]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blob - pe01-2.json
Add gen steer scenario script
[hubacji1/path-to-traj.git] / pe01-2.json
1 {
2         "bcnt" : 1,
3         "cost" : 32.895345217220836,
4         "costs" : 
5         [
6                 32.895345217220836
7         ],
8         "entry" : 
9         [
10                 15.0,
11                 1.0975711016794105,
12                 -1.5707963267948966,
13                 -1.5707963267948966
14         ],
15         "goal" : 
16         [
17                 15.0,
18                 3.897571101679413,
19                 -1.5707963267948966
20         ],
21         "goal_cc" : 23.418910482323149,
22         "icnt" : 36,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         15.0,
33                         1.1975711016794106,
34                         -1.5707963267948966
35                 ],
36                 [
37                         15.0,
38                         1.2975711016794107,
39                         -1.5707963267948966
40                 ],
41                 [
42                         15.0,
43                         1.3975711016794108,
44                         -1.5707963267948966
45                 ],
46                 [
47                         15.0,
48                         1.4975711016794109,
49                         -1.5707963267948966
50                 ],
51                 [
52                         15.0,
53                         1.597571101679411,
54                         -1.5707963267948966
55                 ],
56                 [
57                         15.0,
58                         1.6975711016794111,
59                         -1.5707963267948966
60                 ],
61                 [
62                         15.0,
63                         1.7975711016794111,
64                         -1.5707963267948966
65                 ],
66                 [
67                         15.0,
68                         1.8975711016794112,
69                         -1.5707963267948966
70                 ],
71                 [
72                         15.0,
73                         1.9975711016794113,
74                         -1.5707963267948966
75                 ],
76                 [
77                         15.0,
78                         2.0975711016794114,
79                         -1.5707963267948966
80                 ],
81                 [
82                         15.0,
83                         2.1975711016794115,
84                         -1.5707963267948966
85                 ],
86                 [
87                         15.0,
88                         2.2975711016794116,
89                         -1.5707963267948966
90                 ],
91                 [
92                         15.0,
93                         2.3975711016794117,
94                         -1.5707963267948966
95                 ],
96                 [
97                         15.0,
98                         2.4975711016794118,
99                         -1.5707963267948966
100                 ],
101                 [
102                         15.0,
103                         2.5975711016794119,
104                         -1.5707963267948966
105                 ],
106                 [
107                         15.0,
108                         2.6975711016794119,
109                         -1.5707963267948966
110                 ],
111                 [
112                         15.0,
113                         2.797571101679412,
114                         -1.5707963267948966
115                 ],
116                 [
117                         15.0,
118                         2.8975711016794121,
119                         -1.5707963267948966
120                 ],
121                 [
122                         15.0,
123                         2.9975711016794122,
124                         -1.5707963267948966
125                 ],
126                 [
127                         15.0,
128                         3.0975711016794123,
129                         -1.5707963267948966
130                 ],
131                 [
132                         15.0,
133                         3.1975711016794124,
134                         -1.5707963267948966
135                 ],
136                 [
137                         15.0,
138                         3.2975711016794125,
139                         -1.5707963267948966
140                 ],
141                 [
142                         15.0,
143                         3.3975711016794126,
144                         -1.5707963267948966
145                 ],
146                 [
147                         15.0,
148                         3.4975711016794127,
149                         -1.5707963267948966
150                 ],
151                 [
152                         15.0,
153                         3.5975711016794127,
154                         -1.5707963267948966
155                 ],
156                 [
157                         15.0,
158                         3.6975711016794128,
159                         -1.5707963267948966
160                 ],
161                 [
162                         15.0,
163                         3.7975711016794129,
164                         -1.5707963267948966
165                 ],
166                 [
167                         15.0,
168                         3.897571101679413,
169                         -1.5707963267948966
170                 ]
171         ],
172         "ncnt" : 6,
173         "obst" : 
174         [
175                 [
176                         [
177                                 13.75,
178                                 0.0
179                         ],
180                         [
181                                 13.25,
182                                 0.0
183                         ],
184                         [
185                                 13.25,
186                                 0.5
187                         ],
188                         [
189                                 13.75,
190                                 0.5
191                         ],
192                         [
193                                 13.75,
194                                 0.0
195                         ]
196                 ],
197                 [
198                         [
199                                 16.75,
200                                 0.0
201                         ],
202                         [
203                                 16.25,
204                                 0.0
205                         ],
206                         [
207                                 16.25,
208                                 0.5
209                         ],
210                         [
211                                 16.75,
212                                 0.5
213                         ],
214                         [
215                                 16.75,
216                                 0.0
217                         ]
218                 ],
219                 [
220                         [
221                                 15.25,
222                                 -5.25
223                         ],
224                         [
225                                 14.75,
226                                 -5.25
227                         ],
228                         [
229                                 14.75,
230                                 -4.75
231                         ],
232                         [
233                                 15.25,
234                                 -4.75
235                         ],
236                         [
237                                 15.25,
238                                 -5.25
239                         ]
240                 ]
241         ],
242         "ogoal_cc" : 32.895345217220836,
243         "opath" : 
244         [
245                 [
246                         0.0,
247                         0.0,
248                         0.0,
249                         0.0
250                 ],
251                 [
252                         0.4986892401969264,
253                         0.031325161923024473,
254                         0.1254651455172934,
255                         0.1254651455172934
256                 ],
257                 [
258                         0.98953865467239843,
259                         0.12480818908185064,
260                         0.25093029103458681,
261                         0.25093029103458681
262                 ],
263                 [
264                         1.0900309925844507,
265                         0.15197126733740018,
266                         0.27705255499621795,
267                         0.27705255499621795
268                 ],
269                 [
270                         0.61892697928236995,
271                         -0.0145617105029196,
272                         0.40251770051351132,
273                         -0.1254651455172934
274                 ],
275                 [
276                         0.17236535708738265,
277                         -0.23873785026866839,
278                         0.5279828460308047,
279                         -0.25093029103458681
280                 ],
281                 [
