预测结果可视化.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 61,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[19.99, 19.82, 19.94, ..., 16.29, 16.29, 16.3 ],\n",
       "       [27.41, 28.35, 29.86, ..., 29.98, 29.17, 28.86],\n",
       "       [20.07, 20.09, 19.9 , ..., 22.05, 22.22, 22.07],\n",
       "       ...,\n",
       "       [24.96, 24.93, 25.42, ..., 19.76, 19.74, 19.74],\n",
       "       [29.5 , 29.5 , 29.47, ..., 29.65, 29.66, 29.66],\n",
       "       [23.18, 22.32, 23.26, ..., 18.  , 18.01, 17.84]])"
      ]
     },
     "execution_count": 61,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "import numpy as np\n",
    "import pandas as pd\n",
    "import math\n",
    "import random\n",
    "from sklearn import linear_model, datasets\n",
    "import matplotlib.pyplot as plt\n",
    "f=pd.read_csv(\"/home/mt/learn/NGSIM数据处理/csv/80/算法数据/RL_label.csv\")\n",
    "F1=f[['Vehicle_ID','Local_X','Local_Y','v_Class','v_Vel','v_Acc','x','x_v','y','y_v','Lane_ID','label']]\n",
    "y_list=np.reshape(f.y.values,[-1,40])\n",
    "vy_list=np.reshape(f.y_v.values,[-1,40])\n",
    "v_list=np.reshape(f.v_Vel.values,[-1,40])\n",
    "x_list=np.reshape(f.x.values,[-1,40])\n",
    "data_num=int(len(F1)/40)\n",
    "change_local=x_list[:,-1]\n",
    "vx_list=np.reshape(f.x_v.values,[-1,40])\n",
    "local_x=np.reshape(f.Local_X.values,[-1,40])\n",
    "local_y=np.reshape(f.Local_Y.values,[-1,40])\n",
    "local_x1=local_x[:,0]\n",
    "local_x40=local_x[:,39]\n",
    "x_change=local_x40-local_x1\n",
    "vy_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "# def creat_points(frames, point_num,y_list,vy_list,v_list,data_num):\n",
    "#     v=[]\n",
    "#     vy=[]\n",
    "#     l=[]\n",
    "#     for i in range(point_num):\n",
    "#         total_y=0\n",
    "#         start_frame=40-frames\n",
    "#         start_frame = random.randint(0, 40-frames)\n",
    "#         end_frame = start_frame + frames\n",
    "#         point_id = random.randint(0, data_num-1)\n",
    "#         v.append(v_list[point_id][start_frame])\n",
    "#         vy.append(vy_list[point_id][start_frame])\n",
    "#         for a in range(frames-1):\n",
    "#             total_y+=y_list[point_id][start_frame+1+a]\n",
    "#         l.append(total_y)\n",
    "#     return v,vy,l"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "def creat_points1(start_frame,frames,y_list,vy_list,v_list,data_num):\n",
    "    v=[]\n",
    "    vy=[]\n",
    "    l=[]\n",
    "    for i in range(data_num):\n",
    "        total_y=0\n",
    "        v.append(v_list[i][start_frame])\n",
    "        vy.append(vy_list[i][start_frame])\n",
    "        for a in range(frames):\n",
    "            total_y+=y_list[i][start_frame+1+a]\n",
    "        l.append(total_y)\n",
    "    return v,vy,l"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "def creat_points(start_frame,frames,y_list,vy_list,v_list,data_num):\n",
    "    v=[]\n",
    "    vy=[]\n",
    "    l=[]\n",
    "    for i in range(data_num):\n",
    "        total_y=0\n",
    "        v.append(v_list[i][start_frame])\n",
    "        vy.append(vy_list[i][start_frame])\n",
    "        for a in range(frames-1):\n",
    "            total_y+=y_list[i][start_frame+1+a]\n",
    "        l.append(total_y)\n",
    "    return v,vy,l"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "  18.36999999999989]]"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# vy1=vy2=vy3=vy4=[]\n",
    "vy3_total=[]\n",
    "l3_total=[]\n",
    "for i in range(3):\n",
    "    v,vy,l=creat_points1(start_frame=10*i,frames=10,y_list=y_list,vy_list=vy_list,v_list=v_list,data_num=data_num)\n",
    "    vy3_total.append(vy)\n",
    "    l3_total.append(l)  \n",
    "v4,vy4,l4_list=creat_points(start_frame=30,frames=10,y_list=y_list,vy_list=vy_list,v_list=v_list,data_num=data_num)\n",
    "l4_list=[l4_list]\n",
    "vy4=[vy4]\n",
    "vy4"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 83,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[21.127, 32.364, 18.577, ..., 23.908, 29.549, 24.526],\n",
       "       [18.461, 30.215, 20.768, ..., 22.068, 26.887, 19.538],\n",
       "       [16.294, 30.792, 17.113, ..., 22.955, 24.648, 18.721],\n",
       "       [14.663, 27.917, 17.447, ..., 19.981, 25.733, 16.343]])"
      ]
     },
     "execution_count": 83,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "l_total=l3_total+l4_list\n",
    "vy_total=vy3_total+vy4\n",
    "l_total=np.array(l_total)\n",
    "vy_total=np.array(vy_total)\n",
    "l_total"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([ 70.545, 121.288,  73.905,  71.958,  52.286,  46.709, 124.805,\n",
       "       141.024, 111.885,  86.96 , 112.152, 104.025, 112.617,  75.737,\n",
       "        80.172,  96.082, 111.229, 186.446, 121.362, 216.601,  98.317,\n",
       "       139.375, 118.513, 144.109,  82.366, 122.279, 135.203, 128.58 ,\n",
       "       153.96 ,  88.713, 121.942, 146.086,  97.056, 155.541, 119.875,\n",
       "       105.995,  96.453, 243.49 , 106.558,  85.358, 231.576, 104.626,\n",
       "       138.699, 123.125, 128.406, 109.926, 111.216, 110.37 ,  89.545,\n",
       "        97.454, 107.468, 139.8  ,  61.581, 146.611, 135.222, 121.934,\n",
       "       124.47 , 108.691,  99.694, 114.734,  94.777, 114.37 , 116.954,\n",
       "       114.894,  43.643, 108.084, 103.432, 209.451, 126.406,  89.97 ,\n",
       "       211.131,  82.267, 126.016,  91.47 , 113.308,  61.662,  34.762,\n",
       "       191.287,  70.477,  41.819,  79.114, 147.837, 118.026,  76.401,\n",
       "       106.976,  61.36 ,  60.283,  96.35 ,  81.1  ,  59.846,  97.06 ,\n",
       "        88.973,  54.552,  69.088,  91.99 ,  10.621, 103.074,  61.845,\n",
       "        67.742,  83.744, 116.265,  99.92 ,  76.453,  59.879,  61.069,\n",
       "        69.296,  76.336,  98.96 , 101.513,  74.316, 137.611, 109.348,\n",
       "        80.678, 123.724,  79.6  , 135.942, 106.335, 114.438, 103.672,\n",
       "       100.589,  89.973,  65.874,  92.326, 132.987,  57.594,  86.261,\n",
       "        79.088,  79.844, 101.089,  87.296,  97.427, 104.634,  84.417,\n",
       "        87.236, 126.744, 101.244, 101.649, 126.831, 126.886, 127.94 ,\n",
       "        79.568,  79.069, 133.926,  74.012, 105.133, 114.531, 127.841,\n",
       "       159.858, 122.513,  94.345, 122.377, 106.967,  96.151,  90.312,\n",
       "       105.235,  97.783, 101.338, 101.741, 132.384, 142.412, 131.849,\n",
       "        58.283,  99.606,  80.47 ,  95.026, 131.909, 109.903,  50.895,\n",
       "        90.059, 105.564, 136.601, 116.061, 104.536,  97.216, 130.883,\n",
       "       113.126,  83.941, 126.65 ,  93.731, 101.5  , 119.71 ,  74.813,\n",
       "       123.649,  84.069, 100.53 , 120.041,  87.903, 115.893,  95.072,\n",
       "        74.69 ,  67.096,  33.987,  63.107, 101.535, 121.676,  57.441,\n",
       "        63.361, 112.082, 126.899,  82.855, 137.028,  94.224,  23.251,\n",
       "        78.83 ,  98.179, 104.509, 179.751, 125.226, 140.72 , 113.666,\n",
       "        96.337,  77.516, 144.677, 141.424, 182.084, 146.084, 112.98 ,\n",
       "       104.811, 103.776,  86.601, 215.315, 168.644, 105.092, 103.439,\n",
       "       126.683, 106.112, 113.243, 111.085, 107.506, 155.504, 153.376,\n",
       "        81.707, 119.43 , 109.102, 109.734,  81.381, 119.8  , 131.118,\n",
       "        87.783, 109.489,  89.496, 114.966, 153.251, 175.132,  86.434,\n",
       "       121.845, 142.768, 162.38 , 101.902,  49.274, 183.402, 104.926,\n",
       "        86.975, 110.239, 173.108,  93.234, 117.53 , 149.023, 101.575,\n",
       "       106.266, 102.399, 114.672, 148.153, 128.576, 169.033,  94.992,\n",
       "        69.224,  64.797, 158.709, 176.723,  81.096, 112.262, 107.272,\n",
       "        92.959,  69.457,  95.03 , 104.432, 213.395, 107.304, 124.584,\n",
       "        56.806,  83.011, 160.293,  98.855,  75.412,  80.547, 112.605,\n",
       "        74.891, 148.369, 117.092, 153.875,  55.355, 114.868, 101.328,\n",
       "        92.187,  85.052, 126.861,  99.305, 121.361, 141.652,  86.375,\n",
       "       131.778, 106.692, 125.866, 175.277, 164.966, 138.944, 132.266,\n",
       "       102.707,  71.332, 103.587, 137.6  , 103.291,  77.669,  42.264,\n",
       "        60.677,  90.671, 112.187,  89.385,  55.52 ,  51.646, 103.189,\n",
       "       122.598, 119.863, 106.446, 119.666,  53.551,  86.556,  67.883,\n",
       "       122.29 , 117.786,  95.329,  98.927,  87.257,  78.852, 106.518,\n",
       "       136.199,  82.106,  82.653, 107.208, 121.784, 159.711, 140.903,\n",
       "       114.076,  92.101,  68.315,  94.835, 105.159,  79.625, 105.349,\n",
       "        77.133, 104.732,  85.59 ,  53.023,  61.548,  69.352, 120.858,\n",
       "        21.846,  52.893, 117.246,  59.861,  74.165,  98.723,  26.61 ,\n",
       "        66.204,  42.467,  98.854,  66.602,  62.862,   4.027,  35.837,\n",
       "        80.436, 103.77 ,  50.031,  54.576, 103.037,  66.384,  14.827,\n",
       "        71.987, 135.994,  52.185, 105.789,  89.449,  45.59 ,  40.413,\n",
       "        65.506,  47.604, 101.626,   0.617,  79.44 ,  71.696,  90.521,\n",
       "        81.87 ,  88.339, 142.534, 103.926,  95.184,  99.205,  71.017,\n",
       "        77.5  ,  89.499,  82.335,  84.456, 116.278,  66.988, 139.716,\n",
       "        82.839,  52.398,  97.514,  76.071,  91.561,  67.08 ,  49.022,\n",
       "        72.392,  90.713,  81.717,  99.358,  75.795, 102.436,  97.743,\n",
       "        74.703,  78.826,  60.019,  47.632,  80.292,  55.28 , 115.191,\n",
       "        40.392,  73.252,  59.071,  41.458,  73.195,  93.54 ,  69.215,\n",
       "        84.916,  82.314,  56.951,  81.968, 108.189,  64.92 ,  75.829,\n",
       "        87.957,  77.894, 106.193,  85.548,  23.458,  65.704,  88.376,\n",
       "        84.485, 105.548,  96.802,  88.912, 106.817,  79.128])"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "l4_new=l_total[0]+l_total[1]+l_total[2]+l_total[3]\n",
    "l4_new"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 86,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[42.172, 42.227, 42.274],\n",
       "       [ 7.174,  7.231,  7.309],\n",
       "       [31.394, 31.493, 31.592],\n",
       "       ...,\n",
       "       [27.899, 27.897, 27.887],\n",
       "       [27.339, 27.35 , 27.334],\n",
       "       [53.275, 53.271, 53.241]])"
      ]
     },
     "execution_count": 86,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "distance_x1=local_x[:,8:11]\n",
    "distance_x2=local_x[:,18:21]\n",
    "distance_x3=local_x[:,28:31]\n",
    "distance_y1=local_y[:,8:11]\n",
    "distance_y2=local_y[:,18:21]\n",
    "distance_y3=local_y[:,28:31]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 87,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       " 1.5702248264576322,\n",
       " 1.6443902294583324,\n",
       " 1.553794610042663,\n",
       " 1.677011312542318,\n",
       " 1.6887386857737177,\n",
       " 1.588363411361398,\n",
       " 1.5822722198766626,\n",
       " 1.5693069906265877,\n",
       " 1.5717271174466716,\n",
       " 1.5733301492803482,\n",
       " 1.5716505679785286,\n",
       " 1.5792194964903918]"
      ]
     },
     "execution_count": 87,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "def get_angel(arr1,arr2):\n",
    "    angel=[]\n",
    "    for i in range(len(arr1)):\n",
    "        a=math.atan((arr2[i][2]-arr2[i][0])/(arr1[i][2]-arr1[i][0]+math.exp(-10)))\n",
    "        if a>=0:\n",
    "            angel.append(a)\n",
    "        else:\n",
    "            angel.append(math.pi+a)\n",
    "    return angel\n",
    "angel1=get_angel(distance_x1,distance_y1)\n",
    "angel2=get_angel(distance_x2,distance_y2)\n",
    "angel3=get_angel(distance_x3,distance_y3)\n",
    "angel1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
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       " array([22.61885979, 33.33549039, 18.00096624, 18.20555646, 13.23693682,\n",
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       "        52.1383059 , 22.33633044, 21.79075652, 21.05033477, 24.97651852,\n",
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       "        19.61820322, 43.18504815, 14.43525097, 19.13108365, 31.63057189,\n",
       "        17.54307384,  9.33998024, 24.02176416, 20.59244237, 11.51253353,\n",
       "        19.80330866, 22.80396523, 11.68789658, 16.07197273, 22.79422284,\n",
       "         0.62053989, 26.23328702, 14.90288576, 18.0496782 , 20.07609562,\n",
       "        25.39544136, 26.43787724, 20.75806302, 14.79571945, 11.35665527,\n",
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       "        35.15731759, 28.80527837, 19.24799235, 28.97089902, 19.57923366,\n",
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       "        25.58054679, 20.39759454, 24.91806418, 35.05015129, 17.22157493,\n",
       "        16.82213688, 20.69960868, 19.68639996, 26.92499681, 21.85895326,\n",
       "        20.91394129, 27.78232726, 21.1282739 , 22.01483152, 32.5268719 ,\n",
       "        29.02935337, 23.79768916, 35.65417956, 32.59506864, 29.84771425,\n",
       "        17.7086945 ,  9.28152589, 34.59225889, 19.58897605, 26.59375551,\n",
       "        30.29586426, 31.30907297, 38.44050351, 31.87413167, 22.23890653,\n",
       "        34.39741106, 29.12677728, 22.55066305, 27.37314682, 24.63553482,\n",
       "        24.84986743, 22.17070978, 25.73642506, 27.89923596, 34.31947193,\n",
       "        29.76977512, 14.20143358, 26.55478594, 23.2910848 , 22.59937501,\n",
       "        36.21923826, 29.7892599 , 13.81173792, 22.76499566, 27.10035986,\n",
       "        35.23525673, 28.2012501 , 27.03216312, 24.97651852, 34.18307845,\n",
       "        32.93605234, 24.67450439, 32.57558386, 25.64874353, 25.29801744,\n",
       "        22.78448045, 16.98775753, 28.57146097, 19.19928039, 24.81089787,\n",
       "        29.73080555, 23.65155329, 29.54570012, 27.11984464, 19.85202062,\n",
       "        19.65717279,  7.59609217, 14.50344771, 15.05876402, 34.25127519,\n",
       "        13.79225313, 20.14429236, 17.2508021 , 31.45520884, 22.9501011 ,\n",
       "        32.70223495, 25.112912  ,  5.42353887, 19.17005322, 27.10035986,\n",
       "        26.55478594, 37.94364155, 34.70916759, 40.01877093, 32.3027969 ,\n",
       "        24.07047612, 20.06635323, 36.7453274 , 34.1246241 , 53.96987549,\n",
       "        41.21708508, 28.80527837, 24.27506634, 26.51581637, 22.98907067,\n",
       "        58.25652773, 42.24977857, 29.01961098, 26.53530116, 30.44200013,\n",
       "        29.36059468, 28.46429466, 26.37942289, 24.96677613, 42.97071554,\n",
       "        36.9694024 , 17.50410428, 42.47385358, 29.41904903, 28.83450554,\n",
       "        21.57642391, 30.4712273 , 35.78083065, 19.63768801, 27.36340443,\n",
       "        20.1053228 , 28.03562944, 37.91441438, 41.82111335, 23.9730522 ,\n",
       "        35.05989368, 37.18373502, 37.7780209 , 25.76565223,  9.89529655,\n",
       "        46.45849168, 24.97651852, 19.93970214, 28.06485661, 45.66935797,\n",
       "        25.60977397, 28.10382618, 40.10645245, 24.99600331, 25.31750222,\n",
       "        29.03909576, 29.91591099, 33.69595888, 35.7223763 , 50.97896132,\n",
       "        24.61605004, 18.5075706 , 14.10400966, 45.46476775, 49.46889064,\n",
       "        20.33914019, 31.00705883, 24.82064026, 24.10944568, 15.23412707,\n",
       "        25.02523048, 25.14213918, 56.36650379, 25.01548809, 31.31881536,\n",
       "         7.78119761, 21.26466738, 39.46345462, 23.34953915, 20.14429236,\n",
       "        19.59871844, 28.05511422, 18.08864777, 52.21624503, 30.4809697 ,\n",
       "        39.60959049, 16.94878797, 26.11637832, 24.97651852, 21.79075652,\n",
       "        21.57642391, 32.13717624, 25.01548809, 29.20471642, 32.40022081,\n",
       "        15.0879912 , 35.09886325, 24.99600331, 30.34457622, 43.37989598,\n",
       "        34.71890998, 35.42036216, 33.56930779, 24.97651852, 18.09839016,\n",
       "        24.41145982, 32.83862843, 27.20752617, 19.55974888,  9.37894981,\n",
       "        15.23412707, 20.75806302, 25.10316961, 22.98907067, 14.73726511,\n",
       "         5.92040084, 26.49633159, 31.82541972, 29.88668382, 27.56799465,\n",
       "        30.35431861, 11.13258027, 22.52143588, 17.16312058, 24.95703374,\n",
       "        31.95207081, 25.54157723, 28.73708163, 28.6494001 , 19.14082604,\n",
       "        25.82410658, 29.92565338, 16.01351839, 21.42054564, 28.6494001 ,\n",
       "        30.21792513, 39.59010571, 18.98494778, 29.28265555, 23.64181089,\n",
       "         7.88836391, 24.3140359 , 26.40865007, 20.6703815 , 32.93605234,\n",
       "        16.49089557, 22.06354348, 21.08930433, 15.22438468, 15.5458836 ,\n",
       "        18.2737532 , 36.00490565,  6.70953455,  1.68246056, 29.87694143,\n",
       "        17.15337819, 11.01567157, 26.28199898,  5.49173561, 17.1338934 ,\n",
       "        10.37267373, 25.09342722, 20.58269998, 16.19862382,  0.87384207,\n",
       "         9.63225198, 20.7872902 , 14.14297923, 12.32115202, 10.36293134,\n",
       "        30.03281969, 16.93904557,  4.32264864, 23.35928154, 41.86008291,\n",
       "        14.00658575, 26.7106642 , 22.71628371, 10.90850526,  8.72620958,\n",
       "        16.51038035, 10.48958243, 28.7663088 ,  0.86409967, 17.28977167,\n",
       "        19.06288691, 16.676001  , 17.15337819, 21.44003043, 36.37511653,\n",
       "        26.85680007, 27.850524  , 25.90204571, 20.30017063, 18.79984234,\n",
       "        21.39131847, 20.75806302, 22.46298153, 35.56649803, 13.22719443,\n",
       "        37.63188502, 23.7489772 ,  8.91131502, 21.44003043, 21.08930433,\n",
       "        20.11506519, 19.82279344, 10.35318895, 10.99618679, 16.60780426,\n",
       "        20.51450324, 28.93192945, 20.74832063, 26.81783051, 23.87562829,\n",
       "        18.49782821, 20.1053228 , 16.60780426, 12.58419659, 20.42682171,\n",
       "        14.49370532, 29.94513817,  2.87103231, 19.81305105, 12.39909116,\n",
       "        14.80546185, 14.23066075, 21.1282739 , 28.24996205, 23.58335655,\n",
       "        22.9501011 , 14.77623467, 24.2068696 , 26.49633159, 16.60780426,\n",
       "        19.48180974, 20.22223149, 18.11787494, 27.77258487, 23.03778262,\n",
       "         5.00461604, 17.30925645, 22.00508913, 12.55496942, 27.26598052,\n",
       "        24.97651852, 23.35928154, 25.16162396, 20.41707932]),\n",
       " array([16.87010131, 30.06554487, 22.61185044, 17.59142657, 13.64818178,\n",
       "         6.39645842, 31.90251988, 36.32664819, 30.08478021, 22.40026169,\n",
       "        28.00736344, 27.58418595, 30.43101634, 19.95737345, 20.44787463,\n",
       "        23.67941183, 31.11387092, 43.03016434, 30.39254566, 51.1859487 ,\n",
       "        26.68012495, 35.57646991, 29.53657301, 36.59594296, 20.41902162,\n",
       "        25.49715151, 34.47043784, 35.02826271, 35.06673339, 22.34255567,\n",
       "        31.38316569, 35.75920565, 25.12206237, 37.33650357, 30.64260508,\n",
       "        26.22809444, 27.83424537, 68.44004911, 25.24709208, 22.4291147 ,\n",
       "        60.63050087, 25.76644627, 34.7397326 , 33.22014071, 30.42139867,\n",
       "        22.92923355, 29.06530716, 28.5363353 , 20.47672764, 25.23747441,\n",
       "        27.66112731, 33.22975838, 14.47530142, 45.01140441, 34.44158483,\n",
       "        31.40240103, 32.53728612, 28.74792405, 26.61280125, 30.25789827,\n",
       "        21.11149388, 26.9205667 , 31.01769422, 29.0845425 , 12.03241318,\n",
       "        19.01484177, 26.74744864, 52.93636469, 31.44087171, 19.4572546 ,\n",
       "        55.36963526, 21.96746653, 33.75873024, 25.06435635, 25.85300531,\n",
       "        17.21633743,  8.70469928, 47.36773362, 19.83234374,  8.42578684,\n",
       "        21.79434847, 31.94099056, 32.11410863, 18.52434059, 25.96841735,\n",
       "        16.89895432,  3.71312843, 25.70874025, 22.25599664, 16.25457041,\n",
       "        10.90714576, 23.09273395, 16.53348285, 19.87081442, 22.77535083,\n",
       "         1.19329882, 29.27689591, 16.89895432, 17.62027958, 20.29399191,\n",
       "        29.84433845, 26.68012495, 18.69745865, 16.13915837, 14.81191988,\n",
       "        18.27428116, 19.68807869, 26.86286068, 24.69888488, 19.18795983,\n",
       "        35.10520407, 27.43030322, 21.50581836, 29.20957222, 20.01507947,\n",
       "        34.85514465, 22.03479022, 31.13310626, 26.82439   , 25.47791617,\n",
       "        21.64046574, 16.49501217, 23.91023592, 33.43172945, 14.78306687,\n",
       "        25.99727036, 21.28461194, 15.99489331, 25.68950491, 21.53467137,\n",
       "        25.6606519 , 27.87271605, 21.15958223, 24.36226642, 31.25813598,\n",
