D9T8T__text__TEXT'Z;__bss__DATA8T__data__DATA'T-[__literal4__TEXT' X-__gcc_except_tab__DATA'+x-__textcoal_nt__TEXT'-[Z @__cstring__TEXTD5J__literal8__TEXTE8J__const__DATA`E(K^__StaticInit__TEXTFK_ __datacoal_nt__DATAFb\L_ @__mod_init_func__DATAFL8` __mod_term_func__DATAFL@` __eh_frame__TEXTGLH` h__picsymbolstub2__TEXTOLUf__la_sym_ptr2__DATASMYxn))__nl_symbol_ptr__DATA,T YR__constructor__TEXT8TZ__destructor__TEXT8TZq4x$ Pv~oUUE$ÐUE$ÐUWVSLE$+SUV'@E}~qMU䍃Z'MU䍃Z'MU䍃Z'MU䍃Z'MU䍃Z'E뇍}EȉD$E$\REċuċE$0RuċEĉ$ RL[^_]UV$E}~'MuUЍE EыUEB@UEBDED$E$Q$^]UWVS|fE}~E}~puEEU UEEE }EEu uEEEUU%DdDdE눃EmE}~E}~OEEU UEEEDMEEu%DE멋UEЍD%EsE D$ED$E$"PE}~E}~MEEU4UEEU(ȋEY UEEUEY,XȋUEEUEY8XDEOE4E}~3UU}~uEEM<EEEEU‰UMMEEU‰UUEEЍDUEE(YUEEЍHUEEYXȋUEEЍLUEEYXȋME\EEUMDdDdEE|[^_]ÐUV$E}~'MuUЍEEыE D$E$MEEt$L9Er-ED$Et$L$ЍE뼃$^]UVE}~FUЍ4MUE􋄂1UЍ4M UE􋄂1E벃^]ÐUVSM EUYu MEUY(YEUY\(u MEUY(YEUYXM EUYu MEUY(YEUYXu MEUY(YEUY\(M EJ?(5M EUYM EUYUE@ UE@UE@[^]ÐUWV@E}~'MEEԋuԍEUԉEыE D$E$JE}~EUMԋT$uԉT$E}~D}uMEEEЋU(ȋEYL UD$XMD$E봋E EEED$EEED$E$ЃEOE(E0D$E0D$E$ЋMEU@0XA0MEU@4XA4MEU@8XA8ED$E D$E0$OHE؉D$ED$E0$3HE EXD$E؉D$E$ЋELD$ED$E0$GED$ED$E$G@^_]ÐUWVSEt$GEEt$G9ErzED$Et$G ED$E D$$E}~-UEMuXD}EˍEoE}~3MEUu}X\EEE}~uMEE}E}XEUU}~MMEEuƉu}|EEU<EEMЍMuEEEX TT|}UEYE E}~DE}~/EEu UEEEDEɃE봋E D$ED$E$hFE}~E}~MEE}4UEEU(ȋEY UEEU}Y,XȋUEEUEY8XDEOE4E}~QUU}~7uEEM<ExEEU‰tMpEEU‰lUEEЍDUEE(YUEEЍHUEEYXȋUEEЍLUEEYXȋlp\TTtxDdDdEEE}~uhEU}(ȋEXEU@HMY\(ZXEx<t%EuZXX`:XX`Z`EhE2MEU\MEU\MEU\E}~ MuUEEDU(YUEEЃpUYBXXȋUEEHUYXȋUEEЃtUYB\XȋUEELUYXȋUEEЃxUYB`XȋE\UEE$ED$ED$E$ЋE4ED$EdD$E$Ёļ[^_]ÐUVSPsEt$@EEt$k@9ErzEԉD$Et$4@ E؉D$E D$$E}~-UEMuXD؋EEˍEԃoE}~3MEUuEX\UEE}~MMȋEUu(ȋEXEU@HMY\(ZEEx<tEuZMXM3MXMZEE̋UEJMEU\MEU\MEU\E}~ MuUEEDU(YUEEЃpUYBXXȋUEEHUYXȋUEEЃtUYB\XȋUEELUYXȋUEEЃxUYB`XȋE\UEE$ED$ED$E$ЋE4ED$EdD$E$ЃP[^]ÐUWV0E(ED$E D$E$E}~>EEU4}EEU EUEXDL7EE}~BEEU u}UEE UYEEU‰UE(ȋU\ EE܋U UEUhEY\ȋUEE$UYXȋUU܋EEUEtUY\ȋUEE(UYXȋEE܋UUEUEY\(EEUEMEUXMEUXMEUXEU^EMUEYEEY(XEYEEYXMEU(YEUY\(MEUYE(^EUYE^X0^_]UWVPE(E$D$E D$E$E}v>EE؋U؍4}$EE؋U؍ E$UMXDL7E뺍}EU;UrEE܋M܍EEE}vEUЍE };<rUЍ UEEԋ}ԍ4 EE؋M؍<42uЋUЍ4MEE؋U‰U1M9(ȋ}Y 8EDXUDE\EAE E}vTEE؋}؍ u,}UEEЍ EXEYEE؋U‰UE$(ȋU\ UEEЍ$EXEYXȋUEEЍ(EXEYXȋEEU$ UE؋UhEY\ȋUUE$EU؋EtUY\ȋEEU$UE؋UEY\(EċEċU؉EM$E$UXM$E$UXM$E$UXEU^EM(UEYEEY(XEYEEYXM(EU(YEUY\(M(EUYE(^EUYE^XP^_]UWVS{Dždd~Dž``;E|sdd`<dddE P ```\XUddЍhM ```‰@(ȋ@Y UddЍlM ```‰@@YXȋUddЍpM ```‰@@YXȋ\X0\D`}dYEUYhEUYE(YEUY\(lEUYE(YEUYXpEUYtEUYE(YEUYXxEUYE(YEUY\(|E((5EEUYEEUYEDždd~Dž``;U|dddEP ``` ddu(ȋ`YLddu|`YDXȋddux`YDX `&dDž``;U|U```<TEP((DDWM```(Y uM```‰@F@YXT>U```P:uM ```‰@F(ȋ@Y uM```‰@F @Y\(P7U```<LEP((DDWM ```(Y uM```‰@F @YXL>`ļ[^_]ÐUWVpE}~EE;E|U}MUȍ MUЍ(Y MUȍ$MUЍYXȋMUȍ(MUЍYXDE.EEE;E|EE;E|UЍ4M UЍ<41uUЍ4M UЉE41uuUЍ U(YLuUЍ UYDXȋuUЍ UYDXȋEUXE8EEp^_]UWVpEEEEEEE}~YE}~DMEEEU(ȋEYLLUD\EDE봃E럋E (YME$YEXȋE(YEXE؋E,(YME0YEXȋE4YEXE܋E8(YME<YEXȋE@YEXEE@LXEEE@PXEEE@TXEEE@XEċE@\EȋE@`EEU;U|E}~EEU‰U} EEU‰UE EEEU4MEEU‰U1U(ȋEYLUE\UEtEWp^_]ÀE??@75'UWVSlE}~EE}~wEEMЍ4}EEMЍ U 7EEu EEuЍE DE끋EU EQE}~EE9EEEMEu0D^EEEU9UHEEu EEuEEEMYLD\Dm뮋EEEEDmQE6E}~E}~EE}~EEMЉEuuEEMЍ4}EEU‰UEEMЍEMD(Y 7\uE0EdEGE}~\EEMЍ4}EEMЍ EEEUЃ0U ^7EE}MM}EEuЉEEEEEMЍ4}EEU‰UEEMЍEMD(Y 7\uE0mdmGEl[^_]ÐUWVSLrE@<E}~EEԋMԍE Z f.w?EEԋ}ԍ4M EEԋ}ԍE  \(1bEEԋMԍE Z f.w:EEԋ}ԍ4M EEԋ}ԍE  X1UMԉMEEԋuԍE }ԉEuE $0&ٞuE $&ٞuE $&ٞuE $%ٞuE $%ٞuE $%ٞE$m%]EZȍf.wXRD$($%‹ED$$$(D$$$UEZf.wEUY$S$]̋EM.wE@<EU(YEUYEYXE܋EU(YEUYEY\(EE(YMEYEX$h#]ЋMuUEE\YB@YE(^M \ MuUEE\YB@YE(^M\uMEU@D(Y \ uMEU@D(Y\EZf.wEU(YEUYEYX$8"]̋EM.wnE@<EU(YEUYEY\(E؋EUYEE(YMEYEX$u!]ЋMuUEE\YB@YE(^M\MuUEE\YB@YE(^M\uMEU@D(Y\uMEU@D(Y\EZf.wqEUY$m ]̋EM.w4E@<EUYE؋EEE(YMEYEX$]ЋMuUEE\YB@YE(^M\MuUEE\YB@YE(^M \ uMEU@D(Y\uMEU@D(Y \ L[^_]ÐUV$E$iEuE$?EEt$$$^]ÐU(E$EUE EED$$EE$U(EEED$E$MEÐU(E@EED$E$$EÐUVE$ƋE $)^]ÐU(ED$E$EÐU(ME EED$E$nEÐUEÐUE D$E$&ÐUE$UE ÐUEÐUE D$E$ÐUE$~UE ÐUE$ÐU(E$]EEEÐUU(%EEÐU(E$]EEEÐU(QEEE.EztE$5]EUMEU (Y EU Y\(MEU (Y EU Y\(MEU (Y EU Y\(ÐUD$E$KÐUD$E$/ÐUÐUVE}~'MuUЍE Eу^]ÐUEU (Y EU YXEEU (Y EU Y\(EME(YMEU Y\(EU (Y EYEXEUE(YMEYEXUE(YMEYE\(ÐUEU (Y EU Y\(EEU (Y EU YXEEU (Y EYEXEME(YMEU