result_stop_dest_0.pb.txt 47.1 KB
Newer Older
1 2 3 4 5 6 7 8 9
header {
  module_name: "planning"
}
is_replan: true
gear: GEAR_DRIVE
trajectory_point {
  path_point {
    x: 586361.375698
    y: 4140761.72259
10
    z: 0
11
    theta: 1.2866508336700004
12
    kappa: 0.0057515850184131946
13 14 15
    dkappa: 0
    ddkappa: 0
  }
16 17
  v: 4.4250001907348633
  a: -0.57678184972070012
18 19 20 21
  relative_time: 0
}
trajectory_point {
  path_point {
22 23 24 25 26
    x: 586361.437346684
    y: 4140761.9343210133
    theta: 1.2881389936192922
    kappa: 0.0073972344608787917
    s: 0.2205234276570871
27 28 29
    dkappa: 0
    ddkappa: 0
  }
30 31
  v: 4.3958259552233292
  a: -0.59009708875595523
32 33 34 35
  relative_time: 0.05
}
trajectory_point {
  path_point {
36 37 38 39 40
    x: 586361.49823923723
    y: 4140762.1447354415
    theta: 1.289910254004343
    kappa: 0.0085681190936627225
    s: 0.43957172569476527
41 42 43
    dkappa: 0
    ddkappa: 0
  }
44 45
  v: 4.3659995300577394
  a: -0.602869435882907
46 47 48 49
  relative_time: 0.1
}
trajectory_point {
  path_point {
50 51 52 53 54
    x: 586361.55832789885
    y: 4140762.3538131611
    theta: 1.2918670078461181
    kappa: 0.0093157287451173069
    s: 0.65711296324521706
55 56 57
    dkappa: 0
    ddkappa: 0
  }
58 59
  v: 4.33554805983351
  a: -0.61509889110155536
60 61 62 63
  relative_time: 0.15000000000000002
}
trajectory_point {
  path_point {
64 65 66 67 68
    x: 586361.617584259
    y: 4140762.5615297304
    theta: 1.2939249871616043
    kappa: 0.009689124142100174
    s: 0.87311656667039594
69 70 71
    dkappa: 0
    ddkappa: 0
  }
72 73
  v: 4.3044986891460555
  a: -0.62678545441190014
74 75 76 77
  relative_time: 0.2
}
trajectory_point {
  path_point {
78 79 80 81 82
    x: 586361.67599568469
    y: 4140762.767857532
    theta: 1.2960119728411346
    kappa: 0.0097348906524624551
    s: 1.0875533195620259
83 84 85
    dkappa: 0
    ddkappa: 0
  }
86 87
  v: 4.2728785625907921
  a: -0.63792912581394157
88 89 90 91
  relative_time: 0.25
}
trajectory_point {
  path_point {
92 93 94 95 96
    x: 586361.73356233339
    y: 4140762.9727667267
    theta: 1.2980667724755988
    kappa: 0.00949712560867393
    s: 1.3003953627416018
97 98 99
    dkappa: 0
    ddkappa: 0
  }
100 101
  v: 4.240714824763133
  a: -0.64852990530767962
102 103 104 105
  relative_time: 0.3
}
trajectory_point {
  path_point {
106 107 108 109 110
    x: 586361.79028604261
    y: 4140763.17622842
    theta: 1.3000354408940917
    kappa: 0.0090128536735630555
    s: 1.5116161942603894
111 112 113
    dkappa: 0
    ddkappa: 0
  }
114 115
  v: 4.2080346202584957
  a: -0.65858779289311409
116 117 118 119
  relative_time: 0.35
}
trajectory_point {
  path_point {
120 121 122 123 124
    x: 586361.84611817531
    y: 4140763.3782289876
    theta: 1.3018383256719663
    kappa: 0.00829166702205882
    s: 1.721190669399425
125 126 127
    dkappa: 0
    ddkappa: 0
  }
128 129
  v: 4.1748650936722935
  a: -0.66810278857024519
130 131 132 133
  relative_time: 0.39999999999999997
}
trajectory_point {
  path_point {
134 135 136 137 138
    x: 586361.90117900481
    y: 4140763.578709621
    theta: 1.303463621066147
    kappa: 0.007424544283865327
    s: 1.9290950006695162
139 140 141
    dkappa: 0
    ddkappa: 0
  }
142 143
  v: 4.1412333895999431
  a: -0.67707489233907292
144 145 146 147
  relative_time: 0.44999999999999996
}
trajectory_point {
  path_point {
148 149 150 151 152
    x: 586361.95550387027
    y: 4140763.7776369061
    theta: 1.3048924416285128
    kappa: 0.0064458389002794558
    s: 2.1353067578112404
153 154 155
    dkappa: 0
    ddkappa: 0
  }
156 157
  v: 4.1071666526368578
  a: -0.68550410419959718
158 159 160 161
  relative_time: 0.49999999999999994
}
trajectory_point {
  path_point {
162 163 164 165 166
    x: 586362.00912901282
    y: 4140763.9749787459
    theta: 1.3061123601564508
    kappa: 0.0053874609075084557
    s: 2.3398048677949466
167 168 169
    dkappa: 0
    ddkappa: 0
  }
170 171
  v: 4.072692027378455
  a: -0.693390424151818
172 173 174 175
  relative_time: 0.54999999999999993
}
trajectory_point {
  path_point {
176 177 178 179 180
    x: 586362.06209040608
    y: 4140764.1707046507
    theta: 1.3071164064854788
    kappa: 0.0042787225313781485
    s: 2.5425696148207542
181 182 183
    dkappa: 0
    ddkappa: 0
  }
184 185
  v: 4.0378366584201482
  a: -0.70073385219573536
186 187 188 189
  relative_time: 0.6
}
trajectory_point {
  path_point {
190 191 192 193 194
    x: 586362.11439773766
    y: 4140764.3647927223
    theta: 1.3078528811732153
    kappa: 0.0031485491172067088
    s: 2.7435826403185537
195 196 197
    dkappa: 0
    ddkappa: 0
  }
198 199
  v: 4.002627690357353
  a: -0.7075343883313493
200 201 202 203
  relative_time: 0.65
}
trajectory_point {
  path_point {
204 205 206 207 208
    x: 586362.1661263362
    y: 4140764.5572048863
    theta: 1.30835009742091
    kappa: 0.0020407324390148171
    s: 2.9428269429480056
209 210 211
    dkappa: 0
    ddkappa: 0
  }
212 213
  v: 3.9670922677854845
  a: -0.71379203255865986
214 215 216 217
  relative_time: 0.70000000000000007
}
trajectory_point {
  path_point {
218 219 220 221 222
    x: 586362.21732526331
    y: 4140764.7479117159
    theta: 1.3086446868504256
    kappa: 0.000979951533831551
    s: 3.1402868785985416
223 224 225
    dkappa: 0
    ddkappa: 0
  }
226 227
  v: 3.9312575352999586
  a: -0.719506784877667
228 229 230 231
  relative_time: 0.75000000000000011
}
trajectory_point {
  path_point {
232 233 234 235 236
    x: 586362.26802152162
    y: 4140764.9368911497
    theta: 1.3087514184317819
    kappa: -1.4640906309074754e-05
    s: 3.3359481603893641
237 238 239
    dkappa: 0
    ddkappa: 0
  }
240 241
  v: 3.8951506374961897
  a: -0.72467864528837056
242 243 244 245
  relative_time: 0.80000000000000016
}
trajectory_point {
  path_point {
246 247 248 249 250
    x: 586362.31823998154
    y: 4140765.124123123
    theta: 1.3086787888981224
    kappa: -0.00092161694903906857
    s: 3.5297978586694465
251 252 253
    dkappa: 0
    ddkappa: 0
  }
254 255
  v: 3.8587987189695934
  a: -0.7293076137907708
256 257 258 259
  relative_time: 0.8500000000000002
}
trajectory_point {
  path_point {
260 261 262 263 264
    x: 586362.368028513
    y: 4140765.309582809
    theta: 1.3084050454974971
    kappa: -0.0016738726872983635
    s: 3.7218244010175332
265 266 267
    dkappa: 0
    ddkappa: 0
  }
268 269
  v: 3.822228924315584
  a: -0.73339369038486757
270 271 272 273
  relative_time: 0.90000000000000024
}
trajectory_point {
  path_point {
274 275 276 277 278
    x: 586362.41740064777
    y: 4140765.4932559771
    theta: 1.3080210736068727
    kappa: -0.0022884299761058262
    s: 3.9120175722421391
279 280 281
    dkappa: 0
    ddkappa: 0
  }
282 283
  v: 3.785468398129578
  a: -0.73693687507066086
284 285 286 287
  relative_time: 0.95000000000000029
}
trajectory_point {
  path_point {
288 289 290 291 292
    x: 586362.46636340651
    y: 4140765.6751315449
    theta: 1.3075500515734098
    kappa: -0.0027559243329202273
    s: 4.1003685143815485
293 294 295
    dkappa: 0
    ddkappa: 0
  }
296 297
  v: 3.74854428500699
  a: -0.73993716784815078
298 299 300 301
  relative_time: 1.0000000000000002
}
trajectory_point {
  path_point {
302 303 304 305 306
    x: 586362.51492749434