282                         -0.24263353947210642,
283                         -0.51703290935541923,
284                         0.65344799154809818,
285                         -0.37639543655188018
286                 ],
287                 [
288                         -0.61954556918475334,
289                         -0.84507184898848209,
290                         0.77891313706539156,
291                         -0.50186058206917361
292                 ],
293                 [
294                         -0.95244534929295233,
295                         -1.2176976136124602,
296                         0.90437828258268493,
297                         -0.62732572758646699
298                 ],
299                 [
300                         -1.2360994076292893,
301                         -1.6290522042602573,
302                         1.0298434280999782,
303                         -0.75279087310376036
304                 ],
305                 [
306                         -1.466048457320718,
307                         -2.0726687713581291,
308                         1.1553085736172717,
309                         -0.87825601862105385
310                 ],
311                 [
312                         -1.5173553364868111,
313                         -2.1943893072108329,
314                         1.1884559639523362,
315                         -0.91140340895611827
316                 ],
317                 [
318                         -1.7039017683941426,
319                         -2.6582863095105282,
320                         1.1884559639523362,
321                         -0.12546514551729349
322                 ],
323                 [
324                         -1.8904482003014738,
325                         -3.1221833118102231,
326                         1.1884559639523362,
327                         -0.25093029103458675
328                 ],
329                 [
330                         -2.0769946322088053,
331                         -3.5860803141099185,
332                         1.1884559639523362,
333                         -0.37639543655188024
334                 ],
335                 [
336                         -2.2635410641161364,
337                         -4.0499773164096142,
338                         1.1884559639523362,
339                         -0.50186058206917372
340                 ],
341                 [
342                         -2.3573005043425095,
343                         -4.2831349427099568,
344                         1.1884559639523362,
345                         -0.56492017367511504
346                 ],
347                 [
348                         -2.5142946036958516,
349                         -4.75750302429421,
350                         1.3139211094696295,
351                         -0.12546514551729326
352                 ],
353                 [
354                         -2.6106940253144955,
355                         -5.2477880185264247,
356                         1.439386254986923,
357                         -0.25093029103458675
358                 ],
359                 [
360                         -2.644983287001871,
361                         -5.7462822216929466,
362                         1.5648514005042164,
363                         -0.37639543655188024
364                 ],
365                 [
366                         -2.6166233319384644,
367                         -6.2451488742229513,
368                         1.6903165460215097,
369                         -0.5018605820691735
370                 ],
371                 [
372                         -2.5260600031207634,
373                         -6.7365453613198243,
374                         1.8157816915388028,
375                         -0.62732572758646654
376                 ],
377                 [
378                         -2.3747170343241444,
379                         -7.2127465056417561,
380                         1.9412468370560962,
381                         -0.75279087310376003
382                 ],
383                 [
384                         -2.1649736677778262,
385                         -7.6662660137640728,
386                         2.0667119825733895,
387                         -0.87825601862105351
388                 ],
389                 [
390                         -1.9001272504213667,
391                         -8.0899741671800047,
392                         2.192177128090683,
393                         -1.003721164138347
394                 ],
395                 [
396                         -1.5843413967618813,
397                         -8.4772099076356628,
398                         2.3176422736079765,
399                         -1.1291863096556405
400                 ],
401                 [
402                         -1.2225805332566433,
403                         -8.8218855547209127,
404                         2.44310741912527,
405                         -0.1254651455172934
406                 ],
407                 [
408                         -0.82053185323993061,
409                         -9.1185825094651616,
410                         2.5685725646425634,
411                         -0.25093029103458681
412                 ],
413                 [
414                         -0.38451590933009894,
415                         -9.3626364393948158,
416                         2.6940377101598565,
417                         -0.37639543655188018
418                 ],
419                 [
420                         0.078612751118517288,
421                         -9.5502106058697382,
422                         2.81950285567715,
423                         -0.50186058206917361
424                 ],
425                 [
426                         0.56157334542230775,
427                         -9.6783561809295957,
428                         2.9449680011944435,
429                         -0.62732572758646699
430                 ],
431                 [
432                         1.0567733157627464,
433                         -9.7450586054171691,
434                         3.0704331467117369,
435                         -0.75279087310376036
436                 ],
437                 [
438                         1.5564276907552386,
439                         -9.7492692595888801,
440                         -3.0872870149505558,
441                         -0.87825601862105385
442                 ],
443                 [
444                         2.0526814719254691,
445                         -9.6909219483231581,
446                         -2.9618218694332628,
447                         -1.0037211641383472
448                 ],
449                 [
450                         2.5377331210721135,
451                         -9.5709339417649524,
452                         -2.8363567239159693,
453                         -1.1291863096556405
454                 ],
455                 [
456                         3.0039572071878533,
457                         -9.391191555046527,
458                         -2.7108915783986758,
459                         -1.254651455172934
460                 ],
461                 [
462                         3.4440242848231533,
463                         -9.1545204937838172,
464                         -2.5854264328813823,
465                         -1.3801166006902275
466                 ],
467                 [
468                         3.6468841148429751,
469                         -9.0196518818892262,
470                         -2.5242899362760221,
471                         -1.4412530972955877
472                 ],
473                 [
474                         4.0546054699548959,
475                         -8.730232987230119,
476                         -2.5242899362760221,
477                         -0.12546514551729349
478                 ],
479                 [
480                         4.4623268250668158,
481                         -8.4408140925710118,
482                         -2.5242899362760221,
483                         -0.25093029103458675
484                 ],
485                 [
486                         4.8700481801787374,
487                         -8.1513951979119064,
488                         -2.5242899362760221,
489                         -0.37639543655188024
490                 ],
491                 [
492                         5.2777695352906591,
493                         -7.8619763032527992,
494                         -2.5242899362760221,
495                         -0.50186058206917372
496                 ],
497                 [
498                         5.6854908904025789,
499                         -7.5725574085936929,
500                         -2.5242899362760221,
501                         -0.62732572758646699
502                 ],
503                 [
504                         6.0932122455144997,
505                         -7.2831385139345866,
506                         -2.5242899362760221,
507                         -0.75279087310376047
508                 ],
509                 [
510                         6.5009336006264222,
511                         -6.9937196192754794,
512                         -2.5242899362760221,
513                         -0.87825601862105396
514                 ],
515                 [
516                         6.9086549557383412,
517                         -6.7043007246163739,
