87.85227 277.3628 305.4903 87.06628 279.0924 304.018 87.08238 280.1345 303.7576 88.5814 274.4435 303.4139 88.60436 274.7389 303.0711 88.59889 275.0315 302.3858 88.55931 275.6135 303.7969 85.60169 285.2685 306.9552 85.37331 283.4152 305.495 86.26688 281.7844 308.5245 85.25745 282.4924 307.0162 86.20134 280.8023 309.3066 85.199 282.0323 307.7745 86.16788 280.3121 309.5028 85.18415 281.9187 308.1338 86.15444 280.041 309.6712 85.179 281.768 309.9848 85.17717 281.4358 308.4551 86.14749 279.7182 313.5452 86.02706 274.5045 312.1295 86.82513 272.9251 310.6949 87.54488 271.3244 309.2415 88.1863 269.7026 328.6903 85.47317 258.8703 323.658 85.68242 264.0809 318.6112 85.86955 269.2922 314.9421 85.15066 276.0627 295.7214 89.25587 275.8388 294.3971 89.0371 277.1913 299.0169 89.70292 272.4757 298.0216 89.52984 273.4833 299.9194 89.82508 271.5575 299.016 89.66458 272.4698 300.0905 89.85036 271.3814 299.9184 89.78678 271.5513 300.4426 89.83191 271.0899 300.1541 89.81764 271.3115 304.4742 89.43539 267.955 300.4373 89.79356 271.0877 309.6532 88.92099 263.9502 319.2399 87.9606 256.5841 327.3676 87.13685 250.4153 323.5398 87.4875 253.3013 330.4419 86.81926 248.1367 335.2247 86.25243 244.8858 335.2233 86.25387 244.883 335.2221 86.25582 244.8805 335.2211 86.25822 244.8782 335.2204 86.261 244.8764 335.2199 86.26406 244.8749 335.2198 86.26734 244.8739 335.2199 86.27074 244.8734 335.2203 86.27413 244.8735 335.221 86.27745 244.874 335.2232 86.28342 244.8765 335.222 86.28057 244.875 335.2246 86.28591 244.8784 335.2261 86.28796 244.8807 335.2278 86.28952 244.8833 335.2295 86.29053 244.886 335.2312 86.29097 244.889 292.9418 88.87686 278.687 292.944 88.87769 278.6893 292.9397 88.87551 278.6848 292.9378 88.87368 278.6827 292.9363 88.87142 278.6809 292.935 88.86879 278.6793 292.9335 88.86272 278.6771 292.9341 88.86586 278.678 292.9334 88.85945 278.6765 292.9336 88.85614 278.6763 292.9343 88.85288 278.6765 292.9353 88.84976 278.6771 292.9367 88.84688 278.678 292.9383 88.84431 278.6793 292.9403 88.84211 278.6809 292.9424 88.84036 278.6827 292.9447 88.8391 278.6848 334.5345 86.37425 245.3044 334.5327 86.37379 245.3015 334.5309 86.37276 245.2988 334.5291 86.37119 245.2963 334.5275 86.36913 245.2941 334.5261 86.36663 245.2923 334.5249 86.36379 245.2908 334.5239 86.36066 245.2899 334.5232 86.35736 245.2894 334.5228 86.35396 245.2893 334.5227 86.35058 245.2898 334.5229 86.34731 245.2908 334.5234 86.34424 245.2922 334.5242 86.34147 245.294 334.5253 86.33908 245.2962 334.5267 86.33714 245.2987 334.5281 86.3357 245.3014 333.7973 86.45856 245.7776 333.7954 86.45806 245.7748 333.7935 86.45701 245.7721 333.7917 86.45542 245.7697 333.7901 86.45335 245.7675 333.7886 86.45085 245.7657 333.7874 86.448 245.7644 333.7864 86.44488 245.7634 333.7857 86.44158 245.7629 333.7853 86.43819 245.7629 333.7853 86.43482 245.7634 333.7855 86.43156 245.7644 333.7861 86.42851 245.7658 333.787 86.42575 245.7676 333.7881 86.42337 245.7697 333.7895 86.42143 245.7722 333.7911 86.41999 245.7748 333.2103 86.52378 246.1712 333.2083 86.52327 246.1684 333.2064 86.5222 246.1658 333.2046 86.52059 246.1634 333.203 86.51851 246.1613 333.2015 86.516 246.1596 333.2002 86.51315 246.1582 333.1993 86.51003 246.1573 333.1986 86.50673 246.1568 333.1982 86.50334 246.1568 333.1982 86.49999 246.1573 333.1985 86.49673 246.1583 333.1991 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284.8264 88.64708 298.4906 284.8582 88.22233 298.5095 288.2554 88.69912 299.7561 288.2596 88.69835 299.7569 288.1162 88.65118 299.7313 288.262 88.69753 299.7573 288.2639 88.69685 299.7576 288.2669 88.69528 299.7581 288.2704 88.69283 299.7587 288.2724 88.69084 299.7591 288.2747 88.688 299.7594 288.276 88.68561 299.7597 288.2777 88.67901 299.76 288.272 88.67389 299.759 288.2771 88.6828 299.7598 288.2778 88.67639 299.76 288.2769 88.67244 299.7598 288.2759 88.66997 299.7596 288.2744 88.66765 299.7594 288.2725 88.66548 299.7591 288.2697 88.66318 299.7586 288.2679 88.66217 299.7583 288.2649 88.6607 299.7578 288.2611 88.65959 299.7571 288.257 88.65906 299.7564 285.3819 88.3264 298.7961 285.3368 88.69544 298.7724 285.4351 88.33696 298.8252 285.4015 88.70158 298.8082 285.679 88.37756 298.9385 285.6774 88.71916 298.9419 286.0319 88.43629 299.1025 285.769 88.72499 298.9862 286.3523 88.47986 299.2264 286.3138 88.74427 299.2155 286.6483 88.52011 299.3409 286.3676 88.74617 299.2381 286.8347 88.54195 299.4039 286.9817 88.74835 299.4508 286.9945 88.55775 299.4505 286.9935 88.74806 299.454 287.3941 88.59725 299.5667 287.3749 88.73839 299.5588 287.4701 88.60476 299.5888 287.6107 88.73242 299.6237 239.4767 84.23017 329.46 239.4631 84.26392 329.4447 239.4615 84.26148 329.4429 239.46 84.2583 329.4412 239.4652 84.26613 329.4471 240.4273 84.66955 330.528 241.1613 85.00878 331.3526 240.8097 84.95895 330.9575 239.4591 84.25543 329.4402 239.4584 84.25164 329.4394 239.4583 84.24861 329.4393 239.4585 84.24499 329.4395 243.4092 85.9755 333.8779 242.9241 85.83948 333.333 242.6464 85.59822 333.021 242.6641 85.73916 333.0409 241.9015 85.31458 332.1842 241.9216 85.45265 332.2068 241.4554 85.14472 331.683 241.4166 85.25776 331.6393 241.1786 85.14062 331.372 243.392 85.88209 333.8586 243.4639 85.90948 333.9394 244.1545 86.18452 334.7153 244.1443 86.1286 334.7039 244.4362 86.26345 335.0317 244.4397 86.22371 335.0357 244.442 86.22471 335.0382 244.4441 86.22628 335.0407 239.459 84.24208 329.4401 239.4601 84.23882 329.4413 244.446 86.22824 335.0427 244.4475 86.23055 335.0445 244.449 86.23361 335.0462 244.45 86.2365 335.0473 244.4507 86.24016 335.048 244.4509 86.24326 335.0483 244.4508 86.24703 335.0481 244.4503 86.25 335.0476 244.4447 86.26054 335.0414 244.4429 86.262 335.0392 240.4391 84.77649 330.5412 239.9056 84.51379 329.9418 239.6933 84.33029 329.7033 239.6961 84.39613 329.7064 239.4673 84.26763 329.4494 239.4651 84.23169 329.4469 239.4673 84.23026 329.4494 239.4696 84.22938 329.4519 244.4407 86.26303 335.0368 244.4385 86.26351 335.0344 239.4631 84.23364 329.4447 239.4615 84.23604 329.4429 239.472 84.22908 329.4546 239.4743 84.22937 329.4573 244.4493 86.25337 335.0465 244.4482 86.25591 335.0452 244.4466 86.25852 335.0434 242.8707 84.93142 327.8513 245.7402 85.33324 325.6495 246.1759 85.5791 326.1357 251.1814 85.98513 320.903 251.5801 84.56981 315.9477 249.1996 84.54354 318.701 249.6896 84.94827 319.2455 256.7698 86.69026 316.3063 257.3457 86.99745 316.9456 262.5149 87.39302 311.8688 252.5204 87.137 329.3818 256.2649 87.51824 326.5544 255.8502 87.49982 326.0932 270.2347 88.92128 315.8471 273.5306 89.24859 313.2984 272.8572 89.21805 312.5468 280.1806 88.40602 299.0573 270.1204 83.47695 293.3381 268.527 83.26746 294.1083 269.8486 84.58315 295.5891 259.6353 83.37442 304.027 257.6388 83.4438 306.4517 258.1345 83.9845 307.0021 248.7131 84.10926 318.1606 246.2714 83.86417 320.3701 246.0716 83.87237 320.6187 246.3645 84.13095 320.9446 242.0023 84.06098 325.7861 241.5589 84.08847 326.3835 241.6716 84.1683 326.5093 240.9448 84.12654 327.2109 240.2926 84.17796 328.1444 242.0701 84.43748 326.9554 240.2014 84.18516 328.275 239.6725 84.2404 329.1 245.8814 83.88018 320.8552 243.7945 83.97153 323.4788 244.0175 84.15037 323.7274 243.538 83.98276 323.8013 248.3712 83.78272 317.7813 257.0053 83.46582 307.221 252.9931 83.61066 312.1169 253.4173 84.05602 312.5868 250.6759 83.69431 314.9445 250.3058 83.70767 315.3962 266.3095 83.15238 295.9585 267.625 83.76206 295.7855 267.0007 83.1306 295.1271 267.0194 83.13017 295.1054 268.6699 84.47952 296.2734 267.319 83.1232 294.7559 267.311 83.12327 294.7648 267.3978 83.12257 294.6693 268.8397 84.48454 296.1247 267.4266 83.12363 294.6436 267.4694 83.12779 294.6165 267.9743 83.1948 294.3754 269.0424 84.50485 296.0192 267.6968 83.15796 294.508 267.4887 83.13034 294.6073 273.5563 83.93048 291.6867 274.068 84.43497 292.2579 277.7357 84.48217 289.6778 278.7147 84.61193 289.2109 274.7254 85.03833 292.9889 276.0566 86.12345 294.4693 275.3883 85.60115 293.7261 276.7303 86.6052 295.2187 277.4095 87.04644 295.9742 278.0941 87.44713 296.7358 278.7842 87.80729 297.5036 279.4797 88.12693 298.2774 280.887 88.64459 299.8434 281.5988 88.84263 300.6355 282.316 89.00013 301.4338 283.0387 89.11711 302.2382 283.7668 89.19355 303.0487 285.4908 89.07588 302.6014 286.9436 88.87798 301.1082 280.8707 89.70305 307.3218 281.8501 89.57045 306.3241 281.1697 89.51373 305.5638 281.8654 89.56838 306.3086 282.9608 89.41983 305.1909 284.1662 89.25609 303.9587 284.3839 89.22647 303.7356 279.9682 89.82518 308.24 280.5814 89.74221 307.6162 279.8724 89.67115 306.8215 279.797 89.85047 308.4161 279.9469 89.82833 308.2619 279.2242 89.74933 307.4505 278.8908 89.76715 307.7551 279.73 89.85616 308.482 279.6174 89.84661 308.5711 275.4137 89.4356 311.8422 279.2607 89.81387 308.8508 278.5362 89.73728 308.0373 279.4453 89.83202 308.7073 267.7856 88.67594 317.729 267.1839 88.66784 317.0596 260.6481 87.96091 323.2132 256.3435 87.52624 326.495 249.446 86.81931 331.6604 250.4583 86.92443 330.9149 250.1877 86.89465 330.6128 251.0095 86.98167 330.5089 246.0908 86.45848 334.0194 246.6778 86.52372 333.6258 248.0032 86.66709 332.7014 244.657 86.29084 334.9079 245.258 86.3627 334.5495 249.7339 86.82823 330.1063 254.2617 87.2609 324.3269 255.3171 87.44973 325.5004 260.2994 87.96833 320.2249 260.9049 88.04949 320.8974 266.4992 88.61636 316.2983 263.1642 87.70577 312.5905 257.9266 87.26696 317.5904 263.8194 87.97498 313.3188 258.5124 87.49881 318.2408 264.4805 88.20064 314.0538 259.1032 87.69299 318.8966 265.1475 88.38275 314.7953 259.6988 87.8495 319.558 265.8204 88.52133 315.5435 248.8323 86.63558 329.1001 245.3536 86.37414 334.4925 253.2205 86.95385 323.1695 252.7054 86.756 322.5968 252.1938 86.5286 322.0282 251.6858 86.27164 321.4636 258.7426 84.60206 307.6775 253.9637 84.58924 313.1929 259.3566 85.17609 308.3595 254.5151 85.08478 313.8045 259.9765 85.70656 309.0482 255.0714 85.54266 314.4217 260.6022 86.19349 309.7434 255.6326 85.96286 315.0444 261.2339 86.63688 310.4452 250.1833 85.32344 319.794 246.6136 85.80503 326.6241 247.0534 86.01102 327.1148 247.9388 86.36318 328.1029 261.8714 87.03672 311.1537 256.1987 86.34539 315.6726 250.6805 85.66905 320.3465 247.7438 85.19888 322.4798 246.8215 84.51181 321.4532 245.3065 85.06743 325.1656 244.4452 84.476 324.2045 272.1777 85.36602 295.5194 272.8944 85.95109 296.3199 273.6171 86.49263 297.127 274.3457 86.99063 297.9407 275.0803 87.44511 298.7611 275.8207 87.85604 299.5882 271.2993 86.39253 298.5531 270.5408 85.80847 297.7015 270.3444 85.79574 297.8149 269.7885 85.17924 296.8569 269.5889 85.16278 296.9663 270.193 83.48654 293.3032 270.7619 84.06528 293.9385 271.4668 84.73741 294.7256 279.0647 89.54787 305.9163 278.4039 89.61688 306.5295 278.2631 89.3799 305.018 277.5898 89.43926 305.6155 277.4676 89.16725 304.1265 276.7818 89.21648 304.7084 276.6782 88.90991 303.242 275.9801 88.94854 303.8082 275.895 88.6079 302.3642 275.1845 88.63544 302.915 280.3878 89.40751 304.6902 279.6118 89.25776 303.8232 278.8417 89.06449 302.9629 278.0776 88.82768 302.1093 277.3194 88.54733 301.2622 270.583 85.24263 296.412 271.3235 85.85744 297.2417 272.0702 86.42755 298.0783 272.064 86.93143 299.4116 272.8229 86.95299 298.9218 272.8348 87.42517 300.277 273.5818 87.43374 299.7721 273.6119 87.87376 301.1494 274.3468 87.86981 300.6293 274.3951 88.27718 302.0287 275.1178 88.26119 301.4933 276.5671 88.22345 300.4219 274.043 88.27954 302.3093 273.2568 87.8728 301.4261 272.4768 87.42069 300.5498 271.703 86.9232 299.6806 270.9354 86.38034 298.8183 270.174 85.7921 297.9631 269.4189 85.1585 297.1148 276.095 89.20875 305.2962 276.9025 89.43049 306.2029 277.25 89.45277 305.9119 277.7162 89.60667 307.1166 278.0673 89.63264 306.83 272.1023 89.13914 311.7043 271.3538 89.01381 310.8689 270.6117 88.84205 310.0407 269.876 88.62387 309.2197 275.2938 88.94144 304.3965 269.1466 88.35926 308.4058 274.4988 88.62856 303.5038 268.4236 88.04821 307.5991 273.7101 88.27011 302.6182 267.707 87.69075 306.7995 272.9276 87.86609 301.7395 266.9967 87.28686 306.0071 272.1514 87.41651 300.8679 266.2928 86.83654 305.2218 271.3814 86.92135 300.0033 265.5953 86.33979 304.4438 270.6176 86.38063 299.1457 264.9041 85.79663 303.6728 269.8601 85.79434 298.2951 264.2194 85.20703 302.909 269.1088 85.16249 297.4516 263.541 84.571 302.1524 268.3638 84.48506 296.615 262.8689 83.88855 301.403 262.3159 83.28524 300.7864 246.1771 85.24928 326.1399 259.7219 87.31265 319.593 265.1793 87.76136 314.843 266.5154 88.24708 316.3285 243.5508 83.94667 323.8126 243.8049 83.93562 323.4934 244.4499 84.3237 324.2128 279.5252 87.43851 298.3497 280.9251 88.04127 299.9073 286.9429 88.83836 301.1128 275.4188 89.39611 311.8437 273.5253 89.20806 313.3076 272.1208 88.74939 311.7402 270.2393 88.88175 315.848 267.7814 88.63551 317.7365 252.5255 87.09745 329.3833 251.0148 86.94214 330.5106 255.3227 87.20336 325.5127 249.4516 86.77981 331.6624 248.0091 86.62763 332.7037 246.6839 86.48432 333.6285 246.0971 86.41909 334.0222 245.3601 86.3348 334.4956 244.6637 86.25154 334.9111 260.6525 87.92133 323.2138 256.3482 87.48667 326.4959 256.2641 87.47809 326.5595 279.2546 89.7733 308.8622 277.7343 89.23371 307.1552 279.4508 89.7926 308.7096 278.0853 89.2622 306.8686 278.4223 89.25067 306.5687 279.9418 89.78989 308.2746 279.7979 89.81114 308.4226 279.7338 89.81667 308.4859 279.6113 89.80625 308.5827 281.866 89.52894 306.3144 281.844 89.53192 306.3369 280.4049 89.06051 304.7291 280.8716 89.66365 307.3279 279.0827 89.18739 305.9555 280.5759 89.70368 307.6288 279.9692 89.78583 308.2463 282.3403 88.56861 301.4822 283.0536 88.804 302.2761 283.7709 89.02055 303.0744 285.4905 89.03631 302.6063 284.3765 89.18795 303.7484 284.1662 89.21656 303.964 282.9611 89.38034 305.1965 281.6307 88.31436 300.6925 280.2232 87.74932 299.1263 278.8311 87.10885 297.5773 280.5325 86.51368 294.07 277.4544 86.39298 296.0457 279.2727 85.82648 292.6697 278.0263 85.06747 291.2845 276.9428 84.34095 290.0798 277.7475 84.44709 289.6928 278.7263 84.5767 289.2255 271.4916 84.40167 294.7729 273.5565 83.89433 291.7081 274.7471 84.735 293.0343 269.8747 84.23461 295.6371 270.1329 83.44277 293.3545 270.1949 83.45095 293.3247 268.8667 84.12936 296.1731 267.6995 83.12259 294.5292 269.0691 84.15085 296.0675 267.9868 83.16075 294.392 268.5295 83.23206 294.1297 267.3247 83.0893 294.7808 267.3263 83.08927 294.7789 267.4128 83.08853 294.6838 267.4406 83.08956 294.659 267.4823 83.09375 294.6329 266.3252 83.11849 295.9725 267.0164 83.09664 295.1411 268.3935 84.12736 296.6668 268.6994 84.12417 296.325 253.9837 84.28171 313.2243 257.0213 83.43213 307.2351 258.7681 84.24615 307.7182 257.648 83.41037 306.474 259.6514 83.34082 304.0412 246.2853 83.82885 320.3825 248.3817 83.748 317.7991 249.2125 84.30632 318.7214 250.3208 83.67323 315.4095 253.0032 83.57671 312.1371 245.8952 83.84475 320.8675 239.683 84.2029 329.1091 240.2122 84.14788 328.2846 240.9561 84.08955 327.2209 242.0143 84.02438 325.7967 245.3093 84.80445 325.1716 250.1999 84.91489 319.8186 255.1 85.01345 314.4628 260.0144 85.09407 309.1029 263.8612 87.20319 313.3778 258.5429 86.83202 318.284 253.2364 86.43885 323.1933 262.561 86.57259 311.9326 257.3796 86.28861 316.9927 252.2118 85.98116 322.0545 247.0532 85.65819 327.1176 254.2734 86.84626 324.3461 277.366 87.81983 301.3342 278.877 88.4792 303.0221 274.5484 87.8496 303.5778 272.9826 87.03829 301.8196 274.8848 87.86711 303.2734 273.3115 87.05048 301.506 275.2332 87.86782 302.9881 273.6654 87.05748 301.2279 275.9431 87.85227 302.4371 274.3996 87.06628 300.7074 275.872 87.08238 299.6653 276.1323 88.5814 305.3563 276.4761 88.60436 305.0609 276.8189 88.59889 304.7684 277.5041 88.55931 304.1864 276.0931 85.60169 294.5313 272.9348 85.37331 296.3847 274.3949 86.26688 298.0155 271.3655 85.25745 297.3075 272.8738 86.20134 298.9976 270.5834 85.199 297.7676 272.1155 86.16788 299.4877 270.3872 85.18415 297.8811 271.7562 86.15444 299.7589 270.2188 85.179 298.0318 269.9052 85.17717 298.3641 271.4349 86.14749 300.0817 266.3448 86.02706 305.2954 267.7605 86.82513 306.8748 269.195 87.54488 308.4754 270.6485 88.1863 310.0972 251.1997 85.47317 320.9295 256.232 85.68242 315.7189 261.2787 85.86955 310.5077 264.9479 85.15066 303.7371 284.1685 89.25587 303.961 285.4929 89.0371 302.6085 280.8731 89.70292 307.3242 281.8683 89.52984 306.3166 279.9706 89.82508 308.2424 280.8739 89.66458 307.3301 279.7994 89.85036 308.4184 279.9715 89.78678 308.2485 279.4473 89.83191 308.7099 279.7359 89.81764 308.4883 275.4158 89.43539 311.8448 279.4527 89.79356 308.7122 270.2367 88.92099 315.8497 260.6501 87.9606 323.2158 252.5223 87.13685 329.3845 256.3501 87.4875 326.4985 249.448 86.81926 331.6632 244.6652 86.25243 334.914 244.6667 86.25387 334.9168 244.6679 86.25582 334.9194 244.6688 86.25822 334.9216 244.6696 86.261 334.9235 244.67 86.26406 334.9249 244.6702 86.26734 334.9259 244.67 86.27074 334.9264 244.6696 86.27413 334.9264 244.6689 86.27745 334.9259 244.6667 86.28342 334.9233 244.6679 86.28057 334.9248 244.6653 86.28591 334.9214 244.6638 86.28796 334.9191 244.6622 86.28952 334.9166 244.6604 86.29053 334.9138 244.6587 86.29097 334.9108 286.9482 88.87686 301.1128 286.9459 88.87769 301.1105 286.9502 88.87551 301.1151 286.9521 88.87368 301.1171 286.9537 88.87142 301.119 286.955 88.86879 301.1205 286.9564 88.86272 301.1228 286.9559 88.86586 301.1218 286.9566 88.85945 301.1233 286.9563 88.85614 301.1235 286.9557 88.85288 301.1233 286.9547 88.84976 301.1228 286.9533 88.84688 301.1218 286.9516 88.84431 301.1205 286.9497 88.84211 301.1189 286.9476 88.84036 301.1171 286.9453 88.8391 301.1151 245.3554 86.37425 334.4954 245.3573 86.37379 334.4983 245.3591 86.37276 334.501 245.3608 86.37119 334.5035 245.3624 86.36913 334.5057 245.3639 86.36663 334.5075 245.3651 86.36379 334.509 245.3661 86.36066 334.51 245.3668 86.35736 334.5105 245.3672 86.35396 334.5105 245.3672 86.35058 334.51 245.367 86.34731 334.509 245.3665 86.34424 334.5076 245.3657 86.34147 334.5058 245.3646 86.33908 334.5036 245.3633 86.33714 334.5011 245.3618 86.3357 334.4984 246.0927 86.45856 334.0223 246.0946 86.45806 334.0251 246.0964 86.45701 334.0277 246.0982 86.45542 334.0301 246.0999 86.45335 334.0323 246.1013 86.45085 334.0341 246.1026 86.448 334.0355 246.1036 86.44488 334.0364 246.1042 86.44158 334.0369 246.1046 86.43819 334.0369 246.1047 86.43482 334.0364 246.1044 86.43156 334.0355 246.1038 86.42851 334.0341 246.103 86.42575 334.0323 246.1018 86.42337 334.0301 246.1004 86.42143 334.0277 246.0988 86.41999 334.025 246.6797 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279.4549 89.82633 308.7189 279.4564 89.82382 308.7205 279.4576 89.82101 308.7217 279.4585 89.81794 308.7225 279.4591 89.81472 308.7229 279.4594 89.81143 308.7229 279.4594 89.80815 308.7225 279.459 89.80498 308.7216 279.4583 89.802 308.7203 279.4573 89.7993 308.7187 279.456 89.79696 308.7168 279.4544 89.79502 308.7146 279.7322 89.85607 308.4845 279.7343 89.85545 308.4869 279.7363 89.8543 308.4893 279.7382 89.85265 308.4914 279.7399 89.85055 308.4934 279.7414 89.84806 308.495 279.7425 89.84524 308.4963 279.7434 89.84217 308.4972 279.7438 89.83895 308.4978 279.744 89.83564 308.4979 279.7438 89.83235 308.4976 279.7432 89.82917 308.4969 279.7423 89.82617 308.4958 279.741 89.82346 308.4944 279.7395 89.82109 308.4926 279.7378 89.81913 308.4906 279.8017 89.84971 308.4207 279.8039 89.84854 308.4229 279.8058 89.84687 308.425 279.8075 89.84476 308.4269 279.8089 89.84226 308.4286 279.8099 89.83944 308.43 279.8106 89.83638 308.4311 279.8109 89.83316 308.4318 279.8107 89.82987 308.4321 279.8102 89.82661 308.4321 279.8093 89.82345 308.4317 279.8081 89.82048 308.4309 279.8065 89.8178 308.4298 279.8046 89.81546 308.4284 279.8026 89.81354 308.4267 279.8003 89.81209 308.4248 279.9729 89.82442 308.2447 279.975 89.82324 308.2469 279.9769 89.82158 308.249 279.9786 89.81947 308.251 279.9799 89.81697 308.2526 279.981 89.81415 308.254 279.9816 89.81109 308.2551 279.9819 89.80787 308.2558 279.9818 89.80458 308.2561 279.9813 89.80131 308.2561 279.9804 89.79814 308.2557 279.9792 89.79518 308.2549 279.9776 89.79249 308.2537 279.9758 89.79016 308.2522 279.9738 89.78823 308.2505 280.8754 89.70224 307.3265 280.8775 89.70104 307.3287 280.8794 89.69936 307.3308 280.8811 89.69722 307.3327 280.8824 89.6947 307.3344 280.8834 89.69187 307.3358 280.8841 89.6888 307.3368 280.8843 89.68557 307.3375 280.8842 89.68228 307.3378 280.8837 89.67901 307.3377 280.8828 89.67586 307.3373 280.8816 89.67291 307.3365 280.88 89.67023 307.3353 280.8782 89.66791 307.3338 280.8761 89.66601 307.332 281.8677 89.56822 306.3109 281.87 89.56752 306.3132 281.8721 89.56629 306.3155 281.874 89.56458 306.3176 281.8757 89.56243 306.3195 281.877 89.55989 306.3211 281.878 89.55704 306.3225 281.8786 89.55396 306.3235 281.8789 89.55073 306.3242 281.8787 89.54743 306.3245 281.8782 89.54417 306.3244 281.8773 89.54103 306.3239 281.876 89.53808 306.3231 281.8745 89.53543 306.3219 281.8726 89.53312 306.3204 281.8706 89.53125 306.3186 282.9631 89.41963 305.1932 282.9654 89.4189 305.1956 282.9675 89.41764 305.1978 282.9694 89.4159 305.1999 282.971 89.41373 305.2018 282.9724 89.41117 305.2034 282.9733 89.40831 305.2048 282.9739 89.40522 305.2058 282.9742 89.40197 305.2064 282.974 89.39868 305.2067 282.9735 89.39542 305.2066 282.9725 89.39228 305.2061 282.9712 89.38935 305.2052 282.9696 89.38671 305.204 282.9678 89.38443 305.2025 282.9657 89.38258 305.2007 282.9635 89.38121 305.1986 284.1708 89.25511 303.9633 284.1729 89.25382 303.9656 284.1748 89.25205 303.9676 284.1764 89.24985 303.9695 284.1777 89.24727 303.9711 284.1786 89.24439 303.9725 284.1792 89.24128 303.9734 284.1794 89.23803 303.9741 284.1792 89.23474 303.9743 284.1787 89.23148 303.9742 284.1777 89.22834 303.9736 284.1764 89.22543 303.9728 284.1748 89.22281 303.9715 284.1729 89.22056 303.97 284.1708 89.21874 303.9682 284.1685 89.21739 303.9662 285.4952 89.0384 302.6106 285.4973 89.04019 302.6124 285.4992 89.04242 302.614 285.5008 89.04502 302.6152 285.5021 89.04792 302.6161 285.5031 89.05104 302.6166 285.5037 89.0543 302.6168 285.504 89.0576 302.6166 285.5038 89.06086 302.616 285.5032 89.06398 302.615 285.5023 89.06689 302.6137 285.501 89.06949 302.6121 285.4994 89.07173 302.6103 285.4975 89.07352 302.6082 285.4954 89.07483 302.606 285.4932 89.07563 302.6037 240.9423 84.12488 327.2091 243.5483 83.94565 323.8106 246.2693 83.86219 320.3685 246.2828 83.82775 320.3805 259.6334 83.37221 304.0254 266.3075 83.15022 295.9569 267.309 83.12111 294.7631 267.014 83.09535 295.1391 267.396 83.12042 294.6675 267.9734 83.1927 294.373 267.481 83.0925 294.6301 267.9856 83.15953 294.3892 277.7348 84.4802 289.6753 278.7251 84.57564 289.2226 278.7237 84.57512 289.2196 239.6699 84.23889 329.0985 239.6674 84.23686 329.0972 239.6653 84.2344 329.0961 239.6636 84.23156 329.0952 239.6623 84.22844 329.0947 239.6614 84.22512 329.0944 239.6611 84.22171 329.0944 239.6612 84.2183 329.0948 239.6619 84.215 329.0954 239.663 84.21189 329.0964 239.6646 84.20908 329.0975 239.6666 84.20664 329.0989 239.6689 84.20465 329.1004 239.6715 84.20316 329.1021 239.6743 84.20222 329.1039 239.6772 84.20186 329.1057 239.6801 84.20209 329.1075 278.7223 84.57514 289.2166 278.7208 84.57572 289.2137 278.7193 84.57684 289.2109 278.7179 84.57846 289.2083 278.7166 84.58054 289.2061 278.7153 84.58302 289.2042 278.7143 84.58583 289.2028 278.7134 84.58889 289.2018 278.7127 84.59213 289.2013 278.7123 84.59544 289.2013 278.7121 84.59873 289.2018 278.7121 84.60192 289.2027 278.7124 84.60491 289.2042 278.713 84.60763 289.2061 278.7137 84.61 289.2083 277.7341 84.47782 289.6731 277.7335 84.47509 289.6712 277.7333 84.47208 289.6698 277.7332 84.46889 289.6689 277.7334 84.46559 289.6684 277.7339 84.46228 289.6684 277.7346 84.45906 289.669 277.7355 84.45601 289.67 277.7365 84.45322 289.6714 277.7377 84.45076 289.6733 277.7391 84.4487 289.6756 277.7406 84.44711 289.6781 277.742 84.44602 289.6809 277.7435 84.44547 289.6839 277.7449 84.44547 289.6869 277.7463 84.44601 289.6899 270.1316 83.44156 293.3517 270.1195 83.47486 293.3357 270.1188 83.47238 293.3336 270.1184 83.46956 293.3319 270.1182 83.4665 293.3306 270.1182 83.46328 293.3298 270.1185 83.45999 293.3294 270.119 83.45671 293.3296 270.1197 83.45353 293.3303 270.1207 83.45055 293.3314 270.1218 83.44785 293.333 270.1231 83.44551 293.335 270.1244 83.44357 293.3373 270.1259 83.44211 293.3399 270.1274 83.44116 293.3427 270.1289 83.44075 293.3457 270.1303 83.44088 293.3487 267.9728 83.1902 294.3709 267.9723 83.18737 294.3692 267.9721 83.18431 294.368 267.9721 83.18108 294.3671 267.9724 83.17778 294.3668 267.9729 83.1745 294.367 267.9737 83.17133 294.3677 267.9746 83.16836 294.3689 267.9757 83.16567 294.3705 267.977 83.16334 294.3725 267.9784 83.16143 294.3748 267.9799 83.15998 294.3774 267.9814 83.15905 294.3803 267.9828 83.15866 294.3832 267.9843 83.15882 294.3862 267.4684 83.12567 294.6141 267.4676 83.12316 294.6121 267.4671 83.12033 294.6105 267.4668 83.11725 294.6092 267.4668 83.11402 294.6084 267.4671 83.11071 294.6081 267.4675 83.10742 294.6083 267.4683 83.10426 294.609 267.4692 83.10128 294.6101 267.4704 83.0986 294.6117 267.4718 83.09626 294.6137 267.4732 83.09436 294.616 267.4748 83.09292 294.6186 267.4764 83.092 294.6213 267.4779 83.09162 294.6242 267.4795 83.09178 294.6272 267.4251 83.12149 294.6415 267.4239 83.11895 294.6397 267.423 83.1161 294.6383 267.4224 83.113 294.6372 267.4222 83.10974 294.6365 267.4222 83.10642 294.6363 267.4226 83.10311 294.6366 267.4234 83.09993 294.6372 267.4244 83.09695 294.6383 267.4257 83.09426 294.6398 267.4272 83.09193 294.6416 267.429 83.09003 294.6437 267.4308 83.08861 294.6461 267.4328 83.08771 294.6486 267.4349 83.08735 294.6512 267.4368 83.08754 294.6539 267.4388 83.08829 294.6565 267.3945 83.11787 294.666 267.3933 83.115 294.6647 267.3925 83.1119 294.6639 267.392 83.10863 294.6634 267.3919 83.1053 294.6633 267.3923 83.10199 294.6636 267.393 83.0988 294.6643 267.3941 83.09583 294.6653 267.3955 83.09314 294.6667 267.3972 83.09082 294.6683 267.3992 83.08892 294.6703 267.4013 83.08751 294.6724 267.4036 83.08662 294.6746 267.406 83.08628 294.677 267.4083 83.08648 294.6793 267.4107 83.08724 294.6816 267.3074 83.11856 294.7617 267.3061 83.11569 294.7606 267.3052 83.11259 294.7598 267.3047 83.10932 294.7594 267.3046 83.10599 294.7593 267.3049 83.10269 294.7596 267.3056 83.09951 294.7603 267.3067 83.09653 294.7613 267.3082 83.09384 294.7626 267.3099 83.09152 294.7643 267.312 83.08963 294.7661 267.3143 83.08823 294.7681 267.3166 83.08734 294.7703 267.3191 83.087 294.7725 267.3216 83.08721 294.7747 267.324 83.08797 294.7768 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83.35381 304.0227 259.6301 83.35067 304.0234 259.6313 83.34775 304.0244 259.6328 83.34512 304.0257 259.6346 83.34286 304.0273 259.6367 83.34102 304.0291 259.639 83.33966 304.031 259.6415 83.33882 304.033 259.644 83.3385 304.0351 259.6465 83.33874 304.0372 259.649 83.33952 304.0393 257.0189 83.43086 307.2332 257.0034 83.46362 307.2195 257.0017 83.46105 307.2182 257.0004 83.45816 307.2172 256.9995 83.45506 307.2166 256.999 83.45181 307.2163 256.9989 83.44851 307.2163 256.9993 83.44525 307.2167 257 83.44211 307.2174 257.0012 83.43918 307.2184 257.0027 83.43655 307.2197 257.0045 83.43428 307.2213 257.0066 83.43243 307.223 257.0089 83.43106 307.225 257.0113 83.43019 307.227 257.0139 83.42987 307.2291 257.0164 83.43009 307.2312 250.3184 83.67203 315.4076 250.3159 83.67137 315.4056 250.3133 83.67124 315.4035 250.3107 83.67167 315.4014 250.3083 83.67264 315.3993 250.306 83.67412 315.3974 250.304 83.67607 315.3957 250.3022 83.67843 315.3942 250.3008 83.68115 315.3929 250.2997 83.68414 315.392 250.2991 83.68733 315.3913 250.2988 83.69062 315.3911 250.299 83.69393 315.3911 250.2996 83.69717 315.3915 250.3006 83.70024 315.3922 250.302 83.70307 315.3933 250.3037 83.70557 315.3946 246.2674 83.8598 320.3671 246.2659 83.85704 320.3659 246.2648 83.85401 320.3651 246.264 83.85079 320.3646 246.2637 83.84747 320.3645 246.2638 83.84413 320.3647 246.2644 83.84088 320.3652 246.2653 83.8378 320.3661 246.2667 83.83498 320.3673 246.2684 83.83251 320.3688 246.2704 83.83043 320.3704 246.2727 83.82883 320.3723 246.2751 83.82773 320.3743 246.2777 83.82718 320.3764 246.2803 83.82719 320.3785 245.8927 83.84366 320.8655 245.8901 83.84311 320.8634 245.8875 83.84313 320.8613 245.8849 83.84369 320.8593 245.8825 83.8448 320.8573 245.8802 83.84642 320.8554 245.8782 83.84851 320.8537 245.8765 83.851 320.8523 245.8752 83.85383 320.8511 245.8742 83.85692 320.8502 245.8737 83.86018 320.8497 245.8736 83.86352 320.8495 245.8739 83.86685 320.8497 245.8747 83.87007 320.8502 245.8758 83.87309 320.851 245.8774 83.87583 320.8522 245.8793 83.87821 320.8536 243.5457 83.94519 323.8086 243.543 83.9453 323.8065 243.5404 83.94597 323.8045 243.538 83.94718 323.8025 243.5357 83.94892 323.8007 243.5337 83.95111 323.799 243.5321 83.95369 323.7976 243.5308 83.95661 323.7965 243.5299 83.95977 323.7957 243.5295 83.96308 323.7953 243.5295 83.96644 323.7951 243.53 83.96977 323.7954 243.5308 83.97298 323.7959 243.5321 83.97595 323.7969 243.5338 83.97863 323.7981 243.5358 83.98091 323.7995 242.0117 84.02343 325.7948 242.009 84.02304 325.7928 242.0063 84.02323 325.7907 242.0037 84.02399 325.7887 242.0012 84.02529 325.7868 241.999 84.02711 325.785 241.997 84.02938 325.7834 241.9954 84.03205 325.7821 241.9942 84.03502 325.781 241.9934 84.03823 325.7803 241.993 84.04158 325.7798 241.9931 84.04497 325.7798 241.9937 84.0483 325.7801 241.9947 84.05149 325.7807 241.9961 84.05442 325.7816 241.9979 84.05703 325.7828 242 84.05924 325.7844 240.9401 84.12274 327.2077 240.9382 84.12019 327.2064 240.9367 84.11729 327.2055 240.9356 84.11412 327.2048 240.935 84.1108 327.2045 240.9348 84.10739 327.2046 240.9351 84.10401 327.205 240.9358 84.10076 327.2057 240.937 84.09774 327.2067 240.9386 84.095 327.208 240.9405 84.09267 327.2095 240.9428 84.09078 327.2112 240.9453 84.08941 327.2131 240.9479 84.08858 327.215 240.9507 84.08833 327.217 240.9535 84.08866 327.219 240.1988 84.18357 328.2734 240.1965 84.1815 328.272 240.1945 84.17899 328.2708 240.1929 84.17612 328.2699 240.1916 84.17298 328.2692 240.1909 84.16966 328.2689 240.1906 84.16625 328.269 240.1909 84.16285 328.2693 240.1915 84.15956 328.27 240.1927 84.1565 328.2709 240.1943 84.15372 328.2722 240.1962 84.15132 328.2736 240.1985 84.14939 328.2753 240.2011 84.14795 328.2771 240.2038 84.14707 328.279 240.2066 84.14675 328.2809 240.2094 84.14703 328.2828 100.6024 49.4779 112.5562 97.77375 49.4779 115.3843 100.6024 56.75563 112.5562 97.77375 56.75563 115.3843 115.453 49.4779 97.70827 112.6244 49.4779 100.5364 115.453 56.75563 97.70827 112.6244 56.75563 100.5364 142.7557 69.24326 154.7172 144.7202 53.48633 156.6819 121.8667 64.03382 133.8243 123.8312 48.27689 135.7891 156.7421 53.48633 144.6622 154.7777 69.24326 142.6974 135.8531 48.27689 123.7694 133.8886 64.03382 121.8046 162.3346 48.8 174.2995 162.3346 44.8 174.2995 158.7544 56.98629 170.7187 162.8238 48.8 174.7889 165.4382 56.98629 177.4038 165.4382 48.8 177.4038 164.3032 48.8 176.2685 168.2664 70.80001 180.2324 168.2664 63.34134 180.2324 166.8507 70.80001 178.8165 165.7358 70.80001 177.7014 165.0374 70.80001 177.0028 147.5054 54.18093 159.4677 165.0374 74.80001 177.0028 145.541 69.93785 157.5029 102.2132 39.02473 119.8246 105.0419 39.02473 116.9964 105.2241 39.02473 122.836 108.0528 39.02473 120.0078 106.0577 44.54986 123.6698 108.8864 44.54986 120.8416 155.9257 56.98629 173.5469 173.605 56.98629 155.8709 170.7763 56.98629 158.699 159.5273 54.18093 147.4479 121.046 47.58229 133.0034 133.0679 47.58229 120.9837 123.737 44.54986 105.9937 120.9083 44.54986 108.8219 159.5059 44.8 177.1277 165.5524 44.8 175.6291 180.2888 44.8 162.5559 165.3843 44.8 175.8294 162.6095 44.8 180.2319 163.6899 44.8 173.4091 163.4635 44.8 173.5398 174.3565 44.8 162.2798 174.4371 44.8 162.8202 174.1914 44.8 162.9095 175.2133 44.8 165.718 175.459 44.8 165.6286 175.6855 44.8 165.4979 175.8858 44.8 165.3298 176.0539 44.8 165.1295 176.1846 44.8 164.9031 164.7118 44.8 176.2176 164.9575 44.8 176.1282 165.184 44.8 175.9975 173.4658 44.8 163.635 173.3764 44.8 163.8807 165.7726 44.8 175.157 173.3309 44.8 164.1382 176.2741 44.8 164.6574 176.3195 44.8 164.3999 176.3195 44.8 164.1385 163.2631 44.8 173.7079 163.0951 44.8 173.9082 162.9643 44.8 174.1346 174.4369 44.8 165.7179 174.6943 44.8 165.7633 174.9558 44.8 165.7634 177.1851 44.8 159.4517 176.054 44.8 163.4088 173.5966 44.8 163.4086 165.818 44.8 174.8995 165.818 44.8 174.6381 165.7726 44.8 174.3805 165.6832 44.8 174.1348 165.5525 44.8 173.9084 163.6897 44.8 176.128 163.9354 44.8 176.2175 176.2741 44.8 163.881 176.1847 44.8 163.6353 175.886 44.8 163.2085 175.6857 44.8 163.0404 175.4593 44.8 162.9097 162.8749 44.8 174.3803 162.8294 44.8 174.6378 175.2136 44.8 162.8202 174.9561 44.8 162.7748 174.6946 44.8 162.7748 164.7121 44.8 173.3198 164.4546 44.8 173.2744 162.8294 44.8 174.8992 162.8748 44.8 175.1567 162.9642 44.8 175.4024 164.1929 44.8 176.2629 164.4543 44.8 176.263 173.3309 44.8 164.3997 173.3763 44.8 164.6572 173.4657 44.8 164.9029 173.965 44.8 163.0403 173.7646 44.8 163.2083 164.1931 44.8 173.2743 163.9356 44.8 173.3197 173.5964 44.8 165.1293 173.7645 44.8 165.3296 165.6831 44.8 175.4027 173.9647 44.8 165.4977 174.1912 44.8 165.6285 165.3845 44.8 173.7081 165.1842 44.8 173.54 164.9578 44.8 173.4093 163.0949 44.8 175.6289 163.263 44.8 175.8292 163.4632 44.8 175.9973 162.6095 56.98629 180.2319 177.4601 48.8 165.384 177.4601 56.98629 165.384 180.2888 56.98629 162.5559 165.4377 63.34134 183.0606 180.2883 63.34134 168.2127 183.117 63.34134 165.3846 180.2883 70.80001 168.2127 183.117 74.80001 165.3846 165.4377 74.80001 183.0606 177.9528 74.80001 165.7177 178.1576 74.80001 165.7922 179.888 74.80001 162.155 178.762 74.80001 167.4534 178.6531 74.80001 167.6421 177.0593 74.80001 164.9831 176.9123 74.80001 165.901 177.101 74.80001 165.7921 178.3462 74.80001 165.9012 178.5131 74.80001 166.0412 178.6532 74.80001 166.2082 178.7621 74.80001 166.3969 178.8366 74.80001 166.6016 178.8744 74.80001 166.8162 178.513 74.80001 167.809 178.346 74.80001 167.949 178.8744 74.80001 167.0341 178.8366 74.80001 167.2487 168.003 74.80001 178.2902 167.863 74.80001 178.4571 176.4218 74.80001 166.6014 176.4963 74.80001 166.3967 176.6053 74.80001 166.208 176.7454 74.80001 166.0411 177.3058 74.80001 165.7176 177.5204 74.80001 165.6798 177.7382 74.80001 165.6798 165.9553 74.80001 176.856 165.8463 74.80001 177.0447 165.7718 74.80001 177.2495 177.5201 74.80001 168.1703 177.3055 74.80001 168.1324 168.1865 74.80001 177.8967 168.112 74.80001 178.1015 177.9526 74.80001 168.1325 178.1573 74.80001 168.058 167.6961 74.80001 178.5971 167.5074 74.80001 178.706 167.3026 74.80001 178.7805 167.088 74.80001 178.8184 166.8701 74.80001 178.8183 166.6555 74.80001 178.7805 166.0954 74.80001 176.6891 166.2623 74.80001 176.5491 165.9552 74.80001 178.29 165.8462 74.80001 178.1013 162.2087 74.80001 179.831 177.738 74.80001 168.1703 168.1121 74.80001 177.0449 168.1866 74.80001 177.2497 176.9121 74.80001 167.9489 168.2244 74.80001 177.4643 176.4962 74.80001 167.4532 176.4217 74.80001 167.2485 166.6558 74.80001 176.3657 176.3839 74.80001 167.0339 165.7717 74.80001 177.8965 165.7339 74.80001 177.6819 165.7339 74.80001 177.464 177.1008 74.80001 168.0579 168.2244 74.80001 177.6822 166.451 74.80001 176.4402 176.3839 74.80001 166.816 166.4508 74.80001 178.7059 166.2621 74.80001 178.597 166.0952 74.80001 178.4569 167.0882 74.80001 176.3279 167.3028 74.80001 176.3657 176.6052 74.80001 167.6419 167.5075 74.80001 176.4403 167.6962 74.80001 176.5492 176.7452 74.80001 167.8088 167.8631 74.80001 176.6893 168.0032 74.80001 176.8562 166.8703 74.80001 176.3278 105.8931 60.75563 123.5051 157.5629 69.93785 145.4832 123.5724 60.75563 105.8291 120.7437 60.75563 108.6572 131.1034 63.33922 119.0189 108.7218 60.75563 120.677 119.0815 63.33922 131.0386 97.77375 60.75563 115.3843 107.0826 60.75563 119.0375 111.1447 60.75563 108.6598 113.5526 60.75563 107.6076 113.3846 60.75563 107.4073 113.9793 60.75563 107.9064 109.1422 60.75563 118.7878 114.225 60.75563 107.9959 111.1322 60.75563 118.2009 114.4825 60.75563 108.0413 112.9977 60.75563 117.2929 114.744 60.75563 108.0413 114.6873 60.75563 116.0889 115.0015 60.75563 107.996 116.1545 60.75563 114.622 111.4429 60.75563 107.8408 104.5007 60.75563 102.0146 105.3197 60.75563 101.7165 106.6141 60.75563 99.32142 113.1645 60.75563 106.1587 111.4431 60.75563 105.2526 111.5944 60.75563 106.111 106.7431 60.75563 117.5406 106.4817 60.75563 117.5406 106.2242 60.75563 117.4952 105.3837 60.75563 116.9066 105.253 60.75563 116.6801 105.1636 60.75563 116.4344 106.1781 60.75563 101.5653 107.0496 60.75563 101.5654 107.9079 60.75563 101.7168 113.2539 60.75563 107.1808 113.1645 60.75563 106.9351 111.5943 60.75563 106.9825 113.1191 60.75563 106.6776 113.1191 60.75563 106.4162 108.7269 60.75563 102.015 109.4817 60.75563 102.4508 110.1492 60.75563 103.0111 111.1451 60.75563 104.4336 113.2408 60.75563 105.9493 110.7094 60.75563 103.6788 99.2472 60.75563 107.9051 99.00149 60.75563 107.9945 105.552 60.75563 114.9855 98.74399 60.75563 108.0399 98.48252 60.75563 108.0399 105.3839 60.75563 115.1858 98.22503 60.75563 107.9944 105.2531 60.75563 115.4123 108.0614 60.75563 116.4347 107.9719 60.75563 116.6804 107.8412 60.75563 116.9068 107.6731 60.75563 117.1071 107.4728 60.75563 117.2751 107.2463 60.75563 117.4058 107.0006 60.75563 117.4952 105.9785 60.75563 117.4057 105.7521 60.75563 117.275 105.5518 60.75563 117.1069 105.1182 60.75563 116.1769 105.1183 60.75563 115.9154 96.37334 60.75563 113.7151 105.1637 60.75563 115.6579 95.28407 60.75563 111.828 94.9696 60.75563 110.9638 107.0009 60.75563 114.5974 107.2466 60.75563 114.6869 107.0487 60.75563 111.5273 113.7529 60.75563 107.7757 110.7089 60.75563 109.4146 108.1068 60.75563 116.1772 108.1068 60.75563 115.9157 110.1486 60.75563 110.0822 108.7261 60.75563 111.078 107.8413 60.75563 115.186 107.972 60.75563 115.4125 109.4809 60.75563 110.6423 108.0615 60.75563 115.6582 102.082 60.75563 104.4328 99.98615 60.75563 105.9481 101.7839 60.75563 105.2518 101.6325 60.75563 106.1101 102.5179 60.75563 103.678 103.0782 60.75563 103.0104 103.7459 60.75563 102.4503 107.907 60.75563 111.376 107.473 60.75563 114.8177 107.6733 60.75563 114.9857 99.9728 60.75563 107.1796 99.84204 60.75563 107.406 105.7523 60.75563 114.8175 99.67396 60.75563 107.6063 99.47365 60.75563 107.7744 100.0623 60.75563 106.1575 100.1077 60.75563 106.415 101.6324 60.75563 106.9816 100.1077 60.75563 106.6764 101.7836 60.75563 107.84 100.0623 60.75563 106.9339 105.9787 60.75563 114.6868 106.2244 60.75563 114.5974 106.1772 60.75563 111.5272 106.4819 60.75563 114.552 106.7434 60.75563 114.552 104.4999 60.75563 111.0776 103.7451 60.75563 110.6418 105.3189 60.75563 111.3758 103.0775 60.75563 110.0815 102.5174 60.75563 109.4138 102.0817 60.75563 108.659 98.0157 60.75563 107.9182 97.97934 60.75563 107.905 99.67415 60.75563 105.485 99.8422 60.75563 105.6853 99.97292 60.75563 105.9118 95.28503 60.75563 101.2625 94.53961 60.75563 103.31 97.55283 60.75563 105.4848 97.75315 60.75563 105.3168 97.97959 60.75563 105.186 96.37465 60.75563 99.37566 98.2253 60.75563 105.0966 97.77537 60.75563 97.70666 98.4828 60.75563 105.0513 99.44462 60.75563 96.30625 98.74427 60.75563 105.0513 101.3317 60.75563 95.21697 99.00176 60.75563 105.0967 102.1959 60.75563 94.9025 99.24745 60.75563 105.1862 99.47387 60.75563 105.3169 97.11911 60.75563 106.4147 94.16106 60.75563 105.4557 97.11909 60.75563 106.6762 94.16086 60.75563 107.6346 97.16447 60.75563 106.9337 97.16455 60.75563 106.1572 97.25399 60.75563 105.9115 97.38475 60.75563 105.6851 97.75292 60.75563 107.7742 97.55264 60.75563 107.6061 94.53903 60.75563 109.7804 97.38459 60.75563 107.4058 97.25388 60.75563 107.1794 106.7449 60.75563 98.5406 106.4834 60.75563 98.54058 106.2259 60.75563 98.49515 105.9802 60.75563 98.4057 105.9805 60.75563 95.68678 106.2262 60.75563 95.59738 105.5251 60.75563 94.09377 106.4837 60.75563 95.552 107.704 60.75563 94.09397 106.7451 60.75563 95.55202 105.7538 60.75563 98.27495 105.5535 60.75563 98.10686 105.3855 60.75563 97.90655 105.2547 60.75563 97.6801 105.754 60.75563 95.81749 103.3793 60.75563 94.47193 105.5537 60.75563 95.98554 105.1653 60.75563 97.4344 105.12 60.75563 97.1769 105.12 60.75563 96.91543 107.4747 60.75563 95.81765 109.8497 60.75563 94.47252 107.2483 60.75563 95.68689 107.0026 60.75563 95.59745 107.6748 60.75563 98.10706 107.4745 60.75563 98.2751 105.1654 60.75563 96.65794 105.2549 60.75563 96.41225 105.3856 60.75563 96.18582 107.2481 60.75563 98.40582 107.0024 60.75563 98.49523 111.033 60.75563 94.90331 108.0632 60.75563 96.6582 108.1086 60.75563 96.91571 107.9737 60.75563 97.68035 107.8429 60.75563 97.90677 108.1085 60.75563 97.17716 108.0631 60.75563 97.43466 107.675 60.75563 95.98574 107.8431 60.75563 96.18605 107.9738 60.75563 96.41249 119.1045 60.75563 107.0178 115.453 60.75563 97.70827 115.0018 60.75563 105.0982 115.2474 60.75563 105.1876 111.8972 60.75563 95.21794 116.1077 60.75563 106.4164 116.0623 60.75563 106.1589 115.9729 60.75563 105.9132 116.1077 60.75563 106.6779 116.0623 60.75563 106.9354 118.8545 60.75563 109.0774 117.3589 60.75563 112.9326 118.2672 60.75563 111.0673 115.2108 60.75563 107.9198 118.2878 60.75563 110.9973 115.2472 60.75563 107.9066 115.4737 60.75563 107.7758 113.254 60.75563 105.913 115.4739 60.75563 105.3184 115.6742 60.75563 105.4865 115.8422 60.75563 105.6868 113.5528 60.75563 105.4863 113.7531 60.75563 105.3182 113.9796 60.75563 105.1875 114.2253 60.75563 105.0981 114.4828 60.75563 105.0527 114.7443 60.75563 105.0528 115.9728 60.75563 107.1811 115.842 60.75563 107.4075 115.674 60.75563 107.6078 113.784 60.75563 96.30755 113.3847 60.75563 105.6865 107.0826 56.75563 119.0375 104.2145 56.75563 116.1689 122.9034 39.02473 105.1599 119.8925 39.02473 102.1485 120.0747 39.02473 107.9881 117.0638 39.02473 104.9767 119.1045 56.75563 107.0178 116.2365 56.75563 104.1492 177.0593 70.80001 164.9831 174.3565 48.8 162.2798 176.3251 48.8 164.2488 174.8458 48.8 162.7692 177.7577 70.80001 165.6817 178.8726 70.80001 166.7967 96.37334 56.75563 113.7151 95.28407 56.75563 111.828 94.53903 56.75563 109.7804 94.16086 56.75563 107.6346 94.16106 56.75563 105.4557 94.53961 56.75563 103.31 95.28503 56.75563 101.2625 96.37465 56.75563 99.37566 97.77537 56.75563 97.70666 99.44462 56.75563 96.30625 101.3317 56.75563 95.21697 102.1959 56.75563 94.9025 103.3793 56.75563 94.47193 105.5251 56.75563 94.09377 107.704 56.75563 94.09397 109.8497 56.75563 94.47252 111.8972 56.75563 95.21794 113.784 56.75563 96.30755 118.8545 56.75563 109.0774 118.2878 56.75563 110.9973 118.2672 56.75563 111.0673 117.3589 56.75563 112.9326 116.1545 56.75563 114.622 114.6873 56.75563 116.0889 112.9977 56.75563 117.2929 111.1322 56.75563 118.2009 109.1422 56.75563 118.7878 106.2242 56.75563 117.4952 106.4817 56.75563 117.5406 105.9785 56.75563 117.4057 106.7431 56.75563 117.5406 107.0006 56.75563 117.4952 107.2463 56.75563 117.4058 107.9719 56.75563 116.6804 108.0614 56.75563 116.4347 107.4728 56.75563 117.2751 107.6731 56.75563 117.1071 107.8412 56.75563 116.9068 115.0015 56.75563 107.996 114.744 56.75563 108.0413 114.4825 56.75563 108.0413 114.225 56.75563 107.9959 113.3846 56.75563 107.4073 113.2539 56.75563 107.1808 113.2406 56.75563 107.1445 107.972 56.75563 115.4125 107.8413 56.75563 115.186 105.253 56.75563 116.6801 105.1636 56.75563 116.4344 105.1182 56.75563 116.1769 105.3837 56.75563 116.9066 105.5518 56.75563 117.1069 105.7521 56.75563 117.275 113.9793 56.75563 107.9064 105.2531 56.75563 115.4123 105.1637 56.75563 115.6579 105.1183 56.75563 115.9154 108.1068 56.75563 116.1772 108.1068 56.75563 115.9157 108.0615 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117.0774 116.5552 73.25563 117.1015 115.6851 73.25563 117.858 121.0775 71.94238 106.8353 121.1105 73.25563 106.8359 121.0417 73.25563 107.9868 97.11742 69.29399 117.1011 97.11407 69.32924 117.1045 96.87326 69.32915 116.8836 107.6121 69.22509 120.6982 107.6121 69.32939 120.7125 107.1768 69.32915 120.7383 92.46146 69.22509 107.545 92.44715 69.32939 107.545 92.413 69.32915 106.8274 96.4248 66.75563 115.6725 96.47193 66.75563 115.7248 96.32019 67.36032 115.7771 96.25334 68.03579 115.9227 96.05351 69.32924 116.0437 96.05686 69.29399 116.0403 96.08274 69.32915 116.0771 96.17563 68.32349 115.9216 96.21868 68.03659 115.8786 95.96398 70.27147 116.1332 95.96058 70.63245 116.1876 95.93944 70.63286 116.1577 95.89716 71.25563 116.2 95.18437 71.25563 115.3446 92.21774 71.94238 107.9809 92.42018 71.25563 109.1123 92.37722 71.94238 109.1201 92.66892 71.25563 110.2319 92.62671 71.94238 110.243 93.00582 71.25563 111.3281 92.96463 71.94238 111.3426 93.42874 71.25563 112.3941 93.38884 71.94238 112.4118 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96.95938 117.2873 70.63286 96.93486 117.3296 71.25563 96.89258 117.6836 71.25563 97.30062 121.0021 71.25563 105.5476 120.8974 71.25563 104.5466 120.9406 71.94238 104.5405 120.6934 71.25563 103.418 120.736 71.94238 103.4086 120.4003 71.25563 102.3093 120.4421 71.94238 102.2964 120.0201 71.25563 101.2273 120.0607 71.94238 101.2112 119.5551 71.25563 100.1789 119.5943 71.94238 100.1597 119.0083 71.25563 99.17084 119.0458 71.94238 99.14852 118.3832 71.25563 98.20937 118.4188 71.94238 98.18414 117.7171 71.94238 97.27263 120.8999 70.20637 105.5476 120.9559 70.63245 105.6911 120.7796 69.32939 105.5476 120.7914 69.32915 105.7009 120.7653 69.22509 105.5476 120.5942 68.2528 105.5476 120.5617 68.03579 105.7146 120.5476 68.03647 105.5476 120.3868 67.28977 105.5476 120.2674 66.75563 105.7321 120.2551 66.75563 105.5475 120.8137 69.32915 106.83 120.7795 69.32939 107.5476 120.7651 69.22509 107.5476 120.5837 68.03579 106.8254 120.594 68.2528 107.5476 120.5474 68.03647 107.5476 120.2889 66.75563 106.8195 120.3866 67.28977 107.5476 120.2549 66.75563 107.5475 120.8997 70.20637 107.5476 120.9785 70.63245 106.8333 120.9413 70.63294 107.5476 121.0019 71.25563 107.5476 120.9654 71.25563 107.9792 121.0088 71.94238 107.9835 120.8491 71.94238 109.1227 120.8061 71.25563 109.1149 120.5994 71.94238 110.2456 120.5572 71.25563 110.2344 120.2613 71.94238 111.3451 120.2201 71.25563 111.3306 119.8369 71.94238 112.4142 119.797 71.25563 112.3965 119.3289 71.94238 113.4463 119.2905 71.25563 113.4255 118.7405 71.94238 114.4347 118.7039 71.25563 114.4109 118.0754 71.94238 115.3733 118.0408 71.25563 115.3466 117.3279 71.25563 116.202 117.3379 71.94238 116.256 117.2644 70.63245 116.1896 117.1682 69.29399 116.0423 117.1716 69.32924 116.0456 117.1423 69.32915 116.079 117.2611 70.27147 116.1352 117.2856 70.63286 116.1597 117.0494 68.32349 115.9235 116.9717 68.03579 115.9246 117.0064 68.03659 115.8804 116.9049 67.36032 115.7789 116.7532 66.75563 115.7267 116.8003 66.75563 115.6743 116.3516 69.32915 116.8854 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107.1559 66.75563 120.2138 107.6121 66.75563 120.188 106.0474 69.32915 120.7382 105.6121 69.32939 120.7124 105.6121 69.22509 120.6981 106.0566 68.03579 120.5083 105.6121 68.2528 120.5269 105.6121 68.03647 120.4803 106.0683 66.75563 120.2137 105.6121 67.28977 120.3195 105.6121 66.75563 120.1879 105.6121 70.20637 120.8326 106.0409 70.63245 120.9028 105.6121 70.63294 120.8742 105.6121 71.25563 120.9348 104.8955 71.25563 120.8669 97.56027 71.94238 117.8305 98.50994 71.25563 118.478 98.48542 71.94238 118.5141 99.48354 71.25563 119.0841 99.46196 71.94238 119.1221 100.5022 71.25563 119.611 100.4837 71.94238 119.6505 101.5595 71.25563 120.0552 101.5442 71.94238 120.0961 102.6488 71.25563 120.414 102.6368 71.94238 120.456 103.7631 71.25563 120.6852 103.7545 71.94238 120.728 104.8903 71.94238 120.9103 96.76026 70.63245 117.0035 97.02454 70.27147 117.194 97 70.63286 117.2185 96.69235 71.94238 117.0756 96.95772 71.25563 117.2608 97.58759 71.25563 117.7965 97.23619 68.32349 116.9824 97.03105 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113.8818 69.75563 109.7673 113.8818 66.75563 109.7673 113.867 69.75563 109.9977 113.867 66.75563 109.9977 113.8124 69.75563 110.2222 113.7196 66.75563 110.4337 113.7196 69.75563 110.4337 113.7632 66.75563 110.3343 113.8124 66.75563 110.2222 113.1784 69.75563 111.2909 113.1784 66.75563 111.2909 112.5343 69.75563 112.0738 112.5343 66.75563 112.0738 111.8378 66.75563 112.7319 111.7975 69.75563 112.7701 111.7975 66.75563 112.7701 110.9794 69.75563 113.3689 110.9794 66.75563 113.3689 110.7748 69.75563 113.4759 110.7748 66.75563 113.4759 110.5547 69.75563 113.5458 110.5547 66.75563 113.5458 110.3257 69.75563 113.5765 110.3257 66.75563 113.5765 110.095 69.75563 113.5669 110.095 66.75563 113.5669 109.8694 69.75563 113.5173 109.8694 66.75563 113.5173 109.6558 69.75563 113.4294 109.6558 66.75563 113.4294 109.4608 69.75563 113.3057 109.4608 66.75563 113.3057 109.2902 69.75563 113.15 109.2902 66.75563 113.15 109.1492 69.75563 112.967 109.1492 66.75563 112.967 109.0421 69.75563 112.7624 109.0421 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66.75563 114.0354 112.0038 69.75563 113.9564 112.0038 66.75563 113.9564 112.1479 69.75563 113.899 112.1479 66.75563 113.899 112.2992 69.75563 113.8646 112.2992 66.75563 113.8646 112.4539 69.75563 113.854 112.4539 66.75563 113.854 112.6085 69.75563 113.8674 112.6085 66.75563 113.8674 112.7591 69.75563 113.9046 112.7591 66.75563 113.9046 112.9021 69.75563 113.9646 112.9021 66.75563 113.9646 113.0342 69.75563 114.046 113.0342 66.75563 114.046 113.152 69.75563 114.1469 113.152 66.75563 114.1469 109.1125 69.75563 116.0662 109.1125 66.75563 116.0662 109.1287 69.75563 115.8942 109.1287 66.75563 115.8942 109.1744 69.75563 115.7275 109.1744 66.75563 115.7275 109.2481 69.75563 115.5713 109.2481 66.75563 115.5713 109.3475 69.75563 115.43 109.3475 66.75563 115.43 109.4698 69.75563 115.3079 109.4698 66.75563 115.3079 109.6113 69.75563 115.2088 109.6113 66.75563 115.2088 109.7677 69.75563 115.1354 109.7677 66.75563 115.1354 107.6123 69.75563 118.9187 107.6123 66.75563 118.9187 107.6251 69.75563 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98.939 102.5647 83.67475 97.75128 102.1768 83.56228 96.96739 102.0018 83.51156 96.61388 104.1936 83.94877 99.39212 104.1598 83.94774 99.39502 104.0918 83.94567 99.40088 104.0001 83.94132 99.39821 103.9454 83.93872 99.39662 103.8932 83.93537 99.3889 103.8154 83.93038 99.37741 104.4055 83.95381 99.36481 104.3891 83.95365 99.36837 101.6298 83.94892 100.8729 101.5883 83.95069 100.9286 101.5119 83.95397 101.0312 101.5057 83.95423 101.0396 101.5008 83.95433 101.0451 101.4761 83.95482 101.0733 101.842 83.92272 100.4324 101.8047 83.93035 100.538 101.7779 83.93583 100.6137 101.7274 83.94092 100.7077 101.6613 83.94757 100.8305 101.6493 83.94808 100.8468 100.9916 83.56222 97.61098 100.5371 83.56232 97.91273 101.757 83.84516 99.74452 101.8129 83.85996 99.84588 101.8259 83.86476 99.88249 101.8518 83.8743 99.95513 101.8597 83.87826 99.98738 101.866 83.88364 100.0345 101.8777 83.89367 100.1223 101.8762 83.90126 100.197 101.8758 83.90331 100.2171 101.8751 83.90665 100.2499 101.854 83.91692 100.3665 101.8527 83.91755 100.3737 98.86013 83.1735 95.39456 99.31509 83.1735 95.09883 99.56943 83.1735 94.9335 100.349 83.1735 94.4969 100.3915 83.1735 94.47309 100.8346 83.1735 94.25485 111.5257 83.42513 96.01064 111.0521 83.56231 96.96728 111.7793 83.56222 97.33987 111.4711 83.84516 99.74542 112.6907 83.56228 97.91461 112.4926 83.56222 97.77818 112.9091 83.51162 97.58673 111.3613 83.8825 100.0238 111.3902 83.86845 99.91004 111.355 83.90583 100.2446 111.3527 83.90317 100.217 111.3511 83.90129 100.1976 111.3491 83.89899 100.1738 111.3583 83.88461 100.0419 111.4017 83.86478 99.88325 111.4346 83.8543 99.80671 111.4425 83.85218 99.79212 111.5798 83.94774 100.8458 111.5407 83.94567 100.7898 111.4972 83.94132 100.7091 111.4712 83.93872 100.6609 111.4518 83.93537 100.6118 111.4228 83.93038 100.5387 111.3991 83.92627 100.4787 111.3729 83.91698 100.3671 111.3609 83.91275 100.3164 111.7288 83.95381 101.0435 111.7175 83.95365 101.031 111.6812 83.95312 100.9911 111.5992 83.94877 100.8736 111.5948 83.94853 100.8674 108.8389 83.95397 99.37073 108.8285 83.95423 99.36952 108.8212 83.95433 99.36808 108.7845 83.95482 99.36083 109.7434 83.90126 99.2691 109.7258 83.90331 99.27878 109.697 83.90665 99.29461 109.5855 83.91692 99.33461 109.5225 83.92272 99.35723 109.4124 83.93035 99.37768 109.3336 83.93582 99.39231 109.2268 83.94092 99.39557 109.0874 83.94757 99.39981 109.0673 83.94808 99.39746 109.0349 83.94892 99.39367 109.0115 83.94952 99.39094 110.0757 83.84516 98.93963 110.0159 83.85996 99.03876 109.9907 83.86476 99.06834 109.9407 83.8743 99.12702 109.9167 83.87826 99.15 109.8089 83.89367 99.23312 109.7613 83.8992 99.25928 109.8791 83.88364 99.17901 112.3945 83.1735 94.25591 112.5011 83.1735 94.30664 112.876 83.1735 94.50566 113.4525 83.1735 94.81169 113.9114 83.1735 95.10409 114.3609 83.1735 95.39055 114.3687 83.1735 95.39598 111.7439 83.48107 113.1054 111.6498 83.60717 113.1911 111.8477 83.34043 113.0078 111.8368 83.35525 113.0182 111.5312 83.76446 113.2956 109.9981 83.76448 114.1805 109.8484 83.60717 114.2309 109.7271 83.48108 114.2695 109.6051 83.35527 114.3064 109.5911 83.34099 114.3105 103.4982 83.48107 114.269 103.377 83.60717 114.2303 103.6348 83.34043 114.3101 103.6203 83.35525 114.3059 103.2273 83.76446 114.1799 101.6944 83.76448 113.2947 101.5758 83.60717 113.1902 101.4817 83.48108 113.1045 101.3888 83.35527 113.0172 101.3783 83.34099 113.0072 98.36779 83.48107 107.7098 98.34062 83.60717 107.5855 98.40044 83.34043 107.8486 98.39688 83.35525 107.834 98.30948 83.76446 107.4306 98.30964 83.76448 105.6605 98.34081 83.60717 105.5056 98.368 83.48108 105.3813 98.3971 83.35527 105.2571 98.40068 83.34043 105.2425 101.4829 83.48107 99.98716 101.577 83.60717 99.90148 101.3791 83.34043 100.0848 101.3899 83.35525 100.0744 101.6956 83.76446 99.79705 103.2286 83.76448 98.91213 103.3784 83.60717 98.86167 103.4996 83.48108 98.82305 103.6217 83.35527 98.78619 103.6362 83.34043 98.78195 109.7285 83.48107 98.82362 109.8498 83.60717 98.86225 109.5926 83.34099 98.78266 109.6065 83.35525 98.78673 109.9995 83.76446 98.91275 111.5324 83.76448 99.79794 111.651 83.60717 99.90239 111.745 83.48108 99.98809 111.838 83.35527 100.0754 111.8489 83.34043 100.0858 114.9171 83.76448 107.4321 114.886 83.60717 107.587 114.8588 83.48108 107.7113 114.8297 83.35527 107.8355 114.8261 83.34043 107.8501 114.8594 83.48382 105.3834 114.8867 83.60871 105.5089 114.8268 83.34571 105.2445 114.8301 83.35923 105.2581 114.918 83.76466 105.6654 114.69 82.15563 105.2388 114.69 83.36252 105.2378 114.5232 83.3937 105.2065 114.5293 83.3923 105.2083 114.5232 82.15563 105.2066 114.6765 83.36423 105.2372 114.5063 83.39759 105.2016 114.3643 82.15563 105.1465 114.3898 83.42935 105.156 114.2233 83.48604 105.0643 114.2595 83.47315 105.0856 114.2178 82.15563 105.0605 114.3591 83.43774 105.144 114.3644 83.43627 105.1461 114.0953 83.54479 104.9581 114.1421 83.52333 104.9969 114.088 82.15563 104.9509 114.1726 83.50932 105.0222 114.2181 83.4884 105.0601 113.9801 83.61574 104.82 113.9921 83.60617 104.8395 113.9786 82.15563 104.8209 114.039 83.57831 104.8933 114.0886 83.54879 104.9504 113.9532 83.63717 104.7762 113.8929 82.15563 104.6743 113.9018 83.67819 104.6925 113.835 83.75763 104.5218 113.8849 83.69829 104.6493 113.8944 83.68698 104.6736 114.6826 83.39001 105.2632 113.9124 83.8305 104.7704 113.9699 83.72532 104.86 114.047 83.62491 104.9398 114.1679 83.65399 105.1253 114.142 83.53151 105.008 114.4039 83.4964 105.2248 114.5394 83.43608 105.252 114.7659 83.79258 105.6666 114.6186 83.83663 105.6507 114.4795 83.89577 105.6182 114.4529 83.74218 105.4671 114.3264 83.81513 105.421 114.2141 83.89974 105.3604 114.1919 83.77673 105.2428 114.0966 83.8707 105.1709 114.0727 83.74767 105.0553 113.9958 83.84851 104.9737 114.3037 83.69223 105.3016 114.2791 83.56959 105.1823 114.4293 83.61916 105.3459 114.5906 83.68258 105.4975 114.566 83.5592 105.3747 114.7363 83.63774 105.5116 114.7104 83.51374 105.3873 114.6179 83.83589 107.4472 114.0956 83.86447 107.9268 113.9948 83.84008 108.1238 114.6898 83.35755 107.8563 114.6822 83.38584 107.8306 114.5291 83.38697 107.8858 114.676 83.35928 107.8569 114.3894 83.42356 107.9381 114.5054 83.39231 107.8926 114.539 83.43153 107.8422 114.5229 83.38833 107.8875 114.2592 83.46678 108.0085 114.3582 83.432 107.9503 114.4035 83.49131 107.8698 114.3642 83.43038 107.9479 114.0463 83.61623 108.1558 114.0387 83.57051 108.2006 114.0882 83.54138 108.1435 114.2178 83.48178 108.0339 114.1672 83.64743 107.9705 114.17 83.50347 108.0736 114.1415 83.52372 108.0868 114.1418 83.51628 108.0971 114.0943 83.53782 108.1366 113.9909 83.59861 108.2557 113.969 83.71567 108.2364 113.9797 83.60742 108.2739 113.8845 83.68885 108.4445 113.894 83.6777 108.4202 113.9112 83.81982 108.3269 113.9009 83.66955 108.4025 113.9529 83.62856 108.3177 113.8347 83.74738 108.572 113.9405 83.94482 108.2169 114.0719 83.74021 108.0414 114.2132 83.89562 107.7376 114.1911 83.7714 107.8541 114.3256 83.81182 107.6763 114.4788 83.89451 107.4801 114.4522 83.73954 107.6297 114.4288 83.6153 107.7498 114.303 83.68769 107.7947 114.2786 83.56383 107.9129 114.222 83.47985 108.0303 114.7099 83.51078 107.7077 114.7357 83.636 107.5845 114.7652 83.79221 107.4311 114.59 83.68047 107.5989 114.5654 83.55587 107.7206 113.9783 82.15563 108.2731 114.6897 82.15563 107.8553 113.8925 82.15563 108.4197 114.0877 82.15563 108.1431 114.2175 82.15563 108.0335 114.5229 82.15563 107.8875 114.364 82.15563 107.9475 111.3959 83.83589 100.0647 111.4481 83.81182 100.4323 111.5501 83.86447 100.7568 111.7861 83.35755 100.2069 111.7601 83.38584 100.2007 111.7311 83.3871 100.3616 111.7797 83.35928 100.2191 111.7067 83.42356 100.5079 111.7254 83.39231 100.3848 111.6985 83.43153 100.3304 111.7297 83.38833 100.367 111.7026 83.46678 100.6559 111.7017 83.432 100.5411 111.6546 83.49131 100.4616 111.7026 83.43038 100.5347 111.7238 83.61623 100.9139 111.7587 83.57051 100.943 111.7341 83.54138 100.8715 111.7039 83.48178 100.7045 111.6237 83.64743 100.7166 111.7144 83.50347 100.7658 111.7116 83.52372 100.7971 111.7206 83.51628 100.8019 111.7311 83.53782 100.8628 111.7825 83.59861 101.0119 111.7549 83.71567 101.0212 111.7927 83.60742 101.0307 111.8929 83.68885 101.1985 111.8766 83.6777 101.1781 111.8043 83.81982 101.1165 111.8647 83.66955 101.1632 111.8172 83.62856 101.0758 111.9784 83.74738 101.3054 111.6702 83.84008 100.9426 111.7237 83.94482 101.0362 111.6374 83.74021 100.8346 111.445 83.89562 100.5603 111.5349 83.7714 100.6377 111.3548 83.89451 100.2016 111.4711 83.73954 100.2994 111.5634 83.6153 100.3797 111.5393 83.68769 100.5111 111.6295 83.56383 100.5914 111.7029 83.47985 100.699 111.6674 83.51078 100.1152 111.5737 83.636 100.0313 111.4556 83.79221 99.92906 111.5133 83.68047 100.1647 111.6064 83.55587 100.2468 111.7913 82.15563 101.0315 111.7852 82.15563 100.2065 111.8753 82.15563 101.1791 111.7334 82.15563 100.8717 111.7034 82.15563 100.7045 111.7297 82.15563 100.367 111.7022 82.15563 100.5347 109.5176 83.35799 98.89688 109.5099 83.35986 98.90827 109.5369 83.38581 98.91689 109.9244 83.79219 99.04484 109.8367 83.83589 99.16432 109.7387 83.8945 99.26834 109.5959 83.73954 99.21652 109.4922 83.81182 99.30282 109.3829 83.89562 99.36952 109.2709 83.77139 99.33036 109.1602 83.86446 99.37671 109.0492 83.74019 99.33996 108.9392 83.84005 99.36552 108.7216 83.81978 99.33628 108.8308 83.94473 99.36894 108.7504 83.6286 99.30442 108.6401 83.67414 99.30669 108.632 83.67765 99.30541 108.6062 83.68881 99.30133 108.471 83.74738 99.27996 108.8946 83.57056 99.28884 108.8231 83.59861 99.30292 108.8288 83.71563 99.33147 108.8017 83.60743 99.30336 108.9373 83.61619 99.30483 108.9842 83.53542 99.27119 108.9688 83.54148 99.27423 109.1714 83.46678 99.19424 109.1338 83.47985 99.21546 109.1582 83.6474 99.29283 109.1287 83.48177 99.21738 109.0446 83.52368 99.25695 109.0701 83.50354 99.23921 109.036 83.51619 99.2519 109.3948 83.39231 99.03896 109.2974 83.42361 99.11656 109.3636 83.49129 99.13864 109.2762 83.43042 99.13347 109.4961 83.36322 98.92877 109.4115 83.38753 99.02084 109.4553 83.43151 99.03508 109.4071 83.38877 99.02554 109.5782 83.34327 98.80727 109.3784 83.68769 99.26319 109.2638 83.5638 99.22522 109.2697 83.43252 99.13867 109.4801 83.61528 99.17675 109.6915 83.68047 99.11264 109.5738 83.55586 99.07302 109.7768 83.636 98.99362 109.6573 83.51077 98.95439 109.5194 82.15563 98.89804 109.408 82.15563 99.02635 109.2766 82.15563 99.13397 109.1288 82.15563 99.21778 108.969 82.15563 99.27538 108.8018 82.15563 99.30509 108.6319 82.15563 99.30607 103.3914 83.83589 99.16374 104.0679 83.86447 99.37625 104.2889 83.84008 99.3651 103.7097 83.35755 98.89697 103.6913 83.38584 98.91636 103.8161 83.3871 99.02188 103.7176 83.35941 98.9094 103.9307 83.42356 99.11617 103.8333 83.39231 99.03845 103.7728 83.43153 99.03457 103.8202 83.38833 99.02581 104.0568 83.46678 99.19374 103.9569 83.432 99.13714 103.8645 83.49131 99.13816 103.9519 83.43038 99.1331 104.2908 83.61623 99.30441 104.3334 83.57051 99.28865 104.2592 83.54138 99.27427 104.0995 83.48178 99.21691 104.0699 83.64743 99.29238 104.1578 83.50347 99.23844 104.1835 83.52372 99.25652 104.1922 83.51628 99.25113 104.2502 83.53782 99.27252 104.405 83.59861 99.30252 104.3993 83.71567 99.33107 104.4264 83.60742 99.30308 104.6218 83.68885 99.30023 104.596 83.6777 99.30416 104.5065 83.81982 99.33591 104.5771 83.66955 99.30703 104.4777 83.62856 99.30442 104.7571 83.74738 99.27962 104.3966 83.94482 99.36554 104.1789 83.74021 99.33952 103.8452 83.89562 99.36901 103.9572 83.7714 99.32988 103.7359 83.81182 99.30229 103.4894 83.89451 99.26778 103.6323 83.73954 99.21598 103.748 83.6153 99.17623 103.8497 83.68769 99.26269 103.9643 83.56383 99.22474 104.0943 83.47985 99.215 103.5709 83.51078 98.95384 103.4514 83.636 98.99305 103.3038 83.79221 99.04424 103.5367 83.68047 99.11209 103.6543 83.55587 99.07247 104.4263 82.15563 99.30469 103.7088 82.15563 98.89752 104.5962 82.15563 99.3057 104.2591 82.15563 99.27494 104.0993 82.15563 99.21732 103.8201 82.15563 99.02584 103.9516 82.15563 99.13348 101.4409 83.35799 100.2064 101.4469 83.35986 100.2188 101.4679 83.38581 100.1998 101.7724 83.79219 99.92818 101.8321 83.83589 100.0638 101.8732 83.8945 100.2007 101.7569 83.73954 100.2985 101.7798 83.81182 100.4314 101.7829 83.89562 100.5595 101.693 83.77139 100.6368 101.6778 83.86446 100.7559 101.5904 83.74019 100.8337 101.5576 83.84005 100.9417 101.4234 83.81978 101.1156 101.5063 83.94473 101.0373 101.4103 83.6286 101.0746 101.3571 83.67414 101.1713 101.3519 83.67765 101.1777 101.3355 83.68881 101.198 101.2494 83.74738 101.3044 101.4689 83.57056 100.942 101.4453 83.59861 101.011 101.4729 83.71563 101.0203 101.435 83.60743 101.0297 101.504 83.61619 100.913 101.4984 83.53542 100.8555 101.4933 83.54148 100.8704 101.5253 83.46678 100.655 101.5249 83.47985 100.6981 101.6041 83.6474 100.7157 101.524 83.48177 100.7035 101.5162 83.52368 100.7962 101.5136 83.50354 100.7652 101.5076 83.51619 100.8011 101.5026 83.39231 100.3838 101.5211 83.42361 100.507 101.5733 83.49129 100.4607 101.5251 83.43042 100.5338 101.4578 83.36322 100.2411 101.4952 83.38753 100.3604 101.5295 83.43151 100.3295 101.4971 83.38877 100.3665 101.3936 83.34327 100.1091 101.6885 83.68769 100.5102 101.5983 83.5638 100.5905 101.5263 83.43252 100.5421 101.6645 83.61528 100.3788 101.7147 83.68047 100.1638 101.6215 83.55586 100.2459 101.6543 83.636 100.0304 101.5605 83.51077 100.1143 101.4428 82.15563 100.2055 101.4982 82.15563 100.3661 101.5257 82.15563 100.5337 101.5244 82.15563 100.7036 101.4944 82.15563 100.8708 101.4365 82.15563 101.0305 101.3524 82.15563 101.1781 98.6089 83.83589 105.6454 99.13117 83.86447 105.1658 99.23203 83.84008 104.9688 98.53703 83.35755 105.2363 98.5446 83.38584 105.262 98.69841 83.3871 105.2066 98.55177 83.35941 105.2357 98.83734 83.42356 105.1546 98.72138 83.39231 105.2 98.68776 83.43153 105.2504 98.70384 83.38833 105.2051 98.96758 83.46678 105.0841 98.86864 83.432 105.1423 98.82332 83.49131 105.2228 98.8626 83.43038 105.1447 99.18045 83.61623 104.9368 99.18811 83.57051 104.892 99.13855 83.54138 104.9491 99.00898 83.48178 105.0587 99.05958 83.64743 105.1221 99.0568 83.50347 105.019 99.08531 83.52372 105.0058 99.08501 83.51628 104.9955 99.1325 83.53782 104.956 99.23591 83.59861 104.8369 99.25777 83.71567 104.8562 99.24708 83.60742 104.8187 99.3423 83.68885 104.6481 99.33281 83.6777 104.6724 99.31556 83.81982 104.7657 99.32588 83.66955 104.6901 99.27389 83.62856 104.7749 99.39212 83.74738 104.5206 99.2863 83.94482 104.8757 99.15491 83.74021 105.0512 99.0136 83.89562 105.355 99.03568 83.7714 105.2385 98.90116 83.81182 105.4163 98.74801 83.89451 105.6125 98.77458 83.73954 105.4629 98.79801 83.6153 105.3428 98.92376 83.68769 105.2979 98.94821 83.56383 105.1797 99.00475 83.47985 105.0623 98.51689 83.51078 105.3849 98.49108 83.636 105.5081 98.46161 83.79221 105.6615 98.63681 83.68047 105.4937 98.66134 83.55587 105.372 98.86279 82.15563 105.1451 99.24845 82.15563 104.8195 98.53707 82.15563 105.2373 99.33426 82.15563 104.6729 99.13907 82.15563 104.9495 99.00926 82.15563 105.0591 98.70386 82.15563 105.2051 98.53668 83.35799 107.8559 98.5504 83.35986 107.8569 98.54438 83.38581 107.8292 98.46145 83.79219 107.4296 98.60874 83.83589 107.4458 98.74784 83.8945 107.4787 98.77439 83.73954 107.6283 98.90096 83.81182 107.6749 99.01338 83.89562 107.7362 99.03544 83.77139 107.8528 99.13093 83.86446 107.9255 99.15464 83.74019 108.04 99.23175 83.84005 108.1225 99.31525 83.81978 108.3256 99.2889 83.94473 108.2146 99.27322 83.6286 108.3165 99.33035 83.67414 108.4109 99.33329 83.67765 108.4186 99.34265 83.68881 108.4429 99.39176 83.74738 108.5707 99.18763 83.57056 108.1994 99.2356 83.59861 108.2543 99.25747 83.71563 108.2351 99.24666 83.60743 108.2726 99.18016 83.61619 108.1545 99.12754 83.53542 108.1306 99.1379 83.54148 108.1425 98.96733 83.46678 108.0071 99.00447 83.47985 108.0289 99.05932 83.6474 107.9692 99.00872 83.48177 108.0325 99.08504 83.52368 108.0855 99.05692 83.50354 108.0723 99.08496 83.51619 108.0955 98.72113 83.39231 107.8912 98.83705 83.42361 107.9367 98.82308 83.49129 107.8684 98.8623 83.43042 107.9467 98.5751 83.36322 107.8586 98.69712 83.38753 107.8858 98.68753 83.43151 107.8407 98.70336 83.38877 107.8872 98.42877 83.34327 107.8482 98.92353 83.68769 107.7933 98.94796 83.5638 107.9115 98.87006 83.43252 107.9497 98.7978 83.61528 107.7484 98.63662 83.68047 107.5974 98.66114 83.55586 107.7191 98.49089 83.636 107.5831 98.51668 83.51077 107.7062 98.53683 82.15563 107.8538 98.70362 82.15563 107.8861 98.86253 82.15563 107.9461 99.00899 82.15563 108.0321 99.13878 82.15563 108.1417 99.24814 82.15563 108.2717 99.33392 82.15563 108.4183 101.8309 83.83589 113.0279 101.7786 83.81182 112.6603 101.6767 83.86447 112.3358 101.4407 83.35755 112.8857 101.4667 83.38584 112.8919 101.4957 83.3871 112.731 101.4471 83.35928 112.8735 101.5201 83.42356 112.5847 101.5014 83.39231 112.7078 101.5283 83.43153 112.7622 101.4971 83.38833 112.7256 101.5242 83.46678 112.4367 101.5251 83.432 112.5515 101.5722 83.49131 112.631 101.5241 83.43038 112.5579 101.503 83.61623 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83.46963 63.42522 130.4636 62.60964 70.11239 151.4514 62.52903 70.01708 151.3708 83.47511 63.42933 130.4678 83.54715 63.501 130.5172 62.65651 70.16781 151.4983 62.71511 70.26311 151.5569 83.62555 63.57899 130.571 83.67587 63.64346 130.6009 62.81002 70.41745 151.6518 83.78517 63.78348 130.666 83.81385 63.82023 130.6831 62.82467 70.45055 151.6665 83.94609 64.03607 130.7472 62.94404 70.72018 151.7859 83.97283 64.07972 130.7602 84.04878 64.20368 130.797 62.99182 70.82807 151.8337 84.19763 64.52519 130.8443 63.10075 71.18721 151.9426 84.26583 64.6725 130.866 84.41864 65.00251 130.9146 63.21204 71.55411 152.0539 84.46758 65.14823 130.9176 63.26729 71.84381 152.1092 84.56925 65.45099 130.9236 63.40724 72.57765 152.2492 84.79727 66.12991 130.9373 63.43908 72.87364 152.281 85.09239 67.45941 130.8125 84.81208 66.17401 130.9381 84.84413 66.32096 130.9238 63.52133 73.63837 152.3633 63.544 74.26563 152.3859 85.69623 64.33193 129.4595 84.64621 62.88123 128.6356 84.58278 62.87629 128.5729 84.71141 62.8964 128.6984 84.77825 62.92226 128.7612 84.84657 62.95926 128.8238 84.91616 63.00778 128.8858 84.98684 63.06813 128.9471 84.22486 63.21697 129.7089 85.13052 63.22523 129.0663 84.37461 63.37289 129.822 85.27557 63.4315 129.1792 86.14253 66.01676 129.643 85.94188 65.12659 129.5812 85.75344 62.97857 128.1806 85.891 63.13638 128.3059 85.41977 63.6864 129.2837 82.8069 71.46859 130.1374 62.04407 78.01821 150.8857 82.80113 71.46707 130.1322 61.99552 78.01226 150.8372 82.78472 71.46274 130.1171 61.92443 77.98615 150.7661 82.67617 71.43411 130.0176 61.84439 77.95674 150.686 82.63884 71.42427 129.9834 61.80445 77.9323 150.6461 82.54845 71.37977 129.907 61.69942 77.86801 150.541 82.50726 71.35949 129.8722 82.45295 71.33277 129.8263 61.68323 77.85369 150.5248 82.41558 71.30572 129.7975 61.56063 77.74524 150.4022 82.36187 71.26686 129.7561 82.27602 71.20471 129.6898 61.54669 77.73291 150.3883 82.272 71.20181 129.6867 61.43851 77.59981 150.2801 82.21421 71.1459 129.6466 82.13186 71.06624 129.5894 61.37128 77.51709 150.2128 82.07592 71.01213 129.5505 61.31304 77.41959 150.1546 81.98047 70.89253 129.4928 61.21597 77.25711 150.0575 81.92131 70.81842 129.4571 61.18768 77.19283 150.0292 81.86448 70.74722 129.4227 81.82129 70.67674 129.4018 61.07109 76.92792 149.9126 81.78309 70.61443 129.3832 81.66591 70.42324 129.3264 61.05907 76.90059 149.9006 81.64694 70.39228 129.3172 60.9635 76.58451 149.805 81.61997 70.34829 129.3041 81.52672 70.1472 129.2744 81.50424 70.09873 129.2672 60.89901 76.37123 149.7405 81.39693 69.86732 129.233 60.86525 76.18447 149.7067 81.34606 69.71736 129.2294 60.79273 75.78331 149.6342 81.31432 69.62383 129.2272 60.78861 75.72522 149.63 81.19769 69.28004 129.2192 60.75255 75.21787 149.594 81.19663 69.27692 129.2191 81.15365 69.08061 129.2381 81.09136 68.79608 129.2657 60.7417 75.06507 149.5831 86.24504 70.78885 126.6568 83.92889 71.1501 128.9725 83.65483 71.04783 128.7225 83.79424 71.11266 128.8467 83.369 70.83146 128.4875 83.51241 70.95429 128.602 83.22683 70.67967 128.381 83.08824 70.50022 128.2846 84.14344 70.06325 127.0123 82.95552 70.29529 128.2 84.26815 70.26973 127.1049 84.39975 70.45056 127.2083 84.536 70.6035 127.3207 84.67462 70.72726 127.44 84.81339 70.82152 127.5641 84.95027 70.88684 127.6908 85.08346 70.92456 127.8182 84.02765 69.83422 126.9323 82.83087 70.06799 128.1288 83.7497 69.05235 126.7762 83.63073 68.49732 126.7438 82.38221 68.74121 127.9921 82.7162 69.8221 128.072 83.92257 69.58645 126.8658 82.52266 69.29203 128.003 85.23169 69.69354 125.7284 85.33856 69.92362 125.8174 86.53859 69.87584 124.6201 86.46695 69.71625 124.5485 86.44266 69.64434 124.5242 85.13626 69.44465 125.6523 86.35817 69.39422 124.4397 86.31812 69.27565 124.3996 84.98418 68.90812 125.542 86.22706 68.85791 124.3085 86.20179 68.742 124.2832 84.88682 68.35057 125.4879 86.13366 68.12032 124.2151 86.15336 68.30008 124.2348 87.41042 70.73991 125.4921 87.37255 70.73521 125.4542 86.11332 70.75096 126.528 87.28082 70.70088 125.3625 85.97898 70.68534 126.3988 85.84388 70.59066 126.271 87.01811 70.54206 125.0997 85.71009 70.46633 126.1468 86.88875 70.42155 124.9703 85.57979 70.31269 126.0285 87.21145 70.67492 125.2931 87.14955 70.63547 125.2312 87.05084 70.57257 125.1324 86.76554 70.26338 124.8471 86.72499 70.21134 124.8065 85.45523 70.13105 125.918 86.64968 70.08042 124.7312 86.56204 69.92806 124.6436 88.89833 70.74697 124.0433 88.85244 70.73339 123.975 88.29866 68.12023 122.0531 88.29922 68.16603 122.0555 88.31381 68.56059 122.1181 88.32497 68.74099 122.1666 88.33679 68.93225 122.218 88.36608 69.26853 122.3481 88.36686 69.2755 122.3517 88.39978 69.56566 122.5012 88.42098 69.7144 122.5991 88.43647 69.82312 122.6706 88.4547 69.92597 122.755 88.4754 70.04277 122.8508 88.50926 70.19757 123.0043 88.51287 70.21067 123.0198 88.55108 70.34928 123.184 88.57687 70.41947 123.2845 88.81809 70.72323 123.9238 88.74828 70.6834 123.7913 88.73818 70.67383 123.7672 88.68711 70.62545 123.6452 88.64878 70.57219 123.535 88.64518 70.56719 123.5247 88.59581 70.47101 123.3582 88.99146 70.75559 124.1511 88.97412 70.75518 124.1331 88.94061 70.75292 124.0957 82.237 66.5841 128.2331 60.79179 73.59533 149.6332 60.81961 73.35126 149.6611 60.92386 72.43679 149.7653 82.45171 63.87694 129.3028 61.45988 70.51275 150.3014 82.40984 64.03685 129.2104 61.32837 70.80104 150.1699 82.32692 64.35351 129.0275 61.26225 71.01326 150.1038 82.28928 64.67175 128.8893 61.11411 71.48876 149.9556 82.22762 65.19309 128.663 61.0328 71.89395 149.8743 82.22934 65.44952 128.5838 82.23524 66.32331 128.3137 82.49104 63.78485 129.3712 61.60414 70.2454 150.4457 61.5224 70.37571 150.364 82.59303 63.56439 129.5429 82.68933 63.42738 129.6825 61.76365 70.03614 150.6053 82.5594 63.62479 129.4902 82.58475 63.57926 129.5299 61.64549 70.17948 150.4871 61.64896 70.17395 150.4906 82.69174 63.42501 129.6856 61.87002 69.94052 150.7117 61.77289 70.02503 150.6145 82.74971 63.368 129.7616 82.78162 63.33661 129.8034 61.87917 69.93257 150.7208 61.96935 69.87939 150.811 82.80748 63.32 129.8346 82.87193 63.27862 129.9121 61.97615 69.87538 150.8178 82.92784 63.25869 129.9743 62.06549 69.84489 150.9072 82.96304 63.24615 130.0135 82.98908 63.24325 130.0404 84.52013 62.88123 128.5094 83.87217 63.6864 127.7358 84.26992 63.00778 128.2395 83.9766 63.4315 127.88 83.69641 64.33193 127.4593 83.44667 63.21697 128.9306 83.33358 63.37289 128.7808 84.08948 63.22523 128.0251 84.20865 63.06813 128.1688 84.97525 62.97857 127.4023 84.84997 63.13638 127.2647 84.45729 62.8964 128.4442 84.33194 62.95926 128.3091 84.39448 62.92226 128.3774 83.57472 65.12659 127.2136 83.51293 66.01676 127.013 91.64021 63.10683 107.4427 91.62829 62.30648 107.2146 91.74119 60.75563 108.5002 91.61808 61.49331 106.9213 91.61345 60.75563 106.5862 93.60176 60.75563 114.0094 93.43828 61.49331 113.7168 92.75571 60.75563 112.2878 93.30048 62.30648 113.4576 92.12326 63.10683 110.4239 91.86145 63.10683 109.2629 91.76834 63.10683 108.4969 92.12429 63.10683 110.4272 92.12416 60.75563 110.4273 92.47631 63.10683 111.5606 92.78109 63.10683 112.277 93.19679 63.10683 113.2541 120.5668 66.75563 105.4053 120.2571 66.75563 103.4078 117.5424 66.75563 105.7223 120.3133 66.75563 109.4296 117.3773 66.75563 107.6079 119.7552 66.75563 111.3725 117.1739 66.75563 107.8112 118.9232 66.75563 113.2148 119.6629 66.75563 101.4756 117.1741 66.75563 105.2833 117.3775 66.75563 105.4867 117.7634 66.75563 106.5473 120.5857 66.75563 107.4266 117.7384 66.75563 106.2608 117.6639 66.75563 105.983 117.7383 66.75563 106.8338 117.6638 66.75563 107.1116 117.5423 66.75563 107.3723 114.6132 66.75563 108.197 114.3267 66.75563 108.1719 116.512 66.75563 116.4467 112.9634 66.75563 106.5469 112.9885 66.75563 106.2604 111.0963 66.75563 106.1545 113.063 66.75563 105.9826 110.9602 66.75563 105.382 113.5529 66.75563 105.283 113.7885 66.75563 105.118 109.7957 66.75563 103.3646 110.692 66.75563 104.6449 113.1845 66.75563 105.7219 110.2998 66.75563 103.9655 114.0489 66.75563 108.0975 113.7883 66.75563 107.9759 109.7951 66.75563 109.7286 113.5527 66.75563 107.8109 113.3493 66.75563 107.6075 110.2993 66.75563 109.1277 113.1844 66.75563 107.3719 114.0492 66.75563 104.9965 114.327 66.75563 104.9221 116.9383 66.75563 107.9762 116.6776 66.75563 108.0977 117.8346 66.75563 114.918 116.3998 66.75563 108.1721 116.1132 66.75563 108.1972 113.3495 66.75563 105.4863 112.9884 66.75563 106.8334 111.0962 66.75563 106.9389 113.0629 66.75563 107.1112 110.96 66.75563 107.7114 110.6916 66.75563 108.4485 114.6135 66.75563 104.897 116.1135 66.75563 104.8972 117.6763 66.75563 97.96661 116.4001 66.75563 104.9223 118.7966 66.75563 99.64923 116.6779 66.75563 104.9967 116.9385 66.75563 105.1183 101.5403 66.75563 119.5948 103.4724 66.75563 120.1894 105.5518 66.75563 117.3102 114.983 66.75563 117.769 109.1942 66.75563 110.2327 113.2796 66.75563 118.8573 107.1767 66.75563 117.5968 107.4912 66.75563 120.5188 107.4374 66.75563 117.4753 109.4942 66.75563 120.2467 105.3485 66.75563 117.1068 105.1835 66.75563 116.8712 99.7141 66.75563 118.7282 105.062 66.75563 116.6105 98.03169 66.75563 117.6077 104.9876 66.75563 116.3327 104.9625 66.75563 116.0461 108.2374 66.75563 116.333 108.163 66.75563 116.6108 108.0414 66.75563 116.8714 111.4372 66.75563 119.689 107.8764 66.75563 117.107 107.673 66.75563 117.3104 105.4699 66.75563 120.4995 106.0481 66.75563 117.5967 105.7874 66.75563 117.4752 106.8989 66.75563 117.6713 106.6124 66.75563 117.6963 106.3259 66.75563 117.6712 108.2376 66.75563 114.2599 108.2627 66.75563 114.5465 108.2625 66.75563 116.0465 105.1838 66.75563 113.7212 105.3488 66.75563 113.4856 105.4483 66.75563 110.8929 104.7112 66.75563 110.6245 104.032 66.75563 110.2322 103.4311 66.75563 109.728 105.5522 66.75563 113.2822 105.7878 66.75563 113.1173 106.2208 66.75563 111.0291 108.1632 66.75563 113.9821 107.7777 66.75563 110.8931 108.5148 66.75563 110.6249 106.6128 66.75563 112.8963 107.0052 66.75563 111.0292 106.3263 66.75563 112.9213 106.0485 66.75563 112.9958 104.9627 66.75563 114.5461 104.9878 66.75563 114.2596 105.0622 66.75563 113.9818 107.6734 66.75563 113.2824 107.8767 66.75563 113.4858 108.0417 66.75563 113.7214 106.8993 66.75563 112.9214 107.1771 66.75563 112.9959 107.4378 66.75563 113.1174 95.84952 66.75563 105.4847 102.5348 66.75563 108.4477 102.2666 66.75563 107.7106 99.82723 66.75563 107.6632 99.149 66.75563 108.1062 98.88483 66.75563 108.1731 99.39858 66.75563 107.9968 99.62673 66.75563 107.8477 102.927 66.75563 109.1271 100.2129 66.75563 106.9508 100.1244 66.75563 107.2085 102.1305 66.75563 106.9381 98.61325 66.75563 108.1956 97.11325 66.75563 108.1954 96.82672 66.75563 108.1703 96.54892 66.75563 108.0959 96.28826 66.75563 107.9743 96.05268 66.75563 107.8093 95.84932 66.75563 107.6059 95.68437 66.75563 107.3703 95.4634 66.75563 106.5453 95.48844 66.75563 106.8318 95.56285 66.75563 107.1096 99.14929 66.75563 104.985 99.39884 66.75563 105.0945 102.2668 66.75563 105.3812 99.99464 66.75563 107.4482 96.05291 66.75563 105.2814 96.28852 66.75563 105.1164 96.5492 66.75563 104.9949 96.82702 66.75563 104.9205 95.48849 66.75563 106.2588 95.56295 66.75563 105.981 95.68453 66.75563 105.7203 100.1245 66.75563 105.8829 102.1306 66.75563 106.1537 99.9948 66.75563 105.6432 100.2129 66.75563 106.1407 100.2578 66.75563 106.4095 100.2577 66.75563 106.682 99.62696 66.75563 105.2436 99.82744 66.75563 105.4282 97.11354 66.75563 104.8954 98.61354 66.75563 104.8956 98.88513 66.75563 104.9181 107.878 66.75563 99.60701 107.6746 66.75563 99.81037 106.9009 66.75563 95.42139 106.6144 66.75563 95.3963 106.3279 66.75563 95.42134 105.0636 66.75563 99.11049 104.9892 66.75563 98.83267 105.3504 66.75563 95.98558 105.5538 66.75563 95.78223 105.7894 66.75563 95.61728 106.0501 66.75563 95.49575 107.1787 66.75563 95.49586 107.4394 66.75563 95.61743 105.5534 66.75563 99.81018 104.0326 66.75563 102.8599 104.712 66.75563 102.4677 103.4317 66.75563 103.364 105.3501 66.75563 99.60678 105.1851 66.75563 99.37117 102.5352 66.75563 104.6441 102.9274 66.75563 103.9649 108.2392 66.75563 96.75993 108.2643 66.75563 97.04645 108.2641 66.75563 98.54645 108.239 66.75563 98.83296 108.1646 66.75563 99.11077 108.043 66.75563 99.37143 106.2216 66.75563 102.0634 107.006 66.75563 102.0635 106.9005 66.75563 100.1713 107.675 66.75563 95.78242 107.8783 66.75563 95.98581 108.0433 66.75563 96.22143 108.1648 66.75563 96.4821 107.1783 66.75563 100.0968 107.7785 66.75563 102.1997 107.439 66.75563 99.97531 108.5156 66.75563 102.4681 109.1948 66.75563 102.8603 106.614 66.75563 100.1963 106.3275 66.75563 100.1712 105.4491 66.75563 102.1995 106.0496 66.75563 100.0967 105.789 66.75563 99.97517 104.9641 66.75563 98.54615 104.9643 66.75563 97.04615 104.9894 66.75563 96.75963 105.0638 66.75563 96.48182 105.1854 66.75563 96.22117 107.0681 66.01351 90.53862 107.0744 66.19969 90.43997 107.7275 67.36354 89.85292 107.1544 65.33319 90.90253 107.1068 65.5145 90.8047 107.3094 65.41044 90.86763 107.083 65.67634 90.71805 107.0709 65.83908 90.6313 107.5406 64.9818 91.10746 107.5106 64.98305 91.10502 107.4808 64.98688 91.10128 107.4359 64.99806 91.09288 107.4099 65.00785 91.08633 107.3846 65.01996 91.0786 107.3598 65.03455 91.06964 107.3331 65.05369 91.05821 107.3082 65.07514 91.04568 107.2628 65.12475 91.01736 107.2551 65.13481 91.0117 107.2067 65.21179 90.96889 107.1629 65.30957 90.91536 109.4243 64.9818 91.33721 107.0761 66.22464 90.42677 107.0786 66.24954 90.41363 107.4599 67.0846 89.98542 107.1185 66.50867 90.27725 107.424 67.21726 89.91314 107.4899 67.27733 89.88456 107.5404 67.31143 89.86917 107.5712 67.32769 89.86227 107.6026 67.34094 89.85707 107.64 67.35259 89.85312 107.6687 67.35864 89.85169 107.6978 67.3623 89.85162 107.1547 66.66611 90.19482 107.1967 66.80568 90.12216 107.2059 66.83187 90.10858 107.2785 67.00279 90.02058 107.3532 67.1294 89.95652 114.0496 67.35864 91.56208 114.0737 67.35259 91.57765 114.1634 67.0846 91.78226 114.1041 67.34094 91.59976 114.1286 67.32769 91.61995 114.1519 67.31143 91.64135 114.1879 67.27733 91.67993 114.2307 67.21726 91.73764 114.2703 67.1294 91.81061 114.3029 67.00279 91.90347 114.275 66.22464 92.3564 113.998 67.36354 91.53368 114.0244 67.3623 91.54743 114.3218 66.83187 92.01599 114.3229 66.80568 92.03232 114.323 66.66611 92.11624 114.3131 66.50867 92.20574 114.2794 66.24954 92.34378 114.2699 66.19969 92.36871 114.2248 66.00877 92.45946 114.171 65.81874 92.54502 113.559 64.983 92.72619 113.5324 64.9818 92.71356 113.8495 65.40026 92.62599 113.7572 65.06918 92.77603 113.8165 65.12329 92.77457 113.8796 65.19685 92.76361 113.5852 64.98651 92.73728 113.7287 65.04807 92.77389 113.6996 65.02965 92.76989 113.6729 65.01546 92.76465 113.6459 65.00368 92.75785 113.611 64.99227 92.74692 114.1184 65.66249 92.61087 114.0327 65.45567 92.68944 113.9505 65.30136 92.7384 110.6212 64.9818 91.60794 112.1031 67.36354 90.74208 111.793 64.9818 91.97272 112.2136 67.36354 90.78823 109.6531 67.36354 90.10085 109.7642 67.36354 90.11515 110.945 67.36354 90.38625 89.9186 67.35864 107.5985 89.92003 67.35259 107.5698 90.05236 67.0846 107.3898 89.92398 67.34094 107.5325 89.92919 67.32769 107.5011 89.93611 67.31143 107.4703 89.9515 67.27733 107.4198 89.98009 67.21726 107.3539 90.02348 67.1294 107.2831 90.08756 67.00279 107.2084 90.49378 66.22464 107.0061 89.91981 67.36354 107.6574 89.91851 67.3623 107.6276 90.17557 66.83187 107.1358 90.18915 66.80568 107.1266 90.26182 66.66611 107.0847 90.34426 66.50867 107.0485 90.48064 66.24954 107.0086 90.50698 66.19969 107.0044 90.60816 66.00877 106.9981 90.70915 65.81874 107.0019 91.17201 64.983 107.4413 91.17439 64.9818 107.4706 90.94002 65.40026 107.2398 91.1161 65.06918 107.2447 91.08517 65.12329 107.1941 91.04412 65.19685 107.1449 91.16854 64.98651 107.4131 91.1285 65.04807 107.2705 91.13958 65.02965 107.2977 91.14839 65.01546 107.3234 91.15602 65.00368 107.3502 91.16398 64.99227 107.3859 90.79246 65.66249 107.0145 90.90333 65.45567 107.0494 90.98683 65.30136 107.0961 92.52297 66.01351 114.1563 92.43441 66.19969 114.2002 91.59943 67.36354 113.9281 92.79499 65.33319 113.8996 92.73406 65.5145 113.9898 92.68727 65.41044 113.7829 92.67095 65.67634 114.0538 92.60183 65.83908 114.1075 92.77939 64.9818 113.4628 92.79228 64.98305 113.49 92.8039 64.98688 113.5176 92.81909 64.99806 113.5607 92.82641 65.00785 113.5865 92.83239 65.01996 113.6123 92.83701 65.03455 113.6382 92.84047 65.05369 113.6671 92.84208 65.07514 113.6949 92.84022 65.12475 113.7483 92.83917 65.13481 113.7578 92.82633 65.21179 113.8212 92.80184 65.30957 113.8859 92.0365 64.9818 111.7166 92.4221 66.22464 114.2053 92.40948 66.24954 114.2097 91.84798 67.0846 114.0936 92.27143 66.50867 114.2434 91.80335 67.21726 114.1609 91.74564 67.27733 114.1181 91.70707 67.31143 114.082 91.68568 67.32769 114.0588 91.66548 67.34094 114.0342 91.64339 67.35259 114.0038 91.62782 67.35864 113.9797 91.61318 67.3623 113.9545 92.18193 66.66611 114.2532 92.09801 66.80568 114.2532 92.08168 66.83187 114.2521 91.96916 67.00279 114.2332 91.87631 67.1294 114.2005 91.67247 64.9818 110.5446 90.18168 67.36354 109.6942 91.40251 64.9818 109.3474 90.16641 67.36354 109.5754 90.85136 67.36354 112.1365 90.80818 67.36354 112.0332 90.45256 67.36354 110.875 92.97772 66.01351 98.14864 92.8954 66.19969 98.09391 92.71357 67.36354 97.23473 93.336 65.33319 98.25588 93.22749 65.5145 98.24818 93.38326 65.41044 98.10422 93.14051 65.67634 98.22552 93.05938 65.83908 98.19255 93.70655 64.9818 98.02394 93.68944 64.98305 98.04869 93.67134 64.98688 98.07257 93.64161 64.99806 98.10726 93.62292 65.00785 98.12651 93.60357 65.01996 98.14459 93.58342 65.03455 98.16156 93.56015 65.05369 98.17899 93.53684 65.07514 98.19431 93.48966 65.12475 98.21939 93.48091 65.13481 98.22324 93.4196 65.21179 98.24382 93.35137 65.30957 98.25492 94.84737 64.9818 96.50747 92.88485 66.22464 98.08578 92.87471 66.24954 98.07707 92.69451 67.0846 97.53273 92.77655 66.50867 97.97432 92.61397 67.21726 97.5277 92.62217 67.27733 97.45633 92.6341 67.31143 97.40492 92.64353 67.32769 97.37476 92.6547 67.34094 97.34499 92.66997 67.35259 97.31066 92.68308 67.35864 97.28512 92.69757 67.3623 97.25984 92.72327 66.66611 97.90175 92.68134 66.80568 97.82906 92.67414 66.83187 97.81435 92.63425 67.00279 97.70745 92.61614 67.1294 97.6107 97.35476 67.35864 92.61429 97.38031 67.35259 92.60119 97.60237 67.0846 92.62577 97.41464 67.34094 92.58592 97.44441 67.32769 92.57476 97.47457 67.31143 92.56533 97.52598 67.27733 92.55342 97.59735 67.21726 92.54522 97.68035 67.1294 92.5474 97.7771 67.00279 92.56555 98.15538 66.22464 92.81621 97.30436 67.36354 92.64478 97.32949 67.3623 92.62878 97.88399 66.83187 92.60546 97.8987 66.80568 92.61265 97.97138 66.66611 92.6546 98.04395 66.50867 92.70789 98.14667 66.24954 92.80606 98.1635 66.19969 92.82676 98.21952 66.00877 92.91125 98.2667 65.81874 93.00062 98.11765 64.983 93.62115 98.09339 64.9818 93.63789 98.1761 65.40026 93.31951 98.25989 65.06918 93.47447 98.28829 65.12329 93.42234 98.31034 65.19685 93.36222 98.14033 64.98651 93.60404 98.24378 65.04807 93.49808 98.22577 65.02965 93.52127 98.20788 65.01546 93.54177 98.18848 65.00368 93.56179 98.16158 64.99227 93.58651 98.29745 65.66249 93.07907 98.32268 65.45567 93.19253 98.32398 65.30136 93.2882 95.68032 64.9818 95.60622 95.67141 67.36354 93.88994 96.58212 64.9818 94.77384 95.7666 67.36354 93.81735 93.89108 67.36354 95.6911 93.95903 67.36354 95.60201 94.78421 67.36354 94.71495 97.11354 60.75563 104.8954 96.82702 60.75563 104.9205 96.5492 60.75563 104.9949 96.28852 60.75563 105.1164 96.05291 60.75563 105.2814 95.84952 60.75563 105.4847 95.68453 60.75563 105.7203 95.56295 60.75563 105.981 95.48849 60.75563 106.2588 95.4634 60.75563 106.5453 95.48844 60.75563 106.8318 95.56285 60.75563 107.1096 95.68437 60.75563 107.3703 95.84932 60.75563 107.6059 96.05268 60.75563 107.8093 96.28826 60.75563 107.9743 96.54892 60.75563 108.0959 96.82672 60.75563 108.1703 97.11325 60.75563 108.1954 98.61354 60.75563 104.8956 98.61325 60.75563 108.1956 98.88483 60.75563 108.1731 99.149 60.75563 108.1062 99.39858 60.75563 107.9968 99.62673 60.75563 107.8477 99.82723 60.75563 107.6632 99.99464 60.75563 107.4482 100.1244 60.75563 107.2085 100.2129 60.75563 106.9508 100.2577 60.75563 106.682 100.2578 60.75563 106.4095 100.2129 60.75563 106.1407 100.1245 60.75563 105.8829 99.9948 60.75563 105.6432 99.82744 60.75563 105.4282 99.62696 60.75563 105.2436 99.39884 60.75563 105.0945 99.14929 60.75563 104.985 98.88513 60.75563 104.9181 104.9625 60.75563 116.0461 104.9876 60.75563 116.3327 105.062 60.75563 116.6105 105.1835 60.75563 116.8712 105.3485 60.75563 117.1068 105.5518 60.75563 117.3102 105.7874 60.75563 117.4752 106.0481 60.75563 117.5967 106.3259 60.75563 117.6712 106.6124 60.75563 117.6963 106.8989 60.75563 117.6713 107.1767 60.75563 117.5968 107.4374 60.75563 117.4753 107.673 60.75563 117.3104 107.8764 60.75563 117.107 108.0414 60.75563 116.8714 108.163 60.75563 116.6108 108.2374 60.75563 116.333 108.2625 60.75563 116.0465 104.9627 60.75563 114.5461 108.2627 60.75563 114.5465 108.2376 60.75563 114.2599 108.1632 60.75563 113.9821 108.0417 60.75563 113.7214 107.8767 60.75563 113.4858 107.6734 60.75563 113.2824 107.4378 60.75563 113.1174 107.1771 60.75563 112.9959 106.8993 60.75563 112.9214 106.6128 60.75563 112.8963 106.3263 60.75563 112.9213 106.0485 60.75563 112.9958 105.7878 60.75563 113.1173 105.5522 60.75563 113.2822 105.3488 60.75563 113.4856 105.1838 60.75563 113.7212 105.0622 60.75563 113.9818 104.9878 60.75563 114.2596 116.1132 60.75563 108.1972 116.3998 60.75563 108.1721 116.6776 60.75563 108.0977 116.9383 60.75563 107.9762 117.1739 60.75563 107.8112 117.3773 60.75563 107.6079 117.5423 60.75563 107.3723 117.6638 60.75563 107.1116 117.7383 60.75563 106.8338 117.7634 60.75563 106.5473 117.7384 60.75563 106.2608 117.6639 60.75563 105.983 117.5424 60.75563 105.7223 117.3775 60.75563 105.4867 117.1741 60.75563 105.2833 116.9385 60.75563 105.1183 116.6779 60.75563 104.9967 116.4001 60.75563 104.9223 116.1135 60.75563 104.8972 114.6132 60.75563 108.197 114.6135 60.75563 104.897 114.327 60.75563 104.9221 114.0492 60.75563 104.9965 113.7885 60.75563 105.118 113.5529 60.75563 105.283 113.3495 60.75563 105.4863 113.1845 60.75563 105.7219 113.063 60.75563 105.9826 112.9885 60.75563 106.2604 112.9634 60.75563 106.5469 112.9884 60.75563 106.8334 113.0629 60.75563 107.1112 113.1844 60.75563 107.3719 113.3493 60.75563 107.6075 113.5527 60.75563 107.8109 113.7883 60.75563 107.9759 114.0489 60.75563 108.0975 114.3267 60.75563 108.1719 109.7951 60.75563 109.7286 110.2993 60.75563 109.1277 110.6916 60.75563 108.4485 110.96 60.75563 107.7114 111.0962 60.75563 106.9389 111.0963 60.75563 106.1545 110.9602 60.75563 105.382 110.692 60.75563 104.6449 110.2998 60.75563 103.9655 109.7957 60.75563 103.3646 109.1948 60.75563 102.8603 108.5156 60.75563 102.4681 107.7785 60.75563 102.1997 107.006 60.75563 102.0635 106.2216 60.75563 102.0634 105.4491 60.75563 102.1995 104.712 60.75563 102.4677 104.0326 60.75563 102.8599 103.4317 60.75563 103.364 102.9274 60.75563 103.9649 102.5352 60.75563 104.6441 102.2668 60.75563 105.3812 102.1306 60.75563 106.1537 102.1305 60.75563 106.9381 102.2666 60.75563 107.7106 102.5348 60.75563 108.4477 102.927 60.75563 109.1271 103.4311 60.75563 109.728 104.032 60.75563 110.2322 104.7112 60.75563 110.6245 105.4483 60.75563 110.8929 106.2208 60.75563 111.0291 107.0052 60.75563 111.0292 107.7777 60.75563 110.8931 108.5148 60.75563 110.6249 109.1942 60.75563 110.2327 108.2643 60.75563 97.04645 108.2392 60.75563 96.75993 108.1648 60.75563 96.4821 108.0433 60.75563 96.22143 107.8783 60.75563 95.98581 107.675 60.75563 95.78242 107.4394 60.75563 95.61743 107.1787 60.75563 95.49586 106.9009 60.75563 95.42139 106.6144 60.75563 95.3963 106.3279 60.75563 95.42134 106.0501 60.75563 95.49575 105.7894 60.75563 95.61728 105.5538 60.75563 95.78223 105.3504 60.75563 95.98558 105.1854 60.75563 96.22117 105.0638 60.75563 96.48182 104.9894 60.75563 96.75963 104.9643 60.75563 97.04615 108.2641 60.75563 98.54645 104.9641 60.75563 98.54615 104.9892 60.75563 98.83267 105.0636 60.75563 99.11049 105.1851 60.75563 99.37117 105.3501 60.75563 99.60678 105.5534 60.75563 99.81018 105.789 60.75563 99.97517 106.0496 60.75563 100.0967 106.3275 60.75563 100.1712 106.614 60.75563 100.1963 106.9005 60.75563 100.1713 107.1783 60.75563 100.0968 107.439 60.75563 99.97531 107.6746 60.75563 99.81037 107.878 60.75563 99.60701 108.043 60.75563 99.37143 108.1646 60.75563 99.11077 108.239 60.75563 98.83296 105.3892 65.91207 121.4839 107.5531 65.91207 121.5045 109.6975 65.91207 121.2132 111.7775 65.91207 120.6162 113.7499 65.91207 119.7259 119.7917 65.91207 113.6852 120.6824 65.91207 111.713 121.2798 65.91207 109.633 121.5714 65.91207 107.4888 121.5512 65.91207 105.3248 101.4837 66.74332 119.7406 100.6368 66.2835 120.1398 100.5849 66.20915 120.1615 101.2175 66.20962 120.4253 101.1825 65.91207 120.5154 100.3626 65.8651 120.1752 101.1957 66.06465 120.4813 100.425 65.97242 120.1841 100.3897 65.91184 120.1791 100.5708 66.1889 120.1674 100.5014 66.08897 120.1819 100.4993 66.08574 120.182 100.4852 66.06431 120.1824 100.7033 66.37243 120.101 101.2472 66.34342 120.3489 100.7109 66.38197 120.096 101.2841 66.46274 120.2539 100.7821 66.46271 120.0479 101.3758 66.64664 120.018 101.3274 66.56465 120.1427 99.56182 66.70669 118.9971 118.9327 66.74332 99.57216 119.0655 66.70669 99.49699 120.2107 66.56465 101.2627 120.1158 66.46325 100.718 120.3219 66.46274 101.2195 120.086 66.64664 101.3112 120.4169 66.34342 101.1826 120.1642 66.38197 100.6463 120.4934 66.20962 101.1529 120.208 66.2835 100.5722 120.1691 66.37243 100.6386 120.5493 66.06465 101.1312 120.2506 66.06431 100.4206 120.2502 66.08574 100.4347 120.2502 66.08897 100.4368 120.2356 66.1889 100.5062 120.2297 66.20915 100.5203 120.2524 65.97242 100.3603 120.5835 65.91207 101.1179 120.2473 65.91184 100.3251 120.2434 65.8651 100.298 101.4284 66.70669 119.8828 99.63701 66.74332 118.8644 119.8087 66.74332 101.419 119.9509 66.70669 101.3637 120.4095 66.74332 103.3727 120.7227 66.74332 105.3926 120.5582 66.70669 103.3385 120.8748 66.70669 105.3801 120.6995 66.64664 103.306 121.0193 66.64664 105.3683 120.8299 66.56465 103.276 121.1527 66.56465 105.3574 120.9462 66.46274 103.2492 121.2716 66.46274 105.3477 121.0455 66.34342 103.2264 121.3731 66.34342 105.3394 121.1254 66.20962 103.208 121.4549 66.20962 105.3327 121.1839 66.06465 103.1945 121.5147 66.06465 105.3278 121.2196 65.91207 103.1863 115.0766 66.74332 117.8944 113.3541 66.74332 118.9949 115.1678 66.70669 118.0167 113.4267 66.70669 119.1291 115.2545 66.64664 118.1329 113.4958 66.64664 119.2566 115.3344 66.56465 118.2402 113.5595 66.56465 119.3742 115.4058 66.46274 118.3358 113.6163 66.46274 119.4791 115.4667 66.34342 118.4175 113.6648 66.34342 119.5688 115.5157 66.20962 118.4832 113.7039 66.20962 119.6408 115.5516 66.06465 118.5314 113.7325 66.06465 119.6937 115.5735 65.91207 118.5608 120.7418 66.74332 107.4365 120.8941 66.70669 107.4461 121.0388 66.64664 107.4552 121.1723 66.56465 107.4636 121.2914 66.46274 107.4711 121.3931 66.34342 107.4775 121.4749 66.20962 107.4827 121.5349 66.06465 107.4864 120.4664 66.74332 109.4618 120.6157 66.70669 109.4933 120.7575 66.64664 109.5231 120.8884 66.56465 109.5507 121.0052 66.46274 109.5753 121.1049 66.34342 109.5962 121.1852 66.20962 109.6131 121.2439 66.06465 109.6255 120.648 66.06465 111.7004 120.5916 66.20962 111.6797 120.5147 66.34342 111.6514 120.419 66.46274 111.6163 120.307 66.56465 111.5751 120.1814 66.64664 111.529 120.0453 66.70669 111.479 119.9021 66.74332 111.4264 119.7595 66.06465 113.6678 119.7067 66.20962 113.6392 119.6346 66.34342 113.6001 119.545 66.46274 113.5516 119.44 66.56465 113.4947 119.3224 66.64664 113.431 119.1949 66.70669 113.3619 119.0608 66.74332 113.2893 118.6262 65.91207 115.5086 118.5969 66.06465 115.4867 118.5487 66.20962 115.4508 118.483 66.34342 115.4018 118.4013 66.46274 115.3408 118.3057 66.56465 115.2695 118.1985 66.64664 115.1895 118.0822 66.70669 115.1028 117.96 66.74332 115.0115 116.6226 66.74332 116.5573 116.7305 66.70669 116.6652 116.833 66.64664 116.7677 116.9276 66.56465 116.8624 117.0119 66.46274 116.9467 117.084 66.34342 117.0188 117.142 66.20962 117.0768 117.1844 66.06465 117.1193 117.2103 65.91207 117.1452 111.4911 66.74332 119.8359 111.5437 66.70669 119.9791 111.5936 66.64664 120.1152 111.6397 66.56465 120.2408 111.6808 66.46274 120.3528 111.716 66.34342 120.4485 111.7442 66.20962 120.5255 111.7649 66.06465 120.5818 109.5264 66.74332 120.3998 109.5578 66.70669 120.5491 109.5876 66.64664 120.691 109.6152 66.56465 120.8219 109.6397 66.46274 120.9387 109.6607 66.34342 121.0384 109.6776 66.20962 121.1186 109.6899 66.06465 121.1774 107.5508 66.06465 121.4679 107.5471 66.20962 121.408 107.5419 66.34342 121.3262 107.5355 66.46274 121.2245 107.528 66.56465 121.1054 107.5196 66.64664 120.9719 107.5106 66.70669 120.8272 107.501 66.74332 120.6749 105.3922 66.06465 121.4474 105.3971 66.20962 121.3875 105.4038 66.34342 121.3058 105.4121 66.46274 121.2043 105.4218 66.56465 121.0853 105.4328 66.64664 120.952 105.4446 66.70669 120.8075 105.4571 66.74332 120.6554 103.2508 65.91207 121.1519 103.259 66.06465 121.1162 103.2725 66.20962 121.0577 103.2909 66.34342 120.9778 103.3137 66.46274 120.8785 103.3405 66.56465 120.7622 103.3705 66.64664 120.6318 103.403 66.70669 120.4905 103.4373 66.74332 120.3418 152.4859 78.03179 63.5103 152.4859 69.83476 63.5103 92.35088 78.03179 45.28237 46.42602 78.03179 88.26604 60.68854 78.03179 149.53 63.56903 69.83476 152.411 157.1039 91.15921 53.2368 156.9336 91.3675 53.40709 157.53 91.75563 52.81082 157.4623 90.27503 52.87847 157.4895 90.06747 52.85129 157.5033 89.96212 52.8375 157.2638 90.88489 53.07701 157.3542 90.66165 52.98654 157.3757 90.60872 52.96508 157.5109 89.75563 52.82994 157.53 79.62825 52.81082 157.5109 78.9266 52.82994 157.438 90.37185 52.90279 157.3881 90.57044 52.95266 157.2386 90.92892 53.10211 157.1246 91.12899 53.21618 156.7186 91.55161 53.6221 156.5326 91.65539 53.80807 156.509 91.66852 53.83159 156.317 91.72859 54.02364 156.2924 91.73628 54.04822 156.2629 91.74166 54.07767 156.096 91.75563 54.24456 156.9273 91.373 53.41336 156.7451 91.53277 53.59561 149.6054 78.03179 60.62929 155.3146 70.72798 60.68213 157.4377 85.39921 58.55942 160.3582 79.62825 55.63951 157.5295 86.93206 58.46768 160.3582 91.75563 55.63951 157.5295 91.75563 58.46768 154.4923 79.19333 61.50433 157.3209 71.88951 58.67616 158.1923 72.81056 57.805 155.3636 80.11437 60.63317 156.3526 71.18867 59.64439 153.5239 78.49249 62.47256 158.9417 73.92561 57.05569 159.548 75.20293 56.44956 156.113 81.22943 59.88386 157.1651 83.90998 58.83202 156.7193 82.50674 59.27773 160.2664 78.09539 55.73125 159.9938 76.60617 56.00385 155.6127 91.63192 54.72772 155.5805 91.61816 54.75998 154.7013 91.75563 55.63899 155.8745 91.73097 54.466 154.7748 90.47143 55.56549 154.7644 90.43161 55.57595 155.8504 91.72458 54.49011 155.7961 91.7102 54.54437 155.3808 91.48133 54.9596 155.3551 91.45956 54.98526 155.1873 91.28627 55.15312 155.1733 91.27182 55.16711 155.017 91.04933 55.32339 154.9978 91.01667 55.34257 154.8702 90.75446 55.47015 154.706 90.12894 55.63434 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101.9292 62.24636 90.45325 102.1217 61.94639 90.92036 102.3553 61.59575 91.33567 102.5264 61.59439 91.28791 102.6357 61.19811 91.69599 102.0549 62.7484 88.66021 102.1588 62.78442 88.58885 102.3429 62.89151 88.44877 104.2461 61.23763 91.40485 102.4182 62.94987 88.40292 102.557 63.07177 88.36022 105.7844 61.24133 91.4477 105.9608 61.2265 91.47335 102.6585 63.1687 88.36546 102.7409 63.25122 88.38919 103.0641 63.07418 89.12831 102.8346 63.34907 88.43379 103.1509 63.13346 89.18467 102.6065 63.11837 88.35918 102.9865 63.0223 89.08821 103.4779 62.82309 89.79746 103.5672 62.85028 89.86059 102.9364 62.98903 89.06855 103.3956 62.79706 89.7464 103.9712 62.50481 90.37837 104.0717 62.50757 90.44234 102.5095 63.02842 88.36815 102.8875 62.95656 89.05475 103.3408 62.77848 89.71732 103.8753 62.49885 90.32291 104.5304 62.12802 90.85518 104.65 62.1151 90.91338 102.4634 62.98789 88.38254 102.8391 62.92448 89.04675 103.2858 62.7585 89.69279 103.8096 62.49201 90.28918 104.413 62.13544 90.80269 105.1404 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91.06771 105.0536 61.26171 91.38275 101.9526 62.72854 88.71442 102.2063 62.63964 89.23593 102.5032 62.48974 89.74021 102.9742 62.30028 90.20031 103.5325 62.04082 90.64606 104.1897 61.69558 91.05377 104.896 61.2592 91.3793 103.0298 61.20091 91.59853 102.8277 61.19878 91.64648 102.6902 61.59562 91.24581 103.2311 61.20441 91.55502 102.8625 61.59954 91.20533 102.543 61.94081 90.80294 103.4315 61.20916 91.51599 103.0337 61.606 91.16905 102.6869 61.94608 90.76871 102.3882 62.22969 90.32384 103.8563 61.2227 91.44806 103.2038 61.61479 91.13714 102.8297 61.95478 90.73788 102.5057 62.23578 90.29463 102.2279 62.45836 89.81497 103.5624 61.64005 91.08468 102.971 61.96666 90.7107 102.6219 62.24588 90.26751 102.3212 62.4647 89.78957 102.0641 62.62374 89.2832 104.6113 61.25122 91.38285 103.8881 61.66852 91.05751 103.2669 62.00114 90.66658 102.7363 62.25972 90.24281 102.4131 62.47523 89.76452 102.136 62.62971 89.26042 101.8992 62.72362 88.73568 103.2635 64.07827 88.52693 106.7446 63.34145 91.46138 106.7653 63.33448 91.46585 106.5511 62.62093 91.46379 106.9032 63.28808 91.49564 107.342 63.1537 91.55989 107.1698 63.20408 91.5399 105.8425 62.92724 91.23967 106.0569 63.60274 91.23633 106.088 63.58947 91.25064 106.2551 63.52223 91.31542 106.4294 63.45508 91.37463 106.587 63.39703 91.42117 105.4044 63.89579 90.88992 105.7148 63.75 91.07532 105.3888 63.84753 90.89248 105.7708 63.72499 91.10449 105.8937 63.67247 91.16113 104.825 64.19784 90.43526 104.9005 64.15367 90.51311 104.7781 64.06156 90.44004 104.9776 64.11196 90.57917 105.3455 63.92344 90.85474 104.4119 64.43933 90.00963 104.2433 64.2521 89.8914 104.3256 64.49694 89.89134 104.0867 64.65648 89.56375 103.7975 64.41442 89.26026 103.9203 64.78379 89.26949 103.452 64.54447 88.56233 103.6135 65.05323 88.58946 103.6293 65.03514 88.64073 103.8343 64.84957 89.11746 103.4731 65.21408 88.13352 105.1769 63.21752 90.89476 104.5716 63.48424 90.43797 104.0422 63.72052 89.8811 103.6024 63.92025 89.23855 103.0488 63.66686 88.48282 106.2724 61.88314 91.46534 105.5764 62.26242 91.24681 104.9222 62.62091 90.90135 104.3273 62.94891 90.43834 103.8078 63.23756 89.87026 103.3777 63.47905 89.2125 91.5325 61.88314 106.2025 88.2012 65.21408 103.4027 88.72132 65.03034 103.5637 88.65685 65.05311 103.5437 88.63001 64.54447 103.3816 89.24076 64.82659 103.7921 89.32787 64.41442 103.7272 89.338 64.78403 103.8486 89.95893 64.2521 104.1731 89.95339 64.49633 104.2612 89.66937 64.63899 104.0412 90.50747 64.06156 104.7081 90.9598 63.84753 105.3188 90.95933 63.89552 105.3332 90.66958 64.09713 104.9354 90.49998 64.19791 104.7569 90.23987 64.35245 104.4832 91.22891 63.67165 105.8261 91.17601 63.72128 105.7092 90.96454 63.89189 105.3404 91.33569 63.57147 106.0621 91.30203 63.60305 105.9877 91.30691 62.92724 105.7726 90.96212 63.21752 105.107 91.5309 62.62093 106.4813 91.50299 63.37737 106.5721 91.45723 63.43638 106.4096 91.39981 63.50332 106.2335 91.60857 63.2003 107.1126 91.58448 63.24966 106.9525 91.62719 63.15271 107.2757 91.54275 63.31999 106.7376 91.53265 63.33456 106.6956 90.50543 63.48424 104.5016 89.94866 63.72052 103.9721 89.30619 63.92025 103.5322 88.59464 64.07827 103.1932 91.31409 62.26242 105.5066 90.96876 62.62091 104.8522 90.50585 62.94891 104.2572 89.93788 63.23756 103.7376 89.28018 63.47905 103.3075 88.55056 63.66686 102.9784 91.54056 61.2265 105.891 91.32768 61.68399 105.2159 90.98084 62.1151 104.5801 90.5099 62.50757 104.0017 89.92825 62.85028 103.4971 89.25241 63.13346 103.0807 88.50158 63.34907 102.7642 88.72814 62.7484 101.9845 88.75707 62.73681 101.9341 89.30383 62.63964 102.1361 88.58403 62.83213 102.1822 88.51665 62.89151 102.2725 88.436 63.02842 102.4391 88.42806 63.07177 102.4866 88.45699 63.25122 102.6705 91.28226 61.70299 105.0705 91.51495 61.24133 105.7145 91.49224 61.25232 105.5353 91.47852 61.25759 105.4076 91.24066 61.71628 104.9247 90.92266 62.12802 104.4605 91.46659 61.26094 105.2736 91.21433 61.72188 104.8216 90.8702 62.13544 104.343 90.44594 62.50481 103.9011 91.45695 61.26232 105.1326 91.19001 61.72443 104.7136 90.83725 62.13684 104.2608 90.39051 62.49885 103.8052 89.86513 62.82309 103.4078 91.45013 61.26171 104.9837 91.1683 61.72381 104.6 90.8069 62.13489 104.1754 90.35679 62.49201 103.7395 89.81409 62.79706 103.3255 89.19606 63.07418 102.9938 91.44671 61.2592 104.8261 91.14981 61.72 104.4798 90.77969 62.1294 104.0858 90.32652 62.48238 103.672 89.78501 62.77848 103.2707 89.15596 63.0223 102.9162 88.43328 63.1687 102.5881 89.13632 62.98903 102.8661 89.7605 62.7585 103.2156 90.30014 62.46969 103.6018 90.75623 62.12033 103.991 91.1352 61.71311 104.3521 91.4503 61.25122 104.5415 88.427 63.11837 102.5361 89.12253 62.95656 102.8172 89.11454 62.92448 102.7688 89.74076 62.73678 103.1594 89.72604 62.71315 103.1012 90.2781 62.45385 103.528 90.26091 62.43494 103.4495 90.73713 62.10781 103.89 90.71666 62.08013 103.7051 91.12131 61.69558 104.1198 91.1251 61.66852 103.8182 91.47238 61.23763 104.1762 91.51566 61.2227 103.7864 88.65676 62.78442 102.0884 89.11227 62.89249 102.7201 89.71658 62.6876 103.0401 90.24418 62.39741 103.3056 90.71372 62.04082 103.4625 91.15233 61.64005 103.4925 91.58367 61.20916 103.3616 89.27802 62.65343 102.2047 89.83238 62.47523 102.3429 88.4504 62.98789 102.393 89.11564 62.86046 102.6702 89.71302 62.64129 102.9289 90.24537 62.34804 103.1151 90.73429 62.00114 103.1969 91.20486 61.61479 103.1339 91.62273 61.20441 103.1613 88.47078 62.94987 102.3478 89.13343 62.80706 102.5823 89.72821 62.58486 102.7821 90.26807 62.30028 102.9041 90.77846 61.96666 102.901 91.2368 61.606 102.9638 91.66628 61.20091 102.96 90.36248 62.23578 102.4356 89.85745 62.4647 102.2511 89.32834 62.62971 102.0658 88.78237 62.72854 101.8822 90.87078 61.94081 102.473 90.3917 62.22969 102.3181 89.88287 62.45836 102.1577 89.35113 62.62374 101.9939 88.80364 62.72362 101.8289 89.1712 62.74717 102.4694 89.76102 62.5328 102.6188 90.31061 62.25972 102.6663 90.80567 61.95478 102.7597 91.27311 61.59954 102.7926 91.71427 61.19878 102.7579 90.90616 61.93915 102.336 90.42108 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84.30911 150.6632 83.84475 75.57876 156.8753 84.2029 67.33708 156.3461 84.14788 68.16164 155.6022 84.08955 69.22531 154.544 84.02438 70.64949 151.249 84.80445 71.27457 146.3585 84.91489 76.62768 141.4584 85.01345 81.98342 136.5439 85.09407 87.34337 132.6972 87.20319 83.06846 138.0155 86.83202 78.1622 143.3219 86.43885 73.25289 133.9974 86.57259 84.51359 139.1788 86.28861 79.45355 144.3465 85.98116 74.39173 149.5051 85.65819 69.32859 142.285 86.84626 72.10015 119.1923 87.81983 95.11202 117.6814 88.4792 93.42408 122.0099 87.8496 92.86841 123.5758 87.03829 94.62663 121.6736 87.86711 93.17283 123.2469 87.05048 94.94019 121.3251 87.86782 93.45811 122.8929 87.05748 95.21833 120.6153 87.85227 94.00918 122.1587 87.06628 95.73878 120.6864 87.08238 96.78091 120.426 88.5814 91.08988 120.0823 88.60436 91.3853 119.7395 88.59889 91.67784 119.0542 88.55931 92.25984 120.4653 85.60169 101.9149 123.6236 85.37331 100.0616 122.1634 86.26688 98.43076 125.1929 85.25745 99.13874 123.6846 86.20134 97.44863 125.975 85.199 98.67867 124.4429 86.16788 96.95852 126.1712 85.18415 98.5651 124.8022 86.15444 96.68737 126.3396 85.179 98.41437 126.6532 85.17717 98.08216 125.1235 86.14749 96.36454 130.2136 86.02706 91.15087 128.7979 86.82513 89.57144 127.3633 87.54488 87.97083 125.9099 88.1863 86.34903 145.3587 85.47317 75.51667 140.3264 85.68242 80.72728 135.2796 85.86955 85.93856 131.6105 85.15066 92.70911 112.3899 89.25587 92.48519 111.0655 89.0371 93.83769 115.6853 89.70292 89.12205 114.6901 89.52984 90.12962 116.5878 89.82508 88.20388 115.6845 89.66458 89.11616 116.759 89.85036 88.0278 116.5868 89.78678 88.19771 117.1111 89.83191 87.7363 116.8225 89.81764 87.95788 121.1426 89.43539 84.60141 117.1057 89.79356 87.73403 126.3216 88.92099 80.59654 135.9083 87.9606 73.23046 144.036 87.13685 67.06172 140.2082 87.4875 69.94772 147.1103 86.81926 64.78306 151.8931 86.25243 61.5322 151.8917 86.25387 61.52942 151.8905 86.25582 61.52687 151.8895 86.25822 61.52462 151.8888 86.261 61.52275 151.8883 86.26406 61.5213 151.8882 86.26734 61.52031 151.8883 86.27074 61.51982 151.8888 86.27413 61.51984 151.8895 86.27745 61.52037 151.8916 86.28342 61.52288 151.8904 86.28057 61.52139 151.893 86.28591 61.52479 151.8946 86.28796 61.52707 151.8962 86.28952 61.52964 151.8979 86.29053 61.53243 151.8996 86.29097 61.53536 109.6102 88.87686 95.33338 109.6125 88.87769 95.33567 109.6081 88.87551 95.33116 109.6063 88.87368 95.32911 109.6047 88.87142 95.32727 109.6034 88.86879 95.32568 109.6019 88.86272 95.32346 109.6025 88.86586 95.3244 109.6018 88.85945 95.32289 109.602 88.85614 95.32269 109.6027 88.85288 95.32289 109.6037 88.84976 95.32346 109.6051 88.84688 95.3244 109.6067 88.84431 95.32568 109.6087 88.84211 95.32727 109.6108 88.84036 95.32911 109.6131 88.8391 95.33116 151.2029 86.37425 61.95077 151.2011 86.37379 61.94792 151.1993 86.37276 61.94521 151.1976 86.37119 61.94272 151.1959 86.36913 61.94052 151.1945 86.36663 61.93867 151.1933 86.36379 61.93724 151.1923 86.36066 61.93625 151.1916 86.35736 61.93575 151.1912 86.35396 61.93573 151.1911 86.35058 61.93622 151.1913 86.34731 61.93719 151.1918 86.34424 61.93861 151.1927 86.34147 61.94044 151.1938 86.33908 61.94262 151.1951 86.33714 61.94511 151.1966 86.3357 61.94781 150.4657 86.45856 62.42394 150.4638 86.45806 62.42116 150.4619 86.45701 62.41851 150.4601 86.45542 62.41608 150.4585 86.45335 62.41393 150.457 86.45085 62.41213 150.4558 86.448 62.41074 150.4548 86.44488 62.40979 150.4541 86.44158 62.40931 150.4537 86.43819 62.40931 150.4537 86.43482 62.4098 150.4539 86.43156 62.41075 150.4545 86.42851 62.41215 150.4554 86.42575 62.41395 150.4565 86.42337 62.4161 150.4579 86.42143 62.41854 150.4595 86.41999 62.42119 149.8787 86.52378 62.81757 149.8768 86.52327 62.81482 149.8749 86.5222 62.81221 149.873 86.52059 62.80981 149.8714 86.51851 62.8077 149.8699 86.516 62.80595 149.8687 86.51315 62.80458 149.8677 86.51003 62.80365 149.867 86.50673 62.80319 149.8666 86.50334 62.8032 149.8666 86.49999 62.80369 149.8669 86.49673 62.80464 149.8675 86.49369 62.80603 149.8684 86.49094 62.80781 149.8696 86.48857 62.80994 149.871 86.48664 62.81235 149.8727 86.48521 62.81497 148.5532 86.66709 63.74204 148.5512 86.66653 63.73935 148.5493 86.66542 63.73681 148.5475 86.66378 63.73448 148.5458 86.66167 63.73244 148.5443 86.65915 63.73073 148.5431 86.65629 63.72942 148.5421 86.65317 63.72854 148.5414 86.64987 63.72811 148.5411 86.64651 63.72815 148.5411 86.64317 63.72865 148.5414 86.63993 63.7296 148.5421 86.63692 63.73098 148.5431 86.6342 63.73274 148.5443 86.63184 63.73483 148.5458 86.62993 63.7372 148.5475 86.62851 63.73977 147.1083 86.81864 64.78042 147.1064 86.81748 64.77793 147.1045 86.81582 64.77565 147.1029 86.81369 64.77367 147.1014 86.81114 64.77201 147.1002 86.80828 64.77075 147.0992 86.80516 64.76991 147.0986 86.80187 64.76951 147.0983 86.79853 64.76957 147.0983 86.7952 64.77009 147.0987 86.79199 64.77104 147.0994 86.789 64.77242 147.1004 86.7863 64.77416 147.1016 86.78398 64.77623 147.1032 86.78208 64.77857 147.1049 86.78068 64.78112 145.5469 86.98156 65.93461 145.5449 86.9809 65.93201 145.5429 86.9797 65.92956 145.5411 86.978 65.92733 145.5395 86.97584 65.92539 145.538 86.97328 65.92378 145.5368 86.97042 65.92256 145.5359 86.9673 65.92176 145.5353 86.96402 65.92138 145.535 86.96069 65.92147 145.535 86.95738 65.922 145.5354 86.9542 65.92297 145.5361 86.95123 65.92434 145.5372 86.94855 65.92608 145.5384 86.94625 65.92814 145.54 86.94438 65.93045 145.5417 86.943 65.93297 144.034 87.13615 67.05915 144.0321 87.13491 67.05673 144.0302 87.13319 67.05454 144.0286 87.13101 67.05263 144.0271 87.12844 67.05106 144.026 87.12557 67.04987 144.0251 87.12245 67.04909 144.0245 87.11919 67.04875 144.0242 87.11586 67.04885 144.0243 87.11257 67.0494 144.0247 87.10942 67.05038 144.0254 87.10646 67.05175 144.0264 87.10381 67.05348 144.0277 87.10153 67.05553 144.0293 87.09967 67.05784 144.031 87.0983 67.06034 140.2128 87.526 69.94861 140.2108 87.52522 69.94609 140.2089 87.52391 69.94374 140.2071 87.52214 69.94161 140.2055 87.51992 69.93977 140.2041 87.51734 69.93827 140.2029 87.51445 69.93714 140.2021 87.51135 69.93641 140.2015 87.5081 69.93612 140.2013 87.50481 69.93626 140.2014 87.50155 69.93683 140.2018 87.49843 69.93782 140.2026 87.49552 69.9392 140.2036 87.49291 69.94094 140.2049 87.49066 69.94297 140.2065 87.48884 69.94525 135.9063 87.95977 73.22798 135.9044 87.95843 73.22566 135.9026 87.95662 73.22357 135.901 87.95439 73.22177 135.8996 87.95179 73.22031 135.8985 87.94891 73.21922 135.8977 87.9458 73.21853 135.8972 87.94258 73.21826 135.897 87.9393 73.21843 135.8971 87.93608 73.21902 135.8975 87.93298 73.22001 135.8983 87.93009 73.22139 135.8993 87.92751 73.22312 135.9007 87.92528 73.22514 135.9022 87.92348 73.2274 135.904 87.92215 73.22985 126.3172 88.8826 80.5957 126.3196 88.92018 80.59407 126.3177 88.91885 80.59177 126.316 88.91706 80.58969 126.3143 88.91484 80.58789 126.313 88.91227 80.58642 126.3118 88.9094 80.58531 126.311 88.90632 80.58462 126.3104 88.9031 80.58433 126.3102 88.89984 80.58448 126.3103 88.89662 80.58504 126.3108 88.89352 80.58601 126.3115 88.89064 80.58735 126.3126 88.88803 80.58905 126.3139 88.88579 80.59104 126.3154 88.88397 80.59327 121.1377 89.39701 84.59995 121.1406 89.43465 84.59892 121.1387 89.43339 84.59658 121.1368 89.43166 84.59445 121.1352 89.42949 84.59261 121.1338 89.42695 84.59108 121.1326 89.42411 84.58993 121.1317 89.42103 84.58917 121.1311 89.41781 84.58884 121.1309 89.41454 84.58892 121.1309 89.41129 84.58944 121.1314 89.40816 84.59037 121.1321 89.40524 84.59168 121.1331 89.40259 84.59334 121.1344 89.4003 84.59531 121.1359 89.39842 84.59753 117.109 89.83126 87.73378 117.107 89.8301 87.7314 117.1052 89.82843 87.72923 117.1035 89.82633 87.72732 117.102 89.82382 87.72573 117.1008 89.82101 87.72451 117.0999 89.81794 87.72368 117.0992 89.81472 87.72328 117.0989 89.81143 87.7233 117.099 89.80815 87.72375 117.0994 89.80498 87.72462 117.1001 89.802 87.72588 117.1011 89.7993 87.7275 117.1024 89.79696 87.72944 117.1039 89.79502 87.73163 116.8262 89.85607 87.96174 116.8241 89.85545 87.95928 116.822 89.8543 87.95695 116.8201 89.85265 87.95479 116.8185 89.85055 87.95286 116.817 89.84806 87.95123 116.8159 89.84524 87.94993 116.815 89.84217 87.949 116.8145 89.83895 87.94847 116.8144 89.83564 87.94834 116.8146 89.83235 87.94863 116.8152 89.82917 87.94934 116.8161 89.82617 87.95042 116.8173 89.82346 87.95185 116.8188 89.82109 87.95362 116.8206 89.81913 87.95565 116.7566 89.84971 88.02552 116.7545 89.84854 88.02329 116.7526 89.84687 88.0212 116.7509 89.84476 88.01928 116.7495 89.84226 88.01761 116.7484 89.83944 88.01622 116.7478 89.83638 88.01514 116.7475 89.83316 88.01442 116.7476 89.82987 88.01406 116.7482 89.82661 88.01409 116.7491 89.82345 88.0145 116.7503 89.82048 88.01527 116.7519 89.8178 88.01639 116.7537 89.81546 88.01782 116.7558 89.81354 88.01953 116.7581 89.81209 88.02148 116.5855 89.82442 88.20156 116.5834 89.82324 88.19931 116.5815 89.82158 88.1972 116.5798 89.81947 88.19528 116.5784 89.81697 88.19359 116.5774 89.81415 88.19219 116.5767 89.81109 88.19113 116.5765 89.80787 88.19042 116.5766 89.80458 88.19008 116.5771 89.80131 88.19013 116.578 89.79814 88.19056 116.5792 89.79518 88.19136 116.5807 89.79249 88.19252 116.5826 89.79016 88.19399 116.5846 89.78823 88.19573 115.683 89.70224 89.11974 115.6809 89.70104 89.1175 115.679 89.69936 89.11539 115.6773 89.69722 89.11347 115.676 89.6947 89.11181 115.6749 89.69187 89.11044 115.6743 89.6888 89.10939 115.674 89.68557 89.1087 115.6742 89.68228 89.10839 115.6747 89.67901 89.10846 115.6756 89.67586 89.10891 115.6768 89.67291 89.10974 115.6784 89.67023 89.11092 115.6802 89.66791 89.11241 115.6822 89.66601 89.11417 114.6906 89.56822 90.13528 114.6884 89.56752 90.13297 114.6863 89.56629 90.13073 114.6843 89.56458 90.12864 114.6827 89.56243 90.12674 114.6814 89.55989 90.12509 114.6804 89.55704 90.12373 114.6797 89.55396 90.1227 114.6795 89.55073 90.12203 114.6796 89.54743 90.12174 114.6802 89.54417 90.12183 114.6811 89.54103 90.1223 114.6823 89.53808 90.12315 114.6839 89.53543 90.12434 114.6858 89.53312 90.12584 114.6878 89.53125 90.12762 113.5952 89.41963 91.25296 113.593 89.4189 91.25066 113.5909 89.41764 91.24843 113.589 89.4159 91.24634 113.5873 89.41373 91.24446 113.586 89.41117 91.24282 113.585 89.40831 91.24148 113.5844 89.40522 91.24047 113.5842 89.40197 91.23983 113.5844 89.39868 91.23955 113.5849 89.39542 91.23966 113.5858 89.39228 91.24016 113.5871 89.38935 91.24102 113.5887 89.38671 91.24224 113.5906 89.38443 91.24375 113.5927 89.38258 91.24555 113.5949 89.38121 91.24755 112.3876 89.25511 92.48287 112.3855 89.25382 92.48065 112.3836 89.25205 92.47858 112.382 89.24985 92.47671 112.3807 89.24727 92.47509 112.3797 89.24439 92.47377 112.3791 89.24128 92.47278 112.3789 89.23803 92.47215 112.3791 89.23474 92.4719 112.3797 89.23148 92.47204 112.3807 89.22834 92.47256 112.382 89.22543 92.47344 112.3836 89.22281 92.47468 112.3855 89.22056 92.47621 112.3876 89.21874 92.47802 112.3898 89.21739 92.48004 111.0632 89.0384 93.83565 111.0611 89.04019 93.83383 111.0592 89.04242 93.83227 111.0576 89.04502 93.83101 111.0562 89.04792 93.8301 111.0552 89.05104 93.82955 111.0546 89.0543 93.82939 111.0544 89.0576 93.82962 111.0546 89.06086 93.83022 111.0551 89.06398 93.83118 111.0561 89.06689 93.83248 111.0574 89.06949 93.83409 111.059 89.07173 93.83595 111.0609 89.07352 93.83802 111.063 89.07483 93.84023 111.0652 89.07563 93.84253 155.616 84.12488 69.23706 153.0101 83.94565 72.63556 150.2891 83.86219 76.07773 150.2755 83.82775 76.06568 136.925 83.37221 92.42078 130.2508 83.15022 100.4893 129.2493 83.12111 101.6831 129.5444 83.09535 101.3071 129.1623 83.12042 101.7787 128.5849 83.1927 102.0732 129.0774 83.0925 101.8161 128.5728 83.15953 102.057 118.8236 84.4802 106.7709 117.8333 84.57564 107.2236 117.8347 84.57512 107.2266 156.8885 84.23889 67.34771 156.8909 84.23686 67.34904 156.893 84.2344 67.35014 156.8948 84.23156 67.35099 156.8961 84.22844 67.35155 156.8969 84.22512 67.35181 156.8973 84.22171 67.35177 156.8971 84.2183 67.35143 156.8965 84.215 67.35079 156.8953 84.21189 67.34987 156.8937 84.20908 67.3487 156.8918 84.20664 67.34732 156.8894 84.20465 67.34577 156.8869 84.20316 67.34408 156.8841 84.20222 67.34232 156.8812 84.20186 67.34053 156.8782 84.20209 67.33876 117.8361 84.57514 107.2296 117.8376 84.57572 107.2326 117.839 84.57684 107.2353 117.8405 84.57846 107.2379 117.8418 84.58054 107.2401 117.843 84.58302 107.242 117.8441 84.58583 107.2435 117.845 84.58889 107.2444 117.8457 84.59213 107.245 117.8461 84.59544 107.245 117.8463 84.59873 107.2445 117.8462 84.60192 107.2435 117.846 84.60491 107.242 117.8454 84.60763 107.2402 117.8447 84.61 107.2379 118.8243 84.47782 106.7731 118.8248 84.47509 106.775 118.8251 84.47208 106.7764 118.8252 84.46889 106.7774 118.8249 84.46559 106.7778 118.8245 84.46228 106.7778 118.8238 84.45906 106.7773 118.8229 84.45601 106.7763 118.8218 84.45322 106.7748 118.8206 84.45076 106.7729 118.8193 84.4487 106.7706 118.8178 84.44711 106.7681 118.8164 84.44602 106.7653 118.8149 84.44547 106.7624 118.8134 84.44547 106.7593 118.8121 84.44601 106.7563 126.4267 83.44156 103.0946 126.4388 83.47486 103.1105 126.4395 83.47238 103.1126 126.44 83.46956 103.1144 126.4402 83.4665 103.1156 126.4402 83.46328 103.1165 126.4399 83.45999 103.1168 126.4394 83.45671 103.1166 126.4386 83.45353 103.1159 126.4377 83.45055 103.1148 126.4366 83.44785 103.1132 126.4353 83.44551 103.1112 126.4339 83.44357 103.1089 126.4325 83.44211 103.1063 126.431 83.44116 103.1035 126.4295 83.44075 103.1005 126.4281 83.44088 103.0975 128.5856 83.1902 102.0753 128.5861 83.18737 102.077 128.5863 83.18431 102.0783 128.5862 83.18108 102.0791 128.586 83.17778 102.0794 128.5854 83.1745 102.0792 128.5847 83.17133 102.0785 128.5837 83.16836 102.0774 128.5826 83.16567 102.0757 128.5813 83.16334 102.0737 128.58 83.16143 102.0714 128.5785 83.15998 102.0688 128.577 83.15905 102.066 128.5755 83.15866 102.063 128.5741 83.15882 102.06 129.0899 83.12567 101.8321 129.0907 83.12316 101.8341 129.0913 83.12033 101.8358 129.0915 83.11725 101.837 129.0916 83.11402 101.8378 129.0913 83.11071 101.8381 129.0908 83.10742 101.8379 129.0901 83.10426 101.8372 129.0891 83.10128 101.8361 129.0879 83.0986 101.8345 129.0866 83.09626 101.8325 129.0852 83.09436 101.8302 129.0836 83.09292 101.8276 129.082 83.092 101.8249 129.0804 83.09162 101.822 129.0789 83.09178 101.819 129.1332 83.12149 101.8047 129.1344 83.11895 101.8065 129.1353 83.1161 101.808 129.1359 83.113 101.809 129.1362 83.10974 101.8097 129.1361 83.10642 101.8099 129.1357 83.10311 101.8097 129.135 83.09993 101.809 129.134 83.09695 101.8079 129.1327 83.09426 101.8064 129.1311 83.09193 101.8046 129.1294 83.09003 101.8025 129.1275 83.08861 101.8001 129.1255 83.08771 101.7976 129.1235 83.08735 101.795 129.1215 83.08754 101.7923 129.1196 83.08829 101.7897 129.1638 83.11787 101.7803 129.165 83.115 101.7815 129.1659 83.1119 101.7823 129.1663 83.10863 101.7828 129.1664 83.1053 101.7829 129.1661 83.10199 101.7826 129.1654 83.0988 101.7819 129.1643 83.09583 101.7809 129.1629 83.09314 101.7795 129.1612 83.09082 101.7779 129.1592 83.08892 101.776 129.157 83.08751 101.7738 129.1548 83.08662 101.7716 129.1524 83.08628 101.7693 129.15 83.08648 101.7669 129.1477 83.08724 101.7646 129.251 83.11856 101.6846 129.2522 83.11569 101.6857 129.2532 83.11259 101.6864 129.2537 83.10932 101.6869 129.2538 83.10599 101.6869 129.2535 83.10269 101.6866 129.2527 83.09951 101.6859 129.2516 83.09653 101.6849 129.2502 83.09384 101.6836 129.2484 83.09152 101.682 129.2464 83.08963 101.6801 129.2441 83.08823 101.6781 129.2417 83.08734 101.676 129.2393 83.087 101.6737 129.2368 83.08721 101.6715 129.2343 83.08797 101.6694 129.5596 83.12844 101.3207 129.5613 83.1259 101.322 129.5626 83.12303 101.323 129.5636 83.11991 101.3237 129.5641 83.11665 101.3241 129.5642 83.11332 101.3241 129.5639 83.11002 101.3238 129.5632 83.10684 101.3231 129.5621 83.10388 101.3221 129.5606 83.10119 101.3208 129.5588 83.09888 101.3192 129.5567 83.097 101.3174 129.5544 83.09559 101.3155 129.552 83.09471 101.3134 129.5494 83.09437 101.3113 129.5469 83.09459 101.3092 130.2525 83.14766 100.4906 130.2538 83.14479 100.4916 130.2548 83.14167 100.4923 130.2553 83.13841 100.4927 130.2554 83.13509 100.4927 130.2551 83.13179 100.4924 130.2544 83.12862 100.4917 130.2533 83.12566 100.4907 130.2518 83.12299 100.4894 130.25 83.12068 100.4878 130.2479 83.11881 100.486 130.2456 83.11741 100.4841 130.2431 83.11654 100.482 130.2406 83.11621 100.4799 130.238 83.11643 100.4777 130.2355 83.1172 100.4757 136.9266 83.36962 92.42205 136.9279 83.36674 92.42301 136.9288 83.36363 92.42366 136.9293 83.36038 92.42398 136.9293 83.35707 92.42395 136.929 83.35381 92.42357 136.9282 83.35067 92.42285 136.9271 83.34775 92.42183 136.9256 83.34512 92.42051 136.9238 83.34286 92.41895 136.9217 83.34102 92.41716 136.9194 83.33966 92.41523 136.9169 83.33882 92.41318 136.9144 83.3385 92.41109 136.9118 83.33874 92.40899 136.9093 83.33952 92.40696 139.5395 83.43086 89.21302 139.555 83.46362 89.22674 139.5566 83.46105 89.22801 139.5579 83.45816 89.22898 139.5588 83.45506 89.22964 139.5593 83.45181 89.22996 139.5594 83.44851 89.22994 139.5591 83.44525 89.22956 139.5583 83.44211 89.22885 139.5572 83.43918 89.22784 139.5557 83.43655 89.22653 139.5539 83.43428 89.22497 139.5518 83.43243 89.22319 139.5495 83.43106 89.22126 139.547 83.43019 89.21923 139.5445 83.42987 89.21713 139.542 83.43009 89.21504 146.24 83.67203 81.03863 146.2425 83.67137 81.04067 146.2451 83.67124 81.04277 146.2476 83.67167 81.04486 146.25 83.67264 81.04688 146.2523 83.67412 81.04878 146.2544 83.67607 81.05052 146.2561 83.67843 81.05203 146.2576 83.68115 81.05328 146.2586 83.68414 81.05424 146.2593 83.68733 81.05487 146.2595 83.69062 81.05517 146.2594 83.69393 81.05512 146.2588 83.69717 81.05472 146.2577 83.70024 81.05399 146.2563 83.70307 81.05294 146.2546 83.70557 81.05161 150.2909 83.8598 76.07915 150.2925 83.85704 76.08028 150.2936 83.85401 76.08111 150.2944 83.85079 76.0816 150.2947 83.84747 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164.1385 220.2389 44.8 164.4 232.1038 44.8 173.2744 231.8464 44.8 173.3199 231.6007 44.8 173.4093 233.4634 44.8 173.9082 233.2953 44.8 173.708 223.2275 44.8 164.1383 223.1821 44.8 163.8808 231.3742 44.8 173.5401 231.1739 44.8 173.7082 221.0994 44.8 165.6287 231.0059 44.8 173.9085 230.8752 44.8 174.1349 222.794 44.8 165.3297 222.962 44.8 165.1294 223.0927 44.8 164.9029 220.8727 44.8 163.0405 220.6725 44.8 163.2086 220.5044 44.8 163.4089 216.2696 56.98629 162.5559 231.1202 48.8 177.4038 231.1202 56.98629 177.4038 233.9489 56.98629 180.232 213.4414 63.34134 165.3846 228.292 63.34134 180.2325 231.1207 63.34134 183.0607 228.292 70.80001 180.2325 231.1207 74.80001 183.0607 213.4414 74.80001 165.3846 230.7867 74.80001 177.8966 230.7122 74.80001 178.1013 234.3497 74.80001 179.8311 229.0511 74.80001 178.7061 228.8624 74.80001 178.5972 231.5211 74.80001 177.0029 230.6031 74.80001 176.8561 230.7121 74.80001 177.0448 230.6033 74.80001 178.2901 230.4632 74.80001 178.457 230.2963 74.80001 178.5971 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70.63286 95.87242 300.0716 71.94238 96.21457 299.5988 71.25563 95.83014 299.1907 71.25563 95.47618 299.3204 68.32349 96.10861 299.4391 69.29399 95.98984 299.8869 69.32915 96.40296 299.4425 69.32924 95.98649 299.532 70.27147 95.89695 299.2773 68.03659 96.15167 299.7259 68.03579 96.56729 299.1758 67.36032 96.25316 299.5195 66.75563 96.77784 299.0712 66.75563 96.35778 300.5032 69.32924 97.04705 300.4999 69.29399 97.0504 300.3811 68.32349 97.16917 300.3381 68.03659 97.21223 300.2366 67.36032 97.31372 300.132 66.75563 97.41835 300.5927 70.27147 96.95751 300.6173 70.63286 96.93299 300.6595 71.25563 96.8907 300.8275 71.25563 97.08043 304.3662 71.94238 105.3957 304.1861 71.25563 104.2605 304.2292 71.94238 104.2535 303.9594 71.25563 103.1362 304.0018 71.94238 103.1259 303.6442 71.25563 102.0336 303.6856 71.94238 102.0199 303.2424 71.25563 100.9594 303.2826 71.94238 100.9425 302.7564 71.25563 99.92062 302.7952 71.94238 99.90057 302.1895 71.25563 98.9237 302.2266 71.94238 98.90063 301.5452 71.25563 97.97497 301.5803 71.94238 97.94903 300.8605 71.94238 97.05178 304.313 70.63245 106.5451 304.2729 70.63294 105.5451 304.412 71.94238 106.5451 304.3336 71.25563 105.5451 304.3227 71.25563 105.3991 303.9256 68.2528 105.5451 304.0968 69.22509 105.5451 304.1482 69.32915 106.5451 304.1111 69.32939 105.5451 304.2314 70.20637 105.5451 303.879 68.03647 105.5451 303.9181 68.03579 106.5451 303.7182 67.28977 105.5451 303.6233 66.75563 106.5451 303.5866 66.75563 105.5451 304.1113 69.32939 107.5451 304.097 69.22509 107.5451 303.9258 68.2528 107.5451 303.8792 68.03647 107.5451 303.7184 67.28977 107.5451 303.5868 66.75563 107.5451 304.2316 70.20637 107.5451 304.2731 70.63294 107.5451 304.3338 71.25563 107.5451 304.3229 71.25563 107.691 300.8622 71.94238 116.039 301.5467 71.25563 115.1157 301.5819 71.94238 115.1416 302.1909 71.25563 114.1668 302.228 71.94238 114.1899 302.7576 71.25563 113.1698 302.7964 71.94238 113.1898 303.2434 71.25563 112.1309 303.2836 71.94238 112.1478 303.645 71.25563 111.0567 303.6865 71.94238 111.0703 303.9601 71.25563 109.954 304.0025 71.94238 109.9643 304.1865 71.25563 108.8297 304.2296 71.94238 108.8366 304.3664 71.94238 107.6945 300.0042 70.63245 116.8056 300.619 70.63286 116.1578 300.0735 71.94238 116.8763 300.6613 71.25563 116.2001 300.8292 71.25563 116.0103 300.3828 68.32349 115.9217 300.5016 69.29399 116.0404 299.8888 69.32915 116.688 300.505 69.32924 116.0438 300.5945 70.27147 116.1333 300.3398 68.03659 115.8786 299.7277 68.03579 116.5237 300.2383 67.36032 115.7771 299.5213 66.75563 116.3132 300.1336 66.75563 115.6725 299.4444 69.32924 117.1045 299.441 69.29399 117.1012 299.3222 68.32349 116.9824 299.2792 68.03659 116.9394 299.1777 67.36032 116.8379 299.0731 66.75563 116.7333 299.5339 70.27147 117.194 299.5585 70.63286 117.2186 299.6007 71.25563 117.2609 299.1928 71.25563 117.6149 290.9464 71.25563 120.9349 291.9474 71.25563 120.83 291.9534 71.94238 120.8733 293.0759 71.25563 120.6258 293.0854 71.94238 120.6684 294.1846 71.25563 120.3325 294.1974 71.94238 120.3743 295.2665 71.25563 119.9521 295.2826 71.94238 119.9927 296.3148 71.25563 119.4869 296.3341 71.94238 119.5261 297.3228 71.25563 118.94 297.3451 71.94238 118.9775 298.2841 71.25563 118.3146 298.3094 71.94238 118.3502 299.2207 71.94238 117.6484 290.9464 70.20637 120.8327 290.8029 70.63245 120.8887 290.9464 69.32939 120.7124 290.7931 69.32915 120.7242 290.9463 69.22509 120.6981 290.9463 68.2528 120.527 290.7793 68.03579 120.4945 290.9463 68.03647 120.4804 290.9463 67.28977 120.3195 290.7617 66.75563 120.2002 290.9463 66.75563 120.1879 289.664 69.32915 120.7468 288.9464 69.32939 120.7126 288.9463 69.22509 120.6983 289.6685 68.03579 120.5167 288.9463 68.2528 120.5271 288.9463 68.03647 120.4805 289.6744 66.75563 120.222 288.9463 67.28977 120.3197 288.9463 66.75563 120.1881 288.9464 70.20637 120.8329 289.6607 70.63245 120.9115 288.9464 70.63294 120.8744 288.9464 71.25563 120.9351 288.5148 71.25563 120.8986 288.5105 71.94238 120.942 287.3713 71.94238 120.7826 287.379 71.25563 120.7396 286.2483 71.94238 120.5331 286.2595 71.25563 120.4909 285.1488 71.94238 120.1951 285.1632 71.25563 120.154 284.0795 71.94238 119.7709 284.0972 71.25563 119.731 283.0474 71.94238 119.2631 283.0682 71.25563 119.2247 282.0588 71.94238 118.6749 282.0827 71.25563 118.6383 281.1202 71.94238 118.01 281.1468 71.25563 117.9754 280.2913 71.25563 117.2626 280.2373 71.94238 117.2726 280.3037 70.63245 117.1992 280.451 69.29399 117.1029 280.4476 69.32924 117.1063 280.4143 69.32915 117.077 280.3581 70.27147 117.1958 280.3336 70.63286 117.2203 280.5697 68.32349 116.9841 280.5687 68.03579 116.9064 280.6128 68.03659 116.9411 280.7143 67.36032 116.8396 280.7665 66.75563 116.6878 280.8189 66.75563 116.735 279.6078 69.32915 116.2865 279.3869 69.32924 116.0457 279.3902 69.29399 116.0424 279.7752 68.03579 116.1287 279.509 68.32349 115.9236 279.552 68.03659 115.8805 279.9898 66.75563 115.9265 279.6535 67.36032 115.779 279.7581 66.75563 115.6744 279.2974 70.27147 116.1352 279.4878 70.63245 116.3995 279.2728 70.63286 116.1598 279.2306 71.25563 116.202 278.6949 71.25563 115.5722 275.5811 71.94238 108.2695 275.8062 71.25563 109.3967 275.7634 71.94238 109.4053 276.0773 71.25563 110.511 276.0354 71.94238 110.523 276.4362 71.25563 111.6003 276.3953 71.94238 111.6156 276.8804 71.25563 112.6576 276.8409 71.94238 112.6761 277.4072 71.25563 113.6762 277.3693 71.94238 113.6978 278.0133 71.25563 114.6498 277.9772 71.94238 114.6744 278.6608 71.94238 115.5995 275.5885 70.63245 107.1189 275.6587 70.20637 107.5477 275.6172 70.63294 107.5477 275.4896 71.94238 107.1229 275.5565 71.25563 107.5477 275.6244 71.25563 108.2643 275.9645 68.2528 107.5476 275.9831 68.03579 107.1032 276.0111 68.03647 107.5476 276.1719 67.28977 107.5476 276.2777 66.75563 107.0914 276.3035 66.75563 107.5476 275.7531 69.32915 105.983 275.7788 69.32939 105.5477 275.7931 69.22509 105.5477 275.983 68.03579 105.9921 275.9643 68.2528 105.5476 276.0109 68.03647 105.5476 276.2776 66.75563 106.0038 276.1717 67.28977 105.5476 276.3033 66.75563 105.5476 275.6585 70.20637 105.5477 275.5884 70.63245 105.9765 275.617 70.63294 105.5477 275.5563 71.25563 105.5477 275.6241 71.25563 104.8311 278.6592 71.94238 97.49531 278.0119 71.25563 98.44511 277.9757 71.94238 98.42059 277.4059 71.25563 99.41881 277.368 71.94238 99.39724 276.8793 71.25563 100.4376 276.8397 71.94238 100.4191 276.4352 71.25563 101.495 276.3944 71.94238 101.4797 276.0766 71.25563 102.5843 276.0346 71.94238 102.5723 275.8056 71.25563 103.6987 275.7629 71.94238 103.6901 275.5808 71.94238 104.8259 279.486 70.63245 96.69515 279.2956 70.27147 96.95946 279.2711 70.63286 96.93493 279.414 71.94238 96.62725 279.2288 71.25563 96.89266 278.6932 71.25563 97.52262 279.5073 68.32349 97.17108 279.7735 68.03579 96.96588 279.5503 68.03659 97.21413 279.6518 67.36032 97.31561 279.9881 66.75563 97.16803 279.7565 66.75563 97.42021 290.9464 70.63294 120.8743 290.8088 71.94238 120.9875 290.8108 73.25563 121.0205 287.3654 73.25563 120.8151 286.2399 73.25563 120.565 285.1378 73.25563 120.2263 284.0661 73.25563 119.8011 283.0316 73.25563 119.2921 282.0408 73.25563 118.7026 281.1 73.25563 118.0362 280.2151 73.25563 117.2971 277.9499 73.25563 114.6929 277.3406 73.25563 113.7141 276.8109 73.25563 112.6901 276.3643 73.25563 111.6271 276.0036 73.25563 110.5321 275.731 73.25563 109.4118 275.5483 73.25563 108.2735 275.4566 73.25563 107.1242 275.7305 73.25563 103.6835 276.0029 73.25563 102.5632 276.3634 73.25563 101.4681 276.8098 73.25563 100.4051 277.3392 73.25563 99.38092 277.9484 73.25563 98.40203 278.6334 73.25563 97.47464 279.3899 73.25563 96.6046 282.0386 73.25563 94.39161 283.0293 73.25563 93.80187 284.0637 73.25563 93.2927 285.1353 73.25563 92.86732 286.2373 73.25563 92.52843 287.3628 73.25563 92.27816 288.5046 73.25563 92.11811 289.6554 73.25563 92.04927 291.958 73.25563 120.906 293.0925 73.25563 120.7006 294.2071 73.25563 120.4058 295.2948 73.25563 120.0234 296.3486 73.25563 119.5558 297.362 73.25563 119.0059 298.3285 73.25563 118.3772 299.2419 73.25563 117.6737 300.0966 73.25563 116.8999 300.8871 73.25563 116.0606 301.6084 73.25563 115.1612 302.256 73.25563 114.2073 302.8258 73.25563 113.205 303.3141 73.25563 112.1606 303.7178 73.25563 111.0807 304.0346 73.25563 109.9721 304.2622 73.25563 108.8418 304.3993 73.25563 107.6971 304.445 73.25563 106.5451 304.3991 73.25563 105.393 304.2618 73.25563 104.2483 304.0339 73.25563 103.1181 303.717 73.25563 102.0096 303.3131 73.25563 100.9297 302.8245 73.25563 99.88539 302.2546 73.25563 98.88317 301.6069 73.25563 97.9294 300.8854 73.25563 97.0301 300.0947 73.25563 96.19097 299.2399 73.25563 95.41732 298.3263 73.25563 94.71402 297.3597 73.25563 94.08554 296.3463 73.25563 93.53583 295.2923 73.25563 93.06838 294.2046 73.25563 92.68614 293.0899 73.25563 92.39154 291.9554 73.25563 92.18641 290.8081 73.25563 92.07209 287.3303 69.75563 111.3282 287.3303 66.75563 111.3282 287.5226 69.75563 111.4562 287.5226 66.75563 111.4562 287.6896 69.75563 111.6157 287.6896 66.75563 111.6157 287.8265 69.75563 111.8018 287.8042 66.75563 111.7716 287.8189 66.75563 111.7915 287.8265 66.75563 111.8018 287.9289 69.75563 112.0088 287.9289 66.75563 112.0088 287.9938 69.75563 112.2304 287.9938 66.75563 112.2304 288.0193 69.75563 112.46 288.0193 66.75563 112.46 288.0045 69.75563 112.6905 288.0045 66.75563 112.6905 287.9499 69.75563 112.9149 287.9499 66.75563 112.9149 287.8572 69.75563 113.1264 287.8572 66.75563 113.1264 287.819 66.75563 113.1838 287.7292 69.75563 113.3187 287.7292 66.75563 113.3187 287.5697 69.75563 113.4857 287.5697 66.75563 113.4857 287.3836 69.75563 113.6225 287.3836 66.75563 113.6225 287.2337 66.75563 113.6968 287.1766 69.75563 113.725 287.1766 66.75563 113.725 286.955 69.75563 113.7899 286.955 66.75563 113.7899 286.7254 69.75563 113.8154 286.7254 66.75563 113.8154 286.4949 69.75563 113.8006 286.4949 66.75563 113.8006 286.2705 69.75563 113.746 286.059 66.75563 113.6533 286.059 69.75563 113.6533 286.1584 66.75563 113.6969 286.2705 66.75563 113.746 285.2017 69.75563 113.1122 285.2017 66.75563 113.1122 284.4187 69.75563 112.4683 284.4187 66.75563 112.4683 283.7604 66.75563 111.7719 283.7222 69.75563 111.7316 283.7222 66.75563 111.7316 283.1233 69.75563 110.9137 283.1233 66.75563 110.9137 283.0162 69.75563 110.709 283.0162 66.75563 110.709 282.9462 69.75563 110.4889 282.9462 66.75563 110.4889 282.9156 69.75563 110.26 282.9156 66.75563 110.26 282.9251 69.75563 110.0292 282.9251 66.75563 110.0292 282.9746 69.75563 109.8036 282.9746 66.75563 109.8036 283.0625 69.75563 109.5901 283.0625 66.75563 109.5901 283.1862 69.75563 109.395 283.1862 66.75563 109.395 283.3418 69.75563 109.2244 283.3418 66.75563 109.2244 283.5248 69.75563 109.0833 283.5248 66.75563 109.0833 283.7294 69.75563 108.9762 283.7294 66.75563 108.9762 283.9495 69.75563 108.9063 283.9495 66.75563 108.9063 284.1784 69.75563 108.8757 284.1784 66.75563 108.8757 284.4092 69.75563 108.8852 284.4092 66.75563 108.8852 284.6348 69.75563 108.9347 284.6348 66.75563 108.9347 284.8484 69.75563 109.0226 284.8484 66.75563 109.0226 285.0434 69.75563 109.1463 285.0434 66.75563 109.1463 285.2141 69.75563 109.3019 285.2141 66.75563 109.3019 285.3551 69.75563 109.4849 285.3551 66.75563 109.4849 285.9073 66.75563 110.2069 285.9073 69.75563 110.2069 286.5719 66.75563 110.8271 286.5719 69.75563 110.8271 292.5598 69.75563 101.7646 292.5598 66.75563 101.7646 292.3675 69.75563 101.6365 292.3675 66.75563 101.6365 292.2005 69.75563 101.477 292.2005 66.75563 101.477 292.0859 66.75563 101.3212 292.0636 69.75563 101.291 292.0636 66.75563 101.291 291.9612 69.75563 101.084 291.9612 66.75563 101.084 291.8963 69.75563 100.8623 291.8963 66.75563 100.8623 291.8708 69.75563 100.6328 291.8708 66.75563 100.6328 291.8856 69.75563 100.4023 291.8856 66.75563 100.4023 291.9402 69.75563 100.1779 291.9402 66.75563 100.1779 292.0329 69.75563 99.96632 292.0329 66.75563 99.96632 292.1609 69.75563 99.7741 292.1609 66.75563 99.7741 292.3204 69.75563 99.60704 292.3204 66.75563 99.60704 292.5065 69.75563 99.4702 292.5065 66.75563 99.4702 292.7135 69.75563 99.36776 292.7135 66.75563 99.36776 292.9351 69.75563 99.30282 292.9351 66.75563 99.30282 293.1647 69.75563 99.27736 293.1647 66.75563 99.27736 293.3952 69.75563 99.29214 293.3952 66.75563 99.29214 293.6196 69.75563 99.34673 293.6196 66.75563 99.34673 293.8311 69.75563 99.43945 293.8311 66.75563 99.43945 294.6884 69.75563 99.98053 294.6884 66.75563 99.98053 295.4601 66.75563 100.6152 295.4714 69.75563 100.6245 295.4714 66.75563 100.6245 296.1297 66.75563 101.3208 296.1679 69.75563 101.3612 296.1679 66.75563 101.3612 296.7669 69.75563 102.1791 296.7669 66.75563 102.1791 296.8739 69.75563 102.3837 296.8739 66.75563 102.3837 296.9439 69.75563 102.6038 296.9439 66.75563 102.6038 296.9745 69.75563 102.8328 296.9745 66.75563 102.8328 296.965 69.75563 103.0635 296.965 66.75563 103.0635 296.9155 69.75563 103.2891 296.9155 66.75563 103.2891 296.8276 69.75563 103.5027 296.8276 66.75563 103.5027 296.7039 69.75563 103.6978 296.7039 66.75563 103.6978 296.5483 69.75563 103.8684 296.5483 66.75563 103.8684 296.3653 69.75563 104.0094 296.3653 66.75563 104.0094 296.1607 69.75563 104.1165 296.1607 66.75563 104.1165 295.9406 69.75563 104.1864 295.9406 66.75563 104.1864 295.7117 69.75563 104.2171 295.7117 66.75563 104.2171 295.4809 69.75563 104.2075 295.4809 66.75563 104.2075 295.4605 66.75563 104.2031 295.2553 69.75563 104.158 295.2553 66.75563 104.158 295.0417 69.75563 104.0701 295.0417 66.75563 104.0701 294.8467 69.75563 103.9465 294.8467 66.75563 103.9465 294.676 69.75563 103.7908 294.676 66.75563 103.7908 294.535 69.75563 103.6079 294.535 66.75563 103.6079 293.9828 66.75563 102.8859 293.9828 69.75563 102.8859 293.3182 66.75563 102.2657 293.3182 69.75563 102.2657 282.4569 69.75563 111.8047 282.4569 66.75563 111.8047 282.5359 69.75563 111.9382 282.5359 66.75563 111.9382 282.5933 69.75563 112.0823 282.5933 66.75563 112.0823 282.6278 69.75563 112.2335 282.6278 66.75563 112.2335 282.6385 69.75563 112.3883 282.6385 66.75563 112.3883 282.625 69.75563 112.5428 282.625 66.75563 112.5428 282.5879 69.75563 112.6934 282.5879 66.75563 112.6934 282.5279 69.75563 112.8365 282.5279 66.75563 112.8365 282.4465 69.75563 112.9685 282.4465 66.75563 112.9685 282.3457 69.75563 113.0864 282.3457 66.75563 113.0864 280.4256 69.75563 109.0472 280.4256 66.75563 109.0472 280.5976 69.75563 109.0634 280.5976 66.75563 109.0634 280.7643 69.75563 109.1091 280.7643 66.75563 109.1091 280.9206 69.75563 109.1827 280.9206 66.75563 109.1827 281.0619 69.75563 109.2821 281.0619 66.75563 109.2821 281.1839 69.75563 109.4044 281.1839 66.75563 109.4044 281.2831 69.75563 109.5458 281.2831 66.75563 109.5458 281.3565 69.75563 109.7022 281.3565 66.75563 109.7022 277.5729 69.75563 107.5475 277.5729 66.75563 107.5475 277.7326 69.75563 107.5603 277.7326 66.75563 107.5603 277.8883 69.75563 107.5985 277.8883 66.75563 107.5985 278.0358 69.75563 107.6611 278.0358 66.75563 107.6611 278.1714 69.75563 107.7464 278.1714 66.75563 107.7464 278.2917 69.75563 107.8523 278.2917 66.75563 107.8523 278.3936 69.75563 107.976 278.3936 66.75563 107.976 278.6459 66.75563 108.283 278.6485 66.75563 108.2854 278.9436 69.75563 108.5462 278.6459 69.75563 108.283 278.9436 66.75563 108.5462 279.2793 66.75563 108.7588 279.2793 69.75563 108.7588 279.6444 66.75563 108.9156 279.6444 69.75563 108.9156 280.0298 66.75563 109.0125 280.0298 69.75563 109.0125 282.437 66.75563 111.7721 281.8382 69.75563 110.7893 281.8382 66.75563 110.7893 281.7349 66.75563 113.6973 279.9386 71.25563 115.4938 279.9615 70.91879 115.471 280.0052 70.27513 115.4273 280.0512 69.75563 115.3813 276.7185 69.75563 107.5476 276.5591 71.25563 107.5476 276.5915 70.91879 107.5476 276.6533 70.27575 107.5476 288.5174 69.75563 116.5981 288.5174 66.75563 116.5981 288.6412 69.75563 116.6999 288.6412 66.75563 116.6999 288.7471 69.75563 116.8202 288.7471 66.75563 116.8202 288.8324 69.75563 116.9559 288.8324 66.75563 116.9559 288.895 69.75563 117.1034 288.895 66.75563 117.1034 288.9332 69.75563 117.259 288.9332 66.75563 117.259 288.9461 69.75563 117.4188 288.9461 66.75563 117.4188 287.7501 66.75563 115.7418 287.7501 69.75563 115.7418 287.667 66.75563 115.6136 287.667 69.75563 115.6136 287.5654 66.75563 115.4995 287.5654 69.75563 115.4995 287.4475 66.75563 115.4023 287.4475 69.75563 115.4023 287.3163 66.75563 115.3241 287.3163 69.75563 115.3241 287.1746 66.75563 115.2669 287.1746 69.75563 115.2669 287.8193 66.75563 115.8483 287.9605 69.75563 116.0658 287.9605 66.75563 116.0658 288.208 66.75563 116.342 288.2183 69.75563 116.3535 288.2183 66.75563 116.3535 283.4064 69.75563 114.147 283.4064 66.75563 114.147 283.5243 69.75563 114.0461 283.5243 66.75563 114.0461 283.6563 69.75563 113.9647 283.6563 66.75563 113.9647 283.7994 69.75563 113.9047 283.7994 66.75563 113.9047 283.95 69.75563 113.8675 283.95 66.75563 113.8675 284.1045 69.75563 113.854 284.1045 66.75563 113.854 284.2593 69.75563 113.8647 284.2593 66.75563 113.8647 284.4105 69.75563 113.8991 284.4105 66.75563 113.8991 284.5546 69.75563 113.9565 284.5546 66.75563 113.9565 284.6881 69.75563 114.0355 284.6881 66.75563 114.0355 285.4738 66.75563 114.5295 285.4738 69.75563 114.5295 286.3055 66.75563 114.9414 286.3055 69.75563 114.9414 288.9461 66.75563 118.1606 288.9463 71.25563 119.9325 288.9463 70.91879 119.9001 288.9463 70.27575 119.8384 288.9463 69.75563 119.7731 282.7957 66.75563 114.7578 281.1119 69.75563 116.4419 280.9994 71.25563 116.5544 281.0223 70.91879 116.5316 281.0659 70.27513 116.4879 301.4968 69.75563 107.9739 301.4968 66.75563 107.9739 301.5986 69.75563 107.8501 301.5986 66.75563 107.8501 301.7189 69.75563 107.7442 301.7189 66.75563 107.7442 301.8545 69.75563 107.6589 301.8545 66.75563 107.6589 302.0021 69.75563 107.5963 302.0021 66.75563 107.5963 302.1577 69.75563 107.5581 302.3174 66.75563 107.5452 302.3174 69.75563 107.5452 302.3093 66.75563 107.5459 302.1577 66.75563 107.5581 299.4649 66.75563 109.0454 299.4649 69.75563 109.0454 299.2929 66.75563 109.0617 299.2929 69.75563 109.0617 299.1263 66.75563 109.1074 299.1263 69.75563 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115.2649 276.756 65.75563 113.6912 276.5004 65.75563 113.1252 279.3394 60.75563 117.1539 277.9224 65.75563 115.516 277.7553 65.75563 115.2546 281.2287 60.75563 118.754 280.9776 65.75563 118.5707 279.3394 65.75563 117.1539 283.3554 60.75563 120.0214 282.8027 65.75563 119.7368 281.2391 65.75563 118.7378 285.6617 60.75563 120.9218 284.7767 65.75563 120.6279 283.3686 65.75563 119.9922 288.0847 60.75563 121.4306 286.8584 65.75563 121.2254 285.6723 65.75563 120.8849 290.5583 60.75563 121.5338 289.0046 65.75563 121.5169 288.0898 65.75563 121.3926 293.3104 65.75563 121.164 293.0123 65.75563 121.2103 293.0152 60.75563 121.2288 291.1703 65.75563 121.4963 290.558 65.75563 121.5021 295.3805 65.75563 120.527 303.3617 63.10683 113.2542 303.258 62.30648 113.4577 303.8027 60.75563 112.2879 303.1202 61.49331 113.7169 302.9567 60.75563 114.0094 304.945 60.75563 106.5863 304.9404 61.49331 106.9213 304.8172 60.75563 108.5002 304.9302 62.30648 107.2147 304.4334 63.10683 110.4307 304.0798 63.10683 111.5671 303.7776 63.10683 112.2771 304.4342 63.10683 110.4273 304.4343 60.75563 110.4273 304.6958 63.10683 109.2697 304.7899 63.10683 108.4969 304.9183 63.10683 107.4428 302.4625 63.10683 98.28115 302.5869 62.30648 98.47271 301.8462 60.75563 97.416 302.7425 61.49331 98.72165 302.9141 60.75563 99.0095 297.4796 60.75563 93.57598 297.7674 61.49331 93.74754 299.0733 60.75563 94.6436 298.0164 62.30648 93.90307 300.5531 63.10683 95.94124 301.3605 63.10683 96.81568 301.8243 63.10683 97.43244 300.5506 63.10683 95.93891 300.5507 60.75563 95.93881 299.6789 63.10683 95.13357 299.0567 63.10683 94.66565 298.208 63.10683 94.02744 359.7974 75.20293 85.75206 350.1516 74.9579 88.3376 360.4063 76.60617 85.58885 350.1516 77.75563 88.3376 360.7163 77.75563 85.50576 358.9693 73.92561 85.97402 357.9457 72.81056 86.2484 356.7556 71.88951 86.56741 355.4329 71.18867 86.92196 354.0152 70.72798 87.30197 350.1516 69.83476 88.3376 305.314 70.72798 41.4378 304.2791 69.83476 45.30159 304.2791 74.9579 45.30159 304.2791 77.75563 45.30159 307.109 77.75563 34.73637 307.0259 76.60617 35.0464 306.8628 75.20293 35.65532 306.641 73.92561 36.48341 306.3668 72.81056 37.5071 306.048 71.88951 38.69727 305.6937 71.18867 40.02005 239.1659 77.75563 52.94831 246.9007 77.75563 60.68169 239.3928 76.60617 53.17524 246.9007 74.9579 60.68169 239.8386 75.20293 53.62095 246.9007 69.83476 60.68169 244.072 70.72798 57.85352 243.0341 71.18867 56.81578 242.0657 71.88951 55.84755 241.1943 72.81056 54.97639 240.4449 73.92561 54.22708 310.9728 77.75563 35.77129 308.1428 77.75563 46.33652 310.8897 76.60617 36.08132 308.1428 74.9579 46.33652 310.7266 75.20293 36.69024 308.1428 69.83476 46.33652 309.1778 70.72798 42.47272 309.5575 71.18867 41.05497 309.9118 71.88951 39.7322 310.2306 72.81056 38.54203 310.5048 73.92561 37.51833 361.7519 77.75563 89.36936 351.1872 77.75563 92.2012 361.4419 76.60617 89.45246 351.1872 74.9579 92.2012 351.1872 69.83476 92.2012 355.0508 70.72798 91.16558 358.9813 72.81056 90.11201 360.005 73.92561 89.83763 360.833 75.20293 89.61567 356.4685 71.18867 90.78557 357.7912 71.88951 90.43102 338.6463 70.72798 152.4105 335.8176 69.83476 149.5824 335.8176 74.9579 149.5824 339.6842 71.18867 153.4483 342.8796 75.20293 156.6431 342.2734 73.92561 156.037 343.3254 76.60617 157.0888 335.8176 77.75563 149.5824 343.5524 77.75563 157.3157 341.5239 72.81056 155.2877 340.6526 71.88951 154.4165 310.4353 67.75563 124.2047 311.8392 67.75563 125.6084 311.7677 66.18581 125.6799 304.3048 63.34939 119.5667 304.3182 63.41283 119.5175 311.1255 63.41197 126.3222 311.4135 64.22635 126.0342 311.3255 63.90027 126.1221 304.3865 63.90221 119.1894 311.5962 65.02328 125.8514 311.5574 64.76054 125.8902 305.7871 65.96639 119.7446 304.5185 65.23772 118.6738 306.1479 66.18643 120.0664 311.7283 65.9186 125.7193 304.421 64.19049 119.0367 304.4677 64.63899 118.8549 304.4781 64.76169 118.8178 311.1926 63.57582 126.2551 304.3346 63.491 119.4569 304.3739 63.7959 119.2457 310.9348 63.09173 126.5129 304.1663 63.09193 119.7459 310.9454 63.10696 126.5023 304.1749 63.10135 119.7402 310.978 63.15361 126.4698 304.213 63.15379 119.7063 311.0716 63.31761 126.3761 304.2199 63.16324 119.7001 304.259 63.23244 119.6524 304.0108 62.95394 119.821 304.0697 62.99724 119.7999 304.1246 63.0462 119.7733 310.7103 62.85833 126.7375 303.8274 62.85979 119.8566 303.9053 62.89301 119.8457 310.7471 62.89049 126.7007 304.0066 62.95151 119.8219 310.8169 62.95134 126.6309 310.8141 62.94891 126.6337 303.7769 62.83827 119.8636 310.6108 62.79892 126.837 303.6532 62.79957 119.8779 303.6508 62.79903 119.8783 310.6818 62.84132 126.766 303.5378 62.77332 119.8989 310.5517 62.77849 126.8961 303.4909 62.76538 119.9133 310.5146 62.76564 126.9333 310.488 62.76267 126.9598 303.449 62.75986 119.9315 303.4119 62.75663 119.9542 310.4251 62.75563 127.0227 303.3813 62.75563 119.9802 306.7617 66.56072 120.6137 308.2634 67.51987 122.0363 308.264 67.637 122.0347 308.2643 67.75563 122.0341 303.2469 62.89301 120.5042 303.2578 62.85979 120.4263 310.1401 62.85855 127.3078 303.3553 62.75663 120.0107 310.3622 62.76277 127.0857 303.3001 62.77332 120.1367 303.3144 62.76538 120.0898 310.3357 62.76578 127.1122 303.3326 62.75986 120.0478 303.2795 62.79903 120.2497 310.2985 62.77831 127.1494 303.2648 62.83827 120.3758 310.2395 62.79916 127.2084 310.2335 62.80273 127.2144 310.1684 62.84122 127.2795 310.1421 62.8568 127.3058 310.2417 62.79786 127.2062 303.2791 62.79957 120.2521 310.0335 62.95155 127.4145 303.2232 62.95151 120.6055 310.0363 62.94912 127.4117 310.1032 62.89071 127.3447 303.1471 63.09193 120.7652 303.1745 63.0462 120.7235 303.2012 62.99724 120.6686 303.2222 62.95394 120.6097 310.0314 62.95333 127.4165 309.9161 63.09281 127.5319 303.1415 63.10135 120.7738 303.1075 63.15379 120.8119 303.1014 63.16324 120.8188 309.7544 63.35386 127.6936 303.0537 63.23244 120.858 309.7275 63.41442 127.7205 302.968 63.34939 120.9037 309.9046 63.10669 127.5433 309.8745 63.15629 127.5735 309.7773 63.3162 127.6707 309.6563 63.57502 127.7917 302.8582 63.491 120.9336 302.9188 63.41283 120.9171 302.5874 63.90088 120.9858 302.6393 63.80857 120.9744 309.5329 63.90513 127.9151 309.58 63.74676 127.868 302.5348 63.99429 120.9972 309.437 64.22711 128.011 302.3271 64.44975 121.048 309.3363 64.56526 128.1117 302.2208 64.76231 121.077 309.3019 64.76367 128.1462 302.1403 64.99904 121.0989 309.2565 65.02478 128.1915 301.9842 65.63471 121.1445 307.6071 67.75563 127.0334 301.5205 67.75563 120.9478 301.5255 67.74213 120.9529 301.6828 67.25677 121.0961 301.7923 66.80049 121.1676 301.868 66.34136 121.1798 309.1279 65.76562 128.3202 309.119 65.91618 128.3291 301.8934 66.18643 121.172 309.1031 66.18822 128.345 309.0111 67.75563 128.4371 315.4827 67.75563 97.63048 317.4003 67.75563 97.11647 317.4265 66.18581 97.21415 308.3947 63.36143 100.6131 308.3655 63.41266 100.5841 317.6617 63.41197 98.09149 317.5562 64.22635 97.69812 317.5884 63.90027 97.8182 308.1149 63.90221 100.3612 309.7552 66.18643 99.27429 309.2966 65.96661 99.42575 317.4409 65.9186 97.26801 317.4893 65.02328 97.44846 317.5035 64.76054 97.50141 307.7345 65.23772 99.98908 308 64.19049 100.255 307.8659 64.63899 100.1236 307.8389 64.76169 100.0961 317.6371 63.57582 97.99979 308.3207 63.491 100.5399 308.1574 63.7959 100.4003 308.4756 63.15385 100.77 308.4614 63.20591 100.7244 317.6814 63.31761 98.16508 308.4334 63.27974 100.6677 317.7315 63.09173 98.35197 308.4796 63.13948 100.7826 317.7276 63.10696 98.33745 317.7157 63.15361 98.29299 308.4788 62.96893 100.9801 308.4889 63.02679 100.9031 317.7747 62.95134 98.51309 308.4884 63.07994 100.8423 308.4866 63.09196 100.8302 317.7757 62.94891 98.51689 308.4638 62.92914 101.0418 308.4723 62.95172 101.0068 308.4142 62.85898 101.1784 308.4205 62.86485 101.1636 317.8137 62.85833 98.65875 317.8002 62.89049 98.60839 317.8501 62.79892 98.79463 308.3437 62.79902 101.3428 308.3695 62.81785 101.2821 317.8241 62.84132 98.69766 308.342 62.79782 101.3467 317.8718 62.77849 98.87532 308.3056 62.77367 101.4491 308.2944 62.76565 101.4969 317.8854 62.76564 98.9261 308.289 62.76005 101.5423 317.8951 62.76267 98.96231 308.2897 62.75673 101.5856 317.9181 62.75563 99.04827 308.2972 62.75563 101.6271 310.536 66.56071 99.01643 312.5189 67.51987 98.42723 312.5178 67.637 98.4258 312.5174 67.75563 98.42531 310.2631 65.96639 103.0337 308.6292 65.23772 103.327 308.6661 64.76169 103.1822 318.2276 63.74676 100.2028 318.2449 63.90513 100.2672 308.8613 63.491 102.5568 308.6839 62.89301 102.0055 308.6217 62.85979 101.9572 318.0225 62.85855 99.43767 308.3106 62.75663 101.665 317.9412 62.76277 99.13423 317.9853 62.79786 99.29883 317.9861 62.79916 99.30183 308.4797 62.79903 101.8501 308.3921 62.77332 101.7757 308.3587 62.76538 101.7399 317.9509 62.76578 99.17044 308.3314 62.75986 101.7031 317.9645 62.77831 99.22128 318.0218 62.8568 99.43492 318.0121 62.84122 99.39894 308.5815 62.83827 101.9258 308.4815 62.79957 101.8516 318.0616 62.95155 99.58334 308.7597 62.95151 102.0767 318.0605 62.94912 99.57954 318.036 62.89071 99.48804 308.86 63.09193 102.2224 308.8376 63.0462 102.1779 308.8034 62.99724 102.1273 308.7628 62.95394 102.0797 318.0623 62.95333 99.58613 318.1045 63.09281 99.74369 308.8646 63.10135 102.2316 308.8806 63.15379 102.2801 318.1736 63.41442 100.0013 308.8936 63.23244 102.3497 318.1637 63.35386 99.96456 308.8835 63.16324 102.2888 318.1087 63.10669 99.75936 318.1198 63.15629 99.80055 318.1553 63.3162 99.9333 308.7897 63.7959 102.7594 318.1997 63.57502 100.0987 308.8774 63.41283 102.4961 308.8904 63.34939 102.4468 318.346 65.02478 100.6447 318.3294 64.76367 100.5828 318.3168 64.56526 100.5357 308.6757 64.63899 103.1448 318.28 64.22711 100.3982 308.7261 64.19049 102.964 308.7726 63.90221 102.8145 318.4023 66.18822 100.8544 318.436 67.75563 100.9801 316.5184 67.75563 101.4941 313.5534 67.51987 102.2865 313.5531 67.637 102.2883 313.5531 67.75563 102.2889 318.3932 65.76562 100.8205 318.3964 65.91618 100.8326 310.7365 66.18643 102.9353 311.5417 66.56072 102.7681 294.9925 67.75563 79.97217 295.5061 67.75563 78.05447 295.6038 66.18581 78.08064 294.0411 63.34939 87.60031 293.9919 63.41283 87.61332 296.4812 63.41197 78.31564 296.0878 64.22635 78.21028 296.2079 63.90027 78.24244 293.6735 63.90221 87.71818 293.5523 66.18643 85.75428 293.4541 65.96661 86.22718 295.6577 65.9186 78.09506 295.8381 65.02328 78.1434 295.8911 64.76054 78.15758 293.161 65.23772 87.86164 293.5241 64.19049 87.7647 293.3432 64.63899 87.81513 293.3059 64.76169 87.82466 296.3895 63.57582 78.29108 293.9311 63.491 87.62935 293.7286 63.7959 87.70103 296.7417 63.09173 78.38542 294.2655 63.09193 87.63068 296.7272 63.10696 78.38153 294.2564 63.10135 87.62607 296.6827 63.15361 78.36962 294.2079 63.15379 87.61002 296.5548 63.31761 78.33535 294.1991 63.16324 87.60713 294.1383 63.23244 87.59708 294.4083 62.95394 87.72778 294.3606 62.99724 87.68727 294.3101 63.0462 87.65307 296.9981 62.89049 78.4541 297.0485 62.85833 78.46759 294.4825 62.89301 87.80673 294.5309 62.85979 87.86883 294.4113 62.95151 87.73094 296.9028 62.95134 78.42858 296.9066 62.94891 78.42959 294.5622 62.83827 87.90905 297.1844 62.79892 78.50399 294.6364 62.79957 88.00901 294.638 62.79903 88.01087 297.0874 62.84132 78.47801 294.7124 62.77332 88.09844 297.2651 62.77849 78.5256 294.7468 62.76568 88.13055 297.3159 62.76564 78.5392 297.3521 62.76267 78.54891 294.785 62.75986 88.1591 294.8231 62.75663 88.17988 297.4381 62.75563 78.57193 294.8609 62.75563 88.19334 293.7194 66.56071 84.94911 294.2006 67.51987 82.93728 294.1988 67.637 82.93751 294.1982 67.75563 82.93759 297.062 65.96639 87.19404 296.4991 65.23772 88.75576 296.3921 64.76169 88.65132 298.5926 63.74676 78.88118 298.657 63.90513 78.89844 295.9482 63.491 88.16962 294.9024 62.75673 88.20079 297.524 62.76277 78.59496 297.6916 62.79916 78.63985 295.1452 62.79902 88.14682 297.6886 62.79786 78.63905 295.1413 62.79782 88.14848 297.6111 62.77831 78.61827 295.0389 62.77367 88.18489 297.5602 62.76578 78.60466 294.9912 62.76564 88.19609 294.9458 62.76005 88.20156 297.7887 62.84122 78.66587 295.3096 62.85898 88.07628 295.2059 62.81785 88.12092 295.4463 62.92914 88.02665 297.8275 62.85855 78.67623 297.8778 62.89071 78.68973 295.4813 62.95172 88.01809 297.8247 62.8568 78.67549 295.3244 62.86485 88.06991 295.6458 63.07994 88.00194 295.5849 63.02679 88.00152 297.9731 62.95155 78.71526 295.6578 63.09196 88.00373 297.9759 62.95333 78.71601 298.1335 63.09281 78.7582 297.9693 62.94912 78.71424 295.5079 62.96893 88.01157 298.1492 63.10669 78.76241 295.718 63.15385 88.01474 295.7054 63.13948 88.01082 295.9039 63.41266 88.12487 295.875 63.36143 88.09561 298.3911 63.41442 78.8272 295.8203 63.27974 88.05696 295.7637 63.20591 88.02893 298.1903 63.15629 78.77344 298.3231 63.3162 78.809 298.3544 63.35386 78.81737 296.0878 63.7959 88.33295 298.4885 63.57502 78.85329 299.0346 65.02478 78.99957 298.9726 64.76367 78.98297 298.9255 64.56526 78.97036 296.3645 64.63899 88.6244 298.788 64.22711 78.93352 296.2331 64.19049 88.49033 296.1269 63.90221 88.37535 299.2442 66.18822 79.05572 299.3699 67.75563 79.0894 298.8563 67.75563 81.00709 298.0601 67.51987 83.97105 298.0615 67.637 83.97214 298.062 67.75563 83.97251 299.2103 65.76562 79.04664 299.2224 65.91618 79.04988 297.2135 66.18643 86.73493 297.4713 66.56072 85.95402 268.4767 64.22635 87.05853 268.5646 63.90027 86.97061 275.5036 63.90221 93.90338 275.5853 63.34939 93.52602 275.5719 63.41283 93.57521 268.7646 63.41197 86.77053 268.6975 63.57582 86.83766 275.5555 63.491 93.63581 275.5163 63.7959 93.84708 268.9553 63.09173 86.57982 275.7238 63.09193 93.34688 268.9447 63.10696 86.59045 275.7152 63.10135 93.35253 268.9121 63.15361 86.623 275.6771 63.15379 93.38649 268.8185 63.31761 86.71665 275.6702 63.16324 93.39261 275.6311 63.23244 93.44032 275.8793 62.95394 93.2718 275.8204 62.99724 93.29281 275.7655 63.0462 93.31948 269.143 62.89049 86.39209 269.1798 62.85833 86.35522 275.9848 62.89301 93.24703 276.0627 62.85979 93.23619 275.8835 62.95151 93.27081 269.0732 62.95134 86.46186 269.076 62.94891 86.45908 276.1132 62.83827 93.22916 269.2793 62.79892 86.25574 276.2369 62.79957 93.21487 276.2393 62.79903 93.21443 269.2083 62.84132 86.32673 276.3523 62.77332 93.19381 269.3384 62.77849 86.19666 276.3992 62.76538 93.17946 269.3755 62.76564 86.15948 269.402 62.76267 86.13297 276.4411 62.75986 93.16126 276.4783 62.75663 93.13859 269.465 62.75563 86.07003 276.5088 62.75563 93.11257 275.5415 67.75563 94.9736 269.4548 67.75563 88.88806 275.5364 67.74213 94.96856 275.3932 67.25677 94.81126 275.4692 64.19049 94.05604 275.4224 64.63899 94.23788 268.3327 64.76054 87.20255 275.412 64.76176 94.27466 268.2939 65.02328 87.24131 275.3689 65.27341 94.42797 268.1618 65.9186 87.37343 275.3239 66.01506 94.57913 268.1224 66.18581 87.41286 275.3163 66.18598 94.60375 268.0509 67.75563 87.48438 275.3095 66.34136 94.62615 275.3217 66.80049 94.70178 276.7439 65.96639 90.70676 277.815 65.23772 91.9751 277.671 64.76169 92.01554 270.3101 63.74676 85.22478 270.3572 63.90513 85.17761 277.0319 63.491 92.15915 276.7887 63.16324 92.27394 276.7826 63.15379 92.28082 270.0156 63.15629 85.51927 276.7486 63.10135 92.31896 276.743 63.09193 92.32756 269.974 63.09281 85.56089 276.6432 62.89301 92.58851 276.6323 62.85979 92.66648 269.75 62.85855 85.78495 276.5348 62.75663 93.08201 269.5279 62.76277 86.00711 276.59 62.77332 92.95607 276.5762 62.76568 93.00112 269.5556 62.76591 85.97936 276.5575 62.75986 93.04492 276.6106 62.79903 92.84305 269.5916 62.77831 85.94337 276.6253 62.83827 92.71698 269.6506 62.79916 85.8844 269.6566 62.80273 85.87837 269.7217 62.84122 85.8133 269.748 62.8568 85.78696 269.6484 62.79786 85.88659 276.611 62.79957 92.84066 269.7869 62.89071 85.74806 269.8539 62.94912 85.68108 276.6669 62.95151 92.48726 269.8566 62.95155 85.67829 276.6679 62.95394 92.48303 276.6889 62.99724 92.42412 269.8587 62.95333 85.67625 276.7156 63.0462 92.36923 269.9855 63.10669 85.54942 276.9713 63.41283 92.17565 276.9221 63.34939 92.18903 270.1626 63.41442 85.3723 276.8364 63.23244 92.23479 270.1357 63.35386 85.39918 270.1128 63.3162 85.42208 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86.07972 266.9064 65.12659 85.87907 268.3069 62.97857 85.69038 268.1816 63.13638 85.82796 267.2038 63.6864 85.3569 266.3496 71.46859 82.74418 245.5975 78.01821 61.98514 266.3548 71.46707 82.73842 245.646 78.01226 61.93659 266.3699 71.46274 82.722 245.7171 77.98615 61.86548 266.4694 71.43411 82.61343 245.7971 77.95674 61.78543 266.5036 71.42427 82.57611 245.8371 77.9323 61.74548 266.5799 71.37977 82.48569 245.9421 77.86801 61.64043 266.6147 71.35949 82.44449 266.6606 71.33277 82.39018 245.9583 77.85369 61.62424 266.6894 71.30572 82.3528 246.0809 77.74524 61.50162 266.7308 71.26686 82.29909 266.7971 71.20471 82.21322 246.0948 77.73291 61.48768 266.8002 71.20181 82.2092 246.203 77.59981 61.37948 266.8403 71.1459 82.1514 266.8975 71.06624 82.06905 246.2702 77.51709 61.31224 266.9364 71.01213 82.0131 246.3285 77.41959 61.25398 266.994 70.89253 81.91764 246.4256 77.25711 61.15689 267.0298 70.81842 81.85848 246.4539 77.19283 61.1286 267.0641 70.74722 81.80164 267.0851 70.67674 81.75844 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63.00778 84.20685 268.6072 63.4315 83.91348 269.0279 64.33193 83.6332 267.5565 63.21697 83.38374 267.7063 63.37289 83.27062 268.4622 63.22523 84.02639 268.3185 63.06813 84.14558 269.0851 62.97857 84.91204 269.2227 63.13638 84.78673 268.0431 62.8964 84.39427 268.1782 62.95926 84.26889 268.1099 62.92226 84.33145 269.2735 65.12659 83.51147 269.4742 66.01676 83.44965 289.0459 63.10683 91.57335 289.274 62.30648 91.5614 287.9885 60.75563 91.67453 289.5673 61.49331 91.55113 289.9024 60.75563 91.54644 282.4796 60.75563 93.5361 282.7721 61.49331 93.37257 284.2011 60.75563 92.68974 283.0313 62.30648 93.23472 286.0648 63.10683 92.05696 287.2257 63.10683 91.79492 287.9918 63.10683 91.70167 286.0615 63.10683 92.05797 286.0614 60.75563 92.05784 284.9282 63.10683 92.41021 284.2119 63.10683 92.71511 283.2348 63.10683 93.13099 291.0886 66.75563 120.4996 293.0861 66.75563 120.1895 290.771 66.75563 117.4752 287.0642 66.75563 120.2468 288.8854 66.75563 117.3104 285.1213 66.75563 119.6891 288.682 66.75563 117.1071 283.2789 66.75563 118.8574 295.0181 66.75563 119.5949 291.21 66.75563 117.1069 291.0066 66.75563 117.3103 289.9461 66.75563 117.6964 289.0673 66.75563 120.5188 290.2326 66.75563 117.6713 290.5104 66.75563 117.5968 289.6596 66.75563 117.6713 289.3817 66.75563 117.5969 289.121 66.75563 117.4754 288.2958 66.75563 114.5465 288.3208 66.75563 114.26 280.0465 66.75563 116.4468 289.9456 66.75563 112.8964 290.2322 66.75563 112.9214 290.3377 66.75563 111.0292 290.51 66.75563 112.9958 291.1101 66.75563 110.8929 291.2097 66.75563 113.4857 291.3746 66.75563 113.7212 293.1273 66.75563 109.7281 291.8472 66.75563 110.6246 290.7706 66.75563 113.1174 292.5265 66.75563 110.2323 288.3952 66.75563 113.9822 288.5168 66.75563 113.7215 286.7634 66.75563 109.7286 288.6817 66.75563 113.4859 288.8851 66.75563 113.2825 287.3643 66.75563 110.2328 289.1206 66.75563 113.1175 291.4962 66.75563 113.9819 291.5707 66.75563 114.2597 288.517 66.75563 116.8715 288.3955 66.75563 116.6109 281.5754 66.75563 117.7691 288.321 66.75563 116.333 288.2959 66.75563 116.0465 291.0063 66.75563 113.2823 289.6591 66.75563 112.9215 289.5533 66.75563 111.0293 289.3813 66.75563 112.9959 288.7808 66.75563 110.8931 288.0437 66.75563 110.6249 291.5958 66.75563 114.5462 291.5959 66.75563 116.0462 298.5268 66.75563 117.6078 291.5709 66.75563 116.3327 296.8443 66.75563 118.7283 291.4965 66.75563 116.6106 291.375 66.75563 116.8712 276.8956 66.75563 101.4757 276.3014 66.75563 103.4078 279.181 66.75563 105.4868 278.7239 66.75563 114.9181 286.2591 66.75563 109.1278 277.6352 66.75563 113.2148 278.8946 66.75563 107.1117 275.9728 66.75563 107.4267 279.0162 66.75563 107.3724 276.2452 66.75563 109.4297 279.3843 66.75563 105.2834 279.6199 66.75563 105.1184 277.7619 66.75563 99.6493 279.8806 66.75563 104.9968 278.8821 66.75563 97.96669 280.1584 66.75563 104.9223 280.4449 66.75563 104.8972 280.1587 66.75563 108.1722 279.8809 66.75563 108.0978 279.6202 66.75563 107.9763 276.8032 66.75563 111.3726 279.3846 66.75563 107.8113 279.1812 66.75563 107.608 275.9916 66.75563 105.4054 278.8945 66.75563 105.9831 279.016 66.75563 105.7224 278.8201 66.75563 106.8339 278.7951 66.75563 106.5474 278.8201 66.75563 106.2609 282.2317 66.75563 108.172 281.9452 66.75563 108.1971 280.4452 66.75563 108.1972 282.7699 66.75563 105.1181 283.0055 66.75563 105.283 285.5983 66.75563 105.3821 285.8665 66.75563 104.645 286.2586 66.75563 103.9656 286.7628 66.75563 103.3647 283.2089 66.75563 105.4864 283.3739 66.75563 105.722 285.4621 66.75563 106.1546 282.5095 66.75563 108.0975 285.5985 66.75563 107.7115 285.8668 66.75563 108.4485 283.595 66.75563 106.547 285.4622 66.75563 106.939 283.57 66.75563 106.2604 283.4955 66.75563 105.9826 281.9449 66.75563 104.8971 282.2314 66.75563 104.9221 282.5093 66.75563 104.9966 283.2091 66.75563 107.6076 283.0058 66.75563 107.811 282.7702 66.75563 107.976 283.57 66.75563 106.8335 283.4956 66.75563 107.1113 283.3741 66.75563 107.372 291.0047 66.75563 95.78231 288.0429 66.75563 102.4682 288.78 66.75563 102.1998 288.8269 66.75563 99.76042 288.3838 66.75563 99.08227 288.3168 66.75563 98.8181 288.4933 66.75563 99.33182 288.6423 66.75563 99.55995 287.3636 66.75563 102.8604 289.5394 66.75563 100.1459 289.2817 66.75563 100.0575 289.5524 66.75563 102.0635 288.2943 66.75563 98.54653 288.2942 66.75563 97.04653 288.3192 66.75563 96.76 288.3937 66.75563 96.48218 288.5152 66.75563 96.22151 288.6801 66.75563 95.98589 288.8835 66.75563 95.7825 289.1191 66.75563 95.61751 289.944 66.75563 95.39637 289.6575 66.75563 95.42147 289.3797 66.75563 95.49594 291.505 66.75563 99.08199 291.3955 66.75563 99.33155 291.1094 66.75563 102.1996 289.042 66.75563 99.92778 291.208 66.75563 95.98566 291.3731 66.75563 96.22125 291.4946 66.75563 96.4819 291.5691 66.75563 96.75971 290.2306 66.75563 95.42142 290.5084 66.75563 95.49583 290.7691 66.75563 95.61736 290.6072 66.75563 100.0573 290.3368 66.75563 102.0635 290.8469 66.75563 99.92761 290.3495 66.75563 100.1458 290.0807 66.75563 100.1907 289.8082 66.75563 100.1908 291.2465 66.75563 99.55971 291.062 66.75563 99.76022 291.5942 66.75563 97.04622 291.5943 66.75563 98.54622 291.5718 66.75563 98.81781 296.8846 66.75563 107.8097 296.6812 66.75563 107.6064 301.07 66.75563 106.8319 301.095 66.75563 106.5454 301.07 66.75563 106.2588 297.3806 66.75563 104.9952 297.6584 66.75563 104.9207 300.5055 66.75563 105.2814 300.7089 66.75563 105.4848 300.8739 66.75563 105.7204 300.9955 66.75563 105.981 300.9956 66.75563 107.1097 300.8741 66.75563 107.3704 296.681 66.75563 105.4852 293.631 66.75563 103.9649 294.0233 66.75563 104.6442 293.1268 66.75563 103.3641 296.8843 66.75563 105.2818 297.1199 66.75563 105.1168 291.8465 66.75563 102.4678 292.5258 66.75563 102.86 299.7317 66.75563 108.1704 299.4452 66.75563 108.1955 297.9452 66.75563 108.1956 297.6587 66.75563 108.1706 297.3809 66.75563 108.0962 297.1202 66.75563 107.9747 294.4279 66.75563 106.1538 294.428 66.75563 106.9382 296.3201 66.75563 106.8323 300.7091 66.75563 107.606 300.5058 66.75563 107.8094 300.2702 66.75563 107.9744 300.0095 66.75563 108.096 296.3946 66.75563 107.1101 294.2918 66.75563 107.7107 296.5162 66.75563 107.3708 294.0236 66.75563 108.4478 293.6315 66.75563 109.1271 296.2951 66.75563 106.5458 296.3201 66.75563 106.2593 294.2916 66.75563 105.3813 296.3945 66.75563 105.9815 296.516 66.75563 105.7208 297.9449 66.75563 104.8956 299.4449 66.75563 104.8955 299.7314 66.75563 104.9206 300.0093 66.75563 104.995 300.2699 66.75563 105.1165 305.9528 66.01351 106.9982 306.0515 66.19969 107.0044 306.6387 67.36354 107.6575 305.5889 65.33319 107.0845 305.6867 65.5145 107.0369 305.6239 65.41044 107.2395 305.7734 65.67634 107.0131 305.8601 65.83908 107.001 305.3841 64.9818 107.4707 305.3865 64.98305 107.4407 305.3902 64.98688 107.411 305.3986 64.99806 107.3661 305.4052 65.00785 107.3401 305.4129 65.01996 107.3147 305.4219 65.03455 107.29 305.4333 65.05369 107.2632 305.4458 65.07514 107.2383 305.4741 65.12475 107.193 305.4798 65.13481 107.1853 305.5226 65.21179 107.1368 305.5761 65.30957 107.0931 305.1547 64.9818 109.3545 306.0647 66.22464 107.0062 306.0778 66.24954 107.0087 306.5061 67.0846 107.3899 306.2142 66.50867 107.0485 306.5783 67.21726 107.354 306.6069 67.27733 107.4199 306.6224 67.31143 107.4704 306.6293 67.32769 107.5012 306.6345 67.34094 107.5326 306.6384 67.35259 107.5699 306.6398 67.35864 107.5986 306.6399 67.3623 107.6277 306.2966 66.66611 107.0847 306.3693 66.80568 107.1267 306.3829 66.83187 107.1358 306.4709 67.00279 107.2085 306.535 67.1294 107.2832 304.9306 67.35864 113.9798 304.9151 67.35259 114.0039 304.7105 67.0846 114.0937 304.893 67.34094 114.0343 304.8728 67.32769 114.0589 304.8514 67.31143 114.0821 304.8128 67.27733 114.1181 304.7551 67.21726 114.1609 304.6821 67.1294 114.2006 304.5893 67.00279 114.2332 304.1364 66.22464 114.2054 304.959 67.36354 113.9282 304.9453 67.3623 113.9546 304.4768 66.83187 114.2521 304.4604 66.80568 114.2533 304.3765 66.66611 114.2533 304.287 66.50867 114.2434 304.149 66.24954 114.2098 304.124 66.19969 114.2003 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91.63502 35.82683 276.0805 91.63502 36.59109 276.142 91.48768 36.90102 276.1975 91.28772 37.18114 276.2454 91.04121 37.42295 276.2843 90.75563 37.6191 276.3129 90.43968 37.76363 271.3937 91.72525 37.33687 271.4808 91.63502 37.66213 271.5626 91.48768 37.96731 271.6366 91.28772 38.24316 271.7004 91.04121 38.48126 271.7522 90.75563 38.67441 271.7903 90.43968 38.81671 267.3862 89.75563 40.28101 267.3764 90.10293 40.25225 267.3473 90.43968 40.16683 267.2998 90.75563 40.02736 267.2354 91.04121 39.83806 267.156 91.28772 39.6047 267.0639 91.48768 39.33437 266.9621 91.63502 39.03526 263.0498 89.75563 41.91942 262.392 89.75563 42.21905 254.7492 89.75563 46.03806 254.734 90.10293 46.01179 254.6886 90.43968 45.9338 254.6145 90.75563 45.80644 254.514 91.04121 45.6336 254.39 91.28772 45.42051 254.2464 91.48768 45.17366 254.0876 91.63502 44.90054 250.0861 91.63502 47.40901 250.2627 91.48768 47.67101 250.4223 91.28772 47.90781 250.56 91.04121 48.11223 250.6718 90.75563 48.27804 250.7541 90.43968 48.40022 246.9916 90.43968 51.12164 246.9013 90.75563 51.00519 246.7788 91.04121 50.84713 246.6278 91.28772 50.65228 246.4529 91.48768 50.42656 246.2593 91.63502 50.17681 239.0284 91.75563 52.8109 239.0284 79.62825 52.8109 244.0725 78.03179 63.51038 241.2438 70.72798 60.68221 241.8571 91.75563 55.63907 243.0346 78.49249 62.47263 236.2003 79.62825 55.63959 239.1207 85.39921 58.55949 236.2003 91.75563 55.63959 239.029 86.93206 58.46776 239.029 91.75563 58.46776 237.6167 73.92561 57.05577 238.3662 72.81056 57.80508 241.1949 80.11437 60.63324 242.0662 79.19333 61.50441 240.2059 71.18867 59.64447 239.2375 71.88951 58.67624 237.0105 75.20293 56.44963 240.4454 81.22943 59.88394 236.5647 76.60617 56.00392 236.292 78.09539 55.73133 239.8392 82.50674 59.2778 239.3934 83.90998 58.83209 239.1947 78.09745 52.84764 243.5956 86.93206 53.90027 243.397 85.39921 54.28246 243.3875 83.90998 54.83725 243.5674 82.50674 55.54885 243.9317 81.22943 56.39702 244.4699 80.11437 57.35761 245.1667 79.19333 58.4033 246.0023 78.49249 59.50432 311.0231 91.75563 35.58358 311.0231 79.62825 35.58358 307.1593 91.75563 34.54865 307.1593 79.62825 34.54865 306.1243 91.75563 38.41245 309.9881 91.75563 39.44738 303.7492 86.93206 37.77628 312.3632 86.93206 40.08354 304.2076 78.03179 45.28245 307.0336 78.09745 34.66363 311.0744 78.09745 35.74595 304.1124 85.39921 38.00787 304.4681 78.49249 43.83276 311.9329 85.39921 40.10261 304.3981 83.90998 38.48354 311.4477 83.90998 40.37178 304.5982 82.50674 39.18974 310.9214 82.50674 40.88342 304.707 81.22943 40.10638 310.369 81.22943 41.62296 304.7214 80.11437 41.20737 309.8062 80.11437 42.56935 304.641 79.19333 42.4614 309.249 79.19333 43.69566 308.7133 78.49249 44.96986 361.9396 91.75563 89.31905 361.9396 79.62825 89.31905 360.904 91.75563 85.45544 360.904 79.62825 85.45544 357.0404 91.75563 86.49107 358.076 91.75563 90.35468 356.4038 86.93206 84.11609 358.7126 86.93206 92.72965 350.1324 78.03179 88.26612 360.7416 78.09745 85.40414 361.8247 78.09745 89.44469 352.656 78.49249 92.0119 356.3848 85.39921 84.5464 358.481 85.39921 92.36653 356.1157 83.90998 85.03166 358.0053 83.90998 92.08091 355.6042 82.50674 85.55805 357.299 82.50674 91.88095 354.8647 81.22943 86.11059 356.3824 81.22943 91.77232 353.9184 80.11437 86.67356 355.2814 80.11437 91.75811 352.7922 79.19333 87.23094 354.0274 79.19333 91.83874 351.5181 78.49249 87.76688 304.6169 60.75563 103.5873 304.5709 60.75563 103.3552 303.977 60.75563 101.3211 304.1271 60.75563 101.762 304.4336 60.75563 102.6628 304.478 60.75563 102.8867 304.5246 60.75563 103.1217 303.5409 60.75563 100.2738 303.4539 60.75563 100.0982 303.3505 60.75563 99.88965 303.7263 60.75563 100.6477 303.7948 60.75563 100.7858 303.8904 60.75563 101.0666 304.7144 60.75563 104.079 304.8041 60.75563 104.5312 304.8192 60.75563 104.6076 304.8418 60.75563 104.9634 304.2031 60.75563 101.9854 304.2795 60.75563 102.21 304.3563 60.75563 102.4357 304.9316 60.75563 106.3759 304.9179 60.75563 106.1603 304.9081 60.75563 106.006 304.8978 60.75563 105.8439 304.8635 60.75563 105.304 304.8756 60.75563 105.4937 304.887 60.75563 105.6734 303.2725 60.75563 99.73234 303.1987 60.75563 99.58354 300.5526 60.75563 117.152 302.7203 60.75563 114.3648 302.6347 60.75563 114.4936 302.9989 60.75563 99.1806 302.84 60.75563 114.1849 302.5447 60.75563 114.6288 302.4501 60.75563 114.7711 302.3504 60.75563 114.921 302.2452 60.75563 115.0792 303.0623 60.75563 99.30839 303.1288 60.75563 99.44247 302.0562 60.75563 115.3635 301.8587 60.75563 115.6603 301.8074 60.75563 115.7189 300.703 60.75563 116.9802 300.8609 60.75563 116.8 301.5038 60.75563 116.0657 301.1735 60.75563 116.4429 301.0177 60.75563 116.6209 300.3809 60.75563 117.3025 298.0298 60.75563 119.1446 297.8946 60.75563 119.2346 300.2007 60.75563 117.4603 300.0216 60.75563 117.6171 299.8436 60.75563 117.773 299.4665 60.75563 118.1034 297.7658 60.75563 119.3202 297.5859 60.75563 119.4399 299.1198 60.75563 118.4071 299.0612 60.75563 118.4584 298.7644 60.75563 118.6559 298.4802 60.75563 118.845 298.322 60.75563 118.9502 298.1721 60.75563 119.05 277.1698 60.75563 98.72792 277.2554 60.75563 98.59915 279.3375 60.75563 95.94075 277.3453 60.75563 98.46392 277.44 60.75563 98.32164 277.5397 60.75563 98.17173 277.6449 60.75563 98.01351 277.0501 60.75563 98.90783 277.8339 60.75563 97.7293 278.0314 60.75563 97.43241 278.0827 60.75563 97.37383 279.1871 60.75563 96.11253 279.0292 60.75563 96.29277 278.3863 60.75563 97.02703 278.7166 60.75563 96.64984 278.8724 60.75563 96.47184 295.8412 60.75563 92.76402 296.2152 60.75563 92.94936 294.5034 60.75563 92.28752 294.7268 60.75563 92.36351 295.1678 60.75563 92.51349 295.4223 60.75563 92.60005 295.7031 60.75563 92.69556 292.4097 60.75563 91.77655 292.9015 60.75563 91.87398 281.8603 60.75563 93.94815 281.9955 60.75563 93.8582 280.0465 60.75563 95.31972 280.4236 60.75563 94.9894 293.367 60.75563 91.9662 293.602 60.75563 92.01276 290.1128 60.75563 91.55976 282.3041 60.75563 93.65284 282.1242 60.75563 93.77253 293.1336 60.75563 91.91996 293.826 60.75563 92.05713 294.0531 60.75563 92.13437 294.2789 60.75563 92.21115 291.1847 60.75563 91.6277 291.5253 60.75563 91.64929 291.8811 60.75563 91.67185 291.9575 60.75563 91.68698 290.3284 60.75563 91.57344 290.4827 60.75563 91.58322 280.7703 60.75563 94.68567 280.8289 60.75563 94.63436 281.1258 60.75563 94.43686 281.41 60.75563 94.24779 281.5681 60.75563 94.14253 281.718 60.75563 94.0428 279.5093 60.75563 95.79029 290.6448 60.75563 91.59349 290.8153 60.75563 91.6043 290.995 60.75563 91.61569 297.3085 60.75563 93.49118 296.3908 60.75563 93.03639 296.5993 60.75563 93.13974 296.7567 60.75563 93.21771 296.9055 60.75563 93.29146 297.0466 60.75563 93.36138 297.1806 60.75563 93.42784 279.6895 60.75563 95.63244 279.8685 60.75563 95.47561 302.835 61.88314 114.3822 304.3208 65.21408 118.4723 303.9508 65.03034 118.0729 303.9967 65.05311 118.1224 303.9389 64.54447 118.2762 303.6151 64.82659 117.6154 303.5072 64.41442 117.628 303.5592 64.78403 117.5179 303.1835 64.2521 116.9264 303.2324 64.49633 116.8529 303.3684 64.63899 117.1854 302.9758 64.06156 116.1889 302.8893 63.84753 115.4338 302.897 63.89552 115.4216 302.9491 64.09713 115.911 303.0068 64.19791 116.1504 303.0952 64.35245 116.5174 302.9098 63.67165 114.8599 302.8972 63.72128 114.9876 302.896 63.89189 115.4128 302.9353 63.57147 114.6022 302.9273 63.60305 114.6834 302.8155 62.92724 114.8673 302.7814 63.21752 115.6162 302.9757 62.62093 114.1416 303.0453 63.37737 114.0769 303.0037 63.43638 114.2405 302.9654 63.50332 114.4217 303.224 63.2003 113.556 303.1649 63.24966 113.7067 303.2894 63.15271 113.4054 303.0936 63.31999 113.9136 303.0814 63.33456 113.9551 302.8744 63.48424 116.3688 303.092 63.72052 117.1057 303.4285 63.92025 117.8078 303.8754 64.07827 118.4571 302.6763 62.26242 115.0941 302.6484 62.62091 115.8335 302.7519 62.94891 116.5802 302.9841 63.23756 117.3141 303.3388 63.47905 118.0154 303.8062 63.66686 118.6651 302.6723 61.2265 114.648 302.5193 61.68399 115.3391 302.5019 62.1151 116.0632 302.6206 62.50757 116.7995 302.8722 62.85028 117.5273 303.2494 63.13346 118.2258 303.7416 63.34907 118.8751 303.1556 62.7484 119.4372 303.1053 62.73681 119.4664 302.7327 62.63964 119.0182 303.3793 62.83213 119.338 303.4827 62.89151 119.2935 303.6358 63.02842 119.1895 303.6665 63.07177 119.1524 303.7333 63.25122 118.9786 302.4859 61.70299 115.4877 302.6063 61.24133 114.8136 302.5364 61.25232 114.9802 302.4844 61.25759 115.0977 302.4491 61.71628 115.6348 302.4925 62.12802 116.1958 302.4278 61.26094 115.2197 302.4204 61.72188 115.7373 302.4792 62.13544 116.3238 302.6258 62.50481 116.9186 302.3657 61.26232 115.3466 302.3875 61.72443 115.8429 302.4667 62.13684 116.4114 302.6259 62.49885 117.0294 302.8822 62.82309 117.6362 302.2972 61.26171 115.479 302.3495 61.72381 115.9522 302.4502 62.13489 116.5006 302.6222 62.49201 117.1031 302.8853 62.79706 117.733 303.2548 63.07418 118.3292 302.2214 61.2592 115.6172 302.3054 61.72 116.0655 302.429 62.1294 116.5918 302.6147 62.48238 117.1767 302.8831 62.77848 117.795 303.2507 63.0223 118.4164 303.7127 63.1687 119.0619 303.2427 62.98903 118.4696 302.8768 62.7585 117.8549 302.6025 62.46969 117.2507 302.402 62.12033 116.6857 302.2542 61.71311 116.1835 302.076 61.25122 115.8619 303.6921 63.11837 119.11 303.2302 62.95656 118.5188 303.213 62.92448 118.5648 302.8658 62.73678 117.9134 302.8495 62.71315 117.9712 302.5847 62.45385 117.3256 302.5603 62.43494 117.4022 302.368 62.10781 116.7827 302.2933 62.08013 116.953 302.1501 61.69558 116.3916 301.9961 61.66852 116.6509 301.8743 61.23763 116.1673 301.6419 61.2227 116.4832 303.2693 62.78442 119.3829 303.1906 62.89249 118.6081 302.8271 62.6876 118.0289 302.5028 62.39741 117.5352 302.1746 62.04082 117.1647 301.8097 61.64005 116.9194 301.3707 61.20916 116.8172 302.7894 62.65343 118.9717 302.3783 62.47523 118.5748 303.6004 62.98789 119.2222 303.1627 62.86046 118.6496 302.7746 62.64129 118.127 302.4066 62.34804 117.6996 302.024 62.00114 117.3844 301.585 61.61479 117.2037 301.2367 61.20441 116.9712 303.5601 62.94987 119.2512 303.1033 62.80706 118.7169 302.6881 62.58486 118.2465 302.2815 62.30028 117.871 301.8379 61.96666 117.6186 301.4723 61.606 117.3351 301.0984 61.20091 117.1237 301.9656 62.23578 118.2296 302.3107 62.4647 118.6419 302.6764 62.62971 119.0668 303.0575 62.72854 119.4987 301.544 61.94081 117.9431 301.8815 62.22969 118.3167 302.242 62.45836 118.71 302.6207 62.62374 119.1177 303.0124 62.72362 119.5343 303.0142 62.74717 118.7958 302.578 62.5328 118.3716 302.1258 62.25972 118.0557 301.7437 61.95478 117.7274 301.3552 61.59954 117.4653 300.9559 61.19878 117.2748 301.4449 61.93915 118.0441 301.8 62.22777 118.3992 302.1764 62.45636 118.7755 302.569 62.62187 119.168 302.9724 62.72208 119.5713 302.9091 62.69503 118.8782 302.4445 62.48974 118.509 302.0471 62.24588 118.1425 301.6456 61.94608 117.8356 301.2341 61.59562 117.5942 301.1157 61.59439 117.715 300.817 61.19811 117.4163 302.8383 62.7484 119.7546 302.784 62.78442 119.8683 302.6947 62.89151 120.0817 299.5681 61.23763 118.4738 302.6524 62.94987 120.1591 302.5536 63.07177 120.2655 298.2146 61.24133 119.2061 298.049 61.2265 119.2722 302.4631 63.1687 120.3117 302.3798 63.25122 120.3324 301.7303 63.07418 119.854 302.2763 63.34907 120.3406 301.6269 63.13346 119.8486 302.5112 63.11837 120.2911 301.8175 63.0223 119.8499 301.0372 62.82309 119.4815 300.9283 62.85028 119.4715 301.8707 62.98903 119.8419 301.134 62.79706 119.4846 300.3196 62.50481 119.2252 300.2005 62.50757 119.2201 302.5907 63.02842 120.2348 301.9199 62.95656 119.8294 301.196 62.77848 119.4824 300.4303 62.49885 119.2253 299.5968 62.12802 119.092 299.4641 62.1151 119.1015 302.6234 62.98789 120.1994 301.9659 62.92448 119.8121 301.256 62.7585 119.4761 300.5041 62.49201 119.2216 299.7248 62.13544 119.0787 298.8887 61.70299 119.0856 298.7401 61.68399 119.119 302.0092 62.89249 119.7897 301.3145 62.73678 119.4651 300.5777 62.48238 119.2141 299.8124 62.13684 119.0662 299.0357 61.71628 119.0488 302.0507 62.86046 119.7618 301.3722 62.71315 119.4487 300.6517 62.46969 119.2018 299.9016 62.13489 119.0498 299.1383 61.72188 119.02 298.3812 61.25232 119.1362 302.7391 62.83213 119.9782 302.118 62.80706 119.7024 301.4299 62.6876 119.4263 300.7266 62.45385 119.184 299.9928 62.1294 119.0285 299.2439 61.72443 118.9871 298.4986 61.25759 119.0842 302.1969 62.74717 119.6133 301.528 62.64129 119.3738 300.8032 62.43494 119.1597 300.0866 62.12033 119.0014 299.3532 61.72381 118.9491 298.6206 61.26094 119.0276 302.2792 62.69503 119.5081 301.6475 62.58486 119.2873 300.9362 62.39741 119.1022 300.1836 62.10781 118.9675 299.4665 61.72 118.905 298.7476 61.26232 118.9654 302.8675 62.73681 119.7043 302.3727 62.65343 119.3884 301.7725 62.5328 119.1772 301.1006 62.34804 119.0059 300.354 62.08013 118.8928 299.5844 61.71311 118.8538 298.8799 61.26171 118.8969 302.8998 62.72854 119.6565 302.4192 62.63964 119.3318 301.9099 62.48974 119.0436 301.272 62.30028 118.8807 300.5656 62.04082 118.774 299.7925 61.69558 118.7497 299.0181 61.2592 118.821 300.5244 61.20091 117.6978 300.6755 61.19878 117.5552 300.995 61.59562 117.8334 300.3719 61.20441 117.8362 300.866 61.59954 117.9546 301.3439 61.94081 118.1433 300.2179 61.20916 117.9702 300.7359 61.606 118.0717 301.2364 61.94608 118.2449 301.7176 62.22969 118.4807 299.884 61.2227 118.2415 300.6045 61.61479 118.1844 301.1282 61.95478 118.343 301.6304 62.23578 118.5648 302.1109 62.45836 118.8411 300.3202 61.64005 118.4092 301.0194 61.96666 118.4372 301.5434 62.24588 118.6463 302.0428 62.4647 118.9098 302.5187 62.62374 119.2197 299.2628 61.25122 118.6756 300.0518 61.66852 118.5956 300.7853 62.00114 118.6234 301.4566 62.25972 118.725 301.9758 62.47523 118.9775 302.4678 62.62971 119.2754 302.9354 62.72362 119.6114 301.2923 66.30213 120.6806 297.0746 64.8638 119.8325 301.748 64.34796 120.513 301.5623 64.91756 120.5799 300.9151 64.80688 120.1569 301.9547 63.87381 120.4419 301.0992 64.20672 120.0758 302.0587 63.68008 120.4078 301.4089 63.49332 119.9412 300.7075 63.25335 119.5875 299.9734 62.96664 119.356 299.2263 62.64092 119.2531 298.4866 62.28498 119.2815 297.7741 61.90845 119.4404 301.305 63.70172 119.986 300.603 63.48256 119.6417 299.8671 63.2221 119.418 299.1167 62.92722 119.3208 298.3717 62.6057 119.3526 297.6517 62.26601 119.5127 300.3972 64.0296 119.7475 299.6597 63.82109 119.5363 298.9053 63.58644 119.4477 298.1532 63.33159 119.4839 297.4223 63.06298 119.6438 300.2143 64.6697 119.8403 299.4771 64.50939 119.6379 298.7215 64.32983 119.5545 297.9659 64.13542 119.5923 297.2288 63.93091 119.7503 301.4075 65.57424 120.6372 300.7619 65.49333 120.2245 300.0629 65.39393 119.9162 299.327 65.27838 119.7195 298.5717 65.14942 119.6392 297.8149 65.01013 119.6772 296.9634 65.85047 119.8904 297.7051 65.94309 119.7375 298.462 66.03134 119.7 299.2165 66.11318 119.7787 299.9509 66.18669 119.9718 300.6483 66.25017 120.2748 301.2221 66.68589 120.6682 296.9055 65.96441 119.9028 296.7613 66.1961 119.8935 296.8408 66.07667 119.9041 297.579 66.20402 119.7355 296.7589 66.19944 119.893 297.4896 66.34652 119.712 297.4922 66.34265 119.7129 298.2319 66.52677 119.6433 298.2349 66.522 119.6447 298.9685 66.73593 119.6885 298.9718 66.72994 119.6905 299.6819 66.96909 119.8466 299.6856 66.96157 119.8492 300.3554 67.22076 120.1137 300.3595 67.21145 120.1171 300.9731 67.48501 120.4837 300.9776 67.4737 120.4879 298.3306 66.35147 119.6823 299.078 66.51554 119.7457 299.8036 66.69237 119.9243 300.4902 66.87778 120.2139 301.1215 67.06741 120.6076 297.6471 66.07425 119.743 298.4033 66.19204 119.6995 299.1563 66.31501 119.7733 299.8884 66.44026 119.9628 300.5825 66.56488 120.2634 300.8086 67.71156 120.3339 296.6807 66.28534 119.8789 300.4032 68.13156 119.9147 296.4173 66.54479 119.759 300.3773 68.15342 119.8866 296.9441 66.77663 119.4638 297.574 67.00341 119.2938 297.7328 66.91284 119.3986 298.3804 67.19197 119.3341 299.0039 67.52745 119.3489 299.5906 67.91256 119.4429 300.129 68.33956 119.614 297.074 66.69566 119.5412 296.5094 66.46381 119.8098 297.19 66.6099 119.6048 297.8752 66.81717 119.4854 298.5505 67.08124 119.4542 299.2016 67.39656 119.5117 299.8148 67.75648 119.6569 299.8383 67.73837 119.6788 299.2223 67.38156 119.5282 298.5683 67.06871 119.4661 297.8901 66.80641 119.4939 297.2022 66.60023 119.6109 296.5191 66.45455 119.8148 300.6195 67.92767 120.1444 300.0339 67.57157 119.8561 299.3951 67.24535 119.66 298.7173 66.95623 119.5606 298.0155 66.71061 119.5599 297.3052 66.51391 119.658 296.602 66.37048 119.8528 297.3998 66.42922 119.6912 298.1283 66.61724 119.609 298.8497 66.84508 119.6339 299.5474 67.10754 119.7654 300.2054 67.39859 120.0005 303.1761 61.88314 99.30124 307.4611 65.21408 100.0595 306.9302 65.03034 100.1803 306.996 65.05311 100.1653 307.1004 64.54447 100.2923 306.3662 64.82659 100.2423 306.3232 64.41442 100.342 306.2537 64.78403 100.242 305.5537 64.2521 100.2715 305.5144 64.49633 100.1925 305.8704 64.63899 100.241 304.8111 64.06156 100.0826 304.114 63.84753 99.78003 304.1072 63.89552 99.7673 304.557 64.09713 99.96688 304.7932 64.19791 100.0366 305.1553 64.35245 100.1435 303.6272 63.67165 99.47531 303.7315 63.72128 99.55009 304.0991 63.89189 99.76371 303.4167 63.57147 99.32436 303.4831 63.60305 99.37194 303.5864 62.92724 99.56068 304.2179 63.21752 99.96462 303.038 62.62093 99.05905 303.0168 63.37737 98.96646 303.1377 63.43638 99.0843 303.2755 63.50332 99.20804 302.655 63.2003 98.55126 302.756 63.24966 98.67782 302.5573 63.15271 98.4193 302.8995 63.31999 98.84299 302.9293 63.33456 98.87435 304.9161 63.48424 100.2604 305.6631 63.72052 100.4405 306.4395 63.92025 100.5001 307.2252 64.07827 100.4377 303.7133 62.26242 99.79465 304.3396 62.62091 100.1885 305.038 62.94891 100.4722 305.7897 63.23756 100.6381 306.5744 63.47905 100.6816 307.3708 63.66686 100.6016 303.3249 61.2265 99.57506 303.8469 61.68399 100.0532 304.4653 62.1151 100.4302 305.1623 62.50757 100.6956 305.9184 62.85028 100.8416 306.7119 63.13346 100.8641 307.5203 63.34907 100.7626 307.7232 62.7821 101.4322 307.7321 62.80765 101.3638 307.7559 62.92691 101.1405 307.73 63.05519 100.983 307.7087 63.10068 100.9388 306.0091 62.82553 100.8831 305.2586 62.50518 100.7455 307.5989 63.25961 100.816 303.9487 61.70145 100.1467 303.4251 61.24011 99.70188 307.6437 63.20237 100.8555 307.6802 63.14958 100.8964 306.7964 63.07933 100.9068 306.8483 63.04379 100.9381 306.8939 63.00985 100.9706 306.9338 62.97692 101.0047 306.0681 62.80821 100.9134 306.123 62.79031 100.9451 306.1742 62.77125 100.9788 306.2218 62.75059 101.0155 305.324 62.50191 100.7821 305.3872 62.49662 100.8205 305.4485 62.48879 100.8616 305.5079 62.478 100.9066 305.5656 62.46401 100.9564 304.5655 62.12703 100.4978 304.6357 62.13301 100.5476 304.7055 62.13632 100.6001 304.7749 62.13652 100.6561 304.8439 62.13326 100.717 304.9126 62.12636 100.7837 304.9974 62.1127 100.8769 304.0216 61.71134 100.2162 304.0954 61.7187 100.2894 304.17 61.72319 100.3674 304.2456 61.72458 100.4512 304.322 61.72272 100.5421 304.418 61.71593 100.6666 304.4944 61.70726 100.7755 303.498 61.24811 99.79669 303.5725 61.25449 99.89662 303.6489 61.25906 100.0026 303.7271 61.26169 100.1157 303.8071 61.26231 100.2369 303.9091 61.26031 100.4005 303.9914 61.25667 100.5412 304.1561 61.24516 100.8495 306.9684 62.94452 101.0412 306.9978 62.91226 101.0805 306.266 62.72799 101.0561 306.3166 62.69702 101.1134 305.6348 62.44209 101.0269 305.6876 62.42144 101.0907 305.0637 62.09818 100.9599 305.1914 62.06199 101.1506 304.6446 61.6833 101.0195 304.7896 61.65465 101.3005 304.3183 61.23041 101.1949 304.4077 61.22188 101.4061 307.7445 63.01262 101.0291 307.0281 62.87201 101.1345 306.3534 62.67044 101.1652 305.7864 62.37427 101.2402 305.312 62.02134 101.3763 304.8682 61.63852 101.4753 304.5501 61.20936 101.7796 307.7541 62.9633 101.0898 307.0476 62.84008 101.182 306.4187 62.6144 101.2868 305.8771 62.32442 101.421 305.3768 61.99903 101.5191 304.9923 61.61516 101.7884 304.6164 61.20458 101.972 307.1531 62.63006 101.7778 307.7142 62.73722 101.6069 307.7181 62.72883 101.6643 307.0765 62.77797 101.2895 306.4754 62.55889 101.4339 305.9253 62.29779 101.5367 305.4784 61.96717 101.7779 305.0497 61.60631 101.9512 304.6793 61.20103 102.1673 306.6264 62.45856 101.9742 307.1691 62.62394 101.8511 307.7261 62.72378 101.721 307.7479 62.86197 101.2482 307.0972 62.72085 101.4147 306.5053 62.53013 101.528 306.0014 62.26031 101.7481 305.5255 61.9552 101.9134 305.1039 61.59977 102.117 304.7387 61.19885 102.3653 306.6514 62.45636 102.0683 307.1876 62.62187 101.9246 307.7387 62.72208 101.7769 307.7142 62.74891 101.5489 307.1393 62.64013 101.7049 306.6018 62.46508 101.8811 306.1051 62.22988 102.0886 306.1374 62.22777 102.2061 307.1274 62.65402 101.6328 306.5777 62.47574 101.7894 306.0718 62.23614 101.9729 305.6124 61.94098 102.1929 305.6523 61.93915 102.3361 307.1078 62.69241 101.493 306.5538 62.49037 101.6995 306.0372 62.24636 101.8592 305.5702 61.94639 102.0519 305.1549 61.59575 102.2855 305.2027 61.59439 102.4566 304.7946 61.19811 102.566 307.8303 62.7484 101.9846 307.9017 62.78442 102.0885 308.0418 62.89151 102.2725 305.0861 61.23763 104.1763 308.0877 62.94987 102.3479 308.1304 63.07177 102.4866 305.0435 61.24133 105.7146 305.0179 61.2265 105.891 308.1252 63.1687 102.5881 308.1015 63.25122 102.6706 307.3624 63.07418 102.9939 308.0569 63.34907 102.7643 307.306 63.13346 103.0808 308.1315 63.11837 102.5361 307.4025 63.0223 102.9162 306.6933 62.82309 103.4078 306.6302 62.85028 103.4972 307.4221 62.98903 102.8662 306.7444 62.79706 103.3255 306.1125 62.50481 103.9012 306.0486 62.50757 104.0018 308.1224 63.02842 102.4391 307.4359 62.95656 102.8173 306.7734 62.77848 103.2707 306.1679 62.49885 103.8053 305.6358 62.12802 104.4606 305.5776 62.1151 104.5802 308.108 62.98789 102.3931 307.4439 62.92448 102.7689 306.798 62.7585 103.2157 306.2017 62.49201 103.7396 305.6882 62.13544 104.3431 305.2762 61.70299 105.0706 305.2308 61.68399 105.2159 307.4462 62.89249 102.7202 306.8177 62.73678 103.1595 306.2319 62.48238 103.6721 305.7212 62.13684 104.2609 305.3178 61.71628 104.9248 307.4428 62.86046 102.6703 306.8324 62.71315 103.1013 306.2583 62.46969 103.6019 305.7515 62.13489 104.1755 305.3441 61.72188 104.8216 305.0662 61.25232 105.5354 307.9744 62.83213 102.1823 307.425 62.80706 102.5823 306.8419 62.6876 103.0401 306.2803 62.45385 103.5281 305.7788 62.1294 104.0858 305.3684 61.72443 104.7137 305.0799 61.25759 105.4077 307.3872 62.74717 102.4694 306.8454 62.64129 102.929 306.2976 62.43494 103.4496 305.8022 62.12033 103.991 305.3901 61.72381 104.6001 305.0919 61.26094 105.2737 307.3374 62.69503 102.3455 306.8302 62.58486 102.7822 306.3143 62.39741 103.3057 305.8213 62.10781 103.89 305.4086 61.72 104.4799 305.1015 61.26232 105.1327 307.8014 62.73681 101.9342 307.2804 62.65343 102.2048 306.7974 62.5328 102.6189 306.3131 62.34804 103.1151 305.8418 62.08013 103.7052 305.4233 61.71311 104.3522 305.1083 61.26171 104.9838 307.7761 62.72854 101.8823 307.2546 62.63964 102.1361 306.7504 62.48974 102.4331 306.2904 62.30028 102.9042 305.8447 62.04082 103.4625 305.4371 61.69558 104.1198 305.1117 61.2592 104.8262 304.8922 61.20091 102.9601 304.8442 61.19878 102.758 305.2448 61.59562 102.6204 304.9357 61.20441 103.1614 305.2854 61.59954 102.7926 305.6877 61.94081 102.4731 304.9748 61.20916 103.3617 305.3216 61.606 102.9639 305.7219 61.94608 102.617 306.1667 62.22969 102.3182 305.0428 61.2227 103.7865 305.3536 61.61479 103.134 305.7528 61.95478 102.7598 306.196 62.23578 102.4357 306.6756 62.45836 102.1578 305.4061 61.64005 103.4926 305.78 61.96666 102.9011 306.2231 62.24588 102.5519 306.701 62.4647 102.2511 307.2073 62.62374 101.9939 305.1081 61.25122 104.5416 305.4334 61.66852 103.8183 305.8242 62.00114 103.197 306.2478 62.25972 102.6664 306.7261 62.47523 102.343 307.2301 62.62971 102.0658 307.7548 62.72362 101.8289 307.9638 64.07827 103.1932 305.03 63.34145 106.6748 305.0255 63.33448 106.6956 305.0275 62.62093 106.4813 304.9958 63.28808 106.8334 304.9316 63.1537 107.2723 304.9515 63.20408 107.1001 305.2515 62.92724 105.7727 305.2549 63.60274 105.9871 305.2406 63.58947 106.0182 305.1759 63.52223 106.1853 305.1167 63.45508 106.3596 305.0702 63.39703 106.5172 305.6012 63.89579 105.3345 305.4159 63.75 105.6449 305.5986 63.84753 105.3189 305.3867 63.72499 105.7009 305.3301 63.67247 105.8239 306.0558 64.19784 104.755 305.9779 64.15367 104.8306 306.051 64.06156 104.7082 305.9119 64.11196 104.9077 305.6364 63.92344 105.2756 306.4813 64.43933 104.3418 306.5995 64.2521 104.1732 306.5996 64.49694 104.2555 306.9271 64.65648 104.0166 307.2306 64.41442 103.7273 307.2214 64.78379 103.8501 307.9284 64.54447 103.3817 307.9013 65.05323 103.5432 307.8501 65.03514 103.559 307.3734 64.84957 103.7641 308.3572 65.21408 103.4028 305.5963 63.21752 105.1071 306.053 63.48424 104.5017 306.6098 63.72052 103.9722 307.2523 63.92025 103.5322 308.0079 63.66686 102.9785 305.026 61.88314 106.2026 305.2444 62.26242 105.5066 305.5897 62.62091 104.8523 306.0526 62.94891 104.2573 306.6206 63.23756 103.7377 307.2783 63.47905 103.3076 290.2861 61.88314 91.46542 293.0853 65.21408 88.1336 292.9244 65.03034 88.65376 292.9443 65.05311 88.58928 293.1065 64.54447 88.56241 292.6961 64.82659 89.17324 292.761 64.41442 89.26033 292.6396 64.78403 89.27049 292.3152 64.2521 89.89148 292.2271 64.49633 89.88595 292.4471 64.63899 89.60189 291.7803 64.06156 90.44011 291.1697 63.84753 90.89257 291.1553 63.89552 90.89209 291.5531 64.09713 90.60227 291.7315 64.19791 90.43263 292.0052 64.35245 90.17247 290.6624 63.67165 91.16176 290.7793 63.72128 91.10884 291.1481 63.89189 90.8973 290.4264 63.57147 91.26858 290.5008 63.60305 91.2349 290.716 62.92724 91.23975 291.3815 63.21752 90.89484 290.0073 62.62093 91.46387 289.9165 63.37737 91.43597 290.079 63.43638 91.39019 290.2551 63.50332 91.33273 289.376 63.2003 91.54166 289.5361 63.24966 91.51753 289.2129 63.15271 91.56031 289.751 63.31999 91.47576 289.793 63.33456 91.46566 291.9868 63.48424 90.43804 292.5162 63.72052 89.88117 292.956 63.92025 89.23863 293.2949 64.07827 88.527 290.982 62.26242 91.24688 291.6363 62.62091 90.90143 292.2312 62.94891 90.43842 292.7507 63.23756 89.87034 293.1807 63.47905 89.21257 293.5096 63.66686 88.4829 290.5976 61.2265 91.47342 291.2727 61.68399 91.26042 291.9084 62.1151 90.91345 292.4867 62.50757 90.44242 292.9912 62.85028 89.86067 293.4075 63.13346 89.18476 293.7238 63.34907 88.43387 294.5036 62.7484 88.66029 294.554 62.73681 88.6892 294.3521 62.63964 89.23601 294.3058 62.83213 88.51622 294.2156 62.89151 88.44885 294.049 63.02842 88.36823 294.0015 63.07177 88.36029 293.8175 63.25122 88.38926 291.4181 61.70299 91.21498 290.7741 61.24133 91.44778 290.9533 61.25232 91.42504 291.081 61.25759 91.4113 291.5638 61.71628 91.17334 292.028 62.12802 90.85526 291.215 61.26094 91.39934 291.667 61.72188 91.14699 292.1455 62.13544 90.80278 292.5873 62.50481 90.37844 291.356 61.26232 91.38967 291.7749 61.72443 91.12266 292.2276 62.13684 90.76982 292.6832 62.49885 90.32299 293.0805 62.82309 89.79753 291.5049 61.26171 91.38282 291.8885 61.72381 91.10092 292.3131 62.13489 90.73944 292.7489 62.49201 90.28926 293.1628 62.79706 89.74648 293.4944 63.07418 89.12839 291.6625 61.2592 91.37937 292.0087 61.72 91.08242 292.4027 62.1294 90.71222 292.8164 62.48238 90.25897 293.2176 62.77848 89.71739 293.572 63.0223 89.08828 293.9 63.1687 88.36553 293.6221 62.98903 89.06862 293.2727 62.7585 89.69287 292.8865 62.46969 90.23258 292.4975 62.12033 90.68874 292.1364 61.71311 91.06778 291.9471 61.25122 91.38292 293.952 63.11837 88.35926 293.6709 62.95656 89.05483 293.7193 62.92448 89.04682 293.3288 62.73678 89.67311 293.387 62.71315 89.65839 292.9604 62.45385 90.21053 293.0388 62.43494 90.19332 292.5985 62.10781 90.66963 292.7833 62.08013 90.64912 292.3688 61.69558 91.05385 292.6703 61.66852 91.05758 292.3124 61.23763 91.40493 292.7022 61.2227 91.44814 294.3997 62.78442 88.58892 293.7681 62.89249 89.04455 293.4482 62.6876 89.64892 293.1828 62.39741 90.17657 293.026 62.04082 90.64614 292.996 61.64005 91.08476 293.127 61.20916 91.51607 294.2835 62.65343 89.21021 294.1454 62.47523 89.7646 294.095 62.98789 88.38262 293.8179 62.86046 89.04792 293.5594 62.64129 89.64533 293.3733 62.34804 90.17773 293.2916 62.00114 90.66665 293.3546 61.61479 91.13722 293.3273 61.20441 91.55509 294.1402 62.94987 88.40299 293.9059 62.80706 89.06569 293.7062 62.58486 89.66049 293.5843 62.30028 90.20039 293.5874 61.96666 90.71077 293.5247 61.606 91.16913 293.5286 61.20091 91.5986 294.0527 62.23578 90.29471 294.2372 62.4647 89.78964 294.4224 62.62971 89.2605 294.6058 62.72854 88.7145 294.0155 61.94081 90.80301 294.1702 62.22969 90.32392 294.3306 62.45836 89.81505 294.4943 62.62374 89.28327 294.6593 62.72362 88.73576 294.0188 62.74717 89.10343 293.8695 62.5328 89.69329 293.8221 62.25972 90.24288 293.7287 61.95478 90.73796 293.696 61.59954 91.20541 293.7307 61.19878 91.64656 294.1525 61.93915 90.83837 294.2824 62.22777 90.35327 294.4201 62.45636 89.83917 294.5637 62.62187 89.30298 294.7113 62.72208 88.75191 294.1427 62.69503 89.1533 294.0552 62.48974 89.74028 293.9366 62.24588 90.26759 293.8715 61.94608 90.76879 293.8683 61.59562 91.24588 294.032 61.59439 91.28798 293.9227 61.19811 91.69606 295.24 62.86197 88.74254 295.2939 61.23041 92.1721 295.3984 62.9633 88.73635 295.5494 63.10068 88.78169 296.7871 61.24011 93.06506 296.9139 61.2265 93.16525 295.6327 63.20237 88.84664 295.6722 63.25961 88.89143 295.5815 63.07933 89.69398 295.7256 63.34907 88.97005 295.6242 63.13346 89.77851 295.5918 63.14958 88.81024 295.5502 63.04379 89.64215 295.6054 62.82553 90.48128 295.647 62.85028 90.57202 295.5177 63.00985 89.59647 295.5751 62.80821 90.4223 295.7431 62.50518 91.23175 295.7931 62.50757 91.32803 295.5052 63.05519 88.76044 295.4836 62.97692 89.55657 295.5434 62.79031 90.36738 295.7065 62.50191 91.16639 295.991 62.12703 91.92485 296.0585 62.1151 92.02507 295.4591 63.01262 88.74593 295.4472 62.94452 89.52207 295.5097 62.77125 90.31624 295.6681 62.49662 91.10315 295.9411 62.13301 91.85462 296.3422 61.70145 92.54158 296.4357 61.68399 92.64334 295.4078 62.91226 89.49258 295.473 62.75059 90.26867 295.627 62.48879 91.04187 295.8887 62.13632 91.78484 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114.4228 291.1553 89.42273 114.2901 291.1603 89.45139 114.4113 291.1893 89.43347 114.2844 291.1965 89.4626 114.4052 291.2661 89.4519 114.2695 291.239 90.10424 114.9375 291.3929 90.12425 114.9123 291.2575 89.98529 114.9055 291.1182 89.95451 114.9264 291.0567 89.93661 114.9348 290.9219 89.88736 114.9516 290.7938 89.82666 114.9654 290.6728 89.75482 114.9766 290.6222 89.71997 114.9807 290.5122 89.63239 114.9886 290.4128 89.53633 114.9944 290.3244 89.43224 114.9986 290.2904 89.38606 114.9999 290.2181 89.27142 115.0023 290.159 89.15234 115.0038 290.1129 89.02917 115.0046 290.096 88.97093 115.0048 290.0693 88.84272 115.0052 290.0563 88.71373 115.0053 290.1782 88.65563 114.9531 291.2722 89.87219 114.8555 291.1444 89.84406 114.8753 291.0881 89.82761 114.8833 290.9646 89.78226 114.8993 290.8475 89.72625 114.9126 290.7371 89.65998 114.9234 290.691 89.62783 114.9275 290.5908 89.54715 114.9352 290.5007 89.4588 114.9411 290.4206 89.36324 114.9453 290.3899 89.32092 114.9468 290.3247 89.21602 114.9493 290.2715 89.1073 114.951 290.2301 88.99508 114.9521 290.215 88.94208 114.9524 290.191 88.82553 114.9529 290.1795 88.70838 114.9531 290.291 88.65563 114.8811 291.2826 89.76766 114.7885 291.166 89.74198 114.8073 291.1145 89.72689 114.8149 291.002 89.68518 114.8301 290.8953 89.63359 114.8427 290.7949 89.57255 114.8529 290.753 89.54295 114.8567 290.6622 89.46872 114.8641 290.5806 89.38756 114.8696 290.5084 89.29995 114.8737 290.4807 89.26121 114.875 290.4221 89.16532 114.8775 290.3744 89.06614 114.8791 290.3374 88.96396 114.8801 290.3238 88.91576 114.8804 290.3025 88.80986 114.8809 290.2921 88.70351 114.8811 290.3902 88.65563 114.7913 291.2885 89.67426 114.7064 291.1823 89.65074 114.7241 291.1354 89.63689 114.7313 291.0329 89.59849 114.7456 290.936 89.55097 114.7573 290.8447 89.49471 114.7668 290.8067 89.46744 114.7703 290.7244 89.3991 114.777 290.6507 89.32447 114.7819 290.5854 89.24404 114.7854 290.5605 89.20851 114.7866 290.5078 89.12066 114.7886 290.4649 89.02996 114.7899 290.4317 88.93666 114.7906 290.4196 88.89267 114.7909 290.4005 88.79614 114.7911 290.3912 88.69924 114.7913 290.4731 88.65563 114.6862 291.2898 89.59422 114.6109 291.1929 89.57257 114.6278 291.1502 89.55978 114.6346 291.0568 89.52432 114.6479 290.9684 89.48039 114.6587 290.8854 89.42839 114.6673 290.8508 89.4032 114.6703 290.776 89.34007 114.6761 290.7089 89.27117 114.6802 290.6497 89.19697 114.6829 290.6271 89.1642 114.6838 290.5794 89.08327 114.6851 290.5406 88.99977 114.6858 290.5106 88.91392 114.6861 290.4996 88.87348 114.6862 290.4823 88.78474 114.6862 290.474 88.6957 114.6862 290.5373 88.65563 114.5688 291.2864 89.52951 114.5046 291.1977 89.50934 114.5206 291.1586 89.49744 114.527 291.073 89.46446 114.5394 290.992 89.42361 114.5492 290.9158 89.37526 114.5568 290.8841 89.35183 114.5594 290.8154 89.29312 114.5641 290.7539 89.22904 114.5672 290.6996 89.15998 114.5689 290.6788 89.12949 114.5694 290.6349 89.05413 114.5699 290.5993 88.97637 114.5698 290.5717 88.89638 114.5695 290.5617 88.8587 114.5693 290.5458 88.77599 114.569 290.5381 88.69299 114.5688 290.581 88.65563 114.4423 294.9947 88.65563 99.72151 295.0807 88.65563 99.82402 295.1485 88.65563 99.93944 295.1961 88.65563 100.0645 295.2221 88.65563 100.1958 295.2259 88.65563 100.3296 295.2073 88.65563 100.4621 295.1669 88.65563 100.5897 295.1058 88.65563 100.7088 295.0906 88.9924 100.8548 295.265 89.26831 100.9771 295.6087 89.45523 101.3261 294.5809 89.45259 102.4185 295.5604 89.44912 101.2653 295.5361 89.44256 101.2371 294.1417 89.44348 102.8096 295.5104 89.43563 101.2072 293.7091 89.42837 103.1947 295.4856 89.42637 101.18 295.4444 89.40686 101.1374 293.2866 89.40739 103.571 295.4349 89.40232 101.1275 292.8773 89.38068 103.9354 295.3841 89.37132 101.0788 295.3528 89.34768 101.0507 292.4843 89.34845 104.2854 295.3338 89.33333 101.0337 295.31 89.31281 101.0135 292.1389 89.31404 104.5929 295.2624 89.26574 100.975 295.2172 89.21288 100.9407 295.186 89.16938 100.9182 295.1751 89.15425 100.9104 295.1573 89.12614 100.8982 295.1215 89.06121 100.8744 295.1189 89.0555 100.8728 295.0684 88.92909 100.8412 295.0652 88.91984 100.8392 295.0554 88.88546 100.8333 295.039 88.8103 100.8237 295.0291 88.73364 100.818 295.037 88.79446 100.8225 295.1187 88.80992 100.7167 295.1688 88.9927 100.7489 295.1991 89.06233 100.7692 295.2943 89.21714 100.8384 295.3883 89.32012 100.9148 295.4645 89.38063 100.9832 295.5861 89.90478 100.2009 295.57 89.43725 101.0892 295.6488 89.45999 101.178 296.0749 89.74298 100.9342 296.1017 89.7854 100.9097 296.0747 89.78563 100.8795 296.1716 90.12998 100.7747 296.2071 90.13049 100.8132 296.1529 90.0082 100.7973 296.1855 90.00842 100.833 296.2047 90.11695 100.8154 296.1339 89.85678 100.8802 296.15 89.89244 100.8654 296.1203 89.89247 100.8326 296.1776 89.98267 100.8402 295.9492 89.60881 101.0035 295.9711 89.60842 101.0292 296.0024 89.64465 101.0006 295.8724 89.54316 101.0776 295.8922 89.54283 101.1015 295.9185 89.56468 101.0774 295.7886 89.49497 101.1574 295.8067 89.49479 101.1798 295.8256 89.50545 101.1624 295.7 89.46542 101.2409 295.7166 89.46548 101.2622 295.7266 89.46874 101.2531 295.5961 89.44663 101.1176 295.7333 89.48988 101.0911 295.6765 89.47625 101.0272 295.8116 89.53808 101.0069 295.5171 89.4126 101.0343 295.6486 89.46653 100.9972 295.7497 89.52379 100.9384 295.882 89.6034 100.9273 296.0172 89.69029 100.9369 296.0415 89.68994 100.9648 295.5921 89.44078 100.9388 295.7193 89.51351 100.9061 295.8138 89.58808 100.8532 295.9428 89.68428 100.8543 295.4126 89.34134 100.9359 295.5363 89.40721 100.8843 295.658 89.48617 100.8432 295.7805 89.57704 100.8182 295.8674 89.66758 100.7738 295.9924 89.77873 100.7896 295.4816 89.36592 100.8337 295.5978 89.45044 100.7842 295.7133 89.54766 100.7499 295.8306 89.6556 100.7356 295.9091 89.76036 100.702 296.0296 89.88446 100.7348 295.3399 89.27154 100.8743 295.4562 89.34362 100.811 295.5391 89.40644 100.7294 295.6476 89.50924 100.6856 295.7566 89.62377 100.6611 295.8685 89.74727 100.6604 295.9379 89.86415 100.6395 296.0535 89.99889 100.6913 295.4056 89.29258 100.7676 295.5119 89.38269 100.7047 295.5836 89.46193 100.6256 295.6843 89.58218 100.5908 295.7869 89.71263 100.579 295.8932 89.84983 100.5943 295.9531 89.97647 100.588 296.0637 90.11925 100.6602 295.2521 89.15707 100.8068 295.3584 89.23558 100.729 295.4579 89.32836 100.6575 295.5541 89.43638 100.5986 295.6141 89.53099 100.5249 295.7072 89.66747 100.5021 295.8034 89.81209 100.5056 295.9042 89.96081 100.5389 295.9544 90.09458 100.5486 295.2345 89.12837 100.794 295.315 89.17282 100.695 295.4078 89.26773 100.6153 295.4956 89.37796 100.5466 295.5817 89.50334 100.4953 295.6298 89.61193 100.4299 295.7156 89.76303 100.4218 295.8058 89.91973 100.4427 295.9011 90.07751 100.4956 295.2969 89.1429 100.6813 295.362 89.20109 100.5781 295.4414 89.31277 100.5001 295.5175 89.44012 100.438 295.5941 89.58193 100.3973 295.6303 89.70273 100.3428 295.7094 89.86651 100.3517 295.7939 90.03295 100.3919 295.2608 89.07424 100.6546 295.3429 89.16936 100.563 295.3919 89.24114 100.4589 295.4582 89.36954 100.3865 295.5233 89.51329 100.3342 295.5909 89.67016 100.3071 295.6156 89.80116 100.2659 295.6887 89.97539 100.2936 295.144 88.91965 100.7327 295.2302 89.00212 100.6327 295.3051 89.09664 100.5337 295.3714 89.20704 100.4422 295.4039 89.29193 100.3407 295.4577 89.43658 100.2773 295.5127 89.5956 100.2379 295.5722 89.76586 100.227 295.1345 88.88515 100.7266 295.2051 88.92671 100.6154 295.273 89.0204 100.5096 295.3306 89.12892 100.4097 295.3815 89.25496 100.3221 295.3978 89.35213 100.2266 295.4401 89.51218 100.1754 295.486 89.68499 100.1516 295.5385 89.86664 100.1589 295.1956 88.89118 100.6089 295.2469 88.94084 100.4904 295.2962 89.04705 100.3828 295.3369 89.17021 100.2858 295.373 89.31186 100.2059 295.3737 89.42017 100.1195 295.4058 89.59439 100.0833 295.4439 89.7792 100.0774 295.0192 88.93914 99.73965 295.0009 88.79858 99.72608 295.0863 88.78588 99.8282 295.0493 89.07711 99.76218 295.1026 88.91404 99.84062 295.1534 88.77391 99.94322 295.0673 89.14028 99.77575 295.1296 89.03998 99.86127 295.1679 88.89035 99.95446 295.2004 88.76299 100.0679 295.1148 89.27375 99.81182 295.1457 89.0977 99.87371 295.192 89.00493 99.97314 295.2134 88.86874 100.078 295.226 88.75342 100.1988 295.1726 89.40059 99.85653 295.1883 89.21986 99.90681 295.2064 89.05751 99.98441 295.2348 88.97292 100.0947 295.2377 88.8498 100.2077 295.2294 88.74549 100.3322 295.2404 89.52053 99.90998 295.2403 89.33618 99.9479 295.2445 89.16893 100.0144 295.2477 89.02077 100.1048 295.2569 88.94483 100.2226 295.2401 88.83406 100.3401 295.2107 88.7394 100.4645 295.2743 89.57253 99.93716 295.3015 89.44641 99.9971 295.2911 89.27525 100.0518 295.2817 89.12232 100.1318 295.2685 88.98852 100.2316 295.2577 88.92144 100.3533 295.2206 88.82196 100.4715 295.1701 88.73533 100.5919 295.3556 89.68112 100.0035 295.3322 89.49428 100.0221 295.346 89.37624 100.0966 295.3236 89.21943 100.1654 295.2992 89.08133 100.2557 295.2683 88.96163 100.3613 295.237 88.90339 100.4833 295.1798 88.81384 100.5982 295.1091 88.73339 100.7108 296.0913 89.2678 101.9052 296.0803 89.28611 101.887 296.0657 89.30639 101.8642 296.0292 89.34843 101.81 295.9893 89.38345 101.755 295.9531 89.40686 101.7087 295.9449 89.41217 101.6982 295.9239 89.42266 101.6728 295.8747 89.44088 101.6165 295.8649 89.44293 101.6061 295.822 89.45191 101.5607 296.1411 89.16957 101.9909 296.1376 89.1789 101.9844 296.1111 89.23507 101.9377 296.1781 89.05516 102.0621 296.1689 89.09062 102.0435 296.1604 89.11781 102.0269 296.2188 88.79439 102.1496 296.2149 88.84427 102.1407 296.211 88.87902 102.132 296.2038 88.92898 102.1161 296.2004 88.95232 102.1087 296.1865 89.02293 102.0791 296.2237 88.69043 102.1611 296.2208 88.76765 102.1544 296.3633 90.13049 100.9886 295.8606 89.46548 101.424 295.8708 89.46874 101.4151 295.9529 89.49479 101.3441 295.9724 89.50545 101.3272 296.0406 89.54283 101.2681 296.0675 89.56468 101.2448 296.1215 89.60842 101.1981 296.1535 89.64465 101.1703 296.1936 89.68994 101.1356 296.2279 89.74298 101.1059 296.2553 89.7854 101.0822 296.2883 89.85678 101.0536 296.3049 89.89244 101.0393 296.3331 89.98267 101.0148 296.3412 90.00842 101.0078 296.3609 90.11695 100.9908 296.1049 89.54074 101.3367 296.1906 89.60624 101.2737 296.2684 89.6874 101.2193 296.3363 89.78222 101.1747 296.3928 89.88839 101.141 296.4364 90.00334 101.1191 296.071 89.48168 101.4699 296.0135 89.49246 101.4067 295.9184 89.46262 101.482 297.3076 88.65563 102.319 297.2157 88.65563 102.2217 297.3068 88.71939 102.3177 296.3395 88.69031 102.0939 296.3364 88.76732 102.0875 296.3262 88.87869 102.0658 296.3302 88.84389 102.0742 296.3004 89.02355 102.0139 296.3151 88.95231 102.043 296.2729 89.11988 101.9623 296.2819 89.0922 101.9787 296.2209 89.23995 101.8728 296.249 89.18229 101.9198 296.1349 89.35667 101.7428 296.173 89.31349 101.798 296.1884 89.29254 101.8213 297.2997 88.86093 102.3052 297.2849 89.00148 102.2796 297.2755 89.06527 102.2634 297.2496 89.20001 102.2194 297.2162 89.33 102.1634 297.1748 89.4549 102.0953 297.1552 89.50512 102.0635 297.1035 89.61817 101.9812 297.0444 89.72227 101.8897 296.9776 89.81703 101.7894 296.9465 89.85471 101.7436 296.8708 89.93232 101.6351 296.7889 89.99793 101.5216 296.0927 89.39315 101.6855 296.3398 88.65563 102.0946 296.4648 88.69117 102.047 296.4615 88.77013 102.0405 296.4547 88.84874 102.0271 296.4503 88.88453 102.0187 296.4382 88.9604 101.9957 296.4222 89.03405 101.9662 296.402 89.10527 101.9303 296.3923 89.13406 101.9134 296.3664 89.19915 101.8697 296.336 89.25946 101.821 296.3009 89.31464 101.7674 296.2843 89.33664 101.743 296.2434 89.38203 101.685 296.1982 89.42038 101.6244 296.0462 89.42273 101.6264 296.1486 89.45139 101.5615 296.0243 89.43347 101.5999 296.1253 89.4626 101.5332 295.973 89.4519 101.5407 296.7006 90.05123 101.4035 296.6596 90.07066 101.3501 296.565 90.10424 101.2302 296.4662 90.12425 101.1096 296.5281 89.98529 101.2301 296.6158 89.95451 101.3404 296.6539 89.93661 101.3894 296.7358 89.88736 101.4978 296.8118 89.82666 101.6018 296.882 89.75482 101.701 296.9108 89.71997 101.7427 296.9727 89.63239 101.8341 297.0274 89.53633 101.9172 297.0752 89.43224 101.9918 297.0934 89.38606 102.0205 297.1315 89.27142 102.0819 297.1624 89.15234 102.1324 297.1862 89.02917 102.1719 297.1948 88.97093 102.1864 297.2084 88.84272 102.2094 297.215 88.71373 102.2205 297.1089 88.65563 102.1411 296.4774 89.87219 101.2425 296.5584 89.84406 101.3432 296.5935 89.82761 101.388 296.6691 89.78226 101.4869 296.7392 89.72625 101.5817 296.8038 89.65998 101.6719 296.8303 89.62783 101.7098 296.8871 89.54715 101.7927 296.9373 89.4588 101.8679 296.981 89.36324 101.9351 296.9976 89.32092 101.961 297.0324 89.21602 102.0161 297.0605 89.1073 102.0613 297.0821 88.99508 102.0967 297.0899 88.94208 102.1096 297.1023 88.82553 102.1301 297.1083 88.70838 102.14 296.9901 88.65563 102.0794 296.4142 89.76766 101.2669 296.4888 89.74198 101.3586 296.521 89.72689 101.3993 296.5905 89.68518 101.4892 296.6547 89.63359 101.5753 296.7138 89.57255 101.6571 296.738 89.54295 101.6915 296.7898 89.46872 101.7665 296.8354 89.38756 101.8343 296.875 89.29995 101.8949 296.89 89.26121 101.9182 296.9215 89.16532 101.9677 296.9467 89.06614 102.0082 296.9661 88.96396 102.0398 296.9732 88.91576 102.0513 296.9842 88.80986 102.0696 296.9896 88.70351 102.0785 296.8627 88.65563 102.0384 296.3401 89.67426 101.3029 296.4086 89.65074 101.3861 296.4382 89.63689 101.423 296.5018 89.59849 101.5046 296.5605 89.55097 101.5828 296.6143 89.49471 101.657 296.6363 89.46744 101.6882 296.6833 89.3991 101.7561 296.7244 89.32447 101.8175 296.7601 89.24404 101.8723 296.7735 89.20851 101.8933 296.8017 89.12066 101.9379 296.8242 89.02996 101.9744 296.8414 88.93666 102.0028 296.8477 88.89267 102.0132 296.8575 88.79614 102.0296 296.8623 88.69924 102.0375 296.7303 88.65563 102.0192 296.2568 89.59422 101.3495 296.3198 89.57257 101.425 296.347 89.55978 101.4586 296.4053 89.52432 101.5328 296.4588 89.48039 101.6039 296.5078 89.42839 101.6716 296.5278 89.4032 101.7 296.5702 89.34007 101.7619 296.6072 89.27117 101.8179 296.6392 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177.736 212.7205 79.05738 177.6966 212.7205 79.22172 177.445 212.7205 78.82728 178.3443 212.3732 78.85725 178.3493 212.7205 78.82972 178.3346 212.0364 80.6448 176.8005 212.0364 80.33864 176.8516 212.0364 80.04506 176.9524 212.0364 79.77207 177.1001 212.0364 79.52713 177.2907 212.0364 79.3169 177.5191 212.0364 79.14714 177.779 212.0364 78.94625 178.3641 211.7205 80.65697 176.9473 211.7205 80.37481 176.9944 211.7205 80.10424 177.0873 211.7205 79.85266 177.2234 211.7205 79.62692 177.3991 211.7205 79.43317 177.6096 211.7205 79.27671 177.8491 211.7205 79.09158 178.3884 211.4349 80.67349 177.1466 211.4349 80.4239 177.1882 211.4349 80.18457 177.2704 211.4349 79.96203 177.3908 211.4349 79.76235 177.5463 211.4349 79.59097 177.7324 211.4349 79.45257 177.9443 211.4349 79.28881 