[Common] ncols=14 [XDF_001_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_010.xml RuleInstruction_1=XDF_001_010.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_010.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_010.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_010.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=3 RuleParam_11=XDF_001_011.xml RuleInstruction_11=XDF_001_011.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_001_020.xml RuleInstruction_12=XDF_001_020.html [XDF_001_011.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_010.xml RuleInstruction_1=XDF_001_010.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_011.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_011.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_011.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=3 RuleParam_11=XDF_001_010.xml RuleInstruction_11=XDF_001_010.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_001_020.xml RuleInstruction_12=XDF_001_020.html [XDF_001_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_010.xml RuleInstruction_1=XDF_001_010.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_020.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_020.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_020.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=3 RuleParam_11=XDF_001_021.xml RuleInstruction_11=XDF_001_021.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_001_110.xml RuleInstruction_12=XDF_001_110.html [XDF_001_021.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_011.xml RuleInstruction_1=XDF_001_011.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_021.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_021.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_021.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=3 RuleParam_11=XDF_001_020.xml RuleInstruction_11=XDF_001_020.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_001_110.xml RuleInstruction_12=XDF_001_110.html [XDF_001_110.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_020.xml RuleInstruction_1=XDF_001_020.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_110.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_110.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_110.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=3 RuleParam_11=XDF_001_111.xml RuleInstruction_11=XDF_001_111.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_001_120.xml RuleInstruction_12=XDF_001_120.html [XDF_001_111.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_021.xml RuleInstruction_1=XDF_001_021.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_111.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_111.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_111.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=3 RuleParam_11=XDF_001_110.xml RuleInstruction_11=XDF_001_110.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_001_120.xml RuleInstruction_12=XDF_001_120.html [XDF_001_120.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_110.xml RuleInstruction_1=XDF_001_110.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_120.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_120.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_120.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=3 RuleParam_11=XDF_001_121.xml RuleInstruction_11=XDF_001_121.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_001_210.xml RuleInstruction_12=XDF_001_210.html [XDF_001_121.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_111.xml RuleInstruction_1=XDF_001_111.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_121.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_121.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_121.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=3 RuleParam_11=XDF_001_120.xml RuleInstruction_11=XDF_001_120.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_001_210.xml RuleInstruction_12=XDF_001_210.html [XDF_001_210.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_120.xml RuleInstruction_1=XDF_001_120.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_210.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_210.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_210.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_001_210.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_001_220.xml RuleInstruction_12=XDF_001_220.html [XDF_001_220.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_121.xml RuleInstruction_1=XDF_001_121.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_220.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_220.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_220.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_001_220.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_001_510.xml RuleInstruction_12=XDF_001_510.html [XDF_001_510.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_210.xml RuleInstruction_1=XDF_001_210.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_510.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_510.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_510.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_001_510.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_001_510.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_001_510.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_001_510.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) RuleResule_12=3 RuleParam_12=XDF_001_520.xml RuleInstruction_12=XDF_001_520.html [XDF_001_520.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_220.xml RuleInstruction_1=XDF_001_220.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_520.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_520.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_520.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_001_520.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_001_520.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_001_520.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_001_520.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) RuleResule_12=3 RuleParam_12=XDF_001_610.xml RuleInstruction_12=XDF_001_610.html [XDF_001_610.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_510.xml RuleInstruction_1=XDF_001_510.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_610.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_610.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_610.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_001_610.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_001_610.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_001_610.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_001_610.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) RuleResule_12=3 RuleParam_12=XDF_001_620.xml RuleInstruction_12=XDF_001_620.html [XDF_001_620.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_520.xml RuleInstruction_1=XDF_001_520.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_620.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_620.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_620.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_001_620.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_001_620.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_001_620.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_001_620.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) RuleResule_12=3 RuleParam_12=XDF_001_710.xml RuleInstruction_12=XDF_001_710.html [XDF_001_710.