Kaynağa Gözat

Updates to tracking sim

rparedis 4 yıl önce
ebeveyn
işleme
dd8f7f4d34

Dosya farkı çok büyük olduğundan ihmal edildi
+ 1 - 1
examples/AGV/AGV.drawio


+ 509 - 329
examples/AGV/obtained.csv

@@ -1,330 +1,510 @@
 arrived_at,time,color,dur,tcp_dur,real

-0.0,6.200000000000003,32.0,0.3647489547729492,0.005531072616577148,1615555699.359918

-0.2,6.200000000000003,32.0,0.0006201267242431641,0.01187396049499512,1615555699.395104

-0.4,7.200000000000004,34.0,0.131587028503418,0.007335901260375977,1615555700.331561

-0.6000000000000001,7.400000000000004,35.0,0.1348669528961182,0.004947900772094727,1615555700.534992

-0.8,7.600000000000004,36.0,0.1064550876617432,0.005449056625366211,1615555700.712213

-1.0,7.800000000000004,38.0,0.1150369644165039,0.008533954620361328,1615555700.924273

-1.2,8.000000000000004,37.0,0.1091048717498779,0.01024317741394043,1615555701.11352

-1.4,8.200000000000003,38.0,0.1182630062103271,0.01197695732116699,1615555701.323585

-1.5999999999999999,8.400000000000002,38.0,0.1399309635162354,0.008892059326171875,1615555701.547908

-1.7999999999999998,8.600000000000001,38.0,0.1322619915008545,0.008519887924194336,1615555701.742216

-1.9999999999999998,8.8,36.0,0.1620049476623535,0.006730794906616211,1615555701.974941

-2.1999999999999997,9.0,36.0,0.1254119873046875,0.009856939315795898,1615555702.134812

-2.4,9.2,34.0,0.1270039081573486,0.003779172897338867,1615555702.337341

-2.6,9.399999999999999,33.0,0.1144020557403564,0.006885051727294922,1615555702.526113

-2.8000000000000003,9.599999999999998,32.0,0.1387379169464111,0.007483959197998047,1615555702.753734

-3.0000000000000004,9.799999999999997,30.0,0.1218068599700928,0.005002975463867188,1615555702.937412

-3.2000000000000006,9.999999999999996,31.0,0.1279819011688232,0.005607128143310547,1615555703.144217

-3.400000000000001,10.2,34.0,0.120089054107666,0.006582021713256836,1615555703.338035

-3.600000000000001,10.4,36.0,0.1339969635009766,0.007086038589477539,1615555703.557337

-3.800000000000001,10.59999999999999,34.0,0.1197109222412109,0.01628994941711426,1615555703.744267

-4.000000000000001,10.79999999999999,35.0,0.1635050773620605,0.00698399543762207,1615555703.98758

-4.200000000000001,10.99999999999999,36.0,0.1281299591064453,0.006564855575561523,1615555704.156296

-4.400000000000001,11.19999999999999,35.0,0.1364080905914307,0.007946968078613281,1615555704.365985

-4.600000000000001,11.39999999999999,36.0,0.1339361667633057,0.008384943008422852,1615555704.567373

-4.800000000000002,11.59999999999999,36.0,0.1274271011352539,0.003454923629760742,1615555704.772713

-5.000000000000002,11.79999999999999,37.0,0.1334447860717773,0.01108694076538086,1615555704.976133

-5.200000000000002,11.99999999999999,37.0,0.1196320056915283,0.006913185119628906,1615555705.164068

-5.400000000000002,12.19999999999999,35.0,0.1130988597869873,0.006968975067138672,1615555705.36003

-5.600000000000002,12.39999999999999,36.0,0.1434919834136963,0.006443023681640625,1615555705.595459

-5.8000000000000025,12.59999999999999,38.0,0.1126329898834229,0.009428024291992188,1615555705.763766

-6.000000000000003,12.79999999999999,39.0,0.1240959167480469,0.00442814826965332,1615555705.978866

-6.200000000000003,13.19999999999999,34.0,0.2930371761322021,0.005738019943237305,1615555706.351594

-6.400000000000003,13.19999999999999,34.0,0.0996110916137695,0.005971908569335938,1615555706.365519

-6.600000000000003,13.39999999999999,32.0,0.1236510276794434,0.009259939193725586,1615555706.584975

-6.800000000000003,13.59999999999999,33.0,0.127155065536499,0.004948139190673828,1615555706.792361

-7.0000000000000036,13.79999999999998,35.0,0.1220760345458984,0.005980014801025391,1615555706.986894

-7.200000000000004,13.99999999999998,33.0,0.1244101524353027,0.003485918045043945,1615555707.190038

-7.400000000000004,14.19999999999998,33.0,0.1281828880310059,0.004132986068725586,1615555707.398729

-7.600000000000004,14.59999999999998,34.0,0.2801661491394043,0.004303932189941406,1615555707.755995

-7.800000000000004,14.59999999999998,34.0,0.08690195083618162,0.004870891571044922,1615555707.768399

-8.000000000000004,14.99999999999998,34.0,0.2968008518218994,0.005979061126708984,1615555708.181733

-8.200000000000003,14.99999999999998,34.0,0.1063240051269531,0.008868217468261719,1615555708.195013

-8.400000000000002,15.39999999999998,32.0,0.2618310451507568,0.00803995132446289,1615555708.549546

-8.600000000000001,15.39999999999998,32.0,0.07010393142700194,0.006152868270874023,1615555708.558299

-8.8,15.79999999999998,33.0,0.2802660465240479,0.005618095397949219,1615555708.972772

-9.0,15.79999999999998,33.0,0.08673720359802244,0.005897998809814453,1615555708.983894

-9.2,16.19999999999997,36.0,0.277418851852417,0.01215696334838867,1615555709.370022

-9.399999999999999,16.19999999999997,36.0,0.08488993644714354,0.006566047668457031,1615555709.37807

-9.599999999999998,16.59999999999997,45.0,0.2612860202789307,0.003118991851806641,1615555709.763018

-9.799999999999997,16.59999999999997,45.0,0.07111220359802245,0.007997989654541016,1615555709.773017

-9.999999999999996,16.99999999999997,34.0,0.2556021213531494,0.005475997924804688,1615555710.158743

-10.199999999999996,16.99999999999997,34.0,0.06044797897338866,0.004123926162719727,1615555710.165841

-10.399999999999995,17.59999999999997,27.0,0.4541449546813965,0.003262996673583984,1615555710.761456

-10.599999999999994,17.59999999999997,27.0,0.07262573242187498,0.007124900817871094,1615555710.781034

-10.799999999999994,17.99999999999997,31.0,0.2719559669494629,0.00564885139465332,1615555711.181467

-10.999999999999993,17.99999999999997,31.0,0.07900600433349608,0.004366874694824219,1615555711.188055

-11.199999999999992,18.39999999999997,31.0,0.2678449153900146,0.002900838851928711,1615555711.579913

-11.399999999999991,18.39999999999997,31.0,0.0731337547302246,0.004719972610473633,1615555711.592093

-11.59999999999999,18.79999999999997,36.0,0.2584769725799561,0.007870197296142578,1615555711.975368

-11.79999999999999,18.79999999999997,36.0,0.06442766189575194,0.005040884017944336,1615555711.984238

-11.99999999999999,19.39999999999996,42.0,0.418597936630249,0.002717018127441406,1615555712.539152

-12.199999999999989,19.39999999999996,42.0,0.0265480041503906,0.002722024917602539,1615555712.549555

-12.399999999999988,19.79999999999996,42.0,0.2360491752624512,0.006833076477050781,1615555712.972014

-12.599999999999987,19.79999999999996,42.0,0.05267314910888671,0.01622295379638672,1615555712.978998

-12.799999999999986,20.19999999999996,36.0,0.2591569423675537,0.003612041473388672,1615555713.388349

-12.999999999999986,20.19999999999996,36.0,0.0665889263153076,0.005888938903808594,1615555713.395741

-13.199999999999985,20.59999999999996,33.0,0.2460339069366455,0.007537126541137695,1615555713.776

-13.399999999999984,20.59999999999996,33.0,0.05683093070983886,0.003989934921264648,1615555713.787464

-13.599999999999984,20.99999999999996,34.0,0.2295479774475098,0.004732847213745117,1615555714.161438

-13.799999999999983,20.99999999999996,34.0,0.03760199546813964,0.007643938064575195,1615555714.175399

-13.999999999999982,21.59999999999996,34.0,0.4428579807281494,0.00721287727355957,1615555714.779543

-14.199999999999982,21.59999999999996,34.0,0.0617948532104492,0.003185033798217773,1615555714.796317

-14.39999999999998,21.99999999999995,33.0,0.2440681457519531,0.009346961975097656,1615555715.179871

-14.59999999999998,21.99999999999995,33.0,0.0526099681854248,0.006935834884643555,1615555715.189477

-14.79999999999998,22.39999999999995,34.0,0.2595958709716797,0.007244110107421875,1615555715.598967

-14.999999999999979,22.59999999999995,34.0,0.1928098678588867,0.003885030746459961,1615555715.735989

-15.199999999999978,22.59999999999995,34.0,0.004636049270629883,0.004883050918579102,1615555715.757676

-15.399999999999977,23.19999999999995,34.0,0.3900887966156006,0.002969026565551758,1615555716.346038

-15.599999999999977,23.19999999999995,34.0,0.001000976562499978,0.003062009811401367,1615555716.358908

-15.799999999999976,23.79999999999995,36.0,0.3966250419616699,0.006433010101318359,1615555716.959285

-15.999999999999975,23.79999999999995,36.0,0.01275930404663084,0.005595207214355469,1615555716.977238

-16.199999999999974,24.39999999999995,37.0,0.3923099040985107,0.008101940155029297,1615555717.553005

-16.399999999999974,24.39999999999995,37.0,0.007198905944824197,0.007036924362182617,1615555717.577932

-16.599999999999973,24.99999999999995,36.0,0.3657569885253906,0.01310491561889648,1615555718.129138

-16.799999999999972,24.99999999999995,36.0,0.0004458427429199219,0.003392934799194336,1615555718.166037

-16.99999999999997,25.99999999999994,36.0,0.7514870166778564,0.002481937408447266,1615555719.119376

-17.19999999999997,25.99999999999994,36.0,0.0008070468902587891,0.007208824157714844,1615555719.174135

-17.39999999999997,26.59999999999994,23.0,0.4164969921112061,0.007470130920410156,1615555719.786962

-17.59999999999997,26.59999999999994,23.0,0.02742419242858884,0.004163980484008789,1615555719.802142

-17.79999999999997,27.19999999999994,6.0,0.3764469623565674,0.004593133926391602,1615555720.354153

-17.999999999999968,27.19999999999994,6.0,0.0004410743713378906,0.00704503059387207,1615555720.37727

-18.199999999999967,27.79999999999994,7.0,0.4115879535675049,0.002866983413696289,1615555720.992199

-18.399999999999967,27.79999999999994,7.0,0.2176690578460693,0.00507807731628418,1615555720.998667

-18.599999999999966,27.99999999999994,7.0,0.1531630516052246,0.002613067626953125,1615555721.134002

-18.799999999999965,27.99999999999994,7.0,0.002637147903442383,0.004822969436645508,1615555721.184752

-18.999999999999964,28.59999999999993,8.0,0.3957669734954834,0.00638890266418457,1615555721.782299

-19.199999999999964,28.59999999999993,8.0,0.01100096702575681,0.007466793060302734,1615555721.796936

-19.399999999999963,29.19999999999993,8.0,0.3798871040344238,0.004487991333007813,1615555722.36537

-19.599999999999962,29.19999999999993,8.0,0.0004379749298095703,0.005962848663330078,1615555722.386808

-19.79999999999996,29.79999999999993,8.0,0.4080748558044434,0.002570867538452148,1615555722.998095

-19.99999999999996,29.99999999999993,8.0,0.3497419834136963,0.006895065307617188,1615555723.145089

-20.19999999999996,29.99999999999993,8.0,0.1598342418670654,0.00820612907409668,1615555723.155029

-20.39999999999996,29.99999999999993,8.0,0.0006561279296875,0.00830388069152832,1615555723.197993

-20.59999999999996,30.59999999999993,8.0,0.3834049701690674,0.008719921112060547,1615555723.781539

-20.799999999999958,30.59999999999993,8.0,0.1882801532745361,0.004018068313598633,1615555723.789136

-20.999999999999957,30.79999999999993,8.0,0.1376199722290039,0.006667852401733398,1615555723.936098

-21.199999999999957,30.99999999999993,8.0,0.1133909225463867,0.003441810607910156,1615555724.115938

-21.399999999999956,31.19999999999992,8.0,0.1316590309143066,0.003576040267944336,1615555724.339164

-21.599999999999955,31.39999999999992,8.0,0.1323480606079102,0.006964921951293945,1615555724.542209

-21.799999999999955,31.59999999999992,9.0,0.1330499649047852,0.005089044570922852,1615555724.748065

-21.999999999999954,31.79999999999992,17.0,0.1329429149627686,0.00978398323059082,1615555724.947774

-22.199999999999953,31.99999999999992,30.0,0.1197259426116943,0.00743412971496582,1615555725.137299

-22.399999999999952,32.19999999999992,42.0,0.1209139823913574,0.005983114242553711,1615555725.341344

-22.59999999999995,32.39999999999992,45.0,0.1102280616760254,0.006757020950317383,1615555725.52809

-22.79999999999995,32.59999999999993,45.0,0.127061128616333,0.005934000015258789,1615555725.745776

-22.99999999999995,32.79999999999993,45.0,0.1197011470794678,0.004199028015136719,1615555725.939553

-23.19999999999995,32.99999999999993,44.0,0.1160500049591064,0.007339954376220703,1615555726.136148

-23.39999999999995,33.19999999999993,42.0,0.1300091743469238,0.005716085433959961,1615555726.356858

-23.599999999999948,33.39999999999994,40.0,0.1221029758453369,0.009147882461547852,1615555726.551539

-23.799999999999947,33.59999999999994,38.0,0.1292541027069092,0.008229970932006836,1615555726.759295

-23.999999999999947,33.79999999999994,37.0,0.1439089775085449,0.00815892219543457,1615555726.978702

-24.199999999999946,33.99999999999995,38.0,0.1281108856201172,0.005182981491088867,1615555727.166772

-24.399999999999945,34.19999999999995,37.0,0.1133649349212646,0.00915217399597168,1615555727.356747

-24.599999999999945,34.39999999999995,39.0,0.1170279979705811,0.007623910903930664,1615555727.5572

-24.799999999999944,34.59999999999996,36.0,0.1511669158935547,0.007534980773925781,1615555727.793317

-24.999999999999943,34.79999999999996,34.0,0.1275310516357422,0.008524179458618164,1615555727.975094

-25.199999999999942,34.99999999999996,37.0,0.1328639984130859,0.009046077728271484,1615555728.178279

-25.39999999999994,35.19999999999996,40.0,0.1241960525512695,0.005981922149658203,1615555728.372891

-25.59999999999994,35.39999999999996,38.0,0.121973991394043,0.005829095840454102,1615555728.56909

-25.79999999999994,35.59999999999997,36.0,0.1227660179138184,0.005848884582519531,1615555728.773509

-25.99999999999994,35.99999999999997,36.0,0.3086330890655518,0.007654190063476563,1615555729.158781

-26.19999999999994,35.99999999999997,36.0,0.1131768703460693,0.004127979278564453,1615555729.167915

-26.399999999999938,36.19999999999997,34.0,0.1206889152526855,0.004134178161621094,1615555729.377239

-26.599999999999937,36.59999999999998,34.0,0.126305103302002,0.005842924118041992,1615555729.787774

-26.799999999999937,36.79999999999998,35.0,0.116657018661499,0.002546072006225586,1615555729.979062

-26.999999999999936,36.99999999999999,34.0,0.1130228042602539,0.005411863327026367,1615555730.18155

-27.199999999999935,37.19999999999999,32.0,0.1230340003967285,0.009723186492919922,1615555730.392911

-27.399999999999935,37.39999999999999,34.0,0.1049568653106689,0.005128860473632813,1615555730.579462

-27.599999999999934,37.8,36.0,0.2815370559692383,0.008807182312011719,1615555730.954802

