]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blob - orig-pa2.json
Add wheel angle and speed plot script
[hubacji1/path-to-traj.git] / orig-pa2.json
1 {
2         "bcnt" : 3,
3         "entry" : 
4         [
5                 12.637516874478637,
6                 -2.68850949253713,
7                 0.43200000000000033,
8                 0.43200000000000033
9         ],
10         "goal" : 
11         [
12                 11.195607733343952,
13                 -3.0556974467173648,
14                 0.010457708409401582
15         ],
16         "goal_cc" : 25.363169112101129,
17         "icnt" : 394,
18         "init" : 
19         [
20                 0,
21                 0,
22                 0
23         ],
24         "ispath" : 
25         [
26                 [
27                         12.54670385540914,
28                         -2.7303782824346579,
29                         0.43200000000000033
30                 ],
31                 [
32                         12.54670385540914,
33                         -2.7303782824346579,
34                         0.43200000000000033
35                 ],
36                 [
37                         11.195607733343952,
38                         -3.0556974467173648,
39                         0.010457708409401582
40                 ]
41         ],
42         "log_path_cost" : 
43         [
44                 0.0,
45                 0.0,
46                 0.0,
47                 0.0,
48                 0.0,
49                 0.0,
50                 0.0,
51                 0.0,
52                 0.0,
53                 0.0,
54                 0.0,
55                 37.99164255453487,
56                 37.99164255453487,
57                 37.99164255453487,
58                 37.99164255453487,
59                 37.99164255453487,
60                 37.99164255453487,
61                 37.99164255453487,
62                 37.99164255453487,
63                 37.99164255453487,
64                 37.99164255453487,
65                 37.99164255453487,
66                 37.99164255453487,
67                 37.99164255453487,
68                 37.99164255453487,
69                 37.99164255453487,
70                 37.99164255453487,
71                 37.99164255453487,
72                 37.99164255453487,
73                 37.99164255453487,
74                 37.99164255453487,
75                 37.99164255453487,
76                 37.99164255453487,
77                 37.99164255453487,
78                 37.99164255453487,
79                 37.99164255453487,
80                 37.99164255453487,
81                 37.99164255453487,
82                 37.99164255453487,
83                 37.99164255453487,
84                 37.99164255453487,
85                 37.99164255453487,
86                 37.99164255453487,
87                 37.99164255453487,
88                 37.99164255453487,
89                 37.99164255453487,
90                 37.99164255453487,
91                 37.99164255453487,
92                 37.99164255453487,
93                 37.99164255453487,
94                 37.99164255453487,
95                 37.99164255453487,
96                 37.99164255453487,
97                 37.99164255453487,
98                 37.99164255453487,
99                 37.99164255453487,
100                 37.99164255453487,
101                 37.99164255453487,
102                 37.99164255453487,
103                 37.99164255453487,
104                 37.99164255453487,
105                 37.99164255453487,
106                 37.99164255453487,
107                 37.99164255453487,
108                 37.99164255453487,
109                 37.99164255453487,
110                 37.99164255453487,
111                 37.99164255453487,
112                 37.99164255453487,
113                 37.99164255453487,
114                 37.99164255453487,
115                 37.99164255453487,
116                 37.99164255453487,
117                 37.99164255453487,
118                 37.99164255453487,
119                 37.99164255453487,
120                 37.99164255453487,
121                 37.99164255453487,
122                 37.99164255453487,
123                 37.99164255453487,
124                 37.99164255453487,
125                 37.99164255453487,
126                 37.99164255453487,
127                 37.99164255453487,
128                 37.99164255453487,
129                 37.99164255453487,
130                 37.99164255453487,
131                 37.99164255453487,
132                 28.260824192758307,
133                 28.260824192758307,
134                 28.260824192758307,
135                 28.260824192758307,
136                 28.260824192758307,
137                 28.260824192758307,
138                 28.260824192758307,
139                 28.260824192758307,
140                 28.260824192758307,
141                 28.260824192758307,
142                 28.260824192758307,
143                 28.260824192758307,
144                 28.260824192758307,
145                 28.260824192758307,
146                 28.260824192758307,
147                 28.260824192758307,
148                 28.260824192758307,
149                 28.260824192758307,
150                 28.260824192758307,
151                 28.260824192758307,
152                 28.260824192758307,
153                 28.260824192758307,
154                 28.260824192758307,
155                 28.260824192758307,
156                 28.260824192758307,
157                 28.260824192758307,
158                 28.260824192758307,
159                 28.260824192758307,
160                 28.260824192758307,
161                 28.260824192758307,
162                 28.260824192758307,
163                 28.260824192758307,
164                 28.260824192758307,
165                 28.260824192758307,
166                 28.260824192758307,
167                 28.260824192758307,
168                 28.260824192758307,
169                 28.260824192758307,
170                 28.260824192758307,
171                 28.260824192758307,
172                 28.260824192758307,
173                 28.260824192758307,
174                 28.260824192758307,
175                 28.260824192758307,
176                 28.260824192758307,
177                 28.260824192758307,
178                 28.260824192758307,
179                 28.260824192758307,
180                 28.260824192758307,
181                 28.260824192758307,
182                 28.260824192758307,
183                 28.260824192758307,
184                 28.260824192758307,
185                 28.260824192758307,
186                 28.260824192758307,
187                 28.260824192758307,
