skimboard_dynamics.py

# from numpy import sign, pi, sqrt
from numpy import sign, pi, sqrt, sin, cos, arctan2, ceil, log
import numpy as np
import matplotlib.animation as animation
import matplotlib.pyplot as plt
from matplotlib import colors, patches

# from pydrake.all import MathematicalProgram, Solve, IpoptSolver, SolverOptions, GetInfeasibleConstraints
# from pydrake.math import sin, cos, atan2, ceil, log

np.set_printoptions(threshold=np.inf)

# don't forget this is Python 2.7, so you'll probably have problems with ints and floats
# water depth and wave speed factors are going to need some tuning

# want data for multiple cases:
# wave gaussian or no gaussian
# water depth constant or no
# wave push/pulling or no
# control C_D or no
# control alpha or no
# control omega or no

class Skimboard:
    def __init__(self):
        self.beach = Beach()
        self.beach.add_wave()
        self.g = 9.807 # m/s^2
        self.m = 80.0 # kg
        self.rho_w = 1025.0 # kg/m^3
        self.rho_a = 1.225 # kg/mg^3
        self.c_f = 0.005
        self.S_B = pi * 48.0 * 19.5 * 0.00064516 # m^2
        self.S_H = 2.0 # m^2
        self.omega_default = 0.0 # rad/s
        self.alpha_default = 0.0 # rad
        self.C_D_default = 1.0
        self.terminal_velocity = sqrt(2 * self.m * self.g / (self.rho_w * self.S_B))
        # print(self.terminal_velocity)
        self.omega_limit = pi/6.0
        self.alpha_limits = [-1.0e-7, pi/36.0]
        self.C_D_limits = [0.5, 1.5]
        self.initial_velocity_limit = 2.7 # m/s
        self.wave_history = [self.beach.waves[0].limit]
        
    def skimboard_dynamics(self, state, u, dt):
        '''
        inputs

        state:
        skimboard state vector
        [x, y, xdot, ydot]

        u:
        input vector
        [omega, alpha, C_D]

        return:
        time derivative of system state
        [xdot, ydot, xddot, yddot]
        '''

        pos = state[0:2]
        derivs = np.zeros_like(state)
        derivs[0:2] = state[2:4] # xdot, ydot

        v = self.two_norm(derivs[0:2])

        g = self.g
        m = self.m
        rho_w = self.rho_w
        rho_a = self.rho_a
        c_f = self.c_f
        S_B = self.S_B
        S_H = self.S_H
        omega = u[0]
        alpha = u[1]
        C_D = u[2]

        derivs_mag = -g * alpha - 1 / (2 * m) * rho_w * v**2 * S_B * c_f - 1 / (2 * m) * rho_a * v**2 * S_H * C_D
#         derivs_mag *= 1 / self.beach.get_water_depth(pos) # water depth scale factor

        angle = atan2(derivs[1], derivs[0]) + omega * dt

        derivs[2] = cos(angle[0]) * derivs_mag + self.beach.get_wave_speed() # xddot
        derivs[3] = sin(angle[0]) * derivs_mag # yddot
        
        self.beach.step(dt)
        self.wave_history.append(self.beach.waves[0].wave_limit)

        return derivs

    def passive_skimboard_dynamics(self, state, dt):
        u = np.array([self.omega_default, self.alpha_default, self.C_D_default])
        return self.skimboard_dynamics(state, u, dt)

    def two_norm(self, x):
        slack = 0.001
        return sqrt(((x)**2).sum() + slack)

    def simulate_states_over_time(self, state_initial, time_array, input_trajectory):
        pass

    def simulate_states_over_time_passive(self, state_initial, time_array):
        pass

    def plot_trajectory(self, trajectory):
        # animate beach and skimboard motion, with oval for current position and line for trajectory
        pass

    def compute_trajectory_over_wave(self, minimum_time, maximum_time):

        g = self.g
        m = self.m
        rho_w = self.rho_w
        rho_a = self.rho_a
        c_f = self.c_f
        S_B = self.S_B
        S_H = self.S_H
        
        # number of knot points
        N = 100

        mp = MathematicalProgram()

        # decision variables:
        # total time (set minimum time and maximum time to allow start at any point in the wave)

#         total_time = mp.NewContinuousVariables(1, "total_time")
#         dt = total_time[0] / N
        
        total_time = [25.0]
        dt = total_time[0] / N

        # all positions

        k = 0
        x0 = mp.NewContinuousVariables(4, "x_0")
        x_over_time = x0
        for k in range(1, N+1):
            xk = mp.NewContinuousVariables(4, "x_%d" % k)
            x_over_time = np.vstack((x_over_time, xk))

        # all controls

        alpha = [0] # mp.NewContinuousVariables(1, "alpha")

        C_D = [1] # mp.NewContinuousVariables(1, "C_D")

        k = 0
        u = mp.NewContinuousVariables(1, "u%d" % k)
        u_over_time = u
        for k in range(1, N):
            u = mp.NewContinuousVariables(1, "u%d" % k)
            u_over_time = np.vstack((u_over_time, u))

        # maximize distance travelled
        mp.AddQuadraticCost(- ((x_over_time[0,2:4])**2).sum() )
#         denom = rho_w * S_B * c_f + rho_a * S_H * C_D[0]
#         print(x_over_time[0,2:4])
# #         top = m*g*alpha[0] + denom * self.two_norm(x_over_time[0,2:4])**2 / 2
#         top = m*g*alpha[0] + denom * sqrt(x_over_time[0,2]**2 + x_over_time[0,3]**2)**2 / 2
#         mp.AddQuadraticCost(top)
#         bot = m*g*alpha[0] + denom * self.terminal_velocity**2 / 2
# #         mp.AddQuadraticCost(-m/denom * log(top/bot))
#         print(m)
#         print(denom)
#         print(top)
#         print(bot)
#         print(m/denom * top/bot)
#         print(-(m/denom * top/bot)**2)
#         mp.AddQuadraticCost(-(m/denom * top/bot)**2)
    
        # dynamic constraints

        for i in range(N - 1):
            dx = x_over_time[i,:] + self.skimboard_dynamics(x_over_time[i,:], [u_over_time[i,:], alpha[0], C_D[0]], dt) * dt
            for j in range(2):
                mp.AddConstraint(x_over_time[i+1, j] == dx[j])

        # stay in water constraints
        print(len(self.wave_history))
#         for i in range(N+1):
        for i in range(N):
            print(i)
#             mp.AddConstraint(self.beach.get_water_depth(x_over_time[i,0:2]) == 1)
#             mp.AddConstraint(x_over_time[i,0] <= self.beach.waves[0].wave_limit)
            print(self.wave_history[i])
            mp.AddConstraint(x_over_time[i,0] <= self.wave_history[i])

        # control limit constraints

#         mp.AddLinearConstraint(alpha[0] >= self.alpha_limits[0])
#         mp.AddLinearConstraint(alpha[0] <= self.alpha_limits[1])

#         mp.AddLinearConstraint(C_D[0] >= self.C_D_limits[0])
#         mp.AddLinearConstraint(C_D[0] <= self.C_D_limits[1])

        for i in range(N):
            mp.AddLinearConstraint(u_over_time[i,0] >= -self.omega_limit)
            mp.AddLinearConstraint(u_over_time[i,0] <= self.omega_limit)

        # initial position constraint

#         mp.AddConstraint(x_over_time[0, 1] == self.beach.height)

        # avoid deep water

        for i in range(N+1):
            mp.AddConstraint(x_over_time[i, 0] >= self.beach.ocean_width)

        # initial velocity constraint

#         mp.AddConstraint(self.two_norm(x_over_time[0,2:4]) == self.initial_velocity_limit)

        # initial state constraint
   
        mp.AddConstraint(x_over_time[0, 0] == 10)
        mp.AddConstraint(x_over_time[0, 1] == self.beach.height)
        mp.AddConstraint(x_over_time[0, 2] == 0)
        mp.AddConstraint(x_over_time[0, 3] == -2.7)
        
        # velocity constraints
        
#         for i in range(N+1):
#             mp.AddConstraint(self.two_norm(x_over_time[i,2:4]) <= self.initial_velocity_limit)
#             mp.AddConstraint(self.two_norm(x_over_time[i,2:4]) >= -self.initial_velocity_limit)

        # total time constraint

#         mp.AddLinearConstraint(total_time[0] >= minimum_time)
#         mp.AddLinearConstraint(total_time[0] <= maximum_time)

        result = Solve(mp)
    
        print(result.is_success())
        print(GetInfeasibleConstraints(mp, result))

        trajectory = result.GetSolution(x_over_time)
        input_trajectory = result.GetSolution(u_over_time)
#         time_used = result.GetSolution(total_time)
        time_used = total_time[0]
        time_array = np.arange(0.0, time_used, time_used / N)

        return trajectory, input_trajectory, time_array


class Beach:
    def __init__(self):
        self.width = 20
        self.height = 20
        self.water_depth = 1
        self.ocean_width = 5
        self.time = 0
        self.waves = []
        self.beach = np.array([[self.water_depth if i < self.ocean_width else 0 for i in range(self.width)] for j in range(self.height)])
        ocean_color = '#0077be'
        beach_color = '#eed6af'
        cmap = colors.ListedColormap([beach_color, ocean_color])
        bounds = [-np.inf, 1e-7, np.inf]
        norm = colors.BoundaryNorm(bounds, cmap.N)
        self.fig, self.ax = plt.subplots()
        self.im = self.ax.imshow(self.beach, cmap=cmap, norm=norm)
        self.wave_speed = 0

    def get_water_depth(self, pos):
        return self.beach[pos[1]][pos[0]]

    def get_wave_speed(self):
        return self.wave_speed
    
    def get_wave_limit(self):
        if self.waves:
            return self.waves[0].limit

    def add_wave(self):
        self.waves.append(Wave())

    def step(self, dt):
        for wave in self.waves:
            wave.step(dt)
            self.beach = wave.wave
            self.wave_speed = wave.wave_speed
        # self.beach = np.array([[1 if self.beach[j][i] > 0 else 0 for i in range(self.width)] for j in range(self.height)])
        self.time += dt
        # print
        # print(self.beach[0])

    def plot(self):
        # self.im.set_data(self.beach)
        # plt.show()

        ocean_color = '#0077be'
        beach_color = '#eed6af'
        cmap = colors.ListedColormap([beach_color, ocean_color])
        bounds = [-np.inf, 1e-7, np.inf]
        norm = colors.BoundaryNorm(bounds, cmap.N)
        fig, ax = plt.subplots()
        im = ax.imshow(self.beach, cmap=cmap, norm=norm)
        plt.show()

    def animate_step(self, i):
        self.step()
        self.im.set_data(self.beach)
        return [self.im]

    def animate(self):
        anim = animation.FuncAnimation(self.fig, self.animate_step, frames=100, interval=500, blit=True, repeat=False)
        plt.show()

class Wave:
    def __init__(self):
        self.width = 20
        self.height = 20
        self.water_depth = 1
        self.ocean_width = 5
        self.time = 0
        self.frequency = 0.2 * pi
        self.wave_width = 5
        self.wave = np.array([[self.water_depth if i == self.ocean_width else 0 for i in range(self.width)] for j in range(self.height)])
        self.wave_speed = 0
        self.limit = self.ocean_width + 2 * self.wave_width

    def step(self, dt):
#         loc = self.ocean_width + self.wave_width + self.wave_width * -cos(self.frequency * self.time)
        loc = self.ocean_width + self.wave_width + self.wave_width * cos(self.frequency * self.time)
        # print(self.frequency * self.time)
        # print(sin(self.frequency * self.time))
        # print(self.wave_width * sin(self.frequency * self.time))
        # print(loc)
#         loc = int(ceil(loc))
        # print(loc)
        # mod = int(sign(-cos(self.frequency * self.time)))
        # print(mod)
        # print(np.array([[mod * self.water_depth if i == loc else 0 for i in range(self.width)] for j in range(self.height)]))
        # self.wave += np.array([[mod * self.water_depth if i == loc else 0 for i in range(self.width)] for j in range(self.height)])
        new_wave = []
        for i in range(self.height):
            row = []
            # limit = (1+np.random.normal(0, 0.1)) * loc
#             limit = np.random.normal(0, 0.25) + loc
            limit = loc
            for j in range(self.width):
                row.append(self.water_depth) if j < limit else row.append(0)
            new_wave.append(row)
        self.wave = np.array(new_wave)
        self.wave_speed = self.wave_width * sin(self.frequency * self.time)
        self.wave_limit = limit
        # self.wave = np.array([[self.water_depth if i < (1+np.random.normal(0, 0.1)) * loc else 0 for i in range(self.width)] for j in range(self.height)])
        # print(self.wave)
        # print(self.wave[0])
        self.time += dt

if __name__ == "__main__":

    skimboard = Skimboard()

#     minimum_time = 0
#     maximum_time = 50
#     traj, u_traj, time_array = skimboard.compute_trajectory_over_wave(minimum_time, maximum_time)

#     print(traj)
    
    b = Beach()
    b.add_wave()
    b.beach = np.array([[1 if i < 15 else 0 for i in range(20)] for j in range(20)])
    b.plot()
    # for i in range(100):
    #     b.step(0.25)
    #     b.plot()

 
traj = [[10.0, 20.0, 0.0, -2.7000000000000002], [10.0, 19.324999999999999, -1.0843299754275413, -2.2645830402244913], [9.7289175061431159, 18.758854239943901, -1.048734289300548, -2.1756572248346133], [9.466733933817979, 18.214939933735248, -1.0351373512531481, -2.0934569095329891], [9.207949596004692, 17.691575706352005, -1.0419990472092731, -2.0169146668480296], [8.9474498342023736, 17.187347039639992, -1.0674598403198134, -1.9451278946922657], [8.6805848741224185, 16.701065065966926, -1.1093375421554472, -1.8773240830602007], [8.4032504885835575, 16.231734045201879, -1.1651416513982338, -1.8128373275797161], [8.1119650757339983, 15.77852471330695, -1.2321045348095856, -1.7510946245350885], [7.8039389420316025, 15.340751057173179, -1.3072291154383595, -1.6916100789280986], [7.4771316631720124, 14.917848537441154, -1.3873524873024741, -1.6339845999492821], [7.1302935413463944, 14.509352387453832, -1.3168034952180132, -1.3723962020057359], [6.8010926675418908, 14.1662533369524, -1.2331354289994558, -1.1241025213288145], [6.4928088102920265, 13.885227706620196, -1.1494204112053357, -0.90862783476974907], [6.2054537074906921, 13.658070747927759, -1.0609444317469401, -0.72125907735201977], [5.9402175995539581, 13.477755978589755, -0.96409010318573252, -0.5586651074358111], [5.699195073757525, 13.338089701730803, -0.84691572457648379, -0.43305618424523473], [5.4874661426134042, 13.229825655669492, -0.71563885517751324, -0.33250181942388218], [5.3085564288190259, 13.146700200813521, -0.57190020948143805, -0.24824539873072504], [5.1655813764486656, 13.08463885113084, -0.41609231769741584, -0.17192588290702721], [5.0615582970243116, 13.041657380404084, -0.24623318809726297, -0.10115958800975218], [5.0, 13.016367483401647, -1.1931690303874993e-15, -0.031980163291181321], [5.0, 13.00837244257885, 2.617163840236418e-05, -0.022482868123514521], [5.0000065429095999, 13.002751725547972, 0.016330813677176502, 0.036148683484134879], [5.0040892463288937, 13.011788896419008, 0.053866349792662457, 0.033849352380901893], [5.0175558337770605, 13.020251234514232, 0.11055141811481131, 0.033806735482810879], [5.0451936883057638, 13.028702918384933, 0.18132767779285316, 0.032792515307056701], [5.0905256077539764, 13.0369010472117, 0.26920065035512369, 0.03266453445754295], [5.1578257703427575, 13.045067180826086, 0.36906448436590811, 0.032427133841785624], [5.2500918914342343, 13.053173964286531, 0.27313988908583836, 0.00049170349095409586], [5.3183768637056943, 13.05329689015927, 0.18129138299275638, -0.0086498858207443522], [5.3636997094538836, 13.051134418704084, 0.12260748275970437, -0.0090520211330966157], [5.3943515801438089, 13.048871413420809, 0.10741736974266534, -0.0053628874040082888], [5.4212059225794755, 13.047530691569806, 0.09219238303579097, 0.0078254514645580975], [5.4442540183384232, 13.049487054435946, -0.00071666641794575106, -0.022449655614696275], [5.4440748517339363, 13.043874640532273, 0.10884104349731631, 0.18432828100677309], [5.4712851126082658, 13.089956710783966, 0.14524593803248889, 0.087198351150611197], [5.5075965971163878, 13.111756298571621, 0.21510535606277212, 0.074437430740393939], [5.5613729361320807, 13.130365656256718, 0.22557474667539804, 0.048078078836020971], [5.6177666228009304, 13.142385175965721, 0.12600281160108884, 0.02500057411937958], [5.649267325701202, 13.148635319495567, 0.14824480051751493, 0.021203072673338309], [5.6863285258305805, 13.153936087663901, 0.14174662951703962, 0.017114131117112841], [5.7217651832098406, 13.158214620443177, 0.12233319535143825, 0.014486112439146425], [5.7523484820477, 13.161836148552965, 0.092874700163518759, 0.013180318448987521], [5.7755671570885792, 13.165131228165212, 0.049741397239037831, 0.012494713677032714], [5.7880025063983389, 13.168254906584469, -0.012104199159596537, 0.011198987282470412], [5.7849764566084403, 13.171054653405086, -0.083097656794351313, 0.0087144037952465014], [5.7642020424098517, 13.173233254353898, -0.1589631162134435, 0.007405845392349941], [5.724461263356492, 13.175084715701987, -0.23851531787275546, 0.0063943400195897084], [5.6648324338883036, 13.176683300706884, -0.21604612576617421, -0.0040444593079424617], [5.6108209024467603, 13.1756721858799, -0.32320412588957276, -0.0038239600956161239], [5.5300198709743666, 13.174716195855996, -0.41241431511262677, -0.0049697140386454081], [5.4269162921962097, 13.173473767346334, -0.32199659972231487, -0.010784034877291106], [5.346417142265631, 13.170777758627011, -0.25113479779018633, -0.010161748118634248], [5.2836334428180844, 13.168237321597354, -0.19817502883405677, -0.0074502857933546988], [5.23408968560957, 13.166374750149014, -0.23007957693290368, 0.00070630408628083799], [5.1765697913763447, 13.166551326170586, -0.12784589395596102, -0.010225578611500466], [5.1446083178873545, 13.16399493151771, -0.13155427887183177, 0.0020806117856238425], [5.1117197481693966, 13.164515084464117, -0.19445340481497553, 0.0015351414737955725], [5.0631063969656527, 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-0.55191562731559052], [5.0676854340622928, 5.2642035483096121, -0.19211332668189593, -0.54531575018178657], [5.0196571023918182, 5.1278746107641648, -0.078628409567275015, -0.53929771713163233], [5.0, 4.9930501814812569, 0.041061257754940246, -0.53368716371600922], [5.010265314438735, 4.8596283905522553, 0.16409265718179519, -0.52823570921709817], [5.0512884787341834, 4.7275694632479803, 0.28735104954764934, -0.52266320611805872], [5.1231262411210956, 4.596903661718466, 0.40753440533331037, -0.51672209271379177], [5.2250098424544227, 4.467723138540018, -0.19290024054704044, -0.51024553840815334], [5.1767847823176636, 4.3401617539379798, -0.19810930924519743, -0.50493044795313213], [5.1272574550063643, 4.2139291419496967, -0.20158676082629318, -0.49970015707134768], [5.0768607647997905, 4.0890041026818595, -0.17182220966079531, -0.49455779919049525], [5.0339052123845915, 3.9653646528842352, -0.096640741232379104, -0.48961196122691408], [5.0097450270764972, 3.8429616625775069, -0.038980108305989379, -0.48494409481939316], [5.0, 3.7217256388726585, 0.0, -0.48043706420724347], [5.0, 3.601616372820847, 0.24623318809725125, -0.47602789677802299], [5.0615582970243116, 3.4826093986263418, 0.73263648599967646, -0.47116277726810152], [5.2447174185242318, 3.3648187043093163, 1.00881540004223, -0.46335404876233616], [5.4969212685347895, 3.2489801921187325, 0.94886653187135139, -0.45357056125533951], [5.7341379015026268, 3.1355875518048975, 0.87311648801676478, -0.44449728738409289], [5.9524170235068175, 3.0244632299588745, 0.78335228495156906, -0.43621312149786406], [6.1482550947447097, 2.9154099495844079, 0.68158436568068603, -0.4287721478260198], [6.3186511861648818, 2.8082169126279033, 0.56999803494250845, -0.42220209343293857], [6.4611506949005086, 2.7026663892696687, 0.45091208669902855, -0.41650113830561758], [6.5738787165752655, 2.5985411046932643, 0.32674623975694206, -0.41163138276889061], [6.6555652765145012, 2.4956332590010417, 0.20000110793759965, -0.40750674598271919], [6.7055655534989009, 2.393756572505362, 0.073258960155323766, -0.40397474070644196], [6.7238802935377322, 2.292762887328752, -0.050785145108838477, -0.40080283258355132], [6.7111840072605213, 2.1925621791828638, -0.16928219015522306, -0.39770317500380148], [6.6688634597217158, 2.0931363854319134, -0.2792658974885544, -0.39441319020692978], [6.5990469853495783, 1.994533087880181, -0.37782124870354883, -0.39076796729294067], [6.5045916731736906, 1.8968410960569457, -0.46229572852094092, -0.38670924135377849], [6.389017741043455, 1.8001637857185011, -0.53045951737962249, -0.38225834051114665], [6.2564028616985494, 1.7045992005907142, -0.58060039062563573, -0.37748755105876419], [6.1112527640421401, 1.6102273128260234, -0.611567969561014, -0.37249897087922479], [5.9583607716518872, 1.5171025701062171, -0.62278033809757749, -0.36740967031219252], [5.8026656871274929, 1.4252501525281689, -0.6142024977641285, -0.36234102903199028], [5.6491150626864606, 1.3346648952701712, -0.58630466371391077, -0.35741084401367085], [5.5025388967579829, 1.2453121842667534, -0.54000766461366778, -0.35272730636755728], [5.3675369806045659, 1.1571303576748642, -0.47662190717772623, -0.34838408107608959], [5.2483815038101342, 1.0700343374058421, -0.39778543326401294, -0.34445555220103463], [5.1489351454941312, 0.98392044935558332, -0.30540591257591454, -0.34099075334983808], [5.0725836673501528, 0.89867276101812377, -0.20161191855883018, -0.33800336750281285], [5.0221806877104447, 0.8141719191424206, -0.088722750841779052, -0.33545357813189464], [5.0, 0.73030852460944695, 2.0088097851811426e-15, -0.33321967231753752], [5.0, 0.64700360653006261, 1.6583956430338276e-15, -0.33108878651697499], [5.0, 0.56423140990081888, 0.12499364532402238, -0.32898482455830125], [5.0312484113310054, 0.48198520376124354, -0.12182899884616546, -0.32676718223688678], [5.000791161619464, 0.40029340820202192, -0.0031646464778553704, -0.32457974094776726], [5.0, 0.31914847296508009, 0.1082246602139172, -0.32255679635480622], [5.0270561650534793, 0.23850927387637852, 0.20863954397250142, -0.32045344326758013], [5.0792160510466049, 0.15839591305948347, 0.29549495332471021, -0.3181102052219556], [5.1530897893777823, 0.078868361753994573, 0.36651051658580075, -0.31547344701597829], [5.2447174185242327, -0.0, 0.41986994041829129, -0.31256397349702414], [5.0, -0.0, 0.0, 0.0]]

