Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_trunk_ModelicaTest.Blocks.KinematicPTP.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo", uses=false)
Using package ModelicaTest with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo)
Using package Modelica with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo)
Using package Complex with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo)
Using package ModelicaServices with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo)
Running command: "" <> buildModelFMU(ModelicaTest.Blocks.KinematicPTP,fileNamePrefix="ModelicaTest_trunk_ModelicaTest_Blocks_KinematicPTP",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(ModelicaTest.Blocks.KinematicPTP,fileNamePrefix="ModelicaTest_trunk_ModelicaTest_Blocks_KinematicPTP",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.001545/0.001545, allocations: 118.8 kB / 17.79 MB, free: 5.277 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001876/0.001876, allocations: 197.2 kB / 18.73 MB, free: 4.34 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.407/1.407, allocations: 227.4 MB / 246.9 MB, free: 10.47 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo): time 0.2187/0.2187, allocations: 46.11 MB / 344.3 MB, free: 11.5 MB / 286.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001514/0.001514, allocations: 79.86 kB / 480.8 MB, free: 4.566 MB / 350.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.3305/0.332, allocations: 62.43 MB / 0.5305 GB, free: 13.41 MB / 398.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.Blocks.KinematicPTP): time 0.003407/0.3355, allocations: 2.42 MB / 0.5329 GB, free: 11.49 MB / 398.1 MB
Notification: Performance of NFInst.instExpressions: time 0.001733/0.3372, allocations: 0.9748 MB / 0.5338 GB, free: 10.7 MB / 398.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0001684/0.3374, allocations: 13.38 kB / 0.5338 GB, free: 10.69 MB / 398.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.0004027/0.3378, allocations: 111.3 kB / 0.5339 GB, free: 10.61 MB / 398.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.0002227/0.3381, allocations: 105.1 kB / 0.534 GB, free: 10.53 MB / 398.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0007285/0.3388, allocations: 280.6 kB / 0.5343 GB, free: 10.29 MB / 398.1 MB
Notification: Performance of NFFlatten.flatten: time 0.0006954/0.3395, allocations: 0.7153 MB / 0.535 GB, free: 9.867 MB / 398.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0001589/0.3397, allocations: 73.67 kB / 0.5351 GB, free: 9.828 MB / 398.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0003355/0.34, allocations: 301 kB / 0.5354 GB, free: 9.641 MB / 398.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0003835/0.3404, allocations: 330 kB / 0.5357 GB, free: 9.406 MB / 398.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.0001314/0.3406, allocations: 64.06 kB / 0.5357 GB, free: 9.402 MB / 398.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.0001244/0.3407, allocations: 58.94 kB / 0.5358 GB, free: 9.402 MB / 398.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.0003126/0.341, allocations: 189.1 kB / 0.536 GB, free: 9.258 MB / 398.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.0003023/0.3414, allocations: 244.2 kB / 0.5362 GB, free: 9.059 MB / 398.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.0007312/0.3421, allocations: 0.5509 MB / 0.5367 GB, free: 8.637 MB / 398.1 MB
Notification: Performance of FrontEnd - DAE generated: time 3.907e-06/0.3421, allocations: 1.188 kB / 0.5367 GB, free: 8.637 MB / 398.1 MB
Notification: Performance of FrontEnd: time 1.603e-06/0.3421, allocations: 0 / 0.5367 GB, free: 8.637 MB / 398.1 MB
Notification: Performance of Transformations before backend: time 1.857e-05/0.3422, allocations: 0 / 0.5367 GB, free: 8.637 MB / 398.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 100
 * Number of variables: 100
