test_balance_2.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#                  V- REP - Poppy balance behavior using IMU and Gyroscope"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "First you need to instanciate the robot\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "collapsed": false,
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Populating the interactive namespace from numpy and matplotlib\n"
     ]
    }
   ],
   "source": [
    "from poppy.creatures import PoppyHumanoid\n",
    "\n",
    "poppy = PoppyHumanoid(simulator='vrep')\n",
    "\n",
    "%pylab inline\n",
    "import time"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "This test is bases on the information you can retrieve from an IMU sensor. In fact, you can have the absolute x,y,z position of the head (assuming the IMU is in the head of Poppy)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.legend.Legend at 0x742b9b0>"
      ]
     },
     "execution_count": 22,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
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      ],
      "text/plain": [
       "<matplotlib.figure.Figure at 0x71947d0>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "\n",
    "list_pos_x = []\n",
    "list_pos_y = []\n",
    "list_pos_z = []\n",
    "t= []\n",
    "\n",
    "\n",
    "#poppy.r_hip_y.goto_position(-50, 4)\n",
    "#poppy.r_knee_y.goto_position(50, 4)\n",
    "\n",
    "poppy.l_shoulder_y.goto_behavior = 'minjerk'\n",
    "poppy.r_shoulder_y.goto_behavior = 'minjerk'\n",
    "poppy.l_shoulder_x.goto_behavior = 'minjerk'\n",
    "poppy.r_shoulder_x.goto_behavior = 'minjerk'\n",
    "\n",
    "poppy.l_shoulder_x.goto_position(10, 2, wait=True)\n",
    "poppy.l_shoulder_y.goto_position(10, 2, wait=True)\n",
    "poppy.r_shoulder_x.goto_position(-10, 2, wait=True)\n",
    "poppy.r_shoulder_y.goto_position(10, 2, wait=True)\n",
    "\n",
    "poppy.l_shoulder_y.goto_position(80, 4)\n",
    "poppy.r_shoulder_y.goto_position(80, 4)\n",
    "\n",
    "\n",
    "pos = poppy.get_object_position('head_visual')\n",
    "pos_x=pos[0]\n",
    "pos_y=pos[1]\n",
    "pos_z=pos[2]\n",
    "\n",
    "action_passe = 0\n",
    "t0 = time.time()\n",
    "\n",
    "while time.time() - t0 < 30:\n",
    "    pos = poppy.get_object_position('head_visual')\n",
    "    \n",
    "    \n",
    "    if pos_x != pos[0]:\n",
    "        decalage_x=pos[0]-pos_x\n",
    "        decalage_y=pos[1]-pos_y\n",
    "        decalage_z=pos[2]-pos_z\n",
    "    \n",
    "    \n",
    "\n",
    "        list_pos_x.append(decalage_x)\n",
    "        list_pos_y.append(decalage_y)\n",
    "        list_pos_z.append(decalage_z)\n",
    "    \n",
    "        pos_x = pos[0]\n",
    "        pos_y = pos[1]\n",
    "        pos_z = pos[2]\n",
    "    \n",
    "        t.append(poppy.current_simulation_time)\n",
    "    \n",
    "    time.sleep(0.05)\n",
    "    \n",
    "plot(t, list_pos_x)\n",
    "plot(t, list_pos_y)\n",
    "plot(t, list_pos_z)\n",
    "\n",
    "\n",
    "legend(('dx', 'dy','dz'))\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()\n",
    "time.sleep(2)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# On the previous graph, you can see that Poppy is falling down, because there is an unexpected movement of the head.\n",
    "Now, you need to correct the movement the more quickly it is possible to ovoid the falling down and restaure the balance.\n",
    "To do that we choose to make a movement in the opposite direction of the fall, using the motor abs_x and abs_y.\n",
    "The problem is that we don't know what is the orientation of the motor and for example, we need to know what will be the correction of the abs_x motor.\n",
    "For the motor abs_x we define a correction vector base on the orientation of the motor. The correction vector is the vector which represent in what direction the motor is able to move the gravity center of poppy. For abs_x the vector is parallele to x axis because when rotation is increasing gravity center is moving along x axis (and same sign).   \n",
    "Assuming we are working with an absolute frame, we need to konw what is the coordinate of the x axis of the abs_x motor in the absolute frame. \n",
    "Get orientation return the orientation of the x axis [Vrep doc](http://www.coppeliarobotics.com/helpFiles/en/eulerAngles.htm) and using the matrix rotation you can obtain the coordinate of x axis of the motor in the reference frame [rotation matrix](http://fr.wikipedia.org/wiki/Matrice_de_rotation) "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[ 0.99996959]\n",
      " [-0.00660931]\n",
      " [-0.00414028]]\n",
      "[[-0.0071547 ]\n",
      " [-0.99995199]\n",
      " [-0.00669564]]\n"
     ]
    }
   ],
   "source": [
    "# x axis of the absolute frame\n",
    "Vx = mat('[1 ; 0 ; 0]')\n",
    "\n",
    "# orientation of the motor frame\n",
    "orient = poppy.get_object_orientation('abs_x')\n",
    "\n",
    "# orthogonal matrix 3D rotation \n",
    "def rotate_matrix(orient):\n",
    "    a = orient[0]\n",
    "    b = orient[1]\n",
    "    g = orient[2]\n",
    "    Rx = array([[1,0,0], [0,cos(a),-sin(a)], [0,sin(a),cos(a)]])\n",
    "    Rx = mat(Rx)\n",
    "    Ry = array([[cos(b),0,sin(b)], [0,1,0], [-sin(b),0,cos(b)]])\n",
    "    Ry = mat(Ry)\n",
    "    Rz = array([[cos(g),-sin(g),0], [sin(g),cos(g),0], [0,0,1]])\n",
    "    Rz = mat(Rz)\n",
    "    Rot = Rx*Ry*Rz\n",
    "    return Rot\n",
    "\n",
    "# coordinate of motor abs_x x axis in the absolute frame\n",
    "Rot = rotate_matrix(orient)\n",
    "Vx_abs_x = Rot*Vx\n",
    "print Vx_abs_x\n",
    "\n",
    "# coordinate of motor  abs_y x axis in the absolute frame\n",
    "orient = poppy.get_object_orientation('abs_y')\n",
    "Rot = rotate_matrix(orient)\n",
    "Vx_abs_y = Rot*Vx\n",
    "print Vx_abs_y"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Just the simpliest code to have the moving direction of the gravity center for abs_x and abs_y. You have to be careful with the sens of the move. abs_x is in direct sens (increase x when increase position) but abs_y is in the opposite direction (decrease x when increase position)."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[ -9.99990118e-01]\n",
      " [ -7.27109619e-04]\n",
      " [  4.38585109e-03]]\n"
     ]
    }
   ],
   "source": [
    "Vx_abs_x = rotate_matrix(poppy.get_object_orientation('abs_x'))*Vx\n",
    "print Vx_abs_x"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[ 0.00783792]\n",
      " [ 0.99994014]\n",
      " [ 0.00763457]]\n"
     ]
    }
   ],
   "source": [
    "Vx_indirect = mat('[-1 ; 0 ; 0]')\n",
    "Vx_abs_y = rotate_matrix(poppy.get_object_orientation('abs_y'))*Vx_indirect\n",
    "print Vx_abs_y"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "collapsed": true
   },
   "source": [
    "Now we can apply the correction in the right direction to avoid poppy falling. We have to find the good values for the motors in order to move the gravity center in the opposite direction of the fall (by resolving a equation system in the x-y plan)."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 42,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 43,
   "metadata": {
    "collapsed": false,
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[0.004666585475206375, 0.004125743638724089, 0.7526013851165771]\n",
      "[0.004666585475206375, 0.004125743638724089, 0.7526013851165771]\n",
      "[0.004666585475206375, 0.004125743638724089, 0.7526013851165771]\n",
      "[0.005073468200862408, 0.004714743699878454, 0.752467691898346]\n",
      " \n",
      " \n",
      "temps : 16.5000343323\n",
      "moving direction :\n",
      "dx = 0.000406882725656\n",
      "dy = 0.000589000061154\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00041793]]\n",
      "Abs_y =  [[ 0.00058119]]\n",
      "correction abs_x :  [[ 0.41793202]]\n",
      "correction abs_y :  [[ 0.58119435]]\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<matplotlib.legend.Legend at 0x8427250>"
      ]
     },
     "execution_count": 43,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
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      ],
      "text/plain": [
       "<matplotlib.figure.Figure at 0x81d1130>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "poppy.abs_x.goto_behavior = 'dummy'\n",
    "poppy.abs_y.goto_behavior = 'dummy'\n",
    "\n",
    "list_pos_x = []\n",
    "list_pos_y = []\n",
    "list_pos_z = []\n",
    "t= []\n",
    "\n",
    "poppy.head_y.goto_position(10, 1, wait=True)\n",
    "poppy.l_shoulder_x.goto_position(10, 2, wait=True)\n",
    "poppy.l_shoulder_y.goto_position(10, 2, wait=True)\n",
    "poppy.r_shoulder_x.goto_position(-10, 2, wait=True)\n",
    "poppy.r_shoulder_y.goto_position(10, 2, wait=True)\n",
    "\n",
    "\n",
    "t0 = time.time()\n",
    "\n",
    "poppy.l_shoulder_y.goto_behavior = 'minjerk'\n",
    "poppy.r_shoulder_y.goto_behavior = 'minjerk'\n",
    "\n",
    "\n",
    "poppy.l_shoulder_y.goto_position(80, 4)\n",
    "poppy.r_shoulder_y.goto_position(80, 4)\n",
    "\n",
    "\n",
    "action_passex = 0\n",
    "action_passey = 0\n",
    "\n",
    "while time.time() - t0 < 30:\n",
    "    \n",
    "    \n",
    "    \n",
    "    pos = poppy.get_object_position('head_visual')\n",
    "    time.sleep(0.05)\n",
    "    pos2 = poppy.get_object_position('head_visual')\n",
    "    \n",
    "    print pos\n",
    "    print pos2\n",
    "    \n",
    "    if pos2 != pos:\n",
    "        decalage_x=pos2[0]-pos[0]\n",
    "        decalage_y=pos2[1]-pos[1]\n",
    "        decalage_z=pos2[2]-pos[2]\n",
    "        \n",
    "        list_pos_x.append(decalage_x)\n",
    "        list_pos_y.append(decalage_y)\n",
    "        list_pos_z.append(decalage_z)\n",
    "        \n",
    "               \n",
    "        t.append(poppy.current_simulation_time)\n",
    "        print \" \"\n",
    "        print \" \"\n",
    "        print \"temps :\",poppy.current_simulation_time\n",
    "        print \"moving direction :\"\n",
    "        print \"dx =\",decalage_x\n",
    "        print \"dy =\",decalage_y\n",
    "    \n",
    "        # x  axis of the absolute frame\n",
    "        Vx = mat('[1 ; 0 ; 0]')\n",
    "        \n",
    "\n",
    "        # orientation of the motor frame\n",
    "        Vx_abs_x = rotate_matrix(poppy.get_object_orientation('abs_x'))*Vx\n",
    "        Vx_abs_y = rotate_matrix(poppy.get_object_orientation('abs_y'))*Vx_indirect\n",
    "               \n",
    "        # calculatin of the good values for position of Abs_x and Abs_y\n",
    "        # resolution of the system -dx = Vx_abs_x[0]*Abs_x + Vx_abs_y[0]*Abs_y and -dy = Vx_abs_x[1]*Abs_x + Vx_abs_y[1]*Abs_y\n",
    "        A3 = concatenate((Vx_abs_x,Vx_abs_y),axis=1)\n",
    "        A2 = delete(A3, (2), axis=0)\n",
    "        B=matrix([[decalage_x],[decalage_y]])\n",
    "        solution=linalg.solve(A2,B)\n",
    "        print \"solution du système equation :\"\n",
    "        print \"Abs_x = \",solution[0]\n",
    "        print \"Abs_y = \",solution[1]\n",
    "\n",
    "         \n",
    "        actionx =poppy.abs_x.goal_position=1000*solution[0] \n",
    "        #action_passex = actionx\n",
    "        print \"correction abs_x : \",actionx\n",
    "        actiony =poppy.abs_y.goal_position=1000*solution[1] \n",
    "        #action_passey = actiony\n",
    "        print \"correction abs_y : \",actiony\n",
    "        t0 = poppy.current_simulation_time\n",
    "        \n",
    "    \n",
    "    \n",
    "plot(t, list_pos_x)\n",
    "plot(t, list_pos_y)\n",
    "plot(t, list_pos_z)\n",
    "\n",
    "\n",
    "legend(('dx', 'dy','dz'))\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The system is oscillating. Now we need to find a way to avoid the oscillation."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 48,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 49,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      " \n",
      " \n",
      "temps : 10.7500228882\n",
      "moving direction :\n",
      "dx = 0.000798930879682\n",
      "dy = -0.00023758225143\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00079093]]\n",
      "Abs_y =  [[-0.00026334]]\n",
      "correction abs_x :  [[ 0.79092907]]\n",
      "correction abs_y :  [[-0.36333587]]\n",
      " \n",
      " \n",
      "temps : 10.8000230789\n",
      "moving direction :\n",
      "dx = 0.00058828946203\n",
      "dy = -0.00013967230916\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00058339]]\n",
      "Abs_y =  [[-0.00015921]]\n",
      "correction abs_x :  [[ 0.58339392]]\n",
      "correction abs_y :  [[-0.25921126]]\n",
      " \n",
      " \n",
      "temps : 10.8500232697\n",
      "moving direction :\n",
      "dx = -0.00015623588115\n",
      "dy = 0.000381924211979\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00014335]]\n",
      "Abs_y =  [[ 0.00038705]]\n",
      "correction abs_x :  [[ 0.35665408]]\n",
      "correction abs_y :  [[ 0.1870483]]\n",
      " \n",
      " \n",
      "temps : 10.9000234604\n",
      "moving direction :\n",
      "dx = -0.000851685879752\n",
      "dy = 0.000657763332129\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00082929]]\n",
      "Abs_y =  [[ 0.0006861]]\n",
      "correction abs_x :  [[-0.329286]]\n",
      "correction abs_y :  [[ 0.4861015]]\n",
      " \n",
      " \n",
      "temps : 10.9500236511\n",
      "moving direction :\n",
      "dx = -0.000758791575208\n",
      "dy = 0.000333115458488\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00074701]]\n",
      "Abs_y =  [[ 0.00035899]]\n",
      "correction abs_x :  [[-0.14700608]]\n",
      "correction abs_y :  [[ 0.05898818]]\n",
      " \n",
      " \n",
      "temps : 11.0000238419\n",
      "moving direction :\n",
      "dx = -6.6701322794e-05\n",
      "dy = -7.43251293898e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -6.91627725e-05]]\n",
      "Abs_y =  [[ -7.20477702e-05]]\n",
      "correction abs_x :  [[-0.06916277]]\n",
      "correction abs_y :  [[ 0.22795223]]\n",
      " \n",
      " \n",
      "temps : 11.0500240326\n",
      "moving direction :\n",
      "dx = 0.000767602352425\n",
      "dy = -0.000566396862268\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00074924]]\n",
      "Abs_y =  [[-0.00059079]]\n",
      "correction abs_x :  [[ 0.54923585]]\n",
      "correction abs_y :  [[-0.19079113]]\n",
      " \n",
      " \n",
      "temps : 11.1000242233\n",
      "moving direction :\n",
      "dx = 0.000913888448849\n",
      "dy = -0.000846864655614\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00088751]]\n",
      "Abs_y =  [[-0.00087482]]\n",
      "correction abs_x :  [[ 0.68751152]]\n",
      "correction abs_y :  [[-0.4748189]]\n",
      " \n",
      " \n",
      "temps : 11.1500244141\n",
      "moving direction :\n",
      "dx = 0.000454635359347\n",
      "dy = -0.000658983364701\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00043435]]\n",
      "Abs_y =  [[-0.00067273]]\n",
      "correction abs_x :  [[ 0.33435458]]\n",
      "correction abs_y :  [[-0.37273445]]\n",
      " \n",
      " \n",
      "temps : 11.2000246048\n",
      "moving direction :\n",
      "dx = -0.000338654965162\n",
      "dy = -0.000272132456303\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00034699]]\n",
      "Abs_y =  [[-0.00026145]]\n",
      "correction abs_x :  [[ 0.05300699]]\n",
      "correction abs_y :  [[-0.46145304]]\n",
      " \n",
      " \n",
      "temps : 11.2500247955\n",
      "moving direction :\n",
      "dx = -0.00138297840022\n",
      "dy = 0.000297028571367\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00137283]]\n",
      "Abs_y =  [[ 0.00034153]]\n",
      "correction abs_x :  [[-0.97282626]]\n",
      "correction abs_y :  [[ 0.14152923]]\n",
      " \n",
      " \n",
      "temps : 11.3000249863\n",
      "moving direction :\n",
      "dx = -0.00151819479652\n",
      "dy = 0.000687200576067\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00149619]]\n",
      "Abs_y =  [[ 0.00073441]]\n",
      "correction abs_x :  [[-0.8961892]]\n",
      "correction abs_y :  [[ 0.43440977]]\n",
      " \n",
      " \n",
      "temps : 11.350025177\n",
      "moving direction :\n",
      "dx = -0.000409116502851\n",
      "dy = 0.000335641205311\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00039909]]\n",
      "Abs_y =  [[ 0.00034766]]\n",
      "correction abs_x :  [[-0.89908954]]\n",
      "correction abs_y :  [[ 0.3476635]]\n",
      " \n",
      " \n",
      "temps : 11.4500255585\n",
      "moving direction :\n",
      "dx = 0.00167834456079\n",
      "dy = -0.00053208693862\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00166316]]\n",
      "Abs_y =  [[-0.00057808]]\n",
      "correction abs_x :  [[ 0.86316236]]\n",
      "correction abs_y :  [[-0.2780848]]\n",
      " \n",
      " \n",
      "temps : 11.5000257492\n",
      "moving direction :\n",
      "dx = 0.00201622676104\n",
      "dy = -0.000298734754324\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00200733]]\n",
      "Abs_y =  [[-0.00035416]]\n",
      "correction abs_x :  [[ 1.10732814]]\n",
      "correction abs_y :  [[ 0.04583823]]\n",
      " \n",
      " \n",
      "temps : 11.5500259399\n",
      "moving direction :\n",
      "dx = 0.00117980968207\n",
      "dy = 0.000236434862018\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00118647]]\n",
      "Abs_y =  [[ 0.00020116]]\n",
      "correction abs_x :  [[ 0.28647095]]\n",
      "correction abs_y :  [[ 0.60115525]]\n",
      " \n",
      " \n",
      "temps : 11.6000261307\n",
      "moving direction :\n",
      "dx = -0.00104984175414\n",
      "dy = 0.000432640314102\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00103529]]\n",
      "Abs_y =  [[ 0.00046715]]\n",
      "correction abs_x :  [[-0.73529441]]\n",
      "correction abs_y :  [[ 0.46714701]]\n",
      " \n",
      " \n",
      "temps : 11.6500263214\n",
      "moving direction :\n",
      "dx = -0.00192112009972\n",
      "dy = -8.20755958557e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00192288]]\n",
      "Abs_y =  [[ -1.65234982e-05]]\n",
      "correction abs_x :  [[-1.12288375]]\n",
      "correction abs_y :  [[-0.0165235]]\n",
      " \n",
      " \n",
      "temps : 11.7000265121\n",
      "moving direction :\n",
      "dx = -0.000823948532343\n",
      "dy = -0.000753458589315\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00084764]]\n",
      "Abs_y =  [[-0.00072668]]\n",
      "correction abs_x :  [[-1.14763564]]\n",
      "correction abs_y :  [[-0.22667542]]\n",
      " \n",
      " \n",
      "temps : 11.7500267029\n",
      "moving direction :\n",
      "dx = 0.000959556084126\n",
      "dy = -0.000576904043555\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0009414]]\n",
      "Abs_y =  [[-0.00060638]]\n",
      "correction abs_x :  [[ 0.14140229]]\n",
      "correction abs_y :  [[-0.40638352]]\n",
      " \n",
      " \n",
      "temps : 11.8000268936\n",
      "moving direction :\n",
      "dx = 0.00205559842288\n",
      "dy = 1.50222331285e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00205519]]\n",
      "Abs_y =  [[ -4.63049011e-05]]\n",
      "correction abs_x :  [[ 1.0551864]]\n",
      "correction abs_y :  [[ 0.0536951]]\n",
      " \n",
      " \n",
      "temps : 11.8500270844\n",
      "moving direction :\n",
      "dx = 0.00223081139848\n",
      "dy = 0.00042125582695\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00224163]]\n",
      "Abs_y =  [[ 0.00035974]]\n",
      "correction abs_x :  [[ 1.14162713]]\n",
      "correction abs_y :  [[ 0.2597374]]\n",
      " \n",
      " \n",
      "temps : 11.9000272751\n",
      "moving direction :\n",
      "dx = 0.00101751927286\n",
      "dy = 0.0012275185436\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00104918]]\n",
      "Abs_y =  [[ 0.00120071]]\n",
      "correction abs_x :  [[ 0.74917884]]\n",
      "correction abs_y :  [[ 0.90070842]]\n",
      " \n",
      " \n",
      "temps : 11.9500274658\n",
      "moving direction :\n",
      "dx = -0.00134661234915\n",
      "dy = 0.00146033614874\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00130355]]\n",
      "Abs_y =  [[ 0.00149972]]\n",
      "correction abs_x :  [[-1.60354786]]\n",
      "correction abs_y :  [[ 1.19972092]]\n",
      " \n",
      " \n",
      "temps : 12.0000276566\n",
      "moving direction :\n",
      "dx = -0.00298922508955\n",
      "dy = 0.00113797932863\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00295002]]\n",
      "Abs_y =  [[ 0.00123758]]\n",
      "correction abs_x :  [[-2.05001614]]\n",
      "correction abs_y :  [[ 1.43757547]]\n",
      " \n",
      " \n",
      "temps : 12.0500278473\n",
      "moving direction :\n",
      "dx = -0.00187814282253\n",
      "dy = 0.0005216114223\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00185737]]\n",
      "Abs_y =  [[ 0.00059241]]\n",
      "correction abs_x :  [[-2.55736699]]\n",
      "correction abs_y :  [[ 1.39240633]]\n",
      " \n",
      " \n",
      "temps : 12.100028038\n",
      "moving direction :\n",
      "dx = 0.000837138853967\n",
      "dy = -3.59248369932e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00083517]]\n",
      "Abs_y =  [[ -6.81719588e-05]]\n",
      "correction abs_x :  [[-0.46482988]]\n",
      "correction abs_y :  [[ 0.93182804]]\n",
      " \n",
      " \n",
      "temps : 12.1500282288\n",
      "moving direction :\n",
      "dx = 0.00270233536139\n",
      "dy = -0.00041500851512\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00268616]]\n",
      "Abs_y =  [[-0.00051091]]\n",
      "correction abs_x :  [[ 1.38616039]]\n",
      "correction abs_y :  [[ 0.68908559]]\n",
      " \n",
      " \n",
      "temps : 12.2000284195\n",
      "moving direction :\n",
      "dx = 0.00393156241626\n",
      "dy = -0.000636849552393\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00391065]]\n",
      "Abs_y =  [[-0.00075665]]\n",
      "correction abs_x :  [[ 2.11065347]]\n",
      "correction abs_y :  [[ 0.44335014]]\n",
      " \n",
      " \n",
      "temps : 12.2500286102\n",
      "moving direction :\n",
      "dx = 0.00171317439526\n",
      "dy = -0.000231981277466\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00170523]]\n",
      "Abs_y =  [[-0.00028842]]\n",
      "correction abs_x :  [[-0.59477419]]\n",
      "correction abs_y :  [[ 1.01157763]]\n",
      " \n",
      " \n",
      "temps : 12.300028801\n",
      "moving direction :\n",
      "dx = -0.00339572969824\n",
      "dy = 0.000186266377568\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00338726]]\n",
      "Abs_y =  [[ 0.00031664]]\n",
      "correction abs_x :  [[-3.28725675]]\n",
      "correction abs_y :  [[ 1.31664293]]\n",
      " \n",
      " \n",
      "temps : 12.3500289917\n",
      "moving direction :\n",
      "dx = -0.00428944965824\n",
      "dy = -0.000302568078041\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00429819]]\n",
      "Abs_y =  [[-0.00013121]]\n",
      "correction abs_x :  [[-2.89818588]]\n",
      "correction abs_y :  [[ 0.46879058]]\n",
      " \n",
      " \n",
      "temps : 12.4000291824\n",
      "moving direction :\n",
      "dx = -0.000207700766623\n",
      "dy = -0.000209741294384\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00021558]]\n",
      "Abs_y =  [[-0.00020162]]\n",
      "correction abs_x :  [[-0.11558391]]\n",
      "correction abs_y :  [[ 0.59838359]]\n",
      " \n",
      " \n",
      "temps : 12.4500293732\n",
      "moving direction :\n",
      "dx = 0.00370286079124\n",
      "dy = 0.000977778807282\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00373435]]\n",
      "Abs_y =  [[ 0.00084841]]\n",
      "correction abs_x :  [[ 1.13434651]]\n",
      "correction abs_y :  [[ 1.5484109]]\n",
      " \n",
      " \n",
      "temps : 12.5000295639\n",
      "moving direction :\n",
      "dx = 0.00293729733676\n",
      "dy = 0.0018217228353\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00299628]]\n",
      "Abs_y =  [[ 0.00172405]]\n",
      "correction abs_x :  [[ 1.99627696]]\n",
      "correction abs_y :  [[ 2.32405206]]\n",
      " \n",
      " \n",
      "temps : 12.5500297546\n",
      "moving direction :\n",
      "dx = -8.34269449115e-05\n",
      "dy = 0.0020797085017\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -1.56923037e-05]]\n",
      "Abs_y =  [[ 0.00208255]]\n",
      "correction abs_x :  [[-0.4156923]]\n",
      "correction abs_y :  [[ 2.5825472]]\n",
      " \n",
      " \n",
      "temps : 12.6000299454\n",
      "moving direction :\n",
      "dx = -0.00215535983443\n",
      "dy = 0.00146728381515\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00210443]]\n",
      "Abs_y =  [[ 0.00154131]]\n",
      "correction abs_x :  [[-1.50443263]]\n",
      "correction abs_y :  [[ 2.54130885]]\n",
      " \n",
      " \n",
      "temps : 12.6500301361\n",
      "moving direction :\n",
      "dx = -0.00433908449486\n",
