]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blob - pa03-1.json
Update Makefile to generate trajectories with our ROS node
[hubacji1/path-to-traj.git] / pa03-1.json
1 {
2         "bcnt" : 4,
3         "cost" : 23.269765604953161,
4         "costs" : 
5         [
6                 23.269765604953161
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" : 22.533401132260472,
22         "icnt" : 84,
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                                 7.75,
97                                 2.25
98                         ],
99                         [
100                                 7.25,
101                                 2.25
102                         ],
103                         [
104                                 7.25,
105                                 2.75
106                         ],
107                         [
108                                 7.75,
109                                 2.75
110                         ],
111                         [
112                                 7.75,
113                                 2.25
114                         ]
115                 ],
116                 [
117                         [
118                                 10.25,
119                                 -2.75
120                         ],
121                         [
122                                 9.75,
123                                 -2.75
124                         ],
125                         [
126                                 9.75,
127                                 -2.25
128                         ],
129                         [
130                                 10.25,
131                                 -2.25
132                         ],
133                         [
134                                 10.25,
135                                 -2.75
136                         ]
137                 ],
138                 [
139                         [
140                                 12.75,
141                                 -0.25
142                         ],
143                         [
144                                 12.25,
145                                 -0.25
146                         ],
147                         [
148                                 12.25,
149                                 0.25
150                         ],
151                         [
152                                 12.75,
153                                 0.25
154                         ],
155                         [
156                                 12.75,
157                                 -0.25
158                         ]
159                 ]
160         ],
161         "ogoal_cc" : 23.269765604953161,
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                         0.6364802181716902,
178                         -0.0511551405177239,
179                         -0.16039906966983475,
180                         0.16039906966983475
181                 ],
182                 [
183                         1.1300620310226763,
184                         -0.13101122370951368,
185                         -0.16039906966983475,
186                         0.12546514551729343
187                 ],
188                 [
189                         1.6236438438736625,
190                         -0.2108673069013034,
191                         -0.16039906966983475,
192                         0.25093029103458681
193                 ],
194                 [
195                         2.1172256567246488,
196                         -0.29072339009309317,
197                         -0.16039906966983475,
198                         0.37639543655188024
199                 ],
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203                         -0.16039906966983475,
204                         0.50186058206917361
205                 ],
206                 [
207                         3.104389282426621,
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209                         -0.16039906966983475,
210                         0.62732572758646699
211                 ],
212                 [
213                         3.5979710952776074,
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215                         -0.16039906966983475,
216                         0.75279087310376047
217                 ],
218                 [
219                         4.0915529081285928,
220                         -0.61014772286025221,
221                         -0.16039906966983475,
222                         0.87825601862105374
223                 ],
224                 [
225                         4.5851347209795792,
226                         -0.69000380605204192,
227                         -0.16039906966983475,
228                         1.0037211641383472
229                 ],
230                 [
231                         5.0787165338305655,
232                         -0.76985988924383175,
233                         -0.16039906966983475,
234                         1.1291863096556407
235                 ],
236                 [
237                         5.5722983466815519,
238                         -0.84971597243562147,
239                         -0.16039906966983475,
240                         1.254651455172934
241                 ],
242                 [
243                         6.0658801595325382,
244                         -0.9295720556274113,
245                         -0.16039906966983475,
246                         1.3801166006902275
247                 ],
248                 [
249                         6.5577458132650719,
250                         -0.97741991034249909,
251                         -0.034933924152541346,
252                         0.12477565507193136
253                 ],
254                 [
255                         7.0572248777199995,
256                         -0.96353148966478575,
257                         0.090531221364752057,
258                         0.25024080058922477
259                 ],
260                 [
261                         7.5510398762642588,
262                         -0.88724930779755584,
263                         0.21599636688204543,
264                         0.37570594610651814
265                 ],
266                 [
267                         8.0314276104664994,
268                         -0.74977258654727019,
269                         0.34146151239933886,
270                         0.50117109162381157
271                 ],
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274                         -0.55326257875133356,
275                         0.46692665791663224,
276                         0.62663623714110495
277                 ],
278                 [
279                         8.9220426588002191,
280                         -0.30080859151617934,
281                         0.59239180343392561,
282                         0.75210138265839832
283                 ],
284                 [
285                         9.3182687348839632,
286                         0.0036205803595963371,
287                         0.7178569489512191,
288                         0.87756652817569181
289                 ],
290                 [
291                         9.6732851820893444,
292                         0.35523904726848821,
293                         0.84332209446851247,
294                         1.0030316736929852
295                 ],
296                 [
297                         9.98151083513347,
298                         0.74851906311370409,
299                         0.96878723998580574,
300                         1.1284968192102784
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302                 [
303                         10.238100120444726,
304                         1.1772779262537578,
305                         1.0942523855030992,