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_610.xml RuleInstruction_1=XDF_001_610.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_710.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_710.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_710.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_001_710.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_001_710.html RuleExpr_7=((rho<9) or (rho>14)) RuleResule_7=2 RuleParam_7= RuleInstruction_7=XDF_001_710.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_001_710.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or (rho<9) or (rho>14) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_001_710.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (rho>=9) and (rho<=14) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_001_720.xml RuleInstruction_12=XDF_001_720.html [XDF_001_720.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_620.xml RuleInstruction_1=XDF_001_620.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_001_720.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_001_720.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_001_720.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_001_720.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_001_720.html RuleExpr_7=((rho<20) or (rho>55)) RuleResule_7=2 RuleParam_7= RuleInstruction_7=XDF_001_720.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_001_720.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or (rho<35) or (rho>45) or ((abs(dock_radialspeed)>radialspeed_c2) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_001_720.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (rho>=35) and (rho<=45) and (abs(dock_radialspeed)<=radialspeed_c2) RuleResule_12=3 RuleParam_12=XDF_002_010.xml RuleInstruction_12=XDF_002_010.html [XDF_002_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_710.xml RuleInstruction_1=XDF_001_710.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_002_010.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_002_010.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) RuleResule_11=3 RuleParam_11=XDF_002_011.xml RuleInstruction_11=XDF_002_011.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) RuleResule_12=3 RuleParam_12=XDF_002_020.xml RuleInstruction_12=XDF_002_020.html [XDF_002_011.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_001_720.xml RuleInstruction_1=XDF_001_720.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_002_011.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_002_011.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) RuleResule_11=3 RuleParam_11=XDF_002_010.xml RuleInstruction_11=XDF_002_010.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) RuleResule_12=3 RuleParam_12=XDF_002_020.xml RuleInstruction_12=XDF_002_020.html [XDF_002_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_002_010.xml RuleInstruction_1=XDF_002_010.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_002_020.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_002_020.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) RuleResule_11=3 RuleParam_11=XDF_002_021.xml RuleInstruction_11=XDF_002_021.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) RuleResule_12=3 RuleParam_12=XDF_002_030.xml RuleInstruction_12=XDF_002_030.html [XDF_002_021.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_002_011.xml RuleInstruction_1=XDF_002_011.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_002_021.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_002_021.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) RuleResule_11=3 RuleParam_11=XDF_002_020.xml RuleInstruction_11=XDF_002_020.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) RuleResule_12=3 RuleParam_12=XDF_002_030.xml RuleInstruction_12=XDF_002_030.html [XDF_002_030.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_002_020.xml RuleInstruction_1=XDF_002_020.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_002_030.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_002_030.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) RuleResule_11=3 RuleParam_11=XDF_002_031.xml RuleInstruction_11=XDF_002_031.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) RuleResule_12=3 RuleParam_12=XDF_002_040.xml RuleInstruction_12=XDF_002_040.html [XDF_002_031.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_002_021.xml RuleInstruction_1=XDF_002_021.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_002_031.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_002_031.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) RuleResule_11=3 RuleParam_11=XDF_002_030.xml RuleInstruction_11=XDF_002_030.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) RuleResule_12=3 RuleParam_12=XDF_002_040.xml RuleInstruction_12=XDF_002_040.html [XDF_002_040.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_002_030.xml RuleInstruction_1=XDF_002_030.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_002_040.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_002_040.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) RuleResule_11=3 RuleParam_11=XDF_002_041.xml RuleInstruction_11=XDF_002_041.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) RuleResule_12=3 RuleParam_12=XDF_002_110.xml RuleInstruction_12=XDF_002_110.html [XDF_002_041.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_002_031.xml RuleInstruction_1=XDF_002_031.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_002_041.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_002_041.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) RuleResule_11=3 RuleParam_11=XDF_002_040.xml RuleInstruction_11=XDF_002_040.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) RuleResule_12=3 RuleParam_12=XDF_002_110.xml RuleInstruction_12=XDF_002_110.html [XDF_002_110.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_002_040.xml RuleInstruction_1=XDF_002_040.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_002_110.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_002_110.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_002_110.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_002_110.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_002_120.xml RuleInstruction_12=XDF_002_120.html [XDF_002_120.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_002_041.xml RuleInstruction_1=XDF_002_041.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_002_120.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_002_120.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_002_120.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_002_120.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_002_130.xml RuleInstruction_12=XDF_002_130.html [XDF_002_130.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_002_110.xml RuleInstruction_1=XDF_002_110.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_002_130.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_002_130.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_002_130.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_002_130.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_002_140.xml RuleInstruction_12=XDF_002_140.html [XDF_002_140.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_002_120.xml RuleInstruction_1=XDF_002_120.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_002_140.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_002_140.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_002_140.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_002_140.