       "        24.9489443 , 27.59380362, 33.16243468, 33.39325877, 35.59570525,\n",
       "        19.74578471, 21.30384728, 31.93137289, 18.50510525, 26.83400767,\n",
       "        30.54642838, 37.92318145, 38.37521195, 32.0275496 , 25.60294588,\n",
       "        28.9883658 , 24.08335398, 21.87128983, 20.14010919, 27.31489118,\n",
       "        24.43920778, 25.09320936, 29.69045573, 36.47091324, 35.94194138,\n",
       "        31.0561649 , 16.43730615, 26.04535871, 18.71669399, 21.35193564,\n",
       "        35.52838156, 26.80515466,  9.14711211, 25.4009748 , 28.20933451,\n",
       "        34.37426113, 30.52719304, 26.66088961, 25.23747441, 32.45072709,\n",
       "        24.99703265, 21.48658302, 32.66231583, 23.86214757, 22.40987936,\n",
       "        39.24080227, 21.22690592, 34.93208601, 21.3327003 , 26.97827272,\n",
       "        29.93089749, 20.93837582, 30.17133924, 23.96794194, 18.56281127,\n",
       "        16.76430693,  8.89705268, 17.11054306, 26.85324301, 33.54714149,\n",
       "        15.53324514, 15.57171582, 32.51805078, 32.13334397, 19.13025381,\n",
       "        33.72987723, 23.45820542,  6.01175161, 21.37117098, 27.0840671 ,\n",
       "        28.32474656, 46.73296739, 31.28698899, 36.05735342, 30.49834003,\n",
       "        26.91094903, 21.75587779, 37.04797346, 37.60579833, 43.08787037,\n",
       "        37.8750931 , 26.12230007, 24.11220699, 31.44087171, 21.89052517,\n",
       "        55.88898945, 42.29922141, 29.23842523, 24.74697323, 31.94099056,\n",
       "        25.53562219, 30.26751594, 29.6038967 , 29.45001397, 43.5302832 ,\n",
       "        37.79815174, 23.46782309, 28.3439819 , 25.22785674, 29.03645415,\n",
       "        20.42863929, 31.88328454, 35.43220486, 25.63179889, 27.10330244,\n",
       "        26.12230007, 24.91047362, 40.48148173, 47.38696896, 20.88066979,\n",
       "        30.53681071, 35.63417593, 39.33697897, 26.26656513, 10.35893856,\n",
       "        48.82000183, 24.50653147, 23.26585201, 27.90156907, 44.92484538,\n",
       "        23.30432269, 28.13239315, 37.40382726, 23.78520621, 27.23794982,\n",
       "        28.74792405, 30.06554487, 41.04892428, 36.00926507, 41.40477808,\n",
       "        25.63179889, 18.75516467, 14.254095  , 40.0390689 , 45.09796345,\n",
       "        20.70755173, 31.26775365, 25.25670975, 24.13144233, 15.59095116,\n",
       "        22.74649782, 27.03597874, 55.9370778 , 29.22880756, 32.64308049,\n",
       "        13.64818178, 19.35146023, 36.68250199, 25.87224065, 17.79339765,\n",
       "        19.91890277, 27.62265663, 20.30360958, 39.63512675, 28.32474656,\n",
       "        39.10615489, 12.59985572, 27.21871448, 25.23747441, 23.61208814,\n",
       "        21.82320148, 32.41225641, 27.15139079, 30.42139867, 34.80705629,\n",
       "        22.5252914 , 35.51876389, 29.67122039, 30.02707419, 46.59832   ,\n",
       "        42.6262222 , 34.87437999, 33.98955432, 25.09320936, 18.72631166,\n",
       "        25.25670975, 32.94122827, 21.47696535, 22.25599664,  7.73331458,\n",
       "        15.61018651, 25.06435635, 30.31560429, 25.1124447 , 15.14853833,\n",
       "        10.89752809, 30.02707419, 27.55533294, 31.55628375, 27.45915623,\n",
       "        30.52719304, 14.11944762, 24.79506158, 18.20695747, 31.66207813,\n",
       "        32.15257931, 20.44787463, 25.27594509, 20.524816  , 18.05307475,\n",
       "        27.47839158, 34.86476232, 23.16967531, 19.41878392, 44.46319721,\n",
       "        33.43172945, 36.29779518, 34.87437999, 29.62313204, 24.11220699,\n",
       "        10.44549759, 25.12206237, 27.6322743 , 38.61565371, 30.01745652,\n",
       "        19.68807869, 28.09392247, 21.37117098, 13.79244683, 15.61980418,\n",
       "        17.98575105, 26.71859563,  6.05022229, 15.70636321, 31.93137289,\n",
       "        15.91795195, 19.8131084 , 26.54547756,  5.99251627, 15.5140098 ,\n",
       "        10.79173372, 27.05521408, 22.43873237, 17.37022016,  1.3952699 ,\n",
       "         8.03146236, 21.6212304 , 27.76692168, 12.15744289, 13.74435848,\n",
       "        25.23747441, 17.51448521,  4.84801351, 18.99560643, 34.03764268,\n",
       "        11.31108791, 26.93980204, 22.99655725, 16.34112944, 11.53229433,\n",
       "        16.7739246 , 11.00332246, 25.24709208,  1.20291649, 14.16753597,\n",
       "        17.77416231, 24.90085595, 21.91937818, 22.82343918, 33.85490694,\n",
       "        26.63203659, 30.26751594, 22.47720305, 22.39064402, 20.34208026,\n",
       "        24.6604142 , 20.524816  , 20.04393248, 29.98860351, 13.95594723,\n",
       "        35.55723457, 22.06364323, 13.20576895, 27.75730401, 20.41902162,\n",
       "        22.74649782, 24.33341341, 10.83982207, 18.88981206, 23.35241104,\n",
       "        21.83281915, 32.22952067, 17.60104424, 26.99750806, 24.12182466,\n",
       "        21.92899585, 20.4574923 , 16.98551335, 13.01341554, 18.93790041,\n",
       "        14.88886124, 30.04630953, 14.07135927, 18.13963378, 16.46615916,\n",
       "        12.43635533,  8.10840372, 23.30432269, 15.07159697, 12.45559067,\n",
       "        20.73640474, 14.61956647, 20.34208026, 27.60342129, 15.84101059,\n",
       "        19.8131084 , 23.01579259, 18.28389883, 27.99774577, 21.428877  ,\n",
       "         6.01175161, 17.66836794, 20.2651389 , 26.41083018, 25.53562219,\n",
       "        26.89171369, 21.70778943, 26.90133136, 19.67846101]),\n",
       " array([15.0927169 , 29.91688997, 13.77075805, 19.06771042, 12.0385361 ,\n",
       "         9.79576453, 25.92366254, 36.07995331, 24.53788498, 19.36857002,\n",
       "        24.73845805, 25.33106029, 24.53788498, 18.35658772, 18.53892688,\n",
       "        25.64103685, 24.36466279, 41.38602263, 29.78925256, 47.62202164,\n",
       "        21.75721291, 32.79784857, 27.55559795, 33.78247999, 20.79993236,\n",
       "        26.75330568, 34.02863785, 32.36023461, 36.32611116, 20.663178  ,\n",
       "        28.85932288, 32.85255032, 22.88771565, 31.88615281, 33.24457949,\n",
       "        24.18232363, 25.34929421, 48.51548348, 24.70199022, 20.46260493,\n",
       "        53.84890368, 25.11225331, 32.54257376, 26.6621361 , 31.43942189,\n",
       "        29.06901291, 26.77153959, 26.19717126, 21.01873934, 23.02447002,\n",
       "        25.08490244, 33.45426952, 21.31959895, 31.12944533, 33.6092578 ,\n",
       "        28.86843984, 30.98357401, 25.71397251, 21.40165156, 28.01144583,\n",
       "        21.21931241, 29.16018249, 28.5128785 , 26.87182613, 10.47953635,\n",
       "        30.69183136, 24.4467154 , 48.04140169, 26.95387875, 16.56966403,\n",
       "        48.91662962, 14.56393336, 31.16591316, 22.78742912, 25.43134683,\n",
       "        20.40790319, 10.20602763, 40.42874209, 13.04140144, 10.78039595,\n",
       "        18.84890343, 27.58294882, 29.72543386, 20.30761665, 23.53501964,\n",
       "        15.12006777, 22.36804907, 22.41363386, 20.20733012, 14.56393336,\n",
       "        30.67359745, 20.98227151, 14.76450643, 17.90073984, 25.50428249,\n",
       "         6.45895805, 22.55950518, 16.84317276, 14.95596254, 20.40790319,\n",
       "        30.62801266, 24.39201366, 18.57539471, 16.25057052, 21.23754633,\n",
       "        16.41467575, 18.21983336, 25.08490244, 22.56862214, 16.66995057,\n",
       "        34.5756553 , 23.43473311, 19.48709047, 33.10782513, 18.11954683,\n",
       "        27.20915356, 29.05989595, 25.79602513, 28.16643411, 24.28261017,\n",
       "        16.36909097, 14.81009122, 20.23468099, 32.18701241, 11.51886952,\n",
       "        23.94528274, 18.46599122, 23.56237052, 25.83249296, 21.29224807,\n",
       "        23.77206054, 23.80852837, 21.74809595, 20.73611366, 29.98982563,\n",
       "        22.14012513, 23.04270393, 28.73168548, 30.56419396, 30.555077  ,\n",
       "        22.14924209, 22.99711915, 33.39045081, 18.29276902, 24.24614234,\n",
       "        29.54309471, 29.37898947, 41.31308697, 27.65588448, 23.43473311,\n",
       "        26.68948698, 25.25812463, 27.45531141, 18.48422513, 26.8353583 ,\n",
       "        23.64442313, 26.46156303, 23.37091441, 30.29980219, 37.04635081,\n",
       "        35.46000019, 14.84655905, 22.35893211, 16.84317276, 25.26724159,\n",
       "        26.62566827, 24.49230019, 14.50923161, 20.65406104, 25.14872114,\n",
       "        33.08047426, 27.17268573, 23.25239396, 22.89683261, 29.61603037,\n",
       "        25.74132338, 14.1263194 , 30.09011216, 21.10079196, 26.47979695,\n",
       "        33.95570219, 19.38680393, 30.40920568, 21.41988548, 26.0604169 ,\n",
       "        27.98409495, 18.511576  , 28.18466802, 21.28313112, 17.49047675,\n",
       "        15.14741865,  9.83223236, 15.13830169, 32.15966154, 28.5128785 ,\n",
       "        16.52407925, 13.36961191, 27.69235231, 33.48162039, 19.8244179 ,\n",
       "        33.39045081, 21.44723635,  4.79055481, 20.78169845, 23.52590269,\n",
       "        25.54986727, 53.90360543, 27.2638553 , 31.90438673, 23.99998448,\n",
       "        23.03358698, 17.79133635, 34.02863785, 35.35971366, 46.79237849,\n",
       "        30.40920568, 27.61029969, 27.29120618, 22.00337077, 18.77596777,\n",
       "        48.78899221, 39.16148498, 19.23181565, 23.90881491, 29.05989595,\n",
       "        21.63869246, 28.58581416, 27.16356877, 27.39149271, 33.61837475,\n",
       "        40.02759595, 21.31959895, 26.22452214, 26.40686129, 27.15445181,\n",
       "        19.37768698, 28.43994284, 30.43655655, 22.09454034, 24.19144059,\n",
       "        22.48656952, 30.67359745, 35.32324583, 44.15757775, 20.87286802,\n",
       "        25.59545206, 34.70329271, 41.51366004, 25.59545206, 11.9747174 ,\n",
       "        44.88693435, 28.44905979, 22.33158124, 27.71970318, 44.12110992,\n",
       "        19.7605992 , 28.98696029, 32.15054458, 25.2854755 , 25.33106029,\n",
       "        21.61134159, 26.57096653, 35.78821066, 27.66500144, 36.23494159,\n",
       "        20.73611366, 16.36909097, 19.04035954, 34.30214658, 42.10626228,\n",
       "        18.6847982 , 23.64442313, 27.87469146, 23.243277  , 22.84213087,\n",
       "        23.11563959, 27.41884358, 50.59414982, 27.10886702, 30.03541042,\n",
       "        19.61472787, 22.12189121, 36.35346204, 24.63817151, 14.98331341,\n",
       "        18.97654084, 25.4586977 , 18.36570468, 29.08724683, 24.97549895,\n",
       "        35.25942712, 11.05390468, 28.95049246, 24.65640543, 22.6415578 ,\n",
       "        19.84265181, 27.82910668, 21.52928897, 30.20863261, 37.63895306,\n",
       "        25.5225164 , 33.27193037, 26.99946353, 32.42405331, 41.26750219,\n",
       "        44.11199296, 33.16252687, 31.9317376 , 27.2638553 , 15.2659391 ,\n",
       "        27.92939321, 35.42353236, 16.09558224, 17.9098568 , 10.99008598,\n",
       "        16.66083361, 23.47120094, 28.16643411, 22.42275082, 12.76789271,\n",
       "        11.81061216, 24.0182184 , 31.3938371 , 29.79836952, 23.15210742,\n",
       "        28.04791366, 14.09896852, 18.511576  , 16.25057052, 39.25265455,\n",
       "        29.58867949, 24.16408972, 23.27062787, 20.47172189, 15.52121391,\n",
       "        24.89344633, 37.06458473, 19.10417825, 20.97315456, 28.28495456,\n",
       "        26.65301914, 39.83613984, 39.47146154, 26.56184957, 21.75721291,\n",
       "        18.52980992, 21.66604333, 25.30370942, 17.34460543, 18.07396204,\n",
       "        20.11616054, 23.97263361, 21.66604333,  9.46755406, 19.59649396,\n",
       "        16.08646528, 30.74653311,  4.95466004, 15.33887476, 26.5983174 ,\n",
       "        12.8134775 , 14.86479296, 23.48943486,  9.06640792, 14.14455331,\n",
       "         9.3307997 , 17.89162289, 12.98669969, 14.1263194 ,  1.43551441,\n",
       "        10.41571765, 19.59649396, 26.17893735, 12.3393957 , 18.52980992,\n",
       "        23.01535306, 15.94971092,  3.6965199 , 18.34747077, 25.79602513,\n",
       "        11.85619695, 24.64728847, 20.90933585, 12.22999221, 10.56158897,\n",
       "        16.69730144, 12.42144832, 22.06718947,  0.23207601, 25.08490244,\n",
       "        16.50584533, 23.13387351, 19.87911964, 24.39201366, 35.8246785 ,\n",
       "        21.05520718, 22.52303735, 19.57826004, 20.07969271, 19.27740044,\n",
       "        21.23754633, 18.47510817, 23.01535306, 22.06718947, 21.6295755 ,\n",
       "        31.85880194, 19.83353486, 19.35945306, 26.98122962, 18.39305555,\n",
       "        25.5863351 , 10.34278199, 15.79472264, 13.15992189, 23.89969795,\n",
       "        23.49855181, 24.5561189 , 17.007278  , 23.94528274, 18.01014334,\n",
       "        16.91610842, 19.37768698, 15.14741865, 11.4368169 , 17.3719563 ,\n",
       "        12.8772962 , 24.50141715, 12.43056528, 18.23806728, 15.70355306,\n",
       "        10.26984633, 16.73376927, 19.03124259, 15.27505605, 24.10027102,\n",
       "        17.93720767, 13.07786927, 18.13778074, 27.61941665, 16.97081017,\n",
       "        18.11954683, 22.72361042, 25.74132338, 25.64103685, 20.4899558 ,\n",
       "         6.44072413, 15.67620219, 22.90594957, 18.80331865, 27.53736403,\n",
       "        19.09506129, 26.0604169 , 16.01352962, 16.97992713])]"
      ]
     },
     "execution_count": 8,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "pre_ran_total=[]\n",
    "for i in range(4):\n",
    "    X=np.reshape(vy_total[i],[-1,1])\n",
    "    Y=l_total[i]\n",
    "    model_ransac = linear_model.RANSACRegressor(linear_model.LinearRegression())\n",
    "    model_ransac.fit(X, Y)\n",
    "    pre_ransac=model_ransac.predict(X)\n",
    "#     pre_liner=model.predict(X)\n",
    "    pre_ran_total.append(pre_ransac)\n",
    "pre_ran_total"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([ 74.75724227, 120.84202254,  74.63836846,  74.71343617,\n",
       "        58.34653904,  41.15652622, 125.33349615, 135.53913274,\n",
       "       114.33545574,  91.623744  , 109.07403659, 108.08582609,\n",
       "       118.75720399,  73.59713118,  80.50523   ,  95.9767623 ,\n",
       "       115.26603755, 193.99142543, 118.52013845, 218.35054298,\n",
       "        95.45195829, 139.70719776, 117.67716234, 147.39130747,\n",
       "        82.04189809, 130.27138907, 126.90616141, 127.35442875,\n",
       "       154.41165299,  87.81215349, 119.12679019, 143.12891408,\n",
       "        98.07586197, 156.80993816, 114.42748655, 100.49137241,\n",
       "        97.96956994, 255.73999963, 109.7452959 ,  85.72198384,\n",
       "       223.94528349, 105.80210454, 136.54179893, 123.38924405,\n",
       "       122.34974324, 113.37791856, 117.02738292, 112.06228112,\n",
       "        81.8062264 ,  98.37577258, 105.60143732, 137.13676969,\n",
       "        54.6054327 , 146.42061633, 135.67387294, 112.61855019,\n",
       "       125.19135414, 106.55423663,  97.10597503, 116.24476313,\n",
       "        95.56129503, 101.16631304, 114.51895219, 115.47911857,\n",
       "        45.58068186,  94.61535743, 102.53705002, 212.46870752,\n",
       "       113.76198208,  92.9376435 , 210.69851681,  85.49059246,\n",
       "       116.80455122,  89.09749187, 105.20119469,  60.4701234 ,\n",
       "        32.03944645, 201.85911715,  71.44139144,  42.60786576,\n",
       "        80.01116101, 154.71499009, 103.68995025,  76.67286002,\n",
       "       110.16346606,  64.79572221,  43.25673255,  97.1626037 ,\n",
       "        82.66682344,  51.03813625,  80.84655094,  89.78795157,\n",
       "        53.26767046,  70.62212788,  93.99274071,   8.65089801,\n",
       "       104.72226129,  64.58180063,  70.07851571,  83.53841634,\n",
       "       111.01500578,  92.86248632,  75.12643513,  60.62650793,\n",
       "        57.48983241,  70.01467825,  77.82745929,  97.3099534 ,\n",
       "       102.25849689,  73.65413352, 136.50201392, 108.52150558,\n",
       "        80.42636913, 120.37717565,  80.7020703 , 139.343937  ,\n",
       "       105.4498084 , 117.34079346,  96.8553661 ,  97.09677544,\n",
       "        94.34280159,  71.88816587,  98.68665927, 130.77785182,\n",
       "        56.80611197,  85.00903599,  80.64558347,  78.43876341,\n",
       "       104.40631003,  87.01053626,  92.03748155, 107.37391265,\n",
       "        86.07340882,  87.49675322, 127.71651763, 100.17623094,\n",
       "       104.05787489, 132.09410853, 126.64167267, 126.08764781,\n",
       "        77.32317209,  88.06887903, 134.77680928,  75.74040887,\n",
       "       101.83075049, 117.32516734, 132.66186853, 158.18105919,\n",
       "       130.05494422,  97.71127766, 125.1261605 , 106.85397366,\n",
       "        96.4896787 ,  89.76808246, 100.88266314,  99.11069473,\n",
       "        96.43638938, 100.99371087, 123.00615074, 148.70692181,\n",
       "       125.39462686,  56.13351965,  98.482086  ,  79.01661214,\n",
       "        90.08737434, 140.4161852 , 111.08673291,  51.26567383,\n",
       "        91.86766395, 107.43781024, 131.7194493 , 115.495096  ,\n",
       "       103.03350991,  97.50535892, 133.23195082, 119.73548074,\n",
       "        90.17848444, 128.10106134,  98.34375773,  99.71124703,\n",
       "       111.70979535,  80.24304881, 122.0112636 ,  77.78961713,\n",
       "        95.10356517, 104.94929409,  93.74526267, 118.50585022,\n",
       "       101.01413123,  76.33836867,  69.12989023,  33.98268573,\n",
       "        61.8274598 ,  89.11712486, 129.04472993,  56.12145844,\n",
       "        69.42954699, 111.85845875, 122.15796441,  84.95240525,\n",
       "       131.85283623, 103.20735796,  27.72578295,  85.00439081,\n",
       "       100.0944153 , 105.10123628, 180.17744572, 128.95464796,\n",
       "       146.06193485, 119.54445985,  94.20048008,  79.9277832 ,\n",
       "       145.33885252, 139.48684561, 180.37666983, 153.53492131,\n",
       "       112.60722207, 106.7282881 , 108.87067184,  86.96069182,\n",
       "       225.98311888, 167.24883825, 106.81641954, 103.92343597,\n",
       "       124.22583982, 107.81250263, 116.23814143, 109.64100261,\n",
       "       107.02482191, 161.75621958, 144.80507193,  76.18815534,\n",
       "       111.27571187, 106.62683875, 110.56877215,  82.08320966,\n",
       "       120.36861445, 137.51259075,  92.2438411 , 102.28019353,\n",
       "        88.29553566, 109.73747479, 150.69135317, 177.87457432,\n",
       "        91.08178068, 124.39106433, 142.7602703 , 156.07624794,\n",
       "       103.31958531,  64.36816627, 185.34779259, 103.0793231 ,\n",
       "        91.18943656, 112.10155768, 164.81436826,  96.63455524,\n",
       "       112.87602482, 150.01019154, 100.02600036, 110.40206606,\n",
       "       107.59590918, 113.82892762, 149.06018333, 133.86322215,\n",
       "       180.02055885,  95.99252433,  67.94440996,  61.47335953,\n",
       "       164.79027429, 179.66676708,  80.16455015, 117.13740682,\n",
       "       105.88218981,  91.66963297,  68.90083538,  94.68768027,\n",
       "        99.60416316, 220.32104875, 106.79748648, 120.88756785,\n",
       "        50.96935926,  84.10202509, 161.86113775,  98.25448469,\n",
       "        73.09656769,  78.15473479, 109.37363107,  76.11152058,\n",
       "       170.36966349, 124.43759663, 158.91984883,  61.93684359,\n",
       "       107.57145014, 100.00770799,  91.06232385,  84.91329765,\n",
       "       124.81486358,  98.83347747, 119.19102643, 137.54995387,\n",
       "        78.36942528, 139.31679413, 105.77401379, 126.52941049,\n",
       "       172.81323847, 152.56635582, 130.585219  , 135.74974574,\n",
       "       100.88630348,  74.74212602, 101.94257774, 136.19486362,\n",
       "       106.64470456,  85.02137087,  38.46336444,  62.72886978,\n",
       "        88.86505989, 113.18907883,  77.54773896,  57.39213826,\n",
       "        41.13865445, 110.31385761, 121.36882891, 119.04273754,\n",
       "       105.87171824, 119.53356814,  46.94888282,  89.77694109,\n",
       "        66.85427484, 120.88032817, 117.34508673,  99.5791461 ,\n",
       "       105.80802392,  93.10952513,  73.95037308, 108.41384367,\n",
       "       135.07371567,  81.54298173,  82.65159517, 125.86141103,\n",
       "       120.20365504, 156.62801425, 116.07140756, 111.97165508,\n",
       "        92.58857429,  53.85024965,  98.07163265, 101.36228316,\n",
       "        95.60785922, 112.99832204,  75.37139021, 103.77358511,\n",
       "        84.76755603,  58.70946825,  62.77711092,  73.79910896,\n",
       "       123.70774094,  23.88617289,  39.80068972, 119.09000402,\n",
       "        63.60425844,  68.67187959,  97.74033977,  27.88114677,\n",
       "        60.10476822,  45.74864079, 104.87327982,  73.23239867,\n",
       "        62.40389444,   5.48905066,  37.76699559,  82.07163831,\n",
       "        89.52217031,  54.69590035,  50.89853294, 114.31700847,\n",
       "        68.04346303,  17.00868297,  75.28234191, 151.92699396,\n",
