#include "testlib.h"

int main(int argc, char *argv[]) {
    setName("Checker for 'Single Copter'");
    registerTestlibCmd(argc, argv);

    int n = inf.readInt();
    for (int i = 0; i < n; ++i) {
        double p = inf.readDouble();
        double r = inf.readDouble();
        double y = inf.readDouble();

        double maxAns = 0;
        for (int o = 0; o < 4; ++o) {
            double ansOutput = ans.readDouble();
            maxAns = std::max(maxAns, std::abs(ansOutput));
        }

        double cont[4];
        double maxCont = 0;
        for (int o = 0; o < 4; ++o) {
            cont[o] = ouf.readDouble();
            maxCont = std::max(maxCont, std::abs(cont[o]));
        }
        double contPitch = cont[1] - cont[3];
        double contRoll = cont[0] - cont[2];
        double contYaw = cont[0] + cont[1] + cont[2] + cont[3];

        if (std::abs(p - contPitch) > 1e-6) {
            quitf(_wa, "Line %d: pitch expected %lf, found %lf", i + 1, p, contPitch);
        }
        if (std::abs(r - contRoll) > 1e-6) {
            quitf(_wa, "Line %d: roll expected %lf, found %lf", i + 1, r, contRoll);
        }
        if (std::abs(y - contYaw) > 1e-6) {
            quitf(_wa, "Line %d: yaw expected %lf, found %lf", i + 1, y, contYaw);
        }
        if (maxCont > maxAns + 1e-6) {
            quitf(_wa, "Line %d: maximum too large, expected %lf, found %lf", i + 1, maxAns, maxCont);
        }
    }
    quitf(_ok, "All lines good enough");
}