Commit 5dfbcb10 authored by Farid Alijani's avatar Farid Alijani
Browse files

Report updated

parent cfedb1e1
......@@ -167,18 +167,18 @@ subplot(3,1,2);
plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
hold on
plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.7);
hold on
plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.6);
% hold on
% plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.6);
ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
subplot(3,1,3);
plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
hold on
plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7);
hold on
plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.6);
% hold on
% plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.6);
xlabel('$ time [s]$','interpreter','latex','FontSize',14);
xlabel('$ time$ [s]','interpreter','latex','FontSize',14);
ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
% control signals
......@@ -190,8 +190,8 @@ subplot(311);
plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
hold on
plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.7);
hold on
plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.6);
% hold on
% plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.6);
title('Control Signals');
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
......@@ -212,9 +212,9 @@ subplot(3,1,3);
plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
hold on
plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.7);
hold on
plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.6);
xlabel('$ time [s]$','interpreter','latex','FontSize',14);
% hold on
% plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.6);
xlabel('$ time$ [s]','interpreter','latex','FontSize',14);
ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
% Trajectory
......@@ -248,8 +248,8 @@ subplot(1,3,2);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',1.6);
hold on
plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',1.6);
hold on
plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',1.6);
% hold on
% plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',1.6);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
......
......@@ -525,118 +525,118 @@ l = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00
set(l,'interpreter','latex','FontSize',11);
% legend('boxoff');
%
% % sampling time
% figure;
% set(gcf,'color','white');
%
% subplot(2,2,1);
% plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',1.4)
% sampling time
figure;
set(gcf,'color','white');
subplot(2,2,1);
plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',1.4)
hold on
plot (diff(t_P_sec_data_3),'k--','LineWidth',1.8);
% hold on
% plot (diff(t_P_sec_data_3),'k--','LineWidth',1.8);
% % hold on
% title({'USB Camera';'Position'});
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
% axis([0 450 .068 .11]);
% l3 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
% set(l3,'interpreter','latex','FontSize',13);
%
% subplot(2,2,2);
% plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4)
% hold on;
% plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
%
% title({'Android Camera';'Position'});
% axis([0 234 .068 .3]);
%
% l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
% set(l4,'interpreter','latex','FontSize',13);
% legend('boxoff');
%
% subplot(2,2,3);
% plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',1.4);
title({'USB Camera';'Position'});
ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
axis([0 450 .068 .11]);
l3 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
set(l3,'interpreter','latex','FontSize',13);
subplot(2,2,2);
plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4)
hold on;
plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
title({'Android Camera';'Position'});
axis([0 234 .068 .3]);
l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
set(l4,'interpreter','latex','FontSize',13);
legend('boxoff');
subplot(2,2,3);
plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',1.4);
hold on;
plot (diff(t_V_sec_data_3),'k--','LineWidth',1.8);
% hold on;
% plot (diff(t_V_sec_data_3),'k--','LineWidth',1.8);
% % hold on;
% title('Velocity');
% xlabel('samples','interpreter','latex','FontSize',13);
title('Velocity');
xlabel('samples','interpreter','latex','FontSize',13);
ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
axis([0 450 .068 .11]);
subplot(2,2,4);
plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
hold on;
plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
title('Velocity');
xlabel('samples','interpreter','latex','FontSize',13);
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
