Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.FrameTorques2.conf.json loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo", uses=false) Using package ModelicaTest with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo) Using package Modelica with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo) Using package Complex with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo) Using package ModelicaServices with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo) Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Forces.FrameTorques2,fileNamePrefix="ModelicaTest_4_0_0_ModelicaTest_MultiBody_Forces_FrameTorques2",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(ModelicaTest.MultiBody.Forces.FrameTorques2,fileNamePrefix="ModelicaTest_4_0_0_ModelicaTest_MultiBody_Forces_FrameTorques2",fmuType="me",version="2.0",platforms={"static"}) Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.0009089/0.000909, allocations: 102.2 kB / 16.99 MB, free: 5.941 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.0009469/0.0009472, allocations: 183.1 kB / 17.87 MB, free: 5.609 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.387/1.387, allocations: 223.2 MB / 241.8 MB, free: 376 kB / 190.1 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo): time 0.205/0.205, allocations: 44.22 MB / 337.1 MB, free: 2.902 MB / 270.1 MB Notification: Performance of FrontEnd - loaded program: time 0.0004388/0.000439, allocations: 16 kB / 409.6 MB, free: 27.61 MB / 302.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.1465/0.1469, allocations: 61.91 MB / 471.5 MB, free: 13.68 MB / 350.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Forces.FrameTorques2): time 0.4209/0.5679, allocations: 105.6 MB / 0.5636 GB, free: 5.238 MB / 398.1 MB Notification: Performance of NFInst.instExpressions: time 0.06391/0.6319, allocations: 23.34 MB / 0.5864 GB, free: 14.03 MB / 430.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.03498/0.6669, allocations: 0.5144 MB / 0.5869 GB, free: 13.52 MB / 430.1 MB Notification: Performance of NFTyping.typeComponents: time 0.02464/0.6916, allocations: 5.397 MB / 0.5922 GB, free: 8.094 MB / 430.1 MB Notification: Performance of NFTyping.typeBindings: time 0.06652/0.7581, allocations: 15.07 MB / 0.6069 GB, free: 8.988 MB / 446.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.01062/0.7688, allocations: 1.217 MB / 0.6081 GB, free: 7.77 MB / 446.1 MB Notification: Performance of NFFlatten.flatten: time 0.1356/0.9044, allocations: 95.71 MB / 0.7016 GB, free: 7.961 MB / 0.5294 GB Notification: Performance of NFFlatten.resolveConnections: time 0.4201/1.325, allocations: 9.718 MB / 0.7111 GB, free: 99.49 MB / 0.5294 GB Notification: Performance of NFEvalConstants.evaluate: time 0.006235/1.331, allocations: 1.966 MB / 0.713 GB, free: 99.49 MB / 0.5294 GB Notification: Performance of NFSimplifyModel.simplify: time 0.006555/1.338, allocations: 2.651 MB / 0.7156 GB, free: 99.49 MB / 0.5294 GB Notification: Performance of NFPackage.collectConstants: time 0.002543/1.34, allocations: 267.9 kB / 0.7158 GB, free: 99.49 MB / 0.5294 GB Notification: Performance of NFFlatten.collectFunctions: time 0.004836/1.345, allocations: 1.14 MB / 0.7169 GB, free: 99.49 MB / 0.5294 GB Notification: Performance of NFScalarize.scalarize: time 0.00547/1.35, allocations: 3.159 MB / 0.72 GB, free: 99.49 MB / 0.5294 GB Notification: Performance of NFVerifyModel.verify: time 0.003639/1.354, allocations: 1.555 MB / 0.7215 GB, free: 99.46 MB / 0.5294 GB Notification: Performance of NFConvertDAE.convert: time 0.01463/1.369, allocations: 10.68 MB / 0.732 GB, free: 98.18 MB / 0.5294 GB Notification: Performance of FrontEnd - DAE generated: time 3.617e-06/1.369, allocations: 1.812 kB / 0.732 GB, free: 98.18 MB / 0.5294 GB Notification: Performance of FrontEnd: time 2.044e-06/1.369, allocations: 3.906 kB / 0.732 GB, free: 98.18 MB / 0.5294 GB Notification: Performance of Transformations before backend: time 0.0005896/1.369, allocations: 0 / 0.732 GB, free: 98.18 MB / 0.5294 GB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 2607 * Number of variables: 2607 Notification: Performance of Generate backend data structure: time 0.02486/1.394, allocations: 8.21 MB / 0.74 GB, free: 93.51 MB / 0.5294 GB Notification: Performance of prepare preOptimizeDAE: time 4.965e-05/1.394, allocations: 