]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blob - pe07-3.json
Update meaning of the path fields
[hubacji1/path-to-traj.git] / pe07-3.json
1 {
2         "bcnt" : 3,
3         "cost" : 26.764654127481617,
4         "costs" : 
5         [
6                 26.764654127481617
7         ],
8         "entry" : 
9         [
10                 11.275957323744649,
11                 -5.0,
12                 3.1415926535897931,
13                 3.1415926535897931
14         ],
15         "goal" : 
16         [
17                 13.87595732374464,
18                 -5.0,
19                 3.1415926535897931
20         ],
21         "goal_cc" : 18.77522680384887,
22         "icnt" : 65,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         11.375957323744649,
33                         -5.0,
34                         3.1415926535897931
35                 ],
36                 [
37                         11.475957323744648,
38                         -5.0,
39                         3.1415926535897931
40                 ],
41                 [
42                         11.575957323744648,
43                         -5.0,
44                         3.1415926535897931
45                 ],
46                 [
47                         11.675957323744647,
48                         -5.0,
49                         3.1415926535897931
50                 ],
51                 [
52                         11.775957323744647,
53                         -5.0,
54                         3.1415926535897931
55                 ],
56                 [
57                         11.875957323744647,
58                         -5.0,
59                         3.1415926535897931
60                 ],
61                 [
62                         11.975957323744646,
63                         -5.0,
64                         3.1415926535897931
65                 ],
66                 [
67                         12.075957323744646,
68                         -5.0,
69                         3.1415926535897931
70                 ],
71                 [
72                         12.175957323744646,
73                         -5.0,
74                         3.1415926535897931
75                 ],
76                 [
77                         12.275957323744645,
78                         -5.0,
79                         3.1415926535897931
80                 ],
81                 [
82                         12.375957323744645,
83                         -5.0,
84                         3.1415926535897931
85                 ],
86                 [
87                         12.475957323744645,
88                         -5.0,
89                         3.1415926535897931
90                 ],
91                 [
92                         12.575957323744644,
93                         -5.0,
94                         3.1415926535897931
95                 ],
96                 [
97                         12.675957323744644,
98                         -5.0,
99                         3.1415926535897931
100                 ],
101                 [
102                         12.775957323744644,
103                         -5.0,
104                         3.1415926535897931
105                 ],
106                 [
107                         12.875957323744643,
108                         -5.0,
109                         3.1415926535897931
110                 ],
111                 [
112                         12.975957323744643,
113                         -5.0,
114                         3.1415926535897931
115                 ],
116                 [
117                         13.075957323744642,
118                         -5.0,
119                         3.1415926535897931
120                 ],
121                 [
122                         13.175957323744642,
123                         -5.0,
124                         3.1415926535897931
125                 ],
126                 [
127                         13.275957323744642,
128                         -5.0,
129                         3.1415926535897931
130                 ],
131                 [
132                         13.375957323744641,
133                         -5.0,
134                         3.1415926535897931
135                 ],
136                 [
137                         13.475957323744641,
138                         -5.0,
139                         3.1415926535897931
140                 ],
141                 [
142                         13.575957323744641,
143                         -5.0,
144                         3.1415926535897931
145                 ],
146                 [
147                         13.67595732374464,
148                         -5.0,
149                         3.1415926535897931
150                 ],
151                 [
152                         13.77595732374464,
153                         -5.0,
154                         3.1415926535897931
155                 ],
156                 [
157                         13.87595732374464,
158                         -5.0,
159                         3.1415926535897931
160                 ]
161         ],
162         "ncnt" : 6,
163         "obst" : 
164         [
165                 [
166                         [
167                                 8.25,
168                                 -2.75
169                         ],
170                         [
171                                 7.75,
172                                 -2.75
173                         ],
174                         [
175                                 7.75,
176                                 -2.25
177                         ],
178                         [
179                                 8.25,
180                                 -2.25
181                         ],
182                         [
183                                 8.25,
184                                 -2.75
185                         ]
186                 ],
187                 [
188                         [
189                                 6.25,
190                                 -2.75
191                         ],
192                         [
193                                 5.75,
194                                 -2.75
195                         ],
196                         [
197                                 5.75,
198                                 -2.25
199                         ],
200                         [
201                                 6.25,
202                                 -2.25
203                         ],
204                         [
205                                 6.25,
206                                 -2.75
207                         ]
208                 ],
209                 [
210                         [
211                                 10.5,
212                                 -3.75
213                         ],
214                         [
215                                 10.0,
216                                 -3.75
217                         ],
218                         [
219                                 10.0,
220                                 -3.25
221                         ],
222                         [
223                                 10.5,
224                                 -3.25
225                         ],
226                         [
227                                 10.5,
228                                 -3.75
229                         ]
230                 ],
231                 [
232                         [
233                                 10.5,
234                                 -6.75
235                         ],
236                         [
237                                 10.0,
238                                 -6.75
239                         ],
240                         [
241                                 10.0,
242                                 -6.25
243                         ],
244                         [
245                                 10.5,
246                                 -6.25
247                         ],
248                         [
249                                 10.5,