188                 28.260824192758307,
189                 28.260824192758307,
190                 28.260824192758307,
191                 28.260824192758307,
192                 28.260824192758307,
193                 28.260824192758307,
194                 28.260824192758307,
195                 28.260824192758307,
196                 28.260824192758307,
197                 28.260824192758307,
198                 28.260824192758307,
199                 28.260824192758307,
200                 28.260824192758307,
201                 28.260824192758307,
202                 28.260824192758307,
203                 28.260824192758307,
204                 28.260824192758307,
205                 28.260824192758307,
206                 28.260824192758307,
207                 28.260824192758307,
208                 28.260824192758307,
209                 28.260824192758307,
210                 28.260824192758307,
211                 28.260824192758307,
212                 25.363169112101129,
213                 25.363169112101129,
214                 25.363169112101129,
215                 25.363169112101129,
216                 25.363169112101129,
217                 25.363169112101129,
218                 25.363169112101129,
219                 25.363169112101129,
220                 25.363169112101129,
221                 25.363169112101129,
222                 25.363169112101129,
223                 25.363169112101129,
224                 25.363169112101129,
225                 25.363169112101129,
226                 25.363169112101129,
227                 25.363169112101129,
228                 25.363169112101129,
229                 25.363169112101129,
230                 25.363169112101129,
231                 25.363169112101129,
232                 25.363169112101129,
233                 25.363169112101129,
234                 25.363169112101129,
235                 25.363169112101129,
236                 25.363169112101129,
237                 25.363169112101129,
238                 25.363169112101129,
239                 25.363169112101129,
240                 25.363169112101129,
241                 25.363169112101129,
242                 25.363169112101129,
243                 25.363169112101129,
244                 25.363169112101129,
245                 25.363169112101129,
246                 25.363169112101129,
247                 25.363169112101129,
248                 25.363169112101129,
249                 25.363169112101129,
250                 25.363169112101129,
251                 25.363169112101129,
252                 25.363169112101129,
253                 25.363169112101129,
254                 25.363169112101129,
255                 25.363169112101129,
256                 25.363169112101129,
257                 25.363169112101129,
258                 25.363169112101129,
259                 25.363169112101129,
260                 25.363169112101129,
261                 25.363169112101129,
262                 25.363169112101129,
263                 25.363169112101129,
264                 25.363169112101129,
265                 25.363169112101129,
266                 25.363169112101129,
267                 25.363169112101129,
268                 25.363169112101129,
269                 25.363169112101129,
270                 25.363169112101129,
271                 25.363169112101129,
272                 25.363169112101129,
273                 25.363169112101129,
274                 25.363169112101129,
275                 25.363169112101129,
276                 25.363169112101129,
277                 25.363169112101129,
278                 25.363169112101129,
279                 25.363169112101129,
280                 25.363169112101129,
281                 25.363169112101129,
282                 25.363169112101129,
283                 25.363169112101129,
284                 25.363169112101129,
285                 25.363169112101129,
286                 25.363169112101129,
287                 25.363169112101129,
288                 25.363169112101129,
289                 25.363169112101129,
290                 25.363169112101129,
291                 25.363169112101129,
292                 25.363169112101129,
293                 25.363169112101129,
294                 25.363169112101129,
295                 25.363169112101129,
296                 25.363169112101129,
297                 25.363169112101129,
298                 25.363169112101129,
299                 25.363169112101129,
300                 25.363169112101129,
301                 25.363169112101129,
302                 25.363169112101129,
303                 25.363169112101129,
304                 25.363169112101129,
305                 25.363169112101129,
306                 25.363169112101129,
307                 25.363169112101129,
308                 25.363169112101129,
309                 25.363169112101129,
310                 25.363169112101129,
311                 25.363169112101129,
312                 25.363169112101129,
313                 25.363169112101129,
314                 25.363169112101129,
315                 25.363169112101129,
316                 25.363169112101129,
317                 25.363169112101129,
318                 25.363169112101129,
319                 25.363169112101129,
320                 25.363169112101129,
321                 25.363169112101129,
322                 25.363169112101129,
323                 25.363169112101129,
324                 25.363169112101129,
325                 25.363169112101129,
326                 25.363169112101129,
327                 25.363169112101129,
328                 25.363169112101129,
329                 25.363169112101129,
330                 25.363169112101129,
331                 25.363169112101129,
332                 25.363169112101129,
333                 25.363169112101129,
334                 25.363169112101129,
335                 25.363169112101129,
336                 25.363169112101129,
337                 25.363169112101129,
338                 25.363169112101129,
339                 25.363169112101129,
340                 25.363169112101129,
341                 25.363169112101129,
342                 25.363169112101129,
343                 25.363169112101129,
344                 25.363169112101129,
345                 25.363169112101129,
346                 25.363169112101129,
347                 25.363169112101129,
348                 25.363169112101129,
349                 25.363169112101129,
350                 25.363169112101129,
351                 25.363169112101129,
352                 25.363169112101129,
353                 25.363169112101129,
354                 25.363169112101129,
355                 25.363169112101129,
356                 25.363169112101129,
357                 25.363169112101129,
358                 25.363169112101129,
