Track a circular trajectory by solving a QP and using quadprog solver (using CLF approach)

24 Apr 2023
1 Answer
Updated 24 Apr 2023
8 Views (30 days)
Ran in:

0 votes

Ran in:
Hi, I am trying to track a circular trajectory i.e. xd = R * cos(t); yd = R * sin(t) using a single integrator and QUADPROG solver. Below is my code:
clc
close all
clear all
t_span = 80;
dt = 0.02;
t = 0:dt:t_span;
number_of_robots = 1;
options = optimoptions('quadprog','Display','off');
x = zeros(1, length(t), number_of_robots);
y = zeros(1, length(t), number_of_robots);
x(1,1,1) = 6;
y(1,1,1) = 8;
Xc1 = 2;
Yc1 = 2;
alpha = 5;
r = 2;
for n = 1:length(t)
for z =1:number_of_robots
if z == 1
xd(1,:,z) = r * cos(t) + Xc1;
yd(1,:,z) = r * sin(t) + Yc1;
elseif z==2
xd(1,:,z) = r * sin(t).*(1-cos(t)) + Xc2;
yd(1,:,z) = r * cos(t).*(1-cos(t)) + Yc2;
end
X_r(:,n, z) = [x(:,n,z); y(:,n,z)];
Xd(:,n, z) = [xd(:,n,z); yd(:,n,z)];
H = eye(2);
f(:,n,z) = [0;0];
A = - 2 * [xd(1,n,z) - x(1,n,z), yd(1,n,z) - y(1,n,z)];
b = - alpha * ( (xd(1,n,z) - x(1,n,z))^2 + (yd(1,n,z) - y(1,n,z))^2 );
u(:,n,z) = quadprog(H,f(:,n,z),A, b,[],[],[],[],[],options);
x(1, n+1, z) = x(1,n,z) + dt * (u(1,n,z));
y(1, n+1, z) = y(1,n,z) + dt * (u(2,n,z));
disp(['Current time = ', num2str(n*dt)])
end
end
Current time = 0.02 Current time = 0.04 Current time = 0.06 Current time = 0.08 Current time = 0.1 Current time = 0.12 Current time = 0.14 Current time = 0.16 Current time = 0.18 Current time = 0.2 Current time = 0.22 Current time = 0.24 Current time = 0.26 Current time = 0.28 Current time = 0.3 Current time = 0.32 Current time = 0.34 Current time = 0.36 Current time = 0.38 Current time = 0.4 Current time = 0.42 Current time = 0.44 Current time = 0.46 Current time = 0.48 Current time = 0.5 Current time = 0.52 Current time = 0.54 Current time = 0.56 Current time = 0.58 Current time = 0.6 Current time = 0.62 Current time = 0.64 Current time = 0.66 Current time = 0.68 Current time = 0.7 Current time = 0.72 Current time = 0.74 Current time = 0.76 Current time = 0.78 Current time = 0.8 Current time = 0.82 Current time = 0.84 Current time = 0.86 Current time = 0.88 Current time = 0.9 Current time = 0.92 Current time = 0.94 Current time = 0.96 Current time = 0.98 Current time = 1 Current time = 1.02 Current time = 1.04 Current time = 1.06 Current time = 1.08 Current time = 1.1 Current time = 1.12 Current time = 1.14 Current time = 1.16 Current time = 1.18 Current time = 1.2 Current time = 1.22 Current time = 1.24 Current time = 1.26 Current time = 1.28 Current time = 1.3 Current time = 1.32 Current time = 1.34 Current time = 1.36 Current time = 1.38 Current time = 1.4 Current time = 1.42 Current time = 1.44 Current time = 1.46 Current time = 1.48 Current time = 1.5 Current time = 1.52 Current time = 1.54 Current time = 1.56 Current time = 1.58 Current time = 1.6 Current time = 1.62 Current time = 1.64 Current time = 1.66 Current time = 1.68 Current time = 1.7 Current time = 1.72 Current time = 1.74 Current time = 1.76 Current time = 1.78 Current time = 1.8 Current time = 1.82 Current time = 1.84 Current time = 1.86 Current time = 1.88 Current time = 1.9 Current time = 1.92 Current time = 1.94 Current time = 1.96 Current time = 1.98 Current time = 2 Current time = 2.02 Current time = 2.04 Current time = 2.06 Current time = 2.08 Current time = 2.1 Current time = 2.12 Current time = 2.14 Current time = 2.16 Current time = 2.18 Current time = 2.2 Current time = 2.22 Current time = 2.24 Current time = 2.26 Current time = 2.28 Current time = 2.3 Current time = 2.32 Current time = 2.34 Current time = 2.36 Current time = 2.38 Current time = 2.4 Current time = 2.42 Current time = 2.44 Current time = 2.46 Current time = 2.48 Current time = 2.5 Current time = 2.52 Current time = 2.54 Current time = 2.56 Current time = 2.58 Current time = 2.6 Current time = 2.62 Current time = 2.64 Current time = 2.66 Current time = 2.68 Current time = 2.7 Current time = 2.72 Current time = 2.74 Current time = 2.76 Current time = 2.78 Current time = 2.8 Current time = 2.82 Current time = 2.84 Current time = 2.86 Current time = 2.88 Current time = 2.9 Current time = 2.92 Current time = 2.94 Current time = 2.96 Current time = 2.98 Current time = 3 Current time = 3.02 Current time = 3.04 Current time = 3.06 Current time = 3.08 Current time = 3.1 Current time = 3.12 Current time = 3.14 Current time = 3.16 Current time = 3.18 Current time = 3.2 Current time = 3.22 Current time = 3.24 Current time = 3.26 Current time = 3.28 Current time = 3.3 Current time = 3.32 Current time = 3.34 Current time = 3.36 Current time = 3.38 Current time = 3.4 Current time = 3.42 Current time = 3.44 Current time = 3.46 Current time = 3.48 Current time = 3.5 Current time = 3.52 Current time = 3.54 Current time = 3.56 Current time = 3.58 Current time = 3.6 Current time = 3.62 Current time = 3.64 Current time = 3.66 Current time = 3.68 Current time = 3.7 Current time = 3.72 Current time = 3.74 Current time = 3.76 Current time = 3.78 Current time = 3.8 Current time = 3.82 Current time = 3.84 Current time = 3.86 Current time = 3.88 Current time = 3.9 Current time = 3.92 Current time = 3.94 Current time = 3.96 Current time = 3.98 Current time = 4 Current time = 4.02 Current time = 4.04 Current time = 4.06 Current time = 4.08 Current time = 4.1 Current time = 4.12 Current time = 4.14 Current time = 4.16 Current time = 4.18 Current time = 4.2 Current time = 4.22 Current time = 4.24 Current time = 4.26 Current time = 4.28 Current time = 4.3 Current time = 4.32 Current time = 4.34 Current time = 4.36 Current time = 4.38 Current time = 4.4 Current time = 4.42 Current time = 4.44 Current time = 4.46 Current time = 4.48 Current time = 4.5 Current time = 4.52 Current time = 4.54 Current time = 4.56 Current time = 4.58 Current time = 4.6 Current time = 4.62 Current time = 4.64 Current time = 4.66 Current time = 4.68 Current time = 4.7 Current time = 4.72 Current time = 4.74 Current time = 4.76 Current time = 4.78 Current time = 4.8 Current time = 4.82 Current time = 4.84 Current time = 4.86 Current time = 4.88 Current time = 4.9 Current time = 4.92 Current time = 4.94 Current time = 4.96 Current time = 4.98 Current time = 5 Current time = 5.02 Current time = 5.04 Current time = 5.06 Current time = 5.08 Current time = 5.1 Current time = 5.12 Current time = 5.14 Current time = 5.16 Current time = 5.18 Current time = 5.2 Current time = 5.22 Current time = 5.24 Current time = 5.26 Current time = 5.28 Current time = 5.3 Current time = 5.32 Current time = 5.34 Current time = 5.36 Current time = 5.38 Current time = 5.4 Current time = 5.42 Current time = 5.44 Current time = 5.46 Current time = 5.48 Current time = 5.5 Current time = 5.52 Current time = 5.54 Current time = 5.56 Current time = 5.58 Current time = 5.6 Current time = 5.62 Current time = 5.64 Current time = 5.66 Current time = 5.68 Current time = 5.7 Current time = 5.72 Current time = 5.74 Current time = 5.76 Current time = 5.78 Current time = 5.8 Current time = 5.82 Current time = 5.84 Current time = 5.86 Current time = 5.88 Current time = 5.9 Current time = 5.92 Current time = 5.94 Current time = 5.96 Current time = 5.98 Current time = 6 Current time = 6.02 Current time = 6.04 Current time = 6.06 Current time = 6.08 Current time = 6.1 Current time = 6.12 Current time = 6.14 Current time = 6.16 Current time = 6.18 Current time = 6.2 Current time = 6.22 Current time = 6.24 Current time = 6.26 Current time = 6.28 Current time = 6.3 Current time = 6.32 Current time = 6.34 Current time = 6.36 Current time = 6.38 Current time = 6.4 Current time = 6.42 Current time = 6.44 Current time = 6.46 Current time = 6.48 Current time = 6.5 Current time = 6.52 Current time = 6.54 Current time = 6.56 Current time = 6.58 Current time = 6.6 Current time = 6.62 Current time = 6.64 Current time = 6.66 Current time = 6.68 Current time = 6.7 Current time = 6.72 Current time = 6.74 Current time = 6.76 Current time = 6.78 Current time = 6.8 Current time = 6.82 Current time = 6.84 Current time = 6.86 Current time = 6.88 Current time = 6.9 Current time = 6.92 Current time = 6.94 Current time = 6.96 Current time = 6.98 Current time = 7 Current time = 7.02 Current time = 7.04 Current time = 7.06 Current time = 7.08 Current time = 7.1 Current time = 7.12 Current time = 7.14 Current time = 7.16 Current time = 7.18 Current time = 7.2 Current time = 7.22 Current time = 7.24 Current time = 7.26 Current time = 7.28 Current time = 7.3 Current time = 7.32 Current time = 7.34 Current time = 7.36 Current time = 7.38 Current time = 7.4 Current time = 7.42 Current time = 7.44 Current time = 7.46 Current time = 7.48 Current time = 7.5 Current time = 7.52 Current time = 7.54 Current time = 7.56 Current time = 7.58 Current time = 7.6 Current time = 7.62 Current time = 7.64 Current time = 7.66 Current time = 7.68 Current time = 7.7 Current time = 7.72 Current time = 7.74 Current time = 7.76 Current time = 7.78 Current time = 7.8 Current time = 7.82 Current time = 7.84 Current time = 7.86 Current time = 7.88 Current time = 7.9 Current time = 7.92 Current time = 7.94 Current time = 7.96 Current time = 7.98 Current time = 8 Current time = 8.02 Current time = 8.04 Current time = 8.06 Current time = 8.08 Current time = 8.1 Current time = 8.12 Current time = 8.14 Current time = 8.16 Current time = 8.18 Current time = 8.2 Current time = 8.22 Current time = 8.24 Current time = 8.26 Current time = 8.28 Current time = 8.3 Current time = 8.32 Current time = 8.34 Current time = 8.36 Current time = 8.38 Current time = 8.4 Current time = 8.42 Current time = 8.44 Current time = 8.46 Current time = 8.48 Current time = 8.5 Current time = 8.52 Current time = 8.54 Current time = 8.56 Current time = 8.58 Current time = 8.6 Current time = 8.62 Current time = 8.64 Current time = 8.66 Current time = 8.68 Current time = 8.7 Current time = 8.72 Current time = 8.74 Current time = 8.76 Current time = 8.78 Current time = 8.8 Current time = 8.82 Current time = 8.84 Current time = 8.86 Current time = 8.88 Current time = 8.9 Current time = 8.92 Current time = 8.94 Current time = 8.96 Current time = 8.98 Current time = 9 Current time = 9.02 Current time = 9.04 Current time = 9.06 Current time = 9.08 Current time = 9.1 Current time = 9.12 Current time = 9.14 Current time = 9.16 Current time = 9.18 Current time = 9.2 Current time = 9.22 Current time = 9.24 Current time = 9.26 Current time = 9.28 Current time = 9.3 Current time = 9.32 Current time = 9.34 Current time = 9.36 Current time = 9.38 Current time = 9.4 Current time = 9.42 Current time = 9.44 Current time = 9.46 Current time = 9.48 Current time = 9.5 Current time = 9.52 Current time = 9.54 Current time = 9.56 Current time = 9.58 Current time = 9.6 Current time = 9.62 Current time = 9.64 Current time = 9.66 Current time = 9.68 Current time = 9.7 Current time = 9.72 Current time = 9.74 Current time = 9.76 Current time = 9.78 Current time = 9.8 Current time = 9.82 Current time = 9.84 Current time = 9.86 Current time = 9.88 Current time = 9.9 Current time = 9.92 Current time = 9.94 Current time = 9.96 Current time = 9.98 Current time = 10 Current time = 10.02 Current time = 10.04 Current time = 10.06 Current time = 10.08 Current time = 10.1 Current time = 10.12 Current time = 10.14 Current time = 10.16 Current time = 10.18 Current time = 10.2 Current time = 10.22 Current time = 10.24 Current time = 10.26 Current time = 10.28 Current time = 10.3 Current time = 10.32 Current time = 10.34 Current time = 10.36 Current time = 10.38 Current time = 10.4 Current time = 10.42 Current time = 10.44 Current time = 10.46 Current time = 10.48 Current time = 10.5 Current time = 10.52 Current time = 10.54 Current time = 10.56 Current time = 10.58 Current time = 10.6 Current time = 10.62 Current time = 10.64 Current time = 10.66 Current time = 10.68 Current time = 10.7 Current time = 10.72 Current time = 10.74 Current time = 10.76 Current time = 10.78 Current time = 10.8 Current time = 10.82 Current time = 10.84 Current time = 10.86 Current time = 10.88 Current time = 10.9 Current time = 10.92 Current time = 10.94 Current time = 10.96 Current time = 10.98 Current time = 11 Current time = 11.02 Current time = 11.04 Current time = 11.06 Current time = 11.08 Current time = 11.1 Current time = 11.12 Current time = 11.14 Current time = 11.16 Current time = 11.18 Current time = 11.2 Current time = 11.22 Current time = 11.24 Current time = 11.26 Current time = 11.28 Current time = 11.3 Current time = 11.32 Current time = 11.34 Current time = 11.36 Current time = 11.38 Current time = 11.4 Current time = 11.42 Current time = 11.44 Current time = 11.46 Current time = 11.48 Current time = 11.5 Current time = 11.52 Current time = 11.54 Current time = 11.56 Current time = 11.58 Current time = 11.6 Current time = 11.62 Current time = 11.64 Current time = 11.66 Current time = 11.68 Current time = 11.7 Current time = 11.72 Current time = 11.74 Current time = 11.76 Current time = 11.78 Current time = 11.8 Current time = 11.82 Current time = 11.84 Current time = 11.86 Current time = 11.88 Current time = 11.9 Current time = 11.92 Current time = 11.94 Current time = 11.96 Current time = 11.98 Current time = 12 Current time = 12.02 Current time = 12.04 Current time = 12.06 Current time = 12.08 Current time = 12.1 Current time = 12.12 Current time = 12.14 Current time = 12.16 Current time = 12.18 Current time = 12.2 Current time = 12.22 Current time = 12.24 Current time = 12.26 Current time = 12.28 Current time = 12.3 Current time = 12.32 Current time = 12.34 Current time = 12.36 Current time = 12.38 Current time = 12.4 Current time = 12.42 Current time = 12.44 Current time = 12.46 Current time = 12.48 Current time = 12.5 Current time = 12.52 Current time = 12.54 Current time = 12.56 Current time = 12.58 Current time = 12.6 Current time = 12.62 Current time = 12.64 Current time = 12.66 Current time = 12.68 Current time = 12.7 Current time = 12.72 Current time = 12.74 Current time = 12.76 Current time = 12.78 Current time = 12.8 Current time = 12.82 Current time = 12.84 Current time = 12.86 Current time = 12.88 Current time = 12.9 Current time = 12.92 Current time = 12.94 Current time = 12.96 Current time = 12.98 Current time = 13 Current time = 13.02 Current time = 13.04 Current time = 13.06 Current time = 13.08 Current time = 13.1 Current time = 13.12 Current time = 13.14 Current time = 13.16 Current time = 13.18 Current time = 13.2 Current time = 13.22 Current time = 13.24 Current time = 13.26 Current time = 13.28 Current time = 13.3 Current time = 13.32 Current time = 13.34 Current time = 13.36 Current time = 13.38 Current time = 13.4 Current time = 13.42 Current time = 13.44 Current time = 13.46 Current time = 13.48 Current time = 13.5 Current time = 13.52 Current time = 13.54 Current time = 13.56 Current time = 13.58 Current time = 13.6 Current time = 13.62 Current time = 13.64 Current time = 13.66 Current time = 13.68 Current time = 13.7 Current time = 13.72 Current time = 13.74 Current time = 13.76 Current time = 13.78 Current time = 13.8 Current time = 13.82 Current time = 13.84 Current time = 13.86 Current time = 13.88 Current time = 13.9 Current time = 13.92 Current time = 13.94 Current time = 13.96 Current time = 13.98 Current time = 14 Current time = 14.02 Current time = 14.04 Current time = 14.06 Current