no_control_trajectories = []
# 10 wave 10 coming in
no_control_trajectories.append([[10.0, 20.0, 0.0, -2.7000000000000002], [9.9999999999999982, 19.324999999999999, -5.1360632106423054e-05, -2.5613262933125469], [9.9999871598419716, 18.684668426671887, -0.12509758162515444, -2.4365296120830688], [9.9687127644356828, 18.075536023651118, -0.24279897843460321, -2.3234448341396696], [9.9080130198270329, 17.494674815116177, -0.3509349358141991, -2.2201855593347148], [9.8202792858734824, 16.9396284252825, -0.44734638248783853, -2.1252431222561792], [9.7084426902515215, 16.408317644718458, -0.53003036249078028, -2.0374275442627496], [9.5759350996288273, 15.89896075865277, -0.59722829237468056, -1.9558179734540178], [9.4266280265351572, 15.410006265289267, -0.7806801350710042, -1.8797173143699366], [9.231457992767405, 14.940076936696784, -0.8965245306700621, -1.806917033492776], [9.0073268600998926, 14.48834767832359, -0.97196235761898986, -1.7375623526753887], [8.7643362706951446, 14.053957090154745, -1.0277932951040016, -1.6717327579294461], [8.5073879469191453, 13.636023900672383, -1.0687095953930623, -1.6093029455178365], [8.2402105480708805, 13.233698164292923, -1.1001969199383579, -1.5501391329903653], [7.9651613180862917, 12.846163381045329, -1.1258012789981835, -1.4940619738665517], [7.6837109983367453, 12.472647887578693, -1.1458553225716601, -1.4408693119427496], [7.3972471676938305, 12.112430559593006, -1.1597041338919321, -1.3903859762576982], [7.1073211342208467, 11.76483406552858, -1.1721008416103023, -1.3424745905207447], [6.8142959238182712, 11.429215417898396, -1.1801869650766728, -1.2969386460250587], [6.5192491825491024, 11.104980756392131, -1.1860779329442763, -1.2536524666039575], [6.2227296993130334, 10.791567639741142, -1.0875169461985523, -1.2124715226670155], [5.9508504627633956, 10.488449759074388, -0.9303709529676355, -1.1748816411331358], [5.7182577245214867, 10.194729348791105, -0.77885738704672069, -1.1413640218829897], [5.5235433777598075, 9.9093883433203587, -0.63493415389605168, -1.1113394846813676], [5.3648098392857939, 9.6315534721500171, -0.50060416360057958, -1.0842579815222457], [5.2396587983856486, 9.3604889767694548, -0.37786822360673539, -1.0596038523540674], [5.1451917424839655, 9.0955880136809384, -0.26866860224347616, -1.0369071949523623], [5.0780245919230964, 8.8363612149428477, -0.17482099058030182, -1.0157588418526289], [5.0343193442780203, 8.5824215044796901, -0.097936544595151692, -0.99582426781563571], [5.0098352081292328, 8.3334654375257813, -0.039340832516931254, -0.97685116068485356], [5.0, 8.0892526473545683, 2.1094237467877974e-15, -0.95866723887753191], [5.0, 7.8495858376351846, 0.24623318809724909, -0.94116817226999128], [5.0615582970243116, 7.6142937945676872, 0.73263648599967579, -0.69622597120061713], [5.2447174185242318, 7.4402373017675316, 1.0163651867652039, -0.68283885197201744], [5.4988087152155334, 7.2695275887745279, 0.95404513912433964, -0.66693654991085038], [5.7373199999966173, 7.1027934512968152, 0.87615090708008403, -0.65217007182633646], [5.9563577267666394, 6.939750933340231, 0.78445388801484983, -0.63862045615281937], [6.1524711987703515, 6.7800958193020255, 0.68095081763662879, -0.62633129287757172], [6.3227089031795085, 6.6235129960826331, 0.56781889798369056, -0.61530560193587336], [6.4646636276754315, 6.4696865955986649, 0.44737921946035625, -0.60550099512458022], [6.5765084325405203, 6.3183113468175192, 0.32207053963289606, -0.59682235491595559], [6.6570260674487436, 6.1691057580885307, 0.19443612190972043, -0.5891126963279455], [6.7056350979261738, 6.0218275840065454, 0.067125281589616032, -0.58214701699062654], [6.7224164183235775, 5.8762908297588883, -0.05709712694497078, -0.5756409607121783], [6.7081421365873348, 5.7323805895808437, -0.17536004315747647, -0.56928756699463767], [6.664302125797966, 5.5900586978321849, -0.28475384656108849, -0.56281627444888849], [6.593113664157694, 5.4493546292199628, -0.38246583828236341, -0.55604247313915278], [6.4974972045871029, 5.3103440109351734, -0.46594277333021034, -0.54888336813952776], [6.3810115112545507, 5.1731231689002906, -0.53303100001091575, -0.54134570547464023], [6.247753761251821, 5.0377867425316305, -0.58207163954200969, -0.53350257923833155], [6.1022358513663191, 4.9044110977220488, -0.61195027605630914, -0.52547028088210501], [5.9492482823522419, 4.7730435275015228, -0.62210851452471327, -0.51738884522825379], [5.7937211537210631, 4.6436963161944584, -0.61252610649144912, -0.50940661524547881], [5.6405896270982012, 4.516344662383089, -0.58368205899122394, -0.50166818082640841], [5.4946691123503957, 4.3909276171764864, -0.53650248500733455, -0.4943048309638936], [5.3605434910985617, 4.2673514094355136, -0.47230210220525304, -0.48742653011172266], [5.2424679655472488, 4.1454947769075838, -0.39272541930487231, -0.48111418682090107], [5.1442866107210303, 4.0252162302023589, -0.29969317491751363, -0.47541058812445591], [5.0693633169916517, 3.9063635831712444, -0.19536019022980347, -0.47030802773253555], [5.020523269434201, 3.7887865762381105, -0.082093077736803938, -0.46573151368844146], [5.0, 3.6723536978159999, 0.037521923747688, -0.46152213059654001], [5.0093804809369225, 3.5569731651668648, 0.16064218017245505, -0.45743925170223043], [5.0495410259800355, 3.4426133522413074, 0.28414630920661405, -0.45320601202332345], [5.1205776032816894, 3.3293118492354763, 0.40469902163076754, -0.44858356852994197], [5.2217523586893817, 3.2171659571029907, -0.19296440101054071, -0.44342049242035603], [5.1735112584367462, 3.106310833997902, -0.19370332968684031, -0.43932120295654681], [5.125085426015036, 2.9964805332587656, -0.19344874322729547, -0.43528854408130918], [5.0767232402082119, 2.8876583972384378, -0.17147161234056479, -0.43132412528614245], [5.0338553371230699, 2.7798273659169026, -0.096485307790113578, -0.42749558613232008], [5.0097340101755421, 2.6729534693838222, -0.038936040702167912, -0.42391188488567932], [5.0, 2.5669754981624027, 0.0, -0.42045993436626933], [5.0, 2.4618605145708354, 0.24623318809724454, -0.41707847054873781], [5.0615582970243116, 2.357590896933651, 0.73263648599966913, -0.41322398650038339], [5.2447174185242282, 2.2542849003085554, 1.0027161878440025, -0.40661061682835059], [5.4953964654852285, 2.1526322461014673, 0.94343273630325863, -0.39824263187248343], [5.7312546495610439, 2.0530715881333466, 0.86828809604046531, -0.39048559148932166], [5.9483266735711604, 1.9554501902610162, 0.77907168522323755, -0.38341369669872072], [6.1430945948769695, 1.8595967660863362, 0.67779661685026693, -0.37707973364983166], [6.312543749089536, 1.765326832673878, 0.56665031938252342, -0.37151396173029888], [6.4542063289351663, 1.6724483422413035, 0.44795202943200263, -0.36672157213803414], [6.566194336293167, 1.5807679492067952, 0.32411845780945009, -0.3626769875440341], [6.6472239507455297, 1.4900987023207866, 0.19764106906423901, -0.35931218522251501], [6.6966342180115896, 1.4002706560151579, 0.07108434885672095, -0.35649630962613255], [6.7144053052257693, 1.3111465786086247, -0.052878583682444531, -0.35401419079168833], [6.7011856593051595, 1.2226430309107028, -0.17140455681020855, -0.35158425915236302], [6.6583345201026063, 1.1347469661226119, -0.28150294453037172, -0.34894862829990153], [6.5879587839700138, 1.0475098090476365, -0.38022285049852411, -0.34595402325413965], [6.4929030713453821, 0.96102130323410162, -0.46488404403648509, -0.3425538485094814], [6.3766820603362611, 0.87538284110673126, -0.53323985604051982, -0.3387749600451187], [6.2433720963261319, 0.79068910109545154, -0.58356874628006594, -0.33468862778231617], [6.0974799097561156, 0.70701694414987248, -0.61471563237273308, -0.3303911939170549], [5.9438010016629317, 0.62441914567060874, -0.62609672554781826, -0.32599117849663006], [5.7872768202759781, 0.54292135104645123, -0.61767691740063002, -0.32160020495994274], [5.6328575909258198, 0.46252129980646556, -0.58992736468595475, -0.31732634248361169], [5.4853757497543318, 0.38318971418556264, -0.54377032929815694, -0.31326906940000848], [5.3494331674297912, 0.30487244683556047, -0.48051759428238172, -0.30951522057397685], [5.2293037688591966, 0.22749364169206626, -0.40180782530134562, -0.30613513343126436], [5.1288518125338607, 0.15095985833425016, -0.30954744215973523, -0.30317769091905455], [5.0514649519939265, 0.075165435604486533, -0.20585980797570716, -0.30066174241794613], [5.0, -0.0, -0.093051294731865936, -0.29855904888927404], [5.0, -0.0, 0.0, 0.0]]) 
# - 90, 0
no_control_trajectories.append([[10.0, 20.0, -1.3499999999999994, -2.3382685902179845], [9.6625000000000014, 19.415432852445505, -0.72207094853396581, -2.2181513914070399], [9.4819822628665076, 18.860895004593768, -0.81506836464381371, -2.1197053562022008], [9.2782151717055559, 18.330968665543196, -0.9033539447488097, -2.0281140114926042], [9.0523766855183521, 17.823940162670045, -0.98411678722073148, -1.9424379540795793], [8.8063474887131701, 17.33833067415015, -1.0547588822989808, -1.8619564429994047], [8.5426577681384241, 16.8728415634003, -1.112977111133123, -1.7861378703535391], [8.2644134903551443, 16.426307095811918, -1.1568343792305282, -1.7146088372491075], [7.9752048955475123, 15.997654886499639, -1.1848140149831003, -1.6471220119950192], [7.6790013918017364, 15.585874383500883, -1.1958539436034386, -1.5835240922412464], [7.3800379059008767, 15.189993360440573, -1.1893598645258088, -1.5237255595444814], [7.0826979397694245, 14.809061970554453, -1.1651990892679789, -1.4676736918534854], [6.7913981674524297, 14.442143547591082, -1.1236784386133101, -1.4153297524051194], [6.510478557799102, 14.088311109489801, -1.0655105233833086, -1.3666506426114347], [6.2441009269532746, 13.746648448836943, -0.99177292265328498, -1.3215747564405351], [5.996157696289953, 13.41625475972681, -0.90386442352212937, -1.2800113927556818], [5.7701915904094214, 13.096251911537887, -0.80346182189804594, -1.2418329070223151], [5.5693261349349097, 12.785793684782309, -0.69247998866552474, -1.2068688338201556], [5.3962061377685284, 12.484076476327271, -0.5730370715999682, -1.1749015175976245], [5.2529468698685369, 12.190351096927866, -0.44742577809621198, -1.1456634043475813], [5.1410904253444834, 11.90393524584097, -0.31809042317503095, -1.1188371034575306], [5.0615678195507261, 11.624225969976587, -0.18760742002976058, -1.0940604799725375], [5.0146659645432852, 11.350710849983452, -0.058663858173141396, -1.0709397746063749], [5.0, 11.082975906332173, 0.065974589003831449, -1.0490728815532036], [5.0164936472509574, 10.820707685943873, 0.1835165244223288, -1.0280814408172454], [5.06237277835654, 10.563687325739561, 0.29122453904420936, -1.0076453414087194], [5.1351789131175929, 10.311775990387382, -0.25806814388305727, -0.98753023657744432], [5.0706618771468284, 10.064893431243021, -0.16468319478810586, -0.96833573455107547], [5.0294910784498015, 9.8228094976052525, -0.088148410265726507, -0.95022340610825395], [5.0074539758833705, 9.5852536460781899, -0.029815903533482891, -0.93295558270282286], [5.0, 9.3520147504024838, 2.1371793224034263e-15, -0.91637256992420113], [5.0, 9.1229216079214339, 0.24623318809724165, -0.90038185690179373], [5.0615582970243116, 8.8978261436959851, 0.73263648599968312, -0.84793231197658259], [5.2447174185242318, 8.6858430657020538, 1.0224994133047454, -0.82985593676638569], [5.5003422718504176, 8.4783790815104574, 0.95823723143515449, -0.80907096665365319], [5.7399015797092066, 8.2761113398470432, 0.87860698219947742, -0.78977156338019638], [5.9595533252590762, 8.0786684490019951, 0.78536741630898876, -0.7720239234299926], [6.1558951793363237, 7.8856624681444965, 0.68050473053365457, -0.75585008039827373], [6.3260213619697376, 7.6966999480449285, 0.56619038567605151, -0.74122426596969693], [6.4675689583887497, 7.5113938815525039, 0.44474738642435679, -0.72806811759754386], [6.5787558049948389, 7.3293768521531169, 0.31862667280363965, -0.71624476254743175], [6.6584124731957495, 7.1503156615162586, 0.1903947098760079, -0.7055537063676548], [6.706011150664752, 6.9739272349243455, 0.062730381705140947, -0.69573197923043517], [6.7216937460910371, 6.799994240116737, -0.061579033297771771, -0.68647046512968279], [6.7062989877665942, 6.628376623834316, -0.17966519377369999, -0.67745142667390601], [6.6613826893231698, 6.459013767165839, -0.28865360091653736, -0.66839900197165836], [6.5892192890940358, 6.2919140166729246, -0.38578770455363404, -0.65912072068014849], [6.4927723629556278, 6.127133836502888, -0.46857338375074092, -0.64952364981857225], [6.3756290170179426, 5.9647529240482449, -0.53490767466869693, -0.63960678497282186], [6.241902098350768, 5.804851227805039, -0.58317067073297135, -0.62944100911872147], [6.096109430667525, 5.6474909755253586, -0.61227611751003519, -0.61914620278815069], [5.9430404012900171, 5.4927044248283208, -0.62168509133135508, -0.60887024887258301], [5.7876191284571785, 5.3404868626101756, -0.61139029401654821, -0.59877141471228013], [5.6347715549530415, 5.1907940089321052, -0.58187913723174856, -0.58900409630386863], [5.4893017706451044, 5.0435429848561384, -0.53408345200513418, -0.57970729151494027], [5.3557809076438199, 4.8986161619774027, -0.46932290305493213, -0.57099484313700377], [5.2384501818800873, 4.7558674511931516, -0.38924836296677451, -0.56294621698414615], [5.1411380911383935, 4.6151308969471154, -0.29579101231635296, -0.55559634423235693], [5.0671903380593051, 4.4762318108890264, -0.19112321251562381, -0.54892318839023846], 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2.8032687935888179, 0.2462331880972459, -0.47879734032147409], [5.0615582970243116, 2.6835694585084489, 0.7326364859996678, -0.47388156018738348], [5.2447174185242282, 2.5650990684616031, 1.0044340343347318, -0.46601449531013905], [5.4958259271079113, 2.4485954446340679, 0.94463234927549922, -0.45620017441981653], [5.7319840144267866, 2.3345454010291142, 0.86901509198892202, -0.4470974953246622], [5.9492377874240168, 2.2227710271979486, 0.77936806552387583, -0.43878580418130458], [6.1440798038049858, 2.1130745761526226, 0.67770097724343992, -0.43131942627050263], [6.3135050481158457, 2.0052447195849972, 0.56619885644808032, -0.4247260402473792], [6.4550547622278653, 1.8990632095231523, 0.44718072413425991, -0.41900337188917663], [6.5668499432614302, 1.794312366550858, 0.32306719937391815, -0.41411248891395819], [6.6476167431049094, 1.6907842443223684, 0.19636089001772861, -0.40996549252936826], [6.6967069656093416, 1.5882928711900266, 0.069647929025796237, -0.40640726528051552], 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-0.54283013072561714, -0.35456272974814951], [5.3480280166276293, 0.34468924091874414, -0.479375006482818, -0.35017425432983834], [5.2281842650069255, 0.25714567733628457, -0.40047773622245858, -0.34620376056893715], [5.1280648309513106, 0.1705947371940503, -0.30804705647003705, -0.3427005100771231], [5.0510530668338021, 0.084919609674769497, -0.20421226733520681, -0.33967843869907799], [5.0, -0.0, -0.091292822618375652, -0.33709819312055722], [5.0, -0.0, 0.0, 0.0]]) 
# - 120, 1
no_control_trajectories.append([[10.0, 20.0, -2.3382685902179845, -1.3499999999999999], [9.4154328524455035, 19.662500000000001, -0.54262953161127148, -1.2806408961473925], [9.2797754695426846, 19.342339775963179, -0.65328988041638048, -1.2467359063252232], [9.1164529994385894, 19.030655799381876, -0.75927390319776789, -1.2133316963785858], [8.926634523639148, 18.727322875287225, -0.85749540780324995, -1.1802722542376984], [8.712260671688334, 18.432254811727802, -0.94508466299989258, -1.1474937747247715], [8.4759895059383599, 18.145381368046611, -1.0194946978211259, -1.1150203165132608], [8.221115831483079, 17.866626288918294, -1.0785897188471991, -1.0829507786040924], [7.9514684017712778, 17.595888594267272, -1.1207086458732978, -1.051440560320636], [7.6712912403029536, 17.333028454187115, -1.1447009630921323, -1.0206812124802216], [7.3851159995299209, 17.077858151067058, -1.1499357969378576, -0.99088069240982102], [7.0976320502954566, 16.830137977964604, -1.1362878331949018, 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7.9312137034431105, 0.0, -0.40428382964703463], [5.0, 7.8301427460313526, 0.24623318809724201, -0.40115611231920451], [5.0615582970243116, 7.729853717951551, 0.73263648599966813, -0.39755251800998359], [5.2447174185242282, 7.630465588449054, 1.0023038770738446, -0.39124730694645155], [5.4952933877926888, 7.5326537617124414, 0.94314460727580363, -0.38324061344438382], [5.7310795396116401, 7.4368436083513449, 0.86811344455682193, -0.37581956896495694], [5.9481079007508457, 7.3428887161101057, 0.77900070067933402, -0.36905674299549479], [6.142858075920679, 7.2506245303612324, 0.67782034981654971, -0.36300421632647123], [6.3123131633748164, 7.159873476279615, 0.56676046513194922, -0.35769259904587319], [6.4540032796578037, 7.070450326518146, 0.44814043246132212, -0.35312869750899895], [6.5660383877731343, 6.9821681521408969, 0.32437613056255749, -0.34929012499153683], [6.6471324204137732, 6.8948456208930136, 0.19795635074049545, -0.34611393102405419], [6.6966215080988976, 6.8083171381369993, 0.071439929102442845, -0.3434758918145347], [6.7144814903745083, 6.7224481651833665, -0.052508123934141858, -0.34116671847743785], [6.7013544593909726, 6.6371564855640068, -0.17104903289769885, -0.33890705692201856], [6.6585922011665479, 6.5524297213335014, -0.28118703658135497, -0.33644010277043185], [6.5882954420212085, 6.4683196956408935, -0.37996190023172893, -0.33361557946876363], [6.4933049669632767, 6.3849158007737028, -0.46468600967121299, -0.33038980148790492], [6.3771334645454729, 6.3023183504017259, -0.5331080418217804, -0.32679072808829579], [6.2438564540900279, 6.2206206683796523, -0.58350361880333645, -0.32288892941778286], [6.0979805493891934, 6.1398984360252067, -0.61471591278244153, -0.31877879765922729], [5.9443015711935834, 6.0602037366103998, -0.62616007702366794, -0.31456619397099228], [5.7877615519376668, 5.9815621881176515, -0.61780040566651895, -0.31035979932374236], [5.6333114505210373, 5.9039722382867161, -0.5901077711786179, -0.3062647803969456], [5.4857845077263825, 5.8274060431874792, -0.544004344803389, -0.30237800767685524], [5.3497834215255358, 5.7518115412682658, -0.48080188819202713, -0.29878422417002137], [5.2295829494775283, 5.6771154852257606, -0.40213894915127985, -0.29555242125868225], [5.1290482121897085, 5.6032273799110905, -0.30992145825462908, -0.29273117300845525], [5.0515678476260515, 5.5300445866589767, -0.20627139050420729, -0.29034045466611219], [5.0, 5.4574594729924488, -0.093491827455311038, -0.28835496270960753], [5.0, -0.0, 0.0, 0.0]]) 
# - 150, 2
# 10 wave 12.2 coming in
no_control_trajectories.append([[10.0, 20.0, 2.3382685902179845, -1.3499999999999999], [10.584567147554496, 19.662500000000001, 2.2181607951691293, -1.2806853757648899], [11.13910734634678, 19.342328656058804, -1.231777666145401, -1.2183070401665506], [10.831162929810427, 19.037751896017166, -1.2923182330756753, -1.1781317181131532], [10.508083371541508, 18.743218966488879, -1.3377242128500275, -1.1389168366808251], [10.173652318329001, 18.45848975731867, -1.3664960235264381, -1.1008303597732392], [9.8320283124473935, 18.18328216737536, -1.3776363241782585, -1.0640618639283832], [9.487619231402828, 17.917266701393263, -1.3706496530755288, -1.0288049847841199], [9.1449568181339451, 17.660065455197238, -1.3455224419673113, -0.99524270122487002], [8.8085762076421172, 17.411254779891017, -1.3272565885820695, -0.96353596550114184], [8.4767620604966005, 17.170370788515733, -1.3257525877677208, -0.93345250539834435], [8.1453239135546696, 16.937007662166145, -1.3241778186950808, -0.90464040426102954], [7.8142794588809004, 16.710847561100888, -1.3223486340380222, -0.87702217105598634], [7.4836923003713949, 16.491592018336895, -1.3204635072438331, -0.85052944998680402], [7.1535764235604367, 16.278959655840193, -1.3183555457963818, -0.82509680014384124], [6.823987537111341, 16.072685455804233, -1.3162502690744688, -0.80066630164819885], [6.4949249698427236, 15.872518880392184, -1.2056177095249732, -0.77718163149383501], [6.1935205424614796, 15.678223472518726, -1.0538357552660189, -0.75595565268917952], [5.9300616036449751, 15.48923455934643, -0.90437216301629453, -0.73728533843263755], [5.7039685628909016, 15.30491322473827, -0.7592957293763456, -0.72089999828525297], [5.5141446305468147, 15.124688225166958, -0.62070978062176863, -0.70652098437693811], [5.3589671853913732, 14.948057979072724, -0.49072247010635373, -0.69386007508390457], [5.2362865678647852, 14.774592960301748, -0.37141439655821346, -0.68262130724197378], [5.1434329687252314, 14.603937633491253, -0.26479982664865132, -0.67250872162883257], [5.0772330120630684, 14.435810453084047, -0.17277628055345073, -0.66324145753915387], [5.034038941924706, 14.270000088699259, -0.097058299902243336, -0.65457401863017561], [5.009774366949145, 14.106356584041714, -0.03909746779658111, -0.64631490342566233], [5.0, 13.944777858185299, 5.8390792201379327e-15, -0.63833563259279413], [5.0, 13.785193950037099, 0.24623318809724673, -0.63056655930115613], [5.0615582970243116, 13.62755231021181, 0.73263648599968101, -0.62243451317045428], [5.2447174185242318, 13.471943681919198, 1.0136606858340589, -0.61105025724112372], [5.4981325899827462, 13.319181117608917, 0.95219200497401846, -0.59729458580479844], [5.7361805912262511, 13.169857471157716, 0.87506435123089454, -0.58452468058591311], [5.9549466790339745, 13.023726301011239, 0.78405458903899994, -0.57282396612946451], [6.1509603262937249, 12.880520309478872, 0.68116410921130366, -0.56224232124986895], [6.3212513535965513, 12.739959729166406, 0.56857265887923392, -0.55279337898723124], [6.4633945183163597, 12.601761384419598, 0.44860019835988468, -0.54444998616265072], [6.5755445679063298, 12.465648887878935, 0.32367887557528552, -0.53713665738437422], [6.6564642868001513, 12.331364723532843, 0.19633847993826467, -0.53071879994547189], [6.7055489067847178, 12.198685023546473, 0.069209240600305921, -0.52499245936260264], [6.722851216934794, 12.067436908705824, -0.054961271693702914, -0.51968737060565817], [6.7091108990113684, 11.937515066054408, -0.17330491688990635, -0.51450199000465713], [6.6657846697888923, 11.808889568553244, -0.2828944296621364, -0.50916809508808836], [6.5950610623733583, 11.681597544781223, -0.38088672739876317, -0.50350585596538955], [6.4998393805236674, 11.555721080789874, -0.4646975683925364, -0.49743878059779578], [6.3836649884255339, 11.431361385640423, -0.53214809044823852, -0.490977905759652], [6.2506279658134742, 11.308616909200513, -0.58156094818977111, -0.48419676175699244], [6.1052377287660322, 11.187567718761265, -0.61180888328184257, -0.47720838906028534], [5.9522855079455708, 11.068265621496193, -0.62232489577196093, -0.47014701418474281], [5.7967042840025806, 10.950728867950009, -0.61308319522558763, -0.46315396119841257], [5.6434334851961836, 10.834940377650403, -0.58455934294627832, -0.45636684478142742], [5.497293649459615, 10.720848666455048, -0.53767723359698494, -0.44991111490986702], [5.362874341060369, 10.608370887727581, -0.47374969705406622, -0.44389299535824306], [5.2444369167968521, 10.497397638888021, -0.39441861222724722, -0.4383926357566284], [5.1458322637400409, 10.387799479948864, -0.30159991818706999, -0.43345583009549943], [5.0704322841932736, 10.27943552242499, -0.19743958283700611, -0.42908203311364035], [5.021072388484022, 10.17216501414658, -0.084289553936087613, -0.42520662739274168], [5.0, 10.065863357298396, 0.035283173430986157, -0.42168068207539711], [5.0088207933577458, 9.9604431867795462, 0.15845062489286049, -0.41826858525831173], [5.0484334495809611, 9.8558760404649686, 0.2820884624808026, -0.41469538041596932], [5.118955565201162, 9.7522021953609759, 0.40284134825274537, -0.41072821020502864], [5.2196659022643486, 9.6495201428097186, -0.18890267462928159, -0.40622581867293645], [5.1724402336070279, 9.5479636881414844, -0.19070630270300415, -0.40274389901886137], [5.1247636579312763, 9.447277713386768, -0.19246675788688022, -0.39930996039438504], [5.0766469684595563, 9.3474502232881722, -0.17127777820396067, -0.39592293179810234], [5.0338275239085668, 9.248469490338648, -0.096398722359103309, -0.3926539921758932], [5.0097278433187906, 9.1503059922946743, -0.038911373275161816, -0.38961423080735502], [5.0, 9.0529024345928359, 0.0, -0.38669301119783744], [5.0, 8.9562291817933772, 0.24623318809724923, -0.38382993471765697], [5.0615582970243116, 8.8602716981139604, 0.73263648599966424, -0.38048874943894057], [5.2447174185242282, 8.7651495107542257, 1.0064359061324515, -0.37451205864418824], [5.4963263950573413, 8.6715214960931792, 0.94723239205797238, -0.36686283148426019], [5.7331344930718338, 8.5798057882221155, 0.8721625588486106, -0.35977458855841843], [5.9511751327839866, 8.4898621410825097, 0.78301882043624016, -0.35331774144592593], [6.1469298378930466, 8.4015327057210296, 0.68181675768098804, -0.34754324628955752], [6.3173840273132935, 8.3146468941486393, 0.57074543706805558, -0.34248180303915937], [6.4600703865803073, 8.2290264433888485, 0.45212437506802278, -0.33814182073960175], [6.5731014803473133, 8.14449098820395, 0.32836816581878125, -0.33450451438782558], [6.6551935218020084, 8.0608648596069923, 0.20196171534516183, -0.33151317417571324], [6.7056839506382984, 7.9779865660630636, 0.075455273018311925, -0.32905258461754872], [6.7245477688928776, 7.8957234199086761, -0.048500664286671609, -0.32692262832041896], [6.7124226028212091, 7.8139927628285717, -0.16708127005888213, -0.32484784277456641], [6.6706522853064891, 7.7327808021349309, -0.27729306766069756, -0.32257107363202459], [6.601329018391314, 7.6521380337269251, -0.37616902599220392, -0.31994284619035318], [6.5072867618932637, 7.5721523221793365, -0.46101366965857482, -0.31692078770607274], [6.3920333444786195, 7.4929221252528189, -0.5295691921162754, -0.31353284389327835], [6.2596410464495502, 7.4145389142794995, -0.58010594219299205, -0.30984801773077092], [6.1146145609013027, 7.3370769098468074, -0.61146266795136062, -0.30595802384340942], [5.9617488939134624, 7.260587403885955, -0.62305076449719077, -0.30196543513688312], [5.8059862027891649, 7.1850960451017345, -0.61483135721102877, -0.29797544422394207], [5.6522783634864089, 7.1106021840457485, -0.5872726922208702, -0.29408984639140445], [5.5054601904311902, 7.0370797224478974, -0.54129479706860217, -0.290402505840828], [5.3701364911640406, 6.9644790959876905, -0.47820767599120401, -0.28699573473529666], [5.2505845721662388, 6.8927301623038657, -0.39964834827051204, -0.28393687900137188], [5.1506724850986103, 6.8217459425535232, -0.30752117825643405, -0.28127390658902185], [5.073792190534502, 6.7514274659062679, -0.20394606092281459, -0.27902754772838606], [5.0228056753037986, 6.6816705789741722, -0.091222701215195254, -0.27717482909257102], [5.0, 6.6123768717010289, 0.028166520704617951, -0.27561678151651858], [5.007041630176154, 6.5434726763218984, 0.15147192633247061, -0.27414604886641442], [5.0449096117592722, 6.474936164105296, 0.27555578197460434, -0.27249881214591704], [5.0, -0.0, 0.0, 0.0]]) 
# - 30, 3
no_control_trajectories.append([[10.0, 20.0, 1.3500000000000003, -2.3382685902179845], [10.3375, 19.415432852445505, 1.2806246321234096, -2.2181958710169103], [10.657656158030852, 18.860883884691301, -0.98471804991204059, -2.1101387836924217], [10.411476645552844, 18.333349188768192, -1.0446223585610441, -2.0166475319917865], [10.150321055912583, 17.829187305770244, -1.0924739411591833, -1.9295001892974231], [9.8772025706227868, 17.34681225844589, -1.129418723904613, -1.8480928866599413], [9.5948478896466334, 16.884789036780905, -1.159505897989427, -1.7719266937641092], [9.3049714151492786, 16.441807363339876, -1.1832734197779853, -1.7005258546626898], [9.0091530602047811, 16.016675899674205, -1.2027556356576181, -1.6334853612433069], [8.7084641512903769, 15.608304559363379, -1.2180337526769118, -1.5704282389054571], [8.4039557131211478, 15.215697499637015, -1.2302461601994996, -1.5110319431413441], [8.0963941730712747, 14.83793951385168, -1.2399583626654698, -1.4549994108751321], [7.7864045824049084, 14.474189661132895, -1.2475518732221049, -1.4020633998672256], [7.4745166140993824, 14.123673811166089, -1.2534035306764304, -1.3519842654669125], [7.1611657314302741, 13.78567774479936, -1.2576878231417421, -1.304545362822541], [6.846743775644839, 13.459541404093725, -1.2607625501854607, -1.2595527631137942], [6.5315531380984728, 13.144653213315276, -1.2447927066823747, -1.2168287074104995], [6.220354961427879, 12.840446036462652, -1.0846998412942674, -1.1765113094538089], [5.9491800011043123, 12.546318209099198, -0.92822820048439358, -1.140673579599256], [5.7171229509832138, 12.261149814199385, -0.77726947527061807, -1.108739227305142], [5.5228055821655584, 11.983965007373101, -0.63379714468957749, -1.0801572712852463], [5.364356295993165, 11.713925689551788, -0.49982618096095316, -1.0544011750159519], [5.2393997507529262, 11.450325395797799, -0.37736736552913186, -1.030974320989533], [5.1450579093706432, 11.192581815550415, -0.26837222678595912, -1.0094216530533333], [5.0779648526741523, 10.940226402287083, -0.17466608552347712, -0.9893451623680326], [5.0342983312932832, 10.692890111695075, -0.097870621398311111, -0.97041856002790761], [5.0098306759437063, 10.450285471688096, -0.039322703774822734, -0.95239570635300441], [5.0, 10.212186545099845, -6.6613381477509392e-16, -0.93510916748770567], [5.0, 9.9784092532279178, 0.24623318809724049, -0.91845864701144975], [5.0615582970243116, 9.7487945914750558, 0.73263648599968445, -0.90183371879832031], [5.2447174185242318, 9.523336161775477, 1.0248377464939751, -0.88189964969437773], [5.5009268551477248, 9.3028612493518832, 0.95983075779952898, -0.85922121614026714], [5.7408845445976073, 9.0880559453168157, 0.87953916429496093, -0.83816812558316656], [5.9607693356713476, 8.8785139139210223, 0.78571662827012645, -0.81879794654508964], [6.1571984927388792, 8.6738144272847517, 0.68034512189209928, -0.8011222358838318], [6.3272847732119031, 8.473533868313794, 0.56559366538239308, -0.78510281322408582], [6.4686831895575025, 8.2772581650077726, 0.44378546908239325, -0.77064714243809407], [6.5796295568280998, 8.0845963793982492, 0.31737491890780034, -0.75760308783907593], [6.6589732865550504, 7.8951956074384801, 0.18893494074435407, -0.74575524194296705], [6.7062070217411387, 7.7087567969527386, 0.061151955089330939, -0.73482820486204081], [6.7214950105134719, 7.5250497457372285, -0.063182250065258364, -0.72450472444323177], [6.7056994479971577, 7.3439235646264205, -0.18120246451508604, -0.71446304117855297], [6.6603988318683864, 7.1653078043317819, -0.29004649118255665, -0.70442505656721022], [6.5878872090727478, 6.9892015401899794, -0.38697620825084328, -0.69419570276213671], [6.4911431570100362, 6.815652614499446, -0.46951717254857572, -0.68367891880603404], [6.3737638638728926, 6.6447328847979374, -0.53558386616304898, -0.67287111311730508], [6.2398678973321298, 6.4765151065186108, -0.58357025530921347, -0.66184200822474515], [6.0939753335048268, 6.3110546044624254, -0.61240039476753794, -0.65071192380834031], [5.9408752348129417, 6.1483766235103401, -0.62154265702392353, -0.63963040920810155], [5.7854895705569609, 5.9884690212083145, -0.61099470795904232, -0.62875800760879352], [5.6327408935672008, 5.8312795193061167, -0.58124726853301534, -0.61825133789291919], [5.4874290764339477, 5.6767166848328872, -0.53323448653907268, -0.60825095401712337], [5.3541204547991788, 5.5246539463286064, -0.4682780323532339, -0.59887105468384283], [5.2370509467108697, 5.3749361826576463, -0.38803122227370845, -0.59018983117135926], [5.140043141142443, 5.2273887248648059, -0.29442896253523948, -0.58223905686910959], [5.0664359005086324, 5.0818289606475293, -0.18964945598637273, -0.57499178455028155], [5.0190235365120399, 4.9380810145099581, -0.076094146048157549, -0.56834882140812892], [5.0, 4.7959938091579257, 0.04360960239038033, -0.56212992018022201], [5.0109024005975948, 4.6554613291128701, 0.16659082438111578, -0.55608365453473807], [5.0525501066928733, 4.5164404154791864, 0.28973587536347167, -0.54992874222068722], [5.1249840755337415, 4.3789582299240148, 0.40975339378489706, -0.54341529456350746], [5.2274224239799656, 4.2431044062831376, -0.19640456707591095, -0.53637202128340222], [5.1783212822109883, 4.109011400962288, -0.20096700144063592, -0.53052342698748056], [5.1280795318508288, 3.9763805442154174, -0.20465982759953041, -0.52477761586407234], [5.0769145749509477, 3.8451861402493992, -0.17195971208116639, -0.51913412263996994], [5.0339246469306556, 3.7154026095894066, -0.096701357558864373, -0.5137132127730587], [5.0097493075409387, 3.5869743063961423, -0.038997230163758403, -0.5085851987801896], [5.0, 3.4598280067010947, 0.0, -0.50363140701509979], [5.0, 3.3339201549473194, 0.24623318809725389, -0.49878811493334296], [5.0615582970243116, 3.2092231262139839, 0.7326364859996598, -0.49349814895307303], [5.2447174185242282, 3.0858485889757157, 1.0094654536999135, -0.48520401567702459], [5.4970837819492067, 2.9645475850564593, 0.9493129526569174, -0.47486798766346439], [5.7344120201134361, 2.845830588140593, 0.87337761579503126, -0.46528054996310719], [5.9527564240621942, 2.729510450649816, 0.78344504593340347, -0.45652204020071951], [6.1486176855455446, 2.6153799405996363, 0.68152438261933979, -0.44864666334878006], [6.3189987812003796, 2.5032182747624412, 0.5698000556040953, -0.44168075888954206], [6.4614487951014041, 2.3927980850400559, 0.45059086814426935, -0.43561935502752658], [6.5740965121374719, 2.2838932462831742, 0.32631814290405764, -0.43041934700168072], [6.6556760478634862, 2.1762884095327544, 0.19948672347670696, -0.42598734274023925], [6.7055477287326637, 2.0697915738476946, 0.072686565951400856, -0.42216242951197425], [6.7237193702205129, 1.964250966469701, -0.05137787728616202, -0.41870544808471338], [6.7108749008989728, 1.8595746044485228, -0.16985335005536342, -0.41532614356753217], [6.6684115633851322, 1.7557430685566395, -0.27977970830882365, -0.41176093447898132], [6.5984666363079265, 1.6528028349368942, -0.37825358025727795, -0.40784204930251872], [6.5039032412436075, 1.5508423226112646, -0.46263288725594826, -0.40350794768001635], [6.3882450194296201, 1.4499653356912605, -0.53069512561259902, -0.39877832691400955], [6.2555712380264694, 1.3502707539627581, -0.580732846415006, -0.39372591510853422], [6.1103880264227186, 1.2518392751856244, -0.61159873621178373, -0.38845486797912798], [5.9574883423697722, 1.1547255581908424, -0.62271280653445071, -0.38308529993267165], [5.8018101407361593, 1.0589542332076745, -0.61404121178387971, -0.37774206035162999], [5.6482998377901898, 0.96451871811976697, -0.58605479723213916, -0.37254638803529172], [5.5017861384821547, 0.87138212111094404, -0.53967470877070489, -0.36760951919883572], [5.3668674612894778, 0.7794797413112351, -0.47621157518429463, -0.36302744337812126], [5.2478145674934051, 0.68872288046670482, -0.39730384707974797, -0.35887582181584021], [5.1484886057234682, 0.5990039250127448, -0.30486022808901564, -0.3552035414521299], [5.0722735487012134, 0.51020303964971236, -0.2010116997499781, -0.35202230131557455], [5.0220206237637193, 0.42219746432081867, -0.088082495054877405, -0.34928832309483948], [5.0, 0.33487538354710883, 0.031401210107766066, -0.34687513953664145], [5.0078503025269407, 0.24815659866294848, 0.15464589867071984, -0.34455893505979185], [5.0465117771946213, 0.16201686489800052, 0.27852123694883263, -0.34206923087545432], [5.0, -0.0, 0.0, 0.0]]) 
# - 60, 4
no_control_trajectories.append([[10.0, 20.0, 0.0, -2.7000000000000002], [10.0, 19.324999999999999, -5.1360632106423054e-05, -2.5613262933125469], [9.9999871598419734, 18.684668426671887, -0.11147339714870036, -2.4365296120830684], [9.9721188105547984, 18.075536023651122, -0.20747460407484744, -2.3234757024070354], [9.920250159536085, 17.494667098049337, -0.28670005628202633, -2.2203648863501297], [9.8485751454655794, 16.939575876461806, -0.87267200474616524, -2.1257939293429939], [9.6304071442790402, 16.408127394126058, -1.0142626274471538, -2.0328497866510888], [9.3768414874172485, 15.899914947463285, -1.1053985837893396, -1.9449763860559721], [9.1004918414699141, 15.413670850949293, -1.1702855813757227, -1.8621823386127787], [8.8079204461259835, 14.948125266296099, -1.2190067218164133, -1.7842486837157772], [8.503168765671882, 14.502063095367157, -1.2557102303960936, -1.7108809761672217], [8.1892412080728558, 14.074342851325349, -1.2836948760249132, -1.6417870674871582], 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-1.1054061665445341], [5.0781734303963955, 9.7451105026431097, -0.17520730842677865, -1.0814616373043675], [5.034371603289701, 9.4747450933170185, -0.098100565955289917, -1.0589046973575775], [5.009846461800878, 9.2100189189776245, -0.039385847203513499, -1.0374660231483714], [5.0, 8.9506524131905305, 8.4697873714567606e-16, -1.0169597872834675], [5.0, 8.6964124663696616, 0.24623318809724615, -0.99727031241073028], [5.0615582970243116, 8.4470948882669799, 0.73263648599968245, -0.76512197883908484], [5.2447174185242318, 8.2558143935572108, 1.0190627147992297, -0.74970249132198064], [5.4994830972240392, 8.068388770726715, 0.95589063002502705, -0.73166299458097772], [5.7384557547302952, 7.8854730220814711, 0.87723267692450002, -0.71491070655422295], [5.9577639239614211, 7.7067453454429149, 0.78485477729513853, -0.69952161480576214], [6.1539776182852055, 7.5318649417414747, 0.68074908339044815, -0.68553095934197661], [6.3241648891328177, 7.3604822019059801, 0.5670903366789336, -0.67292982008808921], [6.4659374733025512, 7.1922497468839577, 0.44620066057402469, -0.66166020313459972], [6.5774876384460566, 7.0268346961003081, 0.32052470736602434, -0.6516082373069545], [6.6576188152875631, 6.8639326367735709, 0.19261713752451823, -0.64259681850063144], [6.7057730996686926, 6.703283432148412, 0.065142279781980339, -0.63438300162509054], [6.7220586696141877, 6.5446876817421398, -0.059122866284844464, -0.62667069432593958], [6.7072779530429774, 6.3880200081606544, -0.17730721798208202, -0.61914807512948655], [6.6629511485474566, 6.2332329893782843, -0.28651723433322612, -0.6115423151154884], [6.5913218399641504, 6.0803474105994111, -0.38396661220613593, -0.60366504084949124], [6.4953301869126161, 5.9294311503870389, -0.46712968499954216, -0.59542851145449993], [6.3785477656627299, 5.7805740225234148, -0.53387607595985886, -0.58683582117354394], [6.2450787466727657, 5.6338650672300279, -0.5825645283422024, -0.57795925822977012], [6.0994376145872149, 5.4893752526725867, -0.61209319935466555, -0.56891720862905248], [5.9464143147485471, 5.3471459505153227, -0.62191229544051696, -0.55985389444485045], [5.790936240888418, 5.2071824769041104, -0.61200722831190491, -0.55092285789201123], [5.6379344338104422, 5.0694517624311075, -0.58286062952084661, -0.5422738404339017], [5.4922192764302302, 4.9338833023226325, -0.53540103954838369, -0.53404229006015413], [5.3583690165431346, 4.8003727298075942, -0.47094527118815177, -0.52634050793440801], [5.2406326987460963, 4.6687876028239916, -0.39114059946266982, -0.51924918661500574], [5.1428475488804288, 4.53897530617024, -0.29791245995333776, -0.51280777039050729], [5.0683694338920944, 4.4107733635726145, -0.19342380703752965, -0.5070019581438574], [5.0200134821327111, 4.2840228740366495, -0.080053928530845461, -0.50174796253553622], [5.0, 4.1585858834027647, 0.039595298897747461, -0.49687885071534771], [5.0098988247244369, 4.0343661707239278, 0.16266999027331261, -0.4921499844461486], [5.0505663222927639, 3.911328674612391, 0.2860513957057681, -0.48728292671668627], [5.1220791712192071, 3.7895079429332195, 0.40642061602864971, -0.48203441645636169], [5.2236843252263698, 3.6689993388191291, -0.19438811996277783, -0.47624520070553966], [5.1750872952356746, 3.5499380386427442, -0.19635282385072755, -0.47156476964506649], [5.1259990892729927, 3.4320468462314779, -0.19683343118414215, -0.4669622493306177], [5.0767907314769571, 3.3153062838988232, -0.17164351141020417, -0.46244052457158424], [5.0338798536244056, 3.1996961527559273, -0.096561687653794165, -0.458081068376268], [5.0097394317109574, 3.0851758856618603, -0.038957726843827561, -0.45398186004309427], [5.0, 2.971680420651087, 0.0, -0.45002778871999549], [5.0, 2.8591734734710879, 0.24623318809724706, -0.44615678338697284], [5.0615582970243116, 2.7476342776243445, 0.73263648599966635, -0.44181991440320068], [5.2447174185242282, 2.6371792990235448, 1.0079987995149902, -0.4346278312629992], [5.4967171184029766, 2.5285223412077946, 0.94830569655530605, -0.42555362758302379], [5.733793542541803, 2.4221339343120389, 0.87278870862478219, -0.41714025222837481], [5.9519907196979993, 2.3178488712549452, 0.78323666149602211, -0.40946430905014686], [6.1477998850720033, 2.215482793992408, 0.68166169091432227, -0.40257933195940504], [6.3182153078005845, 2.1148379610025572, 0.57025028405723255, -0.39651448364892122], [6.4607778788148931, 2.0157093400903263, 0.45132133169407729, -0.39127172362328988], [6.5736082117384127, 1.9178914091845038, 0.32729263203370867, -0.38681972754324967], [6.6554313697468395, 1.8211864772986917, 0.20065940921515962, -0.38308201984582047], [6.7055962220506293, 1.7254159723372364, 0.073993641756879447, -0.37991764698073016], [6.724094632489849, 1.6304365605920539, -0.050022894260785045, -0.37710351825012378], [6.7115889089246519, 1.536160681029523, -0.16854769105188977, -0.37435527325304851], [6.6694519861616799, 1.4425718627162609, -0.27860612192578632, -0.37141181346913804], [6.5998004556802332, 1.3497189093489765, -0.37726721056740242, -0.36811248142111941], [6.5054836530383824, 1.2576907889936966, -0.46186460177484373, -0.36440368526982764], [6.3900175025946711, 1.1665898676762398, -0.53015907328081435, -0.36030892098823702], [6.2574777342744676, 1.0765126374291805, -0.58043239143863457, -0.35589970174703817], [6.112369636414809, 0.98753771199242102, -0.61153037144080646, -0.35127514114517261], [5.9594870435546081, 0.89971892670612774, -0.62286872825480188, -0.34654800619303294], [5.8037698614909061, 0.81308192515786948, -0.61441106639645215, -0.34183481557756268], [5.6501670948917946, 0.72762322126347889, -0.58662686060349267, -0.33724855082959193], [5.5035103797409208, 0.6433110835560808, -0.54043659573980629, -0.3328931184417222], [5.3684012308059685, 0.56008780394565016, -0.47715046125057692, -0.32885885467230785], [5.2491136154933242, 0.4778730902775733, -0.3984060547569373, -0.32521820457396861], [5.1495121018040892, 0.39656853913408119, -0.30610981208659838, -0.32202016924584137], [5.0729846487824402, 0.3160634968226208, -0.20238728387682015, -0.31928091808384074], [5.022387827813235, 0.23624326730166062, -0.089551311252939192, -0.31696597400908816], [5.0, 0.15700177379938857, 0.029891068321690147, -0.31496034812761353], [5.0074727670804222, 0.078261686767485183, 0.15316442637844552, -0.31304674706994073], [5.0457638736750337, -0.0, 0.27713542519558887, -0.31095725417854364], [5.0, -0.0, 0.0, 0.0]]) 
# - 90, 5
no_control_trajectories.append([[10.0, 20.0, -1.3499999999999994, -2.3382685902179845], [9.6625000000000014, 19.415432852445505, -1.2145076714301211, -2.2181513914070399], [9.3588730821424679, 18.860895004593768, -1.2674949167757257, -2.1114238517040276], [9.0419993529485385, 18.333039041667739, -1.3092781693782565, -2.0124893321191561], [8.7146798106039736, 17.829916708637949, -1.3379003706479056, -1.9205526669479376], [8.3802047179419983, 17.349778541900964, -1.3518316886512065, -1.83501657218673], [8.0422467957791959, 16.891024398854277, -1.34999548107072, -1.755432650982464], [7.7047479255115148, 16.45216623610866, -1.3317762962601551, -1.6814591881389669], [7.3718038514464768, 16.031801439073917, -1.2970111807230791, -1.6128256437362409], [7.0475510562657062, 15.628595028139857, -1.245967116287612, -1.5493036793376658], [6.736059277193803, 15.241269108305442, -1.1793082672287121, -1.4906842687365007], [6.4412322103866249, 14.868598041121317, -1.0980569329354872, 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# - 120, 6
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[5.1501492746826889, 5.9786334361608562, -0.30688555467806305, -0.30013320797426918], [5.0734278860131736, 5.9036001341672897, -0.20324333785093002, -0.2976654131473942], [5.0226170515504407, 5.8291837808804408, -0.090468206201763768, -0.29560587429150553], [5.0, 5.755282312307564, 0.028945918220802426, -0.29384793105834778], [5.0072364795551998, 5.6818203295429779, 0.15223691315492563, -0.2921793180973018], [5.0452957078439322, 5.6087755000186528, 0.27626919805701355, -0.29033415995887735], [5.0, -0.0, 0.0, 0.0]]) 
# - 150, 7
# 12.2 wave 12.2 coming in
no_control_trajectories.append([[12.199999999999999, 20.0, 0.0, -2.7000000000000002], [12.199999999999999, 19.324999999999999, -1.0725081122192366, -2.5613262933125469], [11.931872971945184, 18.684668426671887, -1.2584939543008788, -2.4260148232719279], [11.617249483369974, 18.078164720853881, -1.3755403392248247, -2.2998688621685694], [11.273364398563769, 17.503197505311736, -1.456715075064746, -2.1826057021882241], [10.90918562979758, 16.957546079764679, -1.5154407320982684, -2.0736339215148094], [10.530325446773013, 16.43913759938598, -1.5587963461263019, -1.9722983059288739], [10.140626360241438, 15.946063022903758, -1.590808187960961, -1.8779558170757309], [9.7429243132511942, 15.476574068634825, -1.6138595868328225, -1.7900088457758925], [9.3394594165429936, 15.029071857190852, -1.6302009028033209, -1.7079177316757645], [8.9319091908421573, 14.602092424271913, -1.6415009240826, -1.6311845280523405], [8.5215339598215092, 14.194296292258828, -1.6482573238578933, -1.5593528885148196], [8.1094696288570294, 13.804458070130122, -1.6518443123848707, -1.492022956749125], [7.6965085507608153, 13.431452330942841, -1.6531830931141629, -1.4288218608011725], [7.2832127774822739, 13.07424686574255, -1.5765530385287869, -1.3694073506018443], [6.8890745178500774, 12.731895028092088, -1.4128107442987237, -1.3149847625561739], [6.5358718317753954, 12.403148837453045, -1.2495739475069951, -1.2666805543543205], [6.2234783448986475, 12.086478698864463, -1.0884075486842417, -1.223783019853552], [5.9513764577275872, 11.780532943901077, -0.93104732394507084, -1.1856324262078486], [5.7186146267413189, 11.484124837349114, -0.7793578494301534, -1.1516084517216374], [5.5237751643837809, 11.196222724418703, -0.63529196376077612, -1.1211228447864685], [5.3649521734435863, 10.915942013222088, -0.50084863534790625, -1.0936180214238178], [5.2397400146066095, 10.642537507866134, -0.37802540075237506, -1.0685722317397919], [5.1452336644185159, 10.375394449931186, -0.26876149763950985, -1.0455108255841061], [5.0780432900086385, 10.11401674353516, -0.17486949307693098, -1.0240210560155454], [5.0343259167394052, 9.8580114795312728, -0.097957167510713997, -1.0037657401524682], [5.0098366248617268, 9.607070044493156, -0.03934649944690756, -0.98449056010602121], [5.0, 9.3609474044666499, 0.0, -0.96602165017845365], [5.0, 9.119441991922038, 0.24623318809724612, -0.94825335843032321], [5.0615582970243116, 8.8823786523144577, 0.73263648599968223, -0.81604026499779014], [5.2447174185242318, 8.6783685860650088, 1.0211524149523028, -0.79901516416212648], [5.5000055222623079, 8.4786147950244786, 0.95731812661297622, -0.7793107580278017], [5.7393350539155517, 8.2837871055175292, 0.87806890284018002, -0.76101327193907919], [5.9588522796255967, 8.093533787532758, 0.78516634150609055, -0.74419316276562364], [6.1551438650021186, 7.9074854968413524, 0.68059900151309827, -0.72887796183722209], [6.325293615380394, 7.7252660063820473, 0.56653966389707144, -0.71504870847100488], [6.4669285313546618, 7.5465038292642967, 0.44531106159154288, -0.70263508716584866], [6.5782562967525466, 7.3708450574728337, 0.31936184132023876, -0.69150914382100814], [6.658096757082606, 7.1979677715175816, 0.19125418411859571, -0.68147930852820093], [6.7059103031122547, 7.0275979443855308, 0.063661806963789216, -0.67229016448438106], [6.7218257548532021, 6.8595254032644366, -0.0606314597807142, -0.66363751231644019], [6.7066678899080241, 6.6936160251853263, -0.1787558996641167, -0.65520592029839231], [6.6619789149919946, 6.529814545110729, -0.28782970629771182, -0.64672074565091309], [6.590021488417567, 6.3681343586980006, -0.38508509547136538, -0.6379910660854331], [6.4937502145497259, 6.2086365921766422, -0.46801599366355678, -0.62892587704877367], [6.376746216133836, 6.0514051229144492, -0.53450896270267434, -0.61952572672556172], [6.2431189754581684, 5.8965236912330585, -0.58293586913795781, -0.60986209360460009], [6.0973850081736787, 5.7440581678319074, -0.61220440956112399, -0.60005440540893551], [5.944333905783397, 5.5940445664796732, -0.62177141759038579, -0.59024930039030876], [5.7888910513858018, 5.4464822413820961, -0.6116267333544293, -0.58060341044874919], [5.6359843680471942, 5.3013313887699089, -0.58225587944824209, -0.57126952504032058], [5.4904203981851332, 5.1585140075098295, -0.53458937714858745, -0.56238544943629609], [5.356773053897987, 5.0179176451507548, -0.46994575581900677, -0.55406458357898791], [5.2392866149432349, 4.8794014992560077, -0.38997447512270755, -0.54638697820154891], [5.1417929961625584, 4.7428047547056211, -0.29660450033793057, -0.53938935657933063], [5.0676418710780755, 4.6079574155607883, -0.19200462742410324, -0.53305263423607674], [5.0196407142220494, 4.4746942570017696, -0.078562856888199264, -0.52728700030145181], [5.0, 4.3428725069264065, 0.041108650085383468, -0.52192022100720481], [5.0102771625213451, 4.2123924516746047, 0.16414892614949067, -0.51670498495487582], [5.0513143940587177, 4.0832162054358863, 0.28744113065338317, -0.511361768582271], [5.1231746767220638, 3.9553757632903186, 0.40767730412935493, -0.50564457158656073], [5.2250940027544024, 3.8289646203936782, -0.19577502578550354, -0.49938918908207303], [5.1761502463080262, 3.7041173231231603, -0.19818079990798118, -0.49427318300900808], [5.1266050463310311, 3.5805490273709082, -0.19906666259616848, -0.48924577189928625], [5.0768383806819886, 3.4582375843960862, -0.17176506058528992, -0.48430960030771331], [5.0338971155356669, 3.3371601843191576, -0.096615494904808238, -0.4795551087292757], [5.0097432418094652, 3.2172714071368387, -0.038972967237860277, -0.47507272132859873], [5.0, 3.0985032268046888, 0.0, -0.47074594470090386], [5.0, 2.980816740629463, 0.24623318809724781, -0.46651210277442506], [5.0615582970243116, 2.8641887149358571, 0.73263648599966225, -0.46181887185524567], [5.2447174185242282, 2.7487339969720455, 1.0085506893286178, -0.45420906843588987], [5.4968550908563829, 2.6351817298630733, 0.9486847332176982, -0.44465346106035547], [5.734026274160807, 2.5240183645979841, 0.87301019967846916, -0.43579221786745154], [5.9522788240804241, 2.4150703101311213, 0.78331468736866949, -0.42770355207836341], [6.1481074959225914, 2.3081444221115306, 0.68160918089488121, -0.42044142091471992], [6.3185097911463117, 2.2030340668828501, 0.57007935751276517, -0.41403405677845939], [6.4610296305245027, 2.0995255526882355, 0.45104402823788181, -0.40848088888735024], [6.5737906375839739, 1.9974053304663979, 0.32692227599786311, -0.4037461459048885], [6.6555212065834386, 1.8964687939901759, 0.20021297467577986, -0.3997468081158036], [6.7055744502523842, 1.7965320919612251, 0.07349513606865539, -0.39633400384131873], [6.7239482342695478, 1.6974485910008954, -0.050540293810312421, -0.393278110098566], [6.71131316081697, 1.5991290634762538, -0.169046249017682, -0.39029234729965923], [6.6690515985625494, 1.5015559766513391, -0.27905383193047689, -0.38711458688892098], [6.5992881405799304, 1.4047773299291089, -0.37764302626582347, -0.38358120739263574], [6.5048773840134748, 1.3088820280809501, -0.46215692341520487, -0.37963538523020579], [6.3893381531596738, 1.213973181773399, -0.53036268133013642, -0.37529913697424877], [6.2567474828271399, 1.1201483975298363, -0.5805461276084688, -0.37064452804242726], [6.1116109509250212, 1.0274872655192295, -0.61155564354411562, -0.36577274179219882], [5.9587220400389924, 0.9360440800711799, -0.62280853819329318, -0.360799516498571], [5.803019905490669, 0.84584420094653723, -0.61426935360304014, -0.35584472176319099], [5.6494525670899085, 0.75688302050573952, -0.58640805835820153, -0.35102465778772557], [5.5028505525003579, 0.66912685605880806, -0.54014536267808411, -0.34644618676473554], [5.3678142118308374, 0.58251530936762419, -0.4767915949098967, -0.34220194813059951], [5.248616313103363, 0.4969648223349743, -0.39798464387430416, -0.33836574150563281], [5.1491201521347874, 0.41237338695856607, -0.30563177049708812, -0.33498661914239936], [5.0727122095105148, 0.32862673217296628, -0.20186056694491961, -0.33207907220784388], [5.022247067774285, 0.24560696412100533, -0.088988271097142857, -0.32960496887732949], [5.0, 0.16320572190167296, 0.030470484977806953, -0.32744467644195979], [5.0076176212444512, 0.081344552791183022, 0.15373292098094316, -0.32537821116473209], [5.0460508514896878, -0.0, 0.27766692218830979, -0.32313658877402429], [5.0, -0.0, 0.0, 0.0]]) 
# - 90, 8
no_control_trajectories.append([[12.199999999999999, 20.0, -1.3499999999999994, -2.3382685902179845], [11.862500000000001, 19.415432852445505, -1.2807016730781728, -2.2181513914070399], [11.542324581730458, 18.860895004593772, -1.3297138192062952, -2.1100542755300511], [11.209896126928886, 18.33338143571126, -1.3677869399635942, -2.0099218257618752], [10.867949391937984, 17.83090097927079, -1.3929488656370592, -1.9169445212703109], [10.519712175528719, 17.351664848953213, -1.4111531128530752, -1.8305122587058211], [10.166923897315449, 16.894036784276761, -1.4293370581399563, -1.7500054055626735], [9.8095896327804599, 16.456535432886092, -1.4434505682812406, -1.6747611741711825], [9.448726990710151, 16.037845139343297, -1.454161052992015, -1.6042984804188003], [9.0851867274621476, 15.636770519238594, -1.4620547851448342, -1.538194146909533], [8.7196730311759385, 15.252221982511212, -1.4680992636003072, -1.4760732506750447], [8.3526482152758614, 14.88320366984245, -1.4721959666528377, -1.4175926108473942], [7.9845992236126513, 14.528805517130602, -1.4746036190080742, -1.3624554895578582], [7.6159483188606334, 14.188191644741137, -1.4757586393954665, -1.3103973755543592], [7.2470086590117671, 13.860592300852547, -1.4760640514220578, -1.2611775478982112], [6.8779926461562528, 13.545297913877995, -1.4013138890495862, -1.214575943247526], [6.5276641738938563, 13.241653928066112, -1.2405133873765732, -1.1717069584655184], [6.217535827049713, 12.948727188449732, -1.0813715783260502, -1.1336495858924778], [5.9471929324682007, 12.665314791976613, -0.9256900381439217, -1.0998401498585768], [5.7157704229322208, 12.39035475451197, -0.77538360955822871, -1.0697403055216126], [5.5219245205426635, 12.122919678131566, -0.63244329562337676, -1.0428314693333522], [5.3638136966368188, 11.862211810798229, -0.49889752579251051, -1.0186142934704154], [5.239089315188691, 11.607558237430624, -0.37676812529775067, -0.99661427380714906], [5.1448972838642533, 11.358404668978837, -0.26801690276192297, -0.97639359882617827], [5.0778930581737729, 11.114306269272291, -0.17448003840515744, -0.95756715486109611], [5.0342730485724836, 10.874914480557017, -0.097791325029591467, -0.93981807178543608], [5.0098252173150861, 10.639959962610659, -0.039300869260343631, -0.92290717766202668], [5.0, 10.409233168195151, 7.1817551905439814e-16, -0.90667245310580558], [5.0, 10.182565054918699, 0.2462331880972447, -0.89101808232553537], [5.0615582970243116, 9.9598105343373149, 0.7326364859996839, -0.87533818002760155], [5.2447174185242318, 9.7409759893304155, 1.0236789594062743, -0.85633004017618974], [5.5006371583758007, 9.5268934792863682, 0.95904138875476674, -0.83459296207245437], [5.7403975055644922, 9.3182452387682542, 0.87907752120017923, -0.81441141384255411], [5.9601668858645365, 9.1146423853076151, 0.78554356601923725, -0.79584743170095551], [6.1565527773693463, 8.9156805273823778, 0.68042361104792237, -0.77891790955938123], [6.3266586801313265, 8.7209510499925322, 0.5658879122025795, -0.76359091077604402], [6.4681306581819715, 8.5300533222985226, 0.44425962243361733, -0.74978095650069587], [6.5791955637903765, 8.3426080831733458, 0.31799150519378072, -0.73734344503242366], [6.6586934400888218, 8.1582722219152402, 0.18965343450655367, -0.72607027740354591], [6.7061067987154592, 7.9767546525643542, 0.061928310393333727, -0.71569211859426063], [6.7215888763137936, 7.7978316229157887, -0.062394097501304736, -0.70589569521855966], [6.7059903519384676, 7.6213576991111482, -0.18044691939022234, -0.69636124745693406], [6.6608786220909124, 7.4472673872469146, -0.28936191749769841, -0.68681180580900181], [6.5885381427164864, 7.2755644357946636, -0.38639199424022025, -0.67705358026485174], [6.4919401441564322, 7.1063010407284519, -0.46905311356279739, -0.66699203124232453], [6.3746768657657329, 6.9395530329178703, -0.53525122330932406, -0.656624835521885], [6.240864059938402, 6.775396824037399, -0.58337347804929163, -0.64602231033937507], [6.0950206904260797, 6.613891246452555, -0.61233885428457935, -0.63530460934521871], [5.9419359768549347, 6.4550650941162502, -0.62161212059288962, -0.62462052929299861], [5.7865329467067124, 6.298909961793, -0.61118848446213425, -0.61412956899571991], [5.6337358255911782, 6.1453775695440696, -0.58155702320850666, -0.60398732956956203], [5.4883465697890523, 5.9943807371516797, -0.53365073079552705, -0.59433366981344837], [5.3549338870901702, 5.8457973196983177, -0.46879027929723871, -0.58528267276289736], [5.2377363172658606, 5.6994766515075925, -0.3886277764585781, -0.57691319897089754], [5.1405793731512155, 5.5552483517648685, -0.29509630162780831, -0.56925859283650126], [5.0668052977442644, 5.4129337035557423, -0.19037121637234211, -0.56229430875324182], [5.0192124936511791, 5.272360126367432, -0.076849974604713392, -0.55592395854898669], [5.0, 5.133379136730186, 0.042844490839711022, -0.54996966349751675], [5.0107111227099281, 4.9958867208558067, 0.16584406956902623, -0.54418122552657289], [5.0521721401021837, 4.8598414144741646, 0.28903413045426013, -0.53827789981564977], [5.1244306727157491, 4.7252719395202512, 0.40911840644275976, -0.53201091729474759], [5.2267102743264395, 4.5922692101965641, -0.19567963261032756, -0.52521102808658326], [5.1777903661738574, 4.4609664531749189, -0.19992953677014183, -0.51959084007820422], [5.1278079819813227, 4.3310687431553667, -0.20366562324961107, -0.51406764430833274], [5.0768915761689195, 4.2025518320782842, -0.17190092271602708, -0.50863996633348441], [5.0339163454899127, 4.0753918404949134, -0.096675462246688382, -0.50342471179178716], [5.0097474799282402, 3.9495356625469671, -0.038989919712963221, -0.49849582979246398], [5.0, 3.824911705098851, 0.0, -0.49373530375404423], [5.0, 3.7014778791603398, 0.24623318809724298, -0.48907973841564217], [5.0615582970243116, 3.5792079445564298, 0.73263648599967435, -0.4839733590855177], [5.2447174185242282, 3.4582146047850499, 1.0091852886787287, -0.4758879456768198], [5.4970137406939097, 3.3392426183658448, 0.94912055609236001, -0.46578890792260902], [5.7342938797169998, 3.2227953913851932, 0.87326505502077867, -0.45642200857297144], [5.952610143472195, 3.1086898892419503, 0.7834049948720555, -0.44786700180699957], [6.1484613921902094, 2.9967231387902005, 0.68155007251448274, -0.44017807264531394], [6.3188489103188301, 2.8866786206288721, 0.56988508816451688, -0.43338218306187237], [6.4613201823599589, 2.7783330748634039, 0.45072883266166175, -0.42747573335190348], [6.5740023905253748, 2.6714641415254277, 0.32650193086807616, -0.422417857784191], [6.6556278732423939, 2.5658596770793802, 0.19970741179071413, -0.41811828006986707], [6.7055547261900719, 2.4613301070619134, 0.072931971966955125, -0.41441964313934987], [6.7237877191818107, 2.3577251962770762, -0.051123867564199552, -0.4110855572763078], [6.7110067522907606, 2.2549538069579995, -0.16960858671889961, -0.40782677147608526], [6.6686046056110353, 2.1529971140889783, -0.27955944710158331, -0.40438012106577759], [6.5987147438356395, 2.0519020838225339, -0.37806816081398309, -0.40057901792544437], [6.5041977036321432, 1.951757329341173, -0.46248821060161582, -0.39636328977582375], [6.38857565098174, 1.8526665068972172, -0.53059395840099022, -0.39175332632330445], [6.255927161381492, 1.754728175316391, -0.58067589874887993, -0.38682168145165041], [6.1107581866942722, 1.6580227549534785, -0.6115853939545105, -0.38167165491382776], [5.9578618382056447, 1.5626048412250215, -0.62274162068837213, -0.3764220867841076], [5.8021764330335515, 1.4684993195289948, -0.61411023237847839, -0.37119637068059663], [5.6486488749389325, 1.3757002268588454, -0.58616179858009176, -0.36611430090165392], [5.5021084252939092, 1.2841716516334321, -0.53981732402474258, -0.36128583755775018], [5.3671540942877236, 1.1938501922439944, -0.47638733681510348, -0.356806000505419], [5.2480572600839483, 1.1046486921176399, -0.3975101059217665, -0.3527499266297579], [5.1486797336035064, 1.0164612104602004, -0.30509388451795327, -0.34916658247155113], [5.0724062624740185, 0.92916956484231239, -0.20126861705476548, -0.34606852139118394], [5.0220891082103272, 0.84265243449451643, -0.088356432841308105, -0.34341364291522197], [5.0, 0.75679902376571095, 0.031119899531061524, -0.34107747057381349], [5.0077799748827649, 0.67152965612225757, 0.15436998016966055, -0.33883729035848881], [5.0463724699251804, 0.5868203335326353, 0.27826295785533306, -0.33642305022700725], [5.0, -0.0, 0.0, 0.0]]) 
# - 120, 9
no_control_trajectories.append([[12.199999999999999, 20.0, -2.3382685902179845, -1.3499999999999999], [11.615432852445503, 19.662500000000001, -1.6896416844976092, -1.2806408961473925], [11.193022431321101, 19.342339775963179, -1.7328831831241192, -1.2289688372076832], [10.759801635540072, 19.035097566661257, -1.763988509652006, -1.1792803777192644], [10.318804508127069, 18.74027747223144, -1.7811828966539398, -1.1316580362560342], [9.8735087839635849, 18.457362963167434, -1.7831600009291866, -1.0862081657656628], [9.4277187837312884, 18.185810921726016, -1.7690898206061874, -1.0430447190380003], [8.9854463285797408, 17.925049741966514, -1.7386086291274017, -1.0022758265466147], [8.5507941712978912, 17.674480785329862, -1.6917943986825923, -0.96399356853884222], [8.1278455716272422, 17.433482393195149, -1.6291317167744443, -0.92826691697557917], [7.72056264243363, 17.201415663951252, -1.5514701552620453, -0.89513750834392858], [7.3326951036181187, 16.977631286865272, -1.4599795899919279, -0.86461770202925436], [6.9677002061201376, 16.761476861357959, -1.3561052696031164, -0.83669027340349811], [6.6286738887193586, 16.552304293007086, -1.2415246560255153, -0.81130906484199239], [6.3182927247129799, 16.349477026796592, -1.1181073311464313, -0.78839994600954943], [6.0387658919263725, 16.152377040294205, -0.9878786664409982, -0.76786149616931676], [5.7917962253161228, 15.960411666251874, -0.85298752963073299, -0.7495649107833543], [5.5785493429084401, 15.773020438556035, -0.71567806505900078, -0.7333527809308561], [5.3996298266436904, 15.58968224332332, -0.57826549137898042, -0.719036692842003], [5.2550634537989449, 15.409923070112821, -0.44311574030973766, -0.70639425439558856], [5.1442845187215109, 15.233324506513924, -0.31262812149646685, -0.69516748133444628], [5.0661274883473943, 15.059532636180311, -0.18921802080133793, -0.68506652036726656], [5.018822983147059, 14.888266006088495, -0.075291932588237381, -0.67578416562789279], [5.0, 14.719319964681523, 0.02403576731720081, -0.66702403617202977], [5.0060089418292995, 14.552563955638515, 0.1121055917704617, -0.65853767246326578], [5.034035339771914, 14.3879295375227, -0.097047039812501901, -0.65015400045961702], [5.0097735798187868, 14.225391037407796, -0.039094319275150134, -0.64200460148423399], [5.0, 14.064889887036736, 2.9004576518332215e-15, -0.63413095177572987], [5.0, 13.906357149092806, 0.24623318809724656, -0.626463640681586], [5.0615582970243116, 13.749741238922409, 0.73263648599967823, -0.61842995103467835], [5.2447174185242318, 13.59513375116374, 1.0135198304647564, -0.60714936988069068], [5.4980973761404206, 13.443346408693566, 0.95209541933840036, -0.59350610937668291], [5.7361212309750211, 13.294969881349395, 0.87500772414959727, -0.5808407970605225], [5.9548731620124196, 13.149759682084264, 0.78403389568232451, -0.56923689911179354], [6.1508816359330023, 13.007450457306316, 0.68117557177710419, -0.55874455673014289], [6.3211755288772782, 12.867764318123781, 0.56861263827725095, -0.54937791211792564], [6.463328688446591, 12.730419840094299, 0.44866499916892438, -0.5411105910867553], [6.5754949382388208, 12.59514219232261, 0.32376444360061196, -0.53386815672900012], [6.656436049138974, 12.46167515314036, 0.19644000141997076, -0.5275172582019676], [6.7055460494939663, 12.329795838589868, 0.069320778000774255, -0.52185514860121873], [6.7228762439941612, 12.199332051439566, -0.054846734621690291, -0.5166123876079457], [6.7091645603387384, 12.070178954537578, -0.17319465475603407, -0.51148773860057883], [6.6658658966497297, 11.942307019887433, -0.28279474193034282, -0.50621310752096094], [6.5951672111671442, 11.815753743007194, -0.3808021910875346, -0.50060895594562049], [6.4999666633952602, 11.690601504020789, -0.46463103375014453, -0.49459917221059641], [6.3838089049577249, 11.566951710968139, -0.53210103680581089, -0.48819503934165043], [6.2507836457562664, 11.444902951132727, -0.5815338712908712, -0.48147009641852456], [6.1054001779335492, 11.324535427028096, -0.61180160542466355, -0.47453717383320365], [5.9524497765773834, 11.205901133569794, -0.62233679365848082, -0.46753013975208757], [5.7968655781627634, 11.089018598631773, -0.61311336241755643, -0.46058989069380735], [5.643587237558374, 10.97387112595832, -0.58460670044502949, -0.45385361612289599], [5.4974355624471167, 10.860407721927595, -0.53774059458027734, -0.44744640459687596], [5.3630004138020482, 10.748546120778377, -0.4738277842532202, -0.44147423644490191], [5.244543467738743, 10.638177561667153, -0.39451001769287442, -0.43601718668281014], [5.1459159633155238, 10.52917326499645, -0.30170298377588656, -0.43112119148808847], [5.0704902173715523, 10.421392967124428, -0.19755217024557056, -0.42678609481347363], [5.0211021748101601, 10.31469644342106, -0.084408699240637264, -0.42294787324138733], [5.0, 10.208959475110712, 0.035161559129181633, -0.41945818786488248], [5.0087903897822956, 10.104094928144491, 0.15833151642553769, -0.41608172661211895], [5.0483732688886791, 10.000074496491463, 0.28197666784996311, -0.41254364609126676], [5.1188674358511701, 9.8969385849686464, 0.40274050091961616, -0.40861146096868606], [5.2195525610810742, 9.7947857197264749, -0.18878789112062896, -0.40414452969494125], [5.1723555883009178, 9.6937495873027402, -0.19056671208399142, -0.40069524335943951], [5.1247139102799197, 9.5935757764628811, -0.19228480351774013, -0.39729325970226265], [5.0766427094004847, 9.4942524615373127, -0.17126696937368446, -0.39393757364416659], [5.0338259670570631, 9.395768068126273, -0.096393877982053858, -0.39069861930032679], [5.00972749756155, 9.2980934133011903, -0.038909990246198553, -0.38768801842609024], [5.0, 9.2011714086946679, 0.0, -0.38479527857932488], [5.0, 9.1049725890498348, 0.24623318809724556, -0.38196004865104455], [5.0615582970243116, 9.0094825768870734, 0.73263648599966802, -0.37864652477620131], [5.2447174185242282, 8.9148209456930232, 1.0063920864896285, -0.37270487227168531], [5.4963154401466356, 8.8216447276251007, 0.94720230454580556, -0.36509730537230922], [5.7331160162830868, 8.7303704012820234, 0.87214503327776838, -0.35804778762533845], [5.9511522746025296, 8.6408584543756906, 0.7830127899478122, -0.35162651605083362], [6.1469054720894816, 8.5529518253629799, 0.68182125646031821, -0.34588433978955324], [6.3173607862045609, 8.4664807404155926, 0.5707595785952021, -0.3408519737500596], [6.4600506808533629, 8.3812677469780787, 0.45214730055007085, -0.33653798824673103], [6.5730875059908795, 8.2971332499163957, 0.32839893896485045, -0.33292394527027469], [6.6551872407320927, 8.2139022635988272, 0.2019991155930275, -0.3299537156136812], [6.70568701963035, 8.1314138346954064, 0.075497432599955144, -0.32751288782096089], [6.7245613777803381, 8.0495356127401649, -0.048456625547155727, -0.32540211170111716], [6.7124472213935489, 7.9681850848148867, -0.16703886114686031, -0.3233462350308835], [6.6706875061068338, 7.8873485260571652, -0.27725519513458519, -0.32108824562644378], [6.6013737073231882, 7.8070764646505539, -0.37613745218224748, -0.31847906216345173], [6.5073393442776259, 7.7274566991096911, -0.46098928470724337, -0.31547667993461931], [6.3920920231008154, 7.6485875291260363, -0.52955235615278795, -0.31210917248562647], [6.2597039340626184, 7.5705602360046296, -0.58009669919739115, -0.30844544495753656], [6.1146797592632707, 7.493448874765245, -0.61146086940881883, -0.30457696304822218], [5.9618145419110666, 7.4173046340031892, -0.6230561457664181, -0.30060596695735498], [5.8060505054694618, 7.3421531422638502, -0.61484358846362608, -0.2966372838312431], [5.6523396083535555, 7.2679938213060398, -0.58729141327495082, -0.29277234884567588], [5.5055167550348179, 7.1948007340946196, -0.54131963926642424, -0.28910470115573539], [5.3701868452182113, 7.1225245588056856, -0.47823827054999873, -0.2857163886664863], [5.2506272775807119, 7.051095461639064, -0.39968431638888707, -0.28267458075121049], [5.1507061984834897, 6.9804268164512617, -0.30756209025233366, -0.28002719159430312], [5.0738156759204065, 6.910420018552685, -0.20399133361537355, -0.27779507117484431], [5.0228178425165639, 6.8409712507589742, -0.09127137006625502, -0.27595559512538692], [5.0, 6.7719823519776279, 0.028116189259296979, -0.27441031986110154], [5.0070290473148242, 6.7033797720123518, 0.15142252237447806, -0.27295223508875954], [5.0448846779084437, 6.635141713240162, 0.27550974488187369, -0.2713176691934876], [5.0, -0.0, 0.0, 0.0]]) 
# - 150, 10
# 10 full wave
no_control_trajectories.append([[10.0, 20.0, 2.3382685902179845, -1.3499999999999999], [10.584567147554496, 19.662500000000001, -2.4550074064165597, -1.2806853757648899], [9.9708152959503575, 19.342328656058804, -2.3257077115599811, -1.2132070837839024], [9.3893883680603629, 19.039026885112829, -2.1901142862576273, -1.1526491571897561], [8.8418597964959549, 18.75086459581539, -2.0483864049310907, -1.0983628179876885], [8.3297631952631832, 18.476273891318471, -1.9010766769515082, -1.0497795402430041], [7.8544940260253053, 18.213829006257718, -1.7490730470206242, -1.0063919837012192], [7.4172257642701487, 17.962231010332413, -1.5935467515608299, -0.96773965587385524], [7.0188390763799413, 17.720296096363953, -1.4359054190241154, -0.93339778152671393], [6.6598627216239121, 17.486946650982272, -1.2777505769348407, -0.90296829186174998], [6.3404250773902016, 17.261204578016834, -1.1208388249047516, -0.87607219909615519], [6.0602153711640137, 17.042186528242794, -0.96704588661816249, 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# - 30, 11
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-0.40934082549156114], [5.6465643069563178, 1.9282380441472311, -0.58552225350680032, -0.40358042001794292], [5.5001837435796173, 1.8273429391427456, -0.53896425106657009, -0.39810458550134153], [5.3654426808129756, 1.7278167927674102, -0.47533594092682652, -0.39301361604904639], [5.2466086955812692, 1.6295633887551486, -0.39627681497567946, -0.38838533080072102], [5.1475394918373487, 1.5324670560549685, -0.30369797177216423, -0.38426789476550594], [5.071614998894308, 1.4364000823635921, -0.19973565404665222, -0.38066868396397296], [5.0216810853826441, 1.3412329113725987, -0.086724341530578258, -0.37753596733894323], [5.0, 1.2468489195378629, 0.032793888476796144, -0.37473425032587626], [5.008198472119199, 1.1531653569563938, 0.15601149689323077, -0.37203485345941639], [5.0472013463425061, 1.0601566435915397, -0.091287551148741639, -0.36916543681792247], [5.0243794585553205, 0.9678652843870591, -0.094515473182118323, -0.36647516004963548], [5.0007505902597913, 0.8762464943746503, -0.0030023610391667981, -0.36381700364359698], [5.0, 0.78529224346375104, 0.10838741572365147, -0.36128033011956839], [5.0270968539309138, 0.69497216093385894, 0.20872487509297943, -0.35867225675337472], [5.0792780727041578, 0.60530409674551522, 0.29545028457062417, -0.35582829374717484], [5.1531406438468146, 0.51634702330872151, 0.36630709870967576, -0.35268790664254829], [5.2447174185242327, 0.42817504664808448, 0.41949479372994919, -0.34926852525351743], [5.0, 0.0, 0.0, 0.0]]) 
# - 60, 12
no_control_trajectories.append([[10.0, 20.0, 0.0, -2.7000000000000002], [10.0, 19.324999999999999, -1.6377642263579486, -2.5613262933125469], [9.5905589434105138, 18.684668426671887, -1.7173901657704842, -2.4131787562374849], [9.1612114019678916, 18.081373737612491, -1.7736053046661922, -2.2771904198695849], [8.7178100758013422, 17.512076132645099, -1.8132274424314498, -2.1521338150302953], [8.2645032151934785, 16.974042678887525, -1.8406711592415135, -2.0369003148505715], [7.8043354253831021, 16.464817600174879, -1.8234589630829068, -1.9305005378044033], [7.3484706846123746, 15.982192465723777, -1.6429854311321233, -1.8329562301302302], [6.9377243268293443, 15.52395340819122, -1.4649504148854975, -1.7471035806354327], [6.5714867231079701, 15.087177513032362, -1.2900595998151645, -1.6713036887789881], [6.2489718231541778, 14.669351590837616, -1.1193871307795404, -1.604155905934872], [5.9691250404592937, 14.268312614353897, -0.95429366158477846, -1.5444405343940075], [5.7305516250630992, 13.882202480755396, -0.79635673745480884, -1.4910790963040119], [5.5314624406993964, 13.509432706679394, -0.64730776461104311, -1.4431086370806712], [5.3696354995466349, 13.148655547409227, -0.50897036820033514, -1.3996677889251921], [5.2423929074965523, 12.798738600177927, -0.38319551873193008, -1.3599925140159106], [5.1465940278135696, 12.45874047167395, -0.27179014432078941, -1.3234187120548813], [5.0786464917333722, 12.12788579366023, -0.17643857393455586, -1.289387712549295], [5.0345368482497346, 11.805538865522905, -0.098619858846092617, -1.2574499825775485], [5.0098818835382097, 11.491176369878518, -0.03952753415284109, -1.2272629956025001], [5.0, 11.184360620977893, 6.3837823915946501e-16, -1.1985811782632199], [5.0, 10.884715326412087, 0.24623318809724246, -1.1712383135073674], [5.0615582970243107, 10.591905748035245, 0.73263648599968656, -1.1445625220378453], [5.2447174185242318, 10.305765117525786, 1.0403308116325694, -1.1149744361354554], 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-0.8572706387056892], [6.593537254459747, 7.1600686506756093, -0.38932910755370098, -0.8424742601994698], [6.4962049775713213, 6.9494500856257417, -0.47085160424550998, -0.827578898011335], [6.3784920765099447, 6.7425553611229079, -0.53580206507067574, -0.63510567666923756], [6.2445415602422747, 6.5837789419555985, -0.58407997677475221, -0.62504603495777999], [6.0985215660485874, 6.4275174332161544, -0.61319929108812798, -0.61485391866520966], [5.9452217432765551, 6.2738039535498515, -0.62262075918207427, -0.60467714045926324], [5.7895665534810368, 6.122634668435035, -0.61233706661908527, -0.59467375218698537], [5.6364822868262658, 5.9739662303882897, -0.58283578142621684, -0.58499790150537134], [5.490773341469712, 5.827716755011946, -0.53504894514751766, -0.57578840896693428], [5.3570111051828313, 5.6837696527702137, -0.4702963746997616, -0.5671591042655556], [5.2394370115078912, 5.5419798767038246, -0.39022891517158736, -0.5591896862612673], [5.1418797827149945, 5.402182455138508, -0.29677739461080593, -0.55191562731559041], [5.0676854340622928, 5.2642035483096112, -0.19211332668189593, -0.54531575018178646], [5.0196571023918182, 5.127874610764164, -0.078628409567275029, -0.53929771713163221], [5.0, 4.993050181481256, 0.041061257754940239, -0.53368716371600911], [5.010265314438735, 4.8596283905522535, 0.16409265718179519, -0.52823570921709806], [5.0512884787341834, 4.7275694632479794, 0.28735104954764934, -0.52266320611805861], [5.1231262411210956, 4.5969036617184651, 0.40753440533331037, -0.51672209271379166], [5.2250098424544227, 4.4677231385400171, -0.19290024054704052, -0.51024553840815323], [5.1767847823176636, 4.3401617539379789, -0.19810930924519735, -0.50493044795313202], [5.1272574550063643, 4.2139291419496958, -0.20158676082629318, -0.49970015707134757], [5.0768607647997905, 4.0890041026818587, -0.17182220966079531, -0.49455779919049514], [5.0339052123845915, 3.9653646528842343, -0.096640741232379104, -0.48961196122691397], [5.0097450270764972, 3.842961662577506, -0.038980108305989379, -0.48494409481939305], [5.0, 3.7217256388726576, 0.0, -0.48043706420724336], [5.0, 3.6016163728208466, 0.24623318809725125, -0.47602789677802287], [5.0615582970243116, 3.4826093986263409, 0.73263648599967646, -0.47116277726810141], [5.2447174185242318, 3.3648187043093154, 1.00881540004223, -0.4633540487623361], [5.4969212685347895, 3.2489801921187316, 0.94886653187135139, -0.4535705612553394], [5.7341379015026268, 3.135587551804897, 0.87311648801676467, -0.44449728738409278], [5.9524170235068175, 3.0244632299588741, 0.78335228495156906, -0.43621312149786395], [6.1482550947447097, 2.9154099495844075, 0.68158436568068603, -0.42877214782601974], [6.3186511861648818, 2.8082169126279029, 0.56999803494250845, -0.42220209343293852], [6.4611506949005086, 2.7026663892696683, 0.45091208669902855, -0.41650113830561747], [6.5738787165752655, 2.5985411046932638, 0.32674623975694206, -0.41163138276889055], [6.6555652765145012, 2.4956332590010413, 0.20000110793759965, -0.40750674598271908], [6.7055655534989009, 2.3937565725053616, 0.073258960155323766, -0.4039747407064419], [6.7238802935377322, 2.2927628873287511, -0.05078514510883847, -0.40080283258355126], [6.7111840072605213, 2.1925621791828633, -0.16928219015522306, -0.39770317500380142], [6.6688634597217158, 2.0931363854319129, -0.2792658974885544, -0.39441319020692966], [6.5990469853495783, 1.9945330878801806, -0.37782124870354883, -0.39076796729294061], [6.5045916731736906, 1.8968410960569455, -0.46229572852094092, -0.38670924135377838], [6.389017741043455, 1.8001637857185009, -0.53045951737962249, -0.3822583405111466], [6.2564028616985494, 1.704599200590714, -0.58060039062563573, -0.37748755105876414], [6.1112527640421401, 1.6102273128260232, -0.611567969561014, -0.37249897087922473], [5.9583607716518872, 1.5171025701062169, -0.62278033809757749, -0.3674096703121924], [5.8026656871274929, 1.4252501525281687, -0.6142024977641285, -0.36234102903199022], [5.6491150626864606, 1.334664895270171, -0.58630466371391077, -0.35741084401367074], [5.5025388967579829, 1.2453121842667532, -0.54000766461366778, -0.35272730636755723], [5.3675369806045659, 1.1571303576748639, -0.47662190717772623, -0.34838408107608954], [5.2483815038101342, 1.0700343374058419, -0.39778543326401294, -0.34445555220103458], [5.1489351454941312, 0.98392044935558309, -0.30540591257591454, -0.34099075334983803], [5.0725836673501528, 0.89867276101812366, -0.20161191855883018, -0.33800336750281279], [5.0221806877104447, 0.81417191914242049, -0.088722750841779066, -0.33545357813189458], [5.0, 0.73030852460944684, 2.0088097851811426e-15, -0.33321967231753746], [5.0, 0.64700360653006239, 1.6583956430338276e-15, -0.33108878651697493], [5.0, 0.56423140990081877, 0.12499364532402238, -0.32898482455830114], [5.0312484113310054, 0.48198520376124343, -0.12182899884616546, -0.32676718223688672], [5.000791161619464, 0.40029340820202181, -0.0031646464778553704, -0.3245797409477672], [5.0, 0.31914847296508003, 0.1082246602139172, -0.32255679635480616], [5.0270561650534793, 0.23850927387637846, 0.20863954397250142, -0.32045344326758007], [5.0792160510466049, 0.15839591305948345, 0.29549495332471021, -0.31811020522195554], [5.1530897893777823, 0.078868361753994559, 0.36651051658580075, -0.31547344701597824], [5.2447174185242327, -0.0, 0.41986994041829129, -0.31256397349702408], [5.0, -0.0, 0.0, 0.0]]) 
