]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blob - pe2.json
Add gen steer scenario script
[hubacji1/path-to-traj.git] / pe2.json
1 {
2         "bcnt" : 3,
3         "cost" : 30.826857771380926,
4         "costs" : 
5         [
6                 30.826857771380926
7         ],
8         "entry" : 
9         [
10                 11.25,
11                 3.2168094224413073,
12                 -1.5707963267948966,
13                 -1.5707963267948966
14         ],
15         "goal" : 
16         [
17                 11.25,
18                 5.9168094224413013,
19                 -1.5707963267948966
20         ],
21         "goal_cc" : 20.24741125287607,
22         "icnt" : 115,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         11.25,
33                         3.3168094224413074,
34                         -1.5707963267948966
35                 ],
36                 [
37                         11.25,
38                         3.4168094224413075,
39                         -1.5707963267948966
40                 ],
41                 [
42                         11.25,
43                         3.5168094224413076,
44                         -1.5707963267948966
45                 ],
46                 [
47                         11.25,
48                         3.6168094224413077,
49                         -1.5707963267948966
50                 ],
51                 [
52                         11.25,
53                         3.7168094224413077,
54                         -1.5707963267948966
55                 ],
56                 [
57                         11.25,
58                         3.8168094224413078,
59                         -1.5707963267948966
60                 ],
61                 [
62                         11.25,
63                         3.9168094224413079,
64                         -1.5707963267948966
65                 ],
66                 [
67                         11.25,
68                         4.016809422441308,
69                         -1.5707963267948966
70                 ],
71                 [
72                         11.25,
73                         4.1168094224413077,
74                         -1.5707963267948966
75                 ],
76                 [
77                         11.25,
78                         4.2168094224413073,
79                         -1.5707963267948966
80                 ],
81                 [
82                         11.25,
83                         4.3168094224413069,
84                         -1.5707963267948966
85                 ],
86                 [
87                         11.25,
88                         4.4168094224413066,
89                         -1.5707963267948966
90                 ],
91                 [
92                         11.25,
93                         4.5168094224413062,
94                         -1.5707963267948966
95                 ],
96                 [
97                         11.25,
98                         4.6168094224413059,
99                         -1.5707963267948966
100                 ],
101                 [
102                         11.25,
103                         4.7168094224413055,
104                         -1.5707963267948966
105                 ],
106                 [
107                         11.25,
108                         4.8168094224413052,
109                         -1.5707963267948966
110                 ],
111                 [
112                         11.25,
113                         4.9168094224413048,
114                         -1.5707963267948966
115                 ],
116                 [
117                         11.25,
118                         5.0168094224413045,
119                         -1.5707963267948966
120                 ],
121                 [
122                         11.25,
123                         5.1168094224413041,
124                         -1.5707963267948966
125                 ],
126                 [
127                         11.25,
128                         5.2168094224413037,
129                         -1.5707963267948966
130                 ],
131                 [
132                         11.25,
133                         5.3168094224413034,
134                         -1.5707963267948966
135                 ],
136                 [
137                         11.25,
138                         5.416809422441303,
139                         -1.5707963267948966
140                 ],
141                 [
142                         11.25,
143                         5.5168094224413027,
144                         -1.5707963267948966
145                 ],
146                 [
147                         11.25,
148                         5.6168094224413023,
149                         -1.5707963267948966
150                 ],
151                 [
152                         11.25,
153                         5.716809422441302,
154                         -1.5707963267948966
155                 ],
156                 [
157                         11.25,
158                         5.8168094224413016,
159                         -1.5707963267948966
160                 ],
161                 [
162                         11.25,
163                         5.9168094224413013,
164                         -1.5707963267948966
165                 ]
166         ],
167         "ncnt" : 6,
168         "obst" : 
169         [
170                 [
171                         [
172                                 10,
173                                 0
174                         ],
175                         [
176                                 10,
177                                 1
178                         ],
179                         [
180                                 9,
181                                 1
182                         ],
183                         [
184                                 9,
185                                 0
186                         ]
187                 ],
188                 [
189                         [
190                                 10,
191                                 2
192                         ],
193                         [
194                                 10,
195                                 7
196                         ],
197                         [
198                                 9,
199                                 7
200                         ],
201                         [
202                                 9,
203                                 2
204                         ]
205                 ],
206                 [
207                         [
208                                 10,
209                                 7
210                         ],
211                         [
212                                 12.5,
213                                 7
214                         ],
215                         [
216                                 12.5,
217                                 8
218                         ],
219                         [
220                                 10,
221                                 8
222                         ]
223                 ],
224                 [
225                         [
226                                 12.5,
227                                 7
228                         ],
229                         [
230                                 12.5,
231                                 2
232                         ],
233                         [
234                                 13.5,
235                                 2
236                         ],
237                         [