Notification: Performance of Generate backend data structure: time 0.003051/0.3452, allocations: 0.9348 MB / 0.5377 GB, free: 7.922 MB / 398.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.634e-05/0.3453, allocations: 9.594 kB / 0.5377 GB, free: 7.922 MB / 398.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.0001529/0.3454, allocations: 86.94 kB / 0.5377 GB, free: 7.844 MB / 398.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0001795/0.3456, allocations: 61.81 kB / 0.5378 GB, free: 7.82 MB / 398.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0008396/0.3465, allocations: 390.3 kB / 0.5382 GB, free: 7.473 MB / 398.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004731/0.347, allocations: 262.6 kB / 0.5384 GB, free: 7.242 MB / 398.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.0001344/0.3471, allocations: 46.78 kB / 0.5385 GB, free: 7.223 MB / 398.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.002727/0.3499, allocations: 0.8048 MB / 0.5393 GB, free: 6.703 MB / 398.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 2.875e-05/0.3499, allocations: 9.938 kB / 0.5393 GB, free: 6.695 MB / 398.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 8.268e-05/0.35, allocations: 16.44 kB / 0.5393 GB, free: 6.684 MB / 398.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 1.699e-05/0.35, allocations: 10.53 kB / 0.5393 GB, free: 6.684 MB / 398.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.004756/0.3548, allocations: 1.201 MB / 0.5405 GB, free: 6.141 MB / 398.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.004198/0.359, allocations: 2.027 MB / 0.5424 GB, free: 4.402 MB / 398.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.00401/0.363, allocations: 0.8284 MB / 0.5433 GB, free: 3.988 MB / 398.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.001778/0.3648, allocations: 494.8 kB / 0.5437 GB, free: 3.738 MB / 398.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 7.799e-05/0.3649, allocations: 7.312 kB / 0.5437 GB, free: 3.738 MB / 398.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 3.383e-05/0.365, allocations: 49.31 kB / 0.5438 GB, free: 3.684 MB / 398.1 MB
Notification: Performance of pre-optimization done (n=64): time 2.435e-06/0.365, allocations: 0 / 0.5438 GB, free: 3.684 MB / 398.1 MB
Notification: Performance of matching and sorting (n=120): time 0.09805/0.4631, allocations: 15.75 MB / 0.5592 GB, free: 3.988 MB / 414.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 6.853e-05/0.4632, allocations: 106.1 kB / 0.5593 GB, free: 3.863 MB / 414.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0005089/0.4637, allocations: 385.5 kB / 0.5596 GB, free: 3.473 MB / 414.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.0001655/0.4639, allocations: 45.7 kB / 0.5597 GB, free: 3.422 MB / 414.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.000174/0.464, allocations: 225 kB / 0.5599 GB, free: 3.195 MB / 414.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0004174/0.4645, allocations: 394.1 kB / 0.5603 GB, free: 2.805 MB / 414.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0006134/0.4651, allocations: 202.8 kB / 0.5605 GB, free: 2.598 MB / 414.1 MB
Notification: Performance of setup shared object (initialization): time 0.0001702/0.4653, allocations: 370.8 kB / 0.5608 GB, free: 2.227 MB / 414.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.003498/0.4688, allocations: 1.342 MB / 0.5621 GB, free: 0.8867 MB / 414.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.003567/0.4724, allocations: 1.497 MB / 0.5636 GB, free: 15.34 MB / 430.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.006429/0.4788, allocations: 2.445 MB / 0.566 GB, free: 12.86 MB / 430.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 8.926e-06/0.4788, allocations: 8 kB / 0.566 GB, free: 12.85 MB / 430.1 MB
Notification: Performance of matching and sorting (n=148) (initialization): time 0.00755/0.4864, allocations: 2.822 MB / 0.5687 GB, free: 10.02 MB / 430.1 MB