      "dy = 0.000623412430286\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00431278]]\n",
      "Abs_y =  [[ 0.00079088]]\n",
      "correction abs_x :  [[-3.71277752]]\n",
      "correction abs_y :  [[ 1.79088018]]\n",
      " \n",
      " \n",
      "temps : 12.7000303268\n",
      "moving direction :\n",
      "dx = -0.00425200891914\n",
      "dy = -0.000332165509462\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00426261]]\n",
      "Abs_y =  [[-0.0001393]]\n",
      "correction abs_x :  [[-2.76261494]]\n",
      "correction abs_y :  [[ 1.56070275]]\n",
      " \n",
      " \n",
      "temps : 12.7500305176\n",
      "moving direction :\n",
      "dx = 0.0004855854786\n",
      "dy = -0.000310128554702\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00047111]]\n",
      "Abs_y =  [[-0.00033245]]\n",
      "correction abs_x :  [[ 0.77111029]]\n",
      "correction abs_y :  [[ 1.86754566]]\n",
      " \n",
      " \n",
      "temps : 12.8000307083\n",
      "moving direction :\n",
      "dx = 0.00462451239582\n",
      "dy = 0.000630058348179\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0046457]]\n",
      "Abs_y =  [[ 0.00044478]]\n",
      "correction abs_x :  [[ 2.04569509]]\n",
      "correction abs_y :  [[ 2.04477784]]\n",
      " \n",
      " \n",
      "temps : 12.850030899\n",
      "moving direction :\n",
      "dx = 0.00289309350774\n",
      "dy = 0.00105257518589\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00292554]]\n",
      "Abs_y =  [[ 0.00096024]]\n",
      "correction abs_x :  [[ 2.52554477]]\n",
      "correction abs_y :  [[ 2.56023806]]\n",
      " \n",
      " \n",
      "temps : 12.9000310898\n",
      "moving direction :\n",
      "dx = -0.00163220334798\n",
      "dy = 0.00042312964797\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00162067]]\n",
      "Abs_y =  [[ 0.00046765]]\n",
      "correction abs_x :  [[-1.22066944]]\n",
      "correction abs_y :  [[ 2.16764717]]\n",
      " \n",
      " \n",
      "temps : 12.9500312805\n",
      "moving direction :\n",
      "dx = -0.00388554763049\n",
      "dy = -0.000327933579683\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00389343]]\n",
      "Abs_y =  [[-0.00022756]]\n",
      "correction abs_x :  [[-3.49342762]]\n",
      "correction abs_y :  [[ 1.47244453]]\n",
      " \n",
      " \n",
      "temps : 13.0000314713\n",
      "moving direction :\n",
      "dx = -0.00527977221645\n",
      "dy = -0.00107990764081\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00530882]]\n",
      "Abs_y =  [[-0.00092785]]\n",
      "correction abs_x :  [[-3.20882029]]\n",
      "correction abs_y :  [[ 1.17214766]]\n",
      " \n",
      " \n",
      "temps : 13.050031662\n",
      "moving direction :\n",
      "dx = -0.00184915447608\n",
      "dy = -0.000882312655449\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00187386]]\n",
      "Abs_y =  [[-0.00082841]]\n",
      "correction abs_x :  [[-3.37386328]]\n",
      "correction abs_y :  [[ 0.77159144]]\n",
      " \n",
      " \n",
      "temps : 13.1000318527\n",
      "moving direction :\n",
      "dx = 0.00517435115762\n",
      "dy = 2.01929360628e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00517357]]\n",
      "Abs_y =  [[-0.00011069]]\n",
      "correction abs_x :  [[ 2.37356752]]\n",
      "correction abs_y :  [[ 1.28931469]]\n",
      " \n",
      " \n",
      "temps : 13.1500320435\n",
      "moving direction :\n",
      "dx = 0.00734298536554\n",
      "dy = 0.00094143114984\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00736337]]\n",
      "Abs_y =  [[ 0.00076217]]\n",
      "correction abs_x :  [[ 4.26337303]]\n",
      "correction abs_y :  [[ 1.8621734]]\n",
      " \n",
      " \n",
      "temps : 13.2000322342\n",
      "moving direction :\n",
      "dx = 0.00645177159458\n",
      "dy = 0.0015487074852\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00649056]]\n",
      "Abs_y =  [[ 0.00137874]]\n",
      "correction abs_x :  [[ 3.19056492]]\n",
      "correction abs_y :  [[ 2.17873734]]\n",
      " \n",
      " \n",
      "temps : 13.2500324249\n",
      "moving direction :\n",
      "dx = 0.00220404006541\n",
      "dy = 0.00233382731676\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00227325]]\n",
      "Abs_y =  [[ 0.00227069]]\n",
      "correction abs_x :  [[ 2.67325133]]\n",
      "correction abs_y :  [[ 3.17069093]]\n",
      " \n",
      " \n",
      "temps : 13.3000326157\n",
      "moving direction :\n",
      "dx = -0.0053852731362\n",
      "dy = 0.0020651165396\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00531436]]\n",
      "Abs_y =  [[ 0.00225157]]\n",
      "correction abs_x :  [[-4.91435735]]\n",
      "correction abs_y :  [[ 3.15156648]]\n",
      " \n",
      " \n",
      "temps : 13.3500328064\n",
      "moving direction :\n",
      "dx = -0.00812578294426\n",
      "dy = 0.000886108726263\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00807916]]\n",
      "Abs_y =  [[ 0.00125186]]\n",
      "correction abs_x :  [[-4.97915897]]\n",
      "correction abs_y :  [[ 2.95186342]]\n",
      " \n",
      " \n",
      "temps : 13.4000329971\n",
      "moving direction :\n",
      "dx = -0.000934495357797\n",
      "dy = 0.00109989568591\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00087412]]\n",
      "Abs_y =  [[ 0.00115171]]\n",
      "correction abs_x :  [[-2.97412078]]\n",
      "correction abs_y :  [[ 3.65171012]]\n",
      " \n",
      " \n",
      "temps : 13.4500331879\n",
      "moving direction :\n",
      "dx = 0.00819941214286\n",
      "dy = 0.00243271887302\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0083338]]\n",
      "Abs_y =  [[ 0.00191906]]\n",
      "correction abs_x :  [[ 4.43380032]]\n",
      "correction abs_y :  [[ 4.71906123]]\n",
      " \n",
      " \n",
      "temps : 13.5000333786\n",
      "moving direction :\n",
      "dx = 0.00992911215872\n",
      "dy = 0.00360345467925\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0101495]]\n",
      "Abs_y =  [[ 0.00292352]]\n",
      "correction abs_x :  [[ 5.54950481]]\n",
      "correction abs_y :  [[ 5.6235184]]\n",
      " \n",
      " \n",
      "temps : 13.5500335693\n",
      "moving direction :\n",
      "dx = 0.00757945328951\n",
      "dy = 0.00351465493441\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00780444]]\n",
      "Abs_y =  [[ 0.00299761]]\n",
      "correction abs_x :  [[ 4.20443502]]\n",
      "correction abs_y :  [[ 6.19760844]]\n",
      " \n",
      " \n",
      "temps : 13.6000337601\n",
      "moving direction :\n",
      "dx = -0.00052947551012\n",
      "dy = 0.00256739556789\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00035573]]\n",
      "Abs_y =  [[ 0.00260684]]\n",
      "correction abs_x :  [[-3.95572527]]\n",
      "correction abs_y :  [[ 5.806843]]\n",
      " \n",
      " \n",
      "temps : 13.6500339508\n",
      "moving direction :\n",
      "dx = -0.0101189445704\n",
      "dy = 0.00118692591786\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.01002965]]\n",
      "Abs_y =  [[ 0.0018514]]\n",
      "correction abs_x :  [[-5.92964877]]\n",
      "correction abs_y :  [[ 6.65139873]]\n",
      " \n",
      " \n",
      "temps : 13.7000341415\n",
      "moving direction :\n",
      "dx = -0.00716241635382\n",
      "dy = 0.000732876360416\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00709815]]\n",
      "Abs_y =  [[ 0.00120795]]\n",
      "correction abs_x :  [[-8.29814867]]\n",
      "correction abs_y :  [[ 6.50794553]]\n",
      " \n",
      " \n",
      "temps : 13.7500343323\n",
      "moving direction :\n",
      "dx = 0.00358180236071\n",
      "dy = 0.00287869945168\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00377473]]\n",
      "Abs_y =  [[ 0.00263416]]\n",
      "correction abs_x :  [[ 0.77473059]]\n",
      "correction abs_y :  [[ 8.03416219]]\n",
      " \n",
      " \n",
      "temps : 13.800034523\n",
      "moving direction :\n",
      "dx = 0.00897828582674\n",
      "dy = 0.00411005318165\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00928382]]\n",
      "Abs_y =  [[ 0.00338089]]\n",
      "correction abs_x :  [[ 4.38381502]]\n",
      "correction abs_y :  [[ 9.48088589]]\n",
      " \n",
      " \n",
      "temps : 13.8500347137\n",
      "moving direction :\n",
      "dx = 0.012673176825\n",
      "dy = 0.00487538054585\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.01306237]]\n",
      "Abs_y =  [[ 0.00373454]]\n",
      "correction abs_x :  [[ 5.96236886]]\n",
      "correction abs_y :  [[ 9.93454378]]\n",
      " \n",
      " \n",
      "temps : 13.9000349045\n",
      "moving direction :\n",
      "dx = 0.00912706926465\n",
      "dy = 0.00607583671808\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0097126]]\n",
      "Abs_y =  [[ 0.00520308]]\n",
      "correction abs_x :  [[ 7.7126002]]\n",
      "correction abs_y :  [[ 12.40307778]]\n",
      " \n",
      " \n",
      "temps : 13.9500350952\n",
      "moving direction :\n",
      "dx = -0.00105283781886\n",
      "dy = 0.00623597204685\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00036678]]\n",
      "Abs_y =  [[ 0.00638326]]\n",
      "correction abs_x :  [[ 1.83322106]]\n",
      "correction abs_y :  [[ 14.98326288]]\n",
      " \n",
      " \n",
      "temps : 14.0000352859\n",
      "moving direction :\n",
      "dx = -0.00768806412816\n",
      "dy = 0.00616349279881\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00697095]]\n",
      "Abs_y =  [[ 0.00700754]]\n",
      "correction abs_x :  [[-4.7709512]]\n",
      "correction abs_y :  [[ 15.60753918]]\n",
      " \n",
      " \n",
      "temps : 14.0500354767\n",
      "moving direction :\n",
      "dx = -0.00900342315435\n",
      "dy = 0.00672458857298\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00817076]]\n",
      "Abs_y =  [[ 0.0077758]]\n",
      "correction abs_x :  [[-1.57075851]]\n",
      "correction abs_y :  [[ 18.975803]]\n",
      " \n",
      " \n",
      "temps : 14.1000356674\n",
      "moving direction :\n",
      "dx = 0.00097356364131\n",
      "dy = 0.00869898498058\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00185393]]\n",
      "Abs_y =  [[ 0.00878357]]\n",
      "correction abs_x :  [[ 8.45393114]]\n",
      "correction abs_y :  [[ 19.98356933]]\n",
      " \n",
      " \n",
      "temps : 14.1500358582\n",
      "moving direction :\n",
      "dx = 0.0160272531211\n",
      "dy = 0.014634385705\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.01727526]]\n",
      "Abs_y =  [[ 0.01368908]]\n",
      "correction abs_x :  [[ 16.47526239]]\n",
      "correction abs_y :  [[ 27.68908377]]\n",
      " \n",
      " \n",
      "temps : 14.2000360489\n",
      "moving direction :\n",
      "dx = 0.015141107142\n",
      "dy = 0.0200991407037\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0176877]]\n",
      "Abs_y =  [[ 0.0193023]]\n",
      "correction abs_x :  [[ 21.98770308]]\n",
      "correction abs_y :  [[ 37.70230108]]\n",
      " \n",
      " \n",
      "temps : 14.2500362396\n",
      "moving direction :\n",
      "dx = 0.00489296764135\n",
      "dy = 0.0203541666269\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00895155]]\n",
      "Abs_y =  [[ 0.02079451]]\n",
      "correction abs_x :  [[ 13.25155331]]\n",
      "correction abs_y :  [[ 39.19450753]]\n",
      " \n",
      " \n",
      "temps : 14.3000364304\n",
      "moving direction :\n",
      "dx = 0.00378566980362\n",
      "dy = 0.0220019668341\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00927666]]\n",
      "Abs_y =  [[ 0.02287543]]\n",
      "correction abs_x :  [[ 24.27665973]]\n",
      "correction abs_y :  [[ 49.77542612]]\n",
      " \n",
      " \n",
      "temps : 14.3500366211\n",
      "moving direction :\n",
      "dx = 0.0131308361888\n",
      "dy = 0.0285067558289\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.02075369]]\n",
      "Abs_y =  [[ 0.03002632]]\n",
      "correction abs_x :  [[ 35.75369179]]\n",
      "correction abs_y :  [[ 56.92632415]]\n",
      " \n",
      " \n",
      "temps : 14.4000368118\n",
      "moving direction :\n",
      "dx = 0.0197337940335\n",
      "dy = 0.0405056476593\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.03207116]]\n",
      "Abs_y =  [[ 0.04484408]]\n",
      "correction abs_x :  [[ 45.97116213]]\n",
      "correction abs_y :  [[ 79.94408132]]\n",
      " \n",
      " \n",
      "temps : 14.4500370026\n",
      "moving direction :\n",
      "dx = 0.0154033005238\n",
      "dy = 0.057278290391\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.04808717]]\n",
      "Abs_y =  [[ 0.06752181]]\n",
      "correction abs_x :  [[ 76.0871657]]\n",
      "correction abs_y :  [[ 105.22181139]]\n",
      " \n",
      " \n",
      "temps : 14.5000371933\n",
      "moving direction :\n",
      "dx = 0.013535015285\n",
      "dy = 0.0682498216629\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0777032]]\n",
      "Abs_y =  [[ 0.08887046]]\n",
      "correction abs_x :  [[ 117.40320292]]\n",
      "correction abs_y :  [[ 126.47046097]]\n",
      " \n",
      " \n",
      "temps : 14.550037384\n",
      "moving direction :\n",
      "dx = 0.0213095992804\n",
      "dy = 0.0768367946148\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.13170295]]\n",
      "Abs_y =  [[ 0.1245045]]\n",
      "correction abs_x :  [[ 171.40295405]]\n",
      "correction abs_y :  [[ 162.10449587]]\n",
      " \n",
      " \n",
      "temps : 14.6000375748\n",
      "moving direction :\n",
      "dx = 0.0283047109842\n",
      "dy = 0.0875850915909\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.28230169]]\n",
      "Abs_y =  [[ 0.25781015]]\n",
      "correction abs_x :  [[ 327.20168654]]\n",
      "correction abs_y :  [[ 295.3101542]]\n",
      " \n",
      " \n",
      "temps : 14.6500377655\n",
      "moving direction :\n",
      "dx = 0.0400423258543\n",
      "dy = 0.107340455055\n",
      "solution du système equation :\n",
      "Abs_x =  [[-1.25524056]]\n",
      "Abs_y =  [[-1.41659641]]\n",
      "correction abs_x :  [[-1210.34056417]]\n",
      "correction abs_y :  [[-1379.09640624]]\n",
      " \n",
      " \n",
      "temps : 14.7000379562\n",
      "moving direction :\n",
      "dx = 0.0492481291294\n",
      "dy = 0.0661706328392\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.20959683]]\n",
      "Abs_y =  [[-0.25419307]]\n",
      "correction abs_x :  [[-164.59682762]]\n",
      "correction abs_y :  [[-217.69306802]]\n",
      " \n",
      " \n",
      "temps : 14.750038147\n",
      "moving direction :\n",
      "dx = 0.044008731842\n",
      "dy = 0.0328003764153\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.17800248]]\n",
      "Abs_y =  [[-0.24186199]]\n",
      "correction abs_x :  [[-156.50248293]]\n",
      "correction abs_y :  [[-228.1619853]]\n",
      " \n",
      " \n",
      "temps : 14.8000383377\n",
      "moving direction :\n",
      "dx = 0.0329310297966\n",
      "dy = 0.018301486969\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.54722711]]\n",
      "Abs_y =  [[-0.60942714]]\n",
      "correction abs_x :  [[-549.22710622]]\n",
      "correction abs_y :  [[-617.82713527]]\n",
      " \n",
      " \n",
      "temps : 14.8500385284\n",
      "moving direction :\n",
      "dx = 0.00571271777153\n",
      "dy = 0.00797837972641\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.03889207]]\n",
      "Abs_y =  [[ 0.04112765]]\n",
      "correction abs_x :  [[ 13.3920654]]\n",
      "correction abs_y :  [[ 25.92764793]]\n",
      " \n",
      " \n",
      "temps : 14.9000387192\n",
      "moving direction :\n",
      "dx = 0.00129067897797\n",
      "dy = 0.00364458560944\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00811789]]\n",
      "Abs_y =  [[ 0.00729538]]\n",
      "correction abs_x :  [[-17.38211296]]\n",
      "correction abs_y :  [[-7.90462154]]\n",
      " \n",
      " \n",
      "temps : 14.9500389099\n",
      "moving direction :\n",
      "dx = -0.00781124830246\n",
      "dy = 0.00604927539825\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00075024]]\n",
      "Abs_y =  [[ 0.01404743]]\n",
      "correction abs_x :  [[-41.54975782]]\n",
      "correction abs_y :  [[-1.55257473]]\n",
      " \n",
      " \n",
      "temps : 15.0000391006\n",
      "moving direction :\n",
      "dx = -0.010839164257\n",
      "dy = 0.0101542472839\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00737488]]\n",
      "Abs_y =  [[ 0.03386421]]\n",
      "correction abs_x :  [[-19.72511881]]\n",
      "correction abs_y :  [[ 23.56421004]]\n",
      " \n",
      " \n",
      "temps : 15.0500392914\n",
      "moving direction :\n",
      "dx = -0.00913423299789\n",
      "dy = 0.0042696595192\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0029536]]\n",
      "Abs_y =  [[ 0.01732696]]\n",
      "correction abs_x :  [[-39.45360492]]\n",
      "correction abs_y :  [[ 12.92695535]]\n",
      " \n",
      " \n",
      "temps : 15.1000394821\n",
      "moving direction :\n",
      "dx = -0.0079303085804\n",
      "dy = 0.00252491235733\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00554625]]\n",
      "Abs_y =  [[ 0.01243818]]\n",
      "correction abs_x :  [[-45.34624941]]\n",
      "correction abs_y :  [[ 10.03818477]]\n",
      " \n",
      " \n",
      "temps : 15.1500396729\n",
      "moving direction :\n",
      "dx = -0.0159676969051\n",
      "dy = -0.000936210155487\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.01605233]]\n",
      "Abs_y =  [[ 0.14832801]]\n",
      "correction abs_x :  [[-11.44766503]]\n",
      "correction abs_y :  [[ 161.42801391]]\n",
      " \n",
      " \n",
      "temps : 15.2000398636\n",
      "moving direction :\n",
      "dx = -0.0153462290764\n",
      "dy = -0.0028184056282\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.07047014]]\n",
      "Abs_y =  [[-0.26600974]]\n",
      "correction abs_x :  [[-105.77014416]]\n",
      "correction abs_y :  [[-253.20974206]]\n",
      " \n",
      " \n",
      "temps : 15.2500400543\n",
      "moving direction :\n",
      "dx = -0.00229626893997\n",
      "dy = -0.00657427310944\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.03372299]]\n",
      "Abs_y =  [[-0.18453376]]\n",
      "correction abs_x :  [[-75.52298656]]\n",
      "correction abs_y :  [[-173.53375943]]\n",
      " \n",
      " \n",
      "temps : 15.3000402451\n",
      "moving direction :\n",
      "dx = -0.0095103085041\n",
      "dy = -0.00543373823166\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00916987]]\n",
      "Abs_y =  [[ 0.05927474]]\n",
      "correction abs_x :  [[-14.03012937]]\n",
      "correction abs_y :  [[ 89.97473797]]\n",
      " \n",
      " \n",
      "temps : 15.3500404358\n",
      "moving direction :\n",
      "dx = -0.00672528147697\n",
      "dy = 0.0016023516655\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00306057]]\n",
      "Abs_y =  [[ 0.01306087]]\n",
      "correction abs_x :  [[-44.76057046]]\n",
      "correction abs_y :  [[ 21.16087118]]\n",
      " \n",
      " \n",
      "temps : 15.4000406265\n",
      "moving direction :\n",
      "dx = 0.00216290354729\n",
      "dy = -0.00194799900055\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00143209]]\n",
      "Abs_y =  [[-0.01012638]]\n",
      "correction abs_x :  [[-43.13209152]]\n",
      "correction abs_y :  [[-2.02637684]]\n",
      " \n",
      " \n",
      "temps : 15.4500408173\n",
      "moving direction :\n",
      "dx = -0.00467798113823\n",
      "dy = 0.00111168622971\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00895215]]\n",
      "Abs_y =  [[-0.01128183]]\n",
      "correction abs_x :  [[-34.25214994]]\n",
      "correction abs_y :  [[ 0.01816873]]\n",
      " \n",
      " \n",
      "temps : 15.500041008\n",
      "moving direction :\n",
      "dx = -0.0073010623455\n",
      "dy = 0.000184535980225\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00858935]]\n",
      "Abs_y =  [[-0.00451774]]\n",
      "correction abs_x :  [[-45.48935306]]\n",
      "correction abs_y :  [[-1.61773655]]\n",
      " \n",
      " \n",
      "temps : 15.5500411987\n",
      "moving direction :\n",
      "dx = -0.00417074561119\n",
      "dy = 0.00032651424408\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00328035]]\n",
      "Abs_y =  [[ 0.00532885]]\n",
      "correction abs_x :  [[-43.88035206]]\n",
      "correction abs_y :  [[ 5.12885114]]\n",
      " \n",
      " \n",
      "temps : 15.6000413895\n",
      "moving direction :\n",
      "dx = -0.00303909182549\n",
      "dy = 0.00139927864075\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00179589]]\n",
      "Abs_y =  [[ 0.02734334]]\n",
      "correction abs_x :  [[-34.80411198]]\n",
      "correction abs_y :  [[ 27.24333967]]\n",
      " \n",
      " \n",
      "temps : 15.6500415802\n",
      "moving direction :\n",
      "dx = -0.000542521476746\n",
      "dy = -0.000312328338623\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00145896]]\n",
      "Abs_y =  [[-0.00530593]]\n",
      "correction abs_x :  [[-43.55895755]]\n",
      "correction abs_y :  [[-6.30593022]]\n",
      " \n",
      " \n",
      "temps : 15.7000417709\n",
      "moving direction :\n",
      "dx = 0.000172540545464\n",
      "dy = -0.00208055973053\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00967706]]\n",
      "Abs_y =  [[-0.05464904]]\n",
      "correction abs_x :  [[-51.77705505]]\n",
      "correction abs_y :  [[-55.6490448]]\n",
      " \n",
      " \n",
      "temps : 15.7500419617\n",
      "moving direction :\n",
      "dx = -0.0034841299057\n",
      "dy = -0.00730520486832\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.04320042]]\n",
      "Abs_y =  [[ 0.20217603]]\n",
      "correction abs_x :  [[-0.09957598]]\n",
      "correction abs_y :  [[ 204.77602696]]\n",
      " \n",
      " \n",
      "temps : 15.8000421524\n",
      "moving direction :\n",
      "dx = 0.00241476297379\n",
      "dy = -0.00687694549561\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00904058]]\n",
      "Abs_y =  [[-0.04983637]]\n",
      "correction abs_x :  [[-53.34058071]]\n",
      "correction abs_y :  [[-54.73637123]]\n",
      " \n",
      " \n",
      "temps : 15.8500423431\n",
      "moving direction :\n",
      "dx = -0.00323362648487\n",
      "dy = 0.000327885150909\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00323635]]\n",
      "Abs_y =  [[ 0.00057018]]\n",
      "correction abs_x :  [[-47.53634812]]\n",
      "correction abs_y :  [[-4.32982151]]\n",
      " \n",
      " \n",
      "temps : 15.9000425339\n",
      "moving direction :\n",
      "dx = -0.0222697854042\n",
      "dy = -0.00121319293976\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.01452469]]\n",
      "Abs_y =  [[ 0.02327944]]\n",
      "correction abs_x :  [[-36.82469263]]\n",
      "correction abs_y :  [[ 40.17944218]]\n",
      " \n",
      " \n",
      "temps : 15.9500427246\n",
      "moving direction :\n",
      "dx = -0.00284476578236\n",
      "dy = 0.00433439016342\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.06128437]]\n",
      "Abs_y =  [[ 0.22229439]]\n",
      "correction abs_x :  [[ 30.28436934]]\n",
      "correction abs_y :  [[ 234.29439372]]\n",
      " \n",
      " \n",
      "temps : 16.0000419617\n",
      "moving direction :\n",
      "dx = 0.00922654569149\n",
      "dy = -0.0113923549652\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.03825175]]\n",
      "Abs_y =  [[ 0.12125255]]\n",
      "correction abs_x :  [[ 3.45175127]]\n",
      "correction abs_y :  [[ 150.75255017]]\n",
      " \n",
      " \n",
      "temps : 16.0500411987\n",
      "moving direction :\n",
      "dx = 0.00557844340801\n",
      "dy = -0.0111503005028\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.03151456]]\n",
      "Abs_y =  [[ 0.11059536]]\n",
      "correction abs_x :  [[-4.48543636]]\n",
      "correction abs_y :  [[ 145.89535838]]\n",
      " \n",
      " \n",
      "temps : 16.1000404358\n",
      "moving direction :\n",
      "dx = -0.0021693110466\n",
      "dy = 0.000500738620758\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00327822]]\n",
      "Abs_y =  [[-0.00254107]]\n",
      "correction abs_x :  [[-39.27821933]]\n",
      "correction abs_y :  [[ 32.75892709]]\n",
      " \n",
      " \n",
      "temps : 16.1500396729\n",
      "moving direction :\n",
      "dx = -0.0137071609497\n",
      "dy = 0.0158767104149\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.06253095]]\n",
      "Abs_y =  [[-0.09241884]]\n",
      "correction abs_x :  [[-64.63095129]]\n",
      "correction abs_y :  [[-55.81884021]]\n",
      " \n",
      " \n",
      "temps : 16.2000389099\n",
      "moving direction :\n",
      "dx = -0.000520125031471\n",
      "dy = 0.00870501995087\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.10381877]]\n",
      "Abs_y =  [[-0.2930512]]\n",
      "correction abs_x :  [[-127.91877339]]\n",
      "correction abs_y :  [[-259.05120317]]\n",
      " \n",
      " \n",
      "temps : 16.250038147\n",