518                         -2.5242899362760221,
519                         -1.003721164138347
520                 ],
521                 [
522                         7.316376310850262,
523                         -6.4148818299572667,
524                         -2.5242899362760221,
525                         -1.1291863096556405
526                 ],
527                 [
528                         7.7240976659621809,
529                         -6.1254629352981604,
530                         -2.5242899362760221,
531                         -1.254651455172934
532                 ],
533                 [
534                         8.1318190210741044,
535                         -5.8360440406390541,
536                         -2.5242899362760221,
537                         -1.3801166006902275
538                 ],
539                 [
540                         8.5395403761860251,
541                         -5.5466251459799469,
542                         -2.5242899362760221,
543                         -1.5055817462075209
544                 ],
545                 [
546                         8.9472617312979459,
547                         -5.2572062513208406,
548                         -2.5242899362760221,
549                         -1.6310468917248144
550                 ],
551                 [
552                         9.3549830864098666,
553                         -4.9677873566617352,
554                         -2.5242899362760221,
555                         -1.7565120372421075
556                 ],
557                 [
558                         9.7627044415217874,
559                         -4.6783684620026289,
560                         -2.5242899362760221,
561                         -1.881977182759401
562                 ],
563                 [
564                         10.170425796633708,
565                         -4.3889495673435217,
566                         -2.5242899362760221,
567                         -2.0074423282766944
568                 ],
569                 [
570                         10.578147151745629,
571                         -4.0995306726844154,
572                         -2.5242899362760221,
573                         -2.1329074737939879
574                 ],
575                 [
576                         10.98586850685755,
577                         -3.8101117780253082,
578                         -2.5242899362760221,
579                         -2.2583726193112814
580                 ],
581                 [
582                         11.39358986196947,
583                         -3.5206928833662019,
584                         -2.5242899362760221,
585                         -2.3838377648285745
586                 ],
587                 [
588                         11.801311217081391,
589                         -3.2312739887070956,
590                         -2.5242899362760221,
591                         -2.5093029103458679
592                 ],
593                 [
594                         12.209032572193312,
595                         -2.9418550940479902,
596                         -2.5242899362760221,
597                         -2.634768055863161
598                 ],
599                 [
600                         12.616753927305233,
601                         -2.6524361993888839,
602                         -2.5242899362760221,
603                         -2.7602332013804545
604                 ],
605                 [
606                         13.024475282417153,
607                         -2.3630173047297776,
608                         -2.5242899362760221,
609                         -2.885698346897748
610                 ],
611                 [
612                         13.321596771177635,
613                         -2.1521071530333549,
614                         -2.5242899362760221,
615                         -2.9771293949806119
616                 ],
617                 [
618                         13.710117089285724,
619                         -1.8379031007442741,
620                         -2.398824790758729,
621                         -0.12546514551729304
622                 ],
623                 [
624                         14.056265157357998,
625                         -1.4775508577548333,
626                         -2.2733596452414364,
627                         -0.25093029103458564
628                 ],
629                 [
630                         14.354599228693779,
631                         -1.0767154726677521,
632                         -2.1478944997241429,
633                         -0.37639543655187913
634                 ],
635                 [
636                         14.600429233932196,
637                         -0.64169842405681443,
638                         -2.0224293542068494,
639                         -0.50186058206917261
640                 ],
641                 [
642                         14.789890512994734,
643                         -0.1793385557792142,
644                         -1.896964208689556,
645                         -0.6273257275864661
646                 ],
647                 [
648                         14.920004570880721,
649                         0.30309543555859797,
650                         -1.7714990631722625,
651                         -0.75279087310375958
652                 ],
653                 [
654                         14.988725902182154,
655                         0.79801927079170909,
656                         -1.646033917654969,
657                         -0.87825601862105307
658                 ],
659                 [
660                         15.0,
661                         1.0975711016794105,
662                         -1.5707963267948966,
663                         0.0
664                 ]
665         ],
666         "otime" : 0.0,
667         "path" : 
668         [
669                 [
670                         0.0,
671                         0.0,
672                         0.0,
673                         0.1254651455172934,
674                         -36,
675                         true
676                 ],
677                 [
678                         0.4986892401969264,
679                         -0.031325161923024473,
680                         -0.1254651455172934,
681                         0.1254651455172934,
682                         -36,
683                         false
684                 ],
685                 [
686                         0.94378640792926438,
687                         -0.11336844717585962,
688                         -0.23909616275590739,
689                         0.23909616275590739,
690                         -36,
691                         false
692                 ],
693                 [
694                         1.4295626192072755,
695                         -0.23178074618394837,
696                         -0.23909616275590739,
697                         0.12546514551729337,
698                         0,
699                         false
700                 ],
701                 [
702                         1.9153388304852863,
703                         -0.35019304519203714,
704                         -0.23909616275590739,
705                         0.25093029103458675,
706                         0,
707                         false
708                 ],
709                 [
710                         2.4011150417632976,
711                         -0.46860534420012584,
712                         -0.23909616275590739,
713                         0.37639543655188012,
714                         0,
715                         false
716                 ],
717                 [
718                         2.8868912530413091,
719                         -0.5870176432082147,
720                         -0.23909616275590739,
721                         0.50186058206917361,
722                         0,
723                         false
724                 ],
725                 [
726                         3.3726674643193202,
727                         -0.70542994221630351,
728                         -0.23909616275590739,
729                         0.62732572758646699,
730                         0,
731                         false
732                 ],
733                 [
734                         3.8584436755973313,
735                         -0.8238422412243922,
736                         -0.23909616275590739,
737                         0.75279087310376036,
738                         0,
739                         false
740                 ],
741                 [
742                         4.3442198868753428,
743                         -0.94225454023248101,
744                         -0.23909616275590739,
745                         0.87825601862105374,
746                         0,
747                         false
748                 ],
749                 [
750                         4.8299960981533534,
751                         -1.0606668392405698,
752                         -0.23909616275590739,
753                         1.0037211641383472,
754                         0,
755                         false
756                 ],
757                 [
758                         5.3157723094313649,
759                         -1.1790791382486585,
760                         -0.23909616275590739,
