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[hubacji1/path-to-traj.git] / pa01-1.json
1 {
2         "bcnt" : 4,
3         "cost" : 35.945263227311749,
4         "costs" : 
5         [
6                 35.945263227311749
7         ],
8         "entry" : 
9         [
10                 15.648996626510804,
11                 -0.65464401921816018,
12                 1.9887963267948505,
13                 1.9887963267948505
14         ],
15         "goal" : 
16         [
17                 16.003533585088771,
18                 -1.902300155164294,
19                 1.5621568015496541
20         ],
21         "goal_cc" : 22.503814163400545,
22         "icnt" : 79,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         15.648996626510804,
33                         -0.65464401921816018,
34                         1.9887963267948505
35                 ],
36                 [
37                         16.009333342834797,
38                         -2.1022002922985914,
39                         1.6123496868726184
40                 ],
41                 [
42                         16.003533585088771,
43                         -1.902300155164294,
44                         1.5621568015496541
45                 ]
46         ],
47         "ncnt" : 6,
48         "obst" : 
49         [
50                 [
51                         [
52                                 15.5,
53                                 -3.75
54                         ],
55                         [
56                                 15.0,
57                                 -3.75
58                         ],
59                         [
60                                 15.0,
61                                 -3.25
62                         ],
63                         [
64                                 15.5,
65                                 -3.25
66                         ],
67                         [
68                                 15.5,
69                                 -3.75
70                         ]
71                 ],
72                 [
73                         [
74                                 15.5,
75                                 3.25
76                         ],
77                         [
78                                 15.0,
79                                 3.25
80                         ],
81                         [
82                                 15.0,
83                                 3.75
84                         ],
85                         [
86                                 15.5,
87                                 3.75
88                         ],
89                         [
90                                 15.5,
91                                 3.25
92                         ]
93                 ],
94                 [
95                         [
96                                 12.75,
97                                 -2.75
98                         ],
99                         [
100                                 12.25,
101                                 -2.75
102                         ],
103                         [
104                                 12.25,
105                                 -2.25
106                         ],
107                         [
108                                 12.75,
109                                 -2.25
110                         ],
111                         [
112                                 12.75,
113                                 -2.75
114                         ]
115                 ],
116                 [
117                         [
118                                 10.25,
119                                 -0.25
120                         ],
121                         [
122                                 9.75,
123                                 -0.25
124                         ],
125                         [
126                                 9.75,
127                                 0.25
128                         ],
129                         [
130                                 10.25,
131                                 0.25
132                         ],
133                         [
134                                 10.25,
135                                 -0.25
136                         ]
137                 ],
138                 [
139                         [
140                                 7.75,
141                                 2.25
142                         ],
143                         [
144                                 7.25,
145                                 2.25
146                         ],
147                         [
148                                 7.25,
149                                 2.75
150                         ],
151                         [
152                                 7.75,
153                                 2.75
154                         ],
155                         [
156                                 7.75,
157                                 2.25
158                         ]
159                 ]
160         ],
161         "ogoal_cc" : 56.873728139977715,
162         "opath" : 
163         [
164                 [
165                         0.0,
166                         0.0,
167                         0.0,
168                         0.0
169                 ],
170                 [
171                         0.4986892401969264,
172                         -0.031325161923024473,
173                         -0.1254651455172934,
174                         0.1254651455172934
175                 ],
176                 [
177                         0.6374720681628373,
178                         -0.051315739197689579,
179                         -0.1606511963481061,
180                         0.1606511963481061
181                 ],
182                 [
183                         1.1310337314770715,
184                         -0.13129626499294991,
185                         -0.1606511963481061,
186                         0.12546514551729337
187                 ],
188                 [
189                         1.6245953947913061,
190                         -0.21127679078821027,
191                         -0.1606511963481061,
192                         0.25093029103458681
193                 ],
194                 [
195                         2.1181570581055409,
196                         -0.29125731658347065,
197                         -0.1606511963481061,
198                         0.37639543655188024
199                 ],
200                 [
201                         2.6117187214197748,
202                         -0.37123784237873098,
203                         -0.1606511963481061,
204                         0.50186058206917361
205                 ],
206                 [