359                 25.363169112101129,
360                 25.363169112101129,
361                 25.363169112101129,
362                 25.363169112101129,
363                 25.363169112101129,
364                 25.363169112101129,
365                 25.363169112101129,
366                 25.363169112101129,
367                 25.363169112101129,
368                 25.363169112101129,
369                 25.363169112101129,
370                 25.363169112101129,
371                 25.363169112101129,
372                 25.363169112101129,
373                 25.363169112101129,
374                 25.363169112101129,
375                 25.363169112101129,
376                 25.363169112101129,
377                 25.363169112101129,
378                 25.363169112101129,
379                 25.363169112101129,
380                 25.363169112101129,
381                 25.363169112101129,
382                 25.363169112101129,
383                 25.363169112101129,
384                 25.363169112101129,
385                 25.363169112101129,
386                 25.363169112101129,
387                 25.363169112101129,
388                 25.363169112101129,
389                 25.363169112101129,
390                 25.363169112101129,
391                 25.363169112101129,
392                 25.363169112101129,
393                 25.363169112101129,
394                 25.363169112101129,
395                 25.363169112101129,
396                 25.363169112101129,
397                 25.363169112101129,
398                 25.363169112101129,
399                 25.363169112101129,
400                 25.363169112101129,
401                 25.363169112101129,
402                 25.363169112101129,
403                 25.363169112101129,
404                 25.363169112101129,
405                 25.363169112101129,
406                 25.363169112101129,
407                 25.363169112101129,
408                 25.363169112101129,
409                 25.363169112101129,
410                 25.363169112101129,
411                 25.363169112101129,
412                 25.363169112101129,
413                 25.363169112101129,
414                 25.363169112101129,
415                 25.363169112101129,
416                 25.363169112101129,
417                 25.363169112101129,
418                 25.363169112101129,
419                 25.363169112101129,
420                 25.363169112101129,
421                 25.363169112101129,
422                 25.363169112101129,
423                 25.363169112101129,
424                 25.363169112101129,
425                 25.363169112101129,
426                 25.363169112101129,
427                 25.363169112101129,
428                 25.363169112101129,
429                 25.363169112101129,
430                 25.363169112101129,
431                 25.363169112101129,
432                 25.363169112101129,
433                 25.363169112101129,
434                 25.363169112101129,
435                 25.363169112101129,
436                 25.363169112101129,
437                 25.363169112101129
438         ],
439         "ncnt" : 6,
440         "obst" : 
441         [
442                 [
443                         [
444                                 10,
445                                 -1
446                         ],
447                         [
448                                 10,
449                                 1
450                         ],
451                         [
452                                 11,
453                                 1
454                         ],
455                         [
456                                 11,
457                                 -1
458                         ]
459                 ],
460                 [
461                         [
462                                 10,
463                                 -2
464                         ],
465                         [
466                                 10,
467                                 -4.2000000000000002
468                         ],
469                         [
470                                 9,
471                                 -4.2000000000000002
472                         ],
473                         [
474                                 9,
475                                 -2
476                         ]
477                 ],
478                 [
479                         [
480                                 10,
481                                 -4.2000000000000002
482                         ],
483                         [
484                                 16.5,
485                                 -4.2000000000000002
486                         ],
487                         [
488                                 16.5,
489                                 -5.2000000000000002
490                         ],
491                         [
492                                 10,
493                                 -5.2000000000000002
494                         ]
495                 ],
496                 [
497                         [
498                                 16.5,
499                                 -4.2000000000000002
500                         ],
501                         [
502                                 16.5,
503                                 -2
504                         ],
505                         [
506                                 17.5,
507                                 -2
508                         ],
509                         [
510                                 17.5,
511                                 -4.2000000000000002
512                         ]
513                 ]
514         ],
515         "ogoal_cc" : 37.74552814219507,
516         "opath" : 
517         [
518                 [
519                         0.0,
520                         0.0,
521                         0.0,
522                         0.0
523                 ],
524                 [
525                         0.0,
526                         0.0,
527                         0.0,
528                         0.0
529                 ],
530                 [
531                         0.4986892401969264,
532                         -0.031325161923024473,
533                         -0.1254651455172934,
534                         0.1254651455172934
535                 ],
536                 [
537                         0.98953865467239843,
538                         -0.12480818908185064,
539                         -0.25093029103458681,
540                         0.25093029103458681
541                 ],
542                 [
543                         1.4682296585093058,
544                         -0.26898993217222389,