time = 14.08 Current time = 14.1 Current time = 14.12 Current time = 14.14 Current time = 14.16 Current time = 14.18 Current time = 14.2 Current time = 14.22 Current time = 14.24 Current time = 14.26 Current time = 14.28 Current time = 14.3 Current time = 14.32 Current time = 14.34 Current time = 14.36 Current time = 14.38 Current time = 14.4 Current time = 14.42 Current time = 14.44 Current time = 14.46 Current time = 14.48 Current time = 14.5 Current time = 14.52 Current time = 14.54 Current time = 14.56 Current time = 14.58 Current time = 14.6 Current time = 14.62 Current time = 14.64 Current time = 14.66 Current time = 14.68 Current time = 14.7 Current time = 14.72 Current time = 14.74 Current time = 14.76 Current time = 14.78 Current time = 14.8 Current time = 14.82 Current time = 14.84 Current time = 14.86 Current time = 14.88 Current time = 14.9 Current time = 14.92 Current time = 14.94 Current time = 14.96 Current time = 14.98 Current time = 15 Current time = 15.02 Current time = 15.04 Current time = 15.06 Current time = 15.08 Current time = 15.1 Current time = 15.12 Current time = 15.14 Current time = 15.16 Current time = 15.18 Current time = 15.2 Current time = 15.22 Current time = 15.24 Current time = 15.26 Current time = 15.28 Current time = 15.3 Current time = 15.32 Current time = 15.34 Current time = 15.36 Current time = 15.38 Current time = 15.4 Current time = 15.42 Current time = 15.44 Current time = 15.46 Current time = 15.48 Current time = 15.5 Current time = 15.52 Current time = 15.54 Current time = 15.56 Current time = 15.58 Current time = 15.6 Current time = 15.62 Current time = 15.64 Current time = 15.66 Current time = 15.68 Current time = 15.7 Current time = 15.72 Current time = 15.74 Current time = 15.76 Current time = 15.78 Current time = 15.8 Current time = 15.82 Current time = 15.84 Current time = 15.86 Current time = 15.88 Current time = 15.9 Current time = 15.92 Current time = 15.94 Current time = 15.96 Current time = 15.98 Current time = 16 Current time = 16.02 Current time = 16.04 Current time = 16.06 Current time = 16.08 Current time = 16.1 Current time = 16.12 Current time = 16.14 Current time = 16.16 Current time = 16.18 Current time = 16.2 Current time = 16.22 Current time = 16.24 Current time = 16.26 Current time = 16.28 Current time = 16.3 Current time = 16.32 Current time = 16.34 Current time = 16.36 Current time = 16.38 Current time = 16.4 Current time = 16.42 Current time = 16.44 Current time = 16.46 Current time = 16.48 Current time = 16.5 Current time = 16.52 Current time = 16.54 Current time = 16.56 Current time = 16.58 Current time = 16.6 Current time = 16.62 Current time = 16.64 Current time = 16.66 Current time = 16.68 Current time = 16.7 Current time = 16.72 Current time = 16.74 Current time = 16.76 Current time = 16.78 Current time = 16.8 Current time = 16.82 Current time = 16.84 Current time = 16.86 Current time = 16.88 Current time = 16.9 Current time = 16.92 Current time = 16.94 Current time = 16.96 Current time = 16.98 Current time = 17 Current time = 17.02 Current time = 17.04 Current time = 17.06 Current time = 17.08 Current time = 17.1 Current time = 17.12 Current time = 17.14 Current time = 17.16 Current time = 17.18 Current time = 17.2 Current time = 17.22 Current time = 17.24 Current time = 17.26 Current time = 17.28 Current time = 17.3 Current time = 17.32 Current time = 17.34 Current time = 17.36 Current time = 17.38 Current time = 17.4 Current time = 17.42 Current time = 17.44 Current time = 17.46 Current time = 17.48 Current time = 17.5 Current time = 17.52 Current time = 17.54 Current time = 17.56 Current time = 17.58 Current time = 17.6 Current time = 17.62 Current time = 17.64 Current time = 17.66 Current time = 17.68 Current time = 17.7 Current time = 17.72 Current time = 17.74 Current time = 17.76 Current time = 17.78 Current time = 17.8 Current time = 17.82 Current time = 17.84 Current time = 17.86 Current time = 17.88 Current time = 17.9 Current time = 17.92 Current time = 17.94 Current time = 17.96 Current time = 17.98 Current time = 18 Current time = 18.02 Current time = 18.04 Current time = 18.06 Current time = 18.08 Current time = 18.1 Current time = 18.12 Current time = 18.14 Current time = 18.16 Current time = 18.18 Current time = 18.2 Current time = 18.22 Current time = 18.24 Current time = 18.26 Current time = 18.28 Current time = 18.3 Current time = 18.32 Current time = 18.34 Current time = 18.36 Current time = 18.38 Current time = 18.4 Current time = 18.42 Current time = 18.44 Current time = 18.46 Current time = 18.48 Current time = 18.5 Current time = 18.52 Current time = 18.54 Current time = 18.56 Current time = 18.58 Current time = 18.6 Current time = 18.62 Current time = 18.64 Current time = 18.66 Current time = 18.68 Current time = 18.7 Current time = 18.72 Current time = 18.74 Current time = 18.76 Current time = 18.78 Current time = 18.8 Current time = 18.82 Current time = 18.84 Current time = 18.86 Current time = 18.88 Current time = 18.9 Current time = 18.92 Current time = 18.94 Current time = 18.96 Current time = 18.98 Current time = 19 Current time = 19.02 Current time = 19.04 Current time = 19.06 Current time = 19.08 Current time = 19.1 Current time = 19.12 Current time = 19.14 Current time = 19.16 Current time = 19.18 Current time = 19.2 Current time = 19.22 Current time = 19.24 Current time = 19.26 Current time = 19.28 Current time = 19.3 Current time = 19.32 Current time = 19.34 Current time = 19.36 Current time = 19.38 Current time = 19.4 Current time = 19.42 Current time = 19.44 Current time = 19.46 Current time = 19.48 Current time = 19.5 Current time = 19.52 Current time = 19.54 Current time = 19.56 Current time = 19.58 Current time = 19.6 Current time = 19.62 Current time = 19.64 Current time = 19.66 Current time = 19.68 Current time = 19.7 Current time = 19.72 Current time = 19.74 Current time = 19.76 Current time = 19.78 Current time = 19.8 Current time = 19.82 Current time = 19.84 Current time = 19.86 Current time = 19.88 Current time = 19.9 Current time = 19.92 Current time = 19.94 Current time = 19.96 Current time = 19.98 Current time = 20 Current time = 20.02 Current time = 20.04 Current time = 20.06 Current time = 20.08 Current time = 20.1 Current time = 20.12 Current time = 20.14 Current time = 20.16 Current time = 20.18 Current time = 20.2 Current time = 20.22 Current time = 20.24 Current time = 20.26 Current time = 20.28 Current time = 20.3 Current time = 20.32 Current time = 20.34 Current time = 20.36 Current time = 20.38 Current time = 20.4 Current time = 20.42 Current time = 20.44 Current time = 20.46 Current time = 20.48 Current time = 20.5 Current time = 20.52 Current time = 20.54 Current time = 20.56 Current time = 20.58 Current time = 20.6 Current time = 20.62 Current time = 20.64 Current time = 20.66 Current time = 20.68 Current time = 20.7 Current time = 20.72 Current time = 20.74 Current time = 20.76 Current time = 20.78 Current time = 20.8 Current time = 20.82 Current time = 20.84 Current time = 20.86 Current time = 20.88 Current time = 20.9 Current time = 20.92 Current time = 20.94 Current time = 20.96 Current time = 20.98 Current time = 21 Current time = 21.02 Current time = 21.04 Current time = 21.06 Current time = 21.08 Current time = 21.1 Current time = 21.12 Current time = 21.14 Current time = 21.16 Current time = 21.18 Current time = 21.2 Current time = 21.22 Current time = 21.24 Current time = 21.26 Current time = 21.28 Current time = 21.3 Current time = 21.32 Current time = 21.34 Current time = 21.36 Current time = 21.38 Current time = 21.4 Current time = 21.42 Current time = 21.44 Current time = 21.46 Current time = 21.48 Current time = 21.5 Current time = 21.52 Current time = 21.54 Current time = 21.56 Current time = 21.58 Current time = 21.6 Current time = 21.62 Current time = 21.64 Current time = 21.66 Current time = 21.68 Current time = 21.7 Current time = 21.72 Current time = 21.74 Current time = 21.76 Current time = 21.78 Current time = 21.8 Current time = 21.82 Current time = 21.84 Current time = 21.86 Current time = 21.88 Current time = 21.9 Current time = 21.92 Current time = 21.94 Current time = 21.96 Current time = 21.98 Current time = 22 Current time = 22.02 Current time = 22.04 Current time = 22.06 Current time = 22.08 Current time = 22.1 Current time = 22.12 Current time = 22.14 Current time = 22.16 Current time = 22.18 Current time = 22.2 Current time = 22.22 Current time = 22.24 Current time = 22.26 Current time = 22.28 Current time = 22.3 Current time = 22.32 Current time = 22.34 Current time = 22.36 Current time = 22.38 Current time = 22.4 Current time = 22.42 Current time = 22.44 Current time = 22.46 Current time = 22.48 Current time = 22.5 Current time = 22.52 Current time = 22.54 Current time = 22.56 Current time = 22.58 Current time = 22.6 Current time = 22.62 Current time = 22.64 Current time = 22.66 Current time = 22.68 Current time = 22.7 Current time = 22.72 Current time = 22.74 Current time = 22.76 Current time = 22.78 Current time = 22.8 Current time = 22.82 Current time = 22.84 Current time = 22.86 Current time = 22.88 Current time = 22.9 Current time = 22.92 Current time = 22.94 Current time = 22.96 Current time = 22.98 Current time = 23 Current time = 23.02 Current time = 23.04 Current time = 23.06 Current time = 23.08 Current time = 23.1 Current time = 23.12 Current time = 23.14 Current time = 23.16 Current time = 23.18 Current time = 23.2 Current time = 23.22 Current time = 23.24 Current time = 23.26 Current time = 23.28 Current time = 23.3 Current time = 23.32 Current time = 23.34 Current time = 23.36 Current time = 23.38 Current time = 23.4 Current time = 23.42 Current time = 23.44 Current time = 23.46 Current time = 23.48 Current time = 23.5 Current time = 23.52 Current time = 23.54 Current time = 23.56 Current time = 23.58 Current time = 23.6 Current time = 23.62 Current time = 23.64 Current time = 23.66 Current time = 23.68 Current time = 23.7 Current time = 23.72 Current time = 23.74 Current time = 23.76 Current time = 23.78 Current time = 23.8 Current time = 23.82 Current time = 23.84 Current time = 23.86 Current time = 23.88 Current time = 23.9 Current time = 23.92 Current time = 23.94 Current time = 23.96 Current time = 23.98 Current time = 24 Current time = 24.02 Current time = 24.04 Current time = 24.06 Current time = 24.08 Current time = 24.1 Current time = 24.12 Current time = 24.14 Current time = 24.16 Current time = 24.18 Current time = 24.2 Current time = 24.22 Current time = 24.24 Current time = 24.26 Current time = 24.28 Current time = 24.3 Current time = 24.32 Current time = 24.34 Current time = 24.36 Current time = 24.38 Current time = 24.4 Current time = 24.42 Current time = 24.44 Current time = 24.46 Current time = 24.48 Current time = 24.5 Current time = 24.52 Current time = 24.54 Current time = 24.56 Current time = 24.58 Current time = 24.6 Current time = 24.62 Current time = 24.64 Current time = 24.66 Current time = 24.68 Current time = 24.7 Current time = 24.72 Current time = 24.74 Current time = 24.76 Current time = 24.78 Current time = 24.8 Current time = 24.82 Current time = 24.84 Current time = 24.86 Current time = 24.88 Current time = 24.9 Current time = 24.92 Current time = 24.94 Current time = 24.96 Current time = 24.98 Current time = 25 Current time = 25.02 Current time = 25.04 Current time = 25.06 Current time = 25.08 Current time = 25.1 Current time = 25.12 Current time = 25.14 Current time = 25.16 Current time = 25.18 Current time = 25.2 Current time = 25.22 Current time = 25.24 Current time = 25.26 Current time = 25.28 Current time = 25.3 Current time = 25.32 Current time = 25.34 Current time = 25.36 Current time = 25.38 Current time = 25.4 Current time = 25.42 Current time = 25.44 Current time = 25.46 Current time = 25.48 Current time = 25.5 Current time = 25.52 Current time = 25.54 Current time = 25.56 Current time = 25.58 Current time = 25.6 Current time = 25.62 Current time = 25.64 Current time = 25.66 Current time = 25.68 Current time = 25.7 Current time = 25.72 Current time = 25.74 Current time = 25.76 Current time = 25.78 Current time = 25.8 Current time = 25.82 Current time = 25.84 Current time = 25.86 Current time = 25.88 Current time = 25.9 Current time = 25.92 Current time = 25.94 Current time = 25.96 Current time = 25.98 Current time = 26 Current time = 26.02 Current time = 26.04 Current time = 26.06 Current time = 26.08 Current time = 26.1 Current time = 26.12 Current time = 26.14 Current time = 26.16 Current time = 26.18 Current time = 26.2 Current time = 26.22 Current time = 26.24 Current time = 26.26 Current time = 26.28 Current time = 26.3 Current time = 26.32 Current time = 26.34 Current time = 26.36 Current time = 26.38 Current time = 26.4 Current time = 26.42 Current time = 26.44 Current time = 26.46 Current time = 26.48 Current time = 26.5 Current time = 26.52 Current time = 26.54 Current time = 26.56 Current time = 26.58 Current time = 26.6 Current time = 26.62 Current time = 26.64 Current time = 26.66 Current time = 26.68 Current time = 26.7 Current time = 26.72 Current time = 26.74 Current time = 26.76 Current time = 26.78 Current time = 26.8 Current time = 26.82 Current time = 26.84 Current time = 26.86 Current time = 26.88 Current time = 26.9 Current time = 26.92 Current time = 26.94 Current time = 26.96 Current time = 26.98 Current time = 27 Current time = 27.02 Current time = 27.04 Current time = 27.06 Current time = 27.08 Current time = 27.1 Current time = 27.12 Current time = 27.14 Current time = 27.16 Current time = 27.18 Current time = 27.2 Current time = 27.22 Current time = 27.24 Current time = 27.26 Current time = 27.28 Current time = 27.3 Current time = 27.32 Current time = 27.34 Current time = 27.36 Current time = 27.38 Current time = 27.4 Current time = 27.42 Current time = 27.44 Current time = 27.46 Current time = 27.48 Current time = 27.5 Current time = 27.52 Current time = 27.54 Current time = 27.56 Current time = 27.58 Current time = 27.6 Current time = 27.62 Current time = 27.64 Current time = 27.66 Current time = 27.68 Current time = 27.7 Current time = 27.72 Current time = 27.74 Current time = 27.76 Current time = 27.78 Current time = 27.8 Current time = 27.82 Current time = 27.84 Current time = 27.86 Current time = 27.88 Current time = 27.9 Current time = 27.92 Current time = 27.94 Current time = 27.96 Current time = 27.98 Current time = 28 Current time = 28.02 Current time = 28.04 Current time = 28.06 Current time = 28.08 Current time = 28.1 Current time = 28.12 Current time = 28.14 Current time = 28.16 Current time = 28.18 Current time = 28.2 Current time = 28.22 Current time = 28.24 Current time = 28.26 Current time = 28.28 Current time = 28.3 Current time = 28.32 Current time = 28.34 Current time = 28.36 Current time = 28.38 Current time = 28.4 Current time = 28.42 Current time = 28.44 Current time = 28.46 Current time = 28.48 Current time = 28.5 Current time = 28.52 Current time = 28.54 Current time = 28.56 Current time = 28.58 Current time = 28.6 Current time = 28.62 Current time = 28.64 Current time = 28.66 Current time = 28.68 Current time = 28.7 Current time = 28.72 Current time = 28.74 Current time = 28.76 Current time = 28.78 Current time = 28.8 Current time = 28.82 Current time = 28.84 Current time = 28.86 Current