    y: 4140765.8551988425
    theta: 1.3070104034852916
    kappa: -0.0030593212721481459
    s: 4.2868697267038192
307 308 309
    dkappa: 0
    ddkappa: 0
  }
310 311
  v: 3.7114837295432346
  a: -0.74239456871733722
312 313 314 315
  relative_time: 1.0500000000000003
}
trajectory_point {
  path_point {
316 317 318 319 320
    x: 586362.56314004026
    y: 4140766.0334387114
    theta: 1.3064352582789911
    kappa: -0.0030980011242356248
    s: 4.4715150657067761
321 322 323
    dkappa: 0
    ddkappa: 0
  }
324 325
  v: 3.674313876333728
  a: -0.7443090776782203
326 327 328 329
  relative_time: 1.1000000000000003
}
trajectory_point {
  path_point {
330 331 332 333 334
    x: 586362.61095270631
    y: 4140766.209859184
    theta: 1.3058827369191905
    kappa: -0.0029432453676211988
    s: 4.6542997451180188
335 336 337
    dkappa: 0
    ddkappa: 0
  }
338 339
  v: 3.6370618699738841
  a: -0.7456806947307999
340 341 342 343
  relative_time: 1.1500000000000004
}
trajectory_point {
  path_point {
344 345 346 347 348
    x: 586362.65835698
    y: 4140766.3844589912
    theta: 1.3053712225574461
    kappa: -0.0025946197947896536
    s: 4.8352203358949168
349 350 351
    dkappa: 0
    ddkappa: 0
  }
352 353
  v: 3.5997548550591194
  a: -0.74650941987507613
354 355 356 357
  relative_time: 1.2000000000000004
}
trajectory_point {
  path_point {
358 359 360 361 362
    x: 586362.705365802
    y: 4140766.5572324255
    theta: 1.3049547286614014
    kappa: -0.0019738881499902607
    s: 5.0142747662246068
363 364 365
    dkappa: 0
    ddkappa: 0
  }
366 367
  v: 3.5624199761848483
  a: -0.74679525311104877
368 369 370 371
  relative_time: 1.2500000000000004
}
trajectory_point {
  path_point {
372 373 374 375 376
    x: 586362.75194698514
    y: 4140766.7281874549
    theta: 1.3046843701509121
    kappa: -0.001277467832084301
    s: 5.191462321524
377 378 379
    dkappa: 0
    ddkappa: 0
  }
380 381
  v: 3.5250843779464862
  a: -0.746538194438718
382 383 384 385
  relative_time: 1.3000000000000005
}
trajectory_point {
  path_point {
386 387 388 389 390
    x: 586362.79806682817
    y: 4140766.8973339181
    theta: 1.3045111168817503
    kappa: -0.00062333092256036692
    s: 5.3667836444397778
391 392 393
    dkappa: 0
    ddkappa: 0
  }
394 395
  v: 3.4877752049394481
  a: -0.745738243858084
396 397 398 399
  relative_time: 1.3500000000000005
}
trajectory_point {
  path_point {
400 401 402 403 404
    x: 586362.8437190511
    y: 4140767.0646755947
    theta: 1.3044408743201252
    kappa: -7.67751915556779e-05
    s: 5.5402407348483909
405 406 407
    dkappa: 0
    ddkappa: 0
  }
408 409
  v: 3.4505196017591495
  a: -0.74439540136914639
410 411 412 413
  relative_time: 1.4000000000000006
}
trajectory_point {
  path_point {
414 415 416 417 418
    x: 586362.888883135
    y: 4140767.2302215598
    theta: 1.30447864538452
    kappa: 0.00033730053378684422
    s: 5.7118369498560622
419 420 421
    dkappa: 0
    ddkappa: 0
  }
422 423
  v: 3.4133447130010053
  a: -0.74250966697190535
424 425 426 427
  relative_time: 1.4500000000000006
}
trajectory_point {
  path_point {
428 429 430 431 432
    x: 586362.9335491535
    y: 4140767.3939794069
    theta: 1.3045630805067783
    kappa: 0.00068084935084658342
    s: 5.8815770037987845
433 434 435
    dkappa: 0
    ddkappa: 0
  }
436 437
  v: 3.3762776832604304
  a: -0.74008104066636093
438 439 440 441
  relative_time: 1.5000000000000007
}
trajectory_point {
  path_point {
442 443 444 445 446
    x: 586362.97771541926
    y: 4140767.55595589
    theta: 1.3046943278417154
    kappa: 0.000950347309514398
    s: 6.0494669682423217
447 448 449
    dkappa: 0
    ddkappa: 0
  }
450 451
  v: 3.3393456571328408
  a: -0.737109522452513
452 453 454 455
  relative_time: 1.5500000000000007
}
trajectory_point {
  path_point {
456 457 458 459 460
    x: 586363.0213611261
    y: 4140767.7161643771
    theta: 1.304873705228152
    kappa: 0.0011178721239472891
    s: 6.215514271982209
461 462 463
    dkappa: 0
    ddkappa: 0
  }
464 465
  v: 3.302575779213651
  a: -0.73359511233036168
466 467 468 469
  relative_time: 1.6000000000000008
}
trajectory_point {
  path_point {
470 471 472 473 474
    x: 586363.064502824
    y: 4140767.8746094573
    theta: 1.3050661626720339
    kappa: 0.0012391502909650358
    s: 6.379727701043751
475 476 477
    dkappa: 0
    ddkappa: 0
  }
478 479
  v: 3.2659951940982763
  a: -0.72953781029990694
480 481 482 483
  relative_time: 1.6500000000000008
}
trajectory_point {
  path_point {
484 485 486 487 488
    x: 586363.10713677527
    y: 4140768.0313026612
    theta: 1.3052731257211392
    kappa: 0.0013044217874677803
    s: 6.5421173986820236
489 490 491
    dkappa: 0
    ddkappa: 0
  }
492 493
  v: 3.2296310463821318
  a: -0.72493761636114873
494 495 496 497
  relative_time: 1.7000000000000008
}
trajectory_point {
  path_point {
498 499 500 501 502
    x: 586363.14925178932
    y: 4140768.1862589396
    theta: 1.3054831868362666
    kappa: 0.001304532668821697
    s: 6.7026948653818748
503 504 505
    dkappa: 0
    ddkappa: 0
  }
506 507
  v: 3.1935104806606329
  a: -0.71979453051408715
508 509 510 511
  relative_time: 1.7500000000000009
}
trajectory_point {
  path_point {
512 513 514 515 516
    x: 586363.19087390136
    y: 4140768.3394845319
    theta: 1.3056889588872107
    kappa: 0.0012765881206095319
    s: 6.861472958857922
517 518 519
    dkappa: 0
    ddkappa: 0
  }
520 521
  v: 3.157660641529195
  a: -0.71410855275872209
522 523 524 525
  relative_time: 1.8000000000000009
}
trajectory_point {
  path_point {
526 527 528 529 530
    x: 586363.23199178744
    y: 4140768.4909972418
    theta: 1.3058843935964963
    kappa: 0.0012038047231362234
    s: 7.0184658940545521
531 532 533
    dkappa: 0
    ddkappa: 0
  }
534 535
  v: 3.1221086735832326
  a: -0.70787968309505356
536 537 538 539
  relative_time: 1.850000000000001
}
trajectory_point {
  path_point {
540 541 542 543 544
    x: 586363.27261717431
    y: 4140768.6408100096
    theta: 1.3060616030179257
    kappa: 0.0011006095170627947
    s: 7.1736892431459269
545 546 547
    dkappa: 0
    ddkappa: 0
  }
548 549
  v: 3.0868817214181612
  a: -0.70110792152308166
550 551 552 553
  relative_time: 1.900000000000001
}
trajectory_point {
  path_point {
554 555 556 557 558
    x: 586363.31276810577
    y: 4140768.7889354839
    theta: 1.3062278881743932
    kappa: 0.000981717042633711
    s: 7.327159935535974
559 560 561
    dkappa: 0
    ddkappa: 0
  }
562 563
  v: 3.0520069296293961
  a: -0.69379326804280628
564 565 566 567
  relative_time: 1.9500000000000011
}
trajectory_point {
  path_point {
568 569 570 571 572
    x: 586363.35242962907
    y: 4140768.9353966564
    theta: 1.3063587257580216
    kappa: 0.00083056083219358026
    s: 7.4788962578583948
573 574 575
    dkappa: 0
    ddkappa: 0
  }
576 577
  v: 3.0175114428123533
  a: -0.6859357226542252
578 579 580 581
  relative_time: 2.0000000000000009
}
trajectory_point {
  path_point {
582 583 584 585 586
    x: 586363.39163334889
    y: 4140769.0802036589
    theta: 1.3064740630717409
    kappa: 0.00067374784718872958
    s: 7.6289162558089965
587 588 589
    dkappa: 0
    ddkappa: 0
  }
590 591
  v: 2.9833254716027144
  a: -0.68149615573679423
592 593 594 595
  relative_time: 2.0500000000000007
}
trajectory_point {
  path_point {
596 597 598 599 600
