cbb
93cbf18f1f
新增了电流环控制功能，包括通过三相电流计算 Iq 的 `cal_Iq_Id` 方法，并在 `current_control` 中实现了基于 PID 的电流控制逻辑。同时对电压设置、占空比计算等部分进行了调整与优化。 refactor(filter): 移除冗余的电流卡尔曼滤波器实现 删除了 `Filter.cpp` 和 `Filter.h` 中关于 `CurrentKalman` 类的冗余代码，统一外部定义，简化结构。 refactor(health): 改进热量控制器算法和数据类型 将热累积计算改为更精确的分段处理方式，并引入 Q16.16 定点数提升运算精度与性能；增加对异常温度值的判断修正。 fix(CAN): 调整电流发送顺序及标志位设置位置 修改 CAN 发送中 V 相与 W 相电流打包顺序，确保通信正确性；调整发送标志设置逻辑至主循环任务内触发。 chore(headers): 清理无用头文件引用和结构调整 移除了多个源文件中不必要的头文件包含（如 `<cstdio>`、`<array>`），并对部分全局变量声明做了 extern 处理以避免重复定义问题。
407 lines
25 KiB
C++
407 lines
25 KiB
C++
// 函数声明
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#ifndef _DENGFOC_H
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#define _DENGFOC_H
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#include "pid.h"
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#include <stdint.h>
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class FOC_Controlroller {
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public:
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FOC_Controlroller();
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u8 control_mode = 0;
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float limit_voltage = 0.0f;
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float limit_velocity = 0.0f;
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float target_angle = 0.0f;
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float target_velocity = 0.0f;
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float rt_angle = 0.0f;
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float rt_velocity = 0.0f;
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bool over_current = false;
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bool voltage_error = false;
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bool is_shut_down = false;
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float voltage_power_supply = 24.0f; // 电源电压
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float v_safe = voltage_power_supply * 1.05f;
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float duty_a = 0, duty_b = 0, duty_c = 0;
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float Ua = 0, Ub = 0, Uc = 0;
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float velocity_open_loop();
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float angle_control(float target_angle);
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float velocity_control(float target_velocity);
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float current_control(float target_current);
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float angle_control_NPID(float target_angle);
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void update_power(void);
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void DFOC_alignSensor(int _PP);
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void shut_down(void);
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void resume(void);
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void drv_stop(void);
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void drv_hold(float duty = 0.5f);
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protected:
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float shaft_angle = 0;
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float Ualpha, Ubeta = 0;
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float zero_electric_angle = 0;
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float v_half = voltage_power_supply * 0.5f; // 电源电压的一半
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PIDController vel_loop = PIDController{0.7f, 0.45f, 0.001f, 1000000,
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voltage_power_supply}; // 12V
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PIDController angle_loop = PIDController{25.0f, 30.0f, 0.15f, 10000000,
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voltage_power_supply}; // 12V
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PIDController current_loop =
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PIDController{0.01f, 0.001f, 0, 100000, voltage_power_supply}; // 12V
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void setPhaseVoltage(float Uq, float Ud);
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float cal_Iq_Id(float current_a, float current_b, float current_c);
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};
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float _normalizeAngle(float angle);
