p

r

o

g

r

a

m

e

n

s

h

u

1

4

r

k

g

1

f

i

m

p

l

i

c

i

t

n

o

n

e

i

n

t

e

g

e

r

,

p

a

r

a

m

e

t

e

r

:

:

k

o

s

u

u

=

1

6

r

e

a

l

,

d

i

m

e

n

s

i

o

n

(

0

:

k

o

s

u

u

)

:

:

t

,

v

r

k

g

,

x

r

k

g

r

e

a

l

:

:

d

t

,

k

1

v

,

k

2

v

,

k

3

v

,

k

4

v

,

k

1

x

,

k

2

x

,

k

3

x

,

k

4

x

r

e

a

l

,

p

a

r

a

m

e

t

e

r

:

:

t

_

k

a

i

s

h

i

=

0

.

0

,

t

_

s

h

u

r

y

o

=

2

.

0

i

n

t

e

g

e

r

:

:

i

r

e

a

l

,

p

a

r

a

m

e

t

e

r

:

:

p

i

=

4

.

0

*

a

t

a

n

(

1

.

0

)

,

p

i

2

j

o

=

p

i

*

*

2

d

t

=

(

t

_

s

h

u

r

y

o

-

t

_

k

a

i

s

h

i

)

/

r

e

a

l

(

k

o

s

u

u

)

d

o

i

=

0

,

k

o

s

u

u

t

(

i

)

=

t

_

k

a

i

s

h

i

+

d

t

*

r

e

a

l

(

i

)

e

n

d

d

o

v

r

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(

0

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=

p

i

x

r

k

g

(

0

)

=

0

.

0

d

o

i

=

0

,

k

o

s

u

u

-

1

k

1

v

=

d

t

*

d

v

d

t

(

x

r

k

g

(

i

)

)

k

1

x

=

d

t

*

d

x

d

t

(

v

r

k

g

(

i

)

)

k

2

v

=

d

t

*

d

v

d

t

(

x

r

k

g

(

i

)

+

0

.

5

*

k

1

x

)

k

2

x

=

d

t

*

d

x

d

t

(

v

r

k

g

(

i

)

+

0

.

5

*

k

1

v

)

k

3

v

=

d

t

*

d

v

d

t

(

x

r

k

g

(

i

)

+

(

s

q

r

t

(

0

.

5

)

-

0

.

5

)

*

k

1

x

+

(

1

.

0

-

s

q

r

t

(

0

.

5

)

)

*

k

2

x

)

k

3

x

=

d

t

*

d

x

d

t

(

v

r

k

g

(

i

)

+

(

s

q

r

t

(

0

.

5

)

-

0

.

5

)

*

k

1

v

+

(

1

.

0

-

s

q

r

t

(

0

.

5

)

)

*

k

2

v

)

k

4

v

=

d

t

*

d

v

d

t

(

x

r

k

g

(

i

)

-

s

q

r

t

(

0

.

5

)

*

k

2

x

+

(

1

.

0

+

s

q

r

t

(

0

.

5

)

)

*

k

3

x

)

k

4

x

=

d

t

*

d

x

d

t

(

v

r

k

g

(

i

)

-

s

q

r

t

(

0

.

5

)

*

k

2

v

+

(

1

.

0

+

s

q

r

t

(

0

.

5

)

)

*

k

3

v

)

v

r

k

g

(

i

+

1

)

=

v

r

k

g

(

i

)

+

(

k

1

v

+

(

2

.

0

-

s

q

r

t

(

2

.

0

)

)

*

k

2

v

+

(

2

.

0

+

s

q

r

t

(

2

.

0

)

)

*

k

3

v

+

k

4

v

)

/

6

.

0

x

r

k

g

(

i

+

1

)

=

x

r

k

g

(

i

)

+

(

k

1

x

+

(

2

.

0

-

s

q

r

t

(

2

.

0

)

)

*

k

2

x

+

(

2

.

0

+

s

q

r

t

(

2

.

0

)

)

*

k

3

x

+

k

4

x

)

/

6

.

0

e

n

d

d

o

d

o

i

=

0

,

k

o

s

u

u

w

r

i

t

e

(

*

,

*

)

t

(

i

)

,

v

r

k

g

(

i

)

,

x

r

k

g

(

i

)

e

n

d

d

o

c

o

n

t

a

i

n

s

f

u

n

c

t

i

o

n

d

v

d

t

(

x

)

r

e

a

l

,

i

n

t

e

n

t

(

i

n

)

:

:

x

r

e

a

l

:

:

d

v

d

t

d

v

d

t

=

-

p

i

2

j

o

*

x

e

n

d

f

u

n

c

t

i

o

n

d

v

d

t

f

u

n

c

t

i

o

n

d

x

d

t

(

v

)

r

e

a

l

,

i

n

t

e

n

t

(

i

n

)

:

:

v

r

e

a

l

:

:

d

x

d

t

d

x

d

t

=

v

e

n

d

f

u

n

c

t

i

o

n

d

x

d

t

e

n

d

p

r

o

g

r

a

m

e

n

s

h

u

1

4

r

k

g

1

f