]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blob - pe04-1.json
Add gen steer scenario script
[hubacji1/path-to-traj.git] / pe04-1.json
1 {
2         "bcnt" : 1,
3         "cost" : 15.647000211797792,
4         "costs" : 
5         [
6                 15.647000211797792
7         ],
8         "entry" : 
9         [
10                 11.097558815611627,
11                 3.3474999971187695e-16,
12                 3.1415926535897931,
13                 3.1415926535897931
14         ],
15         "goal" : 
16         [
17                 13.897558815611617,
18                 -8.151104049382108e-18,
19                 3.1415926535897931
20         ],
21         "goal_cc" : 15.647000211797792,
22         "icnt" : 7,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         11.197558815611627,
33                         3.225035317204034e-16,
34                         3.1415926535897931
35                 ],
36                 [
37                         11.297558815611627,
38                         3.1025706372892984e-16,
39                         3.1415926535897931
40                 ],
41                 [
42                         11.397558815611626,
43                         2.9801059573745629e-16,
44                         3.1415926535897931
45                 ],
46                 [
47                         11.497558815611626,
48                         2.8576412774598274e-16,
49                         3.1415926535897931
50                 ],
51                 [
52                         11.597558815611626,
53                         2.7351765975450918e-16,
54                         3.1415926535897931
55                 ],
56                 [
57                         11.697558815611625,
58                         2.6127119176303563e-16,
59                         3.1415926535897931
60                 ],
61                 [
62                         11.797558815611625,
63                         2.4902472377156207e-16,
64                         3.1415926535897931
65                 ],
66                 [
67                         11.897558815611625,
68                         2.3677825578008852e-16,
69                         3.1415926535897931
70                 ],
71                 [
72                         11.997558815611624,
73                         2.2453178778861496e-16,
74                         3.1415926535897931
75                 ],
76                 [
77                         12.097558815611624,
78                         2.1228531979714143e-16,
79                         3.1415926535897931
80                 ],
81                 [
82                         12.197558815611623,
83                         2.000388518056679e-16,
84                         3.1415926535897931
85                 ],
86                 [
87                         12.297558815611623,
88                         1.8779238381419437e-16,
89                         3.1415926535897931
90                 ],
91                 [
92                         12.397558815611623,
93                         1.7554591582272085e-16,
94                         3.1415926535897931
95                 ],
96                 [
97                         12.497558815611622,
98                         1.6329944783124732e-16,
99                         3.1415926535897931
100                 ],
101                 [
102                         12.597558815611622,
103                         1.5105297983977379e-16,
104                         3.1415926535897931
105                 ],
106                 [
107                         12.697558815611622,
108                         1.3880651184830026e-16,
109                         3.1415926535897931
110                 ],
111                 [
112                         12.797558815611621,
113                         1.2656004385682673e-16,
114                         3.1415926535897931
115                 ],
116                 [
117                         12.897558815611621,
118                         1.143135758653532e-16,
119                         3.1415926535897931
120                 ],
121                 [
122                         12.997558815611621,
123                         1.0206710787387967e-16,
124                         3.1415926535897931
125                 ],
126                 [
127                         13.09755881561162,
128                         8.9820639882406138e-17,
129                         3.1415926535897931
130                 ],
131                 [
132                         13.19755881561162,
133                         7.7574171890932608e-17,
134                         3.1415926535897931
135                 ],
136                 [
137                         13.29755881561162,
138                         6.5327703899459079e-17,
139                         3.1415926535897931
140                 ],
141                 [
142                         13.397558815611619,
143                         5.3081235907985549e-17,
144                         3.1415926535897931
145                 ],
146                 [
147                         13.497558815611619,
148                         4.083476791651202e-17,
149                         3.1415926535897931
150                 ],
151                 [
152                         13.597558815611618,
153                         2.858829992503849e-17,
154                         3.1415926535897931
155                 ],
156                 [
157                         13.697558815611618,
158                         1.6341831933564957e-17,
159                         3.1415926535897931
160                 ],
161                 [
162                         13.797558815611618,
163                         4.0953639420914247e-18,
164                         3.1415926535897931
165                 ],
166                 [
167                         13.897558815611617,
168                         -8.151104049382108e-18,
169                         3.1415926535897931
170                 ]
171         ],
172         "ncnt" : 6,
173         "obst" : 
174         [
175                 [
176                         [
177                                 10.5,
178                                 1.25
179                         ],
180                         [
181                                 10.0,
182                                 1.25
183                         ],
184                         [
185                                 10.0,
186                                 1.75
187                         ],
188                         [
189                                 10.5,
190                                 1.75
191                         ],
192                         [
193                                 10.5,
194                                 1.25
195                         ]
196                 ],
197                 [
198                         [
199                                 10.5,
200                                 -1.75
201                         ],
202                         [
203                                 10.0,
204                                 -1.75
205                         ],
206                         [
207                                 10.0,
208                                 -1.25
209                         ],
210                         [
211                                 10.5,
212                                 -1.25
213                         ],
214                         [
215                                 10.5,
216                                 -1.75