# - 90, 13
no_control_trajectories.append([[10.0, 20.0, -1.3499999999999994, -2.3382685902179845], [9.6625000000000014, 19.415432852445505, -1.4989919398827642, -2.2181513914070399], [9.2877520150293016, 18.860895004593768, -1.5332242965241045, -2.1051656663905192], [8.9044459408982863, 18.334603587996138, -1.5590851896247795, -2.0008497920602832], [8.5146746434920857, 17.834391139981069, -1.5783187580015146, -1.9042803470664731], [8.1200949539917069, 17.35832105321445, -1.5924838363136093, -1.8146606482337118], [7.7219739949133039, 16.904655891156025, -1.6026751470613601, -1.7312939549954272], [7.3213052081479644, 16.471832402407166, -1.6096542128165496, -1.6535707954695562], [6.9188916549438275, 16.058439703539776, -1.4444622963869664, -1.5809578568893621], [6.5577760808470851, 15.663200239317439, -1.2742622540359549, -1.5165303870406075], [6.2392105173380967, 15.284067642557286, -1.1073825948260039, -1.4593624229422524], [5.962364868631596, 14.919227036821724, -0.94534723056320358, 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-0.29427558765826106, -0.80989755168343514], [6.5840219771454516, 8.3130065752540272, -0.39058770424164957, -0.79660062850745117], [6.4863750510850382, 8.1138564181271651, -0.47239034160966659, -0.78313464667245736], [6.3682774656826213, 7.9180727564590496, -0.53764916280765884, -0.76948792964162094], [6.233865174980707, 7.7257007740486454, -0.58479983961687554, -0.75572540088367668], [6.0876652150764876, 7.5367694238277263, -0.61279811015036478, -0.74196641325439971], [5.9344656875388964, 7.3512778205141265, -0.62113520121436883, -0.72836258190041303], [5.7791818872353042, 7.1691871750390241, -0.609824610022348, -0.71507804106591932], [5.6267257347297175, 6.9904176647725444, -0.57936781394232728, -0.70227282656294809], [5.4818837812441359, 6.814849458131806, -0.53070661297411603, -0.69008912751181961], [5.3492071280006073, 6.6423271762538514, -0.46516925026695172, -0.67863961410482287], [5.2329148154338698, 6.4726672727276453, -0.38441668605206591, -0.66799674102589879], [5.1368106439208532, 6.3056680874711706, -0.29039480116812555, -0.65818187210980816], [5.0642119436288215, 6.1411226194437196, -0.18529806211420627, -0.64915362259805531], [5.0178874281002699, 5.9788342137942054, -0.071549712401080295, -0.64079683823344891], [5.0, 5.8186350042358432, 0.048199774853223153, -0.63291811391537434], [5.012049943713305, 5.6604054757569999, 0.17106543297087642, -0.62525894050374997], [5.0548163019560244, 5.504090740631062, 0.29393979147672972, -0.61753469092280255], [5.1283012498252072, 5.3497070679003613, 0.41355844392060104, -0.60948962792952055], [5.2316908608053572, 5.1973346609179814, -0.19973870980684377, -0.60094200991160851], [5.1817561833536461, 5.0470991584400782, -0.20644483563572308, -0.59368222400071258], [5.1301449744447147, 4.8986786024399001, -0.2123894646524585, -0.58656309904022219], [5.0770476082815996, 4.7520378276798443, -0.1723003039683372, -0.57958174544527574], [5.0339725322895159, 4.6071423913185248, -0.096850814323223428, -0.57289497043027593], [5.0097598287087104, 4.4639186487109566, -0.039039314834842014, -0.5665433493852633], [5.0, 4.3222828113646417, 0.0, -0.56040433744505502], [5.0, 4.1821817270033774, 0.24623318809724826, -0.55441208621429605], [5.0615582970243116, 4.0435787054498036, 0.73263648599967579, -0.54800215604718772], [5.2447174185242318, 3.9065781664380066, 1.0111501858881702, -0.53846306996328963], [5.4975049649962742, 3.771962398947184, 0.95046964043878956, -0.52673066797143053], [5.7351223751059708, 3.6402797319543261, 0.8740548630208218, -0.51584365023125822], [5.9536360908611776, 3.5113188193965121, 0.78368788176138138, -0.50588476356061662], [6.1495580613015219, 3.3848476285063578, 0.68137460796882654, -0.49690742603086724], [6.3199017132937296, 3.2606207719986409, 0.56929742450727194, -0.48893355705791958], [6.4622260694205478, 3.1383873827341606, 0.44977542553418987, -0.48194958294323859], [6.5746699258040948, 3.0178999869983509, 0.32523425909726961, -0.47589911602322227], [6.6559784905784127, 2.8989252079925456, 0.19818933478027273, -0.47067107480536613], [6.7055258242734803, 2.7812574392912039, 0.071248596942469669, -0.46608524110577659], [6.7233379735090981, 2.6647361290147598, -0.052863064694696128, -0.46188801160134352], [6.7101222073354254, 2.5492641261144242, -0.17128430235966399, -0.45778392695421466], [6.6673011317455098, 2.4348181443758699, -0.28106930710214006, -0.45350726964459892], [6.5970338049699748, 2.3214413269647207, -0.37934151161762913, -0.44888438937076897], [6.5021984270655668, 2.2092202296220282, -0.46348383107988339, -0.44384667685171869], [6.3863274692955967, 2.0982585604090986, -0.53129201360342271, -0.43840998972633477], [6.253504465894741, 1.988656062977515, -0.58107088137977114, -0.43264770535842201], [6.1082367455497986, 1.8804941366379093, -0.61168115046026217, -0.42666830848660148], [5.9553164579347326, 1.7738270595162591, -0.62254795873084368, -0.42059856019452729], [5.7996794682520214, 1.6686774194676273, -0.61364058615046302, -0.41457098335222814], [5.6462693217144055, 1.5650346736295702, -0.58543165299645361, -0.40871443958440284], [5.4999114084652927, 1.4628560637334695, -0.53884327992072778, -0.40314684700730724], [5.3652005884851102, 1.3620693519816429, -0.47518684033274056, -0.39796915269018213], [5.2464038784019253, 1.2625770638090972, -0.39610202460128169, -0.39325947484797713], [5.1473783722516044, 1.164262195097103, -0.30350036145734149, -0.38906580805811664], [5.0715032818872698, 1.0669957430825738, -0.19951900101899744, -0.38539478536769084], [5.0216235316325202, 0.97064704674065116, -0.086494126530081303, -0.3821933853870576], [5.0, 0.87509870039388671, 0.033029642382255323, -0.3793247068283998], [5.0082574105955633, 0.78026752368678676, 0.15624259986785854, -0.37655932944017173], [5.047318060562529, 0.68612769132674389, -0.091572128720914234, -0.37362463249670969], [5.0244250283823, 0.59272153320256638, -0.094715952307799833, -0.37087079920700217], [5.0007460403053496, 0.50000383340081589, -0.0029841612213997045, -0.36815056607044389], [5.0, 0.40796619188320482, 0.10840565095018241, -0.36555356243887344], [5.0271014127375455, 0.3165778012734865, 0.20873449958465529, -0.36288630979092901], [5.0792850376337091, 0.22585622382575427, 0.29544532915513783, -0.35998383859005834], [5.1531463699224931, 0.13586026417823968, 0.36628419440695781, -0.35678492737311518], [5.2447174185242327, 0.046664032334960887, 0.41945236349982323, -0.3533066410602218], [5.0, -0.0, 0.0, 0.0]]) 
# - 120, 14
no_control_trajectories.append([[10.0, 20.0, -2.3382685902179845, -1.3499999999999999], [9.4154328524455035, 19.662500000000001, -2.0415317240816377, -1.2806408961473925], [8.905049921425146, 19.342339775963179, -1.9479508384042219, -1.2219093861778743], [8.4180622118240915, 19.036862429418708, -1.8431979315359952, -1.168438612579521], [7.9572627289400932, 18.744752776273831, -1.7280594466727357, -1.1199102614960756], [7.5252478672719096, 18.464775210899813, -1.6036249885080553, -1.0760195608497451], [7.1243416201448957, 18.195770320687377, -1.4712452985464861, -1.0364690841744939], [6.7565302955082736, 17.936653049643756, -1.3324927019047099, -1.0009641333469104], [6.4234071200320964, 17.686412016307028, -1.1891245055345514, -0.96920894757760168], [6.1261259936484578, 17.444109779412628, -1.0430495042809051, -0.9409031924765423], [5.8653636175782315, 17.208883981293489, -0.89629748943833387, -0.91573843292434753], [5.6412892452186485, 16.9799493730624, -0.75099141339675735, -0.89339464557954873], [5.4535413918694591, 16.756600711667517, -0.60932152539835382, -0.8735373666635583], [5.3012110105198698, 16.538216370001518, -0.47352012300562263, -0.8558168603698415], [5.1828309797684637, 16.324262154908904, -0.34583423992639967, -0.83987160009971817], [5.0963724197868645, 16.114294254883767, -0.22849152651202925, -0.82533873909292321], [5.0392495381588578, 15.907959570110261, -0.12365274972692478, -0.81187287233471683], [5.0083363507271264, 15.704991352026582, -0.03334540290850338, -0.79917047983430123], [5.0, 15.505198732068006, 0.03919190970419105, -0.78699280924801029], [5.0097979774260484, 15.308450529756005, -0.03919190970419241, -0.77517988048646691], [5.0, 15.114655559634388, 2.7755575615628914e-16, -0.76371645045794534], [5.0, 14.923726447019902, 0.24623318809724351, -0.75260386966343618], [5.0615582970243107, 14.735575479604043, 0.73263648599968467, -0.74125523735556653], [5.2447174185242318, 14.550261670265151, 1.0181106053859528, -0.72655786997537952], [5.49924506987072, 14.368622202771306, 0.95523960012862885, -0.70927360032155973], [5.7380549699028771, 14.191303802690914, 0.87685113317041274, -0.69322277409734312], [5.957267753195481, 14.01799810916658, 0.78471306841988375, -0.67848344192421561], [6.1534460203004517, 13.848377248685527, 0.680819177885155, -0.66509400686285503], [6.3236508147717405, 13.682103746969812, 0.56734507420323377, -0.65304990153668174], [6.4654870833225493, 13.518841271585641, 0.44661254089902408, -0.64229868031085957], [6.5771402185473056, 13.358266601507928, 0.32106424044237059, -0.63273300879214023], [6.6574062786578985, 13.200083349309894, 0.19325103519963338, -0.62418267431194419], [6.7057190374578068, 13.044037680731908, 0.06583235799552202, -0.61641079086222883], [6.7221771269566872, 12.889934983016349, -0.058418599923144028, -0.60912521308701317], [6.7075724769759013, 12.737653679744597, -0.17663050234465499, -0.6020157983349671], [6.6634148513897369, 12.587149730160853, -0.28590426964803062, -0.59481052236917697], [6.5919387839777288, 12.43844709956856, -0.38344464309500043, -0.58732226271876675], [6.4960776232039787, 12.291616533888867, -0.46671654577029204, -0.57946491109183873], [6.3793984867614055, 12.146750306115907, -0.5335815791628864, -0.5712427950324529], [6.2460030919706844, 12.003939607357793, -0.58239235631944386, -0.56272852105928584], [6.100405002890823, 11.863257477092972, -0.61204262824359001, -0.5540398432592426], [5.9473943458299257, 11.724747516278162, -0.621979568785057, -0.54531965814442063], [5.7918994536336621, 11.588417601742057, -0.61218658192895437, -0.53671984502169723], [5.6388528081514231, 11.454237640486634, -0.5831450034674055, -0.52838850004036619], [5.493066557284572, 11.322140515476541, -0.53578249768920783, -0.52045976219892409], [5.35912093286227, 11.192025574926809, -0.4714151193948784, -0.51304523951785286], [5.24126715301355, 11.063764265047347, -0.39168915720405589, -0.50622578996726131], [5.1433448637125352, 10.937207817555532, -0.29852840469676412, -0.5000420646827779], [5.0687127625383441, 10.812197301384838, -0.19409302378047172, -0.49448203261739476], [5.0201895065932272, 10.688576793230489, -0.080758026372909381, -0.48946486409774731], [5.0, 10.566210577206052, 0.038879892432542439, -0.48482628258236282], [5.0097199731081359, 10.44500400656046, 0.16197051123529854, -0.48032298106302651], [5.0502126009169608, 10.324923261294703, 0.28539417685076318, -0.47567705079629868], [5.1215611451296512, 10.206003998595628, 0.40582653539528174, -0.47064665701187869], [5.2230177789784715, 10.088342334342659, -0.19209540845093295, -0.46507509798562763], [5.1749939268657377, 9.9720735598462529, -0.19504751608456869, -0.46060313495967281], [5.1262320478445957, 9.8569227761063338, -0.19785719243746028, -0.45620016247342515], [5.0767677497352315, 9.7428727354879783, -0.17158494071450894, -0.45186460958663216], [5.033871514556604, 9.6299065830913229, -0.096535702145306948, -0.44768970593234775], [5.0097375890202773, 9.5179841566082359, -0.038950356081110672, -0.44376962713958135], [5.0, 9.407041749823339, 0.0, -0.43998994064425956], [5.0, 9.297044264662274, 0.24623318809724809, -0.43628885603043172], [5.0615582970243116, 9.1879720506546665, 0.73263648599967957, -0.4321192013700827], [5.2447174185242318, 9.079942250312147, 1.0077384263690841, -0.42512585437045414], [5.4966520251165036, 8.9736607867195346, 0.94812687283167918, -0.41628211135823789], [5.7336837433244234, 8.869590258879974, 0.87268427088174849, -0.40808311249116758], [5.9518548110448597, 8.7675694807571833, 0.78320003190921017, -0.40060460730046543], [6.1476548190221623, 8.667418328932067, 0.681686845724644, -0.39389985012914541], [6.3180765304533235, 8.5689433663997789, 0.57033159836956693, -0.38799837983576113], [6.4606594300457152, 8.4719437714408397, 0.45145324102119899, -0.38290331056077997], [6.5735227403010139, 8.3762179438006452, 0.32746898851029183, -0.37858541759588155], [6.6553899874285873, 8.2815715894016737, 0.20087233707480584, -0.374971390605155], [6.7056080716972879, 8.1878287417503852, 0.074231831488280803, -0.37192420410111388], [6.7241660295693588, 8.094847690725107, -0.04977538233750961, -0.36922409293858993], [6.7117221839849801, 8.0025416674904584, -0.16830920531093799, -0.36658794393817334], [6.6696448826572468, 7.9108946815059156, -0.27839216666447292, -0.36375519632506637], [6.6000468409911281, 7.8199558824246491, -0.37708783944109442, -0.36056673885802165], [6.5057748811308551, 7.7298141977101427, -0.46172526959539262, -0.35697062128465684], [6.3903435637320065, 7.6405715423889786, -0.53006218903440638, -0.35299105717395668], [6.2578280164734048, 7.5523237780954897, -0.58037845002231148, -0.34869924952988618], [6.1127334039678258, 7.4651489657130181, -0.61151866763347751, -0.34419325048469801], [5.9598537370594578, 7.3791006530918439, -0.62289781580308534, -0.33958432527211541], [5.8041292831086855, 7.2942045717738146, -0.61447906702149613, -0.33498730780078334], [5.6505095163533117, 7.2104577448236187, -0.58673167310970686, -0.33051351253025102], [5.5038265980758849, 7.1278293666910564, -0.54057602335339372, -0.32626535674833351], [5.368682592237537, 7.046263027503973, -0.47732225392322841, -0.32233200535350365], [5.2493520287567295, 6.9656800261655967, -0.39860783924586518, -0.31878519385522758], [5.1497000689452639, 6.8859837277017899, -0.30633884033372494, -0.31567385136316983], [5.0731153588618323, 6.8070652648609977, -0.20263984900790141, -0.31301493260479651], [5.0224553966098568, 6.7288115317097974, -0.089821586439428405, -0.31077575484913644], [5.0, 6.6511175929975135, 0.029612676852658792, -0.30884367964252529], [5.0074031692131644, 6.5739066730868831, 0.15289125138098072, -0.30700280492788634], [5.0456259820584091, 6.4971559718549114, -0.088725402272409867, -0.30498577266654825], [5.0234446314903067, 6.4209095286882736, -0.090519949940132446, -0.30312338073106665], [5.0008146440052732, 6.3451286835055072, -0.0032585760210961379, -0.3012796222819531], [5.0, 6.2698087779350189, 0.1081303255350706, -0.29953402907264026], [5.027032581383768, 6.1949252706668592, 0.2085906497291829, -0.29770383823993629], [5.0791802438160634, 6.1204993111068751, 0.29552125626383474, -0.29563325386387296], [5.1530605578820223, 6.0465909976409069, 0.3666274425688415, -0.29327337207944693], [5.2447174185242327, 5.9732726546210442, 0.42008403368990621, -0.29064701521898789], [5.0, -0.0, 0.0, 0.0]]) 
# - 150, 15
# 12.2 full wave
no_control_trajectories.append([[12.5, 20.0, 2.3382685902179845, -1.3499999999999999], [13.084567147554496, 19.662500000000001, -2.9323787218403328, -1.2806853757648904], [12.351472467094414, 19.342328656058804, -2.9652121853608233, -1.2027122248432567], [11.610169420754207, 19.041650599847991, -2.9938705777223187, -1.1294861503570419], [10.861701776323629, 18.759279062258731, -2.8178013454128248, -1.0607181883305625], [10.157251439970423, 18.494099515176092, -2.5996786856207637, -0.99994990757947022], [9.5073317685652317, 18.244112038281227, -2.3884711162994581, -0.94695085306122395], [8.9102139894903676, 18.00737432501592, -2.1833508113013593, -0.90065105666275891], [8.3643762866650277, 17.782211560850232, -1.9841333436563995, -0.86016940223425298], [7.868342950750927, 17.56716921029167, -1.7911359892825109, -0.82476666418493338], [7.4205589534302989, 17.360977544245436, -1.6050660712807125, -0.79381130542573353], [7.0192924356101214, 17.162524717889003, -1.4269299733174923, -0.76675401778060726], [6.6625599422807475, 16.970836213443853, -1.2579563514947254, -0.74310843080235778], [6.3480708544070668, 16.785059105743262, -1.0995288681405626, -0.72243638685453104], [6.073188637371925, 16.604450009029627, -0.95312489571344672, -0.70433688280671314], [5.8349074134435641, 16.428365788327952, -0.82025734377319837, -0.68843831456005367], [5.6298430775002641, 16.25625620968794, -0.7024172095625677, -0.67439403840713685], [5.4542387751096228, 16.087657700086154, -0.60101481610627305, -0.66188137862519336], [5.3039850710830541, 15.922187355429857, -0.51731826711505047, -0.65060386861963959], [5.1746555043042912, 15.759536388274945, -0.45238882911991785, -0.64029560150024811], [5.0615582970243116, 15.599462487899885, -0.24623318809724995, -0.63072539178473419], [5.0, 15.441781139953701, 0.24623318809724551, -0.62258078098268688], [5.0615582970243107, 15.286135944708031, 0.73263648599968334, -0.6146395870695095], [5.2447174185242318, 15.132476047940653, 1.0133870947573627, -0.60345666704073597], [5.4980641922138691, 14.981611881180468, 0.95200439547629612, -0.58991942518550067], [5.7360652910826468, 14.834132024884093, 0.87495435905240659, -0.57735276083033438], [5.9548038808457484, 14.689793834676509, 0.78401440637922659, -0.5658401713122595], [6.1508074824405554, 14.548333791848444, 0.68118640866327551, -0.55543203866964497], [6.3211040846063744, 14.409475782181033, 0.56865038325416817, -0.54614298054230959], [6.4632666804199159, 14.272940037045457, 0.44872618159804878, -0.53794735526316872], [6.5754482258194287, 14.138453198229664, 0.32384525376121298, -0.53077171644373888], [6.656409539259732, 14.00576026911873, 0.19653590857088754, -0.5244838912063251], [6.7055435164024537, 13.874639296317149, 0.06942617956480375, -0.51888228243297863], [6.7229000612936556, 13.744918725708905, -0.054738476382602465, -0.51369823702265049], [6.7092154421980048, 13.616494166453242, -0.17309043247772476, -0.50863081065889848], [6.6659428340785727, 13.489336463788518, -0.28270052325559863, -0.50341203123077438], [6.5952677032646738, 13.363483455980823, -0.38072230569415794, -0.49786263986120666], [6.5000871268411338, 13.239017796015522, -0.46456817264872913, -0.49190688905122104], [6.3839450836789524, 13.116041073752717, -0.53205659353444978, -0.48555629625927665], [6.2509309352953402, 12.994651999687898, -0.58150831057018038, -0.47888440728471088], [6.1055538576527946, 12.874930897866719, -0.61179475706934106, -0.47200385024395997], [5.9526051683854595, 12.756929935305727, -0.62234806793507247, -0.46504814979694153], [5.7970181514016916, 12.640667897856494, -0.61314190338371966, -0.4581577931477917], [5.6437326755557606, 12.526128449569544, -0.58465149027313068, -0.45146956266626559], [5.4975698029874787, 12.413261058902979, -0.53780051463961998, -0.44510820040083421], [5.3631196743275735, 12.301984008802769, -0.47390163151637765, -0.43917945220565385], [5.2446442664484794, 12.192189145751355, -0.39459646670113124, -0.43376331905999355], [5.1459951497731966, 12.083748315986357, -0.301800473433954, -0.42890586947742865], [5.0705450314147082, 11.976521848617001, -0.19765868529917022, -0.42460731568919086], [5.0211303600899155, 11.870370019694704, -0.084521440359664815, -0.42080419956976428], [5.0, 11.765168969802263, 2.5743296383495817e-15, -0.41734874778661424], [5.0, 11.66083178285561, 0.020070376322290532, -0.41401686070414911], [5.0050175940805728, 11.557327567679572, 0.14490331532240541, -0.41073423721532881], [5.0412434229111742, 11.454644008375739, 0.26715025423305039, -0.40731639686600257], [5.1080309864694362, 11.352814909159237, 0.38354031346090445, -0.40353107470298472], [5.2039160648346625, 11.25193214048349, -0.25401949053446915, -0.39924968590290538], [5.1404111922010456, 11.152119719007764, -0.25508991669777331, -0.39563615800592161], [5.0766387130266022, 11.053210679506284, -0.17125682873888348, -0.39207377178072234], [5.0338245058418805, 10.955192236561103, -0.096389331424083305, -0.38886283186239046], [5.0097271729858601, 10.857976528595504, -0.038908691943439426, -0.38587947596334399], [5.0, 10.76150665960467, 0.0, -0.38301334763585576], [5.0, 10.665753322695704, 0.24623318809723119, -0.38020414032354238], [5.0615582970243116, 10.57070228761482, 0.732636485999697, -0.37691647521784571], [5.2447174185242318, 10.47647316881036, 1.0063511051693343, -0.37100765223866927], [5.4963051948165651, 10.383721255750693, 0.94717416629854434, -0.36343915063155613], [5.7330987363912014, 10.292861468092802, 0.87212864467772, -0.35642594496760155], [5.9511308975606312, 10.203754981850903, 0.7830071543540178, -0.35003802929132694], [6.1468826861491346, 10.116245474528071, 0.68182547197150656, -0.34432615070312222], [6.3173390541420122, 10.030163936852292, 0.57077281784993794, -0.33932103648567424], [6.460032258604496, 9.9453336777308738, 0.45216876269138639, -0.33503140660478875], [6.5730744492773434, 9.8615758260796742, 0.32842775140357566, -0.33143914716801581], [6.6551813871282368, 9.7787160392876729, 0.20203414035528583, -0.32848867323385755], [6.7056899222170587, 9.696593870979207, 0.07553692464117874, -0.32606632986641237], [6.7245741533773522, 9.6150772885126035, -0.048415365797372385, -0.3239734918176766], [6.7124703119280102, 9.5340839155581847, -0.16699912949345583, -0.32193530096244549], [6.6707205295546466, 9.4536000903175719, -0.27721971940824874, -0.31969488015416864], [6.6014155997025838, 9.3736763702790302, -0.37610788224925573, -0.31710352094344585], [6.5073886291402703, 9.2944004900431683, -0.46096645179372553, -0.3141195658798937], [6.3921470161918386, 9.2158705985731952, -0.52953659547749032, -0.310771208053925], [6.2597628673224666, 9.1381777965597148, -0.58008805060860402, -0.3071272593806359], [6.1147408546703161, 9.0613959817145542, -0.61145919307006502, -0.30327895028047419], [5.9618760564027999, 8.9855762441444362, -0.62306119352001954, -0.29932820704876245], [5.8061107580227951, 8.9107441923822464, -0.61485505142505914, -0.29537951224926567], [5.65239699516653, 8.836899314319929, -0.5873089543944332, -0.29153396157449363], [5.5055697565679216, 8.7640158239263055, -0.54134291380278687, -0.2878847876623099], [5.3702340281172249, 8.6920446270107288, -0.47826693392241004, -0.28451378898640178], [5.2506672946366226, 8.6209161797641283, -0.39971801499408205, -0.28148796782168889], [5.150737790888102, 8.5505441878087058, -0.30760042332723458, -0.27885518655615854], [5.0738376850562936, 8.4808303911696648, -0.20403375720616448, -0.27663640654614896], [5.0228292457547523, 8.4116712895331283, -0.091316983019010034, -0.27480933113265865], [5.0, 8.3429689567499619, 0.028069011601206548, -0.2732760127640021], [5.007017252900301, 8.2746499535589617, 0.15137621381009794, -0.2718297688307707], [5.0448613063528258, 8.2066925113512692, -0.087340313356612492, -0.27020706767532748], [5.0230262280136726, 8.1391407444324404, -0.088713186507187819, -0.26872795890516721], [5.0008479313868754, 8.0719587547061487, -0.0033917255475028269, -0.26726186092678372], [5.0, 8.0051432894744501, 0.10799641945992609, -0.26588411053742739], [5.0269991048649807, 7.9386722618400949, 0.20852217448242677, -0.26441714001363192], [5.0791296484855879, 7.8725679768366872, 0.29555921649656086, -0.26271179129891747], [5.1530194526097288, 7.8068900290119574, 0.36679186365801586, -0.2607269997346191], [5.2447174185242327, 7.7417082790783027, 0.42038283268903609, -0.25848841012451929], [5.0, -0.0, 0.0, 0.0]]) 
# - 30, 16
no_control_trajectories.append([[12.5, 20.0, 1.3500000000000003, -2.3382685902179845], [12.8375, 19.415432852445505, -2.3062105449857633, -2.2181958710169103], [12.26094736375356, 18.860883884691301, -2.4288843401997413, -2.0831516656097007], [11.653726278703624, 18.340095968288878, -2.5321498527432857, -1.9563274580836811], [11.020688815517802, 17.851014103767955, -2.6198493896097443, -1.8372232242603106], [10.365726468115366, 17.391708297702877, -2.6948285368035676, -1.7253692814088086], [9.6920193339144731, 16.960365977350676, -2.5425152871935679, -1.6203244678922613], [9.0563905121158133, 16.555284860377611, -2.3083304548919736, -1.527372986307032], [8.4793078983928201, 16.173441613800851, -2.0856814623943314, -1.4469297111177748], [7.9578875327942376, 15.811709186021409, -1.8736075006527624, -1.3770374315318104], [7.4894856576310467, 15.467449828138456, -1.6718648011315884, -1.3161051774774635], [7.0715194573481499, 15.138423533769091, -1.4807452186622263, -1.2628119639295865], [6.7013331526825928, 14.822720542786694, -1.3009372955293832, -1.2160389788390449], [6.3760988288002478, 14.518710798076933, -1.1334151265932628, -1.1748215698981046], [6.092745047151932, 14.225005405602406, -0.97934498128413761, -1.1383157732836595], [5.847908801830898, 13.940426462281492, -0.84000242189794005, -1.1057761412773139], [5.6379081963564133, 13.663982426962162, -0.71669451109882554, -1.0765426326856862], [5.4587345685817059, 13.394846768790742, -0.61068332886848098, -1.0500344892779756], [5.3060637363645862, 13.132338146471248, -0.52310897932923461, -1.0257485390285779], [5.1752864915322769, 12.875901011714102, -0.45491277803186064, -1.0032587086811304], [5.0615582970243116, 12.625086334543822, -0.24623318809724565, -0.98221338490014853], [5.0, 12.379532988318783, 0.24623318809724082, -0.96327331915125003], [5.0615582970243107, 12.13871465853097, 0.73263648599968811, -0.94504353877997138], [5.2447174185242318, 11.902453773835978, 1.0267642654886586, -0.92354607492434604], [5.5014084848963964, 11.671567255104891, 0.96114169435148167, -0.89928804240913507], [5.7416939084842662, 11.446745244502608, 0.88030525940109061, -0.87677398757069358], [5.9617702233345398, 11.227551747609933, 0.78600426297310644, -0.85605323498322061], [6.158271289077816, 11.013538438864128, 0.68021704749989498, -0.83712785199955286], [6.3283255509527896, 10.804256475864239, 0.56511044794137488, -0.81994888071453209], [6.4696031629381334, 10.599269255685606, 0.44300756294391908, -0.80441189735648899], [6.580355053674114, 10.398166281346484, 0.31636510614761121, -0.79035233535210481], [6.6594463302110167, 10.200578197508458, 0.18776046006005273, -0.77754292760686439], [6.7063864452260296, 10.006192465606743, 0.059885049564841773, -0.76569852389113635], [6.7213577076172397, 9.81476783463396, -0.064466814909882778, -0.75449542856626606], [6.7052410038897694, 9.6261439774923936, -0.1824330911473574, -0.74360850937191791], [6.6596327311029304, 9.4402418501494143, -0.2911614149979676, -0.73275769200427776], [6.586842377353439, 9.257052427148345, -0.38792798849725585, -0.72174579664829241], [6.4898603802291248, 9.0766159779862701, -0.47027369729382407, -0.71047432153776213], [6.372291955905669, 8.8989973976018302, -0.53612676474893661, -0.69893760500875457], [6.2382602647184351, 8.7242629963496423, -0.58389221890979703, -0.68720429740137978], [6.0922872099909862, 8.5524619219992974, -0.61250242424729873, -0.67539479037369465], [5.9391616039291621, 8.3836132244058721, -0.62143168883182132, -0.66365959722713974], [5.7838036817212064, 8.2176983250990876, -0.61068175251062273, -0.65216067069329875], [5.6311332435935508, 8.054658157425763, -0.58074607822175484, -0.64105599405014579], [5.4859467240381123, 7.8943941589132276, -0.53256075003568504, -0.63048698094992739], [5.352806536529191, 7.7367724136757463, -0.46744911008725931, -0.62056778761156361], [5.2359442590073764, 7.5816304667728547, -0.38706646729871463, -0.61137534945657379], [5.1391776421826982, 7.4287866294087115, -0.29335067942378312, -0.60293880832663815], [5.065839972326752, 7.2780519273270512, -0.188484452544324, -0.5952273500881905], [5.0187188591906704, 7.1292450898050044, -0.074875436762680339, -0.58813736553851426], [5.0, 6.9822107484203757, 0.044842236158938564, -0.58148491736967789], [5.0112105590397347, 6.8368395190779561, 0.16779334244188507, -0.57501664079461356], [5.0531588946502062, 6.6930853588793022, 0.29086584883914085, -0.56845038124569469], [5.1258753568599928, 6.5509727635678789, 0.4107760191470527, -0.56153455090208582], [5.2285693616467563, 6.4105891258423577, -0.1973926587839003, -0.55409477552399289], [5.1792211969507811, 6.2720654319611837, -0.20204593298333468, -0.54787438449728998], [5.1287097137049473, 6.1350968358368609, -0.20703446827505004, -0.54176796536787075], [5.0769510966361429, 5.9996548444948932, -0.17205312708559528, -0.53577023096110776], [5.0339378148647445, 5.8657122867546168, -0.096742442491222824, -0.53001475107788532], [5.0097522042419387, 5.7332085989851445, -0.039008816967753643, -0.52456298451386019], [5.0, 5.6020678528566803, 0.0, -0.51929521080834784], [5.0, 5.4722440501545933, 0.24623318809725342, -0.51414716517693038], [5.0615582970243116, 5.34370725886036, 0.73263648599967413, -0.508559551238568], [5.2447174185242318, 5.2165673710507185, 1.0099172857790175, -0.49993007556874741], [5.4971967399689863, 5.0915848521585314, 0.94962321596718202, -0.48921509635041521], [5.7346025439607811, 4.969281078070928, 0.87355919404864224, -0.47927499401136953], [5.9529923424729416, 4.8494623295680857, 0.78350985251071514, -0.47019093083843627], [6.1488698056006204, 4.7319145968584762, 0.68148344536705419, -0.46201704765727108], [6.3192406669423837, 4.6164103349441579, 0.56966382456232623, -0.45477860736668557], [6.4616566230829662, 4.5027156831024877, 0.45036983760116789, -0.4484683861396605], [6.5742490824832567, 4.3905985865675721, 0.32602394934679452, -0.44303968443970221], [6.6557550698199561, 4.279838665457647, 0.19913389884616106, -0.43839419412442099], [6.7055385445314961, 4.170240116926542, 0.072294732587058666, -0.43436549226706739], [6.7236122276782613, 4.0616487438597746, -0.051783103320583293, -0.43071019903712648], [6.7106664518481152, 3.9539711941004936, -0.1702438132623243, -0.42713653556101627], [6.668105498532535, 3.8471870602102394, -0.28013129649829305, -0.42338029133080124], [6.5980726744079607, 3.7413419873775391, -0.37854980789560672, -0.41927192608160702], [6.5034352224340601, 3.6365240058571371, -0.46286424740607662, -0.41474782018646095], [6.3877191605825407, 3.5328370508105218, -0.53085710639271444, -0.40982658743128858], [6.2550048839843617, 3.4303804039526997, -0.58082424493230411, -0.40458119155121847], [6.1097988227512863, 3.3292351060648953, -0.61162049352525905, -0.3991170788466466], [5.9568936993699717, 3.2294558363532335, -0.62266722190977675, -0.39355630843022044], [5.8012268938925269, 3.1310667592456785, -0.61393140461118101, -0.38802596054317723], [5.647744042739733, 3.0340602691098839, -0.58588434402094491, -0.38264948871253962], [5.5012729567344962, 2.9383978969317495, -0.53944742706283211, -0.37754007999044814], [5.3664110999687873, 2.8440128769341375, -0.47593145978257911, -0.37279519304159014], [5.2474282350231425, 2.7508140786737401, -0.39697520180381501, -0.36849125861380672], [5.1481844345721886, 2.658691264020288, -0.30448809672510663, -0.36467698873685261], [5.0720624103909122, 2.5675220168360751, -0.20060279386295032, -0.36136270964509248], [5.0219117119251742, 2.4771813394248019, -0.087646847700696695, -0.35850202679524024], [5.0, 2.3875558327259916, 0.031848290049006495, -0.35596543146381299], [5.0079620725122522, 2.2985644748600382, 0.15508435673310561, -0.35352744641993861], [5.0467331616955278, 2.2101826132550539, -0.090562689975486832, -0.35091695313040605], [5.0240924892016565, 2.1224533749724523, -0.093293598614483678, -0.34847797115034257], [5.0007690895480357, 2.0353338821848665, -0.003076358192140605, -0.34606683039295133], [5.0, 1.9488171745866287, 0.10831323915774127, -0.34376981200039014], [5.0270783097894354, 1.8628747215865313, 0.20868585003763773, -0.34139700759447378], [5.0792497722988443, 1.7775254696879128, 0.29547054014027324, -0.3387860355751674], [5.1531174073339132, 1.6928289607941209, 0.36640004476128085, -0.33587932603184062], [5.2447174185242327, 1.6088591292861609, 0.4196665971425253, -0.33269582296077505], [5.0, -0.0, 0.0, 0.0]]) 
# - 60, 17
no_control_trajectories.append([[12.5, 20.0, 0.0, -2.7000000000000002], [12.5, 19.324999999999999, -2.0114111418300387, -2.4886191389045433], [11.99714721454249, 18.702845215273864, -2.1856096142800028, -2.3371158751689713], [11.450744810972489, 18.118566246481624, -2.3284557170362401, -2.1948334729088805], [10.868630881713431, 17.569857878254403, -2.4475310091266835, -2.0612112845031976], [10.25674812943176, 17.054555057128606, -2.5479360312419685, -1.9357225991083875], [9.6197641216212677, 16.570624407351506, -2.5367078524429818, -1.8178726391005997], [8.9855871585105209, 16.11615624757636, -2.2977512646056564, -1.7099288616289887], [8.4111493423591046, 15.688674032169109, -2.0714554626751234, -1.6167409149165761], [7.893285476690326, 15.284488803439965, -1.856555650995646, -1.5359029141586615], [7.4291465639414138, 14.900513074900298, -1.6525939489015016, -1.4654797699163282], [7.0159980767160377, 14.534143132421217, -1.4597106987147002, -1.4038805851369318], [6.6510704020373632, 14.183172986136986, -1.278487543477002, -1.349770749552061], [6.3314485161681135, 13.845730298748968, -1.1098239736179965, -1.3020105585066457], [6.0539925227636138, 13.520227659122307, -0.9548350556361872, -1.2596129322483163], [5.8152837588545676, 13.20532442606023, -0.81476165152846292, -1.2217155479035329], [5.6115933459724516, 12.899895539084348, -0.69088685838180286, -1.187564048308839], [5.4388716313770011, 12.603004527007139, -0.58445451892106159, -1.1565033088498], [5.2927580016467353, 12.313878699794689, -0.49658806409868117, -1.1279734122546099], [5.168610985622065, 12.031885346731038, -0.42821075439101575, -1.1015066010829129], [5.0615582970243116, 11.756508696460308, -0.24623318809725059, -1.0767217289507016], [5.0, 11.487328264222631, 0.24623318809724387, -1.0540791050595544], [5.0615582970243107, 11.223808487957744, 0.73263648599967779, -1.0323635945453469], [5.2447174185242318, 10.965717589321407, 1.0307844145716862, -1.0075027854375285], [5.5024135221671528, 10.713841892962025, 0.9638715047552302, -0.97988266703217031], [5.743381398355961, 10.468871226203982, 0.88189800139271779, -0.95426553846374729], [5.9638558987041401, 10.230304841588046, 0.78660351146965546, -0.930680315231595], [6.1605067765715544, 9.9976347627801463, 0.6799582573085633, -0.90910684169951739], [6.3304963408986952, 9.7703580523552667, 0.5641238960275875, -0.88947208491193697], [6.4715273149055914, 9.5479900311272825, 0.4414223957744956, -0.87164611704850647], [6.5818829138492161, 9.3300785018651542, 0.3143138648885761, -0.85543860242301961], [6.6604613800713599, 9.1162188512593989, 0.18538271494025219, -0.84059833839367348], [6.7068070588064224, 8.9060692666609818, 0.057327860799745015, -0.82682074471837719], [6.7211390240063587, 8.6993640804813879, -0.067053909234103162, -0.81376906489895628], [6.7043755466978334, 8.4959218142566488, -0.18490850084823193, -0.80111083332322186], [6.6581484214857749, 8.2956441059258434, -0.29340338446652453, -0.78856140929594665], [6.5847975753691443, 8.0985037536018574, -0.38984266946047125, -0.77591911661520618], [6.4873369080040266, 7.9045239744480567, -0.4717971128451775, -0.76308053251759267], [6.3693876297927323, 7.7137538413186588, -0.53722202244309403, -0.75003571896158394], [6.2350821241819583, 7.5262449115782628, -0.58454452861001927, -0.73685075801751621], [6.088945992029454, 7.3420322220738843, -0.61271380704539069, -0.72364547329206519], [5.9357675402681052, 7.1611208537508668, -0.62121630427799235, -0.71057139708928674], [5.7804634641986077, 6.9834780044785454, -0.6100621761618481, -0.6977922999515096], [5.6279479201581459, 6.8090299294906673, -0.57975060940654777, -0.68546788952004212], [5.4830102678065087, 6.6376629571106571, -0.53122176381467612, -0.67374036493797529], [5.3502048268528393, 6.4692278658761628, -0.46580248198221536, -0.66272300278342555], [5.2337542063572853, 6.3035471151803071, -0.38515213529448961, -0.65248964734125126], [5.1374661725336628, 6.140424703344995, -0.2912143957383615, -0.64306390051803142], [5.0646625735990725, 5.9796587282154867, -0.18618055678472883, -0.63440731007220574], [5.0181174344028898, 5.8210569006974362, -0.072469737611560184, -0.62640785586337133], [5.0, 5.6644549367315928, 0.047271821179926052, -0.61887468208747076], [5.0118179552949806, 5.5097362662097256, 0.1701615972875383, -0.61155069172676091], [5.0543583546168662, 5.3568485932780341, 0.29309083074260134, -0.60415196015946071], [5.127631062302517, 5.2058106032381692, 0.41278995773594668, -0.59642384205899146], [5.2308285517365025, 5.0567046427234219, -0.19184166966116997, -0.58818650200925904], [5.1828681343212102, 4.9096580172211066, -0.2072614830660709, -0.58124362506167893], [5.1310527635546928, 4.7643471109556863, -0.21612572895081195, -0.57439995060866489], [5.0770213313169892, 4.6207471233035209, -0.17223296207695038, -0.56767346733785273], [5.0339630907977524, 4.4788287564690563, -0.096821335306680134, -0.56124702872723375], [5.0097577569710818, 4.3385169992872479, -0.039031027884328585, -0.55514675943954539], [5.0, 4.1997303094273617, 0.0, -0.54925089545221195], [5.0, 4.062417585564309, 0.24623318809724501, -0.5434940429086681], [5.0615582970243116, 3.9265440748371416, 0.73263648599967912, -0.5373131057312921], [5.2447174185242318, 3.7922157984043188, 1.0108091158214623, -0.52802508123351877], [5.4974196974795966, 3.660209528095939, 0.95023551596684286, -0.51657204196161766], [5.734978576471307, 3.5310665176055345, 0.87391772012222846, -0.50594503158135085], [5.9534580065018643, 3.4045802597101971, 0.78363847116226804, -0.49622645031781326], [6.1493676242924318, 3.2805236471307433, 0.68140431863320827, -0.48746999131117558], [6.3197187039507341, 3.1586561493029492, 0.56939803755175689, -0.47969855388259147], [6.4620682133386733, 3.0387315108323016, 0.44993863782578436, -0.47290034737273778], [6.5745528727951204, 2.9205064239891172, 0.32545088067148631, -0.46702164511999528], [6.6559155929629918, 2.8037510127091183, 0.19844809028463239, -0.46195480968498698], [6.7055276155341499, 2.6882623102878718, 0.071534782850680392, -0.4575232727860436], [6.7234113112468199, 2.5738814920913602, -0.052567891348833308, -0.4534760917025501], [6.7102693384096117, 2.4605124691657227, -0.17099994102454419, -0.44951876525154116], [6.6675193531534758, 2.3481327778528378, -0.28081280642648826, -0.44538596729538893], [6.5973161515468544, 2.2367862860289911, -0.37912483102438616, -0.44090509339089767], [6.5025349437907582, 2.1265600126812663, -0.46331408720630129, -0.43600882458428214], [6.3867064219891825, 2.017557806535196, -0.53117270979252273, -0.43071375264938161], [6.2539132445410512, 1.9098793683728503, -0.58100305307203071, -0.42509316944793607], [6.1086624812730435, 1.8036060760108663, -0.61166420121543763, -0.41925478285171752], [5.9557464309691852, 1.698792380297937, -0.62258024169754966, -0.41332413386372358], [5.8001013705447972, 1.5954613468320062, -0.61371980763277045, -0.40743232619384023], [5.646671418636604, 1.4936032652835463, -0.58555514510272211, -0.40170681074803333], [5.5002826323609231, 1.393176562596538, -0.53900816139063634, -0.3962642763799531], [5.3655305920132648, 1.2941104935015497, -0.47539006160518871, -0.3912047747521728], [5.2466830766119665, 1.1963092998135065, -0.39634026704479569, -0.38660601183836629], [5.1475980098507677, 1.0996577968539147, -0.30376972161152299, -0.38251621137749597], [5.0716555794478877, 1.004028744009541, -0.19981433931478648, -0.37894301875721231], [5.0217019946191908, 0.90929298932023794, -0.086807978476762943, -0.37583517570213837], [5.0, 0.81533419539470331, -2.0816681711721685e-16, -0.37305770687469147], [5.0, 0.72206976867603034, 2.2972075630622868e-15, -0.37039166523230033], [5.0, 0.62947185236795533, 0.12499290388179649, -0.3677633222048815], [5.0312482259704492, 0.53753102181673496, -0.12198434424908312, -0.36503063787820178], [5.0007521399081778, 0.44627336234718457, -0.0030085596327133475, -0.36233827990084849], [5.0, 0.35568879237197243, 0.1083812042922794, -0.35982202909839067], [5.0270953010730697, 0.26573328509737476, 0.20872159937129797, -0.35723399301532366], [5.0792757009158942, 0.17642478684354385, 0.29545197462948319, -0.3544098485351555], [5.1531386945732658, 0.087822324709754956, 0.36631489580386933, -0.35128929883901983], [5.2447174185242327, -0.0, 0.41950922966191062, -0.34788989872565812], [5.0, -0.0, 0.0, 0.0]]) 
# - 90, 18
no_control_trajectories.append([[12.5, 20.0, -1.3499999999999994, -2.3382685902179845], [12.162500000000001, 19.415432852445505, -2.3062533262412899, -2.2181513914070399], [11.585936668439398, 18.860895004593772, -2.4289201658708186, -2.0831098933628245], [10.978706626971974, 18.340117531253068, -2.5321801608358743, -1.9562882285260264], [10.34566158676302, 17.851045474121563, -2.6198752251204485, -1.8371863827059245], [9.6906927804829088, 17.391748878445082, -2.4936746156381395, -1.7253346825619398], [9.0672741265733734, 16.960415207804598, -2.2763818572640608, -1.625788217281108], [8.4981786622573576, 16.55396815348432, -2.0668812277095419, -1.5392520078696876], [7.9814583553299725, 16.169155151516897, -1.8644471302044119, -1.4637699521588086], [7.5153465727788697, 15.803212663477195, -1.6690156928333331, -1.3977428073173259], [7.0980926495705363, 15.453776961647863, -1.4810287365853374, -1.3398351594728564], [6.7278354654242021, 15.118818171779651, -1.3013131226580457, 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-0.95143562296531747], [5.5017374727513522, 11.554509191431769, 0.96203613262342147, -0.92608728570493815], [5.7422465059072074, 11.322987370005535, 0.88082752006866749, -0.9025659357738236], [5.9624533859243742, 11.09734588606208, 0.7862006027829489, -0.88091469056862315], [6.1590035366201121, 10.877117213419924, 0.68013115231496279, -0.8611287006135393], [6.329036324698853, 10.661835038266537, 0.56478440621115678, -0.84315136334419383], [6.4702324262516422, 10.451047197430489, 0.44248323023273822, -0.82687001578242558], [6.5808532338098269, 10.244329693484881, 0.31568566480514265, -0.81211164410062586], [6.6597746500111121, 10.041301782459724, 0.18697171769507837, -0.79864104718745954], [6.7065175794348821, 9.8416415206628596, 0.059035676965369162, -0.78616660330987753], [6.7212764986762243, 9.6450998698353914, -0.065326954776446067, -0.77436030197104566], [6.7049447599821121, 9.4515097943426305, -0.18325655595648704, -0.7628946603097484], [6.6591306209929906, 9.2607861292651936, -0.2919073475704384, -0.75148817795340195], [6.5861537841003805, 9.0729140847768424, -0.38856493690742078, -0.7399422245378029], [6.4890125498735252, 8.8879285286423926, -0.4707802799883834, -0.72815667250077143], [6.3713174798764296, 8.7058893605171974, -0.53649068971924929, -0.71612446058323587], [6.2371948074466168, 8.5268582453713897, -0.58410857013673878, -0.70391344755456198], [6.0911676649124322, 8.3508798834827491, -0.61257186677762387, -0.69164394006988228], [5.9380246982180269, 8.1779688984652772, -0.62135889917203102, -0.67946692307784318], [5.7826849734250194, 8.0081021676958173, -0.61047417665505666, -0.66754510019912661], [5.6300664292612552, 7.8412158926460362, -0.58041303763100704, -0.65603717459608024], [5.4849631698535033, 7.6772065989970164, -0.53211289730999722, -0.64508495624723894], [5.3519349455260041, 7.5159353599352068, -0.46689824405333208, -0.6348024220388413], [5.235210384512671, 7.3572347544254963, -0.38642573243550443, -0.62526555939767103], [5.1386039514037956, 7.2009183645760784, -0.29263517451165943, -0.61650170232832979], [5.0654451577758808, 7.0467929389939954, -0.1877122028386104, -0.60847747694772425], [5.018517107066228, 6.8946735697570647, -0.074068428264911959, -0.60108641209134561], [5.0, 6.7444019667342285, 0.045657778668412079, -0.5941422018980651], [5.0114144446671025, 6.595866416259712, 0.16858859041421156, -0.58739021924895385], [5.0535615922706549, 6.4490188614474739, 0.29161305698373186, -0.58054772464463744], [5.1264648565165869, 6.3038819302863143, 0.41145231722144365, -0.57336206616299845], [5.2293279358219475, 6.1605414137455652, -0.19783230483247588, -0.5656569524300249], [5.1798698596138291, 6.0191271756378439, -0.20314603584848753, -0.55918827998731646], [5.1290833506517064, 5.8793301056410154, -0.20843371578146785, -0.55283912539395208], [5.0769749217063396, 5.7411203242925275, -0.17211410380246325, -0.54660514250955639], [5.0339463957557236, 5.6044690386651386, -0.096769221377182371, -0.5406261204804591], [5.0097540904114286, 5.4693125085450234, -0.039016361645713413, -0.53495818072577417], [5.0, 5.33557296336358, 0.0, -0.52948091528030194], [5.0, 5.2032027345435035, 0.24623318809724093, -0.52412968966438822], [5.0615582970243116, 5.0721703121274055, 0.73263648599968678, -0.51834388055780034], [5.2447174185242318, 4.9425843419879563, 1.0102165022835363, -0.50949303769673981], [5.4972715440951161, 4.8152110825637706, 0.94982866409405176, -0.49852908269944751], [5.7347287101186293, 4.6905788118889085, 0.87367946703533494, -0.48835726489515313], [5.9531485768774628, 4.5684894956651201, 0.78355290602819472, -0.47905921759335002], [6.1490368033845115, 4.4487246912667828, 0.68145665711205916, -0.47068897715995395], [6.319400967662526, 4.3310524469767939, 0.56957420201379838, -0.46327104724288315], [6.4617945181659753, 4.2152346851660738, 0.45022443244350691, -0.4567966885550227], [6.5743506262768525, 4.1010355130273179, 0.32583057873023691, -0.45121683324859446], [6.6558082709594117, 3.9882313047151698, 0.19890227406562355, -0.44642998917037802], [6.7055338394758177, 3.8766238074225754, 0.072037825847887274, -0.44226622664425813], [6.7235432959377901, 3.7660572507615111, -0.052048570014876873, -0.43847952248169725], [6.7105311534340704, 3.6564373701410866, -0.17049959723174435, -0.43477714574127341], [6.6679062541261338, 3.5477430837057682, -0.2803617458729572, -0.43089449482384518], [6.5978158176578958, 3.4400194599998066, -0.37874413239271848, -0.42666094311052], [6.5031297845597154, 3.3333542242221768, -0.46301616207322172, -0.42201157345611595], [6.3873757440414103, 3.2278513308581473, -0.53096359353483213, -0.41696430428075881], [6.2546348456577023, 3.1236102547879581, -0.58088447177104252, -0.41159222800775491], [6.1094137277149425, 3.0207121977860192, -0.6116350516985658, -0.40600158952063814], [5.9565049647903008, 2.9192118004058596, -0.6226376097961438, -0.40031566615825548], [5.8008455623412649, 2.8191328838662955, -0.61385967144956533, -0.39466294151399861], [5.647380644478873, 2.720467148487796, -0.58577284978001798, -0.38916826296216095], [5.5009374320338686, 2.623175082747256, -0.53929869994794299, -0.3839460415507332], [5.3661127570468832, 2.5271885723595728, -0.47574815491955891, -0.37909464901959727], [5.2471757183169938, 2.4324149101046735, -0.39676018908271404, -0.37469097799017581], [5.1479856710463148, 2.3387421656071292, -0.3042447440987206, -0.3707835962483722], [5.0719244850216345, 2.2460462665450365, -0.20033556924096652, -0.36738192571005102], [5.0218405927113929, 2.1542007851175238, -0.087362370845573023, -0.36443789721687392], [5.0, 2.0630913108133053, 0.0321400456172031, -0.36182009331471265], [5.0080350114043002, 1.9726362874846273, 0.15537045004039671, -0.35930200633462778], [5.0468776239143995, 1.8828107859009704, -0.090913810413898621, -0.35661212320611257], [5.0241491713109241, 1.7936577550994421, -0.093543334540777734, -0.35409590714060252], [5.0007633376757301, 1.7051337783142915, -0.0030533507029210558, -0.35160925375504137], [5.0, 1.617231464875531, 0.10833630858874926, -0.34923869086401138], [5.0270840771471876, 1.5299217921595283, 0.20869796461391193, -0.3467936555364261], [5.0792585683006655, 1.4432233782754216, 0.29546422308760611, -0.34411108188591988], [5.153124624072567, 1.3571956078039418, 0.36637117780666251, -0.34113244765303452], [5.2447174185242327, 1.2719124958906831, 0.41961330594085733, -0.33787622103002624], [5.0, -0.0, 0.0, 0.0]]) 
# - 120, 19
no_control_trajectories.append([[12.5, 20.0, -2.3382685902179845, -1.3499999999999999], [11.915432852445504, 19.662500000000001, -2.9323981474408964, -1.2806408961473925], [11.182333315585279, 19.342339775963175, -2.7635222622290314, -1.2026704531715056], [10.491452750028021, 19.041672162670299, -2.585544774704239, -1.1337005557843876], [9.845066556351961, 18.758247023724202, -2.4080745355224797, -1.0727975611632752], [9.2430479224713409, 18.490047633433385, -2.2305740484081946, -1.0189803236179513], [8.6854044103692924, 18.235302552528896, -2.0530523264330034, -0.97142709659759907], [8.1721413287610414, 17.992445778379498, -1.8759642207229512, -0.92943725680019162], [7.7031502735803032, 17.760086464179448, -1.7001276563769128, -0.89240309036174881], [7.2781183594860757, 17.53698569158901, -1.5266539345573378, -0.85978849352696129], [6.8964548758467412, 17.322038568207269, -1.3568876339349498, -0.83111247487210771], [6.5572329673630039, 17.11426044948924, -1.1923534779079652, -0.80593606930727568], [6.2591445978860127, 16.912776432162424, -1.0347080355192895, -0.78385182646297091], [6.00046758900619, 16.716813475546683, -0.88569439883985579, -0.76447551625557109], [5.779043989296226, 16.52569459648279, -0.74709806084927421, -0.74744016552217152], [5.5922694740839072, 16.338834555102249, -0.62070209699847445, -0.73239299847939554], [5.4370939498342885, 16.155736305482399, -0.50823945721818853, -0.71899615471459177], [5.3100340855297414, 15.975987266803752, -0.41133994460364853, -0.70693184308470514], [5.2071990993788289, 15.799254306032577, -0.33146996511778265, -0.69591142477810353], [5.1243316080993839, 15.625276449838051, -0.2698653059165107, -0.68568586852267077], [5.0568652816202562, 15.453854982707384, -0.22746112648102507, -0.67605326336243121], [5.0, 15.284841666866775, 0.24623318809724479, -0.66685930862122333], [5.0615582970243107, 15.118126839711469, 0.73263648599968401, -0.65782954554567374], [5.2447174185242318, 14.95366945332505, 1.0149326764413693, -0.64550664374294853], [5.4984505876345739, 14.792292792389313, 0.95306391138070456, -0.63073929362968217], [5.7367165654797505, 14.634607968981893, 0.87557557722954826, -0.6170282297261418], [5.9556104597871373, 14.480350911550358, 0.78424196257551526, -0.60445611713186531], [6.1516709504310159, 14.329236882267391, 0.68106225174123791, -0.59307016173906835], [6.3219365133663254, 14.180969341832624, 0.56821497210392391, -0.5828791939707012], [6.4639902563923064, 14.035249543339949, 0.44802061100259127, -0.57384895585270879], [6.575995409142954, 13.891787304376772, 0.32291449808602446, -0.5658946134989491], [6.6567240336644256, 13.750313651002033, 0.19543302201843407, -0.55887071777628305], [6.7055822891690342, 13.610595971557963, 0.068215953734369422, -0.55256294665713945], [6.7226362776026267, 13.472455234893678, -0.055980249220984206, -0.5466940340063241], [6.7086412152973258, 13.335781726392097, -0.17428562891300498, -0.54095979000668348], [6.6650698080690747, 13.200541778890425, -0.28378145329486876, -0.53509086931430794], [6.5941244447453569, 13.066769061561848, -0.38163952025297826, -0.52890502256604066], [6.4987145646821123, 12.934542805920339, -0.46529064968944234, -0.52232257809601401], [6.3823919022597861, 12.803962161396335, -0.53256809188392296, -0.51535245821442155], [6.2492498792888052, 12.675124046842729, -0.58180328667594383, -0.5080680455527421], [6.1037990576198196, 12.548107035454544, -0.61187503956252354, -0.50058408165122537], [5.9508302977291887, 12.422961015041738, -0.62222038888274067, -0.49303776220723811], [5.7952752005085033, 12.299701574489927, -0.61281612823267206, -0.48557397687581583], [5.6420711684503351, 12.178308080270973, -0.58413941046546825, -0.47833388541400862], [5.496036315833968, 12.058724608917473, -0.53711514090850199, -0.47144592852657696], [5.3617575306067353, 11.940863126785828, -0.47305700425622316, -0.46501829598222827], [5.2434932795426796, 11.82460855279027, -0.39360809095258142, -0.45913164203158646], [5.1450912568045339, 11.709825642282373, -0.30068660176449014, -0.45383040457194157], [5.0699196063634124, 11.596368041139387, -0.19644275598466576, -0.44911059740265219], [5.0208089173672459, 11.484090391788724, -0.083235669468982559, -0.44490249459965331], [5.0, 11.372864768138811, 0.036358088336796573, -0.44105216891055415], [5.0090895220841993, 11.262601725911173, 0.15950313429218005, -0.43732149102024759], [5.0489653056572452, 11.153271353156113, 0.28307657278300469, -0.43343455131046615], [5.1197344488529968, 11.044912715328497, -0.053279623659423597, -0.42915542911447563], [5.1064145429381416, 10.937623858049879, -0.062916341312795526, -0.42560570475992193], [5.0906854576099425, 10.831222431859898, -0.071420905982428701, -0.42210301103403375], [5.0728302311143345, 10.725696679101391, -0.078246966919640143, -0.41864597251831964], [5.0532684893844237, 10.62103518597181, -0.084373827483651451, -0.4152345853397274], [5.0321750325135115, 10.517226539636878, -0.089775150535836457, -0.41186796020443706], [5.0097312448795535, 10.414259549585768, -0.038924979518211993, -0.40854552128583388], [5.0, 10.312123169264311, 0.0, -0.40533688628563608], [5.0, 10.210788947692903, 0.24623318809725131, -0.40219295308232184], [5.0615582970243116, 10.110240709422323, 0.73263648599967623, -0.39857330565616161], [5.2447174185242318, 10.010597383008284, 1.0068759094861208, -0.39224821184564623], [5.4964363958957625, 9.9125353300468717, 0.94753452986089759, -0.38418657495590719], [5.7333200283609864, 9.8164886863078955, 0.87233864046429077, -0.37671492360301434], [5.9514046884770604, 9.722309955407141, 0.78307962643597961, -0.36990568853264727], [6.1471745950860539, 9.6298335332739775, 0.681772068331992, -0.36381078531398775], [6.3176176121690526, 9.5388808369454807, 0.57060425902166367, -0.35846066970554857], [6.4602686769244677, 9.4492656695190949, 0.45189547022104887, -0.35386206416631311], [6.5732425444797311, 9.360800153477518, 0.32806111703622787, -0.34999267884786683], [6.6552578237387872, 9.2733019837655508, 0.20158898394663891, -0.3467900530100696], [6.7056550697254478, 9.1866044705130339, 0.075035707085325379, -0.34413116724759141], [6.7244139964967795, 9.1005716787011366, -0.048938500553076705, -0.34180862565197473], [6.7121793713585101, 9.015119522288142, -0.16750296200712383, -0.33954406852161662], [6.6703036308567301, 8.9302335051577373, -0.27766999088498057, -0.33707902927734668], [6.6008861331354849, 8.8459637478384021, -0.37648359262962033, -0.33426036458011232], [6.5067652349780793, 8.7623986566933745, -0.46125687288382189, -0.33104218469468], [6.3914510167571246, 8.6796381105197025, -0.52973732441583943, -0.32745115527266744], [6.2590166856531653, 8.5977753217015369, -0.58019848670471752, -0.32355716440079979], [6.1139670639769852, 8.5168860306013379, -0.61148106028798999, -0.31945428420133792], [5.9610967989049888, 8.4370224595510024, -0.62299762290832128, -0.31524826962464841], [5.8053473931779074, 8.3582103921448407, -0.61470996856745808, -0.31104782159405869], [5.6516699010360432, 8.280448436746326, -0.58708666137199217, -0.30695819504361971], [5.5048982356930463, 8.203708887985421, -0.54104782796186401, -0.30307637175447649], [5.3696362787025791, 8.1279397950468031, -0.47790349024925732, -0.29948718485956682], [5.2501604061402647, 8.05306799883191, -0.39929078851745914, -0.29625963892327134], [5.1503377090109002, 7.9790030891010923, -0.30711462257390121, -0.29344215553478536], [5.0735590533674246, 7.9056425502173964, -0.20349644856248619, -0.29105422975842998], [5.0226849412268022, 7.8328789927777889, -0.090739764907211085, -0.28906946650298598], [5.0, 7.7606116261520421, 0.028665579565433533, -0.28738387871469606], [5.0071663948913585, 7.6887656564733682, 0.15196176946287951, -0.28578687631629374], [5.0451568372570792, 7.6173189373942956, -0.088077288807149795, -0.28401327828092288], [5.023137515055291, 7.5463156178240638, -0.089210613393993027, -0.28238721529584976], [5.0008348617067924, 7.4757188140001016, -0.0033394468271719007, -0.28077687687541697], [5.0, 7.405524594781248, 0.10804902192548799, -0.2792582554169607], [5.0270122554813721, 7.3357100309270074, 0.20854892684796222, -0.27765204029320528], [5.0791494871933613, 7.2662970208537061, 0.29554420992185942, -0.27580623164531243], [5.1530355396738265, 7.1973454629423781, 0.36672751540162379, -0.27367651482787225], [5.2447174185242327, 7.1289263342354108, 0.42026623336926228, -0.27128744292501078], [5.0, -0.0, 0.0, 0.0]]) 
# - 150, 20
# 15 full wave
no_control_trajectories.append([[15.0, 20.0, 0.0, -2.7000000000000002], [15.0, 19.324999999999999, -2.1232180150904689, -2.3939392766762571], [14.469195496227382, 18.726515180830937, -2.2769725575271433, -2.248198383657916], [13.899952356845597, 18.164465584916453, -2.4044321643134285, -2.1113280103351841], [13.298844315767241, 17.63663358233266, -2.511483414208652, -1.9827887078969493], [12.670973462215075, 17.140936405358424, -2.6022454679936611, -1.8620737161330871], [12.020412095216662, 16.675417976325154, -2.6797432267950958, -1.7487070190434479], [11.350476288517887, 16.238241221564287, -2.7462779989963386, -1.64224150240874], [10.663906788768802, 15.827680845962105, -2.8036481030166143, -1.5422572141039297], [9.9629947630146489, 15.44211654243612, -2.853288297468664, -1.4483597244925077], [9.2496726886474843, 15.080026611312995, -2.6465972929905415, -1.3601785828244477], [8.5880233653998506, 14.739981965606884, -2.3733426609629866, -1.2831653379294801], [7.994687700159103, 14.419190631124511, -2.1265476157400989, -1.2172881849645294], [7.4630507962243726, 14.11486858488338, -1.9039750309061916, -1.1605276078348106], [6.9870570384978246, 13.824736682924678, -1.7043402788540305, -1.1112806541195579], [6.5609719687843171, 13.546916519394788, -1.527004911001959, -1.068247811318241], [6.1792207410338271, 13.279854566565229, -1.3717494135635577, -1.0303563761585093], [5.8362833876429381, 13.0222654725256, -1.2385964762602983, -0.99670800839653728], [5.5266342685775696, 12.773088470426465, -1.127667400213346, -0.96654259046428659], [5.2447174185242327, 12.531452822810394, -0.9788696740969296, -0.93921295953302786], [5.0, 12.296649582927138, -3.1641356201816961e-15, -0.91495338471553445], [5.0, 12.067911236748255, 0.24623318809723826, -0.89901210410295351], [5.0615582970243107, 11.843158210722518, 0.73263648599968723, -0.88305984664977222], [5.2447174185242318, 11.622393249060075, 1.0240148358336121, -0.86378441718671117], [5.5007211274826355, 11.406447144763396, 0.9592702539313811, -0.84177512316737702], [5.7405386909654803, 11.196003363971553, 0.87921139289775874, -0.82134148073963786], [5.9603415391899199, 10.990667993786642, 0.78559372914981696, -0.8025442696205074], [6.1567399714773741, 10.790031926381515, 0.68040074204688905, -0.78539886584042384], [6.3268401569890962, 10.593682209921408, 0.56580233494058596, -0.7698715416285955], [6.4682907407242425, 10.401214324514259, 0.44412168666819679, -0.75587477946711601], [6.5793211623912917, 10.212245629647482, 0.31781204818981906, -0.74326178849600333], [6.6587741744387472, 10.026430182523479, 0.189444207836795, -0.73182233596138302], [6.7061352263981844, 9.8434745985331329, 0.061702127907034138, -0.72128531116875139], [6.7215607583748129, 9.6631532707409438, -0.062623795113706512, -0.71133627781548625], [6.7059048095963858, 9.4853192012870728, -0.18066715174852496, -0.70165489814492177], [6.6607380216592542, 9.309905476750842, -0.28956146578609182, -0.69196387975093288], [6.5883476552127318, 9.1369145068131097, -0.38656227146228511, -0.68206906086348484], [6.4917070873471596, 8.9663972415972371, -0.46918834406323262, -0.67187545578098995], [6.374410001331352, 8.7984283776519909, -0.53534812695817435, -0.66138037124703275], [6.2405729695918088, 8.6330832848402324, -0.58343076165744745, -0.65065395604982457], [6.0947152791774482, 8.4704197958277749, -0.61235670280309107, -0.63981642202647659], [5.9416261034766746, 8.3104656903211556, -0.62159176604309851, -0.62901679831557911], [5.7862281619659006, 8.1532114907422599, -0.6111318718711739, -0.61841490266895571], [5.6334451939981065, 7.9986077650750218, -0.58146657338949481, -0.60816664749253757], [5.488078550650286, 7.8465661032018872, -0.5335291979654373, -0.59841210782581356], [5.354696251158928, 7.6969630762454333, -0.46864070627296012, -0.58926541198136595], [5.2375360745906878, 7.5496467232500919, -0.38845355696437711, -0.58080523376382542], [5.1404226853495922, 7.4044454148091354, -0.29490136287022872, -0.57306446332003835], [5.0666973446320362, 7.2611792989791262, -0.19016031972383787, -0.5660178526961277], [5.019157264701076, 7.1196748358050943, -0.076629058804303943, -0.5595681883245428], [5.0, 6.9797827887239583, 0.043068172241982096, -0.55353689223208002], [5.010767043060496, 6.841398565665938, 0.16606241093696786, -0.54767340492269823], [5.0522826457947376, 6.7044802144352627, 0.2892393136179478, -0.54169682460990931], [5.1245924741992246, 6.5690560082827858, 0.40930406192714958, -0.53535804921811014], [5.2269184896810117, 6.435216495978259, -0.19571402219211745, -0.52848722164261586], [5.1779899841329824, 6.3030946905676055, -0.20014223056932851, -0.52280110735433527], [5.1279544264906498, 6.1723944137290205, -0.20422439831326172, -0.51721334449060241], [5.0768983269123353, 6.0430910776063707, -0.17191817589778516, -0.51172176643457457], [5.0339187829378895, 5.9151606359977267, -0.09668306508691861, -0.50644655009851525], [5.0097480166661592, 5.7885489984730985, -0.038992066664635248, -0.50145959837464926], [5.0, 5.6631840988794364, 0.0, -0.49664270186871218], [5.0, 5.5390234234122584, 0.24623318809725248, -0.49193237033753401], [5.0615582970243116, 5.4160403308278742, 0.73263648599967479, -0.48677241312409503], [5.2447174185242318, 5.2943472275468508, 1.0092671684370429, -0.47862593031526046], [5.4970342106334922, 5.1746907449680357, 0.94917678595869392, -0.4684574598000793], [5.7343284071231659, 5.0575763800180153, 0.87329794891393842, -0.45902594889407594], [5.9526528943516501, 4.9428198927944962, 0.78341668902483574, -0.45041132819147756], [6.1485070666078592, 4.8302170607466266, 0.681542539601106, -0.44266779344218354], [6.318892701508136, 4.7195501123860817, 0.5698601915798277, -0.43582212841139489], [6.4613577494030929, 4.610594580283232, 0.45068843816619114, -0.42987033444443518], [6.5740298589446411, 4.5031269966721235, 0.32644810721758838, -0.42477089071327634], [6.6556418857490387, 4.3969342739938044, 0.19964275947007878, -0.42043260487228334], [6.7055525756165579, 4.2918261227757331, 0.07286005238202134, -0.41669706920313798], [6.7237675887120627, 4.1876518554749493, -0.051198326260095003, -0.41332707174547917], [6.7109680071470397, 4.084320087538579, -0.16968033540796376, -0.41003306306429083], [6.6685479232950486, 3.9818118217725069, -0.27962400222573536, -0.4065517543558872], [6.5986419227386151, 3.8801738831835353, -0.37812249117592328, -0.40271620428404165], [6.5041112999446344, 3.7794948321125248, -0.46253059131844171, -0.39846583416517473], [6.3884786521150234, 3.6798783735712313, -0.53062358356154948, -0.39382082970943177], [6.2558227562246369, 3.5814231661438729, -0.5806925637983158, -0.38885379811745729], [6.1106496152750571, 3.4842097166145085, -0.61158928089702358, -0.38366829395935131], [5.9577522950508008, 3.3882926431246707, -0.62273315490716785, -0.37838353542986469], [5.8020690063240092, 3.2936967592672044, -0.61408998504518941, -0.37312334760831528], [5.6485465100627117, 3.2004159223651261, -0.58613042081276112, -0.36800795285235416], [5.5020139048595222, 3.1084139341520376, -0.53977550751698411, -0.3631476897239852], [5.3670700279802759, 3.0176270117210411, -0.47633580192679903, -0.35863786634520584], [5.2479860774985765, 2.9279675451347393, -0.39744962526863076, -0.35455377678361932], [5.1486236711814186, 2.8393291009388348, -0.30502536164686661, -0.35094436676034879], [5.0723673307697021, 2.7515930092487477, -0.20119325877748956, -0.34782193977897086], [5.0220690160753296, 2.6646375243040046, -0.088276064301319068, -0.34514390046580778], [5.0, 2.5783515491875528, 0.031202446196128386, -0.34278518176222722], [5.0078006115490323, 2.4926552537469959, 0.15445094718699554, -0.34052274167003838], [5.0464133483457809, 2.4075245683294866, -0.090042644274261507, -0.33808640085331099], [5.0239026872772152, 2.3230029681161586, -0.092482867820900164, -0.33581656511401914], [5.0007819703219898, 2.2390488268376543, -0.0031278812879592158, -0.33357175333147637], [5.0, 2.1556558885047847, 0.10826155678393294, -0.33143625011407524], [5.0270653891959824, 2.0727968259762659, 0.20865878975963753, -0.32922218279160664], [5.0792300866358921, 1.9904912802783643, 0.29548475278366498, -0.32676880758630839], [5.1531012748318084, 1.9087990783817872, 0.36646457476969801, -0.3240207945760622], [5.2447174185242327, 1.8277938797377715, 0.41978549521920044, -0.32099816771177131], [5.0, -0.0, 0.0, 0.0]]) 
# - 90, 21
no_control_trajectories.append([[15.0, 20.0, -1.3499999999999994, -2.3382685902179845], [14.6625, 19.415432852445505, -2.3062533262412899, -2.2181513914070399], [14.085936668439398, 18.860895004593772, -2.4289201658708186, -2.0831098933628245], [13.478706626971974, 18.340117531253068, -2.5321801608361327, -1.9562882285260259], [12.845661586763018, 17.851045474121559, -2.619875225120468, -1.837186382705924], [12.190692780482907, 17.391748878445078, -2.694850688470309, -1.7253346825619391], [11.516980108365329, 16.960415207804594, -2.7592850368953479, -1.6202919752826768], [10.827158849141492, 16.555342213983923, -2.8148889514941984, -1.5216439106295188], [10.123436611267943, 16.174931236326547, -2.863032521813091, -1.4290013222669098], [9.4076784808146705, 15.817680905759818, -2.6083556348052279, -1.3419987041323616], [8.7555895721133634, 15.482181229726727, -2.3439438248980631, -1.267094948352955], [8.1696036158888479, 15.165407492638488, -2.1016898758217932, -1.2028501764002215], [7.6441811469333993, 14.864694948538432, -1.8798857616736306, -1.1474203639754808], [7.1742097065149908, 14.577839857544561, -1.6776729141563798, -1.0993272725622216], [6.7547914779758962, 14.303008039404006, -1.4947841769445165, -1.0573606610046267], [6.381095433739767, 14.038667874152848, -1.3313494048784786, -1.020511232853927], [6.0482580825201477, 13.783540065939366, -1.187741785724636, -0.98792443872318725], [5.7513226360887915, 13.53655895625857, -1.0644504532061643, -0.95886882430699116], [5.4852100227873519, 13.296841750181823, -0.96197041705286179, -0.93271453336559307], [5.2447174185242327, 13.063663116840424, -0.88070471410616136, -0.90891852502117387], [5.0245412399977836, 12.836433485585131, -0.098164959991133088, -0.88701356724960534], [5.0, 12.614680093772728, 0.24623318809724049, -0.87193676665202346], [5.0615582970243107, 12.396695902109723, 0.73263648599968478, -0.8568971559323566], [5.2447174185242318, 12.182471613126634, 1.0228830711164756, -0.83851888399147334], [5.5004381863033505, 11.972841892128764, 0.95849886184616884, -0.81742487164175326], [5.740062901764893, 11.768485674218327, 0.87876009706753311, -0.7978390653794436], [5.9597529260317756, 11.569025907873465, 0.78542470615768423, -0.77982635195728012], [6.1561091025711967, 11.374069319884146, 0.68047820446984209, -0.76340712611317407], [6.3262286536886574, 11.183217538355851, 0.56609166633130226, -0.74855363417693588], [6.4677515702714832, 10.996079129811619, 0.44458815422844, -0.73518520623065231], [6.5788986088285935, 10.812282828253956, 0.31841922027659814, -0.72316244812371877], [6.6585034138977433, 10.631492216223025, 0.19015247265684554, -0.71228237202011591], [6.7060415320619544, 10.453421623217997, 0.062468151688120074, -0.7022799143992865], [6.7216585699839833, 10.277851644618174, -0.061845602695784617, -0.6928445935231683], [6.7061971693100375, 10.104640496237382, -0.17992090204098379, -0.68365801509278945], [6.6612169437997917, 9.9337259924641845, -0.2888852972684578, -0.67444396131617068], [6.5889956194826773, 9.7651150021351416, -0.38598534994178502, -0.66500952974201533], [6.4924992819972314, 9.5988626196996378, -0.46873025661391898, -0.65526125742394881], [6.3753167178437522, 9.4350473053436499, -0.53501997784644428, -0.64519770736836746], [6.2415617233821408, 9.2737478785015579, -0.58323691816266532, -0.63488958299121034], [6.0957524938414744, 9.1150254827537562, -0.61229653134401429, -0.62445686573658576], [5.9426783610054708, 8.9589112663196104, -0.62166109715662876, -0.61404775293464453], [5.7872630867163135, 8.8053993280859491, -0.61132413260373264, -0.60382093207387422], [5.63443205356538, 8.6544440950674808, -0.5817735901207588, -0.59393121082285139], [5.4889886560351915, 8.5059612923617678, -0.53394167752931154, -0.58451788495858537], [5.3555032366528632, 8.3598318211221212, -0.46914838603649428, -0.5756948897533628], [5.2382161401437397, 8.2159080986837818, -0.3890449903595285, -0.56754150312462737], [5.1409548925538582, 8.0740227229026242, -0.29556329294941974, -0.5600921417063367], [5.0670640693165021, 7.9339996874760397, -0.19087664329110149, -0.55332394542773855], [5.0193449084937267, 7.7956687011191059, -0.077379633974908643, -0.5471425252276545], [5.0, 7.6588830698121919, 0.04230802178229786, -0.54137170398062562], [5.0105770054455752, 7.5235401438170353, 0.16532031854649476, -0.53576215928378634], [5.0519070850821981, 7.3895996039960892, 0.28854193863780003, -0.53003352270920345], [5.1240425697416487, 7.2570912233187883, 0.40867308901514898, -0.52393784448122616], [5.2262108419954361, 7.1261067621984813, -0.19504818321728973, -0.51730736905865504], [5.177448796191114, 6.9967799199338172, -0.19919735155668275, -0.51184648256447052], [5.1276494583019439, 6.8688182992926992, -0.20309666898687842, -0.50647822574222223], [5.0768752910552228, 6.7421987428571439, -0.17185931270809221, -0.50120035297998755], [5.0339104628781968, 6.6168986546121467, -0.096657114976340844, -0.4961283668903208], [5.0097461841341113, 6.4928665628895672, -0.038984736536444214, -0.49133826551896892], [5.0, 6.3700319965098249, 0.0, -0.48671249755155077], [5.0, 6.2483538721219372, 0.24623318809724637, -0.48218789328488332], [5.0615582970243116, 6.1278068988007162, 0.73263648599968112, -0.47720970082038083], [5.2447174185242318, 6.0085044735956217, 1.0089889997396573, -0.46927094354647297], [5.496964668459146, 5.8911867377090026, 0.94898575445906652, -0.45933896164768329], [5.7342111070739126, 5.7763519972970823, 0.87318620854712026, -0.45012751392023403], [5.9525076592106929, 5.6638201188170232, 0.78337699878878886, -0.44171591127529791], [6.1483519089078902, 5.5533911409981975, 0.6815682164979141, -0.43415829608898038], [6.318743963032369, 5.4448515669759532, 0.56994492736993729, -0.42748204464861705], [6.4612301948748536, 5.337981055813799, 0.45082592101324059, -0.4216845064084489], [6.5739366751281638, 5.2325599292116864, 0.32663133912117459, -0.41672638834900672], [6.6555945099084575, 5.1283783321244352, 0.19986293158348534, -0.4125196288253235], [6.7055602428043288, 5.0252484249181046, 0.073105063117526445, -0.40890942936550684], [6.7238365085837106, 4.9230210675767285, -0.050944604150881555, -0.40566141664391753], [6.7111003575459893, 4.8216057134157486, -0.16943584686537491, -0.40248707305213904], [6.6687413958296462, 4.7209839451527138, -0.27940406546139324, -0.3991235398260452], [6.5988903794642972, 4.6212030601962031, -0.37793743574381689, -0.39540510172792942], [6.5044060205283429, 4.5223517847642203, -0.46238627749692934, -0.39127258375136814], [6.3888094511541107, 4.4245336388263778, -0.53052273977912467, -0.38674687015424369], [6.2561787662093291, 4.3278469212878168, -0.58063587459770627, -0.3819003784566094], [6.1110197975599032, 4.2323718266736643, -0.61157611923865363, -0.37683578121824396], [5.9581257677502402, 4.1381628813691034, -0.62276206907813303, -0.37167099220247951], [5.8024352504807064, 4.0452451333184838, -0.61415903021081197, -0.36652834978218346], [5.6488954929280037, 3.9536130458729382, -0.5862373827233841, -0.36152660156414107], [5.5023361472471572, 3.8632313954819026, -0.53991803641820979, -0.35677478125458151], [5.3673566381426046, 3.774037700168257, -0.47651145329985739, -0.35236720068183414], [5.2482287748176404, 3.6859458999977983, -0.39765577995350743, -0.34837860615329858], [5.1488148298292638, 3.5988512484594737, -0.30525895823364979, -0.34485800547024009], [5.072500090270851, 3.5126367470919138, -0.20145020517912826, -0.34181855134818639], [5.022137538976069, 3.4271821092548667, -0.088550155904274425, -0.33921934536422726], [5.0, 3.3423772729138101, 0.030920873815789278, -0.33693735760745874], [5.0077302184539478, 3.2581429335119458, 0.15417475443410994, -0.33475068181411105], [5.0462739070624743, 3.1744552630584177, -0.089810939749908031, -0.33238958029644644], [5.0238211721249977, 3.0913578679843061, -0.092134075656105444, -0.3301928407823902], [5.0007876532109705, 3.0088096577887087, -0.003150612843884102, -0.32801992913119915], [5.0, 2.9268046755059087, 0.10823874576281761, -0.32595428482446598], [5.0270596864407038, 2.8453161042997928, 0.20864688368195902, -0.32380892249067378], [5.0792214073611941, 2.7643638736771239, 0.29549105369518358, -0.32142387155468166], [5.15309417078499, 2.6840079057884534, 0.36649299095696941, -0.31874484007343429], [5.2447174185242327, 2.604321695770095, 0.41983774736534535, -0.31579233395536582], [5.0, -0.0, 0.0, 0.0]]) 