178.4213 211.1884 80.69384 177.3923 211.1884 80.48442 177.4272 211.1884 80.28359 177.4962 211.1884 80.09686 177.5972 211.1884 79.92931 177.7276 211.1884 79.7855 177.8838 211.1884 79.66938 178.0616 211.1884 79.53196 178.4618 210.9884 80.88258 177.6769 210.9884 80.71743 177.6769 210.9884 80.55451 177.7041 210.9884 80.39831 177.7577 210.9884 80.25305 177.8363 210.9884 80.12272 177.9377 210.9884 80.01086 178.0592 210.9884 79.92053 178.1975 210.8411 80.96792 178.0103 210.8411 80.85649 177.9917 210.8411 80.74352 177.9917 210.8411 80.63208 178.0103 210.8411 80.52523 178.047 210.8411 80.42587 178.1008 210.8411 80.33672 178.1702 210.8411 80.2602 178.2533 210.8411 80.19841 178.3479 210.9884 79.81364 178.5089 210.8411 80.12529 178.5609 212.0364 79.02245 178.0632 211.7205 79.1618 178.111 211.4349 79.35092 178.176 211.1884 79.58409 178.256 210.9884 79.85418 178.3488 210.8411 80.15303 178.4513 210.7509 80.47152 178.5607 210.7509 80.45745 178.6163 244.2792 104.7175 219.5981 244.2792 104.6254 219.7956 244.2792 102.8 170.2231 244.2792 104.569 220.006 244.2792 102.8 225.2231 244.2792 104.55 220.2231 244.2792 104.569 220.4402 244.2792 104.9965 174.2655 244.2792 104.8424 174.4196 244.2792 104.7175 174.5981 244.2792 104.6254 174.7956 244.2792 105.175 219.1406 244.2792 105.3725 219.0485 244.2792 105.5829 218.9921 244.2792 104.9965 219.2655 244.2792 104.8424 219.4196 244.2792 106.0171 173.9921 244.2792 105.8 173.9731 244.2792 105.5829 173.9921 244.2792 105.3725 174.0485 244.2792 105.175 174.1406 244.2792 104.569 175.006 244.2792 104.55 175.2231 244.2792 104.7175 175.8481 244.2792 107.05 220.2231 244.2792 104.6254 175.6506 244.2792 107.031 220.006 244.2792 106.9746 219.7956 244.2792 129.9965 174.2655 244.2792 129.8424 174.4196 244.2792 106.9746 174.7956 244.2792 104.8424 176.0266 244.2792 104.9965 176.1807 244.2792 105.175 176.3056 244.2792 106.8825 219.5981 244.2792 106.7576 219.4196 244.2792 106.6035 219.2655 244.2792 106.7576 174.4196 244.2792 134.8 170.2231 244.2792 106.8825 174.5981 244.2792 105.8 176.4731 244.2792 129.6254 175.6506 244.2792 129.7175 175.8481 244.2792 131.8825 219.5981 244.2792 131.7575 219.4196 244.2792 132.031 175.4402 244.2792 132.05 175.2231 244.2792 106.425 219.1406 244.2792 106.2275 219.0485 244.2792 104.569 175.4402 244.2792 106.0171 218.9921 244.2792 105.8 218.9731 244.2792 106.425 176.3056 244.2792 106.6035 176.1807 244.2792 129.55 175.2231 244.2792 104.6254 220.6506 244.2792 104.7175 220.8481 244.2792 104.8424 221.0266 244.2792 105.8 221.4731 244.2792 105.5829 221.4541 244.2792 105.3725 221.3977 244.2792 130.5829 221.4541 244.2792 130.8 221.4731 244.2792 134.8 225.2231 244.2792 131.0171 221.4541 244.2792 131.2275 221.3977 244.2792 130.8 173.9731 244.2792 130.5829 173.9921 244.2792 130.3725 174.0485 244.2792 130.175 174.1406 244.2792 129.569 175.4402 244.2792 106.0171 176.4541 244.2792 106.2275 176.3977 244.2792 106.7576 176.0266 244.2792 106.8825 175.8481 244.2792 106.9746 175.6506 244.2792 130.5829 218.9921 244.2792 130.3725 219.0485 244.2792 130.5829 176.4541 244.2792 130.175 219.1406 244.2792 130.3725 176.3977 244.2792 130.3725 221.3977 244.2792 130.175 221.3056 244.2792 107.031 175.4402 244.2792 107.05 175.2231 244.2792 129.569 175.006 244.2792 107.031 175.006 244.2792 129.6254 174.7956 244.2792 129.7175 174.5981 244.2792 106.6035 174.2655 244.2792 106.425 174.1406 244.2792 106.2275 174.0485 244.2792 104.9965 221.1807 244.2792 105.175 221.3056 244.2792 131.425 221.3056 244.2792 131.6035 221.1807 244.2792 131.7575 221.0266 244.2792 131.6035 219.2655 244.2792 131.425 219.1406 244.2792 131.9746 175.6506 244.2792 129.8424 176.0266 244.2792 129.9965 176.1807 244.2792 130.175 176.3056 244.2792 106.6035 221.1807 244.2792 106.7576 221.0266 244.2792 106.9746 220.6506 244.2792 129.7175 220.8481 244.2792 129.8424 221.0266 244.2792 131.8825 220.8481 244.2792 131.9746 220.6506 244.2792 132.031 220.4402 244.2792 131.425 176.3056 244.2792 131.6035 176.1807 244.2792 131.7575 176.0266 244.2792 131.8825 175.8481 244.2792 132.031 175.006 244.2792 131.9746 174.7956 244.2792 131.8825 174.5981 244.2792 131.7575 174.4196 244.2792 131.6035 174.2655 244.2792 131.425 174.1406 244.2792 106.0171 221.4541 244.2792 106.2275 221.3977 244.2792 106.425 221.3056 244.2792 106.8825 220.8481 244.2792 129.9965 221.1807 244.2792 130.8 218.9731 244.2792 130.8 176.4731 244.2792 131.0171 218.9921 244.2792 131.0171 176.4541 244.2792 131.2275 219.0485 244.2792 131.2275 176.3977 244.2792 131.2275 174.0485 244.2792 131.0171 173.9921 244.2792 132.05 220.2231 244.2792 132.031 220.006 244.2792 131.9746 219.7956 244.2792 105.3725 176.3977 244.2792 105.5829 176.4541 244.2792 129.9965 219.2655 244.2792 129.8424 219.4196 244.2792 129.7175 219.5981 244.2792 129.6254 219.7956 244.2792 129.569 220.006 244.2792 129.55 220.2231 244.2792 107.031 220.4402 244.2792 129.569 220.4402 244.2792 129.6254 220.6506 241.2792 134.8 167.2231 241.2792 102.8 167.2231 156.2792 134.8 167.2231 156.2792 102.8 167.2231 153.2792 105.3725 221.3977 153.2792 105.175 221.3056 153.2792 102.8 225.2231 153.2792 134.8 225.2231 153.2792 130.8 221.4731 153.2792 130.5829 221.4541 153.2792 104.9965 221.1807 153.2792 104.8424 221.0266 153.2792 104.7175 220.8481 153.2792 106.0171 221.4541 153.2792 105.8 221.4731 153.2792 105.5829 221.4541 153.2792 106.9746 175.6506 153.2792 106.8825 175.8481 153.2792 104.55 220.2231 153.2792 106.7576 176.0266 153.2792 106.6035 176.1807 153.2792 106.425 176.3056 153.2792 106.2275 176.3977 153.2792 106.0171 176.4541 153.2792 130.3725 221.3977 153.2792 130.175 221.3056 153.2792 129.9965 219.2655 153.2792 132.05 175.2231 153.2792 129.8424 219.4196 153.2792 129.7175 219.5981 153.2792 131.6035 176.1807 153.2792 131.425 176.3056 153.2792 129.55 220.2231 153.2792 131.2275 176.3977 153.2792 131.0171 176.4541 153.2792 131.425 221.3056 153.2792 131.2275 221.3977 153.2792 131.0171 221.4541 153.2792 131.9746 175.6506 153.2792 131.8825 175.8481 153.2792 131.7575 176.0266 153.2792 104.569 175.006 153.2792 104.6254 174.7956 153.2792 102.8 170.2231 153.2792 104.7175 174.5981 153.2792 104.7175 219.5981 153.2792 104.8424 219.4196 153.2792 107.05 175.2231 153.2792 105.8 218.9731 153.2792 105.5829 218.9921 153.2792 105.3725 219.0485 153.2792 131.8825 220.8481 153.2792 131.7575 221.0266 153.2792 131.6035 221.1807 153.2792 132.031 175.4402 153.2792 129.569 220.006 153.2792 129.6254 219.7956 153.2792 104.7175 175.8481 153.2792 104.6254 175.6506 153.2792 104.569 175.4402 153.2792 104.55 175.2231 153.2792 107.031 175.4402 153.2792 104.569 220.006 153.2792 104.6254 219.7956 153.2792 104.9965 219.2655 153.2792 105.175 219.1406 153.2792 106.8825 220.8481 153.2792 106.7576 221.0266 153.2792 131.7575 219.4196 153.2792 134.8 170.2231 153.2792 131.6035 219.2655 153.2792 131.425 219.1406 153.2792 105.175 176.3056 153.2792 104.9965 176.1807 153.2792 104.8424 176.0266 153.2792 104.8424 174.4196 153.2792 104.9965 174.2655 153.2792 105.175 174.1406 153.2792 132.05 220.2231 153.2792 132.031 220.4402 153.2792 131.9746 220.6506 153.2792 104.6254 220.6506 153.2792 104.569 220.4402 153.2792 106.6035 221.1807 153.2792 106.425 221.3056 153.2792 106.2275 221.3977 153.2792 131.8825 219.5981 153.2792 131.9746 219.7956 153.2792 132.031 220.006 153.2792 105.8 176.4731 153.2792 105.5829 176.4541 153.2792 105.3725 176.3977 153.2792 130.3725 176.3977 153.2792 130.175 176.3056 153.2792 130.8 176.4731 153.2792 106.8825 219.5981 153.2792 106.9746 219.7956 153.2792 105.3725 174.0485 153.2792 105.5829 173.9921 153.2792 105.8 173.9731 153.2792 106.6035 174.2655 153.2792 106.7576 174.4196 153.2792 129.6254 174.7956 153.2792 130.175 219.1406 153.2792 130.3725 219.0485 153.2792 130.5829 218.9921 153.2792 106.9746 220.6506 153.2792 129.9965 221.1807 153.2792 129.8424 221.0266 153.2792 129.7175 220.8481 153.2792 129.6254 220.6506 153.2792 129.569 220.4402 153.2792 106.425 219.1406 153.2792 106.2275 219.0485 153.2792 106.0171 218.9921 153.2792 130.5829 176.4541 153.2792 129.9965 176.1807 153.2792 129.8424 176.0266 153.2792 129.7175 175.8481 153.2792 129.6254 175.6506 153.2792 106.6035 219.2655 153.2792 106.7576 219.4196 153.2792 106.8825 174.5981 153.2792 106.9746 174.7956 153.2792 107.031 175.006 153.2792 107.031 220.006 153.2792 107.05 220.2231 153.2792 107.031 220.4402 153.2792 129.569 175.4402 153.2792 129.55 175.2231 153.2792 129.569 175.006 153.2792 132.031 175.006 153.2792 106.0171 173.9921 153.2792 106.2275 174.0485 153.2792 106.425 174.1406 153.2792 129.7175 174.5981 153.2792 129.8424 174.4196 153.2792 129.9965 174.2655 153.2792 130.175 174.1406 153.2792 130.3725 174.0485 153.2792 130.5829 173.9921 153.2792 130.8 173.9731 153.2792 131.0171 173.9921 153.2792 131.2275 174.0485 153.2792 130.8 218.9731 153.2792 131.0171 218.9921 153.2792 131.2275 219.0485 153.2792 131.425 174.1406 153.2792 131.6035 174.2655 153.2792 131.7575 174.4196 153.2792 131.8825 174.5981 153.2792 131.9746 174.7956 156.2792 134.8 228.2231 156.2792 102.8 228.2231 241.2792 134.8 228.2231 241.2792 102.8 228.2231 241.2792 137.8 225.2231 241.2792 137.8 170.2231 156.2792 137.8 225.2231 156.2792 137.8 170.2231 197.5482 102.8 211.506 197.5292 102.8 211.7231 197.6967 102.8 184.3481 197.8216 102.8 184.5266 198.7792 102.8 210.4731 198.9962 102.8 212.9541 198.7792 102.8 212.9731 197.9757 102.8 184.6807 198.1542 102.8 184.8056 198.3516 102.8 184.8977 199.4042 102.8 184.8056 199.5827 102.8 184.6807 198.9962 102.8 210.4921 197.5482 102.8 183.506 197.5292 102.8 183.7231 155.7582 102.8 167.2687 198.1542 102.8 210.6406 198.1542 102.8 212.8056 198.3516 102.8 212.8977 198.5621 102.8 212.9541 153.3247 102.8 225.744 197.5482 102.8 211.9402 153.4601 102.8 226.2492 197.6967 102.8 212.3481 197.8216 102.8 212.5266 197.9757 102.8 212.6807 199.2067 102.8 184.8977 198.3516 102.8 182.5485 198.1542 102.8 182.6406 197.9757 102.8 182.7655 197.8216 102.8 182.9196 197.6967 102.8 183.0981 197.6046 102.8 183.2956 198.3516 102.8 210.5485 198.5621 102.8 210.4921 197.5482 102.8 183.9402 197.6046 102.8 184.1506 197.9757 102.8 210.7655 197.8216 102.8 210.9196 197.6967 102.8 211.0981 197.6046 102.8 211.2956 155.7582 102.8 228.1775 197.6046 102.8 212.1506 198.5621 102.8 184.9541 198.7792 102.8 184.9731 198.9962 102.8 184.9541 199.7367 102.8 184.5266 199.8617 102.8 184.3481 199.9538 102.8 184.1506 153.3247 102.8 169.7022 153.4601 102.8 169.197 153.6811 102.8 168.7231 153.981 102.8 168.2947 154.3508 102.8 167.925 199.2067 102.8 212.8977 199.4042 102.8 212.8056 199.5827 102.8 212.6807 200.0102 102.8 211.506 200.0292 102.8 211.7231 200.0102 102.8 211.9402 199.7367 102.8 182.9196 199.5827 102.8 182.7655 199.4042 102.8 182.6406 199.2067 102.8 182.5485 198.9962 102.8 182.4921 198.7792 102.8 182.4731 198.5621 102.8 182.4921 155.2531 102.8 228.0422 154.7792 102.8 227.8212 154.3508 102.8 227.5212 242.7792 102.8 167.625 199.7367 102.8 210.9196 199.5827 102.8 210.7655 154.7792 102.8 167.625 155.2531 102.8 167.404 153.981 102.8 227.1515 153.6811 102.8 226.7231 199.7367 102.8 212.5266 199.8617 102.8 212.3481 241.8001 102.8 228.1775 199.9538 102.8 212.1506 242.3052 102.8 228.0422 241.8001 102.8 167.2687 199.9538 102.8 183.2956 199.8617 102.8 183.0981 200.0292 102.8 183.7231 200.0102 102.8 183.506 242.3052 102.8 167.404 244.2336 102.8 225.744 244.0982 102.8 226.2492 243.8773 102.8 226.7231 243.5773 102.8 227.1515 243.2075 102.8 227.5212 242.7792 102.8 227.8212 243.2075 102.8 167.925 243.5773 102.8 168.2947 243.8773 102.8 168.7231 200.0102 102.8 183.9402 199.2067 102.8 210.5485 199.4042 102.8 210.6406 199.9538 102.8 211.2956 199.8617 102.8 211.0981 244.2336 102.8 169.7022 244.0982 102.8 169.197 236.2792 130.8 173.9731 236.2792 131.0171 173.9921 236.2792 131.2275 174.0485 236.2792 131.425 174.1406 236.2792 131.6035 174.2655 236.2792 131.7575 174.4196 236.2792 131.8825 174.5981 236.2792 131.9746 174.7956 236.2792 132.031 175.006 236.2792 132.05 175.2231 236.2792 132.031 175.4402 236.2792 131.9746 175.6506 236.2792 131.8825 175.8481 236.2792 131.7575 176.0266 236.2792 131.6035 176.1807 236.2792 131.425 176.3056 236.2792 131.2275 176.3977 236.2792 131.0171 176.4541 236.2792 130.8 176.4731 236.2792 130.5829 176.4541 236.2792 130.3725 176.3977 236.2792 130.175 176.3056 236.2792 129.9965 176.1807 236.2792 129.8424 176.0266 236.2792 129.7175 175.8481 236.2792 129.6254 175.6506 236.2792 129.569 175.4402 236.2792 129.55 175.2231 236.2792 129.569 175.006 236.2792 129.6254 174.7956 236.2792 129.7175 174.5981 236.2792 129.8424 174.4196 236.2792 129.9965 174.2655 236.2792 130.175 174.1406 236.2792 130.3725 174.0485 236.2792 130.5829 173.9921 236.2792 130.8 175.2231 236.2792 105.8 173.9731 236.2792 106.0171 173.9921 236.2792 106.2275 174.0485 236.2792 106.425 174.1406 236.2792 106.6035 174.2655 236.2792 106.7576 174.4196 236.2792 106.8825 174.5981 236.2792 106.9746 174.7956 236.2792 107.031 175.006 236.2792 107.05 175.2231 236.2792 107.031 175.4402 236.2792 106.9746 175.6506 236.2792 106.8825 175.8481 236.2792 106.7576 176.0266 236.2792 106.6035 176.1807 236.2792 106.425 176.3056 236.2792 106.2275 176.3977 236.2792 106.0171 176.4541 236.2792 105.8 176.4731 236.2792 105.5829 176.4541 236.2792 105.3725 176.3977 236.2792 105.175 176.3056 236.2792 104.9965 176.1807 236.2792 104.8424 176.0266 236.2792 104.7175 175.8481 236.2792 104.6254 175.6506 236.2792 104.569 175.4402 236.2792 104.55 175.2231 236.2792 104.569 175.006 236.2792 104.6254 174.7956 236.2792 104.7175 174.5981 236.2792 104.8424 174.4196 236.2792 104.9965 174.2655 236.2792 105.175 174.1406 236.2792 105.3725 174.0485 236.2792 105.5829 173.9921 236.2792 105.8 175.2231 236.2792 105.8 218.9731 236.2792 106.0171 218.9921 236.2792 106.2275 219.0485 236.2792 106.425 219.1406 236.2792 106.6035 219.2655 236.2792 106.7576 219.4196 236.2792 106.8825 219.5981 236.2792 106.9746 219.7956 236.2792 107.031 220.006 236.2792 107.05 220.2231 236.2792 107.031 220.4402 236.2792 106.9746 220.6506 236.2792 106.8825 220.8481 236.2792 106.7576 221.0266 236.2792 106.6035 221.1807 236.2792 106.425 221.3056 236.2792 106.2275 221.3977 236.2792 106.0171 221.4541 236.2792 105.8 221.4731 236.2792 105.5829 221.4541 236.2792 105.3725 221.3977 236.2792 105.175 221.3056 236.2792 104.9965 221.1807 236.2792 104.8424 221.0266 236.2792 104.7175 220.8481 236.2792 104.6254 220.6506 236.2792 104.569 220.4402 236.2792 104.55 220.2231 236.2792 104.569 220.006 236.2792 104.6254 219.7956 236.2792 104.7175 219.5981 236.2792 104.8424 219.4196 236.2792 104.9965 219.2655 236.2792 105.175 219.1406 236.2792 105.3725 219.0485 236.2792 105.5829 218.9921 236.2792 105.8 220.2231 236.2792 130.8 218.9731 236.2792 131.0171 218.9921 236.2792 131.2275 219.0485 236.2792 131.425 219.1406 236.2792 131.6035 219.2655 236.2792 131.7575 219.4196 236.2792 131.8825 219.5981 236.2792 131.9746 219.7956 236.2792 132.031 220.006 236.2792 132.05 220.2231 236.2792 132.031 220.4402 236.2792 131.9746 220.6506 236.2792 131.8825 220.8481 236.2792 131.7575 221.0266 236.2792 131.6035 221.1807 236.2792 131.425 221.3056 236.2792 131.2275 221.3977 236.2792 131.0171 221.4541 236.2792 130.8 221.4731 236.2792 130.5829 221.4541 236.2792 130.3725 221.3977 236.2792 130.175 221.3056 236.2792 129.9965 221.1807 236.2792 129.8424 221.0266 236.2792 129.7175 220.8481 236.2792 129.6254 220.6506 236.2792 129.569 220.4402 236.2792 129.55 220.2231 236.2792 129.569 220.006 236.2792 129.6254 219.7956 236.2792 129.7175 219.5981 236.2792 129.8424 219.4196 236.2792 129.9965 219.2655 236.2792 130.175 219.1406 236.2792 130.3725 219.0485 236.2792 130.5829 218.9921 236.2792 130.8 220.2231 161.2792 130.8 176.4731 161.2792 131.0171 176.4541 161.2792 131.2275 176.3977 161.2792 131.425 176.3056 161.2792 131.6035 176.1807 161.2792 131.7575 176.0266 161.2792 131.8825 175.8481 161.2792 131.9746 175.6506 161.2792 132.031 175.4402 161.2792 132.05 175.2231 161.2792 132.031 175.006 161.2792 131.9746 174.7956 161.2792 131.8825 174.5981 161.2792 131.7575 174.4196 161.2792 131.6035 174.2655 161.2792 131.425 174.1406 161.2792 131.2275 174.0485 161.2792 131.0171 173.9921 161.2792 130.8 173.9731 161.2792 130.5829 173.9921 161.2792 130.3725 174.0485 161.2792 130.175 174.1406 161.2792 129.9965 174.2655 161.2792 129.8424 174.4196 161.2792 129.7175 174.5981 161.2792 129.6254 174.7956 161.2792 129.569 175.006 161.2792 129.55 175.2231 161.2792 129.569 175.4402 161.2792 129.6254 175.6506 161.2792 129.7175 175.8481 161.2792 129.8424 176.0266 161.2792 129.9965 176.1807 161.2792 130.175 176.3056 161.2792 130.3725 176.3977 161.2792 130.5829 176.4541 161.2792 130.8 175.2231 161.2792 105.8 176.4731 161.2792 106.0171 176.4541 161.2792 106.2275 176.3977 161.2792 106.425 176.3056 161.2792 106.6035 176.1807 161.2792 106.7576 176.0266 161.2792 106.8825 175.8481 161.2792 106.9746 175.6506 161.2792 107.031 175.4402 161.2792 107.05 175.2231 161.2792 107.031 175.006 161.2792 106.9746 174.7956 161.2792 106.8825 174.5981 161.2792 106.7576 174.4196 161.2792 106.6035 174.2655 161.2792 106.425 174.1406 161.2792 106.2275 174.0485 161.2792 106.0171 173.9921 161.2792 105.8 173.9731 161.2792 105.5829 173.9921 161.2792 105.3725 174.0485 161.2792 105.175 174.1406 161.2792 104.9965 174.2655 161.2792 104.8424 174.4196 161.2792 104.7175 174.5981 161.2792 104.6254 174.7956 161.2792 104.569 175.006 161.2792 104.55 175.2231 161.2792 104.569 175.4402 161.2792 104.6254 175.6506 161.2792 104.7175 175.8481 161.2792 104.8424 176.0266 161.2792 104.9965 176.1807 161.2792 105.175 176.3056 161.2792 105.3725 176.3977 161.2792 105.5829 176.4541 161.2792 105.8 175.2231 161.2792 105.8 221.4731 161.2792 106.0171 221.4541 161.2792 106.2275 221.3977 161.2792 106.425 221.3056 161.2792 106.6035 221.1807 161.2792 106.7576 221.0266 161.2792 106.8825 220.8481 161.2792 106.9746 220.6506 161.2792 107.031 220.4402 161.2792 107.05 220.2231 161.2792 107.031 220.006 161.2792 106.9746 219.7956 161.2792 106.8825 219.5981 161.2792 106.7576 219.4196 161.2792 106.6035 219.2655 161.2792 106.425 219.1406 161.2792 106.2275 219.0485 161.2792 106.0171 218.9921 161.2792 105.8 218.9731 161.2792 105.5829 218.9921 161.2792 105.3725 219.0485 161.2792 105.175 219.1406 161.2792 104.9965 219.2655 161.2792 104.8424 219.4196 161.2792 104.7175 219.5981 161.2792 104.6254 219.7956 161.2792 104.569 220.006 161.2792 104.55 220.2231 161.2792 104.569 220.4402 161.2792 104.6254 220.6506 161.2792 104.7175 220.8481 161.2792 104.8424 221.0266 161.2792 104.9965 221.1807 161.2792 105.175 221.3056 161.2792 105.3725 221.3977 161.2792 105.5829 221.4541 161.2792 105.8 220.2231 161.2792 130.8 221.4731 161.2792 131.0171 221.4541 161.2792 131.2275 221.3977 161.2792 131.425 221.3056 161.2792 131.6035 221.1807 161.2792 131.7575 221.0266 161.2792 131.8825 220.8481 161.2792 131.9746 220.6506 161.2792 132.031 220.4402 161.2792 132.05 220.2231 161.2792 132.031 220.006 161.2792 131.9746 219.7956 161.2792 131.8825 219.5981 161.2792 131.7575 219.4196 161.2792 131.6035 219.2655 161.2792 131.425 219.1406 161.2792 131.2275 219.0485 161.2792 131.0171 218.9921 161.2792 130.8 218.9731 161.2792 130.5829 218.9921 161.2792 130.3725 219.0485 161.2792 130.175 219.1406 161.2792 129.9965 219.2655 161.2792 129.8424 219.4196 161.2792 129.7175 219.5981 161.2792 129.6254 219.7956 161.2792 129.569 220.006 161.2792 129.55 220.2231 161.2792 129.569 220.4402 161.2792 129.6254 220.6506 161.2792 129.7175 220.8481 161.2792 129.8424 221.0266 161.2792 129.9965 221.1807 161.2792 130.175 221.3056 161.2792 130.3725 221.3977 161.2792 130.5829 221.4541 161.2792 130.8 220.2231 155.7582 134.8 167.2687 155.2531 134.8 167.404 154.7792 134.8 167.625 154.3508 134.8 167.925 153.981 134.8 168.2947 153.6811 134.8 168.7231 153.4601 134.8 169.197 153.3247 134.8 169.7022 244.2336 134.8 169.7022 244.0982 134.8 169.197 243.8773 134.8 168.7231 243.5773 134.8 168.2947 243.2075 134.8 167.925 242.7792 134.8 167.625 242.3052 134.8 167.404 241.8001 134.8 167.2687 241.8001 134.8 228.1775 242.3052 134.8 228.0422 242.7792 134.8 227.8212 243.2075 134.8 227.5212 243.5773 134.8 227.1515 243.8773 134.8 226.7231 244.0982 134.8 226.2492 244.2336 134.8 225.744 153.3247 134.8 225.744 153.4601 134.8 226.2492 153.6811 134.8 226.7231 153.981 134.8 227.1515 154.3508 134.8 227.5212 154.7792 134.8 227.8212 155.2531 134.8 228.0422 155.7582 134.8 228.1775 198.7792 112.8 182.4731 198.9962 112.8 182.4921 199.2067 112.8 182.5485 199.4042 112.8 182.6406 199.5827 112.8 182.7655 199.7367 112.8 182.9196 199.8617 112.8 183.0981 199.9538 112.8 183.2956 200.0102 112.8 183.506 200.0292 112.8 183.7231 200.0102 112.8 183.9402 199.9538 112.8 184.1506 199.8617 112.8 184.3481 199.7367 112.8 184.5266 199.5827 112.8 184.6807 199.4042 112.8 184.8056 199.2067 112.8 184.8977 198.9962 112.8 184.9541 198.7792 112.8 184.9731 198.5621 112.8 184.9541 198.3516 112.8 184.8977 198.1542 112.8 184.8056 197.9757 112.8 184.6807 197.8216 112.8 184.5266 197.6967 112.8 184.3481 197.6046 112.8 184.1506 197.5482 112.8 183.9402 197.5292 112.8 183.7231 197.5482 112.8 183.506 197.6046 112.8 183.2956 197.6967 112.8 183.0981 197.8216 112.8 182.9196 197.9757 112.8 182.7655 198.1542 112.8 182.6406 198.3516 112.8 182.5485 198.5621 112.8 182.4921 198.7792 112.8 183.7231 198.7792 112.8 210.4731 198.9962 112.8 210.4921 199.2067 112.8 210.5485 199.4042 112.8 210.6406 199.5827 112.8 210.7655 199.7367 112.8 210.9196 199.8617 112.8 211.0981 199.9538 112.8 211.2956 200.0102 112.8 211.506 200.0292 112.8 211.7231 200.0102 112.8 211.9402 199.9538 112.8 212.1506 199.8617 112.8 212.3481 199.7367 112.8 212.5266 199.5827 112.8 212.6807 199.4042 112.8 212.8056 199.2067 112.8 212.8977 198.9962 112.8 212.9541 198.7792 112.8 212.9731 198.5621 112.8 212.9541 198.3516 112.8 212.8977 198.1542 112.8 212.8056 197.9757 112.8 212.6807 197.8216 112.8 212.5266 197.6967 112.8 212.3481 197.6046 112.8 212.1506 197.5482 112.8 211.9402 197.5292 112.8 211.7231 197.5482 112.8 211.506 197.6046 112.8 211.2956 197.6967 112.8 211.0981 197.8216 112.8 210.9196 197.9757 112.8 210.7655 198.1542 112.8 210.6406 198.3516 112.8 210.5485 198.5621 112.8 210.4921 198.7792 112.8 211.7231 217.9115 46.8 257.2735 217.9208 46.8 155.2735 217.9115 72.80001 257.2735 217.9208 72.80001 155.2735 215.921 46.8 153.2734 185.921 46.8 153.2706 215.921 72.80001 153.2734 185.921 72.80001 153.2706 183.9115 46.8 257.2705 183.9115 72.80001 257.2705 183.9208 46.8 155.2704 183.9208 72.80001 155.2704 215.9113 46.8 259.2734 215.9113 72.80001 259.2734 185.9113 46.8 259.2706 185.9113 72.80001 259.2706 215.9115 74.80001 257.2734 215.9208 74.80001 155.2734 185.9115 74.80001 257.2706 185.9208 74.80001 155.2706 185.9115 44.8 257.2706 185.9208 44.8 155.2706 215.9115 44.8 257.2734 215.9208 44.8 155.2734 215.9208 74.76962 154.9261 185.9208 74.76962 154.9233 215.9209 74.67938 154.5893 185.9209 74.67938 154.5866 215.9209 74.53205 154.2734 185.9209 74.53205 154.2706 215.9209 74.33209 153.9878 185.9209 74.33209 153.985 215.9209 74.08557 153.7413 185.9209 74.08557 153.7385 215.921 73.8 153.5413 185.921 73.8 153.5386 215.921 73.48404 153.394 185.921 73.48404 153.3912 215.921 73.1473 153.3037 185.921 73.1473 153.301 185.5788 74.7397 154.9233 185.397 73.2397 153.3912 185.6549 73.02324 153.301 185.6202 72.97365 153.301 185.5737 72.80001 153.301 185.579 72.86031 153.301 185.6977 73.06605 153.301 185.4813 73.32401 153.3912 185.2782 73.56605 153.5385 185.7473 73.10077 153.301 185.3286 73.14202 153.3912 185.5946 72.91879 153.301 185.2782 73.03396 153.3912 185.2473 72.91879 153.3912 185.2369 72.80001 153.3912 185.579 73.3924 153.3912 185.421 73.66603 153.5385 185.2781 73.91334 153.7385 185.8022 73.12635 153.301 185.1549 73.44279 153.5385 185.0549 73.30001 153.5385 184.9813 73.14202 153.5385 184.9362 72.97365 153.5385 184.921 72.80001 153.5385 185.687 73.44279 153.3912 185.5789 73.7397 153.5385 185.4812 74.00805 153.7385 185.3969 74.2397 153.985 185.8607 73.14202 153.301 185.0946 73.78481 153.7385 184.9361 73.62635 153.7384 184.8076 73.44279 153.7384 184.7129 73.2397 153.7384 184.6549 73.02324 153.7384 184.6354 72.80001 153.7384 185.8022 73.47365 153.3912 185.7473 73.78481 153.5386 185.6977 74.06605 153.7385 185.6549 74.30882 153.985 185.6201 74.50574 154.2706 185.1549 74.12683 153.985 184.9361 73.97365 153.985 184.7473 73.78481 153.9849 184.5941 73.56605 153.9849 184.4812 73.32401 153.9849 184.4121 73.06605 153.9849 184.3888 72.80001 153.9849 185.3285 74.4276 154.2706 185.0549 74.30001 154.2705 184.8076 74.12683 154.2705 184.5941 73.91334 154.2705 184.4209 73.66603 154.2705 184.2933 73.3924 154.2705 184.2152 73.10077 154.2705 184.1888 72.80001 154.2705 185.5945 74.65084 154.5865 185.2781 74.56604 154.5865 184.9812 74.4276 154.5865 184.7128 74.2397 154.5865 184.4812 74.00805 154.5865 184.2933 73.7397 154.5864 184.1548 73.44279 154.5864 184.07 73.12635 154.5864 184.0415 72.80001 154.5864 185.2472 74.65084 154.9233 184.936 74.50574 154.9232 184.6548 74.30882 154.9232 184.412 74.06605 154.9232 184.2151 73.78481 154.9232 184.07 73.47365 154.9232 183.9811 73.14202 154.9232 183.9512 72.80001 154.9231 185.5735 74.76962 155.2706 185.2368 74.67938 155.2705 184.9208 74.53205 155.2705 184.6352 74.33209 155.2705 184.3887 74.08557 155.2705 184.1887 73.8 155.2705 184.0414 73.48404 155.2704 183.9512 73.1473 155.2704 217.8905 72.80001 154.9262 217.8605 73.14202 154.9262 216.3607 73.32401 153.394 216.1442 73.06605 153.3038 216.0946 73.10077 153.3038 215.9813 73.14202 153.3038 216.187 73.02324 153.3038 216.445 73.2397 153.394 216.687 73.44279 153.5414 216.2218 72.97365 153.3038 216.263 73.3924 153.394 216.0398 73.12635 153.3038 216.1549 73.44279 153.394 216.0398 73.47365 153.394 216.5134 73.14202 153.394 216.787 73.30001 153.5414 217.0343 73.44279 153.7414 216.2473 72.91879 153.3038 216.5637 73.56605 153.5414 216.421 73.66603 153.5413 216.263 73.7397 153.5413 216.0946 73.78481 153.5413 216.5638 73.03396 153.394 216.8607 73.14202 153.5414 217.129 73.2397 153.7414 217.3606 73.32401 153.9879 216.263 72.86031 153.3038 216.9057 73.62635 153.7414 216.7473 73.78481 153.7413 216.5637 73.91334 153.7413 216.3606 74.00805 153.7413 216.1442 74.06605 153.7413 216.5946 72.91879 153.394 216.9058 72.97365 153.5414 217.187 73.02324 153.7414 217.4297 73.06605 153.9879 217.6266 73.10077 154.2735 216.2683 72.80001 153.3038 217.2478 73.56605 153.9879 217.0946 73.78481 153.9879 216.9057 73.97365 153.9879 216.687 74.12683 153.9878 216.4449 74.2397 153.9878 216.187 74.30882 153.9878 216.605 72.80001 153.394 216.921 72.80001 153.5414 217.2065 72.80001 153.7414 217.453 72.80001 153.9879 217.6529 72.80001 154.2735 217.8002 72.80001 154.5895 217.5485 73.3924 154.2735 217.4209 73.66603 154.2735 217.2477 73.91334 154.2735 217.0342 74.12683 154.2735 216.7869 74.30001 154.2734 216.5133 74.4276 154.2734 216.2217 74.50574 154.2734 217.7717 73.12635 154.5895 217.6869 73.44279 154.5895 217.5485 73.7397 154.5895 217.3606 74.00805 154.5894 217.1289 74.2397 154.5894 216.8606 74.4276 154.5894 216.5637 74.56604 154.5894 216.2472 74.65084 154.5894 217.7717 73.47365 154.9262 217.6266 73.78481 154.9262 217.4297 74.06605 154.9262 217.1869 74.30882 154.9262 216.9056 74.50574 154.9261 216.5945 74.65084 154.9261 216.2629 74.7397 154.9261 217.8904 73.1473 155.2735 217.8002 73.48404 155.2735 217.6529 73.8 155.2735 217.4529 74.08557 155.2735 217.2064 74.33209 155.2735 216.9208 74.53205 155.2734 216.6048 74.67938 155.2734 216.2681 74.76962 155.2734 185.5737 46.8 153.301 185.2369 46.8 153.3912 184.921 46.8 153.5385 184.6354 46.8 153.7384 184.3888 46.8 153.9849 184.1888 46.8 154.2705 184.0415 46.8 154.5864 183.9512 46.8 154.9231 185.5642 74.76962 257.2706 185.2275 74.67938 257.2706 184.9115 74.53205 257.2705 184.6259 74.33209 257.2705 184.3794 74.08557 257.2705 184.1794 73.8 257.2705 184.0321 73.48404 257.2705 183.9419 73.1473 257.2705 185.9115 74.76962 257.6179 215.9115 74.76962 257.6207 185.9114 74.67938 257.9547 215.9114 74.67938 257.9574 185.9114 74.53205 258.2706 215.9114 74.53205 258.2734 185.9114 74.33209 258.5562 215.9114 74.33209 258.5589 185.9114 74.08557 258.8027 215.9114 74.08557 258.8055 185.9113 73.8 259.0027 215.9113 73.8 259.0054 185.9113 73.48404 259.15 215.9113 73.48404 259.1528 185.9113 73.1473 259.2402 215.9113 73.1473 259.243 216.2588 74.76962 257.2734 216.5955 74.67938 257.2734 216.9115 74.53205 257.2734 217.1971 74.33209 257.2735 217.4436 74.08557 257.2735 217.6435 73.8 257.2735 217.7909 73.48404 257.2735 217.8811 73.1473 257.2735 217.8905 46.8 154.9262 217.8002 46.8 154.5895 217.6529 46.8 154.2735 217.453 46.8 153.9879 217.2065 46.8 153.7414 216.921 46.8 153.5414 216.605 46.8 153.394 216.2683 46.8 153.3038 185.9208 44.83038 154.9233 215.9208 44.83038 154.9261 185.9209 44.92061 154.5866 215.9209 44.92061 154.5893 185.9209 45.06795 154.2706 215.9209 45.06795 154.2734 185.9209 45.26791 153.985 215.9209 45.26791 153.9878 185.9209 45.51442 153.7385 215.9209 45.51442 153.7413 185.921 45.8 153.5386 215.921 45.8 153.5413 185.921 46.11596 153.3912 215.921 46.11596 153.394 185.921 46.4527 153.301 215.921 46.4527 153.3037 185.5741 44.83275 155.2706 185.3028 44.89789 155.2706 185.3122 44.92678 154.9233 185.2384 44.92455 155.2705 185.0128 45.01799 155.2705 185.0267 45.04506 154.9232 184.9237 45.07262 155.2705 184.7452 45.18196 155.2705 184.7631 45.20655 154.9232 184.6392 45.27254 155.2705 184.5066 45.38579 155.2705 184.5281 45.40727 154.9232 184.3933 45.51838 155.2705 184.3028 45.62443 155.2705 184.3274 45.64229 154.9232 184.1934 45.80286 155.2705 184.1388 45.89202 155.2705 184.1659 45.90581 154.9232 185.5189 46.2466 153.3912 185.7168 46.51903 153.301 185.7633 46.49055 153.301 185.6754 46.55442 153.301 185.4373 46.31631 153.3912 185.2138 46.09289 153.5385 185.64 46.59586 153.301 185.3676 46.39793 153.3912 185.1119 46.21221 153.5385 184.8809 46.04436 153.7384 185.6115 46.64233 153.301 185.3115 46.48945 153.3912 185.0299 46.34601 153.5385 184.7755 46.21636 153.7384 184.5558 46.10445 153.9849 185.5907 46.69268 153.301 185.2704 46.58862 153.3912 184.9699 46.49098 153.5385 184.6983 46.40274 153.7384 184.4638 46.32656 153.9849 184.2736 46.26477 154.2705 185.578 46.74567 153.301 185.2454 46.69299 153.3912 184.9333 46.64356 153.5385 184.6512 46.59889 153.7384 184.4077 46.56033 153.9849 184.2102 46.52905 154.2705 184.0646 46.506 154.5864 184.1335 46.21924 154.5864 184.0476 46.19136 154.9232 183.9755 46.49188 154.9231 184.0454 46.11759 155.2704 184.0187 46.18196 155.2704 183.9535 46.45327 155.2704 183.9454 46.48713 155.2704 184.2463 45.94678 154.5864 184.3776 46.01366 154.2705 184.4004 45.69532 154.5864 184.5196 45.78192 154.2705 184.6814 45.89946 153.9849 184.5919 45.47107 154.5865 184.6961 45.57526 154.2705 184.8376 45.71665 153.9849 185.0119 45.89096 153.7384 184.8162 45.27954 154.5865 184.9028 45.39874 154.2705 185.0204 45.56051 153.985 185.1653 45.75995 153.7385 185.3332 45.99098 153.5385 185.0676 45.12545 154.5865 185.1346 45.25673 154.2705 185.2254 45.4349 153.985 185.3373 45.65454 153.7385 185.467 45.90899 153.5385 185.6104 46.19052 153.3912 185.3401 45.0126 154.5865 185.3857 45.15272 154.2706 185.4475 45.34289 153.985 185.5237 45.57735 153.7385 185.6119 45.84894 153.5385 185.7096 46.14944 153.3912 185.8137 46.4697 153.301 185.6079 44.82462 155.2706 185.6127 44.85463 154.9233 185.6269 44.94375 154.5866 185.6499 45.08927 154.2706 185.6812 45.28677 153.985 185.7198 45.53025 153.7385 185.7645 45.81231 153.5386 185.814 46.12438 153.3912 185.8666 46.45698 153.301 185.5694 74.7397 257.6179 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283.1286 119.1044 56.75563 289.4284 116.2364 56.75563 292.2969 105.224 39.02473 273.6101 102.2131 39.02473 276.6215 108.0527 39.02473 276.4383 105.0418 39.02473 279.4497 107.0825 56.75563 277.4086 104.2145 56.75563 280.2772 165.0373 70.80001 219.4433 162.3345 48.8 222.1466 164.3031 48.8 220.1776 162.8238 48.8 221.6572 165.7357 70.80001 218.7447 166.8506 70.80001 217.6296 113.784 56.75563 300.1386 111.8971 56.75563 301.2282 109.8497 56.75563 301.9736 107.7039 56.75563 302.3522 105.525 56.75563 302.3524 103.3792 56.75563 301.9742 101.3316 56.75563 301.2292 99.44454 56.75563 300.1399 97.77529 56.75563 298.7395 96.37458 56.75563 297.0705 95.28495 56.75563 295.1836 94.97032 56.75563 294.3194 94.53954 56.75563 293.1362 94.16098 56.75563 290.9904 94.16078 56.75563 288.8115 94.53895 56.75563 286.6657 95.28399 56.75563 284.6181 96.37326 56.75563 282.7311 109.1422 56.75563 277.6583 111.0622 56.75563 278.2246 111.1322 56.75563 278.2452 112.9976 56.75563 279.1532 114.6873 56.75563 280.3572 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294.4316 105.98 56.75563 296.5404 103.7458 56.75563 293.9959 103.0781 56.75563 293.4357 105.3197 56.75563 294.7296 106.178 56.75563 294.8809 106.2257 56.75563 296.451 105.7536 56.75563 296.6712 102.5178 56.75563 292.7681 102.082 56.75563 292.0133 108.7268 56.75563 294.4312 107.4743 56.75563 296.671 107.9079 56.75563 294.7294 107.2479 56.75563 296.5403 107.0021 56.75563 296.4509 107.0495 56.75563 294.8808 106.7446 56.75563 296.4055 106.4832 56.75563 296.4056 104.4998 56.75563 285.3685 105.3188 56.75563 285.0703 106.2245 56.75563 283.3488 106.1771 56.75563 284.9189 106.482 56.75563 283.3941 106.7435 56.75563 283.3941 102.5173 56.75563 287.0323 103.0775 56.75563 286.3646 103.7451 56.75563 285.8043 102.0816 56.75563 287.7872 101.7836 56.75563 288.6062 101.6323 56.75563 289.4645 105.5535 56.75563 298.9606 105.7538 56.75563 299.1286 105.9802 56.75563 299.2593 106.226 56.75563 299.3488 106.4835 56.75563 299.3941 106.7449 56.75563 299.3941 101.6324 56.75563 290.3361 101.7838 56.75563 291.1944 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222.5379 162.9642 48.8 222.3115 162.8748 48.8 222.0658 162.8294 48.8 221.8083 175.6854 48.8 230.9482 175.4589 48.8 230.8175 175.2132 48.8 230.7281 175.8857 48.8 231.1163 176.0538 48.8 231.3166 176.1845 48.8 231.543 176.274 48.8 231.7887 176.3194 48.8 232.0462 164.9574 48.8 220.318 165.1839 48.8 220.4487 165.3842 48.8 220.6167 164.4542 48.8 220.1832 164.7117 48.8 220.2286 174.437 48.8 233.626 174.6945 48.8 233.6714 174.1913 48.8 233.5366 173.9649 48.8 233.4058 173.7646 48.8 233.2378 173.5965 48.8 233.0375 163.4634 48.8 222.9063 163.2631 48.8 222.7382 165.5523 48.8 220.817 165.683 48.8 221.0434 165.7725 48.8 221.2891 164.193 48.8 223.1718 163.9355 48.8 223.1264 173.3763 48.8 232.5654 173.4657 48.8 232.8111 163.6898 48.8 223.037 165.8179 48.8 221.5466 165.8179 48.8 221.8081 165.7726 48.8 222.0656 174.1911 48.8 230.8177 174.4368 48.8 230.7282 165.5524 48.8 222.5377 174.6943 48.8 230.6828 165.1841 48.8 222.9061 164.9577 48.8 223.0369 165.6832 48.8 222.3113 174.9557 48.8 230.6828 164.712 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293.6135 99.58383 66.75563 293.6135 99.59339 69.75563 293.3827 99.59339 66.75563 293.3827 99.64288 69.75563 293.1571 99.64288 66.75563 293.1571 99.73079 69.75563 292.9435 99.73079 66.75563 292.9435 99.85446 69.75563 292.7485 99.85446 66.75563 292.7485 100.0101 69.75563 292.5778 100.0101 66.75563 292.5778 100.193 69.75563 292.4368 100.193 66.75563 292.4368 100.3977 69.75563 292.3297 100.3977 66.75563 292.3297 100.6178 69.75563 292.2598 100.6178 66.75563 292.2598 100.8467 69.75563 292.2291 100.8467 66.75563 292.2291 101.0775 69.75563 292.2387 101.0775 66.75563 292.2387 101.0979 66.75563 292.2432 101.3031 69.75563 292.2882 101.3031 66.75563 292.2882 101.5166 69.75563 292.3761 101.5166 66.75563 292.3761 101.7117 69.75563 292.4997 101.7117 66.75563 292.4997 101.8823 69.75563 292.6554 101.8823 66.75563 292.6554 102.0233 69.75563 292.8383 102.0233 66.75563 292.8383 102.5756 66.75563 293.5603 102.5756 69.75563 293.5603 103.2402 66.75563 294.1806 103.2402 69.75563 294.1806 114.1015 69.75563 284.6416 114.1015 66.75563 284.6416 114.0225 69.75563 284.5081 114.0225 66.75563 284.5081 113.965 69.75563 284.364 113.965 66.75563 284.364 113.9306 69.75563 284.2127 113.9306 66.75563 284.2127 113.9199 69.75563 284.058 113.9199 66.75563 284.058 113.9333 69.75563 283.9034 113.9333 66.75563 283.9034 113.9705 69.75563 283.7528 113.9705 66.75563 283.7528 114.0305 69.75563 283.6098 114.0305 66.75563 283.6098 114.1119 69.75563 283.4777 114.1119 66.75563 283.4777 114.2127 69.75563 283.3598 114.2127 66.75563 283.3598 116.1327 69.75563 287.3991 116.1327 66.75563 287.3991 115.9607 69.75563 287.3828 115.9607 66.75563 287.3828 115.7941 69.75563 287.3372 115.7941 66.75563 287.3372 115.6378 69.75563 287.2635 115.6378 66.75563 287.2635 115.4965 69.75563 287.1641 115.4965 66.75563 287.1641 115.3744 69.75563 287.0419 115.3744 66.75563 287.0419 115.2752 69.75563 286.9004 115.2752 66.75563 286.9004 115.2019 69.75563 286.744 115.2019 66.75563 286.744 118.9855 69.75563 288.8987 118.9855 66.75563 288.8987 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66.75563 291.0998 94.95999 69.75563 291.2057 94.95999 66.75563 291.2057 95.06182 69.75563 291.3295 95.06182 66.75563 291.3295 95.31411 66.75563 291.6365 95.3168 66.75563 291.6388 95.61186 69.75563 291.8996 95.31411 69.75563 291.6365 95.61186 66.75563 291.8996 95.8137 66.75563 292.0275 95.94755 69.75563 292.1123 95.94755 66.75563 292.1123 96.31269 66.75563 292.2691 96.31269 69.75563 292.2691 96.69805 66.75563 292.366 96.69805 69.75563 292.366 99.10527 66.75563 295.1255 98.50651 66.75563 294.1427 98.50651 69.75563 294.1427 99.00424 66.75563 294.9597 99.00437 66.75563 296.4494 96.60691 71.25563 298.8473 96.62977 70.91879 298.8244 96.67343 70.27513 298.7808 96.71943 69.75563 298.7348 93.38673 69.75563 290.901 93.2274 71.25563 290.9011 93.25975 70.91879 290.9011 93.32152 70.27575 290.901 105.1857 69.75563 299.9516 105.1857 66.75563 299.9516 105.3094 69.75563 300.0534 105.3094 66.75563 300.0534 105.4153 69.75563 300.1737 105.4153 66.75563 300.1737 105.5007 69.75563 300.3093 105.5007 66.75563 300.3093 105.5633 69.75563 300.4569 105.5633 66.75563 300.4569 105.6015 69.75563 300.6125 105.6015 66.75563 300.6125 105.6143 69.75563 300.7722 105.6143 66.75563 300.7722 104.4184 66.75563 299.0953 104.4184 69.75563 299.0953 104.3353 66.75563 298.9671 104.3353 69.75563 298.9671 104.2336 66.75563 298.853 104.2336 69.75563 298.853 104.1158 66.75563 298.7557 104.1158 69.75563 298.7557 103.9845 66.75563 298.6776 103.9845 69.75563 298.6776 103.8429 66.75563 298.6203 103.8429 69.75563 298.6203 104.6288 66.75563 299.4193 104.6288 69.75563 299.4193 104.8762 66.75563 299.6955 104.8866 69.75563 299.707 104.8866 66.75563 299.707 100.0747 69.75563 297.5004 100.0747 66.75563 297.5004 100.1925 69.75563 297.3995 100.1925 66.75563 297.3995 100.3246 69.75563 297.3181 100.3246 66.75563 297.3181 100.4676 69.75563 297.2581 100.4676 66.75563 297.2581 100.6182 69.75563 297.221 100.6182 66.75563 297.221 100.7728 69.75563 297.2075 100.7728 66.75563 297.2075 100.9275 69.75563 297.2181 100.9275 66.75563 297.2181 101.0788 69.75563 297.2526 101.0788 66.75563 297.2526 101.0984 66.75563 297.2604 101.2229 69.75563 297.31 101.2229 66.75563 297.31 101.3564 69.75563 297.389 101.3564 66.75563 297.389 102.1421 66.75563 297.883 102.1421 69.75563 297.883 102.9738 66.75563 298.2948 102.9738 69.75563 298.2948 97.78019 69.75563 299.7953 99.46392 66.75563 298.1113 99.00457 66.75563 298.5708 97.66767 71.25563 299.9079 97.69052 70.91879 299.885 97.73419 70.27513 299.8414 105.6145 71.25563 303.286 105.6145 70.91879 303.2536 105.6145 70.27575 303.1918 105.6145 69.75563 303.1266 111.8716 69.75563 297.388 111.8716 66.75563 297.388 112.0051 69.75563 297.309 112.0051 66.75563 297.309 112.1492 69.75563 297.2516 112.1492 66.75563 297.2516 112.3004 69.75563 297.2171 112.3004 66.75563 297.2171 112.4552 69.75563 297.2064 112.4552 66.75563 297.2064 112.6097 69.75563 297.2199 112.6097 66.75563 297.2199 112.7604 69.75563 297.257 112.7604 66.75563 297.257 112.9034 69.75563 297.317 112.9034 66.75563 297.317 113.0355 69.75563 297.3984 113.0355 66.75563 297.3984 113.1533 69.75563 297.4992 113.1533 66.75563 297.4992 108.8099 69.75563 299.0948 108.8099 66.75563 299.0948 108.893 69.75563 298.9666 108.893 66.75563 298.9666 108.9946 69.75563 298.8526 108.9946 66.75563 298.8526 109.1125 69.75563 298.7553 109.1125 66.75563 298.7553 109.2437 69.75563 298.6771 109.2437 66.75563 298.6771 109.3854 69.75563 298.6199 109.3854 66.75563 298.6199 107.6143 69.75563 300.772 107.6143 66.75563 300.772 107.6271 69.75563 300.6123 107.6271 66.75563 300.6123 107.6653 69.75563 300.4566 107.6653 66.75563 300.4566 107.7279 69.75563 300.3091 107.7279 66.75563 300.3091 107.8132 69.75563 300.1734 107.8132 66.75563 300.1734 107.9191 69.75563 300.0532 107.9191 66.75563 300.0532 108.0428 69.75563 299.9513 108.0428 66.75563 299.9513 108.3418 66.75563 299.7067 108.3418 69.75563 299.7067 108.3522 66.75563 299.6952 108.5996 69.75563 299.4189 108.7408 66.75563 299.2014 108.5996 66.75563 299.4189 110.2544 66.75563 298.2942 110.2544 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99.43845 66.75563 291.3294 104.7119 66.75563 293.9784 104.0326 66.75563 293.5863 96.82665 66.75563 288.2758 97.11317 66.75563 288.2507 98.61317 66.75563 288.2506 98.89969 66.75563 288.2756 99.17751 66.75563 288.35 99.43819 66.75563 288.4716 102.1305 66.75563 290.2925 102.1304 66.75563 289.508 100.2382 66.75563 289.6139 95.84925 66.75563 288.8402 96.05261 66.75563 288.6368 96.28819 66.75563 288.4718 96.54885 66.75563 288.3503 100.1638 66.75563 289.3361 102.2665 66.75563 288.7355 100.0422 66.75563 289.0755 102.5348 66.75563 287.9984 102.9269 66.75563 287.3191 100.2633 66.75563 289.9004 100.2383 66.75563 290.1869 102.2668 66.75563 291.0649 100.1639 66.75563 290.4648 100.0423 66.75563 290.7254 98.61347 66.75563 291.5506 97.11347 66.75563 291.5507 96.82695 66.75563 291.5257 96.54913 66.75563 291.4512 96.28845 66.75563 291.3297 90.60556 66.01351 289.448 90.5069 66.19969 289.4418 89.91973 67.36354 288.7887 90.96945 65.33319 289.3617 90.87163 65.5145 289.4093 90.93452 65.41044 289.2067 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114.29 67.5504 304.8898 114.3336 67.52947 304.8557 114.4038 67.4869 304.7955 114.4929 67.414 304.7081 114.5853 67.30957 304.6008 114.6787 67.16114 304.4677 114.7648 66.96233 304.3099 114.7753 66.93193 304.2873 114.8218 66.77007 304.1716 114.8594 66.58733 304.0492 107.5699 68.0336 307.0557 107.6634 68.04651 307.0575 107.6545 68.2516 307.2421 106.5053 68.33462 307.6339 105.7144 67.92954 307.6493 105.2571 67.59953 307.6734 104.7854 67.16382 307.7148 104.427 66.74688 307.762 103.7942 65.7078 307.9041 106.5497 66.58733 306.2766 106.4244 66.28535 306.1326 105.1957 66.20008 306.61 105.791 66.26871 306.3269 105.9955 66.62433 306.4574 104.6549 66.08132 306.9743 105.4675 66.61888 306.7073 105.6635 66.8711 306.7681 104.1497 66.35343 307.8121 104.1834 65.91571 307.4096 104.9771 66.57108 307.0211 105.2122 66.86638 307.0528 105.4542 67.12788 307.0832 104.5347 66.48196 307.392 104.7976 66.82473 307.3861 105.0721 67.12903 307.3842 105.129 67.18629 307.3843 104.7233 67.09767 307.7218 105.5557 67.56256 307.388 105.504 67.17702 307.0891 105.8639 67.09424 306.8231 106.1435 66.83881 306.537 106.1299 68.1659 307.6377 105.9628 67.84671 307.3956 105.8744 67.49942 307.1303 105.905 67.13614 306.8336 106.2952 67.0286 306.6079 106.6435 66.77007 306.3638 106.329 68.04999 307.4045 106.2241 67.74235 307.1637 106.2096 67.41078 306.9029 106.3263 67.06423 306.6212 106.7416 66.93193 306.4407 106.7871 68.43582 307.6345 106.658 68.19513 307.4132 106.5367 67.91589 307.1891 106.496 67.61732 306.9556 106.5579 67.29762 306.7083 106.762 66.96233 306.4551 106.957 68.48693 307.6362 106.9039 68.28232 307.4201 106.8164 68.03968 307.2079 106.7515 67.76449 306.993 106.7764 67.47266 306.7728 106.9154 67.16114 306.5486 107.0629 67.30957 306.6171 106.972 67.59682 306.8175 106.9798 67.86917 307.0191 107.0251 68.11403 307.2196 107.052 68.32645 307.4242 107.1283 68.53118 307.6388 107.1966 67.414 306.6638 107.3175 67.4869 306.695 107.1471 67.68456 306.8478 107.278 67.73662 306.8646 107.15 67.93181 307.0341 107.2524 67.96341 307.0414 107.1507 68.15165 307.2256 107.2771 68.18432 307.2309 107.2012 68.36475 307.4284 107.3773 68.40217 307.4332 107.3307 68.57424 307.643 107.4848 68.6005 307.6469 107.6737 67.82923 306.8876 107.6015 67.81929 306.8864 107.53 67.80645 306.884 107.4083 67.52947 306.712 107.3568 67.76266 306.8725 107.3555 67.99076 307.0474 107.4263 68.21626 307.2362 107.5114 68.42513 307.4368 107.6404 68.62137 307.6515 107.6851 67.6008 306.733 107.6344 67.59394 306.7324 107.5843 67.58451 306.7305 107.5187 67.56805 306.7257 107.4632 67.5504 306.7197 107.4362 67.78501 306.8788 107.4772 68.01737 307.0528 107.5398 68.23587 307.2395 107.6468 68.44353 307.4404 114.8886 66.24256 303.8399 114.8801 66.19967 303.8186 115.5315 66.20851 303.6822 115.5196 66.14817 303.6521 116.1859 66.12343 303.6211 116.1709 66.04658 303.5828 116.834 65.98963 303.6583 116.8162 65.89772 303.6124 117.458 65.81082 303.7927 117.4376 65.70565 303.7402 118.0406 65.59188 304.0205 118.0182 65.47567 303.9625 106.4197 66.24256 306.1099 105.7842 66.20851 306.295 105.1869 66.12343 306.5694 104.6442 65.98963 306.9257 104.1712 65.81082 307.3542 103.7806 65.59188 307.8429 106.4164 66.19967 306.0872 105.7794 66.14817 306.263 105.1807 66.04658 306.5287 104.6367 65.89772 306.8771 104.1625 65.70565 307.2985 103.7711 65.47567 307.7814 114.7757 65.98885 303.7359 113.3279 63.38539 303.3239 113.3409 63.66259 303.3499 113.4662 63.42568 303.2605 113.3927 64.20757 303.4533 113.3625 63.93709 303.3931 113.4663 63.96396 303.3489 113.4777 64.73119 303.6235 113.4311 64.4727 303.5303 113.4976 64.48632 303.5029 113.6084 63.46945 303.2011 113.8337 63.54335 303.1183 113.9708 63.59081 303.0745 114.8734 63.94198 302.9061 114.5667 63.81601 302.9406 114.4104 63.75425 302.967 114.2509 63.69309 303.0003 114.1096 63.64064 303.0352 114.929 63.96545 302.9024 115.3081 64.13004 302.8966 115.7114 64.31267 302.9287 115.7997 64.35363 302.941 116.4007 64.63976 303.0769 116.8554 64.86446 303.243 117.2594 65.0701 303.4406 117.647 65.27352 303.68 113.3481 63.75408 303.3643 113.4623 63.69619 303.2964 113.5867 63.73322 303.246 113.7833 63.79677 303.1752 113.9026 63.83818 303.1374 114.0232 63.88207 303.1031 114.1457 63.92871 303.0723 114.2838 63.9836 303.0423 114.4189 64.03956 303.0178 114.6836 64.15519 302.9836 114.7315 64.17695 302.9794 115.0584 64.33129 302.9659 115.406 64.50605 302.9817 115.4823 64.54574 302.9893 116.0026 64.82807 303.0817 116.3993 65.05606 303.2012 116.7552 65.26969 303.3468 117.101 65.48589 303.526 116.5276 65.66735 303.4539 116.234 65.44458 303.3226 115.934 65.22833 303.2172 115.6012 65.00197 303.1327 115.1662 64.72834 303.0712 115.1024 64.69051 303.0668 114.8118 64.52584 303.0612 114.5382 64.3833 303.0777 114.498 64.36345 303.082 114.2759 64.25902 303.1135 114.1622 64.20922 303.1351 114.0458 64.16088 303.1611 113.9424 64.12026 303.1874 113.8404 64.08247 303.2164 113.7394 64.04725 303.2481 113.5723 63.99419 303.3071 115.9399 65.81376 303.4653 115.7056 65.59145 303.3683 115.4665 65.37862 303.2908 115.2014 65.15937 303.2292 114.8541 64.89984 303.1861 114.8031 64.86448 303.1833 114.5702 64.71239 303.1817 114.3501 64.58337 303.197 114.3177 64.56562 303.2006 114.1382 64.47334 303.2272 114.0462 64.43004 303.245 113.9517 64.38855 303.2662 113.8675 64.35416 303.2876 113.7845 64.32261 303.3111 113.7019 64.29369 303.3368 113.5651 64.25119 303.3843 113.478 64.22775 303.4179 113.4183 64.38433 303.5046 115.3515 65.92175 303.5601 115.1801 65.70751 303.4831 115.0043 65.50461 303.4207 114.808 65.29833 303.3702 114.5488 65.05871 303.3329 114.5106 65.02654 303.3302 114.3351 64.88969 303.3265 114.1683 64.77602 303.3365 114.1436 64.7606 303.339 114.0067 64.68146 303.3582 113.9362 64.64506 303.3714 113.8637 64.61071 303.3873 113.799 64.58274 303.4034 113.7349 64.55757 303.4212 113.6711 64.535 303.4407 113.5652 64.50305 303.4772 114.6674 65.79058 303.6648 114.5542 65.60437 303.6051 114.4258 65.41719 303.5538 114.253 65.20359 303.5104 114.2272 65.17532 303.5062 114.1081 65.05653 303.4949 113.9937 64.96018 303.4953 113.9767 64.94731 303.4963 113.8819 64.88239 303.506 113.8329 64.85327 303.5138 113.7823 64.82637 303.5237 113.737 64.805 303.5343 113.692 64.78631 303.5462 113.6472 64.77014 303.5596 113.5725 64.74865 303.5852 113.5248 64.73848 303.6037 107.5269 64.4727 305.1129 107.5332 64.73119 305.2169 107.4836 64.73831 305.2232 106.8874 63.57168 304.9754 103.9564 65.26818 307.3402 104.1956 65.04531 306.9033 104.442 64.8461 306.545 104.861 64.55166 306.0703 105.2768 64.29816 305.7133 105.6429 64.09986 305.4675 105.9733 63.93851 305.2902 106.2878 63.79943 305.155 104.3521 65.48015 306.9357 104.5839 65.24369 306.5785 104.8142 65.03723 306.2867 105.1949 64.7402 305.9007 105.5647 64.49204 305.61 105.8867 64.30275 305.409 106.1755 64.15197 305.263 106.4493 64.02449 305.1505 106.5818 63.96804 305.1044 106.4401 63.73698 305.1002 106.7177 63.9136 305.0623 106.5964 63.67615 305.0506 106.843 63.86646 305.028 106.7406 63.62297 305.0106 106.9706 63.82143 304.9974 104.8121 65.66139 306.5883 105.02 65.41805 306.3047 105.2224 65.20945 306.0731 105.5512 64.916 305.7666 105.8668 64.67718 305.535 106.14 64.49928 305.3739 106.3843 64.36052 305.2559 106.6158 64.24555 305.1641 106.7277 64.19546 305.126 106.8426 64.14767 305.0911 106.9485 64.10677 305.0623 107.0565 64.06817 305.0363 107.1967 64.0226 305.0072 105.3259 65.80776 306.3059 105.4959 65.56517 306.0868 105.6602 65.36019 305.9077 105.926 65.07712 305.6697 106.1806 64.85207 305.4888 106.4012 64.68815 305.3623 106.5988 64.56301 305.269 106.7864 64.46158 305.1957 106.8773 64.41818 305.1651 106.9706 64.37732 305.1369 107.0568 64.34284 305.1134 107.1448 64.31081 305.092 107.2591 64.27375 305.0678 107.3446 64.24938 305.0524 107.2199 63.46616 304.9149 107.3647 63.42483 304.8965 107.3856 63.69547 304.9256 105.8817 65.91595 306.095 106.0028 65.68233 305.929 106.1212 65.48715 305.7927 106.3151 65.2218 305.6109 106.5035 65.01527 305.472 106.6685 64.86814 305.3744 106.8177 64.75833 305.3021 106.9603 64.67153 305.2453 107.0297 64.63518 305.2214 107.1012 64.60153 305.1994 107.1674 64.57366 305.181 107.2351 64.5483 305.1643 107.3233 64.51981 305.1452 107.3895 64.50173 305.133 107.4572 64.48602 305.1222 107.5131 63.38539 304.8825 107.5148 63.66259 304.9116 107.5158 63.75408 304.9277 107.0779 63.50941 304.9375 107.2597 63.73041 304.943 107.4081 63.96338 304.9731 107.5177 63.93709 304.9598 107.1362 63.76744 304.9637 107.3013 63.99188 304.9889 107.432 64.22731 305.0388 107.5218 64.20757 305.027 107.5252 64.38433 305.0842 107.4356 64.74781 305.2306 107.389 64.75966 305.2391 107.327 64.77959 305.2527 107.2797 64.79819 305.2649 107.2337 64.81929 305.2784 107.1843 64.84546 305.2947 107.1366 64.87438 305.3125 107.0398 64.94543 305.3552 106.9403 65.03807 305.41 106.8329 65.16545 305.4845 106.7144 65.34845 305.5908 106.5983 65.58843 305.7301 106.5314 65.76738 305.8342 106.4669 65.98346 305.9603 109.3706 64.385 304.8575 111.6478 63.75446 304.0857 111.7003 64.385 304.2337 110.5073 63.75446 304.4403 109.3422 63.75446 304.7032 110.5479 64.385 304.5918 93.89526 64.4727 298.2976 93.80827 64.73119 298.355 93.77808 64.73831 298.3152 93.69458 63.57168 297.675 89.70627 65.47567 296.3792 90.18111 65.26818 296.319 90.32025 65.70565 296.4767 90.67904 65.04531 296.3077 91.11249 64.8461 296.342 91.73311 64.55166 296.4676 92.25022 64.29816 296.6491 92.64617 64.09986 296.8433 93.23919 63.79943 297.2455 92.96492 63.93851 297.0408 90.92233 65.89772 296.6767 90.72924 65.48015 296.4595 91.15445 65.24369 296.4816 91.52236 65.03723 296.5352 92.04699 64.7402 296.6719 92.48365 64.49204 296.8468 92.8187 64.30275 297.0252 93.08955 64.15197 297.2022 93.32389 64.02449 297.3832 93.43006 63.96804 297.4748 93.36284 63.73698 297.35 93.53443 63.9136 297.5715 93.48394 63.67615 297.4606 93.62677 63.86646 297.6628 93.59063 63.62297 297.5654 93.71711 63.82143 297.758 91.49598 66.04658 296.9736 91.26008 65.66139 296.6842 91.60967 65.41805 296.7224 91.91136 65.20945 296.7819 92.34123 64.916 296.9134 92.69966 64.67718 297.0709 92.97578 64.49928 297.227 93.20011 64.36052 297.3796 93.39535 64.24555 297.5341 93.48425 64.19546 297.612 93.57196 64.14767 297.694 93.64984 64.10677 297.7714 93.72635 64.06817 297.8518 93.8216 64.0226 297.9587 92.02545 66.14817 297.3592 91.76151 65.80776 296.9879 92.03627 65.56517 297.0256 92.2736 65.36019 297.0783 92.61259 65.07712 297.1895 92.89651 64.85207 297.3196 93.11638 64.68815 297.4474 93.29601 64.56301 297.5718 93.45323 64.46158 297.6976 93.52516 64.41818 297.7611 93.59633 64.37732 297.8278 93.65975 64.34284 297.8907 93.72225 64.31081 297.9562 93.80036 64.27375 298.0431 93.85649 64.24938 298.1094 93.91323 63.46616 297.9327 94.00151 63.42483 298.0489 93.98674 63.69547 298.0816 92.49621 66.19967 297.823 92.22208 65.91595 297.3638 92.42639 65.68233 297.3858 92.60363 65.48715 297.4201 92.8581 65.2218 297.4971 93.07257 65.01527 297.5908 93.2396 64.86814 297.6849 93.37671 64.75833 297.778 93.49727 64.67153 297.873 93.55259 64.63518 297.9212 93.60746 64.60153 297.9721 93.65645 64.57366 298.0202 93.70482 64.5483 298.0705 93.76541 64.51981 298.1374 93.80905 64.50173 298.1886 93.85227 64.48602 298.2418 94.08779 63.38539 298.1704 94.06352 63.66259 298.1864 94.05007 63.75408 298.1953 93.82263 63.50941 297.8211 93.90869 63.73041 297.9812 93.95685 63.96338 298.1248 94.02319 63.93709 298.2131 93.82903 63.76744 297.8846 93.88975 63.99188 298.0402 93.91195 64.22731 298.1783 93.96701 64.20757 298.2502 93.91918 64.38433 298.2817 93.74767 64.74781 298.2774 93.71691 64.75966 298.2412 93.67414 64.77959 298.1943 93.63995 64.79819 298.1595 93.60529 64.81929 298.1264 93.56644 64.84546 298.0917 93.52725 64.87438 298.0593 93.44179 64.94543 297.9969 93.34461 65.03807 297.9381 93.2264 65.16545 297.8823 93.07505 65.34845 297.8328 92.89643 65.58843 297.802 92.77283 65.76738 297.7961 92.63129 65.98346 297.8032 95.03823 64.385 299.7666 98.32901 63.66259 302.4512 98.32013 63.75408 302.4646 96.84522 63.75446 301.3528 98.26531 64.20757 302.5477 98.23372 64.38433 302.5955 96.74338 64.385 301.4722 98.16052 64.73119 302.7064 98.21794 64.4727 302.6194 98.30239 63.93709 302.4915 98.34503 63.38539 302.4269 95.96793 63.75446 300.5423 95.15766 63.75446 299.6648 95.85694 64.385 300.6532 92.47817 66.24256 297.8372 92.46089 66.28535 297.8526 92.00016 66.20851 297.3793 91.97594 66.26871 297.4012 91.46383 66.12343 296.9993 91.43309 66.20008 297.0272 90.88392 65.98963 296.7075 90.84725 66.08132 296.741 90.27637 65.81082 296.512 90.23448 65.91571 296.5504 89.65784 65.59188 296.4182 89.61164 65.7078 296.4606 99.15662 66.14817 304.4891 98.69274 66.19967 304.0184 98.71212 65.98885 303.8868 100.1371 65.47567 306.8081 98.46906 63.42568 302.515 98.39253 63.96396 302.5592 98.27481 64.48632 302.6633 98.59162 63.46945 302.6083 98.776 63.54335 302.7621 98.88244 63.59081 302.8589 98.98585 63.64064 302.9595 99.08673 63.69309 303.0644 99.19536 63.75425 303.1859 99.29643 63.81601 303.3081 99.47955 63.94198 303.5564 99.51063 63.96545 303.6027 99.70523 64.13004 303.9281 99.87904 64.31267 304.2934 99.91254 64.35363 304.3761 100.0953 64.63976 304.9645 100.1789 64.86446 305.4413 100.2097 65.0701 305.89 100.1962 65.27352 306.3453 98.43605 63.69619 302.5296 98.54194 63.73322 302.6121 98.70157 63.79677 302.7469 98.79393 63.83818 302.8313 98.88386 63.88207 302.9186 98.97182 63.92871 303.0093 99.06684 63.9836 303.1139 99.1556 64.03956 303.2187 99.31758 64.15519 303.4308 99.34526 64.17695 303.4702 99.52027 64.33129 303.7465 99.68047 64.50605 304.0555 99.71202 64.54574 304.1253 99.89211 64.82807 304.6222 99.98698 65.05606 305.0254 100.0388 65.26969 305.4065 100.0566 65.48589 305.7955 100.0394 65.70565 306.1941 99.83232 65.66735 305.2629 99.79925 65.44458 304.943 99.74044 65.22833 304.6305 99.64728 65.00197 304.3001 99.483 64.72834 303.8925 99.45497 64.69051 303.8351 99.31453 64.52584 303.5806 99.16339 64.3833 303.352 99.13964 64.36345 303.3193 99.0012 64.25902 303.1427 98.92568 64.20922 303.055 98.84501 64.16088 302.9672 98.7705 64.12026 302.8908 98.69443 64.08247 302.817 98.6164 64.04725 302.7453 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340.3791 150.5998 85.9755 336.4276 150.055 85.83948 336.9127 149.7431 85.59822 337.1905 149.763 85.73916 337.1728 148.9063 85.31458 337.9356 148.9289 85.45265 337.9154 148.4052 85.14472 338.3818 148.3616 85.25776 338.4206 148.0943 85.14062 338.6586 150.5805 85.88209 336.4448 150.6613 85.90948 336.3728 151.4371 86.18452 335.6821 151.4256 86.1286 335.6923 151.7527 86.26332 335.401 151.7574 86.22371 335.3969 151.7598 86.22465 335.3947 151.7621 86.22606 335.3927 146.1627 84.24208 340.3786 146.1639 84.23882 340.3775 151.7644 86.22824 335.3906 151.7662 86.23055 335.389 151.7679 86.23361 335.3876 151.7689 86.2365 335.3866 151.7697 86.24016 335.3859 151.77 86.24326 335.3857 151.7698 86.24703 335.3858 151.7693 86.25 335.3863 151.7628 86.26074 335.3921 151.7604 86.26221 335.3941 147.2636 84.77649 339.3983 146.6643 84.51379 339.9319 146.4259 84.33029 340.1442 146.429 84.39613 340.1415 146.172 84.26763 340.3703 146.1688 84.23217 340.3731 146.171 84.23066 340.3712 146.1735 84.2296 340.369 151.7579 86.26315 335.3964 151.7553 86.26349 335.3987 146.1669 84.2341 340.3749 146.1654 84.23604 340.3761 146.176 84.22907 340.3667 146.1787 84.22909 340.3643 151.7682 86.25337 335.3872 151.7669 86.25591 335.3884 151.7649 86.25874 335.3902 144.5733 84.93142 336.9672 142.3709 85.33324 334.0981 142.857 85.5791 333.6623 137.6235 85.98513 328.6578 132.6681 84.56981 328.2599 135.4218 84.54354 330.64 135.9662 84.94827 330.1498 133.0258 86.69026 323.0702 133.665 86.99745 322.4942 128.5872 87.39302 317.3259 146.1021 87.137 327.3172 143.2739 87.51824 323.5732 142.8129 87.49982 323.988 132.5641 88.92128 309.6054 130.0148 89.24859 306.3099 129.2633 89.21805 306.9835 115.7725 88.40602 299.6625 110.0551 83.47695 309.7238 110.8256 83.26746 311.3171 112.3062 84.58315 309.9952 120.7459 83.37442 320.2069 123.171 83.4438 322.203 123.7214 83.9845 321.7072 134.8815 84.10926 331.1266 137.0915 83.86417 333.5679 137.3401 83.87237 333.7676 137.666 84.13095 333.4747 142.5082 84.06098 337.8359 143.1057 84.08847 338.2792 143.2315 84.1683 338.1665 143.9332 84.12654 338.8932 144.8668 84.17796 339.5452 143.6775 84.43748 337.7679 144.9975 84.18516 339.6365 145.8226 84.2404 340.1651 137.5767 83.88018 333.9577 140.2006 83.97153 336.0441 140.4492 84.15037 335.8211 140.5231 83.98276 336.3006 134.5023 83.78272 331.4685 123.9404 83.46582 322.8363 128.837 83.61066 326.8476 129.3068 84.05602 326.4234 131.6651 83.69431 329.1643 132.1168 83.70767 329.5344 112.6762 83.15238 313.5342 112.503 83.76206 312.2187 111.8447 83.1306 312.8431 111.8229 83.13017 312.8245 112.9907 84.47952 311.1737 111.4734 83.1232 312.5249 111.4823 83.12327 312.533 111.3868 83.12257 312.4461 112.8419 84.48454 311.004 111.3611 83.12363 312.4174 111.334 83.12779 312.3745 111.0928 83.1948 311.8697 112.7365 84.50485 310.8013 111.2254 83.15796 312.1472 111.3248 83.13034 312.3553 108.4031 83.93048 306.2882 108.9741 84.43497 305.7763 106.3934 84.48217 302.1091 105.9263 84.61193 301.1303 109.7051 85.03833 305.1188 111.1853 86.12345 303.7874 110.4421 85.60115 304.4558 111.9345 86.6052 303.1135 112.6899 87.04644 302.4342 113.4514 87.44713 301.7494 114.219 87.80729 301.0592 114.9927 88.12693 300.3636 116.5584 88.64459 298.956 117.3504 88.84263 298.2441 118.1486 89.00013 297.5267 118.9528 89.11711 296.8039 119.7632 89.19355 296.0756 119.3156 89.07588 294.3517 117.8222 88.87798 292.8992 124.0369 89.70305 298.9709 123.039 89.57045 297.9917 122.2788 89.51373 298.6723 123.0235 89.56838 297.9764 121.9056 89.41983 296.8812 120.6732 89.25609 295.6761 120.45 89.22647 295.4584 124.9552 89.82518 299.8732 124.3313 89.74221 299.2601 123.5367 89.67115 299.9694 125.1314 89.85047 300.0444 124.9771 89.82833 299.8945 124.1658 89.74933 300.6174 124.4705 89.76715 300.9508 125.1972 89.85616 300.1114 125.2864 89.84661 300.224 128.5583 89.4356 304.4271 125.5662 89.81387 300.5807 124.7528 89.73728 301.3053 125.4226 89.83202 300.3961 134.4464 88.67594 312.0541 133.7772 88.66784 312.656 139.9319 87.96091 319.1907 143.2145 87.52624 323.4946 148.3812 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129.8 129.2231 212.1765 129.6989 129.2231 212.3684 129.5875 129.2231 212.155 129.4978 129.2231 212.3362 129.3773 129.2231 212.1122 129.3001 129.2231 212.2829 129.1713 129.2231 212.0487 129.1081 129.2231 212.209 128.9718 129.2231 211.9651 128.9239 129.2231 212.1153 128.7809 129.2231 211.8625 128.7497 129.2231 212.0028 128.6003 129.2231 211.7419 128.5873 129.2231 211.8726 128.4321 129.2231 211.6047 128.4387 129.2231 211.726 128.2779 129.2231 211.4525 128.3056 129.2231 211.5646 128.1394 129.2231 211.287 128.1893 129.2231 211.39 128.0178 129.2231 211.1101 128.0913 129.2231 211.204 127.9146 129.2231 210.9237 128.0127 129.2231 211.0085 127.8307 129.2231 210.7301 127.9543 129.2231 210.8055 127.767 129.2231 210.5314 127.9168 129.2231 210.5972 127.7242 129.2231 210.3298 127.9007 129.2231 210.3855 127.7027 129.2231 210.1276 127.9061 129.2231 210.1728 127.7027 129.2231 209.9271 127.9329 129.2231 209.9612 127.7242 129.2231 209.7307 127.9809 129.2231 209.7528 127.767 129.2231 209.5404 128.0495 129.2231 209.5498 127.8307 129.2231 209.3544 127.9146 129.2231 211.0412 129.3212 129.7231 211.241 129.2662 129.7231 211.0901 129.4095 129.7231 211.29 129.3662 129.7231 211.1287 129.5027 129.7231 211.3287 129.4707 129.7231 211.1566 129.5997 129.7231 211.3567 129.5786 129.7231 211.1735 129.6992 129.7231 211.3735 129.6887 129.7231 211.1792 129.8 129.7231 211.3792 129.8 129.7231 211.1735 129.9008 129.7231 211.3735 129.9113 129.7231 211.1566 130.0003 129.7231 211.3567 130.0214 129.7231 211.1287 130.0972 129.7231 211.3287 130.1293 129.7231 211.0901 130.1905 129.7231 209.5171 130.2788 129.7231 209.3174 130.3338 129.7231 209.4683 130.1905 129.7231 209.2683 130.2338 129.7231 209.4297 130.0972 129.7231 209.2296 130.1293 129.7231 209.4017 130.0003 129.7231 209.2017 130.0214 129.7231 209.3848 129.9008 129.7231 209.1848 129.9113 129.7231 209.3792 129.8 129.7231 209.1792 129.8 129.7231 209.3848 129.6992 129.7231 209.1848 129.6887 129.7231 209.4017 129.5997 129.7231 209.2017 129.5786 129.7231 209.4297 129.5027 129.7231 209.2296 129.4707 129.7231 209.4683 129.4095 129.7231 210.2792 128.9 129.7231 210.3349 128.7014 129.7231 210.3799 128.9057 129.7231 210.4458 128.7127 129.7231 210.4794 128.9226 129.7231 210.5549 128.7351 129.7231 210.5764 128.9505 129.7231 210.6612 128.7685 129.7231 210.6697 128.9891 129.7231 210.7636 128.8124 129.7231 210.758 129.0379 129.7231 210.861 128.8665 129.7231 210.8403 129.0964 129.7231 210.9525 128.9301 129.7231 210.9156 129.1636 129.7231 211.037 129.0027 129.7231 210.9828 129.2389 129.7231 211.1138 129.0835 129.7231 211.182 129.1716 129.7231 210.3799 130.6943 129.7231 210.3349 130.8986 129.7231 210.2792 130.7 129.7231 210.2235 130.8986 129.7231 210.1784 130.6943 129.7231 210.1126 130.8873 129.7231 210.0789 130.6774 129.7231 210.0035 130.8649 129.7231 209.9819 130.6495 129.7231 209.8971 130.8315 129.7231 209.8887 130.6109 129.7231 209.7947 130.7876 129.7231 209.8003 130.5621 129.7231 209.6973 130.7335 129.7231 209.718 130.5036 129.7231 209.6059 130.6699 129.7231 209.6428 130.4364 129.7231 209.5213 130.5973 129.7231 209.5755 130.3611 129.7231 209.4445 130.5165 129.7231 209.3763 130.4284 129.7231 211.29 130.2338 129.7231 211.241 130.3338 129.7231 211.0412 130.2788 129.7231 211.182 130.4284 129.7231 210.9828 130.3611 129.7231 211.1138 130.5165 129.7231 210.9156 130.4364 129.7231 211.037 130.5973 129.7231 210.8403 130.5036 129.7231 210.9525 130.6699 129.7231 210.758 130.5621 129.7231 210.861 130.7335 129.7231 210.6697 130.6109 129.7231 210.7636 130.7876 129.7231 210.5764 130.6495 129.7231 210.6612 130.8315 129.7231 210.4794 130.6774 129.7231 210.5549 130.8649 129.7231 210.4458 130.8873 129.7231 209.2683 129.3662 129.7231 209.3174 129.2662 129.7231 209.5171 129.3212 129.7231 209.3763 129.1716 129.7231 209.5755 129.2389 129.7231 209.4445 129.0835 129.7231 209.6428 129.1636 129.7231 209.5213 129.0027 129.7231 209.718 129.0964 129.7231 209.6059 128.9301 129.7231 209.8003 129.0379 129.7231 209.6973 128.8665 129.7231 209.8887 128.9891 129.7231 209.7947 128.8124 129.7231 209.9819 128.9505 129.7231 209.8971 128.7685 129.7231 210.0789 128.9226 129.7231 210.0035 128.7351 129.7231 210.1784 128.9057 129.7231 210.1126 128.7127 129.7231 210.2235 128.7014 129.7231 211.0412 130.2788 129.2231 211.241 130.3338 129.2231 211.0901 130.1905 129.2231 211.29 130.2338 129.2231 211.1287 130.0972 129.2231 211.3287 130.1293 129.2231 211.1566 130.0003 129.2231 211.3567 130.0214 129.2231 211.1735 129.9008 129.2231 211.3735 129.9113 129.2231 211.1792 129.8 129.2231 211.3792 129.8 129.2231 211.1735 129.6992 129.2231 211.3735 129.6887 129.2231 211.1566 129.5997 129.2231 211.3567 129.5786 129.2231 211.1287 129.5027 129.2231 211.3287 129.4707 129.2231 211.0901 129.4095 129.2231 209.5171 129.3212 129.2231 209.3174 129.2662 129.2231 209.4683 129.4095 129.2231 209.2683 129.3662 129.2231 209.4297 129.5027 129.2231 209.2296 129.4707 129.2231 209.4017 129.5997 129.2231 209.2017 129.5786 129.2231 209.3848 129.6992 129.2231 209.1848 129.6887 129.2231 209.3792 129.8 129.2231 209.1792 129.8 129.2231 209.3848 129.9008 129.2231 209.1848 129.9113 129.2231 209.4017 130.0003 129.2231 209.2017 130.0214 129.2231 209.4297 130.0972 129.2231 209.2296 130.1293 129.2231 209.4683 130.1905 129.2231 210.3799 128.9057 129.2231 210.3349 128.7014 129.2231 210.2792 128.9 129.2231 210.2235 128.7014 129.2231 210.1784 128.9057 129.2231 210.1126 128.7127 129.2231 210.0789 128.9226 129.2231 210.0035 128.7351 129.2231 209.9819 128.9505 129.2231 209.8971 128.7685 129.2231 209.8887 128.9891 129.2231 209.7947 128.8124 129.2231 209.8003 129.0379 129.2231 209.6973 128.8665 129.2231 209.718 129.0964 129.2231 209.6059 128.9301 129.2231 209.6428 129.1636 129.2231 209.5213 129.0027 129.2231 209.5755 129.2389 129.2231 209.4445 129.0835 129.2231 209.3763 129.1716 129.2231 211.29 129.3662 129.2231 211.241 129.2662 129.2231 211.0412 129.3212 129.2231 211.182 129.1716 129.2231 210.9828 129.2389 129.2231 211.1138 129.0835 129.2231 210.9156 129.1636 129.2231 211.037 129.0027 129.2231 210.8403 129.0964 129.2231 210.9525 128.9301 129.2231 210.758 129.0379 129.2231 210.861 128.8665 129.2231 210.6697 128.9891 129.2231 210.7636 128.8124 129.2231 210.5764 128.9505 129.2231 210.6612 128.7685 129.2231 210.4794 128.9226 129.2231 210.5549 128.7351 129.2231 210.4458 128.7127 129.2231 210.1784 130.6943 129.2231 210.2235 130.8986 129.2231 210.2792 130.7 129.2231 210.3349 130.8986 129.2231 210.3799 130.6943 129.2231 210.4458 130.8873 129.2231 210.4794 130.6774 129.2231 210.5549 130.8649 129.2231 210.5764 130.6495 129.2231 210.6612 130.8315 129.2231 210.6697 130.6109 129.2231 210.7636 130.7876 129.2231 210.758 130.5621 129.2231 210.861 130.7335 129.2231 210.8403 130.5036 129.2231 210.9525 130.6699 129.2231 210.9156 130.4364 129.2231 211.037 130.5973 129.2231 210.9828 130.3611 129.2231 211.1138 130.5165 129.2231 211.182 130.4284 129.2231 209.2683 130.2338 129.2231 209.3174 130.3338 129.2231 209.5171 130.2788 129.2231 209.3763 130.4284 129.2231 209.5755 130.3611 129.2231 209.4445 130.5165 129.2231 209.6428 130.4364 129.2231 209.5213 130.5973 129.2231 209.718 130.5036 129.2231 209.6059 130.6699 129.2231 209.8003 130.5621 129.2231 209.6973 130.7335 129.2231 209.8887 130.6109 129.2231 209.7947 130.7876 129.2231 209.9819 130.6495 129.2231 209.8971 130.8315 129.2231 210.0789 130.6774 129.2231 210.0035 130.8649 129.2231 210.1126 130.8873 129.2231 185.3581 129.3852 129.7231 185.3792 129.8 129.7231 185.174 130.0008 129.7231 185.3581 130.2148 129.7231 185.1327 130.4002 129.7231 185.2953 130.6253 129.7231 185.0506 130.7932 129.7231 185.1911 131.0274 129.7231 184.9285 131.1757 129.7231 185.0469 131.4169 129.7231 184.7677 131.5437 129.7231 184.864 131.7897 129.7231 184.5699 131.8931 129.7231 184.6443 132.1422 129.7231 184.3372 132.2204 129.7231 184.3901 132.4706 129.7231 184.0722 132.522 129.7231 184.1039 132.7716 129.7231 183.7775 132.7947 129.7231 183.7888 133.0422 129.7231 183.4563 133.0357 129.7231 183.4479 133.2794 129.7231 183.1121 133.2424 129.7231 183.0848 133.481 129.7231 182.7484 133.4127 129.7231 182.7031 133.6448 129.7231 182.3692 133.5446 129.7231 182.3069 133.7691 129.7231 181.9784 133.6368 129.7231 181.9 133.8527 129.7231 181.5802 133.6884 129.7231 181.4868 133.8947 129.7231 181.1788 133.6987 129.7231 181.0715 133.8947 129.7231 180.7784 133.6677 129.7231 180.6583 133.8527 129.7231 180.3834 133.5957 129.7231 180.2515 133.7691 129.7231 179.9979 133.4835 129.7231 179.8552 133.6448 129.7231 179.6259 133.3322 129.7231 179.4736 133.481 129.7231 179.2715 133.1435 129.7231 179.1104 133.2794 129.7231 178.9383 132.9194 129.7231 178.7695 133.0422 129.7231 178.63 132.6622 129.7231 178.4544 132.7716 129.7231 178.3498 132.3746 129.7231 178.1683 132.4706 129.7231 178.1006 132.0597 129.7231 177.914 132.1422 129.7231 177.8851 131.7209 129.7231 177.6943 131.7897 129.7231 177.7055 131.3618 129.7231 177.5115 131.4169 129.7231 177.5639 130.986 129.7231 177.3672 131.0274 129.7231 177.4616 130.5977 129.7231 177.2631 130.6253 129.7231 177.3999 130.201 129.7231 177.2002 130.2148 129.7231 177.3792 129.8 129.7231 177.1792 129.8 129.7231 177.3999 129.399 129.7231 177.2002 129.3852 129.7231 177.4616 129.0022 129.7231 177.2631 128.9747 129.7231 177.5639 128.6139 129.7231 177.3672 128.5726 129.7231 177.7055 128.2382 129.7231 177.5115 128.1831 129.7231 177.8851 127.8791 129.7231 177.6943 127.8103 129.7231 178.1006 127.5403 129.7231 177.914 127.4578 129.7231 178.3498 127.2254 129.7231 178.1683 127.1294 129.7231 178.63 126.9378 129.7231 178.4544 126.8283 129.7231 178.9383 126.6806 129.7231 178.7695 126.5578 129.7231 179.2715 126.4565 129.7231 179.1104 126.3206 129.7231 179.6259 126.2678 129.7231 179.4736 126.119 129.7231 179.9979 126.1165 129.7231 179.8552 125.9552 129.7231 180.3834 126.0043 129.7231 180.2515 125.8309 129.7231 180.7784 125.9323 129.7231 180.6583 125.7473 129.7231 181.1788 125.9013 129.7231 181.0715 125.7053 129.7231 181.5802 125.9116 129.7231 181.4868 125.7053 129.7231 181.9784 125.9632 129.7231 181.9 125.7473 129.7231 182.3692 126.0554 129.7231 182.3069 125.8309 129.7231 182.7484 126.1873 129.7231 182.7031 125.9552 129.7231 183.1121 126.3576 129.7231 183.0848 126.119 129.7231 183.4563 126.5643 129.7231 183.4479 126.3206 129.7231 183.7775 126.8053 129.7231 183.7888 126.5578 129.7231 184.0722 127.078 129.7231 184.1039 126.8283 129.7231 184.3372 127.3796 129.7231 184.3901 127.1294 129.7231 184.5699 127.7069 129.7231 184.6443 127.4578 129.7231 184.7677 128.0563 129.7231 184.864 127.8103 129.7231 184.9285 128.4243 129.7231 185.0469 128.1831 129.7231 185.0506 128.8068 129.7231 185.1911 128.5726 129.7231 185.1327 129.1998 129.7231 185.2953 128.9747 129.7231 185.174 129.5992 129.7231 185.2953 130.6253 129.2231 185.3581 130.2148 129.2231 185.174 130.0008 129.2231 185.3792 129.8 129.2231 185.174 129.5992 129.2231 185.3581 129.3852 129.2231 185.1327 129.1998 129.2231 185.2953 128.9747 129.2231 185.0506 128.8068 129.2231 185.1911 128.5726 129.2231 184.9285 128.4243 129.2231 185.0469 128.1831 129.2231 184.7677 128.0563 129.2231 184.864 127.8103 129.2231 184.5699 127.7069 129.2231 184.6443 127.4578 129.2231 184.3372 127.3796 129.2231 184.3901 127.1294 129.2231 184.0722 127.078 129.2231 184.1039 126.8283 129.2231 183.7775 126.8053 129.2231 183.7888 126.5578 129.2231 183.4563 126.5643 129.2231 183.4479 126.3206 129.2231 183.1121 126.3576 129.2231 183.0848 126.119 129.2231 182.7484 126.1873 129.2231 182.7031 125.9552 129.2231 182.3692 126.0554 129.2231 182.3069 125.8309 129.2231 181.9784 125.9632 129.2231 181.9 125.7473 129.2231 181.5802 125.9116 129.2231 181.4868 125.7053 129.2231 181.1788 125.9013 129.2231 181.0715 125.7053 129.2231 180.7784 125.9323 129.2231 180.6583 125.7473 129.2231 180.3834 126.0043 129.2231 180.2515 125.8309 129.2231 179.9979 126.1165 129.2231 179.8552 125.9552 129.2231 179.6259 126.2678 129.2231 179.4736 126.119 129.2231 179.2715 126.4565 129.2231 179.1104 126.3206 129.2231 178.9383 126.6806 129.2231 178.7695 126.5578 129.2231 178.63 126.9378 129.2231 178.4544 126.8283 129.2231 178.3498 127.2254 129.2231 178.1683 127.1294 129.2231 178.1006 127.5403 129.2231 177.914 127.4578 129.2231 177.8851 127.8791 129.2231 177.6943 127.8103 129.2231 177.7055 128.2382 129.2231 177.5115 128.1831 129.2231 177.5639 128.6139 129.2231 177.3672 128.5726 129.2231 177.4616 129.0022 129.2231 177.2631 128.9747 129.2231 177.3999 129.399 129.2231 177.2002 129.3852 129.2231 177.3792 129.8 129.2231 177.1792 129.8 129.2231 177.3999 130.201 129.2231 177.2002 130.2148 129.2231 177.4616 130.5977 129.2231 177.2631 130.6253 129.2231 177.5639 130.986 129.2231 177.3672 131.0274 129.2231 177.7055 131.3618 129.2231 177.5115 131.4169 129.2231 177.8851 131.7209 129.2231 177.6943 131.7897 129.2231 178.1006 132.0597 129.2231 177.914 132.1422 129.2231 178.3498 132.3746 129.2231 178.1683 132.4706 129.2231 178.63 132.6622 129.2231 178.4544 132.7716 129.2231 178.9383 132.9194 129.2231 178.7695 133.0422 129.2231 179.2715 133.1435 129.2231 179.1104 133.2794 129.2231 179.6259 133.3322 129.2231 179.4736 133.481 129.2231 179.9979 133.4835 129.2231 179.8552 133.6448 129.2231 180.3834 133.5957 129.2231 180.2515 133.7691 129.2231 180.7784 133.6677 129.2231 180.6583 133.8527 129.2231 181.1788 133.6987 129.2231 181.0715 133.8947 129.2231 181.5802 133.6884 129.2231 181.4868 133.8947 129.2231 181.9784 133.6368 129.2231 181.9 133.8527 129.2231 182.3692 133.5446 129.2231 182.3069 133.7691 129.2231 182.7484 133.4127 129.2231 182.7031 133.6448 129.2231 183.1121 133.2424 129.2231 183.0848 133.481 129.2231 183.4563 133.0357 129.2231 183.4479 133.2794 129.2231 183.7775 132.7947 129.2231 183.7888 133.0422 129.2231 184.0722 132.522 129.2231 184.1039 132.7716 129.2231 184.3372 132.2204 129.2231 184.3901 132.4706 129.2231 184.5699 131.8931 129.2231 184.6443 132.1422 129.2231 184.7677 131.5437 129.2231 184.864 131.7897 129.2231 184.9285 131.1757 129.2231 185.0469 131.4169 129.2231 185.0506 130.7932 129.2231 185.1911 131.0274 129.2231 185.1327 130.4002 129.2231 183.1765 129.9011 129.7231 183.3684 130.0124 129.7231 183.155 130.1022 129.7231 183.3362 130.2227 129.7231 183.1122 130.2999 129.7231 183.2829 130.4287 129.7231 183.0487 130.4919 129.7231 183.209 130.6281 129.7231 182.9651 130.6761 129.7231 183.1153 130.8191 129.7231 182.8625 130.8503 129.7231 183.0028 130.9997 129.7231 182.7419 131.0127 129.7231 182.8726 131.1679 129.7231 182.6047 131.1613 129.7231 182.726 131.3221 129.7231 182.4525 131.2944 129.7231 182.5646 131.4606 129.7231 182.287 131.4107 129.7231 182.39 131.5821 129.7231 182.1101 131.5087 129.7231 182.204 131.6854 129.7231 181.9237 131.5873 129.7231 182.0085 131.7693 129.7231 181.7301 131.6457 129.7231 181.8055 131.833 129.7231 181.5314 131.6832 129.7231 181.5972 131.8758 129.7231 181.3298 131.6993 129.7231 181.3855 131.8973 129.7231 181.1276 131.6939 129.7231 181.1728 131.8973 129.7231 180.9271 131.6671 129.7231 180.9612 131.8758 129.7231 180.7307 131.6191 129.7231 180.7528 131.833 129.7231 180.5404 131.5505 129.7231 180.5498 131.7693 129.7231 180.3585 131.462 129.7231 180.1871 128.2452 129.7231 180.1683 128.0178 129.7231 180.3585 128.138 129.7231 180.3544 127.9146 129.7231 180.5404 128.0495 129.7231 180.5498 127.8307 129.7231 180.7307 127.9809 129.7231 180.7528 127.767 129.7231 180.9271 127.9329 129.7231 180.9612 127.7242 129.7231 181.1276 127.9061 129.7231 181.1728 127.7027 129.7231 181.3298 127.9007 129.7231 181.3855 127.7027 129.7231 181.5314 127.9168 129.7231 181.5972 127.7242 129.7231 181.7301 127.9543 129.7231 181.8055 127.767 129.7231 181.9237 128.0127 129.7231 182.0085 127.8307 129.7231 182.1101 128.0913 129.7231 182.204 127.9146 129.7231 182.287 128.1893 129.7231 182.39 128.0178 129.7231 182.4525 128.3056 129.7231 182.5646 128.1394 129.7231 182.6047 128.4387 129.7231 182.726 128.2779 129.7231 182.7419 128.5873 129.7231 182.8726 128.4321 129.7231 182.8625 128.7497 129.7231 183.0028 128.6003 129.7231 182.9651 128.9239 129.7231 183.1153 128.7809 129.7231 183.0487 129.1081 129.7231 183.209 128.9718 129.7231 183.1122 129.3001 129.7231 183.2829 129.1713 129.7231 183.155 129.4978 129.7231 183.3362 129.3773 129.7231 183.1765 129.6989 129.7231 183.3684 129.5875 129.7231 183.3792 129.8 129.7231 180.3544 131.6854 129.7231 180.1683 131.5821 129.7231 180.1871 131.3548 129.7231 179.9938 131.4606 129.7231 180.028 131.2299 129.7231 179.8323 131.3221 129.7231 179.8831 131.0888 129.7231 179.6858 131.1679 129.7231 179.754 130.9331 129.7231 179.5556 130.9997 129.7231 179.6422 130.7646 129.7231 179.443 130.8191 129.7231 179.549 130.5851 129.7231 179.3494 130.6281 129.7231 179.4753 130.3967 129.7231 179.2755 130.4287 129.7231 179.4221 130.2016 129.7231 179.2222 130.2227 129.7231 179.3899 130.0019 129.7231 179.19 130.0124 129.7231 179.3792 129.8 129.7231 179.1792 129.8 129.7231 179.3899 129.598 129.7231 179.19 129.5875 129.7231 179.4221 129.3984 129.7231 179.2222 129.3773 129.7231 179.4753 129.2032 129.7231 179.2755 129.1713 129.7231 179.549 129.0149 129.7231 179.3494 128.9718 129.7231 179.6422 128.8354 129.7231 179.443 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179.6422 130.7646 129.2231 179.443 130.8191 129.2231 179.754 130.9331 129.2231 179.5556 130.9997 129.2231 179.8831 131.0888 129.2231 179.6858 131.1679 129.2231 180.028 131.2299 129.2231 179.8323 131.3221 129.2231 180.1871 131.3548 129.2231 179.9938 131.4606 129.2231 180.1683 131.5821 129.2231 180.3585 131.462 129.2231 180.3544 131.6854 129.2231 180.5404 131.5505 129.2231 180.5498 131.7693 129.2231 180.7307 131.6191 129.2231 180.7528 131.833 129.2231 180.9271 131.6671 129.2231 180.9612 131.8758 129.2231 181.1276 131.6939 129.2231 181.1728 131.8973 129.2231 181.3298 131.6993 129.2231 181.3855 131.8973 129.2231 181.5314 131.6832 129.2231 181.5972 131.8758 129.2231 181.7301 131.6457 129.2231 181.8055 131.833 129.2231 181.9237 131.5873 129.2231 182.0085 131.7693 129.2231 182.1101 131.5087 129.2231 182.204 131.6854 129.2231 182.287 131.4107 129.2231 182.39 131.5821 129.2231 182.4525 131.2944 129.2231 182.5646 131.4606 129.2231 182.6047 131.1613 129.2231 182.726 131.3221 129.2231 182.7419 131.0127 129.2231 182.8726 131.1679 129.2231 182.8625 130.8503 129.2231 183.0028 130.9997 129.2231 182.9651 130.6761 129.2231 183.1153 130.8191 129.2231 183.0487 130.4919 129.2231 183.209 130.6281 129.2231 183.1122 130.2999 129.2231 183.2829 130.4287 129.2231 183.155 130.1022 129.2231 183.3362 130.2227 129.2231 183.1765 129.9011 129.2231 183.3684 130.0124 129.2231 183.3792 129.8 129.2231 183.1765 129.6989 129.2231 183.3684 129.5875 129.2231 183.155 129.4978 129.2231 183.3362 129.3773 129.2231 183.1122 129.3001 129.2231 183.2829 129.1713 129.2231 183.0487 129.1081 129.2231 183.209 128.9718 129.2231 182.9651 128.9239 129.2231 183.1153 128.7809 129.2231 182.8625 128.7497 129.2231 183.0028 128.6003 129.2231 182.7419 128.5873 129.2231 182.8726 128.4321 129.2231 182.6047 128.4387 129.2231 182.726 128.2779 129.2231 182.4525 128.3056 129.2231 182.5646 128.1394 129.2231 182.287 128.1893 129.2231 182.39 128.0178 129.2231 182.1101 128.0913 129.2231 182.204 127.9146 129.2231 181.9237 128.0127 129.2231 182.0085 127.8307 129.2231 181.7301 127.9543 129.2231 181.8055 127.767 129.2231 181.5314 127.9168 129.2231 181.5972 127.7242 129.2231 181.3298 127.9007 129.2231 181.3855 127.7027 129.2231 181.1276 127.9061 129.2231 181.1728 127.7027 129.2231 180.9271 127.9329 129.2231 180.9612 127.7242 129.2231 180.7307 127.9809 129.2231 180.7528 127.767 129.2231 180.5404 128.0495 129.2231 180.5498 127.8307 129.2231 180.3544 127.9146 129.2231 182.0412 129.3212 129.7231 182.241 129.2662 129.7231 182.0901 129.4095 129.7231 182.29 129.3662 129.7231 182.1287 129.5027 129.7231 182.3287 129.4707 129.7231 182.1566 129.5997 129.7231 182.3567 129.5786 129.7231 182.1735 129.6992 129.7231 182.3735 129.6887 129.7231 182.1792 129.8 129.7231 182.3792 129.8 129.7231 182.1735 129.9008 129.7231 182.3735 129.9113 129.7231 182.1566 130.0003 129.7231 182.3567 130.0214 129.7231 182.1287 130.0972 129.7231 182.3287 130.1293 129.7231 182.0901 130.1905 129.7231 181.2792 128.9 129.7231 181.3349 128.7014 129.7231 181.3799 128.9057 129.7231 181.4458 128.7127 129.7231 181.4794 128.9226 129.7231 181.5549 128.7351 129.7231 181.5764 128.9505 129.7231 181.6612 128.7685 129.7231 181.6697 128.9891 129.7231 181.7636 128.8124 129.7231 181.758 129.0379 129.7231 181.861 128.8665 129.7231 181.8403 129.0964 129.7231 181.9525 128.9301 129.7231 181.9156 129.1636 129.7231 182.037 129.0027 129.7231 181.9828 129.2389 129.7231 182.1138 129.0835 129.7231 182.182 129.1716 129.7231 180.4683 129.4095 129.7231 180.3174 129.2662 129.7231 180.5171 129.3212 129.7231 180.3763 129.1716 129.7231 180.5755 129.2389 129.7231 180.4445 129.0835 129.7231 180.6428 129.1636 129.7231 180.5213 129.0027 129.7231 180.718 129.0964 129.7231 180.6059 128.9301 129.7231 180.8003 129.0379 129.7231 180.6973 128.8665 129.7231 180.8887 128.9891 129.7231 180.7947 128.8124 129.7231 180.9819 128.9505 129.7231 180.8971 128.7685 129.7231 181.0789 128.9226 129.7231 181.0035 128.7351 129.7231 181.1784 128.9057 129.7231 181.1126 128.7127 129.7231 181.2235 128.7014 129.7231 180.5171 130.2788 129.7231 180.3174 130.3338 129.7231 180.4683 130.1905 129.7231 180.2683 130.2338 129.7231 180.4297 130.0972 129.7231 180.2296 130.1293 129.7231 180.4017 130.0003 129.7231 180.2017 130.0214 129.7231 180.3848 129.9008 129.7231 180.1848 129.9113 129.7231 180.3792 129.8 129.7231 180.1792 129.8 129.7231 180.3848 129.6992 129.7231 180.1848 129.6887 129.7231 180.4017 129.5997 129.7231 180.2017 129.5786 129.7231 180.4297 129.5027 129.7231 180.2296 129.4707 129.7231 180.2683 129.3662 129.7231 181.3799 130.6943 129.7231 181.3349 130.8986 129.7231 181.2792 130.7 129.7231 181.2235 130.8986 129.7231 181.1784 130.6943 129.7231 181.1126 130.8873 129.7231 181.0789 130.6774 129.7231 181.0035 130.8649 129.7231 180.9819 130.6495 129.7231 180.8971 130.8315 129.7231 180.8887 130.6109 129.7231 180.7947 130.7876 129.7231 180.8003 130.5621 129.7231 180.6973 130.7335 129.7231 180.718 130.5036 129.7231 180.6059 130.6699 129.7231 180.6428 130.4364 129.7231 180.5213 130.5973 129.7231 180.5755 130.3611 129.7231 180.4445 130.5165 129.7231 180.3763 130.4284 129.7231 182.29 130.2338 129.7231 182.241 130.3338 129.7231 182.0412 130.2788 129.7231 182.182 130.4284 129.7231 181.9828 130.3611 129.7231 182.1138 130.5165 129.7231 181.9156 130.4364 129.7231 182.037 130.5973 129.7231 181.8403 130.5036 129.7231 181.9525 130.6699 129.7231 181.758 130.5621 129.7231 181.861 130.7335 129.7231 181.6697 130.6109 129.7231 181.7636 130.7876 129.7231 181.5764 130.6495 129.7231 181.6612 130.8315 129.7231 181.4794 130.6774 129.7231 181.5549 130.8649 129.7231 181.4458 130.8873 129.7231 180.5171 129.3212 129.2231 180.3174 129.2662 129.2231 180.4683 129.4095 129.2231 180.2683 129.3662 129.2231 180.4297 129.5027 129.2231 180.2296 129.4707 129.2231 180.4017 129.5997 129.2231 180.2017 129.5786 129.2231 180.3848 129.6992 129.2231 180.1848 129.6887 129.2231 180.3792 129.8 129.2231 180.1792 129.8 129.2231 180.3848 129.9008 129.2231 180.1848 129.9113 129.2231 180.4017 130.0003 129.2231 180.2017 130.0214 129.2231 180.4297 130.0972 129.2231 180.2296 130.1293 129.2231 180.4683 130.1905 129.2231 182.0412 130.2788 129.2231 182.241 130.3338 129.2231 182.0901 130.1905 129.2231 182.29 130.2338 129.2231 182.1287 130.0972 129.2231 182.3287 130.1293 129.2231 182.1566 130.0003 129.2231 182.3567 130.0214 129.2231 182.1735 129.9008 129.2231 182.3735 129.9113 129.2231 182.1792 129.8 129.2231 182.3792 129.8 129.2231 182.1735 129.6992 129.2231 182.3735 129.6887 129.2231 182.1566 129.5997 129.2231 182.3567 129.5786 129.2231 182.1287 129.5027 129.2231 182.3287 129.4707 129.2231 182.0901 129.4095 129.2231 181.1784 130.6943 129.2231 181.2235 130.8986 129.2231 181.2792 130.7 129.2231 181.3349 130.8986 129.2231 181.3799 130.6943 129.2231 181.4458 130.8873 129.2231 181.4794 130.6774 129.2231 181.5549 130.8649 129.2231 181.5764 130.6495 129.2231 181.6612 130.8315 129.2231 181.6697 130.6109 129.2231 181.7636 130.7876 129.2231 181.758 130.5621 129.2231 181.861 130.7335 129.2231 181.8403 130.5036 129.2231 181.9525 130.6699 129.2231 181.9156 130.4364 129.2231 182.037 130.5973 129.2231 181.9828 130.3611 129.2231 182.1138 130.5165 129.2231 182.182 130.4284 129.2231 180.2683 130.2338 129.2231 180.3174 130.3338 129.2231 180.5171 130.2788 129.2231 180.3763 130.4284 129.2231 180.5755 130.3611 129.2231 180.4445 130.5165 129.2231 180.6428 130.4364 129.2231 180.5213 130.5973 129.2231 180.718 130.5036 129.2231 180.6059 130.6699 129.2231 180.8003 130.5621 129.2231 180.6973 130.7335 129.2231 180.8887 130.6109 129.2231 180.7947 130.7876 129.2231 180.9819 130.6495 129.2231 180.8971 130.8315 129.2231 181.0789 130.6774 129.2231 181.0035 130.8649 129.2231 181.1126 130.8873 129.2231 181.3799 128.9057 129.2231 181.3349 128.7014 129.2231 181.2792 128.9 129.2231 181.2235 128.7014 129.2231 181.1784 128.9057 129.2231 181.1126 128.7127 129.2231 181.0789 128.9226 129.2231 181.0035 128.7351 129.2231 180.9819 128.9505 129.2231 180.8971 128.7685 129.2231 180.8887 128.9891 129.2231 180.7947 128.8124 129.2231 180.8003 129.0379 129.2231 180.6973 128.8665 129.2231 180.718 129.0964 129.2231 180.6059 128.9301 129.2231 180.6428 129.1636 129.2231 180.5213 129.0027 129.2231 180.5755 129.2389 129.2231 180.4445 129.0835 129.2231 180.3763 129.1716 129.2231 182.29 129.3662 129.2231 182.241 129.2662 129.2231 182.0412 129.3212 129.2231 182.182 129.1716 129.2231 181.9828 129.2389 129.2231 182.1138 129.0835 129.2231 181.9156 129.1636 129.2231 182.037 129.0027 129.2231 181.8403 129.0964 129.2231 181.9525 128.9301 129.2231 181.758 129.0379 129.2231 181.861 128.8665 129.2231 181.6697 128.9891 129.2231 181.7636 128.8124 129.2231 181.5764 128.9505 129.2231 181.6612 128.7685 129.2231 181.4794 128.9226 129.2231 181.5549 128.7351 129.2231 181.4458 128.7127 129.2231 231.2792 138.3 125.2231 231.2792 138.3 125.7231 232.6782 138.1841 125.7231 232.6782 138.1841 125.2231 234.0391 137.8394 125.7231 234.0391 137.8394 125.2231 235.3247 137.2755 125.7231 235.3247 137.2755 125.2231 236.5 136.5077 125.7231 236.5 136.5077 125.2231 237.5328 135.5569 125.7231 237.5328 135.5569 125.2231 238.3951 134.4491 125.7231 238.3951 134.4491 125.2231 239.0632 133.2144 125.7231 239.0632 133.2144 125.2231 239.5191 131.8866 125.7231 239.5191 131.8866 125.2231 239.7501 130.5019 125.7231 239.7501 130.5019 125.2231 239.7501 129.0981 125.7231 239.7501 129.0981 125.2231 239.5191 127.7134 125.7231 239.5191 127.7134 125.2231 239.0632 126.3856 125.7231 239.0632 126.3856 125.2231 238.3951 125.1509 125.7231 238.3951 125.1509 125.2231 237.5328 124.0431 125.7231 237.5328 124.0431 125.2231 236.5 123.0923 125.7231 236.5 123.0923 125.2231 235.3247 122.3245 125.7231 235.3247 122.3245 125.2231 234.0391 121.7606 125.7231 234.0391 121.7606 125.2231 232.6782 121.4159 125.7231 232.6782 121.4159 125.2231 231.2792 121.3 125.7231 231.2792 121.3 125.2231 166.2792 121.3 125.2231 166.2792 121.3 125.7231 164.8801 121.4159 125.7231 164.8801 121.4159 125.2231 163.5192 121.7606 125.7231 163.5192 121.7606 125.2231 162.2336 122.3245 125.7231 162.2336 122.3245 125.2231 161.0584 123.0923 125.7231 161.0584 123.0923 125.2231 160.0255 124.0431 125.7231 160.0255 124.0431 125.2231 159.1633 125.1509 125.7231 159.1633 125.1509 125.2231 158.4951 126.3856 125.7231 158.4951 126.3856 125.2231 158.0393 127.7134 125.7231 158.0393 127.7134 125.2231 157.8082 129.0981 125.7231 157.8082 129.0981 125.2231 157.8082 130.5019 125.7231 157.8082 130.5019 125.2231 158.0393 131.8866 125.7231 158.0393 131.8866 125.2231 158.4951 133.2144 125.7231 158.4951 133.2144 125.2231 159.1633 134.4491 125.7231 159.1633 134.4491 125.2231 160.0255 135.5569 125.7231 160.0255 135.5569 125.2231 161.0584 136.5077 125.7231 161.0584 136.5077 125.2231 162.2336 137.2755 125.7231 162.2336 137.2755 125.2231 163.5192 137.8394 125.7231 163.5192 137.8394 125.2231 164.8801 138.1841 125.7231 164.8801 138.1841 125.2231 166.2792 138.3 125.7231 166.2792 138.3 125.2231 234.6324 117.8088 143.6731 234.6324 141.7908 143.6731 234.5867 141.8039 143.675 234.5485 117.7848 143.68 234.5488 141.8147 143.6813 234.5422 117.783 143.6806 234.498 141.8292 143.6898 234.4668 117.7616 143.6995 234.4672 141.8379 143.7004 234.4087 141.8545 143.7206 234.4557 117.7584 143.7022 234.3892 141.86 143.7313 234.4449 117.7554 143.7061 234.3162 141.8806 143.7731 234.3162 117.719 143.7731 234.3299 141.8767 143.7638 234.3642 117.7326 143.7429 234.3892 117.7396 143.7315 153.7815 129.9898 146.1731 153.7859 129.8001 146.1731 175.0292 129.8 146.1731 194.7292 117.3 146.1731 194.7292 129.8 146.1731 177.5102 129.5829 146.1731 194.283 129.8 146.1731 189.6831 129.8 146.1731 189.583 129.8 146.1731 177.5292 129.8 146.1731 177.5102 130.0171 146.1731 155.824 136.65 146.1731 175.0482 130.0171 146.1731 175.1046 130.2275 146.1731 159.493 119.3031 146.1731 160.2757 118.8385 146.1731 175.1967 129.175 146.1731 161.0981 118.4345 146.1731 161.5498 118.2294 146.1731 161.9317 118.0898 146.1731 175.3216 128.9965 146.1731 156.4012 122.1412 146.1731 156.6503 121.8442 146.1731 175.1046 129.3725 146.1731 175.0482 129.5829 146.1731 154.6789 125.1637 146.1731 154.7607 124.9466 146.1731 154.9291 124.5649 146.1731 155.0739 124.28 146.1731 155.3577 123.7214 146.1731 153.8036 129.0334 146.1731 153.8165 128.8688 146.1731 153.8361 128.6178 146.1731 173.2824 117.3 146.1731 175.8516 128.6254 146.1731 168.5408 117.3 146.1731 175.6542 128.7175 146.1731 168.5291 117.3003 146.1731 175.4757 128.8424 146.1731 162.437 117.9052 146.1731 162.7731 117.8107 146.1731 163.35 117.6484 146.1731 157.016 121.4081 146.1731 157.2859 121.1199 146.1731 157.3018 121.103 146.1731 157.9848 120.4491 146.1731 158.7091 119.8541 146.1731 158.7159 119.8486 146.1731 155.5362 123.4272 146.1731 155.8486 122.9125 146.1731 156.0631 122.6132 146.1731 153.9274 127.9329 146.1731 153.9613 127.6786 146.1731 154.1052 126.9984 146.1731 154.1569 126.7538 146.1731 154.3559 126.0727 146.1731 154.4233 125.8422 146.1731 154.1457 132.8011 146.1731 154.2536 133.2076 146.1731 154.3573 133.5266 146.1731 154.5494 134.1174 146.1731 154.1043 132.6018 146.1731 153.9535 131.8756 146.1731 153.9265 131.6672 146.1731 153.832 130.9377 146.1731 153.821 130.731 146.1731 155.5365 136.1726 146.1731 155.3362 135.8399 146.1731 155.0743 135.3199 146.1731 154.9107 134.9951 146.1731 154.6803 134.4355 146.1731 157.2704 138.4645 146.1731 156.6437 137.7613 146.1731 175.1967 130.425 146.1731 175.3216 130.6035 146.1731 162.3883 141.6789 146.1731 166.3916 117.3 146.1731 166.9319 117.3001 146.1731 167.4097 117.3001 146.1731 163.6172 117.5948 146.1731 164.2882 117.46 146.1731 164.4587 117.434 146.1731 160.3159 118.8147 146.1731 160.6867 118.6213 146.1731 157.951 139.1208 146.1731 156.6386 137.7555 146.1731 156.058 136.9945 146.1731 159.8149 140.4982 146.1731 159.4822 140.2793 146.1731 159.0163 139.9728 146.1731 163.7358 142.0381 146.1731 163.6168 142.0085 146.1731 177.4538 129.3725 146.1731 177.3617 129.175 146.1731 191.2824 117.3 146.1731 177.2367 128.9965 146.1731 188.2824 117.3 146.1731 177.0827 128.8424 146.1731 185.2824 117.3 146.1731 176.9042 128.7175 146.1731 182.2824 117.3 146.1731 176.7067 128.6254 146.1731 179.2824 117.3 146.1731 176.4962 128.569 146.1731 176.2824 117.3 146.1731 176.2792 128.55 146.1731 176.0621 128.569 146.1731 164.4976 117.428 146.1731 165.2953 117.3437 146.1731 165.4419 117.3282 146.1731 158.7092 139.7457 146.1731 158.6809 139.7248 146.1731 157.977 139.1423 146.1731 161.9318 141.51 146.1731 161.5028 141.3513 146.1731 161.0982 141.1656 146.1731 160.6445 140.9575 146.1731 160.2792 140.7552 146.1731 164.6942 142.1987 146.1731 168.541 142.2998 146.1731 166.954 142.2999 146.1731 175.4757 130.7575 146.1731 176.2792 131.05 146.1731 176.7722 142.2994 146.1731 176.0621 131.031 146.1731 174.8025 142.2995 146.1731 175.8516 130.9746 146.1731 175.6542 130.8825 146.1731 189.583 142.2991 146.1731 186.8229 142.2992 146.1731 177.0827 130.7575 146.1731 166.7954 142.3 146.1731 165.6818 142.2857 146.1731 165.2956 142.2517 146.1731 162.7945 141.8043 146.1731 162.771 141.797 146.1731 176.4962 131.031 146.1731 176.7067 130.9746 146.1731 176.9042 130.8825 146.1731 177.2367 130.6035 146.1731 177.3617 130.425 146.1731 177.4538 130.2275 146.1731 194.8292 129.8 144.2731 202.7292 129.8 144.2731 194.8292 129.8 144.1731 202.7292 129.8 144.1731 194.7292 129.8 144.2731 194.7292 129.8 144.1731 191.6324 129.8 144.2731 191.6324 129.8 144.1731 191.3115 129.8 144.2997 191.2819 129.8 144.2033 190.9992 129.8 144.3787 190.9417 129.8 144.2929 190.7043 129.8 144.5081 190.6219 129.8 144.4395 190.4347 129.8 144.6843 190.3318 129.8 144.6385 190.1977 129.8 144.9024 190.08 129.8 144.8842 189.9999 129.8 145.1566 189.874 129.8 145.1694 189.8466 129.8 145.4398 189.7197 129.8 145.4855 189.7421 129.8 145.7444 189.6217 129.8 145.8234 189.6891 129.8 146.0621 194.8292 129.8 146.1231 195.0799 129.8 146.1231 195.077 129.8 146.1036 195.0589 129.8 146.0363 195.0295 129.8 145.9731 194.9895 129.8 145.916 194.9402 129.8 145.8667 194.8831 129.8 145.8267 194.8292 129.8 145.8007 157.3087 122.1593 135.6981 156.7286 122.8969 135.6981 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117.3127 146.1497 231.7806 117.3103 146.1586 231.6945 117.3069 146.1711 232.4116 117.3526 145.6564 232.4679 117.3578 145.6752 232.3997 117.351 145.7807 232.3869 117.3497 145.8003 232.3753 117.3486 145.8152 232.3023 117.3423 145.8931 232.167 117.3723 143.6421 232.2718 117.3396 145.9258 232.5704 117.3703 145.3734 232.5355 117.3654 145.5178 232.5291 117.3646 145.5369 232.4774 117.3588 145.6537 233.671 117.7141 140.9882 233.7068 117.65 142.1731 233.6324 117.6332 142.1731 233.4635 117.6 142.1868 233.4503 117.5975 142.19 232.1235 117.5049 140.9882 233.3015 117.5691 142.2266 233.2808 117.5652 142.2337 233.2735 117.5639 142.237 233.1274 117.5368 142.3025 233.1083 117.5334 142.3151 232.989 117.5117 142.3933 232.9683 117.5079 142.4098 232.9582 117.5061 142.4195 232.8476 117.4859 142.5256 232.8296 117.4826 142.5493 232.7482 117.4673 142.6567 232.7341 117.4645 142.6794 232.7244 117.4625 142.6988 232.6595 117.4491 142.8283 232.6479 117.4462 142.8647 232.6098 117.4368 142.9846 232.6044 117.4352 143.0093 232.6004 117.4335 143.041 232.5836 117.4263 143.172 232.5824 117.4242 143.2231 232.5824 117.4135 143.6422 232.5824 117.3731 145.2231 235.2617 118.158 140.9882 234.5521 117.8558 142.1731 234.1899 117.759 142.1731 236.0765 118.4757 140.9882 235.447 118.1467 142.1731 235.3158 118.104 142.1731 237.181 118.9295 142.1731 236.9555 118.8176 142.1731 236.8934 118.8603 140.9882 236.3253 118.5048 142.1731 236.1357 118.4275 142.1731 237.7618 119.2759 142.1731 237.6981 119.3134 140.9882 238.0047 119.4208 142.1731 238.4786 119.8358 140.9882 238.334 119.6429 142.1731 238.5438 119.8016 142.1731 239.0828 120.2094 142.1731 239.2274 120.4258 140.9882 239.2933 120.3955 142.1731 239.7864 120.8313 142.1731 239.9376 121.0813 140.9882 240.0034 121.0545 142.1731 240.4439 121.5076 142.1731 240.6015 121.7982 140.9883 240.6667 121.7746 142.1731 241.0535 122.238 142.1731 241.2107 122.5705 140.9883 241.2945 122.5612 142.1731 241.8142 123.3439 142.1731 241.7575 123.3919 140.9883 241.8282 123.369 142.1731 242.2733 124.164 142.1731 242.2369 124.2544 140.9883 242.3061 124.2347 142.1731 242.6704 125.0201 142.1731 242.6445 125.1497 140.9883 242.7125 125.1328 142.1731 243.0033 125.9113 142.1731 242.9773 126.069 140.9883 243.0479 126.0539 142.1731 243.1232 126.2945 142.1731 243.2344 127.0031 140.9883 243.3006 126.9921 142.1731 243.3555 127.2081 142.1731 243.4153 127.9426 140.9883 243.4821 127.9345 142.1731 243.5171 128.1352 142.1731 243.5215 128.8781 140.9883 243.5887 128.8736 142.1731 243.6083 129.0764 142.1731 243.5562 129.8 140.9883 243.6229 129.8001 142.1731 243.6275 130.0285 142.1731 243.5215 130.7219 140.9883 243.6143 130.4134 142.1731 243.4153 131.6574 140.9884 243.5317 131.3536 142.1731 243.5868 130.7263 142.1731 243.2344 132.5969 140.9884 243.3783 132.283 142.1731 243.4802 131.6652 142.1731 242.9773 133.5309 140.9884 243.1536 133.2008 142.1731 243.2988 132.6075 142.1731 242.6445 134.4502 140.9884 242.8569 134.1066 142.1731 243.0412 133.5438 142.1731 242.2369 135.3455 140.9884 242.3273 135.329 142.1731 242.7151 134.4715 142.1731 241.7575 136.208 140.9884 241.8756 136.1543 142.1731 242.3072 135.3656 142.1731 241.2107 137.0293 140.9884 241.3606 136.946 142.1731 241.8266 136.2297 142.1731 240.6015 137.8016 140.9884 240.7818 137.7014 142.1731 241.2788 137.0527 142.1731 239.9376 138.5184 140.9885 240.4851 138.0463 142.1731 240.6717 137.8294 142.1731 239.1246 139.3559 142.1731 239.2938 139.205 142.1731 239.2274 139.1739 140.9885 239.8284 138.7283 142.1731 240.004 138.5459 142.1731 237.6981 140.2861 140.9885 238.3735 139.9291 142.1731 238.4786 139.7638 140.9885 238.5443 139.7988 142.1731 236.9554 140.7819 142.1731 237.1938 140.6631 142.1731 236.8934 140.7392 140.9885 237.5763 140.4453 142.1731 237.7622 140.3249 142.1731 236.3489 141.0841 142.1731 236.0765 141.1237 140.9885 236.1355 141.1716 142.1731 235.2617 141.4413 140.9886 235.3156 141.4948 142.1731 235.4701 141.4443 142.1731 232.167 142.2272 143.6423 232.5824 142.1861 143.6425 232.5824 142.1753 143.2231 232.5995 142.1661 143.041 232.6341 142.1562 142.8978 232.1235 142.0942 140.9886 232.5956 142.1672 143.0572 232.6412 142.1545 142.8766 232.6466 142.1533 142.8644 232.7087 142.1399 142.7238 232.7247 142.1368 142.6991 232.798 142.1226 142.5857 232.8104 142.1203 142.5698 232.8294 142.1168 142.5494 232.9249 142.0993 142.4472 232.959 142.0931 142.4207 233.0555 142.0756 142.3458 233.0711 142.0727 142.3357 233.1086 142.0659 142.316 233.4505 142.0018 142.192 233.5618 141.9802 142.1755 233.671 141.8851 140.9886 233.2207 142.0453 142.2572 233.2743 142.0352 142.2397 233.3955 142.0124 142.2002 233.6324 141.9661 142.1731 233.7064 141.9482 142.1731 234.5608 141.7411 142.1731 232.3024 142.2576 145.893 232.3358 142.2549 145.8616 232.399 142.2489 145.78 232.4271 142.2463 145.7437 232.4378 142.2452 145.7268 232.4762 142.2411 145.653 232.5075 142.2378 145.5929 232.5332 142.2346 145.5158 232.5545 142.232 145.4518 232.5594 142.2313 145.4311 232.5679 142.2298 145.3713 232.5805 142.2276 145.2837 232.5824 142.2267 145.2231 231.6324 142.295 146.1731 231.783 142.2898 146.1611 230.592 142.2512 143.6424 231.9276 142.2831 146.1261 231.9468 142.2821 146.1196 232.063 142.2752 146.0681 232.0852 142.2739 146.0583 232.1899 142.2666 145.9903 232.2103 142.2651 145.9771 232.2255 142.264 145.9653 232.252 142.2618 145.9403 228.5819 142.2997 146.1731 229.0174 142.2997 146.1731 230.5999 142.2999 146.1731 230.6265 142.2998 146.1731 205.6324 142.2436 144.1731 205.9575 142.2446 144.199 222.5007 142.2343 143.6425 205.9825 142.2448 144.2051 206.2697 142.2475 144.2747 206.3107 142.248 144.2886 206.3227 142.2482 144.2939 206.609 142.2527 144.4207 206.6415 142.2535 144.4417 206.8787 142.2588 144.5954 206.9125 142.2596 144.6219 206.9317 142.2602 144.6399 207.1503 142.2668 144.8453 207.1821 142.268 144.8863 207.3471 142.2743 145.0995 207.3702 142.2754 145.1356 207.3884 142.2763 145.1706 207.5207 142.2831 145.4252 207.5413 142.2845 145.4868 207.6223 142.2903 145.7302 207.6322 142.2912 145.7723 207.6397 142.2922 145.8239 207.6782 142.2976 146.0915 213.8386 142.2992 146.1731 207.6818 142.2991 146.1731 220.0447 142.2994 146.1731 222.7559 142.2994 146.1731 225.8386 142.2995 146.1731 189.5857 142.2979 146.1067 189.6245 142.2923 145.8238 189.7198 142.2846 145.4856 189.6299 142.2915 145.7844 189.8617 142.2769 145.19 189.8754 142.2763 145.1704 190.045 142.2693 144.9259 190.0726 142.2683 144.8928 190.0806 142.268 144.8848 190.3035 142.261 144.6622 190.3333 142.2603 144.6406 190.5638 142.2546 144.4737 190.6011 142.2539 144.4514 190.6226 142.2535 144.4411 190.8951 142.2488 144.3103 190.9427 142.2483 144.2961 191.203 142.2454 144.2186 191.2458 142.2451 144.2099 191.2822 142.2449 144.2058 191.5655 142.2437 144.1742 191.6324 142.2436 144.1731 198.7792 142.2207 143.6428 198.7792 142.2429 144.1731 201.7355 142.2426 144.1731 166.9663 142.2512 143.6424 168.5681 142.2423 143.6424 175.0576 142.2343 143.6425 165.3914 142.2272 143.6423 163.7868 142.0034 143.6423 162.9724 141.8029 143.6423 161.3238 141.2106 143.6423 162.1507 141.5396 143.6423 160.5009 140.8145 143.6423 159.6939 140.3506 143.6423 158.9129 139.8186 143.6422 158.1651 139.2205 143.6422 157.4574 138.5584 143.6422 156.7972 137.8365 143.6422 156.1919 137.0605 143.6422 155.6487 136.2364 143.6422 155.1724 135.3718 143.6422 154.767 134.4747 143.6422 154.4355 133.5532 143.6422 154.179 132.6162 143.6421 153.998 131.6726 143.6421 153.8914 130.7309 143.6421 153.8564 129.8 143.6421 153.8914 128.8691 143.6421 153.998 127.9274 143.6421 154.179 126.9837 143.6421 154.4355 126.0467 143.6421 154.767 125.1253 143.6421 155.1724 124.2281 143.6421 155.6487 123.3635 143.6421 156.1919 122.5395 143.6421 156.7972 121.7634 143.6421 157.4574 121.0414 143.6421 158.1651 120.3793 143.6421 160.5009 118.7852 143.6421 159.6939 119.2492 143.6421 158.9129 119.7812 143.6421 161.3238 118.3891 143.6421 162.9724 117.7967 143.6421 162.1507 118.0601 143.6421 163.7868 117.5962 143.6421 166.9663 117.3482 143.6421 165.3914 117.3723 143.6421 168.6537 117.3997 142.6926 168.5967 117.3608 143.6421 168.5681 117.357 143.6421 168.5655 117.3396 144.1617 168.5595 117.3355 144.2623 168.5295 117.3067 145.5348 168.9937 117.5906 139.8719 168.8387 117.5065 140.9883 168.5569 117.5024 140.9882 168.7811 117.4753 141.4036 169.5534 117.8649 137.0924 169.2795 117.7336 138.3399 168.5186 117.7281 138.3398 169.2182 117.7043 138.6192 170.7985 118.1103 135.0847 170.2822 118.0319 135.698 168.4666 118.0268 135.698 170.2246 118.0231 135.7665 169.9499 117.9762 136.1451 169.7337 117.9268 136.5566 169.6708 117.9086 136.7113 174.9758 118.3832 133.0642 172.3298 118.261 133.9579 168.4144 118.3908 133.0642 172.1332 118.2593 133.9734 171.9442 118.2533 134.0187 171.919 118.2522 134.0271 171.7377 118.2414 134.1067 171.5734 118.227 134.2121 171.5545 118.225 134.2267 171.4104 118.2069 134.36 171.3723 118.201 134.4032 208.1103 118.2407 133.9569 198.7792 118.2432 133.9569 198.7792 118.3618 133.0643 185.4954 118.2469 133.957 175.0293 118.2581 133.9577 222.5291 118.2562 133.9577 219.5228 118.2509 133.9575 222.5826 118.3832 133.0642 227.2761 118.0319 135.698 226.7598 118.1103 135.0847 229.144 118.3908 133.0642 226.1861 118.201 134.4032 226.0467 118.2202 134.2621 225.8894 118.236 134.1464 225.8673 118.2378 134.133 225.6901 118.2496 134.046 225.5044 118.2573 133.9886 225.4759 118.2581 133.9825 225.2828 118.261 133.959 225.2286 118.261 133.9579 228.0049 117.8649 137.0924 227.8626 117.9161 136.6472 229.0918 118.0268 135.698 228.2789 117.7336 138.3399 227.6591 117.966 136.2295 227.5718 117.9833 136.0875 227.3338 118.0231 135.7665 228.7196 117.5065 140.9883 228.5646 117.5906 139.8719 229.0398 117.7281 138.3398 228.3402 117.7043 138.6192 228.9047 117.3997 142.6926 228.7773 117.4753 141.4036 229.0014 117.5024 140.9882 231.6324 117.305 146.1731 230.6265 117.302 146.1731 229.0289 117.3067 145.5348 230.0199 117.3002 146.1731 229.0292 117.3003 146.1731 228.9989 117.3355 144.2623 228.9929 117.3396 144.1617 228.9903 117.357 143.6421 228.9617 117.3608 143.6421 228.9664 142.2365 143.4998 228.9621 142.2366 143.5012 228.9466 142.2367 143.5049 228.8442 142.2368 143.5195 228.8285 142.2369 143.5217 228.7205 142.2364 143.5198 228.711 142.2363 143.5197 228.6953 142.2362 143.518 228.5986 142.235 143.4988 228.5782 142.2348 143.4948 228.4815 142.233 143.459 228.468 142.2327 143.454 228.4538 142.2324 143.4473 228.351 142.2295 143.3866 225.8283 142.2304 143.5217 228.373 142.2301 143.3996 225.7825 142.2303 143.5209 225.7108 142.2302 143.5197 225.695 142.2301 143.518 225.6526 142.2298 143.5095 225.578 142.2291 143.4947 225.5267 142.2282 143.4757 225.4678 142.2273 143.4539 225.4536 142.227 143.4472 228.2752 142.2265 143.3239 228.2604 142.2259 143.3117 228.2493 142.2254 143.3007 225.4086 142.2258 143.4206 225.3509 142.2243 143.3865 225.3018 142.2225 143.3459 225.2603 142.2209 143.3115 225.2492 142.2205 143.3005 225.2097 142.2183 143.2537 225.1723 142.2163 143.2092 225.1348 142.2134 143.147 225.1116 142.2116 143.1085 225.1048 142.2109 143.0945 225.0798 142.2078 143.0288 225.0623 142.2056 142.9828 223.5324 142.195 142.7731 223.5229 142.2009 142.8922 225.0384 142.2 142.8675 225.0457 142.2017 142.9029 223.4951 142.2064 143.0066 223.4901 142.2072 143.0215 223.5202 142.2014 142.9031 223.4866 142.2075 143.0294 223.4417 142.2123 143.1307 223.4308 142.2131 143.1474 223.3777 142.2168 143.2294 223.3678 142.2174 143.242 223.3561 142.2179 143.2544 223.286 142.2212 143.3289 223.2635 142.222 143.3463 223.193 142.2244 143.4008 223.1794 142.2247 143.4094 223.1567 142.2252 143.4212 223.0735 142.2271 143.4643 223.0383 142.2276 143.476 222.962 142.2286 143.5013 222.9464 142.2288 143.505 222.9124 142.2289 143.5098 222.8283 142.2294 143.5217 222.7825 142.2294 143.5209 222.7108 142.2293 143.5197 222.695 142.2292 143.518 222.6526 142.2288 143.5095 222.578 142.2282 143.4947 225.962 142.2297 143.5013 225.9464 142.2298 143.505 228.1048 142.2157 143.0946 228.1724 142.2211 143.2094 228.1241 142.2173 143.1293 228.1116 142.2163 143.1086 228.1919 142.2222 143.2326 225.9124 142.23 143.5098 226.5324 142.1965 142.7731 226.5229 142.2024 142.8922 228.0384 142.2046 142.8677 228.0443 142.206 142.8962 226.4951 142.2079 143.0066 226.4901 142.2086 143.0215 228.0624 142.2103 142.9829 226.5202 142.2029 142.9031 226.4866 142.209 143.0294 226.4417 142.2137 143.1307 226.4308 142.2145 143.1474 226.3777 142.2182 143.2294 226.3678 142.2187 143.242 226.3561 142.2193 143.2544 226.286 142.2225 143.3289 226.2635 142.2233 143.3463 226.193 142.2256 143.4007 226.1794 142.2259 143.4094 226.1567 142.2264 143.4212 226.0735 142.2282 143.4643 228.0749 142.2119 143.0159 226.0383 142.2286 143.476 222.4408 141.5716 135.6989 222.4235 141.6225 136.1169 222.4816 141.6188 136.0872 222.4945 141.618 136.0805 222.5985 141.6138 136.0466 222.6057 141.6135 136.0442 222.6228 141.613 136.0403 222.7207 141.6113 136.027 222.7402 141.6109 136.0243 222.8443 141.611 136.0265 222.8569 141.611 136.0268 222.8734 141.6112 136.0286 222.9662 141.6134 136.0475 222.9897 141.6139 136.0523 229.0918 141.5711 135.6987 223.0833 141.618 136.0873 223.0993 141.6187 136.0933 223.113 141.6194 136.0999 223.1918 141.6249 136.1467 223.2154 141.6266 136.1607 223.2895 141.6338 136.2223 223.3058 141.6354 136.2359 223.3158 141.6365 136.2459 225.7403 141.6062 136.0243 225.8443 141.6064 136.0265 225.857 141.6064 136.0268 225.8735 141.6066 136.0287 225.9662 141.6088 136.0475 225.9898 141.6094 136.0523 226.0833 141.6136 136.0873 226.0993 141.6143 136.0933 226.113 141.6151 136.0999 225.6057 141.6087 136.0442 225.6228 141.6083 136.0403 223.4598 141.6604 136.4511 223.3929 141.6472 136.3374 223.4407 141.6565 136.4169 223.4537 141.659 136.4386 223.3729 141.6444 136.3136 225.7207 141.6065 136.027 225.0324 141.6952 136.7731 225.042 141.6815 136.6534 223.5265 141.6867 136.6791 225.0429 141.6811 136.6497 223.5025 141.6734 136.5633 223.5205 141.6834 136.65 225.0701 141.6681 136.5384 225.0731 141.6671 136.5296 225.0752 141.6664 136.5235 225.123 141.6538 136.4162 225.1239 141.6535 136.4141 225.1883 141.6417 136.3153 225.1906 141.6414 136.3125 225.1987 141.6402 136.3022 225.2749 141.6305 136.2217 225.2808 141.6298 136.2156 225.3723 141.6212 136.1454 225.3739 141.6211 136.1441 225.3889 141.6199 136.1347 225.4816 141.6141 136.0872 225.4946 141.6133 136.0805 223.4899 141.6696 136.5303 225.5985 141.609 136.0466 226.1918 141.6207 136.1467 226.2154 141.6224 136.1607 226.2895 141.6298 136.2223 226.3057 141.6314 136.2359 226.3157 141.6326 136.2458 226.3729 141.6407 136.3136 228.6055 141.6119 136.0443 228.6226 141.6115 136.0403 226.3928 141.6435 136.3374 226.4407 141.6529 136.4169 226.4536 141.6555 136.4385 228.7207 141.6103 136.0269 228.74 141.61 136.0243 228.8443 141.6108 136.0265 228.8567 141.6109 136.0268 228.873 141.6112 136.0286 228.9662 141.614 136.0475 228.0324 141.6967 136.7731 228.042 141.6828 136.6534 226.5265 141.6836 136.6791 228.0366 142.2039 142.8522 228.0324 142.1999 142.7731 226.5324 142.1453 141.8586 228.0324 142.1459 141.8074 226.5324 142.0799 140.9893 228.0324 142.084 140.9893 226.5324 141.9552 139.3301 228.0324 141.9565 139.3055 226.5324 141.8543 138.3412 228.0324 141.8576 138.3412 226.5324 141.6944 136.7731 226.5282 141.6853 136.6936 228.0429 141.6824 136.6497 226.5025 141.6701 136.5632 226.5205 141.6802 136.65 228.07 141.6695 136.5385 228.0731 141.6684 136.5296 228.0751 141.6677 136.5236 228.123 141.6552 136.4162 228.1239 141.6549 136.4141 228.1883 141.6433 136.3154 228.1906 141.643 136.3125 228.1987 141.6418 136.3022 228.2749 141.6323 136.2217 228.2807 141.6316 136.2156 228.3738 141.6233 136.1442 228.3888 141.6222 136.1347 228.4816 141.6167 136.0872 228.4944 141.6159 136.0806 226.4597 141.657 136.451 226.4899 141.6663 136.5303 228.5985 141.6122 136.0466 228.9894 141.6147 136.0522 229.0838 141.6195 136.0875 223.5282 141.6884 136.6936 223.5324 141.6974 136.7731 225.0324 141.8542 138.3413 223.5324 141.8556 138.3413 225.0324 141.956 139.3444 223.5324 141.9577 139.3534 225.0324 142.0788 140.9894 223.5324 142.0789 140.9894 225.0324 142.146 141.8891 223.5324 142.1471 141.9088 225.0324 142.1952 142.7731 225.0366 142.1992 142.8521 222.5267 142.2274 143.4757 222.4877 142.2267 143.4613 222.4678 142.2264 143.4539 219.7205 142.2266 143.5198 219.8283 142.2268 143.5217 216.8283 142.2225 143.5217 216.7205 142.2222 143.5198 219.7108 142.2266 143.5197 219.695 142.2265 143.518 219.5986 142.2256 143.4988 213.8282 142.2189 143.5217 213.7205 142.2187 143.5198 213.7108 142.2187 143.5197 213.695 142.2186 143.518 216.7108 142.2222 143.5197 216.695 142.2221 143.518 216.5986 142.2211 143.4988 219.5781 142.2254 143.4947 219.4815 142.2237 143.459 219.4678 142.2235 143.4539 219.4536 142.2232 143.4472 219.373 142.221 143.3996 219.3509 142.2204 143.3865 207.7108 142.2173 143.5197 207.6949 142.2172 143.518 207.7825 142.2174 143.5209 210.7205 142.2175 143.5198 210.7108 142.2175 143.5197 207.8282 142.2174 143.5217 210.695 142.2174 143.518 210.5986 142.2165 143.4988 210.8282 142.2176 143.5217 213.5986 142.2177 143.4988 213.578 142.2175 143.4947 213.4815 142.2158 143.459 213.4678 142.2156 143.4539 213.4536 142.2153 143.4472 213.373 142.2131 143.3996 213.3508 142.2125 143.3865 204.5986 142.2158 143.4988 204.578 142.2156 143.4947 204.695 142.2167 143.518 204.8282 142.2169 143.5217 204.7205 142.2167 143.5198 204.7108 142.2167 143.5197 207.6526 142.2168 143.5095 207.578 142.2162 143.4947 207.5267 142.2153 143.4757 207.4678 142.2144 143.4539 207.4535 142.2141 143.4472 207.4086 142.2129 143.4206 207.3508 142.2113 143.3865 210.578 142.2164 143.4947 210.4815 142.2147 143.459 210.4678 142.2145 143.4539 210.4536 142.2142 143.4472 210.373 142.2121 143.3996 210.3508 142.2115 143.3865 204.4815 142.214 143.459 204.4678 142.2138 143.4539 204.4536 142.2135 143.4472 204.3508 142.2107 143.3865 201.8282 142.2159 143.5217 204.373 142.2113 143.3996 201.7205 142.2158 143.5198 201.7108 142.2158 143.5197 201.695 142.2157 143.518 201.5986 142.2148 143.4988 201.578 142.2146 143.4947 201.4815 142.213 143.459 201.4678 142.2128 143.4539 201.4536 142.2125 143.4472 216.5781 142.2209 143.4947 216.4815 142.2192 143.459 216.4678 142.219 143.4539 216.4536 142.2187 143.4472 216.373 142.2164 143.3996 216.3509 142.2158 143.3865 222.2603 142.2201 143.3115 222.2492 142.2196 143.3005 222.3018 142.2216 143.3459 222.4536 142.2261 143.4472 222.4086 142.2249 143.4206 222.3508 142.2234 143.3865 219.962 142.2262 143.5013 219.9464 142.2263 143.505 222.1047 142.2102 143.0945 222.1722 142.2155 143.2092 222.1348 142.2126 143.147 222.1116 142.2108 143.1084 222.2097 142.2175 143.2537 219.8442 142.2268 143.5194 220.5324 142.1931 142.7731 220.5229 142.199 142.8922 222.0384 142.1992 142.8675 220.5219 142.1992 142.8965 222.0623 142.2048 142.9828 222.0457 142.2009 142.9029 220.4951 142.2045 143.0066 220.4917 142.205 143.0166 220.4901 142.2052 143.0215 220.4417 142.2103 143.1307 220.3777 142.2147 143.2294 220.3742 142.2149 143.2337 220.3678 142.2153 143.242 220.2901 142.2189 143.3246 220.286 142.2191 143.3289 220.193 142.2221 143.4007 220.1794 142.2225 143.4094 220.0833 142.2245 143.4592 220.0735 142.2247 143.4643 222.0798 142.207 143.0288 219.9664 142.2261 143.4998 219.2753 142.2175 143.3239 219.2603 142.2169 143.3115 219.2492 142.2164 143.3005 216.962 142.2218 143.5013 216.9464 142.2219 143.505 219.1048 142.2068 143.0945 219.1723 142.2122 143.2093 219.1241 142.2084 143.1293 219.1116 142.2074 143.1085 219.1919 142.2133 143.2326 216.8442 142.2224 143.5194 217.5324 142.1884 142.7731 217.5229 142.1944 142.8922 219.0384 142.1957 142.8676 217.5219 142.1946 142.8965 219.0623 142.2014 142.9828 219.0443 142.1971 142.8962 217.4951 142.2 143.0066 217.4917 142.2004 143.0166 217.4901 142.2007 143.0215 217.4417 142.2058 143.1307 217.3777 142.2103 143.2294 217.3742 142.2105 143.2337 217.3678 142.2109 143.242 217.2901 142.2145 143.3246 217.286 142.2147 143.3289 217.193 142.2177 143.4007 217.1794 142.2181 143.4094 217.0833 142.2201 143.4592 217.0735 142.2203 143.4643 219.0749 142.203 143.0159 216.9664 142.2217 143.4998 207.3018 142.2095 143.3459 207.2603 142.2079 143.3115 207.2492 142.2074 143.3005 210.2753 142.2086 143.3239 210.2603 142.208 143.3115 210.2492 142.2075 143.3005 216.2753 142.2129 143.3239 216.2603 142.2123 143.3115 216.2492 142.2118 143.3006 204.9619 142.216 143.5013 204.9463 142.2162 143.505 207.1047 142.1977 143.0945 207.1722 142.2032 143.2092 207.1348 142.2002 143.147 207.1116 142.1984 143.1084 207.2097 142.2052 143.2537 204.8442 142.2168 143.5194 205.5324 142.1815 142.7731 205.5229 142.1875 142.8922 207.0384 142.1865 142.8675 205.5219 142.1877 142.8965 207.0623 142.1923 142.9828 207.0457 142.1883 142.9029 205.4951 142.1932 143.0066 205.4917 142.1936 143.0166 205.4901 142.1939 143.0215 205.4417 142.1991 143.1307 205.3777 142.2038 143.2294 205.3742 142.204 143.2337 205.3677 142.2044 143.242 205.2901 142.2082 143.3246 205.286 142.2084 143.3289 205.1929 142.2116 143.4008 205.1793 142.212 143.4095 205.0833 142.2142 143.4592 205.0734 142.2144 143.4643 207.0798 142.1945 143.0288 204.9664 142.2159 143.4998 213.2753 142.2096 143.3239 213.2603 142.209 143.3115 213.2492 142.2085 143.3005 204.2753 142.2078 143.3239 204.2603 142.2072 143.3115 204.2492 142.2067 143.3005 201.373 142.2103 143.3996 201.3508 142.2097 143.3865 201.2753 142.2068 143.3239 201.2603 142.2063 143.3115 201.2492 142.2058 143.3005 201.1919 142.2026 143.2326 207.9619 142.2165 143.5013 207.9463 142.2167 143.505 210.1047 142.1978 143.0945 210.1722 142.2033 143.2092 210.1241 142.1994 143.1293 210.1116 142.1985 143.1084 210.1919 142.2043 143.2326 207.9124 142.2169 143.5098 208.5324 142.1818 142.7731 208.5229 142.1878 142.8922 210.0384 142.1866 142.8675 210.0443 142.188 142.8962 208.4951 142.1935 143.0066 208.4901 142.1942 143.0216 210.0623 142.1923 142.9828 208.5202 142.1884 142.9031 208.4866 142.1946 143.0294 208.4417 142.1995 143.1307 208.4308 142.2003 143.1474 208.3776 142.2042 143.2294 208.3677 142.2047 143.242 208.3561 142.2053 143.2544 208.286 142.2088 143.3289 208.2635 142.2095 143.3463 208.1929 142.212 143.4008 208.1793 142.2124 143.4095 208.1567 142.2129 143.4212 208.0734 142.2149 143.4643 210.0749 142.1939 143.0159 208.0383 142.2154 143.476 201.9619 142.2151 143.5013 201.9463 142.2152 143.505 204.1047 142.197 143.0945 204.1722 142.2025 143.2092 204.1241 142.1987 143.1293 204.1116 142.1977 143.1084 204.1919 142.2036 143.2326 201.8442 142.2158 143.5194 202.5324 142.1805 142.7731 202.5229 142.1865 142.8922 204.0384 142.1858 142.8675 202.5219 142.1867 142.8965 204.0623 142.1916 142.9828 204.0443 142.1873 142.8962 202.4951 142.1922 143.0066 202.4917 142.1927 143.0166 202.4901 142.1929 143.0215 202.4417 142.1981 143.1307 202.3777 142.2028 143.2294 202.3742 142.203 143.2337 202.3677 142.2034 143.242 202.2901 142.2072 143.3246 202.286 142.2074 143.3289 202.1929 142.2106 143.4008 202.1793 142.211 143.4095 202.0833 142.2132 143.4592 202.0734 142.2134 143.4643 204.0749 142.1932 143.0159 201.9664 142.215 143.4998 201.1722 142.2015 143.2092 201.1241 142.1977 143.1293 201.1116 142.1967 143.1084 201.1047 142.196 143.0945 201.0749 142.1922 143.0159 201.0623 142.1905 142.9828 199.5324 142.1797 142.7731 199.5229 142.1857 142.8922 201.0384 142.1848 142.8675 201.0443 142.1862 142.8962 199.5219 142.186 142.8965 199.4951 142.1914 143.0066 199.4917 142.1919 143.0166 199.4901 142.1921 143.0216 199.4417 142.1974 143.1307 199.3776 142.2021 143.2294 199.3742 142.2023 143.2337 199.3677 142.2027 143.242 199.29 142.2065 143.3246 199.2859 142.2067 143.3289 199.1929 142.21 143.4008 199.1793 142.2104 143.4095 198.9664 142.2144 143.4998 199.0734 142.2129 143.4643 199.0833 142.2126 143.4592 198.9619 142.2145 143.5013 198.9463 142.2147 143.505 198.8442 142.2153 143.5194 213.9619 142.2181 143.5013 213.9463 142.2182 143.505 216.1048 142.2019 143.0945 216.1723 142.2075 143.2093 216.1241 142.2036 143.1293 216.1116 142.2026 143.1085 216.1919 142.2086 143.2326 213.8442 142.2188 143.5194 214.5324 142.1838 142.7731 214.5229 142.1899 142.8922 216.0384 142.1907 142.8676 214.5219 142.1901 142.8965 216.0623 142.1965 142.9828 216.0443 142.1921 142.8962 214.4951 142.1955 143.0066 214.4917 142.196 143.0166 214.4901 142.1963 143.0215 214.4417 142.2015 143.1307 214.3777 142.2061 143.2294 214.3742 142.2063 143.2337 214.3677 142.2067 143.242 214.2901 142.2104 143.3246 214.286 142.2106 143.3289 214.1929 142.2138 143.4008 214.1794 142.2142 143.4094 214.0833 142.2163 143.4592 214.0735 142.2165 143.4643 216.0749 142.1981 143.0159 213.9664 142.218 143.4998 210.9619 142.2167 143.5013 210.9463 142.2169 143.505 213.1048 142.1986 143.0945 213.1723 142.2042 143.2092 213.1241 142.2003 143.1293 213.1116 142.1993 143.1085 213.1919 142.2053 143.2326 210.8442 142.2175 143.5194 211.5324 142.1819 142.7731 211.5229 142.188 142.8922 213.0384 142.1874 142.8675 211.5219 142.1882 142.8965 213.0623 142.1932 142.9828 213.0443 142.1888 142.8962 211.4951 142.1937 143.0066 211.4917 142.1942 143.0166 211.4901 142.1944 143.0216 211.4417 142.1997 143.1307 211.3776 142.2044 143.2294 211.3742 142.2046 143.2337 211.3677 142.205 143.242 211.2901 142.2088 143.3246 211.286 142.209 143.3289 211.1929 142.2122 143.4008 211.1793 142.2126 143.4095 211.0833 142.2148 143.4592 211.0734 142.2151 143.4643 213.0749 142.1948 143.0159 210.9664 142.2166 143.4998 198.7792 141.6163 136.0251 198.8443 141.6164 136.0265 198.7792 141.578 135.6994 198.8566 141.6165 136.0268 198.873 141.6167 136.0286 198.9662 141.6188 136.0475 198.9894 141.6194 136.0522 199.0833 141.6234 136.0873 201.7398 141.6165 136.0243 201.8443 141.6168 136.0265 199.099 141.6241 136.0932 199.1127 141.6249 136.0997 199.1918 141.6303 136.1467 199.2152 141.6319 136.1606 201.8566 141.6168 136.0268 201.873 141.617 136.0286 201.9662 141.6192 136.0475 202.099 141.6245 136.0932 204.7398 141.6166 136.0243 202.0833 141.6239 136.0873 201.9893 141.6198 136.0522 207.7399 141.6149 136.0243 207.7824 141.615 136.0252 207.8567 141.6151 136.0268 207.8731 141.6153 136.0286 204.8443 141.6168 136.0265 202.1127 141.6253 136.0997 202.1918 141.6307 136.1467 202.2152 141.6323 136.1606 204.8566 141.6169 136.0268 204.873 141.6171 136.0286 204.9662 141.6193 136.0475 210.9662 141.6141 136.0475 210.9895 141.6146 136.0523 210.8731 141.612 136.0286 210.74 141.6116 136.0243 210.8443 141.6118 136.0265 210.8567 141.6118 136.0268 207.9122 141.6162 136.0366 207.9895 141.6179 136.0522 208.0381 141.62 136.0704 208.0991 141.6226 136.0932 208.1128 141.6233 136.0998 208.1562 141.6263 136.1256 208.2153 141.6303 136.1606 204.9894 141.6198 136.0522 205.0833 141.6239 136.0873 205.099 141.6245 136.0932 205.1127 141.6253 136.0998 205.1918 141.6307 136.1467 205.2152 141.6323 136.1606 211.0833 141.6186 136.0873 211.0991 141.6193 136.0932 213.74 141.6093 136.0243 213.8443 141.6096 136.0265 211.1128 141.62 136.0998 211.1918 141.6254 136.1467 211.2153 141.627 136.1607 213.8567 141.6096 136.0268 213.8731 141.6098 136.0286 213.9662 141.612 136.0475 213.9895 141.6126 136.0523 214.0833 141.6167 136.0873 214.0991 141.6174 136.0932 214.1128 141.6182 136.0998 214.1918 141.6236 136.1467 214.2153 141.6253 136.1606 199.2895 141.6389 136.2223 199.3056 141.6404 136.2357 199.3157 141.6416 136.2457 201.6053 141.6188 136.0443 201.6223 141.6184 136.0404 199.4598 141.6647 136.4511 199.3928 141.652 136.3373 199.4407 141.6609 136.4169 199.4536 141.6633 136.4384 199.3729 141.6493 136.3136 201.7207 141.6168 136.0269 201.0324 141.7004 136.7731 201.042 141.6874 136.6535 199.5265 141.6899 136.679 201.0429 141.687 136.6497 199.5025 141.6772 136.5632 199.5205 141.6867 136.65 201.07 141.6747 136.5386 201.0731 141.6737 136.5296 201.0751 141.673 136.5237 201.123 141.6611 136.4162 201.1238 141.6609 136.4143 201.1882 141.6497 136.3155 201.1906 141.6494 136.3125 201.1985 141.6483 136.3024 201.2749 141.6391 136.2217 201.2805 141.6384 136.2158 201.3736 141.6303 136.1443 201.3884 141.6292 136.1349 201.4816 141.6237 136.0872 201.4942 141.623 136.0807 199.4899 141.6735 136.5303 201.5985 141.6191 136.0466 202.2895 141.6394 136.2223 202.3056 141.6409 136.2357 202.3157 141.642 136.2457 204.6054 141.619 136.0443 204.6223 141.6185 136.0404 202.4597 141.6652 136.451 202.3928 141.6524 136.3373 202.4407 141.6614 136.4169 202.4536 141.6638 136.4384 202.3729 141.6497 136.3136 204.7207 141.6169 136.0269 204.0324 141.7009 136.7731 204.042 141.6878 136.6535 202.5265 141.6905 136.679 204.0429 141.6874 136.6497 202.5024 141.6777 136.5632 202.5205 141.6873 136.65 204.07 141.6751 136.5386 204.0731 141.6741 136.5296 204.0751 141.6735 136.5236 204.123 141.6614 136.4162 204.1238 141.6612 136.4143 204.1882 141.6501 136.3155 204.1906 141.6497 136.3125 204.1985 141.6486 136.3024 204.2749 141.6394 136.2217 204.2805 141.6387 136.2158 204.3737 141.6305 136.1443 204.3885 141.6295 136.1349 204.4816 141.6239 136.0872 204.4942 141.6232 136.0807 202.4899 141.674 136.5303 204.5985 141.6192 136.0466 205.2895 141.6393 136.2223 205.3056 141.6408 136.2357 205.3157 141.642 136.2458 207.6054 141.6174 136.0443 207.6224 141.6169 136.0404 205.4598 141.6652 136.4511 205.3928 141.6524 136.3373 205.4407 141.6613 136.4169 205.4536 141.6637 136.4384 205.3729 141.6497 136.3136 207.6524 141.6164 136.0363 207.0324 141.7 136.7731 207.042 141.6869 136.6534 205.5265 141.6904 136.679 205.5205 141.6872 136.65 207.07 141.6741 136.5386 207.0751 141.6725 136.5236 205.5025 141.6777 136.5632 207.0446 141.6857 136.643 207.0782 141.6717 136.5168 207.1238 141.6602 136.4142 207.1339 141.6584 136.3988 207.1882 141.6489 136.3154 207.1985 141.6474 136.3024 207.2086 141.6462 136.2917 207.2806 141.6375 136.2157 207.3013 141.6356 136.1998 207.3737 141.6292 136.1443 207.3885 141.6281 136.1349 207.4081 141.6269 136.1248 207.4943 141.6217 136.0807 205.4899 141.674 136.5303 207.5265 141.6205 136.0701 208.263 141.6348 136.2003 208.3056 141.6388 136.2358 208.3158 141.6399 136.2458 210.6054 141.6141 136.0443 210.6225 141.6136 136.0404 208.4598 141.6631 136.4511 208.3928 141.6503 136.3374 208.43 141.6573 136.3992 208.4536 141.6617 136.4385 208.3551 141.6452 136.2926 210.7207 141.6119 136.0269 210.0324 141.6973 136.7731 210.042 141.684 136.6534 208.5265 141.6884 136.6791 210.0429 141.6836 136.6497 208.5025 141.6756 136.5633 208.5191 141.6845 136.6433 210.07 141.6712 136.5386 210.0731 141.6702 136.5296 210.0751 141.6695 136.5236 210.123 141.6574 136.4162 210.1239 141.6572 136.4142 210.1882 141.6459 136.3154 210.1906 141.6455 136.3125 210.1986 141.6444 136.3023 210.2749 141.635 136.2217 210.2806 141.6343 136.2157 210.3737 141.626 136.1442 210.3886 141.6249 136.1348 210.4816 141.6192 136.0872 210.4943 141.6184 136.0807 208.485 141.6705 136.5174 210.5985 141.6144 136.0466 211.2895 141.634 136.2223 211.3057 141.6356 136.2358 211.3158 141.6367 136.2458 213.6054 141.6117 136.0443 213.6225 141.6113 136.0404 211.4598 141.66 136.4511 211.3928 141.6471 136.3374 211.4407 141.6561 136.4169 211.4536 141.6586 136.4385 211.3729 141.6444 136.3136 213.7207 141.6097 136.0269 213.0324 141.695 136.7731 213.042 141.6817 136.6534 211.5265 141.6855 136.6791 213.0429 141.6813 136.6497 211.5025 141.6726 136.5633 211.5205 141.6822 136.65 213.07 141.6688 136.5386 213.0731 141.6678 136.5296 213.0751 141.6671 136.5236 213.123 141.6549 136.4162 213.1239 141.6547 136.4142 213.1882 141.6434 136.3154 213.1906 141.643 136.3125 213.1986 141.6419 136.3023 213.2749 141.6325 136.2217 213.2806 141.6318 136.2157 213.3737 141.6235 136.1442 213.3886 141.6224 136.1348 213.4816 141.6168 136.0872 213.4943 141.616 136.0806 211.4899 141.6689 136.5303 213.5985 141.612 136.0466 214.2895 141.6324 136.2223 216.7399 141.6105 136.0243 214.3056 141.634 136.2357 214.3157 141.6352 136.2457 216.8731 141.6112 136.0286 216.9662 141.6135 136.0475 216.8567 141.6109 136.0268 216.8443 141.6109 136.0265 216.9894 141.6141 136.0522 217.0833 141.6183 136.0873 217.099 141.619 136.0932 217.1127 141.6198 136.0997 217.1918 141.6254 136.1467 217.2152 141.627 136.1606 216.6054 141.6128 136.0443 216.6224 141.6123 136.0404 214.4597 141.6588 136.451 214.3928 141.6457 136.3373 214.4407 141.6549 136.4169 214.4536 141.6573 136.4384 214.3729 141.643 136.3136 216.7207 141.6108 136.0269 216.0324 141.696 136.7731 216.042 141.6826 136.6534 214.5265 141.6845 136.679 216.0429 141.6822 136.6497 214.5024 141.6715 136.5632 214.5205 141.6813 136.65 216.07 141.6697 136.5385 216.0731 141.6687 136.5296 216.0751 141.668 136.5236 216.123 141.6558 136.4162 216.1239 141.6555 136.4142 216.1882 141.6442 136.3154 216.1906 141.6439 136.3125 216.1986 141.6427 136.3023 216.2749 141.6334 136.2217 216.2806 141.6327 136.2157 216.3737 141.6244 136.1442 216.3886 141.6233 136.1348 216.4816 141.6178 136.0872 216.4943 141.617 136.0806 214.4899 141.6678 136.5303 216.5985 141.6131 136.0466 217.2895 141.6343 136.2223 217.3056 141.6359 136.2357 217.3156 141.6371 136.2457 219.74 141.6125 136.0243 219.8443 141.6128 136.0265 219.8568 141.6129 136.0268 219.8732 141.6131 136.0286 219.9662 141.6154 136.0475 219.9895 141.6159 136.0523 220.0833 141.6201 136.0873 220.0991 141.6209 136.0932 220.1128 141.6216 136.0998 219.6055 141.6149 136.0443 219.6226 141.6144 136.0403 217.4597 141.661 136.4509 217.3928 141.6478 136.3372 217.4407 141.6571 136.4169 217.4536 141.6596 136.4384 217.3729 141.6451 136.3136 219.7207 141.6129 136.0269 219.0324 141.699 136.7731 219.042 141.6855 136.6534 217.5265 141.687 136.679 219.0429 141.6851 136.6497 217.5024 141.6739 136.5631 217.5205 141.6837 136.65 219.07 141.6725 136.5385 219.0731 141.6714 136.5296 219.0751 141.6708 136.5236 219.123 141.6584 136.4162 219.1239 141.6582 136.4142 219.1883 141.6467 136.3154 219.1906 141.6464 136.3125 219.1986 141.6452 136.3023 219.2749 141.6358 136.2217 219.2806 141.6351 136.2157 219.3738 141.6267 136.1442 219.3887 141.6256 136.1348 219.4816 141.62 136.0872 219.4944 141.6192 136.0806 217.4899 141.6701 136.5303 219.5985 141.6152 136.0466 220.1918 141.6272 136.1467 220.2153 141.6289 136.1606 220.2895 141.6362 136.2223 220.3056 141.6378 136.2357 220.3157 141.6389 136.2457 220.3729 141.6469 136.3136 220.3928 141.6497 136.3373 220.4407 141.659 136.4169 220.4536 141.6615 136.4384 220.4597 141.6629 136.451 220.4899 141.6721 136.5303 220.5024 141.6759 136.5632 222.3888 141.6247 136.1347 222.0324 141.6993 136.7731 222.042 141.6857 136.6534 220.5265 141.6891 136.679 220.5205 141.6858 136.65 222.0429 141.6853 136.6497 222.07 141.6725 136.5385 222.0731 141.6714 136.5296 222.0751 141.6707 136.5235 222.123 141.6582 136.4162 222.1239 141.658 136.4141 222.1883 141.6463 136.3153 222.1906 141.646 136.3125 222.1987 141.6448 136.3022 222.2749 141.6352 136.2217 222.2807 141.6344 136.2156 222.3739 141.6258 136.1441 222.0366 142.1985 142.8521 222.0324 142.1945 142.7731 220.5324 142.1484 141.9573 222.0324 142.148 141.9283 220.5324 142.0776 140.9895 222.0324 142.0789 140.9895 220.5324 141.9596 139.3752 222.0324 141.9591 139.362 220.5324 141.8564 138.3414 222.0324 141.8567 138.3414 220.5324 141.6998 136.7731 220.5282 141.6908 136.6936 168.4534 142.235 143.4471 168.4677 142.2352 143.4539 168.4815 142.2353 143.459 168.5684 142.2363 143.4912 168.373 142.2334 143.3996 168.3507 142.233 143.3864 168.2753 142.2307 143.3239 168.2602 142.2302 143.3114 168.249 142.2298 143.3003 168.192 142.2272 143.2326 168.1721 142.2263 143.209 168.1241 142.223 143.1293 168.1115 142.2221 143.1083 168.1047 142.2215 143.0943 168.0749 142.2181 143.0159 168.0623 142.2166 142.9826 168.0443 142.2127 142.8962 168.0384 142.2113 142.8674 168.0366 142.2106 142.852 168.0324 142.2068 142.7731 168.0324 142.1487 141.7262 166.9642 142.1098 140.9887 175.0704 142.2269 143.4653 174.9664 142.2284 143.4998 174.9619 142.2285 143.5013 174.9463 142.2286 143.505 174.8442 142.2293 143.5194 174.8282 142.2294 143.5217 174.7205 142.2293 143.5198 174.7108 142.2293 143.5197 174.695 142.2293 143.518 174.5986 142.2285 143.4988 174.578 142.2283 143.4947 171.7108 142.2303 143.5197 171.695 142.2303 143.518 174.4815 142.2268 143.459 174.4678 142.2266 143.4539 174.4535 142.2263 143.4472 174.3508 142.2238 143.3865 171.8282 142.2303 143.5217 174.373 142.2243 143.3996 171.7825 142.2303 143.5209 171.6526 142.2299 143.5095 171.578 142.2294 143.4947 171.5267 142.2286 143.4757 171.4678 142.2277 143.4539 171.4535 142.2275 143.4472 171.4086 142.2264 143.4206 171.3508 142.225 143.3865 171.3018 142.2232 143.3459 171.2603 142.2218 143.3115 171.2491 142.2213 143.3005 171.2097 142.2192 143.2537 171.1722 142.2173 143.2092 174.2753 142.221 143.3239 174.2603 142.2205 143.3115 174.2492 142.22 143.3005 171.1348 142.2144 143.147 171.1115 142.2127 143.1084 171.1047 142.212 143.0944 169.5324 142.1999 142.7731 169.5229 142.2058 142.8922 171.0384 142.2012 142.8675 169.5219 142.206 142.8965 171.0623 142.2068 142.9827 171.0457 142.2029 142.9029 169.4951 142.2114 143.0066 169.4917 142.2119 143.0166 169.4901 142.2121 143.0216 169.4416 142.2174 143.1307 169.3776 142.222 143.2294 169.3742 142.2223 143.2337 169.3677 142.2226 143.242 169.29 142.2265 143.3246 169.2859 142.2267 143.3289 169.1929 142.2301 143.4008 169.1793 142.2305 143.4095 169.0833 142.233 143.4592 169.0734 142.2332 143.4644 168.9664 142.2351 143.4998 168.9618 142.2351 143.5013 171.0798 142.2089 143.0288 168.9463 142.2353 143.505 168.8442 142.2363 143.5194 168.8282 142.2365 143.5217 168.7205 142.2368 143.5198 168.7107 142.2369 143.5197 168.6949 142.2368 143.518 168.5986 142.2365 143.4988 168.5779 142.2364 143.4947 171.9619 142.2294 143.5013 171.9463 142.2295 143.505 174.1047 142.2106 143.0944 174.1722 142.2159 143.2092 174.1241 142.2122 143.1293 174.1115 142.2113 143.1084 174.192 142.2169 143.2326 171.9124 142.2298 143.5098 172.5324 142.1952 142.7731 172.5229 142.2012 142.8922 174.0384 142.1997 142.8675 174.0443 142.2011 142.8962 172.4951 142.2068 143.0066 172.4901 142.2075 143.0215 174.0623 142.2053 142.9828 172.5202 142.2017 142.9031 172.4866 142.2079 143.0294 172.4417 142.2126 143.1307 172.4308 142.2134 143.1474 172.3777 142.2172 143.2294 172.3677 142.2178 143.242 172.3561 142.2183 143.2544 172.286 142.2217 143.3289 172.2635 142.2225 143.3463 172.1929 142.2249 143.4008 172.1794 142.2253 143.4094 172.1567 142.2258 143.4212 172.0735 142.2277 143.4643 174.0749 142.2069 143.0159 172.0383 142.2283 143.476 168.4666 141.5711 135.6987 168.4746 141.6199 136.0908 168.4816 141.6194 136.0872 168.4949 141.6185 136.0804 168.5985 141.6138 136.0466 168.606 141.6135 136.0441 168.6233 141.6129 136.0402 168.7207 141.6108 136.027 168.7408 141.6104 136.0243 168.8443 141.6102 136.0266 168.8574 141.6102 136.0269 168.874 141.6103 136.0287 168.9662 141.6123 136.0476 168.9903 141.6128 136.0525 175.1175 141.5716 135.6989 169.0833 141.6167 136.0874 169.0997 141.6174 136.0935 169.1135 141.6182 136.1001 169.1918 141.6235 136.1467 169.2158 141.6252 136.161 169.2895 141.6324 136.2224 169.3061 141.634 136.2362 169.3161 141.6352 136.2461 171.7402 141.6061 136.0243 171.8443 141.6065 136.0265 171.8569 141.6065 136.0268 171.8733 141.6068 136.0286 171.9662 141.6092 136.0475 171.9896 141.6098 136.0523 172.0833 141.6141 136.0873 172.0992 141.6148 136.0933 172.1128 141.6157 136.0998 171.6056 141.6085 136.0442 171.6228 141.608 136.0403 169.4599 141.6593 136.4513 169.4538 141.6578 136.4389 169.3728 141.6431 136.3136 169.3931 141.6459 136.3377 171.7207 141.6064 136.027 169.4407 141.6552 136.417 171.0324 141.6944 136.7731 171.042 141.6806 136.6534 169.5265 141.6858 136.6794 171.0366 142.2004 142.8521 171.0324 142.1965 142.7731 169.5324 142.1459 141.8077 171.0324 142.1453 141.8588 169.5324 142.0839 140.9893 171.0324 142.0799 140.9893 169.5324 141.9565 139.3056 171.0324 141.9552 139.3302 169.5324 141.8576 138.3412 171.0324 141.8543 138.3412 169.5324 141.6967 136.7731 169.5282 141.6875 136.6938 171.0429 141.6802 136.6497 169.5025 141.6724 136.5635 169.5204 141.6824 136.65 171.0701 141.6672 136.5384 171.0731 141.6662 136.5296 171.0751 141.6655 136.5235 171.123 141.6529 136.4162 171.1239 141.6526 136.4141 171.1883 141.6409 136.3153 171.1906 141.6405 136.3125 171.1987 141.6393 136.3022 171.2749 141.6297 136.2217 171.2807 141.629 136.2156 171.3739 141.6204 136.1441 171.3889 141.6193 136.1347 171.4816 141.6136 136.0872 171.4945 141.6128 136.0805 169.4899 141.6685 136.5303 171.5985 141.6087 136.0466 172.1918 141.6214 136.1467 172.2153 141.6231 136.1607 172.2895 141.6306 136.2223 172.3057 141.6322 136.2358 172.3157 141.6334 136.2457 172.3729 141.6416 136.3136 172.3928 141.6444 136.3373 172.4407 141.6539 136.4169 172.4536 141.6564 136.4384 172.4597 141.6579 136.451 172.4899 141.6672 136.5303 172.5024 141.671 136.5632 174.0324 141.6974 136.7731 174.042 141.6838 136.6534 172.5265 141.6845 136.679 172.5205 141.6811 136.65 174.0429 141.6834 136.6497 174.07 141.6706 136.5385 174.0731 141.6695 136.5296 174.0751 141.6688 136.5236 174.123 141.6564 136.4162 174.1239 141.6562 136.4142 174.1883 141.6447 136.3154 174.1906 141.6443 136.3125 174.1986 141.6431 136.3022 174.2749 141.6337 136.2217 174.2807 141.633 136.2156 174.3738 141.6246 136.1442 174.3887 141.6235 136.1347 174.5985 141.6133 136.0466 174.4944 141.6172 136.0806 174.4816 141.618 136.0872 174.6055 141.613 136.0443 174.6226 141.6126 136.0403 174.7207 141.6111 136.0269 174.74 141.6108 136.0243 174.8443 141.6112 136.0265 174.8568 141.6113 136.0268 174.8731 141.6115 136.0286 174.9662 141.6139 136.0475 174.9895 141.6145 136.0523 175.0833 141.6189 136.0873 175.0991 141.6196 136.0932 175.1127 141.6204 136.0998 168.0324 141.866 138.3411 168.0324 141.7041 136.7731 166.8957 141.5836 135.6986 168.042 141.69 136.6533 168.0429 141.6896 136.6497 168.0701 141.6763 136.5384 168.0731 141.6752 136.5296 168.0752 141.6745 136.5234 168.123 141.6614 136.4162 168.124 141.6611 136.4139 168.1885 141.6488 136.3151 168.1906 141.6485 136.3125 168.1988 141.6472 136.302 168.2749 141.637 136.2218 168.2809 141.6362 136.2154 168.3723 141.6271 136.1454 168.3741 141.6269 136.144 168.3892 141.6257 136.1345 168.0324 142.0926 140.9892 168.0324 141.9615 139.2659 166.9361 141.8843 138.3403 174.0366 142.1989 142.8521 174.0324 142.195 142.7731 172.5324 142.146 141.8892 174.0324 142.1471 141.9088 172.5324 142.0788 140.9894 174.0324 142.0789 140.9894 172.5324 141.956 139.3445 174.0324 141.9577 139.3534 172.5324 141.8543 138.3413 174.0324 141.8556 138.3413 172.5324 141.6952 136.7731 172.5282 141.6861 136.6936 198.8282 142.2154 143.5217 198.7792 142.2154 143.5209 198.7205 142.2153 143.5198 198.7108 142.2153 143.5197 198.6949 142.2152 143.518 198.5986 142.2144 143.4988 195.7108 142.2158 143.5197 195.6949 142.2158 143.518 198.4815 142.2126 143.459 198.4678 142.2124 143.4539 195.8282 142.2159 143.5217 198.578 142.2142 143.4947 195.7205 142.2158 143.5198 198.4535 142.2121 143.4472 198.373 142.2099 143.3996 198.3508 142.2093 143.3865 192.6526 142.2164 143.5095 192.578 142.2157 143.4947 192.6949 142.2167 143.518 192.8282 142.2168 143.5217 192.7825 142.2168 143.5209 192.7108 142.2168 143.5197 195.5986 142.2149 143.4988 195.578 142.2148 143.4947 195.4815 142.2132 143.459 195.4678 142.213 143.4539 195.4535 142.2127 143.4471 195.373 142.2106 143.3996 195.3508 142.21 143.3865 192.5267 142.2149 143.4757 192.4678 142.2139 143.4539 192.4535 142.2136 143.4472 192.3508 142.2109 143.3865 189.8282 142.2174 143.5217 192.4086 142.2125 143.4206 189.7205 142.2173 143.5198 189.7108 142.2173 143.5197 189.6949 142.2172 143.518 189.5986 142.2164 143.4988 189.578 142.2162 143.4947 189.4815 142.2146 143.459 189.4678 142.2144 143.4539 189.4535 142.2141 143.4472 192.3018 142.2091 143.3459 192.2602 142.2076 143.3115 192.2492 142.2071 143.3005 195.2753 142.2071 143.3239 195.2602 142.2066 143.3115 195.2492 142.2061 143.3005 189.373 142.212 143.3996 189.3508 142.2114 143.3865 189.2753 142.2085 143.3239 189.2603 142.208 143.3115 189.2492 142.2075 143.3005 189.1919 142.2043 143.2326 198.2753 142.2065 143.3239 198.2603 142.2059 143.3115 198.2492 142.2054 143.3005 189.9619 142.2165 143.5013 189.9463 142.2166 143.505 192.1047 142.1974 143.0944 192.1722 142.2028 143.2092 192.1348 142.1999 143.147 192.1115 142.1981 143.1084 192.2097 142.2049 143.2537 189.8442 142.2173 143.5194 190.5324 142.1818 142.7731 190.5229 142.1878 142.8922 192.0384 142.1863 142.8675 190.5219 142.188 142.8965 192.0623 142.192 142.9828 192.0457 142.188 142.9029 190.4951 142.1934 143.0066 190.4917 142.1939 143.0166 190.4901 142.1942 143.0216 190.4417 142.1994 143.1307 190.3776 142.2041 143.2294 190.3742 142.2043 143.2337 190.3677 142.2047 143.242 190.29 142.2085 143.3246 190.286 142.2087 143.3289 190.1929 142.212 143.4008 190.1793 142.2124 143.4095 190.0833 142.2146 143.4592 190.0734 142.2148 143.4643 192.0798 142.1942 143.0288 189.9664 142.2164 143.4998 192.9619 142.2159 143.5013 192.9463 142.2161 143.505 195.1047 142.1964 143.0944 195.1722 142.2019 143.2092 195.1241 142.1981 143.1293 195.1115 142.1971 143.1084 195.1919 142.2029 143.2326 192.9124 142.2163 143.5098 193.5324 142.181 142.7731 193.5229 142.1871 142.8922 195.0384 142.1853 142.8675 195.0443 142.1867 142.8962 193.4951 142.1927 143.0066 193.4901 142.1934 143.0216 195.0623 142.191 142.9828 193.5202 142.1876 142.9031 193.4866 142.1938 143.0294 193.4417 142.1987 143.1307 193.4308 142.1995 143.1474 193.3776 142.2034 143.2294 193.3677 142.204 143.242 193.3561 142.2046 143.2544 193.2859 142.208 143.3289 193.2635 142.2088 143.3463 193.1929 142.2113 143.4008 193.1793 142.2117 143.4095 193.1567 142.2123 143.4212 193.0734 142.2142 143.4643 195.0749 142.1926 143.0159 193.0383 142.2147 143.476 189.1722 142.2032 143.2092 189.1241 142.1994 143.1293 189.1115 142.1984 143.1084 189.1047 142.1977 143.0945 189.0749 142.1939 143.0159 189.0623 142.1923 142.9828 187.5324 142.1818 142.7731 187.5229 142.1878 142.8922 189.0384 142.1866 142.8675 189.0443 142.188 142.8962 187.5219 142.188 142.8965 187.4951 142.1935 143.0066 187.4917 142.194 143.0166 187.4901 142.1942 143.0216 187.4417 142.1995 143.1307 187.3776 142.2042 143.2294 187.3742 142.2044 143.2337 187.3677 142.2048 143.242 187.29 142.2086 143.3246 187.2859 142.2088 143.3289 187.1929 142.2121 143.4008 187.1793 142.2125 143.4095 187.0833 142.2147 143.4592 187.0734 142.215 143.4643 186.9664 142.2166 143.4998 186.9619 142.2166 143.5013 186.9463 142.2168 143.505 186.8442 142.2175 143.5194 186.8282 142.2176 143.5217 186.7205 142.2175 143.5198 186.7108 142.2175 143.5197 186.6949 142.2174 143.518 186.5986 142.2166 143.4988 186.4678 142.2146 143.4539 183.8282 142.2188 143.5217 186.4815 142.2148 143.459 186.578 142.2164 143.4947 180.7107 142.2224 143.5197 180.7825 142.2223 143.5209 180.8282 142.2223 143.5217 183.7205 142.2188 143.5198 186.4535 142.2143 143.4472 186.373 142.2122 143.3996 186.3508 142.2116 143.3865 183.7107 142.2188 143.5197 183.6949 142.2187 143.518 183.5986 142.218 143.4988 180.6949 142.2223 143.518 180.6526 142.2221 143.5095 180.5779 142.2215 143.4947 180.5267 142.2208 143.4757 180.4677 142.2199 143.4539 180.4535 142.2196 143.4471 180.3507 142.2171 143.3864 177.8282 142.2267 143.5217 180.4086 142.2185 143.4206 177.7205 142.2268 143.5198 177.7107 142.2268 143.5197 177.6949 142.2267 143.518 177.5986 142.226 143.4988 177.5779 142.2259 143.4947 177.4815 142.2245 143.459 177.4677 142.2243 143.4539 177.4535 142.224 143.4471 183.5779 142.2178 143.4947 183.4815 142.2163 143.459 183.4677 142.2161 143.4539 183.4535 142.2158 143.4471 183.373 142.2137 143.3996 183.3508 142.2132 143.3864 177.373 142.2221 143.3996 177.3508 142.2215 143.3864 177.2753 142.2189 143.3239 177.2602 142.2183 143.3115 177.2491 142.2179 143.3005 177.192 142.2149 143.2326 180.3018 142.2154 143.3459 180.2602 142.2139 143.3114 180.2491 142.2134 143.3004 183.2753 142.2104 143.3239 183.2602 142.2098 143.3115 183.2491 142.2093 143.3005 186.2753 142.2088 143.3239 186.2603 142.2082 143.3115 186.2492 142.2077 143.3005 177.1722 142.2138 143.2091 177.1241 142.2102 143.1293 177.1115 142.2093 143.1084 177.1047 142.2086 143.0944 177.0749 142.2049 143.0159 177.0623 142.2034 142.9827 177.0443 142.1992 142.8962 175.5229 142.2004 142.8922 177.0384 142.1978 142.8675 175.5324 142.1945 142.7731 175.5219 142.2006 142.8965 175.4951 142.206 143.0066 175.4917 142.2064 143.0166 175.4901 142.2067 143.0215 175.4417 142.2118 143.1307 175.3777 142.2164 143.2294 175.3742 142.2166 143.2337 175.3678 142.217 143.242 175.1929 142.2241 143.4008 175.1794 142.2245 143.4094 175.2901 142.2207 143.3246 175.286 142.2209 143.3289 175.0833 142.2266 143.4592 175.0735 142.2269 143.4643 177.9619 142.2257 143.5013 177.9463 142.2259 143.505 180.1047 142.2041 143.0944 180.1722 142.2094 143.2091 180.1348 142.2065 143.147 180.1115 142.2048 143.1084 180.2097 142.2113 143.2537 177.8442 142.2266 143.5194 178.5324 142.191 142.7731 178.5229 142.1969 142.8922 180.0384 142.1932 142.8675 178.5219 142.1971 142.8965 180.0623 142.1988 142.9827 180.0457 142.1949 142.9029 178.4951 142.2025 143.0066 178.4917 142.203 143.0166 178.4901 142.2032 143.0216 178.4417 142.2085 143.1307 178.3776 142.2131 143.2294 178.3742 142.2133 143.2337 178.3677 142.2137 143.242 178.2901 142.2175 143.3246 178.2859 142.2177 143.3289 178.1929 142.221 143.4008 178.1793 142.2214 143.4095 178.0833 142.2237 143.4592 178.0734 142.2239 143.4643 180.0798 142.201 143.0288 177.9664 142.2256 143.4998 180.9619 142.2212 143.5013 180.9463 142.2214 143.505 183.1047 142.1998 143.0944 183.1722 142.2052 143.2092 183.1241 142.2014 143.1293 183.1115 142.2004 143.1084 183.192 142.2062 143.2326 180.9124 142.2217 143.5098 181.5324 142.1859 142.7731 181.5229 142.192 142.8922 183.0384 142.1886 142.8675 183.0443 142.1901 142.8962 181.4951 142.1976 143.0066 181.4901 142.1984 143.0216 183.0623 142.1944 142.9827 181.5202 142.1925 142.9031 181.4866 142.1988 143.0294 181.4416 142.2037 143.1307 181.4308 142.2045 143.1474 181.3776 142.2084 143.2294 181.3677 142.209 143.242 181.3561 142.2096 143.2544 181.2859 142.2131 143.3289 181.2635 142.2139 143.3463 181.1929 142.2165 143.4008 181.1793 142.2169 143.4095 181.1567 142.2174 143.4212 181.0734 142.2195 143.4644 183.0749 142.196 143.0159 181.0383 142.22 143.476 183.9619 142.2178 143.5013 183.9463 142.218 143.505 186.1047 142.198 143.0945 186.1722 142.2034 143.2092 186.1241 142.1996 143.1293 186.1115 142.1986 143.1084 186.1919 142.2045 143.2326 183.8442 142.2187 143.5194 184.5324 142.1826 142.7731 184.5229 142.1886 142.8922 186.0384 142.1867 142.8675 184.5219 142.1888 142.8965 186.0623 142.1925 142.9828 186.0443 142.1882 142.8962 184.4951 142.1943 143.0066 184.4917 142.1948 143.0166 184.4901 142.1951 143.0216 184.4416 142.2004 143.1307 184.3776 142.2051 143.2294 184.3742 142.2053 143.2337 184.3677 142.2057 143.242 184.29 142.2096 143.3246 184.2859 142.2098 143.3289 184.1929 142.2131 143.4008 184.1793 142.2135 143.4095 184.0833 142.2158 143.4592 184.0734 142.2161 143.4644 186.0749 142.1941 143.0159 183.9664 142.2177 143.4998 195.9619 142.2149 143.5013 195.9463 142.2151 143.505 198.1047 142.1957 143.0945 198.1722 142.2012 143.2092 198.1241 142.1974 143.1293 198.1115 142.1964 143.1084 198.1919 142.2023 143.2326 195.8442 142.2158 143.5194 196.5324 142.18 142.7731 196.5229 142.186 142.8922 198.0384 142.1845 142.8675 196.5219 142.1862 142.8965 198.0623 142.1902 142.9828 198.0443 142.1859 142.8962 196.4951 142.1917 143.0066 196.4917 142.1922 143.0166 196.4901 142.1925 143.0216 196.4417 142.1977 143.1307 196.3776 142.2024 143.2294 196.3742 142.2026 143.2337 196.3677 142.203 143.242 196.29 142.2069 143.3246 196.2859 142.2071 143.3289 196.1929 142.2104 143.4008 196.1793 142.2108 143.4095 196.0833 142.213 143.4592 196.0734 142.2133 143.4643 198.0749 142.1919 143.0159 195.9664 142.2149 143.4998 175.1347 141.622 136.1128 175.1918 141.6261 136.1467 175.2152 141.6278 136.1606 175.2895 141.6352 136.2223 177.7401 141.6126 136.0243 175.3056 141.6368 136.2357 175.3156 141.638 136.2457 177.8443 141.6128 136.0265 177.8569 141.6128 136.0268 177.8733 141.613 136.0286 183.8567 141.6096 136.0268 183.8731 141.6099 136.0286 183.8443 141.6096 136.0265 183.74 141.6093 136.0243 180.7401 141.6106 136.0243 180.8443 141.6108 136.0265 177.9662 141.6153 136.0475 177.9896 141.6158 136.0523 178.0833 141.62 136.0873 178.0992 141.6207 136.0933 178.1129 141.6215 136.0998 178.1918 141.627 136.1467 178.2153 141.6286 136.1607 180.8568 141.6108 136.0268 180.8733 141.611 136.0286 180.9662 141.6132 136.0475 180.9896 141.6137 136.0523 181.0833 141.6178 136.0873 181.0992 141.6185 136.0933 181.1129 141.6192 136.0998 181.1918 141.6247 136.1467 181.2154 141.6263 136.1607 186.8566 141.6119 136.0268 186.7824 141.6117 136.0252 186.7398 141.6115 136.0243 186.873 141.6122 136.0286 186.9122 141.6131 136.0366 186.9893 141.6151 136.0522 183.9662 141.6121 136.0475 183.9895 141.6127 136.0522 184.0833 141.6168 136.0873 184.0991 141.6175 136.0932 184.1128 141.6183 136.0998 184.1918 141.6238 136.1467 184.2153 141.6254 136.1606 187.0381 141.6172 136.0704 187.099 141.6199 136.0932 189.7398 141.6149 136.0243 189.8443 141.6152 136.0265 189.8566 141.6153 136.0268 187.1127 141.6207 136.0997 187.1562 141.6238 136.1256 187.2152 141.6279 136.1605 189.8729 141.6155 136.0286 189.9662 141.6178 136.0475 189.9893 141.6183 136.0522 190.0833 141.6225 136.0873 190.0989 141.6232 136.0932 190.1126 141.624 136.0997 190.1918 141.6295 136.1467 190.2152 141.6311 136.1605 192.7398 141.6166 136.0243 192.8443 141.6169 136.0265 192.8566 141.6169 136.0268 192.873 141.6171 136.0286 192.9662 141.6193 136.0475 192.9894 141.6199 136.0522 193.0833 141.624 136.0873 193.099 141.6246 136.0932 193.1127 141.6254 136.0997 193.1918 141.6308 136.1467 193.2152 141.6324 136.1606 177.6056 141.615 136.0442 177.6226 141.6145 136.0403 175.4597 141.6623 136.4509 175.3927 141.6489 136.3372 175.4407 141.6583 136.4169 175.4536 141.6608 136.4384 175.3729 141.6461 136.3136 177.7207 141.6129 136.0269 177.0324 141.6998 136.7731 177.042 141.6862 136.6534 175.5265 141.6886 136.679 177.0366 142.197 142.852 177.0324 142.1931 142.7731 175.5324 142.148 141.9284 177.0324 142.1484 141.9575 175.5324 142.0789 140.9895 177.0324 142.0776 140.9895 175.5324 141.9591 139.3621 177.0324 141.9596 139.3753 175.5324 141.8567 138.3414 177.0324 141.8564 138.3414 175.5324 141.6993 136.7731 175.5282 141.6903 136.6935 177.0429 141.6858 136.6497 175.5024 141.6753 136.5631 175.5205 141.6853 136.65 177.07 141.673 136.5385 177.0731 141.672 136.5296 177.0751 141.6713 136.5236 177.123 141.6589 136.4162 177.1239 141.6587 136.4141 177.1883 141.6471 136.3154 177.1906 141.6468 136.3125 177.1986 141.6456 136.3022 177.2749 141.6361 136.2217 177.2807 141.6354 136.2156 177.3738 141.6269 136.1442 177.3887 141.6258 136.1347 177.4816 141.6201 136.0872 177.4944 141.6194 136.0806 175.4899 141.6715 136.5303 177.5985 141.6153 136.0466 193.2895 141.6395 136.2223 193.3056 141.641 136.2357 193.3157 141.6421 136.2457 195.7398 141.6165 136.0243 195.7824 141.6166 136.0252 195.8566 141.6168 136.0268 195.873 141.617 136.0286 195.9122 141.6179 136.0366 195.9894 141.6197 136.0522 196.0381 141.6218 136.0704 196.099 141.6244 136.0932 196.1127 141.6252 136.0998 195.6053 141.6189 136.0443 195.6223 141.6184 136.0404 193.4598 141.6654 136.4511 193.3928 141.6526 136.3373 193.4407 141.6615 136.4169 193.4536 141.6639 136.4384 193.3729 141.6499 136.3136 195.6524 141.6179 136.0363 195.0324 141.7007 136.7731 195.042 141.6877 136.6535 193.5265 141.6906 136.679 193.5205 141.6874 136.65 195.07 141.675 136.5386 195.0751 141.6733 136.5237 193.5024 141.6779 136.5632 195.0446 141.6865 136.643 195.0782 141.6725 136.5168 195.1238 141.6611 136.4143 195.1339 141.6593 136.3988 195.1882 141.65 136.3155 195.1985 141.6485 136.3024 195.2086 141.6473 136.2917 195.2805 141.6386 136.2158 195.3013 141.6368 136.1998 195.3736 141.6304 136.1443 195.3885 141.6293 136.1349 195.4081 141.6282 136.1248 195.4942 141.6231 136.0807 193.4899 141.6742 136.5303 195.5265 141.6219 136.0701 196.1562 141.6281 136.1256 196.2152 141.6322 136.1606 196.263 141.6367 136.2003 196.3056 141.6407 136.2357 196.3157 141.6419 136.2458 196.3551 141.6472 136.2926 198.6053 141.6185 136.0443 198.6223 141.618 136.0404 196.3928 141.6522 136.3373 196.43 141.6592 136.3992 196.4536 141.6636 136.4384 198.7207 141.6165 136.0269 198.7398 141.6162 136.0243 198.0324 141.7002 136.7731 198.042 141.6871 136.6535 196.5265 141.6902 136.679 198.0429 141.6867 136.6497 196.5025 141.6774 136.5632 196.5191 141.6862 136.6433 198.07 141.6745 136.5386 198.0731 141.6735 136.5296 198.0751 141.6728 136.5237 198.123 141.6608 136.4162 198.1238 141.6606 136.4143 198.1882 141.6495 136.3155 198.1906 141.6492 136.3125 198.1985 141.648 136.3024 198.2749 141.6389 136.2217 198.2805 141.6382 136.2158 198.3736 141.63 136.1443 198.3885 141.6289 136.1349 198.4816 141.6234 136.0872 198.4942 141.6227 136.0807 196.4598 141.665 136.4511 196.485 141.6723 136.5174 198.5985 141.6187 136.0466 190.2895 141.6382 136.2223 190.3055 141.6398 136.2357 190.3156 141.6409 136.2457 192.6053 141.6189 136.0443 192.6223 141.6184 136.0404 190.4597 141.6643 136.451 190.3927 141.6514 136.3372 190.4407 141.6605 136.4169 190.4536 141.6629 136.4383 190.3729 141.6487 136.3136 192.7207 141.6169 136.0269 192.0324 141.7007 136.7731 192.042 141.6876 136.6535 190.5265 141.6897 136.679 192.0429 141.6872 136.6497 190.5024 141.6769 136.5632 190.5205 141.6865 136.65 192.07 141.6749 136.5386 192.0731 141.6739 136.5296 192.0751 141.6733 136.5237 192.123 141.6613 136.4162 192.1238 141.661 136.4143 192.1882 141.6499 136.3155 192.1906 141.6495 136.3125 192.1985 141.6484 136.3024 192.2749 141.6392 136.2217 192.2805 141.6386 136.2158 192.3736 141.6304 136.1443 192.3885 141.6293 136.1349 192.4816 141.6238 136.0872 192.4942 141.6231 136.0807 190.4899 141.6732 136.5303 192.5985 141.6192 136.0466 187.263 141.6325 136.2003 187.3055 141.6367 136.2357 187.3156 141.6378 136.2457 189.6053 141.617 136.0443 189.6223 141.6166 136.0404 187.4597 141.6613 136.451 187.3927 141.6484 136.3372 187.43 141.6555 136.3992 187.4536 141.6599 136.4383 187.3551 141.6432 136.2926 189.7207 141.6151 136.0269 189.0324 141.6988 136.7731 189.042 141.6856 136.6535 187.5265 141.6869 136.679 189.0429 141.6852 136.6497 187.5024 141.674 136.5632 187.5191 141.6829 136.6433 189.07 141.6729 136.5386 189.0731 141.6719 136.5296 189.0751 141.6712 136.5237 189.123 141.6592 136.4162 189.1238 141.659 136.4143 189.1882 141.6478 136.3155 189.1906 141.6475 136.3125 189.1985 141.6464 136.3024 189.2749 141.6372 136.2217 189.2805 141.6365 136.2158 189.3736 141.6284 136.1443 189.3885 141.6273 136.1349 189.4816 141.6219 136.0872 189.4942 141.6212 136.0807 187.485 141.6688 136.5174 189.5985 141.6173 136.0466 184.2895 141.6326 136.2223 184.3056 141.6342 136.2357 184.3157 141.6353 136.2457 186.6054 141.6137 136.0443 186.6223 141.6133 136.0404 184.4597 141.6589 136.451 184.3928 141.6459 136.3373 184.4407 141.655 136.4169 184.4536 141.6575 136.4384 184.3729 141.6432 136.3136 186.6524 141.6128 136.0363 186.0324 141.6959 136.7731 186.042 141.6826 136.6534 184.5265 141.6846 136.679 184.5205 141.6813 136.65 186.07 141.6698 136.5386 186.0751 141.6682 136.5236 184.5025 141.6716 136.5632 186.0446 141.6815 136.643 186.0782 141.6674 136.5168 186.1238 141.6558 136.4143 186.1339 141.6541 136.3988 186.1882 141.6447 136.3155 186.1985 141.6432 136.3023 186.2086 141.6419 136.2917 186.2805 141.6333 136.2158 186.3013 141.6315 136.1998 186.3737 141.6251 136.1443 186.3885 141.624 136.1349 186.4081 141.6229 136.1248 186.4942 141.6178 136.0807 184.4899 141.6679 136.5303 186.5265 141.6166 136.0701 181.2895 141.6334 136.2223 181.3057 141.635 136.2358 181.3158 141.6362 136.2458 183.6054 141.6117 136.0443 183.6225 141.6112 136.0404 181.4598 141.6597 136.4511 181.3929 141.6467 136.3374 181.4407 141.6558 136.4169 181.4536 141.6583 136.4385 181.3729 141.644 136.3136 183.7207 141.6096 136.0269 183.0324 141.695 136.7731 183.042 141.6816 136.6534 181.5265 141.6855 136.6791 183.0429 141.6812 136.6497 181.5025 141.6725 136.5633 181.5205 141.6822 136.65 183.07 141.6687 136.5385 183.0731 141.6677 136.5296 183.0751 141.667 136.5236 183.123 141.6548 136.4162 183.1239 141.6546 136.4142 183.1882 141.6432 136.3154 183.1906 141.6429 136.3125 183.1986 141.6417 136.3023 183.2749 141.6324 136.2217 183.2806 141.6317 136.2157 183.3737 141.6233 136.1442 183.3886 141.6222 136.1348 183.4816 141.6167 136.0872 183.4943 141.6159 136.0806 181.4899 141.6687 136.5303 183.5985 141.6119 136.0466 178.2895 141.6359 136.2223 178.3057 141.6374 136.2358 178.3157 141.6386 136.2458 180.6056 141.6131 136.0442 180.6226 141.6126 136.0403 178.4598 141.6624 136.4511 178.3928 141.6493 136.3374 178.4407 141.6585 136.4169 178.4536 141.661 136.4385 178.3729 141.6465 136.3136 180.7207 141.6109 136.0269 180.0324 141.6976 136.7731 180.042 141.6841 136.6534 178.5265 141.6884 136.6791 180.0429 141.6837 136.6497 178.5025 141.6753 136.5633 178.5205 141.6851 136.65 180.07 141.6711 136.5385 180.0731 141.67 136.5296 180.0751 141.6694 136.5236 180.123 141.657 136.4162 180.1239 141.6568 136.4142 180.1883 141.6453 136.3154 180.1906 141.6449 136.3125 180.1986 141.6437 136.3023 180.2749 141.6343 136.2217 180.2807 141.6336 136.2157 180.3738 141.6251 136.1442 180.3887 141.624 136.1348 180.4816 141.6183 136.0872 180.4944 141.6175 136.0806 178.4899 141.6715 136.5303 180.5985 141.6134 136.0466 178.5282 141.6901 136.6936 178.5324 141.699 136.7731 180.0324 141.8526 138.3415 178.5324 141.8548 138.3415 180.0324 141.9586 139.4133 178.5324 141.9593 139.3929 180.0324 142.0724 140.9896 178.5324 142.0753 140.9895 180.0324 142.1482 142.0389 178.5324 142.1484 141.9953 180.0324 142.1884 142.7731 180.0366 142.1924 142.852 181.5282 141.6872 136.6937 181.5324 141.696 136.7731 183.0324 141.8485 138.3416 181.5324 141.8503 138.3416 183.0324 141.9574 139.4539 181.5324 141.9578 139.4345 183.0324 142.0672 140.9897 181.5324 142.0695 140.9896 183.0324 142.1483 142.1248 181.5324 142.1482 142.0838 183.0324 142.1838 142.7731 183.0366 142.1879 142.8521 184.5282 141.6862 136.6936 184.5324 141.695 136.7731 186.0324 141.8481 138.3417 184.5324 141.8479 138.3416 186.0324 141.9585 139.4792 184.5324 141.9577 139.4688 186.0324 142.0654 140.9897 184.5324 142.0659 140.9897 186.0324 142.1496 142.1794 184.5324 142.1489 142.1566 186.0324 142.1819 142.7731 186.0366 142.186 142.8521 189.0366 142.1858 142.8521 189.0324 142.1818 142.7731 187.5324 142.1504 142.1955 189.0324 142.1512 142.2075 187.5324 142.0655 140.9897 189.0324 142.0659 140.9898 187.5324 141.9597 139.4863 189.0324 141.9608 139.4914 187.5324 141.849 138.3417 189.0324 141.85 138.3417 187.5324 141.6973 136.7731 187.5282 141.6885 136.6936 192.0366 142.1855 142.8521 192.0324 142.1815 142.7731 190.5324 142.1519 142.2182 192.0324 142.1523 142.2301 190.5324 142.0661 140.9898 192.0324 142.066 140.9898 190.5324 141.9618 139.496 192.0324 141.9624 139.5012 190.5324 141.8509 138.3418 192.0324 141.8512 138.3418 190.5324 141.7001 136.7731 190.5282 141.6913 136.6936 193.5282 141.6922 136.6936 193.5324 141.7009 136.7731 195.0324 141.8507 138.3418 193.5324 141.8511 138.3418 195.0324 141.9626 139.5126 193.5324 141.9626 139.507 195.0324 142.065 140.9898 193.5324 142.0656 140.9898 195.0324 142.1527 142.2549 193.5324 142.1526 142.2429 195.0324 142.1805 142.7731 195.0366 142.1845 142.8521 196.5282 141.6918 136.6936 196.5324 141.7004 136.7731 198.0324 141.8499 138.3418 196.5324 141.8502 138.3418 198.0324 141.9623 139.5195 196.5324 141.9625 139.517 198.0324 142.0641 140.9898 196.5324 142.0644 140.9898 198.0324 142.1527 142.2699 196.5324 142.1527 142.2645 198.0324 142.1797 142.7731 198.0366 142.1837 142.8521 201.0366 142.184 142.8521 201.0324 142.18 142.7731 199.5324 142.1527 142.2699 201.0324 142.1527 142.2644 199.5324 142.0641 140.9898 201.0324 142.0644 140.9898 199.5324 141.9623 139.5195 201.0324 141.9625 139.517 199.5324 141.8499 138.3418 201.0324 141.8502 138.3418 199.5324 141.7002 136.7731 199.5282 141.6915 136.6936 204.0366 142.185 142.8521 204.0324 142.181 142.7731 202.5324 142.1527 142.2548 204.0324 142.1526 142.2428 202.5324 142.065 140.9898 204.0324 142.0656 140.9898 202.5324 141.9626 139.5125 204.0324 141.9626 139.507 202.5324 141.8507 138.3418 204.0324 141.8511 138.3418 202.5324 141.7007 136.7731 202.5282 141.6921 136.6936 205.5282 141.6921 136.6936 205.5324 141.7007 136.7731 207.0324 141.8509 138.3418 205.5324 141.8512 138.3418 207.0324 141.9618 139.496 205.5324 141.9624 139.5012 207.0324 142.0661 140.9898 205.5324 142.066 140.9898 207.0324 142.1519 142.2182 205.5324 142.1523 142.23 207.0324 142.1818 142.7731 207.0366 142.1858 142.8521 208.5282 141.69 136.6937 208.5324 141.6988 136.7731 210.0324 141.849 138.3417 208.5324 141.85 138.3417 210.0324 141.9597 139.4862 208.5324 141.9608 139.4914 210.0324 142.0655 140.9897 208.5324 142.0658 140.9898 210.0324 142.1504 142.1954 208.5324 142.1512 142.2075 210.0324 142.1818 142.7731 210.0366 142.1858 142.8521 213.0366 142.1866 142.8521 213.0324 142.1826 142.7731 211.5324 142.1496 142.1793 213.0324 142.1488 142.1565 211.5324 142.0654 140.9897 213.0324 142.0659 140.9897 211.5324 141.9585 139.4791 213.0324 141.9577 139.4687 211.5324 141.8481 138.3417 213.0324 141.8479 138.3416 211.5324 141.6959 136.7731 211.5282 141.6871 136.6937 216.0366 142.1899 142.8521 216.0324 142.1859 142.7731 214.5324 142.1483 142.1246 216.0324 142.1482 142.0836 214.5324 142.0672 140.9897 216.0324 142.0696 140.9896 214.5324 141.9574 139.4538 216.0324 141.9578 139.4344 214.5324 141.8485 138.3416 216.0324 141.8503 138.3416 214.5324 141.695 136.7731 214.5282 141.6861 136.6936 219.0366 142.1949 142.8521 219.0324 142.191 142.7731 217.5324 142.1482 142.0387 219.0324 142.1484 141.9951 217.5324 142.0724 140.9896 219.0324 142.0753 140.9895 217.5324 141.9586 139.4132 219.0324 141.9593 139.3928 217.5324 141.8526 138.3415 219.0324 141.8549 138.3415 217.5324 141.6976 136.7731 217.5282 141.6887 136.6935 229.5324 142.2068 142.7731 229.5229 142.2125 142.8922 229.5324 142.1487 141.7257 229.5219 142.2127 142.8965 229.4952 142.2177 143.0065 229.4917 142.2182 143.0166 229.4901 142.2184 143.0215 229.4417 142.2231 143.1306 229.3777 142.2271 143.2293 229.3742 142.2273 143.2337 229.3678 142.2276 143.2419 229.2901 142.2307 143.3246 229.2861 142.2309 143.3288 229.1931 142.2335 143.4007 229.1795 142.2338 143.4093 229.0833 142.2354 143.4592 229.0989 141.6203 136.0932 229.1125 141.6211 136.0996 230.6626 141.5836 135.6986 229.1918 141.6273 136.1466 229.215 141.6291 136.1604 229.2895 141.6371 136.2223 229.3054 141.6388 136.2355 229.3153 141.64 136.2453 229.3729 141.6486 136.3136 229.3925 141.6516 136.3369 229.4407 141.6615 136.4169 229.4534 141.6641 136.4381 229.4595 141.6656 136.4505 229.4899 141.6753 136.5303 229.5023 141.6793 136.5628 229.5205 141.6896 136.65 229.5264 141.693 136.6787 229.5281 141.6948 136.6933 242.9291 131.5753 135.6982 242.5878 131.5134 133.0644 242.7567 132.4726 135.6982 242.4228 132.3762 133.0644 242.5118 133.3643 135.6982 242.1891 133.2322 133.0644 242.1949 134.2416 135.6982 241.8873 134.0735 133.0644 241.8068 135.0958 135.6983 241.5182 134.8925 133.0644 241.3504 135.9188 135.6983 241.0846 135.6817 133.0644 240.8298 136.7028 135.6983 240.59 136.4343 133.0645 240.2497 137.4403 135.6983 240.0388 137.1435 133.0645 239.6175 138.1254 135.6983 239.4374 137.804 133.0645 238.9409 138.7525 135.6984 238.7925 138.4105 133.0645 238.1105 138.9593 133.0646 237.9789 138.5331 130.4399 237.3969 139.4483 133.0646 236.5997 139.4287 130.4399 240.77 135.3986 130.4398 241.1757 134.6501 130.4398 240.7753 134.3786 127.8256 241.5213 133.8737 130.4398 241.3571 132.9009 127.8256 241.8046 133.0757 130.4398 238.6224 138.0028 130.4399 239.2285 137.4202 130.4398 238.9789 136.9897 127.8256 239.792 136.7888 130.4398 239.975 135.7535 127.8256 240.3075 136.1134 130.4398 233.6872 140.0462 127.8257 233.652 139.5054 125.2231 233.0629 139.6396 125.2231 232.2154 140.2809 127.8258 232.1752 139.7598 125.2231 230.7214 140.3157 127.8258 235.1276 139.5947 127.8257 236.5189 138.9286 127.8257 235.6131 138.8122 125.2231 237.8163 138.0556 127.8257 238.4994 136.7187 125.2231 237.8509 137.3375 125.2231 237.6011 137.5363 125.2231 237.1503 137.8951 125.2231 236.4017 138.3884 125.2231 240.3045 134.0836 125.2231 240.0778 134.5525 125.2231 239.6171 135.3208 125.2231 241.0239 132.0451 125.2231 240.8385 132.7121 125.2231 240.7841 132.9077 125.2231 240.4676 133.7462 125.2231 239.5835 135.3669 125.2231 239.0895 136.045 125.2231 238.6709 136.5229 125.2231 235.066 139.0456 125.2231 234.7885 139.164 125.2231 233.9369 139.4405 125.2231 231.2792 139.8 125.2231 230.6748 139.8 125.2231 229.1948 140.3139 127.8258 229.1663 139.8 125.2231 222.9461 140.3226 127.8259 223.1138 139.8 125.2231 198.7792 139.8 125.2231 242.6853 130.6519 133.0643 243.0306 130.6813 135.6982 243.0638 129.8 135.6982 243.0306 128.9187 135.6981 242.6853 128.9481 133.0643 230.6626 118.0146 135.698 230.7017 118.3821 133.0642 232.1486 118.0303 135.698 232.1837 118.403 133.0642 233.6339 118.236 135.698 233.6572 118.6158 133.0642 235.1534 118.668 135.698 235.148 119.0515 133.0642 236.7132 119.3454 135.698 236.6579 119.7235 133.0642 237.4822 119.7808 135.698 237.3969 120.151 133.0642 238.227 120.2819 135.698 238.1105 120.6401 133.0642 238.9409 120.847 135.6981 238.7925 121.189 133.0642 239.6175 121.4741 135.6981 239.4374 121.7956 133.0642 240.2497 122.1593 135.6981 240.0388 122.4561 133.0642 240.8298 122.8969 135.6981 240.59 123.1655 133.0642 241.3504 123.6809 135.6981 241.0846 123.9181 133.0643 241.8068 124.504 135.6981 242.7174 129.8 133.0643 242.3043 129.8 130.4397 241.8873 125.5263 133.0643 241.5213 125.7262 130.4396 241.8046 126.5242 130.4396 241.7081 128.2394 127.8255 242.1809 128.159 130.4397 242.0247 127.3374 130.4397 242.5878 128.0865 133.0643 242.4228 127.2237 133.0643 242.9291 128.0247 135.6981 241.0344 127.6009 125.2231 241.1641 128.3264 125.2231 241.1922 128.4833 125.2231 241.8249 129.8 127.8255 241.1757 124.9498 130.4396 240.7753 125.2214 127.8255 240.4861 125.8971 125.2231 238.9789 122.61 127.8255 238.6716 123.0764 125.2231 239.975 123.8463 127.8255 239.1188 123.5917 125.2231 239.5821 124.2341 125.2231 236.5189 120.6709 127.8255 236.395 121.2102 125.2231 236.4422 121.2359 125.2231 237.1824 121.0823 127.8255 237.1885 121.7327 125.2231 237.8163 121.5441 127.8255 237.6008 122.064 125.2231 238.4165 122.0541 127.8255 237.8863 122.2935 125.2231 238.532 122.9155 125.2231 239.643 124.3186 125.2231 240.1 125.0888 125.2231 240.3043 125.5164 125.2231 240.77 124.2013 130.4396 241.5182 124.7074 133.0643 242.1949 125.3583 135.6981 233.6872 119.5531 127.8255 233.6518 120.0952 125.2231 233.9822 120.1722 125.2231 235.1276 120.0047 127.8255 231.2792 119.8 125.2231 231.3744 119.8005 125.2231 230.7214 119.2833 127.8255 232.2154 119.3183 127.8255 232.1784 119.8422 125.2231 232.2225 119.8445 125.2231 233.1094 119.9689 125.2231 234.8326 120.4526 125.2231 235.0663 120.5536 125.2231 235.6555 120.8084 125.2231 222.76 118.8017 130.4396 229.1828 118.8127 130.4396 230.7258 118.8078 130.4396 232.2116 118.8357 130.4396 233.6817 119.0589 130.4396 235.1466 119.5018 130.4396 236.5997 120.1706 130.4396 237.3029 120.5904 130.4396 237.9789 121.0664 130.4396 238.6224 121.5968 130.4396 239.2285 122.1795 130.4396 239.792 122.8109 130.4396 240.3075 123.4864 130.4396 241.2702 129.3753 125.2231 241.2692 129.8 125.2231 241.2681 130.2718 125.2231 155.0466 126.2356 135.6981 154.8017 127.1273 135.6981 155.1356 127.2237 133.0643 154.9705 128.0865 133.0643 155.3775 128.159 130.4397 160.8451 119.3454 135.698 160.9004 119.7235 133.0642 162.405 118.668 135.698 162.4103 119.0515 133.0642 163.9245 118.236 135.698 163.9012 118.6158 133.0642 165.4097 118.0303 135.698 165.3746 118.403 133.0642 166.8957 118.0146 135.698 166.8567 118.3821 133.0642 160.1614 120.151 133.0642 159.5794 121.0664 130.4396 160.9587 120.1706 130.4396 229.1948 119.285 127.8255 222.9461 119.2757 127.8255 198.7792 118.7748 130.4397 174.7983 118.8017 130.4396 168.3755 118.8127 130.4396 166.8326 118.8078 130.4396 165.3468 118.8357 130.4396 163.8767 119.0589 130.4396 162.4118 119.5018 130.4396 198.7792 141.2315 133.0655 174.9758 141.2135 133.065 168.4144 141.2071 133.0648 166.8567 141.2161 133.0648 165.4097 141.5682 135.6986 165.3746 141.1954 133.0647 163.9245 141.3628 135.6985 163.9012 140.9829 133.0647 162.405 140.931 135.6985 162.4103 140.5474 133.0646 160.8451 140.2538 135.6984 160.9004 139.8757 133.0646 160.0762 139.8185 135.6984 160.1614 139.4483 133.0646 159.3313 139.3175 135.6984 159.4479 138.9593 133.0646 158.6175 138.7525 135.6984 158.7658 138.4105 133.0645 157.9409 138.1254 135.6983 158.1209 137.804 133.0645 157.3087 137.4403 135.6983 157.5195 137.1435 133.0645 156.7286 136.7028 135.6983 156.9684 136.4343 133.0645 156.2079 135.9188 135.6983 156.4738 135.6817 133.0644 155.7515 135.0958 135.6983 156.0401 134.8925 133.0644 155.3634 134.2416 135.6982 155.671 134.0735 133.0644 155.0466 133.3643 135.6982 155.3693 133.2322 133.0644 154.8017 132.4726 135.6982 155.1356 132.3762 133.0644 154.6292 131.5753 135.6982 154.9705 131.5134 133.0644 154.5278 130.6813 135.6982 154.873 130.6519 133.0643 154.4946 129.8 135.6982 154.841 129.8 133.0643 154.5278 128.9187 135.6981 154.6292 128.0247 135.6981 154.873 128.9481 133.0643 155.254 129.8 130.4397 155.7334 129.8 127.8255 155.8502 131.3605 127.8255 157.5833 123.8463 127.8255 157.2509 123.4864 130.4396 156.7884 124.2013 130.4396 156.4738 123.9181 133.0643 156.2079 123.6809 135.6981 155.8502 128.2394 127.8255 156.2013 126.699 127.8255 155.5337 127.3374 130.4397 155.7537 126.5242 130.4396 155.3693 126.3677 133.0643 156.7831 125.2214 127.8255 156.3827 124.9498 130.4396 156.037 125.7262 130.4396 156.0401 124.7074 133.0643 155.671 125.5263 133.0643 155.7515 124.504 135.6981 155.3634 125.3583 135.6981 158.5794 122.61 127.8255 158.3299 122.1795 130.4396 157.7664 122.8109 130.4396 157.5195 122.4561 133.0642 163.8711 119.5531 127.8255 163.9064 120.0946 125.2231 164.4955 119.9604 125.2231 165.343 119.3183 127.8255 165.3831 119.8402 125.2231 166.837 119.2833 127.8255 162.4308 120.0047 127.8255 161.0395 120.6709 127.8255 161.9453 120.7878 125.2231 158.8874 123.0771 125.2231 159.0589 122.8813 125.2231 158.7658 121.189 133.0642 158.936 121.5968 130.4396 159.742 121.5441 127.8255 159.7074 122.2625 125.2231 159.9572 122.0637 125.2231 160.408 121.7049 125.2231 161.1566 121.2116 125.2231 157.0907 125.8538 125.2231 157.2539 125.5164 125.2231 157.4805 125.0475 125.2231 156.7198 126.8879 125.2231 156.7742 126.6923 125.2231 157.9412 124.2792 125.2231 157.9748 124.2331 125.2231 158.4688 123.555 125.2231 162.4923 120.5544 125.2231 162.7699 120.436 125.2231 163.6215 120.1595 125.2231 166.2792 119.8 125.2231 166.8836 119.8 125.2231 168.3636 119.285 127.8255 168.392 119.8 125.2231 174.6122 119.2757 127.8255 174.4445 119.8 125.2231 198.7792 119.2543 127.8255 198.7792 119.8 125.2231 223.1138 119.8 125.2231 155.7537 133.0757 130.4398 156.2013 132.9009 127.8256 155.5337 132.2626 130.4397 155.3775 131.441 130.4397 156.037 133.8737 130.4398 156.3827 134.6501 130.4398 156.7831 134.3786 127.8256 156.7884 135.3986 130.4398 157.5833 135.7535 127.8256 156.3942 131.2736 125.2231 156.3661 131.1166 125.2231 156.2881 130.2247 125.2231 156.2891 129.8 125.2231 157.2541 134.0836 125.2231 157.0722 133.7029 125.2231 156.7597 132.863 125.2231 156.7186 132.7124 125.2231 156.5239 131.9991 125.2231 158.5794 136.9897 127.8256 158.8867 136.5236 125.2231 158.4396 136.0083 125.2231 161.0395 138.9286 127.8257 161.1634 138.3898 125.2231 161.1162 138.3641 125.2231 160.376 138.5173 127.8257 160.3699 137.8673 125.2231 159.742 138.0556 127.8257 159.9576 137.5359 125.2231 159.1419 137.5457 127.8256 159.672 137.3065 125.2231 159.0264 136.6846 125.2231 157.9762 135.3659 125.2231 157.9153 135.2814 125.2231 157.4583 134.5112 125.2231 163.8711 140.0462 127.8257 163.9066 139.5048 125.2231 163.5761 139.4279 125.2231 162.4308 139.5947 127.8257 166.2792 139.8 125.2231 166.184 139.7995 125.2231 166.837 140.3157 127.8258 165.343 140.2809 127.8258 165.3799 139.7578 125.2231 165.3359 139.7555 125.2231 164.449 139.6311 125.2231 162.7257 139.1474 125.2231 162.4921 139.0464 125.2231 161.9028 138.7916 125.2231 157.2509 136.1134 130.4398 157.7664 136.7888 130.4398 158.3299 137.4202 130.4398 158.936 138.0028 130.4399 159.5794 138.5331 130.4399 160.2554 139.009 130.4399 160.9587 139.4287 130.4399 162.4118 140.0973 130.44 163.8767 140.54 130.44 165.3468 140.763 130.44 166.8326 140.7906 130.4401 168.3636 140.3139 127.8258 168.3755 140.7854 130.4401 174.6122 140.3226 127.8259 174.7983 140.7955 130.4403 198.7792 140.3421 127.8262 198.7792 140.8194 130.4407 222.76 140.7955 130.4403 222.5826 141.2135 133.065 229.1828 140.7854 130.4401 229.144 141.2071 133.0648 230.7258 140.7906 130.4401 230.7017 141.2161 133.0648 232.2116 140.763 130.44 232.1837 141.1954 133.0647 233.6817 140.54 130.44 233.6572 140.9829 133.0647 235.1466 140.0973 130.44 235.148 140.5474 133.0646 236.6579 139.8757 133.0646 156.2903 129.3282 125.2231 156.3725 128.4366 125.2231 156.3927 128.3262 125.2231 156.5344 127.5549 125.2231 238.227 139.3175 135.6984 237.4822 139.8185 135.6984 236.7132 140.2538 135.6984 235.1534 140.931 135.6985 233.6339 141.3628 135.6985 232.1486 141.5682 135.6986 164.5934 117.4558 143.6421 163.8874 117.7141 140.9882 165.4349 117.5049 140.9882 166.9642 117.4891 140.9882 159.0798 119.8358 140.9882 159.8603 119.3134 140.9882 160.665 118.8603 140.9882 161.4819 118.4757 140.9882 162.2966 118.158 140.9882 159.214 120.0082 138.3398 159.9817 119.4961 138.3398 160.7732 119.0523 138.3398 162.3742 118.3654 138.3398 166.9361 117.7141 138.3398 165.4354 117.7276 138.3398 163.9266 117.9314 138.3398 158.331 120.4258 140.9882 157.6208 121.0813 140.9882 156.9569 121.7982 140.9883 156.3477 122.5705 140.9883 155.8008 123.3919 140.9883 155.3214 124.2544 140.9883 154.9138 125.1497 140.9883 154.581 126.069 140.9883 154.3239 127.0031 140.9883 154.1431 127.9426 140.9883 154.0368 128.8781 140.9883 154.0021 129.8 140.9883 154.0368 130.7219 140.9883 154.1431 131.6574 140.9884 154.3239 132.5969 140.9884 154.581 133.5309 140.9884 154.9138 134.4502 140.9884 155.3214 135.3455 140.9884 155.8008 136.208 140.9884 156.3477 137.0293 140.9884 156.9569 137.8016 140.9884 157.6208 138.5184 140.9885 158.331 139.1739 140.9885 159.0798 139.7638 140.9885 159.8603 140.2861 140.9885 165.4349 142.0942 140.9886 163.8874 141.8851 140.9886 162.2966 141.4413 140.9886 161.4819 141.1237 140.9885 160.665 140.7392 140.9885 158.4771 120.5871 138.3398 157.778 121.2308 138.3398 157.1242 121.9351 138.3398 156.5241 122.6941 138.3398 155.9854 123.5016 138.3398 155.5132 124.3497 138.3399 155.1118 125.2301 138.3399 154.7843 126.134 138.3399 154.5313 127.0524 138.3399 154.3535 127.9759 138.3399 154.249 128.895 138.3399 154.2149 129.8 138.3399 154.249 130.705 138.3399 154.3535 131.6241 138.3399 154.5313 132.5476 138.34 154.7843 133.4659 138.34 155.1118 134.3698 138.34 155.5132 135.2501 138.34 155.9854 136.0982 138.34 156.5241 136.9056 138.34 157.1242 137.6646 138.3401 157.778 138.3688 138.3401 158.4771 139.0124 138.3401 159.214 139.5913 138.3401 159.9817 140.1033 138.3401 160.7732 140.547 138.3402 165.4354 141.8712 138.3403 163.9266 141.6676 138.3402 162.3742 141.2337 138.3402 230.5942 117.4891 140.9882 238.3444 139.5913 138.3401 237.5766 140.1033 138.3401 236.7852 140.547 138.3402 235.1841 141.2337 138.3402 232.123 141.8712 138.3403 233.6318 141.6676 138.3402 239.0812 139.0124 138.3401 239.7803 138.3688 138.3401 240.4341 137.6646 138.3401 241.0342 136.9056 138.34 241.5729 136.0982 138.34 242.0451 135.2501 138.34 242.4465 134.3698 138.34 242.7741 133.4659 138.34 243.027 132.5476 138.34 243.2049 131.6241 138.3399 243.3093 130.705 138.3399 243.3434 129.8 138.3399 243.3093 128.895 138.3399 243.2049 127.9759 138.3399 243.027 127.0524 138.3399 242.7741 126.134 138.3399 242.4465 125.2301 138.3399 242.0451 124.3497 138.3399 241.5729 123.5016 138.3398 241.0342 122.6941 138.3398 240.4341 121.9351 138.3398 239.7803 121.2308 138.3398 239.0812 120.5871 138.3398 238.3444 120.0082 138.3398 237.5766 119.4961 138.3398 236.7852 119.0523 138.3398 230.6223 117.7141 138.3398 232.123 117.7276 138.3398 233.6318 117.9314 138.3398 235.1841 118.3654 138.3398 174.4445 139.8 125.2231 168.392 139.8 125.2231 166.8836 139.8 125.2231 229.1663 119.8 125.2231 230.6748 119.8 125.2231 205.6324 142.2473 144.2731 199.221 142.2462 144.2731 199.2212 142.2617 144.7269 190.4371 142.2618 144.6877 190.3822 142.2631 144.7268 198.6317 142.2617 144.7269 191.6324 141.8202 148.1731 198.6325 141.8117 148.1731 198.6321 142.0113 147.7585 195.029 142.2998 146.3728 194.9987 142.2987 146.4188 198.6314 142.2643 146.8243 194.9935 142.2984 146.4254 194.9891 142.2983 146.4299 194.9495 142.2966 146.4714 194.9397 142.2963 146.4789 194.8996 142.2947 146.5094 194.8928 142.2945 146.5137 194.8827 142.2942 146.5189 194.8361 142.2928 146.5427 194.8196 142.2924 146.548 194.7765 142.2915 146.562 194.7681 142.2913 146.5639 194.7524 142.2912 146.5661 194.706 142.2907 146.5724 194.6831 142.2907 146.5731 194.6197 142.2911 146.568 189.7776 142.2655 146.8242 194.6137 142.2911 146.5666 194.5588 142.2921 146.5533 194.5508 142.2922 146.5506 194.5464 142.2924 146.5487 194.4926 142.2938 146.5249 194.4834 142.2942 146.5189 194.4399 142.2957 146.4907 194.4335 142.296 146.4857 194.4264 142.2962 146.479 194.3871 142.2978 146.4422 194.3774 142.2982 146.4296 194.3487 142.2994 146.3926 194.3441 142.2996 146.3855 189.7519 142.276 146.739 194.3374 142.2998 146.3727 189.7444 142.2789 146.7013 194.3148 142.3005 146.3292 189.6897 142.2985 146.3408 194.3209 142.3003 146.3409 189.6924 142.298 146.3839 189.6974 142.297 146.4642 194.3082 142.3005 146.3096 194.295 142.3006 146.27 194.2929 142.3005 146.2613 194.2902 142.3002 146.2424 194.2838 142.2995 146.1983 189.6824 142.3 146.2231 194.2842 142.2991 146.1731 189.6862 142.2978 146.1018 189.6918 142.2971 146.0625 194.2848 142.2984 146.1356 189.7299 142.2917 145.7953 194.2856 142.2982 146.1276 189.8193 142.2851 145.5054 189.7453 142.2906 145.7454 190.1326 142.2708 144.9769 190.0038 142.276 145.1593 194.2903 142.2978 146.1039 189.9562 142.2779 145.2267 189.8506 142.2834 145.4417 190.1591 142.2699 144.9456 194.2979 142.297 146.0652 190.2004 142.2686 144.9051 194.3083 142.2965 146.0367 194.3195 142.2959 146.0063 190.3805 142.2631 144.7281 194.3231 142.2957 145.9987 194.3377 142.2952 145.9737 194.3553 142.2946 145.9438 194.3776 142.294 145.9168 194.3952 142.2936 145.8954 194.4011 142.2935 145.8894 194.4268 142.293 145.8676 194.4497 142.2926 145.8482 194.4836 142.2921 145.8277 194.5033 142.2919 145.8158 194.5109 142.2918 145.812 194.5467 142.2915 145.7984 194.5704 142.2913 145.7893 194.6138 142.2911 145.7802 194.6317 142.291 145.7764 194.7659 142.2911 145.7818 194.7742 142.2911 145.7836 194.7524 142.2911 145.78 194.6401 142.291 145.7754 194.6831 142.2909 145.7742 194.7038 142.2909 145.7736 194.8196 142.2915 145.7981 194.8348 142.2916 145.803 194.8828 142.2921 145.8272 194.8908 142.2922 145.8313 194.8979 142.2923 145.8357 194.9397 142.293 145.8673 194.9487 142.2931 145.8741 194.9892 142.294 145.9162 194.9922 142.2941 145.9193 194.9975 142.2942 145.9258 195.0291 142.2952 145.9734 195.0327 142.2953 145.9788 195.0589 142.2964 146.0363 195.0616 142.2966 146.0438 195.083 142.2991 146.1764 195.0775 142.3003 146.2397 198.6314 142.3004 146.3409 195.083 142.2991 146.1731 195.0773 142.2978 146.1055 195.083 142.299 146.168 195.0768 142.3003 146.2425 195.0623 142.3006 146.3003 195.0588 142.3006 146.3099 195.0448 142.3003 146.3409 195.0332 142.3 146.3666 205.6324 141.8194 148.1731 205.8947 141.8298 148.1554 205.9702 141.8384 148.1396 199.219 141.8109 148.1731 199.4263 141.8107 148.1731 199.2204 142.0113 147.7585 206.1644 141.8605 148.0991 206.2462 141.8737 148.074 206.298 141.8845 148.0523 206.5157 141.9297 147.9616 206.6046 141.954 147.9073 190.7059 141.9422 147.9355 190.4963 141.9993 147.8079 190.4378 142.0185 147.7583 190.7466 141.9311 147.9603 191.0001 141.8788 148.0654 191.0295 141.8727 148.0776 191.0803 141.8645 148.0933 191.312 141.8369 148.144 191.353 141.832 148.153 190.0448 142.1568 147.3554 190.2016 142.0984 147.5405 198.6317 142.1679 147.298 190.2543 142.0787 147.6027 189.7806 142.2643 146.8342 189.8512 142.2351 147.0045 189.8909 142.2187 147.1004 190.0037 142.1734 147.2873 190.0099 142.1709 147.2975 191.6324 142.2473 144.2731 191.5845 142.2474 144.2737 191.3117 142.2485 144.3019 198.6318 142.2461 144.2731 197.8386 142.246 144.2731 191.2803 142.2486 144.3052 191.2395 142.2489 144.3131 191.0003 142.2514 144.3822 190.946 142.2519 144.3979 190.7056 142.2559 144.5109 190.6652 142.2565 144.5299 190.6295 142.2573 144.5508 206.8179 142.2614 144.6748 206.6055 142.2567 144.5372 206.85 142.2622 144.7 206.5613 142.2558 144.5086 206.2987 142.2517 144.3923 206.2776 142.2514 144.3829 206.2386 142.2509 144.3697 205.9705 142.2485 144.3048 205.9416 142.2482 144.2978 199.2223 142.3004 146.3409 207.5824 142.3 146.2231 207.5784 142.2978 146.098 207.5478 142.2935 145.8852 207.5347 142.2917 145.7943 207.5252 142.2908 145.7543 207.4598 142.2862 145.5578 207.4287 142.284 145.4641 207.3174 142.2784 145.2501 207.2855 142.2768 145.1887 207.2635 142.2759 145.1544 207.1227 142.2706 144.9724 207.0763 142.2689 144.9125 206.8837 142.2632 144.7316 206.8786 142.263 144.7268 207.5496 142.2902 146.561 207.5012 142.2712 146.78 199.2222 142.2643 146.8243 207.5618 142.295 146.506 207.5738 142.2979 146.3408 207.3719 142.2176 147.1045 207.4611 142.2546 146.8885 207.4868 142.2652 146.8263 207.4874 142.2655 146.8243 207.0094 142.0778 147.6039 207.1213 142.1195 147.4724 199.2215 142.1679 147.298 206.7746 142.0005 147.8036 206.8281 142.0181 147.758 206.8819 142.0358 147.7123 207.2153 142.1546 147.3619 207.2545 142.1704 147.2974 207.3166 142.1954 147.1953 202.8292 129.8 144.2731 202.7292 129.8 146.1231 202.8292 129.8 146.1731 195.083 129.8 146.1731 195.077 129.8 146.2426 195.0704 129.8 146.2731 207.5818 129.8 146.1731 207.5824 129.8 146.2231 207.5818 129.8 146.2731 222.3617 130.425 146.1731 222.4538 130.2275 146.1731 202.8292 117.3 146.1731 209.2824 117.3 146.1731 207.6818 129.8 146.1731 212.2824 117.3 146.1731 220.1967 129.175 146.1731 220.1046 129.3725 146.1731 220.0482 129.5829 146.1731 220.0292 129.8 146.1731 222.5102 130.0171 146.1731 222.5292 129.8 146.1731 215.2824 117.3 146.1731 218.2824 117.3 146.1731 221.2824 117.3 146.1731 220.3216 130.6035 146.1731 220.4757 130.7575 146.1731 220.8516 130.9746 146.1731 222.5102 129.5829 146.1731 222.4538 129.3725 146.1731 222.3617 129.175 146.1731 220.8516 128.6254 146.1731 221.0621 128.569 146.1731 221.2792 128.55 146.1731 220.6542 128.7175 146.1731 220.4757 128.8424 146.1731 220.3216 128.9965 146.1731 220.6542 130.8825 146.1731 220.0482 130.0171 146.1731 220.1046 130.2275 146.1731 220.1967 130.425 146.1731 222.0827 130.7575 146.1731 222.2367 130.6035 146.1731 222.2367 128.9965 146.1731 222.0827 128.8424 146.1731 221.0621 131.031 146.1731 221.2792 131.05 146.1731 221.4962 131.031 146.1731 221.7067 130.9746 146.1731 221.9042 130.8825 146.1731 221.4962 128.569 146.1731 224.2824 117.3 146.1731 221.7067 128.6254 146.1731 227.775 117.3 146.1731 221.9042 128.7175 146.1731 229.0175 117.3 146.1731 230.5242 117.4174 147.443 232.1944 117.4599 147.443 232.082 117.6226 148.0252 232.8137 117.9613 148.5573 233.6795 118.1202 148.5573 233.6092 118.2705 148.8019 167.2232 141.9065 148.2981 167.29 141.7744 148.5574 168.8194 141.8997 148.2981 167.3532 141.6208 148.802 168.9376 141.609 148.802 168.8808 141.765 148.5574 157.143 136.2645 149.2431 156.9581 136.3882 149.0309 156.4899 135.6461 149.0309 158.2149 137.6057 149.2431 157.3394 136.1266 149.4374 156.8927 135.415 149.4374 156.5003 134.6719 149.4374 156.9706 134.4271 149.7684 155.4195 130.6397 149.4374 155.3881 129.8 149.4374 155.9191 129.8 149.7684 163.226 137.7327 150.2231 164.1125 137.9891 150.2231 164.2401 138.8754 150.1697 161.9291 137.1021 150.2231 162.8836 137.5662 150.2231 162.8665 138.4265 150.1697 158.0148 133.783 150.1697 158.6795 134.9648 150.1697 158.2115 135.4202 150.0153 157.4789 134.1322 150.0153 156.9418 132.7489 150.0153 157.5266 132.5143 150.1697 155.19 125.3496 148.298 155.3513 125.4027 148.5573 155.0509 126.2572 148.5573 155.0481 125.304 148.0252 155.4231 124.4523 148.0252 162.7862 117.9392 147.443 163.6456 117.718 147.443 163.7473 117.8812 148.0252 165.5413 117.7326 148.298 165.6082 117.863 148.5573 164.7446 117.9613 148.5573 158.3852 122.1606 149.4374 157.3394 123.4734 149.4374 157.143 123.3355 149.2431 158.2149 121.9943 149.2431 159.4738 120.8311 149.2431 159.615 121.0197 149.4374 174.7822 118.9464 149.6129 174.7558 119.2188 149.7684 169.0353 119.1137 149.7684 158.0148 125.817 150.1697 158.6795 124.6352 150.1697 159.1635 125.1712 150.2231 174.7288 142.2286 147.136 174.741 142.2725 146.8195 168.5603 142.2757 146.8194 157.9627 120.5106 146.8192 158.6886 119.908 146.8192 158.7546 120.0091 147.443 234.0824 118.6444 149.1041 234.0824 118.7947 149.2362 233.4727 118.6378 149.2431 232.7337 121.4244 150.2231 232.1191 121.3719 150.2231 231.856 120.4833 150.1697 234.0824 139.0222 150.1072 234.0824 139.3763 150.0194 233.28 139.6103 150.0154 234.0824 139.8597 149.8468 234.0824 140.0268 149.761 233.3183 140.2304 149.7684 207.54 142.2426 146.9585 207.4671 142.2107 147.136 222.8295 142.2286 147.136 207.0863 142.0545 147.6684 207.0037 142.0254 147.7394 222.8264 142.0794 147.74 168.8418 142.3001 146.2731 168.5393 142.3001 146.2731 163.2354 141.9234 146.2731 162.7638 141.7861 146.2731 162.7419 141.7584 146.8194 162.3267 141.6589 146.2731 161.9214 141.5067 146.2731 161.8948 141.4754 146.8194 157.2247 138.4182 146.2731 156.6395 137.7544 146.2731 156.6451 137.7128 146.8193 168.4413 117.2999 146.2731 168.5393 117.2999 146.2731 168.5603 117.3245 146.8192 232.0955 142.273 146.1627 231.9912 142.2795 146.2089 232.2627 142.2322 146.8194 231.9798 142.2802 146.214 231.9586 142.2813 146.2212 231.8145 142.2882 146.256 232.1328 142.2707 146.1462 232.263 142.261 146.1627 232.1564 142.2689 146.1309 232.2581 142.2614 146.0649 232.6824 142.2157 145.2231 232.6803 142.2167 145.2903 233.8414 142.0209 144.8267 232.6638 142.2197 145.4051 233.9417 142.0127 146.1627 232.6569 142.221 145.4531 232.6515 142.2218 145.4762 232.6164 142.2263 145.5813 232.5995 142.2285 145.632 232.5397 142.2353 145.747 232.5225 142.2373 145.78 232.5106 142.2385 145.7986 232.4348 142.246 145.8965 232.4098 142.2485 145.929 232.3062 142.2575 146.0262 232.2877 142.2591 146.0435 232.2711 142.2605 146.0565 233.7101 141.9527 142.2731 233.6324 141.9715 142.2731 233.5682 141.9842 142.2753 233.4842 142.0006 142.2878 233.4178 142.0136 142.2977 233.34 142.0284 142.3231 233.2595 142.0437 142.3493 233.2025 142.0544 142.3793 233.1241 142.069 142.4205 233.0761 142.078 142.4572 232.9921 142.0936 142.5213 232.9625 142.0992 142.553 232.8884 142.1132 142.6324 232.8774 142.1153 142.6465 232.8651 142.1178 142.6655 232.7966 142.1315 142.7716 232.7874 142.1335 142.7924 232.7356 142.1451 142.9098 232.729 142.1467 142.9295 232.6942 142.1569 143.0745 232.6824 142.1643 143.2231 232.6824 142.2055 144.8268 234.0824 141.9618 144.8267 234.0824 141.9525 144.2231 234.089 141.9485 144.1392 234.1081 141.9415 144.0573 234.1123 141.9402 144.0444 234.1404 141.9314 143.9796 234.1465 141.9294 143.9654 234.1824 141.9188 143.9069 234.1824 141.9143 143.7731 234.5609 141.7467 142.2731 235.321 141.4988 142.2731 235.4084 141.5357 143.6731 235.4704 141.45 142.2731 235.5427 141.4915 143.6731 236.1413 141.1751 142.2731 236.2346 141.2055 143.6731 236.3495 141.0898 142.2731 236.4192 141.1292 143.6731 236.9615 140.785 142.2731 237.0569 140.8089 143.6731 237.1948 140.6688 142.2731 237.2609 140.7064 143.6731 237.5767 140.4515 142.2731 237.8632 140.3447 143.6731 237.7683 140.3274 142.2731 238.0673 140.2222 143.6731 238.3742 139.9353 142.2731 238.4844 139.9371 143.6731 238.5504 139.8009 142.2731 238.6439 139.8137 143.6731 239.1257 139.3622 142.2731 239.2402 139.3523 143.6731 239.3 139.2068 142.2731 239.3913 139.2158 143.6731 239.8297 138.7347 142.2731 239.9437 138.7164 143.6731 240.0101 138.5475 142.2731 240.0982 138.5538 143.6731 240.4867 138.0528 142.2731 240.5942 138.0319 143.6731 240.6777 137.8309 142.2731 240.7575 137.8318 143.6731 240.7836 137.7079 142.2731 241.1907 137.3013 143.6731 241.2848 137.0542 142.2731 241.3665 137.059 143.6731 241.3628 136.9525 142.2731 241.4647 136.9237 143.6731 241.8325 136.231 142.2731 241.9075 136.2338 143.6731 241.8782 136.1609 142.2731 241.9805 136.1201 143.6731 242.3131 135.3668 142.2731 242.3846 135.3701 143.6731 242.3302 135.3355 142.2731 242.4302 135.2855 143.6731 242.7185 134.4779 142.2731 242.791 134.4738 143.6731 242.7218 134.4695 142.2731 242.8608 134.1122 142.2731 242.8134 134.4233 143.6731 243.0468 133.5448 142.2731 243.6324 129.8916 142.2292 243.6324 130.0045 142.2537 243.6944 129.8 143.6731 243.1234 133.5529 143.6731 243.131 133.5317 143.6731 243.1578 133.2065 142.2731 243.2474 133.1385 143.6731 243.3044 132.6083 142.2731 243.3719 132.6142 143.6731 243.3828 132.2886 142.2731 243.4681 132.2094 143.6731 243.4859 131.6658 142.2731 243.5529 131.6713 143.6731 243.5366 131.359 142.2731 243.6157 131.2733 143.6731 243.5924 130.7266 142.2731 243.6596 130.7303 143.6731 243.6197 130.4185 142.2731 243.6918 130.3323 143.6731 243.6324 130.0612 142.2731 243.6324 130.0205 142.2587 243.6324 129.7596 142.2243 243.6324 129.6506 142.2394 243.6324 129.5388 142.2731 243.6324 129.7781 142.2234 243.6324 129.8 142.2246 242.7141 125.1337 142.2731 242.8473 125.4516 142.2731 242.8578 125.2894 143.6731 243.1199 126.0483 143.6731 243.6964 129.3885 143.6731 243.676 128.9783 143.6731 243.5926 128.8731 142.2731 243.6646 128.8694 143.6731 243.5755 128.5871 142.2731 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232.0429 117.3235 146.1895 232.0946 117.327 146.1625 232.263 117.339 146.1625 232.1563 117.3311 146.1303 232.1911 117.3334 146.1121 232.2089 117.3347 146.1007 232.258 117.3386 146.0626 232.3058 117.3425 146.0255 232.2627 117.3679 146.8192 231.7013 117.3075 146.2708 231.8143 117.312 146.2544 231.8645 117.314 146.2471 231.8869 117.315 146.2418 231.9906 117.3207 146.207 230.6076 117.3256 146.8192 228.9981 117.3245 146.8192 229.0191 117.3 146.2731 229.9833 117.3 146.2731 230.6285 117.3021 146.2731 231.6324 117.3053 146.2731 216.5281 117.2996 146.2731 222.7688 117.2997 146.2731 222.8173 117.3277 146.8192 225.4239 117.2998 146.2731 207.6324 117.2995 146.2731 198.7792 117.3354 146.8193 201.4263 117.2995 146.2731 198.7792 117.2995 146.2731 177.2201 117.2997 146.2731 183.4263 117.2995 146.2731 174.741 117.3277 146.8192 189.6324 117.2995 146.2731 169.6698 117.2998 146.2731 171.0139 117.2998 146.2731 174.7896 117.2997 146.2731 166.9507 117.3256 146.8192 166.9299 117.3002 146.2731 167.3251 117.3001 146.2731 165.2956 117.3679 146.8192 165.3623 117.3343 146.2731 166.3115 117.3003 146.2731 162.7419 117.8417 146.8192 163.3851 117.6401 146.2731 163.5951 117.6227 146.8192 163.6088 117.596 146.2731 164.4484 117.4654 146.8192 164.3233 117.4548 146.2731 165.2903 117.3426 146.2731 161.8948 118.1247 146.8192 162.4714 117.894 146.2731 162.7633 117.8129 146.2731 161.0874 118.4385 146.2731 161.5839 118.2149 146.2731 161.9212 118.093 146.2731 160.7205 118.6037 146.2731 161.0601 118.4734 146.8192 160.3463 118.7974 146.2731 160.2435 118.8876 146.8192 160.2662 118.8447 146.2731 159.5221 119.2834 146.2731 159.451 119.3663 146.8192 159.469 119.3205 146.2731 158.7435 119.8266 146.2731 158.7013 119.861 146.2731 158.0108 120.4249 146.2731 157.9696 120.464 146.2731 157.3259 121.0766 146.2731 157.2795 121.1716 146.8192 157.2794 121.126 146.2731 157.0385 121.3817 146.2731 156.6451 121.8872 146.8192 156.644 121.8494 146.2731 156.4216 122.1131 146.2731 156.0651 122.6523 146.8192 156.0578 122.6178 146.2731 155.8668 122.8829 146.2731 155.5449 123.4615 146.8192 155.5318 123.4313 146.2731 155.3735 123.6905 146.2731 155.0883 124.3085 146.8192 155.0702 124.2833 146.2731 154.6989 125.1868 146.8192 154.773 124.914 146.2731 154.9424 124.533 146.2731 154.3793 126.0896 146.8192 154.4331 125.8087 146.2731 154.677 125.1668 146.2731 154.1307 127.0093 146.8192 154.1642 126.7195 146.2731 154.3545 126.0749 146.2731 153.9542 127.9388 146.8193 153.9659 127.6437 146.2731 154.104 126.9998 146.2731 153.8493 128.8712 146.8193 153.8381 128.5824 146.2731 153.9264 127.9336 146.2731 153.7792 129.719 146.2404 153.7792 129.7051 146.2485 153.8146 129.8 146.8193 153.7792 129.7354 146.2335 153.7792 129.8 146.2237 153.7792 129.7863 146.2235 153.7792 129.76 146.2269 153.7792 129.697 146.2548 153.7792 129.69 146.2617 153.7792 129.6848 146.2687 153.7792 129.6823 146.2731 153.8044 128.9986 146.2731 153.8149 128.869 146.2731 153.7792 129.9064 146.2579 153.7792 129.9133 146.266 153.7792 129.9177 146.2731 153.7792 129.9029 146.2547 153.7792 129.891 146.2459 153.7792 129.8744 146.2373 153.7792 129.8502 146.2292 153.7792 129.8198 146.224 153.818 130.7309 146.2731 153.8493 130.7288 146.8193 153.8249 130.8737 146.2731 153.9542 131.6612 146.8193 153.9236 131.6668 146.2731 153.9422 131.8159 146.2731 154.1307 132.5906 146.8193 154.1012 132.6009 146.2731 154.1299 132.7425 146.2731 154.3793 133.5104 146.8193 154.3515 133.526 146.2731 154.6989 134.4132 146.8193 154.522 134.0462 146.2731 154.3881 133.6553 146.2731 155.0883 135.2915 146.8193 154.8811 134.9329 146.2731 154.6784 134.4325 146.2731 155.5449 136.1385 146.8193 155.3035 135.7828 146.2731 155.0715 135.3162 146.2731 156.0651 136.9477 146.8193 155.787 136.5954 146.2731 155.5328 136.1682 146.2731 156.5919 137.7003 146.2731 156.3304 137.3686 146.2731 156.0586 136.9818 146.2731 157.2795 138.4284 146.8193 157.2806 138.4727 146.2731 157.9046 139.0804 146.2731 157.9627 139.0895 146.8193 157.9701 139.1352 146.2731 158.6309 139.6873 146.2731 158.6886 139.6921 146.8193 158.7018 139.738 146.2731 159.4013 140.2379 146.2731 159.451 140.2338 146.8193 159.4683 140.2805 146.2731 160.2435 140.7124 146.8193 160.2688 140.7506 146.2731 159.7494 140.4592 146.2731 161.0601 141.1266 146.8193 161.4435 141.3271 146.2731 161.0875 141.1616 146.2731 160.5834 140.9272 146.2731 163.6484 142.0194 146.2731 163.6077 142.0099 146.2731 163.5951 141.9774 146.8194 165.2906 142.2534 146.2731 164.5869 142.1841 146.2731 164.4484 142.1346 146.8194 166.6257 142.2998 146.2731 165.5325 142.2772 146.2731 165.2956 142.2322 146.8194 189.6268 142.2848 146.6217 189.5999 142.2959 146.4902 189.6584 142.2718 146.7761 173.9784 142.3003 146.2731 174.7896 142.3003 146.2731 189.583 142.3005 146.2731 189.7988 142.2105 147.1359 189.7238 142.2433 146.9589 189.6911 142.2576 146.8817 189.6718 142.2659 146.8195 189.9871 142.1308 147.443 189.9721 142.1368 147.4255 186.7757 142.1371 147.4433 189.8789 142.1763 147.2738 189.8087 142.2061 147.1594 190.3361 142.0001 147.8025 190.2609 142.0262 147.7394 186.7766 142.0367 147.7401 190.1917 142.0502 147.6815 190.0853 142.0921 147.5574 190.6618 141.8995 148.0251 190.6244 141.9103 148.0026 186.7804 141.914 148.0254 190.4481 141.9612 147.8964 198.7792 141.7375 148.2983 198.7792 141.7537 148.2731 191.6324 141.7633 148.2731 191.2826 141.7838 148.2396 191.059 141.8119 148.1913 186.7858 141.7696 148.2982 191.3425 141.7763 148.2525 191.0037 141.8215 148.1743 190.9433 141.8347 148.1495 190.7067 141.8865 148.0522 206.3222 141.8331 148.1512 206.2918 141.8262 148.1642 210.7726 141.7696 148.2982 206.2033 141.8106 148.192 205.9822 141.7828 148.2397 205.9237 141.7754 148.2523 205.6324 141.7624 148.2731 199.4263 141.7528 148.2731 210.7779 141.914 148.0254 206.9293 141.9993 147.8034 206.8446 141.9694 147.8763 206.6405 141.9094 148.0028 206.6044 141.8988 148.0252 206.5736 141.8897 148.0442 207.3858 142.1759 147.2738 207.3022 142.1402 147.4124 222.8318 142.1643 147.4432 207.2764 142.13 147.4429 207.1797 142.0916 147.5576 207.4636 142.2091 147.1446 207.6818 142.3005 146.2731 207.6535 142.2914 146.5662 213.8386 142.3005 146.2731 222.8173 142.2725 146.8195 220.0447 142.3003 146.2731 222.7688 142.3003 146.2731 207.6398 142.2856 146.622 207.5915 142.2651 146.8194 207.5832 142.2616 146.8531 229.0191 142.3001 146.2731 228.5846 142.3001 146.2731 228.9981 142.2757 146.8194 225.8386 142.3002 146.2731 231.7988 142.2889 146.2598 231.6324 142.2947 146.2731 230.6076 142.2746 146.8194 230.6285 142.2998 146.2731 230.6067 142.2999 146.2731 234.0824 141.9811 146.0759 234.0824 141.9799 146.1627 234.0824 141.7781 147.6825 234.0824 141.8342 147.4412 233.9127 141.8821 147.4431 234.0824 141.9114 147.1087 233.9632 141.9774 146.8194 234.0824 141.9414 146.8186 234.0824 141.9753 146.4913 233.811 141.7189 148.0253 234.0824 141.6479 148.0223 234.0824 141.759 147.7432 233.6795 141.4799 148.5574 234.0824 141.3783 148.554 234.0824 141.5266 148.2957 233.6092 141.3296 148.802 234.0824 141.2142 148.8008 234.0824 141.3164 148.662 234.0824 141.1689 148.8625 233.5393 141.1574 149.0309 234.0824 141.0184 149.0248 234.0824 140.8434 149.2136 233.4727 140.9623 149.2431 234.0824 140.8094 149.2407 233.4119 140.7435 149.4375 234.0824 140.57 149.4317 234.0824 140.4643 149.5159 233.3595 140.4998 149.6129 234.0824 140.3055 149.6181 233.4465 137.9878 150.2231 234.0824 137.8248 150.2231 233.3182 138.8754 150.1697 234.0824 138.4364 150.1948 234.0824 138.6551 150.1621 231.856 139.1167 150.1697 232.1194 138.2311 150.2231 232.675 138.1855 150.2231 234.0824 120.2106 150.0085 234.0824 120.6315 150.118 233.3182 120.7246 150.1697 234.0824 120.937 150.1686 234.0824 120.9454 150.1693 233.447 121.61 150.2231 234.0824 121.5915 150.2207 234.0824 121.7752 150.2231 234.0824 119.4259 149.6936 234.0824 119.5631 149.765 233.3183 119.3697 149.7684 234.0824 119.8805 149.8943 234.0824 118.5777 149.0286 234.0824 118.3885 148.7991 234.0824 118.4363 148.8688 233.5393 118.4427 149.0309 233.7477 117.9908 148.298 234.0824 118.0765 148.2946 234.0824 118.1646 148.4727 234.0824 117.6479 146.804 234.0824 117.7344 147.347 233.9127 117.718 147.443 234.0824 117.7615 147.4417 233.811 117.8812 148.0252 234.0824 117.8813 147.8613 234.0824 117.9479 148.0343 234.0824 117.6342 144.8265 234.0824 117.6267 145.1753 234.0824 117.6192 145.9833 234.0824 117.6231 146.1624 233.051 142.0413 147.4431 233.11 142.1346 146.8194 232.1944 142.1402 147.4431 230.5242 142.1828 147.4431 233.11 117.4654 146.8192 233.9632 117.6227 146.8192 234.0824 117.6337 146.6425 168.6409 117.4181 147.443 174.7288 117.3717 147.1358 159.5082 119.469 147.443 160.2929 118.9904 147.443 161.1038 118.575 147.443 161.9365 118.2244 147.443 167.0341 117.4174 147.443 165.364 117.4599 147.443 164.5074 117.5589 147.443 158.0382 138.9918 147.443 157.3115 138.3876 147.1358 157.3652 138.3359 147.443 156.6819 137.6749 147.1358 156.7409 137.6271 147.443 156.1064 136.9135 147.1358 156.1707 136.8704 147.443 155.5903 136.1085 147.1358 155.6593 136.0707 147.443 155.1374 135.2662 147.1358 155.2104 135.2341 147.443 154.7509 134.3928 147.1358 154.8272 134.3668 147.443 154.4335 133.495 147.1358 154.5124 133.475 147.443 154.1865 132.5799 147.1358 154.2672 132.5659 147.443 154.0109 131.6548 147.1358 154.0928 131.6462 147.443 153.9064 130.7261 147.1358 153.9888 130.7223 147.443 153.8719 129.8 147.1358 153.9544 129.8 147.443 153.9064 128.8739 147.1358 153.9888 128.8777 147.443 154.0109 127.9452 147.1358 154.0928 127.9538 147.443 154.1865 127.0201 147.1358 154.2672 127.0341 147.443 154.4335 126.105 147.1358 154.5124 126.125 147.443 154.7509 125.2072 147.1358 154.8272 125.2333 147.443 155.1374 124.3338 147.1358 155.2104 124.3659 147.443 155.5903 123.4915 147.1358 155.6593 123.5293 147.443 156.1064 122.6865 147.1358 156.1707 122.7297 147.443 156.6819 121.9251 147.1358 156.7409 121.9729 147.443 157.3115 121.2125 147.1358 157.3652 121.2642 147.443 158.0382 120.6083 147.443 158.7546 139.591 147.443 159.5082 140.1311 147.4431 160.2929 140.6097 147.4431 161.1038 141.0251 147.4431 174.7265 142.1643 147.4432 168.6409 142.1822 147.4431 167.0341 142.1828 147.4431 198.7792 118.9089 149.4374 198.7792 119.4399 149.7684 186.7846 119.1044 149.6129 186.7677 119.3769 149.7684 168.9249 119.7347 150.0153 174.6566 119.8272 150.0153 174.4806 120.5208 150.1697 186.7087 119.9664 150.0153 186.6082 120.6095 150.1697 165.4389 121.3689 150.2231 164.8833 121.4145 150.2231 164.2401 120.7246 150.1697 166.855 121.3 150.2231 166.2792 121.3 150.2231 165.7023 120.4833 150.1697 164.1105 121.6075 150.2231 163.5753 121.7412 150.2231 162.8665 121.1735 150.1697 162.8835 122.0366 150.2231 162.3366 122.2702 150.2231 161.6153 121.8098 150.1697 160.1382 123.923 150.2231 159.5095 123.5603 150.1697 160.7731 123.3595 150.2231 160.4932 122.6122 150.1697 161.1715 123.0059 150.2231 161.769 122.6286 150.2231 157.2262 128.4201 150.1697 157.5266 127.0857 150.1697 158.0722 127.5872 150.2231 158.5703 126.2262 150.2231 158.5525 126.2578 150.2231 158.152 127.3662 150.2231 160.1138 123.9486 150.2231 159.9021 124.2119 150.2231 159.2395 125.0362 150.2231 157.8954 128.5622 150.2231 157.8177 128.9905 150.2231 157.1239 129.8 150.1697 164.2783 119.9897 150.0153 162.792 120.455 150.0153 162.735 120.1383 149.9029 164.24 119.3697 149.7684 165.8756 119.1228 149.7684 165.8694 119.4207 149.9029 167.469 119.3923 149.9029 167.4134 119.7171 150.0153 168.6889 120.4617 150.1697 174.21 121.3 150.2231 186.4567 121.3 150.2231 167.4976 119.0943 149.7684 168.9941 119.4113 149.9029 174.7147 119.5124 149.9029 186.7428 119.6645 149.9029 198.7792 120.0216 150.0153 168.3006 121.3 150.2231 167.208 120.4502 150.1697 165.8405 119.7462 150.0153 164.2674 119.6659 149.9029 162.6678 119.8488 149.7684 158.563 122.3448 149.6129 159.7607 121.2289 149.6129 159.909 121.4593 149.7684 161.2212 120.5524 149.7684 160.0581 121.712 149.9029 161.3294 120.8275 149.9029 160.2064 121.9878 150.0153 161.4324 121.1282 150.0153 158.2115 124.1798 150.0153 157.4789 125.4678 150.0153 156.9706 125.1729 149.7684 157.5459 123.6262 149.6129 158.7467 122.5475 149.7684 157.761 123.7944 149.7684 158.9348 122.7697 149.9029 161.1098 120.3017 149.6129 156.8927 124.1851 149.4374 157.3403 124.4689 149.7684 159.1257 123.012 150.0153 156.3919 126.654 149.7684 155.8869 126.4913 149.4374 156.6538 125.9025 149.7684 156.1643 125.6983 149.4374 186.7948 118.8478 149.4374 168.9376 117.9912 148.8019 168.8808 117.8352 148.5573 174.7716 117.8994 148.5573 174.7567 117.7526 148.298 186.7858 117.8311 148.298 186.7804 117.6867 148.0252 198.7792 117.7117 148.0252 198.7792 117.5819 147.7398 167.3532 117.9794 148.8019 167.29 117.8258 148.5573 160.9974 120.0746 149.4374 160.8857 119.8701 149.2431 161.7381 119.6821 149.4374 161.6407 119.4721 149.2431 162.5122 119.3471 149.4374 162.4282 119.1329 149.2431 164.1465 118.8566 149.4374 164.0857 118.6378 149.2431 165.8323 118.6059 149.4374 165.7889 118.3852 149.2431 167.4874 118.5757 149.4374 167.4552 118.3535 149.2431 169.0469 118.5936 149.4374 169.024 118.3698 149.2431 174.7997 118.4648 149.2431 174.7954 118.2554 149.0309 186.7995 118.3854 149.0309 186.7965 118.1812 148.802 198.7792 118.0356 148.5573 156.5003 124.9281 149.4374 156.0786 124.7292 149.0309 156.4899 123.9539 149.0309 156.9581 123.2118 149.0309 157.4804 122.5075 149.0309 159.2113 120.5116 148.8019 159.8181 119.8521 148.5573 160.6727 119.525 148.8019 160.5753 119.3825 148.5573 161.4509 119.1183 148.8019 161.3627 118.9726 148.5573 162.2593 118.7728 148.8019 155.716 124.572 148.5573 156.1427 123.7707 148.5573 156.7862 123.1015 148.8019 156.6286 123.0041 148.5573 157.3188 122.3853 148.8019 157.1706 122.2773 148.5573 157.9031 121.7121 148.8019 157.7648 121.5947 148.5573 158.5354 121.0864 148.8019 158.4074 120.9607 148.5573 159.0937 120.379 148.5573 164.6776 117.8314 148.298 163.8788 118.1202 148.5573 163.8107 117.9908 148.298 167.1561 117.5821 148.0252 165.4763 117.6226 148.0252 164.6138 117.7216 148.0252 168.8194 117.7006 148.298 174.7427 117.6265 148.0252 186.7766 117.5639 147.7398 198.7792 117.4752 147.443 222.8318 117.4361 147.443 222.8295 117.3717 147.1358 174.7265 117.4361 147.443 168.6961 117.4926 147.7398 167.2232 117.6937 148.298 168.7567 117.5866 148.0252 174.7319 117.521 147.7398 186.7757 117.4634 147.443 198.7792 117.3927 147.1358 155.9935 123.6957 148.298 156.4869 122.9189 148.298 157.0372 122.1828 148.298 157.6403 121.4919 148.298 158.292 120.8509 148.298 158.9874 120.2633 148.298 159.7208 119.7318 148.298 160.4867 119.2587 148.298 161.2818 118.8465 148.298 155.5602 124.5077 148.298 155.8622 123.6308 148.0252 156.3623 122.8452 148.0252 156.9201 122.101 148.0252 157.5311 121.4031 148.0252 158.1909 120.7561 148.0252 158.8943 120.1637 148.0252 159.6355 119.6285 148.0252 160.4087 119.1528 148.0252 161.2102 118.7388 148.0252 162.8856 118.103 148.0252 162.9498 118.2122 148.298 163.0204 118.3411 148.5573 163.9492 118.2705 148.8019 165.6737 118.0146 148.8019 156.0383 128.2061 149.7684 155.4195 128.9603 149.4374 155.5135 128.1266 149.4374 155.6695 127.3023 149.4374 157.8075 129.8003 150.2231 157.8 130.3961 150.2231 157.2262 131.1799 150.1697 157.8984 131.038 150.2231 158.0107 131.7709 150.2231 159.1611 134.4287 150.2231 159.8903 135.3978 150.2231 159.5095 136.0397 150.1697 160.7693 136.2723 150.2231 161.7626 136.983 150.2231 161.6153 137.7902 150.1697 158.1611 132.2313 150.2231 158.4412 133.0885 150.2231 158.5855 133.366 150.2231 159.0869 134.3302 150.2231 156.6124 131.2966 150.0153 156.5008 129.8 150.0153 156.6124 128.3034 150.0153 156.9418 126.8511 150.0153 164.6369 138.1408 150.2231 165.4395 138.234 150.2231 165.7023 139.1167 150.1697 165.9562 138.294 150.2231 159.9349 135.457 150.2231 160.4932 136.9878 150.1697 161.4324 138.4718 150.0154 162.792 139.1451 150.0154 156.6538 133.6975 149.7684 156.1643 133.9017 149.4374 156.3919 132.946 149.7684 155.5135 131.4734 149.4374 156.0383 131.3939 149.7684 155.6695 132.2977 149.4374 155.8869 133.1087 149.4374 166.2792 138.3 150.2231 166.855 138.3 150.2231 167.208 139.1498 150.1697 168.6889 139.1383 150.1697 168.9249 139.8653 150.0154 174.6566 139.7729 150.0154 168.3006 138.3 150.2231 174.21 138.3 150.2231 174.4806 139.0792 150.1697 186.4567 138.3 150.2231 186.6082 138.9905 150.1697 198.7792 138.3 150.2231 198.7792 138.9553 150.1697 198.7792 139.5785 150.0154 186.7428 139.9356 149.9029 186.7087 139.6337 150.0154 174.7147 140.0877 149.9029 168.9941 140.1888 149.9029 167.4134 139.8829 150.0154 198.7792 140.1604 149.7685 186.7846 140.4959 149.613 186.7677 140.2233 149.7685 174.7822 140.6538 149.6129 174.7558 140.3813 149.7684 169.0518 140.7587 149.6129 169.0353 140.4864 149.7684 167.4976 140.5057 149.7684 167.469 140.2078 149.9029 165.8694 140.1793 149.9029 165.8405 139.8538 150.0154 164.2783 139.6103 150.0154 155.7268 125.5329 149.0309 155.4367 126.36 149.0309 155.2097 127.2053 149.0309 155.0471 128.0632 149.0309 154.9494 128.9295 149.0309 154.9169 129.8 149.0309 154.9494 130.6705 149.0309 155.0471 131.5368 149.0309 159.3386 138.9381 149.0309 158.6744 138.3712 149.0309 158.0537 137.7549 149.0309 157.4804 137.0926 149.0309 156.0786 134.8708 149.0309 155.7268 134.0671 149.0309 155.4367 133.24 149.0309 154.8163 127.1298 148.5573 154.6486 128.0144 148.5573 154.5482 128.906 148.5573 154.5147 129.8 148.5573 154.5482 130.694 148.5573 154.6486 131.5856 148.5573 154.8163 132.4703 148.5573 161.3627 140.6275 148.5574 160.5753 140.2176 148.5574 160.6727 140.0751 148.802 159.2113 139.0885 148.802 159.8181 139.748 148.5574 159.0937 139.2211 148.5574 158.5354 138.5137 148.802 158.4074 138.6393 148.5574 157.9031 137.8879 148.802 157.7648 138.0054 148.5573 157.3188 137.2148 148.802 157.1706 137.3228 148.5573 156.7862 136.4985 148.802 156.6286 136.5959 148.5573 156.1427 135.8293 148.5573 155.716 135.028 148.5573 155.3513 134.1974 148.5573 161.8344 139.6844 149.6129 162.5928 140.0146 149.6129 162.5122 140.253 149.4375 164.1465 140.7435 149.4375 164.0857 140.9623 149.2431 165.7889 141.2149 149.2431 165.735 141.4118 149.0309 167.4093 141.4452 149.031 186.7948 140.7526 149.4375 174.7997 141.1355 149.2431 174.7961 140.9052 149.4375 169.024 141.2304 149.2431 169.0469 141.0065 149.4375 167.4874 141.0244 149.4375 167.5027 140.7777 149.6129 165.8623 140.7486 149.6129 165.8756 140.4773 149.7684 164.24 140.2304 149.7684 164.2674 139.9342 149.9029 162.735 139.4617 149.9029 161.3294 138.7725 149.9029 168.9864 141.431 149.031 167.4552 141.2467 149.2431 165.8323 140.9942 149.4375 164.1988 140.4998 149.6129 162.6678 139.7512 149.7684 161.2212 139.0477 149.7684 154.7396 126.1799 148.0252 154.4989 127.0735 148.0252 154.3273 127.9784 148.0252 154.2248 128.889 148.0252 154.1908 129.8 148.0252 154.2248 130.711 148.0252 154.3273 131.6216 148.0252 154.4989 132.5265 148.0252 154.7396 133.4201 148.0252 155.2097 132.3948 149.0309 155.0509 133.3428 148.5573 155.19 134.2504 148.298 155.5602 135.0923 148.2981 155.9935 135.9044 148.2981 156.4869 136.6811 148.2981 157.0372 137.4173 148.2981 157.6403 138.1081 148.2981 158.292 138.7492 148.2981 158.9874 139.3367 148.2981 159.7208 139.8683 148.2981 160.4867 140.3414 148.2981 161.2818 140.7536 148.2981 155.0481 134.296 148.0252 155.4231 135.1477 148.0252 155.8622 135.9692 148.0252 156.3623 136.7548 148.0252 156.9201 137.499 148.0252 157.5311 138.1969 148.0252 158.1909 138.844 148.0252 158.8943 139.4364 148.0252 159.6355 139.9716 148.0252 160.4087 140.4473 148.0252 161.2102 140.8613 148.0252 162.0372 141.2117 148.0252 162.104 141.103 148.2981 162.1788 140.9752 148.5574 161.4509 140.4818 148.802 160.7768 139.9129 149.0309 159.4738 138.769 149.2431 158.3852 137.4394 149.4375 157.5459 135.9739 149.6129 157.3403 135.1311 149.7684 164.5074 142.0413 147.4431 163.6456 141.8821 147.4431 163.7473 141.7189 148.0253 162.8856 141.4971 148.0252 163.8107 141.6094 148.2981 162.9498 141.3879 148.2981 163.8788 141.4799 148.5574 163.0204 141.2591 148.5574 162.2593 140.8273 148.802 166.9299 142.2999 146.2731 166.9507 142.2746 146.8194 165.364 142.1402 147.4431 165.4763 141.9776 148.0253 164.6138 141.8785 148.0253 165.5413 141.8675 148.2981 164.6776 141.7688 148.2981 165.6082 141.7372 148.5574 164.7446 141.6389 148.5574 163.9492 141.3296 148.802 157.761 135.8056 149.7684 158.563 137.2552 149.6129 159.615 138.5803 149.4375 160.8857 139.73 149.2431 161.5443 140.3156 149.0309 162.7862 141.6609 147.4431 159.1257 136.588 150.0154 158.9348 136.8303 149.9029 158.7467 137.0525 149.7684 159.7607 138.3712 149.6129 160.9974 139.5255 149.4375 161.6407 140.128 149.2431 162.3432 140.6583 149.0309 161.9365 141.3757 147.4431 161.1502 140.9515 147.7399 160.3435 140.5364 147.7399 159.564 140.0589 147.7399 158.8161 139.5208 147.7399 158.1058 138.9246 147.7399 157.4389 138.2726 147.7399 156.8208 137.5687 147.7398 156.2565 136.8177 147.7398 155.7504 136.0245 147.7398 155.3061 135.1948 147.7398 154.9267 134.3347 147.7398 154.6148 133.4502 147.7398 154.3718 132.5482 147.7398 154.1986 131.6352 147.7398 154.0953 130.7173 147.7398 154.0611 129.8 147.7398 154.0953 128.8827 147.7398 154.1986 127.9648 147.7398 154.3718 127.0518 147.7398 154.6148 126.1498 147.7398 154.9267 125.2654 147.7398 155.3061 124.4052 147.7398 155.7504 123.5755 147.7398 156.2565 122.7823 147.7398 156.8208 122.0313 147.7398 157.4389 121.3274 147.7398 158.1058 120.6755 147.7398 158.8161 120.0792 147.7398 159.564 119.5412 147.7398 160.3435 119.0637 147.7398 161.1502 118.6486 147.7398 162.0372 118.3885 148.0252 162.104 118.4972 148.298 162.1788 118.6249 148.5573 174.7716 141.701 148.5574 174.7853 141.5334 148.8021 174.7954 141.3449 149.031 186.7915 141.6044 148.5575 186.7965 141.4194 148.8021 186.7995 141.2152 149.031 186.7993 140.9926 149.2432 174.7319 142.0794 147.74 174.7427 141.9739 148.0253 168.6961 142.1076 147.7399 168.7567 142.0137 148.0253 167.1561 142.0181 148.0253 174.7567 141.8478 148.2982 198.7792 140.6916 149.4375 198.7792 141.1629 149.031 198.7792 141.5652 148.5575 160.2064 137.6122 150.0154 160.0581 137.888 149.9029 159.909 138.1407 149.7684 161.1098 139.2984 149.6129 161.7381 139.9179 149.4375 162.4282 140.4672 149.2431 164.019 141.1574 149.0309 165.6737 141.5855 148.802 210.9501 138.9905 150.1697 214.616 138.3 150.2231 223.0777 139.0792 150.1697 223.3484 138.3 150.2231 228.8694 139.1383 150.1697 229.2578 138.3 150.2231 230.3503 139.1498 150.1697 230.7033 138.3 150.2231 231.2792 138.3 150.2231 231.7179 139.8538 150.0154 230.145 139.8829 150.0154 228.6335 139.8653 150.0154 222.9017 139.7729 150.0154 210.8497 139.6337 150.0154 222.8437 140.0877 149.9029 210.8156 139.9356 149.9029 210.7907 140.2233 149.7685 234.0824 139.7205 149.8964 233.291 139.9342 149.9029 231.689 140.1793 149.9029 231.6827 140.4773 149.7684 230.0894 140.2078 149.9029 230.0607 140.5057 149.7684 228.5642 140.1888 149.9029 228.5231 140.4864 149.7684 222.8026 140.3813 149.7684 210.7737 140.4959 149.613 231.2792 121.3 150.2231 230.3503 120.4502 150.1697 230.145 119.7171 150.0153 228.6335 119.7347 150.0153 228.5642 119.4113 149.9029 198.7792 120.6447 150.1697 198.7792 121.3 150.2231 210.9501 120.6095 150.1697 223.3484 121.3 150.2231 223.0777 120.5208 150.1697 229.2578 121.3 150.2231 228.8694 120.4617 150.1697 230.7033 121.3 150.2231 231.689 119.4207 149.9029 233.291 119.6659 149.9029 233.28 119.9897 150.0153 231.7179 119.7462 150.0153 230.0894 119.3923 149.9029 228.5231 119.1137 149.7684 231.6961 118.8515 149.6129 233.3595 119.1003 149.6129 234.0824 119.29 149.6061 234.0824 119.0108 149.4262 233.4119 118.8566 149.4374 231.726 118.6059 149.4374 230.0709 118.5757 149.4374 210.8156 119.6645 149.9029 210.8497 119.9664 150.0153 222.8437 119.5124 149.9029 222.9017 119.8272 150.0153 230.0607 119.0943 149.7684 228.5066 118.8414 149.6129 222.7762 118.9464 149.6129 222.7623 118.695 149.4374 210.7737 119.1044 149.6129 210.7636 118.8478 149.4374 210.7907 119.3769 149.7684 222.8026 119.2188 149.7684 222.763 141.3449 149.031 210.7588 141.2152 149.031 222.7586 141.1355 149.2431 210.759 140.9926 149.2432 222.7623 140.9052 149.4375 210.7636 140.7526 149.4375 222.7762 140.6538 149.6129 228.6208 141.609 148.802 228.5719 141.431 149.031 228.5344 141.2304 149.2431 228.5115 141.0065 149.4375 228.5066 140.7587 149.6129 230.2683 141.7744 148.5574 230.2052 141.6208 148.802 230.149 141.4452 149.031 230.1031 141.2467 149.2431 230.0709 141.0244 149.4375 230.0557 140.7777 149.6129 232.8137 141.6389 148.5574 230.3351 141.9065 148.2981 231.9502 141.7372 148.5574 231.8846 141.5855 148.802 231.8234 141.4118 149.0309 231.7695 141.2149 149.2431 231.726 140.9942 149.4375 231.6961 140.7486 149.6129 210.7668 141.6044 148.5575 222.7867 141.701 148.5574 222.8017 141.8478 148.2982 222.8157 141.9739 148.0253 232.017 141.8675 148.2981 232.8808 141.7688 148.2981 233.7477 141.6094 148.2981 234.0824 141.5671 148.2252 230.4023 142.0181 148.0253 232.082 141.9776 148.0253 232.9446 141.8785 148.0253 228.9174 142.1822 147.4431 228.8623 142.1076 147.7399 228.8017 142.0137 148.0253 228.739 141.8997 148.2981 228.6776 141.765 148.5574 222.7731 141.5334 148.8021 210.7618 141.4194 148.8021 231.7695 118.3852 149.2431 230.1031 118.3535 149.2431 228.5344 118.3698 149.2431 228.6208 117.9912 148.8019 228.6776 117.8352 148.5573 230.2052 117.9794 148.8019 230.2683 117.8258 148.5573 231.8846 118.0146 148.8019 231.8234 118.1884 149.0309 230.149 118.155 149.0309 228.5719 118.1692 149.0309 222.763 118.2554 149.0309 231.6827 119.1228 149.7684 230.0557 118.8224 149.6129 228.5115 118.5936 149.4374 222.7586 118.4648 149.2431 210.759 118.6078 149.2431 234.0824 120.0734 149.9728 161.8344 119.9157 149.6129 162.5928 119.5854 149.6129 164.1988 119.1003 149.6129 165.8623 118.8515 149.6129 167.5027 118.8224 149.6129 169.0518 118.8414 149.6129 174.7961 118.695 149.4374 186.7993 118.6078 149.2431 198.7792 118.4377 149.0309 210.7588 118.3854 149.0309 210.7618 118.1812 148.802 222.7731 118.067 148.8019 222.7867 117.8994 148.5573 232.8808 117.8314 148.298 231.9502 117.863 148.5573 232.017 117.7326 148.298 232.9446 117.7216 148.0252 233.051 117.5589 147.443 228.739 117.7006 148.298 230.3351 117.6937 148.298 230.4023 117.5821 148.0252 228.8623 117.4926 147.7398 228.8017 117.5866 148.0252 222.8157 117.6265 148.0252 222.8017 117.7526 148.298 210.7726 117.8311 148.298 210.7668 117.9962 148.5573 158.0537 121.8451 149.0309 158.6744 121.2288 149.0309 159.3386 120.662 149.0309 160.7768 119.6872 149.0309 161.5443 119.2844 149.0309 162.3432 118.9418 149.0309 164.019 118.4427 149.0309 165.735 118.1884 149.0309 167.4093 118.155 149.0309 168.9864 118.1692 149.0309 174.7853 118.067 148.8019 186.7915 117.9962 