Merge pull request #78 from Yonghui56/TH2C

Th2 c
Merge pull request #79 from Yonghui56/TH2C

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Merge pull request #80 from Yonghui56/TH2C

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wrong index, now fixed.
need to set the theta value.
smaller tolerance, so that the Jacobi matrix will be tested.
do not need to track this log file.
Merge pull request #8 from HaibingShao/TH2C

Th2 c