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inline float _electricalAngle();
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constexpr u16 LUT_SIZE = 1024;
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constexpr u16 LUT_MASK = (LUT_SIZE - 1);
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__attribute__((aligned(4))) const float sin_lut[LUT_SIZE] = {
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0.000000f, 0.006136f, 0.012272f, 0.018407f, 0.024541f, 0.030675f,
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0.036807f, 0.042938f, 0.049068f, 0.055195f, 0.061321f, 0.067444f,
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0.073565f, 0.079682f, 0.085797f, 0.091909f, 0.098017f, 0.104122f,
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0.110222f, 0.116319f, 0.122411f, 0.128498f, 0.134581f, 0.140658f,
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0.146730f, 0.152797f, 0.158858f, 0.164913f, 0.170962f, 0.177004f,
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0.183040f, 0.189069f, 0.195090f, 0.201105f, 0.207111f, 0.213110f,
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0.219101f, 0.225084f, 0.231058f, 0.237024f, 0.242980f, 0.248928f,
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0.254866f, 0.260794f, 0.266713f, 0.272621f, 0.278520f, 0.284408f,
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0.290285f, 0.296151f, 0.302006f, 0.307850f, 0.313682f, 0.319502f,
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0.325310f, 0.331106f, 0.336890f, 0.342661f, 0.348419f, 0.354164f,
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0.359895f, 0.365613f, 0.371317f, 0.377007f, 0.382683f, 0.388345f,
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0.393992f, 0.399624f, 0.405241f, 0.410843f, 0.416430f, 0.422000f,
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0.427555f, 0.433094f, 0.438616f, 0.444122f, 0.449611f, 0.455084f,
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0.460539f, 0.465976f, 0.471397f, 0.476799f, 0.482184f, 0.487550f,
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0.492898f, 0.498228f, 0.503538f, 0.508830f, 0.514103f, 0.519356f,
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0.524590f, 0.529804f, 0.534998f, 0.540171f, 0.545325f, 0.550458f,
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0.555570f, 0.560662f, 0.565732f, 0.570781f, 0.575808f, 0.580814f,
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0.585798f, 0.590760f, 0.595699f, 0.600616f, 0.605511f, 0.610383f,
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0.615232f, 0.620057f, 0.624859f, 0.629638f, 0.634393f, 0.639124f,
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0.643832f, 0.648514f, 0.653173f, 0.657807f, 0.662416f, 0.667000f,
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0.671559f, 0.676093f, 0.680601f, 0.685084f, 0.689541f, 0.693971f,
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0.698376f, 0.702755f, 0.707107f, 0.711432f, 0.715731f, 0.720003f,
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0.724247f, 0.728464f, 0.732654f, 0.736817f, 0.740951f, 0.745058f,
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0.749136f, 0.753187f, 0.757209f, 0.761202f, 0.765167f, 0.769103f,
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0.773010f, 0.776888f, 0.780737f, 0.784557f, 0.788346f, 0.792107f,
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0.795837f, 0.799537f, 0.803208f, 0.806848f, 0.810457f, 0.814036f,
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0.817585f, 0.821103f, 0.824589f, 0.828045f, 0.831470f, 0.834863f,
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0.838225f, 0.841555f, 0.844854f, 0.848120f, 0.851355f, 0.854558f,
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0.857729f, 0.860867f, 0.863973f, 0.867046f, 0.870087f, 0.873095f,
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0.876070f, 0.879012f, 0.881921f, 0.884797f, 0.887640f, 0.890449f,
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0.893224f, 0.895966f, 0.898674f, 0.901349f, 0.903989f, 0.906596f,
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0.909168f, 0.911706f, 0.914210f, 0.916679f, 0.919114f, 0.921514f,
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0.923880f, 0.926210f, 0.928506f, 0.930767f, 0.932993f, 0.935184f,
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0.937339f, 0.939459f, 0.941544f, 0.943593f, 0.945607f, 0.947586f,
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0.949528f, 0.951435f, 0.953306f, 0.955141f, 0.956940f, 0.958703f,
