]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blobdiff - pe01-1.json
Update scenarios
[hubacji1/path-to-traj.git] / pe01-1.json
diff --git a/pe01-1.json b/pe01-1.json
new file mode 100644 (file)
index 0000000..c0dde64
--- /dev/null
@@ -0,0 +1,2066 @@
+{
+       "bcnt" : 5,
+       "cost" : 41.051644717678236,
+       "costs" : 
+       [
+               41.051644717678236
+       ],
+       "entry" : 
+       [
+               15.0,
+               1.2759727483608954,
+               -1.5707963267948966,
+               -1.5707963267948966
+       ],
+       "goal" : 
+       [
+               15.0,
+               3.8759727483608977,
+               -1.5707963267948966
+       ],
+       "goal_cc" : 21.496375610631322,
+       "icnt" : 39,
+       "init" : 
+       [
+               0,
+               0,
+               0
+       ],
+       "ispath" : 
+       [
+               [
+                       15.0,
+                       1.3759727483608954,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       1.4759727483608955,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       1.5759727483608956,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       1.6759727483608957,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       1.7759727483608958,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       1.8759727483608959,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       1.975972748360896,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       2.0759727483608961,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       2.1759727483608962,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       2.2759727483608962,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       2.3759727483608963,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       2.4759727483608964,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       2.5759727483608965,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       2.6759727483608966,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       2.7759727483608967,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       2.8759727483608968,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       2.9759727483608969,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       3.075972748360897,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       3.175972748360897,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       3.2759727483608971,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       3.3759727483608972,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       3.4759727483608973,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       3.5759727483608974,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       3.6759727483608975,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       3.7759727483608976,
+                       -1.5707963267948966
+               ],
+               [
+                       15.0,
+                       3.8759727483608977,
+                       -1.5707963267948966
+               ]
+       ],
+       "ncnt" : 6,
+       "obst" : 
+       [
+               [
+                       [
+                               13.75,
+                               0.0
+                       ],
+                       [
+                               13.25,
+                               0.0
+                       ],
+                       [
+                               13.25,
+                               0.5
+                       ],
+                       [
+                               13.75,
+                               0.5
+                       ],
+                       [
+                               13.75,
+                               0.0
+                       ]
+               ],
+               [
+                       [
+                               16.75,
+                               0.0
+                       ],
+                       [
+                               16.25,
+                               0.0
+                       ],
+                       [
+                               16.25,
+                               0.5
+                       ],
+                       [
+                               16.75,
+                               0.5
+                       ],
+                       [
+                               16.75,
+                               0.0
+                       ]
+               ],
+               [
+                       [
+                               15.25,
+                               -5.25
+                       ],
+                       [
+                               14.75,
+                               -5.25
+                       ],
+                       [
+                               14.75,
+                               -4.75
+                       ],
+                       [
+                               15.25,
+                               -4.75
+                       ],
+                       [
+                               15.25,
+                               -5.25
+                       ]
+               ]
+       ],
+       "ogoal_cc" : 41.051644717678236,
+       "opath" : 
+       [
+               [
+                       0.0,
+                       0.0,
+                       0.0,
+                       0.0
+               ],
+               [
+                       0.4986892401969264,
+                       0.031325161923024473,
+                       0.1254651455172934,
+                       0.1254651455172934
+               ],
+               [
+                       0.98953865467239843,
+                       0.12480818908185064,
+                       0.25093029103458681,
+                       0.25093029103458681
+               ],
+               [
+                       1.1276043423925082,
+                       0.16285544630924115,
+                       0.28686849849843066,
+                       0.28686849849843066
+               ],
+               [
+                       1.6071716601230355,
+                       0.30433048921344907,
+                       0.28686849849843066,
+                       0.12546514551729337
+               ],
+               [
+                       2.086738977853563,
+                       0.44580553211765706,
+                       0.28686849849843066,
+                       0.25093029103458675
+               ],
+               [
+                       2.5663062955840901,
+                       0.58728057502186504,
+                       0.28686849849843066,
+                       0.37639543655188012
+               ],
+               [
+                       3.0458736133146171,
+                       0.72875561792607302,
+                       0.28686849849843066,
+                       0.50186058206917361
+               ],
+               [
+                       3.5254409310451447,
+                       0.87023066083028111,
+                       0.28686849849843066,
+                       0.62732572758646699
+               ],
+               [
+                       4.0050082487756722,
+                       1.011705703734489,
+                       0.28686849849843066,
+                       0.75279087310376025
+               ],
+               [
+                       4.4845755665061988,
+                       1.153180746638697,
+                       0.28686849849843066,
+                       0.87825601862105374
+               ],
+               [
+                       4.9641428842367263,
+                       1.2946557895429047,
+                       0.28686849849843066,
+                       1.003721164138347
+               ],
+               [
+                       5.4437102019672539,
+                       1.4361308324471127,
+                       0.28686849849843066,
+                       1.1291863096556405
+               ],
+               [
+                       5.9232775196977814,
+                       1.5776058753513207,
+                       0.28686849849843066,
+                       0.1254651455172934
+               ],
+               [
+                       6.402844837428308,
+                       1.7190809182555287,
+                       0.28686849849843066,
+                       0.25093029103458681
+               ],
+               [
+                       6.8824121551588355,
+                       1.8605559611597366,
+                       0.28686849849843066,
+                       0.37639543655188018
+               ],
+               [
