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[hubacji1/path-to-traj.git] / pe01-1.json
1 {
2         "bcnt" : 5,
3         "cost" : 41.051644717678236,
4         "costs" : 
5         [
6                 41.051644717678236
7         ],
8         "entry" : 
9         [
10                 15.0,
11                 1.2759727483608954,
12                 -1.5707963267948966,
13                 -1.5707963267948966
14         ],
15         "goal" : 
16         [
17                 15.0,
18                 3.8759727483608977,
19                 -1.5707963267948966
20         ],
21         "goal_cc" : 21.496375610631322,
22         "icnt" : 39,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         15.0,
33                         1.3759727483608954,
34                         -1.5707963267948966
35                 ],
36                 [
37                         15.0,
38                         1.4759727483608955,
39                         -1.5707963267948966
40                 ],
41                 [
42                         15.0,
43                         1.5759727483608956,
44                         -1.5707963267948966
45                 ],
46                 [
47                         15.0,
48                         1.6759727483608957,
49                         -1.5707963267948966
50                 ],
51                 [
52                         15.0,
53                         1.7759727483608958,
54                         -1.5707963267948966
55                 ],
56                 [
57                         15.0,
58                         1.8759727483608959,
59                         -1.5707963267948966
60                 ],
61                 [
62                         15.0,
63                         1.975972748360896,
64                         -1.5707963267948966
65                 ],
66                 [
67                         15.0,
68                         2.0759727483608961,
69                         -1.5707963267948966
70                 ],
71                 [
72                         15.0,
73                         2.1759727483608962,
74                         -1.5707963267948966
75                 ],
76                 [
77                         15.0,
78                         2.2759727483608962,
79                         -1.5707963267948966
80                 ],
81                 [
82                         15.0,
83                         2.3759727483608963,
84                         -1.5707963267948966
85                 ],
86                 [
87                         15.0,
88                         2.4759727483608964,
89                         -1.5707963267948966
90                 ],
91                 [
92                         15.0,
93                         2.5759727483608965,
94                         -1.5707963267948966
95                 ],
96                 [
97                         15.0,
98                         2.6759727483608966,
99                         -1.5707963267948966
100                 ],
101                 [
102                         15.0,
103                         2.7759727483608967,
104                         -1.5707963267948966
105                 ],
106                 [
107                         15.0,
108                         2.8759727483608968,
109                         -1.5707963267948966
110                 ],
111                 [
112                         15.0,
113                         2.9759727483608969,
114                         -1.5707963267948966
115                 ],
116                 [
117                         15.0,
118                         3.075972748360897,
119                         -1.5707963267948966
120                 ],
121                 [
122                         15.0,
123                         3.175972748360897,
124                         -1.5707963267948966
125                 ],
126                 [
127                         15.0,
128                         3.2759727483608971,
129                         -1.5707963267948966
130                 ],
131                 [
132                         15.0,
133                         3.3759727483608972,
134                         -1.5707963267948966
135                 ],
136                 [
137                         15.0,
138                         3.4759727483608973,
139                         -1.5707963267948966
140                 ],
141                 [
142                         15.0,
143                         3.5759727483608974,
144                         -1.5707963267948966
145                 ],
146                 [
147                         15.0,
148                         3.6759727483608975,
149                         -1.5707963267948966
150                 ],
151                 [
152                         15.0,
153                         3.7759727483608976,
154                         -1.5707963267948966
155                 ],
156                 [
157                         15.0,
158                         3.8759727483608977,
159                         -1.5707963267948966
160                 ]
161         ],
162         "ncnt" : 6,
163         "obst" : 
164         [
165                 [
166                         [
167                                 13.75,
168                                 0.0
169                         ],
170                         [
171                                 13.25,
172                                 0.0
173                         ],
174                         [
175                                 13.25,
176                                 0.5
177                         ],
178                         [
179                                 13.75,
180                                 0.5
181                         ],
182                         [
183                                 13.75,
184                                 0.0
185                         ]
186                 ],
187                 [
188                         [
189                                 16.75,
190                                 0.0
191                         ],
192                         [
193                                 16.25,
194                                 0.0
195                         ],
196                         [
197                                 16.25,
198                                 0.5
199                         ],
200                         [
201                                 16.75,
202                                 0.5
203                         ],
204                         [
205                                 16.75,
206                                 0.0
207                         ]
208                 ],
209                 [
210                         [
211                                 15.25,
212                                 -5.25
213                         ],
214                         [
215                                 14.75,
