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L.1Z(a,b)};14.X=14.u(v.1j(3),v.i);14.Y=14.u(v.1j(3),v.j);14.Z=14.u(v.1j(3),v.k);l 11(){}11.23={24:l(a){8(7.1h(a.K)&&7.1m(a))},1q:l(){8 11.u(7.K,7.W)},2U:l(a){9 V=a.4||a;8 11.u([7.K.4[0]+V[0],7.K.4[1]+V[1],7.K.4[2]+(V[2]||0)],7.W)},1m:l(a){9 b;o(a.W){b=7.W.1C(a.W);8(F.13(b)<=17.16||F.13(F.1A-b)<=17.16)}1d o(a.U){8 7.W.2k(a.U)}8 w},2k:l(a){9 b=7.W.1C(a.W);8(F.13(F.1A/2-b)<=17.16)},1o:l(a){o(7.1v(a)||7.1h(a)){8 0}o(a.K){9 A=7.K.4,B=a.K.4,N=7.W.4;8 F.13((A[0]-B[0])*N[0]+(A[1]-B[1])*N[1]+(A[2]-B[2])*N[2])}1d{9 P=a.4||a;9 A=7.K.4,N=7.W.4;8 F.13((A[0]-P[0])*N[0]+(A[1]-P[1])*N[1]+(A[2]-(P[2]||0))*N[2])}},1h:l(a){o(a.W){8 w}o(a.U){8(7.1h(a.K)&&7.1h(a.K.2j(a.U)))}1d{9 P=a.4||a;9 A=7.K.4,N=7.W.4;9 b=F.13(N[0]*(A[0]-P[0])+N[1]*(A[1]-P[1])+N[2]*(A[2]-(P[2]||0)));8(b<=17.16)}},1v:l(a){o(1g(a.U)=='1f'&&1g(a.W)=='1f'){8 w}8!7.1m(a)},1U:l(a){o(!7.1v(a)){8 w}o(a.U){9 A=a.K.4,D=a.U.4,P=7.K.4,N=7.W.4;9 b=(N[0]*(P[0]-A[0])+N[1]*(P[1]-A[1])+N[2]*(P[2]-A[2]))/(N[0]*D[0]+N[1]*D[1]+N[2]*D[2]);8 v.u([A[0]+D[0]*b,A[1]+D[1]*b,A[2]+D[2]*b])}1d o(a.W){9 c=7.W.2f(a.W).2q();9 N=7.W.4,A=7.K.4,O=a.W.4,B=a.K.4;9 d=S.1j(2,2),i=0;H(d.2y()){i++;d=S.u([[N[i%3],N[(i+1)%3]],[O[i%3],O[(i+1)%3]]])}9 e=d.2w().4;9 x=N[0]*A[0]+N[1]*A[1]+N[2]*A[2];9 y=O[0]*B[0]+O[1]*B[1]+O[2]*B[2];9 f=[e[0][0]*x+e[0][1]*y,e[1][0]*x+e[1][1]*y];9 g=[];2e(9 j=1;j<=3;j++){g.19((i==j)?0:f[(j+(5-i)%3)%3])}8 14.u(g,c)}},1r:l(a){9 P=a.4||a;9 A=7.K.4,N=7.W.4;9 b=(A[0]-P[0])*N[0]+(A[1]-P[1])*N[1]+(A[2]-(P[2]||0))*N[2];8 v.u([P[0]+N[0]*b,P[1]+N[1]*b,(P[2]||0)+N[2]*b])},1V:l(t,a){9 R=S.1R(t,a.U).4;9 C=a.1r(7.K).4;9 A=7.K.4,N=7.W.4;9 b=C[0],1E=C[1],1J=C[2],1w=A[0],18=A[1],1a=A[2];9 x=1w-b,y=18-1E,z=1a-1J;8 11.u([b+R[0][0]*x+R[0][1]*y+R[0][2]*z,1E+R[1][0]*x+R[1][1]*y+R[1][2]*z,1J+R[2][0]*x+R[2][1]*y+R[2][2]*z],[R[0][0]*N[0]+R[0][1]*N[1]+R[0][2]*N[2],R[1][0]*N[0]+R[1][1]*N[1]+R[1][2]*N[2],R[2][0]*N[0]+R[2][1]*N[1]+R[2][2]*N[2]])},1t:l(a){o(a.W){9 A=7.K.4,N=7.W.4;9 b=A[0],18=A[1],1a=A[2],2M=N[0],2L=N[1],2Q=N[2];9 c=7.K.1t(a).4;9 d=b+2M,2p=18+2L,2m=1a+2Q;9 Q=a.1r([d,2p,2m]).4;9 e=[Q[0]+(Q[0]-d)-c[0],Q[1]+(Q[1]-2p)-c[1],Q[2]+(Q[2]-2m)-c[2]];8 11.u(c,e)}1d o(a.U){8 7.1V(F.1A,a)}1d{9 P=a.4||a;8 11.u(7.K.1t([P[0],P[1],(P[2]||0)]),7.W)}},1Z:l(a,b,c){a=v.u(a);a=a.1N();o(a===w){8 w}b=v.u(b);b=b.1N();o(b===w){8 w}o(1g(c)=='1f'){c=w}1d{c=v.u(c);c=c.1N();o(c===w){8 w}}9 d=a.4[0],18=a.4[1],1a=a.4[2];9 e=b.4[0],1W=b.4[1],1X=b.4[2];9 f,1i;o(c!==w){9 g=c.4[0],2l=c.4[1],2t=c.4[2];f=v.u([(1W-18)*(2t-1a)-(1X-1a)*(2l-18),(1X-1a)*(g-d)-(e-d)*(2t-1a),(e-d)*(2l-18)-(1W-18)*(g-d)]);1i=f.1u();o(1i===0){8 w}f=v.u([f.4[0]/1i,f.4[1]/1i,f.4[2]/1i])}1d{1i=F.1x(e*e+1W*1W+1X*1X);o(1i===0){8 w}f=v.u([b.4[0]/1i,b.4[1]/1i,b.4[2]/1i])}7.K=a;7.W=f;8 7}};11.u=l(a,b,c){9 P=25 11();8 P.1Z(a,b,c)};11.2I=11.u(v.1j(3),v.k);11.2H=11.u(v.1j(3),v.i);11.2G=11.u(v.1j(3),v.j);11.36=11.2I;11.35=11.2H;11.3j=11.2G;9 $V=v.u;9 $M=S.u;9 $L=14.u;9 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Kalman={version:"0.0.1"};KalmanModel=function(){function a(a,i,l,n){this.x_k=a,this.P_k=i,this.F_k=l,this.Q_k=n}return a.prototype.update=function(a){this.I=Matrix.I(this.P_k.rows()),this.x_k_=this.x_k,this.P_k_=this.P_k,this.x_k_k_=this.F_k.x(this.x_k_),this.P_k_k_=this.F_k.x(this.P_k_.x(this.F_k.transpose())).add(this.Q_k),this.y_k=a.z_k.subtract(a.H_k.x(this.x_k_k_)),this.S_k=a.H_k.x(this.P_k_k_.x(a.H_k.transpose())).add(a.R_k),this.K_k=this.P_k_k_.x(a.H_k.transpose().x(this.S_k.inverse())),this.x_k=this.x_k_k_.add(this.K_k.x(this.y_k)),this.P_k=this.I.subtract(this.K_k.x(a.H_k)).x(this.P_k_k_)},a}(),KalmanObservation=function(){function a(a,i,l){this.z_k=a,this.H_k=i,this.R_k=l}return a}();
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