       "        50.9714628 , 108.4562318 ,  89.19443244,  56.15919097,\n",
       "        31.19819413,  65.10629215,  49.09846108, 103.24815506,\n",
       "         5.28186215,  87.17606396,  73.5283625 ,  85.88656675,\n",
       "        79.13734396,  87.83077552, 141.09569494,  99.61202769,\n",
       "        89.60567201,  93.20375895,  74.8745697 ,  77.14894954,\n",
       "        85.47420291,  83.7761806 ,  85.04418824, 114.37390102,\n",
       "        63.27385613, 142.56483535,  95.29954452,  50.75804961,\n",
       "        91.83804872,  77.14545551,  88.51452186,  74.38734629,\n",
       "        49.65630595,  61.9141988 ,  88.99722288,  80.32682054,\n",
       "       114.87577409,  77.23564068, 103.64070719,  90.06540443,\n",
       "        75.99332951,  80.12597003,  61.87478167,  50.22789654,\n",
       "        78.5166394 ,  42.63796401, 111.97734742,  34.70289979,\n",
       "        76.14843534,  59.8321407 ,  44.05975948,  53.74195007,\n",
       "        84.6792902 ,  71.6613347 ,  78.16568321,  84.79019016,\n",
       "        58.30151769,  85.89282198, 108.39155008,  66.00015224,\n",
       "        76.94628982,  86.38479085,  73.27659852, 107.82625227,\n",
       "        88.4598173 ,  25.87698392,  63.88690881,  90.55117563,\n",
       "        81.89625217, 105.47627636,  96.16992892,  96.22518277,\n",
       "        97.67045208,  80.41030672])"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "pre_l4=pre_ran_total[0]+pre_ran_total[1]+pre_ran_total[2]+pre_ran_total[3]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 88,
   "metadata": {},
   "outputs": [],
   "source": [
    "hypotenuse1=pre_ran_total[1]\n",
    "hypotenuse2=pre_ran_total[2]\n",
    "hypotenuse3=pre_ran_total[3]\n",
    "def get_xy(x_arr,y_arr,angel,hypotenuse):\n",
    "    x=[]\n",
    "    y=[]\n",
    "    for i in range(len(angel1)):\n",
    "        x.append(x_arr[i]+hypotenuse[i]*math.cos(angel[i]))\n",
    "        y.append(y_arr[i]+hypotenuse[i]*math.sin(angel[i]))\n",
    "    return x,y      "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 105,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[  48.1037207 , 1522.92469983],\n",
       "       [  11.7909186 ,  468.85843966],\n",
       "       [  33.63986379,  579.06637928],\n",
       "       [  48.07553624, 1122.3529891 ],\n",
       "       [  60.38369075, 1520.49479873],\n",
       "       [  34.55189227,  185.30606913],\n",
       "       [  45.16565521,  446.51382701],\n",
       "       [  24.91025326, 1493.2242844 ],\n",
       "       [  23.67856876, 1054.11306625],\n",
       "       [  35.36370908,  387.04950365],\n",
       "       [  27.63855878,  731.18545117],\n",
       "       [  35.5218097 , 1158.96832441],\n",
       "       [  47.9719733 , 1411.90239543],\n",
       "       [  21.77804966,  487.7687917 ],\n",
       "       [  23.26266278,  272.71991426],\n",
       "       [  25.08090973,  461.08436751],\n",
       "       [  21.89622836, 1222.48044477],\n",
       "       [  13.72250087, 1402.09415156],\n",
       "       [  35.90093647,  745.64941067],\n",
       "       [  11.87494089, 1452.82086265],\n",
       "       [  60.28798213,  864.69972401],\n",
       "       [  23.85406843, 1335.03462357],\n",
       "       [  46.3252251 ,  847.69107858],\n",
       "       [  60.10982704, 1377.28245242],\n",
       "       [  47.37352135,  491.66541628],\n",
       "       [  47.94322884,  358.19234924],\n",
       "       [  46.87895679,  438.57616813],\n",
       "       [  47.84598673, 1076.74028632],\n",
       "       [  34.99870429,  384.39699926],\n",
       "       [  36.33262174,  956.20782701],\n",
       "       [  47.77491109, 1139.94162206],\n",
       "       [  58.04311113, 1375.95642504],\n",
       "       [  35.23264876, 1472.52762122],\n",
       "       [  10.67795719,  300.3300093 ],\n",
       "       [  35.81110705,  218.30015007],\n",
       "       [  22.69502128,  221.90945582],\n",
       "       [  36.63806404,  386.41114604],\n",
       "       [  11.62984555,  387.55374856],\n",
       "       [  36.36845478,  398.42918283],\n",
       "       [  35.73149996,  748.57481858],\n",
       "       [   1.94749808,  863.90112342],\n",
       "       [  44.65258213,  716.72197455],\n",
       "       [  47.77478348,  581.05575716],\n",
       "       [  23.90386166,  604.64569015],\n",
       "       [  47.45773449,  217.6079646 ],\n",
       "       [  46.99835553,  153.82719479],\n",
       "       [  59.1167606 ,  497.28734478],\n",
       "       [  23.64394099,  720.85095658],\n",
       "       [  17.602028  ,  877.74835199],\n",
       "       [  11.96435338, 1055.47405433],\n",
       "       [  26.82468885,  736.15586151],\n",
       "       [  47.0790267 ,  230.6042515 ],\n",
       "       [  60.3460123 , 1532.28801118],\n",
       "       [  48.13433558,  235.82058953],\n",
       "       [  59.68383586,  427.40115264],\n",
       "       [  22.41056679, 1406.87706034],\n",
       "       [  47.81838545,  447.38365908],\n",
       "       [  48.0291235 ,  625.11194842],\n",
       "       [  54.5436313 ,  883.2071144 ],\n",
       "       [  37.23473402,  630.49119518],\n",
       "       [  23.7381012 ,  332.48168822],\n",
       "       [  35.25413335,  211.68257539],\n",
       "       [  35.46140549,  301.82926274],\n",
       "       [  24.0577938 ,  219.70988878],\n",
       "       [  35.7428008 ,  604.69334364],\n",
       "       [  47.81034003, 1099.42715577],\n",
       "       [  59.92174342, 1349.98866995],\n",
       "       [   8.7413148 ,  926.3030906 ],\n",
       "       [  27.94083081,  884.84327658],\n",
       "       [  36.00109108, 1037.82834229],\n",
       "       [   4.15585785,  709.23143099],\n",
       "       [  24.08573609,  906.516647  ],\n",
       "       [  35.79823308,  205.57128696],\n",
       "       [  32.65606497, 1053.12366267],\n",
       "       [  48.07751485, 1068.11769224],\n",
       "       [  47.82592989,  163.01203702],\n",
       "       [  58.03446189,  448.00802997],\n",
       "       [  11.42965111,  489.61391279],\n",
       "       [  21.03473073, 1478.63780157],\n",
       "       [  35.54947567, 1573.2253132 ],\n",
       "       [  35.58578537,  706.83207901],\n",
       "       [  10.75997105,  398.83654506],\n",
       "       [  35.67068661,  254.72261186],\n",
       "       [  47.94967809,  220.06093423],\n",
       "       [  47.87489761,  497.45116963],\n",
       "       [  60.03839355,  989.18131261],\n",
       "       [  21.97178686,  416.7425507 ],\n",
       "       [  23.08107662,  362.26330126],\n",
       "       [  35.35012333,  735.27367133],\n",
       "       [  46.62569418, 1240.41016403],\n",
       "       [  60.31813306, 1442.68294307],\n",
       "       [  23.70811545,  337.04289794],\n",
       "       [  48.21681635, 1005.33382649],\n",
       "       [  59.50958742, 1085.54225066],\n",
       "       [   9.18587353, 1411.01710133],\n",
       "       [  60.45316757,  697.49720891],\n",
       "       [  60.62957316,  670.35062263],\n",
       "       [  23.8274839 ,  446.89458386],\n",
       "       [  36.22424852,  803.34219724],\n",
       "       [  27.29749233, 1013.28392722],\n",
       "       [  48.18081867, 1251.94806367],\n",
       "       [  35.93020579, 1509.00321494],\n",
       "       [  23.89488719,  822.78007434],\n",
       "       [  37.30669933,  963.20188865],\n",
       "       [  47.88755881, 1482.90806478],\n",
       "       [  24.12666826,  233.55317581],\n",
       "       [  24.16953741,  721.5629095 ],\n",
       "       [  36.61472657,  286.3589756 ],\n",
       "       [  36.70597   ,  546.23514427],\n",
       "       [  23.30828241,  764.26959147],\n",
       "       [  33.38413524,  343.14972931],\n",
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       "       [  37.00368572,  737.85488391],\n",
       "       [  26.34064807, 1002.84321576],\n",
       "       [  48.56919515,  348.84254541],\n",
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       "       [  48.30200575, 1120.83952665],\n",
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       "       [  48.72952502, 1119.64496257],\n",
       "       [  35.84166937, 1262.53169258],\n",
       "       [  26.85101952,  570.13630726],\n",
       "       [  35.84547269,  659.40483845],\n",
       "       [  35.96361806,  542.74777441],\n",
       "       [  23.99761097, 1192.98653926],\n",
       "       [  24.72527951,  521.97598561],\n",
       "       [  24.66000272,  381.11819484],\n",
       "       [  35.69332076,  844.728751  ],\n",
       "       [  22.94351264,  437.8995371 ],\n",
       "       [  48.64905391,  352.76198257],\n",
       "       [  36.07257507, 1167.37310075],\n",
       "       [  35.23480441,  894.77364209],\n",
       "       [  26.3892272 , 1135.26110578],\n",
       "       [  73.11192593,  660.9087699 ],\n",
       "       [  60.18130845, 1006.47081528],\n",
       "       [  47.66726884, 1556.56036548],\n",
       "       [  78.50094968,  663.99935112],\n",
       "       [  59.02701075, 1130.50476761],\n",
       "       [  48.3086553 , 1580.25072473],\n",
       "       [  49.27908315,  500.24729745],\n",
       "       [  23.80459585, 1581.69852122],\n",
       "       [  77.3045535 ,  421.33160904],\n",
       "       [  48.11058485, 1528.57040349],\n",
       "       [  39.4965806 , 1282.68329404],\n",
       "       [  48.08718152,  334.04924914],\n",
       "       [  35.64792199,  239.69567553],\n",
       "       [  73.27222988,  512.31514743],\n",
       "       [  49.60484581,  680.45406992],\n",
       "       [  36.58598466,  806.15718853],\n",
       "       [  25.65032414, 1014.20421387],\n",
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       "       [  35.96092194,  665.23199326],\n",
       "       [  23.34086713, 1233.10453616],\n",
       "       [  12.22779698, 1521.06826467],\n",
       "       [  72.45368415,  647.33946788],\n",
       "       [  62.90355145,  912.108502  ],\n",
       "       [  47.65190077, 1226.45079926],\n",
       "       [  50.25065148,  601.43972037],\n",
       "       [  79.82458055,  664.17666179],\n",
       "       [  60.40724225, 1435.40474865],\n",
       "       [  48.16500364, 1624.24089794],\n",
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       "       [  48.67660915,  595.54002818],\n",
       "       [  39.77863045,  437.34259029],\n",
       "       [  49.01885925,  515.72789778],\n",
       "       [  48.02333994,  914.99588197],\n",
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       "       [  37.1159838 ,  699.99740487],\n",
       "       [  47.76217608,  477.78230636],\n",
       "       [  37.60285475, 1017.32653328],\n",
       "       [  51.0116144 , 1631.40446475],\n",
       "       [  49.92603775,  874.54894736],\n",
       "       [  36.39550907, 1368.75299258],\n",
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       "       [  24.34527477,  424.81763168],\n",
       "       [  27.89990826, 1380.9453289 ],\n",
       "       [  38.21356577,  851.55407712],\n",
       "       [  24.94708031, 1496.96040487],\n",
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       "       [  60.48257493,  506.01581715],\n",
       "       [  48.2321541 ,  803.6530282 ],\n",
       "       [  48.66546128,  310.72091104],\n",
       "       [  60.44149277,  887.25283188],\n",
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       "       [  13.70499706,  634.81096627],\n",
       "       [  48.04833363, 1180.45755878],\n",
       "       [  72.89521727,  633.6185548 ],\n",
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       "       [  47.40739271, 1445.3650798 ],\n",
       "       [  24.01799889,  469.7690486 ],\n",
       "       [  60.09308693,  259.21162807],\n",
       "       [  47.99082082, 1402.12584089],\n",
       "       [  50.9477636 ,  620.16972894],\n",
       "       [  47.43932651,  568.04356426],\n",
       "       [  36.58053873, 1136.67032211],\n",
       "       [  35.95338656,  692.776608  ],\n",
       "       [  23.98491371, 1340.96927765],\n",
       "       [  35.74240361,  263.90841397],\n",
       "       [  48.65321061,  291.0851021 ],\n",
       "       [  48.10916767,  599.52749043],\n",
       "       [  48.81765976,  668.29783944],\n",
       "       [  37.55668894,  169.77661384],\n",
       "       [  35.87887408,  484.91381336],\n",
       "       [  24.30097199,  681.704751  ],\n",
       "       [  77.34330877,  664.76467977],\n",
       "       [  62.19827213, 1288.3819589 ],\n",
       "       [  50.53410286, 1449.75058543],\n",
       "       [  47.94032816,  887.6028815 ],\n",
       "       [  23.33853985,  210.39122609],\n",
       "       [  47.81552275,  206.62352338],\n",
       "       [  35.14263784,  755.2953309 ],\n",
       "       [  24.08012647, 1272.00497354],\n",
       "       [  26.89900274, 1122.0294375 ],\n",
       "       [  25.20071662,  330.69079221],\n",
       "       [  13.73300122, 1198.86232261],\n",
       "       [  35.96040194, 1459.67179249],\n",
       "       [  23.90703039,  787.38073061],\n",
       "       [  36.26719186, 1098.53736537],\n",
       "       [  25.01320928, 1300.11078378],\n",
       "       [  77.5760373 ,  665.13568189],\n",
       "       [  61.00214492,  911.8212787 ],\n",
       "       [  48.64876837, 1467.514368  ],\n",
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       "       [  35.76755965,  316.22259491],\n",
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       "       [  39.0488675 , 1376.93236138],\n",
       "       [  48.45342553,  349.18382969],\n",
       "       [  35.95317123,  273.45441647],\n",
       "       [  47.30762046, 1242.28608201],\n",
       "       [  37.59291974, 1352.17221118],\n",
       "       [  73.96561205,  669.1212998 ],\n",
       "       [  47.99575316, 1079.04715413],\n",
       "       [  49.0216836 ,  402.17174273],\n",
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       "       [  35.84070373,  251.99617937],\n",
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       "       [  23.53198071,  350.69972773],\n",
       "       [  11.98664982,  830.90036305],\n",
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       "       [  49.14095924,  397.11642029],\n",
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       "       [  36.88764913,  349.81922323],\n",
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       "       [  35.94770711, 1482.67037005],\n",
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       "       [  48.20071019, 1308.45415596],\n",
       "       [  73.32309625,  611.08269849],\n",
       "       [  47.97326971, 1296.36347951],\n",
       "       [  47.86484764, 1274.48775876],\n",
       "       [  36.23827343, 1431.53031539],\n",
       "       [  24.39748673, 1588.26844208],\n",
       "       [  47.09864314,  353.13074619],\n",
       "       [  35.83993581,  688.7572221 ],\n",
       "       [  48.68444569,  648.83690581],\n",
       "       [  26.7406674 , 1610.35353838],\n",
       "       [  26.19915267,  800.34163862],\n",
       "       [  48.24386633, 1046.3993368 ],\n",
       "       [  47.94198243,  347.18721873],\n",
       "       [  73.52236526,  563.74214673],\n",
       "       [  60.19470637, 1268.13695512],\n",
       "       [  48.17512152, 1519.08794646],\n",
       "       [  39.84764494,  721.92077552],\n",
       "       [  37.35575741, 1022.72651028],\n",
       "       [  49.9623534 ,  938.67617676],\n",
       "       [  36.18433015, 1588.52238979],\n",
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       "       [  36.23878183,  745.52186645],\n",
       "       [  50.37613379,  818.9241934 ],\n",
       "       [  48.35567998,  247.90848108],\n",
       "       [  35.97315201, 1282.27999117],\n",
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       "       [  48.13682742, 1558.85503094],\n",
       "       [  24.06754673,  224.71125941],\n",
       "       [  48.23751502,  261.93020372],\n",
       "       [  24.99344209, 1494.21936511],\n",
       "       [  26.36566648, 1376.75442217],\n",
       "       [  47.85723786,  462.07079563],\n",
       "       [  24.02099851, 1284.83960475],\n",
       "       [  49.17807161,  902.40540936],\n",
       "       [  48.19254126,  643.56971923],\n",
       "       [  33.81845   , 1550.48872674],\n",
       "       [  43.22615771,  433.84355758],\n",
       "       [  75.33386387,  668.40736868],\n",
       "       [  62.4838268 ,  817.16626916],\n",
       "       [  47.21160599,  974.15129168],\n",
       "       [  35.64104683, 1167.38274229],\n",
       "       [  24.53539734, 1390.09051791],\n",
       "       [  48.29373725,  635.77000777],\n",
       "       [  23.70913916,  510.53857794],\n",
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       "       [  49.9229027 ,  438.24622642],\n",
       "       [  35.81137882,  221.21874483],\n",
       "       [  24.96330667, 1317.24010362],\n",
       "       [  49.33196141, 1493.3948116 ],\n",
       "       [  36.23383451, 1605.37817712],\n",
       "       [  23.66565363,  711.39868679],\n",
       "       [  25.14360531,  916.53933353],\n",
       "       [  49.77280353, 1589.29649695],\n",
       "       [  12.49115517,  738.63613245],\n",
       "       [  35.70997542,  293.48995854],\n",
       "       [  48.13246472, 1421.94760538],\n",
       "       [  45.7770213 , 1390.92345915],\n",
       "       [  47.78643425, 1210.73167456],\n",
       "       [  50.59366506,  938.46657136],\n",
       "       [  36.27754158,  690.2310327 ],\n",
       "       [  29.70102006, 1006.06151187],\n",
       "       [  50.57556519,  446.55679891],\n",
       "       [  48.90699233,  832.90811882],\n",
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       "       [  37.10218579,  824.87126177],\n",
       "       [  25.09933796, 1320.89832208],\n",
       "       [  14.56093805,  415.98670368],\n",
       "       [  47.84154418,  556.19113059],\n",
       "       [  47.95127796,  191.25799723],\n",
       "       [  63.76980743,  417.1572743 ],\n",
       "       [  48.02552027,  628.67984625],\n",
       "       [  47.75545226,  602.66735222],\n",
       "       [  60.01078112,  469.3685485 ],\n",
       "       [  48.26042212,  891.79416338],\n",
       "       [  37.63409412,  512.61284046],\n",
       "       [  49.9699057 ,  499.90893568],\n",
       "       [  35.8915438 ,  717.3443534 ],\n",
       "       [  49.2936918 ,  957.14914168],\n",
       "       [  75.96640776,  667.69543661],\n",
       "       [  60.35437718,  907.60726387],\n",
       "       [  49.10530624, 1588.31019061],\n",
       "       [  74.8770282 ,  544.98351037],\n",
       "       [  69.47803701,  598.25873952],\n",
       "       [  49.46140235,  760.24100127],\n",
       "       [  37.12551804,  931.04254359],\n",
       "       [  38.82696676,  158.49880995],\n",
       "       [  36.32880099,  276.75829396],\n",
       "       [  39.19669896,  920.18340274],\n",
       "       [  47.96914445,  566.84291012],\n",
       "       [  35.75285011,  841.95326213],\n",
       "       [  46.64577695, 1489.54285461],\n",
       "       [  75.71749509,  412.11482076],\n",
       "       [  61.34737171,  559.7895345 ],\n",
       "       [  49.20672946,  962.61049864],\n",
       "       [  36.3905171 , 1015.92128249],\n",
       "       [  24.20971064, 1181.91573258],\n",
       "       [  12.45295882, 1295.1907881 ],\n",
       "       [  73.72553847,  549.14390073],\n",
       "       [  60.51628512,  675.61591868],\n",
       "       [  47.68616499, 1191.9766705 ],\n",
       "       [  35.95320526,  672.9279539 ],\n",
       "       [  48.24944808,  690.61326074],\n",
       "       [  37.78339158,  592.67212276],\n",
       "       [  77.84029329,  670.09119413],\n",
       "       [  60.93433673,  811.6261205 ],\n",
       "       [  47.978086  , 1309.84687615],\n",
       "       [  36.40936252, 1632.04184374],\n",
       "       [  45.03120716,  439.27335582],\n",
       "       [  37.0023999 ,  658.10071971],\n",
       "       [  49.96333175,  742.88896728],\n",
       "       [  35.86495197,  712.7121418 ],\n",
       "       [  36.41943355, 1354.07846736],\n",
       "       [  24.21707601,  158.745     ],\n",
       "       [  37.24241957,  181.78710557],\n",
       "       [  60.82602877,  815.49179421],\n",
       "       [  49.21966116, 1005.67486598],\n",
       "       [  36.00606618, 1283.83800396],\n",
       "       [  24.75048529,  536.75079322],\n",
       "       [  47.13181187,  908.07459066],\n",
       "       [  22.06287491,  580.66265115],\n",
       "       [  37.82040854,  230.05231808],\n",