216                                 -5.25
217                         ],
218                         [
219                                 14.75,
220                                 -4.75
221                         ],
222                         [
223                                 15.25,
224                                 -4.75
225                         ],
226                         [
227                                 15.25,
228                                 -5.25
229                         ]
230                 ]
231         ],
232         "ogoal_cc" : 41.051644717678236,
233         "opath" : 
234         [
235                 [
236                         0.0,
237                         0.0,
238                         0.0,
239                         0.0
240                 ],
241                 [
242                         0.4986892401969264,
243                         0.031325161923024473,
244                         0.1254651455172934,
245                         0.1254651455172934
246                 ],
247                 [
248                         0.98953865467239843,
249                         0.12480818908185064,
250                         0.25093029103458681,
251                         0.25093029103458681
252                 ],
253                 [
254                         1.1276043423925082,
255                         0.16285544630924115,
256                         0.28686849849843066,
257                         0.28686849849843066
258                 ],
259                 [
260                         1.6071716601230355,
261                         0.30433048921344907,
262                         0.28686849849843066,
263                         0.12546514551729337
264                 ],
265                 [
266                         2.086738977853563,
267                         0.44580553211765706,
268                         0.28686849849843066,
269                         0.25093029103458675
270                 ],
271                 [
272                         2.5663062955840901,
273                         0.58728057502186504,
274                         0.28686849849843066,
275                         0.37639543655188012
276                 ],
277                 [
278                         3.0458736133146171,
279                         0.72875561792607302,
280                         0.28686849849843066,
281                         0.50186058206917361
282                 ],
283                 [
284                         3.5254409310451447,
285                         0.87023066083028111,
286                         0.28686849849843066,
287                         0.62732572758646699
288                 ],
289                 [
290                         4.0050082487756722,
291                         1.011705703734489,
292                         0.28686849849843066,
293                         0.75279087310376025
294                 ],
295                 [
296                         4.4845755665061988,
297                         1.153180746638697,
298                         0.28686849849843066,
299                         0.87825601862105374
300                 ],
301                 [
302                         4.9641428842367263,
303                         1.2946557895429047,
304                         0.28686849849843066,
305                         1.003721164138347
306                 ],
307                 [
308                         5.4437102019672539,
309                         1.4361308324471127,
310                         0.28686849849843066,
311                         1.1291863096556405
312                 ],
313                 [
314                         5.9232775196977814,
315                         1.5776058753513207,
316                         0.28686849849843066,
317                         0.1254651455172934
318                 ],
319                 [
320                         6.402844837428308,
321                         1.7190809182555287,
322                         0.28686849849843066,
323                         0.25093029103458681
324                 ],
325                 [
326                         6.8824121551588355,
327                         1.8605559611597366,
328                         0.28686849849843066,
329                         0.37639543655188018
330                 ],
331                 [
332                         7.3619794728893631,
333                         2.0020310040639444,
334                         0.28686849849843066,
335                         0.50186058206917361
336                 ],
337                 [
338                         7.8415467906198906,
339                         2.1435060469681524,
340                         0.28686849849843066,
341                         0.62732572758646699
342                 ],
343                 [
344                         8.3211141083504181,
345                         2.2849810898723604,
346                         0.28686849849843066,
347                         0.75279087310376036
348                 ],
349                 [
350                         8.8006814260809456,
351                         2.4264561327765684,
352                         0.28686849849843066,
353                         0.87825601862105385
354                 ],
355                 [
356                         9.2701280914314932,
357                         2.5976053438438211,
358                         0.41233364401572403,
359                         0.1254651455172934
360                 ],
361                 [
362                         9.7144677350944768,
363                         2.8261540369644433,
364                         0.53779878953301741,
365                         0.25093029103458681
366                 ],
367                 [
368                         10.126714953963795,
369                         3.1085092292173986,
370                         0.66326393505031089,
371                         0.37639543655188018
372                 ],
373                 [
374                         10.500388865578834,
375                         3.4402320530266857,
376                         0.78872908056760427,
377                         0.50186058206917361
378                 ],
379                 [
380                         10.512753119460745,
381                         3.4527339927584997,
382                         0.79314127267118084,
383                         0.50627277417275018
384                 ],
385                 [
386                         10.185188625903191,
387                         3.0754095612435575,
388                         0.91860641818847422,
389                         -0.12546514551729337
390                 ],
391                 [
392                         9.9074158899501672,
393                         2.6600608749342545,
394                         1.0440715637057676,
395                         -0.25093029103458675
396                 ],
