pe04-1.json

   1 {
   2         "bcnt" : 1,
   3         "cost" : 15.825398719930813,
   4         "costs" :
   5         [
   6                 15.825398719930813
   7         ],
   8         "entry" :
   9         [
  10                 11.275957323744649,
  11                 3.1290248351610024e-16,
  12                 3.1415926535897931,
  13                 3.1415926535897931
  14         ],
  15         "goal" :
  16         [
  17                 13.87595732374464,
  18                 -5.5056842622117119e-18,
  19                 3.1415926535897931
  20         ],
  21         "goal_cc" : 15.825398719930813,
  22         "icnt" : 7,
  23         "init" :
  24         [
  25                 0,
  26                 0,
  27                 0
  28         ],
  29         "ispath" :
  30         [
  31                 [
  32                         11.375957323744649,
  33                         3.0065601552462669e-16,
  34                         3.1415926535897931
  35                 ],
  36                 [
  37                         11.475957323744648,
  38                         2.8840954753315313e-16,
  39                         3.1415926535897931
  40                 ],
  41                 [
  42                         11.575957323744648,
  43                         2.7616307954167958e-16,
  44                         3.1415926535897931
  45                 ],
  46                 [
  47                         11.675957323744647,
  48                         2.6391661155020602e-16,
  49                         3.1415926535897931
  50                 ],
  51                 [
  52                         11.775957323744647,
  53                         2.5167014355873247e-16,
  54                         3.1415926535897931
  55                 ],
  56                 [
  57                         11.875957323744647,
  58                         2.3942367556725891e-16,
  59                         3.1415926535897931
  60                 ],
  61                 [
  62                         11.975957323744646,
  63                         2.2717720757578536e-16,
  64                         3.1415926535897931
  65                 ],
  66                 [
  67                         12.075957323744646,
  68                         2.1493073958431183e-16,
  69                         3.1415926535897931
  70                 ],
  71                 [
  72                         12.175957323744646,
  73                         2.026842715928383e-16,
  74                         3.1415926535897931
  75                 ],
  76                 [
  77                         12.275957323744645,
  78                         1.9043780360136477e-16,
  79                         3.1415926535897931
  80                 ],
  81                 [
  82                         12.375957323744645,
  83                         1.7819133560989124e-16,
  84                         3.1415926535897931
  85                 ],
  86                 [
  87                         12.475957323744645,
  88                         1.6594486761841771e-16,
  89                         3.1415926535897931
  90                 ],
  91                 [
  92                         12.575957323744644,
  93                         1.5369839962694418e-16,
  94                         3.1415926535897931
  95                 ],
  96                 [
  97                         12.675957323744644,
  98                         1.4145193163547065e-16,
  99                         3.1415926535897931
 100                 ],
 101                 [
 102                         12.775957323744644,
 103                         1.2920546364399712e-16,
 104                         3.1415926535897931
 105                 ],
 106                 [
 107                         12.875957323744643,
 108                         1.1695899565252359e-16,
 109                         3.1415926535897931
 110                 ],
 111                 [
 112                         12.975957323744643,
 113                         1.0471252766105006e-16,
 114                         3.1415926535897931
 115                 ],
 116                 [
 117                         13.075957323744642,
 118                         9.2466059669576534e-17,
 119                         3.1415926535897931
 120                 ],
 121                 [
 122                         13.175957323744642,
 123                         8.0219591678103005e-17,
 124                         3.1415926535897931
 125                 ],
 126                 [
 127                         13.275957323744642,
 128                         6.7973123686629475e-17,
 129                         3.1415926535897931
 130                 ],
 131                 [
 132                         13.375957323744641,
 133                         5.5726655695155945e-17,
 134                         3.1415926535897931
 135                 ],
 136                 [
 137                         13.475957323744641,
 138                         4.3480187703682416e-17,
 139                         3.1415926535897931
 140                 ],
 141                 [
 142                         13.575957323744641,
 143                         3.1233719712208886e-17,
 144                         3.1415926535897931
 145                 ],
 146                 [
 147                         13.67595732374464,
 148                         1.8987251720735353e-17,
 149                         3.1415926535897931
 150                 ],
 151                 [
 152                         13.77595732374464,
 153                         6.7407837292618208e-18,
 154                         3.1415926535897931
 155                 ],
 156                 [
 157                         13.87595732374464,
 158                         -5.5056842622117119e-18,
 159                         3.1415926535897931
 160                 ]
 161         ],
 162         "ncnt" : 6,
 163         "obst" :