207                         3.1052803847340091,
208                         -0.4512183681739913,
209                         -0.16065119634810632,
210                         0.12546514551729318
211                 ],
212                 [
213                         3.5988420480482439,
214                         -0.5311988939692518,
215                         -0.16065119634810632,
216                         0.25093029103458658
217                 ],
218                 [
219                         4.0924037113624783,
220                         -0.61117941976451218,
221                         -0.16065119634810632,
222                         0.37639543655187996
223                 ],
224                 [
225                         4.5859653746767126,
226                         -0.69115994555977278,
227                         -0.16065119634810632,
228                         0.50186058206917339
229                 ],
230                 [
231                         5.0795270379909461,
232                         -0.77114047135503316,
233                         -0.16065119634810632,
234                         0.62732572758646676
235                 ],
236                 [
237                         5.5730887013051813,
238                         -0.85112099715029355,
239                         -0.16065119634810632,
240                         0.75279087310376014
241                 ],
242                 [
243                         5.0858317254106185,
244                         -0.74042834382688416,
245                         -0.28611634186539969,
246                         -0.1254651455172934
247                 ],
248                 [
249                         4.807948167818493,
250                         -0.6474487811040911,
251                         -0.35966211571235346,
252                         -0.19901091936424714
253                 ],
254                 [
255                         5.2637040340504901,
256                         -0.85228728933145892,
257                         -0.48512726122964689,
258                         0.12546514551729343
259                 ],
260                 [
261                         5.690244742344281,
262                         -1.1125472521108364,
263                         -0.61059240674694026,
264                         0.25093029103458681
265                 ],
266                 [
267                         6.0808647042359771,
268                         -1.4241371579637385,
269                         -0.73605755226423364,
270                         0.37639543655188018
271                 ],
272                 [
273                         6.4294230364305198,
274                         -1.7821585443576953,
275                         -0.86152269778152712,
276                         0.50186058206917372
277                 ],
278                 [
279                         6.7304401007927694,
280                         -2.1809830057695105,
281                         -0.98698784329882039,
282                         0.62732572758646699
283                 ],
284                 [
285                         6.9791836489933825,
286                         -2.6143406770830122,
287                         -1.1124529888161139,
288                         0.75279087310376047
289                 ],
290                 [
291                         7.1717432175411897,
292                         -3.0754188012858137,
293                         -1.2379181343334074,
294                         0.87825601862105396
295                 ],
296                 [
297                         7.2762500639866472,
298                         -3.4302111314598536,
299                         -1.3307615238291119,
300                         0.092843389495704642
301                 ],
302                 [
303                         7.1881205236627039,
304                         -2.938372328415622,
305                         -1.4562266693464054,
306                         -0.12546514551729337
307                 ],
308                 [
309                         7.1622305762169569,
310                         -2.4393713918644493,
311                         -1.5816918148636987,
312                         -0.25093029103458681
313                 ],
314                 [
315                         7.1989872339920664,
316                         -1.9410530476637815,
317                         -1.7071569603809922,
318                         -0.37639543655188018
319                 ],
320                 [
321                         7.297812650570199,
322                         -1.4512512907295605,
323                         -1.8326221058982854,
324                         -0.5018605820691735
325                 ],
326                 [
327                         7.4571532050179723,
328                         -0.97766622786759916,
329                         -1.9580872514155789,
330                         -0.62732572758646699
331                 ],
332                 [
333                         7.674503926149848,
334                         -0.52774302544173501,
335                         -2.0835523969328724,
336                         -0.75279087310376025
337                 ],
338                 [
339                         7.9464478728394603,
340                         -0.10855486492599509,
341                         -2.2090175424501659,
342                         -0.87825601862105374
343                 ],
344                 [
345                         8.2687098512863368,
346                         0.27330825361937672,
347                         -2.3344826879674594,
348                         -1.0037211641383472
349                 ],
350                 [
351                         8.6362236247561981,
352                         0.61184311204260133,
353                         -2.4599478334847524,
354                         -1.1291863096556405
355                 ],
356                 [
357                         9.0432115591996354,
358                         0.90172764987647014,
359                         -2.5854129790020459,
360                         -1.254651455172934
361                 ],
362                 [
363                         9.4832754526512097,
364                         1.1384046317271235,
365                         -2.7108781245193394,
366                         -1.3801166006902275
367                 ],
368                 [
369                         9.0432115591996372,
370                         0.90172764987646992,
371                         -2.5854129790020459,
372                         0.1254651455172934
373                 ],
374                 [
375                         8.7335762444256932,
376                         0.68835644605787116,
377                         -2.4910197082058674,