250                                 -6.75
251                         ]
252                 ]
253         ],
254         "ogoal_cc" : 27.764654127481617,
255         "opath" : 
256         [
257                 [
258                         0.0,
259                         0.0,
260                         0.0,
261                         0.0
262                 ],
263                 [
264                         -0.4986892401969264,
265                         -0.031325161923024473,
266                         0.1254651455172934,
267                         -0.1254651455172934
268                 ],
269                 [
270                         -0.98953865467239843,
271                         -0.12480818908185064,
272                         0.25093029103458681,
273                         -0.25093029103458681
274                 ],
275                 [
276                         -1.4648316665388816,
277                         -0.27897944752057025,
278                         0.37639543655188018,
279                         -0.37639543655188018
280                 ],
281                 [
282                         -1.5797680436294228,
283                         -0.32649357252947986,
284                         0.4076049699995663,
285                         -0.4076049699995663
286                 ],
287                 [
288                         -2.0500187663032019,
289                         -0.49542101814587425,
290                         0.28213982448227293,
291                         -0.12546514551729337
292                 ],
293                 [
294                         -2.5377120598810423,
295                         -0.60417521556781217,
296                         0.15667467896497944,
297                         -0.25093029103458686
298                 ],
299                 [
300                         -3.0351809644227963,
301                         -0.65104645484861901,
302                         0.031209533447686066,
303                         -0.37639543655188024
304                 ],
305                 [
306                         -2.5377120598810423,
307                         -0.60417521556781217,
308                         0.15667467896497947,
309                         0.1254651455172934
310                 ],
311                 [
312                         -2.0500187663032019,
313                         -0.49542101814587425,
314                         0.28213982448227287,
315                         0.25093029103458681
316                 ],
317                 [
318                         -1.5797680436294228,
319                         -0.32649357252947986,
320                         0.40760496999956625,
321                         0.37639543655188018
322                 ],
323                 [
324                         -1.1343526395149268,
325                         -0.1000485641163732,
326                         0.53307011551685968,
327                         0.50186058206917361
328                 ],
329                 [
330                         -0.72077486894956699,
331                         0.1803540959135872,
332                         0.65853526103415305,
333                         0.62732572758646699
334                 ],
335                 [
336                         -0.34553653181621025,
337                         0.51030623547792597,
338                         0.78400040655144643,
339                         0.75279087310376036
340                 ],
341                 [
342                         -0.014536698979053408,
343                         0.88462072186533014,
344                         0.90946555206873991,
345                         0.87825601862105385
346                 ],
347                 [
348                         0.26702102620713797,
349                         1.2974130079435326,
350                         1.0349306975860333,
351                         1.0037211641383472
352                 ],
353                 [
354                         0.49471031303766022,
355                         1.7421936423244586,
356                         1.1603958431033266,
357                         1.1291863096556405
358                 ],
359                 [
360                         0.65637231233439897,
361                         2.1830849477290579,
362                         1.278299809034092,
363                         1.2470902755864059
364                 ],
365                 [
366                         0.54257314784544386,
367                         1.6965441229061995,
368                         1.4037649545513855,
369                         -0.12546514551729349
370                 ],
371                 [
372                         0.49055238151587144,
373                         1.199587320026738,
374                         1.529230100068679,
375                         -0.25093029103458697
376                 ],
377                 [
378                         0.50112782473812123,
379                         0.70002712940067968,
380                         1.6546952455859723,
381                         -0.37639543655188024
382                 ],
383                 [
384                         0.57413322240759879,
385                         0.20571706884272034,
386                         1.7801603911032657,
387                         -0.50186058206917372
388                 ],
389                 [
390                         0.70842086659656012,
391                         -0.27557188041320185,
392                         1.905625536620559,
393                         -0.62732572758646699
394                 ],
395                 [
396                         0.90187963951435446,
397                         -0.736273440253012,
398                         2.0310906821378527,
399                         -0.75279087310376047
400                 ],
401                 [
402                         1.1514682021030884,
403                         -1.1691449841116737,
404                         2.1565558276551462,
405                         -0.87825601862105418
406                 ],
407                 [
408                         1.4532628065153235,
409                         -1.5673813973204047,
410                         2.2820209731724397,
411                         -1.0037211641383477
412                 ],
413                 [
414                         1.8025189808203343,
415                         -1.9247220593888543,
416                         2.4074861186897327,
417                         -1.1291863096556407
418                 ],
419                 [
420                         2.1937461162020773,
421                         -2.2355492663683694,
422                         2.5329512642070262,
423                         -1.2546514551729342
424                 ],
425                 [
426                         2.6207937840736317,
427                         -2.4949765460117375,
428                         2.6584164097243197,
429                         -1.3801166006902277
430                 ],
431                 [
432                         3.0769484261285367,
433                         -2.6989254773388067,
434                         2.7838815552416132,
435                         -1.5055817462075212
436                 ],
437                 [
438                         3.3231822783635208,
439                         -2.7819218854283081,
440                         2.8490961358289884,
441                         -2.2204460492503131e-16
442                 ],
443                 [
444                         3.8019457809991488,
445                         -2.926093687609125,
446                         2.8490961358289884,
447                         -0.12546514551729371
448                 ],
449                 [
450                         3.3334697763684837,
451                         -2.7523051461485881,
452                         2.7236309903116949,
453                         0.1254651455172934
454                 ],
455                 [
456                         2.890423439484247,
457                         -2.5212593337408506,
458                         2.5981658447944014,
459                         0.25093029103458681