    x: 586363.4303745681
    y: 4140769.2233708091
    theta: 1.3065617145206971
    kappa: 0.00050485730643087378
    s: 7.7772325220827492
601 602 603
    dkappa: 0
    ddkappa: 0
  }
604 605
  v: 2.9493625242381278
  a: -0.67701476885213252
606 607 608 609
  relative_time: 2.1000000000000005
}
trajectory_point {
  path_point {
610 611 612 613 614
    x: 586363.46866350085
    y: 4140769.3649069462
    theta: 1.3066204164305448
    kappa: 0.00033209633294897209
    s: 7.9238562601468656
615 616 617
    dkappa: 0
    ddkappa: 0
  }
618 619
  v: 2.915624691716955
  a: -0.67249156200023985
620 621 622 623
  relative_time: 2.1500000000000004
}
trajectory_point {
  path_point {
624 625 626 627 628
    x: 586363.50650777516
    y: 4140769.5048217215
    theta: 1.3066630004953697
    kappa: 0.00015811244516627748
    s: 8.0687987780184738
629 630 631
    dkappa: 0
    ddkappa: 0
  }
632 633
  v: 2.8821140650375581
  a: -0.66792653518111644
634 635 636 637
  relative_time: 2.2
}
trajectory_point {
  path_point {
638 639 640 641 642
    x: 586363.543911577
    y: 4140769.6431258256
    theta: 1.3066658858389504
    kappa: -1.1327509978802089e-05
    s: 8.2120714882646215
643 644 645
    dkappa: 0
    ddkappa: 0
  }
646 647
  v: 2.8488327351982976
  a: -0.66331968839476207
648 649 650 651
  relative_time: 2.25
}
trajectory_point {
  path_point {
652 653 654 655 656
    x: 586363.58088269341
    y: 4140769.7798290821
    theta: 1.3066592951805753
    kappa: -0.00017667716309984364
    s: 8.3536859080022765
657 658 659
    dkappa: 0
    ddkappa: 0
  }
660 661
  v: 2.8157827931975357
  a: -0.658671021641177
662 663 664 665
  relative_time: 2.3
}
trajectory_point {
  path_point {
666 667 668 669 670
    x: 586363.61742848123
    y: 4140769.9149415414
    theta: 1.306617878087813
    kappa: -0.00032800772259833474
    s: 8.4936536588983227
671 672 673
    dkappa: 0
    ddkappa: 0
  }
674 675
  v: 2.7829663300336338
  a: -0.65398053492036112
676 677 678 679
  relative_time: 2.3499999999999996
}
trajectory_point {
  path_point {
680 681 682 683 684
    x: 586363.65355199936
    y: 4140770.0484745232
    theta: 1.306565733351521
    kappa: -0.0004695971715094672
    s: 8.63198646716956
685 686 687
    dkappa: 0
    ddkappa: 0
  }
688 689
  v: 2.7503854367049536
  a: -0.64924822823231432
690 691 692 693
  relative_time: 2.3999999999999995
}
trajectory_point {
  path_point {
694 695 696 697 698
    x: 586363.689261296
    y: 4140770.1804381059
    theta: 1.3064908125062347
    kappa: -0.00059289206057004987
    s: 8.76869616358271
699 700 701
    dkappa: 0
    ddkappa: 0
  }
702 703
  v: 2.7180422042098566
  a: -0.64447410157703677
704 705 706 707
  relative_time: 2.4499999999999993
}
trajectory_point {
  path_point {
708 709 710 711 712
    x: 586363.72455986636
    y: 4140770.310843708
    theta: 1.3064042433079361
    kappa: -0.00069827435139188524
    s: 8.90379468345441
713 714 715
    dkappa: 0
    ddkappa: 0
  }
716 717
  v: 2.685938723546704
  a: -0.63965815495452838
718 719 720 721
  relative_time: 2.4999999999999991
}
trajectory_point {
  path_point {
722 723 724 725 726
    x: 586363.75945182261
    y: 4140770.4397026878
    theta: 1.3063048215251463
    kappa: -0.00078418184760403373
    s: 9.0372940666512172
727 728 729
    dkappa: 0
    ddkappa: 0
  }
730 731
  v: 2.6540770857138578
  a: -0.63480038836478914
732 733 734 735
  relative_time: 2.5499999999999989
}
trajectory_point {
  path_point {
736 737 738 739 740
    x: 586363.79394417151
    y: 4140770.5670257276
    theta: 1.30619725160363
    kappa: -0.00084329232655457552
    s: 9.1692064575896062
741 742 743
    dkappa: 0
    ddkappa: 0
  }
744 745
  v: 2.6224593817096791
  a: -0.629900801807819
746 747 748 749
  relative_time: 2.5999999999999988
}
trajectory_point {
  path_point {
750 751 752 753 754
    x: 586363.828035603
    y: 4140770.6928258734
    theta: 1.306084298036067
    kappa: -0.00088327625254571709
    s: 9.2995441052359684
755 756 757
    dkappa: 0
    ddkappa: 0
  }
758 759
  v: 2.59108770253253
  a: -0.6249593952836181
760 761 762 763
  relative_time: 2.6499999999999986
}
trajectory_point {
  path_point {
764 765 766 767 768
    x: 586363.86173635139
    y: 4140770.8171131476
    theta: 1.3059705030385975
    kappa: -0.000888333644662908
    s: 9.4283193631066151
769 770 771
    dkappa: 0
    ddkappa: 0
  }
772 773
  v: 2.5599641391807717
  a: -0.61997616879218642
774 775 776 777
  relative_time: 2.6999999999999984
}
trajectory_point {
  path_point {
778 779 780 781 782
    x: 586363.89504124632
    y: 4140770.9399018586
    theta: 1.3058568850458745
    kappa: -0.00087461739872475434
    s: 9.5555446892677729
783 784 785
    dkappa: 0
    ddkappa: 0
  }
786 787
  v: 2.5290907826527653
  a: -0.61495112233352389
788 789 790 791
  relative_time: 2.7499999999999982
}
trajectory_point {
  path_point {
792 793 794 795 796
    x: 586363.92796119663
    y: 4140771.0612020618
    theta: 1.305751933797493
    kappa: -0.00082002915167743516
    s: 9.6812326463355927
797 798 799
    dkappa: 0
    ddkappa: 0
  }
800 801
  v: 2.4984697239468732
  a: -0.60988425590763051
802 803 804 805
  relative_time: 2.799999999999998
}
trajectory_point {
  path_point {
806 807 808 809 810
    x: 586363.96049055865
    y: 4140771.1810284136
    theta: 1.3056519050325994
    kappa: -0.00074557053707044148
    s: 9.8053959014761354
811 812 813
    dkappa: 0
    ddkappa: 0
  }
814 815
  v: 2.4681030540614564
  a: -0.60477556951450628
816 817 818 819
  relative_time: 2.8499999999999979
}
trajectory_point {
  path_point {
820 821 822 823 824
    x: 586363.99263717025
    y: 4140771.2993920166
    theta: 1.3055702949636925
    kappa: -0.00062864548242114952
    s: 9.9280472264053845
825 826 827
    dkappa: 0
    ddkappa: 0
  }
828 829
  v: 2.4379928639948769
  a: -0.59962506315415121
830 831 832 833
  relative_time: 2.8999999999999977
}
trajectory_point {
  path_point {
834 835 836 837 838
    x: 586364.02439852362
    y: 4140771.4163068975
    theta: 1.3054995201091111
    kappa: -0.00048834259658148637
    s: 10.049199497389242
839 840 841
    dkappa: 0
    ddkappa: 0
  }
842 843
  v: 2.4081412447454955
  a: -0.59443273682656539
844 845 846 847
  relative_time: 2.9499999999999975
}
trajectory_point {
  path_point {
848 849 850 851 852
    x: 586364.0557771225
    y: 4140771.5317858234
    theta: 1.3054508661962225
    kappa: -0.000344634755575918
    s: 10.168865695243525
853 854 855
    dkappa: 0
    ddkappa: 0
  }
856 857
  v: 2.3785502873116742
  a: -0.58919859053174872
858 859 860 861
  relative_time: 2.9999999999999973
}
trajectory_point {
  path_point {
862 863 864 865 866
    x: 586364.0867749817
    y: 4140771.6458418081
    theta: 1.3054199237660553
    kappa: -0.00019856847276113345
    s: 10.287058905333973
867 868 869
    dkappa: 0
    ddkappa: 0
  }
870 871
  v: 2.3492220826917745
  a: -0.58392262426970121
872 873 874 875
  relative_time: 3.0499999999999972
}
trajectory_point {
  path_point {
876 877 878 879 880
    x: 586364.1173914161
    y: 4140771.7584887054
    theta: 1.3054021597296841
    kappa: -7.1865602788728062e-05
    s: 10.40379231757624
881 882 883
    dkappa: 0
    ddkappa: 0
  }
884 885
  v: 2.3201587218841579
  a: -0.57860483804042284
886 887 888 889
  relative_time: 3.099999999999997
}
trajectory_point {
  path_point {