+                       7.3619794728893631,
+                       2.0020310040639444,
+                       0.28686849849843066,
+                       0.50186058206917361
+               ],
+               [
+                       7.8415467906198906,
+                       2.1435060469681524,
+                       0.28686849849843066,
+                       0.62732572758646699
+               ],
+               [
+                       8.3211141083504181,
+                       2.2849810898723604,
+                       0.28686849849843066,
+                       0.75279087310376036
+               ],
+               [
+                       8.8006814260809456,
+                       2.4264561327765684,
+                       0.28686849849843066,
+                       0.87825601862105385
+               ],
+               [
+                       9.2701280914314932,
+                       2.5976053438438211,
+                       0.41233364401572403,
+                       0.1254651455172934
+               ],
+               [
+                       9.7144677350944768,
+                       2.8261540369644433,
+                       0.53779878953301741,
+                       0.25093029103458681
+               ],
+               [
+                       10.126714953963795,
+                       3.1085092292173986,
+                       0.66326393505031089,
+                       0.37639543655188018
+               ],
+               [
+                       10.500388865578834,
+                       3.4402320530266857,
+                       0.78872908056760427,
+                       0.50186058206917361
+               ],
+               [
+                       10.512753119460745,
+                       3.4527339927584997,
+                       0.79314127267118084,
+                       0.50627277417275018
+               ],
+               [
+                       10.185188625903191,
+                       3.0754095612435575,
+                       0.91860641818847422,
+                       -0.12546514551729337
+               ],
+               [
+                       9.9074158899501672,
+                       2.6600608749342545,
+                       1.0440715637057676,
+                       -0.25093029103458675
+               ],
+               [
+                       9.6838017390054176,
+                       2.2132175740390188,
+                       1.1695367092230611,
+                       -0.37639543655188024
+               ],
+               [
+                       9.5178615807235474,
+                       1.7419044213187929,
+                       1.2950018547403543,
+                       -0.5018605820691735
+               ],
+               [
+                       9.4122041377643964,
+                       1.253530866747065,
+                       1.4204670002576476,
+                       -0.62732572758646676
+               ],
+               [
+                       9.3684904364189023,
+                       0.7557745645545475,
+                       1.5459321457749411,
+                       -0.75279087310376025
+               ],
+               [
+                       9.3709810807571028,
+                       0.48448947216255833,
+                       1.6140218143038831,
+                       -0.8208805416327023
+               ],
+               [
+                       9.3612345523453104,
+                       -0.015087578192647833,
+                       1.4885566687865901,
+                       -0.12546514551729315
+               ],
+               [
+                       9.2890494440947453,
+                       -0.50951809323449471,
+                       1.3630915232692966,
+                       -0.25093029103458664
+               ],
+               [
+                       9.155560568274753,
+                       -0.99102919808048506,
+                       1.2376263777520031,
+                       -0.37639543655188012
+               ],
+               [
+                       8.9628664853470958,
+                       -1.4520511221387244,
+                       1.1121612322347096,
+                       -0.50186058206917339
+               ],
+               [
+                       8.7139965127823302,
+                       -1.8853362024418709,
+                       0.98669608671741627,
+                       -0.62732572758646687
+               ],
+               [
+                       8.4128631015718618,
+                       -2.2840728231709413,
+                       0.86123094120012278,
+                       -0.75279087310376036
+               ],
+               [
+                       8.2292090420534603,
+                       -2.483755048433383,
+                       0.79314127267118073,
+                       -0.82088054163270241
+               ],
+               [
+                       8.6014156963623751,
+                       -2.1503867377830534,
+                       0.66767612715388724,
+                       0.12546514551729349
+               ],
+               [
+                       9.0124131012318198,
+                       -1.8662153858696788,
+                       0.54221098163659365,
+                       0.25093029103458708
+               ],
+               [
+                       8.5690861801065523,
+                       -2.0967223598710785,
+                       0.41674583611930027,
+                       -0.1254651455172934
+               ],
+               [
+                       8.100399224958279,
+                       -2.2699411871720749,
+                       0.29128069060200684,
+                       -0.25093029103458681
+               ],
+               [
+                       7.6137203996656337,
+                       -2.3831487181471056,
+                       0.16581554508471347,
+                       -0.37639543655188018
+               ],
+               [
+                       7.1167007158508238,
+                       -2.434565232598378,
+                       0.040350399567420037,
+                       -0.50186058206917361
+               ],
+               [
+                       6.6171537523664874,
+                       -2.4233824184950499,
+                       -0.085114745949873338,
+                       -0.62732572758646699
+               ],
+               [
+                       6.122932819085225,
+                       -2.3497760793367335,
+                       -0.21057989146716671,
+                       -0.75279087310376036
+               ],
+               [
+                       5.6418074960831763,
+                       -2.2149033703705872,
+                       -0.3360450369844602,
+                       -0.87825601862105385
+               ],
+               [
+                       5.1813414891283394,
+                       -2.020884607111054,
+                       -0.46151018250175357,
+                       -1.0037211641383472
+               ],
+               [
+                       5.0585621175903261,
+                       -1.9571408969838187,
+                       -0.49622569388484705,
+                       -1.0384366755214407
+               ],
+               [
+                       5.4821881381616802,
+                       -2.2221186672827065,
+                       -0.62169083940214054,
+                       0.12546514551729349
+               ],
+               [
+                       5.8693259543595735,
+                       -2.5380245635987109,
+                       -0.74715598491943402,
+                       0.25093029103458697
+               ],
+               [
+                       6.2138894252278103,
+                       -2.8998922723002822,
+                       -0.87262113043672729,
+                       0.37639543655188024
+               ],
+               [
+                       6.5104617153028475,
+                       -3.3020329203543426,
+                       -0.99808627595402077,
+                       0.50186058206917372
+               ],
+               [
+                       6.7543804519474024,
+                       -3.7381245093255298,
+                       -1.123551421471314,
+                       0.62732572758646699
+               ],
+               [
+                       6.9418110218765881,
+                       -4.2013113026537852,
+                       -1.2490165669886075,
+                       0.75279087310376047
+               ],
+               [
+                       7.0698068545918336,