-27.799999999999933,37.8,36.0,0.08765511512756347,0.00554203987121582,1615555730.965609

-27.999999999999932,38.2,35.0,0.2643117904663086,0.007319927215576172,1615555731.338704

-28.199999999999932,38.2,35.0,0.06878881454467772,0.004065990447998047,1615555731.347128

-28.39999999999993,38.60000000000001,34.0,0.2693250179290771,0.00400090217590332,1615555731.748924

-28.59999999999993,38.60000000000001,34.0,0.07778410911560057,0.003893136978149414,1615555731.765353

-28.79999999999993,39.00000000000002,32.0,0.2526481151580811,0.01321911811828613,1615555732.133124

-28.99999999999993,39.00000000000002,32.0,0.05678610801696776,0.003558874130249023,1615555732.141469

-29.19999999999993,39.20000000000002,32.0,0.1134819984436035,0.007184028625488281,1615555732.396183

-29.399999999999928,39.60000000000003,34.0,0.2487490177154541,0.007768869400024414,1615555732.7373

-29.599999999999927,39.60000000000003,34.0,0.05960493087768554,0.007510900497436523,1615555732.744142

-29.799999999999926,40.00000000000003,35.0,0.2945528030395508,0.003020048141479492,1615555733.179828

-29.999999999999925,40.00000000000003,35.0,0.1025739192962646,0.007377147674560547,1615555733.191624

-30.199999999999925,40.40000000000004,37.0,0.2569520473480225,0.009526968002319336,1615555733.545422

-30.399999999999924,40.40000000000004,37.0,0.0639641761779785,0.003309965133666992,1615555733.553271

-30.599999999999923,40.80000000000005,38.0,0.2643790245056152,0.007890939712524414,1615555733.957058

-30.799999999999923,40.80000000000005,38.0,0.07111816406249999,0.00518798828125,1615555733.965676

-30.999999999999922,41.00000000000004,38.0,0.1050789356231689,0.008230924606323242,1615555734.199078

-31.19999999999992,41.40000000000005,38.0,0.2427911758422852,0.008352994918823242,1615555734.541417

-31.39999999999992,41.40000000000005,38.0,0.0543501853942871,0.008806943893432617,1615555734.549443

-31.59999999999992,41.80000000000006,39.0,0.2538840770721436,0.004166841506958008,1615555734.954158

-31.79999999999992,41.80000000000006,39.0,0.06351809501647948,0.009016990661621094,1615555734.962142

-31.99999999999992,42.40000000000006,39.0,0.4307880401611328,0.007399082183837891,1615555735.533312

-32.19999999999992,42.40000000000006,39.0,0.04463300704956053,0.007148027420043945,1615555735.552764

-32.39999999999992,42.80000000000007,26.0,0.2545909881591797,0.009027957916259766,1615555735.961049

-32.59999999999992,42.80000000000007,26.0,0.06226592063903808,0.006161928176879883,1615555735.968995

-32.799999999999926,43.20000000000007,7.0,0.242952823638916,0.007596969604492188,1615555736.354994

-32.99999999999993,43.20000000000007,7.0,0.05342965126037597,0.009639978408813477,1615555736.365249

-33.19999999999993,43.60000000000008,5.0,0.2448608875274658,0.008208036422729492,1615555736.758295

-33.399999999999935,43.60000000000008,5.0,0.05650787353515624,0.01090693473815918,1615555736.769904

-33.59999999999994,44.00000000000008,5.0,0.2506270408630371,0.01019001007080078,1615555737.164115

-33.79999999999994,44.00000000000008,5.0,0.05739336013793944,0.00422215461730957,1615555737.173433

-33.99999999999994,44.40000000000009,6.0,0.258638858795166,0.002933979034423828,1615555737.577083

-34.199999999999946,44.40000000000009,6.0,0.06774287223815917,0.006986141204833984,1615555737.586173

-34.39999999999995,44.8000000000001,8.0,0.2582769393920898,0.00911402702331543,1615555737.978277

-34.59999999999995,44.8000000000001,8.0,0.06519489288330077,0.006345987319946289,1615555737.985585

-34.799999999999955,45.2000000000001,16.0,0.2452280521392822,0.007996082305908203,1615555738.369573

-34.99999999999996,45.2000000000001,16.0,0.05162720680236816,0.005769968032836914,1615555738.376263

-35.19999999999996,45.60000000000011,27.0,0.2416560649871826,0.007982969284057617,1615555738.767575

-35.39999999999996,45.60000000000011,27.0,0.0501533031463623,0.007835149765014648,1615555738.776931

-35.599999999999966,46.00000000000011,31.0,0.2540841102600098,0.003487825393676758,1615555739.189223

-35.79999999999997,46.00000000000011,31.0,0.06441502571105956,0.009822845458984375,1615555739.198657

-35.99999999999997,46.60000000000013,32.0,0.3874959945678711,0.002521038055419922,1615555739.731528

-36.199999999999974,46.60000000000013,32.0,0.0008622169494628684,0.003197908401489258,1615555739.747933

-36.39999999999998,47.20000000000013,31.0,0.4082479476928711,0.004129886627197266,1615555740.362043

-36.59999999999998,47.20000000000013,31.0,0.02918825149536131,0.01226210594177246,1615555740.389154

-36.79999999999998,47.80000000000014,34.0,0.4160940647125244,0.006089925765991211,1615555740.975732

-36.999999999999986,47.80000000000014,34.0,0.03001580238342283,0.006663084030151367,1615555740.995229

-37.19999999999999,48.40000000000015,34.0,0.415863037109375,0.004269123077392578,1615555741.598326

-37.39999999999999,48.60000000000015,32.0,0.3643949508666992,0.0047149658203125,1615555741.75146

-37.599999999999994,48.60000000000015,32.0,0.001832962036132813,0.003612041473388672,1615555741.793055

-37.8,49.40000000000016,36.0,0.5621321201324463,0.005600929260253906,1615555742.554104

-38.0,49.40000000000016,36.0,0.000682830810546875,0.003763198852539063,1615555742.597875

-38.2,50.00000000000018,34.0,0.4012060165405273,0.00693511962890625,1615555743.203904

-38.400000000000006,50.20000000000017,34.0,0.3405030250549316,0.00945901870727539,1615555743.34412

-38.60000000000001,50.20000000000017,34.0,0.1476882457733154,0.006589174270629883,1615555743.348968

-38.80000000000001,50.40000000000018,35.0,0.1477949619293213,0.005949020385742188,1615555743.555144

-39.000000000000014,50.60000000000018,34.0,0.1322810649871826,0.008358955383300781,1615555743.735051

-39.20000000000002,50.80000000000019,33.0,0.1210289001464844,0.003251791000366211,1615555743.926102

-39.40000000000002,51.00000000000019,32.0,0.1420290470123291,0.00345611572265625,1615555744.155014

-39.60000000000002,51.20000000000019,34.0,0.1181769371032715,0.007832050323486328,1615555744.331747

-39.800000000000026,51.6000000000002,36.0,0.3240530490875244,0.007982015609741211,1615555744.734988

-40.00000000000003,51.6000000000002,36.0,0.1325178623199463,0.007230997085571289,1615555744.745845

-40.20000000000003,51.8000000000002,35.0,0.1413190364837646,0.00392913818359375,1615555744.959387

-40.400000000000034,52.00000000000021,35.0,0.1312501430511475,0.009229898452758789,1615555745.147718

-40.60000000000004,52.2000000000002,34.0,0.1294960975646973,0.007919788360595703,1615555745.346966

-40.80000000000004,52.40000000000021,34.0,0.1202340126037598,0.004282951354980469,1615555745.538887

-41.00000000000004,52.60000000000021,34.0,0.1321961879730225,0.008944988250732422,1615555745.751436

-41.200000000000045,52.80000000000022,33.0,0.1147360801696777,0.003905773162841797,1615555745.933907

-41.40000000000005,53.00000000000022,34.0,0.1352369785308838,0.003113031387329102,1615555746.155928

-41.60000000000005,53.20000000000022,32.0,0.1222350597381592,0.01424098014831543,1615555746.344318

-41.800000000000054,53.40000000000022,31.0,0.1390058994293213,0.006736993789672852,1615555746.565555

-42.00000000000006,53.60000000000023,34.0,0.1323649883270264,0.003341913223266602,1615555746.763312

-42.20000000000006,53.80000000000023,37.0,0.1273829936981201,0.007118940353393555,1615555746.959727

-42.40000000000006,54.00000000000023,37.0,0.1156361103057861,0.01035809516906738,1615555747.151367

-42.600000000000065,54.20000000000023,39.0,0.1348001956939697,0.005806922912597656,1615555747.371431

-42.80000000000007,54.40000000000023,42.0,0.1095938682556152,0.007464885711669922,1615555747.551653

-43.00000000000007,54.60000000000024,43.0,0.158682107925415,0.009479045867919922,1615555747.800948

-43.200000000000074,54.80000000000024,38.0,0.1153829097747803,0.006532907485961914,1615555747.956966

-43.40000000000008,55.00000000000025,23.0,0.1358768939971924,0.007320880889892578,1615555748.176222

-43.60000000000008,55.20000000000024,14.0,0.1175479888916016,0.0082550048828125,1615555748.361996

-43.80000000000008,55.40000000000025,7.0,0.1272091865539551,0.008193016052246094,1615555748.574085

-44.000000000000085,55.60000000000025,5.0,0.1317360401153564,0.007727861404418945,1615555748.786855

-44.20000000000009,55.80000000000026,6.0,0.1310179233551025,0.009019851684570312,1615555748.983669

-44.40000000000009,56.00000000000026,5.0,0.1366121768951416,0.005628108978271484,1615555749.192898

-44.600000000000094,56.20000000000026,6.0,0.1273941993713379,0.009104013442993164,1615555749.381259

-44.8000000000001,56.40000000000026,6.0,0.1286220550537109,0.009764909744262695,1615555749.581329

-45.0000000000001,56.80000000000027,5.0,0.3413820266723633,0.006447076797485352,1615555749.99593

-45.2000000000001,57.00000000000028,6.0,0.2869236946105957,0.004140853881835938,1615555750.14572

-45.400000000000105,57.00000000000028,6.0,0.0969487190246582,0.00941610336303711,1615555750.155842

-45.60000000000011,57.20000000000027,6.0,0.1178631782531738,0.007409095764160156,1615555750.381173

-45.80000000000011,57.40000000000028,6.0,0.1343040466308594,0.007678985595703125,1615555750.594347

-46.000000000000114,57.60000000000028,6.0,0.1245458126068115,0.003570795059204102,1615555750.785722

-46.20000000000012,57.80000000000029,6.0,0.1257069110870361,0.004377126693725586,1615555750.990957

-46.40000000000012,58.00000000000029,6.0,0.1170508861541748,0.003906011581420898,1615555751.184138

-46.60000000000012,58.20000000000029,6.0,0.1196630001068115,0.006032943725585938,1615555751.391527

-46.800000000000125,58.40000000000029,6.0,0.1240720748901367,0.008089065551757812,1615555751.5958

-47.00000000000013,58.8000000000003,17.0,0.2949450016021729,0.005279779434204102,1615555751.969762

-47.20000000000013,58.8000000000003,17.0,0.103725004196167,0.007066011428833008,1615555751.979202

-47.400000000000134,59.2000000000003,38.0,0.2708530426025391,0.006303787231445313,1615555752.347137

-47.600000000000136,59.2000000000003,38.0,0.07902507781982421,0.007788896560668945,1615555752.355815

-47.80000000000014,59.60000000000031,37.0,0.2600421905517578,0.008070945739746094,1615555752.737362

-48.00000000000014,59.60000000000031,37.0,0.07096915245056151,0.00939178466796875,1615555752.749067

-48.200000000000145,60.00000000000032,34.0,0.279911994934082,0.007512807846069336,1615555753.162408

-48.40000000000015,60.00000000000032,34.0,0.08897690773010251,0.008256912231445312,1615555753.169926

-48.60000000000015,60.40000000000032,34.0,0.2501449584960938,0.006680965423583984,1615555753.532265

-48.80000000000015,60.40000000000032,34.0,0.05616884231567382,0.003708839416503906,1615555753.541189

-49.000000000000156,60.80000000000033,36.0,0.2932860851287842,0.007404088973999023,1615555753.983196

-49.20000000000016,60.80000000000033,36.0,0.1033561706542969,0.009390115737915039,1615555753.993321

-49.40000000000016,61.20000000000033,37.0,0.2684929370880127,0.005057096481323242,1615555754.363065

-49.600000000000165,61.20000000000033,37.0,0.07962303161621093,0.008068084716796875,1615555754.37551

-49.80000000000017,61.60000000000034,41.0,0.2826299667358398,0.008131027221679688,1615555754.775755

-50.00000000000017,61.60000000000034,41.0,0.089017915725708,0.003201007843017578,1615555754.784078

-50.20000000000017,62.00000000000035,43.0,0.2562780380249023,0.004116058349609375,1615555755.155139

-50.400000000000176,62.00000000000035,43.0,0.06900410652160643,0.008271932601928711,1615555755.165121

-50.60000000000018,62.40000000000035,34.0,0.2798271179199219,0.002908945083618164,1615555755.57629

-50.80000000000018,62.40000000000035,34.0,0.08644204139709472,0.00594782829284668,1615555755.588833

-51.000000000000185,62.80000000000036,32.0,0.2912600040435791,0.004892826080322266,1615555755.995025

-51.20000000000019,62.80000000000036,32.0,0.09578685760498044,0.00412297248840332,1615555756.004026

-51.40000000000019,63.20000000000036,35.0,0.2760272026062012,0.007983207702636719,1615555756.385629

-51.60000000000019,63.20000000000036,35.0,0.08511691093444822,0.00824284553527832,1615555756.394212

-51.800000000000196,63.60000000000037,36.0,0.2593119144439697,0.002587080001831055,1615555756.770961

-52.0000000000002,63.60000000000037,36.0,0.06789617538452147,0.005755186080932617,1615555756.779535

-52.2000000000002,64.00000000000038,34.0,0.2575900554656982,0.005266904830932617,1615555757.176202

-52.400000000000205,64.00000000000038,34.0,0.0724471092224121,0.0102689266204834,1615555757.187777

-52.60000000000021,64.40000000000038,33.0,0.2491791248321533,0.005858898162841797,1615555757.570006

-52.80000000000021,64.40000000000038,33.0,0.06125597953796386,0.008708953857421875,1615555757.579795

-53.00000000000021,64.8000000000004,33.0,0.269834041595459,0.007775068283081055,1615555757.988047

-53.200000000000216,64.8000000000004,33.0,0.0747368812561035,0.00412297248840332,1615555757.996088

-53.40000000000022,65.20000000000039,34.0,0.2405121326446533,0.006168127059936523,1615555758.364402

-53.60000000000022,65.20000000000039,34.0,0.04459409713745116,0.003463983535766602,1615555758.373151

-53.800000000000225,65.6000000000004,34.0,0.239832878112793,0.006567001342773438,1615555758.769548

-54.00000000000023,65.6000000000004,34.0,0.05354409217834472,0.009782075881958008,1615555758.779653

-54.20000000000023,66.00000000000041,40.0,0.2418150901794434,0.004608869552612305,1615555759.16991

-54.40000000000023,66.00000000000041,40.0,0.05273513793945312,0.01018404960632324,1615555759.179582

-54.600000000000236,66.4000000000004,42.0,0.2591371536254883,0.006980180740356445,1615555759.589849

-54.80000000000024,66.6000000000004,45.0,0.2051122665405273,0.005933046340942383,1615555759.735508

-55.00000000000024,66.6000000000004,45.0,0.009655094146728493,0.003051996231079102,1615555759.74388

-55.200000000000244,67.20000000000041,23.0,0.4072840213775635,0.004089117050170898,1615555760.344268

-55.40000000000025,67.20000000000041,23.0,0.02025184631347654,0.004610061645507813,1615555760.363514

-55.60000000000025,67.80000000000042,31.0,0.4052109718322754,0.006839990615844727,1615555760.951571

-55.80000000000025,67.80000000000042,31.0,0.02277789115905759,0.006496906280517578,1615555760.969033