545                         -0.3036202813256339,
546                         0.07277515522624628
547                 ],
548                 [
549                         1.945359840836929,
550                         -0.41847835684788004,
551                         -0.3036202813256339,
552                         0.19824030074353971
553                 ],
554                 [
555                         2.4224900231645519,
556                         -0.56796678152353608,
557                         -0.3036202813256339,
558                         0.32370544626083309
559                 ],
560                 [
561                         2.8996202054921745,
562                         -0.71745520619919223,
563                         -0.3036202813256339,
564                         0.44917059177812646
565                 ],
566                 [
567                         3.376750387819798,
568                         -0.86694363087484838,
569                         -0.3036202813256339,
570                         0.57463573729541995
571                 ],
572                 [
573                         3.376750387819798,
574                         -0.86694363087484838,
575                         -0.3036202813256339,
576                         0.0
577                 ],
578                 [
579                         2.8915055134026657,
580                         -0.74773945347492177,
581                         -0.1781551358083405,
582                         -0.1254651455172934
583                 ],
584                 [
585                         2.3951581112267193,
586                         -0.69019398961476641,
587                         -0.052689990291047095,
588                         -0.25093029103458681
589                 ],
590                 [
591                         1.8955111912963836,
592                         -0.69521190370532016,
593                         0.07277515522624628,
594                         -0.37639543655188018
595                 ],
596                 [
597                         1.4004196348859541,
598                         -0.76271430980162136,
599                         0.19824030074353971,
600                         -0.50186058206917361
601                 ],
602                 [
603                         1.7181175056719238,
604                         -0.66876610599612896,
605                         0.32370544626083309,
606                         0.10429621209000062
607                 ],
608                 [
609                         2.1809425079033811,
610                         -0.48044393160568954,
611                         0.44917059177812646,
612                         0.22976135760729399
613                 ],
614                 [
615                         2.6165635775856426,
616                         -0.23568587207225244,
617                         0.57463573729541995,
618                         0.35522650312458748
619                 ],
620                 [
621                         3.0181323751283982,
622                         0.061660264438308077,
623                         0.70010088281271332,
624                         0.48069164864188085
625                 ],
626                 [
627                         3.3793358920804009,
628                         0.40691993975414298,
629                         0.82556602833000658,
630                         0.60615679415917412
631                 ],
632                 [
633                         3.6944956970767344,
634                         0.79466537347627564,
635                         0.95103117384730007,
636                         0.7316219396764676
637                 ],
638                 [
639                         3.9586572056860145,
640                         1.2188008723760504,
641                         1.0764963193645936,
642                         0.85708708519376109
643                 ],
644                 [
645                         4.1885756045197837,
646                         1.6626851125665523,
647                         1.0494410437677288,
648                         0.076260210557078989
649                 ],
650                 [
651                         4.4641141404323621,
652                         2.0795192993661056,
653                         0.92397589825043525,
654                         0.20172535607437247
655                 ],
656                 [
657                         4.7896478856671507,
658                         2.4585971340796426,
659                         0.79851075273314176,
660                         0.32719050159166596
661                 ],
662                 [
663                         5.1600591684891715,
664                         2.7939591856236952,
665                         0.6730456072158485,
666                         0.45265564710895922
667                 ],
668                 [
669                         5.5695248034985596,
670                         3.0803332727964872,
671                         0.54758046169855501,
672                         0.57812079262625271
673                 ],
674                 [
675                         5.5695248034985596,
676                         3.0803332727964872,
677                         0.54758046169855501,
678                         0.0
679                 ],
680                 [
681                         5.9804275807438971,
682                         3.3648170131390276,
683                         0.63852366736871635,
684                         0.03452193984713206
685                 ],
686                 [
687                         6.3819158520310921,
688                         3.6628223285594408,
689                         0.63852366736871635,
690                         0.15998708536442546
691                 ],
692                 [
693                         6.7834041233182862,
694                         3.9608276439798544,
695                         0.63852366736871635,
696                         0.28545223088171884
697                 ],
698                 [
699                         7.1848923946054812,
700                         4.2588329594002676,
701                         0.63852366736871635,
702                         0.41091737639901227
703                 ],
704                 [
705                         7.5863806658926762,
706                         4.5568382748206808,
707                         0.63852366736871635,
708                         0.53638252191630564
709                 ],
710                 [
711                         7.9750698083389269,
712                         4.8709202283015074,
713                         0.74009072377653418,
714                         0.10156705640781782
715                 ],
716                 [