460                 ],
461                 [
462                         2.6008139963349963,
463                         -2.3285702937963366,
464                         2.5108509005704729,
465                         0.33824523525851569
466                 ],
467                 [
468                         2.9850767577213171,
469                         -2.6479671539397192,
470                         2.3853857550531794,
471                         -0.12546514551729343
472                 ],
473                 [
474                         3.3263509268768257,
475                         -3.0129386124469684,
476                         2.2599206095358859,
477                         -0.25093029103458686
478                 ],
479                 [
480                         3.6192713790028472,
481                         -3.4177470026564345,
482                         2.1344554640185924,
483                         -0.37639543655188024
484                 ],
485                 [
486                         3.8592331515098297,
487                         -3.8560283869211522,
488                         2.0089903185012994,
489                         -0.50186058206917361
490                 ],
491                 [
492                         4.0424638380079312,
493                         -4.320892603207076,
494                         1.8835251729840059,
495                         -0.62732572758646699
496                 ],
497                 [
498                         3.8592331515098293,
499                         -3.8560283869211522,
500                         2.0089903185012994,
501                         0.1254651455172934
502                 ],
503                 [
504                         3.8226006633688483,
505                         -3.7799579890219537,
506                         2.0301770857464039,
507                         0.14665191276239797
508                 ],
509                 [
510                         4.0717936519715821,
511                         -4.2130573754091083,
512                         2.1556422312636974,
513                         -0.12546514551729337
514                 ],
515                 [
516                         4.3732243031366904,
517                         -4.6115693408453682,
518                         2.2811073767809908,
519                         -0.25093029103458681
520                 ],
521                 [
522                         4.7221538665929499,
523                         -4.9692289329212915,
524                         2.4065725222982843,
525                         -0.37639543655188024
526                 ],
527                 [
528                         5.1130968681290447,
529                         -5.2804134338329511,
530                         2.5320376678155774,
531                         -0.50186058206917361
532                 ],
533                 [
534                         5.5399073459876025,
535                         -5.5402307543638223,
536                         2.6575028133328709,
537                         -0.6273257275864671
538                 ],
539                 [
540                         5.995875470694096,
541                         -5.7445963417540078,
542                         2.7829679588501643,
543                         -0.75279087310376047
544                 ],
545                 [
546                         6.4738330293734556,
547                         -5.8902973923986623,
548                         2.9084331043674574,
549                         -0.87825601862105374
550                 ],
551                 [
552                         6.9662661162497796,
553                         -5.9750433598965138,
554                         3.0338982498847509,
555                         -1.0037211641383472
556                 ],
557                 [
558                         7.4654332577371028,
559                         -5.9975019644183085,
560                         -3.1238219117775419,
561                         -1.1291863096556407
562                 ],
563                 [
564                         7.9634871150927804,
565                         -5.9573201372968185,
566                         -2.9983567662602484,
567                         -1.254651455172934
568                 ],
569                 [
570                         8.4525978513625937,
571                         -5.8551295715713358,
572                         -2.8728916207429549,
573                         -1.3801166006902275
574                 ],
575                 [
576                         8.9250762231826073,
577                         -5.6925367912273144,
578                         -2.7474264752256614,
579                         -1.5055817462075209
580                 ],
581                 [
582                         9.1616148591858142,
583                         -5.584977563729244,
584                         -2.6822118946382858,
585                         -1.5707963267948966
586                 ],
587                 [
588                         9.5089600131898084,
589                         -5.4131536410900116,
590                         -2.6822118946382858,
591                         -0.097240624879773918
592                 ],
593                 [
594                         9.9698381239776701,
595                         -5.2201158441322573,
596                         -2.8076770401555793,
597                         -0.12546514551729349
598                 ],
599                 [
600                         10.451249557067765,
601                         -5.0862679597715621,
602                         -2.9331421856728728,
603                         -0.25093029103458697
604                 ],
605                 [
606                         10.945626108794313,
607                         -5.0137141923941266,
608                         -3.0586073311901663,
609                         -0.37639543655188046
610                 ],
611                 [
612                         11.275957323744649,
613                         -5.0,
614                         3.1415926535897931,
615                         0.0
616                 ]
617         ],
618         "otime" : 0.0,
619         "path" : 
620         [
621                 [
622                         0.0,
623                         0.0,
624                         0.0,
625                         -0.032874832721115479,
626                         1,
627                         true
628                 ],
629                 [
630                         -0.13098821709003661,
631                         0.0021533017987028055,
632                         -0.032874832721115479,
633                         -0.032874832721115479,
634                         1,
635                         true
636                 ],
637                 [
638                         0.36640194305146162,
639                         -0.045546306712332146,
640                         -0.15833997823840884,
641                         0.12546514551729337,
642                         -1,
643                         false
644                 ],
645                 [
646                         0.85391345218641301,
647                         -0.15511250824662701,
648                         -0.28380512375570227,
649                         0.25093029103458681,
650                         -1,
651                         false
652                 ],
653                 [
654                         1.3238822081831731,
655                         -0.32482282745129221,
656                         -0.40927026927299565,
657                         0.37639543655188018,
658                         -1,
659                         false
660                 ],
661                 [
662                         1.7689198961463006,
663                         -0.55200927147937573,
664                         -0.53473541479028908,
665                         0.50186058206917361,
666                         -1,
667                         false
668                 ],
669                 [
670                         2.1820301391101884,
671                         -0.83310027314255508,
672                         -0.66020056030758256,