397                 [
398                         9.6838017390054176,
399                         2.2132175740390188,
400                         1.1695367092230611,
401                         -0.37639543655188024
402                 ],
403                 [
404                         9.5178615807235474,
405                         1.7419044213187929,
406                         1.2950018547403543,
407                         -0.5018605820691735
408                 ],
409                 [
410                         9.4122041377643964,
411                         1.253530866747065,
412                         1.4204670002576476,
413                         -0.62732572758646676
414                 ],
415                 [
416                         9.3684904364189023,
417                         0.7557745645545475,
418                         1.5459321457749411,
419                         -0.75279087310376025
420                 ],
421                 [
422                         9.3709810807571028,
423                         0.48448947216255833,
424                         1.6140218143038831,
425                         -0.8208805416327023
426                 ],
427                 [
428                         9.3612345523453104,
429                         -0.015087578192647833,
430                         1.4885566687865901,
431                         -0.12546514551729315
432                 ],
433                 [
434                         9.2890494440947453,
435                         -0.50951809323449471,
436                         1.3630915232692966,
437                         -0.25093029103458664
438                 ],
439                 [
440                         9.155560568274753,
441                         -0.99102919808048506,
442                         1.2376263777520031,
443                         -0.37639543655188012
444                 ],
445                 [
446                         8.9628664853470958,
447                         -1.4520511221387244,
448                         1.1121612322347096,
449                         -0.50186058206917339
450                 ],
451                 [
452                         8.7139965127823302,
453                         -1.8853362024418709,
454                         0.98669608671741627,
455                         -0.62732572758646687
456                 ],
457                 [
458                         8.4128631015718618,
459                         -2.2840728231709413,
460                         0.86123094120012278,
461                         -0.75279087310376036
462                 ],
463                 [
464                         8.2292090420534603,
465                         -2.483755048433383,
466                         0.79314127267118073,
467                         -0.82088054163270241
468                 ],
469                 [
470                         8.6014156963623751,
471                         -2.1503867377830534,
472                         0.66767612715388724,
473                         0.12546514551729349
474                 ],
475                 [
476                         9.0124131012318198,
477                         -1.8662153858696788,
478                         0.54221098163659365,
479                         0.25093029103458708
480                 ],
481                 [
482                         8.5690861801065523,
483                         -2.0967223598710785,
484                         0.41674583611930027,
485                         -0.1254651455172934
486                 ],
487                 [
488                         8.100399224958279,
489                         -2.2699411871720749,
490                         0.29128069060200684,
491                         -0.25093029103458681
492                 ],
493                 [
494                         7.6137203996656337,
495                         -2.3831487181471056,
496                         0.16581554508471347,
497                         -0.37639543655188018
498                 ],
499                 [
500                         7.1167007158508238,
501                         -2.434565232598378,
502                         0.040350399567420037,
503                         -0.50186058206917361
504                 ],
505                 [
506                         6.6171537523664874,
507                         -2.4233824184950499,
508                         -0.085114745949873338,
509                         -0.62732572758646699
510                 ],
511                 [
512                         6.122932819085225,
513                         -2.3497760793367335,
514                         -0.21057989146716671,
515                         -0.75279087310376036
516                 ],
517                 [
518                         5.6418074960831763,
519                         -2.2149033703705872,
520                         -0.3360450369844602,
521                         -0.87825601862105385
522                 ],
523                 [
524                         5.1813414891283394,
525                         -2.020884607111054,
526                         -0.46151018250175357,
527                         -1.0037211641383472
528                 ],
529                 [
530                         5.0585621175903261,
531                         -1.9571408969838187,
532                         -0.49622569388484705,
533                         -1.0384366755214407
534                 ],
535                 [
536                         5.4821881381616802,
537                         -2.2221186672827065,
538                         -0.62169083940214054,
539                         0.12546514551729349
540                 ],
541                 [
542                         5.8693259543595735,
543                         -2.5380245635987109,
544                         -0.74715598491943402,
545                         0.25093029103458697
546                 ],
547                 [
548                         6.2138894252278103,
549                         -2.8998922723002822,
550                         -0.87262113043672729,
551                         0.37639543655188024
552                 ],
553                 [
554                         6.5104617153028475,
555                         -3.3020329203543426,
556                         -0.99808627595402077,
557                         0.50186058206917372
558                 ],
559                 [
560                         6.7543804519474024,
561                         -3.7381245093255298,
562                         -1.123551421471314,
563                         0.62732572758646699
564                 ],
565                 [
566                         6.9418110218765881,
567                         -4.2013113026537852,
568                         -1.2490165669886075,
569                         0.75279087310376047
570                 ],
571                 [