148.5573 198.7792 117.8633 148.298 210.7779 117.6867 148.0252 222.8264 117.521 147.7398 228.9174 117.4181 147.443 234.0824 118.2205 148.5541 175.0482 130.0171 150.2231 175.0292 129.8 150.2231 222.5102 130.0171 150.2231 222.5292 129.8 150.2231 222.5102 129.5829 150.2231 222.4538 129.3725 150.2231 222.3617 129.175 150.2231 175.0482 129.5829 150.2231 220.1046 129.3725 150.2231 220.0482 129.5829 150.2231 177.5292 129.8 150.2231 220.0292 129.8 150.2231 177.5102 130.0171 150.2231 220.0482 130.0171 150.2231 220.1046 130.2275 150.2231 222.2367 128.9965 150.2231 221.4962 128.569 150.2231 221.2792 128.55 150.2231 220.4757 128.8424 150.2231 220.3216 128.9965 150.2231 177.5102 129.5829 150.2231 177.4538 129.3725 150.2231 177.3617 129.175 150.2231 177.2367 128.9965 150.2231 177.0827 128.8424 150.2231 175.1046 129.3725 150.2231 176.9042 130.8825 150.2231 177.0827 130.7575 150.2231 177.2367 130.6035 150.2231 177.3617 130.425 150.2231 177.4538 130.2275 150.2231 220.3216 130.6035 150.2231 220.4757 130.7575 150.2231 222.0827 128.8424 150.2231 221.9042 128.7175 150.2231 221.7067 128.6254 150.2231 220.1967 129.175 150.2231 175.4757 128.8424 150.2231 175.3216 128.9965 150.2231 175.1967 129.175 150.2231 175.1046 130.2275 150.2231 220.1967 130.425 150.2231 222.0827 130.7575 150.2231 222.2367 130.6035 150.2231 222.3617 130.425 150.2231 222.4538 130.2275 150.2231 221.0621 128.569 150.2231 220.8516 128.6254 150.2231 220.6542 128.7175 150.2231 176.9042 128.7175 150.2231 176.7067 128.6254 150.2231 176.4962 128.569 150.2231 176.2792 128.55 150.2231 175.3216 130.6035 150.2231 175.1967 130.425 150.2231 221.2792 131.05 150.2231 221.4962 131.031 150.2231 221.7067 130.9746 150.2231 221.9042 130.8825 150.2231 220.6542 130.8825 150.2231 220.8516 130.9746 150.2231 221.0621 131.031 150.2231 176.0621 128.569 150.2231 175.8516 128.6254 150.2231 175.6542 128.7175 150.2231 175.4757 130.7575 150.2231 175.6542 130.8825 150.2231 175.8516 130.9746 150.2231 176.0621 131.031 150.2231 176.2792 131.05 150.2231 176.4962 131.031 150.2231 176.7067 130.9746 150.2231 177.5102 129.5829 146.2731 177.5292 129.8 146.2731 189.583 129.8 146.2731 176.9042 128.7175 146.2731 177.0827 128.8424 146.2731 177.2367 128.9965 146.2731 222.5102 129.5829 146.2731 222.5292 129.8 146.2731 177.3617 129.175 146.2731 177.4538 129.3725 146.2731 221.0621 131.031 146.2731 220.8516 130.9746 146.2731 207.6818 129.8 146.2731 220.6542 130.8825 146.2731 220.4757 130.7575 146.2731 175.0482 130.0171 146.2731 220.3216 130.6035 146.2731 220.1967 130.425 146.2731 220.1046 130.2275 146.2731 189.6831 129.8 146.2731 176.4962 128.569 146.2731 176.7067 128.6254 146.2731 175.0292 129.8 146.2731 175.1046 129.3725 146.2731 175.0482 129.5829 146.2731 175.1967 130.425 146.2731 194.2958 129.8 146.2731 176.2792 128.55 146.2731 221.2792 131.05 146.2731 175.1046 130.2275 146.2731 175.8516 128.6254 146.2731 176.0621 128.569 146.2731 177.2367 130.6035 146.2731 177.0827 130.7575 146.2731 176.2792 131.05 146.2731 175.3216 130.6035 146.2731 175.3216 128.9965 146.2731 175.4757 128.8424 146.2731 220.0482 129.5829 146.2731 220.0292 129.8 146.2731 220.0482 130.0171 146.2731 222.0827 128.8424 146.2731 222.2367 128.9965 146.2731 222.5102 130.0171 146.2731 222.4538 130.2275 146.2731 222.3617 130.425 146.2731 176.9042 130.8825 146.2731 176.7067 130.9746 146.2731 176.4962 131.031 146.2731 176.0621 131.031 146.2731 175.8516 130.9746 146.2731 175.6542 130.8825 146.2731 175.4757 130.7575 146.2731 175.1967 129.175 146.2731 220.1967 129.175 146.2731 220.1046 129.3725 146.2731 220.3216 128.9965 146.2731 220.4757 128.8424 146.2731 220.6542 128.7175 146.2731 220.8516 128.6254 146.2731 221.0621 128.569 146.2731 222.3617 129.175 146.2731 222.4538 129.3725 146.2731 222.2367 130.6035 146.2731 222.0827 130.7575 146.2731 175.6542 128.7175 146.2731 221.4962 131.031 146.2731 221.7067 130.9746 146.2731 221.9042 130.8825 146.2731 177.5102 130.0171 146.2731 177.4538 130.2275 146.2731 177.3617 130.425 146.2731 221.2792 128.55 146.2731 221.4962 128.569 146.2731 221.7067 128.6254 146.2731 221.9042 128.7175 146.2731 194.2891 129.8 146.2426 207.6431 129.8 146.6228 207.5528 129.8 146.5617 207.5451 129.8 146.9607 207.4648 129.8 146.89 207.3909 129.8 147.2768 207.3212 129.8 147.1981 207.1848 129.8 147.562 207.1262 129.8 147.4765 206.933 129.8 147.8077 206.8858 129.8 147.7169 206.6429 129.8 148.0067 206.6074 129.8 147.9118 206.3231 129.8 148.1532 206.2993 129.8 148.0555 205.9829 129.8 148.2429 205.971 129.8 148.1435 205.6324 129.8 148.2731 205.6324 129.8 148.1731 191.6324 129.8 148.2731 191.6324 129.8 148.1731 191.2819 129.8 148.2429 191.3115 129.8 148.1465 190.9417 129.8 148.1532 190.9992 129.8 148.0674 190.6219 129.8 148.0067 190.7043 129.8 147.9381 190.3318 129.8 147.8077 190.4347 129.8 147.7619 190.08 129.8 147.562 190.1977 129.8 147.5438 189.874 129.8 147.2768 189.9999 129.8 147.2897 189.7197 129.8 146.9607 189.8466 129.8 147.0064 189.6217 129.8 146.6228 189.7421 129.8 146.7018 189.6891 129.8 146.3841 206.2993 129.8 144.3907 207.5528 129.8 145.8845 207.3212 129.8 145.2481 207.4648 129.8 145.5562 207.1262 129.8 144.9697 206.8858 129.8 144.7293 206.6074 129.8 144.5343 205.971 129.8 144.3027 205.6324 129.8 144.2731 207.6431 129.8 145.8234 207.5451 129.8 145.4855 207.3909 129.8 145.1694 207.1848 129.8 144.8842 206.933 129.8 144.6385 206.6429 129.8 144.4395 206.3231 129.8 144.2929 205.9829 129.8 144.2033 205.6324 129.8 144.1731 202.8292 129.8 144.1731 194.3072 129.8 146.3099 194.4259 129.8 146.4795 194.4831 129.8 146.5195 195.0589 129.8 146.3099 194.3766 129.8 146.4302 194.5462 129.8 146.549 194.6136 129.8 146.567 194.6831 129.8 146.5731 194.7525 129.8 146.567 194.8199 129.8 146.549 194.8831 129.8 146.5195 194.9402 129.8 146.4795 194.9895 129.8 146.4302 195.0295 129.8 146.3731 194.3366 129.8 146.3731 194.2891 129.8 146.1036 194.3366 129.8 145.9731 194.3072 129.8 146.0363 194.4259 129.8 145.8667 194.3766 129.8 145.916 194.5462 129.8 145.7972 194.4831 129.8 145.8267 194.6136 129.8 145.7792 194.6831 129.8 145.7731 194.7292 129.8 145.7758 194.7525 129.8 145.7792 194.8199 129.8 145.7972 228.0938 117.4554 138.6434 228.117 117.4436 138.7732 228.119 117.3 138.7728 228.3165 117.3414 139.8907 228.3942 117.3 140.3982 227.7612 117.6164 137.1231 227.775 117.3 137.1867 227.7612 117.3 137.1231 227.6299 117.6678 136.7112 227.6189 117.3 136.6839 227.6171 117.6712 136.6848 227.4422 117.7177 136.3247 227.4109 117.3 136.2717 227.4101 117.7247 136.2722 227.3617 117.7351 136.1933 227.1421 117.3 135.8964 227.1421 117.775 135.8964 226.5684 117.8624 135.2131 226.4719 117.3 135.0981 225.9949 117.9533 134.5301 225.9949 117.3 134.5301 225.8835 117.9725 134.4169 225.8717 117.3 134.4069 225.871 117.9741 134.4078 225.7577 117.9883 134.3242 225.7289 117.3 134.307 225.74 117.9902 134.3135 225.571 117.3 134.2334 225.5982 118.002 134.2437 225.7285 117.9911 134.3078 225.4025 118.011 134.1899 225.4269 118.0105 134.1929 225.4027 117.3 134.1883 225.4497 118.0097 134.1977 225.5704 118.0035 134.2351 225.2725 118.0134 134.174 225.2291 117.3 134.1731 225.2291 118.0135 134.1731 188.2824 117.3 134.1731 185.2824 117.3 134.1731 185.495 117.9992 134.1731 173.2824 117.3 134.1731 172.3293 117.3 134.1731 172.3293 118.0135 134.1731 224.2824 117.3 134.1731 212.2824 117.3 134.1731 209.2824 117.3 134.1731 208.1106 117.993 134.1731 198.7824 117.3 134.1731 191.2824 117.3 134.1731 215.2824 117.3 134.1731 219.5229 118.0032 134.1731 218.2824 117.3 134.1731 221.2824 117.3 134.1731 182.2824 117.3 134.1731 179.2824 117.3 134.1731 176.2824 117.3 134.1731 172.172 118.0117 134.1855 172.1557 117.3 134.1883 172.1559 118.0111 134.1894 172.0209 118.0057 134.2218 171.9873 117.3 134.2334 172.0007 118.0046 134.2286 171.8294 117.3 134.307 171.8556 117.9938 134.2924 171.9878 118.0036 134.2343 171.7092 117.9774 134.3886 171.7243 117.9794 134.3769 171.8304 117.991 134.3086 171.6879 117.974 134.4083 171.6867 117.3 134.4069 171.5939 117.9592 134.4954 171.5634 117.3 134.5301 171.5634 117.9533 134.5301 170.99 117.8624 135.2131 171.0865 117.3 135.0981 170.4163 117.775 135.8964 170.4163 117.3 135.8964 170.1628 117.728 136.2466 170.1475 117.3 136.2717 170.1492 117.7247 136.2726 169.9635 117.6785 136.6273 169.9395 117.3 136.6839 169.9404 117.6712 136.6843 169.9054 117.6603 136.7704 169.7972 117.3 137.1231 169.7972 117.6164 137.1231 169.4645 117.4554 138.6434 169.4393 117.3 138.7728 169.1642 117.3 140.3982 169.2418 117.3414 139.8907 169.4414 117.4436 138.7732 224.2824 117.3 135.0981 193.0389 117.3 143.4779 193.1574 117.3 143.4226 192.0438 117.3 136.6429 191.2824 117.3 135.0981 192.0776 117.3 136.5166 192.1329 117.3 136.3981 192.5259 117.3 143.4779 192.4074 117.3 143.4226 192.3003 117.3 143.3476 192.6522 117.3 143.5117 192.7824 117.3 143.5231 192.9126 117.3 143.5117 192.0776 117.3 143.0296 192.1329 117.3 143.1481 192.2079 117.3 143.2552 193.2645 117.3 143.3476 193.3569 117.3 143.2552 193.4319 117.3 143.1481 193.3569 117.3 136.291 193.2645 117.3 136.1986 198.7824 117.3 135.0981 193.1574 117.3 136.1236 193.0389 117.3 136.0683 192.9126 117.3 136.0345 192.7824 117.3 136.0231 193.4319 117.3 136.3981 198.7792 117.3 136.1231 193.4872 117.3 136.5166 198.0759 117.3 136.1846 193.521 117.3 136.6429 197.394 117.3 136.3673 196.7542 117.3 136.6657 192.0324 117.3 136.7731 192.0324 117.3 142.7731 192.0438 117.3 142.9033 195.2718 117.3 138.1481 193.5324 117.3 136.7731 195.6767 117.3 137.5698 196.1759 117.3 137.0706 194.9734 117.3 138.7879 194.7907 117.3 139.4698 193.5324 117.3 142.7731 194.7292 117.3 140.1731 193.521 117.3 142.9033 193.4872 117.3 143.0296 192.6522 117.3 136.0345 192.5259 117.3 136.0683 192.4074 117.3 136.1236 192.3003 117.3 136.1986 192.2079 117.3 136.291 207.3003 117.3 143.3476 207.4074 117.3 143.4226 207.5259 117.3 143.4779 205.2645 117.3 143.3476 207.0324 117.3 142.7731 205.1574 117.3 143.4226 205.0389 117.3 143.4779 204.6522 117.3 143.5117 204.7824 117.3 143.5231 204.9126 117.3 143.5117 205.3569 117.3 143.2552 205.4319 117.3 143.1481 205.4872 117.3 143.0296 207.6522 117.3 143.5117 207.7824 117.3 143.5231 207.9127 117.3 143.5117 207.0438 117.3 142.9033 207.0776 117.3 143.0296 207.1329 117.3 143.1481 207.2079 117.3 143.2552 208.0389 117.3 143.4779 208.1574 117.3 143.4226 208.2645 117.3 143.3476 207.1329 117.3 136.3981 207.0776 117.3 136.5166 205.4872 117.3 136.5166 207.0438 117.3 136.6429 208.3569 117.3 143.2552 208.4319 117.3 143.1481 208.4872 117.3 143.0296 205.3569 117.3 136.291 209.2824 117.3 135.0981 205.4319 117.3 136.3981 204.0776 117.3 143.0296 204.1329 117.3 143.1481 204.2079 117.3 143.2552 204.3003 117.3 143.3476 204.5259 117.3 136.0683 204.4074 117.3 136.1236 204.3003 117.3 136.1986 204.2079 117.3 136.291 200.1644 117.3 136.3673 199.4824 117.3 136.1846 198.7824 117.3 136.1234 204.4074 117.3 143.4226 204.5259 117.3 143.4779 205.2645 117.3 136.1986 205.1574 117.3 136.1236 205.0389 117.3 136.0683 204.9126 117.3 136.0345 204.7824 117.3 136.0231 204.6522 117.3 136.0345 202.7677 117.3 139.4698 204.0324 117.3 136.7731 202.8292 117.3 140.1731 204.0324 117.3 142.7731 204.0438 117.3 142.9033 204.1329 117.3 136.3981 204.0776 117.3 136.5166 200.8042 117.3 136.6657 208.521 117.3 136.6429 208.4872 117.3 136.5166 208.4319 117.3 136.3981 208.3569 117.3 136.291 207.4074 117.3 136.1236 207.3003 117.3 136.1986 207.2079 117.3 136.291 202.5849 117.3 138.7879 202.2866 117.3 138.1481 204.0438 117.3 136.6429 201.8816 117.3 137.5698 201.3825 117.3 137.0706 208.2645 117.3 136.1986 208.1574 117.3 136.1236 208.0389 117.3 136.0683 207.5259 117.3 136.0683 207.6522 117.3 136.0345 208.521 117.3 142.9033 208.5324 117.3 142.7731 208.5324 117.3 136.7731 207.9127 117.3 136.0345 207.7824 117.3 136.0231 205.521 117.3 142.9033 205.5324 117.3 142.7731 207.0324 117.3 136.7731 205.5324 117.3 136.7731 205.521 117.3 136.6429 228.4656 117.3 140.8931 228.4686 117.3 140.9156 228.5346 117.3 141.4202 228.5445 117.3 141.4956 228.8899 117.3 144.5591 228.8614 117.3 144.2671 228.8271 117.3 143.9167 228.928 117.3 144.9475 228.9453 117.3 145.1911 228.9698 117.3 145.5354 228.9891 117.3 145.8071 229.0045 117.3 146.023 228.6204 117.3 142.0756 228.6964 117.3 142.656 228.7027 117.3 142.7039 228.7252 117.3 142.8763 228.7642 117.3 143.2746 225.9127 117.3 143.5117 225.7824 117.3 143.5231 225.6522 117.3 143.5117 225.1329 117.3 136.3981 225.0776 117.3 136.5166 225.0438 117.3 136.6429 226.0389 117.3 143.4779 226.1574 117.3 143.4226 226.2645 117.3 143.3476 226.5324 117.3 136.7731 226.521 117.3 136.6429 225.5259 117.3 136.0683 225.4074 117.3 136.1236 226.3569 117.3 143.2552 226.4319 117.3 143.1481 226.4872 117.3 143.0296 226.4872 117.3 136.5166 225.3003 117.3 136.1986 225.2079 117.3 136.291 225.0776 117.3 143.0296 225.1329 117.3 143.1481 225.2079 117.3 143.2552 225.3003 117.3 143.3476 225.4074 117.3 143.4226 225.5259 117.3 143.4779 226.1574 117.3 136.1236 226.0389 117.3 136.0683 225.0324 117.3 136.7731 225.0324 117.3 142.7731 225.0438 117.3 142.9033 226.4319 117.3 136.3981 226.3569 117.3 136.291 226.2645 117.3 136.1986 225.9127 117.3 136.0345 225.7824 117.3 136.0231 225.6522 117.3 136.0345 226.521 117.3 142.9033 226.5324 117.3 142.7731 173.2824 117.3 135.0981 172.521 117.3 136.6429 172.4872 117.3 136.5166 172.4319 117.3 143.1481 172.4872 117.3 143.0296 171.9127 117.3 143.5117 172.0389 117.3 143.4779 172.1574 117.3 143.4226 172.2645 117.3 143.3476 172.3569 117.3 143.2552 171.5259 117.3 136.0683 171.6522 117.3 136.0345 171.7824 117.3 136.0231 171.3003 117.3 143.3476 171.4074 117.3 143.4226 171.9127 117.3 136.0345 171.5259 117.3 143.4779 171.6522 117.3 143.5117 171.7824 117.3 143.5231 172.4319 117.3 136.3981 172.3569 117.3 136.291 172.2645 117.3 136.1986 172.1574 117.3 136.1236 172.0389 117.3 136.0683 171.1329 117.3 136.3981 171.0776 117.3 136.5166 171.0438 117.3 136.6429 171.0324 117.3 136.7731 171.0776 117.3 143.0296 168.7451 117.3 143.6808 171.0438 117.3 142.9033 168.7929 117.3 143.2837 171.0324 117.3 142.7731 171.1329 117.3 143.1481 168.6958 117.3 144.2669 168.7262 117.3 143.9048 172.521 117.3 142.9033 172.5324 117.3 142.7731 172.5324 117.3 136.7731 171.4074 117.3 136.1236 171.3003 117.3 136.1986 171.2079 117.3 136.291 171.2079 117.3 143.2552 168.6179 117.3 145.1946 168.6721 117.3 144.5494 169.0194 117.3 141.4197 169.0885 117.3 140.9317 168.5678 117.3 145.808 168.5777 117.3 145.674 168.5893 117.3 145.5354 168.8626 117.3 142.7046 168.8662 117.3 142.6749 168.9395 117.3 142.0663 169.0061 117.3 141.5135 169.013 117.3 141.4649 174.0776 117.3 143.0296 174.1329 117.3 143.1481 174.2079 117.3 143.2552 174.3003 117.3 143.3476 174.4074 117.3 143.4226 174.2079 117.3 136.291 174.1329 117.3 136.3981 174.0776 117.3 136.5166 174.0438 117.3 136.6429 174.5259 117.3 143.4779 174.6522 117.3 143.5117 174.7824 117.3 143.5231 174.9126 117.3 143.5117 175.0389 117.3 143.4779 175.1574 117.3 143.4226 175.2645 117.3 143.3476 174.6522 117.3 136.0345 174.5259 117.3 136.0683 174.0324 117.3 136.7731 174.0324 117.3 142.7731 174.0438 117.3 142.9033 174.4074 117.3 136.1236 174.3003 117.3 136.1986 175.3569 117.3 143.2552 175.4319 117.3 143.1481 175.4872 117.3 143.0296 175.521 117.3 136.6429 175.4872 117.3 136.5166 176.2824 117.3 135.0981 175.4319 117.3 136.3981 175.3569 117.3 136.291 175.2645 117.3 136.1986 175.1574 117.3 136.1236 175.0389 117.3 136.0683 174.9126 117.3 136.0345 174.7824 117.3 136.0231 175.521 117.3 142.9033 175.5324 117.3 142.7731 175.5324 117.3 136.7731 177.0776 117.3 143.0296 177.1329 117.3 143.1481 177.2079 117.3 143.2552 177.3003 117.3 143.3476 177.4074 117.3 143.4226 177.2079 117.3 136.291 177.1329 117.3 136.3981 177.0776 117.3 136.5166 177.0438 117.3 136.6429 177.5259 117.3 143.4779 177.6522 117.3 143.5117 177.7824 117.3 143.5231 177.9126 117.3 143.5117 178.0389 117.3 143.4779 178.1574 117.3 143.4226 178.2645 117.3 143.3476 177.6522 117.3 136.0345 177.5259 117.3 136.0683 177.0324 117.3 136.7731 177.0324 117.3 142.7731 177.0438 117.3 142.9033 177.4074 117.3 136.1236 177.3003 117.3 136.1986 178.3569 117.3 143.2552 178.4319 117.3 143.1481 178.4872 117.3 143.0296 178.521 117.3 136.6429 178.4872 117.3 136.5166 179.2824 117.3 135.0981 178.4319 117.3 136.3981 178.3569 117.3 136.291 178.2645 117.3 136.1986 178.1574 117.3 136.1236 178.0389 117.3 136.0683 177.9126 117.3 136.0345 177.7824 117.3 136.0231 178.521 117.3 142.9033 178.5324 117.3 142.7731 178.5324 117.3 136.7731 180.0776 117.3 143.0296 180.1329 117.3 143.1481 180.2079 117.3 143.2552 180.3003 117.3 143.3476 180.4074 117.3 143.4226 180.2079 117.3 136.291 180.1329 117.3 136.3981 180.0776 117.3 136.5166 180.0438 117.3 136.6429 180.5259 117.3 143.4779 180.6522 117.3 143.5117 180.7824 117.3 143.5231 180.9127 117.3 143.5117 181.0389 117.3 143.4779 181.1574 117.3 143.4226 181.2645 117.3 143.3476 180.6522 117.3 136.0345 180.5259 117.3 136.0683 180.0324 117.3 136.7731 180.0324 117.3 142.7731 180.0438 117.3 142.9033 180.4074 117.3 136.1236 180.3003 117.3 136.1986 181.3569 117.3 143.2552 181.4319 117.3 143.1481 181.4872 117.3 143.0296 181.521 117.3 136.6429 181.4872 117.3 136.5166 182.2824 117.3 135.0981 181.4319 117.3 136.3981 181.3569 117.3 136.291 181.2645 117.3 136.1986 181.1574 117.3 136.1236 181.0389 117.3 136.0683 180.9127 117.3 136.0345 180.7824 117.3 136.0231 181.521 117.3 142.9033 181.5324 117.3 142.7731 181.5324 117.3 136.7731 184.4319 117.3 143.1481 184.4872 117.3 143.0296 183.4074 117.3 143.4226 183.5259 117.3 143.4779 184.0389 117.3 143.4779 184.1574 117.3 143.4226 184.521 117.3 136.6429 184.4872 117.3 136.5166 185.2824 117.3 135.0981 183.0776 117.3 143.0296 183.1329 117.3 143.1481 183.6522 117.3 143.5117 183.7824 117.3 143.5231 183.9126 117.3 143.5117 184.2645 117.3 143.3476 184.3569 117.3 143.2552 183.1329 117.3 136.3981 183.0776 117.3 136.5166 183.0438 117.3 136.6429 183.2079 117.3 143.2552 183.3003 117.3 143.3476 183.7824 117.3 136.0231 183.9126 117.3 136.0345 183.6522 117.3 136.0345 183.5259 117.3 136.0683 183.4074 117.3 136.1236 183.0324 117.3 136.7731 183.0324 117.3 142.7731 183.0438 117.3 142.9033 184.521 117.3 142.9033 184.5324 117.3 142.7731 184.5324 117.3 136.7731 184.4319 117.3 136.3981 184.3569 117.3 136.291 184.2645 117.3 136.1986 184.1574 117.3 136.1236 184.0389 117.3 136.0683 183.3003 117.3 136.1986 183.2079 117.3 136.291 187.4319 117.3 143.1481 187.4872 117.3 143.0296 186.4074 117.3 143.4226 186.5259 117.3 143.4779 187.0389 117.3 143.4779 187.1574 117.3 143.4226 187.521 117.3 136.6429 187.4872 117.3 136.5166 188.2824 117.3 135.0981 186.0776 117.3 143.0296 186.1329 117.3 143.1481 186.6522 117.3 143.5117 186.7824 117.3 143.5231 186.9126 117.3 143.5117 187.2645 117.3 143.3476 187.3569 117.3 143.2552 186.9126 117.3 136.0345 186.7824 117.3 136.0231 186.1329 117.3 136.3981 186.0776 117.3 136.5166 186.0438 117.3 136.6429 186.2079 117.3 143.2552 186.3003 117.3 143.3476 186.6522 117.3 136.0345 186.5259 117.3 136.0683 186.4074 117.3 136.1236 186.0324 117.3 136.7731 186.0324 117.3 142.7731 186.0438 117.3 142.9033 187.521 117.3 142.9033 187.5324 117.3 142.7731 187.5324 117.3 136.7731 187.4319 117.3 136.3981 187.3569 117.3 136.291 187.2645 117.3 136.1986 187.1574 117.3 136.1236 187.0389 117.3 136.0683 186.3003 117.3 136.1986 186.2079 117.3 136.291 189.2079 117.3 136.291 189.1329 117.3 136.3981 189.0776 117.3 136.5166 189.0438 117.3 136.6429 189.3003 117.3 143.3476 189.4074 117.3 143.4226 189.9126 117.3 143.5117 190.0389 117.3 143.4779 190.1574 117.3 143.4226 190.2645 117.3 143.3476 189.6522 117.3 136.0345 189.5259 117.3 136.0683 189.0776 117.3 143.0296 189.1329 117.3 143.1481 189.2079 117.3 143.2552 189.5259 117.3 143.4779 189.6522 117.3 143.5117 189.7824 117.3 143.5231 189.4074 117.3 136.1236 189.3003 117.3 136.1986 190.3569 117.3 143.2552 190.4319 117.3 143.1481 190.4872 117.3 143.0296 190.521 117.3 136.6429 190.4872 117.3 136.5166 190.4319 117.3 136.3981 190.3569 117.3 136.291 190.2645 117.3 136.1986 190.1574 117.3 136.1236 190.0389 117.3 136.0683 189.9126 117.3 136.0345 189.7824 117.3 136.0231 189.0324 117.3 136.7731 189.0324 117.3 142.7731 189.0438 117.3 142.9033 190.521 117.3 142.9033 190.5324 117.3 142.7731 190.5324 117.3 136.7731 210.3003 117.3 143.3476 210.4074 117.3 143.4226 210.5259 117.3 143.4779 210.6522 117.3 143.5117 210.7824 117.3 143.5231 210.9126 117.3 143.5117 211.0389 117.3 143.4779 211.1574 117.3 143.4226 211.2645 117.3 143.3476 211.3569 117.3 143.2552 211.4319 117.3 143.1481 211.4872 117.3 143.0296 210.1329 117.3 136.3981 210.0776 117.3 136.5166 210.0438 117.3 136.6429 210.0776 117.3 143.0296 210.1329 117.3 143.1481 210.2079 117.3 143.2552 210.5259 117.3 136.0683 210.4074 117.3 136.1236 211.521 117.3 136.6429 211.4872 117.3 136.5166 212.2824 117.3 135.0981 211.4319 117.3 136.3981 211.3569 117.3 136.291 210.3003 117.3 136.1986 210.2079 117.3 136.291 211.2645 117.3 136.1986 211.1574 117.3 136.1236 211.0389 117.3 136.0683 210.0324 117.3 136.7731 210.0324 117.3 142.7731 210.0438 117.3 142.9033 211.521 117.3 142.9033 211.5324 117.3 142.7731 211.5324 117.3 136.7731 210.9126 117.3 136.0345 210.7824 117.3 136.0231 210.6522 117.3 136.0345 213.9127 117.3 143.5117 214.0389 117.3 143.4779 214.1574 117.3 143.4226 214.2645 117.3 143.3476 214.521 117.3 136.6429 214.4872 117.3 136.5166 215.2824 117.3 135.0981 214.4319 117.3 136.3981 214.3569 117.3 136.291 214.3569 117.3 143.2552 214.4319 117.3 143.1481 214.4872 117.3 143.0296 213.5259 117.3 136.0683 213.4074 117.3 136.1236 213.3003 117.3 136.1986 213.2079 117.3 136.291 213.1329 117.3 136.3981 213.0776 117.3 136.5166 213.0438 117.3 136.6429 213.3003 117.3 143.3476 213.4074 117.3 143.4226 213.5259 117.3 143.4779 213.6522 117.3 143.5117 213.7824 117.3 143.5231 213.0776 117.3 143.0296 213.1329 117.3 143.1481 213.2079 117.3 143.2552 214.521 117.3 142.9033 214.5324 117.3 142.7731 214.5324 117.3 136.7731 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142.9033 217.2645 117.3 136.1986 217.1574 117.3 136.1236 217.0389 117.3 136.0683 216.9127 117.3 136.0345 216.7824 117.3 136.0231 216.6522 117.3 136.0345 219.1329 117.3 136.3981 219.0776 117.3 136.5166 219.0438 117.3 136.6429 219.9126 117.3 143.5117 220.0389 117.3 143.4779 220.1574 117.3 143.4226 220.2645 117.3 143.3476 219.5259 117.3 136.0683 219.4074 117.3 136.1236 220.3569 117.3 143.2552 220.4319 117.3 143.1481 220.4872 117.3 143.0296 220.521 117.3 136.6429 220.4872 117.3 136.5166 221.2824 117.3 135.0981 220.4319 117.3 136.3981 220.3569 117.3 136.291 219.3003 117.3 136.1986 219.2079 117.3 136.291 219.0776 117.3 143.0296 219.1329 117.3 143.1481 219.2079 117.3 143.2552 219.3003 117.3 143.3476 219.6522 117.3 143.5117 219.7824 117.3 143.5231 219.4074 117.3 143.4226 219.5259 117.3 143.4779 220.521 117.3 142.9033 220.5324 117.3 142.7731 220.5324 117.3 136.7731 219.0324 117.3 136.7731 219.0324 117.3 142.7731 219.0438 117.3 142.9033 220.2645 117.3 136.1986 220.1574 117.3 136.1236 220.0389 117.3 136.0683 219.9126 117.3 136.0345 219.7824 117.3 136.0231 219.6522 117.3 136.0345 222.1329 117.3 136.3981 222.0776 117.3 136.5166 222.0438 117.3 136.6429 222.9126 117.3 143.5117 223.0389 117.3 143.4779 223.1574 117.3 143.4226 223.2645 117.3 143.3476 222.5259 117.3 136.0683 222.4074 117.3 136.1236 223.3569 117.3 143.2552 223.4319 117.3 143.1481 223.4872 117.3 143.0296 223.521 117.3 136.6429 223.4872 117.3 136.5166 223.4319 117.3 136.3981 223.3569 117.3 136.291 222.3003 117.3 136.1986 222.2079 117.3 136.291 222.0776 117.3 143.0296 222.1329 117.3 143.1481 222.2079 117.3 143.2552 222.3003 117.3 143.3476 222.6522 117.3 143.5117 222.7824 117.3 143.5231 222.4074 117.3 143.4226 222.5259 117.3 143.4779 223.521 117.3 142.9033 223.5324 117.3 142.7731 223.5324 117.3 136.7731 222.0324 117.3 136.7731 222.0324 117.3 142.7731 222.0438 117.3 142.9033 223.2645 117.3 136.1986 223.1574 117.3 136.1236 223.0389 117.3 136.0683 222.9126 117.3 136.0345 222.7824 117.3 136.0231 222.6522 117.3 136.0345 169.0697 117.5779 139.883 169.2934 117.6912 138.6327 169.3287 117.676 138.6382 168.6368 117.3234 144.265 168.7308 117.3875 142.6982 168.767 117.3725 142.7004 168.8303 117.3266 142.7032 168.6731 117.3084 144.2659 168.5686 117.3036 145.535 168.5986 117.3325 144.2637 168.9823 117.3723 141.4202 169.0029 117.3389 141.4204 169.018 117.3028 141.4197 169.2383 117.3802 139.8934 169.2289 117.418 139.8951 168.6927 117.3966 142.6956 168.8004 117.3521 142.702 168.9568 117.402 141.4192 168.9271 117.4274 141.4174 168.8938 117.4479 141.4149 168.8578 117.4629 141.4117 168.8199 117.4721 141.4079 169.0322 117.5872 139.8778 169.2137 117.454 139.8957 169.1932 117.4872 139.8952 169.1679 117.5169 139.8936 169.1384 117.5423 139.891 169.1054 117.5628 139.8874 169.4608 117.494 138.6465 169.3614 117.6555 138.6427 169.3907 117.6301 138.6459 169.4158 117.6005 138.648 169.4362 117.5674 138.6488 169.4513 117.5316 138.6483 169.2562 117.7007 138.6264 169.5909 117.861 137.101 169.595 117.8599 137.1019 169.6275 117.8513 137.1087 169.6623 117.836 137.1154 169.6946 117.8154 137.1209 169.7235 117.7901 137.125 169.7484 117.7606 137.1276 169.7686 117.7277 137.1288 169.7933 117.6547 137.1265 169.7922 117.6589 137.1267 169.7837 117.6921 137.1284 169.8184 117.8472 136.7596 169.7854 117.8722 136.7501 169.7491 117.8912 136.7386 169.7105 117.9034 136.7256 169.9004 117.7024 136.7735 169.8888 117.7433 136.7739 169.8709 117.7818 136.7716 169.8472 117.8167 136.7668 169.9583 117.7204 136.63 169.9468 117.7612 136.6298 169.9292 117.7995 136.6267 169.906 117.8344 136.6207 169.8778 117.8649 136.612 169.8455 117.8899 136.6009 169.8101 117.9089 136.5877 169.7724 117.9213 136.5728 170.1576 117.7695 136.2485 169.9854 117.9702 136.1664 170.02 117.9573 136.1862 170.0526 117.9381 136.2041 170.0823 117.9129 136.2194 170.1084 117.8826 136.2318 170.13 117.8479 136.2409 170.1465 117.8099 136.2465 170.4111 117.8161 135.8972 170.4008 117.856 135.8936 170.3857 117.8937 135.8856 170.3662 117.9282 135.8736 170.3429 117.9585 135.8577 170.3162 117.9837 135.8385 170.2871 118.0032 135.8165 170.2563 118.0165 135.7923 170.8302 118.1035 135.1104 170.9847 117.9033 135.214 170.9744 117.9431 135.2106 170.9593 117.9807 135.2028 170.9398 118.0151 135.1909 170.9165 118.0454 135.1753 170.8899 118.0706 135.1563 170.8609 118.0902 135.1344 171.5581 117.9941 134.5312 171.5477 118.0338 134.5278 171.5326 118.0713 134.5202 171.5131 118.1056 134.5085 171.4899 118.1357 134.4931 171.4634 118.161 134.4743 171.4344 118.1806 134.4526 171.4038 118.1941 134.4287 172.0183 118.0454 134.2193 171.7196 118.0196 134.3763 171.5887 117.9999 134.4961 171.5787 118.0394 134.4923 171.5641 118.0768 134.4839 171.5454 118.1111 134.4713 171.523 118.1412 134.4548 171.4976 118.1665 134.4349 171.4699 118.1862 134.412 171.4406 118.1998 134.3868 171.7044 118.0177 134.3881 171.6958 118.0569 134.3825 171.6834 118.094 134.3719 171.6676 118.1281 134.3565 171.6488 118.1582 134.3368 171.6275 118.1835 134.3133 171.6043 118.2034 134.2867 171.5797 118.2174 134.2575 171.7111 118.0588 134.3704 171.699 118.0959 134.3596 171.6836 118.13 134.3439 171.6653 118.1601 134.3239 171.6445 118.1854 134.3 171.6219 118.2053 134.2729 171.598 118.2193 134.2434 171.8518 118.0337 134.2907 171.8451 118.0727 134.2835 171.8356 118.1096 134.2707 171.8235 118.1435 134.2529 171.8092 118.1735 134.2303 171.793 118.1989 134.2037 171.7754 118.219 134.1737 171.7568 118.2333 134.1411 171.998 118.0443 134.2262 171.9933 118.0831 134.2178 171.9866 118.1198 134.2036 171.9783 118.1536 134.1841 171.9683 118.1836 134.1597 171.9572 118.2091 134.131 171.945 118.2293 134.0988 171.9322 118.2438 134.0639 172.0139 118.0842 134.2108 172.0076 118.1209 134.1965 171.9998 118.1547 134.1768 171.9905 118.1847 134.1522 171.98 118.2101 134.1233 171.9686 118.2304 134.0908 171.9566 118.2449 134.0557 172.1707 118.0513 134.1826 172.1395 118.2507 134.0117 172.1456 118.2361 134.0482 172.1513 118.2158 134.0819 172.1566 118.1903 134.1119 172.1613 118.1603 134.1376 172.1653 118.1266 134.1583 172.1685 118.0899 134.1734 172.3293 118.053 134.1699 172.3294 118.0916 134.1606 172.3295 118.1283 134.1452 172.3296 118.162 134.1242 172.3296 118.192 134.0981 172.3297 118.2174 134.0677 172.3298 118.2377 134.0335 172.3298 118.2524 133.9966 225.2286 118.2524 133.9966 219.5229 118.0429 134.1699 185.4953 118.2383 133.9959 208.1103 118.2322 133.9958 208.1103 118.2176 134.0328 185.4953 118.2238 134.0329 185.4953 118.2035 134.0672 185.4953 118.178 134.0978 185.4952 118.148 134.124 185.4952 118.1142 134.145 185.4951 118.0775 134.1605 185.4951 118.0389 134.1699 208.1103 118.1973 134.0671 208.1104 118.1719 134.0977 208.1104 118.1418 134.1239 208.1105 118.1081 134.145 208.1105 118.0714 134.1605 208.1106 118.0327 134.1699 219.5228 118.2423 133.9963 219.5228 118.2276 134.0333 219.5228 118.2073 134.0675 219.5229 118.1819 134.098 219.5229 118.1519 134.1241 219.5229 118.1182 134.1451 219.5229 118.0815 134.1605 225.229 118.053 134.1699 225.2289 118.0916 134.1606 225.2288 118.1283 134.1452 225.2288 118.162 134.1242 225.2287 118.192 134.0981 225.2286 118.2174 134.0677 225.2286 118.2377 134.0335 225.7618 118.0284 134.323 225.4515 118.0494 134.1949 225.2728 118.053 134.1709 225.2733 118.0916 134.1615 225.2741 118.1282 134.1462 225.2752 118.1619 134.1252 225.2764 118.1919 134.0992 225.2778 118.2174 134.0687 225.2794 118.2377 134.0346 225.2811 118.2524 133.9978 225.4286 118.0502 134.19 225.4314 118.0888 134.1809 225.4354 118.1255 134.166 225.4404 118.1592 134.1455 225.4463 118.1892 134.1201 225.453 118.2146 134.0902 225.4603 118.2349 134.0568 225.468 118.2495 134.0206 225.4547 118.088 134.186 225.4592 118.1247 134.1711 225.4648 118.1585 134.1508 225.4714 118.1884 134.1255 225.4788 118.2139 134.0958 225.487 118.2342 134.0625 225.4956 118.2488 134.0265 225.6013 118.0418 134.2415 225.6066 118.0806 134.2334 225.6141 118.1174 134.2196 225.6235 118.1512 134.2004 225.6346 118.1812 134.1765 225.6472 118.2067 134.1483 225.6608 118.2269 134.1166 225.6753 118.2413 134.0822 225.7441 118.0302 134.3121 225.7513 118.0692 134.3052 225.7616 118.1062 134.2929 225.7747 118.1401 134.2756 225.7901 118.1702 134.2537 225.8076 118.1955 134.2278 225.8266 118.2156 134.1985 225.8467 118.2298 134.1666 225.7693 118.0675 134.3162 225.7799 118.1044 134.3042 225.7934 118.1384 134.2872 225.8094 118.1685 134.2656 225.8275 118.1938 134.24 225.8472 118.2139 134.2111 225.868 118.228 134.1796 225.8884 118.0129 134.4168 226.0201 118.2127 134.2919 225.9941 118.1989 134.32 225.9696 118.179 134.3456 225.947 118.1537 134.3682 225.9272 118.1236 134.387 225.9105 118.0895 134.4016 225.8975 118.0523 134.4116 226.0003 117.9941 134.5312 226.0106 118.0338 134.5278 226.0257 118.0713 134.5202 226.0452 118.1056 134.5085 226.0685 118.1357 134.4931 226.095 118.161 134.4743 226.1239 118.1806 134.4526 226.1546 118.1941 134.4287 227.3021 118.0165 135.7923 226.5736 117.9033 135.214 226.5839 117.9431 135.2106 226.5991 117.9807 135.2028 226.6185 118.0151 135.1909 226.6419 118.0454 135.1753 226.6684 118.0706 135.1563 226.6975 118.0902 135.1344 226.7282 118.1035 135.1104 227.1472 117.8161 135.8972 227.1575 117.856 135.8936 227.1726 117.8937 135.8856 227.1921 117.9282 135.8736 227.2155 117.9585 135.8577 227.2421 117.9837 135.8385 227.2713 118.0032 135.8165 227.3669 117.7765 136.1949 227.3779 117.8168 136.1928 227.3943 117.8548 136.1868 227.4156 117.8894 136.1772 227.4413 117.9198 136.1643 227.4706 117.9449 136.1484 227.5027 117.9642 136.1299 227.5368 117.9771 136.1094 227.4474 117.7593 136.3267 227.4586 117.7997 136.3251 227.4754 117.8379 136.32 227.4974 117.8726 136.3115 227.5239 117.9029 136.2999 227.5543 117.9281 136.2854 227.5875 117.9473 136.2686 227.6228 117.96 136.2497 227.8233 117.9108 136.6623 227.7851 117.8985 136.6762 227.7491 117.8795 136.6883 227.7164 117.8545 136.6985 227.6879 117.824 136.7063 227.6644 117.7891 136.7116 227.6466 117.7506 136.7142 227.635 117.7098 136.7141 227.9675 117.8607 137.101 227.9633 117.8602 137.1019 227.9229 117.8484 137.1103 227.8849 117.8297 137.1174 227.8504 117.8047 137.1229 227.8354 117.7894 137.1247 227.8205 117.7742 137.1266 227.7959 117.739 137.1286 227.7776 117.7002 137.1286 227.7658 117.6589 137.1268 227.7654 117.6547 137.1264 228.3021 117.7007 138.6264 228.3295 117.418 139.8951 228.107 117.5316 138.6483 228.1222 117.5674 138.6488 228.5373 117.3055 141.4202 228.3446 117.454 139.8957 228.7385 117.4721 141.4079 228.9597 117.3325 144.2637 228.5555 117.3389 141.4204 228.32 117.3802 139.8934 228.7281 117.3266 142.7032 228.9216 117.3234 144.265 228.8852 117.3084 144.2659 228.9897 117.3036 145.535 228.7579 117.3521 142.702 228.7914 117.3725 142.7004 228.8276 117.3875 142.6982 228.8657 117.3966 142.6956 228.576 117.3723 141.4202 228.6015 117.402 141.4192 228.6313 117.4274 141.4174 228.6645 117.4479 141.4149 228.7006 117.4629 141.4117 228.3651 117.4872 139.8952 228.3904 117.5169 139.8936 228.4199 117.5423 139.891 228.4529 117.5628 139.8874 228.4886 117.5779 139.883 228.5262 117.5872 139.8778 228.1425 117.6005 138.648 228.1676 117.6301 138.6459 228.1969 117.6555 138.6427 228.2296 117.676 138.6382 228.265 117.6912 138.6327 228.0975 117.494 138.6465 225.0324 134.8 142.7731 225.0324 134.8 139.7731 225.0324 141.3 139.7731 225.0324 141.3 136.7731 226.5324 134.8 142.7731 226.521 134.8 142.9033 226.4872 134.8 143.0296 226.4319 134.8 143.1481 226.3569 134.8 143.2552 226.2645 134.8 143.3476 226.1574 134.8 143.4226 226.0389 134.8 143.4779 225.9127 134.8 143.5117 225.7824 134.8 143.5231 225.6522 134.8 143.5117 225.5259 134.8 143.4779 225.4074 134.8 143.4226 225.3003 134.8 143.3476 225.2079 134.8 143.2552 225.1329 134.8 143.1481 225.0776 134.8 143.0296 225.0438 134.8 142.9033 226.5324 141.3 136.7731 226.5324 141.3 139.7731 226.5324 134.8 139.7731 226.2904 141.3 136.2213 226.0837 141.3 136.0863 225.8443 141.3 136.0257 225.5983 141.3 136.046 225.3722 141.3 136.1452 225.1228 141.3 136.4161 225.0426 141.3 136.6497 225.073 141.3 136.5296 225.1906 141.3 136.3124 225.2745 141.3 136.2213 225.4811 141.3 136.0863 225.7205 141.3 136.0257 225.9665 141.3 136.046 226.1926 141.3 136.1452 226.3743 141.3 136.3124 226.442 141.3 136.4161 226.4918 141.3 136.5296 226.5222 141.3 136.6497 226.521 141.3 139.6429 225.0438 141.3 139.6429 225.0776 141.3 139.5166 225.1329 141.3 139.3981 225.2079 141.3 139.291 225.3003 141.3 139.1986 225.4074 141.3 139.1236 225.6522 141.3 139.0345 226.0389 141.3 139.0683 226.1574 141.3 139.1236 226.2645 141.3 139.1986 226.3569 141.3 139.291 225.7824 141.3 139.0231 226.4319 141.3 139.3981 226.4872 141.3 139.5166 225.5259 141.3 139.0683 225.9127 141.3 139.0345 225.0438 134.8 139.6429 225.0776 134.8 139.5166 225.1329 134.8 139.3981 225.2079 134.8 139.291 225.3003 134.8 139.1986 225.4074 134.8 139.1236 225.5259 134.8 139.0683 225.6522 134.8 139.0345 225.7824 134.8 139.0231 225.9127 134.8 139.0345 226.0389 134.8 139.0683 226.1574 134.8 139.1236 226.2645 134.8 139.1986 226.3569 134.8 139.291 226.4319 134.8 139.3981 226.4872 134.8 139.5166 226.521 134.8 139.6429 222.0324 134.8 142.7731 222.0324 134.8 139.7731 222.0324 141.3 139.7731 222.0324 141.3 136.7731 223.5324 134.8 142.7731 223.521 134.8 142.9033 223.4872 134.8 143.0296 223.4319 134.8 143.1481 223.3569 134.8 143.2552 223.2645 134.8 143.3476 223.1574 134.8 143.4226 223.0389 134.8 143.4779 222.9126 134.8 143.5117 222.7824 134.8 143.5231 222.6522 134.8 143.5117 222.5259 134.8 143.4779 222.4074 134.8 143.4226 222.3003 134.8 143.3476 222.2079 134.8 143.2552 222.1329 134.8 143.1481 222.0776 134.8 143.0296 222.0438 134.8 142.9033 223.5324 141.3 136.7731 223.5324 141.3 139.7731 223.5324 134.8 139.7731 223.2904 141.3 136.2213 223.0837 141.3 136.0863 222.8443 141.3 136.0257 222.5983 141.3 136.046 222.1228 141.3 136.4161 222.0426 141.3 136.6497 222.0731 141.3 136.5296 222.1905 141.3 136.3124 222.2745 141.3 136.2213 222.3722 141.3 136.1452 222.4811 141.3 136.0863 222.7205 141.3 136.0257 222.9665 141.3 136.046 223.1926 141.3 136.1452 223.3743 141.3 136.3124 223.442 141.3 136.4161 223.4918 141.3 136.5296 223.5222 141.3 136.6497 223.521 141.3 139.6429 222.0438 141.3 139.6429 222.0776 141.3 139.5166 222.1329 141.3 139.3981 222.2079 141.3 139.291 222.3003 141.3 139.1986 222.4074 141.3 139.1236 223.0389 141.3 139.0683 223.1574 141.3 139.1236 223.2645 141.3 139.1986 223.3569 141.3 139.291 222.6522 141.3 139.0345 222.7824 141.3 139.0231 223.4319 141.3 139.3981 223.4872 141.3 139.5166 222.9126 141.3 139.0345 222.5259 141.3 139.0683 168.0324 134.8 142.7731 168.0324 134.8 139.7731 168.0324 141.3 139.7731 168.0324 141.3 136.7731 169.5324 134.8 142.7731 169.5222 134.8 142.8965 169.4918 134.8 143.0166 169.442 134.8 143.1301 169.3743 134.8 143.2338 169.2904 134.8 143.3249 169.1926 134.8 143.401 169.0837 134.8 143.4599 168.9665 134.8 143.5001 168.8443 134.8 143.5205 168.7205 134.8 143.5205 168.5983 134.8 143.5001 168.4811 134.8 143.4599 168.3722 134.8 143.401 168.2745 134.8 143.3249 168.1906 134.8 143.2338 168.1228 134.8 143.1301 168.073 134.8 143.0166 168.0426 134.8 142.8965 169.5324 141.3 136.7731 169.5324 141.3 139.7731 169.5324 134.8 139.7731 169.2904 141.3 136.2213 169.0837 141.3 136.0863 168.8443 141.3 136.0257 168.5983 141.3 136.046 168.1228 141.3 136.4161 168.0426 141.3 136.6497 168.073 141.3 136.5296 168.1906 141.3 136.3124 168.2745 141.3 136.2213 168.3722 141.3 136.1452 168.4811 141.3 136.0863 168.7205 141.3 136.0257 168.9665 141.3 136.046 169.1926 141.3 136.1452 169.3743 141.3 136.3124 169.442 141.3 136.4161 169.4918 141.3 136.5296 169.5222 141.3 136.6497 169.521 141.3 139.6429 168.0438 141.3 139.6429 168.0776 141.3 139.5166 168.1329 141.3 139.3981 168.2079 141.3 139.291 168.3003 141.3 139.1986 168.4074 141.3 139.1236 168.6522 141.3 139.0345 169.0389 141.3 139.0683 169.1574 141.3 139.1236 169.2645 141.3 139.1986 169.3569 141.3 139.291 168.7824 141.3 139.0231 169.4319 141.3 139.3981 169.4872 141.3 139.5166 168.5259 141.3 139.0683 168.9127 141.3 139.0345 171.0324 134.8 142.7731 171.0324 134.8 139.7731 171.0324 141.3 139.7731 171.0324 141.3 136.7731 172.5324 134.8 142.7731 172.521 134.8 142.9033 172.4872 134.8 143.0296 172.4319 134.8 143.1481 172.3569 134.8 143.2552 172.2645 134.8 143.3476 172.1574 134.8 143.4226 172.0389 134.8 143.4779 171.9127 134.8 143.5117 171.7824 134.8 143.5231 171.6522 134.8 143.5117 171.5259 134.8 143.4779 171.4074 134.8 143.4226 171.3003 134.8 143.3476 171.2079 134.8 143.2552 171.1329 134.8 143.1481 171.0776 134.8 143.0296 171.0438 134.8 142.9033 172.5324 141.3 136.7731 172.5324 141.3 139.7731 172.5324 134.8 139.7731 172.2904 141.3 136.2213 172.0837 141.3 136.0863 171.8443 141.3 136.0257 171.5983 141.3 136.046 171.1228 141.3 136.4161 171.0426 141.3 136.6497 171.073 141.3 136.5296 171.1906 141.3 136.3124 171.3722 141.3 136.1452 171.2745 141.3 136.2213 171.4811 141.3 136.0863 171.7205 141.3 136.0257 171.9665 141.3 136.046 172.1926 141.3 136.1452 172.3743 141.3 136.3124 172.442 141.3 136.4161 172.4918 141.3 136.5296 172.5222 141.3 136.6497 172.521 141.3 139.6429 171.0438 141.3 139.6429 171.0776 141.3 139.5166 171.1329 141.3 139.3981 171.2079 141.3 139.291 171.3003 141.3 139.1986 171.4074 141.3 139.1236 172.0389 141.3 139.0683 172.1574 141.3 139.1236 172.2645 141.3 139.1986 172.3569 141.3 139.291 171.6522 141.3 139.0345 171.7824 141.3 139.0231 172.4319 141.3 139.3981 172.4872 141.3 139.5166 171.9127 141.3 139.0345 171.5259 141.3 139.0683 174.0324 134.8 142.7731 174.0324 134.8 139.7731 174.0324 141.3 139.7731 174.0324 141.3 136.7731 175.5324 134.8 142.7731 175.5222 134.8 142.8965 175.4918 134.8 143.0166 175.442 134.8 143.1301 175.3743 134.8 143.2338 175.2904 134.8 143.3249 175.1926 134.8 143.401 175.0837 134.8 143.4599 174.9665 134.8 143.5001 174.8443 134.8 143.5205 174.7205 134.8 143.5205 174.5983 134.8 143.5001 174.4811 134.8 143.4599 174.3722 134.8 143.401 174.2745 134.8 143.3249 174.1905 134.8 143.2338 174.1228 134.8 143.1301 174.0731 134.8 143.0166 174.0426 134.8 142.8965 175.5324 141.3 136.7731 175.5324 141.3 139.7731 175.5324 134.8 139.7731 175.2904 141.3 136.2213 174.1228 141.3 136.4161 174.0426 141.3 136.6497 174.0731 141.3 136.5296 174.1905 141.3 136.3124 174.2745 141.3 136.2213 174.4811 141.3 136.0863 174.3722 141.3 136.1452 174.7205 141.3 136.0257 174.5983 141.3 136.046 174.9665 141.3 136.046 174.8443 141.3 136.0257 175.0837 141.3 136.0863 175.1926 141.3 136.1452 175.3743 141.3 136.3124 175.442 141.3 136.4161 175.4918 141.3 136.5296 175.5222 141.3 136.6497 175.521 141.3 139.6429 174.0438 141.3 139.6429 174.0776 141.3 139.5166 174.1329 141.3 139.3981 174.2079 141.3 139.291 174.3003 141.3 139.1986 174.4074 141.3 139.1236 174.9126 141.3 139.0345 175.1574 141.3 139.1236 175.2645 141.3 139.1986 175.3569 141.3 139.291 174.6522 141.3 139.0345 175.4319 141.3 139.3981 175.4872 141.3 139.5166 174.7824 141.3 139.0231 175.0389 141.3 139.0683 174.5259 141.3 139.0683 177.0324 134.8 142.7731 177.0324 134.8 139.7731 177.0324 141.3 139.7731 177.0324 141.3 136.7731 178.5324 134.8 142.7731 178.5222 134.8 142.8965 178.4918 134.8 143.0166 178.442 134.8 143.1301 178.3743 134.8 143.2338 178.2904 134.8 143.3249 178.1926 134.8 143.401 178.0837 134.8 143.4599 177.9665 134.8 143.5001 177.8443 134.8 143.5205 177.7205 134.8 143.5205 177.5983 134.8 143.5001 177.4811 134.8 143.4599 177.3722 134.8 143.401 177.2745 134.8 143.3249 177.1905 134.8 143.2338 177.1228 134.8 143.1301 177.0731 134.8 143.0166 177.0426 134.8 142.8965 178.5324 141.3 136.7731 178.5324 141.3 139.7731 178.5324 134.8 139.7731 178.2904 141.3 136.2213 178.0837 141.3 136.0863 177.8443 141.3 136.0257 177.5983 141.3 136.046 177.1228 141.3 136.4161 177.0426 141.3 136.6497 177.0731 141.3 136.5296 177.1905 141.3 136.3124 177.3722 141.3 136.1452 177.2745 141.3 136.2213 177.4811 141.3 136.0863 177.7205 141.3 136.0257 177.9665 141.3 136.046 178.1926 141.3 136.1452 178.3743 141.3 136.3124 178.442 141.3 136.4161 178.4918 141.3 136.5296 178.5222 141.3 136.6497 178.521 141.3 139.6429 177.0438 141.3 139.6429 177.0776 141.3 139.5166 177.1329 141.3 139.3981 177.2079 141.3 139.291 177.3003 141.3 139.1986 177.4074 141.3 139.1236 178.0389 141.3 139.0683 178.1574 141.3 139.1236 178.2645 141.3 139.1986 178.3569 141.3 139.291 177.6522 141.3 139.0345 177.7824 141.3 139.0231 178.4319 141.3 139.3981 178.4872 141.3 139.5166 177.9126 141.3 139.0345 177.5259 141.3 139.0683 180.0324 134.8 142.7731 180.0324 134.8 139.7731 180.0324 141.3 139.7731 180.0324 141.3 136.7731 181.5324 134.8 142.7731 181.521 134.8 142.9033 181.4872 134.8 143.0296 181.4319 134.8 143.1481 181.3569 134.8 143.2552 181.2645 134.8 143.3476 181.1574 134.8 143.4226 181.0389 134.8 143.4779 180.9127 134.8 143.5117 180.7824 134.8 143.5231 180.6522 134.8 143.5117 180.5259 134.8 143.4779 180.4074 134.8 143.4226 180.3003 134.8 143.3476 180.2079 134.8 143.2552 180.1329 134.8 143.1481 180.0776 134.8 143.0296 180.0438 134.8 142.9033 181.5324 141.3 136.7731 181.5324 141.3 139.7731 181.5324 134.8 139.7731 181.2904 141.3 136.2213 181.0837 141.3 136.0863 180.8443 141.3 136.0257 180.5983 141.3 136.046 180.1228 141.3 136.4161 180.0426 141.3 136.6497 180.073 141.3 136.5296 180.1906 141.3 136.3124 180.3722 141.3 136.1452 180.2745 141.3 136.2213 180.4811 141.3 136.0863 180.7205 141.3 136.0257 180.9665 141.3 136.046 181.1926 141.3 136.1452 181.3743 141.3 136.3124 181.442 141.3 136.4161 181.4918 141.3 136.5296 181.5222 141.3 136.6497 181.521 141.3 139.6429 180.0438 141.3 139.6429 180.0776 141.3 139.5166 180.1329 141.3 139.3981 180.2079 141.3 139.291 180.3003 141.3 139.1986 180.4074 141.3 139.1236 180.6522 141.3 139.0345 181.0389 141.3 139.0683 181.1574 141.3 139.1236 181.2645 141.3 139.1986 181.3569 141.3 139.291 180.7824 141.3 139.0231 181.4319 141.3 139.3981 181.4872 141.3 139.5166 180.5259 141.3 139.0683 180.9127 141.3 139.0345 183.0324 134.8 142.7731 183.0324 134.8 139.7731 183.0324 141.3 139.7731 183.0324 141.3 136.7731 184.5324 134.8 142.7731 184.5222 134.8 142.8965 184.4918 134.8 143.0166 184.442 134.8 143.1301 184.3743 134.8 143.2338 184.2904 134.8 143.3249 184.1926 134.8 143.401 184.0837 134.8 143.4599 183.9665 134.8 143.5001 183.8443 134.8 143.5205 183.7205 134.8 143.5205 183.5983 134.8 143.5001 183.4811 134.8 143.4599 183.3722 134.8 143.401 183.2745 134.8 143.3249 183.1905 134.8 143.2338 183.1228 134.8 143.1301 183.0731 134.8 143.0166 183.0426 134.8 142.8965 184.5324 141.3 136.7731 184.5324 141.3 139.7731 184.5324 134.8 139.7731 184.2904 141.3 136.2213 184.0837 141.3 136.0863 183.8443 141.3 136.0257 183.5983 141.3 136.046 183.1228 141.3 136.4161 183.0426 141.3 136.6497 183.0731 141.3 136.5296 183.1905 141.3 136.3124 183.3722 141.3 136.1452 183.2745 141.3 136.2213 183.4811 141.3 136.0863 183.7205 141.3 136.0257 183.9665 141.3 136.046 184.1926 141.3 136.1452 184.3743 141.3 136.3124 184.442 141.3 136.4161 184.4918 141.3 136.5296 184.5222 141.3 136.6497 184.521 141.3 139.6429 183.0438 141.3 139.6429 183.0776 141.3 139.5166 183.1329 141.3 139.3981 183.2079 141.3 139.291 183.3003 141.3 139.1986 183.4074 141.3 139.1236 184.2645 141.3 139.1986 184.3569 141.3 139.291 183.9126 141.3 139.0345 184.1574 141.3 139.1236 184.4319 141.3 139.3981 184.4872 141.3 139.5166 183.6522 141.3 139.0345 183.7824 141.3 139.0231 184.0389 141.3 139.0683 183.5259 141.3 139.0683 186.0324 134.8 142.7731 186.0324 134.8 139.7731 186.0324 141.3 139.7731 186.0324 141.3 136.7731 187.5324 134.8 142.7731 187.5222 134.8 142.8965 187.4918 134.8 143.0166 187.442 134.8 143.1301 187.3743 134.8 143.2338 187.2904 134.8 143.3249 187.1926 134.8 143.401 187.0837 134.8 143.4599 186.9665 134.8 143.5001 186.8443 134.8 143.5205 186.7205 134.8 143.5205 186.5983 134.8 143.5001 186.4811 134.8 143.4599 186.3722 134.8 143.401 186.2745 134.8 143.3249 186.1906 134.8 143.2338 186.1228 134.8 143.1301 186.0731 134.8 143.0166 186.0426 134.8 142.8965 187.5324 141.3 136.7731 187.5324 141.3 139.7731 187.5324 134.8 139.7731 186.0438 141.3 136.6429 186.0776 141.3 136.5166 186.1329 141.3 136.3981 186.2079 141.3 136.291 186.3003 141.3 136.1986 186.4074 141.3 136.1236 186.5259 141.3 136.0683 186.6522 141.3 136.0345 186.7824 141.3 136.0231 186.9126 141.3 136.0345 187.0389 141.3 136.0683 187.1574 141.3 136.1236 187.2645 141.3 136.1986 187.3569 141.3 136.291 187.4319 141.3 136.3981 187.4872 141.3 136.5166 187.521 141.3 136.6429 187.521 141.3 139.6429 186.0438 141.3 139.6429 186.0776 141.3 139.5166 186.1329 141.3 139.3981 186.2079 141.3 139.291 186.3003 141.3 139.1986 186.4074 141.3 139.1236 187.3569 141.3 139.291 187.4319 141.3 139.3981 187.4872 141.3 139.5166 186.7824 141.3 139.0231 187.0389 141.3 139.0683 187.1574 141.3 139.1236 187.2645 141.3 139.1986 186.6522 141.3 139.0345 186.5259 141.3 139.0683 186.9126 141.3 139.0345 189.0324 134.8 142.7731 189.0324 134.8 139.7731 189.0324 141.3 139.7731 189.0324 141.3 136.7731 190.5324 134.8 142.7731 190.5222 134.8 142.8965 190.4918 134.8 143.0166 190.442 134.8 143.1301 190.3743 134.8 143.2338 190.2904 134.8 143.3249 190.1926 134.8 143.401 190.0837 134.8 143.4599 189.9665 134.8 143.5001 189.8443 134.8 143.5205 189.7205 134.8 143.5205 189.5983 134.8 143.5001 189.4811 134.8 143.4599 189.3722 134.8 143.401 189.2745 134.8 143.3249 189.1905 134.8 143.2338 189.1228 134.8 143.1301 189.0731 134.8 143.0166 189.0426 134.8 142.8965 190.5324 141.3 136.7731 190.5324 141.3 139.7731 190.5324 134.8 139.7731 190.2904 141.3 136.2213 190.0837 141.3 136.0863 189.8443 141.3 136.0257 189.5983 141.3 136.046 189.1228 141.3 136.4161 189.0426 141.3 136.6497 189.0731 141.3 136.5296 189.1905 141.3 136.3124 189.3722 141.3 136.1452 189.2745 141.3 136.2213 189.4811 141.3 136.0863 189.7205 141.3 136.0257 189.9665 141.3 136.046 190.1926 141.3 136.1452 190.3743 141.3 136.3124 190.442 141.3 136.4161 190.4918 141.3 136.5296 190.5222 141.3 136.6497 190.521 141.3 139.6429 189.0438 141.3 139.6429 189.0776 141.3 139.5166 189.1329 141.3 139.3981 189.2079 141.3 139.291 189.3003 141.3 139.1986 189.4074 141.3 139.1236 189.6522 141.3 139.0345 190.3569 141.3 139.291 190.4319 141.3 139.3981 190.4872 141.3 139.5166 190.0389 141.3 139.0683 190.1574 141.3 139.1236 190.2645 141.3 139.1986 189.5259 141.3 139.0683 189.9126 141.3 139.0345 189.7824 141.3 139.0231 192.0324 134.8 142.7731 192.0324 134.8 139.7731 192.0324 141.3 139.7731 192.0324 141.3 136.7731 193.5324 134.8 142.7731 193.521 134.8 142.9033 193.4872 134.8 143.0296 193.4319 134.8 143.1481 193.3569 134.8 143.2552 193.2645 134.8 143.3476 193.1574 134.8 143.4226 193.0389 134.8 143.4779 192.9126 134.8 143.5117 192.7824 134.8 143.5231 192.6522 134.8 143.5117 192.5259 134.8 143.4779 192.4074 134.8 143.4226 192.3003 134.8 143.3476 192.2079 134.8 143.2552 192.1329 134.8 143.1481 192.0776 134.8 143.0296 192.0438 134.8 142.9033 193.5324 141.3 136.7731 193.5324 141.3 139.7731 193.5324 134.8 139.7731 193.2904 141.3 136.2213 193.0837 141.3 136.0863 192.8443 141.3 136.0257 192.5983 141.3 136.046 192.1228 141.3 136.4161 192.0426 141.3 136.6497 192.0731 141.3 136.5296 192.1905 141.3 136.3124 192.3722 141.3 136.1452 192.2745 141.3 136.2213 192.4811 141.3 136.0863 192.7205 141.3 136.0257 192.9665 141.3 136.046 193.1926 141.3 136.1452 193.3743 141.3 136.3124 193.442 141.3 136.4161 193.4918 141.3 136.5296 193.5222 141.3 136.6497 193.521 141.3 139.6429 192.0438 141.3 139.6429 192.0776 141.3 139.5166 192.1329 141.3 139.3981 192.2079 141.3 139.291 192.3003 141.3 139.1986 192.4074 141.3 139.1236 192.6522 141.3 139.0345 192.9126 141.3 139.0345 193.1574 141.3 139.1236 193.2645 141.3 139.1986 193.3569 141.3 139.291 192.7824 141.3 139.0231 193.4319 141.3 139.3981 193.4872 141.3 139.5166 192.5259 141.3 139.0683 193.0389 141.3 139.0683 195.0324 134.8 142.7731 195.0324 134.8 139.7731 195.0324 141.3 139.7731 195.0324 141.3 136.7731 196.5324 134.8 142.7731 196.5222 134.8 142.8965 196.4918 134.8 143.0166 196.442 134.8 143.1301 196.3743 134.8 143.2338 196.2904 134.8 143.3249 196.1926 134.8 143.401 196.0837 134.8 143.4599 195.9665 134.8 143.5001 195.8443 134.8 143.5205 195.7205 134.8 143.5205 195.5983 134.8 143.5001 195.4811 134.8 143.4599 195.3722 134.8 143.401 195.2745 134.8 143.3249 195.1905 134.8 143.2338 195.1228 134.8 143.1301 195.0731 134.8 143.0166 195.0426 134.8 142.8965 196.5324 141.3 136.7731 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143.5205 199.5324 134.8 142.7731 199.5222 134.8 142.8965 199.4918 134.8 143.0166 199.442 134.8 143.1301 199.3743 134.8 143.2338 199.2904 134.8 143.3249 199.1926 134.8 143.401 199.0837 134.8 143.4599 198.9665 134.8 143.5001 198.5983 134.8 143.5001 198.4811 134.8 143.4599 198.3722 134.8 143.401 198.2745 134.8 143.3249 198.1905 134.8 143.2338 198.1228 134.8 143.1301 198.0731 134.8 143.0166 198.0426 134.8 142.8965 199.5324 141.3 136.7731 199.5324 141.3 139.7731 199.5324 134.8 139.7731 199.2904 141.3 136.2213 199.0837 141.3 136.0863 198.1228 141.3 136.4161 198.0426 141.3 136.6497 198.0731 141.3 136.5296 198.1905 141.3 136.3124 198.2745 141.3 136.2213 198.4811 141.3 136.0863 198.3722 141.3 136.1452 198.7205 141.3 136.0257 198.5983 141.3 136.046 198.8443 141.3 136.0257 198.9665 141.3 136.046 199.1926 141.3 136.1452 199.3743 141.3 136.3124 199.442 141.3 136.4161 199.4918 141.3 136.5296 199.5222 141.3 136.6497 199.521 141.3 139.6429 198.0438 141.3 139.6429 198.0776 141.3 139.5166 198.1329 141.3 139.3981 198.2079 141.3 139.291 198.3003 141.3 139.1986 198.4074 141.3 139.1236 199.0389 141.3 139.0683 199.1574 141.3 139.1236 199.2645 141.3 139.1986 199.3569 141.3 139.291 199.4319 141.3 139.3981 199.4872 141.3 139.5166 198.6522 141.3 139.0345 198.9126 141.3 139.0345 198.7824 141.3 139.0231 198.5259 141.3 139.0683 201.0324 134.8 142.7731 201.0324 134.8 139.7731 201.0324 141.3 139.7731 201.0324 141.3 136.7731 202.5324 134.8 142.7731 202.5222 134.8 142.8965 202.4918 134.8 143.0166 202.442 134.8 143.1301 202.3743 134.8 143.2338 202.2904 134.8 143.3249 202.1926 134.8 143.401 202.0837 134.8 143.4599 201.9665 134.8 143.5001 201.8443 134.8 143.5205 201.7205 134.8 143.5205 201.5983 134.8 143.5001 201.4811 134.8 143.4599 201.3722 134.8 143.401 201.2745 134.8 143.3249 201.1906 134.8 143.2338 201.1228 134.8 143.1301 201.0731 134.8 143.0166 201.0426 134.8 142.8965 202.5324 141.3 136.7731 202.5324 141.3 139.7731 202.5324 134.8 139.7731 202.2904 141.3 136.2213 202.0837 141.3 136.0863 201.8443 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134.8 143.3249 205.1926 134.8 143.401 205.0837 134.8 143.4599 204.9665 134.8 143.5001 204.8443 134.8 143.5205 204.7205 134.8 143.5205 204.5983 134.8 143.5001 204.4811 134.8 143.4599 204.3722 134.8 143.401 204.2745 134.8 143.3249 204.1906 134.8 143.2338 204.1228 134.8 143.1301 204.0731 134.8 143.0166 204.0426 134.8 142.8965 205.5324 141.3 136.7731 205.5324 141.3 139.7731 205.5324 134.8 139.7731 205.2904 141.3 136.2213 205.0837 141.3 136.0863 204.8443 141.3 136.0257 204.5983 141.3 136.046 204.1228 141.3 136.4161 204.0426 141.3 136.6497 204.0731 141.3 136.5296 204.1906 141.3 136.3124 204.3722 141.3 136.1452 204.2745 141.3 136.2213 204.4811 141.3 136.0863 204.7205 141.3 136.0257 204.9665 141.3 136.046 205.1926 141.3 136.1452 205.3743 141.3 136.3124 205.442 141.3 136.4161 205.4918 141.3 136.5296 205.5222 141.3 136.6497 205.521 141.3 139.6429 204.0438 141.3 139.6429 204.0776 141.3 139.5166 204.1329 141.3 139.3981 204.2079 141.3 139.291 204.3003 141.3 139.1986 204.4074 141.3 139.1236 204.6522 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210.5983 134.8 143.5001 210.4811 134.8 143.4599 210.3722 134.8 143.401 210.2745 134.8 143.3249 210.1905 134.8 143.2338 210.1228 134.8 143.1301 210.0731 134.8 143.0166 210.0426 134.8 142.8965 211.5324 141.3 136.7731 211.5324 141.3 139.7731 211.5324 134.8 139.7731 211.2904 141.3 136.2213 211.0837 141.3 136.0863 210.8443 141.3 136.0257 210.5983 141.3 136.046 210.1228 141.3 136.4161 210.0426 141.3 136.6497 210.0731 141.3 136.5296 210.1905 141.3 136.3124 210.3722 141.3 136.1452 210.2745 141.3 136.2213 210.4811 141.3 136.0863 210.7205 141.3 136.0257 210.9665 141.3 136.046 211.1926 141.3 136.1452 211.3743 141.3 136.3124 211.442 141.3 136.4161 211.4918 141.3 136.5296 211.5222 141.3 136.6497 211.521 141.3 139.6429 210.0438 141.3 139.6429 210.0776 141.3 139.5166 210.1329 141.3 139.3981 210.2079 141.3 139.291 210.3003 141.3 139.1986 210.4074 141.3 139.1236 210.6522 141.3 139.0345 211.3569 141.3 139.291 211.4319 141.3 139.3981 211.4872 141.3 139.5166 211.0389 141.3 139.0683 211.1574 141.3 139.1236 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136.0257 213.9665 141.3 136.046 214.1926 141.3 136.1452 214.3743 141.3 136.3124 214.442 141.3 136.4161 214.4918 141.3 136.5296 214.5222 141.3 136.6497 214.521 141.3 139.6429 213.0438 141.3 139.6429 213.0776 141.3 139.5166 213.1329 141.3 139.3981 213.2079 141.3 139.291 213.3003 141.3 139.1986 213.4074 141.3 139.1236 214.2645 141.3 139.1986 214.3569 141.3 139.291 213.6522 141.3 139.0345 213.9127 141.3 139.0345 214.1574 141.3 139.1236 214.4319 141.3 139.3981 214.4872 141.3 139.5166 213.5259 141.3 139.0683 213.7824 141.3 139.0231 214.0389 141.3 139.0683 216.0324 134.8 142.7731 216.0324 134.8 139.7731 216.0324 141.3 139.7731 216.0324 141.3 136.7731 217.5324 134.8 142.7731 217.5222 134.8 142.8965 217.4918 134.8 143.0166 217.442 134.8 143.1301 217.3743 134.8 143.2338 217.2904 134.8 143.3249 217.1926 134.8 143.401 217.0837 134.8 143.4599 216.9665 134.8 143.5001 216.8443 134.8 143.5205 216.7205 134.8 143.5205 216.5983 134.8 143.5001 216.4811 134.8 143.4599 216.3722 134.8 143.401 216.2745 134.8 143.3249 216.1906 134.8 143.2338 216.1228 134.8 143.1301 216.073 134.8 143.0166 216.0426 134.8 142.8965 217.5324 141.3 136.7731 217.5324 141.3 139.7731 217.5324 134.8 139.7731 217.2904 141.3 136.2213 217.0837 141.3 136.0863 216.8443 141.3 136.0257 216.5983 141.3 136.046 216.1228 141.3 136.4161 216.0426 141.3 136.6497 216.073 141.3 136.5296 216.1906 141.3 136.3124 216.3722 141.3 136.1452 216.2745 141.3 136.2213 216.4811 141.3 136.0863 216.7205 141.3 136.0257 216.9665 141.3 136.046 217.1926 141.3 136.1452 217.3743 141.3 136.3124 217.442 141.3 136.4161 217.4918 141.3 136.5296 217.5222 141.3 136.6497 217.521 141.3 139.6429 216.0438 141.3 139.6429 216.0776 141.3 139.5166 216.1329 141.3 139.3981 216.2079 141.3 139.291 216.3003 141.3 139.1986 216.4074 141.3 139.1236 216.9127 141.3 139.0345 217.1574 141.3 139.1236 217.2645 141.3 139.1986 217.3569 141.3 139.291 216.6522 141.3 139.0345 217.4319 141.3 139.3981 217.4872 141.3 139.5166 216.7824 141.3 139.0231 217.0389 141.3 139.0683 216.5259 141.3 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139.1236 199.2645 134.8 139.1986 199.3569 134.8 139.291 199.4319 134.8 139.3981 199.4872 134.8 139.5166 199.521 134.8 139.6429 195.0438 134.8 139.6429 195.0776 134.8 139.5166 195.1329 134.8 139.3981 195.2079 134.8 139.291 195.3003 134.8 139.1986 195.4074 134.8 139.1236 195.5259 134.8 139.0683 195.6522 134.8 139.0345 195.7824 134.8 139.0231 195.9126 134.8 139.0345 196.0389 134.8 139.0683 196.1574 134.8 139.1236 196.2645 134.8 139.1986 196.3569 134.8 139.291 196.4319 134.8 139.3981 196.4872 134.8 139.5166 196.521 134.8 139.6429 192.0438 134.8 139.6429 192.0776 134.8 139.5166 192.1329 134.8 139.3981 192.2079 134.8 139.291 192.3003 134.8 139.1986 192.4074 134.8 139.1236 192.5259 134.8 139.0683 192.6522 134.8 139.0345 192.7824 134.8 139.0231 192.9126 134.8 139.0345 193.0389 134.8 139.0683 193.1574 134.8 139.1236 193.2645 134.8 139.1986 193.3569 134.8 139.291 193.4319 134.8 139.3981 193.4872 134.8 139.5166 193.521 134.8 139.6429 189.0438 134.8 139.6429 189.0776 134.8 139.5166 189.1329 134.8 139.3981 189.2079 134.8 139.291 189.3003 134.8 139.1986 189.4074 134.8 139.1236 189.5259 134.8 139.0683 189.6522 134.8 139.0345 189.7824 134.8 139.0231 189.9126 134.8 139.0345 190.0389 134.8 139.0683 190.1574 134.8 139.1236 190.2645 134.8 139.1986 190.3569 134.8 139.291 190.4319 134.8 139.3981 190.4872 134.8 139.5166 190.521 134.8 139.6429 186.0438 134.8 139.6429 186.0776 134.8 139.5166 186.1329 134.8 139.3981 186.2079 134.8 139.291 186.3003 134.8 139.1986 186.4074 134.8 139.1236 186.5259 134.8 139.0683 186.6522 134.8 139.0345 186.7824 134.8 139.0231 186.9126 134.8 139.0345 187.0389 134.8 139.0683 187.1574 134.8 139.1236 187.2645 134.8 139.1986 187.3569 134.8 139.291 187.4319 134.8 139.3981 187.4872 134.8 139.5166 187.521 134.8 139.6429 183.0438 134.8 139.6429 183.0776 134.8 139.5166 183.1329 134.8 139.3981 183.2079 134.8 139.291 183.3003 134.8 139.1986 183.4074 134.8 139.1236 183.5259 134.8 139.0683 183.6522 134.8 139.0345 183.7824 134.8 139.0231 183.9126 134.8 139.0345 184.0389 134.8 139.0683 184.1574 134.8 139.1236 184.2645 134.8 139.1986 184.3569 134.8 139.291 184.4319 134.8 139.3981 184.4872 134.8 139.5166 184.521 134.8 139.6429 180.0438 134.8 139.6429 180.0776 134.8 139.5166 180.1329 134.8 139.3981 180.2079 134.8 139.291 180.3003 134.8 139.1986 180.4074 134.8 139.1236 180.5259 134.8 139.0683 180.6522 134.8 139.0345 180.7824 134.8 139.0231 180.9127 134.8 139.0345 181.0389 134.8 139.0683 181.1574 134.8 139.1236 181.2645 134.8 139.1986 181.3569 134.8 139.291 181.4319 134.8 139.3981 181.4872 134.8 139.5166 181.521 134.8 139.6429 177.0438 134.8 139.6429 177.0776 134.8 139.5166 177.1329 134.8 139.3981 177.2079 134.8 139.291 177.3003 134.8 139.1986 177.4074 134.8 139.1236 177.5259 134.8 139.0683 177.6522 134.8 139.0345 177.7824 134.8 139.0231 177.9126 134.8 139.0345 178.0389 134.8 139.0683 178.1574 134.8 139.1236 178.2645 134.8 139.1986 178.3569 134.8 139.291 178.4319 134.8 139.3981 178.4872 134.8 139.5166 178.521 134.8 139.6429 174.0438 134.8 139.6429 174.0776 134.8 139.5166 174.1329 134.8 139.3981 174.2079 134.8 139.291 174.3003 134.8 139.1986 174.4074 134.8 139.1236 174.5259 134.8 139.0683 174.6522 134.8 139.0345 174.7824 134.8 139.0231 174.9126 134.8 139.0345 175.0389 134.8 139.0683 175.1574 134.8 139.1236 175.2645 134.8 139.1986 175.3569 134.8 139.291 175.4319 134.8 139.3981 175.4872 134.8 139.5166 175.521 134.8 139.6429 171.0438 134.8 139.6429 171.0776 134.8 139.5166 171.1329 134.8 139.3981 171.2079 134.8 139.291 171.3003 134.8 139.1986 171.4074 134.8 139.1236 171.5259 134.8 139.0683 171.6522 134.8 139.0345 171.7824 134.8 139.0231 171.9127 134.8 139.0345 172.0389 134.8 139.0683 172.1574 134.8 139.1236 172.2645 134.8 139.1986 172.3569 134.8 139.291 172.4319 134.8 139.3981 172.4872 134.8 139.5166 172.521 134.8 139.6429 168.0438 134.8 139.6429 168.0776 134.8 139.5166 168.1329 134.8 139.3981 168.2079 134.8 139.291 168.3003 134.8 139.1986 168.4074 134.8 139.1236 168.5259 134.8 139.0683 168.6522 134.8 139.0345 168.7824 134.8 139.0231 168.9127 134.8 139.0345 169.0389 134.8 139.0683 169.1574 134.8 139.1236 169.2645 134.8 139.1986 169.3569 134.8 139.291 169.4319 134.8 139.3981 169.4872 134.8 139.5166 169.521 134.8 139.6429 228.0324 134.8 142.7731 228.0324 134.8 139.7731 228.0324 141.3 139.7731 228.0324 141.3 136.7731 228.9665 134.8 143.5001 229.5324 134.8 142.7731 229.5222 134.8 142.8965 229.4918 134.8 143.0166 229.442 134.8 143.1301 229.3743 134.8 143.2338 229.2904 134.8 143.3249 229.1926 134.8 143.401 229.0837 134.8 143.4599 228.7205 134.8 143.5205 228.8443 134.8 143.5205 228.5983 134.8 143.5001 228.4811 134.8 143.4599 228.3722 134.8 143.401 228.2745 134.8 143.3249 228.1906 134.8 143.2338 228.1228 134.8 143.1301 228.073 134.8 143.0166 228.0426 134.8 142.8965 229.5324 141.3 136.7731 229.5324 141.3 139.7731 229.5324 134.8 139.7731 229.2904 141.3 136.2213 228.1228 141.3 136.4161 228.0426 141.3 136.6497 228.073 141.3 136.5296 228.1906 141.3 136.3124 228.2745 141.3 136.2213 228.4811 141.3 136.0863 228.3722 141.3 136.1452 228.7205 141.3 136.0257 228.5983 141.3 136.046 228.9665 141.3 136.046 228.8443 141.3 136.0257 229.0837 141.3 136.0863 229.1926 141.3 136.1452 229.3743 141.3 136.3124 229.442 141.3 136.4161 229.4918 141.3 136.5296 229.5222 141.3 136.6497 229.521 141.3 139.6429 228.0438 141.3 139.6429 228.0776 141.3 139.5166 228.1329 141.3 139.3981 228.2079 141.3 139.291 228.3003 141.3 139.1986 228.4074 141.3 139.1236 228.6522 141.3 139.0345 229.0389 141.3 139.0683 229.1574 141.3 139.1236 229.2645 141.3 139.1986 229.3569 141.3 139.291 228.7824 141.3 139.0231 229.4319 141.3 139.3981 229.4872 141.3 139.5166 228.5259 141.3 139.0683 228.9127 141.3 139.0345 228.0438 134.8 139.6429 228.0776 134.8 139.5166 228.1329 134.8 139.3981 228.2079 134.8 139.291 228.3003 134.8 139.1986 228.4074 134.8 139.1236 228.5259 134.8 139.0683 228.6522 134.8 139.0345 228.7824 134.8 139.0231 228.9127 134.8 139.0345 229.0389 134.8 139.0683 229.1574 134.8 139.1236 229.2645 134.8 139.1986 229.3569 134.8 139.291 229.4319 134.8 139.3981 229.4872 134.8 139.5166 229.521 134.8 139.6429 226.5324 118.3 136.7731 226.5324 118.3 139.7731 226.5324 124.8 139.7731 226.5324 124.8 142.7731 225.0324 124.8 142.7731 225.0438 124.8 142.9033 225.0776 124.8 143.0296 225.1329 124.8 143.1481 225.2079 124.8 143.2552 225.3003 124.8 143.3476 225.4074 124.8 143.4226 225.5259 124.8 143.4779 225.6522 124.8 143.5117 225.7824 124.8 143.5231 225.9127 124.8 143.5117 226.0389 124.8 143.4779 226.1574 124.8 143.4226 226.2645 124.8 143.3476 226.3569 124.8 143.2552 226.4319 124.8 143.1481 226.4872 124.8 143.0296 226.521 124.8 142.9033 225.0324 124.8 139.7731 225.0324 118.3 139.7731 225.0324 118.3 136.7731 226.521 118.3 136.6429 226.4872 118.3 136.5166 226.4319 118.3 136.3981 226.3569 118.3 136.291 226.2645 118.3 136.1986 226.1574 118.3 136.1236 226.0389 118.3 136.0683 225.9127 118.3 136.0345 225.7824 118.3 136.0231 225.6522 118.3 136.0345 225.5259 118.3 136.0683 225.4074 118.3 136.1236 225.3003 118.3 136.1986 225.2079 118.3 136.291 225.1329 118.3 136.3981 225.0776 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222.0776 124.8 143.0296 222.1329 124.8 143.1481 222.2079 124.8 143.2552 222.3003 124.8 143.3476 222.4074 124.8 143.4226 222.5259 124.8 143.4779 222.6522 124.8 143.5117 222.7824 124.8 143.5231 222.9126 124.8 143.5117 223.0389 124.8 143.4779 223.1574 124.8 143.4226 223.2645 124.8 143.3476 223.3569 124.8 143.2552 223.4319 124.8 143.1481 223.4872 124.8 143.0296 223.521 124.8 142.9033 222.0324 124.8 139.7731 222.0324 118.3 139.7731 222.0324 118.3 136.7731 223.521 118.3 136.6429 223.4872 118.3 136.5166 223.4319 118.3 136.3981 223.3569 118.3 136.291 223.2645 118.3 136.1986 223.1574 118.3 136.1236 223.0389 118.3 136.0683 222.9126 118.3 136.0345 222.7824 118.3 136.0231 222.6522 118.3 136.0345 222.5259 118.3 136.0683 222.4074 118.3 136.1236 222.3003 118.3 136.1986 222.2079 118.3 136.291 222.1329 118.3 136.3981 222.0776 118.3 136.5166 222.0438 118.3 136.6429 222.0438 118.3 139.6429 223.4872 118.3 139.5166 223.521 118.3 139.6429 223.4319 118.3 139.3981 223.3569 118.3 139.291 223.2645 118.3 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118.3 136.1236 172.0389 118.3 136.0683 171.9127 118.3 136.0345 171.7824 118.3 136.0231 171.6522 118.3 136.0345 171.5259 118.3 136.0683 171.4074 118.3 136.1236 171.3003 118.3 136.1986 171.2079 118.3 136.291 171.1329 118.3 136.3981 171.0776 118.3 136.5166 171.0438 118.3 136.6429 172.4872 118.3 139.5166 172.521 118.3 139.6429 171.1329 118.3 139.3981 171.0776 118.3 139.5166 171.0438 118.3 139.6429 171.5259 118.3 139.0683 171.4074 118.3 139.1236 172.4319 118.3 139.3981 172.3569 118.3 139.291 172.2645 118.3 139.1986 171.3003 118.3 139.1986 171.2079 118.3 139.291 172.1574 118.3 139.1236 172.0389 118.3 139.0683 171.9127 118.3 139.0345 171.6522 118.3 139.0345 171.7824 118.3 139.0231 175.5324 118.3 136.7731 175.5324 118.3 139.7731 175.5324 124.8 139.7731 175.5324 124.8 142.7731 174.0324 124.8 142.7731 174.0438 124.8 142.9033 174.0776 124.8 143.0296 174.1329 124.8 143.1481 174.2079 124.8 143.2552 174.3003 124.8 143.3476 174.4074 124.8 143.4226 174.5259 124.8 143.4779 174.6522 124.8 143.5117 174.7824 124.8 143.5231 174.9126 124.8 143.5117 175.0389 124.8 143.4779 175.1574 124.8 143.4226 175.2645 124.8 143.3476 175.3569 124.8 143.2552 175.4319 124.8 143.1481 175.4872 124.8 143.0296 175.521 124.8 142.9033 174.0324 124.8 139.7731 174.0324 118.3 139.7731 174.0324 118.3 136.7731 175.521 118.3 136.6429 175.4872 118.3 136.5166 175.4319 118.3 136.3981 175.3569 118.3 136.291 175.2645 118.3 136.1986 175.1574 118.3 136.1236 175.0389 118.3 136.0683 174.9126 118.3 136.0345 174.7824 118.3 136.0231 174.6522 118.3 136.0345 174.5259 118.3 136.0683 174.4074 118.3 136.1236 174.3003 118.3 136.1986 174.2079 118.3 136.291 174.1329 118.3 136.3981 174.0776 118.3 136.5166 174.0438 118.3 136.6429 175.4872 118.3 139.5166 175.521 118.3 139.6429 174.1329 118.3 139.3981 174.0776 118.3 139.5166 174.0438 118.3 139.6429 174.5259 118.3 139.0683 174.4074 118.3 139.1236 175.4319 118.3 139.3981 175.3569 118.3 139.291 175.2645 118.3 139.1986 174.3003 118.3 139.1986 174.2079 118.3 139.291 175.1574 118.3 139.1236 175.0389 118.3 139.0683 174.9126 118.3 139.0345 174.6522 118.3 139.0345 174.7824 118.3 139.0231 178.5324 118.3 136.7731 178.5324 118.3 139.7731 178.5324 124.8 139.7731 178.5324 124.8 142.7731 177.0324 124.8 142.7731 177.0438 124.8 142.9033 177.0776 124.8 143.0296 177.1329 124.8 143.1481 177.2079 124.8 143.2552 177.3003 124.8 143.3476 177.4074 124.8 143.4226 177.5259 124.8 143.4779 177.6522 124.8 143.5117 177.7824 124.8 143.5231 177.9126 124.8 143.5117 178.0389 124.8 143.4779 178.1574 124.8 143.4226 178.2645 124.8 143.3476 178.3569 124.8 143.2552 178.4319 124.8 143.1481 178.4872 124.8 143.0296 178.521 124.8 142.9033 177.0324 124.8 139.7731 177.0324 118.3 139.7731 177.0324 118.3 136.7731 178.521 118.3 136.6429 178.4872 118.3 136.5166 178.4319 118.3 136.3981 178.3569 118.3 136.291 178.2645 118.3 136.1986 178.1574 118.3 136.1236 178.0389 118.3 136.0683 177.9126 118.3 136.0345 177.7824 118.3 136.0231 177.6522 118.3 136.0345 177.5259 118.3 136.0683 177.4074 118.3 136.1236 177.3003 118.3 136.1986 177.2079 118.3 136.291 177.1329 118.3 136.3981 177.0776 118.3 136.5166 177.0438 118.3 136.6429 178.4872 118.3 139.5166 178.521 118.3 139.6429 177.1329 118.3 139.3981 177.0776 118.3 139.5166 177.0438 118.3 139.6429 177.5259 118.3 139.0683 177.4074 118.3 139.1236 178.4319 118.3 139.3981 178.3569 118.3 139.291 178.2645 118.3 139.1986 177.3003 118.3 139.1986 177.2079 118.3 139.291 178.1574 118.3 139.1236 178.0389 118.3 139.0683 177.9126 118.3 139.0345 177.6522 118.3 139.0345 177.7824 118.3 139.0231 181.5324 118.3 136.7731 181.5324 118.3 139.7731 181.5324 124.8 139.7731 181.5324 124.8 142.7731 180.0324 124.8 142.7731 180.0438 124.8 142.9033 180.0776 124.8 143.0296 180.1329 124.8 143.1481 180.2079 124.8 143.2552 180.3003 124.8 143.3476 180.4074 124.8 143.4226 180.5259 124.8 143.4779 180.6522 124.8 143.5117 180.7824 124.8 143.5231 180.9127 124.8 143.5117 181.0389 124.8 143.4779 181.1574 124.8 143.4226 181.2645 124.8 143.3476 181.3569 124.8 143.2552 181.4319 124.8 143.1481 181.4872 124.8 143.0296 181.521 124.8 142.9033 180.0324 124.8 139.7731 180.0324 118.3 139.7731 180.0324 118.3 136.7731 181.521 118.3 136.6429 181.4872 118.3 136.5166 181.4319 118.3 136.3981 181.3569 118.3 136.291 181.2645 118.3 136.1986 181.1574 118.3 136.1236 181.0389 118.3 136.0683 180.9127 118.3 136.0345 180.7824 118.3 136.0231 180.6522 118.3 136.0345 180.5259 118.3 136.0683 180.4074 118.3 136.1236 180.3003 118.3 136.1986 180.2079 118.3 136.291 180.1329 118.3 136.3981 180.0776 118.3 136.5166 180.0438 118.3 136.6429 181.4872 118.3 139.5166 181.521 118.3 139.6429 180.1329 118.3 139.3981 180.0776 118.3 139.5166 180.0438 118.3 139.6429 180.5259 118.3 139.0683 180.4074 118.3 139.1236 181.4319 118.3 139.3981 181.3569 118.3 139.291 181.2645 118.3 139.1986 180.3003 118.3 139.1986 180.2079 118.3 139.291 181.1574 118.3 139.1236 181.0389 118.3 139.0683 180.9127 118.3 139.0345 180.6522 118.3 139.0345 180.7824 118.3 139.0231 184.5324 118.3 136.7731 184.5324 118.3 139.7731 184.5324 124.8 139.7731 184.5324 124.8 142.7731 183.0324 124.8 142.7731 183.0438 124.8 142.9033 183.0776 124.8 143.0296 183.1329 124.8 143.1481 183.2079 124.8 143.2552 183.3003 124.8 143.3476 183.4074 124.8 143.4226 183.5259 124.8 143.4779 183.6522 124.8 143.5117 183.7824 124.8 143.5231 183.9126 124.8 143.5117 184.0389 124.8 143.4779 184.1574 124.8 143.4226 184.2645 124.8 143.3476 184.3569 124.8 143.2552 184.4319 124.8 143.1481 184.4872 124.8 143.0296 184.521 124.8 142.9033 183.0324 124.8 139.7731 183.0324 118.3 139.7731 183.0324 118.3 136.7731 184.521 118.3 136.6429 184.4872 118.3 136.5166 184.4319 118.3 136.3981 184.3569 118.3 136.291 184.2645 118.3 136.1986 184.1574 118.3 136.1236 184.0389 118.3 136.0683 183.9126 118.3 136.0345 183.7824 118.3 136.0231 183.6522 118.3 136.0345 183.5259 118.3 136.0683 183.4074 118.3 136.1236 183.3003 118.3 136.1986 183.2079 118.3 136.291 183.1329 118.3 136.3981 183.0776 118.3 136.5166 183.0438 118.3 136.6429 184.521 118.3 139.6429 183.1329 118.3 139.3981 183.0776 118.3 139.5166 183.0438 118.3 139.6429 184.4319 118.3 139.3981 184.3569 118.3 139.291 184.4872 118.3 139.5166 183.5259 118.3 139.0683 183.4074 118.3 139.1236 183.3003 118.3 139.1986 183.2079 118.3 139.291 184.2645 118.3 139.1986 184.1574 118.3 139.1236 184.0389 118.3 139.0683 183.9126 118.3 139.0345 183.7824 118.3 139.0231 183.6522 118.3 139.0345 187.5324 118.3 136.7731 187.5324 118.3 139.7731 187.5324 124.8 139.7731 187.5324 124.8 142.7731 186.0324 124.8 142.7731 186.0438 124.8 142.9033 186.0776 124.8 143.0296 186.1329 124.8 143.1481 186.2079 124.8 143.2552 186.3003 124.8 143.3476 186.4074 124.8 143.4226 186.5259 124.8 143.4779 186.6522 124.8 143.5117 186.7824 124.8 143.5231 186.9126 124.8 143.5117 187.0389 124.8 143.4779 187.1574 124.8 143.4226 187.2645 124.8 143.3476 187.3569 124.8 143.2552 187.4319 124.8 143.1481 187.4872 124.8 143.0296 187.521 124.8 142.9033 186.0324 124.8 139.7731 186.0324 118.3 139.7731 186.0324 118.3 136.7731 187.521 118.3 136.6429 187.4872 118.3 136.5166 187.4319 118.3 136.3981 187.3569 118.3 136.291 187.2645 118.3 136.1986 187.1574 118.3 136.1236 187.0389 118.3 136.0683 186.9126 118.3 136.0345 186.7824 118.3 136.0231 186.6522 118.3 136.0345 186.5259 118.3 136.0683 186.4074 118.3 136.1236 186.3003 118.3 136.1986 186.2079 118.3 136.291 186.1329 118.3 136.3981 186.0776 118.3 136.5166 186.0438 118.3 136.6429 187.521 118.3 139.6429 186.1329 118.3 139.3981 186.0776 118.3 139.5166 186.0438 118.3 139.6429 187.4319 118.3 139.3981 187.3569 118.3 139.291 187.4872 118.3 139.5166 186.5259 118.3 139.0683 186.4074 118.3 139.1236 186.3003 118.3 139.1986 186.2079 118.3 139.291 187.2645 118.3 139.1986 187.1574 118.3 139.1236 187.0389 118.3 139.0683 186.9126 118.3 139.0345 186.7824 118.3 139.0231 186.6522 118.3 139.0345 190.5324 118.3 136.7731 190.5324 118.3 139.7731 190.5324 124.8 139.7731 190.5324 124.8 142.7731 189.0324 124.8 142.7731 189.0438 124.8 142.9033 189.0776 124.8 143.0296 189.1329 124.8 143.1481 189.2079 124.8 143.2552 189.3003 124.8 143.3476 189.4074 124.8 143.4226 189.5259 124.8 143.4779 189.6522 124.8 143.5117 189.7824 124.8 143.5231 189.9126 124.8 143.5117 190.0389 124.8 143.4779 190.1574 124.8 143.4226 190.2645 124.8 143.3476 190.3569 124.8 143.2552 190.4319 124.8 143.1481 190.4872 124.8 143.0296 190.521 124.8 142.9033 189.0324 124.8 139.7731 189.0324 118.3 139.7731 189.0324 118.3 136.7731 190.521 118.3 136.6429 190.4872 118.3 136.5166 190.4319 118.3 136.3981 190.3569 118.3 136.291 190.2645 118.3 136.1986 190.1574 118.3 136.1236 190.0389 118.3 136.0683 189.9126 118.3 136.0345 189.7824 118.3 136.0231 189.6522 118.3 136.0345 189.5259 118.3 136.0683 189.4074 118.3 136.1236 189.3003 118.3 136.1986 189.2079 118.3 136.291 189.1329 118.3 136.3981 189.0776 118.3 136.5166 189.0438 118.3 136.6429 190.521 118.3 139.6429 189.1329 118.3 139.3981 189.0776 118.3 139.5166 189.0438 118.3 139.6429 190.4319 118.3 139.3981 190.3569 118.3 139.291 190.4872 118.3 139.5166 189.5259 118.3 139.0683 189.4074 118.3 139.1236 189.3003 118.3 139.1986 189.2079 118.3 139.291 190.2645 118.3 139.1986 190.1574 118.3 139.1236 190.0389 118.3 139.0683 189.9126 118.3 139.0345 189.7824 118.3 139.0231 189.6522 118.3 139.0345 193.5324 118.3 136.7731 193.5324 118.3 139.7731 193.5324 124.8 139.7731 193.5324 124.8 142.7731 192.0324 124.8 142.7731 192.0438 124.8 142.9033 192.0776 124.8 143.0296 192.1329 124.8 143.1481 192.2079 124.8 143.2552 192.3003 124.8 143.3476 192.4074 124.8 143.4226 192.5259 124.8 143.4779 192.6522 124.8 143.5117 192.7824 124.8 143.5231 192.9126 124.8 143.5117 193.0389 124.8 143.4779 193.1574 124.8 143.4226 193.2645 124.8 143.3476 193.3569 124.8 143.2552 193.4319 124.8 143.1481 193.4872 124.8 143.0296 193.521 124.8 142.9033 192.0324 124.8 139.7731 192.0324 118.3 139.7731 192.0324 118.3 136.7731 193.521 118.3 136.6429 193.4872 118.3 136.5166 193.4319 118.3 136.3981 193.3569 118.3 136.291 193.2645 118.3 136.1986 193.1574 118.3 136.1236 193.0389 118.3 136.0683 192.9126 118.3 136.0345 192.7824 118.3 136.0231 192.6522 118.3 136.0345 192.5259 118.3 136.0683 192.4074 118.3 136.1236 192.3003 118.3 136.1986 192.2079 118.3 136.291 192.1329 118.3 136.3981 192.0776 118.3 136.5166 192.0438 118.3 136.6429 193.4872 118.3 139.5166 193.521 118.3 139.6429 192.1329 118.3 139.3981 192.0776 118.3 139.5166 192.0438 118.3 139.6429 192.5259 118.3 139.0683 192.4074 118.3 139.1236 193.4319 118.3 139.3981 193.3569 118.3 139.291 193.2645 118.3 139.1986 192.3003 118.3 139.1986 192.2079 118.3 139.291 193.1574 118.3 139.1236 193.0389 118.3 139.0683 192.9126 118.3 139.0345 192.7824 118.3 139.0231 192.6522 118.3 139.0345 205.5324 118.3 136.7731 205.5324 118.3 139.7731 205.5324 124.8 139.7731 205.5324 124.8 142.7731 204.0324 124.8 142.7731 204.0438 124.8 142.9033 204.0776 124.8 143.0296 204.1329 124.8 143.1481 204.2079 124.8 143.2552 204.3003 124.8 143.3476 204.4074 124.8 143.4226 204.5259 124.8 143.4779 204.6522 124.8 143.5117 204.7824 124.8 143.5231 204.9126 124.8 143.5117 205.0389 124.8 143.4779 205.1574 124.8 143.4226 205.2645 124.8 143.3476 205.3569 124.8 143.2552 205.4319 124.8 143.1481 205.4872 124.8 143.0296 205.521 124.8 142.9033 204.0324 124.8 139.7731 204.0324 118.3 139.7731 204.0324 118.3 136.7731 205.521 118.3 136.6429 205.4872 118.3 136.5166 205.4319 118.3 136.3981 205.3569 118.3 136.291 205.2645 118.3 136.1986 205.1574 118.3 136.1236 205.0389 118.3 136.0683 204.9126 118.3 136.0345 204.7824 118.3 136.0231 204.6522 118.3 136.0345 204.5259 118.3 136.0683 204.4074 118.3 136.1236 204.3003 118.3 136.1986 204.2079 118.3 136.291 204.1329 118.3 136.3981 204.0776 118.3 136.5166 204.0438 118.3 136.6429 204.0438 118.3 139.6429 205.4872 118.3 139.5166 205.521 118.3 139.6429 205.4319 118.3 139.3981 205.3569 118.3 139.291 205.2645 118.3 139.1986 205.1574 118.3 139.1236 205.0389 118.3 139.0683 204.9126 118.3 139.0345 204.2079 118.3 139.291 204.1329 118.3 139.3981 204.0776 118.3 139.5166 204.7824 118.3 139.0231 204.5259 118.3 139.0683 204.4074 118.3 139.1236 204.3003 118.3 139.1986 204.6522 118.3 139.0345 208.5324 118.3 136.7731 208.5324 118.3 139.7731 208.5324 124.8 139.7731 208.5324 124.8 142.7731 207.0324 124.8 142.7731 207.0438 124.8 142.9033 207.0776 124.8 143.0296 207.1329 124.8 143.1481 207.2079 124.8 143.2552 207.3003 124.8 143.3476 207.4074 124.8 143.4226 207.5259 124.8 143.4779 207.6522 124.8 143.5117 207.7824 124.8 143.5231 207.9127 124.8 143.5117 208.0389 124.8 143.4779 208.1574 124.8 143.4226 208.2645 124.8 143.3476 208.3569 124.8 143.2552 208.4319 124.8 143.1481 208.4872 124.8 143.0296 208.521 124.8 142.9033 207.0324 124.8 139.7731 207.0324 118.3 139.7731 207.0324 118.3 136.7731 208.521 118.3 136.6429 208.4872 118.3 136.5166 208.4319 118.3 136.3981 208.3569 118.3 136.291 208.2645 118.3 136.1986 208.1574 118.3 136.1236 208.0389 118.3 136.0683 207.9127 118.3 136.0345 207.7824 118.3 136.0231 207.6522 118.3 136.0345 207.5259 118.3 136.0683 207.4074 118.3 136.1236 207.3003 118.3 136.1986 207.2079 118.3 136.291 207.1329 118.3 136.3981 207.0776 118.3 136.5166 207.0438 118.3 136.6429 207.0438 118.3 139.6429 208.521 118.3 139.6429 208.4319 118.3 139.3981 208.3569 118.3 139.291 208.4872 118.3 139.5166 208.2645 118.3 139.1986 208.1574 118.3 139.1236 208.0389 118.3 139.0683 207.9127 118.3 139.0345 207.7824 118.3 139.0231 207.2079 118.3 139.291 207.1329 118.3 139.3981 207.0776 118.3 139.5166 207.5259 118.3 139.0683 207.4074 118.3 139.1236 207.3003 118.3 139.1986 207.6522 118.3 139.0345 211.5324 118.3 136.7731 211.5324 118.3 139.7731 211.5324 124.8 139.7731 211.5324 124.8 142.7731 210.0324 124.8 142.7731 210.0438 124.8 142.9033 210.0776 124.8 143.0296 210.1329 124.8 143.1481 210.2079 124.8 143.2552 210.3003 124.8 143.3476 210.4074 124.8 143.4226 210.5259 124.8 143.4779 210.6522 124.8 143.5117 210.7824 124.8 143.5231 210.9126 124.8 143.5117 211.0389 124.8 143.4779 211.1574 124.8 143.4226 211.2645 124.8 143.3476 211.3569 124.8 143.2552 211.4319 124.8 143.1481 211.4872 124.8 143.0296 211.521 124.8 142.9033 210.0324 124.8 139.7731 210.0324 118.3 139.7731 210.0324 118.3 136.7731 211.521 118.3 136.6429 211.4872 118.3 136.5166 211.4319 118.3 136.3981 211.3569 118.3 136.291 211.2645 118.3 136.1986 211.1574 118.3 136.1236 211.0389 118.3 136.0683 210.9126 118.3 136.0345 210.7824 118.3 136.0231 210.6522 118.3 136.0345 210.5259 118.3 136.0683 210.4074 118.3 136.1236 210.3003 118.3 136.1986 210.2079 118.3 136.291 210.1329 118.3 136.3981 210.0776 118.3 136.5166 210.0438 118.3 136.6429 210.0438 118.3 139.6429 211.521 118.3 139.6429 211.4319 118.3 139.3981 211.3569 118.3 139.291 211.4872 118.3 139.5166 211.2645 118.3 139.1986 211.1574 118.3 139.1236 211.0389 118.3 139.0683 210.9126 118.3 139.0345 210.7824 118.3 139.0231 210.2079 118.3 139.291 210.1329 118.3 139.3981 210.0776 118.3 139.5166 210.5259 118.3 139.0683 210.4074 118.3 139.1236 210.3003 118.3 139.1986 210.6522 118.3 139.0345 214.5324 118.3 136.7731 214.5324 118.3 139.7731 214.5324 124.8 139.7731 214.5324 124.8 142.7731 213.0324 124.8 142.7731 213.0438 124.8 142.9033 213.0776 124.8 143.0296 213.1329 124.8 143.1481 213.2079 124.8 143.2552 213.3003 124.8 143.3476 213.4074 124.8 143.4226 213.5259 124.8 143.4779 213.6522 124.8 143.5117 213.7824 124.8 143.5231 213.9127 124.8 143.5117 214.0389 124.8 143.4779 214.1574 124.8 143.4226 214.2645 124.8 143.3476 214.3569 124.8 143.2552 214.4319 124.8 143.1481 214.4872 124.8 143.0296 214.521 124.8 142.9033 213.0324 124.8 139.7731 213.0324 118.3 139.7731 213.0324 118.3 136.7731 214.521 118.3 136.6429 214.4872 118.3 136.5166 214.4319 118.3 136.3981 214.3569 118.3 136.291 214.2645 118.3 136.1986 214.1574 118.3 136.1236 214.0389 118.3 136.0683 213.9127 118.3 136.0345 213.7824 118.3 136.0231 213.6522 118.3 136.0345 213.5259 118.3 136.0683 213.4074 118.3 136.1236 213.3003 118.3 136.1986 213.2079 118.3 136.291 213.1329 118.3 136.3981 213.0776 118.3 136.5166 213.0438 118.3 136.6429 213.0438 118.3 139.6429 214.4872 118.3 139.5166 214.521 118.3 139.6429 214.4319 118.3 139.3981 214.3569 118.3 139.291 214.2645 118.3 139.1986 214.1574 118.3 139.1236 214.0389 118.3 139.0683 213.9127 118.3 139.0345 213.2079 118.3 139.291 213.1329 118.3 139.3981 213.0776 118.3 139.5166 213.7824 118.3 139.0231 213.5259 118.3 139.0683 213.4074 118.3 139.1236 213.3003 118.3 139.1986 213.6522 118.3 139.0345 217.5324 118.3 136.7731 217.5324 118.3 139.7731 217.5324 124.8 139.7731 217.5324 124.8 142.7731 216.0324 124.8 142.7731 216.0438 124.8 142.9033 216.0776 124.8 143.0296 216.1329 124.8 143.1481 216.2079 124.8 143.2552 216.3003 124.8 143.3476 216.4074 124.8 143.4226 216.5259 124.8 143.4779 216.6522 124.8 143.5117 216.7824 124.8 143.5231 216.9127 124.8 143.5117 217.0389 124.8 143.4779 217.1574 124.8 143.4226 217.2645 124.8 143.3476 217.3569 124.8 143.2552 217.4319 124.8 143.1481 217.4872 124.8 143.0296 217.521 124.8 142.9033 216.0324 124.8 139.7731 216.0324 118.3 139.7731 216.0324 118.3 136.7731 217.521 118.3 136.6429 217.4872 118.3 136.5166 217.4319 118.3 136.3981 217.3569 118.3 136.291 217.2645 118.3 136.1986 217.1574 118.3 136.1236 217.0389 118.3 136.0683 216.9127 118.3 136.0345 216.7824 118.3 136.0231 216.6522 118.3 136.0345 216.5259 118.3 136.0683 216.4074 118.3 136.1236 216.3003 118.3 136.1986 216.2079 118.3 136.291 216.1329 118.3 136.3981 216.0776 118.3 136.5166 216.0438 118.3 136.6429 216.0438 118.3 139.6429 217.4872 118.3 139.5166 217.521 118.3 139.6429 217.4319 118.3 139.3981 217.3569 118.3 139.291 217.2645 118.3 139.1986 217.1574 118.3 139.1236 217.0389 118.3 139.0683 216.9127 118.3 139.0345 216.2079 118.3 139.291 216.1329 118.3 139.3981 216.0776 118.3 139.5166 216.7824 118.3 139.0231 216.5259 118.3 139.0683 216.4074 118.3 139.1236 216.3003 118.3 139.1986 216.6522 118.3 139.0345 220.5324 118.3 136.7731 220.5324 118.3 139.7731 220.5324 124.8 139.7731 220.5324 124.8 142.7731 219.0324 124.8 142.7731 219.0438 124.8 142.9033 219.0776 124.8 143.0296 219.1329 124.8 143.1481 219.2079 124.8 143.2552 219.3003 124.8 143.3476 219.4074 124.8 143.4226 219.5259 124.8 143.4779 219.6522 124.8 143.5117 219.7824 124.8 143.5231 219.9126 124.8 143.5117 220.0389 124.8 143.4779 220.1574 124.8 143.4226 220.2645 124.8 143.3476 220.3569 124.8 143.2552 220.4319 124.8 143.1481 220.4872 124.8 143.0296 220.521 124.8 142.9033 219.0324 124.8 139.7731 219.0324 118.3 139.7731 219.0324 118.3 136.7731 220.521 118.3 136.6429 220.4872 118.3 136.5166 220.4319 118.3 136.3981 220.3569 118.3 136.291 220.2645 118.3 136.1986 220.1574 118.3 136.1236 220.0389 118.3 136.0683 219.9126 118.3 136.0345 219.7824 118.3 136.0231 219.6522 118.3 136.0345 219.5259 118.3 136.0683 219.4074 118.3 136.1236 219.3003 118.3 136.1986 219.2079 118.3 136.291 219.1329 118.3 136.3981 219.0776 118.3 136.5166 219.0438 118.3 136.6429 219.1329 118.3 139.3981 219.0776 118.3 139.5166 219.0438 118.3 139.6429 220.4872 118.3 139.5166 220.521 118.3 139.6429 219.5259 118.3 139.0683 219.4074 118.3 139.1236 220.4319 118.3 139.3981 220.3569 118.3 139.291 220.2645 118.3 139.1986 220.1574 118.3 139.1236 220.0389 118.3 139.0683 219.9126 118.3 139.0345 219.3003 118.3 139.1986 219.2079 118.3 139.291 219.7824 118.3 139.0231 219.6522 118.3 139.0345 223.521 124.8 139.6429 223.4872 124.8 139.5166 223.4319 124.8 139.3981 223.3569 124.8 139.291 223.2645 124.8 139.1986 223.1574 124.8 139.1236 223.0389 124.8 139.0683 222.9126 124.8 139.0345 222.7824 124.8 139.0231 222.6522 124.8 139.0345 222.5259 124.8 139.0683 222.4074 124.8 139.1236 222.3003 124.8 139.1986 222.2079 124.8 139.291 222.1329 124.8 139.3981 222.0776 124.8 139.5166 222.0438 124.8 139.6429 220.521 124.8 139.6429 220.4872 124.8 139.5166 220.4319 124.8 139.3981 220.3569 124.8 139.291 220.2645 124.8 139.1986 220.1574 124.8 139.1236 220.0389 124.8 139.0683 219.9126 124.8 139.0345 219.7824 124.8 139.0231 219.6522 124.8 139.0345 219.5259 124.8 139.0683 219.4074 124.8 139.1236 219.3003 124.8 139.1986 219.2079 124.8 139.291 219.1329 124.8 139.3981 219.0776 124.8 139.5166 219.0438 124.8 139.6429 217.521 124.8 139.6429 217.4872 124.8 139.5166 217.4319 124.8 139.3981 217.3569 124.8 139.291 217.2645 124.8 139.1986 217.1574 124.8 139.1236 217.0389 124.8 139.0683 216.9127 124.8 139.0345 216.7824 124.8 139.0231 216.6522 124.8 139.0345 216.5259 124.8 139.0683 216.4074 124.8 139.1236 216.3003 124.8 139.1986 216.2079 124.8 139.291 216.1329 124.8 139.3981 216.0776 124.8 139.5166 216.0438 124.8 139.6429 214.521 124.8 139.6429 214.4872 124.8 139.5166 214.4319 124.8 139.3981 214.3569 124.8 139.291 214.2645 124.8 139.1986 214.1574 124.8 139.1236 214.0389 124.8 139.0683 213.9127 124.8 139.0345 213.7824 124.8 139.0231 213.6522 124.8 139.0345 213.5259 124.8 139.0683 213.4074 124.8 139.1236 213.3003 124.8 139.1986 213.2079 124.8 139.291 213.1329 124.8 139.3981 213.0776 124.8 139.5166 213.0438 124.8 139.6429 211.521 124.8 139.6429 211.4872 124.8 139.5166 211.4319 124.8 139.3981 211.3569 124.8 139.291 211.2645 124.8 139.1986 211.1574 124.8 139.1236 211.0389 124.8 139.0683 210.9126 124.8 139.0345 210.7824 124.8 139.0231 210.6522 124.8 139.0345 210.5259 124.8 139.0683 210.4074 124.8 139.1236 210.3003 124.8 139.1986 210.2079 124.8 139.291 210.1329 124.8 139.3981 210.0776 124.8 139.5166 210.0438 124.8 139.6429 208.521 124.8 139.6429 208.4872 124.8 139.5166 208.4319 124.8 139.3981 208.3569 124.8 139.291 208.2645 124.8 139.1986 208.1574 124.8 139.1236 208.0389 124.8 139.0683 207.9127 124.8 139.0345 207.7824 124.8 139.0231 207.6522 124.8 139.0345 207.5259 124.8 139.0683 207.4074 124.8 139.1236 207.3003 124.8 139.1986 207.2079 124.8 139.291 207.1329 124.8 139.3981 207.0776 124.8 139.5166 207.0438 124.8 139.6429 205.521 124.8 139.6429 205.4872 124.8 139.5166 205.4319 124.8 139.3981 205.3569 124.8 139.291 205.2645 124.8 139.1986 205.1574 124.8 139.1236 205.0389 124.8 139.0683 204.9126 124.8 139.0345 204.7824 124.8 139.0231 204.6522 124.8 139.0345 204.5259 124.8 139.0683 204.4074 124.8 139.1236 204.3003 124.8 139.1986 204.2079 124.8 139.291 204.1329 124.8 139.3981 204.0776 124.8 139.5166 204.0438 124.8 139.6429 193.521 124.8 139.6429 193.4872 124.8 139.5166 193.4319 124.8 139.3981 193.3569 124.8 139.291 193.2645 124.8 139.1986 193.1574 124.8 139.1236 193.0389 124.8 139.0683 192.9126 124.8 139.0345 192.7824 124.8 139.0231 192.6522 124.8 139.0345 192.5259 124.8 139.0683 192.4074 124.8 139.1236 192.3003 124.8 139.1986 192.2079 124.8 139.291 192.1329 124.8 139.3981 192.0776 124.8 139.5166 192.0438 124.8 139.6429 190.521 124.8 139.6429 190.4872 124.8 139.5166 190.4319 124.8 139.3981 190.3569 124.8 139.291 190.2645 124.8 139.1986 190.1574 124.8 139.1236 190.0389 124.8 139.0683 189.9126 124.8 139.0345 189.7824 124.8 139.0231 189.6522 124.8 139.0345 189.5259 124.8 139.0683 189.4074 124.8 139.1236 189.3003 124.8 139.1986 189.2079 124.8 139.291 189.1329 124.8 139.3981 189.0776 124.8 139.5166 189.0438 124.8 139.6429 187.521 124.8 139.6429 187.4872 124.8 139.5166 187.4319 124.8 139.3981 187.3569 124.8 139.291 187.2645 124.8 139.1986 187.1574 124.8 139.1236 187.0389 124.8 139.0683 186.9126 124.8 139.0345 186.7824 124.8 139.0231 186.6522 124.8 139.0345 186.5259 124.8 139.0683 186.4074 124.8 139.1236 186.3003 124.8 139.1986 186.2079 124.8 139.291 186.1329 124.8 139.3981 186.0776 124.8 139.5166 186.0438 124.8 139.6429 184.521 124.8 139.6429 184.4872 124.8 139.5166 184.4319 124.8 139.3981 184.3569 124.8 139.291 184.2645 124.8 139.1986 184.1574 124.8 139.1236 184.0389 124.8 139.0683 183.9126 124.8 139.0345 183.7824 124.8 139.0231 183.6522 124.8 139.0345 183.5259 124.8 139.0683 183.4074 124.8 139.1236 183.3003 124.8 139.1986 183.2079 124.8 139.291 183.1329 124.8 139.3981 183.0776 124.8 139.5166 183.0438 124.8 139.6429 181.521 124.8 139.6429 181.4872 124.8 139.5166 181.4319 124.8 139.3981 181.3569 124.8 139.291 181.2645 124.8 139.1986 181.1574 124.8 139.1236 181.0389 124.8 139.0683 180.9127 124.8 139.0345 180.7824 124.8 139.0231 180.6522 124.8 139.0345 180.5259 124.8 139.0683 180.4074 124.8 139.1236 180.3003 124.8 139.1986 180.2079 124.8 139.291 180.1329 124.8 139.3981 180.0776 124.8 139.5166 180.0438 124.8 139.6429 178.521 124.8 139.6429 178.4872 124.8 139.5166 178.4319 124.8 139.3981 178.3569 124.8 139.291 178.2645 124.8 139.1986 178.1574 124.8 139.1236 178.0389 124.8 139.0683 177.9126 124.8 139.0345 177.7824 124.8 139.0231 177.6522 124.8 139.0345 177.5259 124.8 139.0683 177.4074 124.8 139.1236 177.3003 124.8 139.1986 177.2079 124.8 139.291 177.1329 124.8 139.3981 177.0776 124.8 139.5166 177.0438 124.8 139.6429 175.521 124.8 139.6429 175.4872 124.8 139.5166 175.4319 124.8 139.3981 175.3569 124.8 139.291 175.2645 124.8 139.1986 175.1574 124.8 139.1236 175.0389 124.8 139.0683 174.9126 124.8 139.0345 174.7824 124.8 139.0231 174.6522 124.8 139.0345 174.5259 124.8 139.0683 174.4074 124.8 139.1236 174.3003 124.8 139.1986 174.2079 124.8 139.291 174.1329 124.8 139.3981 174.0776 124.8 139.5166 174.0438 124.8 139.6429 172.521 124.8 139.6429 172.4872 124.8 139.5166 172.4319 124.8 139.3981 172.3569 124.8 139.291 172.2645 124.8 139.1986 172.1574 124.8 139.1236 172.0389 124.8 139.0683 171.9127 124.8 139.0345 171.7824 124.8 139.0231 171.6522 124.8 139.0345 171.5259 124.8 139.0683 171.4074 124.8 139.1236 171.3003 124.8 139.1986 171.2079 124.8 139.291 171.1329 124.8 139.3981 171.0776 124.8 139.5166 171.0438 124.8 139.6429 194.7292 129.8 140.1731 194.7907 129.8 139.4698 194.9734 129.8 138.7879 195.2718 129.8 138.1481 195.6767 129.8 137.5698 196.1759 129.8 137.0706 196.7542 129.8 136.6657 197.394 129.8 136.3673 198.0759 129.8 136.1846 198.7792 129.8 136.1231 199.4824 129.8 136.1846 200.1644 129.8 136.3673 200.8042 129.8 136.6657 201.3825 129.8 137.0706 201.8816 129.8 137.5698 202.2866 129.8 138.1481 202.5849 129.8 138.7879 202.7677 129.8 139.4698 202.8292 129.8 140.1731 194.8292 129.8 140.1731 194.8892 129.8 139.4872 195.0674 129.8 138.8221 195.3584 129.8 138.1981 195.7533 129.8 137.6341 196.2402 129.8 137.1472 196.8042 129.8 136.7523 197.4282 129.8 136.4613 198.0933 129.8 136.2831 198.7792 129.8 136.2231 199.4651 129.8 136.2831 200.1302 129.8 136.4613 200.7542 129.8 136.7523 201.3182 129.8 137.1472 201.805 129.8 137.6341 202.2 129.8 138.1981 202.491 129.8 138.8221 202.6692 129.8 139.4872 202.7292 129.8 140.1731 202.7292 117.3 140.1731 202.6692 117.3 139.4872 202.491 117.3 138.8221 202.2 117.3 138.1981 201.805 117.3 137.6341 201.3182 117.3 137.1472 200.7542 117.3 136.7523 200.1302 117.3 136.4613 199.4651 117.3 136.2831 198.7792 117.3 136.2231 198.0933 117.3 136.2831 197.4282 117.3 136.4613 196.8042 117.3 136.7523 196.2402 117.3 137.1472 195.7533 117.3 137.6341 195.3584 117.3 138.1981 195.0674 117.3 138.8221 194.8892 117.3 139.4872 194.8292 117.3 140.1731 194.8292 117.3 146.1231 202.7292 117.3 146.1231 196.2653 117.3 140.6164 196.3804 117.3 141.0462 199.2225 117.3 142.687 199.6522 117.3 142.5718 200.0555 117.3 142.3838 200.42 117.3 142.1286 197.5028 117.3 142.3838 197.1383 117.3 142.1286 196.8237 117.3 141.8139 197.9061 117.3 142.5718 198.3359 117.3 142.687 198.7792 117.3 142.7258 201.1779 117.3 141.0462 200.9899 117.3 141.4494 200.7347 117.3 141.8139 196.5685 117.3 141.4494 201.2931 117.3 140.6164 201.3319 117.3 140.1731 201.2931 117.3 139.7298 201.1779 117.3 139.3 200.9899 117.3 138.8968 200.7347 117.3 138.5323 200.42 117.3 138.2176 200.0555 117.3 137.9624 199.6522 117.3 137.7743 199.2225 117.3 137.6592 198.7792 117.3 137.6204 198.3359 117.3 137.6592 197.9061 117.3 137.7743 197.5028 117.3 137.9624 197.1383 117.3 138.2176 196.8237 117.3 138.5323 196.5685 117.3 138.8968 196.3804 117.3 139.3 196.2653 117.3 139.7298 196.2265 117.3 140.1731 198.7792 128.8338 140.1731 198.3359 127.3 142.687 197.9061 127.3 142.5718 198.7792 127.3 142.7258 197.1383 127.3 142.1286 196.8237 127.3 141.8139 197.5028 127.3 142.3838 196.3804 127.3 141.0462 196.2653 127.3 140.6164 196.5685 127.3 141.4494 196.2653 127.3 139.7298 196.3804 127.3 139.3 196.2265 127.3 140.1731 196.8237 127.3 138.5323 197.1383 127.3 138.2176 196.5685 127.3 138.8968 197.9061 127.3 137.7743 198.3359 127.3 137.6592 197.5028 127.3 137.9624 199.2225 127.3 137.6592 199.6522 127.3 137.7743 198.7792 127.3 137.6204 200.42 127.3 138.2176 200.7347 127.3 138.5323 200.0555 127.3 137.9624 201.1779 127.3 139.3 201.2931 127.3 139.7298 200.9899 127.3 138.8968 201.2931 127.3 140.6164 201.1779 127.3 141.0462 201.3319 127.3 140.1731 200.7347 127.3 141.8139 200.42 127.3 142.1286 200.9899 127.3 141.4494 199.6522 127.3 142.5718 199.2225 127.3 142.687 200.0555 127.3 142.3838 221.2792 129.8 144.472 222.5102 130.0171 145.2231 222.4538 130.2275 145.2231 222.5292 129.8 145.2231 222.2367 130.6035 145.2231 222.0827 130.7575 145.2231 222.3617 130.425 145.2231 221.7067 130.9746 145.2231 221.4962 131.031 145.2231 221.9042 130.8825 145.2231 221.0621 131.031 145.2231 220.8516 130.9746 145.2231 221.2792 131.05 145.2231 220.4757 130.7575 145.2231 220.3216 130.6035 145.2231 220.6542 130.8825 145.2231 220.1046 130.2275 145.2231 220.0482 130.0171 145.2231 220.1967 130.425 145.2231 220.0482 129.5829 145.2231 220.1046 129.3725 145.2231 220.0292 129.8 145.2231 220.3216 128.9965 145.2231 220.4757 128.8424 145.2231 220.1967 129.175 145.2231 220.8516 128.6254 145.2231 221.0621 128.569 145.2231 220.6542 128.7175 145.2231 221.4962 128.569 145.2231 221.7067 128.6254 145.2231 221.2792 128.55 145.2231 222.0827 128.8424 145.2231 222.2367 128.9965 145.2231 221.9042 128.7175 145.2231 222.4538 129.3725 145.2231 222.5102 129.5829 145.2231 222.3617 129.175 145.2231 176.2792 129.8 144.472 177.5102 130.0171 145.2231 177.4538 130.2275 145.2231 177.5292 129.8 145.2231 177.2367 130.6035 145.2231 177.0827 130.7575 145.2231 177.3617 130.425 145.2231 176.7067 130.9746 145.2231 176.4962 131.031 145.2231 176.9042 130.8825 145.2231 176.0621 131.031 145.2231 175.8516 130.9746 145.2231 176.2792 131.05 145.2231 175.4757 130.7575 145.2231 175.3216 130.6035 145.2231 175.6542 130.8825 145.2231 175.1046 130.2275 145.2231 175.0482 130.0171 145.2231 175.1967 130.425 145.2231 175.0482 129.5829 145.2231 175.1046 129.3725 145.2231 175.0292 129.8 145.2231 175.3216 128.9965 145.2231 175.4757 128.8424 145.2231 175.1967 129.175 145.2231 175.8516 128.6254 145.2231 176.0621 128.569 145.2231 175.6542 128.7175 145.2231 176.4962 128.569 145.2231 176.7067 128.6254 145.2231 176.2792 128.55 145.2231 177.0827 128.8424 145.2231 177.2367 128.9965 145.2231 176.9042 128.7175 145.2231 177.4538 129.3725 145.2231 177.5102 129.5829 145.2231 177.3617 129.175 145.2231 168.0292 132.8311 125.7231 167.4763 133.0889 125.7231 168.9603 127.5503 125.7231 177.449 133.0139 125.7231 176.949 132.3 125.7231 176.5807 131.5101 125.7231 176.3551 130.6682 125.7231 168.5289 127.1188 125.7231 176.2792 129.8 125.7231 168.0292 126.7689 125.7231 167.4763 126.5111 125.7231 200.7792 129.8 125.7231 182.9893 125.1015 125.7231 183.7792 125.4699 125.7231 169.3103 128.05 125.7231 178.7792 134.1301 125.7231 178.0652 133.6302 125.7231 169.5681 128.6029 125.7231 169.726 129.1922 125.7231 169.7792 129.8 125.7231 166.8869 133.2468 125.7231 166.2792 133.3 125.7231 165.6714 133.2468 125.7231 165.0821 133.0889 125.7231 164.5292 132.8311 125.7231 164.0294 132.4812 125.7231 163.598 132.0498 125.7231 163.2481 131.55 125.7231 162.9902 130.9971 125.7231 162.8323 130.4078 125.7231 162.7792 129.8 125.7231 162.8323 129.1922 125.7231 184.4931 125.9698 125.7231 185.1094 126.5861 125.7231 185.6093 127.3 125.7231 186.2792 129.8 125.7231 205.056 135.908 125.7231 204.0292 135.4292 125.7231 203.1011 134.7793 125.7231 202.2999 133.9781 125.7231 201.65 133.05 125.7231 201.1712 132.0231 125.7231 200.8779 130.9287 125.7231 186.2032 128.9318 125.7231 185.9776 128.0899 125.7231 186.2032 130.6682 125.7231 185.9776 131.5101 125.7231 206.1505 136.2012 125.7231 216.5292 124.1708 125.7231 226.2792 129.8 125.7231 226.3551 128.9318 125.7231 162.9902 128.6029 125.7231 163.2481 128.05 125.7231 163.598 127.5503 125.7231 164.0294 127.1188 125.7231 164.5292 126.7689 125.7231 165.0821 126.5111 125.7231 165.6714 126.3532 125.7231 176.3551 128.9318 125.7231 176.5807 128.0899 125.7231 166.8869 126.3532 125.7231 166.2792 126.3 125.7231 201.1712 127.5769 125.7231 201.65 126.55 125.7231 202.2999 125.6219 125.7231 218.2585 125.6219 125.7231 226.949 132.3 125.7231 226.5807 131.5101 125.7231 217.4573 124.8207 125.7231 226.3551 130.6682 125.7231 169.726 130.4078 125.7231 169.5681 130.9971 125.7231 179.5691 134.4985 125.7231 176.949 127.3 125.7231 177.449 126.5861 125.7231 178.0652 125.9698 125.7231 178.7792 125.4699 125.7231 179.5691 125.1015 125.7231 180.4109 124.876 125.7231 185.6093 132.3 125.7231 185.1094 133.0139 125.7231 184.4931 133.6302 125.7231 203.1011 124.8207 125.7231 204.0292 124.1708 125.7231 205.056 123.692 125.7231 218.9083 133.05 125.7231 218.2585 133.9781 125.7231 169.3103 131.55 125.7231 168.9603 132.0498 125.7231 180.4109 134.724 125.7231 168.5289 132.4812 125.7231 226.5807 128.0899 125.7231 226.949 127.3 125.7231 215.5023 123.692 125.7231 227.449 126.5861 125.7231 214.4079 123.3988 125.7231 228.0652 125.9698 125.7231 231.2792 124.8 125.7231 232.1474 124.876 125.7231 232.9893 125.1015 125.7231 233.7792 125.4699 125.7231 234.4931 125.9698 125.7231 235.1094 126.5861 125.7231 235.6093 127.3 125.7231 235.9776 128.0899 125.7231 236.2032 128.9318 125.7231 236.2792 129.8 125.7231 181.2792 124.8 125.7231 182.1474 124.876 125.7231 200.8779 128.6713 125.7231 215.5023 135.908 125.7231 214.4079 136.2012 125.7231 181.2792 134.8 125.7231 182.1474 134.724 125.7231 182.9893 134.4985 125.7231 218.9083 126.55 125.7231 228.0652 133.6302 125.7231 227.449 133.0139 125.7231 231.2792 134.8 125.7231 230.4109 134.724 125.7231 217.4573 134.7793 125.7231 216.5292 135.4292 125.7231 206.1505 123.3988 125.7231 207.2792 123.3 125.7231 213.2792 123.3 125.7231 228.7792 125.4699 125.7231 229.5691 125.1015 125.7231 230.4109 124.876 125.7231 232.1474 134.724 125.7231 219.3872 132.0231 125.7231 236.2032 130.6682 125.7231 235.9776 131.5101 125.7231 235.6093 132.3 125.7231 235.1094 133.0139 125.7231 234.4931 133.6302 125.7231 233.7792 134.1301 125.7231 232.9893 134.4985 125.7231 183.7792 134.1301 125.7231 207.2792 136.3 125.7231 213.2792 136.3 125.7231 219.3872 127.5769 125.7231 219.6804 128.6713 125.7231 228.7792 134.1301 125.7231 219.7792 129.8 125.7231 219.6804 130.9287 125.7231 229.5691 134.4985 125.7231 207.2792 123.3 129.2231 213.2792 123.3 129.2231 213.2792 136.3 129.2231 214.4079 136.2012 129.2231 215.5023 135.908 129.2231 216.5292 135.4292 129.2231 217.4573 134.7793 129.2231 218.2585 133.9781 129.2231 218.9083 133.05 129.2231 219.3872 132.0231 129.2231 219.6804 130.9287 129.2231 219.7792 129.8 129.2231 219.6804 128.6713 129.2231 219.3872 127.5769 129.2231 218.9083 126.55 129.2231 218.2585 125.6219 129.2231 217.4573 124.8207 129.2231 216.5292 124.1708 129.2231 215.5023 123.692 129.2231 214.4079 123.3988 129.2231 207.2792 136.3 129.2231 206.1505 123.3988 129.2231 205.056 123.692 129.2231 204.0292 124.1708 129.2231 203.1011 124.8207 129.2231 202.2999 125.6219 129.2231 201.65 126.55 129.2231 201.1712 127.5769 129.2231 200.8779 128.6713 129.2231 200.7792 129.8 129.2231 200.8779 130.9287 129.2231 201.1712 132.0231 129.2231 201.65 133.05 129.2231 202.2999 133.9781 129.2231 203.1011 134.7793 129.2231 204.0292 135.4292 129.2231 205.056 135.908 129.2231 206.1505 136.2012 129.2231 214.1094 133.0139 129.2231 213.4931 133.6302 129.2231 214.9776 131.5101 129.2231 215.2032 130.6682 129.2231 215.2792 129.8 129.2231 215.2032 128.9318 129.2231 212.7792 134.1301 129.2231 210.2792 134.8 129.2231 211.1474 134.724 129.2231 211.9893 134.4985 129.2231 214.9776 128.0899 129.2231 214.6093 127.3 129.2231 214.6093 132.3 129.2231 205.5807 128.0899 129.2231 205.949 127.3 129.2231 205.3551 130.6682 129.2231 205.5807 131.5101 129.2231 205.949 132.3 129.2231 206.449 126.5861 129.2231 205.3551 128.9318 129.2231 205.2792 129.8 129.2231 207.0652 125.9698 129.2231 207.7792 125.4699 129.2231 210.2792 124.8 129.2231 209.4109 124.876 129.2231 208.5691 125.1015 129.2231 214.1094 126.5861 129.2231 213.4931 125.9698 129.2231 212.7792 125.4699 129.2231 211.9893 125.1015 129.2231 211.1474 124.876 129.2231 209.4109 134.724 129.2231 208.5691 134.4985 129.2231 207.7792 134.1301 129.2231 207.0652 133.6302 129.2231 206.449 133.0139 129.2231 162.7792 129.8 129.2231 162.8323 130.4078 129.2231 162.9902 130.9971 129.2231 163.2481 131.55 129.2231 163.598 132.0498 129.2231 164.0294 132.4812 129.2231 164.5292 132.8311 129.2231 165.0821 133.0889 129.2231 165.6714 133.2468 129.2231 166.2792 133.3 129.2231 166.8869 133.2468 129.2231 167.4763 133.0889 129.2231 168.0292 132.8311 129.2231 168.5289 132.4812 129.2231 168.9603 132.0498 129.2231 169.3103 131.55 129.2231 169.5681 130.9971 129.2231 169.726 130.4078 129.2231 169.7792 129.8 129.2231 169.726 129.1922 129.2231 169.5681 128.6029 129.2231 169.3103 128.05 129.2231 168.9603 127.5503 129.2231 168.5289 127.1188 129.2231 168.0292 126.7689 129.2231 167.4763 126.5111 129.2231 166.8869 126.3532 129.2231 166.2792 126.3 129.2231 165.6714 126.3532 129.2231 165.0821 126.5111 129.2231 164.5292 126.7689 129.2231 164.0294 127.1188 129.2231 163.598 127.5503 129.2231 163.2481 128.05 129.2231 162.9902 128.6029 129.2231 162.8323 129.1922 129.2231 168.1269 129.0346 129.2231 168.2157 129.3 129.2231 168.7287 129.3 129.2231 164.4314 129.0346 129.2231 164.5563 128.7842 129.2231 164.1936 128.4215 129.2231 165.5138 127.9522 129.2231 165.7792 127.8635 129.2231 165.7792 127.3505 129.2231 168.1269 130.5654 129.2231 168.002 130.8157 129.2231 168.3648 131.1785 129.2231 167.0445 131.6478 129.2231 166.7792 131.7365 129.2231 166.7792 132.2495 129.2231 164.4314 130.5654 129.2231 164.3427 130.3 129.2231 163.8297 130.3 129.2231 167.0445 127.9522 129.2231 167.2949 128.0771 129.2231 167.6577 127.7144 129.2231 168.2157 130.3 129.2231 168.1615 131.4452 129.2231 167.2949 131.5229 129.2231 167.6577 131.8856 129.2231 167.9244 131.6823 129.2231 164.3427 129.3 129.2231 163.8297 129.3 129.2231 163.7848 129.6323 129.2231 163.7848 129.9677 129.2231 164.3968 128.1548 129.2231 165.2634 128.0771 129.2231 164.9007 127.7144 129.2231 164.634 127.9177 129.2231 166.1115 127.3056 129.2231 166.4468 127.3056 129.2231 166.7792 127.3505 129.2231 166.7792 127.8635 129.2231 167.9244 127.9177 129.2231 168.7287 130.3 129.2231 168.7735 129.9677 129.2231 168.7735 129.6323 129.2231 165.2634 131.5229 129.2231 164.9007 131.8856 129.2231 165.5138 131.6478 129.2231 164.634 131.6823 129.2231 166.4468 132.2944 129.2231 166.1115 132.2944 129.2231 165.7792 132.2495 129.2231 165.7792 131.7365 129.2231 168.1615 128.1548 129.2231 168.3648 128.4215 129.2231 168.002 128.7842 129.2231 164.3968 131.4452 129.2231 164.1936 131.1785 129.2231 164.5563 130.8157 129.2231 176.2792 129.8 129.2231 176.3551 130.6682 129.2231 176.5807 131.5101 129.2231 176.949 132.3 129.2231 177.449 133.0139 129.2231 178.0652 133.6302 129.2231 178.7792 134.1301 129.2231 179.5691 134.4985 129.2231 180.4109 134.724 129.2231 181.2792 134.8 129.2231 182.1474 134.724 129.2231 182.9893 134.4985 129.2231 183.7792 134.1301 129.2231 184.4931 133.6302 129.2231 185.1094 133.0139 129.2231 185.6093 132.3 129.2231 185.9776 131.5101 129.2231 186.2032 130.6682 129.2231 186.2792 129.8 129.2231 186.2032 128.9318 129.2231 185.9776 128.0899 129.2231 185.6093 127.3 129.2231 185.1094 126.5861 129.2231 184.4931 125.9698 129.2231 183.7792 125.4699 129.2231 182.9893 125.1015 129.2231 182.1474 124.876 129.2231 181.2792 124.8 129.2231 180.4109 124.876 129.2231 179.5691 125.1015 129.2231 178.7792 125.4699 129.2231 178.0652 125.9698 129.2231 177.449 126.5861 129.2231 176.949 127.3 129.2231 176.5807 128.0899 129.2231 176.3551 128.9318 129.2231 226.2792 129.8 129.2231 226.3551 130.6682 129.2231 226.5807 131.5101 129.2231 226.949 132.3 129.2231 227.449 133.0139 129.2231 228.0652 133.6302 129.2231 228.7792 134.1301 129.2231 229.5691 134.4985 129.2231 230.4109 134.724 129.2231 231.2792 134.8 129.2231 232.1474 134.724 129.2231 232.9893 134.4985 129.2231 233.7792 134.1301 129.2231 234.4931 133.6302 129.2231 235.1094 133.0139 129.2231 235.6093 132.3 129.2231 235.9776 131.5101 129.2231 236.2032 130.6682 129.2231 236.2792 129.8 129.2231 236.2032 128.9318 129.2231 235.9776 128.0899 129.2231 235.6093 127.3 129.2231 235.1094 126.5861 129.2231 234.4931 125.9698 129.2231 233.7792 125.4699 129.2231 232.9893 125.1015 129.2231 232.1474 124.876 129.2231 231.2792 124.8 129.2231 230.4109 124.876 129.2231 229.5691 125.1015 129.2231 228.7792 125.4699 129.2231 228.0652 125.9698 129.2231 227.449 126.5861 129.2231 226.949 127.3 129.2231 226.5807 128.0899 129.2231 226.3551 128.9318 129.2231 226.4871 130.645 129.7231 226.7066 131.4643 129.7231 227.0651 132.233 129.7231 227.5516 132.9278 129.7231 228.1513 133.5276 129.7231 228.8462 134.0141 129.7231 229.6149 134.3726 129.7231 230.4342 134.5921 129.7231 231.2792 134.666 129.7231 232.1242 134.5921 129.7231 232.9435 134.3726 129.7231 233.7122 134.0141 129.7231 234.407 133.5276 129.7231 235.0068 132.9278 129.7231 235.4933 132.233 129.7231 235.8517 131.4643 129.7231 236.0713 130.645 129.7231 236.1452 129.8 129.7231 236.0713 128.955 129.7231 235.8517 128.1357 129.7231 235.4933 127.367 129.7231 235.0068 126.6722 129.7231 234.407 126.0724 129.7231 233.7122 125.5859 129.7231 232.9435 125.2274 129.7231 232.1242 125.0079 129.7231 231.2792 124.934 129.7231 230.4342 125.0079 129.7231 229.6149 125.2274 129.7231 228.8462 125.5859 129.7231 228.1513 126.0724 129.7231 227.5516 126.6722 129.7231 227.0651 127.367 129.7231 226.7066 128.1357 129.7231 226.4871 128.955 129.7231 226.4131 129.8 129.7231 228.1384 132.4354 129.7231 228.6437 132.9408 129.7231 229.2292 133.3507 129.7231 229.8769 133.6527 129.7231 230.5672 133.8377 129.7231 231.2792 133.9 129.7231 231.9911 133.8377 129.7231 232.6815 133.6527 129.7231 233.3292 133.3507 129.7231 233.9146 132.9408 129.7231 234.42 132.4354 129.7231 234.8299 131.85 129.7231 235.1319 131.2023 129.7231 235.3169 130.512 129.7231 235.3792 129.8 129.7231 235.3169 129.088 129.7231 235.1319 128.3977 129.7231 234.8299 127.75 129.7231 234.42 127.1646 129.7231 233.9146 126.6592 129.7231 233.3292 126.2493 129.7231 232.6815 125.9473 129.7231 231.9911 125.7623 129.7231 231.2792 125.7 129.7231 230.5672 125.7623 129.7231 229.8769 125.9473 129.7231 229.2292 126.2493 129.7231 228.6437 126.6592 129.7231 228.1384 127.1646 129.7231 227.7285 127.75 129.7231 227.4264 128.3977 129.7231 227.2415 129.088 129.7231 227.1792 129.8 129.7231 227.2415 130.512 129.7231 227.4264 131.2023 129.7231 227.7285 131.85 129.7231 230.6019 133.6407 129.2231 230.5672 133.8377 129.2231 231.2792 133.7 129.2231 231.2792 133.9 129.2231 231.9564 133.6407 129.2231 231.9911 133.8377 129.2231 232.613 133.4648 129.2231 232.6815 133.6527 129.2231 233.2292 133.1775 129.2231 233.3292 133.3507 129.2231 233.7861 132.7876 129.2231 233.9146 132.9408 129.2231 234.2667 132.3069 129.2231 234.42 132.4354 129.2231 234.6567 131.75 129.2231 234.8299 131.85 129.2231 234.944 131.1339 129.2231 235.1319 131.2023 129.2231 235.1199 130.4772 129.2231 235.3169 130.512 129.2231 235.1792 129.8 129.2231 235.3792 129.8 129.2231 235.1199 129.1228 129.2231 235.3169 129.088 129.2231 234.944 128.4661 129.2231 235.1319 128.3977 129.2231 234.6567 127.85 129.2231 234.8299 127.75 129.2231 234.2667 127.2931 129.2231 234.42 127.1646 129.2231 233.7861 126.8124 129.2231 233.9146 126.6592 129.2231 233.2292 126.4225 129.2231 233.3292 126.2493 129.2231 232.613 126.1352 129.2231 232.6815 125.9473 129.2231 231.9564 125.9593 129.2231 231.9911 125.7623 129.2231 231.2792 125.9 129.2231 231.2792 125.7 129.2231 230.6019 125.9593 129.2231 230.5672 125.7623 129.2231 229.9453 126.1352 129.2231 229.8769 125.9473 129.2231 229.3292 126.4225 129.2231 229.2292 126.2493 129.2231 228.7723 126.8124 129.2231 228.6437 126.6592 129.2231 228.2916 127.2931 129.2231 228.1384 127.1646 129.2231 227.9017 127.85 129.2231 227.7285 127.75 129.2231 227.6144 128.4661 129.2231 227.4264 128.3977 129.2231 227.4384 129.1228 129.2231 227.2415 129.088 129.2231 227.3792 129.8 129.2231 227.1792 129.8 129.2231 227.4384 130.4772 129.2231 227.2415 130.512 129.2231 227.6144 131.1339 129.2231 227.4264 131.2023 129.2231 227.9017 131.75 129.2231 227.7285 131.85 129.2231 228.2916 132.3069 129.2231 228.1384 132.4354 129.2231 228.7723 132.7876 129.2231 228.6437 132.9408 129.2231 229.3292 133.1775 129.2231 229.2292 133.3507 129.2231 229.9453 133.4648 129.2231 229.8769 133.6527 129.2231 227.3792 129.8 129.7231 227.4384 130.4772 129.7231 227.6144 131.1339 129.7231 227.9017 131.75 129.7231 228.2916 132.3069 129.7231 228.7723 132.7876 129.7231 229.3292 133.1775 129.7231 229.9453 133.4648 129.7231 230.6019 133.6407 129.7231 231.2792 133.7 129.7231 231.9564 133.6407 129.7231 232.613 133.4648 129.7231 233.2292 133.1775 129.7231 233.7861 132.7876 129.7231 234.2667 132.3069 129.7231 234.6567 131.75 129.7231 234.944 131.1339 129.7231 235.1199 130.4772 129.7231 235.1792 129.8 129.7231 235.1199 129.1228 129.7231 234.944 128.4661 129.7231 234.6567 127.85 129.7231 234.2667 127.2931 129.7231 233.7861 126.8124 129.7231 233.2292 126.4225 129.7231 232.613 126.1352 129.7231 231.9564 125.9593 129.7231 231.2792 125.9 129.7231 230.6019 125.9593 129.7231 229.9453 126.1352 129.7231 229.3292 126.4225 129.7231 228.7723 126.8124 129.7231 228.2916 127.2931 129.7231 227.9017 127.85 129.7231 227.6144 128.4661 129.7231 227.4384 129.1228 129.7231 229.2111 130.1647 129.7231 229.3058 130.5182 129.7231 229.4605 130.85 129.7231 229.6705 131.1499 129.7231 229.9293 131.4087 129.7231 230.2292 131.6186 129.7231 230.5609 131.7734 129.7231 230.9145 131.8681 129.7231 231.2792 131.9 129.7231 231.6438 131.8681 129.7231 231.9974 131.7734 129.7231 232.3292 131.6186 129.7231 232.629 131.4087 129.7231 232.8879 131.1499 129.7231 233.0978 130.85 129.7231 233.2525 130.5182 129.7231 233.3473 130.1647 129.7231 233.3792 129.8 129.7231 233.3473 129.4353 129.7231 233.2525 129.0818 129.7231 233.0978 128.75 129.7231 232.8879 128.4501 129.7231 232.629 128.1913 129.7231 232.3292 127.9813 129.7231 231.9974 127.8266 129.7231 231.6438 127.7319 129.7231 231.2792 127.7 129.7231 230.9145 127.7319 129.7231 230.5609 127.8266 129.7231 230.2292 127.9813 129.7231 229.9293 128.1913 129.7231 229.6705 128.4501 129.7231 229.4605 128.75 129.7231 229.3058 129.0818 129.7231 229.2111 129.4353 129.7231 229.1792 129.8 129.7231 230.3292 131.4454 129.2231 230.2292 131.6186 129.2231 230.6293 131.5854 129.2231 230.5609 131.7734 129.2231 230.9492 131.6711 129.2231 230.9145 131.8681 129.2231 231.2792 131.7 129.2231 231.2792 131.9 129.2231 231.6091 131.6711 129.2231 231.6438 131.8681 129.2231 231.929 131.5854 129.2231 231.9974 131.7734 129.2231 232.2292 131.4454 129.2231 232.3292 131.6186 129.2231 232.5005 131.2555 129.2231 232.629 131.4087 129.2231 232.7347 131.0213 129.2231 232.8879 131.1499 129.2231 232.9246 130.75 129.2231 233.0978 130.85 129.2231 233.0646 130.4498 129.2231 233.2525 130.5182 129.2231 233.1503 130.1299 129.2231 233.3473 130.1647 129.2231 233.1792 129.8 129.2231 233.3792 129.8 129.2231 233.1503 129.4701 129.2231 233.3473 129.4353 129.2231 233.0646 129.1502 129.2231 233.2525 129.0818 129.2231 232.9246 128.85 129.2231 233.0978 128.75 129.2231 232.7347 128.5787 129.2231 232.8879 128.4501 129.2231 232.5005 128.3445 129.2231 232.629 128.1913 129.2231 232.2292 128.1546 129.2231 232.3292 127.9813 129.2231 231.929 128.0146 129.2231 231.9974 127.8266 129.2231 231.6091 127.9289 129.2231 231.6438 127.7319 129.2231 231.2792 127.9 129.2231 231.2792 127.7 129.2231 230.9492 127.9289 129.2231 230.9145 127.7319 129.2231 230.6293 128.0146 129.2231 230.5609 127.8266 129.2231 230.3292 128.1546 129.2231 230.2292 127.9813 129.2231 230.0579 128.3445 129.2231 229.9293 128.1913 129.2231 229.8237 128.5787 129.2231 229.6705 128.4501 129.2231 229.6337 128.85 129.2231 229.4605 128.75 129.2231 229.4938 129.1502 129.2231 229.3058 129.0818 129.2231 229.408 129.4701 129.2231 229.2111 129.4353 129.2231 229.3792 129.8 129.2231 229.1792 129.8 129.2231 229.408 130.1299 129.2231 229.2111 130.1647 129.2231 229.4938 130.4498 129.2231 229.3058 130.5182 129.2231 229.6337 130.75 129.2231 229.4605 130.85 129.2231 229.8237 131.0213 129.2231 229.6705 131.1499 129.2231 230.0579 131.2555 129.2231 229.9293 131.4087 129.2231 229.3792 129.8 129.7231 229.408 130.1299 129.7231 229.4938 130.4498 129.7231 229.6337 130.75 129.7231 229.8237 131.0213 129.7231 230.0579 131.2555 129.7231 230.3292 131.4454 129.7231 230.6293 131.5854 129.7231 230.9492 131.6711 129.7231 231.2792 131.7 129.7231 231.6091 131.6711 129.7231 231.929 131.5854 129.7231 232.2292 131.4454 129.7231 232.5005 131.2555 129.7231 232.7347 131.0213 129.7231 232.9246 130.75 129.7231 233.0646 130.4498 129.7231 233.1503 130.1299 129.7231 233.1792 129.8 129.7231 233.1503 129.4701 129.7231 233.0646 129.1502 129.7231 232.9246 128.85 129.7231 232.7347 128.5787 129.7231 232.5005 128.3445 129.7231 232.2292 128.1546 129.7231 231.929 128.0146 129.7231 231.6091 127.9289 129.7231 231.2792 127.9 129.7231 230.9492 127.9289 129.7231 230.6293 128.0146 129.7231 230.3292 128.1546 129.7231 230.0579 128.3445 129.7231 229.8237 128.5787 129.7231 229.6337 128.85 129.7231 229.4938 129.1502 129.7231 229.408 129.4701 129.7231 231.2792 130.9 129.7231 231.4702 130.8833 129.7231 231.6554 130.8337 129.7231 231.8292 130.7526 129.7231 231.9862 130.6427 129.7231 232.1218 130.5071 129.7231 232.2318 130.35 129.7231 232.3128 130.1762 129.7231 232.3625 129.991 129.7231 232.3792 129.8 129.7231 232.3625 129.609 129.7231 232.3128 129.4238 129.7231 232.2318 129.25 129.7231 232.1218 129.0929 129.7231 231.9862 128.9573 129.7231 231.8292 128.8474 129.7231 231.6554 128.7663 129.7231 231.4702 128.7167 129.7231 231.2792 128.7 129.7231 231.0882 128.7167 129.7231 230.9029 128.7663 129.7231 230.7292 128.8474 129.7231 230.5721 128.9573 129.7231 230.4365 129.0929 129.7231 230.3265 129.25 129.7231 230.2455 129.4238 129.7231 230.1959 129.609 129.7231 230.1792 129.8 129.7231 230.1959 129.991 129.7231 230.2455 130.1762 129.7231 230.3265 130.35 129.7231 230.4365 130.5071 129.7231 230.5721 130.6427 129.7231 230.7292 130.7526 129.7231 230.9029 130.8337 129.7231 231.0882 130.8833 129.7231 230.1792 129.8 129.2231 230.1959 129.991 129.2231 230.2455 130.1762 129.2231 230.3265 130.35 129.2231 230.4365 130.5071 129.2231 230.5721 130.6427 129.2231 230.7292 130.7526 129.2231 230.9029 130.8337 129.2231 231.0882 130.8833 129.2231 231.2792 130.9 129.2231 231.4702 130.8833 129.2231 231.6554 130.8337 129.2231 231.8292 130.7526 129.2231 231.9862 130.6427 129.2231 232.1218 130.5071 129.2231 232.2318 130.35 129.2231 232.3128 130.1762 129.2231 232.3625 129.991 129.2231 232.3792 129.8 129.2231 232.3625 129.609 129.2231 232.3128 129.4238 129.2231 232.2318 129.25 129.2231 232.1218 129.0929 129.2231 231.9862 128.9573 129.2231 231.8292 128.8474 129.2231 231.6554 128.7663 129.2231 231.4702 128.7167 129.2231 231.2792 128.7 129.2231 231.0882 128.7167 129.2231 230.9029 128.7663 129.2231 230.7292 128.8474 129.2231 230.5721 128.9573 129.2231 230.4365 129.0929 129.2231 230.3265 129.25 129.2231 230.2455 129.4238 129.2231 230.1959 129.609 129.2231 231.2792 129.8 128.7231 231.035 129.843 128.7443 231.0462 129.8848 128.7443 231.0312 129.8 128.7443 231.0892 129.9594 128.7443 231.1198 129.9899 128.7443 231.0644 129.924 128.7443 231.1944 130.033 128.7443 231.2361 130.0442 128.7443 231.1552 130.0147 128.7443 231.3222 130.0442 128.7443 231.364 130.033 128.7443 231.2792 130.0479 128.7443 231.4385 129.9899 128.7443 231.4691 129.9594 128.7443 231.4031 130.0147 128.7443 231.5122 129.8848 128.7443 231.5234 129.843 128.7443 231.4939 129.924 128.7443 231.5234 129.7569 128.7443 231.5122 129.7152 128.7443 231.5271 129.8 128.7443 231.4691 129.6406 128.7443 231.4385 129.6101 128.7443 231.4939 129.676 128.7443 231.364 129.567 128.7443 231.3222 129.5558 128.7443 231.4031 129.5853 128.7443 231.2361 129.5558 128.7443 231.1944 129.567 128.7443 231.2792 129.5521 128.7443 231.1198 129.6101 128.7443 231.0892 129.6406 128.7443 231.1552 129.5853 128.7443 231.0462 129.7152 128.7443 231.035 129.7569 128.7443 231.0644 129.676 128.7443 230.7979 129.8849 128.8073 230.82 129.9671 128.8073 230.856 130.0443 128.8073 230.9048 130.1141 128.8073 230.9651 130.1743 128.8073 231.0348 130.2232 128.8073 231.112 130.2592 128.8073 231.1943 130.2813 128.8073 231.2792 130.2887 128.8073 231.364 130.2813 128.8073 231.4463 130.2592 128.8073 231.5235 130.2232 128.8073 231.5933 130.1743 128.8073 231.6535 130.1141 128.8073 231.7024 130.0443 128.8073 231.7384 129.9671 128.8073 231.7604 129.8849 128.8073 231.7679 129.8 128.8073 231.7604 129.7151 128.8073 231.7384 129.6329 128.8073 231.7024 129.5557 128.8073 231.6535 129.4859 128.8073 231.5933 129.4256 128.8073 231.5235 129.3768 128.8073 231.4463 129.3408 128.8073 231.364 129.3187 128.8073 231.2792 129.3113 128.8073 231.1943 129.3187 128.8073 231.112 129.3408 128.8073 231.0348 129.3768 128.8073 230.9651 129.4256 128.8073 230.9048 129.4859 128.8073 230.856 129.5557 128.8073 230.82 129.6329 128.8073 230.7979 129.7151 128.8073 230.7905 129.8 128.8073 230.5748 129.9242 128.9103 230.6071 130.0446 128.9103 230.6598 130.1576 128.9103 230.7313 130.2597 128.9103 230.8194 130.3479 128.9103 230.9216 130.4194 128.9103 231.0346 130.4721 128.9103 231.155 130.5044 128.9103 231.2792 130.5152 128.9103 231.4034 130.5044 128.9103 231.5238 130.4721 128.9103 231.6368 130.4194 128.9103 231.7389 130.3479 128.9103 231.8271 130.2597 128.9103 231.8986 130.1576 128.9103 231.9513 130.0446 128.9103 231.9835 129.9242 128.9103 231.9944 129.8 128.9103 231.9835 129.6758 128.9103 231.9513 129.5554 128.9103 231.8986 129.4424 128.9103 231.8271 129.3403 128.9103 231.7389 129.2521 128.9103 231.6368 129.1806 128.9103 231.5238 129.1279 128.9103 231.4034 129.0956 128.9103 231.2792 129.0848 128.9103 231.155 129.0956 128.9103 231.0346 129.1279 128.9103 230.9216 129.1806 128.9103 230.8194 129.2521 128.9103 230.7313 129.3403 128.9103 230.6598 129.4424 128.9103 230.6071 129.5554 128.9103 230.5748 129.6758 128.9103 230.5639 129.8 128.9103 230.3722 129.9599 129.0502 230.4137 130.115 129.0502 230.4816 130.2605 129.0502 230.5736 130.392 129.0502 230.6872 130.5055 129.0502 230.8187 130.5976 129.0502 230.9642 130.6654 129.0502 231.1192 130.707 129.0502 231.2792 130.721 129.0502 231.4391 130.707 129.0502 231.5942 130.6654 129.0502 231.7397 130.5976 129.0502 231.8712 130.5055 129.0502 231.9847 130.392 129.0502 232.0768 130.2605 129.0502 232.1446 130.115 129.0502 232.1862 129.9599 129.0502 232.2002 129.8 129.0502 232.1862 129.6401 129.0502 232.1446 129.485 129.0502 232.0768 129.3395 129.0502 231.9847 129.208 129.0502 231.8712 129.0945 129.0502 231.7397 129.0024 129.0502 231.5942 128.9346 129.0502 231.4391 128.893 129.0502 231.2792 128.879 129.0502 231.1192 128.893 129.0502 230.9642 128.9346 129.0502 230.8187 129.0024 129.0502 230.6872 129.0945 129.0502 230.5736 129.208 129.0502 230.4816 129.3395 129.0502 230.4137 129.485 129.0502 230.3722 129.6401 129.0502 230.3582 129.8 129.0502 205.4871 130.645 129.7231 205.7066 131.4643 129.7231 206.0651 132.233 129.7231 206.5516 132.9278 129.7231 207.1513 133.5276 129.7231 207.8462 134.0141 129.7231 208.6149 134.3726 129.7231 209.4342 134.5921 129.7231 210.2792 134.666 129.7231 211.1242 134.5921 129.7231 211.9434 134.3726 129.7231 212.7122 134.0141 129.7231 213.407 133.5276 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126.6592 129.7231 183.3292 126.2493 129.7231 182.6815 125.9473 129.7231 181.9911 125.7623 129.7231 181.2792 125.7 129.7231 180.5672 125.7623 129.7231 179.8769 125.9473 129.7231 179.2292 126.2493 129.7231 178.6437 126.6592 129.7231 178.1384 127.1646 129.7231 177.7285 127.75 129.7231 177.4264 128.3977 129.7231 177.2415 129.088 129.7231 177.2415 130.512 129.7231 177.4264 131.2023 129.7231 177.7285 131.85 129.7231 213.6567 127.85 129.2231 213.8299 127.75 129.2231 213.2667 127.2931 129.2231 213.42 127.1646 129.2231 212.7861 126.8124 129.2231 212.9146 126.6592 129.2231 212.2292 126.4225 129.2231 212.3292 126.2493 129.2231 211.613 126.1352 129.2231 211.6815 125.9473 129.2231 210.9564 125.9593 129.2231 210.9911 125.7623 129.2231 210.2792 125.9 129.2231 210.2792 125.7 129.2231 209.6019 125.9593 129.2231 209.5672 125.7623 129.2231 208.9453 126.1352 129.2231 208.8769 125.9473 129.2231 208.3292 126.4225 129.2231 208.2292 126.2493 129.2231 207.7723 126.8124 129.2231 207.6437 126.6592 129.2231 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210.5235 130.2232 128.8073 210.5933 130.1743 128.8073 210.6535 130.1141 128.8073 210.7024 130.0443 128.8073 210.7384 129.9671 128.8073 210.7604 129.8849 128.8073 210.7679 129.8 128.8073 210.7604 129.7151 128.8073 210.7384 129.6329 128.8073 210.7024 129.5557 128.8073 210.6535 129.4859 128.8073 210.5933 129.4256 128.8073 210.5235 129.3768 128.8073 210.4463 129.3408 128.8073 210.364 129.3187 128.8073 210.2792 129.3113 128.8073 210.1943 129.3187 128.8073 210.112 129.3408 128.8073 210.0348 129.3768 128.8073 209.9651 129.4256 128.8073 209.9048 129.4859 128.8073 209.856 129.5557 128.8073 209.82 129.6329 128.8073 209.7979 129.7151 128.8073 209.7905 129.8 128.8073 209.5748 129.9242 128.9103 209.6071 130.0446 128.9103 209.6598 130.1576 128.9103 209.7313 130.2597 128.9103 209.8194 130.3479 128.9103 209.9216 130.4194 128.9103 210.0346 130.4721 128.9103 210.155 130.5044 128.9103 210.2792 130.5152 128.9103 210.4034 130.5044 128.9103 210.5238 130.4721 128.9103 210.6368 130.4194 128.9103 210.7389 130.3479 128.9103 210.8271 130.2597 128.9103 210.8986 130.1576 128.9103 210.9513 130.0446 128.9103 210.9835 129.9242 128.9103 210.9944 129.8 128.9103 210.9835 129.6758 128.9103 210.9513 129.5554 128.9103 210.8986 129.4424 128.9103 210.8271 129.3403 128.9103 210.7389 129.2521 128.9103 210.6368 129.1806 128.9103 210.5238 129.1279 128.9103 210.4034 129.0956 128.9103 210.2792 129.0848 128.9103 210.155 129.0956 128.9103 210.0346 129.1279 128.9103 209.9216 129.1806 128.9103 209.8194 129.2521 128.9103 209.7313 129.3403 128.9103 209.6598 129.4424 128.9103 209.6071 129.5554 128.9103 209.5748 129.6758 128.9103 209.5639 129.8 128.9103 209.3722 129.9599 129.0502 209.4137 130.115 129.0502 209.4816 130.2605 129.0502 209.5736 130.392 129.0502 209.6872 130.5055 129.0502 209.8187 130.5976 129.0502 209.9642 130.6654 129.0502 210.1192 130.707 129.0502 210.2792 130.721 129.0502 210.4391 130.707 129.0502 210.5942 130.6654 129.0502 210.7397 130.5976 129.0502 210.8712 130.5055 129.0502 210.9847 130.392 129.0502 211.0768 130.2605 129.0502 211.1446 130.115 129.0502 211.1862 129.9599 129.0502 211.2002 129.8 129.0502 211.1862 129.6401 129.0502 211.1446 129.485 129.0502 211.0768 129.3395 129.0502 210.9847 129.208 129.0502 210.8712 129.0945 129.0502 210.7397 129.0024 129.0502 210.5942 128.9346 129.0502 210.4391 128.893 129.0502 210.2792 128.879 129.0502 210.1192 128.893 129.0502 209.9642 128.9346 129.0502 209.8187 129.0024 129.0502 209.6872 129.0945 129.0502 209.5736 129.208 129.0502 209.4816 129.3395 129.0502 209.4137 129.485 129.0502 209.3722 129.6401 129.0502 209.3582 129.8 129.0502 184.6567 127.85 129.2231 184.8299 127.75 129.2231 184.2667 127.2931 129.2231 184.42 127.1646 129.2231 183.7861 126.8124 129.2231 183.9146 126.6592 129.2231 183.2292 126.4225 129.2231 183.3292 126.2493 129.2231 182.613 126.1352 129.2231 182.6815 125.9473 129.2231 181.9564 125.9593 129.2231 181.9911 125.7623 129.2231 181.2792 125.9 129.2231 181.2792 125.7 129.2231 180.6019 125.9593 129.2231 180.5672 125.7623 129.2231 179.9453 126.1352 129.2231 179.8769 125.9473 129.2231 179.3292 126.4225 129.2231 179.2292 126.2493 129.2231 178.7723 126.8124 129.2231 178.6437 126.6592 129.2231 178.2916 127.2931 129.2231 178.1384 127.1646 129.2231 177.9017 127.85 129.2231 177.7285 127.75 129.2231 177.6144 128.4661 129.2231 177.4264 128.3977 129.2231 177.4384 129.1228 129.2231 177.2415 129.088 129.2231 177.4384 130.4772 129.2231 177.2415 130.512 129.2231 177.6144 131.1339 129.2231 177.4264 131.2023 129.2231 177.9017 131.75 129.2231 177.7285 131.85 129.2231 178.2916 132.3069 129.2231 178.1384 132.4354 129.2231 178.7723 132.7876 129.2231 178.6437 132.9408 129.2231 179.3292 133.1775 129.2231 179.2292 133.3507 129.2231 179.9453 133.4648 129.2231 179.8769 133.6527 129.2231 180.6019 133.6407 129.2231 180.5672 133.8377 129.2231 181.2792 133.7 129.2231 181.2792 133.9 129.2231 181.9564 133.6407 129.2231 181.9911 133.8377 129.2231 182.613 133.4648 129.2231 182.6815 133.6527 129.2231 183.2292 133.1775 129.2231 183.3292 133.3507 129.2231 183.7861 132.7876 129.2231 183.9146 132.9408 129.2231 184.2667 132.3069 129.2231 184.42 132.4354 129.2231 184.6567 131.75 129.2231 184.8299 131.85 129.2231 184.944 131.1339 129.2231 185.1319 131.2023 129.2231 185.1199 130.4772 129.2231 185.3169 130.512 129.2231 185.1792 129.8 129.2231 185.1199 129.1228 129.2231 185.3169 129.088 129.2231 184.944 128.4661 129.2231 185.1319 128.3977 129.2231 177.4384 130.4772 129.7231 177.6144 131.1339 129.7231 177.9017 131.75 129.7231 178.2916 132.3069 129.7231 178.7723 132.7876 129.7231 179.3292 133.1775 129.7231 179.9453 133.4648 129.7231 180.6019 133.6407 129.7231 181.2792 133.7 129.7231 181.9564 133.6407 129.7231 182.613 133.4648 129.7231 183.2292 133.1775 129.7231 183.7861 132.7876 129.7231 184.2667 132.3069 129.7231 184.6567 131.75 129.7231 184.944 131.1339 129.7231 185.1199 130.4772 129.7231 185.1792 129.8 129.7231 185.1199 129.1228 129.7231 184.944 128.4661 129.7231 184.6567 127.85 129.7231 184.2667 127.2931 129.7231 183.7861 126.8124 129.7231 183.2292 126.4225 129.7231 182.613 126.1352 129.7231 181.9564 125.9593 129.7231 181.2792 125.9 129.7231 180.6019 125.9593 129.7231 179.9453 126.1352 129.7231 179.3292 126.4225 129.7231 178.7723 126.8124 129.7231 178.2916 127.2931 129.7231 177.9017 127.85 129.7231 177.6144 128.4661 129.7231 177.4384 129.1228 129.7231 179.2111 130.1647 129.7231 179.3058 130.5182 129.7231 179.4605 130.85 129.7231 179.6705 131.1499 129.7231 179.9293 131.4087 129.7231 180.2292 131.6186 129.7231 180.5609 131.7734 129.7231 180.9145 131.8681 129.7231 181.2792 131.9 129.7231 181.6438 131.8681 129.7231 181.9974 131.7734 129.7231 182.3292 131.6186 129.7231 182.629 131.4087 129.7231 182.8879 131.1499 129.7231 183.0978 130.85 129.7231 183.2525 130.5182 129.7231 183.3473 130.1647 129.7231 183.3473 129.4353 129.7231 183.2525 129.0818 129.7231 183.0978 128.75 129.7231 182.8879 128.4501 129.7231 182.629 128.1913 129.7231 182.3292 127.9813 129.7231 181.9974 127.8266 129.7231 181.6438 127.7319 129.7231 181.2792 127.7 129.7231 180.9145 127.7319 129.7231 180.5609 127.8266 129.7231 180.2292 127.9813 129.7231 179.9293 128.1913 129.7231 179.6705 128.4501 129.7231 179.4605 128.75 129.7231 179.3058 129.0818 129.7231 179.2111 129.4353 129.7231 180.0579 128.3445 129.2231 179.9293 128.1913 129.2231 179.8237 128.5787 129.2231 179.6705 128.4501 129.2231 179.6337 128.85 129.2231 179.4605 128.75 129.2231 179.4938 129.1502 129.2231 179.3058 129.0818 129.2231 179.408 129.4701 129.2231 179.2111 129.4353 129.2231 179.408 130.1299 129.2231 179.2111 130.1647 129.2231 179.4938 130.4498 129.2231 179.3058 130.5182 129.2231 179.6337 130.75 129.2231 179.4605 130.85 129.2231 179.8237 131.0213 129.2231 179.6705 131.1499 129.2231 180.0579 131.2555 129.2231 179.9293 131.4087 129.2231 180.3292 131.4454 129.2231 180.2292 131.6186 129.2231 180.6293 131.5854 129.2231 180.5609 131.7734 129.2231 180.9492 131.6711 129.2231 180.9145 131.8681 129.2231 181.2792 131.7 129.2231 181.2792 131.9 129.2231 181.6091 131.6711 129.2231 181.6438 131.8681 129.2231 181.929 131.5854 129.2231 181.9974 131.7734 129.2231 182.2292 131.4454 129.2231 182.3292 131.6186 129.2231 182.5005 131.2555 129.2231 182.629 131.4087 129.2231 182.7347 131.0213 129.2231 182.8879 131.1499 129.2231 182.9246 130.75 129.2231 183.0978 130.85 129.2231 183.0646 130.4498 129.2231 183.2525 130.5182 129.2231 183.1503 130.1299 129.2231 183.3473 130.1647 129.2231 183.1792 129.8 129.2231 183.1503 129.4701 129.2231 183.3473 129.4353 129.2231 183.0646 129.1502 129.2231 183.2525 129.0818 129.2231 182.9246 128.85 129.2231 183.0978 128.75 129.2231 182.7347 128.5787 129.2231 182.8879 128.4501 129.2231 182.5005 128.3445 129.2231 182.629 128.1913 129.2231 182.2292 128.1546 129.2231 182.3292 127.9813 129.2231 181.929 128.0146 129.2231 181.9974 127.8266 129.2231 181.6091 127.9289 129.2231 181.6438 127.7319 129.2231 181.2792 127.9 129.2231 181.2792 127.7 129.2231 180.9492 127.9289 129.2231 180.9145 127.7319 129.2231 180.6293 128.0146 129.2231 180.5609 127.8266 129.2231 180.3292 128.1546 129.2231 180.2292 127.9813 129.2231 179.408 130.1299 129.7231 179.4938 130.4498 129.7231 179.6337 130.75 129.7231 179.8237 131.0213 129.7231 180.0579 131.2555 129.7231 180.3292 131.4454 129.7231 180.6293 131.5854 129.7231 180.9492 131.6711 129.7231 181.2792 131.7 129.7231 181.6091 131.6711 129.7231 181.929 131.5854 129.7231 182.2292 131.4454 129.7231 182.5005 131.2555 129.7231 182.7347 131.0213 129.7231 182.9246 130.75 129.7231 183.0646 130.4498 129.7231 183.1503 130.1299 129.7231 183.1792 129.8 129.7231 183.1503 129.4701 129.7231 183.0646 129.1502 129.7231 182.9246 128.85 129.7231 182.7347 128.5787 129.7231 182.5005 128.3445 129.7231 182.2292 128.1546 129.7231 181.929 128.0146 129.7231 181.6091 127.9289 129.7231 181.2792 127.9 129.7231 180.9492 127.9289 129.7231 180.6293 128.0146 129.7231 180.3292 128.1546 129.7231 180.0579 128.3445 129.7231 179.8237 128.5787 129.7231 179.6337 128.85 129.7231 179.4938 129.1502 129.7231 179.408 129.4701 129.7231 181.2792 130.9 129.7231 181.4702 130.8833 129.7231 181.6554 130.8337 129.7231 181.8292 130.7526 129.7231 181.9862 130.6427 129.7231 182.1218 130.5071 129.7231 182.2318 130.35 129.7231 182.3128 130.1762 129.7231 182.3625 129.991 129.7231 182.3625 129.609 129.7231 182.3128 129.4238 129.7231 182.2318 129.25 129.7231 182.1218 129.0929 129.7231 181.9862 128.9573 129.7231 181.8292 128.8474 129.7231 181.6554 128.7663 129.7231 181.4702 128.7167 129.7231 181.2792 128.7 129.7231 181.0882 128.7167 129.7231 180.9029 128.7663 129.7231 180.7292 128.8474 129.7231 180.5721 128.9573 129.7231 180.4365 129.0929 129.7231 180.3265 129.25 129.7231 180.2455 129.4238 129.7231 180.1959 129.609 129.7231 180.1959 129.991 129.7231 180.2455 130.1762 129.7231 180.3265 130.35 129.7231 180.4365 130.5071 129.7231 180.5721 130.6427 129.7231 180.7292 130.7526 129.7231 180.9029 130.8337 129.7231 181.0882 130.8833 129.7231 181.2792 129.8 128.7231 181.035 129.843 128.7443 181.0462 129.8848 128.7443 181.0312 129.8 128.7443 181.0892 129.9594 128.7443 181.1198 129.9899 128.7443 181.0644 129.924 128.7443 181.1944 130.033 128.7443 181.2361 130.0442 128.7443 181.1552 130.0147 128.7443 181.3222 130.0442 128.7443 181.364 130.033 128.7443 181.2792 130.0479 128.7443 181.4385 129.9899 128.7443 181.4691 129.9594 128.7443 181.4031 130.0147 128.7443 181.5122 129.8848 128.7443 181.5234 129.843 128.7443 181.4939 129.924 128.7443 181.5234 129.7569 128.7443 181.5122 129.7152 128.7443 181.5271 129.8 128.7443 181.4691 129.6406 128.7443 181.4385 129.6101 128.7443 181.4939 129.676 128.7443 181.364 129.567 128.7443 181.3222 129.5558 128.7443 181.4031 129.5853 128.7443 181.2361 129.5558 128.7443 181.1944 129.567 128.7443 181.2792 129.5521 128.7443 181.1198 129.6101 128.7443 181.0892 129.6406 128.7443 181.1552 129.5853 128.7443 181.0462 129.7152 128.7443 181.035 129.7569 128.7443 181.0644 129.676 128.7443 180.7979 129.8849 128.8073 180.82 129.9671 128.8073 180.856 130.0443 128.8073 180.9048 130.1141 128.8073 180.9651 130.1743 128.8073 181.0348 130.2232 128.8073 181.112 130.2592 128.8073 181.1943 130.2813 128.8073 181.2792 130.2887 128.8073 181.364 130.2813 128.8073 181.4463 130.2592 128.8073 181.5235 130.2232 128.8073 181.5933 130.1743 128.8073 181.6535 130.1141 128.8073 181.7024 130.0443 128.8073 181.7384 129.9671 128.8073 181.7604 129.8849 128.8073 181.7679 129.8 128.8073 181.7604 129.7151 128.8073 181.7384 129.6329 128.8073 181.7024 129.5557 128.8073 181.6535 129.4859 128.8073 181.5933 129.4256 128.8073 181.5235 129.3768 128.8073 181.4463 129.3408 128.8073 181.364 129.3187 128.8073 181.2792 129.3113 128.8073 181.1943 129.3187 128.8073 181.112 129.3408 128.8073 181.0348 129.3768 128.8073 180.9651 129.4256 128.8073 180.9048 129.4859 128.8073 180.856 129.5557 128.8073 180.82 129.6329 128.8073 180.7979 129.7151 128.8073 180.7905 129.8 128.8073 180.5748 129.9242 128.9103 180.6071 130.0446 128.9103 180.6598 130.1576 128.9103 180.7313 130.2597 128.9103 180.8194 130.3479 128.9103 180.9216 130.4194 128.9103 181.0346 130.4721 128.9103 181.155 130.5044 128.9103 181.2792 130.5152 128.9103 181.4034 130.5044 128.9103 181.5238 130.4721 128.9103 181.6368 130.4194 128.9103 181.7389 130.3479 128.9103 181.8271 130.2597 128.9103 181.8986 130.1576 128.9103 181.9513 130.0446 128.9103 181.9835 129.9242 128.9103 181.9944 129.8 128.9103 181.9835 129.6758 128.9103 181.9513 129.5554 128.9103 181.8986 129.4424 128.9103 181.8271 129.3403 128.9103 181.7389 129.2521 128.9103 181.6368 129.1806 128.9103 181.5238 129.1279 128.9103 181.4034 129.0956 128.9103 181.2792 129.0848 128.9103 181.155 129.0956 128.9103 181.0346 129.1279 128.9103 180.9216 129.1806 128.9103 180.8194 129.2521 128.9103 180.7313 129.3403 128.9103 180.6598 129.4424 128.9103 180.6071 129.5554 128.9103 180.5748 129.6758 128.9103 180.5639 129.8 128.9103 180.3722 129.9599 129.0502 180.4137 130.115 129.0502 180.4816 130.2605 129.0502 180.5736 130.392 129.0502 180.6872 130.5055 129.0502 180.8187 130.5976 129.0502 180.9642 130.6654 129.0502 181.1192 130.707 129.0502 181.2792 130.721 129.0502 181.4391 130.707 129.0502 181.5942 130.6654 129.0502 181.7397 130.5976 129.0502 181.8712 130.5055 129.0502 181.9847 130.392 129.0502 182.0768 130.2605 129.0502 182.1446 130.115 129.0502 182.1862 129.9599 129.0502 182.2002 129.8 129.0502 182.1862 129.6401 129.0502 182.1446 129.485 129.0502 182.0768 129.3395 129.0502 181.9847 129.208 129.0502 181.8712 129.0945 129.0502 181.7397 129.0024 129.0502 181.5942 128.9346 129.0502 181.4391 128.893 129.0502 181.2792 128.879 129.0502 181.1192 128.893 129.0502 180.9642 128.9346 129.0502 180.8187 129.0024 129.0502 180.6872 129.0945 129.0502 180.5736 129.208 129.0502 180.4816 129.3395 129.0502 180.4137 129.485 129.0502 180.3722 129.6401 129.0502 180.3582 129.8 129.0502 180.1959 129.991 129.2231 180.2455 130.1762 129.2231 180.3265 130.35 129.2231 180.4365 130.5071 129.2231 180.5721 130.6427 129.2231 180.7292 130.7526 129.2231 180.9029 130.8337 129.2231 181.0882 130.8833 129.2231 181.2792 130.9 129.2231 181.4702 130.8833 129.2231 181.6554 130.8337 129.2231 181.8292 130.7526 129.2231 181.9862 130.6427 129.2231 182.1218 130.5071 129.2231 182.2318 130.35 129.2231 182.3128 130.1762 129.2231 182.3625 129.991 129.2231 182.3625 129.609 129.2231 182.3128 129.4238 129.2231 182.2318 129.25 129.2231 182.1218 129.0929 129.2231 181.9862 128.9573 129.2231 181.8292 128.8474 129.2231 181.6554 128.7663 129.2231 181.4702 128.7167 129.2231 181.2792 128.7 129.2231 181.0882 128.7167 129.2231 180.9029 128.7663 129.2231 180.7292 128.8474 129.2231 180.5721 128.9573 129.2231 180.4365 129.0929 129.2231 180.3265 129.25 129.2231 180.2455 129.4238 129.2231 180.1959 129.609 129.2231 166.7792 131.7365 128.2231 166.7792 132.2495 128.2231 167.0445 131.6478 128.2231 167.2949 131.5229 128.2231 167.6577 131.8856 128.2231 167.9244 131.6823 128.2231 168.1615 131.4452 128.2231 168.3648 131.1785 128.2231 168.002 130.8157 128.2231 168.1269 130.5654 128.2231 168.2157 130.3 128.2231 168.7287 130.3 128.2231 168.7735 129.9677 128.2231 168.7735 129.6323 128.2231 168.7287 129.3 128.2231 168.2157 129.3 128.2231 168.1269 129.0346 128.2231 168.002 128.7842 128.2231 168.3648 128.4215 128.2231 168.1615 128.1548 128.2231 167.9244 127.9177 128.2231 167.6577 127.7144 128.2231 167.2949 128.0771 128.2231 167.0445 127.9522 128.2231 166.7792 127.8635 128.2231 166.7792 127.3505 128.2231 166.4468 127.3056 128.2231 166.1115 127.3056 128.2231 165.7792 127.3505 128.2231 165.7792 127.8635 128.2231 165.5138 127.9522 128.2231 165.2634 128.0771 128.2231 164.9007 127.7144 128.2231 164.634 127.9177 128.2231 164.3968 128.1548 128.2231 164.1936 128.4215 128.2231 164.5563 128.7842 128.2231 164.4314 129.0346 128.2231 164.3427 129.3 128.2231 163.8297 129.3 128.2231 163.7848 129.6323 128.2231 163.7848 129.9677 128.2231 163.8297 130.3 128.2231 164.3427 130.3 128.2231 164.4314 130.5654 128.2231 164.5563 130.8157 128.2231 164.1936 131.1785 128.2231 164.3968 131.4452 128.2231 164.634 131.6823 128.2231 164.9007 131.8856 128.2231 165.2634 131.5229 128.2231 165.5138 131.6478 128.2231 165.7792 131.7365 128.2231 165.7792 132.2495 128.2231 166.1115 132.2944 128.2231 166.4468 132.2944 128.2231 165.7154 129.5948 128.2231 165.7596 129.5 128.2231 165.6792 129.8 128.2231 165.6883 129.9042 128.2231 165.7154 130.0052 128.2231 166.843 129.5948 128.2231 166.8701 129.6958 128.2231 166.8792 129.8 128.2231 166.6649 130.2596 128.2231 166.7388 130.1857 128.2231 166.7988 130.1 128.2231 165.6883 129.6958 128.2231 165.8935 130.2596 128.2231 165.8195 130.1857 128.2231 165.7596 130.1 128.2231 166.8701 129.9042 128.2231 166.843 130.0052 128.2231 166.5792 130.3196 128.2231 166.4844 130.3638 128.2231 166.3834 130.3909 128.2231 166.074 129.2362 128.2231 166.175 129.2091 128.2231 166.6649 129.3404 128.2231 166.7388 129.4143 128.2231 166.7988 129.5 128.2231 166.2792 130.4 128.2231 166.175 130.3909 128.2231 166.074 130.3638 128.2231 165.9792 130.3196 128.2231 165.8195 129.4143 128.2231 165.8935 129.3404 128.2231 165.9792 129.2804 128.2231 166.2792 129.2 128.2231 166.3834 129.2091 128.2231 166.4844 129.2362 128.2231 166.5792 129.2804 128.2231 165.6792 129.8 129.2231 165.6883 129.9042 129.2231 165.7154 130.0052 129.2231 165.7596 130.1 129.2231 165.8195 130.1857 129.2231 165.8935 130.2596 129.2231 165.9792 130.3196 129.2231 166.074 130.3638 129.2231 166.175 130.3909 129.2231 166.2792 130.4 129.2231 166.3834 130.3909 129.2231 166.4844 130.3638 129.2231 166.5792 130.3196 129.2231 166.6649 130.2596 129.2231 166.7388 130.1857 129.2231 166.7988 130.1 129.2231 166.843 130.0052 129.2231 166.8701 129.9042 129.2231 166.8792 129.8 129.2231 166.8701 129.6958 129.2231 166.843 129.5948 129.2231 166.7988 129.5 129.2231 166.7388 129.4143 129.2231 166.6649 129.3404 129.2231 166.5792 129.2804 129.2231 166.4844 129.2362 129.2231 166.3834 129.2091 129.2231 166.2792 129.2 129.2231 166.175 129.2091 129.2231 166.074 129.2362 129.2231 165.9792 129.2804 129.2231 165.8935 129.3404 129.2231 165.8195 129.4143 129.2231 165.7596 129.5 129.2231 165.7154 129.5948 129.2231 165.6883 129.6958 129.2231 166.0292 130.233 129.2231 166.1082 130.2698 129.2231 166.1923 130.2924 129.2231 166.2792 130.3 129.2231 166.366 130.2924 129.2231 166.4502 130.2698 129.2231 166.5292 130.233 129.2231 166.6006 130.183 129.2231 166.6622 130.1214 129.2231 166.7122 130.05 129.2231 166.749 129.971 129.2231 166.7716 129.8868 129.2231 166.7792 129.8 129.2231 166.7716 129.7132 129.2231 166.749 129.629 129.2231 166.7122 129.55 129.2231 166.6622 129.4786 129.2231 166.6006 129.417 129.2231 166.5292 129.367 129.2231 166.4502 129.3302 129.2231 166.366 129.3076 129.2231 166.2792 129.3 129.2231 166.1923 129.3076 129.2231 166.1082 129.3302 129.2231 166.0292 129.367 129.2231 165.9578 129.417 129.2231 165.8962 129.4786 129.2231 165.8462 129.55 129.2231 165.8093 129.629 129.2231 165.7868 129.7132 129.2231 165.7792 129.8 129.2231 165.7868 129.8868 129.2231 165.8093 129.971 129.2231 165.8462 130.05 129.2231 165.8962 130.1214 129.2231 165.9578 130.183 129.2231 165.7792 129.8 128.2231 165.7868 129.8868 128.2231 165.8093 129.971 128.2231 165.8462 130.05 128.2231 165.8962 130.1214 128.2231 165.9578 130.183 128.2231 166.0292 130.233 128.2231 166.1082 130.2698 128.2231 166.1923 130.2924 128.2231 166.2792 130.3 128.2231 166.366 130.2924 128.2231 166.4502 130.2698 128.2231 166.5292 130.233 128.2231 166.6006 130.183 128.2231 166.6622 130.1214 128.2231 166.7122 130.05 128.2231 166.749 129.971 128.2231 166.7716 129.8868 128.2231 166.7792 129.8 128.2231 166.7716 129.7132 128.2231 166.749 129.629 128.2231 166.7122 129.55 128.2231 166.6622 129.4786 128.2231 166.6006 129.417 128.2231 166.5292 129.367 128.2231 166.4502 129.3302 128.2231 166.366 129.3076 128.2231 166.2792 129.3 128.2231 166.1923 129.3076 128.2231 166.1082 129.3302 128.2231 166.0292 129.367 128.2231 165.9578 129.417 128.2231 165.8962 129.4786 128.2231 165.8462 129.55 128.2231 165.8093 129.629 128.2231 165.7868 129.7132 128.2231 166.2792 129.8 128.0231 166.1709 129.8191 128.0315 166.1759 129.8376 128.0315 166.1692 129.8 128.0315 166.195 129.8706 128.0315 166.2085 129.8842 128.0315 166.184 129.855 128.0315 166.2416 129.9033 128.0315 166.2601 129.9082 128.0315 166.2242 129.8952 128.0315 166.2983 129.9082 128.0315 166.3168 129.9033 128.0315 166.2792 129.9099 128.0315 166.3498 129.8842 128.0315 166.3634 129.8706 128.0315 166.3341 129.8952 128.0315 166.3825 129.8376 128.0315 166.3874 129.8191 128.0315 166.3744 129.855 128.0315 166.3874 129.7809 128.0315 166.3825 129.7624 128.0315 166.3891 129.8 128.0315 166.3634 129.7293 128.0315 166.3498 129.7158 128.0315 166.3744 129.745 128.0315 166.3168 129.6967 128.0315 166.2983 129.6917 128.0315 166.3341 129.7048 128.0315 166.2601 129.6917 128.0315 166.2416 129.6967 128.0315 166.2792 129.6901 128.0315 166.2085 129.7158 128.0315 166.195 129.7293 128.0315 166.2242 129.7048 128.0315 166.1759 129.7624 128.0315 166.1709 129.7809 128.0315 166.184 129.745 128.0315 166.0652 129.8377 128.0564 166.075 129.8743 128.0564 166.091 129.9086 128.0564 166.1127 129.9397 128.0564 166.1395 129.9665 128.0564 166.1705 129.9882 128.0564 166.2049 130.0042 128.0564 166.2414 130.014 128.0564 166.2792 130.0173 128.0564 166.3169 130.014 128.0564 166.3535 130.0042 128.0564 166.3878 129.9882 128.0564 166.4188 129.9665 128.0564 166.4456 129.9397 128.0564 166.4674 129.9086 128.0564 166.4834 129.8743 128.0564 166.4932 129.8377 128.0564 166.4965 129.8 128.0564 166.4932 129.7623 128.0564 166.4834 129.7257 128.0564 166.4674 129.6913 128.0564 166.4456 129.6603 128.0564 166.4188 129.6335 128.0564 166.3878 129.6118 128.0564 166.3535 129.5958 128.0564 166.3169 129.586 128.0564 166.2792 129.5827 128.0564 166.2414 129.586 128.0564 166.2049 129.5958 128.0564 166.1705 129.6118 128.0564 166.1395 129.6335 128.0564 166.1127 129.6603 128.0564 166.091 129.6913 128.0564 166.075 129.7257 128.0564 166.0652 129.7623 128.0564 166.0619 129.8 128.0564 165.9644 129.8555 128.0974 165.9788 129.9093 128.0974 166.0023 129.9598 128.0974 166.0343 130.0055 128.0974 166.0737 130.0449 128.0974 166.1194 130.0768 128.0974 166.1698 130.1004 128.0974 166.2237 130.1148 128.0974 166.2792 130.1197 128.0974 166.3347 130.1148 128.0974 166.3885 130.1004 128.0974 166.439 130.0768 128.0974 166.4846 130.0449 128.0974 166.524 130.0055 128.0974 166.556 129.9598 128.0974 166.5796 129.9093 128.0974 166.594 129.8555 128.0974 166.5988 129.8 128.0974 166.594 129.7445 128.0974 166.5796 129.6907 128.0974 166.556 129.6402 128.0974 166.524 129.5945 128.0974 166.4846 129.5551 128.0974 166.439 129.5232 128.0974 166.3885 129.4996 128.0974 166.3347 129.4852 128.0974 166.2792 129.4803 128.0974 166.2237 129.4852 128.0974 166.1698 129.4996 128.0974 166.1194 129.5232 128.0974 166.0737 129.5551 128.0974 166.0343 129.5945 128.0974 166.0023 129.6402 128.0974 165.9788 129.6907 128.0974 165.9644 129.7445 128.0974 165.9595 129.8 128.0974 165.8708 129.872 128.1534 165.8896 129.9418 128.1534 165.9201 130.0073 128.1534 165.9616 130.0665 128.1534 166.0127 130.1176 128.1534 166.0719 130.1591 128.1534 166.1374 130.1896 128.1534 166.2072 130.2083 128.1534 166.2792 130.2146 128.1534 166.3512 130.2083 128.1534 166.421 130.1896 128.1534 166.4865 130.1591 128.1534 166.5457 130.1176 128.1534 166.5968 130.0665 128.1534 166.6383 130.0073 128.1534 166.6688 129.9418 128.1534 166.6875 129.872 128.1534 166.6938 129.8 128.1534 166.6875 129.728 128.1534 166.6688 129.6582 128.1534 166.6383 129.5927 128.1534 166.5968 129.5335 128.1534 166.5457 129.4824 128.1534 166.4865 129.4409 128.1534 166.421 129.4104 128.1534 166.3512 129.3917 128.1534 166.2792 129.3854 128.1534 166.2072 129.3917 128.1534 166.1374 129.4104 128.1534 166.0719 129.4409 128.1534 166.0127 129.4824 128.1534 165.9616 129.5335 128.1534 165.9201 129.5927 128.1534 165.8896 129.6582 128.1534 165.8708 129.728 128.1534 165.8646 129.8 128.1534 234.1824 117.6427 145.9758 234.1824 117.6424 146.0847 234.1824 117.6712 146.8033 234.1824 117.6433 145.8636 234.1824 117.6422 146.1906 234.1824 117.6425 146.2945 234.1824 117.6446 146.3979 234.1824 117.6462 145.5045 234.1824 117.645 145.628 234.1824 117.644 145.7477 234.1824 117.6485 146.5007 234.1824 117.6543 146.6031 234.1824 117.662 146.7049 234.1824 117.6515 145.111 234.1824 117.6494 145.246 234.1824 117.6477 145.3772 234.1824 117.6596 144.6835 234.1824 117.6566 144.8297 234.1824 117.6539 144.9723 234.1824 117.6712 144.2231 234.1824 117.667 144.3801 234.1824 117.6631 144.5336 234.1824 141.9377 144.58 234.1824 141.9285 144.2231 234.1824 141.9285 146.8072 234.1824 141.956 146.3763 234.1824 141.9577 146.2701 234.1824 141.9577 146.1148 234.1824 141.9576 146.077 234.1824 141.9456 144.956 234.1824 141.9383 146.7029 234.1824 141.9461 146.5968 234.1824 141.9521 146.4884 234.1824 141.9556 145.7044 234.1824 141.9516 145.3307 244.2792 124.3 180.2231 244.2792 137.8 180.2231 244.2792 124.3 155.2231 244.2792 137.8 155.2231 221.2792 131.4 152.7231 221.2792 131.4 150.2231 221.557 131.3757 152.7231 221.557 131.3757 150.2231 221.8264 131.3035 152.7231 221.8264 131.3035 150.2231 222.0792 131.1856 152.7231 222.0792 131.1856 150.2231 222.3076 131.0257 152.7231 222.3076 131.0257 150.2231 222.5048 130.8285 152.7231 222.5048 130.8285 150.2231 222.6648 130.6 152.7231 222.6648 130.6 150.2231 222.7827 130.3472 152.7231 222.7827 130.3472 150.2231 222.8549 130.0778 152.7231 222.8549 130.0778 150.2231 222.8792 129.8 152.7231 222.8792 129.8 150.2231 222.8549 129.5222 152.7231 222.8549 129.5222 150.2231 222.7827 129.2528 152.7231 222.7827 129.2528 150.2231 222.6648 129 152.7231 222.6648 129 150.2231 222.5048 128.7715 152.7231 222.5048 128.7715 150.2231 222.3076 128.5743 152.7231 222.3076 128.5743 150.2231 222.0792 128.4143 152.7231 222.0792 128.4143 150.2231 221.8264 128.2965 152.7231 221.8264 128.2965 150.2231 221.557 128.2243 152.7231 221.557 128.2243 150.2231 221.2792 128.2 152.7231 221.2792 128.2 150.2231 221.0013 128.2243 152.7231 221.0013 128.2243 150.2231 220.7319 128.2965 152.7231 220.7319 128.2965 150.2231 220.4792 128.4143 152.7231 220.4792 128.4143 150.2231 220.2507 128.5743 152.7231 220.2507 128.5743 150.2231 220.0535 128.7715 152.7231 220.0535 128.7715 150.2231 219.8935 129 152.7231 219.8935 129 150.2231 219.7757 129.2528 152.7231 219.7757 129.2528 150.2231 219.7035 129.5222 152.7231 219.7035 129.5222 150.2231 219.6792 129.8 152.7231 219.6792 129.8 150.2231 219.7035 130.0778 152.7231 219.7035 130.0778 150.2231 219.7757 130.3472 152.7231 219.7757 130.3472 150.2231 219.8935 130.6 152.7231 219.8935 130.6 150.2231 220.0535 130.8285 152.7231 220.0535 130.8285 150.2231 220.2507 131.0257 152.7231 220.2507 131.0257 150.2231 220.4792 131.1856 152.7231 220.4792 131.1856 150.2231 220.7319 131.3035 152.7231 220.7319 131.3035 150.2231 221.0013 131.3757 152.7231 221.0013 131.3757 150.2231 176.2792 131.4 152.7231 176.2792 131.4 150.2231 176.557 131.3757 152.7231 176.557 131.3757 150.2231 176.8264 131.3035 152.7231 176.8264 131.3035 150.2231 177.0792 131.1856 152.7231 177.0792 131.1856 150.2231 177.3076 131.0257 152.7231 177.3076 131.0257 150.2231 177.5048 130.8285 152.7231 177.5048 130.8285 150.2231 177.6648 130.6 152.7231 177.6648 130.6 150.2231 177.7827 130.3472 152.7231 177.7827 130.3472 150.2231 177.8549 130.0778 152.7231 177.8549 130.0778 150.2231 177.8792 129.8 152.7231 177.8792 129.8 150.2231 177.8549 129.5222 152.7231 177.8549 129.5222 150.2231 177.7827 129.2528 152.7231 177.7827 129.2528 150.2231 177.6648 129 152.7231 177.6648 129 150.2231 177.5048 128.7715 152.7231 177.5048 128.7715 150.2231 177.3076 128.5743 152.7231 177.3076 128.5743 150.2231 177.0792 128.4143 152.7231 177.0792 128.4143 150.2231 176.8264 128.2965 152.7231 176.8264 128.2965 150.2231 176.557 128.2243 152.7231 176.557 128.2243 150.2231 176.2792 128.2 152.7231 176.2792 128.2 150.2231 176.0013 128.2243 152.7231 176.0013 128.2243 150.2231 175.7319 128.2965 152.7231 175.7319 128.2965 150.2231 175.4792 128.4143 152.7231 175.4792 128.4143 150.2231 175.2507 128.5743 152.7231 175.2507 128.5743 150.2231 175.0535 128.7715 152.7231 175.0535 128.7715 150.2231 174.8935 129 152.7231 174.8935 129 150.2231 174.7757 129.2528 152.7231 174.7757 129.2528 150.2231 174.7035 129.5222 152.7231 174.7035 129.5222 150.2231 174.6792 129.8 152.7231 174.6792 129.8 150.2231 174.7035 130.0778 152.7231 174.7035 130.0778 150.2231 174.7757 130.3472 152.7231 174.7757 130.3472 150.2231 174.8935 130.6 152.7231 174.8935 130.6 150.2231 175.0535 130.8285 152.7231 175.0535 130.8285 150.2231 175.2507 131.0257 152.7231 175.2507 131.0257 150.2231 175.4792 131.1856 152.7231 175.4792 131.1856 150.2231 175.7319 131.3035 152.7231 175.7319 131.3035 150.2231 176.0013 131.3757 152.7231 176.0013 131.3757 150.2231 153.2792 102.8 180.2231 148.2792 102.8 180.2231 153.2792 102.8 150.2231 148.2792 102.8 150.2231 247.7792 120.8 155.2231 247.726 121.4078 155.2231 244.2792 121.8 155.2231 247.5681 121.9971 155.2231 247.3103 122.55 155.2231 246.9603 123.0498 155.2231 246.5289 123.4812 155.2231 246.0292 123.8311 155.2231 219.1726 131.5677 155.2231 153.2792 137.8 155.2231 218.8976 131.175 155.2231 218.695 130.7406 155.2231 219.5115 131.9066 155.2231 219.9042 132.1816 155.2231 220.3386 132.3842 155.2231 245.4763 124.0889 155.2231 244.8869 124.2468 155.2231 174.9042 127.4184 155.2231 153.2792 121.8 155.2231 175.3386 127.2158 155.2231 175.8016 127.0918 155.2231 220.8016 127.0918 155.2231 221.2792 127.05 155.2231 220.8016 132.5082 155.2231 221.2792 132.55 155.2231 223.0468 131.9066 155.2231 223.3858 131.5677 155.2231 244.2792 117.3 155.2231 244.8869 117.3532 155.2231 245.4763 117.5111 155.2231 246.0292 117.7689 155.2231 247.3103 119.05 155.2231 247.5681 119.6029 155.2231 247.726 120.1922 155.2231 173.8976 128.425 155.2231 173.695 128.8594 155.2231 178.8633 128.8594 155.2231 218.695 128.8594 155.2231 218.5709 129.3225 155.2231 178.0468 127.6934 155.2231 177.6542 127.4184 155.2231 221.7567 132.5082 155.2231 222.2197 132.3842 155.2231 222.6542 132.1816 155.2231 223.6607 131.175 155.2231 223.8633 130.7406 155.2231 223.9874 130.2775 155.2231 246.5289 118.1188 155.2231 246.9603 118.5503 155.2231 174.5115 127.6934 155.2231 174.1726 128.0323 155.2231 173.695 130.7406 155.2231 173.8976 131.175 155.2231 174.1726 131.5677 155.2231 174.5115 131.9066 155.2231 220.3386 127.2158 155.2231 219.9042 127.4184 155.2231 219.5115 127.6934 155.2231 219.1726 128.0323 155.2231 218.8976 128.425 155.2231 223.6607 128.425 155.2231 223.3858 128.0323 155.2231 223.0468 127.6934 155.2231 222.6542 127.4184 155.2231 222.2197 127.2158 155.2231 221.7567 127.0918 155.2231 173.5709 129.3225 155.2231 173.5292 129.8 155.2231 173.5709 130.2775 155.2231 178.3858 131.5677 155.2231 178.0468 131.9066 155.2231 177.6542 132.1816 155.2231 177.2197 127.2158 155.2231 176.7567 127.0918 155.2231 176.2792 127.05 155.2231 224.0292 129.8 155.2231 223.9874 129.3225 155.2231 223.8633 128.8594 155.2231 178.6607 128.425 155.2231 178.3858 128.0323 155.2231 174.9042 132.1816 155.2231 175.3386 132.3842 155.2231 175.8016 132.5082 155.2231 176.2792 132.55 155.2231 176.7567 132.5082 155.2231 177.2197 132.3842 155.2231 178.6607 131.175 155.2231 178.8633 130.7406 155.2231 218.5709 130.2775 155.2231 178.9874 130.2775 155.2231 218.5292 129.8 155.2231 179.0292 129.8 155.2231 178.9874 129.3225 155.2231 148.2792 103.338 174.789 148.2792 103.3 175.2231 148.2792 104.55 173.058 148.2792 104.193 173.308 148.2792 103.8849 173.6161 148.2792 103.4508 174.3681 148.2792 103.6349 173.9731 148.2792 131.655 177.5723 148.2792 131.2341 177.6851 148.2792 137.8 180.2231 148.2792 108.262 175.6572 148.2792 108.1492 176.0782 148.2792 107.9651 176.4731 148.2792 107.7151 176.8301 148.2792 107.407 177.1382 148.2792 128.8849 173.6161 148.2792 129.193 173.308 148.2792 130.8 172.7231 148.2792 131.2341 172.7611 148.2792 137.8 150.2231 148.2792 131.655 172.8739 148.2792 103.8849 176.8301 148.2792 103.6349 176.4731 148.2792 104.945 172.8739 148.2792 105.3659 172.7611 148.2792 105.8 172.7231 148.2792 129.55 173.058 148.2792 129.9449 172.8739 148.2792 130.3659 172.7611 148.2792 107.05 173.058 148.2792 107.407 173.308 148.2792 128.3 175.2231 148.2792 107.7151 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95138 160422 95175 160422 95176 160422 95138 160409 95176 160409 95139 160409 95139 729 95176 729 95177 729 95139 160423 95177 160423 95140 160423 95140 160424 95177 160424 95178 160424 95140 729 95178 729 95141 729 95141 160425 95178 160425 95179 160425 95141 160426 95179 160426 95142 160426 95142 160427 95179 160427 95180 160427 95142 729 95180 729 95143 729 95143 160428 95180 160428 95181 160428 95143 160429 95181 160429 95146 160429 95182 160430 95183 160430 95184 160430 95185 160431 95183 160431 95182 160431 95182 160432 95186 160432 95187 160432 95188 160433 95186 160433 95182 160433 95184 160434 95188 160434 95182 160434 95182 160435 95189 160435 95190 160435 95191 160436 95189 160436 95182 160436 95187 160437 95191 160437 95182 160437 95182 160456 95210 160456 95211 160456 95212 160457 95210 160457 95182 160457 95182 160459 95213 160459 95214 160459 95215 160460 95213 160460 95182 160460 95211 160461 95215 160461 95182 160461 95182 160462 95216 160462 95217 160462 95218 160463 95216 160463 95182 160463 95214 160464 95218 160464 95182 160464 95217 160465 95185 160465 95182 160465 95185 160466 95157 160466 95183 160466 95183 160467 95157 160467 95156 160467 95183 160468 95156 160468 95184 160468 95184 160469 95156 160469 95155 160469 95184 160470 95155 160470 95188 160470 95188 160471 95155 160471 95152 160471 95188 160472 95152 160472 95186 160472 95186 160473 95152 160473 95153 160473 95186 160474 95153 160474 95187 160474 95187 160475 95153 160475 95154 160475 95187 160476 95154 160476 95191 160476 95191 160477 95154 160477 95161 160477 95191 160478 95161 160478 95189 160478 95189 160479 95161 160479 95147 160479 95190 160480 95147 160480 95146 160480 95212 160510 95164 160510 95163 160510 95210 160512 95163 160512 95162 160512 95210 160513 95162 160513 95211 160513 95211 160513 95162 160513 95158 160513 95211 160514 95158 160514 95215 160514 95215 160515 95158 160515 95159 160515 95215 160516 95159 160516 95213 160516 95213 160517 95159 160517 95160 160517 95213 160518 95160 160518 95214 160518 95214 160519 95160 160519 95151 160519 95214 160520 95151 160520 95218 160520 95218 160521 95151 160521 95150 160521 95218 160522 95150 160522 95216 160522 95216 160523 95150 160523 95149 160523 95216 160524 95149 160524 95217 160524 95217 160525 95149 160525 95148 160525 95217 160526 95148 160526 95185 160526 95185 160527 95148 160527 95157 160527 97641 1531 97642 1531 97643 1531 97643 162666 97652 162666 97653 162666 97918 162862 97725 162862 97723 162862 97801 1455 97799 1455 97918 1455 97918 162881 97799 162881 97797 162881 97918 162882 97797 162882 97795 162882 97795 162883 97793 162883 97918 162883 97721 162899 97733 162899 97918 162899 97918 162901 97731 162901 97801 162901</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="普通F250_2" name="普通F250 2" type="NODE">
+        <matrix sid="transform">-8.74228e-11 -8.74228e-11 -0.002 0.4 -0.002 0 8.74228e-11 0.4 0 0.002 -8.74228e-11 -0.1 0 0 0 1</matrix>
+        <instance_geometry url="#普通F250_2-mesh" name="普通F250 2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="材质-material" target="#材质-material"/>
+              <instance_material symbol="材质_001-material" target="#材质_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/uav_simulator/odom_visualization/meshes/hummingbird.mesh b/uav_simulator/odom_visualization/meshes/hummingbird.mesh
new file mode 100755
index 0000000..dcde17c
Binary files /dev/null and b/uav_simulator/odom_visualization/meshes/hummingbird.mesh differ
diff --git "a/uav_simulator/odom_visualization/meshes/\346\225\210\346\236\234.png" "b/uav_simulator/odom_visualization/meshes/\346\225\210\346\236\234.png"
new file mode 100755
index 0000000..523898c
Binary files /dev/null and "b/uav_simulator/odom_visualization/meshes/\346\225\210\346\236\234.png" differ
diff --git a/uav_simulator/odom_visualization/package.xml b/uav_simulator/odom_visualization/package.xml
new file mode 100755
index 0000000..f875691
--- /dev/null
+++ b/uav_simulator/odom_visualization/package.xml
@@ -0,0 +1,31 @@
+<package>
+  <version>0.0.0</version>
+  <name>odom_visualization</name>
+  <description>
+
+     odom_visualization
+
+  </description>
+  <maintainer email="eeshaojie@todo.todo">Shaojie Shen</maintainer>
+  <license>BSD</license>
+  <url>http://ros.org/wiki/odom_visualization</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>pose_utils</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>visualization_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>pose_utils</run_depend>
+
+</package>
+
+
diff --git a/uav_simulator/odom_visualization/src/odom_visualization.cpp b/uav_simulator/odom_visualization/src/odom_visualization.cpp
new file mode 100755
index 0000000..909e1ba
--- /dev/null
+++ b/uav_simulator/odom_visualization/src/odom_visualization.cpp
@@ -0,0 +1,474 @@
+#include <iostream>
+#include <string.h>
+#include "ros/ros.h"
+#include "tf/transform_broadcaster.h"
+#include "nav_msgs/Odometry.h"
+#include "geometry_msgs/PoseWithCovarianceStamped.h"
+#include "geometry_msgs/PoseStamped.h"
+#include "nav_msgs/Path.h"
+#include "sensor_msgs/Range.h"
+#include "visualization_msgs/Marker.h"
+#include "armadillo"
+#include "pose_utils.h"
+#include "quadrotor_msgs/PositionCommand.h"
+
+using namespace arma;
+using namespace std;
+
+static  string mesh_resource;
+static double color_r, color_g, color_b, color_a, cov_scale, scale;
+
+bool   cross_config = false;
+bool   tf45       = false;
+bool   cov_pos    = false;
+bool   cov_vel    = false;
+bool   cov_color  = false;
+bool   origin       = false;
+bool   isOriginSet  = false;
+colvec poseOrigin(6);
+ros::Publisher posePub;
+ros::Publisher pathPub;
+ros::Publisher velPub;
+ros::Publisher covPub;
+ros::Publisher covVelPub;
+ros::Publisher trajPub;
+ros::Publisher sensorPub;
+ros::Publisher meshPub;
+ros::Publisher heightPub;
+tf::TransformBroadcaster* broadcaster;
+geometry_msgs::PoseStamped poseROS;
+nav_msgs::Path             pathROS;
+visualization_msgs::Marker velROS;
+visualization_msgs::Marker covROS;
+visualization_msgs::Marker covVelROS;
+visualization_msgs::Marker trajROS;
+visualization_msgs::Marker sensorROS;
+visualization_msgs::Marker meshROS;
+sensor_msgs::Range         heightROS;
+string _frame_id;
+
+void odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
+{
+  if (msg->header.frame_id == string("null"))
+    return;
+  colvec pose(6);  
+  pose(0) = msg->pose.pose.position.x;
+  pose(1) = msg->pose.pose.position.y;
+  pose(2) = msg->pose.pose.position.z;
+  colvec q(4);
+  q(0)    = msg->pose.pose.orientation.w;
+  q(1)    = msg->pose.pose.orientation.x;
+  q(2)    = msg->pose.pose.orientation.y;
+  q(3)    = msg->pose.pose.orientation.z;
+  pose.rows(3,5) = R_to_ypr(quaternion_to_R(q));
+  colvec vel(3);
+  vel(0) = msg->twist.twist.linear.x;
+  vel(1) = msg->twist.twist.linear.y;
+  vel(2) = msg->twist.twist.linear.z;  
+  
+  if (origin && !isOriginSet)
+  {
+    isOriginSet = true;
+    poseOrigin  = pose;
+  }
+  if (origin)
+  {
+    vel  = trans(ypr_to_R(pose.rows(3,5))) * vel;  
+    pose = pose_update(pose_inverse(poseOrigin), pose);
+    vel  = ypr_to_R(pose.rows(3,5)) * vel;  
+  }
+
+  // Pose
+  poseROS.header = msg->header;
+  poseROS.header.stamp = msg->header.stamp;
+  poseROS.header.frame_id = string("/map");
+  poseROS.pose.position.x = pose(0);
+  poseROS.pose.position.y = pose(1);
+  poseROS.pose.position.z = pose(2);
+  q = R_to_quaternion(ypr_to_R(pose.rows(3,5)));
+  poseROS.pose.orientation.w = q(0);
+  poseROS.pose.orientation.x = q(1);
+  poseROS.pose.orientation.y = q(2);
+  poseROS.pose.orientation.z = q(3);      
+  posePub.publish(poseROS);
+  
+  // Velocity
+  colvec yprVel(3);
+  yprVel(0) =  atan2(vel(1), vel(0));
+  yprVel(1) = -atan2(vel(2), norm(vel.rows(0,1),2));
+  yprVel(2) = 0;
+  q = R_to_quaternion(ypr_to_R(yprVel));    
+  velROS.header.frame_id = string("/map");
+  velROS.header.stamp = msg->header.stamp;
+  velROS.ns = string("velocity");
+  velROS.id = 0;
+  velROS.type = visualization_msgs::Marker::ARROW;
+  velROS.action = visualization_msgs::Marker::ADD;
+  velROS.pose.position.x = pose(0);
+  velROS.pose.position.y = pose(1);
+  velROS.pose.position.z = pose(2);
+  velROS.pose.orientation.w = q(0);
+  velROS.pose.orientation.x = q(1);
+  velROS.pose.orientation.y = q(2);
+  velROS.pose.orientation.z = q(3);      
+  velROS.scale.x = norm(vel, 2); 
+  velROS.scale.y = 0.05;
+  velROS.scale.z = 0.05;
+  velROS.color.a = 1.0;
+  velROS.color.r = color_r;
+  velROS.color.g = color_g;
+  velROS.color.b = color_b;
+  velPub.publish(velROS);
+
+  // Path
+  static ros::Time prevt = msg->header.stamp;
+  if ((msg->header.stamp - prevt).toSec() > 0.1)
+  {
+    prevt = msg->header.stamp;
+    pathROS.header = poseROS.header;
+    pathROS.poses.push_back(poseROS);
+    pathPub.publish(pathROS);
+  }
+
+  // Covariance color
+  double r = 1;
+  double g = 1;
+  double b = 1;
+  bool G = msg->twist.covariance[33];
+  bool V = msg->twist.covariance[34];
+  bool L = msg->twist.covariance[35];
+  if (cov_color)
+  {
+    r = G;
+    g = V;
+    b = L;
+  }
+  
+  // Covariance Position
+  if (cov_pos)
+  {
+    mat P(6,6);
+    for (int j = 0; j < 6; j++)
+      for (int i = 0; i < 6; i++)
+        P(i,j) = msg->pose.covariance[i+j*6];
+    colvec eigVal;
+    mat    eigVec;
+    eig_sym(eigVal, eigVec, P.submat(0,0,2,2));
+    if (det(eigVec) < 0)
+    {
+      for (int k = 0; k < 3; k++)
+      {
+        mat eigVecRev = eigVec;
+        eigVecRev.col(k) *= -1;
+        if (det(eigVecRev) > 0)
+        {
+          eigVec = eigVecRev;
+          break;
+        }
+      }
+    }
+    covROS.header.frame_id = string("/map");
+    covROS.header.stamp = msg->header.stamp;
+    covROS.ns = string("covariance");
+    covROS.id = 0;
+    covROS.type = visualization_msgs::Marker::SPHERE;
+    covROS.action = visualization_msgs::Marker::ADD;
+    covROS.pose.position.x = pose(0);
+    covROS.pose.position.y = pose(1);
+    covROS.pose.position.z = pose(2);
+    q = R_to_quaternion(eigVec);
+    covROS.pose.orientation.w = q(0);
+    covROS.pose.orientation.x = q(1);
+    covROS.pose.orientation.y = q(2);
+    covROS.pose.orientation.z = q(3);      
+    covROS.scale.x = sqrt(eigVal(0))*cov_scale;
+    covROS.scale.y = sqrt(eigVal(1))*cov_scale;
+    covROS.scale.z = sqrt(eigVal(2))*cov_scale;
+    covROS.color.a = 0.4;
+    covROS.color.r = r * 0.5;
+    covROS.color.g = g * 0.5;
+    covROS.color.b = b * 0.5;
+    covPub.publish(covROS);
+  }
+
+  // Covariance Velocity
+  if (cov_vel)
+  {
+    mat P(3,3);
+    for (int j = 0; j < 3; j++)
+      for (int i = 0; i < 3; i++)
+        P(i,j) = msg->twist.covariance[i+j*6];
+    mat R = ypr_to_R(pose.rows(3,5));
+    P = R * P * trans(R);
+    colvec eigVal;
+    mat    eigVec;
+    eig_sym(eigVal, eigVec, P);
+    if (det(eigVec) < 0)
+    {
+      for (int k = 0; k < 3; k++)
+      {
+        mat eigVecRev = eigVec;
+        eigVecRev.col(k) *= -1;
+        if (det(eigVecRev) > 0)
+        {
+          eigVec = eigVecRev;
+          break;
+        }
+      }
+    }
+    covVelROS.header.frame_id = string("/map");
+    covVelROS.header.stamp = msg->header.stamp;
+    covVelROS.ns = string("covariance_velocity");
+    covVelROS.id = 0;
+    covVelROS.type = visualization_msgs::Marker::SPHERE;
+    covVelROS.action = visualization_msgs::Marker::ADD;
+    covVelROS.pose.position.x = pose(0);
+    covVelROS.pose.position.y = pose(1);
+    covVelROS.pose.position.z = pose(2);
+    q = R_to_quaternion(eigVec);
+    covVelROS.pose.orientation.w = q(0);
+    covVelROS.pose.orientation.x = q(1);
+    covVelROS.pose.orientation.y = q(2);
+    covVelROS.pose.orientation.z = q(3);      
+    covVelROS.scale.x = sqrt(eigVal(0))*cov_scale;
+    covVelROS.scale.y = sqrt(eigVal(1))*cov_scale;
+    covVelROS.scale.z = sqrt(eigVal(2))*cov_scale;
+    covVelROS.color.a = 0.4;
+    covVelROS.color.r = r;
+    covVelROS.color.g = g;
+    covVelROS.color.b = b;
+    covVelPub.publish(covVelROS);
+  }
+
+  // Color Coded Trajectory
+  static colvec ppose = pose;
+  static ros::Time pt = msg->header.stamp;
+  ros::Time t = msg->header.stamp;
+  if ((t - pt).toSec() > 0.5)
+  {
+    trajROS.header.frame_id = string("/map");
+    trajROS.header.stamp    = ros::Time::now();
+    trajROS.ns              = string("trajectory");
+    trajROS.type            = visualization_msgs::Marker::LINE_LIST;
+    trajROS.action          = visualization_msgs::Marker::ADD;  
+    trajROS.pose.position.x    = 0;
+    trajROS.pose.position.y    = 0;
+    trajROS.pose.position.z    = 0;  
+    trajROS.pose.orientation.w = 1;  
+    trajROS.pose.orientation.x = 0;  
+    trajROS.pose.orientation.y = 0;  
+    trajROS.pose.orientation.z = 0;
+    trajROS.scale.x = 0.1;
+    trajROS.scale.y = 0;
+    trajROS.scale.z = 0;
+    trajROS.color.r = 0.0;
+    trajROS.color.g = 1.0;
+    trajROS.color.b = 0.0;
+    trajROS.color.a = 0.8;  
+    geometry_msgs::Point p;          
+    p.x = ppose(0);
+    p.y = ppose(1);
+    p.z = ppose(2);
+    trajROS.points.push_back(p);   
+    p.x = pose(0);
+    p.y = pose(1);
+    p.z = pose(2);
+    trajROS.points.push_back(p);    
+    std_msgs::ColorRGBA color;
+    color.r = r;
+    color.g = g;
+    color.b = b;
+    color.a = 1;
+    trajROS.colors.push_back(color);
+    trajROS.colors.push_back(color);
+    ppose = pose;
+    pt = t;
+    trajPub.publish(trajROS);
+  }
+
+  // Sensor availability
+  sensorROS.header.frame_id = string("/map");
+  sensorROS.header.stamp    = msg->header.stamp;
+  sensorROS.ns              = string("sensor");
+  sensorROS.type            = visualization_msgs::Marker::TEXT_VIEW_FACING;
+  sensorROS.action          = visualization_msgs::Marker::ADD;  
+  sensorROS.pose.position.x = pose(0);
+  sensorROS.pose.position.y = pose(1);
+  sensorROS.pose.position.z = pose(2) + 1.0;
+  sensorROS.pose.orientation.w = q(0);
+  sensorROS.pose.orientation.x = q(1);
+  sensorROS.pose.orientation.y = q(2);
+  sensorROS.pose.orientation.z = q(3);      
+  string strG = G?string(" GPS "):string("");
+  string strV = V?string(" Vision "):string("");
+  string strL = L?string(" Laser "):string("");
+  sensorROS.text = "| " + strG + strV + strL + " |";
+  sensorROS.color.a = 1.0;
+  sensorROS.color.r = 1.0;
+  sensorROS.color.g = 1.0;
+  sensorROS.color.b = 1.0;
+  sensorROS.scale.z = 0.5;
+  sensorPub.publish(sensorROS);
+
+  // Laser height measurement
+  double H = msg->twist.covariance[32];
+  heightROS.header.frame_id = string("height");
+  heightROS.header.stamp = msg->header.stamp;
+  heightROS.radiation_type = sensor_msgs::Range::ULTRASOUND;
+  heightROS.field_of_view = 5.0 * M_PI / 180.0;
+  heightROS.min_range = -100;
+  heightROS.max_range =  100;
+  heightROS.range     =  H; 
+  heightPub.publish(heightROS);
+
+  // Mesh model                                                  
+  meshROS.header.frame_id = _frame_id;
+  meshROS.header.stamp = msg->header.stamp; 
+  meshROS.ns = "mesh";
+  meshROS.id = 0;
+  meshROS.type = visualization_msgs::Marker::MESH_RESOURCE;
+  meshROS.action = visualization_msgs::Marker::ADD;
+  meshROS.pose.position.x = msg->pose.pose.position.x;
+  meshROS.pose.position.y = msg->pose.pose.position.y;
+  meshROS.pose.position.z = msg->pose.pose.position.z;
+  q(0) = msg->pose.pose.orientation.w;
+  q(1) = msg->pose.pose.orientation.x;
+  q(2) = msg->pose.pose.orientation.y;
+  q(3) = msg->pose.pose.orientation.z;
+  if (cross_config)
+  {
+    colvec ypr = R_to_ypr(quaternion_to_R(q));
+    ypr(0)    += 45.0*PI/180.0;
+    q          = R_to_quaternion(ypr_to_R(ypr)); 
+  }  
+  meshROS.pose.orientation.w = q(0);
+  meshROS.pose.orientation.x = q(1);
+  meshROS.pose.orientation.y = q(2);
+  meshROS.pose.orientation.z = q(3);
+  meshROS.scale.x = scale;
+  meshROS.scale.y = scale;
+  meshROS.scale.z = scale;
+  meshROS.color.a = color_a;
+  meshROS.color.r = color_r;
+  meshROS.color.g = color_g;
+  meshROS.color.b = color_b;
+  meshROS.mesh_resource = mesh_resource;
+  meshPub.publish(meshROS);                                                  
+
+  // TF for raw sensor visualization
+  if (tf45)
+  {
+    tf::Transform transform;
+    transform.setOrigin(tf::Vector3(pose(0), pose(1), pose(2)));
+    transform.setRotation(tf::Quaternion(q(1), q(2), q(3), q(0)));
+
+    tf::Transform transform45;
+    transform45.setOrigin(tf::Vector3(0, 0, 0));
+    colvec y45 = zeros<colvec>(3);
+    y45(0) = 45.0 * M_PI/180;
+    colvec q45 = R_to_quaternion(ypr_to_R(y45));  
+    transform45.setRotation(tf::Quaternion(q45(1), q45(2), q45(3), q45(0)));  
+
+    tf::Transform transform90;
+    transform90.setOrigin(tf::Vector3(0, 0, 0));
+    colvec p90 = zeros<colvec>(3);
+    p90(1) = 90.0 * M_PI/180;
+    colvec q90 = R_to_quaternion(ypr_to_R(p90));  
+    transform90.setRotation(tf::Quaternion(q90(1), q90(2), q90(3), q90(0)));  
+
+    broadcaster->sendTransform(tf::StampedTransform(transform,   msg->header.stamp, string("/map"),  string("/base")));      
+    broadcaster->sendTransform(tf::StampedTransform(transform45, msg->header.stamp, string("/base"), string("/laser")));          
+    broadcaster->sendTransform(tf::StampedTransform(transform45, msg->header.stamp, string("/base"), string("/vision")));          
+    broadcaster->sendTransform(tf::StampedTransform(transform90, msg->header.stamp, string("/base"), string("/height")));          
+  } 
+}
+
+void cmd_callback(const quadrotor_msgs::PositionCommand cmd)
+{   
+  if (cmd.header.frame_id == string("null"))
+    return;
+  
+  colvec pose(6);  
+  pose(0) = cmd.position.x;
+  pose(1) = cmd.position.y;
+  pose(2) = cmd.position.z;
+  colvec q(4);
+  q(0)    = 1.0;
+  q(1)    = 0.0;
+  q(2)    = 0.0;
+  q(3)    = 0.0;
+  pose.rows(3,5) = R_to_ypr(quaternion_to_R(q));
+  
+  // Mesh model                                                  
+  meshROS.header.frame_id = _frame_id;
+  meshROS.header.stamp = cmd.header.stamp; 
+  meshROS.ns = "mesh";
+  meshROS.id = 0;
+  meshROS.type = visualization_msgs::Marker::MESH_RESOURCE;
+  meshROS.action = visualization_msgs::Marker::ADD;
+  meshROS.pose.position.x = cmd.position.x;
+  meshROS.pose.position.y = cmd.position.y;
+  meshROS.pose.position.z = cmd.position.z;
+ 
+  if (cross_config)
+  {
+    colvec ypr = R_to_ypr(quaternion_to_R(q));
+    ypr(0)    += 45.0*PI/180.0;
+    q          = R_to_quaternion(ypr_to_R(ypr)); 
+  }  
+  meshROS.pose.orientation.w = q(0);
+  meshROS.pose.orientation.x = q(1);
+  meshROS.pose.orientation.y = q(2);
+  meshROS.pose.orientation.z = q(3);
+  meshROS.scale.x = 2.0;
+  meshROS.scale.y = 2.0;
+  meshROS.scale.z = 2.0;
+  meshROS.color.a = color_a;
+  meshROS.color.r = color_r;
+  meshROS.color.g = color_g;
+  meshROS.color.b = color_b;
+  meshROS.mesh_resource = mesh_resource;
+  meshPub.publish(meshROS);                                                  
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "odom_visualization");
+  ros::NodeHandle n("~");
+
+  n.param("mesh_resource", mesh_resource, 
+      // std::string("package://odom_visualization/meshes/hummingbird.mesh"));
+      std::string("package://odom_visualization/meshes/f250.dae"));
+  n.param("color/r", color_r, 1.0);
+  n.param("color/g", color_g, 0.0);
+  n.param("color/b", color_b, 0.0);
+  n.param("color/a", color_a, 1.0);
+  n.param("origin", origin, false);  
+  n.param("robot_scale", scale, 2.0);    
+  n.param("frame_id",   _frame_id, string("/map") );    
+ 
+  n.param("cross_config", cross_config, false);    
+  n.param("tf45", tf45, false);    
+  n.param("covariance_scale",    cov_scale,  100.0);
+  n.param("covariance_position", cov_pos,    false);    
+  n.param("covariance_velocity", cov_vel,    false);    
+  n.param("covariance_color",    cov_color,  false);    
+  
+  ros::Subscriber sub_odom = n.subscribe("odom", 100,  odom_callback);
+  ros::Subscriber sub_cmd  = n.subscribe("cmd",  100,  cmd_callback);
+  posePub   = n.advertise<geometry_msgs::PoseStamped>("pose",                100, true);
+  pathPub   = n.advertise<nav_msgs::Path>(            "path",                100, true);
+  velPub    = n.advertise<visualization_msgs::Marker>("velocity",            100, true);
+  covPub    = n.advertise<visualization_msgs::Marker>("covariance",          100, true);
+  covVelPub = n.advertise<visualization_msgs::Marker>("covariance_velocity", 100, true);
+  trajPub   = n.advertise<visualization_msgs::Marker>("trajectory",          100, true);
+  sensorPub = n.advertise<visualization_msgs::Marker>("sensor",              100, true);
+  meshPub   = n.advertise<visualization_msgs::Marker>("robot",               100, true);  
+  heightPub = n.advertise<sensor_msgs::Range>(        "height",              100, true);  
+  tf::TransformBroadcaster b;
+  broadcaster = &b;
+
+  ros::spin();
+
+  return 0;
+}
diff --git a/uav_simulator/quadrotor_msgs/CMakeLists.txt b/uav_simulator/quadrotor_msgs/CMakeLists.txt
new file mode 100755
index 0000000..bfceafe
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/CMakeLists.txt
@@ -0,0 +1,110 @@
+#-cmake_minimum_required(VERSION 2.4.6)
+#-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+#-rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+#-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+#-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#-\rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+
+#-rosbuild_add_library(encode_msgs src/encode_msgs.cpp)
+#-rosbuild_add_link_flags(encode_msgs -Wl,--as-needed)
+
+#list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+#find_package(Eigen3 REQUIRED)
+
+#include_directories(${EIGEN3_INCLUDE_DIR})
+#-rosbuild_add_library(decode_msgs src/decode_msgs.cpp)
+#-rosbuild_add_link_flags(decode_msgs -Wl,--as-needed)
+
+#------------------------------------------------------------------
+cmake_minimum_required(VERSION 2.8.3)
+project(quadrotor_msgs)
+
+find_package(catkin REQUIRED COMPONENTS
+  #armadillo
+  roscpp
+  nav_msgs
+  geometry_msgs
+  message_generation
+)
+
+set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+
+include_directories(
+    ${catkin_INCLUDE_DIRS}
+    include
+    )
+
+
+add_message_files(
+  FILES
+  AuxCommand.msg
+  Corrections.msg
+  Gains.msg
+  OutputData.msg
+  PositionCommand.msg
+  PPROutputData.msg
+  Serial.msg
+  SO3Command.msg
+  StatusData.msg
+  TRPYCommand.msg
+  Odometry.msg
+  PolynomialTrajectory.msg
+  LQRTrajectory.msg
+  PolyTraj.msg
+  PolyTrajs.msg
+)
+
+generate_messages(
+    DEPENDENCIES
+    geometry_msgs
+    nav_msgs
+)
+
+catkin_package(
+  #INCLUDE_DIRS include
+  LIBRARIES encode_msgs decode_msgs
+  #CATKIN_DEPENDS geometry_msgs nav_msgs
+  #DEPENDS system_lib
+  CATKIN_DEPENDS message_runtime
+)
+
+# add_executable(test_exe src/test_exe.cpp)
+add_library(decode_msgs src/decode_msgs.cpp)
+add_library(encode_msgs src/encode_msgs.cpp)
+
+# add_dependencies(test_exe quadrotor_msgs_generate_messages_cpp)
+add_dependencies(encode_msgs quadrotor_msgs_generate_messages_cpp)
+add_dependencies(decode_msgs quadrotor_msgs_generate_messages_cpp)
+
+find_package(Eigen3 REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIR})
+
+# target_link_libraries(test_exe 
+#     decode_msgs 
+#     encode_msgs
+# )
+
diff --git a/uav_simulator/quadrotor_msgs/cmake/FindEigen3.cmake b/uav_simulator/quadrotor_msgs/cmake/FindEigen3.cmake
new file mode 100755
index 0000000..9c546a0
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/cmake/FindEigen3.cmake
@@ -0,0 +1,81 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN3_FOUND - system has eigen lib with correct version
+#  EIGEN3_INCLUDE_DIR - the eigen include directory
+#  EIGEN3_VERSION - eigen version
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+  if(NOT Eigen3_FIND_VERSION_MAJOR)
+    set(Eigen3_FIND_VERSION_MAJOR 2)
+  endif(NOT Eigen3_FIND_VERSION_MAJOR)
+  if(NOT Eigen3_FIND_VERSION_MINOR)
+    set(Eigen3_FIND_VERSION_MINOR 91)
+  endif(NOT Eigen3_FIND_VERSION_MINOR)
+  if(NOT Eigen3_FIND_VERSION_PATCH)
+    set(Eigen3_FIND_VERSION_PATCH 0)
+  endif(NOT Eigen3_FIND_VERSION_PATCH)
+
+  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif(NOT Eigen3_FIND_VERSION)
+
+macro(_eigen3_check_version)
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK FALSE)
+  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK TRUE)
+  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+
+  if(NOT EIGEN3_VERSION_OK)
+
+    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+                   "but at least version ${Eigen3_FIND_VERSION} is required")
+  endif(NOT EIGEN3_VERSION_OK)
+endmacro(_eigen3_check_version)
+
+if (EIGEN3_INCLUDE_DIR)
+
+  # in cache already
+  _eigen3_check_version()
+  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+
+else (EIGEN3_INCLUDE_DIR)
+
+  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+      PATHS
+      ${CMAKE_INSTALL_PREFIX}/include
+      ${KDE4_INCLUDE_DIR}
+      PATH_SUFFIXES eigen3 eigen
+    )
+
+  if(EIGEN3_INCLUDE_DIR)
+    _eigen3_check_version()
+  endif(EIGEN3_INCLUDE_DIR)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+  mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif(EIGEN3_INCLUDE_DIR)
+
diff --git a/uav_simulator/quadrotor_msgs/include/quadrotor_msgs/comm_types.h b/uav_simulator/quadrotor_msgs/include/quadrotor_msgs/comm_types.h
new file mode 100755
index 0000000..42a08aa
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/include/quadrotor_msgs/comm_types.h
@@ -0,0 +1,87 @@
+#ifndef __QUADROTOR_MSGS_COMM_TYPES_H__
+#define __QUADROTOR_MSGS_COMM_TYPES_H__
+
+#define TYPE_SO3_CMD 's'
+struct SO3_CMD_INPUT
+{
+  // Scaling factors when decoding
+  int16_t force[3]; // /500
+  int8_t des_qx, des_qy, des_qz, des_qw; // /125
+  uint8_t kR[3]; // /50
+  uint8_t kOm[3]; // /100
+  int16_t cur_yaw; // /1e4
+  int16_t kf_correction; // /1e11;
+  uint8_t angle_corrections[2]; // roll,pitch /2500
+  uint8_t enable_motors:1;
+  uint8_t use_external_yaw:1;
+  uint8_t seq;
+};
+
+#define TYPE_STATUS_DATA 'c'
+struct STATUS_DATA
+{
+  uint16_t loop_rate;
+  uint16_t voltage;
+  uint8_t seq;
+};
+
+#define TYPE_OUTPUT_DATA 'd'
+struct OUTPUT_DATA
+{
+  uint16_t loop_rate;
+  uint16_t voltage;
+  int16_t roll, pitch, yaw;
+  int16_t ang_vel[3];
+  int16_t acc[3];
+  int16_t dheight;
+  int32_t height;
+  int16_t mag[3];
+  uint8_t radio[8];
+  //uint8_t rpm[4];
+  uint8_t seq;
+};
+
+#define TYPE_TRPY_CMD 'p'
+struct TRPY_CMD
+{
+  int16_t thrust;
+  int16_t roll;
+  int16_t pitch;
+  int16_t yaw;
+  int16_t current_yaw;
+  uint8_t enable_motors:1;
+  uint8_t use_external_yaw:1;
+};
+
+#define TYPE_PPR_OUTPUT_DATA 't'
+struct PPR_OUTPUT_DATA
+{
+  uint16_t time;
+  int16_t des_thrust;
+  int16_t des_roll;
+  int16_t des_pitch;
+  int16_t des_yaw;
+  int16_t est_roll;
+  int16_t est_pitch;
+  int16_t est_yaw;
+  int16_t est_angvel_x;
+  int16_t est_angvel_y;
+  int16_t est_angvel_z;
+  int16_t est_acc_x;
+  int16_t est_acc_y;
+  int16_t est_acc_z;
+  uint16_t pwm1;
+  uint16_t pwm2;
+  uint16_t pwm3;
+  uint16_t pwm4;
+};
+
+#define TYPE_PPR_GAINS 'g'
+struct PPR_GAINS
+{
+  int16_t Kp;
+  int16_t Kd;
+  int16_t Kp_yaw;
+  int16_t Kd_yaw;
+};
+#endif
diff --git a/uav_simulator/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h b/uav_simulator/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h
new file mode 100755
index 0000000..a3076ea
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h
@@ -0,0 +1,23 @@
+#ifndef __QUADROTOR_MSGS_QUADROTOR_MSGS_H__
+#define __QUADROTOR_MSGS_QUADROTOR_MSGS_H__
+
+#include <stdint.h>
+#include <vector>
+#include <quadrotor_msgs/OutputData.h>
+#include <quadrotor_msgs/StatusData.h>
+#include <quadrotor_msgs/PPROutputData.h>
+
+namespace quadrotor_msgs
+{
+
+bool decodeOutputData(const std::vector<uint8_t> &data,
+                      quadrotor_msgs::OutputData &output);
+
+bool decodeStatusData(const std::vector<uint8_t> &data,
+                      quadrotor_msgs::StatusData &status);
+
+bool decodePPROutputData(const std::vector<uint8_t> &data,
+                         quadrotor_msgs::PPROutputData &output);
+}
+
+#endif
diff --git a/uav_simulator/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h b/uav_simulator/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h
new file mode 100755
index 0000000..a424b11
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h
@@ -0,0 +1,22 @@
+#ifndef __QUADROTOR_MSGS_QUADROTOR_MSGS_H__
+#define __QUADROTOR_MSGS_QUADROTOR_MSGS_H__
+
+#include <stdint.h>
+#include <vector>
+#include <quadrotor_msgs/SO3Command.h>
+#include <quadrotor_msgs/TRPYCommand.h>
+#include <quadrotor_msgs/Gains.h>
+
+namespace quadrotor_msgs
+{
+
+void encodeSO3Command(const quadrotor_msgs::SO3Command &so3_command,
+                      std::vector<uint8_t> &output);
+void encodeTRPYCommand(const quadrotor_msgs::TRPYCommand &trpy_command,
+                       std::vector<uint8_t> &output);
+
+void encodePPRGains(const quadrotor_msgs::Gains &gains,
+                    std::vector<uint8_t> &output);
+}
+
+#endif
diff --git a/uav_simulator/quadrotor_msgs/msg/AuxCommand.msg b/uav_simulator/quadrotor_msgs/msg/AuxCommand.msg
new file mode 100755
index 0000000..f59bf35
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/AuxCommand.msg
@@ -0,0 +1,5 @@
+float64 current_yaw
+float64 kf_correction
+float64[2] angle_corrections# Trims for roll, pitch
+bool enable_motors
+bool use_external_yaw
diff --git a/uav_simulator/quadrotor_msgs/msg/Corrections.msg b/uav_simulator/quadrotor_msgs/msg/Corrections.msg
new file mode 100755
index 0000000..e0f4e88
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/Corrections.msg
@@ -0,0 +1,2 @@
+float64 kf_correction
+float64[2] angle_corrections
diff --git a/uav_simulator/quadrotor_msgs/msg/Gains.msg b/uav_simulator/quadrotor_msgs/msg/Gains.msg
new file mode 100755
index 0000000..f5d10a3
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/Gains.msg
@@ -0,0 +1,4 @@
+float64 Kp
+float64 Kd
+float64 Kp_yaw
+float64 Kd_yaw
diff --git a/uav_simulator/quadrotor_msgs/msg/LQRTrajectory.msg b/uav_simulator/quadrotor_msgs/msg/LQRTrajectory.msg
new file mode 100755
index 0000000..0a34e9b
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/LQRTrajectory.msg
@@ -0,0 +1,30 @@
+Header header
+
+# the trajectory id, starts from "1".
+uint32 trajectory_id
+
+# the action command for trajectory server.
+uint32 ACTION_ADD           =   1
+uint32 ACTION_ABORT         =   2
+uint32 ACTION_WARN_START           =   3
+uint32 ACTION_WARN_FINAL           =   4
+uint32 ACTION_WARN_IMPOSSIBLE      =   5
+uint32 action
+
+# the weight coefficient of the control effort
+float64 r
+
+# the yaw command
+float64 start_yaw
+float64 final_yaw
+
+# the initial and final state
+float64[6] s0
+float64[3] ut
+ 
+float64[6] sf 
+
+# the optimal arrival time
+float64 t_f
+
+string debug_info
diff --git a/uav_simulator/quadrotor_msgs/msg/Odometry.msg b/uav_simulator/quadrotor_msgs/msg/Odometry.msg
new file mode 100755
index 0000000..3272d71
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/Odometry.msg
@@ -0,0 +1,8 @@
+uint8 STATUS_ODOM_VALID=0
+uint8 STATUS_ODOM_INVALID=1
+uint8 STATUS_ODOM_LOOPCLOSURE=2
+
+nav_msgs/Odometry curodom
+nav_msgs/Odometry kfodom
+uint32 kfid
+uint8 status
diff --git a/uav_simulator/quadrotor_msgs/msg/OutputData.msg b/uav_simulator/quadrotor_msgs/msg/OutputData.msg
new file mode 100755
index 0000000..ac95888
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/OutputData.msg
@@ -0,0 +1,12 @@
+Header header
+uint16 loop_rate
+float64 voltage
+geometry_msgs/Quaternion orientation
+geometry_msgs/Vector3 angular_velocity
+geometry_msgs/Vector3 linear_acceleration
+float64 pressure_dheight
+float64 pressure_height
+geometry_msgs/Vector3 magnetic_field
+uint8[8] radio_channel
+#uint8[4] motor_rpm
+uint8 seq
diff --git a/uav_simulator/quadrotor_msgs/msg/PPROutputData.msg b/uav_simulator/quadrotor_msgs/msg/PPROutputData.msg
new file mode 100755
index 0000000..70434a0
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/PPROutputData.msg
@@ -0,0 +1,16 @@
+Header header
+uint16 quad_time
+float64 des_thrust
+float64 des_roll
+float64 des_pitch
+float64 des_yaw
+float64 est_roll
+float64 est_pitch
+float64 est_yaw
+float64 est_angvel_x
+float64 est_angvel_y
+float64 est_angvel_z
+float64 est_acc_x
+float64 est_acc_y
+float64 est_acc_z
+uint16[4] pwm
diff --git a/uav_simulator/quadrotor_msgs/msg/PolyTraj.msg b/uav_simulator/quadrotor_msgs/msg/PolyTraj.msg
new file mode 100755
index 0000000..220849e
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/PolyTraj.msg
@@ -0,0 +1,14 @@
+int16 drone_id
+int32 traj_id
+time start_time
+
+bool hover
+float32 yaw
+float32[] hover_p
+
+uint8 order
+float32[] coef_x
+float32[] coef_y
+float32[] coef_z
+float32[] duration
+float32 delay_time
\ No newline at end of file
diff --git a/uav_simulator/quadrotor_msgs/msg/PolyTrajs.msg b/uav_simulator/quadrotor_msgs/msg/PolyTrajs.msg
new file mode 100755
index 0000000..0d3a263
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/PolyTrajs.msg
@@ -0,0 +1 @@
+PolyTraj[] poly_trajs
diff --git a/uav_simulator/quadrotor_msgs/msg/PolynomialTrajectory.msg b/uav_simulator/quadrotor_msgs/msg/PolynomialTrajectory.msg
new file mode 100755
index 0000000..0aab297
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/PolynomialTrajectory.msg
@@ -0,0 +1,28 @@
+Header header
+
+# the trajectory id, starts from "1".
+uint32 trajectory_id
+
+# the action command for trajectory server.
+uint32 ACTION_ADD           =   1
+uint32 ACTION_ABORT         =   2
+uint32 ACTION_WARN_START           =   3
+uint32 ACTION_WARN_FINAL           =   4
+uint32 ACTION_WARN_IMPOSSIBLE      =   5
+uint32 action
+
+# the order of trajectory.
+uint32 num_order
+uint32 num_segment
+
+# the polynomial coecfficients of the trajectory.
+float64 start_yaw
+float64 final_yaw
+float64[] coef_x
+float64[] coef_y
+float64[] coef_z
+float64[] time
+float64   mag_coeff
+uint32[]  order
+
+string debug_info
diff --git a/uav_simulator/quadrotor_msgs/msg/PositionCommand.msg b/uav_simulator/quadrotor_msgs/msg/PositionCommand.msg
new file mode 100755
index 0000000..481518f
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/PositionCommand.msg
@@ -0,0 +1,21 @@
+Header header
+geometry_msgs/Point position
+geometry_msgs/Vector3 velocity
+geometry_msgs/Vector3 acceleration
+float64 yaw
+float64 yaw_dot
+float64[3] kx
+float64[3] kv 
+
+uint32 trajectory_id
+
+uint8 TRAJECTORY_STATUS_EMPTY = 0
+uint8 TRAJECTORY_STATUS_READY = 1
+uint8 TRAJECTORY_STATUS_COMPLETED = 3
+uint8 TRAJECTROY_STATUS_ABORT = 4
+uint8 TRAJECTORY_STATUS_ILLEGAL_START = 5
+uint8 TRAJECTORY_STATUS_ILLEGAL_FINAL = 6
+uint8 TRAJECTORY_STATUS_IMPOSSIBLE = 7
+
+# Its ID number will start from 1, allowing you comparing it with 0.
+uint8 trajectory_flag
diff --git a/uav_simulator/quadrotor_msgs/msg/SO3Command.msg b/uav_simulator/quadrotor_msgs/msg/SO3Command.msg
new file mode 100755
index 0000000..d3868ef
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/SO3Command.msg
@@ -0,0 +1,6 @@
+Header header
+geometry_msgs/Vector3 force
+geometry_msgs/Quaternion orientation
+float64[3] kR
+float64[3] kOm
+quadrotor_msgs/AuxCommand aux
diff --git a/uav_simulator/quadrotor_msgs/msg/Serial.msg b/uav_simulator/quadrotor_msgs/msg/Serial.msg
new file mode 100755
index 0000000..5a54cce
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/Serial.msg
@@ -0,0 +1,13 @@
+# Note: These constants need to be kept in sync with the types
+# defined in include/quadrotor_msgs/comm_types.h
+uint8 SO3_CMD = 115 # 's' in base 10
+uint8 TRPY_CMD = 112 # 'p' in base 10
+uint8 STATUS_DATA = 99 # 'c' in base 10
+uint8 OUTPUT_DATA = 100 # 'd' in base 10
+uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10
+uint8 PPR_GAINS = 103 # 'g'
+
+Header header
+uint8 channel
+uint8 type # One of the types listed above
+uint8[] data
diff --git a/uav_simulator/quadrotor_msgs/msg/StatusData.msg b/uav_simulator/quadrotor_msgs/msg/StatusData.msg
new file mode 100755
index 0000000..d176e4f
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/StatusData.msg
@@ -0,0 +1,4 @@
+Header header
+uint16 loop_rate
+float64 voltage
+uint8 seq
diff --git a/uav_simulator/quadrotor_msgs/msg/TRPYCommand.msg b/uav_simulator/quadrotor_msgs/msg/TRPYCommand.msg
new file mode 100755
index 0000000..0d471a6
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/msg/TRPYCommand.msg
@@ -0,0 +1,6 @@
+Header header
+float32 thrust
+float32 roll
+float32 pitch
+float32 yaw
+quadrotor_msgs/AuxCommand aux
diff --git a/uav_simulator/quadrotor_msgs/package.xml b/uav_simulator/quadrotor_msgs/package.xml
new file mode 100755
index 0000000..42e9f76
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/package.xml
@@ -0,0 +1,20 @@
+<package>
+  <name>quadrotor_msgs</name>
+  <version>0.0.0</version>
+  <description>quadrotor_msgs</description>
+  <maintainer email="todo@todo.todo">Kartik Mohta</maintainer>
+  <url>http://ros.org/wiki/quadrotor_msgs</url>
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <export>
+    <cpp cflags="-I${prefix}/include"
+         lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib"/>
+  </export>
+
+</package>
diff --git a/uav_simulator/quadrotor_msgs/src/decode_msgs.cpp b/uav_simulator/quadrotor_msgs/src/decode_msgs.cpp
new file mode 100755
index 0000000..609ffb8
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/decode_msgs.cpp
@@ -0,0 +1,103 @@
+#include "quadrotor_msgs/decode_msgs.h"
+#include <quadrotor_msgs/comm_types.h>
+#include <Eigen/Geometry>
+
+namespace quadrotor_msgs
+{
+
+bool decodeOutputData(const std::vector<uint8_t> &data,
+                      quadrotor_msgs::OutputData &output)
+{
+  struct OUTPUT_DATA output_data;
+  if(data.size() != sizeof(output_data))
+    return false;
+
+  memcpy(&output_data, &data[0], sizeof(output_data));
+  output.loop_rate = output_data.loop_rate;
+  output.voltage = output_data.voltage/1e3;
+
+  const double roll = output_data.roll/1e2 * M_PI/180;
+  const double pitch = output_data.pitch/1e2 * M_PI/180;
+  const double yaw = output_data.yaw/1e2 * M_PI/180;
+  // Asctec (2012 firmware) uses  Z-Y-X convention
+  Eigen::Quaterniond q = Eigen::AngleAxisd(yaw, Eigen::Vector3d::UnitZ()) *
+      Eigen::AngleAxisd(pitch, Eigen::Vector3d::UnitY()) *
+      Eigen::AngleAxisd(roll, Eigen::Vector3d::UnitX());
+  output.orientation.w = q.w();
+  output.orientation.x = q.x();
+  output.orientation.y = q.y();
+  output.orientation.z = q.z();
+
+  output.angular_velocity.x = output_data.ang_vel[0]*0.0154*M_PI/180;
+  output.angular_velocity.y = output_data.ang_vel[1]*0.0154*M_PI/180;
+  output.angular_velocity.z = output_data.ang_vel[2]*0.0154*M_PI/180;
+
+  output.linear_acceleration.x = output_data.acc[0]/1e3 * 9.81;
+  output.linear_acceleration.y = output_data.acc[1]/1e3 * 9.81;
+  output.linear_acceleration.z = output_data.acc[2]/1e3 * 9.81;
+
+  output.pressure_dheight = output_data.dheight/1e3;
+  output.pressure_height = output_data.height/1e3;
+
+  output.magnetic_field.x = output_data.mag[0]/2500.0;
+  output.magnetic_field.y = output_data.mag[1]/2500.0;
+  output.magnetic_field.z = output_data.mag[2]/2500.0;
+
+  for(int i = 0; i < 8; i++)
+  {
+    output.radio_channel[i] = output_data.radio[i];
+  }
+  //for(int i = 0; i < 4; i++)
+  //  output.motor_rpm[i] = output_data.rpm[i];
+
+  output.seq = output_data.seq;
+
+  return true;
+}
+
+bool decodeStatusData(const std::vector<uint8_t> &data,
+                      quadrotor_msgs::StatusData &status)
+{
+  struct STATUS_DATA status_data;
+  if(data.size() != sizeof(status_data))
+    return false;
+  memcpy(&status_data, &data[0], sizeof(status_data));
+
+  status.loop_rate = status_data.loop_rate;
+  status.voltage = status_data.voltage/1e3;
+  status.seq = status_data.seq;
+
+  return true;
+}
+
+bool decodePPROutputData(const std::vector<uint8_t> &data,
+                         quadrotor_msgs::PPROutputData &output)
+{
+  struct PPR_OUTPUT_DATA output_data;
+  if(data.size() != sizeof(output_data))
+    return false;
+  memcpy(&output_data, &data[0], sizeof(output_data));
+
+  output.quad_time = output_data.time;
+  output.des_thrust = output_data.des_thrust*1e-4;
+  output.des_roll = output_data.des_roll*1e-4;
+  output.des_pitch = output_data.des_pitch*1e-4;
+  output.des_yaw = output_data.des_yaw*1e-4;
+  output.est_roll = output_data.est_roll*1e-4;
+  output.est_pitch = output_data.est_pitch*1e-4;
+  output.est_yaw = output_data.est_yaw*1e-4;
+  output.est_angvel_x = output_data.est_angvel_x*1e-3;
+  output.est_angvel_y = output_data.est_angvel_y*1e-3;
+  output.est_angvel_z = output_data.est_angvel_z*1e-3;
+  output.est_acc_x = output_data.est_acc_x*1e-4;
+  output.est_acc_y = output_data.est_acc_y*1e-4;
+  output.est_acc_z = output_data.est_acc_z*1e-4;
+  output.pwm[0] = output_data.pwm1;
+  output.pwm[1] = output_data.pwm2;
+  output.pwm[2] = output_data.pwm3;
+  output.pwm[3] = output_data.pwm4;
+
+  return true;
+}
+
+}
diff --git a/uav_simulator/quadrotor_msgs/src/encode_msgs.cpp b/uav_simulator/quadrotor_msgs/src/encode_msgs.cpp
new file mode 100755
index 0000000..d0cccf2
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/encode_msgs.cpp
@@ -0,0 +1,73 @@
+#include "quadrotor_msgs/encode_msgs.h"
+#include <quadrotor_msgs/comm_types.h>
+
+namespace quadrotor_msgs
+{
+
+void encodeSO3Command(const quadrotor_msgs::SO3Command &so3_command,
+                      std::vector<uint8_t> &output)
+{
+  struct SO3_CMD_INPUT so3_cmd_input;
+
+  so3_cmd_input.force[0] = so3_command.force.x*500;
+  so3_cmd_input.force[1] = so3_command.force.y*500;
+  so3_cmd_input.force[2] = so3_command.force.z*500;
+
+  so3_cmd_input.des_qx = so3_command.orientation.x*125;
+  so3_cmd_input.des_qy = so3_command.orientation.y*125;
+  so3_cmd_input.des_qz = so3_command.orientation.z*125;
+  so3_cmd_input.des_qw = so3_command.orientation.w*125;
+
+  so3_cmd_input.kR[0] = so3_command.kR[0]*50;
+  so3_cmd_input.kR[1] = so3_command.kR[1]*50;
+  so3_cmd_input.kR[2] = so3_command.kR[2]*50;
+
+  so3_cmd_input.kOm[0] = so3_command.kOm[0]*100;
+  so3_cmd_input.kOm[1] = so3_command.kOm[1]*100;
+  so3_cmd_input.kOm[2] = so3_command.kOm[2]*100;
+
+  so3_cmd_input.cur_yaw = so3_command.aux.current_yaw*1e4;
+
+  so3_cmd_input.kf_correction = so3_command.aux.kf_correction*1e11;
+  so3_cmd_input.angle_corrections[0] = so3_command.aux.angle_corrections[0]*2500;
+  so3_cmd_input.angle_corrections[1] = so3_command.aux.angle_corrections[1]*2500;
+
+  so3_cmd_input.enable_motors = so3_command.aux.enable_motors;
+  so3_cmd_input.use_external_yaw = so3_command.aux.use_external_yaw;
+
+  so3_cmd_input.seq = so3_command.header.seq % 255;
+
+  output.resize(sizeof(so3_cmd_input));
+  memcpy(&output[0], &so3_cmd_input, sizeof(so3_cmd_input));
+}
+
+void encodeTRPYCommand(const quadrotor_msgs::TRPYCommand &trpy_command,
+                        std::vector<uint8_t> &output)
+{
+  struct TRPY_CMD trpy_cmd_input;
+  trpy_cmd_input.thrust = trpy_command.thrust*1e4;
+  trpy_cmd_input.roll = trpy_command.roll*1e4;
+  trpy_cmd_input.pitch = trpy_command.pitch*1e4;
+  trpy_cmd_input.yaw = trpy_command.yaw*1e4;
+  trpy_cmd_input.current_yaw = trpy_command.aux.current_yaw*1e4;
+  trpy_cmd_input.enable_motors = trpy_command.aux.enable_motors;
+  trpy_cmd_input.use_external_yaw = trpy_command.aux.use_external_yaw;
+
+  output.resize(sizeof(trpy_cmd_input));
+  memcpy(&output[0], &trpy_cmd_input, sizeof(trpy_cmd_input));
+}
+
+void encodePPRGains(const quadrotor_msgs::Gains &gains,
+                    std::vector<uint8_t> &output)
+{
+  struct PPR_GAINS ppr_gains;
+  ppr_gains.Kp = gains.Kp;
+  ppr_gains.Kd = gains.Kd;
+  ppr_gains.Kp_yaw = gains.Kp_yaw;
+  ppr_gains.Kd_yaw = gains.Kd_yaw;
+
+  output.resize(sizeof(ppr_gains));
+  memcpy(&output[0], &ppr_gains, sizeof(ppr_gains));
+}
+
+}
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/__init__.py b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc
new file mode 100755
index 0000000..cb93e49
Binary files /dev/null and b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc differ
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py
new file mode 100755
index 0000000..652a255
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py
@@ -0,0 +1,143 @@
+"""autogenerated by genpy from quadrotor_msgs/AuxCommand.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class AuxCommand(genpy.Message):
+  _md5sum = "94f75840e4b1e03675da764692f2c839"
+  _type = "quadrotor_msgs/AuxCommand"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """float64 current_yaw
+float64 kf_correction
+float64[2] angle_corrections# Trims for roll, pitch
+bool enable_motors
+bool use_external_yaw
+
+"""
+  __slots__ = ['current_yaw','kf_correction','angle_corrections','enable_motors','use_external_yaw']
+  _slot_types = ['float64','float64','float64[2]','bool','bool']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       current_yaw,kf_correction,angle_corrections,enable_motors,use_external_yaw
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(AuxCommand, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.current_yaw is None:
+        self.current_yaw = 0.
+      if self.kf_correction is None:
+        self.kf_correction = 0.
+      if self.angle_corrections is None:
+        self.angle_corrections = [0.,0.]
+      if self.enable_motors is None:
+        self.enable_motors = False
+      if self.use_external_yaw is None:
+        self.use_external_yaw = False
+    else:
+      self.current_yaw = 0.
+      self.kf_correction = 0.
+      self.angle_corrections = [0.,0.]
+      self.enable_motors = False
+      self.use_external_yaw = False
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_2d.pack(_x.current_yaw, _x.kf_correction))
+      buff.write(_struct_2d.pack(*self.angle_corrections))
+      _x = self
+      buff.write(_struct_2B.pack(_x.enable_motors, _x.use_external_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 16
+      (_x.current_yaw, _x.kf_correction,) = _struct_2d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.angle_corrections = _struct_2d.unpack(str[start:end])
+      _x = self
+      start = end
+      end += 2
+      (_x.enable_motors, _x.use_external_yaw,) = _struct_2B.unpack(str[start:end])
+      self.enable_motors = bool(self.enable_motors)
+      self.use_external_yaw = bool(self.use_external_yaw)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_2d.pack(_x.current_yaw, _x.kf_correction))
+      buff.write(self.angle_corrections.tostring())
+      _x = self
+      buff.write(_struct_2B.pack(_x.enable_motors, _x.use_external_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 16
+      (_x.current_yaw, _x.kf_correction,) = _struct_2d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.angle_corrections = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=2)
+      _x = self
+      start = end
+      end += 2
+      (_x.enable_motors, _x.use_external_yaw,) = _struct_2B.unpack(str[start:end])
+      self.enable_motors = bool(self.enable_motors)
+      self.use_external_yaw = bool(self.use_external_yaw)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_2d = struct.Struct("<2d")
+_struct_2B = struct.Struct("<2B")
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py
new file mode 100755
index 0000000..d2b19c2
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py
@@ -0,0 +1,111 @@
+"""autogenerated by genpy from quadrotor_msgs/Corrections.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class Corrections(genpy.Message):
+  _md5sum = "61e86887a75fe520847d3256306360f5"
+  _type = "quadrotor_msgs/Corrections"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """float64 kf_correction
+float64[2] angle_corrections
+
+"""
+  __slots__ = ['kf_correction','angle_corrections']
+  _slot_types = ['float64','float64[2]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       kf_correction,angle_corrections
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(Corrections, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.kf_correction is None:
+        self.kf_correction = 0.
+      if self.angle_corrections is None:
+        self.angle_corrections = [0.,0.]
+    else:
+      self.kf_correction = 0.
+      self.angle_corrections = [0.,0.]
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      buff.write(_struct_d.pack(self.kf_correction))
+      buff.write(_struct_2d.pack(*self.angle_corrections))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      end = 0
+      start = end
+      end += 8
+      (self.kf_correction,) = _struct_d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.angle_corrections = _struct_2d.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      buff.write(_struct_d.pack(self.kf_correction))
+      buff.write(self.angle_corrections.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      end = 0
+      start = end
+      end += 8
+      (self.kf_correction,) = _struct_d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.angle_corrections = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=2)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_2d = struct.Struct("<2d")
+_struct_d = struct.Struct("<d")
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_Gains.py b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_Gains.py
new file mode 100755
index 0000000..01f65e9
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_Gains.py
@@ -0,0 +1,114 @@
+"""autogenerated by genpy from quadrotor_msgs/Gains.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class Gains(genpy.Message):
+  _md5sum = "b82763b9f24e5595e2a816aa779c9461"
+  _type = "quadrotor_msgs/Gains"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """float64 Kp
+float64 Kd
+float64 Kp_yaw
+float64 Kd_yaw
+
+"""
+  __slots__ = ['Kp','Kd','Kp_yaw','Kd_yaw']
+  _slot_types = ['float64','float64','float64','float64']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       Kp,Kd,Kp_yaw,Kd_yaw
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(Gains, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.Kp is None:
+        self.Kp = 0.
+      if self.Kd is None:
+        self.Kd = 0.
+      if self.Kp_yaw is None:
+        self.Kp_yaw = 0.
+      if self.Kd_yaw is None:
+        self.Kd_yaw = 0.
+    else:
+      self.Kp = 0.
+      self.Kd = 0.
+      self.Kp_yaw = 0.
+      self.Kd_yaw = 0.
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_4d.pack(_x.Kp, _x.Kd, _x.Kp_yaw, _x.Kd_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 32
+      (_x.Kp, _x.Kd, _x.Kp_yaw, _x.Kd_yaw,) = _struct_4d.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_4d.pack(_x.Kp, _x.Kd, _x.Kp_yaw, _x.Kd_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 32
+      (_x.Kp, _x.Kd, _x.Kp_yaw, _x.Kd_yaw,) = _struct_4d.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_4d = struct.Struct("<4d")
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py
new file mode 100755
index 0000000..357c5f1
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py
@@ -0,0 +1,277 @@
+"""autogenerated by genpy from quadrotor_msgs/OutputData.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import std_msgs.msg
+
+class OutputData(genpy.Message):
+  _md5sum = "5759ee97fd5c090dcdccf7fc3e50d024"
+  _type = "quadrotor_msgs/OutputData"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+uint16 loop_rate
+float64 voltage
+geometry_msgs/Quaternion orientation
+geometry_msgs/Vector3 angular_velocity
+geometry_msgs/Vector3 linear_acceleration
+float64 pressure_dheight
+float64 pressure_height
+geometry_msgs/Vector3 magnetic_field
+uint8[8] radio_channel
+#uint8[4] motor_rpm
+uint8 seq
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+
+float64 x
+float64 y
+float64 z
+"""
+  __slots__ = ['header','loop_rate','voltage','orientation','angular_velocity','linear_acceleration','pressure_dheight','pressure_height','magnetic_field','radio_channel','seq']
+  _slot_types = ['std_msgs/Header','uint16','float64','geometry_msgs/Quaternion','geometry_msgs/Vector3','geometry_msgs/Vector3','float64','float64','geometry_msgs/Vector3','uint8[8]','uint8']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,loop_rate,voltage,orientation,angular_velocity,linear_acceleration,pressure_dheight,pressure_height,magnetic_field,radio_channel,seq
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(OutputData, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.loop_rate is None:
+        self.loop_rate = 0
+      if self.voltage is None:
+        self.voltage = 0.
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      if self.angular_velocity is None:
+        self.angular_velocity = geometry_msgs.msg.Vector3()
+      if self.linear_acceleration is None:
+        self.linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.pressure_dheight is None:
+        self.pressure_dheight = 0.
+      if self.pressure_height is None:
+        self.pressure_height = 0.
+      if self.magnetic_field is None:
+        self.magnetic_field = geometry_msgs.msg.Vector3()
+      if self.radio_channel is None:
+        self.radio_channel = chr(0)*8
+      if self.seq is None:
+        self.seq = 0
+    else:
+      self.header = std_msgs.msg.Header()
+      self.loop_rate = 0
+      self.voltage = 0.
+      self.orientation = geometry_msgs.msg.Quaternion()
+      self.angular_velocity = geometry_msgs.msg.Vector3()
+      self.linear_acceleration = geometry_msgs.msg.Vector3()
+      self.pressure_dheight = 0.
+      self.pressure_height = 0.
+      self.magnetic_field = geometry_msgs.msg.Vector3()
+      self.radio_channel = chr(0)*8
+      self.seq = 0
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_H16d.pack(_x.loop_rate, _x.voltage, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w, _x.angular_velocity.x, _x.angular_velocity.y, _x.angular_velocity.z, _x.linear_acceleration.x, _x.linear_acceleration.y, _x.linear_acceleration.z, _x.pressure_dheight, _x.pressure_height, _x.magnetic_field.x, _x.magnetic_field.y, _x.magnetic_field.z))
+      _x = self.radio_channel
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]:
+        buff.write(_struct_8B.pack(*_x))
+      else:
+        buff.write(_struct_8s.pack(_x))
+      buff.write(_struct_B.pack(self.seq))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      if self.angular_velocity is None:
+        self.angular_velocity = geometry_msgs.msg.Vector3()
+      if self.linear_acceleration is None:
+        self.linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.magnetic_field is None:
+        self.magnetic_field = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 130
+      (_x.loop_rate, _x.voltage, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w, _x.angular_velocity.x, _x.angular_velocity.y, _x.angular_velocity.z, _x.linear_acceleration.x, _x.linear_acceleration.y, _x.linear_acceleration.z, _x.pressure_dheight, _x.pressure_height, _x.magnetic_field.x, _x.magnetic_field.y, _x.magnetic_field.z,) = _struct_H16d.unpack(str[start:end])
+      start = end
+      end += 8
+      self.radio_channel = str[start:end]
+      start = end
+      end += 1
+      (self.seq,) = _struct_B.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_H16d.pack(_x.loop_rate, _x.voltage, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w, _x.angular_velocity.x, _x.angular_velocity.y, _x.angular_velocity.z, _x.linear_acceleration.x, _x.linear_acceleration.y, _x.linear_acceleration.z, _x.pressure_dheight, _x.pressure_height, _x.magnetic_field.x, _x.magnetic_field.y, _x.magnetic_field.z))
+      _x = self.radio_channel
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]:
+        buff.write(_struct_8B.pack(*_x))
+      else:
+        buff.write(_struct_8s.pack(_x))
+      buff.write(_struct_B.pack(self.seq))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      if self.angular_velocity is None:
+        self.angular_velocity = geometry_msgs.msg.Vector3()
+      if self.linear_acceleration is None:
+        self.linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.magnetic_field is None:
+        self.magnetic_field = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 130
+      (_x.loop_rate, _x.voltage, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w, _x.angular_velocity.x, _x.angular_velocity.y, _x.angular_velocity.z, _x.linear_acceleration.x, _x.linear_acceleration.y, _x.linear_acceleration.z, _x.pressure_dheight, _x.pressure_height, _x.magnetic_field.x, _x.magnetic_field.y, _x.magnetic_field.z,) = _struct_H16d.unpack(str[start:end])
+      start = end
+      end += 8
+      self.radio_channel = str[start:end]
+      start = end
+      end += 1
+      (self.seq,) = _struct_B.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_8B = struct.Struct("<8B")
+_struct_8s = struct.Struct("<8s")
+_struct_3I = struct.Struct("<3I")
+_struct_B = struct.Struct("<B")
+_struct_H16d = struct.Struct("<H16d")
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_PPROutputData.py b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_PPROutputData.py
new file mode 100755
index 0000000..9f07332
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_PPROutputData.py
@@ -0,0 +1,243 @@
+"""autogenerated by genpy from quadrotor_msgs/PPROutputData.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import std_msgs.msg
+
+class PPROutputData(genpy.Message):
+  _md5sum = "732c0e3ca36f241464f8c445e78a0d0a"
+  _type = "quadrotor_msgs/PPROutputData"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+uint16 quad_time
+float64 des_thrust
+float64 des_roll
+float64 des_pitch
+float64 des_yaw
+float64 est_roll
+float64 est_pitch
+float64 est_yaw
+float64 est_angvel_x
+float64 est_angvel_y
+float64 est_angvel_z
+float64 est_acc_x
+float64 est_acc_y
+float64 est_acc_z
+uint16[4] pwm
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+"""
+  __slots__ = ['header','quad_time','des_thrust','des_roll','des_pitch','des_yaw','est_roll','est_pitch','est_yaw','est_angvel_x','est_angvel_y','est_angvel_z','est_acc_x','est_acc_y','est_acc_z','pwm']
+  _slot_types = ['std_msgs/Header','uint16','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','uint16[4]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,quad_time,des_thrust,des_roll,des_pitch,des_yaw,est_roll,est_pitch,est_yaw,est_angvel_x,est_angvel_y,est_angvel_z,est_acc_x,est_acc_y,est_acc_z,pwm
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(PPROutputData, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.quad_time is None:
+        self.quad_time = 0
+      if self.des_thrust is None:
+        self.des_thrust = 0.
+      if self.des_roll is None:
+        self.des_roll = 0.
+      if self.des_pitch is None:
+        self.des_pitch = 0.
+      if self.des_yaw is None:
+        self.des_yaw = 0.
+      if self.est_roll is None:
+        self.est_roll = 0.
+      if self.est_pitch is None:
+        self.est_pitch = 0.
+      if self.est_yaw is None:
+        self.est_yaw = 0.
+      if self.est_angvel_x is None:
+        self.est_angvel_x = 0.
+      if self.est_angvel_y is None:
+        self.est_angvel_y = 0.
+      if self.est_angvel_z is None:
+        self.est_angvel_z = 0.
+      if self.est_acc_x is None:
+        self.est_acc_x = 0.
+      if self.est_acc_y is None:
+        self.est_acc_y = 0.
+      if self.est_acc_z is None:
+        self.est_acc_z = 0.
+      if self.pwm is None:
+        self.pwm = [0,0,0,0]
+    else:
+      self.header = std_msgs.msg.Header()
+      self.quad_time = 0
+      self.des_thrust = 0.
+      self.des_roll = 0.
+      self.des_pitch = 0.
+      self.des_yaw = 0.
+      self.est_roll = 0.
+      self.est_pitch = 0.
+      self.est_yaw = 0.
+      self.est_angvel_x = 0.
+      self.est_angvel_y = 0.
+      self.est_angvel_z = 0.
+      self.est_acc_x = 0.
+      self.est_acc_y = 0.
+      self.est_acc_z = 0.