9.25 kB / 0.74 GB, free: 93.51 MB / 0.5294 GB Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.005292/1.4, allocations: 1.242 MB / 0.7412 GB, free: 93.16 MB / 0.5294 GB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.07663/1.476, allocations: 14.16 MB / 0.755 GB, free: 87.91 MB / 0.5294 GB Notification: Performance of preOpt evaluateParameters (simulation): time 0.01663/1.493, allocations: 6.269 MB / 0.7612 GB, free: 83.75 MB / 0.5294 GB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004393/1.493, allocations: 456.9 kB / 0.7616 GB, free: 83.5 MB / 0.5294 GB Notification: Performance of preOpt expandDerOperator (simulation): time 0.003416/1.497, allocations: 0.6106 MB / 0.7622 GB, free: 83.1 MB / 0.5294 GB Notification: Performance of preOpt clockPartitioning (simulation): time 0.0413/1.538, allocations: 17.8 MB / 0.7796 GB, free: 69.18 MB / 0.5294 GB Notification: Performance of preOpt findStateOrder (simulation): time 0.0004151/1.539, allocations: 84.38 kB / 0.7797 GB, free: 69.13 MB / 0.5294 GB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.002231/1.541, allocations: 286.7 kB / 0.7799 GB, free: 69.05 MB / 0.5294 GB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.005451/1.546, allocations: 3.137 MB / 0.783 GB, free: 66.46 MB / 0.5294 GB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03183/1.578, allocations: 14.67 MB / 0.7973 GB, free: 56.12 MB / 0.5294 GB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.07778/1.656, allocations: 65.71 MB / 0.8615 GB, free: 1.59 MB / 0.5294 GB Notification: Performance of preOpt comSubExp (simulation): time 0.01735/1.673, allocations: 6.416 MB / 0.8678 GB, free: 12.32 MB / 0.545 GB Notification: Performance of preOpt evalFunc (simulation): time 0.0007198/1.674, allocations: 0.6535 MB / 0.8684 GB, free: 11.6 MB / 0.545 GB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.556e-05/1.674, allocations: 70.69 kB / 0.8685 GB, free: 11.54 MB / 0.545 GB Notification: Performance of pre-optimization done (n=231): time 5.12e-06/1.674, allocations: 0 / 0.8685 GB, free: 11.54 MB / 0.545 GB Notification: Performance of matching and sorting (n=255): time 0.08322/1.757, allocations: 28.4 MB / 0.8962 GB, free: 15.02 MB / 0.5762 GB Notification: Performance of inlineWhenForInitialization (initialization): time 0.0002257/1.758, allocations: 289.1 kB / 0.8965 GB, free: 14.68 MB / 0.5762 GB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01603/1.774, allocations: 7.891 MB / 0.9042 GB, free: 6.82 MB / 0.5762 GB Notification: Performance of collectPreVariables (initialization): time 0.0007078/1.775, allocations: 69.7 kB / 0.9042 GB, free: 6.746 MB / 0.5762 GB Notification: Performance of collectInitialEqns (initialization): time 0.004479/1.779, allocations: 5.35 MB / 0.9095 GB, free: 1.418 MB / 0.5762 GB Notification: Performance of collectInitialBindings (initialization): time 0.001608/1.781, allocations: 0.996 MB / 0.9104 GB, free: 440 kB / 0.5762 GB Notification: Performance of simplifyInitialFunctions (initialization): time 0.0008269/1.782, allocations: 169.8 kB / 0.9106 GB, free: 272 kB / 0.5762 GB Notification: Performance of setup shared object (initialization): time 0.0006349/1.782, allocations: 0.6589 MB / 0.9112 GB, free: 15.6 MB / 0.5919 GB Notification: Performance of preBalanceInitialSystem (initialization): time 0.005271/1.787, allocations: 2.98 MB / 0.9142 GB, free: 12.61 MB / 0.5919 GB Notification: Performance of partitionIndependentBlocks (initialization): time 0.008961/1.796, allocations: 8.172 MB / 0.9221 GB, free: 1.934 MB / 0.5919 GB Notification: Performance of analyzeInitialSystem (initialization): time 0.008643/1.805, allocations: 4.806 MB / 0.9268 GB, free: 13.29 MB / 0.6075 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001599/1.805, allocations: 52 kB / 0.9269 GB, free: 13.24 MB / 0.6075 GB Notification: Performance of matching and sorting (n=1102) (initialization): time 0.02787/1.833, allocations: 11.91 MB / 0.9385 GB, free: 2.434 MB / 0.6075 GB Notification: Performance of prepare postOptimizeDAE: time 0.0001615/1.833, allocations: 85.88 kB / 0.9386 GB, free: 2.352 MB / 0.6075 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002886/1.834, allocations: 184 kB / 0.9388 GB, free: 2.172 MB / 0.6075 GB Notification: Performance of postOpt tearingSystem (initialization): time 0.003538/1.837, allocations: 