      "moving direction :\n",
      "dx = 0.0161056220531\n",
      "dy = -0.00223296880722\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.03835202]]\n",
      "Abs_y =  [[ 0.10122993]]\n",
      "correction abs_x :  [[ 14.25201949]]\n",
      "correction abs_y :  [[ 135.22993168]]\n",
      " \n",
      " \n",
      "temps : 16.300037384\n",
      "moving direction :\n",
      "dx = 0.010899066925\n",
      "dy = -0.00305491685867\n",
      "solution du système equation :\n",
      "Abs_x =  [[  4.34780148e-05]]\n",
      "Abs_y =  [[-0.06729627]]\n",
      "correction abs_x :  [[-33.95652199]]\n",
      "correction abs_y :  [[-34.19627105]]\n",
      " \n",
      " \n",
      "temps : 16.3500366211\n",
      "moving direction :\n",
      "dx = -0.00476777553558\n",
      "dy = -0.000957608222961\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00281799]]\n",
      "Abs_y =  [[ 0.00644475]]\n",
      "correction abs_x :  [[-24.61799017]]\n",
      "correction abs_y :  [[ 36.54475252]]\n",
      " \n",
      " \n",
      "temps : 16.4000358582\n",
      "moving direction :\n",
      "dx = -0.00711141526699\n",
      "dy = 0.00568616390228\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.06385474]]\n",
      "Abs_y =  [[ 0.17520912]]\n",
      "correction abs_x :  [[ 34.054743]]\n",
      "correction abs_y :  [[ 182.6091232]]\n",
      " \n",
      " \n",
      "temps : 16.4500350952\n",
      "moving direction :\n",
      "dx = -0.00352676212788\n",
      "dy = 0.00207990407944\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00197795]]\n",
      "Abs_y =  [[ 0.01497863]]\n",
      "correction abs_x :  [[-30.52205174]]\n",
      "correction abs_y :  [[ 3.47862595]]\n",
      " \n",
      " \n",
      "temps : 16.5000343323\n",
      "moving direction :\n",
      "dx = -0.00271017849445\n",
      "dy = -0.00269222259521\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.01761315]]\n",
      "Abs_y =  [[ 0.076138]]\n",
      "correction abs_x :  [[-10.28685244]]\n",
      "correction abs_y :  [[ 86.73800487]]\n",
      " \n",
      " \n",
      "temps : 16.5500335693\n",
      "moving direction :\n",
      "dx = -0.0173840373755\n",
      "dy = -0.00786292552948\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00034889]]\n",
      "Abs_y =  [[ 0.05086405]]\n",
      "correction abs_x :  [[-7.14889056]]\n",
      "correction abs_y :  [[ 81.06404685]]\n",
      " \n",
      " \n",
      "temps : 16.6000328064\n",
      "moving direction :\n",
      "dx = -0.015031427145\n",
      "dy = 0.00128185749054\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00747944]]\n",
      "Abs_y =  [[ 0.07178255]]\n",
      "correction abs_x :  [[-14.72056396]]\n",
      "correction abs_y :  [[ 85.28254886]]\n",
      " \n",
      " \n",
      "temps : 16.6500320435\n",
      "moving direction :\n",
      "dx = -0.0040558129549\n",
      "dy = -0.0071964263916\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.01145255]]\n",
      "Abs_y =  [[ 0.05755467]]\n",
      "correction abs_x :  [[-3.24745141]]\n",
      "correction abs_y :  [[ 89.95467272]]\n",
      " \n",
      " \n",
      "temps : 16.7000312805\n",
      "moving direction :\n",
      "dx = -0.00752708315849\n",
      "dy = -0.00583249330521\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00351148]]\n",
      "Abs_y =  [[ 0.04208513]]\n",
      "correction abs_x :  [[-11.18851782]]\n",
      "correction abs_y :  [[ 74.48512929]]\n",
      " \n",
      " \n",
      "temps : 16.7500305176\n",
      "moving direction :\n",
      "dx = -0.00762617588043\n",
      "dy = -0.00200289487839\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00489031]]\n",
      "Abs_y =  [[ 0.01278397]]\n",
      "correction abs_x :  [[-14.7903114]]\n",
      "correction abs_y :  [[ 48.78397448]]\n",
      " \n",
      " \n",
      "temps : 16.8000297546\n",
      "moving direction :\n",
      "dx = -0.00212027132511\n",
      "dy = 0.000926613807678\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00427767]]\n",
      "Abs_y =  [[-0.00869723]]\n",
      "correction abs_x :  [[-16.17766995]]\n",
      "correction abs_y :  [[ 27.90277117]]\n",
      " \n",
      " \n",
      "temps : 16.8500289917\n",
      "moving direction :\n",
      "dx = 0.00169207155704\n",
      "dy = 0.00123178958893\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00034424]]\n",
      "Abs_y =  [[-0.00890505]]\n",
      "correction abs_x :  [[-14.14423523]]\n",
      "correction abs_y :  [[ 27.59494627]]\n",
      " \n",
      " \n",
      "temps : 16.9000282288\n",
      "moving direction :\n",
      "dx = 0.00474067032337\n",
      "dy = 0.000876843929291\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00391172]]\n",
      "Abs_y =  [[-0.00410904]]\n",
      "correction abs_x :  [[-10.68827826]]\n",
      "correction abs_y :  [[ 32.39095868]]\n",
      " \n",
      " \n",
      "temps : 16.9500274658\n",
      "moving direction :\n",
      "dx = 0.00603887438774\n",
      "dy = 0.00263255834579\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00084701]]\n",
      "Abs_y =  [[-0.02180656]]\n",
      "correction abs_x :  [[-13.75298525]]\n",
      "correction abs_y :  [[ 14.69343849]]\n",
      " \n",
      " \n",
      "temps : 17.0000267029\n",
      "moving direction :\n",
      "dx = 0.00529912114143\n",
      "dy = 0.00320768356323\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00218041]]\n",
      "Abs_y =  [[-0.02874819]]\n",
      "correction abs_x :  [[-17.28040802]]\n",
      "correction abs_y :  [[-0.6481855]]\n",
      " \n",
      " \n",
      "temps : 17.0500259399\n",
      "moving direction :\n",
      "dx = 0.00325666368008\n",
      "dy = 0.00366014242172\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.01174281]]\n",
      "Abs_y =  [[-0.06083788]]\n",
      "correction abs_x :  [[-25.94280621]]\n",
      "correction abs_y :  [[-41.63788203]]\n",
      " \n",
      " \n",
      "temps : 17.100025177\n",
      "moving direction :\n",
      "dx = 0.00335071980953\n",
      "dy = 0.00213849544525\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00847909]]\n",
      "Abs_y =  [[-0.05225215]]\n",
      "correction abs_x :  [[-22.67908863]]\n",
      "correction abs_y :  [[-36.45214506]]\n",
      " \n",
      " \n",
      "temps : 17.1500244141\n",
      "moving direction :\n",
      "dx = 0.00293914973736\n",
      "dy = 0.00212645530701\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.02081612]]\n",
      "Abs_y =  [[ 0.11750521]]\n",
      "correction abs_x :  [[ 4.3161246]]\n",
      "correction abs_y :  [[ 122.70521475]]\n",
      " \n",
      " \n",
      "temps : 17.2000236511\n",
      "moving direction :\n",
      "dx = -0.000605970621109\n",
      "dy = 0.00414210557938\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00339299]]\n",
      "Abs_y =  [[ 0.03886318]]\n",
      "correction abs_x :  [[-17.10701072]]\n",
      "correction abs_y :  [[ 26.56318124]]\n",
      " \n",
      " \n",
      "temps : 17.2500228882\n",
      "moving direction :\n",
      "dx = -0.00746899843216\n",
      "dy = 0.00258028507233\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00642714]]\n",
      "Abs_y =  [[ 0.02276665]]\n",
      "correction abs_x :  [[-28.32714337]]\n",
      "correction abs_y :  [[ 7.66664713]]\n",
      " \n",
      " \n",
      "temps : 17.3000221252\n",
      "moving direction :\n",
      "dx = -0.0149867087603\n",
      "dy = -0.00517076253891\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00619188]]\n",
      "Abs_y =  [[ 0.13726764]]\n",
      "correction abs_x :  [[-12.29187628]]\n",
      "correction abs_y :  [[ 143.6676402]]\n",
      " \n",
      " \n",
      "temps : 17.3500213623\n",
      "moving direction :\n",
      "dx = -0.0144623070955\n",
      "dy = -0.0167304873466\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00231976]]\n",
      "Abs_y =  [[ 0.19579594]]\n",
      "correction abs_x :  [[-9.98024209]]\n",
      "correction abs_y :  [[ 213.79593516]]\n",
      " \n",
      " \n",
      "temps : 17.4000205994\n",
      "moving direction :\n",
      "dx = 0.00984996557236\n",
      "dy = -0.0136954784393\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.021919]]\n",
      "Abs_y =  [[-0.80490318]]\n",
      "correction abs_x :  [[-44.41900081]]\n",
      "correction abs_y :  [[-793.40317555]]\n",
      " \n",
      " \n",
      "temps : 17.4500198364\n",
      "moving direction :\n",
      "dx = 0.00674161314964\n",
      "dy = -0.0141152143478\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.03716486]]\n",
      "Abs_y =  [[ 0.16782936]]\n",
      "correction abs_x :  [[ 21.86485615]]\n",
      "correction abs_y :  [[ 198.22936491]]\n",
      " \n",
      " \n",
      "temps : 17.5000190735\n",
      "moving direction :\n",
      "dx = 0.00481684505939\n",
      "dy = -0.0165733098984\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.04546733]]\n",
      "Abs_y =  [[ 0.18072699]]\n",
      "correction abs_x :  [[ 33.66732619]]\n",
      "correction abs_y :  [[ 216.6269892]]\n",
      " \n",
      " \n",
      "temps : 17.5500183105\n",
      "moving direction :\n",
      "dx = 0.0162418186665\n",
      "dy = -0.00520181655884\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00477933]]\n",
      "Abs_y =  [[-0.06481861]]\n",
      "correction abs_x :  [[-27.32067109]]\n",
      "correction abs_y :  [[-51.2186073]]\n",
      " \n",
      " \n",
      "temps : 17.6000175476\n",
      "moving direction :\n",
      "dx = 0.00678311288357\n",
      "dy = -0.00264090299606\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0139918]]\n",
      "Abs_y =  [[ 0.0233818]]\n",
      "correction abs_x :  [[ 4.59180462]]\n",
      "correction abs_y :  [[ 55.68179624]]\n",
      " \n",
      " \n",
      "temps : 17.6500167847\n",
      "moving direction :\n",
      "dx = -0.0221912711859\n",
      "dy = 0.0115239024162\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.03928756]]\n",
      "Abs_y =  [[-0.02956313]]\n",
      "correction abs_x :  [[-25.28755728]]\n",
      "correction abs_y :  [[ 6.43687315]]\n",
      " \n",
      " \n",
      "temps : 17.7000160217\n",
      "moving direction :\n",
      "dx = -0.0151736736298\n",
      "dy = 0.0235611200333\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.38684752]]\n",
      "Abs_y =  [[-1.0269507]]\n",
      "correction abs_x :  [[-395.94751788]]\n",
      "correction abs_y :  [[-1013.45070083]]\n",
      " \n",
      " \n",
      "temps : 17.7500152588\n",
      "moving direction :\n",
      "dx = 0.00550307333469\n",
      "dy = 0.00892472267151\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00950901]]\n",
      "Abs_y =  [[-0.04221219]]\n",
      "correction abs_x :  [[-10.40900865]]\n",
      "correction abs_y :  [[-10.11219025]]\n",
      " \n",
      " \n",
      "temps : 17.8000144958\n",
      "moving direction :\n",
      "dx = 0.0149654448032\n",
      "dy = 0.00667256116867\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00461464]]\n",
      "Abs_y =  [[-0.07355911]]\n",
      "correction abs_x :  [[-21.41464484]]\n",
      "correction abs_y :  [[-57.85910626]]\n",
      " \n",
      " \n",
      "temps : 17.8500137329\n",
      "moving direction :\n",
      "dx = 0.0180032998323\n",
      "dy = 0.00128656625748\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.01448512]]\n",
      "Abs_y =  [[-0.0191133]]\n",
      "correction abs_x :  [[-24.41487929]]\n",
      "correction abs_y :  [[-25.9132981]]\n",
      " \n",
      " \n",
      "temps : 17.90001297\n",
      "moving direction :\n",
      "dx = -0.00356248021126\n",
      "dy = 0.00445765256882\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00461957]]\n",
      "Abs_y =  [[ 0.05486663]]\n",
      "correction abs_x :  [[-16.08042559]]\n",
      "correction abs_y :  [[ 46.36662677]]\n",
      " \n",
      " \n",
      "temps : 17.950012207\n",
      "moving direction :\n",
      "dx = -0.0103592127562\n",
      "dy = 0.00235551595688\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00845026]]\n",
      "Abs_y =  [[ 0.02585603]]\n",
      "correction abs_x :  [[-29.65025506]]\n",
      "correction abs_y :  [[ 11.15603457]]\n",
      " \n",
      " \n",
      "temps : 18.0000114441\n",
      "moving direction :\n",
      "dx = -0.0076802521944\n",
      "dy = 0.00177019834518\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00711966]]\n",
      "Abs_y =  [[ 0.02202642]]\n",
      "correction abs_x :  [[-30.4196574]]\n",
      "correction abs_y :  [[ 6.62642122]]\n",
      " \n",
      " \n",
      "temps : 18.1000099182\n",
      "moving direction :\n",
      "dx = -0.00372152030468\n",
      "dy = -0.0122969150543\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.31197899]]\n",
      "Abs_y =  [[-3.03027698]]\n",
      "correction abs_x :  [[-331.17899128]]\n",
      "correction abs_y :  [[-3024.17698393]]\n",
      " \n",
      " \n",
      "temps : 18.1500091553\n",
      "moving direction :\n",
      "dx = 0.0114167779684\n",
      "dy = -0.00399971008301\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00792771]]\n",
      "Abs_y =  [[-0.16898073]]\n",
      "correction abs_x :  [[-33.22770714]]\n",
      "correction abs_y :  [[-160.1807347]]\n",
      " \n",
      " \n",
      "temps : 18.2000083923\n",
      "moving direction :\n",
      "dx = 0.0215188860893\n",
      "dy = -0.00475233793259\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.01073846]]\n",
      "Abs_y =  [[-0.07482507]]\n",
      "correction abs_x :  [[-32.26153616]]\n",
      "correction abs_y :  [[-86.32506814]]\n",
      " \n",
      " \n",
      "temps : 18.2500076294\n",
      "moving direction :\n",
      "dx = 0.00254522264004\n",
      "dy = -0.00133204460144\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00094967]]\n",
      "Abs_y =  [[-0.01435119]]\n",
      "correction abs_x :  [[-35.6503344]]\n",
      "correction abs_y :  [[-29.3511872]]\n",
      " \n",
      " \n",
      "temps : 18.3000068665\n",
      "moving direction :\n",
      "dx = -0.00540651381016\n",
      "dy = 0.0016918182373\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00417248]]\n",
      "Abs_y =  [[ 0.02302601]]\n",
      "correction abs_x :  [[-38.57248294]]\n",
      "correction abs_y :  [[ 7.62601047]]\n",
      " \n",
      " \n",
      "temps : 18.3500061035\n",
      "moving direction :\n",
      "dx = -0.00243297219276\n",
      "dy = 0.00100189447403\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0018569]]\n",
      "Abs_y =  [[ 0.01319519]]\n",
      "correction abs_x :  [[-34.95689502]]\n",
      "correction abs_y :  [[-2.30480905]]\n",
      " \n",
      " \n",
      "temps : 18.4000053406\n",
      "moving direction :\n",
      "dx = 0.000101283192635\n",
      "dy = -7.29560852051e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[  5.21867245e-05]]\n",
      "Abs_y =  [[-0.00082926]]\n",
      "correction abs_x :  [[-34.74781328]]\n",
      "correction abs_y :  [[-16.32925684]]\n",
      " \n",
      " \n",
      "temps : 18.4500045776\n",
      "moving direction :\n",
      "dx = -0.000430807471275\n",
      "dy = -0.00368523597717\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.01819568]]\n",
      "Abs_y =  [[-0.17598177]]\n",
      "correction abs_x :  [[-55.59567541]]\n",
      "correction abs_y :  [[-177.08176772]]\n",
      " \n",
      " \n",
      "temps : 18.5000038147\n",
      "moving direction :\n",
      "dx = 0.00156377255917\n",
      "dy = -0.00307494401932\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00808421]]\n",
      "Abs_y =  [[-0.05972179]]\n",
      "correction abs_x :  [[-43.78421126]]\n",
      "correction abs_y :  [[-61.62179044]]\n",
      " \n",
      " \n",
      "temps : 18.5500030518\n",
      "moving direction :\n",
      "dx = 4.07844781876e-05\n",
      "dy = -0.000160098075867\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00020885]]\n",
      "Abs_y =  [[-0.0015555]]\n",
      "correction abs_x :  [[-35.20884828]]\n",
      "correction abs_y :  [[-12.15549863]]\n",
      " \n",
      " \n",
      "temps : 18.6000022888\n",
      "moving direction :\n",
      "dx = -0.00388079881668\n",
      "dy = 0.000149309635162\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0027882]]\n",
      "Abs_y =  [[ 0.00918093]]\n",
      "correction abs_x :  [[-46.68819979]]\n",
      "correction abs_y :  [[-5.71906904]]\n",
      " \n",
      " \n",
      "temps : 18.6500015259\n",
      "moving direction :\n",
      "dx = -0.00264164805412\n",
      "dy = 0.000147521495819\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00214397]]\n",
      "Abs_y =  [[ 0.00752229]]\n",
      "correction abs_x :  [[-46.04396559]]\n",
      "correction abs_y :  [[-7.97770977]]\n",
      " \n",
      " \n",
      "temps : 18.7999992371\n",
      "moving direction :\n",
      "dx = 0.00424695014954\n",
      "dy = -0.00296437740326\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00203026]]\n",
      "Abs_y =  [[-0.05299465]]\n",
      "correction abs_x :  [[-45.83026024]]\n",
      "correction abs_y :  [[-61.09464534]]\n",
      " \n",
      " \n",
      "temps : 18.8499984741\n",
      "moving direction :\n",
      "dx = 0.000531062483788\n",
      "dy = -0.000397324562073\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00024936]]\n",
      "Abs_y =  [[-0.00727446]]\n",
      "correction abs_x :  [[-45.24936206]]\n",
      "correction abs_y :  [[-15.07445709]]\n",
      " \n",
      " \n",
      "temps : 18.8999977112\n",
      "moving direction :\n",
      "dx = -0.0019683688879\n",
      "dy = 0.000665247440338\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00102058]]\n",
      "Abs_y =  [[ 0.01050153]]\n",
      "correction abs_x :  [[-45.62058075]]\n",
      "correction abs_y :  [[-4.09846788]]\n",
      " \n",
      " \n",
      "temps : 18.9499969482\n",
      "moving direction :\n",
      "dx = -0.000955834984779\n",
      "dy = 0.00019508600235\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00063804]]\n",
      "Abs_y =  [[ 0.00412463]]\n",
      "correction abs_x :  [[-45.6380393]]\n",
      "correction abs_y :  [[-11.27537281]]\n",
      " \n",
      " \n",
      "temps : 18.9999961853\n",
      "moving direction :\n",
      "dx = 0.000229090452194\n",
      "dy = -0.000300288200378\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -6.22090880e-05]]\n",
      "Abs_y =  [[-0.00346587]]\n",
      "correction abs_x :  [[-44.46220909]]\n",
      "correction abs_y :  [[-18.06586731]]\n",
      " \n",
      " \n",
      "temps : 19.0499954224\n",
      "moving direction :\n",
      "dx = 0.00116108357906\n",
      "dy = -0.0015606880188\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00170981]]\n",
      "Abs_y =  [[-0.02889048]]\n",
      "correction abs_x :  [[-46.60981271]]\n",
      "correction abs_y :  [[-36.59048384]]\n",
      " \n",
      " \n",
      "temps : 19.0999946594\n",
      "moving direction :\n",
      "dx = 0.00119230151176\n",
      "dy = -0.000577330589294\n",
      "solution du système equation :\n",
      "Abs_x =  [[  5.45241092e-05]]\n",
      "Abs_y =  [[-0.01017896]]\n",
      "correction abs_x :  [[-44.94547589]]\n",
      "correction abs_y :  [[-19.77895997]]\n",
      " \n",
      " \n",
      "temps : 19.1999931335\n",
      "moving direction :\n",
      "dx = -0.00137646496296\n",
      "dy = 0.000541687011719\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00073291]]\n",
      "Abs_y =  [[ 0.00837083]]\n",
      "correction abs_x :  [[-45.43291177]]\n",
      "correction abs_y :  [[-6.02917313]]\n",
      " \n",
      " \n",
      "temps : 19.2499923706\n",
      "moving direction :\n",
      "dx = -0.000126048922539\n",
      "dy = -8.52942466736e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00016997]]\n",
      "Abs_y =  [[-0.00047677]]\n",
      "correction abs_x :  [[-44.56997029]]\n",
      "correction abs_y :  [[-15.87676998]]\n",
      " \n",
      " \n",
      "temps : 19.2999916077\n",
      "moving direction :\n",
      "dx = 0.00066089630127\n",
      "dy = -0.000896751880646\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00076093]]\n",
      "Abs_y =  [[-0.0150779]]\n",
      "correction abs_x :  [[-45.6609346]]\n",
      "correction abs_y :  [[-24.2778956]]\n",
      " \n",
      " \n",
      "temps : 19.3499908447\n",
      "moving direction :\n",
      "dx = 0.000481247901917\n",
      "dy = -2.25901603699e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0003474]]\n",
      "Abs_y =  [[-0.00148008]]\n",
      "correction abs_x :  [[-44.3525993]]\n",
      "correction abs_y :  [[-14.38008403]]\n",
      " \n",
      " \n",
      "temps : 19.3999900818\n",
      "moving direction :\n",
      "dx = -0.000834196805954\n",
      "dy = 0.000348806381226\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00037005]]\n",
      "Abs_y =  [[ 0.00548722]]\n",
      "correction abs_x :  [[-45.1700535]]\n",
      "correction abs_y :  [[-8.81278143]]\n",
      " \n",
      " \n",
      "temps : 19.4999885559\n",
      "moving direction :\n",
      "dx = -0.00018398463726\n",
      "dy = -0.000124752521515\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00025311]]\n",
      "Abs_y =  [[-0.00076142]]\n",
      "correction abs_x :  [[-44.65311284]]\n",
      "correction abs_y :  [[-14.96141842]]\n",
      " \n",
      " \n",
      "temps : 19.59998703\n",
      "moving direction :\n",
      "dx = 0.000623881816864\n",
      "dy = -0.000747382640839\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0006026]]\n",
      "Abs_y =  [[-0.01222678]]\n",
      "correction abs_x :  [[-45.60260227]]\n",
      "correction abs_y :  [[-21.3267783]]\n",
      " \n",
      " \n",
      "temps : 19.6999855042\n",
      "moving direction :\n",
      "dx = -0.00060972571373\n",
      "dy = 0.000103712081909\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00038836]]\n",
      "Abs_y =  [[ 0.00273241]]\n",
      "correction abs_x :  [[-45.28835591]]\n",
      "correction abs_y :  [[-10.86759068]]\n",
      " \n",
      " \n",
      "temps : 19.7499847412\n",
      "moving direction :\n",
      "dx = -0.000184461474419\n",
      "dy = -0.000146746635437\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00026664]]\n",
      "Abs_y =  [[-0.00088442]]\n",
      "correction abs_x :  [[-45.16663835]]\n",
      "correction abs_y :  [[-16.18441666]]\n",
      " \n",
      " \n",
      "temps : 19.8499832153\n",
      "moving direction :\n",
      "dx = -3.98904085159e-05\n",
      "dy = -0.00050288438797\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00052452]]\n",
      "Abs_y =  [[-0.00581319]]\n",
      "correction abs_x :  [[-45.22451779]]\n",
      "correction abs_y :  [[-21.31319366]]\n",
      " \n",
      " \n",
      "temps : 19.8999824524\n",
      "moving direction :\n",
      "dx = 0.00024701654911\n",
      "dy = -0.000164985656738\n",
      "solution du système equation :\n",
      "Abs_x =  [[  5.47131808e-05]]\n",
      "Abs_y =  [[-0.0022574]]\n",
      "correction abs_x :  [[-44.84528682]]\n",
      "correction abs_y :  [[-14.45740434]]\n",
      " \n",
      " \n",
      "temps : 19.9499816895\n",
      "moving direction :\n",
      "dx = -0.00015427172184\n",
      "dy = -3.88622283936e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00015756]]\n",
      "Abs_y =  [[  3.16217191e-05]]\n",
      "correction abs_x :  [[-44.85755566]]\n",
      "correction abs_y :  [[-15.36837828]]\n",
      " \n",
      " \n",
      "temps : 19.9999809265\n",
      "moving direction :\n",
      "dx = -0.000169947743416\n",
      "dy = -0.000276327133179\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00036405]]\n",
      "Abs_y =  [[-0.002316]]\n",
      "correction abs_x :  [[-45.06405096]]\n",
      "correction abs_y :  [[-16.61599835]]\n",
      " \n",
      " \n",
      "temps : 20.0499801636\n",
      "moving direction :\n",
      "dx = 2.37673521042e-05\n",
      "dy = -0.000332713127136\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00026359]]\n",
      "Abs_y =  [[-0.00346785]]\n",
      "correction abs_x :  [[-45.06358731]]\n",
      "correction abs_y :  [[-17.36785457]]\n",
      " \n",
      " \n",
      "temps : 20.0999794006\n",
      "moving direction :\n",
      "dx = -3.65823507309e-05\n",
      "dy = -0.000220060348511\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00021137]]\n",
      "Abs_y =  [[-0.00207215]]\n",
      "correction abs_x :  [[-45.11137335]]\n",
      "correction abs_y :  [[-16.3721457]]\n",
      " \n",
      " \n",
      "temps : 20.1999778748\n",
      "moving direction :\n",
      "dx = -0.000195220112801\n",
      "dy = -7.67111778259e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00021933]]\n",
      "Abs_y =  [[-0.00021683]]\n",
      "correction abs_x :  [[-45.11933169]]\n",
      "correction abs_y :  [[-15.41683239]]\n",
      " \n",
      " \n",
      "temps : 20.2499771118\n",
      "moving direction :\n",
      "dx = -0.000164911150932\n",