-56.000000000000256,68.40000000000043,29.0,0.3877761363983154,0.004163980484008789,1615555761.53903

-56.20000000000026,68.40000000000043,29.0,0.0004439353942871094,0.003073930740356445,1615555761.556218

-56.40000000000026,69.00000000000045,34.0,0.4170351028442383,0.0092620849609375,1615555762.174711

-56.600000000000264,69.00000000000045,34.0,0.2365861415863037,0.01062393188476563,1615555762.195666

-56.80000000000027,69.20000000000044,32.0,0.1962562561035156,0.009824991226196289,1615555762.354202

-57.00000000000027,69.20000000000044,32.0,0.005681037902832031,0.00309300422668457,1615555762.365683

-57.20000000000027,69.80000000000047,30.0,0.4106271266937256,0.002608060836791992,1615555762.973505

-57.400000000000276,69.80000000000047,30.0,0.01922998428344724,0.003777027130126953,1615555762.987458

-57.60000000000028,70.40000000000046,36.0,0.3855199813842773,0.005791902542114258,1615555763.55419

-57.80000000000028,70.40000000000046,36.0,0.0004339218139648438,0.008337974548339844,1615555763.568709

-58.000000000000284,71.00000000000048,38.0,0.395625114440918,0.005541086196899414,1615555764.164321

-58.20000000000029,71.00000000000048,38.0,0.009820318222045876,0.003773927688598633,1615555764.183788

-58.40000000000029,71.60000000000048,37.0,0.3952682018280029,0.007340908050537109,1615555764.769204

-58.60000000000029,71.60000000000048,37.0,0.01059136390686033,0.005737066268920898,1615555764.784848

-58.800000000000296,72.20000000000049,31.0,0.3837821483612061,0.007788896560668945,1615555765.357973

-59.0000000000003,72.20000000000049,31.0,0.004340171813964844,0.008269071578979492,1615555765.38622

-59.2000000000003,72.8000000000005,30.0,0.3531651496887207,0.007263898849487305,1615555765.935858

-59.400000000000304,72.8000000000005,30.0,0.000823974609375,0.005628108978271484,1615555765.984134

-59.60000000000031,73.6000000000005,35.0,0.5855851173400879,0.002469062805175781,1615555766.769951

-59.80000000000031,73.6000000000005,35.0,0.2084978580474854,0.00677490234375,1615555766.793835

-60.00000000000031,73.80000000000051,26.0,0.1381989955902099,0.007317066192626953,1615555766.924702

-60.200000000000315,73.80000000000051,26.0,0.0005810260772705078,0.005221843719482422,1615555766.991447

-60.40000000000032,74.40000000000052,7.0,0.3653409481048584,0.006172895431518555,1615555767.5578

-60.60000000000032,74.40000000000052,7.0,0.002612113952636719,0.002459049224853516,1615555767.595769

-60.800000000000324,75.00000000000053,6.0,0.3729641437530518,0.003155946731567383,1615555768.169023

-61.00000000000033,75.00000000000053,6.0,0.0004339218139648438,0.008156061172485352,1615555768.199512

-61.20000000000033,75.80000000000054,6.0,0.572930097579956,0.005672931671142578,1615555768.972414

-61.40000000000033,75.80000000000054,6.0,0.1869531631469726,0.007413148880004883,1615555768.987763

-61.600000000000335,76.00000000000055,6.0,0.1187911033630371,0.002921104431152344,1615555769.123799

-61.80000000000034,76.20000000000054,7.0,0.1045689582824707,0.007731914520263672,1615555769.314245

-62.00000000000034,76.40000000000055,7.0,0.1329021453857422,0.007634162902832031,1615555769.541279

-62.200000000000344,76.60000000000055,7.0,0.136976957321167,0.007146835327148438,1615555769.745633

-62.40000000000035,76.80000000000057,7.0,0.142747163772583,0.005568027496337891,1615555769.962392

-62.60000000000035,77.00000000000055,7.0,0.1410999298095703,0.004985809326171875,1615555770.166182

-62.80000000000035,77.20000000000056,6.0,0.1407630443572998,0.01006102561950684,1615555770.364889

-63.000000000000355,77.40000000000056,7.0,0.1442890167236328,0.003304958343505859,1615555770.569793

-63.20000000000036,77.60000000000058,7.0,0.1226089000701904,0.01048398017883301,1615555770.749123

-63.40000000000036,77.80000000000057,7.0,0.1234898567199707,0.0038299560546875,1615555770.954828

-63.600000000000364,78.00000000000058,7.0,0.1126840114593506,0.01232695579528809,1615555771.145235

-63.80000000000037,78.20000000000057,7.0,0.1160819530487061,0.003227949142456055,1615555771.351493

-64.00000000000037,78.40000000000057,8.0,0.1203079223632813,0.008076906204223633,1615555771.559641

-64.20000000000037,78.60000000000058,17.0,0.1313748359680176,0.007383108139038086,1615555771.771101

-64.40000000000038,78.8000000000006,36.0,0.1355299949645996,0.005812168121337891,1615555771.981345

-64.60000000000038,79.0000000000006,47.0,0.1357240676879883,0.005681991577148438,1615555772.186194

-64.80000000000038,79.20000000000059,47.0,0.1241810321807861,0.007513999938964844,1615555772.378084

-65.00000000000038,79.40000000000059,47.0,0.1469080448150635,0.008188962936401367,1615555772.597605

-65.20000000000039,79.60000000000059,43.0,0.1427769660949707,0.01252102851867676,1615555772.793941

-65.40000000000039,79.8000000000006,39.0,0.1328370571136475,0.008629083633422852,1615555772.986093

-65.60000000000039,80.0000000000006,37.0,0.1142578125,0.004858970642089844,1615555773.167729

+0.0,6.000000000000003,34.0,0.1309630870819092,1615889399.509742,2.386787891387939

+0.2,8.8,5.0,0.1228640079498291,1615889399.514456,5.185947895050049

+0.4,11.59999999999999,45.0,0.1129088401794434,1615889399.509989,7.969346046447754

+0.6000000000000001,14.39999999999998,37.0,0.1108059883117676,1615889399.509621,10.77018809318542

+0.8,16.99999999999997,34.0,0.1224908828735352,1615889399.514221,13.38144111633301

+1.0,19.79999999999996,38.0,0.1145210266113281,1615889399.509571,16.17295908927917

+1.2,20.59999999999996,38.0,0.1416540145874023,1615889399.513464,17.00065493583679

+1.4,20.79999999999996,40.0,0.1213228702545166,1615889399.51588,17.17382597923279

+1.5999999999999999,20.99999999999996,36.0,0.1266179084777832,1615889399.510299,17.38412690162659

+1.7999999999999998,21.19999999999996,30.0,0.1185929775238037,1615889399.513698,17.57377791404724

+1.9999999999999998,21.39999999999996,30.0,0.1190249919891357,1615889399.510285,17.78078293800354

+2.1999999999999997,21.59999999999996,34.0,0.1260569095611572,1615889399.51187,17.99330401420593

+2.4,21.79999999999996,37.0,0.1122190952301025,1615889399.514341,18.17693591117859

+2.6,21.99999999999995,37.0,0.1393120288848877,1615889399.513558,18.39716911315918

+2.8000000000000003,22.19999999999995,35.0,0.1380009651184082,1615889399.511165,18.59485197067261

+3.0000000000000004,22.39999999999995,33.0,0.1228170394897461,1615889399.512585,18.78721308708191

+3.2000000000000006,22.59999999999995,33.0,0.1083009243011475,1615889399.51309,18.96771311759949

+3.400000000000001,22.79999999999995,32.0,0.1289129257202148,1615889399.514793,19.18751096725464

+3.600000000000001,22.99999999999995,34.0,0.1283800601959229,1615889399.512632,19.38524007797241

+3.800000000000001,23.39999999999995,34.0,0.1115691661834717,1615889399.510041,19.7722270488739

+4.000000000000001,23.59999999999995,33.0,0.1183669567108154,1615889399.510509,19.97562694549561

+4.200000000000001,23.79999999999995,34.0,0.1174170970916748,1615889399.510643,20.17254710197449

+4.400000000000001,23.99999999999995,34.0,0.122204065322876,1615889399.509563,20.38406491279602

+4.600000000000001,24.19999999999995,37.0,0.1495420932769775,1615889399.512174,20.60517406463623

+4.800000000000002,24.39999999999995,38.0,0.1245741844177246,1615889399.51407,20.77961492538452

+5.000000000000002,24.59999999999995,46.0,0.1242489814758301,1615889399.509983,20.9852499961853

+5.200000000000002,24.79999999999995,43.0,0.1220641136169434,1615889399.514683,21.18089294433594

+5.400000000000002,24.99999999999995,35.0,0.1197330951690674,1615889399.516428,21.37349104881287

+5.600000000000002,25.19999999999994,20.0,0.1168899536132813,1615889399.513727,21.57500505447388

+5.8000000000000025,25.39999999999994,19.0,0.1163029670715332,1615889399.514407,21.77692008018494

+6.000000000000003,25.59999999999994,34.0,0.1216681003570557,1615889399.512851,21.97824692726135

+6.200000000000003,25.79999999999994,47.0,0.1643660068511963,1615889399.51222,22.22357296943664

+6.400000000000003,25.99999999999994,43.0,0.1455259323120117,1615889399.514931,22.40381288528443

+6.600000000000003,26.19999999999994,37.0,0.1600141525268555,1615889399.509988,22.62024402618408

+6.800000000000003,26.39999999999994,29.0,0.1356878280639648,1615889399.513364,22.78753209114075

+7.0000000000000036,26.59999999999994,26.0,0.1400840282440186,1615889399.513751,22.99875211715698

+7.200000000000004,26.79999999999994,30.0,0.1443271636962891,1615889399.512477,23.19936203956604

+7.400000000000004,26.99999999999994,36.0,0.1264181137084961,1615889399.514217,23.38306307792664

+7.600000000000004,27.19999999999994,40.0,0.1398458480834961,1615889399.509935,23.59296011924744

+7.800000000000004,27.39999999999994,41.0,0.1212270259857178,1615889399.514822,23.7729721069336

+8.000000000000004,27.59999999999994,42.0,0.1302030086517334,1615889399.509754,23.9857931137085

+8.200000000000003,27.79999999999994,38.0,0.1263391971588135,1615889399.516223,24.1853039264679

+8.400000000000002,27.99999999999994,33.0,0.1379210948944092,1615889399.514309,24.39613604545594

+8.600000000000001,28.19999999999993,30.0,0.1196060180664063,1615889399.513774,24.57371807098389

+8.8,28.39999999999993,34.0,0.1651549339294434,1615889399.511018,24.82400798797608

+9.0,28.59999999999993,38.0,0.114293098449707,1615889399.510157,24.96945095062256

+9.2,28.79999999999993,37.0,0.1524128913879395,1615889399.513781,25.20750689506531

+9.399999999999999,28.99999999999993,34.0,0.1187961101531982,1615889399.514792,25.3755419254303

+9.599999999999998,29.19999999999993,33.0,0.1268000602722168,1615889399.514086,25.5857789516449

+9.799999999999997,29.39999999999993,34.0,0.1156001091003418,1615889399.513813,25.77284502983094

+9.999999999999996,29.59999999999993,34.0,0.1504368782043457,1615889399.514983,26.00526094436646

+10.199999999999996,29.79999999999993,35.0,0.1086330413818359,1615889399.514636,26.16202902793884

+10.399999999999995,30.19999999999992,36.0,0.1402559280395508,1615889399.512822,26.59515404701233

+10.599999999999994,30.39999999999992,35.0,0.1701781749725342,1615889399.515201,26.82573699951172

+10.799999999999994,30.59999999999993,34.0,0.1142048835754395,1615889399.515939,26.97654294967652

+10.999999999999993,30.79999999999993,34.0,0.1347270011901855,1615889399.512604,27.19460511207581

+11.199999999999992,30.99999999999993,37.0,0.1192348003387451,1615889399.509653,27.38668608665467

+11.399999999999991,31.19999999999992,37.0,0.1246891021728516,1615889399.513862,27.58525609970093

+11.59999999999999,31.39999999999992,36.0,0.1147489547729492,1615889399.514485,27.77308511734009

+11.79999999999999,31.59999999999992,33.0,0.134382963180542,1615889399.509941,27.99159502983093

+11.99999999999999,31.79999999999992,33.0,0.1282141208648682,1615889399.509774,28.18755006790161

+12.199999999999989,31.99999999999992,36.0,0.1476590633392334,1615889399.512584,28.40338206291199

+12.399999999999988,32.19999999999992,36.0,0.1348559856414795,1615889399.51425,28.60165500640869

+12.599999999999987,32.39999999999992,35.0,0.1556930541992188,1615889399.51003,28.81709909439087

+12.799999999999986,32.59999999999993,35.0,0.1288459300994873,1615889399.51599,28.98347806930542

+12.999999999999986,32.79999999999993,35.0,0.119102954864502,1615889399.510535,29.17536091804505

+13.199999999999985,32.99999999999993,35.0,0.1114978790283203,1615889399.513842,29.37464094161987

+13.399999999999984,33.19999999999993,35.0,0.1230230331420898,1615889399.513581,29.58166408538819

+13.599999999999984,33.39999999999994,34.0,0.1225759983062744,1615889399.510603,29.7740740776062

+13.799999999999983,33.59999999999994,34.0,0.1330890655517578,1615889399.513477,29.99261093139649

+13.999999999999982,33.79999999999994,37.0,0.1187729835510254,1615889399.514042,30.17257499694824

+14.199999999999982,33.99999999999995,36.0,0.1298480033874512,1615889399.509743,30.38555407524109

+14.39999999999998,34.19999999999995,32.0,0.1176230907440186,1615889399.514901,30.57416701316834

+14.59999999999998,34.39999999999995,30.0,0.1417648792266846,1615889399.514298,30.8037109375

+14.79999999999998,34.59999999999996,28.0,0.1527879238128662,1615889399.50992,31.01361894607544

+14.999999999999979,34.79999999999996,19.0,0.1364479064941406,1615889399.515664,31.18990802764893

+15.199999999999978,34.99999999999996,8.0,0.1172947883605957,1615889399.512483,31.37693190574646

+15.399999999999977,35.19999999999996,6.0,0.1259269714355469,1615889399.513107,31.583242893219

+15.599999999999977,35.39999999999996,6.0,0.119987964630127,1615889399.51415,31.77301788330078

+15.799999999999976,35.59999999999997,7.0,0.1399381160736084,1615889399.513583,31.99299788475037

+15.999999999999975,35.79999999999997,6.0,0.1210880279541016,1615889399.513073,32.18257808685303

+16.199999999999974,35.99999999999997,6.0,0.1335818767547607,1615889399.509635,32.38556408882141

+16.399999999999974,36.19999999999997,8.0,0.1103079319000244,1615889399.513687,32.57021808624268

+16.599999999999973,36.39999999999998,19.0,0.1309139728546143,1615889399.509804,32.78766202926636

+16.799999999999972,36.59999999999998,35.0,0.1500380039215088,1615889399.516495,33.01359510421753

+16.99999999999997,36.79999999999998,41.0,0.1340880393981934,1615889399.514497,33.19506001472473

+17.19999999999997,36.99999999999999,39.0,0.1192171573638916,1615889399.514284,33.37185597419739

+17.39999999999997,37.19999999999999,30.0,0.1489660739898682,1615889399.509683,33.61178302764893

+17.59999999999997,37.39999999999999,24.0,0.1072180271148682,1615889399.51359,33.76258611679077

+17.79999999999997,37.6,25.0,0.1275749206542969,1615889399.509632,33.98307991027832

+17.999999999999968,37.8,27.0,0.1197149753570557,1615889399.510389,34.17289209365845

+18.199999999999967,38.0,31.0,0.140233039855957,1615889399.509716,34.39929509162903

+18.399999999999967,38.2,34.0,0.1273050308227539,1615889399.512132,34.58504796028137

+18.599999999999966,38.40000000000001,35.0,0.1291418075561523,1615889399.513979,34.78544211387634

+18.799999999999965,38.60000000000001,32.0,0.1173298358917236,1615889399.513131,34.97582697868348

+18.999999999999964,38.80000000000001,31.0,0.179375171661377,1615889399.512895,35.24334597587586

