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[hubacji1/path-to-traj.git] / pa02-1.json
1 {
2         "bcnt" : 2,
3         "cost" : 39.659129786531388,
4         "costs" : 
5         [
6                 39.659129786531388
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" : 23.024633384337982,
22         "icnt" : 121,
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                         [
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97                                 4.75
98                         ],
99                         [
100                                 9.75,
101                                 4.75
102                         ],
103                         [
104                                 9.75,
105                                 5.25
106                         ],
107                         [
108                                 10.25,
109                                 5.25
110                         ],
111                         [
112                                 10.25,
113                                 4.75
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                                 12.75,
141                                 -0.25
142                         ],
143                         [
144                                 12.25,
145                                 -0.25
146                         ],
147                         [
148                                 12.25,
149                                 0.25
150                         ],
151                         [
152                                 12.75,
153                                 0.25
154                         ],
155                         [
156                                 12.75,
157                                 -0.25
158                         ]
159                 ]
160         ],
161         "ogoal_cc" : 39.659129786531388,
162         "opath" : 
163         [
164                 [
165                         0.0,
166                         0.0,
167                         0.0,
168                         0.0
169                 ],
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171                         0.4986892401969264,
172                         0.031325161923024473,
173                         0.1254651455172934,
174                         0.1254651455172934
175                 ],
176                 [
177                         0.98953865467239843,
178                         0.12480818908185064,
179                         0.25093029103458681,
180                         0.25093029103458681
181                 ],
182                 [
183                         1.4648316665388816,
184                         0.27897944752057025,
185                         0.37639543655188018,
186                         0.37639543655188018
187                 ],
188                 [
189                         1.9170962589985263,
190                         0.49141523185316083,
191                         0.50186058206917361,
192                         0.50186058206917361
193                 ],
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195                         2.0492025449789195,
196                         0.5672247904227774,
197                         0.54008277998165566,
198                         0.54008277998165566
199                 ],
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202                         0.28392876674655337,
203                         0.66554792549894914,
204                         -0.12546514551729349
205                 ],
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208                         -0.048646658731416131,
209                         0.79101307101624252,
210                         -0.25093029103458686
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215                         0.91647821653353589,
216                         -0.37639543655188024
217                 ],
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221                         1.0419433620508294,
222                         -0.50186058206917372
223                 ],
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226                         -1.2863960960488499,
227                         1.1674085075681226,
228                         -0.62732572758646699
229                 ],
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232                         -1.7573550275708596,
233                         1.2928736530854161,
234                         -0.75279087310376047
235                 ],
236                 [
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238                         -2.2455026159867071,
239                         1.4183387986027094,
240                         -0.87825601862105374
241                 ],
242                 [
243                         0.1146862506135622,
244                         -2.7431647594488848,
245                         1.5438039441200029,
246                         -1.0037211641383472
247                 ],
248                 [
249                         0.11451537483305985,
250                         -2.9517499602934141,
251                         1.5961502831424677,
252                         -1.056067503160812
253                 ],
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256                         -3.4510730562946557,
257                         1.4706851376251742,
258                         -0.12546514551729349
259                 ],
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263                         1.3452199921078809,
264                         -0.25093029103458675
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277                 ],
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280                         -4.9539495331600483,
281                         1.6005257219625393,
282                         -0.25530572985465838
283                 ],
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286                         -5.4537285901996384,
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292                         -5.9535076472392277,
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294                         -0.25093029103458675
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358                         -10.877891690451671,
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1667                                 14.084906928029419,
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1670                                 -0.75279087310376047,
1671                                 1,
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1675                                 14.573561697189586,
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1677                                 -2.9939414758199732,
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1683                                 15.071433285964833,
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1691                                 15.570694722820505,
1692                                 -1.889108822766941,
1693                                 3.0383135403250261,
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1697                         ],
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1713                         ],
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1717                                 2.6619181037731456,
1718                                 -1.5055817462075209,
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1721                         ],
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1725                                 2.59670352318577,
1726                                 -1.5707963267948966,
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1728                                 false
1729                         ],
1730                         [
1731                                 16.815212933389436,
1732                                 -2.1597160210105155,
1733                                 2.4712383776684765,
1734                                 0.12546514551729349,
1735                                 -1,
1736                                 true
1737                         ],
1738                         [
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1740                                 -1.8253520822975275,
1741                                 2.3457732321511831,
1742                                 0.25093029103458697,
1743                                 -1,
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1745                         ],
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1748                                 -1.4471517385619208,
1749                                 2.2203080866338896,
1750                                 0.37639543655188046,
1751                                 -1,
1752                                 false
1753                         ],
1754                         [
1755                                 15.840688258133952,
1756                                 -1.0310606259708397,
1757                                 2.0948429411165961,
1758                                 0.50186058206917394,
1759                                 -1,
1760                                 false
1761                         ],
1762                         [
1763                                 15.648996626510804,
1764                                 -0.65464401921816018,
1765                                 1.9887963267948505,
1766                                 0.0,
1767                                 0,
1768                                 false
1769                         ]
1770                 ]
1771         ],
1772         "rcnt" : 10,
1773         "slot" : 
1774         [
1775                 [
1776                         15.0,
1777                         -3.25
1778                 ],
1779                 [
1780                         17.199999999999999,
1781                         -3.25
1782                 ],
1783                 [
1784                         17.199999999999999,
1785                         3.25
1786                 ],
1787                 [
1788                         15.0,
1789                         3.25
1790                 ]
1791         ],
1792         "time" : 0.0
1793 }