 164         [
 165                 [
 166                         [
 167                                 10.5,
 168                                 1.25
 169                         ],
 170                         [
 171                                 10.0,
 172                                 1.25
 173                         ],
 174                         [
 175                                 10.0,
 176                                 1.75
 177                         ],
 178                         [
 179                                 10.5,
 180                                 1.75
 181                         ],
 182                         [
 183                                 10.5,
 184                                 1.25
 185                         ]
 186                 ],
 187                 [
 188                         [
 189                                 10.5,
 190                                 -1.75
 191                         ],
 192                         [
 193                                 10.0,
 194                                 -1.75
 195                         ],
 196                         [
 197                                 10.0,
 198                                 -1.25
 199                         ],
 200                         [
 201                                 10.5,
 202                                 -1.25
 203                         ],
 204                         [
 205                                 10.5,
 206                                 -1.75
 207                         ]
 208                 ]
 209         ],
 210         "ogoal_cc" : 15.825398719930813,
 211         "opath" :
 212         [
 213                 [
 214                         0.0,
 215                         0.0,
 216                         0.0,
 217                         0.0
 218                 ],
 219                 [
 220                         0.4986892401969264,
 221                         0.031325161923024473,
 222                         0.1254651455172934,
 223                         0.1254651455172934
 224                 ],
 225                 [
 226                         0.98953865467239843,
 227                         0.12480818908185064,
 228                         0.25093029103458681,
 229                         0.25093029103458681
 230                 ],
 231                 [
 232                         1.4648316665388816,
 233                         0.27897944752057025,
 234                         0.37639543655188018,
 235                         0.37639543655188018
 236                 ],
 237                 [
 238                         1.9170962589985263,
 239                         0.49141523185316083,
 240                         0.50186058206917361,
 241                         0.50186058206917361
 242                 ],
 243                 [
 244                         2.3392224419030225,
 245                         0.75877586800622498,
 246                         0.62732572758646699,
 247                         0.62732572758646699
 248                 ],
 249                 [
 250                         2.7245740269417356,
 251                         1.0768582157808897,
 252                         0.75279087310376036,
 253                         0.75279087310376036
 254                 ],
 255                 [
 256                         3.0670929542555916,
 257                         1.4406617458482287,
 258                         0.87825601862105385,
 259                         0.87825601862105385
 260                 ],
 261                 [
 262                         3.3613945303721975,
 263                         1.8444671523907525,
 264                         1.0037211641383472,
 265                         1.0037211641383472
 266                 ],
 267                 [
 268                         3.6028520802395869,
 269                         2.2819262655313159,
 270                         1.1291863096556405,
 271                         1.1291863096556405
 272                 ],
 273                 [
 274                         3.7876696825554634,
 275                         2.7461618500483822,
 276                         1.254651455172934,
 277                         1.254651455172934
 278                 ],
 279                 [
 280                         3.9129418449297333,
 281                         3.2298757214556084,
 282                         1.3801166006902275,
 283                         1.3801166006902275
 284                 ],
 285                 [
 286                         3.976699180735213,
 287                         3.7254634797675732,
 288                         1.5055817462075207,
 289                         1.5055817462075207
 290                 ],
 291                 [
 292                         3.9851705263521402,
 293                         3.9851705263521398,
 294                         1.5707963267948966,
 295                         1.5707963267948966
 296                 ],
 297                 [
 298                         4.0164956882751648,
 299                         3.4864812861552132,
 300                         1.69626147231219,
 301                         -0.12546514551729349
 302                 ],
 303                 [
 304                         4.1099787154339902,
 305                         2.9956318716797417,
 306                         1.8217266178294833,
 307                         -0.25093029103458675
 308                 ],
 309                 [
 310                         4.2641499738727102,
 311                         2.5203388598132581,
 312                         1.9471917633467768,
 313                         -0.37639543655188024
 314                 ],
 315                 [
 316                         4.4765857582053004,
 317                         2.0680742673536137,
 318                         2.0726569088640701,
 319                         -0.5018605820691735
