From 76b215a928250536051a9c081cce723825c5ace3 Mon Sep 17 00:00:00 2001 From: Dong Li Date: Thu, 17 Aug 2017 13:47:40 -0700 Subject: [PATCH] remove duplicated tests that can be covered by integration tests --- .../planning/integration_tests/garage_test.cc | 2 +- modules/planning/optimizer/dp_poly_path/BUILD | 16 - .../dp_poly_path/dp_road_graph_test.cc | 106 - modules/planning/optimizer/dp_st_speed/BUILD | 16 - .../optimizer/dp_st_speed/dp_st_graph_test.cc | 84 - .../planning/optimizer/qp_spline_path/BUILD | 17 +- .../qp_spline_path_optimizer_test.cc | 131 - .../optimizer/qp_spline_st_speed/BUILD | 18 - .../qp_spline_st_speed_optimizer_test.cc | 136 - .../garage_test/result_follow_0.pb.txt | 1280 +- .../testdata/garage_test/result_stop_0.pb.txt | 2244 +-- .../qp_spline_path/42_apollo_planning.pb.txt | 1565 -- .../qp_spline_path/planning_config.pb.txt | 123 - .../qp_spline_path_config.pb.txt | 11 - .../25_apollo_planning.pb.txt | 16202 ---------------- .../qp_spline_st_speed/planning_config.pb.txt | 123 - .../qp_spline_st_speed_config_file.pb.txt | 17 - .../st_boundary_config_file.pb.txt | 17 - 18 files changed, 1764 insertions(+), 20344 deletions(-) delete mode 100644 modules/planning/optimizer/dp_poly_path/dp_road_graph_test.cc delete mode 100644 modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc delete mode 100644 modules/planning/optimizer/qp_spline_path/qp_spline_path_optimizer_test.cc delete mode 100644 modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer_test.cc delete mode 100644 modules/planning/testdata/qp_spline_path/42_apollo_planning.pb.txt delete mode 100644 modules/planning/testdata/qp_spline_path/planning_config.pb.txt delete mode 100644 modules/planning/testdata/qp_spline_path/qp_spline_path_config.pb.txt delete mode 100644 modules/planning/testdata/qp_spline_st_speed/25_apollo_planning.pb.txt delete mode 100644 modules/planning/testdata/qp_spline_st_speed/planning_config.pb.txt delete mode 100644 modules/planning/testdata/qp_spline_st_speed/qp_spline_st_speed_config_file.pb.txt delete mode 100644 modules/planning/testdata/qp_spline_st_speed/st_boundary_config_file.pb.txt diff --git a/modules/planning/integration_tests/garage_test.cc b/modules/planning/integration_tests/garage_test.cc index ad50a2a944..4065fd723d 100644 --- a/modules/planning/integration_tests/garage_test.cc +++ b/modules/planning/integration_tests/garage_test.cc @@ -41,7 +41,7 @@ class GarageTest : public PlanningTestBase { public: virtual void SetUp() { FLAGS_map_file_path = "modules/planning/testdata/base_map.txt"; - FLAGS_test_data_dir = "modules/planning/testdata/garage_test/"; + FLAGS_test_data_dir = "modules/planning/testdata/garage_test"; } }; diff --git a/modules/planning/optimizer/dp_poly_path/BUILD b/modules/planning/optimizer/dp_poly_path/BUILD index 0f34617b78..3fd6804a1a 100644 --- a/modules/planning/optimizer/dp_poly_path/BUILD +++ b/modules/planning/optimizer/dp_poly_path/BUILD @@ -45,20 +45,4 @@ cc_library( ], ) -cc_test( - name = "dp_road_graph_test", - size = "small", - srcs = [ - "dp_road_graph_test.cc", - ], - data = [ - "//modules/map:map_data", - "//modules/planning:planning_testdata", - ], - deps = [ - ":dp_poly_path", - "//modules/planning/integration_tests:planning_test_base", - ], -) - cpplint() diff --git a/modules/planning/optimizer/dp_poly_path/dp_road_graph_test.cc b/modules/planning/optimizer/dp_poly_path/dp_road_graph_test.cc deleted file mode 100644 index f7ac159e8c..0000000000 --- a/modules/planning/optimizer/dp_poly_path/dp_road_graph_test.cc +++ /dev/null @@ -1,106 +0,0 @@ -/****************************************************************************** - * Copyright 2017 The Apollo Authors. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - *****************************************************************************/ - -#include -#include - -#include "gmock/gmock.h" -#include "gtest/gtest.h" - -#include "modules/planning/proto/dp_poly_path_config.pb.h" - -#include "modules/common/adapters/adapter_gflags.h" -#include "modules/common/adapters/adapter_manager.h" -#include "modules/common/log.h" -#include "modules/common/util/file.h" -#include "modules/planning/common/planning_gflags.h" -#include "modules/planning/integration_tests/planning_test_base.h" -#include "modules/planning/optimizer/dp_poly_path/dp_road_graph.h" - -namespace apollo { -namespace planning { - -using common::adapter::AdapterManager; - -class DpRoadGraphTest : public PlanningTestBase { - public: - void SetInitPoint() { - const auto* frame = planning_.GetFrame(); - const auto& pose = frame->VehicleInitPose(); - init_point_.mutable_path_point()->set_x(pose.position().x()); - init_point_.mutable_path_point()->set_y(pose.position().y()); - const auto& velocity = pose.linear_velocity(); - init_point_.set_v(std::hypot(velocity.x(), velocity.y())); - const auto& acc = pose.linear_acceleration(); - init_point_.set_a(std::hypot(acc.x(), acc.y())); - init_point_.set_relative_time(0.0); - } - - void SetSpeedDataWithConstVeolocity(const double velocity) { - // speed point params: s, time, v, a, da - double t = 0.0; - const double delta_s = 1.0; - if (velocity > 0.0) { - for (double s = 0.0; s < 100.0; s += delta_s) { - speed_data_.AppendSpeedPoint(s, t, velocity, 0.0, 0.0); - t += delta_s / velocity; - } - } else { // when velocity = 0, stand still - for (double t = 0.0; t < 10.0; t += 0.1) { - speed_data_.AppendSpeedPoint(0.0, t, 0.0, 0.0, 0.0); - } - } - } - - virtual void SetUp() { - FLAGS_test_data_dir = "modules/planning/testdata/dp_road_graph_test"; - } - - protected: - const ReferenceLine* reference_line_ = nullptr; - common::TrajectoryPoint init_point_; - SpeedData speed_data_; // input - PathData path_data_; // output -}; - -TEST_F(DpRoadGraphTest, speed_road_graph) { - PlanningTestBase::SetUp(); - - RUN_GOLDEN_TEST; - - // specialized tests - SetInitPoint(); - SetSpeedDataWithConstVeolocity(10.0); - const auto* frame = planning_.GetFrame(); - ASSERT_TRUE(frame != nullptr); - reference_line_ = &(frame->reference_line()); - DpPolyPathConfig dp_poly_path_config; // default values - DPRoadGraph road_graph(dp_poly_path_config, *reference_line_, speed_data_); - ASSERT_TRUE(reference_line_ != nullptr); - bool result = road_graph.FindPathTunnel(init_point_, &path_data_); - EXPECT_TRUE(result); - EXPECT_EQ(648, path_data_.discretized_path().NumOfPoints()); - EXPECT_EQ(648, path_data_.frenet_frame_path().NumOfPoints()); - EXPECT_FLOAT_EQ(70.450378, - path_data_.frenet_frame_path().points().back().s()); - EXPECT_FLOAT_EQ(0.0, path_data_.frenet_frame_path().points().back().l()); - // export_path_data(path_data_, "/tmp/path.txt"); -} - -} // namespace planning -} // namespace apollo - -TMAIN; \ No newline at end of file diff --git a/modules/planning/optimizer/dp_st_speed/BUILD b/modules/planning/optimizer/dp_st_speed/BUILD index 20a5f8abaa..f1c02c8bea 100644 --- a/modules/planning/optimizer/dp_st_speed/BUILD +++ b/modules/planning/optimizer/dp_st_speed/BUILD @@ -63,20 +63,4 @@ cc_library( ], ) -cc_test( - name = "dp_st_graph_test", - size = "small", - srcs = [ - "dp_st_graph_test.cc", - ], - data = [ - "//modules/map:map_data", - "//modules/planning:planning_testdata", - ], - deps = [ - ":dp_st_graph", - "//modules/planning/integration_tests:planning_test_base", - ], -) - cpplint() diff --git a/modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc b/modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc deleted file mode 100644 index d1dec66cb7..0000000000 --- a/modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc +++ /dev/null @@ -1,84 +0,0 @@ -/****************************************************************************** - * Copyright 2017 The Apollo Authors. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - *****************************************************************************/ - -#include -#include - -#include "gmock/gmock.h" -#include "gtest/gtest.h" - -#include "modules/planning/proto/dp_st_speed_config.pb.h" - -#include "modules/common/adapters/adapter_gflags.h" -#include "modules/common/adapters/adapter_manager.h" -#include "modules/common/configs/vehicle_config_helper.h" -#include "modules/common/log.h" -#include "modules/common/util/file.h" -#include "modules/planning/common/path_decision.h" -#include "modules/planning/common/planning_gflags.h" -#include "modules/planning/integration_tests/planning_test_base.h" -#include "modules/planning/optimizer/dp_st_speed/dp_st_graph.h" - -namespace apollo { -namespace planning { - -using common::adapter::AdapterManager; - -class DpStSpeedTest : public PlanningTestBase { - public: - void SetPathDataWithStraightLine() { - double l = 0.0; - const double ds = 1.0; - - std::vector points; - for (double s = 0.0; s < 50.0; s += ds) { - common::FrenetFramePoint ffp; - ffp.set_s(s); - ffp.set_l(l); - points.push_back(ffp); - } - - FrenetFramePath path(points); - path_data_.SetReferenceLine(reference_line_); - path_data_.SetFrenetPath(path); - } - - virtual void SetUp() { - FLAGS_test_data_dir = "modules/planning/testdata/dp_st_speed_test"; - } - - protected: - const ReferenceLine* reference_line_ = nullptr; - common::TrajectoryPoint init_point_; - SpeedData speed_data_; // output - PathData path_data_; // input -}; - -TEST_F(DpStSpeedTest, dp_st_graph_test) { - PlanningTestBase::SetUp(); - RUN_GOLDEN_TEST; - - DpStSpeedConfig dp_st_speed_config; - const auto& veh_param = - common::VehicleConfigHelper::GetConfig().vehicle_param(); - DpStGraph dp_st_graph(dp_st_speed_config, StGraphData(), veh_param, - path_data_); -} - -} // namespace planning -} // namespace apollo - -TMAIN; diff --git a/modules/planning/optimizer/qp_spline_path/BUILD b/modules/planning/optimizer/qp_spline_path/BUILD index f3a335f4fd..677ee332dd 100644 --- a/modules/planning/optimizer/qp_spline_path/BUILD +++ b/modules/planning/optimizer/qp_spline_path/BUILD @@ -30,9 +30,9 @@ cc_library( "//modules/planning/common/path:path_data", "//modules/planning/common/speed:speed_data", "//modules/planning/math:polynomial_xd", - "//modules/planning/math/frame_conversion:cartesian_frenet_conversion", "//modules/planning/math/curve1d:polynomial_curve1d", "//modules/planning/math/curve1d:quintic_polynomial_curve1d", + "//modules/planning/math/frame_conversion:cartesian_frenet_conversion", "//modules/planning/math/smoothing_spline:spline_1d_constraint", "//modules/planning/math/smoothing_spline:spline_1d_generator", "//modules/planning/math/smoothing_spline:spline_1d_kernel", @@ -44,19 +44,4 @@ cc_library( ], ) -cc_test( - name = "qp_spline_path_optimizer_test", - size = "small", - srcs = [ - "qp_spline_path_optimizer_test.cc", - ], - data = [ - "//modules/planning:planning_testdata", - ], - deps = [ - ":qp_spline_path", - "@gtest//:main", - ], -) - cpplint() diff --git a/modules/planning/optimizer/qp_spline_path/qp_spline_path_optimizer_test.cc b/modules/planning/optimizer/qp_spline_path/qp_spline_path_optimizer_test.cc deleted file mode 100644 index 50fc53b803..0000000000 --- a/modules/planning/optimizer/qp_spline_path/qp_spline_path_optimizer_test.cc +++ /dev/null @@ -1,131 +0,0 @@ -/****************************************************************************** - * Copyright 2017 The Apollo Authors. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - *****************************************************************************/ - -#include -#include - -#include "gtest/gtest.h" -#include "modules/planning/common/planning_gflags.h" -#include "modules/planning/optimizer/qp_spline_path/qp_spline_path_optimizer.h" -#include "modules/common/util/file.h" -#include "modules/planning/optimizer/qp_spline_path/qp_spline_path_generator.h" -#include "modules/common/vehicle_state/vehicle_state.h" - -namespace apollo { -namespace planning { - -using PlanningPb = planning::ADCTrajectory; - -class QpSplinePathOptimizerTest : public ::testing::Test { - virtual void SetUp() { - FLAGS_planning_config_file = - "modules/planning/testdata/qp_spline_path/planning_config.pb.txt"; - optimizer_.reset(new QpSplinePathOptimizer("")); - frame.reset(new Frame(1)); - hdmap::PncMap* pnc_map; - pnc_map = new hdmap::PncMap("modules/planning/testdata/base_map.txt"); - Frame::SetMap(pnc_map); - - LoadPlanningConfig(); - planning_pb = LoadPlanningPb( - "modules/planning/testdata" - "/qp_spline_path/42_apollo_planning.pb.txt"); - frame->SetVehicleInitPose( - planning_pb.debug().planning_data().adc_position().pose()); - frame->SetRoutingResponse( - planning_pb.debug().planning_data().routing()); - } - - protected: - PlanningPb LoadPlanningPb(const std::string &filename) { - PlanningPb planning_pb; - CHECK(apollo::common::util::GetProtoFromFile(filename, &planning_pb)) - << "Failed to open file " << filename; - return std::move(planning_pb); - } - - void LoadPlanningConfig() { - PlanningPb planning_pb; - CHECK(apollo::common::util::GetProtoFromFile(FLAGS_planning_config_file, - &planning_config_)) - << "Failed to open file " << FLAGS_planning_config_file; - } - - common::TrajectoryPoint GetInitPoint() { - common::TrajectoryPoint init_point; - common::VehicleState::instance()->Update( - planning_pb.debug().planning_data().adc_position(), - planning_pb.debug().planning_data().chassis()); - init_point.mutable_path_point()->set_x( - common::VehicleState::instance()->x()); - init_point.mutable_path_point()->set_y( - common::VehicleState::instance()->y()); - init_point.set_v(common::VehicleState::instance()->linear_velocity()); - init_point.set_a(common::VehicleState::instance()->linear_acceleration()); - init_point.mutable_path_point()->set_theta( - common::VehicleState::instance()->heading()); - init_point.mutable_path_point()->set_kappa( - common::VehicleState::instance()->kappa()); - - init_point.set_relative_time(0.0); - return std::move(init_point); - } - - double timestamp_ = 0.0; - std::unique_ptr frame; - PlanningPb planning_pb; - std::unique_ptr optimizer_; - PlanningConfig planning_config_; -}; - -TEST_F(QpSplinePathOptimizerTest, Process) { - EXPECT_EQ(frame->Init(planning_config_), true); - common::TrajectoryPoint init_point = GetInitPoint(); - frame->SetPlanningStartPoint(init_point); - PlanningData* planning_data = frame->mutable_planning_data(); - EXPECT_EQ(planning_data->path_data().discretized_path().path_points().size() - , 0); - optimizer_->Init(planning_config_); - optimizer_->Optimize(frame.get()); - - common::Path qp_path_ground_truth; - for (common::Path path : planning_pb.debug().planning_data().path()) { - if (path.name() == "QP_SPLINE_PATH_OPTIMIZER") { - qp_path_ground_truth = path; - } - } - - EXPECT_EQ(qp_path_ground_truth.path_point().size(), 101); - EXPECT_EQ(frame->planning_data().path_data() - .discretized_path().path_points().size(), 101); - - for (std::int32_t i = 0; i < qp_path_ground_truth.path_point().size(); i++) { - common::PathPoint ground_truth_point = - qp_path_ground_truth.path_point().Get(i); - common::PathPoint computed_point = planning_data - ->path_data().discretized_path().path_points()[i]; - EXPECT_NEAR(ground_truth_point.x(), computed_point.x(), 1.0e-2); - EXPECT_NEAR(ground_truth_point.y(), computed_point.y(), 1.0e-3); - EXPECT_NEAR(ground_truth_point.kappa(), computed_point.kappa(), 1.0e-3); - EXPECT_NEAR(ground_truth_point.theta(), computed_point.theta(), 1.0e-3); - EXPECT_NEAR(ground_truth_point.s(), computed_point.s(), 1.0e-3); - EXPECT_NEAR(ground_truth_point.dkappa(), computed_point.dkappa(), 1.0e-3); - EXPECT_NEAR(ground_truth_point.ddkappa(), computed_point.ddkappa(), 1.0e-3); - } -} - -} // namespace planning -} // namespace apollo diff --git a/modules/planning/optimizer/qp_spline_st_speed/BUILD b/modules/planning/optimizer/qp_spline_st_speed/BUILD index 728f76fbac..08d244ab26 100644 --- a/modules/planning/optimizer/qp_spline_st_speed/BUILD +++ b/modules/planning/optimizer/qp_spline_st_speed/BUILD @@ -46,22 +46,4 @@ cc_library( ], ) -cc_test( - name = "qp_spline_st_speed_optimizer_test", - size = "small", - srcs = [ - "qp_spline_st_speed_optimizer_test.cc", - ], - data = [ - "//modules/planning:planning_testdata", - ], - deps = [ - "@gtest//:main", - ":qp_spline_st_graph", - ":qp_spline_st_speed_optimizer", - "//modules/planning/optimizer/qp_spline_path", - "//modules/planning/proto:qp_spline_path_config_proto", - ], -) - cpplint() diff --git a/modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer_test.cc b/modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer_test.cc deleted file mode 100644 index 0a67d4f13f..0000000000 --- a/modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer_test.cc +++ /dev/null @@ -1,136 +0,0 @@ -/****************************************************************************** - * Copyright 2017 The Apollo Authors. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - *****************************************************************************/ - -#include -#include - -#include "gtest/gtest.h" -#include "modules/planning/common/planning_gflags.h" -#include "modules/planning/optimizer/qp_spline_path/qp_spline_path_optimizer.h" -#include "modules/common/util/file.h" -#include "modules/planning/optimizer/qp_spline_path/qp_spline_path_generator.h" -#include "modules/common/vehicle_state/vehicle_state.h" -#include "modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.h" - -namespace apollo { -namespace planning { - -using PlanningPb = planning::ADCTrajectory; - -class QpSplineStSpeedOptimizerTest : public ::testing::Test { - virtual void SetUp() { - FLAGS_planning_config_file = - "modules/planning/testdata/qp_spline_st_speed/planning_config.pb.txt"; - - LoadPlanningConfig(); - optimizer_.reset(new QpSplineStSpeedOptimizer("ST_SPEED")); - planning_pb = LoadPlanningPb( - "modules/planning/testdata" - "/qp_spline_st_speed/25_apollo_planning.pb.txt"); - InitFrame(); - } - - protected: - PlanningPb LoadPlanningPb(const std::string &filename) { - PlanningPb planning_pb; - CHECK(apollo::common::util::GetProtoFromFile(filename, &planning_pb)) - << "Failed to open file " << filename; - return std::move(planning_pb); - } - - void LoadPlanningConfig() { - PlanningPb planning_pb; - CHECK(apollo::common::util::GetProtoFromFile(FLAGS_planning_config_file, - &planning_config_)) - << "Failed to open file " << FLAGS_planning_config_file; - } - - void InitFrame() { - frame.reset(new Frame(1)); - hdmap::PncMap* pnc_map; - pnc_map = new hdmap::PncMap("modules/planning/testdata/base_map.txt"); - Frame::SetMap(pnc_map); - - frame->SetVehicleInitPose( - planning_pb.debug().planning_data().adc_position().pose()); - frame->SetRoutingResponse( - planning_pb.debug().planning_data().routing()); - - frame->Init(planning_config_); - frame->SetPlanningStartPoint(planning_pb.debug() - .planning_data().init_point()); - - PathData* pathData = frame->mutable_planning_data()->mutable_path_data(); - pathData->SetReferenceLine(&frame->reference_line()); - pathData->SetDiscretizedPath(getDiscretizedPath()); - } - - DiscretizedPath getDiscretizedPath() { - DiscretizedPath path; - - common::Path qp_path_ground_truth; - for (common::Path path : planning_pb.debug().planning_data().path()) { - if (path.name() == "QP_SPLINE_PATH_OPTIMIZER") { - qp_path_ground_truth = path; - } - } - std::vector pathPoints; - for (common::PathPoint point : qp_path_ground_truth.path_point()) { - pathPoints.push_back(point); - } - path.set_path_points(pathPoints); - return path; - } - - double timestamp_ = 0.0; - std::unique_ptr frame; - PlanningPb planning_pb; - std::unique_ptr optimizer_; - PlanningConfig planning_config_; -}; - -TEST_F(QpSplineStSpeedOptimizerTest, Process) { - PlanningData* planning_data = frame->mutable_planning_data(); - EXPECT_EQ(planning_data->speed_data().speed_vector().size() - , 0); - optimizer_->Init(planning_config_); - optimizer_->Optimize(frame.get()); - - planning_internal::STGraphDebug st_graph_ground_truth; - for (planning_internal::STGraphDebug stGraphDebug : - planning_pb.debug().planning_data().st_graph()) { - if (stGraphDebug.name() == "QP_SPLINE_ST_SPEED_OPTIMIZER") { - st_graph_ground_truth = stGraphDebug; - } - } - - EXPECT_EQ(st_graph_ground_truth.speed_profile().size(), 162); - EXPECT_EQ(frame->planning_data().speed_data().speed_vector() - .size(), 162); - - for (std::int32_t i = 0; - i < st_graph_ground_truth.speed_profile().size(); i++) { - common::SpeedPoint ground_truth_point = - st_graph_ground_truth.speed_profile().Get(i); - common::SpeedPoint computed_point = planning_data - ->speed_data().speed_vector()[i]; - // EXPECT_NEAR(ground_truth_point.s(), computed_point.s(), 1.0e-3); - // EXPECT_NEAR(ground_truth_point.v(), computed_point.v(), 1.0e-3); - } -} - -} // namespace planning -} // namespace apollo diff --git a/modules/planning/testdata/garage_test/result_follow_0.pb.txt b/modules/planning/testdata/garage_test/result_follow_0.pb.txt index fe9f8f3401..04a29c6563 100755 --- a/modules/planning/testdata/garage_test/result_follow_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_follow_0.pb.txt @@ -20,10 +20,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586344.8932293019 - y: 4140700.4311157512 - theta: 1.3193607266290623 - kappa: -0.022813522752389372 + x: 586344.89309053333 + y: 4140700.4311516462 + theta: 1.3193393375801936 + kappa: -0.022648615055922652 s: 0.28014030056838851 dkappa: 0 ddkappa: 0 @@ -34,10 +34,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586344.96350149182 - y: 4140700.7024964388 - theta: 1.3132161358147207 - kappa: -0.019574621081190666 + x: 586344.96322386013 + y: 4140700.7025682544 + theta: 1.3131733807380823 + kappa: -0.019244693232610334 s: 0.56047163745222006 dkappa: 0 ddkappa: 0 @@ -48,10 +48,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.035556335 - y: 4140700.9734651772 - theta: 1.3081385585020944 - kappa: -0.016611490280119986 + x: 586345.035565706 + y: 4140700.9734618594 + theta: 1.3083893714819061 + kappa: -0.016220799360403316 s: 0.84086259837123323 dkappa: 0 ddkappa: 0 @@ -62,10 +62,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.10924908 - y: 4140701.2439285223 - theta: 1.3040623743743256 - kappa: -0.013907962797345508 + x: 586345.10891348938 + y: 4140701.2440189589 + theta: 1.3042517594808836 + kappa: -0.013375280593569761 s: 1.121185700592024 dkappa: 0 ddkappa: 0 @@ -76,10 +76,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.18296113075 - y: 4140701.5141879162 - theta: 1.3000444684611214 - kappa: -0.011222486617740167 + x: 586345.18295605329 + y: 4140701.514186346 + theta: 1.3007270301230363 + kappa: -0.010720516573697944 s: 1.401317387433529 dkappa: 0 ddkappa: 0 @@ -90,10 +90,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.25865927245 - y: 4140701.783574963 - theta: 1.2976781974594191 - kappa: -0.0090212969512559783 + x: 586345.25821753137 + y: 4140701.7836957132 + theta: 1.2982717679540559 + kappa: -0.0083985161233606914 s: 1.6811380247725061 dkappa: 0 ddkappa: 0 @@ -104,10 +104,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.334241964 - y: 4140702.0525511564 - theta: 1.2953155297396983 - kappa: -0.0068234643986496441 + x: 586345.33340870007 + y: 4140702.0527815251 + theta: 1.2958750555031182 + kappa: -0.0060993946718497774 s: 1.9605318975490178 dkappa: 0 ddkappa: 0 @@ -118,10 +118,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.410276137 - y: 4140702.3208397352 - theta: 1.2936964640720316 - kappa: -0.004876976761074279 + x: 586345.40950370114 + y: 4140702.3210534649 + theta: 1.294775214433709 + kappa: -0.0042607136198936722 s: 2.2393872062719122 dkappa: 0 ddkappa: 0 @@ -132,10 +132,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.4866386205 - y: 4140702.5883634528 - theta: 1.2927055893712276 - kappa: -0.0031437923461140379 + x: 586345.48542229645 + y: 4140702.5887034889 + theta: 1.2936779227194937 + kappa: -0.0024262950583138964 s: 2.5175960635243055 dkappa: 0 ddkappa: 0 @@ -146,10 +146,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.56280609965 - y: 4140702.8551624222 - theta: 1.2917569660629582 - kappa: -0.001430916498254051 + x: 586345.56137804 + y: 4140702.8555627726 + theta: 1.2933229162219657 + kappa: -0.00090183982632073827 s: 2.7950544904690653 dkappa: 0 ddkappa: 0 @@ -160,10 +160,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.63902169885 - y: 4140703.1210630159 - theta: 1.2918269325493397 - kappa: -0.00012449028404032294 + x: 586345.63720116066 + y: 4140703.1215755492 + theta: 1.2932752273649206 + kappa: 0.00049160459224077929 s: 3.0716624133542907 dkappa: 0 ddkappa: 0 @@ -174,10 +174,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.71497645427 - y: 4140703.386053578 - theta: 1.2918966595792143 - kappa: 0.0011774647544448777 + x: 586345.71268457989 + y: 4140703.3867007345 + theta: 1.2935027910722661 + kappa: 0.0017370272313014128 s: 3.347323660018795 dkappa: 0 ddkappa: 0 @@ -188,10 +188,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.790481518 - y: 4140703.6500921426 - theta: 1.2923585343403854 - kappa: 0.0022745158187945495 + x: 586345.787739525 + y: 4140703.6508676531 + theta: 1.2942233556137046 + kappa: 0.0027205792774256275 s: 3.6219459563975884 dkappa: 0 ddkappa: 0 @@ -202,10 +202,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.86552222061 - y: 4140703.9130909825 - theta: 1.2931892861720664 - kappa: 0.0031780945475849858 + x: 586345.862486368 + y: 4140703.9139501615 + theta: 1.2949409620949781 + kappa: 0.0037000938236966684 s: 3.8954409230273597 dkappa: 0 ddkappa: 0 @@ -216,10 +216,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.94023042836 - y: 4140704.174924511 - theta: 1.2940163567839775 - kappa: 0.0040776696448772236 + x: 586345.93629000953 + y: 4140704.1760400892 + theta: 1.2961637638326178 + kappa: 0.0043217205415559054 s: 4.1677240715519579 dkappa: 0 ddkappa: 0 @@ -230,10 +230,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.0138776938 - y: 4140704.4357156837 - theta: 1.2953227352145553 - kappa: 0.0046431011397601984 + x: 586346.00973548868 + y: 4140704.4368882 + theta: 1.2973872797508197 + kappa: 0.0049358640165615229 s: 4.4387148012278761 dkappa: 0 ddkappa: 0 @@ -244,10 +244,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.08712678961 - y: 4140704.6951966602 - theta: 1.2966403579123569 - kappa: 0.00519349553709721 + x: 586346.08229852084 + y: 4140704.696561493 + theta: 1.29877893187289 + kappa: 0.005364729384420854 s: 4.7083364013614348 dkappa: 0 ddkappa: 0 @@ -258,10 +258,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.15960751718 - y: 4140704.9533955255 - theta: 1.2980570727138574 - kappa: 0.0056284515231122042 + x: 586346.15412196435 + y: 4140704.9549444448 + theta: 1.3002829758695658 + kappa: 0.005666069293519733 s: 4.9765161110419553 dkappa: 0 ddkappa: 0 @@ -272,10 +272,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.231076081 - y: 4140705.2103091916 - theta: 1.2996359883292001 - kappa: 0.0058805919562606689 + x: 586346.22537823149 + y: 4140705.2119167945 + theta: 1.3017965046201432 + kappa: 0.0059228084336199818 s: 5.2431851705379673 dkappa: 0 ddkappa: 0 @@ -286,10 +286,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.30212242459 - y: 4140705.4657050688 - theta: 1.3012055754623013 - kappa: 0.0061312428000815239 + x: 586346.29540101462 + y: 4140705.4675951996 + theta: 1.3033908392179907 + kappa: 0.0059636368117492048 s: 5.5082788088289432 dkappa: 0 ddkappa: 0 @@ -300,10 +300,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.37190083286 - y: 4140705.7197534023 - theta: 1.3028309157318159 - kappa: 0.0061940553991146194 + x: 586346.36499159993 + y: 4140705.7216954958 + theta: 1.3049753336883403 + kappa: 0.0060042131872359746 s: 5.7717362249526909 dkappa: 0 ddkappa: 0 @@ -314,10 +314,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.44097689842 - y: 4140705.9722391828 - theta: 1.3044658502719735 - kappa: 0.0061994324848002273 + x: 586346.43344363489 + y: 4140705.9743507477 + theta: 1.306518568776069 + kappa: 0.00589747515050386 s: 6.0335005693527393 dkappa: 0 ddkappa: 0 @@ -328,10 +328,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.50948182377 - y: 4140706.2230708115 - theta: 1.3060829528977467 - kappa: 0.0061845811047312339 + x: 586346.50115146558 + y: 4140706.22539894 + theta: 1.3080385853111656 + kappa: 0.0057302688453755 s: 6.2935189252257313 dkappa: 0 ddkappa: 0 @@ -342,10 +342,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.57655474276 - y: 4140706.472431052 - theta: 1.3076287473795161 - kappa: 0.00599440611899499 + x: 586346.56820797024 + y: 4140706.4747633105 + theta: 1.3095149178915966 + kappa: 0.0055313352125623905 s: 6.5517422898688107 dkappa: 0 ddkappa: 0 @@ -356,10 +356,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.64314970048 - y: 4140706.7200143533 - theta: 1.3091635283480993 - kappa: 0.0058055863193148078 + x: 586346.63407333894 + y: 4140706.7225417048 + theta: 1.3108520169513054 + kappa: 0.0052062933620299076 s: 6.80812555602702 dkappa: 0 ddkappa: 0 @@ -370,10 +370,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.70887759479 - y: 4140706.9658818785 - theta: 1.3106148573867402 - kappa: 0.0055596072024345789 + x: 586346.69945539057 + y: 4140706.9685019115 + theta: 1.312179304745462 + kappa: 0.0048836366540644851 s: 7.062627493240683 dkappa: 0 ddkappa: 0 @@ -384,10 +384,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.77352243033 - y: 4140707.21005259 - theta: 1.3119431632253395 - kappa: 0.005224579413661252 + x: 586346.76384905563 + y: 4140707.2127387021 + theta: 1.3133338040001772 + kappa: 0.0044882818770252235 s: 7.3152107291927955 dkappa: 0 ddkappa: 0 @@ -398,10 +398,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.83766762144 - y: 4140707.4523360878 - theta: 1.3132612024391312 - kappa: 0.0048921410788846167 + x: 586346.82748845371 + y: 4140707.4551555458 + theta: 1.3143950903342441 + kappa: 0.0040570786565364472 s: 7.5658417310564214 dkappa: 0 ddkappa: 0 @@ -412,10 +412,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.90081243112 - y: 4140707.6928333389 - theta: 1.3144018569598985 - kappa: 0.0044973563243639013 + x: 586346.89059002989 + y: 4140707.6956644319 + theta: 1.3154295735631483 + kappa: 0.0036250440121899132 s: 7.814490786842077 dkappa: 0 ddkappa: 0 @@ -426,10 +426,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.96314943349 - y: 4140707.9314669063 - theta: 1.3154324389219454 - kappa: 0.0040665068453729237 + x: 586346.95265162853 + y: 4140707.9343697722 + theta: 1.3161732526609451 + kappa: 0.0031314263723146657 s: 8.0611319867451261 dkappa: 0 ddkappa: 0 @@ -440,10 +440,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.02497337083 - y: 4140708.1681363988 - theta: 1.3164545382141644 - kappa: 0.0036392034760918848 + x: 586347.01420242875 + y: 4140708.1711104466 + theta: 1.3169108111135039 + kappa: 0.0026418714559452196 s: 8.3057432044931652 dkappa: 0 ddkappa: 0 @@ -454,10 +454,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.08582272369 - y: 4140708.4029427981 - theta: 1.3172159825203269 - kappa: 0.0031669280381241937 + x: 586347.075091883 + y: 4140708.4059065054 + theta: 1.3175092670717761 + kappa: 0.0021456225553638767 s: 8.5483060786934182 dkappa: 0 ddkappa: 0 @@ -468,10 +468,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.146034561 - y: 4140708.63578346 - theta: 1.3179047287942511 - kappa: 0.0026859154762113608 + x: 586347.13525279472 + y: 4140708.6387603306 + theta: 1.3179107031652177 + kappa: 0.0016380094872640097 s: 8.7888060564383572 dkappa: 0 ddkappa: 0 @@ -482,10 +482,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.20572739281 - y: 4140708.8666171143 - theta: 1.3185875380851011 - kappa: 0.0022090490797672686 + x: 586347.19489513966 + y: 4140708.8696070351 + theta: 1.318308679008255 + kappa: 0.0011347718719923756 s: 9.0272330057804755 dkappa: 0 ddkappa: 0 @@ -496,10 +496,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.26459337887 - y: 4140709.095517627 - theta: 1.3189627444047127 - kappa: 0.0017182209932483782 + x: 586347.25391598011 + y: 4140709.0984676844 + theta: 1.3184801128336556 + kappa: 0.00064612434580749016 s: 9.2635816066399741 dkappa: 0 ddkappa: 0 @@ -510,10 +510,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.32290409529 - y: 4140709.3224140969 - theta: 1.3192978298187432 - kappa: 0.0012294992406903966 + x: 586347.31237305293 + y: 4140709.3253264911 + theta: 1.318552233910552 + kappa: 0.00016624916397658474 s: 9.4978509982753323 dkappa: 0 ddkappa: 0 @@ -524,10 +524,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.38069807785 - y: 4140709.5472998722 - theta: 1.3196299457659237 - kappa: 0.000745108408418135 + x: 586347.37031209492 + y: 4140709.5501749371 + theta: 1.3186237158696985 + kappa: -0.00030937349349106642 s: 9.730044357781475 dkappa: 0 ddkappa: 0 @@ -538,10 +538,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.437877185 - y: 4140709.770207162 - theta: 1.3196574164516954 - kappa: 0.00028233254371008872 + x: 586347.42777948326 + y: 4140709.7730080811 + theta: 1.3184285338695085 + kappa: -0.00073155004068660673 s: 9.9601684785879563 dkappa: 0 ddkappa: 0 @@ -552,10 +552,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.494535367 - y: 4140709.9911221578 - theta: 1.3196566540666852 - kappa: -0.00017469745249219462 + x: 586347.48473680241 + y: 4140709.9938461413 + theta: 1.3182102469998755 + kappa: -0.0011453519527777588 s: 10.188233348957125 dkappa: 0 ddkappa: 0 @@ -566,10 +566,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.55068513972 - y: 4140710.2100548223 - theta: 1.3196558985227653 - kappa: -0.00062762639276646914 + x: 586347.54119655478 + y: 4140710.2126990655 + theta: 1.3179788540667898 + kappa: -0.0015496542174637548 s: 10.4142517304823 dkappa: 0 ddkappa: 0 @@ -580,10 +580,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.60641794093 - y: 4140710.4269972858 - theta: 1.3194020818732597 - kappa: -0.0010285713523468282 + x: 586347.5973480281 + y: 4140710.4295335435 + theta: 1.3175277337848332 + kappa: -0.0018651253699575304 s: 10.638238736585954 dkappa: 0 ddkappa: 0 @@ -594,10 +594,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.66166405228 - y: 4140710.641985042 - theta: 1.319108642720638 - kappa: -0.001417976720681068 + x: 586347.652994527 + y: 4140710.6444180133 + theta: 1.3170806703901059 + kappa: -0.0021777594671013533 s: 10.860211411017875 dkappa: 0 ddkappa: 0 @@ -608,10 +608,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.71641344018 - y: 4140710.8550398219 - theta: 1.3188178419241405 - kappa: -0.0018038809053846829 + x: 586347.70818639849 + y: 4140710.8573585628 + theta: 1.3166154543139841 + kappa: -0.00247018694932522 s: 11.080188306353346 dkappa: 0 ddkappa: 0 @@ -622,10 +622,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.77086858684 - y: 4140711.0661297305 - theta: 1.3183608093700518 - kappa: -0.0021214442618876115 + x: 586347.76316828921 + y: 4140711.068311926 + theta: 1.316015728126678 + kappa: -0.0026511766815958812 s: 11.298189062491319 dkappa: 0 ddkappa: 0 @@ -636,10 +636,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.82491420791 - y: 4140711.2753054453 - theta: 1.3178403471100171 - kappa: -0.002410211900145425 + x: 586347.8176568998 + y: 4140711.2773726825 + theta: 1.315421382340545 + kappa: -0.0028305426315293402 s: 11.514233985152595 dkappa: 0 ddkappa: 0 @@ -650,10 +650,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.8784757 - y: 4140711.4826074089 - theta: 1.3173245470666464 - kappa: -0.0026963928206953851 + x: 586347.87170956191 + y: 4140711.4845470735 + theta: 1.3148237694614104 + kappa: -0.0029871624752375453 s: 11.728343624377986 dkappa: 0 ddkappa: 0 @@ -664,10 +664,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.93175005272 - y: 4140711.6880055657 - theta: 1.316738948699125 - kappa: -0.0029207267623000358 + x: 586347.92562002153 + y: 4140711.6897792956 + theta: 1.3141752855640518 + kappa: -0.003004060875978448 s: 11.940538353026497 dkappa: 0 ddkappa: 0 @@ -678,10 +678,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.98475739453 - y: 4140711.8915151246 - theta: 1.3160776165422232 - kappa: -0.0030785495252114428 + x: 586347.97904900042 + y: 4140711.8931785654 + theta: 1.3135325931373176 + kappa: -0.0030208083550891324 s: 12.150837945273501 dkappa: 0 ddkappa: 0 @@ -692,10 +692,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.03729179967 - y: 4140712.09320895 - theta: 1.3154221847537102 - kappa: -0.0032349641780524264 + x: 586348.03201823158 + y: 4140712.0947586158 + theta: 1.3128977922680258 + kappa: -0.0030290784201309181 s: 12.359261224064916 dkappa: 0 ddkappa: 0 @@ -706,10 +706,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.08942492539 - y: 4140712.2930871686 - theta: 1.3147645123682552 - kappa: -0.0033673864412995863 + x: 586348.084886228 + y: 4140712.2944437889 + theta: 1.3123158591898125 + kappa: -0.0028550132623350226 s: 12.565826451881129 dkappa: 0 ddkappa: 0 @@ -720,10 +720,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.141485635 - y: 4140712.4910826469 - theta: 1.3140654497190778 - kappa: -0.0033665552151449967 + x: 586348.137283365 + y: 4140712.492350501 + theta: 1.3117391087879504 + kappa: -0.0026824983849221026 s: 12.770551943218525 dkappa: 0 ddkappa: 0 @@ -734,10 +734,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.19308319013 - y: 4140712.6873166719 - theta: 1.3133726058562534 - kappa: -0.0033657313839361332 + x: 586348.18921435461 + y: 4140712.6884965505 + theta: 1.311167489581085 + kappa: -0.0025115182741287023 s: 12.973456108447811 dkappa: 0 ddkappa: 0 @@ -748,10 +748,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.24422229209 - y: 4140712.8818071242 - theta: 1.3126859183168316 - kappa: -0.0033649148726085866 + x: 586348.24095454882 + y: 4140712.8828279274 + theta: 1.3107280946375486 + kappa: -0.0022810725633313272 s: 13.174557435435094 dkappa: 0 ddkappa: 0 @@ -762,10 +762,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.29522317077 - y: 4140713.0744885905 - theta: 1.3120497537744493 - kappa: -0.0032335377722539169 + x: 586348.29227692611 + y: 4140713.0754241222 + theta: 1.31031198002139 + kappa: -0.0020433750542709107 s: 13.373874471162909 dkappa: 0 ddkappa: 0 @@ -776,10 +776,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.34589989949 - y: 4140713.2654294143 - theta: 1.3114372005436585 - kappa: -0.003050497479835464 + x: 586348.34314465045 + y: 4140713.2663141522 + theta: 1.3098995517026675 + kappa: -0.0018077832524900004 s: 13.571425803351293 dkappa: 0 ddkappa: 0 @@ -790,10 +790,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.39612845611 - y: 4140713.4546816056 - theta: 1.3108300645546915 - kappa: -0.0028690759489531318 + x: 586348.39368929388 + y: 4140713.4554821388 + theta: 1.3095723521553588 + kappa: -0.0016015453448888404 s: 13.767230042078829 dkappa: 0 ddkappa: 0 @@ -804,10 +804,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.4459727488 - y: 4140713.6422474026 - theta: 1.3102556617721433 - kappa: -0.0026777774887607776 + x: 586348.44387247856 + y: 4140713.6429576 + theta: 1.3093025625054333 + kappa: -0.0014153530796432302 s: 13.961305801403702 dkappa: 0 ddkappa: 0 @@ -818,10 +818,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.49566893617 - y: 4140713.8280831384 - theta: 1.3098210454639012 - kappa: -0.0024316698290412333 + x: 586348.49361353053 + y: 4140713.8287813319 + theta: 1.3090351497999302 + kappa: -0.0012308012376215512 s: 14.153671680984759 dkappa: 0 ddkappa: 0 @@ -832,10 +832,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.54492818634 - y: 4140714.0122849755 - theta: 1.3093902502703096 - kappa: -0.002187725988869826 + x: 586348.54294769932 + y: 4140714.0129631083 + theta: 1.3087946255062115 + kappa: -0.00105666110840182 s: 14.34434624770255 dkappa: 0 ddkappa: 0 @@ -846,10 +846,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.59375528258 - y: 4140714.1948708002 - theta: 1.3089632345189461 - kappa: -0.0019459222797351408 + x: 586348.591949495 + y: 4140714.1955021257 + theta: 1.3086371503255865 + kappa: -0.00091304060451671267 s: 14.533348017280394 dkappa: 0 ddkappa: 0 @@ -860,10 +860,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.64227328671 - y: 4140714.3758267178 - theta: 1.308617242922693 - kappa: -0.0017279675863481466 + x: 586348.64052237314 + y: 4140714.3764433614 + theta: 1.308481053536829 + kappa: -0.00077067722493248387 s: 14.720695435905428 dkappa: 0 ddkappa: 0 @@ -874,10 +874,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.69048039557 - y: 4140714.555172218 - theta: 1.3083479572573082 - kappa: -0.0015326358724563503 + x: 586348.68867109343 + y: 4140714.555804546 + theta: 1.30832631985154 + kappa: -0.00062955701938675207 s: 14.906406861849661 dkappa: 0 ddkappa: 0 @@ -888,10 +888,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.73826757 - y: 4140714.7329554311 - theta: 1.3080810173376203 - kappa: -0.0013390057020345729 + x: 586348.73645363969 + y: 4140714.7335890005 + theta: 1.3082343746976666 + kappa: -0.0005129064609850039 s: 15.090500547091027 dkappa: 0 ddkappa: 0 @@ -902,10 +902,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.78563951561 - y: 4140714.9091938636 - theta: 1.307816396916551 - kappa: -0.0011470580087409356 + x: 586348.78383751935 + y: 4140714.9098242247 + theta: 1.3081622911260491 + kappa: -0.00040448007637871534 s: 15.272994618934446 dkappa: 0 ddkappa: 0 @@ -916,10 +916,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.83269941388 - y: 4140715.0838783686 - theta: 1.3076419034116777 - kappa: -0.00098197096185579876 + x: 586348.83081073663 + y: 4140715.084532069 + theta: 1.3080908322817975 + kappa: -0.00029699339175320795 s: 15.453907067666233 dkappa: 0 ddkappa: 0 @@ -930,10 +930,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.8793884411 - y: 4140715.2570433225 - theta: 1.3075009196312484 - kappa: -0.000827491223815752 + x: 586348.87738243211 + y: 4140715.2577286153 + theta: 1.3080312464979891 + kappa: -0.00019478730786194593 s: 15.633255796642528 dkappa: 0 ddkappa: 0 @@ -944,10 +944,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.92567504558 - y: 4140715.428715731 - theta: 1.3073611510186574 - kappa: -0.00067434297926723748 + x: 586348.92357248976 + y: 4140715.4294270263 + theta: 1.3080217196138808 + kappa: -0.00011261725345630665 s: 15.811058681041558 dkappa: 0 ddkappa: 0 @@ -958,10 +958,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586348.97156387439 - y: 4140715.5989128295 - theta: 1.3072225835475508 - kappa: -0.00052251085321603874 + x: 586348.96936560143 + y: 4140715.5996499029 + theta: 1.3080122746014797 + kappa: -3.1153348369241093e-05 s: 15.987333571007982 dkappa: 0 ddkappa: 0 @@ -972,10 +972,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.01710842294 - y: 4140715.7676386433 - theta: 1.3071635029747977 - kappa: -0.00039506709778973576 + x: 586349.014766397 + y: 4140715.7684144564 + theta: 1.3080029105058382 + kappa: 4.9612643905276455e-05 s: 16.162098289026392 dkappa: 0 ddkappa: 0 @@ -986,10 +986,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.06227436988 - y: 4140715.9349208614 - theta: 1.3071214665431763 - kappa: -0.0002735885349780624 + x: 586349.05977499054 + y: 4140715.9357390795 + theta: 1.3080160732837633 + kappa: 0.00011965814629991722 s: 16.335370627294836 dkappa: 0 ddkappa: 0 @@ -1000,10 +1000,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.10705593554 - y: 4140716.1007794375 - theta: 1.3070797878592393 - kappa: -0.00015314380582135022 + x: 586349.10439590947 + y: 4140716.1016409467 + theta: 1.3080521914000081 + kappa: 0.00017879947386122548 s: 16.507168345098322 dkappa: 0 ddkappa: 0 @@ -1014,10 +1014,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.15145774011 - y: 4140716.2652314822 - theta: 1.3070384626232918 - kappa: -3.3720484475114136e-05 + x: 586349.14863842947 + y: 4140716.2661359156 + theta: 1.3080880032237163 + kappa: 0.00023743926503886644 s: 16.677509166182332 dkappa: 0 ddkappa: 0 @@ -1028,10 +1028,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.195486197 - y: 4140716.428293583 - theta: 1.3070532886363666 - kappa: 5.8991355195482678e-05 + x: 586349.192507144 + y: 4140716.4292410649 + theta: 1.3081235124729478 + kappa: 0.00029558360808978331 s: 16.846410776126334 dkappa: 0 ddkappa: 0 @@ -1042,10 +1042,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.23914458754 - y: 4140716.5899831317 - theta: 1.3070834750539797 - kappa: 0.0001437903965388182 + x: 586349.23598485568 + y: 4140716.5909792893 + theta: 1.3081784657875533 + kappa: 0.00033575524580033091 s: 17.013890819717293 dkappa: 0 ddkappa: 0 @@ -1056,10 +1056,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.282436995 - y: 4140716.750317255 - theta: 1.3071134084225144 - kappa: 0.00022787857775660787 + x: 586349.279087857 + y: 4140716.7513644355 + theta: 1.308242242184833 + kappa: 0.00036736891508831987 s: 17.179966898323183 dkappa: 0 ddkappa: 0 @@ -1070,10 +1070,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.32536799565 - y: 4140716.9093129034 - theta: 1.3071430919060694 - kappa: 0.00031126478751693237 + x: 586349.32183103287 + y: 4140716.9104106808 + theta: 1.308305486174371 + kappa: 0.0003987186722166626 s: 17.344656567266494 dkappa: 0 ddkappa: 0 @@ -1084,10 +1084,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.3679203575 - y: 4140717.0669928603 - theta: 1.3072002228630644 - kappa: 0.00037553597337099251 + x: 586349.36421892676 + y: 4140717.0681349309 + theta: 1.3083682044785536 + kappa: 0.00042980784969094682 s: 17.507977333197747 dkappa: 0 ddkappa: 0 @@ -1098,10 +1098,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.410105873 - y: 4140717.2233720226 - theta: 1.307275602046363 - kappa: 0.00042682231720160779 + x: 586349.40622372436 + y: 4140717.2245627311 + theta: 1.3084397746765524 + kappa: 0.00044437734581479838 s: 17.669946651469012 dkappa: 0 ddkappa: 0 @@ -1112,10 +1112,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.45194393129 - y: 4140717.3784631812 - theta: 1.3073503603760279 - kappa: 0.00047768624551232722 + x: 586349.44787121168 + y: 4140717.379705173 + theta: 1.3085140411956029 + kappa: 0.0004531245886250407 s: 17.83058192350741 dkappa: 0 ddkappa: 0 @@ -1126,10 +1126,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.49343904969 - y: 4140717.5322830826 - theta: 1.3074245059233847 - kappa: 0.00052813325042516191 + x: 586349.48917732132 + y: 4140717.5335759381 + theta: 1.30858769896423 + kappa: 0.00046180013170001505 s: 17.989900494188625 dkappa: 0 ddkappa: 0 @@ -1140,10 +1140,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.53458053328 - y: 4140717.6848525135 - theta: 1.3075046107818313 - kappa: 0.000571462926288137 + x: 586349.530146535 + y: 4140717.6861917214 + theta: 1.3086607559738144 + kappa: 0.00047040491637242781 s: 18.147919650243878 dkappa: 0 ddkappa: 0 @@ -1154,10 +1154,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.575344663 - y: 4140717.8361957208 - theta: 1.307602866872571 - kappa: 0.00059523357594051644 + x: 586349.57075270964 + y: 4140717.837577383 + theta: 1.3087329513904717 + kappa: 0.00046714760083992263 s: 18.304656629367042 dkappa: 0 ddkappa: 0 @@ -1168,10 +1168,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.61577979755 - y: 4140717.9863174818 - theta: 1.3077003299693597 - kappa: 0.00061881237973138018 + x: 586349.61101592821 + y: 4140717.9877453442 + theta: 1.3088044303593469 + kappa: 0.00045804766819450662 s: 18.460128630829477 dkappa: 0 ddkappa: 0 @@ -1182,10 +1182,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.65589040041 - y: 4140718.135234368 - theta: 1.3077970108288977 - kappa: 0.00064220194043346788 + x: 586349.65095599485 + y: 4140718.1367080593 + theta: 1.308875335639506 + kappa: 0.00044902077145781382 s: 18.614352816582688 dkappa: 0 ddkappa: 0 @@ -1196,10 +1196,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.69568092527 - y: 4140718.282962915 - theta: 1.3078929201846505 - kappa: 0.00066540485517703138 + x: 586349.6905773445 + y: 4140718.2844820693 + theta: 1.3089456751034181 + kappa: 0.000440065908301203 s: 18.767346311373203 dkappa: 0 ddkappa: 0 @@ -1210,10 +1210,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.73510438716 - y: 4140718.429533462 - theta: 1.3079944652096327 - kappa: 0.00067221389529215482 + x: 586349.7298658021 + y: 4140718.4310888639 + theta: 1.3090107367720119 + kappa: 0.000424982104737009 s: 18.919126202857449 dkappa: 0 ddkappa: 0 @@ -1224,10 +1224,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.77420098963 - y: 4140718.5749528478 - theta: 1.3080972078696291 - kappa: 0.00067390554898817722 + x: 586349.76882229443 + y: 4140718.5765458457 + theta: 1.3090696431892588 + kappa: 0.00040260543768027158 s: 19.06970954171662 dkappa: 0 ddkappa: 0 @@ -1238,10 +1238,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.81299134321 - y: 4140718.7192331441 - theta: 1.308199145734233 - kappa: 0.0006755839517416126 + x: 586349.80747363565 + y: 4140718.7208634447 + theta: 1.3091280881851914 + kappa: 0.00038040404995591341 s: 19.219113341771564 dkappa: 0 ddkappa: 0 @@ -1252,10 +1252,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.851479856 - y: 4140718.8623907459 - theta: 1.3083002903847423 - kappa: 0.00067724929427297859 + x: 586349.84582421754 + y: 4140718.8640580592 + theta: 1.3091860784006391 + kappa: 0.00035837541877246134 s: 19.367354580097658 dkappa: 0 ddkappa: 0 @@ -1266,10 +1266,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.88966444542 - y: 4140719.0044437544 - theta: 1.3084001670591638 - kappa: 0.00067724260333607423 + x: 586349.88387544546 + y: 4140719.00614685 + theta: 1.3092419266964856 + kappa: 0.00033556649193796208 s: 19.514450197139674 dkappa: 0 ddkappa: 0 @@ -1280,10 +1280,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.92749647982 - y: 4140719.1454227353 - theta: 1.3084948085959052 - kappa: 0.00066199001762046064 + x: 586349.92160694289 + y: 4140719.1471527712 + theta: 1.3092815604137682 + kappa: 0.00030407352360404931 s: 19.660417096826666 dkappa: 0 ddkappa: 0 @@ -1294,10 +1294,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586349.96504034253 - y: 4140719.28532786 - theta: 1.3085887292372866 - kappa: 0.00064685361293508547 + x: 586349.95905103441 + y: 4140719.2870846316 + theta: 1.3093208922357482 + kappa: 0.00027282044151464115 s: 19.805272146686846 dkappa: 0 ddkappa: 0 @@ -1308,10 +1308,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.00230039575 - y: 4140719.4241753845 - theta: 1.3086819398946063 - kappa: 0.00063183163052528966 + x: 586349.99621207081 + y: 4140719.4259586893 + theta: 1.3093599267324112 + kappa: 0.000241803614258918 s: 19.949032177962451 dkappa: 0 ddkappa: 0 @@ -1322,10 +1322,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.03928099258 - y: 4140719.56198153 - theta: 1.3087744514557849 - kappa: 0.00061692231541605547 + x: 586350.03309439332 + y: 4140719.56379117 + theta: 1.3093986684639276 + kappa: 0.00021101941823012347 s: 20.091713985724631 dkappa: 0 ddkappa: 0 @@ -1336,10 +1336,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.07597160735 - y: 4140719.6987664695 - theta: 1.3088623753276289 - kappa: 0.0005987731358299619 + x: 586350.0696921153 + y: 4140719.7006009952 + theta: 1.3094241801662574 + kappa: 0.00017679079159495668 s: 20.233334328988317 dkappa: 0 ddkappa: 0 @@ -1350,10 +1350,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.11234950984 - y: 4140719.8345536115 - theta: 1.3089386247077253 - kappa: 0.000571283378424362 + x: 586350.10601269628 + y: 4140719.8364034807 + theta: 1.3094404391518393 + kappa: 0.00014024177045935779 s: 20.3739099308271 dkappa: 0 ddkappa: 0 @@ -1364,10 +1364,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.14846137445 - y: 4140719.9693477191 - theta: 1.3090143164638162 - kappa: 0.0005439946584300272 + x: 586350.14206765871 + y: 4140719.97121282 + theta: 1.3094565792326176 + kappa: 0.00010396003871758543 s: 20.513457478665124 dkappa: 0 ddkappa: 0 @@ -1378,10 +1378,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.18431151053 - y: 4140720.1031648777 - theta: 1.3090894596282345 - kappa: 0.00051690371915355743 + x: 586350.17786130519 + y: 4140720.1050450993 + theta: 1.3094726023347751 + kappa: 6.794126643124964e-05 s: 20.651993626401076 dkappa: 0 ddkappa: 0 @@ -1392,10 +1392,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.21990422008 - y: 4140720.2360211443 - theta: 1.3091640632164561 - kappa: 0.00049000730999216072 + x: 586350.21339793049 + y: 4140720.2379163783 + theta: 1.3094885103808929 + kappa: 3.2181131759732e-05 s: 20.789534996787825 dkappa: 0 ddkappa: 0 @@ -1406,10 +1406,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.25523340993 - y: 4140720.3679353269 - theta: 1.3092328105662239 - kappa: 0.00046109905272394595 + x: 586350.24867959192 + y: 4140720.3698432827 + theta: 1.3094820187198448 + kappa: -6.0076844375065878e-06 s: 20.92609818218137 dkappa: 0 ddkappa: 0 @@ -1420,10 +1420,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.29028163664 - y: 4140720.4989292417 - theta: 1.3092845691970993 - kappa: 0.00042556667790071885 + x: 586350.28371262446 + y: 4140720.5008412618 + theta: 1.3094736772268358 + kappa: -4.4155788626624121e-05 s: 21.061699745120521 dkappa: 0 ddkappa: 0 @@ -1434,10 +1434,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.32508559129 - y: 4140720.6290101809 - theta: 1.3093359670911939 - kappa: 0.00039028194964808903 + x: 586350.31850149063 + y: 4140720.6309262365 + theta: 1.3094653938707266 + kappa: -8.2038015648109954e-05 s: 21.196356218906566 dkappa: 0 ddkappa: 0 @@ -1448,10 +1448,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.35964953946 - y: 4140720.758194088 - theta: 1.309387010547995 - kappa: 0.00035524054316945889 + x: 586350.35305045452 + y: 4140720.7601141515 + theta: 1.30945716763624 + kappa: -0.00011965900867011797 s: 21.330084108182973 dkappa: 0 ddkappa: 0 @@ -1462,10 +1462,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.39397773973 - y: 4140720.88649688 - theta: 1.3094377058562829 - kappa: 0.00032043814102569756 + x: 586350.387364985 + y: 4140720.8884206004 + theta: 1.3094466874222273 + kappa: -0.00015700349736790453 s: 21.462899889515043 dkappa: 0 ddkappa: 0 @@ -1476,10 +1476,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.42807340238 - y: 4140721.013934725 - theta: 1.3094869806792544 - kappa: 0.0002856433238023657 + x: 586350.42145961407 + y: 4140721.0158587229 + theta: 1.3094143529475111 + kappa: -0.00019390722602839983 s: 21.59482001196961 dkappa: 0 ddkappa: 0 @@ -1490,10 +1490,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.46191774029 - y: 4140721.1405296489 - theta: 1.3095109889529946 - kappa: 0.00024582952998953775 + x: 586350.45532700536 + y: 4140721.14244748 + theta: 1.3093822339793086 + kappa: -0.00023056499438284673 s: 21.7258608976947 dkappa: 0 ddkappa: 0 @@ -1504,10 +1504,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.49553922948 - y: 4140721.2662910051 - theta: 1.3095348391438959 - kappa: 0.00020627789077307208 + x: 586350.48897139623 + y: 4140721.2682027118 + theta: 1.309350326498969 + kappa: -0.00026698138904375209 s: 21.856038942499239 dkappa: 0 ddkappa: 0 @@ -1518,10 +1518,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.52894209791 - y: 4140721.3912346098 - theta: 1.3095585342511216 - kappa: 0.00016698343248562096 + x: 586350.52239701757 + y: 4140721.3931402313 + theta: 1.3093186264941514 + kappa: -0.00030316098941759914 s: 21.9853705164327 dkappa: 0 ddkappa: 0 @@ -1532,10 +1532,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.56213056727 - y: 4140721.5153762531 - theta: 1.3095820772692228 - kappa: 0.00012794118911013181 + x: 586350.55561093474 + y: 4140721.5172750684 + theta: 1.3092847575788293 + kappa: -0.00033877653653083148 s: 22.113871964364805 dkappa: 0 ddkappa: 0 @@ -1546,10 +1546,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.59510885249 - y: 4140721.6387317018 - theta: 1.3096054711882443 - kappa: 8.9146202103728138e-05 + x: 586350.58863846166 + y: 4140721.6406173427 + theta: 1.3092311003605024 + kappa: -0.00037136868224921655 s: 22.241559606565197 dkappa: 0 ddkappa: 0 @@ -1560,10 +1560,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.627877012 - y: 4140721.7613178077 - theta: 1.3096106214455945 - kappa: 4.9176486953323847e-05 + x: 586350.62145970564 + y: 4140721.7631892459 + theta: 1.3091777782731508 + kappa: -0.00040375726445263029 s: 22.368449739283111 dkappa: 0 ddkappa: 0 @@ -1574,10 +1574,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.66044121585 - y: 4140721.8831497673 - theta: 1.3096061084428445 - kappa: 8.6987092781935278e-06 + x: 586350.654078876 + y: 4140721.8850065004 + theta: 1.3091247844788836 + kappa: -0.00043594643675952383 s: 22.494558635327071 dkappa: 0 ddkappa: 0 @@ -1588,10 +1588,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.69280788256 - y: 4140722.0042426842 - theta: 1.3096016228163316 - kappa: -3.15335269453509e-05 + x: 586350.68650017586 + y: 4140722.0060848012 + theta: 1.3090721121493913 + kappa: -0.00046794034696094752 s: 22.619902544675341 dkappa: 0 ddkappa: 0 @@ -1602,10 +1602,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.72498120274 - y: 4140722.1246122364 - theta: 1.3095971639853092 - kappa: -7.1525430518540675e-05 + x: 586350.71872780274 + y: 4140722.1264398247 + theta: 1.3090197544655613 + kappa: -0.00049974313725565788 s: 22.744497695397019 dkappa: 0 ddkappa: 0 @@ -1616,10 +1616,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.7569653613 - y: 4140722.2442740807 - theta: 1.3095927313697815 - kappa: -0.00011128220350946917 + x: 586350.7508029025 + y: 4140722.2460773252 + theta: 1.3089497940403152 + kappa: -0.0005257635172922397 s: 22.868360294584047 dkappa: 0 ddkappa: 0 @@ -1630,10 +1630,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.78876545664 - y: 4140722.3632436106 - theta: 1.3095862633857729 - kappa: -0.00015073999043056153 + x: 586350.78269431053 + y: 4140722.3650224092 + theta: 1.3088793581352614 + kappa: -0.00055135845672787335 s: 22.991506528981247 dkappa: 0 ddkappa: 0 @@ -1644,10 +1644,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.82039596234 - y: 4140722.4815336904 - theta: 1.3095546522895187 - kappa: -0.00018912980785288188 + x: 586350.814404387 + y: 4140722.4832911831 + theta: 1.3088093227216007 + kappa: -0.00057680786576885259 s: 23.113952565585947 dkappa: 0 ddkappa: 0 @@ -1658,10 +1658,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.85184976284 - y: 4140722.5991629381 - theta: 1.3095232177898748 - kappa: -0.00022730515894250512 + x: 586350.84593731374 + y: 4140722.6008992437 + theta: 1.3087396785639434 + kappa: -0.00060211510061383906 s: 23.235714552247533 dkappa: 0 ddkappa: 0 @@ -1672,10 +1672,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.88313102466 - y: 4140722.7161469343 - theta: 1.3094919557229083 - kappa: -0.00026527110062850892 + x: 