vector<vector<R>> a = {{{290, 100},  {35,100}, {11,100}, {1}, {0},  {0}, {0} },
                           {{580, 100},  {55,100}, {53,100}, {0}, {1},  {0}, {0} },
                           {{580, 100},  {59,100}, {44,100}, {0}, {0}, {-1}, {1} },
                           {{1160,100}, {114,100}, {97,100}, {0}, {0}, {-1}, {0} },
                           {{0},        {-39,100},{-55,100}, {0}, {0},  {0}, {0} }
    };
    ispisia(a);
    cout << endl;
    in_out(a, 1, 0);
    ispisia(a);
    cout << endl;
    in_out(a, 2, 1);
    ispisia(a);
    cout << endl;
    in_out(a, 3, 0);
    ispisia(a);