+19.199999999999964,39.00000000000002,33.0,0.1418719291687012,1615889399.510297,35.40716695785523

+19.399999999999963,39.20000000000002,34.0,0.1624698638916016,1615889399.51288,35.6162691116333

+19.599999999999962,39.40000000000002,32.0,0.1246099472045898,1615889399.513089,35.77948188781738

+19.79999999999996,39.60000000000003,32.0,0.1476531028747559,1615889399.512245,36.01322102546692

+19.99999999999996,39.80000000000003,32.0,0.1405768394470215,1615889399.509987,36.1976420879364

+20.19999999999996,40.00000000000003,34.0,0.1359419822692871,1615889399.514379,36.39068102836609

+20.39999999999996,40.20000000000003,34.0,0.1238000392913818,1615889399.510557,36.58786201477051

+20.59999999999996,40.40000000000004,33.0,0.1226990222930908,1615889399.512656,36.78117299079895

+20.799999999999958,40.60000000000004,34.0,0.1239249706268311,1615889399.510357,36.97691702842713

+20.999999999999957,40.80000000000005,34.0,0.1555159091949463,1615889399.513503,37.21413803100586

+21.199999999999957,41.00000000000004,34.0,0.117609977722168,1615889399.514126,37.37948393821716

+21.399999999999956,41.20000000000005,33.0,0.133371114730835,1615889399.512754,37.58715701103211

+21.599999999999955,41.40000000000005,33.0,0.1254470348358154,1615889399.513094,37.78718495368958

+21.799999999999955,41.60000000000005,34.0,0.1346042156219482,1615889399.514182,37.99370002746582

+21.999999999999954,41.80000000000006,34.0,0.1088228225708008,1615889399.513539,38.16503810882569

+22.199999999999953,42.00000000000006,34.0,0.1181991100311279,1615889399.513549,38.37861204147339

+22.399999999999952,42.20000000000006,34.0,0.1235768795013428,1615889399.515107,38.57986402511597

+22.59999999999995,42.40000000000006,36.0,0.1422169208526611,1615889399.509787,38.80310893058777

+22.79999999999995,42.60000000000007,36.0,0.1258690357208252,1615889399.517295,38.97924995422363

+22.99999999999995,42.80000000000007,35.0,0.1379458904266357,1615889399.512287,39.20488405227661

+23.19999999999995,43.00000000000007,32.0,0.1297340393066406,1615889399.516475,39.38589406013489

+23.39999999999995,43.20000000000007,33.0,0.1355109214782715,1615889399.513506,39.5928258895874

+23.599999999999948,43.40000000000008,34.0,0.1069209575653076,1615889399.513569,39.7604730129242

+23.799999999999947,43.60000000000008,34.0,0.1164078712463379,1615889399.511794,39.97194194793702

+23.999999999999947,43.80000000000009,33.0,0.1248760223388672,1615889399.509685,40.17596793174744

+24.199999999999946,44.00000000000008,34.0,0.1344311237335205,1615889399.513886,40.39305090904236

+24.399999999999945,44.20000000000009,33.0,0.1293630599975586,1615889399.50992,40.58078908920288

+24.599999999999945,44.40000000000009,35.0,0.1361279487609863,1615889399.516375,40.79666805267334

+24.799999999999944,44.6000000000001,36.0,0.1204578876495361,1615889399.514579,40.97935700416565

+24.999999999999943,44.8000000000001,36.0,0.1122422218322754,1615889399.514334,41.17724204063416

+25.199999999999942,45.0000000000001,35.0,0.1602511405944824,1615889399.512533,41.41988706588745

+25.39999999999994,45.2000000000001,34.0,0.1320109367370605,1615889399.509501,41.59985494613648

+25.59999999999994,45.40000000000011,34.0,0.1241269111633301,1615889399.516134,41.78664112091065

+25.79999999999994,45.60000000000011,34.0,0.1269819736480713,1615889399.513531,41.98515892028809

+25.99999999999994,45.80000000000012,35.0,0.1332259178161621,1615889399.513186,42.19080710411072

+26.19999999999994,46.00000000000011,34.0,0.127277135848999,1615889399.516545,42.38887310028076

+26.399999999999938,46.20000000000012,33.0,0.1334309577941895,1615889399.514583,42.58764910697937

+26.599999999999937,46.40000000000012,34.0,0.125046968460083,1615889399.510727,42.7819631099701

+26.799999999999937,46.60000000000013,34.0,0.1203908920288086,1615889399.509711,42.98200893402099

+26.999999999999936,46.80000000000013,34.0,0.1313149929046631,1615889399.509767,43.1993420124054

+27.199999999999935,47.00000000000013,33.0,0.1229619979858398,1615889399.512605,43.38108801841736

+27.399999999999935,47.20000000000013,34.0,0.1363368034362793,1615889399.510587,43.59100008010865

+27.599999999999934,47.40000000000014,35.0,0.1282200813293457,1615889399.514514,43.78500294685364

+27.799999999999933,47.60000000000014,36.0,0.1401951313018799,1615889399.51358,43.9951560497284

+27.999999999999932,47.80000000000014,37.0,0.1333489418029785,1615889399.513341,44.18755507469178

+28.199999999999932,48.00000000000015,38.0,0.117624044418335,1615889399.514058,44.38383102416992

+28.39999999999993,48.20000000000014,40.0,0.1108160018920898,1615889399.511719,44.56325888633728

+28.59999999999993,48.40000000000015,38.0,0.1373159885406494,1615889399.514285,44.79505395889283

+28.79999999999993,48.60000000000015,37.0,0.1179928779602051,1615889399.513476,44.97257208824158

+28.99999999999993,48.80000000000016,36.0,0.1274831295013428,1615889399.510676,45.18174409866333

+29.19999999999993,49.00000000000016,37.0,0.1215958595275879,1615889399.513883,45.37500000000001

+29.399999999999928,49.20000000000016,36.0,0.1613481044769287,1615889399.514275,45.61981105804444

+29.599999999999927,49.40000000000016,35.0,0.1270899772644043,1615889399.514516,45.78416895866394

+29.799999999999926,49.60000000000017,36.0,0.1273789405822754,1615889399.517745,45.9850161075592

+29.999999999999925,49.80000000000017,37.0,0.1100211143493652,1615889399.513183,46.16495704650879

+30.199999999999925,50.00000000000018,37.0,0.1337869167327881,1615889399.512823,46.38413190841675

+30.399999999999924,50.20000000000017,31.0,0.1179649829864502,1615889399.515368,46.57357501983642

+30.599999999999923,50.40000000000018,26.0,0.132404088973999,1615889399.51014,46.79135489463806

+30.799999999999923,50.60000000000018,15.0,0.1303560733795166,1615889399.509911,46.99017000198364

+30.999999999999922,50.80000000000019,7.0,0.126154899597168,1615889399.515291,47.18396306037903

+31.19999999999992,51.00000000000019,8.0,0.1192069053649902,1615889399.510031,47.37295389175415

+31.39999999999992,51.20000000000019,9.0,0.1703460216522217,1615889399.509745,47.63220810890198

+31.59999999999992,51.40000000000019,20.0,0.1765429973602295,1615889399.514056,47.84380888938904

+31.79999999999992,51.6000000000002,36.0,0.1358489990234375,1615889399.513364,48.0016770362854

+31.99999999999992,51.8000000000002,40.0,0.1154530048370361,1615889399.510359,48.17894291877747

+32.19999999999992,52.00000000000021,34.0,0.1310789585113525,1615889399.513717,48.39476108551025

+32.39999999999992,52.2000000000002,30.0,0.1287240982055664,1615889399.513607,48.58055710792542

+32.59999999999992,52.40000000000021,25.0,0.1403448581695557,1615889399.512023,48.79324293136597

+32.799999999999926,52.60000000000021,21.0,0.1251192092895508,1615889399.510326,48.97943592071534

+32.99999999999993,52.80000000000022,25.0,0.1234281063079834,1615889399.514068,49.17499709129334

+33.19999999999993,53.00000000000022,33.0,0.1375160217285156,1615889399.51303,49.39418411254883

+33.399999999999935,53.20000000000022,37.0,0.1649911403656006,1615889399.514419,49.61825108528138

+33.59999999999994,53.40000000000022,34.0,0.133807897567749,1615889399.511259,49.78705501556397

+33.79999999999994,53.60000000000023,32.0,0.1251740455627441,1615889399.513258,49.98706388473511

+33.99999999999994,53.80000000000023,31.0,0.1228048801422119,1615889399.513278,50.18180108070374

+34.199999999999946,54.00000000000023,30.0,0.1095511913299561,1615889399.51011,50.3628671169281

+34.39999999999995,54.20000000000023,32.0,0.1227359771728516,1615889399.514443,50.58331108093262

+34.59999999999995,54.40000000000023,34.0,0.1446590423583984,1615889399.514768,50.8010699748993

+34.799999999999955,54.60000000000024,35.0,0.1211330890655518,1615889399.513275,50.98345804214478

+34.99999999999996,54.80000000000024,33.0,0.1278049945831299,1615889399.512556,51.19099092483521

+35.19999999999996,55.00000000000025,34.0,0.1250960826873779,1615889399.513274,51.3818690776825

+35.39999999999996,55.20000000000024,34.0,0.1039988994598389,1615889399.510221,51.55328989028931

+35.599999999999966,55.40000000000025,33.0,0.1661591529846191,1615889399.516051,51.81951999664307

+35.79999999999997,55.60000000000025,33.0,0.1250078678131104,1615889399.514337,51.98276591300965

+35.99999999999997,55.80000000000026,34.0,0.1196660995483398,1615889399.513113,52.17219996452332

+36.199999999999974,56.00000000000026,33.0,0.134084939956665,1615889399.509842,52.38871598243714

+36.39999999999998,56.20000000000026,31.0,0.1218459606170654,1615889399.511922,52.57720398902894

+36.59999999999998,56.40000000000026,33.0,0.1520190238952637,1615889399.516409,52.80518293380737

+36.79999999999998,56.60000000000027,35.0,0.1113519668579102,1615889399.514792,52.96497297286987

+36.999999999999986,56.80000000000027,37.0,0.1270182132720947,1615889399.513707,53.18582701683045

+37.19999999999999,57.00000000000028,36.0,0.1249630451202393,1615889399.513935,53.38471198081971

+37.39999999999999,57.20000000000027,35.0,0.1364850997924805,1615889399.513434,53.59197211265564

+37.599999999999994,57.40000000000028,36.0,0.1583600044250488,1615889399.509816,53.82621002197266

+37.8,57.60000000000028,34.0,0.1067171096801758,1615889399.510376,53.96514797210694

+38.0,57.80000000000029,33.0,0.1097249984741211,1615889399.514226,54.17147493362427

+38.2,58.00000000000029,35.0,0.1244549751281738,1615889399.510253,54.38655900955201

+38.400000000000006,58.20000000000029,32.0,0.105039119720459,1615889399.513216,54.57381510734558

+38.60000000000001,58.40000000000029,32.0,0.1326138973236084,1615889399.515555,54.79191207885743

+38.80000000000001,58.6000000000003,34.0,0.1331160068511963,1615889399.509677,55.00412607192994

+39.000000000000014,58.8000000000003,36.0,0.1127250194549561,1615889399.51007,55.17347598075867

+39.20000000000002,59.00000000000031,38.0,0.1190848350524902,1615889399.509953,55.37259411811829

+39.40000000000002,59.2000000000003,37.0,0.1183998584747314,1615889399.509654,55.57474398612976

+39.60000000000002,59.40000000000031,34.0,0.1157360076904297,1615889399.513489,55.77220106124878

+39.800000000000026,59.60000000000031,35.0,0.1503548622131348,1615889399.50978,56.0061960220337

+40.00000000000003,59.80000000000032,35.0,0.1094999313354492,1615889399.510418,56.17023301124573

+40.20000000000003,60.00000000000032,34.0,0.1040620803833008,1615889399.512026,56.36119890213013

+40.400000000000034,60.20000000000032,35.0,0.1098771095275879,1615889399.512457,56.56220293045044

+40.60000000000004,60.40000000000032,34.0,0.119736909866333,1615889399.514107,56.77761411666871

+40.80000000000004,60.60000000000032,32.0,0.1165969371795654,1615889399.516218,56.96989989280701

+41.00000000000004,60.80000000000033,32.0,0.1078140735626221,1615889399.511875,57.16189908981324

+41.200000000000045,61.00000000000033,33.0,0.1233170032501221,1615889399.510312,57.38110303878784

+41.40000000000005,61.20000000000033,37.0,0.1308410167694092,1615889399.515617,57.60056805610657

+41.60000000000005,61.40000000000033,38.0,0.1303720474243164,1615889399.50953,57.78768396377564

+41.800000000000054,61.60000000000034,38.0,0.1675641536712646,1615889399.510757,58.02261590957642

+42.00000000000006,61.80000000000034,38.0,0.1310238838195801,1615889399.510388,58.18934297561646

+42.20000000000006,62.00000000000035,39.0,0.1147949695587158,1615889399.517219,58.37146210670472

+42.40000000000006,62.20000000000034,38.0,0.1138570308685303,1615889399.50978,58.57295489311219

+42.600000000000065,62.40000000000035,30.0,0.12123703956604,1615889399.510494,58.773442029953

+42.80000000000007,62.60000000000035,17.0,0.1189460754394531,1615889399.5101,58.97554397583008

+43.00000000000007,62.80000000000036,11.0,0.1322431564331055,1615889399.512757,59.1901171207428

+43.200000000000074,63.00000000000036,7.0,0.1116619110107422,1615889399.509931,59.37210011482239

+43.40000000000008,63.20000000000036,6.0,0.1066579818725586,1615889399.510202,59.55993604660034

+43.60000000000008,63.40000000000036,6.0,0.1065130233764648,1615889399.509781,59.7616629600525

+43.80000000000008,63.60000000000037,8.0,0.1149260997772217,1615889399.509855,59.9745581150055

+44.000000000000085,63.80000000000037,16.0,0.1505000591278076,1615889399.511922,60.21352696418763

+44.20000000000009,64.00000000000038,29.0,0.1208181381225586,1615889399.510386,60.37989091873169

+44.40000000000009,64.20000000000037,34.0,0.11244797706604,1615889399.512358,60.57623291015625

+44.600000000000094,64.40000000000038,30.0,0.1271839141845703,1615889399.513676,60.7848379611969

+44.8000000000001,64.60000000000038,24.0,0.1201491355895996,1615889399.512831,60.97505497932435

+45.0000000000001,64.8000000000004,24.0,0.1338911056518555,1615889399.513186,61.19415807724

+45.2000000000001,65.00000000000038,26.0,0.1238908767700195,1615889399.51553,61.37914800643921

+45.400000000000105,65.20000000000039,30.0,0.111591100692749,1615889399.513433,61.56256604194642

+45.60000000000011,65.40000000000039,32.0,0.1198050975799561,1615889399.513977,61.77557492256165

+45.80000000000011,65.6000000000004,31.0,0.1303830146789551,1615889399.512605,61.98698902130127

+46.000000000000114,65.8000000000004,30.0,0.1600449085235596,1615889399.513033,62.21369504928589

+46.20000000000012,66.00000000000041,30.0,0.1238560676574707,1615889399.510329,62.38199901580811

+46.40000000000012,66.2000000000004,30.0,0.1085669994354248,1615889399.5104,62.56100201606751

+46.60000000000012,66.4000000000004,31.0,0.1229400634765625,1615889399.509666,62.78106188774109

+46.800000000000125,66.6000000000004,32.0,0.1242070198059082,1615889399.509553,62.98749589920044

+47.00000000000013,66.80000000000041,33.0,0.1272780895233154,1615889399.514102,63.18957495689393

+47.20000000000013,67.00000000000043,32.0,0.1307950019836426,1615889399.51106,63.39990997314453

+47.400000000000134,67.20000000000041,31.0,0.1350951194763184,1615889399.513837,63.5905659198761

+47.600000000000136,67.40000000000042,31.0,0.1197190284729004,1615889399.515308,63.7831449508667

+47.80000000000014,67.60000000000042,33.0,0.119229793548584,1615889399.513209,63.97330808639527