673                         0.6273257275864671,
674                         -1,
675                         false
676                 ],
677                 [
678                         2.5567184871298045,
679                         -1.1636768390331551,
680                         -0.78566570582487594,
681                         0.75279087310376047,
682                         -1,
683                         false
684                 ],
685                 [
686                         2.8870945156450096,
687                         -1.5385420199185127,
688                         -0.91113085134216931,
689                         0.87825601862105385,
690                         -1,
691                         false
692                 ],
693                 [
694                         3.1679644280439452,
695                         -1.9518026112730547,
696                         -1.0365959968594627,
697                         1.0037211641383472,
698                         -1,
699                         false
700                 ],
701                 [
702                         3.3949127066331894,
703                         -2.3969617995451493,
704                         -1.1620611423767562,
705                         1.1291863096556407,
706                         -1,
707                         false
708                 ],
709                 [
710                         3.5643715283908932,
711                         -2.8670212976793557,
712                         -1.2875262878940494,
713                         1.254651455172934,
714                         -1,
715                         false
716                 ],
717                 [
718                         3.6736768542272631,
719                         -3.3545913642354317,
720                         -1.4129914334113429,
721                         1.3801166006902275,
722                         -1,
723                         false
724                 ],
725                 [
726                         3.7211103099807774,
727                         -3.8520069765084801,
728                         -1.5384565789286364,
729                         1.5055817462075209,
730                         -1,
731                         false
732                 ],
733                 [
734                         3.7210407903733644,
735                         -4.1118521398447703,
736                         -1.603671159516012,
737                         1.5707963267948966,
738                         -1,
739                         false
740                 ],
741                 [
742                         3.7046063346551121,
743                         -4.6115819755212542,
744                         -1.603671159516012,
745                         0.12546514551729349,
746                         0,
747                         false
748                 ],
749                 [
750                         3.6881718789368598,
751                         -5.111311811197738,
752                         -1.603671159516012,
753                         0.25093029103458697,
754                         0,
755                         false
756                 ],
757                 [
758                         3.671737423218608,
759                         -5.6110416468742201,
760                         -1.603671159516012,
761                         0.37639543655188024,
762                         0,
763                         false
764                 ],
765                 [
766                         3.6553029675003557,
767                         -6.1107714825507022,
768                         -1.603671159516012,
769                         0.5018605820691735,
770                         0,
771                         false
772                 ],
773                 [
774                         3.6461452656665867,
775                         -6.3892338126101649,
776                         -1.603671159516012,
777                         0.57177299127063819,
778                         0,
779                         false
780                 ],
781                 [
782                         3.6024173627297147,
783                         -6.8612246703672533,
784                         -1.7226853889420746,
785                         0.1254651455172934,
786                         -1,
787                         false
788                 ],
789                 [
790                         3.5227316890238658,
791                         -7.2507393260494881,
792                         -1.8224921848587428,
793                         0.22527194143396168,
794                         -1,
795                         true
796                 ],
797                 [
798                         3.6772667709068281,
799                         -6.7755644818867138,
800                         -1.947957330376036,
801                         -0.12546514551729337,
802                         1,
803                         false
804                 ],
805                 [
806                         3.8900487318125392,
807                         -6.323462655778024,
808                         -2.0734224758933295,
809                         -0.25093029103458681,
810                         1,
811                         false
812                 ],
813                 [
814                         4.157732455472777,
815                         -5.9015412790440624,
816                         -2.198887621410623,
817                         -0.37639543655188024,
818                         1,
819                         false
820                 ],
821                 [
822                         4.4761097224739084,
823                         -5.5164333202655111,
824                         -2.3243527669279165,
825                         -0.50186058206917361,
826                         1,
827                         false
828                 ],
829                 [
830                         4.8401753671019572,
831                         -5.1741930092861459,
832                         -2.4498179124452095,
833                         -0.62732572758646699,
834                         1,
835                         false
836                 ],
837                 [
838                         5.2442059628720763,
839                         -4.8802006594888514,
840                         -2.575283057962503,
841                         -0.75279087310376036,
842                         1,
843                         false
844                 ],
845                 [
846                         5.6818497997378987,
847                         -4.6390780846206887,
848                         -2.7007482034797965,
849                         -0.87825601862105374,
850                         1,
851                         false
852                 ],
853                 [
854                         6.1462267384613263,
855                         -4.4546159398875478,
856                         -2.82621334899709,
857                         -1.0037211641383472,
858                         1,
859                         false
860                 ],
861                 [
862                         6.6300363723457618,
863                         -4.3297141295792088,
864                         -2.9516784945143835,
865                         -1.1291863096556405,
866                         1,
867                         false
868                 ],
869                 [
870                         7.1256727959369055,
871                         -4.2663362180683952,
872                         -3.077143640031677,
873                         -1.254651455172934,
874                         1,
875                         false
876                 ],
877                 [
878                         7.6253441764279657,
879                         -4.2654785608823254,
880                         3.0805765216306158,
881                         -1.3801166006902275,
882                         1,
883                         false
884                 ],
885                 [
886                         8.1211952480035006,
887                         -4.3271546411329762,
888                         2.9551113761133228,