      "dy = -0.000190913677216\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00027595]]\n",
      "Abs_y =  [[-0.00137466]]\n",
      "correction abs_x :  [[-44.97594617]]\n",
      "correction abs_y :  [[-16.87465515]]\n",
      " \n",
      " \n",
      "temps : 20.2999763489\n",
      "moving direction :\n",
      "dx = -0.00013168156147\n",
      "dy = -0.00024026632309\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00028816]]\n",
      "Abs_y =  [[-0.00202205]]\n",
      "correction abs_x :  [[-44.78815867]]\n",
      "correction abs_y :  [[-16.92204581]]\n",
      " \n",
      " \n",
      "temps : 20.3499755859\n",
      "moving direction :\n",
      "dx = -0.00012743473053\n",
      "dy = -0.000143647193909\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00021005]]\n",
      "Abs_y =  [[-0.00102526]]\n",
      "correction abs_x :  [[-45.11005166]]\n",
      "correction abs_y :  [[-16.52526245]]\n",
      " \n",
      " \n",
      "temps : 20.399974823\n",
      "moving direction :\n",
      "dx = -0.000158399343491\n",
      "dy = -0.000198543071747\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00027269]]\n",
      "Abs_y =  [[-0.0014721]]\n",
      "correction abs_x :  [[-44.97269456]]\n",
      "correction abs_y :  [[-16.97209965]]\n",
      " \n",
      " \n",
      "temps : 20.5499725342\n",
      "moving direction :\n",
      "dx = -0.000137344002724\n",
      "dy = -0.000202655792236\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00025148]]\n",
      "Abs_y =  [[-0.00158224]]\n",
      "correction abs_x :  [[-45.25147835]]\n",
      "correction abs_y :  [[-17.08224069]]\n",
      " \n",
      " \n",
      "temps : 20.5999717712\n",
      "moving direction :\n",
      "dx = -0.000131472945213\n",
      "dy = -0.000204682350159\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00024634]]\n",
      "Abs_y =  [[-0.00162092]]\n",
      "correction abs_x :  [[-45.04633756]]\n",
      "correction abs_y :  [[-17.12091955]]\n",
      " \n",
      " \n",
      "temps : 20.6499710083\n",
      "moving direction :\n",
      "dx = -0.000141128897667\n",
      "dy = -0.000191688537598\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00024393]]\n",
      "Abs_y =  [[-0.00147817]]\n",
      "correction abs_x :  [[-45.14392737]]\n",
      "correction abs_y :  [[-17.07817454]]\n",
      " \n",
      " \n",
      "temps : 20.6999702454\n",
      "moving direction :\n",
      "dx = -0.000107780098915\n",
      "dy = -0.000211596488953\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00022651]]\n",
      "Abs_y =  [[-0.00176569]]\n",
      "correction abs_x :  [[-45.22650676]]\n",
      "correction abs_y :  [[-17.36569342]]\n",
      " \n",
      " \n",
      "temps : 20.7499694824\n",
      "moving direction :\n",
      "dx = -0.00014454126358\n",
      "dy = -0.000169396400452\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00022916]]\n",
      "Abs_y =  [[-0.00126453]]\n",
      "correction abs_x :  [[-45.02916133]]\n",
      "correction abs_y :  [[-16.86453205]]\n",
      " \n",
      " \n",
      "temps : 20.7999687195\n",
      "moving direction :\n",
      "dx = -0.000117540359497\n",
      "dy = -0.000203788280487\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00022577]]\n",
      "Abs_y =  [[-0.00167815]]\n",
      "correction abs_x :  [[-45.22576566]]\n",
      "correction abs_y :  [[-17.27814866]]\n",
      " \n",
      " \n",
      "temps : 20.8499679565\n",
      "moving direction :\n",
      "dx = -0.000141277909279\n",
      "dy = -0.000172734260559\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00022548]]\n",
      "Abs_y =  [[-0.00131552]]\n",
      "correction abs_x :  [[-45.02548353]]\n",
      "correction abs_y :  [[-16.91551537]]\n",
      " \n",
      " \n",
      "temps : 20.9499664307\n",
      "moving direction :\n",
      "dx = -0.000138685107231\n",
      "dy = -0.000167608261108\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00021687]]\n",
      "Abs_y =  [[-0.00128287]]\n",
      "correction abs_x :  [[-45.21686657]]\n",
      "correction abs_y :  [[-16.88286814]]\n",
      " \n",
      " \n",
      "temps : 20.9999656677\n",
      "moving direction :\n",
      "dx = -0.000131607055664\n",
      "dy = -0.000166594982147\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00020896]]\n",
      "Abs_y =  [[-0.00129528]]\n",
      "correction abs_x :  [[-45.10896158]]\n",
      "correction abs_y :  [[-16.89527508]]\n",
      " \n",
      " \n",
      "temps : 21.0499649048\n",
      "moving direction :\n",
      "dx = -0.000152483582497\n",
      "dy = -0.000148713588715\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00021555]]\n",
      "Abs_y =  [[-0.00106602]]\n",
      "correction abs_x :  [[-44.91555061]]\n",
      "correction abs_y :  [[-16.6660165]]\n",
      " \n",
      " \n",
      "temps : 21.0999641418\n",
      "moving direction :\n",
      "dx = -0.000177428126335\n",
      "dy = -0.000184178352356\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00025566]]\n",
      "Abs_y =  [[-0.00135454]]\n",
      "correction abs_x :  [[-45.25565745]]\n",
      "correction abs_y :  [[-16.954545]]\n",
      " \n",
      " \n",
      "temps : 21.1499633789\n",
      "moving direction :\n",
      "dx = -0.000153750181198\n",
      "dy = -0.000124990940094\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00020227]]\n",
      "Abs_y =  [[-0.00082577]]\n",
      "correction abs_x :  [[-45.20226678]]\n",
      "correction abs_y :  [[-16.42577078]]\n",
      " \n",
      " \n",
      "temps : 21.199962616\n",
      "moving direction :\n",
      "dx = -0.000157654285431\n",
      "dy = -2.67624855042e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00015471]]\n",
      "Abs_y =  [[ 0.00018266]]\n",
      "correction abs_x :  [[-45.05470892]]\n",
      "correction abs_y :  [[-15.41733755]]\n",
      " \n",
      " \n",
      "temps : 21.249961853\n",
      "moving direction :\n",
      "dx = -0.000137344002724\n",
      "dy = -1.15036964417e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00012879]]\n",
      "Abs_y =  [[ 0.0002816]]\n",
      "correction abs_x :  [[-45.12878937]]\n",
      "correction abs_y :  [[-15.31839696]]\n",
      " \n",
      " \n",
      "temps : 21.2999610901\n",
      "moving direction :\n",
      "dx = -0.000101774930954\n",
      "dy = -3.5285949707e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.000109]]\n",
      "Abs_y =  [[ -6.34725141e-05]]\n",
      "correction abs_x :  [[-45.10900324]]\n",
      "correction abs_y :  [[-15.66347251]]\n",
      " \n",
      " \n",
      "temps : 21.3499603271\n",
      "moving direction :\n",
      "dx = 2.25007534027e-05\n",
      "dy = -0.000142633914948\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -5.70971215e-05]]\n",
      "Abs_y =  [[-0.00158309]]\n",
      "correction abs_x :  [[-45.05709712]]\n",
      "correction abs_y :  [[-16.58308706]]\n",
      " \n",
      " \n",
      "temps : 21.3999595642\n",
      "moving direction :\n",
      "dx = 0.000284299254417\n",
      "dy = -0.000243604183197\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00010417]]\n",
      "Abs_y =  [[-0.00345654]]\n",
      "correction abs_x :  [[-44.89583262]]\n",
      "correction abs_y :  [[-18.15653713]]\n",
      " \n",
      " \n",
      "temps : 21.4999580383\n",
      "moving direction :\n",
      "dx = 2.18898057938e-05\n",
      "dy = -3.90410423279e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -3.61106146e-06]]\n",
      "Abs_y =  [[-0.00045177]]\n",
      "correction abs_x :  [[-45.00361106]]\n",
      "correction abs_y :  [[-15.85176801]]\n",
      " \n",
      " \n",
      "temps : 21.5999565125\n",
      "moving direction :\n",
      "dx = -0.000227063894272\n",
      "dy = 2.77757644653e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00018737]]\n",
      "Abs_y =  [[ 0.00093956]]\n",
      "correction abs_x :  [[-45.08736552]]\n",
      "correction abs_y :  [[-14.66043654]]\n",
      " \n",
      " \n",
      "temps : 21.6999549866\n",
      "moving direction :\n",
      "dx = -1.6838312149e-06\n",
      "dy = -0.000121116638184\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -6.68212771e-05]]\n",
      "Abs_y =  [[-0.00125627]]\n",
      "correction abs_x :  [[-44.96682128]]\n",
      "correction abs_y :  [[-16.55626897]]\n",
      " \n",
      " \n",
      "temps : 21.7499542236\n",
      "moving direction :\n",
      "dx = 0.000143438577652\n",
      "dy = -0.000202417373657\n",
      "solution du système equation :\n",
      "Abs_x =  [[  3.21551402e-06]]\n",
      "Abs_y =  [[-0.00265986]]\n",
      "correction abs_x :  [[-44.99678449]]\n",
      "correction abs_y :  [[-17.15986427]]\n",
      " \n",
      " \n",
      "temps : 21.7999534607\n",
      "moving direction :\n",
      "dx = 0.000186249613762\n",
      "dy = -3.36170196533e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00014352]]\n",
      "Abs_y =  [[-0.00087975]]\n",
      "correction abs_x :  [[-44.65647942]]\n",
      "correction abs_y :  [[-16.17974978]]\n",
      " \n",
      " \n",
      "temps : 21.8499526978\n",
      "moving direction :\n",
      "dx = -0.000227972865105\n",
      "dy = 5.71012496948e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00017056]]\n",
      "Abs_y =  [[ 0.00123818]]\n",
      "correction abs_x :  [[-45.07055735]]\n",
      "correction abs_y :  [[-14.36182269]]\n",
      " \n",
      " \n",
      "temps : 21.8999519348\n",
      "moving direction :\n",
      "dx = -0.00030417740345\n",
      "dy = 4.96506690979e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00024601]]\n",
      "Abs_y =  [[ 0.00140321]]\n",
      "correction abs_x :  [[-45.14601391]]\n",
      "correction abs_y :  [[-14.19678574]]\n",
      " \n",
      " \n",
      "temps : 21.9499511719\n",
      "moving direction :\n",
      "dx = -0.000224232673645\n",
      "dy = 2.39610671997e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00018977]]\n",
      "Abs_y =  [[ 0.00091757]]\n",
      "correction abs_x :  [[-44.98977036]]\n",
      "correction abs_y :  [[-14.58242886]]\n",
      " \n",
      " \n",
      "temps : 21.9999504089\n",
      "moving direction :\n",
      "dx = 5.92768192291e-05\n",
      "dy = -0.000219941139221\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -7.22047430e-05]]\n",
      "Abs_y =  [[-0.00264704]]\n",
      "correction abs_x :  [[-44.97220474]]\n",
      "correction abs_y :  [[-17.04703531]]\n",
      " \n",
      " \n",
      "temps : 22.049949646\n",
      "moving direction :\n",
      "dx = 0.00055567920208\n",
      "dy = -0.000358402729034\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00023166]]\n",
      "Abs_y =  [[-0.00581376]]\n",
      "correction abs_x :  [[-44.76834313]]\n",
      "correction abs_y :  [[-19.71375648]]\n",
      " \n",
      " \n",
      "temps : 22.0999488831\n",
      "moving direction :\n",
      "dx = 0.000641718506813\n",
      "dy = -0.000322222709656\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00029667]]\n",
      "Abs_y =  [[-0.00548143]]\n",
      "correction abs_x :  [[-44.7033256]]\n",
      "correction abs_y :  [[-19.38143099]]\n",
      " \n",
      " \n",
      "temps : 22.1499481201\n",
      "moving direction :\n",
      "dx = 0.000213131308556\n",
      "dy = 1.68681144714e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0001924]]\n",
      "Abs_y =  [[-0.00043788]]\n",
      "correction abs_x :  [[-44.70760009]]\n",
      "correction abs_y :  [[-15.73787586]]\n",
      " \n",
      " \n",
      "temps : 22.2499465942\n",
      "moving direction :\n",
      "dx = -0.00106106698513\n",
      "dy = 0.000382483005524\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00073799]]\n",
      "Abs_y =  [[ 0.00694927]]\n",
      "correction abs_x :  [[-45.53799404]]\n",
      "correction abs_y :  [[-8.5507278]]\n",
      " \n",
      " \n",
      "temps : 22.2999458313\n",
      "moving direction :\n",
      "dx = -0.000376001000404\n",
      "dy = 5.07831573486e-05\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0003081]]\n",
      "Abs_y =  [[ 0.00167749]]\n",
      "correction abs_x :  [[-44.90810342]]\n",
      "correction abs_y :  [[-13.52251296]]\n",
      " \n",
      " \n",
      "temps : 22.3499450684\n",
      "moving direction :\n",
      "dx = 0.000574693083763\n",
      "dy = -0.00080406665802\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0003227]]\n",
      "Abs_y =  [[-0.01409073]]\n",
      "correction abs_x :  [[-45.12269718]]\n",
      "correction abs_y :  [[-24.89072804]]\n",
      " \n",
      " \n",
      "temps : 22.3999443054\n",
      "moving direction :\n",
      "dx = 0.00256226956844\n",
      "dy = -0.00130778551102\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -8.64524228e-05]]\n",
      "Abs_y =  [[-0.02893936]]\n",
      "correction abs_x :  [[-44.98645242]]\n",
      "correction abs_y :  [[-38.03935615]]\n",
      " \n",
      " \n",
      "temps : 22.4499435425\n",
      "moving direction :\n",
      "dx = 0.000499680638313\n",
      "dy = 0.000141799449921\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00051591]]\n",
      "Abs_y =  [[ -6.65947045e-05]]\n",
      "correction abs_x :  [[-44.38409082]]\n",
      "correction abs_y :  [[-11.5665947]]\n",
      " \n",
      " \n",
      "temps : 22.5499420166\n",
      "moving direction :\n",
      "dx = -0.00240857899189\n",
      "dy = 0.00129324197769\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00131028]]\n",
      "Abs_y =  [[ 0.01959494]]\n",
      "correction abs_x :  [[-46.2102755]]\n",
      "correction abs_y :  [[ 4.49494409]]\n",
      " \n",
      " \n",
      "temps : 22.5999412537\n",
      "moving direction :\n",
      "dx = -0.000262632966042\n",
      "dy = -0.000154972076416\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00033222]]\n",
      "Abs_y =  [[-0.00097558]]\n",
      "correction abs_x :  [[-44.73222313]]\n",
      "correction abs_y :  [[-13.67558074]]\n",
      " \n",
      " \n",
      "temps : 22.6499404907\n",
      "moving direction :\n",
      "dx = 0.00154158473015\n",
      "dy = -0.00312411785126\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0115378]]\n",
      "Abs_y =  [[-0.14747496]]\n",
      "correction abs_x :  [[-56.43779698]]\n",
      "correction abs_y :  [[-149.47496472]]\n",
      " \n",
      " \n",
      "temps : 22.6999397278\n",
      "moving direction :\n",
      "dx = 0.00414368510246\n",
      "dy = -0.00486522912979\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.02273608]]\n",
      "Abs_y =  [[-0.2213248]]\n",
      "correction abs_x :  [[-67.63607671]]\n",
      "correction abs_y :  [[-219.52480335]]\n",
      " \n",
      " \n",
      "temps : 22.7499389648\n",
      "moving direction :\n",
      "dx = 0.00343307852745\n",
      "dy = -0.000904142856598\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00092286]]\n",
      "Abs_y =  [[-0.0212644]]\n",
      "correction abs_x :  [[-43.77713936]]\n",
      "correction abs_y :  [[-28.96439646]]\n",
      " \n",
      " \n",
      "temps : 22.7999382019\n",
      "moving direction :\n",
      "dx = -0.00353886187077\n",
      "dy = 0.0019166469574\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00225234]]\n",
      "Abs_y =  [[ 0.0301801]]\n",
      "correction abs_x :  [[-47.15234461]]\n",
      "correction abs_y :  [[ 15.48009792]]\n",
      " \n",
      " \n",
      "temps : 22.899936676\n",
      "moving direction :\n",
      "dx = -0.00131949782372\n",
      "dy = 0.000637829303741\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00102878]]\n",
      "Abs_y =  [[ 0.01087313]]\n",
      "correction abs_x :  [[-45.12878489]]\n",
      "correction abs_y :  [[-4.72686516]]\n",
      " \n",
      " \n",
      "temps : 22.9499359131\n",
      "moving direction :\n",
      "dx = -0.00219041109085\n",
      "dy = -0.00388503074646\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.03774348]]\n",
      "Abs_y =  [[ 0.62620978]]\n",
      "correction abs_x :  [[-7.25651521]]\n",
      "correction abs_y :  [[ 629.20977697]]\n",
      " \n",
      " \n",
      "temps : 22.9999351501\n",
      "moving direction :\n",
      "dx = 0.00256019830704\n",
      "dy = -0.0113287568092\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.16762834]]\n",
      "Abs_y =  [[-1.47299266]]\n",
      "correction abs_x :  [[-212.42834228]]\n",
      "correction abs_y :  [[-1462.49265828]]\n",
      " \n",
      " \n",
      "temps : 23.0499343872\n",
      "moving direction :\n",
      "dx = 0.0122894346714\n",
      "dy = -0.00589430332184\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00296809]]\n",
      "Abs_y =  [[-0.12567946]]\n",
      "correction abs_x :  [[-47.86808837]]\n",
      "correction abs_y :  [[-124.57946047]]\n",
      " \n",
      " \n",
      "temps : 23.0999336243\n",
      "moving direction :\n",
      "dx = -0.00278809666634\n",
      "dy = -0.00402933359146\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00542286]]\n",
      "Abs_y =  [[ 0.0362561]]\n",
      "correction abs_x :  [[-18.67713788]]\n",
      "correction abs_y :  [[ 58.35609919]]\n",
      " \n",
      " \n",
      "temps : 23.1499328613\n",
      "moving direction :\n",
      "dx = -0.00202092528343\n",
      "dy = -0.00502377748489\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.01248968]]\n",
      "Abs_y =  [[-0.03619053]]\n",
      "correction abs_x :  [[-54.4896827]]\n",
      "correction abs_y :  [[-36.59052837]]\n",
      " \n",
      " \n",
      "temps : 23.2499313354\n",
      "moving direction :\n",
      "dx = -0.00362852215767\n",
      "dy = -0.00851583480835\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.03813774]]\n",
      "Abs_y =  [[ 0.2695418]]\n",
      "correction abs_x :  [[-6.56226084]]\n",
      "correction abs_y :  [[ 255.8418049]]\n",
      " \n",
      " \n",
      "temps : 23.2999305725\n",
      "moving direction :\n",
      "dx = -0.00589302182198\n",
      "dy = -0.0122469067574\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0211551]]\n",
      "Abs_y =  [[-0.08433514]]\n",
      "correction abs_x :  [[-64.25510027]]\n",
      "correction abs_y :  [[-95.63513501]]\n",
      " \n",
      " \n",
      "temps : 23.3499298096\n",
      "moving direction :\n",
      "dx = -0.0073105096817\n",
      "dy = -0.00866973400116\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.01596931]]\n",
      "Abs_y =  [[ 0.14036886]]\n",
      "correction abs_x :  [[-6.23069236]]\n",
      "correction abs_y :  [[ 150.56885559]]\n",
      " \n",
      " \n",
      "temps : 23.3999290466\n",
      "moving direction :\n",
      "dx = -0.018686324358\n",
      "dy = -0.016072332859\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00597649]]\n",
      "Abs_y =  [[ 0.08951145]]\n",
      "correction abs_x :  [[-6.52350962]]\n",
      "correction abs_y :  [[ 119.41144503]]\n",
      " \n",
      " \n",
      "temps : 23.4999275208\n",
      "moving direction :\n",
      "dx = 0.0100758820772\n",
      "dy = -0.0110285282135\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.04376372]]\n",
      "Abs_y =  [[ 0.13803741]]\n",
      "correction abs_x :  [[ 7.86371535]]\n",
      "correction abs_y :  [[ 145.43741385]]\n",
      " \n",
      " \n",
      "temps : 23.5499267578\n",
      "moving direction :\n",
      "dx = -0.00893685221672\n",
      "dy = -0.00506561994553\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -4.42257558e-05]]\n",
      "Abs_y =  [[ 0.03397794]]\n",
      "correction abs_x :  [[-17.64422576]]\n",
      "correction abs_y :  [[ 62.97793584]]\n",
      " \n",
      " \n",
      "temps : 23.5999259949\n",
      "moving direction :\n",
      "dx = -0.0159219652414\n",
      "dy = 0.00427132844925\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.02647993]]\n",
      "Abs_y =  [[-0.02910258]]\n",
      "correction abs_x :  [[-24.87993031]]\n",
      "correction abs_y :  [[ 7.49741579]]\n",
      " \n",
      " \n",
      "temps : 23.6499252319\n",
      "moving direction :\n",
      "dx = -0.00431564450264\n",
      "dy = 0.00330501794815\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.01216506]]\n",
      "Abs_y =  [[-0.02826619]]\n",
      "correction abs_x :  [[-23.0650607]]\n",
      "correction abs_y :  [[ 8.53380663]]\n",
      " \n",
      " \n",
      "temps : 23.699924469\n",
      "moving direction :\n",
      "dx = 0.00874796509743\n",
      "dy = 0.00263649225235\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00632459]]\n",
      "Abs_y =  [[-0.01175854]]\n",
      "correction abs_x :  [[-8.77540681]]\n",
      "correction abs_y :  [[ 24.84146152]]\n",
      " \n",
      " \n",
      "temps : 23.7499237061\n",
      "moving direction :\n",
      "dx = 0.00811965763569\n",
      "dy = 0.00713133811951\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.04764114]]\n",
      "Abs_y =  [[-0.23277316]]\n",
      "correction abs_x :  [[-69.14114221]]\n",
      "correction abs_y :  [[-214.47316108]]\n",
      " \n",
      " \n",
      "temps : 23.8499221802\n",
      "moving direction :\n",
      "dx = -0.00343337655067\n",
      "dy = -0.00200587511063\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00150889]]\n",
      "Abs_y =  [[ 0.01760574]]\n",
      "correction abs_x :  [[-12.49111281]]\n",
      "correction abs_y :  [[ 36.50574042]]\n",
      " \n",
      " \n",
      "temps : 23.8999214172\n",
      "moving direction :\n",
      "dx = -0.00165443122387\n",
      "dy = -0.000674426555634\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0023725]]\n",
      "Abs_y =  [[-0.0020339]]\n",
      "correction abs_x :  [[-39.47249565]]\n",
      "correction abs_y :  [[-5.73390251]]\n",
      " \n",
      " \n",
      "temps : 23.9999198914\n",
      "moving direction :\n",
      "dx = 0.00259266793728\n",
      "dy = -0.00371807813644\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.04602722]]\n",
      "Abs_y =  [[ 0.19401653]]\n",
      "correction abs_x :  [[ 1.82721939]]\n",
      "correction abs_y :  [[ 179.91653047]]\n",
      " \n",
      " \n",
      "temps : 24.0499191284\n",
      "moving direction :\n",
      "dx = -0.00881226360798\n",
      "dy = -0.00499004125595\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.01780981]]\n",
      "Abs_y =  [[-0.04270728]]\n",
      "correction abs_x :  [[-52.40981284]]\n",
      "correction abs_y :  [[-43.30728159]]\n",
      " \n",
      " \n",
      "temps : 24.0999183655\n",
      "moving direction :\n",
      "dx = -0.0115182101727\n",
      "dy = -0.00779408216476\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00327431]]\n",
      "Abs_y =  [[ 0.06256614]]\n",
      "correction abs_x :  [[-11.02569052]]\n",
      "correction abs_y :  [[ 82.76614013]]\n",
      " \n",
      " \n",
      "temps : 24.1499176025\n",
      "moving direction :\n",
      "dx = -0.0203704982996\n",
      "dy = -0.0121148228645\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0030596]]\n",
      "Abs_y =  [[ 0.05610272]]\n",
      "correction abs_x :  [[-7.25960358]]\n",
      "correction abs_y :  [[ 90.20272278]]\n",
      " \n",
      " \n",
      "temps : 24.1999168396\n",
      "moving direction :\n",
      "dx = 0.000542655587196\n",
      "dy = 0.00484377145767\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.02191544]]\n",
      "Abs_y =  [[ 0.08916092]]\n",
      "correction abs_x :  [[-5.78456014]]\n",
      "correction abs_y :  [[ 101.16092081]]\n",
      " \n",
      " \n",
      "temps : 24.2999153137\n",
      "moving direction :\n",
      "dx = -0.00210173428059\n",
      "dy = -0.0102432966232\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.01611868]]\n",
      "Abs_y =  [[ 0.06963651]]\n",
      "correction abs_x :  [[-0.68131799]]\n",
      "correction abs_y :  [[ 101.53651421]]\n",
      " \n",
      " \n",
      "temps : 24.3499145508\n",
      "moving direction :\n",
      "dx = -0.0120821148157\n",
      "dy = -0.00145530700684\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.01410826]]\n",
      "Abs_y =  [[-0.00471777]]\n",
      "correction abs_x :  [[-21.30825729]]\n",
      "correction abs_y :  [[ 31.78222723]]\n",
      " \n",
      " \n",
      "temps : 24.3999137878\n",
      "moving direction :\n",
      "dx = -0.0109237208962\n",
      "dy = 0.0029319524765\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.01941876]]\n",
      "Abs_y =  [[-0.02791091]]\n",
      "correction abs_x :  [[-21.91875997]]\n",
      "correction abs_y :  [[ 8.78909418]]\n",
      " \n",
      " \n",
      "temps : 24.499912262\n",
      "moving direction :\n",
      "dx = 0.0057649537921\n",
      "dy = 0.00579297542572\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0076463]]\n",
      "Abs_y =  [[-0.05594399]]\n",
      "correction abs_x :  [[-21.64629616]]\n",
      "correction abs_y :  [[-22.8439932]]\n",
      " \n",
      " \n",
      "temps : 24.5999107361\n",
      "moving direction :\n",
      "dx = 0.0105371251702\n",
      "dy = -0.00100612640381\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.02757714]]\n",
      "Abs_y =  [[ 0.06322501]]\n",