717                         8.3221813478883497,
718                         5.2303444945514652,
719                         0.86555586929382766,
720                         0.22703220192511131
721                 ],
722                 [
723                         8.6215874409156932,
724                         5.6303797623914313,
725                         0.99102101481112104,
726                         0.35249734744240468
727                 ],
728                 [
729                         8.8685811649528681,
730                         6.0647371317820493,
731                         1.1164861603284142,
732                         0.47796249295969795
733                 ],
734                 [
735                         9.0592795652563982,
736                         6.5265881295934287,
737                         1.2419513058457077,
738                         0.60342763847699143
739                 ],
740                 [
741                         9.1906846982108341,
742                         7.008672059102512,
743                         1.3674164513630012,
744                         0.72889278399428492
745                 ],
746                 [
747                         9.2607307615926153,
748                         7.5034101444187806,
749                         1.4928815968802946,
750                         0.85435792951157818
751                 ],
752                 [
753                         9.2607307615926153,
754                         7.5034101444187806,
755                         1.4928815968802946,
756                         0.0
757                 ],
758                 [
759                         9.2683165707658492,
760                         8.0030246753892875,
761                         1.6183467423975881,
762                         0.1254651455172934
763                 ],
764                 [
765                         9.213322870256226,
766                         8.4996612799221669,
767                         1.7438118879148814,
768                         0.25093029103458681
769                 ],
770                 [
771                         9.0991326850549061,
772                         8.9862171787040328,
773                         1.8180412395073871,
774                         0.025617896962393971
775                 ],
776                 [
777                         9.0074592544358492,
778                         9.4774077793635172,
779                         1.6925760939900936,
780                         0.1510830424796874
781                 ],
782                 [
783                         8.9779721595969519,
784                         9.9762090777736674,
785                         1.5671109484728003,
786                         0.27654818799698078
787                 ],
788                 [
789                         9.0111349631458175,
790                         10.474779486561104,
791                         1.4416458029555068,
792                         0.40201333351427415
793                 ],
794                 [
795                         9.1064263171581246,
796                         10.965281048136797,
797                         1.3161806574382133,
798                         0.52747847903156764
799                 ],
800                 [
801                         9.1064263171581246,
802                         10.965281048136797,
803                         1.3161806574382133,
804                         0.0
805                 ],
806                 [
807                         9.0111349631458175,
808                         10.474779486561104,
809                         1.4416458029555068,
810                         -0.1254651455172934
811                 ],
812                 [
813                         8.9779721595969519,
814                         9.9762090777736692,
815                         1.5671109484728001,
816                         -0.25093029103458681
817                 ],
818                 [
819                         9.0074592544358492,
820                         9.4774077793635172,
821                         1.6925760939900936,
822                         -0.37639543655188018
823                 ],
824                 [
825                         9.0991326850549061,
826                         8.9862171787040328,
827                         1.8180412395073868,
828                         -0.50186058206917361
829                 ],
830                 [
831                         9.2515512659193053,
832                         8.510359216424348,
833                         1.9435063850246803,
834                         -0.62732572758646699
835                 ],
836                 [
837                         9.4623188452487987,
838                         8.0573147908309224,
839                         2.0689715305419738,
840                         -0.75279087310376036
841                 ],
842                 [
843                         9.72652406651126,
844                         7.6331062911852747,
845                         2.1632347740005988,
846                         -0.031201902058668574
847                 ],
848                 [
849                         10.005716852418495,
850                         7.2183155146516622,
851                         2.1632347740005988,
852                         -0.15666704757596195
853                 ],
854                 [
855                         10.284909638325729,
856                         6.8035247381180506,
857                         2.1632347740005988,
858                         -0.28213219309325521
859                 ],
860                 [
861                         10.564102424232964,
862                         6.3887339615844372,
863                         2.1632347740005988,
864                         -0.4075973386105487
865                 ],
866                 [
867                         10.8432952101402,
868                         5.9739431850508256,
869                         2.1632347740005988,
870                         -0.53306248412784218
871                 ],
872                 [
873                         11.122487996047433,
874                         5.5591524085172139,
875                         2.1632347740005988,
876                         -0.65852762964513545
877                 ],
878                 [
879                         11.401680781954669,
880                         5.1443616319836014,
881                         2.1632347740005988,
882                         -0.78399277516242893
883                 ],
884                 [
885                         11.680873567861903,
886                         4.7295708554499889,
887                         2.1632347740005988,
888                         -0.90945792067972242
889                 ],
890                 [