       "       [  28.286019  , 1337.27176048],\n",
       "       [  35.43249719,  474.69109949],\n",
       "       [  24.3097466 ,  899.19726095],\n",
       "       [  38.59312811,  594.60648235],\n",
       "       [  24.44229773,  969.51309348],\n",
       "       [  47.76285086, 1254.73283633],\n",
       "       [  37.64011261,  541.66373593],\n",
       "       [  24.36755914, 1564.9243016 ],\n",
       "       [  48.94523384,  901.55690744],\n",
       "       [  23.93124476,  392.28647504],\n",
       "       [  61.31009016,  413.58712378],\n",
       "       [  48.51969019,  643.23454342],\n",
       "       [  79.93360181,  665.71104615],\n",
       "       [  59.89279225, 1107.01897011],\n",
       "       [  48.0697151 , 1617.41728703],\n",
       "       [  74.85371412,  534.74048992],\n",
       "       [  63.45225078,  682.07977229],\n",
       "       [  48.54231442, 1084.26847094],\n",
       "       [  49.02589527,  391.12291525],\n",
       "       [  24.7659419 ,  745.2454667 ],\n",
       "       [  57.28228062,  601.21805132],\n",
       "       [  49.45647433,  770.74140033],\n",
       "       [  28.86725584, 1155.77824126],\n",
       "       [  73.4179144 ,  636.45473252],\n",
       "       [  59.98092042, 1015.22076332],\n",
       "       [  48.22944752, 1550.88997365],\n",
       "       [  61.42688565,  165.96707674],\n",
       "       [  47.30206332,  502.97299331],\n",
       "       [  36.46199185, 1288.0186518 ],\n",
       "       [  35.56325246,  421.6660007 ],\n",
       "       [  23.99572625, 1240.42495735],\n",
       "       [  74.68511046,  518.0457413 ],\n",
       "       [  60.5542401 ,  797.97820441],\n",
       "       [  47.91510404, 1622.50710222],\n",
       "       [  48.92936465,  208.88159759],\n",
       "       [  30.42209251, 1151.61088092],\n",
       "       [  60.28725577,  142.55327404],\n",
       "       [  46.29347025,  402.97805994],\n",
       "       [  35.53625012,  765.6770552 ],\n",
       "       [  24.00706714,  883.284436  ],\n",
       "       [  21.6822449 ,  489.63581923],\n",
       "       [  24.70328741, 1590.87528373],\n",
       "       [  47.73406662, 1126.54738696],\n",
       "       [  36.84301632, 1204.48552977],\n",
       "       [  27.62198444, 1373.68355537],\n",
       "       [  24.00628597,  386.75478233],\n",
       "       [  47.98845332, 1285.68631956],\n",
       "       [  48.35507275,  858.99036614],\n",
       "       [  74.3652565 ,  665.41786054],\n",
       "       [  60.35474725,  800.14255474],\n",
       "       [  47.97970482, 1196.48785848],\n",
       "       [  35.99225113, 1593.81522707],\n",
       "       [  27.67264159,  924.69121224],\n",
       "       [  46.70272088,  538.87967159],\n",
       "       [  25.93055534,  458.81760779],\n",
       "       [  27.50961359, 1248.84578052],\n",
       "       [  48.67473264,  504.66212732]])"
      ]
     },
     "execution_count": 105,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "x1_new,y1_new=get_xy(local_x[:,10],local_y[:,10],angel1,hypotenuse1)\n",
    "x2_new,y2_new=get_xy(local_x[:,20],local_y[:,20],angel2,hypotenuse2)\n",
    "x3_new,y3_new=get_xy(local_x[:,30],local_y[:,30],angel3,hypotenuse3)\n",
    "xy1_new=np.array([x1_new]+[y1_new]).transpose()\n",
    "xy2_new=np.array([x2_new]+[y2_new]).transpose()\n",
    "xy3_new=np.array([x3_new]+[y3_new]).transpose()\n",
    "xy3_new"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [],
   "source": [
    "def calculate(arr):\n",
    "    l0_40=[]\n",
    "    l10_40=[]\n",
    "    l20_40=[]\n",
    "    l30_40=[]\n",
    "    for i in range(len(arr)):\n",
    "        l0_40.append(arr[i]*3.06+23)\n",
    "        l10_40.append(arr[i]*2.3+17)\n",
    "        l20_40.append(arr[i]*1.6+9)\n",
    "        l30_40.append(arr[i]*0.845+2.06)\n",
    "    return l0_40,l10_40,l20_40,l30_40    "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       " 116.48299999999979,\n",
       " 84.2,\n",
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       " 113.45360000000053,\n",
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       " 70.2158000000002,\n",
       " 75.1118000000027,\n",
       " 83.83280000000174,\n",
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       " 99.5,\n",
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       " 89.4326000000015,\n",
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       " 96.16459999999537,\n",
       " 79.45700000000085,\n",
       " 84.2,\n",
       " 62.412799999993375,\n",
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       " 38.3,\n",
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       " 42.06379999999449,\n",
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       " 87.3824000000013,\n",
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       " 77.52919999999946,\n",
       " 93.41060000000138,\n",
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       " 93.53300000000021,\n",
       " 104.24299999999917,\n",
       " 73.06160000000597,\n",
       " 82.18039999999905,\n",
       " 84.9344000000035,\n",
       " 56.231600000000384,\n",
       " 103.44740000000408,\n",
       " 94.45100000000112,\n",
       " 47.847200000000356,\n",
       " 62.71880000000005,\n",
       " 100.23439999999654,\n",
       " 96.37880000000425,\n",
       " 99.5,\n",
       " 99.71419999999841,\n",
       " 99.37759999999942,\n",
       " 113.26999999999441,\n",
       " 93.93079999999777]"
      ]
     },
     "execution_count": 12,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "y0_total=calculate(vy_total[0])[0]\n",
    "y1_list=pre_ran_total[0]\n",
    "y0_total"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([ 90.061, 126.598,  76.609,  77.36 ,  61.524,  55.435, 125.047,\n",
       "       124.078, 115.35 ,  96.219, 114.295, 106.47 , 122.406,  69.466,\n",
       "        85.094,  99.192, 116.035, 199.789, 116.604, 220.869,  97.973,\n",
       "       134.892, 112.596, 139.82 ,  81.504, 145.745, 119.195, 115.975,\n",
       "       150.896,  89.71 , 120.317, 147.214,  99.142, 168.407, 108.756,\n",
       "        95.871,  83.275, 245.582, 114.507,  88.859, 202.027, 101.61 ,\n",
       "       131.638, 124.26 , 112.963, 106.163, 115.391, 104.459,  82.973,\n",
       "        99.501, 106.825, 135.719,  39.244, 136.253, 131.705, 118.439,\n",
       "       116.019, 104.273,  96.31 , 108.831, 104.11 , 100.664, 115.156,\n",
       "       116.727,  55.109,  95.39 , 105.036, 206.215, 100.085, 111.046,\n",
       "       190.025,  92.739,  95.683,  85.014, 100.081,  53.592,  31.587,\n",
       "       209.936,  80.342,  54.966,  81.351, 167.188,  78.038,  79.372,\n",
       "       119.14 ,  72.189,  45.937,  96.694,  82.694,  55.498,  81.618,\n",
       "        92.232,  53.297,  68.417,  92.105,  17.   , 104.19 ,  65.193,\n",
       "        77.798,  84.321, 100.497, 101.075,  82.421,  64.066,  52.406,\n",
       "        75.627,  80.45 ,  99.361, 105.947,  78.702, 130.804, 114.851,\n",
       "        80.505, 112.958,  83.672, 141.001, 107.113, 118.2  ,  87.678,\n",
       "       102.341, 105.372,  83.225, 100.376, 130.646,  73.654,  72.706,\n",
       "        84.49 ,  81.924, 105.204,  90.421,  85.97 , 108.939,  85.692,\n",
       "        88.757, 125.738, 112.227,  98.898, 133.532, 122.884, 115.856,\n",
       "        74.106,  52.461, 131.949,  80.856, 104.948, 115.25 , 122.531,\n",
       "       145.81 , 124.075,  92.324, 131.432, 112.681,  92.097, 109.164,\n",
       "        97.855, 100.216,  88.81 ,  96.852, 110.488, 132.759, 115.147,\n",
       "        62.2  , 104.17 ,  91.214,  90.275, 139.173, 115.84 ,  61.699,\n",
       "        92.06 , 104.455, 132.776, 110.436, 106.267,  99.329, 133.227,\n",
       "       127.86 , 100.734, 125.157, 102.383, 100.719,  87.622,  72.367,\n",
       "       111.241,  82.905,  96.704, 114.928,  97.84 , 115.256, 107.799,\n",
       "        82.564,  80.234,  40.915,  66.279,  65.901, 128.584,  58.848,\n",
       "        83.114,  78.771, 117.127,  92.875, 125.551, 101.443,  36.598,\n",
       "        79.323, 106.064, 103.513, 140.044, 132.627, 149.969, 124.805,\n",
       "        93.114,  82.387, 139.373, 127.689, 188.33 , 154.761, 113.915,\n",
       "        99.409, 106.022,  93.665, 212.549, 157.624, 113.293, 106.35 ,\n",
       "       118.15 , 116.082, 112.064, 103.381,  99.334, 159.064, 137.216,\n",
       "        72.05 , 146.655, 114.437, 111.688,  87.51 , 117.481, 135.922,\n",
       "        85.609, 106.029,  82.695, 109.819, 143.009, 157.362,  95.678,\n",
       "       133.571, 140.809, 143.096, 101.425,  51.302, 172.395,  99.499,\n",
       "        82.323, 110.335, 160.884, 104.005, 110.131, 150.778,  99.917,\n",
       "       103.999, 113.022, 115.906, 130.024, 135.61 , 187.725,  98.607,\n",
       "        74.759,  62.665, 168.912, 176.289,  83.799, 119.872, 100.12 ,\n",
       "        93.622,  66.5  ,  99.679,  97.909, 203.218,  99.606, 119.38 ,\n",
       "        41.524,  86.931, 154.419,  93.305,  83.118,  81.347, 109.845,\n",
       "        77.293, 177.924, 122.493, 150.735,  75.94 , 104.86 ,  99.5  ,\n",
       "        89.874,  87.984, 123.758,  99.532, 113.677, 124.297,  66.12 ,\n",
       "       133.803,  99.238, 117.82 , 161.19 , 131.878, 132.154, 129.142,\n",
       "        99.368,  78.718,  97.663, 126.581, 119.28 ,  84.778,  46.678,\n",
       "        66.384,  84.047, 103.401,  88.243,  64.825,  40.401, 104.082,\n",
       "       121.88 , 114.104, 108.278, 117.708,  51.373,  91.233,  71.547,\n",
       "        97.272, 117.075, 102.839, 110.458, 108.344,  81.818, 103.993,\n",
       "       116.163,  73.54 ,  86.71 , 108.874, 117.279, 149.184,  84.436,\n",
       "       114.147,  94.929,  49.069,  97.909, 106.017,  87.761, 126.36 ,\n",
       "        71.053,  93.006,  86.128,  68.973,  66.543,  77.176, 130.365,\n",
       "        37.241,  26.211, 115.97 ,  73.244,  58.053, 100.364,  34.05 ,\n",
       "        74.612,  53.723, 100.023,  82.877,  68.751,  18.272,  48.159,\n",
       "        84.555,  69.625,  57.173,  49.94 , 117.313,  72.337,  29.542,\n",
       "        87.386, 159.623,  62.477, 106.583,  91.396,  52.971,  45.041,\n",
       "        70.309,  52.791, 112.384,  17.939,  76.5  ,  80.271,  74.198,\n",
       "        75.952,  85.362, 136.673, 104.912, 107.38 , 101.971,  77.095,\n",
       "        78.649,  85.753,  88.497,  88.377, 132.972,  60.811, 141.913,\n",
       "        92.226,  45.374,  84.59 ,  83.925,  82.717,  82.037,  50.113,\n",
       "        55.74 ,  79.28 ,  84.176, 112.859,  85.75 , 105.642,  95.765,\n",
       "        77.596,  83.001,  68.682,  57.617,  86.102,  62.812, 116.481,\n",
       "        27.009,  81.864,  59.207,  61.541,  63.525,  86.463, 104.592,\n",
       "        92.129,  92.843,  65.569,  93.094, 104.636,  71.149,  80.896,\n",
       "        83.51 ,  71.405, 106.317,  93.158,  34.116,  72.618,  91.456,\n",
       "        66.74 , 105.506, 100.532,  94.59 , 104.486,  88.262])"
      ]
     },
     "execution_count": 13,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "y1_total=l_total[0]+calculate(vy_total[1])[1]\n",
    "y2_list=l_total[0]+pre_ran_total[1]\n",
    "y1_total"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([ 74.668, 119.611,  83.977,  73.081,  57.406,  40.132, 126.169,\n",
       "       132.774, 116.948,  91.081, 108.714, 104.926, 119.907,  75.958,\n",
       "        81.787,  94.65 , 119.621, 184.424, 117.798, 210.004, 100.962,\n",
       "       137.652, 115.506, 141.972,  80.98 , 119.011, 127.43 , 127.705,\n",
       "       146.7  ,  88.795, 121.717, 143.241,  98.585, 157.78 , 112.07 ,\n",
       "       101.991,  97.664, 259.077, 105.112,  87.378, 224.259, 102.869,\n",
       "       134.58 , 127.351, 117.263,  98.163, 113.878, 110.731,  81.071,\n",
       "        99.   , 107.97 , 133.819,  50.654, 158.124, 133.088, 119.861,\n",
       "       122.289, 109.038, 101.376, 113.57 ,  91.194, 103.108, 116.44 ,\n",
       "       114.885,  49.333,  84.253, 104.485, 205.331, 118.293,  94.425,\n",
       "       207.965,  89.47 , 125.608,  93.201, 100.681,  58.458,  36.008,\n",
       "       193.609,  78.133,  43.457,  82.629, 149.846, 116.984,  75.204,\n",
       "       105.841,  65.474,  30.157,  98.884,  83.505,  61.263,  62.635,\n",
       "        91.058,  58.792,  72.115,  90.41 ,   9.   , 109.759,  63.314,\n",
       "        72.439,  82.039, 110.752, 100.968,  75.338,  62.364,  55.529,\n",
       "        72.974,  78.591,  99.355, 102.986,  76.389, 133.171, 112.553,\n",
       "        83.352, 113.706,  81.831, 138.72 ,  93.921, 120.377,  96.863,\n",
       "        99.964,  96.735,  70.147,  98.362, 129.209,  64.078,  87.051,\n",
       "        83.413,  70.581, 103.06 ,  87.142,  95.294, 108.885,  83.975,\n",
       "        90.07 , 123.529, 102.26 , 107.291, 130.871, 126.475, 127.758,\n",
       "        74.928,  76.414, 129.289,  76.35 , 104.95 , 116.423, 135.517,\n",
       "       149.67 , 125.444,  95.527, 120.821, 100.888,  88.624,  93.97 ,\n",
       "       102.717,  98.147,  94.232, 106.387, 131.488, 138.472, 120.008,\n",
       "        61.991, 102.076,  77.258,  85.375, 140.106, 110.984,  46.637,\n",
       "        96.654, 107.204, 132.895, 117.199, 105.264,  98.828, 130.536,\n",
       "       110.444,  93.23 , 126.923,  97.029,  93.779, 120.034,  77.684,\n",
       "       127.574,  82.504, 101.194, 115.89 ,  90.219, 114.833, 101.269,\n",
       "        76.958,  71.12 ,  36.407,  68.665,  85.461, 129.143,  57.337,\n",
       "        69.916, 114.602, 119.364,  82.093, 129.505,  95.908,  30.278,\n",
       "        80.697, 105.547, 106.293, 162.848, 127.698, 145.113, 122.85 ,\n",
       "        99.203,  84.015, 142.834, 137.843, 176.781, 151.007, 108.507,\n",
       "        96.076, 113.936,  88.967, 216.288, 161.975, 114.058, 102.146,\n",
       "       123.143, 108.293, 115.38 , 111.185, 106.781, 165.027, 140.976,\n",
       "        83.752, 119.861, 105.283, 112.351,  82.862, 121.593, 137.721,\n",
       "        92.943, 105.473,  91.617, 103.684, 152.859, 175.343,  86.761,\n",
       "       125.13 , 141.326, 149.365, 101.228,  46.169, 183.959,  97.523,\n",
       "        87.679, 108.098, 165.116,  97.647, 110.823, 149.892,  96.054,\n",
       "       106.879, 113.175, 116.78 , 147.627, 138.875, 171.952,  99.616,\n",
       "        72.035,  58.365, 164.767, 172.27 ,  81.957, 121.447, 100.538,\n",
       "        92.426,  62.95 ,  94.065, 100.203, 211.2  , 107.295, 123.653,\n",
       "        47.35 ,  78.894, 152.485,  97.731,  75.078,  79.166, 108.607,\n",
       "        78.141, 157.138, 118.845, 153.188,  60.777, 106.2  ,  99.   ,\n",
       "        90.266,  86.441, 125.809, 103.116, 116.683, 131.031,  78.675,\n",
       "       136.93 , 107.383, 117.832, 173.943, 150.559, 133.414, 131.243,\n",
       "        98.627,  76.792,  98.537, 129.81 , 106.688,  87.959,  37.526,\n",
       "        62.868,  91.483, 112.209,  91.689,  61.164,  49.937, 113.331,\n",
       "       113.828, 116.783, 107.955, 118.921,  52.574,  94.749,  70.676,\n",
       "       108.802, 118.804,  91.635, 101.43 ,  86.714,  76.423, 107.535,\n",
       "       127.869,  87.379,  80.884, 138.649, 125.389, 147.54 , 120.301,\n",
       "       115.202,  94.338,  53.6  ,  98.313, 106.469, 116.028, 122.556,\n",
       "        74.645, 105.892,  84.306,  61.477,  62.316,  72.748, 110.679,\n",
       "        28.374,  52.472, 121.21 ,  66.161,  74.225, 100.317,  27.533,\n",
       "        70.008,  48.652, 104.348,  82.375,  69.037,  10.256,  37.57 ,\n",
       "        83.123, 100.573,  51.769,  49.895, 104.921,  69.723,  22.683,\n",
       "        75.081, 146.87 ,  51.737, 106.598,  90.178,  56.481,  44.816,\n",
       "        67.02 ,  47.704, 105.287,   9.633,  67.628,  75.109,  90.971,\n",
       "        84.302,  85.129, 133.61 , 105.305, 110.128,  95.045,  77.262,\n",
       "        79.091,  91.525,  85.14 ,  77.909, 120.004,  57.808, 140.41 ,\n",
       "        85.81 ,  47.139,  95.47 ,  79.824,  84.684,  87.237,  45.023,\n",
       "        70.544,  91.86 ,  83.387, 118.357,  77.622, 105.491,  94.878,\n",
       "        81.844,  81.052,  65.636,  53.324,  80.161,  59.087, 117.227,\n",
       "        45.508,  74.672,  61.61 ,  49.463,  46.474,  87.647,  70.277,\n",
       "        70.147,  87.447,  61.676,  82.032, 106.107,  66.036,  78.712,\n",
       "        85.578,  68.488, 106.687,  87.333,  28.433,  69.756,  85.965,\n",
       "        95.687, 102.294, 104.083,  89.104, 108.204,  83.816])"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "y2_total=l_total[0]+l_total[1]+calculate(vy_total[2])[2]\n",
    "y3_list=l_total[0]+l_total[1]+pre_ran_total[2]\n",
    "y2_total"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([ 71.7155 , 122.9442 ,  71.06625,  73.1407 ,  53.63675,  42.90905,\n",
       "       120.8161 , 139.7464 , 113.3877 ,  87.63755, 106.2056 , 104.65485,\n",
       "       113.2497 ,  73.7716 ,  79.7986 ,  99.21315, 113.54415, 190.6943 ,\n",
       "       121.8869 , 215.8111 ,  97.07745, 139.4694 , 116.69565, 144.04   ,\n",
       "        82.4922 , 123.08205, 133.27415, 128.6968 , 153.14255,  87.94945,\n",
       "       122.484  , 143.3561 ,  97.66825, 155.9654 , 119.43345, 102.54315,\n",
       "        96.61175, 244.6322 , 105.5478 ,  86.11555, 227.90745, 105.48405,\n",
       "       136.9758 , 122.85855, 123.21635, 106.40735, 113.20895, 110.8596 ,\n",
       "        82.937  ,  98.127  , 107.6037 , 137.5958 ,  62.37085, 146.68205,\n",
       "       137.02245, 120.65045, 124.82885, 108.67975,  95.8019 , 113.53315,\n",
       "        92.7099 , 111.57985, 117.2819 , 115.3279 ,  45.1168 , 108.32345,\n",
       "       104.0442 , 210.5678 , 118.86595,  90.8474 , 208.033  ,  80.6684 ,\n",
       "       127.12485,  92.2943 , 104.1058 ,  61.57685,  36.3733 , 193.27005,\n",
       "        70.57825,  45.18865,  79.5529 , 148.498  , 118.23575,  77.2449 ,\n",
       "       104.6732 ,  62.53785,  59.7776 ,  96.68885,  81.89595,  59.1484 ,\n",
       "        97.31755,  89.5662 ,  55.7383 ,  69.8831 ,  94.5684 ,  12.30435,\n",
       "       103.54305,  61.9159 ,  68.68575,  82.37385, 115.6763 , 100.5215 ,\n",
       "        75.2784 ,  61.70665,  61.1218 ,  70.37475,  77.22185,  99.6227 ,\n",
       "       102.1265 ,  72.62335, 138.70315, 108.24525,  81.5844 , 121.5747 ,\n",
       "        79.7219 , 134.27455, 107.4509 , 115.5888 , 102.6018 , 101.2001 ,\n",
       "        91.0345 ,  67.05555,  94.0833 , 133.28525,  57.3391 ,  86.88545,\n",
       "        80.399  ,  79.62055, 104.1286 ,  87.1935 ,  95.2869 , 105.4517 ,\n",
       "        85.729  ,  87.52605, 126.0588 , 100.54535, 102.7849 , 128.8337 ,\n",
       "       127.26515, 126.9127 ,  78.9618 ,  81.09765, 135.45565,  74.52345,\n",
       "       104.2183 , 111.90675, 127.80565, 159.5917 , 124.0826 ,  94.96825,\n",
       "       119.1259 , 106.04525,  96.1607 ,  93.0589 , 106.3471 ,  98.0126 ,\n",
       "        99.57465, 102.2361 , 127.4041 , 145.6071 , 131.7468 ,  58.91135,\n",
       "        99.69015,  74.7899 ,  93.0077 , 131.50575, 110.49745,  52.0547 ,\n",
       "        90.888  , 106.32485, 136.63435, 116.34175, 103.43625,  97.7727 ,\n",
       "       131.23735, 113.3961 ,  83.2238 , 128.02575,  94.01305, 101.88755,\n",
       "       117.96455,  76.19445, 125.3775 ,  84.8538 , 103.08885, 116.8018 ,\n",
       "        87.38225, 116.2437 ,  99.99505,  75.15985,  68.3782 ,  34.34585,\n",
       "        64.57975,  97.2159 , 123.8269 ,  57.36615,  66.09245, 113.2074 ,\n",
       "       124.66415,  83.73305, 134.84265,  94.76215,  24.547  ,  80.4793 ,\n",
       "       103.94575, 106.26665, 186.09315, 125.65225, 143.5463 , 116.60615,\n",
       "        96.48945,  78.5537 , 144.69315, 141.42485, 183.15115, 145.6655 ,\n",
       "       113.51735, 102.1076 , 103.3316 ,  85.6563 , 217.1677 , 165.2415 ,\n",
       "       104.4478 , 104.13265, 123.2149 , 106.2856 , 117.3745 , 111.4793 ,\n",
       "       107.80855, 156.4949 , 151.36825,  82.45485, 119.44395, 109.46495,\n",
       "       113.07485,  82.168  , 120.9323 , 134.38885,  89.5461 , 104.8266 ,\n",
       "        88.87745, 114.55555, 152.50805, 180.5191 ,  86.7158 , 122.1799 ,\n",
       "       144.48345, 161.7576 , 102.3249 ,  46.2966 , 188.1111 , 105.39875,\n",
       "        88.3228 , 110.71375, 172.6183 ,  94.5399 , 115.4803 , 148.95745,\n",
       "       100.6006 , 107.02685, 104.32825, 115.17105, 147.861  , 130.61405,\n",
       "       171.57305,  95.80205,  68.6835 ,  65.75235, 161.83865, 177.07285,\n",
       "        79.9888 , 112.9086 , 105.0014 ,  93.6038 ,  71.386  ,  95.3275 ,\n",
       "       105.2929 , 215.3148 , 107.7396 , 124.71105,  54.1217 ,  85.71045,\n",