586350.8772972679 + y: 4140722.71786217 + theta: 1.3086704164374854 + kappa: -0.00062728351360637679 s: 23.356808618267067 dkappa: 0 ddkappa: 0 @@ -1686,10 +1686,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.91424391 - y: 4140722.8325012447 - theta: 1.3094608619293171 - kappa: -0.00030303268421259908 + x: 586350.90851896384 + y: 4140722.8341873279 + theta: 1.3085927986096526 + kappa: -0.00064690772162639628 s: 23.477250874996859 dkappa: 0 ddkappa: 0 @@ -1700,10 +1700,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.94519257592 - y: 4140722.9482414173 - theta: 1.3094299322542771 - kappa: -0.00034059495555709856 + x: 586350.93959305983 + y: 4140722.9498938872 + theta: 1.308510676750845 + kappa: -0.00066338350983240158 s: 23.597057416440062 dkappa: 0 ddkappa: 0 @@ -1714,10 +1714,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586350.97599038761 - y: 4140723.0633805175 - theta: 1.3093913240089075 - kappa: -0.00037675568663313283 + x: 586350.97050644108 + y: 4140723.0650020139 + theta: 1.3084289796241535 + kappa: -0.00067977408545424433 s: 23.716244319850276 dkappa: 0 ddkappa: 0 @@ -1728,10 +1728,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.0066521382 - y: 4140723.1779312156 - theta: 1.3093359755771388 - kappa: -0.00041012490822638407 + x: 586351.00126327306 + y: 4140723.1795272189 + theta: 1.3083476962215321 + kappa: -0.00069608165721390491 s: 23.83482764633111 dkappa: 0 ddkappa: 0 @@ -1742,10 +1742,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.03716197249 - y: 4140723.2919143615 - theta: 1.3092809013734303 - kappa: -0.00044332879911703372 + x: 586351.03186771774 + y: 4140723.2934849989 + theta: 1.3082668155455617 + kappa: -0.0007123084316948752 s: 23.95282344143579 dkappa: 0 ddkappa: 0 @@ -1756,10 +1756,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.06752403546 - y: 4140723.4053454427 - theta: 1.3092260939158831 - kappa: -0.00047637187029950906 + x: 586351.06233293784 + y: 4140723.4068884151 + theta: 1.3081851257406645 + kappa: -0.00072660061190344208 s: 24.070247735766749 dkappa: 0 ddkappa: 0 @@ -1770,10 +1770,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.09774246835 - y: 4140723.5182399284 - theta: 1.3091715457292874 - kappa: -0.00050925862872982077 + x: 586351.09269794647 + y: 4140723.5197435659 + theta: 1.3080979672601587 + kappa: -0.00073177581223489983 s: 24.187116545575208 dkappa: 0 ddkappa: 0 @@ -1784,10 +1784,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.127821409 - y: 4140723.6306132791 - theta: 1.3091172493448422 - kappa: -0.00054199357749429213 + x: 586351.122922786 + y: 4140723.6320777619 + theta: 1.3080112111127107 + kappa: -0.00073692712315096757 s: 24.303445873360779 dkappa: 0 ddkappa: 0 @@ -1798,10 +1798,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.1577815949 - y: 4140723.7424764908 - theta: 1.3090553533170797 - kappa: -0.00057207457380063819 + x: 586351.1530116112 + y: 4140723.743906443 + theta: 1.3079248453751027 + kappa: -0.00074205525269408152 s: 24.41925170847103 dkappa: 0 ddkappa: 0 @@ -1812,10 +1812,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.18763729814 - y: 4140723.8538422817 - theta: 1.308981059098981 - kappa: -0.00059797506178313248 + x: 586351.18296857283 + y: 4140723.8552450389 + theta: 1.3078388581334386 + kappa: -0.0007471609083510545 s: 24.534550027706178 dkappa: 0 ddkappa: 0 @@ -1826,10 +1826,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.21736571775 - y: 4140723.9647332877 - theta: 1.308907081617867 - kappa: -0.00062376512829202552 + x: 586351.21279781894 + y: 4140723.9661089652 + theta: 1.3077532374826697 + kappa: -0.00075224479708140728 s: 24.649356795958877 dkappa: 0 ddkappa: 0 @@ -1840,10 +1840,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.24697098462 - y: 4140724.0751649169 - theta: 1.30883341059464 - kappa: -0.00064944835711779926 + x: 586351.24253324093 + y: 4140724.0765056163 + theta: 1.3076684609244611 + kappa: -0.00074995009331879745 s: 24.763687966790286 dkappa: 0 ddkappa: 0 @@ -1854,10 +1854,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.27645722718 - y: 4140724.18515257 - theta: 1.3087600357571678 - kappa: -0.000675028329615651 + x: 586351.27217296325 + y: 4140724.1864520079 + theta: 1.3075844175607723 + kappa: -0.00074176591394023634 s: 24.877559482920677 dkappa: 0 ddkappa: 0 @@ -1868,10 +1868,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.30582857085 - y: 4140724.2947116336 - theta: 1.3086869468399731 - kappa: -0.00070050862481412489 + x: 586351.30169718864 + y: 4140724.2959699724 + theta: 1.3075007016867357 + kappa: -0.00073361362579604425 s: 24.990987276713021 dkappa: 0 ddkappa: 0 @@ -1882,10 +1882,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.33510473114 - y: 4140724.4038533056 - theta: 1.30860992591917 - kappa: -0.0007232495301272814 + x: 586351.33111006161 + y: 4140724.4050748828 + theta: 1.307417301551874 + kappa: -0.00072549208450426437 s: 25.1039872706566 dkappa: 0 ddkappa: 0 @@ -1896,10 +1896,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.36431270326 - y: 4140724.5125868157 - theta: 1.3085227899171987 - kappa: -0.000739376803959373 + x: 586351.36041572422 + y: 4140724.5137821045 + theta: 1.3073342054126127 + kappa: -0.0007174001463578246 s: 25.21657537785061 dkappa: 0 ddkappa: 0 @@ -1910,10 +1910,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.39341794827 - y: 4140724.6209378997 - theta: 1.3084359603780518 - kappa: -0.00075544735671064975 + x: 586351.3896183162 + y: 4140724.6221069926 + theta: 1.307251401531927 + kappa: -0.00070933666828977961 s: 25.328767502487779 dkappa: 0 ddkappa: 0 @@ -1924,10 +1924,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.42242459 - y: 4140724.7289219107 - theta: 1.3083494250007455 - kappa: -0.0007714634653128358 + x: 586351.418761627 + y: 4140724.7300541969 + theta: 1.3071770594019421 + kappa: -0.00068878805180453925 s: 25.440579540337946 dkappa: 0 ddkappa: 0 @@ -1938,10 +1938,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.45133675006 - y: 4140724.8365541911 - theta: 1.308263171490414 - kappa: -0.00078742740556042557 + x: 586351.44781946344 + y: 4140724.8376472397 + theta: 1.3071049096980647 + kappa: -0.00066532359150427124 s: 25.552027379231703 dkappa: 0 ddkappa: 0 @@ -1952,10 +1952,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.4801585481 - y: 4140724.9438500782 - theta: 1.3081771875579364 - kappa: -0.00080334145217995185 + x: 586351.47678648261 + y: 4140724.9449040121 + theta: 1.3070329854897238 + kappa: -0.00064193246692418118 s: 25.663126899543954 dkappa: 0 ddkappa: 0 @@ -1966,10 +1966,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.50889735669 - y: 4140725.0508240261 - theta: 1.3080910781769355 - kappa: -0.00081857603097264058 + x: 586351.50566682324 + y: 4140725.0518398387 + theta: 1.3069612765014587 + kappa: -0.00061861133604494451 s: 25.773893974677563 dkappa: 0 ddkappa: 0 @@ -1980,10 +1980,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.53761111479 - y: 4140725.1574768852 - theta: 1.3079985013494175 - kappa: -0.0008226840507446207 + x: 586351.53446462227 + y: 4140725.1584700355 + theta: 1.3068897724619952 + kappa: -0.00059535685821333081 s: 25.884344471546928 dkappa: 0 ddkappa: 0 @@ -1994,10 +1994,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.56624669558 - y: 4140725.2638393668 - theta: 1.3079061765723019 - kappa: -0.00082678088584225507 + x: 586351.56318401522 + y: 4140725.2648099172 + theta: 1.3068184631039348 + kappa: -0.00057216569404038194 s: 25.994494251061607 dkappa: 0 ddkappa: 0 @@ -2008,10 +2008,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.594808221 - y: 4140725.3699267809 - theta: 1.3078140905575948 - kappa: -0.0008308671259799449 + x: 586351.59186629008 + y: 4140725.370864748 + theta: 1.3067640376612621 + kappa: -0.00054484734688864107 s: 26.104359168609907 dkappa: 0 ddkappa: 0 @@ -2022,10 +2022,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.6232998115 - y: 4140725.4757544324 - theta: 1.3077222300215 - kappa: -0.00083494336068472546 + x: 586351.620480421 + y: 4140725.4766593329 + theta: 1.3067106832619704 + kappa: -0.00051736075583011152 s: 26.2139550745425 dkappa: 0 ddkappa: 0 @@ -2036,10 +2036,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.65172558674 - y: 4140725.5813376233 - theta: 1.3076305816840192 - kappa: -0.00083901017931404436 + x: 586351.64902845328 + y: 4140725.5822095321 + theta: 1.3066574521106837 + kappa: -0.000489937658616843 s: 26.323297814650431 dkappa: 0 ddkappa: 0 @@ -2050,10 +2050,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.68008966488 - y: 4140725.6866916493 - theta: 1.3075391322686232 - kappa: -0.00084306817107051971 + x: 586351.67751452327 + y: 4140725.6875306391 + theta: 1.30660433649555 + kappa: -0.00046257408217746231 s: 26.432403230561913 dkappa: 0 ddkappa: 0 @@ -2064,10 +2064,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.70843944221 - y: 4140725.7918201392 - theta: 1.3074492675675269 - kappa: -0.00083706439574334293 + x: 586351.70594276581 + y: 4140725.7926379424 + theta: 1.306551328706598 + kappa: -0.00043526605441130068 s: 26.541287160034724 dkappa: 0 ddkappa: 0 @@ -2078,10 +2078,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.736753617 - y: 4140725.8967452338 - theta: 1.307360152609838 - kappa: -0.00082690403319177512 + x: 586351.73431731516 + y: 4140725.8975467263 + theta: 1.3064984210355952 + kappa: -0.00040800960411531835 s: 26.649965437247566 dkappa: 0 ddkappa: 0 @@ -2092,10 +2092,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.765018337 - y: 4140726.0014870623 - theta: 1.3072711933014092 - kappa: -0.00081676141709288892 + x: 586351.76267013943 + y: 4140726.0022647395 + theta: 1.3064616007556731 + kappa: -0.00038572837930730025 s: 26.758453893093872 dkappa: 0 ddkappa: 0 @@ -2106,10 +2106,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.7932377262 - y: 4140726.1060609058 - theta: 1.3071823766649544 - kappa: -0.0008066350676917 + x: 586351.79097759048 + y: 4140726.1068147803 + theta: 1.306424896413857 + kappa: -0.00036350041410594084 s: 26.8667683554756 dkappa: 0 ddkappa: 0 @@ -2120,10 +2120,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.82141590747 - y: 4140726.2104820441 - theta: 1.3070936897253869 - kappa: -0.00079652350548543383 + x: 586351.8192437049 + y: 4140726.2112121494 + theta: 1.3063882456701574 + kappa: -0.00034130490771487365 s: 26.974924649597007 dkappa: 0 ddkappa: 0 @@ -2134,10 +2134,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.84955700336 - y: 4140726.3147657528 - theta: 1.3070051195095782 - kappa: -0.00078642525119605418 + x: 586351.8474726181 + y: 4140726.3154721204 + theta: 1.306351643162827 + kappa: -0.00031913861302703089 s: 27.08293859825848 dkappa: 0 ddkappa: 0 @@ -2148,10 +2148,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.8776806955 - y: 4140726.4189231023 - theta: 1.3069201913298651 - kappa: -0.000771682238888778 + x: 586351.87566846469 + y: 4140726.4196099644 + theta: 1.3063150835308326 + kappa: -0.00029699828336837404 s: 27.190826022150297 dkappa: 0 ddkappa: 0 @@ -2162,10 +2162,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.90581579425 - y: 4140726.5229626959 - theta: 1.3068445062550842 - kappa: -0.00074490458233434666 + x: 586351.90383537882 + y: 4140726.5236409493 + theta: 1.3062785614137558 + kappa: -0.00027488067243760188 s: 27.298602740146432 dkappa: 0 ddkappa: 0 @@ -2176,10 +2176,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.9339261225 - y: 4140726.6269106921 - theta: 1.3067688878131019 - kappa: -0.000718150501306196 + x: 586351.93199588708 + y: 4140726.6275753626 + theta: 1.306254762372834 + kappa: -0.00025713189073290059 s: 27.406284569598366 dkappa: 0 ddkappa: 0 @@ -2190,10 +2190,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.96201580879 - y: 4140726.730782357 - theta: 1.306693324898079 - kappa: -0.00069141606621070753 + x: 586351.96013601986 + y: 4140726.731433372 + theta: 1.3062311901364343 + kappa: -0.00023946788206538519 s: 27.513887326628858 dkappa: 0 ddkappa: 0 @@ -2204,10 +2204,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586351.99008898181 - y: 4140726.8345929589 - theta: 1.3066178064048284 - kappa: -0.00066469734768654721 + x: 586351.98825960979 + y: 4140726.8352303263 + theta: 1.3062076317575935 + kappa: -0.00022181425767010791 s: 27.621426826425751 dkappa: 0 ddkappa: 0 @@ -2218,10 +2218,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586352.01814976986 - y: 4140726.938357763 - theta: 1.3065423212286105 - kappa: -0.00063799041653167087 + x: 586352.01637079264 + y: 4140726.9389814893 + theta: 1.306184083771889 + kappa: -0.00020416842143988645 s: 27.728918883535766 dkappa: 0 ddkappa: 0 @@ -2232,10 +2232,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586352.0462023014 - y: 4140727.0420920351 - theta: 1.306466858264927 - kappa: -0.00061129134363032767 + x: 586352.044473704 + y: 4140727.042702124 + theta: 1.3061605427149745 + kappa: -0.00018652777732455458 s: 27.836379312158304 dkappa: 0 ddkappa: 0 @@ -2246,10 +2246,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586352.07428588555 - y: 4140727.145801519 - theta: 1.3064088389108353 - kappa: -0.000580778623932707 + x: 586352.07257247949 + y: 4140727.1464074948 + theta: 1.306137005122515 + kappa: -0.00016888972928273609 s: 27.943823926439219 dkappa: 0 ddkappa: 0 diff --git a/modules/planning/testdata/garage_test/result_stop_0.pb.txt b/modules/planning/testdata/garage_test/result_stop_0.pb.txt index 8440d60aec..56f8f34e89 100755 --- a/modules/planning/testdata/garage_test/result_stop_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_stop_0.pb.txt @@ -9,8 +9,8 @@ trajectory_point { x: 586343.905893 y: 4140690.05199 theta: 1.6602776953500005 - kappa: 1.2335051201943673e-17 - s: 3.5734202462290796e-22 + kappa: 1.2335050653162343e-17 + s: 3.8381180422460484e-22 dkappa: 0 ddkappa: 0 } @@ -20,2242 +20,2242 @@ trajectory_point { } trajectory_point { path_point { - x: 586343.88699279993 - y: 4140690.26574684 - theta: 1.6589632146882056 - kappa: -0.0042025609874757263 - s: 0.21459078282513705 + x: 586343.88689293107 + y: 4140690.2657379806 + theta: 1.6590318526745123 + kappa: -0.0042195550286565735 + s: 0.21459077770737395 dkappa: 0 ddkappa: 0 } - v: 4.3209282192164009 - a: 1.1015252251867969 + v: 4.3209279250596762 + a: 1.1015144812493656 relative_time: 0.05 } trajectory_point { path_point { - x: 586343.86784990458 - y: 4140690.4822485046 - theta: 1.6576318527326703 - kappa: -0.0084590865419248984 - s: 0.43193709940841823 + x: 586343.86764888687 + y: 4140690.4822306475 + theta: 1.6577700109344806 + kappa: -0.0084932923396627384 + s: 0.43193706352600442 dkappa: 0 ddkappa: 0 } - v: 4.3714014375933026 - a: 