+                       -4.6843116037564068,
+                       -1.374481712505901,
+                       0.87825601862105396
+               ],
+               [
+                       7.1363557450149564,
+                       -5.1795322305896825,
+                       -1.4999468580231943,
+                       1.0037211641383472
+               ],
+               [
+                       7.1404114870905229,
+                       -5.6791878870311026,
+                       -1.6254120035404873,
+                       1.1291863096556403
+               ],
+               [
+                       7.0819103210489587,
+                       -6.1754235544608731,
+                       -1.7508771490577808,
+                       1.2546514551729337
+               ],
+               [
+                       6.9617719357652179,
+                       -6.6604379794413138,
+                       -1.8763422945750743,
+                       1.3801166006902272
+               ],
+               [
+                       6.7818850104550581,
+                       -7.1266063161611592,
+                       -2.0018074400923678,
+                       1.5055817462075207
+               ],
+               [
+                       7.0186924979041621,
+                       -6.6866126367227672,
+                       -2.1272725856096613,
+                       -0.1254651455172934
+               ],
+               [
+                       7.3086977291887623,
+                       -6.2797106953594248,
+                       -2.2527377311269547,
+                       -0.25093029103458681
+               ],
+               [
+                       7.647341571509676,
+                       -5.9122973421510547,
+                       -2.3782028766442478,
+                       -0.37639543655188018
+               ],
+               [
+                       8.0293002510786611,
+                       -5.5901486324537952,
+                       -2.5036680221615413,
+                       -0.50186058206917361
+               ],
+               [
+                       8.1560811711649706,
+                       -5.4999441977176229,
+                       -2.542714354148401,
+                       -0.54090691405603319
+               ],
+               [
+                       8.5690653988305154,
+                       -5.2180860282431638,
+                       -2.542714354148401,
+                       -0.12546514551729337
+               ],
+               [
+                       8.9820496264960603,
+                       -4.9362278587687038,
+                       -2.542714354148401,
+                       -0.25093029103458675
+               ],
+               [
+                       9.3950338541616052,
+                       -4.6543696892942439,
+                       -2.542714354148401,
+                       -0.37639543655188012
+               ],
+               [
+                       9.8080180818271501,
+                       -4.3725115198197848,
+                       -2.542714354148401,
+                       -0.5018605820691735
+               ],
+               [
+                       10.221002309492695,
+                       -4.0906533503453257,
+                       -2.542714354148401,
+                       -0.62732572758646676
+               ],
+               [
+                       10.63398653715824,
+                       -3.8087951808708662,
+                       -2.542714354148401,
+                       -0.75279087310376025
+               ],
+               [
+                       11.046970764823786,
+                       -3.5269370113964063,
+                       -2.542714354148401,
+                       -0.87825601862105374
+               ],
+               [
+                       11.459954992489331,
+                       -3.2450788419219472,
+                       -2.542714354148401,
+                       -1.003721164138347
+               ],
+               [
+                       11.872939220154876,
+                       -2.9632206724474877,
+                       -2.542714354148401,
+                       -1.1291863096556405
+               ],
+               [
+                       12.285923447820421,
+                       -2.6813625029730286,
+                       -2.542714354148401,
+                       -1.2546514551729337
+               ],
+               [
+                       12.698907675485968,
+                       -2.3995043334985695,
+                       -2.542714354148401,
+                       -1.3801166006902272
+               ],
+               [
+                       13.111891903151513,
+                       -2.1176461640241095,
+                       -2.542714354148401,
+                       -1.5055817462075205
+               ],
+               [
+                       13.261335212850227,
+                       -2.0156523955211698,
+                       -2.5427143541484005,
+                       -2.2204460492503131e-16
+               ],
+               [
+                       13.655578288669686,
+                       -1.708659527157586,
+                       -2.4172492086311079,
+                       -0.12546514551729326
+               ],
+               [
+                       14.008306511520326,
+                       -1.3547456607122017,
+                       -2.2917840631138144,
+                       -0.25093029103458675
+               ],
+               [
+                       14.313974688983127,
+                       -0.95947462794574268,
+                       -2.166318917596521,
+                       -0.37639543655188024
+               ],
+               [
+                       14.567777453212253,
+                       -0.52906043100592814,
+                       -2.0408537720792275,
+                       -0.50186058206917372
+               ],
+               [
+                       14.765724805469429,
+                       -0.070269552944838942,
+                       -1.9153886265619338,
+                       -0.62732572758646721
+               ],
+               [
+                       14.904704842351432,
+                       0.40968541724087171,
+                       -1.7899234810446407,
+                       -0.75279087310376025
+               ],
+               [
+                       14.982532677600265,
+                       0.90325917274066914,
+                       -1.6644583355273472,
+                       -0.87825601862105374
+               ],
+               [
+                       15.0,
+                       1.2759727483608954,
+                       -1.5707963267948966,
+                       0.0
+               ]
+       ],
+       "otime" : 0.0,
+       "path" : 
+       [
+               [
+                       0.0,
+                       0.0,
+                       0.0,
+                       0.067049032123577934,
+                       -1,
+                       true
+               ],
+               [
+                       0.26700166742953962,
+                       -0.0089544565571849713,
+                       -0.067049032123577934,
+                       0.067049032123577934,
+                       -1,
+                       false
+               ],
+               [
+                       0.76587819523456402,
+                       -0.042453859614592131,
+                       -0.067049032123577934,
+                       0.12546514551729337,
+                       0,
+                       false
+               ],
+               [
+                       1.2647547230395888,
+                       -0.075953262671999311,
+                       -0.067049032123577934,
+                       0.25093029103458681,
+                       0,
+                       false
+               ],
+               [
+                       1.763631250844613,
+                       -0.10945266572940646,
+                       -0.067049032123577934,
+                       0.37639543655188018,
+                       0,
+                       false
+               ],
+               [
+                       2.2625077786496379,
+                       -0.14295206878681363,
+                       -0.067049032123577934,
+                       0.50186058206917361,
+                       0,
+                       false
+               ],
+               [
+                       2.7613843064546622,
+                       -0.1764514718442208,
+                       -0.067049032123577934,
+                       0.62732572758646699,