 320                 ],
 321                 [
 322                         4.7439463943583648,
 323                         1.6459480844491172,
 324                         2.1981220543813635,
 325                         -0.62732572758646699
 326                 ],
 327                 [
 328                         5.0620287421330303,
 329                         1.2605964994104031,
 330                         2.323587199898657,
 331                         -0.75279087310376047
 332                 ],
 333                 [
 334                         5.4258322722003687,
 335                         0.91807757209654772,
 336                         2.4490523454159505,
 337                         -0.87825601862105396
 338                 ],
 339                 [
 340                         5.829637678742893,
 341                         0.6237759959799416,
 342                         2.574517490933244,
 343                         -1.0037211641383474
 344                 ],
 345                 [
 346                         6.2670967918834553,
 347                         0.38231844611255256,
 348                         2.699982636450537,
 349                         -1.1291863096556405
 350                 ],
 351                 [
 352                         6.7313323764005224,
 353                         0.1975008437966761,
 354                         2.8254477819678305,
 355                         -1.254651455172934
 356                 ],
 357                 [
 358                         7.2150462478077486,
 359                         0.072228681422406349,
 360                         2.950912927485124,
 361                         -1.3801166006902275
 362                 ],
 363                 [
 364                         7.7106340061197143,
 365                         0.0084713456169262669,
 366                         3.0763780730024175,
 367                         -1.5055817462075209
 368                 ],
 369                 [
 370                         7.9703410527042804,
 371                         -4.4244280754137002e-16,
 372                         3.1415926535897931,
 373                         -1.5707963267948966
 374                 ],
 375                 [
 376                         8.4703410527042813,
 377                         -5.0367514749873774e-16,
 378                         3.1415926535897931,
 379                         -0.12546514551729349
 380                 ],
 381                 [
 382                         8.9703410527042813,
 383                         -5.6490748745610541e-16,
 384                         3.1415926535897931,
 385                         -0.25093029103458697
 386                 ],
 387                 [
 388                         9.4703410527042813,
 389                         -6.2613982741347309e-16,
 390                         3.1415926535897931,
 391                         -0.37639543655188046
 392                 ],
 393                 [
 394                         9.9703410527042795,
 395                         -6.8737216737084066e-16,
 396                         3.1415926535897931,
 397                         -0.5018605820691735
 398                 ],
 399                 [
 400                         10.47034105270428,
 401                         -7.4860450732820833e-16,
 402                         3.1415926535897931,
 403                         -0.62732572758646699
 404                 ],
 405                 [
 406                         10.97034105270428,
 407                         -3.657476374355161e-16,
 408                         -3.1415926535897922,
 409                         -0.12546514551729251
 410                 ],
 411                 [
 412                         11.275957323744649,
 413                         3.1290248351610024e-16,
 414                         3.1415926535897931,
 415                         0.0
 416                 ]
 417         ],
 418         "otime" : 0.0,
 419         "path" :
 420         [
 421                 [
 422                         0.0,
 423                         0.0,
 424                         0.0,
 425                         0.1254651455172934,
 426                         1,
 427                         true
 428                 ],
 429                 [
 430                         0.4986892401969264,
 431                         0.031325161923024473,
 432                         0.1254651455172934,
 433                         0.1254651455172934,
 434                         1,
 435                         false
 436                 ],
 437                 [
 438                         0.98953865467239843,
 439                         0.12480818908185064,
 440                         0.25093029103458681,
 441                         0.25093029103458681,
 442                         1,
 443                         false
 444                 ],
 445                 [
 446                         1.4648316665388816,
 447                         0.27897944752057025,
 448                         0.37639543655188018,
 449                         0.37639543655188018,
 450                         1,
 451                         false
 452                 ],
 453                 [
 454                         1.9170962589985263,
 455                         0.49141523185316083,
 456                         0.50186058206917361,
 457                         0.50186058206917361,
 458                         1,
 459                         false
 460                 ],
 461                 [
 462                         2.3392224419030225,
 463                         0.75877586800622498,
 464                         0.62732572758646699,
 465                         0.62732572758646699,
 466                         1,
 467                         false
 468                 ],
 469                 [
 470                         2.7245740269417356,
 471                         1.0768582157808897,