time = 28.88 Current time = 28.9 Current time = 28.92 Current time = 28.94 Current time = 28.96 Current time = 28.98 Current time = 29 Current time = 29.02 Current time = 29.04 Current time = 29.06 Current time = 29.08 Current time = 29.1 Current time = 29.12 Current time = 29.14 Current time = 29.16 Current time = 29.18 Current time = 29.2 Current time = 29.22 Current time = 29.24 Current time = 29.26 Current time = 29.28 Current time = 29.3 Current time = 29.32 Current time = 29.34 Current time = 29.36 Current time = 29.38 Current time = 29.4 Current time = 29.42 Current time = 29.44 Current time = 29.46 Current time = 29.48 Current time = 29.5 Current time = 29.52 Current time = 29.54 Current time = 29.56 Current time = 29.58 Current time = 29.6 Current time = 29.62 Current time = 29.64 Current time = 29.66 Current time = 29.68 Current time = 29.7 Current time = 29.72 Current time = 29.74 Current time = 29.76 Current time = 29.78 Current time = 29.8 Current time = 29.82 Current time = 29.84 Current time = 29.86 Current time = 29.88 Current time = 29.9 Current time = 29.92 Current time = 29.94 Current time = 29.96 Current time = 29.98 Current time = 30 Current time = 30.02 Current time = 30.04 Current time = 30.06 Current time = 30.08 Current time = 30.1 Current time = 30.12 Current time = 30.14 Current time = 30.16 Current time = 30.18 Current time = 30.2 Current time = 30.22 Current time = 30.24 Current time = 30.26 Current time = 30.28 Current time = 30.3 Current time = 30.32 Current time = 30.34 Current time = 30.36 Current time = 30.38 Current time = 30.4 Current time = 30.42 Current time = 30.44 Current time = 30.46 Current time = 30.48 Current time = 30.5 Current time = 30.52 Current time = 30.54 Current time = 30.56 Current time = 30.58 Current time = 30.6 Current time = 30.62 Current time = 30.64 Current time = 30.66 Current time = 30.68 Current time = 30.7 Current time = 30.72 Current time = 30.74 Current time = 30.76 Current time = 30.78 Current time = 30.8 Current time = 30.82 Current time = 30.84 Current time = 30.86 Current time = 30.88 Current time = 30.9 Current time = 30.92 Current time = 30.94 Current time = 30.96 Current time = 30.98 Current time = 31 Current time = 31.02 Current time = 31.04 Current time = 31.06 Current time = 31.08 Current time = 31.1 Current time = 31.12 Current time = 31.14 Current time = 31.16 Current time = 31.18 Current time = 31.2 Current time = 31.22 Current time = 31.24 Current time = 31.26 Current time = 31.28 Current time = 31.3 Current time = 31.32 Current time = 31.34 Current time = 31.36 Current time = 31.38 Current time = 31.4 Current time = 31.42 Current time = 31.44 Current time = 31.46 Current time = 31.48 Current time = 31.5 Current time = 31.52 Current time = 31.54 Current time = 31.56 Current time = 31.58 Current time = 31.6 Current time = 31.62 Current time = 31.64 Current time = 31.66 Current time = 31.68 Current time = 31.7 Current time = 31.72 Current time = 31.74 Current time = 31.76 Current time = 31.78 Current time = 31.8 Current time = 31.82 Current time = 31.84 Current time = 31.86 Current time = 31.88 Current time = 31.9 Current time = 31.92 Current time = 31.94 Current time = 31.96 Current time = 31.98 Current time = 32 Current time = 32.02 Current time = 32.04 Current time = 32.06 Current time = 32.08 Current time = 32.1 Current time = 32.12 Current time = 32.14 Current time = 32.16 Current time = 32.18 Current time = 32.2 Current time = 32.22 Current time = 32.24 Current time = 32.26 Current time = 32.28 Current time = 32.3 Current time = 32.32 Current time = 32.34 Current time = 32.36 Current time = 32.38 Current time = 32.4 Current time = 32.42 Current time = 32.44 Current time = 32.46 Current time = 32.48 Current time = 32.5 Current time = 32.52 Current time = 32.54 Current time = 32.56 Current time = 32.58 Current time = 32.6 Current time = 32.62 Current time = 32.64 Current time = 32.66 Current time = 32.68 Current time = 32.7 Current time = 32.72 Current time = 32.74 Current time = 32.76 Current time = 32.78 Current time = 32.8 Current time = 32.82 Current time = 32.84 Current time = 32.86 Current time = 32.88 Current time = 32.9 Current time = 32.92 Current time = 32.94 Current time = 32.96 Current time = 32.98 Current time = 33 Current time = 33.02 Current time = 33.04 Current time = 33.06 Current time = 33.08 Current time = 33.1 Current time = 33.12 Current time = 33.14 Current time = 33.16 Current time = 33.18 Current time = 33.2 Current time = 33.22 Current time = 33.24 Current time = 33.26 Current time = 33.28 Current time = 33.3 Current time = 33.32 Current time = 33.34 Current time = 33.36 Current time = 33.38 Current time = 33.4 Current time = 33.42 Current time = 33.44 Current time = 33.46 Current time = 33.48 Current time = 33.5 Current time = 33.52 Current time = 33.54 Current time = 33.56 Current time = 33.58 Current time = 33.6 Current time = 33.62 Current time = 33.64 Current time = 33.66 Current time = 33.68 Current time = 33.7 Current time = 33.72 Current time = 33.74 Current time = 33.76 Current time = 33.78 Current time = 33.8 Current time = 33.82 Current time = 33.84 Current time = 33.86 Current time = 33.88 Current time = 33.9 Current time = 33.92 Current time = 33.94 Current time = 33.96 Current time = 33.98 Current time = 34 Current time = 34.02 Current time = 34.04 Current time = 34.06 Current time = 34.08 Current time = 34.1 Current time = 34.12 Current time = 34.14 Current time = 34.16 Current time = 34.18 Current time = 34.2 Current time = 34.22 Current time = 34.24 Current time = 34.26 Current time = 34.28 Current time = 34.3 Current time = 34.32 Current time = 34.34 Current time = 34.36 Current time = 34.38 Current time = 34.4 Current time = 34.42 Current time = 34.44 Current time = 34.46 Current time = 34.48 Current time = 34.5 Current time = 34.52 Current time = 34.54 Current time = 34.56 Current time = 34.58 Current time = 34.6 Current time = 34.62 Current time = 34.64 Current time = 34.66 Current time = 34.68 Current time = 34.7 Current time = 34.72 Current time = 34.74 Current time = 34.76 Current time = 34.78 Current time = 34.8 Current time = 34.82 Current time = 34.84 Current time = 34.86 Current time = 34.88 Current time = 34.9 Current time = 34.92 Current time = 34.94 Current time = 34.96 Current time = 34.98 Current time = 35 Current time = 35.02 Current time = 35.04 Current time = 35.06 Current time = 35.08 Current time = 35.1 Current time = 35.12 Current time = 35.14 Current time = 35.16 Current time = 35.18 Current time = 35.2 Current time = 35.22 Current time = 35.24 Current time = 35.26 Current time = 35.28 Current time = 35.3 Current time = 35.32 Current time = 35.34 Current time = 35.36 Current time = 35.38 Current time = 35.4 Current time = 35.42 Current time = 35.44 Current time = 35.46 Current time = 35.48 Current time = 35.5 Current time = 35.52 Current time = 35.54 Current time = 35.56 Current time = 35.58 Current time = 35.6 Current time = 35.62 Current time = 35.64 Current time = 35.66 Current time = 35.68 Current time = 35.7 Current time = 35.72 Current time = 35.74 Current time = 35.76 Current time = 35.78 Current time = 35.8 Current time = 35.82 Current time = 35.84 Current time = 35.86 Current time = 35.88 Current time = 35.9 Current time = 35.92 Current time = 35.94 Current time = 35.96 Current time = 35.98 Current time = 36 Current time = 36.02 Current time = 36.04 Current time = 36.06 Current time = 36.08 Current time = 36.1 Current time = 36.12 Current time = 36.14 Current time = 36.16 Current time = 36.18 Current time = 36.2 Current time = 36.22 Current time = 36.24 Current time = 36.26 Current time = 36.28 Current time = 36.3 Current time = 36.32 Current time = 36.34 Current time = 36.36 Current time = 36.38 Current time = 36.4 Current time = 36.42 Current time = 36.44 Current time = 36.46 Current time = 36.48 Current time = 36.5 Current time = 36.52 Current time = 36.54 Current time = 36.56 Current time = 36.58 Current time = 36.6 Current time = 36.62 Current time = 36.64 Current time = 36.66 Current time = 36.68 Current time = 36.7 Current time = 36.72 Current time = 36.74 Current time = 36.76 Current time = 36.78 Current time = 36.8 Current time = 36.82 Current time = 36.84 Current time = 36.86 Current time = 36.88 Current time = 36.9 Current time = 36.92 Current time = 36.94 Current time = 36.96 Current time = 36.98 Current time = 37 Current time = 37.02 Current time = 37.04 Current time = 37.06 Current time = 37.08 Current time = 37.1 Current time = 37.12 Current time = 37.14 Current time = 37.16 Current time = 37.18 Current time = 37.2 Current time = 37.22 Current time = 37.24 Current time = 37.26 Current time = 37.28 Current time = 37.3 Current time = 37.32 Current time = 37.34 Current time = 37.36 Current time = 37.38 Current time = 37.4 Current time = 37.42 Current time = 37.44 Current time = 37.46 Current time = 37.48 Current time = 37.5 Current time = 37.52 Current time = 37.54 Current time = 37.56 Current time = 37.58 Current time = 37.6 Current time = 37.62 Current time = 37.64 Current time = 37.66 Current time = 37.68 Current time = 37.7 Current time = 37.72 Current time = 37.74 Current time = 37.76 Current time = 37.78 Current time = 37.8 Current time = 37.82 Current time = 37.84 Current time = 37.86 Current time = 37.88 Current time = 37.9 Current time = 37.92 Current time = 37.94 Current time = 37.96 Current time = 37.98 Current time = 38 Current time = 38.02 Current time = 38.04 Current time = 38.06 Current time = 38.08 Current time = 38.1 Current time = 38.12 Current time = 38.14 Current time = 38.16 Current time = 38.18 Current time = 38.2 Current time = 38.22 Current time = 38.24 Current time = 38.26 Current time = 38.28 Current time = 38.3 Current time = 38.32 Current time = 38.34 Current time = 38.36 Current time = 38.38 Current time = 38.4 Current time = 38.42 Current time = 38.44 Current time = 38.46 Current time = 38.48 Current time = 38.5 Current time = 38.52 Current time = 38.54 Current time = 38.56 Current time = 38.58 Current time = 38.6 Current time = 38.62 Current time = 38.64 Current time = 38.66 Current time = 38.68 Current time = 38.7 Current time = 38.72 Current time = 38.74 Current time = 38.76 Current time = 38.78 Current time = 38.8 Current time = 38.82 Current time = 38.84 Current time = 38.86 Current time = 38.88 Current time = 38.9 Current time = 38.92 Current time = 38.94 Current time = 38.96 Current time = 38.98 Current time = 39 Current time = 39.02 Current time = 39.04 Current time = 39.06 Current time = 39.08 Current time = 39.1 Current time = 39.12 Current time = 39.14 Current time = 39.16 Current time = 39.18 Current time = 39.2 Current time = 39.22 Current time = 39.24 Current time = 39.26 Current time = 39.28 Current time = 39.3 Current time = 39.32 Current time = 39.34 Current time = 39.36 Current time = 39.38 Current time = 39.4 Current time = 39.42 Current time = 39.44 Current time = 39.46 Current time = 39.48 Current time = 39.5 Current time = 39.52 Current time = 39.54 Current time = 39.56 Current time = 39.58 Current time = 39.6 Current time = 39.62 Current time = 39.64 Current time = 39.66 Current time = 39.68 Current time = 39.7 Current time = 39.72 Current time = 39.74 Current time = 39.76 Current time = 39.78 Current time = 39.8 Current time = 39.82 Current time = 39.84 Current time = 39.86 Current time = 39.88 Current time = 39.9 Current time = 39.92 Current time = 39.94 Current time = 39.96 Current time = 39.98 Current time = 40 Current time = 40.02 Current time = 40.04 Current time = 40.06 Current time = 40.08 Current time = 40.1 Current time = 40.12 Current time = 40.14 Current time = 40.16 Current time = 40.18 Current time = 40.2 Current time = 40.22 Current time = 40.24 Current time = 40.26 Current time = 40.28 Current time = 40.3 Current time = 40.32 Current time = 40.34 Current time = 40.36 Current time = 40.38 Current time = 40.4 Current time = 40.42 Current time = 40.44 Current time = 40.46 Current time = 40.48 Current time = 40.5 Current time = 40.52 Current time = 40.54 Current time = 40.56 Current time = 40.58 Current time = 40.6 Current time = 40.62 Current time = 40.64 Current time = 40.66 Current time = 40.68 Current time = 40.7 Current time = 40.72 Current time = 40.74 Current time = 40.76 Current time = 40.78 Current time = 40.8 Current time = 40.82 Current time = 40.84 Current time = 40.86 Current time = 40.88 Current time = 40.9 Current time = 40.92 Current time = 40.94 Current time = 40.96 Current time = 40.98 Current time = 41 Current time = 41.02 Current time = 41.04 Current time = 41.06 Current time = 41.08 Current time = 41.1 Current time = 41.12 Current time = 41.14 Current time = 41.16 Current time = 41.18 Current time = 41.2 Current time = 41.22 Current time = 41.24 Current time = 41.26 Current time = 41.28 Current time = 41.3 Current time = 41.32 Current time = 41.34 Current time = 41.36 Current time = 41.38 Current time = 41.4 Current time = 41.42 Current time = 41.44 Current time = 41.46 Current time = 41.48 Current time = 41.5 Current time = 41.52 Current time = 41.54 Current time = 41.56 Current time = 41.58 Current time = 41.6 Current time = 41.62 Current time = 41.64 Current time = 41.66 Current time = 41.68 Current time = 41.7 Current time = 41.72 Current time = 41.74 Current time = 41.76 Current time = 41.78 Current time = 41.8 Current time = 41.82 Current time = 41.84 Current time = 41.86 Current time = 41.88 Current time = 41.9 Current time = 41.92 Current time = 41.94 Current time = 41.96 Current time = 41.98 Current time = 42 Current time = 42.02 Current time = 42.04 Current time = 42.06 Current time = 42.08 Current time = 42.1 Current time = 42.12 Current time = 42.14 Current time = 42.16 Current time = 42.18 Current time = 42.2 Current time = 42.22 Current time = 42.24 Current time = 42.26 Current time = 42.28 Current time = 42.3 Current time = 42.32 Current time = 42.34 Current time = 42.36 Current time = 42.38 Current time = 42.4 Current time = 42.42 Current time = 42.44 Current time = 42.46 Current time = 42.48 Current time = 42.5 Current time = 42.52 Current time = 42.54 Current time = 42.56 Current time = 42.58 Current time = 42.6 Current time = 42.62 Current time = 42.64 Current time = 42.66 Current time = 42.68 Current time = 42.7 Current time = 42.72 Current time = 42.74 Current time = 42.76 Current time = 42.78 Current time = 42.8 Current time = 42.82 Current time = 42.84 Current time = 42.86 Current time = 42.88 Current time = 42.9 Current time = 42.92 Current time = 42.94 Current time = 42.96 Current time = 42.98 Current time = 43 Current time = 43.02 Current time = 43.04 Current time = 43.06 Current time = 43.08 Current time = 43.1 Current time = 43.12 Current time = 43.14 Current time = 43.16 Current time = 43.18 Current time = 43.2 Current time = 43.22 Current time = 43.24 Current time = 43.26 Current time = 43.28 Current time = 43.3 Current time = 43.32 Current time = 43.34 Current time = 43.36 Current time = 43.38 Current time = 43.4 Current time = 43.42 Current time = 43.44 Current time = 43.46 Current time = 43.48 Current time = 43.5 Current time = 43.52 Current time = 43.54 Current time = 43.56 Current time = 43.58 Current time = 43.6 Current time = 43.62 Current time = 43.64 Current time = 43.66 Current