# - 120, 22
no_control_trajectories.append([[15.0, 20.0, -2.3382685902179845, -1.3499999999999999], [14.415432852445504, 19.662500000000001, -2.9323981474408973, -1.2806408961473925], [13.682333315585279, 19.342339775963175, -2.9652291279205127, -1.2026704531715078], [12.94102603360515, 19.041672162670299, -2.9938853770387812, -1.1294469217955034], [12.192554689345453, 18.759310432221422, -3.0189327713367424, -1.0606813480725645], [11.437821496511269, 18.494140095203285, -3.0408518690654858, -0.99610235939934511], [10.677608529244898, 18.24511450535373, -2.9074243440619103, -0.9354550963056969], [9.950752443229419, 18.011250731277304, -2.6501293401620627, -0.88109118598638481], [9.288220108188904, 17.790977934780706, -2.4082202367160477, -0.83426759036441955], [8.6861650490098903, 17.582411037189605, -2.1800941284283675, -0.7938055736643812], [8.141141516902799, 17.383959643773508, -1.964995616857901, -0.75875561830126947], [7.6498926126883244, 17.194270739198192, -1.762797638467499, -0.72833696975367124], [7.2091932030714494, 17.012186496759771, -1.5738359218242719, -0.7018948393619574], [6.8157342226153812, 16.836712786919282, -1.3987787584700948, -0.67886951904474147], [6.4660395329978586, 16.666995407158101, -1.2385200913605792, -0.65877383929716427], [6.1564095101577143, 16.502301947333809, -1.0940878038911941, -0.64117676019565484], [5.8828875591849155, 16.342007757284893, -0.96656158863597341, -0.62569174284157614], [5.6412471620259232, 16.185584821574501, -0.85699650684236928, -0.61196904731287904], [5.4269980353153304, 16.032592559746281, -0.76634972445163485, -0.59969127822284363], [5.2354106042024213, 15.88266974019057, -0.6954092287124386, -0.58857135695094531], [5.0615582970243116, 15.735526900952832, -0.24623318809724384, -0.57835173718861765], [5.0, 15.590938966655678, 0.24623318809724323, -0.57141536391893222], [5.0615582970243107, 15.448085125675945, 0.73263648599968567, -0.5646398809390285], [5.2447174185242318, 15.306925155441187, 1.0116910732562823, -0.55470316251436957], [5.4976401868383018, 15.168249364812594, 0.95084087168841325, -0.54253043623231845], [5.7353504047604051, 15.032616755754516, 0.87427236816566634, -0.53123360505595818], [5.9539184968018217, 14.899808354490526, 0.78376646507629, -0.52089583171322096], [6.1498601130708943, 14.76958439656222, 0.68132807521153682, -0.511569989247177], [6.3201921318737782, 14.641691899250427, 0.56913897903532007, -0.50327636475632431], [6.4624768766326088, 14.515872808061344, 0.44951842492040317, -0.49599852160016589], [6.5748564828627085, 14.391873177661303, 0.32489347084745124, -0.48967588402968043], [6.6560798505745717, 14.269454206653881, 0.19778277171965936, -0.48419204050699982], [6.7055255435044874, 14.148406196527132, 0.070799500209483182, -0.47936121804142984], [6.7232254185568578, 14.028565892016774, -0.053325883525418082, -0.47492581964774294], [6.7098939476755026, 13.909834437104838, -0.17173012429419826, -0.47058894410108387], [6.6669614166019544, 13.792187201079566, -0.28147164507007832, -0.46608428481594916], [6.5965935053344342, 13.675666129875578, -0.37968165033894313, -0.46123665276547804], [6.5016730927496997, 13.560356966684211, -0.46375053184892717, -0.45597551560291433], [6.385735459787468, 13.446363087783482, -0.53147968488084629, -0.45031560863492343], [6.2528655385672547, 13.333784185624751, -0.58117782499147663, -0.44433040711988941], [6.1075710823193861, 13.222701583844778, -0.61170825933476602, -0.43812954009528338], [5.9546440174856947, 13.113169198820959, -0.6224978021168005, -0.43184159073114214], [5.7990195669564946, 13.005208801138172, -0.61351677177326447, -0.42560121077042851], [5.645640374013178, 12.898808498445566, -0.58523839573041514, -0.41953937860901591], [5.4993307750805753, 12.793923653793312, -0.53858514790586165, -0.41377584971044978], [5.3646844881041105, 12.690479691365699, -0.47486868470725957, -0.40841289351085686], [5.2459673169272945, 12.588376467987985, -0.39572913912976659, -0.40352920649238333], [5.1470350321448528, 12.487494166364888, -0.30307897694554442, -0.39917237932304295], [5.0712652879084663, 12.387701071534126, -0.1990572917749476, -0.39534745657355347], [5.0215009649647291, 12.288864207390739, -0.086003859858916801, -0.39199872162958282], [5.0, 12.190864526983344, 0.033531422343418348, -0.38898638206966524], [5.0083828555858547, 12.093617931465928, 0.15673441344479447, -0.38607950763286947], [5.0475664589470535, 11.997098054557711, 0.28047827224378302, -0.38300490668934362], [5.1176860270079985, 11.901346827885375, -0.059929612242617836, -0.37953568028301266], [5.1027036239473436, 11.806462907814621, -0.064535229133681593, -0.37674208465371117], [5.0865698166639248, 11.712277386651195, -0.069051815668399741, -0.37398345601136657], [5.0693068627468252, 11.618781522648353, -0.075365918419285943, -0.37125834115859557], [5.0504653831420034, 11.525966937358705, -0.079128927758975343, -0.36856332520368429], [5.0306831512022603, 11.433826106057785, -0.08384012445678872, -0.36590077215835126], [5.0097231200880632, 11.342350913018198, -0.038892480352254274, -0.36326829480926148], [5.0, 11.251533839315881, 0.0, -0.36072437472647451], [5.0, 11.161352745634263, 0.24623318809724343, -0.35823046230296507], [5.0615582970243116, 11.071795130058522, 0.73263648599968445, -0.35525687784693222], [5.2447174185242318, 10.982980910596789, 1.0058521046590867, -0.34975299388360603], [5.4961804446890037, 10.895542662125887, 0.94683158357167219, -0.34266888336735174], [5.7328883405819218, 10.809875441284051, 0.8719292408562187, -0.33610585039075447], [5.9508706507959772, 10.725848978686361, 0.7829388808504979, -0.33013122767957676], [6.1466053710086008, 10.643316171766468, 0.68187745302585279, -0.32479435816171748], [6.3170747342650637, 10.56211758222604, 0.57093511599468572, -0.32012598654377045], [6.4598085132637362, 10.482086085590096, 0.45243180983302833, -0.31613655678454916], [6.5729164657219927, 10.403051946393958, 0.32878116829382825, -0.31281186389453447], [6.6551117577954493, 10.324848980420324, 0.20246436102768647, -0.31010304616342727], [6.705727848052371, 10.247323218879467, 0.076022857917158959, -0.30790602992253502], [6.72473356253166, 10.170346711398834, -0.047907063651580324, -0.30603164258397314], [6.7127567966187653, 10.09383880075284, -0.16650975397830137, -0.30420894592002728], [6.6711293581241904, 10.017786564272832, -0.27678326102365836, -0.30218288949638894], [6.6019335428682755, 9.9422408418987356, -0.37574455227804404, -0.29980972991989258], [6.5079974047987648, 9.8672884094187623, -0.46068626031199766, -0.29705228865590971], [6.3928258397207651, 9.793025337254786, -0.52934349265134173, -0.29394020672464843], [6.2604899665579294, 9.7195402855736237, -0.57998241707138298, -0.29054101324410569], [6.1154943622900841, 9.6469050322625964, -0.61143925011681355, -0.28694286652321604], [5.9626345497608808, 9.5751693156317934, -0.62312386664872821, -0.28324364196422019], [5.8068535830986985, 9.5043584051407386, -0.61499654592004904, -0.2795433950423431], [5.6531044466186868, 9.4344725563801521, -0.58752515043768394, -0.27593886421555514], [5.5062231590092656, 9.3654878403262636, -0.54162961682917055, -0.27251934058795924], [5.3708157548019733, 9.2973580051792748, -0.47861997366555686, -0.26936339537198589], [5.2511607613855835, 9.2300171563362792, -0.40013313957069541, -0.26653583102195916], [5.1511274764929098, 9.1633831985807888, -0.3080728418855585, -0.26408375135856521], [5.0741092660215203, 9.0973622607411464, -0.20455696774195409, -0.26202941787630829], [5.0229700240860309, 9.0318549062720681, -0.091880096344123502, -0.26035462915676533], [5.0, 8.9667662489828768, 0.027486040693669059, -0.258967851176508], [5.0068715101734176, 8.90202428618875, 0.15080396493954334, -0.25766675614549533], [5.0445725014083029, 8.8376075971523775, -0.087103364525668456, -0.25618970200533336], [5.0227966602768861, 8.7735601716510434, -0.087742710703984469, -0.25485159983703909], [5.0008609826008898, 8.7098472716917836, -0.0034439304035588651, -0.25352553186812538], [5.0, 8.6464658887247516, 0.10794385476016187, -0.25228383963867451], [5.0269859636900405, 8.5833949288150819, 0.20849565901164033, -0.25095155751604331], [5.0791098784429503, 8.5206570394360721, 0.29557434564430174, -0.24938273516793133], [5.1530034648540255, 8.4583113556440885, 0.36685581468082962, -0.24753979416035626], [5.2447174185242327, 8.3964264071039985, 0.4204982420284275, -0.24544942640632866], [5.0, -0.0, 0.0, 0.0]]) 
# - 150, 23
# 12.2 wave 12.2 going out
no_control_trajectories.append([[12.199999999999999, 20.0, 0.0, -2.7000000000000002], [12.199999999999999, 19.324999999999999, -2.9428958344346796, -1.2563296174440099], [11.464276041391329, 19.010917595638997, -2.9743872168459489, -1.1798392620448601], [10.720679237179843, 18.715957780127784, -3.0018866262788673, -1.1080057233462108], [9.9702075806101274, 18.438956349291232, -3.0259320881415483, -1.0405455290162362], [9.2137245585747394, 18.178819967037171, -3.0469812775576521, -0.97719245505364916], [8.4519792391853272, 17.934521853273758, -2.9266227416708559, -0.9176964777034281], [7.7203235537676127, 17.705097733847904, -2.6369992609199087, -0.86413906101194637], [7.061073738537635, 17.489062968594919, -2.3864305778814923, -0.81850854979856691], [6.4644660940672622, 17.284435831145274, -2.170777380757301, -0.77921142220524486], [5.9217717488779371, 17.089632975593965, -1.9871501519588679, -0.74500919266392651], [5.42498421088822, 16.903380677427979, -1.6608071987225241, 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-0.57023542684495221], [6.6567650055997714, 14.835027040494907, 0.19529450588703787, -0.56311741160051387], [6.7055886320715317, 14.69424768759478, 0.068064230842728973, -0.55671933792843498], [6.722604689782214, 14.55506785311267, -0.056135739656086404, -0.55076291939122357], [6.7085707548681919, 14.417377123264865, -0.17443524150357645, -0.54494357372640467], [6.6649619444922985, 14.281141229833263, -0.28391682473299235, -0.53899178614925336], [6.5939827383090508, 14.14639328329595, -0.38175449283699642, -0.53272496242637291], [6.4985441150998007, 14.013212042689355, -0.4653813186387955, -0.52606297525487999], [6.3821987854401021, 13.881696298875635, -0.53263238719210992, -0.51901443564878502], [6.2490406886420748, 13.751942689963441, -0.58184048349775253, -0.5116526935175878], [6.1035805677676365, 13.624029516584043, -0.61188534903022318, -0.50409272492375778], [5.9506092305100813, 13.498006335353102, -0.62220464949247856, -0.49647214573106557], [5.795058068136961, 13.373888298920336, -0.61277558268937726, -0.48893635373111388], [5.6418641724646168, 13.251654210487558, -0.5840755529507824, -0.48162701366906874], [5.4958452842269212, 13.131247457070291, -0.53702962767567297, -0.47467298866612806], [5.3615878773080023, 13.012579209903761, -0.47295162959244491, -0.46818273838683822], [5.2433499699098913, 12.89553352530705, -0.39348484127316596, -0.46223697029333199], [5.1449787595915994, 12.779974282733717, -0.30054781358334204, -0.45687990204481682], [5.0698418061957646, 12.665754307222512, -0.19629141059334235, -0.45210702613672493], [5.0207689535474289, 12.55272755068833, -0.083075814189714034, -0.44784786358629108], [5.0, 12.440765584791757, 0.036521010555760409, -0.44394776420211574], [5.0091302526389399, 12.329778643741227, 0.15966261978958388, -0.44016823600556515], [5.0490459075863354, 12.219736584739834, 0.28322633225915561, -0.43623323140092601], [5.1198524906511214, 12.110678276889603, 0.40386824058017001, -0.43190639779853224], [5.2208195507961683, 12.002701677439969, -0.19005360574372171, -0.42704060336616978], [5.1733061493600845, 11.895941526598428, -0.19200066450244169, -0.42322342753794712], [5.1253059832344743, 11.790135669713942, -0.19446546096961262, -0.41946178713210008], [5.0766896179920717, 11.685270222930916, -0.17138610577250865, -0.41575253649541272], [5.0338430915489436, 11.581332088807061, -0.096447176923503852, -0.41217596225505732], [5.0097312973180674, 11.478288098243299, -0.038925189272269539, -0.40883710786836186], [5.0, 11.376078821276209, 0.0, -0.40562393939544616], [5.0, 11.274672836427346, 0.24623318809725256, -0.40247557858362798], [5.0615582970243116, 11.174053941781441, 0.73263648599967135, -0.39885154848037985], [5.2447174185242318, 11.074341054661344, 1.0068828176766975, -0.39252103054867121], [5.4964381229434061, 10.976210797024176, 0.94753927379668446, -0.38445299900628244], [5.7333229413925775, 10.880097547272605, 0.87234140641443036, -0.3769754019401812], [5.9514082929961836, 10.78585369678756, 0.78308058464103047, -0.37016069991799777], [6.1471784391564421, 10.693313521808058, 0.6817713735293176, -0.36406082197581013], [6.3176212825387719, 10.602298316314105, 0.57060205412039522, -0.35870621873866421], [6.4602717960688709, 10.51262176162944, 0.45189189475644242, -0.35410358526848634], [6.5732447697579808, 10.424095865312319, 0.32805632401580043, -0.35023057644077049], [6.655258850761931, 10.336538221202126, 0.20158317185540309, -0.34702464238142322], [6.7056546437257811, 10.249782060606767, 0.075029173030106797, -0.34436264493282964], [6.7244119369833086, 10.16369139937356, -0.048945313161191911, -0.34203707969393593], [6.71217560869301, 10.078182129450079, -0.16750952417588294, -0.33976954438472218], [6.670298227649039, 9.9932397433538984, -0.27767586103815678, -0.33730155334507717], [6.6008792623895003, 9.9089143550176288, -0.37648849625597514, -0.33447990942344324], [6.5067571383255061, 9.8252943776617663, -0.46126066768437696, -0.331258670140338], [6.3914419714044115, 9.742479710126684, -0.52973995092944615, -0.32766448114802643], [6.2590069836720508, 9.6605635898396773, -0.58019993576885664, -0.32376724312365696], [6.1139569997298358, 9.5796217790587619, -0.6114813536613195, -0.31966106326334692], [5.9610866613145062, 9.4997065132429253, -0.62299680114760725, -0.31545174429661771], [5.8053374610276034, 9.4208435771687711, -0.61470808292424439, -0.31124804000631295], [5.6516604402965429, 9.3430315671671949, -0.58708376827602771, -0.30715525749047412], [5.5048894982275369, 9.266242752794577, -0.54104398559594979, -0.30327042546197697], [5.369628501828549, 9.1904251464290834, -0.47789875730441389, -0.29967841481073126], [5.2501538125024449, 9.1155055427263978, -0.39928522586898363, -0.2964482545772858], [5.1503325060351992, 9.0413934790820765, -0.30710829984069032, -0.29362837230417305], [5.0735554310750262, 8.967986386006034, -0.20348946012986452, -0.29123824324976821], [5.0226830660425597, 8.8951768251935928, -0.090732264170241758, -0.28925141978150903], [5.0, 8.8228639702482159, 0.028673325500930984, -0.28756383962535381], [5.0071683313752331, 8.7509730103418768, 0.15196937204942873, -0.28596486512795544], [5.0451606743875894, 8.679481794059889, 0.27601957781401193, -0.28418929543847871], [5.1141655688410923, 8.6084344702002689, 0.39738364575222973, -0.2820380476851328], [5.2135114802791493, 8.5379249582789853, -0.18232180201403933, -0.27941740460230219], [5.16793102977564, 8.4680706071284106, -0.18294594786646529, -0.2776254304396078], [5.122194542809023, 8.3986642495185073, -0.18321506692979159, -0.27585102064038697], [5.0763907760765754, 8.329701494358412, -0.17063146446636632, -0.27409483548975788], [5.0337329099599835, 8.2611777854859731, -0.096104907851565641, -0.27239272484623395], [5.0097066829970913, 8.1930796042744145, -0.038826731988366329, -0.27087655979168807], [5.0, 8.1253604643264907, 0.0, -0.26944717263775431], [5.0, 8.0579986711670522, 0.038844553965092787, -0.26804728758776364], [5.0097111384912729, 7.9909868492701124, 0.038636609246018694, -0.26664837575746869], [5.0193702908027777, 7.9243247553307441, 0.018876493232748669, -0.2652638391175583], [5.0240894141109651, 7.8580087955513545, -0.019852560748414825, -0.2639035257534797], [5.0191262739238605, 7.7920329141129852, -0.076505095695443268, -0.2625558055457754], [5.0, 7.726393962726541, -0.14957985963996479, -0.2611704647689706], [5.0, -0.0, 0.0, 0.0]]) 
# - 90, 24
no_control_trajectories.append([[12.199999999999999, 20.0, -1.3499999999999994, -2.3382685902179845], [11.862500000000001, 19.415432852445505, -2.7162084667107482, -1.6915116372305592], [11.183447883322311, 18.992554943137865, -2.7776931088443169, -1.5885279469410485], [10.489024606111231, 18.595422956402601, -2.8308112332370201, -1.4918135942889974], [9.7813217978019757, 18.222469557830351, -2.8768446904896203, -1.4009870304648311], [9.0621106251795709, 17.872222800214143, -2.9168407738924915, -1.3156899056530929], [8.3329004317064488, 17.543300323800871, -2.7583099768547084, -1.2355856632284559], [7.6433229374927718, 17.234403907993759, -2.4808567072822845, -1.1645278901095282], [7.0231087606722005, 16.943271935466374, -2.2401574331059071, -1.1037982626964211], [6.4630694023957229, 16.66732236979227, -2.0326174970818327, -1.0513418009273605], [5.9549150281252636, 16.40448691956043, -1.8557510627800724, -1.0055552733092574], [5.4909772624302446, 16.153098101233113, -1.7077716610606104, -0.96516163289583412], [5.0640343471650926, 15.911807693009155, -0.25613738866037072, -0.92912605932768522], [5.0, 15.679526178177234, 8.6974698276787166e-16, -0.91207117747886235], [5.0, 15.451508383807518, 0.24623318809724426, -0.89623005294209301], [5.0615582970243107, 15.227450870571994, 0.73263648599968478, -0.88037285494509243], [5.2447174185242318, 15.007357656835723, 1.0238977841038481, -0.86119067542550931], [5.5006918645501939, 14.792059987979345, 0.95919050126509497, -0.83927630541071629], [5.7404894898664676, 14.582240911626666, 0.87916474494188768, -0.81893056428690847], [5.9602806761019398, 14.377508270554939, 0.78557624743520993, -0.80021467324188589], [6.156674737960742, 14.177454602244467, 0.68040870058149949, -0.78314453999303835], [6.3267769131061167, 13.981668467246205, 0.56583213110265318, -0.7676870627056307], [6.4682349458817807, 13.789746701569799, 0.4441697096588284, -0.75375543496088426], [6.5792773732964882, 13.601307842829577, 0.31787451891397334, -0.74120362827677966], [6.658746003024981, 13.416006935760381, 0.18951703135514644, -0.72982215202502232], [6.7061252608637689, 13.233551397754127, 0.061780843043589599, -0.7193405126011283], [6.7215704716246663, 13.053716269603845, -0.062543864002705188, -0.70944467801919464], [6.7059345056239898, 12.876355100099046, -0.18059051790915717, -0.69981451206711054], [6.6607868761467, 12.701401472082269, -0.28949202958518716, -0.6901728352633002], [6.5884138687504041, 12.528858263266443, -0.38650301896666578, -0.68032561523890833], [6.4917881140087372, 12.358776859456716, -0.46914128452484161, -0.67017802125007864], [6.3745027928775269, 12.191232354144198, -0.53531440201001301, -0.6597274887535739], [6.2406741923750237, 12.026300481955804, -0.58341082166803027, -0.64904422560734776], [6.0948214869580148, 11.864039425553967, -0.61235048358816624, -0.63824842432383089], [5.9417338660609742, 11.704477319473011, -0.62159883874267297, -0.62748903440808113], [5.7863341563753066, 11.547605060870989, -0.61115155917928965, -0.61692576400296073], [5.6335462665804839, 11.393373619870248, -0.58149803212596141, -0.60671441857753017], [5.4881717585489929, 11.241695015225867, -0.5335714686571843, -0.59699499921350929], [5.3547788913846972, 11.092446265422488, -0.46869272879356327, -0.58788161956294094], [5.2376057091863064, 10.945475860531754, -0.38851414894770753, -0.5794530192034949], [5.1404771719493789, 10.800612605730882, -0.2949691563987788, -0.57174224669702944], [5.0667348828496834, 10.657677044056625, -0.19023365717223081, -0.56472429826452364], [5.0191764685566262, 10.516495969490492, -0.07670587422650757, -0.55830224679493534], [5.0, 10.37692040779176, 0.042990400125473664, -0.55229775677824233], [5.010747600031368, 10.238845968597198, 0.16598649799426066, -0.54646039415051961], [5.0522442245299342, 10.102230870059568, 0.2891679756819624, -0.54050931170955041], [5.1245362184504248, 9.9671035421321807, 0.40923951252905599, -0.53419552261071634], [5.2268460965826886, 9.8335546614795017, -0.19494549299743397, -0.52734937984802144], [5.1781097233333302, 9.701717316517497, -0.2001760502072216, -0.52168890269033674], [5.1280657107815246, 9.5712950908449148, -0.20467891454544493, -0.51612322854408244], [5.0768959821451638, 9.4422642837088944, -0.17191218298109032, -0.51065149289973877], [5.0339179363998907, 9.3146014104839594, -0.096680424536886897, -0.50539714139130953], [5.0097478302656695, 9.1882521251361329, -0.038991321062678982, -0.500430395189432], [5.0, 9.0631445263387729, 0.0, -0.49563311187130893], [5.0, 8.939236248370948, 0.24623318809724717, -0.49094183428480159], [5.0615582970243116, 8.8165007897997452, 0.7326364859996799, -0.48580051573431587], [5.2447174185242318, 8.6950506608661673, 1.0092386950096963, -0.47767526280272232], [5.4970270922766558, 8.5756318451654856, 0.94915723228181237, -0.46753092088437542], [5.734316400347109, 8.458749114944391, 0.87328650991267076, -0.45812186327229348], [5.9526380278252766, 8.3442186491263186, 0.78341262137535062, -0.44952795977237719], [6.1484911831691136, 8.231836659183223, 0.6815451567920815, -0.44180340286830333], [6.3188774723671344, 8.1213858084661474, 0.5698688450054834, -0.43497503865038945], [6.4613446836185062, 8.012642048803551, 0.4507024782771995, -0.42903900739411888], [6.5740203031878064, 7.9053822969550209, 0.32646681378152742, -0.42395401601349508], [6.6556370066331878, 7.7993937929516468, 0.1996652274751117, -0.41962919020433892], [6.7055533135019649, 7.6944864954005618, 0.072885043440929512, -0.41590648651518908], [6.7237745743621984, 7.5905098737717651, -0.051172454573427867, -0.41254897768873394], [6.7109814607188403, 7.4873726293495819, -0.16965540538294532, -0.40926721758274964], [6.6685676093731052, 7.3850558249538949, -0.27960157063473834, -0.4057979603356201], [6.5986672167144205, 7.2836063348699902, -0.37810361122673247, -0.40197438673348707], [6.5041413139077378, 7.183112738186618, -0.46251586281505963, -0.39773605879078799], [6.3885123482039718, 7.0836787234889211, -0.53061328701316712, -0.39310323300310313], [6.2558590264506799, 6.9854029152381454, -0.58068677062209362, -0.38814849826134196], [6.1106873337951573, 6.8883657906728093, -0.61158792804089235, -0.38297532096874626], [5.9577903517849338, 6.7926219604306226, -0.62273609462609392, -0.37770278837230148], [5.8021063281284109, 6.6981962633375476, -0.61409701883737877, -0.37245457608410615], [5.6485820734190657, 6.6050826193165202, -0.58614132231523075, -0.3673507581669187], [5.5020467428402577, 6.5132449297747907, -0.53979003619232235, -0.36250154210141994], [5.3670992337921772, 6.4226195442494358, -0.47635370719696279, -0.35800213623036448], [5.2480108069929372, 6.3331190101918438, -0.39747063830483709, -0.35392778033734379], [5.1486431474167276, 6.2446370651075078, -0.30504916802026338, -0.35032742761804697], [5.0723808554116623, 6.1570552082029959, -0.20121943861357364, -0.34721346844932344], [5.0220759957582688, 6.0702518410906654, -0.088303983033075364, -0.34454347912709099], [5.0, 5.9841159713088929, 0.031173772251226813, -0.34219259712992156], [5.0077934430628073, 5.8985678220264131, 0.15442282219993508, -0.33993789393577922], [5.0463991486127906, 5.8135833485424673, 0.27831241599440554, -0.33750923422655166], [5.1159772526113914, 5.7292060399858302, 0.39944071920722946, -0.33469045128210084], [5.2158374324131991, 5.6455334271653053, -0.18502583123101024, -0.33136577506035436], [5.1695809746054469, 5.5626919834002164, -0.18567751740809169, -0.32895412376460487], [5.123161595253424, 5.4804534524590647, -0.18666761593943976, -0.32657108347730562], [5.0764946912685636, 5.3988106815897385, -0.17089252512756289, -0.32421503795012085], [5.0337715599866728, 5.3177569221022081, -0.096224764385378359, -0.32193531053510577], [5.009715368890328, 5.2372730944684323, -0.038861475561313259, -0.3198578925699897], [5.0, 5.1573086213259343, 6.7277673173555282e-17, -0.31787806742363345], [5.0, 5.0778391044700246, 0.038897962987128457, -0.31593716870264271], [5.0097244907467831, 4.9988548122943648, 0.038654113658132441, -0.31400621632681003], [5.0193880191613145, 4.9203532582126623, 0.018858899904912532, -0.31209857406517189], [5.0241027441375428, 4.8423286146963695, -0.019887507599292018, -0.31022394258938196], [5.0191308672377195, 4.7647726290490242, -0.076523468950880635, -0.30837038314930898], [5.0, 4.6876800332616977, -0.14953536481137086, -0.30648700658973604], [5.0, -0.0, 0.0, 0.0]]) 
# - 120, 25
no_control_trajectories.append([[12.199999999999999, 20.0, -2.3382685902179845, -1.3499999999999999], [11.615432852445503, 19.662500000000001, -2.9323981474408973, -1.2806408961473925], [10.882333315585278, 19.342339775963179, -2.9652291279205123, -1.2026704531715078], [10.141026033605151, 19.041672162670302, -2.9938853770387821, -1.1294469217955103], [9.3925546893454559, 18.759310432221422, -2.9402592183975931, -1.0606813480725767], [8.6574898847460577, 18.494140095203278, -2.6404472550053812, -0.99759749761478989], [7.9973780709947118, 18.244740720799332, -2.3752207821866316, -0.94401626457750887], [7.4035728754483072, 18.008736654654669, -2.1408595662719359, -0.89810048541407239], [6.8683579838803235, 17.784211533300862, -1.9349396712990325, -0.85842027228936568], [6.3846230660554681, 17.569606465228244, -1.7558984636639117, -0.82383644859155947], [5.9456484501393909, 17.36364735308009, -1.6027242843245566, -0.79342276335306361], [5.5449673790581606, 17.165291662241568, -1.4747250679558648, -0.76641298552166326], [5.1762861120691035, 16.973688415860909, -0.70514444827641565, -0.74216437769539312], [5.0, 16.788147321436835, -4.4408920985006262e-16, -0.72768993731556608], [5.0, 16.60622483710771, 0.24623318809724568, -0.71759929625656393], [5.0615582970243107, 16.426825013043569, 0.73263648599967979, -0.70723094929543162], [5.2447174185242318, 16.25001727571971, 1.0167854138518233, -0.69352985667239231], [5.4989137719871879, 16.076634811551614, 0.95433283105554767, -0.67729493466096957], [5.7374969797510751, 15.907311077886371, 0.87631957818925421, -0.66221924867765825], [5.9565768742983884, 15.741756265716957, 0.78451620396863164, -0.64838321528160447], [6.1527059252905465, 15.579660461896555, 0.68091872982753276, -0.63582925103848442], [6.3229356077474295, 15.420703149136935, 0.56770397424408137, -0.62455859778964173], [6.4648616013084492, 15.264563499689524, 0.44719320069834839, -0.61452646010186163], [6.5766599014830369, 15.110931884664058, 0.32182613582740227, -0.60563474935561479], [6.6571164354398871, 14.959523197325154, 0.19414794948179562, -0.59772321888324464], [6.7056534228103351, 14.810092392604345, 0.066810536655008662, -0.59056390246513202], [6.7223560569740872, 14.662451416988061, -0.057419065708677067, -0.58387049328667173], [6.7080012905469175, 14.516483793666392, -0.17566963338395322, -0.5773352488711444], [6.6640838822009298, 14.372149981448604, -0.28503413472693373, -0.5706872554535235], [6.5928253485191961, 14.229478167585224, -0.38270420301489655, -0.56374126705122063], [6.4971492977654721, 14.088542850822417, -0.46613108447362489, -0.55641364735497612], [6.3806165266470654, 13.949439438983674, -0.53316486778476202, -0.54871053899985134], [6.2473253097008756, 13.81226180423371, -0.58214947132941253, -0.54070493111245466], [6.1017879418685217, 13.677085571455597, -0.61197245545131551, -0.5325135066310398], [5.9487948280056928, 13.543957194797837, -0.62207676620171382, -0.5242770449094325], [5.793275636455264, 13.412887933570479, -0.61244303037301329, -0.51614480292814291], [5.6401648788620102, 13.283851732838444, -0.58355080939607251, -0.50826227757956033], [5.4942771765129921, 13.156786163443554, -0.53632658246256493, -0.50076150185973389], [5.3601955308973501, 13.031595787978622, -0.47208538210096773, -0.49375288406023493], [5.2421741853721082, 12.908157566963563, -0.39247214126919411, -0.48731735359309503], [5.1440561500548103, 12.78632822856529, -0.29940833863923449, -0.48149719397430318], [5.0692040653950015, 12.665953930071714, -0.19505010780910606, -0.47628363748894792], [5.020441538442725, 12.546883020699477, -0.081766153770899519, -0.47160023296598175], [5.0, 12.428982962457981, 0.037854643904377469, -0.46728670924478016], [5.0094636609760945, 12.312161285146788, 0.16096771031493071, -0.46310176196032954], [5.0497055885548274, 12.196385844656703, 0.28445208947858824, -0.45876826438597196], [5.1208186109244753, 12.08169377856021, -0.049312167016116182, -0.4540466024465119], [5.1084905691704465, 11.968182127948582, -0.061873248968065175, -0.45008852155746798], [5.0930222569284318, 11.855659997559215, -0.071630189976327002, -0.44618197241249596], [5.0751147094343478, 11.744114504456093, -0.080209989614391408, -0.44232704552132635], [5.0550622120307489, 11.63353274307576, -0.087362496441650672, -0.43852676957592979], [5.0332215879203375, 11.523901050681777, -0.093945143928763769, -0.43478183951838256], [5.0097353019381465, 11.415205590802183, -0.038941207752584105, -0.43108313079271299], [5.0, 11.307434808104004, 0.0, -0.42751455492413259], [5.0, 11.200556169372971, 0.24623318809725248, -0.42401931176075752], [5.0615582970243116, 11.09455134143278, 0.73263648599967168, -0.42005253068055504], [5.2447174185242318, 10.989538208762642, 1.0074213470500981, -0.41330291618540815], [5.4965727552867563, 10.88621247971629, 0.94790910731152611, -0.40474312207486535], [5.7335500321146382, 10.785026699197573, 0.87255714629867509, -0.39680822466898047], [5.951689318689307, 10.68582464303033, 0.78315559474892782, -0.38957284440120404], [6.1474782173765394, 10.588431431930029, 0.68171782734413366, -0.38308982036982042], [6.3179076742125719, 10.492658976837573, 0.57043123146132102, -0.377389090167007], [6.4605154820779029, 10.398311704295821, 0.45161485355675063, -0.37247513568435603], [6.57341919546709, 10.305192920374733, 0.3276852212157782, -0.36832128725742758], [6.6553405007710351, 10.213112598560375, 0.20113372597200915, -0.36485815771115776], [6.7056239322640367, 10.121898059132587, 0.0745246300371354, -0.36195368557315322], [6.7242550897733206, 10.0314096377393, -0.04947084705222999, -0.35939239476116014], [6.711887378010263, 9.9415615390490082, -0.16801579387685719, -0.35689279863911288], [6.6698834295410485, 9.8523383393892292, -0.27812913651853827, -0.3541950449279696], [6.6003511454114134, 9.7637895781572368, -0.37686754040578807, -0.35114205331499598], [6.5061342603099668, 9.67600406482849, -0.46155432107915312, -0.34768398448888715], [6.3907456800401778, 9.5890830687062678, -0.52994347190085944, -0.34384594133278179], [6.2582598120649635, 9.5031215833730727, -0.58031251812957518, -0.33969869906539124], [6.11318168253257, 9.4181969086067241, -0.61150462402143313, -0.33533893469532955], [5.9603055265272111, 9.3343621749328918, -0.62293387163147218, -0.33087598875191632], [5.8045720586193426, 9.2516431777449135, -0.61456291692484699, -0.32642254436181228], [5.6509313293881327, 9.1700375416544588, -0.58686074954683931, -0.32208778932701526], [5.5042161420014226, 9.0895155943227053, -0.54074765228000898, -0.31797223715287726], [5.3690292289314199, 9.0100225350344871, -0.47753370778158116, -0.31416354528809542], [5.2496458019860253, 8.9314816487124649, -0.39885625384047091, -0.31073251723328443], [5.1499317385259076, 8.853798519404144, -0.30662090926881219, -0.30772794705597584], [5.0732765112087037, 8.7768665326401489, -0.20295110447606254, -0.3051677366024898], 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7.8216756930760001, 0.038860093614237742, -0.2820156458688664], [5.0097150234035599, 7.7511717816087842, 0.038641710957200794, -0.28047055873628407], [5.0193754511428592, 7.6810541419247134, 0.018871378573969082, -0.27894215763070834], [5.0240932957863516, 7.6113186025170361, -0.019862738413683287, -0.27744026042440251], [5.019127611182931, 7.5419585374109355, -0.076510444731724525, -0.27595315329794123], [5.0, 7.4729702490864494, -0.1495669252673858, -0.27443040975421568], [5.0, 0.0, 0.0, 0.0]]) 
# - 150, 26
# 10 wave 12.2 going out
no_control_trajectories.append([[10.0, 20.0, 2.3382685902179845, -1.3499999999999999], [10.584567147554496, 19.662500000000001, -2.9323787218403328, -1.2806853757648899], [9.8514724670944123, 19.342328656058804, -2.8488512878539405, -1.2027122248433493], [9.1392596451309274, 19.041650599847966, -2.5624038691394055, -1.1319455732316128], [8.4986586778460751, 18.758664206540065, -2.3024090675255118, -1.0716080427064631], [7.9230564109646977, 18.490762195863446, -2.0661887880712375, -1.0198204019706036], [7.4065092139468875, 18.235807095370799, -1.852168883913665, -0.9751011127921978], [6.9434669929684718, 17.992031817172744, -1.6595405778036147, -0.93625536357552053], [6.5285818485175682, 17.757967976278866, -1.4880136811485245, -0.90229974434740734], [6.1565784282304366, 17.532393040192016, -1.3376281452140528, -0.87241040789339408], [5.8221713919269238, 17.314290438218666, -1.2086033687572302, -0.84588721701259706], [5.520020549737616, 17.102818633965519, -1.1012125248535354, 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0.78322534338955885, -0.40674824983539287], [6.1477551083963489, 10.126618889046291, 0.68166942767464367, -0.39991872652195221], [6.3181724653150102, 10.026639207415803, 0.57027533320274115, -0.39390417032361996], [6.4607412986156953, 9.9281631648348974, 0.45136196774307996, -0.38870689996852265], [6.573581790551466, 9.830986439842766, 0.32734694774998746, -0.384296239158541], [6.6554185274889619, 9.7349123800531316, 0.20072496428825387, -0.38059668384509027], [6.7055997685610258, 9.639763209091857, 0.074066944062913517, -0.37746847905528491], [6.7241165045767541, 9.5453960893280367, -0.049946744037024329, -0.37468954261945053], [6.7116298185674985, 9.4517237036731725, -0.1684743166871788, -0.37197589116995189], [6.6695112393957041, 9.358729730880686, -0.27854027979802132, -0.36906658825024174], [6.5998761694461985, 9.2664630838181257, -0.37721199510230652, -0.36580144266377695], [6.5055731706706217, 9.1750127231521805, -0.46182169806248213, -0.36212736077317381], [6.3901177461550018, 9.0844808829588874, -0.53012922874965307, -0.35806805874064807], [6.2575854389675882, 8.9949638682737252, -0.58041576253650984, -0.35369495769751935], [6.1124814983334606, 8.9065401288493451, -0.61152674343207325, -0.34910684982359552], [5.9595998124754423, 8.8192634163934454, -0.62287765689906871, -0.3444160458588606], [5.8038803982506755, 8.7331594049287293, -0.61443197338251709, -0.33973855199962261], [5.6502724049050466, 8.6482247669288235, -0.58665909810696737, -0.33518684256372294], [5.5036076303783039, 8.5644280562878929, -0.5404794856774281, -0.33086437125085594], [5.3684877589589473, 8.4817119634751794, -0.47720330822602386, -0.32686111891471115], [5.2491869319024413, 8.399996683746501, -0.39846812433413342, -0.32324931672978285], [5.149569900818908, 8.3191843545640562, -0.30618025308653779, -0.32007794709819948], [5.0730248375472735, 8.2391648677895066, -0.20246494879723376, -0.31736342238593884], [5.0224086003479647, 8.1598240121930203, -0.089634401391860283, -0.31507181438452014], [5.0, 8.0810560585968911, -9.1940344226770776e-16, -0.31308884803109804], [5.0, 8.0027838465891161, 0.0017465448550935988, -0.31120542422853742], [5.0004366362137747, 7.9249824905319821, 0.12673012012011362, -0.30934437006414506], [5.0321191662438025, 7.8476463980159465, 0.24937268431714649, -0.30736212876415048], [5.0944623373230895, 7.7708058658249088, 0.36636091433485146, -0.30503722097608343], [5.1860525659068024, 7.6945465605808874, -0.21898919020476423, -0.30226367196323833], [5.1313052683556117, 7.6189806425900777, -0.21946135898203598, -0.30009902612755168], [5.0764399286101023, 7.5439558860581899, -0.17075471769195708, -0.29795820321557043], [5.0337512491871124, 7.4694663352542978, -0.096161743320286514, -0.29599266779791811], [5.0097108133570423, 7.3954681683048182, -0.03884325342816667, -0.29422073367033508], [5.0, 7.3219129848872333, 2.4286128663675299e-15, -0.29254038999520343], [5.0, 7.2487778873884325, 0.038869988085894779, -0.29089366341121808], [5.009717497021474, 7.1760544715356289, 0.038644955596050107, -0.28925181377780684], [5.0193787359204851, 7.1037415180911765, 0.018868120099494332, -0.2876282416642405], [5.0240957659453587, 7.0318344576751164, -0.019869214555753092, -0.28603274035771098], [5.019128462306421, 6.9603262725856885, -0.076513849225682565, -0.2844535405026295], [5.0, 6.8892128874600314, -0.14955868282952425, -0.28284008845534864], [5.0, -0.0, 0.0, 0.0]]) 
# - 30, 27
no_control_trajectories.append([[10.0, 20.0, 1.3500000000000003, -2.3382685902179845], [10.3375, 19.415432852445505, -2.3062105449857633, -2.2181958710169103], [9.7609473637535586, 18.860883884691301, -2.4288843401997648, -2.0831516656096731], [9.1537262787036244, 18.340095968288882, -2.5321498527433128, -1.9563274580836554], [8.5206888155178024, 17.851014103767969, -2.3716653750214127, -1.8372232242602864], [7.9277724717624496, 17.391708297702898, -2.1113442031495375, -1.7323517386779621], [7.3999364209750658, 16.958620363033408, -1.8782160285415652, -1.6423275395114643], [6.9303824138396743, 16.54803847815554, -1.6702110187695722, -1.5643561898444307], [6.5128296591472816, 16.156949430694432, -1.4861454225815591, -1.4962325631476008], [6.1412933035018913, 15.782891289907532, -1.3254151808537591, -1.4361844871751801], [5.8099395082884522, 15.423845168113736, -1.1877672867239117, -1.3827678565560326], [5.5129976866074735, 15.078153203974729, -1.0731210723329652, -1.3347948616866403], [5.2447174185242327, 14.744454488553069, -0.97886967409693171, -1.291283345232999], [5.0, 14.42163365224482, 6.101889826748419e-16, -1.2514570387847597], [5.0, 14.108769392548631, 0.24623318809724309, -1.2216501929814549], [5.0615582970243107, 13.803356844303266, 0.73263648599968223, -1.1926795188858454], [5.2447174185242318, 13.505186964581805, 1.0385396154736593, -1.1609229284704659], [5.5043523223928821, 13.214956232464189, 0.96911509549181918, -1.1265294313341683], [5.7466310962656015, 12.933323874630645, 0.88494670851975676, -1.094688923112354], [5.9678677733955405, 12.659651643852557, 0.78775249487165355, -1.0653788323191273], [6.1648058971134541, 12.393306935772776, 0.67948438154121349, -1.0385269596636422], [6.3346769924987232, 12.133675195856865, 0.56229120191638571, -1.0140076142591674], [6.4752497929778192, 11.880173292292074, 0.43848906170498209, -0.99163838887787337], [6.5848720584040645, 11.632263695072604, 0.31053932855050453, -0.9711786116448855], [6.6625068905416907, 11.389469042161384, 0.18103260214556904, -0.95233207032277079], [6.7077650410782681, 11.151386024580692, 0.052673439758631861, -0.93475808614193689], [6.7209334010177813, 10.917696503045208, -0.071744406777735456, -0.91809471885392879], [6.7029972993232017, 10.688172823331724, -0.1893857993829387, -0.90199373786903669], [6.6556508494773272, 10.462674388864466, -0.297454615216657, -0.88615977893407472], [6.5812871956730365, 10.241134444130946, -0.39330330229157312, -0.87038151635481209], [6.4829613701000355, 10.023539065042243, -0.47455409940669652, -0.85454582998701245], [6.3643228452482754, 9.8099026075454887, -0.53920965237842999, -0.83863413929221364], [6.2295204321543052, 9.6002440727224361, -0.58573646797921164, -0.82270630242388854], [6.0830863151595018, 9.3945674971164639, -0.61311422828794993, -0.80687879181350963], [5.9298077580875139, 9.1928477991630846, -0.62085176807379205, -0.79130212438120751], [5.7745948160691682, 8.9950222680677818, -0.6089749988098262, -0.77614025305430201], [5.6223510663667113, 8.8009872048042066, -0.57799397570866518, -0.76155292057094581], [5.477852572439545, 8.6105989746614711, -0.5288566667017176, -0.74768091809152837], [5.3456384057641158, 8.4236787451385879, -0.46289653519604057, -0.73463357416274966], [5.229914271964847, 8.2400203515979005, -0.3817803062714541, -0.72247748040980975], [5.1344691953970045, 8.0594009814954486, -0.28746161311775204, -0.71122547759316512], [5.0626037921173808, 7.8815946120971576, -0.18214571348352693, -0.70082560688302786], [5.0170673637466265, 7.7063882103764003, -0.068269454987042552, -0.69115176790397115], [5.0, 7.5336002684004075, 0.051503177861836252, -0.68200173296781785], [5.0128757944655948, 7.3630998351584536, 0.17427984859554785, -0.67311193238152189], [5.0564457566146119, 7.1948218520630727, 0.29695787821125069, -0.66419507180211013], [5.1306852261671585, 7.0287730841125455, 0.41629030311433096, -0.65499173229955032], [5.234757801945741, 6.8650251510376581, -0.20206831239821094, -0.64531399820149482], [5.1842407238461874, 6.7036966514872844, -0.21064033953022218, -0.63700476092668934], [5.1315806389636318, 6.5444454612556111, -0.21776669046343905, -0.62885952939596357], [5.0771389663477731, 6.387230578906621, -0.17253466889363442, -0.62087925114974785], [5.034005299124364, 6.2320107661191839, -0.096953159957308771, -0.61324795268798582], [5.0097670091350377, 6.0786987779471877, -0.039068036540149217, -0.60598565552649308], [5.0, 5.9272023640655647, 0.0, -0.59896699845454004], [5.0, 5.7774606144519298, 0.24623318809724387, -0.5921243994101183], [5.0615582970243116, 5.6294295145994004, 0.73263648599968356, -0.58488898925694677], [5.2447174185242318, 5.4832072672851639, 1.0123654180505997, -0.57445692850476249], [5.4978087730368816, 5.3395930351589724, 0.95130359340936921, -0.56173913804945119], [5.7356346713892243, 5.1991582506466099, 0.87454354712468307, -0.54993503135040811], [5.9542705581703945, 5.0616744928090069, 0.78386478963268613, -0.53912807294895415], [6.1502367555785655, 4.926892474571769, 0.68127100970775956, -0.52937028100526917], [6.3205545080055057, 4.7945499043204514, 0.56894326632172609, -0.52067978297210771], [6.4627903245859386, 4.6643799585774248, 0.44920102946029022, -0.51303651968962849], [6.5750905819510104, 4.5361208286550179, 0.32447311306755139, -0.5063747501922583], [6.656208860217899, 4.4095271411069525, 0.19728210730968399, -0.50057163130017401], [6.7055293870453196, 4.2843842332819095, 0.070247361766468355, -0.49543482946259193], [6.7230912274869361, 4.1605255259162623, -0.053894282443332796, -0.49070211030392608], [6.7096176568761035, 4.0378499983402811, -0.172277564584187, -0.4860748885594417], [6.6665482657300563, 3.9163312762004199, -0.28196598484574753, -0.4812861676073204], [6.5960567695186194, 3.7960097342985901, -0.38009997377367633, -0.47615901796702659], [6.5010317760751999, 3.6769699798068336, -0.46407891889667852, -0.47062069847809435], [6.3850120463510303, 3.5593148051873098, -0.5317111168032197, -0.46468461304099606], [6.2520842671502255, 3.4431436519270604, -0.58131009922134236, -0.4584243032397779], [6.1067567423448903, 3.3285375761171161, -0.6117424058666201, -0.45195068926417081], [5.9538211408782349, 3.2155499038010738, -0.62243695630283513, -0.44539444958851931], [5.7982119018025271, 3.1042012914039439, -0.61336538336518809, -0.43889269878152032], [5.6448705559612291, 2.9944781167085637, -0.58500169318237016, -0.43257886464647349], [5.4986201326656374, 2.8863334005469454, -0.53826882378257779, -0.42657481696691502], [5.3640529267199932, 2.7796896963052165, -0.47447880976770762, -0.4209843208769532], [5.2454332242780648, 2.6744436160859784, -0.3952723603413788, -0.41588667688248065], [5.1466151341927207, 2.5704719468653585, -0.30256312223497339, -0.41132891186430293], [5.0709743536339777, 2.467639718899282, -0.19849258025618691, -0.40731412125776667], [5.0213512085699312, 2.365811188584841, -0.085404834279724257, -0.4037833888838277], [5.0, 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1.1136083380056152, 0.038673209943783829, -0.3655334793526484], [5.0194074325924278, 1.0222249681674531, 0.018839566821858965, -0.36295979612799123], [5.0241173242978929, 0.93148501913545534, -0.019925721126144633, -0.36043212791249923], [5.0191358940163564, 0.84137698715733056, -0.076543576065428581, -0.35793809913548397], [5.0, 0.75189246237345952, -0.1494865830061074, -0.35542616205369776], [5.0, 0.0, 0.0, 0.0]]) 
# - 60, 28
no_control_trajectories.append([[10.0, 20.0, 0.0, -2.7000000000000002], [10.0, 19.324999999999999, -2.2116240010660606, -2.3125136276178559], [9.447093999733486, 18.746871593095534, -2.3500201522614783, -2.1717286395801274], [8.8595889616681145, 18.203939433200503, -2.4656414030617317, -2.039512802488348], [8.2431786109026817, 17.694061232578413, -2.1996496541847401, -1.9153449235025715], [7.6932661973564977, 17.215225001702766, -1.9526342190575712, -1.8090516612654983], [7.2051076425921039, 16.762962086386395, -1.7303246674025448, -1.7174248298543131], [6.7725264757414685, 16.333605878922818, -1.5312181367062183, -1.6377524046925731], [6.3897219415649138, 15.924167777749673, -1.3545551951268668, -1.5678773031443123], [6.0510831427831961, 15.532198451963596, -1.2000571584081592, -1.5060556334144393], [5.751068853181156, 15.155684543609986, -1.0677253370087965, -1.4508611702227028], [5.4841375189289572, 14.792969251054309, -0.95768040161889856, -1.4011196181817072], [5.2447174185242327, 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-0.18439397329845894, -0.66402087302488177], [5.1899817956628134, 6.0873690308259203, -0.21712324519525919, -0.65529559918442704], [5.1357009843639991, 5.9235451310298135, -0.2340945133287308, -0.6466696541133935], [5.0771773560318154, 5.7618777175014646, -0.17263325417735348, -0.63818872731549825], [5.0340190424874773, 5.602330535672591, -0.096996103602194447, -0.6301422877836218], [5.0097700165869288, 5.444794963726685, -0.039080066347716332, -0.62248033412038151], [5.0, 5.2891748801965885, 0.0, -0.61507626300949481], [5.0, 5.1354058144442156, 0.24623318809724398, -0.60786168621734515], [5.0615582970243116, 4.9834403928898796, 0.73263648599968001, -0.60026595619822143], [5.2447174185242318, 4.8333739038403234, 1.0128889753013548, -0.58944926411564247], [5.4979396623495704, 4.6860115878114135, 0.9516627586239097, -0.57631072656579296], [5.7358553520055482, 4.5419339061699651, 0.87475407783233472, -0.5641150694393402], [5.954543871463633, 4.4009051388101303, 0.78394137005932529, -0.55294583552155085], [6.1505292139784631, 4.2626686799297415, 0.68122738767181368, -0.54285425368835727], [6.3208360608964167, 4.126955116507653, 0.5687926489480315, -0.53385668674569586], [6.463034223133425, 3.9934909448212284, 0.44895681369022894, -0.52593022768475339], [6.5752734265559818, 3.86200838790004, 0.32415005183188345, -0.51900516884263614], [6.6563109395139524, 3.732257095689381, 0.19689792123596403, -0.51295382649281729], [6.7055354198229438, 3.6040186390661768, 0.069824319386631722, -0.50757902519836595], [6.7229914996696012, 3.4771238827665853, -0.054329349347206901, -0.50261515807081159], [6.7094091623327996, 3.3514700932488828, -0.17269651865472818, -0.497762405313324], [6.6662350326691175, 3.2270294919205518, -0.28234449667954875, -0.49275326152818155], [6.5956489084992294, 3.1038411765385057, -0.38042055961173382, -0.48740956205545538], [6.5005437685962963, 2.9819887860246421, -0.46433084864030622, -0.48165697818669717], [6.384461056436221, 2.8615745414779683, -0.53188891506782776, -0.4755079284612807], [6.2514888276692639, 2.7426975593626479, -0.5814119990263007, -0.46903596964392186], [6.1061358279126887, 2.6254385669516673, -0.61176914914796721, -0.46235293179720155], [5.9531935406256959, 2.5098503340023672, -0.62239092936083584, -0.45559099813272502], [5.7975958082854868, 2.3959525844691858, -0.61325000643701322, -0.44888906219846436], [5.6442833066762343, 2.2837303189195697, -0.58482100628341283, -0.44238232126279076], [5.4980780551053803, 2.173134738603872, -0.53802724388680234, -0.43619416379571768], [5.3635712441336798, 2.0640861976549427, -0.47418106511141472, -0.43042941015039088], [5.2450259778558257, 1.9564788451173449, -0.39492364289044785, -0.42516774976231519], [5.1462950671332139, 1.8501869076767661, -0.30216954778595839, -0.42045573245778561], [5.0707526801867244, 1.7450729745623197, -0.19806209473892158, -0.4162949654850861], [5.0212371565019938, 1.6409992331910483, -0.084948626007973801, -0.41262416170643934], [5.0, 1.5378431927644383, 3.9551695252271202e-15, -0.40929774065378394], [5.0, 1.4355187576009925, 0.036491683771304399, -0.40609243707139869], [5.0091229209428265, 1.3339956483331425, 0.1611992542203311, -0.40292497643048347], [5.0494227344979086, 1.2332644042255216, 0.28331552905653246, -0.39958439064822693], [5.120251616762042, 1.133368306563465, 0.39954086041031267, -0.39585054911862155], [5.2201368318646209, 1.0344056692838095, -0.31211870340234577, -0.39160795878193638], [5.1421071560140348, 0.93650367958832548, -0.26193962845925417, -0.38785849429967051], [5.0766222488992216, 0.83953905601340784, -0.17121506776029752, -0.38438596664440677], [5.0338184819591465, 0.74344256435230627, -0.096370590589013136, -0.38128919962671065], [5.0097258343118929, 0.64812026444562865, -0.038903337247573264, -0.37841689125437561], [5.0, 0.55351604163203472, 0.0, -0.37565925423032082], [5.0, 0.45960122807445458, 0.038961931349340923, -0.37295616529546427], [5.0097404828373344, 0.36636218675058851, 0.038674969544420901, -0.370278012094786], [5.0194092252234395, 0.27379268372689203, 0.018837778216443658, -0.36763792366136366], [5.0241186697775504, 0.18188320281155113, -0.019929247096885743, -0.36504524827965484], [5.0191363580033288, 0.090621890741637401, -0.076545432013316192, -0.3624875629665496], [5.0, -0.0, -0.1494820820182711, -0.35991325847225131], [5.0, -0.0, 0.0, 0.0]]) 
# - 90, 29
no_control_trajectories.append([[10.0, 20.0, -1.3499999999999994, -2.3382685902179845], [9.6625000000000014, 19.415432852445505, -2.3062533262412899, -2.2181513914070399], [9.0859366684396772, 18.860895004593743, -2.4289201658708182, -2.0831098933628245], [8.478706626971972, 18.340117531253036, -2.2396795103807148, -1.9562882285260261], [7.9187867493767925, 17.851045474121527, -1.989551465589612, -1.8455992423491225], [7.4213988829793891, 17.38964566353425, -1.7618696969259975, -1.7502990211942642], [6.9809314587478895, 16.952070908235687, -1.5551955980071643, -1.6675855010942653], [6.5921325592460978, 16.535174532962117, -1.3688753469750115, -1.595227207090784], [6.2499137225023444, 16.13636773118942, -1.2027819061926803, -1.5314150733951259], [5.9492182459541745, 15.753513962840639, -1.0571184591338587, -1.4746630157715557], [5.6849386311707093, 15.384848208897749, -0.93226063420904948, -1.4237405185090404], [5.4518734726184475, 15.028913079270488, -0.8286242163768579, -1.3776259768872718], [5.2447174185242327, 14.684506585048672, -0.74655134455186922, -1.3354726888118016], [5.0580795823862656, 14.350638412845722, -0.23231832954506193, -1.2965815551526272], [5.0, 14.026493024057565, 0.24623318809724262, -1.2640745581743351], [5.0615582970243107, 13.710474384513981, 0.7326364859996829, -1.2330977502545319], [5.2447174185242318, 13.402199946950349, 1.0405594620853509, -1.1994537006051726], [5.5048572840455696, 13.102336521798987, 0.9704758996078674, -1.163228652917758], [5.7474762589475361, 12.811529358569548, 0.88573541744120421, -1.1297119056157563], [5.9689101133078371, 12.529101382165608, 0.78804971081266706, -1.0988648168830695], [6.1659225410110041, 12.25438517794484, 0.67936527896708421, -1.070599610598538], [6.3357638607527749, 11.986735275295205, 0.56182693069423617, -1.0447754679779695], [6.4762205934263344, 11.725541408300712, 0.43774842549257076, -1.0211954688178979], [6.5856576997994773, 11.470242541096237, 0.30959039043991682, -0.99960546755704438], [6.663055297409457, 11.220341174206977, 0.17994367481002976, -0.97969747040995014], [6.7080412161119645, 10.975416806604489, 0.051512793271305236, -0.96112138053947849], [6.7209194144297912, 10.735136461469619, -0.072910564743940184, -0.94350849256666069], [6.7026917732438065, 10.499259338327954, -0.19049676883320524, -0.92650604874115372], [6.6550675810355049, 10.267632826142666, -0.29845888267918574, -0.90981544619243138], [6.5804528603657086, 10.040178964594558, -0.39416105591904399, -0.89322255032040254], [6.4819125963859472, 9.8168733270144575, -0.475237902862918, -0.87661155284857251], [6.3631031206702175, 9.5977204388023143, -0.53970352738140115, -0.85996145680599401], [6.2281772388248671, 9.3827300746008166, -0.58603407614380298, -0.84333022129742607], [6.0816687197889161, 9.1718975192764614, -0.61321678643430388, -0.82683302807369874], [5.928364523180341, 8.9651892622580363, -0.6207660955612867, -0.81061960515283704], [5.7731729992900194, 8.762534360969827, -0.60871189444500395, -0.79485338008938866], [5.6209950256787682, 8.5638210159474788, -0.57756700543857442, -0.77969354453076412], [5.4766032743191246, 8.3688976298147892, -0.52828139085266546, -0.76528003145349865], [5.3445329266059591, 8.1775776219514142, -0.46219018556495234, -0.75172076917840625], [5.2289853802147208, 7.9896474296568121, -0.38096191329708862, -0.73908025395264854], [5.1337449018904495, 7.8048773661686495, -0.28655255044863437, -0.72736851841432981], [5.0621067642782904, 7.6230352365650669, -0.18117051904983217, -0.71653028401627694], [5.0168141345158324, 7.443902665560997, -0.067256538063329943, -0.70643611084275504], [5.0, 7.267293637850309, 0.05252168987675495, -0.69688109623235517], [5.0131304224691888, 7.0930733637922208, 0.17526993414256783, -0.68760008010937468], [5.0569479060048312, 6.9211733437648766, 0.29788706089099515, -0.67830488268017852], [5.1314196712275768, 6.7515971230948324, 0.41713124177996069, -0.66873498740841553], [5.2357024816725621, 6.5844133762427282, -0.20286169421207412, -0.65870072775764366], [5.1849870581195434, 6.419738194303318, -0.21165959850799851, -0.6500439086739902], [5.1320721584925435, 6.2572272171348207, -0.21962284135134016, -0.64156971112737438], [5.077166448154709, 6.0968347893529771, -0.17260523667972516, -0.63327297546573846], [5.0340151389847776, 5.9385165454865421, -0.096983905411916677, -0.62534558915632588], [5.0097691626317982, 5.7821801481974608, -0.039076650527193259, -0.61779821074086438], [5.0, 5.6277305955122454, 0.0, -0.6105045938672542], [5.0, 5.4751044470454318, 0.24623318809724556, -0.60339658433967214], [5.0615582970243116, 5.3242553009605142, 0.73263648599968545, -0.59590403614316856], [5.2447174185242318, 5.1752792919247215, 1.0127394703069703, -0.5851971996382388], [5.4979022861009748, 5.0289799920151621, 0.95156020511909001, -0.57217861835396622], [5.7357923373807473, 4.8859353374266696, 0.8746939612885718, -0.56009459046754473], [5.9544658277028901, 4.745911689809784, 0.78391948185158244, -0.54902864986176092], [6.150445698165786, 4.6086545273443438, 0.68123978543775554, -0.53903226157117967], [6.3207556445252244, 4.4738964619515489, 0.5688355431476313, -0.53012229978698244], [6.4629645303121324, 4.3413658870048035, 0.44902635923166495, -0.52227667362185182], [6.575221120120049, 4.2107967185993411, 0.32424201735102887, -0.5154268042427651], [6.6562816244578062, 4.0819400175386491, 0.19700723584881144, -0.50944637707822704], [6.7055334334200092, 3.9545784232690933, 0.069944634920370327, -0.50413957823399336], [6.7230195921501021, 3.8285435287105951, -0.054205651259961955, -0.49924174513936898], [6.7094681793351114, 3.7037330924257525, -0.17257740836511837, -0.4944534046765568], [6.6663238272438319, 3.5801197412566133, -0.28223686823395455, -0.48950719465279241], [6.5957646101853431, 3.4577429425934154, -0.38032937875139605, -0.48422529371515965], [6.5006822654974945, 3.3366866191646256, -0.46425917219248586, -0.47853381596132327], [6.3846174724493734, 3.2170531651742946, -0.53183830838886503, -0.47244545718929676], [6.2516578953521567, 3.0989418008769705, -0.58138297134719752, -0.46603377277484331], [6.1063121525153585, 2.9824333576832593, -0.61176149345489905, -0.45941034068238712], [5.9533717791516327, 2.8675807725126625, -0.62240396831013778, -0.45270692469308454], [5.7977707870740991, 2.7544040413393915, -0.61328276632060852, -0.44606192158276781], [5.6444500954939461, 2.6428885609436992, -0.58487233512947367, -0.43961003450100439], [5.4982320117115782, 2.532986052318448, -0.53809588067374525, -0.4334742286120305], [5.3637080415431422, 2.4246174951654402, -0.47426565845169416, -0.42775903186352138], [5.2451416269302173, 2.3176777371995603, -0.39502270762964298, -0.42254402930937862], [5.1463859500228075, 2.2120417298722157, -0.30228133447974559, -0.41787591018957293], [5.0708156164028724, 2.1075727523248222, -0.19818433377512701, -0.41375670443398871], [5.0212695329590895, 2.0041335762163253, -0.085078131836356916, -0.4101257923485645], [5.0, 1.9016021281291839, 0.034477892662613446, -0.40683827444800463], [5.0086194731656528, 1.7998925595171829, 0.15766182862409395, -0.40366058919743913], [5.0480349303216761, 1.6989774122178229, 0.28134821617615141, -0.40031855299810964], [5.1183719843657141, 1.5988977739682955, 0.40217375037297592, -0.39658188019595514], [5.2189154219589575, 1.4997523039193068, -0.18821878475431286, -0.39231351840961742], [5.1718607257703795, 1.4016739243169023, -0.18974253472953695, -0.38904632910870918], [5.1244250920879955, 1.3044123420397251, -0.19122628686061832, -0.38582308048221525], [5.0766185203728407, 1.2079565719191714, -0.17120561408286997, -0.38264280709010046], [5.0338171168521226, 1.1122958701466463, -0.096366344172072974, -0.37957161899130559], [5.0097255308091047, 1.0174029653988197, -0.038902123236417389, -0.37672419149604441], [5.0, 0.92322191752480887, 0.0, -0.37399086828570349], [5.0, 0.82972420045338291, 0.038960081984469937, -0.37131156758503842], [5.0097400204961176, 0.73689630855712329, 0.038674368235593927, -0.36865669765718184], [5.019408612555015, 0.64473213414282782, 0.018838389572244603, -0.36603939753978315], [5.0241182099480772, 0.55322228475788193, -0.019928042072688005, -0.36346902873174891], [5.0191361994299042, 0.46235502757494468, -0.07654479771961685, -0.36093318460665713], [5.0, 0.37212173142328037, -0.14948362020794892, -0.35838027698772029], [5.0, -0.0, 0.0, 0.0]]) 
# - 120, 30
no_control_trajectories.append([[10.0, 20.0, -2.3382685902179845, -1.3499999999999999], [9.4154328524455035, 19.662500000000001, -2.5077680413062065, -1.2806408961473925], [8.7884908421189518, 19.342339775963179, -2.2620783254417698, -1.2120235087931237], [8.2229712607585093, 19.039333898764898, -2.0327760364936296, -1.1528340918115185], [7.7147772516351019, 18.75112537581202, -1.8189566393534613, -1.1015645671432437], [7.2600380917967371, 18.475734234026209, -1.6203818731600625, -1.0569830002785243], [6.8549426235067212, 18.211488483956579, -1.4372912675012195, -1.0180623259527655], [6.4956198066314164, 17.956972902468387, -1.2702555018271129, -0.9839303430519204], [6.1780559311746384, 17.710990316705409, -1.1200567661073844, -0.95383470893261257], [5.898041739647792, 17.472531639472255, -0.98758624406393325, -0.92711897692326617], [5.6511451786318085, 17.240751895241438, -0.87375211009129572, -0.9032069555202169], [5.4327071511089846, 17.014950156361387, -0.77939391680610515, -0.88159313157233088], [5.2378586719074587, 16.794551873468304, -0.70520149953258848, -0.86183685925972631], [5.0615582970243116, 16.579092658653373, -0.24623318809724637, -0.8435578533667879], [5.0, 16.368203195311672, 0.24623318809724271, -0.82943596069106262], [5.0615582970243107, 16.160844205138908, 0.73263648599968278, -0.81577283753306495], [5.2447174185242318, 15.956900995755641, 1.021141240451978, -0.79875640272946213], [5.5000027286372264, 15.757211895073274, 0.95731049838870896, -0.77906093378041885], [5.7393303532344033, 15.56244666162817, 0.87806443581652749, -0.76077173763411954], [5.9588464621885358, 15.37225372721964, 0.78516467400774992, -0.74395930427074508], [6.155137630690473, 15.186263901151955, 0.68059979128393577, -0.72865120893376412], [6.3252875785114577, 15.004101098918513, 0.56654257941763142, -0.71482854633971982], [6.4669232233658658, 14.825393962333582, 0.4453157686610783, -0.70242106739842924], [6.5782521655311346, 14.649788695483975, 0.31936798577927894, -0.69130089246789972], [6.6580941619759546, 14.476963472366998, 0.1912613744672392, -0.68127652687298867], [6.7059095055927651, 14.306644340648752, 0.063669606085463848, -0.67209261790277575], [6.7218269071141306, 14.138621186173058, -0.060623520520843514, -0.66344500785570226], [6.70667102698392, 13.972759934209131, -0.17874827898524914, -0.65501828415971197], [6.6619839572376076, 13.809005363169204, -0.28782280152427803, -0.64653781396516075], [6.590028256856538, 13.647370909677914, -0.38507920859763117, -0.63781268807255609], [6.4937584547071294, 13.487917737659776, -0.46801132544152241, -0.62875191842344491], [6.3767556233467495, 13.330729758053915, -0.53450562559616932, -0.61935606633274753], [6.2431292169477066, 13.175890741470727, -0.58293390661510325, -0.60969661499708816], [6.0973957402939307, 13.023466587721455, -0.61220381457579076, -0.59989298771035848], [5.9443447866499826, 12.873493340793864, -0.6217721477932634, -0.59009181143707568], [5.788901749701667, 12.725970387934595, -0.61162872266707025, -0.58044970341385782], [5.6359945690349003, 12.580857962081129, -0.58225904619240854, -0.57111943866696635], [5.4904298074867981, 12.438078102414387, -0.53459362887561512, -0.56223881156987265], [5.3567814002679226, 12.29751839952192, -0.46995099074262403, -0.55392121757931201], [5.2392936525822664, 12.159038095127091, -0.38998057973765959, -0.54624671176291018], [5.1417985076478514, 12.022476417186363, -0.29661134255761623, -0.53925203215655537], [5.0676456720084477, 11.887663409147224, -0.1920120449429461, -0.53291811918344467], [5.0196426607727105, 11.754433879351364, -0.078570643090843162, -0.52715519265410249], [5.0, 11.622645081187837, 0.041100753227645316, -0.52179104546111033], [5.0102751883069114, 11.49219731982256, 0.16414121144043259, -0.51657837972660969], [5.0513104911670199, 11.363052724890908, 0.28743388091114752, -0.51123767748285731], [5.1231689613948079, 11.235243305520195, 0.40767074701504791, -0.50552295185713614], [5.2250866481485669, 11.10886256755591, -0.19411484388517236, -0.4992700223714221], [5.1765579371772761, 10.984045061963053, -0.19755065453876869, -0.49416206206601965], [5.1271702735425837, 10.860504546446549, -0.2013285560779422, -0.4891389448489985], [5.0768381345230988, 10.738219810234297, -0.17176443228429075, -0.48419681436631995], [5.033897026452026, 10.617170606642716, -0.096615217164371117, -0.47944440652651077], [5.0097432221609335, 10.497309505011089, -0.038972888643730386, -0.47496403942022342], [5.0, 10.378568495156033, 0.0, -0.47063922672523723], [5.0, 10.260908688474725, 0.24623318809724792, -0.4664072955845272], [5.0615582970243116, 10.144306864578592, 0.73263648599967612, -0.46171593904927838], [5.2447174185242318, 10.028877879816275, 1.0085477973743235, -0.4541083135583357], [5.4968543678678126, 9.9153508014266905, 0.94868274705297273, -0.44455520592388348], [5.7340250546310561, 9.8042119999457196, 0.87300903865254553, -0.43569628852786763], [5.952277314294192, 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-0.088991187786779127, -0.32954033991280374], [5.0, 7.4438900438832221, 0.030467485235319405, -0.32738085370754783], [5.00761687130883, 7.3620448304563357, 0.15372997802228039, -0.32531518502044421], [5.0460493658143992, 7.280716034201224, 0.27766416976758229, -0.32307435480768487], [5.1154654082562958, 7.1999474454993022, 0.39885838828224784, -0.32044627125762848], [5.2151800053268573, 7.1198358776848965, -0.18413138432900983, -0.31732076963821559], [5.1691471592446048, 7.0405056852753427, -0.1850844954941053, -0.31508704436815482], [5.1228760353710792, 6.9617339241833029, -0.18563850631986964, -0.31287767182574849], [5.0764664087911102, 6.8835145062268666, -0.17082129522130043, -0.31069331315396648], [5.0337610849857857, 6.8058411779383743, -0.096192253175951842, -0.30857858485751977], [5.0097130216917982, 6.7286965317239948, -0.038852086767195093, -0.30666163094302484], [5.0, 6.6520311239882393, 0.0, -0.3048390799573017], [5.0, 6.5758213539989132, 0.038883559180604793, -0.30305261482333795], [5.0097208897951511, 6.5000582002930782, 0.038649401190547807, -0.30127338065707077], [5.0193832400927878, 6.4247398551288102, 0.018863648572566165, -0.29951476485899564], [5.0240991522359302, 6.3498611639140616, -0.019878091930997262, -0.297786520117304], [5.0191296292531806, 6.2754145338847351, -0.076518517012721471, -0.29607679741148663], [5.0, 6.2013953345318642, -0.14954737237685756, -0.2943348767088933], [5.0, -0.0, 0.0, 0.0]]) 
# - 150, 31
# 10 wave 10 going out
no_control_trajectories.append([[10.0, 20.0, 0.0, -2.7000000000000002], [10.0, 19.324999999999999, -3.2133283653796973, -1.4487176798807109], [9.1966679086550762, 18.96282058002982, -2.9670115221192503, -1.3515608341646377], [8.4549150281252636, 18.624930371488663, -2.9380082484143295, -1.2677174496903389], [7.7204129660216809, 18.308001009066079, -2.6403094988988181, -1.1905337945318757], [7.060335591296977, 18.01036756043311, -2.3834779889188615, -1.1249219669194983], [6.4644660940672622, 17.729137068703235, -2.1628618655550533, -1.0685034814263252], [5.9237506276784986, 17.462011198346655, -1.9752258606025348, -1.019450177400484], [5.4299441625278648, 17.207148653996533, -1.6804629729528353, -0.97632478547531676], [5.0098284192896561, 16.963067457627705, -0.039313677158624105, -0.9402093704478961], [5.0, 16.728015115015729, -2.4390212072233908e-15, -0.92336151135946354], [5.0, 16.497174737175865, 0.2462331880972381, -0.90712624504632133], [5.0615582970243107, 16.270393175914283, 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[5.1160921259613135, 6.6732432833377739, 0.39957151759953091, -0.33782961585742738], [5.2159850053611967, 6.5887858793734173, -0.18486013040727242, -0.33446015617747354], [5.1697699727593784, 6.5051708403290487, -0.18586224763113179, -0.3320094406439219], [5.1233044108515955, 6.4221684801680681, -0.18721389211233389, -0.32958702455878269], [5.0765009378235115, 6.3397717240283722, -0.17090827292013769, -0.3271912410313082], [5.0337738695934773, 6.2579739137705452, -0.096231935107200309, -0.32487428278045449], [5.0097158858166768, 6.1767553430754321, -0.038863543266707136, -0.32276064932213744], [5.0, 6.0960651807448976, 0.0, -0.32074534030473867], [5.0, 6.0158788456687118, 0.13137214509279435, -0.3187696141896989], [5.0328430362731984, 5.9361864421212873, 0.13049776221193979, -0.31666398469142726], [5.0654674768261838, 5.8570204459484305, 0.11008050103386868, -0.3145858797406349], [5.0929876020846514, 5.7783739760132722, 0.070743591448034687, -0.31257573009804795], [5.1106734999466594, 5.7002300434887596, 0.013553513702183584, -0.31065320553922993], [5.1140618783722056, 5.6225667421039516, -0.060006592752253715, -0.30879720902537511], [5.0990602301841426, 5.5453674398476087, -0.14803811332278502, -0.30692983793118084], [5.0620507018534457, 5.4686349803648131, -0.24820280741378228, -0.30492084488636428], [5.0, 5.392404769143222, -0.35771509252395034, -0.30262220890446245], [5.0, -0.0, 0.0, 0.0]]) 
# - 90, 32
no_control_trajectories.append([[10.0, 20.0, -1.3499999999999994, -2.3382685902179845], [9.6625000000000014, 19.415432852445505, -2.6303517926054538, -1.8221551654942225], [9.0049120518486365, 18.95989406107195, -2.7038364045084773, -1.7112184833196113], [8.3289529507215168, 18.532089440242043, -2.7670269499388014, -1.6070351142126207], [7.6371962132368161, 18.130330661688891, -2.4797410322808382, -1.5091940916078879], [7.0172609551666065, 17.753032138786921, -2.2314510313193843, -1.4258331930592949], [6.4593981973365233, 17.396573840522095, -2.0179326768459873, -1.3539862238390525], [5.9549150281252636, 17.058077284562334, -1.8362742093521933, -1.2913730990598586], [5.4958464757874044, 16.73523400979737, -1.684395248333729, -1.2362036065654272], [5.0747476637037829, 16.42618310815601, -0.29899065481513287, -1.1870477253566762], [5.0, 16.129421176816841, 6.9388939039072284e-17, -1.1593861675732817], [5.0, 15.839574634923521, 0.24623318809724212, -1.1338011277883564], 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-0.86420142861607818], [6.7036850722236512, 12.642375430725439, -0.18705522425785637, -0.84993070194371179], [6.6569212661591868, 12.429892755239511, -0.29534654846326541, -0.83584024099794185], [6.5830846290433707, 12.220932694990026, -0.39150256166837372, -0.82172404118295528], [6.4852089886262778, 12.015501684694287, -0.47311905898587747, -0.8074742186047329], [6.3669292238798079, 11.813633130043105, -0.53817429054306698, -0.79307688118399444], [6.2323856512440408, 11.615363909747106, -0.58511436901278324, -0.77859539853632853], [6.0861070589908453, 11.420715060113023, -0.61290309824461375, -0.76414835704441941], [5.9328812844296914, 11.229677970851919, -0.62103760893436633, -0.74988724368056903], [5.7776218821961001, 11.042206159931776, -0.60953554332067628, -0.73597639028169637], [5.6252379963659314, 10.858212062361352, -0.57890123214390288, -0.72257598871740158], [5.4805126883299558, 10.677568065182003, -0.53007852350025142, -0.70982798952628068], [5.3479930574548931, 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-0.43547476540989088], [5.9548005925279668, 5.5142118184931768, -0.62250944539515629, -0.42923770128798544], [5.7991732311791768, 5.4069023931711806, -0.61354559292047595, -0.4230469290327547], [5.6457868329490584, 5.3011406609129912, -0.58528340869499151, -0.41703294365247262], [5.4994659807753106, 5.1968824249998731, -0.53864528226884412, -0.41131508182401311], [5.3648046602080992, 5.0940536545438695, -0.47494280202970074, -0.40599531333943917], [5.2460689597006738, 4.9925548262090098, -0.39581599558556563, -0.40115220704917037], [5.1471149608042834, 4.8922667744467168, -0.3031771081762285, -0.39683345242588358], [5.0713206837602254, 4.7930584113402466, -0.19916477990217471, -0.39304446436477758], [5.0215294887846822, 4.6947972952490531, -0.086117955138727678, -0.38973014719918614], [5.0, 4.5973647584492552, 0.033414681348498794, -0.38675136908411784], [5.008353670337125, 4.5006769161782261, 0.15661999943302052, -0.38387754335944507], [5.0475086701953797, 4.4047075303383645, 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# - 120, 33
no_control_trajectories.append([[10.0, 20.0, -2.3382685902179845, -1.3499999999999999], [9.4154328524455035, 19.662500000000001, -2.9323981474408973, -1.2806408961473925], [8.6823333155851188, 19.342339775963179, -2.6705833184583354, -1.2026704531715078], [8.0146874859706951, 19.041672162670302, -2.3983437261581262, -1.1356444253327547], [7.415101554431164, 18.757761056337113, -2.1584054751905968, -1.0782989634485278], [6.8755001856335145, 18.488186315474984, -1.9479716055353848, -1.0287884758189652], [6.3885072842499397, 18.230989196520241, -1.7652171478927166, -0.98565622899051797], [5.9472029972766585, 17.984575139272611, -1.6089424728735302, -0.94772859546974542], [5.5449673790581606, 17.747642990405172, -1.4783186423669969, -0.91404372870031547], [5.1753877184662471, 17.519132058230095, -0.70155087386498849, -0.88380255499006033], [5.0, 17.298181419482578, 8.3266726846886741e-17, -0.86480907408242624], [5.0, 17.081979150961974, 0.24623318809724382, -0.85056521912957461], 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-0.67811819831247067], [6.7064331864401066, 14.629455939347181, -0.17933134718660021, -0.66931635096571174], [6.6616003496434573, 14.462126851605754, -0.28835110495841521, -0.66047355354433068], [6.5895125734038533, 14.297008463219672, -0.38552970074732001, -0.65139790145904219], [6.4931301482170234, 14.134158987854912, -0.46836865404109523, -0.6419971612044072], [6.3760379847067501, 13.97365969755381, -0.53476116910987426, -0.6322708954770927], [6.2423476924292816, 13.815591973684537, -0.58308432032683877, -0.62229021368131687], [6.0965766123475715, 13.660019420264208, -0.61224962758695456, -0.6121748473331764], [5.9435142054508328, 13.506975708430915, -0.62171660269202522, -0.60207224558774741], [5.7880850547778273, 13.356457647033977, -0.61147688993112514, -0.59214010130581429], [5.6352158322950459, 13.208422621707525, -0.58201720113788347, -0.58253224684624694], [5.4897115320105749, 13.062789559995963, -0.53426888089625557, -0.5733872667024239], [5.3561443117865117, 12.919442743320356, -0.46955117231403676, -0.5648188620465826], [5.2387565187080023, 12.77823802780871, -0.38951442599444519, -0.5569067287914593], [5.141377912209391, 12.639011345610847, -0.29608900973595265, -0.54968646304402902], [5.0673556597754024, 12.50158972984984, -0.19144598524346337, -0.54313710783532099], [5.0194941634645369, 12.365805452891008, -0.077976653858145784, -0.53716656375209226], [5.0, 12.231513811952984, 0.041703017898638811, -0.53160061735070774], [5.0104257544746593, 12.098613657615308, 0.16472950661928387, -0.52619095058025944], [5.0516081311294787, 11.967065919970244, 0.28798672463080432, -0.52065762021635009], [5.1236048122871791, 11.836901514916157, 0.40817081059998012, -0.5147536381915564], [5.2256475149371751, 11.708213105368268, -0.19461637012631292, -0.50831300213179043], [5.1769934224055989, 11.581134854835319, -0.19828103376816344, -0.50302954352468932], [5.1274231639635577, 11.455377468954149, -0.2022656110932585, -0.49783518285953743], [5.0768567611902427, 11.330918673239264, -0.17181198580033238, -0.49272593397241721], [5.0339037647401597, 11.207737189746158, -0.096636227070831568, -0.48781459094362745], [5.0097447079724517, 11.085783542010251, -0.038978831889808135, -0.48318015566387057], [5.0, 10.964988503094284, 0.0, -0.47870560705225473], [5.0, 10.845312101331219, 0.24623318809724581, -0.47432802616058811], [5.0615582970243116, 10.726730094791073, 0.73263648599968534, -0.46949386009840732], [5.2447174185242318, 10.60935662976647, 1.0087678035084526, -0.46172083921229612], [5.4969093694013447, 10.493926419963397, 0.94883384373271007, -0.45197819350298751], [5.7341178303345224, 10.380931871587649, 0.87309737455351832, -0.44294292187517104], [5.9523921739729015, 10.270196141118857, 0.783345516833027, -0.43469380035090732], [6.1482285531811582, 10.161522691031129, 0.68158881047819708, -0.42728489378375994], [6.3186257558007073, 10.054701467585192, 0.57001262648362949, -0.420744022772508], [6.4611289124216142, 9.949515461892064, 0.45093576093159898, -0.41506959348974132], [6.5738628526545151, 9.8457480635196291, 0.32677781746643753, -0.41022408863848703], [6.655557307021124, 9.7431920413600075, 0.20003909770273381, -0.4061219741384175], [6.7055670814468078, 9.6416615478254037, 0.073301290395486149, -0.40261140459074274], [6.7238924040456789, 9.5410086966777179, -0.050741272534897915, -0.39946035935214907], [6.7112070859119548, 9.441143606839681, -0.16923991400331553, -0.39638117965063807], [6.6688971074111265, 9.3420483119270212, -0.2792278910109558, -0.39311136659019291], [6.599090134658387, 9.2437704702794701, -0.3777892980553586, -0.38948623536509758], [6.5046428101445475, 9.1463989114381974, -0.46227083624377335, -0.38544777536457575], [6.3890751010836047, 9.0500369675970553, -0.53044214438907134, -0.38101743746511629], [6.2564645649863362, 8.954782608230774, -0.58059064769725666, -0.37626747014765993], [6.111316903062022, 8.860715740693859, -0.61156574411958342, -0.37129981033243226], [5.9584254670321259, 8.7678907881107513, -0.62278537778637078, -0.36623129301520035], [5.802729122585534, 8.676332964856952, -0.61421446716346662, -0.36118303071782448], [5.6491755057946671, 8.586037207177494, -0.58632318262546801, -0.35627255556224435], [5.5025947101382995, 8.4969690682869352, -0.54003233106659809, -0.35160782370502747], [5.3675866273716499, 8.4090671123606793, -0.47665230457423663, -0.34728231928267522], [5.2484235512280906, 8.3222465325400101, -0.39782111688678529, -0.34337032418253122], [5.1489682720063952, 8.2364039514943759, -0.30544636363946592, -0.33992087725393233], [5.0726066810965289, 8.1514237321808949, -0.20165644181107628, -0.33694780685151143], [5.0221925706437593, 8.0671867804680168, -0.088770282575036594, -0.33441159621744926], [5.0, 7.9835838814136544, 0.030694629995504919, -0.33219089992293432], [5.0076736574988763, 7.9005361564329197, 0.15395281570063932, -0.33006476038561661], [5.0461618614240367, 7.8180199663365162, 0.27787260761037341, -0.3277638107522301], [5.115630013326629, 7.7360790136484585, 0.39904557398279783, -0.32507459512193881], [5.215391406822329, 7.6548103648679744, -0.18435067794251783, -0.32188509771834828], [5.1693037373366995, 7.5743390904383867, -0.18535739234605431, -0.31959457709738348], [5.1229643892501855, 7.4944404461640408, -0.18595520926807771, -0.31732930908171469], [5.0764755869331664, 7.4151081188936114, -0.17084439737925244, -0.31508996451674931], [5.0337644875883543, 7.3363356277644245, -0.09620281179968769, -0.3129223318401787], [5.0097137846384321, 7.2581050448043802, -0.038855138553727749, -0.31095393502801472], [5.0, 7.1803665610473768, 0.0, -0.30908095468453972], [5.0, 7.1030963223762411, 0.13131293108179837, -0.30724495859289525], [5.0328282327704494, 7.0262850827280179, 0.1304655382363728, -0.30527722061317414], [5.0654446173295433, 6.9499657775747243, 0.11007457321102304, -0.3033344126725524], [5.092963260632299, 6.8741321744065855, 0.070759912002198222, -0.30145681279217995], [5.1106532386328487, 6.7987679712085409, 0.013584378956204167, -0.29966419875503997], [5.1140493333718995, 6.7238519215197812, -0.05997289916471036, -0.2979357585349397], [5.0990561085807213, 6.6493679818860461, -0.14801644946887468, -0.29619381503676406], [5.0620519962135031, 6.5753195281268555, -0.24820798485401177, -0.29430888549271295], [5.0, 6.5017423067536768, -0.35775831948912962, -0.2921355930480144], [5.0, -0.0, 0.0, 0.0]]) 
# - 150, 34