572                         7.0698068545918336,
573                         -4.6843116037564068,
574                         -1.374481712505901,
575                         0.87825601862105396
576                 ],
577                 [
578                         7.1363557450149564,
579                         -5.1795322305896825,
580                         -1.4999468580231943,
581                         1.0037211641383472
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1880                                 0,
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1900                                 9.8080180818271501,
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1911                                 -0.62732572758646676,
1912                                 0,
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1914                         ],
1915                         [
1916                                 10.63398653715824,
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1918                                 -2.542714354148401,
1919                                 -0.75279087310376025,
1920                                 0,
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1924                                 11.046970764823786,
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1927                                 -0.87825601862105374,
1928                                 0,
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1932                                 11.459954992489331,
1933                                 -3.2450788419219472,
1934                                 -2.542714354148401,
1935                                 -1.003721164138347,
1936                                 0,
1937                                 false
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1939                         [
1940                                 11.872939220154876,
1941                                 -2.9632206724474877,
1942                                 -2.542714354148401,
1943                                 -1.1291863096556405,
1944                                 0,
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1947                         [
1948                                 12.285923447820421,
1949                                 -2.6813625029730286,
1950                                 -2.542714354148401,
1951                                 -1.2546514551729337,
1952                                 0,
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1955                         [
1956                                 12.698907675485968,
1957                                 -2.3995043334985695,
1958                                 -2.542714354148401,
1959                                 -1.3801166006902272,
1960                                 0,
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1964                                 13.111891903151513,
1965                                 -2.1176461640241095,
1966                                 -2.542714354148401,
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1972                                 13.261335212850227,
1973                                 -2.0156523955211698,
1974                                 -2.5427143541484005,
1975                                 -2.2204460492503131e-16,
1976                                 -1,
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1979                         [
1980                                 13.655578288669686,
1981                                 -1.708659527157586,
1982                                 -2.4172492086311079,
1983                                 -0.12546514551729326,
1984                                 -1,
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1988                                 14.008306511520326,
1989                                 -1.3547456607122017,
1990                                 -2.2917840631138144,
1991                                 -0.25093029103458675,
1992                                 -1,
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1995                         [
1996                                 14.313974688983127,
1997                                 -0.95947462794574268,
1998                                 -2.166318917596521,
1999                                 -0.37639543655188024,
2000                                 -1,
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2003                         [
2004                                 14.567777453212253,
2005                                 -0.52906043100592814,
2006                                 -2.0408537720792275,
2007                                 -0.50186058206917372,
2008                                 -1,
2009                                 false
2010                         ],
2011                         [
2012                                 14.765724805469429,
2013                                 -0.070269552944838942,
2014                                 -1.9153886265619338,
2015                                 -0.62732572758646721,
2016                                 -1,
2017                                 false
2018                         ],
2019                         [
2020                                 14.904704842351432,
2021                                 0.40968541724087171,
2022                                 -1.7899234810446407,
2023                                 -0.75279087310376025,
2024                                 -1,
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2027                         [
2028                                 14.982532677600265,
2029                                 0.90325917274066914,
2030                                 -1.6644583355273472,
2031                                 -0.87825601862105374,
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2035                         [
2036                                 15.0,
2037                                 1.2759727483608954,
2038                                 -1.5707963267948966,
2039                                 0.0,
2040                                 0,
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2042                         ]
2043                 ]
2044         ],
2045         "rcnt" : 10,
2046         "slot" : 
2047         [
2048                 [
2049                         16.199999999999999,
2050                         0.0
2051                 ],
2052                 [
2053                         16.199999999999999,
2054                         5.2999999999999998
2055                 ],
2056                 [
2057                         13.800000000000001,
2058                         5.2999999999999998
2059                 ],
2060                 [
2061                         13.800000000000001,
2062                         1.4695761589768238e-16
2063                 ]
2064         ],
2065         "time" : 0.0
2066 }