890 891 892 893 894
    x: 586364.14763046661
    y: 4140771.8697391939
    theta: 1.3054025342850681
    kappa: 2.8678978812783408e-05
    s: 10.519079226435899
895 896 897
    dkappa: 0
    ddkappa: 0
  }
898 899
  v: 2.2913622958871862
  a: -0.57324523184391363
900 901 902 903
  relative_time: 3.1499999999999968
}
trajectory_point {
  path_point {
904 905 906 907 908
    x: 586364.17749301775
    y: 4140771.9796069185
    theta: 1.3054073766137755
    kappa: 0.00012028510693040084
    s: 10.632933030928442
909 910 911
    dkappa: 0
    ddkappa: 0
  }
912 913
  v: 2.2628348956992208
  a: -0.56784380568017367
914 915 916 917
  relative_time: 3.1999999999999966
}
trajectory_point {
  path_point {
918 919 920 921 922
    x: 586364.20698108478
    y: 4140772.0881053237
    theta: 1.3054279776463105
    kappa: 0.00018355425822191024
    s: 10.745367234619277
923 924 925
    dkappa: 0
    ddkappa: 0
  }
926 927
  v: 2.2345786123186233
  a: -0.56240055954920287
928 929 930 931
  relative_time: 3.2499999999999964
}
trajectory_point {
  path_point {
932 933 934 935 936
    x: 586364.23610040278
    y: 4140772.1952469544
    theta: 1.305448321062388
    kappa: 0.00024603222710567208
    s: 10.856395445623733
937 938 939
    dkappa: 0
    ddkappa: 0
  }
940 941
  v: 2.2065955367437544
  a: -0.55691549345100122
942 943 944 945
  relative_time: 3.2999999999999963
}
trajectory_point {
  path_point {
946 947 948 949 950
    x: 586364.26484832924
    y: 4140772.3010467375
    theta: 1.3054798809463368
    kappa: 0.00028052612963410392
    s: 10.966031376607052
951 952 953
    dkappa: 0
    ddkappa: 0
  }
954 955
  v: 2.178887759972977
  a: -0.55138860738556872
956 957 958 959
  relative_time: 3.3499999999999961
}
trajectory_point {
  path_point {
960 961 962 963 964
    x: 586364.29323455633
    y: 4140772.4055163576
    theta: 1.3055115017494199
    kappa: 0.00031350101233398441
    s: 11.074288844784403
965 966 967
    dkappa: 0
    ddkappa: 0
  }
968 969
  v: 2.1514573730046518
  a: -0.54581990135290548
970 971 972 973
  relative_time: 3.3999999999999959
}
trajectory_point {
  path_point {
974 975 976 977 978
    x: 586364.32125767367
    y: 4140772.5086706239
    theta: 1.3055460419202236
    kappa: 0.00033178705236803428
    s: 11.181181771920865
979 980 981
    dkappa: 0
    ddkappa: 0
  }
982 983
  v: 2.1243064668371403
  a: -0.54020937535301128
984 985 986 987
  relative_time: 3.4499999999999957
}
trajectory_point {
  path_point {
988 989 990 991 992
    x: 586364.34892373369
    y: 4140772.6105224285
    theta: 1.3055820226262123
    kappa: 0.00034176783970418578
    s: 11.286724184331437
993 994 995
    dkappa: 0
    ddkappa: 0
  }
996 997
  v: 2.0974371324688046
  a: -0.53455702938588634
998 999 1000 1001
  relative_time: 3.4999999999999956
}
trajectory_point {
  path_point {
1002 1003 1004 1005 1006
    x: 586364.37623736088
    y: 4140772.7110851556
    theta: 1.3056176184814232
    kappa: 0.00034747742820675305
    s: 11.390930212881036
1007 1008 1009
    dkappa: 0
    ddkappa: 0
  }
1010 1011
  v: 2.0708514608980058
  a: -0.52886286345153055
1012 1013 1014 1015
  relative_time: 3.5499999999999954
}
trajectory_point {
  path_point {
1016 1017 1018 1019 1020
    x: 586364.4031978416
    y: 4140772.8103737514
    theta: 1.3056529823997138
    kappa: 0.000340241808876975
    s: 11.4938140929845
1021 1022 1023
    dkappa: 0
    ddkappa: 0
  }
1024 1025
  v: 2.0445515431231054
  a: -0.523126877549944
1026 1027 1028 1029
  relative_time: 3.5999999999999952
}
trajectory_point {
  path_point {
1030 1031 1032 1033 1034
    x: 586364.42981561413
    y: 4140772.9084002404
    theta: 1.3056878967895424
    kappa: 0.0003330981651250814
    s: 11.595390164606584
1035 1036 1037
    dkappa: 0
    ddkappa: 0
  }
1038 1039
  v: 2.0185394701424655
  a: -0.51734907168112654
1040 1041 1042 1043
  relative_time: 3.649999999999995
}
trajectory_point {
  path_point {
1044 1045 1046 1047 1048
    x: 586364.45608829288
    y: 4140773.0051802373
    theta: 1.305719689148128
    kappa: 0.00031663435205985955
    s: 11.695672872261959
1049 1050 1051
    dkappa: 0
    ddkappa: 0
  }
1052 1053
  v: 1.9928173329544472
  a: -0.51152944584507831
1054 1055 1056 1057
  relative_time: 3.6999999999999948
}
trajectory_point {
  path_point {
1058 1059 1060 1061 1062
    x: 586364.48202412948
    y: 4140773.1007265775
    theta: 1.3057502905705745
    kappa: 0.000297619445132747
    s: 11.794676765015211
1063 1064 1065
    dkappa: 0
    ddkappa: 0
  }
1066 1067
  v: 1.9673872225574116
  a: -0.50566800004179913
1068 1069 1070 1071
  relative_time: 3.7499999999999947
}
trajectory_point {
  path_point {
1072 1073 1074 1075 1076
    x: 586364.507627317
    y: 4140773.1950533069
    theta: 1.3057792248651554
    kappa: 0.00027706492621815874
    s: 11.892416496480854
1077 1078 1079
    dkappa: 0
    ddkappa: 0
  }
1080 1081
  v: 1.942251229949721
  a: -0.49976473427128926
1082 1083 1084 1085
  relative_time: 3.7999999999999945
}
trajectory_point {
  path_point {
1086 1087 1088 1089 1090
    x: 586364.53289803537
    y: 4140773.2881756686
    theta: 1.3058033163950022
    kappa: 0.00025052696565658577
    s: 11.98890682482331
1091 1092 1093
    dkappa: 0
    ddkappa: 0
  }
1094 1095
  v: 1.9174114461297367
  a: -0.49381964853354848
1096 1097 1098 1099
  relative_time: 3.8499999999999943
}
trajectory_point {
  path_point {
1100 1101 1102 1103 1104
    x: 586364.55784542894
    y: 4140773.3801065809
    theta: 1.3058270996870456
    kappa: 0.00022432854362953997
    s: 12.084162612756927
1105 1106 1107
    dkappa: 0
    ddkappa: 0
  }
1108 1109
  v: 1.8928699620958203
  a: -0.48783274282857692
1110 1111 1112 1113
  relative_time: 3.8999999999999941
}
trajectory_point {
  path_point {
1114 1115 1116 1117 1118
    x: 586364.58247059386
    y: 4140773.4708612561
    theta: 1.3058464169684221
    kappa: 0.00019597615994360621
    s: 12.178198827545966
1119 1120 1121
    dkappa: 0
    ddkappa: 0
  }
1122 1123
  v: 1.8686288688463331
  a: -0.4818040171563745
1124 1125 1126 1127
  relative_time: 3.949999999999994
}
trajectory_point {
  path_point {
1128 1129 1130 1131 1132
    x: 586364.6067783325
    y: 4140773.5604540058
    theta: 1.3058625318549062
    kappa: 0.000166219303689934
    s: 12.271030541004606
1133 1134 1135
    dkappa: 0
    ddkappa: 0
  }
1136 1137
  v: 1.8446902573796367
  a: -0.47573347151694129
1138 1139 1140 1141
  relative_time: 3.9999999999999938
}
trajectory_point {
  path_point {
1142 1143 1144 1145 1146
    x: 586364.63077462174
    y: 4140773.6488988255
    theta: 1.3058784402652226
    kappa: 0.000136843714880822
    s: 12.362672824038782
1147 1148 1149
    dkappa: 0
    ddkappa: 0
  }
1150 1151
  v: 1.8210498200663521
  a: -0.46988274203733416
1152 1153 1154 1155
  relative_time: 4.0499999999999936
}
trajectory_point {
  path_point {
1156 1157 1158 1159 1160
    x: 586364.65446083
    y: 4140773.7362106014
    theta: 1.3058877406136002
    kappa: 0.00010693033377403348
    s: 12.453140401816585
1161 1162 1163
    dkappa: 0
    ddkappa: 0
  }
1164 1165
  v: 1.7977021110736469
  a: -0.46402433869351423
1166 1167 1168 1169
  relative_time: 4.0999999999999934
}
trajectory_point {
  path_point {
1170 1171 1172 1173 1174
    x: 586364.67784288467
    y: 4140773.8224029
    theta: 1.3058958223943966
    kappa: 7.724357784681462e-05