labels = [(0, 90), (0, 120), (0, 150), 
(1, 30), (1, 60), (1, 90), (1, 120), (1, 150), 
(2, 90), (2, 120), (2, 150),
(3, 30), (3, 60), (3, 90), (3, 120), (3, 150),
(4, 30), (4, 60), (4, 90), (4, 120), (4, 150),
(5, 90), (5, 120), (5, 150), 
(6, 90), (6, 120), (6, 150),
(7, 30), (7, 60), (7, 90), (7, 120), (7, 150),
(8, 90), (8, 120), (8, 150)]
# print(skimboard.terminal_velocity)
vel_totals = []
for j in range(len(no_control_trajectories)):
    traj = no_control_trajectories[j]
    vel_sum = 0
    for i in range(len(traj)):
        vel = sqrt(traj[i][2]**2 + traj[i][3]**2)
        vel_sum += vel
        if vel < skimboard.terminal_velocity:
            traj = traj[:i]
            break
    vel_totals.append((vel_sum*0.25, j, labels[j]))
vel_totals_sorted = sorted(vel_totals, key=lambda x:x[0], reverse=True)
top_5 = vel_totals_sorted[:5]
print(vel_totals_sorted)
print(top_5)

# [(63.451593503521572, 8), (62.705651698556522, 21), (62.614565644505191, 0), (61.104388707860558, 29), (60.579625943586926, 28)]

