]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blob - pe07-2.json
Update Makefile to generate trajectories with our ROS node
[hubacji1/path-to-traj.git] / pe07-2.json
1 {
2         "bcnt" : 3,
3         "cost" : 32.600924207633959,
4         "costs" : 
5         [
6                 32.600924207633959
7         ],
8         "entry" : 
9         [
10                 11.275957323744649,
11                 -5.0,
12                 3.1415926535897931,
13                 3.1415926535897931
14         ],
15         "goal" : 
16         [
17                 13.87595732374464,
18                 -5.0,
19                 3.1415926535897931
20         ],
21         "goal_cc" : 22.759328843292025,
22         "icnt" : 77,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         11.375957323744649,
33                         -5.0,
34                         3.1415926535897931
35                 ],
36                 [
37                         11.475957323744648,
38                         -5.0,
39                         3.1415926535897931
40                 ],
41                 [
42                         11.575957323744648,
43                         -5.0,
44                         3.1415926535897931
45                 ],
46                 [
47                         11.675957323744647,
48                         -5.0,
49                         3.1415926535897931
50                 ],
51                 [
52                         11.775957323744647,
53                         -5.0,
54                         3.1415926535897931
55                 ],
56                 [
57                         11.875957323744647,
58                         -5.0,
59                         3.1415926535897931
60                 ],
61                 [
62                         11.975957323744646,
63                         -5.0,
64                         3.1415926535897931
65                 ],
66                 [
67                         12.075957323744646,
68                         -5.0,
69                         3.1415926535897931
70                 ],
71                 [
72                         12.175957323744646,
73                         -5.0,
74                         3.1415926535897931
75                 ],
76                 [
77                         12.275957323744645,
78                         -5.0,
79                         3.1415926535897931
80                 ],
81                 [
82                         12.375957323744645,
83                         -5.0,
84                         3.1415926535897931
85                 ],
86                 [
87                         12.475957323744645,
88                         -5.0,
89                         3.1415926535897931
90                 ],
91                 [
92                         12.575957323744644,
93                         -5.0,
94                         3.1415926535897931
95                 ],
96                 [
97                         12.675957323744644,
98                         -5.0,
99                         3.1415926535897931
100                 ],
101                 [
102                         12.775957323744644,
103                         -5.0,
104                         3.1415926535897931
105                 ],
106                 [
107                         12.875957323744643,
108                         -5.0,
109                         3.1415926535897931
110                 ],
111                 [
112                         12.975957323744643,
113                         -5.0,
114                         3.1415926535897931
115                 ],
116                 [
117                         13.075957323744642,
118                         -5.0,
119                         3.1415926535897931
120                 ],
121                 [
122                         13.175957323744642,
123                         -5.0,
124                         3.1415926535897931
125                 ],
126                 [
127                         13.275957323744642,
128                         -5.0,
129                         3.1415926535897931
130                 ],
131                 [
132                         13.375957323744641,
133                         -5.0,
134                         3.1415926535897931
135                 ],
136                 [
137                         13.475957323744641,
138                         -5.0,
139                         3.1415926535897931
140                 ],
141                 [
142                         13.575957323744641,
143                         -5.0,
144                         3.1415926535897931
145                 ],
146                 [
147                         13.67595732374464,
148                         -5.0,
149                         3.1415926535897931
150                 ],
151                 [
152                         13.77595732374464,
153                         -5.0,
154                         3.1415926535897931
155                 ],
156                 [
157                         13.87595732374464,
158                         -5.0,
159                         3.1415926535897931
160                 ]
161         ],
162         "ncnt" : 6,
163         "obst" : 
164         [
165                 [
166                         [
167                                 8.25,
168                                 -2.75
169                         ],
170                         [
171                                 7.75,
172                                 -2.75
173                         ],
174                         [
175                                 7.75,
176                                 -2.25
177                         ],
178                         [
179                                 8.25,
180                                 -2.25
181                         ],
182                         [
183                                 8.25,
184                                 -2.75
185                         ]
186                 ],
187                 [
188                         [
189                                 6.25,
190                                 -2.75
191                         ],
192                         [
193                                 5.75,
194                                 -2.75
195                         ],
196                         [
197                                 5.75,
198                                 -2.25