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0.960431f, 0.962121f, 0.963776f, 0.965394f, 0.966976f, 0.968522f,
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0.970031f, 0.971504f, 0.972940f, 0.974339f, 0.975702f, 0.977028f,
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0.978317f, 0.979570f, 0.980785f, 0.981964f, 0.983105f, 0.984210f,
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0.985278f, 0.986308f, 0.987301f, 0.988258f, 0.989177f, 0.990058f,
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0.990903f, 0.991710f, 0.992480f, 0.993212f, 0.993907f, 0.994565f,
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0.995185f, 0.995767f, 0.996313f, 0.996820f, 0.997290f, 0.997723f,
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0.998118f, 0.998476f, 0.998795f, 0.999078f, 0.999322f, 0.999529f,
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0.999699f, 0.999831f, 0.999925f, 0.999981f, 1.000000f, 0.999981f,
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0.999925f, 0.999831f, 0.999699f, 0.999529f, 0.999322f, 0.999078f,
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0.998795f, 0.998476f, 0.998118f, 0.997723f, 0.997290f, 0.996820f,
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0.996313f, 0.995767f, 0.995185f, 0.994565f, 0.993907f, 0.993212f,
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0.992480f, 0.991710f, 0.990903f, 0.990058f, 0.989177f, 0.988258f,
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0.987301f, 0.986308f, 0.985278f, 0.984210f, 0.983105f, 0.981964f,
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0.980785f, 0.979570f, 0.978317f, 0.977028f, 0.975702f, 0.974339f,
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0.972940f, 0.971504f, 0.970031f, 0.968522f, 0.966976f, 0.965394f,
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0.963776f, 0.962121f, 0.960431f, 0.958703f, 0.956940f, 0.955141f,
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0.953306f, 0.951435f, 0.949528f, 0.947586f, 0.945607f, 0.943593f,
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0.941544f, 0.939459f, 0.937339f, 0.935184f, 0.932993f, 0.930767f,
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0.928506f, 0.926210f, 0.923880f, 0.921514f, 0.919114f, 0.916679f,
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0.914210f, 0.911706f, 0.909168f, 0.906596f, 0.903989f, 0.901349f,
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0.898674f, 0.895966f, 0.893224f, 0.890449f, 0.887640f, 0.884797f,
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0.881921f, 0.879012f, 0.876070f, 0.873095f, 0.870087f, 0.867046f,
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0.863973f, 0.860867f, 0.857729f, 0.854558f, 0.851355f, 0.848120f,
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0.844854f, 0.841555f, 0.838225f, 0.834863f, 0.831470f, 0.828045f,
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0.824589f, 0.821103f, 0.817585f, 0.814036f, 0.810457f, 0.806848f,
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0.803208f, 0.799537f, 0.795837f, 0.792107f, 0.788346f, 0.784557f,
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0.780737f, 0.776888f, 0.773010f, 0.769103f, 0.765167f, 0.761202f,
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0.757209f, 0.753187f, 0.749136f, 0.745058f, 0.740951f, 0.736817f,
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0.732654f, 0.728464f, 0.724247f, 0.720003f, 0.715731f, 0.711432f,
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0.707107f, 0.702755f, 0.698376f, 0.693971f, 0.689541f, 0.685084f,
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0.680601f, 0.676093f, 0.671559f, 0.667000f, 0.662416f, 0.657807f,
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0.653173f, 0.648514f, 0.643832f, 0.639124f, 0.634393f, 0.629638f,
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0.624859f, 0.620057f, 0.615232f, 0.610383f, 0.605511f, 0.600616f,
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0.595699f, 0.590760f, 0.585798f, 0.580814f, 0.575808f, 0.570781f,
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0.565732f, 0.560662f, 0.555570f, 0.550458f, 0.545325f, 0.540171f,
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0.534998f, 0.529804f, 0.524590f, 0.519356f, 0.514103f, 0.508830f,
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0.503538f, 0.498228f, 0.492898f, 0.487550f, 0.482184f, 0.476799f,
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0.471397f, 0.465976f, 0.460539f, 0.455084f, 0.449611f, 0.444122f,