+                       0,
+                       false
+               ],
+               [
+                       3.2602608342596864,
+                       -0.20995087490162795,
+                       -0.067049032123577934,
+                       0.75279087310376036,
+                       0,
+                       false
+               ],
+               [
+                       3.7591373620647106,
+                       -0.24345027795903512,
+                       -0.067049032123577934,
+                       0.87825601862105374,
+                       0,
+                       false
+               ],
+               [
+                       4.2580138898697362,
+                       -0.2769496810164423,
+                       -0.067049032123577934,
+                       1.0037211641383472,
+                       0,
+                       false
+               ],
+               [
+                       4.7568904176747591,
+                       -0.31044908407384941,
+                       -0.067049032123577934,
+                       1.1291863096556405,
+                       0,
+                       false
+               ],
+               [
+                       5.2557669454797846,
+                       -0.34394848713125664,
+                       -0.067049032123577934,
+                       1.254651455172934,
+                       0,
+                       false
+               ],
+               [
+                       5.7546434732848102,
+                       -0.37744789018866381,
+                       -0.067049032123577934,
+                       1.3801166006902275,
+                       0,
+                       false
+               ],
+               [
+                       6.2535200010898331,
+                       -0.41094729324607093,
+                       -0.067049032123577934,
+                       1.5055817462075207,
+                       0,
+                       false
+               ],
+               [
+                       6.7523965288948586,
+                       -0.44444669630347816,
+                       -0.067049032123577934,
+                       1.6310468917248142,
+                       0,
+                       false
+               ],
+               [
+                       7.2512730566998815,
+                       -0.47794609936088528,
+                       -0.067049032123577934,
+                       1.7565120372421075,
+                       0,
+                       false
+               ],
+               [
+                       7.7501495845049071,
+                       -0.51144550241829245,
+                       -0.067049032123577934,
+                       1.881977182759401,
+                       0,
+                       false
+               ],
+               [
+                       8.1774762966937455,
+                       -0.54014035770000912,
+                       -0.067049032123577934,
+                       1.9894478796953634,
+                       0,
+                       false
+               ],
+               [
+                       8.6729462614498871,
+                       -0.60480671744168435,
+                       -0.19251417764087142,
+                       0.12546514551729349,
+                       -1,
+                       false
+               ],
+               [
+                       9.1564295133755511,
+                       -0.73096601818909279,
+                       -0.31797932315816491,
+                       0.25093029103458697,
+                       -1,
+                       false
+               ],
+               [
+                       9.6203252780228272,
+                       -0.9166349267333409,
+                       -0.44344446867545839,
+                       0.37639543655188046,
+                       -1,
+                       false
+               ],
+               [
+                       10.057340713167321,
+                       -1.1588945674148994,
+                       -0.56890961419275143,
+                       0.5018605820691735,
+                       -1,
+                       false
+               ],
+               [
+                       10.460605558588936,
+                       -1.4539364093708707,
+                       -0.69437475971004492,
+                       0.62732572758646699,
+                       -1,
+                       false
+               ],
+               [
+                       10.823780142498389,
+                       -1.7971221399307058,
+                       -0.81983990522733841,
+                       0.75279087310376047,
+                       -1,
+                       false
+               ],
+               [
+                       11.141155046655198,
+                       -2.1830565828988715,
+                       -0.94530505074463189,
+                       0.87825601862105396,
+                       -1,
+                       false
+               ],
+               [
+                       11.40774086335534,
+                       -2.605672515386054,
+                       -1.0707701962619254,
+                       1.0037211641383474,
+                       -1,
+                       false
+               ],
+               [
+                       11.619346633231178,
+                       -3.0583260497950353,
+                       -1.1962353417792184,
+                       1.1291863096556405,
+                       -1,
+                       false
+               ],
+               [
+                       11.772645730753712,
+                       -3.5339010814740219,
+                       -1.3217004872965119,
+                       1.254651455172934,
+                       -1,
+                       false
+               ],
+               [
+                       11.865228161660058,
+                       -4.0249211600300452,
+                       -1.4471656328138054,
+                       1.3801166006902275,
+                       -1,
+                       false
+               ],
+               [
+                       11.895638450145512,
+                       -4.5236670255887717,
+                       -1.5726307783310989,
+                       1.5055817462075209,
+                       -1,
+                       false
+               ],
+               [
+                       11.886690699059161,
+                       -4.7833580949245036,
+                       -1.6378453589184745,
+                       1.5707963267948966,
+                       -1,
+                       true
+               ],
+               [
+                       11.951357058800836,
+                       -4.287888130168362,
+                       -1.763310504435768,
+                       -0.12546514551729349,
+                       1,
+                       false
+               ],
+               [
+                       12.077516359548243,
+                       -3.8044048782426967,
+                       -1.8887756499530615,
+                       -0.25093029103458697,
+                       1,
+                       false
+               ],
+               [
+                       12.26318526809249,
+                       -3.3405091135954219,
+                       -2.0142407954703549,
+                       -0.37639543655188046,
+                       1,
+                       false
+               ],
+               [
+                       12.505444908774052,
+                       -2.903493678450924,
+                       -2.1397059409876489,
+                       -0.50186058206917439,
+                       1,
+                       false
+               ],
+               [
+                       12.80048675073002,
+                       -2.5002288330293116,
+                       -2.2651710865049415,
+                       -0.62732572758646699,
+                       1,
+                       false
+               ],
+               [
+                       13.143672481289858,
+                       -2.1370542491198568,
+                       -2.3906362320222359,
+                       -0.75279087310376136,
+                       1,
+                       false
+               ],
+               [
+                       13.438868121250987,
+                       -1.8871935069965735,
+                       -2.4877201176320218,
+                       -2.0792017755600254,
+                       0,
+                       false
+               ],
+               [
+                       13.815640849902913,