time = 43.68 Current time = 43.7 Current time = 43.72 Current time = 43.74 Current time = 43.76 Current time = 43.78 Current time = 43.8 Current time = 43.82 Current time = 43.84 Current time = 43.86 Current time = 43.88 Current time = 43.9 Current time = 43.92 Current time = 43.94 Current time = 43.96 Current time = 43.98 Current time = 44 Current time = 44.02 Current time = 44.04 Current time = 44.06 Current time = 44.08 Current time = 44.1 Current time = 44.12 Current time = 44.14 Current time = 44.16 Current time = 44.18 Current time = 44.2 Current time = 44.22 Current time = 44.24 Current time = 44.26 Current time = 44.28 Current time = 44.3 Current time = 44.32 Current time = 44.34 Current time = 44.36 Current time = 44.38 Current time = 44.4 Current time = 44.42 Current time = 44.44 Current time = 44.46 Current time = 44.48 Current time = 44.5 Current time = 44.52 Current time = 44.54 Current time = 44.56 Current time = 44.58 Current time = 44.6 Current time = 44.62 Current time = 44.64 Current time = 44.66 Current time = 44.68 Current time = 44.7 Current time = 44.72 Current time = 44.74 Current time = 44.76 Current time = 44.78 Current time = 44.8 Current time = 44.82 Current time = 44.84 Current time = 44.86 Current time = 44.88 Current time = 44.9 Current time = 44.92 Current time = 44.94 Current time = 44.96 Current time = 44.98 Current time = 45 Current time = 45.02 Current time = 45.04 Current time = 45.06 Current time = 45.08 Current time = 45.1 Current time = 45.12 Current time = 45.14 Current time = 45.16 Current time = 45.18 Current time = 45.2 Current time = 45.22 Current time = 45.24 Current time = 45.26 Current time = 45.28 Current time = 45.3 Current time = 45.32 Current time = 45.34 Current time = 45.36 Current time = 45.38 Current time = 45.4 Current time = 45.42 Current time = 45.44 Current time = 45.46 Current time = 45.48 Current time = 45.5 Current time = 45.52 Current time = 45.54 Current time = 45.56 Current time = 45.58 Current time = 45.6 Current time = 45.62 Current time = 45.64 Current time = 45.66 Current time = 45.68 Current time = 45.7 Current time = 45.72 Current time = 45.74 Current time = 45.76 Current time = 45.78 Current time = 45.8 Current time = 45.82 Current time = 45.84 Current time = 45.86 Current time = 45.88 Current time = 45.9 Current time = 45.92 Current time = 45.94 Current time = 45.96 Current time = 45.98 Current time = 46 Current time = 46.02 Current time = 46.04 Current time = 46.06 Current time = 46.08 Current time = 46.1 Current time = 46.12 Current time = 46.14 Current time = 46.16 Current time = 46.18 Current time = 46.2 Current time = 46.22 Current time = 46.24 Current time = 46.26 Current time = 46.28 Current time = 46.3 Current time = 46.32 Current time = 46.34 Current time = 46.36 Current time = 46.38 Current time = 46.4 Current time = 46.42 Current time = 46.44 Current time = 46.46 Current time = 46.48 Current time = 46.5 Current time = 46.52 Current time = 46.54 Current time = 46.56 Current time = 46.58 Current time = 46.6 Current time = 46.62 Current time = 46.64 Current time = 46.66 Current time = 46.68 Current time = 46.7 Current time = 46.72 Current time = 46.74 Current time = 46.76 Current time = 46.78 Current time = 46.8 Current time = 46.82 Current time = 46.84 Current time = 46.86 Current time = 46.88 Current time = 46.9 Current time = 46.92 Current time = 46.94 Current time = 46.96 Current time = 46.98 Current time = 47 Current time = 47.02 Current time = 47.04 Current time = 47.06 Current time = 47.08 Current time = 47.1 Current time = 47.12 Current time = 47.14 Current time = 47.16 Current time = 47.18 Current time = 47.2 Current time = 47.22 Current time = 47.24 Current time = 47.26 Current time = 47.28 Current time = 47.3 Current time = 47.32 Current time = 47.34 Current time = 47.36 Current time = 47.38 Current time = 47.4 Current time = 47.42 Current time = 47.44 Current time = 47.46 Current time = 47.48 Current time = 47.5 Current time = 47.52 Current time = 47.54 Current time = 47.56 Current time = 47.58 Current time = 47.6 Current time = 47.62 Current time = 47.64 Current time = 47.66 Current time = 47.68 Current time = 47.7 Current time = 47.72 Current time = 47.74 Current time = 47.76 Current time = 47.78 Current time = 47.8 Current time = 47.82 Current time = 47.84 Current time = 47.86 Current time = 47.88 Current time = 47.9 Current time = 47.92 Current time = 47.94 Current time = 47.96 Current time = 47.98 Current time = 48 Current time = 48.02 Current time = 48.04 Current time = 48.06 Current time = 48.08 Current time = 48.1 Current time = 48.12 Current time = 48.14 Current time = 48.16 Current time = 48.18 Current time = 48.2 Current time = 48.22 Current time = 48.24 Current time = 48.26 Current time = 48.28 Current time = 48.3 Current time = 48.32 Current time = 48.34 Current time = 48.36 Current time = 48.38 Current time = 48.4 Current time = 48.42 Current time = 48.44 Current time = 48.46 Current time = 48.48 Current time = 48.5 Current time = 48.52 Current time = 48.54 Current time = 48.56 Current time = 48.58 Current time = 48.6 Current time = 48.62 Current time = 48.64 Current time = 48.66 Current time = 48.68 Current time = 48.7 Current time = 48.72 Current time = 48.74 Current time = 48.76 Current time = 48.78 Current time = 48.8 Current time = 48.82 Current time = 48.84 Current time = 48.86 Current time = 48.88 Current time = 48.9 Current time = 48.92 Current time = 48.94 Current time = 48.96 Current time = 48.98 Current time = 49 Current time = 49.02 Current time = 49.04 Current time = 49.06 Current time = 49.08 Current time = 49.1 Current time = 49.12 Current time = 49.14 Current time = 49.16 Current time = 49.18 Current time = 49.2 Current time = 49.22 Current time = 49.24 Current time = 49.26 Current time = 49.28 Current time = 49.3 Current time = 49.32 Current time = 49.34 Current time = 49.36 Current time = 49.38 Current time = 49.4 Current time = 49.42 Current time = 49.44 Current time = 49.46 Current time = 49.48 Current time = 49.5 Current time = 49.52 Current time = 49.54 Current time = 49.56 Current time = 49.58 Current time = 49.6 Current time = 49.62 Current time = 49.64 Current time = 49.66 Current time = 49.68 Current time = 49.7 Current time = 49.72 Current time = 49.74 Current time = 49.76 Current time = 49.78 Current time = 49.8 Current time = 49.82 Current time = 49.84 Current time = 49.86 Current time = 49.88 Current time = 49.9 Current time = 49.92 Current time = 49.94 Current time = 49.96 Current time = 49.98 Current time = 50 Current time = 50.02 Current time = 50.04 Current time = 50.06 Current time = 50.08 Current time = 50.1 Current time = 50.12 Current time = 50.14 Current time = 50.16 Current time = 50.18 Current time = 50.2 Current time = 50.22 Current time = 50.24 Current time = 50.26 Current time = 50.28 Current time = 50.3 Current time = 50.32 Current time = 50.34 Current time = 50.36 Current time = 50.38 Current time = 50.4 Current time = 50.42 Current time = 50.44 Current time = 50.46 Current time = 50.48 Current time = 50.5 Current time = 50.52 Current time = 50.54 Current time = 50.56 Current time = 50.58 Current time = 50.6 Current time = 50.62 Current time = 50.64 Current time = 50.66 Current time = 50.68 Current time = 50.7 Current time = 50.72 Current time = 50.74 Current time = 50.76 Current time = 50.78 Current time = 50.8 Current time = 50.82 Current time = 50.84 Current time = 50.86 Current time = 50.88 Current time = 50.9 Current time = 50.92 Current time = 50.94 Current time = 50.96 Current time = 50.98 Current time = 51 Current time = 51.02 Current time = 51.04 Current time = 51.06 Current time = 51.08 Current time = 51.1 Current time = 51.12 Current time = 51.14 Current time = 51.16 Current time = 51.18 Current time = 51.2 Current time = 51.22 Current time = 51.24 Current time = 51.26 Current time = 51.28 Current time = 51.3 Current time = 51.32 Current time = 51.34 Current time = 51.36 Current time = 51.38 Current time = 51.4 Current time = 51.42 Current time = 51.44 Current time = 51.46 Current time = 51.48 Current time = 51.5 Current time = 51.52 Current time = 51.54 Current time = 51.56 Current time = 51.58 Current time = 51.6 Current time = 51.62 Current time = 51.64 Current time = 51.66 Current time = 51.68 Current time = 51.7 Current time = 51.72 Current time = 51.74 Current time = 51.76 Current time = 51.78 Current time = 51.8 Current time = 51.82 Current time = 51.84 Current time = 51.86 Current time = 51.88 Current time = 51.9 Current time = 51.92 Current time = 51.94 Current time = 51.96 Current time = 51.98 Current time = 52 Current time = 52.02 Current time = 52.04 Current time = 52.06 Current time = 52.08 Current time = 52.1 Current time = 52.12 Current time = 52.14 Current time = 52.16 Current time = 52.18 Current time = 52.2 Current time = 52.22 Current time = 52.24 Current time = 52.26 Current time = 52.28 Current time = 52.3 Current time = 52.32 Current time = 52.34 Current time = 52.36 Current time = 52.38 Current time = 52.4 Current time = 52.42 Current time = 52.44 Current time = 52.46 Current time = 52.48 Current time = 52.5 Current time = 52.52 Current time = 52.54 Current time = 52.56 Current time = 52.58 Current time = 52.6 Current time = 52.62 Current time = 52.64 Current time = 52.66 Current time = 52.68 Current time = 52.7 Current time = 52.72 Current time = 52.74 Current time = 52.76 Current time = 52.78 Current time = 52.8 Current time = 52.82 Current time = 52.84 Current time = 52.86 Current time = 52.88 Current time = 52.9 Current time = 52.92 Current time = 52.94 Current time = 52.96 Current time = 52.98 Current time = 53 Current time = 53.02 Current time = 53.04 Current time = 53.06 Current time = 53.08 Current time = 53.1 Current time = 53.12 Current time = 53.14 Current time = 53.16 Current time = 53.18 Current time = 53.2 Current time = 53.22 Current time = 53.24 Current time = 53.26 Current time = 53.28 Current time = 53.3 Current time = 53.32 Current time = 53.34 Current time = 53.36 Current time = 53.38 Current time = 53.4 Current time = 53.42 Current time = 53.44 Current time = 53.46 Current time = 53.48 Current time = 53.5 Current time = 53.52 Current time = 53.54 Current time = 53.56 Current time = 53.58 Current time = 53.6 Current time = 53.62 Current time = 53.64 Current time = 53.66 Current time = 53.68 Current time = 53.7 Current time = 53.72 Current time = 53.74 Current time = 53.76 Current time = 53.78 Current time = 53.8 Current time = 53.82 Current time = 53.84 Current time = 53.86 Current time = 53.88 Current time = 53.9 Current time = 53.92 Current time = 53.94 Current time = 53.96 Current time = 53.98 Current time = 54 Current time = 54.02 Current time = 54.04 Current time = 54.06 Current time = 54.08 Current time = 54.1 Current time = 54.12 Current time = 54.14 Current time = 54.16 Current time = 54.18 Current time = 54.2 Current time = 54.22 Current time = 54.24 Current time = 54.26 Current time = 54.28 Current time = 54.3 Current time = 54.32 Current time = 54.34 Current time = 54.36 Current time = 54.38 Current time = 54.4 Current time = 54.42 Current time = 54.44 Current time = 54.46 Current time = 54.48 Current time = 54.5 Current time = 54.52 Current time = 54.54 Current time = 54.56 Current time = 54.58 Current time = 54.6 Current time = 54.62 Current time = 54.64 Current time = 54.66 Current time = 54.68 Current time = 54.7 Current time = 54.72 Current time = 54.74 Current time = 54.76 Current time = 54.78 Current time = 54.8 Current time = 54.82 Current time = 54.84 Current time = 54.86 Current time = 54.88 Current time = 54.9 Current time = 54.92 Current time = 54.94 Current time = 54.96 Current time = 54.98 Current time = 55 Current time = 55.02 Current time = 55.04 Current time = 55.06 Current time = 55.08 Current time = 55.1 Current time = 55.12 Current time = 55.14 Current time = 55.16 Current time = 55.18 Current time = 55.2 Current time = 55.22 Current time = 55.24 Current time = 55.26 Current time = 55.28 Current time = 55.3 Current time = 55.32 Current time = 55.34 Current time = 55.36 Current time = 55.38 Current time = 55.4 Current time = 55.42 Current time = 55.44 Current time = 55.46 Current time = 55.48 Current time = 55.5 Current time = 55.52 Current time = 55.54 Current time = 55.56 Current time = 55.58 Current time = 55.6 Current time = 55.62 Current time = 55.64 Current time = 55.66 Current time = 55.68 Current time = 55.7 Current time = 55.72 Current time = 55.74 Current time = 55.76 Current time = 55.78 Current time = 55.8 Current time = 55.82 Current time = 55.84 Current time = 55.86 Current time = 55.88 Current time = 55.9 Current time = 55.92 Current time = 55.94 Current time = 55.96 Current time = 55.98 Current time = 56 Current time = 56.02 Current time = 56.04 Current time = 56.06 Current time = 56.08 Current time = 56.1 Current time = 56.12 Current time = 56.14 Current time = 56.16 Current time = 56.18 Current time = 56.2 Current time = 56.22 Current time = 56.24 Current time = 56.26 Current time = 56.28 Current time = 56.3 Current time = 56.32 Current time = 56.34 Current time = 56.36 Current time = 56.38 Current time = 56.4 Current time = 56.42 Current time = 56.44 Current time = 56.46 Current time = 56.48 Current time = 56.5 Current time = 56.52 Current time = 56.54 Current time = 56.56 Current time = 56.58 Current time = 56.6 Current time = 56.62 Current time = 56.64 Current time = 56.66 Current time = 56.68 Current time = 56.7 Current time = 56.72 Current time = 56.74 Current time = 56.76 Current time = 56.78 Current time = 56.8 Current time = 56.82 Current time = 56.84 Current time = 56.86 Current time = 56.88 Current time = 56.9 Current time = 56.92 Current time = 56.94 Current time = 56.96 Current time = 56.98 Current time = 57 Current time = 57.02 Current time = 57.04 Current time = 57.06 Current time = 57.08 Current time = 57.1 Current time = 57.12 Current time = 57.14 Current time = 57.16 Current time = 57.18 Current time = 57.2 Current time = 57.22 Current time = 57.24 Current time = 57.26 Current time = 57.28 Current time = 57.3 Current time = 57.32 Current time = 57.34 Current time = 57.36 Current time = 57.38 Current time = 57.4 Current time = 57.42 Current time = 57.44 Current time = 57.46 Current time = 57.48 Current time = 57.5 Current time = 57.52 Current time = 57.54 Current time = 57.56 Current time = 57.58 Current time = 57.6 Current time = 57.62 Current time = 57.64 Current time = 57.66 Current time = 57.68 Current time = 57.7 Current time = 57.72 Current time = 57.74 Current time = 57.76 Current time = 57.78 Current time = 57.8 Current time = 57.82 Current time = 57.84 Current time = 57.86 Current time = 57.88 Current time = 57.9 Current time = 57.92 Current time = 57.94 Current time = 57.96 Current time = 57.98 Current time = 58 Current time = 58.02 Current time = 58.04 Current time = 58.06 Current time = 58.08 Current time = 58.1 Current time = 58.12 Current time = 58.14 Current time = 58.16 Current time = 58.18 Current time = 58.2 Current time = 58.22 Current time = 58.24 Current time = 58.26 Current time = 58.28 Cur...
figure(1)
plot(xd, yd);
hold on
plot(x, y);
It is supposed to track the desired circular. But the actual x and y trajectories are varying by varying alpha. Can anyone help me with this.