      "correction abs_x :  [[ 8.47713816]]\n",
      "correction abs_y :  [[ 80.72500506]]\n",
      " \n",
      " \n",
      "temps : 24.6499099731\n",
      "moving direction :\n",
      "dx = 0.000496298074722\n",
      "dy = 0.000565767288208\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00171427]]\n",
      "Abs_y =  [[ 0.00507795]]\n",
      "correction abs_x :  [[-19.48573059]]\n",
      "correction abs_y :  [[-3.82205037]]\n",
      " \n",
      " \n",
      "temps : 24.6999092102\n",
      "moving direction :\n",
      "dx = -0.0135687142611\n",
      "dy = -0.00752413272858\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00259839]]\n",
      "Abs_y =  [[ 0.07182275]]\n",
      "correction abs_x :  [[-1.10160743]]\n",
      "correction abs_y :  [[ 84.22275316]]\n",
      " \n",
      " \n",
      "temps : 24.7499084473\n",
      "moving direction :\n",
      "dx = -0.0217051059008\n",
      "dy = -0.0199119448662\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00614108]]\n",
      "Abs_y =  [[ 0.09172682]]\n",
      "correction abs_x :  [[ 9.34108129]]\n",
      "correction abs_y :  [[ 122.52681726]]\n",
      " \n",
      " \n",
      "temps : 24.8499069214\n",
      "moving direction :\n",
      "dx = 0.00263888388872\n",
      "dy = -0.0201630592346\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0397417]]\n",
      "Abs_y =  [[ 0.14531829]]\n",
      "correction abs_x :  [[ 28.14169751]]\n",
      "correction abs_y :  [[ 155.81829193]]\n",
      " \n",
      " \n",
      "temps : 24.8999061584\n",
      "moving direction :\n",
      "dx = -0.00596848875284\n",
      "dy = -0.0106364488602\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.01077986]]\n",
      "Abs_y =  [[ 0.0597916]]\n",
      "correction abs_x :  [[ 14.37985763]]\n",
      "correction abs_y :  [[ 95.39160161]]\n",
      " \n",
      " \n",
      "temps : 24.9499053955\n",
      "moving direction :\n",
      "dx = -0.0209917426109\n",
      "dy = -0.00478851795197\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.01445805]]\n",
      "Abs_y =  [[ 0.02263272]]\n",
      "correction abs_x :  [[ 5.0419523]]\n",
      "correction abs_y :  [[ 59.03272327]]\n",
      " \n",
      " \n",
      "temps : 25.0499038696\n",
      "moving direction :\n",
      "dx = -0.0238846242428\n",
      "dy = 0.00810617208481\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.03740111]]\n",
      "Abs_y =  [[-0.0370886]]\n",
      "correction abs_x :  [[-12.3011051]]\n",
      "correction abs_y :  [[-0.48859905]]\n",
      " \n",
      " \n",
      "temps : 25.0999031067\n",
      "moving direction :\n",
      "dx = 0.00564192607999\n",
      "dy = 0.0124822258949\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00714101]]\n",
      "Abs_y =  [[-0.05588782]]\n",
      "correction abs_x :  [[ 2.7589925]]\n",
      "correction abs_y :  [[-19.58781669]]\n",
      " \n",
      " \n",
      "temps : 25.1499023438\n",
      "moving direction :\n",
      "dx = 0.0113239325583\n",
      "dy = 0.0165199637413\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.04237588]]\n",
      "Abs_y =  [[-0.24666883]]\n",
      "correction abs_x :  [[-46.9758829]]\n",
      "correction abs_y :  [[-231.86882568]]\n",
      " \n",
      " \n",
      "temps : 25.2499008179\n",
      "moving direction :\n",
      "dx = 0.0123624876142\n",
      "dy = 0.00835967063904\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.03300181]]\n",
      "Abs_y =  [[ 0.09618864]]\n",
      "correction abs_x :  [[ 24.20181241]]\n",
      "correction abs_y :  [[ 100.48863603]]\n",
      " \n",
      " \n",
      "temps : 25.2999000549\n",
      "moving direction :\n",
      "dx = -0.00274093449116\n",
      "dy = -0.00137662887573\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00409013]]\n",
      "Abs_y =  [[-0.00407874]]\n",
      "correction abs_x :  [[-28.69012845]]\n",
      "correction abs_y :  [[-19.07873978]]\n",
      " \n",
      " \n",
      "temps : 25.349899292\n",
      "moving direction :\n",
      "dx = -0.00463143736124\n",
      "dy = -0.00415533781052\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00928123]]\n",
      "Abs_y =  [[ 0.06629302]]\n",
      "correction abs_x :  [[ 6.28123309]]\n",
      "correction abs_y :  [[ 72.99302442]]\n",
      " \n",
      " \n",
      "temps : 25.4498977661\n",
      "moving direction :\n",
      "dx = -0.0338241383433\n",
      "dy = -0.0322165489197\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.1344241]]\n",
      "Abs_y =  [[-0.30781389]]\n",
      "correction abs_x :  [[-144.62409695]]\n",
      "correction abs_y :  [[-303.61389089]]\n",
      " \n",
      " \n",
      "temps : 25.4998970032\n",
      "moving direction :\n",
      "dx = 0.00323784351349\n",
      "dy = -0.0131171941757\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.03530236]]\n",
      "Abs_y =  [[ 0.1138518]]\n",
      "correction abs_x :  [[ 35.80235934]]\n",
      "correction abs_y :  [[ 140.15179649]]\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<matplotlib.legend.Legend at 0x8772fd0>"
      ]
     },
     "execution_count": 49,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
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       "TkSuQmCC\n"
      ],
      "text/plain": [
       "<matplotlib.figure.Figure at 0x84758d0>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "poppy.abs_x.goto_behavior = 'dummy'\n",
    "poppy.abs_y.goto_behavior = 'dummy'\n",
    "\n",
    "list_pos_x = []\n",
    "list_pos_y = []\n",
    "list_pos_z = []\n",
    "t= []\n",
    "\n",
    "\n",
    "poppy.l_shoulder_y.goto_behavior = 'minjerk'\n",
    "poppy.r_shoulder_y.goto_behavior = 'minjerk'\n",
    "\n",
    "poppy.head_y.goto_position(10, 1, wait=True)\n",
    "poppy.l_shoulder_x.goto_position(10, 2, wait=True)\n",
    "poppy.l_shoulder_y.goto_position(10, 2, wait=True)\n",
    "poppy.r_shoulder_x.goto_position(-10, 2, wait=True)\n",
    "poppy.r_shoulder_y.goto_position(10, 2, wait=True)\n",
    "\n",
    "poppy.l_shoulder_y.goto_position(80, 4)\n",
    "poppy.r_shoulder_y.goto_position(80, 4)\n",
    "\n",
    "t0 = time.time()\n",
    "\n",
    "while time.time() - t0 < 20:\n",
    "    \n",
    "    \n",
    "    \n",
    "    pos = poppy.get_object_position('head_visual')\n",
    "    time.sleep(0.05)\n",
    "    pos2 = poppy.get_object_position('head_visual')\n",
    "    \n",
    "    if pos2 != pos:\n",
    "        decalage_x=pos2[0]-pos[0]\n",
    "        decalage_y=pos2[1]-pos[1]\n",
    "        decalage_z=pos2[2]-pos[2]\n",
    "        \n",
    "        list_pos_x.append(decalage_x)\n",
    "        list_pos_y.append(decalage_y)\n",
    "        list_pos_z.append(decalage_z)\n",
    "        \n",
    "               \n",
    "        t.append(poppy.current_simulation_time)\n",
    "        print \" \"\n",
    "        print \" \"\n",
    "        print \"temps :\",poppy.current_simulation_time\n",
    "        print \"moving direction :\"\n",
    "        print \"dx =\",decalage_x\n",
    "        print \"dy =\",decalage_y\n",
    "    \n",
    "        # x  axis of the absolute frame\n",
    "        Vx = mat('[1 ; 0 ; 0]')\n",
    "        \n",
    "\n",
    "        # orientation of the motor frame\n",
    "        Vx_abs_x = rotate_matrix(poppy.get_object_orientation('abs_x'))*Vx\n",
    "        Vx_abs_y = rotate_matrix(poppy.get_object_orientation('abs_y'))*Vx_indirect\n",
    "               \n",
    "        # calculatin of the good values for position of Abs_x and Abs_y\n",
    "        # resolution of the system -dx = Vx_abs_x[0]*Abs_x + Vx_abs_y[0]*Abs_y and -dy = Vx_abs_x[1]*Abs_x + Vx_abs_y[1]*Abs_y\n",
    "        A3 = concatenate((Vx_abs_x,Vx_abs_y),axis=1)\n",
    "        A2 = delete(A3, (2), axis=0)\n",
    "        B=matrix([[decalage_x],[decalage_y]])\n",
    "        solution=linalg.solve(A2,B)\n",
    "        print \"solution du système equation :\"\n",
    "        print \"Abs_x = \",solution[0]\n",
    "        print \"Abs_y = \",solution[1]\n",
    "\n",
    "         \n",
    "        actionx =poppy.abs_x.goal_position=poppy.abs_x.present_position + 1000*solution[0] \n",
    "        \n",
    "        print \"correction abs_x : \",actionx\n",
    "        actiony =poppy.abs_y.goal_position=poppy.abs_y.present_position + 1000*solution[1] \n",
    "        \n",
    "        print \"correction abs_y : \",actiony\n",
    "        t_wait = poppy.current_simulation_time\n",
    "        #while poppy.current_simulation_time == t_wait:\n",
    "        #    time.sleep(0.01)\n",
    "    \n",
    "    \n",
    "\n",
    "    \n",
    "plot(t, list_pos_x)\n",
    "plot(t, list_pos_y)\n",
    "plot(t, list_pos_z)\n",
    "\n",
    "\n",
    "legend(('dx', 'dy','dz'))\n",
    "\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Balance bahaviour is not totaly  working. On my computer Poppy fall later... V-REP behavior is sometimes very surprising (maybe because of the slowness of calcul. Some ideas to go further :\n",
    "    Uses speed and acceleration of the fall to calibrate the correction.\n",
    "    Wait until the correction is done, so it will be easier to calculate the balance, because the move of the motors (in partiular abs_x and abs_y) move the head so the IMU...\n",
    "    Implement in primitive\n",
    "    Correction with more motors and more movements\n",
    "    ..."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The problem is that the movement of correction create a movement of the head and hide the real movement. \n",
    "Now we need to make sequences : 10 ms to correct - stop the correction (movement of motors) - 10 ms to measure the fall - 10 ms to correct etc..."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 76,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      " \n",
      "Position n° :  1\n",
      "temps : 146.104309082\n",
      "moving direction :\n",
      "dx = 9.0\n",
      "dy = 30.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00010159]]\n",
      "Abs_y =  [[ 0.00029575]]\n",
      "correction abs_x :  [[ 0.88127139]]\n",
      "correction abs_y :  [[ 1.63659784]]\n",
      " \n",
      "Position n° :  2\n",
      "temps : 146.154312134\n",
      "moving direction :\n",
      "dx = 18.0\n",
      "dy = 30.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00019429]]\n",
      "Abs_y =  [[ 0.00029409]]\n",
      "correction abs_x :  [[ 0.95543181]]\n",
      "correction abs_y :  [[ 1.63527487]]\n",
      " \n",
      "Position n° :  3\n",
      "temps : 146.204315186\n",
      "moving direction :\n",
      "dx = 19.0\n",
      "dy = 11.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00019409]]\n",
      "Abs_y =  [[ 0.00010423]]\n",
      "correction abs_x :  [[ 0.95527249]]\n",
      "correction abs_y :  [[ 1.48338053]]\n",
      " \n",
      "Position n° :  4\n",
      "temps : 146.254318237\n",
      "moving direction :\n",
      "dx = 27.0\n",
      "dy = -34.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00025367]]\n",
      "Abs_y =  [[-0.00035555]]\n",
      "correction abs_x :  [[ 1.00293281]]\n",
      "correction abs_y :  [[ 1.21555686]]\n",
      " \n",
      "Position n° :  5\n",
      "temps : 146.304321289\n",
      "moving direction :\n",
      "dx = 29.0\n",
      "dy = -32.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00027449]]\n",
      "Abs_y =  [[-0.00032779]]\n",
      "correction abs_x :  [[ 1.01959241]]\n",
      "correction abs_y :  [[ 1.33776685]]\n",
      " \n",
      "Position n° :  6\n",
      "temps : 146.354324341\n",
      "moving direction :\n",
      "dx = 10.0\n",
      "dy = -2.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00010144]]\n",
      "Abs_y =  [[ -2.79986395e-05]]\n",
      "correction abs_x :  [[ 0.8811537]]\n",
      "correction abs_y :  [[ 1.57760109]]\n",
      " \n",
      "Position n° :  7\n",
      "temps : 146.404327393\n",
      "moving direction :\n",
      "dx = -10.0\n",
      "dy = 14.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -9.60887201e-05]]\n",
      "Abs_y =  [[ 0.000143]]\n",
      "correction abs_x :  [[ 0.82312902]]\n",
      "correction abs_y :  [[ 1.81439859]]\n",
      " \n",
      "Position n° :  8\n",
      "temps : 146.454330444\n",
      "moving direction :\n",
      "dx = 5.0\n",
      "dy = -29.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  3.81994982e-05]]\n",
      "Abs_y =  [[-0.00029558]]\n",
      "correction abs_x :  [[ 0.8305596]]\n",
      "correction abs_y :  [[ 1.56353881]]\n",
      " \n",
      "Position n° :  9\n",
      "temps : 146.504333496\n",
      "moving direction :\n",
      "dx = 1.0\n",
      "dy = -63.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -1.81215389e-05]]\n",
      "Abs_y =  [[-0.00063041]]\n",
      "correction abs_x :  [[ 0.78550277]]\n",
      "correction abs_y :  [[ 1.29567583]]\n",
      " \n",
      "Position n° :  10\n",
      "temps : 146.554336548\n",
      "moving direction :\n",
      "dx = -15.0\n",
      "dy = -142.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0002156]]\n",
      "Abs_y =  [[-0.00140748]]\n",
      "correction abs_x :  [[ 0.72751657]]\n",
      "correction abs_y :  [[ 0.77401811]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  11\n",
      "temps : 146.704345703\n",
      "moving direction :\n",
      "dx = -19.0\n",
      "dy = -26.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00020638]]\n",
      "Abs_y =  [[-0.00025358]]\n",
      "correction abs_x :  [[ 0.53489863]]\n",
      "correction abs_y :  [[ 1.1971335]]\n",
      " \n",
      "Position n° :  12\n",
      "temps : 146.754348755\n",
      "moving direction :\n",
      "dx = 2.0\n",
      "dy = 42.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  3.66210359e-05]]\n",
      "Abs_y =  [[ 0.00042366]]\n",
      "correction abs_x :  [[ 0.72929683]]\n",
      "correction abs_y :  [[ 1.5389315]]\n",
      " \n",
      "Position n° :  13\n",
      "temps : 146.804351807\n",
      "moving direction :\n",
      "dx = 30.0\n",
      "dy = 85.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00033617]]\n",
      "Abs_y =  [[ 0.00083935]]\n",
      "correction abs_x :  [[ 0.96893328]]\n",
      "correction abs_y :  [[ 1.77148164]]\n",
      " \n",
      "Position n° :  14\n",
      "temps : 146.854354858\n",
      "moving direction :\n",
      "dx = 36.0\n",
      "dy = 113.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00040837]]\n",
      "Abs_y =  [[ 0.00110896]]\n",
      "correction abs_x :  [[ 1.02669813]]\n",
      "correction abs_y :  [[ 2.38717102]]\n",
      " \n",
      "Position n° :  15\n",
      "temps : 146.90435791\n",
      "moving direction :\n",
      "dx = 25.0\n",
      "dy = 112.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00029489]]\n",
      "Abs_y =  [[ 0.00110538]]\n",
      "correction abs_x :  [[ 0.93591256]]\n",
      "correction abs_y :  [[ 2.28430314]]\n",
      " \n",
      "Position n° :  16\n",
      "temps : 146.954360962\n",
      "moving direction :\n",
      "dx = 16.0\n",
      "dy = 73.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00018942]]\n",
      "Abs_y =  [[ 0.00072594]]\n",
      "correction abs_x :  [[ 0.85153917]]\n",
      "correction abs_y :  [[ 1.98074822]]\n",
      " \n",
      "Position n° :  17\n",
      "temps : 147.004364014\n",
      "moving direction :\n",
      "dx = 1.0\n",
      "dy = 27.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  1.76117414e-05]]\n",
      "Abs_y =  [[ 0.00026653]]\n",
      "correction abs_x :  [[ 0.71408939]]\n",
      "correction abs_y :  [[ 1.81322121]]\n",
      " \n",
      "Position n° :  18\n",
      "temps : 147.054367065\n",
      "moving direction :\n",
      "dx = -24.0\n",
      "dy = -9.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00024582]]\n",
      "Abs_y =  [[ -8.24821638e-05]]\n",
      "correction abs_x :  [[ 0.50334527]]\n",
      "correction abs_y :  [[ 1.53401427]]\n",
      " \n",
      "Position n° :  19\n",
      "temps : 147.104370117\n",
      "moving direction :\n",
      "dx = -40.0\n",
      "dy = -50.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00042408]]\n",
      "Abs_y =  [[-0.00047821]]\n",
      "correction abs_x :  [[ 0.36073569]]\n",
      "correction abs_y :  [[ 1.31743497]]\n",
      " \n",
      "Position n° :  20\n",
      "temps : 147.154373169\n",
      "moving direction :\n",
      "dx = -19.0\n",
      "dy = -72.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0002236]]\n",
      "Abs_y =  [[-0.00070949]]\n",
      "correction abs_x :  [[ 0.5211191]]\n",
      "correction abs_y :  [[ 1.13240775]]\n",
      " \n",
      "Position n° :  21\n",
      "temps : 147.204376221\n",
      "moving direction :\n",
      "dx = 1.0\n",
      "dy = -47.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -8.51141395e-06]]\n",
      "Abs_y =  [[-0.00047255]]\n",
      "correction abs_x :  [[ 0.69319087]]\n",
      "correction abs_y :  [[ 1.4219612]]\n",
      " \n",
      "Position n° :  22\n",
      "temps : 147.254379272\n",
      "moving direction :\n",
      "dx = 5.0\n",
      "dy = -41.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  3.53267845e-05]]\n",
      "Abs_y =  [[-0.00041394]]\n",
      "correction abs_x :  [[ 0.72826143]]\n",
      "correction abs_y :  [[ 1.26884507]]\n",
      " \n",
      "Position n° :  23\n",
      "temps : 147.304382324\n",
      "moving direction :\n",
      "dx = 22.0\n",
      "dy = -51.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0002004]]\n",
      "Abs_y =  [[-0.00051674]]\n",
      "correction abs_x :  [[ 0.86032189]]\n",
      "correction abs_y :  [[ 1.38661138]]\n",
      " \n",
      "Position n° :  24\n",
      "temps : 147.354385376\n",
      "moving direction :\n",
      "dx = 57.0\n",
      "dy = -28.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00055382]]\n",
      "Abs_y =  [[-0.00030177]]\n",
      "correction abs_x :  [[ 1.14305565]]\n",
      "correction abs_y :  [[ 1.75858242]]\n",
      " \n",
      "Position n° :  25\n",
      "temps : 147.404388428\n",
      "moving direction :\n",
      "dx = 62.0\n",
      "dy = 5.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00061887]]\n",
      "Abs_y =  [[  2.41052379e-05]]\n",
      "correction abs_x :  [[ 1.19509484]]\n",
      "correction abs_y :  [[ 1.91928419]]\n",
      " \n",
      "Position n° :  26\n",
      "temps : 147.454391479\n",
      "moving direction :\n",
      "dx = 47.0\n",
      "dy = -9.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.000465]]\n",
      "Abs_y =  [[-0.00011254]]\n",
      "correction abs_x :  [[ 1.37200378]]\n",
      "correction abs_y :  [[ 2.10997057]]\n",
      " \n",
      "Position n° :  27\n",
      "temps : 147.504394531\n",
      "moving direction :\n",
      "dx = 48.0\n",
      "dy = -9.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00047235]]\n",
      "Abs_y =  [[-0.00011635]]\n",
      "correction abs_x :  [[ 1.37787796]]\n",
      "correction abs_y :  [[ 2.10692349]]\n",
      " \n",
      "Position n° :  28\n",
      "temps : 147.554397583\n",
      "moving direction :\n",
      "dx = 57.0\n",
      "dy = -2.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00056497]]\n",
      "Abs_y =  [[ -4.73054695e-05]]\n",
      "correction abs_x :  [[ 1.2519779]]\n",
      "correction abs_y :  [[ 2.06215562]]\n",
      " \n",
      "Position n° :  29\n",
      "temps : 147.604400635\n",
      "moving direction :\n",
      "dx = 23.0\n",
      "dy = -55.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00019899]]\n",
      "Abs_y =  [[-0.00055715]]\n",
      "correction abs_x :  [[ 0.85919531]]\n",
      "correction abs_y :  [[ 1.65427769]]\n",
      " \n",
      "Position n° :  30\n",
      "temps : 147.654403687\n",
      "moving direction :\n",
      "dx = -14.0\n",
      "dy = -91.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00018821]]\n",
      "Abs_y =  [[-0.00089782]]\n",
      "correction abs_x :  [[ 0.74943194]]\n",
      "correction abs_y :  [[ 1.58174513]]\n",
      " \n",
      "Position n° :  31\n",
      "temps : 147.704406738\n",
      "moving direction :\n",
      "dx = -14.0\n",
      "dy = -106.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00019524]]\n",
      "Abs_y =  [[-0.00104714]]\n",
      "correction abs_x :  [[ 0.64380881]]\n",
      "correction abs_y :  [[ 1.46228826]]\n",
      " \n",
      "Position n° :  32\n",
      "temps : 147.75440979\n",
      "moving direction :\n",
      "dx = -38.0\n",
      "dy = -138.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00044848]]\n",
      "Abs_y =  [[-0.00136467]]\n",
      "correction abs_x :  [[ 0.3412194]]\n",
      "correction abs_y :  [[ 1.20826799]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  33\n",
      "temps : 147.904418945\n",
      "moving direction :\n",
      "dx = 12.0\n",
      "dy = 92.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00016042]]\n",
      "Abs_y =  [[ 0.00091459]]\n",
      "correction abs_x :  [[ 0.52833814]]\n",
      "correction abs_y :  [[ 2.33166861]]\n",
      " \n",
      "Position n° :  34\n",
      "temps : 147.954421997\n",
      "moving direction :\n",
      "dx = 37.0\n",
      "dy = 177.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00045098]]\n",
      "Abs_y =  [[ 0.00175062]]\n",
      "correction abs_x :  [[ 0.76078558]]\n",
      "correction abs_y :  [[ 3.00049449]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  35\n",
      "temps : 148.104431152\n",
      "moving direction :\n",
      "dx = -15.0\n",
      "dy = -40.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00016716]]\n",
      "Abs_y =  [[-0.00039167]]\n",
      "correction abs_x :  [[ 0.66627281]]\n",
      "correction abs_y :  [[ 2.78666155]]\n",
      " \n",
      "Position n° :  36\n",
      "temps : 148.154434204\n",
      "moving direction :\n",
      "dx = -21.0\n",
      "dy = -93.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0002542]]\n",
      "Abs_y =  [[-0.00091959]]\n",
      "correction abs_x :  [[ 0.59664245]]\n",
      "correction abs_y :  [[ 2.46432881]]\n",
      " \n",
      "Position n° :  37\n",
      "temps : 148.204437256\n",
      "moving direction :\n",
      "dx = -3.0\n",
      "dy = -83.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -7.24123107e-05]]\n",
      "Abs_y =  [[-0.00083025]]\n",
      "correction abs_x :  [[ 0.74207015]]\n",
      "correction abs_y :  [[ 2.53580182]]\n",
      " \n",
      "Position n° :  38\n",
      "temps : 148.254440308\n",
      "moving direction :\n",
      "dx = 16.0\n",
      "dy = -101.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00010537]]\n",
      "Abs_y =  [[-0.00101835]]\n",
      "correction abs_x :  [[ 0.78429461]]\n",
      "correction abs_y :  [[ 2.18532224]]\n",
      " \n",
      "Position n° :  39\n",
      "temps : 148.304443359\n",
      "moving direction :\n",
      "dx = 25.0\n",
      "dy = -148.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00017012]]\n",
      "Abs_y =  [[-0.00149502]]\n",
      "correction abs_x :  [[ 0.93609931]]\n",
      "correction abs_y :  [[ 2.00398567]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  40\n",
      "temps : 148.454452515\n",
      "moving direction :\n",
      "dx = -39.0\n",
      "dy = 68.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00035244]]\n",
      "Abs_y =  [[ 0.00069336]]\n",
      "correction abs_x :  [[ 0.51804575]]\n",
      "correction abs_y :  [[ 3.25468546]]\n",
      " \n",
      "Position n° :  41\n",
      "temps : 148.504455566\n",
      "moving direction :\n",
      "dx = -50.0\n",
      "dy = 138.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00042966]]\n",
      "Abs_y =  [[ 0.00140021]]\n",
      "correction abs_x :  [[ 0.55626821]]\n",
      "correction abs_y :  [[ 3.62016655]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  42\n",
      "temps : 148.60446167\n",
      "moving direction :\n",
      "dx = 15.0\n",
      "dy = -1.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00015114]]\n",
      "Abs_y =  [[ -1.45525738e-05]]\n",
      "correction abs_x :  [[ 0.92090891]]\n",
      "correction abs_y :  [[ 2.68835794]]\n",
      " \n",
      "Position n° :  43\n",
      "temps : 148.654464722\n",
      "moving direction :\n",
      "dx = 38.0\n",
      "dy = -76.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00034549]]\n",
      "Abs_y =  [[-0.00078168]]\n",
      "correction abs_x :  [[ 0.9763916]]\n",
      "correction abs_y :  [[ 2.77465282]]\n",
      " \n",
      "Position n° :  44\n",
      "temps : 148.704467773\n",
      "moving direction :\n",
      "dx = 12.0\n",
      "dy = -75.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  7.98289820e-05]]\n",
      "Abs_y =  [[-0.00075085]]\n",
      "correction abs_x :  [[ 0.66386319]]\n",
      "correction abs_y :  [[ 3.09931648]]\n",
      " \n",
      "Position n° :  45\n",
      "temps : 148.754470825\n",
      "moving direction :\n",
      "dx = -3.0\n",
      "dy = -63.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -6.31971250e-05]]\n",