axis([0 234 .068 .3]);
figure;
set(gcf,'color','white');
subplot(2,1,1);
pa1 = plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',2.1);
hold on
pa2 = plot (diff(t_P_sec_data_3),'k--','LineWidth',1.5);
hold on
pa3 = plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4);
hold on;
pa4 = plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
hold off;
axis([0 234 0 .3]);
title('Position');
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
% axis([0 450 .068 .11]);
%
% subplot(2,2,4);
% plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
% hold on;
% plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
%
% title('Velocity');
% xlabel('samples','interpreter','latex','FontSize',13);
% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
% axis([0 234 .068 .3]);
%
% l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [sec]$','Orientation','horizontal');
% set(l5,'interpreter','latex','FontSize',11);
% leg =
legend('ROS Time, USB camera','Real Time, USB camera [s]','ROS Time, IP camera','Real Time, IP camera [s]','Location','northwest');
legend('boxoff');
subplot(2,1,2);
p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
hold on;
p2 = plot (diff(t_V_sec_data_3),'k--','LineWidth',1.5);
hold on;
p3 = plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
hold on;
p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
hold off;
axis([0 234 0 .3]);
title('Velocity');
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
% xlabel('Sample','interpreter','latex','FontSize',13);
%
% l6 = legend([p3 p4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
% set(l6,'interpreter','latex','FontSize',12);
MaxOvershoot_1 = -ref_y + min(Pose_Y_data_1)
MaxOvershoot_2 = -ref_y + min(Pose_Y_data_2)
MaxOvershoot_3 = -ref_y + min(Pose_Y_data_3)
MaxOvershoot_4 = -ref_y + min(Pose_Y_data_4)
% Pose diff
% figure;
% set(gcf,'color','white');
%
% subplot(2,1,1);
% pa1 = plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',2.1);
% hold on
% pa2 = plot (diff(t_P_sec_data_3),'k--','LineWidth',1.5);
% hold on
% pa3 = plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4);
% hold on;
% pa4 = plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
% hold off;
% axis([0 234 0 .3]);
% title('Position');
% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
% %
% % l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [sec]$','Orientation','horizontal');
% % set(l5,'interpreter','latex','FontSize',11);
% subplot(3,1,1);
% plot(diff(Pose_X_data_1));
% title('X-Pose diff');
% xlabel('samples');
% ylabel('X difference [m]');
% grid on
%
% % leg =
% legend('ROS Time, USB camera','Real Time, USB camera [sec]','ROS Time, IP camera','Real Time, IP camera [sec]','Location','northwest');
% legend('boxoff');
%
% subplot(2,1,2);
% p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
% hold on;
% p2 = plot (diff(t_V_sec_data_3),'k--','LineWidth',1.5);
% hold on;
% p3 = plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
% hold on;
% p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
% hold off;
% axis([0 234 0 .3]);
% title('Velocity');
% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
% % xlabel('Sample','interpreter','latex','FontSize',13);
% %
% % l6 = legend([p3 p4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
% % set(l6,'interpreter','latex','FontSize',12);
% subplot(3,1,2);
% plot(diff(Pose_X_data_1));
% title('Y-Pose diff');
% xlabel('samples');
% ylabel('Y difference [m]');
% grid on
%
% MaxOvershoot_1 = -ref_y + min(Pose_Y_data_1)
% MaxOvershoot_2 = -ref_y + min(Pose_Y_data_2)
% MaxOvershoot_3 = -ref_y + min(Pose_Y_data_3)
% MaxOvershoot_4 = -ref_y + min(Pose_Y_data_4)
% % Pose diff
% % figure;
% % subplot(3,1,1);
% % plot(diff(Pose_X_data_1));
% % title('X-Pose diff');
% % xlabel('samples');
% % ylabel('X difference [m]');
% % grid on
% %
% % subplot(3,1,2);
% % plot(diff(Pose_X_data_1));
% % title('Y-Pose diff');
% % xlabel('samples');
% % ylabel('Y difference [m]');
% % grid on
% %
% % subplot(3,1,3);
% % plot(diff(Theta_data_1));
% % title('\theta-Pose diff');
% % xlabel('samples');
% % ylabel('\theta difference [rad]');
% % grid on
\ No newline at end of file
% subplot(3,1,3);
% plot(diff(Theta_data_1));
% title('\theta-Pose diff');
% xlabel('samples');
% ylabel('\theta difference [rad]');
% grid on
\ No newline at end of file
......@@ -258,7 +258,7 @@ hold on
plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',2.1);
% title('Control Signal \theta_{Rob} - axis');
xlabel('$ time [s]$','interpreter','latex','FontSize',14);
xlabel('$ time $ [s]','interpreter','latex','FontSize',14);
ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
% grid on
......