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0.438616f, 0.433094f, 0.427555f, 0.422000f, 0.416430f, 0.410843f,
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0.405241f, 0.399624f, 0.393992f, 0.388345f, 0.382683f, 0.377007f,
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0.371317f, 0.365613f, 0.359895f, 0.354164f, 0.348419f, 0.342661f,
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0.336890f, 0.331106f, 0.325310f, 0.319502f, 0.313682f, 0.307850f,
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0.302006f, 0.296151f, 0.290285f, 0.284408f, 0.278520f, 0.272621f,
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0.266713f, 0.260794f, 0.254866f, 0.248928f, 0.242980f, 0.237024f,
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0.231058f, 0.225084f, 0.219101f, 0.213110f, 0.207111f, 0.201105f,
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0.195090f, 0.189069f, 0.183040f, 0.177004f, 0.170962f, 0.164913f,
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0.158858f, 0.152797f, 0.146730f, 0.140658f, 0.134581f, 0.128498f,
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0.122411f, 0.116319f, 0.110222f, 0.104122f, 0.098017f, 0.091909f,
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0.085797f, 0.079682f, 0.073565f, 0.067444f, 0.061321f, 0.055195f,
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0.049068f, 0.042938f, 0.036807f, 0.030675f, 0.024541f, 0.018407f,
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0.012272f, 0.006136f, 0.000000f, -0.006136f, -0.012272f, -0.018407f,
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-0.024541f, -0.030675f, -0.036807f, -0.042938f, -0.049068f, -0.055195f,
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-0.061321f, -0.067444f, -0.073565f, -0.079682f, -0.085797f, -0.091909f,
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-0.098017f, -0.104122f, -0.110222f, -0.116319f, -0.122411f, -0.128498f,
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-0.134581f, -0.140658f, -0.146730f, -0.152797f, -0.158858f, -0.164913f,
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-0.170962f, -0.177004f, -0.183040f, -0.189069f, -0.195090f, -0.201105f,
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-0.207111f, -0.213110f, -0.219101f, -0.225084f, -0.231058f, -0.237024f,
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-0.242980f, -0.248928f, -0.254866f, -0.260794f, -0.266713f, -0.272621f,
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-0.278520f, -0.284408f, -0.290285f, -0.296151f, -0.302006f, -0.307850f,
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-0.313682f, -0.319502f, -0.325310f, -0.331106f, -0.336890f, -0.342661f,
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-0.348419f, -0.354164f, -0.359895f, -0.365613f, -0.371317f, -0.377007f,
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-0.382683f, -0.388345f, -0.393992f, -0.399624f, -0.405241f, -0.410843f,
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-0.416430f, -0.422000f, -0.427555f, -0.433094f, -0.438616f, -0.444122f,
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-0.449611f, -0.455084f, -0.460539f, -0.465976f, -0.471397f, -0.476799f,
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-0.482184f, -0.487550f, -0.492898f, -0.498228f, -0.503538f, -0.508830f,
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-0.514103f, -0.519356f, -0.524590f, -0.529804f, -0.534998f, -0.540171f,
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-0.545325f, -0.550458f, -0.555570f, -0.560662f, -0.565732f, -0.570781f,
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-0.575808f, -0.580814f, -0.585798f, -0.590760f, -0.595699f, -0.600616f,
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-0.605511f, -0.610383f, -0.615232f, -0.620057f, -0.624859f, -0.629638f,
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-0.634393f, -0.639124f, -0.643832f, -0.648514f, -0.653173f, -0.657807f,
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-0.662416f, -0.667000f, -0.671559f, -0.676093f, -0.680601f, -0.685084f,
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-0.689541f, -0.693971f, -0.698376f, -0.702755f, -0.707107f, -0.711432f,
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-0.715731f, -0.720003f, -0.724247f, -0.728464f, -0.732654f, -0.736817f,
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-0.740951f, -0.745058f, -0.749136f, -0.753187f, -0.757209f, -0.761202f,
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-0.765167f, -0.769103f, -0.773010f, -0.776888f, -0.780737f, -0.784557f,