    s: 12.542447920346376
1175 1176 1177
    dkappa: 0
    ddkappa: 0
  }
1178 1179
  v: 1.7746475140947378
  a: -0.4581582614854825
1180 1181 1182 1183
  relative_time: 4.1499999999999932
}
trajectory_point {
  path_point {
1184 1185 1186 1187 1188
    x: 586364.700925034
    y: 4140773.9074897654
    theta: 1.3059036386822078
    kappa: 4.79747156647255e-05
    s: 12.630610044821175
1189 1190 1191
    dkappa: 0
    ddkappa: 0
  }
1192 1193
  v: 1.7518864128228355
  a: -0.45228451041323892
1194 1195 1196 1197
  relative_time: 4.1999999999999931
}
trajectory_point {
  path_point {
1198 1199 1200 1201 1202
    x: 586364.723710115
    y: 4140773.9914856413
    theta: 1.3059043520236742
    kappa: 2.0688790641714848e-05
    s: 12.717641459618662
1203 1204 1205
    dkappa: 0
    ddkappa: 0
  }
1206 1207
  v: 1.7294191909511509
  a: -0.44640308547678348
1208 1209 1210 1211
  relative_time: 4.2499999999999929
}
trajectory_point {
  path_point {
1212 1213 1214 1215 1216
    x: 586364.74620302219
    y: 4140774.0744044362
    theta: 1.3059050562179439
    kappa: -6.2472462489571753e-06
    s: 12.803556868301179
1217 1218 1219
    dkappa: 0
    ddkappa: 0
  }
1220 1221
  v: 1.7072462321728943
  a: -0.44051398667611624
1222 1223 1224 1225
  relative_time: 4.2999999999999927
}
trajectory_point {
  path_point {
1226 1227 1228 1229 1230
    x: 586364.768407664
    y: 4140774.1562603447
    theta: 1.3059052260619617
    kappa: -3.2494455868386887e-05
    s: 12.888370993615728
1231 1232 1233
    dkappa: 0
    ddkappa: 0
  }
1234 1235
  v: 1.6853679201812763
  a: -0.43461721401123715
1236 1237 1238 1239
  relative_time: 4.3499999999999925
}
trajectory_point {
  path_point {
1240 1241 1242 1243 1244
    x: 586364.79032842233
    y: 4140774.2370674526
    theta: 1.3058997672143529
    kappa: -5.4725747082450714e-05
    s: 12.97209857749397
1245 1246 1247
    dkappa: 0
    ddkappa: 0
  }
1248 1249
  v: 1.6637846386695077
  a: -0.42871276748214626
1250 1251 1252 1253
  relative_time: 4.3999999999999924
}
trajectory_point {
  path_point {
1254 1255 1256 1257 1258
    x: 586364.81196857733
    y: 4140774.3168401644
    theta: 1.3058943782443775
    kappa: -7.6672459913771753e-05
    s: 13.054754381052229
1259 1260 1261
    dkappa: 0
    ddkappa: 0
  }
1262 1263
  v: 1.6424967713307987
  a: -0.42280064708884352
1264 1265 1266 1267
  relative_time: 4.4499999999999922
}
trajectory_point {
  path_point {
1268 1269 1270 1271 1272
    x: 586364.833332058
    y: 4140774.3955927286
    theta: 1.3058889060793097
    kappa: -9.8154247622476271e-05
    s: 13.136353184591488
1273 1274 1275
    dkappa: 0
    ddkappa: 0
  }
1276 1277
  v: 1.6215047018583602
  a: -0.416880852831329
1278 1279 1280 1281
  relative_time: 4.499999999999992
}
trajectory_point {
  path_point {
1282 1283 1284 1285 1286
    x: 586364.8544244814
    y: 4140774.4733389569
    theta: 1.3058788856493668
    kappa: -0.00011376703965677866
    s: 13.216909787597389
1287 1288 1289
    dkappa: 0
    ddkappa: 0
  }
1290 1291
  v: 1.6008088139454029
  a: -0.41095338470960263
1292 1293 1294 1295
  relative_time: 4.5499999999999918
}
trajectory_point {
  path_point {
1296 1297 1298 1299 1300
    x: 586364.87524790165
    y: 4140774.5500936452
    theta: 1.3058689930153775
    kappa: -0.00012918071332251673
    s: 13.29643900874024
1301 1302 1303
    dkappa: 0
    ddkappa: 0
  }
1304 1305
  v: 1.580409491285137
  a: -0.40501824272366438
1306 1307 1308 1309
  relative_time: 4.5999999999999917
}
trajectory_point {
  path_point {
1310 1311 1312 1313 1314
    x: 586364.895806204
    y: 4140774.625871114
    theta: 1.3058592263316637
    kappa: -0.00014439814436587511
    s: 13.374955685875001
1315 1316 1317
    dkappa: 0
    ddkappa: 0
  }
1318 1319
  v: 1.5603071175707734
  a: -0.39907542687351438
1320 1321 1322 1323
  relative_time: 4.6499999999999915
}
trajectory_point {
  path_point {
1324 1325 1326 1327 1328
    x: 586364.916105625
    y: 4140774.7006850652
    theta: 1.3058471919605132
    kappa: -0.000153075935311636
    s: 13.452474676041302
1329 1330 1331
    dkappa: 0
    ddkappa: 0
  }
1332 1333
  v: 1.5405020764955224
  a: -0.39312493715915253
1334 1335 1336 1337
  relative_time: 4.6999999999999913
}
trajectory_point {
  path_point {
1338 1339 1340 1341 1342
    x: 586364.93614808284
    y: 4140774.7745503932
    theta: 1.3058349030976797
    kappa: -0.00016056361063703054
    s: 13.529010855463424
1343 1344 1345
    dkappa: 0
    ddkappa: 0
  }
1346 1347
  v: 1.520994751752595
  a: -0.38716677358057883
1348 1349 1350 1351
  relative_time: 4.7499999999999911
}
trajectory_point {
  path_point {
1352 1353 1354 1355 1356
    x: 586364.95593707357
    y: 4140774.8474815823
    theta: 1.3058227696460378
    kappa: -0.00016795659302338143
    s: 13.604579119550319
1357 1358 1359
    dkappa: 0
    ddkappa: 0
  }
1360 1361
  v: 1.5017855270352016
  a: -0.38120093613779332
1362 1363 1364 1365
  relative_time: 4.7999999999999909
}
trajectory_point {
  path_point {
1366 1367 1368 1369 1370
    x: 586364.97547815915
    y: 4140774.9194925781
    theta: 1.3058103165486727
    kappa: -0.00017068652595433179
    s: 13.67919438289559
1371 1372 1373
    dkappa: 0
    ddkappa: 0
  }
1374 1375
  v: 1.4828747860365528
  a: -0.375227424830796
1376 1377 1378 1379
  relative_time: 4.8499999999999908
}
trajectory_point {
  path_point {
1380 1381 1382 1383 1384
    x: 586364.99477496766
    y: 4140774.99059787
    theta: 1.305797621969595
    kappa: -0.00016953376220007303
    s: 13.752871579277507
1385 1386 1387
    dkappa: 0
    ddkappa: 0
  }
1388 1389
  v: 1.464262912449859
  a: -0.36924623965958681
1390 1391 1392 1393
  relative_time: 4.8999999999999906
}
trajectory_point {
  path_point {
1394 1395 1396 1397 1398
    x: 586365.01383000321
    y: 4140775.0608122707
    theta: 1.3057850864430354
    kappa: -0.00016839544161701238
    s: 13.825625661658995
1399 1400 1401
    dkappa: 0
    ddkappa: 0
  }
1402 1403
  v: 1.445950289968331
  a: -0.36325738062416585
1404 1405 1406 1407
  relative_time: 4.94999999999999
}
trajectory_point {
  path_point {
1408 1409 1410 1411 1412
    x: 586365.03264742636
    y: 4140775.1301501663
    theta: 1.3057728318819024
    kappa: -0.00016648870382160664
    s: 13.897471602187645
1413 1414 1415
    dkappa: 0
    ddkappa: 0
  }
1416 1417
  v: 1.4279373022851793
  a: -0.35726084772453304
1418 1419 1420 1421
  relative_time: 4.99999999999999
}
trajectory_point {
  path_point {
1422 1423 1424 1425 1426
    x: 586365.05123352341
    y: 4140775.1986253839
    theta: 1.3057620845017839
    kappa: -0.000156088438654495
    s: 13.968424392195706
1427 1428 1429
    dkappa: 0
    ddkappa: 0
  }
1430 1431
  v: 1.4102243330936148
  a: -0.35125664096068843
1432 1433 1434 1435
  relative_time: 5.04999999999999
}
trajectory_point {
  path_point {
1436 1437 1438 1439 1440
    x: 586365.06958959159
    y: 4140775.2662531249
    theta: 1.3057514701355228
    kappa: -0.00014581689131357568
    s: 14.038499042200087
1441 1442 1443
    dkappa: 0
    ddkappa: 0
  }
1444 1445
  v: 1.3928117660868475
  a: -0.34524476033263196
1446 1447 1448 1449
  relative_time: 5.09999999999999
}
trajectory_point {
  path_point {
1450 1451 1452 1453 1454
    x: 586365.08771956782
    y: 4140775.3330478938
    theta: 1.3057409865065386
    kappa: -0.0001356718587440897