238                                 13.5,
239                                 7
240                         ]
241                 ]
242         ],
243         "ogoal_cc" : 30.826857771380926,
244         "opath" : 
245         [
246                 [
247                         0.0,
248                         0.0,
249                         0.0,
250                         0.0
251                 ],
252                 [
253                         0.4986892401969264,
254                         -0.031325161923024473,
255                         -0.1254651455172934,
256                         0.1254651455172934
257                 ],
258                 [
259                         0.98953865467239843,
260                         -0.12480818908185064,
261                         -0.25093029103458681,
262                         0.25093029103458681
263                 ],
264                 [
265                         1.4648316665388816,
266                         -0.27897944752057025,
267                         -0.37639543655188018,
268                         0.37639543655188018
269                 ],
270                 [
271                         1.9170962589985263,
272                         -0.49141523185316083,
273                         -0.50186058206917361,
274                         0.50186058206917361
275                 ],
276                 [
277                         2.3392224419030225,
278                         -0.75877586800622498,
279                         -0.62732572758646699,
280                         0.62732572758646699
281                 ],
282                 [
283                         2.7245740269417356,
284                         -1.0768582157808897,
285                         -0.75279087310376036,
286                         0.75279087310376036
287                 ],
288                 [
289                         3.0670929542555907,
290                         -1.4406617458482287,
291                         -0.87825601862105374,
292                         0.1254651455172934
293                 ],
294                 [
295                         3.3613945303721975,
296                         -1.8444671523907525,
297                         -1.0037211641383472,
298                         0.25093029103458681
299                 ],
300                 [
301                         3.6028520802395865,
302                         -2.2819262655313159,
303                         -1.1291863096556405,
304                         0.37639543655188018
305                 ],
306                 [
307                         3.787669682555463,
308                         -2.7461618500483826,
309                         -1.254651455172934,
310                         0.50186058206917361
311                 ],
312                 [
313                         3.9129418449297333,
314                         -3.2298757214556084,
315                         -1.3801166006902275,
316                         0.62732572758646699
317                 ],
318                 [
319                         3.9766991807352126,
320                         -3.7254634797675732,
321                         -1.5055817462075207,
322                         0.75279087310376036
323                 ],
324                 [
325                         3.9808906765033774,
326                         -4.1698149030178788,
327                         -1.6171457873989907,
328                         0.86435491429523026
329                 ],
330                 [
331                         4.0352878992851675,
332                         -3.6731126116890387,
333                         -1.7426109329162842,
334                         -0.12546514551729337
335                 ],
336                 [
337                         4.1514129916344915,
338                         -3.1871216786619372,
339                         -1.8680760784335777,
340                         -0.25093029103458697
341                 ],
342                 [
343                         4.3274403667679922,
344                         -2.7194823012980325,
345                         -1.993541223950871,
346                         -0.37639543655188024
347                 ],
348                 [
349                         4.5606027222616063,
350                         -2.2775461746480818,
351                         -2.1190063694681642,
352                         -0.50186058206917372
353                 ],
354                 [
355                         4.8472345444356062,
356                         -1.8682609164541124,
357                         -2.2444715149854577,
358                         -0.62732572758646721
359                 ],
360                 [
361                         5.1828297333966411,
362                         -1.4980608445958015,
363                         -2.3699366605027512,
364                         -0.75279087310376047
365                 ],
366                 [
367                         5.5621124428213093,
368                         -1.1727658240541792,
369                         -2.4954018060200447,
370                         -0.87825601862105396
371                 ],
372                 [
373                         5.9791200208186739,
374                         -0.89748977360579008,
375                         -2.6208669515373382,
376                         -1.0037211641383472
377                 ],
378                 [
379                         6.4272967479696934,
380                         -0.67656027060111579,
381                         -2.7463320970546317,
382                         -1.1291863096556407
383                 ],
384                 [
385                         6.899596898900608,
386                         -0.51345051770962002,
387                         -2.8717972425719247,
388                         -1.254651455172934
389                 ],
390                 [
391                         7.3885955071732994,
392                         -0.410724741172946,
393                         -2.9972623880892182,
394                         -1.3801166006902275
395                 ],
396                 [
397                         7.6175852631760712,
398                         -0.38418055195541678,
399                         -3.0551156859296742,
400                         -1.4379698985306835
401                 ],
402                 [
403                         8.1117054697851607,
404                         -0.3099010428140595,
405                         -2.9296505404123812,
406                         -0.12546514551729304
407                 ],
408                 [
409                         7.6175852631760694,
410                         -0.38418055195541678,
411                         -3.0551156859296746,
412                         0.1254651455172934
413                 ],
414                 [
415                         7.1180539966507608,
416                         -0.39604384919154934,
417                         3.1026044757326181,
418                         0.25093029103458681
419                 ],
420                 [
421                         6.6209647333120802,
422                         -0.34530443324006249,
423                         2.9771393302153251,
424                         0.37639543655188018
425                 ],
426                 [
427                         6.1341321458628935,
428                         -0.23275997155837141,
429                         2.8516741846980316,
430                         0.50186058206917361
431                 ],
432                 [
433                         5.8303282827704663,
434                         -0.12862380442962484,
435                         2.7710646118809525,