       "       159.1749 ,  99.25165,  70.2451 ,  78.0182 , 108.88415,  75.85105,\n",
       "       147.66925, 116.8733 , 153.7569 ,  56.76215, 111.8015 ,  99.77255,\n",
       "        91.7551 ,  84.86895, 123.31915,  98.9402 , 121.4016 , 141.47035,\n",
       "        86.8163 , 126.5628 , 107.3272 , 125.95995, 174.60345, 163.22185,\n",
       "       136.0794 , 131.62865, 102.95625,  72.44905, 104.2671 , 138.526  ,\n",
       "        97.446  ,  81.36455,  41.6    ,  61.9669 ,  91.32405, 113.0528 ,\n",
       "        90.1523 ,  56.82475,  47.1315 , 105.87905, 122.7671 , 119.22335,\n",
       "       105.2813 , 119.47695,  51.40445,  87.49925,  67.95565, 121.186  ,\n",
       "       119.944  ,  94.71825, 100.37315,  88.096  ,  74.62265, 107.00925,\n",
       "       135.088  ,  80.9815 ,  82.84375, 107.67865, 120.4271 , 160.8578 ,\n",
       "       135.1938 , 114.5516 ,  92.85445,  67.59915,  95.86295, 106.2835 ,\n",
       "        81.03865, 106.67065,  76.30545, 103.2408 ,  86.25495,  54.61785,\n",
       "        65.0988 ,  69.47355, 121.91315,  22.7981 ,  50.33665, 118.2854 ,\n",
       "        60.566  ,  67.37825,  99.04395,  26.79005,  67.3807 ,  44.1601 ,\n",
       "        97.62465,  67.89855,  64.2518 ,   4.8244 ,  37.28665,  81.3918 ,\n",
       "       101.1777 ,  51.2666 ,  55.50715, 104.09055,  67.4408 ,  16.677  ,\n",
       "        75.86415, 140.4538 ,  50.43575, 106.3661 ,  88.8066 ,  44.8392 ,\n",
       "        41.04485,  64.7717 ,  48.88265, 102.33675,   2.677  ,  77.4027 ,\n",
       "        72.57925,  90.8164 ,  82.64575,  88.6975 , 143.3498 , 101.5658 ,\n",
       "        97.63025,  92.8919 ,  71.24065,  78.81805,  88.5638 ,  82.82345,\n",
       "        82.77955, 114.10475,  67.82715, 139.69505,  82.7575 ,  53.3991 ,\n",
       "        97.2543 ,  77.7304 ,  92.08445,  63.35605,  49.46715,  64.4981 ,\n",
       "        90.9442 ,  84.1244 , 100.6226 ,  75.461  , 104.16445,  88.0445 ,\n",
       "        75.9805 ,  79.749  ,  61.1422 ,  49.42405,  78.03   ,  55.41415,\n",
       "       114.2199 ,  41.8351 ,  75.65775,  59.79665,  42.90645,  64.9315 ,\n",
       "        85.7799 ,  70.4135 ,  88.4351 ,  83.2219 ,  58.25005,  81.3218 ,\n",
       "       109.6138 ,  65.3012 ,  76.4509 ,  87.11915,  77.7591 , 106.58515,\n",
       "        87.7729 ,  24.77645,  66.8333 ,  89.30315,  85.06265, 105.91075,\n",
       "        95.64405,  94.92985,  97.77095,  80.36765])"
      ]
     },
     "execution_count": 15,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "y3_total=l_total[0]+l_total[1]+l_total[2]+calculate(vy_total[3])[3]\n",
    "y4_list=l_total[0]+l_total[1]+l_total[2]+pre_ran_total[3]\n",
    "y3_total"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[20.17556427, 27.52409731, 20.25479374, 19.84874272, 19.42288433,\n",
       "        13.50048169, 34.91224509, 30.09905499, 30.0891513 , 25.9890264 ,\n",
       "        26.25642585, 26.95958736, 32.07979166, 18.98712227, 20.78959264,\n",
       "        21.61159835, 29.89107764, 54.67009338, 28.2470662 , 60.10721554,\n",
       "        22.07707147, 35.91251711, 32.19863586, 40.11167885, 21.15602892,\n",
       "        39.79476099, 27.68255625, 30.07924762, 43.98401904, 22.87926982,\n",
       "        27.67265256, 34.62503828, 25.19673173, 41.54771294, 21.41352469,\n",
       "        27.30621628, 25.21653909, 70.31791307, 30.42587654, 20.58161529,\n",
       "        53.93722081, 30.3268397 , 34.82311194, 31.55489644, 31.68364432,\n",
       "        34.93205246, 31.69354801, 32.05998429, 20.215179  , 25.13730963,\n",
       "        25.97912271, 35.11031876, 11.91589235, 34.06052833, 32.44622794,\n",
       "        21.12631787, 31.85200694, 25.18682804, 25.17692436, 29.89107764,\n",
       "        27.4745789 , 19.6803801 , 24.14694129, 29.18791612, 10.76706509,\n",
       "        20.18546795, 24.63222178, 54.45221234, 31.25778594, 28.52436933,\n",
       "        54.27394604, 26.62286213, 30.0891513 , 20.19537164, 28.94032403,\n",
       "        11.44051555,  9.40035678, 55.63075066, 19.06635173, 11.4702266 ,\n",
       "        19.74970588, 52.00600256, 27.4151568 , 18.70981913, 29.02945718,\n",
       "        15.23362628,  7.83557481, 25.01846543, 19.61105432,  8.70709895,\n",
       "        19.46249907, 22.90898087, 10.2817846 , 16.77860088, 22.91888456,\n",
       "         0.37810125, 26.65257318, 15.93678779, 19.45259538, 22.76042562,\n",
       "        25.14721331, 15.35247048, 17.09551875, 13.44105959, 10.08371093,\n",
       "        17.41243661, 20.72026685, 18.71972282, 28.49465828, 18.95741122,\n",
       "        31.66383695, 28.85119088, 20.18546795, 29.08887928, 22.98821034,\n",
       "        40.33946357, 27.13785366, 29.93069237, 19.90816482, 20.88862947,\n",
       "        30.75269809, 20.18546795, 29.62367818, 30.10895867, 13.28260066,\n",
       "        18.24434602, 20.19537164, 19.19509962, 25.95931535, 22.32466356,\n",
       "        21.69082782, 27.91034097, 22.03745674, 20.38354162, 33.94168413,\n",
       "        24.05780814, 29.62367818, 34.54580881, 30.0891513 , 30.0891513 ,\n",
       "        17.7194508 , 34.48638671, 34.86272668, 19.35355855, 24.15684498,\n",
       "        26.93978   , 34.05062464, 40.05225675, 38.49737847, 26.43469215,\n",
       "        35.05089666, 28.38571777, 24.61241441, 23.77060132, 22.09687884,\n",
       "        26.17719638, 22.71090721, 22.19591567, 28.33619935, 41.39915769,\n",
       "        29.10868665, 10.64822089, 23.52300924, 20.16566059, 20.8688221 ,\n",
       "        42.04289711, 30.00001815, 13.79759219, 23.04763244, 26.97939473,\n",
       "        29.02945718, 29.59396713, 26.08806323, 24.39453338, 36.98211491,\n",
       "        36.06107236, 29.89107764, 32.77304949, 27.73207466, 25.52355328,\n",
       "        15.72881044, 22.64158142, 28.09851095, 15.83775096, 17.25397768,\n",
       "        17.3034961 , 30.64375757, 30.60414284, 28.64321353, 20.43306004,\n",
       "        17.56099186,  7.65730851, 15.07516734, 15.04545629, 32.73343476,\n",
       "        10.27188092, 20.34392689, 34.39725356, 25.08779121, 23.04763244,\n",
       "        32.03027324, 33.18900419, 11.49993765, 23.68146817, 22.38408566,\n",
       "        24.67183651, 41.59723136, 35.69463608, 38.08142377, 32.74333844,\n",
       "        20.18546795, 20.31421584, 37.51691382, 32.39670952, 36.52654548,\n",
       "        44.03353746, 30.06934394, 31.04980859, 28.91061298, 23.30512821,\n",
       "        63.04860949, 43.53835329, 29.32656768, 28.73234668, 32.78295317,\n",
       "        31.2775933 , 28.92051667, 26.49411425, 25.21653909, 41.63684609,\n",
       "        30.00992184, 13.89662902, 14.23335426, 25.57307169, 25.54336064,\n",
       "        20.70045949, 29.57415977, 35.8629987 , 24.87981386, 23.62204607,\n",
       "        19.58134327, 26.11777428, 36.97221123, 44.50891426, 25.35519066,\n",
       "        33.19890787, 35.23906664, 37.44758803, 25.69191589, 32.13921376,\n",
       "        45.18236473, 25.14721331, 25.65230116, 28.41542882, 30.09905499,\n",
       "        27.95985938, 27.6528452 , 40.34936725, 25.95931535, 32.51555372,\n",
       "        28.19754778, 27.27650523, 38.52708952, 34.46657934, 51.40187787,\n",
       "        25.00856174, 14.31258372, 14.07489532, 44.98429106, 42.99365071,\n",
       "        20.43306004, 31.2181712 , 27.93014833, 20.18546795, 15.23362628,\n",
       "        23.80031237, 20.00720165, 57.42331735, 25.44432381, 26.89026158,\n",
       "         9.925252  , 21.36400627, 49.3617191 , 24.39453338, 20.17556427,\n",
       "        19.66057273, 28.23716252, 19.35355855, 49.43104489, 40.65638144,\n",
       "        44.94467633, 21.33429522, 25.28586488, 25.13730963, 23.01792139,\n",
       "        21.67102045, 32.43632426, 25.13730963, 29.35627873, 32.70372371,\n",
       "        15.23362628, 35.42723663, 24.10732656, 33.73370678, 41.56752031,\n",
       "        31.10923069, 27.12794998, 36.25914603, 23.55272029, 22.65148511,\n",
       "        24.34501496, 34.99147456, 41.86463081, 25.29576856, 10.36101407,\n",
       "        15.22372259, 19.57143958, 29.60387082,  7.02347278, 14.73844211,\n",
       "        12.51011336, 29.77223344, 30.59423915, 27.80140045, 27.69245993,\n",
       "        30.60414284,  7.59788641, 23.94886762, 15.23362628, 25.00856174,\n",
       "        23.65175712, 29.42560452, 28.52436933, 23.46358714, 21.23525839,\n",
       "        30.21789919, 33.21871524, 23.25560979, 20.83911105, 24.46385916,\n",
       "        29.90098132, 40.90397352, 22.74061826, 26.50401793, 23.07734349,\n",
       "        16.98657823, 26.96949105, 22.01764937, 18.97721858, 31.97085114,\n",
       "        19.07625542, 29.64348555, 20.64103739, 20.22508269, 12.01492919,\n",
       "        21.45313942, 30.23770655,  6.17175601,  7.0729912 , 30.6833723 ,\n",
       "        17.7194508 , 22.97830666, 21.42342837,  7.33048696, 13.31231171,\n",
       "        15.25343364, 34.83301563, 17.22426663, 14.70873106,  1.78442429,\n",
       "         9.6875636 , 20.06662375, 21.43333205, 17.87790973,  8.2614332 ,\n",
       "        36.03136131, 17.64022133,  4.14150092, 14.57998318, 50.23324324,\n",
       "        13.79759219, 30.15847709, 22.57225564, 16.67956405,  0.37810125,\n",
       "        15.12468576, 15.18410786, 27.16756471,  2.98276997, 30.63385389,\n",
       "        20.18546795, 21.17583629, 20.18546795, 19.17529225, 35.04099298,\n",
       "        25.06798384,  8.96459472, 25.24625014, 12.10406234, 18.7296265 ,\n",
       "        18.18492391, 24.01819341, 19.52192117, 26.75161001, 14.46113898,\n",
       "        37.51691382, 29.65338923,  9.28151258, 15.65948466, 17.244074  ,\n",
       "        20.06662375, 19.88835745, 12.66857229, 18.86827807, 25.13730963,\n",
       "        14.48094634, 29.15820507, 21.8789978 , 25.88008588, 24.05780814,\n",
       "        18.65039703, 20.18546795, 13.13404541, 13.19346751, 21.77996097,\n",
       "         0.37810125, 27.48448258,  5.32994293, 19.95768323, 15.26333733,\n",
       "         6.54809598, 14.66911633, 21.21545102, 13.06471962, 18.02646498,\n",
       "        23.16647664, 15.82784728, 23.20609137, 26.67238055, 16.58052721,\n",
       "        19.53182485, 20.42315635, 11.13350137, 26.41488478, 23.50320187,\n",
       "         8.41989213, 13.23308224, 25.37499803, 24.12713393, 25.13730963,\n",
       "        25.20663541, 25.09769489, 29.59396713, 23.33483926]])"
      ]
     },
     "execution_count": 16,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "y1_list=np.reshape(y1_list,[1,-1])\n",
    "y1_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
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       "         27.97593682,  24.29982158,  65.15606864,  63.59047626,\n",
       "         59.50263925,  48.2068859 ,  57.83778925,  52.54499249,\n",
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       "         59.81642621, 109.53814507,  60.12027404, 124.4533571 ,\n",
       "         48.50254896,  71.15636216,  58.43235553,  74.06920566,\n",
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       "         82.24178939,  44.33615   ,  62.30864905,  77.39311984,\n",
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       "         59.90648708,  52.12451203,  48.23159786,  55.0783414 ,\n",
       "         53.52590984,  50.55718375,  57.65143818,  59.91183382,\n",
       "         22.83366724,  46.21121635,  53.1526642 , 113.0607288 ,\n",
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       "         39.13644237,  24.29653353,  39.13430866,  45.66496523,\n",
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       "         45.54599566,  52.04135986,  69.29225673,  56.5242501 ,\n",
       "         53.94616312,  49.80551852,  71.17507845,  67.50505234,\n",
       "         51.62150439,  65.29258386,  51.94474353,  50.75801744,\n",
       "         41.08148045,  33.71475753,  56.82546097,  41.24328039,\n",
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       "         40.16629236,  39.7608021 ,  58.78720884,  46.1091011 ,\n",
       "         65.51423495,  51.733912  ,  13.68253887,  37.70105322,\n",
       "         53.65035986,  51.84178594,  72.87464155,  69.85916759,\n",
       "         79.97577093,  65.3117969 ,  44.82347612,  39.54535323,\n",
       "         73.8343274 ,  65.7166241 ,  99.35187549,  83.13708508,\n",
       "         59.18127837,  50.84006634,  54.40381637,  46.84607067,\n",
       "        117.73752773,  84.59477857,  58.26761098,  54.70530116,\n",
       "         61.18900013,  60.59259468,  57.79429466,  51.94842289,\n",
       "         49.82377613,  85.05371554,  71.3724024 ,  32.69510428,\n",
       "         73.32085358,  58.86804903,  56.91450554,  42.61342391,\n",
       "         60.4802273 ,  71.69583065,  43.35068801,  53.25740443,\n",
       "         39.8003228 ,  56.13262944,  75.87941438,  84.91611335,\n",
       "         47.5200522 ,  70.32589368,  74.67373502,  76.1520209 ,\n",
       "         50.82765223,  22.30129655,  93.63849168,  49.97551852,\n",
       "         39.65370214,  56.60885661,  83.20135797,  53.61977397,\n",
       "         56.35182618,  80.66545245,  50.36700331,  54.01150222,\n",
       "         57.97009576,  59.66091099,  68.63495888,  71.4633763 ,\n",
       "        102.81696132,  49.57405004,  34.0385706 ,  27.93700966,\n",
       "         91.50776775,  93.43589064,  40.58614019,  62.14205883,\n",
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       "         48.16013918, 110.97850379,  50.02948809,  61.22581536,\n",
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       "         91.33224503,  65.4789697 ,  81.29859049,  37.34078797,\n",
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       "         64.49017624,  49.95548809,  58.39971642,  64.67122081,\n",
       "         30.0529912 ,  70.50486325,  49.68800331,  60.99157622,\n",
       "         86.62289598,  69.09690998,  68.41836216,  67.92530779,\n",
       "         49.84451852,  38.55439016,  48.90845982,  66.35862843,\n",
       "         66.72052617,  42.62574888,  18.37994981,  30.11812707,\n",
       "         40.26406302,  53.70516961,  41.42407067,  29.23526511,\n",
       "         16.80940084,  52.49033159,  63.03641972,  57.89868382,\n",
       "         55.22799465,  60.86631861,  20.68858027,  45.05043588,\n",
       "         32.65612058,  47.77503374,  58.05907081,  52.54657723,\n",
       "         55.81708163,  53.8224001 ,  40.23582604,  53.31610658,\n",
       "         59.90465338,  36.21351839,  42.02554564,  54.3524001 ,\n",
       "         60.62292513,  79.77410571,  43.06594778,  58.76365555,\n",
       "         47.22181089,  22.79936391,  49.2870359 ,  54.54465007,\n",
       "         44.0973815 ,  66.00505234,  33.07689557,  47.44654348,\n",
       "         41.89430433,  32.72038468,  29.8528836 ,  36.7737532 ,\n",
       "         65.83390565,  12.57553455,   8.38646056,  59.77794143,\n",
       "         34.36637819,  27.52767157,  49.06399898,  11.04173561,\n",
       "         35.7608934 ,  24.07267373,  50.34042722,  39.33269998,\n",
       "         31.17262382,   1.54784207,  19.51625198,  40.7322902 ,\n",
       "         34.84397923,  24.87115202,  20.30293134,  60.90881969,\n",
       "         33.75104557,   8.12464864,  40.06328154,  87.12408291,\n",
       "         27.88158575,  54.6996642 ,  44.94828371,  22.59150526,\n",
       "         17.63120958,  32.30638035,  22.98158243,  57.7033088 ,\n",
       "          1.22809967,  37.43677167,  38.79488691,  35.970001  ,\n",
       "         37.07437819,  40.65103043,  71.63811653,  52.82980007,\n",
       "         53.945524  ,  51.18804571,  33.93517063,  37.53084234,\n",
       "         41.10831847,  44.71406302,  42.27398153,  69.03749803,\n",
       "         27.27619443,  75.16788502,  44.3729772 ,  17.71231502,\n",
       "         39.87903043,  39.69130433,  39.80906519,  39.52679344,\n",
       "         20.48918895,  25.24118679,  41.14480426,  40.72450324,\n",
       "         57.95292945,  41.98032063,  53.61283051,  47.73962829,\n",
       "         36.88882821,  40.1063228 ,  30.54680426,  24.95719659,\n",
       "         42.76982171,  27.55370532,  60.19613817,   7.56703231,\n",
       "         39.36705105,  26.79909116,  25.85846185,  28.62466075,\n",
       "         42.1762739 ,  50.61396205,  44.50135655,  46.0771011 ,\n",
       "         29.92623467,  44.6178696 ,  53.04433159,  33.01380426,\n",
       "         38.84980974,  40.45623149,  31.21487494,  52.98858487,\n",
       "         46.27278262,  11.77061604,  33.52825645,  45.97608913,\n",
       "         34.11996942,  52.86698052,  51.00851852,  47.26728154,\n",
       "         54.71062396,  44.94307932]])"
      ]
     },
     "execution_count": 17,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "y2_list=np.reshape(y2_list,[1,-1])\n",
    "y2_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[ 56.45810131,  92.64454487,  61.95685044,  54.39242657,\n",
       "         41.33418178,  28.87245842,  97.98351988, 101.65264819,\n",
       "         89.96878021,  69.20126169,  83.11336344,  79.60618595,\n",
       "         92.69801634,  55.69937345,  61.20287463,  71.92141183,\n",
       "         91.95887092, 148.85416434,  90.61454566, 169.0219487 ,\n",
       "         76.24212495, 107.02846991,  88.89057301, 110.67194296,\n",
       "         60.41502162,  95.07615151,  97.54043784,  97.44526271,\n",
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       "         74.89906237, 125.98850357,  84.72060508,  77.57109444,\n",
       "         72.17824537, 206.64504911,  81.34309208,  65.4791147 ,\n",
       "        177.00950087,  78.75544627, 104.5117326 ,  98.29114071,\n",
       "         90.06039867,  75.93223355,  87.57530716,  84.7793353 ,\n",
       "         60.46772764,  75.23747441,  82.59912731, 104.75275838,\n",
       "         34.03330142, 121.23940441, 103.21758483,  92.00740103,\n",
       "         93.68228612,  82.94592405,  76.70080125,  86.47589827,\n",
       "         70.16949388,  78.2285667 ,  88.84169422,  88.5695425 ,\n",
       "         34.33341318,  64.61984177,  79.72044864, 163.18736469,\n",
       "         90.41387171,  74.4982546 , 164.20663526,  67.87746653,\n",
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       "         23.21669928, 155.16073362,  57.95734374,  30.85078684,\n",
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       "         61.72099664,  43.46157041,  48.38214576,  68.71873395,\n",
       "         40.80548285,  51.91381442,  68.28135083,   1.19329882,\n",
       "         83.31589591,  45.08495432,  53.73127958,  61.55699191,\n",
       "         83.93233845,  76.24812495,  55.91545865,  44.63915837,\n",
       "         38.68491988,  53.83228116,  58.51107869,  74.51386068,\n",
       "         79.58088488,  56.64095983, 102.86020407,  87.33530322,\n",
       "         62.06581836,  87.30757222,  61.53407947, 108.57514465,\n",
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       "         60.27699585,  60.4614923 ,  47.34951335,  37.67341554,\n",
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       "         44.95956647,  61.51808026,  80.77442129,  48.50901059,\n",
       "         58.5491084 ,  63.28979259,  49.33989883,  81.09274577,\n",
       "         66.097877  ,  17.42875161,  51.01636794,  65.5021389 ,\n",
       "         71.14583018,  78.33362219,  79.22271369,  67.68378943,\n",
       "         83.33733136,  63.74246101]])"
      ]
     },
     "execution_count": 18,
     "metadata": {},
     "output_type": "execute_result"
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   ],
   "source": [
    "y3_list=np.reshape(y3_list,[1,-1])\n",
    "y3_list"
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  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [
    {
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       "         97.09752962,  79.76492713]])"
      ]
     },
     "execution_count": 19,
     "metadata": {},
     "output_type": "execute_result"
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   ],
   "source": [
    "y4_list=np.reshape(y4_list,[1,-1])\n",
    "y4_list"
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  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [
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       "        0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,\n",
       "        0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,\n",
       "        0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,\n",
       "        0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,\n",
       "        0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,\n",
       "        0., 0., 0., 0., 0., 0.]])"
