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dvx1_div_t1 778.083648187049 (obj:0)
dvy1_div_t1 433.22763785748 (obj:0)
dvx2_div_t2 -62.8603226416015 (obj:0)
dvy2_div_t2 -34.9998733145588 (obj:0)
dx1_div_t1_sq 65823.5680154463 (obj:0)
dy2_div_t2_sq 42961.7597585953 (obj:0)
param N := 256;
param M := floor(N/2);
param A_MAX := 10;
param X1 := 1e6;
param Y2 := 1e8;
var t1 >= 0;
var t2 >= 0;
var ax[{1..N}] >= -A_MAX <= A_MAX;
var ay[{1..N}] >= -A_MAX <= A_MAX;
var dvx1_div_t1 >= -infinity <= infinity;
var dvy1_div_t1 >= -infinity <= infinity;
var dvx2_div_t2 >= -infinity <= infinity;
var dvy2_div_t2 >= -infinity <= infinity;
var dx1_div_t1_sq >= -infinity <= infinity;
var dy1_div_t1_sq >= -infinity <= infinity;
var dx2_div_t2_sq >= -infinity <= infinity;
var dy2_div_t2_sq >= -infinity <= infinity;
minimize time: t1 * M + t2 * (N-M);
subto optimal: M*t1 + (N-M)*t2 <= 10000;
subto acc: forall <i> in {1..N}: ax[i]^2 + ay[i]^2 <= A_MAX^2;
subto dv: dvx1_div_t1 == sum <i> in {1..M}: ax[i]
and dvy1_div_t1 == sum <i> in {1..M}: ay[i]
and dvx2_div_t2 == sum <i> in {M+1..N}: ax[i]
and dvy2_div_t2 == sum <i> in {M+1..N}: ay[i];
subto v_mid: dvx1_div_t1 * t1 + dvx2_div_t2 * t2 == 0
and dvy1_div_t1 * t1 + dvy2_div_t2 * t2 == 0;
subto dx: dx1_div_t1_sq == sum <i> in {1..M}: (M - i + 1/2) * ax[i]
and dy1_div_t1_sq == sum <i> in {1..M}: (M - i + 1/2) * ay[i]
and dx2_div_t2_sq == sum <i> in {M+1..N}: (M - i + 1/2) * ax[i]
and dy2_div_t2_sq == sum <i> in {M+1..N}: (M - i + 1/2) * ay[i];
subto x_leg1: dx1_div_t1_sq*t1^2 == X1 and dy1_div_t1_sq == 0;
subto x_leg2: dx2_div_t2_sq == 0 and dy2_div_t2_sq*t2^2 == Y2;
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