Notification: Performance of prepare postOptimizeDAE: time 2.79e-05/0.4864, allocations: 8 kB / 0.5687 GB, free: 10.01 MB / 430.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 1.598e-05/0.4865, allocations: 8.25 kB / 0.5687 GB, free: 10 MB / 430.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 3.633e-05/0.4865, allocations: 8 kB / 0.5688 GB, free: 9.992 MB / 430.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.002939/0.4895, allocations: 415.3 kB / 0.5692 GB, free: 9.586 MB / 430.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 3.178e-05/0.4895, allocations: 11.94 kB / 0.5692 GB, free: 9.574 MB / 430.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.002149/0.4917, allocations: 215.7 kB / 0.5694 GB, free: 9.363 MB / 430.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0001857/0.4919, allocations: 39.98 kB / 0.5694 GB, free: 9.324 MB / 430.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 14
 * Number of states: 0 ()
 * Number of discrete variables: 10 (kinematicPTP2a.noWphase,kinematicPTP2b.noWphase,kinematicPTP2b.moving[1],kinematicPTP1a.noWphase,kinematicPTP1b.noWphase,kinematicPTP1b.moving[1],integrator3.local_reset,integrator2.local_reset,integrator1.local_reset,integrator.local_reset)
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (148):
 * Single equations (assignments): 148
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 0
 * Mixed (continuous/discrete) equation systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.0005281/0.4924, allocations: 234.8 kB / 0.5696 GB, free: 9.086 MB / 430.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0002562/0.4926, allocations: 63.25 kB / 0.5697 GB, free: 9.023 MB / 430.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0002467/0.4929, allocations: 104.7 kB / 0.5698 GB, free: 8.922 MB / 430.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 1.105e-05/0.4929, allocations: 12 kB / 0.5698 GB, free: 8.91 MB / 430.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 1.165e-05/0.4929, allocations: 7.938 kB / 0.5698 GB, free: 8.902 MB / 430.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 1.22e-05/0.493, allocations: 7.969 kB / 0.5698 GB, free: 8.895 MB / 430.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.01181/0.5048, allocations: 5.232 MB / 0.5749 GB, free: 3.32 MB / 430.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.072e-05/0.5048, allocations: 20 kB / 0.5749 GB, free: 3.301 MB / 430.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001571/0.5064, allocations: 355.5 kB / 0.5753 GB, free: 2.953 MB / 430.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 2.794e-05/0.5065, allocations: 28 kB / 0.5753 GB, free: 2.926 MB / 430.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0001046/0.5066, allocations: 44 kB / 0.5754 GB, free: 2.883 MB / 430.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 3.126e-05/0.5066, allocations: 39.86 kB / 0.5754 GB, free: 2.844 MB / 430.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.093e-05/0.5067, allocations: 35.81 kB / 0.5754 GB, free: 2.809 MB / 430.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.007213/0.5139, allocations: 3.089 MB / 0.5784 GB, free: 15.42 MB / 446.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0004516/0.5144, allocations: 244.3 kB / 0.5787 GB, free: 15.16 MB / 446.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0001699/0.5145, allocations: 47.98 kB / 0.5787 GB, free: 15.11 MB / 446.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.001397/0.5159, allocations: 191.8 kB / 0.5789 GB, free: 14.93 MB / 446.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0004575/0.5164, allocations: 223.2 kB / 0.5791 GB, free: 14.71 MB / 446.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0001005/0.5165, allocations: 52 kB / 0.5792 GB, free: 14.66 MB / 446.1 MB
Notification: Performance of sorting global known variables: time 0.0003577/0.5169, allocations: 267.2 kB / 0.5794 GB, free: 14.39 MB / 446.1 MB
Notification: Performance of sort global known variables: time 1.4e-07/0.5169, allocations: 0 / 0.5794 GB, free: 14.39 MB / 446.1 MB
Notification: Performance of remove unused functions: time 0.001141/0.518, allocations: 228 kB / 0.5796 GB, free: 14.17 MB / 446.1 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 94
 * Number of states: 4 (integrator2.y,integrator3.y,integrator.y,integrator1.y)
 * Number of discrete variables: 6 (kinematicPTP2b.moving[1],kinematicPTP1b.moving[1],kinematicPTP2b.noWphase,kinematicPTP2a.noWphase,kinematicPTP1b.noWphase,kinematicPTP1a.noWphase)
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (120):