      ]
     },
     "execution_count": 20,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "y0_list=np.zeros([1,454])\n",
    "y0_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[1452.031     , 1472.20656427, 1495.77685979, 1508.48910131,\n",
       "        1523.0057169 ],\n",
       "       [ 345.763     ,  373.28709731,  411.46249039,  438.40754487,\n",
       "         469.05088997],\n",
       "       [ 508.838     ,  529.09279374,  545.41596624,  570.79485044,\n",
       "         579.06675805],\n",
       "       ...,\n",
       "       [ 363.83      ,  388.92769489,  411.09728154,  431.51378943,\n",
       "         458.8214169 ],\n",
       "       [1151.781     , 1181.37496713, 1206.49162396, 1235.11833136,\n",
       "        1248.87852962],\n",
       "       [ 424.997     ,  448.33183926,  469.94007932,  488.73946101,\n",
       "         504.76192713]])"
      ]
     },
     "execution_count": 21,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "y_total_list=np.vstack((y0_list,y1_list,y2_list,y3_list,y4_list))\n",
    "y_total_list=np.transpose(y_total_list)\n",
    "for i in range(5):\n",
    "    y_total_list[:,i]=local_y[:,0]+y_total_list[:,i]\n",
    "# y_total_list=np.transpose(y_total_list)\n",
    "y_total_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[-0.006, -0.004, -0.006, ...,  0.168,  0.17 ,  0.17 ],\n",
       "       [ 0.002,  0.011,  0.029, ...,  0.378,  0.394,  0.396],\n",
       "       [ 0.05 ,  0.046,  0.048, ...,  0.312,  0.305,  0.305],\n",
       "       ...,\n",
       "       [ 0.006, -0.028, -0.043, ..., -0.305, -0.304, -0.305],\n",
       "       [-0.101, -0.102, -0.102, ..., -0.201, -0.201, -0.202],\n",
       "       [ 0.548,  0.166,  0.094, ..., -0.301, -0.301, -0.301]])"
      ]
     },
     "execution_count": 22,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "x_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(454, 1)"
      ]
     },
     "execution_count": 23,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "decision_list=[]\n",
    "for i in range(len(x_list)):\n",
    "    a_list=[]\n",
    "    for a in range(len(x_list[i])-2):\n",
    "        if abs(x_list[i][a])>=0.1 and abs(x_list[i][a+1])>=0.1 and abs(x_list[i][a+2])>=0.1:\n",
    "            a_list.append(a)\n",
    "    if a_list!=[]:\n",
    "        decision_list.append(a_list[0])\n",
    "    else:\n",
    "        decision_list.append(0)\n",
    "decision_list=np.reshape(decision_list,[-1,1])\n",
    "np.shape(decision_list)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(454, 1)"
      ]
     },
     "execution_count": 24,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "label_list=np.reshape(f.label.values,[-1,40])\n",
    "label_list=label_list[:,0]\n",
    "label_list=np.reshape(label_list,[-1,1])\n",
    "np.shape(label_list)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 25,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(454, 1)"
      ]
     },
     "execution_count": 25,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_time=(40-decision_list)/10\n",
    "np.shape(change_time)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[11.   ,  2.9  , 41.776, 48.069,  6.293,  2.   ],\n",
       "       [26.   ,  1.4  ,  6.815, 11.641,  4.826,  2.   ],\n",
       "       [13.   ,  2.7  , 30.752, 35.984,  5.232,  2.   ],\n",
       "       ...,\n",
       "       [14.   ,  2.6  , 27.616, 23.973, -3.643,  1.   ],\n",
       "       [ 0.   ,  4.   , 27.954, 24.105, -3.849,  1.   ],\n",
       "       [14.   ,  2.6  , 52.955, 48.104, -4.851,  1.   ]])"
      ]
     },
     "execution_count": 26,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "local_x1=np.reshape(local_x1,[-1,1])\n",
    "local_x40=np.reshape(local_x40,[-1,1])\n",
    "x_change=np.reshape(x_change,[-1,1])\n",
    "cl_list=np.hstack((decision_list,change_time,local_x1,local_x40,x_change,label_list))\n",
    "cl_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "0.3826834323650898 0.7071067811865475 0.9238795325112867\n"
     ]
    }
   ],
   "source": [
    "import math\n",
    "a=math.sin(math.pi/8)\n",
    "b=math.sin(math.pi/4)\n",
    "c=math.sin(math.pi*3/8)\n",
    "print(a,b,c)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[41.776,  6.815, 30.752, 42.446, 53.639, 30.975, 42.059, 18.374,\n",
       "        16.923, 30.824, 28.876, 30.363, 42.645, 19.032, 17.089, 19.907,\n",
       "        17.666,  3.493, 28.395,  5.432, 56.772, 17.028, 42.422, 53.163,\n",
       "        45.047, 45.975, 42.29 , 41.924, 29.469, 30.859, 36.951, 55.158,\n",
       "        28.403,  9.394, 27.036, 18.792, 28.82 ,  6.961, 30.869, 30.105,\n",
       "         4.694, 40.615, 43.281, 18.468, 43.476, 36.313, 56.151, 15.031,\n",
       "        14.432, 11.686, 27.3  , 42.775, 54.367, 41.435, 50.67 , 18.149,\n",
       "        42.54 , 45.17 , 53.24 , 27.389, 18.757, 30.595, 30.848, 17.186,\n",
       "        30.011, 39.454, 54.977,  5.924, 27.604, 26.228,  2.508, 16.657,\n",
       "        30.373, 27.655, 39.464, 42.494, 55.834,  7.637, 17.13 , 31.603,\n",
       "        30.15 ,  6.701, 28.974, 44.325, 42.966, 53.387, 18.093, 18.483,\n",
       "        29.882, 43.3  , 54.146, 19.026, 41.694, 50.409,  7.774, 55.159,\n",
       "        66.777, 29.509, 41.98 , 28.424, 54.596, 42.686, 29.556, 41.158,\n",
       "        50.852, 26.711, 29.962, 41.001, 40.776, 29.722, 42.511, 41.401,\n",
       "        52.829, 15.639, 42.522, 27.274, 53.272, 40.571, 51.775, 41.084,\n",
       "        81.926, 64.266, 52.011, 37.638, 29.728, 17.452, 51.598, 43.967,\n",
       "        29.038, 41.712, 39.776, 28.293, 29.059, 30.337, 40.21 , 30.302,\n",
       "        53.996, 39.615, 40.088, 28.728, 77.992, 63.617, 53.144, 81.197,\n",
       "        65.526, 53.698, 52.376, 28.117, 89.886, 51.67 , 41.328, 52.019,\n",
       "        40.374, 85.426, 58.778, 45.567, 28.646, 30.235, 41.455, 31.231,\n",
       "        17.855, 76.727, 65.101, 57.576, 53.205, 82.939, 66.442, 53.94 ,\n",
       "        52.705, 51.405, 39.76 , 52.089, 51.256, 27.394, 40.652, 56.71 ,\n",
       "        41.182, 51.848, 52.217, 43.2  , 16.991, 78.799, 67.606, 53.615,\n",
       "        27.788, 30.355, 40.53 , 30.061, 78.05 , 67.007, 56.103, 43.351,\n",
       "        35.595, 18.294, 28.309, 67.016, 52.739, 55.505, 67.295, 51.001,\n",
       "        17.31 , 55.422, 73.781, 65.904, 54.814, 29.858, 66.125, 53.789,\n",
       "        53.716, 52.974, 36.639, 40.379, 27.161, 41.651, 53.866, 53.348,\n",
       "        53.747, 39.625, 40.894, 30.842, 83.137, 69.442, 56.475, 50.395,\n",
       "        29.621, 52.673, 42.295, 29.098, 26.709, 31.494, 15.688, 43.594,\n",
       "        29.916, 38.197, 27.622, 81.735, 67.983, 53.749, 80.802, 72.96 ,\n",
       "        55.317, 42.491, 41.062, 42.215, 27.461, 40.661, 51.951, 42.744,\n",
       "        54.343, 43.072, 83.168, 52.18 , 53.527, 39.259, 41.124, 29.329,\n",
       "        17.457, 29.911, 16.806, 40.052, 30.089, 39.666, 40.947, 29.954,\n",
       "        52.417, 28.22 , 42.044, 28.831, 42.342, 54.223, 51.607, 42.864,\n",
       "        39.366, 54.43 , 39.361, 52.647, 52.967, 86.336, 54.347, 54.525,\n",
       "        40.802, 30.931, 50.924, 40.996, 54.806, 27.525, 29.002, 52.691,\n",
       "        55.528, 84.935, 67.59 , 52.423, 42.466, 39.128, 51.407, 40.181,\n",
       "        28.911, 39.414, 54.83 , 53.62 , 42.934, 31.812, 52.101, 32.453,\n",
       "        55.184, 29.608, 27.979, 53.354, 29.585, 53.32 , 52.711, 41.456,\n",
       "        55.305, 80.743, 64.412, 51.627, 41.39 , 31.445, 50.939, 29.968,\n",
       "        17.756, 53.058, 42.685, 29.391, 51.921, 39.82 , 30.574, 28.519,\n",
       "        55.051, 16.541, 41.743, 52.207, 52.412, 52.865, 52.676, 41.815,\n",
       "        28.065, 52.628, 53.204, 41.644, 41.302, 29.831, 21.841, 52.524,\n",
       "        53.427, 64.634, 54.667, 50.951, 65.926, 54.569, 41.759, 51.851,\n",
       "        43.052, 55.851, 76.346, 65.147, 52.302, 78.111, 72.164, 60.334,\n",
       "        39.228, 40.372, 39.846, 39.169, 53.447, 39.481, 54.913, 86.819,\n",
       "        65.387, 48.966, 41.347, 30.266, 23.174, 79.71 , 65.886, 55.002,\n",
       "        40.264, 53.283, 40.068, 82.291, 67.694, 55.97 , 39.72 , 50.378,\n",
       "        40.942, 51.473, 37.937, 43.053, 24.978, 39.642, 63.009, 52.667,\n",
       "        42.448, 30.683, 51.579, 28.713, 41.188, 29.706, 39.321, 29.105,\n",
       "        40.903, 25.117, 55.805, 40.512, 27.688, 52.031, 29.803, 67.601,\n",
       "        53.408, 80.994, 63.229, 53.438, 81.614, 68.301, 51.475, 52.111,\n",
       "        29.344, 65.335, 56.579, 27.866, 78.839, 62.904, 54.398, 62.445,\n",
       "        52.917, 43.333, 38.909, 30.637, 83.878, 62.842, 52.422, 51.632,\n",
       "        27.008, 64.98 , 51.845, 41.067, 29.407, 26.578, 28.966, 50.624,\n",
       "        47.797, 28.931, 29.539, 54.847, 52.218, 77.409, 67.493, 54.028,\n",
       "        40.095, 27.361, 53.527, 27.616, 27.954, 52.955]])"
      ]
     },
     "execution_count": 28,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "x0_list=local_x[:,0]\n",
    "x0_list=np.reshape(x0_list,[1,-1])\n",
    "x0_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[42.2550261 ,  7.18235738, 31.15026229, 42.85765949, 54.14953998,\n",
       "        31.32728552, 42.48938512, 18.79083568, 17.44457744, 31.19402159,\n",
       "        29.35083948, 30.75273679, 43.04775339, 19.38200191, 17.60547737,\n",
       "        20.21186247, 18.13672897,  4.1382732 , 28.95380035,  5.92054116,\n",
       "        57.02951554, 17.54554306, 42.83502966, 53.68762226, 45.24765355,\n",
       "        46.13576643, 42.72480011, 42.37615558, 29.92838702, 31.22696634,\n",
       "        37.77705931, 55.52687979, 28.92967751,  9.58262652, 27.69908539,\n",
       "        19.17618   , 29.31668605,  7.31792887, 31.2200676 , 30.53538512,\n",
       "         5.15011384, 41.16398081, 43.61988832, 18.85804128, 43.80704791,\n",
       "        37.19409441, 56.43325469, 15.68365689, 15.1412144 , 11.70700925,\n",
       "        27.94375079, 43.17425185, 54.81862273, 41.94127723, 51.36916649,\n",
       "        18.59400025, 42.95196397, 45.38519256, 53.73006357, 28.02034316,\n",
       "        19.12953357, 30.9468288 , 31.19670786, 17.70582667, 30.45447784,\n",
       "        40.08937754, 55.35037089,  6.34844773, 28.1938575 , 26.9669775 ,\n",
       "         3.19696635, 17.20773158, 30.78344156, 28.26259357, 40.09930142,\n",
       "        42.89287125, 56.15812095,  7.943461  , 17.65112072, 31.93343895,\n",
       "        30.56470431,  7.06660661, 29.48050559, 44.59827248, 43.33822909,\n",
       "        53.89076525, 18.50138631, 18.87524877, 30.31497322, 43.64261822,\n",
       "        54.61261847, 19.38201543, 42.18840244, 51.08555872,  8.08061324,\n",
       "        55.55939366, 66.32278917, 29.08957622, 41.53286837, 28.10596869,\n",
       "        54.10190205, 42.17454658, 29.14784205, 40.77983352, 50.64769267,\n",
       "        26.51597936, 29.52742825, 40.61666776, 40.41458002, 29.28111025,\n",
       "        42.00091675, 40.98660017, 52.45578135, 15.39046667, 42.03650366,\n",
       "        27.05895968, 52.89527981, 40.21506069, 51.51154706, 40.70560516,\n",
       "        81.37838936, 63.97651386, 51.70758382, 37.50889969, 29.28551172,\n",
       "        17.04528834, 51.32845742, 43.3619184 , 28.61271495, 41.27765661,\n",
       "        39.48894972, 27.97519705, 28.66994829, 29.86185604, 39.87240573,\n",
       "        29.84542944, 53.56485367, 39.30922408, 39.75489683, 28.39383115,\n",
       "        77.57973155, 63.35217689, 52.76667084, 81.00426298, 65.07643252,\n",
       "        53.27530304, 52.06999572, 27.83474531, 88.83660324, 51.40137087,\n",
       "        40.94054682, 51.72844818, 40.02643395, 84.58159565, 57.98832627,\n",
       "        44.84271375, 28.30262057, 29.779419  , 41.04288379, 30.69191485,\n",
       "        17.42986719, 76.41368816, 64.74612638, 56.84052404, 52.82926937,\n",
       "        82.54241236, 65.98611452, 53.50070878, 52.35872799, 51.14527696,\n",
       "        39.48200805, 51.79662128, 51.04301493, 27.16670428, 40.30755488,\n",
       "        56.04425039, 40.80809626, 51.57358571, 51.92956911, 42.68428383,\n",
       "        16.6172485 , 78.54726961, 67.07985533, 53.19671803, 27.49539292,\n",
       "        29.89698315, 40.16424115, 29.61348777, 77.64663764, 66.51039007,\n",
       "        55.5068245 , 42.79501611, 34.73118493, 17.84953259, 28.02507066,\n",
       "        66.5053839 , 52.40521175, 54.96188046, 66.75180434, 50.78428503,\n",
       "        16.92521104, 54.85140098, 73.70160635, 65.48488071, 54.30757053,\n",
       "        29.415055  , 65.68471922, 53.35069835, 53.31218092, 52.59141853,\n",
       "        36.57871259, 40.04597295, 26.92023096, 41.20089968, 53.43972538,\n",
       "        52.94189731, 53.34112567, 39.35515294, 40.50730803, 30.33031822,\n",
       "        82.6944356 , 68.73453638, 55.84335236, 50.22860066, 29.19860753,\n",
       "        52.31911595, 41.80897082, 28.72021412, 26.54054541, 30.91586505,\n",
       "        15.42546051, 43.01525609, 29.46308322, 38.02397818, 27.37186814,\n",
       "        81.35774696, 67.41925182, 53.33444793, 80.67746692, 72.00293736,\n",
       "        54.75226225, 42.02598006, 40.66084514, 41.71983636, 27.16298837,\n",
       "        40.34692695, 51.66775574, 42.22287928, 53.85750366, 42.55734952,\n",
       "        82.4453884 , 51.86859117, 53.12394212, 39.00468152, 40.73022882,\n",
       "        28.91460017, 17.06452287, 29.45595185, 16.44244865, 39.74127625,\n",
       "        29.63631158, 39.40338439, 40.55170641, 29.50801018, 52.11974957,\n",
       "        27.91886743, 41.56961725, 28.46257694, 41.85315436, 53.74572467,\n",
       "        51.33882759, 42.34546738, 39.09676191, 53.94907089, 39.13941332,\n",
       "        52.31496252, 52.5898992 , 85.31431109, 53.86089469, 54.02199595,\n",
       "        40.42520369, 30.43659756, 50.71976879, 40.60877518, 54.31601255,\n",
       "        27.29907445, 28.63213065, 52.35492814, 54.97962815, 84.05405783,\n",
       "        67.03173249, 52.10146715, 41.9617019 , 38.90679392, 51.20307327,\n",
       "        39.87225538, 28.54866657, 39.14392458, 54.33879462, 53.22257504,\n",
       "        42.40899714, 31.22830826, 51.81143774, 31.81792694, 54.65648516,\n",
       "        29.21704528, 27.68936162, 52.94804955, 29.161009  , 52.94267084,\n",
       "        52.37013255, 41.05750935, 54.77032984, 80.37861132, 64.11467345,\n",
       "        51.38128313, 40.95504765, 30.89244153, 50.73842257, 29.49666207,\n",
       "        17.35743323, 52.70716077, 42.16205239, 28.98641972, 51.63288403,\n",
       "        39.54467227, 30.0827185 , 28.21451813, 54.52774791, 16.20964761,\n",
       "        41.2900071 , 51.90609579, 52.09716575, 52.48203793, 52.35964334,\n",
       "        41.4203915 , 27.75374341, 52.29679985, 52.84235166, 41.22297769,\n",
       "        40.90746762, 29.3951342 , 21.11488686, 52.17407421, 53.01199121,\n",
       "        64.31893739, 54.17465282, 50.73139245, 65.50634786, 54.09583517,\n",
       "        41.31293406, 51.56021981, 42.50385651, 55.31457907, 76.33656106,\n",
       "        64.77720677, 51.99279866, 77.77188332, 71.3141911 , 59.41887974,\n",
       "        38.98517571, 40.03684158, 39.5272836 , 38.94276997, 53.02993596,\n",
       "        39.19965875, 54.40306899, 85.98669881, 65.01591272, 48.92672184,\n",
       "        40.96974696, 29.80783091, 22.33834951, 79.23835758, 65.47921222,\n",
       "        54.45339979, 39.93934621, 52.90194094, 39.77683921, 81.95964761,\n",
       "        67.13946239, 55.36461392, 39.4395722 , 50.22187692, 40.56741118,\n",
       "        51.22454279, 37.78140976, 42.55159448, 24.91504837, 39.35769005,\n",
       "        62.81808987, 52.33777898, 41.96113349, 30.1619554 , 51.33472942,\n",
       "        28.33978135, 40.78692126, 29.28208512, 39.0602874 , 28.74114417,\n",
       "        40.53663219, 25.04529452, 55.2162843 , 40.18407303, 27.43741142,\n",
       "        51.76899335, 29.36241473, 67.05529237, 53.03379178, 80.84815318,\n",
       "        62.96052311, 53.02253449, 81.0341904 , 67.71433956, 51.23316527,\n",
       "        51.8465575 , 28.93477637, 64.97449347, 55.9437747 , 27.62789518,\n",
       "        78.37915626, 62.68408797, 53.93389351, 62.42589376, 52.539138  ,\n",
       "        42.79216408, 38.66138012, 30.13384371, 83.14062103, 62.66304078,\n",
       "        52.08166539, 51.36428432, 26.8186884 , 64.62550698, 51.59288901,\n",
       "        40.67939458, 28.99823309, 26.37118069, 28.61881455, 50.42730471,\n",
       "        46.89794116, 28.59995209, 29.12048967, 54.32785841, 51.93209152,\n",
       "        77.19015366, 66.95467605, 53.56305618, 39.79089873, 27.146797  ,\n",
       "        53.15461867, 27.33869314, 27.66101232, 52.58573961]])"
      ]
     },
     "execution_count": 29,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# x1_list=local_x[:,10]\n",
    "x1_list=cl_list[:,3]-cl_list[:,4]*c\n",
    "x1_list=np.reshape(x1_list,[1,-1])\n",
    "x1_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[43.61917703,  8.22850267, 32.28441732, 44.02996653, 55.60343482,\n",
       "        32.33050982, 43.71501826, 19.97788327, 18.92990434, 32.24775394,\n",
       "        30.7030679 , 31.86261328, 44.19469802, 20.37872302, 19.07628049,\n",
       "        21.08003734, 19.47725167,  5.97585582, 30.54512912,  7.31178868,\n",
       "        57.76285776, 19.01938099, 44.01123861, 55.18162006, 45.81906652,\n",
       "        46.59359048, 43.96300607, 43.66378572, 31.23661058, 32.27484582,\n",
       "        40.12947721, 56.57736054, 30.42952818, 10.1197894 , 29.58739283,\n",
       "        20.27023208, 30.73112825,  8.3343763 , 32.21982353, 31.76101826,\n",
       "         6.44901617, 42.72734589, 44.58496061, 19.96878485, 44.74979261,\n",
       "        39.70323901, 57.23704806, 17.54226646, 17.16088612, 11.76683853,\n",
       "        29.77699795, 44.31122493, 56.10473547, 43.3830328 , 53.36022421,\n",
       "        19.86125376, 44.1251381 , 45.99800913, 55.12564654, 29.81825636,\n",
       "        20.19041941, 31.94875246, 32.18974384, 19.18616779, 31.71739589,\n",
       "        41.8987797 , 56.41364124,  7.55717259, 29.87362955, 29.07140737,\n",
       "         5.15897652, 18.77608244, 31.95228024, 29.99287367, 41.9084868 ,\n",
       "        44.02876047, 57.08113933,  8.8161881 , 19.13514698, 32.87444946,\n",
       "        31.74568226,  8.10776613, 30.92291148, 45.37648666, 44.39824784,\n",
       "        55.32536732, 19.66437212, 19.99227876, 31.54797663, 44.61831238,\n",
       "        55.94143543, 20.39586158, 43.59634146, 53.01223493,  8.95377389,\n",
       "        56.69961833, 65.02930616, 27.89515836, 40.25954523, 27.20029213,\n",
       "        52.69483012, 40.71805046, 27.98550656, 39.70290649, 50.0658746 ,\n",
       "        25.96060757, 28.28987261, 39.52218214, 39.385343  , 28.02556248,\n",
       "        40.54832254, 39.80648932, 51.39294455, 14.68270364, 40.65392705,\n",
       "        26.44657666, 51.82247146, 39.20143131, 50.76129657, 39.62802781,\n",
       "        79.81892618, 63.15212709, 50.84352763, 37.1412531 , 28.02541172,\n",
       "        15.88707153, 50.56086511, 41.6387918 , 27.40160559, 40.04075129,\n",
       "        38.67149967, 27.07017081, 27.56202276, 28.50876053, 38.91101857,\n",
       "        28.54522647, 52.33705281, 38.43844794, 38.80629927, 27.44219877,\n",
       "        76.40569033, 62.59802449, 51.69212831, 80.45539437, 63.79617265,\n",
       "        52.07156396, 51.19856926, 27.03095194, 85.84817409, 50.63637983,\n",
       "        39.83717352, 50.90102658, 39.03664956, 82.17693552, 55.73952575,\n",
       "        42.78012102, 27.32475869, 28.48203409, 39.86927611, 29.15673022,\n",
       "        16.21919137, 75.52145151, 63.73553181, 54.74606572, 51.75927907,\n",
       "        81.41302633, 64.68786251, 52.24971323, 51.37262875, 50.40564834,\n",
       "        38.69035396, 50.96399715, 50.43648477, 26.51942085, 39.32665818,\n",
       "        54.14835591, 39.74330851, 50.79211995, 51.11103521, 41.21564844,\n",
       "        15.5528943 , 77.83040213, 65.58152207, 52.00555176, 26.66211847,\n",
       "        28.5926615 , 39.12264808, 28.33908077, 76.49795883, 65.09616464,\n",
       "        53.80906031, 41.21170793, 32.27124775, 16.5837965 , 27.21650829,\n",
       "        65.05127229, 51.45466324, 53.41520688, 65.20491399, 50.16713301,\n",
       "        15.82942478, 53.22647243, 73.47551237, 64.29132994, 52.86538142,\n",
       "        28.15365436, 64.43090562, 52.10252085, 52.16220147, 51.50191868,\n",
       "        36.40702857, 39.09759217, 26.23457875, 39.9191224 , 52.22579797,\n",
       "        51.78541468, 52.18529336, 38.58669354, 39.40610245, 28.87317178,\n",
       "        81.43411883, 66.71985042, 54.04457207, 49.75473542, 27.99573553,\n",
       "        51.31133943, 40.4248768 , 27.64437096, 26.06082731, 29.269476  ,\n",
       "        14.67781129, 41.36713286, 28.17328535, 37.53125371, 26.65955288,\n",
       "        80.28342121, 65.81383282, 52.15390353, 80.32282669, 69.27745356,\n",