 472                         0.75279087310376036,
 473                         0.75279087310376036,
 474                         1,
 475                         false
 476                 ],
 477                 [
 478                         3.0670929542555916,
 479                         1.4406617458482287,
 480                         0.87825601862105385,
 481                         0.87825601862105385,
 482                         1,
 483                         false
 484                 ],
 485                 [
 486                         3.3613945303721975,
 487                         1.8444671523907525,
 488                         1.0037211641383472,
 489                         1.0037211641383472,
 490                         1,
 491                         false
 492                 ],
 493                 [
 494                         3.6028520802395869,
 495                         2.2819262655313159,
 496                         1.1291863096556405,
 497                         1.1291863096556405,
 498                         1,
 499                         false
 500                 ],
 501                 [
 502                         3.7876696825554634,
 503                         2.7461618500483822,
 504                         1.254651455172934,
 505                         1.254651455172934,
 506                         1,
 507                         false
 508                 ],
 509                 [
 510                         3.9129418449297333,
 511                         3.2298757214556084,
 512                         1.3801166006902275,
 513                         1.3801166006902275,
 514                         1,
 515                         false
 516                 ],
 517                 [
 518                         3.976699180735213,
 519                         3.7254634797675732,
 520                         1.5055817462075207,
 521                         1.5055817462075207,
 522                         1,
 523                         false
 524                 ],
 525                 [
 526                         3.9851705263521402,
 527                         3.9851705263521398,
 528                         1.5707963267948966,
 529                         1.5707963267948966,
 530                         1,
 531                         true
 532                 ],
 533                 [
 534                         4.0164956882751648,
 535                         3.4864812861552132,
 536                         1.69626147231219,
 537                         -0.12546514551729349,
 538                         -1,
 539                         false
 540                 ],
 541                 [
 542                         4.1099787154339902,
 543                         2.9956318716797417,
 544                         1.8217266178294833,
 545                         -0.25093029103458675,
 546                         -1,
 547                         false
 548                 ],
 549                 [
 550                         4.2641499738727102,
 551                         2.5203388598132581,
 552                         1.9471917633467768,
 553                         -0.37639543655188024,
 554                         -1,
 555                         false
 556                 ],
 557                 [
 558                         4.4765857582053004,
 559                         2.0680742673536137,
 560                         2.0726569088640701,
 561                         -0.5018605820691735,
 562                         -1,
 563                         false
 564                 ],
 565                 [
 566                         4.7439463943583648,
 567                         1.6459480844491172,
 568                         2.1981220543813635,
 569                         -0.62732572758646699,
 570                         -1,
 571                         false
 572                 ],
 573                 [
 574                         5.0620287421330303,
 575                         1.2605964994104031,
 576                         2.323587199898657,
 577                         -0.75279087310376047,
 578                         -1,
 579                         false
 580                 ],
 581                 [
 582                         5.4258322722003687,
 583                         0.91807757209654772,
 584                         2.4490523454159505,
 585                         -0.87825601862105396,
 586                         -1,
 587                         false
 588                 ],
 589                 [
 590                         5.829637678742893,
 591                         0.6237759959799416,
 592                         2.574517490933244,
 593                         -1.0037211641383474,
 594                         -1,
 595                         false
 596                 ],
 597                 [
 598                         6.2670967918834553,
 599                         0.38231844611255256,
 600                         2.699982636450537,
 601                         -1.1291863096556405,
 602                         -1,
 603                         false
 604                 ],
 605                 [
 606                         6.7313323764005224,
 607                         0.1975008437966761,
 608                         2.8254477819678305,
 609                         -1.254651455172934,
 610                         -1,
 611                         false
 612                 ],
 613                 [
 614                         7.2150462478077486,
 615                         0.072228681422406349,
 616                         2.950912927485124,
 617                         -1.3801166006902275,
 618                         -1,
 619                         false
 620                 ],
 621                 [
 622                         7.7106340061197143,
 623                         0.0084713456169262669,
 624                         3.0763780730024175,
 625                         -1.5055817462075209,