199                         ],
200                         [
201                                 6.25,
202                                 -2.25
203                         ],
204                         [
205                                 6.25,
206                                 -2.75
207                         ]
208                 ],
209                 [
210                         [
211                                 10.5,
212                                 -3.75
213                         ],
214                         [
215                                 10.0,
216                                 -3.75
217                         ],
218                         [
219                                 10.0,
220                                 -3.25
221                         ],
222                         [
223                                 10.5,
224                                 -3.25
225                         ],
226                         [
227                                 10.5,
228                                 -3.75
229                         ]
230                 ],
231                 [
232                         [
233                                 10.5,
234                                 -6.75
235                         ],
236                         [
237                                 10.0,
238                                 -6.75
239                         ],
240                         [
241                                 10.0,
242                                 -6.25
243                         ],
244                         [
245                                 10.5,
246                                 -6.25
247                         ],
248                         [
249                                 10.5,
250                                 -6.75
251                         ]
252                 ]
253         ],
254         "ogoal_cc" : 32.600924207633959,
255         "opath" : 
256         [
257                 [
258                         0.0,
259                         0.0,
260                         0.0,
261                         0.0
262                 ],
263                 [
264                         0.4986892401969264,
265                         0.031325161923024473,
266                         0.1254651455172934,
267                         0.1254651455172934
268                 ],
269                 [
270                         0.98953865467239843,
271                         0.12480818908185064,
272                         0.25093029103458681,
273                         0.25093029103458681
274                 ],
275                 [
276                         1.2358518526982369,
277                         0.19646965107996744,
278                         0.31531153766641251,
279                         0.31531153766641251
280                 ],
281                 [
282                         0.77146241460854603,
283                         0.01203897616813868,
284                         0.44077668318370594,
285                         -0.12546514551729343
286                 ],
287                 [
288                         0.33380223861188646,
289                         -0.22905394036875165,
290                         0.56624182870099926,
291                         -0.25093029103458675
292                 ],
293                 [
294                         -0.070248279188389856,
295                         -0.52301890957940433,
296                         0.69170697421829264,
297                         -0.37639543655188012
298                 ],
299                 [
300                         -0.43433711555439086,
301                         -0.86523454816324119,
302                         0.81717211973558612,
303                         -0.50186058206917361
304                 ],
305                 [
306                         -0.75274047940710731,
307                         -1.2503209306087464,
308                         0.9426372652528795,
309                         -0.62732572758646699
310                 ],
311                 [
312                         -0.91106712048131178,
313                         -1.4854693335894926,
314                         1.0137865154488974,
315                         -0.69847497778248491
316                 ],
317                 [
318                         -1.2012894140372921,
319                         -1.8922164840168776,
320                         0.88832136993160404,
321                         -0.12546514551729337
322                 ],
323                 [
324                         -1.5401292424712425,
325                         -2.2594491006572599,
326                         0.76285622441431078,
327                         -0.25093029103458664
328                 ],
329                 [
330                         -1.9222597509238923,
331                         -2.5813939694895054,
332                         0.63739107889701718,
333                         -0.37639543655188024
334                 ],
335                 [
336                         -2.3416735176430938,
337                         -2.8529898390164572,
338                         0.51192593337972414,
339                         -0.50186058206917328
340                 ],
341                 [
342                         -2.7917769958441663,
343                         -3.0699669875113824,
344                         0.38646078786243065,
345                         -0.62732572758646676
346                 ],
347                 [
348                         -3.0579860936608609,
349                         -3.167408318258953,
350                         0.3153115376664124,
351                         -0.69847497778248502
352                 ],
353                 [
354                         -2.5739590055275969,
355                         -3.0424991404608646,
356                         0.18979299075827183,
357                         0.12551854690814057
358                 ],
359                 [
360                         -2.0901342410526249,
361                         -2.9176559534684245,
362                         0.3152581362755652,
363                         0.1254651455172934
364                 ],
365                 [
366                         -2.5739590055275969,
367                         -3.0424991404608646,
368                         0.1897929907582718,
369                         -0.1254651455172934
370                 ],