+      self.pwm = [0,0,0,0]
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_H13d.pack(_x.quad_time, _x.des_thrust, _x.des_roll, _x.des_pitch, _x.des_yaw, _x.est_roll, _x.est_pitch, _x.est_yaw, _x.est_angvel_x, _x.est_angvel_y, _x.est_angvel_z, _x.est_acc_x, _x.est_acc_y, _x.est_acc_z))
+      buff.write(_struct_4H.pack(*self.pwm))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 106
+      (_x.quad_time, _x.des_thrust, _x.des_roll, _x.des_pitch, _x.des_yaw, _x.est_roll, _x.est_pitch, _x.est_yaw, _x.est_angvel_x, _x.est_angvel_y, _x.est_angvel_z, _x.est_acc_x, _x.est_acc_y, _x.est_acc_z,) = _struct_H13d.unpack(str[start:end])
+      start = end
+      end += 8
+      self.pwm = _struct_4H.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_H13d.pack(_x.quad_time, _x.des_thrust, _x.des_roll, _x.des_pitch, _x.des_yaw, _x.est_roll, _x.est_pitch, _x.est_yaw, _x.est_angvel_x, _x.est_angvel_y, _x.est_angvel_z, _x.est_acc_x, _x.est_acc_y, _x.est_acc_z))
+      buff.write(self.pwm.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 106
+      (_x.quad_time, _x.des_thrust, _x.des_roll, _x.des_pitch, _x.des_yaw, _x.est_roll, _x.est_pitch, _x.est_yaw, _x.est_angvel_x, _x.est_angvel_y, _x.est_angvel_z, _x.est_acc_x, _x.est_acc_y, _x.est_acc_z,) = _struct_H13d.unpack(str[start:end])
+      start = end
+      end += 8
+      self.pwm = numpy.frombuffer(str[start:end], dtype=numpy.uint16, count=4)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_H13d = struct.Struct("<H13d")
+_struct_3I = struct.Struct("<3I")
+_struct_4H = struct.Struct("<4H")
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_PositionCommand.py b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_PositionCommand.py
new file mode 100755
index 0000000..a4f1806
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_PositionCommand.py
@@ -0,0 +1,246 @@
+"""autogenerated by genpy from quadrotor_msgs/PositionCommand.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import std_msgs.msg
+
+class PositionCommand(genpy.Message):
+  _md5sum = "835935bcd6f18632d9e26a3093237902"
+  _type = "quadrotor_msgs/PositionCommand"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+geometry_msgs/Point position
+geometry_msgs/Vector3 velocity
+geometry_msgs/Vector3 acceleration
+float64 yaw
+float64 yaw_dot
+float64[3] kx
+float64[3] kv
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+
+float64 x
+float64 y
+float64 z
+"""
+  __slots__ = ['header','position','velocity','acceleration','yaw','yaw_dot','kx','kv']
+  _slot_types = ['std_msgs/Header','geometry_msgs/Point','geometry_msgs/Vector3','geometry_msgs/Vector3','float64','float64','float64[3]','float64[3]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,position,velocity,acceleration,yaw,yaw_dot,kx,kv
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(PositionCommand, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.position is None:
+        self.position = geometry_msgs.msg.Point()
+      if self.velocity is None:
+        self.velocity = geometry_msgs.msg.Vector3()
+      if self.acceleration is None:
+        self.acceleration = geometry_msgs.msg.Vector3()
+      if self.yaw is None:
+        self.yaw = 0.
+      if self.yaw_dot is None:
+        self.yaw_dot = 0.
+      if self.kx is None:
+        self.kx = [0.,0.,0.]
+      if self.kv is None:
+        self.kv = [0.,0.,0.]
+    else:
+      self.header = std_msgs.msg.Header()
+      self.position = geometry_msgs.msg.Point()
+      self.velocity = geometry_msgs.msg.Vector3()
+      self.acceleration = geometry_msgs.msg.Vector3()
+      self.yaw = 0.
+      self.yaw_dot = 0.
+      self.kx = [0.,0.,0.]
+      self.kv = [0.,0.,0.]
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_11d.pack(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.yaw, _x.yaw_dot))
+      buff.write(_struct_3d.pack(*self.kx))
+      buff.write(_struct_3d.pack(*self.kv))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.position is None:
+        self.position = geometry_msgs.msg.Point()
+      if self.velocity is None:
+        self.velocity = geometry_msgs.msg.Vector3()
+      if self.acceleration is None:
+        self.acceleration = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 88
+      (_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.yaw, _x.yaw_dot,) = _struct_11d.unpack(str[start:end])
+      start = end
+      end += 24
+      self.kx = _struct_3d.unpack(str[start:end])
+      start = end
+      end += 24
+      self.kv = _struct_3d.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_11d.pack(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.yaw, _x.yaw_dot))
+      buff.write(self.kx.tostring())
+      buff.write(self.kv.tostring())
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.position is None:
+        self.position = geometry_msgs.msg.Point()
+      if self.velocity is None:
+        self.velocity = geometry_msgs.msg.Vector3()
+      if self.acceleration is None:
+        self.acceleration = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 88
+      (_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.yaw, _x.yaw_dot,) = _struct_11d.unpack(str[start:end])
+      start = end
+      end += 24
+      self.kx = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 24
+      self.kv = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_11d = struct.Struct("<11d")
+_struct_3I = struct.Struct("<3I")
+_struct_3d = struct.Struct("<3d")
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_SO3Command.py b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_SO3Command.py
new file mode 100755
index 0000000..b89f319
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_SO3Command.py
@@ -0,0 +1,287 @@
+"""autogenerated by genpy from quadrotor_msgs/SO3Command.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import quadrotor_msgs.msg
+import std_msgs.msg
+
+class SO3Command(genpy.Message):
+  _md5sum = "a466650b2633e768513aa3bf62383c86"
+  _type = "quadrotor_msgs/SO3Command"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+geometry_msgs/Vector3 force
+geometry_msgs/Quaternion orientation
+float64[3] kR
+float64[3] kOm
+quadrotor_msgs/AuxCommand aux
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+
+float64 x
+float64 y
+float64 z
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+
+================================================================================
+MSG: quadrotor_msgs/AuxCommand
+float64 current_yaw
+float64 kf_correction
+float64[2] angle_corrections# Trims for roll, pitch
+bool enable_motors
+bool use_external_yaw
+
+"""
+  __slots__ = ['header','force','orientation','kR','kOm','aux']
+  _slot_types = ['std_msgs/Header','geometry_msgs/Vector3','geometry_msgs/Quaternion','float64[3]','float64[3]','quadrotor_msgs/AuxCommand']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,force,orientation,kR,kOm,aux
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(SO3Command, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.force is None:
+        self.force = geometry_msgs.msg.Vector3()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      if self.kR is None:
+        self.kR = [0.,0.,0.]
+      if self.kOm is None:
+        self.kOm = [0.,0.,0.]
+      if self.aux is None:
+        self.aux = quadrotor_msgs.msg.AuxCommand()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.force = geometry_msgs.msg.Vector3()
+      self.orientation = geometry_msgs.msg.Quaternion()
+      self.kR = [0.,0.,0.]
+      self.kOm = [0.,0.,0.]
+      self.aux = quadrotor_msgs.msg.AuxCommand()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_7d.pack(_x.force.x, _x.force.y, _x.force.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w))
+      buff.write(_struct_3d.pack(*self.kR))
+      buff.write(_struct_3d.pack(*self.kOm))
+      _x = self
+      buff.write(_struct_2d.pack(_x.aux.current_yaw, _x.aux.kf_correction))
+      buff.write(_struct_2d.pack(*self.aux.angle_corrections))
+      _x = self
+      buff.write(_struct_2B.pack(_x.aux.enable_motors, _x.aux.use_external_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.force is None:
+        self.force = geometry_msgs.msg.Vector3()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      if self.aux is None:
+        self.aux = quadrotor_msgs.msg.AuxCommand()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 56
+      (_x.force.x, _x.force.y, _x.force.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w,) = _struct_7d.unpack(str[start:end])
+      start = end
+      end += 24
+      self.kR = _struct_3d.unpack(str[start:end])
+      start = end
+      end += 24
+      self.kOm = _struct_3d.unpack(str[start:end])
+      _x = self
+      start = end
+      end += 16
+      (_x.aux.current_yaw, _x.aux.kf_correction,) = _struct_2d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.aux.angle_corrections = _struct_2d.unpack(str[start:end])
+      _x = self
+      start = end
+      end += 2
+      (_x.aux.enable_motors, _x.aux.use_external_yaw,) = _struct_2B.unpack(str[start:end])
+      self.aux.enable_motors = bool(self.aux.enable_motors)
+      self.aux.use_external_yaw = bool(self.aux.use_external_yaw)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_7d.pack(_x.force.x, _x.force.y, _x.force.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w))
+      buff.write(self.kR.tostring())
+      buff.write(self.kOm.tostring())
+      _x = self
+      buff.write(_struct_2d.pack(_x.aux.current_yaw, _x.aux.kf_correction))
+      buff.write(self.aux.angle_corrections.tostring())
+      _x = self
+      buff.write(_struct_2B.pack(_x.aux.enable_motors, _x.aux.use_external_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.force is None:
+        self.force = geometry_msgs.msg.Vector3()
+      if self.orientation is None:
+        self.orientation = geometry_msgs.msg.Quaternion()
+      if self.aux is None:
+        self.aux = quadrotor_msgs.msg.AuxCommand()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 56
+      (_x.force.x, _x.force.y, _x.force.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w,) = _struct_7d.unpack(str[start:end])
+      start = end
+      end += 24
+      self.kR = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      start = end
+      end += 24
+      self.kOm = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
+      _x = self
+      start = end
+      end += 16
+      (_x.aux.current_yaw, _x.aux.kf_correction,) = _struct_2d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.aux.angle_corrections = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=2)
+      _x = self
+      start = end
+      end += 2
+      (_x.aux.enable_motors, _x.aux.use_external_yaw,) = _struct_2B.unpack(str[start:end])
+      self.aux.enable_motors = bool(self.aux.enable_motors)
+      self.aux.use_external_yaw = bool(self.aux.use_external_yaw)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_2d = struct.Struct("<2d")
+_struct_3I = struct.Struct("<3I")
+_struct_7d = struct.Struct("<7d")
+_struct_2B = struct.Struct("<2B")
+_struct_3d = struct.Struct("<3d")
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_Serial.py b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_Serial.py
new file mode 100755
index 0000000..1fded43
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_Serial.py
@@ -0,0 +1,229 @@
+"""autogenerated by genpy from quadrotor_msgs/Serial.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import std_msgs.msg
+
+class Serial(genpy.Message):
+  _md5sum = "e448fb7595af9a8adfcab5ec241c7d4f"
+  _type = "quadrotor_msgs/Serial"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """# Note: These constants need to be kept in sync with the types
+# defined in include/quadrotor_msgs/comm_types.h
+uint8 SO3_CMD = 115 # 's' in base 10
+uint8 TRPY_CMD = 112 # 'p' in base 10
+uint8 STATUS_DATA = 99 # 'c' in base 10
+uint8 OUTPUT_DATA = 100 # 'd' in base 10
+uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10
+uint8 PPR_GAINS = 103 # 'g'
+
+Header header
+uint8 channel
+uint8 type # One of the types listed above
+uint8[] data
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+"""
+  # Pseudo-constants
+  SO3_CMD = 115
+  TRPY_CMD = 112
+  STATUS_DATA = 99
+  OUTPUT_DATA = 100
+  PPR_OUTPUT_DATA = 116
+  PPR_GAINS = 103
+
+  __slots__ = ['header','channel','type','data']
+  _slot_types = ['std_msgs/Header','uint8','uint8','uint8[]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,channel,type,data
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(Serial, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.channel is None:
+        self.channel = 0
+      if self.type is None:
+        self.type = 0
+      if self.data is None:
+        self.data = ''
+    else:
+      self.header = std_msgs.msg.Header()
+      self.channel = 0
+      self.type = 0
+      self.data = ''
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2B.pack(_x.channel, _x.type))
+      _x = self.data
+      length = len(_x)
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 2
+      (_x.channel, _x.type,) = _struct_2B.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      self.data = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_2B.pack(_x.channel, _x.type))
+      _x = self.data
+      length = len(_x)
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 2
+      (_x.channel, _x.type,) = _struct_2B.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      self.data = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_3I = struct.Struct("<3I")
+_struct_2B = struct.Struct("<2B")
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_StatusData.py b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_StatusData.py
new file mode 100755
index 0000000..dd1a27a
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_StatusData.py
@@ -0,0 +1,186 @@
+"""autogenerated by genpy from quadrotor_msgs/StatusData.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import std_msgs.msg
+
+class StatusData(genpy.Message):
+  _md5sum = "c70a4ec4725273263ae176ad30f89553"
+  _type = "quadrotor_msgs/StatusData"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+uint16 loop_rate
+float64 voltage
+uint8 seq
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+"""
+  __slots__ = ['header','loop_rate','voltage','seq']
+  _slot_types = ['std_msgs/Header','uint16','float64','uint8']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,loop_rate,voltage,seq
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(StatusData, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.loop_rate is None:
+        self.loop_rate = 0
+      if self.voltage is None:
+        self.voltage = 0.
+      if self.seq is None:
+        self.seq = 0
+    else:
+      self.header = std_msgs.msg.Header()
+      self.loop_rate = 0
+      self.voltage = 0.
+      self.seq = 0
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_HdB.pack(_x.loop_rate, _x.voltage, _x.seq))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 11
+      (_x.loop_rate, _x.voltage, _x.seq,) = _struct_HdB.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_HdB.pack(_x.loop_rate, _x.voltage, _x.seq))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 11
+      (_x.loop_rate, _x.voltage, _x.seq,) = _struct_HdB.unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_3I = struct.Struct("<3I")
+_struct_HdB = struct.Struct("<HdB")
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_TRPYCommand.py b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_TRPYCommand.py
new file mode 100755
index 0000000..3f7733d
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_TRPYCommand.py
@@ -0,0 +1,233 @@
+"""autogenerated by genpy from quadrotor_msgs/TRPYCommand.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import quadrotor_msgs.msg
+import std_msgs.msg
+
+class TRPYCommand(genpy.Message):
+  _md5sum = "6779ee8a86cc757aeea21725df32d00c"
+  _type = "quadrotor_msgs/TRPYCommand"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+float32 thrust
+float32 roll
+float32 pitch
+float32 yaw
+quadrotor_msgs/AuxCommand aux
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: quadrotor_msgs/AuxCommand
+float64 current_yaw
+float64 kf_correction
+float64[2] angle_corrections# Trims for roll, pitch
+bool enable_motors
+bool use_external_yaw
+
+"""
+  __slots__ = ['header','thrust','roll','pitch','yaw','aux']
+  _slot_types = ['std_msgs/Header','float32','float32','float32','float32','quadrotor_msgs/AuxCommand']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,thrust,roll,pitch,yaw,aux
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(TRPYCommand, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.thrust is None:
+        self.thrust = 0.
+      if self.roll is None:
+        self.roll = 0.
+      if self.pitch is None:
+        self.pitch = 0.
+      if self.yaw is None:
+        self.yaw = 0.
+      if self.aux is None:
+        self.aux = quadrotor_msgs.msg.AuxCommand()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.thrust = 0.
+      self.roll = 0.
+      self.pitch = 0.
+      self.yaw = 0.
+      self.aux = quadrotor_msgs.msg.AuxCommand()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_4f2d.pack(_x.thrust, _x.roll, _x.pitch, _x.yaw, _x.aux.current_yaw, _x.aux.kf_correction))
+      buff.write(_struct_2d.pack(*self.aux.angle_corrections))
+      _x = self
+      buff.write(_struct_2B.pack(_x.aux.enable_motors, _x.aux.use_external_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.aux is None:
+        self.aux = quadrotor_msgs.msg.AuxCommand()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 32
+      (_x.thrust, _x.roll, _x.pitch, _x.yaw, _x.aux.current_yaw, _x.aux.kf_correction,) = _struct_4f2d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.aux.angle_corrections = _struct_2d.unpack(str[start:end])
+      _x = self
+      start = end
+      end += 2
+      (_x.aux.enable_motors, _x.aux.use_external_yaw,) = _struct_2B.unpack(str[start:end])
+      self.aux.enable_motors = bool(self.aux.enable_motors)
+      self.aux.use_external_yaw = bool(self.aux.use_external_yaw)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      if python3:
+        buff.write(struct.pack('<I%sB'%length, length, *_x))
+      else:
+        buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_4f2d.pack(_x.thrust, _x.roll, _x.pitch, _x.yaw, _x.aux.current_yaw, _x.aux.kf_correction))
+      buff.write(self.aux.angle_corrections.tostring())
+      _x = self
+      buff.write(_struct_2B.pack(_x.aux.enable_motors, _x.aux.use_external_yaw))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.aux is None:
+        self.aux = quadrotor_msgs.msg.AuxCommand()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 32
+      (_x.thrust, _x.roll, _x.pitch, _x.yaw, _x.aux.current_yaw, _x.aux.kf_correction,) = _struct_4f2d.unpack(str[start:end])
+      start = end
+      end += 16
+      self.aux.angle_corrections = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=2)
+      _x = self
+      start = end
+      end += 2
+      (_x.aux.enable_motors, _x.aux.use_external_yaw,) = _struct_2B.unpack(str[start:end])
+      self.aux.enable_motors = bool(self.aux.enable_motors)
+      self.aux.use_external_yaw = bool(self.aux.use_external_yaw)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = genpy.struct_I
+_struct_2d = struct.Struct("<2d")
+_struct_3I = struct.Struct("<3I")
+_struct_4f2d = struct.Struct("<4f2d")
+_struct_2B = struct.Struct("<2B")
diff --git a/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py
new file mode 100755
index 0000000..4fe96a0
--- /dev/null
+++ b/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py
@@ -0,0 +1,10 @@
+from ._Gains import *
+from ._SO3Command import *
+from ._TRPYCommand import *
+from ._PositionCommand import *
+from ._PPROutputData import *
+from ._OutputData import *
+from ._Corrections import *
+from ._Serial import *
+from ._AuxCommand import *
+from ._StatusData import *
diff --git a/uav_simulator/so3_control/CMakeLists.txt b/uav_simulator/so3_control/CMakeLists.txt
new file mode 100755
index 0000000..fbbf0f8
--- /dev/null
+++ b/uav_simulator/so3_control/CMakeLists.txt
@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(so3_control)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  nav_msgs
+  quadrotor_msgs
+  tf
+  nodelet
+  cmake_utils
+)
+
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES irobot_msgs
+#  CATKIN_DEPENDS geometry_msgs nav_msgs
+#  DEPENDS system_lib
+)
+
+
+find_package(Eigen3 REQUIRED)
+
+include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
+)
+
+add_library(SO3Control src/SO3Control.cpp)
+target_link_libraries(SO3Control 
+    ${catkin_LIBRARIES}
+)
+
+
+add_library(so3_control_nodelet src/so3_control_nodelet.cpp)
+
+target_link_libraries(so3_control_nodelet 
+    ${catkin_LIBRARIES}
+    SO3Control
+)
diff --git a/uav_simulator/so3_control/config/corrections_hummingbird.yaml b/uav_simulator/so3_control/config/corrections_hummingbird.yaml
new file mode 100755
index 0000000..aeadaab
--- /dev/null
+++ b/uav_simulator/so3_control/config/corrections_hummingbird.yaml
@@ -0,0 +1,4 @@
+corrections:
+  z: 0.0
+  r: 0.0
+  p: 0.0
diff --git a/uav_simulator/so3_control/config/corrections_pelican.yaml b/uav_simulator/so3_control/config/corrections_pelican.yaml
new file mode 100755
index 0000000..aeadaab
--- /dev/null
+++ b/uav_simulator/so3_control/config/corrections_pelican.yaml
@@ -0,0 +1,4 @@
+corrections:
+  z: 0.0
+  r: 0.0
+  p: 0.0
diff --git a/uav_simulator/so3_control/config/gains.yaml b/uav_simulator/so3_control/config/gains.yaml
new file mode 100755
index 0000000..ffde85a
--- /dev/null
+++ b/uav_simulator/so3_control/config/gains.yaml
@@ -0,0 +1,6 @@
+# Gains for Laser-based Pelican 
+gains:
+  pos: {x: 5.0, y: 5.0, z: 15.0}
+  vel: {x: 5.0, y: 5.0, z: 5.0}
+  rot: {x: 3.5, y: 3.5, z: 1.0}
+  ang: {x: 0.4, y: 0.4, z: 0.1}
diff --git a/uav_simulator/so3_control/config/gains_hummingbird.yaml b/uav_simulator/so3_control/config/gains_hummingbird.yaml
new file mode 100755
index 0000000..a1d016a
--- /dev/null
+++ b/uav_simulator/so3_control/config/gains_hummingbird.yaml
@@ -0,0 +1,6 @@
+# Vision Gain for Hummingbird
+gains:
+  pos: {x: 2.0, y: 2.0, z: 3.5}
+  vel: {x: 1.8, y: 1.8, z: 2.0}
+  rot: {x: 1.0, y: 1.0, z: 0.3}
+  ang: {x: 0.07, y: 0.07, z: 0.02}  
diff --git a/uav_simulator/so3_control/config/gains_pelican.yaml b/uav_simulator/so3_control/config/gains_pelican.yaml
new file mode 100755
index 0000000..ffde85a
--- /dev/null
+++ b/uav_simulator/so3_control/config/gains_pelican.yaml
@@ -0,0 +1,6 @@
+# Gains for Laser-based Pelican 
+gains:
+  pos: {x: 5.0, y: 5.0, z: 15.0}
+  vel: {x: 5.0, y: 5.0, z: 5.0}
+  rot: {x: 3.5, y: 3.5, z: 1.0}
+  ang: {x: 0.4, y: 0.4, z: 0.1}
diff --git a/uav_simulator/so3_control/include/so3_control/SO3Control.h b/uav_simulator/so3_control/include/so3_control/SO3Control.h
new file mode 100755
index 0000000..d5adde2
--- /dev/null
+++ b/uav_simulator/so3_control/include/so3_control/SO3Control.h
@@ -0,0 +1,41 @@
+#ifndef __SO3_CONTROL_H__
+#define __SO3_CONTROL_H__
+
+#include <Eigen/Geometry>
+
+class SO3Control
+{
+public:
+  SO3Control();
+
+  void setMass(const double mass);
+  void setGravity(const double g);
+  void setPosition(const Eigen::Vector3d& position);
+  void setVelocity(const Eigen::Vector3d& velocity);
+  void setAcc(const Eigen::Vector3d& acc);
+
+  void calculateControl(const Eigen::Vector3d& des_pos,
+                        const Eigen::Vector3d& des_vel,
+                        const Eigen::Vector3d& des_acc, const double des_yaw,
+                        const double des_yaw_dot, const Eigen::Vector3d& kx,
+                        const Eigen::Vector3d& kv);
+
+  const Eigen::Vector3d&    getComputedForce(void);
+  const Eigen::Quaterniond& getComputedOrientation(void);
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+private:
+  // Inputs for the controller
+  double          mass_;
+  double          g_;
+  Eigen::Vector3d pos_;
+  Eigen::Vector3d vel_;
+  Eigen::Vector3d acc_;
+
+  // Outputs of the controller
+  Eigen::Vector3d    force_;
+  Eigen::Quaterniond orientation_;
+};
+
+#endif
diff --git a/uav_simulator/so3_control/mainpage.dox b/uav_simulator/so3_control/mainpage.dox
new file mode 100755
index 0000000..101a5b1
--- /dev/null
+++ b/uav_simulator/so3_control/mainpage.dox
@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b so3_control 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/
diff --git a/uav_simulator/so3_control/nodelet_plugin.xml b/uav_simulator/so3_control/nodelet_plugin.xml
new file mode 100755
index 0000000..af407f6
--- /dev/null
+++ b/uav_simulator/so3_control/nodelet_plugin.xml
@@ -0,0 +1,7 @@
+<library path="lib/libso3_control_nodelet">
+  <class name="so3_control/SO3ControlNodelet" type="SO3ControlNodelet" base_class_type="nodelet::Nodelet">
+    <description>
+      so3_control
+    </description>
+  </class>
+</library>
diff --git a/uav_simulator/so3_control/package.xml b/uav_simulator/so3_control/package.xml
new file mode 100755
index 0000000..c9273a4
--- /dev/null
+++ b/uav_simulator/so3_control/package.xml
@@ -0,0 +1,35 @@
+<package>
+  <version>0.0.0</version>
+  <name>so3_control</name>
+  <description >
+
+     so3_control
+
+  </description>
+  <maintainer email="todo@todo.todo">Kartik Mohta</maintainer>
+  <license>BSD</license>
+  <url>http://ros.org/wiki/so3_control</url>
+
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>quadrotor_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>nodelet</build_depend>
+  <build_depend>cmake_utils</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>quadrotor_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>nodelet</run_depend>
+  <run_depend>cmake_utils</run_depend>
+
+  <export>
+    <nodelet plugin="${prefix}/nodelet_plugin.xml"/>
+  </export>
+</package>
+
+
diff --git a/uav_simulator/so3_control/src/SO3Control.cpp b/uav_simulator/so3_control/src/SO3Control.cpp
new file mode 100755
index 0000000..7020837
--- /dev/null
+++ b/uav_simulator/so3_control/src/SO3Control.cpp
@@ -0,0 +1,113 @@
+#include <iostream>
+#include <so3_control/SO3Control.h>
+
+#include <ros/ros.h>
+
+SO3Control::SO3Control()
+  : mass_(0.5)
+  , g_(9.81)
+{
+  acc_.setZero();
+}
+
+void
+SO3Control::setMass(const double mass)
+{
+  mass_ = mass;
+}
+
+void
+SO3Control::setGravity(const double g)
+{
+  g_ = g;
+}
+
+void
+SO3Control::setPosition(const Eigen::Vector3d& position)
+{
+  pos_ = position;
+}
+
+void
+SO3Control::setVelocity(const Eigen::Vector3d& velocity)
+{
+  vel_ = velocity;
+}
+
+void
+SO3Control::calculateControl(const Eigen::Vector3d& des_pos,
+                             const Eigen::Vector3d& des_vel,
+                             const Eigen::Vector3d& des_acc,
+                             const double des_yaw, const double des_yaw_dot,
+                             const Eigen::Vector3d& kx,
+                             const Eigen::Vector3d& kv)
+{
+  //  ROS_INFO("Error %lf %lf %lf", (des_pos - pos_).norm(),
+  //           (des_vel - vel_).norm(), (des_acc - acc_).norm());
+
+  Eigen::Vector3d totalError =
+    (des_pos - pos_) + (des_vel - vel_) + (des_acc - acc_);
+
+  Eigen::Vector3d ka(fabs(totalError[0]) > 3 ? 0 : (fabs(totalError[0]) * 0.2),
+                     fabs(totalError[1]) > 3 ? 0 : (fabs(totalError[1]) * 0.2),
+                     fabs(totalError[2]) > 3 ? 0 : (fabs(totalError[2]) * 0.2));
+
+  force_.noalias() =
+    kx.asDiagonal() * (des_pos - pos_) + kv.asDiagonal() * (des_vel - vel_) +
+    mass_ * /*(Eigen::Vector3d(1, 1, 1) - ka).asDiagonal() **/ (des_acc) +
+    mass_ * ka.asDiagonal() * (des_acc - acc_) +
+    mass_ * g_ * Eigen::Vector3d(0, 0, 1);
+
+  // Limit control angle to 45 degree
+  double          theta = M_PI / 2;
+  double          c     = cos(theta);
+  Eigen::Vector3d f;
+  f.noalias() = kx.asDiagonal() * (des_pos - pos_) +
+                kv.asDiagonal() * (des_vel - vel_) + //
+                mass_ * des_acc +                    //
+                mass_ * ka.asDiagonal() * (des_acc - acc_);
+  if (Eigen::Vector3d(0, 0, 1).dot(force_ / force_.norm()) < c)
+  {
+    double nf        = f.norm();
+    double A         = c * c * nf * nf - f(2) * f(2);
+    double B         = 2 * (c * c - 1) * f(2) * mass_ * g_;
+    double C         = (c * c - 1) * mass_ * mass_ * g_ * g_;
+    double s         = (-B + sqrt(B * B - 4 * A * C)) / (2 * A);
+    force_.noalias() = s * f + mass_ * g_ * Eigen::Vector3d(0, 0, 1);
+  }
+  // Limit control angle to 45 degree
+
+  Eigen::Vector3d b1c, b2c, b3c;
+  Eigen::Vector3d b1d(cos(des_yaw), sin(des_yaw), 0);
+
+  if (force_.norm() > 1e-6)
+    b3c.noalias() = force_.normalized();
+  else
+    b3c.noalias() = Eigen::Vector3d(0, 0, 1);
+
+  b2c.noalias() = b3c.cross(b1d).normalized();
+  b1c.noalias() = b2c.cross(b3c).normalized();
+
+  Eigen::Matrix3d R;
+  R << b1c, b2c, b3c;
+
+  orientation_ = Eigen::Quaterniond(R);
+}
+
+const Eigen::Vector3d&
+SO3Control::getComputedForce(void)
+{
+  return force_;
+}
+
+const Eigen::Quaterniond&
+SO3Control::getComputedOrientation(void)
+{
+  return orientation_;
+}
+
+void
+SO3Control::setAcc(const Eigen::Vector3d& acc)
+{
+  acc_ = acc;
+}
diff --git a/uav_simulator/so3_control/src/so3_control_nodelet.cpp b/uav_simulator/so3_control/src/so3_control_nodelet.cpp
new file mode 100755
index 0000000..45d45da
--- /dev/null
+++ b/uav_simulator/so3_control/src/so3_control_nodelet.cpp
@@ -0,0 +1,220 @@
+#include <Eigen/Geometry>
+#include <nav_msgs/Odometry.h>
+#include <nodelet/nodelet.h>
+#include <quadrotor_msgs/Corrections.h>
+#include <quadrotor_msgs/PositionCommand.h>
+#include <quadrotor_msgs/SO3Command.h>
+#include <ros/ros.h>
+#include <sensor_msgs/Imu.h>
+#include <so3_control/SO3Control.h>
+#include <std_msgs/Bool.h>
+#include <tf/transform_datatypes.h>
+
+class SO3ControlNodelet : public nodelet::Nodelet
+{
+public:
+  SO3ControlNodelet()
+    : position_cmd_updated_(false)
+    , position_cmd_init_(false)
+    , des_yaw_(0)
+    , des_yaw_dot_(0)
+    , current_yaw_(0)
+    , enable_motors_(true)
+    , // FIXME
+    use_external_yaw_(false)
+  {
+  }
+
+  void onInit(void);
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+private:
+  void publishSO3Command(void);
+  void position_cmd_callback(
+    const quadrotor_msgs::PositionCommand::ConstPtr& cmd);
+  void odom_callback(const nav_msgs::Odometry::ConstPtr& odom);
+  void enable_motors_callback(const std_msgs::Bool::ConstPtr& msg);
+  void corrections_callback(const quadrotor_msgs::Corrections::ConstPtr& msg);
+  void imu_callback(const sensor_msgs::Imu& imu);
+
+  SO3Control      controller_;
+  ros::Publisher  so3_command_pub_;
+  ros::Subscriber odom_sub_;
+  ros::Subscriber position_cmd_sub_;
+  ros::Subscriber enable_motors_sub_;
+  ros::Subscriber corrections_sub_;
+  ros::Subscriber imu_sub_;
+
+  bool        position_cmd_updated_, position_cmd_init_;
+  std::string frame_id_;
+
+  Eigen::Vector3d des_pos_, des_vel_, des_acc_, kx_, kv_;
+  double          des_yaw_, des_yaw_dot_;
+  double          current_yaw_;
+  bool            enable_motors_;
+  bool            use_external_yaw_;
+  double          kR_[3], kOm_[3], corrections_[3];
+};
+
+void
+SO3ControlNodelet::publishSO3Command(void)
+{
+  controller_.calculateControl(des_pos_, des_vel_, des_acc_, des_yaw_,
+                               des_yaw_dot_, kx_, kv_);
+
+  const Eigen::Vector3d&    force       = controller_.getComputedForce();
+  const Eigen::Quaterniond& orientation = controller_.getComputedOrientation();
+
+  quadrotor_msgs::SO3Command::Ptr so3_command(
+    new quadrotor_msgs::SO3Command); //! @note memory leak?
+  so3_command->header.stamp    = ros::Time::now();
+  so3_command->header.frame_id = frame_id_;
+  so3_command->force.x         = force(0);
+  so3_command->force.y         = force(1);
+  so3_command->force.z         = force(2);
+  so3_command->orientation.x   = orientation.x();
+  so3_command->orientation.y   = orientation.y();
+  so3_command->orientation.z   = orientation.z();
+  so3_command->orientation.w   = orientation.w();
+  for (int i = 0; i < 3; i++)
+  {
+    so3_command->kR[i]  = kR_[i];
+    so3_command->kOm[i] = kOm_[i];
+  }
+  so3_command->aux.current_yaw          = current_yaw_;
+  so3_command->aux.kf_correction        = corrections_[0];
+  so3_command->aux.angle_corrections[0] = corrections_[1];
+  so3_command->aux.angle_corrections[1] = corrections_[2];
+  so3_command->aux.enable_motors        = enable_motors_;
+  so3_command->aux.use_external_yaw     = use_external_yaw_;
+  so3_command_pub_.publish(so3_command);
+}
+
+void
+SO3ControlNodelet::position_cmd_callback(
+  const quadrotor_msgs::PositionCommand::ConstPtr& cmd)
+{
+  des_pos_ = Eigen::Vector3d(cmd->position.x, cmd->position.y, cmd->position.z);
+  des_vel_ = Eigen::Vector3d(cmd->velocity.x, cmd->velocity.y, cmd->velocity.z);
+  des_acc_ = Eigen::Vector3d(cmd->acceleration.x, cmd->acceleration.y,
+                             cmd->acceleration.z);
+  kx_ = Eigen::Vector3d(cmd->kx[0], cmd->kx[1], cmd->kx[2]);
+  kv_ = Eigen::Vector3d(cmd->kv[0], cmd->kv[1], cmd->kv[2]);
+
+  des_yaw_              = cmd->yaw;
+  des_yaw_dot_          = cmd->yaw_dot;
+  position_cmd_updated_ = true;
+  position_cmd_init_    = true;
+
+  publishSO3Command();
+}
+
+void
+SO3ControlNodelet::odom_callback(const nav_msgs::Odometry::ConstPtr& odom)
+{
+  const Eigen::Vector3d position(odom->pose.pose.position.x,
+                                 odom->pose.pose.position.y,
+                                 odom->pose.pose.position.z);
+  const Eigen::Vector3d velocity(odom->twist.twist.linear.x,
+                                 odom->twist.twist.linear.y,
+                                 odom->twist.twist.linear.z);
+
+  current_yaw_ = tf::getYaw(odom->pose.pose.orientation);
+
+  controller_.setPosition(position);
+  controller_.setVelocity(velocity);
+
+  if (position_cmd_init_)
+  {
+    // We set position_cmd_updated_ = false and expect that the
+    // position_cmd_callback would set it to true since typically a position_cmd
+    // message would follow an odom message. If not, the position_cmd_callback
+    // hasn't been called and we publish the so3 command ourselves
+    // TODO: Fallback to hover if position_cmd hasn't been received for some
+    // time
+    if (!position_cmd_updated_)
+      publishSO3Command();
+    position_cmd_updated_ = false;
+  }
+}
+
+void
+SO3ControlNodelet::enable_motors_callback(const std_msgs::Bool::ConstPtr& msg)
+{
+  if (msg->data)
+    ROS_INFO("Enabling motors");
+  else
+    ROS_INFO("Disabling motors");
+
+  enable_motors_ = msg->data;
+}
+
+void
+SO3ControlNodelet::corrections_callback(
+  const quadrotor_msgs::Corrections::ConstPtr& msg)
+{
+  corrections_[0] = msg->kf_correction;
+  corrections_[1] = msg->angle_corrections[0];
+  corrections_[2] = msg->angle_corrections[1];
+}
+
+void
+SO3ControlNodelet::imu_callback(const sensor_msgs::Imu& imu)
+{
+  const Eigen::Vector3d acc(imu.linear_acceleration.x,
+                            imu.linear_acceleration.y,
+                            imu.linear_acceleration.z);
+  controller_.setAcc(acc);
+}
+
+void
+SO3ControlNodelet::onInit(void)
+{
+  ros::NodeHandle n(getPrivateNodeHandle());
+
+  std::string quadrotor_name;
+  n.param("quadrotor_name", quadrotor_name, std::string("quadrotor"));
+  frame_id_ = "/" + quadrotor_name;
+
+  double mass;
+  n.param("mass", mass, 0.5);
+  controller_.setMass(mass);
+
+  n.param("use_external_yaw", use_external_yaw_, true);
+
+  n.param("gains/rot/x", kR_[0], 1.5);
+  n.param("gains/rot/y", kR_[1], 1.5);
+  n.param("gains/rot/z", kR_[2], 1.0);
+  n.param("gains/ang/x", kOm_[0], 0.13);
+  n.param("gains/ang/y", kOm_[1], 0.13);
+  n.param("gains/ang/z", kOm_[2], 0.1);
+
+  n.param("corrections/z", corrections_[0], 0.0);
+  n.param("corrections/r", corrections_[1], 0.0);
+  n.param("corrections/p", corrections_[2], 0.0);
+
+  so3_command_pub_ = n.advertise<quadrotor_msgs::SO3Command>("so3_cmd", 10);
+
+  odom_sub_ = n.subscribe("odom", 10, &SO3ControlNodelet::odom_callback, this,
+                          ros::TransportHints().tcpNoDelay());
+  position_cmd_sub_ =
+    n.subscribe("position_cmd", 10, &SO3ControlNodelet::position_cmd_callback,
+                this, ros::TransportHints().tcpNoDelay());
+
+  enable_motors_sub_ =
+    n.subscribe("motors", 2, &SO3ControlNodelet::enable_motors_callback, this,
+                ros::TransportHints().tcpNoDelay());
+  corrections_sub_ =
+    n.subscribe("corrections", 10, &SO3ControlNodelet::corrections_callback,
+                this, ros::TransportHints().tcpNoDelay());
+
+  imu_sub_ = n.subscribe("imu", 10, &SO3ControlNodelet::imu_callback, this,
+                         ros::TransportHints().tcpNoDelay());
+}
+
+#include <pluginlib/class_list_macros.h>
+//PLUGINLIB_DECLARE_CLASS(so3_control, SO3ControlNodelet, SO3ControlNodelet,
+//                        nodelet::Nodelet);
+// comment the line above and uncomment the line below if use ROS melodic and above
+PLUGINLIB_EXPORT_CLASS(SO3ControlNodelet, nodelet::Nodelet);
diff --git a/uav_simulator/so3_disturbance_generator/CMakeLists.txt b/uav_simulator/so3_disturbance_generator/CMakeLists.txt
new file mode 100755
index 0000000..6e77b44
--- /dev/null
+++ b/uav_simulator/so3_disturbance_generator/CMakeLists.txt
@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(so3_disturbance_generator)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+  sensor_msgs
+  nav_msgs
+  visualization_msgs
+  tf
+  pose_utils
+  dynamic_reconfigure
+)
+
+catkin_package()
+
+###########
+## Build ##
+###########
+find_package(Armadillo REQUIRED)
+include_directories(${ARMADILLO_INCLUDE_DIRS})
+
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(so3_disturbance_generator src/so3_disturbance_generator.cpp)
+#add_dependencies(so3_disturbance_generator ${PROJECT_NAME}_gencfg)
+
+target_link_libraries(so3_disturbance_generator 
+   ${catkin_LIBRARIES}
+   ${ARMADILLO_LIBRARIES}
+   pose_utils 
+)
+
diff --git a/uav_simulator/so3_disturbance_generator/cfg/cpp/so3_disturbance_generator/DisturbanceUIConfig.h b/uav_simulator/so3_disturbance_generator/cfg/cpp/so3_disturbance_generator/DisturbanceUIConfig.h
new file mode 100755
index 0000000..050bc57
--- /dev/null
+++ b/uav_simulator/so3_disturbance_generator/cfg/cpp/so3_disturbance_generator/DisturbanceUIConfig.h
@@ -0,0 +1,789 @@
+//#line 2 "/opt/ros/indigo/share/dynamic_reconfigure/templates/ConfigType.h.template"
+// *********************************************************
+// 
+// File autogenerated for the so3_disturbance_generator package 
+// by the dynamic_reconfigure package.
+// Please do not edit.
+// 
+// ********************************************************/
+
+/***********************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ ***********************************************************/
+
+// Author: Blaise Gassend
+
+
+#ifndef __so3_disturbance_generator__DISTURBANCEUICONFIG_H__
+#define __so3_disturbance_generator__DISTURBANCEUICONFIG_H__
+
+#include <dynamic_reconfigure/config_tools.h>
+#include <limits>
+#include <ros/node_handle.h>
+#include <dynamic_reconfigure/ConfigDescription.h>
+#include <dynamic_reconfigure/ParamDescription.h>
+#include <dynamic_reconfigure/Group.h>
+#include <dynamic_reconfigure/config_init_mutex.h>
+#include <boost/any.hpp>
+
+namespace so3_disturbance_generator
+{
+  class DisturbanceUIConfigStatics;
+  
+  class DisturbanceUIConfig
+  {
+  public:
+    class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
+    {
+    public:
+      AbstractParamDescription(std::string n, std::string t, uint32_t l, 
+          std::string d, std::string e)
+      {
+        name = n;
+        type = t;
+        level = l;
+        description = d;
+        edit_method = e;
+      }
+      
+      virtual void clamp(DisturbanceUIConfig &config, const DisturbanceUIConfig &max, const DisturbanceUIConfig &min) const = 0;
+      virtual void calcLevel(uint32_t &level, const DisturbanceUIConfig &config1, const DisturbanceUIConfig &config2) const = 0;
+      virtual void fromServer(const ros::NodeHandle &nh, DisturbanceUIConfig &config) const = 0;
+      virtual void toServer(const ros::NodeHandle &nh, const DisturbanceUIConfig &config) const = 0;
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, DisturbanceUIConfig &config) const = 0;
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const DisturbanceUIConfig &config) const = 0;
+      virtual void getValue(const DisturbanceUIConfig &config, boost::any &val) const = 0;
+    };
+
+    typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
+    typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
+    
+    template <class T>
+    class ParamDescription : public AbstractParamDescription
+    {
+    public:
+      ParamDescription(std::string name, std::string type, uint32_t level, 
+          std::string description, std::string edit_method, T DisturbanceUIConfig::* f) :
+        AbstractParamDescription(name, type, level, description, edit_method),
+        field(f)
+      {}
+
+      T (DisturbanceUIConfig::* field);
+
+      virtual void clamp(DisturbanceUIConfig &config, const DisturbanceUIConfig &max, const DisturbanceUIConfig &min) const
+      {
+        if (config.*field > max.*field)
+          config.*field = max.*field;
+        
+        if (config.*field < min.*field)
+          config.*field = min.*field;
+      }
+
+      virtual void calcLevel(uint32_t &comb_level, const DisturbanceUIConfig &config1, const DisturbanceUIConfig &config2) const
+      {
+        if (config1.*field != config2.*field)
+          comb_level |= level;
+      }
+
+      virtual void fromServer(const ros::NodeHandle &nh, DisturbanceUIConfig &config) const
+      {
+        nh.getParam(name, config.*field);
+      }
+
+      virtual void toServer(const ros::NodeHandle &nh, const DisturbanceUIConfig &config) const
+      {
+        nh.setParam(name, config.*field);
+      }
+
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, DisturbanceUIConfig &config) const
+      {
+        return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
+      }
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const DisturbanceUIConfig &config) const
+      {
+        dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
+      }
+
+      virtual void getValue(const DisturbanceUIConfig &config, boost::any &val) const
+      {
+        val = config.*field;
+      }
+    };
+
+    class AbstractGroupDescription : public dynamic_reconfigure::Group
+    {
+      public:
+      AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
+      {
+        name = n;
+        type = t;
+        parent = p;
+        state = s;
+        id = i;
+      }
+
+      std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
+      bool state;
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
+      virtual void updateParams(boost::any &cfg, DisturbanceUIConfig &top) const= 0;
+      virtual void setInitialState(boost::any &cfg) const = 0;
+
+
+      void convertParams()
+      {
+        for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i)
+        {
+          parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
+        }
+      }
+    };
+
+    typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
+    typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;
+
+    template<class T, class PT>
+    class GroupDescription : public AbstractGroupDescription
+    {
+    public:
+      GroupDescription(std::string name, std::string type, int parent, int id, bool s, T PT::* f) : AbstractGroupDescription(name, type, parent, id, s), field(f)
+      {
+      }
+
+      GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
+      {
+        parameters = g.parameters;
+        abstract_parameters = g.abstract_parameters;
+      }
+
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+        if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
+          return false;
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = &((*config).*field);
+          if(!(*i)->fromMessage(msg, n))
+            return false;
+        }
+
+        return true;
+      }
+
+      virtual void setInitialState(boost::any &cfg) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+        T* group = &((*config).*field);
+        group->state = state;
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = boost::any(&((*config).*field));
+          (*i)->setInitialState(n);
+        }
+
+      }
+
+      virtual void updateParams(boost::any &cfg, DisturbanceUIConfig &top) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+
+        T* f = &((*config).*field);
+        f->setParams(top, abstract_parameters);
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = &((*config).*field);
+          (*i)->updateParams(n, top);
+        }
+      }
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const
+      {
+        const PT config = boost::any_cast<PT>(cfg);
+        dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          (*i)->toMessage(msg, config.*field);
+        }
+      }
+
+      T (PT::* field);
+      std::vector<DisturbanceUIConfig::AbstractGroupDescriptionConstPtr> groups;
+    };
+    
+class DEFAULT
+{
+  public:
+    DEFAULT()
+    {
+      state = true;
+      name = "Default";
+    }
+
+    void setParams(DisturbanceUIConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
+    {
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator _i = params.begin(); _i != params.end(); ++_i)
+      {
+        boost::any val;
+        (*_i)->getValue(config, val);
+
+        if("fxy"==(*_i)->name){fxy = boost::any_cast<double>(val);}
+        if("stdfxy"==(*_i)->name){stdfxy = boost::any_cast<double>(val);}
+        if("fz"==(*_i)->name){fz = boost::any_cast<double>(val);}
+        if("stdfz"==(*_i)->name){stdfz = boost::any_cast<double>(val);}
+        if("mrp"==(*_i)->name){mrp = boost::any_cast<double>(val);}
+        if("stdmrp"==(*_i)->name){stdmrp = boost::any_cast<double>(val);}
+        if("myaw"==(*_i)->name){myaw = boost::any_cast<double>(val);}
+        if("stdmyaw"==(*_i)->name){stdmyaw = boost::any_cast<double>(val);}
+        if("enable_noisy_odom"==(*_i)->name){enable_noisy_odom = boost::any_cast<bool>(val);}
+        if("stdxyz"==(*_i)->name){stdxyz = boost::any_cast<double>(val);}
+        if("stdvxyz"==(*_i)->name){stdvxyz = boost::any_cast<double>(val);}
+        if("stdrp"==(*_i)->name){stdrp = boost::any_cast<double>(val);}
+        if("stdyaw"==(*_i)->name){stdyaw = boost::any_cast<double>(val);}
+        if("enable_drift_odom"==(*_i)->name){enable_drift_odom = boost::any_cast<bool>(val);}
+        if("stdvdriftxyz"==(*_i)->name){stdvdriftxyz = boost::any_cast<double>(val);}
+        if("stdvdriftyaw"==(*_i)->name){stdvdriftyaw = boost::any_cast<double>(val);}
+        if("vdriftx"==(*_i)->name){vdriftx = boost::any_cast<double>(val);}
+        if("vdrifty"==(*_i)->name){vdrifty = boost::any_cast<double>(val);}
+        if("vdriftz"==(*_i)->name){vdriftz = boost::any_cast<double>(val);}
+        if("vdriftyaw"==(*_i)->name){vdriftyaw = boost::any_cast<double>(val);}
+        if("place_holder"==(*_i)->name){place_holder = boost::any_cast<bool>(val);}
+      }
+    }
+
+    double fxy;
+double stdfxy;
+double fz;
+double stdfz;
+double mrp;
+double stdmrp;
+double myaw;
+double stdmyaw;
+bool enable_noisy_odom;
+double stdxyz;
+double stdvxyz;
+double stdrp;
+double stdyaw;
+bool enable_drift_odom;
+double stdvdriftxyz;
+double stdvdriftyaw;
+double vdriftx;
+double vdrifty;
+double vdriftz;
+double vdriftyaw;
+bool place_holder;
+
+    bool state;
+    std::string name;
+
+    
+}groups;
+
+
+
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double fxy;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdfxy;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double fz;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdfz;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double mrp;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdmrp;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double myaw;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdmyaw;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      bool enable_noisy_odom;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdxyz;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdvxyz;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdrp;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdyaw;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      bool enable_drift_odom;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdvdriftxyz;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdvdriftyaw;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double vdriftx;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double vdrifty;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double vdriftz;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double vdriftyaw;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      bool place_holder;
+//#line 255 "/opt/ros/indigo/share/dynamic_reconfigure/templates/ConfigType.h.template"
+
+    bool __fromMessage__(dynamic_reconfigure::Config &msg)
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+
+      int count = 0;
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        if ((*i)->fromMessage(msg, *this))
+          count++;
+
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
+      {
+        if ((*i)->id == 0)
+        {
+          boost::any n = boost::any(this);
+          (*i)->updateParams(n, *this);
+          (*i)->fromMessage(msg, n);
+        }
+      }
+
+      if (count != dynamic_reconfigure::ConfigTools::size(msg))
+      {
+        ROS_ERROR("DisturbanceUIConfig::__fromMessage__ called with an unexpected parameter.");
+        ROS_ERROR("Booleans:");
+        for (unsigned int i = 0; i < msg.bools.size(); i++)
+          ROS_ERROR("  %s", msg.bools[i].name.c_str());
+        ROS_ERROR("Integers:");
+        for (unsigned int i = 0; i < msg.ints.size(); i++)
+          ROS_ERROR("  %s", msg.ints[i].name.c_str());
+        ROS_ERROR("Doubles:");
+        for (unsigned int i = 0; i < msg.doubles.size(); i++)
+          ROS_ERROR("  %s", msg.doubles[i].name.c_str());
+        ROS_ERROR("Strings:");
+        for (unsigned int i = 0; i < msg.strs.size(); i++)
+          ROS_ERROR("  %s", msg.strs[i].name.c_str());
+        // @todo Check that there are no duplicates. Make this error more
+        // explicit.
+        return false;
+      }
+      return true;
+    }
+
+    // This version of __toMessage__ is used during initialization of
+    // statics when __getParamDescriptions__ can't be called yet.
+    void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
+    {
+      dynamic_reconfigure::ConfigTools::clear(msg);
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->toMessage(msg, *this);
+
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
+      {
+        if((*i)->id == 0)
+        {
+          (*i)->toMessage(msg, *this);
+        }
+      }
+    }
+    
+    void __toMessage__(dynamic_reconfigure::Config &msg) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+      __toMessage__(msg, __param_descriptions__, __group_descriptions__);
+    }
+    
+    void __toServer__(const ros::NodeHandle &nh) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->toServer(nh, *this);
+    }
+
+    void __fromServer__(const ros::NodeHandle &nh)
+    {
+      static bool setup=false;
+
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->fromServer(nh, *this);
+
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
+        if (!setup && (*i)->id == 0) {
+          setup = true;
+          boost::any n = boost::any(this);
+          (*i)->setInitialState(n);
+        }
+      }
+    }
+
+    void __clamp__()
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const DisturbanceUIConfig &__max__ = __getMax__();
+      const DisturbanceUIConfig &__min__ = __getMin__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->clamp(*this, __max__, __min__);
+    }
+
+    uint32_t __level__(const DisturbanceUIConfig &config) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      uint32_t level = 0;
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->calcLevel(level, config, *this);
+      return level;
+    }
+    
+    static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
+    static const DisturbanceUIConfig &__getDefault__();
+    static const DisturbanceUIConfig &__getMax__();
+    static const DisturbanceUIConfig &__getMin__();
+    static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
+    static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
+    
+  private:
+    static const DisturbanceUIConfigStatics *__get_statics__();
+  };
+  
+  template <> // Max and min are ignored for strings.
+  inline void DisturbanceUIConfig::ParamDescription<std::string>::clamp(DisturbanceUIConfig &config, const DisturbanceUIConfig &max, const DisturbanceUIConfig &min) const
+  {
+    return;
+  }
+
+  class DisturbanceUIConfigStatics
+  {
+    friend class DisturbanceUIConfig;
+    
+    DisturbanceUIConfigStatics()
+    {
+DisturbanceUIConfig::GroupDescription<DisturbanceUIConfig::DEFAULT, DisturbanceUIConfig> Default("Default", "", 0, 0, true, &DisturbanceUIConfig::groups);
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.fxy = -1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.fxy = 1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.fxy = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("fxy", "double", 0, "Force XY", "", &DisturbanceUIConfig::fxy)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("fxy", "double", 0, "Force XY", "", &DisturbanceUIConfig::fxy)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdfxy = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdfxy = 1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdfxy = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdfxy", "double", 0, "Std Force XY", "", &DisturbanceUIConfig::stdfxy)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdfxy", "double", 0, "Std Force XY", "", &DisturbanceUIConfig::stdfxy)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.fz = -1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.fz = 1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.fz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("fz", "double", 0, "Force Z", "", &DisturbanceUIConfig::fz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("fz", "double", 0, "Force Z", "", &DisturbanceUIConfig::fz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdfz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdfz = 1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdfz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdfz", "double", 0, "Std Force Z", "", &DisturbanceUIConfig::stdfz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdfz", "double", 0, "Std Force Z", "", &DisturbanceUIConfig::stdfz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.mrp = -0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.mrp = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.mrp = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("mrp", "double", 0, "Moment Roll/Pitch", "", &DisturbanceUIConfig::mrp)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("mrp", "double", 0, "Moment Roll/Pitch", "", &DisturbanceUIConfig::mrp)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdmrp = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdmrp = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdmrp = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdmrp", "double", 0, "Std Moment Roll/Pitch", "", &DisturbanceUIConfig::stdmrp)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdmrp", "double", 0, "Std Moment Roll/Pitch", "", &DisturbanceUIConfig::stdmrp)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.myaw = -0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.myaw = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.myaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("myaw", "double", 0, "Moment Yaw", "", &DisturbanceUIConfig::myaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("myaw", "double", 0, "Moment Yaw", "", &DisturbanceUIConfig::myaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdmyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdmyaw = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdmyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdmyaw", "double", 0, "Std Moment Yaw", "", &DisturbanceUIConfig::stdmyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdmyaw", "double", 0, "Std Moment Yaw", "", &DisturbanceUIConfig::stdmyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.enable_noisy_odom = 0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.enable_noisy_odom = 1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.enable_noisy_odom = 0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<bool>("enable_noisy_odom", "bool", 0, "Enable Noisy Odometry", "", &DisturbanceUIConfig::enable_noisy_odom)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<bool>("enable_noisy_odom", "bool", 0, "Enable Noisy Odometry", "", &DisturbanceUIConfig::enable_noisy_odom)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdxyz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdxyz = 1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdxyz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdxyz", "double", 0, "Std Noise XYZ", "", &DisturbanceUIConfig::stdxyz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdxyz", "double", 0, "Std Noise XYZ", "", &DisturbanceUIConfig::stdxyz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdvxyz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdvxyz = 1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdvxyz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdvxyz", "double", 0, "Std Noise Vel XYZ", "", &DisturbanceUIConfig::stdvxyz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdvxyz", "double", 0, "Std Noise Vel XYZ", "", &DisturbanceUIConfig::stdvxyz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdrp = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdrp = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdrp = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdrp", "double", 0, "Std Noise Roll/Pitch", "", &DisturbanceUIConfig::stdrp)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdrp", "double", 0, "Std Noise Roll/Pitch", "", &DisturbanceUIConfig::stdrp)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdyaw = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdyaw", "double", 0, "Std Noise Yaw", "", &DisturbanceUIConfig::stdyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdyaw", "double", 0, "Std Noise Yaw", "", &DisturbanceUIConfig::stdyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.enable_drift_odom = 0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.enable_drift_odom = 1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.enable_drift_odom = 1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<bool>("enable_drift_odom", "bool", 0, "Enable Drift Odometry", "", &DisturbanceUIConfig::enable_drift_odom)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<bool>("enable_drift_odom", "bool", 0, "Enable Drift Odometry", "", &DisturbanceUIConfig::enable_drift_odom)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdvdriftxyz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdvdriftxyz = 0.5;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdvdriftxyz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdvdriftxyz", "double", 0, "Std Noise Vel Drift XYZ", "", &DisturbanceUIConfig::stdvdriftxyz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdvdriftxyz", "double", 0, "Std Noise Vel Drift XYZ", "", &DisturbanceUIConfig::stdvdriftxyz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdvdriftyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdvdriftyaw = 0.5;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdvdriftyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdvdriftyaw", "double", 0, "Std Noise Vel Drift Yaw", "", &DisturbanceUIConfig::stdvdriftyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdvdriftyaw", "double", 0, "Std Noise Vel Drift Yaw", "", &DisturbanceUIConfig::stdvdriftyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.vdriftx = -0.2;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.vdriftx = 0.2;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.vdriftx = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdriftx", "double", 0, "Vel Drift X", "", &DisturbanceUIConfig::vdriftx)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdriftx", "double", 0, "Vel Drift X", "", &DisturbanceUIConfig::vdriftx)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.vdrifty = -0.2;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.vdrifty = 0.2;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.vdrifty = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdrifty", "double", 0, "Vel Drift Y", "", &DisturbanceUIConfig::vdrifty)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdrifty", "double", 0, "Vel Drift Y", "", &DisturbanceUIConfig::vdrifty)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.vdriftz = -0.2;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.vdriftz = 0.2;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.vdriftz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdriftz", "double", 0, "Vel Drift Z", "", &DisturbanceUIConfig::vdriftz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdriftz", "double", 0, "Vel Drift Z", "", &DisturbanceUIConfig::vdriftz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.vdriftyaw = -0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.vdriftyaw = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.vdriftyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdriftyaw", "double", 0, "Vel Drift Yaw", "", &DisturbanceUIConfig::vdriftyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdriftyaw", "double", 0, "Vel Drift Yaw", "", &DisturbanceUIConfig::vdriftyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.place_holder = 0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.place_holder = 1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.place_holder = 1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<bool>("place_holder", "bool", 0, "-------------------------------------------------------------------------------", "", &DisturbanceUIConfig::place_holder)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<bool>("place_holder", "bool", 0, "-------------------------------------------------------------------------------", "", &DisturbanceUIConfig::place_holder)));
+//#line 233 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.convertParams();
+//#line 233 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __group_descriptions__.push_back(DisturbanceUIConfig::AbstractGroupDescriptionConstPtr(new DisturbanceUIConfig::GroupDescription<DisturbanceUIConfig::DEFAULT, DisturbanceUIConfig>(Default)));
+//#line 390 "/opt/ros/indigo/share/dynamic_reconfigure/templates/ConfigType.h.template"
+
+      for (std::vector<DisturbanceUIConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
+      {
+        __description_message__.groups.push_back(**i);
+      }
+      __max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__); 
+      __min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__); 
+      __default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__); 
+    }
+    std::vector<DisturbanceUIConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
+    std::vector<DisturbanceUIConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
+    DisturbanceUIConfig __max__;
+    DisturbanceUIConfig __min__;
+    DisturbanceUIConfig __default__;
+    dynamic_reconfigure::ConfigDescription __description_message__;
+
+    static const DisturbanceUIConfigStatics *get_instance()
+    {
+      // Split this off in a separate function because I know that
+      // instance will get initialized the first time get_instance is
+      // called, and I am guaranteeing that get_instance gets called at
+      // most once.
+      static DisturbanceUIConfigStatics instance;
+      return &instance;
+    }
+  };
+
+  inline const dynamic_reconfigure::ConfigDescription &DisturbanceUIConfig::__getDescriptionMessage__() 
+  {
+    return __get_statics__()->__description_message__;
+  }
+
+  inline const DisturbanceUIConfig &DisturbanceUIConfig::__getDefault__()
+  {
+    return __get_statics__()->__default__;
+  }
+  
+  inline const DisturbanceUIConfig &DisturbanceUIConfig::__getMax__()
+  {
+    return __get_statics__()->__max__;
+  }
+  
+  inline const DisturbanceUIConfig &DisturbanceUIConfig::__getMin__()
+  {
+    return __get_statics__()->__min__;
+  }
+  
+  inline const std::vector<DisturbanceUIConfig::AbstractParamDescriptionConstPtr> &DisturbanceUIConfig::__getParamDescriptions__()
+  {
+    return __get_statics__()->__param_descriptions__;
+  }
+
+  inline const std::vector<DisturbanceUIConfig::AbstractGroupDescriptionConstPtr> &DisturbanceUIConfig::__getGroupDescriptions__()
+  {
+    return __get_statics__()->__group_descriptions__;
+  }
+
+  inline const DisturbanceUIConfigStatics *DisturbanceUIConfig::__get_statics__()
+  {
+    const static DisturbanceUIConfigStatics *statics;
+  
+    if (statics) // Common case
+      return statics;
+
+    boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
+
+    if (statics) // In case we lost a race.
+      return statics;
+
+    statics = DisturbanceUIConfigStatics::get_instance();
+    
+    return statics;
+  }
+
+
+}
+
+#endif // __DISTURBANCEUIRECONFIGURATOR_H__
diff --git a/uav_simulator/so3_disturbance_generator/cfg/disturbance_ui.cfg b/uav_simulator/so3_disturbance_generator/cfg/disturbance_ui.cfg
new file mode 100755
index 0000000..4f7e093
--- /dev/null
+++ b/uav_simulator/so3_disturbance_generator/cfg/disturbance_ui.cfg
@@ -0,0 +1,40 @@
+#!/usr/bin/env python
+PACKAGE='so3_disturbance_generator'
+#import roslib; 
+#roslib.load_manifest(PACKAGE)
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+# External Disturbance ---------------------------------------------
+gen.add("fxy",     double_t, 0, "Force XY"              , 0.0, -1.0, 1.0)
+gen.add("stdfxy",  double_t, 0, "Std Force XY"          , 0.0,  0.0, 1.0)
+gen.add("fz",      double_t, 0, "Force Z"               , 0.0, -1.0, 1.0)
+gen.add("stdfz",   double_t, 0, "Std Force Z"           , 0.0,  0.0, 1.0)
+gen.add("mrp",     double_t, 0, "Moment Roll/Pitch"     , 0.0, -0.1, 0.1)
+gen.add("stdmrp",  double_t, 0, "Std Moment Roll/Pitch" , 0.0,  0.0, 0.1)
+gen.add("myaw",    double_t, 0, "Moment Yaw"            , 0.0, -0.1, 0.1)
+gen.add("stdmyaw", double_t, 0, "Std Moment Yaw"        , 0.0,  0.0, 0.1)
+
+# Measurement Noise ------------------------------------------------
+gen.add("enable_noisy_odom", bool_t, 0, "Enable Noisy Odometry", False)
+gen.add("stdxyz",  double_t, 0, "Std Noise XYZ"        , 0.0, 0.0, 1.0)
+gen.add("stdvxyz", double_t, 0, "Std Noise Vel XYZ"    , 0.0, 0.0, 1.0)
+gen.add("stdrp",   double_t, 0, "Std Noise Roll/Pitch" , 0.0, 0.0, 0.1)
+gen.add("stdyaw",  double_t, 0, "Std Noise Yaw"        , 0.0, 0.0, 0.1)
+
+# Odom Drifting ----------------------------------------------------
+gen.add("enable_drift_odom", bool_t, 0, "Enable Drift Odometry", True)
+gen.add("stdvdriftxyz", double_t, 0, "Std Noise Vel Drift XYZ", 0.0,  0.0, 0.5)
+gen.add("stdvdriftyaw", double_t, 0, "Std Noise Vel Drift Yaw", 0.0,  0.0, 0.5)
+gen.add("vdriftx",      double_t, 0, "Vel Drift X"            , 0.0, -0.2, 0.2)
+gen.add("vdrifty",      double_t, 0, "Vel Drift Y"            , 0.0, -0.2, 0.2)
+gen.add("vdriftz",      double_t, 0, "Vel Drift Z"            , 0.0, -0.2, 0.2)
+gen.add("vdriftyaw",    double_t, 0, "Vel Drift Yaw"          , 0.0, -0.1, 0.1)
+
+# Place Holder -----------------------------------------------------
+gen.add("place_holder", bool_t, 0, "-------------------------------------------------------------------------------", True)
+
+exit(gen.generate(PACKAGE, "DisturbanceUI", "DisturbanceUI"))
+
diff --git a/uav_simulator/so3_disturbance_generator/cfg/disturbance_ui.cfgc b/uav_simulator/so3_disturbance_generator/cfg/disturbance_ui.cfgc
new file mode 100755
index 0000000..1d1b3a7
Binary files /dev/null and b/uav_simulator/so3_disturbance_generator/cfg/disturbance_ui.cfgc differ
diff --git a/uav_simulator/so3_disturbance_generator/docs/DisturbanceUIConfig-usage.dox b/uav_simulator/so3_disturbance_generator/docs/DisturbanceUIConfig-usage.dox
new file mode 100755
index 0000000..501fc2a
--- /dev/null
+++ b/uav_simulator/so3_disturbance_generator/docs/DisturbanceUIConfig-usage.dox
@@ -0,0 +1,27 @@
+\subsubsection usage Usage
+\verbatim
+<node name="DisturbanceUI" pkg="so3_disturbance_generator" type="DisturbanceUI">
+  <param name="fxy" type="double" value="0.0" />
+  <param name="stdfxy" type="double" value="0.0" />
+  <param name="fz" type="double" value="0.0" />
+  <param name="stdfz" type="double" value="0.0" />
+  <param name="mrp" type="double" value="0.0" />
+  <param name="stdmrp" type="double" value="0.0" />
+  <param name="myaw" type="double" value="0.0" />
+  <param name="stdmyaw" type="double" value="0.0" />
+  <param name="enable_noisy_odom" type="bool" value="False" />
+  <param name="stdxyz" type="double" value="0.0" />
+  <param name="stdvxyz" type="double" value="0.0" />
+  <param name="stdrp" type="double" value="0.0" />
+  <param name="stdyaw" type="double" value="0.0" />
+  <param name="enable_drift_odom" type="bool" value="True" />
+  <param name="stdvdriftxyz" type="double" value="0.0" />
+  <param name="stdvdriftyaw" type="double" value="0.0" />
+  <param name="vdriftx" type="double" value="0.0" />
+  <param name="vdrifty" type="double" value="0.0" />
+  <param name="vdriftz" type="double" value="0.0" />
+  <param name="vdriftyaw" type="double" value="0.0" />
+  <param name="place_holder" type="bool" value="True" />
+</node>
+\endverbatim
+
diff --git a/uav_simulator/so3_disturbance_generator/docs/DisturbanceUIConfig.dox b/uav_simulator/so3_disturbance_generator/docs/DisturbanceUIConfig.dox
new file mode 100755
index 0000000..4ff0f1e
--- /dev/null
+++ b/uav_simulator/so3_disturbance_generator/docs/DisturbanceUIConfig.dox
@@ -0,0 +1,26 @@
+\subsubsection parameters ROS parameters
+
+Reads and maintains the following parameters on the ROS server
+
+- \b "~fxy" : \b [double] Force XY min: -1.0, default: 0.0, max: 1.0
+- \b "~stdfxy" : \b [double] Std Force XY min: 0.0, default: 0.0, max: 1.0
+- \b "~fz" : \b [double] Force Z min: -1.0, default: 0.0, max: 1.0
+- \b "~stdfz" : \b [double] Std Force Z min: 0.0, default: 0.0, max: 1.0
+- \b "~mrp" : \b [double] Moment Roll/Pitch min: -0.1, default: 0.0, max: 0.1
+- \b "~stdmrp" : \b [double] Std Moment Roll/Pitch min: 0.0, default: 0.0, max: 0.1
+- \b "~myaw" : \b [double] Moment Yaw min: -0.1, default: 0.0, max: 0.1
+- \b "~stdmyaw" : \b [double] Std Moment Yaw min: 0.0, default: 0.0, max: 0.1
+- \b "~enable_noisy_odom" : \b [bool] Enable Noisy Odometry min: False, default: False, max: True
+- \b "~stdxyz" : \b [double] Std Noise XYZ min: 0.0, default: 0.0, max: 1.0
+- \b "~stdvxyz" : \b [double] Std Noise Vel XYZ min: 0.0, default: 0.0, max: 1.0
+- \b "~stdrp" : \b [double] Std Noise Roll/Pitch min: 0.0, default: 0.0, max: 0.1
+- \b "~stdyaw" : \b [double] Std Noise Yaw min: 0.0, default: 0.0, max: 0.1
+- \b "~enable_drift_odom" : \b [bool] Enable Drift Odometry min: False, default: True, max: True
+- \b "~stdvdriftxyz" : \b [double] Std Noise Vel Drift XYZ min: 0.0, default: 0.0, max: 0.5
+- \b "~stdvdriftyaw" : \b [double] Std Noise Vel Drift Yaw min: 0.0, default: 0.0, max: 0.5
+- \b "~vdriftx" : \b [double] Vel Drift X min: -0.2, default: 0.0, max: 0.2
+- \b "~vdrifty" : \b [double] Vel Drift Y min: -0.2, default: 0.0, max: 0.2
+- \b "~vdriftz" : \b [double] Vel Drift Z min: -0.2, default: 0.0, max: 0.2
+- \b "~vdriftyaw" : \b [double] Vel Drift Yaw min: -0.1, default: 0.0, max: 0.1
+- \b "~place_holder" : \b [bool] ------------------------------------------------------------------------------- min: False, default: True, max: True
+
diff --git a/uav_simulator/so3_disturbance_generator/docs/DisturbanceUIConfig.wikidoc b/uav_simulator/so3_disturbance_generator/docs/DisturbanceUIConfig.wikidoc
new file mode 100755
index 0000000..596fcff
--- /dev/null
+++ b/uav_simulator/so3_disturbance_generator/docs/DisturbanceUIConfig.wikidoc
@@ -0,0 +1,92 @@
+# Autogenerated param section. Do not hand edit.
+param {
+group.0 {
+name=Dynamically Reconfigurable Parameters
+desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters.
+0.name= ~fxy
+0.default= 0.0
+0.type= double
+0.desc=Force XY Range: -1.0 to 1.0
+1.name= ~stdfxy
+1.default= 0.0
+1.type= double
+1.desc=Std Force XY Range: 0.0 to 1.0
+2.name= ~fz
+2.default= 0.0
+2.type= double
+2.desc=Force Z Range: -1.0 to 1.0
+3.name= ~stdfz
+3.default= 0.0
+3.type= double
+3.desc=Std Force Z Range: 0.0 to 1.0
+4.name= ~mrp
+4.default= 0.0
+4.type= double
+4.desc=Moment Roll/Pitch Range: -0.1 to 0.1
+5.name= ~stdmrp
+5.default= 0.0
+5.type= double
+5.desc=Std Moment Roll/Pitch Range: 0.0 to 0.1
+6.name= ~myaw
+6.default= 0.0
+6.type= double
+6.desc=Moment Yaw Range: -0.1 to 0.1
+7.name= ~stdmyaw
+7.default= 0.0
+7.type= double
+7.desc=Std Moment Yaw Range: 0.0 to 0.1
+8.name= ~enable_noisy_odom
+8.default= False
+8.type= bool
+8.desc=Enable Noisy Odometry 
+9.name= ~stdxyz
+9.default= 0.0
+9.type= double
+9.desc=Std Noise XYZ Range: 0.0 to 1.0
+10.name= ~stdvxyz
+10.default= 0.0
+10.type= double
+10.desc=Std Noise Vel XYZ Range: 0.0 to 1.0
+11.name= ~stdrp
+11.default= 0.0
+11.type= double
+11.desc=Std Noise Roll/Pitch Range: 0.0 to 0.1
+12.name= ~stdyaw
+12.default= 0.0
+12.type= double
+12.desc=Std Noise Yaw Range: 0.0 to 0.1
+13.name= ~enable_drift_odom
+13.default= True
+13.type= bool
+13.desc=Enable Drift Odometry 
+14.name= ~stdvdriftxyz
+14.default= 0.0
+14.type= double
+14.desc=Std Noise Vel Drift XYZ Range: 0.0 to 0.5
+15.name= ~stdvdriftyaw
+15.default= 0.0
+15.type= double
+15.desc=Std Noise Vel Drift Yaw Range: 0.0 to 0.5
+16.name= ~vdriftx
+16.default= 0.0
+16.type= double
+16.desc=Vel Drift X Range: -0.2 to 0.2
+17.name= ~vdrifty
+17.default= 0.0
+17.type= double
+17.desc=Vel Drift Y Range: -0.2 to 0.2
+18.name= ~vdriftz
+18.default= 0.0
+18.type= double
+18.desc=Vel Drift Z Range: -0.2 to 0.2
+19.name= ~vdriftyaw
+19.default= 0.0
+19.type= double
+19.desc=Vel Drift Yaw Range: -0.1 to 0.1
+20.name= ~place_holder
+20.default= True
+20.type= bool
+20.desc=------------------------------------------------------------------------------- 
+}
+}
+# End of autogenerated section. You may edit below.
diff --git a/uav_simulator/so3_disturbance_generator/include/so3_disturbance_generator/DisturbanceUIConfig.h b/uav_simulator/so3_disturbance_generator/include/so3_disturbance_generator/DisturbanceUIConfig.h
new file mode 100755
index 0000000..050bc57
--- /dev/null
+++ b/uav_simulator/so3_disturbance_generator/include/so3_disturbance_generator/DisturbanceUIConfig.h
@@ -0,0 +1,789 @@
+//#line 2 "/opt/ros/indigo/share/dynamic_reconfigure/templates/ConfigType.h.template"
+// *********************************************************
+// 
+// File autogenerated for the so3_disturbance_generator package 
+// by the dynamic_reconfigure package.
+// Please do not edit.
+// 
+// ********************************************************/
+
+/***********************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ ***********************************************************/
+
+// Author: Blaise Gassend
+
+
+#ifndef __so3_disturbance_generator__DISTURBANCEUICONFIG_H__
+#define __so3_disturbance_generator__DISTURBANCEUICONFIG_H__
+
+#include <dynamic_reconfigure/config_tools.h>
+#include <limits>
+#include <ros/node_handle.h>
+#include <dynamic_reconfigure/ConfigDescription.h>
+#include <dynamic_reconfigure/ParamDescription.h>
+#include <dynamic_reconfigure/Group.h>
+#include <dynamic_reconfigure/config_init_mutex.h>
+#include <boost/any.hpp>
+
+namespace so3_disturbance_generator
+{
+  class DisturbanceUIConfigStatics;
+  
+  class DisturbanceUIConfig
+  {
+  public:
+    class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
+    {
+    public:
+      AbstractParamDescription(std::string n, std::string t, uint32_t l, 
+          std::string d, std::string e)
+      {
+        name = n;
+        type = t;
+        level = l;
+        description = d;
+        edit_method = e;
+      }
+      
+      virtual void clamp(DisturbanceUIConfig &config, const DisturbanceUIConfig &max, const DisturbanceUIConfig &min) const = 0;
+      virtual void calcLevel(uint32_t &level, const DisturbanceUIConfig &config1, const DisturbanceUIConfig &config2) const = 0;
+      virtual void fromServer(const ros::NodeHandle &nh, DisturbanceUIConfig &config) const = 0;
+      virtual void toServer(const ros::NodeHandle &nh, const DisturbanceUIConfig &config) const = 0;
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, DisturbanceUIConfig &config) const = 0;
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const DisturbanceUIConfig &config) const = 0;
+      virtual void getValue(const DisturbanceUIConfig &config, boost::any &val) const = 0;
+    };
+
+    typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
+    typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
+    
+    template <class T>
+    class ParamDescription : public AbstractParamDescription
+    {
+    public:
+      ParamDescription(std::string name, std::string type, uint32_t level, 
+          std::string description, std::string edit_method, T DisturbanceUIConfig::* f) :
+        AbstractParamDescription(name, type, level, description, edit_method),
+        field(f)
+      {}
+
+      T (DisturbanceUIConfig::* field);
+
+      virtual void clamp(DisturbanceUIConfig &config, const DisturbanceUIConfig &max, const DisturbanceUIConfig &min) const
+      {
+        if (config.*field > max.*field)
+          config.*field = max.*field;
+        
+        if (config.*field < min.*field)
+          config.*field = min.*field;
+      }
+
+      virtual void calcLevel(uint32_t &comb_level, const DisturbanceUIConfig &config1, const DisturbanceUIConfig &config2) const
+      {
+        if (config1.*field != config2.*field)
+          comb_level |= level;
+      }
+
+      virtual void fromServer(const ros::NodeHandle &nh, DisturbanceUIConfig &config) const
+      {
+        nh.getParam(name, config.*field);
+      }
+
+      virtual void toServer(const ros::NodeHandle &nh, const DisturbanceUIConfig &config) const
+      {
+        nh.setParam(name, config.*field);
+      }
+
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, DisturbanceUIConfig &config) const
+      {
+        return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
+      }
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const DisturbanceUIConfig &config) const
+      {
+        dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
+      }
+
+      virtual void getValue(const DisturbanceUIConfig &config, boost::any &val) const
+      {
+        val = config.*field;
+      }
+    };
+
+    class AbstractGroupDescription : public dynamic_reconfigure::Group
+    {
+      public:
+      AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
+      {
+        name = n;
+        type = t;
+        parent = p;
+        state = s;
+        id = i;
+      }
+
+      std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
+      bool state;
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
+      virtual void updateParams(boost::any &cfg, DisturbanceUIConfig &top) const= 0;
+      virtual void setInitialState(boost::any &cfg) const = 0;
+
+
+      void convertParams()
+      {
+        for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i)
+        {
+          parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
+        }
+      }
+    };
+
+    typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
+    typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;
+
+    template<class T, class PT>
+    class GroupDescription : public AbstractGroupDescription
+    {
+    public:
+      GroupDescription(std::string name, std::string type, int parent, int id, bool s, T PT::* f) : AbstractGroupDescription(name, type, parent, id, s), field(f)
+      {
+      }
+
+      GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
+      {
+        parameters = g.parameters;
+        abstract_parameters = g.abstract_parameters;
+      }
+
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+        if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
+          return false;
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = &((*config).*field);
+          if(!(*i)->fromMessage(msg, n))
+            return false;
+        }
+
+        return true;
+      }
+
+      virtual void setInitialState(boost::any &cfg) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+        T* group = &((*config).*field);
+        group->state = state;
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = boost::any(&((*config).*field));
+          (*i)->setInitialState(n);
+        }
+
+      }
+
+      virtual void updateParams(boost::any &cfg, DisturbanceUIConfig &top) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+
+        T* f = &((*config).*field);
+        f->setParams(top, abstract_parameters);
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = &((*config).*field);
+          (*i)->updateParams(n, top);
+        }
+      }
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const
+      {
+        const PT config = boost::any_cast<PT>(cfg);
+        dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          (*i)->toMessage(msg, config.*field);
+        }
+      }
+
+      T (PT::* field);
+      std::vector<DisturbanceUIConfig::AbstractGroupDescriptionConstPtr> groups;
+    };
+    
+class DEFAULT
+{
+  public:
+    DEFAULT()
+    {
+      state = true;
+      name = "Default";
+    }
+
+    void setParams(DisturbanceUIConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
+    {
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator _i = params.begin(); _i != params.end(); ++_i)
+      {
+        boost::any val;
+        (*_i)->getValue(config, val);
+
+        if("fxy"==(*_i)->name){fxy = boost::any_cast<double>(val);}
+        if("stdfxy"==(*_i)->name){stdfxy = boost::any_cast<double>(val);}
+        if("fz"==(*_i)->name){fz = boost::any_cast<double>(val);}
+        if("stdfz"==(*_i)->name){stdfz = boost::any_cast<double>(val);}
+        if("mrp"==(*_i)->name){mrp = boost::any_cast<double>(val);}
+        if("stdmrp"==(*_i)->name){stdmrp = boost::any_cast<double>(val);}
+        if("myaw"==(*_i)->name){myaw = boost::any_cast<double>(val);}
+        if("stdmyaw"==(*_i)->name){stdmyaw = boost::any_cast<double>(val);}
+        if("enable_noisy_odom"==(*_i)->name){enable_noisy_odom = boost::any_cast<bool>(val);}
+        if("stdxyz"==(*_i)->name){stdxyz = boost::any_cast<double>(val);}
+        if("stdvxyz"==(*_i)->name){stdvxyz = boost::any_cast<double>(val);}
+        if("stdrp"==(*_i)->name){stdrp = boost::any_cast<double>(val);}
+        if("stdyaw"==(*_i)->name){stdyaw = boost::any_cast<double>(val);}
+        if("enable_drift_odom"==(*_i)->name){enable_drift_odom = boost::any_cast<bool>(val);}
+        if("stdvdriftxyz"==(*_i)->name){stdvdriftxyz = boost::any_cast<double>(val);}
+        if("stdvdriftyaw"==(*_i)->name){stdvdriftyaw = boost::any_cast<double>(val);}
+        if("vdriftx"==(*_i)->name){vdriftx = boost::any_cast<double>(val);}
+        if("vdrifty"==(*_i)->name){vdrifty = boost::any_cast<double>(val);}
+        if("vdriftz"==(*_i)->name){vdriftz = boost::any_cast<double>(val);}
+        if("vdriftyaw"==(*_i)->name){vdriftyaw = boost::any_cast<double>(val);}
+        if("place_holder"==(*_i)->name){place_holder = boost::any_cast<bool>(val);}
+      }
+    }
+
+    double fxy;
+double stdfxy;
+double fz;
+double stdfz;
+double mrp;
+double stdmrp;
+double myaw;
+double stdmyaw;
+bool enable_noisy_odom;
+double stdxyz;
+double stdvxyz;
+double stdrp;
+double stdyaw;
+bool enable_drift_odom;
+double stdvdriftxyz;
+double stdvdriftyaw;
+double vdriftx;
+double vdrifty;
+double vdriftz;
+double vdriftyaw;
+bool place_holder;
+
+    bool state;
+    std::string name;
+
+    
+}groups;
+
+
+
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double fxy;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdfxy;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double fz;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdfz;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double mrp;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdmrp;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double myaw;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdmyaw;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      bool enable_noisy_odom;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdxyz;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdvxyz;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdrp;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdyaw;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      bool enable_drift_odom;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdvdriftxyz;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double stdvdriftyaw;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double vdriftx;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double vdrifty;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double vdriftz;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double vdriftyaw;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      bool place_holder;
+//#line 255 "/opt/ros/indigo/share/dynamic_reconfigure/templates/ConfigType.h.template"
+
+    bool __fromMessage__(dynamic_reconfigure::Config &msg)
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+
+      int count = 0;
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        if ((*i)->fromMessage(msg, *this))
+          count++;
+
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
+      {
+        if ((*i)->id == 0)
+        {
+          boost::any n = boost::any(this);
+          (*i)->updateParams(n, *this);
+          (*i)->fromMessage(msg, n);
+        }
+      }
+
+      if (count != dynamic_reconfigure::ConfigTools::size(msg))
+      {
+        ROS_ERROR("DisturbanceUIConfig::__fromMessage__ called with an unexpected parameter.");
+        ROS_ERROR("Booleans:");
+        for (unsigned int i = 0; i < msg.bools.size(); i++)
+          ROS_ERROR("  %s", msg.bools[i].name.c_str());
+        ROS_ERROR("Integers:");
+        for (unsigned int i = 0; i < msg.ints.size(); i++)
+          ROS_ERROR("  %s", msg.ints[i].name.c_str());
+        ROS_ERROR("Doubles:");
+        for (unsigned int i = 0; i < msg.doubles.size(); i++)
+          ROS_ERROR("  %s", msg.doubles[i].name.c_str());
+        ROS_ERROR("Strings:");
+        for (unsigned int i = 0; i < msg.strs.size(); i++)
+          ROS_ERROR("  %s", msg.strs[i].name.c_str());
+        // @todo Check that there are no duplicates. Make this error more
+        // explicit.
+        return false;
+      }
+      return true;
+    }
+
+    // This version of __toMessage__ is used during initialization of
+    // statics when __getParamDescriptions__ can't be called yet.
+    void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
+    {
+      dynamic_reconfigure::ConfigTools::clear(msg);
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->toMessage(msg, *this);
+
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
+      {
+        if((*i)->id == 0)
+        {
+          (*i)->toMessage(msg, *this);
+        }
+      }
+    }
+    
+    void __toMessage__(dynamic_reconfigure::Config &msg) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+      __toMessage__(msg, __param_descriptions__, __group_descriptions__);
+    }
+    
+    void __toServer__(const ros::NodeHandle &nh) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->toServer(nh, *this);
+    }
+
+    void __fromServer__(const ros::NodeHandle &nh)
+    {
+      static bool setup=false;
+
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->fromServer(nh, *this);
+
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
+        if (!setup && (*i)->id == 0) {
+          setup = true;
+          boost::any n = boost::any(this);
+          (*i)->setInitialState(n);
+        }
+      }
+    }
+
+    void __clamp__()
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const DisturbanceUIConfig &__max__ = __getMax__();
+      const DisturbanceUIConfig &__min__ = __getMin__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->clamp(*this, __max__, __min__);
+    }
+
+    uint32_t __level__(const DisturbanceUIConfig &config) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      uint32_t level = 0;
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->calcLevel(level, config, *this);
+      return level;
+    }
+    
+    static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
+    static const DisturbanceUIConfig &__getDefault__();
+    static const DisturbanceUIConfig &__getMax__();
+    static const DisturbanceUIConfig &__getMin__();
+    static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
+    static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
+    
+  private:
+    static const DisturbanceUIConfigStatics *__get_statics__();
+  };
+  
+  template <> // Max and min are ignored for strings.
+  inline void DisturbanceUIConfig::ParamDescription<std::string>::clamp(DisturbanceUIConfig &config, const DisturbanceUIConfig &max, const DisturbanceUIConfig &min) const
+  {
+    return;
+  }
+
+  class DisturbanceUIConfigStatics
+  {
+    friend class DisturbanceUIConfig;
+    
+    DisturbanceUIConfigStatics()
+    {
+DisturbanceUIConfig::GroupDescription<DisturbanceUIConfig::DEFAULT, DisturbanceUIConfig> Default("Default", "", 0, 0, true, &DisturbanceUIConfig::groups);
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.fxy = -1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.fxy = 1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.fxy = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("fxy", "double", 0, "Force XY", "", &DisturbanceUIConfig::fxy)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("fxy", "double", 0, "Force XY", "", &DisturbanceUIConfig::fxy)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdfxy = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdfxy = 1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdfxy = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdfxy", "double", 0, "Std Force XY", "", &DisturbanceUIConfig::stdfxy)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdfxy", "double", 0, "Std Force XY", "", &DisturbanceUIConfig::stdfxy)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.fz = -1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.fz = 1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.fz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("fz", "double", 0, "Force Z", "", &DisturbanceUIConfig::fz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("fz", "double", 0, "Force Z", "", &DisturbanceUIConfig::fz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdfz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdfz = 1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdfz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdfz", "double", 0, "Std Force Z", "", &DisturbanceUIConfig::stdfz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdfz", "double", 0, "Std Force Z", "", &DisturbanceUIConfig::stdfz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.mrp = -0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.mrp = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.mrp = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("mrp", "double", 0, "Moment Roll/Pitch", "", &DisturbanceUIConfig::mrp)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("mrp", "double", 0, "Moment Roll/Pitch", "", &DisturbanceUIConfig::mrp)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdmrp = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdmrp = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdmrp = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdmrp", "double", 0, "Std Moment Roll/Pitch", "", &DisturbanceUIConfig::stdmrp)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdmrp", "double", 0, "Std Moment Roll/Pitch", "", &DisturbanceUIConfig::stdmrp)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.myaw = -0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.myaw = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.myaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("myaw", "double", 0, "Moment Yaw", "", &DisturbanceUIConfig::myaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("myaw", "double", 0, "Moment Yaw", "", &DisturbanceUIConfig::myaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdmyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdmyaw = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdmyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdmyaw", "double", 0, "Std Moment Yaw", "", &DisturbanceUIConfig::stdmyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdmyaw", "double", 0, "Std Moment Yaw", "", &DisturbanceUIConfig::stdmyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.enable_noisy_odom = 0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.enable_noisy_odom = 1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.enable_noisy_odom = 0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<bool>("enable_noisy_odom", "bool", 0, "Enable Noisy Odometry", "", &DisturbanceUIConfig::enable_noisy_odom)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<bool>("enable_noisy_odom", "bool", 0, "Enable Noisy Odometry", "", &DisturbanceUIConfig::enable_noisy_odom)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdxyz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdxyz = 1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdxyz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdxyz", "double", 0, "Std Noise XYZ", "", &DisturbanceUIConfig::stdxyz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdxyz", "double", 0, "Std Noise XYZ", "", &DisturbanceUIConfig::stdxyz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdvxyz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdvxyz = 1.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdvxyz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdvxyz", "double", 0, "Std Noise Vel XYZ", "", &DisturbanceUIConfig::stdvxyz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdvxyz", "double", 0, "Std Noise Vel XYZ", "", &DisturbanceUIConfig::stdvxyz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdrp = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdrp = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdrp = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdrp", "double", 0, "Std Noise Roll/Pitch", "", &DisturbanceUIConfig::stdrp)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdrp", "double", 0, "Std Noise Roll/Pitch", "", &DisturbanceUIConfig::stdrp)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdyaw = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdyaw", "double", 0, "Std Noise Yaw", "", &DisturbanceUIConfig::stdyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdyaw", "double", 0, "Std Noise Yaw", "", &DisturbanceUIConfig::stdyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.enable_drift_odom = 0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.enable_drift_odom = 1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.enable_drift_odom = 1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<bool>("enable_drift_odom", "bool", 0, "Enable Drift Odometry", "", &DisturbanceUIConfig::enable_drift_odom)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<bool>("enable_drift_odom", "bool", 0, "Enable Drift Odometry", "", &DisturbanceUIConfig::enable_drift_odom)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdvdriftxyz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdvdriftxyz = 0.5;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdvdriftxyz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdvdriftxyz", "double", 0, "Std Noise Vel Drift XYZ", "", &DisturbanceUIConfig::stdvdriftxyz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdvdriftxyz", "double", 0, "Std Noise Vel Drift XYZ", "", &DisturbanceUIConfig::stdvdriftxyz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.stdvdriftyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.stdvdriftyaw = 0.5;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.stdvdriftyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdvdriftyaw", "double", 0, "Std Noise Vel Drift Yaw", "", &DisturbanceUIConfig::stdvdriftyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("stdvdriftyaw", "double", 0, "Std Noise Vel Drift Yaw", "", &DisturbanceUIConfig::stdvdriftyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.vdriftx = -0.2;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.vdriftx = 0.2;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.vdriftx = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdriftx", "double", 0, "Vel Drift X", "", &DisturbanceUIConfig::vdriftx)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdriftx", "double", 0, "Vel Drift X", "", &DisturbanceUIConfig::vdriftx)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.vdrifty = -0.2;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.vdrifty = 0.2;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.vdrifty = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdrifty", "double", 0, "Vel Drift Y", "", &DisturbanceUIConfig::vdrifty)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdrifty", "double", 0, "Vel Drift Y", "", &DisturbanceUIConfig::vdrifty)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.vdriftz = -0.2;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.vdriftz = 0.2;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.vdriftz = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdriftz", "double", 0, "Vel Drift Z", "", &DisturbanceUIConfig::vdriftz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdriftz", "double", 0, "Vel Drift Z", "", &DisturbanceUIConfig::vdriftz)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.vdriftyaw = -0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.vdriftyaw = 0.1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.vdriftyaw = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdriftyaw", "double", 0, "Vel Drift Yaw", "", &DisturbanceUIConfig::vdriftyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<double>("vdriftyaw", "double", 0, "Vel Drift Yaw", "", &DisturbanceUIConfig::vdriftyaw)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.place_holder = 0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.place_holder = 1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.place_holder = 1;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<bool>("place_holder", "bool", 0, "-------------------------------------------------------------------------------", "", &DisturbanceUIConfig::place_holder)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(DisturbanceUIConfig::AbstractParamDescriptionConstPtr(new DisturbanceUIConfig::ParamDescription<bool>("place_holder", "bool", 0, "-------------------------------------------------------------------------------", "", &DisturbanceUIConfig::place_holder)));
+//#line 233 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.convertParams();
+//#line 233 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __group_descriptions__.push_back(DisturbanceUIConfig::AbstractGroupDescriptionConstPtr(new DisturbanceUIConfig::GroupDescription<DisturbanceUIConfig::DEFAULT, DisturbanceUIConfig>(Default)));
+//#line 390 "/opt/ros/indigo/share/dynamic_reconfigure/templates/ConfigType.h.template"
+
+      for (std::vector<DisturbanceUIConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
+      {
+        __description_message__.groups.push_back(**i);
+      }
+      __max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__); 
+      __min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__); 
+      __default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__); 
+    }
+    std::vector<DisturbanceUIConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
+    std::vector<DisturbanceUIConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
+    DisturbanceUIConfig __max__;
+    DisturbanceUIConfig __min__;
+    DisturbanceUIConfig __default__;
+    dynamic_reconfigure::ConfigDescription __description_message__;
+
+    static const DisturbanceUIConfigStatics *get_instance()
+    {
+      // Split this off in a separate function because I know that
+      // instance will get initialized the first time get_instance is
+      // called, and I am guaranteeing that get_instance gets called at
+      // most once.
+      static DisturbanceUIConfigStatics instance;
+      return &instance;
+    }
+  };
+
+  inline const dynamic_reconfigure::ConfigDescription &DisturbanceUIConfig::__getDescriptionMessage__() 
+  {
+    return __get_statics__()->__description_message__;
+  }
+
+  inline const DisturbanceUIConfig &DisturbanceUIConfig::__getDefault__()
+  {
+    return __get_statics__()->__default__;
+  }
+  
+  inline const DisturbanceUIConfig &DisturbanceUIConfig::__getMax__()
+  {
+    return __get_statics__()->__max__;
+  }
+  
+  inline const DisturbanceUIConfig &DisturbanceUIConfig::__getMin__()
+  {
+    return __get_statics__()->__min__;
+  }
+  
+  inline const std::vector<DisturbanceUIConfig::AbstractParamDescriptionConstPtr> &DisturbanceUIConfig::__getParamDescriptions__()
+  {
+    return __get_statics__()->__param_descriptions__;
+  }
+
+  inline const std::vector<DisturbanceUIConfig::AbstractGroupDescriptionConstPtr> &DisturbanceUIConfig::__getGroupDescriptions__()
+  {
+    return __get_statics__()->__group_descriptions__;
+  }
+
+  inline const DisturbanceUIConfigStatics *DisturbanceUIConfig::__get_statics__()
+  {
+    const static DisturbanceUIConfigStatics *statics;
+  
+    if (statics) // Common case
+      return statics;
+
+    boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
+
+    if (statics) // In case we lost a race.
+      return statics;
+
+    statics = DisturbanceUIConfigStatics::get_instance();
+    
+    return statics;
+  }
+
+
+}
+
+#endif // __DISTURBANCEUIRECONFIGURATOR_H__
diff --git a/uav_simulator/so3_disturbance_generator/mainpage.dox b/uav_simulator/so3_disturbance_generator/mainpage.dox
new file mode 100755
index 0000000..ede354e
--- /dev/null
+++ b/uav_simulator/so3_disturbance_generator/mainpage.dox
@@ -0,0 +1,26 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b so3_disturbance_generator is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/
diff --git a/uav_simulator/so3_disturbance_generator/package.xml b/uav_simulator/so3_disturbance_generator/package.xml
new file mode 100755
index 0000000..693fea3
--- /dev/null
+++ b/uav_simulator/so3_disturbance_generator/package.xml
@@ -0,0 +1,34 @@
+<package>
+  <version>0.0.0</version>
+  <name>so3_disturbance_generator</name>
+  <description>
+
+     so3_disturbance_generator
+
+  </description>
+
+  <maintainer email="eeshaojie@todo.todo">Shaojie Shen</maintainer>
+  <license>BSD</license>
+  <url>http://ros.org/wiki/so3_disturbance_generator</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>pose_utils</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>visualization_msgs</run_depend>
+  <run_depend>pose_utils</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
+
+</package>
+
+
diff --git a/uav_simulator/so3_disturbance_generator/src/pose_utils.h b/uav_simulator/so3_disturbance_generator/src/pose_utils.h
new file mode 100755
index 0000000..326c7c8
--- /dev/null
+++ b/uav_simulator/so3_disturbance_generator/src/pose_utils.h
@@ -0,0 +1,53 @@
+#ifndef POSE_UTILS_H
+#define POSE_UTILS_H
+
+#include <iostream>
+#include "armadillo"
+
+#define PI 3.14159265359
+#define NUM_INF 999999.9
+
+using namespace arma;
+using namespace std;
+
+// Rotation ---------------------
+mat ypr_to_R(const colvec& ypr);
+
+mat yaw_to_R(double yaw);
+
+colvec R_to_ypr(const mat& R);
+
+mat quaternion_to_R(const colvec& q);
+
+colvec R_to_quaternion(const mat& R);
+
+colvec quaternion_mul(const colvec& q1, const colvec& q2);
+
+colvec quaternion_inv(const colvec& q);
+
+// General Pose Update ----------
+colvec pose_update(const colvec& X1, const colvec& X2);
+
+colvec pose_inverse(const colvec& X);
+
+colvec pose_update_2d(const colvec& X1, const colvec& X2);
+
+colvec pose_inverse_2d(const colvec& X);
+
+// For Pose EKF -----------------
+mat Jplus1(const colvec& X1, const colvec& X2);
+
+mat Jplus2(const colvec& X1, const colvec& X2);
+
+// For IMU EKF ------------------
+colvec state_update(const colvec& X, const colvec& U, double dt);
+
+mat jacobianF(const colvec& X, const colvec& U, double dt);
+
+mat jacobianU(const colvec& X, const colvec& U, double dt);
+
+colvec state_measure(const colvec& X);
+
+mat jacobianH();
+
+#endif
diff --git a/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator.cpp b/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator.cpp
new file mode 100755
index 0000000..6c82ffa
--- /dev/null
+++ b/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator.cpp
@@ -0,0 +1,186 @@
+#include <iostream>
+#include <string.h>
+#include <ros/ros.h>
+#include <geometry_msgs/Vector3.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <dynamic_reconfigure/server.h>
+#include <so3_disturbance_generator/DisturbanceUIConfig.h>
+#include "pose_utils.h"
+
+using namespace arma;
+using namespace std;
+
+#define CORRECTION_RATE 1
+
+ros::Publisher pubo;
+ros::Publisher pubc;
+ros::Publisher pubf;
+ros::Publisher pubm;
+so3_disturbance_generator::DisturbanceUIConfig config;
+nav_msgs::Odometry noisy_odom;
+geometry_msgs::PoseStamped correction;
+
+void odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
+{
+  noisy_odom.header = msg->header;  
+  correction.header = msg->header;  
+  // Get odom
+  colvec pose(6);
+  colvec vel(3);  
+  pose(0)        = msg->pose.pose.position.x;
+  pose(1)        = msg->pose.pose.position.y;
+  pose(2)        = msg->pose.pose.position.z;    
+  colvec q       = zeros<colvec>(4);
+  q(0)           = msg->pose.pose.orientation.w;
+  q(1)           = msg->pose.pose.orientation.x;
+  q(2)           = msg->pose.pose.orientation.y;
+  q(3)           = msg->pose.pose.orientation.z; 
+  pose.rows(3,5) = R_to_ypr(quaternion_to_R(q));
+  vel(0)         = msg->twist.twist.linear.x;       
+  vel(1)         = msg->twist.twist.linear.y;       
+  vel(2)         = msg->twist.twist.linear.z;       
+  // Drift Odom 
+  static colvec drift_pose      = pose;
+  static colvec drift_vel       = vel;   
+  static colvec correction_pose = zeros<colvec>(6);  
+  static colvec prev_pose       = pose;
+  static ros::Time prev_pose_t  = msg->header.stamp;  
+  if (config.enable_drift_odom)
+  {
+    double dt       = (msg->header.stamp - prev_pose_t).toSec();
+    prev_pose_t     = msg->header.stamp;    
+    colvec d        = pose_update(pose_inverse(prev_pose), pose);
+    prev_pose       = pose;
+    d(0)           += (config.vdriftx   + config.stdvdriftxyz * as_scalar(randn(1))) * dt;    
+    d(1)           += (config.vdrifty   + config.stdvdriftxyz * as_scalar(randn(1))) * dt; 
+    d(2)           += (config.vdriftz   + config.stdvdriftxyz * as_scalar(randn(1))) * dt;        
+    d(3)           += (config.vdriftyaw + config.stdvdriftyaw * as_scalar(randn(1))) * dt;
+    drift_pose      = pose_update(drift_pose, d);
+    drift_vel       = ypr_to_R(drift_pose.rows(3,5)) * trans(ypr_to_R(pose.rows(3,5))) * vel;
+    correction_pose = pose_update(pose, pose_inverse(drift_pose));        
+  }
+  else
+  {
+    drift_pose      = pose;
+    drift_vel       = vel;
+    correction_pose = zeros<colvec>(6);
+  }
+  // Noisy Odom
+  static colvec noisy_pose = drift_pose;
+  static colvec noisy_vel  = drift_vel;    
+  if (config.enable_noisy_odom)
+  {
+    colvec noise_pose = zeros<colvec>(6);
+    colvec noise_vel  = zeros<colvec>(3);
+    noise_pose(0) = config.stdxyz  * as_scalar(randn(1));
+    noise_pose(1) = config.stdxyz  * as_scalar(randn(1));
+    noise_pose(2) = config.stdxyz  * as_scalar(randn(1));
+    noise_pose(3) = config.stdyaw  * as_scalar(randn(1));
+    noise_pose(4) = config.stdrp   * as_scalar(randn(1)); 
+    noise_pose(5) = config.stdrp   * as_scalar(randn(1));       
+    noise_vel(0)  = config.stdvxyz * as_scalar(randn(1));
+    noise_vel(1)  = config.stdvxyz * as_scalar(randn(1));
+    noise_vel(2)  = config.stdvxyz * as_scalar(randn(1));    
+    noisy_pose = drift_pose + noise_pose;
+    noisy_vel  = drift_vel  + noise_vel;
+    noisy_odom.pose.covariance[0+0*6]         = config.stdxyz * config.stdxyz;
+    noisy_odom.pose.covariance[1+1*6]         = config.stdxyz * config.stdxyz;
+    noisy_odom.pose.covariance[2+2*6]         = config.stdxyz * config.stdxyz;      
+    noisy_odom.pose.covariance[(0+3)+(0+3)*6] = config.stdyaw * config.stdyaw;
+    noisy_odom.pose.covariance[(1+3)+(1+3)*6] = config.stdrp  * config.stdrp;
+    noisy_odom.pose.covariance[(2+3)+(2+3)*6] = config.stdrp  * config.stdrp;       
+    noisy_odom.twist.covariance[0+0*6]        = config.stdvxyz * config.stdvxyz;
+    noisy_odom.twist.covariance[1+1*6]        = config.stdvxyz * config.stdvxyz;
+    noisy_odom.twist.covariance[2+2*6]        = config.stdvxyz * config.stdvxyz;     
+  }
+  else
+  {
+    noisy_pose = drift_pose;
+    noisy_vel  = drift_vel;
+    noisy_odom.pose.covariance[0+0*6]         = 0;
+    noisy_odom.pose.covariance[1+1*6]         = 0;
+    noisy_odom.pose.covariance[2+2*6]         = 0;
+    noisy_odom.pose.covariance[(0+3)+(0+3)*6] = 0;
+    noisy_odom.pose.covariance[(1+3)+(1+3)*6] = 0;
+    noisy_odom.pose.covariance[(2+3)+(2+3)*6] = 0;    
+    noisy_odom.twist.covariance[0+0*6]        = 0;
+    noisy_odom.twist.covariance[1+1*6]        = 0;
+    noisy_odom.twist.covariance[2+2*6]        = 0;      
+  }
+  // Assemble and publish odom
+  noisy_odom.pose.pose.position.x    = noisy_pose(0);
+  noisy_odom.pose.pose.position.y    = noisy_pose(1);
+  noisy_odom.pose.pose.position.z    = noisy_pose(2);
+  noisy_odom.twist.twist.linear.x    = noisy_vel(0);
+  noisy_odom.twist.twist.linear.y    = noisy_vel(1);
+  noisy_odom.twist.twist.linear.z    = noisy_vel(2);
+  colvec noisy_q                     = R_to_quaternion(ypr_to_R(noisy_pose.rows(3,5)));
+  noisy_odom.pose.pose.orientation.w = noisy_q(0);
+  noisy_odom.pose.pose.orientation.x = noisy_q(1);
+  noisy_odom.pose.pose.orientation.y = noisy_q(2);
+  noisy_odom.pose.pose.orientation.z = noisy_q(3);    
+  pubo.publish(noisy_odom);
+  // Check time interval and publish correction
+  static ros::Time prev_correction_t = msg->header.stamp;
+  if ((msg->header.stamp - prev_correction_t).toSec() > 1.0 / CORRECTION_RATE)
+  {
+    prev_correction_t             = msg->header.stamp;
+    correction.pose.position.x    = correction_pose(0);
+    correction.pose.position.y    = correction_pose(1);
+    correction.pose.position.z    = correction_pose(2);        
+    colvec correction_q           = R_to_quaternion(ypr_to_R(correction_pose.rows(3,5)));
+    correction.pose.orientation.w = correction_q(0);
+    correction.pose.orientation.x = correction_q(1);
+    correction.pose.orientation.y = correction_q(2);
+    correction.pose.orientation.z = correction_q(3);   
+    pubc.publish(correction);         
+  }
+}    
+
+void config_callback(so3_disturbance_generator::DisturbanceUIConfig &_config, uint32_t level) 
+{
+  config = _config;
+}
+
+void set_disturbance()
+{
+  geometry_msgs::Vector3 f;
+  geometry_msgs::Vector3 m;
+  f.x = config.fxy  + config.stdfxy  * as_scalar(randn(1));
+  f.y = config.fxy  + config.stdfxy  * as_scalar(randn(1));
+  f.z = config.fz   + config.stdfz   * as_scalar(randn(1));    
+  m.x = config.mrp  + config.stdmrp  * as_scalar(randn(1));    
+  m.y = config.mrp  + config.stdmrp  * as_scalar(randn(1));    
+  m.z = config.myaw + config.stdmyaw * as_scalar(randn(1));        
+  pubf.publish(f);
+  pubm.publish(m);
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "so3_disturbance_generator");
+  ros::NodeHandle n("~");
+
+  ros::Subscriber sub1 = n.subscribe("odom", 10, odom_callback);
+  pubo = n.advertise<nav_msgs::Odometry>(        "noisy_odom",         10);    
+  pubc = n.advertise<geometry_msgs::PoseStamped>("correction",         10);      
+  pubf = n.advertise<geometry_msgs::Vector3>(    "force_disturbance" , 10);
+  pubm = n.advertise<geometry_msgs::Vector3>(    "moment_disturbance", 10);  
+  
+  // Dynamic Reconfig
+  dynamic_reconfigure::Server<so3_disturbance_generator::DisturbanceUIConfig> server;
+  dynamic_reconfigure::Server<so3_disturbance_generator::DisturbanceUIConfig>::CallbackType ff;
+  ff = boost::bind(&config_callback, _1, _2);
+  server.setCallback(ff);   
+
+  ros::Rate r(100.0);
+  while(n.ok())
+  {
+    ros::spinOnce();
+    set_disturbance();
+    r.sleep();
+  }
+
+  return 0;
+}
diff --git a/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/__init__.py b/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/cfg/DisturbanceUIConfig.py b/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/cfg/DisturbanceUIConfig.py
new file mode 100755
index 0000000..fb472a4
--- /dev/null
+++ b/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/cfg/DisturbanceUIConfig.py
@@ -0,0 +1,70 @@
+## *********************************************************
+## 
+## File autogenerated for the so3_disturbance_generator package 
+## by the dynamic_reconfigure package.
+## Please do not edit.
+## 
+## ********************************************************/
+
+##**********************************************************
+## Software License Agreement (BSD License)
+##
+##  Copyright (c) 2008, Willow Garage, Inc.
+##  All rights reserved.
+##
+##  Redistribution and use in source and binary forms, with or without
+##  modification, are permitted provided that the following conditions
+##  are met:
+##
+##   * Redistributions of source code must retain the above copyright
+##     notice, this list of conditions and the following disclaimer.
+##   * Redistributions in binary form must reproduce the above
+##     copyright notice, this list of conditions and the following
+##     disclaimer in the documentation and/or other materials provided
+##     with the distribution.
+##   * Neither the name of the Willow Garage nor the names of its
+##     contributors may be used to endorse or promote products derived
+##     from this software without specific prior written permission.
+##
+##  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+##  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+##  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+##  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+##  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+##  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+##  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+##  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+##  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+##  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+##  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+##  POSSIBILITY OF SUCH DAMAGE.
+##**********************************************************/
+
+from dynamic_reconfigure.encoding import extract_params
+
+inf = float('inf')
+
+config_description = {'upper': 'DEFAULT', 'lower': 'groups', 'srcline': 233, 'name': 'Default', 'parent': 0, 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'cstate': 'true', 'parentname': 'Default', 'class': 'DEFAULT', 'field': 'default', 'state': True, 'parentclass': '', 'groups': [], 'parameters': [{'srcline': 259, 'description': 'Force XY', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'fxy', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': -1.0, 'type': 'double'}, {'srcline': 259, 'description': 'Std Force XY', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'stdfxy', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 259, 'description': 'Force Z', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'fz', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': -1.0, 'type': 'double'}, {'srcline': 259, 'description': 'Std Force Z', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'stdfz', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 259, 'description': 'Moment Roll/Pitch', 'max': 0.1, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'mrp', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': -0.1, 'type': 'double'}, {'srcline': 259, 'description': 'Std Moment Roll/Pitch', 'max': 0.1, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'stdmrp', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 259, 'description': 'Moment Yaw', 'max': 0.1, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'myaw', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': -0.1, 'type': 'double'}, {'srcline': 259, 'description': 'Std Moment Yaw', 'max': 0.1, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'stdmyaw', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 259, 'description': 'Enable Noisy Odometry', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'enable_noisy_odom', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 259, 'description': 'Std Noise XYZ', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'stdxyz', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 259, 'description': 'Std Noise Vel XYZ', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'stdvxyz', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 259, 'description': 'Std Noise Roll/Pitch', 'max': 0.1, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'stdrp', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 259, 'description': 'Std Noise Yaw', 'max': 0.1, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'stdyaw', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 259, 'description': 'Enable Drift Odometry', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'enable_drift_odom', 'edit_method': '', 'default': True, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 259, 'description': 'Std Noise Vel Drift XYZ', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'stdvdriftxyz', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 259, 'description': 'Std Noise Vel Drift Yaw', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'stdvdriftyaw', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 259, 'description': 'Vel Drift X', 'max': 0.2, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'vdriftx', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': -0.2, 'type': 'double'}, {'srcline': 259, 'description': 'Vel Drift Y', 'max': 0.2, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'vdrifty', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': -0.2, 'type': 'double'}, {'srcline': 259, 'description': 'Vel Drift Z', 'max': 0.2, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'vdriftz', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': -0.2, 'type': 'double'}, {'srcline': 259, 'description': 'Vel Drift Yaw', 'max': 0.1, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'vdriftyaw', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': -0.1, 'type': 'double'}, {'srcline': 259, 'description': '-------------------------------------------------------------------------------', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py', 'name': 'place_holder', 'edit_method': '', 'default': True, 'level': 0, 'min': False, 'type': 'bool'}], 'type': '', 'id': 0}
+
+min = {}
+max = {}
+defaults = {}
+level = {}
+type = {}
+all_level = 0
+
+#def extract_params(config):
+#    params = []
+#    params.extend(config['parameters'])    
+#    for group in config['groups']:
+#        params.extend(extract_params(group))
+#    return params
+
+for param in extract_params(config_description):
+    min[param['name']] = param['min']
+    max[param['name']] = param['max']
+    defaults[param['name']] = param['default']
+    level[param['name']] = param['level']
+    type[param['name']] = param['type']
+    all_level = all_level | param['level']
+
diff --git a/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/cfg/__init__.py b/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/cfg/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt b/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt
new file mode 100755
index 0000000..de9ff70
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt
@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(so3_quadrotor_simulator)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  quadrotor_msgs
+  uav_utils
+  cmake_utils
+)
+
+###########
+## Build ##
+###########
+
+find_package(Eigen3 REQUIRED)
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/ode)
+##
+find_package(Armadillo REQUIRED)
+include_directories(${ARMADILLO_INCLUDE_DIRS})
+
+catkin_package(
+  INCLUDE_DIRS include
+#  LIBRARIES irobot_msgs
+  CATKIN_DEPENDS roscpp quadrotor_msgs uav_utils
+#  DEPENDS Eigen3 system_lib
+)
+
+include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+)
+
+add_library(quadrotor_dynamics src/dynamics/Quadrotor.cpp)
+target_link_libraries(quadrotor_dynamics 
+   ${catkin_LIBRARIES}
+)
+
+add_executable(quadrotor_simulator_so3
+  src/quadrotor_simulator_so3.cpp)
+
+target_link_libraries(quadrotor_simulator_so3 
+   ${catkin_LIBRARIES}
+   quadrotor_dynamics
+)
diff --git a/uav_simulator/so3_quadrotor_simulator/config/rviz.rviz b/uav_simulator/so3_quadrotor_simulator/config/rviz.rviz
new file mode 100755
index 0000000..bbad53f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/config/rviz.rviz
@@ -0,0 +1,210 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /UAV1
+      Splitter Ratio: 0.5
+    Tree Height: 711
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+      - /3D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 138; 138; 138
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /odom_visualization_ukf/robot
+      Name: UAV
+      Namespaces:
+        mesh: true
+      Queue Size: 100
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 85; 255
+      Enabled: true
+      Head Diameter: 0.300000012
+      Head Length: 0.200000003
+      Length: 0.300000012
+      Line Style: Lines
+      Line Width: 0.0299999993
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.0299999993
+      Shaft Diameter: 0.100000001
+      Shaft Length: 0.100000001
+      Topic: /odom_visualization_1/path
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.100000001
+      Class: rviz/Pose
+      Color: 0; 255; 0
+      Enabled: true
+      Head Length: 0.300000012
+      Head Radius: 0.100000001
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.0500000007
+      Shape: Arrow
+      Topic: /odom_visualization_1/pose
+      Unreliable: false
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /odom_visualization_1/velocity
+      Name: Velocity
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 85; 255
+      Enabled: true
+      Head Diameter: 0.300000012
+      Head Length: 0.200000003
+      Length: 0.300000012
+      Line Style: Lines
+      Line Width: 0.0299999993
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.0299999993
+      Shaft Diameter: 0.100000001
+      Shaft Length: 0.100000001
+      Topic: /CircleNode_1/path
+      Unreliable: false
+      Value: true
+    - Class: rviz/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.100000001
+      Reference Frame: <Fixed Frame>
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 89; 89; 89
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+    - Class: rviz_plugins/GameLikeInput
+      RangeX_max: 4
+      RangeX_min: -4
+      RangeY_max: 2.5
+      RangeY_min: -2.5
+      RangeZ_max: 1.70000005
+      RangeZ_min: 0.800000012
+      TopicPoint: point_list
+      TopicSelect: select_list
+      TopicSwarm: swarm
+    - Class: rviz_plugins/Goal3DTool
+      Topic: goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10.507864
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.487759829
+        Y: -0.155134588
+        Z: 2.8520534
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.759796858
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.71485233
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 984
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000016700000355fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002500000355000000d600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000037a000000ab00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005400000003efc0100000002fb0000000800540069006d0065010000000000000540000002a400fffffffb0000000800540069006d00650100000000000004500000000000000000000003d40000035500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1344
+  X: 565
+  Y: 21
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/CHANGELOG b/uav_simulator/so3_quadrotor_simulator/include/ode/CHANGELOG
new file mode 100755
index 0000000..b1537eb
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/CHANGELOG
@@ -0,0 +1,9 @@
+odeint 2.1
+
+* versioning system
+* generation functions
+* bugfixing
+
+odeint 2.2 (still running)
+
+* removing same_size and resize from state_wrapper into separate functions
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/Jamroot b/uav_simulator/so3_quadrotor_simulator/include/ode/Jamroot
new file mode 100755
index 0000000..db8bfbc
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/Jamroot
@@ -0,0 +1,44 @@
+# Copyright 2009 Karsten Ahnert and Mario Mulansky.
+# Distributed under the Boost Software License, Version 1.0. (See
+# accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+import os ;
+import modules ;
+import path ;
+
+path-constant BOOST_ROOT : [ os.environ BOOST_ROOT ] ; 
+
+project 
+   : requirements 
+     <include>$(BOOST_ROOT)
+     <toolset>clang:<cxxflags>-Wno-unused-variable
+   ;
+
+# tests, regression tests and examples
+build-project libs/numeric/odeint/test ;
+build-project libs/numeric/odeint/examples ;
+
+
+# additional tests with external libraries :
+# build-project libs/numeric/odeint/test_external/gmp ;
+# build-project libs/numeric/odeint/test_external/mkl ;
+# build-project libs/numeric/odeint/test_external/gsl ;
+
+
+# docs:
+# build-project libs/numeric/odeint/doc ;
+
+
+
+
+
+
+###### The following is copied from another sandbox project #####
+###### to get the quickbook and boostbook working ...       #####
+
+# local boost-root = [ modules.peek : BOOST_ROOT ] ;
+# local explore-header-include = $(top)/../.. ;
+# use-project /boost/regex : $(boost-root)/libs/regex/build ;
+
+##################################################################
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/README b/uav_simulator/so3_quadrotor_simulator/include/ode/README
new file mode 100755
index 0000000..f34601f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/README
@@ -0,0 +1 @@
+odeint is a highly flexible library for solving ordinary differential equations.
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp
new file mode 100755
index 0000000..3200fbe
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp
@@ -0,0 +1,75 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint.hpp
+
+ [begin_description]
+ Forward include for odeint. Includes nearly everything.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_HPP_INCLUDED
+
+#include <boost/numeric/odeint/version.hpp>
+#include <boost/numeric/odeint/config.hpp>
+
+// start with ublas wrapper because we need its specializations before including state_wrapper.hpp
+#include <boost/numeric/odeint/util/ublas_wrapper.hpp>
+
+#include <boost/numeric/odeint/stepper/euler.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp>
+
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+
+#include <boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp>
+
+#include <boost/numeric/odeint/stepper/bulirsch_stoer.hpp>
+
+#ifndef __CUDACC__
+/* Bulirsch Stoer with Dense Output does not compile with nvcc
+ * because of the binomial library used there which relies on unsupported SSE functions
+ */
+#include <boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp>
+#endif
+
+#include <boost/numeric/odeint/stepper/symplectic_euler.hpp>
+#include <boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp>
+
+#include <boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp>
+
+#include <boost/numeric/odeint/stepper/implicit_euler.hpp>
+#include <boost/numeric/odeint/stepper/rosenbrock4.hpp>
+#include <boost/numeric/odeint/stepper/rosenbrock4_controller.hpp>
+#include <boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp>
+
+/*
+ * Including this algebra slows down the compilation time
+ */
+// #include <boost/numeric/odeint/algebra/fusion_algebra.hpp>
+#include <boost/numeric/odeint/algebra/vector_space_algebra.hpp>
+
+#include <boost/numeric/odeint/integrate/integrate.hpp>
+#include <boost/numeric/odeint/integrate/integrate_adaptive.hpp>
+#include <boost/numeric/odeint/integrate/integrate_const.hpp>
+#include <boost/numeric/odeint/integrate/integrate_n_steps.hpp>
+#include <boost/numeric/odeint/integrate/integrate_times.hpp>
+
+#include <boost/numeric/odeint/integrate/observer_collection.hpp>
+
+#include <boost/numeric/odeint/stepper/generation.hpp>
+
+
+#endif // BOOST_NUMERIC_ODEINT_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp
new file mode 100755
index 0000000..096e427
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp
@@ -0,0 +1,265 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/algebra/array_algebra.hpp
+
+ [begin_description]
+ Algebra for boost::array. Highly specialized for odeint. Const arguments are introduce to work with odeint.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_ARRAY_ALGEBRA_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_ALGEBRA_ARRAY_ALGEBRA_HPP_INCLUDED
+
+#include <boost/array.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+struct array_algebra
+{
+    template< typename T , size_t dim , class Op >
+    static void for_each1( boost::array< T , dim > &s1 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] );
+    }
+
+
+    template< typename T1 , typename T2 , size_t dim , class Op >
+    static void for_each2( boost::array< T1 , dim > &s1 ,
+            const boost::array< T2 , dim > &s2 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each3( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] );
+    }
+
+    /* different const signature - required for the scale_sum_swap2 operation */
+    template< typename T , size_t dim , class Op >
+    static void for_each3( boost::array< T , dim > &s1 ,
+            boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each4( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 ,
+            const boost::array< T , dim > &s4 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] , s4[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each5( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 ,
+            const boost::array< T , dim > &s4 ,
+            const boost::array< T , dim > &s5 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] , s4[i] , s5[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each6( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 ,
+            const boost::array< T , dim > &s4 ,
+            const boost::array< T , dim > &s5 ,
+            const boost::array< T , dim > &s6 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] , s4[i] , s5[i] , s6[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each7( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 ,
+            const boost::array< T , dim > &s4 ,
+            const boost::array< T , dim > &s5 ,
+            const boost::array< T , dim > &s6 ,
+            const boost::array< T , dim > &s7 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] , s4[i] , s5[i] , s6[i] , s7[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each8( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 ,
+            const boost::array< T , dim > &s4 ,
+            const boost::array< T , dim > &s5 ,
+            const boost::array< T , dim > &s6 ,
+            const boost::array< T , dim > &s7 ,
+            const boost::array< T , dim > &s8 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] , s4[i] , s5[i] , s6[i] , s7[i] , s8[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each9( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 ,
+            const boost::array< T , dim > &s4 ,
+            const boost::array< T , dim > &s5 ,
+            const boost::array< T , dim > &s6 ,
+            const boost::array< T , dim > &s7 ,
+            const boost::array< T , dim > &s8 ,
+            const boost::array< T , dim > &s9 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] , s4[i] , s5[i] , s6[i] , s7[i] , s8[i] , s9[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each10( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 ,
+            const boost::array< T , dim > &s4 ,
+            const boost::array< T , dim > &s5 ,
+            const boost::array< T , dim > &s6 ,
+            const boost::array< T , dim > &s7 ,
+            const boost::array< T , dim > &s8 ,
+            const boost::array< T , dim > &s9 ,
+            const boost::array< T , dim > &s10 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] , s4[i] , s5[i] , s6[i] , s7[i] , s8[i] , s9[i] , s10[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each11( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 ,
+            const boost::array< T , dim > &s4 ,
+            const boost::array< T , dim > &s5 ,
+            const boost::array< T , dim > &s6 ,
+            const boost::array< T , dim > &s7 ,
+            const boost::array< T , dim > &s8 ,
+            const boost::array< T , dim > &s9 ,
+            const boost::array< T , dim > &s10 ,
+            const boost::array< T , dim > &s11 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] , s4[i] , s5[i] , s6[i] , s7[i] , s8[i] , s9[i] , s10[i] , s11[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each12( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 ,
+            const boost::array< T , dim > &s4 ,
+            const boost::array< T , dim > &s5 ,
+            const boost::array< T , dim > &s6 ,
+            const boost::array< T , dim > &s7 ,
+            const boost::array< T , dim > &s8 ,
+            const boost::array< T , dim > &s9 ,
+            const boost::array< T , dim > &s10 ,
+            const boost::array< T , dim > &s11 ,
+            const boost::array< T , dim > &s12 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] , s4[i] , s5[i] , s6[i] , s7[i] , s8[i] , s9[i] , s10[i] , s11[i] , s12[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each13( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 ,
+            const boost::array< T , dim > &s4 ,
+            const boost::array< T , dim > &s5 ,
+            const boost::array< T , dim > &s6 ,
+            const boost::array< T , dim > &s7 ,
+            const boost::array< T , dim > &s8 ,
+            const boost::array< T , dim > &s9 ,
+            const boost::array< T , dim > &s10 ,
+            const boost::array< T , dim > &s11 ,
+            const boost::array< T , dim > &s12 ,
+            const boost::array< T , dim > &s13 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] , s4[i] , s5[i] , s6[i] , s7[i] , s8[i] , s9[i] , s10[i] , s11[i] , s12[i] , s13[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each14( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 ,
+            const boost::array< T , dim > &s4 ,
+            const boost::array< T , dim > &s5 ,
+            const boost::array< T , dim > &s6 ,
+            const boost::array< T , dim > &s7 ,
+            const boost::array< T , dim > &s8 ,
+            const boost::array< T , dim > &s9 ,
+            const boost::array< T , dim > &s10 ,
+            const boost::array< T , dim > &s11 ,
+            const boost::array< T , dim > &s12 ,
+            const boost::array< T , dim > &s13 ,
+            const boost::array< T , dim > &s14 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] , s4[i] , s5[i] , s6[i] , s7[i] , s8[i] , s9[i] , s10[i] , s11[i] , s12[i] , s13[i] , s14[i] );
+    }
+
+    template< typename T , size_t dim , class Op >
+    static void for_each15( boost::array< T , dim > &s1 ,
+            const boost::array< T , dim > &s2 ,
+            const boost::array< T , dim > &s3 ,
+            const boost::array< T , dim > &s4 ,
+            const boost::array< T , dim > &s5 ,
+            const boost::array< T , dim > &s6 ,
+            const boost::array< T , dim > &s7 ,
+            const boost::array< T , dim > &s8 ,
+            const boost::array< T , dim > &s9 ,
+            const boost::array< T , dim > &s10 ,
+            const boost::array< T , dim > &s11 ,
+            const boost::array< T , dim > &s12 ,
+            const boost::array< T , dim > &s13 ,
+            const boost::array< T , dim > &s14 ,
+            const boost::array< T , dim > &s15 , Op op )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            op( s1[i] , s2[i] , s3[i] , s4[i] , s5[i] , s6[i] , s7[i] , s8[i] , s9[i] , s10[i] , s11[i] , s12[i] , s13[i] , s14[i] , s15[i] );
+    }
+
+
+    template< class Value , class T , size_t dim , class Red >
+    static Value reduce( const boost::array< T , dim > &s , Red red , Value init)
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+            init = red( init , s[i] );
+        return init;
+    }
+
+};
+
+}
+}
+}
+
+#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_ARRAY_ALGEBRA_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/default_operations.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/default_operations.hpp
new file mode 100755
index 0000000..3fe4b56
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/default_operations.hpp
@@ -0,0 +1,602 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/algebra/default_operations.hpp
+
+ [begin_description]
+ Default operations. They work with the default numerical types, like float, double, complex< double> ...
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DEFAULT_OPERATIONS_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_ALGEBRA_DEFAULT_OPERATIONS_HPP_INCLUDED
+
+#include <algorithm>
+
+#include <boost/config.hpp>
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint/util/unit_helper.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+
+/*
+ * Notes:
+ *
+ * * the results structs are needed in order to work with fusion_algebra
+ */
+struct default_operations
+{
+
+    template< class Fac1 = double >
+    struct scale
+    {
+        const Fac1 m_alpha1;
+
+        scale( Fac1 alpha1 ) : m_alpha1( alpha1 ) { }
+
+        template< class T1 >
+        void operator()( T1 &t1 ) const
+        {
+            t1 *= m_alpha1;
+        }
+
+        typedef void result_type;
+    };
+
+    template< class Fac1 = double >
+    struct scale_sum1
+    {
+        const Fac1 m_alpha1;
+
+        scale_sum1( Fac1 alpha1 ) : m_alpha1( alpha1 ) { }
+
+        template< class T1 , class T2 >
+        void operator()( T1 &t1 , const T2 &t2 ) const
+        {
+            t1 = m_alpha1 * t2;
+        }
+
+        typedef void result_type;
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 >
+    struct scale_sum2
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+
+        scale_sum2( Fac1 alpha1 , Fac2 alpha2 ) : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { }
+
+        template< class T1 , class T2 , class T3 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3;
+        }
+
+        typedef void result_type;
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 >
+    struct scale_sum3
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+
+        scale_sum3( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 ) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4;
+        }
+
+        typedef void result_type;
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 >
+    struct scale_sum4
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+
+        scale_sum4( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5;
+        }
+
+        typedef void result_type;
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 >
+    struct scale_sum5
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+
+        scale_sum5( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , Fac5 alpha5 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6;
+        }
+
+        typedef void result_type;
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 >
+    struct scale_sum6
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+        const Fac6 m_alpha6;
+
+        scale_sum6( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , Fac5 alpha5 , Fac6 alpha6 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ){ }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 ,const T7 &t7) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7;
+        }
+
+        typedef void result_type;
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 >
+    struct scale_sum7
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+        const Fac6 m_alpha6;
+        const Fac7 m_alpha7;
+
+        scale_sum7( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 ,
+                Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 ) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8;
+        }
+
+        typedef void result_type;
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 >
+    struct scale_sum8
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+        const Fac6 m_alpha6;
+        const Fac7 m_alpha7;
+        const Fac8 m_alpha8;
+
+        scale_sum8( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 ,
+                Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 ) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9;
+        }
+
+        typedef void result_type;
+    };
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 >
+    struct scale_sum9
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+        const Fac6 m_alpha6;
+        const Fac7 m_alpha7;
+        const Fac8 m_alpha8;
+        const Fac9 m_alpha9;
+
+        scale_sum9( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 ,
+                Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 ) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10;
+        }
+
+        typedef void result_type;
+    };
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 >
+    struct scale_sum10
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+        const Fac6 m_alpha6;
+        const Fac7 m_alpha7;
+        const Fac8 m_alpha8;
+        const Fac9 m_alpha9;
+        const Fac10 m_alpha10;
+
+        scale_sum10( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 ,
+                Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 , Fac10 alpha10 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 ) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11;
+        }
+
+        typedef void result_type;
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 , class Fac11 = Fac10 >
+    struct scale_sum11
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+        const Fac6 m_alpha6;
+        const Fac7 m_alpha7;
+        const Fac8 m_alpha8;
+        const Fac9 m_alpha9;
+        const Fac10 m_alpha10;
+        const Fac11 m_alpha11;
+
+        scale_sum11( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 ,
+                Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 ,
+                Fac10 alpha10 , Fac11 alpha11 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) , m_alpha11( alpha11 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 , class T12 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 , const T12 &t12 ) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11 + m_alpha11 * t12;
+        }
+
+        typedef void result_type;
+    };
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 , class Fac11 = Fac10 , class Fac12 = Fac11 >
+    struct scale_sum12
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+        const Fac6 m_alpha6;
+        const Fac7 m_alpha7;
+        const Fac8 m_alpha8;
+        const Fac9 m_alpha9;
+        const Fac10 m_alpha10;
+        const Fac11 m_alpha11;
+        const Fac12 m_alpha12;
+
+        scale_sum12( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 ,
+                Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 ,
+                Fac10 alpha10 , Fac11 alpha11 , Fac12 alpha12 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) , m_alpha11( alpha11 ) , m_alpha12( alpha12 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 , class T12 , class T13 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 , const T12 &t12 , const T13 &t13 ) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11 + m_alpha11 * t12 + m_alpha12 * t13;
+        }
+
+        typedef void result_type;
+    };
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 , class Fac11 = Fac10 , class Fac12 = Fac11 , class Fac13 = Fac12 >
+    struct scale_sum13
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+        const Fac6 m_alpha6;
+        const Fac7 m_alpha7;
+        const Fac8 m_alpha8;
+        const Fac9 m_alpha9;
+        const Fac10 m_alpha10;
+        const Fac11 m_alpha11;
+        const Fac12 m_alpha12;
+        const Fac13 m_alpha13;
+
+        scale_sum13( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 ,
+                Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 ,
+                Fac10 alpha10 , Fac11 alpha11 , Fac12 alpha12 , Fac13 alpha13 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) , m_alpha11( alpha11 ) , m_alpha12( alpha12 ) , m_alpha13( alpha13 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 , class T12 , class T13 , class T14 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 , const T12 &t12 , const T13 &t13 , const T14 &t14 ) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11 + m_alpha11 * t12 + m_alpha12 * t13 + m_alpha13 * t14;
+        }
+
+        typedef void result_type;
+    };
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 , class Fac11 = Fac10 , class Fac12 = Fac11 , class Fac13 = Fac12 , class Fac14 = Fac13 >
+    struct scale_sum14
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+        const Fac6 m_alpha6;
+        const Fac7 m_alpha7;
+        const Fac8 m_alpha8;
+        const Fac9 m_alpha9;
+        const Fac10 m_alpha10;
+        const Fac11 m_alpha11;
+        const Fac12 m_alpha12;
+        const Fac13 m_alpha13;
+        const Fac14 m_alpha14;
+
+        scale_sum14( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 ,
+                Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 ,
+                Fac10 alpha10 , Fac11 alpha11 , Fac12 alpha12 , Fac13 alpha13 , Fac14 alpha14 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) , m_alpha11( alpha11 ) , m_alpha12( alpha12 ) , m_alpha13( alpha13 ) , m_alpha14( alpha14 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 , class T12 , class T13 , class T14 , class T15 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 , const T12 &t12 , const T13 &t13 , const T14 &t14 , const T15 &t15 ) const
+        {
+            t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11 + m_alpha11 * t12 + m_alpha12 * t13 + m_alpha13 * t14 + m_alpha14 * t15;
+        }
+
+        typedef void result_type;
+    };
+
+    template< class Fac1 = double , class Fac2 = Fac1 >
+    struct scale_sum_swap2
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+
+        scale_sum_swap2( Fac1 alpha1 , Fac2 alpha2 ) : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { }
+
+        template< class T1 , class T2 , class T3 >
+        void operator()( T1 &t1 , T2 &t2 , const T3 &t3) const
+        {
+            const T1 tmp( t1 );
+            t1 = m_alpha1 * t2 + m_alpha2 * t3;
+            t2 = tmp;
+        }
+
+        typedef void result_type;
+    };
+
+    /*
+     * for usage in for_each2
+     *
+     * Works with boost::units by eliminating the unit
+     */
+    template< class Fac1 = double >
+    struct rel_error
+    {
+        const Fac1 m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt;
+
+        rel_error( Fac1 eps_abs , Fac1 eps_rel , Fac1 a_x , Fac1 a_dxdt )
+        : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt ) { }
+
+
+        template< class T1 , class T2 , class T3 >
+        void operator()( T3 &t3 , const T1 &t1 , const T2 &t2 ) const
+        {
+            using std::abs;
+            set_unit_value( t3 , abs( get_unit_value( t3 ) ) / ( m_eps_abs + m_eps_rel * ( m_a_x * abs( get_unit_value( t1 ) ) + m_a_dxdt * abs( get_unit_value( t2 ) ) ) ) );
+        }
+
+        typedef void result_type;
+    };
+
+
+    /*
+     * for usage in for_each3
+     *
+     * used in the controller for the rosenbrock4 method
+     *
+     * Works with boost::units by eliminating the unit
+     */
+    template< class Fac1 = double >
+    struct default_rel_error
+    {
+        const Fac1 m_eps_abs , m_eps_rel ;
+
+        default_rel_error( Fac1 eps_abs , Fac1 eps_rel )
+        : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) { }
+
+
+        /*
+         * xerr = xerr / ( eps_abs + eps_rel * max( x , x_old ) )
+         */
+        template< class T1 , class T2 , class T3 >
+        void operator()( T3 &t3 , const T1 &t1 , const T2 &t2 ) const
+        {
+            BOOST_USING_STD_MAX();
+            using std::abs;
+            Fac1 x1 = abs( get_unit_value( t1 ) ) , x2 = abs( get_unit_value( t2 ) );
+            set_unit_value( t3 , abs( get_unit_value( t3 ) ) / ( m_eps_abs + m_eps_rel * max BOOST_PREVENT_MACRO_SUBSTITUTION ( x1 , x2 ) ) );
+        }
+
+        typedef void result_type;
+    };
+
+
+
+    /*
+     * for usage in reduce
+     */
+
+    template< class Value >
+    struct maximum
+    {
+        template< class Fac1 , class Fac2 >
+        Value operator()( Fac1 t1 , const Fac2 t2 ) const
+        {
+            using std::abs;
+            Value a1 = abs( get_unit_value( t1 ) ) , a2 = abs( get_unit_value( t2 ) );
+            return ( a1 < a2 ) ? a2 : a1 ;
+        }
+
+        typedef Value result_type;
+    };
+
+
+
+
+
+    template< class Fac1 = double >
+    struct rel_error_max
+    {
+        const Fac1 m_eps_abs , m_eps_rel;
+
+        rel_error_max( Fac1 eps_abs , Fac1 eps_rel )
+        : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel )
+        { }
+
+        template< class Res , class T1 , class T2 , class T3 >
+        Res operator()( Res r , const T1 &x_old , const T2 &x , const T3 &x_err )
+        {
+            BOOST_USING_STD_MAX();
+            using std::abs;
+            Res tmp = abs( get_unit_value( x_err ) ) / ( m_eps_abs + m_eps_rel * max BOOST_PREVENT_MACRO_SUBSTITUTION ( abs( x_old ) , abs( x ) ) );
+            return max BOOST_PREVENT_MACRO_SUBSTITUTION ( r , tmp );
+        }
+    };
+
+
+    template< class Fac1 = double >
+    struct rel_error_max2
+    {
+        const Fac1 m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt;
+
+        rel_error_max2( Fac1 eps_abs , Fac1 eps_rel , Fac1 a_x , Fac1 a_dxdt )
+        : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt )
+        { }
+
+        template< class Res , class T1 , class T2 , class T3 , class T4 >
+        Res operator()( Res r , const T1 &x_old , const T2 &x , const T3 &dxdt_old , const T4 &x_err )
+        {
+            BOOST_USING_STD_MAX();
+            using std::abs;
+            Res tmp = abs( get_unit_value( x_err ) ) /
+                    ( m_eps_abs + m_eps_rel * ( m_a_x * abs( get_unit_value( x_old ) ) + m_a_dxdt * abs( get_unit_value( dxdt_old ) ) ) );
+            return max BOOST_PREVENT_MACRO_SUBSTITUTION ( r , tmp );
+        }
+    };
+
+
+
+
+    template< class Fac1 = double >
+    struct rel_error_l2
+    {
+        const Fac1 m_eps_abs , m_eps_rel;
+
+        rel_error_l2( Fac1 eps_abs , Fac1 eps_rel )
+        : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel )
+        { }
+
+        template< class Res , class T1 , class T2 , class T3 >
+        Res operator()( Res r , const T1 &x_old , const T2 &x , const T3 &x_err )
+        {
+            BOOST_USING_STD_MAX();
+            using std::abs;
+            Res tmp = abs( get_unit_value( x_err ) ) / ( m_eps_abs + m_eps_rel * max BOOST_PREVENT_MACRO_SUBSTITUTION ( abs( x_old ) , abs( x ) ) );
+            return r + tmp * tmp;
+        }
+    };
+
+
+
+
+    template< class Fac1 = double >
+    struct rel_error_l2_2
+    {
+        const Fac1 m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt;
+
+        rel_error_l2_2( Fac1 eps_abs , Fac1 eps_rel , Fac1 a_x , Fac1 a_dxdt )
+        : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt )
+        { }
+
+        template< class Res , class T1 , class T2 , class T3 , class T4 >
+        Res operator()( Res r , const T1 &x_old , const T2 &x , const T3 &dxdt_old , const T4 &x_err )
+        {
+            using std::abs;
+            Res tmp = abs( get_unit_value( x_err ) ) /
+                    ( m_eps_abs + m_eps_rel * ( m_a_x * abs( get_unit_value( x_old ) ) + m_a_dxdt * abs( get_unit_value( dxdt_old ) ) ) );
+            return r + tmp * tmp;
+        }
+    };
+
+
+
+
+
+
+};
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DEFAULT_OPERATIONS_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp
new file mode 100755
index 0000000..8693e84
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp
@@ -0,0 +1,165 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/algebra/detail/for_each.hpp
+
+ [begin_description]
+ Default for_each implementations.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_FOR_EACH_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_FOR_EACH_HPP_INCLUDED
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+
+    template< class Iterator1 , class Operation >
+    inline void for_each1( Iterator1 first1 , Iterator1 last1 , Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ );
+    }
+
+
+    template< class Iterator1 , class Iterator2 , class Operation >
+    inline void for_each2( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ );
+    }
+
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Operation >
+    inline void for_each3( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ );
+    }
+
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Operation >
+    inline void for_each4( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, Iterator4 first4, Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ , *first4++ );
+    }
+
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Operation >
+    inline void for_each5( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3,
+                           Iterator4 first4, Iterator5 first5, Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ );
+    }
+
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Operation >
+    inline void for_each6( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3,
+                           Iterator4 first4, Iterator5 first5, Iterator6 first6 , Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ );
+    }
+
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Operation >
+    inline void for_each7( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3,
+                           Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ );
+    }
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Operation >
+    inline void for_each8( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3,
+                           Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ );
+    }
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Operation >
+    inline void for_each9( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3,
+                           Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 ,
+                           Iterator9 first9 , Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ );
+    }
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Operation >
+    inline void for_each10( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3,
+                            Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 ,
+                            Iterator9 first9 , Iterator10 first10 , Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ );
+    }
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Operation >
+    inline void for_each11( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3,
+                            Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 ,
+                            Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ );
+    }
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Iterator12 , class Operation >
+    inline void for_each12( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3,
+                            Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 ,
+                            Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Iterator12 first12 , Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ , *first12++ );
+    }
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Iterator12 , class Iterator13 , class Operation >
+    inline void for_each13( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3,
+                            Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 ,
+                            Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Iterator12 first12 , Iterator13 first13 , Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ , *first12++ , *first13++ );
+    }
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Iterator12 , class Iterator13 , class Iterator14 , class Operation >
+    inline void for_each14( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3,
+                            Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 ,
+                            Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Iterator12 first12 , Iterator13 first13 ,
+                            Iterator14 first14 , Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ , *first12++ , *first13++ , *first14++ );
+    }
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Iterator12 , class Iterator13 , class Iterator14 , class Iterator15 , class Operation >
+    inline void for_each15( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3,
+                            Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 ,
+                            Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Iterator12 first12 , Iterator13 first13 ,
+                            Iterator14 first14 , Iterator15 first15 , Operation op )
+    {
+        for( ; first1 != last1 ; )
+            op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ , *first12++ , *first13++ , *first14++ , *first15++ );
+    }
+
+
+} // detail
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_FOR_EACH_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp
new file mode 100755
index 0000000..ef97327
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp
@@ -0,0 +1,43 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/algebra/detail/macros.hpp
+
+ [begin_description]
+ Some macros for type checking.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_MACROS_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_MACROS_HPP_INCLUDED
+
+
+//type traits aren't working with nvcc
+#ifndef __CUDACC__
+#include <boost/type_traits.hpp>
+#include <boost/static_assert.hpp>
+
+#define BOOST_ODEINT_CHECK_CONTAINER_TYPE( Type1 , Type2 ) \
+        BOOST_STATIC_ASSERT(( boost::is_same< typename boost::remove_const< Type1 >::type , Type2 >::value ))
+
+#else
+//empty macro for nvcc
+#define BOOST_ODEINT_CHECK_CONTAINER_TYPE( Type1 , Type2 )
+
+#endif // __CUDACC__
+
+
+
+/*
+#define BOOST_ODEINT_CHECK_OPERATION_ARITY( Operation , Arity ) \
+        BOOST_STATIC_ASSERT(( boost::function_traits< Operation >::arity == Arity ))
+ */
+
+#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_MACROS_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp
new file mode 100755
index 0000000..247d03d
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp
@@ -0,0 +1,67 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/algebra/detail/reduce.hpp
+
+ [begin_description]
+ Default reduce implementation.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_REDUCE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_REDUCE_HPP_INCLUDED
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+template< class ValueType , class Iterator1 , class Reduction >
+inline ValueType reduce( Iterator1 first1 , Iterator1 last1 , Reduction red, ValueType init)
+{
+    for( ; first1 != last1 ; )
+        init = red( init , *first1++ );
+    return init;
+}
+
+
+template< class ValueType , class Iterator1 , class Iterator2 , class Reduction >
+inline ValueType reduce2( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Reduction red, ValueType init)
+{
+    for( ; first1 != last1 ; )
+        init = red( init , *first1++ , *first2++ );
+    return init;
+}
+
+template< class ValueType , class Iterator1 , class Iterator2 , class Iterator3 , class Reduction >
+inline ValueType reduce3( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3 , Reduction red, ValueType init)
+{
+    for( ; first1 != last1 ; )
+        init = red( init , *first1++ , *first2++ , *first3++ );
+    return init;
+}
+
+template< class ValueType , class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Reduction >
+inline ValueType reduce4( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3 , Iterator4 first4 , Reduction red, ValueType init)
+{
+    for( ; first1 != last1 ; )
+        init = red( init , *first1++ , *first2++ , *first3++ , *first4++ );
+    return init;
+}
+
+
+} // detail
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_REDUCE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp
new file mode 100755
index 0000000..81c4070
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp
@@ -0,0 +1,186 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/algebra/fusion_algebra.hpp
+
+ [begin_description]
+ Algebra for boost::fusion sequences.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_FUSION_ALGEBRA_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_ALGEBRA_FUSION_ALGEBRA_HPP_INCLUDED
+
+
+#include <boost/fusion/container/vector.hpp>
+#include <boost/fusion/algorithm/iteration/for_each.hpp>
+#include <boost/fusion/view/zip_view.hpp>
+#include <boost/fusion/functional/generation/make_fused.hpp>
+#include <boost/fusion/algorithm/iteration/accumulate.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+struct fusion_algebra
+{
+    template< class S1 , class Op >
+    static void for_each1( S1 &s1 , Op op )
+    {
+        boost::fusion::for_each( s1 , op );
+    };
+
+
+    template< class S1 , class S2 , class Op >
+    static void for_each2( S1 &s1 , S2 &s2 , Op op )
+    {
+        typedef boost::fusion::vector< S1& , S2& > Sequences;
+        Sequences sequences( s1 , s2 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+
+    template< class S1 , class S2 , class S3 , class Op >
+    static void for_each3( S1 &s1 , S2 &s2 , S3 &s3 , Op op )
+    {
+        typedef boost::fusion::vector< S1& , S2& , S3& > Sequences;
+        Sequences sequences( s1 , s2 , s3 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class Op >
+    static void for_each4( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , Op op )
+    {
+        typedef boost::fusion::vector< S1& , S2& , S3& , S4& > Sequences;
+        Sequences sequences( s1 , s2 , s3 , s4 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class Op >
+    static void for_each5( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , Op op )
+    {
+        typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& > Sequences;
+        Sequences sequences( s1 , s2 , s3 , s4 , s5 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class Op >
+    static void for_each6( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , Op op )
+    {
+        typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& > Sequences;
+        Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class Op >
+    static void for_each7( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , Op op )
+    {
+        typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& > Sequences;
+        Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class Op >
+    static void for_each8( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , Op op )
+    {
+        BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 8 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" );
+        typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& > Sequences;
+        Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class Op >
+    static void for_each9( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , Op op )
+    {
+        BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 9 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" );
+        typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& > Sequences;
+        Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class Op >
+    static void for_each10( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , Op op )
+    {
+        BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 10 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" );
+        typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& > Sequences;
+        Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class Op >
+    static void for_each11( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , Op op )
+    {
+        BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 11 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" );
+        BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 11 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" );
+        typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& > Sequences;
+        Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class Op >
+    static void for_each12( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , Op op )
+    {
+        BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 12 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" );
+        BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 12 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" );
+        typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& , S12& > Sequences;
+        Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class Op >
+    static void for_each13( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , Op op )
+    {
+        BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 13 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" );
+        BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 13 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" );
+        typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& , S12& , S13& > Sequences;
+        Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class Op >
+    static void for_each14( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , Op op )
+    {
+        BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 14 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" );
+        BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 14 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" );
+        typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& , S12& , S13& , S14& > Sequences;
+        Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 , s14 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class S15 , class Op >
+    static void for_each15( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , S15 &s15 , Op op )
+    {
+        BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 15 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" );
+        BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 15 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" );
+        typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& , S12& , S13& , S14& , S15& > Sequences;
+        Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 , s14 , s15 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) );
+    }
+
+    template< class Value , class S , class Reduction >
+    static Value reduce( const S &s , Reduction red , Value init)
+    {
+        return boost::fusion::accumulate( s , init , red );
+    }
+};
+
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_FUSION_ALGEBRA_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp
new file mode 100755
index 0000000..c54e09b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp
@@ -0,0 +1,159 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/algebra/range_algebra.hpp
+
+ [begin_description]
+ Default algebra, which works with the most state types, like vector< double >, boost::array< double >, boost::range.
+ Internally is uses boost::range to obtain the begin and end iterator of the according sequence.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_RANGE_ALGEBRA_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_ALGEBRA_RANGE_ALGEBRA_HPP_INCLUDED
+
+#include <boost/range.hpp>
+#include <boost/mpl/size_t.hpp>
+
+#include <boost/numeric/odeint/algebra/detail/macros.hpp>
+#include <boost/numeric/odeint/algebra/detail/for_each.hpp>
+#include <boost/numeric/odeint/algebra/detail/reduce.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+struct range_algebra
+{
+    template< class S1 , class Op >
+    static void for_each1( S1 &s1 , Op op )
+    {
+        detail::for_each1( boost::begin( s1 ) , boost::end( s1 ) ,
+                op );
+    }
+
+    template< class S1 , class S2 , class Op >
+    static void for_each2( S1 &s1 , S2 &s2 , Op op )
+    {
+        detail::for_each2( boost::begin( s1 ) , boost::end( s1 ) ,
+                boost::begin( s2 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class Op >
+    static void for_each3( S1 &s1 , S2 &s2 , S3 &s3 , Op op )
+    {
+        detail::for_each3( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class Op >
+    static void for_each4( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , Op op )
+    {
+        detail::for_each4( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class Op >
+    static void for_each5( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , Op op )
+    {
+        detail::for_each5( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class Op >
+    static void for_each6( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , Op op )
+    {
+        detail::for_each6( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class Op >
+    static void for_each7( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , Op op )
+    {
+        detail::for_each7( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class Op >
+    static void for_each8( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , Op op )
+    {
+        detail::for_each8( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class Op >
+    static void for_each9( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , Op op )
+    {
+        detail::for_each9( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class Op >
+    static void for_each10( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , Op op )
+    {
+        detail::for_each10( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class Op >
+    static void for_each11( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , Op op )
+    {
+        detail::for_each11( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class Op >
+    static void for_each12( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , Op op )
+    {
+        detail::for_each12( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , boost::begin( s12 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class Op >
+    static void for_each13( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , Op op )
+    {
+        detail::for_each13( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , boost::begin( s12 ) , boost::begin( s13 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class Op >
+    static void for_each14( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , Op op )
+    {
+        detail::for_each14( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , boost::begin( s12 ) , boost::begin( s13 ) , boost::begin( s14 ) , op );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class S15 , class Op >
+    static void for_each15( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , S15 &s15 , Op op )
+    {
+        detail::for_each15( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , boost::begin( s12 ) , boost::begin( s13 ) , boost::begin( s14 ) , boost::begin( s15 ) , op );
+    }
+
+    template< class Value , class S , class Red >
+    static Value reduce( const S &s , Red red , Value init)
+    {
+        return detail::reduce( boost::begin( s ) , boost::end( s ) , red , init );
+    }
+
+    template< class Value , class S1 , class S2 , class Red >
+    static Value reduce2( const S1 &s1 , const S2 &s2 , Red red , Value init )
+    {
+        return detail::reduce2( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , red , init );
+    }
+
+    template< class Value , class S1 , class S2 , class S3 , class Red >
+    static Value reduce3( const S1 &s1 , const S2 &s2 , const S3 &s3 , Red red , Value init )
+    {
+        return detail::reduce3( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , red , init );
+    }
+
+    template< class Value , class S1 , class S2 , class S3 , class S4 , class Red >
+    static Value reduce4( const S1 &s1 , const S2 &s2 , const S3 &s3 , const S4 &s4 , Red red , Value init )
+    {
+        return detail::reduce4( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , red , init );
+    }
+
+
+};
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_RANGE_ALGEBRA_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp
new file mode 100755
index 0000000..4673b9b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp
@@ -0,0 +1,156 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/algebra/vector_space_algebra.hpp
+
+ [begin_description]
+ An algebra for types which have vector space semantics, hence types on which the operators +,-,* are well defined.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_VECTOR_SPACE_ALGEBRA_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_ALGEBRA_VECTOR_SPACE_ALGEBRA_HPP_INCLUDED
+
+#include <boost/type_traits/remove_reference.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+/*
+ * This class template has to be overload in order to call vector_space_algebra::reduce
+ */
+template< class State > struct vector_space_reduce;
+
+/*
+ * Example: instantiation for sole doubles
+ */
+template<>
+struct vector_space_reduce< double >
+{
+  template< class Op >
+  double operator()( double x , Op op , double init ) const
+  {
+      init = op( init , x );
+      return init;
+  }
+};
+
+
+struct vector_space_algebra
+{
+    template< class S1 , class Op >
+    static void for_each1( S1 &s1 , Op op )
+    {
+        // ToDo : build checks, that the +-*/ operators are well defined
+        op( s1 );
+    }
+
+    template< class S1 , class S2 , class Op >
+    static void for_each2( S1 &s1 , S2 &s2 , Op op )
+    {
+        op( s1 , s2 );
+    }
+
+    template< class S1 , class S2 , class S3 , class Op >
+    static void for_each3( S1 &s1 , S2 &s2 , S3 &s3 , Op op )
+    {
+        op( s1 , s2 , s3 );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class Op >
+    static void for_each4( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , Op op )
+    {
+        op( s1 , s2 , s3 , s4 );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class Op >
+    static void for_each5( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , Op op )
+    {
+        op( s1 , s2 , s3 , s4 , s5 );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class Op >
+    static void for_each6( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , Op op )
+    {
+        op( s1 , s2 , s3 , s4 , s5 , s6 );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class Op >
+    static void for_each7( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , Op op )
+    {
+        op( s1 , s2 , s3 , s4 , s5 , s6 , s7 );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class Op >
+    static void for_each8( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , Op op )
+    {
+        op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class Op >
+    static void for_each9( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , Op op )
+    {
+        op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class Op >
+    static void for_each10( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , Op op )
+    {
+        op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class Op >
+    static void for_each11( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , Op op )
+    {
+        op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class Op >
+    static void for_each12( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , Op op )
+    {
+        op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class Op >
+    static void for_each13( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , Op op )
+    {
+        op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class Op >
+    static void for_each14( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , Op op )
+    {
+        op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 , s14 );
+    }
+
+    template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class S15 , class Op >
+    static void for_each15( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , S15 &s15 , Op op )
+    {
+        op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 , s14 , s15 );
+    }
+
+    template< class Value , class S , class Red >
+    static Value reduce( const S &s , Red red , Value init )
+    {
+        boost::numeric::odeint::vector_space_reduce< S > r;
+        return r( s , red , init );
+    }
+};
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_VECTOR_SPACE_ALGEBRA_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp
new file mode 100755
index 0000000..0d08982
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp
@@ -0,0 +1,47 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/config.hpp
+
+ [begin_description]
+ Sets configurations for odeint and used libraries. Should be included before any other odeint library
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#ifndef BOOST_NUMERIC_ODEINT_CONFIG_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_CONFIG_HPP_INCLUDED
+
+//increase macro variable to allow rk78 scheme
+#ifndef FUSION_MAX_VECTOR_SIZE
+#define FUSION_MAX_VECTOR_SIZE 15
+#endif
+
+/*
+ * the following definitions are only required if fusion vectors are used as state types
+ * in the rk78 scheme
+ * they should be defined by the user if required, see e.g. libs/numeric/examples/harmonic_oscillator_units.cpp
+ */
+#ifndef BOOST_FUSION_INVOKE_MAX_ARITY
+#define BOOST_FUSION_INVOKE_MAX_ARITY 15
+#endif
+
+#ifndef BOOST_RESULT_OF_NUM_ARGS
+#define BOOST_RESULT_OF_NUM_ARGS 15
+#endif
+/*
+ */
+
+#include <boost/config.hpp>
+
+#if __cplusplus >= 201103L
+#define BOOST_NUMERIC_ODEINT_CXX11 1
+#endif
+
+
+#endif // BOOST_NUMERIC_ODEINT_CONFIG_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp
new file mode 100755
index 0000000..c961a89
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp
@@ -0,0 +1,229 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/external/gsl/gsl_wrapper.hpp
+
+ [begin_description]
+ Wrapper for gsl_vector.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_GSL_GSL_WRAPPER_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_EXTERNAL_GSL_GSL_WRAPPER_HPP_INCLUDED
+
+#include <new>
+
+#include <gsl/gsl_vector.h>
+
+#include <boost/type_traits/integral_constant.hpp>
+#include <boost/range.hpp>
+#include <boost/iterator/iterator_facade.hpp>
+
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/copy.hpp>
+
+class const_gsl_vector_iterator;
+
+/*
+ * defines an iterator for gsl_vector
+ */
+class gsl_vector_iterator : public boost::iterator_facade< gsl_vector_iterator , double , boost::random_access_traversal_tag >
+{
+public :
+
+    gsl_vector_iterator( void ): m_p(0) , m_stride( 0 ) { }
+    explicit gsl_vector_iterator( gsl_vector *p ) : m_p( p->data ) , m_stride( p->stride ) { }
+    friend gsl_vector_iterator end_iterator( gsl_vector * );
+
+private :
+
+    friend class boost::iterator_core_access;
+    friend class const_gsl_vector_iterator;
+
+    void increment( void ) { m_p += m_stride; }
+    void decrement( void ) { m_p -= m_stride; }
+    void advance( ptrdiff_t n ) { m_p += n*m_stride; }
+    bool equal( const gsl_vector_iterator &other ) const { return this->m_p == other.m_p; }
+    bool equal( const const_gsl_vector_iterator &other ) const;
+    double& dereference( void ) const { return *m_p; }
+
+    double *m_p;
+    size_t m_stride;
+};
+
+
+
+/*
+ * defines an const iterator for gsl_vector
+ */
+class const_gsl_vector_iterator : public boost::iterator_facade< const_gsl_vector_iterator , const double , boost::random_access_traversal_tag >
+{
+public :
+
+    const_gsl_vector_iterator( void ): m_p(0) , m_stride( 0 ) { }
+    explicit const_gsl_vector_iterator( const gsl_vector *p ) : m_p( p->data ) , m_stride( p->stride ) { }
+    const_gsl_vector_iterator( const gsl_vector_iterator &p ) : m_p( p.m_p ) , m_stride( p.m_stride ) { }
+
+private :
+
+    friend class boost::iterator_core_access;
+    friend class gsl_vector_iterator;
+    friend const_gsl_vector_iterator end_iterator( const gsl_vector * );
+
+    void increment( void ) { m_p += m_stride; }
+    void decrement( void ) { m_p -= m_stride; }
+    void advance( ptrdiff_t n ) { m_p += n*m_stride; }
+    bool equal( const const_gsl_vector_iterator &other ) const { return this->m_p == other.m_p; }
+    bool equal( const gsl_vector_iterator &other ) const { return this->m_p == other.m_p; }
+    const double& dereference( void ) const { return *m_p; }
+
+    const double *m_p;
+    size_t m_stride;
+};
+
+
+bool gsl_vector_iterator::equal( const const_gsl_vector_iterator &other ) const { return this->m_p == other.m_p; }
+
+
+gsl_vector_iterator end_iterator( gsl_vector *x )
+{
+    gsl_vector_iterator iter( x );
+    iter.m_p += iter.m_stride * x->size;
+    return iter;
+}
+
+const_gsl_vector_iterator end_iterator( const gsl_vector *x )
+{
+    const_gsl_vector_iterator iter( x );
+    iter.m_p += iter.m_stride * x->size;
+    return iter;
+}
+
+
+
+
+namespace boost
+{
+template<>
+struct range_mutable_iterator< gsl_vector* >
+{
+    typedef gsl_vector_iterator type;
+};
+
+template<>
+struct range_const_iterator< gsl_vector* >
+{
+    typedef const_gsl_vector_iterator type;
+};
+} // namespace boost
+
+
+
+
+// template<>
+inline gsl_vector_iterator range_begin( gsl_vector *x )
+{
+    return gsl_vector_iterator( x );
+}
+
+// template<>
+inline const_gsl_vector_iterator range_begin( const gsl_vector *x )
+{
+    return const_gsl_vector_iterator( x );
+}
+
+// template<>
+inline gsl_vector_iterator range_end( gsl_vector *x )
+{
+    return end_iterator( x );
+}
+
+// template<>
+inline const_gsl_vector_iterator range_end( const gsl_vector *x )
+{
+    return end_iterator( x );
+}
+
+
+
+
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template<>
+struct is_resizeable< gsl_vector* >
+{
+    //struct type : public boost::true_type { };
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+
+template <>
+struct same_size_impl< gsl_vector* , gsl_vector* >
+{
+    static bool same_size( const gsl_vector* x , const gsl_vector* y )
+    {
+        return x->size == y->size;
+    }
+};
+
+template <>
+struct resize_impl< gsl_vector* , gsl_vector* >
+{
+    static void resize( gsl_vector* x , const gsl_vector* y )
+    {
+        gsl_vector_free( x );
+        x = gsl_vector_alloc( y->size );
+    }
+};
+
+template<>
+struct state_wrapper< gsl_vector* >
+{
+    typedef double value_type;
+    typedef gsl_vector* state_type;
+    typedef state_wrapper< gsl_vector* > state_wrapper_type;
+
+    state_type m_v;
+
+    state_wrapper( )
+    {
+        m_v = gsl_vector_alloc( 1 );
+    }
+
+    state_wrapper( const state_wrapper_type &x )
+    {
+        resize( m_v , x.m_v );
+        gsl_vector_memcpy( m_v , x.m_v );
+    }
+
+
+    ~state_wrapper()
+    {
+        gsl_vector_free( m_v );
+    }
+
+};
+
+} // odeint
+} // numeric
+} // boost
+
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_GSL_GSL_WRAPPER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp
new file mode 100755
index 0000000..c1e0891
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp
@@ -0,0 +1,181 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/external/mkl/mkl_operations.hpp
+
+ [begin_description]
+ Wrapper classes for intel math kernel library types.
+ Get a free, non-commercial download of MKL at
+ http://software.intel.com/en-us/articles/non-commercial-software-download/
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_MKL_MKL_OPERATIONS_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_EXTERNAL_MKL_MKL_OPERATIONS_HPP_INCLUDED
+
+#include <iostream>
+
+#include <mkl_cblas.h>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+/* exemplary example for writing bindings to the Intel MKL library
+ * see test/mkl for how to use mkl with odeint
+ * this is a quick and dirty implementation showing the general possibility.
+ * It works only with containers based on double and sequential memory allocation.
+ */
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+/* only defined for doubles */
+struct mkl_operations
+{
+    //template< class Fac1 , class Fac2 > struct scale_sum2;
+
+    template< class F1 = double , class F2 = F1 >
+    struct scale_sum2
+    {
+        typedef double Fac1;
+        typedef double Fac2;
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+
+        scale_sum2( const Fac1 alpha1 , const Fac2 alpha2 ) : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { }
+
+        template< class T1 , class T2 , class T3 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3) const
+        {   // t1 = m_alpha1 * t2 + m_alpha2 * t3;
+            // we get Containers that have size() and [i]-access
+
+            const int n = t1.size();
+            //boost::numeric::odeint::copy( t1 , t3 );
+            if( &(t2[0]) != &(t1[0]) )
+            {
+                cblas_dcopy( n , &(t2[0]) , 1 , &(t1[0]) , 1 );
+            }
+            cblas_dscal( n , m_alpha1 , &(t1[0]) , 1 );
+            cblas_daxpy( n , m_alpha2 , &(t3[0]) , 1 , &(t1[0]) , 1 );
+            //daxpby( &n , &m_alpha2 , &(t3[0]) , &one , &m_alpha1 , &(t1[0]) , &one );
+        }
+    };
+
+    template< class F1 = double , class F2 = F1 , class F3 = F2 >
+    struct scale_sum3
+    {
+        typedef double Fac1;
+        typedef double Fac2;
+        typedef double Fac3;
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+
+        scale_sum3( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 )
+            : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 ) const
+        {   // t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4;
+            // we get Containers that have size() and [i]-access
+
+            const int n = t1.size();
+            //boost::numeric::odeint::copy( t1 , t3 );
+            if( &(t2[0]) != &(t1[0]) )
+            {
+                cblas_dcopy( n , &(t2[0]) , 1 , &(t1[0]) , 1 );
+            }
+            cblas_dscal( n , m_alpha1 , &(t1[0]) , 1 );
+            cblas_daxpy( n , m_alpha2 , &(t3[0]) , 1 , &(t1[0]) , 1 );
+            //daxpby( &n , &m_alpha2 , &(t3[0]) , &one , &m_alpha1 , &(t1[0]) , &one );
+            cblas_daxpy( n , m_alpha3 , &(t4[0]) , 1 , &(t1[0]) , 1 );
+        }
+    };
+
+    template< class F1 = double , class F2 = F1 , class F3 = F2 , class F4 = F3 >
+    struct scale_sum4
+    {
+        typedef double Fac1;
+        typedef double Fac2;
+        typedef double Fac3;
+        typedef double Fac4;
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+
+        scale_sum4( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , const Fac4 alpha4 )
+            : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 ) const
+        {   // t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5;
+            // we get Containers that have size() and [i]-access
+
+            const int n = t1.size();
+            //boost::numeric::odeint::copy( t1 , t3 );
+            if( &(t2[0]) != &(t1[0]) )
+            {
+                cblas_dcopy( n , &(t2[0]) , 1 , &(t1[0]) , 1 );
+            }
+
+            cblas_dscal( n , m_alpha1 , &(t1[0]) , 1 );
+            cblas_daxpy( n , m_alpha2 , &(t3[0]) , 1 , &(t1[0]) , 1 );
+            //daxpby( &n , &m_alpha2 , &(t3[0]) , &one , &m_alpha1 , &(t1[0]) , &one );
+            cblas_daxpy( n , m_alpha3 , &(t4[0]) , 1 , &(t1[0]) , 1 );
+            cblas_daxpy( n , m_alpha4 , &(t5[0]) , 1 , &(t1[0]) , 1 );
+        }
+    };
+
+
+    template< class F1 = double , class F2 = F1 , class F3 = F2 , class F4 = F3 , class F5 = F4 >
+    struct scale_sum5
+    {
+        typedef double Fac1;
+        typedef double Fac2;
+        typedef double Fac3;
+        typedef double Fac4;
+        typedef double Fac5;
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+
+        scale_sum5( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , const Fac4 alpha4 , const Fac5 alpha5 )
+            : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6   >
+        void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 ) const
+        {   // t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6;
+            // we get Containers that have size() and [i]-access
+
+            const int n = t1.size();
+            //boost::numeric::odeint::copy( t1 , t3 );
+            if( &(t2[0]) != &(t1[0]) )
+            {
+                cblas_dcopy( n , &(t2[0]) , 1 , &(t1[0]) , 1 );
+            }
+
+            cblas_dscal( n , m_alpha1 , &(t1[0]) , 1 );
+            cblas_daxpy( n , m_alpha2 , &(t3[0]) , 1 , &(t1[0]) , 1 );
+            //daxpby( &n , &m_alpha2 , &(t3[0]) , &one , &m_alpha1 , &(t1[0]) , &one );
+            cblas_daxpy( n , m_alpha3 , &(t4[0]) , 1 , &(t1[0]) , 1 );
+            cblas_daxpy( n , m_alpha4 , &(t5[0]) , 1 , &(t1[0]) , 1 );
+            cblas_daxpy( n , m_alpha5 , &(t6[0]) , 1 , &(t1[0]) , 1 );
+        }
+    };
+
+};
+
+} // odeint
+} // numeric
+} // boost
+
+#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_MKL_MKL_OPERATIONS_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp
new file mode 100755
index 0000000..1e7afe6
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp
@@ -0,0 +1,162 @@
+/*
+[begin_description]
+Modification of the implicit Euler method, works with the MTL4 matrix library only. 
+[end_description]
+
+Copyright 2009-2011 Karsten Ahnert
+Copyright 2009-2011 Mario Mulansky
+Copyright 2012 Andreas Angelopoulos
+
+Distributed under the Boost Software License, Version 1.0.
+(See accompanying file LICENSE_1_0.txt or
+copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+
+#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_IMPLICIT_EULER_MTL4_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_EXTERNAL_IMPLICIT_EULER_MTL4_HPP_INCLUDED
+
+
+#include <utility>
+
+#include <boost/numeric/odeint/util/bind.hpp>
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+
+#include <boost/numeric/odeint/external/mtl4/mtl4_resize.hpp>
+
+#include <boost/numeric/mtl/mtl.hpp>
+#include <boost/numeric/itl/itl.hpp>
+
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template< class ValueType , class Resizer = initially_resizer >
+class implicit_euler_mtl4
+{
+
+public:
+
+    typedef ValueType value_type;
+    typedef value_type time_type;
+    typedef mtl::dense_vector<value_type> state_type;
+
+    typedef state_wrapper< state_type > wrapped_state_type;
+    typedef state_type deriv_type;
+    typedef state_wrapper< deriv_type > wrapped_deriv_type;
+    typedef mtl::compressed2D< value_type > matrix_type;
+    typedef state_wrapper< matrix_type > wrapped_matrix_type;
+
+    typedef Resizer resizer_type;
+    typedef stepper_tag stepper_category;
+
+    typedef implicit_euler_mtl4< ValueType , Resizer > stepper_type;
+
+
+    implicit_euler_mtl4( const value_type epsilon = 1E-6 )
+        : m_epsilon( epsilon ) , m_resizer() ,
+          m_dxdt() , m_x() ,
+          m_identity() , m_jacobi()
+    { }
+
+
+    template< class System >
+    void do_step( System system , state_type &x , time_type t , time_type dt )
+    {
+        typedef typename odeint::unwrap_reference< System >::type system_type;
+        typedef typename odeint::unwrap_reference< typename system_type::first_type >::type deriv_func_type;
+        typedef typename odeint::unwrap_reference< typename system_type::second_type >::type jacobi_func_type;
+        system_type &sys = system;
+        deriv_func_type &deriv_func = sys.first;
+        jacobi_func_type &jacobi_func = sys.second;
+
+        m_resizer.adjust_size( x , detail::bind(
+                                   &stepper_type::template resize_impl< state_type > , detail::ref( *this ) , detail::_1 ) );
+
+        m_identity.m_v = 1;
+
+        t += dt;
+        m_x.m_v = x;
+
+        deriv_func( x , m_dxdt.m_v , t );
+        jacobi_func( x , m_jacobi.m_v , t );
+
+
+        m_dxdt.m_v *= -dt;
+
+        m_jacobi.m_v *= dt;
+        m_jacobi.m_v -= m_identity.m_v ;
+
+
+
+        // using ilu_0 preconditioning -incomplete LU factorisation
+        // itl::pc::diagonal<matrix_type,double> L(m_jacobi.m_v);
+        itl::pc::ilu_0<matrix_type> L( m_jacobi.m_v );
+
+        solve( m_jacobi.m_v , m_x.m_v , m_dxdt.m_v , L );
+        x+= m_x.m_v;
+
+
+    }
+
+
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        resize_impl( x );
+    }
+
+
+private:
+
+
+    /*
+      Applying approximate iterative linear solvers
+      default solver is Biconjugate gradient stabilized method
+      itl::bicgstab(A, x, b, L, iter);
+    */
+    template < class LinearOperator, class HilbertSpaceX, class HilbertSpaceB, class Preconditioner>
+    void solve(const LinearOperator& A, HilbertSpaceX& x, const HilbertSpaceB& b,
+               const Preconditioner& L, int max_iteractions =500)
+    {
+        // Termination criterion: r < 1e-6 * b or N iterations
+        itl::basic_iteration< double > iter( b , max_iteractions , 1e-6 );
+        itl::bicgstab( A , x , b , L , iter );
+
+    }
+
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized = false;
+        resized |= adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_x , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_identity , x , typename is_resizeable<matrix_type>::type() );
+        resized |= adjust_size_by_resizeability( m_jacobi , x , typename is_resizeable<matrix_type>::type() );
+        return resized;
+    }
+
+
+private:
+
+    value_type m_epsilon;
+    resizer_type m_resizer;
+    wrapped_deriv_type m_dxdt;
+    wrapped_state_type m_x;
+    wrapped_matrix_type m_identity;
+    wrapped_matrix_type m_jacobi;
+};
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_IMPLICIT_EULER_MTL4_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp
new file mode 100755
index 0000000..b7f94d1
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp
@@ -0,0 +1,133 @@
+/*
+[begin_description]
+Modification of the implicit Euler method, works with the MTL4 matrix library only. 
+[end_description]
+
+Copyright 2009-2011 Karsten Ahnert
+Copyright 2009-2011 Mario Mulansky
+Copyright 2012 Andreas Angelopoulos
+
+Distributed under the Boost Software License, Version 1.0.
+(See accompanying file LICENSE_1_0.txt or
+copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+
+#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_MTL4_RESIZE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_EXTERNAL_MTL4_RESIZE_HPP_INCLUDED
+
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resize.hpp>
+#include <boost/numeric/odeint/util/same_size.hpp>
+
+#include <boost/numeric/mtl/vector/dense_vector.hpp>
+#include <boost/numeric/mtl/matrix/dense2D.hpp>
+#include <boost/numeric/mtl/matrix/compressed2D.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template< class Value , class Parameters >
+struct is_resizeable< mtl::dense_vector< Value , Parameters > >
+{ 
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+
+template< class Value , class Parameters >
+struct is_resizeable< mtl::dense2D< Value , Parameters > >
+{
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+
+template< class Value , class Parameters >
+struct is_resizeable< mtl::compressed2D< Value , Parameters > >
+{
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+
+
+
+
+template< class Value , class Parameters >
+struct same_size_impl< mtl::dense_vector< Value , Parameters > , mtl::dense_vector< Value , Parameters > >
+{
+    static bool same_size( const mtl::dense_vector< Value , Parameters > &v1 ,
+                           const mtl::dense_vector< Value , Parameters > &v2 )
+    {
+        return mtl::size( v1 ) == mtl::size( v2 );
+    }
+};
+
+template< class Value , class Parameters >
+struct resize_impl< mtl::dense_vector< Value , Parameters > , mtl::dense_vector< Value , Parameters > >
+{
+    static void resize( mtl::dense_vector< Value , Parameters > &v1 ,
+                        const mtl::dense_vector< Value , Parameters > &v2 )
+    {
+        v1.change_dim( mtl::size( v2 ) );
+    }
+};
+
+
+
+template< class Value , class MatrixParameters , class VectorParameters >
+struct same_size_impl< mtl::dense2D< Value , MatrixParameters > , mtl::dense_vector< Value , VectorParameters > >
+{
+    static bool same_size( const mtl::dense2D< Value , MatrixParameters > &m , 
+                           const mtl::dense_vector< Value , VectorParameters > &v )
+    {
+        return ( ( mtl::size( v ) == m.num_cols() ) && ( mtl::size( v ) == m.num_rows() ) );
+    }
+};
+
+template< class Value , class MatrixParameters , class VectorParameters >
+struct resize_impl< mtl::dense2D< Value , MatrixParameters > , mtl::dense_vector< Value , VectorParameters > >
+{
+    static void resize( mtl::dense2D< Value , MatrixParameters > &m , 
+                        const mtl::dense_vector< Value , VectorParameters > &v )
+    {
+        m.change_dim( mtl::size( v ) , mtl::size( v ) , false );
+    }
+};
+
+
+
+
+template< class Value , class MatrixParameters , class VectorParameters >
+struct same_size_impl< mtl::compressed2D< Value , MatrixParameters > , mtl::dense_vector< Value , VectorParameters > >
+{
+    static bool same_size( const mtl::compressed2D< Value , MatrixParameters > &m , 
+                           const mtl::dense_vector< Value , VectorParameters > &v )
+    {
+        return ( ( mtl::size( v ) == m.num_cols() ) && ( mtl::size( v ) == m.num_rows() ) );
+    }
+};
+
+template< class Value , class MatrixParameters , class VectorParameters >
+struct resize_impl< mtl::compressed2D< Value , MatrixParameters > , mtl::dense_vector< Value , VectorParameters > >
+{
+    static void resize( mtl::compressed2D< Value , MatrixParameters > &m , 
+                        const mtl::dense_vector< Value , VectorParameters > &v )
+    {
+        m.change_dim( mtl::size( v ) , mtl::size( v ) );
+    }
+};
+
+
+
+
+
+
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_MTL4_RESIZE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp
new file mode 100755
index 0000000..0f6b593
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp
@@ -0,0 +1,198 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/external/thrust/thrust_algebra.hpp
+
+ [begin_description]
+ An algebra for thrusts device_vectors.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_ALGEBRA_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_ALGEBRA_HPP_INCLUDED
+
+
+#include <thrust/device_vector.h>
+#include <thrust/for_each.h>
+#include <thrust/iterator/zip_iterator.h>
+
+#include <boost/range.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+
+/** ToDO extend until for_each14 for rk78 */
+
+/*
+ * The const versions are needed for boost.range to work, i.e.
+ * it allows you to do
+ * for_each1( make_pair( vec1.begin() , vec1.begin() + 10 ) , op );
+ */
+
+struct thrust_algebra
+{
+    template< class StateType , class Operation >
+    static void for_each1( StateType &s , Operation op )
+    {
+        thrust::for_each( boost::begin(s) , boost::begin(s) , op );
+    }
+
+    template< class StateType1 , class StateType2 , class Operation >
+    static void for_each2( StateType1 &s1 , StateType2 &s2 , Operation op )
+    {
+        thrust::for_each(
+                thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) ,
+                        boost::begin(s2) ) ) ,
+                        thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) ,
+                                boost::end(s2) ) ) ,
+                                op);
+    }
+
+    template< class StateType1 , class StateType2 , class StateType3 , class Operation >
+    static void for_each3( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , Operation op )
+    {
+        thrust::for_each(
+                thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) ,
+                        boost::begin(s2) ,
+                        boost::begin(s3) ) ) ,
+                        thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) ,
+                                boost::end(s2) ,
+                                boost::end(s3) ) ) ,
+                                op);
+    }
+
+    template< class StateType1 , class StateType2 , class StateType3 , class StateType4 ,
+    class Operation >
+    static void for_each4( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 ,
+            Operation op )
+    {
+        thrust::for_each(
+                thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) ,
+                        boost::begin(s2) ,
+                        boost::begin(s3) ,
+                        boost::begin(s4) ) ) ,
+                        thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) ,
+                                boost::end(s2) ,
+                                boost::end(s3) ,
+                                boost::end(s4) ) ) ,
+                                op);
+    }
+
+    template< class StateType1 , class StateType2 , class StateType3 ,
+    class StateType4 , class StateType5 ,class Operation >
+    static void for_each5( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 ,
+            StateType5 &s5 , Operation op )
+    {
+        thrust::for_each(
+                thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) ,
+                        boost::begin(s2) ,
+                        boost::begin(s3) ,
+                        boost::begin(s4) ,
+                        boost::begin(s5) ) ) ,
+                        thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) ,
+                                boost::end(s2) ,
+                                boost::end(s3) ,
+                                boost::end(s4) ,
+                                boost::end(s5) ) ) ,
+                                op);
+    }
+
+    template< class StateType1 , class StateType2 , class StateType3 ,
+    class StateType4 , class StateType5 , class StateType6 , class Operation >
+    static void for_each6( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 ,
+            StateType5 &s5 , StateType6 &s6 , Operation op )
+    {
+        thrust::for_each(
+                thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) ,
+                        boost::begin(s2) ,
+                        boost::begin(s3) ,
+                        boost::begin(s4) ,
+                        boost::begin(s5) ,
+                        boost::begin(s6) ) ) ,
+                        thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) ,
+                                boost::end(s2) ,
+                                boost::end(s3) ,
+                                boost::end(s4) ,
+                                boost::end(s5) ,
+                                boost::end(s6) ) ) ,
+                                op);
+    }
+
+    template< class StateType1 , class StateType2 , class StateType3 , class StateType4 ,
+    class StateType5 , class StateType6 , class StateType7 , class Operation >
+    static void for_each7( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 ,
+            StateType5 &s5 , StateType6 &s6 , StateType7 &s7 , Operation op )
+    {
+        thrust::for_each(
+                thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) ,
+                        boost::begin(s2) ,
+                        boost::begin(s3) ,
+                        boost::begin(s4) ,
+                        boost::begin(s5) ,
+                        boost::begin(s6) ,
+                        boost::begin(s7) ) ) ,
+                        thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) ,
+                                boost::end(s2) ,
+                                boost::end(s3) ,
+                                boost::end(s4) ,
+                                boost::end(s5) ,
+                                boost::end(s6) ,
+                                boost::end(s7) ) ) ,
+                                op);
+    }
+
+    template< class StateType1 , class StateType2 , class StateType3 , class StateType4 ,
+    class StateType5 , class StateType6 , class StateType7 , class StateType8 , class Operation >
+    static void for_each8( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 ,
+            StateType5 &s5 , StateType6 &s6 , StateType7 &s7 , StateType8 &s8 , Operation op )
+    {
+        thrust::for_each(
+                thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) ,
+                        boost::begin(s2) ,
+                        boost::begin(s3) ,
+                        boost::begin(s4) ,
+                        boost::begin(s5) ,
+                        boost::begin(s6) ,
+                        boost::begin(s7) ,
+                        boost::begin(s8) ) ) ,
+                thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) ,
+                        boost::end(s2) ,
+                        boost::end(s3) ,
+                        boost::end(s4) ,
+                        boost::end(s5) ,
+                        boost::end(s6) ,
+                        boost::end(s7) ,
+                        boost::end(s8) ) ) ,
+                op);
+    }
+
+
+    template< class Value , class S , class Red >
+    Value reduce( const S &s , Red red , Value init)
+    {
+        return thrust::reduce( boost::begin( s ) , boost::end( s ) , init , red );
+    }
+
+
+
+
+};
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_ALGEBRA_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp
new file mode 100755
index 0000000..710657a
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp
@@ -0,0 +1,252 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/external/thrust/thrust_operations.hpp
+
+ [begin_description]
+ Operations of thrust zipped iterators. Is the counterpart of the thrust_algebra.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_OPERATIONS_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_OPERATIONS_HPP_INCLUDED
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+#include <thrust/tuple.h>
+#include <thrust/iterator/zip_iterator.h>
+
+/**ToDo extend to scale_sum13 for rk78 */
+
+struct thrust_operations
+{
+    template< class Fac1 = double , class Fac2 = Fac1 >
+    struct scale_sum2
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+
+        scale_sum2( const Fac1 alpha1 , const Fac2 alpha2 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { }
+
+        template< class Tuple >
+        __host__ __device__
+        void operator()( Tuple t ) const
+        {
+            thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + m_alpha2 * thrust::get<2>(t);
+        }
+    };
+
+    template< class Fac1 = double , class Fac2 = Fac1 >
+    struct scale_sum_swap2
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+
+        scale_sum_swap2( const Fac1 alpha1 , const Fac2 alpha2 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { }
+
+        template< class Tuple >
+        __host__ __device__
+        void operator()( Tuple t ) const
+        {
+            typename thrust::tuple_element<0,Tuple>::type tmp = thrust::get<0>(t);
+            thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + m_alpha2 * thrust::get<2>(t);
+            thrust::get<1>(t) = tmp;
+        }
+    };
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 >
+    struct scale_sum3
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+
+        scale_sum3( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) { }
+
+        template< class Tuple >
+        __host__ __device__
+        void operator()( Tuple t ) const
+        {
+            thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) +
+                    m_alpha2 * thrust::get<2>(t) +
+                    m_alpha3 * thrust::get<3>(t);
+        }
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 >
+    struct scale_sum4
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+
+        scale_sum4( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , const Fac4 alpha4 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ){ }
+
+        template< class Tuple >
+        __host__ __device__
+        void operator()( Tuple t ) const
+        {
+            thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) +
+                    m_alpha2 * thrust::get<2>(t) +
+                    m_alpha3 * thrust::get<3>(t) +
+                    m_alpha4 * thrust::get<4>(t);
+        }
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 ,
+            class Fac4 = Fac3 , class Fac5 = Fac4 >
+    struct scale_sum5
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+
+        scale_sum5( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 ,
+                const Fac4 alpha4 , const Fac5 alpha5 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) ,
+          m_alpha4( alpha4 ) , m_alpha5( alpha5 ) { }
+
+        template< class Tuple >
+        __host__ __device__
+        void operator()( Tuple t ) const
+        {
+            thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) +
+                    m_alpha2 * thrust::get<2>(t) +
+                    m_alpha3 * thrust::get<3>(t) +
+                    m_alpha4 * thrust::get<4>(t) +
+                    m_alpha5 * thrust::get<5>(t);
+        }
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 ,
+            class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 >
+    struct scale_sum6
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+        const Fac6 m_alpha6;
+
+        scale_sum6( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 ,
+                const Fac4 alpha4 , const Fac5 alpha5 , const Fac6 alpha6 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) ,
+          m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) { }
+
+        template< class Tuple >
+        __host__ __device__
+        void operator()( Tuple t ) const
+        {
+            thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) +
+                    m_alpha2 * thrust::get<2>(t) +
+                    m_alpha3 * thrust::get<3>(t) +
+                    m_alpha4 * thrust::get<4>(t) +
+                    m_alpha5 * thrust::get<5>(t) +
+                    m_alpha6 * thrust::get<6>(t);
+        }
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 ,
+            class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 >
+    struct scale_sum7
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+        const Fac6 m_alpha6;
+        const Fac7 m_alpha7;
+
+        scale_sum7( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 ,
+                const Fac4 alpha4 , const Fac5 alpha5 , const Fac6 alpha6 , const Fac7 alpha7 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) ,
+          m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) { }
+
+        template< class Tuple >
+        __host__ __device__
+        void operator()( Tuple t ) const
+        {
+            thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) +
+                    m_alpha2 * thrust::get<2>(t) +
+                    m_alpha3 * thrust::get<3>(t) +
+                    m_alpha4 * thrust::get<4>(t) +
+                    m_alpha5 * thrust::get<5>(t) +
+                    m_alpha6 * thrust::get<6>(t) +
+                    m_alpha7 * thrust::get<7>(t) ;
+        }
+    };
+
+
+
+
+    template< class Fac1 = double >
+    struct rel_error
+    {
+        const Fac1 m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt;
+
+        rel_error( const Fac1 eps_abs , const Fac1 eps_rel , const Fac1 a_x , const Fac1 a_dxdt )
+        : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt ) { }
+
+
+        template< class Tuple >
+        __host__ __device__
+        void operator()( Tuple t ) const
+        {
+            using std::abs;
+            thrust::get< 0 >( t ) = abs( thrust::get< 0 >( t ) ) /
+                    ( m_eps_abs + m_eps_rel * ( m_a_x * abs( thrust::get< 1 >( t ) + m_a_dxdt * abs( thrust::get< 2 >( t ) ) ) ) );
+        }
+
+        typedef void result_type;
+    };
+
+
+    /*
+     * for usage in reduce
+     */
+
+    template< class Value >
+    struct maximum
+    {
+        template< class Fac1 , class Fac2 >
+        __host__ __device__
+        Value operator()( const Fac1 t1 , const Fac2 t2 ) const
+        {
+            using std::max;
+            return ( abs( t1 ) < abs( t2 ) ) ? t2 : t1 ;
+        }
+
+        typedef Value result_type;
+    };
+
+
+};
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_OPERATIONS_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp
new file mode 100755
index 0000000..843a100
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp
@@ -0,0 +1,119 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/external/thrust/thrust_resize.hpp
+
+ [begin_description]
+ Enable resizing for thrusts device and host_vector.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_RESIZE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_RESIZE_HPP_INCLUDED
+
+
+#include <thrust/device_vector.h>
+#include <thrust/host_vector.h>
+
+#include <boost/numeric/odeint/util/copy.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template< class T >
+struct is_resizeable< thrust::device_vector< T > >
+{
+    struct type : public boost::true_type { };
+    const static bool value = type::value;
+};
+
+template< class T >
+struct same_size_impl< thrust::device_vector< T > , thrust::device_vector< T > >
+{
+    static bool same_size( const thrust::device_vector< T > &x , const thrust::device_vector< T > &y )
+    {
+        return x.size() == y.size();
+    }
+};
+
+template< class T >
+struct resize_impl< thrust::device_vector< T > , thrust::device_vector< T > >
+{
+    static void resize( thrust::device_vector< T > &x , const thrust::device_vector< T > &y )
+    {
+        x.resize( y.size() );
+    }
+};
+
+
+template< class T >
+struct is_resizeable< thrust::host_vector< T > >
+{
+    struct type : public boost::true_type { };
+    const static bool value = type::value;
+};
+
+template< class T >
+struct same_size_impl< thrust::host_vector< T > , thrust::host_vector< T > >
+{
+    static bool same_size( const thrust::host_vector< T > &x , const thrust::host_vector< T > &y )
+    {
+        return x.size() == y.size();
+    }
+};
+
+template< class T >
+struct resize_impl< thrust::host_vector< T > , thrust::host_vector< T > >
+{
+    static void resize( thrust::host_vector< T > &x , const thrust::host_vector< T > &y )
+    {
+        x.resize( y.size() );
+    }
+};
+
+
+
+template< class Container1, class Value >
+struct copy_impl< Container1 , thrust::device_vector< Value > >
+{
+    static void copy( const Container1 &from , thrust::device_vector< Value > &to )
+    {
+        thrust::copy( boost::begin( from ) , boost::end( from ) , boost::begin( to ) );
+    }
+};
+
+template< class Value , class Container2 >
+struct copy_impl< thrust::device_vector< Value > , Container2 >
+{
+    static void copy( const thrust::device_vector< Value > &from , Container2 &to )
+    {
+        thrust::copy( boost::begin( from ) , boost::end( from ) , boost::begin( to ) );
+    }
+};
+
+template< class Value >
+struct copy_impl< thrust::device_vector< Value > , thrust::device_vector< Value > >
+{
+    static void copy( const thrust::device_vector< Value > &from , thrust::device_vector< Value > &to )
+    {
+        thrust::copy( boost::begin( from ) , boost::end( from ) , boost::begin( to ) );
+    }
+};
+
+
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_RESIZE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp
new file mode 100755
index 0000000..e9cbea3
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp
@@ -0,0 +1,92 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/external/vexcl/vexcl_resize.hpp
+
+ [begin_description]
+ Enable resizing for vexcl vector and multivector.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_VEXCL_VEXCL_RESIZE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_EXTERNAL_VEXCL_VEXCL_RESIZE_HPP_INCLUDED
+
+#include <vexcl/vector.hpp>
+
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resize.hpp>
+#include <boost/numeric/odeint/util/same_size.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+
+/*
+ * specializations for vex::vector< T >
+ */
+template< typename T >
+struct is_resizeable< vex::vector< T > > : boost::true_type { };
+
+template< typename T >
+struct resize_impl< vex::vector< T > , vex::vector< T > >
+{
+    static void resize( vex::vector< T > &x1 , const vex::vector< T > &x2 )
+    {
+        x1.resize( x2.queue_list() , x2.size() );
+    }
+};
+
+template< typename T >
+struct same_size_impl< vex::vector< T > , vex::vector< T > >
+{
+    static bool same_size( const vex::vector< T > &x1 , const vex::vector< T > &x2 )
+    {
+        return x1.size() == x2.size();
+    }
+};
+
+
+
+
+
+/*
+ * specializations for vex::multivector< T >
+ */
+template< typename T , size_t N, bool own >
+struct is_resizeable< vex::multivector< T , N , own > > : boost::true_type { };
+
+template< typename T , size_t N, bool own >
+struct resize_impl< vex::multivector< T , N , own > , vex::multivector< T , N , own > >
+{
+    static void resize( vex::multivector< T , N , own > &x1 , const vex::multivector< T , N , own > &x2 )
+    {
+        x1.resize( x2.queue_list() , x2.size() );
+    }
+};
+
+template< typename T , size_t N, bool own >
+struct same_size_impl< vex::multivector< T , N , own > , vex::multivector< T , N , own > >
+{
+    static bool same_size( const vex::multivector< T , N , own > &x1 , const vex::multivector< T , N , own > &x2 )
+    {
+        return x1.size() == x2.size();
+    }
+};
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_VEXCL_VEXCL_RESIZE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp
new file mode 100755
index 0000000..d621b35
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp
@@ -0,0 +1,245 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/external/viennacl_operations.hpp
+
+ [begin_description]
+ ViennaCL operations.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_OPERATIONS_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_OPERATIONS_HPP_INCLUDED
+
+#include <viennacl/vector.hpp>
+#include <viennacl/generator/custom_operation.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+
+struct viennacl_operations
+{
+
+    template< class Fac1 = double , class Fac2 = Fac1 >
+    struct scale_sum2
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+
+        scale_sum2( Fac1 alpha1 , Fac2 alpha2 )
+            : m_alpha1( alpha1 ) , m_alpha2( alpha2 )
+        { }
+
+        template< class T1 , class T2 , class T3 >
+        void operator()( viennacl::vector<T1> &v1 ,
+                const viennacl::vector<T2> &v2 ,
+                const viennacl::vector<T3> &v3
+                ) const
+        {
+            using namespace viennacl;
+
+            static generator::symbolic_vector    <0, T1>   sym_v1;
+            static generator::symbolic_vector    <1, T2>   sym_v2;
+            static generator::symbolic_vector    <2, T3>   sym_v3;
+            static generator::cpu_symbolic_scalar<3, Fac1> sym_a1;
+            static generator::cpu_symbolic_scalar<4, Fac2> sym_a2;
+
+            static generator::custom_operation op(
+                    sym_v1 = sym_a1 * sym_v2
+                           + sym_a2 * sym_v3
+                    );
+
+            ocl::enqueue( op(v1,
+                        const_cast< viennacl::vector<T2>& >(v2),
+                        const_cast< viennacl::vector<T3>& >(v3),
+                        const_cast< Fac1& >(m_alpha1),
+                        const_cast< Fac2& >(m_alpha2)
+                        ) );
+        }
+
+        typedef void result_type;
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 >
+    struct scale_sum3
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+
+        scale_sum3( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 )
+            : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 )
+        { }
+
+        template< class T1 , class T2 , class T3 , class T4 >
+        void operator()( viennacl::vector<T1> &v1 ,
+                const viennacl::vector<T2> &v2 ,
+                const viennacl::vector<T3> &v3 ,
+                const viennacl::vector<T4> &v4
+                ) const
+        {
+            using namespace viennacl;
+
+            static generator::symbolic_vector    <0, T1>   sym_v1;
+            static generator::symbolic_vector    <1, T2>   sym_v2;
+            static generator::symbolic_vector    <2, T3>   sym_v3;
+            static generator::symbolic_vector    <3, T4>   sym_v4;
+            static generator::cpu_symbolic_scalar<4, Fac1> sym_a1;
+            static generator::cpu_symbolic_scalar<5, Fac2> sym_a2;
+            static generator::cpu_symbolic_scalar<6, Fac3> sym_a3;
+
+            static generator::custom_operation op(
+                    sym_v1 = sym_a1 * sym_v2
+                           + sym_a2 * sym_v3
+                           + sym_a3 * sym_v4
+                    );
+
+            ocl::enqueue( op(v1,
+                        const_cast< viennacl::vector<T2>& >(v2),
+                        const_cast< viennacl::vector<T3>& >(v3),
+                        const_cast< viennacl::vector<T4>& >(v4),
+                        const_cast< Fac1& >(m_alpha1),
+                        const_cast< Fac2& >(m_alpha2),
+                        const_cast< Fac3& >(m_alpha3)
+                        ) );
+        }
+
+        typedef void result_type;
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 >
+    struct scale_sum4
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+
+        scale_sum4( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 >
+        void operator()( viennacl::vector<T1> &v1 ,
+                const viennacl::vector<T2> &v2 ,
+                const viennacl::vector<T3> &v3 ,
+                const viennacl::vector<T4> &v4 ,
+                const viennacl::vector<T5> &v5
+                ) const
+        {
+            using namespace viennacl;
+
+            static generator::symbolic_vector    <0, T1>   sym_v1;
+            static generator::symbolic_vector    <1, T2>   sym_v2;
+            static generator::symbolic_vector    <2, T3>   sym_v3;
+            static generator::symbolic_vector    <3, T4>   sym_v4;
+            static generator::symbolic_vector    <4, T5>   sym_v5;
+            static generator::cpu_symbolic_scalar<5, Fac1> sym_a1;
+            static generator::cpu_symbolic_scalar<6, Fac2> sym_a2;
+            static generator::cpu_symbolic_scalar<7, Fac3> sym_a3;
+            static generator::cpu_symbolic_scalar<8, Fac4> sym_a4;
+
+            static generator::custom_operation op(
+                    sym_v1 = sym_a1 * sym_v2
+                           + sym_a2 * sym_v3
+                           + sym_a3 * sym_v4
+                           + sym_a4 * sym_v5
+                    );
+
+            ocl::enqueue( op(v1,
+                        const_cast< viennacl::vector<T2>& >(v2),
+                        const_cast< viennacl::vector<T3>& >(v3),
+                        const_cast< viennacl::vector<T4>& >(v4),
+                        const_cast< viennacl::vector<T5>& >(v5),
+                        const_cast< Fac1& >(m_alpha1),
+                        const_cast< Fac2& >(m_alpha2),
+                        const_cast< Fac3& >(m_alpha3),
+                        const_cast< Fac4& >(m_alpha4)
+                        ) );
+        }
+
+        typedef void result_type;
+    };
+
+
+    template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 >
+    struct scale_sum5
+    {
+        const Fac1 m_alpha1;
+        const Fac2 m_alpha2;
+        const Fac3 m_alpha3;
+        const Fac4 m_alpha4;
+        const Fac5 m_alpha5;
+
+        scale_sum5( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , Fac5 alpha5 )
+        : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) { }
+
+        template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 >
+        void operator()( viennacl::vector<T1> &v1 ,
+                const viennacl::vector<T2> &v2 ,
+                const viennacl::vector<T3> &v3 ,
+                const viennacl::vector<T4> &v4 ,
+                const viennacl::vector<T5> &v5 ,
+                const viennacl::vector<T6> &v6
+                ) const
+        {
+            using namespace viennacl;
+
+            static generator::symbolic_vector    < 0, T1>   sym_v1;
+            static generator::symbolic_vector    < 1, T2>   sym_v2;
+            static generator::symbolic_vector    < 2, T3>   sym_v3;
+            static generator::symbolic_vector    < 3, T4>   sym_v4;
+            static generator::symbolic_vector    < 4, T5>   sym_v5;
+            static generator::symbolic_vector    < 5, T6>   sym_v6;
+            static generator::cpu_symbolic_scalar< 6, Fac1> sym_a1;
+            static generator::cpu_symbolic_scalar< 7, Fac2> sym_a2;
+            static generator::cpu_symbolic_scalar< 8, Fac3> sym_a3;
+            static generator::cpu_symbolic_scalar< 9, Fac4> sym_a4;
+            static generator::cpu_symbolic_scalar<10, Fac5> sym_a5;
+
+            static generator::custom_operation op(
+                    sym_v1 = sym_a1 * sym_v2
+                           + sym_a2 * sym_v3
+                           + sym_a3 * sym_v4
+                           + sym_a4 * sym_v5
+                           + sym_a5 * sym_v6
+                    );
+
+            ocl::enqueue( op(v1,
+                        const_cast< viennacl::vector<T2>& >(v2),
+                        const_cast< viennacl::vector<T3>& >(v3),
+                        const_cast< viennacl::vector<T4>& >(v4),
+                        const_cast< viennacl::vector<T5>& >(v5),
+                        const_cast< viennacl::vector<T6>& >(v6),
+                        const_cast< Fac1& >(m_alpha1),
+                        const_cast< Fac2& >(m_alpha2),
+                        const_cast< Fac3& >(m_alpha3),
+                        const_cast< Fac4& >(m_alpha4),
+                        const_cast< Fac5& >(m_alpha5)
+                        ) );
+        }
+
+        typedef void result_type;
+    };
+
+
+};
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_OPERATIONS_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp
new file mode 100755
index 0000000..677cfce
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp
@@ -0,0 +1,65 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/external/viennacl/viennacl_resize.hpp
+
+ [begin_description]
+ Enable resizing for viennacl vector.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_RESIZE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_RESIZE_HPP_INCLUDED
+
+#include <viennacl/vector.hpp>
+
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resize.hpp>
+#include <boost/numeric/odeint/util/same_size.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+
+/*
+ * specializations for viennacl::vector< T >
+ */
+template< typename T >
+struct is_resizeable< viennacl::vector< T > > : boost::true_type { };
+
+template< typename T >
+struct resize_impl< viennacl::vector< T > , viennacl::vector< T > >
+{
+    static void resize( viennacl::vector< T > &x1 , const viennacl::vector< T > &x2 )
+    {
+        x1.resize( x2.size() , false );
+    }
+};
+
+template< typename T >
+struct same_size_impl< viennacl::vector< T > , viennacl::vector< T > >
+{
+    static bool same_size( const viennacl::vector< T > &x1 , const viennacl::vector< T > &x2 )
+    {
+        return x1.size() == x2.size();
+    }
+};
+
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_RESIZE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp
new file mode 100755
index 0000000..071159f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp
@@ -0,0 +1,154 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp
+
+ [begin_description]
+ Default Integrate adaptive implementation.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_ADAPTIVE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_ADAPTIVE_HPP_INCLUDED
+
+#include <stdexcept>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+#include <boost/numeric/odeint/stepper/controlled_step_result.hpp>
+#include <boost/numeric/odeint/integrate/detail/integrate_const.hpp>
+#include <boost/numeric/odeint/util/bind.hpp>
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+#include <boost/numeric/odeint/util/copy.hpp>
+
+#include <boost/numeric/odeint/util/detail/less_with_sign.hpp>
+
+
+#include <iostream>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+// forward declaration
+template< class Stepper , class System , class State , class Time , class Observer>
+size_t integrate_const(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time end_time , Time dt ,
+        Observer observer , stepper_tag );
+
+/*
+ * integrate_adaptive for simple stepper is basically an integrate_const + some last step
+ */
+template< class Stepper , class System , class State , class Time , class Observer >
+size_t integrate_adaptive(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time end_time , Time dt ,
+        Observer observer , stepper_tag
+)
+{
+    size_t steps = detail::integrate_const( stepper , system , start_state , start_time ,
+                                            end_time , dt , observer , stepper_tag() );
+    Time end = start_time + dt*steps;
+    if( less_with_sign( end , end_time , dt ) )
+    {   //make a last step to end exactly at end_time
+        stepper.do_step( system , start_state , end , end_time - end );
+        steps++;
+        typename odeint::unwrap_reference< Observer >::type &obs = observer;
+        obs( start_state , end_time );
+    }
+    return steps;
+}
+
+
+/*
+ * classical integrate adaptive
+ */
+template< class Stepper , class System , class State , class Time , class Observer >
+size_t integrate_adaptive(
+        Stepper stepper , System system , State &start_state ,
+        Time &start_time , Time end_time , Time &dt ,
+        Observer observer , controlled_stepper_tag
+)
+{
+    typename odeint::unwrap_reference< Observer >::type &obs = observer;
+
+    const size_t max_attempts = 1000;
+    const char *error_string = "Integrate adaptive : Maximal number of iterations reached. A step size could not be found.";
+    size_t count = 0;
+    while( less_with_sign( start_time , end_time , dt ) )
+    {
+        obs( start_state , start_time );
+        if( less_with_sign( end_time , start_time + dt , dt ) )
+        {
+            dt = end_time - start_time;
+        }
+
+        size_t trials = 0;
+        controlled_step_result res = success;
+        do
+        {
+            res = stepper.try_step( system , start_state , start_time , dt );
+            ++trials;
+        }
+        while( ( res == fail ) && ( trials < max_attempts ) );
+        if( trials == max_attempts ) throw std::overflow_error( error_string );
+
+        ++count;
+    }
+    obs( start_state , start_time );
+    return count;
+}
+
+
+/*
+ * integrate adaptive for dense output steppers
+ *
+ * step size control is used if the stepper supports it
+ */
+template< class Stepper , class System , class State , class Time , class Observer >
+size_t integrate_adaptive(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time end_time , Time dt ,
+        Observer observer , dense_output_stepper_tag )
+{
+    typename odeint::unwrap_reference< Observer >::type &obs = observer;
+
+    size_t count = 0;
+    stepper.initialize( start_state , start_time , dt );
+
+    while( less_with_sign( stepper.current_time() , end_time , stepper.current_time_step() ) )
+    {
+        while( less_eq_with_sign( stepper.current_time() + stepper.current_time_step() ,
+               end_time ,
+               stepper.current_time_step() ) )
+        {   //make sure we don't go beyond the end_time
+            obs( stepper.current_state() , stepper.current_time() );
+            stepper.do_step( system );
+            ++count;
+        }
+        stepper.initialize( stepper.current_state() , stepper.current_time() , end_time - stepper.current_time() );
+    }
+    obs( stepper.current_state() , stepper.current_time() );
+    // overwrite start_state with the final point
+    boost::numeric::odeint::copy( stepper.current_state() , start_state );
+    return count;
+}
+
+
+
+
+} // namespace detail
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_ADAPTIVE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp
new file mode 100755
index 0000000..2eb7ae0
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp
@@ -0,0 +1,159 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/integrate/detail/integrate_const.hpp
+
+ [begin_description]
+ integrate const implementation
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_CONST_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_CONST_HPP_INCLUDED
+
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+#include <boost/numeric/odeint/util/unit_helper.hpp>
+#include <boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp>
+
+#include <boost/numeric/odeint/util/detail/less_with_sign.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+// forward declaration
+template< class Stepper , class System , class State , class Time , class Observer >
+size_t integrate_adaptive(
+        Stepper stepper , System system , State &start_state ,
+        Time &start_time , Time end_time , Time &dt ,
+        Observer observer , controlled_stepper_tag
+);
+
+
+template< class Stepper , class System , class State , class Time , class Observer >
+size_t integrate_const(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time end_time , Time dt ,
+        Observer observer , stepper_tag 
+)
+{
+    typename odeint::unwrap_reference< Observer >::type &obs = observer;
+    
+    Time time = start_time;
+    int step = 0;
+    
+    while( less_eq_with_sign( time+dt , end_time , dt ) )
+    {
+        obs( start_state , time );
+        stepper.do_step( system , start_state , time , dt );
+        // direct computation of the time avoids error propagation happening when using time += dt
+        // we need clumsy type analysis to get boost units working here
+        ++step;
+        time = start_time + static_cast< typename unit_value_type<Time>::type >(step) * dt;
+    }
+    obs( start_state , time );
+
+    return step;
+}
+
+
+
+template< class Stepper , class System , class State , class Time , class Observer >
+size_t integrate_const(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time end_time , Time dt ,
+        Observer observer , controlled_stepper_tag 
+)
+{
+    typename odeint::unwrap_reference< Observer >::type &obs = observer;
+    
+    Time time = start_time;
+    const Time time_step = dt;
+    int step = 0;
+    
+    while( less_eq_with_sign( time+time_step , end_time , dt ) )
+    {
+        obs( start_state , time );
+        detail::integrate_adaptive( stepper , system , start_state , time , time+time_step , dt ,
+                                    null_observer() , controlled_stepper_tag() );
+        // direct computation of the time avoids error propagation happening when using time += dt
+        // we need clumsy type analysis to get boost units working here
+        ++step;
+        time = start_time + static_cast< typename unit_value_type<Time>::type >(step) * time_step;
+    }
+    obs( start_state , time );
+    
+    return step;
+}
+
+
+template< class Stepper , class System , class State , class Time , class Observer >
+size_t integrate_const(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time end_time , Time dt ,
+        Observer observer , dense_output_stepper_tag 
+)
+{
+    typename odeint::unwrap_reference< Observer >::type &obs = observer;
+    
+    Time time = start_time;
+    
+    stepper.initialize( start_state , time , dt );
+    obs( start_state , time );
+    time += dt;
+
+    int obs_step( 1 );
+    int real_step( 0 );
+    
+    while( less_with_sign( time+dt , end_time , dt ) )
+    {
+        while( less_eq_with_sign( time , stepper.current_time() , dt ) )
+        {
+            stepper.calc_state( time , start_state );
+            obs( start_state , time );
+            ++obs_step;
+            // direct computation of the time avoids error propagation happening when using time += dt
+            // we need clumsy type analysis to get boost units working here
+            time = start_time + static_cast< typename unit_value_type<Time>::type >(obs_step) * dt;
+        }
+        // we have not reached the end, do another real step
+        if( less_with_sign( stepper.current_time()+stepper.current_time_step() ,
+                            end_time ,
+                            stepper.current_time_step() ) )
+        {
+            while( less_eq_with_sign( stepper.current_time() , time , dt ) )
+            {
+                stepper.do_step( system );
+                ++real_step;
+            }
+        }
+        else if( less_with_sign( stepper.current_time() , end_time , stepper.current_time_step() ) )
+        { // do the last step ending exactly on the end point
+            stepper.initialize( stepper.current_state() , stepper.current_time() , end_time - stepper.current_time() );
+            stepper.do_step( system );
+            ++real_step;
+        }
+        
+    }
+    // last observation, if we are still in observation interval
+    if( less_eq_with_sign( time , end_time , dt ) )
+    {
+        stepper.calc_state( time , start_state );
+        obs( start_state , time );
+    }
+    
+    return real_step;
+}
+
+
+} } } }
+
+#endif
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp
new file mode 100755
index 0000000..3231095
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp
@@ -0,0 +1,156 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp
+
+ [begin_description]
+ integrate steps implementation
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_N_STEPS_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_N_STEPS_HPP_INCLUDED
+
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+#include <boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp>
+#include <boost/numeric/odeint/util/unit_helper.hpp>
+
+#include <boost/numeric/odeint/util/detail/less_with_sign.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+// forward declaration
+template< class Stepper , class System , class State , class Time , class Observer >
+size_t integrate_adaptive(
+        Stepper stepper , System system , State &start_state ,
+        Time &start_time , Time end_time , Time &dt ,
+        Observer observer , controlled_stepper_tag
+);
+
+
+/* basic version */
+template< class Stepper , class System , class State , class Time , class Observer>
+Time integrate_n_steps(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time dt , size_t num_of_steps ,
+        Observer observer , stepper_tag )
+{
+    typename odeint::unwrap_reference< Observer >::type &obs = observer;
+
+    Time time = start_time;
+
+    for( size_t step = 0; step < num_of_steps ; ++step )
+    {
+        obs( start_state , time );
+        stepper.do_step( system , start_state , time , dt );
+        // direct computation of the time avoids error propagation happening when using time += dt
+        // we need clumsy type analysis to get boost units working here
+        time = start_time + static_cast< typename unit_value_type<Time>::type >( step+1 ) * dt;
+    }
+    obs( start_state , time );
+
+    return time;
+}
+
+
+/* controlled version */
+template< class Stepper , class System , class State , class Time , class Observer>
+Time integrate_n_steps(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time dt , size_t num_of_steps ,
+        Observer observer , controlled_stepper_tag )
+{
+    typename odeint::unwrap_reference< Observer >::type &obs = observer;
+
+    Time time = start_time;
+    Time time_step = dt;
+
+    for( size_t step = 0; step < num_of_steps ; ++step )
+    {
+        obs( start_state , time );
+        detail::integrate_adaptive( stepper , system , start_state , time , time+time_step , dt ,
+                null_observer() , controlled_stepper_tag() );
+        // direct computation of the time avoids error propagation happening when using time += dt
+        // we need clumsy type analysis to get boost units working here
+        time = start_time + static_cast< typename unit_value_type<Time>::type >(step+1) * time_step;
+    }
+    obs( start_state , time );
+
+    return time;
+}
+
+
+/* dense output version */
+template< class Stepper , class System , class State , class Time , class Observer>
+Time integrate_n_steps(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time dt , size_t num_of_steps ,
+        Observer observer , dense_output_stepper_tag )
+{
+    typename odeint::unwrap_reference< Observer >::type &obs = observer;
+
+    Time time = start_time;
+    const Time end_time = start_time + static_cast< typename unit_value_type<Time>::type >(num_of_steps) * dt;
+
+    stepper.initialize( start_state , time , dt );
+
+    size_t step = 0;
+
+    while( step < num_of_steps )
+    {
+        while( less_with_sign( time , stepper.current_time() , stepper.current_time_step() ) )
+        {
+            stepper.calc_state( time , start_state );
+            obs( start_state , time );
+            ++step;
+            // direct computation of the time avoids error propagation happening when using time += dt
+            // we need clumsy type analysis to get boost units working here
+            time = start_time + static_cast< typename unit_value_type<Time>::type >(step) * dt;
+        }
+
+        // we have not reached the end, do another real step
+        if( less_with_sign( stepper.current_time()+stepper.current_time_step() ,
+                            end_time ,
+                            stepper.current_time_step() ) )
+        {
+            stepper.do_step( system );
+        }
+        else if( less_with_sign( stepper.current_time() , end_time , stepper.current_time_step() ) )
+        { // do the last step ending exactly on the end point
+            stepper.initialize( stepper.current_state() , stepper.current_time() , end_time - stepper.current_time() );
+            stepper.do_step( system );
+        }
+    }
+
+    while( stepper.current_time() < end_time )
+    {
+        if( less_with_sign( end_time ,
+                            stepper.current_time()+stepper.current_time_step() ,
+                            stepper.current_time_step() ) )
+            stepper.initialize( stepper.current_state() , stepper.current_time() , end_time - stepper.current_time() );
+        stepper.do_step( system );
+    }
+
+    // observation at end point, only if we ended exactly on the end-point (or above due to finite precision)
+    obs( stepper.current_state() , end_time );
+
+    return time;
+}
+
+
+}
+}
+}
+}
+
+#endif /* BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_N_STEPS_HPP_INCLUDED */
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_times.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_times.hpp
new file mode 100755
index 0000000..e599bb9
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_times.hpp
@@ -0,0 +1,166 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/integrate/detail/integrate_times.hpp
+
+ [begin_description]
+ Default integrate times implementation.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_TIMES_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_TIMES_HPP_INCLUDED
+
+#include <stdexcept>
+
+#include <boost/config.hpp>
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+#include <boost/numeric/odeint/stepper/controlled_step_result.hpp>
+#include <boost/numeric/odeint/util/detail/less_with_sign.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+
+
+/*
+ * integrate_times for simple stepper
+ */
+template< class Stepper , class System , class State , class TimeIterator , class Time , class Observer >
+size_t integrate_times(
+        Stepper stepper , System system , State &start_state ,
+        TimeIterator start_time , TimeIterator end_time , Time dt ,
+        Observer observer , stepper_tag
+)
+{
+    BOOST_USING_STD_MIN();
+
+    typename odeint::unwrap_reference< Observer >::type &obs = observer;
+
+    size_t steps = 0;
+    Time current_dt = dt;
+    while( true )
+    {
+        Time current_time = *start_time++;
+        obs( start_state , current_time );
+        if( start_time == end_time )
+            break;
+        while( less_with_sign( current_time , *start_time , current_dt ) )
+        {
+            current_dt = min BOOST_PREVENT_MACRO_SUBSTITUTION ( dt , *start_time - current_time );
+            stepper.do_step( system , start_state , current_time , current_dt );
+            current_time += current_dt;
+            steps++;
+        }
+    }
+    return steps;
+}
+
+/*
+ * integrate_times for controlled stepper
+ */
+template< class Stepper , class System , class State , class TimeIterator , class Time , class Observer >
+size_t integrate_times(
+        Stepper stepper , System system , State &start_state ,
+        TimeIterator start_time , TimeIterator end_time , Time dt ,
+        Observer observer , controlled_stepper_tag
+)
+{
+    BOOST_USING_STD_MIN();
+
+    typename odeint::unwrap_reference< Observer >::type &obs = observer;
+
+    const size_t max_attempts = 1000;
+    const char *error_string = "Integrate adaptive : Maximal number of iterations reached. A step size could not be found.";
+    size_t steps = 0;
+    while( true )
+    {
+        size_t fail_steps = 0;
+        Time current_time = *start_time++;
+        obs( start_state , current_time );
+        if( start_time == end_time )
+            break;
+        while( less_with_sign( current_time , *start_time , dt ) )
+        {
+            dt = min BOOST_PREVENT_MACRO_SUBSTITUTION ( dt , *start_time - current_time );
+            if( stepper.try_step( system , start_state , current_time , dt ) == success )
+            {
+                ++steps;
+            }
+            else
+            {
+                ++fail_steps;
+            }
+            if( fail_steps == max_attempts ) throw std::overflow_error( error_string );
+        }
+    }
+    return steps;
+}
+
+/*
+ * integrate_times for dense output stepper
+ */
+template< class Stepper , class System , class State , class TimeIterator , class Time , class Observer >
+size_t integrate_times(
+        Stepper stepper , System system , State &start_state ,
+        TimeIterator start_time , TimeIterator end_time , Time dt ,
+        Observer observer , dense_output_stepper_tag
+)
+{
+    typename odeint::unwrap_reference< Observer >::type &obs = observer;
+
+
+    if( start_time == end_time )
+        return 0;
+
+    Time last_time_point = *(end_time-1);
+
+    stepper.initialize( start_state , *start_time , dt );
+    obs( start_state , *start_time++ );
+
+    size_t count = 0;
+    while( start_time != end_time )
+    {
+        while( ( start_time != end_time ) && less_eq_with_sign( *start_time , stepper.current_time() , stepper.current_time_step() ) )
+        {
+            stepper.calc_state( *start_time , start_state );
+            obs( start_state , *start_time );
+            start_time++;
+        }
+
+        // we have not reached the end, do another real step
+        if( less_eq_with_sign( stepper.current_time() + stepper.current_time_step() ,
+                               last_time_point ,
+                               stepper.current_time_step() ) )
+        {
+            stepper.do_step( system );
+            ++count;
+        }
+        else if( start_time != end_time )
+        { // do the last step ending exactly on the end point
+            stepper.initialize( stepper.current_state() , stepper.current_time() , last_time_point - stepper.current_time() );
+            stepper.do_step( system );
+            ++count;
+        }
+    }
+    return count;
+}
+
+
+} // namespace detail
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_ADAPTIVE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate.hpp
new file mode 100755
index 0000000..17b1405
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate.hpp
@@ -0,0 +1,105 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/integrate/integrate.hpp
+
+ [begin_description]
+ Convenience methods which choose the stepper for the current ODE.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_HPP_INCLUDED
+
+#include <boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/integrate/null_observer.hpp>
+#include <boost/numeric/odeint/integrate/integrate_adaptive.hpp>
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+/*
+ * ToDo :
+ *
+ * determine type of dxdt for units
+ *
+ */
+template< class System , class State , class Time , class Observer >
+size_t integrate( System system , State &start_state , Time start_time , Time end_time , Time dt , Observer observer )
+{
+    return integrate_adaptive( controlled_runge_kutta< runge_kutta_dopri5< State > >() , system , start_state , start_time , end_time , dt , observer );
+}
+
+
+
+/*
+ * the two overloads are needed in order to solve the forwarding problem
+ */
+template< class System , class State , class Time >
+size_t integrate( System system , State &start_state , Time start_time , Time end_time , Time dt )
+{
+    return integrate( system , start_state , start_time , end_time , dt , null_observer() );
+}
+
+
+/**
+ * \fn integrate( System system , State &start_state , Time start_time , Time end_time , Time dt , Observer observer )
+ * \brief Integrates the ODE.
+ *
+ * Integrates the ODE given by system from start_time to end_time starting 
+ * with start_state as initial condition and dt as initial time step.
+ * This function uses a dense output dopri5 stepper and performs an adaptive
+ * integration with step size control, thus dt changes during the integration.
+ * This method uses standard error bounds of 1E-6.
+ * After each step, the observer is called.
+ *
+ * \param system The system function to solve, hence the r.h.s. of the 
+ * ordinary differential equation.
+ * \param start_state The initial state.
+ * \param start_time Start time of the integration.
+ * \param end_time End time of the integration.
+ * \param dt Initial step size, will be adjusted during the integration.
+ * \param observer Observer that will be called after each time step.
+ * \return The number of steps performed.
+ */
+
+
+/**
+ * \fn integrate( System system , State &start_state , Time start_time , Time end_time , Time dt )
+ * \brief Integrates the ODE without observer calls.
+ *
+ * Integrates the ODE given by system from start_time to end_time starting 
+ * with start_state as initial condition and dt as initial time step.
+ * This function uses a dense output dopri5 stepper and performs an adaptive
+ * integration with step size control, thus dt changes during the integration.
+ * This method uses standard error bounds of 1E-6.
+ * No observer is called.
+ *
+ * \param system The system function to solve, hence the r.h.s. of the 
+ * ordinary differential equation.
+ * \param start_state The initial state.
+ * \param start_time Start time of the integration.
+ * \param end_time End time of the integration.
+ * \param dt Initial step size, will be adjusted during the integration.
+ * \return The number of steps performed.
+ */
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_adaptive.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_adaptive.hpp
new file mode 100755
index 0000000..cfec652
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_adaptive.hpp
@@ -0,0 +1,127 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/integrate/integrate_adaptive.hpp
+
+ [begin_description]
+ Adaptive integration of ODEs.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_ADAPTIVE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_ADAPTIVE_HPP_INCLUDED
+
+#include <boost/type_traits/is_same.hpp>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+#include <boost/numeric/odeint/integrate/null_observer.hpp>
+#include <boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+/*
+ * the two overloads are needed in order to solve the forwarding problem
+ */
+template< class Stepper , class System , class State , class Time , class Observer >
+size_t integrate_adaptive(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time end_time , Time dt ,
+        Observer observer )
+{
+    return detail::integrate_adaptive(
+            stepper , system , start_state ,
+            start_time , end_time , dt ,
+            observer , typename Stepper::stepper_category() );
+
+    /*
+     * Suggestion for a new extendable version:
+     *
+     * integrator_adaptive< Stepper , System, State , Time , Observer , typename Stepper::stepper_category > integrator;
+     * return integrator.run( stepper , system , start_state , start_time , end_time , dt , observer );
+     */
+}
+
+/**
+ * \brief Second version to solve the forwarding problem,
+ * can be called with Boost.Range as start_state.
+ */
+template< class Stepper , class System , class State , class Time , class Observer >
+size_t integrate_adaptive(
+        Stepper stepper , System system , const State &start_state ,
+        Time start_time , Time end_time , Time dt ,
+        Observer observer )
+{
+    return detail::integrate_adaptive(
+            stepper , system , start_state ,
+            start_time , end_time , dt ,
+            observer , typename Stepper::stepper_category() );
+}
+
+
+
+
+/**
+ * \brief integrate_adaptive without an observer.
+ */
+template< class Stepper , class System , class State , class Time >
+size_t integrate_adaptive(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time end_time , Time dt )
+{
+    return integrate_adaptive( stepper , system , start_state , start_time , end_time , dt , null_observer() );
+}
+
+/**
+ * \brief Second version to solve the forwarding problem,
+ * can be called with Boost.Range as start_state.
+ */
+template< class Stepper , class System , class State , class Time >
+size_t integrate_adaptive(
+        Stepper stepper , System system , const State &start_state ,
+        Time start_time , Time end_time , Time dt )
+{
+    return integrate_adaptive( stepper , system , start_state , start_time , end_time , dt , null_observer() );
+}
+
+
+/************* DOXYGEN ************/
+
+    /** 
+     * \fn integrate_adaptive( Stepper stepper , System system , State &start_state , Time start_time , Time end_time , Time dt , Observer observer )
+     * \brief Integrates the ODE with adaptive step size.
+     * 
+     * This function integrates the ODE given by system with the given stepper.
+     * The observer is called after each step. If the stepper has no error 
+     * control, the step size remains constant and the observer is called at
+     * equidistant time points t0+n*dt. If the stepper is a ControlledStepper,
+     * the step size is adjusted and the observer is called in non-equidistant
+     * intervals.
+     *
+     * \param stepper The stepper to be used for numerical integration.
+     * \param system Function/Functor defining the rhs of the ODE.
+     * \param start_state The initial condition x0.
+     * \param start_time The initial time t0.
+     * \param end_time The final integration time tend.
+     * \param dt The time step between observer calls, _not_ necessarily the 
+     * time step of the integration.
+     * \param observer Function/Functor called at equidistant time intervals.
+     * \return The number of steps performed.
+     */
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_ADAPTIVE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_const.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_const.hpp
new file mode 100755
index 0000000..64a58fa
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_const.hpp
@@ -0,0 +1,156 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/integrate/integrate_const.hpp
+
+ [begin_description]
+ Constant integration of ODEs, meaning that the state of the ODE is observed on constant time intervals.
+ The routines makes full use of adaptive and dense-output methods.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_CONST_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_CONST_HPP_INCLUDED
+
+#include <boost/type_traits/is_same.hpp>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+#include <boost/numeric/odeint/integrate/null_observer.hpp>
+#include <boost/numeric/odeint/integrate/detail/integrate_const.hpp>
+#include <boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+
+
+
+/*
+ * Integrates with constant time step dt.
+ */
+template< class Stepper , class System , class State , class Time , class Observer >
+size_t integrate_const(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time end_time , Time dt ,
+        Observer observer
+)
+{
+    // we want to get as fast as possible to the end
+    if( boost::is_same< null_observer , Observer >::value )
+    {
+        return detail::integrate_adaptive(
+                stepper , system , start_state ,
+                start_time , end_time  , dt ,
+                observer , typename Stepper::stepper_category() );
+    }
+    else
+    {
+        return detail::integrate_const( stepper , system , start_state , 
+                                        start_time , end_time , dt ,
+                                        observer , typename Stepper::stepper_category() );
+      }
+}
+
+/**
+ * \brief Second version to solve the forwarding problem, 
+ * can be called with Boost.Range as start_state.
+ */
+template< class Stepper , class System , class State , class Time , class Observer >
+size_t integrate_const(
+        Stepper stepper , System system , const State &start_state ,
+        Time start_time , Time end_time , Time dt ,
+        Observer observer
+)
+{
+    // we want to get as fast as possible to the end
+    if( boost::is_same< null_observer , Observer >::value )
+    {
+        return detail::integrate_adaptive(
+                stepper , system , start_state ,
+                start_time , end_time  , dt ,
+                observer , typename Stepper::stepper_category() );
+    }
+    else
+    {
+        return detail::integrate_const( stepper , system , start_state , 
+                                        start_time , end_time , dt ,
+                                        observer , typename Stepper::stepper_category() );
+    }
+}
+
+
+
+
+
+/**
+ * \brief integrate_const without observer calls
+ */
+template< class Stepper , class System , class State , class Time >
+size_t integrate_const(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time end_time , Time dt
+)
+{
+    return integrate_const( stepper , system , start_state , start_time , end_time , dt , null_observer() );
+}
+
+/**
+ * \brief Second version to solve the forwarding problem,
+ * can be called with Boost.Range as start_state.
+ */
+template< class Stepper , class System , class State , class Time >
+size_t integrate_const(
+        Stepper stepper , System system , const State &start_state ,
+        Time start_time , Time end_time , Time dt
+)
+{
+    return integrate_const( stepper , system , start_state , start_time , end_time , dt , null_observer() );
+}
+
+
+
+
+
+
+/********* DOXYGEN *********/
+    /**
+     * \fn integrate_const( Stepper stepper , System system , State &start_state , Time start_time , Time end_time , Time dt , Observer observer )
+     * \brief Integrates the ODE with constant step size.
+     *
+     * Integrates the ODE defined by system using the given stepper.
+     * This method ensures that the observer is called at constant intervals dt.
+     * If the Stepper is a normal stepper without step size control, dt is also
+     * used for the numerical scheme. If a ControlledStepper is provided, the 
+     * algorithm might reduce the step size to meet the error bounds, but it is 
+     * ensured that the observer is always called at equidistant time points
+     * t0 + n*dt. If a DenseOutputStepper is used, the step size also may vary
+     * and the dense output is used to call the observer at equidistant time
+     * points.
+     *
+     * \param stepper The stepper to be used for numerical integration.
+     * \param system Function/Functor defining the rhs of the ODE.
+     * \param start_state The initial condition x0.
+     * \param start_time The initial time t0.
+     * \param end_time The final integration time tend.
+     * \param dt The time step between observer calls, _not_ necessarily the 
+     * time step of the integration.
+     * \param observer Function/Functor called at equidistant time intervals.
+     * \return The number of steps performed.
+     */
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_CONST_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_n_steps.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_n_steps.hpp
new file mode 100755
index 0000000..9477a69
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_n_steps.hpp
@@ -0,0 +1,124 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/integrate/integrate_n_steps.hpp
+
+ [begin_description]
+ Integration of n steps with constant time size. Adaptive and dense-output methods are fully supported.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_N_STEPS_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_N_STEPS_HPP_INCLUDED
+
+#include <boost/type_traits/is_same.hpp>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+#include <boost/numeric/odeint/integrate/null_observer.hpp>
+#include <boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+/*
+ * Integrates n steps
+ *
+ * the two overloads are needed in order to solve the forwarding problem
+ */
+template< class Stepper , class System , class State , class Time , class Observer>
+Time integrate_n_steps(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time dt , size_t num_of_steps ,
+        Observer observer )
+{
+
+    return detail::integrate_n_steps(
+                stepper , system , start_state ,
+                start_time , dt , num_of_steps ,
+                observer , typename Stepper::stepper_category() );
+}
+
+/**
+ * \brief Solves the forwarding problem, can be called with Boost.Range as start_state.
+ */
+template< class Stepper , class System , class State , class Time , class Observer >
+Time integrate_n_steps(
+        Stepper stepper , System system , const State &start_state ,
+        Time start_time , Time dt , size_t num_of_steps ,
+        Observer observer )
+{
+    return detail::integrate_n_steps(
+                 stepper , system , start_state ,
+                 start_time , dt , num_of_steps ,
+                 observer , typename Stepper::stepper_category() );
+}
+
+
+/**
+ * \brief The same function as above, but without observer calls.
+ */
+template< class Stepper , class System , class State , class Time >
+Time integrate_n_steps(
+        Stepper stepper , System system , State &start_state ,
+        Time start_time , Time dt , size_t num_of_steps )
+{
+    return integrate_n_steps( stepper , system , start_state , start_time , dt , num_of_steps , null_observer() );
+}
+
+/**
+ * \brief Solves the forwarding problem, can be called with Boost.Range as start_state.
+ */
+template< class Stepper , class System , class State , class Time >
+Time integrate_n_steps(
+        Stepper stepper , System system , const State &start_state ,
+        Time start_time , Time dt , size_t num_of_steps )
+{
+    return integrate_n_steps( stepper , system , start_state , start_time , dt , num_of_steps , null_observer() );
+}
+
+
+
+/************* DOXYGEN *************/
+    /**
+     * \fn Time integrate_n_steps( Stepper stepper , System system , State &start_state , Time start_time , Time dt , size_t num_of_steps , Observer observer )
+     * \brief Integrates the ODE with constant step size.
+     *
+     * This function is similar to integrate_const. The observer is called at
+     * equidistant time intervals t0 + n*dt.
+     * If the Stepper is a normal stepper without step size control, dt is also
+     * used for the numerical scheme. If a ControlledStepper is provided, the 
+     * algorithm might reduce the step size to meet the error bounds, but it is 
+     * ensured that the observer is always called at equidistant time points
+     * t0 + n*dt. If a DenseOutputStepper is used, the step size also may vary
+     * and the dense output is used to call the observer at equidistant time
+     * points. The final integration time is always t0 + num_of_steps*dt.
+     *
+     * \param stepper The stepper to be used for numerical integration.
+     * \param system Function/Functor defining the rhs of the ODE.
+     * \param start_state The initial condition x0.
+     * \param start_time The initial time t0.
+     * \param dt The time step between observer calls, _not_ necessarily the 
+     * time step of the integration.
+     * \param num_of_steps Number of steps to be performed
+     * \param observer Function/Functor called at equidistant time intervals.
+     * \return The number of steps performed.
+     */
+
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_N_STEPS_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_times.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_times.hpp
new file mode 100755
index 0000000..9b2431a
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_times.hpp
@@ -0,0 +1,131 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/integrate/integrate_times.hpp
+
+ [begin_description]
+ Integration of ODEs with observation at user defined points
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_TIMES_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_TIMES_HPP_INCLUDED
+
+#include <boost/type_traits/is_same.hpp>
+
+#include <boost/range.hpp>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+#include <boost/numeric/odeint/integrate/null_observer.hpp>
+#include <boost/numeric/odeint/integrate/detail/integrate_times.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+/*
+ * the two overloads are needed in order to solve the forwarding problem
+ */
+template< class Stepper , class System , class State , class TimeIterator , class Time , class Observer >
+size_t integrate_times(
+        Stepper stepper , System system , State &start_state ,
+        TimeIterator times_start , TimeIterator times_end , Time dt ,
+        Observer observer )
+{
+    return detail::integrate_times(
+            stepper , system , start_state ,
+            times_start , times_end , dt ,
+            observer , typename Stepper::stepper_category() );
+}
+
+/**
+ * \brief Solves the forwarding problem, can be called with Boost.Range as start_state.
+ */
+template< class Stepper , class System , class State , class TimeIterator , class Time , class Observer >
+size_t integrate_times(
+        Stepper stepper , System system , const State &start_state ,
+        TimeIterator times_start , TimeIterator times_end , Time dt ,
+        Observer observer )
+{
+    return detail::integrate_times(
+            stepper , system , start_state ,
+            times_start , times_end , dt ,
+            observer , typename Stepper::stepper_category() );
+}
+
+/**
+ * \brief The same function as above, but without observer calls.
+ */
+template< class Stepper , class System , class State , class TimeRange , class Time , class Observer >
+size_t integrate_times(
+        Stepper stepper , System system , State &start_state ,
+        const TimeRange &times , Time dt ,
+        Observer observer )
+{
+    return integrate_times(
+            stepper , system , start_state ,
+            boost::begin( times ) , boost::end( times ) , dt , observer );
+}
+
+/**
+ * \brief Solves the forwarding problem, can be called with Boost.Range as start_state.
+ */
+template< class Stepper , class System , class State , class TimeRange , class Time , class Observer >
+size_t integrate_times(
+        Stepper stepper , System system , const State &start_state ,
+        const TimeRange &times , Time dt ,
+        Observer observer )
+{
+    return integrate_times(
+            stepper , system , start_state ,
+            boost::begin( times ) , boost::end( times ) , dt , observer );
+}
+
+
+
+
+/********* DOXYGEN ***********/
+
+    /**
+     * \fn size_t integrate_times( Stepper stepper , System system , State &start_state , TimeIterator times_start , TimeIterator times_end , Time dt , Observer observer )
+     * \brief Integrates the ODE with observer calls at given time points.
+     *
+     * Integrates the ODE given by system using the given stepper. This function
+     * does observer calls at the subsequent time points given by the range 
+     * times_start, times_end. If the stepper has not step size control, the 
+     * step size might be reduced occasionally to ensure observer calls exactly
+     * at the time points from the given sequence. If the stepper is a 
+     * ControlledStepper, the step size is adjusted to meet the error bounds, 
+     * but also might be reduced occasionally to ensure correct observer calls.
+     * If a DenseOutputStepper is provided, the dense output functionality is
+     * used to call the observer at the given times. The end time of the 
+     * integration is always *(end_time-1).
+     *
+     * \param stepper The stepper to be used for numerical integration.
+     * \param system Function/Functor defining the rhs of the ODE.
+     * \param start_state The initial condition x0.
+     * \param times_start Iterator to the start time
+     * \param times_end Iterator to the end time
+     * \param dt The time step between observer calls, _not_ necessarily the 
+     * time step of the integration.
+     * \param observer Function/Functor called at equidistant time intervals.
+     * \return The number of steps performed.
+     */
+
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_INTEGRATE_INTEGRATE_TIMES_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/null_observer.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/null_observer.hpp
new file mode 100755
index 0000000..4d9a070
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/null_observer.hpp
@@ -0,0 +1,38 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/integrate/null_observer.hpp
+
+ [begin_description]
+ null_observer
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_NULL_OBSERVER_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_INTEGRATE_NULL_OBSERVER_HPP_INCLUDED
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+struct null_observer
+{
+    template< class State , class Time >
+    void operator()( const State& /* x */ , Time /* t */ ) const
+    {
+
+    }
+};
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+#endif // BOOST_NUMERIC_ODEINT_INTEGRATE_NULL_OBSERVER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/observer_collection.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/observer_collection.hpp
new file mode 100755
index 0000000..26101a3
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/observer_collection.hpp
@@ -0,0 +1,56 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/integrate/observer_collection.hpp
+
+ [begin_description]
+ Collection of observers, which are all called during the evolution of the ODE.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_OBSERVER_COLLECTION_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_INTEGRATE_OBSERVER_COLLECTION_HPP_INCLUDED
+
+#include <vector>
+
+#include <boost/function.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template< class State , class Time >
+class observer_collection
+{
+public:
+
+    typedef boost::function< void( const State& , const Time& ) > observer_type;
+    typedef std::vector< observer_type > collection_type;
+
+    void operator()( const State& x , Time t )
+    {
+        for( size_t i=0 ; i<m_observers.size() ; ++i )
+            m_observers[i]( x , t );
+    }
+
+    collection_type& observers( void ) { return m_observers; }
+    const collection_type& observers( void ) const { return m_observers; }
+
+private:
+
+    collection_type m_observers;
+};
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_INTEGRATE_OBSERVER_COLLECTION_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp
new file mode 100755
index 0000000..3920f92
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp
@@ -0,0 +1,416 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/adams_bashforth.hpp
+
+ [begin_description]
+ Implementaton of the Adam-Bashforth method a multistep method used for the predictor step in the
+ Adams-Bashforth-Moulton method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_BASHFORTH_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_BASHFORTH_HPP_INCLUDED
+
+#include <boost/static_assert.hpp>
+
+#include <boost/numeric/odeint/util/bind.hpp>
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+
+#include <boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp>
+
+#include <boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp>
+#include <boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp>
+#include <boost/numeric/odeint/stepper/detail/rotating_buffer.hpp>
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template<
+size_t Steps ,
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer ,
+class InitializingStepper = runge_kutta4< State , Value , Deriv , Time , Algebra , Operations, Resizer >
+>
+class adams_bashforth : public algebra_stepper_base< Algebra , Operations >
+{
+
+#ifndef DOXYGEN_SKIP
+    BOOST_STATIC_ASSERT(( Steps > 0 ));
+    BOOST_STATIC_ASSERT(( Steps < 9 ));
+#endif
+
+public :
+
+    typedef State state_type;
+    typedef state_wrapper< state_type > wrapped_state_type;
+    typedef Value value_type;
+    typedef Deriv deriv_type;
+    typedef state_wrapper< deriv_type > wrapped_deriv_type;
+    typedef Time time_type;
+    typedef Resizer resizer_type;
+    typedef stepper_tag stepper_category;
+
+    typedef InitializingStepper initializing_stepper_type;
+
+    typedef typename algebra_stepper_base< Algebra , Operations >::algebra_type algebra_type;
+    typedef typename algebra_stepper_base< Algebra , Operations >::operations_type operations_type;
+#ifndef DOXYGEN_SKIP
+    typedef adams_bashforth< Steps , State , Value , Deriv , Time , Algebra , Operations , Resizer , InitializingStepper > stepper_type;
+#endif
+    static const size_t steps = Steps;
+
+
+
+    typedef unsigned short order_type;
+    static const order_type order_value = steps;
+
+    typedef detail::rotating_buffer< wrapped_deriv_type , steps > step_storage_type;
+
+
+    
+    order_type order( void ) const { return order_value; }
+
+    adams_bashforth( const algebra_type &algebra = algebra_type() )
+    : m_step_storage() , m_resizer() , m_coefficients() ,
+      m_steps_initialized( 0 ) , m_initializing_stepper() ,
+      m_algebra( algebra )
+    { }
+
+    adams_bashforth( const adams_bashforth &stepper )
+    : m_step_storage( stepper.m_step_storage ) , m_resizer( stepper.m_resizer ) , m_coefficients() ,
+      m_steps_initialized( stepper.m_steps_initialized ) , m_initializing_stepper( stepper.m_initializing_stepper ) ,
+      m_algebra( stepper.m_algebra )
+    { }
+
+    adams_bashforth& operator=( const adams_bashforth &stepper )
+    {
+        m_resizer = stepper.m_resizer;
+        m_step_storage = stepper.m_step_storage;
+        m_algebra = stepper.m_algebra;
+        return *this;
+    }
+
+
+    /*
+     * Version 1 : do_step( system , x , t , dt );
+     *
+     * solves the forwarding problem
+     */
+    template< class System , class StateInOut >
+    void do_step( System system , StateInOut &x , time_type t , time_type dt )
+    {
+        do_step( system , x , t , x , dt );
+    }
+
+    /**
+     * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut.
+     */
+    template< class System , class StateInOut >
+    void do_step( System system , const StateInOut &x , time_type t , time_type dt )
+    {
+        do_step( system , x , t , x , dt );
+    }
+
+
+
+    /*
+     * Version 2 : do_step( system , in , t , out , dt );
+     *
+     * solves the forwarding problem
+     */
+
+    template< class System , class StateIn , class StateOut >
+    void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt )
+    {
+        do_step_impl( system , in , t , out , dt );
+    }
+
+    /**
+     * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateOut.
+     */
+    template< class System , class StateIn , class StateOut >
+    void do_step( System system , const StateIn &in , time_type t , const StateOut &out , time_type dt )
+    {
+        do_step_impl( system , in , t , out , dt );
+    }
+
+
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        resize_impl( x );
+    }
+
+    const step_storage_type& step_storage( void ) const
+    {
+        return m_step_storage;
+    }
+
+    step_storage_type& step_storage( void )
+    {
+        return m_step_storage;
+    }
+
+    template< class ExplicitStepper , class System , class StateIn >
+    void initialize( ExplicitStepper explicit_stepper , System system , StateIn &x , time_type &t , time_type dt )
+    {
+        typename odeint::unwrap_reference< ExplicitStepper >::type &stepper = explicit_stepper;
+        typename odeint::unwrap_reference< System >::type &sys = system;
+
+        m_resizer.adjust_size( x , detail::bind( &stepper_type::template resize_impl<StateIn> , detail::ref( *this ) , detail::_1 ) );
+
+        for( size_t i=0 ; i<steps-1 ; ++i )
+        {
+            if( i != 0 ) m_step_storage.rotate();
+            sys( x , m_step_storage[0].m_v , t );
+            stepper.do_step( system , x , m_step_storage[0].m_v , t , dt );
+            t += dt;
+        }
+        m_steps_initialized = steps;
+    }
+
+    template< class System , class StateIn >
+    void initialize( System system , StateIn &x , time_type &t , time_type dt )
+    {
+        initialize( detail::ref( m_initializing_stepper ) , system , x , t , dt );
+    }
+
+    void reset( void )
+    {
+        m_steps_initialized = 0;
+    }
+
+    bool is_initialized( void ) const
+    {
+        return m_steps_initialized >= steps;
+    }
+
+    const initializing_stepper_type& initializing_stepper( void ) const { return m_initializing_stepper; }
+
+    initializing_stepper_type& initializing_stepper( void ) { return m_initializing_stepper; }
+
+private:
+
+    template< class System , class StateIn , class StateOut >
+    void do_step_impl( System system , const StateIn &in , time_type t , StateOut &out , time_type dt )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        if( m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl<StateIn> , detail::ref( *this ) , detail::_1 ) ) )
+        {
+            m_steps_initialized = 0;
+        }
+
+        if( m_steps_initialized < steps - 1 )
+        {
+            if( m_steps_initialized != 0 ) m_step_storage.rotate();
+            sys( in , m_step_storage[0].m_v , t );
+            m_initializing_stepper.do_step( system , in , m_step_storage[0].m_v , t , out , dt );
+            m_steps_initialized++;
+        }
+        else
+        {
+            m_step_storage.rotate();
+            sys( in , m_step_storage[0].m_v , t );
+            detail::adams_bashforth_call_algebra< steps , algebra_type , operations_type >()( m_algebra , in , out , m_step_storage , m_coefficients , dt );
+        }
+    }
+
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized( false );
+        for( size_t i=0 ; i<steps ; ++i )
+        {
+            resized |= adjust_size_by_resizeability( m_step_storage[i] , x , typename is_resizeable<deriv_type>::type() );
+        }
+        return resized;
+    }
+
+    step_storage_type m_step_storage;
+    resizer_type m_resizer;
+    const detail::adams_bashforth_coefficients< value_type , steps > m_coefficients;
+    size_t m_steps_initialized;
+    initializing_stepper_type m_initializing_stepper;
+
+
+
+
+
+
+
+protected:
+
+    algebra_type m_algebra;
+};
+
+
+/***** DOXYGEN *****/
+
+/**
+ * \class adams_bashforth
+ * \brief The Adams-Bashforth multistep algorithm.
+ *
+ * The Adams-Bashforth method is a multi-step algorithm with configurable step
+ * number. The step number is specified as template parameter Steps and it 
+ * then uses the result from the previous Steps steps. See also
+ * <a href="http://en.wikipedia.org/wiki/Linear_multistep_method">en.wikipedia.org/wiki/Linear_multistep_method</a>.
+ * Currently, a maximum of Steps=8 is supported.
+ * The method is explicit and fulfills the Stepper concept. Step size control
+ * or continuous output are not provided.
+ * 
+ * This class derives from algebra_base and inherits its interface via
+ * CRTP (current recurring template pattern). For more details see
+ * algebra_stepper_base.
+ *
+ * \tparam Steps The number of steps (maximal 8).
+ * \tparam State The state type.
+ * \tparam Value The value type.
+ * \tparam Deriv The type representing the time derivative of the state.
+ * \tparam Time The time representing the independent variable - the time.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ * \tparam InitializingStepper The stepper for the first two steps.
+ */
+
+    /**
+     * \fn adams_bashforth::adams_bashforth( const algebra_type &algebra )
+     * \brief Constructs the adams_bashforth class. This constructor can be used as a default
+     * constructor if the algebra has a default constructor. 
+     * \param algebra A copy of algebra is made and stored.
+     */
+
+    /**
+     * \fn order_type adams_bashforth::order( void ) const
+     * \brief Returns the order of the algorithm, which is equal to the number of steps.
+     * \return order of the method.
+     */
+
+    /**
+     * \fn void adams_bashforth::do_step( System system , StateInOut &x , time_type t , time_type dt )
+     * \brief This method performs one step. It transforms the result in-place.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn void adams_bashforth::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt )
+     * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn void adams_bashforth::adjust_size( const StateType &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+
+    /**
+     * \fn const step_storage_type& adams_bashforth::step_storage( void ) const
+     * \brief Returns the storage of intermediate results.
+     * \return The storage of intermediate results.
+     */
+
+    /**
+     * \fn step_storage_type& adams_bashforth::step_storage( void )
+     * \brief Returns the storage of intermediate results.
+     * \return The storage of intermediate results.
+     */
+
+    /**
+     * \fn void adams_bashforth::initialize( ExplicitStepper explicit_stepper , System system , StateIn &x , time_type &t , time_type dt )
+     * \brief Initialized the stepper. Does Steps-1 steps with the explicit_stepper to fill the buffer.
+     * \param explicit_stepper the stepper used to fill the buffer of previous step results
+     * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn void adams_bashforth::initialize( System system , StateIn &x , time_type &t , time_type dt )
+     * \brief Initialized the stepper. Does Steps-1 steps with an internal instance of InitializingStepper to fill the buffer.
+     * \note The state x and time t are updated to the values after Steps-1 initial steps.
+     * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the
+     *               Simple System concept.
+     * \param x The initial state of the ODE which should be solved, updated in this method.
+     * \param t The initial value of the time, updated in this method.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn void adams_bashforth::reset( void )
+     * \brief Resets the internal buffer of the stepper.
+     */
+
+    /**
+     * \fn bool adams_bashforth::is_initialized( void ) const
+     * \brief Returns true if the stepper has been initialized.
+     * \return bool true if stepper is initialized, false otherwise
+     */
+
+    /**
+     * \fn const initializing_stepper_type& adams_bashforth::initializing_stepper( void ) const
+     * \brief Returns the internal initializing stepper instance.
+     * \return initializing_stepper
+     */
+
+    /**
+     * \fn const initializing_stepper_type& adams_bashforth::initializing_stepper( void ) const
+     * \brief Returns the internal initializing stepper instance.
+     * \return initializing_stepper
+     */
+
+    /**
+     * \fn initializing_stepper_type& adams_bashforth::initializing_stepper( void )
+     * \brief Returns the internal initializing stepper instance.
+     * \return initializing_stepper
+     */
+
+} // odeint
+} // numeric
+} // boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_BASHFORTH_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp
new file mode 100755
index 0000000..e9d96a5
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp
@@ -0,0 +1,258 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp
+
+ [begin_description]
+ Implementation of the Adams-Bashforth-Moulton method, a predictor-corrector multistep method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_BASHFORTH_MOULTON_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_BASHFORTH_MOULTON_HPP_INCLUDED
+
+
+#include <boost/numeric/odeint/util/bind.hpp>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+#include <boost/numeric/odeint/stepper/adams_bashforth.hpp>
+#include <boost/numeric/odeint/stepper/adams_moulton.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template<
+size_t Steps ,
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+class adams_bashforth_moulton
+{
+
+#ifndef DOXYGEN_SKIP
+    BOOST_STATIC_ASSERT(( Steps > 0 ));
+    BOOST_STATIC_ASSERT(( Steps < 9 ));
+#endif
+
+public :
+
+    typedef State state_type;
+    typedef state_wrapper< state_type > wrapped_state_type;
+    typedef Value value_type;
+    typedef Deriv deriv_type;
+    typedef state_wrapper< deriv_type > wrapped_deriv_type;
+    typedef Time time_type;
+    typedef Algebra algebra_type;
+    typedef Operations operations_type;
+    typedef Resizer resizer_type;
+    typedef stepper_tag stepper_category;
+
+    static const size_t steps = Steps;
+#ifndef DOXYGEN_SKIP
+    typedef adams_bashforth< steps , state_type , value_type , deriv_type , time_type , algebra_type , operations_type , resizer_type > adams_bashforth_type;
+    typedef adams_moulton< steps , state_type , value_type , deriv_type , time_type , algebra_type , operations_type , resizer_type > adams_moulton_type;
+#endif //DOXYGEN_SKIP
+    typedef unsigned short order_type;
+    static const order_type order_value = steps + 1;
+
+    /** \brief Constructs the adams_bashforth class. */
+    adams_bashforth_moulton( void )
+    : m_adams_bashforth() , m_adams_moulton( m_adams_bashforth.algebra() )
+    { }
+
+    adams_bashforth_moulton( const algebra_type &algebra )
+    : m_adams_bashforth( algebra ) , m_adams_moulton( m_adams_bashforth.algebra() )
+    { }
+
+    order_type order( void ) const { return order_value; }
+
+    template< class System , class StateInOut >
+    void do_step( System system , StateInOut &x , time_type t , time_type dt )
+    {
+        m_adams_bashforth.do_step( system , x , t , dt );
+        m_adams_moulton.do_step( system , x , t , dt , m_adams_bashforth.step_storage() );
+    }
+
+    /**
+     * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut.
+     */
+    template< class System , class StateInOut >
+    void do_step( System system , const StateInOut &x , time_type t , time_type dt )
+    {
+        m_adams_bashforth.do_step( system , x , t , dt );
+        m_adams_moulton.do_step( system , x , t , dt , m_adams_bashforth.step_storage() );
+    }
+
+    template< class System , class StateIn , class StateOut >
+    void do_step( System system , const StateIn &in , time_type t , const StateOut &out , time_type dt )
+    {
+        m_adams_bashforth.do_step( system , in , t , out , dt );
+        m_adams_moulton.do_step( system , out , t , dt , m_adams_bashforth.step_storage() );
+    }
+
+    /**
+     * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateOut.
+     */
+    template< class System , class StateIn , class StateOut >
+    void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt )
+    {
+        m_adams_bashforth.do_step( system , in , t , out , dt );
+        m_adams_moulton.do_step( system , out , t , dt , m_adams_bashforth.step_storage() );
+    }
+
+
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        m_adams_bashforth.adjust_size( x );
+        m_adams_moulton.adjust_size( x );
+    }
+
+
+    template< class ExplicitStepper , class System , class StateIn >
+    void initialize( ExplicitStepper explicit_stepper , System system , StateIn &x , time_type &t , time_type dt )
+    {
+        m_adams_bashforth.initialize( explicit_stepper , system , x , t , dt );
+    }
+
+
+    template< class System , class StateIn >
+    void initialize( System system , StateIn &x , time_type &t , time_type dt )
+    {
+        m_adams_bashforth.initialize( system , x , t , dt );
+    }
+
+
+
+private:
+
+    adams_bashforth_type m_adams_bashforth;
+    adams_moulton_type m_adams_moulton;
+};
+
+
+/********* DOXYGEN ********/
+
+/**
+ * \class adams_bashforth_moulton
+ * \brief The Adams-Bashforth-Moulton multistep algorithm.
+ *
+ * The Adams-Bashforth method is a multi-step predictor-corrector algorithm 
+ * with configurable step number. The step number is specified as template 
+ * parameter Steps and it then uses the result from the previous Steps steps. 
+ * See also
+ * <a href="http://en.wikipedia.org/wiki/Linear_multistep_method">en.wikipedia.org/wiki/Linear_multistep_method</a>.
+ * Currently, a maximum of Steps=8 is supported.
+ * The method is explicit and fulfills the Stepper concept. Step size control
+ * or continuous output are not provided.
+ * 
+ * This class derives from algebra_base and inherits its interface via
+ * CRTP (current recurring template pattern). For more details see
+ * algebra_stepper_base.
+ *
+ * \tparam Steps The number of steps (maximal 8).
+ * \tparam State The state type.
+ * \tparam Value The value type.
+ * \tparam Deriv The type representing the time derivative of the state.
+ * \tparam Time The time representing the independent variable - the time.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ * \tparam InitializingStepper The stepper for the first two steps.
+ */
+
+    /**
+     * \fn adams_bashforth_moulton::adams_bashforth_moulton( const algebra_type &algebra )
+     * \brief Constructs the adams_bashforth class. This constructor can be used as a default
+     * constructor if the algebra has a default constructor. 
+     * \param algebra A copy of algebra is made and stored.
+     */
+
+    /**
+     * \fn adams_bashforth_moulton::order( void ) const
+     * \brief Returns the order of the algorithm, which is equal to the number of steps+1.
+     * \return order of the method.
+     */
+
+    /**
+     * \fn adams_bashforth_moulton::do_step( System system , StateInOut &x , time_type t , time_type dt )
+     * \brief This method performs one step. It transforms the result in-place.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     */
+
+
+    /**
+     * \fn adams_bashforth_moulton::do_step( System system , const StateIn &in , time_type t , const StateOut &out , time_type dt )
+     * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn adams_bashforth_moulton::adjust_size( const StateType &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+    /**
+     * \fn adams_bashforth_moulton::initialize( ExplicitStepper explicit_stepper , System system , StateIn &x , time_type &t , time_type dt )
+     * \brief Initialized the stepper. Does Steps-1 steps with the explicit_stepper to fill the buffer.
+     * \note The state x and time t are updated to the values after Steps-1 initial steps.
+     * \param explicit_stepper the stepper used to fill the buffer of previous step results
+     * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the
+     *               Simple System concept.
+     * \param x The initial state of the ODE which should be solved, updated after in this method.
+     * \param t The initial time, updated in this method.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn adams_bashforth_moulton::initialize( System system , StateIn &x , time_type &t , time_type dt )
+     * \brief Initialized the stepper. Does Steps-1 steps using the standard initializing stepper 
+     * of the underlying adams_bashforth stepper.
+     * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     */
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_BASHFORTH_MOULTON_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp
new file mode 100755
index 0000000..eecd098
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp
@@ -0,0 +1,195 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/adams_moulton.hpp
+
+ [begin_description]
+ Implementation of the Adams-Moulton method. This is method is not a real stepper, it is more a helper class
+ which computes the corrector step in the Adams-Bashforth-Moulton method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_MOULTON_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_MOULTON_HPP_INCLUDED
+
+
+#include <boost/numeric/odeint/util/bind.hpp>
+
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4_classic.hpp>
+
+#include <boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp>
+#include <boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp>
+#include <boost/numeric/odeint/stepper/detail/rotating_buffer.hpp>
+
+
+
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+/*
+ * Static implicit Adams-Moulton multistep-solver without step size control and without dense output.
+ */
+template<
+size_t Steps ,
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+class adams_moulton
+{
+private:
+
+
+public :
+
+    typedef State state_type;
+    typedef state_wrapper< state_type > wrapped_state_type;
+    typedef Value value_type;
+    typedef Deriv deriv_type;
+    typedef state_wrapper< deriv_type > wrapped_deriv_type;
+    typedef Time time_type;
+    typedef Algebra algebra_type;
+    typedef Operations operations_type;
+    typedef Resizer resizer_type;
+    typedef stepper_tag stepper_category;
+
+    typedef adams_moulton< Steps , State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_type;
+
+    static const size_t steps = Steps;
+
+    typedef unsigned short order_type;
+    static const order_type order_value = steps + 1;
+
+    typedef detail::rotating_buffer< wrapped_deriv_type , steps > step_storage_type;
+
+    adams_moulton( )
+    : m_coefficients() , m_dxdt() , m_resizer() ,
+      m_algebra_instance() , m_algebra( m_algebra_instance )
+    { }
+
+    adams_moulton( algebra_type &algebra )
+    : m_coefficients() , m_dxdt() , m_resizer() ,
+      m_algebra_instance() , m_algebra( algebra )
+    { }
+
+    adams_moulton& operator=( const adams_moulton &stepper )
+    {
+        m_dxdt = stepper.m_dxdt;
+        m_resizer = stepper.m_resizer;
+        m_algebra = stepper.m_algebra;
+        return *this;
+    }
+
+    order_type order( void ) const { return order_value; }
+
+
+    /*
+     * Version 1 : do_step( system , x , t , dt , buf );
+     *
+     * solves the forwarding problem
+     */
+    template< class System , class StateInOut , class ABBuf >
+    void do_step( System system , StateInOut &in , time_type t , time_type dt , const ABBuf &buf )
+    {
+        do_step( system , in , t , in , dt , buf );
+    }
+
+    template< class System , class StateInOut , class ABBuf >
+    void do_step( System system , const StateInOut &in , time_type t , time_type dt , const ABBuf &buf )
+    {
+        do_step( system , in , t , in , dt , buf );
+    }
+
+
+
+    /*
+     * Version 2 : do_step( system , in , t , out , dt , buf );
+     *
+     * solves the forwarding problem
+     */
+    template< class System , class StateIn , class StateOut , class ABBuf >
+    void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt , const ABBuf &buf )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl<StateIn> , detail::ref( *this ) , detail::_1 ) );
+        sys( in , m_dxdt.m_v , t );
+        detail::adams_moulton_call_algebra< steps , algebra_type , operations_type >()( m_algebra , in , out , m_dxdt.m_v , buf , m_coefficients , dt );
+    }
+
+    template< class System , class StateIn , class StateOut , class ABBuf >
+    void do_step( System system , const StateIn &in , time_type t , const StateOut &out , time_type dt , const ABBuf &buf )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl<StateIn> , detail::ref( *this ) , detail::_1 ) );
+        sys( in , m_dxdt.m_v , t );
+        detail::adams_moulton_call_algebra< steps , algebra_type , operations_type >()( m_algebra , in , out , m_dxdt.m_v , buf , m_coefficients , dt );
+    }
+
+
+
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        resize_impl( x );
+    }
+
+    algebra_type& algebra()
+    {   return m_algebra; }
+
+    const algebra_type& algebra() const
+    {   return m_algebra; }
+
+
+private:
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable<deriv_type>::type() );
+    }
+
+
+    const detail::adams_moulton_coefficients< value_type , steps > m_coefficients;
+    wrapped_deriv_type m_dxdt;
+    resizer_type m_resizer;
+
+protected:
+
+    algebra_type m_algebra_instance;
+    algebra_type &m_algebra;
+};
+
+
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_ADAMS_MOULTON_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp
new file mode 100755
index 0000000..db363ff
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp
@@ -0,0 +1,91 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp
+
+ [begin_description]
+ Base class for all steppers with an algebra and operations.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BASE_ALGEBRA_STEPPER_BASE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_BASE_ALGEBRA_STEPPER_BASE_HPP_INCLUDED
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template< class Algebra , class Operations >
+class algebra_stepper_base
+{
+public:
+
+    typedef Algebra algebra_type;
+    typedef Operations operations_type;
+
+    algebra_stepper_base( const algebra_type &algebra = algebra_type() )
+    : m_algebra( algebra ) { }
+
+    algebra_type& algebra()
+    {
+        return m_algebra;
+    }
+
+    const algebra_type& algebra() const
+    {
+        return m_algebra;
+    }
+
+protected:
+
+    algebra_type m_algebra;
+};
+
+
+/******* DOXYGEN *******/
+
+/**
+ * \class algebra_stepper_base
+ * \brief Base class for all steppers with algebra and operations.
+ *
+ * This class serves a base class for all steppers with algebra and operations. It holds the
+ * algebra and provides access to the algebra.  The operations are not instantiated, since they are 
+ * static classes inside the operations class.
+ *
+ * \tparam Algebra The type of the algebra. Must fulfill the Algebra Concept, at least partially to work
+ * with the stepper.
+ * \tparam Operations The type of the operations. Must fulfill the Operations Concept, at least partially 
+ * to work with the stepper.
+ */
+
+    /**
+     * \fn algebra_stepper_base::algebra_stepper_base( const algebra_type &algebra = algebra_type() )
+     * \brief Constructs a algebra_stepper_base and creates the algebra. This constructor can be used as a default
+     * constructor if the algebra has a default constructor.
+     * \param algebra The algebra_stepper_base stores and uses a copy of algebra.
+     */
+
+    /**
+     * \fn algebra_type& algebra_stepper_base::algebra()
+     * \return A reference to the algebra which is held by this class.
+     */
+
+    /**
+     * \fn const algebra_type& algebra_stepper_base::algebra() const
+     * \return A const reference to the algebra which is held by this class.
+     */
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_BASE_ALGEBRA_STEPPER_BASE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp
new file mode 100755
index 0000000..cf158cf
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp
@@ -0,0 +1,560 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp
+
+ [begin_description]
+ Base class for all explicit Runge Kutta stepper which are also error steppers.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_ERROR_STEPPER_BASE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_ERROR_STEPPER_BASE_HPP_INCLUDED
+
+#include <boost/utility/enable_if.hpp>
+#include <boost/type_traits/is_same.hpp>
+
+
+#include <boost/numeric/odeint/util/bind.hpp>
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+
+#include <boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+/*
+ * base class for explicit stepper and error steppers
+ * models the stepper AND the error stepper concept
+ *
+ * this class provides the following do_step variants:
+    * do_step( sys , x , t , dt )
+    * do_step( sys , x , dxdt , t , dt )
+    * do_step( sys , in , t , out , dt )
+    * do_step( sys , in , dxdt , t , out , dt )
+    * do_step( sys , x , t , dt , xerr )
+    * do_step( sys , x , dxdt , t , dt , xerr )
+    * do_step( sys , in , t , out , dt , xerr )
+    * do_step( sys , in , dxdt , t , out , dt , xerr )
+ */
+template<
+class Stepper ,
+unsigned short Order ,
+unsigned short StepperOrder ,
+unsigned short ErrorOrder ,
+class State ,
+class Value ,
+class Deriv ,
+class Time ,
+class Algebra ,
+class Operations ,
+class Resizer
+>
+class explicit_error_stepper_base : public algebra_stepper_base< Algebra , Operations >
+{
+public:
+
+    typedef algebra_stepper_base< Algebra , Operations > algebra_stepper_base_type;
+    typedef typename algebra_stepper_base_type::algebra_type algebra_type;
+
+
+    typedef State state_type;
+    typedef Value value_type;
+    typedef Deriv deriv_type;
+    typedef Time time_type;
+    typedef Resizer resizer_type;
+    typedef Stepper stepper_type;
+    typedef explicit_error_stepper_tag stepper_category;
+    #ifndef DOXYGEN_SKIP
+    typedef state_wrapper< state_type > wrapped_state_type;
+    typedef state_wrapper< deriv_type > wrapped_deriv_type;
+    typedef explicit_error_stepper_base< Stepper , Order , StepperOrder , ErrorOrder ,
+            State , Value , Deriv , Time , Algebra , Operations , Resizer > internal_stepper_base_type;
+    #endif
+
+    typedef unsigned short order_type;
+    static const order_type order_value = Order;
+    static const order_type stepper_order_value = StepperOrder;
+    static const order_type error_order_value = ErrorOrder;
+
+
+    explicit_error_stepper_base( const algebra_type &algebra = algebra_type() )
+    : algebra_stepper_base_type( algebra )
+    { }
+
+    order_type order( void ) const
+    {
+        return order_value;
+    }
+
+    order_type stepper_order( void ) const
+    {
+        return stepper_order_value;
+    }
+
+    order_type error_order( void ) const
+    {
+        return error_order_value;
+    }
+
+
+
+    /*
+     * Version 1 : do_step( sys , x , t , dt )
+     *
+     * the two overloads are needed in order to solve the forwarding problem
+     */
+    template< class System , class StateInOut >
+    void do_step( System system , StateInOut &x , time_type t , time_type dt )
+    {
+        do_step_v1( system , x , t , dt );
+    }
+
+    /**
+     * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut.
+     */
+    template< class System , class StateInOut >
+    void do_step( System system , const StateInOut &x , time_type t , time_type dt )
+    {
+        do_step_v1( system , x , t , dt );
+    }
+
+
+
+    /*
+     * Version 2 : do_step( sys , x , dxdt , t , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     *
+     * the disable is needed to avoid ambiguous overloads if state_type = time_type
+     */
+    template< class System , class StateInOut , class DerivIn >
+    typename boost::disable_if< boost::is_same< DerivIn , time_type > , void >::type
+    do_step( System system , StateInOut &x , const DerivIn &dxdt , time_type t , time_type dt )
+    {
+        this->stepper().do_step_impl( system , x , dxdt , t , x , dt );
+    }
+
+
+    /*
+     * Version 3 : do_step( sys , in , t , out , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     *
+     * the disable is needed to avoid ambiguous overloads if state_type = time_type
+     */
+    template< class System , class StateIn , class StateOut >
+    typename boost::disable_if< boost::is_same< StateIn , time_type > , void >::type
+    do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        m_resizer.adjust_size( in , detail::bind( &internal_stepper_base_type::template resize_impl<StateIn> , detail::ref( *this ) , detail::_1 ) );
+        sys( in , m_dxdt.m_v ,t );
+        this->stepper().do_step_impl( system , in , m_dxdt.m_v , t , out , dt );
+    }
+
+    /*
+     * Version 4 :do_step( sys , in , dxdt , t , out , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     *
+     * the disable is needed to avoid ambiguous overloads if state_type = time_type
+     */
+    template< class System , class StateIn , class DerivIn , class StateOut >
+    typename boost::disable_if< boost::is_same< DerivIn , time_type > , void >::type
+    do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+    {
+        this->stepper().do_step_impl( system , in , dxdt , t , out , dt );
+    }
+
+
+
+
+
+    /*
+     * Version  5 :do_step( sys , x , t , dt , xerr )
+     *
+     * the two overloads are needed in order to solve the forwarding problem
+     */
+    template< class System , class StateInOut , class Err >
+    void do_step( System system , StateInOut &x , time_type t , time_type dt , Err &xerr )
+    {
+        do_step_v5( system , x , t , dt , xerr );
+    }
+
+    /**
+     * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut.
+     */
+    template< class System , class StateInOut , class Err >
+    void do_step( System system , const StateInOut &x , time_type t , time_type dt , Err &xerr )
+    {
+        do_step_v5( system , x , t , dt , xerr );
+    }
+
+
+    /*
+     * Version 6 :do_step( sys , x , dxdt , t , dt , xerr )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     *
+     * the disable is needed to avoid ambiguous overloads if state_type = time_type
+     */
+    template< class System , class StateInOut , class DerivIn , class Err >
+    typename boost::disable_if< boost::is_same< DerivIn , time_type > , void >::type
+    do_step( System system , StateInOut &x , const DerivIn &dxdt , time_type t , time_type dt , Err &xerr )
+    {
+        this->stepper().do_step_impl( system , x , dxdt , t , x , dt , xerr );
+    }
+
+
+    /*
+     * Version 7 : do_step( sys , in , t , out , dt , xerr )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     */
+    template< class System , class StateIn , class StateOut , class Err >
+    void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt , Err &xerr )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        m_resizer.adjust_size( in , detail::bind( &internal_stepper_base_type::template resize_impl<StateIn> , detail::ref( *this ) , detail::_1 ) );
+        sys( in , m_dxdt.m_v ,t );
+        this->stepper().do_step_impl( system , in , m_dxdt.m_v , t , out , dt , xerr );
+    }
+
+
+    /*
+     * Version 8 : do_step( sys , in , dxdt , t , out , dt , xerr )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     */
+    template< class System , class StateIn , class DerivIn , class StateOut , class Err >
+    void do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt , Err &xerr )
+    {
+        this->stepper().do_step_impl( system , in , dxdt , t , out , dt , xerr );
+    }
+
+    template< class StateIn >
+    void adjust_size( const StateIn &x )
+    {
+        resize_impl( x );
+    }
+
+
+
+private:
+
+    template< class System , class StateInOut >
+    void do_step_v1( System system , StateInOut &x , time_type t , time_type dt )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        m_resizer.adjust_size( x , detail::bind( &internal_stepper_base_type::template resize_impl<StateInOut> , detail::ref( *this ) , detail::_1 ) );
+        sys( x , m_dxdt.m_v ,t );
+        this->stepper().do_step_impl( system , x , m_dxdt.m_v , t , x , dt );
+    }
+
+    template< class System , class StateInOut , class Err >
+    void do_step_v5( System system , StateInOut &x , time_type t , time_type dt , Err &xerr )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        m_resizer.adjust_size( x , detail::bind( &internal_stepper_base_type::template resize_impl<StateInOut> , detail::ref( *this ) , detail::_1 ) );
+        sys( x , m_dxdt.m_v ,t );
+        this->stepper().do_step_impl( system , x , m_dxdt.m_v , t , x , dt , xerr );
+    }
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable<deriv_type>::type() );
+    }
+
+    stepper_type& stepper( void )
+    {
+        return *static_cast< stepper_type* >( this );
+    }
+
+    const stepper_type& stepper( void ) const
+    {
+        return *static_cast< const stepper_type* >( this );
+    }
+
+
+    resizer_type m_resizer;
+
+protected:
+
+    wrapped_deriv_type m_dxdt;
+};
+
+
+
+
+/******** DOXYGEN *******/
+
+/**
+ * \class explicit_error_stepper_base
+ * \brief Base class for explicit steppers with error estimation. This class can used with 
+ * controlled steppers for step size control.
+ *
+ * This class serves as the base class for all explicit steppers with algebra and operations. In contrast to
+ * explicit_stepper_base it also estimates the error and can be used in a controlled stepper to provide
+ * step size control.
+ *
+ * \note This stepper provides `do_step` methods with and without error estimation. It has therefore three orders,
+ * one for the order of a step if the error is not estimated. The other two orders are the orders of the step and 
+ * the error step if the error estimation is performed.
+ *
+ * explicit_error_stepper_base  is used as the interface in a CRTP (currently recurring template
+ * pattern). In order to work correctly the parent class needs to have a method
+ * `do_step_impl( system , in , dxdt_in , t , out , dt , xerr )`. 
+ * explicit_error_stepper_base derives from algebra_stepper_base.
+ *
+ * explicit_error_stepper_base provides several overloaded `do_step` methods, see the list below. Only two of them
+ * are needed to fulfill the Error Stepper concept. The other ones are for convenience and for performance. Some
+ * of them simply update the state out-of-place, while other expect that the first derivative at `t` is passed to the
+ * stepper.
+ *
+ * - `do_step( sys , x , t , dt )` - The classical `do_step` method needed to fulfill the Error Stepper concept. The
+ *      state is updated in-place. A type modelling a Boost.Range can be used for x.
+ * - `do_step( sys , x , dxdt , t , dt )` - This method updates the state in-place, but the derivative at the point `t`
+ *      must be explicitly passed in `dxdt`.
+ * - `do_step( sys , in , t , out , dt )` - This method updates the state out-of-place, hence the result of the step
+ *      is stored in `out`.
+ * - `do_step( sys , in , dxdt , t , out , dt )` - This method update the state out-of-place and expects that the
+ *     derivative at the point `t` is explicitly passed in `dxdt`. It is a combination of the two `do_step` methods
+ *     above.
+ * - `do_step( sys , x , t , dt , xerr )` - This `do_step` method is needed to fulfill the Error Stepper concept. The
+ *     state is updated in-place and an error estimate is calculated. A type modelling a Boost.Range can be used for x.
+ * - `do_step( sys , x , dxdt , t , dt , xerr )` - This method updates the state in-place, but the derivative at the
+ *      point `t` must be passed in `dxdt`. An error estimate is calculated.
+ * - `do_step( sys , in , t , out , dt , xerr )` - This method updates the state out-of-place and estimates the error
+ *      during the step.
+ * - `do_step( sys , in , dxdt , t , out , dt , xerr )` - This methods updates the state out-of-place and estimates
+ *      the error during the step. Furthermore, the derivative at `t` must be passed in `dxdt`.
+ *
+ * \note The system is always passed as value, which might result in poor performance if it contains data. In this
+ *      case it can be used with `boost::ref` or `std::ref`, for example `stepper.do_step( boost::ref( sys ) , x , t , dt );`
+ *
+ * \note The time `t` is not advanced by the stepper. This has to done manually, or by the appropriate `integrate`
+ *      routines or `iterator`s.
+ *
+ * \tparam Stepper The stepper on which this class should work. It is used via CRTP, hence explicit_stepper_base
+ * provides the interface for the Stepper.
+ * \tparam Order The order of a stepper if the stepper is used without error estimation.
+ * \tparam StepperOrder The order of a step if the stepper is used with error estimation. Usually Order and StepperOrder have 
+ * the same value.
+ * \tparam ErrorOrder The order of the error step if the stepper is used with error estimation.
+ * \tparam State The state type for the stepper.
+ * \tparam Value The value type for the stepper. This should be a floating point type, like float,
+ * double, or a multiprecision type. It must not necessary be the value_type of the State. For example
+ * the State can be a `vector< complex< double > >` in this case the Value must be double.
+ * The default value is double.
+ * \tparam Deriv The type representing time derivatives of the state type. It is usually the same type as the
+ * state type, only if used with Boost.Units both types differ.
+ * \tparam Time The type representing the time. Usually the same type as the value type. When Boost.Units is
+ * used, this type has usually a unit.
+ * \tparam Algebra The algebra type which must fulfill the Algebra Concept.
+ * \tparam Operations The type for the operations which must fulfill the Operations Concept.
+ * \tparam Resizer The resizer policy class.
+ */
+
+
+    /**
+     * \fn explicit_error_stepper_base::explicit_error_stepper_base( const algebra_type &algebra = algebra_type() )
+     *
+     * \brief Constructs a explicit_error_stepper_base class. This constructor can be used as a default
+     * constructor if the algebra has a default constructor.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+
+    /**
+     * \fn explicit_error_stepper_base::order( void ) const
+     * \return Returns the order of the stepper if it used without error estimation.
+     */
+
+    /**
+     * \fn explicit_error_stepper_base::stepper_order( void ) const
+     * \return Returns the order of a step if the stepper is used without error estimation.
+     */
+
+    /**
+     * \fn explicit_error_stepper_base::error_order( void ) const
+     * \return Returns the order of an error step if the stepper is used without error estimation.
+     */
+
+    /**
+     * \fn explicit_error_stepper_base::do_step( System system , StateInOut &x , time_type t , time_type dt )
+     * \brief This method performs one step. It transforms the result in-place.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn explicit_error_stepper_base::do_step( System system , StateInOut &x , const DerivIn &dxdt , time_type t , time_type dt )
+     * \brief The method performs one step with the stepper passed by Stepper. Additionally to the other method
+     * the derivative of x is also passed to this method. It is supposed to be used in the following way:
+     *
+     * \code
+     * sys( x , dxdt , t );
+     * stepper.do_step( sys , x , dxdt , t , dt );
+     * \endcode
+     *
+     * The result is updated in place in x. This method is disabled if Time and Deriv are of the same type. In this
+     * case the method could not be distinguished from other `do_step` versions.
+     * 
+     * \note This method does not solve the forwarding problem.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x.
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn explicit_error_stepper_base::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt )
+     * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place.
+     * This method is disabled if StateIn and Time are the same type. In this case the method can not be distinguished from
+     * other `do_step` variants.
+     * \note This method does not solve the forwarding problem. 
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     */
+
+
+    /**
+     * \fn explicit_error_stepper_base::do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+     * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place.
+     * Furthermore, the derivative of x at t is passed to the stepper. It is supposed to be used in the following way:
+     *
+     * \code
+     * sys( in , dxdt , t );
+     * stepper.do_step( sys , in , dxdt , t , out , dt );
+     * \endcode
+     *
+     * This method is disabled if DerivIn and Time are of same type.
+     *
+     * \note This method does not solve the forwarding problem.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn explicit_error_stepper_base::do_step( System system , StateInOut &x , time_type t , time_type dt , Err &xerr )
+     * \brief The method performs one step with the stepper passed by Stepper and estimates the error. The state of the ODE
+     * is updated in-place.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. x is updated by this method.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     * \param xerr The estimation of the error is stored in xerr.
+     */
+
+    /**
+     * \fn explicit_error_stepper_base::do_step( System system , StateInOut &x , const DerivIn &dxdt , time_type t , time_type dt , Err &xerr )
+     * \brief The method performs one step with the stepper passed by Stepper. Additionally to the other method
+     * the derivative of x is also passed to this method. It is supposed to be used in the following way:
+     *
+     * \code
+     * sys( x , dxdt , t );
+     * stepper.do_step( sys , x , dxdt , t , dt , xerr );
+     * \endcode
+     *
+     * The result is updated in place in x. This method is disabled if Time and DerivIn are of the same type. In this
+     * case the method could not be distinguished from other `do_step` versions.
+     * 
+     * \note This method does not solve the forwarding problem.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x.
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     * \param xerr The error estimate is stored in xerr.
+     */
+
+    /**
+     * \fn explicit_error_stepper_base::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt , Err &xerr )
+     * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place.
+     * Furthermore, the error is estimated.
+     *
+     * \note This method does not solve the forwarding problem. 
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     * \param xerr The error estimate.
+     */
+
+
+    /**
+     * \fn explicit_error_stepper_base::do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt , Err &xerr )
+     * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place.
+     * Furthermore, the derivative of x at t is passed to the stepper and the error is estimated. It is supposed to be used in the following way:
+     *
+     * \code
+     * sys( in , dxdt , t );
+     * stepper.do_step( sys , in , dxdt , t , out , dt );
+     * \endcode
+     *
+     * This method is disabled if DerivIn and Time are of same type.
+     *
+     * \note This method does not solve the forwarding problem.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     * \param xerr The error estimate.