 626                         -1,
 627                         false
 628                 ],
 629                 [
 630                         7.9703410527042804,
 631                         -4.4244280754137002e-16,
 632                         3.1415926535897931,
 633                         -1.5707963267948966,
 634                         -1,
 635                         false
 636                 ],
 637                 [
 638                         8.4703410527042813,
 639                         -5.0367514749873774e-16,
 640                         3.1415926535897931,
 641                         -0.12546514551729349,
 642                         0,
 643                         false
 644                 ],
 645                 [
 646                         8.9703410527042813,
 647                         -5.6490748745610541e-16,
 648                         3.1415926535897931,
 649                         -0.25093029103458697,
 650                         0,
 651                         false
 652                 ],
 653                 [
 654                         9.4703410527042813,
 655                         -6.2613982741347309e-16,
 656                         3.1415926535897931,
 657                         -0.37639543655188046,
 658                         0,
 659                         false
 660                 ],
 661                 [
 662                         9.9703410527042795,
 663                         -6.8737216737084066e-16,
 664                         3.1415926535897931,
 665                         -0.5018605820691735,
 666                         0,
 667                         false
 668                 ],
 669                 [
 670                         10.47034105270428,
 671                         -7.4860450732820833e-16,
 672                         3.1415926535897931,
 673                         -0.62732572758646699,
 674                         0,
 675                         false
 676                 ],
 677                 [
 678                         10.97034105270428,
 679                         -3.657476374355161e-16,
 680                         -3.1415926535897922,
 681                         -0.12546514551729251,
 682                         0,
 683                         false
 684                 ],
 685                 [
 686                         11.275957323744649,
 687                         3.1290248351610024e-16,
 688                         3.1415926535897931,
 689                         -0.12546514551729251,
 690                         0,
 691                         false
 692                 ],
 693                 [
 694                         11.475957323744648,
 695                         2.8840954753315313e-16,
 696                         3.1415926535897931,
 697                         -0.10000000000000001,
 698                         0,
 699                         false
 700                 ],
 701                 [
 702                         11.575957323744648,
 703                         2.7616307954167958e-16,
 704                         3.1415926535897931,
 705                         -0.10000000000000001,
 706                         0,
 707                         false
 708                 ],
 709                 [
 710                         11.675957323744647,
 711                         2.6391661155020602e-16,
 712                         3.1415926535897931,
 713                         -0.10000000000000001,
 714                         0,
 715                         false
 716                 ],
 717                 [
 718                         11.775957323744647,
 719                         2.5167014355873247e-16,
 720                         3.1415926535897931,
 721                         -0.10000000000000001,
 722                         0,
 723                         false
 724                 ],
 725                 [
 726                         11.875957323744647,
 727                         2.3942367556725891e-16,
 728                         3.1415926535897931,
 729                         -0.10000000000000001,
 730                         0,
 731                         false
 732                 ],
 733                 [
 734                         11.975957323744646,
 735                         2.2717720757578536e-16,
 736                         3.1415926535897931,
 737                         -0.10000000000000001,
 738                         0,
 739                         false
 740                 ],
 741                 [
 742                         12.075957323744646,
 743                         2.1493073958431183e-16,
 744                         3.1415926535897931,
 745                         -0.10000000000000001,
 746                         0,
 747                         false
 748                 ],
 749                 [
 750                         12.175957323744646,
 751                         2.026842715928383e-16,
 752                         3.1415926535897931,
 753                         -0.10000000000000001,
 754                         0,
 755                         false
 756                 ],
 757                 [
 758                         12.275957323744645,
 759                         1.9043780360136477e-16,
 760                         3.1415926535897931,
 761                         -0.10000000000000001,
 762                         0,
 763                         false
 764                 ],
 765                 [
 766                         12.375957323744645,
 767                         1.7819133560989124e-16,
 768                         3.1415926535897931,
 769                         -0.10000000000000001,
 770                         0,
 771                         false
 772                 ],
 773                 [
 774                         12.475957323744645,
 775                         1.6594486761841771e-16,
 776                         3.1415926535897931,
 777                         -0.10000000000000001,