    s: 14.107710581902356
1455 1456 1457
    dkappa: 0
    ddkappa: 0
  }
1458 1459
  v: 1.3756999849580884
  a: -0.33922520584036364
1460 1461 1462 1463
  relative_time: 5.14999999999999
}
trajectory_point {
  path_point {
1464 1465 1466 1467 1468
    x: 586365.105628389
    y: 4140775.3990239445
    theta: 1.305732380338803
    kappa: -0.00012104663058392398
    s: 14.176074060188748
1469 1470 1471
    dkappa: 0
    ddkappa: 0
  }
1472 1473
  v: 1.3588893734005483
  a: -0.33319797748388347
1474 1475 1476 1477
  relative_time: 5.1999999999999895
}
trajectory_point {
  path_point {
1478 1479 1480 1481 1482
    x: 586365.12332011154
    y: 4140775.4641957893
    theta: 1.305725841267376
    kappa: -0.00010143374769893939
    s: 14.243604545130152
1483 1484 1485
    dkappa: 0
    ddkappa: 0
  }
1486 1487
  v: 1.3423803151074372
  a: -0.32716307526319155
1488 1489 1490 1491
  relative_time: 5.2499999999999893
}
trajectory_point {
  path_point {
1492 1493 1494 1495 1496
    x: 586365.140797558
    y: 4140775.5285782954
    theta: 1.305719381394941
    kappa: -8.20584093296943e-05
    s: 14.310317123982118
1497 1498 1499
    dkappa: 0
    ddkappa: 0
  }
1500 1501
  v: 1.3261731937719661
  a: -0.32112049917828778
1502 1503 1504 1505
  relative_time: 5.2999999999999892
}
trajectory_point {
  path_point {
1506 1507 1508 1509 1510
    x: 586365.158064686
    y: 4140775.5921860407
    theta: 1.3057129992587204
    kappa: -6.2916228111830374e-05
    s: 14.376226903184861
1511 1512 1513
    dkappa: 0
    ddkappa: 0
  }
1514 1515
  v: 1.3102683930873453
  a: -0.31507024922917221
1516 1517 1518 1519
  relative_time: 5.349999999999989
}
trajectory_point {
  path_point {
1520 1521 1522 1523 1524
    x: 586365.17512605584
    y: 4140775.6550334608
    theta: 1.3057108258643515
    kappa: -3.7091809276426879e-05
    s: 14.441349008363254
1525 1526 1527
    dkappa: 0
    ddkappa: 0
  }
1528 1529
  v: 1.2946662967467857
  a: -0.30901232541584478
1530 1531 1532 1533
  relative_time: 5.3999999999999888
}
trajectory_point {
  path_point {
1534 1535 1536 1537 1538
    x: 586365.1919853
    y: 4140775.7171352627
    theta: 1.3057105421040711
    kappa: -8.4566982436706446e-06
    s: 14.505698584326828
1539 1540 1541
    dkappa: 0
    ddkappa: 0
  }
1542 1543
  v: 1.2793672884434979
  a: -0.3029467277383055
1544 1545 1546 1547
  relative_time: 5.4499999999999886
}
trajectory_point {
  path_point {
1548 1549 1550 1551 1552
    x: 586365.20864611864
    y: 4140775.7785061551
    theta: 1.3057102616835201
    kappa: 1.984139056539319e-05
    s: 14.569290795069778
1553 1554 1555
    dkappa: 0
    ddkappa: 0
  }
1556 1557
  v: 1.2643717518706923
  a: -0.29687345619655447
1558 1559 1560 1561
  relative_time: 5.4999999999999885
}
trajectory_point {
  path_point {
1562 1563 1564 1565 1566
    x: 586365.22511248954
    y: 4140775.83916079
    theta: 1.3057099845357458
    kappa: 4.7809213559114223e-05
    s: 14.632140823770959
1567 1568 1569
    dkappa: 0
    ddkappa: 0
  }
1570 1571
  v: 1.2496800707215794
  a: -0.29079251079059154
1572 1573 1574 1575
  relative_time: 5.5499999999999883
}
trajectory_point {
  path_point {
1576 1577 1578 1579 1580
    x: 586365.24138771789
    y: 4140775.899114023
    theta: 1.3057157221704117
    kappa: 8.2754919666265032e-05
    s: 14.694263872793883
1581 1582 1583
    dkappa: 0
    ddkappa: 0
  }
1584 1585
  v: 1.23529262868937
  a: -0.28470389152041681
1586 1587 1588 1589
  relative_time: 5.5999999999999881
}
trajectory_point {
  path_point {
1590 1591 1592 1593 1594
    x: 586365.25747622328
    y: 4140775.9583804267
    theta: 1.305723644952542
    kappa: 0.00012003406575997045
    s: 14.75567516368673
1595 1596 1597
    dkappa: 0
    ddkappa: 0
  }
1598 1599
  v: 1.2212098094672745
  a: -0.27860759838603022
1600 1601 1602 1603
  relative_time: 5.6499999999999879
}
trajectory_point {
  path_point {
1604 1605 1606 1607 1608
    x: 586365.27338225534
    y: 4140776.01697464
    theta: 1.3057314778756988
    kappa: 0.00015689039752375084
    s: 14.816389937182333
1609 1610 1611
    dkappa: 0
    ddkappa: 0
  }
1612 1613
  v: 1.2074319967485039
  a: -0.27250363138743183
1614 1615 1616 1617
  relative_time: 5.6999999999999877
}
trajectory_point {
  path_point {
1618 1619 1620 1621 1622
    x: 586365.289109812
    y: 4140776.0749113904
    theta: 1.3057392229085905
    kappa: 0.00019333317834688746
    s: 14.876423453198189
1623 1624 1625
    dkappa: 0
    ddkappa: 0
  }
1626 1627
  v: 1.1939595742262685
  a: -0.26639199052462165
1628 1629 1630 1631
  relative_time: 5.7499999999999876
}
trajectory_point {
  path_point {
1632 1633 1634 1635 1636
    x: 586365.30466119107
    y: 4140776.1322058854
    theta: 1.3057527149606778
    kappa: 0.00023350356434916173
    s: 14.935790990836455
1637 1638 1639
    dkappa: 0
    ddkappa: 0
  }
1640 1641
  v: 1.1807929255937788
  a: -0.26027267579759961
1642 1643 1644 1645
  relative_time: 5.7999999999999874
}
trajectory_point {
  path_point {
1646 1647 1648 1649 1650
    x: 586365.3200408672
    y: 4140776.188872762
    theta: 1.3057703595790191
    kappa: 0.00027627998077944197
    s: 14.994507848383948
1651 1652 1653
    dkappa: 0
    ddkappa: 0
  }
1654 1655
  v: 1.1679324345442454
  a: -0.25414568720636577
1656 1657 1658 1659
  relative_time: 5.8499999999999872
}
trajectory_point {
  path_point {
1660 1661 1662 1663 1664
    x: 586365.335254123
    y: 4140776.2449264592
    theta: 1.3057878132687066
    kappa: 0.0003185935227112844
    s: 15.052589343312148
1665 1666 1667
    dkappa: 0
    ddkappa: 0
  }
1668 1669
  v: 1.1553784847708792
  a: -0.24801102475092004
1670 1671 1672 1673
  relative_time: 5.899999999999987
}
trajectory_point {
  path_point {
1674 1675 1676 1677 1678
    x: 586365.35030497587
    y: 4140776.3003817764
    theta: 1.305805080638448
    kappa: 0.00036045536320838912
    s: 15.110050812277192
1679 1680 1681
    dkappa: 0
    ddkappa: 0
  }
1682 1683
  v: 1.1431314599668903
  a: -0.24186868843126252
1684 1685 1686 1687
  relative_time: 5.9499999999999869
}
trajectory_point {
  path_point {
1688 1689 1690 1691 1692
    x: 586365.36519624642
    y: 4140776.3552538608
    theta: 1.3058240381927395
    kappa: 0.00039723720192456381
    s: 15.16690761111988
1693 1694 1695
    dkappa: 0
    ddkappa: 0
  }
1696 1697
  v: 1.13119174382549
  a: -0.2357186782473932
1698 1699 1700 1701
  relative_time: 5.9999999999999867
}
trajectory_point {
  path_point {
1702 1703 1704 1705 1706
    x: 586365.3799290054
    y: 4140776.4095584434
    theta: 1.3058493338652326
    kappa: 0.00041744189681029324
    s: 15.223175202323022
1707 1708 1709
    dkappa: 0
    ddkappa: 0
  }
1710 1711
  v: 1.1195649016313758
  a: -0.22935899851525629
1712 1713 1714 1715
  relative_time: 6.0499999999999865
}
trajectory_point {
  path_point {
1716 1717 1718 1719 1720
    x: 586365.394511628
    y: 4140776.4633096266
    theta: 1.3058743717587935
    kappa: 0.000437440693025783
    s: 15.27886939104363
1721 1722 1723
    dkappa: 0
    ddkappa: 0
  }
1724 1725
  v: 1.108255445074156
  a: -0.22302325277162804
1726 1727 1728 1729
  relative_time: 6.0999999999999863
}
trajectory_point {
  path_point {
1730 1731 1732 1733 1734
    x: 586365.40894826176
    y: 4140776.516522699
    theta: 1.3058991589941391
    kappa: 0.00045723927820608525
    s: 15.334006016646061
1735 1736 1737