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12,3.93,3.93,3.93,3.93,3.93
13,3.93,3.93,3.93,3.94,3.94
14,3.95,3.94,3.93,3.93,3.94
15,3.94,3.94,3.94,3.95,3.94
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18,3.87,3.87,3.87,3.86,3.87
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20,3.89,3.88,3.88,3.88,3.89
21,4.03,4.03,4.03,4.04,4.05
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23,4.5,4.5,4.51,4.5,4.5
24,4.51,4.5,4.5,4.51,4.51
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27,29.96,29.96,29.96,29.96,29.96
28,3,3,2.99,2.99,3.01
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38,3.1,3.11,3.1,3.12,3.11
39,3.12,3.13,3.13,3.12,3.13
40,3.15,3.13,3.15,3.13,3.14
41,3.16,3.15,3.17,3.16,3.16
42,29.96,29.96,29.96,29.96,29.96
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54,29.96,29.96,29.96,3.52,29.96
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62,3.67,3.67,3.66,3.67,3.67
63,3.69,3.69,3.68,3.69,3.69
64,3.7,3.71,3.71,3.71,3.71
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69,29.96,29.96,29.96,29.96,29.96
70,4.94,4.92,4.91,4.93,4.93
71,29.96,29.96,29.96,29.96,29.96
72,4.92,4.93,4.94,4.93,4.93
73,4.87,4.86,4.87,4.87,4.86
74,4.7,4.7,4.71,4.71,4.7
75,4.72,4.74,4.74,4.74,4.74
76,4.84,4.83,4.83,4.83,4.84
77,4.87,4.86,4.87,4.87,4.87
78,4.63,4.63,4.63,4.62,4.61
79,4.43,4.43,4.43,4.43,4.43
80,4.34,4.33,4.34,4.33,4.34
81,4.34,4.35,4.33,4.34,4.34
82,4.36,4.35,4.36,4.36,4.35
83,4.37,4.37,4.37,4.37,4.37
84,4.39,4.39,4.39,4.39,4.4
85,4.41,4.41,4.41,4.41,4.41
86,4.42,4.43,4.42,4.42,4.42
87,4.43,4.45,4.44,4.44,4.44
88,4.47,4.46,4.45,4.47,4.47
89,4.48,4.48,4.48,4.48,4.48
90,9.26,9.26,9.25,9.24,9.25
91,9.3,9.31,9.31,9.32,9.31
92,9.37,9.37,9.39,9.38,9.39
93,9.48,9.49,9.48,9.48,9.49
94,2.52,2.54,2.53,2.53,2.53
95,2.52,2.53,2.51,2.53,2.53
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101,2.29,2.28,2.3,2.28,2.29
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104,0.6,0.61,0.6,0.61,0.61
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108,1.73,1.72,1.72,1.72,1.72
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110,2.29,2.28,2.28,2.28,2.29
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120,2.27,2.27,2.27,2.26,2.27
121,2.26,2.25,2.24,2.24,2.24
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127,1,1.02,1.01,1.02,0.99
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138,1.95,1.95,1.96,1.95,1.96
139,1.94,1.95,1.94,1.94,1.94
