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‎2d_pose_twist.html‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -716,11 +716,11 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Link to this head
716716
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a>
717717
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a><span class="p">(</span><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">())</span>
718718
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a>
719-
<span class="go">Twist3([0.80992, -0.92133, -0.29605, -1.4851, -1.6873, 0.11555])</span>
719+
<span class="go">Twist3([0.66668, -0.20066, 0.60943, -1.3609, -1.6701, 1.8513])</span>
720720
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.inv" title="spatialmath.twist.Twist3.inv"><span class="n">S</span><span class="o">.</span><span class="n">inv</span></a><span class="p">()</span>
721-
<span class="go">Twist3([-0.80992, 0.92133, 0.29605, 1.4851, 1.6873, -0.11555])</span>
721+
<span class="go">Twist3([-0.66668, 0.20066, -0.60943, 1.3609, 1.6701, -1.8513])</span>
722722
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a> <span class="o">*</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.inv" title="spatialmath.twist.Twist3.inv"><span class="n">S</span><span class="o">.</span><span class="n">inv</span></a><span class="p">()</span>
723-
<span class="go">Twist3([-3.3307e-16, 1.1102e-16, -1.1102e-16, 0, 0, 0])</span>
723+
<span class="go">Twist3([1.9429e-16, -1.1102e-16, 0, 0, 0, 0])</span>
724724
</pre></div>
725725
</div>
726726
</dd></dl>

‎3d_orient_SO3.html‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -490,9 +490,9 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Link to this he
490490
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><span class="n">SO3</span></a>
491491
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><span class="n">x</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_orient_SO3.html#spatialmath.pose3d.SO3.Rand" title="spatialmath.pose3d.SO3.Rand"><span class="n">SO3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">()</span>
492492
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><span class="n">x</span></a>
493-
<span class="go">SO3(array([[ 0.14 , 0.0712, -0.9876],</span>
494-
<span class="go"> [ 0.7827, -0.6188, 0.0663],</span>
495-
<span class="go"> [-0.6064, -0.7823, -0.1424]]))</span>
493+
<span class="go">SO3(array([[-0.5873, -0.6274, 0.5113],</span>
494+
<span class="go"> [-0.6888, 0.0556, -0.7229],</span>
495+
<span class="go"> [ 0.425 , -0.7767, -0.4648]]))</span>
496496
</pre></div>
497497
</div>
498498
<dl class="field-list simple">

‎3d_orient_unitquaternion.html‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -453,11 +453,11 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Link to
453453
<p>Example:</p>
454454
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_orient_unitquaternion.html#spatialmath.quaternion.UnitQuaternion" title="spatialmath.quaternion.UnitQuaternion"><span class="n">UnitQuaternion</span></a> <span class="k">as</span> <span class="n">UQ</span>
455455
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_orient_unitquaternion.html#spatialmath.quaternion.UnitQuaternion.Rand" title="spatialmath.quaternion.UnitQuaternion.Rand"><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">())</span>
456-
<span class="go"> 0.1900 &lt;&lt; 0.0688, -0.8935, 0.4011 &gt;&gt;</span>
456+
<span class="go"> 0.1983 &lt;&lt; -0.5743, -0.3932, -0.6901 &gt;&gt;</span>
457457
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_orient_unitquaternion.html#spatialmath.quaternion.UnitQuaternion.Rand" title="spatialmath.quaternion.UnitQuaternion.Rand"><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">(</span><span class="mi">3</span><span class="p">))</span>
458-
<span class="go"> 0.7837 &lt;&lt; -0.3566, -0.4490, 0.2388 &gt;&gt;</span>
459-
<span class="go"> 0.2325 &lt;&lt; 0.7989, 0.1159, -0.5425 &gt;&gt;</span>
460-
<span class="go"> 0.3038 &lt;&lt; -0.6475, 0.4300, 0.5509 &gt;&gt;</span>
458+
<span class="go"> 0.3665 &lt;&lt; -0.7071, 0.5436, -0.2648 &gt;&gt;</span>
459+
<span class="go"> 0.4676 &lt;&lt; -0.3620, 0.6687, -0.4507 &gt;&gt;</span>
460+
<span class="go"> 0.0050 &lt;&lt; -0.8875, -0.4606, -0.0119 &gt;&gt;</span>
461461
</pre></div>
462462
</div>
463463
<dl class="field-list simple">