Y\(UE(YMEYE\(UE(YMEYEXÐUSaEUYEEUYEE U \EE(YME EXEY\(EE \EEE XEE؋E ZZM \f(ZE\f(f(YEYEZ\f(ZE܋E U(YE UY\(E̋E U(YE UYXEЋEUYEEUYEE \EEE(YMEXEYE\(EE \EEE EXEZUZM \f(ZE\f(f(YEYEZ\f(ZEEE(YEEYXEEE(YEEY\(EEUYEEUYEE\EEE(YMEXEYE\(EEE\EEEXEM UZUZM \f(ZE\f(f(YEYEZ\f(ZMUEE(YEEY\(ttMUEE(YEEYXttĔ[]ÐU$U(ED$E D$E $E EXEE EXEE EXEE ED$E D$E$ЋE E D$ED$E$ÐU(EE D$E D$E$ЋEED$E D$E$ЍED$E D$E $UEXEUEXEUEXEÐUVE}~LEE}~8EEU EEuE TDȃEE묋E,ED$EȉD$E$E}~iEE}~UEEMEHTEEuEPTEEEDE룃E돋M E\U(YZ]EM(EXU(YJMEMDEtU(YR UEMHU E \EEMdU(E(\EEM逋UDED\EEMu`EtU(YJEpUYB\(EEMuxEU(YJEtUYB\(EEM$uLETU(YJE\UYB \(EEM,u|E\U(YJEUYB \(EEM? t$#0%0  0US} u}u$E } u}u$ []UD$$UD$$~15dmSphericalLink11dmRigidBody6dmLink8dmObject\FxFzPLR|  $$ظ $Lĸ ,t/ (xl ,z , ,0L (` ,x& ,pN  , ,$ ,LD (|; $< $% $& ( . $L $t2 $  $ $ $  $< $d (L $l $X $P& $0P $XH0 $P $ $ $  ( C $L= $t= (= $ $ $l (@ $l $ $ $ ( l@ $8  $` w⍀Pc^⍀PJE⍀P1,⍀P⍀P⍀P~⍀~Pͯȯi⍀iP鴯误T⍀TP雯薯?⍀?P邯}*⍀*Pid⍀PPK⍀P72⍀P⍀P⍀P⍀PӮή⍀P麮赮⍀P顮蜮m⍀mP鈮胮X⍀XPojC⍀CPVQ.⍀.P=8⍀P$⍀P ⍀P⍀P٭ԭ⍀P軭⍀P駭袭⍀P鎭艭⍀Pupq⍀qP\W\⍀\PC>G⍀GP*%2⍀2P ⍀P⍀P߬ڬ⍀PƬ⍀P魬訬⍀P锬菬⍀P{OOOOOP'P@PYPrPPPPPPQ!Q:QSQlQQQQQQRR4RMRfRRRRRRRS.SGS`SyS"pE.!pEpE| @E| l8EA  l M = | #    T`E| jS'''| '6'6'6}'6h'6F'6=2| !  ED| u&HE9HE9xHE9|    Fg5 } m Y 9 $    x O B )       z |   0E+A0E+&0E+'+0T+4T+D+(E+pY@''+'+J E+'+E+| ''d'' |  |xtplhd`\^ X\ T] P[ LY HZ DX @@ <840U ,L (M $s ~ b B:8TF%8TF| Ty P Du @x < (t $v r w  dxFdO``OG<\FNNG=MMG=MMG9MMGxP8xMttMGP7PMLLMG$6$M  MG6LLG6LLG6LLG5LLG\5\LXXLG454L00LG \5 LLG<5KKG(5KKGFKKGh5hKddKG@4@K<7=E= 9}  x |-   v__ZN15dmSphericalLinkC2Ev__ZN15dmSphericalLinkC4Ev__ZN15dmSphericalLinkC1Ev___i686.get_pc_thunk.bx__ZN15dmSphericalLink14setJointLimitsEPfff__ZN15dmSphericalLink10initABVarsEv__ZN15dmSphericalLink16matrixInverse3PDEPA3_fS1___ZN15dmSphericalLink11setJointPosEPf__ZN15dmSphericalLink8setStateEPfS0___ZNK15dmSphericalLink8getStateEPfS0___ZNK15dmSphericalLink7getPoseEPA3_fPf__ZN15dmSphericalLink19ABForwardKinematicsEPfS0_RK16dmABForKinStructRS1___ZN15dmSphericalLink18ABBackwardDynamicsERK16dmABForKinStructPfPA6_fS3_S5___ZN15dmSphericalLink19ABBackwardDynamicsNERK16dmABForKinStructPfPA6_f__ZN15dmSphericalLink22ABForwardAccelerationsEPfS0_S0_S0___ZN15dmSphericalLink22ABForwardAccelerationsEPfPjjPPS0_S2_S1_S0_S0_S0___ZNK15dmSphericalLink12XikToInboardEPPfS1_i__ZNK15dmSphericalLink10BToInboardEPPfS1_iS1_i__ZNK15dmSphericalLink10xformZetakEPfPS0_i__ZNKSt6vectorIP7dmForceSaIS1_EE4sizeEv__ZNSt6vectorIP7dmForceSaIS1_EEixEm__ZNKSt6vectorIP7dmForceSaIS1_EE5beginEv__ZNKSt6vectorIP7dmForceSaIS1_EE3endEv__ZN9__gnu_cxxmiIPKP7dmForceS4_St6vectorIS2_SaIS2_EEEENS_17__normal_iteratorIT_T1_E15difference_typeERKSB_RKNS8_IT0_SA_EE__ZNSt6vectorIP7dmForceSaIS1_EE5beginEv__ZNK9__gnu_cxx17__normal_iteratorIPP7dmForceSt6vectorIS2_SaIS2_EEEplERKi__ZNK9__gnu_cxx17__normal_iteratorIPP7dmForceSt6vectorIS2_SaIS2_EEEdeEv__ZN9__gnu_cxx17__normal_iteratorIPKP7dmForceSt6vectorIS2_SaIS2_EEEC1ERKS4___ZN9__gnu_cxx17__normal_iteratorIPKP7dmForceSt6vectorIS2_SaIS2_EEEC4ERKS4___ZNK9__gnu_cxx17__normal_iteratorIPKP7dmForceSt6vectorIS2_SaIS2_EEE4baseEv__ZN9__gnu_cxx17__normal_iteratorIPP7dmForceSt6vectorIS2_SaIS2_EEEC1ERKS3___ZN9__gnu_cxx17__normal_iteratorIPP7dmForceSt6vectorIS2_SaIS2_EEEC4ERKS3___ZTV15dmSphericalLink__ZTI15dmSphericalLink__ZN15dmSphericalLinkD1Ev__ZN15dmSphericalLinkD0Ev__ZNK15dmSphericalLink10getNumDOFsEv__ZN15dmSphericalLink13setJointInputEPf__ZNK15dmSphericalLink12rtxToInboardEPKfPf__ZNK15dmSphericalLink14rtxFromInboardEPKfPf__ZNK15dmSphericalLink12stxToInboardEPKfPf__ZNK15dmSphericalLink14stxFromInboardEPKfPf__ZNK15dmSphericalLink19rcongtxToInboardSymEPA3_KfPA3_f__ZNK15dmSphericalLink19rcongtxToInboardGenEPA3_KfPA3_f__ZNK15dmSphericalLink21scongtxToInboardIreflEPA6_KfPA6_f__ZN11dmRigidBody15pushForceStatesEv__ZN11dmRigidBody14popForceStatesEv__ZNK11dmRigidBody18getPotentialEnergyERK16dmABForKinStructPf__ZNK11dmRigidBody16getKineticEnergyERK16dmABForKinStruct__ZNK15dmSphericalLink4drawEv__ZSt4acosf__ZSt3cosf__ZSt4fabsf___i686.get_pc_thunk.cx__ZSt3sinf__ZSt4sqrtf__Z12crossproductPKfS0_Pf__ZNSt8iteratorISt26random_access_iterator_tagP7dmForceiPKS2_RS3_EC2Ev__ZNSt8iteratorISt26random_access_iterator_tagP7dmForceiPKS2_RS3_EC4Ev__ZNSt8iteratorISt26random_access_iterator_tagP7dmForceiPS2_RS2_EC2Ev__ZNSt8iteratorISt26random_access_iterator_tagP7dmForceiPS2_RS2_EC4Ev__ZTVN10__cxxabiv120__si_class_type_infoE__ZTS15dmSphericalLink__ZTI11dmRigidBody__ZN15dmSphericalLinkD4Ev__ZTS11dmRigidBody__ZTI6dmLink__ZTS6dmLink__ZTI8dmObject__ZTVN10__cxxabiv117__class_type_infoE__ZTS8dmObject_ZNK15dmSphericalLink8getStateEPfS0_.eh_ZNK15dmSphericalLink7getPoseEPA3_fPf.eh_ZNK15dmSphericalLink12XikToInboardEPPfS1_i.eh_ZNK15dmSphericalLink10BToInboardEPPfS1_iS1_i.eh_ZNK15dmSphericalLink10xformZetakEPfPS0_i.eh_ZN15dmSphericalLinkC2Ev.eh_ZN15dmSphericalLinkC1Ev.eh_ZN15dmSphericalLinkC4Ev.eh_ZN15dmSphericalLink14setJointLimitsEPfff.eh_ZN15dmSphericalLink10initABVarsEv.eh_ZN15dmSphericalLink16matrixInverse3PDEPA3_fS1_.eh_ZN15dmSphericalLink11setJointPosEPf.eh_ZN15dmSphericalLink8setStateEPfS0_.eh_ZN15dmSphericalLink19ABForwardKinematicsEPfS0_RK16dmABForKinStructRS1_.eh_ZN15dmSphericalLink18ABBackwardDynamicsERK16dmABForKinStructPfPA6_fS3_S5_.eh_ZN15dmSphericalLink19ABBackwardDynamicsNERK16dmABForKinStructPfPA6_f.eh_ZN15dmSphericalLink22ABForwardAccelerationsEPfS0_S0_S0_.eh_ZN15dmSphericalLink22ABForwardAccelerationsEPfPjjPPS0_S2_S1_S0_S0_S0_.eh_ZNKSt6vectorIP7dmForceSaIS1_EE4sizeEv.eh_ZNSt6vectorIP7dmForceSaIS1_EEixEm.eh_ZNKSt6vectorIP7dmForceSaIS1_EE5beginEv.eh_ZNKSt6vectorIP7dmForceSaIS1_EE3endEv.eh_ZN9__gnu_cxxmiIPKP7dmForceS4_St6vectorIS2_SaIS2_EEEENS_17__normal_iteratorIT_T1_E15difference_typeERKSB_RKNS8_IT0_SA_EE.eh_ZNSt6vectorIP7dmForceSaIS1_EE5beginEv.eh_ZNK9__gnu_cxx17__normal_iteratorIPP7dmForceSt6vectorIS2_SaIS2_EEEplERKi.eh_ZNK9__gnu_cxx17__normal_iteratorIPP7dmForceSt6vectorIS2_SaIS2_EEEdeEv.eh_ZN9__gnu_cxx17__