889                         -1.5055817462075207,
890                         1,
891                         false
892                 ],
893                 [
894                         8.3748290674639403,
895                         -4.3836294086681278,
896                         2.8898967955259467,
897                         -1.5707963267948966,
898                         1,
899                         false
900                 ],
901                 [
902                         8.8590748007881359,
903                         -4.5081527789939955,
904                         2.8898967955259467,
905                         -0.12546514551729349,
906                         0,
907                         false
908                 ],
909                 [
910                         9.3433205341123298,
911                         -4.6326761493198623,
912                         2.8898967955259467,
913                         -0.25093029103458697,
914                         0,
915                         false
916                 ],
917                 [
918                         9.8275662674365236,
919                         -4.7571995196457291,
920                         2.8898967955259467,
921                         -0.37639543655188001,
922                         0,
923                         false
924                 ],
925                 [
926                         10.283463593215295,
927                         -4.8744331215585746,
928                         2.8898967955259467,
929                         -0.49451568084835262,
930                         0,
931                         false
932                 ],
933                 [
934                         10.774241296332704,
935                         -4.9682918994138801,
936                         3.0153619410432402,
937                         -0.12546514551729349,
938                         -1,
939                         false
940                 ],
941                 [
942                         11.275957323744649,
943                         -4.9999999999999973,
944                         3.1415926535897922,
945                         -0.25169585806384553,
946                         -1,
947                         false
948                 ],
949                 [
950                         11.275957323744649,
951                         -5.0,
952                         3.1415926535897931,
953                         -0.25169585806384553,
954                         -1,
955                         false
956                 ],
957                 [
958                         11.475957323744648,
959                         -5.0,
960                         3.1415926535897931,
961                         -0.10000000000000001,
962                         0,
963                         false
964                 ],
965                 [
966                         11.575957323744648,
967                         -5.0,
968                         3.1415926535897931,
969                         -0.10000000000000001,
970                         0,
971                         false
972                 ],
973                 [
974                         11.675957323744647,
975                         -5.0,
976                         3.1415926535897931,
977                         -0.10000000000000001,
978                         0,
979                         false
980                 ],
981                 [
982                         11.775957323744647,
983                         -5.0,
984                         3.1415926535897931,
985                         -0.10000000000000001,
986                         0,
987                         false
988                 ],
989                 [
990                         11.875957323744647,
991                         -5.0,
992                         3.1415926535897931,
993                         -0.10000000000000001,
994                         0,
995                         false
996                 ],
997                 [
998                         11.975957323744646,
999                         -5.0,
1000                         3.1415926535897931,
1001                         -0.10000000000000001,
1002                         0,
1003                         false
1004                 ],
1005                 [
1006                         12.075957323744646,
1007                         -5.0,
1008                         3.1415926535897931,
1009                         -0.10000000000000001,
1010                         0,
1011                         false
1012                 ],
1013                 [
1014                         12.175957323744646,
1015                         -5.0,
1016                         3.1415926535897931,
1017                         -0.10000000000000001,
1018                         0,
1019                         false
1020                 ],
1021                 [
1022                         12.275957323744645,
1023                         -5.0,
1024                         3.1415926535897931,
1025                         -0.10000000000000001,
1026                         0,
1027                         false
1028                 ],
1029                 [
1030                         12.375957323744645,
1031                         -5.0,
1032                         3.1415926535897931,
1033                         -0.10000000000000001,
1034                         0,
1035                         false
1036                 ],
1037                 [
1038                         12.475957323744645,
1039                         -5.0,
1040                         3.1415926535897931,
1041                         -0.10000000000000001,
1042                         0,
1043                         false
1044                 ],
1045                 [
1046                         12.575957323744644,
1047                         -5.0,
1048                         3.1415926535897931,
1049                         -0.10000000000000001,
1050                         0,
1051                         false
1052                 ],
1053                 [
1054                         12.675957323744644,
1055                         -5.0,
1056                         3.1415926535897931,
1057                         -0.10000000000000001,
1058                         0,
1059                         false
1060                 ],
1061                 [
1062                         12.775957323744644,
1063                         -5.0,
1064                         3.1415926535897931,
1065                         -0.10000000000000001,
1066                         0,
1067                         false
1068                 ],
1069                 [
1070                         12.875957323744643,
1071                         -5.0,
1072                         3.1415926535897931,
1073                         -0.10000000000000001,
1074                         0,
1075                         false
1076                 ],
1077                 [
1078                         12.975957323744643,
1079                         -5.0,
1080                         3.1415926535897931,
1081                         -0.10000000000000001,
1082                         0,
1083                         false
1084                 ],
1085                 [
1086                         13.075957323744642,
1087                         -5.0,
1088                         3.1415926535897931,
1089                         -0.10000000000000001,
1090                         0,
1091                         false
1092                 ],
1093                 [
1094                         13.175957323744642,
1095                         -5.0,
1096                         3.1415926535897931,
1097                         -0.10000000000000001,
1098                         0,
1099                         false
1100                 ],
1101                 [
1102                         13.275957323744642,
1103                         -5.0,
1104                         3.1415926535897931,
1105                         -0.10000000000000001,
1106                         0,
1107                         false
1108                 ],
1109                 [