140,1.93,1.91,1.92,1.92,1.91
141,1.91,1.91,1.9,1.91,1.91
142,1.9,1.89,1.91,1.9,1.91
143,1.89,1.88,1.89,1.89,1.88
144,1.88,1.88,1.88,1.87,1.88
145,1.87,1.86,1.86,1.86,1.87
146,1.85,1.85,1.84,1.85,1.85
147,1.84,1.83,1.83,1.85,1.84
148,1.83,1.83,1.82,1.82,1.83
149,1.82,1.81,1.82,1.82,1.82
150,1.8,1.8,1.8,1.8,1.8
151,1.79,1.8,1.79,1.8,1.79
152,1.79,1.79,1.78,1.78,1.78
153,1.78,1.77,1.78,1.77,1.78
154,1.77,1.76,1.76,1.76,1.76
155,1.76,1.76,1.76,1.76,1.76
156,1.75,1.74,1.74,1.74,1.74
157,1.75,1.72,1.72,1.73,1.73
158,1.74,1.75,1.75,1.75,1.74
159,1.75,1.74,1.74,1.74,1.75
160,1.74,1.74,1.74,1.75,1.74
161,1.78,1.78,1.77,1.78,1.77
162,1.8,1.81,1.8,1.81,1.8
163,1.84,1.84,1.84,1.84,1.84
164,1.88,1.87,1.87,1.87,1.88
165,1.91,1.91,1.91,1.91,1.92
166,1.94,1.94,1.95,1.96,1.94
167,1.99,1.99,1.98,1.98,1.99
168,2.03,2.03,2.04,2.03,2.03
169,2.07,2.07,2.07,2.07,2.07
170,2.11,2.12,2.11,2.12,2.11
171,2.16,2.16,2.16,2.16,2.16
172,2.21,2.2,2.21,2.21,2.21
173,2.26,2.26,2.26,2.26,2.26
174,2.31,2.31,2.31,2.32,2.32
175,2.37,2.38,2.36,2.37,2.36
176,2.39,2.39,2.4,2.4,2.39
177,6.42,6.43,6.42,6.43,6.43
178,6.22,6.21,6.22,6.22,6.22
179,6.21,6.21,6.21,6.23,6.22
180,4.51,4.5,4.51,4.51,4.5
181,6.31,6.29,6.3,6.29,6.28
182,6.24,6.23,6.25,6.25,6.23
183,4.02,4.02,4.03,4.03,4.03
184,4.03,4.02,4.02,4.04,4.02
185,29.96,29.96,29.96,29.96,29.96
186,4.7,4.71,4.71,4.7,4.71
187,6.33,6.33,6.33,6.33,6.34
188,6.28,6.28,6.28,6.28,6.29
189,6.36,6.35,6.32,6.34,6.34
190,1.37,1.38,1.38,1.39,1.39
191,1.36,1.35,1.35,1.35,1.35
192,1.33,1.33,1.32,1.32,1.33
193,0.53,0.55,0.73,0.53,0.59
194,0.48,0.47,0.49,0.48,0.48
195,0.46,0.46,0.47,0.46,0.47
196,0.44,0.44,0.44,0.45,0.44
197,0.45,0.44,0.44,0.45,0.44
198,0.45,0.44,0.44,0.43,0.44
199,0.43,0.44,0.45,0.45,0.45
200,0.44,0.45,0.44,0.45,0.44
201,0.45,0.44,0.44,0.45,0.45
202,0.45,0.45,0.45,0.45,0.45
203,0.45,0.44,0.44,0.45,0.45
204,0.45,0.45,0.45,0.46,0.45
205,0.45,0.46,0.45,0.45,0.45
206,0.45,0.45,0.45,0.45,0.45
207,0.46,0.45,0.45,0.46,0.45
208,0.45,0.45,0.45,0.46,0.46
209,0.46,0.45,0.46,0.46,0.45
210,0.45,0.46,0.45,0.46,0.45
211,0.46,0.46,0.46,0.45,0.46
212,0.47,0.46,0.46,0.46,0.46
213,0.46,0.47,0.46,0.46,0.46
214,0.46,0.47,0.46,0.45,0.46
215,0.46,0.46,0.46,0.46,0.47
216,0.46,0.46,0.47,0.46,0.46
217,0.46,0.46,0.45,0.46,0.46
218,0.46,0.47,0.46,0.47,0.47
219,0.47,0.47,0.46,0.47,0.47
220,0.48,0.46,0.46,0.47,0.47
221,0.47,0.47,0.47,0.46,0.47
222,0.47,0.47,0.47,0.47,0.47
223,0.46,0.47,0.47,0.47,0.47