378                         0.21985841631347205
379                 ],
380                 [
381                         8.3177789529928656,
382                         0.41125567649052452,
383                         -2.6164848537231609,
384                         0.1254651455172934
385                 ],
386                 [
387                         7.8705746605485141,
388                         0.18836434674205949,
389                         -2.7419499992404543,
390                         0.25093029103458686
391                 ],
392                 [
393                         7.5368516861768677,
394                         0.064661682810439824,
395                         -2.8312888158598764,
396                         -5.5511151231257827e-17
397                 ],
398                 [
399                         8.021289020796166,
400                         0.18710633514218616,
401                         -2.9567539613771698,
402                         -0.1254651455172934
403                 ],
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405                         8.0524371380471855,
406                         0.19280221122651947,
407                         -2.9646995948002366,
408                         -0.1334107789403603
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410                 [
411                         7.5560175043835942,
412                         0.13588322167998956,
413                         -3.0901647403175301,
414                         0.12546514551729343
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416                 [
417                         7.0563773153739806,
418                         0.14153172450192567,
419                         3.0675554213447627,
420                         0.25093029103458681
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424                         0.2096589203476818,
425                         2.9420902758274696,
426                         0.37639543655188018
427                 ],
428                 [
429                         6.0787815192061965,
430                         0.33919379083693246,
431                         2.8166251303101761,
432                         0.5018605820691735
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435                         5.9062896305759356,
436                         0.40176586153675942,
437                         2.7705777704077077,
438                         0.54790794197164194
439                 ],
440                 [
441                         5.4301739759618535,
442                         0.55337756124722304,
443                         2.8960429159250012,
444                         0.12546514551729326
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448                         0.64421820649796757,
449                         3.0215080614422947,
450                         0.25093029103458675
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455                         -3.1362121002199981,
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460                         0.63885178424771549,
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466                         0.61072951184699942,
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468                         0.54790794197164194
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474                         -0.12546514551729349
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485                         -2.5883041582483566,
486                         -0.37639543655188024
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492                         -0.1254651455172934
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497                         -2.8392344492829436,
498                         -0.25093029103458681
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506                 [
507                         5.1530227888825237,
508                         1.1431248483557295,
509                         -2.5883041582483566,
510                         0.25093029103458681
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512                 [
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514                         0.85441819551175013,
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516                         0.37639543655188018
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522                         0.50186058206917361
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526                         0.31470934787278759,
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528                         0.57012507554325564
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539                         -2.0181790827051014,
540                         -0.25093029103458675
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544                         1.6160280214422031,
545                         -1.8927139371878079,
546                         -0.37639543655188012
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550                         2.09901067365508,
551                         -1.7672487916705144,
552                         -0.5018605820691735
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556                         2.5942221219795156,
557                         -1.6417836461532209,
558                         -0.62732572758646699
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560                 [
561                         5.1217337957084705,
562                         3.0938772145870903,
563                         -1.5163185006359277,
564                         -0.75279087310376025
565                 ],
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568                         3.5901209417219619,
569                         -1.3908533551186342,
570                         -0.87825601862105374
571                 ],
572                 [
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574                         4.0751519232409246,
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1900                                 -0.25093029103458608,
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1911                         ]
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1914         "rcnt" : 9,
1915         "slot" : 
1916         [
1917                 [
1918                         15.0,
1919                         -3.25
1920                 ],
1921                 [
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1925                 [
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1929                 [
1930                         15.0,
1931                         3.25
1932                 ]
1933         ],
1934         "time" : 0.0
1935 }