+48.00000000000014,67.80000000000042,36.0,0.1600420475006104,1615889399.514445,64.22222089767456

+48.200000000000145,68.00000000000043,36.0,0.1182229518890381,1615889399.51009,64.37297892570496

+48.40000000000015,68.20000000000043,34.0,0.1098098754882813,1615889399.510164,64.56648802757265

+48.60000000000015,68.40000000000043,32.0,0.1328229904174805,1615889399.513161,64.78198194503786

+48.80000000000015,68.60000000000043,35.0,0.1193840503692627,1615889399.509739,64.98207402229309

+49.000000000000156,68.80000000000044,40.0,0.1131470203399658,1615889399.510013,65.17704796791077

+49.20000000000016,69.00000000000045,42.0,0.1146519184112549,1615889399.512489,65.37220001220703

+49.40000000000016,69.20000000000044,39.0,0.126507043838501,1615889399.509773,65.58997511863708

+49.600000000000165,69.40000000000045,34.0,0.1228530406951904,1615889399.515824,65.77948307991028

+49.80000000000017,69.60000000000045,31.0,0.1284351348876953,1615889399.514239,65.9829330444336

+50.00000000000017,69.80000000000047,31.0,0.1214990615844727,1615889399.510736,66.18148589134216

+50.20000000000017,70.00000000000045,34.0,0.1489529609680176,1615889399.509817,66.4201819896698

+50.400000000000176,70.20000000000046,38.0,0.1094648838043213,1615889399.513669,66.56297993659973

+50.60000000000018,70.40000000000046,37.0,0.1263461112976074,1615889399.512798,66.78658294677734

+50.80000000000018,70.60000000000046,35.0,0.1070599555969238,1615889399.51391,66.97048997879028

+51.000000000000185,70.80000000000047,33.0,0.1255590915679932,1615889399.516123,67.17784094810487

+51.20000000000019,71.00000000000048,33.0,0.1347181797027588,1615889399.513221,67.39881300926208

+51.40000000000019,71.20000000000047,35.0,0.1130020618438721,1615889399.51256,67.56982803344727

+51.60000000000019,71.40000000000047,35.0,0.1095800399780273,1615889399.513458,67.77208709716797

+51.800000000000196,71.60000000000048,35.0,0.1070809364318848,1615889399.509955,67.96054911613464

+52.0000000000002,71.8000000000005,33.0,0.1170339584350586,1615889399.509521,68.1693160533905

+52.2000000000002,72.00000000000048,33.0,0.1691229343414307,1615889399.510057,68.42214012145996

+52.400000000000205,72.20000000000049,33.0,0.1187310218811035,1615889399.515026,68.57301306724548

+52.60000000000021,72.40000000000049,36.0,0.1172211170196533,1615889399.512898,68.77306699752808

+52.80000000000021,72.6000000000005,36.0,0.1230380535125732,1615889399.512714,68.9765648841858

+53.00000000000021,72.8000000000005,34.0,0.1194889545440674,1615889399.512981,69.18157601356506

+53.200000000000216,73.0000000000005,34.0,0.1215980052947998,1615889399.51063,69.38068890571596

+53.40000000000022,73.2000000000005,38.0,0.1291670799255371,1615889399.512753,69.58262491226198

+53.60000000000022,73.4000000000005,41.0,0.1298861503601074,1615889399.513967,69.78334903717041

+53.800000000000225,73.6000000000005,40.0,0.1194219589233398,1615889399.514623,69.97372102737427

+54.00000000000023,73.80000000000051,41.0,0.1238019466400146,1615889399.514563,70.18088006973267

+54.20000000000023,74.00000000000053,35.0,0.1302649974822998,1615889399.50963,70.38346910476685

+54.40000000000023,74.20000000000051,23.0,0.1529018878936768,1615889399.51464,70.61049890518188

+54.600000000000236,74.40000000000052,20.0,0.1229360103607178,1615889399.513047,70.7817280292511

+54.80000000000024,74.60000000000052,28.0,0.1349179744720459,1615889399.510221,70.9950819015503

+55.00000000000024,74.80000000000052,43.0,0.1301898956298828,1615889399.515144,71.18578910827637

+55.200000000000244,75.00000000000053,45.0,0.152271032333374,1615889399.513225,71.41407895088197

+55.40000000000025,75.20000000000053,35.0,0.1297211647033691,1615889399.511865,71.58955788612366

+55.60000000000025,75.40000000000053,26.0,0.1350350379943848,1615889399.510362,71.7988429069519

+55.80000000000025,75.60000000000053,25.0,0.120093822479248,1615889399.512638,71.97503805160522

+56.000000000000256,75.80000000000054,31.0,0.1386609077453613,1615889399.512564,72.19385290145874

+56.20000000000026,76.00000000000055,34.0,0.1351521015167236,1615889399.514614,72.39322090148926

+56.40000000000026,76.20000000000054,37.0,0.173612117767334,1615889399.516797,72.62727308273315

+56.600000000000264,76.40000000000055,38.0,0.1182661056518555,1615889399.514788,72.78336596488953

+56.80000000000027,76.60000000000055,34.0,0.1314249038696289,1615889399.514794,72.98290205001831

+57.00000000000027,76.80000000000057,32.0,0.1342778205871582,1615889399.509822,73.1891610622406

+57.20000000000027,77.00000000000055,32.0,0.1376359462738037,1615889399.5125,73.39618301391602

+57.400000000000276,77.20000000000056,34.0,0.1154029369354248,1615889399.513976,73.57335996627808

+57.60000000000028,77.40000000000056,34.0,0.1208951473236084,1615889399.510325,73.78220796585083

+57.80000000000028,77.60000000000058,38.0,0.1238000392913818,1615889399.509245,73.98726606369019

+58.000000000000284,77.80000000000057,39.0,0.1223111152648926,1615889399.512129,74.17722511291505

+58.20000000000029,78.00000000000058,38.0,0.137627124786377,1615889399.512543,74.39299392700195

+58.40000000000029,78.20000000000057,38.0,0.1555800437927246,1615889399.509731,74.61897993087769

+58.60000000000029,78.40000000000057,36.0,0.1119849681854248,1615889399.514417,74.76583504676819

+58.800000000000296,78.60000000000058,36.0,0.1249980926513672,1615889399.51356,74.98649191856384

+59.0000000000003,78.8000000000006,34.0,0.1158549785614014,1615889399.512881,75.17091608047485

+59.2000000000003,79.0000000000006,30.0,0.124528169631958,1615889399.512991,75.37982511520386

+59.400000000000304,79.20000000000059,32.0,0.1389589309692383,1615889399.51758,75.60088109970093

+59.60000000000031,79.40000000000059,32.0,0.1328411102294922,1615889399.51028,75.7902159690857

+59.80000000000031,79.60000000000059,32.0,0.1278610229492188,1615889399.509475,75.98729801177979

+60.00000000000031,79.8000000000006,32.0,0.1367001533508301,1615889399.512726,76.19664812088013

+60.200000000000315,80.0000000000006,32.0,0.1124579906463623,1615889399.513546,76.37405610084534

+60.40000000000032,80.2000000000006,34.0,0.1411690711975098,1615889399.514249,76.5974349975586

+60.60000000000032,80.40000000000062,35.0,0.1529541015625,1615889399.51316,76.80765199661256

+60.800000000000324,80.6000000000006,36.0,0.1299219131469727,1615889399.516434,76.98693704605103

+61.00000000000033,80.8000000000006,38.0,0.1188399791717529,1615889399.513689,77.17414689064026

+61.20000000000033,81.00000000000063,30.0,0.1454989910125732,1615889399.513309,77.40077090263367

+61.40000000000033,81.20000000000061,13.0,0.1244308948516846,1615889399.509642,77.58106899261475

+61.600000000000335,81.40000000000063,7.0,0.1461460590362549,1615889399.511317,77.8025450706482

+61.80000000000034,81.60000000000062,6.0,0.1082239151000977,1615889399.514433,77.9718029499054

+62.00000000000034,81.80000000000062,6.0,0.1330809593200684,1615889399.510767,78.18948793411256

+62.200000000000344,82.00000000000063,6.0,0.1125531196594238,1615889399.514561,78.36772990226746

+62.40000000000035,82.20000000000063,6.0,0.1182141304016113,1615889399.512646,78.5909960269928

+62.60000000000035,82.40000000000065,6.0,0.1396520137786865,1615889399.511324,78.80534505844118

+62.80000000000035,82.60000000000063,7.0,0.1287510395050049,1615889399.515945,78.98348808288574

+63.000000000000355,82.80000000000064,21.0,0.1212728023529053,1615889399.515001,79.1795289516449

+63.20000000000036,83.00000000000065,43.0,0.1371378898620605,1615889399.512438,79.39587998390198

+63.40000000000036,83.20000000000064,47.0,0.1191921234130859,1615889399.515655,79.5758490562439

+63.600000000000364,83.40000000000066,44.0,0.1318330764770508,1615889399.513162,79.79075908660889

+63.80000000000037,83.60000000000065,33.0,0.1253719329833984,1615889399.512921,79.97778606414795

+64.00000000000037,83.80000000000065,19.0,0.1253859996795654,1615889399.513574,80.18401908874512

+64.20000000000037,84.00000000000065,16.0,0.1104879379272461,1615889399.51421,80.3645989894867

+64.40000000000038,84.20000000000066,25.0,0.1407759189605713,1615889399.513606,80.60394406318665

+64.60000000000038,84.40000000000067,39.0,0.1384680271148682,1615889399.514643,80.8007950782776

+64.80000000000038,84.60000000000068,44.0,0.1387801170349121,1615889399.509781,80.9978051185608

+65.00000000000038,84.80000000000067,41.0,0.1168389320373535,1615889399.515782,81.1725549697876

+65.20000000000039,85.00000000000068,30.0,0.1300809383392334,1615889399.509719,81.39197611808777

+65.40000000000039,85.20000000000067,23.0,0.1389470100402832,1615889399.510398,81.60218000411987

+65.60000000000039,85.40000000000067,27.0,0.1357901096343994,1615889399.5151,81.79593992233276

+65.8000000000004,85.60000000000068,37.0,0.1147761344909668,1615889399.513889,81.97214794158937

+66.0000000000004,85.80000000000068,41.0,0.1287457942962646,1615889399.509676,82.18050289154053

+66.2000000000004,86.0000000000007,36.0,0.1228079795837402,1615889399.513353,82.37874388694763

+66.4000000000004,86.20000000000068,29.0,0.1271100044250488,1615889399.509791,82.58921790122987

+66.6000000000004,86.4000000000007,26.0,0.1103479862213135,1615889399.512329,82.76587295532227

+66.80000000000041,86.60000000000069,30.0,0.1813788414001465,1615889399.513352,83.04463005065918

+67.00000000000041,86.8000000000007,37.0,0.1214830875396729,1615889399.51335,83.18886590003969

+67.20000000000041,87.0000000000007,36.0,0.1366510391235352,1615889399.514556,83.40185689926147

+67.40000000000042,87.2000000000007,33.0,0.1366951465606689,1615889399.509844,83.59418106079103

+67.60000000000042,87.40000000000072,33.0,0.1320319175720215,1615889399.518186,83.79093003273012

+67.80000000000042,87.6000000000007,35.0,0.120872974395752,1615889399.512093,83.98201894760133

+68.00000000000043,87.8000000000007,35.0,0.1253612041473389,1615889399.509712,84.17892789840698

+68.20000000000043,88.00000000000072,33.0,0.1215457916259766,1615889399.512755,84.37891507148743

+68.40000000000043,88.20000000000071,34.0,0.1259942054748535,1615889399.509819,84.58898997306822

+68.60000000000043,88.40000000000073,35.0,0.1210598945617676,1615889399.51324,84.77873396873476

+68.80000000000044,88.60000000000072,34.0,0.143671989440918,1615889399.514684,84.99594497680665

+69.00000000000044,88.80000000000072,32.0,0.1121261119842529,1615889399.514457,85.16755294799806

+69.20000000000044,89.00000000000072,32.0,0.1331000328063965,1615889399.51268,85.38347101211546

+69.40000000000045,89.20000000000073,35.0,0.1371910572052002,1615889399.513229,85.59262490272522

+69.60000000000045,89.40000000000074,36.0,0.1299540996551514,1615889399.515685,85.78176188468935

+69.80000000000045,89.60000000000073,37.0,0.1340329647064209,1615889399.509704,85.98992395401002

+70.00000000000045,89.80000000000074,38.0,0.1326711177825928,1615889399.513107,86.19498896598817

+70.20000000000046,90.00000000000075,36.0,0.1253390312194824,1615889399.515007,86.38293194770814

+70.40000000000046,90.20000000000074,34.0,0.1328949928283691,1615889399.512803,86.58371996879579

+70.60000000000046,90.40000000000076,33.0,0.1088101863861084,1615889399.512683,86.76933693885805

+70.80000000000047,90.60000000000075,33.0,0.1344819068908691,1615889399.51105,86.98708200454712

+71.00000000000047,90.80000000000075,32.0,0.1452231407165527,1615889399.514439,87.19929194450378

+71.20000000000047,91.00000000000075,33.0,0.1471099853515625,1615889399.513218,87.40465998649597

+71.40000000000047,91.20000000000076,35.0,0.1207671165466309,1615889399.510887,87.57019805908205

+71.60000000000048,91.40000000000077,37.0,0.1205680370330811,1615889399.509776,87.77334594726562

+71.80000000000048,91.60000000000078,37.0,0.1068010330200195,1615889399.509945,87.96166706085206

+72.00000000000048,91.80000000000076,35.0,0.1220989227294922,1615889399.509722,88.17555689811707

+72.20000000000049,92.00000000000077,33.0,0.1159648895263672,1615889399.512724,88.37222909927368

+72.40000000000049,92.20000000000077,34.0,0.1228408813476563,1615889399.51048,88.5828619003296

+72.60000000000049,92.40000000000077,34.0,0.1284630298614502,1615889399.509721,88.79003405570984

+72.8000000000005,92.60000000000078,36.0,0.1478540897369385,1615889399.513498,89.00985193252565

+73.0000000000005,92.80000000000078,37.0,0.1574869155883789,1615889399.514418,89.21377706527711

+73.2000000000005,93.0000000000008,35.0,0.1210761070251465,1615889399.515819,89.37196588516235

+73.4000000000005,93.20000000000078,37.0,0.1244440078735352,1615889399.510693,89.5811610221863

+73.6000000000005,93.4000000000008,37.0,0.1317300796508789,1615889399.509958,89.78490209579466

+73.80000000000051,93.60000000000079,35.0,0.1230688095092773,1615889399.514742,89.98179292678833

+74.00000000000051,93.8000000000008,35.0,0.1297590732574463,1615889399.515769,90.18303394317627

+74.20000000000051,94.0000000000008,37.0,0.1153411865234375,1615889399.510525,90.372554063797

+74.40000000000052,94.2000000000008,37.0,0.1407539844512939,1615889399.510123,90.59686708450317

+74.60000000000052,94.40000000000082,35.0,0.116441011428833,1615889399.514357,90.77488207817078

+74.80000000000052,94.6000000000008,35.0,0.1291179656982422,1615889399.513242,90.98447299003601

+75.00000000000053,94.8000000000008,35.0,0.1220309734344482,1615889399.509287,91.17673206329346

+75.20000000000053,95.00000000000082,37.0,0.151439905166626,1615889399.514657,91.41726589202881

+75.40000000000053,95.20000000000081,36.0,0.1240370273590088,1615889399.515293,91.59183096885683

+75.60000000000053,95.60000000000082,35.0,0.108814001083374,1615889399.512311,91.96196007728577

+75.80000000000054,95.80000000000082,35.0,0.1348960399627686,1615889399.509285,92.18871593475342

+76.00000000000054,96.00000000000082,36.0,0.1242339611053467,1615889399.513061,92.38535904884338

+76.20000000000054,96.20000000000083,35.0,0.1192140579223633,1615889399.513688,92.57575392723083

+76.40000000000055,96.40000000000084,35.0,0.1195099353790283,1615889399.512749,92.77712798118591

+76.60000000000055,96.60000000000085,34.0,0.1158931255340576,1615889399.510681,92.9740629196167

+76.80000000000055,96.80000000000085,37.0,0.1186079978942871,1615889399.513441,93.18108391761781