      "Abs_y =  [[-0.0006305]]\n",
      "correction abs_x :  [[ 0.6494423]]\n",
      "correction abs_y :  [[ 2.9956028]]\n",
      " \n",
      "Position n° :  46\n",
      "temps : 148.804473877\n",
      "moving direction :\n",
      "dx = 4.0\n",
      "dy = -96.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -8.21259305e-06]]\n",
      "Abs_y =  [[-0.00096492]]\n",
      "correction abs_x :  [[ 0.69342993]]\n",
      "correction abs_y :  [[ 2.72806351]]\n",
      " \n",
      "Position n° :  47\n",
      "temps : 148.854476929\n",
      "moving direction :\n",
      "dx = 12.0\n",
      "dy = -128.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  5.62392078e-05]]\n",
      "Abs_y =  [[-0.00127955]]\n",
      "correction abs_x :  [[ 0.64499137]]\n",
      "correction abs_y :  [[ 2.77636071]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  48\n",
      "temps : 149.004486084\n",
      "moving direction :\n",
      "dx = 17.0\n",
      "dy = 62.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00020009]]\n",
      "Abs_y =  [[ 0.0006159]]\n",
      "correction abs_x :  [[ 0.76007453]]\n",
      "correction abs_y :  [[ 3.89272016]]\n",
      " \n",
      "Position n° :  49\n",
      "temps : 149.054489136\n",
      "moving direction :\n",
      "dx = 2.0\n",
      "dy = 113.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  7.24913210e-05]]\n",
      "Abs_y =  [[ 0.0011298]]\n",
      "correction abs_x :  [[ 0.65799306]]\n",
      "correction abs_y :  [[ 4.10384073]]\n",
      " \n",
      "Position n° :  50\n",
      "temps : 149.104492188\n",
      "moving direction :\n",
      "dx = 7.0\n",
      "dy = 84.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00010978]]\n",
      "Abs_y =  [[ 0.00083241]]\n",
      "correction abs_x :  [[ 0.68782769]]\n",
      "correction abs_y :  [[ 3.76592765]]\n",
      " \n",
      "Position n° :  51\n",
      "temps : 149.154495239\n",
      "moving direction :\n",
      "dx = 23.0\n",
      "dy = 82.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00026369]]\n",
      "Abs_y =  [[ 0.0008137]]\n",
      "correction abs_x :  [[ 0.81095031]]\n",
      "correction abs_y :  [[ 4.1509614]]\n",
      " \n",
      "Position n° :  52\n",
      "temps : 149.204498291\n",
      "moving direction :\n",
      "dx = 17.0\n",
      "dy = 96.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00021384]]\n",
      "Abs_y =  [[ 0.00094767]]\n",
      "correction abs_x :  [[ 0.7710688]]\n",
      "correction abs_y :  [[ 4.25813804]]\n",
      " \n",
      "Position n° :  53\n",
      "temps : 149.254501343\n",
      "moving direction :\n",
      "dx = 11.0\n",
      "dy = 37.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00012234]]\n",
      "Abs_y =  [[ 0.00036551]]\n",
      "correction abs_x :  [[ 0.69787554]]\n",
      "correction abs_y :  [[ 3.69240539]]\n",
      " \n",
      "Position n° :  54\n",
      "temps : 149.304504395\n",
      "moving direction :\n",
      "dx = 2.0\n",
      "dy = -49.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -4.79099247e-06]]\n",
      "Abs_y =  [[-0.0004863]]\n",
      "correction abs_x :  [[ 0.59616721]]\n",
      "correction abs_y :  [[ 3.21096295]]\n",
      " \n",
      "Position n° :  55\n",
      "temps : 149.354507446\n",
      "moving direction :\n",
      "dx = -9.0\n",
      "dy = -92.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00012644]]\n",
      "Abs_y =  [[-0.00091875]]\n",
      "correction abs_x :  [[ 0.49884541]]\n",
      "correction abs_y :  [[ 2.9649996]]\n",
      " \n",
      "Position n° :  56\n",
      "temps : 149.404510498\n",
      "moving direction :\n",
      "dx = -9.0\n",
      "dy = -130.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00014815]]\n",
      "Abs_y =  [[-0.00129335]]\n",
      "correction abs_x :  [[ 0.48148049]]\n",
      "correction abs_y :  [[ 2.66532198]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  57\n",
      "temps : 149.554519653\n",
      "moving direction :\n",
      "dx = 17.0\n",
      "dy = 62.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00019986]]\n",
      "Abs_y =  [[ 0.00061066]]\n",
      "correction abs_x :  [[ 0.65988668]]\n",
      "correction abs_y :  [[ 3.78852685]]\n",
      " \n",
      "Position n° :  58\n",
      "temps : 149.604522705\n",
      "moving direction :\n",
      "dx = 13.0\n",
      "dy = 117.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00017875]]\n",
      "Abs_y =  [[ 0.00116034]]\n",
      "correction abs_x :  [[ 0.64300073]]\n",
      "correction abs_y :  [[ 3.92827474]]\n",
      " \n",
      "Position n° :  59\n",
      "temps : 149.654525757\n",
      "moving direction :\n",
      "dx = 11.0\n",
      "dy = 41.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00012478]]\n",
      "Abs_y =  [[ 0.00040332]]\n",
      "correction abs_x :  [[ 0.59982629]]\n",
      "correction abs_y :  [[ 3.32265281]]\n",
      " \n",
      "Position n° :  60\n",
      "temps : 149.704528809\n",
      "moving direction :\n",
      "dx = 15.0\n",
      "dy = -26.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00013891]]\n",
      "Abs_y =  [[-0.0002661]]\n",
      "correction abs_x :  [[ 0.71112833]]\n",
      "correction abs_y :  [[ 3.48712226]]\n",
      " \n",
      "Position n° :  61\n",
      "temps : 149.75453186\n",
      "moving direction :\n",
      "dx = 16.0\n",
      "dy = -1.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00015551]]\n",
      "Abs_y =  [[ -2.04605394e-05]]\n",
      "correction abs_x :  [[ 0.62440649]]\n",
      "correction abs_y :  [[ 3.48363157]]\n",
      " \n",
      "Position n° :  62\n",
      "temps : 149.804534912\n",
      "moving direction :\n",
      "dx = 10.0\n",
      "dy = -6.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00010046]]\n",
      "Abs_y =  [[ -6.45822112e-05]]\n",
      "correction abs_x :  [[ 0.5803694]]\n",
      "correction abs_y :  [[ 3.34833423]]\n",
      " \n",
      "Position n° :  63\n",
      "temps : 149.854537964\n",
      "moving direction :\n",
      "dx = -3.0\n",
      "dy = 6.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -2.26955597e-05]]\n",
      "Abs_y =  [[  6.07747713e-05]]\n",
      "correction abs_x :  [[ 0.58184355]]\n",
      "correction abs_y :  [[ 3.84861982]]\n",
      " \n",
      "Position n° :  64\n",
      "temps : 149.904541016\n",
      "moving direction :\n",
      "dx = -22.0\n",
      "dy = 31.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00020508]]\n",
      "Abs_y =  [[ 0.00031983]]\n",
      "correction abs_x :  [[ 0.43593729]]\n",
      "correction abs_y :  [[ 4.05586736]]\n",
      " \n",
      "Position n° :  65\n",
      "temps : 149.954544067\n",
      "moving direction :\n",
      "dx = -21.0\n",
      "dy = -30.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00022256]]\n",
      "Abs_y =  [[-0.00028788]]\n",
      "correction abs_x :  [[ 0.3219541]]\n",
      "correction abs_y :  [[ 3.46969544]]\n",
      " \n",
      "Position n° :  66\n",
      "temps : 150.004547119\n",
      "moving direction :\n",
      "dx = -8.0\n",
      "dy = -82.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00011951]]\n",
      "Abs_y =  [[-0.00081865]]\n",
      "correction abs_x :  [[ 0.50438994]]\n",
      "correction abs_y :  [[ 3.24508342]]\n",
      " \n",
      "Position n° :  67\n",
      "temps : 150.054550171\n",
      "moving direction :\n",
      "dx = -22.0\n",
      "dy = -88.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00026256]]\n",
      "Abs_y =  [[-0.00087017]]\n",
      "correction abs_x :  [[ 0.38994883]]\n",
      "correction abs_y :  [[ 3.30386203]]\n",
      " \n",
      "Position n° :  68\n",
      "temps : 150.104553223\n",
      "moving direction :\n",
      "dx = -21.0\n",
      "dy = -78.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00024434]]\n",
      "Abs_y =  [[-0.00076568]]\n",
      "correction abs_x :  [[ 0.40452485]]\n",
      "correction abs_y :  [[ 3.4874528]]\n",
      " \n",
      "Position n° :  69\n",
      "temps : 150.154556274\n",
      "moving direction :\n",
      "dx = -9.0\n",
      "dy = -74.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00012008]]\n",
      "Abs_y =  [[-0.00073288]]\n",
      "correction abs_x :  [[ 0.50393827]]\n",
      "correction abs_y :  [[ 3.5136973]]\n",
      " \n",
      "Position n° :  70\n",
      "temps : 150.204559326\n",
      "moving direction :\n",
      "dx = -11.0\n",
      "dy = -59.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00013806]]\n",
      "Abs_y =  [[-0.00058035]]\n",
      "correction abs_x :  [[ 0.48955267]]\n",
      "correction abs_y :  [[ 3.83572333]]\n",
      " \n",
      "Position n° :  71\n",
      "temps : 150.254562378\n",
      "moving direction :\n",
      "dx = -10.0\n",
      "dy = -69.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0001355]]\n",
      "Abs_y =  [[-0.00068848]]\n",
      "correction abs_x :  [[ 0.49159746]]\n",
      "correction abs_y :  [[ 3.7492168]]\n",
      " \n",
      "Position n° :  72\n",
      "temps : 150.30456543\n",
      "moving direction :\n",
      "dx = -0.0\n",
      "dy = -71.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -3.27973271e-05]]\n",
      "Abs_y =  [[-0.0007091]]\n",
      "correction abs_x :  [[ 0.57376214]]\n",
      "correction abs_y :  [[ 3.83272211]]\n",
      " \n",
      "Position n° :  73\n",
      "temps : 150.354568481\n",
      "moving direction :\n",
      "dx = 11.0\n",
      "dy = -65.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  8.00853790e-05]]\n",
      "Abs_y =  [[-0.00065405]]\n",
      "correction abs_x :  [[ 0.6640683]]\n",
      "correction abs_y :  [[ 3.97675813]]\n",
      " \n",
      "Position n° :  74\n",
      "temps : 150.404571533\n",
      "moving direction :\n",
      "dx = 35.0\n",
      "dy = -32.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00033037]]\n",
      "Abs_y =  [[-0.00033387]]\n",
      "correction abs_x :  [[ 0.86429957]]\n",
      "correction abs_y :  [[ 4.43290796]]\n",
      " \n",
      "Position n° :  75\n",
      "temps : 150.454574585\n",
      "moving direction :\n",
      "dx = 36.0\n",
      "dy = -17.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00035673]]\n",
      "Abs_y =  [[-0.00018674]]\n",
      "correction abs_x :  [[ 0.88538364]]\n",
      "correction abs_y :  [[ 4.55060581]]\n",
      " \n",
      "Position n° :  76\n",
      "temps : 150.504577637\n",
      "moving direction :\n",
      "dx = 35.0\n",
      "dy = -27.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00033516]]\n",
      "Abs_y =  [[-0.00028453]]\n",
      "correction abs_x :  [[ 0.86812928]]\n",
      "correction abs_y :  [[ 4.57237905]]\n",
      " \n",
      "Position n° :  77\n",
      "temps : 150.554580688\n",
      "moving direction :\n",
      "dx = 27.0\n",
      "dy = -16.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00025893]]\n",
      "Abs_y =  [[-0.00016792]]\n",
      "correction abs_x :  [[ 0.80714773]]\n",
      "correction abs_y :  [[ 4.66566056]]\n",
      " \n",
      "Position n° :  78\n",
      "temps : 150.60458374\n",
      "moving direction :\n",
      "dx = 1.0\n",
      "dy = -44.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -9.95019738e-06]]\n",
      "Abs_y =  [[-0.00043701]]\n",
      "correction abs_x :  [[ 0.59203984]]\n",
      "correction abs_y :  [[ 4.65039436]]\n",
      " \n",
      "Position n° :  79\n",
      "temps : 150.654586792\n",
      "moving direction :\n",
      "dx = 4.0\n",
      "dy = -77.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  9.87443213e-06]]\n",
      "Abs_y =  [[-0.00077285]]\n",
      "correction abs_x :  [[ 0.60789955]]\n",
      "correction abs_y :  [[ 4.48172011]]\n",
      " \n",
      "Position n° :  80\n",
      "temps : 150.704589844\n",
      "moving direction :\n",
      "dx = 13.0\n",
      "dy = -85.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  8.81258991e-05]]\n",
      "Abs_y =  [[-0.00085028]]\n",
      "correction abs_x :  [[ 0.67050072]]\n",
      "correction abs_y :  [[ 4.41977941]]\n",
      " \n",
      "Position n° :  81\n",
      "temps : 150.754592896\n",
      "moving direction :\n",
      "dx = 8.0\n",
      "dy = -147.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  1.43114270e-05]]\n",
      "Abs_y =  [[-0.00146979]]\n",
      "correction abs_x :  [[ 0.61144914]]\n",
      "correction abs_y :  [[ 4.22416825]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  82\n",
      "temps : 150.954605103\n",
      "moving direction :\n",
      "dx = 24.0\n",
      "dy = 167.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00031312]]\n",
      "Abs_y =  [[ 0.00166098]]\n",
      "correction abs_x :  [[ 0.85049483]]\n",
      "correction abs_y :  [[ 6.22878301]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  83\n",
      "temps : 151.104614258\n",
      "moving direction :\n",
      "dx = -65.0\n",
      "dy = -185.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00073343]]\n",
      "Abs_y =  [[-0.00181921]]\n",
      "correction abs_x :  [[ 0.21325967]]\n",
      "correction abs_y :  [[ 4.34463252]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  84\n",
      "temps : 151.254623413\n",
      "moving direction :\n",
      "dx = 44.0\n",
      "dy = -69.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00040932]]\n",
      "Abs_y =  [[-0.00071405]]\n",
      "correction abs_x :  [[ 0.72745777]]\n",
      "correction abs_y :  [[ 4.72876075]]\n",
      " \n",
      "Position n° :  85\n",
      "temps : 151.304626465\n",
      "moving direction :\n",
      "dx = 93.0\n",
      "dy = 93.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00097595]]\n",
      "Abs_y =  [[ 0.00089012]]\n",
      "correction abs_x :  [[ 1.08076076]]\n",
      "correction abs_y :  [[ 5.61209907]]\n",
      " \n",
      "Position n° :  86\n",
      "temps : 151.354629517\n",
      "moving direction :\n",
      "dx = 90.0\n",
      "dy = 142.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00096483]]\n",
      "Abs_y =  [[ 0.00137267]]\n",
      "correction abs_x :  [[ 0.97186239]]\n",
      "correction abs_y :  [[ 5.89813373]]\n",
      "wait\n",
      " \n",
      "Position n° :  87\n",
      "temps : 151.404632568\n",
      "moving direction :\n",
      "dx = 61.0\n",
      "dy = 133.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00066759]]\n",
      "Abs_y =  [[ 0.00130343]]\n",
      "correction abs_x :  [[ 0.83407299]]\n",
      "correction abs_y :  [[ 6.44274604]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  88\n",
      "temps : 151.504638672\n",
      "moving direction :\n",
      "dx = -58.0\n",
      "dy = -70.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00061117]]\n",
      "Abs_y =  [[-0.00066993]]\n",
      "correction abs_x :  [[ 0.31106545]]\n",
      "correction abs_y :  [[ 5.86405436]]\n",
      " \n",
      "Position n° :  89\n",
      "temps : 151.554641724\n",
      "moving direction :\n",
      "dx = -61.0\n",
      "dy = -159.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0006871]]\n",
      "Abs_y =  [[-0.00156026]]\n",
      "correction abs_x :  [[ 0.25031945]]\n",
      "correction abs_y :  [[ 5.35179177]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  90\n",
      "temps : 151.754653931\n",
      "moving direction :\n",
      "dx = 90.0\n",
      "dy = -35.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00087772]]\n",
      "Abs_y =  [[-0.00039675]]\n",
      "correction abs_x :  [[ 1.10217327]]\n",
      "correction abs_y :  [[ 5.58260061]]\n",
      " \n",
      "Position n° :  91\n",
      "temps : 151.804656982\n",
      "moving direction :\n",
      "dx = 85.0\n",
      "dy = 5.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00085126]]\n",
      "Abs_y =  [[  3.88911763e-06]]\n",
      "correction abs_x :  [[ 1.08100442]]\n",
      "correction abs_y :  [[ 5.90311129]]\n",
      " \n",
      "Position n° :  92\n",
      "temps : 151.854660034\n",
      "moving direction :\n",
      "dx = 51.0\n",
      "dy = 20.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00052417]]\n",
      "Abs_y =  [[ 0.00017318]]\n",
      "correction abs_x :  [[ 0.81933732]]\n",
      "correction abs_y :  [[ 6.43854538]]\n",
      " \n",
      "Position n° :  93\n",
      "temps : 151.904663086\n",
      "moving direction :\n",
      "dx = -54.0\n",
      "dy = 23.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0005291]]\n",
      "Abs_y =  [[ 0.00025863]]\n",
      "correction abs_x :  [[-0.02328032]]\n",
      "correction abs_y :  [[ 6.5069016]]\n",
      " \n",
      "Position n° :  94\n",
      "temps : 151.954666138\n",
      "moving direction :\n",
      "dx = -93.0\n",
      "dy = 17.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00092272]]\n",
      "Abs_y =  [[ 0.00021472]]\n",
      "correction abs_x :  [[ 0.16182652]]\n",
      "correction abs_y :  [[ 6.47177399]]\n",
      " \n",
      "Position n° :  95\n",
      "temps : 152.004669189\n",
      "moving direction :\n",
      "dx = -27.0\n",
      "dy = -18.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00027369]]\n",
      "Abs_y =  [[-0.00016621]]\n",
      "correction abs_x :  [[ 0.18104485]]\n",
      "correction abs_y :  [[ 6.16703304]]\n",
      " \n",
      "Position n° :  96\n",
      "temps : 152.054672241\n",
      "moving direction :\n",
      "dx = -26.0\n",
      "dy = -32.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00027417]]\n",
      "Abs_y =  [[-0.00030848]]\n",
      "correction abs_x :  [[ 0.4806675]]\n",
      "correction abs_y :  [[ 6.35321537]]\n",
      " \n",
      "Position n° :  97\n",
      "temps : 152.104675293\n",
      "moving direction :\n",
      "dx = -64.0\n",
      "dy = -57.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00067038]]\n",
      "Abs_y =  [[-0.00053882]]\n",
      "correction abs_x :  [[ 0.16369557]]\n",
      "correction abs_y :  [[ 6.16894696]]\n",
      " \n",
      "Position n° :  98\n",
      "temps : 152.154678345\n",
      "moving direction :\n",
      "dx = -38.0\n",
      "dy = -109.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00042994]]\n",
      "Abs_y =  [[-0.00107347]]\n",
      "correction abs_x :  [[ 0.45604489]]\n",
      "correction abs_y :  [[ 5.7412268]]\n",
      " \n",
      "Position n° :  99\n",
      "temps : 152.204681396\n",
      "moving direction :\n",
      "dx = 6.0\n",
      "dy = -131.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -2.62977629e-06]]\n",
      "Abs_y =  [[-0.00131468]]\n",
      "correction abs_x :  [[ 0.59789618]]\n",
      "correction abs_y :  [[ 5.84825533]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  100\n",
      "temps : 152.404693604\n",
      "moving direction :\n",
      "dx = -11.0\n",
      "dy = 111.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -5.68040865e-05]]\n",
      "Abs_y =  [[ 0.00111186]]\n",
      "correction abs_x :  [[ 0.65455673]]\n",
      "correction abs_y :  [[ 7.38948828]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  101\n",
      "temps : 152.554702759\n",
      "moving direction :\n",
      "dx = 51.0\n",
      "dy = -78.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00046802]]\n",
      "Abs_y =  [[-0.00080006]]\n",
      "correction abs_x :  [[ 1.07441622]]\n",
      "correction abs_y :  [[ 6.55995262]]\n",
      " \n",
      "Position n° :  102\n",
      "temps : 152.604705811\n",
      "moving direction :\n",
      "dx = 61.0\n",
      "dy = -164.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0005251]]\n",
      "Abs_y =  [[-0.00167084]]\n",
      "correction abs_x :  [[ 1.12007925]]\n",
      "correction abs_y :  [[ 6.2633252]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  103\n",
      "temps : 152.754714966\n",
      "moving direction :\n",
      "dx = -63.0\n",
      "dy = 3.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00062526]]\n",
      "Abs_y =  [[  6.96084491e-05]]\n",
      "correction abs_x :  [[ 0.4997896]]\n",
      "correction abs_y :  [[ 7.15568676]]\n",
      " \n",
      "Position n° :  104\n",
      "temps : 152.804718018\n",
      "moving direction :\n",
      "dx = -92.0\n",
      "dy = 89.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00087195]]\n",
      "Abs_y =  [[ 0.00094211]]\n",
      "correction abs_x :  [[ 0.40244172]]\n",
      "correction abs_y :  [[ 7.65368549]]\n",
      " \n",
      "Position n° :  105\n",
      "temps : 152.854721069\n",
      "moving direction :\n",
      "dx = -103.0\n",
      "dy = 71.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00099204]]\n",
      "Abs_y =  [[ 0.00076891]]\n",
      "correction abs_x :  [[ 0.30637036]]\n",
      "correction abs_y :  [[ 7.415126]]\n",
      " \n",
      "Position n° :  106\n",
      "temps : 152.904724121\n",
      "moving direction :\n",
      "dx = -83.0\n",
      "dy = 28.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00081436]]\n",
      "Abs_y =  [[ 0.00032851]]\n",
      "correction abs_x :  [[ 0.3485148]]\n",
      "correction abs_y :  [[ 7.46280535]]\n",
      " \n",
      "Position n° :  107\n",
      "temps : 152.954727173\n",
      "moving direction :\n",
      "dx = -64.0\n",
      "dy = 25.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00062152]]\n",
      "Abs_y =  [[ 0.00028845]]\n",
      "correction abs_x :  [[ 0.60278539]]\n",
      "correction abs_y :  [[ 7.53075944]]\n",
      " \n",
      "Position n° :  108\n",
      "temps : 153.004730225\n",
      "moving direction :\n",
      "dx = -24.0\n",
      "dy = 12.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00023456]]\n",
      "Abs_y =  [[ 0.00013652]]\n",
      "correction abs_x :  [[ 0.91234927]]\n",
      "correction abs_y :  [[ 7.30921733]]\n",
      " \n",
      "Position n° :  109\n",
      "temps : 153.054733276\n",
      "moving direction :\n",
      "dx = 2.0\n",
      "dy = -34.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -2.56836970e-06]]\n",
      "Abs_y =  [[-0.00034493]]\n",
      "correction abs_x :  [[ 0.9979453]]\n",
      "correction abs_y :  [[ 7.22405321]]\n",
      " \n",
      "Position n° :  110\n",
      "temps : 153.104736328\n",
      "moving direction :\n",
      "dx = 4.0\n",
      "dy = -46.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  1.66658420e-05]]\n",
      "Abs_y =  [[-0.00046652]]\n",
      "correction abs_x :  [[ 1.11333267]]\n",
      "correction abs_y :  [[ 7.22678337]]\n",
      " \n",
      "Position n° :  111\n",
      "temps : 153.15473938\n",
      "moving direction :\n",
      "dx = 11.0\n",
      "dy = -69.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  7.54399433e-05]]\n",
      "Abs_y =  [[-0.00069317]]\n",
      "correction abs_x :  [[ 1.16035195]]\n",
      "correction abs_y :  [[ 7.04546143]]\n",
      " \n",
      "Position n° :  112\n",
      "temps : 153.204742432\n",
      "moving direction :\n",
      "dx = 34.0\n",
      "dy = -87.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00029016]]\n",
      "Abs_y =  [[-0.00088745]]\n",
      "correction abs_x :  [[ 1.23212456]]\n",
      "correction abs_y :  [[ 6.89003767]]\n",
      " \n",
      "Position n° :  113\n",
      "temps : 153.254745483\n",
      "moving direction :\n",
      "dx = 36.0\n",
      "dy = -140.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00028615]]\n",
      "Abs_y =  [[-0.00141411]]\n",
      "correction abs_x :  [[ 1.32891751]]\n",
      "correction abs_y :  [[ 6.76871221]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  114\n",
      "temps : 153.404754639\n",
      "moving direction :\n",
      "dx = -32.0\n",
      "dy = -25.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00033081]]\n",
      "Abs_y =  [[-0.00023139]]\n",
      "correction abs_x :  [[ 0.93535081]]\n",
      "correction abs_y :  [[ 7.31489157]]\n",
      " \n",
      "Position n° :  115\n",
      "temps : 153.45475769\n",
      "moving direction :\n",
      "dx = -58.0\n",
      "dy = 28.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00056167]]\n",
      "Abs_y =  [[ 0.00031174]]\n",
      "correction abs_x :  [[ 0.85066141]]\n",
      "correction abs_y :  [[ 7.64939385]]\n",
      " \n",
      "Position n° :  116\n",
      "temps : 153.504760742\n",
      "moving direction :\n",
      "dx = -51.0\n",
      "dy = 6.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00050611]]\n",
      "Abs_y =  [[  8.69223253e-05]]\n",
      "correction abs_x :  [[ 0.89511059]]\n",
      "correction abs_y :  [[ 7.36953786]]\n",
      " \n",
      "Position n° :  117\n",
      "temps : 153.554763794\n",
      "moving direction :\n",
      "dx = -19.0\n",
      "dy = -3.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00019099]]\n",
      "Abs_y =  [[ -1.80198331e-05]]\n",
      "correction abs_x :  [[ 1.04720726]]\n",
      "correction abs_y :  [[ 7.68558413]]\n",
      " \n",
      "Position n° :  118\n",
      "temps : 153.604766846\n",
      "moving direction :\n",
      "dx = -8.0\n",
      "dy = 20.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -7.14706560e-05]]\n",
      "Abs_y =  [[ 0.00020466]]\n",