761                         1.1291863096556405,
762                         0,
763                         false
764                 ],
765                 [
766                         5.8015485207093764,
767                         -1.2974914372567474,
768                         -0.23909616275590739,
769                         1.254651455172934,
770                         0,
771                         false
772                 ],
773                 [
774                         6.2873247319873879,
775                         -1.4159037362648363,
776                         -0.23909616275590739,
777                         1.3801166006902275,
778                         0,
779                         false
780                 ],
781                 [
782                         6.7731009432653977,
783                         -1.5343160352729248,
784                         -0.23909616275590739,
785                         1.5055817462075207,
786                         0,
787                         false
788                 ],
789                 [
790                         7.2588771545434101,
791                         -1.652728334281014,
792                         -0.23909616275590739,
793                         1.6310468917248142,
794                         0,
795                         false
796                 ],
797                 [
798                         7.7446533658214207,
799                         -1.7711406332891024,
800                         -0.23909616275590739,
801                         1.7565120372421075,
802                         0,
803                         false
804                 ],
805                 [
806                         8.1139476957146996,
807                         -1.861159431241908,
808                         -0.23909616275590739,
809                         1.8518925144311287,
810                         0,
811                         false
812                 ],
813                 [
814                         8.5910318662504341,
815                         -2.0096953470398118,
816                         -0.36456130827320088,
817                         0.12546514551729349,
818                         -36,
819                         false
820                 ],
821                 [
822                         9.0457787236660572,
823                         -2.216764223813469,
824                         -0.49002645379049392,
825                         0.25093029103458653,
826                         -36,
827                         false
828                 ],
829                 [
830                         9.4710392544634914,
831                         -2.4791107599132958,
832                         -0.61549159930778741,
833                         0.37639543655188001,
834                         -36,
835                         false
836                 ],
837                 [
838                         9.8601279956751533,
839                         -2.7926106411254192,
840                         -0.74095674482508089,
841                         0.5018605820691735,
842                         -36,
843                         false
844                 ],
845                 [
846                         10.206928136118044,
847                         -3.152335378454509,
848                         -0.86642189034237438,
849                         0.62732572758646699,
850                         -36,
851                         false
852                 ],
853                 [
854                         10.505987677950433,
855                         -3.5526297882289821,
856                         -0.99188703585966786,
857                         0.75279087310376047,
858                         -36,
859                         false
860                 ],
861                 [
862                         10.752605146788435,
863                         -3.987200896474373,
864                         -1.1173521813769609,
865                         0.87825601862105351,
866                         -36,
867                         false
868                 ],
869                 [
870                         10.942903502945386,
871                         -4.4492168699013241,
872                         -1.2428173268942544,
873                         1.003721164138347,
874                         -36,
875                         false
876                 ],
877                 [
878                         11.073891091845464,
879                         -4.9314144182275648,
880                         -1.3682824724115479,
881                         1.1291863096556405,
882                         -36,
883                         false
884                 ],
885                 [
886                         11.14350867541839,
887                         -5.4262129793766025,
888                         -1.4937476179288414,
889                         1.254651455172934,
890                         -36,
891                         false
892                 ],
893                 [
894                         11.150661805101079,
895                         -5.9258338924631486,
896                         -1.6192127634461349,
897                         1.3801166006902275,
898                         -36,
899                         false
900                 ],
901                 [
902                         11.09523802751464,
903                         -6.4224226850629611,
904                         -1.7446779089634279,
905                         1.5055817462075205,
906                         -36,
907                         false
908                 ],
909                 [
910                         11.041963366961715,
911                         -6.676747918347453,
912                         -1.809892489550804,
913                         1.5707963267948966,
914                         -36,
915                         true
916                 ],
917                 [
918                         11.190499282759619,
919                         -6.1996637478117185,
920                         -1.9353576350680974,
921                         -0.12546514551729349,
922                         36,
923                         false
924                 ],
925                 [
926                         11.397568159533277,
927                         -5.7449168903960954,
928                         -2.0608227805853905,
929                         -0.25093029103458653,
930                         36,
931                         false
932                 ],
933                 [
934                         11.551802075393059,
935                         -5.4807244240014867,
936                         -2.1376057080683819,
937                         -0.87825601862105385,
938                         0,
939                         false
940                 ],
941                 [
942                         11.820273636161367,
943                         -5.0589152004671627,
944                         -2.1376057080683819,
945                         -0.1254651455172934,
946                         0,
947                         false
948                 ],
949                 [
950                         12.088745196929674,
951                         -4.6371059769328395,
952                         -2.1376057080683819,
953                         -0.25093029103458681,
954                         0,
955                         false
956                 ],
957                 [
958                         12.35721675769798,
959                         -4.2152967533985155,
960                         -2.1376057080683819,
961                         -0.37639543655188018,
962                         0,
963                         false
964                 ],
965                 [
966                         12.625688318466288,
967                         -3.7934875298641915,
968                         -2.1376057080683819,
969                         -0.50186058206917361,
970                         0,
971                         false
972                 ],
973                 [
974                         12.894159879234596,
975                         -3.3716783063298683,
976                         -2.1376057080683819,
977                         -0.62732572758646699,
978                         0,
979                         false
980                 ],
981                 [
982                         13.162631440002903,
983                         -2.9498690827955443,
984                         -2.1376057080683819,
985                         -0.75279087310376036,
986                         0,
987                         false
988                 ],
989                 [
990                         13.431103000771209,
991                         -2.528059859261222,
992                         -2.1376057080683819,
993                         -1.7565120372421075,
994                         0,
995                         false
996                 ],
997                 [
998                         13.699574561539517,
999                         -2.1062506357268971,
1000                         -2.1376057080683819,
1001                         -1.881977182759401,
1002                         0,
1003                         false
1004                 ],
1005                 [
1006                         13.968046122307825,
1007                         -1.684441412192573,