217                         ]
218                 ]
219         ],
220         "ogoal_cc" : 15.647000211797792,
221         "opath" : 
222         [
223                 [
224                         0.0,
225                         0.0,
226                         0.0,
227                         0.0
228                 ],
229                 [
230                         0.4986892401969264,
231                         0.031325161923024473,
232                         0.1254651455172934,
233                         0.1254651455172934
234                 ],
235                 [
236                         0.98953865467239843,
237                         0.12480818908185064,
238                         0.25093029103458681,
239                         0.25093029103458681
240                 ],
241                 [
242                         1.4648316665388816,
243                         0.27897944752057025,
244                         0.37639543655188018,
245                         0.37639543655188018
246                 ],
247                 [
248                         1.9170962589985263,
249                         0.49141523185316083,
250                         0.50186058206917361,
251                         0.50186058206917361
252                 ],
253                 [
254                         2.3392224419030225,
255                         0.75877586800622498,
256                         0.62732572758646699,
257                         0.62732572758646699
258                 ],
259                 [
260                         2.7245740269417356,
261                         1.0768582157808897,
262                         0.75279087310376036,
263                         0.75279087310376036
264                 ],
265                 [
266                         3.0670929542555916,
267                         1.4406617458482287,
268                         0.87825601862105385,
269                         0.87825601862105385
270                 ],
271                 [
272                         3.3613945303721975,
273                         1.8444671523907525,
274                         1.0037211641383472,
275                         1.0037211641383472
276                 ],
277                 [
278                         3.6028520802395869,
279                         2.2819262655313159,
280                         1.1291863096556405,
281                         1.1291863096556405
282                 ],
283                 [
284                         3.7876696825554634,
285                         2.7461618500483822,
286                         1.254651455172934,
287                         1.254651455172934
288                 ],
289                 [
290                         3.9129418449297333,
291                         3.2298757214556084,
292                         1.3801166006902275,
293                         1.3801166006902275
294                 ],
295                 [
296                         3.976699180735213,
297                         3.7254634797675732,
298                         1.5055817462075207,
299                         1.5055817462075207
300                 ],
301                 [
302                         3.9851705263521402,
303                         3.9851705263521398,
304                         1.5707963267948966,
305                         1.5707963267948966
306                 ],
307                 [
308                         4.0164956882751648,
309                         3.4864812861552132,
310                         1.69626147231219,
311                         -0.12546514551729349
312                 ],
313                 [
314                         4.1099787154339902,
315                         2.9956318716797417,
316                         1.8217266178294833,
317                         -0.25093029103458675
318                 ],
319                 [
320                         4.2641499738727102,
321                         2.5203388598132581,
322                         1.9471917633467768,
323                         -0.37639543655188024
324                 ],
325                 [
326                         4.4765857582053004,
327                         2.0680742673536137,
328                         2.0726569088640701,
329                         -0.5018605820691735
330                 ],
331                 [
332                         4.7439463943583648,
333                         1.6459480844491172,
334                         2.1981220543813635,
335                         -0.62732572758646699
336                 ],
337                 [
338                         5.0620287421330303,
339                         1.2605964994104031,
340                         2.323587199898657,
341                         -0.75279087310376047
342                 ],
343                 [
344                         5.4258322722003687,
345                         0.91807757209654772,
346                         2.4490523454159505,
347                         -0.87825601862105396
348                 ],
349                 [
350                         5.829637678742893,
351                         0.6237759959799416,
352                         2.574517490933244,
353                         -1.0037211641383474
354                 ],
355                 [
356                         6.2670967918834553,
357                         0.38231844611255256,
358                         2.699982636450537,
359                         -1.1291863096556405
360                 ],
361                 [
362                         6.7313323764005224,
363                         0.1975008437966761,
364                         2.8254477819678305,
365                         -1.254651455172934
366                 ],
367                 [
368                         7.2150462478077486,
369                         0.072228681422406349,
370                         2.950912927485124,
371                         -1.3801166006902275
372                 ],
373                 [
374                         7.7106340061197143,
375                         0.0084713456169262669,
376                         3.0763780730024175,
377                         -1.5055817462075209
378                 ],
379                 [
380                         7.9703410527042822,
381                         -8.8644369622414843e-16,
382                         -3.1415926535897927,
383                         -0.065214580587376059
384                 ],
385                 [
386                         8.4703410527042831,
387                         -7.2511441295830537e-16,
388                         -3.1415926535897927,
389                         -0.1254651455172934
390                 ],
391                 [
392                         8.9703410527042813,
393                         -5.6378512969246231e-16,
394                         -3.1415926535897927,
395                         -0.25093029103458675
396                 ],
397                 [
398                         9.4703410527042813,
399                         -4.0419056990259605e-16,
400                         -3.1415926535897927,
401                         -0.37639543655188018
402                 ],
403                 [
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405                         -2.4286128663675299e-16,
406                         -3.1415926535897927,
407                         -0.50186058206917361
408                 ],
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411                         -8.1532003370909933e-17,