 778                         0,
 779                         false
 780                 ],
 781                 [
 782                         12.575957323744644,
 783                         1.5369839962694418e-16,
 784                         3.1415926535897931,
 785                         -0.10000000000000001,
 786                         0,
 787                         false
 788                 ],
 789                 [
 790                         12.675957323744644,
 791                         1.4145193163547065e-16,
 792                         3.1415926535897931,
 793                         -0.10000000000000001,
 794                         0,
 795                         false
 796                 ],
 797                 [
 798                         12.775957323744644,
 799                         1.2920546364399712e-16,
 800                         3.1415926535897931,
 801                         -0.10000000000000001,
 802                         0,
 803                         false
 804                 ],
 805                 [
 806                         12.875957323744643,
 807                         1.1695899565252359e-16,
 808                         3.1415926535897931,
 809                         -0.10000000000000001,
 810                         0,
 811                         false
 812                 ],
 813                 [
 814                         12.975957323744643,
 815                         1.0471252766105006e-16,
 816                         3.1415926535897931,
 817                         -0.10000000000000001,
 818                         0,
 819                         false
 820                 ],
 821                 [
 822                         13.075957323744642,
 823                         9.2466059669576534e-17,
 824                         3.1415926535897931,
 825                         -0.10000000000000001,
 826                         0,
 827                         false
 828                 ],
 829                 [
 830                         13.175957323744642,
 831                         8.0219591678103005e-17,
 832                         3.1415926535897931,
 833                         -0.10000000000000001,
 834                         0,
 835                         false
 836                 ],
 837                 [
 838                         13.275957323744642,
 839                         6.7973123686629475e-17,
 840                         3.1415926535897931,
 841                         -0.10000000000000001,
 842                         0,
 843                         false
 844                 ],
 845                 [
 846                         13.375957323744641,
 847                         5.5726655695155945e-17,
 848                         3.1415926535897931,
 849                         -0.10000000000000001,
 850                         0,
 851                         false
 852                 ],
 853                 [
 854                         13.475957323744641,
 855                         4.3480187703682416e-17,
 856                         3.1415926535897931,
 857                         -0.10000000000000001,
 858                         0,
 859                         false
 860                 ],
 861                 [
 862                         13.575957323744641,
 863                         3.1233719712208886e-17,
 864                         3.1415926535897931,
 865                         -0.10000000000000001,
 866                         0,
 867                         false
 868                 ],
 869                 [
 870                         13.67595732374464,
 871                         1.8987251720735353e-17,
 872                         3.1415926535897931,
 873                         -0.10000000000000001,
 874                         0,
 875                         false
 876                 ],
 877                 [
 878                         13.77595732374464,
 879                         6.7407837292618208e-18,
 880                         3.1415926535897931,
 881                         -0.10000000000000001,
 882                         0,
 883                         false
 884                 ],
 885                 [
 886                         13.87595732374464,
 887                         -5.5056842622117119e-18,
 888                         3.1415926535897931,
 889                         -0.10000000000000001,
 890                         0,
 891                         false
 892                 ]
 893         ],
 894         "paths" :
 895         [
 896                 [
 897                         [
 898                                 0.0,
 899                                 0.0,
 900                                 0.0,
 901                                 0.0,
 902                                 0,
 903                                 false
 904                         ],
 905                         [
 906                                 0.4986892401969264,
 907                                 0.031325161923024473,
 908                                 0.1254651455172934,
 909                                 0.1254651455172934,
 910                                 1,
 911                                 true
 912                         ],
 913                         [
 914                                 0.98953865467239843,
 915                                 0.12480818908185064,
 916                                 0.25093029103458681,
 917                                 0.25093029103458681,
 918                                 1,
 919                                 false
 920                         ],
 921                         [
 922                                 1.4648316665388816,
 923                                 0.27897944752057025,
 924                                 0.37639543655188018,
 925                                 0.37639543655188018,
 926                                 1,