1008                         -2.1376057080683819,
1009                         -2.0074423282766944,
1010                         0,
1011                         false
1012                 ],
1013                 [
1014                         14.236517683076132,
1015                         -1.2626321886582481,
1016                         -2.1376057080683819,
1017                         -2.1329074737939879,
1018                         0,
1019                         false
1020                 ],
1021                 [
1022                         14.376792844392797,
1023                         -1.0422388005958219,
1024                         -2.1376057080683819,
1025                         -2.1984624378903375,
1026                         0,
1027                         false
1028                 ],
1029                 [
1030                         14.618134117245182,
1031                         -0.60471552798545858,
1032                         -2.0121405625510884,
1033                         -0.12546514551729349,
1034                         -36,
1035                         false
1036                 ],
1037                 [
1038                         14.802828327859057,
1039                         -0.14043083878775242,
1040                         -1.8866754170337949,
1041                         -0.25093029103458697,
1042                         -36,
1043                         false
1044                 ],
1045                 [
1046                         14.927971923668494,
1047                         0.34331631054294576,
1048                         -1.7612102715165014,
1049                         -0.37639543655188046,
1050                         -36,
1051                         false
1052                 ],
1053                 [
1054                         14.99159753922379,
1055                         0.83892099686350541,
1056                         -1.635745125999208,
1057                         -0.50186058206917394,
1058                         -36,
1059                         false
1060                 ],
1061                 [
1062                         15.0,
1063                         1.0975711016794105,
1064                         -1.5707963267948966,
1065                         -0.50186058206917394,
1066                         -36,
1067                         false
1068                 ],
1069                 [
1070                         15.0,
1071                         1.2975711016794107,
1072                         -1.5707963267948966,
1073                         -0.10000000000000001,
1074                         0,
1075                         false
1076                 ],
1077                 [
1078                         15.0,
1079                         1.3975711016794108,
1080                         -1.5707963267948966,
1081                         -0.10000000000000001,
1082                         0,
1083                         false
1084                 ],
1085                 [
1086                         15.0,
1087                         1.4975711016794109,
1088                         -1.5707963267948966,
1089                         -0.10000000000000001,
1090                         0,
1091                         false
1092                 ],
1093                 [
1094                         15.0,
1095                         1.597571101679411,
1096                         -1.5707963267948966,
1097                         -0.10000000000000001,
1098                         0,
1099                         false
1100                 ],
1101                 [
1102                         15.0,
1103                         1.6975711016794111,
1104                         -1.5707963267948966,
1105                         -0.10000000000000001,
1106                         0,
1107                         false
1108                 ],
1109                 [
1110                         15.0,
1111                         1.7975711016794111,
1112                         -1.5707963267948966,
1113                         -0.10000000000000001,
1114                         0,
1115                         false
1116                 ],
1117                 [
1118                         15.0,
1119                         1.8975711016794112,
1120                         -1.5707963267948966,
1121                         -0.10000000000000001,
1122                         0,
1123                         false
1124                 ],
1125                 [
1126                         15.0,
1127                         1.9975711016794113,
1128                         -1.5707963267948966,
1129                         -0.10000000000000001,
1130                         0,
1131                         false
1132                 ],
1133                 [
1134                         15.0,
1135                         2.0975711016794114,
1136                         -1.5707963267948966,
1137                         -0.10000000000000001,
1138                         0,
1139                         false
1140                 ],
1141                 [
1142                         15.0,
1143                         2.1975711016794115,
1144                         -1.5707963267948966,
1145                         -0.10000000000000001,
1146                         0,
1147                         false
1148                 ],
1149                 [
1150                         15.0,
1151                         2.2975711016794116,
1152                         -1.5707963267948966,
1153                         -0.10000000000000001,
1154                         0,
1155                         false
1156                 ],
1157                 [
1158                         15.0,
1159                         2.3975711016794117,
1160                         -1.5707963267948966,
1161                         -0.10000000000000001,
1162                         0,
1163                         false
1164                 ],
1165                 [
1166                         15.0,
1167                         2.4975711016794118,
1168                         -1.5707963267948966,
1169                         -0.10000000000000001,
1170                         0,
1171                         false
1172                 ],
1173                 [
1174                         15.0,
1175                         2.5975711016794119,
1176                         -1.5707963267948966,
1177                         -0.10000000000000001,
1178                         0,
1179                         false
1180                 ],
1181                 [
1182                         15.0,
1183                         2.6975711016794119,
1184                         -1.5707963267948966,
1185                         -0.10000000000000001,
1186                         0,
1187                         false
1188                 ],
1189                 [
1190                         15.0,
1191                         2.797571101679412,
1192                         -1.5707963267948966,
1193                         -0.10000000000000001,
1194                         0,
1195                         false
1196                 ],
1197                 [
1198                         15.0,
1199                         2.8975711016794121,
1200                         -1.5707963267948966,
1201                         -0.10000000000000001,
1202                         0,
1203                         false
1204                 ],
1205                 [
1206                         15.0,
1207                         2.9975711016794122,
1208                         -1.5707963267948966,
1209                         -0.10000000000000001,
1210                         0,
1211                         false
1212                 ],
1213                 [
1214                         15.0,
1215                         3.0975711016794123,
1216                         -1.5707963267948966,
1217                         -0.10000000000000001,
1218                         0,
1219                         false
1220                 ],
1221                 [
1222                         15.0,
1223                         3.1975711016794124,
1224                         -1.5707963267948966,
1225                         -0.10000000000000001,
1226                         0,
1227                         false
1228                 ],
1229                 [
1230                         15.0,
1231                         3.2975711016794125,
1232                         -1.5707963267948966,
1233                         -0.10000000000000001,
1234                         0,
1235                         false
1236                 ],
1237                 [
1238                         15.0,
1239                         3.3975711016794126,
1240                         -1.5707963267948966,
1241                         -0.10000000000000001,
1242                         0,
1243                         false
1244                 ],
1245                 [
1246                         15.0,
1247                         3.4975711016794127,
1248                         -1.5707963267948966,
1249                         -0.10000000000000001,
1250                         0,
1251                         false
1252                 ],
1253                 [
1254                         15.0,
1255                         3.5975711016794127,
1256                         -1.5707963267948966,