Sign in to answer this question.

Answers (1)

Sam Chak
Sam Chak on 24 Apr 2023
Ran in:

0 votes

Ran in:
Hi @Pallov Anand
Sufficiently increasing the value of alpha reduces the tracking error between the x-y trajectory and the desired circular path.
t_span = 80;
dt = 0.008;
t = 0:dt:t_span;
numbots = 1;
options = optimoptions('quadprog', 'Display', 'off');
x = zeros(1, length(t), numbots);
y = zeros(1, length(t), numbots);
x(1,1,1) = 6; % initial x-coordinate
y(1,1,1) = 8; % initial y-coordinate
Xc1 = 3; % center, x-coordinate
Yc1 = 5; % center, y-coordinate
alpha = 13;
r = 2;
for n = 1:length(t)
for z = 1:numbots
if z == 1
xd(1,:,z) = r*cos(t) + Xc1;
yd(1,:,z) = r*sin(t) + Yc1;
elseif z == 2
xd(1,:,z) = r*sin(t).*(1 - cos(t)) + Xc2;
yd(1,:,z) = r*cos(t).*(1 - cos(t)) + Yc2;
end
X_r(:,n, z) = [ x(:,n,z); y(:,n,z)];
Xd(:,n, z) = [xd(:,n,z); yd(:,n,z)];
H = eye(2);
f(:,n,z) = [0; 0];
A = - 2*[xd(1,n,z) - x(1,n,z), yd(1,n,z) - y(1,n,z)];
b = - alpha*( ( xd(1,n,z) - x(1,n,z) )^2 + ( yd(1,n,z) - y(1,n,z) )^2 );
u(:,n,z) = quadprog(H, f(:,n,z), A, b, [], [], [], [], [], options);
x(1,n+1,z) = x(1,n,z) + dt*u(1,n,z);
y(1,n+1,z) = y(1,n,z) + dt*u(2,n,z);
disp(['Current time = ', num2str(n*dt)])
end
end
Current time = 0.008 Current time = 0.016 Current time = 0.024 Current time = 0.032 Current time = 0.04 Current time = 0.048 Current time = 0.056 Current time = 0.064 Current time = 0.072 Current time = 0.08 Current time = 0.088 Current time = 0.096 Current time = 0.104 Current time = 0.112 Current time = 0.12 Current time = 0.128 Current time = 0.136 Current time = 0.144 Current time = 0.152 Current time = 0.16 Current time = 0.168 Current time = 0.176 Current time = 0.184 Current time = 0.192 Current time = 0.2 Current time = 0.208 Current time = 0.216 Current time = 0.224 Current time = 0.232 Current time = 0.24 Current time = 0.248 Current time = 0.256 Current time = 0.264 Current time = 0.272 Current time = 0.28 Current time = 0.288 Current time = 0.296 Current time = 0.304 Current time = 0.312 Current time = 0.32 Current time = 0.328 Current time = 0.336 Current time = 0.344 Current time = 0.352 Current time = 0.36 Current time = 0.368 Current time = 0.376 Current time = 0.384 Current time = 0.392 Current time = 0.4 Current time = 0.408 Current time = 0.416 Current time = 0.424 Current time = 0.432 Current time = 0.44 Current time = 0.448 Current time = 0.456 Current time = 0.464 Current time = 0.472 Current time = 0.48 Current time = 0.488 Current time = 0.496 Current time = 0.504 Current time = 0.512 Current time = 0.52 Current time = 0.528 Current time = 0.536 Current time = 0.544 Current time = 0.552 Current time = 0.56 Current time = 0.568 Current time = 0.576 Current time = 0.584 Current time = 0.592 Current time = 0.6 Current time = 0.608 Current time = 0.616 Current time = 0.624 Current time = 0.632 Current time = 0.64 Current time = 0.648 Current time = 0.656 Current time = 0.664 Current time = 0.672 Current time = 0.68 Current time = 0.688 Current time = 0.696 Current time = 0.704 Current time = 0.712 Current time = 0.72 Current time = 0.728 Current time = 0.736 Current time = 0.744 Current time = 0.752 Current time = 0.76 Current time = 0.768 Current time = 0.776 Current time = 0.784 Current time = 0.792 Current time = 0.8 Current time = 0.808 Current time = 0.816 Current time = 0.824 Current time = 0.832 Current time = 0.84 Current time = 0.848 Current time = 0.856 Current time = 0.864 Current time = 0.872 Current time = 0.88 Current time = 0.888 Current time = 0.896 Current time = 0.904 Current time = 0.912 Current time = 0.92 Current time = 0.928 Current time = 0.936 Current time = 0.944 Current time = 0.952 Current time = 0.96 Current time = 0.968 Current time = 0.976 Current time = 0.984 Current time = 0.992 Current time = 1 Current time = 1.008 Current time = 1.016 Current time = 1.024 Current time = 1.032 Current time = 1.04 Current time = 1.048 Current time = 1.056 Current time = 1.064 Current time = 1.072 Current time = 1.08 Current time = 1.088 Current time = 1.096 Current time = 1.104 Current time = 1.112 Current time = 1.12 Current time = 1.128 Current time = 1.136 Current time = 1.144 Current time = 1.152 Current time = 1.16 Current time = 1.168 Current time = 1.176 Current time = 1.184 Current time = 1.192 Current time = 1.2 Current time = 1.208 Current time = 1.216 Current time = 1.224 Current time = 1.232 Current time = 1.24 Current time = 1.248 Current time = 1.256 Current time = 1.264 Current time = 1.272 Current time = 1.28 Current time = 1.288 Current time = 1.296 Current time = 1.304 Current time = 1.312 Current time = 1.32 Current time = 1.328 Current time = 1.336 Current time = 1.344 Current time = 1.352 Current time = 1.36 Current time = 1.368 Current time = 1.376 Current time = 1.384 Current time = 1.392 Current time = 1.4 Current time = 1.408 Current time = 1.416 Current time = 1.424 Current time = 1.432 Current time = 1.44 Current time = 1.448 Current time = 1.456 Current time = 1.464 Current time = 1.472 Current time = 1.48 Current time = 1.488 Current time = 1.496 Current time = 1.504 Current time = 1.512 Current time = 1.52 Current time = 1.528 Current time = 1.536 Current time = 1.544 Current time = 1.552 Current time = 1.56 Current time = 1.568 Current time = 1.576 Current time = 1.584 Current time = 1.592 Current time = 1.6 Current time = 1.608 Current time = 1.616 Current time = 1.624 Current time = 1.632 Current time = 1.64 Current time = 1.648 Current time = 1.656 Current time = 1.664 Current time = 1.672 Current time = 1.68 Current time = 1.688 Current time = 1.696 Current time = 1.704 Current time = 1.712 Current time = 1.72 Current time = 1.728 Current time = 1.736 Current time = 1.744 Current time = 1.752 Current time = 1.76 Current time = 1.768 Current time = 1.776 Current time = 1.784 Current time = 1.792 Current time = 1.8 Current time = 1.808 Current time = 1.816 Current time = 1.824 Current time = 1.832 Current time = 1.84 Current time = 1.848 Current time = 1.856 Current time = 1.864 Current time = 1.872 Current time = 1.88 Current time = 1.888 Current time = 1.896 Current time = 1.904 Current time = 1.912 Current time = 1.92 Current time = 1.928 Current time = 1.936 Current time = 1.944 Current time = 1.952 Current time = 1.96 Current time = 1.968 Current time = 1.976 Current time = 1.984 Current time = 1.992 Current time = 2 Current time = 2.008 Current time = 2.016 Current time = 2.024 Current time = 2.032 Current time = 2.04 Current time = 2.048 Current time = 2.056 Current time = 2.064 Current time = 2.072 Current time = 2.08 Current time = 2.088 Current time = 2.096 Current time = 2.104 Current time = 2.112 Current time = 2.12 Current time = 2.128 Current time = 2.136 Current time = 2.144 Current time = 2.152 Current time = 2.16 Current time = 2.168 Current time = 2.176 Current time = 2.184 Current time = 2.192 Current time = 2.2 Current time = 2.208 Current time = 2.216 Current time = 2.224 Current time = 2.232 Current time = 2.24 Current time = 2.248 Current time = 2.256 Current time = 2.264 Current time = 2.272 Current time = 2.28 Current time = 2.288 Current time = 2.296 Current time = 2.304 Current time = 2.312 Current time = 2.32 Current time = 2.328 Current time = 2.336 Current time = 2.344 Current time = 2.352 Current time = 2.36 Current time = 2.368 Current time = 2.376 Current time = 2.384 Current time = 2.392 Current time = 2.4 Current time = 2.408 Current time = 2.416 Current time = 2.424 Current time = 2.432 Current time = 2.44 Current time = 2.448 Current time = 2.456 Current time = 2.464 Current time = 2.472 Current time = 2.48 Current time = 2.488 Current time = 2.496 Current time = 2.504 Current time = 2.512 Current time = 2.52 Current time = 2.528 Current time = 2.536 Current time = 2.544 Current time = 2.552 Current time = 2.56 Current time = 2.568 Current time = 2.576 Current time = 2.584 Current time = 2.592 Current time = 2.6 Current time = 2.608 Current time = 2.616 Current time = 2.624 Current time = 2.632 Current time = 2.64 Current time = 2.648 Current time = 2.656 Current time = 2.664 Current time = 2.672 Current time = 2.68 Current time = 2.688 Current time = 2.696 Current time = 2.704 Current time = 2.712 Current time = 2.72 Current time = 2.728 Current time = 2.736 Current time = 2.744 Current time = 2.752 Current time = 2.76 Current time = 2.768 Current time = 2.776 Current time = 2.784 Current time = 2.792 Current time = 2.8 Current time = 2.808 Current time = 2.816 Current time = 2.824 Current time = 2.832 Current time = 2.84 Current time = 2.848 Current time = 2.856 Current time = 2.864 Current time = 2.872 Current time = 2.88 Current time = 2.888 Current time = 2.896 Current time = 2.904 Current time = 2.912 Current time = 2.92 Current time = 2.928 Current time = 2.936 Current time = 2.944 Current time = 2.952 Current time = 2.96 Current time = 2.968 Current time = 2.976 Current time = 2.984 Current time = 2.992 Current time = 3 Current time = 3.008 Current time = 3.016 Current time = 3.024 Current time = 3.032 Current time = 3.04 Current time = 3.048 Current time = 3.056 Current time = 3.064 Current time = 3.072 Current time = 3.08 Current time = 3.088 Current time = 3.096 Current time = 3.104 Current time = 3.112 Current time = 3.12 Current time = 3.128 Current time = 3.136 Current time = 3.144 Current time = 3.152 Current time = 3.16 Current time = 3.168 Current time = 3.176 Current time = 3.184 Current time = 3.192 Current time = 3.2 Current time = 3.208 Current time = 3.216 Current time = 3.224 Current time = 3.232 Current time = 3.24 Current time = 3.248 Current time = 3.256 Current time = 3.264 Current time = 3.272 Current time = 3.28 Current time = 3.288 Current time = 3.296 Current time = 3.304 Current time = 3.312 Current time = 3.32 Current time = 3.328 Current time = 3.336 Current time = 3.344 Current time = 3.352 Current time = 3.36 Current time = 3.368 Current time = 3.376 Current time = 3.384 Current time = 3.392 Current time = 3.4 Current time = 3.408 Current time = 3.416 Current time = 3.424 Current time = 3.432 Current time = 3.44 Current time = 3.448 Current time = 3.456 Current time = 3.464 Current time = 3.472 Current time = 3.48 Current time = 3.488 Current time = 3.496 Current time = 3.504 Current time = 3.512 Current time = 3.52 Current time = 3.528 Current time = 3.536 Current time = 3.544 Current time = 3.552 Current time = 3.56 Current time = 3.568 Current time = 3.576 Current time = 3.584 Current time = 3.592 Current time = 3.6 Current time = 3.608 Current time = 3.616 Current time = 3.624 Current time = 3.632 Current time = 3.64 Current time = 3.648 Current time = 3.656 Current time = 3.664 Current time = 3.672 Current time = 3.68 Current time = 3.688 Current time = 3.696 Current time = 3.704 Current time = 3.712 Current time = 3.72 Current time = 3.728 Current time = 3.736 Current time = 3.744 Current time = 3.752 Current time = 3.76 Current time = 3.768 Current time = 3.776 Current time = 3.784 Current time = 3.792 Current time = 3.8 Current time = 3.808 Current time = 3.816 Current time = 3.824 Current time = 3.832 Current time = 3.84 Current time = 3.848 Current time = 3.856 Current time = 3.864 Current time = 3.872 Current time = 3.88 Current time = 3.888 Current time = 3.896 Current time = 3.904 Current time = 3.912 Current time = 3.92 Current time = 3.928 Current time = 3.936 Current time = 3.944 Current time = 3.952 Current time = 3.96 Current time = 3.968 Current time = 3.976 Current time = 3.984 Current time = 3.992 Current time = 4 Current time = 4.008 Current time = 4.016 Current time = 4.024 Current time = 4.032 Current time = 4.04 Current time = 4.048 Current time = 4.056 Current time = 4.064 Current time = 4.072 Current time = 4.08 Current time = 4.088 Current time = 4.096 Current time = 4.104 Current time = 4.112 Current time = 4.12 Current time = 4.128 Current time = 4.136 Current time = 4.144 Current time = 4.152 Current time = 4.16 Current time = 4.168 Current time = 4.176 Current time = 4.184 Current time = 4.192 Current time = 4.2 Current time = 4.208 Current time = 4.216 Current time = 4.224 Current time = 4.232 Current time = 4.24 Current time = 4.248 Current time = 4.256 Current time = 4.264 Current time = 4.272 Current time = 4.28 Current time = 4.288 Current time = 4.296 Current time = 4.304 Current time = 4.312 Current time = 4.32 Current time = 4.328 Current time = 4.336 Current time = 4.344 Current time = 4.352 Current time = 4.36 Current time = 4.368 Current time = 4.376 Current time = 4.384 Current time = 4.392 Current time = 4.4 Current time = 4.408 Current time = 4.416 Current time = 4.424 Current time = 4.432 Current time = 4.44 Current time = 4.448 Current time = 4.456 Current time = 4.464 Current time = 4.472 Current time = 4.48 Current time = 4.488 Current time = 4.496 Current time = 4.504 Current time = 4.512 Current time = 4.52 Current time = 4.528 Current time = 4.536 Current time = 4.544 Current time = 4.552 Current time = 4.56 Current time = 4.568 Current time = 4.576 Current time = 4.584 Current time = 4.592 Current time = 4.6 Current time = 4.608 Current time = 4.616 Current time = 4.624 Current time = 4.632 Current time = 4.64 Current time = 4.648 Current time = 4.656 Current time = 4.664 Current time = 4.672 Current time = 4.68 Current time = 4.688 Current time = 4.696 Current time = 4.704 Current time = 4.712 Current time = 4.72 Current time = 4.728 Current time = 4.736 Current time = 4.744 Current time = 4.752 Current time = 4.76 Current time = 4.768 Current time = 4.776 Current time = 4.784 Current time = 4.792 Current time = 4.8 Current time = 4.808 Current time = 4.816 Current time = 4.824 Current time = 4.832 Current time = 4.84 Current time = 4.848 Current time = 4.856 Current time = 4.864 Current time = 4.872 Current time = 4.88 Current time = 4.888 Current time = 4.896 Current time = 4.904 Current time = 4.912 Current time = 4.92 Current time = 4.928 Current time = 4.936 Current time = 4.944 Current time = 4.952 Current time = 4.96 Current time = 4.968 Current time = 4.976 Current time = 4.984 Current time = 4.992 Current time = 5 Current time = 5.008 Current time = 5.016 Current time = 5.024 Current time = 5.032 Current time = 5.04 Current time = 5.048 Current time = 5.056 Current time = 5.064 Current time = 5.072 Current time = 5.08 Current time = 5.088 Current time = 5.096 Current time = 5.104 Current time = 5.112 Current time = 5.12 Current time = 5.128 Current time = 5.136 Current time = 5.144 Current time = 5.152 Current time = 5.16 Current time = 5.168 Current time = 5.176 Current time = 5.184 Current time = 5.192 Current time = 5.2 Current time = 5.208 Current time = 5.216 Current time = 5.224 Current time = 5.232 Current time = 5.24 Current time = 5.248 Current time = 5.256 Current time = 5.264 Current time = 5.272 Current time = 5.28 Current time = 5.288 Current time = 5.296 Current time = 5.304 Current time = 5.312 Current time = 5.32 Current time = 5.328 Current time = 5.336 Current time = 5.344 Current time = 5.352 Current time = 5.36 Current time = 5.368 Current time = 5.376 Current time = 5.384 Current time = 5.392 Current time = 5.4 Current time = 5.408 Current time = 5.416 Current time = 5.424 Current time = 5.432 Current time = 5.44 Current time = 5.448 Current time = 5.456 Current time = 5.464 Current time = 5.472 Current time = 5.48 Current time = 5.488 Current time = 5.496 Current time = 5.504 Current time = 5.512 Current