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-0.788346f, -0.792107f, -0.795837f, -0.799537f, -0.803208f, -0.806848f,
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-0.810457f, -0.814036f, -0.817585f, -0.821103f, -0.824589f, -0.828045f,
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-0.831470f, -0.834863f, -0.838225f, -0.841555f, -0.844854f, -0.848120f,
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-0.851355f, -0.854558f, -0.857729f, -0.860867f, -0.863973f, -0.867046f,
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-0.870087f, -0.873095f, -0.876070f, -0.879012f, -0.881921f, -0.884797f,
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-0.887640f, -0.890449f, -0.893224f, -0.895966f, -0.898674f, -0.901349f,
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-0.903989f, -0.906596f, -0.909168f, -0.911706f, -0.914210f, -0.916679f,
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-0.919114f, -0.921514f, -0.923880f, -0.926210f, -0.928506f, -0.930767f,
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-0.932993f, -0.935184f, -0.937339f, -0.939459f, -0.941544f, -0.943593f,
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-0.945607f, -0.947586f, -0.949528f, -0.951435f, -0.953306f, -0.955141f,
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-0.956940f, -0.958703f, -0.960431f, -0.962121f, -0.963776f, -0.965394f,
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-0.966976f, -0.968522f, -0.970031f, -0.971504f, -0.972940f, -0.974339f,
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-0.975702f, -0.977028f, -0.978317f, -0.979570f, -0.980785f, -0.981964f,
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-0.983105f, -0.984210f, -0.985278f, -0.986308f, -0.987301f, -0.988258f,
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-0.989177f, -0.990058f, -0.990903f, -0.991710f, -0.992480f, -0.993212f,
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-0.993907f, -0.994565f, -0.995185f, -0.995767f, -0.996313f, -0.996820f,
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-0.997290f, -0.997723f, -0.998118f, -0.998476f, -0.998795f, -0.999078f,
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-0.999322f, -0.999529f, -0.999699f, -0.999831f, -0.999925f, -0.999981f,
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-1.000000f, -0.999981f, -0.999925f, -0.999831f, -0.999699f, -0.999529f,
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-0.999322f, -0.999078f, -0.998795f, -0.998476f, -0.998118f, -0.997723f,
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-0.997290f, -0.996820f, -0.996313f, -0.995767f, -0.995185f, -0.994565f,
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-0.993907f, -0.993212f, -0.992480f, -0.991710f, -0.990903f, -0.990058f,
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-0.989177f, -0.988258f, -0.987301f, -0.986308f, -0.985278f, -0.984210f,
|
|
-0.983105f, -0.981964f, -0.980785f, -0.979570f, -0.978317f, -0.977028f,
|
|
-0.975702f, -0.974339f, -0.972940f, -0.971504f, -0.970031f, -0.968522f,
|
|
-0.966976f, -0.965394f, -0.963776f, -0.962121f, -0.960431f, -0.958703f,
|
|
-0.956940f, -0.955141f, -0.953306f, -0.951435f, -0.949528f, -0.947586f,
|
|
-0.945607f, -0.943593f, -0.941544f, -0.939459f, -0.937339f, -0.935184f,
|
|
-0.932993f, -0.930767f, -0.928506f, -0.926210f, -0.923880f, -0.921514f,
|
|
-0.919114f, -0.916679f, -0.914210f, -0.911706f, -0.909168f, -0.906596f,
|
|
-0.903989f, -0.901349f, -0.898674f, -0.895966f, -0.893224f, -0.890449f,
|
|
-0.887640f, -0.884797f, -0.881921f, -0.879012f, -0.876070f, -0.873095f,
|
|
-0.870087f, -0.867046f, -0.863973f, -0.860867f, -0.857729f, -0.854558f,
|
|
-0.851355f, -0.848120f, -0.844854f, -0.841555f, -0.838225f, -0.834863f,
|
|
-0.831470f, -0.828045f, -0.824589f, -0.821103f, -0.817585f, -0.814036f,
|
|
-0.810457f, -0.806848f, -0.803208f, -0.799537f, -0.795837f, -0.792107f,
|
|
-0.788346f, -0.784557f, -0.780737f, -0.776888f, -0.773010f, -0.769103f,
|
|
-0.765167f, -0.761202f, -0.757209f, -0.753187f, -0.749136f, -0.745058f,
|
|
-0.740951f, -0.736817f, -0.732654f, -0.728464f, -0.724247f, -0.720003f,
|
|
-0.715731f, -0.711432f, -0.707107f, -0.702755f, -0.698376f, -0.693971f,
|
|
-0.689541f, -0.685084f, -0.680601f, -0.676093f, -0.671559f, -0.667000f,
|
|
-0.662416f, -0.657807f, -0.653173f, -0.648514f, -0.643832f, -0.639124f,
|
|
-0.634393f, -0.629638f, -0.624859f, -0.620057f, -0.615232f, -0.610383f,
|
|
-0.605511f, -0.600616f, -0.595699f, -0.590760f, -0.585798f, -0.580814f,
|
|
-0.575808f, -0.570781f, -0.565732f, -0.560662f, -0.555570f, -0.550458f,
|
|
-0.545325f, -0.540171f, -0.534998f, -0.529804f, -0.524590f, -0.519356f,