891                         11.960066353769138,
892                         4.3147800789163764,
893                         2.1632347740005988,
894                         -1.0349230661970157
895                 ],
896                 [
897                         12.239259139676372,
898                         3.8999893023827648,
899                         2.1632347740005988,
900                         -1.1603882117143092
901                 ],
902                 [
903                         12.518451925583609,
904                         3.4851985258491522,
905                         2.1632347740005988,
906                         -1.2858533572316027
907                 ],
908                 [
909                         12.797644711490841,
910                         3.0704077493155415,
911                         2.1632347740005988,
912                         -1.4113185027488957
913                 ],
914                 [
915                         13.076837497398078,
916                         2.6556169727819281,
917                         2.1632347740005988,
918                         -1.5367836482661892
919                 ],
920                 [
921                         13.343166200198734,
922                         2.2327016503826762,
923                         2.0758427050812767,
924                         -0.087392068919322385
925                 ],
926                 [
927                         13.557041726885856,
928                         1.7811161289783719,
929                         1.950377559563983,
930                         -0.21285721443661587
931                 ],
932                 [
933                         13.712726387078199,
934                         1.3063166864360642,
935                         1.8249124140466895,
936                         -0.33832235995390936
937                 ],
938                 [
939                         13.807772683406599,
940                         0.81576758021738449,
941                         1.6994472685293962,
942                         -0.46378750547120262
943                 ],
944                 [
945                         13.840686405973143,
946                         0.31718066610460482,
947                         1.5739821230121027,
948                         -0.58925265098849611
949                 ],
950                 [
951                         13.810950122621758,
952                         -0.18160583883527082,
953                         1.4485169774948092,
954                         -0.71471779650578959
955                 ],
956                 [
957                         13.71903131341876,
958                         -0.67275057979499664,
959                         1.3230518319775157,
960                         -0.84018294202308308
961                 ],
962                 [
963                         13.566375021462314,
964                         -1.1485323370995406,
965                         1.1975866864602223,
966                         -0.96564808754037657
967                 ],
968                 [
969                         13.355381135556414,
970                         -1.6014714104504932,
971                         1.0721215409429288,
972                         -1.0911132330576701
973                 ],
974                 [
975                         13.0893666618854,
976                         -2.0244472062771841,
977                         0.94665639542563618,
978                         -1.2165783785749626
979                 ],
980                 [
981                         12.772513577810843,
982                         -2.4108101796197818,
983                         0.82119124990834269,
984                         -1.3420435240922561
985                 ],
986                 [
987                         12.409803087574225,
988                         -2.7544863707212386,
989                         0.6957261043910492,
990                         -1.4675086696095496
991                 ],
992                 [
993                         12.15465833869731,
994                         -2.9530055232700558,
995                         0.57026095887375572,
996                         0.022177488331946549
997                 ],
998                 [
999                         12.591345998640616,
1000                         -2.7101555454834969,
1001                         0.44479581335646223,
1002                         0.14764263384924003
1003                 ],
1004                 [
1005                         12.637516874478637,
1006                         -2.68850949253713,
1007                         0.43200000000000033,
1008                         0.0
1009                 ]
1010         ],
1011         "otime" : 0.00027839799999998527,
1012         "path" : 
1013         [
1014                 [
1015                         0.0,
1016                         0.0,
1017                         0.0,
1018                         0.0,
1019                         0
1020                 ],
1021                 [
1022                         0.0,
1023                         0.0,
1024                         0.0,
1025                         0.0,
1026                         0
1027                 ],
1028                 [
1029                         0.4986892401969264,
1030                         0.031325161923024473,
1031                         0.1254651455172934,
1032                         0.1254651455172934,
1033                         1
1034                 ],
1035                 [
1036                         0.98953865467239843,
1037                         0.12480818908185064,
1038                         0.25093029103458681,
1039                         0.25093029103458681,
1040                         1
1041                 ],
1042                 [
1043                         1.470376948720012,
1044                         0.26184572672619016,
1045                         0.28131576360414168,
1046                         0.095079672947738503,
1047                         0
1048                 ],
1049                 [
1050                         1.9507224426228971,
1051                         0.40065569210041413,
1052                         0.28131576360414168,
1053                         0.22054481846503193,
1054                         0
1055                 ],
1056                 [
1057                         2.4310679365257823,
1058                         0.53946565747463804,
1059                         0.28131576360414168,
1060                         0.34600996398232531,
1061                         0
1062                 ],
1063                 [
1064                         2.9114134304286674,
1065                         0.67827562284886189,
1066                         0.28131576360414168,