436                         0.58247015488625253
437                 ],
438                 [
439                         6.2838315278228762,
440                         -0.33840233236950962,
441                         2.6455994663636591,
442                         -0.12546514551729349
443                 ],
444                 [
445                         6.7075191460392087,
446                         -0.60328159963643535,
447                         2.5201343208463656,
448                         -0.25093029103458686
449                 ],
450                 [
451                         7.0947304019966495,
452                         -0.91909747529431141,
453                         2.3946691753290725,
454                         -0.37639543655188024
455                 ],
456                 [
457                         7.4393780002025371,
458                         -1.2808850609141127,
459                         2.269204029811779,
460                         -0.50186058206917372
461                 ],
462                 [
463                         7.7360437826388919,
464                         -1.6829567430668315,
465                         2.1437388842944856,
466                         -0.62732572758646721
467                 ],
468                 [
469                         7.9747261256789646,
470                         -2.1079138615479507,
471                         2.0213593497479891,
472                         -1.1102230246251565e-16
473                 ],
474                 [
475                         8.2200905200979619,
476                         -2.543193700282862,
477                         2.1468244952652826,
478                         -0.12546514551729337
479                 ],
480                 [
481                         8.5179955250835278,
482                         -2.944348074635482,
483                         2.2722896407825761,
484                         -0.25093029103458686
485                 ],
486                 [
487                         8.8637578165685262,
488                         -3.3050704912451723,
489                         2.3977547862998696,
490                         -0.37639543655188035
491                 ],
492                 [
493                         9.2519417125935401,
494                         -3.6196900820600661,
495                         2.5232199318171626,
496                         -0.50186058206917361
497                 ],
498                 [
499                         8.8274387982633939,
500                         -3.3561194088376758,
501                         2.6486850773344561,
502                         0.1254651455172934
503                 ],
504                 [
505                         8.3732904182102477,
506                         -3.1477412119148802,
507                         2.7741502228517496,
508                         0.25093029103458681
509                 ],
510                 [
511                         7.8966361773509695,
512                         -2.997831376585256,
513                         2.8996153683690427,
514                         0.37639543655188018
515                 ],
516                 [
517                         7.4049694921792684,
518                         -2.9087466149816961,
519                         3.0250805138863361,
520                         0.50186058206917361
521                 ],
522                 [
523                         7.0693372436566708,
524                         -2.8837722557579788,
525                         3.1095587646425722,
526                         0.58633883282540955
527                 ],
528                 [
529                         7.5687739309001554,
530                         -2.8684353886415836,
531                         -3.0481613970197206,
532                         -0.12546514551729349
533                 ],
534                 [
535                         8.0623656322005157,
536                         -2.7907214486751464,
537                         -2.9226962515024271,
538                         -0.25093029103458686
539                 ],
540                 [
541                         8.542352659552007,
542                         -2.6518521661394794,
543                         -2.7972311059851336,
544                         -0.37639543655188024
545                 ],
546                 [
547                         9.0011892021777431,
548                         -2.4540106861385627,
549                         -2.6717659604678401,
550                         -0.50186058206917372
551                 ],
552                 [
553                         9.4316619531946628,
554                         -2.2003072476722778,
555                         -2.5463008149505466,
556                         -0.62732572758646721
557                 ],
558                 [
559                         9.8270035090300034,
560                         -1.8947302879920966,
561                         -2.4208356694332536,
562                         -0.75279087310376047
563                 ],
564                 [
565                         10.180998758852471,
566                         -1.542083740921492,
567                         -2.2953705239159601,
568                         -0.87825601862105396
569                 ],
570                 [
571                         10.488082591484339,
572                         -1.1479115148656569,
573                         -2.169905378398667,
574                         -1.0037211641383474
575                 ],
576                 [
577                         10.743427383757403,
578                         -0.71841033778145269,
579                         -2.0444402328813736,
580                         -0.1254651455172934
581                 ],
582                 [
583                         10.875738675318047,
584                         -0.43305899909063761,
585                         -1.9654936137879604,
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1699                         ],
1700                         [
1701                                 11.228144506975127,
1702                                 2.4709454747893176,
1703                                 -1.602830215742119,
1704                                 -0.37639543655188018,
1705                                 0,
1706                                 false
1707                         ],
1708                         [
1709                                 11.244158712237859,
1710                                 2.9706889542163166,
1711                                 -1.602830215742119,
1712                                 -0.5018605820691735,
1713                                 0,
1714                                 false
1715                         ],
1716                         [
1717                                 11.25,
1718                                 3.2168094224413073,
1719                                 -1.5707963267948966,
1720                                 0.0,
1721                                 0,
1722                                 false
1723                         ]
1724                 ]
1725         ],
1726         "rcnt" : 8,
1727         "slot" : 
1728         [
1729                 [
1730                         10,
1731                         2
1732                 ],
1733                 [
1734                         10,
1735                         7
1736                 ],
1737                 [
1738                         12.5,
1739                         7
1740                 ],
1741                 [
1742                         12.5,
1743                         2
1744                 ]
1745         ],
1746         "time" : 0.0
1747 }