|
|
-0.514103f, -0.508830f, -0.503538f, -0.498228f, -0.492898f, -0.487550f,
|
|
-0.482184f, -0.476799f, -0.471397f, -0.465976f, -0.460539f, -0.455084f,
|
|
-0.449611f, -0.444122f, -0.438616f, -0.433094f, -0.427555f, -0.422000f,
|
|
-0.416430f, -0.410843f, -0.405241f, -0.399624f, -0.393992f, -0.388345f,
|
|
-0.382683f, -0.377007f, -0.371317f, -0.365613f, -0.359895f, -0.354164f,
|
|
-0.348419f, -0.342661f, -0.336890f, -0.331106f, -0.325310f, -0.319502f,
|
|
-0.313682f, -0.307850f, -0.302006f, -0.296151f, -0.290285f, -0.284408f,
|
|
-0.278520f, -0.272621f, -0.266713f, -0.260794f, -0.254866f, -0.248928f,
|
|
-0.242980f, -0.237024f, -0.231058f, -0.225084f, -0.219101f, -0.213110f,
|
|
-0.207111f, -0.201105f, -0.195090f, -0.189069f, -0.183040f, -0.177004f,
|
|
-0.170962f, -0.164913f, -0.158858f, -0.152797f, -0.146730f, -0.140658f,
|
|
-0.134581f, -0.128498f, -0.122411f, -0.116319f, -0.110222f, -0.104122f,
|
|
-0.098017f, -0.091909f, -0.085797f, -0.079682f, -0.073565f, -0.067444f,
|
|
-0.061321f, -0.055195f, -0.049068f, -0.042938f, -0.036807f, -0.030675f,
|
|
-0.024541f, -0.018407f, -0.012272f, -0.006136f};
|
|
__attribute__((aligned(4))) const float cos_lut[LUT_SIZE] = {
|
|
1.000000f, 0.999981f, 0.999925f, 0.999831f, 0.999699f, 0.999529f,
|
|
0.999322f, 0.999078f, 0.998795f, 0.998476f, 0.998118f, 0.997723f,
|
|
0.997290f, 0.996820f, 0.996313f, 0.995767f, 0.995185f, 0.994565f,
|
|
0.993907f, 0.993212f, 0.992480f, 0.991710f, 0.990903f, 0.990058f,
|
|
0.989177f, 0.988258f, 0.987301f, 0.986308f, 0.985278f, 0.984210f,
|
|
0.983105f, 0.981964f, 0.980785f, 0.979570f, 0.978317f, 0.977028f,
|
|
0.975702f, 0.974339f, 0.972940f, 0.971504f, 0.970031f, 0.968522f,
|
|
0.966976f, 0.965394f, 0.963776f, 0.962121f, 0.960431f, 0.958703f,
|
|
0.956940f, 0.955141f, 0.953306f, 0.951435f, 0.949528f, 0.947586f,
|
|
0.945607f, 0.943593f, 0.941544f, 0.939459f, 0.937339f, 0.935184f,
|
|
0.932993f, 0.930767f, 0.928506f, 0.926210f, 0.923880f, 0.921514f,
|
|
0.919114f, 0.916679f, 0.914210f, 0.911706f, 0.909168f, 0.906596f,
|
|
0.903989f, 0.901349f, 0.898674f, 0.895966f, 0.893224f, 0.890449f,
|
|
0.887640f, 0.884797f, 0.881921f, 0.879012f, 0.876070f, 0.873095f,
|
|
0.870087f, 0.867046f, 0.863973f, 0.860867f, 0.857729f, 0.854558f,
|
|
0.851355f, 0.848120f, 0.844854f, 0.841555f, 0.838225f, 0.834863f,
|
|
0.831470f, 0.828045f, 0.824589f, 0.821103f, 0.817585f, 0.814036f,
|
|
0.810457f, 0.806848f, 0.803208f, 0.799537f, 0.795837f, 0.792107f,
|
|
0.788346f, 0.784557f, 0.780737f, 0.776888f, 0.773010f, 0.769103f,
|
|
0.765167f, 0.761202f, 0.757209f, 0.753187f, 0.749136f, 0.745058f,
|
|
0.740951f, 0.736817f, 0.732654f, 0.728464f, 0.724247f, 0.720003f,
|
|
0.715731f, 0.711432f, 0.707107f, 0.702755f, 0.698376f, 0.693971f,
|
|
0.689541f, 0.685084f, 0.680601f, 0.676093f, 0.671559f, 0.667000f,
|
|
0.662416f, 0.657807f, 0.653173f, 0.648514f, 0.643832f, 0.639124f,
|
|
0.634393f, 0.629638f, 0.624859f, 0.620057f, 0.615232f, 0.610383f,
|
|
0.605511f, 0.600616f, 0.595699f, 0.590760f, 0.585798f, 0.580814f,
|
|
0.575808f, 0.570781f, 0.565732f, 0.560662f, 0.555570f, 0.550458f,
|
|
0.545325f, 0.540171f, 0.534998f, 0.529804f, 0.524590f, 0.519356f,
|
|
0.514103f, 0.508830f, 0.503538f, 0.498228f, 0.492898f, 0.487550f,
|
|
0.482184f, 0.476799f, 0.471397f, 0.465976f, 0.460539f, 0.455084f,
|
|
0.449611f, 0.444122f, 0.438616f, 0.433094f, 0.427555f, 0.422000f,
|
|
0.416430f, 0.410843f, 0.405241f, 0.399624f, 0.393992f, 0.388345f,
|
|
0.382683f, 0.377007f, 0.371317f, 0.365613f, 0.359895f, 0.354164f,
|
|
0.348419f, 0.342661f, 0.336890f, 0.331106f, 0.325310f, 0.319502f,
|
|
0.313682f, 0.307850f, 0.302006f, 0.296151f, 0.290285f, 0.284408f,
|
|
0.278520f, 0.272621f, 0.266713f, 0.260794f, 0.254866f, 0.248928f,
|
|
0.242980f, 0.237024f, 0.231058f, 0.225084f, 0.219101f, 0.213110f,
|
|
0.207111f, 0.201105f, 0.195090f, 0.189069f, 0.183040f, 0.177004f,
|
|
0.170962f, 0.164913f, 0.158858f, 0.152797f, 0.146730f, 0.140658f,
|
|
0.134581f, 0.128498f, 0.122411f, 0.116319f, 0.110222f, 0.104122f,
|
|
0.098017f, 0.091909f, 0.085797f, 0.079682f, 0.073565f, 0.067444f,
|
|
0.061321f, 0.055195f, 0.049068f, 0.042938f, 0.036807f, 0.030675f,
|
|
0.024541f, 0.018407f, 0.012272f, 0.006136f, 0.000000f, -0.006136f,
|
|
-0.012272f, -0.018407f, -0.024541f, -0.030675f, -0.036807f, -0.042938f,
|
|
-0.049068f, -0.055195f, -0.061321f, -0.067444f, -0.073565f, -0.079682f,
|
|
-0.085797f, -0.091909f, -0.098017f, -0.104122f, -0.110222f, -0.116319f,
|
|
-0.122411f, -0.128498f, -0.134581f, -0.140658f, -0.146730f, -0.152797f,
|
|
-0.158858f, -0.164913f, -0.170962f, -0.177004f, -0.183040f, -0.189069f,