time = 5.52 Current time = 5.528 Current time = 5.536 Current time = 5.544 Current time = 5.552 Current time = 5.56 Current time = 5.568 Current time = 5.576 Current time = 5.584 Current time = 5.592 Current time = 5.6 Current time = 5.608 Current time = 5.616 Current time = 5.624 Current time = 5.632 Current time = 5.64 Current time = 5.648 Current time = 5.656 Current time = 5.664 Current time = 5.672 Current time = 5.68 Current time = 5.688 Current time = 5.696 Current time = 5.704 Current time = 5.712 Current time = 5.72 Current time = 5.728 Current time = 5.736 Current time = 5.744 Current time = 5.752 Current time = 5.76 Current time = 5.768 Current time = 5.776 Current time = 5.784 Current time = 5.792 Current time = 5.8 Current time = 5.808 Current time = 5.816 Current time = 5.824 Current time = 5.832 Current time = 5.84 Current time = 5.848 Current time = 5.856 Current time = 5.864 Current time = 5.872 Current time = 5.88 Current time = 5.888 Current time = 5.896 Current time = 5.904 Current time = 5.912 Current time = 5.92 Current time = 5.928 Current time = 5.936 Current time = 5.944 Current time = 5.952 Current time = 5.96 Current time = 5.968 Current time = 5.976 Current time = 5.984 Current time = 5.992 Current time = 6 Current time = 6.008 Current time = 6.016 Current time = 6.024 Current time = 6.032 Current time = 6.04 Current time = 6.048 Current time = 6.056 Current time = 6.064 Current time = 6.072 Current time = 6.08 Current time = 6.088 Current time = 6.096 Current time = 6.104 Current time = 6.112 Current time = 6.12 Current time = 6.128 Current time = 6.136 Current time = 6.144 Current time = 6.152 Current time = 6.16 Current time = 6.168 Current time = 6.176 Current time = 6.184 Current time = 6.192 Current time = 6.2 Current time = 6.208 Current time = 6.216 Current time = 6.224 Current time = 6.232 Current time = 6.24 Current time = 6.248 Current time = 6.256 Current time = 6.264 Current time = 6.272 Current time = 6.28 Current time = 6.288 Current time = 6.296 Current time = 6.304 Current time = 6.312 Current time = 6.32 Current time = 6.328 Current time = 6.336 Current time = 6.344 Current time = 6.352 Current time = 6.36 Current time = 6.368 Current time = 6.376 Current time = 6.384 Current time = 6.392 Current time = 6.4 Current time = 6.408 Current time = 6.416 Current time = 6.424 Current time = 6.432 Current time = 6.44 Current time = 6.448 Current time = 6.456 Current time = 6.464 Current time = 6.472 Current time = 6.48 Current time = 6.488 Current time = 6.496 Current time = 6.504 Current time = 6.512 Current time = 6.52 Current time = 6.528 Current time = 6.536 Current time = 6.544 Current time = 6.552 Current time = 6.56 Current time = 6.568 Current time = 6.576 Current time = 6.584 Current time = 6.592 Current time = 6.6 Current time = 6.608 Current time = 6.616 Current time = 6.624 Current time = 6.632 Current time = 6.64 Current time = 6.648 Current time = 6.656 Current time = 6.664 Current time = 6.672 Current time = 6.68 Current time = 6.688 Current time = 6.696 Current time = 6.704 Current time = 6.712 Current time = 6.72 Current time = 6.728 Current time = 6.736 Current time = 6.744 Current time = 6.752 Current time = 6.76 Current time = 6.768 Current time = 6.776 Current time = 6.784 Current time = 6.792 Current time = 6.8 Current time = 6.808 Current time = 6.816 Current time = 6.824 Current time = 6.832 Current time = 6.84 Current time = 6.848 Current time = 6.856 Current time = 6.864 Current time = 6.872 Current time = 6.88 Current time = 6.888 Current time = 6.896 Current time = 6.904 Current time = 6.912 Current time = 6.92 Current time = 6.928 Current time = 6.936 Current time = 6.944 Current time = 6.952 Current time = 6.96 Current time = 6.968 Current time = 6.976 Current time = 6.984 Current time = 6.992 Current time = 7 Current time = 7.008 Current time = 7.016 Current time = 7.024 Current time = 7.032 Current time = 7.04 Current time = 7.048 Current time = 7.056 Current time = 7.064 Current time = 7.072 Current time = 7.08 Current time = 7.088 Current time = 7.096 Current time = 7.104 Current time = 7.112 Current time = 7.12 Current time = 7.128 Current time = 7.136 Current time = 7.144 Current time = 7.152 Current time = 7.16 Current time = 7.168 Current time = 7.176 Current time = 7.184 Current time = 7.192 Current time = 7.2 Current time = 7.208 Current time = 7.216 Current time = 7.224 Current time = 7.232 Current time = 7.24 Current time = 7.248 Current time = 7.256 Current time = 7.264 Current time = 7.272 Current time = 7.28 Current time = 7.288 Current time = 7.296 Current time = 7.304 Current time = 7.312 Current time = 7.32 Current time = 7.328 Current time = 7.336 Current time = 7.344 Current time = 7.352 Current time = 7.36 Current time = 7.368 Current time = 7.376 Current time = 7.384 Current time = 7.392 Current time = 7.4 Current time = 7.408 Current time = 7.416 Current time = 7.424 Current time = 7.432 Current time = 7.44 Current time = 7.448 Current time = 7.456 Current time = 7.464 Current time = 7.472 Current time = 7.48 Current time = 7.488 Current time = 7.496 Current time = 7.504 Current time = 7.512 Current time = 7.52 Current time = 7.528 Current time = 7.536 Current time = 7.544 Current time = 7.552 Current time = 7.56 Current time = 7.568 Current time = 7.576 Current time = 7.584 Current time = 7.592 Current time = 7.6 Current time = 7.608 Current time = 7.616 Current time = 7.624 Current time = 7.632 Current time = 7.64 Current time = 7.648 Current time = 7.656 Current time = 7.664 Current time = 7.672 Current time = 7.68 Current time = 7.688 Current time = 7.696 Current time = 7.704 Current time = 7.712 Current time = 7.72 Current time = 7.728 Current time = 7.736 Current time = 7.744 Current time = 7.752 Current time = 7.76 Current time = 7.768 Current time = 7.776 Current time = 7.784 Current time = 7.792 Current time = 7.8 Current time = 7.808 Current time = 7.816 Current time = 7.824 Current time = 7.832 Current time = 7.84 Current time = 7.848 Current time = 7.856 Current time = 7.864 Current time = 7.872 Current time = 7.88 Current time = 7.888 Current time = 7.896 Current time = 7.904 Current time = 7.912 Current time = 7.92 Current time = 7.928 Current time = 7.936 Current time = 7.944 Current time = 7.952 Current time = 7.96 Current time = 7.968 Current time = 7.976 Current time = 7.984 Current time = 7.992 Current time = 8 Current time = 8.008 Current time = 8.016 Current time = 8.024 Current time = 8.032 Current time = 8.04 Current time = 8.048 Current time = 8.056 Current time = 8.064 Current time = 8.072 Current time = 8.08 Current time = 8.088 Current time = 8.096 Current time = 8.104 Current time = 8.112 Current time = 8.12 Current time = 8.128 Current time = 8.136 Current time = 8.144 Current time = 8.152 Current time = 8.16 Current time = 8.168 Current time = 8.176 Current time = 8.184 Current time = 8.192 Current time = 8.2 Current time = 8.208 Current time = 8.216 Current time = 8.224 Current time = 8.232 Current time = 8.24 Current time = 8.248 Current time = 8.256 Current time = 8.264 Current time = 8.272 Current time = 8.28 Current time = 8.288 Current time = 8.296 Current time = 8.304 Current time = 8.312 Current time = 8.32 Current time = 8.328 Current time = 8.336 Current time = 8.344 Current time = 8.352 Current time = 8.36 Current time = 8.368 Current time = 8.376 Current time = 8.384 Current time = 8.392 Current time = 8.4 Current time = 8.408 Current time = 8.416 Current time = 8.424 Current time = 8.432 Current time = 8.44 Current time = 8.448 Current time = 8.456 Current time = 8.464 Current time = 8.472 Current time = 8.48 Current time = 8.488 Current time = 8.496 Current time = 8.504 Current time = 8.512 Current time = 8.52 Current time = 8.528 Current time = 8.536 Current time = 8.544 Current time = 8.552 Current time = 8.56 Current time = 8.568 Current time = 8.576 Current time = 8.584 Current time = 8.592 Current time = 8.6 Current time = 8.608 Current time = 8.616 Current time = 8.624 Current time = 8.632 Current time = 8.64 Current time = 8.648 Current time = 8.656 Current time = 8.664 Current time = 8.672 Current time = 8.68 Current time = 8.688 Current time = 8.696 Current time = 8.704 Current time = 8.712 Current time = 8.72 Current time = 8.728 Current time = 8.736 Current time = 8.744 Current time = 8.752 Current time = 8.76 Current time = 8.768 Current time = 8.776 Current time = 8.784 Current time = 8.792 Current time = 8.8 Current time = 8.808 Current time = 8.816 Current time = 8.824 Current time = 8.832 Current time = 8.84 Current time = 8.848 Current time = 8.856 Current time = 8.864 Current time = 8.872 Current time = 8.88 Current time = 8.888 Current time = 8.896 Current time = 8.904 Current time = 8.912 Current time = 8.92 Current time = 8.928 Current time = 8.936 Current time = 8.944 Current time = 8.952 Current time = 8.96 Current time = 8.968 Current time = 8.976 Current time = 8.984 Current time = 8.992 Current time = 9 Current time = 9.008 Current time = 9.016 Current time = 9.024 Current time = 9.032 Current time = 9.04 Current time = 9.048 Current time = 9.056 Current time = 9.064 Current time = 9.072 Current time = 9.08 Current time = 9.088 Current time = 9.096 Current time = 9.104 Current time = 9.112 Current time = 9.12 Current time = 9.128 Current time = 9.136 Current time = 9.144 Current time = 9.152 Current time = 9.16 Current time = 9.168 Current time = 9.176 Current time = 9.184 Current time = 9.192 Current time = 9.2 Current time = 9.208 Current time = 9.216 Current time = 9.224 Current time = 9.232 Current time = 9.24 Current time = 9.248 Current time = 9.256 Current time = 9.264 Current time = 9.272 Current time = 9.28 Current time = 9.288 Current time = 9.296 Current time = 9.304 Current time = 9.312 Current time = 9.32 Current time = 9.328 Current time = 9.336 Current time = 9.344 Current time = 9.352 Current time = 9.36 Current time = 9.368 Current time = 9.376 Current time = 9.384 Current time = 9.392 Current time = 9.4 Current time = 9.408 Current time = 9.416 Current time = 9.424 Current time = 9.432 Current time = 9.44 Current time = 9.448 Current time = 9.456 Current time = 9.464 Current time = 9.472 Current time = 9.48 Current time = 9.488 Current time = 9.496 Current time = 9.504 Current time = 9.512 Current time = 9.52 Current time = 9.528 Current time = 9.536 Current time = 9.544 Current time = 9.552 Current time = 9.56 Current time = 9.568 Current time = 9.576 Current time = 9.584 Current time = 9.592 Current time = 9.6 Current time = 9.608 Current time = 9.616 Current time = 9.624 Current time = 9.632 Current time = 9.64 Current time = 9.648 Current time = 9.656 Current time = 9.664 Current time = 9.672 Current time = 9.68 Current time = 9.688 Current time = 9.696 Current time = 9.704 Current time = 9.712 Current time = 9.72 Current time = 9.728 Current time = 9.736 Current time = 9.744 Current time = 9.752 Current time = 9.76 Current time = 9.768 Current time = 9.776 Current time = 9.784 Current time = 9.792 Current time = 9.8 Current time = 9.808 Current time = 9.816 Current time = 9.824 Current time = 9.832 Current time = 9.84 Current time = 9.848 Current time = 9.856 Current time = 9.864 Current time = 9.872 Current time = 9.88 Current time = 9.888 Current time = 9.896 Current time = 9.904 Current time = 9.912 Current time = 9.92 Current time = 9.928 Current time = 9.936 Current time = 9.944 Current time = 9.952 Current time = 9.96 Current time = 9.968 Current time = 9.976 Current time = 9.984 Current time = 9.992 Current time = 10 Current time = 10.008 Current time = 10.016 Current time = 10.024 Current time = 10.032 Current time = 10.04 Current time = 10.048 Current time = 10.056 Current time = 10.064 Current time = 10.072 Current time = 10.08 Current time = 10.088 Current time = 10.096 Current time = 10.104 Current time = 10.112 Current time = 10.12 Current time = 10.128 Current time = 10.136 Current time = 10.144 Current time = 10.152 Current time = 10.16 Current time = 10.168 Current time = 10.176 Current time = 10.184 Current time = 10.192 Current time = 10.2 Current time = 10.208 Current time = 10.216 Current time = 10.224 Current time = 10.232 Current time = 10.24 Current time = 10.248 Current time = 10.256 Current time = 10.264 Current time = 10.272 Current time = 10.28 Current time = 10.288 Current time = 10.296 Current time = 10.304 Current time = 10.312 Current time = 10.32 Current time = 10.328 Current time = 10.336 Current time = 10.344 Current time = 10.352 Current time = 10.36 Current time = 10.368 Current time = 10.376 Current time = 10.384 Current time = 10.392 Current time = 10.4 Current time = 10.408 Current time = 10.416 Current time = 10.424 Current time = 10.432 Current time = 10.44 Current time = 10.448 Current time = 10.456 Current time = 10.464 Current time = 10.472 Current time = 10.48 Current time = 10.488 Current time = 10.496 Current time = 10.504 Current time = 10.512 Current time = 10.52 Current time = 10.528 Current time = 10.536 Current time = 10.544 Current time = 10.552 Current time = 10.56 Current time = 10.568 Current time = 10.576 Current time = 10.584 Current time = 10.592 Current time = 10.6 Current time = 10.608 Current time = 10.616 Current time = 10.624 Current time = 10.632 Current time = 10.64 Current time = 10.648 Current time = 10.656 Current time = 10.664 Current time = 10.672 Current time = 10.68 Current time = 10.688 Current time = 10.696 Current time = 10.704 Current time = 10.712 Current time = 10.72 Current time = 10.728 Current time = 10.736 Current time = 10.744 Current time = 10.752 Current time = 10.76 Current time = 10.768 Current time = 10.776 Current time = 10.784 Current time = 10.792 Current time = 10.8 Current time = 10.808 Current time = 10.816 Current time = 10.824 Current time = 10.832 Current time = 10.84 Current time = 10.848 Current time = 10.856 Current time = 10.864 Current time = 10.872 Current time = 10.88 Current time = 10.888 Current time = 10.896 Current time = 10.904 Current time = 10.912 Current time = 10.92 Current time = 10.928 Current time = 10.936 Current time = 10.944 Current time = 10.952 Current time = 10.96 Current time = 10.968 Current time = 10.976 Current time = 10.984 Current time = 10.992 Current time = 11 Current time = 11.008 Current time = 11.016 Current time = 11.024 Current time = 11.032 Current time = 11.04 Current time = 11.048 Current time = 11.056 Current time = 11.064 Current time = 11.072 Current time = 11.08 Current time = 11.088 Current time = 11.096 Current time = 11.104 Current time = 11.112 Current time = 11.12 Current time = 11.128 Current time = 11.136 Current time = 11.144 Current time = 11.152 Current time = 11.16 Current time = 11.168 Current time = 11.176 Current time = 11.184 Current time = 11.192 Current time = 11.2 Current time = 11.208 Current time = 11.216 Current time = 11.224 Current time = 11.232 Current time = 11.24 Current time = 11.248 Current time = 11.256 Current time = 11.264 Current time = 11.272 Current time = 11.28 Current time = 11.288 Current time = 11.296 Current time = 11.304 Current time = 11.312 Current time = 11.32 Current time = 11.328 Current time = 11.336 Current time = 11.344 Current time = 11.352 Current time = 11.36 Current time = 11.368 Current time = 11.376 Current time = 11.384 Current time = 11.392 Current time = 11.4 Current time = 11.408 Current time = 11.416 Current time = 11.424 Current time = 