+77.00000000000055,97.00000000000085,34.0,0.164201021194458,1615889399.510111,93.42455697059631

+77.20000000000056,97.20000000000084,33.0,0.1272768974304199,1615889399.512622,93.58198690414429

+77.40000000000056,97.40000000000084,35.0,0.1362440586090088,1615889399.513773,93.79355311393738

+77.60000000000056,97.60000000000085,36.0,0.1367371082305908,1615889399.520668,93.99745392799377

+77.80000000000057,97.80000000000086,33.0,0.1239421367645264,1615889399.514637,94.18275094032288

+78.00000000000057,98.00000000000087,33.0,0.1162588596343994,1615889399.514593,94.37295889854431

+78.20000000000057,98.20000000000086,37.0,0.1390330791473389,1615889399.513062,94.59507608413698

+78.40000000000057,98.40000000000087,38.0,0.1100020408630371,1615889399.512934,94.77147102355957

+78.60000000000058,98.60000000000086,36.0,0.1339550018310547,1615889399.509859,94.98612403869629

+78.80000000000058,98.80000000000088,33.0,0.1184508800506592,1615889399.512888,95.17467689514162

+79.00000000000058,99.00000000000087,33.0,0.1608059406280518,1615889399.512564,95.41694593429565

+79.20000000000059,99.20000000000087,34.0,0.1190412044525146,1615889399.516098,95.57344388961793

+79.40000000000059,99.40000000000089,34.0,0.1068310737609863,1615889399.510421,95.76505208015442

+79.60000000000059,99.60000000000088,34.0,0.1313760280609131,1615889399.512459,95.98921704292297

+79.8000000000006,99.80000000000089,34.0,0.1338558197021484,1615889399.512423,96.19547104835512

+80.0000000000006,100.0000000000009,35.0,0.1314740180969238,1615889399.512322,96.39583706855774

+80.2000000000006,100.2000000000009,35.0,0.1329758167266846,1615889399.512654,96.58785390853883

+80.4000000000006,100.4000000000009,35.0,0.1170661449432373,1615889399.514565,96.77767705917358

+80.6000000000006,100.6000000000009,33.0,0.1235380172729492,1615889399.510627,96.98308205604555

+80.80000000000061,100.8000000000009,34.0,0.1112961769104004,1615889399.509232,97.17404699325563

+81.00000000000061,101.0000000000009,36.0,0.1536159515380859,1615889399.513432,97.4114339351654

+81.20000000000061,101.2000000000009,36.0,0.1423981189727783,1615889399.514406,97.60207295417786

+81.40000000000062,101.4000000000009,34.0,0.1283481121063232,1615889399.514535,97.79079389572145

+81.60000000000062,101.6000000000009,33.0,0.1124300956726074,1615889399.513351,97.96985793113708

+81.80000000000062,101.8000000000009,34.0,0.1096649169921875,1615889399.513667,98.16367793083192

+82.00000000000063,102.0000000000009,34.0,0.1120738983154297,1615889399.510548,98.37991905212402

+82.20000000000063,102.2000000000009,34.0,0.1186659336090088,1615889399.513081,98.58908796310425

+82.40000000000063,102.4000000000009,35.0,0.1237690448760986,1615889399.513324,98.78743100166322

+82.60000000000063,102.8000000000009,35.0,0.1204922199249268,1615889399.51322,99.19775795936586

+82.80000000000064,103.0000000000009,34.0,0.1240949630737305,1615889399.512657,99.38256096839906

+83.00000000000064,103.2000000000009,34.0,0.1544620990753174,1615889399.513894,99.61282706260683

+83.20000000000064,103.4000000000009,35.0,0.1089799404144287,1615889399.510269,99.7709789276123

+83.40000000000065,103.6000000000009,35.0,0.1195409297943115,1615889399.514993,99.97681188583375

+83.60000000000065,103.8000000000009,34.0,0.1162369251251221,1615889399.513323,100.1831169128418

+83.80000000000065,104.0000000000009,35.0,0.1354591846466064,1615889399.512097,100.3893439769745

+84.00000000000065,104.2000000000009,36.0,0.1222870349884033,1615889399.512904,100.5830719470978

+84.20000000000066,104.4000000000009,35.0,0.1145148277282715,1615889399.510378,100.7695739269257

+84.40000000000066,104.600000000001,37.0,0.1087260246276855,1615889399.512634,100.9627621173859

+84.60000000000066,104.800000000001,36.0,0.1175069808959961,1615889399.511128,101.1766240596771

+84.80000000000067,105.000000000001,36.0,0.1265270709991455,1615889399.513915,101.3874990940094

+85.00000000000067,105.200000000001,38.0,0.1348798274993896,1615889399.513753,101.5936369895935

+85.20000000000067,105.400000000001,38.0,0.1327841281890869,1615889399.51569,101.7858641147614

+85.40000000000067,105.600000000001,35.0,0.1331429481506348,1615889399.515403,101.9900920391083

+85.60000000000068,105.800000000001,33.0,0.1078259944915771,1615889399.513358,102.1698529720307

+85.80000000000068,106.000000000001,34.0,0.1187911033630371,1615889399.512443,102.3734600543976

+86.00000000000068,106.200000000001,35.0,0.1340229511260986,1615889399.51052,102.5915629863739

+86.20000000000068,106.400000000001,37.0,0.1134819984436035,1615889399.512509,102.7696130275726

+86.40000000000069,106.600000000001,36.0,0.119265079498291,1615889399.513872,102.9766089916229

+86.60000000000069,106.800000000001,35.0,0.1108200550079346,1615889399.513201,103.1748518943787

+86.8000000000007,107.000000000001,34.0,0.1252548694610596,1615889399.51427,103.3931539058685

+87.0000000000007,107.200000000001,33.0,0.1329140663146973,1615889399.51273,103.5946071147919

+87.2000000000007,107.400000000001,31.0,0.146388053894043,1615889399.509609,103.7955911159515

+87.4000000000007,107.600000000001,34.0,0.1192300319671631,1615889399.51371,103.9778530597687

+87.6000000000007,107.800000000001,37.0,0.1139960289001465,1615889399.513628,104.1761341094971

+87.80000000000071,108.000000000001,36.0,0.1029701232910156,1615889399.513317,104.3632390499115

+88.00000000000071,108.200000000001,37.0,0.1262280941009521,1615889399.513455,104.58948802948

+88.20000000000071,108.400000000001,37.0,0.1186411380767822,1615889399.515069,104.7828979492188

+88.40000000000072,108.600000000001,32.0,0.121373176574707,1615889399.509747,104.9738159179687

+88.60000000000072,108.800000000001,15.0,0.1244831085205078,1615889399.509964,105.1834630966187

+88.80000000000072,109.000000000001,6.0,0.1167681217193604,1615889399.514002,105.3720879554749

+89.00000000000072,109.200000000001,5.0,0.1095528602600098,1615889399.513866,105.5670099258423

+89.20000000000073,109.400000000001,5.0,0.1433200836181641,1615889399.513051,105.8055160045624

+89.40000000000073,109.600000000001,5.0,0.1362049579620361,1615889399.516992,105.99143409729

+89.60000000000073,109.800000000001,5.0,0.1207101345062256,1615889399.509893,106.1829159259796

+89.80000000000074,110.000000000001,5.0,0.1258621215820313,1615889399.514749,106.3848330974579

+90.00000000000074,110.200000000001,6.0,0.122899055480957,1615889399.513677,106.5768249034882

+90.20000000000074,110.400000000001,5.0,0.1168258190155029,1615889399.512992,106.7746169567108

+90.40000000000074,110.600000000001,5.0,0.1157259941101074,1615889399.513414,106.9725959300995

+90.60000000000075,110.800000000001,5.0,0.1089119911193848,1615889399.509603,107.1640989780426

+90.80000000000075,111.000000000001,5.0,0.1096749305725098,1615889399.515044,107.3722488880158

+91.00000000000075,111.2000000000011,5.0,0.1331779956817627,1615889399.509837,107.5905349254608

+91.20000000000076,111.4000000000011,5.0,0.1027719974517822,1615889399.512728,107.7655370235443

+91.40000000000076,111.6000000000011,5.0,0.1457080841064453,1615889399.513607,107.9998660087585

+91.60000000000076,111.8000000000011,5.0,0.1334831714630127,1615889399.513742,108.1950340270996

+91.80000000000076,112.0000000000011,5.0,0.1299660205841064,1615889399.516697,108.3882420063019

+92.00000000000077,112.2000000000011,5.0,0.1218662261962891,1615889399.512966,108.5799000263214

+92.20000000000077,112.4000000000011,5.0,0.1235110759735107,1615889399.511825,108.7802259922028

+92.40000000000077,112.6000000000011,30.0,0.1218998432159424,1615889399.513113,108.9827980995178

+92.60000000000078,112.8000000000011,48.0,0.1272070407867432,1615889399.51544,109.1842179298401

+92.80000000000078,113.0000000000011,47.0,0.1095530986785889,1615889399.515219,109.3655469417572

+93.00000000000078,113.2000000000011,45.0,0.1347708702087402,1615889399.514448,109.5994510650635

+93.20000000000078,113.4000000000011,46.0,0.1184320449829102,1615889399.513914,109.7813799381256

+93.40000000000079,113.6000000000011,45.0,0.1565718650817871,1615889399.509938,110.0149350166321

+93.60000000000079,113.8000000000011,43.0,0.1209330558776855,1615889399.511373,110.1835119724274

+93.8000000000008,114.0000000000011,43.0,0.1348898410797119,1615889399.514098,110.3918859958649

+94.0000000000008,114.2000000000011,42.0,0.1210148334503174,1615889399.513953,110.5746159553528

+94.2000000000008,114.4000000000011,43.0,0.1389269828796387,1615889399.509586,110.7952980995178

+94.4000000000008,114.6000000000011,42.0,0.1215341091156006,1615889399.516021,110.9751250743866

+94.6000000000008,114.8000000000011,42.0,0.1351909637451172,1615889399.512891,111.1910049915314

+94.80000000000081,115.0000000000011,40.0,0.1194961071014404,1615889399.512936,111.3721001148224

+95.00000000000081,115.2000000000011,38.0,0.1357581615447998,1615889399.509723,111.5911478996277

+95.20000000000081,115.4000000000011,35.0,0.126154899597168,1615889399.514367,111.7893669605255

+95.40000000000082,115.6000000000011,32.0,0.1215791702270508,1615889399.513928,111.9706060886383

+95.60000000000082,115.8000000000011,32.0,0.1417560577392578,1615889399.51002,112.2019350528717

+95.80000000000082,116.0000000000011,34.0,0.1519050598144531,1615889399.511377,112.4152090549469

+96.00000000000082,116.2000000000011,36.0,0.1249761581420898,1615889399.514356,112.58873295784

+96.20000000000083,116.4000000000011,35.0,0.1280739307403564,1615889399.512304,112.7855460643768

+96.40000000000083,116.6000000000011,35.0,0.1301569938659668,1615889399.513771,112.9906229972839

+96.60000000000083,116.8000000000011,37.0,0.1327488422393799,1615889399.515228,113.1851840019226

+96.80000000000084,117.0000000000011,35.0,0.1175050735473633,1615889399.51443,113.3718059062958

+97.00000000000084,117.2000000000011,37.0,0.1441891193389893,1615889399.5105,113.5998001098633

+97.20000000000084,117.4000000000011,39.0,0.1194400787353516,1615889399.512923,113.7832911014557

+97.40000000000084,117.6000000000011,39.0,0.1442339420318604,1615889399.509969,114.0017130374908

+97.60000000000085,117.8000000000011,37.0,0.1482229232788086,1615889399.510777,114.2088611125946

+97.80000000000085,118.0000000000011,37.0,0.1170690059661865,1615889399.513876,114.3729910850525

+98.00000000000085,118.2000000000011,36.0,0.1154260635375977,1615889399.513718,114.5759088993072

+98.20000000000086,118.4000000000011,33.0,0.1280238628387451,1615889399.513406,114.7858579158783

+98.40000000000086,118.6000000000011,34.0,0.1310529708862305,1615889399.513835,114.9877810478211

+98.60000000000086,118.8000000000011,36.0,0.1207430362701416,1615889399.514152,115.1719748973846

+98.80000000000086,119.0000000000011,34.0,0.107429027557373,1615889399.509702,115.3614869117737

+99.00000000000087,119.2000000000012,33.0,0.1324889659881592,1615889399.514952,115.5915200710297

+99.20000000000087,119.4000000000011,32.0,0.1227490901947021,1615889399.510199,115.7892370223999

+99.40000000000087,119.6000000000012,31.0,0.1442019939422607,1615889399.512744,116.0051729679108

+99.60000000000088,119.8000000000012,34.0,0.1802411079406738,1615889399.514477,116.245609998703

+99.80000000000088,120.0000000000012,38.0,0.1394901275634766,1615889399.513819,116.4045898914337

+100.00000000000088,120.2000000000012,38.0,0.131666898727417,1615889399.512838,116.582624912262

+100.20000000000088,120.4000000000012,36.0,0.1590359210968018,1615889399.509611,116.8151040077209

+100.40000000000089,120.6000000000012,35.0,0.1271059513092041,1615889399.513058,116.9776759147644

+100.60000000000089,120.8000000000012,35.0,0.1250460147857666,1615889399.51432,117.1774899959564

+100.80000000000089,121.0000000000012,35.0,0.1195790767669678,1615889399.514743,117.3806750774384

+101.0000000000009,121.2000000000012,36.0,0.1390759944915771,1615889399.512364,117.5906610488892

+101.2000000000009,121.4000000000012,38.0,0.121380090713501,1615889399.512951,117.7826080322266

+101.4000000000009,121.6000000000012,36.0,0.1328799724578857,1615889399.513342,117.9898529052734

+101.6000000000009,121.8000000000012,34.0,0.122081995010376,1615889399.511763,118.1794719696045


