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| <!-- http://excel2wiki.net -->
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| <table border=0><tr><td align="center">
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| {| class="wikitable" style="text-align: center"
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| | style="background:#d0d0d0;" colspan="7" | Head center
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| |-
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| | style="background:#f0f0f0;"|'''Link'''
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| | style="background:#f0f0f0;"|'''alpha'''
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| | style="background:#f0f0f0;"|'''R'''
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| | style="background:#f0f0f0;"|'''theta'''
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| | style="background:#f0f0f0;"|'''D'''
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| | style="background:#f0f0f0;"|'''min/max'''
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| | style="background:#f0f0f0;"|''' '''
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| |-
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| | 0||Pi/2||0||0||0||0/0||virtual link
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| |-
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| | 1||Pi/2||0||0||0||-20/20||M0 → M1
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| |-
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| | 2||Pi/2||0||0||-0.37||-53/53||M1 → M2
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| |-
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| | 3||Pi||0.13221||19*Pi/17||0||-18/37||M2 → M3
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| |}
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|
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| {| class="wikitable" style="text-align: center"
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| | style="background:#d0d0d0;" colspan="7" | Inertial sensor
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| |-
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| | style="background:#f0f0f0;"|'''Link'''
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| | style="background:#f0f0f0;"|'''alpha'''
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| | style="background:#f0f0f0;"|'''R'''
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| | style="background:#f0f0f0;"|'''theta'''
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| | style="background:#f0f0f0;"|'''D'''
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| | style="background:#f0f0f0;"|'''min/max'''
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| | style="background:#f0f0f0;"|''' '''
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| |-
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| | 0||Pi/2||0||0||0||0/0||virtual link
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| |-
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| | 1||Pi/2||0||0||0||-20/20||M0 → M1
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| |-
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| | 2||Pi/2||0||0||-0.37||-53/53||M1 → M2
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| |-
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| | 3||Pi||0.13221||-0.2611*Pi||0||-18/37||M2 → Inertial sensor
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| |-
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| | 4||Pi/2||0||0.7389*Pi||0||0/0||Orientation correction
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| |}
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|
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| <table><tr><td align="center">
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| {| class="wikitable" style="text-align: center"
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| | style="background:#d0d0d0;" colspan="7" | Right eye
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| |-
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| | style="background:#f0f0f0;"|'''Link'''
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| | style="background:#f0f0f0;"|'''alpha'''
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| | style="background:#f0f0f0;"|'''R'''
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| | style="background:#f0f0f0;"|'''theta'''
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| | style="background:#f0f0f0;"|'''D'''
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| | style="background:#f0f0f0;"|'''min/max'''
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| | style="background:#f0f0f0;"|''' '''
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| |-
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| | 0||Pi/2||0||0||0||0/0||virtual link
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| |-
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| | 1||Pi/2||0||0||0||-20/20||M0 → M1
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| |-
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| | 2||Pi/2||0||0||-0.37||-53/53||M1 → M2
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| |-
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| | 3||Pi||0.13221||19*Pi/17||0||-18/37||M2 → M3
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| |-
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| | 4||-Pi/2||0||2*Pi/17||-0.111||-38/38||M3 → M4
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| |-
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| | 5||0||0.05||0||0||-38/38||M5 → End-effector
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| |}
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| </td><td align="center">
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| {| class="wikitable" style="text-align: center"
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| | style="background:#d0d0d0;" colspan="7" | Left eye
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| |-
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| | style="background:#f0f0f0;"|'''Link'''
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| | style="background:#f0f0f0;"|'''alpha'''
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| | style="background:#f0f0f0;"|'''R'''
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| | style="background:#f0f0f0;"|'''theta'''
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| | style="background:#f0f0f0;"|'''D'''
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| | style="background:#f0f0f0;"|'''min/max'''
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| | style="background:#f0f0f0;"|''' '''
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| |-
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| | 0||Pi/2||0||0||0||0/0||virtual link
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| |-
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| | 1||Pi/2||0||0||0||-20/20||M0 → M1
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| |-
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| | 2||Pi/2||0||0||-0.37||-53/53||M1 → M2
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| |-
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| | 3||Pi||0.13221||19*Pi/17||0||-18/37||M2 → M3
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| |-
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| | 4||-Pi/2||0||2*Pi/17||0.111||-38/38||M3 → M5
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| |-