+     */
+
+
+    /**
+     * \fn explicit_error_stepper_base::adjust_size( const StateIn &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+} // odeint
+} // numeric
+} // boost
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_ERROR_STEPPER_BASE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp
new file mode 100755
index 0000000..7bff0fb
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp
@@ -0,0 +1,658 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp
+
+ [begin_description]
+ Base class for all explicit first-same-as-last Runge Kutta steppers.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_ERROR_STEPPER_FSAL_BASE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_ERROR_STEPPER_FSAL_BASE_HPP_INCLUDED
+
+#include <boost/utility/enable_if.hpp>
+#include <boost/type_traits/is_same.hpp>
+
+
+#include <boost/numeric/odeint/util/bind.hpp>
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+#include <boost/numeric/odeint/util/copy.hpp>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+
+#include <boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+/*
+ * base class for explicit stepper and error steppers with the fsal property
+ * models the stepper AND the error stepper fsal concept
+ * 
+ * this class provides the following do_step overloads
+    * do_step( sys , x , t , dt )
+    * do_step( sys , x , dxdt , t , dt )
+    * do_step( sys , in , t , out , dt )
+    * do_step( sys , in , dxdt_in , t , out , dxdt_out , dt )
+    * do_step( sys , x , t , dt , xerr )
+    * do_step( sys , x , dxdt , t , dt , xerr )
+    * do_step( sys , in , t , out , dt , xerr )
+    * do_step( sys , in , dxdt_in , t , out , dxdt_out , dt , xerr )
+ */
+template<
+class Stepper ,
+unsigned short Order ,
+unsigned short StepperOrder ,
+unsigned short ErrorOrder ,
+class State ,
+class Value ,
+class Deriv ,
+class Time ,
+class Algebra ,
+class Operations ,
+class Resizer
+>
+class explicit_error_stepper_fsal_base : public algebra_stepper_base< Algebra , Operations >
+{
+public:
+
+    typedef algebra_stepper_base< Algebra , Operations > algebra_stepper_base_type;
+    typedef typename algebra_stepper_base_type::algebra_type algebra_type;
+
+    typedef State state_type;
+    typedef Value value_type;
+    typedef Deriv deriv_type;
+    typedef Time time_type;
+    typedef Resizer resizer_type;
+    typedef Stepper stepper_type;
+    typedef explicit_error_stepper_fsal_tag stepper_category;
+
+    #ifndef DOXYGEN_SKIP
+    typedef state_wrapper< state_type > wrapped_state_type;
+    typedef state_wrapper< deriv_type > wrapped_deriv_type;
+    typedef explicit_error_stepper_fsal_base< Stepper , Order , StepperOrder , ErrorOrder ,
+            State , Value , Deriv , Time , Algebra , Operations , Resizer > internal_stepper_base_type;
+    #endif 
+
+
+    typedef unsigned short order_type;
+    static const order_type order_value = Order;
+    static const order_type stepper_order_value = StepperOrder;
+    static const order_type error_order_value = ErrorOrder;
+
+    explicit_error_stepper_fsal_base( const algebra_type &algebra = algebra_type() )
+    : algebra_stepper_base_type( algebra ) , m_first_call( true )
+    { }
+
+    order_type order( void ) const
+    {
+        return order_value;
+    }
+
+    order_type stepper_order( void ) const
+    {
+        return stepper_order_value;
+    }
+
+    order_type error_order( void ) const
+    {
+        return error_order_value;
+    }
+
+
+    /*
+     * version 1 : do_step( sys , x , t , dt )
+     *
+     * the two overloads are needed in order to solve the forwarding problem
+     */
+    template< class System , class StateInOut >
+    void do_step( System system , StateInOut &x , time_type t , time_type dt )
+    {
+        do_step_v1( system , x , t , dt );
+    }
+
+    /**
+     * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut.
+     */
+    template< class System , class StateInOut >
+    void do_step( System system , const StateInOut &x , time_type t , time_type dt )
+    {
+        do_step_v1( system , x , t , dt );
+    }
+
+
+    /*
+     * version 2 : do_step( sys , x , dxdt , t , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     *
+     * the disable is needed to avoid ambiguous overloads if state_type = time_type
+     */
+    template< class System , class StateInOut , class DerivInOut >
+    typename boost::disable_if< boost::is_same< StateInOut , time_type > , void >::type
+    do_step( System system , StateInOut &x , DerivInOut &dxdt , time_type t , time_type dt )
+    {
+        m_first_call = true;
+        this->stepper().do_step_impl( system , x , dxdt , t , x , dxdt , dt );
+    }
+
+
+    /*
+     * version 3 : do_step( sys , in , t , out , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     *
+     * the disable is needed to avoid ambiguous overloads if state_type = time_type
+     */
+    template< class System , class StateIn , class StateOut >
+    typename boost::disable_if< boost::is_same< StateIn , time_type > , void >::type
+    do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt )
+    {
+        if( m_resizer.adjust_size( in , detail::bind( &internal_stepper_base_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ) || m_first_call )
+        {
+            initialize( system , in , t );
+        }
+        this->stepper().do_step_impl( system , in , m_dxdt.m_v , t , out , m_dxdt.m_v , dt );
+    }
+
+
+    /*
+     * version 4 : do_step( sys , in , dxdt_in , t , out , dxdt_out , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     */
+    template< class System , class StateIn , class DerivIn , class StateOut , class DerivOut >
+    void do_step( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t ,
+            StateOut &out , DerivOut &dxdt_out , time_type dt )
+    {
+        m_first_call = true;
+        this->stepper().do_step_impl( system , in , dxdt_in , t , out , dxdt_out , dt );
+    }
+
+
+
+
+
+    /*
+     * version 5 : do_step( sys , x , t , dt , xerr )
+     *
+     * the two overloads are needed in order to solve the forwarding problem
+     */
+    template< class System , class StateInOut , class Err >
+    void do_step( System system , StateInOut &x , time_type t , time_type dt , Err &xerr )
+    {
+        do_step_v5( system , x , t , dt , xerr );
+    }
+
+    /**
+     * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut.
+     */
+    template< class System , class StateInOut , class Err >
+    void do_step( System system , const StateInOut &x , time_type t , time_type dt , Err &xerr )
+    {
+        do_step_v5( system , x , t , dt , xerr );
+    }
+
+
+    /*
+     * version 6 : do_step( sys , x , dxdt , t , dt , xerr )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     *
+     * the disable is needed to avoid ambiguous overloads if state_type = time_type
+     */
+    template< class System , class StateInOut , class DerivInOut , class Err >
+    typename boost::disable_if< boost::is_same< StateInOut , time_type > , void >::type
+    do_step( System system , StateInOut &x , DerivInOut &dxdt , time_type t , time_type dt , Err &xerr )
+    {
+        m_first_call = true;
+        this->stepper().do_step_impl( system , x , dxdt , t , x , dxdt , dt , xerr );
+    }
+
+
+
+
+    /*
+     * version 7 : do_step( sys , in , t , out , dt , xerr )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     */
+    template< class System , class StateIn , class StateOut , class Err >
+    void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt , Err &xerr )
+    {
+        if( m_resizer.adjust_size( in , detail::bind( &internal_stepper_base_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ) || m_first_call )
+        {
+            initialize( system , in , t );
+        }
+        this->stepper().do_step_impl( system , in , m_dxdt.m_v , t , out , m_dxdt.m_v , dt , xerr );
+    }
+
+
+    /*
+     * version 8 : do_step( sys , in , dxdt_in , t , out , dxdt_out , dt , xerr )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     */
+    template< class System , class StateIn , class DerivIn , class StateOut , class DerivOut , class Err >
+    void do_step( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t ,
+            StateOut &out , DerivOut &dxdt_out , time_type dt , Err &xerr )
+    {
+        m_first_call = true;
+        this->stepper().do_step_impl( system , in , dxdt_in , t , out , dxdt_out , dt , xerr );
+    }
+
+    template< class StateIn >
+    void adjust_size( const StateIn &x )
+    {
+        resize_impl( x );
+    }
+
+    void reset( void )
+    {
+        m_first_call = true;
+    }
+
+    template< class DerivIn >
+    void initialize( const DerivIn &deriv )
+    {
+        boost::numeric::odeint::copy( deriv , m_dxdt.m_v );
+        m_first_call = false;
+    }
+
+    template< class System , class StateIn >
+    void initialize( System system , const StateIn &x , time_type t )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        sys( x , m_dxdt.m_v , t );
+        m_first_call = false;
+    }
+
+    bool is_initialized( void ) const
+    {
+        return ! m_first_call;
+    }
+
+
+
+private:
+
+    template< class System , class StateInOut >
+    void do_step_v1( System system , StateInOut &x , time_type t , time_type dt )
+    {
+        if( m_resizer.adjust_size( x , detail::bind( &internal_stepper_base_type::template resize_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) ) || m_first_call )
+        {
+            initialize( system , x , t );
+        }
+        this->stepper().do_step_impl( system , x , m_dxdt.m_v , t , x , m_dxdt.m_v , dt );
+    }
+
+    template< class System , class StateInOut , class Err >
+    void do_step_v5( System system , StateInOut &x , time_type t , time_type dt , Err &xerr )
+    {
+        if( m_resizer.adjust_size( x , detail::bind( &internal_stepper_base_type::template resize_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) ) || m_first_call )
+        {
+            initialize( system , x , t );
+        }
+        this->stepper().do_step_impl( system , x , m_dxdt.m_v , t , x , m_dxdt.m_v , dt , xerr );
+    }
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable<deriv_type>::type() );
+    }
+
+
+    stepper_type& stepper( void )
+    {
+        return *static_cast< stepper_type* >( this );
+    }
+
+    const stepper_type& stepper( void ) const
+    {
+        return *static_cast< const stepper_type* >( this );
+    }
+
+
+    resizer_type m_resizer;
+    bool m_first_call;
+
+protected:
+
+
+    wrapped_deriv_type m_dxdt;
+};
+
+
+/******* DOXYGEN *******/
+
+/**
+ * \class explicit_error_stepper_fsal_base
+ * \brief Base class for explicit steppers with error estimation and stepper fulfilling the FSAL (first-same-as-last)
+ * property. This class can be used with controlled steppers for step size control.
+ *
+ * This class serves as the base class for all explicit steppers with algebra and operations and which fulfill the FSAL
+ * property. In contrast to explicit_stepper_base it also estimates the error and can be used in a controlled stepper
+ * to provide step size control.
+ *
+ * The FSAL property means that the derivative of the system at t+dt is already used in the current step going from
+ * t to t +dt. Therefore, some more do_steps method can be introduced and the controlled steppers can explicitly make use
+ * of this property.
+ *
+ * \note This stepper provides `do_step` methods with and without error estimation. It has therefore three orders,
+ * one for the order of a step if the error is not estimated. The other two orders are the orders of the step and 
+ * the error step if the error estimation is performed.
+ *
+ * explicit_error_stepper_fsal_base  is used as the interface in a CRTP (currently recurring template
+ * pattern). In order to work correctly the parent class needs to have a method
+ * `do_step_impl( system , in , dxdt_in , t , out , dxdt_out , dt , xerr )`. 
+ * explicit_error_stepper_fsal_base derives from algebra_stepper_base.
+ *
+ * This class can have an intrinsic state depending on the explicit usage of the `do_step` method. This means that some
+ * `do_step` methods are expected to be called in order. For example the `do_step( sys , x , t , dt , xerr )` will keep track 
+ * of the derivative of `x` which is the internal state. The first call of this method is recognized such that one
+ * does not explicitly initialize the internal state, so it is safe to use this method like
+ *
+ * \code
+ * stepper_type stepper;
+ * stepper.do_step( sys , x , t , dt , xerr );
+ * stepper.do_step( sys , x , t , dt , xerr );
+ * stepper.do_step( sys , x , t , dt , xerr );
+ * \endcode
+ *
+ * But it is unsafe to call this method with different system functions after each other. Do do so, one must initialize the
+ * internal state with the `initialize` method or reset the internal state with the `reset` method.
+ *
+ * explicit_error_stepper_fsal_base provides several overloaded `do_step` methods, see the list below. Only two of them are needed
+ * to fulfill the Error Stepper concept. The other ones are for convenience and for better performance. Some of them
+ * simply update the state out-of-place, while other expect that the first derivative at `t` is passed to the stepper.
+ *
+ * - `do_step( sys , x , t , dt )` - The classical `do_step` method needed to fulfill the Error Stepper concept. The
+ *      state is updated in-place. A type modelling a Boost.Range can be used for x.
+ * - `do_step( sys , x , dxdt , t , dt )` - This method updates the state x and the derivative dxdt in-place. It is expected
+ *     that dxdt has the value of the derivative of x at time t.
+ * - `do_step( sys , in , t , out , dt )` - This method updates the state out-of-place, hence the result of the step
+ *      is stored in `out`.
+ * - `do_step( sys , in , dxdt_in , t , out , dxdt_out , dt )` - This method updates the state and the derivative
+ *     out-of-place. It expects that the derivative at the point `t` is explicitly passed in `dxdt_in`.
+ * - `do_step( sys , x , t , dt , xerr )` - This `do_step` method is needed to fulfill the Error Stepper concept. The
+ *     state is updated in-place and an error estimate is calculated. A type modelling a Boost.Range can be used for x.
+ * - `do_step( sys , x , dxdt , t , dt , xerr )` - This method updates the state and the derivative in-place. It is assumed
+ *      that the dxdt has the value of the derivative of x at time t. An error estimate is calculated.
+ * - `do_step( sys , in , t , out , dt , xerr )` - This method updates the state out-of-place and estimates the error
+ *      during the step.
+ * - `do_step( sys , in , dxdt_in , t , out , dxdt_out , dt , xerr )` - This methods updates the state and the derivative
+ *      out-of-place and estimates the error during the step. It is assumed the dxdt_in is derivative of in at time t.
+ *
+ * \note The system is always passed as value, which might result in poor performance if it contains data. In this
+ *      case it can be used with `boost::ref` or `std::ref`, for example `stepper.do_step( boost::ref( sys ) , x , t , dt );`
+ *
+ * \note The time `t` is not advanced by the stepper. This has to done manually, or by the appropriate `integrate`
+ *      routines or `iterator`s.
+ *
+ * \tparam Stepper The stepper on which this class should work. It is used via CRTP, hence explicit_stepper_base
+ * provides the interface for the Stepper.
+ * \tparam Order The order of a stepper if the stepper is used without error estimation.
+ * \tparam StepperOrder The order of a step if the stepper is used with error estimation. Usually Order and StepperOrder have 
+ * the same value.
+ * \tparam ErrorOrder The order of the error step if the stepper is used with error estimation.
+ * \tparam State The state type for the stepper.
+ * \tparam Value The value type for the stepper. This should be a floating point type, like float,
+ * double, or a multiprecision type. It must not necessary be the value_type of the State. For example
+ * the State can be a `vector< complex< double > >` in this case the Value must be double.
+ * The default value is double.
+ * \tparam Deriv The type representing time derivatives of the state type. It is usually the same type as the
+ * state type, only if used with Boost.Units both types differ.
+ * \tparam Time The type representing the time. Usually the same type as the value type. When Boost.Units is
+ * used, this type has usually a unit.
+ * \tparam Algebra The algebra type which must fulfill the Algebra Concept.
+ * \tparam Operations The type for the operations which must fulfill the Operations Concept.
+ * \tparam Resizer The resizer policy class.
+ */
+
+
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::explicit_error_stepper_fsal_base( const algebra_type &algebra )
+     * \brief Constructs a explicit_stepper_fsal_base class. This constructor can be used as a default
+     * constructor if the algebra has a default constructor.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::order( void ) const
+     * \return Returns the order of the stepper if it used without error estimation.
+     */
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::stepper_order( void ) const
+     * \return Returns the order of a step if the stepper is used without error estimation.
+     */
+
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::error_order( void ) const
+     * \return Returns the order of an error step if the stepper is used without error estimation.
+     */
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::do_step( System system , StateInOut &x , time_type t , time_type dt )
+     * \brief This method performs one step. It transforms the result in-place.
+     *
+     * \note This method uses the internal state of the stepper.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     */
+
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::do_step( System system , StateInOut &x , DerivInOut &dxdt , time_type t , time_type dt )
+     * \brief The method performs one step with the stepper passed by Stepper. Additionally to the other methods
+     * the derivative of x is also passed to this method. Therefore, dxdt must be evaluated initially:
+     *
+     * \code
+     * ode( x , dxdt , t );
+     * for( ... )
+     * {
+     *     stepper.do_step( ode , x , dxdt , t , dt );
+     *     t += dt;
+     * }
+     * \endcode
+     *
+     * \note This method does NOT use the initial state, since the first derivative is explicitly passed to this method.
+     *
+     * The result is updated in place in x as well as the derivative dxdt. This method is disabled if
+     * Time and StateInOut are of the same type. In this case the method could not be distinguished from other `do_step`
+     * versions.
+     * 
+     * \note This method does not solve the forwarding problem.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x.
+     * \param dxdt The derivative of x at t. After calling `do_step` dxdt is updated to the new value.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt )
+     * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place.
+     * This method is disabled if StateIn and Time are the same type. In this case the method can not be distinguished from
+     * other `do_step` variants.
+     *
+     * \note This method uses the internal state of the stepper.
+     *
+     * \note This method does not solve the forwarding problem. 
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::do_step( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t , StateOut &out , DerivOut &dxdt_out , time_type dt )
+     * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place.
+     * Furthermore, the derivative of x at t is passed to the stepper and updated by the stepper to its new value at
+     * t+dt.
+     *
+     * \note This method does not solve the forwarding problem.
+     *
+     * \note This method does NOT use the internal state of the stepper.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt_in The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dxdt_out The updated derivative of `out` at `t+dt`.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::do_step( System system , StateInOut &x , time_type t , time_type dt , Err &xerr )
+     * \brief The method performs one step with the stepper passed by Stepper and estimates the error. The state of the ODE
+     * is updated in-place.
+     *
+     *
+     * \note This method uses the internal state of the stepper.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. x is updated by this method.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     * \param xerr The estimation of the error is stored in xerr.
+     */
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::do_step( System system , StateInOut &x , DerivInOut &dxdt , time_type t , time_type dt , Err &xerr )
+     * \brief The method performs one step with the stepper passed by Stepper. Additionally to the other method
+     * the derivative of x is also passed to this method and updated by this method.
+     *
+     * \note This method does NOT use the internal state of the stepper.
+     *
+     * The result is updated in place in x. This method is disabled if Time and Deriv are of the same type. In this
+     * case the method could not be distinguished from other `do_step` versions. This method is disabled if StateInOut and
+     * Time are of the same type.
+     *
+     * \note This method does NOT use the internal state of the stepper.
+     * 
+     * \note This method does not solve the forwarding problem.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x.
+     * \param dxdt The derivative of x at t. After calling `do_step` this value is updated to the new value at `t+dt`.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     * \param xerr The error estimate is stored in xerr.
+     */
+
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt , Err &xerr )
+     * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place.
+     * Furthermore, the error is estimated.
+     *
+     * \note This method uses the internal state of the stepper.
+     *
+     * \note This method does not solve the forwarding problem. 
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     * \param xerr The error estimate.
+     */
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::do_step( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t , StateOut &out , DerivOut &dxdt_out , time_type dt , Err &xerr )
+     * \brief The method performs one step with the stepper passed by Stepper. The state of the ODE is updated out-of-place.
+     * Furthermore, the derivative of x at t is passed to the stepper and the error is estimated.
+     *
+     * \note This method does NOT use the internal state of the stepper.
+     *
+     * \note This method does not solve the forwarding problem.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt_in The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dxdt_out The new derivative at `t+dt` is written into this variable.
+     * \param dt The step size.
+     * \param xerr The error estimate.
+     */
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::adjust_size( const StateIn &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::reset( void )
+     * \brief Resets the internal state of this stepper. After calling this method it is safe to use all
+     * `do_step` method without explicitly initializing the stepper.
+     */
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::initialize( const DerivIn &deriv )
+     * \brief Initializes the internal state of the stepper.
+     * \param deriv The derivative of x. The next call of `do_step` expects that the derivative of `x` passed to `do_step`
+     *              has the value of `deriv`.
+     */
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::initialize( System system , const StateIn &x , time_type t )
+     * \brief Initializes the internal state of the stepper.
+     *
+     * This method is equivalent to 
+     * \code
+     * Deriv dxdt;
+     * system( x , dxdt , t );
+     * stepper.initialize( dxdt );
+     * \endcode
+     *
+     * \param system The system function for the next calls of `do_step`.
+     * \param x The current state of the ODE.
+     * \param t The current time of the ODE.
+     */
+
+    /**
+     * \fn explicit_error_stepper_fsal_base::is_initialized( void ) const
+     * \brief Returns if the stepper is already initialized. If the stepper is not initialized, the first 
+     * call of `do_step` will initialize the state of the stepper. If the stepper is already initialized
+     * the system function can not be safely exchanged between consecutive `do_step` calls.
+     */
+
+} // odeint
+} // numeric
+} // boost
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_ERROR_STEPPER_FSAL_BASE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp
new file mode 100755
index 0000000..6e2c9cd
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp
@@ -0,0 +1,383 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp
+
+ [begin_description]
+ Base class for all explicit Runge Kutta steppers.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_STEPPER_BASE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_STEPPER_BASE_HPP_INCLUDED
+
+
+#include <boost/utility/enable_if.hpp>
+#include <boost/type_traits/is_same.hpp>
+
+#include <boost/numeric/odeint/util/bind.hpp>
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+
+#include <boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+/*
+ * base class for explicit steppers
+ * models the stepper concept
+ *
+ * this class provides the following overloads
+    * do_step( sys , x , t , dt )
+    * do_step( sys , in , t , out , dt )
+    * do_step( sys , x , dxdt_in , t , dt )
+    * do_step( sys , in , dxdt_in , t , out , dt )
+ */
+
+template<
+class Stepper ,
+unsigned short Order ,
+class State ,
+class Value ,
+class Deriv ,
+class Time ,
+class Algebra ,
+class Operations ,
+class Resizer
+>
+class explicit_stepper_base : public algebra_stepper_base< Algebra , Operations >
+{
+public:
+
+    #ifndef DOXYGEN_SKIP
+    typedef explicit_stepper_base< Stepper , Order , State , Value , Deriv , Time , Algebra , Operations , Resizer > internal_stepper_base_type;
+    #endif // DOXYGEN_SKIP
+
+
+    typedef State state_type;
+    typedef Value value_type;
+    typedef Deriv deriv_type;
+    typedef Time time_type;
+    typedef Resizer resizer_type;
+    typedef Stepper stepper_type;
+    typedef stepper_tag stepper_category;
+    typedef algebra_stepper_base< Algebra , Operations > algebra_stepper_base_type;
+    typedef typename algebra_stepper_base_type::algebra_type algebra_type;
+    typedef typename algebra_stepper_base_type::operations_type operations_type;
+    typedef unsigned short order_type;
+
+    #ifndef DOXYGEN_SKIP
+    typedef state_wrapper< state_type > wrapped_state_type;
+    typedef state_wrapper< deriv_type > wrapped_deriv_type;
+    #endif // DOXYGEN_SKIP
+
+
+    static const order_type order_value = Order;
+
+
+    explicit_stepper_base( const algebra_type &algebra = algebra_type() )
+    : algebra_stepper_base_type( algebra )
+    { }
+
+    /**
+     * \return Returns the order of the stepper.
+     */
+    order_type order( void ) const
+    {
+        return order_value;
+    }
+
+
+    /*
+     * Version 1 : do_step( sys , x , t , dt )
+     *
+     * the two overloads are needed in order to solve the forwarding problem
+     */
+    template< class System , class StateInOut >
+    void do_step( System system , StateInOut &x , time_type t , time_type dt )
+    {
+        do_step_v1( system , x , t , dt );
+    }
+
+    /**
+     * \brief Second version to solve the forwarding problem, can be called with Boost.Range as StateInOut.
+     */
+    template< class System , class StateInOut >
+    void do_step( System system , const StateInOut &x , time_type t , time_type dt )
+    {
+        do_step_v1( system , x , t , dt );
+    }
+
+    /*
+     * Version 2 : do_step( sys , x , dxdt , t , dt )
+     *
+      * this version does not solve the forwarding problem, boost.range can not be used
+     *
+     * the disable is needed to avoid ambiguous overloads if state_type = time_type
+     */
+    template< class System , class StateInOut , class DerivIn >
+    typename boost::disable_if< boost::is_same< DerivIn , time_type > , void >::type
+    do_step( System system , StateInOut &x , const DerivIn &dxdt , time_type t , time_type dt )
+    {
+        this->stepper().do_step_impl( system , x , dxdt , t , x , dt );
+    }
+
+
+    /*
+     * Version 3 : do_step( sys , in , t , out , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     */
+    template< class System , class StateIn , class StateOut >
+    void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        m_resizer.adjust_size( in , detail::bind( &internal_stepper_base_type::template resize_impl<StateIn> , detail::ref( *this ) , detail::_1 ) );
+        sys( in , m_dxdt.m_v ,t );
+        this->stepper().do_step_impl( system , in , m_dxdt.m_v , t , out , dt );
+    }
+
+
+    /*
+     * Version 4 : do_step( sys , in , dxdt , t , out , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     */
+    template< class System , class StateIn , class DerivIn , class StateOut >
+    void do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+    {
+        this->stepper().do_step_impl( system , in , dxdt , t , out , dt );
+    }
+
+    template< class StateIn >
+    void adjust_size( const StateIn &x )
+    {
+        resize_impl( x );
+    }
+
+private:
+
+    stepper_type& stepper( void )
+    {
+        return *static_cast< stepper_type* >( this );
+    }
+
+    const stepper_type& stepper( void ) const
+    {
+        return *static_cast< const stepper_type* >( this );
+    }
+
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable<deriv_type>::type() );
+    }
+
+
+    template< class System , class StateInOut >
+    void do_step_v1( System system , StateInOut &x , time_type t , time_type dt )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        m_resizer.adjust_size( x , detail::bind( &internal_stepper_base_type::template resize_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) );
+        sys( x , m_dxdt.m_v ,t );
+        this->stepper().do_step_impl( system , x , m_dxdt.m_v , t , x , dt );
+    }
+
+
+    resizer_type m_resizer;
+
+protected:
+
+    wrapped_deriv_type m_dxdt;
+};
+
+
+/******* DOXYGEN *********/
+
+/**
+ * \class explicit_stepper_base
+ * \brief Base class for explicit steppers without step size control and without dense output.
+ *
+ * This class serves as the base class for all explicit steppers with algebra and operations.
+ * Step size control and error estimation as well as dense output are not provided. explicit_stepper_base 
+ * is used as the interface in a CRTP (currently recurring template pattern). In order to work 
+ * correctly the parent class needs to have a method `do_step_impl( system , in , dxdt_in , t , out , dt )`. 
+ * This is method is used by explicit_stepper_base. explicit_stepper_base derives from
+ * algebra_stepper_base. An example how this class can be used is
+ *
+ * \code
+ * template< class State , class Value , class Deriv , class Time , class Algebra , class Operations , class Resizer >
+ * class custom_euler : public explicit_stepper_base< 1 , State , Value , Deriv , Time , Algebra , Operations , Resizer >
+ * {
+ *  public:
+ *     
+ *     typedef explicit_stepper_base< 1 , State , Value , Deriv , Time , Algebra , Operations , Resizer > base_type;
+ *
+ *     custom_euler( const Algebra &algebra = Algebra() ) { }
+ * 
+ *     template< class Sys , class StateIn , class DerivIn , class StateOut >
+ *     void do_step_impl( Sys sys , const StateIn &in , const DerivIn &dxdt , Time t , StateOut &out , Time dt )
+ *     {
+ *         m_algebra.for_each3( out , in , dxdt , Operations::scale_sum2< Value , Time >( 1.0 , dt );
+ *     }
+ *
+ *     template< class State >
+ *     void adjust_size( const State &x )
+ *     {
+ *         base_type::adjust_size( x );
+ *     }
+ * };
+ * \endcode
+ *
+ * For the Stepper concept only the `do_step( sys , x , t , dt )` needs to be implemented. But this class
+ * provides additional `do_step` variants since the stepper is explicit. These methods can be used to increase
+ * the performance in some situation, for example if one needs to analyze `dxdt` during each step. In this case 
+ * one can use 
+ *
+ * \code
+ * sys( x , dxdt , t );
+ * stepper.do_step( sys , x , dxdt , t , dt );  // the value of dxdt is used here
+ * t += dt;
+ * \endcode
+ *
+ * In detail explicit_stepper_base provides the following `do_step` variants
+ *   - `do_step( sys , x , t , dt )` - The classical `do_step` method needed to fulfill the Stepper concept. The state is updated in-place.
+ *      A type modelling a Boost.Range can be used for x.
+ *   - `do_step( sys , in , t , out , dt )` - This method updates the state out-of-place, hence the result of the step is stored in `out`.
+ *   - `do_step( sys , x , dxdt , t , dt )` - This method updates the state in-place, but the derivative at the point `t` must be
+ *      explicitly passed in `dxdt`. For an example see the code snippet above.
+ *   - `do_step( sys , in , dxdt , t , out , dt )` - This method update the state out-of-place and expects that the derivative at the point 
+ *     `t` is explicitly passed in `dxdt`. It is a combination of the two `do_step` methods above.
+ *
+ * \note The system is always passed as value, which might result in poor performance if it contains data. In this case it can be used with `boost::ref`
+ * or `std::ref`, for example `stepper.do_step( boost::ref( sys ) , x , t , dt );`
+ *
+ * \note The time `t` is not advanced by the stepper. This has to done manually, or by the appropriate `integrate` routines or `iterator`s.
+ *
+ * \tparam Stepper The stepper on which this class should work. It is used via CRTP, hence explicit_stepper_base
+ * provides the interface for the Stepper.
+ * \tparam Order The order of the stepper.
+ * \tparam State The state type for the stepper.
+ * \tparam Value The value type for the stepper. This should be a floating point type, like float,
+ * double, or a multiprecision type. It must not necessary be the value_type of the State. For example
+ * the State can be a `vector< complex< double > >` in this case the Value must be double.
+ * The default value is double.
+ * \tparam Deriv The type representing time derivatives of the state type. It is usually the same type as the
+ * state type, only if used with Boost.Units both types differ.
+ * \tparam Time The type representing the time. Usually the same type as the value type. When Boost.Units is
+ * used, this type has usually a unit.
+ * \tparam Algebra The algebra type which must fulfill the Algebra Concept.
+ * \tparam Operations The type for the operations which must fulfill the Operations Concept.
+ * \tparam Resizer The resizer policy class.
+ */
+
+
+    /**
+     * \fn explicit_stepper_base::explicit_stepper_base( const algebra_type &algebra )
+     * \brief Constructs a explicit_stepper_base class. This constructor can be used as a default
+     * constructor if the algebra has a default constructor.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+
+    /**
+     * \fn explicit_stepper_base::order_type order( void ) const
+     * \return Returns the order of the stepper.
+     */
+
+    /**
+     * \fn explicit_stepper_base::do_step( System system , StateInOut &x , time_type t , time_type dt )
+     * \brief This method performs one step. It transforms the result in-place.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     */
+
+
+    /**
+     * \fn explicit_stepper_base::do_step( System system , StateInOut &x , const DerivIn &dxdt , time_type t , time_type dt )
+
+     * \brief The method performs one step. Additionally to the other method
+     * the derivative of x is also passed to this method. It is supposed to be used in the following way:
+     *
+     * \code
+     * sys( x , dxdt , t );
+     * stepper.do_step( sys , x , dxdt , t , dt );
+     * \endcode
+     *
+     * The result is updated in place in x. This method is disabled if Time and Deriv are of the same type. In this
+     * case the method could not be distinguished from other `do_step` versions.
+     * 
+     * \note This method does not solve the forwarding problem.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. After calling do_step the result is updated in x.
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn void explicit_stepper_base::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt )
+     * \brief The method performs one step. The state of the ODE is updated out-of-place.
+     * \note This method does not solve the forwarding problem.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn void explicit_stepper_base::do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+     * \brief The method performs one step. The state of the ODE is updated out-of-place.
+     * Furthermore, the derivative of x at t is passed to the stepper. 
+     * It is supposed to be used in the following way:
+     *
+     * \code
+     * sys( in , dxdt , t );
+     * stepper.do_step( sys , in , dxdt , t , out , dt );
+     * \endcode
+     *
+     * \note This method does not solve the forwarding problem.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn void explicit_stepper_base::adjust_size( const StateIn &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+} // odeint
+} // numeric
+} // boost
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_BASE_EXPLICIT_STEPPER_BASE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp
new file mode 100755
index 0000000..0cdcc4f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp
@@ -0,0 +1,433 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp
+
+ [begin_description]
+ Base class for symplectic Runge-Kutta-Nystrom steppers.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BASE_SYMPLECTIC_RKN_STEPPER_BASE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_BASE_SYMPLECTIC_RKN_STEPPER_BASE_HPP_INCLUDED
+
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint/util/bind.hpp>
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+
+#include <boost/numeric/odeint/util/copy.hpp>
+#include <boost/numeric/odeint/util/is_pair.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+
+#include <boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp>
+
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template<
+size_t NumOfStages ,
+unsigned short Order ,
+class Coor ,
+class Momentum ,
+class Value ,
+class CoorDeriv ,
+class MomentumDeriv ,
+class Time ,
+class Algebra ,
+class Operations ,
+class Resizer
+>
+class symplectic_nystroem_stepper_base : public algebra_stepper_base< Algebra , Operations >
+{
+
+public:
+
+    typedef algebra_stepper_base< Algebra , Operations > algebra_stepper_base_type;
+    typedef typename algebra_stepper_base_type::algebra_type algebra_type;
+    typedef typename algebra_stepper_base_type::operations_type operations_type;
+
+    const static size_t num_of_stages = NumOfStages;
+    typedef Coor coor_type;
+    typedef Momentum momentum_type;
+    typedef std::pair< coor_type , momentum_type > state_type;
+    typedef CoorDeriv coor_deriv_type;
+    typedef state_wrapper< coor_deriv_type> wrapped_coor_deriv_type;
+    typedef MomentumDeriv momentum_deriv_type;
+    typedef state_wrapper< momentum_deriv_type > wrapped_momentum_deriv_type;
+    typedef std::pair< coor_deriv_type , momentum_deriv_type > deriv_type;
+    typedef Value value_type;
+    typedef Time time_type;
+    typedef Resizer resizer_type;
+    typedef stepper_tag stepper_category;
+    
+    #ifndef DOXYGEN_SKIP
+    typedef symplectic_nystroem_stepper_base< NumOfStages , Order , Coor , Momentum , Value ,
+            CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer > internal_stepper_base_type;
+    #endif 
+    typedef unsigned short order_type;
+
+    static const order_type order_value = Order;
+
+    typedef boost::array< value_type , num_of_stages > coef_type;
+
+    symplectic_nystroem_stepper_base( const coef_type &coef_a , const coef_type &coef_b , const algebra_type &algebra = algebra_type() )
+        : algebra_stepper_base_type( algebra ) , m_coef_a( coef_a ) , m_coef_b( coef_b ) ,
+          m_dqdt_resizer() , m_dpdt_resizer() , m_dqdt() , m_dpdt() 
+    { }
+
+
+    order_type order( void ) const
+    {
+        return order_value;
+    }
+
+    /*
+     * Version 1 : do_step( system , x , t , dt )
+     *
+     * This version does not solve the forwarding problem, boost.range can not be used.
+     */
+    template< class System , class StateInOut >
+    void do_step( System system , const StateInOut &state , time_type t , time_type dt )
+    {
+        typedef typename odeint::unwrap_reference< System >::type system_type;
+        do_step_impl( system , state , t , state , dt , typename is_pair< system_type >::type() );
+    }
+
+    /**
+     * \brief Same function as above. It differs only in a different const specifier in order
+     * to solve the forwarding problem, can be used with Boost.Range.
+     */
+    template< class System , class StateInOut >
+    void do_step( System system , StateInOut &state , time_type t , time_type dt )
+    {
+        typedef typename odeint::unwrap_reference< System >::type system_type;
+        do_step_impl( system , state , t , state , dt , typename is_pair< system_type >::type() );
+    }
+
+
+
+
+    /*
+     * Version 2 : do_step( system , q , p , t , dt );
+     *
+     * For Convenience
+     *
+     * The two overloads are needed in order to solve the forwarding problem.
+     */
+    template< class System , class CoorInOut , class MomentumInOut >
+    void do_step( System system , CoorInOut &q , MomentumInOut &p , time_type t , time_type dt )
+    {
+        do_step( system , std::make_pair( detail::ref( q ) , detail::ref( p ) ) , t , dt );
+    }
+
+    /**
+     * \brief Same function as do_step( system , q , p , t , dt ). It differs only in a different const specifier in order
+     * to solve the forwarding problem, can be called with Boost.Range.
+     */
+    template< class System , class CoorInOut , class MomentumInOut >
+    void do_step( System system , const CoorInOut &q , const MomentumInOut &p , time_type t , time_type dt )
+    {
+        do_step( system , std::make_pair( detail::ref( q ) , detail::ref( p ) ) , t , dt );
+    }
+
+
+
+
+
+    /*
+     * Version 3 : do_step( system , in , t , out , dt )
+     *
+     * The forwarding problem is not solved in this version
+     */
+    template< class System , class StateIn , class StateOut >
+    void do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt )
+    {
+        typedef typename odeint::unwrap_reference< System >::type system_type;
+        do_step_impl( system , in , t , out , dt , typename is_pair< system_type >::type() );
+    }
+
+
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        resize_dqdt( x );
+        resize_dpdt( x );
+    }
+
+    /** \brief Returns the coefficients a. */
+    const coef_type& coef_a( void ) const { return m_coef_a; }
+
+    /** \brief Returns the coefficients b. */
+    const coef_type& coef_b( void ) const { return m_coef_b; }
+
+private:
+
+    // stepper for systems with function for dq/dt = f(p) and dp/dt = -f(q)
+    template< class System , class StateIn , class StateOut >
+    void do_step_impl( System system , const StateIn &in , time_type t , StateOut &out , time_type dt , boost::mpl::true_ )
+    {
+        typedef typename odeint::unwrap_reference< System >::type system_type;
+        typedef typename odeint::unwrap_reference< typename system_type::first_type >::type coor_deriv_func_type;
+        typedef typename odeint::unwrap_reference< typename system_type::second_type >::type momentum_deriv_func_type;
+        system_type &sys = system;
+        coor_deriv_func_type &coor_func = sys.first;
+        momentum_deriv_func_type &momentum_func = sys.second;
+
+        typedef typename odeint::unwrap_reference< StateIn >::type state_in_type;
+        typedef typename odeint::unwrap_reference< typename state_in_type::first_type >::type coor_in_type;
+        typedef typename odeint::unwrap_reference< typename state_in_type::second_type >::type momentum_in_type;
+        const state_in_type &state_in = in;
+        const coor_in_type &coor_in = state_in.first;
+        const momentum_in_type &momentum_in = state_in.second;
+
+        typedef typename odeint::unwrap_reference< StateOut >::type state_out_type;
+        typedef typename odeint::unwrap_reference< typename state_out_type::first_type >::type coor_out_type;
+        typedef typename odeint::unwrap_reference< typename state_out_type::second_type >::type momentum_out_type;
+        state_out_type &state_out = out;
+        coor_out_type &coor_out = state_out.first;
+        momentum_out_type &momentum_out = state_out.second;
+
+        m_dqdt_resizer.adjust_size( coor_in , detail::bind( &internal_stepper_base_type::template resize_dqdt< coor_in_type > , detail::ref( *this ) , detail::_1 ) );
+        m_dpdt_resizer.adjust_size( momentum_in , detail::bind( &internal_stepper_base_type::template resize_dpdt< momentum_in_type > , detail::ref( *this ) , detail::_1 ) );
+
+        // ToDo: check sizes?
+
+        for( size_t l=0 ; l<num_of_stages ; ++l )
+        {
+            if( l == 0 )
+            {
+                coor_func( momentum_in , m_dqdt.m_v );
+                this->m_algebra.for_each3( coor_out , coor_in , m_dqdt.m_v ,
+                        typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_a[l] * dt ) );
+                momentum_func( coor_out , m_dpdt.m_v );
+                this->m_algebra.for_each3( momentum_out , momentum_in , m_dpdt.m_v ,
+                        typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_b[l] * dt ) );
+            }
+            else
+            {
+                coor_func( momentum_out , m_dqdt.m_v );
+                this->m_algebra.for_each3( coor_out , coor_out , m_dqdt.m_v ,
+                        typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_a[l] * dt ) );
+                momentum_func( coor_out , m_dpdt.m_v );
+                this->m_algebra.for_each3( momentum_out , momentum_out , m_dpdt.m_v ,
+                        typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_b[l] * dt ) );
+            }
+        }
+    }
+
+
+    // stepper for systems with only function dp /dt = -f(q), dq/dt = p, time not required but still expected for compatibility reasons
+    template< class System , class StateIn , class StateOut >
+    void do_step_impl( System system , const StateIn &in , time_type  /* t */ , StateOut &out , time_type dt , boost::mpl::false_ )
+    {
+        typedef typename odeint::unwrap_reference< System >::type momentum_deriv_func_type;
+        momentum_deriv_func_type &momentum_func = system;
+
+        typedef typename odeint::unwrap_reference< StateIn >::type state_in_type;
+        typedef typename odeint::unwrap_reference< typename state_in_type::first_type >::type coor_in_type;
+        typedef typename odeint::unwrap_reference< typename state_in_type::second_type >::type momentum_in_type;
+        const state_in_type &state_in = in;
+        const coor_in_type &coor_in = state_in.first;
+        const momentum_in_type &momentum_in = state_in.second;
+
+        typedef typename odeint::unwrap_reference< StateOut >::type state_out_type;
+        typedef typename odeint::unwrap_reference< typename state_out_type::first_type >::type coor_out_type;
+        typedef typename odeint::unwrap_reference< typename state_out_type::second_type >::type momentum_out_type;
+        state_out_type &state_out = out;
+        coor_out_type &coor_out = state_out.first;
+        momentum_out_type &momentum_out = state_out.second;
+
+
+        m_dqdt_resizer.adjust_size( coor_in , detail::bind( &internal_stepper_base_type::template resize_dqdt< coor_in_type > , detail::ref( *this ) , detail::_1 ) );
+        m_dpdt_resizer.adjust_size( momentum_in , detail::bind( &internal_stepper_base_type::template resize_dpdt< momentum_in_type > , detail::ref( *this ) , detail::_1 ) );
+
+
+        // ToDo: check sizes?
+
+        for( size_t l=0 ; l<num_of_stages ; ++l )
+        {
+            if( l == 0 )
+            {
+                this->m_algebra.for_each3( coor_out  , coor_in , momentum_in ,
+                        typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_a[l] * dt ) );
+                momentum_func( coor_out , m_dpdt.m_v );
+                this->m_algebra.for_each3( momentum_out , momentum_in , m_dpdt.m_v ,
+                                           typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_b[l] * dt ) );
+            }
+            else
+            {
+                this->m_algebra.for_each3( coor_out , coor_out , momentum_out ,
+                        typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_a[l] * dt ) );
+                momentum_func( coor_out , m_dpdt.m_v );
+                this->m_algebra.for_each3( momentum_out , momentum_out , m_dpdt.m_v ,
+                        typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , m_coef_b[l] * dt ) );
+            }
+        }
+    }
+
+    template< class StateIn >
+    bool resize_dqdt( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_dqdt , x , typename is_resizeable<coor_deriv_type>::type() );
+    }
+
+    template< class StateIn >
+    bool resize_dpdt( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_dpdt , x , typename is_resizeable<momentum_deriv_type>::type() );
+    }
+
+
+    const coef_type m_coef_a;
+    const coef_type m_coef_b;
+
+    resizer_type m_dqdt_resizer;
+    resizer_type m_dpdt_resizer;
+    wrapped_coor_deriv_type m_dqdt;
+    wrapped_momentum_deriv_type m_dpdt;
+
+};
+
+/********* DOXYGEN *********/
+
+/**
+ * \class symplectic_nystroem_stepper_base
+ * \brief Base class for all symplectic steppers of Nystroem type.
+ *
+ * This class is the base class for the symplectic Runge-Kutta-Nystroem steppers. Symplectic steppers are usually
+ * used to solve Hamiltonian systems and they conserve the phase space volume, see
+ * <a href="http://en.wikipedia.org/wiki/Symplectic_integrator">en.wikipedia.org/wiki/Symplectic_integrator</a>. 
+ * Furthermore, the energy is conserved
+ * in average. In detail this class of steppers can be used to solve separable Hamiltonian systems which can be written
+ * in the form H(q,p) = H1(p) + H2(q). q is usually called the coordinate, while p is the momentum. The equations of motion
+ * are dq/dt = dH1/dp, dp/dt = -dH2/dq.
+ *
+ * ToDo : add formula for solver and explanation of the coefficients
+ * 
+ * symplectic_nystroem_stepper_base uses odeints algebra and operation system. Step size and error estimation are not
+ * provided for this class of solvers. It derives from algebra_stepper_base. Several `do_step` variants are provided:
+ *
+ * - `do_step( sys , x , t , dt )` - The classical `do_step` method. The sys can be either a pair of function objects
+ *    for the coordinate or the momentum part or one function object for the momentum part. `x` is a pair of coordinate
+ *    and momentum. The state is updated in-place.
+ * - `do_step( sys , q , p , t , dt )` - This method is similar to the method above with the difference that the coordinate
+ *    and the momentum are passed explicitly and not packed into a pair.
+ * - `do_step( sys , x_in , t , x_out , dt )` - This method transforms the state out-of-place. `x_in` and `x_out` are here pairs
+ *    of coordinate and momentum.
+ *
+ * \tparam NumOfStages Number of stages.
+ * \tparam Order The order of the stepper.
+ * \tparam Coor The type representing the coordinates q.
+ * \tparam Momentum The type representing the coordinates p.
+ * \tparam Value The basic value type. Should be something like float, double or a high-precision type.
+ * \tparam CoorDeriv The type representing the time derivative of the coordinate dq/dt.
+ * \tparam MomemtnumDeriv The type representing the time derivative of the momentum dp/dt.
+ * \tparam Time The type representing the time t.
+ * \tparam Algebra The algebra.
+ * \tparam Operations The operations.
+ * \tparam Resizer The resizer policy.
+ */
+
+    /**
+     * \fn symplectic_nystroem_stepper_base::symplectic_nystroem_stepper_base( const coef_type &coef_a , const coef_type &coef_b , const algebra_type &algebra )
+     * \brief Constructs a symplectic_nystroem_stepper_base class. The parameters of the specific Nystroem method and the
+     * algebra have to be passed.
+     * \param coef_a The coefficients a.
+     * \param coef_b The coefficients b.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+
+    /**
+     * \fn symplectic_nystroem_stepper_base::order( void ) const
+     * \return Returns the order of the stepper.
+     */
+
+    /**
+     * \fn symplectic_nystroem_stepper_base::do_step( System system , const StateInOut &state , time_type t , time_type dt )
+     * \brief This method performs one step. The system can be either a pair of two function object
+     * describing the momentum part and the coordinate part or one function object describing only
+     * the momentum part. In this case the coordinate is assumed to be trivial dq/dt = p. The state
+     * is updated in-place.
+     *
+     * \note boost::ref or std::ref can be used for the system as well as for the state. So, it is correct
+     * to write `stepper.do_step( make_pair( std::ref( fq ) , std::ref( fp ) ) , make_pair( std::ref( q ) , std::ref( p ) ) , t , dt )`.
+     *
+     * \note This method solves the forwarding problem.
+     *
+     * \param system The system, can be represented as a pair of two function object or one function object. See above.
+     * \param state The state of the ODE. It is a pair of Coor and Momentum. The state is updated in-place, therefore, the
+     * new value of the state will be written into this variable.
+     * \param t The time of the ODE. It is not advanced by this method.
+     * \param dt The time step.
+     */
+
+    /**
+     * \fn symplectic_nystroem_stepper_base::do_step( System system , CoorInOut &q , MomentumInOut &p , time_type t , time_type dt )
+     * \brief This method performs one step. The system can be either a pair of two function object
+     * describing the momentum part and the coordinate part or one function object describing only
+     * the momentum part. In this case the coordinate is assumed to be trivial dq/dt = p. The state
+     * is updated in-place.
+     *
+     * \note boost::ref or std::ref can be used for the system. So, it is correct
+     * to write `stepper.do_step( make_pair( std::ref( fq ) , std::ref( fp ) ) , q , p , t , dt )`.
+     *
+     * \note This method solves the forwarding problem.
+     *
+     * \param system The system, can be represented as a pair of two function object or one function object. See above.
+     * \param q The coordinate of the ODE. It is updated in-place. Therefore, the new value of the coordinate will be written
+     * into this variable.
+     * \param p The momentum of the ODE. It is updated in-place. Therefore, the new value of the momentum will be written info
+     * this variable.
+     * \param t The time of the ODE. It is not advanced by this method.
+     * \param dt The time step.
+     */
+
+    /**
+     * \fn symplectic_nystroem_stepper_base::do_step( System system , const StateIn &in , time_type t , StateOut &out , time_type dt )
+     * \brief This method performs one step. The system can be either a pair of two function object
+     * describing the momentum part and the coordinate part or one function object describing only
+     * the momentum part. In this case the coordinate is assumed to be trivial dq/dt = p. The state
+     * is updated out-of-place.
+     *
+     * \note boost::ref or std::ref can be used for the system. So, it is correct
+     * to write `stepper.do_step( make_pair( std::ref( fq ) , std::ref( fp ) ) , x_in , t , x_out , dt )`.
+     *
+     * \note This method NOT solve the forwarding problem.
+     *
+     * \param system The system, can be represented as a pair of two function object or one function object. See above.
+     * \param in The state of the ODE, which is a pair of coordinate and momentum. The state is updated out-of-place, therefore the 
+     * new value is written into out
+     * \param t The time of the ODE. It is not advanced by this method.
+     * \param out The new state of the ODE.
+     * \param dt The time step.
+     */
+
+    /**
+     * \fn symplectic_nystroem_stepper_base::adjust_size( const StateType &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_BASE_SYMPLECTIC_RKN_STEPPER_BASE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp
new file mode 100755
index 0000000..e7a20d8
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp
@@ -0,0 +1,623 @@
+/*
+  [auto_generated]
+  boost/numeric/odeint/stepper/bulirsch_stoer.hpp
+
+  [begin_description]
+  Implementation of the Burlish-Stoer method. As described in
+  Ernst Hairer, Syvert Paul Norsett, Gerhard Wanner
+  Solving Ordinary Differential Equations I. Nonstiff Problems.
+  Springer Series in Comput. Mathematics, Vol. 8, Springer-Verlag 1987, Second revised edition 1993.
+  [end_description]
+
+  Copyright 2009-2011 Karsten Ahnert
+  Copyright 2009-2011 Mario Mulansky
+
+  Distributed under the Boost Software License, Version 1.0.
+  (See accompanying file LICENSE_1_0.txt or
+  copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BULIRSCH_STOER_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_BULIRSCH_STOER_HPP_INCLUDED
+
+
+#include <iostream>
+
+#include <algorithm>
+
+#include <boost/config.hpp> // for min/max guidelines
+
+#include <boost/numeric/odeint/util/bind.hpp>
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/modified_midpoint.hpp>
+#include <boost/numeric/odeint/stepper/controlled_step_result.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+#include <boost/numeric/odeint/util/unit_helper.hpp>
+#include <boost/numeric/odeint/util/detail/less_with_sign.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template<
+    class State ,
+    class Value = double ,
+    class Deriv = State ,
+    class Time = Value ,
+    class Algebra = range_algebra ,
+    class Operations = default_operations ,
+    class Resizer = initially_resizer
+    >
+class bulirsch_stoer {
+
+public:
+
+    typedef State state_type;
+    typedef Value value_type;
+    typedef Deriv deriv_type;
+    typedef Time time_type;
+    typedef Algebra algebra_type;
+    typedef Operations operations_type;
+    typedef Resizer resizer_type;
+#ifndef DOXYGEN_SKIP
+    typedef state_wrapper< state_type > wrapped_state_type;
+    typedef state_wrapper< deriv_type > wrapped_deriv_type;
+    typedef controlled_stepper_tag stepper_category;
+
+    typedef bulirsch_stoer< State , Value , Deriv , Time , Algebra , Operations , Resizer > controlled_error_bs_type;
+
+    typedef typename inverse_time< time_type >::type inv_time_type;
+
+    typedef std::vector< value_type > value_vector;
+    typedef std::vector< time_type > time_vector;
+    typedef std::vector< inv_time_type > inv_time_vector;  //should be 1/time_type for boost.units
+    typedef std::vector< value_vector > value_matrix;
+    typedef std::vector< size_t > int_vector;
+    typedef std::vector< wrapped_state_type > state_table_type;
+#endif //DOXYGEN_SKIP
+    const static size_t m_k_max = 8;
+
+    bulirsch_stoer(
+        value_type eps_abs = 1E-6 , value_type eps_rel = 1E-6 ,
+        value_type factor_x = 1.0 , value_type factor_dxdt = 1.0 )
+        : m_error_checker( eps_abs , eps_rel , factor_x, factor_dxdt ) , m_midpoint() ,
+          m_last_step_rejected( false ) , m_first( true ) ,
+          m_interval_sequence( m_k_max+1 ) ,
+          m_coeff( m_k_max+1 ) ,
+          m_cost( m_k_max+1 ) ,
+          m_table( m_k_max ) ,
+          STEPFAC1( 0.65 ) , STEPFAC2( 0.94 ) , STEPFAC3( 0.02 ) , STEPFAC4( 4.0 ) , KFAC1( 0.8 ) , KFAC2( 0.9 )
+    {
+        BOOST_USING_STD_MIN();
+        BOOST_USING_STD_MAX();
+        /* initialize sequence of stage numbers and work */
+        for( unsigned short i = 0; i < m_k_max+1; i++ )
+        {
+            m_interval_sequence[i] = 2 * (i+1);
+            if( i == 0 )
+                m_cost[i] = m_interval_sequence[i];
+            else
+                m_cost[i] = m_cost[i-1] + m_interval_sequence[i];
+            m_coeff[i].resize(i);
+            for( size_t k = 0 ; k < i ; ++k  )
+            {
+                const value_type r = static_cast< value_type >( m_interval_sequence[i] ) / static_cast< value_type >( m_interval_sequence[k] );
+                m_coeff[i][k] = 1.0 / ( r*r - static_cast< value_type >( 1.0 ) ); // coefficients for extrapolation
+            }
+
+            // crude estimate of optimal order
+
+            m_current_k_opt = 4;
+            /* no calculation because log10 might not exist for value_type!
+            const value_type logfact( -log10( max BOOST_PREVENT_MACRO_SUBSTITUTION( eps_rel , static_cast< value_type >(1.0E-12) ) ) * 0.6 + 0.5 );
+            m_current_k_opt = max BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast<value_type>( 1 ) , min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast<value_type>( m_k_max-1 ) , logfact ));
+            */
+        }
+
+    }
+
+
+    /*
+     * Version 1 : try_step( sys , x , t , dt )
+     *
+     * The overloads are needed to solve the forwarding problem
+     */
+    template< class System , class StateInOut >
+    controlled_step_result try_step( System system , StateInOut &x , time_type &t , time_type &dt )
+    {
+        return try_step_v1( system , x , t, dt );
+    }
+
+    /**
+     * \brief Second version to solve the forwarding problem, can be used with Boost.Range as StateInOut.
+     */
+    template< class System , class StateInOut >
+    controlled_step_result try_step( System system , const StateInOut &x , time_type &t , time_type &dt )
+    {
+        return try_step_v1( system , x , t, dt );
+    }
+
+    /*
+     * Version 2 : try_step( sys , x , dxdt , t , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     */
+    template< class System , class StateInOut , class DerivIn >
+    controlled_step_result try_step( System system , StateInOut &x , const DerivIn &dxdt , time_type &t , time_type &dt )
+    {
+        m_xnew_resizer.adjust_size( x , detail::bind( &controlled_error_bs_type::template resize_m_xnew< StateInOut > , detail::ref( *this ) , detail::_1 ) );
+        controlled_step_result res = try_step( system , x , dxdt , t , m_xnew.m_v , dt );
+        if( res == success )
+        {
+            boost::numeric::odeint::copy( m_xnew.m_v , x );
+        }
+        return res;
+    }
+
+    /*
+     * Version 3 : try_step( sys , in , t , out , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     */
+    template< class System , class StateIn , class StateOut >
+    typename boost::disable_if< boost::is_same< StateIn , time_type > , controlled_step_result >::type
+    try_step( System system , const StateIn &in , time_type &t , StateOut &out , time_type &dt )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        m_dxdt_resizer.adjust_size( in , detail::bind( &controlled_error_bs_type::template resize_m_dxdt< StateIn > , detail::ref( *this ) , detail::_1 ) );
+        sys( in , m_dxdt.m_v , t );
+        return try_step( system , in , m_dxdt.m_v , t , out , dt );
+    }
+
+
+    /*
+     * Full version : try_step( sys , in , dxdt_in , t , out , dt )
+     *
+     * contains the actual implementation
+     */
+    template< class System , class StateIn , class DerivIn , class StateOut >
+    controlled_step_result try_step( System system , const StateIn &in , const DerivIn &dxdt , time_type &t , StateOut &out , time_type &dt )
+    {
+        BOOST_USING_STD_MIN();
+        BOOST_USING_STD_MAX();
+
+        static const value_type val1( 1.0 );
+
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        if( m_resizer.adjust_size( in , detail::bind( &controlled_error_bs_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ) )
+        {
+            reset(); // system resized -> reset
+        }
+
+        if( dt != m_dt_last )
+        {
+            reset(); // step size changed from outside -> reset
+        }
+
+        bool reject( true );
+
+        time_vector h_opt( m_k_max+1 );
+        inv_time_vector work( m_k_max+1 );
+
+        time_type new_h = dt;
+
+        /* m_current_k_opt is the estimated current optimal stage number */
+        for( size_t k = 0 ; k <= m_current_k_opt+1 ; k++ )
+        {
+            /* the stage counts are stored in m_interval_sequence */
+            m_midpoint.set_steps( m_interval_sequence[k] );
+            if( k == 0 )
+            {
+                m_midpoint.do_step( sys , in , dxdt , t , out , dt );
+                /* the first step, nothing more to do */
+            }
+            else
+            {
+                m_midpoint.do_step( sys , in , dxdt , t , m_table[k-1].m_v , dt );
+                extrapolate( k , m_table , m_coeff , out );
+                // get error estimate
+                m_algebra.for_each3( m_err.m_v , out , m_table[0].m_v ,
+                                     typename operations_type::template scale_sum2< value_type , value_type >( val1 , -val1 ) );
+                const value_type error = m_error_checker.error( m_algebra , in , dxdt , m_err.m_v , dt );
+                h_opt[k] = calc_h_opt( dt , error , k );
+                work[k] = static_cast<value_type>( m_cost[k] ) / h_opt[k];
+
+                if( (k == m_current_k_opt-1) || m_first )
+                { // convergence before k_opt ?
+                    if( error < 1.0 )
+                    {
+                        //convergence
+                        reject = false;
+                        if( (work[k] < KFAC2*work[k-1]) || (m_current_k_opt <= 2) )
+                        {
+                            // leave order as is (except we were in first round)
+                            m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast<int>(m_k_max)-1 , max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast<int>(k)+1 ) );
+                            new_h = h_opt[k];
+                            new_h *= static_cast<value_type>( m_cost[k+1] ) / static_cast<value_type>( m_cost[k] );
+                        } else {
+                            m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast<int>(m_k_max)-1 , max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast<int>(k) ) );
+                            new_h = h_opt[k];
+                        }
+                        break;
+                    }
+                    else if( should_reject( error , k ) && !m_first )
+                    {
+                        reject = true;
+                        new_h = h_opt[k];
+                        break;
+                    }
+                }
+                if( k == m_current_k_opt )
+                { // convergence at k_opt ?
+                    if( error < 1.0 )
+                    {
+                        //convergence
+                        reject = false;
+                        if( (work[k-1] < KFAC2*work[k]) )
+                        {
+                            m_current_k_opt = max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast<int>(m_current_k_opt)-1 );
+                            new_h = h_opt[m_current_k_opt];
+                        }
+                        else if( (work[k] < KFAC2*work[k-1]) && !m_last_step_rejected )
+                        {
+                            m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast<int>(m_k_max-1) , static_cast<int>(m_current_k_opt)+1 );
+                            new_h = h_opt[k];
+                            new_h *= m_cost[m_current_k_opt]/m_cost[k];
+                        } else
+                            new_h = h_opt[m_current_k_opt];
+                        break;
+                    }
+                    else if( should_reject( error , k ) )
+                    {
+                        reject = true;
+                        new_h = h_opt[m_current_k_opt];
+                        break;
+                    }
+                }
+                if( k == m_current_k_opt+1 )
+                { // convergence at k_opt+1 ?
+                    if( error < 1.0 )
+                    {   //convergence
+                        reject = false;
+                        if( work[k-2] < KFAC2*work[k-1] )
+                            m_current_k_opt = max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast<int>(m_current_k_opt)-1 );
+                        if( (work[k] < KFAC2*work[m_current_k_opt]) && !m_last_step_rejected )
+                            m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast<int>(m_k_max)-1 , static_cast<int>(k) );
+                        new_h = h_opt[m_current_k_opt];
+                    } else
+                    {
+                        reject = true;
+                        new_h = h_opt[m_current_k_opt];
+                    }
+                    break;
+                }
+            }
+        }
+
+        if( !reject )
+        {
+            t += dt;
+        }
+
+        if( !m_last_step_rejected || boost::numeric::odeint::detail::less_with_sign(new_h, dt, dt) )
+        {
+            m_dt_last = new_h;
+            dt = new_h;
+        }
+
+        m_last_step_rejected = reject;
+        m_first = false;
+
+        if( reject )
+            return fail;
+        else
+            return success;
+    }
+
+    /** \brief Resets the internal state of the stepper */
+    void reset()
+    {
+        m_first = true;
+        m_last_step_rejected = false;
+    }
+
+
+    /* Resizer methods */
+
+    template< class StateIn >
+    void adjust_size( const StateIn &x )
+    {
+        resize_m_dxdt( x );
+        resize_m_xnew( x );
+        resize_impl( x );
+        m_midpoint.adjust_size();
+    }
+
+
+private:
+
+    template< class StateIn >
+    bool resize_m_dxdt( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable<deriv_type>::type() );
+    }
+
+    template< class StateIn >
+    bool resize_m_xnew( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_xnew , x , typename is_resizeable<state_type>::type() );
+    }
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized( false );
+        for( size_t i = 0 ; i < m_k_max ; ++i )
+            resized |= adjust_size_by_resizeability( m_table[i] , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_err , x , typename is_resizeable<state_type>::type() );
+        return resized;
+    }
+
+
+    template< class System , class StateInOut >
+    controlled_step_result try_step_v1( System system , StateInOut &x , time_type &t , time_type &dt )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        m_dxdt_resizer.adjust_size( x , detail::bind( &controlled_error_bs_type::template resize_m_dxdt< StateInOut > , detail::ref( *this ) , detail::_1 ) );
+        sys( x , m_dxdt.m_v ,t );
+        return try_step( system , x , m_dxdt.m_v , t , dt );
+    }
+
+
+    template< class StateInOut >
+    void extrapolate( size_t k , state_table_type &table , const value_matrix &coeff , StateInOut &xest )
+    /* polynomial extrapolation, see http://www.nr.com/webnotes/nr3web21.pdf
+       uses the obtained intermediate results to extrapolate to dt->0 
+    */
+    {
+        static const value_type val1 = static_cast< value_type >( 1.0 );
+        for( int j=k-1 ; j>0 ; --j )
+        {
+            m_algebra.for_each3( table[j-1].m_v , table[j].m_v , table[j-1].m_v ,
+                                 typename operations_type::template scale_sum2< value_type , value_type >( val1 + coeff[k][j] , -coeff[k][j] ) );
+        }
+        m_algebra.for_each3( xest , table[0].m_v , xest ,
+                             typename operations_type::template scale_sum2< value_type , value_type >( val1 + coeff[k][0] , -coeff[k][0]) );
+    }
+
+    time_type calc_h_opt( time_type h , value_type error , size_t k ) const
+    /* calculates the optimal step size for a given error and stage number */
+    {
+        BOOST_USING_STD_MIN();
+        BOOST_USING_STD_MAX();
+        using std::pow;
+        value_type expo( 1.0/(2*k+1) );
+        value_type facmin = pow BOOST_PREVENT_MACRO_SUBSTITUTION( STEPFAC3 , expo );
+        value_type fac;
+        if (error == 0.0)
+            fac=1.0/facmin;
+        else
+        {
+            fac = STEPFAC2 / pow BOOST_PREVENT_MACRO_SUBSTITUTION( error / STEPFAC1 , expo );
+            fac = max BOOST_PREVENT_MACRO_SUBSTITUTION( facmin/STEPFAC4 , min BOOST_PREVENT_MACRO_SUBSTITUTION( 1.0/facmin , fac ) );
+        }
+        return h*fac;
+    }
+
+    controlled_step_result set_k_opt( size_t k , const inv_time_vector &work , const time_vector &h_opt , time_type &dt )
+    /* calculates the optimal stage number */
+    {
+        if( k == 1 )
+        {
+            m_current_k_opt = 2;
+            return success;
+        }
+        if( (work[k-1] < KFAC1*work[k]) || (k == m_k_max) )
+        {   // order decrease
+            m_current_k_opt = k-1;
+            dt = h_opt[ m_current_k_opt ];
+            return success;
+        }
+        else if( (work[k] < KFAC2*work[k-1]) || m_last_step_rejected || (k == m_k_max-1) )
+        {   // same order - also do this if last step got rejected
+            m_current_k_opt = k;
+            dt = h_opt[ m_current_k_opt ];
+            return success;
+        }
+        else
+        {   // order increase - only if last step was not rejected
+            m_current_k_opt = k+1;
+            dt = h_opt[ m_current_k_opt-1 ] * m_cost[ m_current_k_opt ] / m_cost[ m_current_k_opt-1 ] ;
+            return success;
+        }
+    }
+
+    bool in_convergence_window( size_t k ) const
+    {
+        if( (k == m_current_k_opt-1) && !m_last_step_rejected )
+            return true; // decrease stepsize only if last step was not rejected
+        return ( (k == m_current_k_opt) || (k == m_current_k_opt+1) );
+    }
+
+    bool should_reject( value_type error , size_t k ) const
+    {
+        if( k == m_current_k_opt-1 )
+        {
+            const value_type d = m_interval_sequence[m_current_k_opt] * m_interval_sequence[m_current_k_opt+1] /
+                (m_interval_sequence[0]*m_interval_sequence[0]);
+            //step will fail, criterion 17.3.17 in NR
+            return ( error > d*d );
+        }
+        else if( k == m_current_k_opt )
+        {
+            const value_type d = m_interval_sequence[m_current_k_opt] / m_interval_sequence[0];
+            return ( error > d*d );
+        } else
+            return error > 1.0;
+    }
+
+    default_error_checker< value_type, algebra_type , operations_type > m_error_checker;
+    modified_midpoint< state_type , value_type , deriv_type , time_type , algebra_type , operations_type , resizer_type > m_midpoint;
+
+    bool m_last_step_rejected;
+    bool m_first;
+
+    time_type m_dt_last;
+    time_type m_t_last;
+
+    size_t m_current_k_opt;
+
+    algebra_type m_algebra;
+
+    resizer_type m_dxdt_resizer;
+    resizer_type m_xnew_resizer;
+    resizer_type m_resizer;
+
+    wrapped_state_type m_xnew;
+    wrapped_state_type m_err;
+    wrapped_deriv_type m_dxdt;
+
+    int_vector m_interval_sequence; // stores the successive interval counts
+    value_matrix m_coeff;
+    int_vector m_cost; // costs for interval count
+
+    state_table_type m_table; // sequence of states for extrapolation
+
+    const value_type STEPFAC1 , STEPFAC2 , STEPFAC3 , STEPFAC4 , KFAC1 , KFAC2;
+};
+
+
+/******** DOXYGEN ********/
+/**
+ * \class bulirsch_stoer
+ * \brief The Bulirsch-Stoer algorithm.
+ * 
+ * The Bulirsch-Stoer is a controlled stepper that adjusts both step size
+ * and order of the method. The algorithm uses the modified midpoint and
+ * a polynomial extrapolation compute the solution.
+ *
+ * \tparam State The state type.
+ * \tparam Value The value type.
+ * \tparam Deriv The type representing the time derivative of the state.
+ * \tparam Time The time representing the independent variable - the time.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ */
+
+    /**
+     * \fn bulirsch_stoer::bulirsch_stoer( value_type eps_abs , value_type eps_rel , value_type factor_x , value_type factor_dxdt )
+     * \brief Constructs the bulirsch_stoer class, including initialization of 
+     * the error bounds.
+     *
+     * \param eps_abs Absolute tolerance level.
+     * \param eps_rel Relative tolerance level.
+     * \param factor_x Factor for the weight of the state.
+     * \param factor_dxdt Factor for the weight of the derivative.
+     */
+
+    /**
+     * \fn bulirsch_stoer::try_step( System system , StateInOut &x , time_type &t , time_type &dt )
+     * \brief Tries to perform one step.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed. Also, the internal order of the stepper is adjusted if required.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. 
+     * It must fulfill the Simple System concept.
+     * \param x The state of the ODE which should be solved. Overwritten if 
+     * the step is successful.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+
+    /**
+     * \fn bulirsch_stoer::try_step( System system , StateInOut &x , const DerivIn &dxdt , time_type &t , time_type &dt )
+     * \brief Tries to perform one step.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed. Also, the internal order of the stepper is adjusted if required.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. 
+     * It must fulfill the Simple System concept.
+     * \param x The state of the ODE which should be solved. Overwritten if 
+     * the step is successful.
+     * \param dxdt The derivative of state.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+
+    /**
+     * \fn bulirsch_stoer::try_step( System system , const StateIn &in , time_type &t , StateOut &out , time_type &dt )
+     * \brief Tries to perform one step.
+     *
+     * \note This method is disabled if state_type=time_type to avoid ambiguity.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed. Also, the internal order of the stepper is adjusted if required.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. 
+     * It must fulfill the Simple System concept.
+     * \param in The state of the ODE which should be solved.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param out Used to store the result of the step.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+
+
+    /**
+     * \fn bulirsch_stoer::try_step( System system , const StateIn &in , const DerivIn &dxdt , time_type &t , StateOut &out , time_type &dt )
+     * \brief Tries to perform one step.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed. Also, the internal order of the stepper is adjusted if required.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. 
+     * It must fulfill the Simple System concept.
+     * \param in The state of the ODE which should be solved.
+     * \param dxdt The derivative of state.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param out Used to store the result of the step.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+
+
+    /**
+     * \fn bulirsch_stoer::adjust_size( const StateIn &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+}
+}
+}
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_BULIRSCH_STOER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp
new file mode 100755
index 0000000..36307ba
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp
@@ -0,0 +1,812 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp
+
+ [begin_description]
+ Implementaiton of the Burlish-Stoer method with dense output
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_BULIRSCH_STOER_DENSE_OUT_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_BULIRSCH_STOER_DENSE_OUT_HPP_INCLUDED
+
+
+#include <iostream>
+
+#include <algorithm>
+
+#include <boost/config.hpp> // for min/max guidelines
+
+#include <boost/numeric/odeint/util/bind.hpp>
+
+#include <boost/math/special_functions/binomial.hpp>
+
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/modified_midpoint.hpp>
+#include <boost/numeric/odeint/stepper/controlled_step_result.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+#include <boost/numeric/odeint/util/unit_helper.hpp>
+
+#include <boost/type_traits.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template<
+    class State ,
+    class Value = double ,
+    class Deriv = State ,
+    class Time = Value ,
+    class Algebra = range_algebra ,
+    class Operations = default_operations ,
+    class Resizer = initially_resizer
+    >
+class bulirsch_stoer_dense_out {
+
+
+public:
+
+    typedef State state_type;
+    typedef Value value_type;
+    typedef Deriv deriv_type;
+    typedef Time time_type;
+    typedef Algebra algebra_type;
+    typedef Operations operations_type;
+    typedef Resizer resizer_type;
+    typedef dense_output_stepper_tag stepper_category;
+#ifndef DOXYGEN_SKIP
+    typedef state_wrapper< state_type > wrapped_state_type;
+    typedef state_wrapper< deriv_type > wrapped_deriv_type;
+
+    typedef bulirsch_stoer_dense_out< State , Value , Deriv , Time , Algebra , Operations , Resizer > controlled_error_bs_type;
+
+    typedef typename inverse_time< time_type >::type inv_time_type;
+
+    typedef std::vector< value_type > value_vector;
+    typedef std::vector< time_type > time_vector;
+    typedef std::vector< inv_time_type > inv_time_vector;  //should be 1/time_type for boost.units
+    typedef std::vector< value_vector > value_matrix;
+    typedef std::vector< size_t > int_vector;
+    typedef std::vector< wrapped_state_type > state_vector_type;
+    typedef std::vector< wrapped_deriv_type > deriv_vector_type;
+    typedef std::vector< deriv_vector_type > deriv_table_type;
+#endif //DOXYGEN_SKIP
+
+    const static size_t m_k_max = 8;
+
+
+
+    bulirsch_stoer_dense_out(
+        value_type eps_abs = 1E-6 , value_type eps_rel = 1E-6 ,
+        value_type factor_x = 1.0 , value_type factor_dxdt = 1.0 ,
+        bool control_interpolation = false )
+        : m_error_checker( eps_abs , eps_rel , factor_x, factor_dxdt ) , 
+          m_control_interpolation( control_interpolation) ,
+          m_last_step_rejected( false ) , m_first( true ) ,
+          m_current_state_x1( true ) ,
+          m_error( m_k_max ) ,
+          m_interval_sequence( m_k_max+1 ) ,
+          m_coeff( m_k_max+1 ) ,
+          m_cost( m_k_max+1 ) ,
+          m_table( m_k_max ) ,
+          m_mp_states( m_k_max+1 ) ,
+          m_derivs( m_k_max+1 ) ,
+          m_diffs( 2*m_k_max+1 ) ,
+          STEPFAC1( 0.65 ) , STEPFAC2( 0.94 ) , STEPFAC3( 0.02 ) , STEPFAC4( 4.0 ) , KFAC1( 0.8 ) , KFAC2( 0.9 )
+    {
+        BOOST_USING_STD_MIN();
+        BOOST_USING_STD_MAX();
+
+        for( unsigned short i = 0; i < m_k_max+1; i++ )
+        {
+            /* only this specific sequence allows for dense output */
+            m_interval_sequence[i] = 2 + 4*i;  // 2 6 10 14 ...
+            m_derivs[i].resize( m_interval_sequence[i] );
+            if( i == 0 )
+                m_cost[i] = m_interval_sequence[i];
+            else
+                m_cost[i] = m_cost[i-1] + m_interval_sequence[i];
+            m_coeff[i].resize(i);
+            for( size_t k = 0 ; k < i ; ++k  )
+            {
+                const value_type r = static_cast< value_type >( m_interval_sequence[i] ) / static_cast< value_type >( m_interval_sequence[k] );
+                m_coeff[i][k] = 1.0 / ( r*r - static_cast< value_type >( 1.0 ) ); // coefficients for extrapolation
+            }
+            // crude estimate of optimal order
+
+            m_current_k_opt = 4;
+            /* no calculation because log10 might not exist for value_type!
+            const value_type logfact( -log10( max BOOST_PREVENT_MACRO_SUBSTITUTION( eps_rel , static_cast< value_type >( 1.0E-12 ) ) ) * 0.6 + 0.5 );
+            m_current_k_opt = max BOOST_PREVENT_MACRO_SUBSTITUTION( 1 , min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast<int>( m_k_max-1 ) , static_cast<int>( logfact ) ));
+            */
+        }
+        int num = 1;
+        for( int i = 2*(m_k_max) ; i >=0  ; i-- )
+        {
+            m_diffs[i].resize( num );
+            num += (i+1)%2;
+        }
+    }
+
+    template< class System , class StateIn , class DerivIn , class StateOut , class DerivOut >
+    controlled_step_result try_step( System system , const StateIn &in , const DerivIn &dxdt , time_type &t , StateOut &out , DerivOut &dxdt_new , time_type &dt )
+    {
+        BOOST_USING_STD_MIN();
+        BOOST_USING_STD_MAX();
+        using std::pow;
+        
+        static const value_type val1( 1.0 );
+
+        typename odeint::unwrap_reference< System >::type &sys = system;
+
+        bool reject( true );
+
+        time_vector h_opt( m_k_max+1 );
+        inv_time_vector work( m_k_max+1 );
+
+        m_k_final = 0;
+        time_type new_h = dt;
+
+        //std::cout << "t=" << t <<", dt=" << dt << ", k_opt=" << m_current_k_opt << ", first: " << m_first << std::endl;
+
+        for( size_t k = 0 ; k <= m_current_k_opt+1 ; k++ )
+        {
+            m_midpoint.set_steps( m_interval_sequence[k] );
+            if( k == 0 )
+            {
+                m_midpoint.do_step( sys , in , dxdt , t , out , dt , m_mp_states[k].m_v , m_derivs[k]);
+            }
+            else
+            {
+                m_midpoint.do_step( sys , in , dxdt , t , m_table[k-1].m_v , dt , m_mp_states[k].m_v , m_derivs[k] );
+                extrapolate( k , m_table , m_coeff , out );
+                // get error estimate
+                m_algebra.for_each3( m_err.m_v , out , m_table[0].m_v ,
+                                     typename operations_type::template scale_sum2< value_type , value_type >( val1 , -val1 ) );
+                const value_type error = m_error_checker.error( m_algebra , in , dxdt , m_err.m_v , dt );
+                h_opt[k] = calc_h_opt( dt , error , k );
+                work[k] = static_cast<value_type>( m_cost[k] ) / h_opt[k];
+
+                m_k_final = k;
+
+                if( (k == m_current_k_opt-1) || m_first )
+                { // convergence before k_opt ?
+                    if( error < 1.0 )
+                    {
+                        //convergence
+                        reject = false;
+                        if( (work[k] < KFAC2*work[k-1]) || (m_current_k_opt <= 2) )
+                        {
+                            // leave order as is (except we were in first round)
+                            m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast<int>(m_k_max)-1 , max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast<int>(k)+1 ) );
+                            new_h = h_opt[k] * static_cast<value_type>( m_cost[k+1] ) / static_cast<value_type>( m_cost[k] );
+                        } else {
+                            m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast<int>(m_k_max)-1 , max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast<int>(k) ) );
+                            new_h = h_opt[k];
+                        }
+                        break;
+                    }
+                    else if( should_reject( error , k ) && !m_first )
+                    {
+                        reject = true;
+                        new_h = h_opt[k];
+                        break;
+                    }
+                }
+                if( k == m_current_k_opt )
+                { // convergence at k_opt ?
+                    if( error < 1.0 )
+                    {
+                        //convergence
+                        reject = false;
+                        if( (work[k-1] < KFAC2*work[k]) )
+                        {
+                            m_current_k_opt = max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast<int>(m_current_k_opt)-1 );
+                            new_h = h_opt[m_current_k_opt];
+                        }
+                        else if( (work[k] < KFAC2*work[k-1]) && !m_last_step_rejected )
+                        {
+                            m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast<int>(m_k_max)-1 , static_cast<int>(m_current_k_opt)+1 );
+                            new_h = h_opt[k]*static_cast<value_type>( m_cost[m_current_k_opt] ) / static_cast<value_type>( m_cost[k] );
+                        } else
+                            new_h = h_opt[m_current_k_opt];
+                        break;
+                    }
+                    else if( should_reject( error , k ) )
+                    {
+                        reject = true;
+                        new_h = h_opt[m_current_k_opt];
+                        break;
+                    }
+                }
+                if( k == m_current_k_opt+1 )
+                { // convergence at k_opt+1 ?
+                    if( error < 1.0 )
+                    {   //convergence
+                        reject = false;
+                        if( work[k-2] < KFAC2*work[k-1] )
+                            m_current_k_opt = max BOOST_PREVENT_MACRO_SUBSTITUTION( 2 , static_cast<int>(m_current_k_opt)-1 );
+                        if( (work[k] < KFAC2*work[m_current_k_opt]) && !m_last_step_rejected )
+                            m_current_k_opt = min BOOST_PREVENT_MACRO_SUBSTITUTION( static_cast<int>(m_k_max)-1 , static_cast<int>(k) );
+                        new_h = h_opt[m_current_k_opt];
+                    } else
+                    {
+                        reject = true;
+                        new_h = h_opt[m_current_k_opt];
+                    }
+                    break;
+                }
+            }
+        }
+
+        if( !reject )
+        {
+
+            //calculate dxdt for next step and dense output
+            sys( out , dxdt_new , t+dt );
+
+            //prepare dense output
+            value_type error = prepare_dense_output( m_k_final , in , dxdt , out , dxdt_new , dt );
+
+            if( error > static_cast<value_type>(10) ) // we are not as accurate for interpolation as for the steps
+            {
+                reject = true;
+                new_h = dt * pow BOOST_PREVENT_MACRO_SUBSTITUTION( error , static_cast<value_type>(-1)/(2*m_k_final+2) );
+            } else {
+                t += dt;
+            }
+        }
+        //set next stepsize
+        if( !m_last_step_rejected || (new_h < dt) )
+            dt = new_h;
+
+        m_last_step_rejected = reject;
+        if( reject )
+            return fail;
+        else
+            return success;
+    }
+
+    template< class StateType >
+    void initialize( const StateType &x0 , const time_type &t0 , const time_type &dt0 )
+    {
+        m_resizer.adjust_size( x0 , detail::bind( &controlled_error_bs_type::template resize_impl< StateType > , detail::ref( *this ) , detail::_1 ) );
+        boost::numeric::odeint::copy( x0 , get_current_state() );
+        m_t = t0;
+        m_dt = dt0;
+        reset();
+    }
+
+
+    /*  =======================================================
+     *  the actual step method that should be called from outside (maybe make try_step private?)
+     */
+    template< class System >
+    std::pair< time_type , time_type > do_step( System system )
+    {
+        const size_t max_count = 1000;
+
+        if( m_first )
+        {
+            typename odeint::unwrap_reference< System >::type &sys = system;
+            sys( get_current_state() , get_current_deriv() , m_t );
+        }
+
+        controlled_step_result res = fail;
+        m_t_last = m_t;
+        size_t count = 0;
+        while( res == fail )
+        {
+            res = try_step( system , get_current_state() , get_current_deriv() , m_t , get_old_state() , get_old_deriv() , m_dt );
+            m_first = false;
+            if( count++ == max_count )
+                throw std::overflow_error( "bulirsch_stoer : too much iterations!");
+        }
+        toggle_current_state();
+        return std::make_pair( m_t_last , m_t );
+    }
+
+    /* performs the interpolation from a calculated step */
+    template< class StateOut >
+    void calc_state( time_type t , StateOut &x ) const
+    {
+        do_interpolation( t , x );
+    }
+
+    const state_type& current_state( void ) const
+    {
+        return get_current_state();
+    }
+
+    time_type current_time( void ) const
+    {
+        return m_t;
+    }
+
+    const state_type& previous_state( void ) const
+    {
+        return get_old_state();
+    }
+
+    time_type previous_time( void ) const
+    {
+        return m_t_last;
+    }
+
+    time_type current_time_step( void ) const
+    {
+        return m_dt;
+    }
+
+    /** \brief Resets the internal state of the stepper. */
+    void reset()
+    {
+        m_first = true;
+        m_last_step_rejected = false;
+    }
+
+    template< class StateIn >
+    void adjust_size( const StateIn &x )
+    {
+        resize_impl( x );
+        m_midpoint.adjust_size();
+    }
+
+
+private:
+
+    template< class StateInOut , class StateVector >
+    void extrapolate( size_t k , StateVector &table , const value_matrix &coeff , StateInOut &xest , size_t order_start_index = 0 )
+    //polynomial extrapolation, see http://www.nr.com/webnotes/nr3web21.pdf
+    {
+        static const value_type val1( 1.0 );
+        for( int j=k-1 ; j>0 ; --j )
+        {
+            m_algebra.for_each3( table[j-1].m_v , table[j].m_v , table[j-1].m_v ,
+                                 typename operations_type::template scale_sum2< value_type , value_type >( val1 + coeff[k + order_start_index][j + order_start_index] ,
+                                                                                                           -coeff[k + order_start_index][j + order_start_index] ) );
+        }
+        m_algebra.for_each3( xest , table[0].m_v , xest ,
+                             typename operations_type::template scale_sum2< value_type , value_type >( val1 + coeff[k + order_start_index][0 + order_start_index] ,
+                                                                                                       -coeff[k + order_start_index][0 + order_start_index]) );
+    }
+
+
+    template< class StateVector >
+    void extrapolate_dense_out( size_t k , StateVector &table , const value_matrix &coeff , size_t order_start_index = 0 )
+    //polynomial extrapolation, see http://www.nr.com/webnotes/nr3web21.pdf
+    {
+        // result is written into table[0]
+        static const value_type val1( 1.0 );
+        for( int j=k ; j>1 ; --j )
+        {
+            m_algebra.for_each3( table[j-1].m_v , table[j].m_v , table[j-1].m_v ,
+                                 typename operations_type::template scale_sum2< value_type , value_type >( val1 + coeff[k + order_start_index][j + order_start_index - 1] ,
+                                                                                                           -coeff[k + order_start_index][j + order_start_index - 1] ) );
+        }
+        m_algebra.for_each3( table[0].m_v , table[1].m_v , table[0].m_v ,
+                             typename operations_type::template scale_sum2< value_type , value_type >( val1 + coeff[k + order_start_index][order_start_index] ,
+                                                                                                       -coeff[k + order_start_index][order_start_index]) );
+    }
+
+    time_type calc_h_opt( time_type h , value_type error , size_t k ) const
+    {
+        BOOST_USING_STD_MIN();
+        BOOST_USING_STD_MAX();
+        using std::pow;
+
+        value_type expo=1.0/(m_interval_sequence[k-1]);
+        value_type facmin = pow BOOST_PREVENT_MACRO_SUBSTITUTION( STEPFAC3 , expo );
+        value_type fac;
+        if (error == 0.0)
+            fac=1.0/facmin;
+        else
+        {
+            fac = STEPFAC2 / pow BOOST_PREVENT_MACRO_SUBSTITUTION( error / STEPFAC1 , expo );
+            fac = max BOOST_PREVENT_MACRO_SUBSTITUTION( facmin/STEPFAC4 , min BOOST_PREVENT_MACRO_SUBSTITUTION( 1.0/facmin , fac ) );
+        }
+        return h*fac;
+    }
+
+    bool in_convergence_window( size_t k ) const
+    {
+        if( (k == m_current_k_opt-1) && !m_last_step_rejected )
+            return true; // decrease order only if last step was not rejected
+        return ( (k == m_current_k_opt) || (k == m_current_k_opt+1) );
+    }
+
+    bool should_reject( value_type error , size_t k ) const
+    {
+        if( k == m_current_k_opt-1 )
+        {
+            const value_type d = m_interval_sequence[m_current_k_opt] * m_interval_sequence[m_current_k_opt+1] /
+                (m_interval_sequence[0]*m_interval_sequence[0]);
+            //step will fail, criterion 17.3.17 in NR
+            return ( error > d*d );
+        }
+        else if( k == m_current_k_opt )
+        {
+            const value_type d = m_interval_sequence[m_current_k_opt+1] / m_interval_sequence[0];
+            return ( error > d*d );
+        } else
+            return error > 1.0;
+    }
+
+    template< class StateIn1 , class DerivIn1 , class StateIn2 , class DerivIn2 >
+    value_type prepare_dense_output( int k , const StateIn1 &x_start , const DerivIn1 &dxdt_start ,
+                                     const StateIn2 & /* x_end */ , const DerivIn2 & /*dxdt_end */ , time_type dt )  
+    /* k is the order to which the result was approximated */
+    {
+
+        /* compute the coefficients of the interpolation polynomial
+         * we parametrize the interval t .. t+dt by theta = -1 .. 1
+         * we use 2k+3 values at the interval center theta=0 to obtain the interpolation coefficients
+         * the values are x(t+dt/2) and the derivatives dx/dt , ... d^(2k+2) x / dt^(2k+2) at the midpoints
+         * the derivatives are approximated via finite differences
+         * all values are obtained from interpolation of the results from the increasing orders of the midpoint calls
+         */
+
+        // calculate finite difference approximations to derivatives at the midpoint
+        for( int j = 0 ; j<=k ; j++ )
+        {
+            /* not working with boost units... */
+            const value_type d = m_interval_sequence[j] / ( static_cast<value_type>(2) * dt );
+            value_type f = 1.0; //factor 1/2 here because our interpolation interval has length 2 !!!
+            for( int kappa = 0 ; kappa <= 2*j+1 ; ++kappa )
+            {
+                calculate_finite_difference( j , kappa , f , dxdt_start );
+                f *= d;
+            }
+
+            if( j > 0 )
+                extrapolate_dense_out( j , m_mp_states , m_coeff );
+        }
+
+        time_type d = dt/2;
+
+        // extrapolate finite differences
+        for( int kappa = 0 ; kappa<=2*k+1 ; kappa++ )
+        {
+            for( int j=1 ; j<=(k-kappa/2) ; ++j )
+                extrapolate_dense_out( j , m_diffs[kappa] , m_coeff , kappa/2 );
+
+            // extrapolation results are now stored in m_diffs[kappa][0]
+
+            // divide kappa-th derivative by kappa because we need these terms for dense output interpolation
+            m_algebra.for_each1( m_diffs[kappa][0].m_v , typename operations_type::template scale< time_type >( static_cast<time_type>(d) ) );
+
+            d *= dt/(2*(kappa+2));
+        }
+
+        // dense output coefficients a_0 is stored in m_mp_states[0], a_i for i = 1...2k are stored in m_diffs[i-1][0]
+
+        // the error is just the highest order coefficient of the interpolation polynomial
+        // this is because we use only the midpoint theta=0 as support for the interpolation (remember that theta = -1 .. 1)
+
+        value_type error = 0.0;
+        if( m_control_interpolation )
+        {
+            boost::numeric::odeint::copy( m_diffs[2*k+1][0].m_v , m_err.m_v );
+            error = m_error_checker.error( m_algebra , x_start , dxdt_start , m_err.m_v , dt );
+        }
+
+        return error;
+    }
+
+    template< class DerivIn >
+    void calculate_finite_difference( size_t j , size_t kappa , value_type fac , const DerivIn &dxdt )
+    {
+        const int m = m_interval_sequence[j]/2-1;
+        if( kappa == 0) // no calculation required for 0th derivative of f
+        {
+            m_algebra.for_each2( m_diffs[0][j].m_v , m_derivs[j][m].m_v ,
+                                 typename operations_type::template scale_sum1< value_type >( fac ) );
+        }
+        else
+        {
+            // calculate the index of m_diffs for this kappa-j-combination
+            const int j_diffs = j - kappa/2;
+
+            m_algebra.for_each2( m_diffs[kappa][j_diffs].m_v , m_derivs[j][m+kappa].m_v ,
+                                 typename operations_type::template scale_sum1< value_type >( fac ) );
+            value_type sign = -1.0;
+            int c = 1;
+            //computes the j-th order finite difference for the kappa-th derivative of f at t+dt/2 using function evaluations stored in m_derivs
+            for( int i = m+static_cast<int>(kappa)-2 ; i >= m-static_cast<int>(kappa) ; i -= 2 )
+            {
+                if( i >= 0 )
+                {
+                    m_algebra.for_each3( m_diffs[kappa][j_diffs].m_v , m_diffs[kappa][j_diffs].m_v , m_derivs[j][i].m_v ,
+                                         typename operations_type::template scale_sum2< value_type , value_type >( 1.0 ,
+                                                                                                                   sign * fac * boost::math::binomial_coefficient< value_type >( kappa , c ) ) );
+                }
+                else
+                {
+                    m_algebra.for_each3( m_diffs[kappa][j_diffs].m_v , m_diffs[kappa][j_diffs].m_v , dxdt ,
+                                         typename operations_type::template scale_sum2< value_type , value_type >( 1.0 , sign * fac ) );
+                }
+                sign *= -1;
+                ++c;
+            }
+        }
+    }
+
+    template< class StateOut >
+    void do_interpolation( time_type t , StateOut &out ) const
+    {
+        // interpolation polynomial is defined for theta = -1 ... 1
+        // m_k_final is the number of order-iterations done for the last step - it governs the order of the interpolation polynomial
+        const value_type theta = 2 * get_unit_value( (t - m_t_last) / (m_t - m_t_last) ) - 1;
+        // we use only values at interval center, that is theta=0, for interpolation
+        // our interpolation polynomial is thus of order 2k+2, hence we have 2k+3 terms
+
+        boost::numeric::odeint::copy( m_mp_states[0].m_v , out );
+        // add remaining terms: x += a_1 theta + a2 theta^2 + ... + a_{2k} theta^{2k}
+        value_type theta_pow( theta );
+        for( size_t i=0 ; i<=2*m_k_final+1 ; ++i )
+        {
+            m_algebra.for_each3( out , out , m_diffs[i][0].m_v ,
+                                 typename operations_type::template scale_sum2< value_type >( static_cast<value_type>(1) , theta_pow ) );
+            theta_pow *= theta;
+        }
+    }
+
+    /* Resizer methods */
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized( false );
+
+        resized |= adjust_size_by_resizeability( m_x1 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_x2 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_dxdt1 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_dxdt2 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_err , x , typename is_resizeable<state_type>::type() );
+
+        for( size_t i = 0 ; i < m_k_max ; ++i )
+            resized |= adjust_size_by_resizeability( m_table[i] , x , typename is_resizeable<state_type>::type() );
+        for( size_t i = 0 ; i < m_k_max+1 ; ++i )
+            resized |= adjust_size_by_resizeability( m_mp_states[i] , x , typename is_resizeable<state_type>::type() );
+        for( size_t i = 0 ; i < m_k_max+1 ; ++i )
+            for( size_t j = 0 ; j < m_derivs[i].size() ; ++j )
+                resized |= adjust_size_by_resizeability( m_derivs[i][j] , x , typename is_resizeable<deriv_type>::type() );
+        for( size_t i = 0 ; i < 2*m_k_max+1 ; ++i )
+            for( size_t j = 0 ; j < m_diffs[i].size() ; ++j )
+                resized |= adjust_size_by_resizeability( m_diffs[i][j] , x , typename is_resizeable<deriv_type>::type() );
+
+        return resized;
+    }
+
+
+    state_type& get_current_state( void )
+    {
+        return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ;
+    }
+    
+    const state_type& get_current_state( void ) const
+    {
+        return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ;
+    }
+    
+    state_type& get_old_state( void )
+    {
+        return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ;
+    }
+    
+    const state_type& get_old_state( void ) const
+    {
+        return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ;
+    }
+
+    deriv_type& get_current_deriv( void )
+    {
+        return m_current_state_x1 ? m_dxdt1.m_v : m_dxdt2.m_v ;
+    }
+    
+    const deriv_type& get_current_deriv( void ) const
+    {
+        return m_current_state_x1 ? m_dxdt1.m_v : m_dxdt2.m_v ;
+    }
+    
+    deriv_type& get_old_deriv( void )
+    {
+        return m_current_state_x1 ? m_dxdt2.m_v : m_dxdt1.m_v ;
+    }
+    
+    const deriv_type& get_old_deriv( void ) const
+    {
+        return m_current_state_x1 ? m_dxdt2.m_v : m_dxdt1.m_v ;
+    }
+
+    
+    void toggle_current_state( void )
+    {
+        m_current_state_x1 = ! m_current_state_x1;
+    }
+
+
+
+    default_error_checker< value_type, algebra_type , operations_type > m_error_checker;
+    modified_midpoint_dense_out< state_type , value_type , deriv_type , time_type , algebra_type , operations_type , resizer_type > m_midpoint;
+
+    bool m_control_interpolation;
+
+    bool m_last_step_rejected;
+    bool m_first;
+
+    time_type m_t;
+    time_type m_dt;
+    time_type m_dt_last;
+    time_type m_t_last;
+
+    size_t m_current_k_opt;
+    size_t m_k_final;
+
+    algebra_type m_algebra;
+
+    resizer_type m_resizer;
+
+    wrapped_state_type m_x1 , m_x2;
+    wrapped_deriv_type m_dxdt1 , m_dxdt2;
+    wrapped_state_type m_err;
+    bool m_current_state_x1;
+
+
+
+    value_vector m_error; // errors of repeated midpoint steps and extrapolations
+    int_vector m_interval_sequence; // stores the successive interval counts
+    value_matrix m_coeff;
+    int_vector m_cost; // costs for interval count
+
+    state_vector_type m_table; // sequence of states for extrapolation
+
+    //for dense output:
+    state_vector_type m_mp_states; // sequence of approximations of x at distance center
+    deriv_table_type m_derivs; // table of function values
+    deriv_table_type m_diffs; // table of function values
+
+    //wrapped_state_type m_a1 , m_a2 , m_a3 , m_a4;
+
+    const value_type STEPFAC1 , STEPFAC2 , STEPFAC3 , STEPFAC4 , KFAC1 , KFAC2;
+};
+
+
+
+/********** DOXYGEN **********/
+
+/**
+ * \class bulirsch_stoer_dense_out
+ * \brief The Bulirsch-Stoer algorithm.
+ * 
+ * The Bulirsch-Stoer is a controlled stepper that adjusts both step size
+ * and order of the method. The algorithm uses the modified midpoint and
+ * a polynomial extrapolation compute the solution. This class also provides
+ * dense output facility.
+ *
+ * \tparam State The state type.
+ * \tparam Value The value type.
+ * \tparam Deriv The type representing the time derivative of the state.
+ * \tparam Time The time representing the independent variable - the time.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ */
+
+    /**
+     * \fn bulirsch_stoer_dense_out::bulirsch_stoer_dense_out( value_type eps_abs , value_type eps_rel , value_type factor_x , value_type factor_dxdt , bool control_interpolation )
+     * \brief Constructs the bulirsch_stoer class, including initialization of 
+     * the error bounds.
+     *
+     * \param eps_abs Absolute tolerance level.
+     * \param eps_rel Relative tolerance level.
+     * \param factor_x Factor for the weight of the state.
+     * \param factor_dxdt Factor for the weight of the derivative.
+     * \param control_interpolation Set true to additionally control the error of 
+     * the interpolation.
+     */
+
+    /**
+     * \fn bulirsch_stoer_dense_out::try_step( System system , const StateIn &in , const DerivIn &dxdt , time_type &t , StateOut &out , DerivOut &dxdt_new , time_type &dt )
+     * \brief Tries to perform one step.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed. Also, the internal order of the stepper is adjusted if required.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. 
+     * It must fulfill the Simple System concept.
+     * \param in The state of the ODE which should be solved.
+     * \param dxdt The derivative of state.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param out Used to store the result of the step.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+
+    /**
+     * \fn bulirsch_stoer_dense_out::initialize( const StateType &x0 , const time_type &t0 , const time_type &dt0 )
+     * \brief Initializes the dense output stepper.
+     *
+     * \param x0 The initial state.
+     * \param t0 The initial time.
+     * \param dt0 The initial time step.
+     */
+
+    /**
+     * \fn bulirsch_stoer_dense_out::do_step( System system )
+     * \brief Does one time step. This is the main method that should be used to 
+     * integrate an ODE with this stepper.
+     * \note initialize has to be called before using this method to set the
+     * initial conditions x,t and the stepsize.
+     * \param system The system function to solve, hence the r.h.s. of the
+     * ordinary differential equation. It must fulfill the Simple System concept.
+     * \return Pair with start and end time of the integration step.
+     */
+
+    /**
+     * \fn bulirsch_stoer_dense_out::calc_state( time_type t , StateOut &x ) const
+     * \brief Calculates the solution at an intermediate point within the last step
+     * \param t The time at which the solution should be calculated, has to be
+     * in the current time interval.
+     * \param x The output variable where the result is written into.
+     */
+
+    /**
+     * \fn bulirsch_stoer_dense_out::current_state( void ) const
+     * \brief Returns the current state of the solution.
+     * \return The current state of the solution x(t).
+     */
+
+    /**
+     * \fn bulirsch_stoer_dense_out::current_time( void ) const
+     * \brief Returns the current time of the solution.
+     * \return The current time of the solution t.
+     */
+
+    /**
+     * \fn bulirsch_stoer_dense_out::previous_state( void ) const
+     * \brief Returns the last state of the solution.
+     * \return The last state of the solution x(t-dt).
+     */
+
+    /**
+     * \fn bulirsch_stoer_dense_out::previous_time( void ) const
+     * \brief Returns the last time of the solution.
+     * \return The last time of the solution t-dt.
+     */
+
+    /**
+     * \fn bulirsch_stoer_dense_out::current_time_step( void ) const
+     * \brief Returns the current step size.
+     * \return The current step size.
+     */
+
+    /**
+     * \fn bulirsch_stoer_dense_out::adjust_size( const StateIn &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+}
+}
+}
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_BULIRSCH_STOER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp
new file mode 100755
index 0000000..34439b4
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp
@@ -0,0 +1,939 @@
+/* [auto_generated]
+ boost/numeric/odeint/stepper/controlled_runge_kutta.hpp
+
+ [begin_description]
+ The default controlled stepper which can be used with all explicit Runge-Kutta error steppers.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_RUNGE_KUTTA_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_RUNGE_KUTTA_HPP_INCLUDED
+
+
+
+#include <cmath>
+
+#include <boost/config.hpp>
+#include <boost/utility/enable_if.hpp>
+#include <boost/type_traits/is_same.hpp>
+
+#include <boost/numeric/odeint/util/bind.hpp>
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+#include <boost/numeric/odeint/util/copy.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+#include <boost/numeric/odeint/stepper/controlled_step_result.hpp>
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template
+<
+class Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations
+>
+class default_error_checker
+{
+public:
+
+    typedef Value value_type;
+    typedef Algebra algebra_type;
+    typedef Operations operations_type;
+
+    default_error_checker(
+            value_type eps_abs = static_cast< value_type >( 1.0e-6 ) ,
+            value_type eps_rel = static_cast< value_type >( 1.0e-6 ) ,
+            value_type a_x = static_cast< value_type >( 1 ) ,
+            value_type a_dxdt = static_cast< value_type >( 1 ) )
+    : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt )
+    { }
+
+
+    template< class State , class Deriv , class Err , class Time >
+    value_type error( const State &x_old , const Deriv &dxdt_old , Err &x_err , Time dt ) const
+    {
+        return error( algebra_type() , x_old , dxdt_old , x_err , dt );
+    }
+
+    template< class State , class Deriv , class Err , class Time >
+    value_type error( algebra_type &algebra , const State &x_old , const Deriv &dxdt_old , Err &x_err , Time dt ) const
+    {
+        // this overwrites x_err !
+        algebra.for_each3( x_err , x_old , dxdt_old ,
+                typename operations_type::template rel_error< value_type >( m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt * get_unit_value( dt ) ) );
+
+        value_type res = algebra.reduce( x_err ,
+                typename operations_type::template maximum< value_type >() , static_cast< value_type >( 0 ) );
+        return res;
+    }
+
+private:
+
+    value_type m_eps_abs;
+    value_type m_eps_rel;
+    value_type m_a_x;
+    value_type m_a_dxdt;
+
+};
+
+
+
+
+
+
+
+
+/*
+ * error stepper category dispatcher
+ */
+template<
+class ErrorStepper ,
+class ErrorChecker = default_error_checker< typename ErrorStepper::value_type ,
+typename ErrorStepper::algebra_type ,
+typename ErrorStepper::operations_type > ,
+class Resizer = typename ErrorStepper::resizer_type ,
+class ErrorStepperCategory = typename ErrorStepper::stepper_category
+>
+class controlled_runge_kutta ;
+
+
+
+/*
+ * explicit stepper version
+ *
+ * this class introduces the following try_step overloads
+    * try_step( sys , x , t , dt )
+    * try_step( sys , x , dxdt , t , dt )
+    * try_step( sys , in , t , out , dt )
+    * try_step( sys , in , dxdt , t , out , dt )
+ */
+/**
+ * \brief Implements step size control for Runge-Kutta steppers with error 
+ * estimation.
+ *
+ * This class implements the step size control for standard Runge-Kutta 
+ * steppers with error estimation.
+ *
+ * \tparam ErrorStepper The stepper type with error estimation, has to fulfill the ErrorStepper concept.
+ * \tparam ErrorChecker The error checker
+ * \tparam Resizer The resizer policy type.
+ */
+template<
+class ErrorStepper ,
+class ErrorChecker ,
+class Resizer
+>
+class controlled_runge_kutta< ErrorStepper , ErrorChecker , Resizer , explicit_error_stepper_tag >
+{
+
+public:
+
+    typedef ErrorStepper stepper_type;
+    typedef typename stepper_type::state_type state_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef typename stepper_type::deriv_type deriv_type;
+    typedef typename stepper_type::time_type time_type;
+    typedef typename stepper_type::algebra_type algebra_type;
+    typedef typename stepper_type::operations_type operations_type;
+    typedef Resizer resizer_type;
+    typedef ErrorChecker error_checker_type;
+    typedef explicit_controlled_stepper_tag stepper_category;
+
+#ifndef DOXYGEN_SKIP
+    typedef typename stepper_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_type::wrapped_deriv_type wrapped_deriv_type;
+
+    typedef controlled_runge_kutta< ErrorStepper , ErrorChecker , Resizer , explicit_error_stepper_tag > controlled_stepper_type;
+#endif //DOXYGEN_SKIP
+
+
+    /**
+     * \brief Constructs the controlled Runge-Kutta stepper.
+     * \param error_checker An instance of the error checker.
+     * \param stepper An instance of the underlying stepper.
+     */
+    controlled_runge_kutta(
+            const error_checker_type &error_checker = error_checker_type( ) ,
+            const stepper_type &stepper = stepper_type( )
+    )
+    : m_stepper( stepper ) , m_error_checker( error_checker )
+    { }
+
+
+
+    /*
+     * Version 1 : try_step( sys , x , t , dt )
+     *
+     * The overloads are needed to solve the forwarding problem
+     */
+    /**
+     * \brief Tries to perform one step.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. Overwritten if 
+     * the step is successful.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+    template< class System , class StateInOut >
+    controlled_step_result try_step( System system , StateInOut &x , time_type &t , time_type &dt )
+    {
+        return try_step_v1( system , x , t, dt );
+    }
+
+    /**
+     * \brief Tries to perform one step. Solves the forwarding problem and 
+     * allows for using boost range as state_type.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. Overwritten if 
+     * the step is successful. Can be a boost range.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+    template< class System , class StateInOut >
+    controlled_step_result try_step( System system , const StateInOut &x , time_type &t , time_type &dt )
+    {
+        return try_step_v1( system , x , t, dt );
+    }
+
+
+
+    /*
+     * Version 2 : try_step( sys , x , dxdt , t , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     */
+    /**
+     * \brief Tries to perform one step.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. Overwritten if 
+     * the step is successful.
+     * \param dxdt The derivative of state.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+    template< class System , class StateInOut , class DerivIn >
+    controlled_step_result try_step( System system , StateInOut &x , const DerivIn &dxdt , time_type &t , time_type &dt )
+    {
+        m_xnew_resizer.adjust_size( x , detail::bind( &controlled_runge_kutta::template resize_m_xnew_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) );
+        controlled_step_result res = try_step( system , x , dxdt , t , m_xnew.m_v , dt );
+        if( res == success )
+        {
+            boost::numeric::odeint::copy( m_xnew.m_v , x );
+        }
+        return res;
+    }
+
+    /*
+     * Version 3 : try_step( sys , in , t , out , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     *
+     * the disable is needed to avoid ambiguous overloads if state_type = time_type
+     */
+    /**
+     * \brief Tries to perform one step.
+     *
+     * \note This method is disabled if state_type=time_type to avoid ambiguity.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param out Used to store the result of the step.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+    template< class System , class StateIn , class StateOut >
+    typename boost::disable_if< boost::is_same< StateIn , time_type > , controlled_step_result >::type
+    try_step( System system , const StateIn &in , time_type &t , StateOut &out , time_type &dt )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        m_dxdt_resizer.adjust_size( in , detail::bind( &controlled_runge_kutta::template resize_m_dxdt_impl< StateIn > , detail::ref( *this ) , detail::_1 ) );
+        sys( in , m_dxdt.m_v , t );
+        return try_step( system , in , m_dxdt.m_v , t , out , dt );
+    }
+
+
+    /*
+     * Version 4 : try_step( sys , in , dxdt , t , out , dt )
+     *
+     * this version does not solve the forwarding problem, boost.range can not be used
+     */
+    /**
+     * \brief Tries to perform one step.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved.
+     * \param dxdt The derivative of state.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param out Used to store the result of the step.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+    template< class System , class StateIn , class DerivIn , class StateOut >
+    controlled_step_result try_step( System system , const StateIn &in , const DerivIn &dxdt , time_type &t , StateOut &out , time_type &dt )
+    {
+        BOOST_USING_STD_MIN();
+        BOOST_USING_STD_MAX();
+        using std::pow;
+
+        m_xerr_resizer.adjust_size( in , detail::bind( &controlled_runge_kutta::template resize_m_xerr_impl< StateIn > , detail::ref( *this ) , detail::_1 ) );
+
+        // do one step with error calculation
+        m_stepper.do_step( system , in , dxdt , t , out , dt , m_xerr.m_v );
+
+        m_max_rel_error = m_error_checker.error( m_stepper.algebra() , in , dxdt , m_xerr.m_v , dt );
+
+        if( m_max_rel_error > 1.0 )
+        {
+            // error too large - decrease dt ,limit scaling factor to 0.2 and reset state
+            dt *= max BOOST_PREVENT_MACRO_SUBSTITUTION ( static_cast<value_type>(9)/static_cast<value_type>(10) * pow( m_max_rel_error ,
+                                                           static_cast<value_type>(-1) / ( m_stepper.error_order() - 1 ) ) ,
+                       static_cast<value_type>(1)/static_cast<value_type> (5) );
+            return fail;
+        }
+        else
+        {
+            if( m_max_rel_error < 0.5 )
+            {
+                // error should be > 0
+                m_max_rel_error = max BOOST_PREVENT_MACRO_SUBSTITUTION ( pow( 5.0 , -m_stepper.stepper_order() ) , m_max_rel_error ); 
+                //error too small - increase dt and keep the evolution and limit scaling factor to 5.0
+                t += dt;
+                dt *= static_cast<value_type>(9)/static_cast<value_type>(10) * pow( m_max_rel_error ,
+                                                                                    static_cast<value_type>(-1) / m_stepper.stepper_order() );
+                return success;
+            }
+            else
+            {
+                t += dt;
+                return success;
+            }
+        }
+    }
+
+    /**
+     * \brief Returns the error of the last step.
+     *
+     * returns The last error of the step.
+     */
+    value_type last_error( void ) const
+    {
+        return m_max_rel_error;
+    }
+
+
+    /**
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        resize_m_xerr_impl( x );
+        resize_m_dxdt_impl( x );
+        resize_m_xnew_impl( x );
+        m_stepper.adjust_size( x );
+    }
+
+    /**
+     * \brief Returns the instance of the underlying stepper.
+     * \returns The instance of the underlying stepper.
+     */
+    stepper_type& stepper( void )
+    {
+        return m_stepper;
+    }
+
+    /**
+     * \brief Returns the instance of the underlying stepper.
+     * \returns The instance of the underlying stepper.
+     */
+    const stepper_type& stepper( void ) const
+    {
+        return m_stepper;
+    }
+
+private:
+
+
+    template< class System , class StateInOut >
+    controlled_step_result try_step_v1( System system , StateInOut &x , time_type &t , time_type &dt )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        m_dxdt_resizer.adjust_size( x , detail::bind( &controlled_runge_kutta::template resize_m_dxdt_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) );
+        sys( x , m_dxdt.m_v ,t );
+        return try_step( system , x , m_dxdt.m_v , t , dt );
+    }
+
+    template< class StateIn >
+    bool resize_m_xerr_impl( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_xerr , x , typename is_resizeable<state_type>::type() );
+    }
+
+    template< class StateIn >
+    bool resize_m_dxdt_impl( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable<deriv_type>::type() );
+    }
+
+    template< class StateIn >
+    bool resize_m_xnew_impl( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_xnew , x , typename is_resizeable<state_type>::type() );
+    }
+
+
+
+    stepper_type m_stepper;
+    error_checker_type m_error_checker;
+
+    resizer_type m_dxdt_resizer;
+    resizer_type m_xerr_resizer;
+    resizer_type m_xnew_resizer;
+
+    wrapped_deriv_type m_dxdt;
+    wrapped_state_type m_xerr;
+    wrapped_state_type m_xnew;
+    value_type m_max_rel_error;
+};
+
+
+
+
+
+
+
+
+
+
+/*
+ * explicit stepper fsal version
+ *
+ * the class introduces the following try_step overloads
+    * try_step( sys , x , t , dt ) 
+    * try_step( sys , in , t , out , dt )
+    * try_step( sys , x , dxdt , t , dt )
+    * try_step( sys , in , dxdt_in , t , out , dxdt_out , dt )
+ */
+/**
+ * \brief Implements step size control for Runge-Kutta FSAL steppers with 
+ * error estimation.
+ *
+ * This class implements the step size control for FSAL Runge-Kutta 
+ * steppers with error estimation.
+ *
+ * \tparam ErrorStepper The stepper type with error estimation, has to fulfill the ErrorStepper concept.
+ * \tparam ErrorChecker The error checker
+ * \tparam Resizer The resizer policy type.
+ */
+template<
+class ErrorStepper ,
+class ErrorChecker ,
+class Resizer
+>
+class controlled_runge_kutta< ErrorStepper , ErrorChecker , Resizer , explicit_error_stepper_fsal_tag >
+{
+
+public:
+
+    typedef ErrorStepper stepper_type;
+    typedef typename stepper_type::state_type state_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef typename stepper_type::deriv_type deriv_type;
+    typedef typename stepper_type::time_type time_type;
+    typedef typename stepper_type::algebra_type algebra_type;
+    typedef typename stepper_type::operations_type operations_type;
+    typedef Resizer resizer_type;
+    typedef ErrorChecker error_checker_type;
+    typedef explicit_controlled_stepper_fsal_tag stepper_category;
+
+#ifndef DOXYGEN_SKIP
+    typedef typename stepper_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_type::wrapped_deriv_type wrapped_deriv_type;
+
+    typedef controlled_runge_kutta< ErrorStepper , ErrorChecker , Resizer , explicit_error_stepper_tag > controlled_stepper_type;
+#endif // DOXYGEN_SKIP
+
+    /**
+     * \brief Constructs the controlled Runge-Kutta stepper.
+     * \param error_checker An instance of the error checker.
+     * \param stepper An instance of the underlying stepper.
+     */
+    controlled_runge_kutta(
+            const error_checker_type &error_checker = error_checker_type() ,
+            const stepper_type &stepper = stepper_type()
+    )
+    : m_stepper( stepper ) , m_error_checker( error_checker ) ,
+      m_first_call( true )
+    { }
+
+    /*
+     * Version 1 : try_step( sys , x , t , dt )
+     *
+     * The two overloads are needed in order to solve the forwarding problem
+     */
+    /**
+     * \brief Tries to perform one step.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. Overwritten if 
+     * the step is successful.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+    template< class System , class StateInOut >
+    controlled_step_result try_step( System system , StateInOut &x , time_type &t , time_type &dt )
+    {
+        return try_step_v1( system , x , t , dt );
+    }
+
+
+    /**
+     * \brief Tries to perform one step. Solves the forwarding problem and 
+     * allows for using boost range as state_type.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. Overwritten if 
+     * the step is successful. Can be a boost range.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+    template< class System , class StateInOut >
+    controlled_step_result try_step( System system , const StateInOut &x , time_type &t , time_type &dt )
+    {
+        return try_step_v1( system , x , t , dt );
+    }
+
+
+
+    /*
+     * Version 2 : try_step( sys , in , t , out , dt );
+     *
+     * This version does not solve the forwarding problem, boost::range can not be used.
+     * 
+     * The disabler is needed to solve ambiguous overloads
+     */
+    /**
+     * \brief Tries to perform one step.
+     *
+     * \note This method is disabled if state_type=time_type to avoid ambiguity.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param out Used to store the result of the step.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+    template< class System , class StateIn , class StateOut >
+    typename boost::disable_if< boost::is_same< StateIn , time_type > , controlled_step_result >::type
+    try_step( System system , const StateIn &in , time_type &t , StateOut &out , time_type &dt )
+    {
+        if( m_dxdt_resizer.adjust_size( in , detail::bind( &controlled_runge_kutta::template resize_m_dxdt_impl< StateIn > , detail::ref( *this ) , detail::_1 ) ) || m_first_call )
+        {
+            initialize( system , in , t );
+        }
+        return try_step( system , in , m_dxdt.m_v , t , out , dt );
+    }
+
+
+    /*
+     * Version 3 : try_step( sys , x , dxdt , t , dt )
+     *
+     * This version does not solve the forwarding problem, boost::range can not be used.
+     */
+    /**
+     * \brief Tries to perform one step.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The state of the ODE which should be solved. Overwritten if 
+     * the step is successful.
+     * \param dxdt The derivative of state.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+    template< class System , class StateInOut , class DerivInOut >
+    controlled_step_result try_step( System system , StateInOut &x , DerivInOut &dxdt , time_type &t , time_type &dt )
+    {
+        m_xnew_resizer.adjust_size( x , detail::bind( &controlled_runge_kutta::template resize_m_xnew_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) );
+        m_dxdt_new_resizer.adjust_size( x , detail::bind( &controlled_runge_kutta::template resize_m_dxdt_new_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) );
+        controlled_step_result res = try_step( system , x , dxdt , t , m_xnew.m_v , m_dxdtnew.m_v , dt );
+        if( res == success )
+        {
+            boost::numeric::odeint::copy( m_xnew.m_v , x );
+            boost::numeric::odeint::copy( m_dxdtnew.m_v , dxdt );
+        }
+        return res;
+    }
+
+
+    /*
+     * Version 4 : try_step( sys , in , dxdt_in , t , out , dxdt_out , dt )
+     *
+     * This version does not solve the forwarding problem, boost::range can not be used.
+     */
+    /**
+     * \brief Tries to perform one step.
+     *
+     * This method tries to do one step with step size dt. If the error estimate
+     * is to large, the step is rejected and the method returns fail and the 
+     * step size dt is reduced. If the error estimate is acceptably small, the
+     * step is performed, success is returned and dt might be increased to make 
+     * the steps as large as possible. This method also updates t if a step is
+     * performed.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved.
+     * \param dxdt The derivative of state.
+     * \param t The value of the time. Updated if the step is successful.
+     * \param out Used to store the result of the step.
+     * \param dt The step size. Updated.
+     * \return success if the step was accepted, fail otherwise.
+     */
+    template< class System , class StateIn , class DerivIn , class StateOut , class DerivOut >
+    controlled_step_result try_step( System system , const StateIn &in , const DerivIn &dxdt_in , time_type &t ,
+            StateOut &out , DerivOut &dxdt_out , time_type &dt )
+    {
+        BOOST_USING_STD_MIN();
+        BOOST_USING_STD_MAX();
+
+        using std::pow;
+
+        m_xerr_resizer.adjust_size( in , detail::bind( &controlled_runge_kutta::template resize_m_xerr_impl< StateIn > , detail::ref( *this ) , detail::_1 ) );
+
+        //fsal: m_stepper.get_dxdt( dxdt );
+        //fsal: m_stepper.do_step( sys , x , dxdt , t , dt , m_x_err );
+        m_stepper.do_step( system , in , dxdt_in , t , out , dxdt_out , dt , m_xerr.m_v );
+
+        // this potentially overwrites m_x_err! (standard_error_checker does, at least)
+        value_type max_rel_err = m_error_checker.error( m_stepper.algebra() , in , dxdt_in , m_xerr.m_v , dt );
+
+        if( max_rel_err > 1.0 )
+        {
+            // error too large - decrease dt ,limit scaling factor to 0.2 and reset state
+            dt *= max BOOST_PREVENT_MACRO_SUBSTITUTION ( static_cast<value_type>( static_cast<value_type>(9)/static_cast<value_type>(10) * pow( max_rel_err , static_cast<value_type>(-1) / ( m_stepper.error_order() - 1 ) ) ) , static_cast<value_type>( static_cast<value_type>(1)/static_cast<value_type> (5)) );
+            return fail;
+        }
+        else
+        {
+            if( max_rel_err < 0.5 )
+            {                //error too small - increase dt and keep the evolution and limit scaling factor to 5.0
+                // error should be > 0
+                max_rel_err = max BOOST_PREVENT_MACRO_SUBSTITUTION ( pow( 5.0 , -m_stepper.stepper_order() ) , max_rel_err ); 
+                t += dt;
+                dt *= static_cast<value_type>( static_cast<value_type>(9)/static_cast<value_type>(10) * pow( max_rel_err , static_cast<value_type>(-1) / m_stepper.stepper_order() ) );
+                return success;
+            }
+            else
+            {
+                t += dt;
+                return success;
+            }
+        }
+    }
+
+
+    /**
+     * \brief Resets the internal state of the underlying FSAL stepper.
+     */
+    void reset( void )
+    {
+        m_first_call = true;
+    }
+
+    /**
+     * \brief Initializes the internal state storing an internal copy of the derivative.
+     *
+     * \param deriv The initial derivative of the ODE.
+     */
+    template< class DerivIn >
+    void initialize( const DerivIn &deriv )
+    {
+        boost::numeric::odeint::copy( deriv , m_dxdt.m_v );
+        m_first_call = false;
+    }
+
+    /**
+     * \brief Initializes the internal state storing an internal copy of the derivative.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param x The initial state of the ODE which should be solved.
+     * \param t The initial time.
+     */
+    template< class System , class StateIn >
+    void initialize( System system , const StateIn &x , time_type t )
+    {
+        typename odeint::unwrap_reference< System >::type &sys = system;
+        sys( x , m_dxdt.m_v , t );
+        m_first_call = false;
+    }
+
+    /**
+     * \brief Returns true if the stepper has been initialized, false otherwise.
+     *
+     * \return true, if the stepper has been initialized, false otherwise.
+     */
+    bool is_initialized( void ) const
+    {
+        return ! m_first_call;
+    }
+
+
+    /**
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        resize_m_xerr_impl( x );
+        resize_m_dxdt_impl( x );
+        resize_m_dxdt_new_impl( x );
+        resize_m_xnew_impl( x );
+    }
+
+
+    /**
+     * \brief Returns the instance of the underlying stepper.
+     * \returns The instance of the underlying stepper.
+     */
+    stepper_type& stepper( void )
+    {
+        return m_stepper;
+    }
+
+    /**
+     * \brief Returns the instance of the underlying stepper.
+     * \returns The instance of the underlying stepper.
+     */
+    const stepper_type& stepper( void ) const
+    {
+        return m_stepper;
+    }
+
+
+
+private:
+
+
+    template< class StateIn >
+    bool resize_m_xerr_impl( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_xerr , x , typename is_resizeable<state_type>::type() );
+    }
+
+    template< class StateIn >
+    bool resize_m_dxdt_impl( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable<deriv_type>::type() );
+    }
+
+    template< class StateIn >
+    bool resize_m_dxdt_new_impl( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_dxdtnew , x , typename is_resizeable<deriv_type>::type() );
+    }
+
+    template< class StateIn >
+    bool resize_m_xnew_impl( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_xnew , x , typename is_resizeable<state_type>::type() );
+    }
+
+
+    template< class System , class StateInOut >
+    controlled_step_result try_step_v1( System system , StateInOut &x , time_type &t , time_type &dt )
+    {
+        if( m_dxdt_resizer.adjust_size( x , detail::bind( &controlled_runge_kutta::template resize_m_dxdt_impl< StateInOut > , detail::ref( *this ) , detail::_1 ) ) || m_first_call )
+        {
+            initialize( system , x , t );
+        }
+        return try_step( system , x , m_dxdt.m_v , t , dt );
+    }
+
+
+    stepper_type m_stepper;
+    error_checker_type m_error_checker;
+
+    resizer_type m_dxdt_resizer;
+    resizer_type m_xerr_resizer;
+    resizer_type m_xnew_resizer;
+    resizer_type m_dxdt_new_resizer;
+
+    wrapped_deriv_type m_dxdt;
+    wrapped_state_type m_xerr;
+    wrapped_state_type m_xnew;
+    wrapped_deriv_type m_dxdtnew;
+    bool m_first_call;
+};
+
+
+/********** DOXYGEN **********/
+
+/**** DEFAULT ERROR CHECKER ****/
+
+/**
+ * \class default_error_checker
+ * \brief The default error checker to be used with Runge-Kutta error steppers
+ *
+ * This class provides the default mechanism to compare the error estimates 
+ * reported by Runge-Kutta error steppers with user defined error bounds.
+ * It is used by the controlled_runge_kutta steppers.
+ *
+ * \tparam Value The value type.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ */
+
+    /**
+     * \fn default_error_checker( value_type eps_abs , value_type eps_rel , value_type a_x , value_type a_dxdt )
+     * \brief Constructs the error checker.
+     *
+     * The error is calculated as follows: ???? 
+     *
+     * \param eps_abs Absolute tolerance level.
+     * \param eps_rel Relative tolerance level.
+     * \param a_x Factor for the weight of the state.
+     * \param a_dxdt Factor for the weight of the derivative.
+     */
+    
+    /**
+     * \fn error( const State &x_old , const Deriv &dxdt_old , Err &x_err , Time dt ) const
+     * \brief Calculates the error level.
+     *
+     * If the returned error level is greater than 1, the estimated error was
+     * larger than the permitted error bounds and the step should be repeated
+     * with a smaller step size.
+     *
+     * \param x_old State at the beginning of the step.
+     * \param dxdt_old Derivative at the beginning of the step.
+     * \param x_err Error estimate.
+     * \param dt Time step.
+     * \return error
+     */
+
+    /**
+     * \fn error( algebra_type &algebra , const State &x_old , const Deriv &dxdt_old , Err &x_err , Time dt ) const
+     * \brief Calculates the error level using a given algebra.
+     *
+     * If the returned error level is greater than 1, the estimated error was
+     * larger than the permitted error bounds and the step should be repeated
+     * with a smaller step size.
+     *
+     * \param algebra The algebra used for calculation of the error.
+     * \param x_old State at the beginning of the step.
+     * \param dxdt_old Derivative at the beginning of the step.
+     * \param x_err Error estimate.
+     * \param dt Time step.
+     * \return error
+     */
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_RUNGE_KUTTA_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp
new file mode 100755
index 0000000..9537d4b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp
@@ -0,0 +1,42 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/controlled_step_result.hpp
+
+ [begin_description]
+ Defines the result type for all controlled stepper.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_STEP_RESULT_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_STEP_RESULT_HPP_INCLUDED
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+/**
+ * \enum controlled_step_result
+ *
+ * \brief Enum representing the return values of the controlled steppers.
+ */
+typedef enum
+{
+    success , /**< The trial step was successful, hence the state and the time have been advanced. */
+    fail      /**< The step was not successful and might possibly be repeated with a small step size. */
+} controlled_step_result;
+
+} // namespace odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_STEP_RESULT_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp
new file mode 100755
index 0000000..04e714b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp
@@ -0,0 +1,461 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp
+
+ [begin_description]
+ Implementation of the Dense-output stepper for all steppers. Note, that this class does
+ not computes the result but serves as an interface.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DENSE_OUTPUT_RUNGE_KUTTA_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_DENSE_OUTPUT_RUNGE_KUTTA_HPP_INCLUDED
+
+
+#include <utility>
+#include <stdexcept>
+
+#include <boost/numeric/odeint/util/bind.hpp>
+
+#include <boost/numeric/odeint/util/copy.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+#include <boost/numeric/odeint/stepper/controlled_step_result.hpp>
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template< class Stepper , class StepperCategory = typename Stepper::stepper_category >
+class dense_output_runge_kutta;
+
+
+/**
+ * \brief The class representing dense-output Runge-Kutta steppers.
+ * \note In this stepper, the initialize method has to be called before using
+ * the do_step method.
+ *
+ * The dense-output functionality allows to interpolate the solution between
+ * subsequent integration points using intermediate results obtained during the
+ * computation. This version works based on a normal stepper without step-size
+ * control. 
+ * 
+ *
+ * \tparam Stepper The stepper type of the underlying algorithm.
+ */
+template< class Stepper >
+class dense_output_runge_kutta< Stepper , stepper_tag >
+{
+
+public:
+
+    /*
+     * We do not need all typedefs.
+     */
+    typedef Stepper stepper_type;
+    typedef typename stepper_type::state_type state_type;
+    typedef typename stepper_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef typename stepper_type::deriv_type deriv_type;
+    typedef typename stepper_type::wrapped_deriv_type wrapped_deriv_type;
+    typedef typename stepper_type::time_type time_type;
+    typedef typename stepper_type::algebra_type algebra_type;
+    typedef typename stepper_type::operations_type operations_type;
+    typedef typename stepper_type::resizer_type resizer_type;
+    typedef dense_output_stepper_tag stepper_category;
+    typedef dense_output_runge_kutta< Stepper > dense_output_stepper_type;
+
+
+    /**
+     * \brief Constructs the dense_output_runge_kutta class. An instance of the
+     * underlying stepper can be provided.
+     * \param stepper An instance of the underlying stepper.
+     */
+    dense_output_runge_kutta( const stepper_type &stepper = stepper_type() )
+    : m_stepper( stepper ) , m_resizer() ,
+      m_x1() , m_x2() , m_current_state_x1( true ) , 
+      m_t() , m_t_old() , m_dt()
+    { } 
+
+
+    /**
+     * \brief Initializes the stepper. Has to be called before do_step can be 
+     * used to set the initial conditions and the step size.
+     * \param x0 The initial state of the ODE which should be solved.
+     * \param t0 The initial time, at which the step should be performed.
+     * \param dt0 The step size.
+     */
+    template< class StateType >
+    void initialize( const StateType &x0 , time_type t0 , time_type dt0 )
+    {
+        m_resizer.adjust_size( x0 , detail::bind( &dense_output_stepper_type::template resize_impl< StateType > , detail::ref( *this ) , detail::_1 ) );
+        boost::numeric::odeint::copy( x0 , get_current_state() );
+        m_t = t0;
+        m_dt = dt0;
+    }
+
+    /**
+     * \brief Does one time step.
+     * \note initialize has to be called before using this method to set the
+     * initial conditions x,t and the stepsize.
+     * \param system The system function to solve, hence the r.h.s. of the ordinary differential equation. It must fulfill the
+     *               Simple System concept.
+     * \return Pair with start and end time of the integration step.
+     */
+    template< class System >
+    std::pair< time_type , time_type > do_step( System system )
+    {
+        m_stepper.do_step( system , get_current_state() , m_t , get_old_state() , m_dt );
+        m_t_old = m_t;
+        m_t += m_dt;
+        toggle_current_state();
+        return std::make_pair( m_t_old , m_dt );
+    }
+
+    /*
+     * The next two overloads are needed to solve the forwarding problem
+     */
+    
+    /**
+     * \brief Calculates the solution at an intermediate point.
+     * \param t The time at which the solution should be calculated, has to be
+     * in the current time interval.
+     * \param x The output variable where the result is written into.
+     */
+    template< class StateOut >
+    void calc_state( time_type t , StateOut &x ) const
+    {
+        m_stepper.calc_state( x , t , get_old_state() , m_t_old , get_current_state() , m_t );
+    }
+
+    /**
+     * \brief Calculates the solution at an intermediate point. Solves the forwarding problem
+     * \param t The time at which the solution should be calculated, has to be
+     * in the current time interval.
+     * \param x The output variable where the result is written into, can be a boost range.
+     */
+    template< class StateOut >
+    void calc_state( time_type t , const StateOut &x ) const
+    {
+        m_stepper.calc_state( x , t , get_old_state() , m_t_old , get_current_state() , m_t );
+    }
+
+    /**
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        resize_impl( x );
+        m_stepper.stepper().resize( x );
+    }
+
+    /**
+     * \brief Returns the current state of the solution.
+     * \return The current state of the solution x(t).
+     */
+    const state_type& current_state( void ) const
+    {
+        return get_current_state();
+    }
+
+    /**
+     * \brief Returns the current time of the solution.
+     * \return The current time of the solution t.
+     */
+    time_type current_time( void ) const
+    {
+        return m_t;
+    }
+
+    /**
+     * \brief Returns the last state of the solution.
+     * \return The last state of the solution x(t-dt).
+     */
+    const state_type& previous_state( void ) const
+    {
+        return get_old_state();
+    }
+
+    /**
+     * \brief Returns the last time of the solution.
+     * \return The last time of the solution t-dt.
+     */
+    time_type previous_time( void ) const
+    {
+        return m_t_old;
+    }
+
+
+private:
+
+    state_type& get_current_state( void )
+    {
+        return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ;
+    }
+    
+    const state_type& get_current_state( void ) const
+    {
+        return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ;
+    }
+    
+    state_type& get_old_state( void )
+    {
+        return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ;
+    }
+    
+    const state_type& get_old_state( void ) const
+    {
+        return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ;
+    }
+    
+    void toggle_current_state( void )
+    {
+        m_current_state_x1 = ! m_current_state_x1;
+    }
+
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized = false;
+        resized |= adjust_size_by_resizeability( m_x1 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_x2 , x , typename is_resizeable<state_type>::type() );
+        return resized;
+    }
+
+
+    stepper_type m_stepper;
+    resizer_type m_resizer;
+    wrapped_state_type m_x1 , m_x2;
+    bool m_current_state_x1;    // if true, the current state is m_x1
+    time_type m_t , m_t_old , m_dt;
+
+};
+
+
+
+
+
+/**
+ * \brief The class representing dense-output Runge-Kutta steppers with FSAL property.
+ *
+ * The interface is the same as for dense_output_runge_kutta< Stepper , stepper_tag >.
+ * This class provides dense output functionality based on methods with step size controlled 
+ * 
+ *
+ * \tparam Stepper The stepper type of the underlying algorithm.
+ */
+template< class Stepper >
+class dense_output_runge_kutta< Stepper , explicit_controlled_stepper_fsal_tag >
+{
+public:
+
+    /*
+     * We do not need all typedefs.
+     */
+    typedef Stepper controlled_stepper_type;
+
+    typedef typename controlled_stepper_type::stepper_type stepper_type;
+    typedef typename stepper_type::state_type state_type;
+    typedef typename stepper_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef typename stepper_type::deriv_type deriv_type;
+    typedef typename stepper_type::wrapped_deriv_type wrapped_deriv_type;
+    typedef typename stepper_type::time_type time_type;
+    typedef typename stepper_type::algebra_type algebra_type;
+    typedef typename stepper_type::operations_type operations_type;
+    typedef typename stepper_type::resizer_type resizer_type;
+    typedef dense_output_stepper_tag stepper_category;
+    typedef dense_output_runge_kutta< Stepper > dense_output_stepper_type;
+
+
+    dense_output_runge_kutta( const controlled_stepper_type &stepper = controlled_stepper_type() )
+    : m_stepper( stepper ) , m_resizer() ,
+      m_current_state_x1( true ) ,
+      m_x1() , m_x2() , m_dxdt1() , m_dxdt2() ,
+      m_t() , m_t_old() , m_dt() ,
+      m_is_deriv_initialized( false )
+    { }
+
+
+    template< class StateType >
+    void initialize( const StateType &x0 , time_type t0 , time_type dt0 )
+    {
+        m_resizer.adjust_size( x0 , detail::bind( &dense_output_stepper_type::template resize< StateType > , detail::ref( *this ) , detail::_1 ) );
+        boost::numeric::odeint::copy( x0 , get_current_state() );
+        m_t = t0;
+        m_dt = dt0;
+        m_is_deriv_initialized = false;
+    }
+
+    template< class System >
+    std::pair< time_type , time_type > do_step( System system )
+    {
+        const size_t max_count = 1000;
+
+        if( !m_is_deriv_initialized )
+        {
+            typename odeint::unwrap_reference< System >::type &sys = system;
+            sys( get_current_state() , get_current_deriv() , m_t );
+            m_is_deriv_initialized = true;
+        }
+
+        controlled_step_result res = fail;
+        m_t_old = m_t;
+        size_t count = 0;
+        do
+        {
+            res = m_stepper.try_step( system , get_current_state() , get_current_deriv() , m_t ,
+                                      get_old_state() , get_old_deriv() , m_dt );
+            if( count++ == max_count )
+                throw std::overflow_error( "dense_output_controlled_explicit : too much iterations!");
+        }
+        while( res == fail );
+        toggle_current_state();
+        return std::make_pair( m_t_old , m_t );
+    }
+
+
+    /*
+     * The two overloads are needed in order to solve the forwarding problem.
+     */
+    template< class StateOut >
+    void calc_state( time_type t , StateOut &x ) const
+    {
+        m_stepper.stepper().calc_state( t , x , get_old_state() , get_old_deriv() , m_t_old ,
+                                        get_current_state() , get_current_deriv() , m_t );
+    }
+
+    template< class StateOut >
+    void calc_state( time_type t , const StateOut &x ) const
+    {
+        m_stepper.stepper().calc_state( t , x , get_old_state() , get_old_deriv() , m_t_old ,
+                                        get_current_state() , get_current_deriv() , m_t );
+    }
+
+
+    template< class StateIn >
+    bool resize( const StateIn &x )
+    {
+        bool resized = false;
+        resized |= adjust_size_by_resizeability( m_x1 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_x2 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_dxdt1 , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_dxdt2 , x , typename is_resizeable<deriv_type>::type() );
+        return resized;
+    }
+
+
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        resize( x );
+        m_stepper.stepper().resize( x );
+    }
+
+    const state_type& current_state( void ) const
+    {
+        return get_current_state();
+    }
+
+    time_type current_time( void ) const
+    {
+        return m_t;
+    }
+
+    const state_type& previous_state( void ) const
+    {
+        return get_old_state();
+    }
+
+    time_type previous_time( void ) const
+    {
+        return m_t_old;
+    }
+
+    time_type current_time_step( void ) const
+    {
+        return m_dt;
+    }
+
+
+private:
+
+    state_type& get_current_state( void )
+    {
+        return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ;
+    }
+    
+    const state_type& get_current_state( void ) const
+    {
+        return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ;
+    }
+    
+    state_type& get_old_state( void )
+    {
+        return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ;
+    }
+    
+    const state_type& get_old_state( void ) const
+    {
+        return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ;
+    }
+
+    deriv_type& get_current_deriv( void )
+    {
+        return m_current_state_x1 ? m_dxdt1.m_v : m_dxdt2.m_v ;
+    }
+    
+    const deriv_type& get_current_deriv( void ) const
+    {
+        return m_current_state_x1 ? m_dxdt1.m_v : m_dxdt2.m_v ;
+    }
+    
+    deriv_type& get_old_deriv( void )
+    {
+        return m_current_state_x1 ? m_dxdt2.m_v : m_dxdt1.m_v ;
+    }
+    
+    const deriv_type& get_old_deriv( void ) const
+    {
+        return m_current_state_x1 ? m_dxdt2.m_v : m_dxdt1.m_v ;
+    }
+
+    
+    void toggle_current_state( void )
+    {
+        m_current_state_x1 = ! m_current_state_x1;
+    }
+
+
+    controlled_stepper_type m_stepper;
+    resizer_type m_resizer;
+    bool m_current_state_x1;
+    wrapped_state_type m_x1 , m_x2;
+    wrapped_deriv_type m_dxdt1 , m_dxdt2;
+    time_type m_t , m_t_old , m_dt;
+    bool m_is_deriv_initialized;
+
+};
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_DENSE_OUTPUT_RUNGE_KUTTA_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp
new file mode 100755
index 0000000..f8bcbb5
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp
@@ -0,0 +1,151 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp
+
+ [begin_description]
+ Algebra caller for the Adams Bashforth stepper.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_BASHFORTH_CALL_ALGEBRA_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_BASHFORTH_CALL_ALGEBRA_HPP_INCLUDED
+
+#include <boost/assert.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+template< size_t Step , class Algebra , class Operations >
+struct adams_bashforth_call_algebra;
+
+template< class Algebra , class Operations >
+struct adams_bashforth_call_algebra< 1 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        typedef typename Coefficients::value_type value_type;
+        algebra.for_each3( out , in , steps[0].m_v , typename Operations::template scale_sum2< value_type , Time >( 1.0 , dt * coef[0] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_bashforth_call_algebra< 2 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        typedef typename Coefficients::value_type value_type;
+        algebra.for_each4( out , in , steps[0].m_v , steps[1].m_v ,
+                typename Operations::template scale_sum3< value_type , Time , Time >( 1.0 , dt * coef[0] , dt * coef[1] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_bashforth_call_algebra< 3 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        typedef typename Coefficients::value_type value_type;
+        algebra.for_each5( out , in , steps[0].m_v , steps[1].m_v , steps[2].m_v ,
+                typename Operations::template scale_sum4< value_type , Time , Time , Time >( 1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_bashforth_call_algebra< 4 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        typedef typename Coefficients::value_type value_type;
+        algebra.for_each6( out , in , steps[0].m_v , steps[1].m_v , steps[2].m_v , steps[3].m_v ,
+                typename Operations::template scale_sum5< value_type , Time , Time , Time >(
+                        1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_bashforth_call_algebra< 5 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        typedef typename Coefficients::value_type value_type;
+        algebra.for_each7( out , in , steps[0].m_v , steps[1].m_v , steps[2].m_v , steps[3].m_v , steps[4].m_v ,
+                typename Operations::template scale_sum6< value_type , Time , Time , Time , Time >(
+                        1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] , dt * coef[4] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_bashforth_call_algebra< 6 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        typedef typename Coefficients::value_type value_type;
+        algebra.for_each8( out , in , steps[0].m_v , steps[1].m_v , steps[2].m_v , steps[3].m_v , steps[4].m_v , steps[5].m_v ,
+                typename Operations::template scale_sum7< value_type , Time , Time , Time , Time , Time >(
+                        1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] , dt * coef[4] , dt * coef[5] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_bashforth_call_algebra< 7 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        BOOST_ASSERT( false ); // not implemented
+        // typedef typename Coefficients::value_type value_type;
+        // Algebra::for_each9( out , in , steps[0] , steps[1] , steps[2] , steps[3] , steps[4] , steps[5] , steps[6]
+        //                     typename Operations::template scale_sum8< value_type , Time , Time , Time , Time , Time , Time >(
+        //                         1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] , dt * coef[4] , dt * coef[5] , dt * coef[6] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_bashforth_call_algebra< 8 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        BOOST_ASSERT( false ); // not implemented
+        // typedef typename Coefficients::value_type value_type;
+        // Algebra::for_each10( out , in , steps[0] , steps[1] , steps[2] , steps[3] , steps[4] , steps[5] , steps[6] , steps[7] ,
+        //                      typename Operations::template scale_sum9< value_type , Time , Time , Time , Time , Time , Time , Time >(
+        //                          1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] , dt * coef[4] , dt * coef[5] , dt * coef[6] , dt * coef[7] ) );
+    }
+};
+
+
+
+
+} // detail
+} // odeint
+} // numeric
+} // boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_BASHFORTH_CALL_ALGEBRA_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp
new file mode 100755
index 0000000..fa38d1d
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp
@@ -0,0 +1,168 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp
+
+ [begin_description]
+ Definition of the coefficients for the Adams-Bashforth method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_BASHFORTH_COEFFICIENTS_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_BASHFORTH_COEFFICIENTS_HPP_INCLUDED
+
+#include <boost/array.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+template< class Value , size_t Steps >
+class adams_bashforth_coefficients ;
+
+template< class Value >
+class adams_bashforth_coefficients< Value , 1 > : public boost::array< Value , 1 >
+{
+public:
+    adams_bashforth_coefficients( void )
+    : boost::array< Value , 1 >()
+      {
+        (*this)[0] = static_cast< Value >( 1 );
+      }
+};
+
+
+template< class Value >
+class adams_bashforth_coefficients< Value , 2 > : public boost::array< Value , 2 >
+{
+public:
+    adams_bashforth_coefficients( void )
+    : boost::array< Value , 2 >()
+      {
+        (*this)[0] = static_cast< Value >( 3 ) / static_cast< Value >( 2 );
+        (*this)[1] = -static_cast< Value >( 1 ) / static_cast< Value >( 2 );
+      }
+};
+
+
+template< class Value >
+class adams_bashforth_coefficients< Value , 3 > : public boost::array< Value , 3 >
+{
+public:
+    adams_bashforth_coefficients( void )
+    : boost::array< Value , 3 >()
+      {
+        (*this)[0] = static_cast< Value >( 23 ) / static_cast< Value >( 12 );
+        (*this)[1] = -static_cast< Value >( 4 ) / static_cast< Value >( 3 );
+        (*this)[2] = static_cast< Value >( 5 ) / static_cast< Value >( 12 );
+      }
+};
+
+
+template< class Value >
+class adams_bashforth_coefficients< Value , 4 > : public boost::array< Value , 4 >
+{
+public:
+    adams_bashforth_coefficients( void )
+    : boost::array< Value , 4 >()
+      {
+        (*this)[0] = static_cast< Value >( 55 ) / static_cast< Value >( 24 );
+        (*this)[1] = -static_cast< Value >( 59 ) / static_cast< Value >( 24 );
+        (*this)[2] = static_cast< Value >( 37 ) / static_cast< Value >( 24 );
+        (*this)[3] = -static_cast< Value >( 3 ) / static_cast< Value >( 8 );
+      }
+};
+
+
+template< class Value >
+class adams_bashforth_coefficients< Value , 5 > : public boost::array< Value , 5 >
+{
+public:
+    adams_bashforth_coefficients( void )
+    : boost::array< Value , 5 >()
+      {
+        (*this)[0] = static_cast< Value >( 1901 ) / static_cast< Value >( 720 );
+        (*this)[1] = -static_cast< Value >( 1387 ) / static_cast< Value >( 360 );
+        (*this)[2] = static_cast< Value >( 109 ) / static_cast< Value >( 30 );
+        (*this)[3] = -static_cast< Value >( 637 ) / static_cast< Value >( 360 );
+        (*this)[4] = static_cast< Value >( 251 ) / static_cast< Value >( 720 );
+      }
+};
+
+
+template< class Value >
+class adams_bashforth_coefficients< Value , 6 > : public boost::array< Value , 6 >
+{
+public:
+    adams_bashforth_coefficients( void )
+    : boost::array< Value , 6 >()
+      {
+        (*this)[0] = static_cast< Value >( 4277 ) / static_cast< Value >( 1440 );
+        (*this)[1] = -static_cast< Value >( 2641 ) / static_cast< Value >( 480 );
+        (*this)[2] = static_cast< Value >( 4991 ) / static_cast< Value >( 720 );
+        (*this)[3] = -static_cast< Value >( 3649 ) / static_cast< Value >( 720 );
+        (*this)[4] = static_cast< Value >( 959 ) / static_cast< Value >( 480 );
+        (*this)[5] = -static_cast< Value >( 95 ) / static_cast< Value >( 288 );
+      }
+};
+
+
+template< class Value >
+class adams_bashforth_coefficients< Value , 7 > : public boost::array< Value , 7 >
+{
+public:
+    adams_bashforth_coefficients( void )
+    : boost::array< Value , 7 >()
+      {
+        (*this)[0] = static_cast< Value >( 198721 ) / static_cast< Value >( 60480 );
+        (*this)[1] = -static_cast< Value >( 18637 ) / static_cast< Value >( 2520 );
+        (*this)[2] = static_cast< Value >( 235183 ) / static_cast< Value >( 20160 );
+        (*this)[3] = -static_cast< Value >( 10754 ) / static_cast< Value >( 945 );
+        (*this)[4] = static_cast< Value >( 135713 ) / static_cast< Value >( 20160 );
+        (*this)[5] = -static_cast< Value >( 5603 ) / static_cast< Value >( 2520 );
+        (*this)[6] = static_cast< Value >( 19087 ) / static_cast< Value >( 60480 );
+      }
+};
+
+
+template< class Value >
+class adams_bashforth_coefficients< Value , 8 > : public boost::array< Value , 8 >
+{
+public:
+    adams_bashforth_coefficients( void )
+    : boost::array< Value , 8 >()
+      {
+        (*this)[0] = static_cast< Value >( 16083 ) / static_cast< Value >( 4480 );
+        (*this)[1] = -static_cast< Value >( 1152169 ) / static_cast< Value >( 120960 );
+        (*this)[2] = static_cast< Value >( 242653 ) / static_cast< Value >( 13440 );
+        (*this)[3] = -static_cast< Value >( 296053 ) / static_cast< Value >( 13440 );
+        (*this)[4] = static_cast< Value >( 2102243 ) / static_cast< Value >( 120960 );
+        (*this)[5] = -static_cast< Value >( 115747 ) / static_cast< Value >( 13440 );
+        (*this)[6] = static_cast< Value >( 32863 ) / static_cast< Value >( 13440 );
+        (*this)[7] = -static_cast< Value >( 5257 ) / static_cast< Value >( 17280 );
+      }
+};
+
+
+
+
+
+
+
+} // detail
+} // odeint
+} // numeric
+} // boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_BASHFORTH_COEFFICIENTS_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp
new file mode 100755
index 0000000..fc7cbbc
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp
@@ -0,0 +1,142 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp
+
+ [begin_description]
+ Algebra caller for the Adams Moulton method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_MOULTON_CALL_ALGEBRA_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_MOULTON_CALL_ALGEBRA_HPP_INCLUDED
+
+#include <boost/assert.hpp> 
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+template< size_t Step , class Algebra , class Operations >
+struct adams_moulton_call_algebra;
+
+template< class Algebra , class Operations >
+struct adams_moulton_call_algebra< 1 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        typedef typename Coefficients::value_type value_type;
+        algebra.for_each3( out , in , dxdt , typename Operations::template scale_sum2< value_type , Time >( 1.0 , dt * coef[0] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_moulton_call_algebra< 2 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        typedef typename Coefficients::value_type value_type;
+        algebra.for_each4( out , in , dxdt , steps[0].m_v ,
+                typename Operations::template scale_sum3< value_type , Time , Time >( 1.0 , dt * coef[0] , dt * coef[1] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_moulton_call_algebra< 3 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        typedef typename Coefficients::value_type value_type;
+        algebra.for_each5( out , in , dxdt , steps[0].m_v , steps[1].m_v ,
+                typename Operations::template scale_sum4< value_type , Time , Time >( 1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_moulton_call_algebra< 4 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        typedef typename Coefficients::value_type value_type;
+        algebra.for_each6( out , in , dxdt , steps[0].m_v , steps[1].m_v , steps[2].m_v ,
+                typename Operations::template scale_sum5< value_type , Time , Time , Time >(
+                        1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_moulton_call_algebra< 5 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        typedef typename Coefficients::value_type value_type;
+        algebra.for_each7( out , in , dxdt , steps[0].m_v , steps[1].m_v , steps[2].m_v , steps[3].m_v ,
+                typename Operations::template scale_sum6< value_type , Time , Time , Time , Time >(
+                        1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] , dt * coef[4] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_moulton_call_algebra< 6 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        typedef typename Coefficients::value_type value_type;
+        algebra.for_each8( out , in , dxdt , steps[0].m_v , steps[1].m_v , steps[2].m_v , steps[3].m_v , steps[4].m_v ,
+                typename Operations::template scale_sum7< value_type , Time , Time , Time , Time , Time >(
+                        1.0 , dt * coef[0] , dt * coef[1] , dt * coef[2] , dt * coef[3] , dt * coef[4] , dt * coef[5] ) );
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_moulton_call_algebra< 7 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        BOOST_ASSERT( false ); // not implemented
+    }
+};
+
+
+template< class Algebra , class Operations >
+struct adams_moulton_call_algebra< 8 , Algebra , Operations >
+{
+    template< class StateIn , class StateOut , class DerivIn , class StepStorage , class Coefficients , class Time >
+    void operator()( Algebra &algebra , const StateIn &in , StateOut &out , const DerivIn &dxdt , const StepStorage &steps , const Coefficients &coef , Time dt ) const
+    {
+        BOOST_ASSERT( false ); // not implemented
+    }
+};
+
+
+
+
+} // detail
+} // odeint
+} // numeric
+} // boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_MOULTON_CALL_ALGEBRA_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp
new file mode 100755
index 0000000..0e7ed07
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp
@@ -0,0 +1,168 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp
+
+ [begin_description]
+ Coefficients for the Adams Moulton method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_MOULTON_COEFFICIENTS_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_MOULTON_COEFFICIENTS_HPP_INCLUDED
+
+
+#include <boost/array.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+template< class Value , size_t Steps >
+class adams_moulton_coefficients ;
+
+template< class Value >
+class adams_moulton_coefficients< Value , 1 > : public boost::array< Value , 1 >
+{
+public:
+    adams_moulton_coefficients( void )
+    : boost::array< Value , 1 >()
+      {
+        (*this)[0] = static_cast< Value >( 1 );
+      }
+};
+
+
+template< class Value >
+class adams_moulton_coefficients< Value , 2 > : public boost::array< Value , 2 >
+{
+public:
+    adams_moulton_coefficients( void )
+    : boost::array< Value , 2 >()
+      {
+        (*this)[0] = static_cast< Value >( 1 ) / static_cast< Value >( 2 );
+        (*this)[1] = static_cast< Value >( 1 ) / static_cast< Value >( 2 );
+      }
+};
+
+
+template< class Value >
+class adams_moulton_coefficients< Value , 3 > : public boost::array< Value , 3 >
+{
+public:
+    adams_moulton_coefficients( void )
+    : boost::array< Value , 3 >()
+      {
+        (*this)[0] = static_cast< Value >( 5 ) / static_cast< Value >( 12 );
+        (*this)[1] = static_cast< Value >( 2 ) / static_cast< Value >( 3 );
+        (*this)[2] = -static_cast< Value >( 1 ) / static_cast< Value >( 12 );
+      }
+};
+
+
+template< class Value >
+class adams_moulton_coefficients< Value , 4 > : public boost::array< Value , 4 >
+{
+public:
+    adams_moulton_coefficients( void )
+    : boost::array< Value , 4 >()
+      {
+        (*this)[0] = static_cast< Value >( 3 ) / static_cast< Value >( 8 );
+        (*this)[1] = static_cast< Value >( 19 ) / static_cast< Value >( 24 );
+        (*this)[2] = -static_cast< Value >( 5 ) / static_cast< Value >( 24 );
+        (*this)[3] = static_cast< Value >( 1 ) / static_cast< Value >( 24 );
+      }
+};
+
+
+template< class Value >
+class adams_moulton_coefficients< Value , 5 > : public boost::array< Value , 5 >
+{
+public:
+    adams_moulton_coefficients( void )
+    : boost::array< Value , 5 >()
+      {
+        (*this)[0] = static_cast< Value >( 251 ) / static_cast< Value >( 720 );
+        (*this)[1] = static_cast< Value >( 323 ) / static_cast< Value >( 360 );
+        (*this)[2] = -static_cast< Value >( 11 ) / static_cast< Value >( 30 );
+        (*this)[3] = static_cast< Value >( 53 ) / static_cast< Value >( 360 );
+        (*this)[4] = -static_cast< Value >( 19 ) / static_cast< Value >( 720 );
+      }
+};
+
+
+template< class Value >
+class adams_moulton_coefficients< Value , 6 > : public boost::array< Value , 6 >
+{
+public:
+    adams_moulton_coefficients( void )
+    : boost::array< Value , 6 >()
+      {
+        (*this)[0] = static_cast< Value >( 95 ) / static_cast< Value >( 288 );
+        (*this)[1] = static_cast< Value >( 1427 ) / static_cast< Value >( 1440 );
+        (*this)[2] = -static_cast< Value >( 133 ) / static_cast< Value >( 240 );
+        (*this)[3] = static_cast< Value >( 241 ) / static_cast< Value >( 720 );
+        (*this)[4] = -static_cast< Value >( 173 ) / static_cast< Value >( 1440 );
+        (*this)[5] = static_cast< Value >( 3 ) / static_cast< Value >( 160 );
+      }
+};
+
+template< class Value >
+class adams_moulton_coefficients< Value , 7 > : public boost::array< Value , 7 >
+{
+public:
+    adams_moulton_coefficients( void )
+    : boost::array< Value , 7 >()
+      {
+        (*this)[0] = static_cast< Value >( 19087 ) / static_cast< Value >( 60480 );
+        (*this)[1] = static_cast< Value >( 2713 ) / static_cast< Value >( 2520 );
+        (*this)[2] = -static_cast< Value >( 15487 ) / static_cast< Value >( 20160 );
+        (*this)[3] = static_cast< Value >( 586 ) / static_cast< Value >( 945 );
+        (*this)[4] = -static_cast< Value >( 6737 ) / static_cast< Value >( 20160 );
+        (*this)[5] = static_cast< Value >( 263 ) / static_cast< Value >( 2520 );
+        (*this)[6] = -static_cast< Value >( 863 ) / static_cast< Value >( 60480 );
+      }
+};
+
+
+template< class Value >
+class adams_moulton_coefficients< Value , 8 > : public boost::array< Value , 8 >
+{
+public:
+    adams_moulton_coefficients( void )
+    : boost::array< Value , 8 >()
+      {
+        (*this)[0] = static_cast< Value >( 5257 ) / static_cast< Value >( 17280 );
+        (*this)[1] = static_cast< Value >( 139849 ) / static_cast< Value >( 120960 );
+        (*this)[2] = -static_cast< Value >( 4511 ) / static_cast< Value >( 4480 );
+        (*this)[3] = static_cast< Value >( 123133 ) / static_cast< Value >( 120960 );
+        (*this)[4] = -static_cast< Value >( 88547 ) / static_cast< Value >( 120960 );
+        (*this)[5] = static_cast< Value >( 1537 ) / static_cast< Value >( 4480 );
+        (*this)[6] = -static_cast< Value >( 11351 ) / static_cast< Value >( 120960 );
+        (*this)[7] = static_cast< Value >( 275 ) / static_cast< Value >( 24192 );
+      }
+};
+
+
+
+
+
+
+
+} // detail
+} // odeint
+} // numeric
+} // boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ADAMS_MOULTON_COEFFICIENTS_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp
new file mode 100755
index 0000000..d5a54d4
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp
@@ -0,0 +1,246 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp
+
+ [begin_description]
+ Implementation of the generic Runge-Kutta method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_ALGORITHM_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_ALGORITHM_HPP_INCLUDED
+
+#include <boost/static_assert.hpp>
+
+#include <boost/mpl/vector.hpp>
+#include <boost/mpl/push_back.hpp>
+#include <boost/mpl/for_each.hpp>
+#include <boost/mpl/range_c.hpp>
+#include <boost/mpl/copy.hpp>
+#include <boost/mpl/size_t.hpp>
+
+#include <boost/fusion/algorithm.hpp>
+#include <boost/fusion/iterator.hpp>
+#include <boost/fusion/mpl.hpp>
+#include <boost/fusion/sequence.hpp>
+
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+#include <boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp>
+#include <boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp>
+#include <boost/numeric/odeint/util/bind.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+template< class T , class Constant >
+struct array_wrapper
+{
+    typedef const typename boost::array< T , Constant::value > type;
+};
+
+template< class T , size_t i >
+struct stage
+{
+    T c;
+    boost::array< T , i > a;
+};
+
+
+template< class T , class Constant >
+struct stage_wrapper
+{
+    typedef stage< T , Constant::value > type;
+};
+
+
+template<
+size_t StageCount,
+class Value = double ,
+class Algebra = range_algebra,
+class Operations = default_operations
+>
+class generic_rk_algorithm {
+
+public:
+    typedef mpl::range_c< size_t , 1 , StageCount > stage_indices;
+
+    typedef typename boost::fusion::result_of::as_vector
+            <
+            typename boost::mpl::copy
+            <
+            stage_indices ,
+            boost::mpl::inserter
+            <
+            boost::mpl::vector0< > ,
+            boost::mpl::push_back< boost::mpl::_1 , array_wrapper< Value , boost::mpl::_2 > >
+    >
+    >::type
+    >::type coef_a_type;
+
+    typedef boost::array< Value , StageCount > coef_b_type;
+    typedef boost::array< Value , StageCount > coef_c_type;
+
+    typedef typename boost::fusion::result_of::as_vector
+            <
+            typename boost::mpl::push_back
+            <
+            typename boost::mpl::copy
+            <
+            stage_indices,
+            boost::mpl::inserter
+            <
+            boost::mpl::vector0<> ,
+            boost::mpl::push_back< boost::mpl::_1 , stage_wrapper< Value , boost::mpl::_2 > >
+    >
+    >::type ,
+    stage< Value , StageCount >
+    >::type
+    >::type stage_vector_base;
+
+
+    struct stage_vector : public stage_vector_base
+    {
+        struct do_insertion
+        {
+            stage_vector_base &m_base;
+            const coef_a_type &m_a;
+            const coef_c_type &m_c;
+
+            do_insertion( stage_vector_base &base , const coef_a_type &a , const coef_c_type &c )
+            : m_base( base ) , m_a( a ) , m_c( c ) { }
+
+            template< class Index >
+            void operator()( Index ) const
+            {
+                //boost::fusion::at< Index >( m_base ) = stage< double , Index::value+1 , intermediate_stage >( m_c[ Index::value ] , boost::fusion::at< Index >( m_a ) );
+                boost::fusion::at< Index >( m_base ).c  = m_c[ Index::value ];
+                boost::fusion::at< Index >( m_base ).a = boost::fusion::at< Index >( m_a );
+            }
+        };
+
+        struct print_butcher
+        {
+            const stage_vector_base &m_base;
+            std::ostream &m_os;
+
+            print_butcher( const stage_vector_base &base , std::ostream &os )
+            : m_base( base ) , m_os( os )
+            { }
+
+            template<class Index>
+            void operator()(Index) const {
+                m_os << boost::fusion::at<Index>(m_base).c << " | ";
+                for( size_t i=0 ; i<Index::value ; ++i )
+                    m_os << boost::fusion::at<Index>(m_base).a[i] << " ";
+                m_os << std::endl;
+            }
+        };
+
+
+        stage_vector( const coef_a_type &a , const coef_b_type &b , const coef_c_type &c )
+        {
+            typedef boost::mpl::range_c< size_t , 0 , StageCount-1 > indices;
+            boost::mpl::for_each< indices >( do_insertion( *this , a , c ) );
+            boost::fusion::at_c< StageCount - 1 >( *this ).c = c[ StageCount - 1 ];
+            boost::fusion::at_c< StageCount - 1 >( *this ).a = b;
+        }
+
+        void print( std::ostream &os ) const
+        {
+            typedef boost::mpl::range_c< size_t , 0 , StageCount > indices;
+            boost::mpl::for_each< indices >( print_butcher( *this , os ) );
+        }
+    };
+
+
+
+    template< class System , class StateIn , class StateTemp , class DerivIn , class Deriv ,
+    class StateOut , class Time >
+    struct calculate_stage
+    {
+        Algebra &algebra;
+        System &system;
+        const StateIn &x;
+        StateTemp &x_tmp;
+        StateOut &x_out;
+        const DerivIn &dxdt;
+        Deriv *F;
+        Time t;
+        Time dt;
+
+        calculate_stage( Algebra &_algebra , System &_system , const StateIn &_x , const DerivIn &_dxdt , StateOut &_out ,
+                StateTemp &_x_tmp , Deriv *_F , Time _t , Time _dt )
+        : algebra( _algebra ) , system( _system ) , x( _x ) , x_tmp( _x_tmp ) , x_out( _out) , dxdt( _dxdt ) , F( _F ) , t( _t ) , dt( _dt )
+        {}
+
+
+        template< typename T , size_t stage_number >
+        void inline operator()( stage< T , stage_number > const &stage ) const
+        //typename stage_fusion_wrapper< T , mpl::size_t< stage_number > , intermediate_stage >::type const &stage ) const
+        {
+            if( stage_number > 1 )
+            {
+#ifdef BOOST_MSVC
+#pragma warning( disable : 4307 34 )
+#endif
+                system( x_tmp , F[stage_number-2].m_v , t + stage.c * dt );
+#ifdef BOOST_MSVC
+#pragma warning( default : 4307 34 )
+#endif
+            }
+            //std::cout << stage_number-2 << ", t': " << t + stage.c * dt << std::endl;
+
+            if( stage_number < StageCount )
+                detail::template generic_rk_call_algebra< stage_number , Algebra >()( algebra , x_tmp , x , dxdt , F ,
+                        detail::generic_rk_scale_sum< stage_number , Operations , Value , Time >( stage.a , dt) );
+            //                  algebra_type::template for_eachn<stage_number>( x_tmp , x , dxdt , F ,
+            //                          typename operations_type::template scale_sumn< stage_number , time_type >( stage.a , dt ) );
+            else
+                detail::template generic_rk_call_algebra< stage_number , Algebra >()( algebra , x_out , x , dxdt , F ,
+                        detail::generic_rk_scale_sum< stage_number , Operations , Value , Time >( stage.a , dt ) );
+            //                algebra_type::template for_eachn<stage_number>( x_out , x , dxdt , F ,
+            //                            typename operations_type::template scale_sumn< stage_number , time_type >( stage.a , dt ) );
+        }
+
+    };
+
+    generic_rk_algorithm( const coef_a_type &a , const coef_b_type &b , const coef_c_type &c )
+    : m_stages( a , b , c )
+    { }
+
+    template< class System , class StateIn , class DerivIn , class Time , class StateOut , class StateTemp , class Deriv >
+    void inline do_step( Algebra &algebra , System system , const StateIn &in , const DerivIn &dxdt ,
+            Time t , StateOut &out , Time dt ,
+            StateTemp &x_tmp , Deriv F[StageCount-1] ) const
+    {
+        typedef typename odeint::unwrap_reference< System >::type unwrapped_system_type;
+        unwrapped_system_type &sys = system;
+        boost::fusion::for_each( m_stages , calculate_stage<
+                unwrapped_system_type , StateIn , StateTemp , DerivIn , Deriv , StateOut , Time >
+        ( algebra , sys , in , dxdt , out , x_tmp , F , t , dt ) );
+    }
+
+private:
+    stage_vector m_stages;
+};
+
+
+}
+}
+}
+}
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_ALGORITHM_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp
new file mode 100755
index 0000000..db0ea0c
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp
@@ -0,0 +1,263 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp
+
+ [begin_description]
+ Algebra caller for the generic Runge-Kutta methods.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_CALL_ALGEBRA_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_CALL_ALGEBRA_HPP_INCLUDED
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+template< size_t StageNumber , class Algebra >
+struct generic_rk_call_algebra;
+
+template< class Algebra >
+struct generic_rk_call_algebra< 1 , Algebra >
+{
+    typedef Algebra algebra_type;
+
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( algebra_type &algebra , S1 &s1 , S2 &s2 ,  S3 &s3 , S4 * /* s4_array */ , Op op ) const
+    {
+        algebra.for_each3( s1 , s2 , s3 , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( algebra_type &algebra , S1 &s1 , S2 &s2 , S4 * /* s4_array */ , Op op ) const
+    {
+        algebra.for_each2( s1 , s2 , op );
+    }
+};
+
+template< class Algebra >
+struct generic_rk_call_algebra< 2 , Algebra >
+{
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 ,  S3 &s3 , S4 s4_array[1] , Op op ) const
+    {
+        algebra.for_each4( s1 , s2 , s3 , s4_array[0].m_v , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[1] , Op op ) const
+    {
+        algebra.for_each3( s1 , s2 , s4_array[0].m_v , op );
+    }
+};
+
+
+template< class Algebra >
+struct generic_rk_call_algebra< 3 , Algebra >
+{
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[2] , Op op ) const
+    {
+        algebra.for_each5( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[2] , Op op ) const
+    {
+        algebra.for_each4( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , op );
+    }
+};
+
+
+template< class Algebra >
+struct generic_rk_call_algebra< 4 , Algebra >
+{
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[3] , Op op ) const
+    {
+        algebra.for_each6( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[3] , Op op ) const
+    {
+        algebra.for_each5( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , op );
+    }
+};
+
+
+template< class Algebra >
+struct generic_rk_call_algebra< 5 , Algebra >
+{
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[4] , Op op ) const
+    {
+        algebra.for_each7( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[4] , Op op ) const
+    {
+        algebra.for_each6( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , op );
+    }
+};
+
+template< class Algebra >
+struct generic_rk_call_algebra< 6 , Algebra >
+{
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[5] , Op op ) const
+    {
+        algebra.for_each8( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[5] , Op op ) const
+    {
+        algebra.for_each7( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v , op );
+    }
+};
+
+template< class Algebra >
+struct generic_rk_call_algebra< 7 , Algebra >
+{
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[6] , Op op ) const
+    {
+        algebra.for_each9( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[6] , Op op ) const
+    {
+        algebra.for_each8( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , op );
+    }
+};
+
+template< class Algebra >
+struct generic_rk_call_algebra< 8 , Algebra >
+{
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[7] , Op op ) const
+    {
+        algebra.for_each10( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , s4_array[6].m_v , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[7] , Op op ) const
+    {
+        algebra.for_each9( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , s4_array[6].m_v , op );
+    }
+};
+
+template< class Algebra >
+struct generic_rk_call_algebra< 9 , Algebra >
+{
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[8] , Op op ) const
+    {
+        algebra.for_each11( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[8] , Op op ) const
+    {
+        algebra.for_each10( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , op );
+    }
+};
+
+template< class Algebra >
+struct generic_rk_call_algebra< 10 , Algebra >
+{
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[9] , Op op ) const
+    {
+        algebra.for_each12( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[9] , Op op ) const
+    {
+        algebra.for_each11( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , op );
+    }
+};
+
+
+template< class Algebra >
+struct generic_rk_call_algebra< 11 , Algebra >
+{
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[10] , Op op ) const
+    {
+        algebra.for_each13( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , s4_array[9].m_v , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[10] , Op op ) const
+    {
+        algebra.for_each12( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , s4_array[9].m_v , op );
+    }
+};
+
+template< class Algebra >
+struct generic_rk_call_algebra< 12 , Algebra >
+{
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[11] , Op op ) const
+    {
+        algebra.for_each14( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , s4_array[9].m_v , s4_array[10].m_v , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[11] , Op op ) const
+    {
+        algebra.for_each13( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , s4_array[9].m_v , s4_array[10].m_v , op );
+    }
+};
+
+template< class Algebra >
+struct generic_rk_call_algebra< 13 , Algebra >
+{
+    template< class S1 , class S2 , class S3 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S3 &s3 , S4 s4_array[12] , Op op ) const
+    {
+        algebra.for_each15( s1 , s2 , s3 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , s4_array[9].m_v , s4_array[10].m_v , s4_array[11].m_v , op );
+    }
+
+    template< class S1 , class S2 , class S4 , class Op>
+    void operator()( Algebra &algebra , S1 &s1 , S2 &s2 , S4 s4_array[12] , Op op ) const
+    {
+        algebra.for_each14( s1 , s2 , s4_array[0].m_v , s4_array[1].m_v , s4_array[2].m_v , s4_array[3].m_v , s4_array[4].m_v ,
+                s4_array[5].m_v , s4_array[6].m_v , s4_array[7].m_v , s4_array[8].m_v , s4_array[9].m_v , s4_array[10].m_v , s4_array[11].m_v , op );
+    }
+};
+
+}
+}
+}
+}
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_CALL_ALGEBRA_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp
new file mode 100755
index 0000000..ce68c0d
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp
@@ -0,0 +1,252 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp
+
+ [begin_description]
+ Operations caller for the generic Runge Kutta method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_OPERATIONS_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_OPERATIONS_HPP_INCLUDED
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+template< size_t StageNumber , class Operations , class Fac , class Time >
+struct generic_rk_scale_sum;
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 1 , Operations , Fac , Time > : public Operations::template scale_sum2< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,1> &a , Time dt ) : Operations::template scale_sum2< Fac , Time >( 1.0 , a[0]*dt )
+                { }
+
+    typedef void result_type;
+};
+
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 2 , Operations , Fac , Time > : public Operations::template scale_sum3< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,2> &a , Time dt )
+                    : Operations::template scale_sum3< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 3 , Operations , Fac , Time > : public Operations::template scale_sum4< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,3> &a , Time dt )
+                    : Operations::template scale_sum4< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 4 , Operations , Fac , Time > : public Operations::template scale_sum5< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,4> &a , Time dt )
+                    : Operations::template scale_sum5< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 5 , Operations , Fac , Time > : public Operations::template scale_sum6< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,5> &a , Time dt )
+                    : Operations::template scale_sum6< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 6 , Operations , Fac , Time > : public Operations::template scale_sum7< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,6> &a , Time dt )
+                    : Operations::template scale_sum7< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , a[5]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 7 , Operations , Fac , Time > : public Operations::template scale_sum8< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,7> &a , Time dt )
+                    : Operations::template scale_sum8< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , a[5]*dt , a[6]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 8 , Operations , Fac , Time > : public Operations::template scale_sum9< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,8> &a , Time dt )
+                    : Operations::template scale_sum9< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt ,
+                            a[5]*dt , a[6]*dt , a[7]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 9 , Operations , Fac , Time > : public Operations::template scale_sum10< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,9> &a , Time dt )
+                    : Operations::template scale_sum10< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt ,
+                            a[5]*dt , a[6]*dt , a[7]*dt , a[8]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 10 , Operations , Fac , Time > : public Operations::template scale_sum11< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,10> &a , Time dt )
+                    : Operations::template scale_sum11< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt ,
+                            a[5]*dt , a[6]*dt , a[7]*dt , a[8]*dt , a[9]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 11 , Operations , Fac , Time > : public Operations::template scale_sum12< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,11> &a , Time dt )
+                    : Operations::template scale_sum12< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt ,
+                            a[5]*dt , a[6]*dt , a[7]*dt , a[8]*dt , a[9]*dt , a[10]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 12 , Operations , Fac , Time > : public Operations::template scale_sum13< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,12> &a , Time dt )
+                    : Operations::template scale_sum13< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt ,
+                            a[5]*dt , a[6]*dt , a[7]*dt , a[8]*dt , a[9]*dt , a[10]*dt , a[11]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum< 13 , Operations , Fac , Time > : public Operations::template scale_sum14< Fac , Time >
+{
+    generic_rk_scale_sum( const boost::array<Fac,13> &a , Time dt )
+                    : Operations::template scale_sum14< Fac , Time >( 1.0 , a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt ,
+                            a[5]*dt , a[6]*dt , a[7]*dt , a[8]*dt , a[9]*dt , a[10]*dt , a[11]*dt , a[12]*dt  )
+                      { }
+
+    typedef void result_type;
+};
+
+
+// for error estimates
+template< size_t StageNumber , class Operations , class Fac , class Time >
+struct generic_rk_scale_sum_err;
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum_err< 1 , Operations , Fac , Time > : public Operations::template scale_sum1< Time >
+{
+    generic_rk_scale_sum_err( const boost::array<Fac,1> &a , Time dt ) : Operations::template scale_sum1< Time >( a[0]*dt )
+                { }
+
+    typedef void result_type;
+};
+
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum_err< 2 , Operations , Fac , Time > : public Operations::template scale_sum2< Time >
+{
+    generic_rk_scale_sum_err( const boost::array<Fac,2> &a , Time dt )
+                    : Operations::template scale_sum2< Time >( a[0]*dt , a[1]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum_err< 3 , Operations , Fac , Time > : public Operations::template scale_sum3< Time >
+{
+    generic_rk_scale_sum_err( const boost::array<Fac,3> &a , Time dt )
+                    : Operations::template scale_sum3< Time >( a[0]*dt , a[1]*dt , a[2]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum_err< 4 , Operations , Fac , Time > : public Operations::template scale_sum4< Time >
+{
+    generic_rk_scale_sum_err( const boost::array<Fac,4> &a , Time dt )
+                    : Operations::template scale_sum4< Time >( a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum_err< 5 , Operations , Fac , Time > : public Operations::template scale_sum5< Fac >
+{
+    generic_rk_scale_sum_err( const boost::array<Fac,5> &a , Time dt )
+                    : Operations::template scale_sum5< Time >( a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum_err< 6 , Operations , Fac , Time > : public Operations::template scale_sum6< Time >
+{
+    generic_rk_scale_sum_err( const boost::array<Fac,6> &a , Time dt )
+                    : Operations::template scale_sum6< Time >( a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , a[5]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+
+// for rk87
+template< class Operations , class Fac , class Time >
+struct generic_rk_scale_sum_err< 13 , Operations , Fac , Time > : public Operations::template scale_sum13< Time >
+{
+    generic_rk_scale_sum_err( const boost::array<Fac,13> &a , Time dt )
+                    : Operations::template scale_sum13< Time >( a[0]*dt , a[1]*dt , a[2]*dt , a[3]*dt , a[4]*dt , a[5]*dt ,
+                        a[6]*dt , a[7]*dt , a[8]*dt , a[9]*dt , a[10]*dt , a[11]*dt , a[12]*dt )
+                      { }
+
+    typedef void result_type;
+};
+
+
+}
+}
+}
+}
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_GENERIC_RK_OPERATIONS_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp
new file mode 100755
index 0000000..ba81000
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp
@@ -0,0 +1,84 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/detail/rotating_buffer.hpp
+
+ [begin_description]
+ Implemetation of a rotating (cyclic) buffer for use in the Adam Bashforth stepper
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ROTATING_BUFFER_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ROTATING_BUFFER_HPP_INCLUDED
+
+#include <boost/array.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+template< class T , size_t N >
+class rotating_buffer
+{
+public:
+
+    typedef T value_type;
+    const static size_t dim = N;
+
+    rotating_buffer( void ) : m_first( 0 )
+    { }
+
+    size_t size( void ) const
+    {
+        return dim;
+    }
+
+    value_type& operator[]( size_t i )
+    {
+        return m_data[ get_index( i ) ];
+    }
+
+    const value_type& operator[]( size_t i ) const
+    {
+        return m_data[ get_index( i ) ];
+    }
+
+    void rotate( void )
+    {
+        if( m_first == 0 )
+            m_first = dim-1;
+        else
+            --m_first;
+    }
+
+protected:
+
+    value_type m_data[N];
+
+private:
+
+    size_t get_index( size_t i ) const
+    {
+        return ( ( i + m_first ) % dim );
+    }
+
+    size_t m_first;
+
+};
+
+
+} // detail
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_DETAIL_ROTATING_BUFFER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/euler.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/euler.hpp
new file mode 100755
index 0000000..fd05eba
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/euler.hpp
@@ -0,0 +1,164 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/euler.hpp
+
+ [begin_description]
+ Implementation of the classical explicit Euler stepper. This method is really simple and should only
+ be used for demonstration purposes.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_EULER_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_EULER_HPP_INCLUDED
+
+
+#include <boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template<
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+#ifndef DOXYGEN_SKIP
+class euler
+: public explicit_stepper_base<
+  euler< State , Value , Deriv , Time , Algebra , Operations , Resizer > ,
+  1 , State , Value , Deriv , Time , Algebra , Operations , Resizer >
+#else
+class euler : public explicit_stepper_base
+#endif
+{
+public :
+
+    #ifndef DOXYGEN_SKIP
+    typedef explicit_stepper_base< euler< State , Value , Deriv , Time , Algebra , Operations , Resizer > , 1 , State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_base_type;
+    #else
+    typedef explicit_stepper_base< euler< ... > , ... > stepper_base_type;
+    #endif
+    typedef typename stepper_base_type::state_type state_type;
+    typedef typename stepper_base_type::value_type value_type;
+    typedef typename stepper_base_type::deriv_type deriv_type;
+    typedef typename stepper_base_type::time_type time_type;
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::operations_type operations_type;
+    typedef typename stepper_base_type::resizer_type resizer_type;
+
+    #ifndef DOXYGEN_SKIP
+    typedef typename stepper_base_type::stepper_type stepper_type;
+    typedef typename stepper_base_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type;
+    #endif 
+
+
+    euler( const algebra_type &algebra = algebra_type() ) : stepper_base_type( algebra )
+    { }
+
+    template< class System , class StateIn , class DerivIn , class StateOut >
+    void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+    {
+        stepper_base_type::m_algebra.for_each3( out , in , dxdt ,
+                typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , dt ) );
+
+    }
+
+    template< class StateOut , class StateIn1 , class StateIn2 >
+    void calc_state( StateOut &x , time_type t ,  const StateIn1 &old_state , time_type t_old , const StateIn2 &current_state , time_type t_new ) const
+    {
+        const time_type delta = t - t_old;
+        stepper_base_type::m_algebra.for_each3( x , old_state , stepper_base_type::m_dxdt.m_v ,
+                typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , delta ) );
+    }
+
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        stepper_base_type::adjust_size( x );
+    }
+};
+
+
+
+/********** DOXYGEN ***********/
+
+/**
+ * \class euler
+ * \brief An implementation of the Euler method.
+ *
+ * The Euler method is a very simply solver for ordinary differential equations. This method should not be used
+ * for real applications. It is only useful for demonstration purposes. Step size control is not provided but
+ * trivial continuous output is available.
+ * 
+ * This class derives from explicit_stepper_base and inherits its interface via CRTP (current recurring template pattern),
+ * see explicit_stepper_base
+ *
+ * \tparam State The state type.
+ * \tparam Value The value type.
+ * \tparam Deriv The type representing the time derivative of the state.
+ * \tparam Time The time representing the independent variable - the time.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ */
+
+    /**
+     * \fn euler::euler( const algebra_type &algebra )
+     * \brief Constructs the euler class. This constructor can be used as a default
+     * constructor of the algebra has a default constructor.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+    
+    /**
+     * \fn euler::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+     * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method.
+     * The result is updated out of place, hence the input is in `in` and the output in `out`.
+     * Access to this step functionality is provided by explicit_stepper_base and 
+     * `do_step_impl` should not be called directly.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     */
+
+
+    /**
+     * \fn euler::calc_state( StateOut &x , time_type t ,  const StateIn1 &old_state , time_type t_old , const StateIn2 &current_state , time_type t_new ) const
+     * \brief This method is used for continuous output and it calculates the state `x` at a time `t` from the 
+     * knowledge of two states `old_state` and `current_state` at time points `t_old` and `t_new`.
+     */
+
+    /**
+     * \fn euler::adjust_size( const StateType &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_EULER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp
new file mode 100755
index 0000000..3ca5f2e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp
@@ -0,0 +1,252 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp
+
+ [begin_description]
+ Implementation of the generic Runge Kutta error stepper. Base class for many RK error steppers.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_EXPLICIT_ERROR_GENERIC_RK_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_EXPLICIT_ERROR_GENERIC_RK_HPP_INCLUDED
+
+#include <boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp>
+
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp>
+#include <boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp>
+#include <boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template<
+size_t StageCount,
+size_t Order,
+size_t StepperOrder ,
+size_t ErrorOrder ,
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+#ifndef DOXYGEN_SKIP
+class explicit_error_generic_rk
+: public explicit_error_stepper_base<
+  explicit_error_generic_rk< StageCount , Order , StepperOrder , ErrorOrder , State ,
+  Value , Deriv , Time , Algebra , Operations , Resizer > ,
+  Order , StepperOrder , ErrorOrder , State , Value , Deriv , Time , Algebra ,
+  Operations , Resizer >
+#else
+class explicit_error_generic_rk : public explicit_error_stepper_base
+#endif
+{
+
+public:
+#ifndef DOXYGEN_SKIP
+    typedef explicit_error_stepper_base<
+            explicit_error_generic_rk< StageCount , Order , StepperOrder , ErrorOrder , State ,
+            Value , Deriv , Time , Algebra , Operations , Resizer > ,
+            Order , StepperOrder , ErrorOrder , State , Value , Deriv , Time , Algebra ,
+            Operations , Resizer > stepper_base_type;
+#else
+    typedef explicit_stepper_base< ... > stepper_base_type;
+#endif
+    typedef typename stepper_base_type::state_type state_type;
+    typedef typename stepper_base_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_base_type::value_type value_type;
+    typedef typename stepper_base_type::deriv_type deriv_type;
+    typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type;
+    typedef typename stepper_base_type::time_type time_type;
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::operations_type operations_type;
+    typedef typename stepper_base_type::resizer_type resizer_type;
+#ifndef DOXYGEN_SKIP
+    typedef explicit_error_generic_rk< StageCount , Order , StepperOrder , ErrorOrder , State ,
+            Value , Deriv , Time , Algebra , Operations , Resizer > stepper_type;
+#endif
+    typedef detail::generic_rk_algorithm< StageCount , Value , Algebra , Operations > rk_algorithm_type;
+
+    typedef typename rk_algorithm_type::coef_a_type coef_a_type;
+    typedef typename rk_algorithm_type::coef_b_type coef_b_type;
+    typedef typename rk_algorithm_type::coef_c_type coef_c_type;
+
+    static const size_t stage_count = StageCount;
+
+private:
+
+
+public:
+
+    // we use an explicit_generic_rk to do the normal rk step
+    // and add a separate calculation of the error estimate afterwards
+    explicit_error_generic_rk( const coef_a_type &a ,
+            const coef_b_type &b ,
+            const coef_b_type &b2 ,
+            const coef_c_type &c ,
+            const algebra_type &algebra = algebra_type() )
+    : stepper_base_type( algebra ) , m_rk_algorithm( a , b , c ) , m_b2( b2 )
+    { }
+
+
+    template< class System , class StateIn , class DerivIn , class StateOut , class Err >
+    void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt ,
+            time_type t , StateOut &out , time_type dt , Err &xerr )
+    {
+        // normal step
+        do_step_impl( system , in , dxdt , t , out , dt );
+
+        // additionally, perform the error calculation
+        detail::template generic_rk_call_algebra< StageCount , algebra_type >()( stepper_base_type::m_algebra ,
+                xerr , dxdt , m_F , detail::generic_rk_scale_sum_err< StageCount , operations_type , value_type , time_type >( m_b2 , dt) );
+    }
+
+
+    template< class System , class StateIn , class DerivIn , class StateOut >
+    void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt ,
+            time_type t , StateOut &out , time_type dt )
+    {
+        m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) );
+
+        // actual calculation done in generic_rk.hpp
+        m_rk_algorithm.do_step( stepper_base_type::m_algebra , system , in , dxdt , t , out , dt , m_x_tmp.m_v , m_F );
+    }
+
+
+    template< class StateIn >
+    void adjust_size( const StateIn &x )
+    {
+        resize_impl( x );
+        stepper_base_type::adjust_size( x );
+    }
+
+
+private:
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized( false );
+        resized |= adjust_size_by_resizeability( m_x_tmp , x , typename is_resizeable<state_type>::type() );
+        for( size_t i = 0 ; i < StageCount-1 ; ++i )
+        {
+            resized |= adjust_size_by_resizeability( m_F[i] , x , typename is_resizeable<deriv_type>::type() );
+        }
+        return resized;
+    }
+
+
+    rk_algorithm_type m_rk_algorithm;
+    coef_b_type m_b2;
+
+    resizer_type m_resizer;
+
+    wrapped_state_type m_x_tmp;
+    wrapped_deriv_type m_F[StageCount-1];
+
+};
+
+
+/********* DOXYGEN *********/
+
+/**
+ * \class explicit_error_generic_rk
+ * \brief A generic implementation of explicit Runge-Kutta algorithms with error estimation. This class is as a
+ * base class for all explicit Runge-Kutta steppers with error estimation.
+ *
+ * This class implements the explicit Runge-Kutta algorithms with error estimation in a generic way.
+ * The Butcher tableau is passed to the stepper which constructs the stepper scheme with the help of a
+ * template-metaprogramming algorithm. ToDo : Add example!
+ * 
+ * This class derives explicit_error_stepper_base which provides the stepper interface.
+ *
+ * \tparam StageCount The number of stages of the Runge-Kutta algorithm.
+ * \tparam Order The order of a stepper if the stepper is used without error estimation.
+ * \tparam StepperOrder The order of a step if the stepper is used with error estimation. Usually Order and StepperOrder have 
+ * the same value.
+ * \tparam ErrorOrder The order of the error step if the stepper is used with error estimation.
+ * \tparam State The type representing the state of the ODE.
+ * \tparam Value The floating point type which is used in the computations.
+ * \tparam Time The type representing the independent variable - the time - of the ODE.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ */
+
+
+    /**
+     * \fn explicit_error_generic_rk::explicit_error_generic_rk( const coef_a_type &a , const coef_b_type &b , const coef_b_type &b2 , const coef_c_type &c , const algebra_type &algebra )
+     * \brief Constructs the explicit_error_generik_rk class with the given parameters a, b, b2 and c. See examples section for details on the coefficients.
+     *
+     * \param a Triangular matrix of parameters b in the Butcher tableau.
+     * \param b Last row of the butcher tableau.
+     * \param b2 Parameters for lower-order evaluation to estimate the error.
+     * \param c Parameters to calculate the time points in the Butcher tableau.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+
+
+    /**
+     * \fn explicit_error_generic_rk::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt , Err &xerr )
+     * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method.
+     * The result is updated out-of-place, hence the input is in `in` and the output in `out`. Futhermore, an
+     * estimation of the error is stored in `xerr`. `do_step_impl` is used by explicit_error_stepper_base.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     * \param xerr The result of the error estimation is written in xerr.
+     */
+
+    /**
+     * \fn explicit_error_generic_rk::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+     * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method.
+     * The result is updated out-of-place, hence the input is in `in` and the output in `out`.
+     * Access to this step functionality is provided by explicit_stepper_base and 
+     * `do_step_impl` should not be called directly.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn explicit_error_generic_rk::adjust_size( const StateIn &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+}
+}
+}
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_EXPLICIT_ERROR_GENERIC_RK_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp
new file mode 100755
index 0000000..84484ee
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp
@@ -0,0 +1,243 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/explicit_generic_rk.hpp
+
+ [begin_description]
+ Implementation of the generic Runge-Kutta steppers. This is the base class for many Runge-Kutta steppers.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_EXPLICIT_GENERIC_RK_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_EXPLICIT_GENERIC_RK_HPP_INCLUDED
+
+
+#include <boost/array.hpp>
+
+
+#include <boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+#include <boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+//forward declarations
+
+#ifndef DOXYGEN_SKIP
+template<
+size_t StageCount,
+size_t Order,
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+class explicit_generic_rk;
+
+
+struct stage_vector;
+
+template< class T , class Constant >
+struct array_wrapper
+{
+    typedef const typename boost::array< T , Constant::value > type;
+};
+
+template< class T , size_t i >
+struct stage
+{
+    T c;
+    boost::array< T , i > a;
+};
+
+
+template< class T , class Constant >
+struct stage_wrapper
+{
+    typedef stage< T , Constant::value > type;
+};
+#endif
+
+
+template<
+size_t StageCount,
+size_t Order,
+class State ,
+class Value ,
+class Deriv ,
+class Time ,
+class Algebra ,
+class Operations ,
+class Resizer
+>
+#ifndef DOXYGEN_SKIP
+class explicit_generic_rk : public explicit_stepper_base<
+explicit_generic_rk< StageCount , Order , State , Value , Deriv , Time , Algebra , Operations , Resizer > ,
+Order , State , Value , Deriv , Time , Algebra , Operations , Resizer >
+#else
+class explicit_generic_rk : public explicit_stepper_base
+#endif
+{
+
+public:
+
+    #ifndef DOXYGEN_SKIP
+    typedef explicit_stepper_base<
+            explicit_generic_rk< StageCount , Order , State , Value , Deriv ,Time , Algebra , Operations , Resizer > ,
+            Order , State , Value , Deriv , Time , Algebra ,
+            Operations , Resizer > stepper_base_type;
+    #else
+    typedef explicit_stepper_base< ... > stepper_base_type;
+    #endif
+
+    typedef typename stepper_base_type::state_type state_type;
+    typedef typename stepper_base_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_base_type::value_type value_type;
+    typedef typename stepper_base_type::deriv_type deriv_type;
+    typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type;
+    typedef typename stepper_base_type::time_type time_type;
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::operations_type operations_type;
+    typedef typename stepper_base_type::resizer_type resizer_type;
+
+    #ifndef DOXYGEN_SKIP
+    typedef explicit_generic_rk< StageCount , Order , State , Value , Deriv ,Time , Algebra , Operations , Resizer > stepper_type;
+    #endif 
+
+    typedef detail::generic_rk_algorithm< StageCount , Value , Algebra , Operations > rk_algorithm_type;
+
+    typedef typename rk_algorithm_type::coef_a_type coef_a_type;
+    typedef typename rk_algorithm_type::coef_b_type coef_b_type;
+    typedef typename rk_algorithm_type::coef_c_type coef_c_type;
+
+    #ifndef DOXYGEN_SKIP
+    static const size_t stage_count = StageCount;
+    #endif
+
+public:
+
+    explicit_generic_rk( const coef_a_type &a , const coef_b_type &b , const coef_c_type &c ,
+            const algebra_type &algebra = algebra_type() )
+    : stepper_base_type( algebra ) , m_rk_algorithm( a , b , c )
+    { }
+
+
+    template< class System , class StateIn , class DerivIn , class StateOut >
+    void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt ,
+            time_type t , StateOut &out , time_type dt )
+    {
+        m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) );
+
+        // actual calculation done in generic_rk.hpp
+        m_rk_algorithm.do_step( stepper_base_type::m_algebra , system , in , dxdt , t , out , dt , m_x_tmp.m_v , m_F );
+    }
+
+    template< class StateIn >
+    void adjust_size( const StateIn &x )
+    {
+        resize_impl( x );
+        stepper_base_type::adjust_size( x );
+    }
+
+private:
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized( false );
+        resized |= adjust_size_by_resizeability( m_x_tmp , x , typename is_resizeable<state_type>::type() );
+        for( size_t i = 0 ; i < StageCount-1 ; ++i )
+        {
+            resized |= adjust_size_by_resizeability( m_F[i] , x , typename is_resizeable<deriv_type>::type() );
+        }
+        return resized;
+    }
+
+
+    rk_algorithm_type m_rk_algorithm;
+
+    resizer_type m_resizer;
+
+    wrapped_state_type m_x_tmp;
+    wrapped_deriv_type m_F[StageCount-1];
+
+};
+
+
+
+/*********** DOXYGEN *************/
+
+/**
+ * \class explicit_generic_rk
+ * \brief A generic implementation of explicit Runge-Kutta algorithms. This class is as a base class
+ * for all explicit Runge-Kutta steppers.
+ *
+ * This class implements the explicit Runge-Kutta algorithms without error estimation in a generic way.
+ * The Butcher tableau is passed to the stepper which constructs the stepper scheme with the help of a
+ * template-metaprogramming algorithm. ToDo : Add example!
+ * 
+ * This class derives explicit_stepper_base which provides the stepper interface.
+ *
+ * \tparam StageCount The number of stages of the Runge-Kutta algorithm.
+ * \tparam Order The order of the stepper.
+ * \tparam State The type representing the state of the ODE.
+ * \tparam Value The floating point type which is used in the computations.
+ * \tparam Time The type representing the independent variable - the time - of the ODE.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ */
+
+    /**
+     * \fn explicit_generic_rk::explicit_generic_rk( const coef_a_type &a , const coef_b_type &b , const coef_c_type &c , const algebra_type &algebra )
+     * \brief Constructs the explicit_generic_rk class. See examples section for details on the coefficients.
+     * \param a Triangular matrix of parameters b in the Butcher tableau.
+     * \param b Last row of the butcher tableau.
+     * \param c Parameters to calculate the time points in the Butcher tableau.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+    
+    /**
+     * \fn explicit_generic_rk::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+     * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method.
+     * The result is updated out of place, hence the input is in `in` and the output in `out`.
+     * Access to this step functionality is provided by explicit_stepper_base and 
+     * `do_step_impl` should not be called directly.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     */
+
+
+    /**
+     * \fn explicit_generic_rk::adjust_size( const StateIn &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+}
+}
+}
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_EXPLICIT_GENERIC_RK_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation.hpp
new file mode 100755
index 0000000..cffbd09
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation.hpp
@@ -0,0 +1,36 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/generation.hpp
+
+ [begin_description]
+ Forward header for the factory functions. Includes all files from the generation directory.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_HPP_INCLUDED
+
+#include <boost/numeric/odeint/stepper/generation/make_controlled.hpp>
+#include <boost/numeric/odeint/stepper/generation/make_dense_output.hpp>
+
+#include <boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp>
+
+#include <boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp>
+#include <boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp>
+#include <boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp>
+
+
+#include <boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp>
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp
new file mode 100755
index 0000000..deee41c
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp
@@ -0,0 +1,53 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp
+
+ [begin_description]
+ Specialization of the controller factory for the controlled_runge_kutta class.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_CONTROLLED_RUNGE_KUTTA_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_CONTROLLED_RUNGE_KUTTA_HPP_INCLUDED
+
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/generation/make_controlled.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+// controller factory for controlled_runge_kutta
+template< class Stepper >
+struct controller_factory< Stepper , controlled_runge_kutta< Stepper > >
+{
+    typedef Stepper stepper_type;
+    typedef controlled_runge_kutta< stepper_type > controller_type;
+    typedef typename controller_type::error_checker_type error_checker_type;
+    typedef typename stepper_type::value_type value_type;
+
+    controller_type operator()( value_type abs_error , value_type rel_error , const stepper_type &stepper )
+    {
+        return controller_type( error_checker_type( abs_error , rel_error ) , stepper );
+    }
+};
+
+
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_CONTROLLED_RUNGE_KUTTA_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp
new file mode 100755
index 0000000..42482b4
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp
@@ -0,0 +1,54 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp
+
+ [begin_description]
+ Specialization of the controller factory for the dense_output_runge_kutta class.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_DENSE_OUTPUT_RUNGE_KUTTA_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_DENSE_OUTPUT_RUNGE_KUTTA_HPP_INCLUDED
+
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/generation/make_dense_output.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+// controller factory for controlled_runge_kutta
+template< class Stepper >
+struct dense_output_factory< Stepper , dense_output_runge_kutta< controlled_runge_kutta< Stepper > > >
+{
+    typedef Stepper stepper_type;
+    typedef controlled_runge_kutta< stepper_type > controller_type;
+    typedef typename controller_type::error_checker_type error_checker_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef dense_output_runge_kutta< controller_type > dense_output_type;
+
+    dense_output_type operator()( value_type abs_error , value_type rel_error , const stepper_type &stepper )
+    {
+        return dense_output_type( controller_type( error_checker_type( abs_error , rel_error ) , stepper ) );
+    }
+};
+
+
+
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_DENSE_OUTPUT_RUNGE_KUTTA_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp
new file mode 100755
index 0000000..391695e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp
@@ -0,0 +1,72 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp
+
+ [begin_description]
+ Enable the factory functions for the controller and the dense output of the Rosenbrock4 method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_ROSENBROCK4_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_ROSENBROCK4_HPP_INCLUDED
+
+#include <boost/numeric/odeint/stepper/rosenbrock4.hpp>
+#include <boost/numeric/odeint/stepper/rosenbrock4_controller.hpp>
+#include <boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template< class Value , class Coefficients , class Resize >
+struct get_controller< rosenbrock4< Value , Coefficients , Resize > >
+{
+    typedef rosenbrock4< Value , Coefficients , Resize > stepper_type;
+    typedef rosenbrock4_controller< stepper_type > type;
+};
+
+
+
+template< class Value , class Coefficients , class Resize >
+struct get_dense_output< rosenbrock4< Value , Coefficients , Resize > >
+{
+    typedef rosenbrock4< Value , Coefficients , Resize > stepper_type;
+    typedef rosenbrock4_controller< stepper_type > controller_type;
+    typedef rosenbrock4_dense_output< controller_type > type;
+};
+
+
+
+// controller factory for controlled_runge_kutta
+template< class Stepper >
+struct dense_output_factory< Stepper , rosenbrock4_dense_output< rosenbrock4_controller< Stepper > > >
+{
+    typedef Stepper stepper_type;
+    typedef rosenbrock4_controller< stepper_type > controller_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef rosenbrock4_dense_output< controller_type > dense_output_type;
+
+    dense_output_type operator()( value_type abs_error , value_type rel_error , const stepper_type &stepper )
+    {
+        return dense_output_type( controller_type( abs_error , rel_error , stepper ) );
+    }
+};
+
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_ROSENBROCK4_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp
new file mode 100755
index 0000000..9c31b0b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp
@@ -0,0 +1,47 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp
+
+ [begin_description]
+ Enable the factory functions for the controller and the dense output of the Runge-Kutta-Cash-Karp 54 method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_CASH_KARP54_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_CASH_KARP54_HPP_INCLUDED
+
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp>
+#include <boost/numeric/odeint/stepper/generation/make_controlled.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+// Specializations for runge_kutta_cash_karp54
+template< class State , class Value , class Deriv , class Time , class Algebra , class Operations , class Resize >
+struct get_controller< runge_kutta_cash_karp54< State , Value , Deriv , Time , Algebra , Operations , Resize > >
+{
+    typedef runge_kutta_cash_karp54< State , Value , Deriv , Time , Algebra , Operations , Resize > stepper_type;
+    typedef controlled_runge_kutta< stepper_type > type;
+};
+
+
+
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_CASH_KARP54_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp
new file mode 100755
index 0000000..7ebf8c8
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp
@@ -0,0 +1,48 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp
+
+ [begin_description]
+ Enable the factory functions for the controller and the dense output of the
+ Runge-Kutta-Cash-Karp 54 method with the classical implementation.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_CASH_KARP54_CLASSIC_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_CASH_KARP54_CLASSIC_HPP_INCLUDED
+
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp>
+#include <boost/numeric/odeint/stepper/generation/make_controlled.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+// Specializations for runge_kutta_cash_karp54
+template< class State , class Value , class Deriv , class Time , class Algebra , class Operations , class Resize >
+struct get_controller< runge_kutta_cash_karp54_classic< State , Value , Deriv , Time , Algebra , Operations , Resize > >
+{
+    typedef runge_kutta_cash_karp54_classic< State , Value , Deriv , Time , Algebra , Operations , Resize > stepper_type;
+    typedef controlled_runge_kutta< stepper_type > type;
+};
+
+
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_CASH_KARP54_CLASSIC_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp
new file mode 100755
index 0000000..b6122cd
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp
@@ -0,0 +1,56 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp
+
+ [begin_description]
+ Enable the factory functions for the controller and the dense output of the Runge-Kutta-Dormand-Prince5 method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_DOPRI5_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_DOPRI5_HPP_INCLUDED
+
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/generation/make_controlled.hpp>
+#include <boost/numeric/odeint/stepper/generation/make_dense_output.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template< class State , class Value , class Deriv , class Time , class Algebra , class Operations , class Resize >
+struct get_controller< runge_kutta_dopri5< State , Value , Deriv , Time , Algebra , Operations , Resize > >
+{
+    typedef runge_kutta_dopri5< State , Value , Deriv , Time , Algebra , Operations , Resize > stepper_type;
+    typedef controlled_runge_kutta< stepper_type > type;
+};
+
+
+template< class State , class Value , class Deriv , class Time , class Algebra , class Operations , class Resize >
+struct get_dense_output< runge_kutta_dopri5< State , Value , Deriv , Time , Algebra , Operations , Resize > >
+{
+    typedef runge_kutta_dopri5< State , Value , Deriv , Time , Algebra , Operations , Resize > stepper_type;
+    typedef controlled_runge_kutta< stepper_type > controller_type;
+    typedef dense_output_runge_kutta< controller_type > type;
+};
+
+
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_DOPRI5_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp
new file mode 100755
index 0000000..331c1ed
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp
@@ -0,0 +1,46 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp
+
+ [begin_description]
+ Enable the factory functions for the controller and the dense output of the Runge-Kutta-Fehlberg 78 method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_FEHLBERG78_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_FEHLBERG78_HPP_INCLUDED
+
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp>
+#include <boost/numeric/odeint/stepper/generation/make_controlled.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template< class State , class Value , class Deriv , class Time , class Algebra , class Operations , class Resize >
+struct get_controller< runge_kutta_fehlberg78< State , Value , Deriv , Time , Algebra , Operations , Resize > >
+{
+    typedef runge_kutta_fehlberg78< State , Value , Deriv , Time , Algebra , Operations , Resize > stepper_type;
+    typedef controlled_runge_kutta< stepper_type > type;
+};
+
+
+
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_GENERATION_RUNGE_KUTTA_FEHLBERG78_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp
new file mode 100755
index 0000000..78bb16d
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp
@@ -0,0 +1,81 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/generation/make_controlled.hpp
+
+ [begin_description]
+ Factory function to simplify the creation of controlled steppers from error steppers.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_MAKE_CONTROLLED_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_MAKE_CONTROLLED_HPP_INCLUDED
+
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+
+// default template for the controller
+template< class Stepper > struct get_controller { };
+
+
+
+// default controller factory
+template< class Stepper , class Controller >
+struct controller_factory
+{
+    Controller operator()(
+            typename Stepper::value_type abs_error ,
+            typename Stepper::value_type rel_error ,
+            const Stepper &stepper )
+    {
+        return Controller( abs_error , rel_error , stepper );
+    }
+};
+
+
+
+
+namespace result_of
+{
+    template< class Stepper >
+    struct make_controlled
+    {
+        typedef typename get_controller< Stepper >::type type;
+    };
+}
+
+
+template< class Stepper >
+typename result_of::make_controlled< Stepper >::type make_controlled(
+        typename Stepper::value_type abs_error ,
+        typename Stepper::value_type rel_error ,
+        const Stepper & stepper = Stepper() )
+{
+    typedef Stepper stepper_type;
+    typedef typename result_of::make_controlled< stepper_type >::type controller_type;
+    typedef controller_factory< stepper_type , controller_type > factory_type;
+    factory_type factory;
+    return factory( abs_error , rel_error , stepper );
+}
+
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_MAKE_CONTROLLED_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp
new file mode 100755
index 0000000..63c9170
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp
@@ -0,0 +1,78 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/generation/make_dense_output.hpp
+
+ [begin_description]
+ Factory function to simplify the creation of dense output steppers from error steppers.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_MAKE_DENSE_OUTPUT_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_MAKE_DENSE_OUTPUT_HPP_INCLUDED
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+// default template for the dense output
+template< class Stepper > struct get_dense_output { };
+
+
+
+// default dense output factory
+template< class Stepper , class DenseOutput >
+struct dense_output_factory
+{
+    DenseOutput operator()(
+            typename Stepper::value_type abs_error ,
+            typename Stepper::value_type rel_error ,
+            const Stepper &stepper )
+    {
+        return DenseOutput( abs_error , rel_error , stepper );
+    }
+};
+
+
+
+namespace result_of
+{
+    template< class Stepper >
+    struct make_dense_output
+    {
+        typedef typename get_dense_output< Stepper >::type type;
+    };
+}
+
+
+
+template< class Stepper >
+typename result_of::make_dense_output< Stepper >::type make_dense_output(
+        typename Stepper::value_type abs_error ,
+        typename Stepper::value_type rel_error ,
+        const Stepper &stepper = Stepper() )
+{
+    typedef Stepper stepper_type;
+    typedef typename result_of::make_dense_output< stepper_type >::type dense_output_type;
+    typedef dense_output_factory< stepper_type , dense_output_type > factory_type;
+    factory_type factory;
+    return factory( abs_error , rel_error , stepper );
+}
+
+
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_GENERATION_MAKE_DENSE_OUTPUT_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp
new file mode 100755
index 0000000..848b38d
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp
@@ -0,0 +1,169 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/implicit_euler.hpp
+
+ [begin_description]
+ Impementation of the implicit Euler method. Works with ublas::vector as state type.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_IMPLICIT_EULER_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_IMPLICIT_EULER_HPP_INCLUDED
+
+
+#include <utility>
+
+#include <boost/numeric/odeint/util/bind.hpp>
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+
+#include <boost/numeric/odeint/util/ublas_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+#include <boost/numeric/ublas/vector.hpp>
+#include <boost/numeric/ublas/matrix.hpp>
+#include <boost/numeric/ublas/lu.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+
+
+
+
+
+
+template< class ValueType , class Resizer = initially_resizer >
+class implicit_euler
+{
+
+public:
+
+    typedef ValueType value_type;
+    typedef value_type time_type;
+    typedef boost::numeric::ublas::vector< value_type > state_type;
+    typedef state_wrapper< state_type > wrapped_state_type;
+    typedef state_type deriv_type;
+    typedef state_wrapper< deriv_type > wrapped_deriv_type;
+    typedef boost::numeric::ublas::matrix< value_type > matrix_type;
+    typedef state_wrapper< matrix_type > wrapped_matrix_type;
+    typedef boost::numeric::ublas::permutation_matrix< size_t > pmatrix_type;
+    typedef state_wrapper< pmatrix_type > wrapped_pmatrix_type;
+    typedef Resizer resizer_type;
+    typedef stepper_tag stepper_category;
+    typedef implicit_euler< ValueType , Resizer > stepper_type;
+
+    implicit_euler( value_type epsilon = 1E-6 )
+    : m_epsilon( epsilon ) 
+    { }
+
+
+    template< class System >
+    void do_step( System system , state_type &x , time_type t , time_type dt )
+    {
+        typedef typename odeint::unwrap_reference< System >::type system_type;
+        typedef typename odeint::unwrap_reference< typename system_type::first_type >::type deriv_func_type;
+        typedef typename odeint::unwrap_reference< typename system_type::second_type >::type jacobi_func_type;
+        system_type &sys = system;
+        deriv_func_type &deriv_func = sys.first;
+        jacobi_func_type &jacobi_func = sys.second;
+
+        m_resizer.adjust_size( x , detail::bind( &stepper_type::template resize_impl<state_type> , detail::ref( *this ) , detail::_1 ) );
+
+        for( size_t i=0 ; i<x.size() ; ++i )
+            m_pm.m_v[i] = i;
+
+        t += dt;
+
+        // apply first Newton step
+        deriv_func( x , m_dxdt.m_v , t );
+
+        m_b.m_v = dt * m_dxdt.m_v;
+
+        jacobi_func( x , m_jacobi.m_v  , t );
+        m_jacobi.m_v *= dt;
+        m_jacobi.m_v -= boost::numeric::ublas::identity_matrix< value_type >( x.size() );
+
+        solve( m_b.m_v , m_jacobi.m_v );
+
+        m_x.m_v = x - m_b.m_v;
+
+        // iterate Newton until some precision is reached
+        // ToDo: maybe we should apply only one Newton step -> linear implicit one-step scheme
+        while( boost::numeric::ublas::norm_2( m_b.m_v ) > m_epsilon )
+        {
+            deriv_func( m_x.m_v , m_dxdt.m_v , t );
+            m_b.m_v = x - m_x.m_v + dt*m_dxdt.m_v;
+
+            // simplified version, only the first Jacobian is used
+            //            jacobi( m_x , m_jacobi , t );
+            //            m_jacobi *= dt;
+            //            m_jacobi -= boost::numeric::ublas::identity_matrix< value_type >( x.size() );
+
+            solve( m_b.m_v , m_jacobi.m_v );
+
+            m_x.m_v -= m_b.m_v;
+        }
+        x = m_x.m_v;
+    }
+
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        resize_impl( x );
+    }
+
+
+private:
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized = false;
+        resized |= adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_x , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_b , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_jacobi , x , typename is_resizeable<matrix_type>::type() );
+        resized |= adjust_size_by_resizeability( m_pm , x , typename is_resizeable<pmatrix_type>::type() );
+        return resized;
+    }
+
+
+    void solve( state_type &x , matrix_type &m )
+    {
+        int res = boost::numeric::ublas::lu_factorize( m , m_pm.m_v );
+        if( res != 0 ) exit(0);
+        boost::numeric::ublas::lu_substitute( m , m_pm.m_v , x );
+    }
+
+private:
+
+    value_type m_epsilon;
+    resizer_type m_resizer;
+    wrapped_deriv_type m_dxdt;
+    wrapped_state_type m_x;
+    wrapped_deriv_type m_b;
+    wrapped_matrix_type m_jacobi;
+    wrapped_pmatrix_type m_pm;
+
+
+};
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_IMPLICIT_EULER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp
new file mode 100755
index 0000000..62e0233
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp
@@ -0,0 +1,312 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/modified_midpoint.hpp
+
+ [begin_description]
+ Modified midpoint method for the use in Burlish-Stoer stepper.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_MODIFIED_MIDPOINT_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_MODIFIED_MIDPOINT_HPP_INCLUDED
+
+#include <vector>
+
+#include <boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+#include <boost/numeric/odeint/util/copy.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template<
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+#ifndef DOXYGEN_SKIP
+class modified_midpoint
+: public explicit_stepper_base<
+  modified_midpoint< State , Value , Deriv , Time , Algebra , Operations , Resizer > ,
+  2 , State , Value , Deriv , Time , Algebra , Operations , Resizer >
+#else
+class modified_midpoint : public explicit_stepper_base
+#endif
+{
+
+public :
+
+    typedef explicit_stepper_base<
+    modified_midpoint< State , Value , Deriv , Time , Algebra , Operations , Resizer > ,
+    2 , State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_base_type;
+
+    typedef typename stepper_base_type::state_type state_type;
+    typedef typename stepper_base_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_base_type::value_type value_type;
+    typedef typename stepper_base_type::deriv_type deriv_type;
+    typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type;
+    typedef typename stepper_base_type::time_type time_type;
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::operations_type operations_type;
+    typedef typename stepper_base_type::resizer_type resizer_type;
+    typedef typename stepper_base_type::stepper_type stepper_type;
+
+
+    modified_midpoint( unsigned short steps = 2 , const algebra_type &algebra = algebra_type() )
+    : stepper_base_type( algebra ) , m_steps( steps )
+    { }
+
+    template< class System , class StateIn , class DerivIn , class StateOut >
+    void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+    {
+        static const value_type val1 = static_cast< value_type >( 1 );
+        static const value_type val05 = static_cast< value_type >( 1 ) / static_cast< value_type >( 2 );
+
+        m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) );
+
+        const time_type h = dt /  static_cast<value_type>( m_steps );
+        const time_type h2 = static_cast<value_type>(2) * h;
+
+        typename odeint::unwrap_reference< System >::type &sys = system;
+
+        time_type th = t + h;
+
+        // m_x1 = x + h*dxdt
+        stepper_base_type::m_algebra.for_each3( m_x1.m_v , in , dxdt ,
+                typename operations_type::template scale_sum2< value_type , time_type >( val1 , h ) );
+
+        sys( m_x1.m_v , m_dxdt.m_v , th );
+
+        boost::numeric::odeint::copy( in , m_x0.m_v );
+
+        unsigned short i = 1;
+        while( i != m_steps )
+        {
+            // general step
+            //tmp = m_x1; m_x1 = m_x0 + h2*m_dxdt; m_x0 = tmp
+            stepper_base_type::m_algebra.for_each3( m_x1.m_v , m_x0.m_v , m_dxdt.m_v ,
+                    typename operations_type::template scale_sum_swap2< value_type , time_type >( val1 , h2 ) );
+            th += h;
+            sys( m_x1.m_v , m_dxdt.m_v , th);
+            i++;
+        }
+
+        // last step
+        // x = 0.5*( m_x0 + m_x1 + h*m_dxdt )
+        stepper_base_type::m_algebra.for_each4( out , m_x0.m_v , m_x1.m_v , m_dxdt.m_v ,
+                typename operations_type::template scale_sum3< value_type , value_type , time_type >( val05 , val05 , val05*h ) );
+    }
+
+
+    void set_steps( unsigned short steps )
+    {   m_steps = steps; }
+
+
+    unsigned short steps( void ) const
+    {   return m_steps; }
+
+
+    template< class StateIn >
+    void adjust_size( const StateIn &x )
+    {
+        resize_impl( x );
+        stepper_base_type::adjust_size( x );
+    }
+
+private:
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized( false );
+        resized |= adjust_size_by_resizeability( m_x0 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_x1 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable<deriv_type>::type() );
+        return resized;
+    }
+
+
+    unsigned short m_steps;
+
+    resizer_type m_resizer;
+
+    wrapped_state_type m_x0;
+    wrapped_state_type m_x1;
+    wrapped_deriv_type m_dxdt;
+
+};
+
+
+/* Modified midpoint which stores derivatives and state at dt/2 in some external storage for later usage in dense output calculation
+ * This Stepper is for use in Bulirsch Stoer only. It DOES NOT meet any stepper concept.
+ */
+template<
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+class modified_midpoint_dense_out
+{
+
+public :
+
+    typedef State state_type;
+    typedef Value value_type;
+    typedef Deriv deriv_type;
+    typedef Time time_type;
+    typedef Algebra algebra_type;
+    typedef Operations operations_type;
+    typedef Resizer resizer_type;
+    typedef state_wrapper< state_type > wrapped_state_type;
+    typedef state_wrapper< deriv_type > wrapped_deriv_type;
+
+    typedef modified_midpoint_dense_out< State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_type;
+    typedef std::vector< wrapped_deriv_type > deriv_table_type;
+
+    modified_midpoint_dense_out( unsigned short steps = 2 , const algebra_type &algebra = algebra_type() )
+    : m_algebra( algebra ) , m_steps( steps )
+    { }
+
+    /*
+     * performs a modified midpoint step with m_steps intermediate points
+     * stores approximation for x(t+dt/2) in x_mp and all evaluated function results in derivs
+     *
+     */
+
+    template< class System , class StateIn , class DerivIn , class StateOut >
+    void do_step( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt ,
+            state_type &x_mp , deriv_table_type &derivs )
+    {
+
+        static const value_type val1 = static_cast< value_type >( 1 );
+        static const value_type val05 = static_cast< value_type >( 1 ) / static_cast< value_type >( 2 );
+
+        m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize< StateIn > , detail::ref( *this ) , detail::_1 ) );
+
+        const time_type h = dt / static_cast<value_type>( m_steps );
+        const time_type h2 = static_cast<value_type>( 2 ) * h;
+
+        typename odeint::unwrap_reference< System >::type &sys = system;
+
+        time_type th = t + h;
+
+        // m_x1 = x + h*dxdt
+        m_algebra.for_each3( m_x1.m_v , in , dxdt ,
+                typename operations_type::template scale_sum2< value_type , time_type >( val1 , h ) );
+
+        if( m_steps == 2 )
+            // result of first step already gives approximation at the center of the interval
+            boost::numeric::odeint::copy( m_x1.m_v , x_mp );
+
+        sys( m_x1.m_v , derivs[0].m_v , th );
+
+        boost::numeric::odeint::copy( in , m_x0.m_v );
+
+        unsigned short i = 1;
+        while( i != m_steps )
+        {
+            // general step
+            //tmp = m_x1; m_x1 = m_x0 + h2*m_dxdt; m_x0 = tmp
+            m_algebra.for_each3( m_x1.m_v , m_x0.m_v , derivs[i-1].m_v ,
+                    typename operations_type::template scale_sum_swap2< value_type , time_type >( val1 , h2 ) );
+            if( i == m_steps/2-1 )
+                // save approximation at the center of the interval
+                boost::numeric::odeint::copy( m_x1.m_v , x_mp );
+
+            th += h;
+            sys( m_x1.m_v , derivs[i].m_v , th);
+            i++;
+        }
+
+        // last step
+        // x = 0.5*( m_x0 + m_x1 + h*m_dxdt )
+        m_algebra.for_each4( out , m_x0.m_v , m_x1.m_v , derivs[m_steps-1].m_v ,
+                typename operations_type::template scale_sum3< value_type , value_type , time_type >( val05 , val05 , val05*h ) );
+    }
+
+
+    void set_steps( unsigned short steps )
+    {   m_steps = steps; }
+
+
+    unsigned short steps( void ) const
+    {   return m_steps; }
+
+
+    template< class StateIn >
+    bool resize( const StateIn &x )
+    {
+        bool resized( false );
+        resized |= adjust_size_by_resizeability( m_x0 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_x1 , x , typename is_resizeable<state_type>::type() );
+        return resized;
+    }
+
+    template< class StateIn >
+    void adjust_size( const StateIn &x )
+    {
+        resize( x );
+    }
+
+private:
+
+    algebra_type m_algebra;
+
+    unsigned short m_steps;
+
+    resizer_type m_resizer;
+
+    wrapped_state_type m_x0;
+    wrapped_state_type m_x1;
+
+};
+
+
+
+/********** DOXYGEN ***********/
+
+/**
+ * \class modified_midpoint
+ *
+ * Implementation of the modified midpoint method with a configurable 
+ * number of intermediate steps. This class is used by the Bulirsch-Stoer
+ * algorithm and is not meant for direct usage.
+ */
+
+
+/**
+ * \class modified_midpoint_dense_out
+ *
+ * Implementation of the modified midpoint method with a configurable 
+ * number of intermediate steps. This class is used by the dense output
+ * Bulirsch-Stoer algorithm and is not meant for direct usage.
+ * \note This stepper is for internal use only and does not meet 
+ * any stepper concept.
+ */
+
+
+}
+}
+}
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_MODIFIED_MIDPOINT_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp
new file mode 100755
index 0000000..46d83fb
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp
@@ -0,0 +1,345 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/rosenbrock4.hpp
+
+ [begin_description]
+ Implementation of the Rosenbrock 4 method for solving stiff ODEs. Note, that a
+ controller and a dense-output stepper exist for this method,
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_HPP_INCLUDED
+
+
+#include <boost/numeric/odeint/util/bind.hpp>
+#include <boost/numeric/odeint/util/unwrap_reference.hpp>
+#include <boost/numeric/ublas/vector.hpp>
+#include <boost/numeric/ublas/matrix.hpp>
+#include <boost/numeric/ublas/lu.hpp>
+
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+
+#include <boost/numeric/odeint/util/ublas_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+#include <boost/numeric/ublas/vector.hpp>
+#include <boost/numeric/ublas/matrix.hpp>
+#include <boost/numeric/ublas/lu.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+/*
+ * ToDo:
+ *
+ * 2. Interfacing for odeint, check if controlled_error_stepper can be used
+ * 3. dense output
+ */
+
+
+
+template< class Value >
+struct default_rosenbrock_coefficients
+{
+    typedef Value value_type;
+    typedef unsigned short order_type;
+
+    default_rosenbrock_coefficients( void )
+    : gamma ( static_cast< value_type >( 0.25 ) ) ,
+      d1 ( static_cast< value_type >( 0.25 ) ) ,
+      d2 ( static_cast< value_type >( -0.1043 ) ) ,
+      d3 ( static_cast< value_type >( 0.1035 ) ) ,
+      d4 ( static_cast< value_type >( 0.3620000000000023e-01 ) ) ,
+      c2 ( static_cast< value_type >( 0.386 ) ) ,
+      c3 ( static_cast< value_type >( 0.21 ) ) ,
+      c4 ( static_cast< value_type >( 0.63 ) ) ,
+      c21 ( static_cast< value_type >( -0.5668800000000000e+01 ) ) ,
+      a21 ( static_cast< value_type >( 0.1544000000000000e+01 ) ) ,
+      c31 ( static_cast< value_type >( -0.2430093356833875e+01 ) ) ,
+      c32 ( static_cast< value_type >( -0.2063599157091915e+00 ) ) ,
+      a31 ( static_cast< value_type >( 0.9466785280815826e+00 ) ) ,
+      a32 ( static_cast< value_type >( 0.2557011698983284e+00 ) ) ,
+      c41 ( static_cast< value_type >( -0.1073529058151375e+00 ) ) ,
+      c42 ( static_cast< value_type >( -0.9594562251023355e+01 ) ) ,
+      c43 ( static_cast< value_type >( -0.2047028614809616e+02 ) ) ,
+      a41 ( static_cast< value_type >( 0.3314825187068521e+01 ) ) ,
+      a42 ( static_cast< value_type >( 0.2896124015972201e+01 ) ) ,
+      a43 ( static_cast< value_type >( 0.9986419139977817e+00 ) ) ,
+      c51 ( static_cast< value_type >( 0.7496443313967647e+01 ) ) ,
+      c52 ( static_cast< value_type >( -0.1024680431464352e+02 ) ) ,
+      c53 ( static_cast< value_type >( -0.3399990352819905e+02 ) ) ,
+      c54 ( static_cast< value_type >(  0.1170890893206160e+02 ) ) ,
+      a51 ( static_cast< value_type >( 0.1221224509226641e+01 ) ) ,
+      a52 ( static_cast< value_type >( 0.6019134481288629e+01 ) ) ,
+      a53 ( static_cast< value_type >( 0.1253708332932087e+02 ) ) ,
+      a54 ( static_cast< value_type >( -0.6878860361058950e+00 ) ) ,
+      c61 ( static_cast< value_type >( 0.8083246795921522e+01 ) ) ,
+      c62 ( static_cast< value_type >( -0.7981132988064893e+01 ) ) ,
+      c63 ( static_cast< value_type >( -0.3152159432874371e+02 ) ) ,
+      c64 ( static_cast< value_type >( 0.1631930543123136e+02 ) ) ,
+      c65 ( static_cast< value_type >( -0.6058818238834054e+01 ) ) ,
+      d21 ( static_cast< value_type >( 0.1012623508344586e+02 ) ) ,
+      d22 ( static_cast< value_type >( -0.7487995877610167e+01 ) ) ,
+      d23 ( static_cast< value_type >( -0.3480091861555747e+02 ) ) ,
+      d24 ( static_cast< value_type >( -0.7992771707568823e+01 ) ) ,
+      d25 ( static_cast< value_type >( 0.1025137723295662e+01 ) ) ,
+      d31 ( static_cast< value_type >( -0.6762803392801253e+00 ) ) ,
+      d32 ( static_cast< value_type >( 0.6087714651680015e+01 ) ) ,
+      d33 ( static_cast< value_type >( 0.1643084320892478e+02 ) ) ,
+      d34 ( static_cast< value_type >( 0.2476722511418386e+02 ) ) ,
+      d35 ( static_cast< value_type >( -0.6594389125716872e+01 ) )
+    {}
+
+    const value_type gamma;
+    const value_type d1 , d2 , d3 , d4;
+    const value_type c2 , c3 , c4;
+    const value_type c21 ;
+    const value_type a21;
+    const value_type c31 , c32;
+    const value_type a31 , a32;
+    const value_type c41 , c42 , c43;
+    const value_type a41 , a42 , a43;
+    const value_type c51 , c52 , c53 , c54;
+    const value_type a51 , a52 , a53 , a54;
+    const value_type c61 , c62 , c63 , c64 , c65;
+    const value_type d21 , d22 , d23 , d24 , d25;
+    const value_type d31 , d32 , d33 , d34 , d35;
+
+    static const order_type stepper_order = 4;
+    static const order_type error_order = 3;
+};
+
+
+
+template< class Value , class Coefficients = default_rosenbrock_coefficients< Value > , class Resizer = initially_resizer >
+class rosenbrock4
+{
+private:
+
+public:
+
+    typedef Value value_type;
+    typedef boost::numeric::ublas::vector< value_type > state_type;
+    typedef state_type deriv_type;
+    typedef value_type time_type;
+    typedef boost::numeric::ublas::matrix< value_type > matrix_type;
+    typedef boost::numeric::ublas::permutation_matrix< size_t > pmatrix_type;
+    typedef Resizer resizer_type;
+    typedef Coefficients rosenbrock_coefficients;
+    typedef stepper_tag stepper_category;
+    typedef unsigned short order_type;
+
+    typedef state_wrapper< state_type > wrapped_state_type;
+    typedef state_wrapper< deriv_type > wrapped_deriv_type;
+    typedef state_wrapper< matrix_type > wrapped_matrix_type;
+    typedef state_wrapper< pmatrix_type > wrapped_pmatrix_type;
+
+    typedef rosenbrock4< Value , Coefficients , Resizer > stepper_type;
+
+    const static order_type stepper_order = rosenbrock_coefficients::stepper_order;
+    const static order_type error_order = rosenbrock_coefficients::error_order;
+
+    rosenbrock4( void )
+    : m_resizer() , m_x_err_resizer() ,
+      m_jac() , m_pm() ,
+      m_dfdt() , m_dxdt() , m_dxdtnew() ,
+      m_g1() , m_g2() , m_g3() , m_g4() , m_g5() ,
+      m_cont3() , m_cont4() , m_xtmp() , m_x_err() ,
+      m_coef()
+    { }
+
+
+    order_type order() const { return stepper_order; } 
+
+    template< class System >
+    void do_step( System system , const state_type &x , time_type t , state_type &xout , time_type dt , state_type &xerr )
+    {
+        // get the system and jacobi function
+        typedef typename odeint::unwrap_reference< System >::type system_type;
+        typedef typename odeint::unwrap_reference< typename system_type::first_type >::type deriv_func_type;
+        typedef typename odeint::unwrap_reference< typename system_type::second_type >::type jacobi_func_type;
+        system_type &sys = system;
+        deriv_func_type &deriv_func = sys.first;
+        jacobi_func_type &jacobi_func = sys.second;
+
+        const size_t n = x.size();
+
+        m_resizer.adjust_size( x , detail::bind( &stepper_type::template resize_impl<state_type> , detail::ref( *this ) , detail::_1 ) );
+
+        for( size_t i=0 ; i<n ; ++i )
+            m_pm.m_v( i ) = i;
+
+        deriv_func( x , m_dxdt.m_v , t );
+        jacobi_func( x , m_jac.m_v , t , m_dfdt.m_v );
+
+        m_jac.m_v *= -1.0;
+        m_jac.m_v += 1.0 / m_coef.gamma / dt * boost::numeric::ublas::identity_matrix< value_type >( n );
+        boost::numeric::ublas::lu_factorize( m_jac.m_v , m_pm.m_v );
+
+        for( size_t i=0 ; i<n ; ++i )
+            m_g1.m_v[i] = m_dxdt.m_v[i] + dt * m_coef.d1 * m_dfdt.m_v[i];
+        boost::numeric::ublas::lu_substitute( m_jac.m_v , m_pm.m_v , m_g1.m_v );
+
+
+        for( size_t i=0 ; i<n ; ++i )
+            m_xtmp.m_v[i] = x[i] + m_coef.a21 * m_g1.m_v[i];
+        deriv_func( m_xtmp.m_v , m_dxdtnew.m_v , t + m_coef.c2 * dt );
+        for( size_t i=0 ; i<n ; ++i )
+            m_g2.m_v[i] = m_dxdtnew.m_v[i] + dt * m_coef.d2 * m_dfdt.m_v[i] + m_coef.c21 * m_g1.m_v[i] / dt;
+        boost::numeric::ublas::lu_substitute( m_jac.m_v , m_pm.m_v , m_g2.m_v );
+
+
+        for( size_t i=0 ; i<n ; ++i )
+            m_xtmp.m_v[i] = x[i] + m_coef.a31 * m_g1.m_v[i] + m_coef.a32 * m_g2.m_v[i];
+        deriv_func( m_xtmp.m_v , m_dxdtnew.m_v , t + m_coef.c3 * dt );
+        for( size_t i=0 ; i<n ; ++i )
+            m_g3.m_v[i] = m_dxdtnew.m_v[i] + dt * m_coef.d3 * m_dfdt.m_v[i] + ( m_coef.c31 * m_g1.m_v[i] + m_coef.c32 * m_g2.m_v[i] ) / dt;
+        boost::numeric::ublas::lu_substitute( m_jac.m_v , m_pm.m_v , m_g3.m_v );
+
+
+        for( size_t i=0 ; i<n ; ++i )
+            m_xtmp.m_v[i] = x[i] + m_coef.a41 * m_g1.m_v[i] + m_coef.a42 * m_g2.m_v[i] + m_coef.a43 * m_g3.m_v[i];
+        deriv_func( m_xtmp.m_v , m_dxdtnew.m_v , t + m_coef.c4 * dt );
+        for( size_t i=0 ; i<n ; ++i )
+            m_g4.m_v[i] = m_dxdtnew.m_v[i] + dt * m_coef.d4 * m_dfdt.m_v[i] + ( m_coef.c41 * m_g1.m_v[i] + m_coef.c42 * m_g2.m_v[i] + m_coef.c43 * m_g3.m_v[i] ) / dt;
+        boost::numeric::ublas::lu_substitute( m_jac.m_v , m_pm.m_v , m_g4.m_v );
+
+
+        for( size_t i=0 ; i<n ; ++i )
+            m_xtmp.m_v[i] = x[i] + m_coef.a51 * m_g1.m_v[i] + m_coef.a52 * m_g2.m_v[i] + m_coef.a53 * m_g3.m_v[i] + m_coef.a54 * m_g4.m_v[i];
+        deriv_func( m_xtmp.m_v , m_dxdtnew.m_v , t + dt );
+        for( size_t i=0 ; i<n ; ++i )
+            m_g5.m_v[i] = m_dxdtnew.m_v[i] + ( m_coef.c51 * m_g1.m_v[i] + m_coef.c52 * m_g2.m_v[i] + m_coef.c53 * m_g3.m_v[i] + m_coef.c54 * m_g4.m_v[i] ) / dt;
+        boost::numeric::ublas::lu_substitute( m_jac.m_v , m_pm.m_v , m_g5.m_v );
+
+        for( size_t i=0 ; i<n ; ++i )
+            m_xtmp.m_v[i] += m_g5.m_v[i];
+        deriv_func( m_xtmp.m_v , m_dxdtnew.m_v , t + dt );
+        for( size_t i=0 ; i<n ; ++i )
+            xerr[i] = m_dxdtnew.m_v[i] + ( m_coef.c61 * m_g1.m_v[i] + m_coef.c62 * m_g2.m_v[i] + m_coef.c63 * m_g3.m_v[i] + m_coef.c64 * m_g4.m_v[i] + m_coef.c65 * m_g5.m_v[i] ) / dt;
+        boost::numeric::ublas::lu_substitute( m_jac.m_v , m_pm.m_v , xerr );
+
+        for( size_t i=0 ; i<n ; ++i )
+            xout[i] = m_xtmp.m_v[i] + xerr[i];
+    }
+
+    template< class System >
+    void do_step( System system , state_type &x , time_type t , time_type dt , state_type &xerr )
+    {
+        do_step( system , x , t , x , dt , xerr );
+    }
+
+    /*
+     * do_step without error output - just calls above functions with and neglects the error estimate
+     */
+    template< class System >
+    void do_step( System system , const state_type &x , time_type t , state_type &xout , time_type dt )
+    {
+        m_x_err_resizer.adjust_size( x , detail::bind( &stepper_type::template resize_x_err<state_type> , detail::ref( *this ) , detail::_1 ) );
+        do_step( system , x , t , xout , dt , m_x_err.m_v );
+    }
+
+    template< class System >
+    void do_step( System system , state_type &x , time_type t , time_type dt )
+    {
+        m_x_err_resizer.adjust_size( x , detail::bind( &stepper_type::template resize_x_err<state_type> , detail::ref( *this ) , detail::_1 ) );
+        do_step( system , x , t , dt , m_x_err.m_v );
+    }
+
+    void prepare_dense_output()
+    {
+        const size_t n = m_g1.m_v.size();
+        for( size_t i=0 ; i<n ; ++i )
+        {
+            m_cont3.m_v[i] = m_coef.d21 * m_g1.m_v[i] + m_coef.d22 * m_g2.m_v[i] + m_coef.d23 * m_g3.m_v[i] + m_coef.d24 * m_g4.m_v[i] + m_coef.d25 * m_g5.m_v[i];
+            m_cont4.m_v[i] = m_coef.d31 * m_g1.m_v[i] + m_coef.d32 * m_g2.m_v[i] + m_coef.d33 * m_g3.m_v[i] + m_coef.d34 * m_g4.m_v[i] + m_coef.d35 * m_g5.m_v[i];
+        }
+    }
+
+
+    void calc_state( time_type t , state_type &x ,
+            const state_type &x_old , time_type t_old ,
+            const state_type &x_new , time_type t_new )
+    {
+        const size_t n = m_g1.m_v.size();
+        time_type dt = t_new - t_old;
+        time_type s = ( t - t_old ) / dt;
+        time_type s1 = 1.0 - s;
+        for( size_t i=0 ; i<n ; ++i )
+            x[i] = x_old[i] * s1 + s * ( x_new[i] + s1 * ( m_cont3.m_v[i] + s * m_cont4.m_v[i] ) );
+    }
+
+
+
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        resize_impl( x );
+        resize_x_err( x );
+    }
+
+
+protected:
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized = false;
+        resized |= adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_dfdt , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_dxdtnew , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_xtmp , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_g1 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_g2 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_g3 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_g4 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_g5 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_cont3 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_cont4 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_jac , x , typename is_resizeable<matrix_type>::type() );
+        resized |= adjust_size_by_resizeability( m_pm , x , typename is_resizeable<pmatrix_type>::type() );
+        return resized;
+    }
+
+    template< class StateIn >
+    bool resize_x_err( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_x_err , x , typename is_resizeable<state_type>::type() );
+    }
+
+private:
+
+
+    resizer_type m_resizer;
+    resizer_type m_x_err_resizer;
+
+    wrapped_matrix_type m_jac;
+    wrapped_pmatrix_type m_pm;
+    wrapped_deriv_type m_dfdt , m_dxdt , m_dxdtnew;
+    wrapped_state_type m_g1 , m_g2 , m_g3 , m_g4 , m_g5;
+    wrapped_state_type m_cont3 , m_cont4;
+    wrapped_state_type m_xtmp;
+    wrapped_state_type m_x_err;
+
+    const rosenbrock_coefficients m_coef;
+};
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp
new file mode 100755
index 0000000..1596855
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp
@@ -0,0 +1,208 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/rosenbrock4_controller.hpp
+
+ [begin_description]
+ Controller for the Rosenbrock4 method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_CONTROLLER_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_CONTROLLER_HPP_INCLUDED
+
+#include <boost/config.hpp>
+#include <boost/numeric/odeint/util/bind.hpp>
+
+#include <boost/numeric/odeint/stepper/controlled_step_result.hpp>
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+
+#include <boost/numeric/odeint/util/copy.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+
+#include <boost/numeric/odeint/stepper/rosenbrock4.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template< class Stepper >
+class rosenbrock4_controller
+{
+private:
+
+
+public:
+
+    typedef Stepper stepper_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef typename stepper_type::state_type state_type;
+    typedef typename stepper_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_type::time_type time_type;
+    typedef typename stepper_type::deriv_type deriv_type;
+    typedef typename stepper_type::wrapped_deriv_type wrapped_deriv_type;
+    typedef typename stepper_type::resizer_type resizer_type;
+    typedef controlled_stepper_tag stepper_category;
+
+    typedef rosenbrock4_controller< Stepper > controller_type;
+
+
+    rosenbrock4_controller( value_type atol = 1.0e-6 , value_type rtol = 1.0e-6 , const stepper_type &stepper = stepper_type() )
+    : m_stepper( stepper ) , m_atol( atol ) , m_rtol( rtol ) ,
+      m_first_step( true ) , m_err_old( 0.0 ) , m_dt_old( 0.0 ) ,
+      m_last_rejected( false )
+    { }
+
+
+    value_type error( const state_type &x , const state_type &xold , const state_type &xerr )
+    {
+        BOOST_USING_STD_MAX();
+        using std::abs;
+        
+        const size_t n = x.size();
+        value_type err = 0.0 , sk = 0.0;
+        for( size_t i=0 ; i<n ; ++i )
+        {
+            sk = m_atol + m_rtol * max BOOST_PREVENT_MACRO_SUBSTITUTION ( abs( xold[i] ) , abs( x[i] ) );
+            err += xerr[i] * xerr[i] / sk / sk;
+        }
+        return sqrt( err / value_type( n ) );
+    }
+
+    value_type last_error( void ) const
+    {
+        return m_err_old;
+    }
+
+
+
+
+    template< class System >
+    boost::numeric::odeint::controlled_step_result
+    try_step( System sys , state_type &x , time_type &t , time_type &dt )
+    {
+        m_xnew_resizer.adjust_size( x , detail::bind( &controller_type::template resize_m_xnew< state_type > , detail::ref( *this ) , detail::_1 ) );
+        boost::numeric::odeint::controlled_step_result res = try_step( sys , x , t , m_xnew.m_v , dt );
+        if( res == success )
+        {
+            boost::numeric::odeint::copy( m_xnew.m_v , x );
+        }
+        return res;
+    }
+
+
+    template< class System >
+    boost::numeric::odeint::controlled_step_result
+    try_step( System sys , const state_type &x , time_type &t , state_type &xout , time_type &dt )
+    {
+        BOOST_USING_STD_MIN();
+        BOOST_USING_STD_MAX();
+        using std::pow;
+
+        static const value_type safe = 0.9 , fac1 = 5.0 , fac2 = 1.0 / 6.0;
+
+        m_xerr_resizer.adjust_size( x , detail::bind( &controller_type::template resize_m_xerr< state_type > , detail::ref( *this ) , detail::_1 ) );
+
+        m_stepper.do_step( sys , x , t , xout , dt , m_xerr.m_v );
+        value_type err = error( xout , x , m_xerr.m_v );
+
+        value_type fac = max BOOST_PREVENT_MACRO_SUBSTITUTION ( fac2 , min BOOST_PREVENT_MACRO_SUBSTITUTION ( fac1 , pow( err , 0.25 ) / safe ) );
+        value_type dt_new = dt / fac;
+        if ( err <= 1.0 )
+        {
+            if( m_first_step )
+            {
+                m_first_step = false;
+            }
+            else
+            {
+                value_type fac_pred = ( m_dt_old / dt ) * pow( err * err / m_err_old , 0.25 ) / safe;
+                fac_pred = max BOOST_PREVENT_MACRO_SUBSTITUTION ( fac2 , min BOOST_PREVENT_MACRO_SUBSTITUTION ( fac1 , fac_pred ) );
+                fac = max BOOST_PREVENT_MACRO_SUBSTITUTION ( fac , fac_pred );
+                dt_new = dt / fac;
+            }
+
+            m_dt_old = dt;
+            m_err_old = max BOOST_PREVENT_MACRO_SUBSTITUTION ( 0.01 , err );
+            if( m_last_rejected )
+                dt_new = ( dt >= 0.0 ? min BOOST_PREVENT_MACRO_SUBSTITUTION ( dt_new , dt ) : max BOOST_PREVENT_MACRO_SUBSTITUTION ( dt_new , dt ) );
+            t += dt;
+            dt = dt_new;
+            m_last_rejected = false;
+            return success;
+        }
+        else
+        {
+            dt = dt_new;
+            m_last_rejected = true;
+            return fail;
+        }
+    }
+
+
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        resize_m_xerr( x );
+        resize_m_xnew( x );
+    }
+
+
+
+    stepper_type& stepper( void )
+    {
+        return m_stepper;
+    }
+
+    const stepper_type& stepper( void ) const
+    {
+        return m_stepper;
+    }
+
+
+
+
+private:
+
+    template< class StateIn >
+    bool resize_m_xerr( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_xerr , x , typename is_resizeable<state_type>::type() );
+    }
+
+    template< class StateIn >
+    bool resize_m_xnew( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_xnew , x , typename is_resizeable<state_type>::type() );
+    }
+
+
+    stepper_type m_stepper;
+    resizer_type m_xerr_resizer;
+    resizer_type m_xnew_resizer;
+    wrapped_state_type m_xerr;
+    wrapped_state_type m_xnew;
+    value_type m_atol , m_rtol;
+    bool m_first_step;
+    value_type m_err_old , m_dt_old;
+    bool m_last_rejected;
+};
+
+
+
+
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_CONTROLLER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp
new file mode 100755
index 0000000..3f4cbb2
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp
@@ -0,0 +1,199 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp
+
+ [begin_description]
+ Dense output for Rosenbrock 4.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_DENSE_OUTPUT_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_DENSE_OUTPUT_HPP_INCLUDED
+
+
+#include <utility>
+
+#include <boost/numeric/odeint/util/bind.hpp>
+
+#include <boost/numeric/odeint/stepper/rosenbrock4_controller.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template< class ControlledStepper >
+class rosenbrock4_dense_output
+{
+
+public:
+
+    typedef ControlledStepper controlled_stepper_type;
+    typedef typename controlled_stepper_type::stepper_type stepper_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef typename stepper_type::state_type state_type;
+    typedef typename stepper_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_type::time_type time_type;
+    typedef typename stepper_type::deriv_type deriv_type;
+    typedef typename stepper_type::wrapped_deriv_type wrapped_deriv_type;
+    typedef typename stepper_type::resizer_type resizer_type;
+    typedef dense_output_stepper_tag stepper_category;
+
+    typedef rosenbrock4_dense_output< ControlledStepper > dense_output_stepper_type;
+
+    rosenbrock4_dense_output( const controlled_stepper_type &stepper = controlled_stepper_type() )
+    : m_stepper( stepper ) ,
+      m_x1() , m_x2() , 
+      m_current_state_x1( true ) ,
+      m_t() , m_t_old() , m_dt()
+    {
+    }
+
+
+
+    template< class StateType >
+    void initialize( const StateType &x0 , time_type t0 , time_type dt0 )
+    {
+        m_resizer.adjust_size( x0 , detail::bind( &dense_output_stepper_type::template resize_impl< StateType > , detail::ref( *this ) , detail::_1 ) );
+        get_current_state() = x0;
+        m_t = t0;
+        m_dt = dt0;
+    }
+
+    template< class System >
+    std::pair< time_type , time_type > do_step( System system )
+    {
+        const size_t max_count = 1000;
+
+        controlled_step_result res = fail;
+        m_t_old = m_t;
+        size_t count = 0;
+        do
+        {
+            res = m_stepper.try_step( system , get_current_state() , m_t , get_old_state() , m_dt );
+            if( count++ == max_count )
+                throw std::overflow_error( "rosenbrock4 : too much iterations!");
+        }
+        while( res == fail );
+        m_stepper.stepper().prepare_dense_output();
+        this->toggle_current_state();
+        return std::make_pair( m_t_old , m_t );
+    }
+
+
+    /*
+     * The two overloads are needed in order to solve the forwarding problem.
+     */
+    template< class StateOut >
+    void calc_state( time_type t , StateOut &x )
+    {
+        m_stepper.stepper().calc_state( t , x , get_old_state() , m_t_old , get_current_state() , m_t );
+    }
+
+    template< class StateOut >
+    void calc_state( time_type t , const StateOut &x )
+    {
+        m_stepper.stepper().calc_state( t , x , get_old_state() , m_t_old , get_current_state() , m_t );
+    }
+
+
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        m_stepper.adjust_size( x );
+        resize_impl( x );
+    }
+
+
+
+
+    const state_type& current_state( void ) const
+    {
+        return get_current_state();
+    }
+
+    time_type current_time( void ) const
+    {
+        return m_t;
+    }
+
+    const state_type& previous_state( void ) const
+    {
+        return get_old_state();
+    }
+
+    time_type previous_time( void ) const
+    {
+        return m_t_old;
+    }
+
+    time_type current_time_step( void ) const
+    {
+        return m_dt;
+    }
+
+
+
+
+private:
+
+    state_type& get_current_state( void )
+    {
+        return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ;
+    }
+    
+    const state_type& get_current_state( void ) const
+    {
+        return m_current_state_x1 ? m_x1.m_v : m_x2.m_v ;
+    }
+    
+    state_type& get_old_state( void )
+    {
+        return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ;
+    }
+    
+    const state_type& get_old_state( void ) const
+    {
+        return m_current_state_x1 ? m_x2.m_v : m_x1.m_v ;
+    }
+
+    void toggle_current_state( void )
+    {
+        m_current_state_x1 = ! m_current_state_x1;
+    }
+
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized = false;
+        resized |= adjust_size_by_resizeability( m_x1 , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_x2 , x , typename is_resizeable<state_type>::type() );
+        return resized;
+    }
+
+
+    controlled_stepper_type m_stepper;
+    resizer_type m_resizer;
+    wrapped_state_type m_x1 , m_x2;
+    bool m_current_state_x1;
+    time_type m_t , m_t_old , m_dt;
+};
+
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_ROSENBROCK4_DENSE_OUTPUT_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp
new file mode 100755
index 0000000..ee26051
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp
@@ -0,0 +1,179 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/runge_kutta4.hpp
+
+ [begin_description]
+ Implementation of the classical Runge-Kutta stepper with the generic stepper.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA4_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA4_HPP_INCLUDED
+
+
+
+
+#include <boost/fusion/container/vector.hpp>
+#include <boost/fusion/container/generation/make_vector.hpp>
+
+#include <boost/numeric/odeint/stepper/explicit_generic_rk.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+#ifndef DOXYGEN_SKIP
+template< class Value = double >
+struct rk4_coefficients_a1 : boost::array< Value , 1 >
+{
+    rk4_coefficients_a1( void )
+    {
+        (*this)[0] = static_cast< Value >( 1 ) / static_cast< Value >( 2 );
+    }
+};
+
+template< class Value = double >
+struct rk4_coefficients_a2 : boost::array< Value , 2 >
+{
+    rk4_coefficients_a2( void )
+    {
+        (*this)[0] = static_cast<Value>(0);
+        (*this)[1] = static_cast< Value >( 1 ) / static_cast< Value >( 2 );
+    }
+};
+
+
+template< class Value = double >
+struct rk4_coefficients_a3 : boost::array< Value , 3 >
+{
+    rk4_coefficients_a3( void )
+            {
+        (*this)[0] = static_cast<Value>(0);
+        (*this)[1] = static_cast<Value>(0);
+        (*this)[2] = static_cast<Value>(1);
+            }
+};
+
+template< class Value = double >
+struct rk4_coefficients_b : boost::array< Value , 4 >
+{
+    rk4_coefficients_b( void )
+    {
+        (*this)[0] = static_cast<Value>(1)/static_cast<Value>(6);
+        (*this)[1] = static_cast<Value>(1)/static_cast<Value>(3);
+        (*this)[2] = static_cast<Value>(1)/static_cast<Value>(3);
+        (*this)[3] = static_cast<Value>(1)/static_cast<Value>(6);
+    }
+};
+
+template< class Value = double >
+struct rk4_coefficients_c : boost::array< Value , 4 >
+{
+    rk4_coefficients_c( void )
+    {
+        (*this)[0] = static_cast<Value>(0);
+        (*this)[1] = static_cast< Value >( 1 ) / static_cast< Value >( 2 );
+        (*this)[2] = static_cast< Value >( 1 ) / static_cast< Value >( 2 );
+        (*this)[3] = static_cast<Value>(1);
+    }
+};
+#endif
+
+
+
+template<
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+#ifndef DOXYGEN_SKIP
+class runge_kutta4 : public explicit_generic_rk< 4 , 4 , State , Value , Deriv , Time ,
+Algebra , Operations , Resizer >
+#else
+class runge_kutta4 : public explicit_generic_rk
+#endif
+{
+
+public:
+
+#ifndef DOXYGEN_SKIP
+    typedef explicit_generic_rk< 4 , 4 , State , Value , Deriv , Time ,
+            Algebra , Operations , Resizer > stepper_base_type;
+#endif
+    typedef typename stepper_base_type::state_type state_type;
+    typedef typename stepper_base_type::value_type value_type;
+    typedef typename stepper_base_type::deriv_type deriv_type;
+    typedef typename stepper_base_type::time_type time_type;
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::operations_type operations_type;
+    typedef typename stepper_base_type::resizer_type resizer_type;
+
+    #ifndef DOXYGEN_SKIP
+    typedef typename stepper_base_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type;
+    typedef typename stepper_base_type::stepper_type stepper_type;
+    #endif
+
+    runge_kutta4( const algebra_type &algebra = algebra_type() ) : stepper_base_type(
+            boost::fusion::make_vector( rk4_coefficients_a1<Value>() , rk4_coefficients_a2<Value>() , rk4_coefficients_a3<Value>() ) ,
+            rk4_coefficients_b<Value>() , rk4_coefficients_c<Value>() , algebra )
+    { }
+
+};
+
+/**
+ * \class runge_kutta4
+ * \brief The classical Runge-Kutta stepper of fourth order.
+ *
+ * The Runge-Kutta method of fourth order is one standard method for
+ * solving ordinary differential equations and is widely used, see also
+ * <a href="http://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods">en.wikipedia.org/wiki/Runge-Kutta_methods</a>
+ * The method is  explicit and fulfills the Stepper concept. Step size control
+ * or continuous output are not provided.
+ * 
+ * This class derives from explicit_stepper_base and inherits its interface via CRTP (current recurring template pattern).
+ * Furthermore, it derivs from explicit_generic_rk which is a generic Runge-Kutta algorithm. For more details see
+ * explicit_stepper_base and explicit_generic_rk.
+ *
+ * \tparam State The state type.
+ * \tparam Value The value type.
+ * \tparam Deriv The type representing the time derivative of the state.
+ * \tparam Time The time representing the independent variable - the time.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ */
+
+/**
+ * \fn runge_kutta4::runge_kutta4( const algebra_type &algebra = algebra_type() )
+ * \brief Constructs the runge_kutta4 class. This constructor can be used as a default
+ * constructor if the algebra has a default constructor.
+ * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+ */
+
+}
+}
+}
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA4_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp
new file mode 100755
index 0000000..3b61841
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp
@@ -0,0 +1,220 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/runge_kutta4_classic.hpp
+
+ [begin_description]
+ Implementation for the classical Runge Kutta stepper.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA4_CLASSIC_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA4_CLASSIC_HPP_INCLUDED
+
+
+
+#include <boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template<
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+#ifndef DOXYGEN_SKIP
+class runge_kutta4_classic
+: public explicit_stepper_base<
+  runge_kutta4_classic< State , Value , Deriv , Time , Algebra , Operations , Resizer > ,
+  4 , State , Value , Deriv , Time , Algebra , Operations , Resizer >
+#else
+class runge_kutta4_classic : public explicit_stepper_base
+#endif
+{
+
+public :
+
+    #ifndef DOXYGEN_SKIP
+    typedef explicit_stepper_base<
+    runge_kutta4_classic< State , Value , Deriv , Time , Algebra , Operations , Resizer > ,
+    4 , State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_base_type;
+    #else
+    typedef explicit_stepper_base< runge_kutta4_classic< ... > , ... > stepper_base_type;
+    #endif
+
+    typedef typename stepper_base_type::state_type state_type;
+    typedef typename stepper_base_type::value_type value_type;
+    typedef typename stepper_base_type::deriv_type deriv_type;
+    typedef typename stepper_base_type::time_type time_type;
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::operations_type operations_type;
+    typedef typename stepper_base_type::resizer_type resizer_type;
+
+    #ifndef DOXYGEN_SKIP
+    typedef typename stepper_base_type::stepper_type stepper_type;
+    typedef typename stepper_base_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type;
+    #endif // DOXYGEN_SKIP
+
+
+
+    runge_kutta4_classic( const algebra_type &algebra = algebra_type() ) : stepper_base_type( algebra )
+    { }
+
+
+    template< class System , class StateIn , class DerivIn , class StateOut >
+    void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+    {
+        // ToDo : check if size of in,dxdt,out are equal?
+
+        static const value_type val1 = static_cast< value_type >( 1 );
+
+        m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl< StateIn > , detail::ref( *this ) , detail::_1 ) );
+
+        typename odeint::unwrap_reference< System >::type &sys = system;
+
+        const time_type dh = dt / static_cast< value_type >( 2 );
+        const time_type th = t + dh;
+
+        // dt * dxdt = k1
+        // m_x_tmp = x + dh*dxdt
+        stepper_base_type::m_algebra.for_each3( m_x_tmp.m_v , in , dxdt ,
+                typename operations_type::template scale_sum2< value_type , time_type >( val1 , dh ) );
+
+
+        // dt * m_dxt = k2
+        sys( m_x_tmp.m_v , m_dxt.m_v , th );
+
+        // m_x_tmp = x + dh*m_dxt
+        stepper_base_type::m_algebra.for_each3( m_x_tmp.m_v , in , m_dxt.m_v ,
+                typename operations_type::template scale_sum2< value_type , time_type >( val1 , dh ) );
+
+
+        // dt * m_dxm = k3
+        sys( m_x_tmp.m_v , m_dxm.m_v , th );
+        //m_x_tmp = x + dt*m_dxm
+        stepper_base_type::m_algebra.for_each3( m_x_tmp.m_v , in , m_dxm.m_v ,
+                typename operations_type::template scale_sum2< value_type , time_type >( val1 , dt ) );
+
+
+        // dt * m_dxh = k4
+        sys( m_x_tmp.m_v , m_dxh.m_v , t + dt );
+        //x += dt/6 * ( m_dxdt + m_dxt + val2*m_dxm )
+        time_type dt6 = dt / static_cast< value_type >( 6 );
+        time_type dt3 = dt / static_cast< value_type >( 3 );
+        stepper_base_type::m_algebra.for_each6( out , in , dxdt , m_dxt.m_v , m_dxm.m_v , m_dxh.m_v ,
+                typename operations_type::template scale_sum5< value_type , time_type , time_type , time_type , time_type >( 1.0 , dt6 , dt3 , dt3 , dt6 ) );
+    }
+
+    template< class StateType >
+    void adjust_size( const StateType &x )
+    {
+        resize_impl( x );
+        stepper_base_type::adjust_size( x );
+    }
+
+private:
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized = false;
+        resized |= adjust_size_by_resizeability( m_x_tmp , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_dxm , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_dxt , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_dxh , x , typename is_resizeable<deriv_type>::type() );
+        return resized;
+    }
+
+
+    resizer_type m_resizer;
+
+    wrapped_deriv_type m_dxt;
+    wrapped_deriv_type m_dxm;
+    wrapped_deriv_type m_dxh;
+    wrapped_state_type m_x_tmp;
+
+};
+
+
+/********* DOXYGEN *********/
+
+/**
+ * \class runge_kutta4_classic
+ * \brief The classical Runge-Kutta stepper of fourth order.
+ *
+ * The Runge-Kutta method of fourth order is one standard method for
+ * solving ordinary differential equations and is widely used, see also
+ * <a href="http://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods">en.wikipedia.org/wiki/Runge-Kutta_methods</a>
+ * The method is explicit and fulfills the Stepper concept. Step size control
+ * or continuous output are not provided.  This class implements the method directly, hence the 
+ * generic Runge-Kutta algorithm is not used.
+ * 
+ * This class derives from explicit_stepper_base and inherits its interface via
+ * CRTP (current recurring template pattern). For more details see
+ * explicit_stepper_base.
+ *
+ * \tparam State The state type.
+ * \tparam Value The value type.
+ * \tparam Deriv The type representing the time derivative of the state.
+ * \tparam Time The time representing the independent variable - the time.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ */
+
+    /**
+     * \fn runge_kutta4_classic::runge_kutta4_classic( const algebra_type &algebra )
+     * \brief Constructs the runge_kutta4_classic class. This constructor can be used as a default
+     * constructor if the algebra has a default constructor. 
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+
+
+    /**
+     * \fn runge_kutta4_classic::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+     * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method.
+     * The result is updated out of place, hence the input is in `in` and the output in `out`.
+     * Access to this step functionality is provided by explicit_stepper_base and 
+     * `do_step_impl` should not be called directly.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn runge_kutta4_classic::adjust_size( const StateType &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA4_CLASSIC_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp
new file mode 100755
index 0000000..b6485a8
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp
@@ -0,0 +1,229 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp
+ 
+ [begin_description]
+ Implementation of the Runge Kutta Cash Karp 5(4) method. It uses the generic error stepper.
+ [end_description]
+ 
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+ 
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_CASH_KARP54_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_CASH_KARP54_HPP_INCLUDED
+
+#include <boost/fusion/container/vector.hpp>
+#include <boost/fusion/container/generation/make_vector.hpp>
+
+#include <boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+#include <boost/array.hpp>
+
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+#ifndef DOXYGEN_SKIP
+template< class Value = double >
+struct rk54_ck_coefficients_a1 : boost::array< Value , 1 >
+{
+    rk54_ck_coefficients_a1( void )
+    {
+        (*this)[0] = static_cast< Value >( 1 )/static_cast< Value >( 5 );
+    }
+};
+
+template< class Value = double >
+struct rk54_ck_coefficients_a2 : boost::array< Value , 2 >
+{
+    rk54_ck_coefficients_a2( void )
+    {
+        (*this)[0] = static_cast<Value>( 3 )/static_cast<Value>( 40 );
+        (*this)[1] = static_cast<Value>( 9 )/static_cast<Value>( 40 );
+    }
+};
+
+
+template< class Value = double >
+struct rk54_ck_coefficients_a3 : boost::array< Value , 3 >
+{
+    rk54_ck_coefficients_a3( void )
+    {
+        (*this)[0] = static_cast<Value>( 3 )/static_cast<Value>( 10 );
+        (*this)[1] = static_cast<Value>( -9 )/static_cast<Value>( 10 );
+        (*this)[2] = static_cast<Value>( 6 )/static_cast<Value>( 5 );
+    }
+};
+
+template< class Value = double >
+struct rk54_ck_coefficients_a4 : boost::array< Value , 4 >
+{
+    rk54_ck_coefficients_a4( void )
+    {
+        (*this)[0] = static_cast<Value>( -11 )/static_cast<Value>( 54 );
+        (*this)[1] = static_cast<Value>( 5 )/static_cast<Value>( 2 );
+        (*this)[2] = static_cast<Value>( -70 )/static_cast<Value>( 27 );
+        (*this)[3] = static_cast<Value>( 35 )/static_cast<Value>( 27 );
+    }
+};
+
+template< class Value = double >
+struct rk54_ck_coefficients_a5 : boost::array< Value , 5 >
+{
+    rk54_ck_coefficients_a5( void )
+    {
+        (*this)[0] = static_cast<Value>( 1631 )/static_cast<Value>( 55296 );
+        (*this)[1] = static_cast<Value>( 175 )/static_cast<Value>( 512 );
+        (*this)[2] = static_cast<Value>( 575 )/static_cast<Value>( 13824 );
+        (*this)[3] = static_cast<Value>( 44275 )/static_cast<Value>( 110592 );
+        (*this)[4] = static_cast<Value>( 253 )/static_cast<Value>( 4096 );
+    }
+};
+
+template< class Value = double >
+struct rk54_ck_coefficients_b : boost::array< Value , 6 >
+{
+    rk54_ck_coefficients_b( void )
+    {
+        (*this)[0] = static_cast<Value>( 37 )/static_cast<Value>( 378 );
+        (*this)[1] = static_cast<Value>( 0 );
+        (*this)[2] = static_cast<Value>( 250 )/static_cast<Value>( 621 );
+        (*this)[3] = static_cast<Value>( 125 )/static_cast<Value>( 594 );
+        (*this)[4] = static_cast<Value>( 0 );
+        (*this)[5] = static_cast<Value>( 512 )/static_cast<Value>( 1771 );
+    }
+};
+
+template< class Value = double >
+struct rk54_ck_coefficients_db : boost::array< Value , 6 >
+{
+    rk54_ck_coefficients_db( void )
+    {
+        (*this)[0] = static_cast<Value>( 37 )/static_cast<Value>( 378 ) - static_cast<Value>( 2825 )/static_cast<Value>( 27648 );
+        (*this)[1] = static_cast<Value>( 0 );
+        (*this)[2] = static_cast<Value>( 250 )/static_cast<Value>( 621 ) - static_cast<Value>( 18575 )/static_cast<Value>( 48384 );
+        (*this)[3] = static_cast<Value>( 125 )/static_cast<Value>( 594 ) - static_cast<Value>( 13525 )/static_cast<Value>( 55296 );
+        (*this)[4] = static_cast<Value>( -277 )/static_cast<Value>( 14336 );
+        (*this)[5] = static_cast<Value>( 512 )/static_cast<Value>( 1771 ) - static_cast<Value>( 1 )/static_cast<Value>( 4 );
+    }
+};
+
+
+template< class Value = double >
+struct rk54_ck_coefficients_c : boost::array< Value , 6 >
+{
+    rk54_ck_coefficients_c( void )
+    {
+        (*this)[0] = static_cast<Value>(0);
+        (*this)[1] = static_cast<Value>( 1 )/static_cast<Value>( 5 );
+        (*this)[2] = static_cast<Value>( 3 )/static_cast<Value>( 10 );
+        (*this)[3] = static_cast<Value>( 3 )/static_cast<Value>( 5 );
+        (*this)[4] = static_cast<Value>( 1 );
+        (*this)[5] = static_cast<Value>( 7 )/static_cast<Value>( 8 );
+    }
+};
+#endif
+
+
+template<
+    class State ,
+    class Value = double ,
+    class Deriv = State ,
+    class Time = Value ,
+    class Algebra = range_algebra ,
+    class Operations = default_operations ,
+    class Resizer = initially_resizer
+    >
+#ifndef DOXYGEN_SKIP
+class runge_kutta_cash_karp54 : public explicit_error_generic_rk< 6 , 5 , 5 , 4 ,
+        State , Value , Deriv , Time , Algebra , Operations , Resizer >
+#else 
+class runge_kutta_cash_karp54 : public explicit_error_generic_rk
+#endif
+{
+
+public:
+#ifndef DOXYGEN_SKIP
+    typedef explicit_error_generic_rk< 6 , 5 , 5 , 4 , State , Value , Deriv , Time ,
+                               Algebra , Operations , Resizer > stepper_base_type;
+#endif
+    typedef typename stepper_base_type::state_type state_type;
+    typedef typename stepper_base_type::value_type value_type;
+    typedef typename stepper_base_type::deriv_type deriv_type;
+    typedef typename stepper_base_type::time_type time_type;
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::operations_type operations_type;
+    typedef typename stepper_base_type::resizer_type resizer_typ;
+
+    #ifndef DOXYGEN_SKIP
+    typedef typename stepper_base_type::stepper_type stepper_type;
+    typedef typename stepper_base_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type;
+    #endif
+
+
+    runge_kutta_cash_karp54( const algebra_type &algebra = algebra_type() ) : stepper_base_type(
+        boost::fusion::make_vector( rk54_ck_coefficients_a1<Value>() ,
+                                 rk54_ck_coefficients_a2<Value>() ,
+                                 rk54_ck_coefficients_a3<Value>() ,
+                                 rk54_ck_coefficients_a4<Value>() ,
+                                 rk54_ck_coefficients_a5<Value>() ) ,
+            rk54_ck_coefficients_b<Value>() , rk54_ck_coefficients_db<Value>() , rk54_ck_coefficients_c<Value>() ,
+            algebra )
+    { }
+};
+
+
+/********** DOXYGEN **********/
+
+/**
+ * \class runge_kutta_cash_karp54
+ * \brief The Runge-Kutta Cash-Karp method.
+ *
+ * The Runge-Kutta Cash-Karp method is one of the standard methods for
+ * solving ordinary differential equations, see
+ * <a href="http://en.wikipedia.org/wiki/Cash%E2%80%93Karp_methods">en.wikipedia.org/wiki/Cash-Karp_methods</a>.
+ * The method is explicit and fulfills the Error Stepper concept. Step size control
+ * is provided but continuous output is not available for this method.
+ * 
+ * This class derives from explicit_error_stepper_base and inherits its interface via CRTP (current recurring template pattern).
+ * Furthermore, it derivs from explicit_error_generic_rk which is a generic Runge-Kutta algorithm with error estimation.
+ * For more details see explicit_error_stepper_base and explicit_error_generic_rk.
+ *
+ * \tparam State The state type.
+ * \tparam Value The value type.
+ * \tparam Deriv The type representing the time derivative of the state.
+ * \tparam Time The time representing the independent variable - the time.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ */
+
+
+    /**
+     * \fn runge_kutta_cash_karp54::runge_kutta_cash_karp54( const algebra_type &algebra )
+     * \brief Constructs the runge_kutta_cash_karp54 class. This constructor can be used as a default
+     * constructor if the algebra has a default constructor.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+}
+}
+}
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_CASH_KARP54_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp
new file mode 100755
index 0000000..19bcd3f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp
@@ -0,0 +1,286 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp
+
+ [begin_description]
+ Classical implementation of the Runge-Kutta Cash-Karp 5(4) method.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_CASH_KARP54_CLASSIC_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_CASH_KARP54_CLASSIC_HPP_INCLUDED
+
+
+#include <boost/numeric/odeint/util/bind.hpp>
+
+#include <boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+
+
+template<
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = double ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+#ifndef DOXYGEN_SKIP
+class runge_kutta_cash_karp54_classic
+: public explicit_error_stepper_base<
+  runge_kutta_cash_karp54_classic< State , Value , Deriv , Time , Algebra , Operations , Resizer > ,
+  5 , 5 , 4 , State , Value , Deriv , Time , Algebra , Operations , Resizer >
+#else
+class runge_kutta_cash_karp54_classic : public explicit_error_stepper_base
+#endif 
+{
+
+
+public :
+
+    #ifndef DOXYGEN_SKIP
+    typedef explicit_error_stepper_base<
+    runge_kutta_cash_karp54_classic< State , Value , Deriv , Time , Algebra , Operations , Resizer > ,
+    5 , 5 , 4 , State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_base_type;
+    #else
+    typedef explicit_error_stepper_base< runge_kutta_cash_karp54_classic< ... > , ... > stepper_base_type;
+    #endif
+
+    typedef typename stepper_base_type::state_type state_type;
+    typedef typename stepper_base_type::value_type value_type;
+    typedef typename stepper_base_type::deriv_type deriv_type;
+    typedef typename stepper_base_type::time_type time_type;
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::operations_type operations_type;
+    typedef typename stepper_base_type::resizer_type resizer_type;
+
+    #ifndef DOXYGEN_SKIP
+    typedef typename stepper_base_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type;
+    typedef typename stepper_base_type::stepper_type stepper_type;
+    #endif
+
+
+    runge_kutta_cash_karp54_classic( const algebra_type &algebra = algebra_type() ) : stepper_base_type( algebra )
+    { }
+
+
+
+    template< class System , class StateIn , class DerivIn , class StateOut , class Err >
+    void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt , Err &xerr )
+    {
+        const value_type c1 = static_cast<value_type> ( 37 ) / static_cast<value_type>( 378 );
+        const value_type c3 = static_cast<value_type> ( 250 ) / static_cast<value_type>( 621 );
+        const value_type c4 = static_cast<value_type> ( 125 ) / static_cast<value_type>( 594 );
+        const value_type c6 = static_cast<value_type> ( 512 ) / static_cast<value_type>( 1771 );
+
+        const value_type dc1 = c1 - static_cast<value_type> ( 2825 ) / static_cast<value_type>( 27648 );
+        const value_type dc3 = c3 - static_cast<value_type> ( 18575 ) / static_cast<value_type>( 48384 );
+        const value_type dc4 = c4 - static_cast<value_type> ( 13525 ) / static_cast<value_type>( 55296 );
+        const value_type dc5 = static_cast<value_type> ( -277 ) / static_cast<value_type>( 14336 );
+        const value_type dc6 = c6 - static_cast<value_type> ( 1 ) / static_cast<value_type> ( 4 );
+
+        do_step_impl( system , in , dxdt , t , out , dt );
+
+        //error estimate
+        stepper_base_type::m_algebra.for_each6( xerr , dxdt , m_k3.m_v , m_k4.m_v , m_k5.m_v , m_k6.m_v ,
+                typename operations_type::template scale_sum5< time_type , time_type , time_type , time_type , time_type >( dt*dc1 , dt*dc3 , dt*dc4 , dt*dc5 , dt*dc6 ));
+
+    }
+
+
+
+    template< class System , class StateIn , class DerivIn , class StateOut >
+    void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+    {
+        const value_type a2 = static_cast<value_type> ( 1 ) / static_cast<value_type> ( 5 );
+        const value_type a3 = static_cast<value_type> ( 3 ) / static_cast<value_type> ( 10 );
+        const value_type a4 = static_cast<value_type> ( 3 ) / static_cast<value_type> ( 5 );
+        const value_type a5 = static_cast<value_type> ( 1 );
+        const value_type a6 = static_cast<value_type> ( 7 ) / static_cast<value_type> ( 8 );
+
+        const value_type b21 = static_cast<value_type> ( 1 ) / static_cast<value_type> ( 5 );
+        const value_type b31 = static_cast<value_type> ( 3 ) / static_cast<value_type>( 40 );
+        const value_type b32 = static_cast<value_type> ( 9 ) / static_cast<value_type>( 40 );
+        const value_type b41 = static_cast<value_type> ( 3 ) / static_cast<value_type> ( 10 );
+        const value_type b42 = static_cast<value_type> ( -9 ) / static_cast<value_type> ( 10 );
+        const value_type b43 = static_cast<value_type> ( 6 ) / static_cast<value_type> ( 5 );
+        const value_type b51 = static_cast<value_type> ( -11 ) / static_cast<value_type>( 54 );
+        const value_type b52 = static_cast<value_type> ( 5 ) / static_cast<value_type> ( 2 );
+        const value_type b53 = static_cast<value_type> ( -70 ) / static_cast<value_type>( 27 );
+        const value_type b54 = static_cast<value_type> ( 35 ) / static_cast<value_type>( 27 );
+        const value_type b61 = static_cast<value_type> ( 1631 ) / static_cast<value_type>( 55296 );
+        const value_type b62 = static_cast<value_type> ( 175 ) / static_cast<value_type>( 512 );
+        const value_type b63 = static_cast<value_type> ( 575 ) / static_cast<value_type>( 13824 );
+        const value_type b64 = static_cast<value_type> ( 44275 ) / static_cast<value_type>( 110592 );
+        const value_type b65 = static_cast<value_type> ( 253 ) / static_cast<value_type>( 4096 );
+
+        const value_type c1 = static_cast<value_type> ( 37 ) / static_cast<value_type>( 378 );
+        const value_type c3 = static_cast<value_type> ( 250 ) / static_cast<value_type>( 621 );
+        const value_type c4 = static_cast<value_type> ( 125 ) / static_cast<value_type>( 594 );
+        const value_type c6 = static_cast<value_type> ( 512 ) / static_cast<value_type>( 1771 );
+
+        typename odeint::unwrap_reference< System >::type &sys = system;
+
+        m_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_impl<StateIn> , detail::ref( *this ) , detail::_1 ) );
+
+        //m_x1 = x + dt*b21*dxdt
+        stepper_base_type::m_algebra.for_each3( m_x_tmp.m_v , in , dxdt ,
+                typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , dt*b21 ) );
+
+        sys( m_x_tmp.m_v , m_k2.m_v , t + dt*a2 );
+        // m_x_tmp = x + dt*b31*dxdt + dt*b32*m_x2
+        stepper_base_type::m_algebra.for_each4( m_x_tmp.m_v , in , dxdt , m_k2.m_v ,
+                typename operations_type::template scale_sum3< value_type , time_type , time_type >( 1.0 , dt*b31 , dt*b32 ));
+
+        sys( m_x_tmp.m_v , m_k3.m_v , t + dt*a3 );
+        // m_x_tmp = x + dt * (b41*dxdt + b42*m_x2 + b43*m_x3)
+        stepper_base_type::m_algebra.for_each5( m_x_tmp.m_v , in , dxdt , m_k2.m_v , m_k3.m_v ,
+                typename operations_type::template scale_sum4< value_type , time_type , time_type , time_type >( 1.0 , dt*b41 , dt*b42 , dt*b43 ));
+
+        sys( m_x_tmp.m_v, m_k4.m_v , t + dt*a4 );
+        stepper_base_type::m_algebra.for_each6( m_x_tmp.m_v , in , dxdt , m_k2.m_v , m_k3.m_v , m_k4.m_v ,
+                typename operations_type::template scale_sum5< value_type , time_type , time_type , time_type , time_type >( 1.0 , dt*b51 , dt*b52 , dt*b53 , dt*b54 ));
+
+        sys( m_x_tmp.m_v , m_k5.m_v , t + dt*a5 );
+        stepper_base_type::m_algebra.for_each7( m_x_tmp.m_v , in , dxdt , m_k2.m_v , m_k3.m_v , m_k4.m_v , m_k5.m_v ,
+                typename operations_type::template scale_sum6< value_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt*b61 , dt*b62 , dt*b63 , dt*b64 , dt*b65 ));
+
+        sys( m_x_tmp.m_v , m_k6.m_v , t + dt*a6 );
+        stepper_base_type::m_algebra.for_each6( out , in , dxdt , m_k3.m_v , m_k4.m_v , m_k6.m_v ,
+                typename operations_type::template scale_sum5< value_type , time_type , time_type , time_type , time_type >( 1.0 , dt*c1 , dt*c3 , dt*c4 , dt*c6 ));
+
+    }
+
+    /**
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+    template< class StateIn >
+    void adjust_size( const StateIn &x )
+    {
+        resize_impl( x );
+        stepper_base_type::adjust_size( x );
+    }
+
+private:
+
+    template< class StateIn >
+    bool resize_impl( const StateIn &x )
+    {
+        bool resized = false;
+        resized |= adjust_size_by_resizeability( m_x_tmp , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_k2 , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_k3 , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_k4 , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_k5 , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_k6 , x , typename is_resizeable<deriv_type>::type() );
+        return resized;
+    }
+
+
+    wrapped_state_type m_x_tmp;
+    wrapped_deriv_type m_k2, m_k3, m_k4, m_k5, m_k6;
+    resizer_type m_resizer;
+
+};
+
+
+
+/************ DOXYGEN *************/
+
+/**
+ * \class runge_kutta_cash_karp54_classic
+ * \brief The Runge-Kutta Cash-Karp method implemented without the generic Runge-Kutta algorithm.
+ *
+ * The Runge-Kutta Cash-Karp method is one of the standard methods for
+ * solving ordinary differential equations, see
+ * <a href="http://en.wikipedia.org/wiki/Cash%E2%80%93Karp_method">en.wikipedia.org/wiki/Cash-Karp_method</a>.
+ * The method is explicit and fulfills the Error Stepper concept. Step size control
+ * is provided but continuous output is not available for this method.
+ * 
+ * This class derives from explicit_error_stepper_base and inherits its interface via CRTP (current recurring
+ * template pattern). This class implements the method directly, hence the generic Runge-Kutta algorithm is not used.
+ *
+ * \tparam State The state type.
+ * \tparam Value The value type.
+ * \tparam Deriv The type representing the time derivative of the state.
+ * \tparam Time The time representing the independent variable - the time.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ */
+
+
+    /**
+     * \fn runge_kutta_cash_karp54_classic::runge_kutta_cash_karp54_classic( const algebra_type &algebra )
+     * \brief Constructs the runge_kutta_cash_karp54_classic class. This constructor can be used as a default
+     * constructor if the algebra has a default constructor.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+
+
+    /**
+     * \fn runge_kutta_cash_karp54_classic::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt , Err &xerr )
+     * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method.
+     *
+     * The result is updated out-of-place, hence the input is in `in` and the output in `out`. Futhermore, an
+     * estimation of the error is stored in `xerr`. 
+     * Access to this step functionality is provided by explicit_error_stepper_base and 
+     * `do_step_impl` should not be called directly.
+
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     * \param xerr The result of the error estimation is written in xerr.
+     */
+
+    /**
+     * \fn runge_kutta_cash_karp54_classic::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt , time_type t , StateOut &out , time_type dt )
+     * \brief This method performs one step. The derivative `dxdt` of `in` at the time `t` is passed to the method.
+     * The result is updated out-of-place, hence the input is in `in` and the output in `out`.
+     * Access to this step functionality is provided by explicit_error_stepper_base and 
+     * `do_step_impl` should not be called directly.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt The derivative of x at t.
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dt The step size.
