]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blob - pa03-1.json
Add oval scenarios with mtr 5
[hubacji1/path-to-traj.git] / pa03-1.json
1 {
2         "bcnt" : 3,
3         "cost" : 29.476462857518985,
4         "costs" : 
5         [
6                 29.476462857518985
7         ],
8         "entry" : 
9         [
10                 15.648996626510804,
11                 -0.65464401921816018,
12                 1.9887963267948505,
13                 1.9887963267948505
14         ],
15         "goal" : 
16         [
17                 16.003533585088771,
18                 -1.902300155164294,
19                 1.5621568015496541
20         ],
21         "goal_cc" : 21.370828153733097,
22         "icnt" : 64,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         15.648996626510804,
33                         -0.65464401921816018,
34                         1.9887963267948505
35                 ],
36                 [
37                         16.009333342834797,
38                         -2.1022002922985914,
39                         1.6123496868726184
40                 ],
41                 [
42                         16.003533585088771,
43                         -1.902300155164294,
44                         1.5621568015496541
45                 ]
46         ],
47         "ncnt" : 6,
48         "obst" : 
49         [
50                 [
51                         [
52                                 15.5,
53                                 -3.75
54                         ],
55                         [
56                                 15.0,
57                                 -3.75
58                         ],
59                         [
60                                 15.0,
61                                 -3.25
62                         ],
63                         [
64                                 15.5,
65                                 -3.25
66                         ],
67                         [
68                                 15.5,
69                                 -3.75
70                         ]
71                 ],
72                 [
73                         [
74                                 15.5,
75                                 3.25
76                         ],
77                         [
78                                 15.0,
79                                 3.25
80                         ],
81                         [
82                                 15.0,
83                                 3.75
84                         ],
85                         [
86                                 15.5,
87                                 3.75
88                         ],
89                         [
90                                 15.5,
91                                 3.25
92                         ]
93                 ],
94                 [
95                         [
96                                 7.75,
97                                 2.25
98                         ],
99                         [
100                                 7.25,
101                                 2.25
102                         ],
103                         [
104                                 7.25,
105                                 2.75
106                         ],
107                         [
108                                 7.75,
109                                 2.75
110                         ],
111                         [
112                                 7.75,
113                                 2.25
114                         ]
115                 ],
116                 [
117                         [
118                                 10.25,
119                                 -2.75
120                         ],
121                         [
122                                 9.75,
123                                 -2.75
124                         ],
125                         [
126                                 9.75,
127                                 -2.25
128                         ],
129                         [
130                                 10.25,
131                                 -2.25
132                         ],
133                         [
134                                 10.25,
135                                 -2.75
136                         ]
137                 ],
138                 [
139                         [
140                                 12.75,
141                                 -0.25
142                         ],
143                         [
144                                 12.25,
145                                 -0.25
146                         ],
147                         [
148                                 12.25,
149                                 0.25
150                         ],
151                         [
152                                 12.75,
153                                 0.25
154                         ],
155                         [
156                                 12.75,
157                                 -0.25
158                         ]
159                 ]
160         ],
161         "ogoal_cc" : 29.476462857518985,
162         "opath" : 
163         [
164                 [
165                         0.0,
166                         0.0,
167                         0.0,
168                         0.0
169                 ],
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172                         -0.031325161923024473,
173                         -0.1254651455172934,
174                         0.1254651455172934
175                 ],
176                 [
177                         0.0078398257214543632,
178                         0.062157865235801683,
179                         -0.25093029103458681,
180                         -0.1254651455172934
181                 ],
182                 [
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184                         0.21632912367452131,
185                         -0.37639543655188024,
186                         -0.25093029103458681
187                 ],
188                 [
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190                         0.42876490800711187,
191                         -0.50186058206917361,
192                         -0.37639543655188018
193                 ],
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196                         0.69612554416017602,
197                         -0.62732572758646699,
198                         -0.50186058206917361
199                 ],
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202                         1.0142078919348407,
203                         -0.75279087310376036,
204                         -0.62732572758646699
205                 ],
206                 [
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208                         1.37801142200218,
209                         -0.87825601862105374,
210                         -0.75279087310376036
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212                 [
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215                         -1.0037211641383472,
216                         -0.87825601862105385
217                 ],
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220                         1.9246724865235594,
221                         -1.0456720866070819,
222                         -0.9202069410897884
223                 ],
224                 [
225                         -2.2279381192460654,
226                         1.4774718585446949,
227                         -1.1711372321243751,
228                         0.12546514551729326
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230                 [
231                         -2.0627525206789614,
232                         1.0058937185893748,
233                         -1.2966023776416686,
234                         0.25093029103458675
235                 ],
236                 [
237                         -1.9578768657744861,
238                         0.51735168245937269,
239                         -1.4220675231589619,
240                         0.37639543655188001
241                 ],
242                 [
243                         -1.9149598904398935,
244                         0.019526053061064474,
245                         -1.5475326686762554,
246                         0.5018605820691735
247                 ],
248                 [
249                         -1.934676286607544,
250                         -0.47975692059200553,
251                         -1.6729978141935489,
252                         0.62732572758646699
253                 ],
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255                         -2.0167160954947918,
256                         -0.97264807877546766,
257                         -1.7984629597108421,
258                         0.75279087310376025
259                 ],
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262                         -1.4513987466266411,
263                         -1.9239281052281356,
264                         0.87825601862105374
265                 ],
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268                         -1.9084825500081948,
269                         -2.0493932507454291,
270                         1.0037211641383472
271                 ],
272                 [
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274                         -2.3367137366123476,
275                         -2.1748583962627226,
276                         1.1291863096556407
277                 ],
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279                         -2.9281488810569547,
280                         -2.7293601421956049,
281                         -2.3003235417800156,
282                         1.2546514551729337
283                 ],
284                 [