1257                         -0.10000000000000001,
1258                         0,
1259                         false
1260                 ],
1261                 [
1262                         15.0,
1263                         3.6975711016794128,
1264                         -1.5707963267948966,
1265                         -0.10000000000000001,
1266                         0,
1267                         false
1268                 ],
1269                 [
1270                         15.0,
1271                         3.7975711016794129,
1272                         -1.5707963267948966,
1273                         -0.10000000000000001,
1274                         0,
1275                         false
1276                 ],
1277                 [
1278                         15.0,
1279                         3.897571101679413,
1280                         -1.5707963267948966,
1281                         -0.10000000000000001,
1282                         0,
1283                         false
1284                 ]
1285         ],
1286         "paths" : 
1287         [
1288                 [
1289                         [
1290                                 0.0,
1291                                 0.0,
1292                                 0.0,
1293                                 0.0,
1294                                 0,
1295                                 false
1296                         ],
1297                         [
1298                                 0.4986892401969264,
1299                                 0.031325161923024473,
1300                                 0.1254651455172934,
1301                                 0.1254651455172934,
1302                                 36,
1303                                 true
1304                         ],
1305                         [
1306                                 0.98953865467239843,
1307                                 0.12480818908185064,
1308                                 0.25093029103458681,
1309                                 0.25093029103458681,
1310                                 36,
1311                                 false
1312                         ],
1313                         [
1314                                 1.0900309925844507,
1315                                 0.15197126733740018,
1316                                 0.27705255499621795,
1317                                 0.27705255499621795,
1318                                 36,
1319                                 false
1320                         ],
1321                         [
1322                                 0.61892697928236995,
1323                                 -0.0145617105029196,
1324                                 0.40251770051351132,
1325                                 -0.1254651455172934,
1326                                 -36,
1327                                 true
1328                         ],
1329                         [
1330                                 0.17236535708738265,
1331                                 -0.23873785026866839,
1332                                 0.5279828460308047,
1333                                 -0.25093029103458681,
1334                                 -36,
1335                                 false
1336                         ],
1337                         [
1338                                 -0.24263353947210642,
1339                                 -0.51703290935541923,
1340                                 0.65344799154809818,
1341                                 -0.37639543655188018,
1342                                 -36,
1343                                 false
1344                         ],
1345                         [
1346                                 -0.61954556918475334,
1347                                 -0.84507184898848209,
1348                                 0.77891313706539156,
1349                                 -0.50186058206917361,
1350                                 -36,
1351                                 false
1352                         ],
1353                         [
1354                                 -0.95244534929295233,
1355                                 -1.2176976136124602,
1356                                 0.90437828258268493,
1357                                 -0.62732572758646699,
1358                                 -36,
1359                                 false
1360                         ],
1361                         [
1362                                 -1.2360994076292893,
1363                                 -1.6290522042602573,
1364                                 1.0298434280999782,
1365                                 -0.75279087310376036,
1366                                 -36,
1367                                 false
1368                         ],
1369                         [
1370                                 -1.466048457320718,
1371                                 -2.0726687713581291,
1372                                 1.1553085736172717,
1373                                 -0.87825601862105385,
1374                                 -36,
1375                                 false
1376                         ],
1377                         [
1378                                 -1.5173553364868111,
1379                                 -2.1943893072108329,
1380                                 1.1884559639523362,
1381                                 -0.91140340895611827,
1382                                 -36,
1383                                 false
1384                         ],
1385                         [
1386                                 -1.7039017683941426,
1387                                 -2.6582863095105282,
1388                                 1.1884559639523362,
1389                                 -0.12546514551729349,
1390                                 0,
1391                                 false
1392                         ],
1393                         [
1394                                 -1.8904482003014738,
1395                                 -3.1221833118102231,
1396                                 1.1884559639523362,
1397                                 -0.25093029103458675,
1398                                 0,
1399                                 false
1400                         ],
1401                         [
1402                                 -2.0769946322088053,
1403                                 -3.5860803141099185,
1404                                 1.1884559639523362,
1405                                 -0.37639543655188024,
1406                                 0,
1407                                 false
1408                         ],
1409                         [
1410                                 -2.2635410641161364,
1411                                 -4.0499773164096142,
1412                                 1.1884559639523362,
1413                                 -0.50186058206917372,
1414                                 0,
1415                                 false
1416                         ],
1417                         [
1418                                 -2.3573005043425095,
1419                                 -4.2831349427099568,
1420                                 1.1884559639523362,
1421                                 -0.56492017367511504,
1422                                 0,
1423                                 false
1424                         ],
1425                         [
1426                                 -2.5142946036958516,
1427                                 -4.75750302429421,
1428                                 1.3139211094696295,
1429                                 -0.12546514551729326,
1430                                 -36,
1431                                 false
1432                         ],
1433                         [
1434                                 -2.6106940253144955,
1435                                 -5.2477880185264247,
1436                                 1.439386254986923,
1437                                 -0.25093029103458675,
1438                                 -36,
1439                                 false
1440                         ],
1441                         [
1442                                 -2.644983287001871,
1443                                 -5.7462822216929466,
1444                                 1.5648514005042164,
1445                                 -0.37639543655188024,
1446                                 -36,
1447                                 false
1448                         ],
1449                         [
1450                                 -2.6166233319384644,
1451                                 -6.2451488742229513,
1452                                 1.6903165460215097,
1453                                 -0.5018605820691735,
1454                                 -36,
1455                                 false
1456                         ],
1457                         [
1458                                 -2.5260600031207634,
1459                                 -6.7365453613198243,
1460                                 1.8157816915388028,
1461                                 -0.62732572758646654,
1462                                 -36,
1463                                 false
1464                         ],