+     */
+
+} // odeint
+} // numeric
+} // boost
+
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_CASH_KARP54_CLASSIC_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp
new file mode 100755
index 0000000..d6d01e6
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp
@@ -0,0 +1,400 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp
+
+ [begin_description]
+ Implementation of the Dormand-Prince 5(4) method. This stepper can also be used with the dense-output controlled stepper.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_DOPRI5_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_DOPRI5_HPP_INCLUDED
+
+
+#include <boost/numeric/odeint/util/bind.hpp>
+
+#include <boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+#include <boost/numeric/odeint/util/same_instance.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+
+template<
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+class runge_kutta_dopri5
+#ifndef DOXYGEN_SKIP
+: public explicit_error_stepper_fsal_base<
+  runge_kutta_dopri5< State , Value , Deriv , Time , Algebra , Operations , Resizer > ,
+  5 , 5 , 4 , State , Value , Deriv , Time , Algebra , Operations , Resizer >
+#else
+: public explicit_error_stepper_fsal_base
+#endif
+{
+
+public :
+
+    #ifndef DOXYGEN_SKIP
+    typedef explicit_error_stepper_fsal_base<
+    runge_kutta_dopri5< State , Value , Deriv , Time , Algebra , Operations , Resizer > ,
+    5 , 5 , 4 , State , Value , Deriv , Time , Algebra , Operations , Resizer > stepper_base_type;
+    #else
+    typedef explicit_error_stepper_fsal_base< runge_kutta_dopri5< ... > , ... > stepper_base_type;
+    #endif
+    
+    typedef typename stepper_base_type::state_type state_type;
+    typedef typename stepper_base_type::value_type value_type;
+    typedef typename stepper_base_type::deriv_type deriv_type;
+    typedef typename stepper_base_type::time_type time_type;
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::operations_type operations_type;
+    typedef typename stepper_base_type::resizer_type resizer_type;
+
+    #ifndef DOXYGEN_SKIP
+    typedef typename stepper_base_type::stepper_type stepper_type;
+    typedef typename stepper_base_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type;
+    #endif // DOXYGEN_SKIP
+
+
+    runge_kutta_dopri5( const algebra_type &algebra = algebra_type() ) : stepper_base_type( algebra )
+    { }
+
+
+    template< class System , class StateIn , class DerivIn , class StateOut , class DerivOut >
+    void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t ,
+            StateOut &out , DerivOut &dxdt_out , time_type dt )
+    {
+        const value_type a2 = static_cast<value_type> ( 1 ) / static_cast<value_type>( 5 );
+        const value_type a3 = static_cast<value_type> ( 3 ) / static_cast<value_type> ( 10 );
+        const value_type a4 = static_cast<value_type> ( 4 ) / static_cast<value_type> ( 5 );
+        const value_type a5 = static_cast<value_type> ( 8 )/static_cast<value_type> ( 9 );
+
+        const value_type b21 = static_cast<value_type> ( 1 ) / static_cast<value_type> ( 5 );
+
+        const value_type b31 = static_cast<value_type> ( 3 ) / static_cast<value_type>( 40 );
+        const value_type b32 = static_cast<value_type> ( 9 ) / static_cast<value_type>( 40 );
+
+        const value_type b41 = static_cast<value_type> ( 44 ) / static_cast<value_type> ( 45 );
+        const value_type b42 = static_cast<value_type> ( -56 ) / static_cast<value_type> ( 15 );
+        const value_type b43 = static_cast<value_type> ( 32 ) / static_cast<value_type> ( 9 );
+
+        const value_type b51 = static_cast<value_type> ( 19372 ) / static_cast<value_type>( 6561 );
+        const value_type b52 = static_cast<value_type> ( -25360 ) / static_cast<value_type> ( 2187 );
+        const value_type b53 = static_cast<value_type> ( 64448 ) / static_cast<value_type>( 6561 );
+        const value_type b54 = static_cast<value_type> ( -212 ) / static_cast<value_type>( 729 );
+
+        const value_type b61 = static_cast<value_type> ( 9017 ) / static_cast<value_type>( 3168 );
+        const value_type b62 = static_cast<value_type> ( -355 ) / static_cast<value_type>( 33 );
+        const value_type b63 = static_cast<value_type> ( 46732 ) / static_cast<value_type>( 5247 );
+        const value_type b64 = static_cast<value_type> ( 49 ) / static_cast<value_type>( 176 );
+        const value_type b65 = static_cast<value_type> ( -5103 ) / static_cast<value_type>( 18656 );
+
+        const value_type c1 = static_cast<value_type> ( 35 ) / static_cast<value_type>( 384 );
+        const value_type c3 = static_cast<value_type> ( 500 ) / static_cast<value_type>( 1113 );
+        const value_type c4 = static_cast<value_type> ( 125 ) / static_cast<value_type>( 192 );
+        const value_type c5 = static_cast<value_type> ( -2187 ) / static_cast<value_type>( 6784 );
+        const value_type c6 = static_cast<value_type> ( 11 ) / static_cast<value_type>( 84 );
+
+        typename odeint::unwrap_reference< System >::type &sys = system;
+
+        m_k_x_tmp_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_k_x_tmp_impl<StateIn> , detail::ref( *this ) , detail::_1 ) );
+
+        //m_x_tmp = x + dt*b21*dxdt
+        stepper_base_type::m_algebra.for_each3( m_x_tmp.m_v , in , dxdt_in ,
+                typename operations_type::template scale_sum2< value_type , time_type >( 1.0 , dt*b21 ) );
+
+        sys( m_x_tmp.m_v , m_k2.m_v , t + dt*a2 );
+        // m_x_tmp = x + dt*b31*dxdt + dt*b32*m_k2
+        stepper_base_type::m_algebra.for_each4( m_x_tmp.m_v , in , dxdt_in , m_k2.m_v ,
+                typename operations_type::template scale_sum3< value_type , time_type , time_type >( 1.0 , dt*b31 , dt*b32 ));
+
+        sys( m_x_tmp.m_v , m_k3.m_v , t + dt*a3 );
+        // m_x_tmp = x + dt * (b41*dxdt + b42*m_k2 + b43*m_k3)
+        stepper_base_type::m_algebra.for_each5( m_x_tmp.m_v , in , dxdt_in , m_k2.m_v , m_k3.m_v ,
+                typename operations_type::template scale_sum4< value_type , time_type , time_type , time_type >( 1.0 , dt*b41 , dt*b42 , dt*b43 ));
+
+        sys( m_x_tmp.m_v, m_k4.m_v , t + dt*a4 );
+        stepper_base_type::m_algebra.for_each6( m_x_tmp.m_v , in , dxdt_in , m_k2.m_v , m_k3.m_v , m_k4.m_v ,
+                typename operations_type::template scale_sum5< value_type , time_type , time_type , time_type , time_type >( 1.0 , dt*b51 , dt*b52 , dt*b53 , dt*b54 ));
+
+        sys( m_x_tmp.m_v , m_k5.m_v , t + dt*a5 );
+        stepper_base_type::m_algebra.for_each7( m_x_tmp.m_v , in , dxdt_in , m_k2.m_v , m_k3.m_v , m_k4.m_v , m_k5.m_v ,
+                typename operations_type::template scale_sum6< value_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt*b61 , dt*b62 , dt*b63 , dt*b64 , dt*b65 ));
+
+        sys( m_x_tmp.m_v , m_k6.m_v , t + dt );
+        stepper_base_type::m_algebra.for_each7( out , in , dxdt_in , m_k3.m_v , m_k4.m_v , m_k5.m_v , m_k6.m_v ,
+                typename operations_type::template scale_sum6< value_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt*c1 , dt*c3 , dt*c4 , dt*c5 , dt*c6 ));
+
+        // the new derivative
+        sys( out , dxdt_out , t + dt );
+    }
+
+
+
+    template< class System , class StateIn , class DerivIn , class StateOut , class DerivOut , class Err >
+    void do_step_impl( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t ,
+            StateOut &out , DerivOut &dxdt_out , time_type dt , Err &xerr )
+    {
+        const value_type c1 = static_cast<value_type> ( 35 ) / static_cast<value_type>( 384 );
+        const value_type c3 = static_cast<value_type> ( 500 ) / static_cast<value_type>( 1113 );
+        const value_type c4 = static_cast<value_type> ( 125 ) / static_cast<value_type>( 192 );
+        const value_type c5 = static_cast<value_type> ( -2187 ) / static_cast<value_type>( 6784 );
+        const value_type c6 = static_cast<value_type> ( 11 ) / static_cast<value_type>( 84 );
+
+        const value_type dc1 = c1 - static_cast<value_type> ( 5179 ) / static_cast<value_type>( 57600 );
+        const value_type dc3 = c3 - static_cast<value_type> ( 7571 ) / static_cast<value_type>( 16695 );
+        const value_type dc4 = c4 - static_cast<value_type> ( 393 ) / static_cast<value_type>( 640 );
+        const value_type dc5 = c5 - static_cast<value_type> ( -92097 ) / static_cast<value_type>( 339200 );
+        const value_type dc6 = c6 - static_cast<value_type> ( 187 ) / static_cast<value_type>( 2100 );
+        const value_type dc7 = static_cast<value_type>( -1 ) / static_cast<value_type> ( 40 );
+
+        /* ToDo: copy only if &dxdt_in == &dxdt_out ? */
+        if( same_instance( dxdt_in , dxdt_out ) )
+        {
+            m_dxdt_tmp_resizer.adjust_size( in , detail::bind( &stepper_type::template resize_dxdt_tmp_impl<StateIn> , detail::ref( *this ) , detail::_1 ) );
+            boost::numeric::odeint::copy( dxdt_in , m_dxdt_tmp.m_v );
+            do_step_impl( system , in , dxdt_in , t , out , dxdt_out , dt );
+            //error estimate
+            stepper_base_type::m_algebra.for_each7( xerr , m_dxdt_tmp.m_v , m_k3.m_v , m_k4.m_v , m_k5.m_v , m_k6.m_v , dxdt_out ,
+                                                    typename operations_type::template scale_sum6< time_type , time_type , time_type , time_type , time_type , time_type >( dt*dc1 , dt*dc3 , dt*dc4 , dt*dc5 , dt*dc6 , dt*dc7 ) );
+
+        }
+        else
+        {
+            do_step_impl( system , in , dxdt_in , t , out , dxdt_out , dt );
+            //error estimate
+            stepper_base_type::m_algebra.for_each7( xerr , dxdt_in , m_k3.m_v , m_k4.m_v , m_k5.m_v , m_k6.m_v , dxdt_out ,
+                                                    typename operations_type::template scale_sum6< time_type , time_type , time_type , time_type , time_type , time_type >( dt*dc1 , dt*dc3 , dt*dc4 , dt*dc5 , dt*dc6 , dt*dc7 ) );
+        
+        }
+
+    }
+
+
+    /*
+     * Calculates Dense-Output for Dopri5
+     *
+     * See Hairer, Norsett, Wanner: Solving Ordinary Differential Equations, Nonstiff Problems. I, p.191/192
+     *
+     * y(t+theta) = y(t) + h * sum_i^7 b_i(theta) * k_i
+     *
+     * A = theta^2 * ( 3 - 2 theta )
+     * B = theta^2 * ( theta - 1 )
+     * C = theta^2 * ( theta - 1 )^2
+     * D = theta   * ( theta - 1 )^2
+     *
+     * b_1( theta ) = A * b_1 - C * X1( theta ) + D
+     * b_2( theta ) = 0
+     * b_3( theta ) = A * b_3 + C * X3( theta )
+     * b_4( theta ) = A * b_4 - C * X4( theta )
+     * b_5( theta ) = A * b_5 + C * X5( theta )
+     * b_6( theta ) = A * b_6 - C * X6( theta )
+     * b_7( theta ) = B + C * X7( theta )
+     *
+     * An alternative Method is described in:
+     *
+     * www-m2.ma.tum.de/homepages/simeon/numerik3/kap3.ps
+     */
+    template< class StateOut , class StateIn1 , class DerivIn1 , class StateIn2 , class DerivIn2 >
+    void calc_state( time_type t , StateOut &x ,
+                     const StateIn1 &x_old , const DerivIn1 &deriv_old , time_type t_old ,
+                     const StateIn2 & /* x_new */ , const DerivIn2 &deriv_new , time_type t_new ) const
+    {
+        const value_type b1 = static_cast<value_type> ( 35 ) / static_cast<value_type>( 384 );
+        const value_type b3 = static_cast<value_type> ( 500 ) / static_cast<value_type>( 1113 );
+        const value_type b4 = static_cast<value_type> ( 125 ) / static_cast<value_type>( 192 );
+        const value_type b5 = static_cast<value_type> ( -2187 ) / static_cast<value_type>( 6784 );
+        const value_type b6 = static_cast<value_type> ( 11 ) / static_cast<value_type>( 84 );
+
+        const time_type dt = ( t_new - t_old );
+        const value_type theta = ( t - t_old ) / dt;
+        const value_type X1 = static_cast< value_type >( 5 ) * ( static_cast< value_type >( 2558722523LL ) - static_cast< value_type >( 31403016 ) * theta ) / static_cast< value_type >( 11282082432LL );
+        const value_type X3 = static_cast< value_type >( 100 ) * ( static_cast< value_type >( 882725551 ) - static_cast< value_type >( 15701508 ) * theta ) / static_cast< value_type >( 32700410799LL );
+        const value_type X4 = static_cast< value_type >( 25 ) * ( static_cast< value_type >( 443332067 ) - static_cast< value_type >( 31403016 ) * theta ) / static_cast< value_type >( 1880347072LL ) ;
+        const value_type X5 = static_cast< value_type >( 32805 ) * ( static_cast< value_type >( 23143187 ) - static_cast< value_type >( 3489224 ) * theta ) / static_cast< value_type >( 199316789632LL );
+        const value_type X6 = static_cast< value_type >( 55 ) * ( static_cast< value_type >( 29972135 ) - static_cast< value_type >( 7076736 ) * theta ) / static_cast< value_type >( 822651844 );
+        const value_type X7 = static_cast< value_type >( 10 ) * ( static_cast< value_type >( 7414447 ) - static_cast< value_type >( 829305 ) * theta ) / static_cast< value_type >( 29380423 );
+
+        const value_type theta_m_1 = theta - static_cast< value_type >( 1 );
+        const value_type theta_sq = theta * theta;
+        const value_type A = theta_sq * ( static_cast< value_type >( 3 ) - static_cast< value_type >( 2 ) * theta );
+        const value_type B = theta_sq * theta_m_1;
+        const value_type C = theta_sq * theta_m_1 * theta_m_1;
+        const value_type D = theta * theta_m_1 * theta_m_1;
+
+        const value_type b1_theta = A * b1 - C * X1 + D;
+        const value_type b3_theta = A * b3 + C * X3;
+        const value_type b4_theta = A * b4 - C * X4;
+        const value_type b5_theta = A * b5 + C * X5;
+        const value_type b6_theta = A * b6 - C * X6;
+        const value_type b7_theta = B + C * X7;
+
+        // const state_type &k1 = *m_old_deriv;
+        // const state_type &k3 = dopri5().m_k3;
+        // const state_type &k4 = dopri5().m_k4;
+        // const state_type &k5 = dopri5().m_k5;
+        // const state_type &k6 = dopri5().m_k6;
+        // const state_type &k7 = *m_current_deriv;
+
+        stepper_base_type::m_algebra.for_each8( x , x_old , deriv_old , m_k3.m_v , m_k4.m_v , m_k5.m_v , m_k6.m_v , deriv_new ,
+                typename operations_type::template scale_sum7< value_type , time_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt * b1_theta , dt * b3_theta , dt * b4_theta , dt * b5_theta , dt * b6_theta , dt * b7_theta ) );
+    }
+
+
+    template< class StateIn >
+    void adjust_size( const StateIn &x )
+    {
+        resize_k_x_tmp_impl( x );
+        resize_dxdt_tmp_impl( x );
+        stepper_base_type::adjust_size( x );
+    }
+    
+
+private:
+
+    template< class StateIn >
+    bool resize_k_x_tmp_impl( const StateIn &x )
+    {
+        bool resized = false;
+        resized |= adjust_size_by_resizeability( m_x_tmp , x , typename is_resizeable<state_type>::type() );
+        resized |= adjust_size_by_resizeability( m_k2 , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_k3 , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_k4 , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_k5 , x , typename is_resizeable<deriv_type>::type() );
+        resized |= adjust_size_by_resizeability( m_k6 , x , typename is_resizeable<deriv_type>::type() );
+        return resized;
+    }
+
+    template< class StateIn >
+    bool resize_dxdt_tmp_impl( const StateIn &x )
+    {
+        return adjust_size_by_resizeability( m_dxdt_tmp , x , typename is_resizeable<deriv_type>::type() );
+    }
+        
+
+
+    wrapped_state_type m_x_tmp;
+    wrapped_deriv_type m_k2 , m_k3 , m_k4 , m_k5 , m_k6 ;
+    wrapped_deriv_type m_dxdt_tmp;
+    resizer_type m_k_x_tmp_resizer;
+    resizer_type m_dxdt_tmp_resizer;
+};
+
+
+
+/************* DOXYGEN ************/
+/**
+ * \class runge_kutta_dopri5
+ * \brief The Runge-Kutta Dormand-Prince 5 method.
+ *
+ * The Runge-Kutta Dormand-Prince 5 method is a very popular method for solving ODEs, see
+ * <a href=""></a>.
+ * The method is explicit and fulfills the Error Stepper concept. Step size control
+ * is provided but continuous output is available which make this method favourable for many applications. 
+ * 
+ * This class derives from explicit_error_stepper_fsal_base and inherits its interface via CRTP (current recurring
+ * template pattern). The method possesses the FSAL (first-same-as-last) property. See
+ * explicit_error_stepper_fsal_base for more details.
+ *
+ * \tparam State The state type.
+ * \tparam Value The value type.
+ * \tparam Deriv The type representing the time derivative of the state.
+ * \tparam Time The time representing the independent variable - the time.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ */
+
+
+    /**
+     * \fn runge_kutta_dopri5::runge_kutta_dopri5( const algebra_type &algebra )
+     * \brief Constructs the runge_kutta_dopri5 class. This constructor can be used as a default
+     * constructor if the algebra has a default constructor.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+
+    /**
+     * \fn runge_kutta_dopri5::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t , StateOut &out , DerivOut &dxdt_out , time_type dt )
+     * \brief This method performs one step. The derivative `dxdt_in` of `in` at the time `t` is passed to the
+     * method. The result is updated out-of-place, hence the input is in `in` and the output in `out`. Furthermore,
+     * the derivative is update out-of-place, hence the input is assumed to be in `dxdt_in` and the output in
+     * `dxdt_out`. 
+     * Access to this step functionality is provided by explicit_error_stepper_fsal_base and 
+     * `do_step_impl` should not be called directly.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt_in The derivative of x at t. dxdt_in is not modified by this method
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dxdt_out The result of the new derivative at time t+dt.
+     * \param dt The step size.
+     */
+
+    /**
+     * \fn runge_kutta_dopri5::do_step_impl( System system , const StateIn &in , const DerivIn &dxdt_in , time_type t , StateOut &out , DerivOut &dxdt_out , time_type dt , Err &xerr )
+     * \brief This method performs one step. The derivative `dxdt_in` of `in` at the time `t` is passed to the
+     * method. The result is updated out-of-place, hence the input is in `in` and the output in `out`. Furthermore,
+     * the derivative is update out-of-place, hence the input is assumed to be in `dxdt_in` and the output in
+     * `dxdt_out`. 
+     * Access to this step functionality is provided by explicit_error_stepper_fsal_base and 
+     * `do_step_impl` should not be called directly.
+     * An estimation of the error is calculated.
+     *
+     * \param system The system function to solve, hence the r.h.s. of the ODE. It must fulfill the
+     *               Simple System concept.
+     * \param in The state of the ODE which should be solved. in is not modified in this method
+     * \param dxdt_in The derivative of x at t. dxdt_in is not modified by this method
+     * \param t The value of the time, at which the step should be performed.
+     * \param out The result of the step is written in out.
+     * \param dxdt_out The result of the new derivative at time t+dt.
+     * \param dt The step size.
+     * \param xerr An estimation of the error.
+     */
+
+    /**
+     * \fn runge_kutta_dopri5::calc_state( time_type t , StateOut &x , const StateIn1 &x_old , const DerivIn1 &deriv_old , time_type t_old , const StateIn2 &  , const DerivIn2 &deriv_new , time_type t_new ) const
+     * \brief This method is used for continuous output and it calculates the state `x` at a time `t` from the 
+     * knowledge of two states `old_state` and `current_state` at time points `t_old` and `t_new`. It also uses
+     * internal variables to calculate the result. Hence this method must be called after two successful `do_step`
+     * calls.
+     */
+
+    /**
+     * \fn runge_kutta_dopri5::adjust_size( const StateIn &x )
+     * \brief Adjust the size of all temporaries in the stepper manually.
+     * \param x A state from which the size of the temporaries to be resized is deduced.
+     */
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_DOPRI5_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp
new file mode 100755
index 0000000..3155739
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp
@@ -0,0 +1,372 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/runge_kutta_fehlberg87.hpp
+
+ [begin_description]
+ Implementation of the Runge-Kutta-Fehlberg stepper with the generic stepper.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_FEHLBERG87_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_FEHLBERG87_HPP_INCLUDED
+
+
+#include <boost/fusion/container/vector.hpp>
+#include <boost/fusion/container/generation/make_vector.hpp>
+
+#include <boost/numeric/odeint/stepper/explicit_generic_rk.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resizer.hpp>
+
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+#ifndef DOXYGEN_SKIP
+template< class Value = double >
+struct rk78_coefficients_a1 : boost::array< Value , 1 >
+{
+    rk78_coefficients_a1( void )
+            {
+        (*this)[0] = static_cast< Value >( 2 )/static_cast< Value >( 27 );
+            }
+};
+
+template< class Value = double >
+struct rk78_coefficients_a2 : boost::array< Value , 2 >
+{
+    rk78_coefficients_a2( void )
+            {
+        (*this)[0] = static_cast< Value >( 1 )/static_cast< Value >( 36 );
+        (*this)[1] = static_cast< Value >( 1 )/static_cast< Value >( 12 );
+            }
+};
+
+
+template< class Value = double >
+struct rk78_coefficients_a3 : boost::array< Value , 3 >
+{
+    rk78_coefficients_a3( void )
+            {
+        (*this)[0] = static_cast< Value >( 1 )/static_cast< Value >( 24 );
+        (*this)[1] = static_cast< Value >( 0 );
+        (*this)[2] = static_cast< Value >( 1 )/static_cast< Value >( 8 );
+            }
+};
+
+template< class Value = double >
+struct rk78_coefficients_a4 : boost::array< Value , 4 >
+{
+    rk78_coefficients_a4( void )
+            {
+        (*this)[0] = static_cast< Value >( 5 )/static_cast< Value >( 12 );
+        (*this)[1] = static_cast< Value >( 0 );
+        (*this)[2] = static_cast< Value >( -25 )/static_cast< Value >( 16 );
+        (*this)[3] = static_cast< Value >( 25 )/static_cast< Value >( 16 );
+            }
+};
+
+template< class Value = double >
+struct rk78_coefficients_a5 : boost::array< Value , 5 >
+{
+    rk78_coefficients_a5( void )
+            {
+        (*this)[0] = static_cast< Value >( 1 )/static_cast< Value >( 20 );
+        (*this)[1] = static_cast< Value >( 0 );
+        (*this)[2] = static_cast< Value >( 0 );
+        (*this)[3] = static_cast< Value >( 1 )/static_cast< Value >( 4 );
+        (*this)[4] = static_cast< Value >( 1 )/static_cast< Value >( 5 );
+            }
+};
+
+
+template< class Value = double >
+struct rk78_coefficients_a6 : boost::array< Value , 6 >
+{
+    rk78_coefficients_a6( void )
+            {
+        (*this)[0] = static_cast< Value >( -25 )/static_cast< Value >( 108 );
+        (*this)[1] = static_cast< Value >( 0 );
+        (*this)[2] = static_cast< Value >( 0 );
+        (*this)[3] = static_cast< Value >( 125 )/static_cast< Value >( 108 );
+        (*this)[4] = static_cast< Value >( -65 )/static_cast< Value >( 27 );
+        (*this)[5] = static_cast< Value >( 125 )/static_cast< Value >( 54 );
+            }
+};
+
+template< class Value = double >
+struct rk78_coefficients_a7 : boost::array< Value , 7 >
+{
+    rk78_coefficients_a7( void )
+            {
+        (*this)[0] = static_cast< Value >( 31 )/static_cast< Value >( 300 );
+        (*this)[1] = static_cast< Value >( 0 );
+        (*this)[2] = static_cast< Value >( 0 );
+        (*this)[3] = static_cast< Value >( 0 );
+        (*this)[4] = static_cast< Value >( 61 )/static_cast< Value >( 225 );
+        (*this)[5] = static_cast< Value >( -2 )/static_cast< Value >( 9 );
+        (*this)[6] = static_cast< Value >( 13 )/static_cast< Value >( 900 );
+            }
+};
+
+template< class Value = double >
+struct rk78_coefficients_a8 : boost::array< Value , 8 >
+{
+    rk78_coefficients_a8( void )
+            {
+        (*this)[0] = static_cast< Value >( 2 );
+        (*this)[1] = static_cast< Value >( 0 );
+        (*this)[2] = static_cast< Value >( 0 );
+        (*this)[3] = static_cast< Value >( -53 )/static_cast< Value >( 6 );
+        (*this)[4] = static_cast< Value >( 704 )/static_cast< Value >( 45 );
+        (*this)[5] = static_cast< Value >( -107 )/static_cast< Value >( 9 );
+        (*this)[6] = static_cast< Value >( 67 )/static_cast< Value >( 90 );
+        (*this)[7] = static_cast< Value >( 3 );
+            }
+};
+
+template< class Value = double >
+struct rk78_coefficients_a9 : boost::array< Value , 9 >
+{
+    rk78_coefficients_a9( void )
+            {
+        (*this)[0] = static_cast< Value >( -91 )/static_cast< Value >( 108 );
+        (*this)[1] = static_cast< Value >( 0 );
+        (*this)[2] = static_cast< Value >( 0 );
+        (*this)[3] = static_cast< Value >( 23 )/static_cast< Value >( 108 );
+        (*this)[4] = static_cast< Value >( -976 )/static_cast< Value >( 135 );
+        (*this)[5] = static_cast< Value >( 311 )/static_cast< Value >( 54 );
+        (*this)[6] = static_cast< Value >( -19 )/static_cast< Value >( 60 );
+        (*this)[7] = static_cast< Value >( 17 )/static_cast< Value >( 6 );
+        (*this)[8] = static_cast< Value >( -1 )/static_cast< Value >( 12 );
+            }
+};
+
+template< class Value = double >
+struct rk78_coefficients_a10 : boost::array< Value , 10 >
+{
+    rk78_coefficients_a10( void )
+            {
+        (*this)[0] = static_cast< Value >( 2383 )/static_cast< Value >( 4100 );
+        (*this)[1] = static_cast< Value >( 0 );
+        (*this)[2] = static_cast< Value >( 0 );
+        (*this)[3] = static_cast< Value >( -341 )/static_cast< Value >( 164 );
+        (*this)[4] = static_cast< Value >( 4496 )/static_cast< Value >( 1025 );
+        (*this)[5] = static_cast< Value >( -301 )/static_cast< Value >( 82 );
+        (*this)[6] = static_cast< Value >( 2133 )/static_cast< Value >( 4100 );
+        (*this)[7] = static_cast< Value >( 45 )/static_cast< Value >( 82 );
+        (*this)[8] = static_cast< Value >( 45 )/static_cast< Value >( 164 );
+        (*this)[9] = static_cast< Value >( 18 )/static_cast< Value >( 41 );
+            }
+};
+
+template< class Value = double >
+struct rk78_coefficients_a11 : boost::array< Value , 11 >
+{
+    rk78_coefficients_a11( void )
+            {
+        (*this)[0] = static_cast< Value >( 3 )/static_cast< Value >( 205 );
+        (*this)[1] = static_cast< Value >( 0 );
+        (*this)[2] = static_cast< Value >( 0 );
+        (*this)[3] = static_cast< Value >( 0 );
+        (*this)[4] = static_cast< Value >( 0 );
+        (*this)[5] = static_cast< Value >( -6 )/static_cast< Value >( 41 );
+        (*this)[6] = static_cast< Value >( -3 )/static_cast< Value >( 205 );
+        (*this)[7] = static_cast< Value >( -3 )/static_cast< Value >( 41 );
+        (*this)[8] = static_cast< Value >( 3 )/static_cast< Value >( 41 );
+        (*this)[9] = static_cast< Value >( 6 )/static_cast< Value >( 41 );
+        (*this)[10] = static_cast< Value >( 0 );
+            }
+};
+
+template< class Value = double >
+struct rk78_coefficients_a12 : boost::array< Value , 12 >
+{
+    rk78_coefficients_a12( void )
+            {
+        (*this)[0] = static_cast< Value >( -1777 )/static_cast< Value >( 4100 );
+        (*this)[1] = static_cast< Value >( 0 );
+        (*this)[2] = static_cast< Value >( 0 );
+        (*this)[3] = static_cast< Value >( -341 )/static_cast< Value >( 164 );
+        (*this)[4] = static_cast< Value >( 4496 )/static_cast< Value >( 1025 );
+        (*this)[5] = static_cast< Value >( -289 )/static_cast< Value >( 82 );
+        (*this)[6] = static_cast< Value >( 2193 )/static_cast< Value >( 4100 );
+        (*this)[7] = static_cast< Value >( 51 )/static_cast< Value >( 82 );
+        (*this)[8] = static_cast< Value >( 33 )/static_cast< Value >( 164 );
+        (*this)[9] = static_cast< Value >( 12 )/static_cast< Value >( 41 );
+        (*this)[10] = static_cast< Value >( 0 );
+        (*this)[11] = static_cast< Value >( 1 );
+            }
+};
+
+template< class Value = double >
+struct rk78_coefficients_b : boost::array< Value , 13 >
+{
+    rk78_coefficients_b( void )
+            {
+        (*this)[0] = static_cast< Value >( 0 );
+        (*this)[1] = static_cast< Value >( 0 );
+        (*this)[2] = static_cast< Value >( 0 );
+        (*this)[3] = static_cast< Value >( 0 );
+        (*this)[4] = static_cast< Value >( 0 );
+        (*this)[5] = static_cast< Value >( 34 )/static_cast<Value>( 105 );
+        (*this)[6] = static_cast< Value >( 9 )/static_cast<Value>( 35 );
+        (*this)[7] = static_cast< Value >( 9 )/static_cast<Value>( 35 );
+        (*this)[8] = static_cast< Value >( 9 )/static_cast<Value>( 280 );
+        (*this)[9] = static_cast< Value >( 9 )/static_cast<Value>( 280 );
+        (*this)[10] = static_cast< Value >( 0 );
+        (*this)[11] = static_cast< Value >( 41 )/static_cast<Value>( 840 );
+        (*this)[12] = static_cast< Value >( 41 )/static_cast<Value>( 840 );
+            }
+};
+
+template< class Value = double >
+struct rk78_coefficients_db : boost::array< Value , 13 >
+{
+    rk78_coefficients_db( void )
+            {
+        (*this)[0] = static_cast< Value >( 0 ) - static_cast< Value >( 41 )/static_cast<Value>( 840 );
+        (*this)[1] = static_cast< Value >( 0 );
+        (*this)[2] = static_cast< Value >( 0 );
+        (*this)[3] = static_cast< Value >( 0 );
+        (*this)[4] = static_cast< Value >( 0 );
+        (*this)[5] = static_cast< Value >( 0 );
+        (*this)[6] = static_cast< Value >( 0 );
+        (*this)[7] = static_cast< Value >( 0 );
+        (*this)[8] = static_cast< Value >( 0 );
+        (*this)[9] = static_cast< Value >( 0 );
+        (*this)[10] = static_cast< Value >( 0 ) - static_cast< Value >( 41 )/static_cast<Value>( 840 );
+        (*this)[11] = static_cast< Value >( 41 )/static_cast<Value>( 840 );
+        (*this)[12] = static_cast< Value >( 41 )/static_cast<Value>( 840 );
+            }
+};
+
+
+template< class Value = double >
+struct rk78_coefficients_c : boost::array< Value , 13 >
+{
+    rk78_coefficients_c( void )
+            {
+        (*this)[0] = static_cast< Value >( 0 );
+        (*this)[1] = static_cast< Value >( 2 )/static_cast< Value >( 27 );
+        (*this)[2] = static_cast< Value >( 1 )/static_cast< Value >( 9 );
+        (*this)[3] = static_cast< Value >( 1 )/static_cast<Value>( 6 );
+        (*this)[4] = static_cast< Value >( 5 )/static_cast<Value>( 12 );
+        (*this)[5] = static_cast< Value >( 1 )/static_cast<Value>( 2 );
+        (*this)[6] = static_cast< Value >( 5 )/static_cast<Value>( 6 );
+        (*this)[7] = static_cast< Value >( 1 )/static_cast<Value>( 6 );
+        (*this)[8] = static_cast< Value >( 2 )/static_cast<Value>( 3 );
+        (*this)[9] = static_cast< Value >( 1 )/static_cast<Value>( 3 );
+        (*this)[10] = static_cast< Value >( 1 );
+        (*this)[11] = static_cast< Value >( 0 );
+        (*this)[12] = static_cast< Value >( 1 );
+            }
+};
+#endif // DOXYGEN_SKIP
+
+
+
+
+
+template<
+class State ,
+class Value = double ,
+class Deriv = State ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+#ifndef DOXYGEN_SKIP
+class runge_kutta_fehlberg78 : public explicit_error_generic_rk< 13 , 8 , 8 , 7 , State , Value , Deriv , Time ,
+Algebra , Operations , Resizer >
+#else
+class runge_kutta_fehlberg78 : public explicit_error_generic_rk
+#endif
+{
+
+public:
+#ifndef DOXYGEN_SKIP
+    typedef explicit_error_generic_rk< 13 , 8 , 8 , 7 , State , Value , Deriv , Time ,
+            Algebra , Operations , Resizer > stepper_base_type;
+#endif
+    typedef typename stepper_base_type::state_type state_type;
+    typedef typename stepper_base_type::value_type value_type;
+    typedef typename stepper_base_type::deriv_type deriv_type;
+    typedef typename stepper_base_type::time_type time_type;
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::operations_type operations_type;
+    typedef typename stepper_base_type::resizer_type resizer_type;
+
+    #ifndef DOXYGEN_SKIP
+    typedef typename stepper_base_type::stepper_type stepper_type;
+    typedef typename stepper_base_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type;
+    #endif // DOXYGEN_SKIP
+
+
+    runge_kutta_fehlberg78( const algebra_type &algebra = algebra_type() ) : stepper_base_type(
+            boost::fusion::make_vector( rk78_coefficients_a1<Value>() , rk78_coefficients_a2<Value>() , rk78_coefficients_a3<Value>() ,
+                    rk78_coefficients_a4<Value>() , rk78_coefficients_a5<Value>() , rk78_coefficients_a6<Value>() ,
+                    rk78_coefficients_a7<Value>() , rk78_coefficients_a8<Value>() , rk78_coefficients_a9<Value>() ,
+                    rk78_coefficients_a10<Value>() , rk78_coefficients_a11<Value>() , rk78_coefficients_a12<Value>() ) ,
+            rk78_coefficients_b<Value>() , rk78_coefficients_db<Value>() , rk78_coefficients_c<Value>() , algebra )
+    { }
+};
+
+
+
+/************* DOXYGEN *************/
+
+/**
+ * \class runge_kutta_fehlberg78
+ * \brief The Runge-Kutta Fehlberg 78 method.
+ *
+ * The Runge-Kutta Fehlberg 78 method is a standard method for high-precision applications.
+ * The method is explicit and fulfills the Error Stepper concept. Step size control
+ * is provided but continuous output is not available for this method.
+ * 
+ * This class derives from explicit_error_stepper_base and inherits its interface via CRTP (current recurring template pattern).
+ * Furthermore, it derivs from explicit_error_generic_rk which is a generic Runge-Kutta algorithm with error estimation.
+ * For more details see explicit_error_stepper_base and explicit_error_generic_rk.
+ *
+ * \tparam State The state type.
+ * \tparam Value The value type.
+ * \tparam Deriv The type representing the time derivative of the state.
+ * \tparam Time The time representing the independent variable - the time.
+ * \tparam Algebra The algebra type.
+ * \tparam Operations The operations type.
+ * \tparam Resizer The resizer policy type.
+ */
+
+
+    /**
+     * \fn runge_kutta_fehlberg78::runge_kutta_fehlberg78( const algebra_type &algebra )
+     * \brief Constructs the runge_kutta_cash_fehlberg78 class. This constructor can be used as a default
+     * constructor if the algebra has a default constructor.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+
+}
+}
+}
+
+#endif //BOOST_NUMERIC_ODEINT_STEPPER_RUNGE_KUTTA_FEHLBERG87_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp
new file mode 100755
index 0000000..28054ec
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp
@@ -0,0 +1,68 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/stepper_categories.hpp
+
+ [begin_description]
+ Definition of all stepper categories.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_STEPPER_CATEGORIES_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_STEPPER_CATEGORIES_HPP_INCLUDED
+
+#include <boost/type_traits/integral_constant.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+/*
+ * Tags to specify stepper types
+ *
+ * These tags are used by integrate() to choose which integration method is used
+ */
+
+struct stepper_tag {};
+// struct explicit_stepper_tag : stepper_tag {};
+// struct implicit_stepper_tag : stepper_tag {};
+
+
+struct error_stepper_tag : stepper_tag {};
+struct explicit_error_stepper_tag : error_stepper_tag {};
+struct explicit_error_stepper_fsal_tag : error_stepper_tag {};
+
+struct controlled_stepper_tag {};
+struct explicit_controlled_stepper_tag : controlled_stepper_tag {};
+struct explicit_controlled_stepper_fsal_tag : controlled_stepper_tag {};
+
+struct dense_output_stepper_tag {};
+
+
+template< class tag > struct base_tag ;
+template< > struct base_tag< stepper_tag > { typedef stepper_tag type; };
+template< > struct base_tag< error_stepper_tag > { typedef stepper_tag type; };
+template< > struct base_tag< explicit_error_stepper_tag > { typedef stepper_tag type; };
+template< > struct base_tag< explicit_error_stepper_fsal_tag > { typedef stepper_tag type; };
+
+template< > struct base_tag< controlled_stepper_tag > { typedef controlled_stepper_tag type; };
+template< > struct base_tag< explicit_controlled_stepper_tag > { typedef controlled_stepper_tag type; };
+template< > struct base_tag< explicit_controlled_stepper_fsal_tag > { typedef controlled_stepper_tag type; };
+
+template< > struct base_tag< dense_output_stepper_tag > { typedef dense_output_stepper_tag type; };
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_STEPPER_CATEGORIES_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp
new file mode 100755
index 0000000..1f16ffa
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp
@@ -0,0 +1,134 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/symplectic_euler.hpp
+
+ [begin_description]
+ Implementation of the symplectic Euler for separable Hamiltonian systems.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_EULER_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_EULER_HPP_INCLUDED
+
+
+#include <boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp>
+
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+#include <boost/array.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+#ifndef DOXYGEN_SKIP
+namespace detail {
+namespace symplectic_euler_coef {
+
+template< class Value >
+struct coef_a_type : public boost::array< Value , 1 >
+{
+    coef_a_type( void )
+    {
+        (*this)[0] = static_cast< Value >( 1 );
+    }
+};
+
+template< class Value >
+struct coef_b_type : public boost::array< Value , 1 >
+{
+    coef_b_type( void )
+    {
+        (*this)[0] = static_cast< Value >( 1 );
+    }
+};
+
+} // namespace symplectic_euler_coef
+} // namespace detail
+#endif
+
+
+
+template<
+class Coor ,
+class Momentum = Coor ,
+class Value = double ,
+class CoorDeriv = Coor ,
+class MomentumDeriv = Coor ,
+class Time = Value ,
+class Algebra = range_algebra ,
+class Operations = default_operations ,
+class Resizer = initially_resizer
+>
+#ifndef DOXYGEN_SKIP
+class symplectic_euler :
+public symplectic_nystroem_stepper_base
+<
+1 , 1 ,
+Coor , Momentum , Value , CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer
+>
+#else
+class symplectic_euler : public symplectic_nystroem_stepper_base
+#endif
+{
+public:
+
+#ifndef DOXYGEN_SKIP
+    typedef symplectic_nystroem_stepper_base<
+    1 , 1 , Coor , Momentum , Value , CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer > stepper_base_type;
+#endif
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::value_type value_type;
+
+
+    symplectic_euler( const algebra_type &algebra = algebra_type() )
+    : stepper_base_type( detail::symplectic_euler_coef::coef_a_type< value_type >() ,
+            detail::symplectic_euler_coef::coef_b_type< value_type >() ,
+            algebra )
+    { }
+};
+
+
+/*************** DOXYGEN ***************/
+
+/**
+ * \class symplectic_euler
+ * \brief Implementation of the symplectic Euler method.
+ *
+ * The method is of first order and has one stage. It is described HERE.
+ *
+ * \tparam Order The order of the stepper.
+ * \tparam Coor The type representing the coordinates q.
+ * \tparam Momentum The type representing the coordinates p.
+ * \tparam Value The basic value type. Should be something like float, double or a high-precision type.
+ * \tparam CoorDeriv The type representing the time derivative of the coordinate dq/dt.
+ * \tparam MomemtnumDeriv The type representing the time derivative of the momentum dp/dt.
+ * \tparam Time The type representing the time t.
+ * \tparam Algebra The algebra.
+ * \tparam Operations The operations.
+ * \tparam Resizer The resizer policy.
+ */
+
+    /**
+     * \fn symplectic_euler::symplectic_euler( const algebra_type &algebra )
+     * \brief Constructs the symplectic_euler. This constructor can be used as a default
+     * constructor if the algebra has a default constructor.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_EULER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp
new file mode 100755
index 0000000..0c20218
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp
@@ -0,0 +1,154 @@
+/*
+  [auto_generated]
+  boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp
+
+  [begin_description]
+  tba.
+  [end_description]
+
+  Copyright 2009-2012 Karsten Ahnert
+  Copyright 2009-2012 Mario Mulansky
+
+  Distributed under the Boost Software License, Version 1.0.
+  (See accompanying file LICENSE_1_0.txt or
+  copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_RKN_SB3A_M4_MCLACHLAN_HPP_DEFINED
+#define BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_RKN_SB3A_M4_MCLACHLAN_HPP_DEFINED
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+#ifndef DOXYGEN_SKIP
+namespace detail {
+namespace symplectic_rkn_sb3a_m4_mclachlan {
+
+    /*
+      exp( a1 t A ) exp( b1 t B )
+      exp( a2 t A ) exp( b2 t B )
+      exp( a3 t A )
+      exp( b2 t B ) exp( a2 t A )
+      exp( b1 t B ) exp( a1 t A )
+    */
+
+
+
+    template< class Value >
+    struct coef_a_type : public boost::array< Value , 5 >
+    {
+        coef_a_type( void )
+        {
+            using std::sqrt;
+
+            Value z = sqrt( static_cast< Value >( 7 ) / static_cast< Value >( 8 ) ) / static_cast< Value >( 3 );
+            (*this)[0] = static_cast< Value >( 1 ) / static_cast< Value >( 2 ) - z ;
+            (*this)[1] = static_cast< Value >( -1 ) / static_cast< Value >( 3 ) + z ;
+            (*this)[2] = static_cast< Value >( 2 ) / static_cast< Value >( 3 );
+            (*this)[3] = (*this)[1];
+            (*this)[4] = (*this)[0];
+        }
+    };
+
+    template< class Value >
+    struct coef_b_type : public boost::array< Value , 5 >
+    {
+        coef_b_type( void )
+        {
+            (*this)[0] = static_cast< Value >( 1 );
+            (*this)[1] = static_cast< Value >( -1 ) / static_cast< Value >( 2 );
+            (*this)[2] = (*this)[1];
+            (*this)[3] = (*this)[0];
+            (*this)[4] = static_cast< Value >( 0 );
+        }
+    };
+
+} // namespace symplectic_rkn_sb3a_m4_mclachlan
+} // namespace detail
+#endif // DOXYGEN_SKIP
+
+
+
+
+template<
+    class Coor ,
+    class Momentum = Coor ,
+    class Value = double ,
+    class CoorDeriv = Coor ,
+    class MomentumDeriv = Coor ,
+    class Time = Value ,
+    class Algebra = range_algebra ,
+    class Operations = default_operations ,
+    class Resizer = initially_resizer
+    >
+#ifndef DOXYGEN_SKIP
+class symplectic_rkn_sb3a_m4_mclachlan :
+        public symplectic_nystroem_stepper_base
+<
+    5 , 4 ,
+    Coor , Momentum , Value , CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer
+    >
+#else
+class symplectic_rkn_sb3a_m4_mclachlan : public symplectic_nystroem_stepper_base
+#endif
+{
+public:
+#ifndef DOXYGEN_SKIP
+    typedef symplectic_nystroem_stepper_base
+    <
+    5 , 4 ,
+    Coor , Momentum , Value , CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer
+    > stepper_base_type;
+#endif
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::value_type value_type;
+
+
+    symplectic_rkn_sb3a_m4_mclachlan( const algebra_type &algebra = algebra_type() )
+        : stepper_base_type(
+            detail::symplectic_rkn_sb3a_m4_mclachlan::coef_a_type< value_type >() ,
+            detail::symplectic_rkn_sb3a_m4_mclachlan::coef_b_type< value_type >() ,
+            algebra )
+    { }
+};
+
+
+/***************** DOXYGEN ***************/
+
+/**
+ * \class symplectic_rkn_sb3a_m4_mclachlan
+ * \brief Implementation of the symmetric B3A Runge-Kutta Nystroem method of fifth order.
+ *
+ * The method is of fourth order and has five stages. It is described HERE. This method can be used
+ * with multiprecision types since the coefficients are defined analytically.
+ *
+ * ToDo: add reference to paper.
+ *
+ * \tparam Order The order of the stepper.
+ * \tparam Coor The type representing the coordinates q.
+ * \tparam Momentum The type representing the coordinates p.
+ * \tparam Value The basic value type. Should be something like float, double or a high-precision type.
+ * \tparam CoorDeriv The type representing the time derivative of the coordinate dq/dt.
+ * \tparam MomemtnumDeriv The type representing the time derivative of the momentum dp/dt.
+ * \tparam Time The type representing the time t.
+ * \tparam Algebra The algebra.
+ * \tparam Operations The operations.
+ * \tparam Resizer The resizer policy.
+ */
+
+    /**
+     * \fn symplectic_rkn_sb3a_m4_mclachlan::symplectic_rkn_sb3a_m4_mclachlan( const algebra_type &algebra )
+     * \brief Constructs the symplectic_rkn_sb3a_m4_mclachlan. This constructor can be used as a default
+     * constructor if the algebra has a default constructor.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_RKN_SB3A_M4_MCLACHLAN_HPP_DEFINED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp
new file mode 100755
index 0000000..3bd26d1
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp
@@ -0,0 +1,158 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp
+ 
+ [begin_description]
+ Implementation of the symplectic MacLachlan stepper for separable Hamiltonian system.
+ [end_description]
+ 
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+ 
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+
+#ifndef BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_RKN_SB3A_MCLACHLAN_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_RKN_SB3A_MCLACHLAN_HPP_INCLUDED
+
+
+#include <boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp>
+
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+#include <boost/array.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+#ifndef DOXYGEN_SKIP
+namespace detail {
+namespace symplectic_rkn_sb3a_mclachlan {
+
+    /*
+      exp( a1 t A ) exp( b1 t B )
+      exp( a2 t A ) exp( b2 t B )
+      exp( a3 t A ) exp( b3 t B ) exp( a3 t A )
+      exp( b2 t B ) exp( a2 t A )
+      exp( b1 t B ) exp( a1 t A )
+    */
+
+    template< class Value >
+    struct coef_a_type : public boost::array< Value , 6 >
+    {
+        coef_a_type( void )
+        {
+            (*this)[0] = static_cast< Value >( 0.40518861839525227722 );
+            (*this)[1] = static_cast< Value >( -0.28714404081652408900 );
+            (*this)[2] = static_cast< Value >( 1 ) / static_cast< Value >( 2 ) - ( (*this)[0] + (*this)[1] );
+            (*this)[3] = (*this)[2];
+            (*this)[4] = (*this)[1];
+            (*this)[5] = (*this)[0];
+
+        }
+    };
+
+    template< class Value >
+    struct coef_b_type : public boost::array< Value , 6 >
+    {
+        coef_b_type( void )
+        {
+            (*this)[0] = static_cast< Value >( -3 ) / static_cast< Value >( 73 );
+            (*this)[1] = static_cast< Value >( 17 ) / static_cast< Value >( 59 );
+            (*this)[2] = static_cast< Value >( 1 ) - static_cast< Value >( 2 ) * ( (*this)[0] + (*this)[1] );
+            (*this)[3] = (*this)[1];
+            (*this)[4] = (*this)[0];
+            (*this)[5] = static_cast< Value >( 0 );
+        }
+    };
+
+} // namespace symplectic_rkn_sb3a_mclachlan
+} // namespace detail
+#endif // DOXYGEN_SKIP
+
+
+
+template<
+    class Coor ,
+    class Momentum = Coor ,
+    class Value = double ,
+    class CoorDeriv = Coor ,
+    class MomentumDeriv = Coor ,
+    class Time = Value ,
+    class Algebra = range_algebra ,
+    class Operations = default_operations ,
+    class Resizer = initially_resizer
+    >
+#ifndef DOXYGEN_SKIP
+class symplectic_rkn_sb3a_mclachlan :
+        public symplectic_nystroem_stepper_base
+<
+    6 , 4 ,
+    Coor , Momentum , Value , CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer
+    >
+#else
+class symplectic_rkn_sb3a_mclachlan : public symplectic_nystroem_stepper_base
+#endif
+{
+public:
+#ifndef DOXYGEN_SKIP
+    typedef symplectic_nystroem_stepper_base
+    <
+    6 , 4 ,
+    Coor , Momentum , Value , CoorDeriv , MomentumDeriv , Time , Algebra , Operations , Resizer
+    > stepper_base_type;
+#endif
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::value_type value_type;
+
+
+    symplectic_rkn_sb3a_mclachlan( const algebra_type &algebra = algebra_type() )
+        : stepper_base_type(
+            detail::symplectic_rkn_sb3a_mclachlan::coef_a_type< value_type >() ,
+            detail::symplectic_rkn_sb3a_mclachlan::coef_b_type< value_type >() ,
+            algebra )
+    { }
+};
+
+
+/************* DOXYGEN ***********/
+
+/**
+ * \class symplectic_rkn_sb3a_mclachlan
+ * \brief Implement of the symmetric B3A method of Runge-Kutta-Nystroem method of sixth order.
+ *
+ * The method is of fourth order and has six stages. It is described HERE. This method cannot be used
+ * with multiprecision types since the coefficients are not defined analytically.
+ *
+ * ToDo Add reference to the paper.
+ *
+ * \tparam Order The order of the stepper.
+ * \tparam Coor The type representing the coordinates q.
+ * \tparam Momentum The type representing the coordinates p.
+ * \tparam Value The basic value type. Should be something like float, double or a high-precision type.
+ * \tparam CoorDeriv The type representing the time derivative of the coordinate dq/dt.
+ * \tparam MomemtnumDeriv The type representing the time derivative of the momentum dp/dt.
+ * \tparam Time The type representing the time t.
+ * \tparam Algebra The algebra.
+ * \tparam Operations The operations.
+ * \tparam Resizer The resizer policy.
+ */
+
+    /**
+     * \fn symplectic_rkn_sb3a_mclachlan::symplectic_rkn_sb3a_mclachlan( const algebra_type &algebra )
+     * \brief Constructs the symplectic_rkn_sb3a_mclachlan. This constructor can be used as a default
+     * constructor if the algebra has a default constructor.
+     * \param algebra A copy of algebra is made and stored inside explicit_stepper_base.
+     */
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+#endif // BOOST_NUMERIC_ODEINT_STEPPER_SYMPLECTIC_RKN_SB3A_MCLACHLAN_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/bind.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/bind.hpp
new file mode 100755
index 0000000..e87b1b7
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/bind.hpp
@@ -0,0 +1,53 @@
+/*
+ *     [begin_description]
+ *     Boost bind pull the placeholders, _1, _2, ... into global
+ *     namespace. This can conflict with the C++03 TR1 and C++11 
+ *     std::placeholders. This header provides a workaround for 
+ *     this problem.
+ *     [end_description]
+ *        
+ *     Copyright 2012 Christoph Koke
+ *           
+ *     Distributed under the Boost Software License, Version 1.0.
+ *     (See accompanying file LICENSE_1_0.txt or
+ *     copy at http://www.boost.org/LICENSE_1_0.txt)
+ * */
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_BIND_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_BIND_HPP_INCLUDED
+
+
+#include <boost/numeric/odeint/config.hpp>
+
+
+#if BOOST_NUMERIC_ODEINT_CXX11 
+#include <type_traits>
+#else
+#include <boost/bind.hpp>
+#endif
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+#if BOOST_NUMERIC_ODEINT_CXX11 
+
+using ::std::bind;
+using namespace ::std::placeholders;
+
+
+#else
+
+using ::boost::bind;
+using ::_1;
+using ::_2;
+
+#endif
+
+}
+}
+}
+}
+
+#endif // BOOST_NUMERIC_ODEINT_UTIL_BIND_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/copy.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/copy.hpp
new file mode 100755
index 0000000..58a8404
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/copy.hpp
@@ -0,0 +1,75 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/util/copy.hpp
+
+ [begin_description]
+ Copy abstraction for the usage in the steppers.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_COPY_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_COPY_HPP_INCLUDED
+
+
+#include <boost/range/algorithm/copy.hpp>
+
+#include <boost/utility/enable_if.hpp>
+
+#include <boost/numeric/odeint/util/detail/is_range.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+namespace detail {
+
+    template< class Container1 , class Container2 >
+    void do_copying( const Container1 &from , Container2 &to , boost::mpl::true_ )
+    {
+        boost::range::copy( from , boost::begin( to ) );
+    }
+
+    template< class Container1 , class Container2 >
+    void do_copying( const Container1 &from , Container2 &to , boost::mpl::false_ )
+    {
+        to = from;
+    }
+
+} // namespace detail
+
+
+/*
+ * Default implementation of the copy operation used the assign operator
+ * gsl_vector must copied differently
+ */
+template< class Container1, class Container2 , class Enabler = void >
+struct copy_impl
+{
+    static void copy( const Container1 &from , Container2 &to )
+    {
+        typedef typename boost::numeric::odeint::detail::is_range< Container1 >::type is_range_type;
+        detail::do_copying( from , to , is_range_type() );
+    }
+};
+
+template< class Container1 , class Container2 >
+void copy( const Container1 &from , Container2 &to )
+{
+    copy_impl< Container1 , Container2 >::copy( from , to );
+}
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_UTIL_COPY_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/is_range.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/is_range.hpp
new file mode 100755
index 0000000..ebb660b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/is_range.hpp
@@ -0,0 +1,133 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/util/detail/is_range.hpp
+
+ [begin_description]
+ is_range implementation. Taken from the boost::range library.
+ [end_description]
+
+ Copyright Thorsten Ottosen 2003-2004
+
+
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_DETAIL_IS_RANGE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_DETAIL_IS_RANGE_HPP_INCLUDED
+
+
+#if defined(_MSC_VER) && (_MSC_VER >= 1200)
+# pragma once
+#endif
+
+#include <cstddef>
+#include <boost/range/config.hpp>
+#include <boost/mpl/has_xxx.hpp>
+#include <boost/mpl/bool.hpp>
+#include <boost/mpl/and.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+
+namespace range_detail
+{
+BOOST_MPL_HAS_XXX_TRAIT_DEF(iterator)
+    BOOST_MPL_HAS_XXX_TRAIT_DEF(const_iterator)
+}
+
+namespace detail
+{
+
+template< typename Range >
+struct is_range : boost::mpl::and_<range_detail::has_iterator<Range>, range_detail::has_const_iterator<Range> >
+{
+};
+
+//////////////////////////////////////////////////////////////////////////
+// pair
+//////////////////////////////////////////////////////////////////////////
+
+template< typename iteratorT >
+struct is_range< std::pair<iteratorT,iteratorT> > : boost::mpl::true_
+{
+};
+
+template< typename iteratorT >
+struct is_range< const std::pair<iteratorT,iteratorT> > : boost::mpl::true_
+{
+};
+
+//////////////////////////////////////////////////////////////////////////
+// array
+//////////////////////////////////////////////////////////////////////////
+
+template< typename elementT, std::size_t sz >
+struct is_range< elementT[sz] > : boost::mpl::true_
+{
+};
+
+template< typename elementT, std::size_t sz >
+struct is_range< const elementT[sz] > : boost::mpl::true_
+{
+};
+
+//////////////////////////////////////////////////////////////////////////
+// string
+//////////////////////////////////////////////////////////////////////////
+
+template<>
+struct is_range< char* > : boost::mpl::true_
+{
+};
+
+template<>
+struct is_range< wchar_t* > : boost::mpl::true_
+{
+};
+
+template<>
+struct is_range< const char* > : boost::mpl::true_
+{
+};
+
+template<>
+struct is_range< const wchar_t* > : boost::mpl::true_
+{
+};
+
+template<>
+struct is_range< char* const > : boost::mpl::true_
+{
+};
+
+template<>
+struct is_range< wchar_t* const > : boost::mpl::true_
+{
+};
+
+template<>
+struct is_range< const char* const > : boost::mpl::true_
+{
+};
+
+template<>
+struct is_range< const wchar_t* const > : boost::mpl::true_
+{
+};
+
+} // namespace detail
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_UTIL_DETAIL_IS_RANGE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp
new file mode 100755
index 0000000..f2883f1
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp
@@ -0,0 +1,53 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/integrate/detail/less_with_sign.hpp
+
+ [begin_description]
+ Helper function to compare times taking into account the sign of dt
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_LESS_WITH_SIGN_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_LESS_WITH_SIGN_HPP_INCLUDED
+
+#include <boost/numeric/odeint/util/unit_helper.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+namespace detail {
+
+/**
+ * return t1 < t2 if dt > 0 and t1 > t2 if dt < 0
+ */
+template< typename T1 , typename T2 , typename T3 >
+bool less_with_sign( T1 t1 , T2 t2 , T3 dt )
+{
+    if( get_unit_value(dt) > 0 )
+        return t1 < t2;
+    else
+        return t1 > t2;
+}
+
+/**
+ * return t1 <= t2 if dt > 0 and t1 => t2 if dt < 0
+ */
+template< typename T1 , typename T2 , typename T3>
+bool less_eq_with_sign( T1 t1 , T2 t2 , T3 dt )
+{
+    if( get_unit_value(dt) > 0 )
+        return t1 <= t2;
+    else
+        return t1 >= t2;
+}
+
+} } } }
+
+#endif
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp
new file mode 100755
index 0000000..38ab58a
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp
@@ -0,0 +1,45 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/util/is_pair.hpp
+
+ [begin_description]
+ Metafunction to determine if a type is a std::pair<>.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_IS_PAIR_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_IS_PAIR_HPP_INCLUDED
+
+
+#include <boost/mpl/bool.hpp>
+#include <utility>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template< class T >
+struct is_pair : public boost::mpl::false_
+{
+};
+
+template< class T1 , class T2 >
+struct is_pair< std::pair< T1 , T2 > > : public boost::mpl::true_
+{
+};
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_UTIL_IS_PAIR_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_resizeable.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_resizeable.hpp
new file mode 100755
index 0000000..4cc9be1
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_resizeable.hpp
@@ -0,0 +1,84 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/util/is_resizeable.hpp
+
+ [begin_description]
+ Metafunction to determine if a state type can resized. For usage in the steppers.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_IS_RESIZEABLE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_IS_RESIZEABLE_HPP_INCLUDED
+
+
+#include <vector>
+
+#include <boost/type_traits/integral_constant.hpp>
+#include <boost/type_traits/remove_reference.hpp>
+#include <boost/fusion/include/front.hpp>
+#include <boost/fusion/include/is_sequence.hpp>
+
+#include <boost/mpl/find_if.hpp>
+#include <boost/mpl/end.hpp>
+#include <boost/mpl/placeholders.hpp>
+// #include <boost/mpl/not.hpp>
+#include <boost/mpl/if.hpp>
+#include <boost/type_traits/is_same.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+/*
+ * by default any type is not resizable
+ */
+template< class Container , class Enabler = void >
+struct is_resizeable
+{
+    //struct type : public boost::false_type { };
+    typedef boost::false_type type;
+    const static bool value = type::value;
+};
+
+/*
+ * specialization for std::vector
+ */
+template< class V, class A >
+struct is_resizeable< std::vector< V , A  > >
+{
+    //struct type : public boost::true_type { };
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+
+
+/*
+ * specialization for fusion sequences
+ */
+template< class FusionSequence >
+struct is_resizeable< FusionSequence , typename boost::enable_if< typename boost::fusion::traits::is_sequence< FusionSequence >::type >::type >
+{
+    typedef typename boost::mpl::find_if< FusionSequence , is_resizeable< boost::mpl::_1 > >::type iter;
+    typedef typename boost::mpl::end< FusionSequence >::type last;
+
+    typedef typename boost::mpl::if_< boost::is_same< iter , last > , boost::false_type , boost::true_type >::type type;
+    const static bool value = type::value;
+};
+
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_UTIL_IS_RESIZEABLE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resize.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resize.hpp
new file mode 100755
index 0000000..65b5cfb
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resize.hpp
@@ -0,0 +1,107 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/util/state_wrapper.hpp
+
+ [begin_description]
+ State wrapper for the state type in all stepper. The state wrappers are responsible for construction,
+ destruction, copying construction, assignment and resizing.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_RESIZE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_RESIZE_HPP_INCLUDED
+
+#include <boost/range.hpp>
+
+#include <boost/utility/enable_if.hpp>
+#include <boost/fusion/include/is_sequence.hpp>
+#include <boost/fusion/include/zip_view.hpp>
+#include <boost/fusion/include/vector.hpp>
+#include <boost/fusion/include/make_fused.hpp>
+#include <boost/fusion/include/for_each.hpp>
+
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+// resize function
+// standard implementation relies on boost.range and resize member function
+template< class StateOut , class StateIn , class Enabler = void >
+struct resize_impl
+{
+    static void resize( StateOut &x1 , const StateIn &x2 )
+    {
+        x1.resize( boost::size( x2 ) );
+    }
+};
+
+
+// do not overload or specialize this function, specialize resize_impl<> instead
+template< class StateOut , class StateIn >
+void resize( StateOut &x1 , const StateIn &x2 )
+{
+    resize_impl< StateOut , StateIn >::resize( x1 , x2 );
+}
+
+
+namespace detail {
+
+    struct resizer
+    {
+        typedef void result_type;
+
+        template< class StateOut , class StateIn >
+        void operator()( StateOut &x1 , const StateIn &x2 ) const
+        {
+            resize_op( x1 , x2 , typename is_resizeable< StateOut >::type() );
+        }
+
+        template< class StateOut , class StateIn >
+        void resize_op( StateOut &x1 , const StateIn &x2 , boost::true_type ) const
+        {
+            resize( x1 , x2 );
+        }
+
+        template< class StateOut , class StateIn >
+        void resize_op( StateOut &x1 , const StateIn &x2 , boost::false_type ) const
+        {
+        }
+
+    };
+} // namespace detail
+
+
+/*
+ * specialization for fusion sequences
+ */
+template< class FusionSeq >
+struct resize_impl< FusionSeq , FusionSeq , typename boost::enable_if< typename boost::fusion::traits::is_sequence< FusionSeq >::type >::type >
+{
+    static void resize( FusionSeq &x1 , const FusionSeq &x2 )
+    {
+        typedef boost::fusion::vector< FusionSeq& , const FusionSeq& > Sequences;
+        Sequences sequences( x1 , x2 );
+        boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( detail::resizer() ) );
+    }
+};
+
+
+
+
+}
+}
+}
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_UTIL_RESIZE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resizer.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resizer.hpp
new file mode 100755
index 0000000..de02eab
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resizer.hpp
@@ -0,0 +1,93 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/util/resizer.hpp
+
+ [begin_description]
+ Implementation of the resizers.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_RESIZER_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_RESIZER_HPP_INCLUDED
+
+
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/same_size.hpp>
+#include <boost/numeric/odeint/util/resize.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template< class ResizeWrappedState , class State >
+bool adjust_size_by_resizeability( ResizeWrappedState &x , const State &y , boost::true_type )
+{
+    if ( !same_size( x.m_v , y ) )
+    {
+        resize( x.m_v , y );
+        return true;
+    }
+    else
+        return false;
+}
+
+template< class ResizeWrappedState , class State >
+bool adjust_size_by_resizeability( ResizeWrappedState & /* x */ , const State & /* y */ , boost::false_type )
+{
+    return false;
+}
+
+struct always_resizer
+{
+    template< class State , class ResizeFunction >
+    bool adjust_size( const State &x , ResizeFunction f )
+    {
+        return f( x );
+    }
+};
+
+
+struct initially_resizer
+{
+
+    bool m_initialized;
+
+    initially_resizer() : m_initialized( false )
+    { }
+
+    template< class State , class ResizeFunction >
+    bool adjust_size( const State &x , ResizeFunction f )
+    {
+        if( !m_initialized )
+        {
+            m_initialized = true;
+            return f( x );
+        } else
+            return false;
+    }
+};
+
+
+struct never_resizer
+{
+    template< class State , class ResizeFunction >
+    bool adjust_size( const State &x , ResizeFunction f )
+    {
+        return false;
+    }
+};
+
+
+}
+}
+}
+
+#endif // BOOST_NUMERIC_ODEINT_UTIL_RESIZER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_instance.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_instance.hpp
new file mode 100755
index 0000000..ac86e5d
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_instance.hpp
@@ -0,0 +1,56 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/util/same_instance.hpp
+
+ [begin_description]
+ Basic check if two variables are the same instance
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_SAME_INSTANCE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_SAME_INSTANCE_HPP_INCLUDED
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template< class T1 , class T2 , class Enabler=void >
+struct same_instance_impl
+{ 
+    static bool same_instance( const T1 &x1 , const T2 &x2 )
+    {
+        return false;
+    }
+};
+
+template< class T >
+struct same_instance_impl< T , T >
+{ 
+    static bool same_instance( const T &x1 , const T &x2 )
+    {
+        // check pointers
+        return (&x1 == &x2);
+    }
+};
+
+
+template< class T1 , class T2 >
+bool same_instance( const T1 &x1 , const T2 &x2 )
+{
+    return same_instance_impl< T1 , T2 >::same_instance( x1 , x2 );
+}
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+#endif
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_size.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_size.hpp
new file mode 100755
index 0000000..e27db69
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_size.hpp
@@ -0,0 +1,105 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/util/state_wrapper.hpp
+
+ [begin_description]
+ State wrapper for the state type in all stepper. The state wrappers are responsible for construction,
+ destruction, copying construction, assignment and resizing.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_SAME_SIZE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_SAME_SIZE_HPP_INCLUDED
+
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+
+#include <boost/utility/enable_if.hpp>
+#include <boost/fusion/include/is_sequence.hpp>
+#include <boost/fusion/include/zip_view.hpp>
+#include <boost/fusion/include/vector.hpp>
+#include <boost/fusion/include/make_fused.hpp>
+#include <boost/fusion/include/all.hpp>
+
+#include <boost/range.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+// same_size function
+// standard implementation relies on boost.range
+template< class State1 , class State2 , class Enabler = void >
+struct same_size_impl
+{
+    static bool same_size( const State1 &x1 , const State2 &x2 )
+    {
+        return ( boost::size( x1 ) == boost::size( x2 ) );
+    }
+};
+
+
+// do not overload or specialize this function, specialize resize_impl<> instead
+template< class State1 , class State2 >
+bool same_size( const State1 &x1 , const State2 &x2 )
+{
+    return same_size_impl< State1 , State2 >::same_size( x1 , x2 );
+}
+
+namespace detail {
+
+struct same_size_fusion
+{
+    typedef bool result_type;
+
+    template< class S1 , class S2 >
+    bool operator()( const S1 &x1 , const S2 &x2 ) const
+    {
+        return same_size_op( x1 , x2 , typename is_resizeable< S1 >::type() );
+    }
+
+    template< class S1 , class S2 >
+    bool same_size_op( const S1 &x1 , const S2 &x2 , boost::true_type ) const
+    {
+        return same_size( x1 , x2 );
+    }
+
+    template< class S1 , class S2 >
+    bool same_size_op( const S1 &x1 , const S2 &x2 , boost::false_type ) const
+    {
+        return true;
+    }
+};
+
+} // namespace detail
+
+
+
+template< class FusionSeq >
+struct same_size_impl< FusionSeq , FusionSeq , typename boost::enable_if< typename boost::fusion::traits::is_sequence< FusionSeq >::type >::type >
+{
+    static bool same_size( const FusionSeq &x1 , const FusionSeq &x2 )
+    {
+        typedef boost::fusion::vector< const FusionSeq& , const FusionSeq& > Sequences;
+        Sequences sequences( x1 , x2 );
+        return boost::fusion::all( boost::fusion::zip_view< Sequences >( sequences ) ,
+                                   boost::fusion::make_fused( detail::same_size_fusion() ) );
+    }
+};
+
+
+}
+}
+}
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_UTIL_SAME_SIZE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/state_wrapper.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/state_wrapper.hpp
new file mode 100755
index 0000000..cce280a
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/state_wrapper.hpp
@@ -0,0 +1,50 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/util/state_wrapper.hpp
+
+ [begin_description]
+ State wrapper for the state type in all stepper. The state wrappers are responsible for construction,
+ destruction, copying construction, assignment and resizing.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_STATE_WRAPPER_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_STATE_WRAPPER_HPP_INCLUDED
+
+
+#include <boost/type_traits/integral_constant.hpp>
+
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/resize.hpp>
+#include <boost/numeric/odeint/util/same_size.hpp>
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+template< class V , class Enabler = void >
+struct state_wrapper
+{
+    typedef state_wrapper< V > state_wrapper_type;
+
+    V m_v;
+};
+
+
+}
+}
+}
+
+
+
+#endif // BOOST_NUMERIC_ODEINT_UTIL_STATE_WRAPPER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp
new file mode 100755
index 0000000..d05e849
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp
@@ -0,0 +1,260 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/util/ublas_wrapper.hpp
+
+ [begin_description]
+ Resizing for ublas::vector and ublas::matrix
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_UBLAS_WRAPPER_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_UBLAS_WRAPPER_HPP_INCLUDED
+
+
+#include <boost/type_traits/integral_constant.hpp>
+#include <boost/numeric/ublas/vector.hpp>
+#include <boost/numeric/ublas/matrix.hpp>
+#include <boost/numeric/ublas/lu.hpp>
+
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+/*
+ * resizeable specialization for boost::numeric::ublas::vector
+ */
+template< class T , class A >
+struct is_resizeable< boost::numeric::ublas::vector< T , A > >
+{
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+
+
+/*
+ * resizeable specialization for boost::numeric::ublas::matrix
+ */
+template< class T , class L , class A >
+struct is_resizeable< boost::numeric::ublas::matrix< T , L , A > >
+{
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+
+
+/*
+ * resizeable specialization for boost::numeric::ublas::permutation_matrix
+ */
+template< class T , class A >
+struct is_resizeable< boost::numeric::ublas::permutation_matrix< T , A > >
+{
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+
+
+// specialization for ublas::matrix
+// same size and resize specialization for matrix-matrix resizing
+template< class T , class L , class A , class T2 , class L2 , class A2 >
+struct same_size_impl< boost::numeric::ublas::matrix< T , L , A > , boost::numeric::ublas::matrix< T2 , L2 , A2 > >
+{
+    static bool same_size( const boost::numeric::ublas::matrix< T , L , A > &m1 ,
+                           const boost::numeric::ublas::matrix< T2 , L2 , A2 > &m2 )
+    {
+        return ( ( m1.size1() == m2.size1() ) && ( m1.size2() == m2.size2() ) );
+    }
+};
+
+template< class T , class L , class A , class T2 , class L2 , class A2 >
+struct resize_impl< boost::numeric::ublas::matrix< T , L , A > , boost::numeric::ublas::matrix< T2 , L2 , A2 > >
+{
+    static void resize( boost::numeric::ublas::matrix< T , L , A > &m1 ,
+                        const boost::numeric::ublas::matrix< T2 , L2 , A2 > &m2 )
+    {
+        m1.resize( m2.size1() , m2.size2() );
+    }
+};
+
+
+
+// same size and resize specialization for matrix-vector resizing
+template< class T , class L , class A , class T_V , class A_V >
+struct same_size_impl< boost::numeric::ublas::matrix< T , L , A > , boost::numeric::ublas::vector< T_V , A_V > >
+{
+    static bool same_size( const boost::numeric::ublas::matrix< T , L , A > &m ,
+                           const boost::numeric::ublas::vector< T_V , A_V > &v )
+    {
+        return ( ( m.size1() == v.size() ) && ( m.size2() == v.size() ) );
+    }
+};
+
+template< class T , class L , class A , class T_V , class A_V >
+struct resize_impl< boost::numeric::ublas::matrix< T , L , A > , boost::numeric::ublas::vector< T_V , A_V > >
+{
+    static void resize( boost::numeric::ublas::matrix< T , L , A > &m ,
+                        const boost::numeric::ublas::vector< T_V , A_V > &v )
+    {
+        m.resize( v.size() , v.size() );
+    }
+};
+
+
+
+// specialization for ublas::permutation_matrix
+// same size and resize specialization for matrix-vector resizing
+template< class T , class A , class T_V , class A_V >
+struct same_size_impl< boost::numeric::ublas::permutation_matrix< T , A > , boost::numeric::ublas::vector< T_V , A_V > >
+{
+    static bool same_size( const boost::numeric::ublas::permutation_matrix< T , A > &m ,
+                           const boost::numeric::ublas::vector< T_V , A_V > &v )
+    {
+        return ( m.size() == v.size() ); // && ( m.size2() == v.size() ) );
+    }
+};
+
+template< class T , class A , class T_V , class A_V >
+struct resize_impl< boost::numeric::ublas::vector< T_V , A_V > , boost::numeric::ublas::permutation_matrix< T , A > >
+{
+    static void resize( const boost::numeric::ublas::vector< T_V , A_V > &v,
+                        boost::numeric::ublas::permutation_matrix< T , A > &m )
+    {
+        m.resize( v.size() , v.size() );
+    }
+};
+
+
+
+
+
+
+
+template< class T , class A >
+struct state_wrapper< boost::numeric::ublas::permutation_matrix< T , A > > // with resizing
+{
+    typedef boost::numeric::ublas::permutation_matrix< T , A > state_type;
+    typedef state_wrapper< state_type > state_wrapper_type;
+
+    state_type m_v;
+
+    state_wrapper() : m_v( 1 ) // permutation matrix constructor requires a size, choose 1 as default
+    { }
+
+};
+
+
+
+
+} } }
+
+//// all specializations done, ready to include state_wrapper
+//
+//#include <boost/numeric/odeint/util/state_wrapper.hpp>
+//
+//namespace boost {
+//namespace numeric {
+//namespace odeint {
+//
+///* specialization for permutation matrices wrapper because we need to change the construction */
+//template< class T , class A >
+//struct state_wrapper< boost::numeric::ublas::permutation_matrix< T , A > , true > // with resizing
+//{
+//    typedef boost::numeric::ublas::permutation_matrix< T , A > state_type;
+//    typedef state_wrapper< state_type > state_wrapper_type;
+//    //typedef typename V::value_type value_type;
+//    typedef boost::true_type is_resizeable;
+//
+//    state_type m_v;
+//
+//    state_wrapper() : m_v( 1 ) // permutation matrix constructor requires a size, choose 1 as default
+//    { }
+//
+//    template< class T_V , class A_V >
+//    bool same_size( const boost::numeric::ublas::vector< T_V , A_V > &x )
+//    {
+//        return boost::numeric::odeint::same_size( m_v , x );
+//    }
+//
+//    template< class T_V , class A_V >
+//    bool resize( const boost::numeric::ublas::vector< T_V , A_V > &x )
+//    {
+//        //standard resizing done like for std::vector
+//        if( !same_size( x ) )
+//        {
+//            boost::numeric::odeint::resize( m_v , x );
+//            return true;
+//        } else
+//            return false;
+//    }
+//};
+//
+//}
+//}
+//}
+
+
+/*
+ * preparing ublas::matrix for boost::range, such that ublas::matrix can be used in all steppers with the range algebra
+ */
+
+namespace boost
+{
+template< class T , class L , class A >
+struct range_mutable_iterator< boost::numeric::ublas::matrix< T , L , A > >
+{
+    typedef typename boost::numeric::ublas::matrix< T , L , A >::array_type::iterator type;
+};
+
+template< class T , class L , class A >
+struct range_const_iterator< boost::numeric::ublas::matrix< T , L , A > >
+{
+    typedef typename boost::numeric::ublas::matrix< T , L , A >::array_type::const_iterator type;
+};
+
+} // namespace boost
+
+
+namespace boost { namespace numeric { namespace ublas {
+
+template< class T , class L , class A >
+inline typename matrix< T , L , A >::array_type::iterator
+range_begin( matrix< T , L , A > &x )
+{
+    return x.data().begin();
+}
+
+template< class T , class L , class A >
+inline typename matrix< T , L , A >::array_type::const_iterator
+range_begin( const matrix< T , L , A > &x )
+{
+    return x.data().begin();
+}
+
+template< class T , class L , class A >
+inline typename matrix< T , L , A >::array_type::iterator
+range_end( matrix< T , L , A > &x )
+{
+    return x.data().end();
+}
+
+template< class T , class L , class A >
+inline typename matrix< T , L , A >::array_type::const_iterator
+range_end( const matrix< T , L , A > &x )
+{
+    return x.data().end();
+}
+
+} } } // namespace boost::numeric::ublas
+
+
+#endif // BOOST_NUMERIC_ODEINT_UTIL_UBLAS_WRAPPER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unit_helper.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unit_helper.hpp
new file mode 100755
index 0000000..67d4cdf
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unit_helper.hpp
@@ -0,0 +1,152 @@
+/*
+  [auto_generated]
+  boost/numeric/odeint/util/unit_helper.hpp
+
+  [begin_description]
+  Get and set the value of a unit.
+  [end_description]
+
+  Copyright 2009-2011 Karsten Ahnert
+  Copyright 2009-2011 Mario Mulansky
+
+  Distributed under the Boost Software License, Version 1.0.
+  (See accompanying file LICENSE_1_0.txt or
+  copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_UNIT_HELPER_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_UNIT_HELPER_HPP_INCLUDED
+
+
+#ifndef __CUDACC__
+#include <boost/units/quantity.hpp>
+#include <boost/units/get_dimension.hpp>
+#include <boost/units/get_system.hpp>
+#endif
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+
+namespace detail {
+
+    template<class T , class Enabler = void >
+    struct get_unit_value_impl
+    {
+        static T value(const T &t)
+        {
+            return t;
+        }
+        typedef T result_type;
+    };
+    
+#ifndef __CUDACC__
+    template<class Unit , class T>
+    struct get_unit_value_impl< boost::units::quantity< Unit , T> >
+    {
+        static T value( const boost::units::quantity< Unit , T> &t )
+        {
+            return t.value();
+        }
+        typedef T result_type;
+    };
+#endif
+
+
+
+
+
+    template<class T , class V , class Enabler = void >
+    struct set_unit_value_impl
+    {
+        static void set_value(T &t , const V &v)
+        {
+            t = v;
+        }
+    };
+
+#ifndef __CUDACC__
+    template<class Unit , class T , class V>
+    struct set_unit_value_impl<boost::units::quantity<Unit , T> , V>
+    {
+        static void set_value(boost::units::quantity<Unit , T> &t , const V &v)
+        {
+            t = boost::units::quantity<Unit , T>::from_value(v);
+        }
+    };
+#endif
+
+
+
+} // namespace detail
+
+
+    template<class T>
+    typename detail::get_unit_value_impl<T>::result_type get_unit_value(const T &t)
+    {
+        return detail::get_unit_value_impl<T>::value(t);
+    }
+
+
+    template<class T , class V>
+
+    void set_unit_value(T &t , const V &v)
+    {
+        return detail::set_unit_value_impl<T , V>::set_value(t , v);
+    }
+
+
+
+    template< class T >
+    struct unit_value_type
+    {
+        typedef T type;
+    };
+
+#ifndef __CUDACC__
+    template< class Unit , class Y >
+    struct unit_value_type< boost::units::quantity< Unit , Y > >
+    {
+        typedef Y type;
+    };
+#endif
+
+
+
+
+
+
+
+
+
+
+    template< typename Time >
+    struct inverse_time
+    {
+        typedef Time type;
+    };
+
+#ifndef __CUDACC__
+    template< typename Unit , typename Value >
+    struct inverse_time< boost::units::quantity< Unit , Value > >
+    {
+        typedef boost::units::quantity< Unit , Value > time_type;
+        typedef typename boost::units::get_dimension< time_type >::type dimension;
+        typedef typename boost::units::get_system< time_type >::type system;
+        typedef typename boost::mpl::divides< boost::units::dimensionless_type , dimension >::type inv_dimension;
+        typedef boost::units::unit< inv_dimension , system > inv_unit;
+        typedef boost::units::quantity< inv_unit , Value > type;
+    };
+#endif
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+
+#endif // BOOST_NUMERIC_ODEINT_UTIL_UNIT_HELPER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp
new file mode 100755
index 0000000..a21f234
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp
@@ -0,0 +1,87 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/util/unwrap_reference.hpp
+
+ [begin_description]
+ unwrap_reference
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_NUMERIC_ODEINT_UTIL_UNWRAP_REFERENCE_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_UTIL_UNWRAP_REFERENCE_HPP_INCLUDED
+
+
+#include <boost/numeric/odeint/config.hpp>
+
+
+#if BOOST_NUMERIC_ODEINT_CXX11
+#include <functional>
+#else
+#include <boost/ref.hpp>
+#endif
+
+namespace boost {
+
+#if BOOST_NUMERIC_ODEINT_CXX11
+template<typename T> class reference_wrapper;
+
+template<typename T> class unwrap_reference;
+#endif
+
+namespace numeric {
+namespace odeint {
+
+
+#if BOOST_NUMERIC_ODEINT_CXX11
+
+template<typename T>
+struct unwrap_reference
+{
+    typedef typename std::remove_reference<T>::type type;
+};
+
+template<typename T>
+struct unwrap_reference< std::reference_wrapper<T> >
+{
+    typedef typename std::remove_reference<T>::type type;
+};
+
+template<typename T>
+struct unwrap_reference< boost::reference_wrapper<T> >
+{
+        typedef typename boost::unwrap_reference<T>::type type;
+};
+
+#else
+
+using ::boost::unwrap_reference;
+
+#endif
+
+namespace detail
+{
+
+#if BOOST_NUMERIC_ODEINT_CXX11
+
+using ::std::ref;
+
+#else
+
+using ::boost::ref;
+
+#endif
+}
+
+}
+}
+}
+
+#endif // BOOST_NUMERIC_ODEINT_UTIL_UNWRAP_REFERENCE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/version.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/version.hpp
new file mode 100755
index 0000000..94c974e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/version.hpp
@@ -0,0 +1,55 @@
+/*
+ [auto_generated]
+ boost/numeric/odeint/version.hpp
+
+ [begin_description]
+ Defines the current version of odeint.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#ifndef BOOST_NUMERIC_ODEINT_VERSION_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_VERSION_HPP_INCLUDED
+
+#include <string>
+#include <sstream>
+
+
+#define ODEINT_MAJOR_VERSION 2
+#define ODEINT_MINOR_VERSION 2
+#define ODEINT_PATCH_LEVEL 0
+#define ODEINT_VERSION ( ODEINT_MAJOR_VERSION * 100000 + ODEINT_MINOR_VERSION * 100 + ODEINT_PATCH_LEVEL )
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+namespace version {
+
+const int major = ODEINT_MAJOR_VERSION ;
+const int minor = ODEINT_MINOR_VERSION ;
+const int patch_level = ODEINT_PATCH_LEVEL ;
+
+}
+
+inline std::string get_version_string( void )
+{
+    std::ostringstream str;
+    str << "v" << version::major << "." << version::minor;
+    if( version::patch_level != 0 ) str << "_" << version::patch_level;
+    return str.str();
+}
+
+
+}
+}
+}
+
+#endif // BOOST_NUMERIC_ODEINT_VERSION_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/Jamfile.v2
new file mode 100755
index 0000000..88ff311
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/Jamfile.v2
@@ -0,0 +1,277 @@
+# (C) Copyright 2009 - 2012 : Karsten Ahnert, Mario Mulansky
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+
+
+import quickbook ;
+import boostbook ;
+import doxygen ;
+import modules ;
+
+project : requirements
+        <include>$(BOOST_ROOT)/tools/auto_index/include
+        ;
+
+if --enable-index in  [ modules.peek : ARGV ]
+{
+    ECHO "Building the odeint docs with automatic index generation enabled." ;
+
+    using auto-index ;
+
+    project : requirements
+
+        <auto-index>on
+        <auto-index-verbose>on
+        
+        # Choose indexing method (separately for html and pdf):
+        <format>html:<auto-index-internal>on  # on (or off) to use internally generated indexes.
+        # <format>html:<xsl:param>generate.index=0 # Don't let the XSL stylesheets generate indexes.
+        
+        <format>pdf:<auto-index-internal>off # on (or off) to use internally generated indexes.
+        # <auto-index-type>index  # Use <index>...</index> as the XML wrapper.
+        
+        <format>pdf:<xsl:param>index.on.type=1 # For the native stylesheets to generate the different indexes.
+        # PDF native index support is probably better for PDFs as then you actually get page numbers.
+
+        <auto-index-script>odeint.idx # Specifies the name of the index script to load. 
+        <auto-index-prefix>../../../.. 
+        
+        # Inform Quickbook that there is to be an index(es).
+        <quickbook-define>enable_index
+    ;
+}
+else
+{
+    ECHO "Building the odeint docs with automatic index generation disabled. To get an auto-index, try building with --enable-index." ;
+}
+
+
+
+doxygen reference 
+    :
+#    [ glob ../../../../boost/numeric/odeint/*.hpp ] 
+    [ glob ../../../../boost/numeric/odeint/stepper/*.hpp ]
+    [ glob ../../../../boost/numeric/odeint/stepper/base/*.hpp ]
+#    [ glob ../../../../boost/numeric/odeint/stepper/generation/*.hpp ]
+    [ glob ../../../../boost/numeric/odeint/integrate/*.hpp : ../../../../boost/numeric/odeint/integrate/null_observer.hpp ../../../../boost/numeric/odeint/integrate/observer_collection.hpp ]
+    [ glob ../../../../boost/numeric/odeint/iterator/*.hpp ]
+#    [ glob ../../../../boost/numeric/odeint/algebra/*.hpp ]
+#    [ glob ../../../../boost/numeric/odeint/util/*.hpp ]
+#    ../../../../boost/numeric/odeint.hpp
+    : 
+
+    # Lots of parameters passed to Doxygen. You can see these in the doxygen docs, or the Wizard Expert tab displays them.
+    # If you have successfuly built your Doxygen docs standalone using the Wizard (strongly recommended as it is much quicker).
+    # The values in your project's doxyfile are what to put as the Doxygen parameters passed below.
+    <doxygen:param>WARNINGS=YES
+    <doxygen:param>WARN_LOGFILE=AutoDoxywarnings.log
+    <doxygen:param>WARN_IF_UNDOCUMENTED=NO # Default NO but useful if you aim to Doxygen document *all* members.
+    <doxygen:param>QUIET=NO
+    <doxygen:param>WARN_NO_PARAMDOC=NO # Default no, but YES useful if you aim to document all function parameters.
+    <doxygen:param>DOXYFILE_ENCODING=UTF-8
+    <doxygen:param>PROJECT_NAME="odeint"
+    <doxygen:param>PROJECT_NUMBER=2.2
+    <doxygen:param>TAB_SIZE=2
+    <doxygen:param>SORT_MEMBER_DOCS=NO
+    <doxygen:param>SORT_BRIEF_DOCS=NO
+    <doxygen:param>SORT_MEMBERS_CTORS_1ST=NO
+    <doxygen:param>EXTRACT_PRIVATE=NO 
+    <doxygen:param>INLINE_INHERITED_MEMB=YES
+    <doxygen:param>INHERIT_DOCS=YES
+    <doxygen:param>EXTRACT_STATIC=YES
+    <doxygen:param>EXTRACT_ANON_NSPACES=NO
+    <doxygen:param>EXTRACT_LOCAL_CLASSES=YES
+    <doxygen:param>EXTRACT_LOCAL_METHODS=YES
+    <doxygen:param>HIDE_UNDOC_MEMBERS=NO
+    <doxygen:param>HIDE_UNDOC_CLASSES=YES
+    <doxygen:param>HIDE_FRIEND_COMPOUNDS=NO
+    #<doxygen:param>HIDE_INBODY_DOCS=NO
+    <doxygen:param>INTERNAL_DOCS=YES
+    <doxygen:param>CASE_SENSE_NAMES=NO
+    <doxygen:param>HIDE_SCOPE_NAMES=NO
+
+    # Preprocessor settings.
+    # Some ugly examples of predefined macro calls (from Boost.Units library) :(
+    <doxygen:param>"PREDEFINED= \\
+    \"BOOST_UNITS_STATIC_CONSTANT(a,b)=static const b a\" \\
+    \"BOOST_UNITS_TYPEOF(a)=typeof(a)\" \\
+    \"BOOST_PREVENT_MACRO_SUBSTITUTION=\" \\
+    \"BOOST_UNITS_HAS_TYPEOF=1\" \\
+    \"DOXYGEN_SKIP=1\" "
+    <doxygen:param>ENABLE_PREPROCESSING=YES # Evaluates all C-preprocessor directives found in files.
+    <doxygen:param>MACRO_EXPANSION=YES # Will expand all macro names.
+    <doxygen:param>EXPAND_ONLY_PREDEF=YES # Only predefined macros expanded.  See units library for an example.
+    <doxygen:param>SEARCH_INCLUDES=YES # Search #include files found.
+    <doxygen:param>INLINE_INFO=YES # If the INLINE_INFO tag is set to YES (the default) then a tag [inline] is inserted in the documentation for inline members.
+
+    <doxygen:param>SHOW_INCLUDE_FILES=NO # List of the files that are included by a file in the documentation of that file.
+    <doxygen:param>REPEAT_BRIEF=YES # Prepend the brief description of a member or function before the detailed description
+    <doxygen:param>BRIEF_MEMBER_DESC=YES # Include brief member descriptions after the members that are listed in the file and class
+    <doxygen:param>MULTILINE_CPP_IS_BRIEF=YES # Treat a multi-line C++ special comment block (i.e. a block of //! or /// comments) as a brief description.
+    # May be best to always use \brief and \details to avoid ambiguity?
+    # <doxygen:param>STRIP_FROM_PATH=NO # Most useful to leave default to strip just the directory from which Doxygen is run.
+    # Yes gives the full path, but NO is more useful, only giving enough to be
+    # <doxygen:param>CPP_CLI_SUPPORT=NO # unless, most unusually, you are compiled for a 'managed' CLI application.
+    <doxygen:param>SHOW_USED_FILES=YES # Default YES to show a list files used to generate documention.
+    <doxygen:param>SHOW_DIRECTORIES=YES # Default NO, but useful to show directory heirarchy.
+    <doxygen:param>SHOW_FILES=YES # Default YES is to include a tab for a page of files listed.  Useful.
+    <doxygen:param>SHOW_NAMESPACES=YES # Default YES to include tab for list of namespaces.  Useful if you have namespacess other than boost::
+    <doxygen:param>FILE_PATTERNS= # Types of files to be used as input. Default includes *.c *.cc *.cxx *.cpp *.c++ *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp *.h++ *.py
+    #  Might include .qbk?
+
+    <doxygen:param>RECURSIVE=YES # Search recursively down subdirectories.
+    <doxygen:param>EXCLUDE= # Files or directories that should be excluded from INPUT source files.
+    #  Headers and footers are actually rather attractive,
+    #     <doxygen:param>HTML_HEADER="doxygen/checks_doxygen_header.html" # A sample including a draft stamp and 'Not_Yet_In_Boost' logo.
+    #  Take care that if you use this (recommended), you need to ensure that the html
+    #    <doxygen:param>HTML_FOOTER="doxygen/checks_doxygen_footer.html" # This is very useful to add copyright, date of revision, versioning etc.
+
+    # A custom stylesheet is also useful, as the default syntax coloring is 'unusual' ;-)
+    <doxygen:param>HTML_STYLESHEET="doxygen/doxygen.css" # Placed in the doxygen directory,
+    # this will change to your choice of C++ syntax coloring when viewing source from Doxygen.
+    # Users can place (or edit) their own personal choice CSS file here.
+
+    # Default is just Reference but you can provide your own title for reference section here.
+    <xsl:param>"boost.doxygen.reftitle=odeint Reference"
+;
+
+
+xml odeint 
+    :
+    odeint.qbk
+    :
+;
+
+boostbook standalone
+    :
+    odeint
+    :
+
+    # Path for links to Boost:
+    #<xsl:param>boost.root=\$(local-boost-root) # Link to Boost logo boost.png
+    # Links are relative and trying to make absolute does NOT work.
+    # And remember that all links MUST (unless in quotes) use  backslash, not forward that is trip char.
+
+    <xsl:param>boost.root=../../../../.. # OK but link to I:/boost_trunk/boost.png
+
+    # Also control links to admonitions, so need to set separately.
+    #<xsl:param>boost.root=../../../../../../../boost_1_47_0 # OK file:///I:/boost_1_48_0/boost.png
+    # Quickbook [@boost:/boost/units/detail/utility.hpp] should make it relative to xsl parameter boost.root.
+
+    # Use the your own local Boost stylesheet:
+    # <xsl:param>html.stylesheet=../html/boostbook.css
+
+    # Some general style settings:
+    #   see http://docbook.sourceforge.net/release/xsl/current/doc/html/index.html
+    <xsl:param>table.footnote.number.format=1 # Identifies the format used for footnote numbers in tables.
+    <xsl:param>footnote.number.format=1 # Identifies the format used for text footnote numbers.
+
+    # Default to not including the Boost logo in the navbar, when one expressly asks to include the navbar.
+    # Boost jamroot now includes
+    # Default to not include a navbar.
+    #<xsl:param>nav.layout=none # No navigation bar (home, prev, next).
+    # defining creates a runtime error: Global parameter nav.layout already defined
+    #<xsl:param>nav.layout=horizontal # to get a horizontal navigation bar (you probably DO want this).
+
+    <xsl:param>boost.image.src=logo.jpg #
+    <xsl:param>boost.image.width=294 # Width of logo in pixels.
+    <xsl:param>boost.image.height=127 # Height of logo in pixels.
+
+
+    # HTML options:
+    # ------------
+    <xsl:param>navig.graphics=1  # Use graphics not text for navigation.
+    <xsl:param>chunk.section.depth=2  # How far down we chunk nested sections, basically all of them.
+    <xsl:param>chunk.first.sections=1  # Don't put the first section on the same page as the TOC.
+    <xsl:param>toc.section.depth=2  # How far down sections get TOCs.
+    <xsl:param>toc.max.depth=2  # Max depth in each TOC.
+    <xsl:param>generate.section.toc.level=3  # How far down we go with TOCs.
+
+    #<format>html:<xsl:param>admon.graphics.extension=".png"  # default type for admonitions (important, warning, note ...)
+    #<format>html:<xsl:param>admon.graphics.path=$(nav-images)/ # path to admonition (warning, note...) image (.png) files.
+
+    # <xsl:param name="draft.watermark.image">http://docbook.sourceforge.net/release/images/draft.png</xsl:param>
+    # but use a local copy of draft.png.
+
+    # PDF Options:
+    # -----------
+    # TOC Generation
+    <xsl:param>fop1.extensions=0 # DISable extensions for FOP version 0.90 and later .
+    <format>pdf:<xsl:param>fop.extensions=0 # DISable extensions for FOP version 0.20.5 and earlier.
+    <format>pdf:<xsl:param>xep.extensions=1 # Use XEP extension- PDF bookmarks, document information and better index processing.
+
+    # No indent on body text:
+    <format>pdf:<xsl:param>body.start.indent=0pt #
+    <format>pdf:<xsl:param>paper.type=A4  # Paper type = A4
+    #  http://xml.resource.org/public/rfc/html/rfc2346.html
+    #  Making Postscript and PDF International, J Palme, RFC 2346 recommends
+    #  If you are using US letter paper format, ensure that both left and right margins are at least 21 mm (0.8 in).
+    #  If you are using A4 paper, ensure that both the top and bottom margins are at least 33 mm (1.3 in).
+    # Margins sizes:
+    #<format>pdf:<xsl:param>page.margin.top=1.3in
+    #<format>pdf:<xsl:param>page.margin.inner=0.8in
+    #<format>pdf:<xsl:param>page.margin.bottom=1.3in
+    #<format>pdf:<xsl:param>page.margin.outer=0.8in
+
+    # http://docbook.sourceforge.net/release/xsl/current/doc/index.html
+    # DocBook XSL Stylesheets: Reference Documentation.
+
+    # Yes, we want graphics for admonishments:
+    <xsl:param>admon.graphics=1
+    # Set these one for PDF generation *only*:
+    # In PDF format, default PNG graphics are awful, so better use SVG images (type .svg) instead.
+    <format>pdf:<xsl:param>admon.graphics.extension=".svg"  #
+    <format>pdf:<xsl:param>use.role.for.mediaobject=1 # Use print role on next line.
+    <format>pdf:<xsl:param>preferred.mediaobject.role=print # pdf role is to be printed.
+    <format>pdf:<xsl:param>img.src.path=$(images_location)/ # Path of image (.svg) files. (Note trailing /) ? 
+    <format>pdf:<xsl:param>admon.graphics.path=$(nav_images)/ # path to admonition (warning, note...) image (.svg) files.
+    <format>pdf:<xsl:param>draft.mode="yes" # Yes if draft watermark wanted!
+    #<format>pdf:<xsl:param>draft.watermark.image="draft.png" # Watermark (local copy).
+    #<format>pdf:<xsl:param>draft.watermark.image=http://docbook.sourceforge.net/release/images/draft.png # Watermark.
+
+    <dependency>reference # Doxygen  reference section
+    # <dependency>pdf-install # final pdf
+    #  <dependency>png-install # Boost standard icons in both png
+    #	<dependency>svg-install # and svg.
+;
+
+
+# To install a copy of 'master' boostbook.css and logo.
+# install html : ../../../doc/html/boostbook.css ;
+# install ../ : ../../../boost.png ;
+
+
+
+# Install (copy) the 'master' copy of boostbook Cascading Style sheet
+# from your current Boost-root to the /doc/html folder.
+# path-constant boost-root : [ modules.peek : BOOST ] ;
+# install css-install : $(boost-root)/doc/src/boostbook.css : <location>html ;
+
+# path-constant boost-root : [ modules.peek : BOOST ] ;
+
+
+# Install (copy) the 'master' copies of all icon images (both PNG and SVG)
+# and the Boost logo from your current Boost-root
+# to the local /doc/html/images folder so that html is complete and standalone. 
+# install png-install : [ glob $(boost-root)/doc/src/images/*.png $(boost-root)/boost.png ] : <location>html/images ;
+# install svg-install : [ glob $(boost-root)/doc/src/images/*.svg ] : <location>html/images ;
+
+#   install unordered_pdf : standalone/<format>pdf : <location>. ;
+#   explicit unordered_pdf ;
+# The explicit rule is there so that it's only installed when the target is explicitly named.
+
+# Effectively copies the file from \bin folder to the \doc folder.
+# install pdf-install : standalone : <location>. <install-type>PDF ;
+# But will not work as expected if doxygen and/or autoindex is used
+# because a modified pdf file is created, so this command below
+# will rename the file to the expected filename, here quick_auto_dox_index.pdf.
+# <location>. means installed in same place as this jamfile, /doc.
+
+install pdf-install : standalone : <install-type>PDF <location>. <name>checks.pdf ;
+
+install callouts : [ glob src/images/callouts/*.png ] : <location>html/images/callouts ;
+
+
+
+
+
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/acknowledgements.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/acknowledgements.qbk
new file mode 100755
index 0000000..417154e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/acknowledgements.qbk
@@ -0,0 +1,37 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section Acknowledgments]
+
+
+[/
+
+* Steven Watanabe for managing the Boost review process.
+* All people who participated in the odeint review process on the Boost mailing list.
+* Paul Bristow for helping with the documentation.
+* The Google Summer Of Code (GSOC) program for funding and Andrew Sutton for supervising us during the GSOC and for lots of useful discussions and feedback about many implementation details..
+* Joachim Faulhaber for motivating us to participate in the Boost review process and many detailed comments about the library.
+* All users of odeint. They are the main motivation for our efforts.
+
+
+[h3 Contributers]
+
+* Andreas Angelopoulos implemented the sparse matrix implicit Euler stepper using the MTL4 library.
+* Rajeev Singh implemented the stiff Van der Pol oscillator example.
+* Sylwester Arabas improved the documentation.
+* Denis Demidov provided the adaption to the VexCL and Viennacl libraries.
+* Christoph Koke provided improved binders.
+* Lee Hodgkinson provided the black hole example.
+]
+
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts.qbk
new file mode 100755
index 0000000..84b628b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts.qbk
@@ -0,0 +1,26 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section:concepts Concepts]
+[# odeint.concepts]
+
+[include concepts/system.qbk]
+[include concepts/symplectic_system.qbk]
+[include concepts/implicit_system.qbk]
+[include concepts/stepper.qbk]
+[include concepts/error_stepper.qbk]
+[include concepts/controlled_stepper.qbk]
+[include concepts/dense_output_stepper.qbk]
+[include concepts/state_algebra_operations.qbk]
+[include concepts/state_wrapper.qbk]
+
+[endsect]
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/controlled_stepper.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/controlled_stepper.qbk
new file mode 100755
index 0000000..996b005
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/controlled_stepper.qbk
@@ -0,0 +1,74 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section Controlled Stepper]
+
+This concept specifies the interface a controlled stepper has to fulfill to be used within __integrate_functions.
+
+[heading Description]
+
+A controlled stepper following this Controlled Stepper concept provides the possibility to perform one step of the solution /x(t)/ of an ODE with step-size /dt/ to obtain /x(t+dt)/ with a given step-size /dt/.
+Depending on an error estimate of the solution the step might be rejected and a smaller step-size is suggested.
+
+[heading Associated types]
+
+*  '''<para>'''[*state_type]'''</para>'''
+'''<para>'''`Stepper::state_type`'''</para>'''
+'''<para>'''The type characterizing the state of the ODE, hence ['x].'''</para>'''
+
+*  '''<para>'''[*deriv_type]'''</para>'''
+'''<para>'''`Stepper::deriv_type`'''</para>'''
+'''<para>'''The type characterizing the derivative of the ODE, hence ['d x/dt].'''</para>'''
+
+*  '''<para>'''[*time_type]'''</para>'''
+'''<para>'''`Stepper::time_type`'''</para>'''
+'''<para>'''The type characterizing the dependent variable of the ODE, hence the time ['t].'''</para>'''
+
+*  '''<para>'''[*value_type]'''</para>'''
+'''<para>'''`Stepper::value_type`'''</para>'''
+'''<para>'''The numerical data type which is used within the stepper, something like `float`, `double`, `complex&lt; double &gt;`.'''</para>'''
+
+*  '''<para>'''[*stepper_category]'''</para>'''
+'''<para>'''`Stepper::stepper_category`'''</para>'''
+'''<para>'''A tag type characterizing the category of the stepper. This type must be convertible to `controlled_stepper_tag`.'''</para>'''
+
+
+
+[heading Notation]
+
+[variablelist 
+  [[`ControlledStepper`] [A type that is a model of Controlled Stepper]]
+  [[`State`] [A type representing the state /x/ of the ODE]]
+  [[`Time`] [A type representing the time /t/ of the ODE]]
+  [[`stepper`] [An object of type `ControlledStepper`]]
+  [[`x`] [Object of type `State`]]
+  [[`t`, `dt`] [Objects of type `Time`]]
+  [[`sys`] [An object defining the ODE, should be a model of __system, __symplectic_system, __simple_symplectic_system or __implicit_system.]]
+]
+
+[heading Valid Expressions]
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Do step] [``stepper.try_step( sys , x , t , dt )``] [`controlled_step_result`] [Tries one step of step size `dt`. If the step was successful, `success` is returned, the resulting state is written to `x`, the new time is stored in `t` and `dt` now contains a new (possibly larger) step-size for the next step. If the error was too big, `rejected` is returned and the results are neglected - `x` and `t` are unchanged and `dt` now contains a reduced step-size to be used for the next try.] ]
+  [/ [Do step with reference] [`stepper.try_step( boost::ref(sys) , x , t , dt )`] [`void`] [Same as above with `System` as reference] ]
+]
+
+[heading Models]
+
+* `controlled_error_stepper< runge_kutta_cash_karp54 >`
+* `controlled_error_stepper_fsal< runge_kutta_dopri5 >`
+* `controlled_error_stepper< runge_kutta_fehlberg78 >`
+* `rosenbrock4_controller`
+* `bulirsch_stoer`
+
+[endsect]
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/dense_output_stepper.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/dense_output_stepper.qbk
new file mode 100755
index 0000000..8834f61
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/dense_output_stepper.qbk
@@ -0,0 +1,81 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+
+[section Dense Output Stepper]
+
+This concept specifies the interface a dense output stepper has to fulfill to be used  within __integrate_functions.
+
+[heading Description]
+A dense output stepper following this Dense Output Stepper concept provides the possibility to perform a single step of the solution /x(t)/ of an ODE to obtain /x(t+dt)/.
+The step-size `dt` might be adjusted automatically due to error control.
+Dense output steppers also can interpolate the solution to calculate the state /x(t')/ at any point /t <= t' <= t+dt/.
+
+[heading Associated types]
+
+*  '''<para>'''[*state_type]'''</para>'''
+'''<para>'''`Stepper::state_type`'''</para>'''
+'''<para>'''The type characterizing the state of the ODE, hence ['x].'''</para>'''
+
+*  '''<para>'''[*deriv_type]'''</para>'''
+'''<para>'''`Stepper::deriv_type`'''</para>'''
+'''<para>'''The type characterizing the derivative of the ODE, hence ['d x/dt].'''</para>'''
+
+*  '''<para>'''[*time_type]'''</para>'''
+'''<para>'''`Stepper::time_type`'''</para>'''
+'''<para>'''The type characterizing the dependent variable of the ODE, hence the time ['t].'''</para>'''
+
+*  '''<para>'''[*value_type]'''</para>'''
+'''<para>'''`Stepper::value_type`'''</para>'''
+'''<para>'''The numerical data type which is used within the stepper, something like `float`, `double`, `complex&lt; double &gt;`.'''</para>'''
+
+*  '''<para>'''[*stepper_category]'''</para>'''
+'''<para>'''`Stepper::stepper_category`'''</para>'''
+'''<para>'''A tag type characterizing the category of the stepper. This type must be convertible to `dense_output_stepper_tag`.'''</para>'''
+
+
+[heading Notation]
+
+[variablelist 
+  [[`Stepper`] [A type that is a model of Dense Output Stepper]]
+  [[`State`] [A type representing the state /x/ of the ODE]]
+  [[`stepper`] [An object of type `Stepper`]]
+  [[`x0`, `x`] [Object of type `State`]]
+  [[`t0`, `dt0`, `t`] [Objects of type `Stepper::time_type`]]
+  [[`sys`] [An object defining the ODE, should be a model of __system, __symplectic_system, __simple_symplectic_system or __implicit_system.]]
+]
+
+[heading Valid Expressions]
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+
+  [[Initialize integration] [`stepper.initialize( x0 , t0 , dt0 )`] [void] [Initializes the stepper with initial values `x0`, `t0` and `dt0`.]]
+
+  [[Do step] [`stepper.do_step( sys )`] [`std::pair< Stepper::time_type , Stepper::time_type >`] [Performs one step using the ODE defined by `sys`. The step-size might be changed internally due to error control. This function returns a pair containing `t` and `t+dt` representing the interval for which interpolation can be performed.] ]
+
+  [/ [Do step with reference] [`stepper.do_step( boost::ref( sys ) )`] [`std::pair< Stepper::time_type , Stepper::time_type >`] [Same as above with `System` as reference] ]
+
+  [[Do interpolation] [`stepper.calc_state( t_inter , x )`] [`void`] [Performs the interpolation to calculate /x(t[sub inter]/) where /t <= t[sub inter] <= t+dt/.]]
+
+  [[Get current time] [`stepper.current_time()`] [`const Stepper::time_type&`] [Returns the current time /t+dt/ of the stepper, that is the end time of the last step and the starting time for the next call of `do_step`]]
+
+  [[Get current state] [`stepper.current_state()`] [`const Stepper::state_type&`] [Returns the current state of the stepper, that is /x(t+dt)/, the state at the time returned by `stepper.current_time()`]] 
+]
+
+[heading Models]
+
+* `dense_output_controlled_explicit_fsal< controlled_error_stepper_fsal< runge_kutta_dopri5 >`
+* `bulirsch_stoer_dense_out`
+* `rosenbrock4_dense_output`
+
+[endsect]
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/error_stepper.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/error_stepper.qbk
new file mode 100755
index 0000000..842c341
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/error_stepper.qbk
@@ -0,0 +1,100 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+
+[section Error Stepper]
+
+This concepts specifies the interface an error stepper has to fulfill to be used within a ControlledErrorStepper. An error stepper must always fulfill the stepper concept. This can trivially implemented by
+
+``
+template< class System >
+error_stepper::do_step( System sys , state_type &x , time_type t , time_type dt )
+{
+    state_type xerr;
+    // allocate xerr
+    do_step( sys , x , t , dt , xerr );
+}
+``
+
+[heading Description]
+
+An error stepper following this Error Stepper concept is capable of doing one step of the solution /x(t)/ of an ODE with step-size /dt/ to obtain /x(t+dt)/ and also computing an error estimate ['x[sub err]] of the result.
+Error Steppers can be Runge-Kutta steppers, symplectic steppers as well as implicit steppers.
+Based on the stepper type, the ODE is defined as __system, __symplectic_system, __simple_symplectic_system or __implicit_system.
+
+[heading Refinement of]
+
+* DefaultConstructable
+* CopyConstructable
+* Stepper
+
+[heading Associated types]
+
+*  '''<para>'''[*state_type]'''</para>'''
+'''<para>'''`Stepper::state_type`'''</para>'''
+'''<para>'''The type characterizing the state of the ODE, hence ['x].'''</para>'''
+
+*  '''<para>'''[*deriv_type]'''</para>'''
+'''<para>'''`Stepper::deriv_type`'''</para>'''
+'''<para>'''The type characterizing the derivative of the ODE, hence ['d x/dt].'''</para>'''
+
+*  '''<para>'''[*time_type]'''</para>'''
+'''<para>'''`Stepper::time_type`'''</para>'''
+'''<para>'''The type characterizing the dependent variable of the ODE, hence the time ['t].'''</para>'''
+
+*  '''<para>'''[*value_type]'''</para>'''
+'''<para>'''`Stepper::value_type`'''</para>'''
+'''<para>'''The numerical data type which is used within the stepper, something like `float`, `double`, `complex&lt; double &gt;`.'''</para>'''
+
+*  '''<para>'''[*order_type]'''</para>'''
+'''<para>'''`Stepper::order_type`'''</para>'''
+'''<para>'''The type characterizing the order of the ODE, typically `unsigned short`.'''</para>'''
+
+*  '''<para>'''[*stepper_category]'''</para>'''
+'''<para>'''`Stepper::stepper_category`'''</para>'''
+'''<para>'''A tag type characterizing the category of the stepper. This type must be convertible to `error_stepper_tag`.'''</para>'''
+
+
+[heading Notation]
+
+[variablelist 
+  [[`ErrorStepper`] [A type that is a model of Error Stepper]]
+  [[`State`] [A type representing the state /x/ of the ODE]]
+  [[`Error`] [A type representing the error calculated by the stepper, usually same as `State`]]
+  [[`Time`] [A type representing the time /t/ of the ODE]]
+  [[`stepper`] [An object of type `ErrorStepper`]]
+  [[`x`] [Object of type `State`]]
+  [[`xerr`] [Object of type `Error`]]
+  [[`t`, `dt`] [Objects of type `Time`]]
+  [[`sys`] [An object defining the ODE, should be a model of either __system, __symplectic_system, __simple_symplectic_system or __implicit_system.]]
+]
+
+[heading Valid Expressions]
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Get the stepper order] [`stepper.order()`] [`order_type`] [Returns the order of the stepper for one step without error estimation.]]
+  [[Get the stepper order] [`stepper.stepper_order()`] [`order_type`] [Returns the order of the stepper for one error estimation step which is used for error calculation.]]
+  [[Get the error order] [`stepper.errorr_order()`] [`order_type`] [Returns the order of the error step which is used for error calculation.]]
+  [[Do step] [`stepper.do_step( sys , x , t , dt )`] [`void`] [Performs one step of step size `dt`. The newly obtained state is written in-place to `x`.] ]
+  [[Do step with error estimation] [`stepper.do_step( sys , x , t , dt , xerr )`] [`void`] [Performs one step of step size `dt` with error estimation.  The newly obtained state is written in-place to `x` and the estimated error to `xerr`.] ]
+  [/ [Do step with reference] [`stepper.do_step( boost::ref(sys) , x , t , dt , xerr )`] [`void`] [Performs one step of step size `dt`.  The newly obtained state is written in-place to `x` and the estimated error to `xerr`.] ]
+]
+
+[heading Models]
+
+* `runge_kutta_cash_karp54`
+* `runge_kutta_dopri5`
+* `runge_kutta_fehlberg78`
+* `rosenbrock4`
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/implicit_system.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/implicit_system.qbk
new file mode 100755
index 0000000..2b1336d
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/implicit_system.qbk
@@ -0,0 +1,43 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+
+[section Implicit System]
+
+[heading Description]
+
+This concept describes how to define a ODE that can be solved by an implicit routine.
+Implicit routines need not only the function /f(x,t)/ but also the Jacobian /df/dx = A(x,t)/.
+/A/ is a matrix and implicit routines need to solve the linear problem /Ax = b/.
+In odeint this is implemented with use of __ublas, therefore, the ['state_type] implicit routines is ['ublas::vector] and the matrix is defined as ['ublas::matrix].
+
+[heading Notation]
+
+[variablelist
+  [[`System`] [A type that is a model of `Implicit System`]]
+  [[`Time`] [A type representing the time of the ODE]]
+  [[`sys`] [An object of type `System`]]
+  [[`x`] [Object of type ublas::vector]]
+  [[`dxdt`] [Object of type ublas::vector]]
+  [[`jacobi`] [Object of type ublas::matrix]]
+  [[`t`] [Object of type `Time`]]
+]
+
+[heading Valid Expressions]
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Calculate ['dx/dt := f(x,t)]] [`sys.first( x , dxdt , t )`] [`void`] [Calculates `f(x,t)`, the result is stored into dxdt] ]
+  [[Calculate ['A := df/dx (x,t)]] [`sys.second( x , jacobi , t )`] [`void`] [Calculates the Jacobian of /f/ at /x/,/t/, the result is stored into `jacobi`] ]
+]
+
+[endsect]
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_algebra_operations.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_algebra_operations.qbk
new file mode 100755
index 0000000..c807fb5
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_algebra_operations.qbk
@@ -0,0 +1,123 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+
+[section State Algebra Operations]
+
+[note The following does not apply to implicit steppers like implicit_euler or Rosenbrock 4 as there the `state_type` can not be changed from `ublas::vector` and no algebra/operations are used.]
+
+[heading Description]
+
+The `State`, `Algebra` and `Operations` together define a concept describing how the mathematical vector operations required for the stepper algorithms are performed.
+The typical vector operation done within steppers is 
+
+['*y* = __Sigma __alpha[sub i] [*x[sub i]]].
+
+The `State` represents the state variable of an ODE, usually denoted with /x/.
+Algorithmically, the state is often realized as a `vector< double >` or `array< double , N >`, however, the genericity of odeint enables you to basically use anything as a state type.
+The algorithmic counterpart of such mathematical expressions is divided into two parts.
+First, the `Algebra` is used to account for the vector character of the equation.
+In the case of a `vector` as state type this means the `Algebra` is responsible for iteration over all vector elements.
+Second, the `Operations` are used to represent the actual operation applied to each of the vector elements.
+So the `Algebra` iterates over all elements of the `State`s and calls an operation taken from the `Operations` for each element.
+This is where `State`, `Algebra` and `Operations` have to work together to make odeint running.
+Please have a look at the `range_algebra` and `default_operations` to see an example how this is implemented.
+
+In the following we describe how `State`, `Algebra` and `Operations` are used together within the stepper implementations.
+
+[section Operations]
+
+[heading Notation]
+
+[variablelist
+  [[`Operations`] [The operations type]]
+  [/[`Time`] [A type representing the time type of steppers]]
+  [[`Value1`, ... , `ValueN`] [Types representing the value or time type of stepper]]
+  [[`Scale`] [Type of the scale operation]]
+  [[`scale`] [Object of type `Scale`]]
+  [[[^ScaleSum['N]]] [Type that represents a general scale_sum operation, [^/N/] should be replaced by a number from 1 to 14.]]
+  [[[^scale_sum['N]]] [Object of type [^ScaleSum['N]], [^/N/] should be replaced by a number from 1 to 14.]]
+  [[`ScaleSumSwap2`] [Type of the scale sum swap operation]]
+  [[`scale_sum_swap2`] [Object of type `ScaleSumSwap2`]]
+  [[`a1, a2, ...`] [Objects of type `Value1`, `Value2`, ...]]
+  [[`y, x1, x2, ...`] [Objects of `State`'s value type]]
+]
+
+[heading Valid Expressions]
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Get scale operation] [`Operations::scale< Value >`] [`Scale`] [Get `Scale` from `Operations`]]
+  [[`Scale` constructor] [`Scale< Value >( a )`] [`Scale`] [Constructs a `Scale` object]]
+  [[`Scale` operation] [`scale( x )`] [`void`] [Calculates `x *= a`]]
+  [[Get general `scale_sum` operation] [[^Operations::scale_sum['N]< Value1 , ... , ValueN >]] [[^ScaleSum['N]]] [Get the [^ScaleSum['N]] type from `Operations`, [^/N/] should be replaced by a number from 1 to 14.]]
+  [[`scale_sum` constructor] [[^ScaleSum['N]< Value1 , ... , ValueN >( a1 , ... , aN )]] [[^ScaleSum['N]]] [Constructs a `scale_sum` object given [^/N/] parameter values with [^/N/] between 1 and 14.]]
+  [[`scale_sum` operation] [[^scale_sum['N]( y , x1 , ... , xN )]] [`void`] [Calculates `y = a1*x1 + a2*x2 + ... + aN*xN`. Note that this is an [^/N/+1]-ary function call.]]
+  [[Get scale sum swap operation] [`Operations::scale_sum_swap2< Value1 , Value2 >`] [`ScaleSumSwap2`] [Get scale sum swap from operations]]
+  [[`ScaleSumSwap2` constructor] [`ScaleSumSwap2< Value1 , Value2 >( a1 , a2 )`] [`ScaleSumSwap2`] [Constructor]]
+  [[`ScaleSumSwap2` operation] [`scale_sum_swap2( x1 , x2 , x3 )`] [`void`] [Calculates `tmp = x1`, `x1 = a1*x2 + a2*x3` and `x2 = tmp`.]]
+]
+
+[endsect]
+
+[section Algebra]
+
+[heading Notation]
+
+[variablelist
+  [[`State`] [The state type]]
+  [[`Algebra`] [The algebra type]]
+  [[[^Operation['N]]] [An [^/N/]-ary operation type, [^/N/] should be a number from 1 to 14.]]
+  [[`algebra`] [Object of type `Algebra`]]
+  [[[^operation['N]]] [Object of type [^Operation['N]]]]
+  [[`y, x1, x2, ...`] [Objects of type `State`]]
+]
+
+
+[heading Valid Expressions]
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Vector Operation with arity 2] [`algebra.for_each2( y , x , operation2 )`] [void] [Calls `operation2( y_i , x_i )` for each element `y_i` of `y` and `x_i` of `x`.]]
+  [[Vector Operation with arity 3] [`algebra.for_each3( y , x1 , x2 , operation3 )`] [void] [Calls `operation3( y_i , x1_i , x2_i )` for each element `y_i` of `y` and `x1_i` of `x1` and `x2_i` of `x2`.]]
+  [[Vector Operation with arity [^/N/]] [[^algebra.for_each['N]( y , x1 , ... , xN , operation['N] )]] [void] [Calls [^operation['N]( y_i , x1_i , ... , xN_i )] for each element `y_i` of `y` and `x1_i` of `x1` and so on. [^/N/] should be replaced by a number between 1 and 14.]]
+]
+
+[endsect]
+
+[section Pre-Defined implementations]
+
+As standard configuration odeint uses the `range_algebra` and `default_operations` which suffices most situations.
+However, a few more possibilities exist either to gain better performance or to ensure interoperability with other libraries.
+In the following we list the existing `Algebra`/`Operations` configurations that can be used in the steppers.
+
+[table
+  [[`State`] [`Algebra`] [`Operations`] [Remarks]]
+  [[Anything supporting __boost_range, like `std::vector`, `std::list`, `boost::array`,... based on a `value_type` that supports operators +,* (typically `double`)] [`range_algebra`] [`default_operations`] [Standard implementation, applicable for most typical situations.]]
+  [[`boost::array` based on a `value_type` that supports operators +,*] [`array_algebra`] [`default_operations`] [Special implementation for boost::array with better performance than `range_algebra`]]
+  [[Anything that defines operators + within itself and * with scalar (Mathematically spoken, anything that is a vector space).] [`vector_space_algebra`] [`default_operations`] [For the use of __controlled_stepper, the template `vector_space_reduce` has to be instantiated.]]
+  [[`thrust::device_vector`, `thrust::host_vector`] [`thrust_algebra`] [`thrust_operations`] [For running odeint on CUDA devices by using __thrust]]
+  [[`boost::array` or anything which allocates the elements in a C-like manner] [`vector_space_algebra`] [`mkl_operations`] [Using the __intel_mkl in odeint for maximum performance. Currently, only the RK4 stepper is supported.]]
+]
+
+[endsect]
+
+[section Example expressions]
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Vector operation] [`algebra.for_each3( y , x1 , x2 , Operations::scale_sum2< Value1 , Value2 >( a1 , a2 ) )`] [void] [Calculates ['*y* = a1 *x1* + a2 *x2*]]]
+]
+
+[endsect]
+
+[endsect]
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_wrapper.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_wrapper.qbk
new file mode 100755
index 0000000..15c7a68
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_wrapper.qbk
@@ -0,0 +1,39 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section State Wrapper]
+
+[heading Description]
+
+The `State Wrapper` concept describes the way odeint creates temporary state objects to store intermediate results within the stepper's `do_step` methods.
+
+[heading Notation]
+
+[variablelist
+  [[`State`] [A type that is the `state_type` of the ODE]]
+  [[`WrappedState`] [A type that is a model of State Wrapper for the state type `State`.]] 
+  [[`x`] [Object of type `State`]]
+  [[`w`] [Object of type `WrappedState`]]
+]
+
+[heading Valid Expressions]
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Get resizeability] [`is_resizeable< State >`] [`boost::false_type` or `boost::true_type`] [Returns `boost::true_type` if the `State` is resizeable, `boost::false_type` otherwise.]]
+  [[Create `WrappedState` type] [`state_wrapper< State >`] [`WrappedState`] [Creates the type for a `WrappedState` for the state type `State`]]
+  [[Constructor] [`WrappedState()`] [`WrappedState`] [Constructs a state wrapper with an empty state]]
+  [[Copy Constructor] [`WrappedState( w )`] [`WrappedState`] [Constructs a state wrapper with a state of the same size as the state in `w`]]
+  [[Get state] [`w.m_v`] [`State`] [Returns the `State` object of this state wrapper.]]
+]
+
+[endsect]
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/stepper.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/stepper.qbk
new file mode 100755
index 0000000..532ccf7
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/stepper.qbk
@@ -0,0 +1,92 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section Stepper]
+
+This concepts specifies the interface a simple stepper has to fulfill to be used within the __integrate_functions.
+
+[heading Description]
+
+The basic stepper concept.
+A basic stepper following this Stepper concept is able to perform a single step of the solution /x(t)/ of an ODE to obtain /x(t+dt)/ using a given step size /dt/.
+Basic steppers can be Runge-Kutta steppers, symplectic steppers as well as implicit steppers.
+Depending on the actual stepper, the ODE is defined as __system, __symplectic_system, __simple_symplectic_system or __implicit_system.
+Note that all error steppers are also basic steppers.
+
+[heading Refinement of]
+
+* DefaultConstructable
+* CopyConstructable
+
+
+[heading Associated types]
+
+*  '''<para>'''[*state_type]'''</para>'''
+'''<para>'''`Stepper::state_type`'''</para>'''
+'''<para>'''The type characterizing the state of the ODE, hence ['x].'''</para>'''
+
+*  '''<para>'''[*deriv_type]'''</para>'''
+'''<para>'''`Stepper::deriv_type`'''</para>'''
+'''<para>'''The type characterizing the derivative of the ODE, hence ['d x/dt].'''</para>'''
+
+*  '''<para>'''[*time_type]'''</para>'''
+'''<para>'''`Stepper::time_type`'''</para>'''
+'''<para>'''The type characterizing the dependent variable of the ODE, hence the time ['t].'''</para>'''
+
+*  '''<para>'''[*value_type]'''</para>'''
+'''<para>'''`Stepper::value_type`'''</para>'''
+'''<para>'''The numerical data type which is used within the stepper, something like `float`, `double`, `complex&lt; double &gt;`.'''</para>'''
+
+*  '''<para>'''[*order_type]'''</para>'''
+'''<para>'''`Stepper::order_type`'''</para>'''
+'''<para>'''The type characterizing the order of the ODE, typically `unsigned short`.'''</para>'''
+
+*  '''<para>'''[*stepper_category]'''</para>'''
+'''<para>'''`Stepper::stepper_category`'''</para>'''
+'''<para>'''A tag type characterizing the category of the stepper. This type must be convertible to `stepper_tag`.'''</para>'''
+
+
+[heading Notation]
+
+[variablelist 
+  [[`Stepper`] [A type that is a model of Stepper]]
+  [[`State`] [A type representing the state /x/ of the ODE]]
+  [[`Time`] [A type representing the time /t/ of the ODE]]
+  [[`stepper`] [An object of type `Stepper`]]
+  [[`x`] [Object of type `State`]]
+  [[`t`, `dt`] [Objects of type `Time`]]
+  [[`sys`] [An object defining the ODE. Depending on the Stepper this might be a model of __system, __symplectic_system, __simple_symplectic_system or __implicit_system ]]
+]
+
+[heading Valid Expressions]
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Get the order] [`stepper.order()`] [`order_type`] [Returns the order of the stepper.]]
+  [[Do step] [`stepper.do_step( sys , x , t , dt )`] [`void`] [Performs one step of step size `dt`.  The newly obtained state is written in place in `x`.] ]
+
+  [/ [Do step with reference] [`stepper.do_step( boost::ref(sys) , x , t , dt )`] [`void`] [Performs one step of step size `dt`.  The newly obtained state is written in place in `x`.] ]
+
+  [/ [Do step out-of-place] [`stepper.do_step( sys , in , t , out , dt )`] [`void`] [Performs one step. The newly obtained state is written to `out`] ]
+]
+
+[heading Models]
+
+* `runge_kutta4`
+* `euler`
+* `runge_kutta_cash_karp54`
+* `runge_kutta_dopri5`
+* `runge_kutta_fehlberg78`
+* `modified_midpoint`
+* `rosenbrock4`
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/symplectic_system.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/symplectic_system.qbk
new file mode 100755
index 0000000..0caaa31
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/symplectic_system.qbk
@@ -0,0 +1,99 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section Symplectic System]
+
+[heading Description]
+
+This concept describes how to define a symplectic system written with generalized coordinate `q` and generalized momentum `p`:
+
+[' q'(t) = f(p) ]
+
+[' p'(t) = g(q) ]
+
+Such a situation is typically found for Hamiltonian systems with a separable Hamiltonian:
+
+[' H(p,q) = H[sub kin](p) + V(q) ]
+
+which gives the equations of motion:
+
+[' q'(t) = dH[sub kin] / dp = f(p) ]
+
+[' p'(t) = dV / dq = g(q) ]
+
+
+The algorithmic implementation of this situation is described by a pair of callable objects for /f/ and /g/ with a specific parameter signature.
+Such a system should be implemented as a std::pair of functions or a functors.
+Symplectic systems are used in symplectic steppers like `symplectic_rkn_sb3a_mclachlan`.
+
+[heading Notation]
+
+[variablelist
+  [[`System`] [A type that is a model of SymplecticSystem]]
+  [[`Coor`] [The type of the coordinate  ['q]]]
+  [[`Momentum`] [The type of the momentum ['p]]]
+  [[`CoorDeriv`] [The type of the derivative of coordinate ['q']]]
+  [[`MomentumDeriv`] [The type of the derivative of momentum ['p']]]
+  [[`sys`] [An object of the type `System`]]
+  [[`q`] [Object of type Coor]]
+  [[`p`] [Object of type Momentum]]
+  [[`dqdt`] [Object of type CoorDeriv]]
+  [[`dpdt`] [Object of type MomentumDeriv]]
+]
+
+[heading Valid expressions]
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Check for pair] [`boost::is_pair< System >::type`] [`boost::mpl::true_`] [Check if System is a pair]]
+  [[Calculate ['dq/dt = f(p)]] [`sys.first( p , dqdt )`] [`void`] [Calculates ['f(p)], the result is stored into `dqdt`] ]
+  [[Calculate ['dp/dt = g(q)]] [`sys.second( q , dpdt )`] [`void`] [Calculates ['g(q)], the result is stored into `dpdt`] ]
+]
+
+[endsect]
+
+
+[section Simple Symplectic System]
+
+[heading Description]
+
+In most Hamiltonian systems the kinetic term is a quadratic term in the momentum ['H[sub kin] = p^2 / 2m] and in many cases it is possible to rescale coordinates and set /m=1/ which leads to a trivial equation of motion:
+
+[' q'(t) = f(p) = p. ]
+
+while for /p'/ we still have the general form
+
+[' p'(t) = g(q) ]
+
+As this case is very frequent we introduced a concept where only the nontrivial equation for /p'/ has to be provided to the symplectic stepper.
+We call this concept ['SimpleSymplecticSystem]
+
+[heading Notation]
+
+[variablelist
+  [[System] [A type that is a model of SimpleSymplecticSystem]]
+  [[Coor] [The type of the coordinate  ['q]]]
+  [[MomentumDeriv] [The type of the derivative of momentum ['p']]]
+  [[sys] [An object that models System]]
+  [[q] [Object of type Coor]]
+  [[dpdt] [Object of type MomentumDeriv]]
+]
+
+[heading Valid Expressions]
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Check for pair] [`boost::is_pair< System >::type`] [`boost::mpl::false_`] [Check if System is a pair, should be evaluated to false in this case.]]
+  [[Calculate ['dp/dt = g(q)]] [`sys( q , dpdt )`] [`void`] [Calculates ['g(q)], the result is stored into `dpdt`] ]
+]
+
+[endsect]
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/system.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/system.qbk
new file mode 100755
index 0000000..09763c0
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/system.qbk
@@ -0,0 +1,43 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section System]
+
+[heading Description]
+
+The System concept models the algorithmic implementation of the rhs. of the ODE ['x' = f(x,t)].
+The only requirement for this concept is that it should be callable with a specific parameter syntax (see below).
+A System is typically implemented as a function or a functor.
+Systems fulfilling this concept are required by all Runge-Kutta steppers as well as the Bulirsch-Stoer steppers.
+However, symplectic and implicit steppers work with other system concepts, see __symplectic_system and __implicit_system.
+
+[heading Notation]
+
+[variablelist
+  [[`System`] [A type that is a model of System]] 
+  [[`State`] [A type representing the state /x/ of the ODE]]
+  [[`Deriv`] [A type representing the derivative /x'/ of the ODE]]
+  [[`Time`] [A type representing the time]]
+  [[`sys`] [An object of type `System`]]
+  [[`x`] [Object of type `State`]]
+  [[`dxdt`] [Object of type `Deriv`]]
+  [[`t`] [Object of type `Time`]]
+]
+
+[heading Valid expressions]
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Calculate ['dx/dt := f(x,t)]] [`sys( x , dxdt , t )`] [`void`] [Calculates f(x,t), the result is stored into dxdt] ]
+]
+
+[endsect]
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/controlled_stepper_table.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/controlled_stepper_table.qbk
new file mode 100755
index 0000000..77d9476
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/controlled_stepper_table.qbk
@@ -0,0 +1,55 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+[table Adaptive step size algorithms
+  [ [Stepper] [Tolerance formula] [Norm] [Step size adaption] ]
+  [ [`controlled_runge_kutta`]
+    [
+      ['val = || | err[subl i] | / ( __epsilon[subl abs] + __epsilon[subl rel] * ( a[subl x] | x[subl i] | + a[subl dxdt] | | dxdt[subl i] | )|| ]
+    ]
+    [['||x|| = max( x[subl i] )]]
+    [
+      ['val > 1   : dt[subl new] = dt[subl current] max( 0.9 pow( val , -1 / ( O[subl E] - 1 ) ) , 0.2 )]
+
+      ['val < 0.5 : dt[subl new] = dt[subl current] min( 0.9 pow( val , -1 / O[subl S] ) , 5 )]
+
+      ['else : dt[subl new] = dt[subl current]]
+    ] ]
+  [ [`rosenbrock4_controller`]
+    [
+      ['val = || err[subl i] / ( __epsilon[subl abs] + __epsilon[subl rel] max( | x[subl i] | , | xold[subl i] | ) ) || ]
+    ]
+    [['||x||=(__Sigma[subl i] x[subl i][super 2])[super 1/2]]]
+    [
+      ['fac = max( 1 / 6 , min( 5 , pow( val , 1 / 4 ) / 0.9 ) ]
+
+      ['fac2 = max( 1 / 6 , min( 5 , dt[subl old] / dt[subl current] pow( val[super 2] / val[subl old] , 1 / 4 ) / 0.9 ) ]
+
+      ['val > 1 : dt[subl new] = dt[subl current] / fac ]
+
+      ['val < 1 : dt[subl new] = dt[subl current] / max( fac , fac2 ) ]
+    ]
+  ]
+  [ [bulirsch_stoer] [['tol=1/2]] [-] [['dt[subl new] = dt[subl old][super 1/a]]] ]
+]
+
+[/
+
+safe = 0.9 , fac1 = 5.0 , fac2 = 1.0 / 6.0
+
+value_type fac_pred = ( m_dt_old / dt ) * pow( err * err / m_err_old , 0.25 ) / safe;
+        fac_pred = std::max( fac2 , std::min( fac1 , fac_pred ) );
+        fac = std::max( fac , fac_pred );
+        dt_new = dt / fac;
+
+
+fac = max( fac2 , min( fac1 , pow( err , 0.25 ) / safe ) )
+]
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details.qbk
new file mode 100755
index 0000000..9bc0ff0
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details.qbk
@@ -0,0 +1,28 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+[section odeint in detail]
+
+[include details_steppers.qbk]
+
+[include details_generation_functions.qbk]
+
+[include details_integrate_functions.qbk]
+
+[include details_state_types_algebras_operations.qbk]
+
+[include details_boost_ref.qbk]
+
+[include details_boost_range.qbk]
+
+[include details_bind_member_functions.qbk]
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_bind_member_functions.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_bind_member_functions.qbk
new file mode 100755
index 0000000..8d817a4
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_bind_member_functions.qbk
@@ -0,0 +1,36 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section Binding member functions]
+
+[import ../examples/bind_member_functions.cpp]
+
+Binding member functions to a function objects suitable for odeint system function is not easy, at least in C++03. The usual way of using __boost_bind does not work because of the forwarding problem. odeint provides two `do_step` method which only differ in the const specifiers of the arguments and __boost_bind binders only provide the specializations up to two argument which is not enough for odeint.
+
+But one can easily implement the according binders themself:
+
+[ode_wrapper]
+
+One can use this binder as follows
+
+[bind_member_function]
+
+[section Binding member functions in C++11]
+
+[import ../examples/bind_member_functions_cpp11.cpp]
+In C++11 one can use `std::bind` and one does not need to implement the bind themself:
+
+[bind_member_function_cpp11]
+
+[endsect]
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_boost_range.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_boost_range.qbk
new file mode 100755
index 0000000..bf81686
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_boost_range.qbk
@@ -0,0 +1,60 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+[section Using boost::range]
+
+Most steppers in odeint also accept the state give as a range. A range is
+sequence of values modeled by a range concept. See __boost_range for an
+overview over existing concepts and examples of ranges. This means that the
+`state_type` of the stepper need not necessarily be used to call the `do_step` method.
+
+One use-case for __boost_range in odeint has been shown in __tut_chaotic_system where the state consists of two parts: one for the original system and one for the perturbations. The ranges are used to initialize (solve) only the system part where the perturbation part is not touched, that is a range consisting only of the system part is used. After that the complete state including the perturbations is solved.
+
+Another use case is a system consisting of coupled units where you want to initialize each unit separately with the ODE of the uncoupled unit. An example is a chain of coupled van-der-Pol-oscillators which are initialized uniformly from the uncoupled van-der-Pol-oscillator. Then you can use __boost_range to solve only one individual oscillator in the chain.
+
+In short, you can __boost_range to use one state within two system functions which expect states with different sizes.
+
+An example was given in the __tut_chaotic_system tutorial. Using Boost.Range usually means that your system function needs to adapt to the iterators of Boost.Range. That is, your function is called with a range and you need to get the iterators from that range. This can easily be done. You have to implement your system as a class or a struct and you have to templatize the `operator()`. Then you can use the `range_iterator`-meta function and `boost::begin` and `boost::end` to obtain the iterators of your range:
+
+``
+class sys
+{
+    template< class State , class Deriv >
+    void operator()( const State &x_ , Deriv &dxdt_ , double t ) const
+    {
+         typename boost::range_iterator< const State >::type x = boost::begin( x_ );
+         typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ );
+
+         // fill dxdt
+    }
+};
+``
+
+If your range is a random access-range you can also apply the bracket operator to the iterator to access the elements in the range:
+``
+class sys
+{
+    template< class State , class Deriv >
+    void operator()( const State &x_ , Deriv &dxdt_ , double t ) const
+    {
+         typename boost::range_iterator< const State >::type x = boost::begin( x_ );
+         typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ );
+
+         dxdt[0] = f1( x[0] , x[1] );
+         dxdt[1] = f2( x[0] , x[1] );
+    }
+};
+``
+
+The following two tables show which steppers and which algebras are compatible with __boost_range.
+[include range_table.qbk]
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_boost_ref.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_boost_ref.qbk
new file mode 100755
index 0000000..5ba41e2
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_boost_ref.qbk
@@ -0,0 +1,35 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+[section Using boost::ref]
+
+In odeint all system functions and observers are passed by value. For example, if you call a `do_step` method of a particular stepper or the integration functions, your system and your stepper will be passed by value:
+
+[c++]
+``
+rk4.do_step( sys , x , t , dt );   // pass sys by value
+``
+
+This behavior is suitable for most systems, especially if your system does not contain any data or only a few parameters. However, in some cases you might contain some large amount of data with you system function and passing them by value is not desired since the data would be copied.
+
+In such cases you can easily use `boost::ref` (and its relative `boost::cref`)
+which passes its argument by reference (or constant reference). odeint will
+unpack the arguments and no copying at all of your system object will take place:
+
+``
+rk4.do_step( boost::ref( sys ) , x , t , dt );   // pass sys as references
+``
+
+The same mechanism can be used for the observers in the integrate functions.
+
+[tip If you are using C++11 you can also use `std::ref` and `std::cref`]
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_generation_functions.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_generation_functions.qbk
new file mode 100755
index 0000000..50f4cf6
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_generation_functions.qbk
@@ -0,0 +1,43 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+[section Generation functions]
+
+[import ../examples/generation_functions.cpp]
+
+In the __tutorial we have learned how we can use the generation functions `make_controlled` and `make_dense_output` to create controlled and dense output stepper from a simple stepper or an error stepper. The syntax of these two functions is very simple:
+
+[generation_functions_syntax_auto]
+
+The first two parameters are the absolute and the relative error tolerances and the third parameter is the stepper. In C++03 you can infer the type from the `result_of` mechanism:
+
+[generation_functions_syntax_result_of]
+
+To use your own steppers with the `make_controlled` or `make_dense_output` you need to specialize two class templates. Suppose your steppers are called `custom_stepper`, `custom_controller` and `custom_dense_output`. Then, the first class you need to specialize is `boost::numeric::get_controller`, a meta function returning the type of the controller:
+
+[generation_functions_get_controller]
+
+The second one is a factory class `boost::numeric::odeint::controller_factory` which constructs the controller from the tolerances and the stepper. In our dummy implementation this class is
+
+[generation_functions_controller_factory]
+
+This is all to use the `make_controlled` mechanism. Now you can use your controller via
+
+[generation_functions_example_custom_controller]
+
+For the dense_output_stepper everything works similar. Here you have to specialize `boost::numeric::odeint::get_dense_output` and `boost::numeric::odeint::dense_output_factory`. These two classes have the same syntax as their relatives `get_controller` and `controller_factory`.
+
+All controllers and dense-output steppers in odeint can be used with these mechanisms. In the table below you will find, which steppers is constructed from `make_controlled` or `make_dense_output` if applied on a stepper from odeint:
+
+[include make_controlled_table.qbk]
+[include make_dense_output_table.qbk]
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_integrate_functions.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_integrate_functions.qbk
new file mode 100755
index 0000000..da810e4
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_integrate_functions.qbk
@@ -0,0 +1,124 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+[section Integrate functions]
+
+Integrate functions perform the time evolution of a given ODE from some
+starting time ['t[sub 0]] to a given end time ['t[sub 1]] and starting at state ['x[sub 0]] by subsequent calls of a given stepper's `do_step` function.
+Additionally, the user can provide an __observer to analyze the state during time evolution.
+There are five different integrate functions which have different strategies on when to call the observer function during integration.
+All of the integrate functions except `integrate_n_steps` can be called with any stepper following one of the stepper concepts: __stepper , __error_stepper , __controlled_stepper , __dense_output_stepper.
+Depending on the abilities of the stepper, the integrate functions make use of step-size control or dense output.
+
+[heading Equidistant observer calls]
+
+If observer calls at equidistant time intervals /dt/ are needed, the
+`integrate_const` or `integrate_n_steps` function should be used.
+We start with explaining `integrate_const`:
+
+`integrate_const( stepper , system , x0 , t0 , t1 , dt )`
+
+`integrate_const( stepper , system , x0 , t0 , t1 , dt , observer )`
+
+These integrate the ODE given by `system` with subsequent steps from `stepper`.
+Integration start at `t0` and `x0` and ends at some ['t' = t[sub 0] + n dt] with /n/ such that ['t[sub 1] - dt < t' <= t[sub 1]].
+`x0` is changed to the approximative solution ['x(t')] at the end of integration.
+If provided, the `observer` is invoked at times ['t[sub 0]], ['t[sub 0] + dt], ['t[sub 0] + 2dt], ... ,['t'].
+`integrate_const` returns the number of steps performed during the integration.
+Note that if you are using a simple __stepper or __error_stepper and want to make exactly `n` steps you should prefer the `integrate_n_steps` function below.
+
+* If `stepper` is a __stepper or __error_stepper then `dt` is also the step size used for integration and the observer is called just after every step.
+* If `stepper` is a __controlled_stepper then `dt` is the initial step size.
+The actual step size will change due to error control during time evolution.
+However, if an observer is provided the step size will be adjusted such that the algorithm always calculates /x(t)/ at ['t = t[sub 0] + n dt] and calls the observer at that point.
+Note that the use of __controlled_stepper is reasonable here only if `dt` is considerably larger than typical step sizes used by the stepper.
+* If `stepper` is a __dense_output_stepper then `dt` is the initial step size.
+The actual step size will be adjusted during integration due to error control.
+If an observer is provided dense output is used to calculate /x(t)/ at ['t = t[sub 0] + n dt].
+
+[heading Integrate a given number of steps]
+
+This function is very similar to `integrate_const` above. The only difference
+is that it does not take the end time as parameter, but rather the number of
+steps. The integration is then performed until the time `t0+n*dt`.
+
+`integrate_n_steps( stepper , system , x0 , t0 , dt , n )`
+
+`integrate_n_steps( stepper , system , x0 , t0 , dt , n , observer )`
+
+Integrates the ODE given by `system` with subsequent steps from `stepper` starting at ['x[sub 0]] and ['t[sub 0]].
+If provided, `observer` is called after every step and at the beginning with
+`t0`, similar as above.
+The approximate result for ['x( t[sub 0] + n dt )] is stored in `x0`.
+This function returns the end time `t0 + n*dt`.
+
+
+[heading Observer calls at each step]
+
+If the observer should be called at each time step then the `integrate_adaptive` function should be used.
+Note that in the case of __controlled_stepper or __dense_output_stepper this leads to non-equidistant observer calls as the step size changes.
+
+`integrate_adaptive( stepper , system , x0 , t0 , t1 , dt )`
+
+`integrate_adaptive( stepper , system , x0 , t0 , t1 , dt , observer )`
+
+Integrates the ODE given by `system` with subsequent steps from `stepper`.
+Integration start at `t0` and `x0` and ends at ['t[sub 1]].
+`x0` is changed to the approximative solution ['x(t[sub 1])] at the end of integration.
+If provided, the `observer` is called after each step (and before the first step at `t0`).
+`integrate_adaptive` returns the number of steps performed during the integration.
+
+* If `stepper` is a __stepper or __error_stepper then `dt` is the step size used for integration and `integrate_adaptive` behaves like `integrate_const` except that for the last step the step size is reduced to ensure we end exactly at `t1`.
+If provided, the observer is called at each step.
+* If `stepper` is a __controlled_stepper then `dt` is the initial step size.
+The actual step size is changed according to error control of the stepper.
+For the last step, the step size will be reduced to ensure we end exactly at `t1`.
+If provided, the observer is called after each time step (and before the first step at `t0`).
+* If stepper is a __dense_output_stepper then `dt` is the initial step size and `integrate_adaptive` behaves just like for __controlled_stepper above. No dense output is used.
+
+[heading Observer calls at given time points]
+
+If the observer should be called at some user given time points the `integrate_times` function should be used.
+The times for observer calls are provided as a sequence of time values.
+The sequence is either defined via two iterators pointing to begin and end of the sequence or in terms of a __boost_range object.
+
+`integrate_times( stepper , system , x0 , times_start , times_end , dt , observer )`
+
+`integrate_times( stepper , system , x0 , time_range , dt , observer )`
+
+Integrates the ODE given by `system` with subsequent steps from `stepper`.
+Integration starts at `*times_start` and ends exactly at `*(times_end-1)`.
+`x0` contains the approximate solution at the end point of integration.
+This function requires an observer which is invoked at the subsequent times `*times_start++` until `times_start == times_end`.
+If called with a __boost_range `time_range` the function behaves the same with `times_start = boost::begin( time_range )` and `times_end = boost::end( time_range )`.
+`integrate_times` returns the number of steps performed during the integration.
+
+* If `stepper` is a __stepper or __error_stepper `dt` is the step size used for integration.
+However, whenever a time point from the sequence is approached the step size `dt` will be reduced to obtain the state /x(t)/ exactly at the time point.
+* If `stepper` is a __controlled_stepper then `dt` is the initial step size.
+The actual step size is adjusted during integration according to error control.
+However, if a time point from the sequence is approached the step size is reduced to obtain the state /x(t)/ exactly at the time point.
+* If `stepper` is a __dense_output_stepper then `dt` is the initial step size.
+The actual step size is adjusted during integration according to error control.
+Dense output is used to obtain the states /x(t)/ at the time points from the sequence.
+
+[heading Convenience integrate function]
+
+Additionally to the sophisticated integrate function above odeint also provides a simple `integrate` routine which uses a dense output stepper based on `runge_kutta_dopri5` with standard error bounds ['10[super -6]] for the steps.
+
+`integrate( system , x0 , t0 , t1 , dt )`
+
+`integrate( system , x0 , t0 , t1 , dt , observer )`
+
+This function behaves exactly like `integrate_adaptive` above but no stepper has to be provided.
+It also returns the number of steps performed during the integration.
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_state_types_algebras_operations.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_state_types_algebras_operations.qbk
new file mode 100755
index 0000000..a327ebd
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_state_types_algebras_operations.qbk
@@ -0,0 +1,473 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+[section State types, algebras and operations]
+
+In odeint the stepper algorithms are implemented independently of the
+underlying fundamental mathematical operations.
+This is realized by giving the user full control over the state type and the
+mathematical operations for this state type.
+Technically, this is done by introducing three concepts: StateType, Algebra,
+Operations.
+Most of the steppers in odeint expect three class types fulfilling these
+concepts as template parameters.
+Note that these concepts are not fully independent of each other but rather a
+valid combination must be provided in order to make the steppers work.
+In the following we will give some examples on reasonable
+state_type-algebra-operations combinations.
+For the most common state types, like `vector<double>` or `array<double,N>`
+the default values range_algebra and default_operations are perfectly fine and
+odeint can be used as is without worrying about algebra/operations at all.
+
+[important state_type, algebra and operations are not independent, a valid
+combination must be provided to make odeint work properly]
+
+Moreover, as odeint handles the memory required for intermediate temporary
+objects itself, it also needs knowledge about how to create state_type objects
+and maybe how to allocate memory (resizing).
+All in all, the following things have to be taken care of when odeint is used
+with non-standard state types:
+
+* construction/destruction
+* resizing (if possible/required)
+* algebraic operations
+
+Again, odeint already provides basic interfaces for most of the usual state
+types.
+So if you use a `std::vector`, or a `boost::array` as state type no additional
+work is required, they just work out of the box.
+
+[section Construction/Resizing]
+
+We distinguish between two basic state types: fixed sized and dynamically
+sized.
+For fixed size state types the default constructor `state_type()` already
+allocates the required memory, prominent example is `boost::array<T,N>`.
+Dynamically sized types have to be resized to make sure enough memory is
+allocated, the standard constructor does not take care of the resizing.
+Examples for this are the STL containers like `vector<double>`.
+
+The most easy way of getting your own state type to work with odeint is to use
+a fixed size state, base calculations on the range_algebra and provide the
+following functionality:
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Construct State] [`State x()`] [`void`] [Creates an instance of `State`
+  and allocates memory.] ]
+  [[Begin of the sequence] [boost::begin(x)] [Iterator] [Returns an iterator
+  pointing to the begin of the sequence]]
+  [[End of the sequence] [boost::end(x)] [Iterator] [Returns an iterator
+  pointing to the end of the sequence]]
+]
+
+[warning If your state type does not allocate memory by default construction,
+you [*must define it as resizeable] and provide resize functionality (see
+below). Otherwise segmentation faults will occur.]
+
+So fixed sized arrays supported by __boost_range immediately work with odeint.
+For dynamically sized arrays one has to additionally supply the resize
+functionality.
+First, the state has to be tagged as resizeable by specializing the struct
+`is_resizeable` which consists of one typedef and one bool value:
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Resizability] [`is_resizeable<State>::type`]
+    [`boost::true_type` or `boost::false_type`] 
+    [Determines resizeability of the state type, returns `boost::true_type` if
+    the state is resizeable.]]
+  [[Resizability] [`is_resizeable<State>::value`]
+    [`bool`] 
+    [Same as above, but with `bool` value.]]
+]
+
+Defining `type` to be `true_type` and `value` as `true` tells odeint that your
+state is resizeable.
+By default, odeint now expects the support of `boost::size(x)` and a
+`x.resize( boost::size(y) )` member function for resizing:
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Get size] [`boost::size( x )`]
+    [`size_type`] [Returns the current size of x.]]
+  [[Resize] [`x.resize( boost::size( y ) )`]
+    [`void`] [Resizes x to have the same size as y.]]
+]
+
+[section Using the container interface]
+[import ../examples/my_vector.cpp]
+
+As a first example we take the most simple case and implement our own vector
+`my_vector` which will provide a container interface.
+This makes __boost_range working out-of-box.
+We add a little functionality to our vector which makes it allocate some 
+default capacity by construction.
+This is helpful when using resizing as then a resize can be assured to not 
+require a new allocation.
+
+[my_vector]
+
+
+The only thing that has to be done other than defining is thus declaring 
+my_vector as resizeable:
+
+[my_vector_resizeable]
+
+If we wouldn't specialize the `is_resizeable` template, the code would still
+compile but odeint would not adjust the size of temporary internal instances
+of my_vector and hence try to fill zero-sized vectors resulting in
+segmentation faults!
+The full example can be found in [github_link libs/numeric/odeint/examples/my_vector.cpp my_vector.cpp]
+
+[endsect]
+
+[section std::list]
+
+If your state type does work with __boost_range, but handles resizing
+differently you are required to specialize two implementations used by odeint
+to check a state's size and to resize:
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Check size] [`same_size_impl<State,State>::same_size(x , y)`]
+    [`bool`] [Returns true if the size of x equals the size of y.]]
+  [[Resize] [`resize_impl<State,State>::resize(x , y)`]
+    [`void`] [Resizes x to have the same size as y.]]
+]
+
+As an example we will use a `std::list` as state type in odeint.
+Because `std::list` is not supported by `boost::size` we have to replace the
+same_size and resize implementation to get list to work with odeint.
+The following code shows the required template specializations:
+
+[import ../examples/list_lattice.cpp]
+
+[list_bindings]
+
+With these definitions odeint knows how to resize `std::list`s and so they can
+be used as state types.
+A complete example can be found in [github_link libs/numeric/odeint/examples/list_lattice.cpp list_lattice.cpp].
+
+[endsect]
+
+[endsect]
+
+[section Algebras and Operations]
+
+To provide maximum flexibility odeint is implemented in a highly modularized
+way. This means it is possible to change the underlying mathematical
+operations without touching the integration algorithms.
+The fundamental mathematical operations are those of a vector space, that is
+addition of `state_types` and multiplication of `state_type`s with a scalar
+(`time_type`). In odeint this is realized in two concepts: _Algebra_ and
+_Operations_. 
+The standard way how this works is by the range algebra which provides
+functions that apply a specific operation to each of the individual elements
+of a container based on the __boost_range library.
+If your state type is not supported by __boost_range there are several
+possibilities to tell odeint how to do algebraic operations:
+
+* Implement `boost::begin` and `boost::end` for your state type so it works
+with __boost_range.
+* Implement vector-vector addition operator `+` and scalar-vector
+multiplication operator `*` and use the non-standard `vector_space_algebra`.
+* Implement your own algebra that implements the required functions.
+
+[section GSL Vector]
+
+In the following example we will try to use the `gsl_vector` type from __gsl (GNU
+Scientific Library) as state type in odeint.
+We will realize this by implementing a wrapper around the gsl_vector that
+takes care of construction/destruction.
+Also, __boost_range is extended such that it works with `gsl_vector`s as well
+which required also the implementation of a new `gsl_iterator`.
+
+[note odeint already includes all the code presented here, see [github_link
+boost/numeric/odeint/external/gsl/gsl_wrapper.hpp gsl_wrapper.hpp], so `gsl_vector`s
+can be used straight out-of-box.
+The following description is just for educational purpose.] 
+
+The GSL is a C library, so `gsl_vector` has neither constructor, nor
+destructor or any `begin` or `end` function, no iterators at all.
+So to make it work with odeint plenty of things have to be implemented.
+Note that all of the work shown here is already included in odeint, so using
+`gsl_vector`s in odeint doesn't require any further adjustments.
+We present it here just as an educational example.
+We start with defining appropriate constructors and destructors.
+This is done by specializing the `state_wrapper` for `gsl_vector`.
+State wrappers are used by the steppers internally to create and manage
+temporary instances of state types:
+
+``
+template<>
+struct state_wrapper< gsl_vector* >
+{
+    typedef double value_type;
+    typedef gsl_vector* state_type;
+    typedef state_wrapper< gsl_vector* > state_wrapper_type;
+
+    state_type m_v;
+
+    state_wrapper( )
+    {
+        m_v = gsl_vector_alloc( 1 );
+    }
+
+    state_wrapper( const state_wrapper_type &x )
+    {
+        resize( m_v , x.m_v );
+        gsl_vector_memcpy( m_v , x.m_v );
+    }
+
+
+    ~state_wrapper()
+    {
+        gsl_vector_free( m_v );
+    }
+
+};
+``
+
+This `state_wrapper` specialization tells odeint how gsl_vectors are created,
+copied and destroyed.
+Next we need resizing, this is required because gsl_vectors are dynamically
+sized objects:
+``
+template<>
+struct is_resizeable< gsl_vector* >
+{
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+
+template <>
+struct same_size_impl< gsl_vector* , gsl_vector* >
+{
+    static bool same_size( const gsl_vector* x , const gsl_vector* y )
+    {
+        return x->size == y->size;
+    }
+};
+
+template <>
+struct resize_impl< gsl_vector* , gsl_vector* >
+{
+    static void resize( gsl_vector* x , const gsl_vector* y )
+    {
+        gsl_vector_free( x );
+        x = gsl_vector_alloc( y->size );
+    }
+};
+``
+
+Up to now, we defined creation/destruction and resizing, but gsl_vectors also
+don't support iterators, so we first implement a gsl iterator:
+
+``
+/*
+ * defines an iterator for gsl_vector
+ */
+class gsl_vector_iterator 
+      : public boost::iterator_facade< gsl_vector_iterator , double , 
+                                       boost::random_access_traversal_tag >
+{
+public :
+
+    gsl_vector_iterator( void ): m_p(0) , m_stride( 0 ) { }
+    explicit gsl_vector_iterator( gsl_vector *p ) : m_p( p->data ) , m_stride( p->stride ) { }
+    friend gsl_vector_iterator end_iterator( gsl_vector * );
+
+private :
+
+    friend class boost::iterator_core_access;
+    friend class const_gsl_vector_iterator;
+
+    void increment( void ) { m_p += m_stride; }
+    void decrement( void ) { m_p -= m_stride; }
+    void advance( ptrdiff_t n ) { m_p += n*m_stride; }
+    bool equal( const gsl_vector_iterator &other ) const { return this->m_p == other.m_p; }
+    bool equal( const const_gsl_vector_iterator &other ) const;
+    double& dereference( void ) const { return *m_p; }
+
+    double *m_p;
+    size_t m_stride;
+};
+``
+A similar class exists for the `const` version of the iterator.
+Then we have a function returning the end iterator (similarly for `const` again):
+``
+gsl_vector_iterator end_iterator( gsl_vector *x )
+{
+    gsl_vector_iterator iter( x );
+    iter.m_p += iter.m_stride * x->size;
+    return iter;
+}
+``
+
+Finally, the bindings for __boost_range are added:
+``
+// template<>
+inline gsl_vector_iterator range_begin( gsl_vector *x )
+{
+    return gsl_vector_iterator( x );
+}
+
+// template<>
+inline gsl_vector_iterator range_end( gsl_vector *x )
+{
+    return end_iterator( x );
+}
+``
+Again with similar definitions for the `const` versions.
+This eventually makes odeint work with gsl vectors as state types.
+The full code for these bindings is found in [github_link
+boost/numeric/odeint/external/gsl/gsl_wrapper.hpp gsl_wrapper.hpp].
+It might look rather complicated but keep in mind that gsl is a pre-compiled C
+library.
+[endsect]
+
+
+[section Vector Space Algebra]
+
+As seen above, the standard way of performing algebraic operations on 
+container-like state types in odeint is to iterate through the elements of the 
+container and perform the operations element-wise on the underlying value type.
+This is realized by means of the `range_algebra` that uses __boost_range for 
+obtaining iterators of the state types.
+However, there are other ways to implement the algebraic operations on 
+containers, one of which is defining the addition/multiplication operators for 
+the containers directly and then using the `vector_space_algebra`.
+If you use this algebra, the following operators have to be defined for the 
+state_type:
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Addition] [`x + y`] [`state_type`] [Calculates the vector sum 'x+y'.]]
+  [[Assign addition] [`x += y`] [`state_type`] [Performs x+y in place.]]
+  [[Scalar multiplication] [`a * x `] [`state_type`] [Performs multiplication of vector x with scalar a.]]
+  [[Assign scalar multiplication] [`x *= a`] [`state_type`] [Performs in-place multiplication of vector x with scalar a.]]
+]
+
+Defining these operators makes your state type work with any basic Runge-Kutta 
+stepper.
+However, if you want to use step-size control, some more functionality is 
+required.
+Specifically, operations like 
+[' max[sub i]( |err[sub i]| / (alpha * |s[sub i]|) )]
+have to be performed.
+['err] and ['s] are state_types, alpha is a scalar.
+As you can see, we need element wise absolute value and division as well as an 
+reduce operation to get the maximum value.
+So for controlled steppers the following things have to be implemented:
+
+[table
+  [[Name] [Expression] [Type] [Semantics]]
+  [[Division] [`x / y`] [`state_type`] [Calculates the element-wise division 'x/y']]
+  [[Absolute value] [`abs( x )`] [`state_type`] [Element wise absolute value]]
+  [[Reduce] [`vector_space_reduce_impl< state_type >::reduce( state , operation , init )`] [`value_type`] 
+    [Performs the `operation` for subsequently each element of `state` and returns the aggregate value.
+    E.g.
+    
+`init = operator( init , state[0] );`
+
+`init = operator( init , state[1] )`
+
+`...`
+    ]]
+]
+
+[endsect]
+
+[section Boost.Ublas]
+As an example for the employment of the `vector_space_algebra` we will adopt
+`ublas::vector` from __ublas to work as a state type in odeint.
+This is particularly easy because `ublas::vector` supports vector-vector
+addition and scalar-vector multiplication described above as well as `boost::size`.
+It also has a resize member function so all that has to be done in this case
+is to declare resizability:
+
+[import ../examples/ublas/lorenz_ublas.cpp]
+
+[ublas_resizeable]
+
+Now ublas::vector can be used as state type for simple Runge-Kutta steppers 
+in odeint by specifying the `vector_space_algebra` as algebra in the template 
+parameter list of the stepper. 
+The following code shows the corresponding definitions:
+
+[ublas_main]
+
+Note again, that we haven't supported the requirements for controlled steppers,
+but only for simple Runge-Kutta methods.
+You can find the full example in [github_link
+libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp lorenz_ublas.cpp].
+
+[endsect]
+
+[section Point type]
+
+[import ../examples/lorenz_point.cpp]
+
+Here we show how to implement the required operators on a state type.
+As example we define a new class `point3D` representing a three-dimensional
+vector with components x,y,z and define addition and scalar multiplication
+operators for it.
+We use __boost_operators to reduce the amount of code to be written.
+The class for the point type looks as follows:
+
+[point3D]
+
+By deriving from __boost_operators classes we don't have to define outer class
+operators like `operator+( point3D , point3D )` because that is taken care of
+by the operators library.
+Note that for simple Runge-Kutta schemes (like `runge_kutta4`) only the `+`
+and `*` operators are required.
+If, however, a controlled stepper is used one also needs to specify the
+division operator `/` because calculation of the error term involves an
+element wise division of the state types.
+Additionally, controlled steppers require an `abs` function calculating the
+element-wise absolute value for the state type:
+
+[point3D_abs_div]
+
+Finally, we have to add a specialization for `reduce` implementing a reduction
+over the state type:
+
+[point3D_reduce]
+
+Again, note that the two last steps were only required if you want to use
+controlled steppers.
+For simple steppers definition of the simple `+=` and `*=` operators are
+sufficient.
+Having defined such a point type, we can easily perform the integration on a Lorenz
+system by using the `vector_space_algebra` again:
+
+[point3D_main]
+
+The whole example can be found in [github_link
+libs/numeric/odeint/examples/lorenz_point.cpp lorenz_point.cpp]
+
+[endsect]
+
+[endsect]
+
+gsl_vector, gsl_matrix, ublas::matrix, blitz::matrix, thrust
+
+[section Adapt your own operations]
+
+to be continued
+
+*thrust
+*gsl_complex
+*min, max, pow
+
+[endsect]
+
+
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_steppers.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_steppers.qbk
new file mode 100755
index 0000000..5668f36
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_steppers.qbk
@@ -0,0 +1,420 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+[section Steppers]
+
+[import ../examples/stepper_details.cpp]
+
+Solving ordinary differential equation numerically is usually done iteratively, that is a given state of an ordinary differential equation is iterated forward ['x(t) -> x(t+dt) -> x(t+2dt)]. The steppers in odeint perform one single step. The most general stepper type is described by the __stepper concept. The stepper concepts of odeint are described in detail in section __concepts, here we briefly present the mathematical and numerical details of the steppers. The __stepper has two versions of the `do_step` method, one with an in-place transform of the current state and one with an out-of-place transform:
+
+`do_step( sys , inout , t , dt )`
+
+`do_step( sys , in , t , out , dt )`
+
+The first parameter is always the system function - a function describing the
+ODE. In the first version the second parameter is the step which is here
+updated in-place and the third and the fourth parameters are the time and step
+size (the time step). After a call to `do_step` the state `inout` is updated
+and now represents an approximate solution of the ODE at time ['t+dt]. In the
+second version the second argument is the state of the ODE at time ['t], the
+third argument is t, the fourth argument is the approximate solution at time
+['t+dt] which is filled by `do_step` and the fifth argument is the time step.
+Note that these functions do not change the time `t`.
+
+[* System functions]
+
+Up to now, we have nothing said about the system function. This function
+depends on the stepper. For the explicit Runge-Kutta steppers this function
+can be a simple callable object hence a simple (global) C-function or a
+functor. The parameter syntax is `sys( x , dxdt , t )` and it is assumed that
+it calculates ['dx/dt = f(x,t)].
+The function structure in most cases looks like:
+
+[system_function_structure] 
+
+Other types of system functions might represent Hamiltonian systems or systems which also compute the Jacobian needed in implicit steppers. For information which stepper uses which system function see the stepper table below. It might be possible that odeint will introduce new system types in near future. Since the system function is strongly related to the stepper type, such an introduction of a new stepper might result in a new type of system function.
+
+[section Explicit steppers]
+
+A first specialization are the explicit steppers. Explicit means that the new
+state of the ode can be computed explicitly from the current state without
+solving implicit equations. Such steppers have in common that they evaluate the system at time ['t] such that the result of ['f(x,t)] can be passed to the stepper. In odeint, the explicit stepper have two additional  methods 
+
+`do_step( sys , inout , dxdtin , t , dt )`
+
+`do_step( sys , in , dxdtin , t , out , dt )`
+
+Here, the additional parameter is the value of the function ['f] at state ['x] and time ['t]. An example is the Runge-Kutta stepper of fourth order:
+
+[explicit_stepper_detail_example]
+
+In fact, you do not need to call these two methods. You can always use the
+simpler `do_step( sys , inout , t , dt )`, but sometimes the derivative of the
+state is needed externally to do some external computations or to perform some statistical analysis.
+
+A special class of the explicit steppers are the FSAL (first-same-as-last)
+steppers, where the last evaluation of the system function is also the first
+evaluation of the following step. For such steppers the `do_step` method are
+slightly different:
+
+`do_step( sys , inout , dxdtinout , t , dt )`
+
+`do_step( sys , in , dxdtin , out , dxdtout , t , dt )`
+
+This method takes the derivative at time `t` and also stores
+the derivative at time ['t+dt]. Calling these functions subsequently iterating
+along the solution one saves one function call by passing the result for dxdt
+into the next function call. 
+However, when using FSAL steppers without supplying derivatives:
+
+`do_step( sys , inout , t , dt )`
+
+the stepper internally satisfies the FSAL property which means it remembers
+the last `dxdt` and uses it for the next step.
+An example for a FSAL stepper is the Runge-Kutta-Dopri5 stepper. The FSAL trick is sometimes also referred as the Fehlberg trick. An example how the FSAL steppers can be used is
+
+[fsal_stepper_detail_example]
+
+[caution The FSAL-steppers save the derivative at time ['t+dt] internally if
+they are called via `do_step( sys , in , out , t , dt )`. The first call of
+`do_step` will initialize `dxdt` and for all following calls it is assumed
+that the same system and the same state are used. If you use the FSAL stepper
+within the integrate functions this is taken care of automatically. See the __using_steppers section for more details or look into the table below to see which stepper have an internal state.]
+
+
+[endsect]
+
+[section Symplectic solvers]
+
+As mentioned above symplectic solvers are used for Hamiltonian systems. Symplectic solvers conserve the phase space volume exactly and if the Hamiltonian system is energy conservative they also conserve the energy approximately. A special class of symplectic systems are separable systems which can be written in the form ['dqdt/dt = f1(p)], ['dpdt/dt = f2(q)], where ['(q,p)] are the state of system. The space of ['(q,p)] is sometimes referred as the phase space and ['q] and ['p] are said the be the phase space variables. Symplectic systems in this special form occur widely in nature. For example the complete classical mechanics as written down by Newton, Lagrange and Hamilton can be formulated in this framework. The separability of the system depends on the specific choice of coordinates.
+
+Symplectic systems can be solved by odeint by means of the symplectic_euler stepper and a symplectic Runge-Kutta-Nystrom method of fourth order. These steppers assume that the system is autonomous, hence the time will not explicitly occur. Further they fulfill in principle the default Stepper concept, but they expect the system to be a pair of callable objects. The first entry of this pair calculates ['f1(p)] while the second calculates ['f2(q)].  The syntax is `sys.first(p,dqdt)` and `sys.second(q,dpdt)`, where the first and second part can be again simple C-functions of functors. An example is the harmonic oscillator: 
+
+[symplectic_stepper_detail_system_function]
+
+The state of such an ODE consist now also of two parts, the part for q (also called the coordinates) and the part for p (the momenta). The full example for the harmonic oscillator is now:
+
+[symplectic_stepper_detail_example]
+
+If you like to represent the system with one class you can easily bind two public method:
+
+[symplectic_stepper_detail_system_class]
+
+[symplectic_stepper_detail_system_class_example]
+
+Many Hamiltonian system can be written as ['dq/dt=p], ['dp/dt=f(q)] which is computationally much easier than the full separable system. Very often, it is also possible to transform the original equations of motion to bring the system in this simplified form. This kind of system can be used in the symplectic solvers, by simply passing ['f(p)] to the `do_step` method, again ['f(p)] will be represented by a simple C-function or a functor. Here, the above example of the harmonic oscillator can be written as
+
+[simplified_symplectic_stepper_example]
+
+In this example the function `harm_osc_f1` is exactly the same function as in the above examples.
+
+Note, that the state of the ODE must not be constructed explicitly via `pair< vector_type , vector_type > x`. One can also use a combination of `make_pair` and `ref`. Furthermore, a convenience version of `do_step` exists which takes q and p without combining them into a pair:
+
+[symplectic_stepper_detail_ref_usage]
+
+[endsect]
+
+[section Implicit solvers]
+
+[caution This section is not up-to-date.]
+
+For some kind of systems the stability properties of the classical Runge-Kutta are not sufficient, especially if the system is said to be stiff. A stiff system possesses two or more time scales of very different order. Solvers for stiff systems are usually implicit, meaning that they solve equations like ['x(t+dt) = x(t) + dt * f(x(t+1))]. This particular scheme is the implicit Euler method. Implicit methods usually solve the system of equations by a root finding algorithm like the Newton method and therefore need to know the Jacobian of the system ['J[subl ij] = df[subl i] / dx[subl j]].
+
+For implicit solvers the system is again a pair, where the first component computes ['f(x,t)] and the second the Jacobian. The syntax is `sys.first( x , dxdt , t )` and `sys.second( x , J , t )`. For the implicit solver the `state_type` is `ublas::vector` and the Jacobian is represented by `ublas::matrix`.
+
+[important Implicit solvers only work with ublas::vector as state type. At
+the moment, no other state types are supported.]
+
+[endsect]
+
+[section Multistep methods]
+
+Another large class of solvers are multi-step method. They save a small part of the history of the solution and compute the next step with the help of this history. Since multi-step methods know a part of their history they do not need to compute the system function very often, usually it is only computed once. This makes multi-step methods preferable if a call of the system function is expensive. Examples are ODEs defined on networks, where the computation of the interaction is usually where expensive (and might be of order O(N^2)).
+
+Multi-step methods differ from the normal steppers. They save a part of their history and this part has to be explicitly calculated and initialized. In the following example an Adams-Bashforth-stepper with a history of 5 steps is instantiated and initialized;
+
+[multistep_detail_example]
+
+The initialization uses a fourth-order Runge-Kutta stepper and after the call
+of `initialize` the state of `inout` has changed to the current state, such
+that it can be immediately used by passing it to following calls of `do_step`. You can also use you own steppers to initialize the internal state of the Adams-Bashforth-Stepper:
+
+[multistep_detail_own_stepper_initialization]
+
+Many multi-step methods are also explicit steppers, hence the parameter of  `do_step` method do not differ from the explicit steppers.
+
+[caution The multi-step methods have some internal variables which depend on
+the explicit solution. Hence after any external changes of your state (e.g. size) or
+system the initialize function has to be called again to adjust the internal
+state of the stepper. If you use the integrate functions this will
+be taken into account. See the __using_steppers section for more details.]
+
+
+[endsect]
+
+[section Controlled steppers]
+
+Many of the above introduced steppers possess the possibility to use adaptive step-size control. Adaptive step size integration works in principle as follows:
+
+# The error of one step is calculated. This is usually done by performing two steps with different orders. The difference between these two steps is then used as a measure for the error. Stepper which can calculate the error are __error_stepper and they form an own class with an separate concept.
+# This error is compared against some predefined error tolerances. Are the tolerance violated the step is reject and the step-size is decreases. Otherwise the step is accepted and possibly the step-size is increased.
+
+The class of controlled steppers has their own concept in odeint - the __controlled_stepper concept. They are usually constructed from the underlying error steppers. An example is the controller for the explicit Runge-Kutta steppers. The Runge-Kutta steppers enter the controller as a template argument. Additionally one can pass the Runge-Kutta stepper to the constructor, but this step is not necessary; the stepper is default-constructed if possible.
+
+Different step size controlling mechanism exist. They all have in common that
+they somehow compare predefined error tolerance against the error and that
+they might reject or accept a step. If a step is rejected the step size is
+usually decreased and the step is made again with the reduced step size. This
+procedure is repeated until the step is accepted. This algorithm is
+implemented in the integration functions.
+
+A classical way to decide whether a step is rejected or accepted is to calculate
+
+['val = || | err[subl i] | / ( __epsilon[subl abs] + __epsilon[subl rel] * ( a[subl x] | x[subl i] | + a[subl dxdt] | | dxdt[subl i] | )|| ]
+
+['__epsilon[subl abs]] and ['__epsilon[subl rel]] are the absolute and the relative error tolerances, and ['|| x ||] is a norm, typically ['||x||=(__Sigma[subl i] x[subl i][super 2])[super 1/2]] or the maximum norm. The step is rejected if ['val] is greater then 1, otherwise it is accepted. For details of the used norms and error tolerance see the table below. 
+
+For the `controlled_runge_kutta` stepper the new step size is then calculated via
+
+['val > 1   : dt[subl new] = dt[subl current] max( 0.9 pow( val , -1 / ( O[subl E] - 1 ) ) , 0.2 )]
+
+['val < 0.5 : dt[subl new] = dt[subl current] min( 0.9 pow( val , -1 / O[subl S] ) , 5 )]
+
+['else : dt[subl new] = dt[subl current]]
+
+Here, ['O[subl S]] and ['O[subl E]] are the order of the stepper and the error stepper. These formulas also contain some safety factors, avoiding that the step size is reduced or increased to much. For details of the implementations of the controlled steppers in odeint see the table below.
+
+[include controlled_stepper_table.qbk]
+
+To ease to generation of the controlled stepper, generation functions exist which take the absolute and relative error tolerances and a predefined error stepper and construct from this knowledge an appropriate controlled stepper. The generation functions are explained in detail in __generation_functions.
+
+[endsect]
+
+[section Dense output steppers]
+
+A fourth class of stepper exists which are the so called dense output steppers. Dense-output steppers might take larger steps and interpolate the solution between two consecutive points. This interpolated points have usually the same order as the order of the stepper. Dense-output steppers are often composite stepper which take the underlying method as a template parameter. An example is the `dense_output_runge_kutta` stepper which takes a Runge-Kutta stepper with dense-output facilities as argument. Not all Runge-Kutta steppers provide dense-output calculation; at the moment only the Dormand-Prince 5 stepper provides dense output. An example is
+
+[dense_output_detail_example]
+
+Dense output stepper have their own concept. The main difference to usual
+steppers is that they manage the state and time internally. If you call
+`do_step`, only the ODE is passed as argument. Furthermore `do_step` return
+the last time interval: `t` and `t+dt`, hence you can interpolate the solution between these two times points. Another difference is that they must be initialized with `initialize`, otherwise the internal state of the stepper is default constructed which might produce funny errors or bugs.
+
+The construction of the dense output stepper looks a little bit nasty, since in the case of the `dense_output_runge_kutta` stepper a controlled stepper and an error stepper have to be nested. To simplify the generation of the dense output stepper generation functions exist:
+
+[dense_output_detail_generation1]
+
+This statement is also lengthy; it demonstrates how `make_dense_output` can be used with the `result_of` protocol. The parameters to `make_dense_output` are the absolute error tolerance, the relative error tolerance and the stepper. This explicitly assumes that the underlying stepper is a controlled stepper and that this stepper has an absolute and a relative error tolerance. For details about the generation functions see __generation_functions. The generation functions have been designed for easy use with the integrate functions:
+
+[dense_output_detail_generation2]
+
+[endsect]
+
+[section Using steppers]
+
+This section contains some general information about the usage of the steppers in odeint.
+
+[* Steppers are copied by value]
+
+The stepper in odeint are always copied by values. They are copied for the creation of the controlled steppers or the dense output steppers as well as in the integrate functions.
+
+[* Steppers might have a internal state]
+
+[caution Some of the features described in this section are not yet implemented]
+
+Some steppers require to store some information about the state of the ODE between two steps. Examples are the multi-step methods which store a part of the solution during the evolution of the ODE, or the FSAL steppers which store the last derivative at time ['t+dt], to be used in the next step. In both cases the steppers expect that consecutive calls of `do_step` are from the same solution and the same ODE. In this case it is absolutely necessary that you call `do_step` with the same system function and the same state, see also the examples for the FSAL steppers above.
+
+Stepper with an internal state support two additional methods: `reset` which resets the state and `initialize` which initializes the internal state. The parameters of `initialize` depend on the specific stepper. For example  the Adams-Bashforth-Moulton stepper provides two initialize methods: `initialize( system , inout , t , dt )` which initializes the internal states with the help of the Runge-Kutta 4 stepper, and `initialize( stepper , system , inout , t , dt )` which initializes with the help of `stepper`. For the case of the FSAL steppers, `initialize` is `initialize( sys , in , t )` which simply calculates the r.h.s. of the ODE and assigns its value to the internal derivative.
+
+All these steppers have in common, that they initially fill their internal state by themselves. Hence you are not required to call initialize. See how this works for the Adams-Bashforth-Moulton stepper: in the example we instantiate a fourth order Adams-Bashforth-Moulton stepper, meaning that it will store 4 internal derivatives of the solution at times `(t-dt,t-2*dt,t-3*dt,t-4*dt)`.
+
+``
+adams_bashforth_moulton< 4 , state_type > stepper;
+stepper.do_step( sys , x , t , dt );   // make one step with the classical Runge-Kutta stepper and initialize the first internal state
+                                       // the internal array is now [x(t-dt)]
+
+stepper.do_step( sys , x , t , dt );   // make one step with the classical Runge-Kutta stepper and initialize the second internal state
+                                       // the internal state array is now [x(t-dt), x(t-2*dt)]
+
+stepper.do_step( sys , x , t , dt );   // make one step with the classical Runge-Kutta stepper and initialize the third internal state
+                                       // the internal state array is now [x(t-dt), x(t-2*dt), x(t-3*dt)]
+
+stepper.do_step( sys , x , t , dt );   // make one step with the classical Runge-Kutta stepper and initialize the fourth internal state
+                                       // the internal state array is now [x(t-dt), x(t-2*dt), x(t-3*dt), x(t-4*dt)]
+
+stepper.do_step( sys , x , t , dt );   // make one step with Adam-Bashforth-Moulton, the internal array of states is now rotated
+``
+
+In the stepper table at the bottom of this page one can see which stepper have an internal state and hence provide the `reset` and `initialize` methods.
+
+
+[* Stepper might be resizable]
+
+Nearly all steppers in odeint need to store some intermediate results of the
+type `state_type` or `deriv_type`. To do so odeint need some memory management
+for the internal temporaries. As this memory management is typically related
+to adjusting the size of vector-like types, it is called resizing in
+odeint. So, most steppers in odeint provide an additional template parameter
+which controls the size adjustment of the internal variables - the resizer. In
+detail odeint provides three policy classes (resizers) `always_resizer`,
+`initially_resizer`, and `never_resizer`. Furthermore, all stepper have a
+method `adjust_size` which takes a parameter representing a state type and
+which manually adjusts the size of the internal variables matching the size of
+the given instance. Before performing the actual resizing odeint always checks
+if the sizes of the state and the internal variable differ and only resizes if
+they are different.
+
+[note You only have to worry about memory allocation when using dynamically
+sized vector types. If your state type is heap allocated, like `boost::array`,
+no memory allocation is required whatsoever.]
+
+By default the resizing parameter is `initially_resizer`, meaning that the
+first call to `do_step` performs the resizing, hence memory allocation. 
+If you have changed the size of your system and your state you have to
+call `adjust_size` by hand in this case. The second resizer is the
+`always_resizer` which tries to resize the internal variables at every call of
+`do_step`. Typical use cases for this kind of resizer are self expanding
+lattices like shown in the tutorial (__resizing_lattice_example) or partial differential equations with an
+adaptive grid. Here, no calls of `adjust_size` are required, the steppers manage
+everything themselves. The third class of resizer is the `never_resizer` which
+means that the internal variables are never adjusted automatically and always
+have to be adjusted by hand       .
+
+There is a second mechanism which influences the resizing and which controls if a state type is at least resizeable - a meta-function `is_resizeable`. This meta-function returns a static Boolean value if any type is resizable. For example it will return `true` for `std::vector< T >` but `false` for `boost::array< T >`. By default and for unknown types `is_resizeable` returns `false`, so if you have your own type you need to specialize this meta-function. For more details on the resizing mechanism see the section __adapt_state_types.
+
+
+
+[* Which steppers should be used in which situation]
+
+odeint provides a quite large number of different steppers such that the user is left with the question of which stepper fits his needs. Our personal recommendations are:
+
+* `runge_kutta_dopri5` is maybe the best default stepper. It has step size control as well as dense-output functionality. Simple create a dense-output stepper by `make_dense_output( 1.0e-6 , 1.0e-5 , runge_kutta_dopri5< state_type >() )`.
+* `runge_kutta4` is a good stepper for constant step sizes. It is widely used and very well known. If you need to create artificial time series this stepper should be the first choice.
+* 'runge_kutta_fehlberg78' is similar to the 'runge_kutta4' with the advantage that it has higher precision. It can also be used with step size control.
+* `adams_bashforth_moulton` is very well suited for ODEs where the r.h.s. is expensive (in terms of computation time). It will calculate the system function only once during each step.
+
+[endsect]
+
+[section Stepper overview]
+
+[include stepper_table.qbk]
+
+[endsect]
+
+
+[section Custom steppers]
+
+[import ../examples/stochastic_euler.cpp]
+
+Finally, one can also write new steppers which are fully compatible with odeint. They only have to fulfill one or several of the stepper __concepts of odeint.
+
+We will illustrate how to write your own stepper with the example of the stochastic Euler method. This method is suited to solve stochastic differential equations (SDEs). A SDE has the form
+
+['dx/dt = f(x) + g(x) __xi(t)]
+
+where ['__xi] is Gaussian white noise with zero mean and a standard deviation ['__sigma(t)]. ['f(x)] is said to be the deterministic part while [' g(x) __xi] is the noisy part. In case ['g(x)] is independent of ['x] the SDE is said to have  additive noise. It is not possible to solve SDE with the classical solvers for ODEs since the noisy part of the SDE has to be scaled differently then the deterministic part with respect to the time step. But there exist many solvers for SDEs. A classical and easy method is the stochastic Euler solver. It works by iterating
+
+['x(t+__Delta t) = x(t) + __Delta t f(x(t)) + __Delta t[super 1/2] g(x) __xi(t)]
+
+where __xi(t) is an independent normal distributed random variable.
+
+Now we will implement this method. We will call the stepper
+`stochastic_euler`. It models the __stepper concept. For simplicity, we fix
+the state type to be an `array< double , N >` The class definition looks like 
+
+[stochastic_euler_class_definition]
+
+The types are needed in order to fulfill the stepper concept. As internal state and deriv type we use simple arrays in the stochastic Euler, they are needed for the temporaries. The stepper has the order one which is returned from the `order()` function.
+
+The system functions needs to calculate the deterministic and the stochastic part of our stochastic differential equation. So it might be suitable that the system function is a pair of functions. The first element of the pair computes the deterministic part and the second the stochastic one. Then, the second part also needs to calculate the random numbers in order to simulate the stochastic process. We can now implement the `do_step` method
+
+[stochastic_euler_do_step]
+
+This is all. It is quite simple and the stochastic Euler stepper implement here is quite general. Of course it can be enhanced, for example
+
+* use of operations and algebras as well as the resizing mechanism for maximal flexibility and portability
+* use of `boost::ref` for the system functions
+* use of `boost::range` for the state type in the `do_step` method
+* ...
+
+Now, lets look how we use the new stepper. A nice example is the Ornstein-Uhlenbeck process. It consists of a simple Brownian motion overlapped with an relaxation process. Its SDE reads
+
+['dx/dt = - x + __xi] 
+
+where __xi is Gaussian white noise with standard deviation ['__sigma]. Implementing the Ornstein-Uhlenbeck process is quite simple. We need two functions or functors - one for the deterministic and one for the stochastic part:
+
+[stochastic_euler_ornstein_uhlenbeck_def]
+
+In the stochastic part we have used the Mersenne twister for the random number generation and a Gaussian white noise generator `normal_distribution` with standard deviation ['__sigma]. Now, we can use the stochastic Euler stepper with the integrate functions:
+
+[ornstein_uhlenbeck_main]
+
+Note, how we have used the `make_pair` function for the generation of the system function.
+
+[endsect]
+
+[section Custom Runge-Kutta steppers]
+
+[import ../examples/heun.cpp]
+
+odeint provides a C++ template meta-algorithm for constructing arbitrary
+Runge-Kutta schemes [footnote M. Mulansky, K. Ahnert, Template-Metaprogramming
+applied to numerical problems, [@http://arxiv.org/abs/1110.3233 arxiv:1110.3233]]. Some schemes are predefined in odeint, for
+example the classical Runge-Kutta of fourth order, or the
+Runge-Kutta-Cash-Karp 54 and the Runge-Kutta-Fehlberg 78 method. 
+You can use this meta algorithm to construct you own solvers. This has the
+advantage that you can make full use of odeint's algebra and operation system.
+
+Consider for example the method of Heun, defined by the following Butcher tableau:
+
+[pre
+c1 = 0
+
+c2 = 1/3, a21 = 1/3
+
+c3 = 2/3, a31 =  0 , a32 = 2/3
+
+          b1  = 1/4, b2  = 0  , b3 = 3/4
+]
+
+Implementing this method is very easy. First you have to define the constants:
+
+[heun_define_coefficients]
+
+While this might look cumbersome, packing all
+parameters into a templatized class which is not immediately evaluated has the
+advantage that you can change the `value_type` of your stepper to any type you
+like - presumably arbitrary precision types. One could also instantiate
+the coefficients directly
+
+``
+const boost::array< double , 1 > heun_a1 = {{ 1.0 / 3.0 }};
+const boost::array< double , 2 > heun_a2 = {{ 0.0 , 2.0 / 3.0 }};
+const boost::array< double , 3 > heun_b = {{ 1.0 / 4.0 , 0.0 , 3.0 / 4.0 }};
+const boost::array< double , 3 > heun_c = {{ 0.0 , 1.0 / 3.0 , 2.0 / 3.0 }};
+``
+
+But then you are nailed down to use doubles.
+
+Next, you need to define your stepper, note that the Heun method has 3 stages
+and produces approximations of order 3:
+
+[heun_stepper_definition]
+
+That's it. Now, we have a new stepper method and we can use it, for example with the Lorenz system:
+
+[heun_example]
+
+[endsect]
+
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/examples_table.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/examples_table.qbk
new file mode 100755
index 0000000..5c7252e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/examples_table.qbk
@@ -0,0 +1,119 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[table Examples Overview
+  [[File] [Brief Description]]
+
+  [[[github_link libs/numeric/odeint/examples/bind_member_functions.cpp bind_member_functions.cpp]]
+  [This examples shows how member functions can be used as system functions in odeint.]]
+
+  [[[github_link libs/numeric/odeint/examples/bind_member_functions.cpp bind_member_functions_cpp11.cpp]]
+  [This examples shows how member functions can be used as system functions in odeint with `std::bind` in C++11.]]
+
+  [[[github_link libs/numeric/odeint/examples/bulirsch_stoer.cpp bulirsch_stoer.cpp]]
+  [Shows the usage of the Bulirsch-Stoer method.]]
+
+  [[[github_link libs/numeric/odeint/examples/chaotic_system.cpp chaotic_system.cpp]]
+  [The chaotic system examples integrates the Lorenz system and calculates the Lyapunov exponents.]]
+
+  [[[github_link libs/numeric/odeint/examples/elliptic_functions.cpp elliptic_functions.cpp]]
+  [Example calculating the elliptic functions using Bulirsch-Stoer and Runge-Kutta-Dopri5 Steppers with dense output.]] 
+ 
+  [[[github_link libs/numeric/odeint/examples/fpu.cpp fpu.cpp]]
+  [The Fermi-Pasta-Ulam (FPU) example shows how odeint can be used to integrate lattice systems.]]
+
+  [[[github_link libs/numeric/odeint/examples/generation_functions.cpp generation_functions.cpp]]
+  [Shows skeletal code on how to implement own factory functions.]]
+
+  [[[github_link libs/numeric/odeint/examples/harmonic_oscillator.cpp harmonic_oscillator.cpp]]
+  [The harmonic oscillator examples gives a brief introduction to odeint and shows the usage of the classical Runge-Kutta-solvers.]]
+
+  [[[github_link libs/numeric/odeint/examples/harmonic_oscillator_units.cpp harmonic_oscillator_units.cpp]]
+  [This examples shows how __boost_units can be used with odeint.]]
+
+  [[[github_link libs/numeric/odeint/examples/heun.cpp heun.cpp]]
+  [The Heun example shows how an custom Runge-Kutta stepper can be created with odeint generic Runge-Kutta method.]]
+
+  [[[github_link libs/numeric/odeint/examples/list_lattice.cpp list_lattice.cpp]]
+  [Example of a phase lattice integration using `std::list` as state type.]]
+
+  [[[github_link libs/numeric/odeint/examples/lorenz_point.cpp lorenz_point.cpp]]
+  [Alternative way of integrating lorenz by using a self defined point3d data type as state type.]]
+
+  [[[github_link libs/numeric/odeint/examples/my_vector.cpp my_vector.cpp]]
+  [Simple example showing how to get odeint to work with a self-defined vector type.]]
+
+  [[[github_link libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp phase_oscillator_ensemble.cpp]]
+  [The phase oscillator ensemble example shows how globally coupled oscillators can be analyzed and how statistical measures can be computed during integration.]]
+
+  [[[github_link libs/numeric/odeint/examples/resizing_lattice.cpp resizing_lattice.cpp]]
+  [Shows the strength of odeint's memory management by simulating a Hamiltonian system on an expanding lattice.]]
+
+  [[[github_link libs/numeric/odeint/examples/simple1d.cpp simple1d.cpp]]
+  [Integrating a simple, one-dimensional ODE showing the usage of integrate- and generate-functions.]]
+
+  [[[github_link libs/numeric/odeint/examples/solar_system.cpp solar_system.cpp]]
+  [The solar system example shows the usage of the symplectic solvers.]]
+
+  [[[github_link libs/numeric/odeint/examples/stepper_details.cpp stepper_details.cpp]]
+  [Trivial example showing the usability of the several stepper classes.]]
+
+  [[[github_link libs/numeric/odeint/examples/stiff_system.cpp stiff_system.cpp]]
+  [The stiff system example shows the usage of the stiff solvers using the Jacobian of the system function.]]
+
+  [[[github_link libs/numeric/odeint/examples/stochastic_euler.cpp stochastic_euler.cpp]]
+  [Implementation of a custom stepper - the stochastic euler -  for solving stochastic differential equations.]]
+
+  [[[github_link libs/numeric/odeint/examples/stuart_landau.cpp stuart_landau.cpp]]
+  [The Stuart-Landau example shows how odeint can be used with complex state types.]]
+
+  [[[github_link libs/numeric/odeint/examples/two_dimensional_phase_lattice.cpp two_dimensional_phase_lattice.cpp]]
+  [The 2D phase oscillator example shows how a two-dimensional lattice works with odeint and how matrix types can be used as state types in odeint.]]
+
+  [[[github_link libs/numeric/odeint/examples/van_der_pol_stiff.cpp van_der_pol_stiff.cpp]]
+  [This stiff system example again shows the usage of the stiff solvers by integrating the van der Pol oscillator.]]
+
+  [[[github_link libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp gmpxx/lorenz_gmpxx.cpp]]
+  [This examples integrates the Lorenz system by means of an arbitrary precision type.]]
+
+  [[[github_link libs/numeric/odeint/examples/mtl/gauss_packet.cpp mtl/gauss_packet.cpp]]
+  [The MTL-Gauss-packet example shows how the MTL can be easily used with odeint.]]
+
+  [[[github_link libs/numeric/odeint/examples/mtl/implicit_euler_mtl.cpp mtl/implicit_euler_mtl.cpp]]
+  [This examples shows the usage of the MTL implicit Euler method with a sparse matrix type.]]
+
+  [[[github_link libs/numeric/odeint/examples/thrust/phase_oscillator_ensemble.cu thrust/phase_oscillator_ensemble.cu]]
+  [The Thrust phase oscillator ensemble example shows how globally coupled oscillators can be analyzed with Thrust and CUDA, employing the power of modern graphic devices.]]
+
+  [[[github_link libs/numeric/odeint/examples/thrust/phase_oscillator_chain.cu thrust/phase_oscillator_chain.cu]]
+  [The Thrust phase oscillator chain example shows how chains of nearest neighbor coupled oscillators can be integrated with Thrust and odeint.]]
+
+  [[[github_link libs/numeric/odeint/examples/thrust/lorenz_parameters.cu thrust/lorenz_parameters.cu]]
+  [The Lorenz parameters examples show how ensembles of ordinary differential equations can be solved by means of Thrust to study
+  the dependence of an ODE on some parameters.]]
+
+  [[[github_link libs/numeric/odeint/examples/thrust/relaxation.cu thrust/relaxation.cu]]
+  [Another examples for the usage of Thrust.]]
+
+  [[[github_link libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp ublas/lorenz_ublas.cpp]]
+  [This example shows how the ublas vector types can be used with odeint.]]
+
+  [[[github_link libs/numeric/odeint/examples/vexcl/lorenz_ensemble.cpp vexcl/lorenz_ensemble.cpp]]
+  [This example shows how the VexCL - a framework for OpenCL computation - can be used with odeint.]]
+
+  [[[github_link libs/numeric/odeint/examples/2d_lattice/spreading.cpp 2d_lattice/spreading.cpp]]
+  [This examples shows how a `vector< vector< T > >` can be used a state type for odeint and how a resizing mechanism of this state can be implemented.]]
+
+  [[[github_link libs/numeric/odeint/examples/quadmath/black_hole.cpp quadmath/black_hole.cpp]]
+  [This examples shows how gcc libquadmath can be used with odeint. It provides a high precision floating point type which is adapted to odeint in this example.]]
+
+]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/getting_started.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/getting_started.qbk
new file mode 100755
index 0000000..8b48125
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/getting_started.qbk
@@ -0,0 +1,143 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+
+[section Getting started]
+
+[section Overview]
+
+[caution Boost.Numeric.Odeint is not an official boost library!]
+
+odeint is a library for solving  initial value problems (IVP) of ordinary
+differential equations. Mathematically, these problems are formulated as
+follows: 
+
+['x'(t) = f(x,t)], ['x(0) = x0].
+
+['x] and ['f] can be vectors and the solution is some function ['x(t)] fulfilling both equations above. In the following we will refer to ['x'(t)] also `dxdt` which is also our notation for the derivative in the source code.
+
+Ordinary differential equations occur nearly everywhere in natural sciences. For example, the whole Newtonian mechanics are described by second order differential equations. Be sure, you will find them in every discipline. They also occur if partial differential equations (PDEs) are discretized. Then, a system of coupled ordinary differential occurs, sometimes also referred as lattices ODEs.
+
+Numerical approximations for the solution ['x(t)] are calculated iteratively. The easiest algorithm is the Euler scheme, where starting at ['x(0)] one finds ['x(dt) = x(0) + dt f(x(0),0)]. Now one can use ['x(dt)] and obtain ['x(2dt)] in a similar way and so on. The Euler method is of order 1, that means the error at each step is ['~ dt[super 2]]. This is, of course, not very satisfying, which is why the Euler method is rarely used for real life problems and serves just as illustrative example. 
+
+The main focus of odeint is to provide numerical methods implemented in a way where the algorithm is completely independent on the data structure used to represent the state /x/.
+In doing so, odeint is applicable for a broad variety of situations and it can be used with many other libraries. Besides the usual case where the state is defined as a `std::vector` or a `boost::array`, we provide native support for the following libraries:
+
+* __ublas
+* __thrust, making odeint naturally running on CUDA devices
+* gsl_vector for compatibility with the many numerical function in the GSL
+* __boost_range
+* __boost_fusion (the state type can be a fusion vector)
+* __boost_units
+* __intel_mkl for maximum performance
+* __vexcl for OpenCL
+* __boost_graph (still experimentally)
+
+In odeint, the following algorithms are implemented:
+
+[include stepper_table.qbk]
+
+[endsect]
+
+
+
+[section Usage, Compilation, Headers]
+
+odeint is a header-only library, no linking against pre-compiled code is required. It can be included by
+
+``
+#include <boost/numeric/odeint.hpp>
+``
+
+which includes all headers of the library. All functions and classes from odeint live in the namespace
+
+``
+ using namespace boost::numeric::odeint;
+``
+
+It is also possible to include only parts of the library. This is the recommended way since it saves a lot of compilation time.
+
+* `#include <boost/numeric/odeint/stepper/XYZ.hpp>` - the include path for all steppers, XYZ is a placeholder for a stepper.
+* `#include <boost/numeric/odeint/algebra/XYZ.hpp>` - all algebras.
+* `#include <boost/numeric/odeint/util/XYZ.hpp>` - the utility functions like `is_resizeable`, `same_size`, or `resize`.
+* `#include <boost/numeric/odeint/integrate/XYZ.hpp>` - the integrate routines.
+* `#include <boost/numeric/odeint/iterator/XYZ.hpp>` - the range and iterator functions.
+* `#include <boost/numeric/odeint/external/XYZ.hpp>` - any binders to external libraries.
+
+
+
+[endsect]
+
+[section Short Example]
+
+Imaging, you want to numerically integrate a harmonic oscillator with
+friction. The equations of motion are given by ['x'' = -x + __gamma x']. 
+Odeint only deals with first order ODEs that have no higher derivatives than
+x' involved. However, any higher order ODE can be transformed to a system of
+first order ODEs by introducing the new variables ['q=x] and ['p=x'] such that ['w=(q,p)]. To apply numerical integration one first has to design the right hand side of the equation ['w' = f(w) = (p,-q+__gamma p)]:
+
+[import ../examples/harmonic_oscillator.cpp]
+[rhs_function]
+
+Here we chose `vector<double>` as the state type, but others are also
+possible, for example `boost::array<double,2>`. odeint is designed in such a
+way that you can easily use your own state types. Next, the ODE is defined
+which is in this case a simple function calculating ['f(x)]. The parameter
+signature of this function is crucial: the integration methods will always
+call them in the form `f(x, dxdt, t)` (there are exceptions for some special routines). So, even if there is no explicit time dependence, one has to define `t` as a function parameter.
+
+Now, we have to define the initial state from which the integration should start:
+
+[state_initialization]
+
+For the integration itself we'll use the `integrate` function, which is a  convenient way to get quick results. It is based on the error-controlled `runge_kutta54_cash_karp` stepper (5th order) and uses adaptive step-size.
+
+[integration]
+
+The integrate function expects as parameters the rhs of the ode as defined
+above, the initial state `x`, the start-and end-time of the integration as
+well as the initial time step=size. Note, that `integrate` uses an adaptive step-size during
+the integration steps so the time points will not be equally spaced. The
+integration returns the number of steps that were applied and updates x which
+is set to the approximate solution of the ODE at the end of integration.
+
+It is also possible to represent the ode system as a class. The
+rhs must then be implemented as a functor - a class with an overloaded function call operator:
+
+[rhs_class]
+
+which can be used via
+
+[integration_class]
+
+In order to observe the solution
+during the integration steps all you have to do is
+to provide a reasonable observer. An example is
+
+[integrate_observer]
+
+which stores the intermediate steps in a container. 
+Note, the argument structure of the ()-operator: odeint calls the observer
+exactly in this way, providing the current state and time. Now, you only have
+to pass this container to the integration function:
+
+[integrate_observ]
+
+That is all. You can use functional libraries like __boost_lambda or __boost_phoenix to ease the creation of observer functions.
+
+The full cpp file for this example can be found here: [github_link libs/numeric/odeint/examples/harmonic_oscillator.cpp harmonic_oscillator.cpp]
+
+
+
+[endsect]
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/html/boostbook.css b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/html/boostbook.css
new file mode 100755
index 0000000..42e8996
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/html/boostbook.css
@@ -0,0 +1,611 @@
+/*=============================================================================
+    Copyright (c) 2004 Joel de Guzman
+    http://spirit.sourceforge.net/
+
+    Distributed under the Boost Software License, Version 1.0. (See accompany-
+    ing file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
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diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/html/solar_system.jpg b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/html/solar_system.jpg
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diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/literature.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/literature.qbk
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--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/literature.qbk
@@ -0,0 +1,53 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section Literature]
+
+[*General information about numerical integration of ordinary differential equations:]
+
+[#numerical_recipies]
+[1] Press William H et al., Numerical Recipes 3rd Edition: The Art of Scientific Computing, 3rd ed. (Cambridge University Press, 2007).
+
+[#hairer_solving_odes_1]
+[2] Ernst Hairer, Syvert P. Nørsett, and Gerhard Wanner, Solving Ordinary Differential Equations I: Nonstiff Problems, 2nd ed. (Springer, Berlin, 2009).
+
+[#hairer_solving_odes_2]
+[3] Ernst Hairer and Gerhard Wanner, Solving Ordinary Differential Equations II: Stiff and Differential-Algebraic Problems, 2nd ed. (Springer, Berlin, 2010).
+
+
+[*Symplectic integration of numerical integration:]
+
+[#hairer_geometrical_numeric_integration]
+[4] Ernst Hairer, Gerhard Wanner, and Christian Lubich, Geometric Numerical Integration: Structure-Preserving Algorithms for Ordinary Differential Equations, 2nd ed. (Springer-Verlag Gmbh, 2006).
+
+[#leimkuhler_reich_simulating_hamiltonian_dynamics]
+[5] Leimkuhler Benedict and Reich Sebastian, Simulating Hamiltonian Dynamics (Cambridge University Press, 2005).
+
+
+[*Special symplectic methods:]
+
+[#symplectic_yoshida_symplectic_integrators]
+[6] Haruo Yoshida, “Construction of higher order symplectic integrators,” Physics Letters A 150, no. 5 (November 12, 1990): 262-268.
+
+[#symplectic_mylachlan_symmetric_composition_mehtods]
+[7] Robert I. McLachlan, “On the numerical integration of ordinary differential equations by symmetric composition methods,” SIAM J. Sci. Comput. 16, no. 1 (1995): 151-168.
+
+
+[*Special systems:]
+
+[#fpu_scholarpedia]
+[8]  [@http://www.scholarpedia.org/article/Fermi-Pasta-Ulam_nonlinear_lattice_oscillations Fermi-Pasta-Ulam nonlinear lattice oscillations]
+
+[#synchronization_pikovsky_rosenblum]
+[9] Arkady Pikovsky, Michael Rosemblum, and Jürgen Kurths, Synchronization: A Universal Concept in Nonlinear Sciences. (Cambridge University Press, 2001).
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/make_controlled_table.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/make_controlled_table.qbk
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index 0000000..586864b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/make_controlled_table.qbk
@@ -0,0 +1,20 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+
+[table Generation functions make_controlled( abs_error , rel_error , stepper )
+  [[Stepper] [Result of make_controlled] [Remarks]]
+  [[`runge_kutta_cash_karp54`] [`controlled_runge_kutta< runge_kutta_cash_karp54 , default_error_checker<...> >`] [['a[sub x]=1], ['a[sub dxdt]=1]]]
+  [[`runge_kutta_fehlberg78`] [`controlled_runge_kutta< runge_kutta_fehlberg78 , default_error_checker<...> >`] [['a[sub x]=1], ['a[sub dxdt]=1]]]
+  [[`runge_kutta_dopri5`] [`controlled_runge_kutta< runge_kutta_dopri5 , default_error_checker<...> >`] [['a [sub x]=1], ['a[sub dxdt]=1]]]
+  [[`rosenbrock4`] [`rosenbrock4_controlled< rosenbrock4 >`] [-]]
+]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/make_dense_output_table.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/make_dense_output_table.qbk
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index 0000000..d928134
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/make_dense_output_table.qbk
@@ -0,0 +1,19 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+
+[table Generation functions make_dense_output( abs_error , rel_error , stepper )
+  [[Stepper] [Result of make_dense_output] [Remarks]]
+  [[`runge_kutta_dopri5`] [`dense_output_runge_kutta< controlled_runge_kutta< runge_kutta_dopri5 , default_error_checker<...> > >`] [['a [sub x]=1], ['a[sub dxdt]=1]]]
+  [[`rosenbrock4`] [`rosenbrock4_dense_output< rosenbrock4_controller< rosenbrock4 > >`] [-]]
+]
+
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.idx b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.idx
new file mode 100755
index 0000000..993673a
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.idx
@@ -0,0 +1,53 @@
+# odeint.idx list of files and keyword to be indexed.
+
+# Copyright (c) 2011 Pierre Talbot
+#
+# Use, modification and distribution is subject to the Boost Software
+# License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+!scan-path "boost/numeric/odeint/" ".*\.*pp" true
+# recurse in any sub-directories.
+
+# List of terms in the docbook (from Quickbook) to be indexed.
+# Convenient to order these alphabetically.
+
+# TODO - add more!
+
+acknowledgements
+book
+# C++ \<C|C++\>
+card
+credit
+deprecated
+Doxygen
+example \<example\w*\>
+equations \<equation\w*\>
+graphics \<graphic\w*\>
+Gumm
+links \<link\w*\>
+images \<image\w*\>
+ISBN
+ISSN
+IBM
+italic \<italic\w*\>
+# index index and indexes (assume not using plural indices!)
+index  \<index\w*\>
+Luhn
+Mastercard
+modulus
+path  \<path\w*\>
+pre-conditions \<pre\w*\>
+post-conditions \<post\w*\>
+remark \<remark\w*\>
+snippet  \<snippet\w*\>
+png
+Quickbook
+Verhoeff
+# version \<version\w*\>
+VISA
+warning \<warning\w*\>
+
+# Remove leading "A" or "The" prefixes from section titles.
+# !rewrite-name "(?:A|An|The)\s+(.*)" "\1"
+
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.qbk
new file mode 100755
index 0000000..77baa99
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.qbk
@@ -0,0 +1,237 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+
+[library Boost.Numeric.Odeint
+     [quickbook 1.5]
+     [id odeint]
+     [dirname odeint]
+     [authors [Ahnert, Karsten], [Mulansky, Mario]]
+     [copyright 2009-2012 Karsten Ahnert and Mario Mulansky]
+     [category math]
+     [purpose 
+        Numerical integration of ordinary differential equations.
+     ]
+     [license
+     Distributed under the Boost Software License, Version 1.0.
+     (See accompanying file LICENSE_1_0.txt or copy
+     at [@http://www.boost.org/LICENSE_1_0.txt]) 
+     ]
+]
+
+[include auto_index_helpers.qbk]
+
+
+
+[def __boost_lambda
+    [@http://www.boost.org/doc/libs/release/doc/html/lambda.html Boost.Lambda]]
+[def __boost_phoenix
+    [@http://www.boost.org/doc/libs/1_46_1/libs/spirit/phoenix/doc/html/index.html Boost.Phoenix]]
+[def __boost_operators
+    [@http://www.boost.org/doc/libs/release/doc/html/operators.html Boost.Operators]]
+[def __boost_ref
+    [@http://www.boost.org/doc/libs/release/doc/html/ref.html Boost.Ref]]
+[def __boost_range
+    [@http://www.boost.org/doc/libs/release/libs/range/index.html Boost.Range]]
+[def __boost_units
+    [@http://www.boost.org/doc/libs/release/libs/units/index.html Boost.Units]]
+[def __boost_fusion
+    [@http://www.boost.org/doc/libs/release/libs/fusion/index.html Boost.Fusion]]
+[def __boost_graph
+    [@http://www.boost.org/doc/libs/1_47_0/libs/graph/doc/table_of_contents.html Boost.Graph]]
+
+[def __thrust
+    [@http://code.google.com/p/thrust/ Thrust]]
+[def __ublas
+    [@http://www.boost.org/doc/libs/release/libs/numeric/ublas/index.html Boost.uBLAS]]
+[def __intel_mkl
+     [@http://software.intel.com/en-us/articles/intel-mkl/ Intel Math Kernel Library]]
+[def __gsl
+     [@http://www.gsl.org GSL]] 
+[def __vexcl
+     [@https://github.com/ddemidov/vexcl VexCL]]
+
+[def __concepts
+    [link boost_numeric_odeint.concepts Concepts]]
+[def __system
+    [link boost_numeric_odeint.concepts.system System]]
+[def __symplectic_system
+    [link boost_numeric_odeint.concepts.symplectic_system Symplectic System]]
+[def __simple_symplectic_system
+    [link boost_numeric_odeint.concepts.simple_symplectic_system Simple Symplectic System]]
+[def __implicit_system
+    [link boost_numeric_odeint.concepts.implicit_system Implicit System]]
+[def __stepper
+    [link boost_numeric_odeint.concepts.stepper Stepper]]
+[def __error_stepper
+    [link boost_numeric_odeint.concepts.error_stepper Error Stepper]]
+[def __controlled_stepper
+    [link boost_numeric_odeint.concepts.controlled_stepper Controlled Stepper]]
+[def __dense_output_stepper
+    [link boost_numeric_odeint.concepts.dense_output_stepper Dense Output Stepper]]
+[def __integrate_functions
+    [link boost_numeric_odeint.odeint_in_detail.integrate_functions integrate functions]]
+[def __tutorial
+    [link boost_numeric_odeint.tutorial Tutorial]]
+[def __tut_solar_system
+    [link boost_numeric_odeint.tutorial.solar_system Solar System]]
+[def __tut_chaotic_system
+    [link boost_numeric_odeint.tutorial.chaotic_systems_and_lyapunov_exponents Chaotic System]]
+[def __tut_harmonic_oscillator
+    [link boost_numeric_odeint.tutorial.harmonic_oscillator Harmonic Oscillator]]
+[def __using_steppers
+    [link boost_numeric_odeint.odeint_in_detail.steppers.using_steppers Using steppers]]	
+[def __generation_functions
+    [link boost_numeric_odeint.odeint_in_detail.generation_functions Generation functions]]
+[def __adapt_state_types
+    [link boost_numeric_odeint.odeint_in_detail.state_types__algebras_and_operations Adapt your own state types]]
+[def __resizing_lattice_example
+    [link boost_numeric_odeint.tutorial.self_expanding_lattices Self expanding lattices]]
+[def __odeint_stepper_table
+    [link boost_numeric_odeint.odeint_in_detail.steppers.stepper_overview Stepper overview]]
+
+
+
+[def __nr_ref [link numerical_recipies \[1\] ]]
+[def __hairer_1_ref [link hairer_solving_odes_1 \[2\] ]]
+[def __hairer_2_ref [link hairer_solving_odes_2 \[3\] ]]
+[def __hairer_geom_ref [link hairer_geometrical_numeric_integration \[4\] ]]
+[def __leimkuhler_reich_ref [link leimkuhler_reich_simulating_hamiltonian_dynamics \[5\] ]]
+[def __symplectic_integrator_1_ref [link symplectic_yoshida_symplectic_integrators \[6\] ]]
+[def __symplectic_integrator_2_ref [link symplectic_mylachlan_symmetric_composition_mehtods \[7\] ]]
+[def __fpu_scholarpedia_ref [link fpu_scholarpedia \[8\] ]]
+[def __synchronization_pikovsky_ref [link synchronization_pikovsky_rosenblum \[9\] ]]
+
+
+
+
+
+[def __alpha '''&#945;''']
+[def __beta '''&#946;''']
+[def __delta '''&#948;''']
+[def __Delta '''&#916;''']
+[def __lambda '''&#955;'''][/lower case]
+[def __Lambda '''&#923;'''][/upper case]
+[def __gamma '''&#947;''']
+[def __Gamma '''&#915;''']
+[def __sigma '''&#963;''']
+[def __Sigma '''&#931;''']
+[def __Omega '''&#937;''']
+[def __omega '''&#969;''']
+[def __phi '''&#966;''']
+[def __psi '''&ä968;''']
+[def __Phi '''&#934;''']
+[def __Psi '''&#936;''']
+[def __epsilon '''&#949;''']
+[def __eta '''&#951;''']
+[def __theta '''&#952;''']
+[def __Theta '''&#920;''']
+[def __xi '''&#958;''']
+
+[def __space '''&#8203;''']
+
+
+
+[template super[x]'''<superscript>'''[x]'''</superscript>''']
+[template sub[x]'''<subscript>'''[x]'''</subscript>''']
+[template subl[x]'''<subscript>'''__space[x]'''</subscript>''']
+
+[/ [template github_link[url text]'''<ulink url="https://github.com/headmyshoulder/odeint-v2/tree/master/'''[url]'''" target="_blank">'''[text]'''</ulink>''']]
+[template github_link[url text]'''<ulink url="../../../../../'''[url]'''" target="_blank">'''[text]'''</ulink>''']
+
+
+
+
+[include getting_started.qbk]
+
+[include tutorial.qbk]
+
+[include details.qbk]
+
+[include concepts.qbk]
+
+[include literature.qbk]
+
+[include acknowledgements.qbk]
+
+[xinclude reference.xml]
+
+[section:indexes Indexes]
+
+[named_index class_name Class Index]
+[named_index function_name Function Index]
+[/
+[named_index typedef_name Typedef Index]
+[named_index macro_name Macro Index]
+]
+[index]
+
+[endsect]
+
+
+
+
+[/
+# &Alpha; 	 Α 	&#913; 	U+0391 	Greek capital letter alpha 	 
+# &Beta; 	 Β 	&#914; 	U+0392 	Greek capital letter beta 	 
+# &Gamma; 	 Γ 	&#915; 	U+0393 	Greek capital letter gamma 	ISOgrk3
+# &Delta; 	 Δ 	&#916; 	U+0394 	Greek capital letter delta 	ISOgrk3
+# &Epsilon; 	 Ε 	&#917; 	U+0395 	Greek capital letter epsilon 	 
+# &Zeta; 	 Ζ 	&#918; 	U+0396 	Greek capital letter zeta 	 
+# &Eta; 	 Η 	&#919; 	U+0397 	Greek capital letter eta 	 
+# &Theta; 	 Θ 	&#920; 	U+0398 	Greek capital letter theta 	ISOgrk3
+# &Iota; 	 Ι 	&#921; 	U+0399 	Greek capital letter iota 	 
+# &Kappa; 	 Κ 	&#922; 	U+039A 	Greek capital letter kappa 	 
+# &Lambda; 	 Λ 	&#923; 	U+039B 	Greek capital letter lambda 	ISOgrk3
+# &Mu; 	 Μ 	&#924; 	U+039C 	Greek capital letter mu 	 
+# &Nu; 	 Ν 	&#925; 	U+039D 	Greek capital letter nu 	 
+# &Xi; 	 Ξ 	&#926; 	U+039E 	Greek capital letter xi 	ISOgrk3
+# &Omicron; 	 Ο 	&#927; 	U+039F 	Greek capital letter omicron 	 
+# &Pi; 	 Π 	&#928; 	U+03A0 	Greek capital letter pi 	ISOgrk3
+# &Rho; 	 Ρ 	&#929; 	U+03A1 	Greek capital letter rho 	 
+# &Sigma; 	 Σ 	&#931; 	U+03A3 	Greek capital letter sigma 	ISOgrk3
+# &Tau; 	 Τ 	&#932; 	U+03A4 	Greek capital letter tau 	 
+# &Upsilon; 	 Υ 	&#933; 	U+03A5 	Greek capital letter upsilon 	ISOgrk3
+# &Phi; 	 Φ 	&#934; 	U+03A6 	Greek capital letter phi 	ISOgrk3
+# &Chi; 	 Χ 	&#935; 	U+03A7 	Greek capital letter chi 	 
+# &Psi; 	 Ψ 	&#936; 	U+03A8 	Greek capital letter psi 	ISOgrk3
+# &Omega; 	 Ω 	&#937; 	U+03A9 	Greek capital letter omega 	ISOgrk3
+# &alpha; 	 α 	&#945; 	U+03B1 	Greek small letter alpha 	ISOgrk3
+# &beta; 	 β 	&#946; 	U+03B2 	Greek small letter beta 	ISOgrk3
+# &gamma; 	 γ 	&#947; 	U+03B3 	Greek small letter gamma 	ISOgrk3
+# &delta; 	 δ 	&#948; 	U+03B4 	Greek small letter delta 	ISOgrk3
+# &epsilon; 	 ε 	&#949; 	U+03B5 	Greek small letter epsilon 	ISOgrk3
+# &zeta; 	 ζ 	&#950; 	U+03B6 	Greek small letter zeta 	ISOgrk3
+# &eta; 	 η 	&#951; 	U+03B7 	Greek small letter eta 	ISOgrk3
+# &theta; 	 θ 	&#952; 	U+03B8 	Greek small letter theta 	ISOgrk3
+# &iota; 	 ι 	&#953; 	U+03B9 	Greek small letter iota 	ISOgrk3
+# &kappa; 	 κ 	&#954; 	U+03BA 	Greek small letter kappa 	ISOgrk3
+# &lambda; 	 λ 	&#955; 	U+03BB 	Greek small letter lambda 	ISOgrk3
+# &mu; 	 μ 	&#956; 	U+03BC 	Greek small letter mu 	ISOgrk3
+# &nu; 	 ν 	&#957; 	U+03BD 	Greek small letter nu 	ISOgrk3
+# &xi; 	 ξ 	&#958; 	U+03BE 	Greek small letter xi 	ISOgrk3
+# &omicron; 	 ο 	&#959; 	U+03BF 	Greek small letter omicron 	New
+# &pi; 	 π 	&#960; 	U+03C0 	Greek small letter pi 	ISOgrk3
+# &rho; 	 ρ 	&#961; 	U+03C1 	Greek small letter rho 	ISOgrk3
+# &sigmaf; 	 ς 	&#962; 	U+03C2 	Greek small letter final sigma 	ISOgrk3
+# &sigma; 	 σ 	&#963; 	U+03C3 	Greek small letter sigma 	ISOgrk3
+# &tau; 	 τ 	&#964; 	U+03C4 	Greek small letter tau 	ISOgrk3
+# &upsilon; 	 υ 	&#965; 	U+03C5 	Greek small letter upsilon 	ISOgrk3
+# &phi; 	 φ 	&#966; 	U+03C6 	Greek small letter phi 	ISOgrk3
+# &chi; 	 χ 	&#967; 	U+03C7 	Greek small letter chi 	ISOgrk3
+# &psi; 	 ψ 	&#968; 	U+03C8 	Greek small letter psi 	ISOgrk3
+# &omega; 	 ω 	&#969; 	U+03C9 	Greek small letter omega 	ISOgrk3
+# &thetasym; 	 ϑ 	&#977; 	U+03D1 	Greek small letter theta symbol 	New
+# &upsih; 	 ϒ 	&#978; 	U+03D2 	Greek upsilon with hook symbol 	New
+# &piv; 	 ϖ 	&#982; 	U+03D6 	Greek pi symbol 	ISOgrk3
+
+/]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/range_table.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/range_table.qbk
new file mode 100755
index 0000000..40995eb
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/range_table.qbk
@@ -0,0 +1,70 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+
+[/
+Steppers supporting __boost_range:
+
+* adams_bashforth_moulton
+* bulirsch_stoer_dense_out
+* bulirsch_stoer
+* controlled_runge_kutta
+* dense_output_runge_kutta
+* euler
+* explicit_error_generic_rk
+* explicit_generic_rk
+* rosenbrock4_controller
+* rosenbrock4_dense_output
+* rosenbrock4
+* runge_kutta4_classic
+* runge_kutta4
+* runge_kutta_cash_karp54_classic
+* runge_kutta_cash_karp54
+* runge_kutta_dopri5
+* runge_kutta_fehlberg78
+* symplectic_euler
+* symplectic_rkn_sb3a_mclachlan
+
+Algebras supporting __boost_range
+
+* range_algebra
+* thrust_algebra
+/]
+
+[table Steppers supporting Boost.Range
+  [[Stepper]]
+  [[adams_bashforth_moulton]]
+  [[bulirsch_stoer_dense_out]]
+  [[bulirsch_stoer]]
+  [[controlled_runge_kutta]]
+  [[dense_output_runge_kutta]]
+  [[euler]]
+  [[explicit_error_generic_rk]]
+  [[explicit_generic_rk]]
+  [[rosenbrock4_controller]]
+  [[rosenbrock4_dense_output]]
+  [[rosenbrock4]]
+  [[runge_kutta4_classic]]
+  [[runge_kutta4]]
+  [[runge_kutta_cash_karp54_classic]]
+  [[runge_kutta_cash_karp54]]
+  [[runge_kutta_dopri5]]
+  [[runge_kutta_fehlberg78]]
+  [[symplectic_euler]]
+  [[symplectic_rkn_sb3a_mclachlan]]
+]
+
+[table Algebras supporting Boost.Range
+  [[algebra]]
+  [[range_algebra]]
+  [[thrust_algebra]]
+]
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/stepper_table.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/stepper_table.qbk
new file mode 100755
index 0000000..fca0c4c
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/stepper_table.qbk
@@ -0,0 +1,40 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[table Stepper Algorithms
+  [[Algorithm] [Class] [Concept] [System Concept] [Order] [Error Estimation] [Dense Output] [Internal state] [Remarks]]
+  [[Explicit Euler] [`euler`] [__dense_output_stepper] [__system] [1] [No] [Yes] [No] [Very simple, only for demonstrating purpose]]
+  [[Modified Midpoint] [`modified_midpoint`] [__stepper] [__system] [configurable (2)] [No] [No] [No] [Used in Bulirsch-Stoer implementation]]
+  [[Runge-Kutta 4] [`runge_kutta4`] [__stepper] [__system] [4] [No] [No] [No] [The classical Runge-Kutta scheme, good general scheme without error control]]
+  [[Cash-Karp] [`runge_kutta_cash_karp54`] [__error_stepper] [__system] [5] [Yes (4)] [No] [No] [Good general scheme with error estimation, to be used in controlled_error_stepper]]
+  [[Dormand-Prince 5] [`runge_kutta_dopri5`] [__error_stepper] [__system] [5] [Yes (4)] [Yes] [Yes] [Standard method with error control and dense output, to be used in controlled_error_stepper and in dense_output_controlled_explicit_fsal.]]
+  [[Fehlberg 78] [`runge_kutta_fehlberg78`] [__error_stepper] [__system] [8] [Yes (7)] [No] [No] [Good high order method with error estimation, to be used in controlled_error_stepper.]]
+
+  [[Adams Bashforth] [`adams_bashforth`] [__stepper] [__system] [configurable] [No] [No] [Yes] [Multistep method]]
+  [[Adams Moulton] [`adams_moulton`] [__stepper] [__system] [configurable] [No] [No] [Yes] [Multistep method]]
+  [[Adams Bashforth Moulton] [`adams_bashforth_moulton`] [__stepper] [__system] [configurable] [No] [No] [Yes] [Combined multistep method]]
+
+  [[Controlled Runge-Kutta] [`controlled_runge_kutta`] [__controlled_stepper] [__system] [depends] [Yes] [No] [depends] [Error control for __error_stepper. Requires an __error_stepper from above. Order depends on the given ErrorStepper]]
+  [[Dense Output Runge-Kutta] [`dense_output_runge_kutta`] [__dense_output_stepper] [__system] [depends] [No] [Yes] [Yes] [Dense output for __stepper and __error_stepper from above if they provide dense output functionality (like `euler` and `runge_kutta_dopri5`). Order depends on the given stepper.]]
+  
+  [[Bulirsch-Stoer] [`bulirsch_stoer`] [__controlled_stepper] [__system] [variable] [Yes] [No] [No] [Stepper with step size and order control. Very good if high precision is required.]]
+  [[Bulirsch-Stoer Dense Output] [`bulirsch_stoer_dense_out`] [__dense_output_stepper] [__system] [variable] [Yes] [Yes] [No] [Stepper with step size and order control as well as dense output. Very good if high precision and dense output is required.]]
+
+  [[Implicit Euler] [`implicit_euler`] [__stepper] [__implicit_system] [1] [No] [No] [No] [Basic implicit routine. Requires the Jacobian. Works only with __ublas vectors as state types.]]
+  [[Rosenbrock 4] [`rosenbrock4`] [__error_stepper] [__implicit_system] [4] [Yes] [Yes] [No] [Good for stiff systems. Works only with __ublas vectors as state types.]]
+  [[Controlled Rosenbrock 4] [`rosenbrock4_controller`] [__controlled_stepper] [__implicit_system] [4] [Yes] [Yes] [No] [Rosenbrock 4 with error control. Works only with __ublas vectors as state types.]]
+  [[Dense Output Rosenbrock 4] [`rosenbrock4_dense_output`] [__dense_output_stepper] [__implicit_system] [4] [Yes] [Yes] [No] [Controlled Rosenbrock 4 with dense output. Works only with __ublas vectors as state types.]]
+
+  [[Symplectic Euler] [`symplectic_euler`] [__stepper] [__symplectic_system __simple_symplectic_system] [1] [No] [No] [No] [Basic symplectic solver for separable Hamiltonian system]]
+  [[Symplectic RKN McLachlan] [`symplectic_rkn_sb3a_mclachlan`] [__stepper] [__symplectic_system __simple_symplectic_system] [4] [No] [No] [No] [Symplectic solver for separable Hamiltonian system with 6 stages and order 4.]]
+  [[Symplectic RKN McLachlan] [`symplectic_rkn_sb3a_m4_mclachlan`] [__stepper] [__symplectic_system __simple_symplectic_system] [4] [No] [No] [No] [Symplectic solver with 5 stages and order 4, can be used with arbitrary precision types.]]
+]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial.qbk
new file mode 100755
index 0000000..daab527
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial.qbk
@@ -0,0 +1,44 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section Tutorial]
+
+
+[include tutorial_harmonic_oscillator.qbk]
+
+[include tutorial_solar_system.qbk]
+
+[include tutorial_chaotic_system.qbk]
+
+[include tutorial_stiff_systems.qbk]
+
+[include tutorial_special_topics.qbk]
+
+[include tutorial_thrust_cuda.qbk]
+
+[include tutorial_vexcl_opencl.qbk]
+
+
+[section All examples]
+
+The following table gives an overview over all examples.
+
+[include examples_table.qbk]
+
+[endsect]
+
+
+
+
+
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_chaotic_system.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_chaotic_system.qbk
new file mode 100755
index 0000000..b90d8c1
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_chaotic_system.qbk
@@ -0,0 +1,156 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section Chaotic systems and Lyapunov exponents]
+
+[import ../examples/chaotic_system.cpp]
+
+In this example we present application of odeint to investigation of the properties of chaotic
+deterministic systems. In mathematical terms chaotic refers to an exponential
+growth of perturbations ['__delta x]. In order to observe this exponential growth one usually solves the equations for the tangential dynamics which is again an ordinary differential equation. These equations are linear but time dependent and can be obtained via
+
+['d __delta x / dt = J(x) __delta x]
+
+where ['J] is the Jacobian of the system under consideration. ['__delta x] can
+also be interpreted as a perturbation of the original system. In principle
+['n] of these perturbations exist, they form a hypercube and evolve in the
+time. The Lyapunov exponents are then defined as logarithmic growth rates of
+the perturbations. If one Lyapunov exponent is larger then zero the nearby
+trajectories diverge exponentially hence they are chaotic. If the largest
+Lyapunov exponent is zero one is usually faced with periodic motion. In the
+case of a largest Lyapunov exponent smaller then zero convergence to a
+fixed point is expected. More information's about Lyapunov exponents and nonlinear
+dynamical systems can be found in many textbooks, see for example: E. Ott "Chaos is
+Dynamical Systems", Cambridge.
+
+To calculate the Lyapunov exponents numerically one usually solves the equations of motion for ['n] perturbations and orthonormalizes them every ['k] steps. The Lyapunov exponent is the average of the logarithm of the stretching factor of each perturbation.
+
+To demonstrate how one can use odeint to determine the Lyapunov exponents we choose the Lorenz system. It is one of the most studied dynamical systems in the nonlinear dynamics community. For the standard parameters it possesses a strange attractor with non-integer dimension. The Lyapunov exponents take values of approximately 0.9, 0 and -12.
+
+The implementation of the Lorenz system is
+
+``
+const double sigma = 10.0;
+const double R = 28.0;
+const double b = 8.0 / 3.0;
+
+typedef boost::array< double , 3 > lorenz_state_type;
+
+void lorenz( const lorenz_state_type &x , lorenz_state_type &dxdt , double t )
+{
+    dxdt[0] = sigma * ( x[1] - x[0] );
+    dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+    dxdt[2] = -b * x[2] + x[0] * x[1];
+}
+``
+We need also to integrate the set of the perturbations. This is done in parallel to the original system, hence within one system function. Of course, we want to use the above definition of the Lorenz system, hence the definition of the system function including the Lorenz system itself and the perturbation could look like:
+
+``
+const size_t n = 3;
+const size_t num_of_lyap = 3;
+const size_t N = n + n*num_of_lyap;
+
+typedef std::tr1::array< double , N > state_type;
+typedef std::tr1::array< double , num_of_lyap > lyap_type;
+
+void lorenz_with_lyap( const state_type &x , state_type &dxdt , double t )
+{
+    lorenz( x , dxdt , t );
+
+    for( size_t l=0 ; l<num_of_lyap ; ++l )
+    {
+        const double *pert = x.begin() + 3 + l * 3;
+        double *dpert = dxdt.begin() + 3 + l * 3;
+        dpert[0] = - sigma * pert[0] + 10.0 * pert[1];
+        dpert[1] = ( R - x[2] ) * pert[0] - pert[1] - x[0] * pert[2];
+        dpert[2] = x[1] * pert[0] + x[0] * pert[1] - b * pert[2];
+    }
+}
+``
+
+The perturbations are stored linearly in the `state_type` behind the state of the Lorenz system.
+The problem of '''lorenz()''' and '''lorenz_with_lyap()''' having different state types may be solved putting the Lorenz system inside a functor with templatized arguments:
+
+``
+struct lorenz
+{
+    template< class StateIn , class StateOut , class Value >
+    void operator()( const StateIn &x , StateOut &dxdt , Value t )
+    {
+        dxdt[0] = sigma * ( x[1] - x[0] );
+        dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+        dxdt[2] = -b * x[2] + x[0] * x[1];
+    }
+};
+
+void lorenz_with_lyap( const state_type &x , state_type &dxdt , double t )
+{
+    lorenz()( x , dxdt , t );
+    ...
+}
+
+``
+This works fine and `lorenz_with_lyap` can be used for example via
+``
+state_type x;
+// initialize x
+explicit_rk4< state_type > rk4;
+integrate_n_steps( rk4 , lorenz_with_lyap , x , 0.0 , 0.01 , 1000 );
+``
+This code snippet performs 1000 steps with constant step size 0.01.
+
+A real world use case for the calculation of the Lyapunov exponents of Lorenz system would always include some transient steps, just to ensure that the current state lies on the attractor, hence it would look like
+
+``
+state_type x;
+// initialize x
+explicit_rk4< state_type > rk4;
+integrate_n_steps( rk4 , lorenz , x , 0.0 , 0.01 , 1000 );
+``
+The problem is now, that `x` is the full state containing also the
+perturbations and `integrate_n_steps` does not know that it should only use 3
+elements. In detail, odeint and its steppers determine the length of the
+system under consideration by determining the length of the state. In the
+classical solvers, e.g. from Numerical Recipes, the problem was solved by
+pointer to the state and an appropriate length, something similar to 
+
+``
+void lorenz( double* x , double *dxdt , double t, void* params )
+{
+    ...
+}
+
+int system_length = 3;
+rk4( x , system_length , t , dt , lorenz );
+``
+
+But odeint supports a similar and much more sophisticated concept:  __boost_range. To make the steppers and the system ready to work with __boost_range the system has to by changed:
+
+[system_function_without_perturbations]
+
+This is in principle all. Now, we only have to call `integrate_n_steps` with a
+range including only the first 3 components of ['x]:
+
+[integrate_transients_with_range]
+
+Having integrated a sufficient number of transients steps we are now able to calculate the Lyapunov exponents:
+
+# Initialize the perturbations. They are stored linearly behind the state of the Lorenz system. The perturbations are initialized such that [' p [subl ij] = __delta [subl ij]], where ['p [subl ij]] is the ['j]-component of the ['i].-th perturbation and ['__delta [subl ij]] is the Kronecker symbol.
+# Integrate 100 steps of the full system with perturbations
+# Orthonormalize the perturbation using Gram-Schmidt orthonormalization algorithm.
+# Repeat step 2 and 3. Every 10000 steps write the current Lyapunov exponent.
+
+[lyapunov_full_code]
+
+The full code can be found here:  [github_link libs/numeric/odeint/examples/chaotic_system.cpp chaotic_system.cpp]
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_harmonic_oscillator.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_harmonic_oscillator.qbk
new file mode 100755
index 0000000..89a4d54
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_harmonic_oscillator.qbk
@@ -0,0 +1,114 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+
+[section Harmonic oscillator]
+
+[section Define the ODE]
+
+First of all, you have to specify the data type that represents a state ['x] of your system. Mathematically, this usually is an n-dimensional vector with real numbers or complex numbers as scalar objects. For odeint the most natural way is to use `vector< double >` or `vector< complex< double > >` to represent the system state. However, odeint can deal with other container types as well, e.g. `boost::array< double , N >`, as long as it fulfills some requirements defined below.
+
+To integrate a differential equation numerically, one also has to define the rhs of the equation ['x' = f(x)]. In odeint you supply this function in terms of an object that implements the ()-operator with a certain parameter structure. Hence, the straightforward way would be to just define a function, e.g:
+
+[rhs_function]
+
+The parameters of the function must follow the example above where `x` is the
+current state, here a two-component vector containing position ['q] and
+momentum ['p] of the oscillator, `dxdt` is the derivative ['x'] and should be
+filled by the function with ['f(x)], and `t` is the current time.
+Note that in this example ['t] is not required to calculate ['f], however
+odeint expects the function signature to have exactly three parameters (there
+are exception, discussed later).
+
+A more sophisticated approach is to implement the system as a class where the rhs function is defined as the ()-operator of the class with the same parameter structure as above:
+
+[rhs_class]
+
+odeint can deal with instances of such classes instead of pure functions which
+allows for cleaner code.
+
+[endsect]
+
+[section Stepper Types]
+
+Numerical integration works iteratively, that means you start at a state ['x(t)] and perform a time-step of length ['dt] to obtain the approximate state ['x(t+dt)]. There exist many different methods to perform such a time-step each of which has a certain order ['q]. If the order of a method is ['q] than it is accurate up to term ['~dt[super q]] that means the error in ['x] made by such a step is ['~dt[super q+1]]. odeint provides several steppers of different orders, see __odeint_stepper_table.
+
+Some of steppers in the table above are special: Some need the Jacobian of the ODE, others are constructed for special ODE-systems like Hamiltonian systems. We will show typical examples and use-cases in this tutorial and which kind of steppers should be applied.
+
+[endsect]
+
+[section Integration with Constant Step Size]
+
+The basic stepper just performs one time-step and doesn't give you any information about the error that was made (except that you know it is of order ['q+1]). Such steppers are used with constant step size that should be chosen small enough to have reasonable small errors. However, you should apply some sort of validity check of your results (like observing conserved quantities) because you have no other control of the error. The following example defines a basic stepper based on the classical Runge-Kutta scheme of 4th order. The declaration of the stepper requires the state type as template parameter. The integration can now be done by using the `integrate_const( Stepper, System, state, start_time, end_time, step_size )` function from odeint:
+
+[define_const_stepper]
+
+This call integrates the system defined by `harmonic_oscillator` using the RK4 method from ['t=0] to ['10] with a step-size ['dt=0.01] and the initial condition given in `x`. The result, ['x(t=10)] is stored in `x` (in-place). Each stepper defines a `do_step` method which can also be used directly. So, you write down the above example as 
+
+[integrate_const_loop]
+
+[tip If you have a C++11 enabled compiler you can easily use lambdas to create the system function :
+
+[define_const_stepper_cpp11]
+
+]
+
+[endsect]
+
+[section Integration with Adaptive Step Size]
+
+To improve the numerical results and additionally minimize the computational
+effort, the application of a step size control is advisable. Step size control
+is realized via stepper algorithms that additionally provide an  error
+estimation of the applied step. odeint provides a number of such
+*ErrorSteppers* and we will show their usage on the example of
+`explicit_error_rk54_ck` - a 5th order Runge-Kutta method with 4th order
+error estimation and coefficients introduced by Cash and Karp.
+
+[define_adapt_stepper]
+
+Given the error stepper, one still needs an instance that checks the error and adjusts the step size accordingly. In odeint, this is done by *ControlledSteppers*. For the `runge_kutta_cash_karp54` stepper a `controlled_runge_kutta` stepper exists which can be used via
+
+[integrate_adapt]
+
+As above, this integrates the system defined by `harmonic_oscillator`, but now using an adaptive step size method based on the Runge-Kutta Cash-Karp 54 scheme from ['t=0] to ['10] with an initial step size of ['dt=0.01] (will be adjusted) and the initial condition given in x. The result, ['x(t=10)], will also be stored in x (in-place).
+
+In the above example an error stepper is nested in a controlled stepper. This is a nice technique; however one drawback is that one always needs to define both steppers. One could also write the instantiation of the controlled stepper into the call of the integrate function but a complete knowledge of the underlying stepper types is still necessary. Another point is, that the error tolerances for the step size control are not easily included into the controlled stepper. Both issues can be solved by using `make_controlled`:
+
+[integrate_adapt_make_controlled]
+
+`make_controlled` can be used with many of the steppers of odeint. The first
+parameter is the absolute error tolerance ['eps_abs] and the second is the
+relative error tolerance ['eps_rel] which is used during the integration. The template parameter determines from which error stepper a controlled stepper should be instantiated. An alternative syntax of `make_controlled` is
+
+[integrate_adapt_make_controlled_alternative]
+
+For the Runge-Kutta controller the error made during one step is compared with ['eps_abs + eps_rel * ( a[sub x] * |x| + a[sub dxdt] * dt * |dxdt| )]. If the error is smaller than this value the current step is accepted, otherwise it is rejected and the step size is decreased. Note, that the step size is also increased if the error gets too small compared to the rhs of the above relation. The full instantiation of the `controlled_runge_kutta` with all parameters is therefore
+
+[integrate_adapt_full]
+
+When using `make_controlled` the parameter ['a[sub x]] and ['a[sub dxdt]] are used with their standard values of 1.
+
+In the tables below, one can find all steppers which are working with `make_controlled` and `make_dense_output` which is the analog for the dense output steppers.
+
+[include make_controlled_table.qbk]
+
+[include make_dense_output_table.qbk]
+
+When using `make_controlled` or `make_dense_output` one should be aware which exact type is used and how the step size control works.
+
+[endsect]
+
+The full source file for this example can be found here: [github_link libs/numeric/odeint/examples/harmonic_oscillator.cpp harmonic_oscillator.cpp]
+
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_solar_system.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_solar_system.qbk
new file mode 100755
index 0000000..5151f6f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_solar_system.qbk
@@ -0,0 +1,108 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+
+[section Solar system]
+
+[section Gravitation and energy conservation]
+
+The next example in this tutorial is a simulation of the outer solar system, consisting of the sun, Jupiter, Saturn, Uranus, Neptune and Pluto.
+
+[$solar_system.jpg]
+
+Each planet and of course the sun will be represented by mass points. The interaction force between each object is the gravitational force which can be written as
+
+['F[subl ij] = -__gamma m[subl i] m[subl j] ( q[subl i] - q[subl j] ) / | q[subl i] - q[subl j] | [super 3]]
+
+where [' __gamma] is the gravitational constant, ['m[subl i]] and ['m[subl j]] are the masses and ['q[subl i]] and ['q[subl j]] are the locations of the two objects. The equations of motion are then
+
+['dq[subl i] / dt = p[subl i]]
+
+['dp[subl i] / dt = 1 / m[subl i] __Sigma[subl ji] F[subl ij]]
+
+where ['p[subl i]] is the momenta of object ['i]. The equations of motion can also be derived from the Hamiltonian
+
+['H = __Sigma[subl i] p[subl i][super 2] / ( 2 m[subl i] ) + __Sigma[subl j] V( q[subl i] , q[subl j] )]
+
+with the interaction potential ['V(q[subl i],q[subl j])]. The Hamiltonian equations give the
+equations of motion
+
+['dq[subl i] / dt = dH / dp[subl i]]
+
+['dp[subl i] / dt = -dH / dq[subl i]]
+
+In time independent Hamiltonian system the energy and the phase space volume
+are conserved and special integration methods have to be applied in order to
+ensure these conservation laws. The odeint library provides classes for
+separable Hamiltonian systems, which can be written in the form ['H = __Sigma
+p[subl i][super 2] / (2m[subl i]) + H[subl q](q)], where ['H[subl q](q)] only
+depends on the coordinates. Although this functional form might look a bit
+arbitrary, it covers nearly all classical mechanical systems with inertia and
+without dissipation, or where the equations of motion can be written in the
+form ['dq[subl i] / dt = p[subl i]] / m[subl i] , ['dp[subl i] / dt = f(
+q[subl i] )].
+
+[note A short physical note: While the two-body-problem is known to be
+integrable, that means it can be solved with purely analytic techniques,
+already the three-body-problem is not solvable. This was found in the end of the
+19th century by H. Poincare which led to the whole new subject of
+[@http://en.wikipedia.org/wiki/Chaos_theory Chaos Theory].]
+
+[endsect]
+
+
+[section Define the system function]
+
+To implement this system we define a 3D point type which will represent the space as well as the velocity. Therefore, we use the operators from __boost_operators:
+
+[import ../examples/point_type.hpp]
+[point_type]
+
+
+The next step is to define a container type storing the values of ['q] and ['p] and to define system functions. As container type we use `boost::array`
+
+[import ../examples/solar_system.cpp]
+[container_type_definition]
+
+The `container_type` is different from the state type of the ODE. The state type of the ode is simply a `pair< container_type , container_type >` since it needs the information about the coordinates and the momenta.
+
+Next we define the system's equations.
+As we will use a stepper that accounts for the Hamiltonian (energy-preserving)
+character of the system, we have to define the rhs different from the usual
+case where it is just a single function.
+The stepper will make use of the separable character, which means the system
+will be defined by two objects representing ['f(p) = -dH/dq] and ['g(q) = dH/dp]:
+
+[coordinate_function]
+
+[momentum_function]
+
+In general a three body-system is chaotic, hence we can not expect that arbitrary initial conditions of the system will lead to a solution comparable with the solar system dynamics. That is we have to define proper initial conditions, which are taken from the book of Hairer, Wannier, Lubich __hairer_geom_ref.
+
+As mentioned above, we need to use some special integrators in order to
+conserve phase space volume. There is a well known family of such integrators,
+the so-called Runge-Kutta-Nystroem solvers, which we apply here in terms of a
+`symplectic_rkn_sb3a_mclachlan` stepper:
+
+[integration_solar_system]
+
+These integration routine was used to produce the above sketch of the solar system. Note, that there are two particularities in this example. First, the state of the symplectic stepper is not `container_type` but a pair of `container_type`. Hence, we must pass such a pair to the integrate function. Since, we want to pass them as references we can simply pack them into __boost_ref. The second point is the observer, which is called with a state type, hence a pair of `container_type`. The reference wrapper is also passed, but this is not a problem at all:
+
+[streaming_observer]
+
+[tip You can use C++11 lambda to create the observers]
+
+The full example can be found here: [github_link libs/numeric/odeint/examples/solar_system.cpp solar_system.cpp]
+
+[endsect]
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_special_topics.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_special_topics.qbk
new file mode 100755
index 0000000..f8f8e9e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_special_topics.qbk
@@ -0,0 +1,258 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[/ [section Special topics] /]
+
+[section Complex state types]
+
+[import ../examples/stuart_landau.cpp]
+
+Thus far we have seen several examples defined for real values. 
+odeint can handle complex state types, hence ODEs which are defined on complex
+vector spaces, as well. An example is the Stuart-Landau oscillator
+
+['d __Psi / dt = ( 1 + i __eta ) __Psi + ( 1 + i __alpha ) | __Psi |[super 2] __Psi ]
+
+where ['__Psi] and ['i] is a complex variable. The definition of this ODE in C++
+using complex< double > as a state type may look as follows
+
+[stuart_landau_system_function]
+
+One can also use a function instead of a functor to implement it
+
+[stuart_landau_system_function_alternative]
+
+We strongly recommend to use the first ansatz. In this case you have explicit control over the parameters of the system and are not restricted to use global variables to parametrize the oscillator.
+
+When choosing the stepper type one has to account for the "unusual" state type:
+it is a single `complex<double>` opposed to the vector types used in the
+previous examples. This means that no iterations over vector elements have to
+be performed inside the stepper algorithm. You can enforce this by supplying
+additional template arguments to the stepper including the
+`vector_space_algebra`. Details on the usage of algebras can be found in the
+section __adapt_state_types.
+
+[stuart_landau_integration]
+
+The full cpp file for the Stuart-Landau example can be found here [github_link
+libs/numeric/odeint/examples/stuart_landau.cpp stuart_landau.cpp]
+
+[note The fact that we have to configure a different algebra is solely due to
+the fact that we use a non-vector state type and not to the usage of complex
+values. So for, e.g. `vector< complex<double> >`, this would not be required.] 
+
+[endsect]
+
+[section Lattice systems]
+
+[import ../examples/fpu.cpp]
+
+
+odeint can also be used to solve ordinary differential equations defined on lattices. A prominent example is the Fermi-Pasta-Ulam system __fpu_scholarpedia_ref. It is a Hamiltonian system of nonlinear coupled harmonic oscillators. The Hamiltonian is
+
+[' H = __Sigma[subl i] p[subl i][super 2]/2 + 1/2 ( q[subl i+1] - q[subl i] )^2 + __beta / 4 ( q[subl i+1] - q[subl i] )^4 ]
+
+Remarkably, the Fermi-Pasta-Ulam system was the first numerical experiment to be implemented on a computer. It was studied at Los Alamos in 1953 on one of the first computers (a MANIAC I) and it triggered a whole new tree of mathematical and physical science.
+ 
+Like the __tut_solar_system, the FPU is solved again by a symplectic solver, but in this case we can speed up the computation because the ['q] components trivially reduce to ['dq[subl i] / dt = p[subl i]]. odeint is capable of doing this performance improvement. All you have to do is to call the symplectic solver with an state function for the ['p] components. Here is how this function looks like
+
+[fpu_system_function]
+
+You can also use `boost::array< double , N >` for the state type.
+
+Now, you have to define your initial values and perform the integration:
+
+[fpu_integration]
+
+The observer uses a reference to the system object to calculate the local energies:
+
+[fpu_observer]
+
+The full cpp file for this FPU example can be found here [github_link libs/numeric/odeint/examples/fpu.cpp fpu.cpp]
+
+[endsect]
+
+[section Ensembles of oscillators]
+
+[import ../examples/phase_oscillator_ensemble.cpp]
+
+Another important high dimensional system of coupled ordinary differential equations is an ensemble of ['N] all-to-all coupled phase oscillators __synchronization_pikovsky_ref. It is defined as
+
+[' d__phi[subl k] / dt = __omega[subl k] + __epsilon / N __Sigma[subl j] sin( __phi[subl j] - __phi[subl k] )]
+
+The natural frequencies ['__omega[subl i]] of each oscillator follow some distribution and ['__epsilon] is the coupling strength. We choose here a Lorentzian distribution for ['__omega[subl i]]. Interestingly a phase transition can be observed if the coupling strength exceeds a critical value. Above this value synchronization sets in and some of the oscillators oscillate with the same frequency despite their different natural frequencies. The transition is also called Kuramoto transition. Its behavior can be analyzed by employing the mean field of the phase
+
+['Z = K e[super i __Theta] = 1 / N __Sigma[subl k]e[super i __phi[subl k]]]
+
+The definition of the system function is now a bit more complex since we also need to store the individual frequencies of each oscillator.
+
+[phase_oscillator_ensemble_system_function]
+
+Note, that we have used ['Z] to simplify the equations of motion. Next, we create an observer which computes the value of ['Z] and we record ['Z] for different values of ['__epsilon].
+
+[phase_oscillator_ensemble_observer]
+
+Now, we do several integrations for different values of ['__epsilon] and record ['Z]. The result nicely confirms the analytical result of the phase transition, i.e. in our example the standard deviation of the Lorentzian is 1 such that the transition will be observed at ['__epsilon = 2].
+
+[phase_oscillator_ensemble_integration]
+
+The full cpp file for this example can be found here [github_link libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp phase_oscillator_ensemble.cpp]
+
+[endsect]
+
+[section Using boost::units]
+
+[import ../examples/harmonic_oscillator_units.cpp]
+
+odeint also works well with __boost_units - a library for compile time unit
+and dimension analysis. It works by decoding unit information into the types
+of values. For a one-dimensional unit you can just use the Boost.Unit types as
+state type, deriv type and time type and hand the `vector_space_algebra` to
+the stepper definition and everything works just fine:
+
+```
+typedef units::quantity< si::time , double > time_type;
+typedef units::quantity< si::length , double > length_type;
+typedef units::quantity< si::velocity , double > velocity_type;
+
+typedef runge_kutta4< length_type , double , velocity_type , time_type ,
+                      vector_space_algebra > stepper_type;
+```
+ 
+If you want to solve more-dimensional problems the individual entries
+typically have different units. That means that the `state_type` is now
+possibly heterogeneous, meaning that every entry might have a different type.
+To solve this problem, compile-time sequences from __boost_fusion can be used.
+
+To illustrate how odeint works with __boost_units we use the harmonic oscillator as primary example. We start with defining all quantities
+
+[units_define_basic_quantities]
+
+Note, that the `state_type` and the `deriv_type` are now a compile-time fusion
+sequences. `deriv_type` represents ['x'] and is now different from the state
+type as it has different unit definitions. Next, we define the ordinary
+differential equation which is completely equivalent to the example in __tut_harmonic_oscillator: 
+
+[units_define_ode]
+
+Next, we instantiate an appropriate stepper. We must explicitly parametrize
+the stepper with the `state_type`, `deriv_type`, `time_type`. Furthermore, the
+iteration over vector elements is now done by the `fusion_algebra` which must
+also be given. For more on the state types / algebras see chapter __adapt_state_types.
+
+[units_define_stepper]
+
+It is quite easy but the compilation time might take very long. Furthermore, the observer is defined a bit different
+
+[units_observer]
+
+[caution Using __boost_units works nicely but compilation can be very time and
+memory consuming. For example the unit test for the usage of __boost_units in odeint take up to 4 GB
+of memory at compilation.]
+
+The full cpp file for this example can be found here [github_link libs/numeric/odeint/examples/harmonic_oscillator_units.cpp harmonic_oscillator_units.cpp].
+
+[endsect] 
+
+[section Using matrices as state types]
+
+[import ../examples/two_dimensional_phase_lattice.cpp]
+
+odeint works well with a variety of different state types. It is not restricted to pure vector-wise types, like `vector< double >`, `array< double , N >`, `fusion::vector< double , double >`, etc. but also works with types having a different topology then simple vectors. Here, we show how odeint can be used with matrices as states type, in the next section we will show how can be used to solve ODEs defined on complex networks.
+
+By default, odeint can be used with `ublas::matrix< T >` as state type for matrices. A simple example is a two-dimensional lattice of coupled phase oscillators. Other matrix types like `mtl::dense_matrix` or blitz arrays and matrices can used as well but need some kind of activation in order to work with odeint. This activation is described in following sections,
+
+The definition of the system is
+
+[two_dimensional_phase_lattice_definition]
+
+In principle this is all. Please note, that the above code is far from being optimal. Better performance can be achieved if every interaction is only calculated once and iterators for columns and rows are used. Below are some visualizations of the evolution of this lattice equation.
+
+[$phase_lattice_2d_0000.jpg] [$phase_lattice_2d_0100.jpg] [$phase_lattice_2d_1000.jpg]
+
+The full cpp for this example can be found here [github_link libs/numeric/odeint/examples/two_dimensional_phase_lattice.cpp two_dimensional_phase_lattice.cpp].
+
+[endsect]
+
+[/
+[section Partial differential equations]
+To be continued:
+*Wave equation
+*KdV
+*Ginzburg-Landau
+[endsect]
+[section Ordinary differential equations on networks]
+to be continued
+[endsect]
+]
+
+[section Using arbitrary precision floating point types]
+
+[import ../examples/gmpxx/lorenz_gmpxx.cpp]
+
+Besides the classical floating point number like `float`, `double`, `complex< double >` you can also use arbitrary precision types, like the types from [@http://gmplib.org/ gmp] and [@http://www.mpfr.org/ mpfr]. But you have to be careful about instantiating any numbers.
+
+For gmp types you have to set the default precision before any number is instantiated. This can be done by calling `mpf_set_default_prec( precision )` as the first function in your main program. Secondly, you can not use any global constant variables since they will not be set with the default precision you have already set.
+
+Here is a simple example:
+
+[gmpxx_lorenz]
+
+which can be integrated:
+
+[gmpxx_integration]
+
+[caution The full support of arbitrary precision types depends on the functionality they provide. For example, the types from gmp are lacking of functions for calculating the power and arbitrary roots, hence they can not be used with the controlled steppers. In detail, for full support the `min( x , y )`, `max( x , y )`, `pow( x , y )` must be callable.]
+
+The full example can be found at [github_link libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp lorenz_gmpxx.cpp].
+
+
+[endsect]
+
+[section Self expanding lattices]
+
+[import ../examples/resizing_lattice.cpp]
+
+odeint supports changes of the state size during integration if a state_type
+is used which can be resized, like `std::vector`.
+The adjustment of the state's size has to be done from outside and the stepper
+has to be instantiated with `always_resizer` as the template argument for the
+`resizer_type`.
+In this configuration, the stepper checks for changes in the state size and
+adjust it's internal storage accordingly.
+
+We show this for a Hamiltonian system of nonlinear, disordered oscillators with nonlinear nearest neighbor coupling.
+
+The system function is implemented in terms of a class that also provides functions for calculating the energy.
+Note, that this class stores the random potential internally which is not resized, but rather a start index is kept which should be changed whenever the states' size change.
+
+[resizing_lattice_system_class]
+
+The total size we allow is 1024 and we start with an initial state size of 60.
+
+[resizing_lattice_initialize]
+
+The lattice gets resized whenever the energy distribution comes close to the borders `distr[10] > 1E-150`, `distr[distr.size()-10] > 1E-150`.
+If we increase to the left, `q` and `p` have to be rotated because their resize function always appends at the end.
+Additionally, the start index of the potential changes in this case.
+
+[resizing_lattice_steps_loop]
+
+The `do_resize` function simply calls `vector.resize` of `q` , `p` and `distr`.
+
+[resizing_lattice_resize_function]
+
+The full example can be found in [github_link libs/numeric/odeint/examples/resizing_lattice.cpp resizing_lattice.cpp]
+
+[endsect]
+
+[/ [endsect] /]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_stiff_systems.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_stiff_systems.qbk
new file mode 100755
index 0000000..a0aa4ec
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_stiff_systems.qbk
@@ -0,0 +1,61 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+
+[section Stiff systems]
+
+[import ../examples/stiff_system.cpp]
+
+An important class of ordinary differential equations are so called stiff
+system which are characterized by two or more time scales of different
+order. Examples of such systems are found in chemical systems where reaction
+rates of individual sub-reaction might differ over large ranges, for example:
+
+['d S[subl 1] / dt = - 101 S[subl 2] - 100 S[subl 1]]
+
+['d S[subl 2] / dt = S[subl 1]]
+
+
+In order to efficiently solve stiff systems numerically the Jacobian
+
+['J = d f[subl i] / d x[subl j]]
+
+is needed. Here is the definition of the above example
+
+[stiff_system_definition]
+
+The state type has to be a `ublas::vector` and the matrix type must by a
+`ublas::matrix` since the stiff integrator only accepts these types. 
+However, you might want use non-stiff integrators on this system, too - we will
+do so later for demonstration. Therefore we want to use the same function also
+with other state_types, realized by templatizing the `operator()`:
+
+[stiff_system_alternative_definition]
+
+Now you can use `stiff_system` in combination with `std::vector` or
+`boost::array`. In the example the explicit time derivative of ['f(x,t)] is
+introduced separately in the Jacobian. If ['df / dt = 0] simply fill `dfdt` with zeros.
+
+A well know solver for stiff systems is the Rosenbrock method. It has a step size control and dense output facilities and can be used like all the other steppers:
+
+[integrate_stiff_system]
+
+During the integration 71 steps have been done. Comparing to a classical Runge-Kutta solver this is a very good result. For example the Dormand-Prince 5 method with step size control and dense output yields 1531 steps.
+
+[integrate_stiff_system_alternative]
+
+Note, that we have used __boost_phoenix, a great functional programming library, to create and compose the observer.
+
+The full example can be found here: [github_link libs/numeric/odeint/examples/stiff_system.cpp stiff_system.cpp]
+
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_thrust_cuda.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_thrust_cuda.qbk
new file mode 100755
index 0000000..6008848
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_thrust_cuda.qbk
@@ -0,0 +1,165 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section Using CUDA (or OpenMP, TBB, ...) via Thrust]
+
+Modern graphic cards (graphic processing units - GPUs) can be used to speed up
+the performance of time consuming algorithms by means of massive
+parallelization. They are designed to execute many operations in
+parallel. odeint can utilize the power of GPUs by means of CUDA and __thrust,
+which is a STL-like interface for the native CUDA API.
+
+[important Thrust also supports parallelization using OpenMP and Intel Threading Building Blocks (TBB). You can switch
+between CUDA, OpenMP and TBB parallelizations by a simple compiler
+switch. Hence, this also provides an easy way to get basic OpenMP
+parallelization into odeint. The examples discussed below are focused on GPU parallelization, though. ]
+
+To use odeint with CUDA a few points have to be taken into account. First of all, the problem has to be well chosen. It makes absolutely no sense to try to parallelize the code for a three dimensional system, it is simply too small and not worth the effort. One single function call (kernel execution) on the GPU is slow but you can do the operation on a huge set of data with only one call. We have experienced that the vector size over which is parallelized should be of the order of ['10[super 6]] to make full use of the GPU. Secondly, you have to use __thrust's algorithms and functors when implementing the rhs the ODE. This might be tricky since it involves some kind of functional programming knowledge.
+
+Typical applications for CUDA and odeint are large systems, like lattices or discretizations of PDE, and parameter studies. We introduce now three examples which show how the power of GPUs can be used in combination with odeint.
+
+[important The full power of CUDA is only available for really large systems where the number of coupled ordinary differential equations is of order ['N=10[super 6]] or larger. For smaller systems the CPU is usually much faster. You can also integrate an ensemble of different uncoupled ODEs in parallel as shown in the last example.]
+
+[section Phase oscillator ensemble]
+
+[import ../examples/thrust/phase_oscillator_ensemble.cu]
+
+The first example is the phase oscillator ensemble from the previous
+section:
+
+[' d__phi[subl k] / dt = __omega[subl k] + __epsilon / N __Sigma[subl j] sin( __phi[subl j] - __phi[subl k] ).]
+
+It has a phase transition at ['__epsilon = 2] in the limit of
+infinite numbers of oscillators ['N]. In the case of finite ['N] this
+transition is smeared out but still clearly visible.
+
+__thrust and CUDA are perfectly suited for such kinds of problems where one needs a large number of particles (oscillators). We start by defining the state type which is a `thrust::device_vector`. The content of this vector lives on the GPU. If you are not familiar with this we recommend reading the ['Getting started] section on the __thrust website.
+
+[thrust_phase_ensemble_state_type]
+
+Thrust follows a functional programming approach. If you want to perform a calculation on the GPU you usually have to call a global function like `thrust::for_each`, `thrust::reduce`, ... with an appropriate local functor which performs the basic operation. An example is
+``
+struct add_two
+{
+    template< class T >
+    __host__ __device__
+    void operator()( T &t ) const
+    {
+        t += T( 2 );
+    }
+};
+
+// ...
+
+thrust::for_each( x.begin() , x.end() , add_two() );
+``
+This code generically adds two to every element in the container `x`.
+
+For the purpose of integrating the phase oscillator ensemble we need
+
+* to calculate the system function, hence the r.h.s. of the ODE.
+* this involves computing the mean field of the oscillator example, i.e. the values of ['R] and ['__theta]
+
+The mean field is calculated in a class `mean_field_calculator`
+
+[thrust_phase_ensemble_mean_field_calculator] 
+
+Inside this class two member structures `sin_functor` and `cos_functor` are defined. They compute the sine and the cosine of a value and they are used within a transform iterator to calculate the sum of ['sin(__phi[subl k])] and ['cos(__phi[subl k])]. The classifiers `__host__` and `__device__` are CUDA specific and define a function or operator which can be executed on the GPU as well as on the CPU. The line 
+
+[thrust_phase_ensemble_sin_sum]
+
+performs the calculation of this sine-sum on the GPU (or on the CPU, depending on your thrust configuration).
+
+The system function is defined via
+
+[thrust_phase_ensemble_sys_function]
+
+This class is used within the `do_step` and `integrate` method. It defines a member structure `sys_functor` for the r.h.s. of each individual oscillator and the `operator()` for the use in the steppers and integrators of odeint. The functor computes first the mean field of ['__phi[subl k]] and secondly calculates the whole r.h.s. of the ODE using this mean field. Note, how nicely `thrust::tuple` and `thrust::zip_iterator` play together.
+
+Now, we are ready to put everything together. All we have to do for making odeint ready for using the GPU is to parametrize the stepper with the appropriate thrust algebra/operations:
+
+[thrust_phase_ensemble_define_rk4]
+
+You can also use a controlled or dense output stepper, e.g.
+
+[thrust_phase_ensemble_define_dopri5]
+
+Then, it is straightforward to integrate the phase ensemble by creating an instance of the rhs class and using an integration function:
+
+[thrust_phase_ensemble_system_instance]
+[thrust_phase_ensemble_integration]
+
+We have to use `boost::ref` here in order to pass the rhs class as reference and not by value. This ensures that the natural frequencies of each oscillator are not copied when calling `integrate_const`. In the full example the performance and results of the Runge-Kutta-4 and the Dopri5 solver are compared.
+
+The full example can be found at [github_link libs/numeric/odeint/examples/thrust/phase_oscillator_ensemble.cu phase_oscillator_example.cu].
+
+[endsect]
+
+[section Large oscillator chains]
+
+[import ../examples/thrust/phase_oscillator_chain.cu]
+
+The next example is a large, one-dimensional chain of nearest-neighbor coupled phase oscillators with the following equations of motion:
+
+['d __phi[subl k] / dt = __omega[subl k] + sin( __phi[subl k+1] - __phi[subl k] ) + sin( __phi[subl k] - __phi[subl k-1])]
+
+In principle we can use all the techniques from the previous phase oscillator ensemble example, but we have to take special care about the coupling of the oscillators. To efficiently implement the coupling you can use a very elegant way employing Thrust's permutation iterator. A permutation iterator behaves like a normal iterator on a vector but it does not iterate along the usual order of the elements.
+It rather iterates along some permutation of the elements defined by some index map. To realize the nearest neighbor coupling we create one permutation iterator which travels one step behind a usual iterator and another permutation iterator which travels one step in front. The full system class is:
+
+[thrust_phase_chain_system]
+
+Note, how easy you can obtain the value for the left and right neighboring oscillator in the system functor using the permutation iterators. But, the call of the `thrust::for_each` function looks relatively complicated. Every term of the r.h.s. of the ODE is resembled by one iterator packed in exactly the same way as it is unpacked in the functor above.
+
+Now we put everything together. We create random initial conditions and decreasing frequencies such that we should get synchronization. We copy the frequencies and the initial conditions onto the device and finally initialize and perform the integration. As result we simply write out the current state, hence the phase of each oscillator.
+
+[thrust_phase_chain_integration]
+
+The full example can be found at [github_link libs/numeric/odeint/examples/thrust/phase_oscillator_chain.cu phase_oscillator_chain.cu].
+
+[endsect]
+
+[section Parameter studies]
+
+[import ../examples/thrust/lorenz_parameters.cu]
+
+Another important use case for __thrust and CUDA are parameter studies of relatively small systems. Consider for example the three-dimensional Lorenz system from the chaotic systems example in the previous section which has three parameters. If you want to study the behavior of this system for different parameters you usually have to integrate the system for many parameter values. Using thrust and odeint you can do this integration in parallel, hence you integrate a whole ensemble of Lorenz systems where each individual realization has a different parameter value. 
+[/ The Lorenz system is dissipative, such that you can assume that different initial conditions will lead to the same attractor so . For Hamiltonian systems this is not the case. Here it might be interesting to study a range of initial conditions to quantify different regions in the phase space.]
+
+In the following we will show how you can use __thrust to integrate the above mentioned ensemble of Lorenz systems. We will vary only the parameter ['__beta] but it is straightforward to vary other parameters or even two or all three parameters. Furthermore, we will use the largest Lyapunov exponent to quantify the behavior of the system (chaoticity).
+
+We start by defining the range of the parameters we want to study. The state_type is again a `thrust::device_vector< value_type >`. 
+
+[thrust_lorenz_parameters_define_beta]
+
+The next thing we have to implement is the Lorenz system without perturbations. Later, a system with perturbations is also implemented in order to calculate the Lyapunov exponent. We will use an ansatz where each device function calculates one particular realization of the Lorenz ensemble
+
+[thrust_lorenz_parameters_define_simple_system]
+
+As `state_type` a `thrust::device_vector` or a __boost_range of a `device_vector` is used. The length of the state is ['3N] where ['N] is the number of systems. The system is encoded into this vector such that all ['x] components come first, then every ['y] components and finally every ['z] components. Implementing the device function is then a simple task, you only have to decompose the tuple originating from the zip iterators.
+
+Besides the system without perturbations we furthermore need to calculate the system including linearized equations governing the time evolution of small perturbations. Using the method from above this is straightforward, with a small difficulty that Thrust's tuples have a maximal arity of 10. But this is only a small problem since we can create a zip iterator packed with zip iterators. So the top level zip iterator contains one zip iterator for the state, one normal iterator for the parameter, and one zip iterator for the derivative. Accessing the elements of this tuple in the system function is then straightforward, you unpack the tuple with `thrust::get<>()`. We will not show the code here, it is to large. It can be found [github_link libs/numeric/odeint/examples/thrust/lorenz_parameters.cu here] and is easy to understand.
+
+Furthermore, we need an observer which determines the norm of the perturbations, normalizes them and averages the logarithm of the norm. The device functor which is used within this observer is defined
+
+[thrust_lorenz_parameters_observer_functor]
+
+Note, that this functor manipulates the state, i.e. the perturbations.
+
+Now we complete the whole code to calculate the Lyapunov exponents. First, we have to define a state vector. This vector contains ['6N] entries, the state ['x,y,z] and its perturbations ['dx,dy,dz]. We initialize them such that ['x=y=z=10], ['dx=1], and ['dy=dz=0]. We define a stepper type, a controlled Runge-Kutta Dormand-Prince 5 stepper. We start with some integration to overcome the transient behavior. For this, we do not involve the perturbation and run the algorithm only on the state ['x,y,z] without any observer. Note, how __boost_range is used for partial integration of the state vector without perturbations (the first half of the whole state).  After the transient, the full system with perturbations is integrated and the Lyapunov exponents are calculated and written to `stdout`.
+
+[thrust_lorenz_parameters_integration]
+
+The full example can be found at [github_link libs/numeric/odeint/examples/thrust/lorenz_parameters.cu lorenz_parameters.cu].
+
+[endsect]
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_vexcl_opencl.qbk b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_vexcl_opencl.qbk
new file mode 100755
index 0000000..082eba4
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_vexcl_opencl.qbk
@@ -0,0 +1,46 @@
+[/============================================================================
+  Boost.odeint
+
+  Copyright (c) 2009-2012 Karsten Ahnert
+  Copyright (c) 2009-2012 Mario Mulansky
+
+  Use, modification and distribution is subject to the Boost Software License,
+  Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+  http://www.boost.org/LICENSE_1_0.txt)
+=============================================================================/]
+
+
+[section Using OpenCL via VexCL]
+
+[import ../examples/vexcl/lorenz_ensemble.cpp]
+
+In the previous section the usage of odeint in combination with __thrust was shown. In this section we show how one can use OpenCL with odeint. The point of odeint is not to implement its own low-level data structures and algorithms, but to use high level libraries doing this task. Here, we will use the __vexcl framework to use OpenCL. __vexcl is a nice library for general computations and it uses heavily expression templates. With the help of __vexcl it is possible to write very compact and expressive application.
+
+[note vexcl needs C++11 features! So you have to compile with C++11 support enabled.]
+
+To use __vexcl one needs to include one additional header which includes the data-types and algorithms from vexcl and the adaption to odeint. Adaption to odeint means here only to adapt the resizing functionality of __vexcl to odeint.
+
+[vexcl_includes]
+
+To demonstrate the use of __vexcl we integrate an ensemble of Lorenz system. The example is very similar to the parameter study of the Lorenz system in the previous section except that we do not compute the Lyapunov exponents. Again, we vary the parameter R of the Lorenz system an solve a whole ensemble of Lorenz systems in parallel (each with a different parameter R). First, we define the state type and a vector type
+
+[vexcl_state_types ]
+
+The `vector_type` is used to represent the parameter R. The `state_type` is a multi-vector of three sub vectors and is used to represent. The first component of this multi-vector represent all `x` components of the Lorenz system, while the second all `y` components and the third all `z` components. The components of this vector can be obtained via
+
+``
+auto &x = X(0);
+auto &y = X(1);
+auto &z = X(2);
+``
+
+As already mentioned __vexcl supports expression templates and we will use them to implement the system function for the Lorenz ensemble:
+
+[vexcl_system]
+
+It's very easy, isn't it? These three little lines do all the computations for you. There is no need to write your own OpenCL kernels. __vexcl does everything for you. Next we have to write the main application. We initialize the vector of parameters (R) and the initial state. Since __vexcl supports odeint we can already use the `vector_space_algebra` in combination with the `default_operations` for the stepper and we are done:
+
+[vexcl_main]
+
+
+[endsect]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/Jamfile.v2
new file mode 100755
index 0000000..f52381d
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/Jamfile.v2
@@ -0,0 +1,12 @@
+# Copyright 2011 Karsten Ahnert and Mario Mulansky.
+# Distributed under the Boost Software License, Version 1.0. (See
+# accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+project
+    : requirements 
+      <include>../../../../..
+      <define>BOOST_ALL_NO_LIB=1
+    ;
+    
+exe spreading : spreading.cpp ;
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/lattice2d.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/lattice2d.hpp
new file mode 100755
index 0000000..94cd9a0
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/lattice2d.hpp
@@ -0,0 +1,165 @@
+/*
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+/* strongly nonlinear hamiltonian lattice in 2d */
+
+#ifndef LATTICE2D_HPP
+#define LATTICE2D_HPP
+
+#include <vector>
+
+#include <boost/math/special_functions/pow.hpp>
+
+using boost::math::pow;
+
+template< int Kappa , int Lambda >
+struct lattice2d {
+
+    const double m_beta;
+    std::vector< std::vector< double > > m_omega;
+
+    lattice2d( const double beta )
+        : m_beta( beta )
+    { }
+
+    template< class StateIn , class StateOut >
+    void operator()( const StateIn &q , StateOut &dpdt )
+    {
+        // q and dpdt are 2d
+        const int N = q.size();
+
+        int i;
+        for( i = 0 ; i < N ; ++i )
+        {
+            const int i_l = (i-1+N) % N;
+            const int i_r = (i+1) % N;
+            for( int j = 0 ; j < N ; ++j )
+            {
+            const int j_l = (j-1+N) % N;
+            const int j_r = (j+1) % N;
+            dpdt[i][j] = - m_omega[i][j] * pow<Kappa-1>( q[i][j] )
+                - m_beta * pow<Lambda-1>( q[i][j] - q[i][j_l] )
+                - m_beta * pow<Lambda-1>( q[i][j] - q[i][j_r] )
+                - m_beta * pow<Lambda-1>( q[i][j] - q[i_l][j] )
+                - m_beta * pow<Lambda-1>( q[i][j] - q[i_r][j] );
+            }
+        }
+    }
+
+    template< class StateIn >
+    double energy( const StateIn &q , const StateIn &p )
+    {
+        // q and dpdt are 2d
+        const int N = q.size();
+        double energy = 0.0;
+        int i;
+        for( i = 0 ; i < N ; ++i )
+        {
+            const int i_l = (i-1+N) % N;
+            const int i_r = (i+1) % N;
+            for( int j = 0 ; j < N ; ++j )
+            {
+            const int j_l = (j-1+N) % N;
+            const int j_r = (j+1) % N;
+            energy += p[i][j]*p[i][j] / 2.0
+                        + m_omega[i][j] * pow<Kappa>( q[i][j] ) / Kappa
+                + m_beta * pow<Lambda>( q[i][j] - q[i][j_l] ) / Lambda / 2
+                + m_beta * pow<Lambda>( q[i][j] - q[i][j_r] ) / Lambda / 2
+                + m_beta * pow<Lambda>( q[i][j] - q[i_l][j] ) / Lambda / 2
+                + m_beta * pow<Lambda>( q[i][j] - q[i_r][j] ) / Lambda / 2;
+            }
+        }
+        return energy;
+    }
+
+
+    template< class StateIn , class StateOut >
+    double local_energy( const StateIn &q , const StateIn &p , StateOut &energy )
+    {
+        // q and dpdt are 2d
+        const int N = q.size();
+        double e = 0.0;
+        int i;
+        for( i = 0 ; i < N ; ++i )
+        {
+            const int i_l = (i-1+N) % N;
+            const int i_r = (i+1) % N;
+            for( int j = 0 ; j < N ; ++j )
+            {
+                const int j_l = (j-1+N) % N;
+                const int j_r = (j+1) % N;
+                energy[i][j] = p[i][j]*p[i][j] / 2.0
+                    + m_omega[i][j] * pow<Kappa>( q[i][j] ) / Kappa
+                    + m_beta * pow<Lambda>( q[i][j] - q[i][j_l] ) / Lambda / 2
+                    + m_beta * pow<Lambda>( q[i][j] - q[i][j_r] ) / Lambda / 2
+                    + m_beta * pow<Lambda>( q[i][j] - q[i_l][j] ) / Lambda / 2
+                    + m_beta * pow<Lambda>( q[i][j] - q[i_r][j] ) / Lambda / 2;
+                e += energy[i][j];
+            }
+        }
+        //rescale
+        e = 1.0/e;
+        for( i = 0 ; i < N ; ++i )
+            for( int j = 0 ; j < N ; ++j )
+                energy[i][j] *= e;
+        return 1.0/e;
+    }
+
+    void load_pot( const char* filename , const double W , const double gap , 
+                   const size_t dim )
+    {
+        std::ifstream in( filename , std::ios::in | std::ios::binary );
+        if( !in.is_open() ) {
+            std::cerr << "pot file not found: " << filename << std::endl;
+            exit(0);
+        } else {
+            std::cout << "using pot file: " << filename << std::endl;
+        }
+
+        m_omega.resize( dim );
+        for( int i = 0 ; i < dim ; ++i )
+        {
+            m_omega[i].resize( dim );
+            for( size_t j = 0 ; j < dim ; ++j )
+            {
+                if( !in.good() )
+                {
+                    std::cerr << "I/O Error: " << filename << std::endl;
+                    exit(0);
+                }
+                double d;
+                in.read( (char*) &d , sizeof(d) );
+                if( (d < 0) || (d > 1.0) )
+                {
+                    std::cerr << "ERROR: " << d << std::endl;
+                    exit(0);
+                }
+                m_omega[i][j] = W*d + gap;
+            }
+        }
+
+    }
+
+    void generate_pot( const double W , const double gap , const size_t dim )
+    {
+        m_omega.resize( dim );
+        for( size_t i = 0 ; i < dim ; ++i )
+        {
+            m_omega[i].resize( dim );
+            for( size_t j = 0 ; j < dim ; ++j )
+            {
+                m_omega[i][j] = W*static_cast<double>(rand())/RAND_MAX + gap;
+            }
+        }
+    }
+
+};
+
+#endif
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/nested_range_algebra.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/nested_range_algebra.hpp
new file mode 100755
index 0000000..27eec12
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/nested_range_algebra.hpp
@@ -0,0 +1,46 @@
+/*
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+/* nested range algebra */
+
+#ifndef NESTED_RANGE_ALGEBRA
+#define NESTED_RANGE_ALGEBRA
+
+namespace detail {
+
+    template< class Iterator1 , class Iterator2 , class Iterator3 , class Operation , class Algebra >
+    void for_each3( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, Operation op , Algebra &algebra )
+{
+    for( ; first1 != last1 ; )
+        algebra.for_each3( *first1++ , *first2++ , *first3++ , op );
+}
+}
+
+
+template< class InnerAlgebra >
+struct nested_range_algebra
+{
+    
+    nested_range_algebra() 
+        : m_inner_algebra()
+    { }
+
+    template< class S1 , class S2 , class S3 , class Op >
+    void for_each3( S1 &s1 , S2 &s2 , S3 &s3 , Op op )
+    {
+        detail::for_each3( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , op , m_inner_algebra );
+    }
+
+
+private:
+    InnerAlgebra m_inner_algebra;
+};
+
+#endif
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/spreading.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/spreading.cpp
new file mode 100755
index 0000000..7e0db2f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/spreading.cpp
@@ -0,0 +1,122 @@
+/*
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+/*
+ * Example of a 2D simulation of nonlinearly coupled oscillators.
+ * Program just prints final energy which should be close to the initial energy (1.0).
+ * No parallelization is employed here.
+ * Run time on a 2.3GHz Intel Core-i5: about 10 seconds for 100 steps.
