]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blob - pe05-1.json
Update Makefile to generate trajectories with our ROS node
[hubacji1/path-to-traj.git] / pe05-1.json
1 {
2         "bcnt" : 3,
3         "cost" : 24.382114604837096,
4         "costs" : 
5         [
6                 24.382114604837096
7         ],
8         "entry" : 
9         [
10                 11.275957323744649,
11                 3.1290248351610024e-16,
12                 3.1415926535897931,
13                 3.1415926535897931
14         ],
15         "goal" : 
16         [
17                 13.87595732374464,
18                 -5.5056842622117119e-18,
19                 3.1415926535897931
20         ],
21         "goal_cc" : 15.825398719930817,
22         "icnt" : 394,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         11.375957323744649,
33                         3.0065601552462669e-16,
34                         3.1415926535897931
35                 ],
36                 [
37                         11.475957323744648,
38                         2.8840954753315313e-16,
39                         3.1415926535897931
40                 ],
41                 [
42                         11.575957323744648,
43                         2.7616307954167958e-16,
44                         3.1415926535897931
45                 ],
46                 [
47                         11.675957323744647,
48                         2.6391661155020602e-16,
49                         3.1415926535897931
50                 ],
51                 [
52                         11.775957323744647,
53                         2.5167014355873247e-16,
54                         3.1415926535897931
55                 ],
56                 [
57                         11.875957323744647,
58                         2.3942367556725891e-16,
59                         3.1415926535897931
60                 ],
61                 [
62                         11.975957323744646,
63                         2.2717720757578536e-16,
64                         3.1415926535897931
65                 ],
66                 [
67                         12.075957323744646,
68                         2.1493073958431183e-16,
69                         3.1415926535897931
70                 ],
71                 [
72                         12.175957323744646,
73                         2.026842715928383e-16,
74                         3.1415926535897931
75                 ],
76                 [
77                         12.275957323744645,
78                         1.9043780360136477e-16,
79                         3.1415926535897931
80                 ],
81                 [
82                         12.375957323744645,
83                         1.7819133560989124e-16,
84                         3.1415926535897931
85                 ],
86                 [
87                         12.475957323744645,
88                         1.6594486761841771e-16,
89                         3.1415926535897931
90                 ],
91                 [
92                         12.575957323744644,
93                         1.5369839962694418e-16,
94                         3.1415926535897931
95                 ],
96                 [
97                         12.675957323744644,
98                         1.4145193163547065e-16,
99                         3.1415926535897931
100                 ],
101                 [
102                         12.775957323744644,
103                         1.2920546364399712e-16,
104                         3.1415926535897931
105                 ],
106                 [
107                         12.875957323744643,
108                         1.1695899565252359e-16,
109                         3.1415926535897931
110                 ],
111                 [
112                         12.975957323744643,
113                         1.0471252766105006e-16,
114                         3.1415926535897931
115                 ],
116                 [
117                         13.075957323744642,
118                         9.2466059669576534e-17,
119                         3.1415926535897931
120                 ],
121                 [
122                         13.175957323744642,
123                         8.0219591678103005e-17,
124                         3.1415926535897931
125                 ],
126                 [
127                         13.275957323744642,
128                         6.7973123686629475e-17,
129                         3.1415926535897931
130                 ],
131                 [
132                         13.375957323744641,
133                         5.5726655695155945e-17,
134                         3.1415926535897931
135                 ],
136                 [
137                         13.475957323744641,
138                         4.3480187703682416e-17,
139                         3.1415926535897931
140                 ],
141                 [
142                         13.575957323744641,
143                         3.1233719712208886e-17,
144                         3.1415926535897931
145                 ],
146                 [
147                         13.67595732374464,
148                         1.8987251720735353e-17,
149                         3.1415926535897931
150                 ],
151                 [
152                         13.77595732374464,
153                         6.7407837292618208e-18,
154                         3.1415926535897931
155                 ],
156                 [
157                         13.87595732374464,
158                         -5.5056842622117119e-18,
159                         3.1415926535897931
160                 ]
161         ],
162         "ncnt" : 6,
163         "obst" : 
164         [
165                 [
166                         [
167                                 8.25,
168                                 2.25
169                         ],
170                         [
171                                 7.75,
172                                 2.25
173                         ],
174                         [
175                                 7.75,
176                                 2.75
177                         ],
178                         [
179                                 8.25,
180                                 2.75
181                         ],
182                         [
183                                 8.25,
184                                 2.25
185                         ]
186                 ],
187                 [