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) RuleResule_12=3 RuleParam_12=XDF_005_010.xml RuleInstruction_12=XDF_005_010.html [XDF_005_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_002_130.xml RuleInstruction_1=XDF_002_130.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_005_010.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_005_010.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_005_010.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_005_010.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_005_010.html RuleExpr_7=rho>40 RuleResule_7=2 RuleParam_7= RuleInstruction_7=XDF_005_010.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_005_010.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_005_010.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_005_010.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c2) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_005_010.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c2) RuleResule_12=3 RuleParam_12=XDF_005_020.xml RuleInstruction_12=XDF_005_020.html [XDF_005_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_002_140.xml RuleInstruction_1=XDF_002_140.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_005_020.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_005_020.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_005_020.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_005_020.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_005_020.html RuleExpr_7=rho>40 RuleResule_7=2 RuleParam_7= RuleInstruction_7=XDF_005_020.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_005_020.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_005_020.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_005_020.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c2) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_005_020.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c2) RuleResule_12=3 RuleParam_12=XDF_005_110.xml RuleInstruction_12=XDF_005_110.html [XDF_005_110.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_005_010.xml RuleInstruction_1=XDF_005_010.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_005_110.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_005_110.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_005_110.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_005_110.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_005_110.html RuleExpr_7=rho>35 RuleResule_7=2 RuleParam_7= RuleInstruction_7=XDF_005_110.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_005_110.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_005_110.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_005_110.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c2) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_005_110.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c2) RuleResule_12=3 RuleParam_12=XDF_005_120.xml RuleInstruction_12=XDF_005_120.html [XDF_005_120.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_005_020.xml RuleInstruction_1=XDF_005_020.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_005_120.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_005_120.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_005_120.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_005_120.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_005_120.html RuleExpr_7=rho>35 RuleResule_7=2 RuleParam_7= RuleInstruction_7=XDF_005_120.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_005_120.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_005_120.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_005_120.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c2) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_005_120.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c2) RuleResule_12=3 RuleParam_12=XDF_005_210.xml RuleInstruction_12=XDF_005_210.html [XDF_005_210.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_005_110.xml RuleInstruction_1=XDF_005_110.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_005_210.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_005_210.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_005_210.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_005_210.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_005_210.html RuleExpr_7=rho>18 RuleResule_7=2 RuleParam_7= RuleInstruction_7=XDF_005_210.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_005_210.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_005_210.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_005_210.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c2) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_005_210.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c2) RuleResule_12=3 RuleParam_12=XDF_005_220.xml RuleInstruction_12=XDF_005_220.html [XDF_005_220.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_005_120.xml RuleInstruction_1=XDF_005_120.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_005_220.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_005_220.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_005_220.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_005_220.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_005_220.html RuleExpr_7=rho>18 RuleResule_7=2 RuleParam_7= RuleInstruction_7=XDF_005_220.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_005_220.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_005_220.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_005_220.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c2) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_005_220.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c2) RuleResule_12=3 RuleParam_12=XDF_010_010.xml RuleInstruction_12=XDF_010_010.html [XDF_010_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_005_210.xml RuleInstruction_1=XDF_005_210.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_010_010.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_010_010.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_010_010.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_010_010.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_010_010.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_010_010.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_010_010.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_010_010.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c2) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_010_010.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c2) RuleResule_12=3 RuleParam_12=XDF_010_020.xml RuleInstruction_12=XDF_010_020.html [XDF_010_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_005_220.xml RuleInstruction_1=XDF_005_220.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_010_020.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_010_020.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_010_020.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_010_020.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_010_020.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_010_020.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_010_020.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_010_020.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c2) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_010_020.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c2) RuleResule_12=3 RuleParam_12=XDF_010_110.xml RuleInstruction_12=XDF_010_110.html [XDF_010_110.