1110                         13.375957323744641,
1111                         -5.0,
1112                         3.1415926535897931,
1113                         -0.10000000000000001,
1114                         0,
1115                         false
1116                 ],
1117                 [
1118                         13.475957323744641,
1119                         -5.0,
1120                         3.1415926535897931,
1121                         -0.10000000000000001,
1122                         0,
1123                         false
1124                 ],
1125                 [
1126                         13.575957323744641,
1127                         -5.0,
1128                         3.1415926535897931,
1129                         -0.10000000000000001,
1130                         0,
1131                         false
1132                 ],
1133                 [
1134                         13.67595732374464,
1135                         -5.0,
1136                         3.1415926535897931,
1137                         -0.10000000000000001,
1138                         0,
1139                         false
1140                 ],
1141                 [
1142                         13.77595732374464,
1143                         -5.0,
1144                         3.1415926535897931,
1145                         -0.10000000000000001,
1146                         0,
1147                         false
1148                 ],
1149                 [
1150                         13.87595732374464,
1151                         -5.0,
1152                         3.1415926535897931,
1153                         -0.10000000000000001,
1154                         0,
1155                         false
1156                 ]
1157         ],
1158         "paths" : 
1159         [
1160                 [
1161                         [
1162                                 0.0,
1163                                 0.0,
1164                                 0.0,
1165                                 0.0,
1166                                 0,
1167                                 false
1168                         ],
1169                         [
1170                                 -0.4986892401969264,
1171                                 -0.031325161923024473,
1172                                 0.1254651455172934,
1173                                 -0.1254651455172934,
1174                                 -1,
1175                                 true
1176                         ],
1177                         [
1178                                 -0.98953865467239843,
1179                                 -0.12480818908185064,
1180                                 0.25093029103458681,
1181                                 -0.25093029103458681,
1182                                 -1,
1183                                 false
1184                         ],
1185                         [
1186                                 -1.4648316665388816,
1187                                 -0.27897944752057025,
1188                                 0.37639543655188018,
1189                                 -0.37639543655188018,
1190                                 -1,
1191                                 false
1192                         ],
1193                         [
1194                                 -1.5797680436294228,
1195                                 -0.32649357252947986,
1196                                 0.4076049699995663,
1197                                 -0.4076049699995663,
1198                                 -1,
1199                                 false
1200                         ],
1201                         [
1202                                 -2.0500187663032019,
1203                                 -0.49542101814587425,
1204                                 0.28213982448227293,
1205                                 -0.12546514551729337,
1206                                 1,
1207                                 false
1208                         ],
1209                         [
1210                                 -2.5377120598810423,
1211                                 -0.60417521556781217,
1212                                 0.15667467896497944,
1213                                 -0.25093029103458686,
1214                                 1,
1215                                 false
1216                         ],
1217                         [
1218                                 -2.5377120598810423,
1219                                 -0.60417521556781217,
1220                                 0.15667467896497947,
1221                                 0.1254651455172934,
1222                                 1,
1223                                 true
1224                         ],
1225                         [
1226                                 -2.0500187663032019,
1227                                 -0.49542101814587425,
1228                                 0.28213982448227287,
1229                                 0.1254651455172934,
1230                                 1,
1231                                 false
1232                         ],
1233                         [
1234                                 -1.5797680436294228,
1235                                 -0.32649357252947986,
1236                                 0.4076049699995663,
1237                                 0.25093029103458681,
1238                                 1,
1239                                 false
1240                         ],
1241                         [
1242                                 -1.1343526395149268,
1243                                 -0.1000485641163732,
1244                                 0.53307011551685968,
1245                                 0.37639543655188018,
1246                                 1,
1247                                 false
1248                         ],
1249                         [
1250                                 -0.72077486894956699,
1251                                 0.1803540959135872,
1252                                 0.65853526103415305,
1253                                 0.50186058206917361,
1254                                 1,
1255                                 false
1256                         ],
1257                         [
1258                                 -0.34553653181621025,
1259                                 0.51030623547792597,
1260                                 0.78400040655144643,
1261                                 0.62732572758646699,
1262                                 1,
1263                                 false
1264                         ],
1265                         [
1266                                 -0.014536698979054297,
1267                                 0.88462072186533014,
1268                                 0.9094655520687398,
1269                                 0.75279087310376036,
1270                                 1,
1271                                 false
1272                         ],
1273                         [
1274                                 0.26702102620713752,
1275                                 1.2974130079435326,
1276                                 1.0349306975860333,
1277                                 0.87825601862105385,
1278                                 1,
1279                                 false
1280                         ],
1281                         [
1282                                 0.49471031303766067,
1283                                 1.7421936423244593,
1284                                 1.1603958431033268,
1285                                 1.0037211641383472,
1286                                 1,
1287                                 false
1288                         ],
1289                         [
1290                                 0.65637231233439897,
1291                                 2.1830849477290579,
1292                                 1.278299809034092,
1293                                 1.2470902755864059,
1294                                 1,
1295                                 false
1296                         ],
1297                         [