       "        53.14402521, 40.70171533, 39.51845274, 40.30972961, 26.31432305,\n",
       "        39.45252258, 50.86114433, 40.73885302, 52.47492705, 41.09174895,\n",
       "        80.38756467, 50.98177384, 51.97613041, 38.28044376, 39.60886338,\n",
       "        27.73448932, 15.94684256, 28.16008434, 15.40714199, 38.85640988,\n",
       "        28.34716403, 38.6555184 , 39.42600551, 28.23793863, 51.27325198,\n",
       "        27.06131443, 40.21868946, 27.41339682, 40.46103975, 52.38655952,\n",
       "        50.57513719, 40.86881139, 38.33003669, 52.57950064, 38.50838784,\n",
       "        51.36939978, 51.51600699, 82.40478722, 52.4765839 , 52.58956161,\n",
       "        39.35217857, 29.02865854, 50.13816749, 39.5060522 , 52.92064635,\n",
       "        26.65569293, 27.57883185, 51.39787644, 53.41799725, 81.54534678,\n",
       "        65.44192113, 51.18581904, 40.52558243, 38.27685231, 50.62233907,\n",
       "        38.9930251 , 27.51682828, 38.37481486, 52.93996006, 52.0908045 ,\n",
       "        40.91391547, 29.5660948 , 50.9868342 , 30.00939188, 53.15424999,\n",
       "        28.10370043, 26.8645413 , 51.79200046, 27.95358477, 51.86812831,\n",
       "        51.39942417, 39.922704  , 53.24771803, 79.34092016, 63.26795909,\n",
       "        50.68154069, 39.71640815, 29.31888812, 50.16722637, 28.15440519,\n",
       "        16.22241111, 51.70805515, 40.67282359, 27.83427254, 50.81239917,\n",
       "        38.76060523, 28.68366717, 27.34742712, 53.03765201, 15.26603582,\n",
       "        39.99999245, 51.04919311, 51.20059365, 51.39145422, 51.45873578,\n",
       "        40.29664155, 26.86735963, 51.3536216 , 51.81246432, 40.02400761,\n",
       "        39.78393445, 28.15389343, 19.04709159, 51.17756987, 51.83014617,\n",
       "        63.42171497, 52.77256666, 50.10600306, 64.31127968, 52.74837575,\n",
       "        40.04264574, 50.7321479 , 40.94287593, 53.78698149, 76.30968124,\n",
       "        63.72412474, 51.11226775, 76.80616071, 68.89414011, 56.81283772,\n",
       "        38.29367063, 39.08239116, 38.61965609, 38.29852135, 51.84223805,\n",
       "        38.39846666, 52.95090833, 83.61650555, 63.95914556, 48.8148671 ,\n",
       "        39.89542121, 28.50307572, 19.95861824, 77.89523362, 64.32077864,\n",
       "        52.89111857, 39.01481042, 51.81677655, 38.94768344, 81.01603582,\n",
       "        65.5602729 , 53.64062023, 38.64098138, 49.77727601, 39.50067247,\n",
       "        50.51699653, 37.33832626, 41.12371237, 24.73577731, 38.54804383,\n",
       "        62.27442381, 51.40023683, 40.57465497, 28.67814592, 50.63910566,\n",
       "        27.27694455, 39.64474563, 28.07487766, 38.31784073, 27.70497041,\n",
       "        39.49330494, 24.84109459, 53.53976385, 39.25021601, 26.72379552,\n",
       "        51.02286154, 28.10773405, 65.50124851, 51.96813694, 80.43281659,\n",
       "        62.19596562, 51.83938881, 79.38303235, 66.04367196, 50.54447824,\n",
       "        51.09348896, 27.76940606, 63.94785772, 54.13480609, 26.94983001,\n",
       "        77.06963207, 62.05783149, 52.61223004, 62.3714838 , 51.46307806,\n",
       "        41.25199368, 37.95621836, 28.70097582, 81.04074339, 62.15340804,\n",
       "        51.11247442, 50.60189455, 26.27957456, 63.61599628, 50.87493766,\n",
       "        39.57558773, 27.83416341, 25.78220912, 27.63011403, 49.86716392,\n",
       "        44.33763819, 27.65720739, 27.92867308, 52.84946825, 51.11789307,\n",
       "        76.566932  , 65.42165916, 52.23900822, 38.92489159, 26.53679848,\n",
       "        52.09416637, 26.54899   , 26.826654  , 51.534175  ]])"
      ]
     },
     "execution_count": 30,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "x2_list=cl_list[:,3]-cl_list[:,4]*b\n",
    "x2_list=np.reshape(x2_list,[1,-1])\n",
    "x2_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 31,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[45.66077316,  9.79416976, 33.98180028, 45.784448  , 57.77934222,\n",
       "        33.83194108, 45.54930787, 21.75442552, 21.15285312, 33.82477584,\n",
       "        32.72682075, 33.52366083, 45.91122196, 21.87042158, 21.27749291,\n",
       "        22.37935285, 21.48348565,  8.72599254, 32.92672092,  9.39393773,\n",
       "        58.86038195, 21.22513534, 45.7715597 , 57.41754578, 46.67424647,\n",
       "        47.27877259, 45.81611223, 45.59086041, 33.19450549, 33.84310829,\n",
       "        43.65011939, 58.14951609, 32.67421333, 10.92371045, 32.41344462,\n",
       "        21.90759672, 32.8479906 ,  9.85559739, 33.71606401, 33.59530787,\n",
       "         8.39296087, 45.06708709, 46.02929336, 21.63113009, 46.16070975,\n",
       "        43.45843927, 58.44000983, 20.32387225, 20.18353846, 11.85637937,\n",
       "        32.52064621, 46.0128254 , 58.0295392 , 45.54077249, 56.34005267,\n",
       "        21.75783265, 45.88091726, 46.91515394, 57.21428406, 32.50902361,\n",
       "        21.77814728, 33.44823718, 33.6759272 , 21.40165484, 33.60748632,\n",
       "        44.60674139, 58.00493776,  9.36615718, 32.38758608, 32.22090924,\n",
       "         8.09533225, 21.12328537, 33.70157093, 32.58242084, 44.61612407,\n",
       "        45.72873881, 58.46253394, 10.1223165 , 21.35614922, 34.28277122,\n",
       "        33.51314066,  9.66597147, 33.08162444, 46.54116648, 45.98467802,\n",
       "        57.47240104, 21.40490339, 21.66403227, 33.39329664, 46.07854187,\n",
       "        57.93015056, 21.91318959, 45.70347111, 55.89570965, 10.26055113,\n",
       "        58.40608515, 63.09347204, 26.10758571, 38.35388248, 25.84485138,\n",
       "        50.58899816, 38.53824998, 26.24594856, 38.09117129, 49.19512233,\n",
       "        25.12943495, 26.43773972, 37.88416865, 37.84498094, 26.14650244,\n",
       "        38.37436168, 38.04032861, 49.80229687, 13.62346141, 38.58475493,\n",
       "        25.5300807 , 50.21690031, 37.68442773, 49.63846736, 38.01531934,\n",
       "        77.48502461, 61.91834509, 49.55037616, 36.5910311 , 26.13953879,\n",
       "        14.15367758, 49.41208203, 39.0599506 , 25.58905234, 38.18959167,\n",
       "        37.44809922, 25.71570333, 25.90389502, 26.48370998, 37.47220102,\n",
       "        26.59933523, 50.49951896, 37.13523935, 37.3866227 , 26.01798027,\n",
       "        74.64861347, 61.46935566, 50.08396177, 79.63395445, 61.88012835,\n",
       "        50.2700411 , 49.8943874 , 25.82799017, 81.3756738 , 49.49148983,\n",
       "        38.18585867, 49.66270266, 37.55533255, 78.57810732, 52.37395793,\n",
       "        39.69323286, 25.86128496, 26.54036034, 38.1128481 , 26.85916407,\n",
       "        14.40728697, 74.18612501, 62.22307016, 51.61148732, 50.15792542,\n",
       "        79.72278068, 62.74489108, 50.37746609, 49.89682693, 49.29871587,\n",
       "        37.50555989, 49.71788706, 49.52874824, 25.55069273, 37.85864253,\n",
       "        51.3109493 , 38.14974102, 49.62257377, 49.88601264, 39.01768025,\n",
       "        13.95997565, 76.75753411, 63.33910788, 50.22284546, 25.41503511,\n",
       "        26.64060621, 37.56379389, 26.4317959 , 74.77883951, 62.97962671,\n",
       "        51.26817664, 38.84211979, 28.58969159, 14.68948856, 26.0064092 ,\n",
       "        62.87504046, 50.03206685, 51.10044629, 62.88982897, 49.24349973,\n",
       "        14.18946475, 50.79459501, 73.13713882, 62.50505498, 50.70699288,\n",
       "        26.26583489, 62.55444097, 50.2344912 , 50.44113561, 49.87136693,\n",
       "        36.15008528, 37.67824002, 25.2084277 , 38.00080714, 50.40902722,\n",
       "        50.05461611, 50.45546806, 37.43661277, 37.75803184, 26.69239803,\n",
       "        79.54792148, 63.70465982, 51.35250712, 49.04554598, 26.19551037,\n",
       "        49.80309528, 38.35343372, 26.03425787, 25.34287844, 26.80548067,\n",
       "        13.55887516, 38.90054214, 26.24296642, 36.79383944, 25.59349776,\n",
       "        78.67557909, 63.4111535 , 50.38709397, 79.7920701 , 65.1984788 ,\n",
       "        50.73712838, 38.71981309, 37.80874169, 38.19935573, 25.04420564,\n",
       "        38.11395184, 49.65396505, 38.51785078, 50.40575493, 38.89832269,\n",
       "        77.30781382, 49.65455792, 50.25830877, 37.19654535, 37.9306214 ,\n",
       "        25.96832861, 14.27411578, 26.22068156, 13.85769607, 37.53211377,\n",
       "        26.41781837, 37.53625784, 37.74127506, 26.33714223, 50.0063788 ,\n",
       "        25.77789566, 38.19688315, 25.84318781, 38.377593  , 50.35242512,\n",
       "        49.43219373, 38.65883954, 37.1825513 , 50.52979393, 37.56399147,\n",
       "        49.95426513, 49.90881372, 78.05037703, 50.4048164 , 50.44577212,\n",
       "        37.74628299, 26.92152889, 49.26773965, 37.85571062, 50.83233325,\n",
       "        25.69280443, 26.0024588 , 49.96554735, 51.08085145, 77.79079536,\n",
       "        63.06260029, 49.81545482, 38.37627774, 37.33407805, 49.75320892,\n",
       "        37.677164  , 25.97257314, 37.22376082, 50.84645619, 50.3969902 ,\n",
       "        38.67636763, 27.07841656, 49.75272778, 27.30272788, 50.90599619,\n",
       "        26.43746211, 25.63011046, 50.06185074, 26.14654672, 50.25996177,\n",
       "        49.94665641, 38.22434777, 50.96896843, 77.78790559, 62.00076149,\n",
       "        49.63430212, 37.86265313, 26.96389904, 49.31237084, 26.14557581,\n",
       "        14.52373045, 50.21278794, 38.44403518, 26.10996244, 49.58445679,\n",
       "        37.58716597, 26.58983887, 26.04973373, 50.80756591, 13.85382098,\n",
       "        38.06934911, 49.76674761, 49.85877868, 49.75928035, 50.11043234,\n",
       "        38.61483091, 25.54079255, 49.94205561, 50.27112899, 38.22962206,\n",
       "        38.10244823, 26.29624533, 15.95241726, 49.68619574, 50.06139007,\n",
       "        62.07892673, 50.67419644, 49.1700417 , 62.52273376, 50.73176022,\n",
       "        38.14152491, 49.49285071, 38.6067034 , 51.50077015, 76.26945275,\n",
       "        62.14807611, 49.7944601 , 75.36085469, 65.27227784, 52.91262022,\n",
       "        37.25876015, 37.65395515, 37.26129553, 37.33433516, 50.06472253,\n",
       "        37.19939797, 50.77759631, 80.06926065, 62.37758173, 48.64746465,\n",
       "        38.28757909, 26.55037158, 16.39709872, 75.88510655, 62.58706026,\n",
       "        50.5529995 , 37.63114484, 50.19271326, 37.70676413, 79.60382098,\n",
       "        63.1968488 , 51.06048134, 37.44580576, 49.11188372, 37.90418517,\n",
       "        49.45807872, 36.67520494, 38.98673577, 24.4674792 , 37.33632262,\n",
       "        61.46077005, 49.99710584, 38.49964323, 26.45746809, 49.59803113,\n",
       "        25.68629687, 37.93535901, 26.26816403, 37.20669076, 26.15422681,\n",
       "        37.93185536, 24.53548779, 51.03067367, 37.85260023, 25.65579386,\n",
       "        49.90619637, 26.22997171, 63.17545753, 50.37327175, 79.81122146,\n",
       "        61.05172447, 50.06868617, 76.9118997 , 63.54334121, 49.51378526,\n",
       "        49.96644224, 26.02530613, 62.41138874, 51.42749324, 25.93503378,\n",
       "        75.10979061, 61.12057244, 50.63422089, 62.29005354, 49.85264056,\n",
       "        38.94696579, 36.90086921, 26.55653749, 77.89805441, 61.39068875,\n",
       "        49.66197763, 49.46089763, 25.4727337 , 62.10515674, 49.80044753,\n",
       "        37.92362404, 26.09201003, 24.90075089, 26.15041914, 49.02885399,\n",
       "        40.50587402, 26.24629025, 26.14499351, 50.63690101, 49.89935897,\n",
       "        75.63421487, 63.12733723, 50.2574304 , 37.62882031, 25.62387118,\n",
       "        50.50708735, 25.36711574, 25.57794853, 49.96039733]])"
      ]
     },
     "execution_count": 31,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "x3_list=cl_list[:,3]-cl_list[:,4]*a\n",
    "x3_list=np.reshape(x3_list,[1,-1])\n",
    "x3_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[48.069, 11.641, 35.984, 47.854, 60.346, 35.603, 47.713, 23.85 ,\n",
       "        23.775, 35.685, 35.114, 35.483, 47.936, 23.63 , 23.874, 23.912,\n",
       "        23.85 , 11.97 , 35.736, 11.85 , 60.155, 23.827, 47.848, 60.055,\n",
       "        47.683, 48.087, 48.002, 47.864, 35.504, 35.693, 47.803, 60.004,\n",
       "        35.322, 11.872, 35.747, 23.839, 35.345, 11.65 , 35.481, 35.759,\n",
       "        10.686, 47.827, 47.733, 23.592, 47.825, 47.888, 59.859, 23.605,\n",
       "        23.749, 11.962, 35.757, 48.02 , 60.3  , 48.086, 59.855, 23.995,\n",
       "        47.952, 47.997, 59.678, 35.683, 23.651, 35.217, 35.429, 24.015,\n",
       "        35.837, 47.801, 59.882, 11.5  , 35.353, 35.936, 11.559, 23.892,\n",
       "        35.765, 35.637, 47.81 , 47.734, 60.092, 11.663, 23.976, 35.944,\n",
       "        35.598, 11.504, 35.628, 47.915, 47.856, 60.005, 23.458, 23.636,\n",
       "        35.57 , 47.801, 60.276, 23.703, 48.189, 59.297, 11.802, 60.419,\n",
       "        60.81 , 23.999, 36.106, 24.246, 48.105, 35.967, 24.194, 36.19 ,\n",
       "        48.168, 24.149, 24.253, 35.952, 36.028, 23.93 , 35.81 , 35.957,\n",
       "        47.926, 12.374, 36.144, 24.449, 48.323, 35.895, 48.314, 36.113,\n",
       "        74.732, 60.463, 48.025, 35.942, 23.915, 12.109, 48.057, 36.018,\n",
       "        23.451, 36.006, 36.005, 24.118, 23.948, 24.095, 35.775, 24.304,\n",
       "        48.332, 35.598, 35.712, 24.338, 72.576, 60.138, 48.187, 78.665,\n",
       "        59.62 , 48.145, 48.356, 24.409, 76.1  , 48.141, 36.238, 48.202,\n",
       "        35.808, 74.333, 48.404, 36.052, 24.135, 24.25 , 36.041, 24.149,\n",
       "        12.27 , 72.611, 60.439, 47.914, 48.269, 77.729, 60.453, 48.169,\n",
       "        48.156, 47.993, 36.108, 48.248, 48.458, 24.408, 36.127, 47.964,\n",
       "        36.27 , 48.243, 48.441, 36.425, 12.081, 75.492, 60.694, 48.12 ,\n",
       "        23.944, 24.338, 35.725, 24.182, 72.751, 60.483, 48.271, 36.047,\n",
       "        24.247, 12.455, 24.579, 60.308, 48.354, 48.37 , 60.159, 48.154,\n",
       "        12.255, 47.926, 72.738, 60.398, 48.161, 24.039, 60.341, 48.031,\n",
       "        48.411, 47.948, 35.847, 36.004, 23.998, 35.738, 48.266, 48.013,\n",
       "        48.415, 36.08 , 35.814, 24.12 , 77.323, 60.148, 48.177, 48.209,\n",
       "        24.072, 48.024, 35.91 , 24.135, 24.496, 23.899, 12.239, 35.991,\n",
       "        23.966, 35.924, 24.336, 76.779, 60.577, 48.303, 79.166, 60.387,\n",
       "        47.898, 36.382, 35.792, 35.71 , 23.546, 36.535, 48.23 , 35.898,\n",
       "        47.965, 36.311, 73.675, 48.089, 48.232, 35.918, 35.951, 23.885,\n",
       "        12.301, 23.933, 12.03 , 35.97 , 24.142, 36.216, 35.754, 24.095,\n",
       "        48.512, 24.264, 35.812, 23.991, 35.92 , 47.953, 48.084, 36.052,\n",
       "        35.829, 48.112, 36.45 , 48.285, 48.013, 72.914, 47.961, 47.917,\n",
       "        35.852, 24.436, 48.241, 35.909, 48.369, 24.557, 24.143, 48.276,\n",
       "        48.324, 73.362, 60.256, 48.199, 35.841, 36.222, 48.728, 36.125,\n",
       "        24.151, 35.866, 48.377, 48.399, 36.037, 24.144, 48.297, 24.11 ,\n",
       "        48.254, 24.472, 24.174, 48.021, 24.015, 48.363, 48.233, 36.221,\n",
       "        48.281, 75.956, 60.506, 48.399, 35.676, 24.186, 48.304, 23.776,\n",
       "        12.52 , 48.449, 35.815, 24.076, 48.136, 36.203, 24.12 , 24.519,\n",
       "        48.177, 12.188, 35.792, 48.254, 48.276, 47.834, 48.52 , 36.631,\n",
       "        23.976, 48.277, 48.453, 36.113, 36.119, 24.105, 12.302, 47.927,\n",
       "        47.975, 60.495, 48.199, 48.066, 60.413, 48.353, 35.899, 48.031,\n",
       "        35.851, 48.804, 76.222, 60.289, 48.24 , 73.656, 61.   , 48.312,\n",
       "        36.038, 35.969, 35.659, 36.197, 47.968, 35.785, 48.214, 75.885,\n",
       "        60.512, 48.45 , 36.391, 24.247, 12.196, 73.514, 60.542, 47.795,\n",
       "        35.999, 48.277, 36.243, 77.938, 60.409, 48.017, 36.036, 48.327,\n",
       "        36.021, 48.209, 35.893, 36.466, 24.151, 35.907, 60.501, 48.342,\n",
       "        36.052, 23.838, 48.37 , 23.81 , 35.919, 24.137, 35.896, 24.325,\n",
       "        36.09 , 24.175, 48.071, 36.204, 24.396, 48.589, 24.015, 60.432,\n",
       "        48.492, 79.078, 59.702, 47.98 , 73.997, 60.594, 48.298, 48.637,\n",
       "        23.968, 60.599, 48.234, 24.738, 72.798, 60.015, 48.301, 62.194,\n",
       "        47.953, 36.228, 35.656, 24.027, 74.191, 60.491, 47.951, 48.115,\n",
       "        24.521, 60.323, 48.533, 35.975, 24.037, 23.861, 24.405, 48.04 ,\n",
       "        35.986, 24.582, 24.041, 48.027, 48.462, 74.534, 60.421, 47.92 ,\n",
       "        36.1  , 24.547, 48.635, 23.973, 24.105, 48.104]])"
      ]
     },
     "execution_count": 32,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "x4_list=local_x[:,39]\n",
    "x4_list=np.reshape(x4_list,[1,-1])\n",
    "x4_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 33,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[41.776     , 42.2550261 , 43.61917703, 45.66077316, 48.069     ],\n",
       "       [ 6.815     ,  7.18235738,  8.22850267,  9.79416976, 11.641     ],\n",
       "       [30.752     , 31.15026229, 32.28441732, 33.98180028, 35.984     ],\n",
       "       ...,\n",
       "       [27.616     , 27.33869314, 26.54899   , 25.36711574, 23.973     ],\n",
       "       [27.954     , 27.66101232, 26.826654  , 25.57794853, 24.105     ],\n",
       "       [52.955     , 52.58573961, 51.534175  , 49.96039733, 48.104     ]])"
      ]
     },
     "execution_count": 33,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "x_total_list=np.vstack((x0_list,x1_list,x2_list,x3_list,x4_list))\n",
    "x_total_list=np.transpose(x_total_list)\n",
    "x_total_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 34,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[41.776     , 42.2550261 , 43.61917703, 45.66077316, 48.069     ],\n",
       "       [ 6.815     ,  7.18235738,  8.22850267,  9.79416976, 11.641     ],\n",
       "       [30.752     , 31.15026229, 32.28441732, 33.98180028, 35.984     ],\n",
       "       ...,\n",
       "       [27.616     , 27.33869314, 26.54899   , 25.36711574, 23.973     ],\n",
       "       [27.954     , 27.66101232, 26.826654  , 25.57794853, 24.105     ],\n",
       "       [52.955     , 52.58573961, 51.534175  , 49.96039733, 48.104     ]])"
      ]
     },
     "execution_count": 34,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "localx0=np.reshape(local_x[:,0],[1,-1])\n",
    "localx1=np.reshape(local_x[:,10],[1,-1])\n",
    "localx2=np.reshape(local_x[:,20],[1,-1])\n",
    "localx3=np.reshape(local_x[:,30],[1,-1])\n",
    "localx4=np.reshape(local_x[:,39],[1,-1])\n",
    "x0_40=x_total_list\n",
    "x10_40=np.vstack((localx0,localx1,x2_list,x3_list,localx4))\n",
    "x20_40=np.vstack((localx0,localx1,localx2,x3_list,localx4))\n",
    "x30_40=np.vstack((localx0,localx1,localx2,localx3,localx4))\n",
    "x10_40=np.transpose(x10_40)\n",
    "x20_40=np.transpose(x20_40)\n",
    "x30_40=np.transpose(x30_40)\n",
    "x0_40"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 36,
   "metadata": {},
   "outputs": [],
   "source": [
    "def linear_reg(v_arr,y_list,num):\n",
    "    f40=[]\n",
    "    f30=[]\n",
    "    f20=[]\n",
    "    f10=[]\n",
    "    zeros_arr=np.zeros([1,len(v_arr)])\n",
    "    if num==4:\n",
    "        for i in range(len(v_arr)):\n",
    "            f40.append(v_arr[i]*3.12+20.5)\n",
    "            f30.append(v_arr[i]*2.425+12.8)\n",
    "            f20.append(v_arr[i]*1.66+6.515)\n",
    "            f10.append(v_arr[i]*0.829+2.015)\n",
    "        f10_40=[f10]+[f20]+[f30]+[f40]\n",
    "        f10_40=np.array(f10_40)\n",
    "        f10_40=np.vstack((zeros_arr,f10_40))\n",
    "        f10_40=np.transpose(f10_40)\n",
    "        for i in range(len(f10_40[0])):\n",
    "            f10_40[:,i]=local_y[:,0]+f10_40[:,i]\n",
    "    if num==3:\n",
    "        for i in range(len(v_arr)):\n",
    "            f30.append(v_arr[i]*2.425+12.8)\n",
    "            f20.append(v_arr[i]*1.66+6.515)\n",
    "            f10.append(v_arr[i]*0.829+2.015)\n",
    "        f10_40=y_list+[f10]+[f20]+[f30]\n",
    "        f10_40=np.array(f10_40)\n",
    "        f10_40=np.transpose(f10_40)\n",
    "        for i in range(num):\n",
    "            f10_40[:,i+2]=f10_40[:,1]+f10_40[:,i+2]\n",
    "    if num==2:\n",
    "        for i in range(len(v_arr)):\n",
    "            f30.append(v_arr[i]*2.425+12.8)\n",
    "            f20.append(v_arr[i]*1.66+6.515)\n",
    "            f10.append(v_arr[i]*0.829+2.015)\n",
    "        f10_40=y_list+[f10]+[f20]\n",
    "        f10_40=np.array(f10_40)\n",
    "        f10_40=np.transpose(f10_40)\n",
    "        for i in range(num):\n",
    "            f10_40[:,i+3]=f10_40[:,2]+f10_40[:,i+3]\n",
    "    if num==1:\n",
    "        for i in range(len(v_arr)):\n",
    "            f30.append(v_arr[i]*2.425+12.8)\n",
    "            f20.append(v_arr[i]*1.66+6.515)\n",
    "            f10.append(v_arr[i]*0.829+2.015)\n",
    "        f10_40=y_list+[f10]\n",
    "        f10_40=np.array(f10_40)\n",
    "        f10_40=np.transpose(f10_40)\n",
    "        for i in range(num):\n",