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_010_010.xml RuleInstruction_1=XDF_010_010.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_010_110.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_010_110.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_010_110.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_010_110.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_010_110.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_010_110.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_010_110.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_010_110.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c2) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_010_110.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c2) RuleResule_12=3 RuleParam_12=XDF_010_120.xml RuleInstruction_12=XDF_010_120.html [XDF_010_120.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_010_020.xml RuleInstruction_1=XDF_010_020.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_010_120.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_010_120.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_010_120.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_010_120.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_010_120.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_010_120.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_010_120.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_010_120.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c2) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_010_120.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c2) RuleResule_12=3 RuleParam_12=XDF_020_010.xml RuleInstruction_12=XDF_020_010.html [XDF_020_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_010_110.xml RuleInstruction_1=XDF_010_110.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_020_010.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_020_010.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_020_010.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_020_010.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_020_010.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_020_010.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_020_010.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_020_010.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_020_010.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_020_050.xml RuleInstruction_12=XDF_020_050.html [XDF_020_050.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_010_120.xml RuleInstruction_1=XDF_010_120.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_020_050.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_020_050.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_020_050.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_020_050.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_020_050.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_020_050.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_020_050.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_020_050.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_020_050.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_021_010.xml RuleInstruction_12=XDF_021_010.html [XDF_021_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_020_010.xml RuleInstruction_1=XDF_020_010.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_021_010.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_021_010.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_021_010.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_021_010.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_021_010.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_021_010.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_021_010.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_021_010.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_021_010.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_021_020.xml RuleInstruction_12=XDF_021_020.html [XDF_021_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_020_050.xml RuleInstruction_1=XDF_020_050.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_021_020.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_021_020.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_021_020.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_021_020.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_021_020.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_021_020.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_021_020.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_021_020.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_021_020.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_021_110.xml RuleInstruction_12=XDF_021_110.html [XDF_021_110.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_021_010.xml RuleInstruction_1=XDF_021_010.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_021_110.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_021_110.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_021_110.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_021_110.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_021_110.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_021_110.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_021_110.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_021_110.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_021_110.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_021_120.xml RuleInstruction_12=XDF_021_120.html [XDF_021_120.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_021_020.xml RuleInstruction_1=XDF_021_020.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_021_120.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_021_120.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_021_120.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_021_120.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_021_120.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_021_120.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_021_120.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_021_120.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_021_120.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_022_010.xml RuleInstruction_12=XDF_022_010.html [XDF_022_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_021_110.xml RuleInstruction_1=XDF_021_110.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_022_010.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_022_010.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_022_010.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_022_010.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_022_010.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_022_010.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_022_010.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_022_010.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_022_010.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_022_020.xml RuleInstruction_12=XDF_022_020.html [XDF_022_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_021_120.xml RuleInstruction_1=XDF_021_120.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_022_020.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_022_020.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_022_020.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_022_020.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_022_020.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_022_020.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_022_020.