xo yo z0 jacobiano inversa

14 4 4 0.03740697 -0.02271837
4 7 3 8 19 -21 0.05503329 0.07128868
-21 -9 20 0.0640423 0.00822562
6.08969839 3.36701919 4 0.27641278 -0.07086918
3.36701919 -0.91030161 2.12573443 6.73403839 21.6227967 2.73090482 -0.07218404 0.06119787
2.73090482 -7.97532315 12.0896984 -0.11005635 0.05637938
7.7778216 -0.07045902 4 0.11903189 0.01202642
-0.07045902 0.7778216 4.68628274 -0.14091805 13.9411518 -2.33346479 0.00432044 0.0681384
-2.33346479 4.89765981 13.7778216 0.01862389 -0.0221846
7.65781687 1.34082881 4 0.12453894 -0.01071395
1.34082881 0.65781687 3.39070432 2.68165763 17.827887 -1.97345061 -0.01682728 0.05782823
-1.97345061 -0.63178213 13.6578169 0.01721653 0.00112693
7.55794649 1.40349287 4 0.12803701 -0.01189299
1.40349287 0.55794649 3.34655443 2.80698574 17.9603367 -1.67383946 -0.01864822 0.05774305
-1.67383946 -0.86392418 13.5579465 0.01461894 0.00221115
7.55807402 1.40509336 4 0.12804532 -0.01191609
1.40509336 0.55807402 3.34505015 2.81018672 17.9648496 -1.67422206 -0.01866784 0.05773649
-1.67422206 -0.87022993 13.558074 0.01461351 0.00223438
7.55807385 1.40509334 4 0.12804533 -0.01191609
1.40509334 0.55807385 3.34505019 2.81018668 17.9648494 -1.67422155 -0.01866785 0.05773649
-1.67422155 -0.87022983 13.5580739 0.0146135 0.00223438
7 4 0.14285714 0.0081846
3.34505019 17.9648494 0.05566426
3.34505019 13 -0.01432306
7 4 0.14285714 0.00741362
3.13581563 18.5925531 0.05378497
3.13581563 13 -0.01297383
7 4 0.14285714 0.00747141
3.15200637 18.5439809 0.05392585
3.15200637 13 -0.01307497
inversa b xi,yi,zi xi yi zi xi+1 yi+1
-0.03133568 -44 -0.63298081
0.06384646 -137 -7.91030161 -0.63298081 -7.91030161 -0.87426557 3.36701919 -0.91030161
0.04582844 67 -0.87426557
-0.07544556-5.00706909 -3.43747822
0.01005903 20.3464483 1.6881232 -3.43747822 1.6881232 2.56054831 -0.07045902 0.7778216
0.10639295 8.10550294 2.56054831
-0.0325207 5.80288674 1.41128784
0.01028586 1.15130658 -0.12000473 1.41128784 -0.12000473 -1.29557843 1.34082881 0.65781687
0.06341623-21.7311812 -1.29557843
-0.03802212 0.16936121 0.06266405
0.01328399-1.52530675 -0.09987038 0.06266405 -0.09987038 -0.04414989 1.40349287 0.55794649
0.06833873-0.66355918 -0.04414989
-0.03924304 0.00625828 0.00160049
0.01263063 0.00930102 0.00012753 0.00160049 0.00012753 -0.00150428 1.40509336 0.55807402
0.06971744-0.02318412 -0.00150428
-0.03924831 -2.0412E-07 -2.0317E-08
0.01263712 -3.1371E-06 -1.6715E-07 -2.0317E-08 -1.6715E-07 4.6077E-08 1.40509334 0.55807385
0.069721328.04192E-07 4.6077E-08
-0.03924831
0.01263712 1.40509334 0.55807385
0.06972132
-0.04395604 10.6197992 1.63667678
12 0.66797109 1.63667678 0.66797109 -0.20923456 1.63667678 0.66797109
0.07692308 -0.48565251 -0.20923456
-0.04395604 11.4567375 1.62742493
12 0.6454197 1.62742493 0.6454197 0.01619074 1.62742493 0.6454197
0.07692308 2.23439681 0.01619074
-0.04395604 11.3919745 1.62811849
12 0.64711024 1.62811849 0.64711024 -0.00121373 1.62811849 0.64711024
0.07692308 2.02391717 -0.00121373
zi+1 distacia

2.12573443 7.98360047

4.68628274 4.60678023

3.39070432 1.91954629

3.34655443 0.12589714

3.34505015 0.00220016

3.34505019 1.74573E-07

3.34505019

3.13581563 1.78007735

3.15200637 1.75081142

3.15079265 1.75200541