‎3d_pose_SE3.html‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -588,13 +588,13 @@ <h1>SE(3) matrix<a class="headerlink" href="#se-3-matrix" title="Link to this he
588588
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">SE3</span></a>
589589
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3.Rand" title="spatialmath.pose3d.SE3.Rand"><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
590590
<span class="go">SE3([</span>
591-
<span class="go">array([[ 0.7459, 0.2011, 0.635 , -0.3215],</span>
592-
<span class="go"> [-0.3281, 0.9406, 0.0876, -0.4107],</span>
593-
<span class="go"> [-0.5796, -0.2737, 0.7675, 0.1391],</span>
591+
<span class="go">array([[ 0.5176, 0.8379, 0.1732, -0.3772],</span>
592+
<span class="go"> [-0.2047, 0.3178, -0.9258, -0.7609],</span>
593+
<span class="go"> [-0.8308, 0.4437, 0.3361, -0.8004],</span>
594594
<span class="go"> [ 0. , 0. , 0. , 1. ]]),</span>
595-
<span class="go">array([[-0.3614, 0.9321, -0.025 , -0.9931],</span>
596-
<span class="go"> [-0.6866, -0.2842, -0.6692, -0.9221],</span>
597-
<span class="go"> [-0.6308, -0.2247, 0.7427, 0.7795],</span>
595+
<span class="go">array([[-0.1659, 0.8061, -0.568 , -0.3888],</span>
596+
<span class="go"> [-0.9823, -0.0843, 0.1673, -0.2997],</span>
597+
<span class="go"> [ 0.087 , 0.5857, 0.8059, -0.7305],</span>
598598
<span class="go"> [ 0. , 0. , 0. , 1. ]]) ])</span>
599599
</pre></div>
600600
</div>

‎3d_pose_dualquaternion.html‎

Lines changed: 11 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -143,17 +143,17 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
143143
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">UnitDualQuaternion</span></a><span class="p">,</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">SE3</span></a>
144144
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3.Rand" title="spatialmath.pose3d.SE3.Rand"><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">()</span>
145145
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a><span class="p">)</span>
146-
<span class="go"> 0.08647 -0.6808 0.7273 -0.7333 </span>
147-
<span class="go"> 0.532 -0.5857 -0.6115 -0.4255 </span>
148-
<span class="go"> 0.8423 0.4398 0.3116 -0.2957 </span>
146+
<span class="go"> 0.888 0.2496 0.3861 0.9925 </span>
147+
<span class="go"> 0.2891 0.35 -0.8911 -0.4755 </span>
148+
<span class="go"> -0.3575 0.9029 0.2386 -0.4582 </span>
149149
<span class="go"> 0 0 0 1</span>
150150
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">UnitDualQuaternion</span></a><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a><span class="p">)</span>
151151
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a><span class="p">)</span>
152-
<span class="go"> 0.4507 &lt;&lt; 0.5832, -0.0638, 0.6728 &gt;&gt; + ε 0.2997 &lt; -0.3178, 0.0646, 0.0808 &gt;</span>
152+
<span class="go"> 0.7869 &lt;&lt; 0.5700, 0.2363, 0.0125 &gt;&gt; + ε -0.2238 &lt; 0.4416, -0.3239, 0.0725 &gt;</span>
153153
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion.SE3" title="spatialmath.DualQuaternion.UnitDualQuaternion.SE3"><span class="n">d</span><span class="o">.</span><span class="n">SE3</span></a><span class="p">())</span>
154-
<span class="go"> 0.08647 -0.6808 0.7273 -0.7333 </span>
155-
<span class="go"> 0.532 -0.5857 -0.6115 -0.4255 </span>
156-
<span class="go"> 0.8423 0.4398 0.3116 -0.2957 </span>
154+
<span class="go"> 0.888 0.2496 0.3861 0.9925 </span>
155+
<span class="go"> 0.2891 0.35 -0.8911 -0.4755 </span>
156+
<span class="go"> -0.3575 0.9029 0.2386 -0.4582 </span>
157157
<span class="go"> 0 0 0 1</span>
158158
</pre></div>
159159
</div>
@@ -200,13 +200,13 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
200200
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">UnitDualQuaternion</span></a><span class="p">,</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">SE3</span></a>
201201
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3.Rand" title="spatialmath.pose3d.SE3.Rand"><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">()</span>
202202
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a><span class="p">)</span>
203-
<span class="go"> 0.3059 -0.5963 0.7422 0.8338 </span>
204-
<span class="go"> -0.5191 0.549 0.655 0.7782 </span>
205-
<span class="go"> -0.7981 -0.5857 -0.1416 0.03528 </span>
203+
<span class="go"> -0.9897 -0.1331 0.05173 0.4683 </span>
204+
<span class="go"> -0.09871 0.3758 -0.9214 -0.348 </span>
205+
<span class="go"> 0.1032 -0.9171 -0.3851 0.335 </span>
206206
<span class="go"> 0 0 0 1</span>
207207
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">UnitDualQuaternion</span></a><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a><span class="p">)</span>
208208
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a><span class="p">)</span>
209-
<span class="go"> 0.6545 &lt;&lt; -0.4739, 0.5884, 0.0295 &gt;&gt; + ε -0.0319 &lt; 0.2739, 0.2340, 0.4412 &gt;</span>
209+
<span class="go">-0.0155 &lt;&lt; -0.0699, 0.8293, -0.5543 &gt;&gt; + ε 0.2535 &lt; -0.0461, 0.1208, 0.1794 &gt;</span>
210210
<span class="gp">&gt;&gt;&gt; </span><span class="nb">type</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a><span class="p">)</span>
211211
<span class="go">&lt;class 'spatialmath.DualQuaternion.UnitDualQuaternion'&gt;</span>
212212
</pre></div>