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_022_020.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_022_020.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_023_010.xml RuleInstruction_12=XDF_023_010.html [XDF_023_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_022_010.xml RuleInstruction_1=XDF_022_010.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_023_010.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_023_010.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_023_010.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_023_010.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_023_010.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_023_010.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_023_010.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_023_010.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_023_010.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_023_020.xml RuleInstruction_12=XDF_023_020.html [XDF_023_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_022_020.xml RuleInstruction_1=XDF_022_020.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_023_020.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_023_020.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_023_020.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_023_020.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_023_020.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_023_020.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_023_020.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_023_020.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_023_020.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_025_010.xml RuleInstruction_12=XDF_025_010.html [XDF_025_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_023_010.xml RuleInstruction_1=XDF_023_010.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_025_010.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_025_010.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_025_010.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_025_010.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_025_010.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_025_010.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_025_010.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_025_010.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_025_010.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_025_020.xml RuleInstruction_12=XDF_025_020.html [XDF_025_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_023_020.xml RuleInstruction_1=XDF_023_020.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_025_020.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_025_020.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_025_020.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_025_020.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_025_020.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_025_020.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_025_020.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_025_020.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_025_020.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_041_020.xml RuleInstruction_12=XDF_041_020.html [XDF_041_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_025_010.xml RuleInstruction_1=XDF_025_010.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_041_020.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_041_020.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_041_020.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_041_020.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_041_020.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_041_020.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_041_020.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_041_020.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_041_020.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_050_010.xml RuleInstruction_12=XDF_050_010.html [XDF_050_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_025_020.xml RuleInstruction_1=XDF_025_020.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_050_010.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_050_010.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_050_010.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_050_010.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_050_010.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_050_010.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_050_010.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_050_010.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_050_010.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_050_020.xml RuleInstruction_12=XDF_050_020.html [XDF_050_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_041_020.xml RuleInstruction_1=XDF_041_020.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_050_020.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_050_020.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_050_020.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_050_020.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_050_020.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_050_020.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_050_020.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_050_020.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_050_020.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_050_110.xml RuleInstruction_12=XDF_050_110.html [XDF_050_110.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_050_010.xml RuleInstruction_1=XDF_050_010.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_050_110.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_050_110.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_050_110.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_050_110.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_050_110.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_050_110.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_050_110.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_050_110.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_050_110.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_050_120.xml RuleInstruction_12=XDF_050_120.html [XDF_050_120.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_050_020.xml RuleInstruction_1=XDF_050_020.html RuleExpr_2=(abs(phi1_d)>phi_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2=XDF_050_120.html RuleExpr_3=(abs(teta1_d)>teta_c3) RuleResule_3=2 RuleParam_3= RuleInstruction_3=XDF_050_120.html RuleExpr_4=(abs(gamma) > gamma_c3) RuleResule_4=2 RuleParam_4= RuleInstruction_4=XDF_050_120.html RuleExpr_5=(abs(phi2_d)>phi_c3) RuleResule_5=2 RuleParam_5= RuleInstruction_5=XDF_050_120.html RuleExpr_6=(abs(teta2_d)>teta_c3) RuleResule_6=2 RuleParam_6= RuleInstruction_6=XDF_050_120.html RuleExpr_8=(abs(dock_drift)>drift_c3) RuleResule_8=2 RuleParam_8= RuleInstruction_8=XDF_050_120.html RuleExpr_9=(abs(dock_radialspeed)>radialspeed_c3) RuleResule_9=2 RuleParam_9= RuleInstruction_9=XDF_050_120.html RuleExpr_10=collisions>0 RuleResule_10=2 RuleParam_10= RuleInstruction_10=XDF_050_120.html RuleExpr_11=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3)) or ((abs(gamma)>gamma_c1) and (abs(gamma)<=gamma_c3)) or ((abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3)) or ((abs(dock_drift)>drift_c1) and (abs(dock_drift)<=drift_c3)) or ((abs(dock_radialspeed)>radialspeed_c1) and (abs(dock_radialspeed)<=radialspeed_c3)) RuleResule_11=2 RuleParam_11= RuleInstruction_11=XDF_050_120.html RuleExpr_12=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) and (abs(dock_drift)<=drift_c1) and (abs(dock_radialspeed)<=radialspeed_c1) RuleResule_12=3 RuleParam_12=XDF_060_010.xml RuleInstruction_12=XDF_060_010.html [XDF_060_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_050_110.