]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blob - pe1.json
Update Makefile to generate trajectories with our ROS node
[hubacji1/path-to-traj.git] / pe1.json
1 {
2         "bcnt" : 4,
3         "cost" : 30.002944306873029,
4         "costs" : 
5         [
6                 30.002944306873029
7         ],
8         "entry" : 
9         [
10                 11.25,
11                 3.4161972521834505,
12                 -1.5707963267948966,
13                 -1.5707963267948966
14         ],
15         "goal" : 
16         [
17                 11.25,
18                 5.9161972521834443,
19                 -1.5707963267948966
20         ],
21         "goal_cc" : 17.824875575445642,
22         "icnt" : 45,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         11.25,
33                         3.5161972521834506,
34                         -1.5707963267948966
35                 ],
36                 [
37                         11.25,
38                         3.6161972521834507,
39                         -1.5707963267948966
40                 ],
41                 [
42                         11.25,
43                         3.7161972521834508,
44                         -1.5707963267948966
45                 ],
46                 [
47                         11.25,
48                         3.8161972521834508,
49                         -1.5707963267948966
50                 ],
51                 [
52                         11.25,
53                         3.9161972521834509,
54                         -1.5707963267948966
55                 ],
56                 [
57                         11.25,
58                         4.016197252183451,
59                         -1.5707963267948966
60                 ],
61                 [
62                         11.25,
63                         4.1161972521834507,
64                         -1.5707963267948966
65                 ],
66                 [
67                         11.25,
68                         4.2161972521834503,
69                         -1.5707963267948966
70                 ],
71                 [
72                         11.25,
73                         4.31619725218345,
74                         -1.5707963267948966
75                 ],
76                 [
77                         11.25,
78                         4.4161972521834496,
79                         -1.5707963267948966
80                 ],
81                 [
82                         11.25,
83                         4.5161972521834493,
84                         -1.5707963267948966
85                 ],
86                 [
87                         11.25,
88                         4.6161972521834489,
89                         -1.5707963267948966
90                 ],
91                 [
92                         11.25,
93                         4.7161972521834485,
94                         -1.5707963267948966
95                 ],
96                 [
97                         11.25,
98                         4.8161972521834482,
99                         -1.5707963267948966
100                 ],
101                 [
102                         11.25,
103                         4.9161972521834478,
104                         -1.5707963267948966
105                 ],
106                 [
107                         11.25,
108                         5.0161972521834475,
109                         -1.5707963267948966
110                 ],
111                 [
112                         11.25,
113                         5.1161972521834471,
114                         -1.5707963267948966
115                 ],
116                 [
117                         11.25,
118                         5.2161972521834468,
119                         -1.5707963267948966
120                 ],
121                 [
122                         11.25,
123                         5.3161972521834464,
124                         -1.5707963267948966
125                 ],
126                 [
127                         11.25,
128                         5.4161972521834461,
129                         -1.5707963267948966
130                 ],
131                 [
132                         11.25,
133                         5.5161972521834457,
134                         -1.5707963267948966
135                 ],
136                 [
137                         11.25,
138                         5.6161972521834453,
139                         -1.5707963267948966
140                 ],
141                 [
142                         11.25,
143                         5.716197252183445,
144                         -1.5707963267948966
145                 ],
146                 [
147                         11.25,
148                         5.8161972521834446,
149                         -1.5707963267948966
150                 ],
151                 [
152                         11.25,
153                         5.9161972521834443,
154                         -1.5707963267948966
155                 ]
156         ],
157         "ncnt" : 6,
158         "obst" : 
159         [
160                 [
161                         [
162                                 10,
163                                 2
164                         ],
165                         [
166                                 10,
167                                 7
168                         ],
169                         [
170                                 9,
171                                 7
172                         ],
173                         [
174                                 9,
175                                 2
176                         ]
177                 ],
178                 [
179                         [
180                                 10,
181                                 7
182                         ],
183                         [
184                                 12.5,
185                                 7
186                         ],
187                         [
188                                 12.5,
189                                 8
190                         ],
191                         [
192                                 10,
193                                 8
194                         ]
195                 ],
196                 [
197                         [
198                                 12.5,
199                                 7
200                         ],
201                         [
202                                 12.5,
203                                 2
204                         ],
205                         [
206                                 13.5,
207                                 2
208                         ],
209                         [
210                                 13.5,
211                                 7
212                         ]
213                 ]
214         ],
215         "ogoal_cc" : 30.002944306873029,
216         "opath" : 
217         [
218                 [
219                         0.0,
220                         0.0,
221                         0.0,
222                         0.0
223                 ],
224                 [
225                         0.4986892401969264,
226                         0.031325161923024473,