1298                                 0.54257314784544386,
1299                                 1.6965441229061995,
1300                                 1.4037649545513855,
1301                                 -0.12546514551729349,
1302                                 -1,
1303                                 true
1304                         ],
1305                         [
1306                                 0.49055238151587144,
1307                                 1.199587320026738,
1308                                 1.529230100068679,
1309                                 -0.25093029103458697,
1310                                 -1,
1311                                 false
1312                         ],
1313                         [
1314                                 0.50112782473812123,
1315                                 0.70002712940067968,
1316                                 1.6546952455859723,
1317                                 -0.37639543655188024,
1318                                 -1,
1319                                 false
1320                         ],
1321                         [
1322                                 0.57413322240759879,
1323                                 0.20571706884272034,
1324                                 1.7801603911032657,
1325                                 -0.50186058206917372,
1326                                 -1,
1327                                 false
1328                         ],
1329                         [
1330                                 0.70842086659656012,
1331                                 -0.27557188041320185,
1332                                 1.905625536620559,
1333                                 -0.62732572758646699,
1334                                 -1,
1335                                 false
1336                         ],
1337                         [
1338                                 0.90187963951435446,
1339                                 -0.736273440253012,
1340                                 2.0310906821378527,
1341                                 -0.75279087310376047,
1342                                 -1,
1343                                 false
1344                         ],
1345                         [
1346                                 1.1514682021030884,
1347                                 -1.1691449841116737,
1348                                 2.1565558276551462,
1349                                 -0.87825601862105418,
1350                                 -1,
1351                                 false
1352                         ],
1353                         [
1354                                 1.4532628065153235,
1355                                 -1.5673813973204047,
1356                                 2.2820209731724397,
1357                                 -1.0037211641383477,
1358                                 -1,
1359                                 false
1360                         ],
1361                         [
1362                                 1.8025189808203343,
1363                                 -1.9247220593888543,
1364                                 2.4074861186897327,
1365                                 -1.1291863096556407,
1366                                 -1,
1367                                 false
1368                         ],
1369                         [
1370                                 2.1937461162020773,
1371                                 -2.2355492663683694,
1372                                 2.5329512642070262,
1373                                 -1.2546514551729342,
1374                                 -1,
1375                                 false
1376                         ],
1377                         [
1378                                 2.6207937840736317,
1379                                 -2.4949765460117375,
1380                                 2.6584164097243197,
1381                                 -1.3801166006902277,
1382                                 -1,
1383                                 false
1384                         ],
1385                         [
1386                                 3.0769484261285367,
1387                                 -2.6989254773388067,
1388                                 2.7838815552416132,
1389                                 -1.5055817462075212,
1390                                 -1,
1391                                 false
1392                         ],
1393                         [
1394                                 3.3231822783635208,
1395                                 -2.7819218854283081,
1396                                 2.8490961358289884,
1397                                 -2.2204460492503131e-16,
1398                                 0,
1399                                 false
1400                         ],
1401                         [
1402                                 3.8019457809991488,
1403                                 -2.926093687609125,
1404                                 2.8490961358289884,
1405                                 -0.12546514551729371,
1406                                 0,
1407                                 false
1408                         ],
1409                         [
1410                                 3.3334697763684837,
1411                                 -2.7523051461485881,
1412                                 2.7236309903116949,
1413                                 0.1254651455172934,
1414                                 -1,
1415                                 true
1416                         ],
1417                         [
1418                                 2.890423439484247,
1419                                 -2.5212593337408506,
1420                                 2.5981658447944014,
1421                                 0.25093029103458681,
1422                                 -1,
1423                                 false
1424                         ],
1425                         [
1426                                 2.6008139963349963,
1427                                 -2.3285702937963366,
1428                                 2.5108509005704729,
1429                                 0.33824523525851569,
1430                                 -1,
1431                                 false
1432                         ],
1433                         [
1434                                 2.9850767577213171,
1435                                 -2.6479671539397192,
1436                                 2.3853857550531794,
1437                                 -0.12546514551729343,
1438                                 1,
1439                                 true
1440                         ],
1441                         [
1442                                 3.3263509268768257,
1443                                 -3.0129386124469684,
1444                                 2.2599206095358859,
1445                                 -0.25093029103458686,
1446                                 1,
1447                                 false
1448                         ],
1449                         [
1450                                 3.6192713790028472,
1451                                 -3.4177470026564345,
1452                                 2.1344554640185924,
1453                                 -0.37639543655188024,
1454                                 1,
1455                                 false
1456                         ],
1457                         [
1458                                 3.8592331515098297,
1459                                 -3.8560283869211522,
1460                                 2.0089903185012994,
1461                                 -0.50186058206917361,
1462                                 1,
1463                                 false
1464                         ],
1465                         [
1466                                 4.0424638380079312,
1467                                 -4.320892603207076,
1468                                 1.8835251729840059,
1469                                 -0.62732572758646699,
1470                                 1,
1471                                 false