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_060_020.xml RuleInstruction_4= [XDF_060_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_050_120.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_060_110.xml RuleInstruction_4= [XDF_060_110.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_060_010.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_060_120.xml RuleInstruction_4= [XDF_060_120.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_060_020.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_101_011.xml RuleInstruction_4= [XDF_101_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_060_110.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_101_021.xml RuleInstruction_4= [XDF_101_011.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_060_120.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_101_021.xml RuleInstruction_4= [XDF_101_021.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_101_010.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_101_111.xml RuleInstruction_4= [XDF_101_110.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_101_011.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_101_121.xml RuleInstruction_4= [XDF_101_111.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_101_021.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_101_121.xml RuleInstruction_4= [XDF_101_121.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_101_110.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_101_211.xml RuleInstruction_4= [XDF_101_210.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_101_011.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_101_221.xml RuleInstruction_4= [XDF_101_211.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_101_121.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_101_221.xml RuleInstruction_4= [XDF_101_221.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_101_210.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_102_011.xml RuleInstruction_4= [XDF_102_011.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_101_211.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_102_021.xml RuleInstruction_4= [XDF_102_021.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_101_221.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_102_111.xml RuleInstruction_4= [XDF_102_111.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_102_011.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_102_121.xml RuleInstruction_4= [XDF_102_121.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_102_021.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_102_211.xml RuleInstruction_4= [XDF_102_211.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_102_021.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_102_221.xml RuleInstruction_4= [XDF_102_221.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_102_111.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_103_011.xml RuleInstruction_4= [XDF_103_011.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_102_211.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_103_021.xml RuleInstruction_4= [XDF_103_021.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_102_221.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_103_111.xml RuleInstruction_4= [XDF_103_111.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_103_011.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_103_121.xml RuleInstruction_4= [XDF_103_121.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_103_021.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_103_211.xml RuleInstruction_4= [XDF_103_211.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_103_111.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_103_221.xml RuleInstruction_4= [XDF_103_221.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_103_121.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_010.xml RuleInstruction_4= [XDF_120_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_103_211.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_015.xml RuleInstruction_4= [XDF_120_015.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_103_221.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_020.xml RuleInstruction_4= [XDF_120_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_010.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_025.xml RuleInstruction_4= [XDF_120_021.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_015.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_025.xml RuleInstruction_4= [XDF_120_025.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_020.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_030.xml RuleInstruction_4= [XDF_120_030.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_021.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_035.xml RuleInstruction_4= [XDF_120_035.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_025.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_040.xml RuleInstruction_4= [XDF_120_040.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_030.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_045.xml RuleInstruction_4= [XDF_120_045.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_035.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_050.xml RuleInstruction_4= [XDF_120_050.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_040.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_055.xml RuleInstruction_4= [XDF_120_055.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_045.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_060.xml RuleInstruction_4= [XDF_120_060.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_050.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_120_065.xml RuleInstruction_4= [XDF_120_065.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_055.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_121_010.xml RuleInstruction_4= [XDF_121_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_060.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_121_015.xml RuleInstruction_4= [XDF_121_015.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_120_065.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_121_020.xml RuleInstruction_4= [XDF_121_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_121_010.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_121_025.xml RuleInstruction_4= [XDF_121_025.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_121_015.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_121_030.xml RuleInstruction_4= [XDF_121_030.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_121_020.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_121_035.xml RuleInstruction_4= [XDF_121_035.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_121_025.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_121_040.xml RuleInstruction_4= [XDF_121_040.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_121_030.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_121_045.xml RuleInstruction_4= [XDF_121_045.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_121_035.