+                       -1.5589945810356971,
+                       -2.3622549721147283,
+                       -0.12546514551729349,
+                       -1,
+                       false
+               ],
+               [
+                       14.148382403830006,
+                       -1.1862275192559917,
+                       -2.2367898265974353,
+                       -0.25093029103458653,
+                       -1,
+                       false
+               ],
+               [
+                       14.431861798317122,
+                       -0.77475254193791798,
+                       -2.1113246810801418,
+                       -0.37639543655188001,
+                       -1,
+                       false
+               ],
+               [
+                       14.661622492357836,
+                       -0.33103839123769419,
+                       -1.9858595355628483,
+                       -0.5018605820691735,
+                       -1,
+                       false
+               ],
+               [
+                       14.834052449329484,
+                       0.1379393630283765,
+                       -1.8603943900455548,
+                       -0.62732572758646699,
+                       -1,
+                       false
+               ],
+               [
+                       14.946440921329657,
+                       0.62480798536828352,
+                       -1.7349292445282614,
+                       -0.75279087310376047,
+                       -1,
+                       false
+               ],
+               [
+                       14.997021064475316,
+                       1.1219134803862474,
+                       -1.6094640990109683,
+                       -0.87825601862105351,
+                       -1,
+                       false
+               ],
+               [
+                       15.0,
+                       1.2759727483608954,
+                       -1.5707963267948966,
+                       -0.87825601862105351,
+                       -1,
+                       false
+               ],
+               [
+                       15.0,
+                       1.4759727483608955,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       1.5759727483608956,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       1.6759727483608957,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       1.7759727483608958,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       1.8759727483608959,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       1.975972748360896,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       2.0759727483608961,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       2.1759727483608962,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       2.2759727483608962,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       2.3759727483608963,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       2.4759727483608964,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       2.5759727483608965,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       2.6759727483608966,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       2.7759727483608967,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       2.8759727483608968,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       2.9759727483608969,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       3.075972748360897,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       3.175972748360897,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       3.2759727483608971,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       3.3759727483608972,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       3.4759727483608973,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       3.5759727483608974,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       3.6759727483608975,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       3.7759727483608976,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ],
+               [
+                       15.0,
+                       3.8759727483608977,
+                       -1.5707963267948966,
+                       -0.10000000000000001,
+                       0,
+                       false
+               ]
+       ],
+       "paths" : 
+       [
+               [
+                       [
+                               0.0,
+                               0.0,
+                               0.0,
+                               0.0,
+                               0,
+                               false
+                       ],
+                       [
+                               0.4986892401969264,
+                               0.031325161923024473,
+                               0.1254651455172934,
+                               0.1254651455172934,
+                               1,
+                               true
+                       ],
+                       [
+                               0.98953865467239843,
+                               0.12480818908185064,
+                               0.25093029103458681,
+                               0.25093029103458681,
+                               1,
+                               false
+                       ],
+                       [
+                               1.1276043423925082,
+                               0.16285544630924115,
+                               0.28686849849843066,
+                               0.28686849849843066,
+                               1,
+                               false
+                       ],
+                       [
+                               1.6071716601230355,
+                               0.30433048921344907,
+                               0.28686849849843066,
+                               0.12546514551729337,
+                               0,
+                               false
+                       ],
+                       [
+                               2.086738977853563,
+                               0.44580553211765706,
+                               0.28686849849843066,
+                               0.25093029103458675,
+                               0,
+                               false
+                       ],
+                       [
+                               2.5663062955840901,
+                               0.58728057502186504,
+                               0.28686849849843066,
+                               0.37639543655188012,
+                               0,
+                               false
+                       ],
+                       [
+                               3.0458736133146171,
+                               0.72875561792607302,
+                               0.28686849849843066,
+                               0.50186058206917361,
+                               0,
+                               false
+                       ],
+                       [
+                               3.5254409310451447,
+                               0.87023066083028111,
+                               0.28686849849843066,
+                               0.62732572758646699,
+                               0,
+                               false
+                       ],
+                       [
+                               4.0050082487756722,
+                               1.011705703734489,
+                               0.28686849849843066,
+                               0.75279087310376025,
+                               0,
+                               false
+                       ],
+                       [
+                               4.4845755665061988,
+                               1.153180746638697,
+                               0.28686849849843066,
+                               0.87825601862105374,
+                               0,
+                               false
+                       ],
+                       [
+                               4.9641428842367263,
+                               1.2946557895429047,
+                               0.28686849849843066,
+                               1.003721164138347,
+                               0,
+                               false
+                       ],
+                       [
+                               5.4437102019672539,
+                               1.4361308324471127,
+                               0.28686849849843066,
+                               1.1291863096556405,
+                               0,