+ * Compile simply via bjam or directly:
+ * g++ -O3 -I${BOOST_ROOT} -I../../../../.. spreading.cpp
+ */
+
+
+#include <iostream>
+#include <fstream>
+#include <vector>
+#include <cstdlib>
+#include <sys/time.h>
+
+#include <boost/ref.hpp>
+#include <boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp>
+
+// we use a vector< vector< double > > as state type,
+// for that some functionality has to be added for odeint to work
+#include "nested_range_algebra.hpp"
+#include "vector_vector_resize.hpp"
+
+// defines the rhs of our dynamical equation
+#include "lattice2d.hpp"
+/* dynamical equations (Hamiltonian structure):
+dqdt_{i,j} = p_{i,j}
+dpdt_{i,j} = - omega_{i,j}*q_{i,j} - \beta*[ (q_{i,j} - q_{i,j-1})^3
+                                            +(q_{i,j} - q_{i,j+1})^3
+                                            +(q_{i,j} - q_{i-1,j})^3
+                                            +(q_{i,j} - q_{i+1,j})^3 ]
+*/
+
+
+using namespace std;
+
+static const int MAX_N = 1024;//2048;
+
+static const size_t KAPPA = 2;
+static const size_t LAMBDA = 4;
+static const double W = 1.0;
+static const double gap = 0.0;
+static const size_t steps = 100;
+static const double dt = 0.1;
+
+double initial_e = 1.0;
+double beta = 1.0;
+int realization_index = 0;
+
+//the state type
+typedef vector< vector< double > > state_type;
+
+//the stepper, choose a symplectic one to account for hamiltonian structure
+//use nested_range_algebra for calculations on vector< vector< ... > >
+typedef boost::numeric::odeint::symplectic_rkn_sb3a_mclachlan< 
+    state_type , state_type , double , state_type , state_type , double , 
+    nested_range_algebra< boost::numeric::odeint::range_algebra > ,
+    boost::numeric::odeint::default_operations > stepper_type;
+
+double time_diff_in_ms( timeval &t1 , timeval &t2 )
+{ return (t2.tv_sec - t1.tv_sec)*1000.0 + (t2.tv_usec - t1.tv_usec)/1000.0 + 0.5; }
+
+
+int main( int argc, const char* argv[] ) {
+
+    srand( time(NULL) );
+
+    lattice2d< KAPPA , LAMBDA > lattice( beta );
+
+
+    lattice.generate_pot( W , gap , MAX_N );
+
+    state_type q( MAX_N , vector< double >( MAX_N , 0.0 ) );
+
+    state_type p( q );
+
+    state_type energy( q );
+
+    p[MAX_N/2][MAX_N/2] = sqrt( 0.5*initial_e );
+    p[MAX_N/2+1][MAX_N/2] = sqrt( 0.5*initial_e );
+    p[MAX_N/2][MAX_N/2+1] = sqrt( 0.5*initial_e );
+    p[MAX_N/2+1][MAX_N/2+1] = sqrt( 0.5*initial_e );
+
+    cout.precision(10);
+
+    lattice.local_energy( q , p , energy );
+    double e=0.0;
+    for( size_t i=0 ; i<energy.size() ; ++i )
+        for( size_t j=0 ; j<energy[i].size() ; ++j )
+        {
+            e += energy[i][j];
+        }
+
+    cout << "initial energy: " << lattice.energy( q , p ) << endl;
+
+    timeval elapsed_time_start , elapsed_time_end;
+    gettimeofday(&elapsed_time_start , NULL);
+
+    stepper_type stepper;
+
+    for( size_t step=0 ; step<=steps ; ++step )
+    {
+        stepper.do_step( boost::ref( lattice ) , 
+                         make_pair( boost::ref( q ) , boost::ref( p ) ) , 
+                         0.0 , 0.1 );
+    }
+
+    gettimeofday(&elapsed_time_end , NULL);
+    double elapsed_time = time_diff_in_ms( elapsed_time_start , elapsed_time_end );
+    cout << steps << " steps in " << elapsed_time/1000 << " s (energy: " << lattice.energy( q , p ) << ")" << endl;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/vector_vector_resize.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/vector_vector_resize.hpp
new file mode 100755
index 0000000..277991b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/vector_vector_resize.hpp
@@ -0,0 +1,105 @@
+/*
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+/* reserved vector */
+
+#ifndef VECTOR_VECTOR_RESIZE_HPP
+#define VECTOR_VECTOR_RESIZE_HPP
+
+#include <vector>
+
+#include <boost/range.hpp>
+
+namespace boost { namespace numeric { namespace odeint {
+
+template<>
+struct is_resizeable< std::vector< std::vector< double > > >
+{
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+
+template<>
+struct same_size_impl< std::vector< std::vector< double > > , std::vector< std::vector< double > > >
+{
+    typedef std::vector< std::vector< double > > state_type;
+
+    static bool same_size( const state_type &x1 ,
+                           const state_type &x2 )
+    {
+        bool same = ( boost::size( x1 ) == boost::size( x2 ) );
+        if( !same )
+            return false;
+        typename state_type::const_iterator begin1 = boost::begin( x1 );
+        typename state_type::const_iterator begin2 = boost::begin( x2 );
+        while( begin1 != boost::end( x1 ) )
+            same &= ( boost::size( *begin1++ ) == boost::size( *begin2++ ) );
+        return same;
+    }
+};
+
+template<>
+struct resize_impl< std::vector< std::vector< double > > , std::vector< std::vector< double > > >
+{
+    typedef std::vector< std::vector< double > > state_type;
+
+    static void resize( state_type &x1 , const state_type &x2 )
+    {
+        x1.resize( boost::size( x2 ) );
+        typename state_type::iterator begin1 = boost::begin( x1 );
+        typename state_type::const_iterator begin2 = boost::begin( x2 );
+        while( begin1 != boost::end( x1 ) )
+            (*begin1++).resize( boost::size( *begin2++ ) );
+    }
+};
+
+template<>
+struct state_wrapper< std::vector< std::vector< double > > >
+{
+    typedef std::vector< std::vector< double > > state_type;
+    typedef state_wrapper< state_type > state_wrapper_type;
+    typedef boost::true_type is_resizeable;
+
+    state_type m_v;
+
+    template< class State >
+    bool same_size( const State &x )
+    {
+        bool same = ( boost::size( m_v ) == boost::size( x ) );
+        if( !same )
+            return false;
+        typename state_type::iterator begin1 = boost::begin( m_v );
+        typename State::const_iterator begin2 = boost::begin( x );
+        while( begin1 != boost::end( m_v ) )
+            same &= ( boost::size( *begin1++ ) == boost::size( *begin2++ ) );
+        return same;
+    }
+
+    template< class State >
+    bool resize( const State &x )
+    {
+        if( !same_size( x ) )
+        {
+            m_v.resize( boost::size( x ) );
+            typename state_type::iterator begin1 = boost::begin( m_v );
+            typename State::const_iterator begin2 = boost::begin( x );
+            while( begin1 != boost::end( m_v ) )
+                (*begin1++).resize( boost::size( *begin2++ ) );
+
+            return true;
+        } else
+            return false;
+    }
+ 
+};
+
+} } }
+
+#endif
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/Jamfile.v2
new file mode 100755
index 0000000..bad2173
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/Jamfile.v2
@@ -0,0 +1,41 @@
+# Copyright 2009 Karsten Ahnert and Mario Mulansky.
+# Distributed under the Boost Software License, Version 1.0. (See
+# accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+
+project
+    : requirements 
+      <include>../../../..
+      <define>BOOST_ALL_NO_LIB=1
+    : 
+    ;
+    
+
+exe harmonic_oscillator : harmonic_oscillator.cpp ;
+exe solar_system : solar_system.cpp ;
+exe chaotic_system : chaotic_system.cpp ;
+exe stiff_system : stiff_system.cpp ;
+exe fpu : fpu.cpp ;
+exe phase_oscillator_ensemble : phase_oscillator_ensemble.cpp ;
+exe harmonic_oscillator_units : harmonic_oscillator_units.cpp ;
+exe stuart_landau : stuart_landau.cpp ;
+exe two_dimensional_phase_lattice : two_dimensional_phase_lattice.cpp ;
+exe bulirsch_stoer : bulirsch_stoer.cpp ;
+exe elliptic_functions : elliptic_functions.cpp ;
+exe resizing_lattice : resizing_lattice.cpp ;
+exe list_lattice : list_lattice.cpp ;
+exe stepper_details : stepper_details.cpp ;
+exe my_vector : my_vector.cpp ;
+exe lorenz_point : lorenz_point.cpp ;
+exe van_der_pol_stiff : van_der_pol_stiff.cpp ;
+exe simple1d : simple1d.cpp ;
+exe stochastic_euler : stochastic_euler.cpp ;
+exe generation_functions : generation_functions.cpp ;
+exe heun : heun.cpp ;
+exe bind_member_functions : bind_member_functions.cpp ;
+exe bind_member_functions_cpp11 : bind_member_functions_cpp11.cpp : <cxxflags>-std=c++0x ;
+
+# build-project mtl ;
+# build-project ublas ;
+# build-project gmpxx ;
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions.cpp
new file mode 100755
index 0000000..8eb5a68
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions.cpp
@@ -0,0 +1,126 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/examples/bind_member_functions.hpp
+
+ [begin_description]
+ tba.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <iostream>
+
+#include <boost/numeric/odeint.hpp>
+
+namespace odeint = boost::numeric::odeint;
+
+typedef boost::array< double , 3 > state_type;
+
+//[ ode_wrapper
+template< class Obj , class Mem >
+class ode_wrapper
+{
+    Obj m_obj;
+    Mem m_mem;
+
+public:
+
+    ode_wrapper( Obj obj , Mem mem ) : m_obj( obj ) , m_mem( mem ) { }
+
+    template< class State , class Deriv , class Time >
+    void operator()( const State &x , Deriv &dxdt , Time t )
+    {
+        (m_obj.*m_mem)( x , dxdt , t );
+    }
+};
+
+template< class Obj , class Mem >
+ode_wrapper< Obj , Mem > make_ode_wrapper( Obj obj , Mem mem )
+{
+    return ode_wrapper< Obj , Mem >( obj , mem );
+}
+//]
+
+
+template< class Obj , class Mem >
+class observer_wrapper
+{
+    Obj m_obj;
+    Mem m_mem;
+
+public:
+
+    observer_wrapper( Obj obj , Mem mem ) : m_obj( obj ) , m_mem( mem ) { }
+
+    template< class State , class Time >
+    void operator()( const State &x , Time t )
+    {
+        (m_obj.*m_mem)( x , t );
+    }
+};
+
+template< class Obj , class Mem >
+observer_wrapper< Obj , Mem > make_observer_wrapper( Obj obj , Mem mem )
+{
+    return observer_wrapper< Obj , Mem >( obj , mem );
+}
+
+
+
+//[ bind_member_function
+struct lorenz
+{
+    void ode( const state_type &x , state_type &dxdt , double t ) const
+    {
+        dxdt[0] = 10.0 * ( x[1] - x[0] );
+        dxdt[1] = 28.0 * x[0] - x[1] - x[0] * x[2];
+        dxdt[2] = -8.0 / 3.0 * x[2] + x[0] * x[1];
+    }
+};
+
+int main( int argc , char *argv[] )
+{
+    using namespace boost::numeric::odeint;
+    state_type x = {{ 10.0 , 10.0 , 10.0 }};
+    integrate_const( runge_kutta4< state_type >() , make_ode_wrapper( lorenz() , &lorenz::ode ) ,
+                     x , 0.0 , 10.0 , 0.01 );
+    return 0;
+}
+//]
+
+
+/*
+struct lorenz
+{
+    void ode( const state_type &x , state_type &dxdt , double t ) const
+    {
+        dxdt[0] = 10.0 * ( x[1] - x[0] );
+        dxdt[1] = 28.0 * x[0] - x[1] - x[0] * x[2];
+        dxdt[2] = -8.0 / 3.0 * x[2] + x[0] * x[1];
+    }
+
+    void obs( const state_type &x , double t ) const
+    {
+        std::cout << t << " " << x[0] << " " << x[1] << " " << x[2] << "\n";
+    }
+};
+
+int main( int argc , char *argv[] )
+{
+    using namespace boost::numeric::odeint;
+
+    state_type x = {{ 10.0 , 10.0 , 10.0 }};
+    integrate_const( runge_kutta4< state_type >() ,
+                     make_ode_wrapper( lorenz() , &lorenz::ode ) ,
+                     x , 0.0 , 10.0 , 0.01 ,
+                     make_observer_wrapper( lorenz() , &lorenz::obs ) );
+
+    return 0;
+}
+*/
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions_cpp11.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions_cpp11.cpp
new file mode 100755
index 0000000..de01885
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions_cpp11.cpp
@@ -0,0 +1,56 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/examples/bind_member_functions.hpp
+
+ [begin_description]
+ tba.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <iostream>
+#include <array>
+#include <type_traits>
+
+#include <boost/numeric/odeint.hpp>
+
+namespace odeint = boost::numeric::odeint;
+
+
+
+typedef std::array< double , 3 > state_type;
+
+struct lorenz
+{
+    void ode( const state_type &x , state_type &dxdt , double t ) const
+    {
+        const double sigma = 10.0;
+        const double R = 28.0;
+        const double b = 8.0 / 3.0;
+
+        dxdt[0] = sigma * ( x[1] - x[0] );
+        dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+        dxdt[2] = -b * x[2] + x[0] * x[1];
+    }
+};
+
+int main( int argc , char *argv[] )
+{
+    using namespace boost::numeric::odeint;
+    //[ bind_member_function_cpp11
+    namespace pl = std::placeholders;
+
+    state_type x = {{ 10.0 , 10.0 , 10.0 }};
+    integrate_const( runge_kutta4< state_type >() ,
+                     std::bind( &lorenz::ode , lorenz() , pl::_1 , pl::_2 , pl::_3 ) ,
+                     x , 0.0 , 10.0 , 0.01  );
+    //]
+    return 0;
+}
+
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bulirsch_stoer.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bulirsch_stoer.cpp
new file mode 100755
index 0000000..97064db
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bulirsch_stoer.cpp
@@ -0,0 +1,100 @@
+/*
+ * bulirsch_stoer.cpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <iostream>
+#include <fstream>
+#define _USE_MATH_DEFINES
+#include <cmath>
+
+#include <boost/array.hpp>
+#include <boost/ref.hpp>
+
+#include <boost/numeric/odeint/config.hpp>
+
+#include <boost/numeric/odeint.hpp>
+#include <boost/numeric/odeint/stepper/bulirsch_stoer.hpp>
+#include <boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+typedef boost::array< double , 1 > state_type;
+
+/*
+ * x' = ( - x*sin t  + 2 tan x ) y
+ * with x( pi/6 ) = 2/sqrt(3) the analytic solution is 1/cos t
+ */
+
+void rhs( const state_type &x , state_type &dxdt , const double t )
+{
+    dxdt[0] = ( - x[0] * sin( t ) + 2.0 * tan( t ) ) * x[0];
+}
+
+void rhs2( const state_type &x , state_type &dxdt , const double t )
+{
+    dxdt[0] = sin(t);
+}
+
+
+ofstream out;
+
+void write_out( const state_type &x , const double t )
+{
+    out << t << '\t' << x[0] << endl;
+}
+
+int main()
+{
+    bulirsch_stoer_dense_out< state_type > stepper( 1E-8 , 0.0 , 0.0 , 0.0 );
+    bulirsch_stoer< state_type > stepper2( 1E-8 , 0.0 , 0.0 , 0.0 );
+
+    state_type x = {{ 2.0 / sqrt(3.0) }};
+
+    double t = M_PI/6.0;
+    //double t = 0.0;
+    double dt = 0.01;
+    double t_end = M_PI/2.0 - 0.1;
+    //double t_end = 100.0;
+
+    out.open( "bs.dat" );
+    out.precision(16);
+    integrate_const( stepper , rhs , x , t , t_end , dt , write_out );
+    out.close();
+
+    x[0] = 2.0 / sqrt(3.0);
+
+    out.open( "bs2.dat" );
+    out.precision(16);
+    integrate_adaptive( stepper , rhs , x , t , t_end , dt , write_out );
+    out.close();
+
+    x[0] = 2.0 / sqrt(3.0);
+
+    out.open( "bs3.dat" );
+    out.precision(16);
+    integrate_adaptive( stepper2 , rhs , x , t , t_end , dt , write_out );
+    out.close();
+
+
+    typedef runge_kutta_dopri5< state_type > dopri5_type;
+    typedef controlled_runge_kutta< dopri5_type > controlled_dopri5_type;
+    typedef dense_output_runge_kutta< controlled_dopri5_type > dense_output_dopri5_type;
+
+    dense_output_dopri5_type dopri5( controlled_dopri5_type( default_error_checker< double >( 1E-2 , 0.0 , 0.0 , 0.0 )  ) );
+
+    x[0] = 2.0 / sqrt(3.0);
+
+    out.open( "bs4.dat" );
+    out.precision(16);
+    integrate_adaptive( dopri5 , rhs , x , t , t_end , dt , write_out );
+    out.close();
+
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/chaotic_system.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/chaotic_system.cpp
new file mode 100755
index 0000000..762317c
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/chaotic_system.cpp
@@ -0,0 +1,117 @@
+/*
+ * chaotic_system.cpp
+ *
+ * This example demonstrates how one can use odeint to determine the Lyapunov
+ * exponents of a chaotic system namely the well known Lorenz system. Furthermore,
+ * it shows how odeint interacts with boost.range.
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <iostream>
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint.hpp>
+
+#include "gram_schmidt.hpp"
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+
+const double sigma = 10.0;
+const double R = 28.0;
+const double b = 8.0 / 3.0;
+
+//[ system_function_without_perturbations
+struct lorenz
+{
+    template< class State , class Deriv >
+    void operator()( const State &x_ , Deriv &dxdt_ , double t ) const
+    {
+        typename boost::range_iterator< const State >::type x = boost::begin( x_ );
+        typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ );
+
+        dxdt[0] = sigma * ( x[1] - x[0] );
+        dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+        dxdt[2] = -b * x[2] + x[0] * x[1];
+    }
+};
+//]
+
+
+
+//[ system_function_with_perturbations
+const size_t n = 3;
+const size_t num_of_lyap = 3;
+const size_t N = n + n*num_of_lyap;
+
+typedef boost::array< double , N > state_type;
+typedef boost::array< double , num_of_lyap > lyap_type;
+
+void lorenz_with_lyap( const state_type &x , state_type &dxdt , double t )
+{
+    lorenz()( x , dxdt , t );
+
+    for( size_t l=0 ; l<num_of_lyap ; ++l )
+    {
+        const double *pert = x.begin() + 3 + l * 3;
+        double *dpert = dxdt.begin() + 3 + l * 3;
+        dpert[0] = - sigma * pert[0] + 10.0 * pert[1];
+        dpert[1] = ( R - x[2] ) * pert[0] - pert[1] - x[0] * pert[2];
+        dpert[2] = x[1] * pert[0] + x[0] * pert[1] - b * pert[2];
+    }
+}
+//]
+
+
+
+
+
+int main( int argc , char **argv )
+{
+    state_type x;
+    lyap_type lyap;
+    runge_kutta4< state_type > rk4;
+
+    fill( x.begin() , x.end() , 0.0 );
+    x[0] = 10.0 ; x[1] = 10.0 ; x[2] = 5.0;
+
+    const double dt = 0.01;
+
+    //[ integrate_transients_with_range
+    // perform 10000 transient steps
+    integrate_n_steps( rk4 , lorenz() , std::make_pair( x.begin() , x.begin() + n ) , 0.0 , dt , 10000 );
+    //]
+
+    //[ lyapunov_full_code
+    fill( x.begin()+n , x.end() , 0.0 );
+    for( size_t i=0 ; i<num_of_lyap ; ++i ) x[n+n*i+i] = 1.0;
+    fill( lyap.begin() , lyap.end() , 0.0 );
+
+    double t = 0.0;
+    size_t count = 0;
+    while( true )
+    {
+
+        t = integrate_n_steps( rk4 , lorenz_with_lyap , x , t , dt , 100 );
+        gram_schmidt< num_of_lyap >( x , lyap , n );
+        ++count;
+
+        if( !(count % 100000) )
+        {
+            cout << t;
+            for( size_t i=0 ; i<num_of_lyap ; ++i ) cout << "\t" << lyap[i] / t ;
+            cout << endl;
+        }
+    }
+    //]
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/elliptic.py b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/elliptic.py
new file mode 100755
index 0000000..99a6a24
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/elliptic.py
@@ -0,0 +1,31 @@
+"""
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Stochastic euler stepper example and Ornstein-Uhlenbeck process
+
+ Distributed under the Boost Software License, Version 1.0.
+(See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+"""
+
+
+from pylab import *
+from scipy import special
+
+data1 = loadtxt("elliptic1.dat")
+data2 = loadtxt("elliptic2.dat")
+data3 = loadtxt("elliptic3.dat")
+
+sn1,cn1,dn1,phi1 = special.ellipj( data1[:,0] , 0.51 )
+sn2,cn2,dn2,phi2 = special.ellipj( data2[:,0] , 0.51 )
+sn3,cn3,dn3,phi3 = special.ellipj( data3[:,0] , 0.51 )
+
+semilogy( data1[:,0] , abs(data1[:,1]-sn1) )
+semilogy( data2[:,0] , abs(data2[:,1]-sn2) , 'ro' )
+semilogy( data3[:,0] , abs(data3[:,1]-sn3) , '--' )
+
+show()
+
+
+
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/elliptic_functions.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/elliptic_functions.cpp
new file mode 100755
index 0000000..c993ad4
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/elliptic_functions.cpp
@@ -0,0 +1,87 @@
+/*
+ * elliptic_functions.cpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+
+
+#include <iostream>
+#include <fstream>
+#include <cmath>
+
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint/config.hpp>
+
+#include <boost/numeric/odeint.hpp>
+#include <boost/numeric/odeint/stepper/bulirsch_stoer.hpp>
+#include <boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+typedef boost::array< double , 3 > state_type;
+
+/*
+ * x1' = x2*x3
+ * x2' = -x1*x3
+ * x3' = -m*x1*x2
+ */
+
+void rhs( const state_type &x , state_type &dxdt , const double t )
+{
+    static const double m = 0.51;
+
+    dxdt[0] = x[1]*x[2];
+    dxdt[1] = -x[0]*x[2];
+    dxdt[2] = -m*x[0]*x[1];
+}
+
+ofstream out;
+
+void write_out( const state_type &x , const double t )
+{
+    out << t << '\t' << x[0] << '\t' << x[1] << '\t' << x[2] << endl;
+}
+
+int main()
+{
+    bulirsch_stoer_dense_out< state_type > stepper( 1E-9 , 1E-9 , 1.0 , 0.0 );
+
+    state_type x1 = {{ 0.0 , 1.0 , 1.0 }};
+
+    double t = 0.0;
+    double dt = 0.01;
+
+    out.open( "elliptic1.dat" );
+    out.precision(16);
+    integrate_const( stepper , rhs , x1 , t , 100.0 , dt , write_out );
+    out.close();
+
+    state_type x2 = {{ 0.0 , 1.0 , 1.0 }};
+
+    out.open( "elliptic2.dat" );
+    out.precision(16);
+    integrate_adaptive( stepper , rhs , x2 , t , 100.0 , dt , write_out );
+    out.close();
+
+    typedef runge_kutta_dopri5< state_type > dopri5_type;
+    typedef controlled_runge_kutta< dopri5_type > controlled_dopri5_type;
+    typedef dense_output_runge_kutta< controlled_dopri5_type > dense_output_dopri5_type;
+
+    dense_output_dopri5_type dopri5( controlled_dopri5_type( default_error_checker< double >( 1E-9 , 0.0 , 0.0 , 0.0 )  ) );
+
+    state_type x3 = {{ 0.0 , 1.0 , 1.0 }};
+
+    out.open( "elliptic3.dat" );
+    out.precision(16);
+    integrate_adaptive( dopri5 , rhs , x3 , t , 100.0 , dt , write_out );
+    out.close();
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/fpu.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/fpu.cpp
new file mode 100755
index 0000000..5fc459e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/fpu.cpp
@@ -0,0 +1,168 @@
+/*
+ * fpu.cpp
+ *
+ * This example demonstrates how one can use odeint to solve the Fermi-Pasta-Ulam system.
+
+ *  Created on: July 13, 2011
+ *
+ * Copyright 2009 Karsten Ahnert and Mario Mulansky.
+ * Distributed under the Boost Software License, Version 1.0. (See
+ * accompanying file LICENSE_1_0.txt or copy at
+ * http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <iostream>
+#include <numeric>
+#include <cmath>
+#include <vector>
+
+#include <boost/numeric/odeint.hpp>
+
+#ifndef M_PI //not there on windows
+#define M_PI 3.1415927 //...
+#endif
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+//[ fpu_system_function
+typedef vector< double > container_type;
+
+struct fpu
+{
+    const double m_beta;
+
+    fpu( const double beta = 1.0 ) : m_beta( beta ) { }
+
+    // system function defining the ODE
+    void operator()( const container_type &q , container_type &dpdt ) const
+    {
+        size_t n = q.size();
+        double tmp = q[0] - 0.0;
+        double tmp2 = tmp + m_beta * tmp * tmp * tmp;
+        dpdt[0] = -tmp2;
+        for( size_t i=0 ; i<n-1 ; ++i )
+        {
+            tmp = q[i+1] - q[i];
+            tmp2 = tmp + m_beta * tmp * tmp * tmp;
+            dpdt[i] += tmp2;
+            dpdt[i+1] = -tmp2;
+        }
+        tmp = - q[n-1];
+        tmp2 = tmp + m_beta * tmp * tmp * tmp;
+        dpdt[n-1] += tmp2;
+    }
+
+    // calculates the energy of the system
+    double energy( const container_type &q , const container_type &p ) const
+    {
+        // ...
+        //<-
+        double energy = 0.0;
+        size_t n = q.size();
+
+        double tmp = q[0];
+        energy += 0.5 * tmp * tmp + 0.25 * m_beta * tmp * tmp * tmp * tmp;
+        for( size_t i=0 ; i<n-1 ; ++i )
+        {
+            tmp = q[i+1] - q[i];
+            energy += 0.5 * ( p[i] * p[i] + tmp * tmp ) + 0.25 * m_beta * tmp * tmp * tmp * tmp;
+        }
+        energy += 0.5 * p[n-1] * p[n-1];
+        tmp = q[n-1];
+        energy += 0.5 * tmp * tmp + 0.25 * m_beta * tmp * tmp * tmp * tmp;
+
+        return energy;
+        //->
+    }
+
+    // calculates the local energy of the system
+    void local_energy( const container_type &q , const container_type &p , container_type &e ) const
+    {
+        // ...
+        //<-
+        size_t n = q.size();
+        double tmp = q[0];
+        double tmp2 = 0.5 * tmp * tmp + 0.25 * m_beta * tmp * tmp * tmp * tmp;
+        e[0] = tmp2;
+        for( size_t i=0 ; i<n-1 ; ++i )
+        {
+            tmp = q[i+1] - q[i];
+            tmp2 = 0.25 * tmp * tmp + 0.125 * m_beta * tmp * tmp * tmp * tmp;
+            e[i] += 0.5 * p[i] * p[i] + tmp2 ;
+            e[i+1] = tmp2;
+        }
+        tmp = q[n-1];
+        tmp2 = 0.5 * tmp * tmp + 0.25 * m_beta * tmp * tmp * tmp * tmp;
+        e[n-1] += 0.5 * p[n-1] * p[n-1] + tmp2;
+        //->
+    }
+};
+//]
+
+
+
+//[ fpu_observer
+struct streaming_observer
+{
+    std::ostream& m_out;
+    const fpu &m_fpu;
+    size_t m_write_every;
+    size_t m_count;
+
+    streaming_observer( std::ostream &out , const fpu &f , size_t write_every = 100 )
+    : m_out( out ) , m_fpu( f ) , m_write_every( write_every ) , m_count( 0 ) { }
+
+    template< class State >
+    void operator()( const State &x , double t )
+    {
+        if( ( m_count % m_write_every ) == 0 )
+        {
+            container_type &q = x.first;
+            container_type &p = x.second;
+            container_type energy( q.size() );
+            m_fpu.local_energy( q , p , energy );
+            for( size_t i=0 ; i<q.size() ; ++i )
+            {
+                m_out << t << "\t" << i << "\t" << q[i] << "\t" << p[i] << "\t" << energy[i] << "\n";
+            }
+            m_out << "\n";
+            clog << t << "\t" << accumulate( energy.begin() , energy.end() , 0.0 ) << "\n";
+        }
+        ++m_count;
+    }
+};
+//]
+
+
+
+
+
+
+
+
+int main( int argc , char **argv )
+{
+    //[ fpu_integration
+    const size_t n = 64;
+    container_type q( n , 0.0 ) , p( n , 0.0 );
+
+    for( size_t i=0 ; i<n ; ++i )
+    {
+        p[i] = 0.0;
+        q[i] = 32.0 * sin( double( i + 1 ) / double( n + 1 ) * M_PI );
+    }
+
+
+    const double dt = 0.1;
+
+    typedef symplectic_rkn_sb3a_mclachlan< container_type > stepper_type;
+    fpu fpu_instance( 8.0 );
+
+    integrate_const( stepper_type() , fpu_instance ,
+            make_pair( boost::ref( q ) , boost::ref( p ) ) ,
+            0.0 , 1000.0 , dt , streaming_observer( cout , fpu_instance , 10 ) );
+    //]
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/generation_functions.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/generation_functions.cpp
new file mode 100755
index 0000000..9b762bb
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/generation_functions.cpp
@@ -0,0 +1,99 @@
+/*
+ libs/numeric/odeint/examples/stochastic_euler.hpp
+
+ Copyright 2009 Karsten Ahnert
+ Copyright 2009 Mario Mulansky
+
+ Stochastic euler stepper example and Ornstein-Uhlenbeck process
+
+ Distributed under the Boost Software License, Version 1.0.
+(See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint.hpp>
+
+typedef boost::array< double , 1 > state_type;
+
+using namespace boost::numeric::odeint;
+
+
+//[ generation_functions_own_steppers
+class custom_stepper
+{
+public:
+
+    typedef double value_type;
+    // ...
+};
+
+class custom_controller
+{
+    // ...
+};
+
+class custom_dense_output
+{
+    // ...
+};
+//]
+
+
+//[ generation_functions_get_controller
+namespace boost { namespace numeric { namespace odeint {
+
+template<>
+struct get_controller< custom_stepper >
+{
+    typedef custom_controller type;
+};
+
+} } }
+//]
+
+//[ generation_functions_controller_factory
+namespace boost { namespace numeric { namespace odeint {
+
+template<>
+struct controller_factory< custom_stepper , custom_controller >
+{
+    custom_controller operator()( double abs_tol , double rel_tol , const custom_stepper & ) const
+    {
+        return custom_controller();
+    }
+};
+
+} } }
+//]
+
+int main( int argc , char **argv )
+{
+    {
+        typedef runge_kutta_dopri5< state_type > stepper_type;
+
+        /*
+        //[ generation_functions_syntax_auto
+        auto stepper1 = make_controlled( 1.0e-6 , 1.0e-6 , stepper_type() );
+        auto stepper2 = make_dense_output( 1.0e-6 , 1.0e-6 , stepper_type() );
+        //]
+        */
+
+        //[ generation_functions_syntax_result_of
+        boost::numeric::odeint::result_of::make_controlled< stepper_type >::type stepper3 = make_controlled( 1.0e-6 , 1.0e-6 , stepper_type() );
+        boost::numeric::odeint::result_of::make_dense_output< stepper_type >::type stepper4 = make_dense_output( 1.0e-6 , 1.0e-6 , stepper_type() );
+        //]
+    }
+
+    {
+        /*
+        //[ generation_functions_example_custom_controller
+        auto stepper5 = make_controlled( 1.0e-6 , 1.0e-6 , custom_stepper() );
+        //]
+        */
+
+        boost::numeric::odeint::result_of::make_controlled< custom_stepper >::type stepper5 = make_controlled( 1.0e-6 , 1.0e-6 , custom_stepper() );
+    }
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp
new file mode 100755
index 0000000..2bdd562
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp
@@ -0,0 +1,83 @@
+/*
+ * lorenz_gmpxx.cpp
+ *
+ * This example demonstrates how odeint can be used with arbitrary precision types.
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+
+#include <iostream>
+#include <boost/array.hpp>
+
+#include <gmpxx.h>
+
+#include <boost/numeric/odeint.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+//[ gmpxx_lorenz
+typedef mpf_class value_type;
+typedef boost::array< value_type , 3 > state_type;
+
+struct lorenz
+{
+    void operator()( const state_type &x , state_type &dxdt , value_type t ) const
+    {
+        const value_type sigma( 10.0 );
+        const value_type R( 28.0 );
+        const value_type b( value_type( 8.0 ) / value_type( 3.0 ) );
+
+        dxdt[0] = sigma * ( x[1] - x[0] );
+        dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+        dxdt[2] = -b * x[2] + x[0] * x[1];
+    }
+};
+//]
+
+
+
+
+struct streaming_observer
+{
+    std::ostream& m_out;
+
+    streaming_observer( std::ostream &out ) : m_out( out ) { }
+
+    template< class State , class Time >
+    void operator()( const State &x , Time t ) const
+    {
+        m_out << t;
+        for( size_t i=0 ; i<x.size() ; ++i ) m_out << "\t" << x[i] ;
+        m_out << "\n";
+    }
+};
+
+
+
+
+
+
+int main( int argc , char **argv )
+{
+    //[ gmpxx_integration
+    const int precision = 1024;
+    mpf_set_default_prec( precision );
+
+    state_type x = {{ value_type( 10.0 ) , value_type( 10.0 ) , value_type( 10.0 ) }};
+
+    cout.precision( 1000 );
+    integrate_const( runge_kutta4< state_type , value_type >() ,
+            lorenz() , x , value_type( 0.0 ) , value_type( 10.0 ) , value_type( value_type( 1.0 ) / value_type( 10.0 ) ) ,
+            streaming_observer( cout ) );
+    //]
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gram_schmidt.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gram_schmidt.hpp
new file mode 100755
index 0000000..2f98c72
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gram_schmidt.hpp
@@ -0,0 +1,88 @@
+/*
+ boost header: numeric/odeint/gram_schmitt.hpp
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#ifndef BOOST_NUMERIC_ODEINT_GRAM_SCHMITT_HPP_INCLUDED
+#define BOOST_NUMERIC_ODEINT_GRAM_SCHMITT_HPP_INCLUDED
+
+#include <iterator>
+#include <algorithm>
+#include <numeric>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template< class Iterator , class T >
+void normalize( Iterator first , Iterator last , T norm )
+{
+    while( first != last ) *first++ /= norm;
+}
+
+template< class Iterator , class T >
+void substract_vector( Iterator first1 , Iterator last1 ,
+        Iterator first2 , T val )
+{
+    while( first1 != last1 ) *first1++ -= val * ( *first2++ );
+}
+
+template< size_t num_of_lyap , class StateType , class LyapType >
+void gram_schmidt( StateType &x , LyapType &lyap , size_t n )
+{
+    if( !num_of_lyap ) return;
+    if( ptrdiff_t( ( num_of_lyap + 1 ) * n ) != std::distance( x.begin() , x.end() ) )
+        throw std::domain_error( "renormalization() : size of state does not match the number of lyapunov exponents." );
+
+    typedef typename StateType::value_type value_type;
+    typedef typename StateType::iterator iterator;
+
+    value_type norm[num_of_lyap];
+    value_type tmp[num_of_lyap];
+    iterator first = x.begin() + n;
+    iterator beg1 = first , end1 = first + n ;
+
+    std::fill( norm , norm+num_of_lyap , 0.0 );
+
+    // normalize first vector
+    norm[0] = sqrt( std::inner_product( beg1 , end1 , beg1 , 0.0 ) );
+    normalize( beg1 , end1 , norm[0] );
+
+    beg1 += n;
+    end1 += n;
+
+    for( size_t j=1 ; j<num_of_lyap ; ++j , beg1+=n , end1+=n )
+    {
+        for( size_t k=0 ; k<j ; ++k )
+        {
+            tmp[k] = std::inner_product( beg1 , end1 , first + k*n , 0.0 );
+            //  clog << j << " " << k << " " << tmp[k] << "\n";
+        }
+
+
+
+        for( size_t k=0 ; k<j ; ++k )
+            substract_vector( beg1 , end1 , first + k*n , tmp[k] );
+
+        // normalize j-th vector
+        norm[j] = sqrt( std::inner_product( beg1 , end1 , beg1 , 0.0 ) );
+        // clog << j << " " << norm[j] << "\n";
+        normalize( beg1 , end1 , norm[j] );
+    }
+
+    for( size_t j=0 ; j<num_of_lyap ; j++ )
+        lyap[j] += log( norm[j] );
+}
+
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+#endif //BOOST_NUMERIC_ODEINT_GRAM_SCHMITT_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator.cpp
new file mode 100755
index 0000000..7fdbca8
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator.cpp
@@ -0,0 +1,197 @@
+/*
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <iostream>
+#include <vector>
+
+#include <boost/numeric/odeint.hpp>
+
+
+
+//[ rhs_function
+/* The type of container used to hold the state vector */
+typedef std::vector< double > state_type;
+
+const double gam = 0.15;
+
+/* The rhs of x' = f(x) */
+void harmonic_oscillator( const state_type &x , state_type &dxdt , const double /* t */ )
+{
+    dxdt[0] = x[1];
+    dxdt[1] = -x[0] - gam*x[1];
+}
+//]
+
+
+
+
+
+//[ rhs_class
+/* The rhs of x' = f(x) defined as a class */
+class harm_osc {
+
+    double m_gam;
+
+public:
+    harm_osc( double gam ) : m_gam(gam) { }
+
+    void operator() ( const state_type &x , state_type &dxdt , const double /* t */ )
+    {
+        dxdt[0] = x[1];
+        dxdt[1] = -x[0] - m_gam*x[1];
+    }
+};
+//]
+
+
+
+
+
+//[ integrate_observer
+struct push_back_state_and_time
+{
+    std::vector< state_type >& m_states;
+    std::vector< double >& m_times;
+
+    push_back_state_and_time( std::vector< state_type > &states , std::vector< double > &times )
+    : m_states( states ) , m_times( times ) { }
+
+    void operator()( const state_type &x , double t )
+    {
+        m_states.push_back( x );
+        m_times.push_back( t );
+    }
+};
+//]
+
+struct write_state
+{
+    void operator()( const state_type &x ) const
+    {
+        std::cout << x[0] << "\t" << x[1] << "\n";
+    }
+};
+
+
+int main(int /* argc */ , char** /* argv */ )
+{
+    using namespace std;
+    using namespace boost::numeric::odeint;
+
+
+    //[ state_initialization
+    state_type x(2);
+    x[0] = 1.0; // start at x=1.0, p=0.0
+    x[1] = 0.0;
+    //]
+
+
+
+    //[ integration
+    size_t steps = integrate( harmonic_oscillator ,
+            x , 0.0 , 10.0 , 0.1 );
+    //]
+
+
+
+    //[ integration_class
+    harm_osc ho(0.15);
+    steps = integrate( ho ,
+            x , 0.0 , 10.0 , 0.1 );
+    //]
+
+
+
+
+
+    //[ integrate_observ
+    vector<state_type> x_vec;
+    vector<double> times;
+
+    steps = integrate( harmonic_oscillator ,
+            x , 0.0 , 10.0 , 0.1 ,
+            push_back_state_and_time( x_vec , times ) );
+
+    /* output */
+    for( size_t i=0; i<=steps; i++ )
+    {
+        cout << times[i] << '\t' << x_vec[i][0] << '\t' << x_vec[i][1] << '\n';
+    }
+    //]
+
+
+
+
+
+
+
+    //[ define_const_stepper
+    runge_kutta4< state_type > stepper;
+    integrate_const( stepper , harmonic_oscillator , x , 0.0 , 10.0 , 0.01 );
+    //]
+
+
+
+
+    //[ integrate_const_loop
+    const double dt = 0.01;
+    for( double t=0.0 ; t<10.0 ; t+= dt )
+        stepper.do_step( harmonic_oscillator , x , t , dt );
+    //]
+
+
+
+
+    //[ define_adapt_stepper
+    typedef runge_kutta_cash_karp54< state_type > error_stepper_type;
+    //]
+
+
+
+    //[ integrate_adapt
+    typedef controlled_runge_kutta< error_stepper_type > controlled_stepper_type;
+    controlled_stepper_type controlled_stepper;
+    integrate_adaptive( controlled_stepper , harmonic_oscillator , x , 0.0 , 10.0 , 0.01 );
+    //]
+
+    {
+    //[integrate_adapt_full
+    double abs_err = 1.0e-10 , rel_err = 1.0e-6 , a_x = 1.0 , a_dxdt = 1.0;
+    controlled_stepper_type controlled_stepper( 
+        default_error_checker< double >( abs_err , rel_err , a_x , a_dxdt ) );
+    integrate_adaptive( controlled_stepper , harmonic_oscillator , x , 0.0 , 10.0 , 0.01 );
+    //]
+    }
+
+
+    //[integrate_adapt_make_controlled
+    integrate_adaptive( make_controlled< error_stepper_type >( 1.0e-10 , 1.0e-6 ) , 
+                        harmonic_oscillator , x , 0.0 , 10.0 , 0.01 );
+    //]
+
+
+
+
+    //[integrate_adapt_make_controlled_alternative
+    integrate_adaptive( make_controlled( 1.0e-10 , 1.0e-6 , error_stepper_type() ) , 
+                        harmonic_oscillator , x , 0.0 , 10.0 , 0.01 );
+    //]
+
+    #ifdef BOOST_NUMERIC_ODEINT_CXX11
+    //[ define_const_stepper_cpp11
+    runge_kutta4< state_type > stepper;
+    integrate_const( stepper , []( const state_type &x , state_type &dxdt , double t ) {
+            dxdt[0] = x[1]; dxdt[1] = -x[0] - gam*x[1]; }
+        , x , 0.0 , 10.0 , 0.01 );
+    //]
+    #endif
+
+
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator_units.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator_units.cpp
new file mode 100755
index 0000000..2448b54
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator_units.cpp
@@ -0,0 +1,119 @@
+/*
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <iostream>
+#include <vector>
+
+
+/* WARNING: Compilation in debug mode might consume enormous memory 
+   (e.g. ~2GB on gcc 4.4 ) 
+*/
+
+// first increase fusion macro variables (now done by odeint itself)
+//#define BOOST_FUSION_INVOKE_MAX_ARITY 15
+//#define BOOST_RESULT_OF_NUM_ARGS 15
+
+//[ units_define_basic_quantities
+
+#include <boost/numeric/odeint.hpp>
+#include <boost/numeric/odeint/algebra/fusion_algebra.hpp>
+
+#include <boost/units/systems/si/length.hpp>
+#include <boost/units/systems/si/time.hpp>
+#include <boost/units/systems/si/velocity.hpp>
+#include <boost/units/systems/si/acceleration.hpp>
+#include <boost/units/systems/si/io.hpp>
+
+#include <boost/fusion/container.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+namespace fusion = boost::fusion;
+namespace units = boost::units;
+namespace si = boost::units::si;
+
+typedef units::quantity< si::time , double > time_type;
+typedef units::quantity< si::length , double > length_type;
+typedef units::quantity< si::velocity , double > velocity_type;
+typedef units::quantity< si::acceleration , double > acceleration_type;
+typedef units::quantity< si::frequency , double > frequency_type;
+
+typedef fusion::vector< length_type , velocity_type > state_type;
+typedef fusion::vector< velocity_type , acceleration_type > deriv_type;
+//]
+
+
+
+//[ units_define_ode
+struct oscillator
+{
+    frequency_type m_omega;
+
+    oscillator( const frequency_type &omega = 1.0 * si::hertz ) : m_omega( omega ) { }
+
+    void operator()( const state_type &x , deriv_type &dxdt , time_type t ) const
+    {
+        fusion::at_c< 0 >( dxdt ) = fusion::at_c< 1 >( x );
+        fusion::at_c< 1 >( dxdt ) = - m_omega * m_omega * fusion::at_c< 0 >( x );
+    }
+};
+//]
+
+
+//[ units_observer
+struct streaming_observer
+{
+    std::ostream& m_out;
+
+    streaming_observer( std::ostream &out ) : m_out( out ) { }
+
+    struct write_element
+    {
+        std::ostream &m_out;
+        write_element( std::ostream &out ) : m_out( out ) { };
+
+        template< class T >
+        void operator()( const T &t ) const
+        {
+            m_out << "\t" << t;
+        }
+    };
+
+    template< class State , class Time >
+    void operator()( const State &x , const Time &t ) const
+    {
+        m_out << t;
+        fusion::for_each( x , write_element( m_out ) );
+        m_out << "\n";
+    }
+};
+//]
+
+
+int main( int argc , char**argv )
+{
+//    typedef dense_output_runge_kutta
+//    <
+//        controlled_runge_kutta
+//        <
+//            runge_kutta_dopri5< state_type , double , deriv_type , time_type , fusion_algebra >
+//        >
+//    > stepper_type;
+
+    //[ units_define_stepper
+    typedef runge_kutta_dopri5< state_type , double , deriv_type , time_type , fusion_algebra > stepper_type;
+
+    state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second );
+
+    integrate_const( make_dense_output( 1.0e-6 , 1.0e-6 , stepper_type() ) , oscillator( 2.0 * si::hertz ) , x , 0.0 * si::second , 100.0 * si::second , 0.1 * si::second , streaming_observer( cout ) );
+    //]
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/heun.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/heun.cpp
new file mode 100755
index 0000000..1c9c284
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/heun.cpp
@@ -0,0 +1,170 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/examples/heun.cpp
+
+ [begin_description]
+ Examplary implementation of the method of Heun.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <iostream>
+
+
+#include <boost/fusion/container/vector.hpp>
+#include <boost/fusion/container/generation/make_vector.hpp>
+
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint.hpp>
+
+
+
+
+
+
+namespace fusion = boost::fusion;
+
+//[ heun_define_coefficients
+template< class Value = double >
+struct heun_a1 : boost::array< Value , 1 > {
+    heun_a1( void )
+    {
+        (*this)[0] = static_cast< Value >( 1 ) / static_cast< Value >( 3 );
+    }
+};
+
+template< class Value = double >
+struct heun_a2 : boost::array< Value , 2 >
+{
+    heun_a2( void )
+    {
+        (*this)[0] = static_cast< Value >( 0 );
+        (*this)[1] = static_cast< Value >( 2 ) / static_cast< Value >( 3 );
+    }
+};
+
+
+template< class Value = double >
+struct heun_b : boost::array< Value , 3 >
+{
+    heun_b( void )
+    {
+        (*this)[0] = static_cast<Value>( 1 ) / static_cast<Value>( 4 );
+        (*this)[1] = static_cast<Value>( 0 );
+        (*this)[2] = static_cast<Value>( 3 ) / static_cast<Value>( 4 );
+    }
+};
+
+template< class Value = double >
+struct heun_c : boost::array< Value , 3 >
+{
+    heun_c( void )
+    {
+        (*this)[0] = static_cast< Value >( 0 );
+        (*this)[1] = static_cast< Value >( 1 ) / static_cast< Value >( 3 );
+        (*this)[2] = static_cast< Value >( 2 ) / static_cast< Value >( 3 );
+    }
+};
+//]
+
+
+//[ heun_stepper_definition
+template<
+    class State ,
+    class Value = double ,
+    class Deriv = State ,
+    class Time = Value ,
+    class Algebra = boost::numeric::odeint::range_algebra ,
+    class Operations = boost::numeric::odeint::default_operations ,
+    class Resizer = boost::numeric::odeint::initially_resizer
+>
+class heun : public
+boost::numeric::odeint::explicit_generic_rk< 3 , 3 , State , Value , Deriv , Time ,
+                                             Algebra , Operations , Resizer >
+{
+
+public:
+
+    typedef boost::numeric::odeint::explicit_generic_rk< 3 , 3 , State , Value , Deriv , Time ,
+                                                         Algebra , Operations , Resizer > stepper_base_type;
+
+    typedef typename stepper_base_type::state_type state_type;
+    typedef typename stepper_base_type::wrapped_state_type wrapped_state_type;
+    typedef typename stepper_base_type::value_type value_type;
+    typedef typename stepper_base_type::deriv_type deriv_type;
+    typedef typename stepper_base_type::wrapped_deriv_type wrapped_deriv_type;
+    typedef typename stepper_base_type::time_type time_type;
+    typedef typename stepper_base_type::algebra_type algebra_type;
+    typedef typename stepper_base_type::operations_type operations_type;
+    typedef typename stepper_base_type::resizer_type resizer_type;
+    typedef typename stepper_base_type::stepper_type stepper_type;
+
+    heun( const algebra_type &algebra = algebra_type() )
+    : stepper_base_type(
+            fusion::make_vector(
+                heun_a1<Value>() ,
+                heun_a2<Value>() ) ,
+            heun_b<Value>() , heun_c<Value>() , algebra )
+    { }
+};
+//]
+
+
+const double sigma = 10.0;
+const double R = 28.0;
+const double b = 8.0 / 3.0;
+
+struct lorenz
+{
+    template< class State , class Deriv >
+    void operator()( const State &x_ , Deriv &dxdt_ , double t ) const
+    {
+        typename boost::range_iterator< const State >::type x = boost::begin( x_ );
+        typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ );
+
+        dxdt[0] = sigma * ( x[1] - x[0] );
+        dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+        dxdt[2] = -b * x[2] + x[0] * x[1];
+    }
+};
+
+struct streaming_observer
+{
+    std::ostream &m_out;
+    streaming_observer( std::ostream &out ) : m_out( out ) { }
+    template< typename State , typename Value >
+    void operator()( const State &x , Value t ) const
+    {
+        m_out << t;
+        for( size_t i=0 ; i<x.size() ; ++i ) m_out << "\t" << x[i];
+        m_out << "\n";
+    }
+};
+
+
+
+int main( int argc , char **argv )
+{
+    using namespace std;
+    using namespace boost::numeric::odeint;
+
+
+    //[ heun_example
+    typedef boost::array< double , 3 > state_type;
+    heun< state_type > h;
+    state_type x = {{ 10.0 , 10.0 , 10.0 }};
+
+    integrate_const( h , lorenz() , x , 0.0 , 100.0 , 0.01 ,
+                     streaming_observer( std::cout ) );
+
+    //]
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/list_lattice.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/list_lattice.cpp
new file mode 100755
index 0000000..d5af8e5
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/list_lattice.cpp
@@ -0,0 +1,78 @@
+/*
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+/* example showing how odeint can be used with std::list */
+
+#include <iostream>
+#include <cmath>
+#include <list>
+
+#include <boost/numeric/odeint.hpp>
+
+//[ list_bindings
+typedef std::list< double > state_type;
+
+namespace boost { namespace numeric { namespace odeint {
+
+template< >
+struct is_resizeable< state_type >
+{ // declare resizeability
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+
+template< > 
+struct same_size_impl< state_type , state_type >
+{ // define how to check size
+    static bool same_size( const state_type &v1 ,
+                           const state_type &v2 )
+    {
+        return v1.size() == v2.size();
+    }
+};
+
+template< >
+struct resize_impl< state_type , state_type >
+{ // define how to resize
+    static void resize( state_type &v1 ,
+                        const state_type &v2 )
+    {
+        v1.resize( v2.size() );
+    }
+};
+
+} } } 
+//]
+
+void lattice( const state_type &x , state_type &dxdt , const double /* t */ )
+{
+    state_type::const_iterator x_begin = x.begin();
+    state_type::const_iterator x_end = x.end();
+    state_type::iterator dxdt_begin = dxdt.begin();
+    
+    x_end--; // stop one before last
+    while( x_begin != x_end )
+    {
+        *(dxdt_begin++) = std::sin( *(x_begin) - *(x_begin++) );
+    }
+    *dxdt_begin = sin( *x_begin - *(x.begin()) ); // periodic boundary
+}
+
+using namespace boost::numeric::odeint;
+
+int main()
+{
+    const int N = 32;
+    state_type x;
+    for( int i=0 ; i<N ; ++i )
+        x.push_back( 1.0*i/N );
+
+    integrate_const( runge_kutta4< state_type >() , lattice , x , 0.0 , 10.0 , 0.1 );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/lorenz_point.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/lorenz_point.cpp
new file mode 100755
index 0000000..8edf41b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/lorenz_point.cpp
@@ -0,0 +1,124 @@
+/*
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ *
+ * Example for the lorenz system with a 3D point type
+*/
+
+#include <iostream>
+#include <cmath>
+
+#include <boost/operators.hpp>
+
+#include <boost/numeric/odeint.hpp>
+
+
+//[point3D
+class point3D :
+    boost::additive1< point3D ,
+    boost::additive2< point3D , double ,
+    boost::multiplicative2< point3D , double > > >
+{
+public:
+
+    double x , y , z;
+
+    point3D()
+        : x( 0.0 ) , y( 0.0 ) , z( 0.0 )
+    { }
+
+    point3D( const double val )
+        : x( val ) , y( val ) , z( val )
+    { }
+
+    point3D( const double _x , const double _y , const double _z  )
+        : x( _x ) , y( _y ) , z( _z )
+    { }
+
+    point3D& operator+=( const point3D &p )
+    {
+        x += p.x; y += p.y; z += p.z;
+        return *this;
+    }
+
+    point3D& operator*=( const double a )
+    {
+        x *= a; y *= a; z *= a;
+        return *this;
+    }
+
+};
+//]
+
+//[point3D_abs_div
+// only required for steppers with error control
+point3D operator/( const point3D &p1 , const point3D &p2 )
+{
+    return point3D( p1.x/p2.x , p1.y/p2.y , p1.z/p1.z );
+}
+
+point3D abs( const point3D &p )
+{
+    return point3D( std::abs(p.x) , std::abs(p.y) , std::abs(p.z) );
+}
+//]
+
+
+//[point3D_reduce
+namespace boost { namespace numeric { namespace odeint {
+// specialization of vector_space_reduce, only required for steppers with error control
+template<>
+struct vector_space_reduce< point3D >
+{
+    template< class Value , class Op >
+    Value operator() ( const point3D &p , Op op , Value init )
+    {
+        init = op( init , p.x );
+        //std::cout << init << " ";
+        init = op( init , p.y );
+        //std::cout << init << " ";
+        init = op( init , p.z );
+        //std::cout << init << std::endl;
+        return init;
+    }
+};
+} } }
+//]
+
+std::ostream& operator<<( std::ostream &out , const point3D &p )
+{
+    out << p.x << " " << p.y << " " << p.z;
+    return out;
+}
+
+//[point3D_main
+const double sigma = 10.0;
+const double R = 28.0;
+const double b = 8.0 / 3.0;
+
+void lorenz( const point3D &x , point3D &dxdt , const double t )
+{
+    dxdt.x = sigma * ( x.y - x.x );
+    dxdt.y = R * x.x - x.y - x.x * x.z;
+    dxdt.z = -b * x.z + x.x * x.y;
+}
+
+using namespace boost::numeric::odeint;
+
+int main()
+{
+
+    point3D x( 10.0 , 5.0 , 5.0 );
+    // point type defines it's own operators -> use vector_space_algebra !
+    typedef runge_kutta_dopri5< point3D , double , point3D ,
+                                double , vector_space_algebra > stepper;
+    int steps = integrate_adaptive( make_controlled<stepper>( 1E-10 , 1E-10 ) , lorenz , x ,
+                                    0.0 , 10.0 , 0.1 );
+    std::cout << x << std::endl;
+    std::cout << "steps: " << steps << std::endl;
+}
+//]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/Jamfile.v2
new file mode 100755
index 0000000..3b5ce8e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/Jamfile.v2
@@ -0,0 +1,16 @@
+# Copyright 2009 Karsten Ahnert and Mario Mulansky.
+# Distributed under the Boost Software License, Version 1.0. (See
+# accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+MTL4_INCLUDE = /home/karsten/boost/MTL-4.0.8862-Linux/usr/include ;
+
+project
+    : requirements 
+      <include>../../../../..
+      <include>$(MTL4_INCLUDE)
+      <define>BOOST_ALL_NO_LIB=1
+    ;
+    
+exe gauss_packet : gauss_packet.cpp ;
+exe implicit_euler_mtl : implicit_euler_mtl.cpp ;
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/gauss_packet.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/gauss_packet.cpp
new file mode 100755
index 0000000..59e38ea
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/gauss_packet.cpp
@@ -0,0 +1,141 @@
+/*
+ * gauss_packet.cpp
+ *
+ * Schroedinger equation with potential barrier and periodic boundary conditions
+ * Initial Gauss packet moving to the right
+ *
+ * pipe output into gnuplot to see animation
+ *
+ * Implementation of Hamilton operator via MTL library
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <iostream>
+#include <complex>
+
+#include <boost/numeric/odeint.hpp>
+#include <boost/numeric/odeint/external/mtl4/mtl4_resize.hpp>
+
+#include <boost/numeric/mtl/mtl.hpp>
+
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+typedef mtl::dense_vector< complex< double > > state_type;
+
+struct hamiltonian {
+
+    typedef mtl::compressed2D< complex< double > > matrix_type;
+    matrix_type m_H;
+
+    hamiltonian( const int N ) : m_H( N , N )
+    {
+        // constructor with zero potential
+        m_H = 0.0;
+        initialize_kinetic_term();
+    }
+
+    //template< mtl::compressed2D< double > >
+    hamiltonian( mtl::compressed2D< double > &V ) : m_H( num_rows( V ) , num_cols( V ) )
+    {
+        // use potential V in hamiltonian
+        m_H = complex<double>( 0.0 , -1.0 ) * V;
+        initialize_kinetic_term();
+    }
+
+    void initialize_kinetic_term( )
+    {
+        const int N = num_rows( m_H );
+        mtl::matrix::inserter< matrix_type , mtl::update_plus< complex<double> > > ins( m_H );
+        const double z = 1.0;
+        // fill diagonal and upper and lower diagonal
+        for( int i = 0 ; i<N ; ++i )
+        {
+            ins[ i ][ (i+1) % N ] << complex< double >( 0.0 , -z );
+            ins[ i ][ i ] << complex< double >( 0.0 , z );
+            ins[ (i+1) % N ][ i ] << complex< double >( 0.0 , -z );
+        }
+    }
+
+    void operator()( const state_type &psi , state_type &dpsidt , const double t )
+    {
+        dpsidt = m_H * psi;
+    }
+
+};
+
+struct write_for_gnuplot
+{
+    size_t m_every , m_count;
+
+    write_for_gnuplot( size_t every = 10 )
+    : m_every( every ) , m_count( 0 ) { }
+
+    void operator()( const state_type &x , double t )
+    {
+        if( ( m_count % m_every ) == 0 )
+        {
+            //clog << t << endl;
+            cout << "p [0:" << mtl::size(x) << "][0:0.02] '-'" << endl;
+            for( size_t i=0 ; i<mtl::size(x) ; ++i )
+            {
+                cout << i << "\t" << norm(x[i]) << "\n";
+            }
+            cout << "e" << endl;
+        }
+
+        ++m_count;
+    }
+};
+
+static const int N = 1024;
+static const int N0 = 256;
+static const double sigma0 = 20;
+static const double k0 = -1.0;
+
+int main( int argc , char** argv )
+{
+    state_type x( N , 0.0 );
+
+    // initialize gauss packet with nonzero velocity
+    for( int i=0 ; i<N ; ++i )
+    {
+        x[i] = exp( -(i-N0)*(i-N0) / ( 4.0*sigma0*sigma0 ) ) * exp( complex< double >( 0.0 , k0*i ) );
+        //x[i] += 2.0*exp( -(i+N0-N)*(i+N0-N) / ( 4.0*sigma0*sigma0 ) ) * exp( complex< double >( 0.0 , -k0*i ) );
+    }
+    x /= mtl::two_norm( x );
+
+    typedef runge_kutta4< state_type , double , state_type , double , vector_space_algebra > stepper;
+
+    // create potential barrier
+    mtl::compressed2D< double > V( N , N );
+    V = 0.0;
+    {
+        mtl::matrix::inserter< mtl::compressed2D< double > > ins( V );
+        for( int i=0 ; i<N ; ++i )
+        {
+            //ins[i][i] << 1E-4*(i-N/2)*(i-N/2);
+
+            if( i < N/2 )
+                ins[ i ][ i ] << 0.0 ;
+            else
+                ins[ i ][ i ] << 1.0 ;
+
+        }
+    }
+
+    // perform integration, output can be piped to gnuplot
+    integrate_const( stepper() , hamiltonian( V ) , x , 0.0 , 1000.0 , 0.1 , write_for_gnuplot( 10 ) );
+
+    clog << "Norm: " << mtl::two_norm( x ) << endl;
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/implicit_euler_mtl.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/implicit_euler_mtl.cpp
new file mode 100755
index 0000000..c9a286a
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/implicit_euler_mtl.cpp
@@ -0,0 +1,324 @@
+/*
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <iostream>
+#include <fstream>
+#include <utility>
+#include "time.h"
+
+#include <boost/numeric/odeint.hpp>
+#include <boost/phoenix/phoenix.hpp>
+#include <boost/numeric/mtl/mtl.hpp>
+
+#include <boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+namespace phoenix = boost::phoenix;
+
+
+
+typedef mtl::dense_vector< double > vec_mtl4;
+typedef mtl::compressed2D< double > mat_mtl4;
+
+typedef boost::numeric::ublas::vector< double > vec_ublas;
+typedef boost::numeric::ublas::matrix< double > mat_ublas;
+
+
+// two systems defined 1 & 2 both are mostly sparse with the number of element variable
+struct system1_mtl4
+{
+
+    void operator()( const vec_mtl4 &x , vec_mtl4 &dxdt , double t )
+    {
+        int size = mtl::size(x);
+
+        dxdt[ 0 ] = -0.06*x[0];
+
+        for (int i =1; i< size ; ++i){
+
+            dxdt[ i ] = 4.2*x[i-1]-2.2*x[i]*x[i];
+        }
+
+    }
+};
+
+struct jacobi1_mtl4
+{
+    void operator()( const vec_mtl4 &x , mat_mtl4 &J , const double &t )
+    {
+        int size = mtl::size(x);
+        mtl::matrix::inserter<mat_mtl4> ins(J);
+
+        ins[0][0]=-0.06;
+
+        for (int i =1; i< size ; ++i)
+        {
+            ins[i][i-1] = + 4.2;
+            ins[i][i] = -4.2*x[i];
+        }
+    }
+};
+
+
+
+struct system1_ublas
+{
+
+    void operator()( const vec_ublas &x , vec_ublas &dxdt , double t )
+    {
+        int size = x.size();
+
+        dxdt[ 0 ] = -0.06*x[0];
+
+        for (int i =1; i< size ; ++i){
+
+            dxdt[ i ] = 4.2*x[i-1]-2.2*x[i]*x[i];
+        }
+
+    }
+};
+
+struct jacobi1_ublas
+{
+    void operator()( const vec_ublas &x , mat_ublas &J , const double &t )
+    {
+        int size = x.size();
+// mtl::matrix::inserter<mat_mtl4> ins(J);
+
+        J(0,0)=-0.06;
+
+        for (int i =1; i< size ; ++i){
+//ins[i][0]=120.0*x[i];
+            J(i,i-1) = + 4.2;
+            J(i,i) = -4.2*x[i];
+
+        }
+    }
+};
+
+struct system2_mtl4
+{
+
+    void operator()( const vec_mtl4 &x , vec_mtl4 &dxdt , double t )
+    {
+        int size = mtl::size(x);
+
+
+        for (int i =0; i< size/5 ; i+=5){
+
+            dxdt[ i ] = -0.5*x[i];
+            dxdt[i+1]= +25*x[i+1]*x[i+2]-740*x[i+3]*x[i+3]+4.2e-2*x[i];
+            dxdt[i+2]= +25*x[i]*x[i]-740*x[i+3]*x[i+3];
+            dxdt[i+3]= -25*x[i+1]*x[i+2]+740*x[i+3]*x[i+3];
+            dxdt[i+4] = 0.250*x[i]*x[i+1]-44.5*x[i+3];
+
+        }
+
+    }
+};
+
+struct jacobi2_mtl4
+{
+    void operator()( const vec_mtl4 &x , mat_mtl4 &J , const double &t )
+    {
+        int size = mtl::size(x);
+        mtl::matrix::inserter<mat_mtl4> ins(J);
+
+        for (int i =0; i< size/5 ; i+=5){
+
+            ins[ i ][i] = -0.5;
+            ins[i+1][i+1]=25*x[i+2];
+            ins[i+1][i+2] = 25*x[i+1];
+            ins[i+1][i+3] = -740*2*x[i+3];
+            ins[i+1][i] =+4.2e-2;
+
+            ins[i+2][i]= 50*x[i];
+            ins[i+2][i+3]= -740*2*x[i+3];
+            ins[i+3][i+1] = -25*x[i+2];
+            ins[i+3][i+2] = -25*x[i+1];
+            ins[i+3][i+3] = +740*2*x[i+3];
+            ins[i+4][i] = 0.25*x[i+1];
+            ins[i+4][i+1] =0.25*x[i];
+            ins[i+4][i+3]=-44.5;
+
+
+
+        }
+    }
+};
+
+
+
+struct system2_ublas
+{
+
+    void operator()( const vec_ublas &x , vec_ublas &dxdt , double t )
+    {
+        int size = x.size();
+        for (int i =0; i< size/5 ; i+=5){
+
+            dxdt[ i ] = -4.2e-2*x[i];
+            dxdt[i+1]= +25*x[i+1]*x[i+2]-740*x[i+3]*x[i+3]+4.2e-2*x[i];
+            dxdt[i+2]= +25*x[i]*x[i]-740*x[i+3]*x[i+3];
+            dxdt[i+3]= -25*x[i+1]*x[i+2]+740*x[i+3]*x[i+3];
+            dxdt[i+4] = 0.250*x[i]*x[i+1]-44.5*x[i+3];
+
+        }
+
+    }
+};
+
+struct jacobi2_ublas
+{
+    void operator()( const vec_ublas &x , mat_ublas &J , const double &t )
+    {
+        int size = x.size();
+
+        for (int i =0; i< size/5 ; i+=5){
+
+            J(i ,i) = -4.2e-2;
+            J(i+1,i+1)=25*x[i+2];
+            J(i+1,i+2) = 25*x[i+1];
+            J(i+1,i+3) = -740*2*x[i+3];
+            J(i+1,i) =+4.2e-2;
+
+            J(i+2,i)= 50*x[i];
+            J(i+2,i+3)= -740*2*x[i+3];
+            J(i+3,i+1) = -25*x[i+2];
+            J(i+3,i+2) = -25*x[i+1];
+            J(i+3,i+3) = +740*2*x[i+3];
+            J(i+4,i) = 0.25*x[i+1];
+            J(i+4,i+1) =0.25*x[i];
+            J(i+4,i+3)=-44.5;
+
+
+
+        }
+
+
+    }
+};
+
+
+
+
+void testRidiculouslyMassiveArray( int size )
+{
+    typedef boost::numeric::odeint::implicit_euler_mtl4 < double > mtl4stepper;
+    typedef boost::numeric::odeint::implicit_euler< double > booststepper;
+
+    vec_mtl4 x(size , 0.0);
+    x[0]=1;
+
+
+    double dt = 0.02;
+    double endtime = 10.0;
+
+    clock_t tstart_mtl4 = clock();
+    size_t num_of_steps_mtl4 = integrate_const(
+        mtl4stepper() ,
+        make_pair( system1_mtl4() , jacobi1_mtl4() ) ,
+        x , 0.0 , endtime , dt  );
+    clock_t tend_mtl4 = clock() ;
+
+    clog << x[0] << endl;
+    clog << num_of_steps_mtl4 << " time elapsed: " << (double)(tend_mtl4-tstart_mtl4 )/CLOCKS_PER_SEC << endl;
+
+    vec_ublas x_ublas(size , 0.0);
+    x_ublas[0]=1;
+
+    clock_t tstart_boost = clock();
+    size_t num_of_steps_ublas = integrate_const(
+        booststepper() ,
+        make_pair( system1_ublas() , jacobi1_ublas() ) ,
+        x_ublas , 0.0 , endtime , dt  );
+    clock_t tend_boost = clock() ;
+    
+    clog << x_ublas[0] << endl;
+    clog << num_of_steps_ublas << " time elapsed: " << (double)(tend_boost-tstart_boost)/CLOCKS_PER_SEC<< endl;
+
+    clog << "dt_ublas/dt_mtl4 = " << (double)( tend_boost-tstart_boost )/( tend_mtl4-tstart_mtl4 ) << endl << endl;
+    return ;
+}
+
+
+
+void testRidiculouslyMassiveArray2( int size )
+{
+    typedef boost::numeric::odeint::implicit_euler_mtl4 < double > mtl4stepper;
+    typedef boost::numeric::odeint::implicit_euler< double > booststepper;
+
+
+    vec_mtl4 x(size , 0.0);
+    x[0]=100;
+
+
+    double dt = 0.01;
+    double endtime = 10.0;
+
+    clock_t tstart_mtl4 = clock();
+    size_t num_of_steps_mtl4 = integrate_const(
+        mtl4stepper() ,
+        make_pair( system1_mtl4() , jacobi1_mtl4() ) ,
+        x , 0.0 , endtime , dt );
+
+
+    clock_t tend_mtl4 = clock() ;
+    
+    clog << x[0] << endl;
+    clog << num_of_steps_mtl4 << " time elapsed: " << (double)(tend_mtl4-tstart_mtl4 )/CLOCKS_PER_SEC << endl;
+
+    vec_ublas x_ublas(size , 0.0);
+    x_ublas[0]=100;
+
+    clock_t tstart_boost = clock();
+    size_t num_of_steps_ublas = integrate_const(
+        booststepper() ,
+        make_pair( system1_ublas() , jacobi1_ublas() ) ,
+        x_ublas , 0.0 , endtime , dt  );
+
+
+    clock_t tend_boost = clock() ;
+    
+    clog << x_ublas[0] << endl;
+    clog << num_of_steps_ublas << " time elapsed: " << (double)(tend_boost-tstart_boost)/CLOCKS_PER_SEC<< endl;
+
+    clog << "dt_ublas/dt_mtl4 = " << (double)( tend_boost-tstart_boost )/( tend_mtl4-tstart_mtl4 ) << endl << endl;
+    return ;
+}
+
+
+
+ 
+int main( int argc , char **argv )
+{
+    std::vector< size_t > length;
+    length.push_back( 8 );
+    length.push_back( 16 );
+    length.push_back( 32 );
+    length.push_back( 64 );
+    length.push_back( 128 );
+    length.push_back( 256 );
+
+    for( size_t i=0 ; i<length.size() ; ++i )
+    {
+        clog << "Testing with size " << length[i] << endl;
+        testRidiculouslyMassiveArray( length[i] );
+    }
+    clog << endl << endl;
+
+    for( size_t i=0 ; i<length.size() ; ++i )
+    {
+        clog << "Testing with size " << length[i] << endl;
+        testRidiculouslyMassiveArray2( length[i] );
+    }
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/my_vector.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/my_vector.cpp
new file mode 100755
index 0000000..e4454fe
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/my_vector.cpp
@@ -0,0 +1,111 @@
+/*
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ *
+ * Example for self defined vector type.
+ */
+
+#include <vector>
+
+#include <boost/numeric/odeint.hpp>
+
+//[my_vector
+template< int MAX_N >
+class my_vector
+{
+    typedef std::vector< double > vector;
+
+public:
+    typedef vector::iterator iterator;
+    typedef vector::const_iterator const_iterator;
+
+public:
+    my_vector( const size_t N )
+        : m_v( N )
+    { 
+        m_v.reserve( MAX_N );
+    }
+
+    my_vector()
+        : m_v()
+    {
+        m_v.reserve( MAX_N );
+    }
+
+// ... [ implement container interface ]
+//]
+    const double & operator[]( const size_t n ) const
+    { return m_v[n]; }
+
+    double & operator[]( const size_t n )
+    { return m_v[n]; }
+
+    iterator begin()
+    { return m_v.begin(); }
+
+    const_iterator begin() const
+    { return m_v.begin(); }
+
+    iterator end()
+    { return m_v.end(); }
+    
+    const_iterator end() const
+    { return m_v.end(); }
+
+    size_t size() const 
+    { return m_v.size(); }
+
+    void resize( const size_t n )
+    { m_v.resize( n ); }
+
+private:
+    std::vector< double > m_v;
+
+};
+
+//[my_vector_resizeable
+// define my_vector as resizeable
+
+namespace boost { namespace numeric { namespace odeint {
+
+template<size_t N>
+struct is_resizeable< my_vector<N> >
+{
+    typedef boost::true_type type;
+    static const bool value = type::value;
+};
+
+} } }
+//]
+
+
+typedef my_vector<3> state_type;
+
+void lorenz( const state_type &x , state_type &dxdt , const double t )
+{
+    const double sigma( 10.0 );
+    const double R( 28.0 );
+    const double b( 8.0 / 3.0 );
+
+    dxdt[0] = sigma * ( x[1] - x[0] );
+    dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+    dxdt[2] = -b * x[2] + x[0] * x[1];
+}
+
+using namespace boost::numeric::odeint;
+
+int main()
+{
+    state_type x(3);
+    x[0] = 5.0 ; x[1] = 10.0 ; x[2] = 10.0;
+
+    // my_vector works with range_algebra as it implements 
+    // the required parts of a container interface
+    // no further work is required
+
+    integrate_const( runge_kutta4< state_type >() , lorenz , x , 0.0 , 10.0 , 0.1 );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp
new file mode 100755
index 0000000..e507363
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp
@@ -0,0 +1,150 @@
+/*
+ * phase_oscillator_ensemble.cpp
+ *
+ * Demonstrates the phase transition from an unsynchronized to an synchronized state.
+ *
+ * Copyright 2009-2012 Karsten Ahnert and Mario Mulansky.
+ * Distributed under the Boost Software License, Version 1.0. (See
+ * accompanying file LICENSE_1_0.txt or copy at
+ * http://www.boost.org/LICENSE_1_0.txt)
+ *
+ */
+
+#include <iostream>
+#include <utility>
+
+#include <boost/numeric/odeint.hpp>
+
+#ifndef M_PI //not there on windows
+#define M_PI 3.141592653589793 //...
+#endif
+
+#include <boost/random.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+//[ phase_oscillator_ensemble_system_function
+typedef vector< double > container_type;
+
+
+pair< double , double > calc_mean_field( const container_type &x )
+{
+    size_t n = x.size();
+    double cos_sum = 0.0 , sin_sum = 0.0;
+    for( size_t i=0 ; i<n ; ++i )
+    {
+        cos_sum += cos( x[i] );
+        sin_sum += sin( x[i] );
+    }
+    cos_sum /= double( n );
+    sin_sum /= double( n );
+
+    double K = sqrt( cos_sum * cos_sum + sin_sum * sin_sum );
+    double Theta = atan2( sin_sum , cos_sum );
+
+    return make_pair( K , Theta );
+}
+
+
+struct phase_ensemble
+{
+    container_type m_omega;
+    double m_epsilon;
+
+    phase_ensemble( const size_t n , double g = 1.0 , double epsilon = 1.0 )
+    : m_omega( n , 0.0 ) , m_epsilon( epsilon )
+    {
+        create_frequencies( g );
+    }
+
+    void create_frequencies( double g )
+    {
+        boost::mt19937 rng;
+        boost::cauchy_distribution<> cauchy( 0.0 , g );
+        boost::variate_generator< boost::mt19937&, boost::cauchy_distribution<> > gen( rng , cauchy );
+        generate( m_omega.begin() , m_omega.end() , gen );
+    }
+
+    void set_epsilon( double epsilon ) { m_epsilon = epsilon; }
+
+    double get_epsilon( void ) const { return m_epsilon; }
+
+    void operator()( const container_type &x , container_type &dxdt , double /* t */ ) const
+    {
+        pair< double , double > mean = calc_mean_field( x );
+        for( size_t i=0 ; i<x.size() ; ++i )
+            dxdt[i] = m_omega[i] + m_epsilon * mean.first * sin( mean.second - x[i] );
+    }
+};
+//]
+
+
+
+//[ phase_oscillator_ensemble_observer
+struct statistics_observer
+{
+    double m_K_mean;
+    size_t m_count;
+
+    statistics_observer( void )
+    : m_K_mean( 0.0 ) , m_count( 0 ) { }
+
+    template< class State >
+    void operator()( const State &x , double t )
+    {
+        pair< double , double > mean = calc_mean_field( x );
+        m_K_mean += mean.first;
+        ++m_count;
+    }
+
+    double get_K_mean( void ) const { return ( m_count != 0 ) ? m_K_mean / double( m_count ) : 0.0 ; }
+
+    void reset( void ) { m_K_mean = 0.0; m_count = 0; }
+};
+//]
+
+
+
+
+
+
+
+
+int main( int argc , char **argv )
+{
+    //[ phase_oscillator_ensemble_integration
+    const size_t n = 16384;
+    const double dt = 0.1;
+
+    container_type x( n );
+
+    boost::mt19937 rng;
+    boost::uniform_real<> unif( 0.0 , 2.0 * M_PI );
+    boost::variate_generator< boost::mt19937&, boost::uniform_real<> > gen( rng , unif );
+
+    // gamma = 1, the phase transition occurs at epsilon = 2
+    phase_ensemble ensemble( n , 1.0 );
+    statistics_observer obs;
+
+    for( double epsilon = 0.0 ; epsilon < 5.0 ; epsilon += 0.1 )
+    {
+        ensemble.set_epsilon( epsilon );
+        obs.reset();
+
+        // start with random initial conditions
+        generate( x.begin() , x.end() , gen );
+
+        // calculate some transients steps
+        integrate_const( runge_kutta4< container_type >() , boost::ref( ensemble ) , x , 0.0 , 10.0 , dt );
+
+        // integrate and compute the statistics
+        integrate_const( runge_kutta4< container_type >() , boost::ref( ensemble ) , x , 0.0 , 100.0 , dt , boost::ref( obs ) );
+        cout << epsilon << "\t" << obs.get_K_mean() << endl;
+    }
+
+
+    //]
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/point_type.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/point_type.hpp
new file mode 100755
index 0000000..f397dee
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/point_type.hpp
@@ -0,0 +1,177 @@
+/* Boost libs/numeric/odeint/examples/point_type.hpp
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ solar system example for Hamiltonian stepper
+
+ Distributed under the Boost Software License, Version 1.0.
+(See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#ifndef POINT_TYPE_HPP_INCLUDED
+#define POINT_TYPE_HPP_INCLUDED
+
+
+#include <boost/operators.hpp>
+#include <ostream>
+
+
+//[ point_type
+/*the point type */
+template< class T , size_t Dim >
+class point :
+    boost::additive1< point< T , Dim > ,
+    boost::additive2< point< T , Dim  > , T ,
+    boost::multiplicative2< point< T , Dim > , T
+    > > >
+    {
+    public:
+
+        const static size_t dim = Dim;
+        typedef T value_type;
+        typedef point< value_type , dim > point_type;
+
+        // ...
+        // constructors
+        //<-
+        point( void )
+        {
+            for( size_t i=0 ; i<dim ; ++i ) m_val[i] = 0.0;
+        }
+
+        point( value_type val )
+        {
+            for( size_t i=0 ; i<dim ; ++i ) m_val[i] = val;
+        }
+
+        point( value_type x , value_type y , value_type z = 0.0 )
+        {
+            if( dim > 0 ) m_val[0] = x;
+            if( dim > 1 ) m_val[1] = y;
+            if( dim > 2 ) m_val[2] = z;
+        }
+        //->
+
+        // ...
+        // operators
+        //<-
+        T operator[]( size_t i ) const { return m_val[i]; }
+        T& operator[]( size_t i ) { return m_val[i]; }
+
+        point_type& operator+=( const point_type& p )
+        {
+            for( size_t i=0 ; i<dim ; ++i )
+                m_val[i] += p[i];
+            return *this;
+        }
+
+        point_type& operator-=( const point_type& p )
+        {
+            for( size_t i=0 ; i<dim ; ++i )
+                m_val[i] -= p[i];
+            return *this;
+        }
+
+        point_type& operator+=( const value_type& val )
+        {
+            for( size_t i=0 ; i<dim ; ++i )
+                m_val[i] += val;
+            return *this;
+        }
+
+        point_type& operator-=( const value_type& val )
+        {
+            for( size_t i=0 ; i<dim ; ++i )
+                m_val[i] -= val;
+            return *this;
+        }
+
+        point_type& operator*=( const value_type &val )
+        {
+            for( size_t i=0 ; i<dim ; ++i )
+                m_val[i] *= val;
+            return *this;
+        }
+
+        point_type& operator/=( const value_type &val )
+        {
+            for( size_t i=0 ; i<dim ; ++i )
+                m_val[i] /= val;
+            return *this;
+        }
+
+        //->
+
+    private:
+
+        T m_val[dim];
+    };
+
+    //...
+    // more operators
+    //]
+
+    //
+    // the - operator
+    //
+    template< class T , size_t Dim >
+    point< T , Dim > operator-( const point< T , Dim > &p )
+    {
+        point< T , Dim > tmp;
+        for( size_t i=0 ; i<Dim ; ++i ) tmp[i] = -p[i];
+        return tmp;
+    }
+
+    //
+    // scalar product
+    //
+    template< class T , size_t Dim >
+    T scalar_prod( const point< T , Dim > &p1 , const point< T , Dim > &p2 )
+    {
+        T tmp = 0.0;
+        for( size_t i=0 ; i<Dim ; ++i ) tmp += p1[i] * p2[i];
+        return tmp;
+    }
+
+
+
+    //
+    // norm
+    //
+    template< class T , size_t Dim >
+    T norm( const point< T , Dim > &p1 )
+    {
+        return scalar_prod( p1 , p1 );
+    }
+
+
+
+
+    //
+    // absolute value
+    //
+    template< class T , size_t Dim >
+    T abs( const point< T , Dim > &p1 )
+    {
+        return sqrt( norm( p1 ) );
+    }
+
+
+
+
+    //
+    // output operator
+    //
+    template< class T , size_t Dim >
+    std::ostream& operator<<( std::ostream &out , const point< T , Dim > &p )
+    {
+        if( Dim > 0 ) out << p[0];
+        for( size_t i=1 ; i<Dim ; ++i ) out << " " << p[i];
+        return out;
+    }
+
+
+
+#endif //POINT_TYPE_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/Jamfile.v2
new file mode 100755
index 0000000..5be56c4
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/Jamfile.v2
@@ -0,0 +1,16 @@
+# Copyright 2009 Karsten Ahnert and Mario Mulansky.
+# Distributed under the Boost Software License, Version 1.0. (See
+# accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+
+project
+    : requirements 
+      <include>../../../..
+      <define>BOOST_ALL_NO_LIB=1
+    : 
+    ;
+    
+lib quadmath : : <name>quadmath <link>shared ;
+
+exe black_hole : black_hole.cpp quadmath : <cxxflags>-std=c++0x ;
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/black_hole.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/black_hole.cpp
new file mode 100755
index 0000000..f8c5482
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/black_hole.cpp
@@ -0,0 +1,151 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/examples/black_hole.cpp
+
+ [begin_description]
+ This example shows how the __float128 from gcc libquadmath can be used with odeint.
+ [end_description]
+
+ Copyright 2012 Lee Hodgkinson
+ Copyright 2012 Karsten Ahnert
+ Copyright 2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <cstdlib>
+#include <cmath>
+#include <iostream>
+#include <iterator>
+#include <utility>
+#include <algorithm>
+#include <cassert>
+#include <vector>
+#include <complex>
+
+extern "C" {
+#include <quadmath.h>
+}
+
+const __float128 zero =strtoflt128 ("0.0", NULL);
+
+namespace std {
+
+    inline __float128 abs( __float128 x )
+    {
+        return fabsq( x );
+    }
+
+    inline __float128 sqrt( __float128 x )
+    {
+        return sqrtq( x );
+    }
+
+    inline __float128 pow( __float128 x , __float128 y )
+    {
+        return powq( x , y );
+    }
+
+    inline __float128 abs( std::complex< __float128 > x )
+    {
+        return sqrtq( x.real() * x.real() + x.imag() * x.imag() );
+    }
+
+    inline std::complex< __float128 > pow( std::complex< __float128> x , __float128 y )
+    {
+        __float128 r = pow( abs(x) , y );
+        __float128 phi = atanq( x.imag() / x.real() );
+        return std::complex< __float128 >( r * cosq( y * phi ) , r * sinq( y * phi ) );
+    }
+}
+
+inline std::ostream& operator<< (std::ostream& os, const __float128& f) {
+
+    char* y = new char[1000];
+    quadmath_snprintf(y, 1000, "%.30Qg", f) ;
+    os.precision(30);
+    os<<y;
+    delete[] y;
+    return os;
+}
+
+
+#include <boost/array.hpp>
+#include <boost/range/algorithm.hpp>
+#include <boost/range/adaptor/filtered.hpp>
+#include <boost/range/numeric.hpp>
+#include <boost/numeric/odeint.hpp>
+
+
+
+using namespace boost::numeric::odeint;
+using namespace std;
+
+typedef __float128 my_float;
+typedef std::vector< std::complex < my_float > > state_type;
+
+struct radMod
+{
+    my_float m_om;
+    my_float m_l;
+
+    radMod( my_float om , my_float l )
+        : m_om( om ) , m_l( l ) { }
+
+    void operator()( const state_type &x , state_type &dxdt , my_float r ) const
+    {
+
+        dxdt[0] = x[1];
+        dxdt[1] = -(2*(r-1)/(r*(r-2)))*x[1]-((m_om*m_om*r*r/((r-2)*(r-2)))-(m_l*(m_l+1)/(r*(r-2))))*x[0];
+    }
+};
+
+
+
+
+
+
+
+int main( int argc , char **argv )
+{
+
+
+    state_type x(2);
+
+    my_float re0 = strtoflt128( "-0.00008944230755601224204687038354994353820468" , NULL );
+    my_float im0 = strtoflt128( "0.00004472229441850588228136889483397204368247" , NULL );
+    my_float re1 = strtoflt128( "-4.464175354293244250869336196695966076150E-6 " , NULL );
+    my_float im1 = strtoflt128( "-8.950483248390306670770345406051469584488E-6" , NULL );
+
+    x[0] = complex< my_float >( re0 ,im0 );
+    x[1] = complex< my_float >( re1 ,im1 );
+
+    const my_float dt =strtoflt128 ("-0.001", NULL);
+    const my_float start =strtoflt128 ("10000.0", NULL);
+    const my_float end =strtoflt128 ("9990.0", NULL);
+    const my_float omega =strtoflt128 ("2.0", NULL);
+    const my_float ell =strtoflt128 ("1.0", NULL);
+
+
+
+    my_float abs_err = strtoflt128( "1.0E-15" , NULL ) , rel_err = strtoflt128( "1.0E-10" , NULL );
+    my_float a_x = strtoflt128( "1.0" , NULL ) , a_dxdt = strtoflt128( "1.0" , NULL );
+
+    typedef runge_kutta_dopri5< state_type, my_float > dopri5_type;
+    typedef controlled_runge_kutta< dopri5_type > controlled_dopri5_type;
+    typedef dense_output_runge_kutta< controlled_dopri5_type > dense_output_dopri5_type;
+    
+    dense_output_dopri5_type dopri5( controlled_dopri5_type( default_error_checker< my_float >( abs_err , rel_err , a_x , a_dxdt ) ) );
+
+    std::for_each( make_adaptive_time_iterator_begin(dopri5 , radMod(omega , ell) , x , start , end , dt) ,
+                   make_adaptive_time_iterator_end(dopri5 , radMod(omega , ell) , x ) ,
+                   []( const std::pair< state_type&, my_float > &x ) {
+                       std::cout << x.second << ", " << x.first[0].real() << "\n"; }
+        );
+
+
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/resizing_lattice.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/resizing_lattice.cpp
new file mode 100755
index 0000000..ee0c061
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/resizing_lattice.cpp
@@ -0,0 +1,168 @@
+/*
+ * resizing_lattice.cpp
+ *
+ * Demonstrates the usage of resizing of the state type during integration.
+ * Examplary system is a strongly nonlinear, disordered Hamiltonian lattice
+ * where the spreading of energy is investigated
+ *
+ * Copyright 2009-2012 Karsten Ahnert and Mario Mulansky.
+ * Distributed under the Boost Software License, Version 1.0. (See
+ * accompanying file LICENSE_1_0.txt or copy at
+ * http://www.boost.org/LICENSE_1_0.txt)
+ *
+ */
+
+#include <iostream>
+#include <utility>
+
+#include <boost/numeric/odeint.hpp>
+
+#include <boost/ref.hpp>
+#include <boost/random.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+//[ resizing_lattice_system_class
+typedef vector< double > coord_type;
+typedef pair< coord_type , coord_type > state_type;
+
+struct compacton_lattice
+{
+    const int m_max_N;
+    const double m_beta;
+    int m_pot_start_index;
+    vector< double > m_pot;
+
+    compacton_lattice( int max_N , double beta , int pot_start_index )
+        : m_max_N( max_N ) , m_beta( beta ) , m_pot_start_index( pot_start_index ) , m_pot( max_N )
+    {
+        srand( time( NULL ) );
+        // fill random potential with iid values from [0,1]
+        boost::mt19937 rng;
+        boost::uniform_real<> unif( 0.0 , 1.0 );
+        boost::variate_generator< boost::mt19937&, boost::uniform_real<> > gen( rng , unif );
+        generate( m_pot.begin() , m_pot.end() , gen );
+    }
+
+    void operator()( const coord_type &q , coord_type &dpdt )
+    {
+        // calculate dpdt = -dH/dq of this hamiltonian system
+        // dp_i/dt = - V_i * q_i^3 - beta*(q_i - q_{i-1})^3 + beta*(q_{i+1} - q_i)^3
+        const int N = q.size();
+        double diff = q[0] - q[N-1];
+        for( int i=0 ; i<N ; ++i )
+        {
+            dpdt[i] = - m_pot[m_pot_start_index+i] * q[i]*q[i]*q[i] -
+                    m_beta * diff*diff*diff;
+            diff = q[(i+1) % N] - q[i];
+            dpdt[i] += m_beta * diff*diff*diff;
+        }
+    }
+
+    void energy_distribution( const coord_type &q , const coord_type &p , coord_type &energies )
+    {
+        // computes the energy per lattice site normalized by total energy
+        const size_t N = q.size();
+        double en = 0.0;
+        for( size_t i=0 ; i<N ; i++ )
+        {
+            const double diff = q[(i+1) % N] - q[i];
+            energies[i] = p[i]*p[i]/2.0
+                + m_pot[m_pot_start_index+i]*q[i]*q[i]*q[i]*q[i]/4.0
+                + m_beta/4.0 * diff*diff*diff*diff;
+            en += energies[i];
+        }
+        en = 1.0/en;
+        for( size_t i=0 ; i<N ; i++ )
+        {
+            energies[i] *= en;
+        }
+    }
+
+    double energy( const coord_type &q , const coord_type &p )
+    {
+        // calculates the total energy of the excitation
+        const size_t N = q.size();
+        double en = 0.0;
+        for( size_t i=0 ; i<N ; i++ )
+        {
+            const double diff = q[(i+1) % N] - q[i];
+            en += p[i]*p[i]/2.0
+                + m_pot[m_pot_start_index+i]*q[i]*q[i]*q[i]*q[i] / 4.0
+                + m_beta/4.0 * diff*diff*diff*diff;
+        }
+        return en;
+    }
+
+    void change_pot_start( const int delta )
+    {
+        m_pot_start_index += delta;
+    }
+};
+//]
+
+//[ resizing_lattice_resize_function
+void do_resize( coord_type &q , coord_type &p , coord_type &distr , const int N )
+{
+    q.resize( N );
+    p.resize( N );
+    distr.resize( N );
+}
+//]
+
+const int max_N = 1024;
+const double beta = 1.0;
+
+int main()
+{
+    //[ resizing_lattice_initialize
+    //start with 60 sites
+    const int N_start = 60;
+    coord_type q( N_start , 0.0 );
+    q.reserve( max_N );
+    coord_type p( N_start , 0.0 );
+    p.reserve( max_N );
+    // start with uniform momentum distribution over 20 sites
+    fill( p.begin()+20 , p.end()-20 , 1.0/sqrt(20.0) );
+
+    coord_type distr( N_start , 0.0 );
+    distr.reserve( max_N );
+
+    // create the system
+    compacton_lattice lattice( max_N , beta , (max_N-N_start)/2 );
+
+    //create the stepper, note that we use an always_resizer because state size might change during steps
+    typedef symplectic_rkn_sb3a_mclachlan< coord_type , coord_type , double , coord_type , coord_type , double ,
+            range_algebra , default_operations , always_resizer > hamiltonian_stepper;
+    hamiltonian_stepper stepper;
+    hamiltonian_stepper::state_type state = make_pair( q , p );
+    //]
+
+    //[ resizing_lattice_steps_loop
+    double t = 0.0;
+    const double dt = 0.1;
+    const int steps = 10000;
+    for( int step = 0 ; step < steps ; ++step )
+    {
+        stepper.do_step( boost::ref(lattice) , state , t , dt );
+        lattice.energy_distribution( state.first , state.second , distr );
+        if( distr[10] > 1E-150 )
+        {
+            do_resize( state.first , state.second , distr , state.first.size()+20 );
+            rotate( state.first.begin() , state.first.end()-20 , state.first.end() );
+            rotate( state.second.begin() , state.second.end()-20 , state.second.end() );
+            lattice.change_pot_start( -20 );
+            cout << t << ": resized left to " << distr.size() << ", energy = " << lattice.energy( state.first , state.second ) << endl;
+        }
+        if( distr[distr.size()-10] > 1E-150 )
+        {
+            do_resize( state.first , state.second , distr , state.first.size()+20 );
+            cout << t << ": resized right to " << distr.size() << ", energy = " << lattice.energy( state.first , state.second ) << endl;
+        }
+        t += dt;
+    }
+    //]
+
+    cout << "final lattice size: " << distr.size() << ", final energy: " << lattice.energy( state.first , state.second ) << endl;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/simple1d.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/simple1d.cpp
new file mode 100755
index 0000000..de1591f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/simple1d.cpp
@@ -0,0 +1,44 @@
+/* Boost libs/numeric/odeint/examples/simple1d.cpp
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ example for a simple one-dimensional 1st order ODE
+
+ Distributed under the Boost Software License, Version 1.0.
+(See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <iostream>
+#include <boost/numeric/odeint.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+
+/* we solve the simple ODE x' = 3/(2t^2) + x/(2t)
+ * with initial condition x(1) = 0.
+ * Analytic solution is x(t) = sqrt(t) - 1/t
+ */
+
+void rhs( const double x , double &dxdt , const double t )
+{
+    dxdt = 3.0/(2.0*t*t) + x/(2.0*t);
+}
+
+void write_cout( const double &x , const double t )
+{
+    cout << t << '\t' << x << endl;
+}
+
+// state_type = value_type = deriv_type = time_type = double
+typedef runge_kutta_dopri5< double , double , double , double , vector_space_algebra , default_operations , never_resizer > stepper_type;
+
+int main()
+{
+    double x = 0.0; //initial value x(1) = 0
+    // use dopri5 with stepsize control and allowed errors 10^-12, integrate t=1...10
+    integrate_adaptive( make_controlled( 1E-12 , 1E-12 , stepper_type() ) , rhs , x , 1.0 , 10.0 , 0.1 , write_cout );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.agr b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.agr
new file mode 100755
index 0000000..87f8c38
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.agr
@@ -0,0 +1,12672 @@
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diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.cpp
new file mode 100755
index 0000000..f20d8da
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.cpp
@@ -0,0 +1,201 @@
+/* Boost libs/numeric/odeint/examples/solar_system.cpp
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Solar system example for Hamiltonian stepper
+
+ Distributed under the Boost Software License, Version 1.0.
+(See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <iostream>
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint.hpp>
+
+#include "point_type.hpp"
+
+//[ container_type_definition
+// we simulate 5 planets and the sun
+const size_t n = 6;
+
+typedef point< double , 3 > point_type;
+typedef boost::array< point_type , n > container_type;
+typedef boost::array< double , n > mass_type;
+//]
+
+
+
+
+
+
+
+//[ coordinate_function
+const double gravitational_constant = 2.95912208286e-4;
+
+struct solar_system_coor
+{
+    const mass_type &m_masses;
+
+    solar_system_coor( const mass_type &masses ) : m_masses( masses ) { }
+
+    void operator()( const container_type &p , container_type &dqdt ) const
+    {
+        for( size_t i=0 ; i<n ; ++i )
+            dqdt[i] = p[i] / m_masses[i];
+    }
+};
+//]
+
+
+//[ momentum_function
+struct solar_system_momentum
+{
+    const mass_type &m_masses;
+
+    solar_system_momentum( const mass_type &masses ) : m_masses( masses ) { }
+
+    void operator()( const container_type &q , container_type &dpdt ) const
+    {
+        const size_t n = q.size();
+        for( size_t i=0 ; i<n ; ++i )
+        {
+            dpdt[i] = 0.0;
+            for( size_t j=0 ; j<i ; ++j )
+            {
+                point_type diff = q[j] - q[i];
+                double d = abs( diff );
+                diff *= ( gravitational_constant * m_masses[i] * m_masses[j] / d / d / d );
+                dpdt[i] += diff;
+                dpdt[j] -= diff;
+
+            }
+        }
+    }
+};
+//]
+
+
+
+
+
+
+
+//[ some_helpers
+point_type center_of_mass( const container_type &x , const mass_type &m )
+{
+    double overall_mass = 0.0;
+    point_type mean( 0.0 );
+    for( size_t i=0 ; i<x.size() ; ++i )
+    {
+        overall_mass += m[i];
+        mean += m[i] * x[i];
+    }
+    if( !x.empty() ) mean /= overall_mass;
+    return mean;
+}
+
+
+double energy( const container_type &q , const container_type &p , const mass_type &masses )
+{
+    const size_t n = q.size();
+    double en = 0.0;
+    for( size_t i=0 ; i<n ; ++i )
+    {
+        en += 0.5 * norm( p[i] ) / masses[i];
+        for( size_t j=0 ; j<i ; ++j )
+        {
+            double diff = abs( q[i] - q[j] );
+            en -= gravitational_constant * masses[j] * masses[i] / diff;
+        }
+    }
+    return en;
+}
+//]
+
+
+//[ streaming_observer
+struct streaming_observer
+{
+    std::ostream& m_out;
+
+    streaming_observer( std::ostream &out ) : m_out( out ) { }
+
+    template< class State >
+    void operator()( const State &x , double t ) const
+    {
+        container_type &q = x.first;
+        m_out << t;
+        for( size_t i=0 ; i<q.size() ; ++i ) m_out << "\t" << q[i];
+        m_out << "\n";
+    }
+};
+//]
+
+
+int main( int argc , char **argv )
+{
+
+    using namespace std;
+    using namespace boost::numeric::odeint;
+
+    mass_type masses = {{
+            1.00000597682 ,      // sun
+            0.000954786104043 ,  // jupiter
+            0.000285583733151 ,  // saturn
+            0.0000437273164546 , // uranus
+            0.0000517759138449 , // neptune
+            1.0 / ( 1.3e8 )      // pluto
+    }};
+
+    container_type q = {{
+            point_type( 0.0 , 0.0 , 0.0 ) ,                        // sun
+            point_type( -3.5023653 , -3.8169847 , -1.5507963 ) ,   // jupiter
+            point_type( 9.0755314 , -3.0458353 , -1.6483708 ) ,    // saturn
+            point_type( 8.3101420 , -16.2901086 , -7.2521278 ) ,   // uranus
+            point_type( 11.4707666 , -25.7294829 , -10.8169456 ) , // neptune
+            point_type( -15.5387357 , -25.2225594 , -3.1902382 )   // pluto
+    }};
+
+    container_type p = {{
+            point_type( 0.0 , 0.0 , 0.0 ) ,                        // sun
+            point_type( 0.00565429 , -0.00412490 , -0.00190589 ) , // jupiter
+            point_type( 0.00168318 , 0.00483525 , 0.00192462 ) ,   // saturn
+            point_type( 0.00354178 , 0.00137102 , 0.00055029 ) ,   // uranus
+            point_type( 0.00288930 , 0.00114527 , 0.00039677 ) ,   // neptune
+            point_type( 0.00276725 , -0.00170702 , -0.00136504 )   // pluto
+    }};
+
+    point_type qmean = center_of_mass( q , masses );
+    point_type pmean = center_of_mass( p , masses );
+    for( size_t i=0 ; i<n ; ++i )
+    {
+        q[i] -= qmean ;
+        p[i] -= pmean;
+    }
+
+    for( size_t i=0 ; i<n ; ++i ) p[i] *= masses[i];
+
+    //[ integration_solar_system
+    typedef symplectic_rkn_sb3a_mclachlan< container_type > stepper_type;
+    const double dt = 100.0;
+
+    integrate_const(
+            stepper_type() ,
+            make_pair( solar_system_coor( masses ) , solar_system_momentum( masses ) ) ,
+            make_pair( boost::ref( q ) , boost::ref( p ) ) ,
+            0.0 , 200000.0 , dt , streaming_observer( cout ) );
+    //]
+
+
+    return 0;
+}
+
+
+/*
+Plot with gnuplot:
+p "solar_system.dat" u 2:4 w l,"solar_system.dat" u 5:7 w l,"solar_system.dat" u 8:10 w l,"solar_system.dat" u 11:13 w l,"solar_system.dat" u 14:16 w l,"solar_system.dat" u 17:19 w l
+ */
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stepper_details.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stepper_details.cpp
new file mode 100755
index 0000000..ccafbb1
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stepper_details.cpp
@@ -0,0 +1,197 @@
+/*
+ * stepper_details.cpp
+ *
+ * This example demonstrates some details about the steppers in odeint.
+ *
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <iostream>
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+const size_t N = 3;
+
+typedef boost::array< double , N > state_type;
+
+//[ system_function_structure
+void sys( const state_type & /*x*/ , state_type & /*dxdt*/ , const double /*t*/ )
+{
+    // ...
+}
+//]
+
+void sys1( const state_type &/*x*/ , state_type &/*dxdt*/ , const double /*t*/ )
+{
+}
+
+void sys2( const state_type &/*x*/ , state_type &/*dxdt*/ , const double /*t*/ )
+{
+}
+
+
+//[ symplectic_stepper_detail_system_function
+typedef boost::array< double , 1 > vector_type;
+
+
+struct harm_osc_f1
+{
+    void operator()( const vector_type &p , vector_type &dqdt )
+    {
+        dqdt[0] = p[0];
+    }
+};
+
+struct harm_osc_f2
+{
+    void operator()( const vector_type &q , vector_type &dpdt )
+    {
+        dpdt[0] = -q[0];
+    }
+};
+//]
+
+//[ symplectic_stepper_detail_system_class
+struct harm_osc
+{
+    void f1( const vector_type &p , vector_type &dqdt ) const
+    {
+        dqdt[0] = p[0];
+    }
+
+    void f2( const vector_type &q , vector_type &dpdt ) const
+    {
+        dpdt[0] = -q[0];
+    }
+};
+//]
+
+int main( int argc , char **argv )
+{
+    using namespace std;
+
+    // Explicit stepper example
+    {
+        double t( 0.0 ) , dt( 0.1 );
+        state_type in , out , dxdtin , inout;
+        //[ explicit_stepper_detail_example
+        runge_kutta4< state_type > rk;
+        rk.do_step( sys1 , inout , t , dt );               // In-place transformation of inout
+        rk.do_step( sys2 , inout , t , dt );               // call with different system: Ok
+        rk.do_step( sys1 , in , t , out , dt );            // Out-of-place transformation
+        rk.do_step( sys1 , inout , dxdtin , t , dt );      // In-place tranformation of inout
+        rk.do_step( sys1 , in , dxdtin , t , out , dt );   // Out-of-place transformation
+        //]
+    }
+
+
+
+    // FSAL stepper example
+    {
+        double t( 0.0 ) , dt( 0.1 );
+        state_type in , in2 , in3 , out , dxdtin , dxdtout , inout , dxdtinout;
+        //[ fsal_stepper_detail_example
+        runge_kutta_dopri5< state_type > rk;
+        rk.do_step( sys1 , in , t , out , dt );
+        rk.do_step( sys2 , in , t , out , dt );         // DONT do this, sys1 is assumed
+
+        rk.do_step( sys2 , in2 , t , out , dt );
+        rk.do_step( sys2 , in3 , t , out , dt );        // DONT do this, in2 is assumed
+
+        rk.do_step( sys1 , inout , dxdtinout , t , dt );
+        rk.do_step( sys2 , inout , dxdtinout , t , dt );           // Ok, internal derivative is not used, dxdtinout is updated
+
+        rk.do_step( sys1 , in , dxdtin , t , out , dxdtout , dt );
+        rk.do_step( sys2 , in , dxdtin , t , out , dxdtout , dt ); // Ok, internal derivative is not used
+        //]
+    }
+
+
+    // Symplectic harmonic oscillator example
+    {
+        double t( 0.0 ) , dt( 0.1 );
+        //[ symplectic_stepper_detail_example
+        pair< vector_type , vector_type > x;
+        x.first[0] = 1.0; x.second[0] = 0.0;
+        symplectic_rkn_sb3a_mclachlan< vector_type > rkn;
+        rkn.do_step( make_pair( harm_osc_f1() , harm_osc_f2() ) , x , t , dt );
+        //]
+
+        //[ symplectic_stepper_detail_system_class_example
+        harm_osc h;
+        rkn.do_step( make_pair( boost::bind( &harm_osc::f1 , h , _1 , _2 ) , boost::bind( &harm_osc::f2 , h , _1 , _2 ) ) ,
+                x , t , dt );
+        //]
+    }
+
+    // Simplified harmonic oscillator example
+    {
+        double t = 0.0, dt = 0.1;
+        //[ simplified_symplectic_stepper_example
+        pair< vector_type , vector_type > x;
+        x.first[0] = 1.0; x.second[0] = 0.0;
+        symplectic_rkn_sb3a_mclachlan< vector_type > rkn;
+        rkn.do_step( harm_osc_f1() , x , t , dt );
+        //]
+
+        vector_type q = {{ 1.0 }} , p = {{ 0.0 }};
+        //[ symplectic_stepper_detail_ref_usage
+        rkn.do_step( harm_osc_f1() , make_pair( boost::ref( q ) , boost::ref( p ) ) , t , dt );
+        rkn.do_step( harm_osc_f1() , q , p , t , dt );
+        rkn.do_step( make_pair( harm_osc_f1() , harm_osc_f2() ) , q , p , t , dt );
+        //]
+    }
+    
+    // adams_bashforth_moulton stepper example
+    {
+        double t = 0.0 , dt = 0.1;
+        state_type inout;
+        //[ multistep_detail_example
+        adams_bashforth_moulton< 5 , state_type > abm;
+        abm.initialize( sys , inout , t , dt );
+        abm.do_step( sys , inout , t , dt );
+        //]
+        
+        //[ multistep_detail_own_stepper_initialization
+        abm.initialize( runge_kutta_fehlberg78< state_type >() , sys , inout , t , dt );
+        //]
+    }
+
+
+
+    // dense output stepper examples
+    {
+        double t = 0.0 , dt = 0.1;
+        state_type in;
+        //[ dense_output_detail_example
+        dense_output_runge_kutta< controlled_runge_kutta< runge_kutta_dopri5< state_type > > > dense;
+        dense.initialize( in , t , dt );
+        pair< double , double > times = dense.do_step( sys );
+        //]
+
+        state_type inout;
+        double t_start = 0.0 , t_end = 1.0;
+        //[ dense_output_detail_generation1
+        typedef boost::numeric::odeint::result_of::make_dense_output<
+            runge_kutta_dopri5< state_type > >::type dense_stepper_type;
+        dense_stepper_type dense2 = make_dense_output( 1.0e-6 , 1.0e-6 , runge_kutta_dopri5< state_type >() );
+        //]
+
+        //[ dense_output_detail_generation2
+        integrate_const( make_dense_output( 1.0e-6 , 1.0e-6 , runge_kutta_dopri5< state_type >() ) , sys , inout , t_start , t_end , dt );
+        //]
+    }
+
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stiff_system.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stiff_system.cpp
new file mode 100755
index 0000000..b6886eb
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stiff_system.cpp
@@ -0,0 +1,117 @@
+/*
+ * rosenbrock4.cpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <iostream>
+#include <fstream>
+#include <utility>
+
+#include <boost/numeric/odeint.hpp>
+
+#include <boost/phoenix/core.hpp>
+
+#include <boost/phoenix/core.hpp>
+#include <boost/phoenix/operator.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+namespace phoenix = boost::phoenix;
+
+
+
+//[ stiff_system_definition
+typedef boost::numeric::ublas::vector< double > vector_type;
+typedef boost::numeric::ublas::matrix< double > matrix_type;
+
+struct stiff_system
+{
+    void operator()( const vector_type &x , vector_type &dxdt , double /* t */ )
+    {
+        dxdt[ 0 ] = -101.0 * x[ 0 ] - 100.0 * x[ 1 ];
+        dxdt[ 1 ] = x[ 0 ];
+    }
+};
+
+struct stiff_system_jacobi
+{
+    void operator()( const vector_type & /* x */ , matrix_type &J , const double & /* t */ , vector_type &dfdt )
+    {
+        J( 0 , 0 ) = -101.0;
+        J( 0 , 1 ) = -100.0;
+        J( 1 , 0 ) = 1.0;
+        J( 1 , 1 ) = 0.0;
+        dfdt[0] = 0.0;
+        dfdt[1] = 0.0;
+    }
+};
+//]
+
+
+
+/*
+//[ stiff_system_alternative_definition
+typedef boost::numeric::ublas::vector< double > vector_type;
+typedef boost::numeric::ublas::matrix< double > matrix_type;
+
+struct stiff_system
+{
+    template< class State >
+    void operator()( const State &x , State &dxdt , double t )
+    {
+        ...
+    }
+};
+
+struct stiff_system_jacobi
+{
+    template< class State , class Matrix >
+    void operator()( const State &x , Matrix &J , const double &t , State &dfdt )
+    {
+        ...
+    }
+};
+//]
+ */
+
+
+
+int main( int argc , char **argv )
+{
+//    typedef rosenbrock4< double > stepper_type;
+//    typedef rosenbrock4_controller< stepper_type > controlled_stepper_type;
+//    typedef rosenbrock4_dense_output< controlled_stepper_type > dense_output_type;
+    //[ integrate_stiff_system
+    vector_type x( 2 , 1.0 );
+
+    size_t num_of_steps = integrate_const( make_dense_output< rosenbrock4< double > >( 1.0e-6 , 1.0e-6 ) ,
+            make_pair( stiff_system() , stiff_system_jacobi() ) ,
+            x , 0.0 , 50.0 , 0.01 ,
+            cout << phoenix::arg_names::arg2 << " " << phoenix::arg_names::arg1[0] << "\n" );
+    //]
+    clog << num_of_steps << endl;
+
+
+
+//    typedef runge_kutta_dopri5< vector_type > dopri5_type;
+//    typedef controlled_runge_kutta< dopri5_type > controlled_dopri5_type;
+//    typedef dense_output_runge_kutta< controlled_dopri5_type > dense_output_dopri5_type;
+    //[ integrate_stiff_system_alternative
+
+    vector_type x2( 2 , 1.0 );
+
+    size_t num_of_steps2 = integrate_const( make_dense_output< runge_kutta_dopri5< vector_type > >( 1.0e-6 , 1.0e-6 ) ,
+            stiff_system() , x2 , 0.0 , 50.0 , 0.01 ,
+            cout << phoenix::arg_names::arg2 << " " << phoenix::arg_names::arg1[0] << "\n" );
+    //]
+    clog << num_of_steps2 << endl;
+
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stochastic_euler.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stochastic_euler.cpp
new file mode 100755
index 0000000..ccb9f7a
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stochastic_euler.cpp
@@ -0,0 +1,146 @@
+/*
+ libs/numeric/odeint/examples/stochastic_euler.hpp
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Stochastic euler stepper example and Ornstein-Uhlenbeck process
+
+ Distributed under the Boost Software License, Version 1.0.
+(See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <vector>
+#include <iostream>
+#include <boost/random.hpp>
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint.hpp>
+
+
+/*
+//[ stochastic_euler_class_definition
+template< size_t N > class stochastic_euler
+{
+public:
+
+    typedef boost::array< double , N > state_type;
+    typedef boost::array< double , N > deriv_type;
+    typedef double value_type;
+    typedef double time_type;
+    typedef unsigned short order_type;
+    typedef boost::numeric::odeint::stepper_tag stepper_category;
+
+    static order_type order( void ) { return 1; }
+
+    // ...
+};
+//]
+*/
+
+
+/*
+//[ stochastic_euler_do_step
+template< size_t N > class stochastic_euler
+{
+public:
+
+    // ...
+
+    template< class System >
+    void do_step( System system , state_type &x , time_type t , time_type dt ) const
+    {
+        deriv_type det , stoch ;
+        system.first( x , det );
+        system.second( x , stoch );
+        for( size_t i=0 ; i<x.size() ; ++i )
+            x[i] += dt * det[i] + sqrt( dt ) * stoch[i];
+    }
+};
+//]
+*/
+
+
+
+
+//[ stochastic_euler_class
+template< size_t N >
+class stochastic_euler
+{
+public:
+
+    typedef boost::array< double , N > state_type;
+    typedef boost::array< double , N > deriv_type;
+    typedef double value_type;
+    typedef double time_type;
+    typedef unsigned short order_type;
+
+    typedef boost::numeric::odeint::stepper_tag stepper_category;
+
+    static order_type order( void ) { return 1; }
+
+    template< class System >
+    void do_step( System system , state_type &x , time_type t , time_type dt ) const
+    {
+        deriv_type det , stoch ;
+        system.first( x , det );
+        system.second( x , stoch );
+        for( size_t i=0 ; i<x.size() ; ++i )
+            x[i] += dt * det[i] + sqrt( dt ) * stoch[i];
+    }
+};
+//]
+
+
+
+//[ stochastic_euler_ornstein_uhlenbeck_def
+const static size_t N = 1;
+typedef boost::array< double , N > state_type;
+
+struct ornstein_det
+{
+    void operator()( const state_type &x , state_type &dxdt ) const
+    {
+        dxdt[0] = -x[0];
+    }
+};
+
+struct ornstein_stoch
+{
+    boost::mt19937 m_rng;
+    boost::normal_distribution<> m_dist;
+
+    ornstein_stoch( double sigma ) : m_rng() , m_dist( 0.0 , sigma ) { }
+
+    void operator()( const state_type &x , state_type &dxdt )
+    {
+        dxdt[0] = m_dist( m_rng );
+    }
+};
+//]
+
+struct streaming_observer
+{
+    template< class State >
+    void operator()( const State &x , double t ) const
+    {
+        std::cout << t << "\t" << x[0] << "\n";
+    }
+};
+
+
+int main( int argc , char **argv )
+{
+    using namespace std;
+    using namespace boost::numeric::odeint;
+
+    //[ ornstein_uhlenbeck_main
+    double dt = 0.1;
+    state_type x = {{ 1.0 }};
+    integrate_const( stochastic_euler< N >() , make_pair( ornstein_det() , ornstein_stoch( 1.0 ) ) ,
+            x , 0.0 , 10.0 , dt , streaming_observer() );
+    //]
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stuart_landau.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stuart_landau.cpp
new file mode 100755
index 0000000..10891b5
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stuart_landau.cpp
@@ -0,0 +1,87 @@
+/*
+ * stuart_landau.cpp
+ *
+ * This example demonstrates how one can use odeint can be used with state types consisting of complex variables.
+ *
+ * Copyright 2009-2012 Karsten Ahnert and Mario Mulansky.
+ * Distributed under the Boost Software License, Version 1.0. (See
+ * accompanying file LICENSE_1_0.txt or copy at
+ * http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <iostream>
+#include <complex>
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+//[ stuart_landau_system_function
+typedef complex< double > state_type;
+
+struct stuart_landau
+{
+    double m_eta;
+    double m_alpha;
+
+    stuart_landau( double eta = 1.0 , double alpha = 1.0 )
+    : m_eta( eta ) , m_alpha( alpha ) { }
+
+    void operator()( const state_type &x , state_type &dxdt , double t ) const
+    {
+        const complex< double > I( 0.0 , 1.0 );
+        dxdt = ( 1.0 + m_eta * I ) * x - ( 1.0 + m_alpha * I ) * norm( x ) * x;
+    }
+};
+//]
+
+
+/*
+//[ stuart_landau_system_function_alternative
+double eta = 1.0;
+double alpha = 1.0;
+
+void stuart_landau( const state_type &x , state_type &dxdt , double t )
+{
+    const complex< double > I( 0.0 , 1.0 );
+    dxdt[0] = ( 1.0 + m_eta * I ) * x[0] - ( 1.0 + m_alpha * I ) * norm( x[0] ) * x[0];
+}
+//]
+*/
+
+
+struct streaming_observer
+{
+    std::ostream& m_out;
+
+    streaming_observer( std::ostream &out ) : m_out( out ) { }
+
+    template< class State >
+    void operator()( const State &x , double t ) const
+    {
+        m_out << t;
+        m_out << "\t" << x.real() << "\t" << x.imag() ;
+        m_out << "\n";
+    }
+};
+
+
+
+
+int main( int argc , char **argv )
+{
+    //[ stuart_landau_integration
+    state_type x = complex< double >( 1.0 , 0.0 );
+
+    const double dt = 0.1;
+
+    typedef runge_kutta4< state_type , double , state_type , double , 
+                          vector_space_algebra > stepper_type;
+
+    integrate_const( stepper_type() , stuart_landau( 2.0 , 1.0 ) , x , 0.0 , 10.0 , dt , streaming_observer( cout ) );
+    //]
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/Makefile b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/Makefile
new file mode 100755
index 0000000..7c0dc1d
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/Makefile
@@ -0,0 +1,66 @@
+# Copyright 2009-2012 Karsten Ahnert
+# Copyright 2009-2012 Mario Mulansky
+#
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or
+# copy at http://www.boost.org/LICENSE_1_0.txt)
+
+
+
+# CUDA_ROOT = /home/karsten/boost/cuda4.1/cuda/
+CUDA_ROOT = /usr/local/cuda
+ARCH = sm_13
+
+CC = gcc-4.4
+CXX = gcc-4.4
+NVCC = $(CUDA_ROOT)/bin/nvcc
+# NVCC = g++
+
+INCLUDES += -I$(BOOST_ROOT) -I$(THRUST_ROOT) -I$(CUDA_ROOT)/include -I../../../../..
+
+NVCCFLAGS = -O3 $(INCLUDES) -arch $(ARCH) --compiler-bindir=/usr/bin/g++-4.4  -Xcompiler -fopenmp -DTHRUST_DEVICE_BACKEND=THRUST_DEVICE_BACKEND_OMP
+# NVCCFLAGS = -O3 $(INCLUDES) -arch $(ARCH) --compiler-bindir=/usr/bin/g++-4.3 -Xcompiler -fopenmp -DTHRUST_DEVICE_BACKEND=THRUST_DEVICE_BACKEND_OMP 
+
+# NVCCFLAGS = -O3 $(INCLUDES) -arch $(ARCH) --compiler-bindir=/usr/bin/g++-4.3
+
+#--compiler-bindir=/usr/bin/g++-4.4 
+#-Xcompiler -fopenmp -DTHRUST_DEVICE_BACKEND=THRUST_DEVICE_BACKEND_OMP 
+# NVCCFLAGS = -O3 $(INCLUDES) -arch $(ARCH) --compiler-bindir=/usr/bin/g++-4.3 
+#-Xcompiler -fopenmp -DTHRUST_DEVICE_BACKEND=THRUST_DEVICE_BACKEND_OMP 
+
+
+LDLIBS = -lcudart -lgomp
+LDFLAGS = -L$(CUDA_ROOT)/lib64
+
+%.co : %.cu
+	$(NVCC) $(NVCCFLAGS) -c $< -o $@
+
+
+all : phase_oscillator_chain phase_oscillator_ensemble lorenz_parameters relaxation
+
+
+phase_oscillator_chain.co : phase_oscillator_chain.cu
+phase_oscillator_chain : phase_oscillator_chain.co
+	$(CC) -o phase_oscillator_chain $(LDFLAGS) $(LDLIBS) phase_oscillator_chain.co
+
+
+
+phase_oscillator_ensemble.co : phase_oscillator_ensemble.cu
+phase_oscillator_ensemble : phase_oscillator_ensemble.co
+	$(CC) -o phase_oscillator_ensemble $(LDFLAGS) $(LDLIBS) phase_oscillator_ensemble.co
+
+
+
+lorenz_parameters : lorenz_parameters.co
+	$(CC) -o lorenz_parameters $(LDFLAGS) $(LDLIBS) lorenz_parameters.co
+lorenz_parameters.co : lorenz_parameters.cu
+
+
+relaxation : relaxation.co
+	$(CC) -o relaxation $(LDFLAGS) $(LDLIBS) relaxation.co
+relaxation.co : relaxation.cu
+
+
+
+clean :
+	-rm *~ *.o *.co phase_oscillator_chain phase_oscillator_ensemble lorenz_parameters relaxation 
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/lorenz_parameters.cu b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/lorenz_parameters.cu
new file mode 100755
index 0000000..5eaef00
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/lorenz_parameters.cu
@@ -0,0 +1,299 @@
+ /*
+ * phase_oscillator_ensemble.cu
+ *
+ * The example how the phase_oscillator ensemble can be implemented using CUDA and thrust
+ *
+ *  Created on: July 15, 2011
+ *      Author: karsten
+ */
+
+
+#include <iostream>
+#include <cmath>
+#include <utility>
+
+
+#include <thrust/device_vector.h>
+#include <thrust/reduce.h>
+#include <thrust/functional.h>
+
+#include <boost/numeric/odeint.hpp>
+
+#include <boost/numeric/odeint/external/thrust/thrust_algebra.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_operations.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_resize.hpp>
+
+#include <boost/random/mersenne_twister.hpp>
+#include <boost/random/uniform_real.hpp>
+#include <boost/random/variate_generator.hpp>
+
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+//change this to float if your device does not support double computation
+typedef double value_type;
+
+//change this to host_vector< ... > of you want to run on CPU
+typedef thrust::device_vector< value_type > state_type;
+typedef thrust::device_vector< size_t > index_vector_type;
+// typedef thrust::host_vector< value_type > state_type;
+// typedef thrust::host_vector< size_t > index_vector_type;
+
+
+const value_type sigma = 10.0;
+const value_type b = 8.0 / 3.0;
+
+
+//[ thrust_lorenz_parameters_define_simple_system
+struct lorenz_system
+{
+    struct lorenz_functor
+    {
+        template< class T >
+        __host__ __device__
+        void operator()( T t ) const
+        {
+            // unpack the parameter we want to vary and the Lorenz variables
+            value_type R = thrust::get< 3 >( t );
+            value_type x = thrust::get< 0 >( t );
+            value_type y = thrust::get< 1 >( t );
+            value_type z = thrust::get< 2 >( t );
+            thrust::get< 4 >( t ) = sigma * ( y - x );
+            thrust::get< 5 >( t ) = R * x - y - x * z;
+            thrust::get< 6 >( t ) = -b * z + x * y ;
+
+        }
+    };
+
+    lorenz_system( size_t N , const state_type &beta )
+    : m_N( N ) , m_beta( beta ) { }
+
+    template< class State , class Deriv >
+    void operator()(  const State &x , Deriv &dxdt , value_type t ) const
+    {
+        thrust::for_each(
+                thrust::make_zip_iterator( thrust::make_tuple(
+                        boost::begin( x ) ,
+                        boost::begin( x ) + m_N ,
+                        boost::begin( x ) + 2 * m_N ,
+                        m_beta.begin() ,
+                        boost::begin( dxdt ) ,
+                        boost::begin( dxdt ) + m_N ,
+                        boost::begin( dxdt ) + 2 * m_N  ) ) ,
+                thrust::make_zip_iterator( thrust::make_tuple(
+                        boost::begin( x ) + m_N ,
+                        boost::begin( x ) + 2 * m_N ,
+                        boost::begin( x ) + 3 * m_N ,
+                        m_beta.begin() ,
+                        boost::begin( dxdt ) + m_N ,
+                        boost::begin( dxdt ) + 2 * m_N ,
+                        boost::begin( dxdt ) + 3 * m_N  ) ) ,
+                lorenz_functor() );
+    }
+    size_t m_N;
+    const state_type &m_beta;
+};
+//]
+
+struct lorenz_perturbation_system
+{
+    struct lorenz_perturbation_functor
+    {
+        template< class T >
+        __host__ __device__
+        void operator()( T t ) const
+        {
+            value_type R = thrust::get< 1 >( t );
+            value_type x = thrust::get< 0 >( thrust::get< 0 >( t ) );
+            value_type y = thrust::get< 1 >( thrust::get< 0 >( t ) );
+            value_type z = thrust::get< 2 >( thrust::get< 0 >( t ) );
+            value_type dx = thrust::get< 3 >( thrust::get< 0 >( t ) );
+            value_type dy = thrust::get< 4 >( thrust::get< 0 >( t ) );
+            value_type dz = thrust::get< 5 >( thrust::get< 0 >( t ) );
+            thrust::get< 0 >( thrust::get< 2 >( t ) ) = sigma * ( y - x );
+            thrust::get< 1 >( thrust::get< 2 >( t ) ) = R * x - y - x * z;
+            thrust::get< 2 >( thrust::get< 2 >( t ) ) = -b * z + x * y ;
+            thrust::get< 3 >( thrust::get< 2 >( t ) ) = sigma * ( dy - dx );
+            thrust::get< 4 >( thrust::get< 2 >( t ) ) = ( R - z ) * dx - dy - x * dz;
+            thrust::get< 5 >( thrust::get< 2 >( t ) ) = y * dx + x * dy - b * dz;
+        }
+    };
+
+    lorenz_perturbation_system( size_t N , const state_type &beta )
+    : m_N( N ) , m_beta( beta ) { }
+
+    template< class State , class Deriv >
+    void operator()(  const State &x , Deriv &dxdt , value_type t ) const
+    {
+        thrust::for_each(
+                thrust::make_zip_iterator( thrust::make_tuple(
+                        thrust::make_zip_iterator( thrust::make_tuple(
+                                boost::begin( x ) ,
+                                boost::begin( x ) + m_N ,
+                                boost::begin( x ) + 2 * m_N ,
+                                boost::begin( x ) + 3 * m_N ,
+                                boost::begin( x ) + 4 * m_N ,
+                                boost::begin( x ) + 5 * m_N ) ) ,
+                        m_beta.begin() ,
+                        thrust::make_zip_iterator( thrust::make_tuple(
+                                boost::begin( dxdt ) ,
+                                boost::begin( dxdt ) + m_N ,
+                                boost::begin( dxdt ) + 2 * m_N ,
+                                boost::begin( dxdt ) + 3 * m_N ,
+                                boost::begin( dxdt ) + 4 * m_N ,
+                                boost::begin( dxdt ) + 5 * m_N ) )
+                ) ) ,
+                thrust::make_zip_iterator( thrust::make_tuple(
+                        thrust::make_zip_iterator( thrust::make_tuple(
+                                boost::begin( x ) + m_N ,
+                                boost::begin( x ) + 2 * m_N ,
+                                boost::begin( x ) + 3 * m_N ,
+                                boost::begin( x ) + 4 * m_N ,
+                                boost::begin( x ) + 5 * m_N ,
+                                boost::begin( x ) + 6 * m_N ) ) ,
+                        m_beta.begin() ,
+                        thrust::make_zip_iterator( thrust::make_tuple(
+                                boost::begin( dxdt ) + m_N ,
+                                boost::begin( dxdt ) + 2 * m_N ,
+                                boost::begin( dxdt ) + 3 * m_N ,
+                                boost::begin( dxdt ) + 4 * m_N ,
+                                boost::begin( dxdt ) + 5 * m_N ,
+                                boost::begin( dxdt ) + 6 * m_N  ) )
+                ) ) ,
+                lorenz_perturbation_functor() );
+    }
+
+    size_t m_N;
+    const state_type &m_beta;
+};
+
+struct lyap_observer
+{
+    //[thrust_lorenz_parameters_observer_functor
+    struct lyap_functor
+    {
+        template< class T >
+        __host__ __device__
+        void operator()( T t ) const
+        {
+            value_type &dx = thrust::get< 0 >( t );
+            value_type &dy = thrust::get< 1 >( t );
+            value_type &dz = thrust::get< 2 >( t );
+            value_type norm = sqrt( dx * dx + dy * dy + dz * dz );
+            dx /= norm;
+            dy /= norm;
+            dz /= norm;
+            thrust::get< 3 >( t ) += log( norm );
+        }
+    };
+    //]
+
+    lyap_observer( size_t N , size_t every = 100 )
+    : m_N( N ) , m_lyap( N ) , m_every( every ) , m_count( 0 )
+    {
+        thrust::fill( m_lyap.begin() , m_lyap.end() , 0.0 );
+    }
+
+    template< class Lyap >
+    void fill_lyap( Lyap &lyap )
+    {
+        thrust::copy( m_lyap.begin() , m_lyap.end() , lyap.begin() );
+        for( size_t i=0 ; i<lyap.size() ; ++i )
+            lyap[i] /= m_t_overall;
+    }
+
+
+    template< class State >
+    void operator()( State &x , value_type t )
+    {
+        if( ( m_count != 0 ) && ( ( m_count % m_every ) == 0 ) )
+        {
+            thrust::for_each(
+                    thrust::make_zip_iterator( thrust::make_tuple(
+                            boost::begin( x ) + 3 * m_N ,
+                            boost::begin( x ) + 4 * m_N ,
+                            boost::begin( x ) + 5 * m_N ,
+                            m_lyap.begin() ) ) ,
+                    thrust::make_zip_iterator( thrust::make_tuple(
+                            boost::begin( x ) + 4 * m_N ,
+                            boost::begin( x ) + 5 * m_N ,
+                            boost::begin( x ) + 6 * m_N ,
+                            m_lyap.end() ) ) ,
+                    lyap_functor() );
+            clog << t << "\n";
+        }
+        ++m_count;
+        m_t_overall = t;
+    }
+
+    size_t m_N;
+    state_type m_lyap;
+    size_t m_every;
+    size_t m_count;
+    value_type m_t_overall;
+};
+
+const size_t N = 1024*2;
+const value_type dt = 0.01;
+
+
+int main( int arc , char* argv[] )
+{
+    int driver_version , runtime_version;
+    cudaDriverGetVersion( &driver_version );
+    cudaRuntimeGetVersion ( &runtime_version );
+    cout << driver_version << "\t" << runtime_version << endl;
+
+
+    //[ thrust_lorenz_parameters_define_beta
+    vector< value_type > beta_host( N );
+    const value_type beta_min = 0.0 , beta_max = 56.0;
+    for( size_t i=0 ; i<N ; ++i )
+        beta_host[i] = beta_min + value_type( i ) * ( beta_max - beta_min ) / value_type( N - 1 );
+
+    state_type beta = beta_host;
+    //]
+
+    //[ thrust_lorenz_parameters_integration
+    state_type x( 6 * N );
+
+    // initialize x,y,z
+    thrust::fill( x.begin() , x.begin() + 3 * N , 10.0 );
+
+    // initial dx
+    thrust::fill( x.begin() + 3 * N , x.begin() + 4 * N , 1.0 );
+
+    // initialize dy,dz
+    thrust::fill( x.begin() + 4 * N , x.end() , 0.0 );
+
+
+    // create error stepper, can be used with make_controlled or make_dense_output
+    typedef runge_kutta_dopri5< state_type , value_type , state_type , value_type , thrust_algebra , thrust_operations > stepper_type;
+
+
+    lorenz_system lorenz( N , beta );
+    lorenz_perturbation_system lorenz_perturbation( N , beta );
+    lyap_observer obs( N , 1 );
+
+    // calculate transients
+    integrate_adaptive( make_controlled( 1.0e-6 , 1.0e-6 , stepper_type() ) , lorenz , std::make_pair( x.begin() , x.begin() + 3 * N ) , 0.0 , 10.0 , dt );
+
+    // calculate the Lyapunov exponents -- the main loop
+    double t = 0.0;
+    while( t < 10000.0 )
+    {
+        integrate_adaptive( make_controlled( 1.0e-6 , 1.0e-6 , stepper_type() ) , lorenz_perturbation , x , t , t + 1.0 , 0.1 );
+        t += 1.0;
+        obs( x , t );
+    }
+
+    vector< value_type > lyap( N );
+    obs.fill_lyap( lyap );
+
+    for( size_t i=0 ; i<N ; ++i )
+        cout << beta_host[i] << "\t" << lyap[i] << "\n";
+    //]
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/phase_oscillator_chain.cu b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/phase_oscillator_chain.cu
new file mode 100755
index 0000000..7fb02a3
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/phase_oscillator_chain.cu
@@ -0,0 +1,156 @@
+/*
+ * phase_osc_chain.cu
+ *
+ *  Created on: Apr 1, 2011
+ *      Author: mario
+ */
+
+/*
+ * This example shows how to use odeint on CUDA devices with thrust.
+ * Note that we require at least Version 3.2 of the nVidia CUDA SDK
+ * and the thrust library should be installed in the CUDA include
+ * folder.
+ *
+ * As example we use a chain of phase oscillators with nearest neighbour
+ * coupling, as described in:
+ *
+ * Avis H. Cohen, Philip J. Holmes and Richard H. Rand:
+ * JOURNAL OF MATHEMATICAL BIOLOGY Volume 13, Number 3, 345-369,
+ *
+ */
+
+#include <iostream>
+#include <cmath>
+
+#include <thrust/device_vector.h>
+#include <thrust/iterator/permutation_iterator.h>
+#include <thrust/iterator/counting_iterator.h>
+
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/integrate/integrate_const.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_algebra.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_operations.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_resize.hpp>
+
+using namespace std;
+
+using namespace boost::numeric::odeint;
+
+
+//change this to float if your device does not support double computation
+typedef double value_type;
+
+
+//[ thrust_phase_chain_system
+//change this to host_vector< ... > if you want to run on CPU
+typedef thrust::device_vector< value_type > state_type;
+typedef thrust::device_vector< size_t > index_vector_type;
+//typedef thrust::host_vector< value_type > state_type;
+//typedef thrust::host_vector< size_t > index_vector_type;
+
+//<-
+/*
+ * This implements the rhs of the dynamical equation:
+ * \phi'_0 = \omega_0 + sin( \phi_1 - \phi_0 )
+ * \phi'_i  = \omega_i + sin( \phi_i+1 - \phi_i ) + sin( \phi_i - \phi_i-1 )
+ * \phi'_N-1 = \omega_N-1 + sin( \phi_N-1 - \phi_N-2 )
+ */
+//->
+class phase_oscillators
+{
+
+public:
+
+    struct sys_functor
+    {
+        template< class Tuple >
+        __host__ __device__
+        void operator()( Tuple t )  // this functor works on tuples of values
+        {
+            // first, unpack the tuple into value, neighbors and omega
+            const value_type phi = thrust::get<0>(t);
+            const value_type phi_left = thrust::get<1>(t);  // left neighbor
+            const value_type phi_right = thrust::get<2>(t); // right neighbor
+            const value_type omega = thrust::get<3>(t);
+            // the dynamical equation
+            thrust::get<4>(t) = omega + sin( phi_right - phi ) + sin( phi - phi_left );
+        }
+    };
+
+    phase_oscillators( const state_type &omega )
+        : m_omega( omega ) , m_N( omega.size() ) , m_prev( omega.size() ) , m_next( omega.size() )
+    {
+        // build indices pointing to left and right neighbours
+        thrust::counting_iterator<size_t> c( 0 );
+        thrust::copy( c , c+m_N-1 , m_prev.begin()+1 );
+        m_prev[0] = 0; // m_prev = { 0 , 0 , 1 , 2 , 3 , ... , N-1 }
+
+        thrust::copy( c+1 , c+m_N , m_next.begin() );
+        m_next[m_N-1] = m_N-1; // m_next = { 1 , 2 , 3 , ... , N-1 , N-1 }
+    }
+
+    void operator() ( const state_type &x , state_type &dxdt , const value_type dt )
+    {
+        thrust::for_each(
+                thrust::make_zip_iterator(
+                        thrust::make_tuple(
+                                x.begin() ,
+                                thrust::make_permutation_iterator( x.begin() , m_prev.begin() ) ,
+                                thrust::make_permutation_iterator( x.begin() , m_next.begin() ) ,
+                                m_omega.begin() ,
+                                dxdt.begin()
+                                ) ),
+                thrust::make_zip_iterator(
+                        thrust::make_tuple(
+                                x.end() ,
+                                thrust::make_permutation_iterator( x.begin() , m_prev.end() ) ,
+                                thrust::make_permutation_iterator( x.begin() , m_next.end() ) ,
+                                m_omega.end() ,
+                                dxdt.end()) ) ,
+                sys_functor()
+                );
+    }
+
+private:
+
+    const state_type &m_omega;
+    const size_t m_N;
+    index_vector_type m_prev;
+    index_vector_type m_next;
+};
+//]
+
+const size_t N = 32768;
+const value_type pi = 3.1415926535897932384626433832795029;
+const value_type epsilon = 6.0 / ( N * N ); // should be < 8/N^2 to see phase locking
+const value_type dt = 0.1;
+
+int main( int arc , char* argv[] )
+{
+    //[ thrust_phase_chain_integration
+    // create initial conditions and omegas on host:
+    vector< value_type > x_host( N );
+    vector< value_type > omega_host( N );
+    for( size_t i=0 ; i<N ; ++i )
+    {
+        x_host[i] = 2.0 * pi * drand48();
+        omega_host[i] = ( N - i ) * epsilon; // decreasing frequencies
+    }
+
+    // copy to device
+    state_type x = x_host;
+    state_type omega = omega_host;
+
+    // create stepper
+    runge_kutta4< state_type , value_type , state_type , value_type , thrust_algebra , thrust_operations > stepper;
+
+    // create phase oscillator system function
+    phase_oscillators sys( omega );
+
+    // integrate
+    integrate_const( stepper , sys , x , 0.0 , 10.0 , dt );
+
+    thrust::copy( x.begin() , x.end() , std::ostream_iterator< value_type >( std::cout , "\n" ) );
+    std::cout << std::endl;
+    //]
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/phase_oscillator_ensemble.cu b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/phase_oscillator_ensemble.cu
new file mode 100755
index 0000000..04d3195
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/phase_oscillator_ensemble.cu
@@ -0,0 +1,281 @@
+/*
+ * phase_oscillator_ensemble.cu
+ *
+ * The example how the phase_oscillator ensemble can be implemented using CUDA and thrust
+ *
+ *  Created on: July 15, 2011
+ *      Author: karsten
+ */
+
+
+#include <iostream>
+#include <fstream>
+#include <cmath>
+#include <utility>
+
+#include <thrust/device_vector.h>
+#include <thrust/reduce.h>
+#include <thrust/functional.h>
+
+#include <boost/numeric/odeint.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_algebra.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_operations.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_resize.hpp>
+
+#include <boost/timer.hpp>
+#include <boost/random/cauchy_distribution.hpp>
+
+using namespace std;
+
+using namespace boost::numeric::odeint;
+
+/*
+ * Sorry for that dirty hack, but nvcc has large problems with boost::random.
+ *
+ * Nevertheless we need the cauchy distribution from boost::random, and therefore
+ * we need a generator. Here it is:
+ */
+struct drand48_generator
+{
+    typedef double result_type;
+    result_type operator()( void ) const { return drand48(); }
+    result_type min( void ) const { return 0.0; }
+    result_type max( void ) const { return 1.0; }
+};
+
+//[ thrust_phase_ensemble_state_type
+//change this to float if your device does not support double computation
+typedef double value_type;
+
+//change this to host_vector< ... > of you want to run on CPU
+typedef thrust::device_vector< value_type > state_type;
+// typedef thrust::host_vector< value_type > state_type;
+//]
+
+
+//[ thrust_phase_ensemble_mean_field_calculator
+struct mean_field_calculator
+{
+    struct sin_functor : public thrust::unary_function< value_type , value_type >
+    {
+        __host__ __device__
+        value_type operator()( value_type x) const
+        {
+            return sin( x );
+        }
+    };
+
+    struct cos_functor : public thrust::unary_function< value_type , value_type >
+    {
+        __host__ __device__
+        value_type operator()( value_type x) const
+        {
+            return cos( x );
+        }
+    };
+
+    static std::pair< value_type , value_type > get_mean( const state_type &x )
+    {
+        //[ thrust_phase_ensemble_sin_sum
+        value_type sin_sum = thrust::reduce(
+                thrust::make_transform_iterator( x.begin() , sin_functor() ) ,
+                thrust::make_transform_iterator( x.end() , sin_functor() ) );
+        //]
+        value_type cos_sum = thrust::reduce(
+                thrust::make_transform_iterator( x.begin() , cos_functor() ) ,
+                thrust::make_transform_iterator( x.end() , cos_functor() ) );
+
+        cos_sum /= value_type( x.size() );
+        sin_sum /= value_type( x.size() );
+
+        value_type K = sqrt( cos_sum * cos_sum + sin_sum * sin_sum );
+        value_type Theta = atan2( sin_sum , cos_sum );
+
+        return std::make_pair( K , Theta );
+    }
+};
+//]
+
+
+
+//[ thrust_phase_ensemble_sys_function
+class phase_oscillator_ensemble
+{
+
+public:
+
+    struct sys_functor
+    {
+        value_type m_K , m_Theta , m_epsilon;
+
+        sys_functor( value_type K , value_type Theta , value_type epsilon )
+        : m_K( K ) , m_Theta( Theta ) , m_epsilon( epsilon ) { }
+
+        template< class Tuple >
+        __host__ __device__
+        void operator()( Tuple t )
+        {
+            thrust::get<2>(t) = thrust::get<1>(t) + m_epsilon * m_K * sin( m_Theta - thrust::get<0>(t) );
+        }
+    };
+
+    // ...
+    //<-
+    phase_oscillator_ensemble( size_t N , value_type g = 1.0 , value_type epsilon = 1.0 )
+        : m_omega() , m_N( N ) , m_epsilon( epsilon )
+    {
+        create_frequencies( g );
+    }
+
+    void create_frequencies( value_type g )
+    {
+        boost::cauchy_distribution< value_type > cauchy( 0.0 , g );
+//        boost::variate_generator< boost::mt19937&, boost::cauchy_distribution< value_type > > gen( rng , cauchy );
+        drand48_generator d48;
+        vector< value_type > omega( m_N );
+        for( size_t i=0 ; i<m_N ; ++i )
+            omega[i] = cauchy( d48 );
+//        generate( omega.begin() , omega.end() , gen );
+        m_omega = omega;
+    }
+
+    void set_epsilon( value_type epsilon ) { m_epsilon = epsilon; }
+
+    value_type get_epsilon( void ) const { return m_epsilon; }
+    //->
+
+    void operator() ( const state_type &x , state_type &dxdt , const value_type dt ) const
+    {
+        std::pair< value_type , value_type > mean_field = mean_field_calculator::get_mean( x );
+
+        thrust::for_each(
+                thrust::make_zip_iterator( thrust::make_tuple( x.begin() , m_omega.begin() , dxdt.begin() ) ),
+                thrust::make_zip_iterator( thrust::make_tuple( x.end() , m_omega.end() , dxdt.end()) ) ,
+                sys_functor( mean_field.first , mean_field.second , m_epsilon )
+                );
+    }
+
+    // ...
+    //<-
+private:
+
+    state_type m_omega;
+    const size_t m_N;
+    value_type m_epsilon;
+    //->
+};
+//]
+
+
+//[ thrust_phase_ensemble_observer
+struct statistics_observer
+{
+    value_type m_K_mean;
+    size_t m_count;
+
+    statistics_observer( void )
+    : m_K_mean( 0.0 ) , m_count( 0 ) { }
+
+    template< class State >
+    void operator()( const State &x , value_type t )
+    {
+        std::pair< value_type , value_type > mean = mean_field_calculator::get_mean( x );
+        m_K_mean += mean.first;
+        ++m_count;
+    }
+
+    value_type get_K_mean( void ) const { return ( m_count != 0 ) ? m_K_mean / value_type( m_count ) : 0.0 ; }
+
+    void reset( void ) { m_K_mean = 0.0; m_count = 0; }
+};
+//]
+
+
+
+// const size_t N = 16384 * 128;
+const size_t N = 16384;
+const value_type pi = 3.1415926535897932384626433832795029;
+const value_type dt = 0.1;
+const value_type d_epsilon = 0.1;
+const value_type epsilon_min = 0.0;
+const value_type epsilon_max = 5.0;
+const value_type t_transients = 10.0;
+const value_type t_max = 100.0;
+
+int main( int arc , char* argv[] )
+{
+    // initial conditions on host
+    vector< value_type > x_host( N );
+    for( size_t i=0 ; i<N ; ++i ) x_host[i] = 2.0 * pi * drand48();
+
+    //[ thrust_phase_ensemble_system_instance
+    phase_oscillator_ensemble ensemble( N , 1.0 );
+    //]
+
+
+
+    boost::timer timer;
+    boost::timer timer_local;
+    double dopri5_time = 0.0 , rk4_time = 0.0;
+    {
+        //[thrust_phase_ensemble_define_dopri5
+        typedef runge_kutta_dopri5< state_type , value_type , state_type , value_type , thrust_algebra , thrust_operations > stepper_type;
+        //]
+
+        ofstream fout( "phase_ensemble_dopri5.dat" );
+        timer.restart();
+        for( value_type epsilon = epsilon_min ; epsilon < epsilon_max ; epsilon += d_epsilon )
+        {
+            ensemble.set_epsilon( epsilon );
+            statistics_observer obs;
+            state_type x = x_host;
+
+            timer_local.restart();
+
+            // calculate some transients steps
+            //[ thrust_phase_ensemble_integration
+            size_t steps1 = integrate_const( make_controlled( 1.0e-6 , 1.0e-6 , stepper_type() ) , boost::ref( ensemble ) , x , 0.0 , t_transients , dt );
+            //]
+
+            // integrate and compute the statistics
+            size_t steps2 = integrate_const( make_dense_output( 1.0e-6 , 1.0e-6 , stepper_type() ) , boost::ref( ensemble ) , x , 0.0 , t_max , dt , boost::ref( obs ) );
+
+            fout << epsilon << "\t" << obs.get_K_mean() << endl;
+            cout << "Dopri5 : " << epsilon << "\t" << obs.get_K_mean() << "\t" << timer_local.elapsed() << "\t" << steps1 << "\t" << steps2 << endl;
+        }
+        dopri5_time = timer.elapsed();
+    }
+
+
+
+    {
+        //[ thrust_phase_ensemble_define_rk4
+        typedef runge_kutta4< state_type , value_type , state_type , value_type , thrust_algebra , thrust_operations > stepper_type;
+        //]
+
+        ofstream fout( "phase_ensemble_rk4.dat" );
+        timer.restart();
+        for( value_type epsilon = epsilon_min ; epsilon < epsilon_max ; epsilon += d_epsilon )
+        {
+            ensemble.set_epsilon( epsilon );
+            statistics_observer obs;
+            state_type x = x_host;
+
+            timer_local.restart();
+
+            // calculate some transients steps
+            size_t steps1 = integrate_const( stepper_type() , boost::ref( ensemble ) , x , 0.0 , t_transients , dt );
+
+            // integrate and compute the statistics
+            size_t steps2 = integrate_const( stepper_type() , boost::ref( ensemble ) , x , 0.0 , t_max , dt , boost::ref( obs ) );
+            fout << epsilon << "\t" << obs.get_K_mean() << endl;
+            cout << "RK4     : " << epsilon << "\t" << obs.get_K_mean() << "\t" << timer_local.elapsed() << "\t" << steps1 << "\t" << steps2 << endl;
+        }
+        rk4_time = timer.elapsed();
+    }
+
+    cout << "Dopri 5 : " << dopri5_time << " s\n";
+    cout << "RK4     : " << rk4_time << "\n";
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/relaxation.cu b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/relaxation.cu
new file mode 100755
index 0000000..8590b85
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/thrust/relaxation.cu
@@ -0,0 +1,73 @@
+/*
+ * Solves many relaxation equations dxdt = - a * x in parallel and for different values of a.
+ * The relaxation equations are completely uncoupled.
+ */
+
+#include <thrust/device_vector.h>
+
+#include <boost/ref.hpp>
+
+#include <boost/numeric/odeint.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_algebra.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_operations.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_resize.hpp>
+
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+// change to float if your GPU does not support doubles
+typedef double value_type;
+typedef thrust::device_vector< value_type > state_type;
+typedef runge_kutta4< state_type , value_type , state_type , value_type , thrust_algebra , thrust_operations > stepper_type;
+
+struct relaxation
+{
+    struct relaxation_functor
+    {
+        template< class T >
+        __host__ __device__
+        void operator()( T t ) const
+        {
+            // unpack the parameter we want to vary and the Lorenz variables
+            value_type a = thrust::get< 1 >( t );
+            value_type x = thrust::get< 0 >( t );
+            thrust::get< 2 >( t ) = -a * x;
+        }
+    };
+
+    relaxation( size_t N , const state_type &a )
+    : m_N( N ) , m_a( a ) { }
+
+    void operator()(  const state_type &x , state_type &dxdt , value_type t ) const
+    {
+        thrust::for_each(
+            thrust::make_zip_iterator( thrust::make_tuple( x.begin() , m_a.begin() , dxdt.begin() ) ) ,
+            thrust::make_zip_iterator( thrust::make_tuple( x.end() , m_a.end() , dxdt.end() ) ) ,
+            relaxation_functor() );
+    }
+
+    size_t m_N;
+    const state_type &m_a;
+};
+
+const size_t N = 1024 * 1024;
+const value_type dt = 0.01;
+
+int main( int arc , char* argv[] )
+{
+    // initialize the relaxation constants a
+    vector< value_type > a_host( N );
+    for( size_t i=0 ; i<N ; ++i ) a_host[i] = drand48();
+    state_type a = a_host;
+
+    // initialize the intial state x
+    state_type x( N );
+    thrust::fill( x.begin() , x.end() , 1.0 );
+
+    // integrate
+    relaxation relax( N , a );
+    integrate_const( stepper_type() , boost::ref( relax ) , x , 0.0 , 10.0 , dt );
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/two_dimensional_phase_lattice.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/two_dimensional_phase_lattice.cpp
new file mode 100755
index 0000000..2cba51f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/two_dimensional_phase_lattice.cpp
@@ -0,0 +1,152 @@
+/*
+ * two_dimensional_phase_lattice.cpp
+ *
+ * This example show how one can use matrices as state types in odeint.
+ *
+ * Copyright 2009-2012 Karsten Ahnert and Mario Mulansky.
+ * Distributed under the Boost Software License, Version 1.0. (See
+ * accompanying file LICENSE_1_0.txt or copy at
+ * http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <iostream>
+#include <map>
+#include <string>
+#include <fstream>
+
+#ifndef M_PI //not there on windows
+#define M_PI 3.1415927 //...
+#endif
+
+#include <boost/numeric/odeint.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+
+//[ two_dimensional_phase_lattice_definition
+typedef boost::numeric::ublas::matrix< double > state_type;
+
+struct two_dimensional_phase_lattice
+{
+    two_dimensional_phase_lattice( double gamma = 0.5 )
+    : m_gamma( gamma ) { }
+
+    void operator()( const state_type &x , state_type &dxdt , double /* t */ ) const
+    {
+        size_t size1 = x.size1() , size2 = x.size2();
+
+        for( size_t i=1 ; i<size1-1 ; ++i )
+        {
+            for( size_t j=1 ; j<size2-1 ; ++j )
+            {
+                dxdt( i , j ) =
+                        coupling_func( x( i + 1 , j ) - x( i , j ) ) +
+                        coupling_func( x( i - 1 , j ) - x( i , j ) ) +
+                        coupling_func( x( i , j + 1 ) - x( i , j ) ) +
+                        coupling_func( x( i , j - 1 ) - x( i , j ) );
+            }
+        }
+
+        for( size_t i=0 ; i<x.size1() ; ++i ) dxdt( i , 0 ) = dxdt( i , x.size2() -1 ) = 0.0;
+        for( size_t j=0 ; j<x.size2() ; ++j ) dxdt( 0 , j ) = dxdt( x.size1() -1 , j ) = 0.0;
+    }
+
+    double coupling_func( double x ) const
+    {
+        return sin( x ) - m_gamma * ( 1.0 - cos( x ) );
+    }
+
+    double m_gamma;
+};
+//]
+
+
+struct write_for_gnuplot
+{
+    size_t m_every , m_count;
+
+    write_for_gnuplot( size_t every = 10 )
+    : m_every( every ) , m_count( 0 ) { }
+
+    void operator()( const state_type &x , double t )
+    {
+        if( ( m_count % m_every ) == 0 )
+        {
+            clog << t << endl;
+            cout << "sp '-'" << endl;
+            for( size_t i=0 ; i<x.size1() ; ++i )
+            {
+                for( size_t j=0 ; j<x.size2() ; ++j )
+                {
+                    cout << i << "\t" << j << "\t" << sin( x( i , j ) ) << "\n";
+                }
+                cout << "\n";
+            }
+            cout << "e" << endl;
+        }
+
+        ++m_count;
+    }
+};
+
+class write_snapshots
+{
+public:
+
+    typedef std::map< size_t , std::string > map_type;
+
+    write_snapshots( void ) : m_count( 0 ) { }
+
+    void operator()( const state_type &x , double t )
+    {
+        map< size_t , string >::const_iterator it = m_snapshots.find( m_count );
+        if( it != m_snapshots.end() )
+        {
+            ofstream fout( it->second.c_str() );
+            for( size_t i=0 ; i<x.size1() ; ++i )
+            {
+                for( size_t j=0 ; j<x.size2() ; ++j )
+                {
+                    fout << i << "\t" << j << "\t" << x( i , j ) << "\t" << sin( x( i , j ) ) << "\n";
+                }
+                fout << "\n";
+            }
+        }
+        ++m_count;
+    }
+
+    map_type& snapshots( void ) { return m_snapshots; }
+    const map_type& snapshots( void ) const { return m_snapshots; }
+
+private:
+
+    size_t m_count;
+    map_type m_snapshots;
+};
+
+
+int main( int argc , char **argv )
+{
+    size_t size1 = 128 , size2 = 128;
+    state_type x( size1 , size2 , 0.0 );
+
+    for( size_t i=(size1/2-10) ; i<(size1/2+10) ; ++i )
+        for( size_t j=(size2/2-10) ; j<(size2/2+10) ; ++j )
+            x( i , j ) = static_cast<double>( rand() ) / RAND_MAX * 2.0 * M_PI;
+
+    write_snapshots snapshots;
+    snapshots.snapshots().insert( make_pair( size_t( 0 ) , string( "lat_0000.dat" ) ) );
+    snapshots.snapshots().insert( make_pair( size_t( 100 ) , string( "lat_0100.dat" ) ) );
+    snapshots.snapshots().insert( make_pair( size_t( 1000 ) , string( "lat_1000.dat" ) ) );
+    observer_collection< state_type , double > obs;
+    obs.observers().push_back( write_for_gnuplot( 10 ) );
+    obs.observers().push_back( snapshots );
+
+    cout << "set term x11" << endl;
+    cout << "set pm3d map" << endl;
+    integrate_const( runge_kutta4< state_type >() , two_dimensional_phase_lattice( 1.2 ) ,
+            x , 0.0 , 1001.0 , 0.1 , boost::ref( obs ) );
+
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/Jamfile.v2
new file mode 100755
index 0000000..28c1504
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/Jamfile.v2
@@ -0,0 +1,13 @@
+# Copyright 2009 Karsten Ahnert and Mario Mulansky.
+# Distributed under the Boost Software License, Version 1.0. (See
+# accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+
+project
+    : requirements 
+      <include>../../../../..
+      <define>BOOST_ALL_NO_LIB=1
+    ;
+    
+exe lorenz_ublas : lorenz_ublas.cpp ;
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp
new file mode 100755
index 0000000..c3394d5
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp
@@ -0,0 +1,59 @@
+/*
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <iostream>
+
+#include <boost/numeric/odeint.hpp>
+#include <boost/numeric/ublas/vector.hpp>
+
+/* define ublas::vector<double> as resizeable 
+ * this is not neccessarily required because this definition already 
+ * exists in util/ublas_wrapper.hpp.
+ * However, for completeness and educational purpose it is repeated here.
+ */
+
+//[ ublas_resizeable
+typedef boost::numeric::ublas::vector< double > state_type;
+
+namespace boost { namespace numeric { namespace odeint {
+
+template<>
+struct is_resizeable< state_type >
+{
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+
+} } }
+//]
+
+void lorenz( const state_type &x , state_type &dxdt , const double t )
+{
+    const double sigma( 10.0 );
+    const double R( 28.0 );
+    const double b( 8.0 / 3.0 );
+    
+    dxdt[0] = sigma * ( x[1] - x[0] );
+    dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+    dxdt[2] = -b * x[2] + x[0] * x[1];
+}
+
+using namespace boost::numeric::odeint;
+
+//[ublas_main
+int main()
+{
+    state_type x(3);
+    x[0] = 10.0; x[1] = 5.0 ; x[2] = 0.0;
+    typedef runge_kutta4< state_type , double , state_type , double , vector_space_algebra > stepper;
+    integrate_const( stepper() , lorenz , x ,
+                     0.0 , 10.0 , 0.1 );
+}
+//]
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/van_der_pol_stiff.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/van_der_pol_stiff.cpp
new file mode 100755
index 0000000..4b433b2
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/van_der_pol_stiff.cpp
@@ -0,0 +1,93 @@
+/*
+ * van_der_pol_stiff.cpp
+ *  
+ * Created on: Dec 12, 2011
+ *
+ * Copyright 2011 Rajeev Singh
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <iostream>
+#include <fstream>
+#include <utility>
+
+#include <boost/numeric/odeint.hpp>
+
+#include <boost/phoenix/core.hpp>
+#include <boost/phoenix/operator.hpp>
+
+using namespace std;
+using namespace boost::numeric::odeint;
+namespace phoenix = boost::phoenix;
+
+const double mu = 1000.0;
+
+
+typedef boost::numeric::ublas::vector< double > vector_type;
+typedef boost::numeric::ublas::matrix< double > matrix_type;
+
+struct vdp_stiff
+{
+    void operator()( const vector_type &x , vector_type &dxdt , double t )
+    {
+        dxdt[0] = x[1];
+        dxdt[1] = -x[0] - mu * x[1] * (x[0]*x[0]-1.0);
+    }
+};
+
+struct vdp_stiff_jacobi
+{
+    void operator()( const vector_type &x , matrix_type &J , const double &t , vector_type &dfdt )
+    {
+        J(0, 0) = 0.0;
+        J(0, 1) = 1.0;
+        J(1, 0) = -1.0 - 2.0*mu * x[0] * x[1];
+        J(1, 1) = -mu * ( x[0] * x[0] - 1.0);
+
+        dfdt[0] = 0.0;
+        dfdt[1] = 0.0;
+    }
+};
+
+
+int main( int argc , char **argv )
+{
+    //[ integrate_stiff_system
+    vector_type x( 2 );
+    /* initialize random seed: */
+    srand ( time(NULL) );
+
+    // initial conditions
+    for (int i=0; i<2; i++)
+        x[i] = 1.0; //(1.0 * rand()) / RAND_MAX;
+
+    size_t num_of_steps = integrate_const( make_dense_output< rosenbrock4< double > >( 1.0e-6 , 1.0e-6 ) ,
+            make_pair( vdp_stiff() , vdp_stiff_jacobi() ) ,
+            x , 0.0 , 1000.0 , 1.0
+            , cout << phoenix::arg_names::arg2 << " " << phoenix::arg_names::arg1[0] << " " << phoenix::arg_names::arg1[1] << "\n"
+            );
+    //]
+    clog << num_of_steps << endl;
+
+
+
+    //[ integrate_stiff_system_alternative
+
+    vector_type x2( 2 );
+    // initial conditions
+    for (int i=0; i<2; i++)
+        x2[i] = 1.0; //(1.0 * rand()) / RAND_MAX;
+
+    size_t num_of_steps2 = integrate_const( make_dense_output< runge_kutta_dopri5< vector_type > >( 1.0e-6 , 1.0e-6 ) ,
+            vdp_stiff() , x2 , 0.0 , 1000.0 , 1.0
+            , cout << phoenix::arg_names::arg2 << " " << phoenix::arg_names::arg1[0] << " " << phoenix::arg_names::arg1[1] << "\n"
+            );
+    //]
+    clog << num_of_steps2 << endl;
+
+
+    return 0;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/Jamfile.v2
new file mode 100755
index 0000000..a419266
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/Jamfile.v2
@@ -0,0 +1,31 @@
+# Copyright 2009-2012 Karsten Ahnert
+# Copyright 2009-2012 Mario Mulansky
+#
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or
+# copy at http://www.boost.org/LICENSE_1_0.txt)
+
+
+import boost ;
+import os ;
+
+boost.use-project ;
+
+
+# change these lines to fit you configuration
+local HOME = [ os.environ HOME ] ;
+VEXCL_INCLUDE = $(HOME)/boost/vexcl ;
+CUDA_INCLUDE = /usr/local/cuda/include ;
+
+
+lib opencl : : <name>OpenCL ;
+
+project : requirements
+        <library>/boost//headers
+        <include>../../../../..
+        <include>$(VEXCL_INCLUDE)
+        <include>$(CUDA_INCLUDE)
+        <toolset>gcc:<cxxflags>-std=c++0x
+        ;
+
+exe lorenz_ensemble : lorenz_ensemble.cpp opencl ;
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/lorenz_ensemble.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/lorenz_ensemble.cpp
new file mode 100755
index 0000000..53b3b45
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/lorenz_ensemble.cpp
@@ -0,0 +1,89 @@
+/*
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <iostream>
+#include <vector>
+
+#include <vexcl/vexcl.hpp>
+
+#include <boost/numeric/odeint.hpp>
+//[ vexcl_includes
+#include <boost/numeric/odeint/external/vexcl/vexcl_resize.hpp>
+//]
+
+namespace odeint = boost::numeric::odeint;
+
+//[ vexcl_state_types
+typedef vex::vector< double >    vector_type;
+typedef vex::multivector< double, 3 > state_type;
+//]
+
+
+//[ vexcl_system
+const double sigma = 10.0;
+const double b = 8.0 / 3.0;
+
+struct sys_func
+{
+    const vector_type &R;
+
+    sys_func( const vector_type &_R ) : R( _R ) { }
+
+    void operator()( const state_type &x , state_type &dxdt , double t ) const
+    {
+        dxdt(0) = -sigma * ( x(0) - x(1) );
+        dxdt(1) = R * x(0) - x(1) - x(0) * x(2);
+        dxdt(2) = - b * x(2) + x(0) * x(1);
+    }
+};
+//]
+
+
+int main( int argc , char **argv )
+{
+    using namespace std;
+    using namespace odeint;
+
+    //[ vexcl_main
+    // setup the opencl context
+    vex::Context ctx( vex::Filter::Type(CL_DEVICE_TYPE_GPU) );
+    std::cout << ctx << std::endl;
+
+    // set up number of system, time step and integration time
+    const size_t n = 1024 * 1024;
+    const double dt = 0.01;
+    const double t_max = 100.0;
+
+    // initialize R
+    double Rmin = 0.1 , Rmax = 50.0 , dR = ( Rmax - Rmin ) / double( n - 1 );
+    std::vector<double> x( n * 3 ) , r( n );
+    for( size_t i=0 ; i<n ; ++i ) r[i] = Rmin + dR * double( i );
+    vector_type R( ctx.queue() , r );
+
+    // initialize the state of the lorenz ensemble
+    state_type X(ctx.queue(), n);
+    X(0) = 10.0;
+    X(1) = 10.0;
+    X(2) = 10.0;
+
+    // create a stepper
+    runge_kutta4<
+        state_type , double , state_type , double ,
+        odeint::vector_space_algebra , odeint::default_operations
+        > stepper;
+
+    // solve the system
+    integrate_const( stepper , sys_func( R ) , X , 0.0 , t_max , dt );
+    //]
+
+    std::vector< double > res( 3 * n );
+    vex::copy( X(0) , res );
+    for( size_t i=0 ; i<n ; ++i )
+        cout << r[i] << "\t" << res[i] << "\t" << "\n";
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/index.html b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/index.html
new file mode 100755
index 0000000..42aaaf0
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/index.html
@@ -0,0 +1,19 @@
+<!--
+Copyright 2001 Beman Daves
+Distributed under the Boost Software License, Version 1.0. (See accompanying
+file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+-->
+<html>
+<head>
+<meta http-equiv="refresh" content="0; URL=doc/html/index.html">
+</head>
+<body>
+Automatic redirection failed, please go to
+<a href="doc/html/index.html">doc/html/index.html</a>
+<hr>
+<p>&copy; Copyright Beman Dawes, 2001</p>
+<p> Distributed under the Boost Software 
+License, Version 1.0. (See accompanying file <a href="../../../LICENSE_1_0.txt">LICENSE_1_0.txt</a> or copy at <a href="http://www.boost.org/LICENSE_1_0.txt">
+www.boost.org/LICENSE_1_0.txt</a>)</p>
+</body>
+</html>
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/Jamfile.v2
new file mode 100755
index 0000000..34892f7
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/Jamfile.v2
@@ -0,0 +1,71 @@
+# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+
+import os ;
+import modules ;
+import path ; 
+
+project
+    : requirements
+      <define>BOOST_ALL_NO_LIB=1
+      <include>../../../..
+    : default-build release
+    ;
+    
+    
+lib libgsl : : <name>gsl ;
+lib libgslcblas : : <name>gslcblas ;
+
+lib libmkl : : <name>mkl_intel_lp64 <link>shared ;
+lib libmkl_core : : <name>mkl_core <link>shared ;
+lib libmkl_intel_thread : : <name>mkl_intel_thread ;
+lib libiomp5 : : <name>iomp5 ;
+lib libpthread : : <name>pthread ;
+
+exe odeint_rk4_lorenz_array
+    : odeint_rk4_lorenz_array.cpp
+    ;
+    
+exe odeint_rk4_lorenz_range
+    : odeint_rk4_lorenz_range.cpp
+    ;
+
+# exe odeint_rk4_lorenz_fusion
+#     : odeint_rk4_lorenz_fusion.cpp
+#     ;
+
+exe generic_odeint_rk4_lorenz 
+    : generic_odeint_rk4_lorenz.cpp
+    : <toolset>intel:<cxxflags>-inline-forceinline
+    ;
+
+exe nr_rk4_lorenz
+    : nr_rk4_lorenz.cpp
+    ;
+
+exe rt_generic_rk4_lorenz
+    : rt_generic_rk4_lorenz.cpp
+    ;
+    
+exe gsl_rk4_lorenz
+    : gsl_rk4_lorenz.cpp libgslcblas libgsl
+    ;
+    
+exe odeint_rk4_phase_lattice
+    : odeint_rk4_phase_lattice.cpp
+    ;
+    
+exe odeint_rk4_phase_lattice_mkl
+    : odeint_rk4_phase_lattice_mkl.cpp libpthread libiomp5 libmkl_core libmkl_intel_thread libmkl
+    ;
+    
+exe nr_rk4_phase_lattice
+    : nr_rk4_phase_lattice.cpp
+    ;
+
+exe rt_generic_rk4_phase_lattice
+    : rt_generic_rk4_phase_lattice.cpp
+    ;
+
+
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_algebra.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_algebra.hpp
new file mode 100755
index 0000000..5d6e85e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_algebra.hpp
@@ -0,0 +1,202 @@
+/*
+ * fusion_algebra.hpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef FUSION_ALGEBRA_HPP_
+#define FUSION_ALGEBRA_HPP_
+
+#include <boost/array.hpp>
+
+#include <iostream>
+
+
+template< size_t n >
+struct fusion_algebra
+{
+    template< typename T , size_t dim >
+    inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x ,
+            const boost::array< double , n > &a ,
+            const boost::array< T , dim > k_vector[n] , const double dt )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+        {
+            x_tmp[i] = x[i];// + a[0]*dt*k_vector[0][i];
+            for( size_t j = 0 ; j<n ; ++j )
+                x_tmp[i] += a[j]*dt*k_vector[j][i];
+        }
+    }
+
+    template< typename T , size_t dim >
+    inline static void foreach( boost::array< T , dim > &x_tmp ,
+                const boost::array< double , n > &a ,
+                const boost::array< T , dim > k_vector[n] , const double dt )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+        {
+            x_tmp[i] = a[0]*dt*k_vector[0][i];
+            for( size_t j = 1 ; j<n ; ++j )
+                x_tmp[i] += a[j]*dt*k_vector[j][i];
+         }
+    }
+
+};
+
+
+
+
+/** hand-wise implementation for performance improvement for n = 1..4 **/
+
+/* !!!!!!!   Actually, this is factor 3 slower with intel compiler, so we don'y use it !!!!!
+ * Update: It increases performance on msvc 9.0 by about 30%, so it is activated for MSVC
+ */
+
+//#ifdef BOOST_MSVC
+
+template<>
+struct fusion_algebra< 1 >
+{
+    template< typename T , size_t dim >
+    inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x ,
+            const boost::array< double , 1 > &a ,
+            const boost::array< T , dim > *k_vector , const double dt )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+        {
+            x_tmp[i] = x[i]
+                + a[0]*dt*k_vector[0][i];
+        }
+    }
+
+};
+
+
+template<>
+struct fusion_algebra< 2 >
+{
+
+    template< typename T , size_t dim >
+    inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x ,
+            const boost::array< double , 2 > &a ,
+            const boost::array< T , dim > *k_vector , const double dt )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+        {
+            x_tmp[i] = x[i]
+             + a[0]*dt*k_vector[0][i]
+             + a[1]*dt*k_vector[1][i];
+        }
+    }
+
+};
+
+
+template<>
+struct fusion_algebra< 3 >
+{
+
+    template< typename T , size_t dim >
+    inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x ,
+            const boost::array< double , 3 > &a ,
+            const boost::array< T , dim > *k_vector , const double dt )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+        {
+            x_tmp[i] = x[i]
+             + a[0]*dt*k_vector[0][i]
+             + a[1]*dt*k_vector[1][i]
+             + a[2]*dt*k_vector[2][i];
+        }
+    }
+
+};
+
+template<>
+struct fusion_algebra< 4 >
+{
+
+    template< typename T , size_t dim >
+    inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x ,
+            const boost::array< double , 4 > &a ,
+            const boost::array< T , dim > *k_vector , const double dt )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+        {
+            x_tmp[i] = x[i]
+             + a[0]*dt*k_vector[0][i]
+             + a[1]*dt*k_vector[1][i]
+             + a[2]*dt*k_vector[2][i]
+             + a[3]*dt*k_vector[3][i];
+        }
+    }
+
+};
+
+template<>
+struct fusion_algebra< 5 >
+{
+
+    template< typename T , size_t dim >
+    inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x ,
+            const boost::array< double , 5 > &a ,
+            const boost::array< T , dim > *k_vector , const double dt )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+        {
+            x_tmp[i] = x[i]
+             + a[0]*dt*k_vector[0][i]
+             + a[1]*dt*k_vector[1][i]
+             + a[2]*dt*k_vector[2][i]
+             + a[3]*dt*k_vector[3][i]
+             + a[4]*dt*k_vector[4][i];
+        }
+    }
+
+};
+
+template<>
+struct fusion_algebra< 6 >
+{
+
+    template< typename T , size_t dim >
+    inline static void foreach( boost::array< T , dim > &x_tmp , const boost::array< T , dim > &x ,
+            const boost::array< double , 6 > &a ,
+            const boost::array< T , dim > *k_vector , const double dt )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+        {
+            x_tmp[i] = x[i]
+             + a[0]*dt*k_vector[0][i]
+             + a[1]*dt*k_vector[1][i]
+             + a[2]*dt*k_vector[2][i]
+             + a[3]*dt*k_vector[3][i]
+             + a[4]*dt*k_vector[4][i]
+             + a[5]*dt*k_vector[5][i];
+        }
+    }
+
+    template< typename T , size_t dim >
+    inline static void foreach(boost::array<T , dim> &x_tmp ,
+            const boost::array<double , 6> &a ,
+            const boost::array<T , dim> *k_vector , const double dt)
+    {
+        for (size_t i = 0 ; i < dim ; ++i)
+        {
+            x_tmp[i] = a[0] * dt * k_vector[0][i] + a[1] * dt * k_vector[1][i]
+                    + a[2] * dt * k_vector[2][i] + a[3] * dt * k_vector[3][i]
+                    + a[4] * dt * k_vector[4][i] + a[5] * dt * k_vector[5][i];
+        }
+    }
+
+};
+
+//#endif /* BOOST_MSVC */
+
+#endif /* FUSION_ALGEBRA_HPP_ */
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_explicit_error_rk.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_explicit_error_rk.hpp
new file mode 100755
index 0000000..23ea157
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_explicit_error_rk.hpp
@@ -0,0 +1,63 @@
+/*
+ * fusion_explicit_error_rk.hpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef FUSION_EXPLICIT_ERROR_RK_HPP_
+#define FUSION_EXPLICIT_ERROR_RK_HPP_
+
+#include "fusion_explicit_rk_new.hpp"
+#include "fusion_algebra.hpp"
+
+namespace mpl = boost::mpl;
+namespace fusion = boost::fusion;
+
+using namespace std;
+
+template< class StateType , size_t stage_count >
+class explicit_error_rk : public explicit_rk< StateType , stage_count >
+{
+
+public:
+
+    typedef explicit_rk< StateType , stage_count > base;
+
+    typedef StateType state_type;
+
+    typedef typename base::stage_indices stage_indices;
+
+    typedef typename base::coef_a_type coef_a_type;
+
+    typedef typename base::coef_b_type coef_b_type;
+    typedef typename base::coef_c_type coef_c_type;
+
+ public:
+
+    explicit_error_rk( const coef_a_type &a ,
+                          const coef_b_type &b ,
+                          const coef_b_type &b2 ,
+                          const coef_c_type &c )
+    : base( a , b , c ) , m_b2( b2 )
+    { }
+
+    template< class System >
+    void inline do_step( System system , state_type &x , const double t , const double dt , state_type &x_err )
+    {
+        base::do_step( system , x , t , dt );
+        // compute error estimate
+        fusion_algebra< stage_count >::foreach( x_err , m_b2 , base::m_F , dt );
+    }
+
+private:
+
+    const coef_b_type m_b2;
+};
+
+#endif /* FUSION_EXPLICIT_ERROR_RK_HPP_ */
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_explicit_rk_new.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_explicit_rk_new.hpp
new file mode 100755
index 0000000..5648133
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/fusion_explicit_rk_new.hpp
@@ -0,0 +1,217 @@
+/*
+ * fusion_runge_kutta.hpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef FUSION_EXPLICIT_RK_HPP_
+#define FUSION_EXPLICIT_RK_HPP_
+
+#include <boost/mpl/vector.hpp>
+#include <boost/mpl/push_back.hpp>
+#include <boost/mpl/for_each.hpp>
+#include <boost/mpl/range_c.hpp>
+#include <boost/mpl/copy.hpp>
+#include <boost/mpl/size_t.hpp>
+
+#include <boost/fusion/container.hpp>
+#include <boost/fusion/algorithm/iteration.hpp>
+
+#include <boost/array.hpp>
+
+#include "fusion_algebra.hpp"
+//#include "fusion_foreach_performance.hpp"
+
+namespace mpl = boost::mpl;
+namespace fusion = boost::fusion;
+
+using namespace std;
+
+struct intermediate_stage {};
+struct last_stage {};
+
+
+
+template< class T , class Constant >
+struct array_wrapper
+{
+    typedef const typename boost::array< T , Constant::value > type;
+};
+
+template< class T , size_t i , class StageCategory >
+struct stage
+{
+    T c;
+    boost::array< T , i > a;
+    typedef StageCategory category;
+};
+
+template< class T , size_t i>
+struct stage< T , i , last_stage >
+{
+    T c;
+    boost::array< T , i > b;
+    typedef last_stage category;
+};
+
+
+
+template< class T , class Constant , class StageCategory >
+struct stage_wrapper
+{
+    typedef stage< T , Constant::value , StageCategory > type;
+};
+
+
+template< class StateType , size_t stage_count >
+class explicit_rk
+{
+
+public:
+
+    typedef StateType state_type;
+
+    typedef mpl::range_c< size_t , 1 , stage_count > stage_indices;
+
+    typedef typename fusion::result_of::as_vector
+    <
+        typename mpl::copy
+        <
+            stage_indices ,
+            mpl::inserter
+            <
+                mpl::vector0< > ,
+                mpl::push_back< mpl::_1 , array_wrapper< double , mpl::_2 > >
+            >
+        >::type
+    >::type coef_a_type;
+
+    typedef boost::array< double , stage_count > coef_b_type;
+    typedef boost::array< double , stage_count > coef_c_type;
+
+    typedef typename fusion::result_of::as_vector
+    <
+        typename mpl::push_back
+        <
+            typename mpl::copy
+            <
+                stage_indices,
+                mpl::inserter
+                <
+                    mpl::vector0<> ,
+                    mpl::push_back< mpl::_1 , stage_wrapper< double , mpl::_2 , intermediate_stage > >
+                >
+            >::type ,
+            stage< double , stage_count , last_stage >
+        >::type
+    >::type stage_vector_base;
+
+
+    struct stage_vector : public stage_vector_base
+    {
+        struct do_insertion
+        {
+            stage_vector_base &m_base;
+            const coef_a_type &m_a;
+            const coef_c_type &m_c;
+
+            do_insertion( stage_vector_base &base , const coef_a_type &a , const coef_c_type &c )
+            : m_base( base ) , m_a( a ) , m_c( c ) { }
+
+            template< class Index >
+            void operator()( Index ) const
+            {
+                //fusion::at< Index >( m_base ) = stage< double , Index::value+1 , intermediate_stage >( m_c[ Index::value ] , fusion::at< Index >( m_a ) );
+                fusion::at< Index >( m_base ).c  = m_c[ Index::value ];
+                fusion::at< Index >( m_base ).a = fusion::at< Index >( m_a );
+            }
+        };
+
+        stage_vector( const coef_a_type &a , const coef_b_type &b , const coef_c_type &c )
+        {
+            typedef mpl::range_c< size_t , 0 , stage_count - 1 > indices;
+            mpl::for_each< indices >( do_insertion( *this , a , c ) );
+            //fusion::at_c< 0 >( fusion::at_c< stage_count - 1 >( *this ) ) = stage_count - 1 ;
+            fusion::at_c< stage_count - 1 >( *this ).c = c[ stage_count - 1 ];
+            fusion::at_c< stage_count - 1 >( *this ).b = b;
+        }
+    };
+
+
+
+    template< class System >
+    struct calculate_stage
+    {
+        System &system;
+        state_type &x , &x_tmp;
+        state_type *F;
+        const double t;
+        const double dt;
+
+        calculate_stage( System &_system , state_type &_x , state_type &_x_tmp , state_type *_F ,
+                            const double _t , const double _dt )
+        : system( _system ) , x( _x ) , x_tmp( _x_tmp ) , F( _F ) , t( _t ) , dt( _dt )
+        {}
+
+
+        template< typename T , size_t stage_number >
+        void inline operator()( stage< T , stage_number , intermediate_stage > const &stage ) const
+        //typename stage_fusion_wrapper< T , mpl::size_t< stage_number > , intermediate_stage >::type const &stage ) const
+        {
+            if( stage_number == 1 )
+                system( x , F[stage_number-1] , t + stage.c * dt );
+            else
+                system( x_tmp , F[stage_number-1] , t + stage.c * dt );
+
+            fusion_algebra<stage_number>::foreach( x_tmp , x , stage.a , F , dt);
+        }
+
+
+        template< typename T , size_t stage_number >
+        void inline operator()( stage< T , stage_number , last_stage > const &stage ) const
+        //void operator()( typename stage_fusion_wrapper< T , mpl::size_t< stage_number > , last_stage >::type const &stage ) const
+        {
+            if( stage_number == 1 )
+                system( x , F[stage_number-1] , t + stage.c * dt );
+            else
+                system( x_tmp , F[stage_number-1] , t + stage.c * dt );
+
+            fusion_algebra<stage_number>::foreach( x , x , stage.b , F , dt);
+        }
+
+
+    };
+
+public:
+
+    explicit_rk( const coef_a_type &a ,
+                  const coef_b_type &b ,
+                  const coef_c_type &c )
+    : m_stages( a , b , c )
+
+    { }
+
+
+    template< class System >
+    void inline do_step( System system , state_type &x , const double t , const double dt )
+    {
+        fusion::for_each( m_stages , calculate_stage< System >( system , x , m_x_tmp , m_F , t , dt ) );
+    }
+
+private:
+
+    stage_vector m_stages;
+    state_type m_x_tmp;
+
+protected:
+    state_type m_F[stage_count];
+
+};
+
+#endif /* FUSION_EXPLICIT_RK_HPP_ */
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/generic_odeint_rk4_lorenz.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/generic_odeint_rk4_lorenz.cpp
new file mode 100755
index 0000000..1a6193e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/generic_odeint_rk4_lorenz.cpp
@@ -0,0 +1,84 @@
+/*
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <boost/array.hpp>
+
+//#include <boost/numeric/odeint/stepper/explicit_generic_rk.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/algebra/array_algebra.hpp>
+
+#include "rk_performance_test_case.hpp"
+
+#include "lorenz.hpp"
+
+using namespace boost::numeric::odeint;
+
+typedef boost::array< double , 3 > state_type;
+
+/*
+typedef explicit_generic_rk< 4 , 4 , state_type , double , state_type , double , array_algebra > rk4_type;
+
+typedef rk4_type::coef_a_type coef_a_type;
+typedef rk4_type::coef_b_type coef_b_type;
+typedef rk4_type::coef_c_type coef_c_type;
+
+const boost::array< double , 1 > a1 = {{ 0.5 }};
+const boost::array< double , 2 > a2 = {{ 0.0 , 0.5 }};
+const boost::array< double , 3 > a3 = {{ 0.0 , 0.0 , 1.0 }};
+
+const coef_a_type a = fusion::make_vector( a1 , a2 , a3 );
+const coef_b_type b = {{ 1.0/6 , 1.0/3 , 1.0/3 , 1.0/6 }};
+const coef_c_type c = {{ 0.0 , 0.5 , 0.5 , 1.0 }};
+*/
+
+typedef runge_kutta4< state_type , double , state_type , double , array_algebra > rk4_type;
+
+
+class rk4_wrapper
+{
+
+public:
+
+    rk4_wrapper()
+    //        : m_stepper( a , b , c ) 
+    {}
+
+    void reset_init_cond()
+    {
+        m_x[0] = 10.0 * rand() / RAND_MAX;
+        m_x[1] = 10.0 * rand() / RAND_MAX;
+        m_x[2] = 10.0 * rand() / RAND_MAX;
+        m_t = 0.0;
+    }
+
+    inline void do_step( const double dt )
+    {
+        m_stepper.do_step( lorenz(), m_x , m_t , dt );
+    }
+
+    double state( const size_t i ) const
+    { return m_x[i]; }
+
+private:
+    state_type m_x;
+    double m_t;
+    rk4_type m_stepper;
+};
+
+
+
+int main()
+{
+    srand( 12312354 );
+
+    rk4_wrapper stepper;
+
+    run( stepper );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/gsl_rk4_lorenz.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/gsl_rk4_lorenz.cpp
new file mode 100755
index 0000000..7cf3116
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/gsl_rk4_lorenz.cpp
@@ -0,0 +1,71 @@
+/*
+ * gsl_rk4_lorenz.cpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <gsl/gsl_odeiv.h>
+
+#include "rk_performance_test_case.hpp"
+
+#include "lorenz_gsl.hpp"
+
+const size_t dim = 3;
+
+class gsl_wrapper
+{
+public:
+
+    gsl_wrapper()
+    {
+        m_s = gsl_odeiv_step_alloc( gsl_odeiv_step_rk4 , dim);
+        m_sys.function = lorenz_gsl;
+        m_sys.jacobian = 0;
+        m_sys.dimension = dim;
+        m_sys.params = 0;
+    }
+
+    void reset_init_cond()
+    {
+        m_x[0] = 10.0 * rand() / RAND_MAX;
+        m_x[1] = 10.0 * rand() / RAND_MAX;
+        m_x[2] = 10.0 * rand() / RAND_MAX;
+        m_t = 0.0;
+    }
+
+    inline void do_step( const double dt )
+    {
+        gsl_odeiv_step_apply ( m_s , m_t , dt , m_x , m_x_err , 0 , 0 , &m_sys );
+        //m_t += dt;
+    }
+
+    double state( const size_t i ) const
+    { return m_x[i]; }
+
+    ~gsl_wrapper()
+    {
+        gsl_odeiv_step_free( m_s );
+    }
+
+private:
+    double m_x[dim];
+    double m_x_err[dim];
+    double m_t;
+    gsl_odeiv_step *m_s;
+    gsl_odeiv_system m_sys;
+};
+
+
+
+int main()
+{
+    gsl_wrapper stepper;
+
+    run( stepper , 20000000 / 3 , 1E-10 * 3);
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz.hpp
new file mode 100755
index 0000000..199c393
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz.hpp
@@ -0,0 +1,46 @@
+/*
+ * lorenz.hpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef LORENZ_HPP_
+#define LORENZ_HPP_
+
+#include <boost/array.hpp>
+
+struct lorenz
+{
+    template< class state_type >
+    void inline operator()( const state_type &x , state_type &dxdt , const double t ) const
+    {
+        const double sigma = 10.0;
+        const double R = 28.0;
+        const double b = 8.0 / 3.0;
+        dxdt[0] = sigma * ( x[1] - x[0] );
+        dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+        dxdt[2] = x[0]*x[1] - b * x[2];
+    }
+};
+
+
+typedef boost::array< double , 3 > state_type;
+
+
+inline void lorenz_func( const state_type &x , state_type &dxdt , const double t )
+{
+    const double sigma = 10.0;
+    const double R = 28.0;
+    const double b = 8.0 / 3.0;
+    dxdt[0] = sigma * ( x[1] - x[0] );
+    dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+    dxdt[2] = x[0]*x[1] - b * x[2];
+}
+
+#endif /* LORENZ_HPP_ */
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz_gsl.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz_gsl.hpp
new file mode 100755
index 0000000..42891f8
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz_gsl.hpp
@@ -0,0 +1,30 @@
+/*
+ * lorenz_gsl.hpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef LORENZ_GSL_HPP_
+#define LORENZ_GSL_HPP_
+
+#include <gsl/gsl_matrix.h>
+
+int lorenz_gsl( const double t , const double y[] , double f[] , void *params)
+{
+    const double sigma = 10.0;
+    const double R = 28.0;
+    const double b = 8.0 / 3.0;
+
+    f[0] = sigma * ( y[1] - y[0] );
+    f[1] = R * y[0] - y[1] - y[0] * y[2];
+    f[2] = y[0]*y[1] - b * y[2];
+    return GSL_SUCCESS;
+}
+
+#endif
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/nr_rk4_lorenz.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/nr_rk4_lorenz.cpp
new file mode 100755
index 0000000..967383b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/nr_rk4_lorenz.cpp
@@ -0,0 +1,84 @@
+/*
+ * nr_rk4_lorenz.cpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <boost/array.hpp>
+
+#include "rk_performance_test_case.hpp"
+
+#include "lorenz.hpp"
+
+const size_t dim = 3;
+
+typedef boost::array< double , dim > state_type;
+
+
+template< class System , typename T , size_t dim >
+void rk4_step( const System sys , boost::array< T , dim > &x , const double t , const double dt )
+{   // fast rk4 implementation adapted from the book 'Numerical Recipes'
+    size_t i;
+    const double hh = dt*0.5;
+    const double h6 = dt/6.0;
+    const double th = t+hh;
+    boost::array< T , dim > dydx , dym , dyt , yt;
+
+    sys( x , dydx , t );
+
+    for( i=0 ; i<dim ; i++ )
+        yt[i] = x[i] + hh*dydx[i];
+
+    sys( yt , dyt , th );
+    for( i=0 ; i<dim ; i++ )
+        yt[i] = x[i] + hh*dyt[i];
+
+    sys( yt , dym , th );
+    for( i=0 ; i<dim ; i++ ) {
+        yt[i] = x[i] + dt*dym[i];
+        dym[i] += dyt[i];
+    }
+    sys( yt , dyt , t+dt );
+    for( i=0 ; i<dim ; i++ )
+        x[i] += h6*( dydx[i] + dyt[i] + 2.0*dym[i] );
+}
+
+
+class nr_wrapper
+{
+public:
+    void reset_init_cond()
+    {
+        m_x[0] = 10.0 * rand() / RAND_MAX;
+        m_x[1] = 10.0 * rand() / RAND_MAX;
+        m_x[2] = 10.0 * rand() / RAND_MAX;
+        m_t = 0.0;
+    }
+
+    inline void do_step( const double dt )
+    {
+        rk4_step( lorenz() , m_x , m_t , dt );
+    }
+
+    double state( const size_t i ) const
+    { return m_x[i]; }
+
+private:
+    state_type m_x;
+    double m_t;
+};
+
+
+
+int main()
+{
+    nr_wrapper stepper;
+
+    run( stepper );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/nr_rk4_phase_lattice.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/nr_rk4_phase_lattice.cpp
new file mode 100755
index 0000000..a7ee1da
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/nr_rk4_phase_lattice.cpp
@@ -0,0 +1,85 @@
+/*
+ * nr_rk4_phase_lattice.cpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <boost/array.hpp>
+
+#include "rk_performance_test_case.hpp"
+
+#include "phase_lattice.hpp"
+
+const size_t dim = 1024;
+
+typedef boost::array< double , dim > state_type;
+
+
+template< class System , typename T , size_t dim >
+void rk4_step( const System sys , boost::array< T , dim > &x , const double t , const double dt )
+{   // fast rk4 implementation adapted from the book 'Numerical Recipes'
+    size_t i;
+    const double hh = dt*0.5;
+    const double h6 = dt/6.0;
+    const double th = t+hh;
+    boost::array< T , dim > dydx , dym , dyt , yt;
+
+    sys( x , dydx , t );
+
+    for( i=0 ; i<dim ; i++ )
+        yt[i] = x[i] + hh*dydx[i];
+
+    sys( yt , dyt , th );
+    for( i=0 ; i<dim ; i++ )
+        yt[i] = x[i] + hh*dyt[i];
+
+    sys( yt , dym , th );
+    for( i=0 ; i<dim ; i++ ) {
+        yt[i] = x[i] + dt*dym[i];
+        dym[i] += dyt[i];
+    }
+    sys( yt , dyt , t+dt );
+    for( i=0 ; i<dim ; i++ )
+        x[i] += h6*( dydx[i] + dyt[i] + 2.0*dym[i] );
+}
+
+
+class nr_wrapper
+{
+public:
+    void reset_init_cond()
+    {
+        for( size_t i = 0 ; i<dim ; ++i )
+            m_x[i] = 2.0*3.1415927*rand() / RAND_MAX;
+        m_t = 0.0;
+    }
+
+    inline void do_step( const double dt )
+    {
+        rk4_step( phase_lattice<dim>() , m_x , m_t , dt );
+    }
+
+    double state( const size_t i ) const
+    { return m_x[i]; }
+
+private:
+    state_type m_x;
+    double m_t;
+};
+
+
+
+int main()
+{
+    srand( 12312354 );
+
+    nr_wrapper stepper;
+
+    run( stepper , 10000 , 1E-6 );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_array.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_array.cpp
new file mode 100755
index 0000000..2a7dbe8
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_array.cpp
@@ -0,0 +1,71 @@
+/*
+ * odeint_rk4_lorenz.cpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint/stepper/runge_kutta4_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/algebra/array_algebra.hpp>
+
+#include "rk_performance_test_case.hpp"
+
+#include "lorenz.hpp"
+
+typedef boost::array< double , 3 > state_type;
+typedef boost::numeric::odeint::runge_kutta4< state_type , double , state_type , double ,
+                                              boost::numeric::odeint::array_algebra > rk4_odeint_type;
+
+
+class odeint_wrapper
+{
+public:
+    void reset_init_cond()
+    {
+        /* random */
+        /*
+        m_x[0] = 10.0 * rand() / RAND_MAX;
+        m_x[1] = 10.0 * rand() / RAND_MAX;
+        m_x[2] = 10.0 * rand() / RAND_MAX;
+        */
+        /* hand chosen random (cf fortran) */
+        m_x[0] = 8.5;
+        m_x[1] = 3.1;
+        m_x[2] = 1.2;
+
+        m_t = 0.0;
+    }
+
+    inline void do_step( const double dt )
+    {
+        m_stepper.do_step( lorenz() , m_x , m_t , dt );
+        //m_t += dt;
+    }
+
+    double state( const size_t i ) const
+    { return m_x[i]; }
+
+private:
+    state_type m_x;
+    double m_t;
+    rk4_odeint_type m_stepper;
+};
+
+
+
+int main()
+{
+    srand( 12312354 );
+
+    odeint_wrapper stepper;
+
+    run( stepper );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_range.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_range.cpp
new file mode 100755
index 0000000..ab0a268
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_range.cpp
@@ -0,0 +1,59 @@
+/*
+ * odeint_rk4_lorenz_def_alg.cpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint/stepper/runge_kutta4_classic.hpp>
+#include <boost/numeric/odeint/algebra/array_algebra.hpp>
+
+#include "rk_performance_test_case.hpp"
+
+#include "lorenz.hpp"
+
+typedef boost::array< double , 3 > state_type;
+typedef boost::numeric::odeint::runge_kutta4_classic< state_type > rk4_odeint_type;
+
+
+class odeint_wrapper
+{
+public:
+    void reset_init_cond()
+    {
+        m_x[0] = 10.0 * rand() / RAND_MAX;
+        m_x[1] = 10.0 * rand() / RAND_MAX;
+        m_x[2] = 10.0 * rand() / RAND_MAX;
+        m_t = 0.0;
+    }
+
+    inline void do_step( const double dt )
+    {
+        m_stepper.do_step( lorenz() , m_x , m_t , dt );
+        //m_t += dt;
+    }
+
+    double state( const size_t i ) const
+    { return m_x[i]; }
+
+private:
+    state_type m_x;
+    double m_t;
+    rk4_odeint_type m_stepper;
+};
+
+
+
+int main()
+{
+    odeint_wrapper stepper;
+
+    run( stepper );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice.cpp
new file mode 100755
index 0000000..038a13c
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice.cpp
@@ -0,0 +1,64 @@
+/*
+ * odeint_rk4_phase_lattice.cpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <cmath>
+
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint/stepper/runge_kutta4_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/algebra/array_algebra.hpp>
+
+#include "rk_performance_test_case.hpp"
+
+#include "phase_lattice.hpp"
+
+const size_t N = 1024;
+
+typedef boost::array< double , N > state_type;
+typedef boost::numeric::odeint::runge_kutta4_classic< state_type , double , state_type , double , boost::numeric::odeint::array_algebra> rk4_odeint_type;
+
+class odeint_wrapper
+{
+public:
+    void reset_init_cond()
+    {
+        for( size_t i = 0 ; i<N ; ++i )
+            m_x[i] = 2.0*3.1415927*rand() / RAND_MAX;
+        m_t = 0.0;
+    }
+
+    inline void do_step( const double dt )
+    {
+        m_stepper.do_step( phase_lattice<N>() , m_x , m_t , dt );
+        //m_t += dt;
+    }
+
+    double state( const size_t i ) const
+    { return m_x[i]; }
+    
+private:
+    state_type m_x;
+    double m_t;
+    rk4_odeint_type m_stepper;
+};
+
+
+
+int main()
+{
+    srand( 12312354 );
+
+    odeint_wrapper stepper;
+
+    run( stepper , 10000 , 1E-6 );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice_mkl.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice_mkl.cpp
new file mode 100755
index 0000000..82315ec
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice_mkl.cpp
@@ -0,0 +1,69 @@
+/*
+ * odeint_rk4_phase_lattice_mkl.cpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <boost/array.hpp>
+
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/algebra/vector_space_algebra.hpp>
+#include <boost/numeric/odeint/external/mkl/mkl_operations.hpp>
+
+
+#include "rk_performance_test_case.hpp"
+
+#include "phase_lattice.hpp"
+#include "phase_lattice_mkl.hpp"
+
+const size_t N = 1024;
+
+typedef boost::array< double , N > state_type;
+typedef boost::numeric::odeint::runge_kutta4< state_type 
+                                              , double , state_type , double ,
+                                              boost::numeric::odeint::vector_space_algebra , 
+                                              boost::numeric::odeint::mkl_operations 
+                                              > rk4_odeint_type;
+
+
+class odeint_wrapper
+{
+public:
+    void reset_init_cond()
+    {
+        for( size_t i = 0 ; i<N ; ++i )
+            m_x[i] = 2.0*3.1415927*rand() / RAND_MAX;
+        m_t = 0.0;
+    }
+
+    inline void do_step( const double dt )
+    {
+        m_stepper.do_step( phase_lattice_mkl<N>() , m_x , m_t , dt );
+        //m_t += dt;
+    }
+
+    double state( const size_t i ) const
+    { return m_x[i]; }
+
+private:
+    state_type m_x;
+    double m_t;
+    rk4_odeint_type m_stepper;
+};
+
+
+
+int main()
+{
+    srand( 12312354 );
+
+    odeint_wrapper stepper;
+
+    run( stepper , 10000 , 1E-6 );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/performance.py b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/performance.py
new file mode 100755
index 0000000..cdba9f2
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/performance.py
@@ -0,0 +1,70 @@
+"""
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+"""
+
+
+from os import popen
+from os import system
+from os.path import isfile
+from numpy import *
+#from pylab import *
+
+#toolset = "gcc-4.5"
+#toolset = "intel-11.1"
+toolset = "msvc"
+#toolset = "msvc-10.0"
+
+#bin_path = "bin/gcc-4.5/release/"
+#bin_path = "bin/intel-linux-11.1/release/"
+bin_path = "bin\\msvc-10.0\\release\\threading-multi\\"
+extension = ".exe"
+#extension = ""
+
+bins = [ "odeint_rk4_lorenz_array" , "odeint_rk4_lorenz_range" , "generic_odeint_rk4_lorenz" , "nr_rk4_lorenz" ,  "rt_generic_rk4_lorenz" , "gsl_rk4_lorenz" ]
+
+results = []
+
+print "Performance tests for " , bin_path
+print
+
+for bin in bins:
+        #system( "bjam toolset=" + toolset + " -a " + bin );
+        if isfile( bin_path + bin + extension):
+                print "Running" , bin
+                res = popen( bin_path+bin+extension ).read()
+                print bin , res
+                results.append( res )
+        else:
+                print "no executable found:" , bin_path + bin + extension
+                results.append( 0 )
+
+print "Results from" , bin_path
+print
+
+for i in range(len(bins)):
+        print bins[i] , results[i]
+
+res = array( results , dtype='float' )
+savetxt( bin_path + "rk4_lorenz.dat" , res )
+
+res = 100*res[0]/res
+
+bar_width = 0.6
+
+"""
+figure(1)
+title("Runge-Kutta 4 with " + toolset , fontsize=20)
+bar( arange(6) , res , bar_width , color='blue' , linewidth=4 , edgecolor='blue' , ecolor='red') #, elinewidth=2, ecolor='red' )
+xlim( -0.5 , 5.5+bar_width )
+xticks( arange(6)+bar_width/2 , ('array' , 'range' , 'generic' , 'NR' , 'rt gen' , 'gsl' ) )
+ylabel('Performance in %' , fontsize=20)
+
+savefig( bin_path + "rk4_lorenz.png" )
+
+show()
+"""
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/phase_lattice.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/phase_lattice.hpp
new file mode 100755
index 0000000..6a8f44b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/phase_lattice.hpp
@@ -0,0 +1,43 @@
+/*
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <cmath>
+
+#include <boost/array.hpp>
+
+template< size_t N >
+struct phase_lattice
+{
+    typedef double value_type;
+    typedef boost::array< value_type , N > state_type;
+
+    value_type m_epsilon; 
+    state_type m_omega;
+
+    phase_lattice() : m_epsilon( 6.0/(N*N) ) // should be < 8/N^2 to see phase locking
+    {
+        for( size_t i=1 ; i<N-1 ; ++i )
+            m_omega[i] = m_epsilon*(N-i);
+    }
+
+    void inline operator()( const state_type &x , state_type &dxdt , const double t ) const
+    {
+        double c = 0.0;
+
+        for( size_t i=0 ; i<N-1 ; ++i )
+        {
+            dxdt[i] = m_omega[i] + c;
+            c = ( x[i+1] - x[i] );
+            dxdt[i] += c;
+        }
+
+        //dxdt[N-1] = m_omega[N-1] + sin( x[N-1] - x[N-2] );
+    }
+
+};
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/phase_lattice_mkl.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/phase_lattice_mkl.hpp
new file mode 100755
index 0000000..54429a7
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/phase_lattice_mkl.hpp
@@ -0,0 +1,57 @@
+/*
+ * phase_lattice_mkl.hpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+
+
+#ifndef PHASE_LATTICE_MKL_HPP_
+#define PHASE_LATTICE_MKL_HPP_
+
+#include <cmath>
+
+#include <mkl_blas.h>
+#include <mkl_vml_functions.h>
+#include <boost/array.hpp>
+
+template< size_t N >
+struct phase_lattice_mkl
+{
+    typedef double value_type;
+    typedef boost::array< value_type , N > state_type;
+
+    value_type m_epsilon;
+    state_type m_omega;
+    state_type m_tmp;
+
+    phase_lattice_mkl() : m_epsilon( 6.0/(N*N) ) // should be < 8/N^2 to see phase locking
+    {
+        for( size_t i=1 ; i<N-1 ; ++i )
+            m_omega[i] = m_epsilon*(N-i);
+    }
+
+    void inline operator()( const state_type &x , state_type &dxdt , const double t )
+    {
+        const int n = x.size();
+
+        dxdt[0] = m_omega[0] + sin( x[1] - x[0] );
+
+        vdSub( n-1 , &(x[1]) , &(x[0]) , &(m_tmp[0]) );
+        vdSin( n-1 , &(m_tmp[0]) , &(m_tmp[0]) );
+        vdAdd( n-2 , &(m_tmp[0]) , &(m_tmp[1]) , &(dxdt[1]) );
+        vdAdd( n-2 , &(dxdt[1]) , &(m_omega[1]) , &(dxdt[1]) );
+
+        dxdt[N-1] = m_omega[N-1] + sin( x[N-1] - x[N-2] );
+    }
+
+};
+
+
+#endif /* PHASE_LATTICE_MKL_HPP_ */
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/plot_result.py b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/plot_result.py
new file mode 100755
index 0000000..a8567c9
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/plot_result.py
@@ -0,0 +1,40 @@
+"""
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+ 
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+"""
+
+
+from pylab import *
+
+#toolset = "gcc-4.5"
+toolset = "intel-11.1"
+#toolset = "msvc"
+#toolset = "msvc-10.0"
+
+#bin_path = "bin/gcc-4.5/release/"
+bin_path = "bin/intel-linux-11.1/release/"
+#bin_path = "bin\\msvc-10.0\\release\\" #threading-multi\\"
+#extension = ".exe"
+extension = ""
+
+res = loadtxt( bin_path + "rk4_lorenz.dat" )
+
+res = 100*res[0]/res
+
+bar_width = 0.6
+
+figure(1)
+title("Runge-Kutta 4 with " + toolset , fontsize=20)
+bar( arange(6) , res , bar_width , color='blue' , linewidth=4 , edgecolor='blue' , ecolor='red') #, elinewidth=2, ecolor='red' )
+xlim( -0.5 , 5.5+bar_width )
+ylim( 0 , max( res ) + 10 )
+xticks( arange(6)+bar_width/2 , ('array' , 'range' , 'generic' , 'NR' , 'rt gen' , 'gsl' ) )
+ylabel('Performance in %' , fontsize=20)
+
+savefig( bin_path + "rk4_lorenz.png" )
+
+show()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rk4_lorenz.f b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rk4_lorenz.f
new file mode 100755
index 0000000..d47e532
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rk4_lorenz.f
@@ -0,0 +1,53 @@
+C
+C  NUMERICAL MATHEMATICS AND COMPUTING, CHENEY/KINCAID, (c) 1985
+C
+C FILE: rk4sys.f
+C
+C RUNGE-KUTTA METHOD OF ORDER 4 FOR A SYSTEM OF ODE'S (RK4SYS,XPSYS)
+C
+      DOUBLE PRECISION X,T,H
+      DIMENSION  X(3) 
+      DATA  N/3/, T/0.0/, X/8.5,3.1,1.2/
+      DATA  H/1E-10/, NSTEP/20000000/ 
+      CALL RK4SYS(N,T,X,H,NSTEP)
+      STOP
+      END 
+  
+      SUBROUTINE XPSYS(X,F)
+      DOUBLE PRECISION X,F
+      DIMENSION  X(3),F(3)  
+      F(1) = 10.0 * ( X(2) - X(1) )
+      F(2) = 28.0 * X(1) - X(2) - X(1) * X(3)
+      F(3) = X(1)*X(2) - (8.0/3.0) * X(3)
+      RETURN
+      END 
+
+      SUBROUTINE RK4SYS(N,T,X,H,NSTEP)
+      DOUBLE PRECISION X,Y,T,H,F1,F2,F3,F4
+      DIMENSION  X(N),Y(N),F1(N),F2(N),F3(N),F4(N)  
+      PRINT 7,T,(X(I),I=1,N)
+      H2 = 0.5*H  
+      START = T   
+      DO 6 K = 1,NSTEP      
+        CALL XPSYS(X,F1)    
+        DO 2 I = 1,N
+          Y(I) = X(I) + H2*F1(I)      
+   2    CONTINUE
+        CALL XPSYS(Y,F2)    
+        DO 3 I = 1,N
+          Y(I) = X(I) + H2*F2(I)      
+   3    CONTINUE
+        CALL XPSYS(Y,F3)    
+        DO 4 I = 1,N
+          Y(I) = X(I) + H*F3(I)       
+   4    CONTINUE
+        CALL XPSYS(Y,F4)    
+        DO 5 I = 1,N
+          X(I) = X(I) + H*(F1(I) + 2.0*(F2(I) + F3(I)) + F4(I))/6.0 
+   5    CONTINUE
+   6  CONTINUE
+      PRINT 7,T,(X(I),I = 1,N)
+   7  FORMAT(2X,'T,X:',E10.3,5(2X,E22.14))
+      RETURN      
+      END 
+
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rk_performance_test_case.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rk_performance_test_case.hpp
new file mode 100755
index 0000000..336b57b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rk_performance_test_case.hpp
@@ -0,0 +1,68 @@
+/*
+ * rk_performance_test_case.hpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <iostream>
+#include <boost/accumulators/accumulators.hpp>
+#include <boost/accumulators/statistics.hpp>
+#include <boost/timer.hpp>
+
+#define tab "\t"
+
+using namespace std;
+using namespace boost::accumulators;
+
+typedef accumulator_set<
+    double , stats< tag::mean , tag::variance >
+    > accumulator_type;
+
+ostream& operator<<( ostream& out , accumulator_type &acc )
+{
+    out << boost::accumulators::mean( acc ) << tab;
+//    out << boost::accumulators::variance( acc ) << tab;
+    return out;
+}
+
+typedef boost::timer timer_type;
+
+
+template< class Stepper >
+void run( Stepper &stepper , const size_t num_of_steps = 20000000 , const double dt = 1E-10 )
+{
+    const size_t loops = 20;
+
+    accumulator_type acc;
+    timer_type timer;
+
+    srand( 12312354 );
+
+    // transient
+    //stepper.reset_init_cond( );
+    //for( size_t i = 0 ; i < num_of_steps ; ++i )
+    //    stepper.do_step( dt );
+
+    for( size_t n=0 ; n<loops+1 ; ++n )
+    {
+        stepper.reset_init_cond( );
+
+        timer.restart();
+        for( size_t i = 0 ; i < num_of_steps ; ++i )
+            stepper.do_step( dt );
+        if( n>0 )
+        {   // take first run as transient
+            acc(timer.elapsed());
+            clog.precision(8);
+            clog.width(10);
+            clog << acc << " " << stepper.state(0) << endl;
+        }
+    }
+    cout << acc << endl;
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_algebra.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_algebra.hpp
new file mode 100755
index 0000000..311dce1
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_algebra.hpp
@@ -0,0 +1,32 @@
+/*
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <vector>
+
+using namespace std;
+
+struct rt_algebra
+{
+    template< typename T , size_t dim >
+    inline static void foreach( boost::array< T , dim > & x_tmp , 
+                                const boost::array< T , dim > &x ,
+                                //const vector< double > &a ,
+                                const double* a ,
+                                const boost::array< T , dim > *k_vector , 
+                                const double dt , const size_t s )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+        {
+            x_tmp[i] = x[i];
+            for( size_t j = 0 ; j<s ; ++j )
+                x_tmp[i] += a[j]*dt*k_vector[j][i];
+        }
+    }
+};
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_explicit_rk.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_explicit_rk.hpp
new file mode 100755
index 0000000..df2d70c
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_explicit_rk.hpp
@@ -0,0 +1,87 @@
+/*
+ * rt_explicit_rk.hpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef RT_EXPLICIT_RK_HPP_
+#define RT_EXPLICIT_RK_HPP_
+
+#include <vector>
+
+#include "rt_algebra.hpp"
+
+using namespace std;
+
+template< class StateType >
+class rt_explicit_rk
+{
+public:
+    typedef StateType state_type;
+    typedef double* const * coeff_a_type;
+    typedef vector< double > coeff_b_type;
+    typedef vector< double > coeff_c_type;
+
+    rt_explicit_rk( size_t stage_count ) : m_s( stage_count )
+    {
+        m_F = new state_type[ m_s ];
+    }
+
+    rt_explicit_rk( const size_t stage_count , 
+                    const coeff_a_type a , 
+                    const coeff_b_type &b , const coeff_c_type &c )
+        : m_s( stage_count ) , m_a( a ) , m_b( b ) , m_c( c )
+    {
+        m_F = new state_type[ m_s ];
+    }
+
+    ~rt_explicit_rk()
+    {
+        delete[] m_F;
+    }
+
+    /* void set_params( coeff_a_type &a , coeff_b_type &b , coeff_c_type &c )
+    {
+        m_a = a;
+        m_b = b;
+        m_c = c;
+        }*/
+
+    template< class System >
+    void do_step( System sys , state_type &x , const double t , const double dt )
+    {
+        // first stage separately
+        sys( x , m_F[0] , t + m_c[0]*t );
+        if( m_s == 1 )
+            rt_algebra::foreach( x , x , &m_b[0] , m_F , dt , 1 );
+        else
+            rt_algebra::foreach( m_x_tmp , x , m_a[0] , m_F , dt , 1 );
+
+        for( size_t stage = 2 ; stage <= m_s ; ++stage )
+        {
+            sys( m_x_tmp , m_F[stage-1] , t + m_c[stage-1]*dt );
+            if( stage == m_s )
+                rt_algebra::foreach( x , x , &m_b[0] , m_F , dt , stage-1 );
+            else
+                rt_algebra::foreach( m_x_tmp , x , m_a[stage-1] , m_F , dt , stage-1 );
+        }
+    }
+
+
+private:
+    const size_t m_s;
+    const coeff_a_type m_a;
+    const coeff_b_type m_b;
+    const coeff_c_type m_c;
+
+    state_type m_x_tmp;
+    state_type *m_F;
+};
+
+#endif /* RT_EXPLICIT_RK_HPP_ */
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_lorenz.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_lorenz.cpp
new file mode 100755
index 0000000..0bcb61c
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_lorenz.cpp
@@ -0,0 +1,81 @@
+/*
+ * rt_generic_rk4_lorenz.cpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <boost/array.hpp>
+
+#include "rt_explicit_rk.hpp"
+
+#include "rk_performance_test_case.hpp"
+
+#include "lorenz.hpp"
+
+typedef boost::array< double , 3 > state_type;
+
+typedef rt_explicit_rk< state_type > rk_stepper_type;
+
+const size_t stage_count = 4;
+
+
+class rt_generic_wrapper
+{
+public:
+
+    rt_generic_wrapper( const double * const * a , 
+                        const rk_stepper_type::coeff_b_type &b ,
+                        const rk_stepper_type::coeff_c_type &c ) 
+        : m_stepper( stage_count , 
+                     (rk_stepper_type::coeff_a_type) a , b , c )
+    { }
+
+    void reset_init_cond()
+    {
+        m_x[0] = 10.0 * rand() / RAND_MAX;
+        m_x[1] = 10.0 * rand() / RAND_MAX;
+        m_x[2] = 10.0 * rand() / RAND_MAX;
+        m_t = 0.0;
+    }
+
+    inline void do_step( const double dt )
+    {
+        m_stepper.do_step( lorenz() , m_x , m_t , dt );
+        //m_t += dt;
+    }
+
+    double state( const size_t i ) const
+    { return m_x[i]; }
+
+private:
+    state_type m_x;
+    double m_t;
+    rk_stepper_type m_stepper;
+};
+
+
+
+int main()
+{
+
+    const double a_tmp[3*4/2] = { 0.5 ,
+                                  0.0 , 1.0 ,
+                                  0.0 , 0.0 , 1.0 };
+    const double* const a[3] = { a_tmp , a_tmp+1 , a_tmp+3 };
+
+    rk_stepper_type::coeff_b_type b( stage_count );
+    b[0] = 1.0/6; b[1] = 1.0/3; b[2] = 1.0/3; b[3] = 1.0/6;
+    
+    rk_stepper_type::coeff_c_type c( stage_count );
+    c[0] = 0.0; c[1] = 0.5; c[2] = 0.5; c[3] = 1.0;
+
+    rt_generic_wrapper stepper( a , b , c );
+
+    run( stepper );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_phase_lattice.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_phase_lattice.cpp
new file mode 100755
index 0000000..08676c5
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_phase_lattice.cpp
@@ -0,0 +1,83 @@
+/*
+ * rt_generic_rk4_lorenz.cpp
+ *
+ * Copyright 2009-2012 Karsten Ahnert
+ * Copyright 2009-2012 Mario Mulansky
+ *
+ * Distributed under the Boost Software License, Version 1.0.
+ * (See accompanying file LICENSE_1_0.txt or
+ * copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#include <boost/array.hpp>
+
+#include "rt_explicit_rk.hpp"
+
+#include "rk_performance_test_case.hpp"
+
+#include "phase_lattice.hpp"
+
+const size_t N = 1024;
+
+typedef boost::array< double , N > state_type;
+
+typedef rt_explicit_rk< state_type > rk_stepper_type;
+
+const size_t stage_count = 4;
+
+
+class rt_generic_wrapper
+{
+public:
+
+    rt_generic_wrapper( const double * const * a , 
+                        const rk_stepper_type::coeff_b_type &b ,
+                        const rk_stepper_type::coeff_c_type &c ) 
+        : m_stepper( stage_count , 
+                     (rk_stepper_type::coeff_a_type) a , b , c )
+    { }
+
+    void reset_init_cond()
+    {
+        for( size_t i = 0 ; i<N ; ++i )
+            m_x[i] = 2.0*3.1415927*rand() / RAND_MAX;
+        m_t = 0.0;
+    }
+
+    inline void do_step( const double dt )
+    {
+        m_stepper.do_step( phase_lattice<N>() , m_x , m_t , dt );
+        //m_t += dt;
+    }
+
+    double state( const size_t i ) const
+    { return m_x[i]; }
+
+private:
+    state_type m_x;
+    double m_t;
+    rk_stepper_type m_stepper;
+};
+
+
+
+int main()
+{
+    srand( 12312354 );
+
+    const double a_tmp[3*4/2] = { 0.5 ,
+                                  0.0 , 1.0 ,
+                                  0.0 , 0.0 , 1.0 };
+    const double* const a[3] = { a_tmp , a_tmp+1 , a_tmp+3 };
+
+    rk_stepper_type::coeff_b_type b( stage_count );
+    b[0] = 1.0/6; b[1] = 1.0/3; b[2] = 1.0/3; b[3] = 1.0/6;
+    
+    rk_stepper_type::coeff_c_type c( stage_count );
+    c[0] = 0.0; c[1] = 0.5; c[2] = 0.5; c[3] = 1.0;
+
+    rt_generic_wrapper stepper( a , b , c );
+
+    run( stepper , 10000 , 1E-6 );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/Jamfile.v2
new file mode 100755
index 0000000..9e35a51
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/Jamfile.v2
@@ -0,0 +1,55 @@
+# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+
+# bring in rules for testing
+
+
+import testing ;
+
+use-project boost : $(BOOST_ROOT) ;
+
+project
+    : requirements
+      <library>/boost/test//boost_unit_test_framework
+      <define>BOOST_ALL_NO_LIB=1
+      <include>../../../..
+      <link>static
+      <toolset>clang:<cxxflags>-Wno-unused-variable
+
+# <cxxflags>-D_SCL_SECURE_NO_WARNINGS
+    ;
+
+test-suite "odeint"
+    :
+    [ run euler_stepper.cpp ]
+    [ run runge_kutta_concepts.cpp ]
+    [ run runge_kutta_error_concepts.cpp ]
+    [ run runge_kutta_controlled_concepts.cpp ]
+    [ run resizing.cpp ]
+    [ run default_operations.cpp ]
+    [ run range_algebra.cpp ]
+    [ run implicit_euler.cpp ]
+    [ run fusion_algebra.cpp ]
+    [ run stepper_with_units.cpp ]
+    [ run stepper_copying.cpp ]
+    [ run stepper_with_ranges.cpp ]
+    [ run rosenbrock4.cpp ]
+    [ run is_pair.cpp ]
+    [ run adams_bashforth.cpp ]
+    [ run adams_moulton.cpp ]
+    [ run adams_bashforth_moulton.cpp ]
+    [ run generic_stepper.cpp ]
+    [ run generic_error_stepper.cpp ]
+    [ run bulirsch_stoer.cpp ]
+    [ run integrate_times.cpp ]
+    [ run integrate.cpp ]
+    [ run integrate_implicit.cpp ]
+    [ run generation.cpp ]
+    [ run trivial_state.cpp ]
+    [ run is_resizeable.cpp ]
+    [ run resize.cpp ]
+    [ run same_size.cpp ]
+    [ run symplectic_steppers.cpp ]
+    : <testing.launcher>valgrind
+    ;
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth.cpp
new file mode 100755
index 0000000..02672b7
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth.cpp
@@ -0,0 +1,232 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/adams_bashforth.cpp
+
+ [begin_description]
+ This file tests the use of the adams bashforth stepper.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+// disable checked iterator warning for msvc
+
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_adams_bashforth
+
+#include <utility>
+
+#include <boost/array.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/mpl/list.hpp>
+#include <boost/mpl/size_t.hpp>
+#include <boost/mpl/range_c.hpp>
+
+
+#include <boost/numeric/odeint/stepper/adams_bashforth.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+typedef double value_type;
+
+struct lorenz
+{
+    template< class State , class Deriv , class Value >
+    void operator()( const State &_x , Deriv &_dxdt , const Value &dt ) const
+    {
+        const value_type sigma = 10.0;
+        const value_type R = 28.0;
+        const value_type b = 8.0 / 3.0;
+
+        typename boost::range_iterator< const State >::type x = boost::begin( _x );
+        typename boost::range_iterator< Deriv >::type dxdt = boost::begin( _dxdt );
+
+        dxdt[0] = sigma * ( x[1] - x[0] );
+        dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+        dxdt[2] = x[0]*x[1] - b * x[2];
+    }
+};
+
+template< class State >
+class rk4_decorator
+{
+public:
+
+    size_t do_count;
+
+    template< class System , class StateIn , class DerivIn , class StateOut >
+    void do_step( System system , const StateIn &in , const DerivIn &dxdt , value_type t , StateOut &out , value_type dt )
+    {
+        m_stepper.do_step( system , in , dxdt , t , out , dt );
+        ++do_count;
+    }
+
+    template< class System , class StateInOut , class DerivIn >
+    void do_step( System system , StateInOut &x , const DerivIn &dxdt , value_type t , value_type dt )
+    {
+        m_stepper.do_step( system , x , dxdt , t , dt );
+        ++do_count;
+    }
+
+
+    runge_kutta4< State > m_stepper;
+
+private:
+
+
+};
+
+
+BOOST_AUTO_TEST_SUITE( adams_bashforth_test )
+
+BOOST_AUTO_TEST_CASE( test_adams_bashforth_coefficients )
+{
+    detail::adams_bashforth_coefficients< value_type , 1 > c1;
+    detail::adams_bashforth_coefficients< value_type , 2 > c2;
+    detail::adams_bashforth_coefficients< value_type , 3 > c3;
+    detail::adams_bashforth_coefficients< value_type , 4 > c4;
+    detail::adams_bashforth_coefficients< value_type , 5 > c5;
+    detail::adams_bashforth_coefficients< value_type , 6 > c6;
+    detail::adams_bashforth_coefficients< value_type , 7 > c7;
+    detail::adams_bashforth_coefficients< value_type , 8 > c8;
+}
+
+BOOST_AUTO_TEST_CASE( test_rotating_buffer )
+{
+    const size_t N = 5;
+    detail::rotating_buffer< size_t , N > buffer;
+    for( size_t i=0 ; i<N ; ++i ) buffer[i] = i;
+
+    for( size_t i=0 ; i<N ; ++i )
+        BOOST_CHECK_EQUAL( buffer[i] , i );
+
+    buffer.rotate();
+
+    for( size_t i=1 ; i<N ; ++i )
+        BOOST_CHECK_EQUAL( buffer[i] , i - 1 );
+    BOOST_CHECK_EQUAL( buffer[0] , size_t( N-1 ) );
+}
+
+BOOST_AUTO_TEST_CASE( test_copying )
+{
+    typedef boost::array< double , 1 > state_type;
+    typedef adams_bashforth< 2 , state_type > stepper_type;
+
+    stepper_type s1;
+    s1.step_storage()[0].m_v[0] = 1.5;
+    s1.step_storage()[1].m_v[0] = 2.25;
+
+    stepper_type s2( s1 );
+    BOOST_CHECK_CLOSE( s1.step_storage()[0].m_v[0] , s2.step_storage()[0].m_v[0] , 1.0e-14 );
+    BOOST_CHECK_CLOSE( s1.step_storage()[1].m_v[0] , s2.step_storage()[1].m_v[0] , 1.0e-14 );
+    BOOST_CHECK( ( &(s1.step_storage()[0]) ) != ( &(s2.step_storage()[0]) ) );
+
+    stepper_type s3;
+    state_type *p1 = &( s3.step_storage()[0].m_v ) , *p2 = &( s3.step_storage()[1].m_v );
+    s3 = s1;
+    BOOST_CHECK( p1 == ( &( s3.step_storage()[0].m_v ) ) );
+    BOOST_CHECK( p2 == ( &( s3.step_storage()[1].m_v ) ) );
+
+    BOOST_CHECK_CLOSE( s1.step_storage()[0].m_v[0] , s3.step_storage()[0].m_v[0] , 1.0e-14 );
+    BOOST_CHECK_CLOSE( s1.step_storage()[1].m_v[0] , s3.step_storage()[1].m_v[0] , 1.0e-14 );
+}
+
+typedef boost::mpl::range_c< size_t , 1 , 6 > vector_of_steps;
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_init_and_steps , step_type , vector_of_steps )
+{
+    const static size_t steps = step_type::value;
+    typedef boost::array< value_type , 3 > state_type;
+
+    adams_bashforth< steps , state_type > stepper;
+    state_type x = {{ 10.0 , 10.0 , 10.0 }};
+    const value_type dt = 0.01;
+    value_type t = 0.0;
+
+    stepper.initialize( lorenz() , x , t , dt );
+    BOOST_CHECK_CLOSE( t , value_type( steps - 1 ) * dt , 1.0e-14 );
+
+    stepper.do_step( lorenz() , x , t , dt );
+}
+
+BOOST_AUTO_TEST_CASE( test_instantiation )
+{
+    typedef boost::array< double , 3 > state_type;
+    adams_bashforth< 1 , state_type > s1;
+    adams_bashforth< 2 , state_type > s2;
+    adams_bashforth< 3 , state_type > s3;
+    adams_bashforth< 4 , state_type > s4;
+    adams_bashforth< 5 , state_type > s5;
+    adams_bashforth< 6 , state_type > s6;
+    adams_bashforth< 7 , state_type > s7;
+    adams_bashforth< 8 , state_type > s8;
+
+    state_type x = {{ 10.0 , 10.0 , 10.0 }};
+    value_type t = 0.0 , dt = 0.01;
+    s1.do_step( lorenz() , x , t , dt );
+    s2.do_step( lorenz() , x , t , dt );
+    s3.do_step( lorenz() , x , t , dt );
+    s4.do_step( lorenz() , x , t , dt );
+    s5.do_step( lorenz() , x , t , dt );
+    s6.do_step( lorenz() , x , t , dt );
+//    s7.do_step( lorenz() , x , t , dt );
+//    s8.do_step( lorenz() , x , t , dt );
+}
+
+BOOST_AUTO_TEST_CASE( test_auto_initialization )
+{
+    typedef boost::array< double , 3 > state_type;
+    state_type x = {{ 10.0 , 10.0 , 10.0 }};
+
+    adams_bashforth< 3 , state_type , value_type , state_type , value_type , range_algebra , default_operations ,
+                     initially_resizer , rk4_decorator< state_type > > adams;
+
+    adams.initializing_stepper().do_count = 0;
+    adams.do_step( lorenz() , x , 0.0 , x , 0.1 );
+    BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 1 ) );
+
+    adams.do_step( lorenz() , x , 0.0 , x , 0.1 );
+    BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 2 ) );
+
+    adams.do_step( lorenz() , x , 0.0 , x , 0.1 );
+    BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 2 ) );
+
+    adams.do_step( lorenz() , x , 0.0 , x , 0.1 );
+    BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 2 ) );
+
+    adams.do_step( lorenz() , x , 0.0 , x , 0.1 );
+    BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 2 ) );
+}
+
+BOOST_AUTO_TEST_CASE( test_manual_initialization )
+{
+    typedef boost::array< double , 3 > state_type;
+    state_type x = {{ 10.0 , 10.0 , 10.0 }};
+
+    adams_bashforth< 3 , state_type , value_type , state_type , value_type , range_algebra , default_operations ,
+        initially_resizer , rk4_decorator< state_type > > adams;
+
+    adams.initializing_stepper().do_count = 0;
+    double t = 0.0 , dt = 0.1;
+    adams.initialize( lorenz() , x , t , dt );
+    BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 2 ) );
+
+    adams.do_step( lorenz() , x , 0.0 , x , 0.1 );
+    BOOST_CHECK_EQUAL( adams.initializing_stepper().do_count , size_t( 2 ) );
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth_moulton.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth_moulton.cpp
new file mode 100755
index 0000000..55af50d
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth_moulton.cpp
@@ -0,0 +1,112 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/adams_bashforth_moulton.cpp
+
+ [begin_description]
+ This file tests the use of the Adams-Bashforth-Moulton.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#define BOOST_TEST_MODULE odeint_adams_bashforth_moulton
+
+#include <utility>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/mpl/list.hpp>
+#include <boost/mpl/size_t.hpp>
+#include <boost/mpl/range_c.hpp>
+
+#include <boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+typedef double value_type;
+
+struct lorenz
+{
+    template< class State , class Deriv , class Value >
+    void operator()( const State &_x , Deriv &_dxdt , const Value &dt ) const
+    {
+        const value_type sigma = 10.0;
+        const value_type R = 28.0;
+        const value_type b = 8.0 / 3.0;
+
+        typename boost::range_iterator< const State >::type x = boost::begin( _x );
+        typename boost::range_iterator< Deriv >::type dxdt = boost::begin( _dxdt );
+
+        dxdt[0] = sigma * ( x[1] - x[0] );
+        dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+        dxdt[2] = x[0]*x[1] - b * x[2];
+    }
+};
+
+BOOST_AUTO_TEST_SUITE( adams_bashforth_moulton_test )
+
+typedef boost::mpl::range_c< size_t , 1 , 6 > vector_of_steps;
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_init_and_steps , step_type , vector_of_steps )
+{
+    const static size_t steps = step_type::value;
+    typedef boost::array< value_type , 3 > state_type;
+
+    adams_bashforth_moulton< steps , state_type > stepper;
+    state_type x = {{ 10.0 , 10.0 , 10.0 }};
+    const value_type dt = 0.01;
+    value_type t = 0.0;
+
+    stepper.initialize( lorenz() , x , t , dt );
+    BOOST_CHECK_CLOSE( t , value_type( steps - 1 ) * dt , 1.0e-14 );
+
+    stepper.do_step( lorenz() , x , t , dt );
+}
+
+
+BOOST_AUTO_TEST_CASE( test_copying )
+{
+    typedef boost::array< double , 1 > state_type;
+    typedef adams_bashforth_moulton< 2 , state_type > stepper_type;
+
+    stepper_type s1;
+
+    stepper_type s2( s1 );
+
+    stepper_type s3;
+    s3 = s1;
+ }
+
+
+BOOST_AUTO_TEST_CASE( test_instantiation )
+{
+    typedef boost::array< double , 3 > state_type;
+    adams_bashforth_moulton< 1 , state_type > s1;
+    adams_bashforth_moulton< 2 , state_type > s2;
+    adams_bashforth_moulton< 3 , state_type > s3;
+    adams_bashforth_moulton< 4 , state_type > s4;
+    adams_bashforth_moulton< 5 , state_type > s5;
+    adams_bashforth_moulton< 6 , state_type > s6;
+    adams_bashforth_moulton< 7 , state_type > s7;
+    adams_bashforth_moulton< 8 , state_type > s8;
+
+    state_type x = {{ 10.0 , 10.0 , 10.0 }};
+    value_type t = 0.0 , dt = 0.01;
+    s1.do_step( lorenz() , x , t , dt );
+    s2.do_step( lorenz() , x , t , dt );
+    s3.do_step( lorenz() , x , t , dt );
+    s4.do_step( lorenz() , x , t , dt );
+    s5.do_step( lorenz() , x , t , dt );
+    s6.do_step( lorenz() , x , t , dt );
+//  s7.do_step( lorenz() , x , t , dt );
+//  s8.do_step( lorenz() , x , t , dt );
+}
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_moulton.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_moulton.cpp
new file mode 100755
index 0000000..10aaf61
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_moulton.cpp
@@ -0,0 +1,104 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/adams_moulton.cpp
+
+ [begin_description]
+ This file tests the use of the Adams-Moulton stepper.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#define BOOST_TEST_MODULE odeint_adams_moulton
+
+#include <utility>
+
+#include <boost/array.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/mpl/list.hpp>
+#include <boost/mpl/size_t.hpp>
+#include <boost/mpl/range_c.hpp>
+
+
+#include <boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp>
+#include <boost/numeric/odeint/stepper/detail/rotating_buffer.hpp>
+#include <boost/numeric/odeint/stepper/adams_moulton.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+typedef double value_type;
+
+struct lorenz
+{
+    template< class State , class Deriv , class Value >
+    void operator()( const State &_x , Deriv &_dxdt , const Value &dt ) const
+    {
+        const value_type sigma = 10.0;
+        const value_type R = 28.0;
+        const value_type b = 8.0 / 3.0;
+
+        typename boost::range_iterator< const State >::type x = boost::begin( _x );
+        typename boost::range_iterator< Deriv >::type dxdt = boost::begin( _dxdt );
+
+        dxdt[0] = sigma * ( x[1] - x[0] );
+        dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+        dxdt[2] = x[0]*x[1] - b * x[2];
+    }
+};
+
+BOOST_AUTO_TEST_SUITE( adams_moulton_test )
+
+BOOST_AUTO_TEST_CASE( test_adams_moulton_coefficients )
+{
+    detail::adams_moulton_coefficients< value_type , 1 > c1;
+    detail::adams_moulton_coefficients< value_type , 2 > c2;
+    detail::adams_moulton_coefficients< value_type , 3 > c3;
+    detail::adams_moulton_coefficients< value_type , 4 > c4;
+    detail::adams_moulton_coefficients< value_type , 5 > c5;
+    detail::adams_moulton_coefficients< value_type , 6 > c6;
+    detail::adams_moulton_coefficients< value_type , 7 > c7;
+    detail::adams_moulton_coefficients< value_type , 8 > c8;
+}
+
+typedef boost::mpl::range_c< size_t , 1 , 6 > vector_of_steps;
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_init_and_steps , step_type , vector_of_steps )
+{
+    const static size_t steps = step_type::value;
+    typedef boost::array< value_type , 3 > state_type;
+
+    adams_moulton< steps , state_type > stepper;
+//    state_type x = {{ 10.0 , 10.0 , 10.0 }};
+//    const value_type dt = 0.01;
+//    value_type t = 0.0;
+
+//    stepper.do_step( lorenz() , x , t , dt );
+}
+
+BOOST_AUTO_TEST_CASE( test_instantiation )
+{
+    typedef boost::array< double , 3 > state_type;
+    adams_moulton< 1 , state_type > s1;
+    adams_moulton< 2 , state_type > s2;
+    adams_moulton< 3 , state_type > s3;
+    adams_moulton< 4 , state_type > s4;
+    adams_moulton< 5 , state_type > s5;
+    adams_moulton< 6 , state_type > s6;
+    adams_moulton< 7 , state_type > s7;
+    adams_moulton< 8 , state_type > s8;
+
+//    state_type x = {{ 10.0 , 10.0 , 10.0 }};
+//    value_type t = 0.0 , dt = 0.01;
+}
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/boost_units_helpers.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/boost_units_helpers.hpp
new file mode 100755
index 0000000..11a14eb
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/boost_units_helpers.hpp
@@ -0,0 +1,59 @@
+/*
+  [auto_generated]
+  libs/numeric/odeint/test/dummy_boost_units.hpp
+
+  [begin_description]
+  tba.
+  [end_description]
+
+  Copyright 2009-2012 Karsten Ahnert
+  Copyright 2009-2012 Mario Mulansky
+
+  Distributed under the Boost Software License, Version 1.0.
+  (See accompanying file LICENSE_1_0.txt or
+  copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+
+#ifndef LIBS_NUMERIC_ODEINT_TEST_DUMMY_BOOST_UNITS_HPP_DEFINED
+#define LIBS_NUMERIC_ODEINT_TEST_DUMMY_BOOST_UNITS_HPP_DEFINED
+
+#include <boost/units/systems/si/length.hpp>
+#include <boost/units/systems/si/time.hpp>
+#include <boost/units/systems/si/velocity.hpp>
+#include <boost/units/systems/si/acceleration.hpp>
+#include <boost/units/systems/si/io.hpp>
+
+#include <boost/fusion/container.hpp>
+
+
+
+typedef double value_type;
+typedef boost::units::quantity< boost::units::si::time , value_type > time_type;
+typedef boost::units::quantity< boost::units::si::length , value_type > length_type;
+typedef boost::units::quantity< boost::units::si::velocity , value_type > velocity_type;
+typedef boost::units::quantity< boost::units::si::acceleration , value_type > acceleration_type;
+
+
+
+struct oscillator_mom_func_units
+{
+    template< class Coor , class MomDeriv >
+    void operator()( const Coor &q , MomDeriv &dp ) const
+    {
+        const boost::units::quantity< boost::units::si::frequency , value_type > omega = 1.0 * boost::units::si::hertz;
+        boost::fusion::at_c< 0 >( dp ) = - omega * omega * boost::fusion::at_c< 0 >( q );
+    }
+};
+
+struct oscillator_coor_func_units
+{
+    template< class Mom , class CoorDeriv >
+    void operator()( const Mom &p , CoorDeriv &dq ) const
+    {
+        boost::fusion::at_c< 0 >( dq ) = boost::fusion::at_c< 0 >( p );
+    }
+};
+
+
+#endif // LIBS_NUMERIC_ODEINT_TEST_DUMMY_BOOST_UNITS_HPP_DEFINED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/bulirsch_stoer.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/bulirsch_stoer.cpp
new file mode 100755
index 0000000..0289ce3
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/bulirsch_stoer.cpp
@@ -0,0 +1,137 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/bulirsch_stoer.cpp
+
+ [begin_description]
+ This file tests the Bulirsch-Stoer stepper.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_bulirsch_stoer
+
+#include <utility>
+#include <iostream>
+
+#include <boost/array.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/numeric/odeint/stepper/bulirsch_stoer.hpp>
+#include <boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp>
+
+#include <boost/numeric/odeint/integrate/integrate_adaptive.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+typedef double value_type;
+typedef boost::array< value_type , 3 > state_type;
+
+const double sigma = 10.0;
+const double R = 28.0;
+const double b = 8.0 / 3.0;
+
+struct lorenz
+{
+    template< class State , class Deriv >
+    void operator()( const State &x , Deriv &dxdt , double t ) const
+    {
+        dxdt[0] = sigma * ( x[1] - x[0] );
+        dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+        dxdt[2] = -b * x[2] + x[0] * x[1];
+    }
+};
+
+struct const_system
+{
+    template< class State , class Deriv >
+    void operator()( const State &x , Deriv &dxdt , double t ) const
+    {
+        dxdt[0] = 1.0;
+        dxdt[1] = 1.0;
+        dxdt[2] = 1.0;
+    }
+};
+
+struct sin_system
+{
+    template< class State , class Deriv >
+    void operator()( const State &x , Deriv &dxdt , double t ) const
+    {
+        dxdt[0] = sin( x[0] );
+        dxdt[1] = cos( x[1] );
+        dxdt[2] = sin( x[2] ) + cos( x[2] );
+    }
+};
+
+BOOST_AUTO_TEST_SUITE( bulirsch_stoer_test )
+
+BOOST_AUTO_TEST_CASE( test_bulirsch_stoer )
+{
+    typedef bulirsch_stoer< state_type > stepper_type;
+    stepper_type stepper( 1E-9 , 1E-9 , 1.0 , 0.0 );
+
+    state_type x;
+    x[0] = 10.0 ; x[1] = 10.0 ; x[2] = 5.0;
+
+    double dt = 0.1;
+
+    //stepper.try_step( lorenz() , x , t , dt );
+
+    std::cout << "starting integration..." << std::endl;
+
+    size_t steps = integrate_adaptive( stepper , lorenz() , x , 0.0 , 10.0 , dt );
+
+    std::cout << "required steps: " << steps << std::endl;
+
+    bulirsch_stoer_dense_out< state_type > bs_do( 1E-9 , 1E-9 , 1.0 , 0.0 );
+    x[0] = 10.0 ; x[1] = 10.0 ; x[2] = 5.0;
+    double t = 0.0;
+    dt = 1E-1;
+    bs_do.initialize( x , t , dt );
+    bs_do.do_step( sin_system() );
+    std::cout << "one step successful, new time: " << bs_do.current_time() << " (" << t << ")" << std::endl;
+
+    x = bs_do.current_state();
+    std::cout << "x( " << bs_do.current_time() << " ) = [ " << x[0] << " , " << x[1] << " , " << x[2] << " ]" << std::endl;
+
+    bs_do.calc_state( bs_do.current_time()/3 , x );
+    std::cout << "x( " << bs_do.current_time()/3 << " ) = [ " << x[0] << " , " << x[1] << " , " << x[2] << " ]" << std::endl;
+
+    std::cout << std::endl << "=======================================================================" << std::endl << std::endl;
+
+    x[0] = 10.0 ; x[1] = 10.0 ; x[2] = 5.0;
+    t = 0.0; dt /= 3;
+    bs_do.initialize( x , t , dt );
+    bs_do.do_step( sin_system() );
+    x = bs_do.current_state();
+    std::cout << "x( " << bs_do.current_time() << " ) = [ " << x[0] << " , " << x[1] << " , " << x[2] << " ]" << std::endl;
+
+    t = dt;
+    bs_do.initialize( x , t , dt );
+    bs_do.do_step( sin_system() );
+    x = bs_do.current_state();
+
+    t = 2*dt;
+    bs_do.initialize( x , t , dt );
+    bs_do.do_step( sin_system() );
+    x = bs_do.current_state();
+
+    std::cout << "x( " << bs_do.current_time() << " ) = [ " << x[0] << " , " << x[1] << " , " << x[2] << " ]" << std::endl;
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/const_range.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/const_range.hpp
new file mode 100755
index 0000000..f74614f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/const_range.hpp
@@ -0,0 +1,50 @@
+/*
+  [auto_generated]
+  libs/numeric/odeint/test/const_range.hpp
+
+  [begin_description]
+  tba.
+  [end_description]
+
+  Copyright 2009-2012 Karsten Ahnert
+  Copyright 2009-2012 Mario Mulansky
+
+  Distributed under the Boost Software License, Version 1.0.
+  (See accompanying file LICENSE_1_0.txt or
+  copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+
+#ifndef LIBS_NUMERIC_ODEINT_TEST_CONST_RANGE_HPP_DEFINED
+#define LIBS_NUMERIC_ODEINT_TEST_CONST_RANGE_HPP_DEFINED
+
+#include <boost/mpl/copy.hpp>
+#include <boost/mpl/inserter.hpp>
+#include <boost/mpl/insert.hpp>
+#include <boost/mpl/end.hpp>
+#include <boost/mpl/vector.hpp>
+#include <boost/mpl/range_c.hpp>
+#include <boost/mpl/placeholders.hpp>
+
+
+namespace mpl = boost::mpl;
+
+
+
+template< class N , class T >
+struct const_range
+{
+    typedef typename mpl::copy<
+        mpl::range_c< typename N::value_type , 0 , N::value > ,
+        mpl::inserter<
+            mpl::vector0<> ,
+            mpl::insert<
+                mpl::_1 ,
+                mpl::end< mpl::_1 > ,
+                T
+                >
+            >
+        >::type type;
+};
+
+#endif // LIBS_NUMERIC_ODEINT_TEST_CONST_RANGE_HPP_DEFINED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/default_operations.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/default_operations.cpp
new file mode 100755
index 0000000..8620438
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/default_operations.cpp
@@ -0,0 +1,268 @@
+/*
+  [auto_generated]
+  libs/numeric/odeint/test/default_operations.cpp
+
+  [begin_description]
+  This file tests default_operations.
+  [end_description]
+
+  Copyright 2009-2012 Karsten Ahnert
+  Copyright 2009-2012 Mario Mulansky
+
+  Distributed under the Boost Software License, Version 1.0.
+  (See accompanying file LICENSE_1_0.txt or
+  copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+
+#define BOOST_TEST_MODULE odeint_standard_operations
+
+#include <cmath>
+#include <complex>
+
+#include <boost/test/unit_test.hpp>
+#include <boost/test/floating_point_comparison.hpp>
+
+#include <boost/units/systems/si/length.hpp>
+#include <boost/units/systems/si/time.hpp>
+#include <boost/units/systems/si/velocity.hpp>
+#include <boost/units/systems/si/acceleration.hpp>
+#include <boost/units/systems/si/io.hpp>
+
+#include <boost/mpl/list.hpp>
+
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+
+namespace units = boost::units;
+namespace si = boost::units::si;
+namespace mpl = boost::mpl;
+using boost::numeric::odeint::default_operations;
+
+
+template< class Value > struct internal_value_type { typedef Value type; };
+template< class T > struct internal_value_type< std::complex< T > > { typedef T type; };
+
+template< class T > struct default_eps;
+template<> struct default_eps< double > { static double def_eps( void ) { return 1.0e-10; } };
+template<> struct default_eps< float > { static float def_eps( void ) { return 1.0e-5; } };
+
+
+typedef units::unit< units::derived_dimension< units::time_base_dimension , 2 >::type , si::system > time_2;
+typedef units::unit< units::derived_dimension< units::time_base_dimension , 3 >::type , si::system > time_3;
+typedef units::unit< units::derived_dimension< units::time_base_dimension , 4 >::type , si::system > time_4;
+typedef units::unit< units::derived_dimension< units::time_base_dimension , 5 >::type , si::system > time_5;
+typedef units::unit< units::derived_dimension< units::time_base_dimension , 6 >::type , si::system > time_6;
+typedef units::unit< units::derived_dimension< units::time_base_dimension , 7 >::type , si::system > time_7;
+
+const time_2 second2 = si::second * si::second;
+const time_3 second3 = second2 * si::second;
+const time_4 second4 = second3 * si::second;
+const time_5 second5 = second4 * si::second;
+const time_6 second6 = second5 * si::second;
+const time_7 second7 = second6 * si::second;
+
+
+
+
+template< class Value , class Compare = typename internal_value_type< Value >::type >
+struct double_fixture
+{
+    typedef Value value_type;
+    typedef Compare compare_type;
+
+    double_fixture( const compare_type &eps_ = default_eps< compare_type >::def_eps() )
+        : m_eps( eps_ ) , res( 0.0 ) , x1( 1.0 ) , x2( 2.0 ) , x3( 3.0 ) , x4( 4.0 ) , x5( 5.0 ) , x6( 6.0 ) , x7( 7.0 ) , x8( 8.0 )
+    {}
+
+    ~double_fixture( void )
+    {
+        using std::abs;
+        BOOST_CHECK_SMALL( abs( x1 - value_type( 1.0 ) ) , m_eps );
+        BOOST_CHECK_SMALL( abs( x2 - value_type( 2.0 ) ) , m_eps );
+        BOOST_CHECK_SMALL( abs( x3 - value_type( 3.0 ) ) , m_eps );
+        BOOST_CHECK_SMALL( abs( x4 - value_type( 4.0 ) ) , m_eps );
+        BOOST_CHECK_SMALL( abs( x5 - value_type( 5.0 ) ) , m_eps );
+        BOOST_CHECK_SMALL( abs( x6 - value_type( 6.0 ) ) , m_eps );
+        BOOST_CHECK_SMALL( abs( x7 - value_type( 7.0 ) ) , m_eps );
+    }
+
+    const compare_type m_eps;
+    value_type res;
+    value_type x1 , x2 , x3 , x4 , x5 , x6 , x7 , x8;
+};
+
+template< class Value , class Compare = typename internal_value_type< Value >::type >
+struct unit_fixture
+{
+    typedef Value value_type;
+    typedef Compare compare_type;
+    typedef units::quantity< si::length , value_type > length_type;
+
+    typedef units::quantity< si::time , value_type > time_type;
+    typedef units::quantity< time_2 , value_type > time_2_type;
+    typedef units::quantity< time_3 , value_type > time_3_type;
+    typedef units::quantity< time_4 , value_type > time_4_type;
+    typedef units::quantity< time_5 , value_type > time_5_type;
+    typedef units::quantity< time_6 , value_type > time_6_type;
+    typedef units::quantity< time_7 , value_type > time_7_type;
+
+    typedef units::quantity< si::velocity , value_type > velocity_type;
+    typedef units::quantity< si::acceleration , value_type > acceleration_type;
+
+    unit_fixture( const compare_type &eps_ = default_eps< compare_type >::def_eps() )
+        : m_eps( eps_ )
+        , res( 0.0 * si::meter )
+        ,   x( 1.0 * si::meter )
+        , d1x( 2.0 * si::meter / si::second )
+        , d2x( 3.0 * si::meter / si::second / si::second )
+    {}
+
+    ~unit_fixture( void )
+    {
+        using std::abs;
+        BOOST_CHECK_SMALL( abs(   x.value() - value_type( 1.0 ) ) , m_eps );
+        BOOST_CHECK_SMALL( abs( d1x.value() - value_type( 2.0 ) ) , m_eps );
+        BOOST_CHECK_SMALL( abs( d2x.value() - value_type( 3.0 ) ) , m_eps );
+    }
+
+    compare_type m_eps;
+    length_type res;
+    length_type x;
+    velocity_type d1x;
+    acceleration_type d2x;
+};
+
+
+typedef mpl::list< float , double , std::complex< double > > test_types;
+
+BOOST_AUTO_TEST_SUITE( check_operations_test )
+
+using std::abs;
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum2_test , T , test_types )
+{
+    typedef double_fixture< T > fix_type;
+    fix_type f;
+    typedef typename default_operations::scale_sum2< T , T > Op;
+    Op op( 1.25 , 9.81 );
+    op( f.res , f.x1 , f.x2 );
+    BOOST_CHECK_SMALL( abs( f.res  - T( 20.87 ) ) , f.m_eps );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum3_test , T , test_types )
+{
+    typedef double_fixture< T > fix_type;
+    fix_type f;
+    typedef default_operations::scale_sum3< T , T , T > Op;
+    Op op( 1.25 , 9.81 , 0.87 );
+    op( f.res , f.x1 , f.x2 , f.x3 );
+    BOOST_CHECK_SMALL( abs( f.res - T( 23.48 ) ) , f.m_eps );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum4_test , T , test_types  )
+{
+    typedef double_fixture< T > fix_type;
+    fix_type f;
+    typedef default_operations::scale_sum4< T , T , T , T > Op;
+    Op op( 1.25 , 9.81 , 0.87 , -0.15 );
+    op( f.res , f.x1 , f.x2 , f.x3 , f.x4 );
+    BOOST_CHECK_SMALL( abs( f.res  - T( 22.88 ) ) , f.m_eps );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum5_test , T , test_types )
+{
+    typedef double_fixture< T > fix_type;
+    fix_type f;
+    typedef default_operations::scale_sum5< T , T , T , T , T > Op;
+    Op op( 1.25 , 9.81 , 0.87 , -0.15 , -3.3 );
+    op( f.res , f.x1 , f.x2 , f.x3 , f.x4 , f.x5 );
+    BOOST_CHECK_SMALL( abs( f.res  - T( 6.38 ) ) , f.m_eps );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum6_test , T , test_types )
+{
+    typedef double_fixture< T > fix_type;
+    fix_type f;
+    typedef default_operations::scale_sum6< T , T , T , T , T , T > Op;
+    Op op( 1.25 , 9.81 , 0.87 , -0.15 , -3.3 , 4.2 );
+    op( f.res , f.x1 , f.x2 , f.x3 , f.x4 , f.x5 , f.x6 );
+    BOOST_CHECK_SMALL( abs( f.res - T( 31.58 ) ) , f.m_eps );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum7_test , T , test_types )
+{
+    typedef double_fixture< T > fix_type;
+    fix_type f;
+    typedef default_operations::scale_sum7< T , T , T , T , T , T , T > Op;
+    Op op( 1.25 , 9.81 , 0.87 , -0.15 , -3.3 , 4.2 , -0.22 );
+    op( f.res , f.x1 , f.x2 , f.x3 , f.x4 , f.x5 , f.x6 , f.x7 );
+    BOOST_CHECK_SMALL( abs( f.res - T( 30.04 ) ) , f.m_eps );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( rel_error_test , T , test_types )
+{
+    typedef double_fixture< T > fix_type;
+    fix_type f;
+    f.res = -1.1;
+    typedef default_operations::rel_error< T > Op;
+    Op op( 0.1 , 0.2 , 0.15 , 0.12 );
+    op( f.res , -f.x1 , -f.x2 );
+    BOOST_CHECK_SMALL( abs( f.res - T( 6.17978 ) ) , typename fix_type::compare_type( 1.0e-4 ) );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( maximum_test , T , test_types )
+{
+    typedef double_fixture< T > fix_type;
+    fix_type f;
+    typedef default_operations::maximum< typename fix_type::compare_type > Op;
+    Op op;
+    f.res = op( f.x1 , f.x2 );
+    BOOST_CHECK_SMALL( abs( f.res - T( 2.0 ) ) , f.m_eps );
+}
+
+
+
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum2_units_test , T , test_types )
+{
+    typedef unit_fixture< T > fix_type;
+    typedef typename fix_type::value_type value_type;
+    typedef typename fix_type::time_type time_type;
+    typedef typename fix_type::time_2_type time_2_type;
+    typedef typename fix_type::time_3_type time_3_type;
+    typedef typename fix_type::time_4_type time_4_type;
+    typedef typename fix_type::time_5_type time_5_type;
+    typedef typename fix_type::time_6_type time_6_type;
+    typedef typename fix_type::time_7_type time_7_type;
+
+    fix_type f;
+    typedef default_operations::scale_sum2< value_type , time_type > Op;
+    Op op( 1.0 , time_type( 1.0 * si::second ) );
+    op( f.res , f.x , f.d1x );
+    BOOST_CHECK_SMALL( abs( f.res.value() - T( 3.0 ) ) , f.m_eps );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( scale_sum3_units_test , T , test_types )
+{
+    typedef unit_fixture< T > fix_type;
+    typedef typename fix_type::value_type value_type;
+    typedef typename fix_type::time_type time_type;
+    typedef typename fix_type::time_2_type time_2_type;
+    typedef typename fix_type::time_3_type time_3_type;
+    typedef typename fix_type::time_4_type time_4_type;
+    typedef typename fix_type::time_5_type time_5_type;
+    typedef typename fix_type::time_6_type time_6_type;
+    typedef typename fix_type::time_7_type time_7_type;
+
+    fix_type f;
+    typedef default_operations::scale_sum3< value_type , time_type , time_2_type > Op;
+    Op op( 1.0 , time_type( 1.0 * si::second ) , time_2_type( 1.0 * second2 ) );
+    op( f.res , f.x , f.d1x , f.d2x );
+    BOOST_CHECK_SMALL( abs( f.res.value() - T( 6.0 ) ) , f.m_eps );
+}
+
+
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/diagnostic_state_type.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/diagnostic_state_type.hpp
new file mode 100755
index 0000000..d2a5239
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/diagnostic_state_type.hpp
@@ -0,0 +1,185 @@
+/*
+  [auto_generated]
+  libs/numeric/odeint/test/diagnostic_state_type.hpp
+
+  [begin_description]
+  tba.
+  [end_description]
+
+  Copyright 2009-2012 Karsten Ahnert
+  Copyright 2009-2012 Mario Mulansky
+
+  Distributed under the Boost Software License, Version 1.0.
+  (See accompanying file LICENSE_1_0.txt or
+  copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+
+#ifndef LIBS_NUMERIC_ODEINT_TEST_DIAGNOSTIC_STATE_TYPE_HPP_DEFINED
+#define LIBS_NUMERIC_ODEINT_TEST_DIAGNOSTIC_STATE_TYPE_HPP_DEFINED
+
+#include <boost/array.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/numeric/odeint/util/same_size.hpp>
+#include <boost/numeric/odeint/util/resize.hpp>
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+
+template< size_t N >
+struct counter
+{
+    static size_t& adjust_size_count( void )
+    {
+        static size_t m_adjust_size_count;
+        return m_adjust_size_count;
+    }
+
+    static size_t& construct_count( void )
+    {
+        static size_t m_construct_count;
+        return m_construct_count;
+    }
+
+    static size_t& copy_count( void )
+    {
+        static size_t m_copy_count;
+        return m_copy_count;
+    }
+
+    static size_t& destroy_count( void )
+    {
+        static size_t m_destroy_count;
+        return m_destroy_count;
+    }
+
+
+    static void init_counter( void )
+    {
+        counter< N >::adjust_size_count() = 0;
+        counter< N >::construct_count() = 0;
+        counter< N >::copy_count() = 0;
+        counter< N >::destroy_count() = 0;
+    }
+};
+
+template< size_t N >
+class diagnostic_type : public boost::array< double , 1 > { };
+
+
+typedef diagnostic_type< 0 > diagnostic_state_type;
+typedef diagnostic_type< 1 > diagnostic_deriv_type;
+typedef diagnostic_type< 2 > diagnostic_state_type2;
+typedef diagnostic_type< 3 > diagnostic_deriv_type2;
+    
+typedef counter< 0 > counter_state;
+typedef counter< 1 > counter_deriv;
+typedef counter< 2 > counter_state2;
+typedef counter< 3 > counter_deriv2;
+
+
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+    template< size_t N >
+    struct is_resizeable< diagnostic_type< N > >
+    {
+        typedef boost::true_type type;
+        const static bool value = type::value;
+    };
+
+    template< size_t N , size_t M  >
+    struct same_size_impl< diagnostic_type< N > , diagnostic_type< M > >
+    {
+        static bool same_size( const diagnostic_type< N > &x1 , const diagnostic_type< M > &x2 )
+        {
+            return false;
+        }
+    };
+
+    template< size_t N , class State1  >
+    struct same_size_impl< diagnostic_type< N > , State1 >
+    {
+        static bool same_size( const diagnostic_type< N > &x1 , const State1 &x2 )
+        {
+            return false;
+        }
+    };
+
+    template< class State1 , size_t N >
+    struct same_size_impl< State1 , diagnostic_type< N > >
+    {
+        static bool same_size( const State1 &x1 , const diagnostic_type< N > &x2 )
+        {
+            return false;
+        }
+    };
+
+
+
+    template< size_t N , class StateIn >
+    struct resize_impl< diagnostic_type< N > , StateIn >
+    {
+        static void resize( diagnostic_type< N > &x1 , const StateIn &x2 )
+        {
+            counter< N >::adjust_size_count()++;
+        }
+    };
+
+    template< size_t N >
+    struct state_wrapper< diagnostic_type< N > >
+    {
+        typedef state_wrapper< diagnostic_type< N > > state_wrapper_type;
+        typedef diagnostic_type< N > state_type;
+        typedef double value_type;
+        
+        state_type m_v;
+
+        state_wrapper() : m_v()
+        {
+            counter< N >::construct_count()++;
+        }
+
+        state_wrapper( const state_type &v ) : m_v( v )
+        {
+            counter< N >::construct_count()++;
+            counter< N >::copy_count()++;
+        }
+
+        state_wrapper( const state_wrapper_type &x ) : m_v( x.m_v )
+        {
+            counter< N >::construct_count()++;
+            counter< N >::copy_count()++;
+        }
+
+        state_wrapper_type& operator=( const state_wrapper_type &x )
+        {
+            counter< N >::copy_count()++;
+            return *this;
+        }
+
+        ~state_wrapper()
+        {
+            counter< N >::destroy_count()++;
+        }
+    };
+    
+
+} // namespace odeint
+} // namespace numeric
+} // namespace boost
+
+#define TEST_COUNTERS( c , s1 , s2 , s3 ,s4 ) \
+    BOOST_CHECK_EQUAL( c::adjust_size_count() , size_t( s1 ) ); \
+    BOOST_CHECK_EQUAL( c::construct_count() , size_t( s2 ) ); \
+    BOOST_CHECK_EQUAL( c::copy_count() , size_t( s3 ) ); \
+    BOOST_CHECK_EQUAL( c::destroy_count() , size_t( s4 ) );
+
+#define TEST_COUNTERS_MSG( c , s1 , s2 , s3 ,s4 , msg )              \
+    BOOST_CHECK_EQUAL( c::adjust_size_count() , size_t( s1 ) ); \
+    BOOST_CHECK_EQUAL( c::construct_count() , size_t( s2 ) ); \
+    BOOST_CHECK_EQUAL( c::copy_count() , size_t( s3 ) ); \
+    BOOST_CHECK_EQUAL( c::destroy_count() , size_t( s4 ) );
+
+
+#endif // LIBS_NUMERIC_ODEINT_TEST_DIAGNOSTIC_STATE_TYPE_HPP_DEFINED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_odes.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_odes.hpp
new file mode 100755
index 0000000..6aab990
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_odes.hpp
@@ -0,0 +1,126 @@
+/*
+  [auto_generated]
+  libs/numeric/odeint/test/dummy_odes.hpp
+
+  [begin_description]
+  tba.
+  [end_description]
+
+  Copyright 2009-2012 Karsten Ahnert
+  Copyright 2009-2012 Mario Mulansky
+
+  Distributed under the Boost Software License, Version 1.0.
+  (See accompanying file LICENSE_1_0.txt or
+  copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+
+#ifndef LIBS_NUMERIC_ODEINT_TEST_DUMMY_ODES_HPP_DEFINED
+#define LIBS_NUMERIC_ODEINT_TEST_DUMMY_ODES_HPP_DEFINED
+
+#include "vector_space_1d.hpp"
+
+#include <boost/fusion/include/at_c.hpp>
+
+
+
+
+
+
+/*
+ * rhs functors/functions for different state types
+ */
+struct constant_system_functor_standard
+{
+    template< class State , class Deriv , class Time >
+    void operator()( const State &x , Deriv &dxdt , const Time t ) const
+    {
+        dxdt[0] = 1.0;
+    }
+};
+
+struct constant_system_functor_vector_space
+{
+    template< class State , class Deriv , class Time >
+    void operator()( const State &x , Deriv &dxdt , const Time t  ) const
+    {
+        dxdt.m_x = 1.0;
+    }
+};
+
+struct constant_system_functor_fusion
+{
+    template< class State , class Deriv , class Time >
+    void operator()( const State &x , Deriv &dxdt , const Time t ) const
+    {
+        boost::fusion::at_c< 0 >( dxdt ) = boost::fusion::at_c< 0 >( x ) / Time( 1.0 );
+    }
+};
+
+template< class State , class Deriv , class Time >
+void constant_system_standard( const State &x , Deriv &dxdt , const Time t )
+{
+    dxdt[0] = 1.0;
+}
+
+template< class State , class Deriv , class Time >
+void constant_system_vector_space( const State &x , Deriv &dxdt , const Time t ) 
+{
+    dxdt.m_x = 1.0;
+}
+
+template< class State , class Deriv , class Time >
+void constant_system_fusion( const State &x , Deriv &dxdt , const Time t ) 
+{
+    boost::fusion::at_c< 0 >( dxdt ) = boost::fusion::at_c< 0 >( x ) / Time( 1.0 );
+}
+
+
+
+
+/*
+ * rhs functors for symplectic steppers
+ */
+struct constant_mom_func
+{
+    template< class StateIn , class StateOut >
+    void operator()( const StateIn &q , StateOut &dp ) const
+    {
+        dp[0] = 1.0;
+    }
+};
+
+struct default_coor_func
+{
+    template< class StateIn , class StateOut >
+    void operator()( const StateIn &p , StateOut &dq ) const
+    {
+        dq[0] = p[0];
+    }
+};
+
+
+
+struct constant_mom_func_vector_space_1d
+{
+    template< class T >
+    void operator()( const vector_space_1d< T > &q , vector_space_1d< T > &dp ) const
+    {
+        dp.m_x = 1.0;
+    }
+};
+
+struct default_coor_func_vector_space_1d
+{
+    template< class T >
+    void operator()( const vector_space_1d< T > &p , vector_space_1d< T > &dq ) const
+    {
+        dq.m_x = p.m_x;
+    }
+};
+
+
+
+
+
+#endif // LIBS_NUMERIC_ODEINT_TEST_DUMMY_ODES_HPP_DEFINED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_steppers.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_steppers.hpp
new file mode 100755
index 0000000..223be1f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_steppers.hpp
@@ -0,0 +1,117 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/dummy_steppers.hpp
+
+ [begin_description]
+ Dummy steppers for several tests.
+ [end_description]
+
+ Copyright 2009-2011 Karsten Ahnert
+ Copyright 2009-2011 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#ifndef BOOST_LIBS_NUMERIC_ODEINT_TEST_DUMMY_STEPPER_HPP_INCLUDED
+#define BOOST_LIBS_NUMERIC_ODEINT_TEST_DUMMY_STEPPER_HPP_INCLUDED
+
+#include <boost/array.hpp>
+#include <boost/numeric/odeint/stepper/stepper_categories.hpp>
+#include <boost/numeric/odeint/stepper/controlled_step_result.hpp>
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+struct dummy_stepper
+{
+    typedef double value_type;
+    typedef value_type time_type;
+    typedef boost::array< value_type , 1 > state_type;
+    typedef state_type deriv_type;
+    typedef unsigned short order_type;
+    typedef stepper_tag stepper_category;
+
+    order_type order( void ) const { return 1; }
+
+    template< class System >
+    void do_step( System sys , state_type &x , time_type t , time_type dt ) const
+    {
+        x[0] += 0.25;
+    }
+};
+
+struct dummy_dense_output_stepper
+{
+    typedef double value_type;
+    typedef value_type time_type;
+    typedef boost::array< value_type , 1 > state_type;
+    typedef state_type deriv_type;
+    typedef dense_output_stepper_tag stepper_category;
+
+    void initialize( const state_type &x0 , time_type t0 , time_type dt0 )
+    {
+        m_x = x0;
+        m_t = t0;
+        m_dt = dt0;
+    }
+
+    template< class System >
+    std::pair< time_type , time_type > do_step( System sys )
+    {
+        m_x[0] += 0.25;
+        m_t += m_dt;
+        return std::make_pair( m_t - m_dt , m_t );
+    }
+
+    void calc_state( time_type t_inter , state_type &x ) const
+    {
+        value_type theta = ( m_t - t_inter ) / m_dt;
+        x[0] = m_x[0] - 0.25 * theta;
+        
+    }
+
+    const time_type& current_time( void ) const
+    {
+        return m_t;
+    }
+
+    const state_type& current_state( void ) const
+    {
+        return m_x;
+    }
+
+    state_type m_x;
+    time_type m_t;
+    time_type m_dt;
+};
+
+
+
+struct dummy_controlled_stepper
+{
+    typedef double value_type;
+    typedef value_type time_type;
+    typedef boost::array< value_type , 1 > state_type;
+    typedef state_type deriv_type;
+    typedef controlled_stepper_tag stepper_category;
+
+    template< class Sys >
+    controlled_step_result try_step( Sys sys , state_type &x , time_type &t , time_type &dt ) const
+    {
+        x[0] += 0.25;
+        t += dt;
+        return success;
+    }
+};
+
+
+} // odeint
+} // numeric
+} // boost
+
+
+#endif // BOOST_LIBS_NUMERIC_ODEINT_TEST_DUMMY_STEPPER_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/euler_stepper.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/euler_stepper.cpp
new file mode 100755
index 0000000..8691ea4
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/euler_stepper.cpp
@@ -0,0 +1,105 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/euler_stepper.cpp
+
+ [begin_description]
+ This file tests explicit Euler stepper.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#define BOOST_TEST_MODULE odeint_explicit_euler
+
+#include <boost/test/unit_test.hpp>
+
+#include <utility>
+#include <iostream>
+#include <vector>
+
+#include <boost/numeric/odeint/stepper/euler.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+// test with own vector implementation
+
+class my_vec : public std::vector< double > {
+
+public:
+
+    my_vec() : std::vector< double >()
+        { }
+
+    my_vec( const my_vec &x ) : std::vector< double >( x )
+        { }
+
+
+    my_vec( size_t dim )
+        : std::vector< double >( dim )
+    { }
+
+};
+
+namespace boost {
+namespace numeric {
+namespace odeint {
+
+template<>
+struct is_resizeable< my_vec >
+{
+    //struct type : public boost::true_type { };
+    typedef boost::true_type type;
+    const static bool value = type::value;
+};
+} } }
+
+typedef double value_type;
+//typedef std::vector< value_type > state_type;
+typedef my_vec state_type;
+
+/* use functors, because functions don't work with msvc 10, I guess this is a bug */
+struct sys
+{
+    void operator()( const state_type &x , state_type &dxdt , const value_type t ) const
+    {
+        std::cout << "sys start " << dxdt.size() << std::endl;
+        dxdt[0] = x[0] + 2 * x[1];
+        dxdt[1] = x[1];
+        std::cout << "sys done" << std::endl;
+    }
+};
+
+
+BOOST_AUTO_TEST_SUITE( explicit_euler_test )
+
+BOOST_AUTO_TEST_CASE( test_euler )
+{
+    range_algebra algebra;
+    euler< state_type > stepper( algebra );
+    state_type x( 2 );
+    x[0] = 0.0; x[1] = 1.0;
+
+    std::cout << "initialized" << std::endl;
+
+    const value_type eps = 1E-12;
+    const value_type dt = 0.1;
+
+    stepper.do_step( sys() , x , 0.0 , dt );
+
+    using std::abs;
+
+    // compare with analytic solution of above system
+    BOOST_CHECK_MESSAGE( abs( x[0] - 2.0*1.0*dt ) < eps , x[0] - 2.0*1.0*dt );
+    BOOST_CHECK_MESSAGE( abs( x[1] - (1.0 + dt) ) < eps , x[1] - (1.0+dt) );
+
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/fusion_algebra.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/fusion_algebra.cpp
new file mode 100755
index 0000000..06a8be3
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/fusion_algebra.cpp
@@ -0,0 +1,184 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/fusion_algebra.cpp
+
+ [begin_description]
+ This file tests the Fusion algebra.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#define BOOST_TEST_MODULE odeint_fusion_algebra
+
+// using fusion vectors as state types requires increased macro variables
+#define BOOST_FUSION_INVOKE_MAX_ARITY 15
+#define BOOST_RESULT_OF_NUM_ARGS 15
+
+#include <cmath>
+#include <complex>
+#include <utility>
+#include <functional>
+
+#include <boost/numeric/odeint/config.hpp>
+
+#include <boost/test/unit_test.hpp>
+#include <boost/test/floating_point_comparison.hpp>
+
+#include <boost/units/systems/si/length.hpp>
+#include <boost/units/systems/si/time.hpp>
+#include <boost/units/systems/si/velocity.hpp>
+#include <boost/units/systems/si/acceleration.hpp>
+#include <boost/units/systems/si/io.hpp>
+
+#include <boost/fusion/container.hpp>
+
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+#include <boost/numeric/odeint/algebra/fusion_algebra.hpp>
+
+namespace units = boost::units;
+namespace si = boost::units::si;
+namespace fusion = boost::fusion;
+
+using boost::numeric::odeint::default_operations;
+using boost::numeric::odeint::fusion_algebra;
+
+typedef double value_type;
+typedef units::quantity< si::time , value_type > time_type;
+typedef units::quantity< si::length , value_type > length_type;
+typedef units::quantity< si::velocity , value_type > velocity_type;
+typedef units::quantity< si::acceleration , value_type > acceleration_type;
+typedef fusion::vector< length_type , velocity_type > state_type;
+typedef fusion::vector< velocity_type , acceleration_type > deriv_type;
+
+const time_type dt = 0.1 * si::second;
+
+
+struct fusion_fixture
+{
+    fusion_fixture( void )
+        : res( 0.0 * si::meter , 0.0 * si::meter_per_second ) ,
+          x( 1.0 * si::meter , 1.0 * si::meter_per_second ) ,
+          k1( 1.0 * si::meter_per_second , 1.0 * si::meter_per_second_squared ) ,
+          k2( 2.0 * si::meter_per_second , 2.0 * si::meter_per_second_squared ) ,
+          k3( 3.0 * si::meter_per_second , 3.0 * si::meter_per_second_squared ) ,
+          k4( 4.0 * si::meter_per_second , 4.0 * si::meter_per_second_squared ) ,
+          k5( 5.0 * si::meter_per_second , 5.0 * si::meter_per_second_squared ) ,
+          k6( 6.0 * si::meter_per_second , 6.0 * si::meter_per_second_squared ) { }
+
+    ~fusion_fixture( void )
+    {
+        BOOST_CHECK_CLOSE( fusion::at_c< 0 >( x ).value() , 1.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 1 >( x ).value() , 1.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 0 >( k1 ).value() , 1.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 1 >( k1 ).value() , 1.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 0 >( k2 ).value() , 2.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 1 >( k2 ).value() , 2.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 0 >( k3 ).value() , 3.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 1 >( k3 ).value() , 3.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 0 >( k4 ).value() , 4.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 1 >( k4 ).value() , 4.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 0 >( k5 ).value() , 5.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 1 >( k5 ).value() , 5.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 0 >( k6 ).value() , 6.0 , 1.0e-10 );
+        BOOST_CHECK_CLOSE( fusion::at_c< 1 >( k6 ).value() , 6.0 , 1.0e-10 );
+    }
+
+    state_type res , x;
+    deriv_type k1 , k2 , k3 , k4 , k5 , k6 ;
+};
+
+
+
+BOOST_AUTO_TEST_SUITE( fusion_algebra_test )
+
+fusion_algebra algebra;
+
+BOOST_AUTO_TEST_CASE( for_each2 )
+{
+    fusion_fixture f;
+    algebra.for_each2( f.res , f.k1 ,
+                       default_operations::scale_sum1< time_type >( dt ) );
+    BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 0.1 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 0.1 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE( for_each3 )
+{
+    fusion_fixture f;
+    algebra.for_each3( f.res , f.x , f.k1 ,
+                       default_operations::scale_sum2< value_type , time_type >( 1.0 , dt ) );
+    BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 1.1 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 1.1 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE( for_each4 )
+{
+    fusion_fixture f;
+    algebra.for_each4( f.res , f.x , f.k1 , f.k2 ,
+                       default_operations::scale_sum3< value_type , time_type , time_type >( 1.0 , dt , dt ) );
+    BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 1.3 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 1.3 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE( for_each5 )
+{
+    fusion_fixture f;
+    algebra.for_each5( f.res , f.x , f.k1 , f.k2 , f.k3 ,
+                       default_operations::scale_sum4< value_type , time_type , time_type , time_type >( 1.0 , dt , dt , dt ) );
+    BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 1.6 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 1.6 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE( for_each6 )
+{
+    fusion_fixture f;
+    algebra.for_each6( f.res , f.x , f.k1 , f.k2 , f.k3 , f.k4 ,
+                       default_operations::scale_sum5< value_type , time_type , time_type , time_type , time_type >( 1.0 , dt , dt , dt , dt ) );
+    BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 2.0 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 2.0 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE( for_each7 )
+{
+    fusion_fixture f;
+    algebra.for_each7( f.res , f.x , f.k1 , f.k2 , f.k3 , f.k4 , f.k5 ,
+                       default_operations::scale_sum6< value_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt , dt , dt , dt , dt ) );
+    BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 2.5 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 2.5 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE( for_each8 )
+{
+    fusion_fixture f;
+    algebra.for_each8( f.res , f.x , f.k1 , f.k2 , f.k3 , f.k4 , f.k5 , f.k6 ,
+                       default_operations::scale_sum7< value_type , time_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt , dt , dt , dt , dt , dt ) );
+    BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 3.1 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 3.1 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE( for_each15 )
+{
+    fusion_fixture f;
+    algebra.for_each15( f.res , f.x , f.k1 , f.k2 , f.k3 , f.k4 , f.k5 , f.k6 , f.k1 , f.k2 , f.k3 , f.k4 , f.k5 , f.k6 , f.k1 ,
+                        default_operations::scale_sum14< value_type , time_type , time_type , time_type , time_type , time_type , time_type ,
+                                                         time_type , time_type , time_type , time_type , time_type , time_type , time_type >( 1.0 , dt , dt , dt , dt , dt , dt , dt , dt , dt , dt , dt , dt , dt ) );
+    //BOOST_CHECK_CLOSE( fusion::at_c< 0 >( f.res ).value() , 3.1 , 1.0e-10 );
+    //BOOST_CHECK_CLOSE( fusion::at_c< 1 >( f.res ).value() , 3.1 , 1.0e-10 );
+}
+
+
+BOOST_AUTO_TEST_CASE( reduce )
+{
+    double sum = algebra.reduce( fusion::make_vector( 1.0 , 2.0 , 3.0 ) , std::plus< double >() , 0.0 );
+    BOOST_CHECK_CLOSE( sum , 6.0 , 1.0e-10 );
+}
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generation.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generation.cpp
new file mode 100755
index 0000000..970efd8
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generation.cpp
@@ -0,0 +1,87 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/generation.cpp
+
+ [begin_description]
+ This file tests the generation functions.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#define BOOST_TEST_MODULE odeint_generation
+
+#include <vector>
+
+#include <boost/test/unit_test.hpp>
+#include <boost/static_assert.hpp>
+#include <boost/type_traits/is_same.hpp>
+
+#include <boost/numeric/odeint/config.hpp>
+#include <boost/numeric/odeint/stepper/generation.hpp>
+
+using namespace boost::numeric::odeint;
+
+template< class Stepper1 , class Stepper2 >
+void check_stepper_type( const Stepper1 &s1 , const Stepper2 &s2 )
+{
+    BOOST_STATIC_ASSERT(( boost::is_same< Stepper1 , Stepper2 >::value ));
+}
+
+BOOST_AUTO_TEST_SUITE( generation_test )
+
+typedef std::vector< double > state_type;
+
+typedef runge_kutta_cash_karp54< state_type > rk54_type;
+typedef runge_kutta_cash_karp54_classic< state_type > rk54_classic_type;
+typedef runge_kutta_dopri5< state_type > dopri5_type;
+typedef runge_kutta_fehlberg78< state_type > fehlberg78_type;
+typedef rosenbrock4< double > rosenbrock4_type;
+
+
+BOOST_AUTO_TEST_CASE( test_generation_dopri5 )
+{
+    check_stepper_type( make_controlled( 1.0e-6 , 1.0e-10 , dopri5_type() ) , controlled_runge_kutta< dopri5_type >() );
+    check_stepper_type( make_controlled< dopri5_type >( 1.0e-6 , 1.0e-10 ) , controlled_runge_kutta< dopri5_type >() );
+
+    check_stepper_type( make_dense_output( 1.0e-6 , 1.0e-10 , dopri5_type() ) , dense_output_runge_kutta< controlled_runge_kutta< dopri5_type > >() );
+    check_stepper_type( make_dense_output< dopri5_type >( 1.0e-6 , 1.0e-10 ) , dense_output_runge_kutta< controlled_runge_kutta< dopri5_type > >() );
+}
+
+BOOST_AUTO_TEST_CASE( test_generation_cash_karp54 )
+{
+    check_stepper_type( make_controlled( 1.0e-6 , 1.0e-10 , rk54_type() ) , controlled_runge_kutta< rk54_type >() );
+    check_stepper_type( make_controlled< rk54_type >( 1.0e-6 , 1.0e-10 ) , controlled_runge_kutta< rk54_type >() );
+}
+
+BOOST_AUTO_TEST_CASE( test_generation_cash_karp54_classic )
+{
+    check_stepper_type( make_controlled( 1.0e-6 , 1.0e-10 , rk54_classic_type() ) , controlled_runge_kutta< rk54_classic_type >() );
+    check_stepper_type( make_controlled< rk54_classic_type >( 1.0e-6 , 1.0e-10 ) , controlled_runge_kutta< rk54_classic_type >() );
+}
+
+
+BOOST_AUTO_TEST_CASE( test_generation_fehlberg78 )
+{
+    check_stepper_type( make_controlled( 1.0e-6 , 1.0e-10 , fehlberg78_type() ) , controlled_runge_kutta< fehlberg78_type >() );
+    check_stepper_type( make_controlled< fehlberg78_type >( 1.0e-6 , 1.0e-10 ) , controlled_runge_kutta< fehlberg78_type >() );
+}
+
+
+BOOST_AUTO_TEST_CASE( test_generation_rosenbrock4 )
+{
+    check_stepper_type( make_controlled( 1.0e-6 , 1.0e-10 , rosenbrock4_type() ) , rosenbrock4_controller< rosenbrock4_type >() );
+    check_stepper_type( make_controlled< rosenbrock4_type >( 1.0e-6 , 1.0e-10 ) , rosenbrock4_controller< rosenbrock4_type >() );
+
+    check_stepper_type( make_dense_output( 1.0e-6 , 1.0e-10 , rosenbrock4_type() ) , rosenbrock4_dense_output< rosenbrock4_controller< rosenbrock4_type > >() );
+    check_stepper_type( make_dense_output< rosenbrock4_type >( 1.0e-6 , 1.0e-10 ) , rosenbrock4_dense_output< rosenbrock4_controller< rosenbrock4_type > >() );
+}
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_error_stepper.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_error_stepper.cpp
new file mode 100755
index 0000000..e244426
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_error_stepper.cpp
@@ -0,0 +1,111 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/generic_error_stepper.cpp
+
+ [begin_description]
+ This file tests the generic error stepper.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_generic_error_stepper
+
+#include <iostream>
+#include <utility>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp>
+
+#include <boost/array.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+namespace fusion = boost::fusion;
+
+typedef double value_type;
+typedef boost::array< value_type , 2 > state_type;
+
+void sys( const state_type &x , state_type &dxdt , const value_type &t )
+{
+    dxdt[ 0 ] = x[ 0 ] + 2 * x[ 1 ];
+    dxdt[ 1 ] = x[ 1 ];
+}
+
+typedef explicit_error_generic_rk< 6 , 5 , 4 , 5 , state_type> error_rk_generic_type;
+
+const boost::array< double , 1 > a1 = {{ 0.2 }};
+const boost::array< double , 2 > a2 = {{ 3.0/40.0 , 9.0/40 }};
+const boost::array< double , 3 > a3 = {{ 0.3 , -0.9 , 1.2 }};
+const boost::array< double , 4 > a4 = {{ -11.0/54.0 , 2.5 , -70.0/27.0 , 35.0/27.0 }};
+const boost::array< double , 5 > a5 = {{ 1631.0/55296.0 , 175.0/512.0 , 575.0/13824.0 , 44275.0/110592.0 , 253.0/4096.0 }};
+
+const error_rk_generic_type::coef_a_type a = fusion::make_vector( a1 , a2 , a3 , a4 , a5 );
+const error_rk_generic_type::coef_b_type b = {{ 37.0/378.0 , 0.0 , 250.0/621.0 , 125.0/594.0 , 0.0 , 512.0/1771.0 }};
+const error_rk_generic_type::coef_b_type b2 = {{ b[0]-2825.0/27648.0 , b[1]-0.0 , b[2]-18575.0/48384.0 , b[3]-13525.0/55296.0 , b[4]-277.0/14336.0 , b[5]-0.25 }};
+const error_rk_generic_type::coef_c_type c = {{ 0.0 , 0.2 , 0.3 , 0.6 , 1.0 , 7.0/8 }};
+
+typedef runge_kutta_cash_karp54< state_type > error_rk54_ck_generic_type;
+typedef runge_kutta_cash_karp54_classic< state_type > rk54_ck_type;
+
+BOOST_AUTO_TEST_SUITE( generic_error_stepper_test )
+
+BOOST_AUTO_TEST_CASE( test_generic_error_stepper )
+{
+    //simultaneously test copying
+    error_rk_generic_type rk_generic_( a , b , b2 , c );
+    error_rk_generic_type rk_generic = rk_generic_;
+
+    error_rk54_ck_generic_type rk54_ck_generic_;
+    error_rk54_ck_generic_type rk54_ck_generic = rk54_ck_generic_;
+
+    //std::cout << stepper;
+
+    rk54_ck_type rk54_ck_;
+    rk54_ck_type rk54_ck = rk54_ck_;
+
+    typedef error_rk_generic_type::state_type state_type;
+    typedef error_rk_generic_type::value_type stepper_value_type;
+    typedef error_rk_generic_type::deriv_type deriv_type;
+    typedef error_rk_generic_type::time_type time_type;
+
+    state_type x = {{ 0.0 , 1.0 }};
+    state_type y = x;
+    state_type z = x;
+    state_type x_err , y_err , z_err;
+
+    rk_generic.do_step( sys , x , 0.0 , 0.1 , x_err );
+
+    rk54_ck_generic.do_step( sys , y , 0.0 , 0.1 , y_err);
+
+    rk54_ck.do_step( sys , z , 0.0 , 0.1 , z_err );
+
+    BOOST_CHECK_NE( 0.0 , x[0] );
+    BOOST_CHECK_NE( 1.0 , x[1] );
+    BOOST_CHECK_NE( 0.0 , x_err[0] );
+    BOOST_CHECK_NE( 0.0 , x_err[1] );
+    // compare with analytic solution of above system
+    BOOST_CHECK_EQUAL( x[0] , y[0] );
+    BOOST_CHECK_EQUAL( x[1] , y[1] );
+    BOOST_CHECK_EQUAL( x[0] , z[0] );
+    BOOST_CHECK_EQUAL( x[1] , z[1] );
+
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_stepper.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_stepper.cpp
new file mode 100755
index 0000000..3978c6f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_stepper.cpp
@@ -0,0 +1,104 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/generic_stepper.cpp
+
+ [begin_description]
+ This file tests the generic stepper.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_generic_stepper
+
+#include <iostream>
+#include <utility>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/numeric/odeint/stepper/explicit_generic_rk.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4_classic.hpp>
+
+#include <boost/array.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+namespace fusion = boost::fusion;
+
+typedef double value_type;
+typedef boost::array< value_type , 2 > state_type;
+
+void sys( const state_type &x , state_type &dxdt , const value_type &t )
+{
+    dxdt[ 0 ] = x[ 0 ] + 2 * x[ 1 ];
+    dxdt[ 1 ] = x[ 1 ];
+}
+
+typedef explicit_generic_rk< 4 , 4 , state_type> rk_generic_type;
+typedef runge_kutta4< state_type > rk4_generic_type;
+
+const boost::array< double , 1 > a1 = {{ 0.5 }};
+const boost::array< double , 2 > a2 = {{ 0.0 , 0.5 }};
+const boost::array< double , 3 > a3 = {{ 0.0 , 0.0 , 1.0 }};
+
+const rk_generic_type::coef_a_type a = fusion::make_vector( a1 , a2 , a3 );
+const rk_generic_type::coef_b_type b = {{ 1.0/6 , 1.0/3 , 1.0/3 , 1.0/6 }};
+const rk_generic_type::coef_c_type c = {{ 0.0 , 0.5 , 0.5 , 1.0 }};
+
+typedef runge_kutta4_classic< state_type > rk4_type;
+
+BOOST_AUTO_TEST_SUITE( generic_stepper_test )
+
+BOOST_AUTO_TEST_CASE( test_generic_stepper )
+{
+    //simultaneously test copying
+    rk_generic_type rk_generic_( a , b , c );
+    rk_generic_type rk_generic = rk_generic_;
+
+    rk4_generic_type rk4_generic_;
+    rk4_generic_type rk4_generic = rk4_generic_;
+
+    //std::cout << stepper;
+
+    rk4_type rk4_;
+    rk4_type rk4 = rk4_;
+
+    typedef rk_generic_type::state_type state_type;
+    typedef rk_generic_type::value_type stepper_value_type;
+    typedef rk_generic_type::deriv_type deriv_type;
+    typedef rk_generic_type::time_type time_type;
+
+    state_type x = {{ 0.0 , 1.0 }};
+    state_type y = x;
+    state_type z = x;
+
+    rk_generic.do_step( sys , x , 0.0 , 0.1 );
+
+    rk4_generic.do_step( sys , y , 0.0 , 0.1 );
+
+    rk4.do_step( sys , z , 0.0 , 0.1 );
+
+    BOOST_CHECK_NE( 0.0 , x[0] );
+    BOOST_CHECK_NE( 1.0 , x[1] );
+    // compare with analytic solution of above system
+    BOOST_CHECK_EQUAL( x[0] , y[0] );
+    BOOST_CHECK_EQUAL( x[1] , y[1] );
+    BOOST_CHECK_EQUAL( x[0] , z[0] );
+    BOOST_CHECK_EQUAL( x[1] , z[1] );
+
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/implicit_euler.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/implicit_euler.cpp
new file mode 100755
index 0000000..bd4408c
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/implicit_euler.cpp
@@ -0,0 +1,86 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/implicit_euler.cpp
+
+ [begin_description]
+ This file tests the implicit Euler stepper.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_implicit_euler
+
+#include <boost/test/unit_test.hpp>
+
+#include <utility>
+#include <iostream>
+
+#include <boost/numeric/odeint/stepper/implicit_euler.hpp>
+//#include <boost/numeric/odeint/util/ublas_resize.hpp>
+
+#include <boost/numeric/ublas/vector.hpp>
+#include <boost/numeric/ublas/matrix.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+typedef double value_type;
+typedef boost::numeric::ublas::vector< value_type > state_type;
+typedef boost::numeric::ublas::matrix< value_type > matrix_type;
+
+/* use functors, because functions don't work with msvc 10, I guess this is a bug */
+struct sys
+{
+    void operator()( const state_type &x , state_type &dxdt , const value_type t ) const
+    {
+        dxdt( 0 ) = x( 0 ) + 2 * x( 1 );
+        dxdt( 1 ) = x( 1 );
+    }
+};
+
+struct jacobi 
+{
+    void operator()( const state_type &x , matrix_type &jacobi , const value_type t ) const
+    {
+        jacobi( 0 , 0 ) = 1;
+        jacobi( 0 , 1 ) = 2;
+        jacobi( 1 , 0 ) = 0;
+        jacobi( 1 , 1 ) = 1;
+    }
+};
+
+BOOST_AUTO_TEST_SUITE( implicit_euler_test )
+
+BOOST_AUTO_TEST_CASE( test_euler )
+{
+    implicit_euler< value_type > stepper;
+    state_type x( 2 );
+    x(0) = 0.0; x(1) = 1.0;
+
+    value_type eps = 1E-12;
+
+    /* make_pair doesn't work with function pointers on msvc 10 */
+    stepper.do_step( std::make_pair( sys() , jacobi() ) , x , 0.0 , 0.1 );
+
+    using std::abs;
+
+    // compare with analytic solution of above system
+    BOOST_CHECK_MESSAGE( abs( x(0) - 20.0/81.0 ) < eps , x(0) - 20.0/81.0 );
+    BOOST_CHECK_MESSAGE( abs( x(1) - 10.0/9.0 ) < eps , x(0) - 10.0/9.0 );
+
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate.cpp
new file mode 100755
index 0000000..980f2e0
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate.cpp
@@ -0,0 +1,275 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/integrate.cpp
+
+ [begin_description]
+ This file tests the integrate function and its variants.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+
+#define BOOST_TEST_MODULE odeint_integrate_functions
+
+#include <vector>
+#include <cmath>
+#include <iostream>
+
+#include <boost/numeric/odeint/config.hpp>
+
+#include <boost/array.hpp>
+#include <boost/ref.hpp>
+#include <boost/iterator/counting_iterator.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/mpl/vector.hpp>
+
+// nearly everything from odeint is used in these tests
+#include <boost/numeric/odeint/integrate/integrate_const.hpp>
+#include <boost/numeric/odeint/integrate/integrate_adaptive.hpp>
+#include <boost/numeric/odeint/integrate/integrate_times.hpp>
+#include <boost/numeric/odeint/integrate/integrate_n_steps.hpp>
+#include <boost/numeric/odeint/stepper/euler.hpp>
+#include <boost/numeric/odeint/stepper/modified_midpoint.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp>
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/bulirsch_stoer.hpp>
+#include <boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp>
+
+#include <boost/numeric/odeint/util/detail/less_with_sign.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+namespace mpl = boost::mpl;
+
+
+typedef double value_type;
+typedef std::vector< value_type > state_type;
+
+void lorenz( const state_type &x , state_type &dxdt , const value_type t )
+{
+    //const value_type sigma( 10.0 );
+    const value_type R( 28.0 );
+    const value_type b( value_type( 8.0 ) / value_type( 3.0 ) );
+
+    // first component trivial
+    dxdt[0] = 1.0; //sigma * ( x[1] - x[0] );
+    dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+    dxdt[2] = -b * x[2] + x[0] * x[1];
+}
+
+struct push_back_time
+{
+    std::vector< double >& m_times;
+
+    state_type& m_x;
+
+    push_back_time( std::vector< double > &times , state_type &x )
+    :  m_times( times ) , m_x( x ) { }
+
+    void operator()( const state_type &x , double t )
+    {
+        m_times.push_back( t );
+        boost::numeric::odeint::copy( x , m_x );
+    }
+};
+
+template< class Stepper >
+struct perform_integrate_const_test
+{
+    void operator()( const value_type t_end , const value_type dt )
+    {
+        std::cout << "Testing integrate_const with " << typeid( Stepper ).name() << std::endl;
+
+        state_type x( 3 , 10.0 ) , x_end( 3 );
+
+        std::vector< value_type > times;
+
+        integrate_const( Stepper() , lorenz , x , 0.0 , t_end ,
+                                        dt , push_back_time( times , x_end ) );
+
+        // int steps = times.size()-1;
+
+        //std::cout << t_end << " (" << dt << "), " << steps << " , " << times.size() << " , " << 10.0+dt*steps << "=" << x_end[0] << std::endl;
+
+        BOOST_CHECK_EQUAL( static_cast<int>(times.size()) , static_cast<int>(floor(t_end/dt))+1 );
+
+        for( size_t i=0 ; i<times.size() ; ++i )
+        {
+            //std::cout << i << " , " << times[i] << " , " << static_cast< value_type >(i)*dt << std::endl;
+            // check if observer was called at times 0,1,2,...