 927                                 false
 928                         ],
 929                         [
 930                                 1.9170962589985263,
 931                                 0.49141523185316083,
 932                                 0.50186058206917361,
 933                                 0.50186058206917361,
 934                                 1,
 935                                 false
 936                         ],
 937                         [
 938                                 2.3392224419030225,
 939                                 0.75877586800622498,
 940                                 0.62732572758646699,
 941                                 0.62732572758646699,
 942                                 1,
 943                                 false
 944                         ],
 945                         [
 946                                 2.7245740269417356,
 947                                 1.0768582157808897,
 948                                 0.75279087310376036,
 949                                 0.75279087310376036,
 950                                 1,
 951                                 false
 952                         ],
 953                         [
 954                                 3.0670929542555916,
 955                                 1.4406617458482287,
 956                                 0.87825601862105385,
 957                                 0.87825601862105385,
 958                                 1,
 959                                 false
 960                         ],
 961                         [
 962                                 3.3613945303721975,
 963                                 1.8444671523907525,
 964                                 1.0037211641383472,
 965                                 1.0037211641383472,
 966                                 1,
 967                                 false
 968                         ],
 969                         [
 970                                 3.6028520802395869,
 971                                 2.2819262655313159,
 972                                 1.1291863096556405,
 973                                 1.1291863096556405,
 974                                 1,
 975                                 false
 976                         ],
 977                         [
 978                                 3.7876696825554634,
 979                                 2.7461618500483822,
 980                                 1.254651455172934,
 981                                 1.254651455172934,
 982                                 1,
 983                                 false
 984                         ],
 985                         [
 986                                 3.9129418449297333,
 987                                 3.2298757214556084,
 988                                 1.3801166006902275,
 989                                 1.3801166006902275,
 990                                 1,
 991                                 false
 992                         ],
 993                         [
 994                                 3.976699180735213,
 995                                 3.7254634797675732,
 996                                 1.5055817462075207,
 997                                 1.5055817462075207,
 998                                 1,
 999                                 false
1000                         ],
1001                         [
1002                                 3.9851705263521402,
1003                                 3.9851705263521398,
1004                                 1.5707963267948966,
1005                                 1.5707963267948966,
1006                                 1,
1007                                 false
1008                         ],
1009                         [
1010                                 4.0164956882751648,
1011                                 3.4864812861552132,
1012                                 1.69626147231219,
1013                                 -0.12546514551729349,
1014                                 -1,
1015                                 true
1016                         ],
1017                         [
1018                                 4.1099787154339902,
1019                                 2.9956318716797417,
1020                                 1.8217266178294833,
1021                                 -0.25093029103458675,
1022                                 -1,
1023                                 false
1024                         ],
1025                         [
1026                                 4.2641499738727102,
1027                                 2.5203388598132581,
1028                                 1.9471917633467768,
1029                                 -0.37639543655188024,
1030                                 -1,
1031                                 false
1032                         ],
1033                         [
1034                                 4.4765857582053004,
1035                                 2.0680742673536137,
1036                                 2.0726569088640701,
1037                                 -0.5018605820691735,
1038                                 -1,
1039                                 false
1040                         ],
1041                         [
1042                                 4.7439463943583648,
1043                                 1.6459480844491172,
1044                                 2.1981220543813635,
1045                                 -0.62732572758646699,
1046                                 -1,
1047                                 false
1048                         ],
1049                         [
1050                                 5.0620287421330303,
1051                                 1.2605964994104031,
1052                                 2.323587199898657,
1053                                 -0.75279087310376047,
1054                                 -1,