306                         1.2539619647275719
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310                         1.6347751769141028,
311                         1.2197175310203927,
312                         1.3794271102448654
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315                         10.570970116008727,
316                         2.0707405559007692,
317                         1.3340776489912496,
318                         1.4937872282157223
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320                 [
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322                         2.5628689026995852,
323                         1.4595427945085431,
324                         0.1254651455172934
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327                         10.681703234290669,
328                         3.0619529497237621,
329                         1.5850079400258363,
330                         0.25093029103458681
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333                         10.643294295644774,
334                         3.5601466645474114,
335                         1.7104730855431298,
336                         0.37639543655188018
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339                         10.542845181488438,
340                         4.0496180115360776,
341                         1.8359382310604233,
342                         0.50186058206917361
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346                         4.1805704229404039,
347                         1.8701536184771241,
348                         0.53607596948587455
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351                         10.327871558832994,
352                         4.6478430874410046,
353                         1.9956187639944176,
354                         0.1254651455172934
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358                         5.089293856573267,
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360                         0.25093029103458681
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364                         4.680604970311844,
365                         2.2465490550290044,
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438                         -1.254651455172934
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468                         0.0
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471         "otime" : 0.0,
472         "path" : 
473         [
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1159                                 10.801329967799836,
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1161                                 2.4008565012786591,
1162                                 -0.27977259176694824,
1163                                 -1,
1164                                 false
1165                         ],
1166                         [
1167                                 11.170315957837031,
1168                                 3.8949086977989591,
1169                                 2.4008565012786591,
1170                                 -0.12546514551729343,
1171                                 0,
1172                                 false
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1174                         [
1175                                 11.539301947874227,
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1177                                 2.4008565012786591,
1178                                 -0.25093029103458686,
1179                                 0,
1180                                 false
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1183                                 11.908287937911423,
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1185                                 2.4008565012786591,
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1193                                 2.4008565012786591,
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1199                                 12.646259917985816,
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1201                                 2.4008565012786591,
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1207                                 13.01524590802301,
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1224                                 1.5329989580634926,
1225                                 2.4008565012786591,
1226                                 -1.0037211641383472,
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1229                         ],
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1231                                 14.122203878134599,
1232                                 1.1955832809584255,
1233                                 2.4008565012786591,
1234                                 -1.1291863096556407,
1235                                 0,
1236                                 false
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1239                                 14.491189868171793,
1240                                 0.85816760385335922,
1241                                 2.4008565012786591,
1242                                 -1.254651455172934,
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1244                                 false
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1247                                 14.70177966030576,
1248                                 0.66559580106720162,
1249                                 2.4008565012786591,
1250                                 -1.3262576397651495,
1251                                 0,
1252                                 false
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1254                         [
1255                                 15.048659144894314,
1256                                 0.30594757400460093,
1257                                 2.2753913557613656,
1258                                 -0.12546514551729349,
1259                                 1,
1260                                 false
1261                         ],
1262                         [
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1264                                 -0.0942808557348771,
1265                                 2.1499262102440726,
1266                                 -0.25093029103458675,
1267                                 1,
1268                                 false
1269                         ],
1270                         [
1271                                 15.594520307370029,
1272                                 -0.52879755143993279,
1273                                 2.0244610647267791,
1274                                 -0.37639543655188024,
1275                                 1,
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1278                         [
1279                                 15.652899945381129,
1280                                 -0.65399307087796865,
1281                                 1.9897963267948504,
1282                                 0.0,
1283                                 0,
1284                                 false
1285                         ]
1286                 ]
1287         ],
1288         "rcnt" : 9,
1289         "slot" : 
1290         [
1291                 [
1292                         15.0,
1293                         -3.25
1294                 ],
1295                 [
1296                         17.199999999999999,
1297                         -3.25
1298                 ],
1299                 [
1300                         17.199999999999999,
1301                         3.25
1302                 ],
1303                 [
1304                         15.0,
1305                         3.25
1306                 ]
1307         ],
1308         "time" : 0.0
1309 }