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# MIT License
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# Copyright 2020 Institute for Automotive Engineering of RWTH Aachen University.
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# ==============================================================================

import numpy as np

# for dataaset 1_FRLR
H = [
  np.array([[4.651574574230558e-14, 10.192351107009959, -5.36318723862984e-07], [-5.588661045867985e-07, 0.0, 2.3708767903941617], [35.30731833118676, 0.0, -1.7000018578614013]]),                                       # front
  np.array([[-5.336674306912119e-14, -10.192351107009957, 5.363187220578325e-07], [5.588660952931949e-07, 3.582264351370481e-23, 2.370876772982613], [-35.30731833118661, -2.263156574813233e-15, -0.5999981421386035]]), # rear
  np.array([[20.38470221401992, 7.562206982469407e-14, -0.28867638384075833], [-3.422067857504854e-23, 2.794330463189411e-07, 2.540225111648729], [2.1619497190382224e-15, -17.65365916559334, -0.4999990710692976]]),    # left
  np.array([[-20.38470221401991, -4.849709834037436e-15, 0.2886763838407495], [-3.4220679184765114e-23, -2.794330512976549e-07, 2.5402251116487626], [2.161949719038217e-15, 17.653659165593304, -0.5000009289306967]])   # right
]