+                               false
+                       ],
+                       [
+                               5.9232775196977814,
+                               1.5776058753513207,
+                               0.28686849849843066,
+                               0.1254651455172934,
+                               0,
+                               false
+                       ],
+                       [
+                               6.402844837428308,
+                               1.7190809182555287,
+                               0.28686849849843066,
+                               0.25093029103458681,
+                               0,
+                               false
+                       ],
+                       [
+                               6.8824121551588355,
+                               1.8605559611597366,
+                               0.28686849849843066,
+                               0.37639543655188018,
+                               0,
+                               false
+                       ],
+                       [
+                               7.3619794728893631,
+                               2.0020310040639444,
+                               0.28686849849843066,
+                               0.50186058206917361,
+                               0,
+                               false
+                       ],
+                       [
+                               7.8415467906198906,
+                               2.1435060469681524,
+                               0.28686849849843066,
+                               0.62732572758646699,
+                               0,
+                               false
+                       ],
+                       [
+                               8.3211141083504181,
+                               2.2849810898723604,
+                               0.28686849849843066,
+                               0.75279087310376036,
+                               0,
+                               false
+                       ],
+                       [
+                               8.8006814260809456,
+                               2.4264561327765684,
+                               0.28686849849843066,
+                               0.87825601862105385,
+                               0,
+                               false
+                       ],
+                       [
+                               9.2701280914314932,
+                               2.5976053438438211,
+                               0.41233364401572403,
+                               0.1254651455172934,
+                               1,
+                               false
+                       ],
+                       [
+                               9.7144677350944768,
+                               2.8261540369644433,
+                               0.53779878953301741,
+                               0.25093029103458681,
+                               1,
+                               false
+                       ],
+                       [
+                               10.126714953963795,
+                               3.1085092292173986,
+                               0.66326393505031089,
+                               0.37639543655188018,
+                               1,
+                               false
+                       ],
+                       [
+                               10.500388865578834,
+                               3.4402320530266857,
+                               0.78872908056760427,
+                               0.50186058206917361,
+                               1,
+                               false
+                       ],
+                       [
+                               10.512753119460745,
+                               3.4527339927584997,
+                               0.79314127267118084,
+                               0.50627277417275018,
+                               1,
+                               false
+                       ],
+                       [
+                               10.185188625903191,
+                               3.0754095612435575,
+                               0.91860641818847422,
+                               -0.12546514551729337,
+                               -1,
+                               true
+                       ],
+                       [
+                               9.9074158899501672,
+                               2.6600608749342545,
+                               1.0440715637057676,
+                               -0.25093029103458675,
+                               -1,
+                               false
+                       ],
+                       [
+                               9.6838017390054176,
+                               2.2132175740390188,
+                               1.1695367092230611,
+                               -0.37639543655188024,
+                               -1,
+                               false
+                       ],
+                       [
+                               9.5178615807235474,
+                               1.7419044213187929,
+                               1.2950018547403543,
+                               -0.5018605820691735,
+                               -1,
+                               false
+                       ],
+                       [
+                               9.4122041377643964,
+                               1.253530866747065,
+                               1.4204670002576476,
+                               -0.62732572758646676,
+                               -1,
+                               false
+                       ],
+                       [
+                               9.3684904364189023,
+                               0.7557745645545475,
+                               1.5459321457749411,
+                               -0.75279087310376025,
+                               -1,
+                               false
+                       ],
+                       [
+                               9.3709810807571028,
+                               0.48448947216255833,
+                               1.6140218143038831,
+                               -0.8208805416327023,
+                               -1,
+                               false
+                       ],
+                       [
+                               9.3612345523453104,
+                               -0.015087578192647833,
+                               1.4885566687865901,
+                               -0.12546514551729315,
+                               1,
+                               false
+                       ],
+                       [
+                               9.2890494440947453,
+                               -0.50951809323449471,
+                               1.3630915232692966,
+                               -0.25093029103458664,
+                               1,
+                               false
+                       ],
+                       [
+                               9.155560568274753,
+                               -0.99102919808048506,
+                               1.2376263777520031,
+                               -0.37639543655188012,
+                               1,
+                               false
+                       ],
+                       [
+                               8.9628664853470958,
+                               -1.4520511221387244,
+                               1.1121612322347096,
+                               -0.50186058206917339,
+                               1,
+                               false
+                       ],
+                       [
+                               8.7139965127823302,
+                               -1.8853362024418709,
+                               0.98669608671741627,
+                               -0.62732572758646687,
+                               1,
+                               false
+                       ],
+                       [
+                               8.4128631015718618,
+                               -2.2840728231709413,
+                               0.86123094120012278,
+                               -0.75279087310376036,
+                               1,
+                               false
+                       ],
+                       [
+                               8.2292090420534603,
+                               -2.483755048433383,
+                               0.79314127267118073,