371                 [
372                         -3.0696031048751946,
373                         -3.1058169960752169,
374                         0.064327845240978399,
375                         -0.25093029103458681
376                 ],
377                 [
378                         -3.5692745856191053,
379                         -3.1066141089148429,
380                         -0.061137300276314976,
381                         -0.37639543655188018
382                 ],
383                 [
384                         -4.0651181803678238,
385                         -3.0448779476772017,
386                         -0.18660244579360841,
387                         -0.50186058206917361
388                 ],
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391                         -3.0325526701425951,
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399                         0.12546514551729349
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403                         -3.353916606377302,
404                         -0.45352674566883822,
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411                         0.37639543655188024
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433                         -5.0608892621902131,
434                         -1.0808524732553053,
435                         0.87825601862105385
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441                         1.0037211641383474
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444                         -1.0576428241648135,
445                         -5.9927496600077781,
446                         -1.3317827642898918,
447                         1.1291863096556405
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451                         -6.4846782080115233,
452                         -1.4572479098071853,
453                         1.254651455172934
454                 ],
455                 [
456                         -0.96099066161947055,
457                         -6.5724355267724199,
458                         -1.4793854724920403,
459                         2.2204460492503131e-16
460                 ],
461                 [
462                         -0.88427413338203142,
463                         -7.066183233959892,
464                         -1.3539203269747468,
465                         0.12546514551729371
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467                 [
468                         -0.74637490049875876,
469                         -7.546449853274515,
470                         -1.2284551814574534,
471                         0.25093029103458719
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473                 [
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475                         -8.0056851785121772,
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489                         0.1254651455172934
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491                 [
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495                         0.25093029103458681
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512                         -1.5838422794227607,
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515                 [
516                         0.37222912435483846,
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524                         -1.8347725704573477,
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537                         -0.62732572758646699
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573                         -1.3801166006902275
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575                 [
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578                         -2.9639588801129881,
579                         -1.5055817462075207
580                 ],
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1704                                 -3.0291734607003642,
1705                                 -2.2204460492503131e-16,
1706                                 0,
1707                                 false
1708                         ],
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1712                                 -3.0291734607003642,
1713                                 -0.12546514551729326,
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1721                                 -0.25093029103458675,
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1800                                 -3.0291734607003642,
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1803                                 false
1804                         ],
1805                         [
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1808                                 -3.0291734607003642,
1809                                 -1.631046891724814,
1810                                 0,
1811                                 false
1812                         ],
1813                         [
1814                                 10.828890736783421,
1815                                 -5.0251559315648144,
1816                                 -3.0291734607003642,
1817                                 -1.756742259757563,
1818                                 0,
1819                                 false
1820                         ],
1821                         [
1822                                 11.275957323744649,
1823                                 -5.0,
1824                                 3.1415926535897931,
1825                                 0.0,
1826                                 0,
1827                                 false
1828                         ]
1829                 ]
1830         ],
1831         "rcnt" : 8,
1832         "slot" : 
1833         [
1834                 [
1835                         10.0,
1836                         -6.2000000000000002
1837                 ],
1838                 [
1839                         15.300000000000001,
1840                         -6.2000000000000002
1841                 ],
1842                 [
1843                         15.300000000000001,
1844                         -3.7999999999999998
1845                 ],
1846                 [
1847                         10.0,
1848                         -3.7999999999999998
1849                 ]
1850         ],
1851         "time" : 0.0
1852 }