|
|
-0.195090f, -0.201105f, -0.207111f, -0.213110f, -0.219101f, -0.225084f,
|
|
-0.231058f, -0.237024f, -0.242980f, -0.248928f, -0.254866f, -0.260794f,
|
|
-0.266713f, -0.272621f, -0.278520f, -0.284408f, -0.290285f, -0.296151f,
|
|
-0.302006f, -0.307850f, -0.313682f, -0.319502f, -0.325310f, -0.331106f,
|
|
-0.336890f, -0.342661f, -0.348419f, -0.354164f, -0.359895f, -0.365613f,
|
|
-0.371317f, -0.377007f, -0.382683f, -0.388345f, -0.393992f, -0.399624f,
|
|
-0.405241f, -0.410843f, -0.416430f, -0.422000f, -0.427555f, -0.433094f,
|
|
-0.438616f, -0.444122f, -0.449611f, -0.455084f, -0.460539f, -0.465976f,
|
|
-0.471397f, -0.476799f, -0.482184f, -0.487550f, -0.492898f, -0.498228f,
|
|
-0.503538f, -0.508830f, -0.514103f, -0.519356f, -0.524590f, -0.529804f,
|
|
-0.534998f, -0.540171f, -0.545325f, -0.550458f, -0.555570f, -0.560662f,
|
|
-0.565732f, -0.570781f, -0.575808f, -0.580814f, -0.585798f, -0.590760f,
|
|
-0.595699f, -0.600616f, -0.605511f, -0.610383f, -0.615232f, -0.620057f,
|
|
-0.624859f, -0.629638f, -0.634393f, -0.639124f, -0.643832f, -0.648514f,
|
|
-0.653173f, -0.657807f, -0.662416f, -0.667000f, -0.671559f, -0.676093f,
|
|
-0.680601f, -0.685084f, -0.689541f, -0.693971f, -0.698376f, -0.702755f,
|
|
-0.707107f, -0.711432f, -0.715731f, -0.720003f, -0.724247f, -0.728464f,
|
|
-0.732654f, -0.736817f, -0.740951f, -0.745058f, -0.749136f, -0.753187f,
|
|
-0.757209f, -0.761202f, -0.765167f, -0.769103f, -0.773010f, -0.776888f,
|
|
-0.780737f, -0.784557f, -0.788346f, -0.792107f, -0.795837f, -0.799537f,
|
|
-0.803208f, -0.806848f, -0.810457f, -0.814036f, -0.817585f, -0.821103f,
|
|
-0.824589f, -0.828045f, -0.831470f, -0.834863f, -0.838225f, -0.841555f,
|
|
-0.844854f, -0.848120f, -0.851355f, -0.854558f, -0.857729f, -0.860867f,
|
|
-0.863973f, -0.867046f, -0.870087f, -0.873095f, -0.876070f, -0.879012f,
|
|
-0.881921f, -0.884797f, -0.887640f, -0.890449f, -0.893224f, -0.895966f,
|
|
-0.898674f, -0.901349f, -0.903989f, -0.906596f, -0.909168f, -0.911706f,
|
|
-0.914210f, -0.916679f, -0.919114f, -0.921514f, -0.923880f, -0.926210f,
|
|
-0.928506f, -0.930767f, -0.932993f, -0.935184f, -0.937339f, -0.939459f,
|
|
-0.941544f, -0.943593f, -0.945607f, -0.947586f, -0.949528f, -0.951435f,
|
|
-0.953306f, -0.955141f, -0.956940f, -0.958703f, -0.960431f, -0.962121f,
|
|
-0.963776f, -0.965394f, -0.966976f, -0.968522f, -0.970031f, -0.971504f,
|
|
-0.972940f, -0.974339f, -0.975702f, -0.977028f, -0.978317f, -0.979570f,
|
|
-0.980785f, -0.981964f, -0.983105f, -0.984210f, -0.985278f, -0.986308f,
|
|
-0.987301f, -0.988258f, -0.989177f, -0.990058f, -0.990903f, -0.991710f,
|
|
-0.992480f, -0.993212f, -0.993907f, -0.994565f, -0.995185f, -0.995767f,
|
|
-0.996313f, -0.996820f, -0.997290f, -0.997723f, -0.998118f, -0.998476f,
|
|
-0.998795f, -0.999078f, -0.999322f, -0.999529f, -0.999699f, -0.999831f,
|
|
-0.999925f, -0.999981f, -1.000000f, -0.999981f, -0.999925f, -0.999831f,
|
|
-0.999699f, -0.999529f, -0.999322f, -0.999078f, -0.998795f, -0.998476f,
|
|
-0.998118f, -0.997723f, -0.997290f, -0.996820f, -0.996313f, -0.995767f,
|
|
-0.995185f, -0.994565f, -0.993907f, -0.993212f, -0.992480f, -0.991710f,
|
|
-0.990903f, -0.990058f, -0.989177f, -0.988258f, -0.987301f, -0.986308f,
|
|
-0.985278f, -0.984210f, -0.983105f, -0.981964f, -0.980785f, -0.979570f,
|
|
-0.978317f, -0.977028f, -0.975702f, -0.974339f, -0.972940f, -0.971504f,
|
|
-0.970031f, -0.968522f, -0.966976f, -0.965394f, -0.963776f, -0.962121f,
|
|
-0.960431f, -0.958703f, -0.956940f, -0.955141f, -0.953306f, -0.951435f,
|
|
-0.949528f, -0.947586f, -0.945607f, -0.943593f, -0.941544f, -0.939459f,
|
|
-0.937339f, -0.935184f, -0.932993f, -0.930767f, -0.928506f, -0.926210f,
|
|
-0.923880f, -0.921514f, -0.919114f, -0.916679f, -0.914210f, -0.911706f,
|
|
-0.909168f, -0.906596f, -0.903989f, -0.901349f, -0.898674f, -0.895966f,
|
|
-0.893224f, -0.890449f, -0.887640f, -0.884797f, -0.881921f, -0.879012f,
|
|
-0.876070f, -0.873095f, -0.870087f, -0.867046f, -0.863973f, -0.860867f,
|
|
-0.857729f, -0.854558f, -0.851355f, -0.848120f, -0.844854f, -0.841555f,
|
|
-0.838225f, -0.834863f, -0.831470f, -0.828045f, -0.824589f, -0.821103f,
|
|
-0.817585f, -0.814036f, -0.810457f, -0.806848f, -0.803208f, -0.799537f,
|
|
-0.795837f, -0.792107f, -0.788346f, -0.784557f, -0.780737f, -0.776888f,
|
|
-0.773010f, -0.769103f, -0.765167f, -0.761202f, -0.757209f, -0.753187f,
|
|
-0.749136f, -0.745058f, -0.740951f, -0.736817f, -0.732654f, -0.728464f,
|
|
-0.724247f, -0.720003f, -0.715731f, -0.711432f, -0.707107f, -0.702755f,
|
|
-0.698376f, -0.693971f, -0.689541f, -0.685084f, -0.680601f, -0.676093f,