new_labels = [labels[8], labels[21], labels[0], labels[29], labels[28]]

# the top 5 are
# 1. x=12.2 wave 12.2 coming in 90 deg
# 2. x=15 full wave 90 deg
# 3. x=10 wave 10 coming in 90 deg
# 4. x=10 wave 12.2 going out 90 deg
# 5. x=10 wave 12.2 going out 60 deg

omega_control_state_trajectories = []
omega_control_control_trajectories = []
# 1. 12.2 wave 12.2 coming in 90 deg
omega_control_state_trajectories.append([[12.199999999999999, 20.0, 0.0, -2.7000000000000002], [12.199999999999999, 19.324999999999999, -1.3103142385993296, -2.5625193700048041], [11.872421440350164, 18.684370157498801, -1.3955387422200771, -2.414048148435803], [11.523536754795145, 18.080858120389848, -1.4583457110046099, -2.277418994024865], [11.158950327043994, 17.511503371883634, -1.5051745989729894, -2.1514533336254789], [10.782656677300746, 16.973640038477264, -1.5400871880222011, -2.0350807654232081], [10.397634880295197, 16.464869847121459, -1.5660960423473795, -1.9273468354162375], [10.006110869708351, 15.9830331382674, -1.5851922449094427, -1.8273983891651442], [9.6098128084809922, 15.526183540976115, -1.5989695803942623, -1.7344809431881039], [9.2100704133824252, 15.092563305179089, -1.6085334571971621, -1.6479236204329029], [8.8079370490831348, 14.680582400070865, -1.6147378251531577, -1.5671329096584037], [8.4042525927948457, 14.288799172656265, -1.6183028216313586, -1.491582836539074], [7.9996768873870066, 13.915903463521493, -1.6197362759971845, -1.4208048392550148], [7.5947428183877106, 13.56070225370774, -1.6195667304468777, -1.3543825687379536], [7.1898511357759913, 13.222106611523252, -1.5012097002670248, -1.2919417426722708], [6.8145487107092357, 12.899121175855186, -1.3503731093079288, -1.2362779378444404], [6.476955433382253, 12.590051691394075, -1.1980019492151388, -1.187429370881419], [6.177454946078468, 12.293194348673719, -1.0459928965608416, -1.1446144372277003], [5.9159567219382581, 12.007040739366795, -0.8963609724662519, -1.107092359625784], [5.6918664788216953, 11.730267649460348, -0.7512065666933373, -1.0741571851383649], [5.50406483714836, 11.461728353175758, -0.6126824426964681, -1.0451359884164406], [5.3508942264742432, 11.200444356071646, -0.48295790545240941, -1.0193918105053157], [5.2301547501111418, 10.94559640344532, -0.36417641057008027, -0.99633176625244724], [5.1391106474686215, 10.696513461882208, -0.25840266768993259, -0.97541969854680544], [5.0745099805461393, 10.452658537245506, -0.16755692391977234, -0.95619076122566204], [5.0326207495661954, 10.21361084693909, -0.093338312911018434, -0.93826338273933862], [5.0092861713384407, 9.9790450012542564, -0.037144685353762731, -0.92134386864789908], [5.0, 9.7487090340922826, -2.9126007161650591e-15, -0.90522115127383707], [5.0, 9.522403746273822, 0.24623318809724051, -0.88974804257017803], [5.0615582970243116, 9.2999667356312781, 0.73263648599968778, -0.87367782699024632], [5.2447174185242318, 9.0815472788837184, 1.0055125474164306, -0.85281191196402395], [5.4960955553783393, 8.8683443008927103, 0.94465258021569398, -0.82831450581276589], [5.7322587004322632, 8.6612656744395196, 0.86808262056724661, -0.80574008331513625], [5.9492793555740757, 8.4598306536107355, 0.77756673307564772, -0.78518715197233391], [6.1436710388429869, 8.2635338656176511, 0.67510610508379465, -0.76668614381323463], [6.3124475651139367, 8.0718623296643432, 0.56289568766639742, -0.7501972038949497], [6.4531714870305352, 7.884313028690606, 0.44328948869226159, -0.73560899201734486], [6.5639938592036007, 7.7004107806862701, 0.31877614906709134, -0.72273845529827552], [6.6436878964703743, 7.5197261668617017, 0.19196552762896721, -0.71133333542690191], [6.6916792783776158, 7.3418928330049757, 0.065583611697532948, -0.70108219511803915], [6.7080751813020001, 7.1666222842254657, -0.057535332887729912, -0.69163899689558195], [6.6936913480800673, 6.9937125350015705, -0.17448157470868331, -0.68266501393653256], [6.6500709544028958, 6.8230462815174375, -0.28234991984252122, -0.67387722067153411], [6.5794834744422657, 6.6545769763495546, -0.37836610030736889, -0.6650819690563462], [6.4848919493654229, 6.4883064840854683, -0.46003021996194898, -0.656181419495378], [6.3698843943749353, 6.3242611292116235, -0.52524247017301351, -0.64715820255552259], [6.2385737768316831, 6.1624715785727435, -0.57507565260923155, -0.63587727019128337], [6.0948048636793741, 6.0035022610249236, -0.60575802079415741, -0.62435036535897259], [5.9433653584808352, 5.8474146696851799, -0.61672196587310157, -0.61277784833930005], [5.789184867012561, 5.6942202076003552, -0.60793148117336837, -0.60137853448143896], [5.6372019967192193, 5.5438755739799959, -0.57984824483466169, -0.5903685549792691], [5.4922399355105531, 5.3962834352351781, -0.53338336212575155, -0.57994309359577689], [5.3588940949791146, 5.2512976618362339, -0.46984203835517463, -0.57026098688220583], [5.2414335853903218, 5.1087324151156821, -0.3908676735100246, -0.56143167083638268], [5.1437166670128152, 4.9683744974065869, -0.29839139208429027, -0.55350355872249435], [5.0691188189917415, 4.8299986077259627, -0.19459324354475774, -0.54645300958977749], [5.0204705081055527, 4.6933853553285187, -0.081882032422211162, -0.54017468814238867], [5.0, 4.5583416832929213, 0.037101018105363752, -0.53447926498311038], [5.009275254526341, 4.4247218670471433, 0.15946254966542348, -0.52911216704035091], [5.049140891942697, 4.2924438252870551, 0.28205790344030274, -0.52380397646653942], [5.1196553678027721, 4.1614928311704205, 0.40156185161899965, -0.51833471205137305], [5.220045830707523, 4.031909153157577, -0.18743162666355762, -0.51257313804777815], [5.173187924041633, 3.9037658686456331, -0.19226973427848207, -0.5070233064727544], [5.1251204904720131, 3.7770100420274439, -0.19677514829068393, -0.50155925020923875], [5.0759267033993414, 3.6516202294751348, -0.16991388943295871, -0.49617954532093744], [5.0334482310411017, 3.5275753431449002, -0.095411870591170872, -0.49103062121810981], [5.0095952633933098, 3.4048176878403726, -0.038381053573238059, -0.48626088884883073], [5.0, 3.2832524656281654, 0.0, -0.48172328138452003], [5.0, 3.1628216452820355, 0.24623318809724679, -0.47732729733284218], [5.0615582970243116, 3.0434898209488246, 0.73263648599966702, -0.47214975069053577], [5.2447174185242282, 2.9254523832761907, 0.99769808794951298, -0.46279884150054656], [5.4941419405116063, 2.809752672901054, 0.93962226426995188, -0.45047388070635075], [5.7290475065790947, 2.6971342027244662, 0.86555497256068414, -0.43918830520482877], [5.9454362497192657, 2.5873371264232592, 0.77727759412956232, -0.42906042582865306], [6.139755648251656, 2.4800720199660962, 0.67680158403546975, -0.42015913935323101], [6.3089560442605235, 2.3750322351277884, 0.56631879980714073, -0.41250321287186625], [6.450535744212309, 2.2719064319098217, 0.44815920535694453, -0.40606085746350651], [6.5625755455515451, 2.170391217543945, 0.32475777761747698, -0.40074779654206427], [6.6437649899559137, 2.0702042684084292, 0.19863460300576799, -0.39642171168292778], [6.6934236407073566, 1.971098840487697, 0.072396756064613474, -0.39287297101179508], [6.7115228297235099, 1.8728805977347482, -0.051228509385918219, -0.38982298273339167], [6.6987157023770294, 1.7754248520514007, -0.16935255051728776, -0.38696248764642283], [6.6563775647477073, 1.6786842301397946, -0.27897016168524152, -0.38403773329613577], [6.5866350243263962, 1.5826747968157608, -0.37713995083190582, -0.3809101522409945], [6.4923500366184204, 1.4874472587555123, -0.46119871971145221, -0.3775443954777491], [6.3770503566905568, 1.3930611598860749, -0.52891732234371658, -0.37396734059502085], [6.2448210261046277, 1.2995693247373197, -0.57859047602914182, -0.37023470348822529], [6.1001734070973423, 1.2070106488652634, -0.60907748308757759, -0.36641122597389397], [5.9479040363254487, 1.1154078423717899, -0.61980674324711615, -0.36256078432217609], [5.7929523505136702, 1.0247676462912458, -0.61075305051411943, -0.35874265289436108], [5.6402640878851393, 0.93508198306765555, -0.58239531452841864, -0.3550112510753754], [5.4946652592530354, 0.84632917029881183, -0.53566171833827769, -0.35141742552316374], [5.3607498296684657, 0.75847481391802096, -0.47186858437660945, -0.34800967941757399], [5.2427826835743128, 0.67147239406362735, -0.39265831165294474, -0.34483381311562278], [5.1446181056610767, 0.58526394078472177, -0.29994105155432066, -0.34192905267169915], [5.0696328427724966, 0.49978167761679698, -0.19584525202074973, -0.33931756204131608], [5.0206715297673083, 0.41495228710646798, -0.082686119069234912, -0.33698217496387251], [5.0, 0.33070674336549988, 0.036739880154820506, -0.33473826503148274], [5.0091849700387048, 0.24702217710762917, 0.15995715085169976, -0.33257610195604614], [5.0491742577516296, 0.16387815161861763, 0.28382041104927858, -0.3302273247167189], [5.0, -0.0, 0.0, 0.0]])
omega_control_control_trajectories .append([0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, 0.0, 0.0, 0.0, 0.0])
# 2. 15 full wave 90 deg
omega_control_state_trajectories.append([[15.0, 20.0, 0.0, -2.7000000000000002], [15.0, 19.324999999999999, -1.9533053808830001, -2.5344818187285783], [14.511673654779248, 18.691379545317854, -2.1543148204146854, -2.365994009898829], [13.973094949675577, 18.099881042843148, -2.31780756626469, -2.2060752675343718], [13.393643058109406, 17.548362225959558, -2.4531611052067239, -2.0545073842918469], [12.780352781807725, 17.034735379886595, -2.5665226662960543, -1.9110105712840579], [12.138722115233712, 16.556982737065582, -2.6622182600045048, -1.77527291880447], [11.473167550232585, 16.113164507364466, -2.7434467714679207, -1.6469668521987935], [10.787305857365606, 15.701422794314768, -2.8126605341839688, -1.5257590633993416], [10.084140723819614, 15.319983028464931, -2.871791228913636, -1.4113168097990194], [9.3661929165912028, 14.967153826015176, -2.6818541591853591, -1.3033120321923375], [8.6957293767948638, 14.641325817967092, -2.41724428776608, -1.2101462078781549], [8.0914183048533435, 14.338789265997553, -2.1771427642440924, -1.1322065530531875], [7.5471326137923196, 14.055737627734255, -1.9598301805452731, -1.066522432199474], [7.0571750686560009, 13.789107019684385, -1.7643931993748607, -1.0107652909435134], [6.6160767688122863, 13.536415696948508, -1.5904621958902649, -0.96307468017335618], [6.2184612198397202, 13.29564702690517, -1.4291155421277253, -0.93662487593483323], [5.8611823343077889, 13.061490807921462, -1.2906970136391749, -0.91248378015123888], [5.5385080808979943, 12.833369862883652, -1.1751626494950453, -0.89032609495674286], [5.2447174185242327, 12.610788339144467, -0.97886967409692471, -0.86985053019319025], [5.0, 12.393325706596169, -4.163336342344337e-15, -0.8515286385580888], [5.0, 12.180443546956647, 0.24623318809724501, -0.83783434887361352], [5.0615582970243107, 11.970984959738242, 0.73263648599968012, -0.82348730653432034], [5.2447174185242318, 11.765113133104663, 1.0049378758158987, -0.80435968066219199], [5.4959518874782063, 11.564023212939114, 0.94446412131301583, -0.78162097273210629], [5.73206791780646, 11.368617969756089, 0.86823639560797095, -0.76067328562243741], [5.9491270167084531, 11.17844964835048, 0.77802061630858732, -0.74162270846896716], [6.1436321707855992, 10.993043971233236, 0.6758188194380248, -0.72450890360733833], [6.3125868756451053, 10.811916745331402, 0.56382500353237541, -0.70930293237137798], [6.4535431265281993, 10.634591012238557, 0.44438965915963102, -0.69590586779159913], [6.5646405413181075, 10.460614545290655, 0.31999481873104907, -0.68414794212701591], [6.6446392460008692, 10.289577559758904, 0.19324090943313743, -0.67378975901418403], [6.6929494733591541, 10.121130120005356, 0.066843666652820821, -0.66453045739589667], [6.7096603900223588, 9.9549975056563831, -0.056369462076567005, -0.65603089120064662], [6.6955680245032179, 9.7909897828562205, -0.17348736346778382, -0.64795621047136898], [6.6521961836362706, 9.6290007302383795, -0.28159386441171985, -0.64002683910865532], [6.5817977175333411, 9.4689940204612153, -0.3778975562875273, -0.63205396116384438], [6.4873233284614598, 9.3109805301702551, -0.4598803270873828, -0.62394538611911088], [6.372353246689614, 9.1549941836404756, -0.52542644219602896, -0.61568855429195168], [6.2409966361406068, 9.0010720450674881, -0.57539226874820426, -0.60521305251525914], [6.0971485689535561, 8.8497687819386748, -0.6062114055763812, -0.59446758666551469], [5.9455957175594598, 8.7011518852722958, -0.61731013118926814, -0.58365003474296839], [5.791268184762143, 8.5552393765865524, -0.60864847825904966, -0.57297630377480846], [5.6391060651973799, 8.4119953006428503, -0.58068555839027602, -0.56265977001382184], [5.4939346755998111, 8.2713303581393962, -0.53433061076275479, -0.55289354694754711], [5.3603520229091224, 8.1331069714025102, -0.47088699844897058, -0.5438355385905409], [5.2426302732968804, 7.9971480867548754, -0.39199558108960281, -0.53559574174566005], [5.1446313780244788, 7.8632491513184606, -0.29958343506329632, -0.52822481717601033], [5.0697355192586553, 7.7311929470244571, -0.19582424437421514, -0.52170290502990113], [5.0207794581651015, 7.6007672207669819, -0.083117832660406524, -0.51592916048062087], [5.0, 7.4717849306468267, 0.035904664395833612, -0.51071787399230262], [5.0089761660989591, 7.3441054621487503, 0.15835657876034659, -0.50581613284076044], [5.0485653107890451, 7.2176514289385603, 0.2810915200658009, -0.50095580926332051], [5.1188381908054961, 7.092412476622731, 0.40077432014210734, -0.49592076210358876], [5.2190317708410232, 6.9684322860968342, -0.18688724154317113, -0.49058612780617517], [5.1723099604552303, 6.8457857541452896, -0.19074459377212091, -0.48546530176260888], [5.1246238120122003, 6.7244194287046373, -0.1946720876095844, -0.4804226982758415], [5.0759557901098038, 6.6043137541356769, -0.16994950074297266, -0.47545538792248299], [5.0334684149240596, 6.4854499071550569, -0.095459064150703987, -0.47069491487662102], [5.0096036488863849, 6.3677761784359017, -0.038414595545538749, -0.46629859037973181], [5.0, 6.2512015308409685, 0.0, -0.4621213373829241], [5.0, 6.1356711964952382, 0.24623318809724654, -0.45807428113442039], [5.0615582970243116, 6.0211526262116326, 0.73263648599967757, -0.45324942459111522], [5.2447174185242318, 5.907840270063855, 1.0011798151578488, -0.44431386589051941], [5.4950123723136937, 5.7967618035912247, 0.94306088067649541, -0.43241135253974788], [5.7307775924828173, 5.6886589654562867, 0.86895554927094154, -0.42151967783115346], [5.948016479800553, 5.5832790459984984, 0.78064721982073493, -0.4117556590920986], [6.1431782847557361, 5.480340131225474, 0.6801487197517958, -0.40318774810644448], [6.3132154646936858, 5.3795431941988623, 0.56965243582938241, -0.39583550476616319], [6.4556285736510306, 5.280584318007322, 0.45148765794259332, -0.38966943443983848], [6.5685004881366797, 5.1831669593973624, 0.32808680450967054, -0.38460938818950302], [6.6505221892640973, 5.0870146123499866, 0.20196433022007002, -0.38051920982936499], [6.7010132718191153, 4.9918848098926452, 0.07571716593563696, -0.377196767847638], [6.7199425633030243, 4.8975856179307362, -0.047941401930244425, -0.37436950246683531], [6.707957212820463, 4.8039932423140268, -0.16613355586689732, -0.37172975460882463], [6.666423823853739, 4.7110608036618205, -0.27585415979740935, -0.36902363338891003], [6.5974602839043861, 4.6188048953145939, -0.37415432884165734, -0.36611450694534076], [6.5039217016939723, 4.5272762685782579, -0.45836246755917903, -0.36296970571332993], [6.3893310848041773, 4.4365338421499256, -0.52624244067466086, -0.3596174739752469], [6.2577704746355129, 4.3466294736561135, -0.5772256995781665, -0.35444465604885933], [6.1134640497409718, 4.2580183096438988, -0.60906538241587682, -0.34892938638624421], [5.9611977041370023, 4.1707859630473374, -0.62115477064072322, -0.34323260231825525], [5.805909011476821, 4.0849778124677742, -0.61343548659965197, -0.3375283647447217], [5.652550139826908, 4.0005957212815941, -0.58635713709591986, -0.33198921665612752], [5.505960855552928, 3.9175984171175617, -0.54082357809139181, -0.32677349092998148], [5.3707549610300802, 3.8359050443850662, -0.47813227302510231, -0.32201471001872545], [5.2512218927738044, 3.7554013668803847, -0.39991231262010607, -0.31781283833571022], [5.1512438146187778, 3.6759481572964572, -0.30806597443467687, -0.31422644177650139], [5.0742273210101096, 3.5973915468523319, -0.2047191648600109, -0.31126360823358162], [5.0230475297951065, 3.5195756447939366, -0.092190119180424676, -0.30886784141449697], [5.0, 3.442358684440312, 0.027002291392736338, -0.30689697544409605], [5.0067505728481843, 3.3656344405792882, 0.15006185469470135, -0.30511741498507455], [5.0442660365218606, 3.2893550868330195, -0.085431362585276047, -0.30327514493600105], [5.0229081958755408, 3.2135363005990198, -0.088970826168673314, -0.30138677679792225], [5.0006654893333717, 3.1381896063995387, -0.0026619573334869342, -0.2995117497652815], [5.0, 3.0633116689582183, 0.10849814705643342, -0.29779991361925612], [5.0271245367641084, 2.9888616905534047, 0.20872862861707644, -0.29609119047554766], [5.0793066939183769, 2.9148388929345179, 0.29540773619943872, -0.29424608168341809], [5.1531586279682369, 2.8412773725136633, 0.36623516222398483, -0.29223128204680854], [5.2447174185242327, 2.7682195520019612, 0.41970192529800066, -0.28961955637170772], [5.0, -0.0, 0.0, 0.0]])
omega_control_control_trajectories .append([0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.0, 0.0])
# 3. 10 wave 10 coming in 90 deg
omega_control_state_trajectories.append([[10.0, 20.0, 0.0, -2.7000000000000002], [9.9999999999999982, 19.324999999999999, -0.01815147212973249, -2.5625193700048041], [9.9954621319675638, 18.684370157498797, -0.15862739937372591, -2.4385624862355715], [9.9558052821241336, 18.074729535939905, -0.28962032783212915, -2.3252116541993932], [9.8834002001661023, 17.493426622390057, -0.40927580466775088, -2.220767225058542], [9.7810812489991648, 16.938234816125423, -0.51571467471346344, -2.1238857380124814], [9.6521525803208466, 16.4072633816223, -0.60714928219672171, -2.0335300861855732], [9.5003652597716659, 15.898880860075909, -0.68198908936987612, -1.9489260161545068], [9.3298679874291963, 15.411649356037282, -0.73893084227333872, -1.8695199286183926], [9.1451352768608611, 14.944269373882683, -0.77702851138104423, -1.7949360286778937], [8.9508781490155993, 14.495535366713209, -0.89754415644349383, -1.7249331316297665], [8.7264921099047239, 14.064302083805767, -0.98766999556889423, -1.6573228286876107], [8.4795746110125059, 13.649971376633868, -1.050845394427649, -1.5922670211774419], [8.2168632624055888, 13.251904621339506, -1.0965656437291442, -1.5299777029312336], [7.9427218514733031, 12.869410195606699, -1.1317921870191305, -1.4705147955586355], [7.6597738047185207, 12.50178149671704, -1.1574435463510742, -1.4138143315074514], [7.3704129181307527, 12.148327913840177, -1.1773878345777913, -1.3598204969055014], [7.0760659594863045, 11.808372789613802, -1.1921762434745096, -1.3084097486756523], [6.778021898617677, 11.48127035244489, -1.2030025572945748, -1.2594678251122857], [6.4772712592940342, 11.166403396166819, -1.198864566867192, -1.2128716887849844], [6.177555117577235, 10.863185473970573, -1.0465705645918417, -1.1687625648637445], [5.9159124764292752, 10.570994832754636, -0.89670738019925489, -1.1300812371697551], [5.6917356313794611, 10.288474523462197, -0.75136955905979219, -1.0960998860620235], [5.503893241614513, 10.014449551946692, -0.61270584643223414, -1.0661270637576394], [5.3507167800064543, 9.7479177860072816, -0.48288268412916568, -1.0395103658244893], [5.2299961089741629, 9.4880401945511572, -0.36404103639472712, -1.0156443688895158], [5.1389858498754819, 9.2341291023287795, -0.25824268900480885, -0.99398306346137955], [5.0744251776242795, 8.9856333364634349, -0.16740391032074847, -0.97405405362927489], [5.0325742000440918, 8.7421198230561146, -0.093218574660751702, -0.95546998461708899], [5.0092695563789045, 8.5032523269018423, -0.037078225515615869, -0.93793258495159848], [5.0, 8.2687691806639414, 2.1094237467877974e-15, -0.92122697358156458], [5.0, 8.0384624372685511, 0.24623318809724978, -0.90520255951007511], [5.0615582970243116, 7.812161797391032, 0.7326364859996789, -0.75009182656855844], [5.2447174185242318, 7.6246388407488928, 1.0086738887058613, -0.73334720095033901], [5.496885890700697, 7.4413020405113075, 0.94857338670190683, -0.71297564733883279], [5.7340292373761734, 7.2630581286765992, 0.87267593524653786, -0.69422351594058163], [5.9521982211878086, 7.0895022496914537, 0.78275123700108495, -0.67720488371927234], [6.1478860304380794, 6.9202010287616362, 0.68080312098958762, -0.66197029612499703], [6.3180868106854771, 6.7547084547303866, 0.56902419140174432, -0.64850480408398481], [6.4603428585359124, 6.5925822537093905, 0.44975905128727889, -0.63672649713089979], [6.5727826213577325, 6.4334006294266661, 0.32547814975457662, -0.62648491429543385], [6.6541521587963768, 6.2767794008528064, 0.19876436794178368, -0.61756031764474606], [6.7038432507818229, 6.122389321441621, 0.072312391907953161, -0.60966853117327724], [6.7219213487588112, 5.9699721886483008, -0.051067968210514646, -0.60248091152030558], [6.7091543567061818, 5.8193519607682243, -0.16847055841870562, -0.59566717278927728], [6.6670367171015048, 5.6704351675709059, -0.27867327018264021, -0.58845443273034503], [6.5973683995558448, 5.5233215593883198, -0.37733490702971739, -0.58075741646123336], [6.5030346727984165, 5.3781322052730109, -0.46179561658186585, -0.57250201975095327], [6.3875857686529489, 5.2350067003352727, -0.52990844368842716, -0.56369618348407535], [6.255108657730843, 5.0940826544642528, -0.58000668236428599, -0.55443286779898293], [6.1101069871397717, 4.955474437514507, -0.61095877196685688, -0.54486724404157494], [5.9573672941480575, 4.8192576265041129, -0.62218452121691836, -0.53519330164591605], [5.8018211638438277, 4.6854593010926342, -0.61364095102932559, -0.52562199281463184], [5.6484109260864974, 4.5540538028889754, -0.58578617232066654, -0.51636176844790072], [5.5019643830063298, 4.4249633607770011, -0.53952918543678619, -0.50760184163395894], [5.3670820866471338, 4.2980629003685111, -0.47617269307264165, -0.4994981121909437], [5.2480389133789727, 4.1731883723207748, -0.39735519371756445, -0.49216121198889129], [5.1487001149495821, 4.0501480693235514, -0.3049981666990636, -0.4856456064364188], [5.072450573274816, 3.9287366677144466, -0.20126467690890812, -0.47993839798521792], [5.0221344040475895, 3.8087520682181419, -0.088537616190356078, -0.4749475710541235], [5.0, 3.6900151754546111, 0.030573359058799654, -0.4704949305507844], [5.0076433397646998, 3.5723914428169152, 0.15319934431249349, -0.4663306965208821], [5.0459431758428233, 3.455808768686695, 0.27619680304718858, -0.46218773434987187], [5.1149923766046195, 3.340261835099227, -0.19307355537061677, -0.45785481754008484], [5.0667239877619652, 3.2257981307142058, -0.18876432295802673, -0.45330585322069056], [5.0195329070225512, 3.1124716674090331, -0.078131628089837493, -0.44885771323864881], [5.0, 3.0002572390993709, 0.023151276846569948, -0.44489365487097754], [5.0057878192116423, 2.8890338253816266, 0.11084127239775865, -0.44116466408860694], [5.0334981373110823, 2.7787426593594748, -0.09552745779264718, -0.43749110320694151], [5.0096162728632967, 2.6693698835577395, -0.038465091453185066, -0.43367099460960645], [5.0, 2.5609521349053379, -9.4395840646689685e-13, -0.43005038456110378], [5.0, 2.4534395387650618, 0.24623318809724518, -0.42654296280785603], [5.0615582970243116, 2.3468037980630978, 0.73263648599966835, -0.42226596669779387], [5.2447174185242282, 2.2412373063886495, 0.99495868369785245, -0.41398934478219229], [5.4934570894486905, 2.1377399701931017, 0.93719978290110251, -0.40291190807385702], [5.7277570351739664, 2.0370119931746373, 0.86342232072058178, -0.39278446370328568], [5.9436126153541116, 1.9388158772488158, 0.77540980264671855, -0.38372163438192258], [6.1374650660157917, 1.8428854686533351, 0.67517538377998065, -0.37579145176571138], [6.3062589119607875, 1.7489376057119073, 0.56491157061898856, -0.36901495731276007], [6.4474868046155356, 1.6566838663837171, 0.44694697885330553, -0.36336624958872465], [6.5592235493288618, 1.5658423039865361, 0.32371168151855867, -0.35877114429114021], [6.6401514697085009, 1.4761495179137512, 0.19771488082814823, -0.35510182219216091], [6.6895801899155378, 1.3873740623657109, 0.071544548311041303, -0.35216558612314097], [6.7074663269932984, 1.2993326658349258, -0.052095184151270166, -0.34969681616536519], [6.69444253095548, 1.2119084617935845, -0.17032420355147757, -0.34739097353826776], [6.6518614800676108, 1.1250607184090173, -0.28011871308971376, -0.34500055601107793], [6.5818318017951816, 1.0388105794062479, -0.37850851299897426, -0.34240058765763692], [6.4872046735454392, 0.95321043249183868, -0.46280806181086637, -0.33956851815039441], [6.3715026580927221, 0.86831830295424006, -0.53086025356958155, -0.33638612692338293], [6.2387875947003275, 0.78422177122339431, -0.58110496129567302, -0.33258916916513331], [6.0935113543764086, 0.70107447893211094, -0.61236262804522446, -0.32826257711393264], [5.940420697365103, 0.61900883465362788, -0.62397348736948088, -0.3236198082808821], [5.7844273255227332, 0.53810388258340736, -0.61583280418436714, -0.31888751475302535], [5.6304691244766403, 0.45838200389515099, -0.58834363135231083, -0.31429823485457731], [5.4833832166385639, 0.37980744518150672, -0.54235998597449253, -0.31007698013188673], [5.3477932201449399, 0.30228820014853502, -0.47915301486612411, -0.30637791411327808], [5.2280049664284096, 0.22569372162021548, -0.40034754671930883, -0.3032716670294146], [5.1279180797485822, 0.14987580486286184, -0.30781543300020187, -0.30081588170555978], [5.0509642214985311, 0.074671834436471893, -0.20385688599412577, -0.29868733774588757], [5.0, -0.0, -0.091072954032790032, -0.29661402115298585], [5.0, -0.0, 0.0, 0.0]])
omega_control_control_trajectories .append([0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, 0.45136534419429791, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.41273235404664754, -0.14900118925799344, 0.04121334805971464, 0.14467969864556512, 0.1898388728881692, 0.18360279298507104, 0.11837840710693201, 0.0, -0.16948021570563868, -0.45802777056684485, -0.52359877559829882, 0.0, 0.0])
# 4. 10 wave 12.2 going out 90 deg
omega_control_state_trajectories.append([[10.0, 20.0, 0.0, -2.7000000000000002], [10.0, 19.324999999999999, -2.0019084907056643, -2.4962696964160829], [9.4995228773235834, 18.70093257589598, -2.1935113422441477, -2.3297012669550661], [8.9511450417625458, 18.118507259157209, -2.3500826359443234, -2.1716610245724262], [8.3636243827764662, 17.575592003014101, -2.2385349235073271, -2.0219134202676394], [7.8039906518996336, 17.070113647947192, -2.0013605191699169, -1.8900993828475545], [7.303650522107155, 16.597588802235304, -1.7869419228256207, -1.7782695206158758], [6.8569150414007503, 16.153021422081334, -1.5942556190860198, -1.6825134656281042], [6.4583511366292452, 15.73239305567431, -1.4228940474194134, -1.5997656310046291], [6.1026276247743914, 15.332451647923151, -1.2728379010674571, -1.5275823085303357], [5.7844181495075278, 14.950556070790567, -1.1394779791011995, -1.4672908257653883], [5.4995486547322274, 14.58373336434922, -1.0193249448319783, -1.4211102286589281], [5.2447174185242327, 14.228455807184487, -0.92279660616922332, -1.378636942926704], [5.0140182669819273, 13.883796571452811, -0.056073067927709053, -1.3392773587956794], [5.0, 13.548977231753891, 0.2462331880972469, -1.3055878630906013], [5.0615582970243107, 13.222580265981241, 0.7326364859996819, -1.2720483182057802], [5.2447174185242318, 12.904568186429797, 1.017990075627784, -1.2341581626371165], [5.4992149374311774, 12.596028645770518, 0.95352379480935978, -1.1928790266853693], [5.7375958861335175, 12.297808889099176, 0.87380910706228099, -1.1549074252908513], [5.9560481628990871, 12.009082032776464, 0.78059658445218982, -1.1202203274439029], [6.1511973090121357, 11.72902695091549, 0.67587978547029315, -1.0887251086516372], [6.3201672553797081, 11.456845673752579, 0.56185716841706324, -1.0602574785953509], [6.4606315474839739, 11.19178130410374, 0.44090098335611272, -1.034582290118623], [6.570856793323002, 10.933135731574085, 0.31553317692384353, -1.0113979323707492], [6.6497400875539636, 10.6802862484814, 0.18840621419143397, -0.99034618560805265], [6.6968416411018215, 10.432699702079386, 0.062283258072721566, -0.97103024174658481], [6.7124124556200018, 10.189942141642739, -0.059992120926838782, -0.95304266446436092], [6.6974144253882919, 9.9516814755266481, -0.1755486676180697, -0.9360010884006561], [6.6535272584837744, 9.7176812034264852, -0.28243881255110637, -0.91932536328780501], [6.5829175553459987, 9.4878498626045342, -0.38059205412458308, -0.90196718720482605], [6.4877695418148518, 9.2623580658033262, -0.46415807074153415, -0.8843683747165656], [6.3717300241294685, 9.0412659721241866, -0.53109134460830176, -0.86653760505746513], [6.2389571879773937, 8.8246315708598217, -0.57985541295660459, -0.8485660945883825], [6.0939933347382427, 8.6124900472127237, -0.60941551824437634, -0.83061655077764907], [5.9416394551771479, 8.4048359095183116, -0.61926002188087526, -0.81289758936033174], [5.7868244497069288, 8.2016115121782303, -0.60939306468791377, -0.79563768993545037], [5.6344761835349502, 8.0027020896943668, -0.58030532445097283, -0.77906104190297876], [5.4893998524222072, 7.8079368292186215, -0.5329303984303827, -0.7633664490952331], [5.356167252814612, 7.6170952169448123, -0.46859405982367774, -0.74870961474378506], [5.2390187378586921, 7.429917813258867, -0.38896295491230709, -0.73518856921048203], [5.141777999130615, 7.2461206709562473, -0.29599859277083562, -0.72283181675023278], [5.0677783509379051, 7.0654127167686891, -0.19192180900742281, -0.71158927404322325], [5.0197978986860505, 6.8875153982578832, -0.079191594744198915, -0.7013277970439834], [5.0, 6.7121834489968863, 0.039501872414679826, -0.69183625574027185], [5.0098754681036697, 6.5392243850618188, 0.16124003286222241, -0.68284757153544184], [5.0501854763192249, 6.3685124921779588, 0.2828983949229586, -0.67408075002894474], [5.1209100750499656, 6.1999923046707215, 0.40121556790844387, -0.66529183349571208], [5.2212139670270759, 6.0336693462967945, -0.21752849565280616, -0.65631201168140008], [5.166831843113874, 5.8695913433764435, -0.10445178018189094, -0.64736044740356469], [5.1407188980684007, 5.7077512315255534, -0.26021100116638973, -0.63916627848320573], [5.0756661477768032, 5.5479596619047511, -0.16953846071295475, -0.63038128437733087], [5.0332815325985649, 5.3903643408104189, -0.095009363249874579, -0.62232637163270477], [5.0095291917860951, 5.2347827479022424, -0.038116767144380864, -0.614770832492746], [5.0, 5.0810900397790562, 0.0, -0.60755377950127964], [5.0, 4.9292015949037369, 0.24623318809684305, -0.60057284510113906], [5.0615582970243116, 4.7790583836284517, 0.73263648599967646, -0.59280959637976138], [5.2447174185242318, 4.6308559845335111, 1.0051314573032277, -0.5805542832773386], [5.4960002828500389, 4.4857174137141769, 0.94615481284422465, -0.56494764429693267], [5.7325389860610958, 4.3444805026399447, 0.87126860180692045, -0.55061601786385639], [5.9503561365128261, 4.2068264981739807, 0.7822494378936542, -0.53768102947552643], [6.1459184959862396, 4.0724062408050994, 0.68110527066293403, -0.52620828236530715], [6.3161948136519728, 3.9408541702137723, 0.57002749163066979, -0.5162059848972167], [6.4587016865596398, 3.8118026739894679, 0.45135108786940709, -0.50762374989350623], [6.5715394585269911, 3.684896736516091, 0.32752503061808663, -0.50035017115712832], [6.6534207161815129, 3.5598091937268093, 0.20109652816696336, -0.49420854306996193], [6.7036948482232539, 3.436257057959319, 0.074713931740086545, -0.48895376206122765], [6.7223733311582752, 3.3140186174440118, -0.048853300181840607, -0.48428259182670336], [6.7101600061128153, 3.1929479694873364, -0.16670641226906158, -0.47987599767609601], [6.66848340304555, 3.0729789700683123, -0.27635034185876722, -0.47526286165184617], [6.5993958175808585, 2.9541632546553509, -0.37526223844838641, -0.46993757520952373], [6.5055802579687612, 2.8366788608529698, -0.46009443874397027, -0.46402712550468483], [6.3905566482827689, 2.7206720794767985, -0.52864646307801033, -0.45754232653378635], [6.2583950325132669, 2.6062864978433522, -0.57921366311406963, -0.45057250998863912], [6.113591616734749, 2.4936433703461924, -0.61063929880085788, -0.44326275345437277], [5.9609317920345344, 2.3828276819825991, -0.6223272749189771, -0.43579252377865157], [5.8053499733047902, 2.2738795510379362, -0.61422503565401609, -0.42835636418389406], [5.6517937143912862, 2.1667904599919625, -0.58678507476969, -0.42114681599022658], [5.5050974456988637, 2.0615037559944063, -0.5409127063520085, -0.41433973956869524], [5.369869269110862, 1.957918821102232, -0.47790689474244313, -0.40808200882831208], [5.2503925454252514, 1.8558983188951541, -0.39940007172960529, -0.40248112526826207], [5.15054252749285, 1.7552780375780888, -0.30730235531504524, -0.39759563612510668], [5.073716938664087, 1.655879128546812, -0.20375627794451734, -0.39342443050683734], [5.0227778691779585, 1.5575230209201025, -0.091111476711836295, -0.38989289855671538], [5.0, 1.4600497962809238, 0.02806539141099058, -0.38683885447171112], [5.0070163478527476, 1.363340082662996, 0.15093759519805436, -0.38401947579128087], [5.0447507466522614, 1.2673352137151757, 0.27435418180657767, -0.38117303799497737], [5.1133392921039054, 1.1720419542164315, 0.39492277423607891, -0.37810834505993302], [5.2120699856629251, 1.0775148679514481, -0.18364559036761552, -0.37474064469473634], [5.1661585880710215, 0.98382970677776405, -0.18186436404087478, -0.37158113277774057], [5.1206924970608014, 0.89093442358332897, -0.17852585445624167, -0.36847546530059239], [5.0760610334467415, 0.79881555725818087, -0.17004169034363029, -0.36542921562965958], [5.0335506108608339, 0.70745825335076595, -0.095642771977815774, -0.36246140757593776], [5.0096399178663802, 0.61684290145678167, -0.038559671465518787, -0.35979044592699772], [5.0, 0.52689528997503221, 0.0, -0.35728194966025434], [5.0, 0.43757480255996861, 0.038309435253466244, -0.35485508792558385], [5.0095773588133667, 0.34886103057857271, 0.038359671208525931, -0.35241365117174528], [5.019167276615498, 0.26075761778563633, 0.01885275982917637, -0.35000493321090109], [5.0238804665727921, 0.17325638448291109, -0.01959963445033916, -0.34765564494252438], [5.0189805579602069, 0.086342473247280005, -0.075922231840825749, -0.34536989298912002], [5.0, -0.0, -0.14888714520242069, -0.34302703845010168], [5.0, -0.0, 0.0, 0.0]])
omega_control_control_trajectories .append([0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.21368495921685365, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.31363294158658089, 0.50959807899153287, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.10660703310710705, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, 0.0, 0.0])
# 5. 10 wave 12.2 going out 60 deg
omega_control_state_trajectories.append([[10.0, 20.0, 1.3500000000000003, -2.3382685902179845], [10.3375, 19.415432852445505, -2.296470186379858, -2.2282784123776955], [9.7633824534050362, 18.858363249351083, -2.4353916998583331, -2.0755402352787913], [9.1545345284404522, 18.339478190531388, -2.5515810749559531, -1.930915331630733], [8.5166392597014653, 17.856749357623702, -2.3337042536129591, -1.7940951455374683], [7.9332131962982251, 17.408225571239338, -2.0922857092703251, -1.6774159256161472], [7.4101417689806439, 16.988871589835302, -1.8741977613883569, -1.5786259721338338], [6.9415923286335541, 16.594215096801843, -1.6783249603560888, -1.494244396474548], [6.5220110885445317, 16.220653997683208, -1.5041764420961743, -1.4215311772236696], [6.1459669780204882, 15.86527120337729, -1.3370425069073668, -1.3737485232269495], [5.8117063512936467, 15.521834072570551, -1.1937848391097441, -1.3304196927719085], [5.5132601415162119, 15.189229149377574, -1.0741708919679152, -1.2908411531637607], [5.2447174185242327, 14.866518861086634, -0.97802726464307632, -1.2544112274982562], [5.0002106023634632, 14.552916054212069, -0.00084240945385292455, -1.2206173996990071], [5.0, 14.247761704287317, 0.24623318809724606, -1.192502682913902], [5.0615582970243107, 13.949636033558841, 0.73263648599968278, -1.1643593051749528], [5.2447174185242318, 13.658546207265104, 1.0086379073118228, -1.1316441143220111], [5.4968768953521883, 13.3756351786846, 0.945408542320332, -1.0954958605957421], [5.7332290309322715, 13.101761213535665, 0.86677004023913518, -1.0622024235186038], [5.9499215409920554, 12.836210607656014, 0.77447671115339223, -1.0317860731260551], [6.143540718780403, 12.5782640893745, 0.67052519402012212, -1.0041974717434476], [6.3111720172854335, 12.327214721438637, 0.55711515508281406, -0.97931358619384556], [6.4504508060561374, 12.082386324890175, 0.43661760709557368, -0.95693803178332904], [6.5596052078300309, 11.843151816944344, 0.31155123565646392, -0.93680450594699782], [6.6374930167441466, 11.608950690457595, 0.18456507345358381, -0.91858536458741358], [6.6836342851075425, 11.379304349310742, 0.058422108375391725, -0.9019086384925159], [6.6982398122013898, 11.153827189687611, -0.064026836765599296, -0.88638617134278808], [6.68223310300999, 10.932230646851913, -0.17989302259214826, -0.87165112722093785], [6.6372598473619533, 10.714317865046679, -0.28633313236142349, -0.85739607303140519], [6.5656765642715964, 10.499968846788827, -0.38066174200654157, -0.84339940228311183], [6.470511128769961, 10.289118996218049, -0.46047411716271741, -0.82953278316378698], [6.3553925994792815, 10.081735800427101, -0.52375640732832474, -0.81575149086106413], [6.2244534976472004, 9.8777979277118355, -0.57289992732263761, -0.79955486523921304], [6.0812285158165409, 9.6779092114020315, -0.60285771022250123, -0.78330164440157746], [5.9305140882609155, 9.4820838003016359, -0.61310085536571401, -0.76719841550503565], [5.7772388744194867, 9.2902841964253771, -0.60361987528717498, -0.75147183184367228], [5.6263339055976926, 9.1024162384644587, -0.57489473103482824, -0.73634495680409573], [5.4826102228389848, 8.9183299992634346, -0.52785037848750671, -0.72201661964795516], [5.350647628217108, 8.7378258443514447, -0.46380515197568101, -0.70864402654405301], [5.2346963402231879, 8.5606648377154322, -0.38441861408847788, -0.69632832036038672], [5.1385916867010684, 8.3865827576253356, -0.29164484755010606, -0.68510257253231721], [5.0656804748135427, 8.2153071144922567, -0.18769666875757315, -0.67492216273503325], [5.018756307624149, 8.0465765738084976, -0.075025230496595444, -0.66565932538640538], [5.0, 7.8801617424618957, 0.04368449601136553, -0.65710724378503826], [5.0109211240028415, 7.7158849315156361, 0.16551271061395173, -0.64900218587648251], [5.0522993016563298, 7.5536343850465162, 0.28732459106401081, -0.64106742185812493], [5.1241304494223314, 7.393367529581985, 0.40584092066376448, -0.6330663003524889], [5.2255906795882732, 7.2351009544938627, -0.19057810861659324, -0.62484015091068823], [5.177946152434127, 7.0788909167661904, -0.20017296277438654, -0.61681336929720609], [5.127902911740529, 6.9246875744418892, -0.20867754045532935, -0.608927660848541], [5.0757335266266974, 6.7724556592297533, -0.16964171858207175, -0.60118198563070646], [5.0333230969811806, 6.6221601628220768, -0.095111221245260849, -0.59381696731949718], [5.0095452916698653, 6.4737059209922023, -0.038181166679458665, -0.58692152046387425], [5.0, 6.3269755408762336, 0.0, -0.58033796238391855], [5.0, 6.1818910502802549, 0.24623318809724892, -0.5739667359340358], [5.0615582970243116, 6.0383993662967459, 0.73263648599967546, -0.56680982661598844], [5.2447174185242318, 5.8966969096427482, 1.002158079520552, -0.5552184775933301], [5.4952569384043697, 5.7578922902444161, 0.94343766158210673, -0.54037016458660381], [5.7311163537998953, 5.6227997490977648, 0.86878359327378885, -0.52674161908758887], [5.9483122521183436, 5.491114344325867, 0.77997315374109399, -0.51445452070844433], [6.1433055405536159, 5.362500714148756, 0.67901480072214426, -0.50357590425803345], [6.3130592407341526, 5.236606738084248, 0.56809986290504144, -0.494116886422859], [6.4550842064604135, 5.1130775164785334, 0.4495621698015087, -0.48603155355172734], [6.567474748910791, 4.991569628090601, 0.32584778767945122, -0.47921450345094879], [6.6489366958306544, 4.8717660022278642, 0.19949868410476509, -0.47349609900075262], [6.6988113668568454, 4.7533919774776763, 0.073155989755116183, -0.46863800658532861], [6.7171003642956233, 4.6362324758313447, -0.05041694386564971, -0.46434148380676732], [6.704496128329211, 4.5201471048796522, -0.16832065179776956, -0.46028963457864619], [6.6624159653797683, 4.4050746962349914, -0.27757981745343785, -0.45621956440513278], [6.5930210110164094, 4.2910198051337076, -0.37530167183499558, -0.45197304878511524], [6.4991955930576601, 4.1780265429374301, -0.45886509109336937, -0.44749413373230684], [6.3844793202843171, 4.0661530095043528, -0.52607007634286673, -0.44279748168241179], [6.2529618011986008, 3.9554536390837494, -0.57674689439921434, -0.43613816313266562], [6.1087750775987972, 3.8464190983005828, -0.60828510847301687, -0.42913666668473022], [5.9567038004805433, 3.7391349316294007, -0.62008514167681961, -0.42196947850485389], [5.8016825150613389, 3.6336425620031867, -0.61209176823160516, -0.41482799628256339], [5.6486595730034361, 3.529935562932546, -0.58475541142083265, -0.40790178030293944], [5.5024707201482288, 3.4279601178568111, -0.53897972186833853, -0.40136414572572127], [5.3677257896811446, 3.327619081425381, -0.47606220010437322, -0.39536008241479614], [5.2487102396550505, 3.2287790608216818, -0.39763375352114139, -0.3899960669809252], [5.1493018012747651, 3.1312800440764499, -0.30560255500564221, -0.3853306547096626], [5.0729011625233538, 3.0349473803990348, -0.20210828194975006, -0.38136385876783285], [5.0223740920359159, 2.9396064157070763, -0.089496368143667321, -0.3780230499176932], [5.0, 2.8451006532276533, 0.02967145117143161, -0.37514789052332836], [5.0074178627928587, 2.7513136805968212, 0.15256046929301351, -0.37249634998519138], [5.0455579801161106, 2.6581895931005235, 0.27601459624631702, -0.36980840192003661], [5.1145616291776905, 2.5657374926205136, 0.39663185273536622, -0.36689792679132471], [5.2137195923615325, 2.474013010922683, -0.18167819797369297, -0.36368649512515966], [5.1683000428681094, 2.383091387141393, -0.18365724105988721, -0.36069480228600653], [5.1223857326031377, 2.2929176865698913, -0.18527541344661386, -0.35773702903185794], [5.076066879241484, 2.2034834293119268, -0.17004222297916452, -0.35481386805079485], [5.0335563234966925, 2.1147799622992278, -0.095654580417630614, -0.35199506809257719], [5.0096426783922849, 2.0267811952760835, -0.038570713569137868, -0.34946756240510035], [5.0, 1.9394143046748085, 0.0, -0.34709807009275534], [5.0, 1.8526397871516198, 0.038332814591308807, -0.34480650170145732], [5.0095832036478267, 1.7664381617262552, 0.038372788341280828, -0.34249858137014982], [5.019176400733147, 1.6808135163837179, 0.018855941843160855, -0.34022073474275727], [5.0238903861939379, 1.5957583326980285, -0.019609611497247638, -0.33799927007203029], [5.0189879833196249, 1.5112585151800211, -0.075951933278502845, -0.33583793516182409], [5.0, 1.427299031389565, -0.14892978136055021, -0.33361860123200021], [5.0, -0.0, 0.0, 0.0]])
omega_control_control_trajectories .append([0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, 0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, -0.52359877559829882, 0.0, 0.0])

vel_totals_omega = []
for j in range(len(omega_control_state_trajectories)):
    traj = omega_control_state_trajectories[j]
    vel_sum = 0
    for i in range(len(traj)):
        vel = sqrt(traj[i][2]**2 + traj[i][3]**2)
        vel_sum += vel
        if vel < skimboard.terminal_velocity:
            traj = traj[:i]
            break
    vel_totals_omega.append((vel_sum*0.25, j, new_labels[j]))
vel_totals_sorted = sorted(vel_totals_omega, key=lambda x:x[0], reverse=True)
print(vel_totals_sorted)

# [(62.210231177812581, 0), (62.022233652282644, 2), (61.757675706007433, 3), (52.686266159043356, 1), (48.207129359108691, 4)]

