]> rtime.felk.cvut.cz Git - hubacji1/path-to-traj.git/blob - pe06-1.json
Update Makefile to generate trajectories with our ROS node
[hubacji1/path-to-traj.git] / pe06-1.json
1 {
2         "bcnt" : 3,
3         "cost" : 28.956123216514751,
4         "costs" : 
5         [
6                 28.956123216514751
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" : 16.884238255758298,
22         "icnt" : 27,
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                                 7.25
169                         ],
170                         [
171                                 7.75,
172                                 7.25
173                         ],
174                         [
175                                 7.75,
176                                 7.75
177                         ],
178                         [
179                                 8.25,
180                                 7.75
181                         ],
182                         [
183                                 8.25,
184                                 7.25
185                         ]
186                 ],
187                 [
188                         [
189                                 6.25,
190                                 7.25
191                         ],
192                         [
193                                 5.75,
194                                 7.25
195                         ],
196                         [
197                                 5.75,
198                                 7.75
199                         ],
200                         [
201                                 6.25,
202                                 7.75
203                         ],
204                         [
205                                 6.25,
206                                 7.25
207                         ]
208                 ],
209                 [
210                         [
211                                 10.5,
212                                 6.25
213                         ],
214                         [
215                                 10.0,
216                                 6.25
217                         ],
218                         [
219                                 10.0,
220                                 6.75
221                         ],
222                         [
223                                 10.5,
224                                 6.75
225                         ],
226                         [
227                                 10.5,
228                                 6.25
229                         ]
230                 ],
231                 [
232                         [
233                                 10.5,
234                                 3.25
235                         ],
236                         [
237                                 10.0,
238                                 3.25
239                         ],
240                         [
241                                 10.0,
242                                 3.75
243                         ],
244                         [
245                                 10.5,
246                                 3.75
247                         ],
248                         [
249                                 10.5,
250                                 3.25
251                         ]
252                 ]
253         ],
254         "ogoal_cc" : 28.956123216514751,
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                         1.940124678405365,
283                         -0.43315070595928984,
284                         -0.25093029103458675,
285                         0.1254651455172934
286                 ],
287                 [
288                         2.4309740928808368,
289                         -0.52663373311811601,
290                         -0.12546514551729337,
291                         0.25093029103458681
292                 ],
293                 [
294                         2.9296633330777633,
295                         -0.55795889504114049,
296                         0.0,
297                         0.37639543655188018
298                 ],
299                 [
300                         3.4283525732746898,
301                         -0.52663373311811601,
302                         0.12546514551729343,
303                         0.50186058206917361
304                 ],
305                 [
306                         3.9192019877501614,
307                         -0.43315070595928984,
308                         0.25093029103458681,
309                         0.62732572758646699
310                 ],
311                 [
312                         4.3944949996166454,
313                         -0.27897944752057025,
314                         0.37639543655188018,
315                         0.75279087310376036
316                 ],
317                 [
318                         4.8467595920762898,
319                         -0.066543663187979246,
320                         0.50186058206917372,
321                         0.87825601862105385
322                 ],
323                 [
324                         5.2688857749807854,
325                         0.20081697296508449,
326                         0.62732572758646699,
327                         1.0037211641383472
328                 ],
329                 [
330                         5.3727178738490746,
331                         0.27870902929167252,
332                         0.6598981485372899,
333                         1.0362935850891701
334                 ],
335                 [
336                         4.997929572719638,
337                         -0.051754211317932619,
338                         0.78536329405458316,
339                         -0.12546514551729326
340                 ],
341                 [
342                         4.6674401956701068,
343                         -0.42651946546391761,
344                         0.91082843957187665,
345                         -0.25093029103458675
346                 ],
347                 [
348                         4.3864453212492345,
349                         -0.83969509955538846,
350                         1.0362935850891699,
351                         -0.37639543655188001
352                 ],
353                 [
354                         4.1593624316613909,
355                         -1.2847856356422918,
356                         1.1617587306064634,
357                         -0.5018605820691735
358                 ],
359                 [
360                         3.9897614661296288,
361                         -1.7547938659408537,
362                         1.2872238761237569,
363                         -0.62732572758646699
364                 ],
365                 [
366                         3.8803086983666799,
367                         -2.2423308549855014,
368                         1.4126890216410501,
369                         -0.75279087310376025
370                 ],
371                 [
372                         3.8327248204485431,
373                         -2.7397321000783981,
374                         1.5381541671583436,
375                         -0.87825601862105374
376                 ],
377                 [
378                         3.8477578920483761,
379                         -3.2391780238939445,
380                         1.6636193126756369,
381                         -1.003721164138347
382                 ],
383                 [
384                         3.9251715802921137,
385                         -3.7328169049904334,
386                         1.7890844581929304,
387                         -1.1291863096556405
388                 ],
389                 [
390                         4.06374887511544,
391                         -4.2128883136549566,
392                         1.9145496037102239,