+                               -0.82088054163270241,
+                               1,
+                               false
+                       ],
+                       [
+                               8.6014156963623751,
+                               -2.1503867377830534,
+                               0.66767612715388724,
+                               0.12546514551729349,
+                               -1,
+                               true
+                       ],
+                       [
+                               9.0124131012318198,
+                               -1.8662153858696788,
+                               0.54221098163659365,
+                               0.25093029103458708,
+                               -1,
+                               false
+                       ],
+                       [
+                               8.5690861801065523,
+                               -2.0967223598710785,
+                               0.41674583611930027,
+                               -0.1254651455172934,
+                               1,
+                               true
+                       ],
+                       [
+                               8.100399224958279,
+                               -2.2699411871720749,
+                               0.29128069060200684,
+                               -0.25093029103458681,
+                               1,
+                               false
+                       ],
+                       [
+                               7.6137203996656337,
+                               -2.3831487181471056,
+                               0.16581554508471347,
+                               -0.37639543655188018,
+                               1,
+                               false
+                       ],
+                       [
+                               7.1167007158508238,
+                               -2.434565232598378,
+                               0.040350399567420037,
+                               -0.50186058206917361,
+                               1,
+                               false
+                       ],
+                       [
+                               6.6171537523664874,
+                               -2.4233824184950499,
+                               -0.085114745949873338,
+                               -0.62732572758646699,
+                               1,
+                               false
+                       ],
+                       [
+                               6.122932819085225,
+                               -2.3497760793367335,
+                               -0.21057989146716671,
+                               -0.75279087310376036,
+                               1,
+                               false
+                       ],
+                       [
+                               5.6418074960831763,
+                               -2.2149033703705872,
+                               -0.3360450369844602,
+                               -0.87825601862105385,
+                               1,
+                               false
+                       ],
+                       [
+                               5.1813414891283394,
+                               -2.020884607111054,
+                               -0.46151018250175357,
+                               -1.0037211641383472,
+                               1,
+                               false
+                       ],
+                       [
+                               5.0585621175903261,
+                               -1.9571408969838187,
+                               -0.49622569388484705,
+                               -1.0384366755214407,
+                               1,
+                               false
+                       ],
+                       [
+                               5.4821881381616802,
+                               -2.2221186672827065,
+                               -0.62169083940214054,
+                               0.12546514551729349,
+                               -1,
+                               true
+                       ],
+                       [
+                               5.8693259543595735,
+                               -2.5380245635987109,
+                               -0.74715598491943402,
+                               0.25093029103458697,
+                               -1,
+                               false
+                       ],
+                       [
+                               6.2138894252278103,
+                               -2.8998922723002822,
+                               -0.87262113043672729,
+                               0.37639543655188024,
+                               -1,
+                               false
+                       ],
+                       [
+                               6.5104617153028475,
+                               -3.3020329203543426,
+                               -0.99808627595402077,
+                               0.50186058206917372,
+                               -1,
+                               false
+                       ],
+                       [
+                               6.7543804519474024,
+                               -3.7381245093255298,
+                               -1.123551421471314,
+                               0.62732572758646699,
+                               -1,
+                               false
+                       ],
+                       [
+                               6.9418110218765881,
+                               -4.2013113026537852,
+                               -1.2490165669886075,
+                               0.75279087310376047,
+                               -1,
+                               false
+                       ],
+                       [
+                               7.0698068545918336,
+                               -4.6843116037564068,
+                               -1.374481712505901,
+                               0.87825601862105396,
+                               -1,
+                               false
+                       ],
+                       [
+                               7.1363557450149564,
+                               -5.1795322305896825,
+                               -1.4999468580231943,
+                               1.0037211641383472,
+                               -1,
+                               false
+                       ],
+                       [
+                               7.1404114870905229,
+                               -5.6791878870311026,
+                               -1.6254120035404873,
+                               1.1291863096556403,
+                               -1,
+                               false
+                       ],
+                       [
+                               7.0819103210489587,
+                               -6.1754235544608731,
+                               -1.7508771490577808,
+                               1.2546514551729337,
+                               -1,
+                               false
+                       ],
+                       [
+                               6.9617719357652179,
+                               -6.6604379794413138,
+                               -1.8763422945750743,
+                               1.3801166006902272,
+                               -1,
+                               false
+                       ],
+                       [
+                               6.7818850104550581,
+                               -7.1266063161611592,
+                               -2.0018074400923678,
+                               1.5055817462075207,
+                               -1,
+                               false
+                       ],
+                       [
+                               7.0186924979041621,
+                               -6.6866126367227672,
+                               -2.1272725856096613,
+                               -0.1254651455172934,
+                               1,
+                               true
+                       ],
+                       [
+                               7.3086977291887623,
+                               -6.2797106953594248,
+                               -2.2527377311269547,
+                               -0.25093029103458681,
+                               1,
+                               false
+                       ],
+                       [