1465                         [
1466                                 -2.3747170343241444,
1467                                 -7.2127465056417561,
1468                                 1.9412468370560962,
1469                                 -0.75279087310376003,
1470                                 -36,
1471                                 false
1472                         ],
1473                         [
1474                                 -2.1649736677778262,
1475                                 -7.6662660137640728,
1476                                 2.0667119825733895,
1477                                 -0.87825601862105351,
1478                                 -36,
1479                                 false
1480                         ],
1481                         [
1482                                 -1.9001272504213667,
1483                                 -8.0899741671800047,
1484                                 2.192177128090683,
1485                                 -1.003721164138347,
1486                                 -36,
1487                                 false
1488                         ],
1489                         [
1490                                 -1.5843413967618813,
1491                                 -8.4772099076356628,
1492                                 2.3176422736079765,
1493                                 -1.1291863096556405,
1494                                 -36,
1495                                 false
1496                         ],
1497                         [
1498                                 -1.2225805332566433,
1499                                 -8.8218855547209127,
1500                                 2.44310741912527,
1501                                 -0.1254651455172934,
1502                                 -36,
1503                                 false
1504                         ],
1505                         [
1506                                 -0.82053185323993061,
1507                                 -9.1185825094651616,
1508                                 2.5685725646425634,
1509                                 -0.25093029103458681,
1510                                 -36,
1511                                 false
1512                         ],
1513                         [
1514                                 -0.38451590933009894,
1515                                 -9.3626364393948158,
1516                                 2.6940377101598565,
1517                                 -0.37639543655188018,
1518                                 -36,
1519                                 false
1520                         ],
1521                         [
1522                                 0.078612751118517288,
1523                                 -9.5502106058697382,
1524                                 2.81950285567715,
1525                                 -0.50186058206917361,
1526                                 -36,
1527                                 false
1528                         ],
1529                         [
1530                                 0.56157334542230775,
1531                                 -9.6783561809295957,
1532                                 2.9449680011944435,
1533                                 -0.62732572758646699,
1534                                 -36,
1535                                 false
1536                         ],
1537                         [
1538                                 1.0567733157627464,
1539                                 -9.7450586054171691,
1540                                 3.0704331467117369,
1541                                 -0.75279087310376036,
1542                                 -36,
1543                                 false
1544                         ],
1545                         [
1546                                 1.5564276907552386,
1547                                 -9.7492692595888801,
1548                                 -3.0872870149505558,
1549                                 -0.87825601862105385,
1550                                 -36,
1551                                 false
1552                         ],
1553                         [
1554                                 2.0526814719254691,
1555                                 -9.6909219483231581,
1556                                 -2.9618218694332628,
1557                                 -1.0037211641383472,
1558                                 -36,
1559                                 false
1560                         ],
1561                         [
1562                                 2.5377331210721135,
1563                                 -9.5709339417649524,
1564                                 -2.8363567239159693,
1565                                 -1.1291863096556405,
1566                                 -36,
1567                                 false
1568                         ],
1569                         [
1570                                 3.0039572071878533,
1571                                 -9.391191555046527,
1572                                 -2.7108915783986758,
1573                                 -1.254651455172934,
1574                                 -36,
1575                                 false
1576                         ],
1577                         [
1578                                 3.4440242848231533,
1579                                 -9.1545204937838172,
1580                                 -2.5854264328813823,
1581                                 -1.3801166006902275,
1582                                 -36,
1583                                 false
1584                         ],
1585                         [
1586                                 3.6468841148429751,
1587                                 -9.0196518818892262,
1588                                 -2.5242899362760221,
1589                                 -1.4412530972955877,
1590                                 -36,
1591                                 false
1592                         ],
1593                         [
1594                                 4.0546054699548959,
1595                                 -8.730232987230119,
1596                                 -2.5242899362760221,
1597                                 -0.12546514551729349,
1598                                 0,
1599                                 false
1600                         ],
1601                         [
1602                                 4.4623268250668158,
1603                                 -8.4408140925710118,
1604                                 -2.5242899362760221,
1605                                 -0.25093029103458675,
1606                                 0,
1607                                 false
1608                         ],
1609                         [
1610                                 4.8700481801787374,
1611                                 -8.1513951979119064,
1612                                 -2.5242899362760221,
1613                                 -0.37639543655188024,
1614                                 0,
1615                                 false
1616                         ],
1617                         [
1618                                 5.2777695352906591,
1619                                 -7.8619763032527992,
1620                                 -2.5242899362760221,
1621                                 -0.50186058206917372,
1622                                 0,
1623                                 false
1624                         ],
1625                         [
1626                                 5.6854908904025789,
1627                                 -7.5725574085936929,
1628                                 -2.5242899362760221,
1629                                 -0.62732572758646699,
1630                                 0,
1631                                 false
1632                         ],
1633                         [
1634                                 6.0932122455144997,
1635                                 -7.2831385139345866,
1636                                 -2.5242899362760221,
1637                                 -0.75279087310376047,
1638                                 0,
1639                                 false
1640                         ],
1641                         [
1642                                 6.5009336006264222,
1643                                 -6.9937196192754794,
1644                                 -2.5242899362760221,
1645                                 -0.87825601862105396,
1646                                 0,
1647                                 false
1648                         ],
1649                         [
1650                                 6.9086549557383412,
1651                                 -6.7043007246163739,
1652                                 -2.5242899362760221,
1653                                 -1.003721164138347,
1654                                 0,
1655                                 false
1656                         ],
1657                         [
1658                                 7.316376310850262,
1659                                 -6.4148818299572667,
1660                                 -2.5242899362760221,
1661                                 -1.1291863096556405,
1662                                 0,
1663                                 false