      "correction abs_x :  [[ 1.24282348]]\n",
      "correction abs_y :  [[ 7.96372562]]\n",
      " \n",
      "Position n° :  119\n",
      "temps : 153.654769897\n",
      "moving direction :\n",
      "dx = -9.0\n",
      "dy = 56.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -6.44178155e-05]]\n",
      "Abs_y =  [[ 0.00056216]]\n",
      "correction abs_x :  [[ 1.24846575]]\n",
      "correction abs_y :  [[ 8.24972915]]\n",
      " \n",
      "Position n° :  120\n",
      "temps : 153.704772949\n",
      "moving direction :\n",
      "dx = 5.0\n",
      "dy = 63.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  8.88779756e-05]]\n",
      "Abs_y =  [[ 0.00062377]]\n",
      "correction abs_x :  [[ 1.27110238]]\n",
      "correction abs_y :  [[ 8.49901582]]\n",
      " \n",
      "Position n° :  121\n",
      "temps : 153.754776001\n",
      "moving direction :\n",
      "dx = 16.0\n",
      "dy = 49.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00018648]]\n",
      "Abs_y =  [[ 0.0004802]]\n",
      "correction abs_x :  [[ 1.34918249]]\n",
      "correction abs_y :  [[ 8.68416207]]\n",
      " \n",
      "Position n° :  122\n",
      "temps : 153.804779053\n",
      "moving direction :\n",
      "dx = 24.0\n",
      "dy = 22.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00024654]]\n",
      "Abs_y =  [[ 0.00020367]]\n",
      "correction abs_x :  [[ 1.497232]]\n",
      "correction abs_y :  [[ 8.46293638]]\n",
      " \n",
      "Position n° :  123\n",
      "temps : 153.854782104\n",
      "moving direction :\n",
      "dx = 20.0\n",
      "dy = -42.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00017644]]\n",
      "Abs_y =  [[-0.00043469]]\n",
      "correction abs_x :  [[ 1.34115526]]\n",
      "correction abs_y :  [[ 8.2522461]]\n",
      " \n",
      "Position n° :  124\n",
      "temps : 153.904785156\n",
      "moving direction :\n",
      "dx = 5.0\n",
      "dy = -125.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -1.35613284e-05]]\n",
      "Abs_y =  [[-0.00125055]]\n",
      "correction abs_x :  [[ 1.28915094]]\n",
      "correction abs_y :  [[ 7.69955865]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  125\n",
      "temps : 154.104797363\n",
      "moving direction :\n",
      "dx = -7.0\n",
      "dy = -88.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00011731]]\n",
      "Abs_y =  [[-0.00087825]]\n",
      "correction abs_x :  [[ 1.20615031]]\n",
      "correction abs_y :  [[ 7.79739724]]\n",
      " \n",
      "Position n° :  126\n",
      "temps : 154.154800415\n",
      "moving direction :\n",
      "dx = -4.0\n",
      "dy = -12.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -5.04257531e-05]]\n",
      "Abs_y =  [[-0.00011574]]\n",
      "correction abs_x :  [[ 1.2596594]]\n",
      "correction abs_y :  [[ 8.20740827]]\n",
      " \n",
      "Position n° :  127\n",
      "temps : 154.204803467\n",
      "moving direction :\n",
      "dx = -8.0\n",
      "dy = 17.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -7.41911302e-05]]\n",
      "Abs_y =  [[ 0.00017603]]\n",
      "correction abs_x :  [[ 1.2406471]]\n",
      "correction abs_y :  [[ 8.34082352]]\n",
      " \n",
      "Position n° :  128\n",
      "temps : 154.254806519\n",
      "moving direction :\n",
      "dx = -17.0\n",
      "dy = 47.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00014103]]\n",
      "Abs_y =  [[ 0.00047427]]\n",
      "correction abs_x :  [[ 1.18717758]]\n",
      "correction abs_y :  [[ 9.07941621]]\n",
      " \n",
      "Position n° :  129\n",
      "temps : 154.30480957\n",
      "moving direction :\n",
      "dx = 18.0\n",
      "dy = 81.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00022637]]\n",
      "Abs_y =  [[ 0.00079704]]\n",
      "correction abs_x :  [[ 1.481092]]\n",
      "correction abs_y :  [[ 9.43763438]]\n",
      " \n",
      "Position n° :  130\n",
      "temps : 154.354812622\n",
      "moving direction :\n",
      "dx = 49.0\n",
      "dy = 75.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0005279]]\n",
      "Abs_y =  [[ 0.00071871]]\n",
      "correction abs_x :  [[ 1.62231851]]\n",
      "correction abs_y :  [[ 9.27496847]]\n",
      " \n",
      "Position n° :  131\n",
      "temps : 154.404815674\n",
      "moving direction :\n",
      "dx = 33.0\n",
      "dy = 19.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00034265]]\n",
      "Abs_y =  [[ 0.00017104]]\n",
      "correction abs_x :  [[ 1.57412218]]\n",
      "correction abs_y :  [[ 9.13683513]]\n",
      " \n",
      "Position n° :  132\n",
      "temps : 154.454818726\n",
      "moving direction :\n",
      "dx = 4.0\n",
      "dy = -41.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  1.29989613e-05]]\n",
      "Abs_y =  [[-0.00041415]]\n",
      "correction abs_x :  [[ 1.31039917]]\n",
      "correction abs_y :  [[ 8.76867649]]\n",
      " \n",
      "Position n° :  133\n",
      "temps : 154.504821777\n",
      "moving direction :\n",
      "dx = -15.0\n",
      "dy = -121.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00022005]]\n",
      "Abs_y =  [[-0.00119863]]\n",
      "correction abs_x :  [[ 1.02395818]]\n",
      "correction abs_y :  [[ 8.1410991]]\n",
      " \n",
      "Position n° :  134\n",
      "temps : 154.554824829\n",
      "moving direction :\n",
      "dx = -32.0\n",
      "dy = -180.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0004243]]\n",
      "Abs_y =  [[-0.00177488]]\n",
      "correction abs_x :  [[ 0.96056135]]\n",
      "correction abs_y :  [[ 8.08009828]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  135\n",
      "temps : 154.754837036\n",
      "moving direction :\n",
      "dx = 66.0\n",
      "dy = 93.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00071008]]\n",
      "Abs_y =  [[ 0.00089243]]\n",
      "correction abs_x :  [[ 1.66806227]]\n",
      "correction abs_y :  [[ 9.71394799]]\n",
      " \n",
      "Position n° :  136\n",
      "temps : 154.804840088\n",
      "moving direction :\n",
      "dx = 68.0\n",
      "dy = 158.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00077218]]\n",
      "Abs_y =  [[ 0.0015424]]\n",
      "correction abs_x :  [[ 1.61774305]]\n",
      "correction abs_y :  [[ 9.93391822]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  137\n",
      "temps : 154.904846191\n",
      "moving direction :\n",
      "dx = 24.0\n",
      "dy = 6.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00024453]]\n",
      "Abs_y =  [[  4.23039547e-05]]\n",
      "correction abs_x :  [[ 1.29562093]]\n",
      "correction abs_y :  [[ 9.23384316]]\n",
      " \n",
      "Position n° :  138\n",
      "temps : 154.954849243\n",
      "moving direction :\n",
      "dx = -26.0\n",
      "dy = -124.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0003316]]\n",
      "Abs_y =  [[-0.00122464]]\n",
      "correction abs_x :  [[ 1.13472268]]\n",
      "correction abs_y :  [[ 8.92028987]]\n",
      " \n",
      "Position n° :  139\n",
      "temps : 155.004852295\n",
      "moving direction :\n",
      "dx = -31.0\n",
      "dy = -129.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00038972]]\n",
      "Abs_y =  [[-0.0012684]]\n",
      "correction abs_x :  [[ 0.98822167]]\n",
      "correction abs_y :  [[ 8.88527867]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  140\n",
      "temps : 155.204864502\n",
      "moving direction :\n",
      "dx = 12.0\n",
      "dy = -15.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00011022]]\n",
      "Abs_y =  [[-0.0001582]]\n",
      "correction abs_x :  [[ 1.18817777]]\n",
      "correction abs_y :  [[ 9.67344079]]\n",
      " \n",
      "Position n° :  141\n",
      "temps : 155.254867554\n",
      "moving direction :\n",
      "dx = 24.0\n",
      "dy = 57.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00027716]]\n",
      "Abs_y =  [[ 0.00055921]]\n",
      "correction abs_x :  [[ 1.22173084]]\n",
      "correction abs_y :  [[ 10.04736575]]\n",
      " \n",
      "Position n° :  142\n",
      "temps : 155.304870605\n",
      "moving direction :\n",
      "dx = -1.0\n",
      "dy = 49.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  1.96468659e-05]]\n",
      "Abs_y =  [[ 0.00049046]]\n",
      "correction abs_x :  [[ 1.01571749]]\n",
      "correction abs_y :  [[ 9.89237128]]\n",
      " \n",
      "Position n° :  143\n",
      "temps : 155.354873657\n",
      "moving direction :\n",
      "dx = -44.0\n",
      "dy = -21.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00044662]]\n",
      "Abs_y =  [[-0.0001799]]\n",
      "correction abs_x :  [[ 0.74270661]]\n",
      "correction abs_y :  [[ 9.85607747]]\n",
      " \n",
      "Position n° :  144\n",
      "temps : 155.404876709\n",
      "moving direction :\n",
      "dx = -65.0\n",
      "dy = -58.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00068162]]\n",
      "Abs_y =  [[-0.00054106]]\n",
      "correction abs_x :  [[ 0.65470029]]\n",
      "correction abs_y :  [[ 9.66715425]]\n",
      " \n",
      "Position n° :  145\n",
      "temps : 155.454879761\n",
      "moving direction :\n",
      "dx = -53.0\n",
      "dy = -98.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00058254]]\n",
      "Abs_y =  [[-0.0009442]]\n",
      "correction abs_x :  [[ 0.63397013]]\n",
      "correction abs_y :  [[ 9.5446416]]\n",
      " \n",
      "Position n° :  146\n",
      "temps : 155.504882812\n",
      "moving direction :\n",
      "dx = 9.0\n",
      "dy = -97.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  3.37344928e-05]]\n",
      "Abs_y =  [[-0.00097097]]\n",
      "correction abs_x :  [[ 1.12698759]]\n",
      "correction abs_y :  [[ 9.52322111]]\n",
      " \n",
      "Position n° :  147\n",
      "temps : 155.554885864\n",
      "moving direction :\n",
      "dx = 59.0\n",
      "dy = -69.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00055377]]\n",
      "Abs_y =  [[-0.00072103]]\n",
      "correction abs_x :  [[ 1.24301726]]\n",
      "correction abs_y :  [[ 9.72317745]]\n",
      " \n",
      "Position n° :  148\n",
      "temps : 155.604888916\n",
      "moving direction :\n",
      "dx = 63.0\n",
      "dy = -64.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00059287]]\n",
      "Abs_y =  [[-0.00067529]]\n",
      "correction abs_x :  [[ 1.4742953]]\n",
      "correction abs_y :  [[ 9.85977132]]\n",
      " \n",
      "Position n° :  149\n",
      "temps : 155.654891968\n",
      "moving direction :\n",
      "dx = 77.0\n",
      "dy = -62.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00073703]]\n",
      "Abs_y =  [[-0.0006638]]\n",
      "correction abs_x :  [[ 1.68962305]]\n",
      "correction abs_y :  [[ 10.16895823]]\n",
      " \n",
      "Position n° :  150\n",
      "temps : 155.70489502\n",
      "moving direction :\n",
      "dx = 77.0\n",
      "dy = -46.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00074473]]\n",
      "Abs_y =  [[-0.00050499]]\n",
      "correction abs_x :  [[ 1.4957846]]\n",
      "correction abs_y :  [[ 10.39600895]]\n",
      " \n",
      "Position n° :  151\n",
      "temps : 155.754898071\n",
      "moving direction :\n",
      "dx = 61.0\n",
      "dy = -60.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00057124]]\n",
      "Abs_y =  [[-0.00063865]]\n",
      "correction abs_x :  [[ 1.75699162]]\n",
      "correction abs_y :  [[ 10.0890764]]\n",
      " \n",
      "Position n° :  152\n",
      "temps : 155.804901123\n",
      "moving direction :\n",
      "dx = 50.0\n",
      "dy = -66.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00046436]]\n",
      "Abs_y =  [[-0.00068516]]\n",
      "correction abs_x :  [[ 1.57149131]]\n",
      "correction abs_y :  [[ 10.45187174]]\n",
      " \n",
      "Position n° :  153\n",
      "temps : 155.854904175\n",
      "moving direction :\n",
      "dx = -9.0\n",
      "dy = -69.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00013446]]\n",
      "Abs_y =  [[-0.00068822]]\n",
      "correction abs_x :  [[ 0.89243011]]\n",
      "correction abs_y :  [[ 10.6494252]]\n",
      " \n",
      "Position n° :  154\n",
      "temps : 155.904907227\n",
      "moving direction :\n",
      "dx = -91.0\n",
      "dy = -100.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00096419]]\n",
      "Abs_y =  [[-0.00094424]]\n",
      "correction abs_x :  [[ 0.42864894]]\n",
      "correction abs_y :  [[ 10.64460928]]\n",
      " \n",
      "Position n° :  155\n",
      "temps : 155.954910278\n",
      "moving direction :\n",
      "dx = -85.0\n",
      "dy = -120.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00091573]]\n",
      "Abs_y =  [[-0.0011504]]\n",
      "correction abs_x :  [[ 0.4674166]]\n",
      "correction abs_y :  [[ 10.47967947]]\n",
      " \n",
      "Position n° :  156\n",
      "temps : 156.00491333\n",
      "moving direction :\n",
      "dx = -39.0\n",
      "dy = -111.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00045135]]\n",
      "Abs_y =  [[-0.00108601]]\n",
      "correction abs_x :  [[ 0.83891762]]\n",
      "correction abs_y :  [[ 10.63118911]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  157\n",
      "temps : 156.154922485\n",
      "moving direction :\n",
      "dx = 36.0\n",
      "dy = 29.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00037889]]\n",
      "Abs_y =  [[ 0.00027195]]\n",
      "correction abs_x :  [[ 1.20310834]]\n",
      "correction abs_y :  [[ 11.61756244]]\n",
      " \n",
      "Position n° :  158\n",
      "temps : 156.204925537\n",
      "moving direction :\n",
      "dx = 37.0\n",
      "dy = 95.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00042039]]\n",
      "Abs_y =  [[ 0.00092607]]\n",
      "correction abs_x :  [[ 1.13631533]]\n",
      "correction abs_y :  [[ 12.04085291]]\n",
      " \n",
      "Position n° :  159\n",
      "temps : 156.254928589\n",
      "moving direction :\n",
      "dx = 26.0\n",
      "dy = 71.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00030162]]\n",
      "Abs_y =  [[ 0.0006986]]\n",
      "correction abs_x :  [[ 1.04129332]]\n",
      "correction abs_y :  [[ 11.75888315]]\n",
      " \n",
      "Position n° :  160\n",
      "temps : 156.304931641\n",
      "moving direction :\n",
      "dx = 38.0\n",
      "dy = -12.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00037369]]\n",
      "Abs_y =  [[-0.00014541]]\n",
      "correction abs_x :  [[ 1.19895045]]\n",
      "correction abs_y :  [[ 11.58367331]]\n",
      " \n",
      "Position n° :  161\n",
      "temps : 156.354934692\n",
      "moving direction :\n",
      "dx = 65.0\n",
      "dy = -76.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00060146]]\n",
      "Abs_y =  [[-0.00079921]]\n",
      "correction abs_x :  [[ 1.28116832]]\n",
      "correction abs_y :  [[ 11.16063382]]\n",
      " \n",
      "Position n° :  162\n",
      "temps : 156.404937744\n",
      "moving direction :\n",
      "dx = 67.0\n",
      "dy = -106.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00060878]]\n",
      "Abs_y =  [[-0.00109772]]\n",
      "correction abs_x :  [[ 1.28702706]]\n",
      "correction abs_y :  [[ 10.92182187]]\n",
      " \n",
      "Position n° :  163\n",
      "temps : 156.454940796\n",
      "moving direction :\n",
      "dx = 13.0\n",
      "dy = -80.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  8.09474127e-05]]\n",
      "Abs_y =  [[-0.00080664]]\n",
      "correction abs_x :  [[ 0.96475793]]\n",
      "correction abs_y :  [[ 11.45468897]]\n",
      " \n",
      "Position n° :  164\n",
      "temps : 156.504943848\n",
      "moving direction :\n",
      "dx = -32.0\n",
      "dy = -61.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00035795]]\n",
      "Abs_y =  [[-0.00059487]]\n",
      "correction abs_x :  [[ 0.81364015]]\n",
      "correction abs_y :  [[ 11.4241062]]\n",
      " \n",
      "Position n° :  165\n",
      "temps : 156.554946899\n",
      "moving direction :\n",
      "dx = -16.0\n",
      "dy = -65.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00019943]]\n",
      "Abs_y =  [[-0.00063562]]\n",
      "correction abs_x :  [[ 0.74045543]]\n",
      "correction abs_y :  [[ 11.69150437]]\n",
      " \n",
      "Position n° :  166\n",
      "temps : 156.604949951\n",
      "moving direction :\n",
      "dx = -32.0\n",
      "dy = -42.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00034008]]\n",
      "Abs_y =  [[-0.00040224]]\n",
      "correction abs_x :  [[ 0.62793609]]\n",
      "correction abs_y :  [[ 12.17820758]]\n",
      " \n",
      "Position n° :  167\n",
      "temps : 156.654953003\n",
      "moving direction :\n",
      "dx = -25.0\n",
      "dy = -26.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00026882]]\n",
      "Abs_y =  [[-0.00024703]]\n",
      "correction abs_x :  [[ 0.78494185]]\n",
      "correction abs_y :  [[ 12.30237917]]\n",
      " \n",
      "Position n° :  168\n",
      "temps : 156.704956055\n",
      "moving direction :\n",
      "dx = -11.0\n",
      "dy = -56.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00014518]]\n",
      "Abs_y =  [[-0.0005569]]\n",
      "correction abs_x :  [[ 0.78385726]]\n",
      "correction abs_y :  [[ 12.2544781]]\n",
      " \n",
      "Position n° :  169\n",
      "temps : 156.754959106\n",
      "moving direction :\n",
      "dx = -23.0\n",
      "dy = -114.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00029575]]\n",
      "Abs_y =  [[-0.00112134]]\n",
      "correction abs_x :  [[ 0.66339972]]\n",
      "correction abs_y :  [[ 12.00293139]]\n",
      " \n",
      "Position n° :  170\n",
      "temps : 156.804962158\n",
      "moving direction :\n",
      "dx = -45.0\n",
      "dy = -166.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00054233]]\n",
      "Abs_y =  [[-0.00163026]]\n",
      "correction abs_x :  [[ 0.56613281]]\n",
      "correction abs_y :  [[ 11.69578808]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  171\n",
      "temps : 157.004974365\n",
      "moving direction :\n",
      "dx = 79.0\n",
      "dy = 140.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00085857]]\n",
      "Abs_y =  [[ 0.00135785]]\n",
      "correction abs_x :  [[ 1.28685653]]\n",
      "correction abs_y :  [[ 13.586281]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  172\n",
      "temps : 157.154983521\n",
      "moving direction :\n",
      "dx = -57.0\n",
      "dy = -103.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0006192]]\n",
      "Abs_y =  [[-0.0009964]]\n",
      "correction abs_x :  [[ 0.70463788]]\n",
      "correction abs_y :  [[ 13.1028791]]\n",
      " \n",
      "Position n° :  173\n",
      "temps : 157.204986572\n",
      "moving direction :\n",
      "dx = -90.0\n",
      "dy = -212.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00101373]]\n",
      "Abs_y =  [[-0.00207352]]\n",
      "correction abs_x :  [[ 0.48901331]]\n",
      "correction abs_y :  [[ 12.44118272]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  174\n",
      "temps : 157.455001831\n",
      "moving direction :\n",
      "dx = 104.0\n",
      "dy = 143.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00111128]]\n",
      "Abs_y =  [[ 0.00137872]]\n",
      "correction abs_x :  [[ 1.48902747]]\n",
      "correction abs_y :  [[ 14.40297709]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  175\n",
      "temps : 157.605010986\n",
      "moving direction :\n",
      "dx = -61.0\n",
      "dy = -62.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00064416]]\n",
      "Abs_y =  [[-0.00058574]]\n",
      "correction abs_x :  [[ 0.88467254]]\n",
      "correction abs_y :  [[ 14.23141151]]\n",
      " \n",
      "Position n° :  176\n",
      "temps : 157.655014038\n",
      "moving direction :\n",
      "dx = -87.0\n",
      "dy = -179.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0009664]]\n",
      "Abs_y =  [[-0.00173434]]\n",
      "correction abs_x :  [[ 0.62688202]]\n",
      "correction abs_y :  [[ 13.31252716]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  177\n",
      "temps : 157.805023193\n",
      "moving direction :\n",
      "dx = 113.0\n",
      "dy = 30.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0011413]]\n",
      "Abs_y =  [[ 0.00023938]]\n",
      "correction abs_x :  [[ 1.71304362]]\n",
      "correction abs_y :  [[ 14.49150663]]\n",
      " \n",
      "Position n° :  178\n",
      "temps : 157.855026245\n",
      "moving direction :\n",
      "dx = 133.0\n",
      "dy = 80.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00137074]]\n",
      "Abs_y =  [[ 0.00072568]]\n",
      "correction abs_x :  [[ 1.79659134]]\n",
      "correction abs_y :  [[ 14.68054411]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  179\n",
      "temps : 158.0050354\n",
      "moving direction :\n",
      "dx = -137.0\n",
      "dy = -122.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00144495]]\n",
      "Abs_y =  [[-0.00113415]]\n",
      "correction abs_x :  [[ 0.24403843]]\n",
      "correction abs_y :  [[ 14.19267731]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  180\n",
      "temps : 158.155044556\n",
      "moving direction :\n",
      "dx = 30.0\n",
      "dy = -84.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00025356]]\n",
      "Abs_y =  [[-0.0008582]]\n",
      "correction abs_x :  [[ 0.90284433]]\n",
      "correction abs_y :  [[ 14.31344139]]\n",
      " \n",
      "Position n° :  181\n",
      "temps : 158.205047607\n",
      "moving direction :\n",
      "dx = 145.0\n",
      "dy = -42.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00142569]]\n",
      "Abs_y =  [[-0.00050209]]\n",
      "correction abs_x :  [[ 1.44055246]]\n",
      "correction abs_y :  [[ 14.49833182]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  182\n",
      "temps : 158.305053711\n",
      "moving direction :\n",
      "dx = 136.0\n",
      "dy = -96.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00130391]]\n",
      "Abs_y =  [[-0.0010332]]\n",
      "correction abs_x :  [[ 1.54312769]]\n",
      "correction abs_y :  [[ 14.57343694]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  183\n",
      "temps : 158.405059814\n",
      "moving direction :\n",
      "dx = -82.0\n",
      "dy = -18.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0008334]]\n",
      "Abs_y =  [[-0.00013368]]\n",
      "correction abs_x :  [[ 0.43328047]]\n",
      "correction abs_y :  [[ 15.2930583]]\n",
      " \n",
      "Position n° :  184\n",
      "temps : 158.455062866\n",
      "moving direction :\n",
      "dx = -147.0\n",
      "dy = 48.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00143935]]\n",
      "Abs_y =  [[ 0.00057068]]\n",
      "correction abs_x :  [[ 0.24851923]]\n",
      "correction abs_y :  [[ 15.75654746]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  185\n",
      "temps : 158.55506897\n",
      "moving direction :\n",
      "dx = -11.0\n",
      "dy = 7.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00010329]]\n",
      "Abs_y =  [[  7.86524773e-05]]\n",
      "correction abs_x :  [[ 1.11736917]]\n",
      "correction abs_y :  [[ 15.86292198]]\n",
      " \n",
      "Position n° :  186\n",
      "temps : 158.605072021\n",
      "moving direction :\n",
      "dx = 131.0\n",
      "dy = -61.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00127019]]\n",
      "Abs_y =  [[-0.00068143]]\n",
      "correction abs_x :  [[ 1.6161507]]\n",
      "correction abs_y :  [[ 15.65485642]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  187\n",
      "temps : 158.705078125\n",
      "moving direction :\n",
      "dx = 26.0\n",
      "dy = -123.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00018258]]\n",
      "Abs_y =  [[-0.00124341]]\n",
      "correction abs_x :  [[ 1.04606333]]\n",
      "correction abs_y :  [[ 15.40526871]]\n",
      " \n",
      "Position n° :  188\n",
      "temps : 158.755081177\n",
      "moving direction :\n",
      "dx = -54.0\n",
      "dy = -117.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00060952]]\n",
      "Abs_y =  [[-0.00113686]]\n",
      "correction abs_x :  [[ 0.91238257]]\n",
      "correction abs_y :  [[ 15.49051227]]\n",
      " \n",
      "Position n° :  189\n",
      "temps : 158.805084229\n",
      "moving direction :\n",
      "dx = -81.0\n",
      "dy = -118.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00088443]]\n",
      "Abs_y =  [[-0.0011268]]\n",
      "correction abs_x :  [[ 0.79245612]]\n",
      "correction abs_y :  [[ 15.49855924]]\n",
      " \n",
      "Position n° :  190\n",
      "temps : 158.85508728\n",
      "moving direction :\n",
      "dx = -44.0\n",
      "dy = -94.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00049918]]\n",
      "Abs_y =  [[-0.00091502]]\n",
      "correction abs_x :  [[ 0.70065651]]\n",
      "correction abs_y :  [[ 16.16798371]]\n",
      " \n",
      "Position n° :  191\n",
      "temps : 158.905090332\n",
      "moving direction :\n",
      "dx = -47.0\n",
      "dy = -75.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00052123]]\n",