393                         -1.254651455172934
394                 ],
395                 [
396                         4.2613112217134912,
397                         -4.6718451125634868,
398                         2.0400147492275176,
399                         -1.3801166006902275
400                 ],
401                 [
402                         4.0078696741223352,
403                         -4.2412181208266801,
404                         2.1654798947448111,
405                         0.1254651455172934
406                 ],
407                 [
408                         3.7025332456387154,
409                         -3.8456907646317404,
410                         2.2909450402621045,
411                         0.25093029103458681
412                 ],
413                 [
414                         3.350102088727879,
415                         -3.4914810757521453,
416                         2.4164101857793976,
417                         0.37639543655188018
418                 ],
419                 [
420                         2.9561167256756073,
421                         -3.18415753653287,
422                         2.5418753312966911,
423                         0.50186058206917361
424                 ],
425                 [
426                         2.5267709467909003,
427                         -2.928551538536782,
428                         2.6673404768139846,
429                         0.62732572758646699
430                 ],
431                 [
432                         2.0688144386709046,
433                         -2.7286814288949657,
434                         2.792805622331278,
435                         0.75279087310376036
436                 ],
437                 [
438                         1.8524132995863631,
439                         -2.6569254818576606,
440                         2.8500224343508247,
441                         0.81000768512330734
442                 ],
443                 [
444                         2.339059327658958,
445                         -2.7702739155427336,
446                         2.9754875798681182,
447                         -0.12546514551729337
448                 ],
449                 [
450                         2.8360641040888375,
451                         -2.8218343292685519,
452                         3.1009527253854117,
453                         -0.25093029103458675
454                 ],
455                 [
456                         3.3356142843803349,
457                         -2.810796148783349,
458                         -3.0567674362768811,
459                         -0.37639543655188024
460                 ],
461                 [
462                         3.8298565080898608,
463                         -2.7373329038212972,
464                         -2.9313022907595876,
465                         -0.50186058206917372
466                 ],
467                 [
468                         4.3110208604373472,
469                         -2.6025995000651574,
470                         -2.8058371452422946,
471                         -0.62732572758646699
472                 ],
473                 [
474                         4.7715430220797685,
475                         -2.4087140630311112,
476                         -2.6803719997250011,
477                         -0.75279087310376047
478                 ],
479                 [
480                         5.2041831867467536,
481                         -2.1587246393055954,
482                         -2.5549068542077076,
483                         -0.87825601862105396
484                 ],
485                 [
486                         5.6021398772503206,
487                         -1.8565612786194627,
488                         -2.4294417086904145,
489                         -1.0037211641383472
490                 ],
491                 [
492                         5.9591568705827296,
493                         -1.5069742500706638,
494                         -2.3039765631731211,
495                         -1.1291863096556407
496                 ],
497                 [
498                         6.2696215511475017,
499                         -1.1154593637898151,
500                         -2.1785114176558276,
501                         -1.2546514551729342
502                 ],
503                 [
504                         6.528653145925885,
505                         -0.68817157205658619,
506                         -2.0530462721385341,
507                         -1.3801166006902272
508                 ],
509                 [
510                         6.7321794544456779,
511                         -0.23182820813200955,
512                         -1.9275811266212406,
513                         -1.5055817462075207
514                 ],
515                 [
516                         6.8149477409077868,
517                         0.014482417904231326,
518                         -1.862366546033865,
519                         -1.5707963267948963
520                 ],
521                 [
522                         6.9586760033754373,
523                         0.49337926125155374,
524                         -1.862366546033865,
525                         -0.12546514551729326
526                 ],
527                 [
528                         7.1024042658430862,
529                         0.97227610459887526,
530                         -1.862366546033865,
531                         -0.25093029103458631
532                 ],
533                 [
534                         7.2461325283107367,
535                         1.4511729479461986,
536                         -1.862366546033865,
537                         -0.37639543655187979
538                 ],
539                 [
540                         7.3898607907783864,
541                         1.930069791293521,
542                         -1.862366546033865,
543                         -0.50186058206917306
544                 ],
545                 [
546                         7.4589861532029902,
547                         2.1603927444276234,
548                         -1.862366546033865,
549                         -0.56220239311340414
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552                         7.6323406715371842,
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554                         -1.9878316915511585,
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557                 [
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560                         -2.1132968370684519,
561                         -0.25093029103458697
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563                 [
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565                         3.4832048041963262,
566                         -2.2387619825857445,
567                         -0.37639543655187957
568                 ],
569                 [
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571                         3.8553149232335482,
572                         -2.364227128103038,
573                         -0.50186058206917306
574                 ],
575                 [
576                         8.8581616433957091,
577                         4.182770156834934,
578                         -2.4896922736203315,
579                         -0.1254651455172934
580                 ],
581                 [
582                         9.2735907354568319,
583                         4.4604226258082225,
584                         -2.615157419137625,
585                         -0.25093029103458681
586                 ],
587                 [
588                         9.7204987603227622,
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1640         "slot" : 
1641         [
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1659         "time" : 0.0
1660 }