11.432 Current time = 11.44 Current time = 11.448 Current time = 11.456 Current time = 11.464 Current time = 11.472 Current time = 11.48 Current time = 11.488 Current time = 11.496 Current time = 11.504 Current time = 11.512 Current time = 11.52 Current time = 11.528 Current time = 11.536 Current time = 11.544 Current time = 11.552 Current time = 11.56 Current time = 11.568 Current time = 11.576 Current time = 11.584 Current time = 11.592 Current time = 11.6 Current time = 11.608 Current time = 11.616 Current time = 11.624 Current time = 11.632 Current time = 11.64 Current time = 11.648 Current time = 11.656 Current time = 11.664 Current time = 11.672 Current time = 11.68 Current time = 11.688 Current time = 11.696 Current time = 11.704 Current time = 11.712 Current time = 11.72 Current time = 11.728 Current time = 11.736 Current time = 11.744 Current time = 11.752 Current time = 11.76 Current time = 11.768 Current time = 11.776 Current time = 11.784 Current time = 11.792 Current time = 11.8 Current time = 11.808 Current time = 11.816 Current time = 11.824 Current time = 11.832 Current time = 11.84 Current time = 11.848 Current time = 11.856 Current time = 11.864 Current time = 11.872 Current time = 11.88 Current time = 11.888 Current time = 11.896 Current time = 11.904 Current time = 11.912 Current time = 11.92 Current time = 11.928 Current time = 11.936 Current time = 11.944 Current time = 11.952 Current time = 11.96 Current time = 11.968 Current time = 11.976 Current time = 11.984 Current time = 11.992 Current time = 12 Current time = 12.008 Current time = 12.016 Current time = 12.024 Current time = 12.032 Current time = 12.04 Current time = 12.048 Current time = 12.056 Current time = 12.064 Current time = 12.072 Current time = 12.08 Current time = 12.088 Current time = 12.096 Current time = 12.104 Current time = 12.112 Current time = 12.12 Current time = 12.128 Current time = 12.136 Current time = 12.144 Current time = 12.152 Current time = 12.16 Current time = 12.168 Current time = 12.176 Current time = 12.184 Current time = 12.192 Current time = 12.2 Current time = 12.208 Current time = 12.216 Current time = 12.224 Current time = 12.232 Current time = 12.24 Current time = 12.248 Current time = 12.256 Current time = 12.264 Current time = 12.272 Current time = 12.28 Current time = 12.288 Current time = 12.296 Current time = 12.304 Current time = 12.312 Current time = 12.32 Current time = 12.328 Current time = 12.336 Current time = 12.344 Current time = 12.352 Current time = 12.36 Current time = 12.368 Current time = 12.376 Current time = 12.384 Current time = 12.392 Current time = 12.4 Current time = 12.408 Current time = 12.416 Current time = 12.424 Current time = 12.432 Current time = 12.44 Current time = 12.448 Current time = 12.456 Current time = 12.464 Current time = 12.472 Current time = 12.48 Current time = 12.488 Current time = 12.496 Current time = 12.504 Current time = 12.512 Current time = 12.52 Current time = 12.528 Current time = 12.536 Current time = 12.544 Current time = 12.552 Current time = 12.56 Current time = 12.568 Current time = 12.576 Current time = 12.584 Current time = 12.592 Current time = 12.6 Current time = 12.608 Current time = 12.616 Current time = 12.624 Current time = 12.632 Current time = 12.64 Current time = 12.648 Current time = 12.656 Current time = 12.664 Current time = 12.672 Current time = 12.68 Current time = 12.688 Current time = 12.696 Current time = 12.704 Current time = 12.712 Current time = 12.72 Current time = 12.728 Current time = 12.736 Current time = 12.744 Current time = 12.752 Current time = 12.76 Current time = 12.768 Current time = 12.776 Current time = 12.784 Current time = 12.792 Current time = 12.8 Current time = 12.808 Current time = 12.816 Current time = 12.824 Current time = 12.832 Current time = 12.84 Current time = 12.848 Current time = 12.856 Current time = 12.864 Current time = 12.872 Current time = 12.88 Current time = 12.888 Current time = 12.896 Current time = 12.904 Current time = 12.912 Current time = 12.92 Current time = 12.928 Current time = 12.936 Current time = 12.944 Current time = 12.952 Current time = 12.96 Current time = 12.968 Current time = 12.976 Current time = 12.984 Current time = 12.992 Current time = 13 Current time = 13.008 Current time = 13.016 Current time = 13.024 Current time = 13.032 Current time = 13.04 Current time = 13.048 Current time = 13.056 Current time = 13.064 Current time = 13.072 Current time = 13.08 Current time = 13.088 Current time = 13.096 Current time = 13.104 Current time = 13.112 Current time = 13.12 Current time = 13.128 Current time = 13.136 Current time = 13.144 Current time = 13.152 Current time = 13.16 Current time = 13.168 Current time = 13.176 Current time = 13.184 Current time = 13.192 Current time = 13.2 Current time = 13.208 Current time = 13.216 Current time = 13.224 Current time = 13.232 Current time = 13.24 Current time = 13.248 Current time = 13.256 Current time = 13.264 Current time = 13.272 Current time = 13.28 Current time = 13.288 Current time = 13.296 Current time = 13.304 Current time = 13.312 Current time = 13.32 Current time = 13.328 Current time = 13.336 Current time = 13.344 Current time = 13.352 Current time = 13.36 Current time = 13.368 Current time = 13.376 Current time = 13.384 Current time = 13.392 Current time = 13.4 Current time = 13.408 Current time = 13.416 Current time = 13.424 Current time = 13.432 Current time = 13.44 Current time = 13.448 Current time = 13.456 Current time = 13.464 Current time = 13.472 Current time = 13.48 Current time = 13.488 Current time = 13.496 Current time = 13.504 Current time = 13.512 Current time = 13.52 Current time = 13.528 Current time = 13.536 Current time = 13.544 Current time = 13.552 Current time = 13.56 Current time = 13.568 Current time = 13.576 Current time = 13.584 Current time = 13.592 Current time = 13.6 Current time = 13.608 Current time = 13.616 Current time = 13.624 Current time = 13.632 Current time = 13.64 Current time = 13.648 Current time = 13.656 Current time = 13.664 Current time = 13.672 Current time = 13.68 Current time = 13.688 Current time = 13.696 Current time = 13.704 Current time = 13.712 Current time = 13.72 Current time = 13.728 Current time = 13.736 Current time = 13.744 Current time = 13.752 Current time = 13.76 Current time = 13.768 Current time = 13.776 Current time = 13.784 Current time = 13.792 Current time = 13.8 Current time = 13.808 Current time = 13.816 Current time = 13.824 Current time = 13.832 Current time = 13.84 Current time = 13.848 Current time = 13.856 Current time = 13.864 Current time = 13.872 Current time = 13.88 Current time = 13.888 Current time = 13.896 Current time = 13.904 Current time = 13.912 Current time = 13.92 Current time = 13.928 Current time = 13.936 Current time = 13.944 Current time = 13.952 Current time = 13.96 Current time = 13.968 Current time = 13.976 Current time = 13.984 Current time = 13.992 Current time = 14 Current time = 14.008 Current time = 14.016 Current time = 14.024 Current time = 14.032 Current time = 14.04 Current time = 14.048 Current time = 14.056 Current time = 14.064 Current time = 14.072 Current time = 14.08 Current time = 14.088 Current time = 14.096 Current time = 14.104 Current time = 14.112 Current time = 14.12 Current time = 14.128 Current time = 14.136 Current time = 14.144 Current time = 14.152 Current time = 14.16 Current time = 14.168 Current time = 14.176 Current time = 14.184 Current time = 14.192 Current time = 14.2 Current time = 14.208 Current time = 14.216 Current time = 14.224 Current time = 14.232 Current time = 14.24 Current time = 14.248 Current time = 14.256 Current time = 14.264 Current time = 14.272 Current time = 14.28 Current time = 14.288 Current time = 14.296 Current time = 14.304 Current time = 14.312 Current time = 14.32 Current time = 14.328 Current time = 14.336 Current time = 14.344 Current time = 14.352 Current time = 14.36 Current time = 14.368 Current time = 14.376 Current time = 14.384 Current time = 14.392 Current time = 14.4 Current time = 14.408 Current time = 14.416 Current time = 14.424 Current time = 14.432 Current time = 14.44 Current time = 14.448 Current time = 14.456 Current time = 14.464 Current time = 14.472 Current time = 14.48 Current time = 14.488 Current time = 14.496 Current time = 14.504 Current time = 14.512 Current time = 14.52 Current time = 14.528 Current time = 14.536 Current time = 14.544 Current time = 14.552 Current time = 14.56 Current time = 14.568 Current time = 14.576 Current time = 14.584 Current time = 14.592 Current time = 14.6 Current time = 14.608 Current time = 14.616 Current time = 14.624 Current time = 14.632 Current time = 14.64 Current time = 14.648 Current time = 14.656 Current time = 14.664 Current time = 14.672 Current time = 14.68 Current time = 14.688 Current time = 14.696 Current time = 14.704 Current time = 14.712 Current time = 14.72 Current time = 14.728 Current time = 14.736 Current time = 14.744 Current time = 14.752 Current time = 14.76 Current time = 14.768 Current time = 14.776 Current time = 14.784 Current time = 14.792 Current time = 14.8 Current time = 14.808 Current time = 14.816 Current time = 14.824 Current time = 14.832 Current time = 14.84 Current time = 14.848 Current time = 14.856 Current time = 14.864 Current time = 14.872 Current time = 14.88 Current time = 14.888 Current time = 14.896 Current time = 14.904 Current time = 14.912 Current time = 14.92 Current time = 14.928 Current time = 14.936 Current time = 14.944 Current time = 14.952 Current time = 14.96 Current time = 14.968 Current time = 14.976 Current time = 14.984 Current time = 14.992 Current time = 15 Current time = 15.008 Current time = 15.016 Current time = 15.024 Current time = 15.032 Current time = 15.04 Current time = 15.048 Current time = 15.056 Current time = 15.064 Current time = 15.072 Current time = 15.08 Current time = 15.088 Current time = 15.096 Current time = 15.104 Current time = 15.112 Current time = 15.12 Current time = 15.128 Current time = 15.136 Current time = 15.144 Current time = 15.152 Current time = 15.16 Current time = 15.168 Current time = 15.176 Current time = 15.184 Current time = 15.192 Current time = 15.2 Current time = 15.208 Current time = 15.216 Current time = 15.224 Current time = 15.232 Current time = 15.24 Current time = 15.248 Current time = 15.256 Current time = 15.264 Current time = 15.272 Current time = 15.28 Current time = 15.288 Current time = 15.296 Current time = 15.304 Current time = 15.312 Current time = 15.32 Current time = 15.328 Current time = 15.336 Current time = 15.344 Current time = 15.352 Current time = 15.36 Current time = 15.368 Current time = 15.376 Current time = 15.384 Current time = 15.392 Current time = 15.4 Current time = 15.408 Current time = 15.416 Current time = 15.424 Current time = 15.432 Current time = 15.44 Current time = 15.448 Current time = 15.456 Current time = 15.464 Current time = 15.472 Current time = 15.48 Current time = 15.488 Current time = 15.496 Current time = 15.504 Current time = 15.512 Current time = 15.52 Current time = 15.528 Current time = 15.536 Current time = 15.544 Current time = 15.552 Current time = 15.56 Current time = 15.568 Current time = 15.576 Current time = 15.584 Current time = 15.592 Current time = 15.6 Current time = 15.608 Current time = 15.616 Current time = 15.624 Current time = 15.632 Current time = 15.64 Current time = 15.648 Current time = 15.656 Current time = 15.664 Current time = 15.672 Current time = 15.68 Current time = 15.688 Current time = 15.696 Current time = 15.704 Current time = 15.712 Current time = 15.72 Current time = 15.728 Current time = 15.736 Current time = 15.744 Current time = 15.752 Current time = 15.76 Current time = 15.768 Current time = 15.776 Current time = 15.784 Current time = 15.792 Current time = 15.8 Current time = 15.808 Current time = 15.816 Current time = 15.824 Current time = 15.832 Current time = 15.84 Current time = 15.848 Current time = 15.856 Current time = 15.864 Current time = 15.872 Current time = 15.88 Current time = 15.888 Current time = 15.896 Current time = 15.904 Current time = 15.912 Current time = 15.92 Current time = 15.928 Current time = 15.936 Current time = 15.944 Current time = 15.952 Current time = 15.96 Current time = 15.968 Current time = 15.976 Current time = 15.984 Current time = 15.992 Current time = 16 Current time = 16.008 Current time = 16.016 Current time = 16.024 Current time = 16.032 Current time = 16.04 Current time = 16.048 Current time = 16.056 Current time = 16.064 Current time = 16.072 Current time = 16.08 Current time = 16.088 Current time = 16.096 Current time = 16.104 Current time = 16.112 Current time = 16.12 Current time = 16.128 Current time = 16.136 Current time = 16.144 Current time = 16.152 Current time = 16.16 Current time = 16.168 Current time = 16.176 Current time = 16.184 Current time = 16.192 Current time = 16.2 Current time = 16.208 Current time = 16.216 Current time = 16.224 Current time = 16.232 Current time = 16.24 Current time = 16.248 Current time = 16.256 Current time = 16.264 Current time = 16.272 Current time = 16.28 Current time = 16.288 Current time = 16.296 Current time = 16.304 Current time = 16.312 Current time = 16.32 Current time = 16.328 Current time = 16.336 Current time = 16.344 Current time = 16.352 Current time = 16.36 Current time = 16.368 Current time = 16.376 Current time = 16.384 Current time = 16.392 Current time = 16.4 Current time = 16.408 Current time = 16.416 Current time = 16.424 Current time = 16.432 Current time = 16.44 Current time = 16.448 Current time = 16.456 Current time = 16.464 Current time = 16.472 Current time = 16.48 Current time = 16.488 Current time = 16.496 Current time = 16.504 Current time = 16.512 Current time = 16.52 Current time = 16.528 Current time = 16.536 Current time = 16.544 Current time = 16.552 Current time = 16.56 Current time = 16.568 Current time = 16.576 Current time = 16.584 Current time = 16.592 Current time = 16.6 Current time = 16.608 Current time = 16.616 Current time = 16.624 Current time = 16.632 Current time = 16.64 Current time = 16.648 Current time = 16.656 Current time = 16.664 Current time = 16.672 Current time = 16.68 Current time = 16.688 Current time = 16.696 Current time = 16.704 Current time = 16.712 Current time = 16.72 Current time = 16.728 Current time = 16.736 Current time = 16.744 Current time = 16.752 Current time = 16.76 Current time = 16.768 Current time = 16.776 Current time = 16.784 Current time = 16.792 Current time = 16.8 Current time = 16.808 Current time = 16.816 Current time = 16.824 Current time = 16.832 Current time = 16.84 Current time = 16.848 Current time = 16.856 Current time = 16.864 Current time = 16.872 Current time = 16.88 Current time = 16.888 Current time = 16.896 Current time = 16.904 Current time = 16.912 Current time = 16.92 Current time = 16.928 Current time = 16.936 Current time = 16.944 Current time = 16.952 Current time = 16.96 Current time = 16.968 Current time = 16.976 Current time = 16.984 Current time = 16.992 Current time = 17 Current time = 17.008 Current time = 17.016 Current time = 17.024 Current time = 17.032 Current time = 17.04 Current time = 17.048 Current time = 17.056 Current time = 17.064 Current time = 17.072 Current time = 17.08 Current time = 17.088 Current time = 17.096 Current time = 17.104 Current time = 17.112 Current time = 17.12 Current time = 17.128 Current time = 17.136 Current