+ 0 - 317
examples/AGV/obtained1.csv

@@ -1,317 +0,0 @@
-arrived_at,time,color,dur,tcp_dur

-0.0,7.800000000000004,36.0,134.0,8.0

-0.05,8.000000000000004,34.0,134.0,8.0

-0.1,8.200000000000003,35.0,123.0,7.0

-0.15000000000000002,8.400000000000002,37.0,123.0,7.0

-0.2,8.600000000000001,36.0,131.0,7.0

-0.25,8.8,34.0,133.0,5.0

-0.3,9.0,34.0,125.0,2.0

-0.35,9.2,35.0,128.0,10.0

-0.39999999999999997,9.399999999999999,34.0,121.0,3.0

-0.44999999999999996,9.599999999999998,32.0,165.0,4.0

-0.49999999999999994,9.799999999999997,32.0,130.0,5.0

-0.5499999999999999,9.999999999999996,34.0,128.0,5.0

-0.6,10.2,36.0,112.0,7.0

-0.65,10.4,37.0,137.0,6.0

-0.7000000000000001,10.59999999999999,34.0,119.0,3.0

-0.7500000000000001,10.79999999999999,34.0,132.0,11.0

-0.8000000000000002,10.99999999999999,35.0,118.0,6.0

-0.8500000000000002,11.19999999999999,34.0,138.0,3.0

-0.9000000000000002,11.39999999999999,37.0,126.0,3.0

-0.9500000000000003,11.59999999999999,37.0,173.0,6.0

-1.0000000000000002,11.79999999999999,37.0,115.0,4.0

-1.0500000000000003,11.99999999999999,35.0,131.0,8.0

-1.1000000000000003,12.19999999999999,35.0,119.0,3.0

-1.1500000000000004,12.39999999999999,37.0,131.0,4.0

-1.2000000000000004,12.59999999999999,37.0,130.0,4.0

-1.2500000000000004,12.79999999999999,37.0,137.0,6.0

-1.3000000000000005,12.99999999999999,34.0,140.0,4.0

-1.3500000000000005,13.19999999999999,32.0,138.0,7.0

-1.4000000000000006,13.39999999999999,30.0,130.0,7.0

-1.4500000000000006,13.59999999999999,34.0,157.0,3.0

-1.5000000000000007,13.79999999999998,38.0,123.0,5.0

-1.5500000000000007,13.99999999999998,37.0,136.0,3.0

-1.6000000000000008,14.19999999999998,36.0,126.0,3.0

-1.6500000000000008,14.39999999999998,34.0,144.0,6.0

-1.7000000000000008,14.59999999999998,32.0,121.0,9.0

-1.7500000000000009,14.79999999999998,33.0,142.0,7.0

-1.800000000000001,14.99999999999998,33.0,123.0,5.0

-1.850000000000001,15.19999999999998,34.0,128.0,6.0

-1.900000000000001,15.39999999999998,34.0,116.0,3.0

-1.950000000000001,15.59999999999998,34.0,119.0,6.0

-2.000000000000001,15.79999999999998,34.0,146.0,4.0

-2.0500000000000007,15.99999999999998,35.0,134.0,5.0

-2.1000000000000005,16.19999999999997,37.0,121.0,6.0

-2.1500000000000004,16.39999999999997,43.0,137.0,8.0

-2.2,16.59999999999997,45.0,144.0,21.0

-2.25,16.79999999999997,38.0,143.0,5.0

-2.3,16.99999999999997,22.0,114.0,8.0

-2.3499999999999996,17.19999999999997,18.0,135.0,3.0

-2.3999999999999995,17.39999999999997,30.0,116.0,7.0

-2.4499999999999993,17.59999999999997,47.0,139.0,7.0

-2.499999999999999,17.99999999999997,38.0,302.0,3.0

-2.549999999999999,17.99999999999997,38.0,0.0,7.0

-2.5999999999999988,18.59999999999997,24.0,391.0,3.0

-2.6499999999999986,18.59999999999997,24.0,2.0,4.0

-2.6999999999999984,19.19999999999996,44.0,386.0,9.0

-2.7499999999999982,19.19999999999996,44.0,2.0,5.0

-2.799999999999998,19.79999999999996,38.0,413.0,3.0

-2.849999999999998,19.79999999999996,38.0,3.0,10.0

-2.8999999999999977,20.39999999999996,22.0,384.0,6.0

-2.9499999999999975,20.39999999999996,22.0,1.0,6.0

-2.9999999999999973,20.99999999999996,52.0,381.0,7.0

-3.049999999999997,20.99999999999996,52.0,1.0,6.0

-3.099999999999997,21.59999999999996,14.0,416.0,5.0

-3.149999999999997,21.59999999999996,14.0,1.0,6.0

-3.1999999999999966,22.39999999999995,46.0,568.0,3.0

-3.2499999999999964,22.39999999999995,46.0,2.0,4.0

-3.2999999999999963,22.99999999999995,36.0,401.0,4.0

-3.349999999999996,22.99999999999995,36.0,1.0,4.0

-3.399999999999996,23.59999999999995,30.0,364.0,5.0

-3.4499999999999957,23.59999999999995,30.0,9.0,14.0

-3.4999999999999956,24.19999999999995,40.0,429.0,3.0

-3.5499999999999954,24.19999999999995,40.0,0.0,5.0

-3.599999999999995,24.79999999999995,29.0,401.0,8.0

-3.649999999999995,24.79999999999995,29.0,4.0,3.0

-3.699999999999995,25.39999999999994,40.0,384.0,3.0

-3.7499999999999947,25.39999999999994,40.0,3.0,3.0

-3.7999999999999945,26.19999999999994,26.0,601.0,5.0

-3.8499999999999943,26.19999999999994,26.0,1.0,7.0

-3.899999999999994,26.79999999999994,18.0,392.0,4.0

-3.949999999999994,26.79999999999994,18.0,4.0,3.0

-3.999999999999994,27.59999999999994,7.0,558.0,5.0

-4.049999999999994,27.59999999999994,7.0,4.0,11.0

-4.099999999999993,28.19999999999993,7.0,383.0,10.0

-4.149999999999993,28.19999999999993,7.0,6.0,6.0

-4.199999999999993,28.79999999999993,40.0,437.0,13.0

-4.249999999999993,28.79999999999993,40.0,1.0,7.0

-4.299999999999993,29.39999999999993,30.0,380.0,6.0

-4.3499999999999925,29.39999999999993,30.0,1.0,7.0

-4.399999999999992,29.99999999999993,31.0,413.0,7.0

-4.449999999999992,29.99999999999993,31.0,1.0,8.0

-4.499999999999992,30.79999999999993,34.0,582.0,10.0

-4.549999999999992,30.79999999999993,34.0,1.0,10.0

-4.599999999999992,31.39999999999992,32.0,388.0,6.0

-4.6499999999999915,31.39999999999992,32.0,3.0,5.0

-4.699999999999991,31.99999999999992,34.0,403.0,3.0

-4.749999999999991,31.99999999999992,34.0,2.0,6.0

-4.799999999999991,32.79999999999993,33.0,542.0,2.0

-4.849999999999991,32.79999999999993,33.0,4.0,3.0

-4.899999999999991,33.39999999999994,33.0,392.0,4.0

-4.94999999999999,33.39999999999994,33.0,1.0,5.0

-4.99999999999999,33.99999999999995,38.0,396.0,4.0

-5.04999999999999,33.99999999999995,38.0,0.0,9.0

-5.09999999999999,34.59999999999996,31.0,415.0,6.0

-5.14999999999999,34.59999999999996,31.0,1.0,6.0

-5.1999999999999895,35.59999999999997,32.0,789.0,2.0

-5.249999999999989,35.59999999999997,32.0,0.0,7.0

-5.299999999999989,36.19999999999997,34.0,392.0,2.0

-5.349999999999989,36.19999999999997,34.0,0.0,11.0

-5.399999999999989,36.79999999999998,34.0,402.0,13.0

-5.449999999999989,36.79999999999998,34.0,7.0,7.0

-5.4999999999999885,37.39999999999999,34.0,394.0,3.0

-5.549999999999988,37.39999999999999,34.0,3.0,3.0

-5.599999999999988,38.0,34.0,357.0,4.0

-5.649999999999988,38.0,34.0,1.0,7.0

-5.699999999999988,38.60000000000001,33.0,387.0,7.0

-5.749999999999988,38.60000000000001,33.0,0.0,6.0

-5.799999999999987,39.20000000000002,35.0,415.0,7.0

-5.849999999999987,39.20000000000002,35.0,1.0,3.0

-5.899999999999987,40.00000000000003,37.0,586.0,6.0

-5.949999999999987,40.00000000000003,37.0,3.0,3.0

-5.999999999999987,40.60000000000004,37.0,383.0,3.0

-6.0499999999999865,40.60000000000004,37.0,3.0,3.0

-6.099999999999986,41.20000000000005,37.0,404.0,3.0

-6.149999999999986,41.20000000000005,37.0,3.0,3.0

-6.199999999999986,41.80000000000006,37.0,400.0,4.0

-6.249999999999986,41.80000000000006,37.0,3.0,7.0

-6.299999999999986,42.40000000000006,23.0,400.0,5.0

-6.349999999999985,42.40000000000006,23.0,0.0,7.0

-6.399999999999985,43.20000000000007,8.0,576.0,7.0

-6.449999999999985,43.20000000000007,8.0,4.0,4.0

-6.499999999999985,43.80000000000009,39.0,395.0,8.0

-6.549999999999985,43.80000000000009,39.0,1.0,3.0

-6.5999999999999845,44.40000000000009,26.0,392.0,5.0

-6.649999999999984,44.40000000000009,26.0,1.0,8.0

-6.699999999999984,45.0000000000001,30.0,405.0,6.0

-6.749999999999984,45.0000000000001,30.0,5.0,5.0

-6.799999999999984,45.60000000000011,33.0,380.0,5.0

-6.849999999999984,45.60000000000011,33.0,1.0,10.0

-6.8999999999999835,46.20000000000012,31.0,404.0,7.0

-6.949999999999983,46.20000000000012,31.0,3.0,5.0

-6.999999999999983,46.80000000000013,35.0,389.0,5.0

-7.049999999999983,46.80000000000013,35.0,2.0,6.0

-7.099999999999983,47.40000000000014,32.0,384.0,2.0

-7.149999999999983,47.40000000000014,32.0,1.0,3.0

-7.199999999999982,48.00000000000015,35.0,396.0,5.0

-7.249999999999982,48.00000000000015,35.0,1.0,7.0

-7.299999999999982,48.60000000000015,34.0,376.0,2.0

-7.349999999999982,48.60000000000015,34.0,3.0,4.0

-7.399999999999982,49.20000000000016,35.0,428.0,4.0

-7.4499999999999815,49.20000000000016,35.0,4.0,3.0

-7.499999999999981,49.80000000000017,35.0,376.0,4.0

-7.549999999999981,49.80000000000017,35.0,4.0,4.0

-7.599999999999981,50.40000000000018,31.0,384.0,3.0

-7.649999999999981,50.40000000000018,31.0,6.0,5.0

-7.699999999999981,50.80000000000019,38.0,238.0,3.0

-7.7499999999999805,50.80000000000019,38.0,2.0,4.0

-7.79999999999998,51.8000000000002,35.0,758.0,5.0

-7.84999999999998,51.8000000000002,35.0,1.0,4.0

-7.89999999999998,52.40000000000021,34.0,388.0,3.0

-7.94999999999998,52.40000000000021,34.0,0.0,8.0

-7.99999999999998,52.80000000000022,31.0,228.0,4.0

-8.04999999999998,52.80000000000022,31.0,0.0,10.0

-8.09999999999998,53.60000000000023,38.0,593.0,8.0

-8.14999999999998,53.60000000000023,38.0,3.0,3.0

-8.199999999999982,54.20000000000023,40.0,399.0,2.0

-8.249999999999982,54.20000000000023,40.0,4.0,4.0

-8.299999999999983,54.80000000000024,9.0,389.0,6.0

-8.349999999999984,54.80000000000024,9.0,4.0,4.0

-8.399999999999984,55.60000000000025,7.0,553.0,5.0

-8.449999999999985,55.60000000000025,7.0,6.0,5.0

-8.499999999999986,56.00000000000026,29.0,255.0,4.0

-8.549999999999986,56.20000000000026,36.0,142.0,10.0

-8.599999999999987,56.40000000000026,37.0,124.0,7.0

-8.649999999999988,56.60000000000027,25.0,135.0,5.0

-8.699999999999989,56.80000000000027,19.0,128.0,4.0

-8.74999999999999,57.00000000000028,22.0,127.0,5.0

-8.79999999999999,57.20000000000027,30.0,129.0,12.0

-8.84999999999999,57.40000000000028,38.0,179.0,5.0

-8.899999999999991,57.60000000000028,36.0,131.0,5.0

-8.949999999999992,57.80000000000029,31.0,137.0,7.0

-8.999999999999993,58.00000000000029,26.0,115.0,5.0

-9.049999999999994,58.20000000000029,26.0,130.0,5.0

-9.099999999999994,58.40000000000029,31.0,127.0,7.0

-9.149999999999995,58.6000000000003,37.0,130.0,8.0

-9.199999999999996,58.8000000000003,37.0,122.0,10.0

-9.249999999999996,59.00000000000031,32.0,135.0,8.0

-9.299999999999997,59.2000000000003,27.0,114.0,8.0

-9.349999999999998,59.40000000000031,28.0,151.0,3.0

-9.399999999999999,59.60000000000031,32.0,130.0,5.0

-9.45,59.80000000000032,37.0,135.0,3.0

-9.5,60.00000000000032,38.0,113.0,4.0

-9.55,60.20000000000032,36.0,132.0,7.0

-9.600000000000001,60.40000000000032,32.0,125.0,5.0

-9.650000000000002,60.60000000000032,31.0,139.0,7.0

-9.700000000000003,60.80000000000033,36.0,139.0,8.0

-9.750000000000004,61.00000000000033,38.0,128.0,3.0

-9.800000000000004,61.20000000000033,41.0,121.0,3.0

-9.850000000000005,61.40000000000033,39.0,135.0,6.0

-9.900000000000006,61.60000000000034,34.0,155.0,6.0

-9.950000000000006,61.80000000000034,27.0,139.0,3.0

-10.000000000000007,62.00000000000035,28.0,127.0,7.0

-10.050000000000008,62.20000000000034,37.0,136.0,6.0

-10.100000000000009,62.40000000000035,44.0,124.0,7.0

-10.15000000000001,62.60000000000035,41.0,137.0,5.0

-10.20000000000001,62.80000000000036,30.0,126.0,8.0

-10.25000000000001,63.00000000000036,23.0,136.0,9.0

-10.300000000000011,63.20000000000036,27.0,120.0,3.0

-10.350000000000012,63.40000000000036,38.0,134.0,3.0

-10.400000000000013,63.80000000000037,39.0,330.0,8.0

-10.450000000000014,63.80000000000037,39.0,4.0,8.0

-10.500000000000014,64.40000000000038,31.0,373.0,3.0

-10.550000000000015,64.40000000000038,31.0,1.0,4.0

-10.600000000000016,65.00000000000038,36.0,407.0,5.0

-10.650000000000016,65.00000000000038,36.0,5.0,6.0

-10.700000000000017,65.6000000000004,40.0,4.0,11.0

-10.750000000000018,66.2000000000004,26.0,413.0,4.0

-10.800000000000018,66.2000000000004,26.0,6.0,7.0

-10.85000000000002,66.80000000000041,38.0,385.0,7.0

-10.90000000000002,66.80000000000041,38.0,0.0,7.0

-10.95000000000002,67.40000000000042,28.0,415.0,8.0

-11.000000000000021,67.40000000000042,28.0,4.0,5.0

-11.050000000000022,68.20000000000043,36.0,570.0,4.0

-11.100000000000023,68.20000000000043,36.0,1.0,5.0

-11.150000000000023,68.80000000000044,30.0,383.0,8.0

-11.200000000000024,68.80000000000044,30.0,3.0,5.0

-11.250000000000025,69.40000000000045,34.0,403.0,5.0

-11.300000000000026,69.40000000000045,34.0,0.0,6.0

-11.350000000000026,70.00000000000045,40.0,425.0,8.0

-11.400000000000027,70.20000000000046,39.0,141.0,3.0

-11.450000000000028,70.20000000000046,39.0,4.0,4.0

-11.500000000000028,70.80000000000047,30.0,388.0,2.0

-11.55000000000003,70.80000000000047,30.0,1.0,3.0

-11.60000000000003,71.40000000000047,34.0,366.0,6.0

-11.65000000000003,71.40000000000047,34.0,1.0,11.0

-11.700000000000031,72.00000000000048,32.0,417.0,8.0

-11.750000000000032,72.00000000000048,32.0,4.0,5.0

-11.800000000000033,72.6000000000005,37.0,390.0,3.0

-11.850000000000033,72.6000000000005,37.0,1.0,7.0

-11.900000000000034,73.2000000000005,17.0,386.0,3.0

-11.950000000000035,73.2000000000005,17.0,5.0,4.0

-12.000000000000036,73.80000000000051,7.0,412.0,5.0

-12.050000000000036,74.00000000000053,7.0,167.0,4.0

-12.100000000000037,74.20000000000051,6.0,121.0,3.0

-12.150000000000038,74.40000000000052,6.0,136.0,12.0

-12.200000000000038,74.40000000000052,6.0,1.0,3.0

-12.250000000000039,75.00000000000053,27.0,394.0,3.0

-12.30000000000004,75.20000000000053,43.0,121.0,5.0

-12.35000000000004,75.40000000000053,44.0,124.0,3.0

-12.400000000000041,75.60000000000053,37.0,131.0,14.0

-12.450000000000042,75.80000000000054,29.0,131.0,6.0

-12.500000000000043,75.80000000000054,29.0,2.0,4.0

-12.550000000000043,76.60000000000055,38.0,560.0,5.0