1067                         0.47147510949961868,
1068                         0
1069                 ],
1070                 [
1071                         3.3917589243315533,
1072                         0.81708558822308597,
1073                         0.28131576360414168,
1074                         0.59694025501691217,
1075                         0
1076                 ],
1077                 [
1078                         3.872104418234438,
1079                         0.95589555359730971,
1080                         0.28131576360414168,
1081                         0.72240540053420554,
1082                         0
1083                 ],
1084                 [
1085                         4.352449912137323,
1086                         1.0947055189715336,
1087                         0.28131576360414168,
1088                         0.84787054605149881,
1089                         0
1090                 ],
1091                 [
1092                         4.8327954060402085,
1093                         1.2335154843457574,
1094                         0.28131576360414168,
1095                         0.97333569156879229,
1096                         0
1097                 ],
1098                 [
1099                         5.313140899943094,
1100                         1.3723254497199815,
1101                         0.28131576360414168,
1102                         1.0988008370860858,
1103                         0
1104                 ],
1105                 [
1106                         5.7934863938459777,
1107                         1.5111354150942053,
1108                         0.28131576360414168,
1109                         1.224265982603379,
1110                         0
1111                 ],
1112                 [
1113                         6.2738318877488641,
1114                         1.6499453804684292,
1115                         0.28131576360414168,
1116                         1.3497311281206725,
1117                         0
1118                 ],
1119                 [
1120                         6.7541773816517496,
1121                         1.7887553458426533,
1122                         0.28131576360414168,
1123                         1.475196273637966,
1124                         0
1125                 ],
1126                 [
1127                         7.2345228755546351,
1128                         1.9275653112168771,
1129                         0.28131576360414168,
1130                         1.6006614191552593,
1131                         0
1132                 ],
1133                 [
1134                         7.7148683694575206,
1135                         2.066375276591101,
1136                         0.28131576360414168,
1137                         1.7261265646725528,
1138                         0
1139                 ],
1140                 [
1141                         8.1952138633604061,
1142                         2.2051852419653248,
1143                         0.28131576360414168,
1144                         1.8515917101898463,
1145                         0
1146                 ],
1147                 [
1148                         8.6755593572632907,
1149                         2.3439952073395487,
1150                         0.28131576360414168,
1151                         1.9770568557071393,
1152                         0
1153                 ],
1154                 [
1155                         9.1559048511661736,
1156                         2.4828051727137725,
1157                         0.28131576360414168,
1158                         2.1025220012244326,
1159                         0
1160                 ],
1161                 [
1162                         9.63625034506906,
1163                         2.6216151380879964,
1164                         0.28131576360414168,
1165                         2.227987146741726,
1166                         0
1167                 ],
1168                 [
1169                         10.116595838971946,
1170                         2.7604251034622203,
1171                         0.28131576360414168,
1172                         2.3534522922590195,
1173                         0
1174                 ],
1175                 [
1176                         10.596941332874831,
1177                         2.8992350688364441,
1178                         0.28131576360414168,
1179                         2.478917437776313,
1180                         0
1181                 ],
1182                 [
1183                         11.077286826777716,
1184                         3.038045034210668,
1185                         0.28131576360414168,
1186                         2.6043825832936065,
1187                         0
1188                 ],
1189                 [
1190                         11.561828313953388,
1191                         3.1604629313469661,
1192                         0.1891540611249185,
1193                         0.092161702479223173,
1194                         -1
1195                 ],
1196                 [
1197                         12.057512767783848,
1198                         3.2234640923560374,
1199                         0.063688915607625018,
1200                         0.21762684799651666,
1201                         -1
1202                 ],
1203                 [
1204                         12.557184655836028,
1205                         3.223941950138693,
1206                         -0.061776229909668467,
1207                         0.34309199351381015,
1208                         -1
1209                 ],
1210                 [
1211                         13.052988704315188,
1212                         3.1618889923577225,
1213                         -0.18724137542696195,
1214                         0.46855713903110363,
1215                         -1
1216                 ],
1217                 [
1218                         13.53713044520647,
1219                         3.0382807451229574,
1220                         -0.31270652094425544,
1221                         0.59402228454839712,
1222                         -1
1223                 ],
1224                 [
1225                         14.001998752046482,
1226                         2.8550604368779711,
1227                         -0.43817166646154804,
1228                         0.71948743006568971,
1229                         -1
1230                 ],
1231                 [
1232                         14.185235378236873,
1233                         2.7633886863184065,
1234                         -0.48959010656571755,
1235                         0.20723514852063596,
1236                         -1
1237                 ],
1238                 [
1239                         14.610610342729061,
1240                         2.5012277364403572,