1.316 MB / 0.94 GB, free: 0.8477 MB / 0.6075 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.2887/2.126, allocations: 1.933 MB / 0.9419 GB, free: 239.8 MB / 0.6075 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01808/2.144, allocations: 12.87 MB / 0.9545 GB, free: 234.2 MB / 0.6075 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.009849/2.154, allocations: 469.6 kB / 0.955 GB, free: 234 MB / 0.6075 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002237/2.156, allocations: 0.5114 MB / 0.9555 GB, free: 234 MB / 0.6075 GB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 839 * Number of states: 0 () * Number of discrete variables: 74 (frameTorque4.arrow.arrowLine.twoHeadedArrow,frameTorque4.arrow.headAtOrigin,frameTorque3.arrow.arrowLine.twoHeadedArrow,frameTorque3.arrow.headAtOrigin,frameTorque2.arrow.arrowLine.twoHeadedArrow,frameTorque2.arrow.headAtOrigin,frameTorque1.arrow.arrowLine.twoHeadedArrow,frameTorque1.arrow.headAtOrigin,Revolute4.cylinderColor[3],Revolute4.cylinderColor[2],Revolute4.cylinderColor[1],frameTorque4.color[3],frameTorque4.color[2],frameTorque4.color[1],frameTorque3.color[3],frameTorque3.color[2],frameTorque3.color[1],body4.color[3],body4.color[2],body4.color[1],body4.body.sphereColor[3],body4.body.sphereColor[2],body4.body.sphereColor[1],body3.color[3],body3.color[2],body3.color[1],body3.body.sphereColor[3],body3.body.sphereColor[2],body3.body.sphereColor[1],Revolute3.cylinderColor[3],Revolute3.cylinderColor[2],Revolute3.cylinderColor[1],Revolute2.cylinderColor[3],Revolute2.cylinderColor[2],Revolute2.cylinderColor[1],frameTorque2.color[3],frameTorque2.color[2],frameTorque2.color[1],frameTorque1.color[3],frameTorque1.color[2],frameTorque1.color[1],fixed2.color[3],fixed2.color[2],fixed2.color[1],body2.color[3],body2.color[2],body2.color[1],body2.body.sphereColor[3],body2.body.sphereColor[2],body2.body.sphereColor[1],fixed1.color[3],fixed1.color[2],fixed1.color[1],body1.color[3],body1.color[2],body1.color[1],body1.body.sphereColor[3],body1.body.sphereColor[2],body1.body.sphereColor[1],Revolute1.cylinderColor[3],Revolute1.cylinderColor[2],Revolute1.cylinderColor[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1],world.groundColor[3],world.groundColor[2],world.groundColor[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1]) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (1022): * Single equations (assignments): 1015 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 4 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 4 {(1,100.0%) 14,(1,100.0%) 14,(1,100.0%) 14,(1,100.0%) 14} * Non-linear torn systems: 0 Notification: Performance of prepare postOptimizeDAE: time 0.009576/2.166, allocations: 3.534 MB / 0.9589 GB, free: 232.6 MB / 0.6075 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.00168/2.168, allocations: 0.6258 MB / 0.9595 GB, free: 232.6 MB / 0.6075 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.009713/2.177, allocations: 4.967 MB / 0.9644 GB, free: 230.8 MB / 0.6075 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 6.349e-05/2.177, allocations: 30.84 kB / 0.9644 GB, free: 230.8 MB / 0.6075 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 2.489e-05/2.177, allocations: 9.062 kB / 0.9644 GB, free: 230.8 MB / 0.6075 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.134e-05/2.178, allocations: 10.94 kB / 0.9644 GB, free: 230.8 MB / 0.6075 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.02498/2.203, allocations: 13.14 MB / 0.9772 GB, free: 226.2 MB / 0.6075 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.054e-05/2.203, allocations: 3.031 kB / 0.9772 GB, free: 226.2 MB / 0.6075 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002018/2.205, allocations: 403.9 kB / 0.9776 GB, free: 226.2 MB / 0.6075 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.002626/2.207, allocations: 0.9833 MB / 0.9786 GB, free: 225.9 MB / 0.6075 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0003258/2.208, allocations: 47.19 kB / 0.9786 GB, free: 225.9 MB / 0.6075 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01061/2.218, allocations: 11.8 MB / 0.9902 GB, free: 218 MB / 0.6075 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.685e-06/2.218, allocations: 3.906 kB / 0.9902 GB, free: 218 MB / 0.6075 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01079/2.229, allocations: 