188                         [
189                                 6.25,
190                                 2.25
191                         ],
192                         [
193                                 5.75,
194                                 2.25
195                         ],
196                         [
197                                 5.75,
198                                 2.75
199                         ],
200                         [
201                                 6.25,
202                                 2.75
203                         ],
204                         [
205                                 6.25,
206                                 2.25
207                         ]
208                 ],
209                 [
210                         [
211                                 10.5,
212                                 1.25
213                         ],
214                         [
215                                 10.0,
216                                 1.25
217                         ],
218                         [
219                                 10.0,
220                                 1.75
221                         ],
222                         [
223                                 10.5,
224                                 1.75
225                         ],
226                         [
227                                 10.5,
228                                 1.25
229                         ]
230                 ],
231                 [
232                         [
233                                 10.5,
234                                 -1.75
235                         ],
236                         [
237                                 10.0,
238                                 -1.75
239                         ],
240                         [
241                                 10.0,
242                                 -1.25
243                         ],
244                         [
245                                 10.5,
246                                 -1.25
247                         ],
248                         [
249                                 10.5,
250                                 -1.75
251                         ]
252                 ]
253         ],
254         "ogoal_cc" : 24.382114604837096,
255         "opath" : 
256         [
257                 [
258                         0.0,
259                         0.0,
260                         0.0,
261                         0.0
262                 ],
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265                         0.031325161923024473,
266                         -0.1254651455172934,
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268                 ],
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271                         0.12480818908185064,
272                         -0.25093029103458681,
273                         -0.25093029103458681
274                 ],
275                 [
276                         -1.2058182823029886,
277                         0.186804246730115,
278                         -0.30739453550753315,
279                         -0.30739453550753315
280                 ],
281                 [
282                         -1.6823808603037467,
283                         0.33809241298667231,
284                         -0.30739453550753315,
285                         -0.12546514551729343
286                 ],
287                 [
288                         -2.1589434383045041,
289                         0.48938057924322959,
290                         -0.30739453550753315,
291                         -0.25093029103458686
292                 ],
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294                         -2.6355060163052624,
295                         0.64066874549978681,
296                         -0.30739453550753315,
297                         -0.37639543655188024
298                 ],
299                 [
300                         -3.1120685943060193,
301                         0.79195691175634408,
302                         -0.30739453550753315,
303                         -0.50186058206917361
304                 ],
305                 [
306                         -3.2127513153159835,
307                         0.82391935475641875,
308                         -0.30739453550753315,
309                         -0.52836743096105621
310                 ],
311                 [
312                         -3.6975428277850044,
313                         0.94495411627430081,
314                         -0.18192938999023978,
315                         -0.12546514551729337
316                 ],
317                 [
318                         -4.1936695040401322,
319                         1.0043725070782488,
320                         -0.056464244472946401,
321                         -0.25093029103458675
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324                         -3.694695557747369,
325                         0.97236164824196158,
326                         -0.06431094138054716,
327                         0.11761844860969264
328                 ],
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331                         0.94022833825523688,
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333                         0.24308359412698605
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337                         0.90809502826851229,
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339                         0.36854873964427942
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345                         0.49401388516157285
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361                         0.77956178832161371,
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381                         1.2468047582653332
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384                         1.2949682624843817,
385                         0.65102854837471513,
386                         -0.06431094138054716,
387                         1.3722699037826267
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399                         1.6232001948172134
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440                         -0.56617152344972066,
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1498         "slot" : 
1499         [
1500                 [
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1517         "time" : 1.0
1518 }