412                         -3.1415926535897927,
413                         -0.62732572758646699
414                 ],
415                 [
416                         10.970341052704281,
417                         7.8062556418956319e-17,
418                         -3.1415926535897927,
419                         -0.75279087310376036
420                 ],
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422                         11.097558815611627,
423                         3.3474999971187695e-16,
424                         3.1415926535897931,
425                         0.0
426                 ]
427         ],
428         "otime" : 0.0,
429         "path" : 
430         [
431                 [
432                         0.0,
433                         0.0,
434                         0.0,
435                         0.1254651455172934,
436                         36,
437                         true
438                 ],
439                 [
440                         0.4986892401969264,
441                         0.031325161923024473,
442                         0.1254651455172934,
443                         0.1254651455172934,
444                         36,
445                         false
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447                 [
448                         0.98953865467239843,
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450                         0.25093029103458681,
451                         0.25093029103458681,
452                         36,
453                         false
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455                 [
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457                         0.27897944752057025,
458                         0.37639543655188018,
459                         0.37639543655188018,
460                         36,
461                         false
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463                 [
464                         1.9170962589985263,
465                         0.49141523185316083,
466                         0.50186058206917361,
467                         0.50186058206917361,
468                         36,
469                         false
470                 ],
471                 [
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473                         0.75877586800622498,
474                         0.62732572758646699,
475                         0.62732572758646699,
476                         36,
477                         false
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479                 [
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481                         1.0768582157808897,
482                         0.75279087310376036,
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484                         36,
485                         false
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487                 [
488                         3.0670929542555916,
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490                         0.87825601862105385,
491                         0.87825601862105385,
492                         36,
493                         false
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495                 [
496                         3.3613945303721975,
497                         1.8444671523907525,
498                         1.0037211641383472,
499                         1.0037211641383472,
500                         36,
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506                         1.1291863096556405,
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514                         1.254651455172934,
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516                         36,
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556                         -36,
557                         false
558                 ],
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561                         2.5203388598132581,
562                         1.9471917633467768,
563                         -0.37639543655188024,
564                         -36,
565                         false
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567                 [
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570                         2.0726569088640701,
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1143                                 -0.1254651455172934,
1144                                 0,
1145                                 false
1146                         ],
1147                         [
1148                                 8.9703410527042813,
1149                                 -5.6378512969246231e-16,
1150                                 -3.1415926535897927,
1151                                 -0.25093029103458675,
1152                                 0,
1153                                 false
1154                         ],
1155                         [
1156                                 9.4703410527042813,
1157                                 -4.0419056990259605e-16,
1158                                 -3.1415926535897927,
1159                                 -0.37639543655188018,
1160                                 0,
1161                                 false
1162                         ],
1163                         [
1164                                 9.9703410527042813,
1165                                 -2.4286128663675299e-16,
1166                                 -3.1415926535897927,
1167                                 -0.50186058206917361,
1168                                 0,
1169                                 false
1170                         ],
1171                         [
1172                                 10.470341052704281,
1173                                 -8.1532003370909933e-17,
1174                                 -3.1415926535897927,
1175                                 -0.62732572758646699,
1176                                 0,
1177                                 false
1178                         ],
1179                         [
1180                                 10.970341052704281,
1181                                 7.8062556418956319e-17,
1182                                 -3.1415926535897927,
1183                                 -0.75279087310376036,
1184                                 0,
1185                                 false
1186                         ],
1187                         [
1188                                 11.097558815611627,
1189                                 3.3474999971187695e-16,
1190                                 3.1415926535897931,
1191                                 0.0,
1192                                 0,
1193                                 false
1194                         ]
1195                 ]
1196         ],
1197         "rcnt" : 6,
1198         "slot" : 
1199         [
1200                 [
1201                         10.0,
1202                         -1.2
1203                 ],
1204                 [
1205                         15.300000000000001,
1206                         -1.2
1207                 ],
1208                 [
1209                         15.300000000000001,
1210                         1.2
1211                 ],
1212                 [
1213                         10.0,
1214                         1.2
1215                 ]
1216         ],
1217         "time" : 0.0
1218 }