all_control_state_trajectories = []
all_control_control_trajectories = []
# 1. 12.2 wave 12.2 coming in 90 deg
all_control_state_trajectories.append([[12.199999999999999, 20.0, 0.0, -2.7000000000000002], [12.199999999999999, 19.324999999999999, -0.047983511707451618, -2.3365692340668835], [12.188004122073123, 18.740857691483278, -1.8239581988717959, -2.0102677354353595], [11.732014572355174, 18.238290757624434, -1.8694233134197045, -1.9298451301701449], [11.264658744000247, 17.755829475082106, -1.9007280814354583, -1.8528698020835122], [10.789476723641382, 17.29261202456162, -1.916354247932657, -1.7793668286171287], [10.310388161658217, 16.847770317407885, -1.9152387276839902, -1.7094111894900077], [9.831578479737221, 16.420417520035389, -1.8967850273930438, -1.6431051392965523], [9.3573822228889636, 16.009641235211259, -1.8608586396230866, -1.5805575266906007], [8.892167562983186, 15.614501853538606, -1.8077528682390278, -1.5218639136945562], [8.4402293459234325, 15.234035875114968, -1.7382097071491873, -1.4670988160121188], [8.0056769191361337, 14.867261171111933, -1.6533308956503987, -1.4162972856534051], [7.592344195223534, 14.513186849698585, -1.5545547655688985, -1.3694503482645748], [7.2037055038313076, 14.17082426263244, -1.443612434420305, -1.326500705228322], [6.8428023952262302, 13.839199086325364, -1.3224835760659746, -1.2873411224620761], [6.5121815012097368, 13.517363805709842, -1.1933531164617597, -1.2518150163492097], [6.2138432220942974, 13.204410051622538, -1.0585696392996433, -1.2197188076528547], [5.9492008122693889, 12.89948034970933, -0.92060574651662408, -1.1908057718859646], [5.7190493756402372, 12.601778906737838, -0.78202007115689798, -1.1647913660231179], [5.5235443578510104, 12.310581065232057, -0.64542001964373263, -1.1413603272459163], [5.3621893529400779, 12.025240983420582, -0.51342356768546638, -1.1201761200430063], [5.2338334610187136, 11.745196953409826, -0.38861760610412771, -1.1008933345880318], [5.136679059492681, 11.46997361976282, -0.27350978666522957, -1.0831731030589922], [5.0683016128263709, 11.199180343998069, -0.17047129903338484, -1.0667003437275848], [5.025683788068025, 10.932505258066174, -0.08167027388523658, -1.051200072942345], [5.0052662195967175, 10.669705239830588, -0.021064878386866197, -0.81445202012684648], [5.0, 10.466092234798877, 1.3900772893871149e-14, -0.58784305948865878], [5.0, 10.319131469926711, -1.3470561471828901e-14, -0.36857458757508538], [5.0, 10.226987823032937, 0.047271699751835872, -0.15353322801522021], [5.0118179249379597, 10.188604516029136, 0.047210134357660874, -0.15318241140365635], [5.0236204585273754, 10.150308913178215, 0.027594419950272144, -0.15283309558505279], [5.0305190635149444, 10.112100639281953, -0.011050739093566422, -0.15249981325758971], [5.0277563787415511, 10.073975685967559, -0.067720383154999342, -0.15218523542976142], [5.0108262829528023, 10.03592937711012, -0.043305131811204975, 0.0096156341176356925], [5.0, 10.038333285639528, 0.081493268895312471, -0.010489631299278452], [5.020373317223827, 10.03571087781471, -0.020373741891692845, -0.012311202849405437], [5.015279881750903, 10.032633077102361, 0.075177437682931517, 0.048944183202890547], [5.0340742411716368, 10.044869122903082, -0.043788479297359989, 0.048880813476322886], [5.0231271213472981, 10.057089326272164, 0.0082352778237652011, -0.14613914338710682], [5.0251859408032358, 10.020554540425385, -0.10074376321294977, 0.067994875013185505], [5.0, 10.037553259178681, 0.11852426315764623, -0.073604493112566588], [5.0296310657894132, 10.019152135900541, 0.00029108376941298746, -0.070878203737442788], [5.0297038367317652, 10.001432584966183, -0.11760180973884314, -0.010259404751642243], [5.000303384297057, 9.9988677337782637, -0.0012135371882078777, -0.015477963738673311], [5.0, 9.9949982428435966, 0.067378099417204823, -0.14329132391357632], [5.0168445248543065, 9.9591754118651998, -0.058529878282818693, 0.042054162256627725], [5.0022120552836018, 9.9696889524293617, -0.0088482211344140162, 0.091068505259310512], [5.0, 9.9924560787441834, 0.10918267342959705, -0.069228529469678043], [5.0272956683573993, 9.9751489463767733, 0.0856001254750864, -0.065586960151849588], [5.0486956997261645, 9.9587522063387954, 0.085503003208330181, -0.065499054386886094], [5.0700714505282454, 9.9423774427420852, 0.075450500252506728, -0.096356825573164093], [5.0889340755913732, 9.9182882363487952, 0.085291728525118765, -0.069333513904470956], [5.1102570077226535, 9.9009548578726747, -0.052278370495653467, 0.044913416311588218], [5.097187415098742, 9.9121832119505662, -0.14370811806100356, 0.17500756226218125], [5.0612603855834939, 9.9559351025161149, -0.054788457661468497, 0.17444407584331217], [5.0475632711681246, 9.9995461214769517, 0.070879588300007873, -0.043630089466411337], [5.0652831682431261, 9.9886385991103417, -0.035822220551868914, 0.016157836726346183], [5.0563276131051582, 9.9926780582919239, -0.14693897193252412, -0.014628164253149513], [5.019592870122028, 9.9890210172286373, -0.0091244876093659489, -0.020225207252073784], [5.0173117482196865, 9.9839647154156168, 0.038238882495524679, -0.0088911738445436629], [5.0268714688435692, 9.9817419219544909, 0.15945064075186671, -0.007650608983310471], [5.0667341290315333, 9.9798292697086506, 0.043590767956559223, 0.032684364056086206], [5.077631821020673, 9.9880003607226815, -0.043192993624518006, -0.069761392893317148], [5.0668335726145477, 9.9705600124993499, 0.037419349522384009, 0.46166201204645813], [5.076188409995142, 10.085975515510965, -0.17010563346144036, -0.32427351612186717], [5.0336620016297795, 10.004907136480496, -0.095903337894007942, -0.32322360102883274], [5.0096861671562776, 9.9241012362232937, -0.038744668625111438, -0.3223787553057928], [5.0, 9.8435065473968386, -1.7070329524915273e-13, -0.32161701916824409], [5.0, 9.7631022926047812, 0.039158492695802481, -0.10781646031306356], [5.0097896231739503, 9.7361481775265037, 0.039129950959335587, -0.10766561596821722], [5.0195721109137832, 9.7092317735344569, 0.019547137517436475, -0.10751514015403928], [5.0244588952931526, 9.6823529884959481, -0.019088525673603394, -0.10738297935477731], [5.0196867638747511, 9.655507243657258, -0.071718123799605057, -0.10564466760298991], [5.0017572329248479, 9.6290960767565164, -0.0070289316993919718, 0.059168470676889219], [5.0, 9.6438881944257293, 0.11362240869797993, -0.047289395877877484], [5.0284056021744918, 9.6320658454562658, 0.012302793736698049, -0.045279452061159846], [5.0314813006086698, 9.6207459824409796, 0.12766345531222778, 0.1267059078857376], [5.0633971644367239, 9.6524224594124117, -0.046211563814993126, 0.064004092752123432], [5.051844273482974, 9.6684234826004403, 0.056609323656856787, -0.041975067554020744], [5.0659966043971885, 9.6579297157119353, -0.090196164646978036, -0.050850343887115776], [5.0434475632354401, 9.645217129740157, -0.091868001890110421, 0.030465405358826744], [5.0204805627629137, 9.6528334810798544, 0.28862505448378772, 0.16678485203396326], [5.0926368263838633, 9.6945296940883523, -0.0060526228373827349, 0.054006534462872319], [5.0911236706745111, 9.7080313277040702, 0.26726353305920164, -0.27839744426572466], [5.1579395539393111, 9.6384319666376435, 0.050256867895840343, -0.1049282322149391], [5.1705037709132702, 9.6121999085838965, -0.20076038545111533, 0.30789803913214236], [5.1203136745504922, 9.6891744183669353, -0.20866578618388168, 0.25446573125858235], [5.0681472280045234, 9.7527908511815866, 0.0063935816623213685, 0.041757268002783225], [5.0697456234201059, 9.7632301681822788, 0.025130083433715339, 0.028144121964289771], [5.0760281442785331, 9.7702661986733528, 0.030183029735789492, 0.0062119590196960906], [5.0835739017124855, 9.7718191884282763, 0.049516230274375732, 0.0060971306251815446], [5.0959529592810746, 9.7733434710845728, -0.074680145073926313, -0.0061263968364016295], [5.0772829230125947, 9.7718118718754692, -0.10927582521678537, 0.04845116473290885], [5.0499639667083969, 9.7839246630586967, -0.035668014985991786, 0.048400122041003323], [5.0410469629618992, 9.7960246935689472, -0.014342582078834968, -0.029907409805455851], [5.0374613174421912, 9.7885478411175821, -0.017627682673522608, 0.018293423707285504], [5.0330543967738102, 9.7931211970444085, 0.09380203645953486, 0.012616082732273876], [5.0565049058886924, 9.7962752177274801, 0.18094520821024926, 0.0058344149238727444], [5.101741207941255, 9.7977338214584417, 0.2357077345126985, 0.0035338191791080727], [5.1606681415694293, 9.7986172762532249, 0.32785564513768228, 0.0030349597921992214], [5.0, -0.0, 0.0, 0.0]])
all_control_control_trajectories.append([[0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 0.087197120720021989, 1.5], [0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 0.087266462599716474, 1.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 0.076974135351623729, -0.5], [0.52359877559829882, 0.087266462599716474, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 0.087266462599716474, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, 1.5], [-0.52359877559829882, 0.021768043155045963, 1.5], [-0.52359877559829882, 0.087266462599716474, -0.5], [-0.52359877559829882, 0.079402639517036688, 1.5], [-0.52359877559829882, 0.078421577143568399, -0.5], [-0.52359877559829882, 0.040216565810332477, -0.5], [0.52359877559829882, 0.035019296685196495, 1.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, 1.5], [-0.52359877559829882, 0.016960476585450239, 1.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 0.062849186963387788, -0.5], [0.52359877559829882, 0.085664978740809361, 1.5], [0.52359877559829882, 9.9999999999999995e-08, 1.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 0.087266462599716474, 0.0], [0.52359877559829882, 0.087266462599716474, 1.5], [-0.52359877559829882, 0.0061880409495423255, -0.5], [-0.52359877559829882, 0.023848288452206559, 1.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.2453487261861125, 0.087266462599716474, 1.5], [0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.074478466868476909, 0.087266462599716474, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 0.087266462599716474, -0.5], [0.52359877559829882, 0.083227051424670961, 1.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 0.00703142187789865, -0.5], [-0.52359877559829882, 0.03221168041933329, 1.5], [0.52359877559829882, 0.052575605874405427, -0.5], [0.52359877559829882, 0.087266462599716474, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, 1.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 9.9999999999999995e-08, 0.0026569935883949507], [0.52359877559829882, 9.9999999999999995e-08, -0.00097003171481901333], [-0.52359877559829882, 0.065407290659623904, -0.0004068826789985899], [0.09414105231445373, 0.012581070962303523, 0.0], [0.074768124266003794, 9.9999999999999995e-08, 0.0], [0.07221141595425562, 9.9999999999999995e-08, 0.0], [-0.013440939930076529, 0.066365867642304399, 0.0], [0.010825948852083626, 0.037394845746935794, 0.0], [0.0, 9.9999999999999995e-08, 0.0], [-0.0089854491416217642, 0.027466219057674289, 0.0], [0.0013371962294988656, 0.042603338196717203, 0.0], [-0.0017416015594695178, 9.9999999999999995e-08, 0.0], [-0.0012236889504769356, 0.012902696243298858, 0.0], [0.0, 0.02781143464788521, 0.0], [0.0, 0.013049004420197029, 0.0], [0.0, 9.9999999999999995e-08, 0.0]])
# 2. 15 full wave 90 deg
all_control_state_trajectories.append([[15.0, 20.0, 0.0, -2.7000000000000002], [15.0, 19.324999999999999, -2.1861940020071624, -2.336569234066884], [14.453451499498213, 18.740857691483281, -2.442190017292603, -2.0675367036556382], [13.842903995175062, 18.223973515569373, -2.5239664212761452, -1.9668740662121169], [13.211912389856032, 17.732254999016334, -2.5965564014517644, -1.8699986446829064], [12.562773289493096, 17.26475533784561, -2.661198012554042, -1.7768019602162335], [11.897473786354578, 16.820554847791552, -2.7189054060036288, -1.6871732137819169], [11.217747434853671, 16.398761544346076, -2.7705228812824116, -1.6010006301615323], [10.525116714533072, 15.998511386805696, -2.8167627653700178, -1.5181724445593194], [9.820926023190566, 15.618968275665868, -2.8582327451779248, -1.4385776368505387], [9.1063678368960854, 15.259323866453222, -2.6269307775011899, -1.3621064827746689], [8.4496351425207834, 14.918797245759562, -2.4081263970150792, -1.2955534893175475], [7.8476035432670184, 14.59490887343018, -2.2025793648695164, -1.2374828470653414], [7.2969587020496398, 14.285538161663839, -2.0112827702290152, -1.1866617506814889], [6.79413800949236, 13.988872723993467, -1.8353726078140347, -1.1420212129333565], [6.3352948575388508, 13.70336742076012, -1.6143431977665372, -1.0519343659827525], [5.9317090580972147, 13.440383829264436, -1.2917560847110845, -0.86208522463867143], [5.6087700369194442, 13.224862523104777, -1.0044975604423891, -0.68775052936263636], [5.357645646808848, 13.052924890764119, -0.72022165466376542, -0.56284716835387505], [5.1775902331428965, 12.912213098675636, -0.46412774447435373, -0.44520670094096648], [5.0615582970243116, 12.800911423440395, -0.24623318809724304, -0.31318255440918269], [5.0, 12.722615784838103, 0.038853857752847679, -0.16104042003806046], [5.0097134644380628, 12.682355679828589, 0.038803244695054168, -0.16058928299657263], [5.0194142756116893, 12.64220835907944, 0.01920689233653422, -0.16021575205724695], [5.0242159986956816, 12.602154421065141, -0.019420974775151419, -0.15985654564771085], [5.0193607550017711, 12.562190284653205, -0.076090713745079211, -0.1595076054347136], [5.0003380765653613, 12.522313383294529, -0.0013523062614653279, 1.9885258786588946e-05], [5.0, 12.522318354609268, 0.13747771783615773, -9.9497745789988467e-05], [5.0343694294592689, 12.522293480172833, 0.036088156062902825, -0.00013188907284454859], [5.0433914684747734, 12.52226050790461, -0.075319538425522095, -0.00012977850538491753], [5.024561583868449, 12.522228063278261, 0.019890743177002998, 0.0051622458973809519], [5.0295342696626442, 12.52351862475262, -0.10359099099864803, 0.0051599173422042909], [5.00363652191285, 12.524808604088175, -0.014546087651407549, -0.0023058559738843671], [5.0, 12.524232140094671, 0.075846149223741804, 0.0057853309572281969], [5.0189615373059322, 12.525678472834002, -0.043187447242999374, 0.0059826355670094334], [5.0081646754951974, 12.527174131725758, -0.012620481244493895, -0.00031194947170387692], [5.0050095551841132, 12.527096144357831, -0.0040058196626801285, -0.0021850545889380191], [5.004008100268444, 12.526549880710586, 0.072458419679554145, 0.069971148813589498], [5.022122705188333, 12.544042667913983, -0.039280632654102685, 0.02694128012892923], [5.0123025470247926, 12.550777987946228, 0.096920450382574588, -0.071796330605437358], [5.0365326596204385, 12.532828905294872, 0.058091243867804961, -0.071688367476896067], [5.0510554705873973, 12.514906813425643, 0.039078015523070921, -0.070945127559021812], [5.0608249744681597, 12.497170531535875, 0.03906591904676001, -0.070815697566918537], [5.0705914542298673, 12.479466607144147, -0.014775874540948213, -0.028752526245034375], [5.0668974855946258, 12.472278475582902, -0.10299404141712193, -0.0016304536719573357], [5.0411489752403567, 12.4718708621649, -0.046075401055001054, -0.0016073691285350433], [5.0296301249766886, 12.47146901988277, -0.041294065583846698, -0.0016031803104709157], [5.0193066085807345, 12.471068224805137, 0.044436221408976656, 0.00084174841565204243], [5.0304156639329722, 12.471278661909054, -0.10261065109666861, 0.030386375497135975], [5.0047630011588007, 12.47887525578335, -0.019052004635196813, 0.03035452523776707], [5.0, 12.486463887092802, 0.099835749259119352, 0.030329581064182966], [5.024958937314782, 12.494046282358845, 0.0075408332571642346, -0.00073441225475645664], [5.0268441456290933, 12.493862679295146, -0.10192692941673979, -0.026969672397934515], [5.001362413274907, 12.487120261195669, 0.056014243674720958, -0.057873024023681663], [5.0153659741935241, 12.472652005189738, 0.14139599679543788, -0.081649099056564756], [5.0507149733923722, 12.452239730425591, -0.10696611715665745, -0.00076486064252710478], [5.0239734441031345, 12.452048515264957, -0.0056518685090052563, 0.0013750303550358403], [5.0225604769758299, 12.452392272853722, 0.04397811142012862, 0.0013688585796872803], [5.0335550048314399, 12.452734487498622, -0.095554847156784056, 0.022842018821940192], [5.0096662930422493, 12.458444992204109, -0.038665172166701386, 0.022806613615204641], [5.0, 12.46414664560792, 3.5489840233271508e-14, 0.022784001005596126], [5.0, 12.469842645859316, 0.11501642461558206, 0.022761055820665725], [5.0287541061538956, 12.475532909814488, 0.11485100485988188, 0.022709747400178761], [5.0574668573688815, 12.481210346664525, 0.095121736525542636, 0.022641429122909146], [5.0812472915003069, 12.486870703945248, 0.05637133435836169, 0.022586644101926706], [5.0953401250899004, 12.492517364970736, -0.00041670943145966511, 0.022553414608573668], [5.0952359477320366, 12.498155718622881, -0.073876401805711575, 0.022534241299434932], [5.0767668472806076, 12.503789278947735, -0.054859006793269514, -0.05076813333015065], [5.0630520955822993, 12.491097245615194, 0.058405007753282723, 0.024580846813495795], [5.0776533475206191, 12.497242457318565, -0.053040210089681114, 0.024545543961570201], [5.0643932949981814, 12.50337884330896, 0.0015203747111065976, -0.006917626729963113], [5.0647733886759729, 12.501649436626469, -0.053640427247881067, -0.046513423467339367], [5.0513632818639902, 12.490021080759636, -0.0024097360126034656, 0.075612818856133857], [5.050760847860845, 12.508924285473666, -0.098050648514604766, -0.061670585475634851], [5.0262481857321948, 12.493506639104783, -0.052908555544948978, 0.086125078242726513], [5.0130210468459584, 12.515037908665478, 0.12780056101436932, -0.034209009121574506], [5.0449711870996845, 12.506485656385092, 0.023224695003341487, -0.037305218621066269], [5.050777360850649, 12.497159351729847, -0.066003766286531401, -0.037543149876672462], [5.0342764192789318, 12.487773564260651, -0.12535531817418605, -0.019293157825880806], [5.0029375897353416, 12.482950274804208, -0.0090158750217758377, 0.00078140737944435465], [5.0006836209798919, 12.483145626649053, -0.0027344839195691654, -0.035320346838909181], [5.0, 12.47431553993933, -1.295677974633147e-13, 0.077963968131019343], [5.0, 12.493806531972085, 0.0021281667909246252, 0.077471237600713366], [5.0005320416979622, 12.513174341372261, 0.018165611815776288, 0.04737797876642981], [5.0050734446519121, 12.525018836063861, 0.044092603004648859, 0.014559233502256184], [5.0160965954029342, 12.528658644439419, 0.075968243308720179, 0.0099513237550057504], [5.0350886562302399, 12.531146475378177, 0.054378956063429726, 0.0095544922716295187], [5.0486833952461057, 12.533535098446087, -0.069336579965660172, -0.0033445933884232353], [5.0313492502546868, 12.532698950098965, 0.040552009931388029, -0.0040646562850022109], [5.0414872527375394, 12.531682786027719, 0.14825548322094143, -0.0032333980570827801], [5.0785511235427698, 12.530874436513445, 0.053928251973076338, 0.018404411231987456], [5.0920331865360389, 12.535475539321435, 0.067068068594604194, -0.03063812299432624], [5.1088002036846909, 12.527816008572879, 0.028264541689373316, 0.028689410638702759], [5.1158663391070345, 12.534988361232546, 0.11439778889073968, -0.017912223743179023], [5.1444657863297252, 12.530510305296747, 0.040403106141043109, -0.0056194147188622316], [5.1545665628649857, 12.529105451617029, 0.053563755632332961, 0.011514633469184719], [5.167957501773075, 12.531984109984338, -0.032254028635166264, -0.021525491177306632], [5.159893994614281, 12.526602737190016, 0.059706811973314095, -0.018700626809965662], [5.1748206976075979, 12.521927580487537, -0.059531195603977786, 0.058914458864664114], [5.1599378987066169, 12.536656195203683, -0.0027774655870030198, 0.05874136406804651], [5.0, -0.0, 0.0, 0.0]])
all_control_control_trajectories.append([[0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 0.061372887259843432, 0.63179277512528098], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 0.031609255324067782, -0.36816982405116572], [0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 0.087266462599716474, 1.5], [-0.26374912340369178, 0.087266462599716474, 1.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [-0.52359877559829882, 9.9999999999999995e-08, 0.19876027510956257], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.49387673078439376, 9.9999999999999995e-08, -0.5], [-0.43249993910359413, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 0.077154146992888223, -0.5], [0.22172077046329791, 0.087266462599716474, -0.46188721698588953], [0.49408717288869258, 9.9999999999999995e-08, -0.5], [-0.24984083343258201, 9.9999999999999995e-08, -0.36995067857442848], [0.092089453664891865, 0.087266462599716474, -0.134009950957136], [-0.52359877559829882, 9.9999999999999995e-08, -0.21684368889176078], [0.061701963887605626, 0.087266462599716474, -0.0064407798146575166], [-0.52359877559829882, 0.087266462599716474, 0.039323076965746877], [0.437436682316243, 9.9999999999999995e-08, -0.079090255437398851], [0.40373476453638191, 0.057906716370350796, 0.32388171886894357], [-0.30375183392431532, 0.044752663928122612, 0.084879305940503413], [-0.52359877559829882, 0.07192857613563923, -0.094836525730838409], [0.52359877559829882, 0.022330206701144082, -0.010428907309555594], [0.42824470009067106, 0.087266462599716474, -0.0058683528511390484], [0.52359877559829882, 9.9999999999999995e-08, -0.028106699442216679], [-0.52359877559829882, 9.9999999999999995e-08, -0.02099189835585772], [-0.30582224483021392, 9.9999999999999995e-08, -0.020821581615781824], [-0.52359877559829882, 0.034410402258114862, -0.040627894859534733], [-0.52359877559829882, 0.05291424349406134, -0.034223313385135637], [0.52359877559829882, 9.9999999999999995e-08, -0.058701746627728577], [0.35573951119000419, 9.9999999999999995e-08, -0.060703842277153676], [-0.52359877559829882, 0.0014786283240939811, -0.0058286900938389228], [0.34049790033465721, 0.087266462599716474, 0.036042392982839774], [0.52359877559829882, 9.9999999999999995e-08, -0.11163764731541277], [-0.38813652486084455, 9.9999999999999995e-08, -0.014325771810761201], [-0.52359877559829882, 0.087266462599716474, 0.031017830400764126], [0.51354753183090607, 0.087266462599716474, 0.11588587697179217], [-0.031531993112268904, 0.018869611504381115, -0.49546701993971376], [-0.52359877559829882, 0.016532897856196164, -0.20520326030559538], [-0.52359877559829882, 0.087266462599716474, -0.04235004668386471], [0.17477537429321857, 9.9999999999999995e-08, -0.041403110154722443], [-0.47160589183205059, 9.9999999999999995e-08, -0.075438918023400567], [-0.52359877559829882, 0.087266462599716474, 0.043648381271969544], [-0.038063232294171849, 9.9999999999999995e-08, -0.40737180447114674], [0.026807040664976817, 9.9999999999999995e-08, -0.13925316676780286], [-0.28799580519223184, 9.9999999999999995e-08, 0.054824359913020697], [0.23365461433448217, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.14259197875915747], [0.42204301772394565, 9.9999999999999995e-08, 0.022423766894768906], [0.28424902258534029, 9.9999999999999995e-08, 0.21201189419090546], [0.19019346449679234, 9.9999999999999995e-08, 0.371419262322914], [-0.44008276785948508, 0.053007174716473364, -0.17448017010711017], [0.041456506283728663, 0.087266462599716474, 0.014192946195810333], [-0.18716533192784943, 9.9999999999999995e-08, -0.0070104267298496566], [0.52359877559829882, 0.070704070467688937, 0.016305848325422499], [-0.52359877559829882, 0.031414477330885482, -0.005632928778118643], [-0.52359877559829882, 0.087266462599716474, 0.0059262747080091925], [0.40995677501307837, 0.056432765473185952, -0.0020596141871359486], [0.52359877559829882, 0.078908523597723712, 0.00087660260253247669], [-0.52359877559829882, 0.078595950232820011, 0.01432575318924016], [-0.52359877559829882, 9.9999999999999995e-08, -0.0049367647864871876], [-0.30380189534955943, 9.9999999999999995e-08, 0.031559890993667614], [0.52359877559829882, 0.0067397109689104322, -0.046296866564104561], [-0.12674626483893592, 0.070458988802747466, -0.014976829803855984], [0.52359877559829882, 0.017857571507204188, -0.0072728541986669167], [0.03322776322391667, 0.040921587785478566, -0.010145159066398034], [0.49647656277452051, 9.9999999999999995e-08, -0.0016799196138224464], [-0.4477493398821592, 0.011713636694520945, -0.0027271803466069394], [0.064498597710732922, 0.014196414189354018, -0.0018342103956388368], [-0.52098188117248456, 0.010288372407609828, 0.0], [-0.49778817078231175, 0.038727164891437627, 0.026851012851806147], [-0.44044119422097006, 0.086645929603333324, 0.0027014452337077791], [-0.52359877559829882, 0.0035495552060911817, -0.00088129074271688264], [-0.50054164375486643, 0.0015192491312464298, 0.0], [-0.31791923338891714, 0.087266462599716474, -0.0041061067419687763], [0.38000191784428639, 0.049216473029363952, -0.0084082014638764951], [0.30182060372963282, 0.071018214235072125, -0.012617933785517768], [0.47992398593391378, 0.02433710684429137, -0.014977805351160983], [0.3613709600637382, 0.078739329010853648, -0.0074390490011183516], [-0.15095033921801032, 0.040647274402779453, 0.00024309471486558916], [-0.13124729717966749, 0.077405245980957466, 0.0], [0.15094512069734445, 0.0018395307580895751, 0.0], [-0.33752820185587568, 0.084669318169290991, 0.0], [-0.019836281346624036, 9.9999999999999995e-08, -0.00058958878569133756], [0.0, 9.9999999999999995e-08, 0.0]])
# 3. 10 wave 10 coming in 90 deg
all_control_state_trajectories.append([[10.0, 20.0, 0.0, -2.7000000000000002], [9.9999999999999982, 19.324999999999999, -0.047983511707451458, -2.3365692340667525], [9.9880041220730487, 18.740857691483306, -0.20928458127943608, -2.0102677354353555], [9.9356829767531902, 18.238290757624465, -0.34059916467438039, -1.7263853105011326], [9.8505331855846059, 17.806694429999169, -1.0060750122915278, -1.4666776305518328], [9.5990144325117281, 17.440025022361198, -1.0984274612182341, -1.429215861183881], [9.3244075672072366, 17.082721057065228, -1.1779645646299821, -1.3918494091887603], [9.029916426049736, 16.734758704768016, -1.242484223415377, -1.3546961593298563], [8.7192953701958924, 16.396084664935561, -1.2902142555245228, -1.3179353723103959], [8.3967418063147665, 16.066600821857989, -1.3198563956701761, -1.281791751770186], [8.0667777073972182, 15.746152883915437, -1.3306089752526722, -1.2465173835273216], [7.7341254635840562, 15.434523538033599, -1.3221694886645574, -1.2123733260026881], [7.4035830914179233, 15.13143020653292, -1.2947197325994331, -1.179612286350241], [7.0799031582680669, 14.836527134945358, -1.2488970715987433, -1.1484634057065355], [6.7676788903683862, 14.549411283518735, -1.1857556894890819, -1.119119762107649], [6.4712399679961186, 14.269631342991822, -1.1067215486027959, -1.09172882411457], [6.1945595808454241, 13.996699136963182, -1.0135443389853851, -1.0663857832152825], [5.9411734960990836, 13.730102691159367, -0.90824909682931143, -1.0431294835781666], [5.7141112218917494, 13.469320320264833, -0.793089514884044, -1.0219405794536267], [5.5158388431707568, 13.213835175401426, -0.67050431322561965, -1.0027416191526177], [5.3482127648643445, 12.963149770613278, -0.54307735524366385, -0.98539903035222243], [5.2124434260534231, 12.716800013025203, -0.41350132100120546, -0.96972750532104834], [5.1090680958031252, 12.474368136694956, -0.28448981799172807, -0.95530538153661149], [5.0379456413051988, 12.235541791310791, -0.13942108802705236, -0.81931632762009388], [5.0030903692984285, 12.030712709405764, -0.012361477193704399, -0.59517007612779438], [5.0, 11.881920190373814, 0.074535686669862156, -0.37715735171790582], [5.0186339216674627, 11.787630852444341, 0.10587640896749785, -0.17245569209546763], [5.0451030239093493, 11.744516929420483, 0.027732869094368888, -0.0063573179122967255], [5.0520362411829423, 11.742927599942389, -0.12197405896519699, 0.021549519333388781], [5.0215427264416386, 11.748314979775747, -0.065006502791736948, 0.021556481746028779], [5.0052911007437055, 11.753704100212261, -0.021164402974807411, 0.025423529621217317], [5.0, 11.760059982617564, 0.24623318809725858, -0.18034194137783657], [5.0615582970243116, 11.714974497273088, 0.24514390763178151, -0.17949043644191778], [5.1228442739322668, 11.67010188816262, 0.22463837091220629, -0.17869974584756276], [5.1790038666603033, 11.625426951700724, 0.18519104551030621, -0.1779598932328943], [5.2253016280378848, 11.580936978392533, 0.12783328353341344, -0.17731594821198521], [5.2572599489212344, 11.536607991339508, 0.053992901446517604, -0.17677036436821844], [5.2707581742828715, 11.492415400247451, -0.051872092887752547, -0.12943750828082082], [5.2577901510609326, 11.460056023177263, -0.086927429466012285, -0.022481181731074159], [5.2360582936944224, 11.454435727744487, 0.052467586012727239, 0.011621580201412128], [5.2491751901976071, 11.457341122794832, -0.066457715461141237, 0.011604416018613681], [5.2325607613323255, 11.46024222679948, -0.16937759997300433, 0.004940972529262175], [5.1902163613390719, 11.4614774699318, -0.080953905208004259, 0.027134810546854411], [5.1699778850370777, 11.468261172568523, -0.15944725751218924, 0.0050432557483037167], [5.130116070659029, 11.469521986505585, -0.064479972255801515, 0.020092229408083976], [5.1139960775950764, 11.474545043857605, -0.075317740132401292, 0.0023718739734637003], [5.0951666425619759, 11.475138012350977, -0.11053913229382781, -0.0082544531095929546], [5.0675318594885095, 11.473074399073576, -0.012962987294648835, 0.009799871535793387], [5.0642911126648356, 11.475524366957512, -0.020548542848447565, -0.0029068329230290645], [5.0591539769527296, 11.474797658726768, 0.083184521233717348, -0.033046245129422482], [5.0799501072611557, 11.466536097444401, -0.031607922537201287, -0.0019907451616271651], [5.0720481266268678, 11.466038411154006, -0.051146919613634961, -0.0020059006723346417], [5.0592613967234561, 11.465536935985917, -0.051084137959620066, -0.001998076298466695], [5.0464903622335475, 11.465037416911322, -0.031467771458850102, -0.0019904713355302322], [5.0386234193688315, 11.464539799077427, 0.0071763063517458698, -0.0020041136766570438], [5.0404174959567705, 11.464038770658247, -0.08765500513323736, -0.0025795732008901152], [5.0185037446734659, 11.463393877358039, 0.022846083982815856, -0.0018371132650986896], [5.0242152656691648, 11.462934599041745, -0.096861062676679086, -0.006471378842404933], [5.0, 11.46131675433114, 0.0044189720764364841, -0.0064415888171902866], [5.0011047430191091, 11.459706357126858, 0.10677033602777328, 0.016780192433676327], [5.027797327026053, 11.463901405235292, 0.018774850868688141, -0.038555631844111836], [5.0324910397432276, 11.454262497274243, 0.13340825619053698, -0.022545473954847992], [5.0658431037908542, 11.448626128785529, 0.053502568632607377, 0.040052872651203469], [5.0792187459490181, 11.458639346948342, 0.02244384528804165, -0.10805914109583684], [5.0848297072710302, 11.431624561674395, -0.055818208719955388, 0.0090973702329635812], [5.0708751550910423, 11.43389890423264, -0.021922159128091093, 0.0090789903218778095], [5.0653946153090175, 11.4361686518131, -0.17093240225973055, 0.009066804955534755], [5.0226615147441001, 11.438435353051986, -0.082109723736565929, 0.0090987051535159416], [5.0021340838099402, 11.440710029340355, -0.0085363352397966104, 0.0090852834031363155], [5.0, 11.44298135019114, 0.019510593677460719, 0.0090777604901165695], [5.0048776484193711, 11.445250790313674, -0.01951059367745232, 0.015963242001573643], [5.0, 11.449241600814057, 0.12427444282534879, -0.03778486489793291], [5.0310686107063436, 11.439795384589603, 0.12421918056775125, -0.037165782826996355], [5.0621234058482649, 11.430503938882831, 0.10460548577298895, -0.036577637037707389], [5.0882747772915238, 11.421359529623398, 0.065967684388875125, -0.035978918393284674], [5.1047666983887456, 11.412364800025085, -0.006523942375971651, 0.076714448421333972], [5.1031357127947601, 11.431543412130415, -0.051043340832250435, -0.04640860281518859], [5.0903748775866928, 11.419941261426619, -0.13937436755543078, -0.046353039260108884], [5.0555312856978372, 11.408353001611589, 0.12930143741299496, 0.0052982361593866545], [5.0878566450510903, 11.409677560651447, 0.017663742022134877, 0.0052979868622448807], [5.0922725805566111, 11.411002057366989, -0.10123161434190406, 0.0052961354541305322], [5.0669646769711481, 11.412326091230524, -0.0063046009560370321, 0.028180992976538664], [5.0653885267321348, 11.419371339474672, -0.13130951994394657, 0.028127438133320391], [5.0325611467461533, 11.426403199007993, -0.037524446057401836, -0.0095573486461237814], [5.0231800352317997, 11.42401386184649, -0.052015869226953476, -0.0085597354532982207], [5.0101760679250464, 11.421873927983135, -0.012381950980271837, 0.0067353043140761411], [5.0070805801799834, 11.423557754061667, -0.0283223207199341, 0.0031766506582953449], [5.0, 11.424351916726245, 0.051518051411484599, 0.017853168989996889], [5.0128795128529333, 11.428815208973738, -0.037373707084507352, 0.012611448634125957], [5.0035360860817422, 11.431968071132269, 0.020841504171697615, -0.016830385154651985], [5.008746462124666, 11.427760474843618, -0.03498584849868426, -0.00095972306170646427], [5.0, 11.427520544078169, 0.060629698434118924, 0.010020014880702586], [5.0151574246085318, 11.430025547798349, 0.060557889012094954, 0.010008365608608134], [5.0302968968615547, 11.432527639200503, 0.080040527953103319, 0.0099966986902878582], [5.0503070288498328, 11.435026813873076, -0.037186455280661598, -0.0076057097586992263], [5.0410104150296595, 11.433125386433396, 0.019598991895331538, -0.0075989504667270729], [5.0459101630034979, 11.431225648816731, -0.072683863889823022, 0.057573536837771319], [5.0277391970310443, 11.445619033026162, 0.032386229185579984, 0.044950619956009331], [5.0358357543274321, 11.45685668801517, 0.045832760881936295, -0.075853808283259813], [5.0472939445479295, 11.437893235944369, 0.14235627278110694, -0.051490938034216373], [5.0, -0.0, 0.0, 0.0]])
all_control_control_trajectories.append([[0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 0.087266462599716474, 0.5090559146856205], [0.52359877559829882, 0.087266462599716474, -0.065886750792750373], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.4530508005104788], [0.52359877559829882, 0.050353773416229056, -0.22816474705485115], [0.52359877559829882, 0.087266462599716474, -0.063656219806363018], [0.52359877559829882, 0.087266462599716474, 0.020781785032655247], [0.52359877559829882, 0.087266462599716474, 0.095374522268662151], [0.52359877559829882, 0.087266462599716474, 0.071380345866946152], [-0.19206147971100498, 0.087266462599716474, 0.052955569021445173], [0.15990412214625432, 9.9999999999999995e-08, -0.064227167017120154], [0.13418713205469054, 9.9999999999999995e-08, -0.031477101137991119], [-0.071503629920379994, 0.087266462599716474, -0.012680451343208948], [-0.14013314958670534, 9.9999999999999995e-08, -0.12375393293729628], [-0.26077500041702523, 9.9999999999999995e-08, -0.4979100396951166], [-0.26421807210128345, 9.9999999999999995e-08, -0.5], [-0.2118992129847875, 9.9999999999999995e-08, -0.5], [-0.15613093877957229, 9.9999999999999995e-08, -0.42912480311980961], [0.10430931138608494, 0.020361631534195099, -0.32957894500651108], [0.13825257708996685, 0.050538835132709889, -0.24078480521286222], [-0.40624368283500223, 0.087266462599716474, -0.1648999435748984], [0.52359877559829882, 9.9999999999999995e-08, -0.11705507201541786], [-0.10264956807705437, 0.0087708297112588391, -0.057039151465547021], [0.52297117781676283, 0.087266462599716474, -0.03021242556403364], [-0.50269537141212706, 0.020381392669025843, -0.023036696766761268], [0.40963770615742373, 0.087266462599716474, -0.0099193302727157411], [0.52359877559829882, 0.041603931208941791, -0.011616965488157594], [-0.48134898303402607, 0.027180163951909295, 0.025088247696985807], [0.16384083885772624, 0.076047463237299079, -0.014763198256261375], [0.24208327334828647, 0.026594985100132789, -0.020125314626260639], [-0.52359877559829882, 0.064046825819721626, -0.030567861640397081], [-0.088777928838512293, 0.032887469860835232, -0.043756471160087851], [-0.0021469932561058156, 9.9999999999999995e-08, -0.061972357905502255], [-0.012390534350019168, 9.9999999999999995e-08, -0.085238162503535803], [0.031115491659364326, 9.9999999999999995e-08, -0.12101999843332464], [0.3866184956439439, 9.9999999999999995e-08, -0.13085854942674652], [-0.52359877559829882, 0.061567419232312931, -0.12961188834868795], [-0.0056343004294816439, 0.015021019041077296, -0.11783362022582675], [0.43203332613474232, 0.08480744876421123, -0.095302165753424262], [0.49508323863731141, 9.9999999999999995e-08, -0.059303229396963107], [-0.12937045295734731, 9.9999999999999995e-08, -0.046597365301340073], [0.42671435128387214, 0.087266462599716474, -0.022284341724325366], [0.10640219456050796, 0.0074313648757510006, 0.00054903125883419513], [-0.52078499775777787, 0.087266462599716474, -0.00023401166155850032], [0.52359877559829882, 0.087266462599716474, 0.003333338105017322], [0.52359877559829882, 0.05068599512524756, 0.0052431314573202778], [-0.5231087661889271, 9.9999999999999995e-08, -0.0041690561850948422], [-0.52359877559829882, 9.9999999999999995e-08, -0.050269807978918946], [0.51580798481538681, 9.9999999999999995e-08, -0.065277063393610932], [-0.011850727951836436, 9.9999999999999995e-08, -0.027260124954047438], [0.011631528992985722, 9.9999999999999995e-08, 0.011933605511307439], [-0.081059732847015772, 9.9999999999999995e-08, -0.0039990466521286757], [-0.52359877559829882, 0.047877599018012681, 0.00072730503058370151], [-0.0099452280161336538, 9.9999999999999995e-08, -0.017544047209947379], [0.017629416737321057, 9.9999999999999995e-08, -0.16680471682538614], [-0.012120843115643563, 9.9999999999999995e-08, -0.14455709753851853], [0.48291097542999789, 9.9999999999999995e-08, -0.11783612876053273], [0.48782394258761314, 0.049455456346363405, -0.08878330824268818], [-0.020011603101921363, 9.9999999999999995e-08, -0.069503449337433076], [-0.52359877559829882, 0.087266462599716474, -0.023437657846294011], [-0.094764830479824216, 9.9999999999999995e-08, -0.026066563225662771], [-0.1569892973236072, 9.9999999999999995e-08, -0.00037753678338731469], [0.52359877559829882, 0.087266462599716474, 0.0047970937643130708], [0.21923875456087072, 9.9999999999999995e-08, -0.0027449121030288107], [0.25932671551053954, 0.087266462599716474, 0.0014277379639050511], [0.52359877559829882, 0.03685263380855873, 0.00071391198121388273], [-0.20127147912870585, 0.061902228806359719, -0.00018859468922046704], [-0.15716505536791348, 0.034389290315474129, 0.0020549111538635122], [0.52359877559829882, 0.0688250377063927, -0.00023859179873405968], [0.27243648777769497, 0.0062903796153260787, -2.7965270321902626e-05], [0.29528587770064302, 0.048335447218202807, 0.00011422376989297083], [0.03639854970146738, 0.0095350511902226927, -0.0001303210744570959], [0.17327637918235139, 0.034360090737489329, -0.00010910757826288038], [-0.00035627423829268979, 9.9999999999999995e-08, -1.1755398491563203e-05], [0.0017565617120130547, 9.9999999999999995e-08, 0.0], [-0.04108928152422843, 0.063925329111329393, 0.0], [-0.09756953282783136, 9.9999999999999995e-08, 0.0], [-0.10637442966014596, 0.07236854534645773, 0.0], [0.097895354333564416, 0.0084012822759164611, -0.00011811633057685374], [0.023745339485672964, 0.060820065541046929, 0.0], [1.348945554330634e-06, 0.011544024553802802, 0.0], [0.0, 9.9999999999999995e-08, 0.0]])
# 4. 10 wave 12.2 going out 90 deg
all_control_state_trajectories.append([[10.0, 20.0, 0.0, -2.7000000000000002], [10.0, 19.324999999999999, -2.1861940020071633, -2.3365692340668862], [9.4534514994982111, 18.740857691483274, -2.2986853224700146, -2.225993213884752], [8.8787801688806969, 18.184359388011998, -2.397274791205469, -2.1194512439428235], [8.2794614710793404, 17.654496577026293, -2.2558164990086933, -2.0168506890447921], [7.7155073463271719, 17.150283904765082, -2.0515469379325513, -1.9246540072891916], [7.2026206118440328, 16.669120402942784, -1.8615095314219163, -1.8433539092187818], [6.7372432289885555, 16.208281925638069, -1.68681040550271, -1.7713051388824612], [6.3155406276128776, 15.765455640917477, -1.5267072052038626, -1.7044426323371624], [5.9338638263119075, 15.339344982833191, -1.2521386343064471, -1.450499784546178], [5.6208291677352999, 14.976720036696637, -0.99786335764406919, -1.2171322083368776], [5.3713633283242697, 14.672436984612419, -0.73142403879259432, -1.0360416440005453], [5.1885073186261437, 14.41342657361227, -0.50779608640732088, -0.85509789077433018], [5.0615582970243116, 14.199652100918707, -0.24623318809726566, -0.67215570167218064], [5.0, 14.031613175500654, 0.07522134377522513, -0.47496816472890346], [5.0188053359438047, 13.912871134318438, 0.074904728870626464, -0.47153497365463221], [5.0375315181614564, 13.794987390904753, 0.055015692650306695, -0.46825292677127656], [5.0512854413240289, 13.677924159211955, 0.016149316688040316, -0.46504009359105553], [5.0553227704960628, 13.561664135814198, -0.035044346157102085, -0.39946336280994932], [5.0465616839567797, 13.461798295111713, -0.062285050261602644, -0.188030641489498], [5.0309904213913859, 13.414790634739319, -0.058317321366346264, 0.0057730490075031757], [5.0164110910498136, 13.4162338969912, 0.054899779952838609, -0.0021216170186781243], [5.0301360360380176, 13.415703492736538, -0.056536455947110993, -0.0021200523556423917], [5.0160019220512329, 13.41517347964764, 0.038216398218854655, 0.029262725815336416], [5.0255560216059632, 13.422489161101467, -0.085283578528708964, 0.029234700646371379], [5.0042351269738763, 13.429797836263056, -0.016940507895593013, -0.0056529556361919588], [5.0, 13.428384597354022, 0.078569220716949897, -0.026742444565196574], [5.0196423051792198, 13.421698986212695, -0.057526814152698572, 0.0076587046525917182], [5.0052606016412549, 13.423613662375814, 0.045149428067115908, 0.0065715598662482045], [5.0165479586578945, 13.425256552342354, -0.056024559012679796, 0.0065710653529025614], [5.0025418189049224, 13.426899318680567, 0.065701280400644727, -0.040202622941646407], [5.0189671390047259, 13.416848662945172, -0.0064501265865482523, -0.035714083535878433], [5.0173546073580875, 13.407920142061187, -0.063193579242559195, -0.035679252465063989], [5.0015562125474471, 13.399000328944927, -0.0062248501897993313, 0.018266144423651275], [5.0, 13.403566865050848, -3.9008780383391976e-07, 0.0025099580882312904], [4.9999999024782547, 13.404194354572894, 3.9008662415358608e-07, 0.0025001845307408969], [5.0, 13.404819400705573, 0.019552877845649429, 0.002487537745426819], [5.0048882194616207, 13.405441285141961, 0.058159099481147593, 0.0024842753899786368], [5.0194279943316245, 13.406062353989425, -0.073197717261498541, -0.0085038488089365719], [5.0011285650161028, 13.403936391787193, 0.038269315884893886, 0.010586951626379288], [5.0106958939866191, 13.406583129693786, 0.051010229710012019, 0.011144356685929896], [5.0234484514139561, 13.409369218865221, 0.0071108058347388635, -0.0049255433490352617], [5.0252261528726381, 13.408137833027808, 0.043946983688767871, -0.012765260538930057], [5.036212898794834, 13.404946517893196, 0.011973763133902582, 0.0041903739554658911], [5.039206339578306, 13.405994111381858, 0.094109404737525562, 0.023439918794293895], [5.0627336907626903, 13.411854091080423, 0.0061855105586064189, -0.0011759409233181618], [5.0642800684021418, 13.411560105849748, -0.14555098066718269, 0.0028798702915917916], [5.0278923232355117, 13.412280073422666, -0.11156929294461658, 0.0028647285931712009], [5.0, 13.412996255570953, -1.9533279074085419e-13, 0.0028358641755176525], [5.0, 13.413705221614844, 0.10113398056281916, 0.0028278313511598103], [5.0252834951407817, 13.414412179452603, 0.074234885381645382, 0.03024388126342906], [5.0438422164859151, 13.421973149768476, -0.11616872370860926, -0.031287037997590583], [5.0148000355590971, 13.414151390269067, -0.059200142236395692, -0.031227840476366391], [5.0, 13.406344430149979, -1.2616643840779318e-14, -0.018129281829291903], [5.0, 13.401812109692656, 0.049589774246864504, -0.018109370840614945], [5.0123974435617145, 13.397284766982512, 0.049536153198410753, -0.018090270381918683], [5.0247814818613081, 13.392762199387027, 0.02993000120247636, -0.018071881076084945], [5.0322639821619433, 13.388244229117992, -0.0087251124896154369, -0.018055633329007656], [5.0300827040395397, 13.383730320785755, -0.064852528033094645, -0.018253631331747087], [5.0138695720312603, 13.379166912952817, 0.066692090617308991, 0.047081235730239271], [5.0305425946854969, 13.39093722188537, -0.037651290326631254, 0.0023749875791318296], [5.0211297721038344, 13.391530968780163, 0.20237503742556565, 0.023760383542661169], [5.0717235314602886, 13.397471064665828, 0.090361496791734733, 0.023731964632620367], [5.0943139056582396, 13.403404055823984, -0.028662776953712062, 0.02369966058498843], [5.0871482114197777, 13.409328970970234, 0.11881628131275873, 0.015245938198670417], [5.1168522817479838, 13.413140455519882, -0.0064033964999072627, 0.015191320050075808], [5.1152514326229648, 13.416938285532405, -0.12986402583452966, 0.015173110662634803], [5.0827854261643113, 13.420731563198069, -0.038142966616148195, -0.027255989650270335], [5.0732496845102757, 13.413917565785503, -0.14326232042267209, -0.028777767462009926], [5.0374341044045883, 13.406723123919997, -0.054237790788079117, -0.0027263849684080765], [5.0238746567075774, 13.406041527677901, 0.015537757493735538, -0.0060513770488327826], [5.027759096081013, 13.404528683415682, -0.072981761231386194, -0.018178494628352186], [5.0095136557731648, 13.399984059758602, 0.0078009728304822158, -0.021158125337727748], [5.0114638989808142, 13.394694528424175, -0.030830996195611464, -0.021126857593986938], [5.0037561499318848, 13.389412814025674, -0.015024599727518902, -0.021559768505173001], [5.0, 13.384022871899392, 0.082991150298778765, -0.02804393729371718], [5.0207477875747051, 13.377011887575941, 0.052617934904796188, -0.0067682406439618231], [5.0339022713009003, 13.375319827414959, 0.041040266678175064, 0.0063428868515433947], [5.0441623379701808, 13.37690554912785, -0.12518121512987335, -0.013631928205553175], [5.0128670341878703, 13.373497567076448, -0.051468136752043286, -0.013569383510094676], [5.0, 13.370105221198941, 0.050702896687356835, -0.0084973340524107013], [5.0126757241718254, 13.367980887685833, 0.13928429026311059, -0.0107725876535674], [5.0474967967376072, 13.365287740772446, 0.10287263653695816, -0.013347266593500209], [5.0732149558718467, 13.361950924124068, 0.0078177749734617257, -0.004106265322672286], [5.0751693996152216, 13.360924357793396, -0.063924738208309476, 0.098531634873783094], [5.0591882150633003, 13.385557266511849, 0.064929311773632523, 0.091970982067745788], [5.075420543006703, 13.408550012028797, 0.13694183040111479, 0.036801529796374029], [5.1096560006069884, 13.417750394477865, 0.10812708637753374, 0.014980442238695801], [5.1366877722013671, 13.421495505037548, 0.016034621784410591, 0.0075451084232486219], [5.1406964276474616, 13.423381782143345, -0.25896109975498938, -0.065389062648265564], [5.0759561527087191, 13.407034516481279, -0.16954420842459533, -0.06512900068411083], [5.0335701006025699, 13.390752266310272, -0.095601886167362524, -0.06495738308266065], [5.0096696290609408, 13.374512920539582, -0.038678516242926668, -0.064852144655052971], [5.0, 13.358299884375825, 1.2426703391603256e-12, -0.064786319542467011], [5.0, 13.34210330449022, 0.019549616917437885, -0.064728933826104409], [5.0048874042290139, 13.325921071033688, 0.019524633579555199, -0.064669315161786922], [5.0097685626243731, 13.309753742243231, -0.00015204883407031114, -0.064629209222152276], [5.0097305504157177, 13.293596439937696, -0.038858776251403389, -0.060124209660786444], [5.0000158563528654, 13.278565387522494, -6.3425411446152427e-05, 0.096709819242222966], [5.0, 13.302742842333062, -0.074777396548023969, 0.067405000801753628], [5.0, -0.0, 0.0, 0.0]])
all_control_control_trajectories.append([[0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.35671380366892685], [0.52359877559829882, 0.087266462599716474, 0.69869261725956056], [0.37506472243196509, 0.087266462599716474, 1.1783248543238722], [-0.52359877559829882, 0.087266462599716474, 1.3732832578999703], [-0.52359877559829882, 0.087266462599716474, 1.2568596644787429], [-0.52359877559829882, 0.087266462599716474, 0.96315287092369006], [-0.52359877559829882, 0.087266462599716474, 0.32539106677438651], [-0.26728598856021185, 9.9999999999999995e-08, -0.08945601415545397], [-0.23062475658945242, 9.9999999999999995e-08, -0.20317152108878309], [-0.17792141284645804, 9.9999999999999995e-08, -0.1980185334121296], [-0.51541965655059119, 0.025519772193201062, -0.15123800131919407], [-0.52359877559829882, 0.087266462599716474, -0.10467858317959391], [-0.52359877559829882, 0.087266462599716474, -0.072867285416774022], [0.24148476268816482, 0.087266462599716474, -0.051629552641957462], [0.040893145333723201, 9.9999999999999995e-08, -0.025760617892477536], [0.4636519554804277, 0.087266462599716474, -0.010252012455705445], [-0.024984180881452912, 9.9999999999999995e-08, -0.0022773186443329056], [0.52359877559829882, 0.078410399500562639, 0.0013677951373415743], [-0.041593920101635359, 0.087266462599716474, 0.0035418291155490246], [0.020081144568555597, 0.031612676378599019, 0.0014877782027161726], [0.52359877559829882, 0.087266462599716474, 0.0039163397400634129], [-0.52359877559829882, 9.9999999999999995e-08, -0.0032824031831969283], [-0.38131020392195675, 0.087266462599716474, 2.8918651598577121e-05], [0.094759104288686544, 9.9999999999999995e-08, -0.00025058058210643578], [-0.0018220088051896428, 9.9999999999999995e-08, -0.0014848852865981792], [-0.26158820768305935, 0.044730096733011142, -0.0030600950262017279], [-0.026599161160265065, 0.0070526632039809804, -0.0034954347448649804], [0.16675976136259435, 9.9999999999999995e-08, -0.0057605986164196727], [-0.0041494117042752618, 9.9999999999999995e-08, -0.011981039028159101], [-0.0020264368685202886, 9.9999999999999995e-08, -0.01313956827219127], [-0.05501226912379558, 0.075411073403264667, -0.011568116675605485], [0.0031247178103920503, 0.017308407726658273, -0.0095760326111850261], [0.097566203980983437, 9.9999999999999995e-08, -0.00061545475060684413], [-0.067416223438834411, 0.032835605927115874, -0.00038588429154509505], [-0.52359877559829882, 0.030066293229566679, -0.00019169400639378303], [0.52359877559829882, 0.061192594066588314, 0.0014809197148956019], [-0.39811613523394779, 0.016502746203946275, 0.0], [-0.43798239966439567, 0.087266462599716474, -0.00030012331161076097], [-0.32512276234151316, 0.087266462599716474, 0.016481578540276594], [-0.089934319428849219, 9.9999999999999995e-08, -0.047474477479044007], [-0.52359877559829882, 9.9999999999999995e-08, -0.079903426365330765], [0.0070662495699776017, 9.9999999999999995e-08, -0.059050018102747182], [-0.45808116521873643, 0.046472282311114409, -0.033816429617753309], [0.4752942456807735, 0.081962789395939831, -0.010872133594167856], [-0.00039324421082750303, 9.9999999999999995e-08, -0.0087723230087602896], [0.00016873075372730016, 0.0099165841005037624, -0.0038174328348416658], [-0.29029172559503275, 9.9999999999999995e-08, 0.0], [-0.0019427328930639554, 9.9999999999999995e-08, -0.045247479009915575], [0.0034311424304786053, 9.9999999999999995e-08, -0.17164874190058868], [0.00045357358413365792, 9.9999999999999995e-08, -0.17328013323277022], [-0.048784873921772748, 9.9999999999999995e-08, -0.13772637023520959], [0.11385029901680609, 0.087266462599716474, -0.10241291804852742], [0.52359877559829882, 0.013980492758440669, -0.071733457842401524], [0.29246874480442531, 0.087266462599716474, -0.042145249710209789], [-0.29621231387846952, 9.9999999999999995e-08, -0.034464108875536262], [-0.16150314148245165, 9.9999999999999995e-08, -0.0074452049965863373], [-0.00015715542253465694, 0.0051573207137046839, -1.5303596451072986e-05], [0.48486339430434017, 9.9999999999999995e-08, 9.0458944865932993e-05], [-0.52359877559829882, 9.9999999999999995e-08, -0.0014848175752613863], [-0.37410711620855103, 0.087266462599716474, 0.0046460043228606683], [-0.093274572853169244, 9.9999999999999995e-08, -0.0078637116941772736], [-0.37452568794021363, 0.076832326914212684, -3.2304335251369381e-06], [-0.12586849689003748, 0.064305663649381714, 0.00094968103371054679], [-0.20653419458427325, 0.0050501868407248117, -0.0013627227205332639], [-0.020507771907595194, 0.040874152346353651, -0.0010261690765678341], [-0.42873345680213443, 9.9999999999999995e-08, -0.0083012669880955497], [-0.029603413687522652, 0.010260421158795651, -0.014022061773979275], [0.088258615375853319, 0.024025686399927308, -0.018161938693992397], [-0.18129235476529582, 0.021414263479237798, -0.024866885511172249], [-0.05684938162541911, 0.021104434521629498, -0.026042750439084789], [0.52359877559829882, 0.087266462599716474, -0.023328311022925364], [0.52359877559829882, 9.9999999999999995e-08, -0.019500178840104559], [0.39761603004737861, 0.0059692915002452565, -0.0099217522995866409], [-0.10809592411756171, 0.0051900166153927242, -0.0027952572790235952], [0.35595107788672792, 0.059841289545147398, -0.00084250289880467757], [0.33665834030839276, 0.087266462599716474, 0.00084161949703203147], [-0.33852037400071355, 0.087266462599716474, -0.00065801555003273287], [-0.17571572950239464, 0.0030119254668402682, 0.0017940728337145868], [-0.49810343476340863, 0.030674495748010715, 0.0023272998152745962], [-0.46014841183983685, 0.060708263945402005, -0.0012495309025856473], [-0.40250157391335789, 0.082921757696837711, 0.0], [-0.52359877559829882, 0.087266462599716474, 0.0], [0.028033373130860868, 9.9999999999999995e-08, -0.096872846688686551], [0.01101233062484016, 9.9999999999999995e-08, -0.039214858810884878], [0.007452416856793943, 9.9999999999999995e-08, -0.01815190765405594], [-0.10060648877939167, 9.9999999999999995e-08, -0.0071836999063495215], [0.2436282921080295, 9.9999999999999995e-08, 0.0], [-0.0020423749424546404, 9.9999999999999995e-08, -0.0023409004022673036], [-0.00083799236540663894, 9.9999999999999995e-08, -0.0015239551071025649], [-0.056930803006366867, 0.0018131614967461509, 0.0], [0.059012775015085749, 0.074837257370436852, 0.0], [-0.13087378533538771, 0.011899418576224029, -0.0014702068022654031], [0.0, 9.9999999999999995e-08, 0.0]])
# 5. 10 wave 12.2 going out 60 deg
all_control_state_trajectories.append([[10.0, 20.0, 1.3500000000000003, -2.3382685902179845], [10.3375, 19.415432852445505, -2.4590052831195797, -2.047508978634792], [9.7227486792200981, 18.90355560778681, -2.5388711421809331, -1.9475968071962095], [9.0880308936748619, 18.416656405987773, -2.5893573218067014, -1.8514508577851623], [8.4406915632231865, 17.953793691541364, -2.3676151967659607, -1.759556787285294], [7.8487877640316954, 17.513904494720041, -2.1596790692925847, -1.6790995739469998], [7.3088679967085497, 17.094129601233291, -1.9664122320019302, -1.6083679654183254], [6.8172649387080666, 16.692037609878714, -1.788857937792536, -1.5458991410735359], [6.3700504542599337, 16.305562824610327, -1.6281480667118453, -1.4904319275180582], [5.9630134375819717, 15.932954842730814, -1.3238711961225043, -1.2484230831299641], [5.6320456385513458, 15.620849071948323, -1.0235173807310707, -1.0530921659310215], [5.3761662933685797, 15.357576030465568, -0.74677410165887959, -0.89225582493761135], [5.1894727679538599, 15.134512074231164, -0.51165788371819243, -0.72809691007969402], [5.0615582970243116, 14.952487846711241, -0.24623318809744585, -0.55809761695511184], [5.0, 14.812963442472462, 0.032511915101040949, -0.36838953566819682], [5.0081279787752617, 14.720866058555414, 0.032584454119186104, -0.36656656528192738], [5.0162740923050571, 14.629224417234916, 0.013100826832805184, -0.36476116288619681], [5.0195492990132582, 14.538034126513336, -0.0096908962002645264, -0.1930837090111768], [5.0171265749632639, 14.489763199260551, -0.066350502873277012, -0.19258181828552473], [5.0005389492449446, 14.441617744689161, -0.0021557969797716021, 0.00012342608639206456], [5.0, 14.441648601210764, 0.25197236259135219, 0.0020004719312468468], [5.0629930906478391, 14.44214871919357, 0.14999811442156002, 0.0018823506984050001], [5.1004926192532292, 14.442619306868174, 0.038311612441101588, 0.0018635174880495494], [5.1100705223635021, 14.443085186240191, -0.080602292998558617, 0.001864236648578555], [5.0899199491138525, 14.443551245402332, 0.010081951540548315, -0.0048449018170900107], [5.0924404369989871, 14.442340019948066, -0.11494137076353507, -0.0048009606898694488], [5.0637050943080961, 14.441139779775593, -0.025278108133426513, 0.0091274288044981052], [5.0573855672747312, 14.44342163697673, -0.12629678535557409, 0.0050507945611452491], [5.0258113709358296, 14.444684335617003, -0.02324265375619692, -0.0035986520682621463], [5.0200007074967745, 14.443784672599929, 0.027994405695375833, 0.024356596401099953], [5.0269993089206144, 14.449873821700217, 0.043247900337717533, 0.038016871996183053], [5.0378112840050493, 14.459378039699262, -0.031203130028233175, 0.037351900206197809], [5.030010501497987, 14.468716014750811, -0.07518297561740199, 0.0053892701399781105], [5.0112147575936428, 14.4700633322858, 0.074208231106204378, 0.011851049471894512], [5.0297668153701967, 14.473026094653783, 0.041750201697891738, 0.0064032130524411326], [5.0402043657946729, 14.47462689791689, 0.013375124680930685, 0.0032162200416760364], [5.0435481469649046, 14.475430952927306, -0.10391514779019588, -0.01286987049398141], [5.0175693600173501, 14.472213485303815, -0.062820663928868758, -0.01192371512523923], [5.0018641940351314, 14.469232556522503, 9.3263830199653494e-05, -0.0094481413950549369], [5.0018875099926836, 14.466870521173741, 0.075142322038447951, -0.0088630961884619847], [5.0206730905022976, 14.464654747126627, 0.15419926725938038, -0.0065770522990584029], [5.0592229073171362, 14.463010484051853, 0.046878442399944771, -0.0057083974287849516], [5.0709425179171177, 14.461583384694665, 0.026165445705056269, 0.0053130176397843034], [5.0774838793433865, 14.462911639104616, -0.0465764742781676, -0.032504289766461102], [5.0658397607738452, 14.454785566662988, 0.09115815927283101, -0.018325603360565469], [5.0886293005920518, 14.45020416582285, 0.0022626234418399397, -0.0011176288662491957], [5.0891949564525509, 14.449924758606285, -0.085152503152335413, 0.035263507675954778], [5.0679068306644623, 14.45874063552527, -0.11358129773268648, 0.035178363801442444], [5.0395115062312872, 14.467535226475638, -0.047004642107003301, 0.035094725385277109], [5.0277603457045412, 14.476308907821952, -0.029797416274773732, 0.035061910508957933], [5.0203109916357986, 14.485074385449188, -0.033690725876646052, 0.035038940047586051], [5.0118883101663503, 14.493834120461097, -0.0088946251882415991, 0.03499748661631058], [5.0096646538692955, 14.502583492115168, -0.038658615477184542, 0.016398354155320184], [5.0, 14.506683080654005, 4.7784207698729667e-13, 0.017424190992955998], [5.0, 14.51103912840224, 0.066311905710604788, 0.01740722962162191], [5.0165779764276524, 14.515390935807643, 0.066242402959710581, 0.017380017247201], [5.0331385771675778, 14.519735940119441, 0.046618565375541363, 0.017353159642587091], [5.0447932185114563, 14.524074230030088, 0.0079474962869548957, 0.018374219015594329], [5.046780092583206, 14.528667784783998, -0.0488078032040506, 0.019681535824052607], [5.0345781417822195, 14.53358816874, 0.062654506460739792, -0.087273406558744562], [5.0502417683974024, 14.51176981710031, -0.025838854733390072, -0.087145918459730798], [5.0437820547140539, 14.489983337485377, 0.17310598438076383, 0.020176345805080938], [5.0870585508092123, 14.495027423936657, 0.061329086229198665, 0.020074378543385403], [5.1023908223664849, 14.50004601857251, -0.057617045869256735, 0.020057893500459101], [5.0879865608991715, 14.505060491947612, 0.028213665074156204, -0.025505079677375104], [5.0950399771677093, 14.498684222028286, -0.096805353921964876, -0.025483542365465794], [5.0708386386872313, 14.492313336436911, -0.082597629894319388, 0.024739761981879757], [5.0501892312136647, 14.498498276932388, -0.052884027831769459, -0.0045711919856700782], [5.0369682242557214, 14.497355478935956, -0.012657442975538937, -0.010656423108063697], [5.0338038635118307, 14.494691373158952, 0.034108080891990987, 0.15278781688056917], [5.0423308837348282, 14.532888327379087, -0.053873670361710334, 0.14838177327708604], [5.0288624661444032, 14.569983770698357, -0.091851490650478249, 0.079768017563245489], [5.0058995934817885, 14.589925775089165, -0.023598373927145908, -0.004022679393531914], [5.0, 14.588920105240787, 0.038564509868340049, 0.00046791244370957691], [5.0096411274670816, 14.589037083351718, 0.016649098673691957, 0.0013324535463517858], [5.0138034021355056, 14.589370196738301, 0.016210939364368217, 0.0014310960028749986], [5.0178561369766097, 14.58972797073902, 0.035748041042743671, 0.0014315189919000618], [5.0267931472372931, 14.590085850486995, 0.074345111044364726, 0.0014272894497094329], [5.0453794249983863, 14.590442672849424, 0.13050130253474376, -0.00016584320531800451], [5.0780047506320694, 14.590401212048098, 0.014625652102275136, -0.001769879763811058], [5.0816611636576363, 14.589958742107134, -0.25106386362576583, 0.037678214582508501], [5.0188951977513199, 14.59937829575277, -0.060912204759613765, 0.035937835000004602], [5.0036671465612974, 14.608362754502767, 0.067984714653577819, -0.00048547165290386152], [5.0206633252247377, 14.608241386589551, -0.029602147393747252, 0.018414887182450237], [5.0132627883762959, 14.612845108385162, 0.093885225431409688, 0.018403260282239268], [5.0367340947341379, 14.617445923455719, 0.018830275126319202, -0.045027479982615991], [5.0414416635157115, 14.606189053460058, 0.10004634250550137, 0.025424700182267255], [5.0664532491420911, 14.612545228505628, 0.0044091074849666647, -0.00051302223281495278], [5.0675555260133303, 14.612416972947429, -0.098204750781571773, -0.00042843471999513458], [5.0430043383179388, 14.612309864267425, 0.0025394892824608839, -0.00042110542188229533], [5.0436392106385481, 14.61220458791195, -0.12412221479924843, 0.015830382289401718], [5.01260865693874, 14.61616218348431, -0.050434627754777944, 0.015776445149183971], [5.0, 14.620106294771604, 3.8415195531119666e-15, 0.015755066719137838], [5.0, 14.624045061451378, -1.4914538089605464e-14, 0.015740114682940728], [5.0, 14.627980090122126, 0.019552872347117823, 0.015721274501740115], [5.0048882180867764, 14.631910408747558, 0.019531018188719228, 0.015711105490845562], [5.0097709726339588, 14.635838185120271, -3.8684374489063462e-05, 0.015695733320399009], [5.0097613015403368, 14.639762118450365, -0.037511077388884997, -0.0098663861358502629], [5.0003835321931165, 14.637295521916402, 0.084063165023175068, 0.049732321338837288], [5.0213993234490539, 14.649728602251113, -0.17989033815647551, -0.058230033075554848], [5.0, 0.0, 0.0, 0.0]])
all_control_control_trajectories.append([[0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 0.087266462599716474, 1.5], [-0.046333914628230222, 0.087266462599716474, 1.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 0.069593761985730307, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 0.087266462599716474, 1.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.19336892051077545, 9.9999999999999995e-08, -0.5], [-0.28185085952267286, 9.9999999999999995e-08, -0.5], [-0.041592678230589458, 0.087266462599716474, 1.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.10627463621752095, 0.086838941872516284, 1.5], [0.52359877559829882, 0.0071493276060684207, -0.5], [-0.006513916902192593, 0.087266462599716474, 1.5], [0.52359877559829882, 0.062125813174360771, -0.5], [-0.33323870740110306, 0.04074511456794383, 1.5], [0.046333914628230222, 0.00047202218084505036, -0.22390334859161073], [0.52359877559829882, 0.0084830043519560378, 0.6965784795496075], [0.046333914628230222, 0.075732313139573085, 0.22242385233716472], [0.061042653956946302, 0.0047310631636827477, -0.5], [0.28352486847556968, 0.011380252819161428, -0.5], [0.046333914628230222, 0.055340410010813579, -0.5], [0.52359877559829882, 0.00098449045416629721, -0.5], [-0.046333914628230222, 0.0022948681489501788, -0.5], [-0.28833220186658437, 0.0004617165660121577, -0.5], [-0.4124214799929069, 0.0038142020479927149, 0.0043318795462820164], [0.16888387460027554, 0.084731060985615253, 1.5], [0.12286764218947237, 0.053973695204161398, 1.1016457335587924], [-0.091290822975041874, 0.079024144266472196, 1.5], [0.52359877559829882, 0.007381460257115475, -0.5], [0.52359877559829882, 0.087266462599716474, 1.5], [-0.42240298046720681, 0.087266462599716474, 1.5], [-0.52258933387946982, 9.9999999999999995e-08, 0.93316132069578461], [-0.52314448845488093, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.25269009318620117, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 0.012193566072780909, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.3441274093131112, 9.9999999999999995e-08, -0.5], [0.45016241046850397, 9.9999999999999995e-08, -0.5], [0.43323602815899603, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.47317783545833869, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 0.087037181503712646, 1.5], [0.26239651370195116, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 0.047317902890985634, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [-0.2710813486895049, 9.9999999999999995e-08, -0.5], [0.47440963977265377, 0.087266462599716474, 1.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.33276916815307345, 0.058527955051088709, -0.1764978898947131], [0.40199274439315735, 0.061435990554429033, 1.2291399073105536], [-0.52359877559829882, 0.051101819999556465, 1.5], [-0.36800487245583191, 0.087266462599716474, 1.4361728734072496], [0.34822504105072749, 0.0017218344552013324, -0.5], [0.52359877559829882, 0.030895393841443748, 0.26410170732771665], [0.52359877559829882, 0.061085492991560332, -0.5], [-0.52359877559829882, 0.040321852724107266, -0.5], [-0.52359877559829882, 0.0010125878648070035, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.061728538263089508, 9.9999999999999995e-08, -0.5], [0.38402669804940842, 9.9999999999999995e-08, -0.5], [0.079620380951984482, 9.9999999999999995e-08, -0.5], [-0.0068253327938987973, 0.07698560025153825, -0.47987854529851426], [-0.046333914628230222, 0.086067645365913686, -0.5], [-0.13026112483880858, 0.030657870405654798, -0.5], [0.30048255113224243, 0.008523927421043102, 0.6082775798408826], [-0.52359877559829882, 0.087266462599716474, 1.5], [0.27929365214247698, 9.9999999999999995e-08, -0.33174558925785791], [0.52359877559829882, 0.084431803205471917, 1.5], [0.52359877559829882, 0.033180244658797362, 1.0519910806124266], [-0.42248435114832555, 0.087266462599716474, 1.5], [0.31755404953845284, 0.087266462599716474, 1.5], [0.16280986065766478, 9.9999999999999995e-08, -0.5], [0.18149765184227015, 0.087266462599716474, 1.5], [-0.47193093659036955, 9.9999999999999995e-08, -0.5], [-0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.44660974821783261, 9.9999999999999995e-08, -0.5], [-0.054427418458832172, 9.9999999999999995e-08, 0.0], [0.2647823880539818, 9.9999999999999995e-08, -0.5], [0.52359877559829882, 9.9999999999999995e-08, -0.5], [0.42764647308160175, 0.010425011493698597, 0.0], [0.23558591932622408, 0.075809329966572359, 1.1707686101431218], [0.0, 0.087266462599716474, 0.0], [0.0, 9.9999999999999995e-08, 0.0]])

vel_totals_full = []
for j in range(len(all_control_state_trajectories)):
    traj = all_control_state_trajectories[j]
    vel_sum = 0
    for i in range(len(traj)):
        vel = sqrt(traj[i][2]**2 + traj[i][3]**2)
        vel_sum += vel
        if vel < skimboard.terminal_velocity:
            traj = traj[:i]
            break
    vel_totals_full.append((vel_sum*0.25, j, new_labels[j]))
vel_totals_sorted = sorted(vel_totals_full, key=lambda x:x[0], reverse=True)
print(vel_totals_sorted)