1664                         ],
1665                         [
1666                                 7.7240976659621809,
1667                                 -6.1254629352981604,
1668                                 -2.5242899362760221,
1669                                 -1.254651455172934,
1670                                 0,
1671                                 false
1672                         ],
1673                         [
1674                                 8.1318190210741044,
1675                                 -5.8360440406390541,
1676                                 -2.5242899362760221,
1677                                 -1.3801166006902275,
1678                                 0,
1679                                 false
1680                         ],
1681                         [
1682                                 8.5395403761860251,
1683                                 -5.5466251459799469,
1684                                 -2.5242899362760221,
1685                                 -1.5055817462075209,
1686                                 0,
1687                                 false
1688                         ],
1689                         [
1690                                 8.9472617312979459,
1691                                 -5.2572062513208406,
1692                                 -2.5242899362760221,
1693                                 -1.6310468917248144,
1694                                 0,
1695                                 false
1696                         ],
1697                         [
1698                                 9.3549830864098666,
1699                                 -4.9677873566617352,
1700                                 -2.5242899362760221,
1701                                 -1.7565120372421075,
1702                                 0,
1703                                 false
1704                         ],
1705                         [
1706                                 9.7627044415217874,
1707                                 -4.6783684620026289,
1708                                 -2.5242899362760221,
1709                                 -1.881977182759401,
1710                                 0,
1711                                 false
1712                         ],
1713                         [
1714                                 10.170425796633708,
1715                                 -4.3889495673435217,
1716                                 -2.5242899362760221,
1717                                 -2.0074423282766944,
1718                                 0,
1719                                 false
1720                         ],
1721                         [
1722                                 10.578147151745629,
1723                                 -4.0995306726844154,
1724                                 -2.5242899362760221,
1725                                 -2.1329074737939879,
1726                                 0,
1727                                 false
1728                         ],
1729                         [
1730                                 10.98586850685755,
1731                                 -3.8101117780253082,
1732                                 -2.5242899362760221,
1733                                 -2.2583726193112814,
1734                                 0,
1735                                 false
1736                         ],
1737                         [
1738                                 11.39358986196947,
1739                                 -3.5206928833662019,
1740                                 -2.5242899362760221,
1741                                 -2.3838377648285745,
1742                                 0,
1743                                 false
1744                         ],
1745                         [
1746                                 11.801311217081391,
1747                                 -3.2312739887070956,
1748                                 -2.5242899362760221,
1749                                 -2.5093029103458679,
1750                                 0,
1751                                 false
1752                         ],
1753                         [
1754                                 12.209032572193312,
1755                                 -2.9418550940479902,
1756                                 -2.5242899362760221,
1757                                 -2.634768055863161,
1758                                 0,
1759                                 false
1760                         ],
1761                         [
1762                                 12.616753927305233,
1763                                 -2.6524361993888839,
1764                                 -2.5242899362760221,
1765                                 -2.7602332013804545,
1766                                 0,
1767                                 false
1768                         ],
1769                         [
1770                                 13.024475282417153,
1771                                 -2.3630173047297776,
1772                                 -2.5242899362760221,
1773                                 -2.885698346897748,
1774                                 0,
1775                                 false
1776                         ],
1777                         [
1778                                 13.321596771177635,
1779                                 -2.1521071530333549,
1780                                 -2.5242899362760221,
1781                                 -2.9771293949806119,
1782                                 0,
1783                                 false
1784                         ],
1785                         [
1786                                 13.710117089285724,
1787                                 -1.8379031007442741,
1788                                 -2.398824790758729,
1789                                 -0.12546514551729304,
1790                                 -36,
1791                                 false
1792                         ],
1793                         [
1794                                 14.056265157357998,
1795                                 -1.4775508577548333,
1796                                 -2.2733596452414364,
1797                                 -0.25093029103458564,
1798                                 -36,
1799                                 false
1800                         ],
1801                         [
1802                                 14.354599228693779,
1803                                 -1.0767154726677521,
1804                                 -2.1478944997241429,
1805                                 -0.37639543655187913,
1806                                 -36,
1807                                 false
1808                         ],
1809                         [
1810                                 14.600429233932196,
1811                                 -0.64169842405681443,
1812                                 -2.0224293542068494,
1813                                 -0.50186058206917261,
1814                                 -36,
1815                                 false
1816                         ],
1817                         [
1818                                 14.789890512994734,
1819                                 -0.1793385557792142,
1820                                 -1.896964208689556,
1821                                 -0.6273257275864661,
1822                                 -36,
1823                                 false
1824                         ],
1825                         [
1826                                 14.920004570880721,
1827                                 0.30309543555859797,
1828                                 -1.7714990631722625,
1829                                 -0.75279087310375958,
1830                                 -36,
1831                                 false
1832                         ],
1833                         [
1834                                 14.988725902182154,
1835                                 0.79801927079170909,
1836                                 -1.646033917654969,
1837                                 -0.87825601862105307,
1838                                 -36,
1839                                 false
1840                         ],
1841                         [
1842                                 15.0,
1843                                 1.0975711016794105,
1844                                 -1.5707963267948966,
1845                                 0.0,
1846                                 0,
1847                                 false
1848                         ]
1849                 ]
1850         ],
1851         "rcnt" : 6,
1852         "slot" : 
1853         [
1854                 [
1855                         16.199999999999999,
1856                         0.0
1857                 ],
1858                 [
1859                         16.199999999999999,
1860                         5.2999999999999998
1861                 ],
1862                 [
1863                         13.800000000000001,
1864                         5.2999999999999998
1865                 ],
1866                 [
1867                         13.800000000000001,
1868                         1.4695761589768238e-16
1869                 ]
1870         ],
1871         "time" : 0.0
1872 }