normal_iteratorIPKP7dmForceSt6vectorIS2_SaIS2_EEEC1ERKS4_.eh_ZN9__gnu_cxx17__normal_iteratorIPKP7dmForceSt6vectorIS2_SaIS2_EEEC4ERKS4_.eh_ZNK9__gnu_cxx17__normal_iteratorIPKP7dmForceSt6vectorIS2_SaIS2_EEE4baseEv.eh_ZN9__gnu_cxx17__normal_iteratorIPP7dmForceSt6vectorIS2_SaIS2_EEEC1ERKS3_.eh_ZN9__gnu_cxx17__normal_iteratorIPP7dmForceSt6vectorIS2_SaIS2_EEEC4ERKS3_.eh_ZSt4acosf.eh_ZSt3cosf.eh_ZSt4fabsf.eh_ZSt3sinf.eh_ZSt4sqrtf.eh_Z12crossproductPKfS0_Pf.eh_ZN15dmSphericalLinkD1Ev.eh_ZN15dmSphericalLinkD0Ev.eh_ZNK15dmSphericalLink10getNumDOFsEv.eh_ZN15dmSphericalLink13setJointInputEPf.eh_ZNK15dmSphericalLink14rtxFromInboardEPKfPf.eh_ZNK15dmSphericalLink12rtxToInboardEPKfPf.eh_ZNK15dmSphericalLink19rcongtxToInboardSymEPA3_KfPA3_f.eh_ZNK15dmSphericalLink19rcongtxToInboardGenEPA3_KfPA3_f.eh_ZNK15dmSphericalLink14stxFromInboardEPKfPf.eh_ZNK15dmSphericalLink12stxToInboardEPKfPf.eh_ZNK15dmSphericalLink21scongtxToInboardIreflEPA6_KfPA6_f.eh_ZNSt8iteratorISt26random_access_iterator_tagP7dmForceiPKS2_RS3_EC2Ev.eh_ZNSt8iteratorISt26random_access_iterator_tagP7dmForceiPKS2_RS3_EC4Ev.eh_ZNSt8iteratorISt26random_access_iterator_tagP7dmForceiPS2_RS2_EC2Ev.eh_ZNSt8iteratorISt26random_access_iterator_tagP7dmForceiPS2_RS2_EC4Ev.eh_ZN15dmSphericalLinkD4Ev.eh___i686.get_pc_thunk.axdyld_stub_binding_helper___gxx_personality_v0__ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6___ZSt4cerr__ZdlPv_exit_sqrtf_sinf_cosf_acosf__ZNSt8ios_base4InitD1Ev__ZNSt8ios_base4InitC1Ev__ZN11dmRigidBody11computeBetaERK16dmABForKinStructPf__ZNSolsEPFRSoS_E__ZNSolsEf__ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc__Unwind_Resume__ZN11dmRigidBodyD2Ev__ZN11dmRigidBodyC2Ev__ZSt8__ioinit__Z41__static_initialization_and_destruction_0ii__GLOBAL__I__ZN15dmSphericalLinkC2Ev__GLOBAL__D__ZN15dmSphericalLinkC2EvEH_frame1_Z41__static_initialization_and_destruction_0ii.eh_GLOBAL__I__ZN15dmSphericalLinkC2Ev.eh_GLOBAL__D__ZN15dmSphericalLinkC2Ev.eh