-12.600000000000044,76.60000000000055,38.0,4.0,4.0

-12.650000000000045,77.20000000000056,26.0,390.0,4.0

-12.700000000000045,77.20000000000056,26.0,0.0,7.0

-12.750000000000046,77.80000000000057,42.0,394.0,7.0

-12.800000000000047,77.80000000000057,42.0,0.0,3.0

-12.850000000000048,78.60000000000058,27.0,593.0,8.0

-12.900000000000048,78.60000000000058,27.0,2.0,5.0

-12.950000000000049,79.20000000000059,43.0,380.0,4.0

-13.00000000000005,79.20000000000059,43.0,4.0,3.0

-13.05000000000005,79.8000000000006,26.0,407.0,3.0

-13.100000000000051,79.8000000000006,26.0,1.0,8.0

-13.150000000000052,80.40000000000062,41.0,406.0,9.0

-13.200000000000053,80.40000000000062,41.0,1.0,8.0

-13.250000000000053,81.00000000000063,30.0,369.0,7.0

-13.300000000000054,81.00000000000063,30.0,6.0,5.0

-13.350000000000055,81.60000000000062,38.0,391.0,5.0

-13.400000000000055,81.60000000000062,38.0,3.0,3.0

-13.450000000000056,82.20000000000063,34.0,380.0,7.0

-13.500000000000057,82.20000000000063,34.0,4.0,4.0

-13.550000000000058,82.60000000000063,33.0,242.0,4.0

-13.600000000000058,82.60000000000063,33.0,6.0,5.0

-13.650000000000059,83.20000000000064,35.0,384.0,2.0

-13.70000000000006,83.20000000000064,35.0,0.0,7.0

-13.75000000000006,83.80000000000065,37.0,384.0,7.0

-13.800000000000061,83.80000000000065,37.0,3.0,5.0

-13.850000000000062,84.40000000000067,34.0,414.0,3.0

-13.900000000000063,84.40000000000067,34.0,1.0,8.0

-13.950000000000063,85.00000000000068,36.0,401.0,6.0

-14.000000000000064,85.00000000000068,36.0,0.0,5.0

-14.050000000000065,85.60000000000068,36.0,392.0,7.0

-14.100000000000065,85.60000000000068,36.0,2.0,3.0

-14.150000000000066,86.20000000000068,37.0,387.0,5.0

-14.200000000000067,86.20000000000068,37.0,5.0,3.0

-14.250000000000068,86.8000000000007,34.0,402.0,3.0

-14.300000000000068,86.8000000000007,34.0,2.0,4.0

-14.350000000000069,87.40000000000072,36.0,386.0,4.0

-14.40000000000007,87.40000000000072,36.0,2.0,7.0

-14.45000000000007,88.00000000000072,36.0,394.0,5.0

-14.500000000000071,88.00000000000072,36.0,1.0,9.0

-14.550000000000072,88.80000000000072,38.0,550.0,6.0

-14.600000000000072,88.80000000000072,38.0,1.0,15.0

-14.650000000000073,89.40000000000074,33.0,383.0,5.0

-14.700000000000074,89.40000000000074,33.0,6.0,4.0

-14.750000000000075,90.00000000000075,35.0,384.0,3.0

-14.800000000000075,90.00000000000075,35.0,1.0,5.0

-14.850000000000076,90.40000000000076,37.0,256.0,7.0

-14.900000000000077,90.60000000000075,36.0,153.0,4.0

-14.950000000000077,90.80000000000075,33.0,133.0,7.0

-15.000000000000078,91.00000000000075,32.0,124.0,8.0

-15.050000000000079,91.20000000000076,34.0,115.0,5.0

-15.10000000000008,91.40000000000077,37.0,133.0,3.0

-15.15000000000008,91.60000000000078,37.0,128.0,7.0

-15.200000000000081,91.80000000000076,33.0,108.0,8.0

-15.250000000000082,92.00000000000077,32.0,109.0,5.0

-15.300000000000082,92.20000000000077,33.0,129.0,5.0

-15.350000000000083,92.40000000000077,34.0,130.0,7.0

-15.400000000000084,92.60000000000078,36.0,126.0,6.0

-15.450000000000085,92.80000000000078,38.0,166.0,4.0

-15.500000000000085,93.0000000000008,35.0,120.0,5.0

-15.550000000000086,93.20000000000078,34.0,126.0,4.0

-15.600000000000087,93.4000000000008,34.0,113.0,6.0

-15.650000000000087,93.60000000000079,34.0,124.0,8.0

-15.700000000000088,93.8000000000008,33.0,117.0,4.0

-15.750000000000089,94.0000000000008,34.0,106.0,8.0


Dosya farkı çok büyük olduğundan ihmal edildi
+ 1044 - 902
examples/AGV/trace_vid.csv


Dosya farkı çok büyük olduğundan ihmal edildi
+ 1044 - 902
examples/AGV/trace_vidH.csv


+ 0 - 2
examples/AGV/tracking.csv

@@ -1,4 +1,2 @@
 ,time,r,d
 0,0.0,0.018,0.211
-1,11.59999999999999,-0.14894602389283093,0.0
-2,17.19999999999997,11.321544639215654,-0.0

BIN
examples/AGV/tracking.png


+ 100 - 47
examples/AGV/tracking.py

@@ -23,6 +23,7 @@ import pandas as pd
 from CBD.simulator import Simulator
 from AGV import AGVVirtual
 import cv2
+from tqdm import tqdm
 
 EPS = 0.00001
 ERROR = 0.1
@@ -34,7 +35,7 @@ class TrackingSimulator:
 		self.dt = 0.2
 		self.setup()
 		self.physical = pd.read_csv("trace_vidH.csv")  # Trajectory of the recognized AGV
-		self.physical["heading"] -= 3 * np.pi + 0.13
+		self.physical["heading"] *= -1
 		self.set_state([self.physical["x"][0], self.physical["y"][0], self.physical["heading"][0]])
 		self.path = list(zip(self.physical["x"], self.physical["y"], self.physical["heading"]))
 		self.trace = []
@@ -49,22 +50,23 @@ class TrackingSimulator:
 		self.sim.setTerminationCondition(self.check)
 
 	def check(self, model, curIt):
-		_, __, w = self.get_state()
+		x, y, w = self.get_state()
 		time = self.sim.getTime()
+		rtime = self.sim.getRelativeTime()
 		off, a = self.offset2(time)
-		if off > ERROR or not (min(a) <= w <= max(a)):
+		if off > ERROR:
 			return True
-		if abs(round(time*1000) % round(self.dt*1000)) < EPS:
+		if abs(round(rtime*1000) % round(self.dt*1000)) < EPS:
 			self.trace.append((time, self.__offset_i, self.get_state(), off, self.get_params()))
 		return False
 
 	def run(self):
 		TCP = self.model.getBlockByName("TCP")
-		time = TCP.data[TCP.time_col][0]
+		time = self.physical["time"][0]
 		end_time = TCP.data[TCP.time_col][-1]
 		try:
 			back = None
-			for i in range(400):
+			for i in tqdm(range(100)):
 				if back is None:
 					self.sim.run(end_time, time)
 					back = self.sim.getTime()
@@ -72,47 +74,67 @@ class TrackingSimulator:
 						self.traces.append(self.trace[:])
 						self.trace.clear()
 				if back < end_time:
-					time, self.__offset_i, state, _, (r, d) = self.last_good_state()
-					if state is None: break
+					# time, self.__offset_i, state, _, (r, d) = self.last_good_state()
+					# if state is None: break
 					now = back
 					current = self.get_state()
 					if np.isnan(current[0]):
 						print("WHY???!!!")
 					target = self.get_target_state(now)
 					self.setup()
-					self.set_state(state)
+					self.set_state(target)
+					time = now
+
+					# print(target[2])
 
 					back = None
 
-					# TODO: what with "too slow" on a straight segment --> divide by zero!
-					# Given the trajectory, compute the wheel speeds
-					w = current[2] - state[2]
-					if np.isnan(w) or abs(w) < EPS:
-						v = self.euclidean(state[0], state[1], current[0], current[1])
-					else:
-						v = self.circle_radius(state, current) * w
-					phiL = (v - w * d / 2) / r
-					phiR = (v + w * d / 2) / r
-
-					if phiL == 0 or phiR == 0 or phiL == -phiR:
-						back = time
-						continue
-
-					# Given the wheel speeds, compute r and d
-					w = target[2] - state[2]
-					if np.isnan(w) or abs(w) < EPS:
-						v = self.euclidean(state[0], state[1], target[0], target[1])
-					else:
-						v = self.circle_radius(state, target) * w
-					d2 = 2 * v / w * (phiR - phiL) / (phiR + phiL)
-					r2 = 1. / phiL * (v - w * d / 2)
-
-					if np.isnan(w) or np.isnan(v) or np.isnan(r2) or np.isnan(d2) or np.isnan(phiL) or np.isnan(phiR) or np.isinf(d2) or np.isinf(r2):
-						print("HERE")
-
-					self.set_params(r2, d2)
-
-					self.params[now] = r2, d2
+					# w_bad = current[2] - state[2]
+					# w_good = target[2] - state[2]
+					# if w_bad > w_good:
+					# 	d *= 2
+					# elif w_bad < w_good:
+					# 	d /= 4
+					# else:
+					# 	v_bad = self.euclidean(state[0], state[1], current[0], current[1])
+					# 	v_good = self.euclidean(state[0], state[1], target[0], target[1])
+					# 	if v_bad < v_good:
+					# 		r *= 2
+					# 	else:
+					# 		r /= 4
+
+					# # TODO: what with "too slow" on a straight segment --> divide by zero!
+					# # Given the trajectory, compute the wheel speeds
+					# w = current[2] - state[2]
+					# if np.isnan(w) or abs(w) < EPS:
+					# 	v = self.euclidean(state[0], state[1], current[0], current[1])
+					# else:
+					# 	v = self.circle_radius(state, current) * abs(w)
+					# phiL = (v - w * d / 2) / r
+					# phiR = (v + w * d / 2) / r
+					#
+					# if phiL == 0 or phiR == 0 or phiL == -phiR:
+					# 	print("HO! SHTAHP")
+					# 	back = time
+					# 	continue
+					#
+					# # Given the wheel speeds, compute r and d
+					# w = target[2] - state[2]
+					# if np.isnan(w) or abs(w) < EPS:
+					# 	v = self.euclidean(state[0], state[1], target[0], target[1])
+					# else:
+					# 	v = self.circle_radius(state, target) * abs(w)
+					# d2 = 2 * v / w * (phiR - phiL) / (phiR + phiL)
+					# r2 = 1. / phiL * (v - w * d / 2)
+					#
+					# print(d2, r2)
+					#
+					# if np.isnan(w) or np.isnan(v) or np.isnan(r2) or np.isnan(d2) or np.isnan(phiL) or np.isnan(phiR) or np.isinf(d2) or np.isinf(r2):
+					# 	print("HERE")
+
+					# self.set_params(r, d)
+					#
+					# self.params[now] = r, d
 				else:
 					break
 		finally:
@@ -152,9 +174,20 @@ class TrackingSimulator:
 		self.model.findBlock("StaticPlant.WheelRadius")[0].setValue(1./r)
 
 	def last_good_state(self):
-		if len(self.traces) >= 1 and len(self.traces[-1]) >= 1:
-			return self.traces[-1][-1]
-		return 0, 0, None, 0
+		if len(self.traces) >= 1:
+			if len(self.traces[-1]) >= 1:
+				if len(self.traces[-1]) > 20:
+					return self.traces[-1][-20]
+				elif len(self.traces[-1]) > 10:
+					return self.traces[-1][-10]
+				elif len(self.traces[-1]) > 5:
+					return self.traces[-1][-5]
+				else:
+					self.traces.pop()
+					return self.traces[-1][0]
+			elif len(self.traces) >= 2 and len(self.traces[-2]) >= 1:
+				return self.traces[-2][0]
+		return 0.0, -1, None, 0, (0, 0)
 
 	def offset(self):
 		position = self.get_state()
@@ -173,7 +206,7 @@ class TrackingSimulator:
 		return dist, angles
 
 	def offset2(self, ctime):
-		moment = self.physical[self.physical["time"] < ctime].iloc[-1]
+		moment = self.physical[self.physical["time"] <= ctime].iloc[-1]
 		position = self.get_state()
 		return self.euclidean(moment["x"], moment["y"], position[0], position[1]), \
 			   (moment["heading"] - np.pi/6, moment["heading"] + np.pi/6)
@@ -204,7 +237,7 @@ class TrackingSimulator:
 	def euclidean(x1, y1, x2, y2):
 		dx = x2 - x1
 		dy = y2 - y1
-		return (dx * dx + dy * dy) ** 0.5
+		return ((dx * dx) + (dy * dy)) ** 0.5
 
 	def circle_radius(self, A, B):
 		cot = lambda x: 1. / np.tan(x)
@@ -219,11 +252,31 @@ if __name__ == '__main__':
 
 	import matplotlib.pyplot as plt
 
-	fig, ax = plt.subplots(1, 1)
-	ax.plot(ts.physical["x"], ts.physical["y"], label="physical")
+	fig = plt.figure()
+	ax = fig.add_subplot(111, projection='3d')
+	ax.set_xlabel("X (m)")
+	ax.set_ylabel("Y (m)")
+	ax.set_zlabel("Time (s)")
+	ax.plot(ts.physical["x"], ts.physical["y"], ts.physical["time"], label="physical", ls=':')
 	for trace in ts.traces:
 		if len(trace) < 5: continue
 		r, d = trace[-1][4]
-		ax.plot([x[2][0] for x in trace], [x[2][1] for x in trace], label=f"r = {r:.2f}; d = {d:.2f}")
-	ax.legend()
+		times = np.asarray(trace)[:,0]
+		ax.plot([x[2][0] for x in trace], [x[2][1] for x in trace], times, label=f"r = {r:.2f}; d = {d:.2f}")
+	# ax.legend()
+	plt.savefig("tracking.png")
+	plt.show()
+
+	fig, axs = plt.subplots(3, 3)
+	axs[0].set_xlabel("X (m)")
+	axs[0].set_ylabel("Y (m)")
+	axs[1].set_xlabel("Time (s)")
+	# ax.plot(ts.physical["x"], ts.physical["y"], ts.physical["time"], label="physical", ls=':')
+	# for trace in ts.traces:
+	# 	if len(trace) < 5: continue
+	# 	r, d = trace[-1][4]
+	# 	times = np.asarray(trace)[:,0]
+	# 	ax.plot([x[2][0] for x in trace], [x[2][1] for x in trace], times, label=f"r = {r:.2f}; d = {d:.2f}")
+	# # ax.legend()
+	# plt.savefig("tracking.png")
 	plt.show()

+ 24 - 0
src/CBD/simulator.py

@@ -25,6 +25,7 @@ class Clock:
 	def __init__(self, delta_t, time=0.0):
 		self.__delta_t = delta_t
 		self.__time = time
+		self.__start_time = time
 
 	def getTime(self):
 		"""
@@ -32,6 +33,12 @@ class Clock:
 		"""
 		return self.__time
 
+	def getStartTime(self):
+		"""
+		Gets the starting simulation time.
+		"""
+		return self.__start_time
+
 	def step(self):
 		"""
 		Executes a timestep on the simulation.
@@ -182,6 +189,7 @@ class Simulator:
 
 		See Also:
 			- :func:`getTime`
+			- :func:`getRelativeTime`
 			- :func:`getDeltaT`
 			- :func:`setDeltaT`
 			- :class:`Clock`
@@ -194,12 +202,26 @@ class Simulator:
 
 		See Also:
 			- :func:`getClock`
+			- :func:`getRelativeTime`
 			- :func:`getDeltaT`
 			- :func:`setDeltaT`
 			- :class:`Clock`
 		"""
 		return self.getClock().getTime()
 
+	def getRelativeTime(self):
+		"""
+		Gets the current simulation time, ignoring a starting offset.
+
+		See Also:
+			- :func:`getClock`
+			- :func:`getTime`
+			- :func:`getDeltaT`
+			- :func:`setDeltaT`
+			- :class:`Clock`
+		"""
+		return self.getClock().getTime() - self.getClock().getStartTime()
+
 	def setDeltaT(self, delta_t):
 		"""
 		Sets the delta in-between iteration steps.
@@ -210,6 +232,7 @@ class Simulator:
 		See Also:
 			- :func:`getClock`
 			- :func:`getTime`
+			- :func:`getRelativeTime`
 			- :func:`getDeltaT`
 			- :class:`Clock`
 		"""
@@ -225,6 +248,7 @@ class Simulator:
 		See Also:
 			- :func:`getClock`
 			- :func:`getTime`
+			- :func:`getRelativeTime`
 			- :func:`setDeltaT`
 			- :class:`Clock`
 		"""