1055                                 false
1056                         ],
1057                         [
1058                                 5.4258322722003687,
1059                                 0.91807757209654772,
1060                                 2.4490523454159505,
1061                                 -0.87825601862105396,
1062                                 -1,
1063                                 false
1064                         ],
1065                         [
1066                                 5.829637678742893,
1067                                 0.6237759959799416,
1068                                 2.574517490933244,
1069                                 -1.0037211641383474,
1070                                 -1,
1071                                 false
1072                         ],
1073                         [
1074                                 6.2670967918834553,
1075                                 0.38231844611255256,
1076                                 2.699982636450537,
1077                                 -1.1291863096556405,
1078                                 -1,
1079                                 false
1080                         ],
1081                         [
1082                                 6.7313323764005224,
1083                                 0.1975008437966761,
1084                                 2.8254477819678305,
1085                                 -1.254651455172934,
1086                                 -1,
1087                                 false
1088                         ],
1089                         [
1090                                 7.2150462478077486,
1091                                 0.072228681422406349,
1092                                 2.950912927485124,
1093                                 -1.3801166006902275,
1094                                 -1,
1095                                 false
1096                         ],
1097                         [
1098                                 7.7106340061197143,
1099                                 0.0084713456169262669,
1100                                 3.0763780730024175,
1101                                 -1.5055817462075209,
1102                                 -1,
1103                                 false
1104                         ],
1105                         [
1106                                 7.9703410527042804,
1107                                 -4.4244280754137002e-16,
1108                                 3.1415926535897931,
1109                                 -1.5707963267948966,
1110                                 -1,
1111                                 false
1112                         ],
1113                         [
1114                                 8.4703410527042813,
1115                                 -5.0367514749873774e-16,
1116                                 3.1415926535897931,
1117                                 -0.12546514551729349,
1118                                 0,
1119                                 false
1120                         ],
1121                         [
1122                                 8.9703410527042813,
1123                                 -5.6490748745610541e-16,
1124                                 3.1415926535897931,
1125                                 -0.25093029103458697,
1126                                 0,
1127                                 false
1128                         ],
1129                         [
1130                                 9.4703410527042813,
1131                                 -6.2613982741347309e-16,
1132                                 3.1415926535897931,
1133                                 -0.37639543655188046,
1134                                 0,
1135                                 false
1136                         ],
1137                         [
1138                                 9.9703410527042795,
1139                                 -6.8737216737084066e-16,
1140                                 3.1415926535897931,
1141                                 -0.5018605820691735,
1142                                 0,
1143                                 false
1144                         ],
1145                         [
1146                                 10.47034105270428,
1147                                 -7.4860450732820833e-16,
1148                                 3.1415926535897931,
1149                                 -0.62732572758646699,
1150                                 0,
1151                                 false
1152                         ],
1153                         [
1154                                 10.97034105270428,
1155                                 -3.657476374355161e-16,
1156                                 -3.1415926535897922,
1157                                 -0.12546514551729251,
1158                                 0,
1159                                 false
1160                         ],
1161                         [
1162                                 11.275957323744649,
1163                                 3.1290248351610024e-16,
1164                                 3.1415926535897931,
1165                                 0.0,
1166                                 0,
1167                                 false
1168                         ]
1169                 ]
1170         ],
1171         "rcnt" : 6,
1172         "slot" :
1173         [
1174                 [
1175                         10.0,
1176                         -1.2
1177                 ],
1178                 [
1179                         15.300000000000001,
1180                         -1.2
1181                 ],
1182                 [
1183                         15.300000000000001,
1184                         1.2
1185                 ],
1186                 [
1187                         10.0,
1188                         1.2
1189                 ]
1190         ],
1191         "time" : 0.0
1192 }