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_121_050.xml RuleInstruction_4= [XDF_121_050.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_121_040.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_121_055.xml RuleInstruction_4= [XDF_121_055.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_121_045.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_121_060.xml RuleInstruction_4= [XDF_121_060.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_121_050.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_121_065.xml RuleInstruction_4= [XDF_121_065.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_121_055.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_122_010.xml RuleInstruction_4= [XDF_122_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_121_060.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_122_015.xml RuleInstruction_4= [XDF_122_015.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_121_065.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_122_020.xml RuleInstruction_4= [XDF_122_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_122_010.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_122_025.xml RuleInstruction_4= [XDF_122_025.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_122_015.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_122_030.xml RuleInstruction_4= [XDF_122_030.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_122_020.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_122_035.xml RuleInstruction_4= [XDF_122_035.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_122_025.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_122_040.xml RuleInstruction_4= [XDF_122_040.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_122_030.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_122_045.xml RuleInstruction_4= [XDF_122_045.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_122_035.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_122_050.xml RuleInstruction_4= [XDF_122_050.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_122_040.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_122_055.xml RuleInstruction_4= [XDF_122_055.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_122_045.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_122_060.xml RuleInstruction_4= [XDF_122_060.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_122_050.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_122_065.xml RuleInstruction_4= [XDF_122_065.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_122_055.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_130_010.xml RuleInstruction_4= [XDF_130_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_122_060.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_130_020.xml RuleInstruction_4= [XDF_130_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_122_065.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_130_030.xml RuleInstruction_4= [XDF_130_030.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_130_010.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_130_040.xml RuleInstruction_4= [XDF_130_040.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_130_020.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_130_050.xml RuleInstruction_4= [XDF_130_050.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_130_030.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_130_060.xml RuleInstruction_4= [XDF_130_060.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_130_040.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_130_070.xml RuleInstruction_4= [XDF_130_070.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_130_050.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_130_080.xml RuleInstruction_4= [XDF_130_080.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_130_060.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_131_010.xml RuleInstruction_4= [XDF_131_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_130_070.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_131_020.xml RuleInstruction_4= [XDF_131_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_130_080.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_131_030.xml RuleInstruction_4= [XDF_131_030.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_131_010.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_131_040.xml RuleInstruction_4= [XDF_131_040.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_131_020.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_131_050.xml RuleInstruction_4= [XDF_131_050.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_131_030.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_131_060.xml RuleInstruction_4= [XDF_131_060.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_131_040.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_131_070.xml RuleInstruction_4= [XDF_131_070.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_131_050.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_131_080.xml RuleInstruction_4= [XDF_131_080.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_131_060.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_132_010.xml RuleInstruction_4= [XDF_132_010.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_131_070.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_132_020.xml RuleInstruction_4= [XDF_132_020.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_131_080.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_132_030.xml RuleInstruction_4= [XDF_132_030.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_132_010.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_132_040.xml RuleInstruction_4= [XDF_132_040.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_132_020.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_132_050.xml RuleInstruction_4= [XDF_132_050.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_132_030.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_132_060.xml RuleInstruction_4= [XDF_132_060.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_132_040.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_132_070.xml RuleInstruction_4= [XDF_132_070.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_132_050.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_132_080.xml RuleInstruction_4= [XDF_132_080.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_132_060.xml RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_001_010.xml RuleInstruction_4= [XDF_develop_01.xml] RuleExpr_1=task_pos=0 RuleResule_1=3 RuleParam_1=XDF_101_010 RuleInstruction_1= RuleExpr_2=(abs(phi1_d)>phi_c3) or (abs(teta1_d)>teta_c3) or (abs(phi2_d)>phi_c3) or (abs(teta2_d)>teta_c3) or (abs(gamma) > gamma_c3) RuleResule_2=2 RuleParam_2= RuleInstruction_2= RuleExpr_3=((abs(phi1_d)>phi_c1) and (abs(phi1_d)<=phi_c3)) or ((abs(teta1_d)>teta_c1) and (abs(teta1_d)<=teta_c3) or (abs(gamma)>gamma_c1) and (abs(gamma)<= gamma_c3)or (abs(phi2_d)>phi_c1) and (abs(phi2_d)<=phi_c3)) or ((abs(teta2_d)>teta_c1) and (abs(teta2_d)<=teta_c3) ) RuleResule_3=2 RuleParam_3= RuleInstruction_3= RuleExpr_4=(abs(phi1_d)<=phi_c1) and (abs(teta1_d)<=teta_c1) and (abs(gamma) <= gamma_c1) and (abs(phi2_d)<=phi_c1) and (abs(teta2_d)<=teta_c1) RuleResule_4=3 RuleParam_4=XDF_001_010.xml RuleInstruction_4= [CONSTANTS] drift_c1=0,05 drift_c2=0,1 drift_c3=0,2 radialspeed_c1=0,17 radialspeed_c2=0,3 radialspeed_c3=0,6 phi1_max=5 gamma_max=5 phi_beginners=10 phi2_max=2 teta1_max=5 teta2_max=5 GuestTask=100 phi_c1=3 phi_c2=6 phi_c3=10 teta_c1=3 teta_c2=6 teta_c3=10 gamma_c1=5 gamma_c2=8 gamma_c3=10