‎3d_pose_twist.html‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -272,8 +272,8 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Link to this head
272272
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a>
273273
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.Rand" title="spatialmath.twist.Twist3.Rand"><span class="n">Twist3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">(</span><span class="n">N</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
274274
<span class="go">Twist3([</span>
275-
<span class="go"> [0.63239, 0.019751, 0.25163, 0.93919, 0.70115, 0.55836],</span>
276-
<span class="go"> [-0.70388, -0.66218, -0.025042, 0.83729, 0.76211, -1.4165]</span>
275+
<span class="go"> [-0.35236, 0.6003, -1.0109, 0.17747, 1.8791, 1.1707],</span>
276+
<span class="go"> [-0.50739, -0.62458, -0.30505, 0.096493, -0.17215, -0.081841]</span>
277277
<span class="go">])</span>
278278
</pre></div>
279279
</div>
@@ -1066,11 +1066,11 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Link to this head
10661066
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a>
10671067
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a><span class="p">(</span><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">())</span>
10681068
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a>
1069-
<span class="go">Twist3([0.37425, 0.25843, 0.48553, -1.602, 0.77658, -2.497])</span>
1069+
<span class="go">Twist3([-1.0515, -0.1415, 0.56428, 1.6839, 0.56673, 0.070718])</span>
10701070
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.inv" title="spatialmath.twist.Twist3.inv"><span class="n">S</span><span class="o">.</span><span class="n">inv</span></a><span class="p">()</span>
1071-
<span class="go">Twist3([-0.37425, -0.25843, -0.48553, 1.602, -0.77658, 2.497])</span>
1071+
<span class="go">Twist3([1.0515, 0.1415, -0.56428, -1.6839, -0.56673, -0.070718])</span>
10721072
<span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a> <span class="o">*</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.inv" title="spatialmath.twist.Twist3.inv"><span class="n">S</span><span class="o">.</span><span class="n">inv</span></a><span class="p">()</span>
1073-
<span class="go">Twist3([-5.5511e-17, 2.7756e-17, 0, 0, 0, 0])</span>
1073+
<span class="go">Twist3([1.1102e-16, 0, -1.6653e-16, 0, 0, 0])</span>
10741074
</pre></div>
10751075
</div>
10761076
</dd></dl>

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