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| | 5||0||0.05||0||0||-38/38||M5 → End-effector
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| |}
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| </td></tr></table>
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|
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| <table><tr><td align="center">
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| {| class="wikitable" style="text-align: center"
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| | style="background:#d0d0d0;" colspan="7" | Right arm
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| |-
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| | style="background:#f0f0f0;"|'''Link'''
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| | style="background:#f0f0f0;"|'''alpha'''
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| | style="background:#f0f0f0;"|'''R'''
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| | style="background:#f0f0f0;"|'''theta'''
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| | style="background:#f0f0f0;"|'''D'''
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| | style="background:#f0f0f0;"|'''min/max'''
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| | style="background:#f0f0f0;"|''' '''
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| |-
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| | 0||Pi/2||0||0||0||0/0||virtual link
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| |-
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| | 1||-Pi/2||0||0||-0.0805||-20/20||M0 → M0R
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| |-
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| | 2||-Pi/2||0||0||0.212||0/110||M0R → M1R
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| |-
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| | 3||Pi/2||0||Pi/2||0.10256||-85/85||M1R → M2R
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| |-
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| | 4||-Pi/2||0||-7*Pi/18||0||-35/35||M2R → M3R
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| |-
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| | 5||-Pi/2||0||Pi/2||0.16296||-35/35||M3R → M4R
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| |-
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| | 6||Pi/2||0||0||0||0/220||M4R → M5R
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| |-
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| | 7||Pi/2||0||0||0.18925||0/225||M5R → M6R
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| |-
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| | 8||Pi/2||0||-Pi/2||0||0/225||M6R → M7R
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| |-
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| | 9||-Pi/2||-0.1||0||0||0/0||M7R → End-effector
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| |}
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| </td><td align="center">
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| {| class="wikitable" style="text-align: center"
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| | style="background:#d0d0d0;" colspan="7" | Left arm
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| |-
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| | style="background:#f0f0f0;"|'''Link'''
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| | style="background:#f0f0f0;"|'''alpha'''
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| | style="background:#f0f0f0;"|'''R'''
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| | style="background:#f0f0f0;"|'''theta'''
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| | style="background:#f0f0f0;"|'''D'''
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| | style="background:#f0f0f0;"|'''min/max'''
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| | style="background:#f0f0f0;"|''' '''
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| |-
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| | 0||Pi/2||0||0||0||0/0||virtual link
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| |-
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| | 1||Pi/2||0||0||0.0805||-20/20||M0 → M0L
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| |-
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| | 2||-Pi/2||0||0||-0.212||0/110||M0L → M1L
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| |-
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| | 3||Pi/2||0||-Pi/2||0.10256||-85/85||M1L → M2L
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| |-
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| | 4||-Pi/2||0||11*Pi/18||0||-35/35||M2L → M3L
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| |-
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| | 5||-Pi/2||0||-Pi/2||-0.16296||-35/35||M3L → M4L
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| |-
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| | 6||Pi/2||0||0||0||0/220||M4L → M5L
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| |-
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| | 7||Pi/2||0||0||-0.18925||0/225||M5L → M6L
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| |-
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| | 8||Pi/2||0||Pi/2||0||0/225||M6L → M7L
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| |-
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| | 9||-Pi/2||-0.1||0||0||0/0||M7L → End-effector
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| |}
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| </td></tr></table>
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|
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| </td><td>
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| [[File:Vizzymmotorsnumber.jpg]]
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| </td></table>
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|
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| Virtual link corresponds to:
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|
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| <math>
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| H_0=
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| \begin{bmatrix}
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| 1.0 & 0.0 & 0.0 & 0.0\\
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| 0.0 & 0.0 & -1.0 & 0.0\\
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| 0.0 & 1.0 & 0.0 & 0.0\\
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| 0.0 & 0.0 & 0.0 & 1.0
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| \end{bmatrix}
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| </math>
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|
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| or if you prefer code:
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| //H0 (1.0 0.0 0.0 0.0 0.0 0.0 -1.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 1.0) // given per rows (Very precise MATLAB Matrix)
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| Matrix H0(4,4);
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| H0.zero();
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| H0(0,0)=1.0;
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| H0(1,2)=-1.0;
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| H0(2,1)=1.0;
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| H0(3,3)=1.0;
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| ''Parameters by Nuno Conraria.''
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