    dkappa: 0
    ddkappa: 0
  }
1738 1739
  v: 1.0972621774544047
  a: -0.21671144101651027
1740 1741 1742 1743
  relative_time: 6.1499999999999861
}
trajectory_point {
  path_point {
1744 1745 1746 1747 1748
    x: 586365.42324303836
    y: 4140776.5692128893
    theta: 1.3059237026650887
    kappa: 0.00047684331850057467
    s: 15.388600858659704
1749 1750 1751
    dkappa: 0
    ddkappa: 0
  }
1752 1753
  v: 1.0865839020726964
  a: -0.21042356324990294
1754 1755 1756 1757
  relative_time: 6.199999999999986
}
trajectory_point {
  path_point {
1758 1759 1760 1761 1762
    x: 586365.43739601469
    y: 4140776.6213964694
    theta: 1.305948999441652
    kappa: 0.00047894043520927277
    s: 15.442669636778975
1763 1764 1765
    dkappa: 0
    ddkappa: 0
  }
1766 1767
  v: 1.076219422229606
  a: -0.20415961947180605
1768 1769 1770 1771
  relative_time: 6.2499999999999858
}
trajectory_point {
  path_point {
1772 1773 1774 1775 1776
    x: 586365.451413328
    y: 4140776.673088
    theta: 1.3059745597644841
    kappa: 0.00047222672711272334
    s: 15.496228010863318
1777 1778 1779
    dkappa: 0
    ddkappa: 0
  }
1780 1781
  v: 1.0661675412257074
  a: -0.19791960968221967
1782 1783 1784 1785
  relative_time: 6.2999999999999856
}
trajectory_point {
  path_point {
1786 1787 1788 1789 1790
    x: 586365.46530114091
    y: 4140776.7243019738
    theta: 1.3059998839459239
    kappa: 0.00046557504423161368
    s: 15.549291580937208
1791 1792 1793
    dkappa: 0
    ddkappa: 0
  }
1794 1795
  v: 1.0564270623615755
  a: -0.1917035338811437
1796 1797 1798 1799
  relative_time: 6.3499999999999854
}
trajectory_point {
  path_point {
1800 1801 1802 1803 1804
    x: 586365.47906352091
    y: 4140776.7750533894
    theta: 1.3060249794023751
    kappa: 0.00045898343855505153
    s: 15.601875887190147
1805 1806 1807
    dkappa: 0
    ddkappa: 0
  }
1808 1809
  v: 1.0469967889377847
  a: -0.1855113920685782
1810 1811 1812 1813
  relative_time: 6.3999999999999853
}
trajectory_point {
  path_point {
1814 1815 1816 1817 1818
    x: 586365.4927045193
    y: 4140776.8253571866
    theta: 1.3060498535216867
    kappa: 0.00045244996957264375
    s: 15.653996409976667
1819 1820 1821
    dkappa: 0
    ddkappa: 0
  }
1822 1823
  v: 1.0378755242549091
  a: -0.17934318424452317
1824 1825 1826 1827
  relative_time: 6.4499999999999851
}
trajectory_point {
  path_point {
1828 1829 1830 1831 1832
    x: 586365.50622312143
    y: 4140776.875229619
    theta: 1.30607073346019
    kappa: 0.00042919199827576152
    s: 15.705668569816329
1833 1834 1835
    dkappa: 0
    ddkappa: 0
  }
1836 1837
  v: 1.0290620716135239
  a: -0.17319891040897858
1838 1839 1840 1841
  relative_time: 6.4999999999999849
}
trajectory_point {
  path_point {
1842 1843 1844 1845 1846
    x: 586365.51962784422
    y: 4140776.9246842926
    theta: 1.3060909923121209
    kappa: 0.00040414856560907759
    s: 15.75690772739372
1847 1848 1849
    dkappa: 0
    ddkappa: 0
  }
1850 1851
  v: 1.020555234314203
  a: -0.16707857056194447
1852 1853 1854 1855
  relative_time: 6.5499999999999847
}
trajectory_point {
  path_point {
1856 1857 1858 1859 1860
    x: 586365.53292329179
    y: 4140776.9737358112
    theta: 1.3061110860139791
    kappa: 0.00037930928690778148
    s: 15.807729183558459
1861 1862 1863
    dkappa: 0
    ddkappa: 0
  }
1864 1865
  v: 1.0123538156575209
  a: -0.1609821647034208
1866 1867 1868 1869
  relative_time: 6.5999999999999845
}
trajectory_point {
  path_point {
1870 1871 1872 1873 1874
    x: 586365.54611345136
    y: 4140777.0223988853
    theta: 1.3061310205917152
    kappa: 0.000354666713038395
    s: 15.858148179325193
1875 1876 1877
    dkappa: 0
    ddkappa: 0
  }
1878 1879
  v: 1.0044566189440525
  a: -0.15490969283340761
1880 1881 1882 1883
  relative_time: 6.6499999999999844
}
trajectory_point {
  path_point {
1884 1885 1886 1887 1888
    x: 586365.55920229433
    y: 4140777.0706881681
    theta: 1.3061508020476231
    kappa: 0.00033021342411212752
    s: 15.908179895873594
1889 1890 1891
    dkappa: 0
    ddkappa: 0
  }
1892 1893
  v: 0.99686244747437169
  a: -0.14886115495190486
1894 1895 1896 1897
  relative_time: 6.6999999999999842
}
trajectory_point {
  path_point {
1898 1899 1900 1901 1902
    x: 586365.57219019555
    y: 4140777.118619225
    theta: 1.3061633525982226
    kappa: 0.00029496727822977
    s: 15.957839454548369
1903 1904 1905
    dkappa: 0
    ddkappa: 0
  }
1906 1907
  v: 0.98957010454905348
  a: -0.14283655105891258
1908 1909 1910 1911
  relative_time: 6.749999999999984
}
trajectory_point {
  path_point {
1912 1913 1914 1915 1916
    x: 586365.58508440061
    y: 4140777.1662056963
    theta: 1.3061752163521272
    kappa: 0.00025905036328748406
    s: 16.007141916859247
1917 1918 1919
    dkappa: 0
    ddkappa: 0
  }
1920 1921
  v: 0.982578393468672
  a: -0.13683588115443074
1922 1923 1924 1925
  relative_time: 6.7999999999999838
}
trajectory_point {
  path_point {
1926 1927 1928 1929 1930
    x: 586365.59788913664
    y: 4140777.2134619798
    theta: 1.3061869977870786
    kappa: 0.00022338266481991133
    s: 16.056102284480993
1931 1932 1933
    dkappa: 0
    ddkappa: 0
  }
1934 1935
  v: 0.97588611753380194
  a: -0.13085914523845935
1936 1937 1938 1939
  relative_time: 6.8499999999999837
}
trajectory_point {
  path_point {
1940 1941 1942 1943 1944
    x: 586365.6106083116
    y: 4140777.2604024974
    theta: 1.3061987004985591
    kappa: 0.00018795329767520039
    s: 16.104735499253398
1945 1946 1947
    dkappa: 0
    ddkappa: 0
  }
1948 1949
  v: 0.96949208004501763
  a: -0.12490634331099844
1950 1951 1952 1953
  relative_time: 6.8999999999999835
}
trajectory_point {
  path_point {
1954 1955 1956 1957 1958
    x: 586365.62324581749
    y: 4140777.3070416125
    theta: 1.3062103280676534
    kappa: 0.00015275142029136902
    s: 16.153056443181274
1959 1960 1961
    dkappa: 0
    ddkappa: 0
  }
1962 1963
  v: 0.96339508430289356
  a: -0.11897747537204797
1964 1965 1966 1967
  relative_time: 6.9499999999999833
}
trajectory_point {
  path_point {
1968 1969 1970 1971 1972
    x: 586365.63580426644
    y: 4140777.3533939742
    theta: 1.3062144724840203
    kappa: 0.00011291422181231143
    s: 16.201079938434471
1973 1974 1975
    dkappa: 0
    ddkappa: 0
  }
1976 1977
  v: 0.95759393360800438
  a: -0.11307254142160797
1978 1979 1980 1981
  relative_time: 6.9999999999999831
}
trajectory_point {
  path_point {
1982 1983 1984 1985 1986
    x: 586365.648288392
    y: 4140777.3994735954
    theta: 1.3062162521623466
    kappa: 7.1779409069395143e-05
    s: 16.248820747347871
1987 1988 1989
    dkappa: 0
    ddkappa: 0
  }
1990 1991
  v: 0.95208743126092432
  a: -0.10719154145967844
1992 1993 1994 1995
  relative_time: 7.0499999999999829
}
trajectory_point {
  path_point {
1996 1997 1998 1999 2000
    x: 586365.66070244019
    y: 4140777.4452945567
    theta: 1.3062180218507908
    kappa: 3.0875498678645868e-05
    s: 16.296293572421369
2001 2002 2003
    dkappa: 0
    ddkappa: 0
  }
2004 2005
  v: 0.94687438056222806
  a: -0.10133447548625935
2006 2007 2008 2009
  relative_time: 7.0999999999999828
}
trajectory_point {
  path_point {
2010 2011 2012 2013 2014
    x: 586365.67305024015
    y: 4140777.4908709927
    theta: 1.3062197820952017
    kappa: -9.8101258885222587e-06
    s: 16.343513056319907
2015 2016 2017
    dkappa: 0
