0,0,0,0,0,0,0,0,0,0,0,0,0,-1,0,0;
0,0,0,0,0,0,0,0,0,0,0,0,0,0,-1,0;0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,-1;
];
B = [0,0,0,0,0,0,0.35,0.35,0.35,0.35,0.35,0.35,0,1,0,0.5,0,0,0,0,0,0,0,0...0,0,0,0,0,0,0,0,0,0,0,0,0,-1,0,0;
0,0,0,0,0,0,0,0,0,0,0,0,0,0,-1,0;0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,-1;
];
B = [0,0,0,0,0,0,0.35,0.35,0.35,0.35,0.35,0.35,0,1,0,0.5,0,0,0,0,0,0,0,0