 * Single equations (assignments): 120
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 0
 * Mixed (continuous/discrete) equation systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.007462/0.5255, allocations: 3.69 MB / 0.5832 GB, free: 10.17 MB / 446.1 MB
Notification: Performance of simCode: created initialization part: time 0.006004/0.5315, allocations: 2.383 MB / 0.5856 GB, free: 7.793 MB / 446.1 MB
Notification: Performance of simCode: created event and clocks part: time 1.382e-05/0.5316, allocations: 8.125 kB / 0.5856 GB, free: 7.785 MB / 446.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.003194/0.5348, allocations: 1.063 MB / 0.5866 GB, free: 6.727 MB / 446.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.001484/0.5363, allocations: 157.7 kB / 0.5868 GB, free: 6.578 MB / 446.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.02639/0.5627, allocations: 12.35 MB / 0.5988 GB, free: 9.488 MB / 462.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0007479/0.5635, allocations: 0.9319 MB / 0.5997 GB, free: 8.527 MB / 462.1 MB
Notification: Performance of simCode: alias equations: time 0.00108/0.5646, allocations: 206 kB / 0.5999 GB, free: 8.324 MB / 462.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0007424/0.5653, allocations: 219.4 kB / 0.6001 GB, free: 8.109 MB / 462.1 MB
Notification: Performance of SimCode: time 9.62e-07/0.5653, allocations: 4 kB / 0.6001 GB, free: 8.105 MB / 462.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.04928/0.6146, allocations: 22.22 MB / 0.6218 GB, free: 1.945 MB / 478.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 8.861/9.475, allocations: 6.5 kB / 0.6219 GB, free: 1.941 MB / 478.1 MB
(rm -f ModelicaTest_trunk_ModelicaTest.Blocks.KinematicPTP.pipe ; mkfifo ModelicaTest_trunk_ModelicaTest.Blocks.KinematicPTP.pipe ; head -c 1048576 < ModelicaTest_trunk_ModelicaTest.Blocks.KinematicPTP.pipe >> ../files/ModelicaTest_trunk_ModelicaTest.Blocks.KinematicPTP.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_trunk_ModelicaTest.Blocks.KinematicPTP_res.mat --tempDir=temp_ModelicaTest_trunk_ModelicaTest_Blocks_KinematicPTP_fmu --startTime=0 --stopTime=3 --timeout=50 --tolerance=1e-06 ModelicaTest_trunk_ModelicaTest_Blocks_KinematicPTP.fmu > ModelicaTest_trunk_ModelicaTest.Blocks.KinematicPTP.pipe 2>&1)
diffSimulationResults("ModelicaTest_trunk_ModelicaTest.Blocks.KinematicPTP_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/ModelicaTest/Blocks/KinematicPTP/KinematicPTP.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/ModelicaTest_trunk_ModelicaTest.Blocks.KinematicPTP.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,integrator.y,integrator1.y,integrator2.y,integrator3.y

Variables in the result:der(integrator.y),der(integrator1.y),der(integrator2.y),der(integrator3.y),diff1.u1,diff1.u2,diff1.y,diff2.u1,diff2.u2,diff2.y,integrator.initType,integrator.k,integrator.u,integrator.use_reset,integrator.use_set,integrator.y,integrator.y_start,integrator1.initType,integrator1.k,integrator1.u,integrator1.use_reset,integrator1.use_set,integrator1.y,integrator1.y_start,integrator2.initType,integrator2.k,integrator2.u,integrator2.use_reset,integrator2.use_set,integrator2.y,integrator2.y_start,integrator3.initType,integrator3.k,integrator3.u,integrator3.use_reset,integrator3.use_set,integrator3.y,integrator3.y_start,kinematicPTP1a.deltaq[1],kinematicPTP1a.nout,kinematicPTP1a.qd_max[1],kinematicPTP1a.qdd_max[1],kinematicPTP1a.startTime,kinematicPTP1a.y[1],kinematicPTP1b.endTime,kinematicPTP1b.moving[1],kinematicPTP1b.nout,kinematicPTP1b.q[1],kinematicPTP1b.q_begin[1],kinematicPTP1b.q_end[1],kinematicPTP1b.qd[1],kinematicPTP1b.qd_max[1],kinematicPTP1b.qdd[1],kinematicPTP1b.qdd_max[1],kinematicPTP1b.startTime,kinematicPTP2a.deltaq[1],kinematicPTP2a.nout,kinematicPTP2a.qd_max[1],kinematicPTP2a.qdd_max[1],kinematicPTP2a.startTime,kinematicPTP2a.y[1],kinematicPTP2b.endTime,kinematicPTP2b.moving[1],kinematicPTP2b.nout,kinematicPTP2b.q[1],kinematicPTP2b.q_begin[1],kinematicPTP2b.q_end[1],kinematicPTP2b.qd[1],kinematicPTP2b.qd_max[1],kinematicPTP2b.qdd[1],kinematicPTP2b.qdd_max[1],kinematicPTP2b.startTime,time