time = 17.144 Current time = 17.152 Current time = 17.16 Current time = 17.168 Current time = 17.176 Current time = 17.184 Current time = 17.192 Current time = 17.2 Current time = 17.208 Current time = 17.216 Current time = 17.224 Current time = 17.232 Current time = 17.24 Current time = 17.248 Current time = 17.256 Current time = 17.264 Current time = 17.272 Current time = 17.28 Current time = 17.288 Current time = 17.296 Current time = 17.304 Current time = 17.312 Current time = 17.32 Current time = 17.328 Current time = 17.336 Current time = 17.344 Current time = 17.352 Current time = 17.36 Current time = 17.368 Current time = 17.376 Current time = 17.384 Current time = 17.392 Current time = 17.4 Current time = 17.408 Current time = 17.416 Current time = 17.424 Current time = 17.432 Current time = 17.44 Current time = 17.448 Current time = 17.456 Current time = 17.464 Current time = 17.472 Current time = 17.48 Current time = 17.488 Current time = 17.496 Current time = 17.504 Current time = 17.512 Current time = 17.52 Current time = 17.528 Current time = 17.536 Current time = 17.544 Current time = 17.552 Current time = 17.56 Current time = 17.568 Current time = 17.576 Current time = 17.584 Current time = 17.592 Current time = 17.6 Current time = 17.608 Current time = 17.616 Current time = 17.624 Current time = 17.632 Current time = 17.64 Current time = 17.648 Current time = 17.656 Current time = 17.664 Current time = 17.672 Current time = 17.68 Current time = 17.688 Current time = 17.696 Current time = 17.704 Current time = 17.712 Current time = 17.72 Current time = 17.728 Current time = 17.736 Current time = 17.744 Current time = 17.752 Current time = 17.76 Current time = 17.768 Current time = 17.776 Current time = 17.784 Current time = 17.792 Current time = 17.8 Current time = 17.808 Current time = 17.816 Current time = 17.824 Current time = 17.832 Current time = 17.84 Current time = 17.848 Current time = 17.856 Current time = 17.864 Current time = 17.872 Current time = 17.88 Current time = 17.888 Current time = 17.896 Current time = 17.904 Current time = 17.912 Current time = 17.92 Current time = 17.928 Current time = 17.936 Current time = 17.944 Current time = 17.952 Current time = 17.96 Current time = 17.968 Current time = 17.976 Current time = 17.984 Current time = 17.992 Current time = 18 Current time = 18.008 Current time = 18.016 Current time = 18.024 Current time = 18.032 Current time = 18.04 Current time = 18.048 Current time = 18.056 Current time = 18.064 Current time = 18.072 Current time = 18.08 Current time = 18.088 Current time = 18.096 Current time = 18.104 Current time = 18.112 Current time = 18.12 Current time = 18.128 Current time = 18.136 Current time = 18.144 Current time = 18.152 Current time = 18.16 Current time = 18.168 Current time = 18.176 Current time = 18.184 Current time = 18.192 Current time = 18.2 Current time = 18.208 Current time = 18.216 Current time = 18.224 Current time = 18.232 Current time = 18.24 Current time = 18.248 Current time = 18.256 Current time = 18.264 Current time = 18.272 Current time = 18.28 Current time = 18.288 Current time = 18.296 Current time = 18.304 Current time = 18.312 Current time = 18.32 Current time = 18.328 Current time = 18.336 Current time = 18.344 Current time = 18.352 Current time = 18.36 Current time = 18.368 Current time = 18.376 Current time = 18.384 Current time = 18.392 Current time = 18.4 Current time = 18.408 Current time = 18.416 Current time = 18.424 Current time = 18.432 Current time = 18.44 Current time = 18.448 Current time = 18.456 Current time = 18.464 Current time = 18.472 Current time = 18.48 Current time = 18.488 Current time = 18.496 Current time = 18.504 Current time = 18.512 Current time = 18.52 Current time = 18.528 Current time = 18.536 Current time = 18.544 Current time = 18.552 Current time = 18.56 Current time = 18.568 Current time = 18.576 Current time = 18.584 Current time = 18.592 Current time = 18.6 Current time = 18.608 Current time = 18.616 Current time = 18.624 Current time = 18.632 Current time = 18.64 Current time = 18.648 Current time = 18.656 Current time = 18.664 Current time = 18.672 Current time = 18.68 Current time = 18.688 Current time = 18.696 Current time = 18.704 Current time = 18.712 Current time = 18.72 Current time = 18.728 Current time = 18.736 Current time = 18.744 Current time = 18.752 Current time = 18.76 Current time = 18.768 Current time = 18.776 Current time = 18.784 Current time = 18.792 Current time = 18.8 Current time = 18.808 Current time = 18.816 Current time = 18.824 Current time = 18.832 Current time = 18.84 Current time = 18.848 Current time = 18.856 Current time = 18.864 Current time = 18.872 Current time = 18.88 Current time = 18.888 Current time = 18.896 Current time = 18.904 Current time = 18.912 Current time = 18.92 Current time = 18.928 Current time = 18.936 Current time = 18.944 Current time = 18.952 Current time = 18.96 Current time = 18.968 Current time = 18.976 Current time = 18.984 Current time = 18.992 Current time = 19 Current time = 19.008 Current time = 19.016 Current time = 19.024 Current time = 19.032 Current time = 19.04 Current time = 19.048 Current time = 19.056 Current time = 19.064 Current time = 19.072 Current time = 19.08 Current time = 19.088 Current time = 19.096 Current time = 19.104 Current time = 19.112 Current time = 19.12 Current time = 19.128 Current time = 19.136 Current time = 19.144 Current time = 19.152 Current time = 19.16 Current time = 19.168 Current time = 19.176 Current time = 19.184 Current time = 19.192 Current time = 19.2 Current time = 19.208 Current time = 19.216 Current time = 19.224 Current time = 19.232 Current time = 19.24 Current time = 19.248 Current time = 19.256 Current time = 19.264 Current time = 19.272 Current time = 19.28 Current time = 19.288 Current time = 19.296 Current time = 19.304 Current time = 19.312 Current time = 19.32 Current time = 19.328 Current time = 19.336 Current time = 19.344 Current time = 19.352 Current time = 19.36 Current time = 19.368 Current time = 19.376 Current time = 19.384 Current time = 19.392 Current time = 19.4 Current time = 19.408 Current time = 19.416 Current time = 19.424 Current time = 19.432 Current time = 19.44 Current time = 19.448 Current time = 19.456 Current time = 19.464 Current time = 19.472 Current time = 19.48 Current time = 19.488 Current time = 19.496 Current time = 19.504 Current time = 19.512 Current time = 19.52 Current time = 19.528 Current time = 19.536 Current time = 19.544 Current time = 19.552 Current time = 19.56 Current time = 19.568 Current time = 19.576 Current time = 19.584 Current time = 19.592 Current time = 19.6 Current time = 19.608 Current time = 19.616 Current time = 19.624 Current time = 19.632 Current time = 19.64 Current time = 19.648 Current time = 19.656 Current time = 19.664 Current time = 19.672 Current time = 19.68 Current time = 19.688 Current time = 19.696 Current time = 19.704 Current time = 19.712 Current time = 19.72 Current time = 19.728 Current time = 19.736 Current time = 19.744 Current time = 19.752 Current time = 19.76 Current time = 19.768 Current time = 19.776 Current time = 19.784 Current time = 19.792 Current time = 19.8 Current time = 19.808 Current time = 19.816 Current time = 19.824 Current time = 19.832 Current time = 19.84 Current time = 19.848 Current time = 19.856 Current time = 19.864 Current time = 19.872 Current time = 19.88 Current time = 19.888 Current time = 19.896 Current time = 19.904 Current time = 19.912 Current time = 19.92 Current time = 19.928 Current time = 19.936 Current time = 19.944 Current time = 19.952 Current time = 19.96 Current time = 19.968 Current time = 19.976 Current time = 19.984 Current time = 19.992 Current time = 20 Current time = 20.008 Current time = 20.016 Current time = 20.024 Current time = 20.032 Current time = 20.04 Current time = 20.048 Current time = 20.056 Current time = 20.064 Current time = 20.072 Current time = 20.08 Current time = 20.088 Current time = 20.096 Current time = 20.104 Current time = 20.112 Current time = 20.12 Current time = 20.128 Current time = 20.136 Current time = 20.144 Current time = 20.152 Current time = 20.16 Current time = 20.168 Current time = 20.176 Current time = 20.184 Current time = 20.192 Current time = 20.2 Current time = 20.208 Current time = 20.216 Current time = 20.224 Current time = 20.232 Current time = 20.24 Current time = 20.248 Current time = 20.256 Current time = 20.264 Current time = 20.272 Current time = 20.28 Current time = 20.288 Current time = 20.296 Current time = 20.304 Current time = 20.312 Current time = 20.32 Current time = 20.328 Current time = 20.336 Current time = 20.344 Current time = 20.352 Current time = 20.36 Current time = 20.368 Current time = 20.376 Current time = 20.384 Current time = 20.392 Current time = 20.4 Current time = 20.408 Current time = 20.416 Current time = 20.424 Current time = 20.432 Current time = 20.44 Current time = 20.448 Current time = 20.456 Current time = 20.464 Current time = 20.472 Current time = 20.48 Current time = 20.488 Current time = 20.496 Current time = 20.504 Current time = 20.512 Current time = 20.52 Current time = 20.528 Current time = 20.536 Current time = 20.544 Current time = 20.552 Current time = 20.56 Current time = 20.568 Current time = 20.576 Current time = 20.584 Current time = 20.592 Current time = 20.6 Current time = 20.608 Current time = 20.616 Current time = 20.624 Current time = 20.632 Current time = 20.64 Current time = 20.648 Current time = 20.656 Current time = 20.664 Current time = 20.672 Current time = 20.68 Current time = 20.688 Current time = 20.696 Current time = 20.704 Current time = 20.712 Current time = 20.72 Current time = 20.728 Current time = 20.736 Current time = 20.744 Current time = 20.752 Current time = 20.76 Current time = 20.768 Current time = 20.776 Current time = 20.784 Current time = 20.792 Current time = 20.8 Current time = 20.808 Current time = 20.816 Current time = 20.824 Current time = 20.832 Current time = 20.84 Current time = 20.848 Current time = 20.856 Current time = 20.864 Current time = 20.872 Current time = 20.88 Current time = 20.888 Current time = 20.896 Current time = 20.904 Current time = 20.912 Current time = 20.92 Current time = 20.928 Current time = 20.936 Current time = 20.944 Current time = 20.952 Current time = 20.96 Current time = 20.968 Current time = 20.976 Current time = 20.984 Current time = 20.992 Current time = 21 Current time = 21.008 Current time = 21.016 Current time = 21.024 Current time = 21.032 Current time = 21.04 Current time = 21.048 Current time = 21.056 Current time = 21.064 Current time = 21.072 Current time = 21.08 Current time = 21.088 Current time = 21.096 Current time = 21.104 Current time = 21.112 Current time = 21.12 Current time = 21.128 Current time = 21.136 Current time = 21.144 Current time = 21.152 Current time = 21.16 Current time = 21.168 Current time = 21.176 Current time = 21.184 Current time = 21.192 Current time = 21.2 Current time = 21.208 Current time = 21.216 Current time = 21.224 Current time = 21.232 Current time = 21.24 Current time = 21.248 Current time = 21.256 Current time = 21.264 Current time = 21.272 Current time = 21.28 Current time = 21.288 Current time = 21.296 Current time = 21.304 Current time = 21.312 Current time = 21.32 Current time = 21.328 Current time = 21.336 Current time = 21.344 Current time = 21.352 Current time = 21.36 Current time = 21.368 Current time = 21.376 Current time = 21.384 Current time = 21.392 Current time = 21.4 Current time = 21.408 Current time = 21.416 Current time = 21.424 Current time = 21.432 Current time = 21.44 Current time = 21.448 Current time = 21.456 Current time = 21.464 Current time = 21.472 Current time = 21.48 Current time = 21.488 Current time = 21.496 Current time = 21.504 Current time = 21.512 Current time = 21.52 Current time = 21.528 Current time = 21.536 Current time = 21.544 Current time = 21.552 Current time = 21.56 Current time = 21.568 Current time = 21.576 Current time = 21.584 Current time = 21.592 Current time = 21.6 Current time = 21.608 Current time = 21.616 Current time = 21.624 Current time = 21.632 Current time = 21.64 Current time = 21.648 Current time = 21.656 Current time = 21.664 Current time = 21.672 Current time = 21.68 Current time = 21.688 Current time = 21.696 Current time = 21.704 Current time = 21.712 Current time = 21.72 Current time = 21.728 Current time = 21.736 Current time = 21.744 Current time = 21.752 Current time = 21.76 Current time = 21.768 Current time = 21.776 Current time = 21.784 Current time = 21.792 Current time = 21.8 Current time = 21.808 Current time = 21.816 Current time = 21.824 Current time = 21.832 Current time = 21.84 Current time = 21.848 Current time = 21.856 Current time = 21.864 Current time = 21.872 Current time = 21.88 Current time = 21.888 Current time = 21.896 Current time = 21.904 Current time = 21.912 Current time = 21.92 Current time = 21.928 Current time = 21.936 Current time = 21.944 Current time = 21.952 Current time = 21.96 Current time = 21.968 Current time = 21.976 Current time = 21.984 Current time = 21.992 Current time = 22 Current time = 22.008 Current time = 22.016 Current time = 22.024 Current time = 22.032 Current time = 22.04 Current time = 22.048 Current time = 22.056 Current time = 22.064 Current time = 22.072 Current time = 22.08 Current time = 22.088 Current time = 22.096 Current time = 22.104 Current time = 22.112 Current time = 22.12 Current time = 22.128 Current time = 22.136 Current time = 22.144 Current time = 22.152 Current time = 22.16 Current time = 22.168 Current time = 22.176 Current time = 22.184 Current time = 22.192 Current time = 22.2 Current time = 22.208 Current time = 22.216 Current time = 22.224 Current time = 22.232 Current time = 22.24 Current time = 22.248 Current time = 22.256 Current time = 22.264 Current time = 22.272 Current time = 22.28 Current time = 22.288 Current time = 22.296 Current time = 22.304 Current time = 22.312 Current time = 22.32 Current time = 22.328 Current time = 22.336 Current time = 22.344 Current time = 22.352 Current time = 22.36 Current time = 22.368 Current time = 22.376 Current time = 22.384 Current time = 22.392 Current time = 22.4 Current time = 22.408 Current time = 22.416 Current time = 22.424 Current time = 22.432 Current time = 22.44 Current time = 22.448 Current time = 22.456 Current time = 22.464 Current time = 22.472 Current time = 22.48 Current time = 22.488 Current time = 22.496 Current time = 22.504 Current time = 22.512 Current time = 22.52 Current time = 22.528 Current time = 2...
figure(1)
plot(xd, yd, 'linewidth', 1.5, 'color', '#528AFA');
hold on
plot(x, y, 'color', '#FA477A'), grid on, axis square, axis equal
xlabel({'$x$-coordinate'}, 'interpreter', 'latex')
ylabel({'$y$-coordinate'}, 'interpreter', 'latex')

1 Comment
Show -1 older comments Hide -1 older comments

Pallov Anand
Pallov Anand on 24 Apr 2023
Ya, that I observed, but I dont think it should happen, because if we take xd and yd as just points, then changing alpha values wont matter. I wanted to know, why, in case of circular trajectory, with change in alpha trajectories varies.

Sign in to comment.

Categories

Find more on Quadratic Programming and Cone Programming in Help Center and File Exchange

Tags

Asked:

Pallov Anand
Pallov Anand
on 24 Apr 2023

Edited:

Torsten
Torsten
on 24 Apr 2023

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!