|
|
-0.671559f, -0.667000f, -0.662416f, -0.657807f, -0.653173f, -0.648514f,
|
|
-0.643832f, -0.639124f, -0.634393f, -0.629638f, -0.624859f, -0.620057f,
|
|
-0.615232f, -0.610383f, -0.605511f, -0.600616f, -0.595699f, -0.590760f,
|
|
-0.585798f, -0.580814f, -0.575808f, -0.570781f, -0.565732f, -0.560662f,
|
|
-0.555570f, -0.550458f, -0.545325f, -0.540171f, -0.534998f, -0.529804f,
|
|
-0.524590f, -0.519356f, -0.514103f, -0.508830f, -0.503538f, -0.498228f,
|
|
-0.492898f, -0.487550f, -0.482184f, -0.476799f, -0.471397f, -0.465976f,
|
|
-0.460539f, -0.455084f, -0.449611f, -0.444122f, -0.438616f, -0.433094f,
|
|
-0.427555f, -0.422000f, -0.416430f, -0.410843f, -0.405241f, -0.399624f,
|
|
-0.393992f, -0.388345f, -0.382683f, -0.377007f, -0.371317f, -0.365613f,
|
|
-0.359895f, -0.354164f, -0.348419f, -0.342661f, -0.336890f, -0.331106f,
|
|
-0.325310f, -0.319502f, -0.313682f, -0.307850f, -0.302006f, -0.296151f,
|
|
-0.290285f, -0.284408f, -0.278520f, -0.272621f, -0.266713f, -0.260794f,
|
|
-0.254866f, -0.248928f, -0.242980f, -0.237024f, -0.231058f, -0.225084f,
|
|
-0.219101f, -0.213110f, -0.207111f, -0.201105f, -0.195090f, -0.189069f,
|
|
-0.183040f, -0.177004f, -0.170962f, -0.164913f, -0.158858f, -0.152797f,
|
|
-0.146730f, -0.140658f, -0.134581f, -0.128498f, -0.122411f, -0.116319f,
|
|
-0.110222f, -0.104122f, -0.098017f, -0.091909f, -0.085797f, -0.079682f,
|
|
-0.073565f, -0.067444f, -0.061321f, -0.055195f, -0.049068f, -0.042938f,
|
|
-0.036807f, -0.030675f, -0.024541f, -0.018407f, -0.012272f, -0.006136f,
|
|
-0.000000f, 0.006136f, 0.012272f, 0.018407f, 0.024541f, 0.030675f,
|
|
0.036807f, 0.042938f, 0.049068f, 0.055195f, 0.061321f, 0.067444f,
|
|
0.073565f, 0.079682f, 0.085797f, 0.091909f, 0.098017f, 0.104122f,
|
|
0.110222f, 0.116319f, 0.122411f, 0.128498f, 0.134581f, 0.140658f,
|
|
0.146730f, 0.152797f, 0.158858f, 0.164913f, 0.170962f, 0.177004f,
|
|
0.183040f, 0.189069f, 0.195090f, 0.201105f, 0.207111f, 0.213110f,
|
|
0.219101f, 0.225084f, 0.231058f, 0.237024f, 0.242980f, 0.248928f,
|
|
0.254866f, 0.260794f, 0.266713f, 0.272621f, 0.278520f, 0.284408f,
|
|
0.290285f, 0.296151f, 0.302006f, 0.307850f, 0.313682f, 0.319502f,
|
|
0.325310f, 0.331106f, 0.336890f, 0.342661f, 0.348419f, 0.354164f,
|
|
0.359895f, 0.365613f, 0.371317f, 0.377007f, 0.382683f, 0.388345f,
|
|
0.393992f, 0.399624f, 0.405241f, 0.410843f, 0.416430f, 0.422000f,
|
|
0.427555f, 0.433094f, 0.438616f, 0.444122f, 0.449611f, 0.455084f,
|
|
0.460539f, 0.465976f, 0.471397f, 0.476799f, 0.482184f, 0.487550f,
|
|
0.492898f, 0.498228f, 0.503538f, 0.508830f, 0.514103f, 0.519356f,
|
|
0.524590f, 0.529804f, 0.534998f, 0.540171f, 0.545325f, 0.550458f,
|
|
0.555570f, 0.560662f, 0.565732f, 0.570781f, 0.575808f, 0.580814f,
|
|
0.585798f, 0.590760f, 0.595699f, 0.600616f, 0.605511f, 0.610383f,
|
|
0.615232f, 0.620057f, 0.624859f, 0.629638f, 0.634393f, 0.639124f,
|
|
0.643832f, 0.648514f, 0.653173f, 0.657807f, 0.662416f, 0.667000f,
|
|
0.671559f, 0.676093f, 0.680601f, 0.685084f, 0.689541f, 0.693971f,
|
|
0.698376f, 0.702755f, 0.707107f, 0.711432f, 0.715731f, 0.720003f,
|
|
0.724247f, 0.728464f, 0.732654f, 0.736817f, 0.740951f, 0.745058f,
|
|
0.749136f, 0.753187f, 0.757209f, 0.761202f, 0.765167f, 0.769103f,
|
|
0.773010f, 0.776888f, 0.780737f, 0.784557f, 0.788346f, 0.792107f,
|
|
0.795837f, 0.799537f, 0.803208f, 0.806848f, 0.810457f, 0.814036f,
|
|
0.817585f, 0.821103f, 0.824589f, 0.828045f, 0.831470f, 0.834863f,
|
|
0.838225f, 0.841555f, 0.844854f, 0.848120f, 0.851355f, 0.854558f,
|
|
0.857729f, 0.860867f, 0.863973f, 0.867046f, 0.870087f, 0.873095f,
|
|
0.876070f, 0.879012f, 0.881921f, 0.884797f, 0.887640f, 0.890449f,
|
|
0.893224f, 0.895966f, 0.898674f, 0.901349f, 0.903989f, 0.906596f,
|
|
0.909168f, 0.911706f, 0.914210f, 0.916679f, 0.919114f, 0.921514f,
|
|
0.923880f, 0.926210f, 0.928506f, 0.930767f, 0.932993f, 0.935184f,
|
|
0.937339f, 0.939459f, 0.941544f, 0.943593f, 0.945607f, 0.947586f,
|
|
0.949528f, 0.951435f, 0.953306f, 0.955141f, 0.956940f, 0.958703f,
|
|
0.960431f, 0.962121f, 0.963776f, 0.965394f, 0.966976f, 0.968522f,
|
|
0.970031f, 0.971504f, 0.972940f, 0.974339f, 0.975702f, 0.977028f,
|
|
0.978317f, 0.979570f, 0.980785f, 0.981964f, 0.983105f, 0.984210f,
|
|
0.985278f, 0.986308f, 0.987301f, 0.988258f, 0.989177f, 0.990058f,
|
|
0.990903f, 0.991710f, 0.992480f, 0.993212f, 0.993907f, 0.994565f,
|
|
0.995185f, 0.995767f, 0.996313f, 0.996820f, 0.997290f, 0.997723f,
|
|
0.998118f, 0.998476f, 0.998795f, 0.999078f, 0.999322f, 0.999529f,
|
|
0.999699f, 0.999831f, 0.999925f, 0.999981f};
|
|
#endif |