    "            f10_40[:,i+4]=f10_40[:,3]+f10_40[:,i+4]\n",
    "    return f10_40"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 37,
   "metadata": {},
   "outputs": [],
   "source": [
    "def ransac_reg(v_arr,y_list,num):\n",
    "    f40=[]\n",
    "    f30=[]\n",
    "    f20=[]\n",
    "    f10=[]\n",
    "    zeros_arr=np.zeros([1,len(v_arr)])\n",
    "    if num==4:\n",
    "        for i in range(len(v_arr)):\n",
    "            f40.append(arr[i]*2.53+35.25)\n",
    "            f30.append(arr[i]*2.42+10.44)\n",
    "            f20.append(arr[i]*1.826+1.89)\n",
    "            f10.append(arr[i]*0.87+0.854)\n",
    "        f10_40=[f10]+[f20]+[f30]+[f40]\n",
    "        f10_40=np.array(f10_40)\n",
    "        f10_40=np.vstack((zeros_arr,f10_40))\n",
    "        f10_40=np.transpose(f10_40)\n",
    "        for i in range(len(f10_40[0])):\n",
    "            f10_40[:,i]=local_y[:,0]+f10_40[:,i]\n",
    "    if num==3:\n",
    "        for i in range(len(v_arr)):\n",
    "            f30.append(v_arr[i]*2.425+12.8)\n",
    "            f20.append(v_arr[i]*1.66+6.515)\n",
    "            f10.append(v_arr[i]*0.829+2.015)\n",
    "        f10_40=y_list+[f10]+[f20]+[f30]\n",
    "        f10_40=np.array(f10_40)\n",
    "        f10_40=np.transpose(f10_40)\n",
    "        for i in range(num):\n",
    "            f10_40[:,i+2]=f10_40[:,1]+f10_40[:,i+2]\n",
    "    if num==2:\n",
    "        for i in range(len(v_arr)):\n",
    "            f30.append(v_arr[i]*2.425+12.8)\n",
    "            f20.append(v_arr[i]*1.66+6.515)\n",
    "            f10.append(v_arr[i]*0.829+2.015)\n",
    "        f10_40=y_list+[f10]+[f20]\n",
    "        f10_40=np.array(f10_40)\n",
    "        f10_40=np.transpose(f10_40)\n",
    "        for i in range(num):\n",
    "            f10_40[:,i+3]=f10_40[:,2]+f10_40[:,i+3]\n",
    "    if num==1:\n",
    "        for i in range(len(v_arr)):\n",
    "            f30.append(v_arr[i]*2.425+12.8)\n",
    "            f20.append(v_arr[i]*1.66+6.515)\n",
    "            f10.append(v_arr[i]*0.829+2.015)\n",
    "        f10_40=y_list+[f10]\n",
    "        f10_40=np.array(f10_40)\n",
    "        f10_40=np.transpose(f10_40)\n",
    "        for i in range(num):\n",
    "            f10_40[:,i+4]=f10_40[:,3]+f10_40[:,i+4]\n",
    "    return f10_40"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 38,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
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       " 1181.33,\n",
       " 449.523]"
      ]
     },
     "execution_count": 38,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "localy0=local_y[:,0]\n",
    "localy1=local_y[:,10]\n",
    "localy2=local_y[:,20]\n",
    "localy3=local_y[:,30]\n",
    "localy4=local_y[:,39]\n",
    "v0=vy_list[:,0]\n",
    "v1=vy_list[:,10]\n",
    "v2=vy_list[:,20]\n",
    "v3=vy_list[:,30]\n",
    "localy0_list=[list(localy0)]\n",
    "localy01_list=localy0_list+[list(localy1)]\n",
    "localy012_list=localy01_list+[list(localy2)]\n",
    "localy0123_list=localy012_list+[list(localy3)]\n",
    "localy01_list[1]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 39,
   "metadata": {},
   "outputs": [],
   "source": [
    "y0_40=linear_reg(v0,localy0_list,4)\n",
    "y10_40=linear_reg(v1,localy01_list,3)\n",
    "y20_40=linear_reg(v2,localy012_list,2)\n",
    "y30_40=linear_reg(v3,localy0123_list,1)\n",
    "y0_40_ran=linear_reg(v0,localy0_list,4)\n",
    "y10_40_ran=ransac_reg(v1,localy01_list,3)\n",
    "y20_40_ran=ransac_reg(v2,localy012_list,2)\n",
    "y30_40_ran=ransac_reg(v3,localy0123_list,1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 40,
   "metadata": {},
   "outputs": [],
   "source": [
    "x040_3040=[x0_40]+[x10_40]+[x20_40]+[x30_40]\n",
    "y040_3040=[y0_40]+[y10_40]+[y20_40]+[y30_40]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 46,
   "metadata": {},
   "outputs": [],
   "source": [
    "def make_bezier(xys):\n",
    "    # xys should be a sequence of 2-tuples (Bezier control points)\n",
    "    n = len(xys)\n",
    "    combinations = pascal_row(n-1)\n",
    "    def bezier(ts):\n",
    "        # This uses the generalized formula for bezier curves\n",
    "        # http://en.wikipedia.org/wiki/B%C3%A9zier_curve#Generalization\n",
    "        result = []\n",
    "        for t in ts:\n",
    "            tpowers = (t**i for i in range(n))\n",
    "            upowers = reversed([(1-t)**i for i in range(n)])\n",
    "            coefs = [c*a*b for c, a, b in zip(combinations, tpowers, upowers)]\n",
    "            result.append(\n",
    "                tuple(sum([coef*p for coef, p in zip(coefs, ps)]) for ps in zip(*xys)))\n",
    "        return result\n",
    "    return bezier\n",
    "def pascal_row(n):\n",
    "    # This returns the nth row of Pascal's Triangle\n",
    "    result = [1]\n",
    "    x, numerator = 1, n\n",
    "    for denominator in range(1, n//2+1):\n",
    "        # print(numerator,denominator,x)\n",
    "        x *= numerator\n",
    "        x /= denominator\n",
    "        result.append(x)\n",
    "        numerator -= 1\n",
    "    if n&1 == 0:\n",
    "        # n is even\n",
    "        result.extend(reversed(result[:-1]))\n",
    "    else:\n",
    "        result.extend(reversed(result)) \n",
    "    return result"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 146,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[[  6.815     , 345.763     ],\n",
       "        [  7.309     , 378.127     ],\n",
       "        [  7.101     , 408.342     ],\n",
       "        [  6.43037774, 438.40006471],\n",
       "        [  9.03385725, 427.38049142],\n",
       "        [ 11.641     , 462.58180043]],\n",
       "\n",
       "       [[  6.815     , 345.763     ],\n",
       "        [  7.309     , 378.127     ],\n",
       "        [  7.101     , 408.342     ],\n",
       "        [  6.43037774, 438.40006471],\n",
       "        [  9.95387048, 434.77145835],\n",
       "        [ 11.641     , 469.65563428]],\n",
       "\n",
       "       [[  6.815     , 345.763     ],\n",
       "        [  7.309     , 378.127     ],\n",
       "        [  7.101     , 408.342     ],\n",
       "        [  6.43037774, 438.40006471],\n",
       "        [  9.99866133, 434.19955727],\n",
       "        [ 11.641     , 470.37253493]],\n",
       "\n",
       "       [[  6.815     , 345.763     ],\n",
       "        [  7.309     , 378.127     ],\n",
       "        [  7.101     , 408.342     ],\n",
       "        [  6.43037774, 438.40006471],\n",
       "        [  9.21647593, 432.16007141],\n",
       "        [ 11.641     , 460.81927398]],\n",
       "\n",
       "       [[  6.815     , 345.763     ],\n",
       "        [  7.309     , 378.127     ],\n",
       "        [  7.101     , 408.342     ],\n",
       "        [  6.43037774, 438.40006471],\n",
       "        [  8.41533607, 431.15715108],\n",
       "        [ 11.641     , 457.36803932]]])"
      ]
     },
     "execution_count": 146,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from numpy.linalg import cholesky\n",
    "id_num=1\n",
    "known_trajectory=2\n",
    "points_num=5\n",
    "x_val=x040_3040[known_trajectory][id_num]\n",
    "y_val=y040_3040[known_trajectory][id_num]\n",
    "y_val_ran=y10_40_ran[id_num]\n",
    "xy_val=[x_val]+[y_val]\n",
    "xy_val=np.array(xy_val)\n",
    "xy_val=np.transpose(xy_val)\n",
    "\n",
    "\n",
    "s_tol=[]\n",
    "for i in range(len(x_val)):\n",
    "    if i==0:\n",
    "        continue\n",
    "    else:\n",
    "        mu = np.array([xy_val[i]])\n",
    "        Sigma = np.array([[0.5, 0], [0, 3.5*i+0.1]])\n",
    "        R = cholesky(Sigma)\n",
    "        s = np.dot(np.random.randn(points_num, 2), R) + mu\n",
    "        s_tol.append(s)\n",
    "s_tol=np.array(s_tol) \n",
    "s_tol[3][:,0]=xy_val[4,0]\n",
    "s_end=s_tol[3]\n",
    "s_start=[]\n",
    "if known_trajectory==0:\n",
    "    for i in range(points_num):\n",
    "        s_start.append(xy_val[0])\n",
    "    s_start=np.reshape(s_start,[-1,2])\n",
    "    s_mid=s_tol[:3].reshape([-1,2])\n",
    "    s_all=np.vstack((s_start,s_mid,s_end))\n",
    "    s_lis=np.reshape(s_all,[5,points_num,2]).tolist()\n",
    "if known_trajectory==1:\n",
    "    s_new=[]\n",
    "    for i in range(points_num):\n",
    "        s_start.append(xy_val[0])\n",
    "    for i in range(points_num):\n",
    "        s_start.append(xy_val[1])\n",
    "    for i in range(points_num):\n",
    "        s_new.append(xy1_new[id_num])\n",
    "    s_start=np.reshape(s_start,[-1,2])\n",
    "    s_new=np.reshape(s_new,[-1,2])\n",
    "    s_mid=s_tol[1:3].reshape([-1,2])\n",
    "    s_all=np.vstack((s_start,s_new,s_mid,s_end))\n",
    "    s_lis=np.reshape(s_all,[-1,points_num,2]).tolist()\n",
    "if known_trajectory==2:\n",
    "    s_new=[]\n",
    "    for i in range(points_num):\n",
    "        s_start.append(xy_val[0])\n",
    "    for i in range(points_num):\n",
    "        s_start.append(xy_val[1])\n",
    "    for i in range(points_num):\n",
    "        s_start.append(xy_val[2])\n",
    "    for i in range(points_num):\n",
    "        s_new.append(xy2_new[id_num])\n",
    "    s_start=np.reshape(s_start,[-1,2])\n",
    "    s_new=np.reshape(s_new,[-1,2])\n",
    "    s_mid=s_tol[2:3].reshape([-1,2])\n",
    "    s_all=np.vstack((s_start,s_new,s_mid,s_end))\n",
    "    s_lis=np.reshape(s_all,[-1,points_num,2]).tolist()\n",
    "if known_trajectory==3:\n",
    "    s_new=[]\n",
    "    for i in range(points_num):\n",
    "        s_start.append(xy_val[0])\n",
    "    for i in range(points_num):\n",
    "        s_start.append(xy_val[1])\n",
    "    for i in range(points_num):\n",
    "        s_start.append(xy_val[2])\n",
    "    for i in range(points_num):\n",
    "        s_start.append(xy_val[3])\n",
    "    for i in range(points_num):\n",
    "        s_new.append(xy1_new[id_num])\n",
    "    s_start=np.reshape(s_start,[-1,2])\n",
    "    s_new=np.reshape(s_new,[-1,2])\n",
    "    s_all=np.vstack((s_start,s_end))\n",
    "    s_lis=np.reshape(s_all,[-1,points_num,2]).tolist()\n",
    "s_list=[]\n",
    "for a in range(len(s_lis[0])):\n",
    "    for i in range(len(s_lis)):\n",
    "        b=[]\n",
    "        b.append(s_lis[i][a])\n",
    "        s_list.append(b)\n",
    "s_list=np.reshape(s_list,[points_num,-1,2])\n",
    "s_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 48,
   "metadata": {},
   "outputs": [
    {
     "ename": "NameError",
     "evalue": "name 'bezier' is not defined",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mNameError\u001b[0m                                 Traceback (most recent call last)",
      "\u001b[0;32m<ipython-input-48-849e72739051>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[1;32m      6\u001b[0m \u001b[0;32mfor\u001b[0m \u001b[0mi\u001b[0m \u001b[0;32min\u001b[0m \u001b[0mrange\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mpoints_num\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      7\u001b[0m     \u001b[0mts\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;34m[\u001b[0m\u001b[0mt\u001b[0m\u001b[0;34m/\u001b[0m\u001b[0;36m100.0\u001b[0m \u001b[0;32mfor\u001b[0m \u001b[0mt\u001b[0m \u001b[0;32min\u001b[0m \u001b[0mrange\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;36m101\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 8\u001b[0;31m     \u001b[0mpoints\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mbezier\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mts\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m      9\u001b[0m     \u001b[0mbezier\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mmake_bezier\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0ms_list\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0mi\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0mknown_trajectory\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     10\u001b[0m     \u001b[0mpoints\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0marray\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mpoints\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;31mNameError\u001b[0m: name 'bezier' is not defined"
     ]
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "# x_truth=local_x[id_num]\n",
    "# y_truth=local_y[id_num]\n",
    "# plt.plot(s_all[:,0],s_all[:,1],'+',color='black')\n",
    "# plt.plot(x_val,y_val, label = \"val\", color='blue', marker='|')\n",
    "# plt.plot(x_truth,y_truth, label = \"truth\", color='red', marker='|')\n",
    "# for i in range(points_num):\n",
    "#     ts = [t/100.0 for t in range(101)]\n",
    "#     points = bezier(ts)\n",
    "#     bezier = make_bezier(s_list[i][known_trajectory:])\n",
    "#     points=np.array(points)\n",
    "#     plt.plot(points[:,0],points[:,1], label = \"ran\", color='green')\n",
    "# plt.show()\n",
    "# plt.clf()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 147,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "# for i in range(5-known_trajectory):\n",
    "# ts = [t/100.0 for t in range(101)]\n",
    "# bezier = make_bezier(xy_val[known_trajectory:])\n",
    "# points = bezier(ts)\n",
    "# points=np.array(points)\n",
    "    \n",
    "x_truth=local_x[id_num]\n",
    "y_truth=local_y[id_num]\n",
    "plt.plot(s_all[:,0],s_all[:,1],'+',color='black')\n",
    "plt.plot(x_val,y_val, label = \"val\", color='blue', marker='|')\n",
    "plt.plot(x_truth,y_truth, label = \"truth\", color='red', marker='|')\n",
    "for i in range(points_num):\n",
    "    ts = [t/100.0 for t in range(101)]\n",
    "    bezier = make_bezier(s_list[i][known_trajectory:])\n",
    "    points = bezier(ts)\n",
    "    points=np.array(points)\n",
    "    plt.plot(points[:,0],points[:,1], label = \"ran\", color='green')\n",
    "    \n",
    "    \n",
    "# plt.plot(points[:,0],points[:,1], label = \"ran\", color='green', marker='|')\n",
    "# plt.plot(x_val,y_val_ran, label = \"ran\", color='green', marker='|')\n",
    "# plt.scatter(x1,y1,s=20,c=T,alpha=0.5)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# mu = np.array([[41.776, 1452.031]])\n",
    "# Sigma = np.array([[1, 0], [0, 3]])\n",
    "# R = cholesky(Sigma)\n",
    "# s = np.dot(np.random.randn(10, 2), R) + mu\n",
    "# plt.plot(s[:,0],s[:,1],'+')\n",
    "# plt.show()\n",
    "# s"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "plt.plot(x_truth,y_truth)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# def linear_reg(arr):\n",
    "#     f40=[]\n",
    "#     f30=[]\n",
    "#     f20=[]\n",
    "#     f10=[]\n",
    "#     zeros_arr=np.zeros([1,len(arr)])\n",
    "#     for i in range(len(arr)):\n",
    "#         f40.append(arr[i]*3.12+20.5)\n",
    "#         f30.append(arr[i]*2.425+12.8)\n",
    "#         f20.append(arr[i]*1.66+6.515)\n",
    "#         f10.append(arr[i]*0.829+2.015)\n",
    "#     f10_40=[f10]+[f20]+[f30]+[f40]\n",
    "#     f10_40=np.array(f10_40)\n",
    "#     f10_40=np.vstack((zeros_arr,f10_40))\n",
    "#     f10_40=np.transpose(f10_40)\n",
    "#     for i in range(len(f10_40[0])):\n",
    "#         f10_40[:,i]=local_y[:,0]+f10_40[:,i]\n",
    "#     return f10_40"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# def ransac_reg(arr):\n",
    "#     f40=[]\n",
    "#     f30=[]\n",
    "#     f20=[]\n",
    "#     f10=[]\n",
    "#     zeros_arr=np.zeros([1,len(arr)])\n",
    "#     for i in range(len(arr)):\n",
    "#         f40.append(arr[i]*2.53+35.25)\n",
    "#         f30.append(arr[i]*2.42+10.44)\n",
    "#         f20.append(arr[i]*1.826+1.89)\n",
    "#         f10.append(arr[i]*0.87+0.854)\n",
    "#     f10_40=[f10]+[f20]+[f30]+[f40]\n",
    "#     f10_40=np.array(f10_40)\n",
    "#     f10_40=np.vstack((zeros_arr,f10_40))\n",
    "#     f10_40=np.transpose(f10_40)\n",
    "#     for i in range(len(f10_40[0])):\n",
    "#         f10_40[:,i]=local_y[:,0]+f10_40[:,i]\n",
    "#     return f10_40"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "f0_40_line=linear_reg(vy_list[:,0])\n",
    "f0_40_ransac=ransac_reg(vy_list[:,0])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "def creat_points(frames, point_num,y_list,vy_list,v_list,data_num):\n",
    "    v=[]\n",
    "    vy=[]\n",
    "    l=[]\n",
    "    for i in range(point_num):\n",
    "        total_y=0\n",
    "        start_frame = random.randint(0, 40-frames)\n",
    "        end_frame = start_frame + frames\n",
    "        point_id = random.randint(0, data_num-1)\n",
    "        v.append(v_list[point_id][start_frame])\n",
    "        vy.append(vy_list[point_id][start_frame])\n",
    "        for a in range(frames-1):\n",
    "            total_y+=y_list[point_id][start_frame+1+a]\n",
    "        l.append(total_y)\n",
    "    return v,vy,l"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "vy=np.reshape(vy,[-1,1])\n",
    "l=np.array(l)\n",
    "X = vy\n",
    "Y = l\n",
    "\n",
    "# 用普通线性模型拟合X，y\n",
    "model = linear_model.LinearRegression()\n",
    "model.fit(X, Y)\n",
    "\n",
    "# 使用RANSAC算法拟合X,y\n",
    "model_ransac = linear_model.RANSACRegressor(linear_model.LinearRegression())\n",
    "model_ransac.fit(X, Y)\n",
    "inlier_mask = model_ransac.inlier_mask_\n",
    "outlier_mask = np.logical_not(inlier_mask)\n",
    "\n",
    "# 使用一般回归模型和RANSAC算法分别对测试数据做预测\n",
    "line_X = np.arange(0, 80)\n",
    "line_y = model.predict(line_X[:, np.newaxis])\n",
    "line_y_ransac = model_ransac.predict(line_X[:, np.newaxis])\n",
    "\n",
    "# print(\"真实数据参数：\", coef)\n",
    "print(\"线性回归模型参数：\", model.coef_,model.intercept_)\n",
    "print(\"RANSAC算法参数： \", model_ransac.estimator_.coef_,model_ransac.estimator_.intercept_)\n",
    "\n",
    "plt.plot(X[inlier_mask], Y[inlier_mask], '.g', label='Inliers')\n",
    "plt.plot(X[outlier_mask], Y[outlier_mask], '.r', label='Outliers')\n",
    "plt.plot(line_X, line_y, '-k', label='Linear Regression')\n",
    "plt.plot(line_X, line_y_ransac, '-b', label=\"RANSAC Regression\")\n",
    "plt.legend(loc='upper left')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "v,vy,l=creat_points(frames=40,point_num=500,y_list=y_list,vy_list=vy_list,v_list=v_list,data_num=data_num)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# def acc()\n",
    "# pre_ransac=model_ransac.predict(vy4)\n",
    "# pre_liner=model.predict(vy4)\n",
    "# cha=pre_ransac-l4\n",
    "# cha_list=[]\n",
    "# for i in range(len(cha)):\n",
    "#     if abs(cha[i])<=10:\n",
    "#         cha_list.append(abs(cha[i]))\n",
    "# cha_xian=pre_liner-l4\n",
    "# xian_list=[]\n",
    "# for i in range(len(cha_xian)):\n",
    "#     if abs(cha_xian[i])<=10:\n",
    "#         xian_list.append(abs(cha_xian[i]))\n",
    "        \n",
    "# ran=len(cha_list)/454\n",
    "# xian=len(xian_list)/454\n",
    "\n",
    "# print(ran,xian)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "scrolled": true
   },
   "outputs": [],
   "source": [
    "pre_ransac"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# import math\n",
    "# u = 30   # 均值μ\n",
    "# u01 = -2\n",
    "# sig = math.sqrt(0.2)  # 标准差δ\n",
    "# sig01 = math.sqrt(1)\n",
    "# sig02 = math.sqrt(10)\n",
    "# sig_u01 = math.sqrt(0.5)\n",
    "# x = np.linspace(u - 3*sig, u + 3*sig, 50)\n",
    "# x_01 = np.linspace(u - 6 * sig, u + 6 * sig, 50)\n",
    "# x_02 = np.linspace(u - 20 * sig, u + 20 * sig, 10)\n",
    "# x_u01 = np.linspace(u - 10 * sig, u + 1 * sig, 50)\n",
    "# print(x_02)\n",
    "# y_sig = np.exp(-(x - u) ** 2 /(2* sig **2))/(math.sqrt(2*math.pi)*sig)\n",
    "# y_sig01 = np.exp(-(x_01 - u) ** 2 /(2* sig01 **2))/(math.sqrt(2*math.pi)*sig01)\n",
    "# y_sig02 = np.exp(-(x_02 - u) ** 2 / (2 * sig02 ** 2)) / (math.sqrt(2 * math.pi) * sig02)\n",
    "# y_sig_u01 = np.exp(-(x_u01 - u01) ** 2 / (2 * sig_u01 ** 2)) / (math.sqrt(2 * math.pi) * sig_u01)\n",
    "# print(y_sig02)\n",
    "# plt.plot(x, y_sig, \"r-\", linewidth=2)\n",
    "# plt.plot(x_01, y_sig01, \"g-\", linewidth=2)\n",
    "# plt.plot(x_02, y_sig02, \"b-\", linewidth=2)\n",
    "# plt.plot(x_u01, y_sig_u01, \"m-\", linewidth=2)\n",
    "# # plt.plot(x, y, 'r-', x, y, 'go', linewidth=2,markersize=8)\n",
    "# plt.grid(True)\n",
    "# plt.show()\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# y_center=pre_liner\n",
    "# total_ylist=[]\n",
    "# # x_center=x_list\n",
    "# for i in range(data_num):\n",
    "# #     ux = x_center[i]   # 均值μ\n",
    "#     uy = y_center[i]\n",
    "# #     sigx = math.sqrt(0.2)\n",
    "#     sigy = math.sqrt(10)\n",
    "# #     xx = np.linspace(ux - 2 * sigx, ux + 2 * sigx, 10)# 标准差δ\n",
    "# #     xy = np.exp(-(xx - ux) ** 2 /(2* sigx **2))/(math.sqrt(2*math.pi)*sigx)\n",
    "#     yx = np.linspace(uy - 20 * sigx, uy + 20 * sigx, 10)# 标准差δ\n",
    "#     yy = np.exp(-(yx - uy) ** 2 /(2* sigy **2))/(math.sqrt(2*math.pi)*sigy)\n",
    "#     total_ylist.append(yx)\n",
    "# total_ylist"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "scrolled": true
   },
   "outputs": [],
   "source": [
    "# l"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "x0_40[0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "y0_40[0]"
   ]
  }
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