1241                         -0.61505525208301104,
1242                         0.33270029403792944,
1243                         -1
1244                 ],
1245                 [
1246                         14.610610342729061,
1247                         2.5012277364403572,
1248                         -0.61505525208301104,
1249                         0.0,
1250                         0
1251                 ],
1252                 [
1253                         15.035985307221249,
1254                         2.2390667865623084,
1255                         -0.48959010656571766,
1256                         0.1254651455172934,
1257                         1
1258                 ],
1259                 [
1260                         15.490822475272076,
1261                         2.0321963570244059,
1262                         -0.36412496104842423,
1263                         0.25093029103458681,
1264                         1
1265                 ],
1266                 [
1267                         15.967971413622241,
1268                         1.8838686297142311,
1269                         -0.23865981553113086,
1270                         0.37639543655188018,
1271                         1
1272                 ],
1273                 [
1274                         16.459930928706058,
1275                         1.7964154446596774,
1276                         -0.11319467001383743,
1277                         0.50186058206917361,
1278                         1
1279                 ],
1280                 [
1281                         16.958966991895309,
1282                         1.7712116414890131,
1283                         0.012270475503455947,
1284                         0.62732572758646699,
1285                         1
1286                 ],
1287                 [
1288                         17.457234325111443,
1289                         1.8086534457640691,
1290                         0.13773562102074932,
1291                         0.75279087310376036,
1292                         1
1293                 ],
1294                 [
1295                         17.31058186862948,
1296                         1.764345265290356,
1297                         0.26320076653804281,
1298                         -0.08187200903089964,
1299                         -1
1300                 ],
1301                 [
1302                         16.837216344636307,
1303                         1.6043536881609333,
1304                         0.38866591205533618,
1305                         -0.20733715454819301,
1306                         -1
1307                 ],
1308                 [
1309                         16.387592421936933,
1310                         1.3863845339346603,
1311                         0.51413105757262945,
1312                         -0.33280230006548628,
1313                         -1
1314                 ],
1315                 [
1316                         15.968778577069502,
1317                         1.1138644660404733,
1318                         0.63959620308992293,
1319                         -0.45826744558277976,
1320                         -1
1321                 ],
1322                 [
1323                         15.587358925528864,
1324                         0.79107773540194493,
1325                         0.76506134860721642,
1326                         -0.58373259110007325,
1327                         -1
1328                 ],
1329                 [
1330                         15.249329713782329,
1331                         0.42309882831118983,
1332                         0.89052649412450968,
1333                         -0.70919773661736651,
1334                         -1
1335                 ],
1336                 [
1337                         14.96000505309447,
1338                         0.015712691120013833,
1339                         1.0159916396418032,
1340                         -0.83466288213466,
1341                         -1
1342                 ],
1343                 [
1344                         14.723933377106681,
1345                         -0.42467621411490342,
1346                         1.1414567851590967,
1347                         -0.96012802765195349,
1348                         -1
1349                 ],
1350                 [
1351                         14.518845840709382,
1352                         -0.88053159582422325,
1353                         1.0990374184766052,
1354                         -0.083942256099892365,
1355                         1
1356                 ],
1357                 [
1358                         14.264311110364643,
1359                         -1.3105133339318109,
1360                         0.9735722729593117,
1361                         -0.20940740161718585,
1362                         1
1363                 ],
1364                 [
1365                         13.957970836626677,
1366                         -1.7052637116945681,
1367                         0.84810712744201822,
1368                         -0.33487254713447934,
1369                         1
1370                 ],
1371                 [
1372                         13.604640953275446,
1373                         -2.0585769121112754,
1374                         0.72264198192472517,
1375                         -0.46033769265177238,
1376                         1
1377                 ],
1378                 [
1379                         13.209876111352875,
1380                         -2.3648985464101577,
1381                         0.59717683640743169,
1382                         -0.58580283816906586,
1383                         1
1384                 ],
1385                 [
1386                         12.779882355249267,
1387                         -2.6194129738393381,
1388                         0.4717116908901382,
1389                         -0.71126798368635935,
1390                         1
1391                 ],
1392                 [
1393                         12.637516874478637,
1394                         -2.68850949253713,
1395                         0.43200000000000033,
1396                         0.0,
1397                         0
1398                 ]
1399         ],
1400         "rcnt" : 8,
1401         "slot" : 
1402         [
1403                 [
1404                         10,
1405                         -2
1406                 ],
1407                 [
1408                         10,
1409                         -4.2000000000000002
1410                 ],
1411                 [
1412                         16.5,
1413                         -4.2000000000000002
1414                 ],
1415                 [
1416                         16.5,
1417                         -2
1418                 ]
1419         ],
1420         "time" : 0.211390193
1421 }