285                         -2.5724113158939534,
286                         -2.3784712583739722,
287                         -2.4257886872973091,
288                         -0.1254651455172934
289                 ],
290                 [
291                         -2.1755610874327775,
292                         -2.0748561727342691,
293                         -2.5512538328146026,
294                         -0.25093029103458681
295                 ],
296                 [
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298                         -1.8232879767450014,
299                         -2.6767189783318956,
300                         -0.37639543655188018
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302                 [
303                         -1.2840262013041228,
304                         -1.6277215398010605,
305                         -2.8021841238491891,
306                         -0.50186058206917361
307                 ],
308                 [
309                         -0.96080403548970827,
310                         -1.5288035870500321,
311                         -2.8870289564689693,
312                         -0.58670541468895365
313                 ],
314                 [
315                         -0.47691740599928778,
316                         -1.4028919918715084,
317                         -2.8870289564689693,
318                         -0.12546514551729337
319                 ],
320                 [
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322                         -1.2769803966929842,
323                         -2.8870289564689693,
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325                 ],
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328                         -1.1510688015144603,
329                         -2.8870289564689693,
330                         -0.37639543655188024
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333                         0.97474248247197437,
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335                         -2.8870289564689693,
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337                 ],
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339                         1.458629111962396,
340                         -0.89924561115741208,
341                         -2.8870289564689693,
342                         -0.62732572758646721
343                 ],
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345                         1.9425157414528149,
346                         -0.7733340159788884,
347                         -2.8870289564689693,
348                         -0.75279087310376047
349                 ],
350                 [
351                         2.4264023709432365,
352                         -0.6474224208003645,
353                         -2.8870289564689693,
354                         -0.87825601862105396
355                 ],
356                 [
357                         2.9102890004336563,
358                         -0.52151082562184081,
359                         -2.8870289564689693,
360                         -1.0037211641383472
361                 ],
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364                         -0.39559923044331669,
365                         -2.8870289564689693,
366                         -1.1291863096556407
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371                         -2.8870289564689693,
372                         -1.2546514551729342
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376                         -0.14377604008626887,
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379                 ],
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381                         4.8458355183953392,
382                         -0.017864444907744748,
383                         -2.8870289564689693,
384                         -1.5055817462075209
385                 ],
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387                         5.3297221478857582,
388                         0.10804715027077938,
389                         -2.8870289564689693,
390                         -1.6310468917248144
391                 ],
392                 [
393                         5.8136087773761806,
394                         0.23395874544930351,
395                         -2.8870289564689693,
396                         -1.7565120372421079
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399                         6.2974954068665996,
400                         0.35987034062782675,
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402                         -1.881977182759401
403                 ],
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406                         0.48578193580635043,
407                         -2.8870289564689693,
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412                         0.61169353098487456,
413                         -2.8870289564689693,
414                         -2.1329074737939879
415                 ],
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418                         0.73760512616339868,
419                         -2.8870289564689693,
420                         -2.2583726193112814
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424                         0.86351672134192281,
425                         -2.8870289564689693,
426                         -2.3838377648285749
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430                         0.98942831652044649,
431                         -2.8870289564689693,
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436                         1.1153399116989706,
437                         -2.8870289564689693,
438                         -2.6347680558631614
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443                         -2.8870289564689693,
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448                         1.367163102056018,
449                         -2.8870289564689693,
450                         -2.8856983468977484
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454                         1.4930746972345426,
455                         -2.8870289564689693,
456                         -3.0111634924150419
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458                 [
459                         11.003380427492949,
460                         1.5843833847220012,
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462                         -3.1021484231226872
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479                         3.0197609141587369,
480                         -0.37639543655188001
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482                 [
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485                         2.8942957686414434,
486                         -0.5018605820691735
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488                 [
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490                         1.4391308483804237,
491                         2.76883062312415,
492                         -0.62732572758646699
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494                 [
495                         13.911328184341048,
496                         1.2283397236038525,
497                         2.6433654776068565,
498                         -0.75279087310376047
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500                 [
501                         14.334423008494916,
502                         0.96251460471569805,
503                         2.517900332089563,
504                         -0.87825601862105396
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506                 [
507                         14.720927769695447,
508                         0.64583449225674716,
509                         2.3924351865722695,
510                         -1.0037211641383474
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512                 [
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514                         0.28327787120523995,
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530                 [
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533                         1.9887963267948505,
534                         0.0
535                 ]
536         ],
537         "otime" : 0.0,
538         "path" : 
539         [
540                 [
541                         0.0,
542                         0.0,
543                         0.0,
544                         0.1254651455172934,
545                         -36,
546                         true
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550                         -0.031325161923024473,
551                         -0.1254651455172934,
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554                         false
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559                         -0.16065119634810898,
560                         0.16065119634810898,
561                         -36,
562                         false
563                 ],
564                 [
565                         1.1310337314770715,
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567                         -0.1606511963481061,
568                         0.12546514551729337,
569                         0,
570                         false
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575                         -0.1606511963481061,
576                         0.25093029103458681,
577                         0,
578                         false
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1427         "slot" : 
1428         [
1429                 [
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1446         "time" : 0.0
1447 }