# [(50.469916922970356, 1), (49.948461929565127, 0), (39.356552016612738, 2), (31.961137536084028, 3), (30.421960544541342, 4)]

for i in range(len(traj)):
        vel = sqrt(traj[i][2]**2 + traj[i][3]**2)
        if vel < skimboard.terminal_velocity:
            traj = traj[:i]
            break

# wave starts at x = 15, going out
wave_history_15 = [15.0, 15.0, 14.93844170297569, 14.755282581475768, 14.45503262094184, 14.045084971874736, 13.535533905932738, 12.938926261462367, 12.269952498697734, 11.545084971874736, 10.782172325201154, 10.0, 9.217827674798846, 8.454915028125264, 7.730047501302266, 7.061073738537635, 6.464466094067262, 5.954915028125264, 5.544967379058161, 5.244717418524233, 5.061558297024312, 5.0, 5.061558297024311, 5.244717418524232, 5.544967379058161, 5.954915028125262, 6.464466094067261, 7.061073738537633, 7.730047501302265, 8.454915028125262, 9.217827674798844, 9.999999999999998, 10.782172325201154, 11.545084971874736, 12.269952498697734, 12.938926261462365, 13.535533905932738, 14.045084971874736, 14.45503262094184, 14.755282581475768, 14.938441702975688, 15.0, 14.93844170297569, 14.755282581475768, 14.45503262094184, 14.045084971874738, 13.535533905932738, 12.938926261462367, 12.269952498697736, 11.545084971874738, 10.782172325201156, 10.000000000000002, 9.217827674798851, 8.454915028125264, 7.730047501302264, 7.061073738537635, 6.464466094067267, 5.954915028125264, 5.54496737905816, 5.244717418524233, 5.0615582970243125, 5.0, 5.061558297024312, 5.244717418524232, 5.544967379058158, 5.954915028125262, 6.464466094067264, 7.061073738537633, 7.73004750130226, 8.45491502812526, 9.217827674798848, 9.999999999999998, 10.782172325201149, 11.545084971874735, 12.269952498697736, 12.938926261462363, 13.535533905932732, 14.045084971874736, 14.45503262094184, 14.755282581475768, 14.938441702975688, 15.0, 14.938441702975688, 14.755282581475768, 14.455032620941843, 14.045084971874738, 13.535533905932736, 12.938926261462367, 12.26995249869774, 11.54508497187474, 10.782172325201152, 10.000000000000004, 9.217827674798853, 8.454915028125265, 7.7300475013022645, 7.061073738537637, 6.464466094067268, 5.9549150281252645, 5.54496737905816, 5.244717418524233]
# wave starts at x = 12.2, going out
wave_history_12_out = [15.0, 12.269952498697734, 11.545084971874736, 10.782172325201154, 10.0, 9.217827674798846, 8.454915028125264, 7.730047501302266, 7.061073738537635, 6.464466094067262, 5.954915028125264, 5.544967379058161, 5.244717418524233, 5.061558297024312, 5.0, 5.061558297024311, 5.244717418524232, 5.544967379058161, 5.954915028125262, 6.464466094067261, 7.061073738537633, 7.730047501302265, 8.454915028125262, 9.217827674798844, 9.999999999999998, 10.782172325201154, 11.545084971874736, 12.269952498697734, 12.938926261462365, 13.535533905932738, 14.045084971874736, 14.45503262094184, 14.755282581475768, 14.938441702975688, 15.0, 14.93844170297569, 14.755282581475768, 14.45503262094184, 14.045084971874738, 13.535533905932738, 12.938926261462367, 12.269952498697736, 11.545084971874738, 10.782172325201156, 10.000000000000002, 9.217827674798851, 8.454915028125264, 7.730047501302264, 7.061073738537635, 6.464466094067267, 5.954915028125264, 5.54496737905816, 5.244717418524233, 5.0615582970243125, 5.0, 5.061558297024312, 5.244717418524232, 5.544967379058158, 5.954915028125262, 6.464466094067264, 7.061073738537633, 7.73004750130226, 8.45491502812526, 9.217827674798848, 9.999999999999998, 10.782172325201149, 11.545084971874735, 12.269952498697736, 12.938926261462363, 13.535533905932732, 14.045084971874736, 14.45503262094184, 14.755282581475768, 14.938441702975688, 15.0, 14.938441702975688, 14.755282581475768, 14.455032620941843, 14.045084971874738, 13.535533905932736, 12.938926261462367, 12.26995249869774, 11.54508497187474, 10.782172325201152, 10.000000000000004, 9.217827674798853, 8.454915028125265, 7.7300475013022645, 7.061073738537637, 6.464466094067268, 5.9549150281252645, 5.54496737905816, 5.244717418524233, 5.0615582970243125, 5.0, 5.061558297024312, 5.244717418524228, 5.544967379058157, 5.954915028125261, 6.464466094067263]
# wave starts at x = 10, going out
wave_history_10_out = [15.0, 10.0, 9.217827674798846, 8.454915028125264, 7.730047501302266, 7.061073738537635, 6.464466094067262, 5.954915028125264, 5.544967379058161, 5.244717418524233, 5.061558297024312, 5.0, 5.061558297024311, 5.244717418524232, 5.544967379058161, 5.954915028125262, 6.464466094067261, 7.061073738537633, 7.730047501302265, 8.454915028125262, 9.217827674798844, 9.999999999999998, 10.782172325201154, 11.545084971874736, 12.269952498697734, 12.938926261462365, 13.535533905932738, 14.045084971874736, 14.45503262094184, 14.755282581475768, 14.938441702975688, 15.0, 14.93844170297569, 14.755282581475768, 14.45503262094184, 14.045084971874738, 13.535533905932738, 12.938926261462367, 12.269952498697736, 11.545084971874738, 10.782172325201156, 10.000000000000002, 9.217827674798851, 8.454915028125264, 7.730047501302264, 7.061073738537635, 6.464466094067267, 5.954915028125264, 5.54496737905816, 5.244717418524233, 5.0615582970243125, 5.0, 5.061558297024312, 5.244717418524232, 5.544967379058158, 5.954915028125262, 6.464466094067264, 7.061073738537633, 7.73004750130226, 8.45491502812526, 9.217827674798848, 9.999999999999998, 10.782172325201149, 11.545084971874735, 12.269952498697736, 12.938926261462363, 13.535533905932732, 14.045084971874736, 14.45503262094184, 14.755282581475768, 14.938441702975688, 15.0, 14.938441702975688, 14.755282581475768, 14.455032620941843, 14.045084971874738, 13.535533905932736, 12.938926261462367, 12.26995249869774, 11.54508497187474, 10.782172325201152, 10.000000000000004, 9.217827674798853, 8.454915028125265, 7.7300475013022645, 7.061073738537637, 6.464466094067268, 5.9549150281252645, 5.54496737905816, 5.244717418524233, 5.0615582970243125, 5.0, 5.061558297024312, 5.244717418524228, 5.544967379058157, 5.954915028125261, 6.464466094067263, 7.0610737385376385, 7.730047501302259, 8.45491502812526]
# wave starts at x = 10, coming in
wave_history_10_in = [15.0, 9.999999999999998, 10.782172325201154, 11.545084971874736, 12.269952498697734, 12.938926261462365, 13.535533905932738, 14.045084971874736, 14.45503262094184, 14.755282581475768, 14.938441702975688, 15.0, 14.93844170297569, 14.755282581475768, 14.45503262094184, 14.045084971874738, 13.535533905932738, 12.938926261462367, 12.269952498697736, 11.545084971874738, 10.782172325201156, 10.000000000000002, 9.217827674798851, 8.454915028125264, 7.730047501302264, 7.061073738537635, 6.464466094067267, 5.954915028125264, 5.54496737905816, 5.244717418524233, 5.0615582970243125, 5.0, 5.061558297024312, 5.244717418524232, 5.544967379058158, 5.954915028125262, 6.464466094067264, 7.061073738537633, 7.73004750130226, 8.45491502812526, 9.217827674798848, 9.999999999999998, 10.782172325201149, 11.545084971874735, 12.269952498697736, 12.938926261462363, 13.535533905932732, 14.045084971874736, 14.45503262094184, 14.755282581475768, 14.938441702975688, 15.0, 14.938441702975688, 14.755282581475768, 14.455032620941843, 14.045084971874738, 13.535533905932736, 12.938926261462367, 12.26995249869774, 11.54508497187474, 10.782172325201152, 10.000000000000004, 9.217827674798853, 8.454915028125265, 7.7300475013022645, 7.061073738537637, 6.464466094067268, 5.9549150281252645, 5.54496737905816, 5.244717418524233, 5.0615582970243125, 5.0, 5.061558297024312, 5.244717418524228, 5.544967379058157, 5.954915028125261, 6.464466094067263, 7.0610737385376385, 7.730047501302259, 8.45491502812526, 9.217827674798848, 9.999999999999988, 10.782172325201147, 11.545084971874735, 12.269952498697734, 12.93892626146237, 13.53553390593273, 14.045084971874735, 14.45503262094184, 14.755282581475765, 14.938441702975688, 15.0, 14.938441702975688, 14.755282581475766, 14.455032620941843, 14.04508497187474, 13.535533905932738, 12.938926261462376, 12.26995249869774, 11.54508497187474]
# wave starts at x = 12.2, coming in
wave_history_12_in = [15.0, 12.269952498697734, 12.938926261462365, 13.535533905932738, 14.045084971874736, 14.45503262094184, 14.755282581475768, 14.938441702975688, 15.0, 14.93844170297569, 14.755282581475768, 14.45503262094184, 14.045084971874738, 13.535533905932738, 12.938926261462367, 12.269952498697736, 11.545084971874738, 10.782172325201156, 10.000000000000002, 9.217827674798851, 8.454915028125264, 7.730047501302264, 7.061073738537635, 6.464466094067267, 5.954915028125264, 5.54496737905816, 5.244717418524233, 5.0615582970243125, 5.0, 5.061558297024312, 5.244717418524232, 5.544967379058158, 5.954915028125262, 6.464466094067264, 7.061073738537633, 7.73004750130226, 8.45491502812526, 9.217827674798848, 9.999999999999998, 10.782172325201149, 11.545084971874735, 12.269952498697736, 12.938926261462363, 13.535533905932732, 14.045084971874736, 14.45503262094184, 14.755282581475768, 14.938441702975688, 15.0, 14.938441702975688, 14.755282581475768, 14.455032620941843, 14.045084971874738, 13.535533905932736, 12.938926261462367, 12.26995249869774, 11.54508497187474, 10.782172325201152, 10.000000000000004, 9.217827674798853, 8.454915028125265, 7.7300475013022645, 7.061073738537637, 6.464466094067268, 5.9549150281252645, 5.54496737905816, 5.244717418524233, 5.0615582970243125, 5.0, 5.061558297024312, 5.244717418524228, 5.544967379058157, 5.954915028125261, 6.464466094067263, 7.0610737385376385, 7.730047501302259, 8.45491502812526, 9.217827674798848, 9.999999999999988, 10.782172325201147, 11.545084971874735, 12.269952498697734, 12.93892626146237, 13.53553390593273, 14.045084971874735, 14.45503262094184, 14.755282581475765, 14.938441702975688, 15.0, 14.938441702975688, 14.755282581475766, 14.455032620941843, 14.04508497187474, 13.535533905932738, 12.938926261462376, 12.26995249869774, 11.54508497187474, 10.782172325201154, 9.999999999999995, 9.217827674798855]

# fig, ax = plt.subplots()
# ocean = '#0077be'
# beach = '#eed6af'
# cmap = colors.ListedColormap([beach, ocean])
# bounds = [-np.inf, 1e-7, np.inf]
# norm = colors.BoundaryNorm(bounds, cmap.N)
# im = ax.imshow(b.beach, cmap=cmap, norm=norm)
# line, = ax.plot([], [], lw=2)
# x = []
# y = []
# board = patches.Ellipse((traj[0][0], traj[0][1]), 0.5, 1.2, np.arctan2(traj[0][3], traj[0][2]))
# ax.add_patch(board)

# def animate(i):
#     # b.step(0.25)
#     # im.set_data(b.beach)
#     im.set_data(np.array([[b.water_depth if j < wave_history[i] else 0 for j in range(b.width)] for k in range(b.height)]))
#     x.append(traj[i][0])
#     y.append(traj[i][1])
#     line.set_data(x, y)
#     board.center = (traj[i][0], traj[i][1])
#     board.angle = np.arctan2(traj[i][3], traj[i][2])
#     return [im, line, board]

# anim = animation.FuncAnimation(fig, animate, frames=len(traj), interval=250, blit=True, repeat=False)
# anim.save('basic_animation.mp4', fps=10, extra_args=['-vcodec', 'libx264'])
# # FFwriter = animation.FFMpegWriter(fps=30, extra_args=['-vcodec', 'libx264'])
# # anim.save('basic_animation.mp4', writer = FFwriter)
# plt.show()

time_array = [0.0, 0.25, 0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2.0, 2.25, 2.5, 2.75, 3.0, 3.25, 3.5, 3.75, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5, 5.75, 6.0, 6.25, 6.5, 6.75, 7.0, 7.25, 7.5, 7.75, 8.0, 8.25, 8.5, 8.75, 9.0, 9.25, 9.5, 9.75, 10.0, 10.25, 10.5, 10.75, 11.0, 11.25, 11.5, 11.75, 12.0, 12.25, 12.5, 12.75, 13.0, 13.25, 13.5, 13.75, 14.0, 14.25, 14.5, 14.75, 15.0, 15.25, 15.5, 15.75, 16.0, 16.25, 16.5, 16.75, 17.0, 17.25, 17.5, 17.75, 18.0, 18.25, 18.5, 18.75, 19.0, 19.25, 19.5, 19.75, 20.0, 20.25, 20.5, 20.75, 21.0, 21.25, 21.5, 21.75, 22.0, 22.25, 22.5, 22.75, 23.0, 23.25, 23.5, 23.75, 24.0, 24.25, 24.5, 24.75]

# no control

# velocity graph

velocities = [vel_totals[i][0] for i in range(len(vel_totals))]
angles = [vel_totals[i][2][1] for i in range(len(vel_totals))]
cases = [vel_totals[i][2][0] for i in range(len(vel_totals))]

plt.figure(4)
plt.plot(angles, velocities, 'o')
plt.axis([0, 180, 0, 20])
plt.xlabel('initial angle (deg)')
plt.ylabel('distance traveled (m)')
plt.show()

plt.figure(5)
plt.plot(cases, velocities, 'o')
plt.axis([-0.5, 9.5, 0, 20])
plt.xlabel('case')
plt.ylabel('distance traveled (m)')
plt.show()

# example trajectory full

traj = [[12.199999999999999, 20.0, 0.0, -2.7000000000000002], [12.199999999999999, 19.324999999999999, -1.0725081122192366, -2.5613262933125469], [11.931872971945184, 18.684668426671887, -1.2584939543008788, -2.4260148232719279], [11.617249483369974, 18.078164720853881, -1.3755403392248247, -2.2998688621685694], [11.273364398563769, 17.503197505311736, -1.456715075064746, -2.1826057021882241], [10.90918562979758, 16.957546079764679, -1.5154407320982684, -2.0736339215148094], [10.530325446773013, 16.43913759938598, -1.5587963461263019, -1.9722983059288739], [10.140626360241438, 15.946063022903758, -1.590808187960961, -1.8779558170757309], [9.7429243132511942, 15.476574068634825, -1.6138595868328225, -1.7900088457758925], [9.3394594165429936, 15.029071857190852, -1.6302009028033209, -1.7079177316757645], [8.9319091908421573, 14.602092424271913, -1.6415009240826, -1.6311845280523405], [8.5215339598215092, 14.194296292258828, -1.6482573238578933, -1.5593528885148196], [8.1094696288570294, 13.804458070130122, -1.6518443123848707, -1.492022956749125], [7.6965085507608153, 13.431452330942841, -1.6531830931141629, -1.4288218608011725], [7.2832127774822739, 13.07424686574255, -1.5765530385287869, -1.3694073506018443], [6.8890745178500774, 12.731895028092088, -1.4128107442987237, -1.3149847625561739], [6.5358718317753954, 12.403148837453045, -1.2495739475069951, -1.2666805543543205], [6.2234783448986475, 12.086478698864463, -1.0884075486842417, -1.223783019853552], [5.9513764577275872, 11.780532943901077, -0.93104732394507084, -1.1856324262078486], [5.7186146267413189, 11.484124837349114, -0.7793578494301534, -1.1516084517216374], [5.5237751643837809, 11.196222724418703, -0.63529196376077612, -1.1211228447864685], [5.3649521734435863, 10.915942013222088, -0.50084863534790625, -1.0936180214238178], [5.2397400146066095, 10.642537507866134, -0.37802540075237506, -1.0685722317397919], [5.1452336644185159, 10.375394449931186, -0.26876149763950985, -1.0455108255841061], [5.0780432900086385, 10.11401674353516, -0.17486949307693098, -1.0240210560155454], [5.0343259167394052, 9.8580114795312728, -0.097957167510713997, -1.0037657401524682], [5.0098366248617268, 9.607070044493156, -0.03934649944690756, -0.98449056010602121], [5.0, 9.3609474044666499, 0.0, -0.96602165017845365], [5.0, 9.119441991922038, 0.24623318809724612, -0.94825335843032321], [5.0615582970243116, 8.8823786523144577, 0.73263648599968223, -0.81604026499779014], [5.2447174185242318, 8.6783685860650088, 1.0211524149523028, -0.79901516416212648], [5.5000055222623079, 8.4786147950244786, 0.95731812661297622, -0.7793107580278017], [5.7393350539155517, 8.2837871055175292, 0.87806890284018002, -0.76101327193907919], [5.9588522796255967, 8.093533787532758, 0.78516634150609055, -0.74419316276562364], [6.1551438650021186, 7.9074854968413524, 0.68059900151309827, -0.72887796183722209], [6.325293615380394, 7.7252660063820473, 0.56653966389707144, -0.71504870847100488], [6.4669285313546618, 7.5465038292642967, 0.44531106159154288, -0.70263508716584866], [6.5782562967525466, 7.3708450574728337, 0.31936184132023876, -0.69150914382100814], [6.658096757082606, 7.1979677715175816, 0.19125418411859571, -0.68147930852820093], [6.7059103031122547, 7.0275979443855308, 0.063661806963789216, -0.67229016448438106], [6.7218257548532021, 6.8595254032644366, -0.0606314597807142, -0.66363751231644019], [6.7066678899080241, 6.6936160251853263, -0.1787558996641167, -0.65520592029839231], [6.6619789149919946, 6.529814545110729, -0.28782970629771182, -0.64672074565091309], [6.590021488417567, 6.3681343586980006, -0.38508509547136538, -0.6379910660854331], [6.4937502145497259, 6.2086365921766422, -0.46801599366355678, -0.62892587704877367], [6.376746216133836, 6.0514051229144492, -0.53450896270267434, -0.61952572672556172], [6.2431189754581684, 5.8965236912330585, -0.58293586913795781, -0.60986209360460009], [6.0973850081736787, 5.7440581678319074, -0.61220440956112399, -0.60005440540893551], [5.944333905783397, 5.5940445664796732, -0.62177141759038579, -0.59024930039030876], [5.7888910513858018, 5.4464822413820961, -0.6116267333544293, -0.58060341044874919], [5.6359843680471942, 5.3013313887699089, -0.58225587944824209, -0.57126952504032058], [5.4904203981851332, 5.1585140075098295, -0.53458937714858745, -0.56238544943629609], [5.356773053897987, 5.0179176451507548, -0.46994575581900677, -0.55406458357898791], [5.2392866149432349, 4.8794014992560077, -0.38997447512270755, -0.54638697820154891], [5.1417929961625584, 4.7428047547056211, -0.29660450033793057, -0.53938935657933063], [5.0676418710780755, 4.6079574155607883, -0.19200462742410324, -0.53305263423607674], [5.0196407142220494, 4.4746942570017696, -0.078562856888199264, -0.52728700030145181], [5.0, 4.3428725069264065, 0.041108650085383468, -0.52192022100720481], [5.0102771625213451, 4.2123924516746047, 0.16414892614949067, -0.51670498495487582], [5.0513143940587177, 4.0832162054358863, 0.28744113065338317, -0.511361768582271], [5.1231746767220638, 3.9553757632903186, 0.40767730412935493, -0.50564457158656073], [5.2250940027544024, 3.8289646203936782, -0.19577502578550354, -0.49938918908207303], [5.1761502463080262, 3.7041173231231603, -0.19818079990798118, -0.49427318300900808], [5.1266050463310311, 3.5805490273709082, -0.19906666259616848, -0.48924577189928625], [5.0768383806819886, 3.4582375843960862, -0.17176506058528992, -0.48430960030771331], [5.0338971155356669, 3.3371601843191576, -0.096615494904808238, -0.4795551087292757], [5.0097432418094652, 3.2172714071368387, -0.038972967237860277, -0.47507272132859873], [5.0, 3.0985032268046888, 0.0, -0.47074594470090386], [5.0, 2.980816740629463, 0.24623318809724781, -0.46651210277442506], [5.0615582970243116, 2.8641887149358571, 0.73263648599966225, -0.46181887185524567], [5.2447174185242282, 2.7487339969720455, 1.0085506893286178, -0.45420906843588987], [5.4968550908563829, 2.6351817298630733, 0.9486847332176982, -0.44465346106035547], [5.734026274160807, 2.5240183645979841, 0.87301019967846916, -0.43579221786745154], [5.9522788240804241, 2.4150703101311213, 0.78331468736866949, -0.42770355207836341], [6.1481074959225914, 2.3081444221115306, 0.68160918089488121, -0.42044142091471992], [6.3185097911463117, 2.2030340668828501, 0.57007935751276517, -0.41403405677845939], [6.4610296305245027, 2.0995255526882355, 0.45104402823788181, -0.40848088888735024], [6.5737906375839739, 1.9974053304663979, 0.32692227599786311, -0.4037461459048885], [6.6555212065834386, 1.8964687939901759, 0.20021297467577986, -0.3997468081158036], [6.7055744502523842, 1.7965320919612251, 0.07349513606865539, -0.39633400384131873], [6.7239482342695478, 1.6974485910008954, -0.050540293810312421, -0.393278110098566], [6.71131316081697, 1.5991290634762538, -0.169046249017682, -0.39029234729965923], [6.6690515985625494, 1.5015559766513391, -0.27905383193047689, -0.38711458688892098], [6.5992881405799304, 1.4047773299291089, -0.37764302626582347, -0.38358120739263574], [6.5048773840134748, 1.3088820280809501, -0.46215692341520487, -0.37963538523020579], [6.3893381531596738, 1.213973181773399, -0.53036268133013642, -0.37529913697424877], [6.2567474828271399, 1.1201483975298363, -0.5805461276084688, -0.37064452804242726], [6.1116109509250212, 1.0274872655192295, -0.61155564354411562, -0.36577274179219882], [5.9587220400389924, 0.9360440800711799, -0.62280853819329318, -0.360799516498571], [5.803019905490669, 0.84584420094653723, -0.61426935360304014, -0.35584472176319099], [5.6494525670899085, 0.75688302050573952, -0.58640805835820153, -0.35102465778772557], [5.5028505525003579, 0.66912685605880806, -0.54014536267808411, -0.34644618676473554], [5.3678142118308374, 0.58251530936762419, -0.4767915949098967, -0.34220194813059951], [5.248616313103363, 0.4969648223349743, -0.39798464387430416, -0.33836574150563281], [5.1491201521347874, 0.41237338695856607, -0.30563177049708812, -0.33498661914239936], [5.0727122095105148, 0.32862673217296628, -0.20186056694491961, -0.33207907220784388], [5.022247067774285, 0.24560696412100533, -0.088988271097142857, -0.32960496887732949], [5.0, 0.16320572190167296, 0.030470484977806953, -0.32744467644195979], [5.0076176212444512, 0.081344552791183022, 0.15373292098094316, -0.32537821116473209], [5.0460508514896878, -0.0, 0.27766692218830979, -0.32313658877402429], [5.0, -0.0, 0.0, 0.0]]

fig, ax = plt.subplots()
ocean = '#0077be'
beach = '#eed6af'
cmap = colors.ListedColormap([beach, ocean])
bounds = [-np.inf, 1e-7, np.inf]
norm = colors.BoundaryNorm(bounds, cmap.N)
im = ax.imshow(b.beach, cmap=cmap, norm=norm)
line, = ax.plot([], [], lw=2)
x = []
y = []
board = patches.Ellipse((traj[0][0], traj[0][1]), 0.5, 1.2, np.arctan2(traj[0][3], traj[0][2]))
ax.add_patch(board)

def animate(i):
    # b.step(0.25)
    # im.set_data(b.beach)
    im.set_data(np.array([[b.water_depth if j < wave_history_12_in[i] else 0 for j in range(b.width)] for k in range(b.height)]))
    x.append(traj[i][0])
    y.append(traj[i][1])
    line.set_data(x, y)
    board.center = (traj[i][0], traj[i][1])
    board.angle = np.arctan2(traj[i][3], traj[i][2])
    return [im, line, board]

plt.axis([0, 20, 20, 0])
anim = animation.FuncAnimation(fig, animate, frames=100, interval=250, blit=True, repeat=False)
# anim.save('no_control_full.mp4', fps=10, extra_args=['-vcodec', 'libx264'])
# plt.show()
# example trajectory clipped

for i in range(len(traj)):
        vel = sqrt(traj[i][2]**2 + traj[i][3]**2)
        if vel < skimboard.terminal_velocity:
            traj = traj[:i]
            break 

fig, ax = plt.subplots()
ocean = '#0077be'
beach = '#eed6af'
cmap = colors.ListedColormap([beach, ocean])
bounds = [-np.inf, 1e-7, np.inf]
norm = colors.BoundaryNorm(bounds, cmap.N)
im = ax.imshow(b.beach, cmap=cmap, norm=norm)
line, = ax.plot([], [], lw=2)
x = []
y = []
board = patches.Ellipse((traj[0][0], traj[0][1]), 0.5, 1.2, np.arctan2(traj[0][3], traj[0][2]))
ax.add_patch(board)

def animate(i):
    # b.step(0.25)
    # im.set_data(b.beach)
    im.set_data(np.array([[b.water_depth if j < wave_history_12_in[i] else 0 for j in range(b.width)] for k in range(b.height)]))
    x.append(traj[i][0])
    y.append(traj[i][1])
    line.set_data(x, y)
    board.center = (traj[i][0], traj[i][1])
    board.angle = np.arctan2(traj[i][3], traj[i][2])
    return [im, line, board]

plt.axis([0, 20, 20, 0])
anim = animation.FuncAnimation(fig, animate, frames=len(traj), interval=250, blit=True, repeat=False)
# anim.save('no_control_clipped.mp4', fps=10, extra_args=['-vcodec', 'libx264'])
# plt.show()
# angular velocity control

# omega graph

# plt.figure(6)
# plot_colors = ['r', 'b', 'c', 'g', 'y']
# for i in range(len(omega_control_control_trajectories)):
#     plt.figure(i+6)
#     control_traj = omega_control_control_trajectories[i]
#     plt.plot(time_array, control_traj, plot_colors[i])
#     plt.show()

velocities = [vel_totals_omega[i][0] for i in range(len(vel_totals_omega))]
angles = [vel_totals_omega[i][2][1] for i in range(len(vel_totals_omega))]
cases = [vel_totals_omega[i][2][0] for i in range(len(vel_totals_omega))]

plt.figure(6)
plt.plot(angles, velocities, 'o')
plt.axis([0, 180, 0, 20])
plt.xlabel('initial angle (deg)')
plt.ylabel('distance traveled (m)')
plt.show()

plt.figure(7)
plt.plot(cases, velocities, 'o')
plt.axis([-0.5, 9.5, 0, 20])
plt.xlabel('case')
plt.ylabel('distance traveled (m)')
plt.show()

# example trajectory full

traj = [[12.199999999999999, 20.0, 0.0, -2.7000000000000002], [12.199999999999999, 19.324999999999999, -1.3103142385993296, -2.5625193700048041], [11.872421440350164, 18.684370157498801, -1.3955387422200771, -2.414048148435803], [11.523536754795145, 18.080858120389848, -1.4583457110046099, -2.277418994024865], [11.158950327043994, 17.511503371883634, -1.5051745989729894, -2.1514533336254789], [10.782656677300746, 16.973640038477264, -1.5400871880222011, -2.0350807654232081], [10.397634880295197, 16.464869847121459, -1.5660960423473795, -1.9273468354162375], [10.006110869708351, 15.9830331382674, -1.5851922449094427, -1.8273983891651442], [9.6098128084809922, 15.526183540976115, -1.5989695803942623, -1.7344809431881039], [9.2100704133824252, 15.092563305179089, -1.6085334571971621, -1.6479236204329029], [8.8079370490831348, 14.680582400070865, -1.6147378251531577, -1.5671329096584037], [8.4042525927948457, 14.288799172656265, -1.6183028216313586, -1.491582836539074], [7.9996768873870066, 13.915903463521493, -1.6197362759971845, -1.4208048392550148], [7.5947428183877106, 13.56070225370774, -1.6195667304468777, -1.3543825687379536], [7.1898511357759913, 13.222106611523252, -1.5012097002670248, -1.2919417426722708], [6.8145487107092357, 12.899121175855186, -1.3503731093079288, -1.2362779378444404], [6.476955433382253, 12.590051691394075, -1.1980019492151388, -1.187429370881419], [6.177454946078468, 12.293194348673719, -1.0459928965608416, -1.1446144372277003], [5.9159567219382581, 12.007040739366795, -0.8963609724662519, -1.107092359625784], [5.6918664788216953, 11.730267649460348, -0.7512065666933373, -1.0741571851383649], [5.50406483714836, 11.461728353175758, -0.6126824426964681, -1.0451359884164406], [5.3508942264742432, 11.200444356071646, -0.48295790545240941, -1.0193918105053157], [5.2301547501111418, 10.94559640344532, -0.36417641057008027, -0.99633176625244724], [5.1391106474686215, 10.696513461882208, -0.25840266768993259, -0.97541969854680544], [5.0745099805461393, 10.452658537245506, -0.16755692391977234, -0.95619076122566204], [5.0326207495661954, 10.21361084693909, -0.093338312911018434, -0.93826338273933862], [5.0092861713384407, 9.9790450012542564, -0.037144685353762731, -0.92134386864789908], [5.0, 9.7487090340922826, -2.9126007161650591e-15, -0.90522115127383707], [5.0, 9.522403746273822, 0.24623318809724051, -0.88974804257017803], [5.0615582970243116, 9.2999667356312781, 0.73263648599968778, -0.87367782699024632], [5.2447174185242318, 9.0815472788837184, 1.0055125474164306, -0.85281191196402395], [5.4960955553783393, 8.8683443008927103, 0.94465258021569398, -0.82831450581276589], [5.7322587004322632, 8.6612656744395196, 0.86808262056724661, -0.80574008331513625], [5.9492793555740757, 8.4598306536107355, 0.77756673307564772, -0.78518715197233391], [6.1436710388429869, 8.2635338656176511, 0.67510610508379465, -0.76668614381323463], [6.3124475651139367, 8.0718623296643432, 0.56289568766639742, -0.7501972038949497], [6.4531714870305352, 7.884313028690606, 0.44328948869226159, -0.73560899201734486], [6.5639938592036007, 7.7004107806862701, 0.31877614906709134, -0.72273845529827552], [6.6436878964703743, 7.5197261668617017, 0.19196552762896721, -0.71133333542690191], [6.6916792783776158, 7.3418928330049757, 0.065583611697532948, -0.70108219511803915], [6.7080751813020001, 7.1666222842254657, -0.057535332887729912, -0.69163899689558195], [6.6936913480800673, 6.9937125350015705, -0.17448157470868331, -0.68266501393653256], [6.6500709544028958, 6.8230462815174375, -0.28234991984252122, -0.67387722067153411], [6.5794834744422657, 6.6545769763495546, -0.37836610030736889, -0.6650819690563462], [6.4848919493654229, 6.4883064840854683, -0.46003021996194898, -0.656181419495378], [6.3698843943749353, 6.3242611292116235, -0.52524247017301351, -0.64715820255552259], [6.2385737768316831, 6.1624715785727435, -0.57507565260923155, -0.63587727019128337], [6.0948048636793741, 6.0035022610249236, -0.60575802079415741, -0.62435036535897259], [5.9433653584808352, 5.8474146696851799, -0.61672196587310157, -0.61277784833930005], [5.789184867012561, 5.6942202076003552, -0.60793148117336837, -0.60137853448143896], [5.6372019967192193, 5.5438755739799959, -0.57984824483466169, -0.5903685549792691], [5.4922399355105531, 5.3962834352351781, -0.53338336212575155, -0.57994309359577689], [5.3588940949791146, 5.2512976618362339, -0.46984203835517463, -0.57026098688220583], [5.2414335853903218, 5.1087324151156821, -0.3908676735100246, -0.56143167083638268], [5.1437166670128152, 4.9683744974065869, -0.29839139208429027, -0.55350355872249435], [5.0691188189917415, 4.8299986077259627, -0.19459324354475774, -0.54645300958977749], [5.0204705081055527, 4.6933853553285187, -0.081882032422211162, -0.54017468814238867], [5.0, 4.5583416832929213, 0.037101018105363752, -0.53447926498311038], [5.009275254526341, 4.4247218670471433, 0.15946254966542348, -0.52911216704035091], [5.049140891942697, 4.2924438252870551, 0.28205790344030274, -0.52380397646653942], [5.1196553678027721, 4.1614928311704205, 0.40156185161899965, -0.51833471205137305], [5.220045830707523, 4.031909153157577, -0.18743162666355762, -0.51257313804777815], [5.173187924041633, 3.9037658686456331, -0.19226973427848207, -0.5070233064727544], [5.1251204904720131, 3.7770100420274439, -0.19677514829068393, -0.50155925020923875], [5.0759267033993414, 3.6516202294751348, -0.16991388943295871, -0.49617954532093744], [5.0334482310411017, 3.5275753431449002, -0.095411870591170872, -0.49103062121810981], [5.0095952633933098, 3.4048176878403726, -0.038381053573238059, -0.48626088884883073], [5.0, 3.2832524656281654, 0.0, -0.48172328138452003], [5.0, 3.1628216452820355, 0.24623318809724679, -0.47732729733284218], [5.0615582970243116, 3.0434898209488246, 0.73263648599966702, -0.47214975069053577], [5.2447174185242282, 2.9254523832761907, 0.99769808794951298, -0.46279884150054656], [5.4941419405116063, 2.809752672901054, 0.93962226426995188, -0.45047388070635075], [5.7290475065790947, 2.6971342027244662, 0.86555497256068414, -0.43918830520482877], [5.9454362497192657, 2.5873371264232592, 0.77727759412956232, -0.42906042582865306], [6.139755648251656, 2.4800720199660962, 0.67680158403546975, -0.42015913935323101], [6.3089560442605235, 2.3750322351277884, 0.56631879980714073, -0.41250321287186625], [6.450535744212309, 2.2719064319098217, 0.44815920535694453, -0.40606085746350651], [6.5625755455515451, 2.170391217543945, 0.32475777761747698, -0.40074779654206427], [6.6437649899559137, 2.0702042684084292, 0.19863460300576799, -0.39642171168292778], [6.6934236407073566, 1.971098840487697, 0.072396756064613474, -0.39287297101179508], [6.7115228297235099, 1.8728805977347482, -0.051228509385918219, -0.38982298273339167], [6.6987157023770294, 1.7754248520514007, -0.16935255051728776, -0.38696248764642283], [6.6563775647477073, 1.6786842301397946, -0.27897016168524152, -0.38403773329613577], [6.5866350243263962, 1.5826747968157608, -0.37713995083190582, -0.3809101522409945], [6.4923500366184204, 1.4874472587555123, -0.46119871971145221, -0.3775443954777491], [6.3770503566905568, 1.3930611598860749, -0.52891732234371658, -0.37396734059502085], [6.2448210261046277, 1.2995693247373197, -0.57859047602914182, -0.37023470348822529], [6.1001734070973423, 1.2070106488652634, -0.60907748308757759, -0.36641122597389397], [5.9479040363254487, 1.1154078423717899, -0.61980674324711615, -0.36256078432217609], [5.7929523505136702, 1.0247676462912458, -0.61075305051411943, -0.35874265289436108], [5.6402640878851393, 0.93508198306765555, -0.58239531452841864, -0.3550112510753754], [5.4946652592530354, 0.84632917029881183, -0.53566171833827769, -0.35141742552316374], [5.3607498296684657, 0.75847481391802096, -0.47186858437660945, -0.34800967941757399], [5.2427826835743128, 0.67147239406362735, -0.39265831165294474, -0.34483381311562278], [5.1446181056610767, 0.58526394078472177, -0.29994105155432066, -0.34192905267169915], [5.0696328427724966, 0.49978167761679698, -0.19584525202074973, -0.33931756204131608], [5.0206715297673083, 0.41495228710646798, -0.082686119069234912, -0.33698217496387251], [5.0, 0.33070674336549988, 0.036739880154820506, -0.33473826503148274], [5.0091849700387048, 0.24702217710762917, 0.15995715085169976, -0.33257610195604614], [5.0491742577516296, 0.16387815161861763, 0.28382041104927858, -0.3302273247167189], [5.0, -0.0, 0.0, 0.0]]

fig, ax = plt.subplots()
ocean = '#0077be'
beach = '#eed6af'
cmap = colors.ListedColormap([beach, ocean])
bounds = [-np.inf, 1e-7, np.inf]
norm = colors.BoundaryNorm(bounds, cmap.N)
im = ax.imshow(b.beach, cmap=cmap, norm=norm)
line, = ax.plot([], [], lw=2)
x = []
y = []
board = patches.Ellipse((traj[0][0], traj[0][1]), 0.5, 1.2, np.arctan2(traj[0][3], traj[0][2]))
ax.add_patch(board)

def animate(i):
    # b.step(0.25)
    # im.set_data(b.beach)
    im.set_data(np.array([[b.water_depth if j < wave_history_12_in[i] else 0 for j in range(b.width)] for k in range(b.height)]))
    x.append(traj[i][0])
    y.append(traj[i][1])
    line.set_data(x, y)
    board.center = (traj[i][0], traj[i][1])
    board.angle = np.arctan2(traj[i][3], traj[i][2])
    return [im, line, board]

plt.axis([0, 20, 20, 0])
anim = animation.FuncAnimation(fig, animate, frames=100, interval=250, blit=True, repeat=False)
# anim.save('omega_control_full.mp4', fps=10, extra_args=['-vcodec', 'libx264'])
# plt.show()
# example trajectory clipped

for i in range(len(traj)):
        vel = sqrt(traj[i][2]**2 + traj[i][3]**2)
        if vel < skimboard.terminal_velocity:
            traj = traj[:i]
            break

fig, ax = plt.subplots()
ocean = '#0077be'
beach = '#eed6af'
cmap = colors.ListedColormap([beach, ocean])
bounds = [-np.inf, 1e-7, np.inf]
norm = colors.BoundaryNorm(bounds, cmap.N)
im = ax.imshow(b.beach, cmap=cmap, norm=norm)
line, = ax.plot([], [], lw=2)
x = []
y = []
board = patches.Ellipse((traj[0][0], traj[0][1]), 0.5, 1.2, np.arctan2(traj[0][3], traj[0][2]))
ax.add_patch(board)

def animate(i):
    # b.step(0.25)
    # im.set_data(b.beach)
    im.set_data(np.array([[b.water_depth if j < wave_history_12_in[i] else 0 for j in range(b.width)] for k in range(b.height)]))
    x.append(traj[i][0])
    y.append(traj[i][1])
    line.set_data(x, y)
    board.center = (traj[i][0], traj[i][1])
    board.angle = np.arctan2(traj[i][3], traj[i][2])
    return [im, line, board]

plt.axis([0, 20, 20, 0])
anim = animation.FuncAnimation(fig, animate, frames=len(traj), interval=250, blit=True, repeat=False)
# anim.save('omega_control_clipped.mp4', fps=10, extra_args=['-vcodec', 'libx264'])
# plt.show()
# full control

velocities = [vel_totals_full[i][0] for i in range(len(vel_totals_full))]
angles = [vel_totals_full[i][2][1] for i in range(len(vel_totals_full))]
cases = [vel_totals_full[i][2][0] for i in range(len(vel_totals_full))]

plt.figure(8)
plt.plot(angles, velocities, 'o')
plt.axis([0, 180, 0, 20])
plt.xlabel('initial angle (deg)')
plt.ylabel('distance traveled (m)')
plt.show()

plt.figure(9)
plt.plot(cases, velocities, 'o')
plt.axis([-0.5, 9.5, 0, 20])
plt.xlabel('case')
plt.ylabel('distance traveled (m)')
plt.show()

# omega graph

# plt.figure(7)
# plot_colors = ['r', 'b', 'c', 'g', 'y']
# for i in range(len(all_control_control_trajectories)):
#     plt.figure(i+11)
#     control_traj = all_control_control_trajectories[i]
#     omega_traj = [control[0] for control in control_traj]
#     plt.plot(time_array, omega_traj, plot_colors[i])
#     plt.show()

# alpha graph

# plt.figure(8)
# plot_colors = ['r', 'b', 'c', 'g', 'y']
# for i in range(len(all_control_control_trajectories)):
#     plt.figure(i+16)
#     control_traj = all_control_control_trajectories[i]
#     alpha_traj = [control[1] for control in control_traj]
#     plt.plot(time_array, alpha_traj, plot_colors[i])
#     plt.show()

# C_D graph

# plt.figure(9)
# plot_colors = ['r', 'b', 'c', 'g', 'y']
# for i in range(len(all_control_control_trajectories)):
#     plt.figure(i+21)
#     control_traj = all_control_control_trajectories[i]
#     cd_traj = [control[2] for control in control_traj]
#     plt.plot(time_array, cd_traj, plot_colors[i])
#     plt.show()

# example trajectory full

traj = [[15.0, 20.0, 0.0, -2.7000000000000002], [15.0, 19.324999999999999, -2.1861940020071624, -2.336569234066884], [14.453451499498213, 18.740857691483281, -2.442190017292603, -2.0675367036556382], [13.842903995175062, 18.223973515569373, -2.5239664212761452, -1.9668740662121169], [13.211912389856032, 17.732254999016334, -2.5965564014517644, -1.8699986446829064], [12.562773289493096, 17.26475533784561, -2.661198012554042, -1.7768019602162335], [11.897473786354578, 16.820554847791552, -2.7189054060036288, -1.6871732137819169], [11.217747434853671, 16.398761544346076, -2.7705228812824116, -1.6010006301615323], [10.525116714533072, 15.998511386805696, -2.8167627653700178, -1.5181724445593194], [9.820926023190566, 15.618968275665868, -2.8582327451779248, -1.4385776368505387], [9.1063678368960854, 15.259323866453222, -2.6269307775011899, -1.3621064827746689], [8.4496351425207834, 14.918797245759562, -2.4081263970150792, -1.2955534893175475], [7.8476035432670184, 14.59490887343018, -2.2025793648695164, -1.2374828470653414], [7.2969587020496398, 14.285538161663839, -2.0112827702290152, -1.1866617506814889], [6.79413800949236, 13.988872723993467, -1.8353726078140347, -1.1420212129333565], [6.3352948575388508, 13.70336742076012, -1.6143431977665372, -1.0519343659827525], [5.9317090580972147, 13.440383829264436, -1.2917560847110845, -0.86208522463867143], [5.6087700369194442, 13.224862523104777, -1.0044975604423891, -0.68775052936263636], [5.357645646808848, 13.052924890764119, -0.72022165466376542, -0.56284716835387505], [5.1775902331428965, 12.912213098675636, -0.46412774447435373, -0.44520670094096648], [5.0615582970243116, 12.800911423440395, -0.24623318809724304, -0.31318255440918269], [5.0, 12.722615784838103, 0.038853857752847679, -0.16104042003806046], [5.0097134644380628, 12.682355679828589, 0.038803244695054168, -0.16058928299657263], [5.0194142756116893, 12.64220835907944, 0.01920689233653422, -0.16021575205724695], [5.0242159986956816, 12.602154421065141, -0.019420974775151419, -0.15985654564771085], [5.0193607550017711, 12.562190284653205, -0.076090713745079211, -0.1595076054347136], [5.0003380765653613, 12.522313383294529, -0.0013523062614653279, 1.9885258786588946e-05], [5.0, 12.522318354609268, 0.13747771783615773, -9.9497745789988467e-05], [5.0343694294592689, 12.522293480172833, 0.036088156062902825, -0.00013188907284454859], [5.0433914684747734, 12.52226050790461, -0.075319538425522095, -0.00012977850538491753], [5.024561583868449, 12.522228063278261, 0.019890743177002998, 0.0051622458973809519], [5.0295342696626442, 12.52351862475262, -0.10359099099864803, 0.0051599173422042909], [5.00363652191285, 12.524808604088175, -0.014546087651407549, -0.0023058559738843671], [5.0, 12.524232140094671, 0.075846149223741804, 0.0057853309572281969], [5.0189615373059322, 12.525678472834002, -0.043187447242999374, 0.0059826355670094334], [5.0081646754951974, 12.527174131725758, -0.012620481244493895, -0.00031194947170387692], [5.0050095551841132, 12.527096144357831, -0.0040058196626801285, -0.0021850545889380191], [5.004008100268444, 12.526549880710586, 0.072458419679554145, 0.069971148813589498], [5.022122705188333, 12.544042667913983, -0.039280632654102685, 0.02694128012892923], [5.0123025470247926, 12.550777987946228, 0.096920450382574588, -0.071796330605437358], [5.0365326596204385, 12.532828905294872, 0.058091243867804961, -0.071688367476896067], [5.0510554705873973, 12.514906813425643, 0.039078015523070921, -0.070945127559021812], [5.0608249744681597, 12.497170531535875, 0.03906591904676001, -0.070815697566918537], [5.0705914542298673, 12.479466607144147, -0.014775874540948213, -0.028752526245034375], [5.0668974855946258, 12.472278475582902, -0.10299404141712193, -0.0016304536719573357], [5.0411489752403567, 12.4718708621649, -0.046075401055001054, -0.0016073691285350433], [5.0296301249766886, 12.47146901988277, -0.041294065583846698, -0.0016031803104709157], [5.0193066085807345, 12.471068224805137, 0.044436221408976656, 0.00084174841565204243], [5.0304156639329722, 12.471278661909054, -0.10261065109666861, 0.030386375497135975], [5.0047630011588007, 12.47887525578335, -0.019052004635196813, 0.03035452523776707], [5.0, 12.486463887092802, 0.099835749259119352, 0.030329581064182966], [5.024958937314782, 12.494046282358845, 0.0075408332571642346, -0.00073441225475645664], [5.0268441456290933, 12.493862679295146, -0.10192692941673979, -0.026969672397934515], [5.001362413274907, 12.487120261195669, 0.056014243674720958, -0.057873024023681663], [5.0153659741935241, 12.472652005189738, 0.14139599679543788, -0.081649099056564756], [5.0507149733923722, 12.452239730425591, -0.10696611715665745, -0.00076486064252710478], [5.0239734441031345, 12.452048515264957, -0.0056518685090052563, 0.0013750303550358403], [5.0225604769758299, 12.452392272853722, 0.04397811142012862, 0.0013688585796872803], [5.0335550048314399, 12.452734487498622, -0.095554847156784056, 0.022842018821940192], [5.0096662930422493, 12.458444992204109, -0.038665172166701386, 0.022806613615204641], [5.0, 12.46414664560792, 3.5489840233271508e-14, 0.022784001005596126], [5.0, 12.469842645859316, 0.11501642461558206, 0.022761055820665725], [5.0287541061538956, 12.475532909814488, 0.11485100485988188, 0.022709747400178761], [5.0574668573688815, 12.481210346664525, 0.095121736525542636, 0.022641429122909146], [5.0812472915003069, 12.486870703945248, 0.05637133435836169, 0.022586644101926706], [5.0953401250899004, 12.492517364970736, -0.00041670943145966511, 0.022553414608573668], [5.0952359477320366, 12.498155718622881, -0.073876401805711575, 0.022534241299434932], [5.0767668472806076, 12.503789278947735, -0.054859006793269514, -0.05076813333015065], [5.0630520955822993, 12.491097245615194, 0.058405007753282723, 0.024580846813495795], [5.0776533475206191, 12.497242457318565, -0.053040210089681114, 0.024545543961570201], [5.0643932949981814, 12.50337884330896, 0.0015203747111065976, -0.006917626729963113], [5.0647733886759729, 12.501649436626469, -0.053640427247881067, -0.046513423467339367], [5.0513632818639902, 12.490021080759636, -0.0024097360126034656, 0.075612818856133857], [5.050760847860845, 12.508924285473666, -0.098050648514604766, -0.061670585475634851], [5.0262481857321948, 12.493506639104783, -0.052908555544948978, 0.086125078242726513], [5.0130210468459584, 12.515037908665478, 0.12780056101436932, -0.034209009121574506], [5.0449711870996845, 12.506485656385092, 0.023224695003341487, -0.037305218621066269], [5.050777360850649, 12.497159351729847, -0.066003766286531401, -0.037543149876672462], [5.0342764192789318, 12.487773564260651, -0.12535531817418605, -0.019293157825880806], [5.0029375897353416, 12.482950274804208, -0.0090158750217758377, 0.00078140737944435465], [5.0006836209798919, 12.483145626649053, -0.0027344839195691654, -0.035320346838909181], [5.0, 12.47431553993933, -1.295677974633147e-13, 0.077963968131019343], [5.0, 12.493806531972085, 0.0021281667909246252, 0.077471237600713366], [5.0005320416979622, 12.513174341372261, 0.018165611815776288, 0.04737797876642981], [5.0050734446519121, 12.525018836063861, 0.044092603004648859, 0.014559233502256184], [5.0160965954029342, 12.528658644439419, 0.075968243308720179, 0.0099513237550057504], [5.0350886562302399, 12.531146475378177, 0.054378956063429726, 0.0095544922716295187], [5.0486833952461057, 12.533535098446087, -0.069336579965660172, -0.0033445933884232353], [5.0313492502546868, 12.532698950098965, 0.040552009931388029, -0.0040646562850022109], [5.0414872527375394, 12.531682786027719, 0.14825548322094143, -0.0032333980570827801], [5.0785511235427698, 12.530874436513445, 0.053928251973076338, 0.018404411231987456], [5.0920331865360389, 12.535475539321435, 0.067068068594604194, -0.03063812299432624], [5.1088002036846909, 12.527816008572879, 0.028264541689373316, 0.028689410638702759], [5.1158663391070345, 12.534988361232546, 0.11439778889073968, -0.017912223743179023], [5.1444657863297252, 12.530510305296747, 0.040403106141043109, -0.0056194147188622316], [5.1545665628649857, 12.529105451617029, 0.053563755632332961, 0.011514633469184719], [5.167957501773075, 12.531984109984338, -0.032254028635166264, -0.021525491177306632], [5.159893994614281, 12.526602737190016, 0.059706811973314095, -0.018700626809965662], [5.1748206976075979, 12.521927580487537, -0.059531195603977786, 0.058914458864664114], [5.1599378987066169, 12.536656195203683, -0.0027774655870030198, 0.05874136406804651], [5.0, -0.0, 0.0, 0.0]]

fig, ax = plt.subplots()
ocean = '#0077be'
beach = '#eed6af'
cmap = colors.ListedColormap([beach, ocean])
bounds = [-np.inf, 1e-7, np.inf]
norm = colors.BoundaryNorm(bounds, cmap.N)
im = ax.imshow(b.beach, cmap=cmap, norm=norm)
line, = ax.plot([], [], lw=2)
x = []
y = []
board = patches.Ellipse((traj[0][0], traj[0][1]), 0.5, 1.2, np.arctan2(traj[0][3], traj[0][2]))
ax.add_patch(board)

def animate(i):
    # b.step(0.25)
    # im.set_data(b.beach)
    im.set_data(np.array([[b.water_depth if j < wave_history_15[i] else 0 for j in range(b.width)] for k in range(b.height)]))
    x.append(traj[i][0])
    y.append(traj[i][1])
    line.set_data(x, y)
    board.center = (traj[i][0], traj[i][1])
    board.angle = np.arctan2(traj[i][3], traj[i][2])
    return [im, line, board]

plt.axis([0, 20, 20, 0])
anim = animation.FuncAnimation(fig, animate, frames=100, interval=250, blit=True, repeat=False)
# anim.save('full_control_full.mp4', fps=10, extra_args=['-vcodec', 'libx264'])
# plt.show()
# example trajectory clipped

for i in range(len(traj)):
        vel = sqrt(traj[i][2]**2 + traj[i][3]**2)
        if vel < skimboard.terminal_velocity:
            traj = traj[:i]
            break

fig, ax = plt.subplots()
ocean = '#0077be'
beach = '#eed6af'
cmap = colors.ListedColormap([beach, ocean])
bounds = [-np.inf, 1e-7, np.inf]
norm = colors.BoundaryNorm(bounds, cmap.N)
im = ax.imshow(b.beach, cmap=cmap, norm=norm)
line, = ax.plot([], [], lw=2)
x = []
y = []
board = patches.Ellipse((traj[0][0], traj[0][1]), 0.5, 1.2, np.arctan2(traj[0][3], traj[0][2]))
ax.add_patch(board)

def animate(i):
    # b.step(0.25)
    # im.set_data(b.beach)
    im.set_data(np.array([[b.water_depth if j < wave_history_15[i] else 0 for j in range(b.width)] for k in range(b.height)]))
    x.append(traj[i][0])
    y.append(traj[i][1])
    line.set_data(x, y)
    board.center = (traj[i][0], traj[i][1])
    board.angle = np.arctan2(traj[i][3], traj[i][2])
    return [im, line, board]

plt.axis([0, 20, 20, 0])
anim = animation.FuncAnimation(fig, animate, frames=len(traj), interval=250, blit=True, repeat=False)
# anim.save('full_control_clipped.mp4', fps=10, extra_args=['-vcodec', 'libx264'])
# plt.show()