227                         0.1254651455172934,
228                         0.1254651455172934
229                 ],
230                 [
231                         0.98953865467239843,
232                         0.12480818908185064,
233                         0.25093029103458681,
234                         0.25093029103458681
235                 ],
236                 [
237                         0.4986892401969264,
238                         0.03132516192302448,
239                         0.1254651455172934,
240                         -0.1254651455172934
241                 ],
242                 [
243                         0.0,
244                         0.0,
245                         0.0,
246                         -0.25093029103458681
247                 ],
248                 [
249                         -0.49868924019692618,
250                         0.03132516192302448,
251                         -0.12546514551729337,
252                         -0.37639543655188018
253                 ],
254                 [
255                         -0.83949640576952766,
256                         0.089425423190764408,
257                         -0.21224502591992528,
258                         -0.46317531695451208
259                 ],
260                 [
261                         -1.3335940894998566,
262                         0.16385460422894801,
263                         -0.086779880402631904,
264                         -0.12546514551729337
265                 ],
266                 [
267                         -1.8331217395637913,
268                         0.17586921530441579,
269                         0.038685265114661471,
270                         -0.25093029103458675
271                 ],
272                 [
273                         -2.3302263497123845,
274                         0.12528037635048397,
275                         0.16415041063195485,
276                         -0.37639543655188012
277                 ],
278                 [
279                         -2.8170930059776556,
280                         0.012883387624068446,
281                         0.28961555614924833,
282                         -0.50186058206917361
283                 ],
284                 [
285                         -3.2860677438722226,
286                         -0.15955477310149135,
287                         0.41508070166654171,
288                         -0.62732572758646699
289                 ],
290                 [
291                         -3.7297778753240367,
292                         -0.38932322895369198,
293                         0.54054584718383514,
294                         -0.75279087310376047
295                 ],
296                 [
297                         -4.1412478937028538,
298                         -0.67280982128748645,
299                         0.6660109927011284,
300                         -0.87825601862105374
301                 ],
302                 [
303                         -4.5140091348112685,
304                         -1.0055578959400779,
305                         0.79147613821842189,
306                         -1.0037211641383472
307                 ],
308                 [
309                         -4.8451255773438717,
310                         -1.3861569925871915,
311                         0.91814855829470199,
312                         -1.1303935842146273
313                 ],
314                 [
315                         -4.5671626990076399,
316                         -0.97093553080477379,
317                         1.0436137038119953,
318                         0.12546514551729326
319                 ],
320                 [
321                         -4.3433439798825093,
322                         -0.52419466069450726,
323                         1.1690788493292887,
324                         0.25093029103458675
325                 ],
326                 [
327                         -4.1771880436116291,
328                         -0.052957534716896029,
329                         1.2945439948465822,
330                         0.37639543655188024
331                 ],
332                 [
333                         -4.0713070050712581,
334                         0.43536759236065276,
335                         1.4200091403638757,
336                         0.50186058206917372
337                 ],
338                 [
339                         -4.0273654056680561,
340                         0.93310382762947341,
341                         1.5454742858811688,
342                         0.62732572758646676
343                 ],
344                 [
345                         -4.0460540453100116,
346                         1.4324263274289766,
347                         1.6709394313984622,
348                         0.1254651455172934
349                 ],
350                 [
351                         -4.1270791224350392,
352                         1.9254853106496195,
353                         1.7964045769157555,
354                         0.25093029103458681
355                 ],
356                 [
357                         -3.9849913920446927,
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365                         2.0473348679503425,
366                         -0.25093029103458681
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375                         -3.2192642510488985,
376                         0.16690089252986229,
377                         2.298265158984929,
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380                 [
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394                         -0.74160711886368702,
395                         2.6746605955368095,
396                         -0.87825601862105385
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400                         -0.93811960752454127,
401                         2.8001257410541029,
402                         -1.0037211641383472
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406                         -1.0755989229320879,
407                         2.925590886571396,
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410                 [
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412                         -1.1518837714665313,
413                         3.0510560320886895,
414                         -1.254651455172934
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416                 [
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419                         -3.1066641295736033,
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425                         -3.0619461095455369,
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449                         -3.0619461095455369,
450                         -0.5018605820691735
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456                         -0.62732572758646721
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572                 [
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578                 [
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1623         "slot" : 
1624         [
1625                 [
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1642         "time" : 0.0
1643 }