1472                         ],
1473                         [
1474                                 3.8592331515098293,
1475                                 -3.8560283869211522,
1476                                 2.0089903185012994,
1477                                 0.1254651455172934,
1478                                 1,
1479                                 true
1480                         ],
1481                         [
1482                                 3.8226006633688483,
1483                                 -3.7799579890219537,
1484                                 2.0301770857464039,
1485                                 0.14665191276239797,
1486                                 1,
1487                                 false
1488                         ],
1489                         [
1490                                 4.0717936519715821,
1491                                 -4.2130573754091083,
1492                                 2.1556422312636974,
1493                                 -0.12546514551729337,
1494                                 -1,
1495                                 true
1496                         ],
1497                         [
1498                                 4.3732243031366904,
1499                                 -4.6115693408453682,
1500                                 2.2811073767809908,
1501                                 -0.25093029103458681,
1502                                 -1,
1503                                 false
1504                         ],
1505                         [
1506                                 4.7221538665929499,
1507                                 -4.9692289329212915,
1508                                 2.4065725222982843,
1509                                 -0.37639543655188024,
1510                                 -1,
1511                                 false
1512                         ],
1513                         [
1514                                 5.1130968681290447,
1515                                 -5.2804134338329511,
1516                                 2.5320376678155774,
1517                                 -0.50186058206917361,
1518                                 -1,
1519                                 false
1520                         ],
1521                         [
1522                                 5.5399073459876025,
1523                                 -5.5402307543638223,
1524                                 2.6575028133328709,
1525                                 -0.6273257275864671,
1526                                 -1,
1527                                 false
1528                         ],
1529                         [
1530                                 5.995875470694096,
1531                                 -5.7445963417540078,
1532                                 2.7829679588501643,
1533                                 -0.75279087310376047,
1534                                 -1,
1535                                 false
1536                         ],
1537                         [
1538                                 6.4738330293734556,
1539                                 -5.8902973923986623,
1540                                 2.9084331043674574,
1541                                 -0.87825601862105374,
1542                                 -1,
1543                                 false
1544                         ],
1545                         [
1546                                 6.9662661162497796,
1547                                 -5.9750433598965138,
1548                                 3.0338982498847509,
1549                                 -1.0037211641383472,
1550                                 -1,
1551                                 false
1552                         ],
1553                         [
1554                                 7.4654332577371028,
1555                                 -5.9975019644183085,
1556                                 -3.1238219117775419,
1557                                 -1.1291863096556407,
1558                                 -1,
1559                                 false
1560                         ],
1561                         [
1562                                 7.9634871150927804,
1563                                 -5.9573201372968185,
1564                                 -2.9983567662602484,
1565                                 -1.254651455172934,
1566                                 -1,
1567                                 false
1568                         ],
1569                         [
1570                                 8.4525978513625937,
1571                                 -5.8551295715713358,
1572                                 -2.8728916207429549,
1573                                 -1.3801166006902275,
1574                                 -1,
1575                                 false
1576                         ],
1577                         [
1578                                 8.9250762231826073,
1579                                 -5.6925367912273144,
1580                                 -2.7474264752256614,
1581                                 -1.5055817462075209,
1582                                 -1,
1583                                 false
1584                         ],
1585                         [
1586                                 9.1616148591858142,
1587                                 -5.584977563729244,
1588                                 -2.6822118946382858,
1589                                 -1.5707963267948966,
1590                                 -1,
1591                                 false
1592                         ],
1593                         [
1594                                 9.5089600131898084,
1595                                 -5.4131536410900116,
1596                                 -2.6822118946382858,
1597                                 -0.097240624879773918,
1598                                 0,
1599                                 false
1600                         ],
1601                         [
1602                                 9.9698381239776701,
1603                                 -5.2201158441322573,
1604                                 -2.8076770401555793,
1605                                 -0.12546514551729349,
1606                                 1,
1607                                 false
1608                         ],
1609                         [
1610                                 10.451249557067765,
1611                                 -5.0862679597715621,
1612                                 -2.9331421856728728,
1613                                 -0.25093029103458697,
1614                                 1,
1615                                 false
1616                         ],
1617                         [
1618                                 10.945626108794313,
1619                                 -5.0137141923941266,
1620                                 -3.0586073311901663,
1621                                 -0.37639543655188046,
1622                                 1,
1623                                 false
1624                         ],
1625                         [
1626                                 11.275957323744649,
1627                                 -5.0,
1628                                 3.1415926535897931,
1629                                 0.0,
1630                                 0,
1631                                 false
1632                         ]
1633                 ]
1634         ],
1635         "rcnt" : 8,
1636         "slot" : 
1637         [
1638                 [
1639                         10.0,
1640                         -6.2000000000000002
1641                 ],
1642                 [
1643                         15.300000000000001,
1644                         -6.2000000000000002
1645                 ],
1646                 [
1647                         15.300000000000001,
1648                         -3.7999999999999998
1649                 ],
1650                 [
1651                         10.0,
1652                         -3.7999999999999998
1653                 ]
1654         ],
1655         "time" : 0.0
1656 }