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[hubacji1/path-to-traj.git] / pa01-3.json
1 {
2         "bcnt" : 4,
3         "cost" : 35.948481628698694,
4         "costs" : 
5         [
6                 35.948481628698694
7         ],
8         "entry" : 
9         [
10                 15.652899945381129,
11                 -0.65399307087796865,
12                 1.9897963267948504,
13                 1.9897963267948504
14         ],
15         "goal" : 
16         [
17                 15.9973798590085,
18                 -1.2940607072764945,
19                 1.569803216808946
20         ],
21         "goal_cc" : 21.274520846568702,
22         "icnt" : 89,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         15.652899945381129,
33                         -0.65399307087796865,
34                         1.9897963267948504
35                 ],
36                 [
37                         16.052582062551764,
38                         -1.991319080321359,
39                         1.7098009201375808
40                 ],
41                 [
42                         15.9973798590085,
43                         -1.2940607072764945,
44                         1.569803216808946
45                 ]
46         ],
47         "ncnt" : 6,
48         "obst" : 
49         [
50                 [
51                         [
52                                 15.5,
53                                 -3.75
54                         ],
55                         [
56                                 15.0,
57                                 -3.75
58                         ],
59                         [
60                                 15.0,
61                                 -3.25
62                         ],
63                         [
64                                 15.5,
65                                 -3.25
66                         ],
67                         [
68                                 15.5,
69                                 -3.75
70                         ]
71                 ],
72                 [
73                         [
74                                 15.5,
75                                 3.25
76                         ],
77                         [
78                                 15.0,
79                                 3.25
80                         ],
81                         [
82                                 15.0,
83                                 3.75
84                         ],
85                         [
86                                 15.5,
87                                 3.75
88                         ],
89                         [
90                                 15.5,
91                                 3.25
92                         ]
93                 ],
94                 [
95                         [
96                                 12.75,
97                                 -2.75
98                         ],
99                         [
100                                 12.25,
101                                 -2.75
102                         ],
103                         [
104                                 12.25,
105                                 -2.25
106                         ],
107                         [
108                                 12.75,
109                                 -2.25
110                         ],
111                         [
112                                 12.75,
113                                 -2.75
114                         ]
115                 ],
116                 [
117                         [
118                                 10.25,
119                                 -0.25
120                         ],
121                         [
122                                 9.75,
123                                 -0.25
124                         ],
125                         [
126                                 9.75,
127                                 0.25
128                         ],
129                         [
130                                 10.25,
131                                 0.25
132                         ],
133                         [
134                                 10.25,
135                                 -0.25
136                         ]
137                 ],
138                 [
139                         [
140                                 7.75,
141                                 2.25
142                         ],
143                         [
144                                 7.25,
145                                 2.25
146                         ],
147                         [
148                                 7.25,
149                                 2.75
150                         ],
151                         [
152                                 7.75,
153                                 2.75
154                         ],
155                         [
156                                 7.75,
157                                 2.25
158                         ]
159                 ]
160         ],
161         "ogoal_cc" : 35.948481628698694,
162         "opath" : 
163         [
164                 [
165                         0.0,
166                         0.0,
167                         0.0,
168                         0.0
169                 ],
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171                         0.4986892401969264,
172                         -0.031325161923024473,
173                         -0.1254651455172934,
174                         0.1254651455172934
175                 ],
176                 [
177                         0.98953865467239843,
178                         -0.12480818908185064,
179                         -0.25093029103458681,
180                         0.25093029103458681
181                 ],
182                 [
183                         1.4648316665388816,
184                         -0.27897944752057025,
185                         -0.37639543655188018,
186                         0.37639543655188018
187                 ],
188                 [
189                         1.7788994446546469,
190                         -0.4190660845398726,
191                         -0.46271556443440964,
192                         0.46271556443440964
193                 ],
194                 [
195                         2.2111654142061443,
196                         -0.66970198704666717,
197                         -0.58818070995170302,
198                         0.1254651455172934
199                 ],
200                 [
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202                         -0.87877020984824561,
203                         -0.67694518264418058,
204                         0.21422961820977093
205                 ],
206                 [