+                               7.647341571509676,
+                               -5.9122973421510547,
+                               -2.3782028766442478,
+                               -0.37639543655188018,
+                               1,
+                               false
+                       ],
+                       [
+                               8.0293002510786611,
+                               -5.5901486324537952,
+                               -2.5036680221615413,
+                               -0.50186058206917361,
+                               1,
+                               false
+                       ],
+                       [
+                               8.1560811711649706,
+                               -5.4999441977176229,
+                               -2.542714354148401,
+                               -0.54090691405603319,
+                               1,
+                               false
+                       ],
+                       [
+                               8.5690653988305154,
+                               -5.2180860282431638,
+                               -2.542714354148401,
+                               -0.12546514551729337,
+                               0,
+                               false
+                       ],
+                       [
+                               8.9820496264960603,
+                               -4.9362278587687038,
+                               -2.542714354148401,
+                               -0.25093029103458675,
+                               0,
+                               false
+                       ],
+                       [
+                               9.3950338541616052,
+                               -4.6543696892942439,
+                               -2.542714354148401,
+                               -0.37639543655188012,
+                               0,
+                               false
+                       ],
+                       [
+                               9.8080180818271501,
+                               -4.3725115198197848,
+                               -2.542714354148401,
+                               -0.5018605820691735,
+                               0,
+                               false
+                       ],
+                       [
+                               10.221002309492695,
+                               -4.0906533503453257,
+                               -2.542714354148401,
+                               -0.62732572758646676,
+                               0,
+                               false
+                       ],
+                       [
+                               10.63398653715824,
+                               -3.8087951808708662,
+                               -2.542714354148401,
+                               -0.75279087310376025,
+                               0,
+                               false
+                       ],
+                       [
+                               11.046970764823786,
+                               -3.5269370113964063,
+                               -2.542714354148401,
+                               -0.87825601862105374,
+                               0,
+                               false
+                       ],
+                       [
+                               11.459954992489331,
+                               -3.2450788419219472,
+                               -2.542714354148401,
+                               -1.003721164138347,
+                               0,
+                               false
+                       ],
+                       [
+                               11.872939220154876,
+                               -2.9632206724474877,
+                               -2.542714354148401,
+                               -1.1291863096556405,
+                               0,
+                               false
+                       ],
+                       [
+                               12.285923447820421,
+                               -2.6813625029730286,
+                               -2.542714354148401,
+                               -1.2546514551729337,
+                               0,
+                               false
+                       ],
+                       [
+                               12.698907675485968,
+                               -2.3995043334985695,
+                               -2.542714354148401,
+                               -1.3801166006902272,
+                               0,
+                               false
+                       ],
+                       [
+                               13.111891903151513,
+                               -2.1176461640241095,
+                               -2.542714354148401,
+                               -1.5055817462075205,
+                               0,
+                               false
+                       ],
+                       [
+                               13.261335212850227,
+                               -2.0156523955211698,
+                               -2.5427143541484005,
+                               -2.2204460492503131e-16,
+                               -1,
+                               false
+                       ],
+                       [
+                               13.655578288669686,
+                               -1.708659527157586,
+                               -2.4172492086311079,
+                               -0.12546514551729326,
+                               -1,
+                               false
+                       ],
+                       [
+                               14.008306511520326,
+                               -1.3547456607122017,
+                               -2.2917840631138144,
+                               -0.25093029103458675,
+                               -1,
+                               false
+                       ],
+                       [
+                               14.313974688983127,
+                               -0.95947462794574268,
+                               -2.166318917596521,
+                               -0.37639543655188024,
+                               -1,
+                               false
+                       ],
+                       [
+                               14.567777453212253,
+                               -0.52906043100592814,
+                               -2.0408537720792275,
+                               -0.50186058206917372,
+                               -1,
+                               false
+                       ],
+                       [
+                               14.765724805469429,
+                               -0.070269552944838942,
+                               -1.9153886265619338,
+                               -0.62732572758646721,
+                               -1,
+                               false
+                       ],
+                       [
+                               14.904704842351432,
+                               0.40968541724087171,
+                               -1.7899234810446407,
+                               -0.75279087310376025,
+                               -1,
+                               false
+                       ],
+                       [
+                               14.982532677600265,
+                               0.90325917274066914,
+                               -1.6644583355273472,
+                               -0.87825601862105374,
+                               -1,
+                               false
+                       ],
+                       [
+                               15.0,
+                               1.2759727483608954,
+                               -1.5707963267948966,
+                               0.0,
+                               0,
+                               false
+                       ]
+               ]
+       ],
+       "rcnt" : 10,
+       "slot" : 
+       [
+               [
+                       16.199999999999999,
+                       0.0
+               ],
+               [
+                       16.199999999999999,
+                       5.2999999999999998
+               ],
+               [
+                       13.800000000000001,
+                       5.2999999999999998
+               ],
+               [
+                       13.800000000000001,
+                       1.4695761589768238e-16
+               ]
+       ],
+       "time" : 0.0
+}