    ddkappa: 0
  }
2018 2019
  v: 0.94195358481248992
  a: -0.095501343501350727
2020 2021 2022 2023
  relative_time: 7.1499999999999826
}
trajectory_point {
  path_point {
2024 2025 2026 2027 2028
    x: 586365.68533560541
    y: 4140777.5362169775
    theta: 1.3062215334391969
    kappa: -5.0290029605209033e-05
    s: 16.390493781873445
2029 2030 2031
    dkappa: 0
    ddkappa: 0
  }
2032 2033
  v: 0.93732384731228446
  a: -0.089692145504952553
2034 2035 2036 2037
  relative_time: 7.1999999999999824
}
trajectory_point {
  path_point {
2038 2039 2040 2041 2042
    x: 586365.69756270165
    y: 4140777.58134643
    theta: 1.3062187774617111
    kappa: -9.1254894858676055e-05
    s: 16.437250272076973
2043 2044 2045
    dkappa: 0
    ddkappa: 0
  }
2046 2047
  v: 0.93298397136218614
  a: -0.08390688149706485
2048 2049 2050 2051
  relative_time: 7.2499999999999822
}
trajectory_point {
  path_point {
2052 2053 2054 2055 2056
    x: 586365.70973542973
    y: 4140777.6262732786
    theta: 1.3062100665426011
    kappa: -0.00013293547755316838
    s: 16.483796990090507
2057 2058 2059
    dkappa: 0
    ddkappa: 0
  }
2060 2061
  v: 0.9289327602627695
  a: -0.078145551477687591
2062 2063 2064 2065
  relative_time: 7.2999999999999821
}
trajectory_point {
  path_point {
2066 2067 2068 2069 2070
    x: 586365.72185706557
    y: 4140777.6710115564
    theta: 1.3062013921855167
    kappa: -0.00017444111583742971
    s: 16.5301483392391
2071 2072 2073
    dkappa: 0
    ddkappa: 0
  }
2074 2075
  v: 0.925169017314609
  a: -0.072408155446820777
2076 2077 2078 2079
  relative_time: 7.3499999999999819
}
trajectory_point {
  path_point {
2080 2081 2082 2083 2084
    x: 586365.7339313603
    y: 4140777.7155751088
    theta: 1.3061927517061676
    kappa: -0.00021578465368950498
    s: 16.576318663012831
2085 2086 2087
    dkappa: 0
    ddkappa: 0
  }
2088 2089
  v: 0.921691545818279
  a: -0.066694693404464461
2090 2091 2092 2093
  relative_time: 7.3999999999999817
}
trajectory_point {
  path_point {
2094 2095 2096 2097 2098
    x: 586365.74596204923
    y: 4140777.7599777221
    theta: 1.3061841424314604
    kappa: -0.0002569788815078011
    s: 16.622322245066805
2099 2100 2101
    dkappa: 0
    ddkappa: 0
  }
2102 2103
  v: 0.918499149074354
  a: -0.061005165350618562
2104 2105 2106 2107
  relative_time: 7.4499999999999815
}
trajectory_point {
  path_point {
2108 2109 2110 2111 2112
    x: 586365.75795285241
    y: 4140777.8042331254
    theta: 1.3061755616994999
    kappa: -0.00029803653611107427
    s: 16.668173309221149
2113 2114 2115
    dkappa: 0
    ddkappa: 0
  }
2116 2117
  v: 0.91559063038340871
  a: -0.055339571285283135
2118 2119 2120 2121
  relative_time: 7.4999999999999813
}
trajectory_point {
  path_point {
2122 2123 2124 2125 2126
    x: 586365.76991063391
    y: 4140777.8483541333
    theta: 1.3061573214021081
    kappa: -0.00033660200126432125
    s: 16.713886019461036
2127 2128 2129
    dkappa: 0
    ddkappa: 0
  }
2130 2131
  v: 0.91296479304601719
  a: -0.049697911208458179
2132 2133 2134 2135
  relative_time: 7.5499999999999812
}
trajectory_point {
  path_point {
2136 2137 2138 2139 2140
    x: 586365.78183602775
    y: 4140777.8923551869
    theta: 1.3061387804110025
    kappa: -0.00037497699438582944
    s: 16.759474479936653
2141 2142 2143
    dkappa: 0
    ddkappa: 0
  }
2144 2145
  v: 0.91062044036275436
  a: -0.044080185120143667
2146 2147 2148 2149
  relative_time: 7.599999999999981
}
trajectory_point {
  path_point {
2150 2151 2152 2153 2154
    x: 586365.79373259307
    y: 4140777.9362498722
    theta: 1.3061202842408397
    kappa: -0.00041325921987919175
    s: 16.804952734963223
2155 2156 2157
    dkappa: 0
    ddkappa: 0
  }
2158 2159
  v: 0.90855637563419434
  a: -0.038486393020339627
2160 2161 2162 2163
  relative_time: 7.6499999999999808
}
trajectory_point {
  path_point {
2164 2165 2166 2167 2168
    x: 586365.80560398824
    y: 4140777.980051687
    theta: 1.3061018272040941
    kappa: -0.00045146044945873482
    s: 16.850334769020993
2169 2170 2171
    dkappa: 0
    ddkappa: 0
  }
2172 2173
  v: 0.9067714021609119
  a: -0.032916534909046058
2174 2175 2176 2177
  relative_time: 7.6999999999999806
}
trajectory_point {
  path_point {
2178 2179 2180 2181 2182
    x: 586365.81745385577
    y: 4140778.0237740716
    theta: 1.3060834036375748
    kappa: -0.00048959240447151169
    s: 16.895634506755243
2183 2184 2185
    dkappa: 0
    ddkappa: 0
  }
2186 2187
  v: 0.90526432324348127
  a: -0.027370610786262906
2188 2189 2190 2191
  relative_time: 7.7499999999999805
}
trajectory_point {
  path_point {
2192 2193 2194 2195 2196
    x: 586365.82928815752
    y: 4140778.0674297735
    theta: 1.306061322909934
    kappa: -0.000525124000362302
    s: 16.940865812976284
2197 2198 2199
    dkappa: 0
    ddkappa: 0
  }
2200 2201
  v: 0.90403394218247712
  a: -0.021848620651990225
2202 2203 2204 2205
  relative_time: 7.79999999999998
}
trajectory_point {
  path_point {
2206 2207 2208 2209 2210
    x: 586365.84111152985
    y: 4140778.1110318406
    theta: 1.3060339621208927
    kappa: -0.00055695088204296846
    s: 16.986042492659443
2211 2212 2213
    dkappa: 0
    ddkappa: 0
  }
2214 2215
  v: 0.90307906227847379
  a: -0.016350564506228016
2216 2217 2218 2219
  relative_time: 7.84999999999998
}
trajectory_point {
  path_point {
2220 2221 2222 2223 2224
    x: 586365.852924203
    y: 4140778.1545944512
    theta: 1.3060066260911902
    kappa: -0.00058874896285976636
    s: 17.031178290945089
2225 2226 2227
    dkappa: 0
    ddkappa: 0
  }
2228 2229
  v: 0.90239848683204582
  a: -0.010876442348976251
2230 2231 2232 2233
  relative_time: 7.89999999999998
}
trajectory_point {
  path_point {
2234 2235 2236 2237 2238
    x: 586365.86472975858
    y: 4140778.1981308134
    theta: 1.3059793065325045
    kappa: -0.00062052788408333709
    s: 17.076286893138615
2239 2240 2241
    dkappa: 0
    ddkappa: 0
  }
2242 2243
  v: 0.90199101914376767
  a: -0.0054262541802349573
2244 2245 2246 2247
  relative_time: 7.94999999999998
}
trajectory_point {
  path_point {
2248 2249 2250 2251 2252
    x: 586365.87653176242
    y: 4140778.2416540789
    theta: 1.30595199519275
    kappa: -0.00065229724483070435
    s: 17.121381924710445
2253 2254 2255
    dkappa: 0
    ddkappa: 0
  }
2256 2257
  v: 0.90185546251421378
  a: -4.1078251911130792e-15
2258 2259 2260 2261
  relative_time: 7.99999999999998
}
decision {
  main_decision {
2262
    stop {
2263
      reason_code: STOP_REASON_DESTINATION
2264 2265
      reason: "stop by DEST"
      stop_point {
2266 2267
        x: 586366.98236622673
        y: 4140782.340687993
2268
      }
2269
      stop_heading: 1.312334775534727
2270 2271 2272 2273 2274 2275 2276 2277 2278 2279 2280 2281 2282
    }
  }
  object_decision {
    decision {
      id: "3_0"
      perception_id: 3
      object_decision {
        ignore {
        }
      }
    }
    decision {
      id: "DEST"
D
Dong Li 已提交
2283
      perception_id: -1109540454
2284
      object_decision {
2285
        stop {
2286 2287
          reason_code: STOP_REASON_DESTINATION
          distance_s: -3
2288
          stop_point {
2289 2290
            x: 586366.98236622673
            y: 4140782.340687993
2291
          }
2292
          stop_heading: 1.312334775534727
2293 2294 2295 2296 2297
        }
      }
    }
  }
}