8.461 MB / 0.9984 GB, free: 214.7 MB / 0.6075 GB Notification: Performance of postOpt removeConstants (simulation): time 0.002432/2.232, allocations: 0.708 MB / 0.9991 GB, free: 214.4 MB / 0.6075 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001377/2.233, allocations: 45.59 kB / 0.9992 GB, free: 214.3 MB / 0.6075 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002754/2.236, allocations: 155.3 kB / 0.9993 GB, free: 214.3 MB / 0.6075 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0004589/2.236, allocations: 151 kB / 0.9995 GB, free: 214.3 MB / 0.6075 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0001817/2.236, allocations: 69.53 kB / 0.9995 GB, free: 214.3 MB / 0.6075 GB Notification: Performance of sorting global known variables: time 0.007881/2.244, allocations: 5.11 MB / 1.005 GB, free: 212.6 MB / 0.6075 GB Notification: Performance of sort global known variables: time 2.9e-07/2.244, allocations: 0 / 1.005 GB, free: 212.6 MB / 0.6075 GB Notification: Performance of remove unused functions: time 0.009718/2.254, allocations: 1.689 MB / 1.006 GB, free: 211.1 MB / 0.6075 GB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 5 * Number of states: 8 (Revolute3.phi,Revolute3.w,Revolute4.phi,Revolute4.w,Revolute1.phi,Revolute1.w,Revolute2.phi,Revolute2.w) * Number of discrete variables: 0 () * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for simulation (195): * Single equations (assignments): 188 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 4 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 4 {(1,100.0%) 11,(1,100.0%) 11,(1,100.0%) 11,(1,100.0%) 11} * Non-linear torn systems: 0 Notification: Performance of Backend phase and start with SimCode phase: time 0.01094/2.265, allocations: 9.314 MB / 1.015 GB, free: 202.8 MB / 0.6075 GB Notification: Performance of simCode: created initialization part: time 0.01077/2.276, allocations: 7.632 MB / 1.023 GB, free: 196.1 MB / 0.6075 GB Notification: Performance of simCode: created event and clocks part: time 9.137e-06/2.276, allocations: 0 / 1.023 GB, free: 196.1 MB / 0.6075 GB Notification: Performance of simCode: created simulation system equations: time 0.003123/2.279, allocations: 2.675 MB / 1.025 GB, free: 193.7 MB / 0.6075 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.004825/2.284, allocations: 0.9271 MB / 1.026 GB, free: 192.9 MB / 0.6075 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.397/2.681, allocations: 195.2 MB / 1.217 GB, free: 242.4 MB / 0.6075 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.01373/2.695, allocations: 5.574 MB / 1.222 GB, free: 241.6 MB / 0.6075 GB Notification: Performance of simCode: alias equations: time 0.009064/2.704, allocations: 2.735 MB / 1.225 GB, free: 241.5 MB / 0.6075 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.006762/2.711, allocations: 3.637 MB / 1.228 GB, free: 239.8 MB / 0.6075 GB Notification: Performance of SimCode: time 1.123e-06/2.711, allocations: 0 / 1.228 GB, free: 239.8 MB / 0.6075 GB Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1926/2.903, allocations: 139.1 MB / 1.364 GB, free: 120.4 MB / 0.6075 GB Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001373/2.903, allocations: 200 kB / 1.364 GB, free: 120.1 MB / 0.6075 GB Notification: Performance of buildModelFMU: Generate platform static: time 6.119/9.022, allocations: 0 / 1.364 GB, free: 120.1 MB / 0.6075 GB (rm -f ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.FrameTorques2.pipe ; mkfifo ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.FrameTorques2.pipe ; head -c 1048576 < ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.FrameTorques2.pipe >> ../files/ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.FrameTorques2.sim & /home/hudson/saved_omc/OMSimulator/install/linux/bin/OMSimulator -r=ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.FrameTorques2_res.mat --tempDir=temp_ModelicaTest_4_0_0_ModelicaTest_MultiBody_Forces_FrameTorques2_fmu --startTime=0 --stopTime=1.1 --timeout=50 --tolerance=1e-06 ModelicaTest_4_0_0_ModelicaTest_MultiBody_Forces_FrameTorques2.fmu > ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.FrameTorques2.pipe 2>&1) TODO: How the !@#!# did the simulation report success but simulation result ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.FrameTorques2_res.mat does not exist to compare? outputFormat=mat