224,0.47,0.47,0.47,0.47,0.46
225,0.47,0.47,0.47,0.47,0.47
226,0.48,0.48,0.47,0.47,0.48
227,0.45,0.46,0.45,0.45,0.45
228,0.45,0.44,0.45,0.45,0.44
229,0.39,0.39,0.4,0.4,0.4
230,0.36,0.36,0.36,0.36,0.36
231,0.36,0.36,0.36,0.35,0.35
232,0.35,0.36,0.36,0.37,0.36
233,0.45,0.45,0.46,0.46,0.46
234,0.5,0.5,0.5,0.5,0.5
235,0.5,0.51,0.5,0.5,0.51
236,0.49,0.51,0.5,0.5,0.5
237,0.51,0.5,0.5,0.5,0.51
238,0.51,0.5,0.5,0.51,0.51
239,0.51,0.51,0.51,0.51,0.51
240,0.51,0.51,0.51,0.5,0.51
241,0.52,0.51,0.52,0.51,0.52
242,0.51,0.52,0.51,0.53,0.53
243,0.53,0.52,0.52,0.52,0.52
244,0.52,0.52,0.53,0.52,0.52
245,0.52,0.53,0.52,0.53,0.53
246,0.53,0.53,0.53,0.53,0.52
247,0.53,0.52,0.53,0.53,0.53
248,0.54,0.54,0.54,0.54,0.54
249,0.55,0.54,0.55,0.54,0.56
250,0.55,0.56,0.56,0.55,0.55
251,0.55,0.56,0.55,0.56,0.56
252,0.57,0.57,0.55,0.56,0.56
253,0.53,0.53,0.53,0.54,0.54
254,0.51,0.51,0.51,0.51,0.5
255,0.54,0.54,0.54,0.55,0.55
256,0.54,0.53,0.55,0.53,0.54
257,0.46,0.47,0.46,0.47,0.46
258,0.45,0.44,0.45,0.43,0.44
259,0.39,0.39,0.39,0.39,0.39
260,0.13,0.13,0.11,0.12,0.12
261,0.13,0.11,0.11,0.12,0.12
262,0.12,0.12,0.12,0.12,0.13
263,0.12,0.13,0.13,0.13,0.12
264,0.11,0.12,0.12,0.13,0.12
265,0.11,0.11,0.12,0.11,0.12
266,0.13,0.11,0.11,0.12,0.11
267,0.12,0.12,0.11,0.12,0.11
268,0.12,0.12,0.11,0.12,0.11
269,0.13,0.11,0.11,0.11,0.11
270,0.11,0.12,0.11,0.11,0.12
271,0.11,0.11,0.12,0.11,0.12
272,0.11,0.11,0.11,0.11,0.11
273,0.11,0.1,0.1,0.11,0.11
274,0.11,0.11,0.11,0.11,0.11
275,0.11,0.1,0.1,0.12,0.11
276,0.11,0.1,0.1,0.11,0.1
277,0.11,0.11,0.11,0.11,0.11
278,0.1,0.1,0.1,0.1,0.1
279,0.1,0.1,0.1,0.1,0.09
280,0.09,0.09,0.09,0.1,0.1
281,0.1,0.11,0.09,0.1,0.1
282,0.11,0.1,0.1,0.1,0.1
283,0.1,0.1,0.1,0.1,0.1
284,0.1,0.09,0.1,0.1,0.1
285,0.1,0.1,0.09,0.1,0.1
286,0.1,0.1,0.1,0.09,0.1
287,0.1,0.11,0.09,0.1,0.1
288,0.1,0.1,0.1,0.1,0.1
289,0.1,0.1,0.1,0.09,0.1
290,0.11,0.11,0.11,0.12,0.11
291,0.11,0.11,0.1,0.11,0.11
292,0.11,0.12,0.1,0.11,0.12
293,0.11,0.11,0.11,0.12,0.11
294,0.11,0.11,0.11,0.11,0.11
295,0.11,0.12,0.11,0.1,0.11
296,0.11,0.11,0.11,0.1,0.11
297,0.11,0.11,0.11,0.1,0.11
298,0.11,0.11,0.1,0.12,0.11
299,0.12,0.12,0.12,0.11,0.1
300,0.1,0.1,0.1,0.11,0.11
301,0.09,0.11,0.11,0.1,0.1
302,0.1,0.1,0.11,0.12,0.11
303,0.11,0.11,0.11,0.11,0.1
304,0.12,0.1,0.12,0.11,0.11
305,0.1,0.12,0.11,0.12,0.11
306,0.12,0.11,0.12,0.12,0.11
307,0.11,0.11,0.11,0.11,0.11
308,0.12,0.12,0.13,0.12,0.13
309,0.11,0.12,0.12,0.13,0.12