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209                         -0.5514800371268872,
210                         -0.1254651455172934
211                 ],
212                 [
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214                         -0.35619532697564349,
215                         -0.42601489160959377,
216                         -0.25093029103458681
217                 ],
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220                         -0.17863971751461116,
221                         -0.3005497460923004,
222                         -0.37639543655188018
223                 ],
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225                         0.7825157934807172,
226                         -0.077581351802308074,
227                         -0.19764111493792069,
228                         -0.47930406770625988
229                 ],
230                 [
231                         0.29968570382802184,
232                         0.051055068326913533,
233                         -0.32310626045521407,
234                         -0.12546514551729337
235                 ],
236                 [
237                         -0.16325205528790754,
238                         0.23909989075606985,
239                         -0.44857140597250744,
240                         -0.25093029103458675
241                 ],
242                 [
243                         -0.59901970231735113,
244                         0.48359688840658144,
245                         -0.57403655148980093,
246                         -0.37639543655188024
247                 ],
248                 [
249                         -1.000766593347457,
250                         0.7807023572309294,
251                         -0.6995016970070943,
252                         -0.50186058206917361
253                 ],
254                 [
255                         -1.3621769201434852,
256                         1.1257455425612286,
257                         -0.82496684252438768,
258                         -0.62732572758646699
259                 ],
260                 [
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262                         1.5133020674081208,
263                         -0.95043198804168116,
264                         -0.75279087310376047
265                 ],
266                 [
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270                         -0.87825601862105374
271                 ],
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274                         2.3910116784276645,
275                         -1.2013622790762679,
276                         -1.0037211641383472
277                 ],
278                 [
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280                         2.8673664111774069,
281                         -1.3268274245935612,
282                         -1.1291863096556405
283                 ],
284                 [
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286                         3.3588546986354588,
287                         -1.4522925701108547,
288                         -1.254651455172934
289                 ],
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292                         3.5517780139217203,
293                         -1.5009231973727206,
294                         -1.3032820824347999
295                 ],
296                 [
297                         -2.4060967206803201,
298                         3.481062726789057,
299                         -1.5187010870029702,
300                         0.017777889630249719
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304                         3.98070657394307,
305                         -1.6441662325202637,
306                         -0.12546514551729337
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308                 [
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310                         4.4757578957022393,
311                         -1.769631378037557,
312                         -0.25093029103458675
313                 ],
314                 [
315                         -2.203771995468526,
316                         4.9584340575661008,
317                         -1.8950965235548505,
318                         -0.37639543655188018
319                 ],
320                 [
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322                         5.4211469732398312,
323                         -2.0205616690721437,
324                         -0.5018605820691735
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328                         5.8566223959068875,
329                         -2.1460268145894372,
330                         -0.62732572758646687
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333                         -1.6972246708199219,
334                         5.9651645377301445,
335                         -2.178842248576121,
336                         -0.66014116157315073
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340                         6.3923666104209182,
341                         -2.0533771030588275,
342                         -0.12546514551729337
343                 ],
344                 [
345                         -1.2343744603319251,
346                         6.8486426165775871,
347                         -1.9279119575415342,
348                         -0.25093029103458675
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350                 [
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352                         7.3268195031626764,
353                         -1.8024468120242407,
354                         -0.37639543655188024
355                 ],
356                 [
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358                         6.8486426165775871,
359                         -1.9279119575415342,
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364                         6.3923666104209191,
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372                         0.3228832084439196
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388                         7.2417976305253839,
389                         -2.5017254570200409,
390                         -0.37639543655188024
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395                         -2.6271906025373339,
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400                         7.7325221756054683,
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425                         3.0286689770557853,
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436                         7.7692634942469159,
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1668                 ]
1669         ],
1670         "time" : 0.0
1671 }