+            BOOST_CHECK_SMALL( times[i] - static_cast< value_type >(i)*dt , (i+1) * 2E-16 );
+        }
+
+        // check first, trivial, component
+        BOOST_CHECK_SMALL( (10.0 + times[times.size()-1]) - x_end[0] , 1E-6 ); // precision of steppers: 1E-6
+        //BOOST_CHECK_EQUAL( x[1] , x_end[1] );
+        //BOOST_CHECK_EQUAL( x[2] , x_end[2] );
+    }
+};
+
+template< class Stepper >
+struct perform_integrate_adaptive_test
+{
+    void operator()( const value_type t_end = 10.0 , const value_type dt = 0.03 )
+    {
+        std::cout << "Testing integrate_adaptive with " << typeid( Stepper ).name() << std::endl;
+
+        state_type x( 3 , 10.0 ) , x_end( 3 );
+
+        std::vector< value_type > times;
+
+        size_t steps = integrate_adaptive( Stepper() , *lorenz , x , 0.0 , t_end ,
+                                        dt , push_back_time( times , x_end ) );
+
+//        std::cout << t_end << " , " << steps << " , " << times.size() << " , " << 10.0+dt*steps << "=" << x_end[0] << std::endl;
+
+        BOOST_CHECK_EQUAL( times.size() , steps+1 );
+
+        BOOST_CHECK_SMALL( times[0] - 0.0 , 2E-16 );
+        BOOST_CHECK_SMALL( times[times.size()-1] - t_end , times.size() * 2E-16 );
+
+        // check first, trivial, component
+        BOOST_CHECK_SMALL( (10.0 + t_end) - x_end[0] , 1E-6 ); // precision of steppers: 1E-6
+//        BOOST_CHECK_EQUAL( x[1] , x_end[1] );
+//        BOOST_CHECK_EQUAL( x[2] , x_end[2] );
+    }
+};
+
+
+template< class Stepper >
+struct perform_integrate_times_test
+{
+    void operator()( const int n = 10 , const int dn=1 , const value_type dt = 0.03 )
+    {
+        std::cout << "Testing integrate_times with " << typeid( Stepper ).name() << std::endl;
+
+        state_type x( 3 ) , x_end( 3 );
+        x[0] = x[1] = x[2] = 10.0;
+
+        std::vector< double > times;
+
+        std::vector< double > obs_times( abs(n) );
+        for( int i=0 ; boost::numeric::odeint::detail::less_with_sign( i ,
+                       static_cast<int>(obs_times.size()) ,
+                       dt ) ; i+=dn )
+        {
+            obs_times[i] = i;
+        }
+        // simple stepper
+        integrate_times( Stepper() , lorenz , x , obs_times.begin() , obs_times.end() ,
+                    dt , push_back_time( times , x_end ) );
+
+        BOOST_CHECK_EQUAL( static_cast<int>(times.size()) , abs(n) );
+
+        for( size_t i=0 ; i<times.size() ; ++i )
+            // check if observer was called at times 0,1,2,...
+            BOOST_CHECK_EQUAL( times[i] , static_cast<double>(i) );
+
+        // check first, trivial, component
+        BOOST_CHECK_SMALL( (10.0 + 1.0*times[times.size()-1]) - x_end[0] , 1E-6 ); // precision of steppers: 1E-6
+//        BOOST_CHECK_EQUAL( x[1] , x_end[1] );
+//        BOOST_CHECK_EQUAL( x[2] , x_end[2] );
+    }
+};
+
+template< class Stepper >
+struct perform_integrate_n_steps_test
+{
+    void operator()( const int n = 200 , const value_type dt = 0.01 )
+    {
+        std::cout << "Testing integrate_n_steps with " << typeid( Stepper ).name() << std::endl;
+
+        state_type x( 3 ) , x_end( 3 );
+        x[0] = x[1] = x[2] = 10.0;
+
+        std::vector< double > times;
+
+        // simple stepper
+        value_type end_time = integrate_n_steps( Stepper() , lorenz , x , 0.0 , dt , n , push_back_time( times , x_end ) );
+
+        BOOST_CHECK_SMALL( end_time - n*dt , 2E-16 );
+        BOOST_CHECK_EQUAL( static_cast<int>(times.size()) , n+1 );
+
+        for( size_t i=0 ; i<times.size() ; ++i )
+            // check if observer was called at times 0,1,2,...
+            BOOST_CHECK_SMALL( times[i] - static_cast< value_type >(i)*dt , 2E-16 );
+
+        // check first, trivial, component
+        BOOST_CHECK_SMALL( (10.0 + end_time) - x_end[0] , 1E-6 ); // precision of steppers: 1E-6
+//        BOOST_CHECK_EQUAL( x[1] , x_end[1] );
+//        BOOST_CHECK_EQUAL( x[2] , x_end[2] );
+
+    }
+};
+
+
+
+class stepper_methods : public mpl::vector<
+    euler< state_type > ,
+    modified_midpoint< state_type > ,
+    runge_kutta4< state_type > ,
+    runge_kutta_cash_karp54< state_type > ,
+    runge_kutta_dopri5< state_type > ,
+    runge_kutta_fehlberg78< state_type > ,
+    controlled_runge_kutta< runge_kutta_cash_karp54< state_type > > ,
+    controlled_runge_kutta< runge_kutta_dopri5< state_type > > ,
+    controlled_runge_kutta< runge_kutta_fehlberg78< state_type > > ,
+    bulirsch_stoer< state_type > ,
+    dense_output_runge_kutta< controlled_runge_kutta< runge_kutta_dopri5< state_type > > >
+    //bulirsch_stoer_dense_out< state_type >
+> { };
+
+
+
+BOOST_AUTO_TEST_SUITE( integrate_test )
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_const_test_case , Stepper, stepper_methods )
+{
+    perform_integrate_const_test< Stepper > tester;
+    tester( 1.005 , 0.01 );
+    tester( 1.0 , 0.01 );
+    tester( 1.1 , 0.01 );
+    tester( -1.005 , -0.01 );
+}
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_adaptive_test_case , Stepper, stepper_methods )
+{
+    perform_integrate_adaptive_test< Stepper > tester;
+    tester( 1.005 , 0.01 );
+    tester( 1.0 , 0.01 );
+    tester( 1.1 , 0.01 );
+    tester( -1.005 , -0.01 );
+}
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_times_test_case , Stepper, stepper_methods )
+{
+    perform_integrate_times_test< Stepper > tester;
+    tester();
+    //tester( -10 , -0.01 );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_n_steps_test_case , Stepper, stepper_methods )
+{
+    perform_integrate_n_steps_test< Stepper > tester;
+    tester();
+    tester( 200 , 0.01 );
+    tester( 200 , 0.01 );
+    tester( 200 , 0.01 );
+    tester( 200 , -0.01 );
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp
new file mode 100755
index 0000000..68e5b5e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp
@@ -0,0 +1,226 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/integrate_implicit.cpp
+
+ [begin_description]
+ This file tests the integrate function and its variants with the implicit steppers.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#define BOOST_TEST_MODULE odeint_integrate_functions_implicit
+
+#include <vector>
+#include <cmath>
+#include <iostream>
+
+#include <boost/numeric/odeint/config.hpp>
+
+#include <boost/array.hpp>
+#include <boost/ref.hpp>
+#include <boost/iterator/counting_iterator.hpp>
+#include <boost/numeric/ublas/vector.hpp>
+#include <boost/numeric/ublas/matrix.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/mpl/vector.hpp>
+
+#include <boost/numeric/odeint/integrate/integrate_const.hpp>
+#include <boost/numeric/odeint/integrate/integrate_adaptive.hpp>
+#include <boost/numeric/odeint/integrate/integrate_times.hpp>
+#include <boost/numeric/odeint/integrate/integrate_n_steps.hpp>
+#include <boost/numeric/odeint/stepper/rosenbrock4.hpp>
+#include <boost/numeric/odeint/stepper/rosenbrock4_controller.hpp>
+#include <boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp>
+
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+namespace mpl = boost::mpl;
+namespace ublas = boost::numeric::ublas;
+
+typedef double value_type;
+typedef ublas::vector< value_type > state_type;
+typedef boost::numeric::ublas::matrix< value_type > matrix_type;
+
+struct sys
+{
+    void operator()( const state_type &x , state_type &dxdt , const value_type &t ) const
+    {
+        dxdt( 0 ) = x( 0 ) + 2 * x( 1 );
+        dxdt( 1 ) = x( 1 );
+    }
+};
+
+struct jacobi
+{
+    void operator()( const state_type &x , matrix_type &jacobi , const value_type &t , state_type &dfdt ) const
+    {
+        jacobi( 0 , 0 ) = 1;
+        jacobi( 0 , 1 ) = 2;
+        jacobi( 1 , 0 ) = 0;
+        jacobi( 1 , 1 ) = 1;
+        dfdt( 0 ) = 0.0;
+        dfdt( 1 ) = 0.0;
+    }
+};
+
+struct push_back_time
+{
+    std::vector< double >& m_times;
+
+    push_back_time( std::vector< double > &times )
+    :  m_times( times ) { }
+
+    void operator()( const state_type &x , double t )
+    {
+        m_times.push_back( t );
+    }
+};
+
+template< class Stepper >
+struct perform_integrate_const_test
+{
+    void operator()( void )
+    {
+        state_type x( 2 , 1.0 );
+        const value_type dt = 0.03;
+        const value_type t_end = 10.0;
+
+        std::vector< value_type > times;
+
+        integrate_const( Stepper() , std::make_pair( sys() , jacobi() ) , x , 0.0 , t_end ,
+                                        dt , push_back_time( times ) );
+
+        BOOST_CHECK_EQUAL( static_cast<int>(times.size()) , static_cast<int>(floor(t_end/dt))+1 );
+
+        for( size_t i=0 ; i<times.size() ; ++i )
+        {
+            //std::cout << i << std::endl;
+            // check if observer was called at times 0,1,2,...
+            BOOST_CHECK_SMALL( times[i] - static_cast< value_type >(i)*dt , (i+1) * 2.0e-16 );
+        }
+    }
+};
+
+template< class Stepper >
+struct perform_integrate_adaptive_test
+{
+    void operator()( void )
+    {
+        state_type x( 2 , 1.0 );
+        const value_type dt = 0.03;
+        const value_type t_end = 10.0;
+
+        std::vector< value_type > times;
+
+        size_t steps = integrate_adaptive( Stepper() , std::make_pair( sys() , jacobi() ) , x , 0.0 , t_end ,
+                                        dt , push_back_time( times ) );
+
+        BOOST_CHECK_EQUAL( times.size() , steps+1 );
+
+        BOOST_CHECK_SMALL( times[0] - 0.0 , 2.0e-16 );
+        BOOST_CHECK_SMALL( times[times.size()-1] - t_end , times.size() * 3.0e-16 );
+    }
+};
+
+
+template< class Stepper >
+struct perform_integrate_times_test
+{
+    void operator()( void )
+    {
+        state_type x( 2 , 1.0 );
+
+        const value_type dt = 0.03;
+
+        std::vector< double > times;
+
+        // simple stepper
+        integrate_times( Stepper() , std::make_pair( sys() , jacobi() ) , x , 
+                    boost::counting_iterator<int>(0) , boost::counting_iterator<int>(10) ,
+                    dt , push_back_time( times ) );
+
+        BOOST_CHECK_EQUAL( static_cast<int>(times.size()) , 10 );
+
+        for( size_t i=0 ; i<times.size() ; ++i )
+            // check if observer was called at times 0,1,2,...
+            BOOST_CHECK_EQUAL( times[i] , static_cast<double>(i) );
+    }
+};
+
+template< class Stepper >
+struct perform_integrate_n_steps_test
+{
+    void operator()( void )
+    {
+        state_type x( 2 , 1.0 );
+
+        const value_type dt = 0.03;
+        const int n = 200;
+
+        std::vector< double > times;
+
+        // simple stepper
+        value_type end_time = integrate_n_steps( Stepper() , std::make_pair( sys() , jacobi() ) , x , 0.0 , dt , n , push_back_time( times ) );
+
+        BOOST_CHECK_SMALL( end_time - n*dt , 3.0e-16 );
+        BOOST_CHECK_EQUAL( static_cast<int>(times.size()) , n+1 );
+
+        for( size_t i=0 ; i<times.size() ; ++i )
+            // check if observer was called at times 0,1,2,...
+            BOOST_CHECK_SMALL( times[i] - static_cast< value_type >(i)*dt , (i+1) * 2.0e-16 );
+    }
+};
+
+
+
+class stepper_methods : public mpl::vector<
+    rosenbrock4< value_type > ,
+    rosenbrock4_controller< rosenbrock4< value_type > > ,
+    rosenbrock4_dense_output< rosenbrock4_controller< rosenbrock4< value_type > > >
+> { };
+
+
+
+BOOST_AUTO_TEST_SUITE( integrate_test )
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_const_test_case , Stepper, stepper_methods )
+{
+    perform_integrate_const_test< Stepper > tester;
+    tester();
+}
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_adaptive_test_case , Stepper, stepper_methods )
+{
+    perform_integrate_adaptive_test< Stepper > tester;
+    tester();
+}
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_times_test_case , Stepper, stepper_methods )
+{
+    perform_integrate_times_test< Stepper > tester;
+    tester();
+}
+
+
+class simple_stepper_methods : public mpl::vector<
+    rosenbrock4< value_type >
+> { };
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_n_steps_test_case , Stepper, simple_stepper_methods )
+{
+    perform_integrate_n_steps_test< Stepper > tester;
+    tester();
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_times.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_times.cpp
new file mode 100755
index 0000000..e5491aa
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_times.cpp
@@ -0,0 +1,186 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/integrate_times.cpp
+
+ [begin_description]
+ This file tests the integrate_times function and its variants.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#define BOOST_TEST_MODULE odeint_integrate_times
+
+#include <boost/test/unit_test.hpp>
+
+#include <utility>
+#include <iostream>
+#include <vector>
+
+#include <boost/ref.hpp>
+#include <boost/iterator/counting_iterator.hpp>
+
+
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/bulirsch_stoer.hpp>
+#include <boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp>
+#include <boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp>
+#include <boost/numeric/odeint/integrate/integrate_times.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+typedef double value_type;
+typedef std::vector< value_type > state_type;
+
+
+void lorenz( const state_type &x , state_type &dxdt , const value_type t )
+{
+    const value_type sigma( 10.0 );
+    const value_type R( 28.0 );
+    const value_type b( value_type( 8.0 ) / value_type( 3.0 ) );
+
+    dxdt[0] = sigma * ( x[1] - x[0] );
+    dxdt[1] = R * x[0] - x[1] - x[0] * x[2];
+    dxdt[2] = -b * x[2] + x[0] * x[1];
+}
+
+struct push_back_time
+{
+    std::vector< double >& m_times;
+
+    push_back_time( std::vector< double > &times )
+    :  m_times( times ) { }
+
+    void operator()( const state_type &x , double t )
+    {
+        m_times.push_back( t );
+    }
+};
+
+BOOST_AUTO_TEST_SUITE( integrate_times_test )
+
+BOOST_AUTO_TEST_CASE( test_integrate_times )
+{
+
+    state_type x( 3 );
+    x[0] = x[1] = x[2] = 10.0;
+
+    const value_type dt = 0.03;
+
+    std::vector< double > times;
+
+    // simple stepper
+    integrate_times( runge_kutta4< state_type >() , lorenz , x , boost::counting_iterator<int>(0) , boost::counting_iterator<int>(10) ,
+                dt , push_back_time( times ) );
+
+    for( int i=0 ; i<10 ; ++i )
+        // check if observer was called at times 0,1,2,...
+        BOOST_CHECK_EQUAL( times[i] , static_cast<double>(i) );
+    times.clear();
+
+    // controlled stepper
+    integrate_times( controlled_runge_kutta< runge_kutta_dopri5< state_type > >() , lorenz , x ,
+                boost::counting_iterator<int>(0) , boost::counting_iterator<int>(10) ,
+                dt , push_back_time( times ) );
+
+    for( int i=0 ; i<10 ; ++i )
+        // check if observer was called at times 0,1,2,...
+        BOOST_CHECK_EQUAL( times[i] , static_cast<double>(i) );
+    times.clear();
+
+    //another controlled stepper
+    integrate_times( bulirsch_stoer< state_type >() , lorenz , x ,
+                boost::counting_iterator<int>(0) , boost::counting_iterator<int>(10) ,
+                dt , push_back_time( times ) );
+
+    for( int i=0 ; i<10 ; ++i )
+        // check if observer was called at times 0,1,2,...
+        BOOST_CHECK_EQUAL( times[i] , static_cast<double>(i) );
+    times.clear();
+
+
+    // dense output stepper
+    integrate_times( dense_output_runge_kutta< controlled_runge_kutta< runge_kutta_dopri5< state_type > > >() ,
+                     lorenz , x ,
+                     boost::counting_iterator<int>(0) , boost::counting_iterator<int>(10) ,
+                     dt , push_back_time( times ) );
+
+    for( int i=0 ; i<10 ; ++i )
+        // check if observer was called at times 0,1,2,...
+        BOOST_CHECK_EQUAL( times[i] , static_cast<double>(i) );
+
+
+    integrate_times( bulirsch_stoer_dense_out< state_type >() , lorenz , x ,
+                boost::counting_iterator<int>(0) , boost::counting_iterator<int>(10) ,
+                dt , push_back_time( times ) );
+
+    for( int i=0 ; i<10 ; ++i )
+        // check if observer was called at times 0,1,2,...
+        BOOST_CHECK_EQUAL( times[i] , static_cast<double>(i) );
+
+}
+
+
+BOOST_AUTO_TEST_CASE( test_integrate_times_ranges )
+{
+
+    state_type x( 3 );
+    x[0] = x[1] = x[2] = 10.0;
+
+    const value_type dt = 0.03;
+
+    std::vector< double > times;
+
+    // simple stepper
+    integrate_times( runge_kutta4< state_type >() , lorenz , x ,
+                std::make_pair( boost::counting_iterator<int>(0) , boost::counting_iterator<int>(10) ) ,
+                dt , push_back_time( times ) );
+
+    for( int i=0 ; i<10 ; ++i )
+        // check if observer was called at times 0,1,2,...
+        BOOST_CHECK_EQUAL( times[i] , static_cast<double>(i) );
+    times.clear();
+
+    // controlled stepper
+    integrate_times( controlled_runge_kutta< runge_kutta_dopri5< state_type > >() , lorenz , x ,
+                std::make_pair( boost::counting_iterator<int>(0) , boost::counting_iterator<int>(10) ) ,
+                dt , push_back_time( times ) );
+
+    for( int i=0 ; i<10 ; ++i )
+        // check if observer was called at times 0,1,2,...
+        BOOST_CHECK_EQUAL( times[i] , static_cast<double>(i) );
+    times.clear();
+
+    //another controlled stepper
+    integrate_times( bulirsch_stoer< state_type >() , lorenz , x ,
+                std::make_pair( boost::counting_iterator<int>(0) , boost::counting_iterator<int>(10) ) ,
+                dt , push_back_time( times ) );
+
+    for( int i=0 ; i<10 ; ++i )
+        // check if observer was called at times 0,1,2,...
+        BOOST_CHECK_EQUAL( times[i] , static_cast<double>(i) );
+    times.clear();
+
+
+    // dense output stepper
+    integrate_times( bulirsch_stoer_dense_out< state_type >() , lorenz , x ,
+                std::make_pair( boost::counting_iterator<int>(0) , boost::counting_iterator<int>(10) ) ,
+                dt , push_back_time( times ) );
+
+    for( int i=0 ; i<10 ; ++i )
+        // check if observer was called at times 0,1,2,...
+        BOOST_CHECK_EQUAL( times[i] , static_cast<double>(i) );
+
+}
+
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_pair.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_pair.cpp
new file mode 100755
index 0000000..e0208d5
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_pair.cpp
@@ -0,0 +1,49 @@
+/*
+  [auto_generated]
+  libs/numeric/odeint/test/is_pair.cpp
+
+  [begin_description]
+  This file tests the is_pair meta-function.
+  [end_description]
+
+  Copyright 2009-2012 Karsten Ahnert
+  Copyright 2009-2012 Mario Mulansky
+
+  Distributed under the Boost Software License, Version 1.0.
+  (See accompanying file LICENSE_1_0.txt or
+  copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+#define BOOST_TEST_MODULE odeint_is_pair
+
+#include <utility>
+
+#include <boost/test/unit_test.hpp>
+#include <boost/static_assert.hpp>
+
+#include <boost/numeric/odeint/util/is_pair.hpp>
+
+using namespace boost::numeric::odeint;
+
+
+
+BOOST_AUTO_TEST_SUITE( is_pair_test )
+
+BOOST_AUTO_TEST_CASE( test_is_pair )
+{
+    typedef std::pair< int , int > type1;
+    typedef std::pair< int& , int > type2;
+    typedef std::pair< int , int& > type3;
+    typedef std::pair< int& , int& > type4;
+    typedef std::pair< const int , int > type5;
+    typedef std::pair< const int& , int > type6;
+
+    BOOST_STATIC_ASSERT(( is_pair< type1 >::value ));
+    BOOST_STATIC_ASSERT(( is_pair< type2 >::value ));
+    BOOST_STATIC_ASSERT(( is_pair< type3 >::value ));
+    BOOST_STATIC_ASSERT(( is_pair< type4 >::value ));
+    BOOST_STATIC_ASSERT(( is_pair< type5 >::value ));
+    BOOST_STATIC_ASSERT(( is_pair< type6 >::value ));
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_resizeable.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_resizeable.cpp
new file mode 100755
index 0000000..2b8a106
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_resizeable.cpp
@@ -0,0 +1,88 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/is_resizeable.cpp
+
+ [begin_description]
+ This file tests is_resizeable meta-function of odeint.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_is_resizeable
+
+#include <vector>
+#include <cmath>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+#include <boost/fusion/include/vector.hpp>
+#include <boost/units/systems/si/length.hpp>
+#include <boost/units/systems/si/time.hpp>
+#include <boost/units/systems/si/velocity.hpp>
+#include <boost/units/systems/si/acceleration.hpp>
+#include <boost/units/systems/si/io.hpp>
+
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+BOOST_AUTO_TEST_CASE( test_vector )
+{
+    BOOST_CHECK( is_resizeable< std::vector< int > >::value );
+}
+
+BOOST_AUTO_TEST_CASE( test_double )
+{
+    BOOST_CHECK( !( is_resizeable< double >::value ) );
+}
+
+BOOST_AUTO_TEST_CASE( test_fusion_vector_of_vector )
+{
+    typedef boost::fusion::vector< std::vector< double > , std::vector< double > > state_type;
+    BOOST_CHECK( is_resizeable< state_type >::value );
+}
+
+BOOST_AUTO_TEST_CASE( test_fusion_vector_of_double )
+{
+    typedef boost::fusion::vector< double , double > state_type;
+    BOOST_CHECK( !( is_resizeable< state_type >::value ) );
+}
+
+BOOST_AUTO_TEST_CASE( test_fusion_vector_mixed1 )
+{
+    typedef boost::fusion::vector< double , std::vector< double > > state_type;
+    BOOST_CHECK( is_resizeable< state_type >::value);
+}
+
+BOOST_AUTO_TEST_CASE( test_fusion_vector_mixed2 )
+{
+    typedef boost::fusion::vector< std::vector< double > , double > state_type;
+    BOOST_CHECK( is_resizeable< state_type >::value );
+}
+
+BOOST_AUTO_TEST_CASE( test_fusion_quantity_sequence )
+{
+    namespace units = boost::units;
+    namespace si = boost::units::si;
+
+    typedef double value_type;
+    typedef units::quantity< si::time , value_type > time_type;
+    typedef units::quantity< si::length , value_type > length_type;
+    typedef units::quantity< si::velocity , value_type > velocity_type;
+    typedef boost::fusion::vector< length_type , velocity_type > state_type;
+
+    BOOST_CHECK( !( is_resizeable< state_type >::value ) );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2
new file mode 100755
index 0000000..4801628
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2
@@ -0,0 +1,29 @@
+# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+
+# bring in rules for testing
+
+
+import testing ;
+
+use-project boost : $(BOOST_ROOT) ;
+
+project
+    : requirements
+      <library>/boost/test//boost_unit_test_framework
+      <define>BOOST_ALL_NO_LIB=1
+      <include>../../../..
+      <link>static
+      <toolset>clang:<cxxflags>-Wno-unused-variable
+
+# <cxxflags>-D_SCL_SECURE_NO_WARNINGS
+    ;
+
+test-suite "odeint"
+     :
+     [ run runge_kutta.cpp ]
+     [ run symplectic.cpp ]
+     [ run rosenbrock.cpp ]
+     : <testing.launcher>valgrind
+     ;
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp
new file mode 100755
index 0000000..0bb8365
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp
@@ -0,0 +1,89 @@
+/* Boost numeric test of the rosenbrock4 stepper test file
+
+ Copyright 2012 Karsten Ahnert
+ Copyright 2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE numeric_rosenbrock
+
+#include <iostream>
+#include <cmath>
+
+#include <boost/array.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/numeric/odeint/stepper/rosenbrock4.hpp>
+#include <boost/numeric/ublas/vector.hpp>
+#include <boost/numeric/ublas/matrix.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+typedef double value_type;
+typedef boost::numeric::ublas::vector< value_type > state_type;
+typedef boost::numeric::ublas::matrix< value_type > matrix_type;
+
+// harmonic oscillator, analytic solution x[0] = sin( t )
+struct sys
+{
+    void operator()( const state_type &x , state_type &dxdt , const value_type &t ) const
+    {
+        dxdt( 0 ) = x( 1 );
+        dxdt( 1 ) = -x( 0 );
+    }
+};
+
+struct jacobi
+{
+    void operator()( const state_type &x , matrix_type &jacobi , const value_type &t , state_type &dfdt ) const
+    {
+        jacobi( 0 , 0 ) = 0;
+        jacobi( 0 , 1 ) = 1;
+        jacobi( 1 , 0 ) = -1;
+        jacobi( 1 , 1 ) = 0;
+        dfdt( 0 ) = 0.0;
+        dfdt( 1 ) = 0.0;
+    }
+};
+
+
+BOOST_AUTO_TEST_SUITE( numeric_rosenbrock4 )
+
+BOOST_AUTO_TEST_CASE( rosenbrock4_numeric_test )
+{
+    typedef rosenbrock4< value_type > stepper_type;
+    stepper_type stepper;
+
+    const int o = stepper.order()+1;
+
+    state_type x0( 2 ) , x1( 2 );
+    x0(0) = 0.0; x0(1) = 1.0;
+
+    double dt = 0.5;
+
+    stepper.do_step( std::make_pair( sys() , jacobi() ) , x0 , 0.0 , x1 , dt );
+    const double f = 2.0 * std::abs( sin(dt) - x1(0) ) / std::pow( dt , o );
+
+    std::cout << o << " , " << f << std::endl;
+
+    while( f*std::pow( dt , o ) > 1E-16 )
+    {
+        stepper.do_step( std::make_pair( sys() , jacobi() ) , x0 , 0.0 , x1 , dt );
+        std::cout << "Testing dt=" << dt << std::endl;
+        BOOST_CHECK_SMALL( std::abs( sin(dt) - x1(0) ) , f*std::pow( dt , o ) );
+        dt *= 0.5;
+    }
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp
new file mode 100755
index 0000000..f51a840
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp
@@ -0,0 +1,168 @@
+/* Boost numeric test of the runge kutta steppers test file
+
+ Copyright 2012 Karsten Ahnert
+ Copyright 2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE numeric_runge_kutta
+
+#include <iostream>
+#include <cmath>
+
+#include <boost/array.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/mpl/vector.hpp>
+
+#include <boost/numeric/odeint.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+namespace mpl = boost::mpl;
+
+typedef double value_type;
+
+typedef boost::array< double , 2 > state_type;
+
+// harmonic oscillator, analytic solution x[0] = sin( t )
+struct osc
+{
+    void operator()( const state_type &x , state_type &dxdt , const double t ) const
+    {
+        dxdt[0] = x[1];
+        dxdt[1] = -x[0];
+    }
+};
+
+/* reset dispatcher */
+template< class StepperCategory >
+struct resetter
+{
+    template< class Stepper >
+    static void reset( Stepper &stepper ) { }
+};
+
+template< >
+struct resetter< explicit_error_stepper_fsal_tag >
+{
+    template< class Stepper >
+    static void reset( Stepper &stepper ) 
+    { stepper.reset(); }
+};
+
+
+BOOST_AUTO_TEST_SUITE( numeric_runge_kutta_test )
+
+
+/* generic test for all runge kutta steppers */
+template< class Stepper >
+struct perform_runge_kutta_test
+{
+    void operator()( void )
+    {
+   
+        Stepper stepper;
+        const int o = stepper.order()+1; //order of the error is order of approximation + 1
+
+        const state_type x0 = {{ 0.0 , 1.0 }};
+        state_type x1;
+        const double t = 0.0;
+        /* do a first step with dt=0.1 to get an estimate on the prefactor of the error dx = f * dt^(order+1) */
+        double dt = 0.5;
+        stepper.do_step( osc() , x0 , t , x1 , dt );
+        const double f = 2.0 * std::abs( sin(dt) - x1[0] ) / std::pow( dt , o ); // upper bound
+        
+        std::cout << o << " , " << f << std::endl;
+
+        /* as long as we have errors above machine precision */
+        while( f*std::pow( dt , o ) > 1E-16 )
+        {
+            // reset stepper which require resetting (fsal steppers)
+            resetter< typename Stepper::stepper_category >::reset( stepper );
+            
+            stepper.do_step( osc() , x0 , t , x1 , dt );
+            std::cout << "Testing dt=" << dt << std::endl;
+            BOOST_CHECK_LT( std::abs( sin(dt) - x1[0] ) , f*std::pow( dt , o ) );
+            dt *= 0.5;
+        }
+    }
+};
+
+
+/* generic error test for all runge kutta steppers */
+template< class Stepper >
+struct perform_runge_kutta_error_test
+{
+    void operator()( void )
+    {
+        Stepper stepper;
+        const int o = stepper.error_order()+1; //order of the error is order of approximation + 1
+
+        const state_type x0 = {{ 0.0 , 1.0 }};
+        state_type x1 , x_err;
+        const double t = 0.0;
+        /* do a first step with dt=0.1 to get an estimate on the prefactor of the error dx = f * dt^(order+1) */
+        double dt = 0.5;
+        stepper.do_step( osc() , x0 , t , x1 , dt , x_err );
+        const double f = 2.0 * std::abs( x_err[0] ) / std::pow( dt , o );
+
+        std::cout << o << " , " << f << " , " << x0[0] << std::endl;
+
+        /* as long as we have errors above machine precision */
+        while( f*std::pow( dt , o ) > 1E-16 )
+        {
+            // reset stepper which require resetting (fsal steppers)
+            resetter< typename Stepper::stepper_category >::reset( stepper );
+            
+            stepper.do_step( osc() , x0 , t , x1 , dt , x_err );
+            std::cout << "Testing dt=" << dt << ": " << x_err[1] << std::endl;
+            BOOST_CHECK_SMALL( std::abs( x_err[0] ) , f*std::pow( dt , o ) );
+            dt *= 0.5;
+        }
+    }
+};
+
+
+typedef mpl::vector<
+    euler< state_type > ,
+    modified_midpoint< state_type > ,
+    runge_kutta4< state_type > ,
+    runge_kutta4_classic< state_type > ,
+    runge_kutta_cash_karp54_classic< state_type > ,
+    runge_kutta_cash_karp54< state_type > ,
+    runge_kutta_dopri5< state_type > ,
+    runge_kutta_fehlberg78< state_type >
+    > runge_kutta_steppers;
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( runge_kutta_test , Stepper, runge_kutta_steppers )
+{
+    perform_runge_kutta_test< Stepper > tester;
+    tester();
+}
+
+
+typedef mpl::vector<
+    runge_kutta_cash_karp54_classic< state_type > ,
+    runge_kutta_cash_karp54< state_type > ,
+    runge_kutta_dopri5< state_type > ,
+    runge_kutta_fehlberg78< state_type >
+    > runge_kutta_error_steppers;
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( runge_kutta_error_test , Stepper, runge_kutta_error_steppers )
+{
+    perform_runge_kutta_error_test< Stepper > tester;
+    tester();
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp
new file mode 100755
index 0000000..9facf90
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp
@@ -0,0 +1,95 @@
+/* Boost numeric test of the symplectic steppers test file
+
+ Copyright 2012 Karsten Ahnert
+ Copyright 2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE numeric_symplectic
+
+#include <iostream>
+#include <cmath>
+
+#include <boost/array.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/mpl/vector.hpp>
+
+#include <boost/numeric/odeint.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+namespace mpl = boost::mpl;
+
+typedef double value_type;
+
+typedef boost::array< double ,1 > state_type;
+
+// harmonic oscillator, analytic solution x[0] = sin( t )
+struct osc
+{
+    void operator()( const state_type &q , state_type &dpdt ) const
+    {
+        dpdt[0] = -q[0];
+    }
+};
+
+BOOST_AUTO_TEST_SUITE( numeric_symplectic_test )
+
+
+/* generic test for all symplectic steppers */
+template< class Stepper >
+struct perform_symplectic_test
+{
+    void operator()( void )
+    {
+   
+        Stepper stepper;
+        const int o = stepper.order()+1; //order of the error is order of approximation + 1
+
+        const state_type q0 = {{ 0.0 }};
+        const state_type p0 = {{ 1.0 }};
+        state_type q1,p1;
+        std::pair< state_type , state_type >x1( q1 , p1 );
+        const double t = 0.0;
+        /* do a first step with dt=0.1 to get an estimate on the prefactor of the error dx = f * dt^(order+1) */
+        double dt = 0.5;
+        stepper.do_step( osc() , std::make_pair( q0 , p0 ) , t , x1 , dt );
+        const double f = 2.0 * std::abs( sin(dt) - x1.first[0] ) / std::pow( dt , o );
+
+        std::cout << o << " , " << f << std::endl;
+
+        /* as long as we have errors above machine precision */
+        while( f*std::pow( dt , o ) > 1E-16 )
+        {
+            stepper.do_step( osc() , std::make_pair( q0 , p0 ) , t , x1 , dt );
+            std::cout << "Testing dt=" << dt << std::endl;
+            BOOST_CHECK_SMALL( std::abs( sin(dt) - x1.first[0] ) , f*std::pow( dt , o ) );
+            dt *= 0.5;
+        }
+    }
+};
+
+
+typedef mpl::vector<
+    symplectic_euler< state_type > ,
+    symplectic_rkn_sb3a_mclachlan< state_type >
+    > symplectic_steppers;
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( symplectic_test , Stepper, symplectic_steppers )
+{
+    perform_symplectic_test< Stepper > tester;
+    tester();
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp
new file mode 100755
index 0000000..0217924
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp
@@ -0,0 +1,72 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/prepare_stepper_testing.hpp
+
+ [begin_description]
+ This file defines some helper functions for the stepper tests.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#ifndef PREPARE_STEPPER_TESTING_HPP_
+#define PREPARE_STEPPER_TESTING_HPP_
+
+#include <boost/array.hpp>
+#include <vector>
+#include <boost/fusion/sequence.hpp>
+
+#include <boost/mpl/vector.hpp>
+
+#include <boost/numeric/odeint/algebra/vector_space_algebra.hpp>
+#include <boost/numeric/odeint/algebra/array_algebra.hpp>
+
+#include "vector_space_1d.hpp"
+
+namespace mpl = boost::mpl;
+namespace fusion = boost::fusion;
+
+using namespace boost::numeric::odeint;
+
+/* the state types that will be tested */
+typedef std::vector< double > vector_type;
+typedef vector_space_1d< double > vector_space_type;
+typedef boost::array< double , 1 > array_type;
+
+typedef mpl::vector< vector_type , vector_space_type , array_type >::type container_types;
+
+/* choose the right algebra */
+template< class State > struct algebra_dispatcher { typedef range_algebra type; };
+template<> struct algebra_dispatcher< array_type > { typedef array_algebra type; };
+template<> struct algebra_dispatcher< vector_space_type > { typedef vector_space_algebra type; };
+template<> struct algebra_dispatcher< double > { typedef vector_space_algebra type; };
+
+
+
+/*
+typedef mpl::vector
+<
+    mpl::vector< float , boost::array< float , 1 > , boost::array< float , 1 > , constant_system_standard , stepper_type > ,
+    mpl::vector< float , boost::array< float , 1 > , std::vector< float > , constant_system_standard , stepper_type >
+    > types_and_systems_matrix;
+
+
+struct check_stepper
+{
+    template< class Vector >
+    void operator()( Vector )
+    {
+        typedef typename mpl::at_c< Vector , 0 >::type value_type;
+        typedef typename mpl::at_c< Vector , 1 >::type deriv_type;
+        typedef typename mpl::at_c< Vector , 2 >::type state_type;
+        typedef typename mpl::at_c< Vector , 3 >::type system_type;
+    }
+};
+*/
+
+#endif /* PREPARE_STEPPER_TESTING_HPP_ */
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/range_algebra.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/range_algebra.cpp
new file mode 100755
index 0000000..ee3629c
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/range_algebra.cpp
@@ -0,0 +1,190 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/check_operations.cpp
+
+ [begin_description]
+ This file tests interaction between the algebras and the operations.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#define BOOST_TEST_MODULE odeint_standard_algebra
+
+#include <cmath>
+#include <complex>
+#include <utility>
+#include <functional>
+#include <boost/array.hpp>
+
+#include <boost/test/unit_test.hpp>
+#include <boost/test/floating_point_comparison.hpp>
+
+#include <boost/units/systems/si/length.hpp>
+#include <boost/units/systems/si/time.hpp>
+#include <boost/units/systems/si/velocity.hpp>
+#include <boost/units/systems/si/io.hpp>
+
+#include <boost/numeric/odeint/algebra/default_operations.hpp>
+#include <boost/numeric/odeint/algebra/range_algebra.hpp>
+#include <boost/numeric/odeint/algebra/array_algebra.hpp>
+
+#include <boost/mpl/list.hpp>
+
+namespace units = boost::units;
+namespace si = boost::units::si;
+
+using boost::numeric::odeint::default_operations;
+using boost::numeric::odeint::range_algebra;
+using boost::numeric::odeint::array_algebra;
+
+
+BOOST_AUTO_TEST_SUITE( standard_algebra_test )
+
+typedef boost::mpl::list< range_algebra , array_algebra > algebra_types;
+range_algebra algebra;
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( for_each2 , algebra_type , algebra_types )
+{
+    algebra_type algebra;
+    boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }};
+    algebra.for_each2( x1 , x2 , default_operations::scale_sum1<>( 1.0 ) );
+    BOOST_CHECK_CLOSE( x1[0] , 2.0 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( x1[1] , 2.0 , 1.0e-10 );
+}
+
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( for_each3 , algebra_type , algebra_types )
+{
+    algebra_type algebra;
+    boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }} , x3 = {{ 3.0 , 3.0 }};
+    algebra.for_each3( x1 , x2 , x3 , default_operations::scale_sum2<>( 1.0 , 2.0 ) );
+    BOOST_CHECK_CLOSE( x1[0] , 8.0 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( x1[1] , 8.0 , 1.0e-10 );
+}
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( for_each4 , algebra_type , algebra_types )
+{
+    algebra_type algebra;
+    boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }} , x3 = {{ 3.0 , 3.0 }} , x4 = {{ 4.0 , 4.0 }};
+    algebra.for_each4( x1 , x2 , x3 , x4 , default_operations::scale_sum3<>( 1.0 , 2.0 , 3.0 ) );
+    BOOST_CHECK_CLOSE( x1[0] , 20.0 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( x1[1] , 20.0 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( for_each5 , algebra_type , algebra_types )
+{
+    algebra_type algebra;
+    boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }} , x3 = {{ 3.0 , 3.0 }} , x4 = {{ 4.0 , 4.0 }} , x5 = {{ 5.0 , 5.0 }};
+    algebra.for_each5( x1 , x2 , x3 , x4 , x5 , default_operations::scale_sum4<>( 1.0 , 2.0 , 3.0 , 4.0 ) );
+    BOOST_CHECK_CLOSE( x1[0] , 40.0 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( x1[1] , 40.0 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( for_each6 , algebra_type , algebra_types )
+{
+    algebra_type algebra;
+    boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }} , x3 = {{ 3.0 , 3.0 }} , x4 = {{ 4.0 , 4.0 }} , x5 = {{ 5.0 , 5.0 }} , x6 = {{ 6.0 , 6.0 }};
+    algebra.for_each6( x1 , x2 , x3 , x4 , x5 , x6 ,default_operations::scale_sum5<>( 1.0 , 2.0 , 3.0 , 4.0 , 5.0 ) );
+    BOOST_CHECK_CLOSE( x1[0] , 70.0 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( x1[1] , 70.0 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( for_each7 , algebra_type , algebra_types )
+{
+    algebra_type algebra;
+    boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }} , x3 = {{ 3.0 , 3.0 }} , x4 = {{ 4.0 , 4.0 }} , x5 = {{ 5.0 , 5.0 }} , x6 = {{ 6.0 , 6.0 }} , x7 = {{ 7.0 , 7.0 }};
+    algebra.for_each7( x1 , x2 , x3 , x4 , x5 , x6 , x7 , default_operations::scale_sum6<>( 1.0 , 2.0 , 3.0 , 4.0 , 5.0 , 6.0 ) );
+    BOOST_CHECK_CLOSE( x1[0] , 112.0 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( x1[1] , 112.0 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( for_each8 , algebra_type , algebra_types )
+{
+    algebra_type algebra;
+    boost::array< double , 2 > x1 = {{ 1.0 , 1.0 }} , x2 = {{ 2.0 , 2.0 }} , x3 = {{ 3.0 , 3.0 }} , x4 = {{ 4.0 , 4.0 }} , x5 = {{ 5.0 , 5.0 }} , x6 = {{ 6.0 , 6.0 }} , x7 = {{ 7.0 , 7.0 }} , x8 = {{ 8.0 , 8.0 }};
+    algebra.for_each8( x1 , x2 , x3 , x4 , x5 , x6 , x7 , x8 , default_operations::scale_sum7<>( 1.0 , 2.0 , 3.0 , 4.0 , 5.0 , 6.0 , 7.0 ) );
+    BOOST_CHECK_CLOSE( x1[0] , 168.0 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( x1[1] , 168.0 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( reduce , algebra_type , algebra_types )
+{
+    algebra_type algebra;
+    boost::array< double , 2 > x = {{ 1.25 , 2.25 }};
+    double sum = algebra.reduce( x , std::plus< double >() , 0.0 );
+    BOOST_CHECK_CLOSE( sum , 3.5 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( x[0] , 1.25 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( x[1] , 2.25 , 1.0e-10 );
+}
+
+struct adder
+{
+    template< typename Value , typename T1 , typename T2 >
+    Value operator()( Value val , T1 t1 , T2 t2 ) const
+    {
+        return val + t1 + t2;
+    }
+
+    template< typename Value , typename T1 , typename T2 , typename T3 >
+    Value operator()( Value val , T1 t1 , T2 t2 , T3 t3 ) const
+    {
+        return val + t1 + t2 + t3 ;
+    }
+
+    template< typename Value , typename T1 , typename T2 , typename T3 , typename T4 >
+    Value operator()( Value val , T1 t1 , T2 t2 , T3 t3 , T4 t4 ) const
+    {
+        return val + t1 + t2 + t3 + t4 ;
+    }
+
+};
+
+BOOST_AUTO_TEST_CASE( reduce2 )
+{
+    range_algebra algebra;
+    boost::array< double , 2 > x1 = {{ 1.25 , 2.25 }} , x2 = {{ 0.5 , -1.0 }};
+    double sum = algebra.reduce2( x1 , x2 , adder() , 0.0 );
+    BOOST_CHECK_CLOSE( sum , 3.0 , 1.0e-10 );
+
+}
+
+BOOST_AUTO_TEST_CASE( reduce3 )
+{
+    range_algebra algebra;
+    boost::array< double , 2 > x1 = {{ 1.25 , 2.25 }} , x2 = {{ 0.5 , -1.0 }} , x3 = {{ 5.0 , 10.0 }};
+    double sum = algebra.reduce3( x1 , x2 , x3 , adder() , 0.0 );
+    BOOST_CHECK_CLOSE( sum , 18.0 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_CASE( reduce4 )
+{
+    range_algebra algebra;
+    boost::array< double , 2 > x1 = {{ 1.25 , 2.25 }} , x2 = {{ 0.5 , -1.0 }} , x3 = {{ 5.0 , 10.0 }} , x4 = {{ 2.0 , -1.0 }};
+    double sum = algebra.reduce4( x1 , x2 , x3 , x4 , adder() , 0.0 );
+    BOOST_CHECK_CLOSE( sum , 19.0 , 1.0e-10 );
+}
+
+
+BOOST_AUTO_TEST_CASE( for_each2_with_units )
+{
+    range_algebra algebra;
+    typedef units::quantity< si::time , double > time_type;
+    typedef units::quantity< si::length , double > length_type;
+    typedef units::quantity< si::velocity , double > velocity_type;
+    boost::array< length_type , 2 > x1 = {{ 1.0 * si::meter , 1.0 * si::meter }};
+    boost::array< velocity_type , 2 > x2 = {{ 2.0 * si::meter / si::seconds , 2.0 * si::meter / si::seconds }};
+    algebra.for_each2( x1 , x2 , default_operations::scale_sum1< time_type >( 0.1 * si::second ) );
+    BOOST_CHECK_CLOSE( x1[0].value() , 0.2 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( x1[1].value() , 0.2 , 1.0e-10 );
+}
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resize.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resize.cpp
new file mode 100755
index 0000000..9c7fc2c
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resize.cpp
@@ -0,0 +1,98 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/resize.cpp
+
+ [begin_description]
+ This file tests the resize function of odeint.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_resize
+
+#include <vector>
+#include <cmath>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/numeric/odeint/util/resize.hpp>
+#include <boost/fusion/include/vector.hpp>
+#include <boost/fusion/include/at.hpp>
+#include <boost/units/systems/si/length.hpp>
+#include <boost/units/systems/si/time.hpp>
+#include <boost/units/systems/si/velocity.hpp>
+#include <boost/units/systems/si/acceleration.hpp>
+#include <boost/units/systems/si/io.hpp>
+
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+BOOST_AUTO_TEST_CASE( test_vector )
+{
+    std::vector< double > x1( 10 );
+    std::vector< double > x2;
+    resize( x2 , x1 );
+    BOOST_CHECK( x2.size() == 10 );
+}
+
+
+BOOST_AUTO_TEST_CASE( test_fusion_vector_of_vector )
+{
+    typedef boost::fusion::vector< std::vector< double > , std::vector< double > > state_type;
+    state_type x1;
+    boost::fusion::at_c< 0 >( x1 ).resize( 10 );
+    boost::fusion::at_c< 1 >( x1 ).resize( 10 );
+    state_type x2;
+    resize( x2 , x1 );
+    BOOST_CHECK( boost::fusion::at_c< 0 >( x2 ).size() == 10 );
+    BOOST_CHECK( boost::fusion::at_c< 1 >( x2 ).size() == 10 );
+}
+
+
+BOOST_AUTO_TEST_CASE( test_fusion_vector_mixed1 )
+{
+    typedef boost::fusion::vector< std::vector< double > , double > state_type;
+    state_type x1;
+    boost::fusion::at_c< 0 >( x1 ).resize( 10 );
+    state_type x2;
+    resize( x2 , x1 );
+    BOOST_CHECK( boost::fusion::at_c< 0 >( x2 ).size() == 10 );
+}
+
+BOOST_AUTO_TEST_CASE( test_fusion_vector_mixed2 )
+{
+    typedef boost::fusion::vector< double , std::vector< double > , double > state_type;
+    state_type x1;
+    boost::fusion::at_c< 1 >( x1 ).resize( 10 );
+    state_type x2;
+    resize( x2 , x1 );
+    BOOST_CHECK( boost::fusion::at_c< 1 >( x2 ).size() == 10 );
+}
+
+BOOST_AUTO_TEST_CASE( test_fusion_quantity_sequence )
+{
+    namespace units = boost::units;
+    namespace si = boost::units::si;
+
+    typedef double value_type;
+    typedef units::quantity< si::time , value_type > time_type;
+    typedef units::quantity< si::length , value_type > length_type;
+    typedef units::quantity< si::velocity , value_type > velocity_type;
+    typedef boost::fusion::vector< length_type , velocity_type > state_type;
+
+    state_type x1 , x2;
+    resize( x2 , x1 );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resizing.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resizing.cpp
new file mode 100755
index 0000000..f91e129
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resizing.cpp
@@ -0,0 +1,139 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/resizing.cpp
+
+ [begin_description]
+ This file tests the resizing mechanism of odeint.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_resize
+
+#include <vector>
+#include <cmath>
+
+#include <boost/array.hpp>
+#include <boost/bind.hpp>
+#include <boost/utility.hpp>
+#include <boost/type_traits/integral_constant.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/mpl/vector.hpp>
+#include <boost/mpl/int.hpp>
+#include <boost/mpl/at.hpp>
+
+#include <boost/numeric/odeint/stepper/euler.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/algebra/vector_space_algebra.hpp>
+
+#include <boost/numeric/odeint/util/resizer.hpp>
+#include <boost/numeric/odeint/util/is_resizeable.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+namespace mpl = boost::mpl;
+
+size_t adjust_size_count;
+
+typedef boost::array< double , 1 > test_array_type;
+
+namespace boost { namespace numeric { namespace odeint {
+
+
+    template<>
+    struct is_resizeable< test_array_type >
+    {
+        typedef boost::true_type type;
+        const static bool value = type::value;
+    };
+
+    template<>
+    struct same_size_impl< test_array_type , test_array_type >
+    {
+        static bool same_size( const test_array_type &x1 , const test_array_type &x2 )
+        {
+            return false;
+        }
+    };
+
+    template<>
+    struct resize_impl< test_array_type , test_array_type >
+    {
+        static void resize( test_array_type &x1 , const test_array_type &x2 )
+        {
+            adjust_size_count++;
+        }
+    };
+
+} } }
+
+
+
+void constant_system( const test_array_type &x , test_array_type &dxdt , double t ) { dxdt[0] = 1.0; }
+
+
+BOOST_AUTO_TEST_SUITE( check_resize_test )
+
+
+typedef euler< test_array_type , double , test_array_type , double , range_algebra , default_operations , never_resizer > euler_manual_type;
+typedef euler< test_array_type , double , test_array_type , double , range_algebra , default_operations , initially_resizer > euler_initially_type;
+typedef euler< test_array_type , double , test_array_type , double , range_algebra , default_operations , always_resizer > euler_always_type;
+
+typedef runge_kutta4_classic< test_array_type , double , test_array_type , double , range_algebra , default_operations , never_resizer > rk4_manual_type;
+typedef runge_kutta4_classic< test_array_type , double , test_array_type , double , range_algebra , default_operations , initially_resizer > rk4_initially_type;
+typedef runge_kutta4_classic< test_array_type , double , test_array_type , double , range_algebra , default_operations , always_resizer > rk4_always_type;
+
+
+typedef runge_kutta4< test_array_type , double , test_array_type , double , range_algebra , default_operations , never_resizer > rk4_gen_manual_type;
+typedef runge_kutta4< test_array_type , double , test_array_type , double , range_algebra , default_operations , initially_resizer > rk4_gen_initially_type;
+typedef runge_kutta4< test_array_type , double , test_array_type , double , range_algebra , default_operations , always_resizer > rk4_gen_always_type;
+
+
+typedef mpl::vector<
+    mpl::vector< euler_manual_type , mpl::int_<1> , mpl::int_<0> > ,
+    mpl::vector< euler_initially_type , mpl::int_<1> , mpl::int_<1> > ,
+    mpl::vector< euler_always_type , mpl::int_<1> , mpl::int_<3> > ,
+    mpl::vector< rk4_manual_type , mpl::int_<5> , mpl::int_<0> > ,
+    mpl::vector< rk4_initially_type , mpl::int_<5> , mpl::int_<1> > ,
+    mpl::vector< rk4_always_type , mpl::int_<5> , mpl::int_<3> > ,
+    mpl::vector< rk4_gen_manual_type , mpl::int_<5> , mpl::int_<0> > ,
+    mpl::vector< rk4_gen_initially_type , mpl::int_<5> , mpl::int_<1> > ,
+    mpl::vector< rk4_gen_always_type , mpl::int_<5> , mpl::int_<3> >
+    >::type resize_check_types;
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_resize , T, resize_check_types )
+{
+    typedef typename mpl::at< T , mpl::int_< 0 > >::type stepper_type;
+    const size_t resize_calls = mpl::at< T , mpl::int_< 1 > >::type::value;
+    const size_t multiplicity = mpl::at< T , mpl::int_< 2 > >::type::value;
+    adjust_size_count = 0;
+
+    stepper_type stepper;
+    test_array_type x;
+    stepper.do_step( constant_system , x , 0.0 , 0.1 );
+    stepper.do_step( constant_system , x , 0.0 , 0.1 );
+    stepper.do_step( constant_system , x , 0.0 , 0.1 );
+
+    BOOST_TEST_MESSAGE( "adjust_size_count : " << adjust_size_count );
+    BOOST_CHECK_MESSAGE( adjust_size_count == resize_calls * multiplicity , "adjust_size_count : " << adjust_size_count << " expected: " << resize_calls * multiplicity );
+}
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp
new file mode 100755
index 0000000..7993f92
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp
@@ -0,0 +1,140 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/rosenbrock4.cpp
+
+ [begin_description]
+ This file tests the Rosenbrock 4 stepper and its controller and dense output stepper.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_rosenbrock4
+
+#include <utility>
+#include <iostream>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/numeric/odeint/stepper/rosenbrock4.hpp>
+#include <boost/numeric/odeint/stepper/rosenbrock4_controller.hpp>
+#include <boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp>
+
+#include <boost/numeric/ublas/vector.hpp>
+#include <boost/numeric/ublas/matrix.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+typedef double value_type;
+typedef boost::numeric::ublas::vector< value_type > state_type;
+typedef boost::numeric::ublas::matrix< value_type > matrix_type;
+
+
+struct sys
+{
+    void operator()( const state_type &x , state_type &dxdt , const value_type &t ) const
+    {
+        dxdt( 0 ) = x( 0 ) + 2 * x( 1 );
+        dxdt( 1 ) = x( 1 );
+    }
+};
+
+struct jacobi
+{
+    void operator()( const state_type &x , matrix_type &jacobi , const value_type &t , state_type &dfdt ) const
+    {
+        jacobi( 0 , 0 ) = 1;
+        jacobi( 0 , 1 ) = 2;
+        jacobi( 1 , 0 ) = 0;
+        jacobi( 1 , 1 ) = 1;
+        dfdt( 0 ) = 0.0;
+        dfdt( 1 ) = 0.0;
+    }
+};
+
+BOOST_AUTO_TEST_SUITE( rosenbrock4_test )
+
+BOOST_AUTO_TEST_CASE( test_rosenbrock4_stepper )
+{
+    typedef rosenbrock4< value_type > stepper_type;
+    stepper_type stepper;
+
+    typedef stepper_type::state_type state_type;
+    typedef stepper_type::value_type stepper_value_type;
+    typedef stepper_type::deriv_type deriv_type;
+    typedef stepper_type::time_type time_type;
+
+    state_type x( 2 ) , xerr( 2 );
+    x(0) = 0.0; x(1) = 1.0;
+
+    stepper.do_step( std::make_pair( sys() , jacobi() ) , x , 0.0 , 0.1 , xerr );
+
+    stepper.do_step( std::make_pair( sys() , jacobi() ) , x , 0.0 , 0.1 );
+
+//    using std::abs;
+//    value_type eps = 1E-12;
+//
+//    // compare with analytic solution of above system
+//    BOOST_CHECK_SMALL( abs( x(0) - 20.0/81.0 ) , eps );
+//    BOOST_CHECK_SMALL( abs( x(1) - 10.0/9.0 ) , eps );
+
+}
+
+BOOST_AUTO_TEST_CASE( test_rosenbrock4_controller )
+{
+    typedef rosenbrock4_controller< rosenbrock4< value_type > > stepper_type;
+    stepper_type stepper;
+
+    typedef stepper_type::state_type state_type;
+    typedef stepper_type::value_type stepper_value_type;
+    typedef stepper_type::deriv_type deriv_type;
+    typedef stepper_type::time_type time_type;
+
+    state_type x( 2 );
+    x( 0 ) = 0.0 ; x(1) = 1.0;
+
+    value_type t = 0.0 , dt = 0.01;
+    stepper.try_step( std::make_pair( sys() , jacobi() ) , x , t , dt );
+}
+
+BOOST_AUTO_TEST_CASE( test_rosenbrock4_dense_output )
+{
+    typedef rosenbrock4_dense_output< rosenbrock4_controller< rosenbrock4< value_type > > > stepper_type;
+    typedef rosenbrock4_controller< rosenbrock4< value_type > > controlled_stepper_type;
+    controlled_stepper_type  c_stepper;
+    stepper_type stepper( c_stepper );
+
+    typedef stepper_type::state_type state_type;
+    typedef stepper_type::value_type stepper_value_type;
+    typedef stepper_type::deriv_type deriv_type;
+    typedef stepper_type::time_type time_type;
+    state_type x( 2 );
+    x( 0 ) = 0.0 ; x(1) = 1.0;
+    stepper.initialize( x , 0.0 , 0.1 );
+    std::pair< value_type , value_type > tr = stepper.do_step( std::make_pair( sys() , jacobi() ) );
+    stepper.calc_state( 0.5 * ( tr.first + tr.second ) , x );
+}
+
+BOOST_AUTO_TEST_CASE( test_rosenbrock4_copy_dense_output )
+{
+    typedef rosenbrock4_controller< rosenbrock4< value_type > > controlled_stepper_type;
+    typedef rosenbrock4_dense_output< controlled_stepper_type > stepper_type;
+
+    controlled_stepper_type  c_stepper;
+    stepper_type stepper( c_stepper );
+    stepper_type stepper2( stepper );
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp
new file mode 100755
index 0000000..0e8002d
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp
@@ -0,0 +1,169 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/runge_kutta_concepts.cpp
+
+ [begin_description]
+ This file tests the Stepper concepts of odeint with all Runge-Kutta steppers. It's one of the main tests
+ of odeint.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_runge_kutta_concepts
+
+#include <vector>
+#include <cmath>
+#include <iostream>
+
+#include <boost/numeric/odeint/config.hpp>
+
+#include <boost/array.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/ref.hpp>
+#include <boost/bind.hpp>
+#include <boost/utility.hpp>
+#include <boost/type_traits/add_reference.hpp>
+
+#include <boost/mpl/vector.hpp>
+#include <boost/mpl/for_each.hpp>
+#include <boost/mpl/insert_range.hpp>
+#include <boost/mpl/end.hpp>
+#include <boost/mpl/copy.hpp>
+#include <boost/mpl/placeholders.hpp>
+#include <boost/mpl/inserter.hpp>
+
+#include <boost/numeric/odeint/stepper/euler.hpp>
+#include <boost/numeric/odeint/stepper/modified_midpoint.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp>
+
+#include "prepare_stepper_testing.hpp"
+#include "dummy_odes.hpp"
+
+using std::vector;
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+namespace mpl = boost::mpl;
+
+const double result = 2.2;
+
+const double eps = 1.0e-14;
+
+template< class Stepper , class System >
+void check_stepper_concept( Stepper &stepper , System system , typename Stepper::deriv_type &x )
+{
+    typedef Stepper stepper_type;
+    typedef typename stepper_type::deriv_type container_type;
+    typedef typename stepper_type::order_type order_type;
+    typedef typename stepper_type::time_type time_type;
+
+    stepper.do_step( system , x , 0.0 , 0.1 );
+}
+
+
+template< class Stepper , class State > struct perform_stepper_test;
+
+template< class Stepper >
+struct perform_stepper_test< Stepper , vector_type >
+{
+    void operator()( void )
+    {
+        vector_type x( 1 , 2.0 );
+        Stepper stepper;
+        check_stepper_concept( stepper , constant_system_standard< vector_type , vector_type , double > , x );
+        check_stepper_concept( stepper , boost::cref( constant_system_functor_standard() ) , x );
+        std::cout << x[0] << " ?= " << result << std::endl;
+        BOOST_CHECK_SMALL( fabs( x[0] - result ) , eps );
+    }
+};
+
+template< class Stepper >
+struct perform_stepper_test< Stepper , vector_space_type >
+{
+    void operator()( void ) const
+    {
+        vector_space_type x;
+        x.m_x = 2.0;
+        Stepper stepper;
+        check_stepper_concept( stepper , constant_system_vector_space< vector_space_type , vector_space_type , double > , x );
+        check_stepper_concept( stepper , boost::cref( constant_system_functor_vector_space() ) , x );
+        std::cout << x.m_x << " ?= " << result << std::endl;
+        BOOST_CHECK_SMALL( fabs( x.m_x - result ) , eps );
+    }
+};
+
+template< class Stepper >
+struct perform_stepper_test< Stepper , array_type >
+{
+    void operator()( void )
+    {
+        array_type x;
+        x[0] = 2.0;
+        Stepper stepper;
+        check_stepper_concept( stepper , constant_system_standard< array_type , array_type , double> , x );
+        check_stepper_concept( stepper , boost::cref( constant_system_functor_standard() ) , x );
+        std::cout << x[0] << " ?= " << result << std::endl;
+        BOOST_CHECK_SMALL( fabs( x[0] - result ) , eps );
+    }
+};
+
+
+template< class State > class stepper_methods : public mpl::vector<
+    euler< State , double , State , double , typename algebra_dispatcher< State >::type > ,
+    modified_midpoint< State , double , State , double , typename algebra_dispatcher< State >::type > ,
+    runge_kutta4< State , double , State , double , typename algebra_dispatcher< State >::type > ,
+    runge_kutta4_classic< State , double , State , double , typename algebra_dispatcher< State >::type > ,
+    runge_kutta_cash_karp54_classic< State , double , State , double , typename algebra_dispatcher< State >::type > ,
+    runge_kutta_cash_karp54< State , double , State , double , typename algebra_dispatcher< State >::type > ,
+    runge_kutta_dopri5< State , double , State , double , typename algebra_dispatcher< State >::type > ,
+    runge_kutta_fehlberg78< State , double , State , double , typename algebra_dispatcher< State >::type >
+    > { };
+
+
+
+typedef mpl::copy
+<
+  container_types ,
+  mpl::inserter
+  <
+    mpl::vector0<> ,
+    mpl::insert_range
+    <
+      mpl::_1 ,
+      mpl::end< mpl::_1 > ,
+      stepper_methods< mpl::_2 >
+    >
+  >
+>::type all_stepper_methods;
+
+
+
+BOOST_AUTO_TEST_SUITE( runge_kutta_concept_test )
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( stepper_test , Stepper, all_stepper_methods )
+{
+    perform_stepper_test< Stepper , typename Stepper::deriv_type > tester;
+    tester();
+}
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp
new file mode 100755
index 0000000..ff1efc6
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp
@@ -0,0 +1,180 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp
+
+ [begin_description]
+ This file tests the Stepper concepts of odeint with all Controlled Runge-Kutta steppers. 
+ It's one of the main tests of odeint.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_runge_kutta_controlled_concepts
+
+#include <vector>
+#include <cmath>
+#include <iostream>
+
+#include <boost/numeric/odeint/config.hpp>
+
+#include <boost/array.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/ref.hpp>
+#include <boost/bind.hpp>
+#include <boost/utility.hpp>
+#include <boost/type_traits/add_reference.hpp>
+
+#include <boost/mpl/vector.hpp>
+#include <boost/mpl/for_each.hpp>
+#include <boost/mpl/insert_range.hpp>
+#include <boost/mpl/end.hpp>
+#include <boost/mpl/copy.hpp>
+#include <boost/mpl/placeholders.hpp>
+#include <boost/mpl/inserter.hpp>
+
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp>
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/bulirsch_stoer.hpp>
+
+#include "prepare_stepper_testing.hpp"
+#include "dummy_odes.hpp"
+
+using std::vector;
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+namespace mpl = boost::mpl;
+
+const double result = 2.2; // two steps
+
+const double eps = 1.0e-14;
+
+template< class Stepper , class System >
+void check_controlled_stepper_concept( Stepper &stepper , System system , typename Stepper::state_type &x )
+{
+    typedef Stepper stepper_type;
+    typedef typename stepper_type::deriv_type container_type;
+    //typedef typename stepper_type::order_type order_type;  controlled_error_stepper don't necessarily have a order (burlish-stoer)
+    typedef typename stepper_type::time_type time_type;
+
+    time_type t = 0.0 , dt = 0.1;
+    controlled_step_result step_result = stepper.try_step( system , x , t , dt );
+
+    BOOST_CHECK_MESSAGE( step_result == success , "step result: " << step_result ); // error = 0 for constant system -> step size is always too small
+}
+
+
+
+template< class ControlledStepper , class State > struct perform_controlled_stepper_test;
+
+template< class ControlledStepper >
+struct perform_controlled_stepper_test< ControlledStepper , vector_type >
+{
+    void operator()( void )
+    {
+        vector_type x( 1 , 2.0 );
+        //typename ControlledStepper::stepper_type error_stepper;
+        //default_error_checker< typename ControlledStepper::value_type ,
+        //                             typename ControlledStepper::algebra_type ,
+        //                             typename ControlledStepper::operations_type > error_checker;
+        //ControlledStepper controlled_stepper( error_stepper , error_checker );
+        ControlledStepper controlled_stepper;
+        check_controlled_stepper_concept( controlled_stepper , 
+                                          constant_system_standard< vector_type , vector_type , double > , 
+                                          x );
+        check_controlled_stepper_concept( controlled_stepper , boost::cref( constant_system_functor_standard() ) , x );
+        BOOST_CHECK_SMALL( fabs( x[0] - result ) , eps );
+    }
+};
+
+template< class ControlledStepper >
+struct perform_controlled_stepper_test< ControlledStepper , vector_space_type >
+{
+    void operator()( void ) const
+    {
+        vector_space_type x;
+        x.m_x = 2.0;
+        /*typename ControlledStepper::stepper_type error_stepper;
+          default_error_checker< typename ControlledStepper::value_type ,
+          typename ControlledStepper::algebra_type ,
+          typename ControlledStepper::operations_type > error_checker;
+          ControlledStepper controlled_stepper( error_stepper , error_checker );*/
+        ControlledStepper controlled_stepper;
+        check_controlled_stepper_concept( controlled_stepper , 
+                                          constant_system_vector_space< vector_space_type , vector_space_type , double >
+                                          , x );
+        check_controlled_stepper_concept( controlled_stepper , boost::cref( constant_system_functor_vector_space() ) , x );
+        BOOST_CHECK_SMALL( fabs( x.m_x - result ) , eps );
+    }
+};
+
+template< class ControlledStepper >
+struct perform_controlled_stepper_test< ControlledStepper , array_type >
+{
+    void operator()( void )
+    {
+        array_type x;
+        x[0] = 2.0;
+        /*typename ControlledStepper::stepper_type error_stepper;
+          default_error_checker< typename ControlledStepper::value_type ,
+          typename ControlledStepper::algebra_type ,
+          typename ControlledStepper::operations_type > error_checker;
+          ControlledStepper controlled_stepper( error_stepper , error_checker );*/
+        ControlledStepper controlled_stepper;
+        check_controlled_stepper_concept( controlled_stepper , constant_system_standard< array_type , array_type , double > , x );
+        check_controlled_stepper_concept( controlled_stepper , boost::cref( constant_system_functor_standard() ) , x );
+        BOOST_CHECK_SMALL( fabs( x[0] - result ) , eps );
+    }
+};
+
+template< class State > class controlled_stepper_methods : public mpl::vector<
+    controlled_runge_kutta< runge_kutta_cash_karp54_classic< State , double , State , double , typename algebra_dispatcher< State >::type > > ,
+    controlled_runge_kutta< runge_kutta_dopri5< State , double , State , double , typename algebra_dispatcher< State >::type > > , 
+    controlled_runge_kutta< runge_kutta_fehlberg78< State , double , State , double , typename algebra_dispatcher< State >::type > > ,
+    bulirsch_stoer< State , double , State , double , typename algebra_dispatcher< State >::type >
+    > { };
+
+typedef mpl::copy
+<
+    container_types ,
+    mpl::inserter
+    <
+        mpl::vector0<> ,
+        mpl::insert_range
+        <
+            mpl::_1 ,
+            mpl::end< mpl::_1 > ,
+            controlled_stepper_methods< mpl::_2 >
+            >
+        >
+    >::type all_controlled_stepper_methods;
+
+
+
+
+BOOST_AUTO_TEST_SUITE( controlled_runge_kutta_concept_test )
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( controlled_stepper_test , ControlledStepper , all_controlled_stepper_methods )
+{
+    perform_controlled_stepper_test< ControlledStepper , typename ControlledStepper::state_type > tester;
+    tester();
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp
new file mode 100755
index 0000000..07897ff
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp
@@ -0,0 +1,160 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/runge_kutta_error_concepts.cpp
+
+ [begin_description]
+ This file tests the Stepper concepts of odeint with all Runge-Kutta Error steppers. 
+ It's one of the main tests of odeint.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_runge_kutta_error_concepts
+
+#include <vector>
+#include <cmath>
+#include <iostream>
+
+#include <boost/numeric/odeint/config.hpp>
+
+#include <boost/array.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/ref.hpp>
+#include <boost/bind.hpp>
+#include <boost/utility.hpp>
+#include <boost/type_traits/add_reference.hpp>
+
+#include <boost/mpl/vector.hpp>
+#include <boost/mpl/for_each.hpp>
+#include <boost/mpl/insert_range.hpp>
+#include <boost/mpl/end.hpp>
+#include <boost/mpl/copy.hpp>
+#include <boost/mpl/placeholders.hpp>
+#include <boost/mpl/inserter.hpp>
+
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp>
+
+#include "prepare_stepper_testing.hpp"
+#include "dummy_odes.hpp"
+
+using std::vector;
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+namespace mpl = boost::mpl;
+
+const double result = 2.4; // four steps total...
+
+const double eps = 1.0e-14;
+
+template< class Stepper , class System >
+void check_error_stepper_concept( Stepper &stepper , System system , typename Stepper::state_type &x , typename Stepper::state_type &xerr )
+{
+    typedef Stepper stepper_type;
+    typedef typename stepper_type::deriv_type container_type;
+    typedef typename stepper_type::order_type order_type;
+    typedef typename stepper_type::time_type time_type;
+
+    stepper.do_step( system , typename boost::add_reference< container_type>::type( x ), 0.0 , 0.1 );
+    stepper.do_step( system , typename boost::add_reference< container_type>::type( x ), 0.0 , 0.1 ,  typename boost::add_reference< container_type>::type( xerr ) );
+
+}
+
+template< class Stepper , class State > struct perform_error_stepper_test;
+
+template< class Stepper >
+struct perform_error_stepper_test< Stepper , vector_type >
+{
+    void operator()( void )
+    {
+        vector_type x( 1 , 2.0 ) , xerr( 1 );
+        Stepper stepper;
+        check_error_stepper_concept( stepper , constant_system_standard< vector_type , vector_type , double > , x , xerr );
+        check_error_stepper_concept( stepper , boost::cref( constant_system_functor_standard() ) , x , xerr );
+        BOOST_CHECK_SMALL( fabs( x[0] - result ) , eps );
+    }
+};
+
+
+template< class Stepper >
+struct perform_error_stepper_test< Stepper , vector_space_type >
+{
+    void operator()( void ) const
+    {
+        vector_space_type x , xerr;
+        x.m_x = 2.0;
+        Stepper stepper;
+        check_error_stepper_concept( stepper , 
+                                     constant_system_vector_space< vector_space_type , vector_space_type , double > , 
+                                     x , 
+                                     xerr );
+        check_error_stepper_concept( stepper , boost::cref( constant_system_functor_vector_space() ) , x , xerr );
+        BOOST_CHECK_SMALL( fabs( x.m_x - result ) , eps );
+    }
+};
+
+template< class Stepper >
+struct perform_error_stepper_test< Stepper , array_type >
+{
+    void operator()( void )
+    {
+        array_type x , xerr;
+        x[0] = 2.0;
+        Stepper stepper;
+        check_error_stepper_concept( stepper , constant_system_standard< array_type , array_type , double > , x , xerr );
+        check_error_stepper_concept( stepper , boost::cref( constant_system_functor_standard() ) , x , xerr );
+        BOOST_CHECK_SMALL( fabs( x[0] - result ) , eps );
+    }
+};
+
+
+template< class State > class error_stepper_methods : public mpl::vector<
+    runge_kutta_cash_karp54_classic< State , double , State , double , typename algebra_dispatcher< State >::type > ,
+    runge_kutta_cash_karp54< State , double , State , double , typename algebra_dispatcher< State >::type > ,
+    runge_kutta_dopri5< State , double , State , double , typename algebra_dispatcher< State >::type > ,
+    runge_kutta_fehlberg78< State , double , State , double , typename algebra_dispatcher< State >::type >
+    > { };
+
+
+typedef mpl::copy
+<
+    container_types ,
+    mpl::inserter
+    <
+        mpl::vector0<> ,
+        mpl::insert_range
+        <
+            mpl::_1 ,
+            mpl::end< mpl::_1 > ,
+            error_stepper_methods< mpl::_2 >
+            >
+        >
+    >::type all_error_stepper_methods;
+
+
+BOOST_AUTO_TEST_SUITE( runge_kutta_error_concept_test )
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( error_stepper_test , Stepper , all_error_stepper_methods )
+{
+    perform_error_stepper_test< Stepper , typename Stepper::state_type > tester;
+    tester();
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/same_size.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/same_size.cpp
new file mode 100755
index 0000000..e65dfc2
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/same_size.cpp
@@ -0,0 +1,65 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/same_size.cpp
+
+ [begin_description]
+ tba.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_dummy
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/numeric/odeint/util/same_size.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+
+BOOST_AUTO_TEST_SUITE( same_size_test )
+
+BOOST_AUTO_TEST_CASE( test_vector_true )
+{
+    std::vector< double > v1( 10 ) , v2( 10 );
+    BOOST_CHECK_EQUAL( true , same_size( v1 , v2 ) );
+}
+
+
+BOOST_AUTO_TEST_CASE( test_vector_false )
+{
+    std::vector< double > v1( 10 ) , v2( 20 );
+    BOOST_CHECK_EQUAL( false , same_size( v1 , v2 ) );
+}
+
+BOOST_AUTO_TEST_CASE( test_fusion_true )
+{
+    boost::fusion::vector< double , std::vector< double > > v1 , v2;
+    boost::fusion::at_c< 1 >( v1 ).resize( 10 );
+    boost::fusion::at_c< 1 >( v2 ).resize( 10 );
+    BOOST_CHECK_EQUAL( true , same_size( v1 , v2 ) );
+}
+
+BOOST_AUTO_TEST_CASE( test_fusion_false )
+{
+    boost::fusion::vector< double , std::vector< double > > v1 , v2;
+    boost::fusion::at_c< 1 >( v1 ).resize( 10 );
+    boost::fusion::at_c< 1 >( v2 ).resize( 20 );
+    BOOST_CHECK_EQUAL( false , same_size( v1 , v2 ) );
+}
+
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_copying.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_copying.cpp
new file mode 100755
index 0000000..da4ac30
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_copying.cpp
@@ -0,0 +1,856 @@
+/*
+  [auto_generated]
+  libs/numeric/odeint/test/stepper_copying.cpp
+
+  [begin_description]
+  This file tests the copying of the steppers.
+  [end_description]
+
+  Copyright 2009-2012 Karsten Ahnert
+  Copyright 2009-2012 Mario Mulansky
+
+  Distributed under the Boost Software License, Version 1.0.
+  (See accompanying file LICENSE_1_0.txt or
+  copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+#pragma warning(disable:4996)
+#endif
+
+
+#define BOOST_TEST_MODULE odeint_stepper_copying
+
+#include <boost/test/unit_test.hpp>
+#include <boost/type_traits/integral_constant.hpp>
+
+//#include <boost/numeric/odeint/util/construct.hpp>
+//#include <boost/numeric/odeint/util/destruct.hpp>
+#include <boost/numeric/odeint/util/copy.hpp>
+
+#include <boost/numeric/odeint/util/state_wrapper.hpp>
+
+#include <boost/numeric/odeint/stepper/euler.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp>
+
+template< class T , size_t Dim >
+class test_array
+{
+public:
+
+    const static size_t dim = Dim;
+    typedef T value_type;
+    typedef value_type* iterator;
+    typedef const value_type* const_iterator;
+
+    value_type& operator[]( size_t i )
+    {
+        return m_data[i];
+    }
+
+    const value_type& operator[]( size_t i ) const
+    {
+        return m_data[i];
+    }
+
+    iterator begin( void )
+    {
+        return m_data;
+    }
+
+    iterator end( void )
+    {
+        return m_data + dim;
+    }
+
+    const_iterator begin( void ) const
+    {
+        return m_data;
+    }
+
+    const_iterator end( void ) const
+    {
+        return m_data + dim;
+    }
+
+
+private:
+
+    value_type m_data[dim];
+};
+
+template< class T , size_t Dim >
+class test_array2 : public test_array< T , Dim >
+{
+};
+
+
+
+/*
+ * Explicit testing if copying was successful is difficult,
+ * hence we only test if the number of copy operations is right.
+ *
+ * Otherwise one has to prepare the states.
+ */
+
+size_t construct_count = 0;
+size_t construct2_count = 0;
+size_t destruct_count = 0;
+size_t destruct2_count = 0;
+size_t copy_count = 0;
+size_t copy2_count = 0;
+
+void reset_counter( void )
+{
+    construct_count = 0;
+    construct2_count = 0;
+    destruct_count = 0;
+    destruct2_count = 0;
+    copy_count = 0;
+    copy2_count = 0;
+}
+
+
+namespace boost { namespace numeric { namespace odeint {
+
+//provide the state_wrapper
+            template< class T , size_t Dim >
+            struct state_wrapper< test_array< T , Dim > >
+            {
+                typedef state_wrapper< test_array< T , Dim > > state_wrapper_type;
+                typedef test_array< T , Dim > state_type;
+                typedef T value_type;
+
+                state_type m_v;
+
+                state_wrapper() : m_v()
+                {
+                    construct_count++;
+                }
+
+                state_wrapper( const state_type &v ) : m_v( v )
+                {
+                    construct_count++;
+                    copy_count++;
+                }
+
+                state_wrapper( const state_wrapper_type &x ) : m_v( x.m_v )
+                {
+                    construct_count++;
+                    copy_count++;
+                }
+
+                state_wrapper_type& operator=( const state_wrapper_type &x )
+                {
+                    copy_count++;
+                    return *this;
+                }
+
+                ~state_wrapper()
+                {
+                    destruct_count++;
+                }
+            };
+
+//provide the state_wrapper
+            template< class T , size_t Dim >
+            struct state_wrapper< test_array2< T , Dim > >
+            {
+                typedef state_wrapper< test_array2< T , Dim > > state_wrapper_type;
+                typedef test_array2< T , Dim > state_type;
+                typedef T value_type;
+
+                state_type m_v;
+
+                state_wrapper() : m_v()
+                {
+                    construct2_count++;
+                }
+
+                state_wrapper( const state_type &v ) : m_v( v )
+                {
+                    construct2_count++;
+                    copy2_count++;
+                }
+
+                state_wrapper( const state_wrapper_type &x ) : m_v( x.m_v )
+                {
+                    construct2_count++;
+                    copy2_count++;
+                }
+
+                state_wrapper_type& operator=( const state_wrapper_type &x )
+                {
+                    copy2_count++;
+                    return *this;
+                }
+
+                ~state_wrapper()
+                {
+                    destruct2_count++;
+                }
+            };
+
+
+        } } }
+
+
+
+typedef test_array< double , 3 > state_type;
+typedef test_array2< double , 3 > deriv_type;
+typedef boost::numeric::odeint::euler< state_type , double , deriv_type > euler_type;
+typedef boost::numeric::odeint::runge_kutta4_classic< state_type , double , deriv_type > rk4_type;
+typedef boost::numeric::odeint::runge_kutta4< state_type , double , deriv_type > rk4_generic_type;
+typedef boost::numeric::odeint::runge_kutta_cash_karp54_classic< state_type , double , deriv_type > rk54_type;
+typedef boost::numeric::odeint::runge_kutta_cash_karp54< state_type , double , deriv_type > rk54_generic_type;
+typedef boost::numeric::odeint::runge_kutta_dopri5< state_type , double , deriv_type > dopri5_type;
+typedef boost::numeric::odeint::controlled_runge_kutta< rk54_type > controlled_rk54_type;
+typedef boost::numeric::odeint::controlled_runge_kutta< rk54_generic_type > controlled_rk54_generic_type;
+typedef boost::numeric::odeint::controlled_runge_kutta< dopri5_type > controlled_dopri5_type;
+typedef boost::numeric::odeint::dense_output_runge_kutta< euler_type > dense_output_euler_type;
+typedef boost::numeric::odeint::dense_output_runge_kutta< controlled_dopri5_type > dense_output_dopri5_type;
+
+#define CHECK_COUNTERS( c1 , c2 , c3 , c4 , c5 , c6 )           \
+    BOOST_CHECK_EQUAL( construct_count , size_t( c1 ) );        \
+    BOOST_CHECK_EQUAL( construct2_count , size_t( c2 ) );       \
+    BOOST_CHECK_EQUAL( destruct_count , size_t( c3 ) );         \
+    BOOST_CHECK_EQUAL( destruct2_count , size_t( c4) );         \
+    BOOST_CHECK_EQUAL( copy_count , size_t( c5 ) ) ;            \
+    BOOST_CHECK_EQUAL( copy2_count, size_t( c6 ) )
+
+BOOST_AUTO_TEST_SUITE( stepper_copying )
+
+/*
+ * Construct + Destruct
+ * 1 deriv_type in explicit_stepper_base
+ */
+BOOST_AUTO_TEST_CASE( explicit_euler_construct )
+{
+    reset_counter();
+    {
+        euler_type euler;
+    }
+    CHECK_COUNTERS( 0 , 1 , 0 , 1 , 0 , 0 );
+}
+
+
+/*
+ * Construct + Destruct
+ * 2 * 1 deriv_type in explicit_stepper_base
+ *
+ * Copying
+ * 1 deriv_type in explicit_stepper_base
+ */
+BOOST_AUTO_TEST_CASE( explicit_euler_copy_construct )
+{
+    reset_counter();
+    {
+        euler_type euler;
+        euler_type euler2( euler );
+    }
+    CHECK_COUNTERS( 0 , 1 + 1 , 0 , 1 + 1 , 0 , 1 );
+}
+
+/*
+ * Construct + Destruct
+ * 2 * 1 deriv_type in explicit_stepper_base
+ *
+ * Copying
+ * 1 deriv_type in explicit_stepper_base
+ */
+BOOST_AUTO_TEST_CASE( explicit_euler_assign )
+{
+    reset_counter();
+    {
+        euler_type euler;
+        euler_type euler2;
+        euler2 = euler;
+    }
+    CHECK_COUNTERS( 0 , 2 , 0 , 2 , 0 , 1 );
+}
+
+/*
+ * Construct + Destruct
+ * 1 deriv_type in explicit_stepper_base
+ * 3 deriv_type in explicit_rk4
+ * 1 state_type in explicit_rk4
+ */
+BOOST_AUTO_TEST_CASE( explicit_rk4_construct )
+{
+    reset_counter();
+    {
+        rk4_type rk4;
+    }
+    CHECK_COUNTERS( 1 , 4 , 1 , 4 , 0 , 0 );
+}
+
+/*
+ * Construct + Destruct
+ * 2 * 1 deriv_type in explicit_stepper_base
+ * 2 * 3 deriv_type in explicit_rk4
+ * 2 * 1 state_type in explicit_rk4
+ *
+ * Copying
+ * 1 deriv_type in explicit_stepper_base
+ * 3 deriv_type in explicit_stepper_base
+ * 1 state_type in explicit_stepper_base
+ */
+BOOST_AUTO_TEST_CASE( explicit_rk4_copy_construct )
+{
+    reset_counter();
+    {
+        rk4_type rk4;
+        rk4_type rk4_2( rk4 );
+    }
+    CHECK_COUNTERS( 2 , 8 , 2 , 8 , 1 , 4 );
+}
+
+/*
+ * Construct + Destruct
+ * 2 * 1 deriv_type in explicit_stepper_base
+ * 2 * 3 deriv_type in explicit_rk4
+ * 2 * 1 state_type in explicit_rk4
+ *
+ * Copying
+ * 1 deriv_type in explicit_stepper_base
+ * 3 deriv_type in explicit_stepper_base
+ * 1 state_type in explicit_stepper_base
+ */
+BOOST_AUTO_TEST_CASE( explicit_rk4_assign )
+{
+    reset_counter();
+    {
+        rk4_type rk4;
+        rk4_type rk4_2;
+        rk4 = rk4_2;
+    }
+    CHECK_COUNTERS( 2 , 8 , 2 , 8 , 1 , 4 );
+}
+
+
+/*
+ * Construct + Destruct
+ * 1 deriv_type in explicit_stepper_base
+ * 3 deriv_type in explicit_rk4
+ * 1 state_type in explicit_rk4
+ */
+BOOST_AUTO_TEST_CASE( explicit_rk4_generic_construct )
+{
+    reset_counter();
+    {
+        rk4_generic_type rk4;
+    }
+    CHECK_COUNTERS( 1 , 4 , 1 , 4 , 0 , 0 );
+}
+
+/*
+ * Construct + Destruct
+ * 2 * 1 deriv_type in explicit_stepper_base
+ * 2 * 3 deriv_type in explicit_rk4
+ * 2 * 1 state_type in explicit_rk4
+ *
+ * Copying
+ * 1 deriv_type in explicit_stepper_base
+ * 3 deriv_type in explicit_stepper_base
+ * 1 state_type in explicit_stepper_base
+ */
+BOOST_AUTO_TEST_CASE( explicit_rk4_generic_copy_construct )
+{
+    reset_counter();
+    {
+        rk4_generic_type rk4;
+        rk4_generic_type rk4_2( rk4 );
+    }
+    CHECK_COUNTERS( 2 , 8 , 2 , 8 , 1 , 4 );
+}
+
+/*
+ * Construct + Destruct
+ * 2 * 1 deriv_type in explicit_stepper_base
+ * 2 * 3 deriv_type in explicit_rk4
+ * 2 * 1 state_type in explicit_rk4
+ *
+ * Copying
+ * 1 deriv_type in explicit_stepper_base
+ * 3 deriv_type in explicit_stepper_base
+ * 1 state_type in explicit_stepper_base
+ */
+BOOST_AUTO_TEST_CASE( explicit_rk4_generic_assign )
+{
+    reset_counter();
+    {
+        rk4_generic_type rk4;
+        rk4_generic_type rk4_2;
+        rk4 = rk4_2;
+    }
+    CHECK_COUNTERS( 2 , 8 , 2 , 8 , 1 , 4 );
+}
+
+/*
+ * Construct + Destruct
+ * 2 explicit_rk54_ck:
+ * 2 * 1 deriv_type in explicit_error_stepper_base
+ * 2 * 5 deriv_type in explicit_error_rk54_ck
+ * 2 * 1 state_type in explicit_error_rk4
+ * 1 controlled_stepper:
+ * 1 deriv_type
+ * 2 state_type
+ *
+ * Copying
+ * 1 copy process of explicit_rk54_ck:
+ * 1 deriv_type from explicit_error_stepper_base
+ * 5 deriv_type from explicit_error_rk54_ck
+ * 1 state_type from explicit_error_rk54_ck
+ */
+BOOST_AUTO_TEST_CASE( controlled_rk54_construct )
+{
+    reset_counter();
+    {
+        controlled_rk54_type stepper;
+    }
+    CHECK_COUNTERS( 4 , 13 , 4 , 13 , 1 , 6 );
+}
+
+
+/*
+ * Construct + Destruct
+ * 3 explicit_rk54_ck:
+ * 3 * 1 deriv_type in explicit_error_stepper_base
+ * 3 * 5 deriv_type in explicit_error_rk54_ck
+ * 3 * 1 state_type in explicit_error_rk4
+ * 2 controlled_stepper:
+ * 2 * 1 deriv_type
+ * 2 * 2 state_type
+ *
+ * Copying
+ * 1 copy process of explicit_rk54_ck:
+ * 1 deriv_type from explicit_error_stepper_base
+ * 5 deriv_type from explicit_error_rk54_ck
+ * 1 state_type from explicit_error_rk54_ck
+ *
+ * 1 process of copying controlled_error_stepper
+ * 1 deriv_type from explicit_error_stepper_base
+ * 5 deriv_type from explicit_error_rk54_ck
+ * 1 state_type from explicit_error_rk54_ck
+ * 1 deriv_type from controlled_error_stepper
+ * 2 state_type from controlled_error_stepper
+ */
+BOOST_AUTO_TEST_CASE( controlled_rk54_copy_construct )
+{
+    reset_counter();
+    {
+        controlled_rk54_type stepper;
+        controlled_rk54_type stepper2( stepper );
+    }
+    CHECK_COUNTERS( 7 , 20 , 7 , 20 , 4 , 13 );
+}
+
+/*
+ * Construct + Destruct
+ * 4 explicit_rk54_ck:
+ * 4 * 1 deriv_type in explicit_error_stepper_base
+ * 4 * 5 deriv_type in explicit_error_rk54_ck
+ * 4 * 1 state_type in explicit_error_rk4
+ * 2 controlled_stepper:
+ * 2 * 1 deriv_type
+ * 2 * 2 state_type
+ *
+ * Copying
+ * 2 copy process of explicit_rk54_ck:
+ * 2 * 1 deriv_type from explicit_error_stepper_base
+ * 2 * 5 deriv_type from explicit_error_rk54_ck
+ * 2 * 1 state_type from explicit_error_rk54_ck
+ *
+ * 1 process of copying controlled_error_stepper
+ * 1 deriv_type from explicit_error_stepper_base
+ * 5 deriv_type from explicit_error_rk54_ck
+ * 1 state_type from explicit_error_rk54_ck
+ * 1 deriv_type from controlled_error_stepper
+ * 2 state_type from controlled_error_stepper
+ */
+BOOST_AUTO_TEST_CASE( controlled_rk54_assign )
+{
+    reset_counter();
+    {
+        controlled_rk54_type stepper;
+        controlled_rk54_type stepper2;
+        stepper2 = stepper;
+    }
+    CHECK_COUNTERS( 8 , 26 , 8 , 26 , 5 , 19 );
+}
+
+
+
+/*
+ * Construct + Destruct
+ * 2 explicit_rk54_ck_generic:
+ * 2 * 1 deriv_type in explicit_error_stepper_base
+ * 2 * 5 deriv_type in explicit_error_rk54_ck_generic
+ * 2 * 1 state_type in explicit_error_rk54_ck_generic
+ * 1 controlled_stepper:
+ * 1 deriv_type
+ * 2 state_type
+ *
+ * Copying
+ * 1 copy process of explicit_rk54_ck_generic:
+ * 1 deriv_type from explicit_error_stepper_base
+ * 5 deriv_type from explicit_error_rk54_ck_generic
+ * 1 state_type from explicit_error_rk54_ck_generic
+ */
+BOOST_AUTO_TEST_CASE( controlled_rk54_generic_construct )
+{
+    reset_counter();
+    {
+        controlled_rk54_generic_type stepper;
+    }
+    CHECK_COUNTERS( 4 , 13 , 4 , 13 , 1 , 6 );
+}
+
+
+/*
+ * Construct + Destruct
+ * 3 explicit_rk54_ck_generic:
+ * 3 * 1 deriv_type in explicit_error_stepper_base
+ * 3 * 5 deriv_type in explicit_error_rk54_ck_generic
+ * 3 * 1 state_type in explicit_error_rk4_generic
+ * 2 controlled_stepper:
+ * 2 * 1 deriv_type
+ * 2 * 2 state_type
+ *
+ * Copying
+ * 1 copy process of explicit_rk54_ck_generic:
+ * 1 deriv_type from explicit_error_stepper_base
+ * 5 deriv_type from explicit_error_rk54_ck_generic
+ * 1 state_type from explicit_error_rk54_ck_generic
+ *
+ * 1 process of copying controlled_error_stepper
+ * 1 deriv_type from explicit_error_stepper_base
+ * 5 deriv_type from explicit_error_rk54_ck_generic
+ * 1 state_type from explicit_error_rk54_ck_generic
+ * 1 deriv_type from controlled_error_stepper
+ * 2 state_type from controlled_error_stepper
+ */
+BOOST_AUTO_TEST_CASE( controlled_rk54_generic_copy_construct )
+{
+    reset_counter();
+    {
+        controlled_rk54_generic_type stepper;
+        controlled_rk54_generic_type stepper2( stepper );
+    }
+    CHECK_COUNTERS( 7 , 20 , 7 , 20 , 4 , 13 );
+}
+
+/*
+ * Construct + Destruct
+ * 4 explicit_rk54_ck_generic:
+ * 4 * 1 deriv_type in explicit_error_stepper_base
+ * 4 * 5 deriv_type in explicit_error_rk54_ck_generic
+ * 4 * 1 state_type in explicit_error_rk4_generic
+ * 2 controlled_stepper:
+ * 2 * 1 deriv_type
+ * 2 * 2 state_type
+ *
+ * Copying
+ * 2 copy process of explicit_rk54_ck_generic:
+ * 2 * 1 deriv_type from explicit_error_stepper_base
+ * 2 * 5 deriv_type from explicit_error_rk54_ck_generic
+ * 2 * 1 state_type from explicit_error_rk54_ck_generic
+ *
+ * 1 process of copying controlled_error_stepper
+ * 1 deriv_type from explicit_error_stepper_base
+ * 5 deriv_type from explicit_error_rk54_ck_generic
+ * 1 state_type from explicit_error_rk54_ck_generic
+ * 1 deriv_type from controlled_error_stepper
+ * 2 state_type from controlled_error_stepper
+ */
+BOOST_AUTO_TEST_CASE( controlled_rk54_generic_assign )
+{
+    reset_counter();
+    {
+        controlled_rk54_generic_type stepper;
+        controlled_rk54_generic_type stepper2;
+        stepper2 = stepper;
+    }
+    CHECK_COUNTERS( 8 , 26 , 8 , 26 , 5 , 19 );
+}
+
+
+/*
+ * Construct + Destruct
+ * 2 explicit_error_dopri5:
+ * 2 * 1 deriv_type in explicit_error_stepper_base_fsal
+ * 2 * 6 deriv_type in explicit_error_dopri5
+ * 2 * 1 state_type in explicit_error_dopri5
+ * 1 controlled_error_stepper (fsal):
+ * 2 deriv_type
+ * 2 state_type
+ *
+ * Copying
+ * 1 copy process of explicit_dopri5:
+ * 1 deriv_type from explicit_error_stepper_base_fsal
+ * 6 deriv_type from explicit_error_dopri5
+ * 1 state_type from explicit_error_dopri5
+ */
+
+BOOST_AUTO_TEST_CASE( controlled_dopri5_construct )
+{
+    reset_counter();
+    {
+        controlled_dopri5_type dopri5;
+    }
+    CHECK_COUNTERS( 2 * 1 + 2 , 2 * (6+1) + 2 , 2 * 1 + 2 , 2 * (6+1) + 2 , 1 , 1 + 6 );
+}
+
+
+/*
+ * Construct + Destruct
+ * 3 explicit_error_dopri5:
+ * 3 * 1 deriv_type in explicit_error_stepper_base_fsal
+ * 3 * 6 deriv_type in explicit_error_dopri5
+ * 3 * 1 state_type in explicit_error_dopri5
+ * 2 controlled_error_stepper (fsal):
+ * 2 * 2 deriv_type
+ * 2 * 2 state_type
+ *
+ * Copying
+ * 1 copy process of explicit_error_dopri5:
+ * 1 deriv_type from explicit_error_stepper_base_fsal
+ * 6 deriv_type from explicit_error_error_dopri5
+ * 1 state_type from explicit_error_error_dopri5
+ *
+ * 1 process of copying controlled_error_stepper
+ * 1 deriv_type from explicit_error_stepper_base_fsal
+ * 6 deriv_type from explicit_error_dopri5
+ * 1 state_type from explicit_error_dopri5
+ * 2 deriv_type from controlled_error_stepper (fsal)
+ * 2 state_type from controlled_error_stepper (fsal)
+ */
+BOOST_AUTO_TEST_CASE( controlled_dopri5_copy_construct )
+{
+    reset_counter();
+    {
+        controlled_dopri5_type dopri5;
+        controlled_dopri5_type dopri5_2( dopri5 );
+    }
+    CHECK_COUNTERS( 3 * 1 + 2 * 2 , 3 * (6+1) + 2 * 2 ,  3 * 1 + 2 * 2 , 3 * (6+1) + 2 * 2 , 1 + 1 + 2 , 1 + 6 + 1 + 6 + 2 );
+}
+
+/*
+ * Construct + Destruct
+ * 4 explicit_error_dopri5:
+ * 4 * 1 deriv_type in explicit_error_stepper_base_fsal
+ * 4 * 6 deriv_type in explicit_error_dopri5
+ * 4 * 1 state_type in explicit_error_dopri5
+ * 2 controlled_error_stepper (fsal):
+ * 2 * 2 deriv_type
+ * 2 * 2 state_type
+ *
+ * Copying
+ * 2 copy process of explicit_error_dopri5:
+ * 2 * 1 deriv_type from explicit_error_stepper_base_fsal
+ * 2 * 6 deriv_type from explicit_error_dopri5
+ * 2 * 1 state_type from explicit_error_dopri5
+ *
+ * 1 process of copying controlled_error_stepper
+ * 1 deriv_type from explicit_error_stepper_base
+ * 6 deriv_type from explicit_error_dopri5
+ * 1 state_type from explicit_error_dopri5
+ * 2 deriv_type from controlled_error_stepper (fsal)
+ * 2 state_type from controlled_error_stepper (fsal)
+ */
+BOOST_AUTO_TEST_CASE( controlled_dopri5_assign )
+{
+    reset_counter();
+    {
+        controlled_dopri5_type dopri5;
+        controlled_dopri5_type dopri5_2;
+        dopri5_2 = dopri5;
+    }
+    CHECK_COUNTERS( 4 * 1 + 2 * 2 , 4 * (1+6) + 2 * 2 , 4 * 1 + 2 * 2 , 4 * (1+6) + 2 * 2 , 2 * 1 + 1 + 2 , 2 * (6+1) + 1 + 6 + 2 );
+}
+
+
+/*
+ * Construct + Destruct
+ * 2 explicit_euler:
+ * 2 * 1 deriv_type in explicit_stepper_base
+ * 1 dense_output_explicit:
+ * 2 state_type
+ *
+ * Copying
+ * 1 copy process of explicit_euler:
+ * 1 deriv_type from explicit_stepper_base
+ */
+BOOST_AUTO_TEST_CASE( dense_output_euler_construct )
+{
+    reset_counter();
+    {
+        dense_output_euler_type euler;
+    }
+    CHECK_COUNTERS( 2 , 2 * 1 , 2 , 2 * 1 , 0 , 1 );
+}
+
+/*
+ * Construct + Destruct
+ * 3 explicit_euler:
+ * 3 * 1 deriv_type in explicit_stepper_base
+ * 2 dense_output_explicit:
+ * 2 * 2 state_type
+ *
+ * Copying
+ * 1 copy process of explicit_euler:
+ * 1 deriv_type from explicit_stepper_base
+ *
+ * 1 process of copying 
+ * 1 deriv_type from explicit_stepper_base
+ * 2 state_type from dense_output_explicit
+ */
+BOOST_AUTO_TEST_CASE( dense_output_euler_copy_construct )
+{
+    reset_counter();
+    {
+        dense_output_euler_type euler;
+        dense_output_euler_type euler2( euler );
+    }
+    CHECK_COUNTERS( 2 * 2 , 3 * 1 , 2 * 2 , 3 * 1 , 2 , 1 + 1 );
+}
+
+/*
+ * Construct + Destruct
+ * 4 explicit_euler:
+ * 4 * 1 deriv_type in explicit_stepper_base
+ * 2 dense_output_explicit:
+ * 2 * 2 state_type
+ *
+ * Copying
+ * 2 copy process of explicit_euler:
+ * 2 * 1 deriv_type from explicit_stepper_base
+ *
+ * 1 process of copying dense_ouput_explicit
+ * 1 deriv_type from explicit_stepper_base
+ * 2 state_type from dense_output_explicit
+ */
+BOOST_AUTO_TEST_CASE( dense_output_euler_assign )
+{
+    reset_counter();
+    {
+        dense_output_euler_type euler;
+        dense_output_euler_type euler2;
+        euler2 = euler;
+    }
+    CHECK_COUNTERS( 2 * 2 , 4 * 1 , 2 * 2 , 4 * 1 , 2 , 2 * 1 + 1 );
+}
+
+/*
+ * Construct + Destruct
+ * 3 dense_output_dopri5:
+ * 3 * 1 deriv_type in explicit_error_stepper_base_fsal
+ * 3 * 6 deriv_type in explicit_error_dopri5
+ * 3 * 1 state_type in explicit_error_dopri5
+ * 2 controlled_error_stepper (fsal):
+ * 2 * 2 state_type
+ * 2 * 2 deriv_type
+ * 1 dense_output_controlled_explicit:
+ * 2 state_type
+ * 2 deriv_type
+ *
+ * Copying
+ * 2 copy process of explicit_error_dopri5:
+ * 2 * 1 deriv_type from explicit_erro_stepper_base_fsal
+ * 2 * 6 deriv_type in explicit_error_dopri5
+ * 2 * 1 state_type in explicit_error_dopri5
+ * 1 copy process of dense_output_controlled (fsal)
+ * 2 state_type
+ * 2 deriv_type
+ */
+BOOST_AUTO_TEST_CASE( dense_output_dopri5_construct )
+{
+    reset_counter();
+    {
+        dense_output_dopri5_type dopri5;
+    }
+    CHECK_COUNTERS( 3*1 + 2*2 + 2 , 3*(1+6) + 2*2 + 2 , 3*1 + 2*2 + 2 , 3*(1+6) + 2*2 + 2 , 2*1 + 2 , 2*(1+6) + 2 );
+}
+
+/*
+ * Construct + Destruct
+ * 4 dense_output_dopri5:
+ * 4 * 1 deriv_type in explicit_error_stepper_base_fsal
+ * 4 * 5 deriv_type in explicit_error_dopri5
+ * 4 * 1 state_type in explicit_error_dopri5
+ * 3 controlled_error_stepper (fsal):
+ * 3 * 2 state_type
+ * 3 * 2 deriv_type
+ * 2 dense_output_controlled_explicit:
+ * 2 * 2 state_type
+ * 2 * 2 deriv_type
+ *
+ * Copying
+ * 3 copy process of explicit_error_dopri5:
+ * 3 * 1 deriv_type from explicit_erro_stepper_base_fsal
+ * 3 * 6 deriv_type in explicit_error_dopri5
+ * 3 * 1 state_type in explicit_error_dopri5
+ * 2 copy process of controlled_error_stepper (fsal):
+ * 2 * 2 state_type
+ * 2 * 2 deriv_type
+ * 1 copy process of dense_output_controlled_explicit:
+ * 2 state_type
+ * 2 deriv_type
+ */
+BOOST_AUTO_TEST_CASE( dense_output_dopri5_copy_construct )
+{
+    reset_counter();
+    {
+        dense_output_dopri5_type dopri5;
+        dense_output_dopri5_type dopri5_2( dopri5 );
+    }
+    CHECK_COUNTERS( 4*1 + 3*2 + 2*2 , 4*(1+6) + 3*2 + 2*2 , 4*1 + 3*2 + 2*2 , 4*(1+6) + 3*2 + 2*2 , 3*1 + 2*2 + 1*2 , 3*(6+1) + 2*2 + 2 );
+}
+
+/*
+ * Construct + Destruct
+ * 6 dense_output_dopri5:
+ * 6 * 1 deriv_type in explicit_error_stepper_base_fsal
+ * 6 * 6 deriv_type in explicit_error_dopri5
+ * 6 * 1 state_type in explicit_error_dopri5
+ * 4 controlled_error_stepper (fsal):
+ * 4 * 2 state_type
+ * 4 * 2 deriv_type
+ * 2 dense_output_controlled_explicit:
+ * 2 * 2 state_type
+ * 2 * 2 deriv_type
+ *
+ * Copying
+ * 5 copy process of explicit_error_dopri5:
+ * 5 * 1 deriv_type from explicit_erro_stepper_base_fsal
+ * 5 * 6 deriv_type in explicit_error_dopri5
+ * 5 * 1 state_type in explicit_error_dopri5
+ * 3 copy process of controlled_error_stepper (fsal):
+ * 3 * 2 state_type
+ * 3 * 2 deriv_type
+ * 1 copy process of dense_output_controlled_explicit:
+ * 2 state_type
+ * 2 deriv_type
+ */
+BOOST_AUTO_TEST_CASE( dense_output_dopri5_assign )
+{
+    reset_counter();
+    {
+        dense_output_dopri5_type dopri5;
+        dense_output_dopri5_type dopri5_2;
+        dopri5_2 = dopri5;
+    }
+    CHECK_COUNTERS( 6*1 + 4*2 + 2*2 , 6*(6+1) + 4*2 + 2*2 , 6*1 + 4*2 + 2*2 , 6*(6+1) + 4*2 + 2*2 , 5*1 + 3*2 + 2 , 5*(6+1) + 3*2 + 2 );
+}
+
+
+BOOST_AUTO_TEST_SUITE_END()
+
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp
new file mode 100755
index 0000000..1027f71
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp
@@ -0,0 +1,283 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/stepper_with_ranges.cpp
+
+ [begin_description]
+ This file tests if the steppers play well with Boost.Range.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_stepper_with_ranges
+
+#include <boost/test/unit_test.hpp>
+
+#include <vector>
+#include <utility>
+#include <iostream>
+
+#include <boost/array.hpp>
+#include <boost/range.hpp>
+#include <boost/ref.hpp>
+
+#include <boost/numeric/odeint/stepper/euler.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/symplectic_euler.hpp>
+#include <boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp>
+
+typedef std::vector< double > state_type;
+typedef boost::array< double , 3 > state_type2;
+
+
+/*
+ * The two systems are needed, since for steppers with more than
+ * one internal step it is difficult to calculate the exact result
+ *
+ * system1 is suited for euler
+ */
+struct system1
+{
+    template< class State , class Deriv >
+    void operator()( const State &x_ , Deriv &dxdt_ , double t )
+    {
+        typename boost::range_iterator< const State >::type x = boost::begin( x_ );
+        typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ );
+
+        dxdt[0] = x[0];
+        dxdt[1] = 2.0;
+        dxdt[2] = 3.0;
+    }
+
+    template< class State , class Deriv >
+    void operator()( const State &x_ , const Deriv &dxdt_ , double t )
+    {
+        typename boost::range_iterator< const State >::type x = boost::begin( x_ );
+        typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ );
+
+        dxdt[0] = x[0];
+        dxdt[1] = 2.0;
+        dxdt[2] = 3.0;
+    }
+};
+
+/*
+ * system2 is suited for all steppers, it allows you to calculate the result analytically.
+ */
+struct system2
+{
+    template< class State , class Deriv >
+    void operator()( const State &x_ , Deriv &dxdt_ , double t )
+    {
+        typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ );
+
+        dxdt[0] = 1.0;
+        dxdt[1] = 2.0;
+        dxdt[2] = 3.0;
+    }
+
+    template< class State , class Deriv >
+    void operator()( const State &x_ , const Deriv &dxdt_ , double t )
+    {
+        typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ );
+
+        dxdt[0] = 1.0;
+        dxdt[1] = 2.0;
+        dxdt[2] = 3.0;
+    }
+};
+
+
+/*
+ * Useful for Hamiltonian systems
+ */
+struct ham_sys
+{
+    template< class State , class Deriv >
+    void operator()( const State &x_ , Deriv &dxdt_ )
+    {
+        typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ );
+        dxdt[0] = 1.0;
+        dxdt[1] = 2.0;
+        dxdt[2] = 3.0;
+    }
+
+    template< class State , class Deriv >
+    void operator()( const State &x_ , const Deriv &dxdt_ )
+    {
+        typename boost::range_iterator< Deriv >::type dxdt = boost::begin( dxdt_ );
+        dxdt[0] = 1.0;
+        dxdt[1] = 2.0;
+        dxdt[2] = 3.0;
+    }
+};
+
+
+struct vector_fixture
+{
+    const static size_t dim = 6;
+    boost::array< double , dim > in;
+    boost::array< double , dim > q;
+    boost::array< double , dim > p;
+    state_type err;
+
+    vector_fixture( void )
+        : in() , err( 3 )
+    {
+        for( size_t i=0 ; i<dim ; ++i )
+        {
+            in[ i ] = q[i] = p[i] = double( i );
+        }
+        for( size_t i=0 ; i<3 ; ++i )
+        {
+            err[i] = double( i ) * 10.0;
+        }
+    }
+
+    ~vector_fixture( void )
+    {
+    }
+};
+
+#define CHECK_VALUES( x , x0 , x1 , x2 , x3 , x4 , x5 ) \
+    BOOST_CHECK_CLOSE( x[0] , x0 , 1.0e-8 );            \
+    BOOST_CHECK_CLOSE( x[1] , x1 , 1.0e-8 );            \
+    BOOST_CHECK_CLOSE( x[2] , x2 , 1.0e-8 );            \
+    BOOST_CHECK_CLOSE( x[3] , x3 , 1.0e-8 );            \
+    BOOST_CHECK_CLOSE( x[4] , x4 , 1.0e-8 );            \
+    BOOST_CHECK_CLOSE( x[5] , x5 , 1.0e-8 )
+
+
+
+BOOST_AUTO_TEST_SUITE( stepper_with_ranges )
+
+BOOST_AUTO_TEST_CASE( explicit_euler_with_range_v1 )
+{
+    vector_fixture f;
+    boost::numeric::odeint::euler< state_type > euler;
+    euler.do_step( system1() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , 0.1 , 0.1 );
+    CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 );
+}
+
+
+
+BOOST_AUTO_TEST_CASE( explicit_error_k54_with_range_v1 )
+{
+    vector_fixture f;
+    boost::numeric::odeint::runge_kutta_cash_karp54_classic< state_type > rk54;
+    rk54.do_step( system2() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , 0.1 , 0.1 );
+    CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 );
+}
+
+BOOST_AUTO_TEST_CASE( explicit_error_k54_with_range_v5 )
+{
+    vector_fixture f;
+    boost::numeric::odeint::runge_kutta_cash_karp54_classic< state_type > rk54;
+    rk54.do_step( system2() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , 0.1 , 0.1 , f.err );
+    CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 );
+}
+
+
+BOOST_AUTO_TEST_CASE( runge_kutta_dopri5_with_range_v1 )
+{
+    vector_fixture f;
+    boost::numeric::odeint::runge_kutta_dopri5< state_type > dopri5;
+    dopri5.do_step( system2() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , 0.1 , 0.1 );
+    CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 );
+}
+
+
+BOOST_AUTO_TEST_CASE( runge_kutta_dopri5_with_range_v5 )
+{
+    vector_fixture f;
+    boost::numeric::odeint::runge_kutta_dopri5< state_type > dopri5;
+    dopri5.do_step( system2() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , 0.1 , 0.1 , f.err );
+    CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 );
+}
+
+
+BOOST_AUTO_TEST_CASE( controlled_error_stepper_rk54 )
+{
+    double t = 0.0 , dt = 0.1;
+    vector_fixture f;
+    boost::numeric::odeint::controlled_runge_kutta< boost::numeric::odeint::runge_kutta_cash_karp54_classic< state_type > > stepper;
+    stepper.try_step( system2() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , t , dt );
+    CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 );
+}
+
+BOOST_AUTO_TEST_CASE( controlled_error_stepper_dopri5 )
+{
+    double t = 0.0 , dt = 0.1;
+    vector_fixture f;
+    boost::numeric::odeint::controlled_runge_kutta< boost::numeric::odeint::runge_kutta_dopri5< state_type > > stepper;
+    stepper.try_step( system2() , std::make_pair( f.in.begin() + 1 , f.in.begin() + 4 ) , t , dt );
+    CHECK_VALUES( f.in , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 );
+}
+
+
+BOOST_AUTO_TEST_CASE( symplectic_euler_coor_func )
+{
+    vector_fixture f;
+    boost::numeric::odeint::symplectic_euler< state_type > euler;
+    euler.do_step( ham_sys() ,
+                   std::make_pair( f.q.begin() + 1 , f.q.begin() + 4 ) ,
+                   std::make_pair( f.p.begin() + 3 , f.p.begin() + 6 ) ,
+                   0.0 , 0.1 );
+    CHECK_VALUES( f.q , 0.0 , 1.3 , 2.4 , 3.5 , 4.0 , 5.0 );
+    CHECK_VALUES( f.p , 0.0 , 1.0 , 2.0 , 3.1 , 4.2 , 5.3 );
+}
+
+BOOST_AUTO_TEST_CASE( symplectic_euler_coor_and_mom_func )
+{
+    vector_fixture f;
+    boost::numeric::odeint::symplectic_euler< state_type > euler;
+    euler.do_step( std::make_pair( ham_sys() , ham_sys() ) ,
+                   std::make_pair( f.q.begin() + 1 , f.q.begin() + 4 ) ,
+                   std::make_pair( f.p.begin() + 3 , f.p.begin() + 6 ) ,
+                   0.0 , 0.1 );
+    CHECK_VALUES( f.q , 0.0 , 1.1 , 2.2 , 3.3 , 4.0 , 5.0 );
+    CHECK_VALUES( f.p , 0.0 , 1.0 , 2.0 , 3.1 , 4.2 , 5.3 );
+}
+
+
+BOOST_AUTO_TEST_CASE( dense_output_euler_with_ranges )
+{
+    using namespace boost::numeric::odeint;
+    vector_fixture f;
+    dense_output_runge_kutta< euler< state_type > > stepper;
+    stepper.initialize( std::make_pair( f.in.begin() + 1, f.in.begin() + 4 ) , 0.0 , 0.1 );
+    stepper.do_step( system1() );
+    stepper.calc_state( 0.05 , std::make_pair( f.in.begin() + 1 ,f.in.begin() +4 ) );
+    CHECK_VALUES( f.in , 0.0 , 1.05 , 2.1 , 3.15 , 4.0 , 5.0 );
+}
+
+BOOST_AUTO_TEST_CASE( dense_output_dopri5_with_ranges )
+{
+    using namespace boost::numeric::odeint;
+    vector_fixture f;
+    dense_output_runge_kutta<
+        controlled_runge_kutta<
+            runge_kutta_dopri5< state_type >
+            > > stepper;
+    stepper.initialize( std::make_pair( f.in.begin() + 1, f.in.begin() + 4 ) , 0.0 , 0.1 );
+    stepper.do_step( system2() );
+    stepper.calc_state( 0.05 , std::make_pair( f.in.begin() + 1 ,f.in.begin() +4 ) );
+    CHECK_VALUES( f.in , 0.0 , 1.05 , 2.1 , 3.15 , 4.0 , 5.0 );
+}
+
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp
new file mode 100755
index 0000000..9a45657
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp
@@ -0,0 +1,327 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/stepper_with_units.cpp
+
+ [begin_description]
+ This file tests if the steppers play well with Boost.Units.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#define BOOST_TEST_MODULE odeint_stepper_with_units
+
+// the runge-kutta 78 stepper invoked with boost units requires increased fusion macro variables!
+// note that by default the rk78 + units test case is disabled as it requires enormous memory when compiling (5 GB)
+#define BOOST_FUSION_INVOKE_MAX_ARITY 15
+#define BOOST_RESULT_OF_NUM_ARGS 15
+
+
+#include <boost/numeric/odeint/config.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/units/systems/si/length.hpp>
+#include <boost/units/systems/si/time.hpp>
+#include <boost/units/systems/si/velocity.hpp>
+#include <boost/units/systems/si/acceleration.hpp>
+#include <boost/units/systems/si/io.hpp>
+
+#include <boost/fusion/container.hpp>
+#include <boost/mpl/vector.hpp>
+
+#include <boost/numeric/odeint/stepper/euler.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp>
+#include <boost/numeric/odeint/stepper/controlled_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp>
+#include <boost/numeric/odeint/stepper/bulirsch_stoer.hpp>
+#include <boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp>
+#include <boost/numeric/odeint/algebra/fusion_algebra.hpp>
+
+
+using namespace boost::numeric::odeint;
+using namespace boost::unit_test;
+namespace mpl = boost::mpl;
+namespace fusion = boost::fusion;
+namespace units = boost::units;
+namespace si = boost::units::si;
+
+typedef double value_type;
+typedef units::quantity< si::time , value_type > time_type;
+typedef units::quantity< si::length , value_type > length_type;
+typedef units::quantity< si::velocity , value_type > velocity_type;
+typedef units::quantity< si::acceleration , value_type > acceleration_type;
+typedef fusion::vector< length_type , velocity_type > state_type;
+typedef fusion::vector< velocity_type , acceleration_type > deriv_type;
+
+void oscillator( const state_type &x , deriv_type &dxdt , time_type t )
+{
+    const units::quantity< si::frequency , value_type > omega = 1.0 * si::hertz;
+    fusion::at_c< 0 >( dxdt ) = fusion::at_c< 1 >( x );
+    fusion::at_c< 1 >( dxdt ) = - omega * omega * fusion::at_c< 0 >( x );
+}
+
+template< class Stepper >
+void check_stepper( Stepper &stepper )
+{
+    typedef Stepper stepper_type;
+    typedef typename stepper_type::state_type state_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef typename stepper_type::deriv_type deriv_type;
+    typedef typename stepper_type::time_type time_type;
+    typedef typename stepper_type::order_type order_type;
+    typedef typename stepper_type::algebra_type algebra_type;
+    typedef typename stepper_type::operations_type operations_type;
+
+    const time_type t( 0.0 * si::second );
+    time_type dt( 0.1 * si::second );
+    state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second );
+
+    // test call method one
+    stepper.do_step( oscillator , x , t , dt );
+
+    // test call method two
+    stepper.do_step( oscillator , x , t , x , dt );
+
+    // test call method three
+    deriv_type dxdt;
+    oscillator( x , dxdt , t );
+    stepper.do_step( oscillator , x , dxdt , t , dt );
+
+    // test call method four
+    oscillator( x , dxdt , t );
+    stepper.do_step( oscillator , x , dxdt , t , x , dt );
+}
+
+template< class Stepper >
+void check_fsal_stepper( Stepper &stepper )
+{
+    typedef Stepper stepper_type;
+    typedef typename stepper_type::state_type state_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef typename stepper_type::deriv_type deriv_type;
+    typedef typename stepper_type::time_type time_type;
+    typedef typename stepper_type::order_type order_type;
+    typedef typename stepper_type::algebra_type algebra_type;
+    typedef typename stepper_type::operations_type operations_type;
+
+    const time_type t( 0.0 * si::second );
+    time_type dt( 0.1 * si::second );
+    state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second );
+
+    // test call method one
+    stepper.do_step( oscillator , x , t , dt );
+
+    // test call method two
+    stepper.do_step( oscillator , x , t , x , dt );
+
+    // test call method three
+    deriv_type dxdt;
+    oscillator( x , dxdt , t );
+    stepper.do_step( oscillator , x , dxdt , t , dt );
+
+    // test call method four
+    stepper.do_step( oscillator , x , dxdt , t , x , dxdt , dt );
+}
+
+template< class Stepper >
+void check_error_stepper( Stepper &stepper )
+{
+    typedef Stepper stepper_type;
+    typedef typename stepper_type::state_type state_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef typename stepper_type::deriv_type deriv_type;
+    typedef typename stepper_type::time_type time_type;
+    typedef typename stepper_type::order_type order_type;
+    typedef typename stepper_type::algebra_type algebra_type;
+    typedef typename stepper_type::operations_type operations_type;
+
+    const time_type t( 0.0 * si::second );
+    time_type dt( 0.1 * si::second );
+    state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second ) , xerr;
+
+    // test call method one
+    stepper.do_step( oscillator , x , t , dt , xerr );
+
+    // test call method two
+    stepper.do_step( oscillator , x , t , x , dt , xerr );
+
+    // test call method three
+    deriv_type dxdt;
+    oscillator( x , dxdt , t );
+    stepper.do_step( oscillator , x , dxdt , t , dt , xerr );
+
+    // test call method four
+    stepper.do_step( oscillator , x , dxdt , t , x , dt , xerr );
+}
+
+template< class Stepper >
+void check_fsal_error_stepper( Stepper &stepper )
+{
+    typedef Stepper stepper_type;
+    typedef typename stepper_type::state_type state_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef typename stepper_type::deriv_type deriv_type;
+    typedef typename stepper_type::time_type time_type;
+    typedef typename stepper_type::order_type order_type;
+    typedef typename stepper_type::algebra_type algebra_type;
+    typedef typename stepper_type::operations_type operations_type;
+
+    const time_type t( 0.0 * si::second );
+    time_type dt( 0.1 * si::second );
+    state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second ) , xerr;
+
+    // test call method one
+    stepper.do_step( oscillator , x , t , dt , xerr );
+
+    // test call method two
+    stepper.do_step( oscillator , x , t , x , dt , xerr );
+
+    // test call method three
+    deriv_type dxdt;
+    oscillator( x , dxdt , t );
+    stepper.do_step( oscillator , x , dxdt , t , dt , xerr );
+
+    // test call method four
+    stepper.do_step( oscillator , x , dxdt , t , x , dxdt , dt , xerr );
+}
+
+template< class Stepper >
+void check_controlled_stepper( Stepper &stepper )
+{
+    typedef Stepper stepper_type;
+    typedef typename stepper_type::state_type state_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef typename stepper_type::deriv_type deriv_type;
+    typedef typename stepper_type::time_type time_type;
+
+    time_type t( 0.0 * si::second );
+    time_type dt( 0.1 * si::second );
+    state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second );
+
+    // test call method one
+    stepper.try_step( oscillator , x , t , dt );
+}
+
+
+template< class Stepper >
+void check_dense_output_stepper( Stepper &stepper )
+{
+    typedef Stepper stepper_type;
+    typedef typename stepper_type::state_type state_type;
+    typedef typename stepper_type::value_type value_type;
+    typedef typename stepper_type::deriv_type deriv_type;
+    typedef typename stepper_type::time_type time_type;
+//    typedef typename stepper_type::order_type order_type;
+
+    time_type t( 0.0 * si::second );
+    time_type dt( 0.1 * si::second );
+    state_type x( 1.0 * si::meter , 0.0 * si::meter_per_second ) , x2;
+
+    stepper.initialize( x , t , dt );
+    stepper.do_step( oscillator );
+    stepper.calc_state( dt / 2.0 , x2 );
+}
+
+
+
+
+
+
+class stepper_types : public mpl::vector
+<
+    euler< state_type , value_type , deriv_type , time_type , fusion_algebra >,
+    runge_kutta4< state_type , value_type , deriv_type , time_type , fusion_algebra > ,
+    runge_kutta4_classic< state_type , value_type , deriv_type , time_type , fusion_algebra > ,
+    runge_kutta_cash_karp54< state_type , value_type , deriv_type , time_type , fusion_algebra >,
+    runge_kutta_cash_karp54_classic< state_type , value_type , deriv_type , time_type , fusion_algebra >
+    // don't run rk78 test - gcc requires > 5GB RAM to compile this
+    //, runge_kutta_fehlberg78< state_type , value_type , deriv_type , time_type , fusion_algebra >
+    > { };
+
+class fsal_stepper_types : public mpl::vector
+<
+    runge_kutta_dopri5< state_type , value_type , deriv_type , time_type , fusion_algebra >
+    > { };
+
+class error_stepper_types : public mpl::vector
+<
+    runge_kutta_cash_karp54_classic< state_type , value_type , deriv_type , time_type , fusion_algebra >
+    //, runge_kutta_fehlberg78< state_type , value_type , deriv_type , time_type , fusion_algebra >
+    > { };
+
+class fsal_error_stepper_types : public mpl::vector
+<
+    runge_kutta_dopri5< state_type , value_type , deriv_type , time_type , fusion_algebra >
+    > { };
+
+class controlled_stepper_types : public mpl::vector
+<
+    controlled_runge_kutta< runge_kutta_cash_karp54_classic< state_type , value_type , deriv_type , time_type , fusion_algebra > > ,
+    controlled_runge_kutta< runge_kutta_dopri5< state_type , value_type , deriv_type , time_type , fusion_algebra > >
+    , bulirsch_stoer< state_type , value_type , deriv_type , time_type , fusion_algebra >
+    // rk78 with units needs up to 3GB memory to compile - disable testing...
+    //, controlled_runge_kutta< runge_kutta_fehlberg78< state_type , value_type , deriv_type , time_type , fusion_algebra > >
+    > { };
+
+class dense_output_stepper_types : public mpl::vector
+<
+    dense_output_runge_kutta< euler< state_type , value_type , deriv_type , time_type , fusion_algebra > > ,
+    dense_output_runge_kutta<
+        controlled_runge_kutta< runge_kutta_dopri5< state_type , value_type , deriv_type , time_type , fusion_algebra > > > 
+    //, bulirsch_stoer_dense_out< state_type , value_type , deriv_type , time_type , fusion_algebra >
+    > { };
+
+
+
+
+BOOST_AUTO_TEST_SUITE( stepper_with_units )
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( stepper_test , Stepper , stepper_types )
+{
+    Stepper stepper;
+    check_stepper( stepper );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( fsl_stepper_test , Stepper , fsal_stepper_types )
+{
+    Stepper stepper;
+    check_fsal_stepper( stepper );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( error_stepper_test , Stepper , error_stepper_types )
+{
+    Stepper stepper;
+    check_error_stepper( stepper );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( fsal_error_stepper_test , Stepper , fsal_error_stepper_types )
+{
+    Stepper stepper;
+    check_fsal_error_stepper( stepper );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( controlled_stepper_test , Stepper , controlled_stepper_types )
+{
+    Stepper stepper;
+    check_controlled_stepper( stepper );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( dense_ouput_test , Stepper , dense_output_stepper_types )
+{
+    Stepper stepper;
+    check_dense_output_stepper( stepper );
+}
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp
new file mode 100755
index 0000000..fa1af0e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp
@@ -0,0 +1,392 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/symplectic_steppers.cpp
+
+ [begin_description]
+ tba.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_symplectic_steppers
+
+#define BOOST_FUSION_INVOKE_MAX_ARITY 15
+#define BOOST_RESULT_OF_NUM_ARGS 15
+#define FUSION_MAX_VECTOR_SIZE 15
+
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/array.hpp>
+#include <boost/static_assert.hpp>
+#include <boost/type_traits/is_same.hpp>
+
+#include <boost/mpl/vector.hpp>
+#include <boost/mpl/zip_view.hpp>
+#include <boost/mpl/vector_c.hpp>
+#include <boost/mpl/insert_range.hpp>
+#include <boost/mpl/end.hpp>
+#include <boost/mpl/size.hpp>
+#include <boost/mpl/copy.hpp>
+#include <boost/mpl/placeholders.hpp>
+#include <boost/mpl/inserter.hpp>
+#include <boost/mpl/at.hpp>
+
+#include <boost/fusion/container/vector.hpp>
+#include <boost/fusion/include/make_vector.hpp>
+
+#include <boost/numeric/odeint/algebra/vector_space_algebra.hpp>
+#include <boost/numeric/odeint/algebra/fusion_algebra.hpp>
+#include <boost/numeric/odeint/stepper/symplectic_euler.hpp>
+#include <boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp>
+#include <boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp>
+
+#include "diagnostic_state_type.hpp"
+#include "const_range.hpp"
+#include "dummy_odes.hpp"
+#include "vector_space_1d.hpp"
+#include "boost_units_helpers.hpp"
+
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+namespace mpl = boost::mpl;
+namespace fusion = boost::fusion;
+
+class custom_range_algebra : public range_algebra { };
+class custom_default_operations : public default_operations { };
+
+
+template< class Coor , class Mom , class Value , class CoorDeriv , class MomDeriv , class Time ,
+          class Algebra , class Operations , class Resizer >
+class complete_steppers : public mpl::vector<
+    symplectic_euler< Coor , Mom , Value , CoorDeriv , MomDeriv , Time ,
+                      Algebra , Operations , Resizer >
+    , symplectic_rkn_sb3a_mclachlan< Coor , Mom , Value , CoorDeriv , MomDeriv , Time ,
+                                     Algebra , Operations , Resizer >
+    , symplectic_rkn_sb3a_m4_mclachlan< Coor , Mom , Value , CoorDeriv , MomDeriv , Time ,
+                                        Algebra , Operations , Resizer >
+    > {};
+
+template< class Resizer >
+class vector_steppers : public complete_steppers<
+    diagnostic_state_type , diagnostic_state_type2 , double ,
+    diagnostic_deriv_type , diagnostic_deriv_type2 , double ,
+    custom_range_algebra , custom_default_operations , Resizer
+    > { };
+
+
+typedef mpl::vector< initially_resizer , always_resizer , never_resizer > resizers;
+typedef mpl::vector_c< int , 1 , 3 , 0 > resizer_multiplicities ;
+
+
+typedef mpl::copy<
+    resizers ,
+    mpl::inserter<
+        mpl::vector0<> ,
+        mpl::insert_range<
+            mpl::_1 ,
+            mpl::end< mpl::_1 > ,
+            vector_steppers< mpl::_2 >
+            >
+        >
+    >::type all_stepper_methods;
+
+
+typedef mpl::size< vector_steppers< initially_resizer > >::type num_steppers;
+typedef mpl::copy<
+    resizer_multiplicities ,
+    mpl::inserter<
+        mpl::vector0<> ,
+        mpl::insert_range<
+            mpl::_1 , 
+            mpl::end< mpl::_1 > ,
+            const_range< num_steppers , mpl::_2 >
+            >
+        >
+    >::type all_multiplicities;
+                                                                                 
+
+
+
+
+
+
+BOOST_AUTO_TEST_SUITE( symplectic_steppers_test )
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_assoc_types , Stepper , vector_steppers< initially_resizer > )
+{
+    BOOST_STATIC_ASSERT_MSG(
+        ( boost::is_same< typename Stepper::coor_type , diagnostic_state_type >::value ) ,
+        "Coordinate type" );
+    BOOST_STATIC_ASSERT_MSG(
+        ( boost::is_same< typename Stepper::momentum_type , diagnostic_state_type2 >::value ) ,
+        "Momentum type" );
+    BOOST_STATIC_ASSERT_MSG(
+        ( boost::is_same< typename Stepper::coor_deriv_type , diagnostic_deriv_type >::value ) ,
+        "Coordinate deriv type" );
+    BOOST_STATIC_ASSERT_MSG(
+        ( boost::is_same< typename Stepper::momentum_deriv_type , diagnostic_deriv_type2 >::value ) ,
+        "Momentum deriv type" );
+
+    BOOST_STATIC_ASSERT_MSG(
+        ( boost::is_same< typename Stepper::state_type , std::pair< diagnostic_state_type , diagnostic_state_type2 > >::value ) ,
+        "State type" );
+    BOOST_STATIC_ASSERT_MSG(
+        ( boost::is_same< typename Stepper::deriv_type , std::pair< diagnostic_deriv_type , diagnostic_deriv_type2 > >::value ) ,
+        "Deriv type" );
+
+    BOOST_STATIC_ASSERT_MSG( ( boost::is_same< typename Stepper::value_type , double >::value ) , "Value type" );
+    BOOST_STATIC_ASSERT_MSG( ( boost::is_same< typename Stepper::time_type , double >::value ) , "Time type" );
+    BOOST_STATIC_ASSERT_MSG( ( boost::is_same< typename Stepper::algebra_type , custom_range_algebra >::value ) , "Algebra type" );
+    BOOST_STATIC_ASSERT_MSG( ( boost::is_same< typename Stepper::operations_type , custom_default_operations >::value ) , "Operations type" );
+
+    BOOST_STATIC_ASSERT_MSG( ( boost::is_same< typename Stepper::resizer_type , initially_resizer >::value ) , "Resizer type" );
+    BOOST_STATIC_ASSERT_MSG( ( boost::is_same< typename Stepper::stepper_category , stepper_tag >::value ) , "Stepper category" );
+}
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_adjust_size , Stepper , vector_steppers< initially_resizer > )
+{
+    counter_state::init_counter();
+    counter_deriv::init_counter();
+    counter_state2::init_counter();
+    counter_deriv2::init_counter();
+
+    {
+        Stepper stepper;
+        diagnostic_state_type x;
+        stepper.adjust_size( x );
+    }
+
+    TEST_COUNTERS( counter_state , 0 , 0 , 0 , 0 );
+    TEST_COUNTERS( counter_state2 , 0 , 0 , 0 , 0 );
+    TEST_COUNTERS( counter_deriv , 1 , 1 , 0 , 1 );
+    TEST_COUNTERS( counter_deriv2 , 1 , 1 , 0 , 1 );
+}
+
+
+typedef mpl::zip_view< mpl::vector< all_stepper_methods , all_multiplicities > >::type zipped_steppers;
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_resizing , Stepper , zipped_steppers )
+{
+    typedef typename mpl::at_c< Stepper , 0 >::type stepper_type;
+    const size_t multiplicity = mpl::at_c< Stepper , 1 >::type::value;
+
+    counter_state::init_counter();
+    counter_deriv::init_counter();
+    counter_state2::init_counter();
+    counter_deriv2::init_counter();
+
+    {
+        stepper_type stepper;
+        std::pair< diagnostic_state_type , diagnostic_state_type2 > x;
+        stepper.do_step( constant_mom_func() , x , 0.0 , 0.1 );
+        stepper.do_step( constant_mom_func() , x , 0.0 , 0.1 );
+        stepper.do_step( constant_mom_func() , x , 0.0 , 0.1 );
+    }
+
+    TEST_COUNTERS( counter_state , 0 , 0 , 0 , 0 );
+    TEST_COUNTERS( counter_state2 , 0 , 0 , 0 , 0 );
+    TEST_COUNTERS( counter_deriv , multiplicity , 1 , 0 , 1 );
+    TEST_COUNTERS( counter_deriv2 , multiplicity , 1 , 0 , 1 );
+}
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_copying1 , Stepper , vector_steppers< initially_resizer > )
+{
+    counter_state::init_counter();
+    counter_deriv::init_counter();
+    counter_state2::init_counter();
+    counter_deriv2::init_counter();
+
+    {
+        Stepper stepper;
+        Stepper stepper2( stepper );
+    }
+
+    TEST_COUNTERS( counter_state , 0 , 0 , 0 , 0 );
+    TEST_COUNTERS( counter_state2 , 0 , 0 , 0 , 0 );
+    TEST_COUNTERS( counter_deriv , 0 , 2 , 1 , 2 );
+    TEST_COUNTERS( counter_deriv2 , 0 , 2 , 1 , 2 );
+}
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_copying2 , Stepper , vector_steppers< initially_resizer > )
+{
+    counter_state::init_counter();
+    counter_deriv::init_counter();
+    counter_state2::init_counter();
+    counter_deriv2::init_counter();
+
+    {
+        Stepper stepper;
+        std::pair< diagnostic_state_type , diagnostic_state_type2 > x;
+        stepper.do_step( constant_mom_func() , x , 0.0 , 0.1 );
+        Stepper stepper2( stepper );
+    }
+
+    TEST_COUNTERS( counter_state , 0 , 0 , 0 , 0 );
+    TEST_COUNTERS( counter_state2 , 0 , 0 , 0 , 0 );
+    TEST_COUNTERS( counter_deriv , 1 , 2 , 1 , 2 );
+    TEST_COUNTERS( counter_deriv2 , 1 , 2 , 1 , 2 );
+}
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_do_step_v1 , Stepper , vector_steppers< initially_resizer > )
+{
+    Stepper s;
+    std::pair< diagnostic_state_type , diagnostic_state_type2 > x1 , x2 , x3 , x4;
+    x1.first[0] = 1.0;
+    x1.second[0] = 2.0;
+    x2 = x3 = x4 = x1;
+    diagnostic_state_type x5_coor , x5_mom;
+    x5_coor[0] = x1.first[0];
+    x5_mom[0] = x1.second[0];
+
+    s.do_step( constant_mom_func() , x1 , 0.0 , 0.1 );
+
+    s.do_step( std::make_pair( default_coor_func() , constant_mom_func() ) , x2 , 0.0 , 0.1 );
+
+    default_coor_func cf;
+    constant_mom_func mf;
+    s.do_step( std::make_pair( boost::ref( cf ) , boost::ref( mf ) ) , x3 , 0.0 , 0.1 );
+
+    std::pair< default_coor_func , constant_mom_func > pf;
+    s.do_step( boost::ref( pf ) , x4 , 0.0 , 0.1 );
+
+    s.do_step( constant_mom_func() , std::make_pair( boost::ref( x5_coor ) , boost::ref( x5_mom ) ) , 0.0 , 0.1 );
+
+    // checking for absolute values is not possible here, since the steppers are to different
+    BOOST_CHECK_CLOSE( x1.first[0] , x2.first[0] , 1.0e-14 );
+    BOOST_CHECK_CLOSE( x2.first[0] , x3.first[0] , 1.0e-14 );
+    BOOST_CHECK_CLOSE( x3.first[0] , x4.first[0] , 1.0e-14 );
+    BOOST_CHECK_CLOSE( x4.first[0] , x5_coor[0] , 1.0e-14 );
+
+    BOOST_CHECK_CLOSE( x1.second[0] , x2.second[0] , 1.0e-14 );
+    BOOST_CHECK_CLOSE( x2.second[0] , x3.second[0] , 1.0e-14 );
+    BOOST_CHECK_CLOSE( x3.second[0] , x4.second[0] , 1.0e-14 );
+    BOOST_CHECK_CLOSE( x4.second[0] , x5_mom[0] , 1.0e-14 );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_do_step_range , Stepper , vector_steppers< initially_resizer > )
+{
+    Stepper s;
+    diagnostic_state_type q , p ;
+    q[0] = 1.0;
+    p[0] = 2.0;
+
+    std::vector< double > x;
+    x.push_back( 1.0 );
+    x.push_back( 2.0 );
+    s.do_step( constant_mom_func() ,
+               std::make_pair( x.begin() , x.begin() + 1 ) ,
+               std::make_pair( x.begin() + 1 , x.begin() + 2 ) ,
+               0.0 , 0.1 );
+
+    s.do_step( constant_mom_func() , q , p , 0.0 , 0.1 );
+
+    BOOST_CHECK_CLOSE( q[0] , x[0] , 1.0e-14 );
+    BOOST_CHECK_CLOSE( p[0] , x[1] , 1.0e-14 );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_do_step_v2 , Stepper , vector_steppers< initially_resizer > )
+{
+    Stepper s;
+    diagnostic_state_type q , p ;
+    q[0] = 1.0;
+    p[0] = 2.0;
+    diagnostic_state_type q2 = q , p2 = p;
+
+
+    s.do_step( constant_mom_func() , q , p , 0.0 , 0.1 );
+    s.do_step( constant_mom_func() , std::make_pair( boost::ref( q2 ) , boost::ref( p2 ) ) , 0.0 , 0.1 );
+    
+    BOOST_CHECK_CLOSE( q[0] , q2[0] , 1.0e-14 );
+    BOOST_CHECK_CLOSE( p[0] , p2[0] , 1.0e-14 );
+}
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_do_step_v3 , Stepper , vector_steppers< initially_resizer > )
+{
+    Stepper s;
+    std::pair< diagnostic_state_type , diagnostic_state_type2 > x_in , x_out;
+    x_in.first[0] = 1.0;
+    x_in.second[0] = 2.0;
+    diagnostic_state_type q2 , p2;
+    q2[0] = x_in.first[0];
+    p2[0] = x_in.second[0];
+
+
+    s.do_step( constant_mom_func() , x_in , 0.0 , x_out , 0.1 );
+    s.do_step( constant_mom_func() , std::make_pair( boost::ref( q2 ) , boost::ref( p2 ) ) , 0.0 , 0.1 );
+    
+    BOOST_CHECK_CLOSE( x_in.first[0] , 1.0 , 1.0e-14 );
+    BOOST_CHECK_CLOSE( x_in.second[0] , 2.0 , 1.0e-14 );
+    BOOST_CHECK_CLOSE( x_out.first[0] , q2[0] , 1.0e-14 );
+    BOOST_CHECK_CLOSE( x_out.second[0] , p2[0] , 1.0e-14 );
+}
+
+
+typedef vector_space_1d< double > vector_space;
+typedef complete_steppers< vector_space , vector_space , double , 
+                           vector_space , vector_space , double , 
+                           vector_space_algebra , default_operations , initially_resizer > vector_space_steppers;
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_with_vector_space_algebra , Stepper , vector_space_steppers )
+{
+    Stepper s;
+    std::pair< vector_space , vector_space > x;
+    s.do_step( constant_mom_func_vector_space_1d() , x , 0.0 , 0.1 );
+
+    s.do_step( std::make_pair( default_coor_func_vector_space_1d() , constant_mom_func_vector_space_1d() ) , x , 0.0 , 0.1 );
+}
+
+
+typedef boost::fusion::vector< length_type > coor_type;
+typedef boost::fusion::vector< velocity_type > mom_type;
+typedef boost::fusion::vector< acceleration_type > acc_type;
+typedef complete_steppers< coor_type , mom_type , double , 
+                           mom_type , acc_type , time_type, 
+                           fusion_algebra , default_operations , initially_resizer > boost_unit_steppers;
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_with_boost_units , Stepper , boost_unit_steppers )
+{
+    namespace fusion = boost::fusion;
+    namespace si = boost::units::si;
+    Stepper s;
+
+    coor_type q = fusion::make_vector( 1.0 * si::meter );
+    mom_type p = fusion::make_vector( 2.0 * si::meter_per_second );
+    time_type t = 0.0 * si::second;
+    time_type dt = 0.1 * si::second;
+
+    coor_type q1 = q , q2 = q;
+    mom_type p1 = p , p2 = p;
+
+    s.do_step( oscillator_mom_func_units() , std::make_pair( boost::ref( q ) , boost::ref( p ) ) , t , dt );
+
+    s.do_step( std::make_pair( oscillator_coor_func_units() , oscillator_mom_func_units() ) ,
+               std::make_pair( boost::ref( q1 ) , boost::ref( p1 ) ) , t , dt );
+
+    s.do_step( oscillator_mom_func_units() , q2 , p2 , t , dt );
+
+    BOOST_CHECK_CLOSE( ( fusion::at_c< 0 >( q  ).value() ) , ( fusion::at_c< 0 >( q1 ).value() ) , 1.0e-14 );
+    BOOST_CHECK_CLOSE( ( fusion::at_c< 0 >( q1 ).value() ) , ( fusion::at_c< 0 >( q2 ).value() ) , 1.0e-14 );
+    BOOST_CHECK_CLOSE( ( fusion::at_c< 0 >( p  ).value() ) , ( fusion::at_c< 0 >( p1 ).value() ) , 1.0e-14 );
+    BOOST_CHECK_CLOSE( ( fusion::at_c< 0 >( p1 ).value() ) , ( fusion::at_c< 0 >( p2 ).value() ) , 1.0e-14 );
+}
+
+
+
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/trivial_state.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/trivial_state.cpp
new file mode 100755
index 0000000..44f47ea
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/trivial_state.cpp
@@ -0,0 +1,105 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/trivial_state.cpp
+
+ [begin_description]
+ This file tests if the steppers can integrate the trivial state consisting of a single double.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+// disable checked iterator warning for msvc
+#include <boost/config.hpp>
+#ifdef BOOST_MSVC
+    #pragma warning(disable:4996)
+#endif
+
+#define BOOST_TEST_MODULE odeint_trivial_state
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/mpl/vector.hpp>
+#include <boost/mpl/int.hpp>
+#include <boost/mpl/at.hpp>
+
+#include <boost/numeric/odeint/stepper/euler.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp>
+#include <boost/numeric/odeint/stepper/generation.hpp>
+#include <boost/numeric/odeint/integrate/integrate_adaptive.hpp>
+#include <boost/numeric/odeint/algebra/vector_space_algebra.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+namespace mpl = boost::mpl;
+
+typedef double state_type;
+typedef double value_type;
+typedef double deriv_type;
+typedef double time_type;
+
+void constant_system( const state_type &x , state_type &dxdt , const time_type t ) { dxdt = 1.0; }
+
+
+BOOST_AUTO_TEST_SUITE( trivial_state_test )
+
+/* test different do_step methods of simple steppers */
+
+typedef mpl::vector<
+        euler< state_type , value_type , deriv_type , time_type ,
+               vector_space_algebra , default_operations , never_resizer > ,
+        runge_kutta4< state_type , value_type , deriv_type , time_type ,
+                      vector_space_algebra , default_operations , never_resizer >
+        >::type stepper_types;
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_do_step , T, stepper_types )
+{
+    typedef T stepper_type;
+    stepper_type stepper;
+    state_type x = 0.0;
+    time_type t = 0.0;
+    time_type dt = 0.1;
+    stepper.do_step( constant_system , x , t , dt );
+    BOOST_CHECK_CLOSE( x , 0.1 , 1.0e-10 );
+
+    // this overload is not allowed if the types of dxdt and dt are the same
+    // deriv_type dxdt = 1.0;
+    // stepper.do_step( constant_system , x , dxdt , t , dt );
+
+    state_type x_out;
+    stepper.do_step( constant_system , x , t , x_out , dt );
+    BOOST_CHECK_CLOSE( x , 0.1 , 1.0e-10 );
+    BOOST_CHECK_CLOSE( x_out , 0.2 , 1.0e-10 );
+}
+
+
+/* test integrate_adaptive with controlled steppers */
+
+typedef mpl::vector<
+    runge_kutta_cash_karp54< state_type , value_type , deriv_type , time_type ,
+                             vector_space_algebra , default_operations , never_resizer > ,
+    runge_kutta_dopri5< state_type , value_type , deriv_type , time_type ,
+                        vector_space_algebra , default_operations , never_resizer >
+    > error_stepper_types;
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( test_integrate , T , error_stepper_types )
+{
+    typedef T stepper_type;
+    state_type x = 0.0;
+    time_type t0 = 0.0;
+    time_type t1 = 1.0;
+    time_type dt = 0.1;
+    integrate_adaptive( make_controlled< stepper_type >( 1e-6 , 1e-6 ) , constant_system , x , t0 , t1 , dt );
+    BOOST_CHECK_CLOSE( x , 1.0 , 1.0e-10 );
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp
new file mode 100755
index 0000000..9d14d8b
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp
@@ -0,0 +1,120 @@
+/*
+ [auto_generated]
+ libs/numeric/odeint/test/trivial_state.cpp
+
+ [begin_description]
+ This file defines a vector_space 1d class with the appropriate operators.
+ [end_description]
+
+ Copyright 2009-2012 Karsten Ahnert
+ Copyright 2009-2012 Mario Mulansky
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+
+#ifndef VECTOR_SPACE_1D_HPP_INCLUDED
+#define VECTOR_SPACE_1D_HPP_INCLUDED
+
+#include <boost/config.hpp>
+#include <boost/operators.hpp>
+
+template< class T >
+struct vector_space_1d :
+    boost::additive1< vector_space_1d< T > ,
+    boost::additive2< vector_space_1d< T > , T ,
+    boost::multiplicative1< vector_space_1d< T > ,
+    boost::multiplicative2< vector_space_1d< T > , T
+    > > > >
+{
+    typedef T value_type;
+
+    value_type m_x;
+
+    vector_space_1d( void ) : m_x( 0.0 ) {}
+
+    vector_space_1d& operator+=( const vector_space_1d& p )
+    {
+        m_x += p.m_x;
+        return *this;
+    }
+
+    vector_space_1d& operator-=( const vector_space_1d& p )
+    {
+        m_x -= p.m_x;
+        return *this;
+    }
+
+    vector_space_1d& operator*=( const vector_space_1d& p )
+    {
+        m_x *= p.m_x;
+        return *this;
+    }
+
+    vector_space_1d& operator/=( const vector_space_1d& p )
+    {
+        m_x /= p.m_x;
+        return *this;
+    }
+
+    vector_space_1d& operator+=( const value_type& val )
+    {
+        m_x += val;
+        return *this;
+    }
+
+    vector_space_1d& operator-=( const value_type& val )
+    {
+        m_x -= val;
+        return *this;
+    }
+
+    vector_space_1d& operator*=( const value_type &val )
+    {
+        m_x *= val;
+        return *this;
+    }
+
+    vector_space_1d& operator/=( const value_type &val )
+    {
+        m_x /= val;
+        return *this;
+    }
+};
+
+
+template< class T >
+vector_space_1d< T > abs( const vector_space_1d< T > &v)
+{
+    vector_space_1d< T > tmp;
+    tmp.m_x = std::abs( v.m_x );
+    return tmp;
+}
+
+
+template< class T >
+T max BOOST_PREVENT_MACRO_SUBSTITUTION ( const vector_space_1d< T > &v )
+{
+    return v.m_x;
+}
+
+namespace boost {
+    namespace numeric {
+        namespace odeint {
+
+            template< class T >
+            struct vector_space_reduce< vector_space_1d< T > >
+            {
+                template< class Op >
+                T operator()( const vector_space_1d< T > &v , Op op , T value )
+                {
+                    return v.m_x;
+                }
+            };
+
+} // odeint
+} // numeric
+} // boost
+
+#endif // VECTOR_SPACE_1D_HPP_INCLUDED
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2
new file mode 100755
index 0000000..20d4060
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2
@@ -0,0 +1,26 @@
+# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+
+# bring in rules for testing
+
+import testing ;
+use-project boost : $(BOOST_ROOT) ;
+
+project gmp
+    : requirements
+      <library>/boost/test//boost_unit_test_framework
+      <include>../../../../..
+    ;
+    
+    
+lib libgmp : : <name>gmp <link>shared ;
+lib libgmpxx : : <name>gmpxx <link>shared ;
+
+test-suite "gmp"
+    : 
+      [ run check_gmp.cpp libgmpxx libgmp : : : <link>shared:<define>BOOST_TEST_DYN_LINK=1 ] 
+      [ run gmp_integrate.cpp libgmpxx libgmp : : : <link>shared:<define>BOOST_TEST_DYN_LINK=1 ] 
+    ;
+
+
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp
new file mode 100755
index 0000000..ce469c7
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp
@@ -0,0 +1,165 @@
+/* Boost check_gmp.cpp test file
+
+ Copyright 2009 Karsten Ahnert
+ Copyright 2009 Mario Mulansky
+
+ This file tests the odeint library with the gmp arbitrary precision types
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+#define BOOST_TEST_MODULE odeint_gmp
+
+#include <iostream>
+
+#include <gmpxx.h>
+
+#include <boost/test/unit_test.hpp>
+#include <boost/array.hpp>
+
+#include <boost/mpl/vector.hpp>
+
+#include <boost/numeric/odeint.hpp>
+//#include <boost/numeric/odeint/algebra/vector_space_algebra.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+namespace mpl = boost::mpl;
+
+const int precision = 1024;
+
+typedef mpf_class value_type;
+typedef mpf_class state_type;
+
+//provide min, max and pow functions for mpf types - required for controlled steppers
+value_type min( const value_type a , const value_type b )
+{
+    if( a<b ) return a;
+    else return b;
+}
+value_type max( const value_type a , const value_type b )
+{
+    if( a>b ) return a;
+    else return b;
+}
+value_type pow( const value_type a , const value_type b )
+{
+    // do calculation in double precision
+    return value_type( std::pow( a.get_d() , b.get_d() ) );
+}
+
+
+//provide vector_space reduce:
+
+namespace boost { namespace numeric { namespace odeint {
+
+template<>
+struct vector_space_reduce< state_type >
+{
+  template< class Op >
+  state_type operator()( state_type x , Op op , state_type init ) const
+  {
+      init = op( init , x );
+      return init;
+  }
+};
+
+} } }
+
+
+void constant_system( const state_type &x , state_type &dxdt , value_type t )
+{
+    dxdt = value_type( 1.0 , precision );
+}
+
+
+/* check runge kutta stepers */
+typedef mpl::vector<
+    euler< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    modified_midpoint< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    runge_kutta4< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    runge_kutta4_classic< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    runge_kutta_cash_karp54_classic< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    runge_kutta_cash_karp54< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    runge_kutta_dopri5< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    runge_kutta_fehlberg78< state_type , value_type , state_type , value_type , vector_space_algebra >
+    > stepper_types;
+
+
+template< class Stepper >
+struct perform_runge_kutta_test {
+
+    void operator()( void )
+    {
+        /* We have to specify the desired precision in advance! */
+        mpf_set_default_prec( precision );
+
+        mpf_t eps_ , unity;
+        mpf_init( eps_ ); mpf_init( unity );
+        mpf_set_d( unity , 1.0 );
+        mpf_div_2exp( eps_ , unity , precision-1 ); // 2^(-precision+1) : smallest number that can be represented with used precision
+        value_type eps( eps_ );
+
+        Stepper stepper;
+        state_type x;
+        x = 0.0;
+
+        stepper.do_step( constant_system , x , 0.0 , 0.1 );
+
+        BOOST_MESSAGE( eps );
+        BOOST_CHECK_MESSAGE( abs( x - value_type( 0.1 , precision ) ) < eps , x - 0.1 );
+    }
+};
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( runge_kutta_stepper_test , Stepper , stepper_types )
+{
+    perform_runge_kutta_test< Stepper > tester;
+    tester();
+}
+
+
+/* check controlled steppers */
+typedef mpl::vector<
+    controlled_runge_kutta< runge_kutta_cash_karp54_classic< state_type , value_type , state_type , value_type , vector_space_algebra > > ,
+    controlled_runge_kutta< runge_kutta_dopri5< state_type , value_type , state_type , value_type , vector_space_algebra > > , 
+    controlled_runge_kutta< runge_kutta_fehlberg78< state_type , value_type , state_type , value_type , vector_space_algebra > > ,
+    bulirsch_stoer< state_type , value_type , state_type , value_type , vector_space_algebra >
+    > controlled_stepper_types;
+
+
+template< class Stepper >
+struct perform_controlled_test {
+
+    void operator()( void )
+    {
+        mpf_set_default_prec( precision );
+
+        mpf_t eps_ , unity;
+        mpf_init( eps_ ); mpf_init( unity );
+        mpf_set_d( unity , 1.0 );
+        mpf_div_2exp( eps_ , unity , precision-1 ); // 2^(-precision+1) : smallest number that can be represented with used precision
+        value_type eps( eps_ );
+
+        Stepper stepper;
+        state_type x;
+        x = 0.0;
+
+        value_type t(0.0);
+        value_type dt(0.1);
+
+        stepper.try_step( constant_system , x , t , dt );
+
+        BOOST_MESSAGE( eps );
+        BOOST_CHECK_MESSAGE( abs( x - value_type( 0.1 , precision ) ) < eps , x - 0.1 );
+    }
+};
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( controlled_stepper_test , Stepper , controlled_stepper_types )
+{
+    perform_controlled_test< Stepper > tester;
+    tester();
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp
new file mode 100755
index 0000000..c12f0fc
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp
@@ -0,0 +1,169 @@
+/* Boost check_gmp.cpp test file
+
+ Copyright 2009 Karsten Ahnert
+ Copyright 2009 Mario Mulansky
+
+ This file tests the odeint library with the gmp arbitrary precision types
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+#define BOOST_TEST_MODULE odeint_gmp
+
+#include <gmpxx.h>
+
+#include <boost/test/unit_test.hpp>
+#include <boost/array.hpp>
+
+#include <boost/mpl/vector.hpp>
+
+#include <boost/numeric/odeint.hpp>
+//#include <boost/numeric/odeint/algebra/vector_space_algebra.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+namespace mpl = boost::mpl;
+
+const int precision = 1024;
+
+typedef mpf_class value_type;
+typedef mpf_class state_type;
+
+//provide min, max and pow functions for mpf types - required for controlled steppers
+value_type min( const value_type a , const value_type b )
+{
+    if( a<b ) return a;
+    else return b;
+}
+value_type max( const value_type a , const value_type b )
+{
+    if( a>b ) return a;
+    else return b;
+}
+value_type pow( const value_type a , const value_type b )
+{
+    // do the calculation in double precision...
+    return value_type( std::pow( a.get_d() , b.get_d() ) );
+}
+
+
+//provide vector_space reduce:
+
+namespace boost { namespace numeric { namespace odeint {
+
+template<>
+struct vector_space_reduce< state_type >
+{
+  template< class Op >
+  state_type operator()( state_type x , Op op , state_type init ) const
+  {
+      init = op( init , x );
+      return init;
+  }
+};
+
+} } }
+
+
+void constant_system( const state_type &x , state_type &dxdt , value_type t )
+{
+    dxdt = value_type( 1.0 , precision );
+}
+
+/* check runge kutta stepers */
+typedef mpl::vector<
+    euler< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    modified_midpoint< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    runge_kutta4< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    runge_kutta4_classic< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    runge_kutta_cash_karp54_classic< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    runge_kutta_cash_karp54< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    runge_kutta_dopri5< state_type , value_type , state_type , value_type , vector_space_algebra > ,
+    runge_kutta_fehlberg78< state_type , value_type , state_type , value_type , vector_space_algebra >
+    > stepper_types;
+
+
+template< class Stepper >
+struct perform_integrate_const_test {
+
+    void operator()( void )
+    {
+        /* We have to specify the desired precision in advance! */
+        mpf_set_default_prec( precision );
+
+        mpf_t eps_ , unity;
+        mpf_init( eps_ ); mpf_init( unity );
+        mpf_set_d( unity , 1.0 );
+        mpf_div_2exp( eps_ , unity , precision-1 ); // 2^(-precision+1) : smallest number that can be represented with used precision
+        value_type eps( eps_ );
+
+        Stepper stepper;
+        state_type x;
+        x = 0.0;
+        value_type t0( 0.0 );
+        value_type tend( 1.0 );
+        value_type dt(0.1);
+
+        integrate_const( stepper , constant_system , x , t0 , tend , dt );
+
+        x = 0.0;
+        t0 = 0.0;
+        dt = 0.1;
+        size_t steps = 10;
+        
+        integrate_n_steps( stepper , constant_system , x , t0 , dt , steps );
+
+        BOOST_CHECK_MESSAGE( abs( x - 10*dt ) < eps , x );
+    }
+};
+
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_const_test , Stepper , stepper_types )
+{
+    perform_integrate_const_test< Stepper > tester;
+    tester();
+}
+
+
+typedef mpl::vector<
+    controlled_runge_kutta< runge_kutta_cash_karp54_classic< state_type , value_type , state_type , value_type , vector_space_algebra > > ,
+    controlled_runge_kutta< runge_kutta_dopri5< state_type , value_type , state_type , value_type , vector_space_algebra > > , 
+    controlled_runge_kutta< runge_kutta_fehlberg78< state_type , value_type , state_type , value_type , vector_space_algebra > > ,
+    bulirsch_stoer< state_type , value_type , state_type , value_type , vector_space_algebra >
+    > controlled_stepper_types;
+
+
+template< class Stepper >
+struct perform_integrate_adaptive_test {
+
+    void operator()( void )
+    {
+        mpf_set_default_prec( precision );
+
+        mpf_t eps_ , unity;
+        mpf_init( eps_ ); mpf_init( unity );
+        mpf_set_d( unity , 1.0 );
+        mpf_div_2exp( eps_ , unity , precision-1 ); // 2^(-precision+1) : smallest number that can be represented with used precision
+        value_type eps( eps_ );
+
+        Stepper stepper;
+        state_type x;
+        x = 0.0;
+        value_type t0( 0.0 );
+        value_type tend( 1.0 );
+        value_type dt(0.1);
+
+        integrate_adaptive( stepper , constant_system , x , t0 , tend , dt );
+
+        BOOST_CHECK_MESSAGE( abs( x - tend ) < eps , x - 0.1 );
+    }
+};
+
+BOOST_AUTO_TEST_CASE_TEMPLATE( integrate_adaptive__test , Stepper , controlled_stepper_types )
+{
+    perform_integrate_adaptive_test< Stepper > tester;
+    tester();
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2
new file mode 100755
index 0000000..c3d91dc
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2
@@ -0,0 +1,28 @@
+# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+
+# bring in rules for testing
+
+import testing ;
+use-project boost : $(BOOST_ROOT) ;
+
+project
+    : requirements
+      <library>/boost/test//boost_unit_test_framework
+      <include>../../../../..
+    ;
+    
+    
+lib libgsl : : <name>gsl <link>shared ;
+lib libgslcblas : : <name>gslcblas <link>shared ;
+
+test-suite "gsl"
+    : 
+      [ run check_gsl.cpp libgslcblas libgsl
+      :
+      :
+      : <link>shared:<define>BOOST_TEST_DYN_LINK=1
+      ] 
+    ;
+
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp
new file mode 100755
index 0000000..99956f5
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp
@@ -0,0 +1,52 @@
+/* Boost check_gmp.cpp test file
+
+ Copyright 2009 Karsten Ahnert
+ Copyright 2009 Mario Mulansky
+
+ This file tests the odeint library with the gmp arbitrary precision types
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+#define BOOST_TEST_MODULE odeint_gsl
+
+#include <gsl/gsl_vector.h>
+#include <boost/numeric/odeint/stepper/euler.hpp>
+#include <boost/numeric/odeint/external/gsl/gsl_wrapper.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+using namespace boost::unit_test;
+using namespace boost::numeric::odeint;
+
+typedef gsl_vector *state_type;
+
+const double sigma = 10.0;
+const double R = 28.0;
+const double b = 8.0 / 3.0;
+
+void lorenz( const state_type x , state_type dxdt , double t )
+{
+    gsl_vector_set( dxdt , 0 , sigma * ( gsl_vector_get(x , 1 ) - gsl_vector_get( x , 0 ) ) );
+    gsl_vector_set( dxdt , 1 , R * gsl_vector_get( x , 0 ) - gsl_vector_get( x , 1 ) - gsl_vector_get( x , 0 ) * gsl_vector_get( x , 2) );
+    gsl_vector_set( dxdt , 2 , gsl_vector_get( x , 0 ) * gsl_vector_get( x , 1 ) - b * gsl_vector_get( x , 2) );
+}
+
+BOOST_AUTO_TEST_CASE( gsl )
+{
+    euler< state_type > euler;
+
+    state_type x = gsl_vector_alloc( 3 );
+    gsl_vector_set( x , 0 , 1.0);
+    gsl_vector_set( x , 1 , 1.0);
+    gsl_vector_set( x , 2 , 2.0);
+
+    euler.do_step( lorenz , x , 0.0 , 0.1 );
+
+    //cout << gsl_vector_get( x , 0 ) << "  " << gsl_vector_get( x , 1 ) << "  " << gsl_vector_get( x , 2 ) << endl;
+
+    gsl_vector_free( x );
+
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2
new file mode 100755
index 0000000..637008f
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2
@@ -0,0 +1,30 @@
+# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+
+# bring in rules for testing
+
+import testing ;
+use-project boost : $(BOOST_ROOT) ;
+
+project
+    : requirements
+      <library>/boost/test//boost_unit_test_framework
+      <include>../../../../..
+    ;
+    
+    
+lib libmkl : : <name>mkl_intel_lp64 <link>shared ;
+lib libmkl_core : : <name>mkl_core <link>shared ;
+lib libmkl_intel_thread : : <name>mkl_intel_thread ;
+lib libiomp5 : : <name>iomp5 ;
+lib libpthread : : <name>pthread ;
+
+test-suite "mkl"
+    : 
+      [ run check_mkl.cpp  libpthread libiomp5 libmkl_core libmkl_intel_thread libmkl
+      :
+      :
+      : <link>shared:<define>BOOST_TEST_DYN_LINK=1
+      ] 
+    ;
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp
new file mode 100755
index 0000000..786193d
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp
@@ -0,0 +1,51 @@
+/* Boost check_mkl.cpp test file
+
+ Copyright 2009 Karsten Ahnert
+ Copyright 2009 Mario Mulansky
+
+ This file tests the odeint library with the intel mkl blas1 routines
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+#define BOOST_TEST_MODULE test_mkl
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/numeric/odeint/stepper/euler.hpp>
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/algebra/vector_space_algebra.hpp>
+#include <boost/numeric/odeint/external/mkl/mkl_operations.hpp>
+
+using namespace boost::numeric::odeint;
+
+typedef double value_type;
+typedef boost::array< value_type , 1 > state_type;
+
+
+void constant_system( state_type &x , state_type &dxdt , value_type t )
+{
+    dxdt[0] = 1.0;
+}
+
+const double eps = 1E-14;
+
+
+BOOST_AUTO_TEST_CASE( test_mkl )
+{
+
+    //to use mkl routines we have to use the vector_space_algebra and the mkl_operations
+    runge_kutta4< state_type , value_type , state_type , value_type , vector_space_algebra , mkl_operations > stepper;
+    state_type x;
+    x[0] = 0.0;
+
+    stepper.do_step( constant_system , x , 0.0 , 0.1 );
+
+    using std::abs;
+
+    std::cout << x[0] << " ?= " << 0.1 << std::endl;
+    BOOST_CHECK_SMALL( abs( x[0] - 0.1 ) , eps );
+
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2
new file mode 100755
index 0000000..f0d4793
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2
@@ -0,0 +1,28 @@
+# Copyright 2009 Karsten Ahnert and Mario Mulansky.
+# Distributed under the Boost Software License, Version 1.0. (See
+# accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+import testing ;
+import boost ;
+
+boost.use-project ;
+
+MTL4_INCLUDE = /home/karsten/boost/MTL-4.0.8862-Linux/usr/include ;
+
+project
+    : requirements 
+      <library>/boost/test//boost_unit_test_framework
+      <include>../../../../..
+      <include>$(MTL4_INCLUDE)
+      <define>BOOST_ALL_NO_LIB=1
+      <link>static
+    : 
+    : default-build release
+    ;
+    
+test-suite "odeint-mtl4"
+    :
+    [ run mtl4_resize.cpp ]
+    : <testing.launcher>valgrind
+    ;
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp
new file mode 100755
index 0000000..7c65d28
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp
@@ -0,0 +1,89 @@
+/* Boost mtl4_resize.cpp test file
+
+ Copyright 2009 Karsten Ahnert
+ Copyright 2009 Mario Mulansky
+
+ This file tests the odeint library with the mtl4 routines.
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+#define BOOST_TEST_MODULE test_mtl4_resize
+
+#include <boost/test/unit_test.hpp>
+
+#include <boost/numeric/odeint/external/mtl4/mtl4_resize.hpp>
+#include <boost/numeric/mtl/vector/dense_vector.hpp>
+
+namespace odeint = boost::numeric::odeint;
+
+
+BOOST_AUTO_TEST_CASE( test_dense_vector_resizeability )
+{
+    BOOST_CHECK( odeint::is_resizeable< mtl::dense_vector< double > >::value );
+}
+
+BOOST_AUTO_TEST_CASE( test_dense2D_resizeability )
+{
+    BOOST_CHECK( odeint::is_resizeable< mtl::dense2D< double > >::value );
+}
+
+BOOST_AUTO_TEST_CASE( test_compressed2D_resizeability )
+{
+    BOOST_CHECK( odeint::is_resizeable< mtl::compressed2D< double > >::value );
+}
+
+
+
+BOOST_AUTO_TEST_CASE( test_dense_vector_vector_same_size )
+{
+    mtl::dense_vector< double > v1( 10 ) , v2( 10 );
+    BOOST_CHECK( odeint::same_size( v2 , v1 ) );
+}
+
+BOOST_AUTO_TEST_CASE( test_dense_vector_dense2D_same_size )
+{
+    mtl::dense_vector< double > v( 10 );
+    mtl::dense2D< double > m( 10 , 10 );
+    BOOST_CHECK( odeint::same_size( m , v ) );
+}
+
+BOOST_AUTO_TEST_CASE( test_dense_vector_compressed2D_same_size )
+{
+    mtl::dense_vector< double > v( 10 );
+    mtl::compressed2D< double > m( 10 , 10 );
+    BOOST_CHECK( odeint::same_size( m , v ) );
+}
+
+
+
+
+BOOST_AUTO_TEST_CASE( test_dense_vector_vector_resize )
+{
+    mtl::dense_vector< double > v1( 10 );
+    mtl::dense_vector< double > v2;
+    odeint::resize( v2 , v1 );
+    BOOST_CHECK( mtl::size( v2 ) == mtl::size( v1 ) );
+}
+
+BOOST_AUTO_TEST_CASE( test_dense_vector_dense2D_resize )
+{
+    mtl::dense_vector< double > v( 10 );
+    mtl::dense2D< double > m;
+
+    odeint::resize( m , v );
+    BOOST_CHECK( m.num_cols() == mtl::size( v ) );
+    BOOST_CHECK( m.num_rows() == mtl::size( v ) );
+}
+
+BOOST_AUTO_TEST_CASE( test_dense_vector_compressed2D_resize )
+{
+    mtl::dense_vector< double > v( 10 );
+    mtl::compressed2D< double > m;
+
+    odeint::resize( m , v );
+    BOOST_CHECK( m.num_cols() == mtl::size( v ) );
+    BOOST_CHECK( m.num_rows() == mtl::size( v ) );
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/Makefile b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/Makefile
new file mode 100755
index 0000000..3fb4223
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/Makefile
@@ -0,0 +1,36 @@
+# Copyright 2009-2012 Karsten Ahnert
+# Copyright 2009-2012 Mario Mulansky
+#
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or
+# copy at http://www.boost.org/LICENSE_1_0.txt)
+
+
+
+CUDA_ROOT = /usr/local/cuda
+
+CC = gcc-4.4
+CXX = gcc-4.4
+NVCC = $(CUDA_ROOT)/bin/nvcc
+
+INCLUDES += -I$(BOOST_ROOT) -I$(THRUST_ROOT) -I$(CUDA_ROOT)/include -I../../../../..
+
+NVCCFLAGS = -O3 $(INCLUDES) --compiler-bindir=/usr/bin/g++-4.4
+
+LDLIBS = -lcudart
+LDFLAGS = -L$(CUDA_ROOT)/lib64
+
+%.co : %.cu
+	$(NVCC) $(NVCCFLAGS) -o $@ -c $<
+
+
+all : check_thrust
+
+
+check_thrust : check_thrust.co
+	$(CC) -o check_thrust $(LDFLAGS) $(LDLIBS) check_thrust.co
+check_thrust.co : check_thrust.cu
+
+clean :
+	-rm *~ *.o *.co check_thrust
+
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu
new file mode 100755
index 0000000..d2d97df
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu
@@ -0,0 +1,74 @@
+/* Boost check_thrust.cu test file
+ 
+ Copyright 2009 Karsten Ahnert
+ Copyright 2009 Mario Mulansky
+ 
+ This file tests the use of the euler stepper
+  
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+//#include <boost/test/unit_test.hpp>
+
+#include <boost/numeric/odeint/stepper/euler.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_algebra.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_operations.hpp>
+#include <boost/numeric/odeint/external/thrust/thrust_resize.hpp>
+
+#include <thrust/device_vector.h>
+#include <thrust/fill.h>
+
+using namespace boost::numeric::odeint;
+
+typedef float base_type;
+// typedef thrust::device_vector< base_type > state_type;
+typedef thrust::host_vector< base_type > state_type;
+
+void constant_system( const state_type &x , state_type &dxdt , base_type t )
+{
+	thrust::fill( dxdt.begin() , dxdt.end() , static_cast<base_type>(1.0) );
+}
+
+const base_type eps = 1.0e-7;
+
+
+template< class Stepper , class System >
+void check_stepper_concept( Stepper &stepper , System system , typename Stepper::state_type &x )
+{
+    typedef Stepper stepper_type;
+    typedef typename stepper_type::state_type container_type;
+    typedef typename stepper_type::order_type order_type;
+    typedef typename stepper_type::time_type time_type;
+
+    stepper.do_step( system , x , 0.0 , 0.1 );
+    base_type xval = *boost::begin( x );
+    if( fabs( xval - 0.1 ) < eps )
+    	std::clog << "TEST PASSED" << std::endl;
+    else
+    	std::clog << "TEST FAILED" << std::endl;
+}
+
+void test_euler_with_thrust( void )
+{
+	state_type x(1);
+	thrust::fill( x.begin() , x.end() , static_cast<base_type>(0.0) );
+	euler< state_type , base_type , state_type , base_type , thrust_algebra , thrust_operations > euler;
+	check_stepper_concept( euler , constant_system , x );
+
+
+}
+
+/*test_suite* init_unit_test_suite( int argc, char* argv[] )
+{
+    test_suite *test = BOOST_TEST_SUITE("check stepper with thrust");
+
+    test->add( BOOST_TEST_CASE( &test_euler_with_thrust ) );
+
+    return test;
+}*/
+
+int main() {
+	test_euler_with_thrust();
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2 b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2
new file mode 100755
index 0000000..da6c419
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2
@@ -0,0 +1,33 @@
+# (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+
+# bring in rules for testing
+
+
+import testing ;
+
+use-project boost : $(BOOST_ROOT) ;
+VEXCL_INCLUDE = /home/karsten/boost/vexcl ;
+CUDA_INCLUDE = /usr/local/cuda/include ;
+
+
+project
+    : requirements
+      <library>/boost/test//boost_unit_test_framework
+      <define>BOOST_ALL_NO_LIB=1
+      <include>../../../../..
+      <include>$(VEXCL_INCLUDE)
+      <include>$(CUDA_INCLUDE)
+      <cxxflags>-std=c++0x
+    ;
+
+lib OpenCL : : <name>OpenCL <link>shared ;
+
+test-suite "odeint"
+    :
+    [ run lorenz.cpp OpenCL ]
+    : <testing.launcher>valgrind
+    : 
+    : <link>shared:<define>BOOST_TEST_DYN_LINK=1
+    ;
\ No newline at end of file
diff --git a/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp
new file mode 100755
index 0000000..3900b7e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp
@@ -0,0 +1,86 @@
+/* Boost lorenz.cpp test file
+
+ Copyright 2009 Karsten Ahnert
+ Copyright 2009 Mario Mulansky
+
+ This file tests the odeint library with the vexcl types
+
+ Distributed under the Boost Software License, Version 1.0.
+ (See accompanying file LICENSE_1_0.txt or
+ copy at http://www.boost.org/LICENSE_1_0.txt)
+*/
+
+#define BOOST_TEST_MODULE odeint_vexcl
+
+#include <vector>
+#include <iostream>
+
+#include <vexcl/vexcl.hpp>
+
+#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
+#include <boost/numeric/odeint/algebra/vector_space_algebra.hpp>
+#include <boost/numeric/odeint/integrate/integrate_const.hpp>
+#include <boost/numeric/odeint/external/vexcl/vexcl_resize.hpp>
+
+#include <boost/test/unit_test.hpp>
+
+using namespace boost::unit_test;
+namespace odeint = boost::numeric::odeint;
+
+
+typedef vex::vector< double >    vector_type;
+typedef vex::multivector< double, 3 > state_type;
+
+
+
+const double sigma = 10.0;
+const double b = 8.0 / 3.0;
+
+struct sys_func
+{
+    const vector_type &R;
+
+    sys_func( const vector_type &_R ) : R( _R ) { }
+
+    void operator()( const state_type &x , state_type &dxdt , double t ) const
+    {
+        dxdt(0) = -sigma * ( x(0) - x(1) );
+        dxdt(1) = R * x(0) - x(1) - x(0) * x(2);
+        dxdt(2) = - b * x(2) + x(0) * x(1);
+    }
+};
+
+const size_t n = 1024 ;
+const double dt = 0.01;
+const double t_max = 1.0;
+
+
+BOOST_AUTO_TEST_CASE( gsl )
+{
+    vex::Context ctx( vex::Filter::Type(CL_DEVICE_TYPE_GPU) );
+
+    double Rmin = 0.1 , Rmax = 50.0 , dR = ( Rmax - Rmin ) / double( n - 1 );
+    std::vector<double> x( n * 3 ) , r( n );
+    for( size_t i=0 ; i<n ; ++i ) r[i] = Rmin + dR * double( i );
+
+    state_type X( ctx.queue() , n );
+    X(0) = 10.0;
+    X(1) = 10.0;
+    X(2) = 10.0;
+
+    vector_type R( ctx.queue() , r );
+
+    odeint::runge_kutta4<
+        state_type , double , state_type , double ,
+        odeint::vector_space_algebra , odeint::default_operations
+        > stepper;
+
+    odeint::integrate_const( stepper , sys_func( R ) , X , 0.0 , t_max , dt );
+
+    std::vector< double > res( 3 * n );
+    vex::copy( X(0) , res );
+    std::cout << res[0] << std::endl;
+
+
+
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/include/quadrotor_simulator/Quadrotor.h b/uav_simulator/so3_quadrotor_simulator/include/quadrotor_simulator/Quadrotor.h
new file mode 100755
index 0000000..d556d0c
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/include/quadrotor_simulator/Quadrotor.h
@@ -0,0 +1,111 @@
+#ifndef __QUADROTOR_SIMULATOR_QUADROTOR_H__
+#define __QUADROTOR_SIMULATOR_QUADROTOR_H__
+
+#include <Eigen/Core>
+#include <boost/array.hpp>
+
+namespace QuadrotorSimulator
+{
+
+class Quadrotor
+{
+public:
+  struct State
+  {
+    Eigen::Vector3d x;
+    Eigen::Vector3d v;
+    Eigen::Matrix3d R;
+    Eigen::Vector3d omega;
+    Eigen::Array4d  motor_rpm;
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+  };
+
+  Quadrotor();
+
+  const Quadrotor::State& getState(void) const;
+
+  void setState(const Quadrotor::State& state);
+
+  void setStatePos(const Eigen::Vector3d& Pos);
+
+  double getMass(void) const;
+  void setMass(double mass);
+
+  double getGravity(void) const;
+  void setGravity(double g);
+
+  const Eigen::Matrix3d& getInertia(void) const;
+  void setInertia(const Eigen::Matrix3d& inertia);
+
+  double getArmLength(void) const;
+  void setArmLength(double d);
+
+  double getPropRadius(void) const;
+  void setPropRadius(double r);
+
+  double getPropellerThrustCoefficient(void) const;
+  void setPropellerThrustCoefficient(double kf);
+
+  double getPropellerMomentCoefficient(void) const;
+  void setPropellerMomentCoefficient(double km);
+
+  double getMotorTimeConstant(void) const;
+  void setMotorTimeConstant(double k);
+
+  const Eigen::Vector3d& getExternalForce(void) const;
+  void setExternalForce(const Eigen::Vector3d& force);
+
+  const Eigen::Vector3d& getExternalMoment(void) const;
+  void setExternalMoment(const Eigen::Vector3d& moment);
+
+  double getMaxRPM(void) const;
+  void setMaxRPM(double max_rpm);
+
+  double getMinRPM(void) const;
+  void setMinRPM(double min_rpm);
+
+  // Inputs are desired RPM for the motors
+  // Rotor numbering is:
+  //   *1*    Front
+  // 3     4
+  //    2
+  // with 1 and 2 clockwise and 3 and 4 counter-clockwise (looking from top)
+  void setInput(double u1, double u2, double u3, double u4);
+
+  // Runs the actual dynamics simulation with a time step of dt
+  void step(double dt);
+
+  // For internal use, but needs to be public for odeint
+  typedef boost::array<double, 22> InternalState;
+  void operator()(const Quadrotor::InternalState& x,
+                  Quadrotor::InternalState&       dxdt, const double /* t */);
+
+  Eigen::Vector3d getAcc() const;
+
+private:
+  void updateInternalState(void);
+
+  double          alpha0; // AOA
+  double          g_;     // gravity
+  double          mass_;
+  Eigen::Matrix3d J_; // Inertia
+  double          kf_;
+  double          km_;
+  double          prop_radius_;
+  double          arm_length_;
+  double          motor_time_constant_; // unit: sec
+  double          max_rpm_;
+  double          min_rpm_;
+
+  Quadrotor::State state_;
+
+  Eigen::Vector3d acc_;
+
+  Eigen::Array4d  input_;
+  Eigen::Vector3d external_force_;
+  Eigen::Vector3d external_moment_;
+
+  InternalState internal_state_;
+};
+}
+#endif
diff --git a/uav_simulator/so3_quadrotor_simulator/launch/simulator.launch b/uav_simulator/so3_quadrotor_simulator/launch/simulator.launch
new file mode 100755
index 0000000..b5e35dd
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/launch/simulator.launch
@@ -0,0 +1,69 @@
+<launch>  
+   <!-- Simulator -->
+   <node pkg="so3_quadrotor_simulator"
+         type="quadrotor_simulator_so3"
+         name="quadrotor_simulator_so3"
+         output="screen">
+     <param name="rate/odom" value="100.0"/>
+
+     <param name="simulator/init_state_x" value="-5.0"/>
+     <param name="simulator/init_state_y" value=" 0.0"/>
+     <param name="simulator/init_state_z" value=" 3"/>
+     <remap from="~odom" to="/visual_slam/odom"/>
+     <remap from="~cmd" to="so3_cmd"/>
+     <remap from="~imu" to="sim/imu"/>
+     <remap from="~force_disturbance" to="force_disturbance"/>    
+     <remap from="~moment_disturbance" to="moment_disturbance"/>        
+   </node>
+ 
+   <!-- Controller -->  
+   <node pkg="nodelet"
+     type="nodelet"
+     args="standalone so3_control/SO3ControlNodelet"
+     name="so3_control"
+     required="true"
+     output="screen">
+     <remap from="~odom" to="/state_ukf/odom"/>
+     <remap from="~position_cmd" to="position_cmd"/>
+     <remap from="~motors" to="motors"/>
+     <remap from="~corrections" to="corrections"/>
+     <remap from="~so3_cmd" to="so3_cmd"/>
+     <remap from="~imu" to="sim/imu"/>
+     <rosparam file="$(find so3_control)/config/gains_hummingbird.yaml"/>
+     <rosparam file="$(find so3_control)/config/corrections_hummingbird.yaml"/>
+     <param name="mass" value="0.98"/>
+     <param name="use_angle_corrections " value="false"/>
+     <param name="use_external_yaw "      value="false"/>
+     <param name="gains/rot/z" value="1.0"/>    
+     <param name="gains/ang/z" value="0.1"/>        
+   </node>  
+ 
+   <node pkg="so3_disturbance_generator"
+         name="so3_disturbance_generator"
+         type="so3_disturbance_generator"       
+         output="screen">
+     <remap from="~odom" to="/visual_slam/odom"/>              <!-- Ground Truth & Fake VSLAM Odom -->
+     <remap from="~noisy_odom" to="/state_ukf/odom"/>          <!-- Fake VINS Odom                 -->
+     <remap from="~correction" to="/visual_slam/correction"/>  <!-- Fake VSLAM Correction          -->   
+     <remap from="~force_disturbance" to="force_disturbance"/>        
+     <remap from="~moment_disturbance" to="moment_disturbance"/>            
+   </node>
+ 
+   <!-- Visualization -->
+   <node pkg="odom_visualization"
+         name="odom_visualization_ukf"
+         type="odom_visualization"       
+         output="screen">
+     <remap from="~odom" to="/visual_slam/odom"/>
+     <param name="color/a" value="0.8"/>    
+     <param name="color/r" value="1.0"/>        
+     <param name="color/g" value="0.0"/>        
+     <param name="color/b" value="0.0"/>       
+     <param name="covariance_scale" value="100.0"/>       
+   </node>
+
+   <node name="rviz" pkg="rviz" type="rviz"
+      args="-d $(find so3_quadrotor_simulator)/config/rviz.rviz"
+      />
+ </launch>
+
diff --git a/uav_simulator/so3_quadrotor_simulator/package.xml b/uav_simulator/so3_quadrotor_simulator/package.xml
new file mode 100755
index 0000000..0d00f22
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/package.xml
@@ -0,0 +1,28 @@
+<package>
+  <version>0.0.0</version>
+  <name>so3_quadrotor_simulator</name>
+  <description>
+
+     quadrotor_simulator
+
+  </description>
+
+  <maintainer email="todo@todo.todo">Kartik Mohta</maintainer>
+  <license>BSD</license>
+  <url>http://ros.org/wiki/quadrotor_simulator</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>quadrotor_msgs</build_depend>
+  <build_depend>uav_utils</build_depend>
+  <build_depend>cmake_utils</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>quadrotor_msgs</run_depend>
+  <run_depend>uav_utils</run_depend>
+  <run_depend>cmake_utils</run_depend>
+
+</package>
+
+
diff --git a/uav_simulator/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp b/uav_simulator/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp
new file mode 100755
index 0000000..001b756
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp
@@ -0,0 +1,455 @@
+#include "quadrotor_simulator/Quadrotor.h"
+#include "ode/boost/numeric/odeint.hpp"
+#include <Eigen/Geometry>
+#include <boost/bind.hpp>
+#include <iostream>
+
+#include <ros/ros.h>
+namespace odeint = boost::numeric::odeint;
+
+namespace QuadrotorSimulator
+{
+
+Quadrotor::Quadrotor(void)
+{
+  alpha0     = 48; // degree
+  g_         = 9.81;
+  mass_      = 0.98; // 0.5;
+  double Ixx = 2.64e-3, Iyy = 2.64e-3, Izz = 4.96e-3;
+  prop_radius_ = 0.062;
+  J_           = Eigen::Vector3d(Ixx, Iyy, Izz).asDiagonal();
+
+  kf_ = 8.98132e-9;
+  // km_ = 2.5e-9; // from Nate
+  // km = (Cq/Ct)*Dia*kf
+  // Cq/Ct for 8 inch props from UIUC prop db ~ 0.07
+  km_ = 0.07 * (3 * prop_radius_) * kf_;
+
+  arm_length_          = 0.26;
+  motor_time_constant_ = 1.0 / 30;
+  min_rpm_             = 1200;
+  max_rpm_             = 35000;
+
+  state_.x = Eigen::Vector3d::Zero();
+  // state_.x << 40.0, -60.0, 10.0;
+  state_.v         = Eigen::Vector3d::Zero();
+  state_.R         = Eigen::Matrix3d::Identity();
+  state_.omega     = Eigen::Vector3d::Zero();
+  state_.motor_rpm = Eigen::Array4d::Zero();
+
+  external_force_.setZero();
+
+  updateInternalState();
+
+  input_ = Eigen::Array4d::Zero();
+}
+
+void
+Quadrotor::step(double dt)
+{
+  auto save = internal_state_;
+
+  odeint::integrate(boost::ref(*this), internal_state_, 0.0, dt, dt);
+
+  for (int i = 0; i < 22; ++i)
+  {
+    if (std::isnan(internal_state_[i]))
+    {
+      std::cout << "dump " << i << " << pos ";
+      for (int j = 0; j < 22; ++j)
+      {
+        std::cout << save[j] << " ";
+      }
+      std::cout << std::endl;
+      internal_state_ = save;
+      break;
+    }
+  }
+
+  for (int i = 0; i < 3; i++)
+  {
+    state_.x(i) = internal_state_[0 + i];
+    state_.v(i) = internal_state_[3 + i];
+    state_.R(i, 0) = internal_state_[6 + i];
+    state_.R(i, 1) = internal_state_[9 + i];
+    state_.R(i, 2) = internal_state_[12 + i];
+    state_.omega(i) = internal_state_[15 + i];
+  }
+  state_.motor_rpm(0) = internal_state_[18];
+  state_.motor_rpm(1) = internal_state_[19];
+  state_.motor_rpm(2) = internal_state_[20];
+  state_.motor_rpm(3) = internal_state_[21];
+
+  // Re-orthonormalize R (polar decomposition)
+  Eigen::LLT<Eigen::Matrix3d> llt(state_.R.transpose() * state_.R);
+  Eigen::Matrix3d             P = llt.matrixL();
+  Eigen::Matrix3d             R = state_.R * P.inverse();
+  state_.R                      = R;
+
+  // Don't go below zero, simulate floor
+  if (state_.x(2) < 0.0 && state_.v(2) < 0)
+  {
+    state_.x(2) = 0;
+    state_.v(2) = 0;
+  }
+  updateInternalState();
+}
+
+void
+Quadrotor::operator()(const Quadrotor::InternalState& x,
+                      Quadrotor::InternalState& dxdt, const double /* t */)
+{
+  State cur_state;
+  for (int i = 0; i < 3; i++)
+  {
+    cur_state.x(i) = x[0 + i];
+    cur_state.v(i) = x[3 + i];
+    cur_state.R(i, 0) = x[6 + i];
+    cur_state.R(i, 1) = x[9 + i];
+    cur_state.R(i, 2) = x[12 + i];
+    cur_state.omega(i) = x[15 + i];
+  }
+  for (int i = 0; i < 4; i++)
+  {
+    cur_state.motor_rpm(i) = x[18 + i];
+  }
+
+  // std::cout << "Omega: " << cur_state.omega << std::endl;
+  // std::cout << "motor_rpm: " << cur_state.motor_rpm << std::endl;
+
+  // Re-orthonormalize R (polar decomposition)
+  Eigen::LLT<Eigen::Matrix3d> llt(cur_state.R.transpose() * cur_state.R);
+  Eigen::Matrix3d             P = llt.matrixL();
+  Eigen::Matrix3d             R = cur_state.R * P.inverse();
+
+  Eigen::Vector3d x_dot, v_dot, omega_dot;
+  Eigen::Matrix3d R_dot;
+  Eigen::Array4d  motor_rpm_dot;
+  Eigen::Vector3d vnorm;
+  Eigen::Array4d  motor_rpm_sq;
+  Eigen::Matrix3d omega_vee(Eigen::Matrix3d::Zero());
+
+  omega_vee(2, 1) = cur_state.omega(0);
+  omega_vee(1, 2) = -cur_state.omega(0);
+  omega_vee(0, 2) = cur_state.omega(1);
+  omega_vee(2, 0) = -cur_state.omega(1);
+  omega_vee(1, 0) = cur_state.omega(2);
+  omega_vee(0, 1) = -cur_state.omega(2);
+
+  motor_rpm_sq = cur_state.motor_rpm.array().square();
+
+  //! @todo implement
+  Eigen::Array4d blade_linear_velocity;
+  Eigen::Array4d motor_linear_velocity;
+  Eigen::Array4d AOA;
+  blade_linear_velocity = 0.104719755 // rpm to rad/s
+                          * cur_state.motor_rpm.array() * prop_radius_;
+  for (int i = 0; i < 4; ++i)
+    AOA[i]   = alpha0 -
+             atan2(motor_linear_velocity[i], blade_linear_velocity[i]) * //
+               180 / 3.14159265;
+  //! @todo end
+
+  // double totalF = kf_ * motor_rpm_sq.sum();
+  double thrust = kf_ * motor_rpm_sq.sum();
+
+  Eigen::Vector3d moments;
+  moments(0) = kf_ * (motor_rpm_sq(2) - motor_rpm_sq(3)) * arm_length_;
+  moments(1) = kf_ * (motor_rpm_sq(1) - motor_rpm_sq(0)) * arm_length_;
+  moments(2) = km_ * (motor_rpm_sq(0) + motor_rpm_sq(1) - motor_rpm_sq(2) -
+                      motor_rpm_sq(3));
+
+  double resistance = 0.1 *                                        // C
+                      3.14159265 * (arm_length_) * (arm_length_) * // S
+                      cur_state.v.norm() * cur_state.v.norm();
+
+  //  ROS_INFO("resistance: %lf, Thrust: %lf%% ", resistance,
+  //           motor_rpm_sq.sum() / (4 * max_rpm_ * max_rpm_) * 100.0);
+
+  vnorm = cur_state.v;
+  if (vnorm.norm() != 0)
+  {
+    vnorm.normalize();
+  }
+  x_dot = cur_state.v;
+  v_dot = -Eigen::Vector3d(0, 0, g_) + thrust * R.col(2) / mass_ +
+          external_force_ / mass_ /*; //*/ - resistance * vnorm / mass_;
+
+  acc_ = v_dot;
+  //  acc_[2] = -acc_[2]; // to NED
+
+  R_dot = R * omega_vee;
+  omega_dot =
+    J_.inverse() *
+    (moments - cur_state.omega.cross(J_ * cur_state.omega) + external_moment_);
+  motor_rpm_dot = (input_ - cur_state.motor_rpm) / motor_time_constant_;
+
+  for (int i = 0; i < 3; i++)
+  {
+    dxdt[0 + i]  = x_dot(i);
+    dxdt[3 + i]  = v_dot(i);
+    dxdt[6 + i]  = R_dot(i, 0);
+    dxdt[9 + i]  = R_dot(i, 1);
+    dxdt[12 + i] = R_dot(i, 2);
+    dxdt[15 + i] = omega_dot(i);
+  }
+  for (int i = 0; i < 4; i++)
+  {
+    dxdt[18 + i] = motor_rpm_dot(i);
+  }
+  for (int i = 0; i < 22; ++i)
+  {
+    if (std::isnan(dxdt[i]))
+    {
+      dxdt[i] = 0;
+      //      std::cout << "nan apply to 0 for " << i << std::endl;
+    }
+  }
+}
+
+void
+Quadrotor::setInput(double u1, double u2, double u3, double u4)
+{
+  input_(0) = u1;
+  input_(1) = u2;
+  input_(2) = u3;
+  input_(3) = u4;
+  for (int i = 0; i < 4; i++)
+  {
+    if (std::isnan(input_(i)))
+    {
+      input_(i) = (max_rpm_ + min_rpm_) / 2;
+      std::cout << "NAN input ";
+    }
+    if (input_(i) > max_rpm_)
+      input_(i) = max_rpm_;
+    else if (input_(i) < min_rpm_)
+      input_(i) = min_rpm_;
+  }
+}
+
+const Quadrotor::State&
+Quadrotor::getState(void) const
+{
+  return state_;
+}
+void
+Quadrotor::setState(const Quadrotor::State& state)
+{
+  state_.x         = state.x;
+  state_.v         = state.v;
+  state_.R         = state.R;
+  state_.omega     = state.omega;
+  state_.motor_rpm = state.motor_rpm;
+
+  updateInternalState();
+}
+
+void
+Quadrotor::setStatePos(const Eigen::Vector3d& Pos)
+{
+  state_.x = Pos;
+
+  updateInternalState();
+}
+
+double
+Quadrotor::getMass(void) const
+{
+  return mass_;
+}
+void
+Quadrotor::setMass(double mass)
+{
+  mass_ = mass;
+}
+
+double
+Quadrotor::getGravity(void) const
+{
+  return g_;
+}
+void
+Quadrotor::setGravity(double g)
+{
+  g_ = g;
+}
+
+const Eigen::Matrix3d&
+Quadrotor::getInertia(void) const
+{
+  return J_;
+}
+void
+Quadrotor::setInertia(const Eigen::Matrix3d& inertia)
+{
+  if (inertia != inertia.transpose())
+  {
+    std::cerr << "Inertia matrix not symmetric, not setting" << std::endl;
+    return;
+  }
+  J_ = inertia;
+}
+
+double
+Quadrotor::getArmLength(void) const
+{
+  return arm_length_;
+}
+void
+Quadrotor::setArmLength(double d)
+{
+  if (d <= 0)
+  {
+    std::cerr << "Arm length <= 0, not setting" << std::endl;
+    return;
+  }
+
+  arm_length_ = d;
+}
+
+double
+Quadrotor::getPropRadius(void) const
+{
+  return prop_radius_;
+}
+void
+Quadrotor::setPropRadius(double r)
+{
+  if (r <= 0)
+  {
+    std::cerr << "Prop radius <= 0, not setting" << std::endl;
+    return;
+  }
+  prop_radius_ = r;
+}
+
+double
+Quadrotor::getPropellerThrustCoefficient(void) const
+{
+  return kf_;
+}
+void
+Quadrotor::setPropellerThrustCoefficient(double kf)
+{
+  if (kf <= 0)
+  {
+    std::cerr << "Thrust coefficient <= 0, not setting" << std::endl;
+    return;
+  }
+
+  kf_ = kf;
+}
+
+double
+Quadrotor::getPropellerMomentCoefficient(void) const
+{
+  return km_;
+}
+void
+Quadrotor::setPropellerMomentCoefficient(double km)
+{
+  if (km <= 0)
+  {
+    std::cerr << "Moment coefficient <= 0, not setting" << std::endl;
+    return;
+  }
+
+  km_ = km;
+}
+
+double
+Quadrotor::getMotorTimeConstant(void) const
+{
+  return motor_time_constant_;
+}
+void
+Quadrotor::setMotorTimeConstant(double k)
+{
+  if (k <= 0)
+  {
+    std::cerr << "Motor time constant <= 0, not setting" << std::endl;
+    return;
+  }
+
+  motor_time_constant_ = k;
+}
+
+const Eigen::Vector3d&
+Quadrotor::getExternalForce(void) const
+{
+  return external_force_;
+}
+void
+Quadrotor::setExternalForce(const Eigen::Vector3d& force)
+{
+  external_force_ = force;
+}
+
+const Eigen::Vector3d&
+Quadrotor::getExternalMoment(void) const
+{
+  return external_moment_;
+}
+void
+Quadrotor::setExternalMoment(const Eigen::Vector3d& moment)
+{
+  external_moment_ = moment;
+}
+
+double
+Quadrotor::getMaxRPM(void) const
+{
+  return max_rpm_;
+}
+void
+Quadrotor::setMaxRPM(double max_rpm)
+{
+  if (max_rpm <= 0)
+  {
+    std::cerr << "Max rpm <= 0, not setting" << std::endl;
+    return;
+  }
+  max_rpm_ = max_rpm;
+}
+
+double
+Quadrotor::getMinRPM(void) const
+{
+  return min_rpm_;
+}
+void
+Quadrotor::setMinRPM(double min_rpm)
+{
+  if (min_rpm < 0)
+  {
+    std::cerr << "Min rpm < 0, not setting" << std::endl;
+    return;
+  }
+  min_rpm_ = min_rpm;
+}
+
+void
+Quadrotor::updateInternalState(void)
+{
+  for (int i = 0; i < 3; i++)
+  {
+    internal_state_[0 + i]  = state_.x(i);
+    internal_state_[3 + i]  = state_.v(i);
+    internal_state_[6 + i]  = state_.R(i, 0);
+    internal_state_[9 + i]  = state_.R(i, 1);
+    internal_state_[12 + i] = state_.R(i, 2);
+    internal_state_[15 + i] = state_.omega(i);
+  }
+  internal_state_[18] = state_.motor_rpm(0);
+  internal_state_[19] = state_.motor_rpm(1);
+  internal_state_[20] = state_.motor_rpm(2);
+  internal_state_[21] = state_.motor_rpm(3);
+}
+
+Eigen::Vector3d
+Quadrotor::getAcc() const
+{
+  return acc_;
+}
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/src/quadrotor_simulator_so3.cpp b/uav_simulator/so3_quadrotor_simulator/src/quadrotor_simulator_so3.cpp
new file mode 100755
index 0000000..98ce23e
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/src/quadrotor_simulator_so3.cpp
@@ -0,0 +1,346 @@
+#include <Eigen/Geometry>
+#include <nav_msgs/Odometry.h>
+#include <quadrotor_msgs/SO3Command.h>
+#include <quadrotor_simulator/Quadrotor.h>
+#include <ros/ros.h>
+#include <sensor_msgs/Imu.h>
+#include <uav_utils/geometry_utils.h>
+
+typedef struct _Control
+{
+  double rpm[4];
+} Control;
+
+typedef struct _Command
+{
+  float force[3];
+  float qx, qy, qz, qw;
+  float kR[3];
+  float kOm[3];
+  float corrections[3];
+  float current_yaw;
+  bool  use_external_yaw;
+} Command;
+
+typedef struct _Disturbance
+{
+  Eigen::Vector3d f;
+  Eigen::Vector3d m;
+} Disturbance;
+
+static Command     command;
+static Disturbance disturbance;
+
+void stateToOdomMsg(const QuadrotorSimulator::Quadrotor::State& state,
+                    nav_msgs::Odometry&                         odom);
+void quadToImuMsg(const QuadrotorSimulator::Quadrotor& quad,
+                  sensor_msgs::Imu&                    imu);
+
+static Control
+getControl(const QuadrotorSimulator::Quadrotor& quad, const Command& cmd)
+{
+  const double _kf = quad.getPropellerThrustCoefficient();
+  const double _km = quad.getPropellerMomentCoefficient();
+  const double kf  = _kf - cmd.corrections[0];
+  const double km  = _km / _kf * kf;
+
+  const double          d       = quad.getArmLength();
+  const Eigen::Matrix3f J       = quad.getInertia().cast<float>();
+  const float           I[3][3] = { { J(0, 0), J(0, 1), J(0, 2) },
+                          { J(1, 0), J(1, 1), J(1, 2) },
+                          { J(2, 0), J(2, 1), J(2, 2) } };
+  const QuadrotorSimulator::Quadrotor::State state = quad.getState();
+
+  // Rotation, may use external yaw
+  Eigen::Vector3d _ypr = uav_utils::R_to_ypr(state.R);
+  Eigen::Vector3d ypr  = _ypr;
+  if (cmd.use_external_yaw)
+    ypr[0] = cmd.current_yaw;
+  Eigen::Matrix3d R;
+  R = Eigen::AngleAxisd(ypr[0], Eigen::Vector3d::UnitZ()) *
+      Eigen::AngleAxisd(ypr[1], Eigen::Vector3d::UnitY()) *
+      Eigen::AngleAxisd(ypr[2], Eigen::Vector3d::UnitX());
+  float R11 = R(0, 0);
+  float R12 = R(0, 1);
+  float R13 = R(0, 2);
+  float R21 = R(1, 0);
+  float R22 = R(1, 1);
+  float R23 = R(1, 2);
+  float R31 = R(2, 0);
+  float R32 = R(2, 1);
+  float R33 = R(2, 2);
+  /*
+    float R11 = state.R(0,0);
+    float R12 = state.R(0,1);
+    float R13 = state.R(0,2);
+    float R21 = state.R(1,0);
+    float R22 = state.R(1,1);
+    float R23 = state.R(1,2);
+    float R31 = state.R(2,0);
+    float R32 = state.R(2,1);
+    float R33 = state.R(2,2);
+  */
+  float Om1 = state.omega(0);
+  float Om2 = state.omega(1);
+  float Om3 = state.omega(2);
+
+  float Rd11 =
+    cmd.qw * cmd.qw + cmd.qx * cmd.qx - cmd.qy * cmd.qy - cmd.qz * cmd.qz;
+  float Rd12 = 2 * (cmd.qx * cmd.qy - cmd.qw * cmd.qz);
+  float Rd13 = 2 * (cmd.qx * cmd.qz + cmd.qw * cmd.qy);
+  float Rd21 = 2 * (cmd.qx * cmd.qy + cmd.qw * cmd.qz);
+  float Rd22 =
+    cmd.qw * cmd.qw - cmd.qx * cmd.qx + cmd.qy * cmd.qy - cmd.qz * cmd.qz;
+  float Rd23 = 2 * (cmd.qy * cmd.qz - cmd.qw * cmd.qx);
+  float Rd31 = 2 * (cmd.qx * cmd.qz - cmd.qw * cmd.qy);
+  float Rd32 = 2 * (cmd.qy * cmd.qz + cmd.qw * cmd.qx);
+  float Rd33 =
+    cmd.qw * cmd.qw - cmd.qx * cmd.qx - cmd.qy * cmd.qy + cmd.qz * cmd.qz;
+
+  float Psi = 0.5f * (3.0f - (Rd11 * R11 + Rd21 * R21 + Rd31 * R31 +
+                              Rd12 * R12 + Rd22 * R22 + Rd32 * R32 +
+                              Rd13 * R13 + Rd23 * R23 + Rd33 * R33));
+
+  float force = 0;
+  if (Psi < 1.0f) // Position control stability guaranteed only when Psi < 1
+    force = cmd.force[0] * R13 + cmd.force[1] * R23 + cmd.force[2] * R33;
+
+  float eR1 = 0.5f * (R12 * Rd13 - R13 * Rd12 + R22 * Rd23 - R23 * Rd22 +
+                      R32 * Rd33 - R33 * Rd32);
+  float eR2 = 0.5f * (R13 * Rd11 - R11 * Rd13 - R21 * Rd23 + R23 * Rd21 -
+                      R31 * Rd33 + R33 * Rd31);
+  float eR3 = 0.5f * (R11 * Rd12 - R12 * Rd11 + R21 * Rd22 - R22 * Rd21 +
+                      R31 * Rd32 - R32 * Rd31);
+
+  float eOm1 = Om1;
+  float eOm2 = Om2;
+  float eOm3 = Om3;
+
+  float in1 = Om2 * (I[2][0] * Om1 + I[2][1] * Om2 + I[2][2] * Om3) -
+              Om3 * (I[1][0] * Om1 + I[1][1] * Om2 + I[1][2] * Om3);
+  float in2 = Om3 * (I[0][0] * Om1 + I[0][1] * Om2 + I[0][2] * Om3) -
+              Om1 * (I[2][0] * Om1 + I[2][1] * Om2 + I[2][2] * Om3);
+  float in3 = Om1 * (I[1][0] * Om1 + I[1][1] * Om2 + I[1][2] * Om3) -
+              Om2 * (I[0][0] * Om1 + I[0][1] * Om2 + I[0][2] * Om3);
+  /*
+    // Robust Control --------------------------------------------
+    float c2       = 0.6;
+    float epsilonR = 0.04;
+    float deltaR   = 0.1;
+    float eA1 = eOm1 + c2 * 1.0/I[0][0] * eR1;
+    float eA2 = eOm2 + c2 * 1.0/I[1][1] * eR2;
+    float eA3 = eOm3 + c2 * 1.0/I[2][2] * eR3;
+    float neA = sqrt(eA1*eA1 + eA2*eA2 + eA3*eA3);
+    float muR1 = -deltaR*deltaR * eA1 / (deltaR * neA + epsilonR);
+    float muR2 = -deltaR*deltaR * eA2 / (deltaR * neA + epsilonR);
+    float muR3 = -deltaR*deltaR * eA3 / (deltaR * neA + epsilonR);
+    // Robust Control --------------------------------------------
+  */
+  float M1 = -cmd.kR[0] * eR1 - cmd.kOm[0] * eOm1 + in1; // - I[0][0]*muR1;
+  float M2 = -cmd.kR[1] * eR2 - cmd.kOm[1] * eOm2 + in2; // - I[1][1]*muR2;
+  float M3 = -cmd.kR[2] * eR3 - cmd.kOm[2] * eOm3 + in3; // - I[2][2]*muR3;
+
+  float w_sq[4];
+  w_sq[0] = force / (4 * kf) - M2 / (2 * d * kf) + M3 / (4 * km);
+  w_sq[1] = force / (4 * kf) + M2 / (2 * d * kf) + M3 / (4 * km);
+  w_sq[2] = force / (4 * kf) + M1 / (2 * d * kf) - M3 / (4 * km);
+  w_sq[3] = force / (4 * kf) - M1 / (2 * d * kf) - M3 / (4 * km);
+
+  Control control;
+  for (int i = 0; i < 4; i++)
+  {
+    if (w_sq[i] < 0)
+      w_sq[i] = 0;
+
+    control.rpm[i] = sqrtf(w_sq[i]);
+  }
+  return control;
+}
+
+static void
+cmd_callback(const quadrotor_msgs::SO3Command::ConstPtr& cmd)
+{
+  command.force[0]         = cmd->force.x;
+  command.force[1]         = cmd->force.y;
+  command.force[2]         = cmd->force.z;
+  command.qx               = cmd->orientation.x;
+  command.qy               = cmd->orientation.y;
+  command.qz               = cmd->orientation.z;
+  command.qw               = cmd->orientation.w;
+  command.kR[0]            = cmd->kR[0];
+  command.kR[1]            = cmd->kR[1];
+  command.kR[2]            = cmd->kR[2];
+  command.kOm[0]           = cmd->kOm[0];
+  command.kOm[1]           = cmd->kOm[1];
+  command.kOm[2]           = cmd->kOm[2];
+  command.corrections[0]   = cmd->aux.kf_correction;
+  command.corrections[1]   = cmd->aux.angle_corrections[0];
+  command.corrections[2]   = cmd->aux.angle_corrections[1];
+  command.current_yaw      = cmd->aux.current_yaw;
+  command.use_external_yaw = cmd->aux.use_external_yaw;
+}
+
+static void
+force_disturbance_callback(const geometry_msgs::Vector3::ConstPtr& f)
+{
+  disturbance.f(0) = f->x;
+  disturbance.f(1) = f->y;
+  disturbance.f(2) = f->z;
+}
+
+static void
+moment_disturbance_callback(const geometry_msgs::Vector3::ConstPtr& m)
+{
+  disturbance.m(0) = m->x;
+  disturbance.m(1) = m->y;
+  disturbance.m(2) = m->z;
+}
+
+int
+main(int argc, char** argv)
+{
+  ros::init(argc, argv, "quadrotor_simulator_so3");
+
+  ros::NodeHandle n("~");
+
+  ros::Publisher  odom_pub = n.advertise<nav_msgs::Odometry>("odom", 100);
+  ros::Publisher  imu_pub  = n.advertise<sensor_msgs::Imu>("imu", 10);
+  ros::Subscriber cmd_sub =
+    n.subscribe("cmd", 100, &cmd_callback, ros::TransportHints().tcpNoDelay());
+  ros::Subscriber f_sub =
+    n.subscribe("force_disturbance", 100, &force_disturbance_callback,
+                ros::TransportHints().tcpNoDelay());
+  ros::Subscriber m_sub =
+    n.subscribe("moment_disturbance", 100, &moment_disturbance_callback,
+                ros::TransportHints().tcpNoDelay());
+
+  QuadrotorSimulator::Quadrotor quad;
+  double                        _init_x, _init_y, _init_z;
+  n.param("simulator/init_state_x", _init_x, 0.0);
+  n.param("simulator/init_state_y", _init_y, 0.0);
+  n.param("simulator/init_state_z", _init_z, 1.0);
+
+  Eigen::Vector3d position = Eigen::Vector3d(_init_x, _init_y, _init_z);
+  quad.setStatePos(position);
+
+  double simulation_rate;
+  n.param("rate/simulation", simulation_rate, 1000.0);
+  ROS_ASSERT(simulation_rate > 0);
+
+  double odom_rate;
+  n.param("rate/odom", odom_rate, 100.0);
+  const ros::Duration odom_pub_duration(1 / odom_rate);
+
+  std::string quad_name;
+  n.param("quadrotor_name", quad_name, std::string("quadrotor"));
+
+  QuadrotorSimulator::Quadrotor::State state = quad.getState();
+
+  ros::Rate    r(simulation_rate);
+  const double dt = 1 / simulation_rate;
+
+  Control control;
+
+  nav_msgs::Odometry odom_msg;
+  odom_msg.header.frame_id = "/simulator";
+  odom_msg.child_frame_id  = "/" + quad_name;
+
+  sensor_msgs::Imu imu;
+  imu.header.frame_id = "/simulator";
+
+  /*
+  command.force[0] = 0;
+  command.force[1] = 0;
+  command.force[2] = quad.getMass()*quad.getGravity() + 0.1;
+  command.qx = 0;
+  command.qy = 0;
+  command.qz = 0;
+  command.qw = 1;
+  command.kR[0] = 2;
+  command.kR[1] = 2;
+  command.kR[2] = 2;
+  command.kOm[0] = 0.15;
+  command.kOm[1] = 0.15;
+  command.kOm[2] = 0.15;
+  */
+
+  ros::Time next_odom_pub_time = ros::Time::now();
+  while (n.ok())
+  {
+    ros::spinOnce();
+
+    auto last = control;
+    control   = getControl(quad, command);
+    for (int i = 0; i < 4; ++i)
+    {
+      //! @bug might have nan when the input is legal
+      if (std::isnan(control.rpm[i]))
+        control.rpm[i] = last.rpm[i];
+    }
+    quad.setInput(control.rpm[0], control.rpm[1], control.rpm[2],
+                  control.rpm[3]);
+    quad.setExternalForce(disturbance.f);
+    quad.setExternalMoment(disturbance.m);
+    quad.step(dt);
+
+    ros::Time tnow = ros::Time::now();
+
+    if (tnow >= next_odom_pub_time)
+    {
+      next_odom_pub_time += odom_pub_duration;
+      odom_msg.header.stamp = tnow;
+      state                 = quad.getState();
+      stateToOdomMsg(state, odom_msg);
+      quadToImuMsg(quad, imu);
+      odom_pub.publish(odom_msg);
+      imu_pub.publish(imu);
+    }
+
+    r.sleep();
+  }
+
+  return 0;
+}
+
+void
+stateToOdomMsg(const QuadrotorSimulator::Quadrotor::State& state,
+               nav_msgs::Odometry&                         odom)
+{
+  odom.pose.pose.position.x = state.x(0);
+  odom.pose.pose.position.y = state.x(1);
+  odom.pose.pose.position.z = state.x(2);
+
+  Eigen::Quaterniond q(state.R);
+  odom.pose.pose.orientation.x = q.x();
+  odom.pose.pose.orientation.y = q.y();
+  odom.pose.pose.orientation.z = q.z();
+  odom.pose.pose.orientation.w = q.w();
+
+  odom.twist.twist.linear.x = state.v(0);
+  odom.twist.twist.linear.y = state.v(1);
+  odom.twist.twist.linear.z = state.v(2);
+
+  odom.twist.twist.angular.x = state.omega(0);
+  odom.twist.twist.angular.y = state.omega(1);
+  odom.twist.twist.angular.z = state.omega(2);
+}
+
+void
+quadToImuMsg(const QuadrotorSimulator::Quadrotor& quad, sensor_msgs::Imu& imu)
+
+{
+  QuadrotorSimulator::Quadrotor::State state = quad.getState();
+  Eigen::Quaterniond                   q(state.R);
+  imu.orientation.x = q.x();
+  imu.orientation.y = q.y();
+  imu.orientation.z = q.z();
+  imu.orientation.w = q.w();
+
+  imu.angular_velocity.x = state.omega(0);
+  imu.angular_velocity.y = state.omega(1);
+  imu.angular_velocity.z = state.omega(2);
+
+  imu.linear_acceleration.x = quad.getAcc()[0];
+  imu.linear_acceleration.y = quad.getAcc()[1];
+  imu.linear_acceleration.z = quad.getAcc()[2];
+}
diff --git a/uav_simulator/so3_quadrotor_simulator/src/test_dynamics/test_dynamics.cpp b/uav_simulator/so3_quadrotor_simulator/src/test_dynamics/test_dynamics.cpp
new file mode 100755
index 0000000..8d84530
--- /dev/null
+++ b/uav_simulator/so3_quadrotor_simulator/src/test_dynamics/test_dynamics.cpp
@@ -0,0 +1,61 @@
+#include "quadrotor_simulator/Quadrotor.h"
+#include <Eigen/Geometry>
+
+int main(int argc, char **argv)
+{
+  double dt = 0.001;
+  QuadrotorSimulator::Quadrotor quad;
+  QuadrotorSimulator::Quadrotor::State state = quad.getState();
+
+  const double m = quad.getMass();
+  const double g = quad.getGravity();
+  const double kf = quad.getPropellerThrustCoefficient();
+
+  const double hover_rpm = std::sqrt(m*g/(4*kf));
+  std::cerr << "hover rpm: " << hover_rpm << std::endl;
+  state.motor_rpm = Eigen::Array4d(hover_rpm, hover_rpm, hover_rpm, hover_rpm);
+  quad.setState(state);
+
+  double thrust = m*g;
+  double rpm = std::sqrt(thrust/(4*kf));
+  quad.setInput(rpm, rpm, rpm, rpm);
+
+  struct timespec ts_start, ts1, ts2, ts_sleep, ts_end;
+  clock_gettime(CLOCK_MONOTONIC, &ts1);
+  int64_t time_taken = 0;
+
+  double KP = 8.0;
+  double KD = 2.5;
+  const double z_des = 0.5;
+  clock_gettime(CLOCK_MONOTONIC, &ts_start);
+  for(int i = 0; i < 6000; i++)
+  {
+    state = quad.getState();
+    thrust = m*g + KP*(z_des - state.x(2)) + KD*(0 - state.v(2));
+    rpm = std::sqrt(thrust/(4*kf));
+    if( i < 3000)
+      quad.setExternalForce(Eigen::Vector3d(0, 0, -KP*z_des));
+    else
+      quad.setExternalForce(Eigen::Vector3d(0, 0, 0));
+    quad.setInput(rpm, rpm, rpm, rpm);
+    quad.step(dt);
+    Eigen::Vector3d euler = state.R.eulerAngles(2,1,0);
+    std::cout << i*dt << ", " << state.x(2) << ", " << euler(0) << ", " << euler(1) << ", " << euler(2) << ", " <<
+        state.omega(0) << ", " << state.omega(1) << ", " << state.omega(2) << ", " << state.motor_rpm(0) << std::endl;
+
+    clock_gettime(CLOCK_MONOTONIC, &ts2);
+    time_taken += ((ts2.tv_sec-ts1.tv_sec)*1000000000UL + (ts2.tv_nsec-ts1.tv_nsec));
+    int64_t time_sleep = i*dt/2*1e9 - time_taken;
+    clock_gettime(CLOCK_MONOTONIC, &ts1);
+    if(time_sleep > 0)
+    {
+      ts_sleep.tv_sec = time_sleep/1000000000UL;
+      ts_sleep.tv_nsec = time_sleep - ts_sleep.tv_sec*1000000000UL;
+      //nanosleep(&ts_sleep, NULL);
+    }
+  }
+  clock_gettime(CLOCK_MONOTONIC, &ts_end);
+  std::cerr << "Time: " << (ts_end.tv_sec-ts_start.tv_sec)*1e6 + (ts_end.tv_nsec-ts_start.tv_nsec)/1e3 << " usec" <<std::endl;
+
+  return 0;
+}
diff --git a/visualization_utils/CMakeLists.txt b/visualization_utils/CMakeLists.txt
new file mode 100755
index 0000000..801b2e2
--- /dev/null
+++ b/visualization_utils/CMakeLists.txt
@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(visualization_utils)
+
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  visualization_msgs
+)
+
+find_package(Eigen3 REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES visualization_utils
+#  CATKIN_DEPENDS roscpp rospy std_msgs visualization_msgs
+#  DEPENDS system_lib
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR} 
+)
+
+## Declare a C++ library
+add_library(${PROJECT_NAME}
+  src/visualization_utils.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
diff --git a/visualization_utils/include/visualization_utils/visualization_utils.h b/visualization_utils/include/visualization_utils/visualization_utils.h
new file mode 100755
index 0000000..b2c8783
--- /dev/null
+++ b/visualization_utils/include/visualization_utils/visualization_utils.h
@@ -0,0 +1,156 @@
+/*  
+The MIT License
+
+Copyright (c) 2020-2022 Jialin Ji
+                        Hongkai Ye
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+#ifndef _VISUALIZE_UTILS_H_
+#define _VISUALIZE_UTILS_H_
+
+#include <ros/ros.h>
+#include <std_msgs/ColorRGBA.h>
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
+#include <Eigen/Eigen>
+
+#define RED 1
+#define BLUE 2
+#define GRAY 3
+#define YELLOW 4
+#define TreeTraj 5
+#define BLACK 6
+#define GREEN 7
+#define ORANGE 8
+#define STEELBLUE 9
+#define PINK 10
+#define PURPLE 11
+#define FORWARD_REACHABLE_POS 1
+#define BACKWARD_REACHABLE_POS 2
+
+typedef Eigen::Matrix<double, 9, 1> StatePVA;
+
+class Color : public std_msgs::ColorRGBA
+{
+public:
+  Color() : std_msgs::ColorRGBA() {}
+  Color(double red, double green, double blue) : Color(red, green, blue, 1.0) {}
+  Color(double red, double green, double blue, double alpha) : Color()
+  {
+    r = red;
+    g = green;
+    b = blue;
+    a = alpha;
+  }
+
+  static const Color White() { return Color(1.0, 1.0, 1.0); }
+  static const Color Black() { return Color(0.0, 0.0, 0.0); }
+  static const Color Gray() { return Color(0.5, 0.5, 0.5); }
+  static const Color Red() { return Color(1.0, 0.0, 0.0); }
+  static const Color Green() { return Color(0.0, 0.7, 0.0); }
+  static const Color Blue() { return Color(0.0, 0.0, 1.0); }
+  static const Color SteelBlue() { return Color(0.4, 0.7, 1.0); }
+  static const Color Yellow() { return Color(1.0, 1.0, 0.0); }
+  static const Color Orange() { return Color(1.0, 0.5, 0.0); }
+  static const Color Purple() { return Color(0.5, 0.0, 1.0); }
+  static const Color Chartreuse() { return Color(0.5, 1.0, 0.0); }
+  static const Color Teal() { return Color(0.0, 1.0, 1.0); }
+  static const Color Pink() { return Color(1.0, 0.0, 0.5); }
+};
+
+class VisualRviz
+{
+public:
+  VisualRviz();
+  VisualRviz(const ros::NodeHandle &nh);
+
+  void visualizeCollision(const Eigen::Vector3d &collision, ros::Time local_time);
+  void visualizeKnots(const std::vector<Eigen::Vector3d> &knots, ros::Time local_time);
+  void visualizeStates(const std::vector<StatePVA> &x, int trajectory_type, ros::Time local_time);
+  void visualizeSampledState(const std::vector<StatePVA> &nodes, ros::Time local_time);
+  void visualizeValidSampledState(const std::vector<StatePVA> &nodes, ros::Time local_time);
+  void visualizeStartAndGoal(Eigen::Vector3d start, Eigen::Vector3d goal, ros::Time local_time);
+  void visualizeTopo(const std::vector<Eigen::Vector3d> &p_head, const std::vector<Eigen::Vector3d> &tracks, ros::Time local_time);
+  void visualizeOrphans(const std::vector<StatePVA> &ophs, ros::Time local_time);
+  void visualizeReachPos(int type, const Eigen::Vector3d &center, const double &diam, ros::Time local_time);
+  void visualizeReplanDire(const Eigen::Vector3d &pos, const Eigen::Vector3d &dire, ros::Time local_time);
+  void visualizePRM(const std::vector<std::vector<Eigen::Vector3d>> &paths, Color color, ros::Time local_time);
+  void visualizeLearning(const std::vector<Eigen::Vector3d> &topo_samples, const std::vector<Eigen::Vector3d> &poly_samples_, ros::Time local_time);
+  void visualizeMultiTraj(const std::vector<std::vector<StatePVA>> &x, ros::Time local_time);
+  void visualizeBalls(const std::vector<Eigen::Vector3d> &centers, const std::vector<double> &radii, ros::Time local_time);
+  void visualizeText(const std::vector<std::string> &texts, const std::vector<Eigen::Vector3d> &positions, ros::Time local_time);
+  void visualizePoints(const std::vector<StatePVA> &x, ros::Time local_time);
+  void visualizeTrajList(const std::vector<std::vector<StatePVA>> &x, ros::Time local_time);
+  void visualizeCurrExpectedState(const std::vector<StatePVA> &x, ros::Time local_time);
+
+  typedef std::shared_ptr<VisualRviz> Ptr;
+
+private:
+  ros::NodeHandle nh_;
+  ros::Publisher rand_sample_pos_point_pub_;
+  ros::Publisher rand_sample_vel_vec_pub_;
+  ros::Publisher rand_sample_acc_vec_pub_;
+  ros::Publisher tree_traj_pos_point_pub_;
+  ros::Publisher tree_traj_vel_vec_pub_;
+  ros::Publisher tree_traj_acc_vec_pub_;
+  ros::Publisher final_traj_pos_point_pub_;
+  ros::Publisher final_traj_vel_vec_pub_;
+  ros::Publisher final_traj_acc_vec_pub_;
+  ros::Publisher first_traj_pos_point_pub_;
+  ros::Publisher first_traj_vel_vec_pub_;
+  ros::Publisher first_traj_acc_vec_pub_;
+  ros::Publisher best_traj_pos_point_pub_;
+  ros::Publisher best_traj_vel_vec_pub_;
+  ros::Publisher best_traj_acc_vec_pub_;
+  ros::Publisher tracked_traj_pos_point_pub_;
+  ros::Publisher optimized_traj_pos_point_pub_;
+  ros::Publisher optimized_traj_vel_vec_pub_;
+  ros::Publisher optimized_traj_acc_vec_pub_;
+  ros::Publisher fmt_traj_pos_point_pub_;
+  ros::Publisher fmt_traj_vel_vec_pub_;
+  ros::Publisher fmt_traj_acc_vec_pub_;
+  ros::Publisher fmt_wo_traj_pos_point_pub_;
+  ros::Publisher fmt_wo_traj_vel_vec_pub_;
+  ros::Publisher fmt_wo_traj_acc_vec_pub_;
+  ros::Publisher start_and_goal_pub_;
+  ros::Publisher topo_pub_;
+  ros::Publisher orphans_pos_pub_;
+  ros::Publisher orphans_vel_vec_pub_;
+  ros::Publisher fwd_reachable_pos_pub_;
+  ros::Publisher bwd_reachable_pos_pub_;
+  ros::Publisher knots_pub_;
+  ros::Publisher collision_pub_;
+  ros::Publisher replan_direction_pub_;
+  ros::Publisher traj_list_pub_;
+
+  ros::Publisher prm_pub_, prm_vertex_pub_, multi_traj_pos_point_pub_;
+  ros::Publisher topo_pt_pub_;
+  ros::Publisher poly_pt_pub_;
+  ros::Publisher lines_pub_;
+  ros::Publisher balls_pub_;
+  ros::Publisher texts_pub_;
+  ros::Publisher points_pub_;
+
+  ros::Publisher curr_exp_pos_pub_;
+  ros::Publisher curr_exp_vel_pub_;
+  ros::Publisher curr_exp_acc_pub_;
+};
+
+#endif
diff --git a/visualization_utils/package.xml b/visualization_utils/package.xml
new file mode 100755
index 0000000..aba3718
--- /dev/null
+++ b/visualization_utils/package.xml
@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>visualization_utils</name>
+  <version>0.0.0</version>
+  <description>The visualization_utils package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="kyle@todo.todo">kyle</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/visualization_utils</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>visualization_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>visualization_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/visualization_utils/sphere.stl b/visualization_utils/sphere.stl
new file mode 100755
index 0000000..85fd5f4
Binary files /dev/null and b/visualization_utils/sphere.stl differ
diff --git a/visualization_utils/src/visualization_utils.cpp b/visualization_utils/src/visualization_utils.cpp
new file mode 100755
index 0000000..989b0b2
--- /dev/null
+++ b/visualization_utils/src/visualization_utils.cpp
@@ -0,0 +1,987 @@
+#include "visualization_utils/visualization_utils.h"
+#include <ros/ros.h>
+#include <queue>
+#include <string>
+#include <iostream>
+
+VisualRviz::VisualRviz(const ros::NodeHandle &nh) : nh_(nh)
+{
+    rand_sample_pos_point_pub_ = nh_.advertise<visualization_msgs::Marker>("rand_sample_pos_points", 1);
+    rand_sample_vel_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("rand_sample_vel_vecs", 1);
+    rand_sample_acc_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("rand_sample_acc_vecs", 1);
+    tree_traj_pos_point_pub_ = nh_.advertise<visualization_msgs::Marker>("tree_traj_pos", 1);
+    tree_traj_vel_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("tree_traj_vel", 1);
+    tree_traj_acc_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("tree_traj_acc", 1);
+    final_traj_pos_point_pub_ = nh_.advertise<visualization_msgs::Marker>("a_traj_pos", 1);
+    final_traj_vel_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("a_traj_vel", 1);
+    final_traj_acc_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("a_traj_acc", 1);
+    first_traj_pos_point_pub_ = nh_.advertise<visualization_msgs::Marker>("first_traj_pos", 1);
+    first_traj_vel_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("first_traj_vel", 1);
+    first_traj_acc_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("first_traj_acc", 1);
+    best_traj_pos_point_pub_ = nh_.advertise<visualization_msgs::Marker>("best_traj_pos", 1);
+    best_traj_vel_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("best_traj_vel", 1);
+    best_traj_acc_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("best_traj_acc", 1);
+    tracked_traj_pos_point_pub_ = nh_.advertise<visualization_msgs::Marker>("tracked_traj_pos", 1);
+    optimized_traj_pos_point_pub_ = nh_.advertise<visualization_msgs::Marker>("optimized_traj_pos", 1);
+    optimized_traj_vel_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("optimized_traj_vel", 1);
+    optimized_traj_acc_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("optimized_traj_acc", 1);
+    fmt_traj_pos_point_pub_ = nh_.advertise<visualization_msgs::Marker>("fmt_traj_pos", 1);
+    fmt_traj_vel_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("fmt_traj_vel", 1);
+    fmt_traj_acc_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("fmt_traj_acc", 1);
+    fmt_wo_traj_pos_point_pub_ = nh_.advertise<visualization_msgs::Marker>("fmt_wo_traj_pos", 1);
+    fmt_wo_traj_vel_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("fmt_wo_traj_vel", 1);
+    fmt_wo_traj_acc_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("fmt_wo_traj_acc", 1);
+    start_and_goal_pub_ = nh_.advertise<visualization_msgs::Marker>("start_and_goal", 1);
+    topo_pub_ = nh_.advertise<visualization_msgs::Marker>("topo", 1);
+    orphans_pos_pub_ = nh_.advertise<visualization_msgs::Marker>("orphan_pos", 1);
+    orphans_vel_vec_pub_ = nh_.advertise<visualization_msgs::Marker>("orphan_vel", 1);
+    fwd_reachable_pos_pub_ = nh_.advertise<visualization_msgs::Marker>("fwd_reachable_pos", 1);
+    bwd_reachable_pos_pub_ = nh_.advertise<visualization_msgs::Marker>("bwd_reachable_pos", 1);
+    knots_pub_ = nh_.advertise<visualization_msgs::Marker>("knots", 1);
+    collision_pub_ = nh_.advertise<visualization_msgs::Marker>("collision", 1);
+    replan_direction_pub_ = nh_.advertise<visualization_msgs::Marker>("replan_direction", 1);
+    traj_list_pub_ = nh_.advertise<visualization_msgs::MarkerArray>("/traj_list", 1);
+
+    prm_pub_ = nh_.advertise<visualization_msgs::Marker>("prm", 1);
+    multi_traj_pos_point_pub_ = nh_.advertise<visualization_msgs::Marker>("multi_traj", 1);
+    prm_vertex_pub_ = nh_.advertise<visualization_msgs::Marker>("prm_vertex", 1);
+    topo_pt_pub_ = nh_.advertise<visualization_msgs::Marker>("/topo_pt", 1);
+    poly_pt_pub_ = nh_.advertise<visualization_msgs::Marker>("/poly_pt", 1);
+    lines_pub_ = nh_.advertise<visualization_msgs::Marker>("/line", 1);
+    balls_pub_ = nh_.advertise<visualization_msgs::MarkerArray>("/nearest_obs_balls", 1);
+    texts_pub_ = nh_.advertise<visualization_msgs::MarkerArray>("/texts", 1);
+    points_pub_ = nh_.advertise<visualization_msgs::Marker>("/points", 1);
+
+    curr_exp_pos_pub_ = nh_.advertise<visualization_msgs::MarkerArray>("/curr_exp_pos", 1);
+    curr_exp_vel_pub_ = nh_.advertise<visualization_msgs::MarkerArray>("/curr_exp_vel", 1);
+    curr_exp_acc_pub_ = nh_.advertise<visualization_msgs::MarkerArray>("/curr_exp_acc", 1);
+}
+
+void VisualRviz::visualizeStates(const std::vector<StatePVA> &x, int trajectory_type, ros::Time local_time)
+{
+    visualization_msgs::Marker pos_point, vel_vec, acc_vec;
+    if (x.empty())
+    {
+        pos_point.action = visualization_msgs::Marker::DELETEALL;
+        vel_vec.action = visualization_msgs::Marker::DELETEALL;
+        acc_vec.action = visualization_msgs::Marker::DELETEALL;
+    }
+    geometry_msgs::Point p, a;
+    for (size_t i = 0; i < x.size(); ++i)
+    {
+        p.x = x[i](0, 0);
+        p.y = x[i](1, 0);
+        p.z = x[i](2, 0);
+        a.x = x[i](0, 0);
+        a.y = x[i](1, 0);
+        a.z = x[i](2, 0);
+        pos_point.points.push_back(p);
+
+        vel_vec.points.push_back(p);
+        p.x += x[i](3, 0);
+        p.y += x[i](4, 0);
+        p.z += x[i](5, 0);
+        vel_vec.points.push_back(p);
+
+        acc_vec.points.push_back(a);
+        a.x += x[i](6, 0);
+        a.y += x[i](7, 0);
+        a.z += x[i](8, 0);
+        acc_vec.points.push_back(a);
+    }
+    pos_point.header.frame_id = "map";
+    pos_point.header.stamp = local_time;
+    pos_point.ns = "traj";
+    pos_point.action = visualization_msgs::Marker::ADD;
+    pos_point.lifetime = ros::Duration(0);
+    pos_point.pose.orientation.w = 1.0;
+    pos_point.id = 100;
+    pos_point.type = visualization_msgs::Marker::POINTS;
+    pos_point.scale.x = 0.2;
+    pos_point.scale.y = 0.2;
+    pos_point.scale.z = 0.2;
+
+    vel_vec.header.frame_id = "map";
+    vel_vec.header.stamp = local_time;
+    vel_vec.ns = "traj";
+    vel_vec.action = visualization_msgs::Marker::ADD;
+    vel_vec.lifetime = ros::Duration(0);
+    vel_vec.pose.orientation.w = 1.0;
+    vel_vec.id = 200;
+    vel_vec.type = visualization_msgs::Marker::LINE_LIST;
+    vel_vec.scale.x = 0.03;
+
+    acc_vec.header.frame_id = "map";
+    acc_vec.header.stamp = local_time;
+    acc_vec.ns = "traj";
+    acc_vec.action = visualization_msgs::Marker::ADD;
+    acc_vec.lifetime = ros::Duration(0);
+    acc_vec.pose.orientation.w = 1.0;
+    acc_vec.id = 300;
+    acc_vec.type = visualization_msgs::Marker::LINE_LIST;
+    acc_vec.scale.x = 0.03;
+
+    switch (trajectory_type)
+    {
+    case RED:
+        pos_point.color = Color::Red();
+        pos_point.color.a = 1.0;
+        vel_vec.color = Color::Red();
+        vel_vec.color.a = 1.0;
+        acc_vec.color = Color::Red();
+        acc_vec.color.a = 0.14;
+        first_traj_pos_point_pub_.publish(pos_point);
+        first_traj_vel_vec_pub_.publish(vel_vec);
+        first_traj_acc_vec_pub_.publish(acc_vec);
+        break;
+
+    case BLUE:
+        pos_point.color = Color::Blue();
+        pos_point.color.a = 1.0;
+        vel_vec.color = Color::Blue();
+        vel_vec.color.a = 1.0;
+        acc_vec.color = Color::Blue();
+        acc_vec.color.a = 0.14;
+        best_traj_pos_point_pub_.publish(pos_point);
+        best_traj_vel_vec_pub_.publish(vel_vec);
+        best_traj_acc_vec_pub_.publish(acc_vec);
+        break;
+
+    case STEELBLUE:
+        pos_point.color = Color::SteelBlue();
+        pos_point.color.a = 1.0;
+        vel_vec.color = Color::SteelBlue();
+        vel_vec.color.a = 1.0;
+        acc_vec.color = Color::SteelBlue();
+        acc_vec.color.a = 0.20;
+        final_traj_pos_point_pub_.publish(pos_point);
+        final_traj_vel_vec_pub_.publish(vel_vec);
+        final_traj_acc_vec_pub_.publish(acc_vec);
+        break;
+
+    case YELLOW:
+        pos_point.color = Color::Yellow();
+        pos_point.color.a = 1.0;
+        vel_vec.color = Color::Yellow();
+        vel_vec.color.a = 1.0;
+        acc_vec.color = Color::Yellow();
+        acc_vec.color.a = 0.05;
+        tracked_traj_pos_point_pub_.publish(pos_point);
+        break;
+
+    case PURPLE:
+        pos_point.color = Color::Purple();
+        pos_point.color.a = 1.0;
+        vel_vec.color = Color::Purple();
+        vel_vec.color.a = 1.0;
+        acc_vec.color = Color::Purple();
+        acc_vec.color.a = 0.15;
+        optimized_traj_pos_point_pub_.publish(pos_point);
+        optimized_traj_vel_vec_pub_.publish(vel_vec);
+        optimized_traj_acc_vec_pub_.publish(acc_vec);
+        break;
+
+    case GREEN:
+        pos_point.color = Color::Green();
+        pos_point.color.a = 1.0;
+        vel_vec.color = Color::Green();
+        vel_vec.color.a = 1.0;
+        acc_vec.color = Color::Green();
+        acc_vec.color.a = 0.25;
+        fmt_traj_pos_point_pub_.publish(pos_point);
+        fmt_traj_vel_vec_pub_.publish(vel_vec);
+        fmt_traj_acc_vec_pub_.publish(acc_vec);
+        break;
+
+    case ORANGE:
+        pos_point.color = Color::Orange();
+        pos_point.color.a = 1.0;
+        vel_vec.color = Color::Orange();
+        vel_vec.color.a = 1.0;
+        acc_vec.color = Color::Orange();
+        acc_vec.color.a = 0.15;
+        fmt_wo_traj_pos_point_pub_.publish(pos_point);
+        fmt_wo_traj_vel_vec_pub_.publish(vel_vec);
+        fmt_wo_traj_acc_vec_pub_.publish(acc_vec);
+        break;
+
+    case TreeTraj:
+        pos_point.color = Color::Blue();
+        pos_point.color.a = 1.0;
+        pos_point.scale.x = 0.06;
+        pos_point.scale.y = 0.06;
+        pos_point.scale.z = 0.06;
+        pos_point.type = visualization_msgs::Marker::POINTS;
+        vel_vec.color = Color::SteelBlue();
+        vel_vec.color.a = 1.0;
+        acc_vec.color = Color::SteelBlue();
+        acc_vec.color.a = 0.1;
+        tree_traj_pos_point_pub_.publish(pos_point);
+        tree_traj_vel_vec_pub_.publish(vel_vec);
+        tree_traj_acc_vec_pub_.publish(acc_vec);
+        break;
+    }
+}
+
+void VisualRviz::visualizePoints(const std::vector<StatePVA> &x, ros::Time local_time)
+{
+    if (x.empty())
+        return;
+    visualization_msgs::Marker pos_point;
+    geometry_msgs::Point p;
+    for (size_t i = 0; i < x.size(); ++i)
+    {
+        p.x = x[i](0, 0);
+        p.y = x[i](1, 0);
+        p.z = x[i](2, 0);
+        pos_point.points.push_back(p);
+    }
+    pos_point.header.frame_id = "map";
+    pos_point.header.stamp = local_time;
+    pos_point.ns = "traj";
+    pos_point.action = visualization_msgs::Marker::ADD;
+    pos_point.lifetime = ros::Duration(0);
+    pos_point.pose.orientation.w = 1.0;
+    pos_point.id = 100;
+    pos_point.type = visualization_msgs::Marker::POINTS;
+    pos_point.scale.x = 0.1;
+    pos_point.scale.y = 0.1;
+    pos_point.scale.z = 0.1;
+    pos_point.color = Color::Orange();
+    pos_point.color.a = 0.8;
+    points_pub_.publish(pos_point);
+}
+
+void VisualRviz::visualizeKnots(const std::vector<Eigen::Vector3d> &knots, ros::Time local_time)
+{
+    if (knots.empty())
+        return;
+    visualization_msgs::Marker pos_point;
+    geometry_msgs::Point p;
+    for (size_t i = 0; i < knots.size(); ++i)
+    {
+        p.x = knots[i](0);
+        p.y = knots[i](1);
+        p.z = knots[i](2);
+        pos_point.points.push_back(p);
+    }
+    pos_point.header.frame_id = "map";
+    pos_point.header.stamp = local_time;
+    pos_point.ns = "traj";
+    pos_point.action = visualization_msgs::Marker::ADD;
+    pos_point.lifetime = ros::Duration(0);
+    pos_point.pose.orientation.w = 1.0;
+    pos_point.id = 400;
+    pos_point.type = visualization_msgs::Marker::SPHERE_LIST;
+    pos_point.scale.x = 0.25;
+    pos_point.scale.y = 0.25;
+    pos_point.scale.z = 0.25;
+    pos_point.color = Color::Orange();
+    pos_point.color.a = 1.0;
+    knots_pub_.publish(pos_point);
+}
+
+void VisualRviz::visualizeCollision(const Eigen::Vector3d &collision, ros::Time local_time)
+{
+    visualization_msgs::Marker pos_point;
+    geometry_msgs::Point p;
+    p.x = collision(0);
+    p.y = collision(1);
+    p.z = collision(2);
+    pos_point.points.push_back(p);
+    pos_point.header.frame_id = "map";
+    pos_point.header.stamp = local_time;
+    pos_point.ns = "colllision";
+    pos_point.action = visualization_msgs::Marker::ADD;
+    pos_point.lifetime = ros::Duration(0);
+    pos_point.pose.orientation.w = 1.0;
+    pos_point.id = 400;
+    pos_point.type = visualization_msgs::Marker::SPHERE_LIST;
+    pos_point.scale.x = 0.2;
+    pos_point.scale.y = 0.2;
+    pos_point.scale.z = 0.2;
+    pos_point.color = Color::Red();
+    pos_point.color.a = 1.0;
+    collision_pub_.publish(pos_point);
+}
+
+void VisualRviz::visualizeSampledState(const std::vector<StatePVA> &nodes, ros::Time local_time)
+{
+    visualization_msgs::Marker pos_point, vel_vec, acc_vec;
+
+    geometry_msgs::Point p;
+    for (const auto &node : nodes)
+    {
+        p.x = node[0];
+        p.y = node[1];
+        p.z = node[2];
+        pos_point.points.push_back(p);
+        vel_vec.points.push_back(p);
+        p.x += node[3] / 2.0;
+        p.y += node[4] / 2.0;
+        p.z += node[5] / 2.0;
+        vel_vec.points.push_back(p);
+    }
+
+    pos_point.header.frame_id = "map";
+    pos_point.header.stamp = local_time;
+    pos_point.ns = "sample";
+    pos_point.action = visualization_msgs::Marker::ADD;
+    pos_point.lifetime = ros::Duration(0);
+    pos_point.pose.orientation.w = 1.0;
+    pos_point.id = 10;
+    pos_point.type = visualization_msgs::Marker::POINTS;
+    pos_point.scale.x = 0.07;
+    pos_point.scale.y = 0.07;
+    pos_point.scale.z = 0.07;
+    pos_point.color = Color::Green();
+    pos_point.color.a = 1.0;
+
+    vel_vec.header.frame_id = "map";
+    vel_vec.header.stamp = local_time;
+    vel_vec.ns = "sample";
+    vel_vec.action = visualization_msgs::Marker::ADD;
+    vel_vec.lifetime = ros::Duration(0);
+    vel_vec.pose.orientation.w = 1.0;
+    vel_vec.id = 20;
+    vel_vec.type = visualization_msgs::Marker::LINE_LIST;
+    vel_vec.scale.x = 0.03;
+    vel_vec.color = Color::Red();
+    vel_vec.color.a = 1.0;
+
+    rand_sample_pos_point_pub_.publish(pos_point);
+    rand_sample_vel_vec_pub_.publish(vel_vec);
+}
+
+void VisualRviz::visualizeValidSampledState(const std::vector<StatePVA> &nodes, ros::Time local_time)
+{
+    visualization_msgs::Marker pos_point, vel_vec, acc_vec;
+
+    geometry_msgs::Point p;
+    for (const auto &node : nodes)
+    {
+        p.x = node[0];
+        p.y = node[1];
+        p.z = node[2];
+        pos_point.points.push_back(p);
+    }
+
+    pos_point.header.frame_id = "map";
+    pos_point.header.stamp = local_time;
+    pos_point.ns = "sample";
+    pos_point.action = visualization_msgs::Marker::ADD;
+    pos_point.lifetime = ros::Duration(0);
+    pos_point.pose.orientation.w = 1.0;
+    pos_point.id = 10;
+    pos_point.type = visualization_msgs::Marker::POINTS;
+    pos_point.scale.x = 0.07;
+    pos_point.scale.y = 0.07;
+    pos_point.scale.z = 0.07;
+    pos_point.color = Color::Red();
+    pos_point.color.a = 1.0;
+
+    rand_sample_vel_vec_pub_.publish(pos_point);
+}
+
+void VisualRviz::visualizeStartAndGoal(Eigen::Vector3d start, Eigen::Vector3d goal, ros::Time local_time)
+{
+    visualization_msgs::Marker pos_point;
+
+    geometry_msgs::Point p;
+    p.x = start[0];
+    p.y = start[1];
+    p.z = start[2];
+    pos_point.points.push_back(p);
+    p.x = goal[0];
+    p.y = goal[1];
+    p.z = goal[2];
+    pos_point.points.push_back(p);
+
+    pos_point.header.frame_id = "map";
+    pos_point.header.stamp = local_time;
+    pos_point.ns = "s_g";
+    pos_point.action = visualization_msgs::Marker::ADD;
+    pos_point.lifetime = ros::Duration(0);
+    pos_point.pose.orientation.w = 1.0;
+    pos_point.id = 11;
+    pos_point.type = visualization_msgs::Marker::SPHERE_LIST;
+    pos_point.scale.x = 0.4;
+    pos_point.scale.y = 0.4;
+    pos_point.scale.z = 0.4;
+    pos_point.color = Color::Purple();
+    pos_point.color.a = 1.0;
+
+    start_and_goal_pub_.publish(pos_point);
+}
+
+void VisualRviz::visualizeTopo(const std::vector<Eigen::Vector3d> &p_head,
+                               const std::vector<Eigen::Vector3d> &tracks,
+                               ros::Time local_time)
+{
+    if (tracks.empty() || p_head.empty() || tracks.size() != p_head.size())
+        return;
+
+    visualization_msgs::Marker topo;
+    geometry_msgs::Point p;
+
+    for (int i = 0; i < tracks.size(); i++)
+    {
+        p.x = p_head[i][0];
+        p.y = p_head[i][1];
+        p.z = p_head[i][2];
+        topo.points.push_back(p);
+        p.x += tracks[i][0];
+        p.y += tracks[i][1];
+        p.z += tracks[i][2];
+        topo.points.push_back(p);
+    }
+
+    topo.header.frame_id = "map";
+    topo.header.stamp = local_time;
+    topo.ns = "topo";
+    topo.action = visualization_msgs::Marker::ADD;
+    topo.lifetime = ros::Duration(0);
+    topo.pose.orientation.w = 1.0;
+    topo.id = 117;
+    topo.type = visualization_msgs::Marker::LINE_LIST;
+    topo.scale.x = 0.15;
+    topo.color = Color::Green();
+    topo.color.a = 1.0;
+
+    topo_pub_.publish(topo);
+}
+
+void VisualRviz::visualizeReplanDire(const Eigen::Vector3d &pos, const Eigen::Vector3d &dire, ros::Time local_time)
+{
+    visualization_msgs::Marker pos_point;
+
+    geometry_msgs::Point p;
+    p.x = pos[0];
+    p.y = pos[1];
+    p.z = pos[2];
+    pos_point.points.push_back(p);
+    p.x += dire[0];
+    p.y += dire[1];
+    p.z += dire[2];
+    pos_point.points.push_back(p);
+
+    pos_point.header.frame_id = "map";
+    pos_point.header.stamp = local_time;
+    pos_point.ns = "traj";
+    pos_point.action = visualization_msgs::Marker::ADD;
+    pos_point.lifetime = ros::Duration(0);
+    pos_point.pose.orientation.w = 1.0;
+    pos_point.id = 11;
+    pos_point.type = visualization_msgs::Marker::ARROW;
+    pos_point.scale.x = 0.1;
+    pos_point.scale.y = 0.1;
+    pos_point.scale.z = 0.1;
+    pos_point.color = Color::Purple();
+    pos_point.color.a = 1.0;
+
+    replan_direction_pub_.publish(pos_point);
+}
+
+void VisualRviz::visualizeReachPos(int type, const Eigen::Vector3d &center, const double &diam, ros::Time local_time)
+{
+    visualization_msgs::Marker pos;
+    pos.header.frame_id = "map";
+    pos.header.stamp = local_time;
+    pos.ns = "reachable_pos";
+    pos.type = visualization_msgs::Marker::SPHERE;
+    pos.action = visualization_msgs::Marker::ADD;
+    pos.pose.position.x = center[0];
+    pos.pose.position.y = center[1];
+    pos.pose.position.z = center[2];
+    pos.scale.x = diam;
+    pos.scale.y = diam;
+    pos.scale.z = diam;
+    if (type == FORWARD_REACHABLE_POS)
+    {
+        pos.id = 1;
+        pos.color.a = 0.3;
+        pos.color = Color::Green();
+        fwd_reachable_pos_pub_.publish(pos);
+    }
+    else if (type == BACKWARD_REACHABLE_POS)
+    {
+        pos.id = 2;
+        pos.color.a = 0.3;
+        pos.color = Color::Red();
+        bwd_reachable_pos_pub_.publish(pos);
+    }
+}
+
+void VisualRviz::visualizeBalls(const std::vector<Eigen::Vector3d> &centers, const std::vector<double> &radii, ros::Time local_time)
+{
+    visualization_msgs::Marker marker;
+    marker.header.frame_id = "map";
+    marker.type = visualization_msgs::Marker::MESH_RESOURCE;
+    std::string spherePath = "package://visualization_utils/sphere.stl";
+    marker.mesh_resource = spherePath;
+    marker.action = visualization_msgs::Marker::ADD;
+    marker.id = 0;
+    marker.color = Color::Yellow();
+    marker.color.a = 0.3;
+
+    visualization_msgs::MarkerArray marker_array;
+    marker_array.markers.reserve(centers.size() + 1);
+    marker.action = visualization_msgs::Marker::DELETEALL;
+    marker_array.markers.push_back(marker);
+    marker.action = visualization_msgs::Marker::ADD;
+    for (size_t i = 0; i < centers.size(); ++i)
+    {
+        marker.pose.position.x = centers[i][0];
+        marker.pose.position.y = centers[i][1];
+        marker.pose.position.z = centers[i][2];
+        double diam = 2.0 * radii[i];
+        marker.scale.x = diam;
+        marker.scale.y = diam;
+        marker.scale.z = diam;
+        marker_array.markers.push_back(marker);
+        marker.id++;
+    }
+    balls_pub_.publish(marker_array);
+}
+
+void VisualRviz::visualizeOrphans(const std::vector<StatePVA> &ophs, ros::Time local_time)
+{
+    visualization_msgs::Marker pos_point, vel_vec;
+    geometry_msgs::Point p;
+
+    for (int i = 0; i < ophs.size(); i++)
+    {
+        p.x = ophs[i](0, 0);
+        p.y = ophs[i](1, 0);
+        p.z = ophs[i](2, 0);
+        pos_point.points.push_back(p);
+
+        vel_vec.points.push_back(p);
+        p.x += ophs[i](3, 0) / 10.0;
+        p.y += ophs[i](4, 0) / 10.0;
+        p.z += ophs[i](5, 0) / 10.0;
+        vel_vec.points.push_back(p);
+    }
+
+    pos_point.header.frame_id = "map";
+    pos_point.header.stamp = local_time;
+    pos_point.ns = "orphan";
+    pos_point.action = visualization_msgs::Marker::ADD;
+    pos_point.lifetime = ros::Duration(0);
+    pos_point.pose.orientation.w = 1.0;
+    pos_point.id = 43;
+    pos_point.type = visualization_msgs::Marker::POINTS;
+    pos_point.scale.x = 0.1;
+    pos_point.scale.y = 0.1;
+    pos_point.scale.z = 0.1;
+    pos_point.color = Color::Green();
+    pos_point.color.a = 1.0;
+
+    vel_vec.header.frame_id = "map";
+    vel_vec.header.stamp = local_time;
+    vel_vec.ns = "orphan";
+    vel_vec.action = visualization_msgs::Marker::ADD;
+    vel_vec.lifetime = ros::Duration(0);
+    vel_vec.pose.orientation.w = 1.0;
+    vel_vec.id = 244;
+    vel_vec.type = visualization_msgs::Marker::LINE_LIST;
+    vel_vec.scale.x = 0.1;
+    vel_vec.scale.y = 0.1;
+    vel_vec.scale.z = 0.1;
+    vel_vec.color = Color::Yellow();
+    vel_vec.color.a = 1.0;
+
+    orphans_pos_pub_.publish(pos_point);
+    orphans_vel_vec_pub_.publish(vel_vec);
+}
+
+void VisualRviz::visualizePRM(const std::vector<std::vector<Eigen::Vector3d>> &paths, Color color, ros::Time local_time)
+{
+    if (paths.empty())
+        return;
+
+    visualization_msgs::Marker topo, vertice;
+    geometry_msgs::Point p;
+
+    for (const auto &path : paths)
+    {
+        for (int j = 0; j < path.size() - 1; ++j)
+        {
+            p.x = path[j][0];
+            p.y = path[j][1];
+            p.z = path[j][2];
+            topo.points.push_back(p);
+            vertice.points.push_back(p);
+            p.x = path[j + 1][0];
+            p.y = path[j + 1][1];
+            p.z = path[j + 1][2];
+            topo.points.push_back(p);
+            vertice.points.push_back(p);
+        }
+    }
+
+    topo.header.frame_id = "map";
+    topo.header.stamp = local_time;
+    topo.ns = "prm";
+    topo.action = visualization_msgs::Marker::ADD;
+    topo.lifetime = ros::Duration(0);
+    topo.pose.orientation.w = 1.0;
+    topo.id = 118;
+    topo.type = visualization_msgs::Marker::LINE_LIST;
+    topo.scale.x = 0.05;
+    topo.scale.y = 0.05;
+    topo.scale.z = 0.05;
+    topo.color = color;
+    topo.color.a = 1.0;
+
+    vertice.header.frame_id = "map";
+    vertice.header.stamp = local_time;
+    vertice.ns = "prm";
+    vertice.action = visualization_msgs::Marker::ADD;
+    vertice.lifetime = ros::Duration(0);
+    vertice.pose.orientation.w = 1.0;
+    vertice.id = 119;
+    vertice.type = visualization_msgs::Marker::POINTS;
+    vertice.scale.x = 0.08;
+    vertice.scale.y = 0.08;
+    vertice.scale.z = 0.08;
+    vertice.color = Color::Blue();
+    vertice.color.a = 1.0;
+
+    prm_pub_.publish(topo);
+    prm_vertex_pub_.publish(vertice);
+}
+
+void VisualRviz::visualizeLearning(const std::vector<Eigen::Vector3d> &topo_samples, const std::vector<Eigen::Vector3d> &poly_samples, ros::Time local_time)
+{
+    visualization_msgs::Marker topo_pts, poly_pts, lines;
+    geometry_msgs::Point p;
+
+    int n = topo_samples.size();
+    for (int i = 0; i < n; i++)
+    {
+        p.x = topo_samples[i](0);
+        p.y = topo_samples[i](1);
+        p.z = topo_samples[i](2);
+        topo_pts.points.push_back(p);
+        lines.points.push_back(p);
+
+        p.x = poly_samples[i](0);
+        p.y = poly_samples[i](1);
+        p.z = poly_samples[i](2);
+        poly_pts.points.push_back(p);
+        lines.points.push_back(p);
+    }
+
+    topo_pts.header.frame_id = "map";
+    topo_pts.header.stamp = ros::Time::now();
+    topo_pts.ns = "orphan";
+    topo_pts.action = visualization_msgs::Marker::ADD;
+    topo_pts.lifetime = ros::Duration(0);
+    topo_pts.pose.orientation.w = 1.0;
+    topo_pts.id = 43;
+    topo_pts.type = visualization_msgs::Marker::POINTS;
+    topo_pts.scale.x = 0.1;
+    topo_pts.scale.y = 0.1;
+    topo_pts.scale.z = 0.1;
+    topo_pts.color.r = 1.0;
+    topo_pts.color.a = 1.0;
+
+    poly_pts.header.frame_id = "map";
+    poly_pts.header.stamp = ros::Time::now();
+    poly_pts.ns = "orphan";
+    poly_pts.action = visualization_msgs::Marker::ADD;
+    poly_pts.lifetime = ros::Duration(0);
+    poly_pts.pose.orientation.w = 1.0;
+    poly_pts.id = 4;
+    poly_pts.type = visualization_msgs::Marker::POINTS;
+    poly_pts.scale.x = 0.1;
+    poly_pts.scale.y = 0.1;
+    poly_pts.scale.z = 0.1;
+    poly_pts.color.g = 1.0;
+    poly_pts.color.a = 1.0;
+
+    lines.header.frame_id = "map";
+    lines.header.stamp = ros::Time::now();
+    lines.ns = "orphan";
+    lines.action = visualization_msgs::Marker::ADD;
+    lines.lifetime = ros::Duration(0);
+    lines.pose.orientation.w = 1.0;
+    lines.id = 244;
+    lines.type = visualization_msgs::Marker::LINE_LIST;
+    lines.scale.x = 0.03;
+    lines.scale.y = 0.03;
+    lines.scale.z = 0.03;
+    lines.color.b = 1.0;
+    lines.color.a = 1.0;
+
+    topo_pt_pub_.publish(topo_pts);
+    poly_pt_pub_.publish(poly_pts);
+    lines_pub_.publish(lines);
+}
+
+void VisualRviz::visualizeMultiTraj(const std::vector<std::vector<StatePVA>> &x, ros::Time local_time)
+{
+    if (x.empty())
+        return;
+    visualization_msgs::Marker pos_point;
+    geometry_msgs::Point p;
+    for (const auto &traj : x)
+    {
+        for (size_t i = 0; i < traj.size() - 1; ++i)
+        {
+            p.x = traj[i](0, 0);
+            p.y = traj[i](1, 0);
+            p.z = traj[i](2, 0);
+            pos_point.points.push_back(p);
+
+            p.x = traj[i + 1](0, 0);
+            p.y = traj[i + 1](1, 0);
+            p.z = traj[i + 1](2, 0);
+            pos_point.points.push_back(p);
+        }
+    }
+    pos_point.header.frame_id = "map";
+    pos_point.header.stamp = local_time;
+    pos_point.ns = "traj";
+    pos_point.action = visualization_msgs::Marker::ADD;
+    pos_point.lifetime = ros::Duration(0);
+    pos_point.pose.orientation.w = 1.0;
+    pos_point.id = 156;
+    pos_point.type = visualization_msgs::Marker::LINE_LIST;
+    pos_point.scale.x = 0.01;
+    pos_point.scale.y = 0.01;
+    pos_point.scale.z = 0.01;
+    pos_point.color = Color::SteelBlue();
+    pos_point.color.a = 1.0;
+    multi_traj_pos_point_pub_.publish(pos_point);
+}
+
+void VisualRviz::visualizeTrajList(const std::vector<std::vector<StatePVA>> &x, ros::Time local_time)
+{
+    if (x.empty())
+        return;
+    visualization_msgs::MarkerArray traj_list_point;
+    visualization_msgs::Marker clear_previous_msg;
+    clear_previous_msg.action = visualization_msgs::Marker::DELETEALL;
+    traj_list_point.markers.push_back(clear_previous_msg);
+
+    geometry_msgs::Point p;
+    size_t traj_num = x.size();
+    for (size_t i = 0; i < traj_num; ++i)
+    {
+        visualization_msgs::Marker traj_point;
+        for (size_t j = 0; j < x[i].size(); ++j)
+        {
+            p.x = x[i][j](0, 0);
+            p.y = x[i][j](1, 0);
+            p.z = x[i][j](2, 0);
+            traj_point.points.push_back(p);
+        }
+        traj_point.header.frame_id = "map";
+        traj_point.header.stamp = local_time;
+        traj_point.ns = "traj_list";
+        traj_point.action = visualization_msgs::Marker::ADD;
+        traj_point.lifetime = ros::Duration(0);
+        traj_point.pose.orientation.w = 1.0;
+        traj_point.id = i;
+        traj_point.type = visualization_msgs::Marker::LINE_STRIP;
+        traj_point.scale.x = 0.25;
+        traj_point.scale.y = 0.25;
+        traj_point.scale.z = 0.25;
+        traj_point.color.r = 1.0;
+        traj_point.color.g = 1 - (double)(i + 1 + 3) / (double)(traj_num + 10);
+        traj_point.color.b = 1 - (double)(i + 1 + 3) / (double)(traj_num + 10);
+        traj_point.color.a = (double)(i + 1 + 5) / (double)(traj_num + 5);
+
+        traj_list_point.markers.push_back(traj_point);
+    }
+
+    traj_list_pub_.publish(traj_list_point);
+}
+
+void VisualRviz::visualizeText(const std::vector<std::string> &texts, const std::vector<Eigen::Vector3d> &positions, ros::Time local_time)
+{
+    // visualization_msgs::MarkerArray mk_ary;
+    // visualization_msgs::Marker text_mk;
+    // text_mk.action = visualization_msgs::Marker::DELETEALL;
+    // mk_ary.markers.push_back(text_mk);
+    // text_mk.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
+    // text_mk.header.frame_id = "map";
+    // text_mk.header.stamp = local_time;
+    // text_mk.ns = "texts";
+    // text_mk.action = visualization_msgs::Marker::ADD;
+    // text_mk.lifetime = ros::Duration(0);
+    // text_mk.color.a = 1.0;
+    // text_mk.scale.z = 4;
+    // text_mk.color = Color::Blue();
+    // for (size_t i = 0; i < texts.size(); ++i)
+    // {
+    //     text_mk.text = texts[i];
+    //     text_mk.pose.position.x = positions[i][0];
+    //     text_mk.pose.position.y = positions[i][1];
+    //     text_mk.pose.position.z = positions[i][2];
+    //     text_mk.id = i;
+    //     mk_ary.markers.push_back(text_mk);
+    // }
+    // texts_pub_.publish(mk_ary);
+
+    visualization_msgs::MarkerArray mk_ary;
+    visualization_msgs::Marker text_mk;
+    text_mk.action = visualization_msgs::Marker::DELETEALL;
+    mk_ary.markers.push_back(text_mk);
+    text_mk.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
+    text_mk.header.frame_id = "map";
+    text_mk.header.stamp = local_time;
+    text_mk.ns = "texts";
+    text_mk.action = visualization_msgs::Marker::ADD;
+    text_mk.lifetime = ros::Duration(0);
+    text_mk.color.a = 1.0;
+    text_mk.scale.z = 2.2;
+
+    double y_diff(-20);
+    double vertical_diff(-2.5);
+    double x_base(-3), z_base(4);
+    /*line 1*/
+    int line_num = 3;
+    text_mk.color = Color::Black();
+    text_mk.text = "Planning Time(ms)";
+    text_mk.pose.position.x = x_base + vertical_diff * line_num;
+    text_mk.pose.position.y = y_diff;
+    text_mk.pose.position.z = 3;
+    text_mk.id = 0;
+    mk_ary.markers.push_back(text_mk);
+
+    text_mk.text = "Traj.Cost";
+    text_mk.pose.position.x = x_base + vertical_diff * line_num;
+    text_mk.pose.position.y = 0;
+    text_mk.pose.position.z = 3;
+    text_mk.id = 1;
+    mk_ary.markers.push_back(text_mk);
+
+    text_mk.text = "Traj.Duration(s)";
+    text_mk.pose.position.x = x_base + vertical_diff * line_num;
+    text_mk.pose.position.y = -y_diff;
+    text_mk.pose.position.z = 3;
+    text_mk.id = 2;
+    mk_ary.markers.push_back(text_mk);
+    /*line 1*/
+
+    /*line 2*/
+    line_num = 2;
+    text_mk.color = Color::Green();
+    text_mk.text = texts[0];
+    text_mk.pose.position.x = x_base + vertical_diff * line_num;
+    text_mk.pose.position.y = y_diff;
+    text_mk.pose.position.z = 3;
+    text_mk.id = 3;
+    mk_ary.markers.push_back(text_mk);
+
+    text_mk.text = texts[1];
+    text_mk.pose.position.x = x_base + vertical_diff * line_num;
+    text_mk.pose.position.y = 0;
+    text_mk.pose.position.z = 3;
+    text_mk.id = 4;
+    mk_ary.markers.push_back(text_mk);
+
+    text_mk.text = texts[2];
+    text_mk.pose.position.x = x_base + vertical_diff * line_num;
+    text_mk.pose.position.y = -y_diff;
+    text_mk.pose.position.z = 3;
+    text_mk.id = 5;
+    mk_ary.markers.push_back(text_mk);
+    /*line 2*/
+
+    texts_pub_.publish(mk_ary);
+}
+
+void VisualRviz::visualizeCurrExpectedState(const std::vector<StatePVA> &x, ros::Time local_time)
+{
+    if (x.empty())
+        return;
+    visualization_msgs::MarkerArray p_list, v_list, a_list;
+    visualization_msgs::Marker clear_previous_msg;
+    clear_previous_msg.action = visualization_msgs::Marker::DELETEALL;
+    p_list.markers.push_back(clear_previous_msg);
+    v_list.markers.push_back(clear_previous_msg);
+    a_list.markers.push_back(clear_previous_msg);
+
+    size_t state_num = x.size();
+    for (size_t i = 0; i < state_num; ++i)
+    {
+        visualization_msgs::Marker pos_point, vel_vec, acc_vec;
+        pos_point.header.frame_id = "map";
+        pos_point.header.stamp = local_time;
+        pos_point.ns = "curr_exp";
+        pos_point.action = visualization_msgs::Marker::ADD;
+        pos_point.lifetime = ros::Duration(0);
+        pos_point.pose.orientation.w = 1.0;
+        pos_point.id = i;
+        pos_point.type = visualization_msgs::Marker::MESH_RESOURCE;
+        std::string spherePath = "package://visualization_utils/sphere.stl";
+        pos_point.mesh_resource = spherePath;
+        pos_point.scale.x = 0.5;
+        pos_point.scale.y = 0.5;
+        pos_point.scale.z = 0.5;
+        pos_point.color.a = 1;
+        pos_point.color = Color::Red();
+        pos_point.pose.position.x = x[i][0];
+        pos_point.pose.position.y = x[i][1];
+        pos_point.pose.position.z = x[i][2];
+
+        vel_vec.header.frame_id = "map";
+        vel_vec.header.stamp = local_time;
+        vel_vec.ns = "curr_exp";
+        vel_vec.action = visualization_msgs::Marker::ADD;
+        vel_vec.lifetime = ros::Duration(0);
+        vel_vec.pose.orientation.w = 1.0;
+        vel_vec.id = i;
+        vel_vec.type = visualization_msgs::Marker::ARROW;
+        vel_vec.scale.x = 0.3;
+        vel_vec.scale.y = 0.5;
+        // vel_vec.scale.z = 0.5;
+        vel_vec.color = Color::Red();
+
+        acc_vec.header.frame_id = "map";
+        acc_vec.header.stamp = local_time;
+        acc_vec.ns = "curr_exp";
+        acc_vec.action = visualization_msgs::Marker::ADD;
+        acc_vec.lifetime = ros::Duration(0);
+        acc_vec.pose.orientation.w = 1.0;
+        acc_vec.id = i;
+        acc_vec.type = visualization_msgs::Marker::ARROW;
+        acc_vec.scale.x = 0.3;
+        acc_vec.scale.y = 0.5;
+        // acc_vec.scale.z = 0.5;
+        acc_vec.color = Color::Orange();
+
+        geometry_msgs::Point p, a;
+        p.x = x[i][0];
+        p.y = x[i][1];
+        p.z = x[i][2];
+        a.x = x[i][0];
+        a.y = x[i][1];
+        a.z = x[i][2];
+        // pos_point.points.push_back(p);
+
+        vel_vec.points.push_back(p);
+        p.x += x[i][3];
+        p.y += x[i][4];
+        p.z += x[i][5];
+        vel_vec.points.push_back(p);
+
+        acc_vec.points.push_back(a);
+        a.x += x[i][6];
+        a.y += x[i][7];
+        a.z += x[i][8];
+        acc_vec.points.push_back(a);
+
+        p_list.markers.push_back(pos_point);
+        v_list.markers.push_back(vel_vec);
+        a_list.markers.push_back(acc_vec);
+    }
+
+    curr_exp_pos_pub_.publish(p_list);
+    curr_exp_vel_pub_.publish(v_list);
+    curr_exp_acc_pub_.publish(a_list);
+}
\ No newline at end of file