      "Abs_y =  [[-0.00071815]]\n",
      "correction abs_x :  [[ 0.58301341]]\n",
      "correction abs_y :  [[ 15.92547994]]\n",
      " \n",
      "Position n° :  192\n",
      "temps : 158.955093384\n",
      "moving direction :\n",
      "dx = -60.0\n",
      "dy = -113.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00067299]]\n",
      "Abs_y =  [[-0.00109587]]\n",
      "correction abs_x :  [[ 0.76160701]]\n",
      "correction abs_y :  [[ 16.02330063]]\n",
      " \n",
      "Position n° :  193\n",
      "temps : 159.005096436\n",
      "moving direction :\n",
      "dx = 27.0\n",
      "dy = -87.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00021564]]\n",
      "Abs_y =  [[-0.0008838]]\n",
      "correction abs_x :  [[ 1.37251158]]\n",
      "correction abs_y :  [[ 16.69295878]]\n",
      " \n",
      "Position n° :  194\n",
      "temps : 159.055099487\n",
      "moving direction :\n",
      "dx = 80.0\n",
      "dy = -34.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00077833]]\n",
      "Abs_y =  [[-0.00039063]]\n",
      "correction abs_x :  [[ 1.42266377]]\n",
      "correction abs_y :  [[ 16.58749995]]\n",
      " \n",
      "Position n° :  195\n",
      "temps : 159.105102539\n",
      "moving direction :\n",
      "dx = 35.0\n",
      "dy = -68.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00030282]]\n",
      "Abs_y =  [[-0.00070438]]\n",
      "correction abs_x :  [[ 1.34225263]]\n",
      "correction abs_y :  [[ 16.83649289]]\n",
      " \n",
      "Position n° :  196\n",
      "temps : 159.155105591\n",
      "moving direction :\n",
      "dx = -11.0\n",
      "dy = -97.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00017166]]\n",
      "Abs_y =  [[-0.00096437]]\n",
      "correction abs_x :  [[ 1.06267119]]\n",
      "correction abs_y :  [[ 17.12850149]]\n",
      " \n",
      "Position n° :  197\n",
      "temps : 159.205108643\n",
      "moving direction :\n",
      "dx = -31.0\n",
      "dy = -108.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00037379]]\n",
      "Abs_y =  [[-0.00106236]]\n",
      "correction abs_x :  [[ 0.90097183]]\n",
      "correction abs_y :  [[ 16.65011374]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  198\n",
      "temps : 159.40512085\n",
      "moving direction :\n",
      "dx = 67.0\n",
      "dy = 97.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00073238]]\n",
      "Abs_y =  [[ 0.00092566]]\n",
      "correction abs_x :  [[ 1.58590129]]\n",
      "correction abs_y :  [[ 18.34053044]]\n",
      " \n",
      "Position n° :  199\n",
      "temps : 159.455123901\n",
      "moving direction :\n",
      "dx = 61.0\n",
      "dy = 156.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00070574]]\n",
      "Abs_y =  [[ 0.0015258]]\n",
      "correction abs_x :  [[ 1.46459216]]\n",
      "correction abs_y :  [[ 18.7206388]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  200\n",
      "temps : 159.555130005\n",
      "moving direction :\n",
      "dx = -11.0\n",
      "dy = -39.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00013372]]\n",
      "Abs_y =  [[-0.00038247]]\n",
      "correction abs_x :  [[ 0.89302118]]\n",
      "correction abs_y :  [[ 17.69402063]]\n",
      " \n",
      "Position n° :  201\n",
      "temps : 159.605133057\n",
      "moving direction :\n",
      "dx = -61.0\n",
      "dy = -196.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00073517]]\n",
      "Abs_y =  [[-0.00191638]]\n",
      "correction abs_x :  [[ 0.81186159]]\n",
      "correction abs_y :  [[ 17.6668944]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  202\n",
      "temps : 159.805145264\n",
      "moving direction :\n",
      "dx = 21.0\n",
      "dy = 1.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00020826]]\n",
      "Abs_y =  [[  1.93155837e-07]]\n",
      "correction abs_x :  [[ 1.06660724]]\n",
      "correction abs_y :  [[ 18.60015452]]\n",
      " \n",
      "Position n° :  203\n",
      "temps : 159.855148315\n",
      "moving direction :\n",
      "dx = 19.0\n",
      "dy = 49.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0002219]]\n",
      "Abs_y =  [[ 0.00047755]]\n",
      "correction abs_x :  [[ 0.97751851]]\n",
      "correction abs_y :  [[ 18.98203956]]\n",
      " \n",
      "Position n° :  204\n",
      "temps : 159.905151367\n",
      "moving direction :\n",
      "dx = -5.0\n",
      "dy = 30.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -2.79267970e-05]]\n",
      "Abs_y =  [[ 0.00030058]]\n",
      "correction abs_x :  [[ 0.77765856]]\n",
      "correction abs_y :  [[ 18.74046428]]\n",
      " \n",
      "Position n° :  205\n",
      "temps : 159.955154419\n",
      "moving direction :\n",
      "dx = -22.0\n",
      "dy = -34.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00023837]]\n",
      "Abs_y =  [[-0.00033097]]\n",
      "correction abs_x :  [[ 0.70930782]]\n",
      "correction abs_y :  [[ 18.83522148]]\n",
      " \n",
      "Position n° :  206\n",
      "temps : 160.005157471\n",
      "moving direction :\n",
      "dx = -5.0\n",
      "dy = -72.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -8.79155440e-05]]\n",
      "Abs_y =  [[-0.00071665]]\n",
      "correction abs_x :  [[ 0.72966756]]\n",
      "correction abs_y :  [[ 18.72668312]]\n",
      " \n",
      "Position n° :  207\n",
      "temps : 160.055160522\n",
      "moving direction :\n",
      "dx = 8.0\n",
      "dy = -94.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  2.74413706e-05]]\n",
      "Abs_y =  [[-0.00094246]]\n",
      "correction abs_x :  [[ 0.8219531]]\n",
      "correction abs_y :  [[ 18.54603487]]\n",
      " \n",
      "Position n° :  208\n",
      "temps : 160.105163574\n",
      "moving direction :\n",
      "dx = 32.0\n",
      "dy = -133.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00023735]]\n",
      "Abs_y =  [[-0.00134968]]\n",
      "correction abs_x :  [[ 0.98988266]]\n",
      "correction abs_y :  [[ 18.82025754]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  209\n",
      "temps : 160.305175781\n",
      "moving direction :\n",
      "dx = 54.0\n",
      "dy = -2.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00053349]]\n",
      "Abs_y =  [[ -5.61124170e-05]]\n",
      "correction abs_x :  [[ 1.4267899]]\n",
      "correction abs_y :  [[ 19.75511007]]\n",
      " \n",
      "Position n° :  210\n",
      "temps : 160.355178833\n",
      "moving direction :\n",
      "dx = 9.0\n",
      "dy = 50.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00012137]]\n",
      "Abs_y =  [[ 0.00048979]]\n",
      "correction abs_x :  [[ 1.09709683]]\n",
      "correction abs_y :  [[ 20.09182881]]\n",
      " \n",
      "Position n° :  211\n",
      "temps : 160.405181885\n",
      "moving direction :\n",
      "dx = -18.0\n",
      "dy = 16.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00017031]]\n",
      "Abs_y =  [[ 0.00017217]]\n",
      "correction abs_x :  [[ 0.86375075]]\n",
      "correction abs_y :  [[ 19.83773302]]\n",
      " \n",
      "Position n° :  212\n",
      "temps : 160.455184937\n",
      "moving direction :\n",
      "dx = -43.0\n",
      "dy = -55.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00046552]]\n",
      "Abs_y =  [[-0.00051974]]\n",
      "correction abs_x :  [[ 0.62758262]]\n",
      "correction abs_y :  [[ 19.88420404]]\n",
      " \n",
      "Position n° :  213\n",
      "temps : 160.505187988\n",
      "moving direction :\n",
      "dx = -55.0\n",
      "dy = -86.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00060671]]\n",
      "Abs_y =  [[-0.00082781]]\n",
      "correction abs_x :  [[ 0.51463343]]\n",
      "correction abs_y :  [[ 19.83775122]]\n",
      " \n",
      "Position n° :  214\n",
      "temps : 160.55519104\n",
      "moving direction :\n",
      "dx = -44.0\n",
      "dy = -88.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00049171]]\n",
      "Abs_y =  [[-0.00085543]]\n",
      "correction abs_x :  [[ 0.30662961]]\n",
      "correction abs_y :  [[ 20.01565858]]\n",
      " \n",
      "Position n° :  215\n",
      "temps : 160.605194092\n",
      "moving direction :\n",
      "dx = -31.0\n",
      "dy = -81.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00036129]]\n",
      "Abs_y =  [[-0.00079491]]\n",
      "correction abs_x :  [[ 0.61096722]]\n",
      "correction abs_y :  [[ 20.36406825]]\n",
      " \n",
      "Position n° :  216\n",
      "temps : 160.655197144\n",
      "moving direction :\n",
      "dx = -34.0\n",
      "dy = -76.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00038761]]\n",
      "Abs_y =  [[-0.00074007]]\n",
      "correction abs_x :  [[ 0.58991455]]\n",
      "correction abs_y :  [[ 20.40794049]]\n",
      " \n",
      "Position n° :  217\n",
      "temps : 160.705200195\n",
      "moving direction :\n",
      "dx = -12.0\n",
      "dy = -78.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00017045]]\n",
      "Abs_y =  [[-0.00077112]]\n",
      "correction abs_x :  [[ 0.86363713]]\n",
      "correction abs_y :  [[ 20.28310094]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  218\n",
      "temps : 160.905212402\n",
      "moving direction :\n",
      "dx = 19.0\n",
      "dy = -48.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00015983]]\n",
      "Abs_y =  [[-0.00048987]]\n",
      "correction abs_x :  [[ 1.02786045]]\n",
      "correction abs_y :  [[ 20.80810223]]\n",
      " \n",
      "Position n° :  219\n",
      "temps : 160.955215454\n",
      "moving direction :\n",
      "dx = 39.0\n",
      "dy = -11.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.000383]]\n",
      "Abs_y =  [[-0.00013043]]\n",
      "correction abs_x :  [[ 1.20639604]]\n",
      "correction abs_y :  [[ 21.09565382]]\n",
      " \n",
      "Position n° :  220\n",
      "temps : 161.005218506\n",
      "moving direction :\n",
      "dx = 40.0\n",
      "dy = -12.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0003898]]\n",
      "Abs_y =  [[-0.00015015]]\n",
      "correction abs_x :  [[ 1.2118397]]\n",
      "correction abs_y :  [[ 21.07987907]]\n",
      " \n",
      "Position n° :  221\n",
      "temps : 161.055221558\n",
      "moving direction :\n",
      "dx = 31.0\n",
      "dy = -68.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00026546]]\n",
      "Abs_y =  [[-0.0007006]]\n",
      "correction abs_x :  [[ 1.11236731]]\n",
      "correction abs_y :  [[ 21.13952081]]\n",
      " \n",
      "Position n° :  222\n",
      "temps : 161.105224609\n",
      "moving direction :\n",
      "dx = 21.0\n",
      "dy = -95.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00015088]]\n",
      "Abs_y =  [[-0.00096401]]\n",
      "correction abs_x :  [[ 1.0207026]]\n",
      "correction abs_y :  [[ 21.12879363]]\n",
      " \n",
      "Position n° :  223\n",
      "temps : 161.155227661\n",
      "moving direction :\n",
      "dx = 27.0\n",
      "dy = -94.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00020974]]\n",
      "Abs_y =  [[-0.00095488]]\n",
      "correction abs_x :  [[ 1.06778969]]\n",
      "correction abs_y :  [[ 21.23609422]]\n",
      " \n",
      "Position n° :  224\n",
      "temps : 161.205230713\n",
      "moving direction :\n",
      "dx = 18.0\n",
      "dy = -88.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00012127]]\n",
      "Abs_y =  [[-0.00089162]]\n",
      "correction abs_x :  [[ 0.99701624]]\n",
      "correction abs_y :  [[ 21.68670573]]\n",
      " \n",
      "Position n° :  225\n",
      "temps : 161.255233765\n",
      "moving direction :\n",
      "dx = -7.0\n",
      "dy = -108.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00013606]]\n",
      "Abs_y =  [[-0.00108009]]\n",
      "correction abs_x :  [[ 0.79115404]]\n",
      "correction abs_y :  [[ 21.73592438]]\n",
      " \n",
      "Position n° :  226\n",
      "temps : 161.305236816\n",
      "moving direction :\n",
      "dx = -11.0\n",
      "dy = -135.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00019417]]\n",
      "Abs_y =  [[-0.00134306]]\n",
      "correction abs_x :  [[ 0.74466399]]\n",
      "correction abs_y :  [[ 21.72555146]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  227\n",
      "temps : 161.505249023\n",
      "moving direction :\n",
      "dx = 6.0\n",
      "dy = 73.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00010429]]\n",
      "Abs_y =  [[ 0.00072956]]\n",
      "correction abs_x :  [[ 0.7834343]]\n",
      "correction abs_y :  [[ 23.28364442]]\n",
      " \n",
      "Position n° :  228\n",
      "temps : 161.555252075\n",
      "moving direction :\n",
      "dx = 7.0\n",
      "dy = 102.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00013274]]\n",
      "Abs_y =  [[ 0.00101269]]\n",
      "correction abs_x :  [[ 0.80619575]]\n",
      "correction abs_y :  [[ 23.51015146]]\n",
      " \n",
      "Position n° :  229\n",
      "temps : 161.605255127\n",
      "moving direction :\n",
      "dx = 7.0\n",
      "dy = 75.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00012149]]\n",
      "Abs_y =  [[ 0.00074281]]\n",
      "correction abs_x :  [[ 0.79719334]]\n",
      "correction abs_y :  [[ 23.1942518]]\n",
      " \n",
      "Position n° :  230\n",
      "temps : 161.655258179\n",
      "moving direction :\n",
      "dx = 9.0\n",
      "dy = -31.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  6.60263137e-05]]\n",
      "Abs_y =  [[-0.00031445]]\n",
      "correction abs_x :  [[ 0.75282105]]\n",
      "correction abs_y :  [[ 22.94844192]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  231\n",
      "temps : 161.755264282\n",
      "moving direction :\n",
      "dx = 36.0\n",
      "dy = -118.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00028616]]\n",
      "Abs_y =  [[-0.00120347]]\n",
      "correction abs_x :  [[ 1.0289242]]\n",
      "correction abs_y :  [[ 22.83722523]]\n",
      " \n",
      "Position n° :  232\n",
      "temps : 161.805267334\n",
      "moving direction :\n",
      "dx = 27.0\n",
      "dy = -102.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00020548]]\n",
      "Abs_y =  [[-0.00104045]]\n",
      "correction abs_x :  [[ 0.96438141]]\n",
      "correction abs_y :  [[ 22.96763602]]\n",
      " \n",
      "Position n° :  233\n",
      "temps : 161.855270386\n",
      "moving direction :\n",
      "dx = 28.0\n",
      "dy = -111.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00020405]]\n",
      "Abs_y =  [[-0.00113251]]\n",
      "correction abs_x :  [[ 0.86323708]]\n",
      "correction abs_y :  [[ 23.39399247]]\n",
      " \n",
      "Position n° :  234\n",
      "temps : 161.905273438\n",
      "moving direction :\n",
      "dx = 24.0\n",
      "dy = -141.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0001467]]\n",
      "Abs_y =  [[-0.00142466]]\n",
      "correction abs_x :  [[ 0.81735705]]\n",
      "correction abs_y :  [[ 23.16027022]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  235\n",
      "temps : 162.305297852\n",
      "moving direction :\n",
      "dx = 1.0\n",
      "dy = 52.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  4.14502887e-05]]\n",
      "Abs_y =  [[ 0.00052397]]\n",
      "correction abs_x :  [[ 0.83316023]]\n",
      "correction abs_y :  [[ 24.5191798]]\n",
      " \n",
      "Position n° :  236\n",
      "temps : 162.355300903\n",
      "moving direction :\n",
      "dx = 30.0\n",
      "dy = 44.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00032817]]\n",
      "Abs_y =  [[ 0.00042233]]\n",
      "correction abs_x :  [[ 1.06253751]]\n",
      "correction abs_y :  [[ 24.43786109]]\n",
      " \n",
      "Position n° :  237\n",
      "temps : 162.405303955\n",
      "moving direction :\n",
      "dx = 49.0\n",
      "dy = 8.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.0004915]]\n",
      "Abs_y =  [[  4.94928735e-05]]\n",
      "correction abs_x :  [[ 1.19320172]]\n",
      "correction abs_y :  [[ 24.1395943]]\n",
      " \n",
      "Position n° :  238\n",
      "temps : 162.455307007\n",
      "moving direction :\n",
      "dx = 64.0\n",
      "dy = -81.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00058819]]\n",
      "Abs_y =  [[-0.00085015]]\n",
      "correction abs_x :  [[ 1.27055044]]\n",
      "correction abs_y :  [[ 24.01988218]]\n",
      " \n",
      "Position n° :  239\n",
      "temps : 162.505310059\n",
      "moving direction :\n",
      "dx = 51.0\n",
      "dy = -141.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00041678]]\n",
      "Abs_y =  [[-0.0014456]]\n",
      "correction abs_x :  [[ 1.13342026]]\n",
      "correction abs_y :  [[ 23.74352213]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  240\n",
      "temps : 162.755325317\n",
      "moving direction :\n",
      "dx = -109.0\n",
      "dy = 14.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.0010741]]\n",
      "Abs_y =  [[ 0.00020919]]\n",
      "correction abs_x :  [[ 0.24071857]]\n",
      "correction abs_y :  [[ 24.86735369]]\n",
      " \n",
      "Position n° :  241\n",
      "temps : 162.805328369\n",
      "moving direction :\n",
      "dx = -107.0\n",
      "dy = 69.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00102367]]\n",
      "Abs_y =  [[ 0.00076491]]\n",
      "correction abs_x :  [[ 0.28106161]]\n",
      "correction abs_y :  [[ 25.31192897]]\n",
      " \n",
      "Position n° :  242\n",
      "temps : 162.855331421\n",
      "moving direction :\n",
      "dx = -84.0\n",
      "dy = 84.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00078727]]\n",
      "Abs_y =  [[ 0.00089844]]\n",
      "correction abs_x :  [[ 0.47018474]]\n",
      "correction abs_y :  [[ 25.41875528]]\n",
      " \n",
      "Position n° :  243\n",
      "temps : 162.905334473\n",
      "moving direction :\n",
      "dx = -41.0\n",
      "dy = 34.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00038632]]\n",
      "Abs_y =  [[ 0.00036294]]\n",
      "correction abs_x :  [[ 0.79094567]]\n",
      "correction abs_y :  [[ 25.59035464]]\n",
      " \n",
      "Position n° :  244\n",
      "temps : 162.955337524\n",
      "moving direction :\n",
      "dx = -7.0\n",
      "dy = -16.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ -7.58719696e-05]]\n",
      "Abs_y =  [[-0.00015244]]\n",
      "correction abs_x :  [[ 1.03930242]]\n",
      "correction abs_y :  [[ 25.47804706]]\n",
      " \n",
      "Position n° :  245\n",
      "temps : 163.005340576\n",
      "moving direction :\n",
      "dx = 28.0\n",
      "dy = -66.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00023609]]\n",
      "Abs_y =  [[-0.00067762]]\n",
      "correction abs_x :  [[ 1.28887385]]\n",
      "correction abs_y :  [[ 25.05790699]]\n",
      " \n",
      "Position n° :  246\n",
      "temps : 163.055343628\n",
      "moving direction :\n",
      "dx = 53.0\n",
      "dy = -128.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[ 0.00044374]]\n",
      "Abs_y =  [[-0.00131313]]\n",
      "correction abs_x :  [[ 1.45499308]]\n",
      "correction abs_y :  [[ 24.94949594]]\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
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      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      "wait\n",
      " \n",
      "Position n° :  247\n",
      "temps : 163.305358887\n",
      "moving direction :\n",
      "dx = -55.0\n",
      "dy = 14.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00053628]]\n",
      "Abs_y =  [[ 0.00017141]]\n",
      "correction abs_x :  [[ 1.07097417]]\n",
      "correction abs_y :  [[ 26.03713005]]\n",
      " \n",
      "Position n° :  248\n",
      "temps : 163.355361938\n",
      "moving direction :\n",
      "dx = -54.0\n",
      "dy = 27.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00052054]]\n",
      "Abs_y =  [[ 0.00030526]]\n",
      "correction abs_x :  [[ 1.08356444]]\n",
      "correction abs_y :  [[ 26.14420608]]\n",
      " \n",
      "Position n° :  249\n",
      "temps : 163.40536499\n",
      "moving direction :\n",
      "dx = -52.0\n",
      "dy = 6.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00051834]]\n",
      "Abs_y =  [[  9.11413450e-05]]\n",
      "correction abs_x :  [[ 1.08533119]]\n",
      "correction abs_y :  [[ 25.97291308]]\n",
      " \n",
      "Position n° :  250\n",
      "temps : 163.455368042\n",
      "moving direction :\n",
      "dx = -41.0\n",
      "dy = -47.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00044104]]\n",
      "Abs_y =  [[-0.00044496]]\n",
      "correction abs_x :  [[ 1.14716536]]\n",
      "correction abs_y :  [[ 26.14403441]]\n",
      " \n",
      "Position n° :  251\n",
      "temps : 163.505371094\n",
      "moving direction :\n",
      "dx = -34.0\n",
      "dy = -60.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00038025]]\n",
      "Abs_y =  [[-0.00058033]]\n",
      "correction abs_x :  [[ 1.19580277]]\n",
      "correction abs_y :  [[ 26.33573592]]\n",
      " \n",
      "Position n° :  252\n",
      "temps : 163.555374146\n",
      "moving direction :\n",
      "dx = -29.0\n",
      "dy = -53.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00031959]]\n",
      "Abs_y =  [[-0.00050854]]\n",
      "correction abs_x :  [[ 1.24432922]]\n",
      "correction abs_y :  [[ 26.49317189]]\n",
      " \n",
      "Position n° :  253\n",
      "temps : 163.605377197\n",
      "moving direction :\n",
      "dx = -7.0\n",
      "dy = -98.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[-0.00013701]]\n",
      "Abs_y =  [[-0.00097946]]\n",
      "correction abs_x :  [[ 1.39039197]]\n",
      "correction abs_y :  [[ 26.81643375]]\n",
      " \n",
      "Position n° :  254\n",
      "temps : 163.655380249\n",
      "moving direction :\n",
      "dx = 16.0\n",
      "dy = -137.0\n",
      "solution du système equation :\n",
      "Abs_x =  [[  6.94041458e-05]]\n",
      "Abs_y =  [[-0.00137985]]\n",
      "correction abs_x :  [[ 1.55552332]]\n",
      "correction abs_y :  [[ 26.49611787]]\n",
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    }
   ],
   "source": [
    "poppy.abs_x.goto_behavior = 'dummy'\n",
    "poppy.abs_y.goto_behavior = 'dummy'\n",
    "\n",
    "t0 = time.time()\n",
    "nb_pos = 0\n",
    "while time.time() - t0 < 30:\n",
    "    \n",
    "    \n",
    "    \n",
    "    pos = poppy.get_object_position('head_visual')\n",
    "    time.sleep(0.01)\n",
    "    pos2 = poppy.get_object_position('head_visual')\n",
    "    \n",
    "    #as soon as a new position is recorded\n",
    "    if pos2 != pos:\n",
    "        nb_pos = nb_pos + 1\n",
    "        decalage_x=pos2[0]-pos[0]\n",
    "        decalage_y=pos2[1]-pos[1]\n",
    "        decalage_z=pos2[2]-pos[2]\n",
    "        \n",
    "        list_pos_x.append(decalage_x)\n",
    "        list_pos_y.append(decalage_y)\n",
    "        list_pos_z.append(decalage_z)\n",
    "        \n",
    "               \n",
    "        t.append(poppy.current_simulation_time)\n",
    "        print \" \"\n",
    "        print \"Position n° : \",nb_pos\n",
    "        print \"temps :\",poppy.current_simulation_time\n",
    "        print \"moving direction :\"\n",
    "        print \"dx =\",round(decalage_x*100000,0)\n",
    "        print \"dy =\",round(decalage_y*100000,0)\n",
    "        \n",
    "         # orientation of the motor frame\n",
    "        Vx_abs_x = rotate_matrix(poppy.get_object_orientation('abs_x'))*Vx\n",
    "        Vx_abs_y = rotate_matrix(poppy.get_object_orientation('abs_y'))*Vx_indirect\n",
    "               \n",
    "        # calculatin of the good values for position of Abs_x and Abs_y\n",
    "        # resolution of the system -dx = Vx_abs_x[0]*Abs_x + Vx_abs_y[0]*Abs_y and -dy = Vx_abs_x[1]*Abs_x + Vx_abs_y[1]*Abs_y\n",
    "        A3 = concatenate((Vx_abs_x,Vx_abs_y),axis=1)\n",
    "        A2 = delete(A3, (2), axis=0)\n",
    "        B=matrix([[decalage_x],[decalage_y]])\n",
    "        solution=linalg.solve(A2,B)\n",
    "        print \"solution du système equation :\"\n",
    "        print \"Abs_x = \",solution[0]\n",
    "        print \"Abs_y = \",solution[1]\n",
    "        \n",
    "        \n",
    "        actionx =poppy.abs_x.goal_position=poppy.abs_x.present_position + 800*solution[0] \n",
    "        actiony =poppy.abs_y.goal_position=poppy.abs_y.present_position + 800*solution[1] \n",
    "        \n",
    "        print \"correction abs_x : \",actionx\n",
    "        print \"correction abs_y : \",actiony\n",
    "        td = time.time()\n",
    "        while abs(poppy.abs_x.goal_position - poppy.abs_x.present_position)>1 or abs(poppy.abs_y.goal_position - poppy.abs_y.present_position)>1 or time.time()-td >1:\n",
    "            time.sleep(0.01)\n",
    "            print \"wait\"\n",
    "        actionx =poppy.abs_x.goal_position=poppy.abs_x.present_position\n",
    "        actiony =poppy.abs_y.goal_position=poppy.abs_y.present_position\n",
    "        \n",
    "        \n",
    "        \n",
    "       \n",
    "        \n"
   ]
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