0.91876053674401614 + v: 4.3714004602360346 + a: 0.91874487105767844 relative_time: 0.1 } trajectory_point { path_point { - x: 586343.84862428869 - y: 4140690.7010499355 - theta: 1.656089888874728 - kappa: -0.012746120229974053 - s: 0.65158198920551924 + x: 586343.84863283916 + y: 4140690.7010495313 + theta: 1.6558313519807355 + kappa: -0.012774015133110821 + s: 0.65158188447727783 dkappa: 0 ddkappa: 0 } - v: 4.412938022647575 - a: 0.74402083370760452 + v: 4.4129362485653347 + a: 0.74400544485942821 relative_time: 0.15000000000000002 } trajectory_point { path_point { - x: 586343.83079979243 - y: 4140690.9218381727 - theta: 1.6519674568616265 - kappa: -0.016879972358602092 - s: 0.87308855413563125 + x: 586343.83069292479 + y: 4140690.9218283137 + theta: 1.6519737650053614 + kappa: -0.016981453704538116 + s: 0.87308834304256377 dkappa: 0 ddkappa: 0 } - v: 4.4459333648634347 - a: 0.57707176463350851 + v: 4.44593092487111 + a: 0.57706122760910361 relative_time: 0.2 } trajectory_point { path_point { - x: 586343.81285907794 - y: 4140691.14406598 - theta: 1.6478180946148016 - kappa: -0.021040777778541939 - s: 1.0960393727028517 + x: 586343.81263604166 + y: 4140691.1440465795 + theta: 1.6480910169335472 + kappa: -0.021216324889569232 + s: 1.0960390297256022 dkappa: 0 ddkappa: 0 } - v: 4.4707711371528971 - a: 0.4176789780776744 + v: 4.470768375224619 + a: 0.41767724426119412 relative_time: 0.25 } trajectory_point { path_point { - x: 586343.79559268546 - y: 4140691.3673912813 - theta: 1.6431441032560343 - kappa: -0.025019563921511258 - s: 1.3200359141175735 + x: 586343.79621115269 + y: 4140691.3674352691 + theta: 1.6428335119794353 + kappa: -0.024969027236835712 + s: 1.3200354356148889 dkappa: 0 ddkappa: 0 } - v: 4.4878232948557724 - a: 0.26560812259604871 + v: 4.487820736944844 + a: 0.26561851977018835 relative_time: 0.3 } trajectory_point { path_point { - x: 586343.7810795164 - y: 4140691.5915840548 - theta: 1.6365877232805452 - kappa: -0.028264974812765 - s: 1.5446979524178748 + x: 586343.78096129466 + y: 4140691.591579027 + theta: 1.6365930228442296 + kappa: -0.028374979307615979 + s: 1.5446973649460616 dkappa: 0 ddkappa: 0 } - v: 4.4974500757396711 - a: 0.12062484674457785 + v: 4.4974483985984941 + a: 0.12065007909057557 relative_time: 0.35 } trajectory_point { path_point { - x: 586343.76654677419 - y: 4140691.8160791844 - theta: 1.63002237919668 - kappa: -0.031514762618963285 - s: 1.7696629805909099 + x: 586343.76569086569 + y: 4140691.8160251393 + theta: 1.6303442373963264 + kappa: -0.031785525771911259 + s: 1.7696623476642868 dkappa: 0 ddkappa: 0 } - v: 4.4999999999999991 - a: -0.017505200920791442 + v: 4.5 + a: -0.017463052823154968 relative_time: 0.39999999999999997 } trajectory_point { path_point { - x: 586343.75372146827 - y: 4140692.0406241831 - theta: 1.6228307006485203 - kappa: -0.034380852637197368 - s: 1.9945856246942975 + x: 586343.75436950079 + y: 4140692.0406596046 + theta: 1.6224946926419406 + kappa: -0.034256208861979193 + s: 1.9945850519866462 dkappa: 0 ddkappa: 0 } - v: 4.49580987025996 - a: -0.14901637184411332 + v: 4.4958124322115181 + a: -0.14895585101651454 relative_time: 0.44999999999999996 } trajectory_point { path_point { - x: 586343.74398335326 - y: 4140692.2649643607 - theta: 1.6145209205933853 - kappa: -0.036553205135289923 - s: 2.2191370579775116 + x: 586343.74342144968 + y: 4140692.2649442041 + theta: 1.6145137197469548 + kappa: -0.036638409967836058 + s: 2.2191366969645214 dkappa: 0 ddkappa: 0 } - v: 4.4852047715705536 - a: -0.27414301746944059 + v: 4.48521083754293 + a: -0.27406329053501377 relative_time: 0.49999999999999994 } trajectory_point { path_point { - x: 586343.73427490471 - y: 4140692.4886211059 - theta: 1.6062363526262888 - kappa: -0.038718939751924156 - s: 2.4430044150032724 + x: 586343.73367021047 + y: 4140692.4885887206 + theta: 1.6063063384200236 + kappa: -0.038817542584528276 + s: 2.4430044650459819 dkappa: 0 ddkappa: 0 } - v: 4.4684980714105809 - a: -0.39311948924082718 + v: 4.4685086095518392 + a: -0.39302034642416372 relative_time: 0.54999999999999993 } trajectory_point { path_point { - x: 586343.72726457985 - y: 4140692.7113778163 - theta: 1.5974852022192021 - kappa: -0.04048129145206892 - s: 2.6658902057689331 + x: 586343.72808181972 + y: 4140692.7114051003 + theta: 1.5972447014350537 + kappa: -0.040293704009679132 + s: 2.6658909146381706 dkappa: 0 ddkappa: 0 } - v: 4.4459914196866359 - a: -0.50618013860232725 + v: 4.4460073930435771 + a: -0.50606199372947569 relative_time: 0.6 } trajectory_point { path_point { - x: 586343.72342854948 - y: 4140692.9329661392 - theta: 1.5881883068116851 - kappa: -0.041768715418347646 - s: 2.8875117298278723 + x: 586343.72252512036 + y: 4140692.9329579067 + theta: 1.588234222357372 + kappa: -0.0417614942392559 + s: 2.8875133926696894 dkappa: 0 ddkappa: 0 } - v: 4.417974748733112 - a: -0.61355931699799293 + v: 4.4179970840711968 + a: -0.61342320749645984 relative_time: 0.65 } trajectory_point { path_point { - x: 586343.71961904969 - y: 4140693.1530219279 - theta: 1.5789556684623525 - kappa: -0.043047235391921124 - s: 3.107600490410884 + x: 586343.71963499964 + y: 4140693.1530105043 + theta: 1.5789613542860219 + kappa: -0.042947270138079835 + s: 3.1076034471529863 dkappa: 0 ddkappa: 0 } - v: 4.3847262733122 - a: -0.71549137587187861 + v: 4.3847558299354779 + a: -0.7153389627706277 relative_time: 0.70000000000000007 } trajectory_point { path_point { - x: 586343.71882303432 - y: 4140693.371299332 - theta: 1.5694871761733555 - kappa: -0.04404347741775403 - s: 3.3259016085475652 + x: 586343.71983754146 + y: 4140693.3713132031 + theta: 1.5693827089878754 + kappa: -0.043805929358119555 + s: 3.3259062397467414 dkappa: 0 ddkappa: 0 } - v: 4.3465124906138861 - a: -0.812210666668038 + v: 4.3465500291849226 + a: -0.81204423459748964 relative_time: 0.75000000000000011 } trajectory_point { path_point { - x: 586343.72126294347 - y: 4140693.5875571966 - theta: 1.5597679829773734 - kappa: -0.044736140181100809 - s: 3.5421732371877082 + x: 586343.72003820085 + y: 4140693.5875868285 + theta: 1.5598931675937218 + kappa: -0.044656607539086707 + s: 3.5421799583182532 dkappa: 0 ddkappa: 0 } - v: 4.3035881802559564 - a: -0.90395154083052465 + v: 4.3036343316157586 + a: -0.90377399802255765 relative_time: 0.80000000000000016 } trajectory_point { path_point { - x: 586343.7236773693 - y: 4140693.8015563712 - theta: 1.55015019677234 - kappa: -0.045421568477169535 - s: 3.7561860320874492 + x: 586343.72387287579 + y: 4140693.8015480419 + theta: 1.5502746096033486 + kappa: -0.045211182236420636 + s: 3.7561952865511272 dkappa: 0 ddkappa: 0 } - v: 4.2562009983098763 - a: -0.99066742373969086 + v: 4.2562562550022918 + a: -0.99048091365501933 relative_time: 0.8500000000000002 } trajectory_point { path_point { - x: 586343.72857635445 - y: 4140694.0130129927 - theta: 1.5405374378667649 - kappa: -0.045919158035970506 - s: 3.9677232326191003 + x: 586343.72996107268 + y: 4140694.013000614 + theta: 1.5406214496437656 + kappa: -0.045577831802934315 + s: 3.96773548649091 dkappa: 0 ddkappa: 0 } - v: 4.2046073731827329 - a: -1.0722271886040948 + v: 4.2046721595340006 + a: -1.0720326722628195 relative_time: 0.90000000000000024 } trajectory_point { path_point { - x: 586343.73737333366 - y: 4140694.2216853327 - theta: 1.5308759309499367 - kappa: -0.046126880180773419 - s: 4.1765809169698365 + x: 586343.73597216618 + y: 4140694.2217752654 + theta: 1.5310907818315089 + kappa: -0.045939837972016513 + s: 4.1765966563410242 dkappa: 0 ddkappa: 0 } - v: 4.1490624226971065 - a: -1.1487383586100974 + v: 4.1491371150550265 + a: -1.1485367941296021 relative_time: 0.95000000000000029 } trajectory_point { path_point { - x: 586343.74604939553 - y: 4140694.4274894036 - theta: 1.521346836025679 - kappa: -0.046331747117428546 - s: 4.382567784813979 + x: 586343.74570620619 + y: 4140694.4275163384 + theta: 1.5216292490361412 + kappa: -0.046043760879249926 + s: 4.382587513396742 dkappa: 0 ddkappa: 0 } - v: 4.0898158885162577 - a: -1.220308456944059 + v: 4.08990081539533 + a: -1.2201007995390105 relative_time: 1.0000000000000002 } trajectory_point { path_point { - x: 586343.75548344268 - y: 4140694.6301952731 - theta: 1.5119588978933531 - kappa: -0.046478088314098893 - s: 4.58550488850503 + x: 586343.75738726323 + y: 4140694.6301214979 + theta: 1.5122721446809193 + kappa: -0.04600706535247992 + s: 4.5855291252444825 dkappa: 0 ddkappa: 0 } - v: 4.0271121361441287 - a: -1.2870450067923405 + v: 4.027207578370688 + a: -1.2868322087746891 relative_time: 1.0500000000000003 } trajectory_point { path_point { - x: 586343.77007644856 - y: 4140694.8293819008 - theta: 1.5027121732823661 - kappa: -0.046289789880743185 - s: 4.7852253642677027 + x: 586343.768883206 + y: 4140694.8295158935 + theta: 1.5030634791748747 + kappa: -0.045970951354261887 + s: 4.7852546409610968 dkappa: 0 ddkappa: 0 } - v: 3.9611901549253452 - a: -1.3490555313413024 + v: 3.9612963457826957 + a: -1.3488385421202813 relative_time: 1.1000000000000003 } trajectory_point { path_point { - x: 586343.78442309564 - y: 4140695.0252058641 - theta: 1.4936206988766851 - kappa: -0.046104670297361407 - s: 4.9815741633899639 + x: 586343.78312711569 + y: 4140695.0253323587 + theta: 1.4940776269081057 + kappa: -0.045766182455545014 + s: 4.9816090223131617 dkappa: 0 ddkappa: 0 } - v: 3.8922835580452144 - a: -1.4064475537773056 + v: 3.8924006834187672 + a: -1.4062273198594311 relative_time: 1.1500000000000004 } trajectory_point { path_point { - x: 586343.7985128985 - y: 4140695.2175240442 - theta: 1.4846926259802915 - kappa: -0.045922864859484408 - s: 5.1744077834150577 + x: 586343.799794727 + y: 4140695.21745045 + theta: 1.4853120278603562 + kappa: -0.045410965590013355 + s: 5.17444877495627 dkappa: 0 ddkappa: 0 } - v: 3.8206205825297244 - a: -1.4593285972867105 + v: 3.8207487810521328 + a: -1.4591060622757821 relative_time: 1.2000000000000004 } trajectory_point { path_point { - x: 586343.81638716022 - y: 4140695.4058446288 - theta: 1.4760933493986792 - kappa: -0.04552533508057343 - s: 5.3635939993335473 + x: 586343.81614713231 + y: 4140695.4059353406 + theta: 1.4767120408930725 + kappa: -0.045062466332679504 + s: 5.3636416796343216 dkappa: 0 ddkappa: 0 } - v: 3.7464240892455472 - a: -1.5078061850558777 + v: 3.7465634524418414 + a: -1.5075822896529782 relative_time: 1.2500000000000004 } trajectory_point { path_point { - x: 586343.83565589762 - y: 4140695.5902582956 - theta: 1.467732977149218 - kappa: -0.045041017690374593 - s: 5.5490115947753456 + x: 586343.833194722 + y: 4140695.5905630896 + theta: 1.4683434886369777 + kappa: -0.044669124262612 + s: 5.5490665233788157 dkappa: 0 ddkappa: 0 } - v: 3.6699115629000345 - a: -1.5519878402711682 + v: 3.67006213533276 + a: -1.5517635222746633 relative_time: 1.3000000000000005 } trajectory_point { path_point { - x: 586343.85452151636 - y: 4140695.7708138684 - theta: 1.4595473631133582 - kappa: -0.044566832640304255 - s: 5.7305500932017512 + x: 586343.8540121644 + y: 4140695.7709119068 + theta: 1.4603886798783718 + kappa: -0.044074695292891007 + s: 5.7306128307081377 dkappa: 0 ddkappa: 0 } - v: 3.5912951120412222 - a: -1.5919810861189423 + v: 3.5914568914555729 + a: -1.5917572804244813 relative_time: 1.3500000000000005 } trajectory_point { path_point { - x: 586343.87297362369 - y: 4140695.9474118832 - theta: 1.4515420869020759 - kappa: -0.044103041148344714 - s: 5.90810948909748 + x: 586343.87437339767 + y: 4140695.9473084235 + theta: 1.4526076527650373 + kappa: -0.043493293089599247 + s: 5.9081805948268542 dkappa: 0 ddkappa: 0 } - v: 3.5107814690578261 - a: -1.6278934457855609 + v: 3.5109544065267819 + a: -1.6276710843860758 relative_time: 1.4000000000000006 } trajectory_point { path_point { - x: 586343.89609370427 - y: 4140696.119353353 - theta: 1.4441138547359276 - kappa: -0.043407944462455966 - s: 6.0815999791627027 + x: 586343.89426812378 + y: 4140696.1196634248 + theta: 1.4450052891789589 + kappa: -0.042925211703492984 + s: 6.0816800088250025 dkappa: 0 ddkappa: 0 } - v: 3.428571990179246 - a: -1.6598324424573847 + v: 3.4287559902487081 + a: -1.6596124544430904 relative_time: 1.4500000000000006 } trajectory_point { path_point { - x: 586343.918763498 - y: 4140696.2871708036 - theta: 1.43687040326062 - kappa: -0.042724594271931857 - s: 6.2509416935050748 + x: 586343.91643200791 + y: 4140696.2875428628 + theta: 1.4378384584264055 + kappa: -0.042247308312829961 + s: 6.2510311968773813 dkappa: 0 ddkappa: 0 } - v: 3.3448626554755614 - a: -1.6879055993207741 + v: 3.3450575763094887 + a: -1.6876889108791691 relative_time: 1.5000000000000007 } trajectory_point { path_point { - x: 586343.94086849608 - y: 4140696.4508072492 - theta: 1.4298074009281532 - kappa: -0.042058269074287218 - s: 6.4160644268317757 + x: 586343.93981938343 + y: 4140696.451011071 + theta: 1.4310132168240106 + kappa: -0.041506462881620604 + s: 6.41616394544284 dkappa: 0 ddkappa: 0 } - v: 3.2598440688575359 - a: -1.71222043956209 + v: 3.2600497223830791 + a: -1.7120079739779559 relative_time: 1.5500000000000007 } trajectory_point { path_point { - x: 586343.96240055829 - y: 4140696.6102024261 - theta: 1.4229281272901131 - kappa: -0.041409214256102909 - s: 6.5769073696415354 + x: 586343.9626006973 + y: 4140696.6102431556 + theta: 1.4243646453217556 + kappa: -0.040784815761528884 + s: 6.5770174344635723 dkappa: 0 ddkappa: 0 } - v: 3.1737014580766139 - a: -1.7328844863676929 + v: 3.1739176101292537 + a: -1.7326771640230942 relative_time: 1.6000000000000008 } trajectory_point { path_point { - x: 586343.98722618027 - y: 4140696.7647263492 - theta: 1.4166748040889228 - kappa: -0.04061134494899088 - s: 6.7334188447460663 + x: 586343.98476862849 + y: 4140696.7651879461 + theta: 1.41789546040369 + kappa: -0.040082598852738446 + s: 6.7335399739201689 dkappa: 0 ddkappa: 0 } - v: 3.0866151033944988 - a: -1.7499793108867447 + v: 3.0868414759845204 + a: -1.7497779208323394 relative_time: 1.6500000000000008 } trajectory_point { path_point { - x: 586344.01182128408 - y: 4140696.914862371 - theta: 1.4106483432176318 - kappa: -0.039815883686687759 - s: 6.885556098940242 + x: 586344.00877233956 + y: 4140696.9154198882 + theta: 1.4119197929679224 + kappa: -0.039303510459954831 + s: 6.885688795808349 dkappa: 0 ddkappa: 0 } - v: 2.9987617163369213 - a: -1.763582774466868 + v: 2.9989979967392153 + a: -1.76338795604984 relative_time: 1.7000000000000008 } trajectory_point { path_point { - x: 586344.03570373275 - y: 4140697.0606481284 - theta: 1.4047963575887326 - kappa: -0.0390434713006968 - s: 7.0332851023237613 + x: 586344.0334124869 + y: 4140697.0610917229 + theta: 1.4062861923818117 + kappa: -0.03849464970094453 + s: 7.0334298538050657 dkappa: 0 ddkappa: 0 } - v: 2.9103133159887267 - a: -1.7737968355921148 + v: 2.9105591602723448 + a: -1.7736091976988317 relative_time: 1.7500000000000009 } trajectory_point { path_point { - x: 586344.05886939471 - y: 4140697.2020584019 - theta: 1.3991202552470412 - kappa: -0.038294241414578309 - s: 7.1765802985024614 + x: 586344.05731324514 + y: 4140697.2023923108 + theta: 1.4008214648878721 + kappa: -0.037710060822579806 + s: 7.17673757357119 dkappa: 0 ddkappa: 0 } - v: 2.8214368235105569 - a: -1.7807234527465368 + v: 2.8216918580617536 + a: -1.7805435738025501 relative_time: 1.8000000000000009 } trajectory_point { path_point { - x: 586344.082240739 - y: 4140697.3389122249 - theta: 1.3937633552070441 - kappa: -0.037534000131862005 - s: 7.3154243496921056 + x: 586344.08047171973 + y: 4140697.3393045394 + theta: 1.3955265998998183 + kappa: -0.036949838852865374 + s: 7.3155945979314581 dkappa: 0 ddkappa: 0 } - v: 2.7322940621388523 - a: -1.784464584414186 + v: 2.7325578851841237 + a: -1.7842930123842307 relative_time: 1.850000000000001 } trajectory_point { path_point { - x: 586344.107378558 - y: 4140697.470923678 - theta: 1.388965698517344 - kappa: -0.036704907488665853 - s: 7.4498078818221725 + x: 586344.10336727148 + y: 4140697.4717320246 + theta: 1.3904812918659786 + kappa: -0.036198222473501386 + s: 7.449991532054411 dkappa: 0 ddkappa: 0 } - v: 2.64304175718585 - a: -1.7851221890791142 + v: 2.643313940314977 + a: -1.7849594414671084 relative_time: 1.900000000000001 } trajectory_point { path_point { - x: 586344.13168167952 - y: 4140697.5985517111 - theta: 1.3843270751100032 - kappa: -0.035903344737916426 - s: 7.57972922963965 + x: 586344.12801516452 + y: 4140697.5993079874 + theta: 1.3860165661486878 + kappa: -0.035388950448130424 + s: 7.5799266886323373 dkappa: 0 ddkappa: 0 } - v: 2.5538315360395853 - a: -1.7827982252253733 + v: 2.5541116257286722 + a: -1.7826447890744195 relative_time: 1.9500000000000011 } trajectory_point { path_point { - x: 586344.15515118674 - y: 4140697.7218020111 - theta: 1.3798474953144135 - kappa: -0.035129276165845762 - s: 7.7051941818128205 + x: 586344.15181777964 + y: 4140697.7225088449 + theta: 1.3817047307578065 + kappa: -0.034607431696560907 + s: 7.7054058330612119 dkappa: 0 ddkappa: 0 } - v: 2.46480992816389 - a: -1.7775946513370153 + v: 2.4650974472984073 + a: -1.7774509832293988 relative_time: 2.0000000000000009 } trajectory_point { path_point { - x: 586344.17778950883 - y: 4140697.8406873364 - theta: 1.3755266725080568 - kappa: -0.03438262164358051 - s: 7.8262157260350547 + x: 586344.17477757588 + y: 4140697.8413473237 + theta: 1.3775455155116445 + kappa: -0.03385358547990875 + s: 7.8264419286206452 dkappa: 0 ddkappa: 0 } - v: 2.3761183650983937 - a: -1.769613425898092 + v: 2.3764128144962178 + a: -1.7694799519552822 relative_time: 2.0500000000000007 } trajectory_point { path_point { - x: 586344.19960037421 - y: 4140697.9552272665 - theta: 1.371364035754663 - kappa: -0.033663258199749628 - s: 7.9428137941285994 + x: 586344.19689832954 + y: 4140697.9558429704 + theta: 1.3735383785362962 + kappa: -0.033127287815973232 + s: 7.9430548816538167 dkappa: 0 ddkappa: 0 } - v: 2.2878931804585232 - a: -1.7589565073926554 + v: 2.2881940403929777 + a: -1.758833623275305 relative_time: 2.1000000000000005 } trajectory_point { path_point { - x: 586344.22260669107 - y: 4140698.0650394685 - theta: 1.3677600602683435 - kappa: -0.0329114790101931 - s: 8.0550150071483664 + x: 586344.21818508522 + y: 4140698.066021896 + theta: 1.3696825181245118 + kappa: -0.03242837306632667 + s: 8.05527128674742 dkappa: 0 ddkappa: 0 } - v: 2.2002656099355034 - a: -1.7457258543047571 + v: 2.2005723416583987 + a: -1.7456139252127028 relative_time: 2.1500000000000004 } trajectory_point { path_point { - x: 586344.24522237631 - y: 4140698.1704787328 - theta: 1.3643963962235346 - kappa: -0.03217406280180872 - s: 8.1628524204857271 + x: 586344.24050622177 + y: 4140698.1715366552 + theta: 1.3663592172131895 + kappa: -0.031710641366147527 + s: 8.16312417191161 dkappa: 0 ddkappa: 0 } - v: 2.1133617912963549 - a: -1.7300234251184494 + v: 2.1136738385610307 + a: -1.7299227857907109 relative_time: 2.2 } trajectory_point { path_point { - x: 586344.26693111286 - y: 4140698.271689605 - theta: 1.3611675251270274 - kappa: -0.03146621892937429 - s: 8.2663652689722937 + x: 586344.26225270424 + y: 4140698.2727555055 + theta: 1.363234825723137 + kappa: -0.031013775344768423 + s: 8.2666527437599342 dkappa: 0 ddkappa: 0 } - v: 2.0273027643838981 - a: -1.7119511783177839 + v: 2.0276195549682638 + a: -1.7118621330325647 relative_time: 2.25 } trajectory_point { path_point { - x: 586344.28774237167 - y: 4140698.368716239 - theta: 1.3580721136145206 - kappa: -0.030787638583038596 - s: 8.3655987119837185 + x: 586344.2831003319 + y: 4140698.3697906421 + theta: 1.3602395047262743 + kappa: -0.030345713132060304 + s: 8.3659021326892837 dkappa: 0 ddkappa: 0 } - v: 1.9422044711167492 - a: -1.6916110723868123 + v: 1.9425254183463236 + a: -1.6915338949615002 relative_time: 2.3 } trajectory_point { path_point { - x: 586344.30766681244 - y: 4140698.461608334 - theta: 1.3551086352409771 - kappa: -0.030137974182638069 - s: 8.460603578543477 + x: 586344.30305977492 + y: 4140698.46269173 + theta: 1.3573717804279368 + kappa: -0.029706112790069412 + s: 8.4609231380598313 dkappa: 0 ddkappa: 0 } - v: 1.858177755489322 - a: -1.669105065809587 + v: 1.8585022597602758 + a: -1.6690399996007523 relative_time: 2.3499999999999996 } trajectory_point { path_point { - x: 586344.32671623083 - y: 4140698.5504208831 - theta: 1.352275380362632 - kappa: -0.029516841120733696 - s: 8.55143611242666 + x: 586344.32214284141 + y: 4140698.5515137287 + theta: 1.3546300023488487 + kappa: -0.029094595937448849 + s: 8.551771973374974 dkappa: 0 ddkappa: 0 } - v: 1.7753283635718278 - a: -1.6445351170701594 + v: 1.7756558138740233 + a: -1.6444823749735566 relative_time: 2.3999999999999995 } trajectory_point { path_point { - x: 586344.34490350448 - y: 4140698.635213925 - theta: 1.349570465893319 - kappa: -0.028923819499957728 - s: 8.6381577180958917 + x: 586344.34036242287 + y: 4140698.6363166422 + theta: 1.3520123526467447 + kappa: -0.028510749459061534 + s: 8.6385100122974219 dkappa: 0 ddkappa: 0 } - v: 1.6937570105017001 - a: -1.617999122975547 + v: 1.6940867862660787 + a: -1.6179588677455792 relative_time: 2.4499999999999993 } trajectory_point { path_point { - x: 586344.36352518992 - y: 4140698.715763839 - theta: 1.3473140143232265 - kappa: -0.028333252539037443 - s: 8.7208347152959327 + x: 586344.357828086 + y: 4140698.7171438285 + theta: 1.3495409296318073 + kappa: -0.027952846808417864 + s: 8.7212035433660287 dkappa: 0 ddkappa: 0 } - v: 1.6135595983344966 - a: -1.5895943052675687 + v: 1.613891072341394 + a: -1.5895666460019031 relative_time: 2.4999999999999991 } trajectory_point { path_point { - x: 586344.38155563374 - y: 4140698.7923740549 - theta: 1.3452422644257367 - kappa: -0.027765100819540735 - s: 8.799538095040667 + x: 586344.3757488312 + y: 4140698.79379683 + theta: 1.3475140810734487 + kappa: -0.02740442519526335 + s: 8.7999235261122077 dkappa: 0 ddkappa: 0 } - v: 1.5348270446037291 - a: -1.5594216098324782 + v: 1.5351595850719446 + a: -1.5594066198948902 relative_time: 2.5499999999999989 } trajectory_point { path_point { - x: 586344.39869302313 - y: 4140698.8651897386 - theta: 1.3432730868519485 - kappa: -0.027225089859354637 - s: 8.8743432680382845 + x: 586344.39278215112 + y: 4140698.8666540175 + theta: 1.3455875538858246 + kappa: -0.026883161112006185 + s: 8.8747453395782756 dkappa: 0 ddkappa: 0 } - v: 1.4576452195485969 - a: -1.5275819825565291 + v: 1.4579781919220884 + a: -1.5275796995769026 relative_time: 2.5999999999999988 } trajectory_point { path_point { - x: 586344.41495558887 - y: 4140698.9342883527 - theta: 1.3414044072749 - kappa: -0.026712645192691804 - s: 8.9453298123265874 + x: 586344.40894615476 + y: 4140698.9357928494 + theta: 1.3437593202168077 + kappa: -0.026388500380450486 + s: 8.9457485300420814 dkappa: 0 ddkappa: 0 } - v: 1.3820949461139866 - a: -1.4941763693259749 + v: 1.3824277148485651 + a: -1.4941867952003021 relative_time: 2.6499999999999986 } trajectory_point { path_point { - x: 586344.43036245881 - y: 4140698.9997511683 - theta: 1.3396340435496195 - kappa: -0.026227164092030353 - s: 9.0125812209082543 + x: 586344.42425984214 + y: 4140699.0012945952 + theta: 1.3420272468664043 + kappa: -0.0259198615478929 + s: 9.0130165587416151 dkappa: 0 ddkappa: 0 } - v: 1.3082519999504725 - a: -1.4593057160270695 + v: 1.3085839303004962 + a: -1.4593288169174503 relative_time: 2.6999999999999984 } trajectory_point { path_point { - x: 586344.44493359979 - y: 4140699.0616630251 - theta: 1.3379597130695093 - kappa: -0.025768017389909015 - s: 9.0761846493861427 + x: 586344.43874304707 + y: 4140699.0632440904 + theta: 1.3403891024521335 + kappa: -0.025476637644659433 + s: 9.07663654959964 dkappa: 0 ddkappa: 0 } - v: 1.2361871094143153 - a: -1.4230709685460665 + v: 1.2365175692193853 + a: -1.4231066748807095 relative_time: 2.7499999999999982 } trajectory_point { path_point { - x: 586344.45868975972 - y: 4140699.1201120787 - theta: 1.3363790400566427 - kappa: -0.025334551300722541 - s: 9.1362306635985586 + x: 586344.45241638 + y: 4140699.1217294931 + theta: 1.3388425645128927 + kappa: -0.025058197941642331 + s: 9.1366990369482952 dkappa: 0 ddkappa: 0 } - v: 1.1659659555674637 - a: -1.3855730727692195 + v: 1.1662943170391178 + a: -1.3856212792424414 relative_time: 2.799999999999998 } trajectory_point { path_point { - x: 586344.47165241023 - y: 4140699.1751895612 - theta: 1.3348895627873736 - kappa: -0.024926089242516908 - s: 9.1928129872545554 + x: 586344.46530117025 + y: 4140699.1768420357 + theta: 1.3373852265525925 + kappa: -0.024663889707836947 + s: 9.19329771325373 dkappa: 0 ddkappa: 0 } - v: 1.0976491721775536 - a: -1.3469129745827821 + v: 1.0979748136859611 + a: -1.3469735401550078 relative_time: 2.8499999999999979 } trajectory_point { path_point { - x: 586344.48384368839 - y: 4140699.226989531 - theta: 1.333488740755342 - kappa: -0.024541933658784692 - s: 9.2460282495692052 + x: 586344.47741940839 + y: 4140699.22867578 + theta: 1.3360146050254562 + kappa: -0.024293039967878557 + s: 9.2465291768407134 dkappa: 0 ddkappa: 0 } - v: 1.0312923457179082 - a: -1.3071916198730085 + v: 1.0316146535785644 + a: -1.3072643677707707 relative_time: 2.8999999999999977 } trajectory_point { path_point { - x: 586344.49528633908 - y: 4140699.2756086304 - theta: 1.3321739617745005 - kappa: -0.024181367840260357 - s: 9.2959757328988868 + x: 586344.48879368929 + y: 4140699.2773273713 + theta: 1.3347281462654053 + kappa: -0.023944957259579285 + s: 9.2964926796172573 dkappa: 0 ddkappa: 0 } - v: 0.966946015367538 - a: -1.2665099545261518 + v: 0.96726438562795858 + a: -1.266594672242092 relative_time: 2.9499999999999975 } trajectory_point { path_point { - x: 586344.50600365736 - y: 4140699.3211458381 - theta: 1.3309425490252367 - kappa: -0.023843657746715489 - s: 9.3427571203765769 + x: 586344.4994471547 + y: 4140699.3228957942 + theta: 1.3335232333623639 + kappa: -0.023618933391464883 + s: 9.3432898747992379 dkappa: 0 ddkappa: 0 } - v: 0.90465567301114069 - a: -1.2249689244284658 + v: 0.90496951323755692 + a: -1.2250653637213333 relative_time: 2.9999999999999973 } trajectory_point { path_point { - x: 586344.51668472274 - y: 4140699.3635398769 - theta: 1.3300011228933248 - kappa: -0.023525041120558195 - s: 9.3864762435471256 + x: 586344.5097856113 + y: 4140699.3653897122 + theta: 1.3325137706254531 + kappa: -0.023315488882387551 + s: 9.3870245646350057 dkappa: 0 ddkappa: 0 } - v: 0.84446176323910149 - a: -1.1826694754662044 + v: 0.84477049430315421 + a: -1.1827773523608569 relative_time: 3.0499999999999972 } trajectory_point { path_point { - x: 586344.52667267062 - y: 4140699.403059863 - theta: 1.3291325397821758 - kappa: -0.023227838953438773 - s: 9.4272388300025458 + x: 586344.51967022661 + y: 4140699.4049514378 + theta: 1.3316473221416314 + kappa: -0.023033357260038315 + s: 9.4278024481300164 dkappa: 0 ddkappa: 0 } - v: 0.78639968334749277 - a: -1.139712553525621 + v: 0.7867027412129276 + a: -1.1398315483130244 relative_time: 3.099999999999997 } trajectory_point { path_point { - x: 586344.53596249514 - y: 4140699.4398175385 - theta: 1.3283246600392984 - kappa: -0.022951410201774103 - s: 9.4651522510172974 + x: 586344.52886412817 + y: 4140699.4417486833 + theta: 1.3308414116721832 + kappa: -0.022770940333715548 + s: 9.4657308687714377 dkappa: 0 ddkappa: 0 } - v: 0.73049978333807419 - a: -1.0961991044929693 + v: 0.73079662084743546 + a: -1.0963288617301978 relative_time: 3.1499999999999968 } trajectory_point { path_point { - x: 586344.544580846 - y: 4140699.4739183486 - theta: 1.3275751686622135 - kappa: -0.022694961871769871 - s: 9.5003252691835662 + x: 586344.53739367367 + y: 4140699.4758869405 + theta: 1.3300937312894725 + kappa: -0.022527485789297291 + s: 9.50091856225278 dkappa: 0 ddkappa: 0 } - v: 0.676787365918293 - a: -1.0522300742545032 + v: 0.67707745457961876 + a: -1.0523702027647388 relative_time: 3.1999999999999966 } trajectory_point { path_point { - x: 586344.55255465209 - y: 4140699.5054688435 - theta: 1.3268817257910255 - kappa: -0.022457692668007161 - s: 9.5328677856979223 + x: 586344.545285497 + y: 4140699.5074728085 + theta: 1.3294019482659514 + kappa: -0.022302233428201684 + s: 9.5334754038476675 dkappa: 0 ddkappa: 0 } - v: 0.62528265887692425 - a: -1.0079080394843192 + v: 0.62556549047594268 + a: -1.0080581226579319 relative_time: 3.2499999999999964 } trajectory_point { path_point { - x: 586344.5599110584 - y: 4140699.5345764328 - theta: 1.3262419722745642 - kappa: -0.022238794859852619 - s: 9.5628905843749461 + x: 586344.55256644648 + y: 4140699.5366137428 + theta: 1.328763710622207 + kappa: -0.0220944169380305 + s: 9.5635121524899471 dkappa: 0 ddkappa: 0 } - v: 0.5760007428804792 - a: -0.96333515007706794 + v: 0.57627583063683463 + a: -0.96349474317062112 relative_time: 3.2999999999999963 } trajectory_point { path_point { - x: 586344.56667736382 - y: 4140699.56134913 - theta: 1.3256535352012428 - kappa: -0.022037456141450397 - s: 9.5905050765411364 + x: 586344.55926352239 + y: 4140699.5634178091 + theta: 1.3281766526397969 + kappa: -0.021903265657083955 + s: 9.5911401957396034 dkappa: 0 ddkappa: 0 } - v: 0.52895165301788416 - a: -0.91861171174983514 + v: 0.5292185333830276 + a: -0.91878033023450834 relative_time: 3.3499999999999961 } trajectory_point { path_point { - x: 586344.57288095937 - y: 4140699.5858953148 - theta: 1.3251140333305951 - kappa: -0.021852861462794412 - s: 9.6158230498952868 + x: 586344.56540381676 + y: 4140699.5879934384 + theta: 1.3276384002745982 + kappa: -0.021728006311258923 + s: 9.6164712987402385 dkappa: 0 ddkappa: 0 } - v: 0.48414040909221095 - a: -0.87383803021970574 + v: 0.48439864373866914 + a: -0.8740151497812958 relative_time: 3.3999999999999959 } trajectory_point { path_point { - x: 586344.57854926679 - y: 4140699.6083234884 - theta: 1.3246210825036748 - kappa: -0.021684194858063971 - s: 9.6389564177441969 + x: 586344.57101445226 + y: 4140699.6104491861 + theta: 1.3271465765491064 + kappa: -0.021567864748333984 + s: 9.639617353554252 dkappa: 0 ddkappa: 0 } - v: 0.44156701562067741 - a: -0.82911441120376539 + v: 0.44181619343132161 + a: -0.82929946774268515 relative_time: 3.4499999999999957 } trajectory_point { path_point { - x: 586344.58370967722 - y: 4140699.6287420327 - theta: 1.3241723010418966 - kappa: -0.021530641273959455 - s: 9.6600169682383825 + x: 586344.57612252212 + y: 4140699.6308934884 + theta: 1.3266988069332761 + kappa: -0.021422067672254547 + s: 9.6606901284980022 dkappa: 0 ddkappa: 0 } - v: 0.40122646183464683 - a: -0.78454116041909927 + v: 0.4014662008919625 + a: -0.78473355005037848 relative_time: 3.4999999999999956 } trajectory_point { path_point { - x: 586344.58838949 - y: 4140699.647258963 - theta: 1.3237653151357989 - kappa: -0.021391388398038003 - s: 9.6791161136077815 + x: 586344.580755028 + y: 4140699.6494344147 + theta: 1.3262927247153782 + kappa: -0.021289844377417863 + s: 9.6798010174769864 dkappa: 0 ddkappa: 0 } - v: 0.36310872167962843 - a: -0.74021858358279269 + v: 0.363338671254984 + a: -0.74041766263607756 relative_time: 3.5499999999999954 } trajectory_point { path_point { - x: 586344.59261585027 - y: 4140699.6639816873 - theta: 1.3233977642251051 - kappa: -0.02126562848704918 - s: 9.69636463939746 + x: 586344.58493882057 + y: 4140699.6661794325 + theta: 1.3259259763642366 + kappa: -0.021170428482958172 + s: 9.6970607893210019 dkappa: 0 ddkappa: 0 } - v: 0.32719875381527708 - a: -0.696246986411931 + v: 0.32741859635819326 + a: -0.69645207143148435 relative_time: 3.5999999999999952 } trajectory_point { path_point { - x: 586344.59641568863 - y: 4140699.6790167643 - theta: 1.3230673063713509 - kappa: -0.021152560195270703 - s: 9.71187245370332 + x: 586344.588700538 + y: 4140699.681235156 + theta: 1.3255962268841017 + kappa: -0.021063059667031737 + s: 9.7125793371193261 dkappa: 0 ddkappa: 0 } - v: 0.2934765016153934 - a: -0.65272667462359957 + v: 0.29368595474281228 + a: -0.652937042368301 relative_time: 3.649999999999995 } trajectory_point { path_point { - x: 586344.59981565922 - y: 4140699.6924696574 - theta: 1.3227716236242244 - kappa: -0.021051390402844025 - s: 9.72574833640781 + x: 586344.59206654551 + y: 4140699.6947071077 + theta: 1.325301165163304 + kappa: -0.020966985401101947 + s: 9.7264654275558815 dkappa: 0 ddkappa: 0 } - v: 0.26191689316792377 - a: -0.60975795393488352 + v: 0.26211571165347819 + a: -0.609972841378229 relative_time: 3.6999999999999948 } trajectory_point { path_point { - x: 586344.60284207808 - y: 4140699.7044444927 - theta: 1.3225084273826568 - kappa: -0.02096133604411014 - s: 9.738099688415625 + x: 586344.59506287449 + y: 4140699.7066994766 + theta: 1.3250385093177113 + kappa: -0.020881462684224403 + s: 9.7388264502444066 dkappa: 0 ddkappa: 0 } - v: 0.23248984127496025 - a: -0.56744113006286845 + v: 0.23267781903824269 + a: -0.56765973439297057 relative_time: 3.7499999999999947 } trajectory_point { path_point { - x: 586344.605520862 - y: 4140699.7150438176 - theta: 1.3222754637515863 - kappa: -0.020881625935945163 - s: 9.7490322808894216 + x: 586344.59771516174 + y: 4140699.7173148673 + theta: 1.3248060120299094 + kappa: -0.020805759777331963 + s: 9.74976816706363 dkappa: 0 ddkappa: 0 } - v: 0.2051602434527407 - a: -0.52587650872463954 + v: 0.2053372155485727 + a: -0.52609798734422775 relative_time: 3.7999999999999945 } trajectory_point { path_point { - x: 586344.60787746718 - y: 4140699.7243683562 - theta: 1.3220705188952002 - kappa: -0.020811502606096051 - s: 9.75865000448552 + x: 586344.60004858882 + y: 4140699.7266540681 + theta: 1.3246014658849066 + kappa: -0.020739157937519875 + s: 9.7593944614924375 dkappa: 0 ddkappa: 0 } - v: 0.17988798193164862 - a: -0.48516439563728209 + v: 0.18005382653934987 + a: -0.48538786616370222 relative_time: 3.8499999999999943 } trajectory_point { path_point { - x: 586344.60993682744 - y: 4140699.7325167656 - theta: 1.3218914243873663 - kappa: -0.020750224121516288 - s: 9.7670546185896168 + x: 586344.60208782111 + y: 4140699.7348157968 + theta: 1.3244227087030611 + kappa: -0.020680953152330813 + s: 9.7678070879450427 dkappa: 0 ddkappa: 0 } - v: 0.15662792365621336 - a: -0.44540509651788163 + v: 0.15678256406887059 + a: -0.44562963678309586 relative_time: 3.8999999999999941 } trajectory_point { path_point { - x: 586344.61172329274 - y: 4140699.7395853936 - theta: 1.3217360625598555 - kappa: -0.020697065916701549 - s: 9.7743455005524833 + x: 586344.60385694716 + y: 4140699.7418964645 + theta: 1.3242676288708355 + kappa: -0.02063045787403997 + s: 9.7751054211061632 dkappa: 0 ddkappa: 0 } - v: 0.13532992028510993 - a: -0.40669891708352324 + v: 0.13547332689884661 + a: -0.40692356513411077 relative_time: 3.949999999999994 } trajectory_point { path_point { - x: 586344.61326056835 - y: 4140699.7456680355 - theta: 1.321602371848865 - kappa: -0.020651322622025375 - s: 9.780619394925683 + x: 586344.60537941789 + y: 4140699.7479899311 + theta: 1.3241341706698808 + kappa: -0.020587002753940153 + s: 9.781386205266184 dkappa: 0 ddkappa: 0 } - v: 0.11593880819115898 - a: -0.36914616305129222 + v: 0.11607100049440422 + a: -0.3693699171484488 relative_time: 3.9999999999999938 } trajectory_point { path_point { - x: 586344.614571652 - y: 4140699.7508556885 - theta: 1.3214883522036491 - kappa: -0.020612309913758627 - s: 9.78597015972325 + x: 586344.60667798528 + y: 4140699.7531872569 + theta: 1.3240203396684382 + kappa: -0.020549938397322526 + s: 9.7867433006650835 dkappa: 0 ddkappa: 0 } - v: 0.0983941718536561 - a: -0.3328612051908667 + v: 0.098515219045863939 + a: -0.33308310525227408 relative_time: 4.0499999999999936 } trajectory_point { path_point { - x: 586344.615678765 - y: 4140699.7552362769 - theta: 1.3213920711055602 - kappa: -0.02057936657326162 - s: 9.79048848399442 + x: 586344.60777463345 + y: 4140699.7575764311 + theta: 1.3239242087249696 + kappa: -0.020518637318097277 + s: 9.7912674009814076 dkappa: 0 ddkappa: 0 } - v: 0.082629686598428884 - a: -0.29795631174906023 + v: 0.082739704413592352 + a: -0.29817542669117386 relative_time: 4.0999999999999934 } trajectory_point { path_point { - x: 586344.61660328391 - y: 4140699.758894383 - theta: 1.3213116694940474 - kappa: -0.020551856514558896 - s: 9.7942616097328088 + x: 586344.60869051167 + y: 4140699.7612420991 + theta: 1.3238439238984712 + kappa: -0.020492495863230785 + s: 9.7950457551838177 dkappa: 0 ddkappa: 0 } - v: 0.068573920406226729 - a: -0.26452863465866205 + v: 0.0686730726018148 + a: -0.26474397462598553 relative_time: 4.1499999999999932 } trajectory_point { path_point { - x: 586344.61736568063 - y: 4140699.7619110104 - theta: 1.3212453670081004 - kappa: -0.020529170577830776 - s: 9.79737308589116 + x: 586344.60944587481 + y: 4140699.7642653296 + theta: 1.3237777096722234 + kappa: -0.0204709359137621 + s: 9.7981619216747333 dkappa: 0 ddkappa: 0 } - v: 0.056150583661159478 - a: -0.2326753258524614 + v: 0.056239084956714737 + a: -0.23288584221754632 relative_time: 4.1999999999999931 } trajectory_point { path_point { - x: 586344.61798546242 - y: 4140699.7643633424 - theta: 1.321191467161273 - kappa: -0.020510728300263015 - s: 9.7999025255015 + x: 586344.61006002384 + y: 4140699.7667233711 + theta: 1.3237238741109445 + kappa: -0.020453406564209062 + s: 9.8006955255574351 dkappa: 0 ddkappa: 0 } - v: 0.045278529150697563 - a: -0.20249353726324748 + v: 0.0453566481664338 + a: -0.20269812262669359 relative_time: 4.2499999999999929 } trajectory_point { path_point { - x: 586344.61848111288 - y: 4140699.7663245159 - theta: 1.3211483625165912 - kappa: -0.020495979686896433 - s: 9.801925362795318 + x: 586344.61055124784 + y: 4140699.7686894238 + theta: 1.3236808140178375 + kappa: -0.020439385801974467 + s: 9.8027220159031572 dkappa: 0 ddkappa: 0 } - v: 0.035871752065671891 - a: -0.17408042082380945 + v: 0.03593981426107172 + a: -0.17427790901426457 relative_time: 4.2999999999999927 } trajectory_point { path_point { - x: 586344.6188700319 - y: 4140699.7678633779 - theta: 1.3211145398614279 - kappa: -0.020484406981476636 - s: 9.8035126103237253 + x: 586344.61093676474 + y: 4140699.7702323985 + theta: 1.3236470200916191 + kappa: -0.020428382186752136 + s: 9.80431242301819 dkappa: 0 ddkappa: 0 } - v: 0.027839390000273911 - a: -0.14753312846693661 + v: 0.027897780612686385 + a: -0.1477222945410965 relative_time: 4.3499999999999925 } trajectory_point { path_point { - x: 586344.61916847667 - y: 4140699.7690442544 - theta: 1.3210885853824108 - kappa: -0.020475526437303611 - s: 9.8047306160776291 + x: 586344.61123266234 + y: 4140699.7714166855 + theta: 1.3236210820835899 + kappa: -0.020419936529933104 + s: 9.8055331157109755 dkappa: 0 ddkappa: 0 } - v: 0.0210857229520557 - a: -0.12294881212541811 + v: 0.021134889935293819 + a: -0.12312837236802671 relative_time: 4.3999999999999924 } trajectory_point { path_point { - x: 586344.61939150165 - y: 4140699.7699267124 - theta: 1.3210691898403961 - kappa: -0.020468890088081428 - s: 9.8056408206078967 + x: 586344.61145383981 + y: 4140699.7723019156 + theta: 1.3236016939547819 + kappa: -0.020413623574011736 + s: 9.8064455585592 dkappa: 0 ddkappa: 0 } - v: 0.015510173321929763 - a: -0.10042462373204314 + v: 0.015550630284868167 + a: -0.1005932356558924 relative_time: 4.4499999999999922 } trajectory_point { path_point { - x: 586344.61955289962 - y: 4140699.7705653263 - theta: 1.3210551537455288 - kappa: -0.020464087518767902 - s: 9.8062995141455254 + x: 586344.61161394848 + y: 4140699.7729427274 + theta: 1.3235876590331972 + kappa: -0.020409053671991792 + s: 9.8071060691769087 dkappa: 0 ddkappa: 0 } - v: 0.011007305914169208 - a: -0.080057715219600867 + v: 0.011039635059341718 + a: -0.080213977565530947 relative_time: 4.499999999999992 } trajectory_point { path_point { - x: 586344.61966514157 - y: 4140699.7710094419 - theta: 1.3210453925323933 - kappa: -0.020460747636424213 - s: 9.8067575937218123 + x: 586344.61172533338 + y: 4140699.7733885292 + theta: 1.3235778951711479 + kappa: -0.020405874466792664 + s: 9.8075655754815809 dkappa: 0 ddkappa: 0 } - v: 0.007466827936407669 - a: -0.06194523852088063 + v: 0.0074916829986049205 + a: -0.062087691257779576 relative_time: 4.5499999999999918 } trajectory_point { path_point { - x: 586344.6197393178 - y: 4140699.7713029403 - theta: 1.321038941735253 - kappa: -0.020458540441064633 - s: 9.8070603202885156 + x: 586344.61179897434 + y: 4140699.7736832658 + theta: 1.3235714399026863 + kappa: -0.020403772570655409 + s: 9.8078693729612461 dkappa: 0 ddkappa: 0 } - v: 0.0047735889996392972 - a: -0.046184345568671514 + v: 0.0047916981845063378 + a: -0.046311469893475565 relative_time: 4.5999999999999917 } trajectory_point { path_point { - x: 586344.6197850781 - y: 4140699.7714840025 - theta: 1.3210349621633688 - kappa: -0.020457178796506138 - s: 9.80724707583803 + x: 586344.61184442684 + y: 4140699.7738651829 + theta: 1.3235674556011208 + kappa: -0.020402475244548954 + s: 9.808056881941571 dkappa: 0 ddkappa: 0 } - v: 0.0028075811182188548 - a: -0.032872188295762772 + v: 0.0028197500408526643 + a: -0.032982406633456085 relative_time: 4.6499999999999915 } trajectory_point { path_point { - x: 586344.61981057178 - y: 4140699.7715848759 - theta: 1.3210327450763804 - kappa: -0.020456420201218069 - s: 9.8073511205235526 + x: 586344.61186976335 + y: 4140699.773966589 + theta: 1.3235652346365996 + kappa: -0.020401752077576135 + s: 9.8081614048529673 dkappa: 0 ddkappa: 0 } - v: 0.0014439387098615503 - a: -0.0221059186349436 + v: 0.0014510533334087111 + a: -0.022197594638558527 relative_time: 4.6999999999999913 } trajectory_point { path_point { - x: 586344.61982238933 - y: 4140699.7716316348 - theta: 1.3210317173597426 - kappa: -0.020456068559171817 - s: 9.80739934977925 + x: 586344.61188151455 + y: 4140699.7740136217 + theta: 1.3235642045337488 + kappa: -0.02040141666637995 + s: 9.8082098834976765 dkappa: 0 ddkappa: 0 } - v: 0.00055293859564320424 - a: -0.013982688519003195 + v: 0.00055596816989748887 + a: -0.01405412706962017 relative_time: 4.7499999999999911 } trajectory_point { path_point { - x: 586344.61982550158 - y: 4140699.7716439497 - theta: 1.321031446700196 - kappa: -0.020455975950690472 - s: 9.8074120514404246 + x: 586344.61188461073 + y: 4140699.774026013 + theta: 1.3235639331293498 + kappa: -0.020401328294549541 + s: 9.8082226563168824 dkappa: 0 ddkappa: 0 } - v: 1.2490009027033011e-16 - a: -0.0085996498807308086 + v: 9.71445146547012e-17 + a: -0.0086490970874782414 relative_time: 4.7999999999999909 } trajectory_point { path_point { - x: 586344.61982325313 - y: 4140699.7716350527 - theta: 1.3210316422409125 - kappa: -0.020456042856620896 - s: 9.807402874997333 + x: 586344.61188237357 + y: 4140699.7740170592 + theta: 1.3235641292369813 + kappa: -0.020401392149042793 + s: 9.8082134271100863 dkappa: 0 ddkappa: 0 } - v: -0.00033727330566527371 - a: -0.0050242808550563086 + v: -0.00033921259601775341 + a: -0.0050531699940614492 relative_time: 4.8499999999999908 } trajectory_point { path_point { - x: 586344.61981788813 - y: 4140699.7716138242 - theta: 1.3210321088150665 - kappa: -0.020456202498962475 - s: 9.8073809793469291 + x: 586344.61187703547 + y: 4140699.7739956947 + theta: 1.323564597163835 + kappa: -0.02040154451043651 + s: 9.8081914055617379 dkappa: 0 ddkappa: 0 } - v: -0.00051510849955804447 - a: -0.0022097366725313461 + v: -0.00051807032489850516 + a: -0.0022224424301910935 relative_time: 4.8999999999999906 } trajectory_point { path_point { - x: 586344.61981113441 - y: 4140699.7715871017 - theta: 1.3210326961549488 - kappa: -0.020456403462331449 - s: 9.80735341633559 + x: 586344.61187031586 + y: 4140699.7739688 + theta: 1.3235651862065423 + kappa: -0.020401736308293048 + s: 9.80816368406571 dkappa: 0 ddkappa: 0 } - v: -0.00056968851324127657 - a: -8.1684909378524143e-05 + v: -0.00057296416734891275 + a: -8.2154565043793953e-05 relative_time: 4.94999999999999 } trajectory_point { path_point { - x: 586344.61980429944 - y: 4140699.7715600571 - theta: 1.3210332905639961 - kappa: -0.020456606844475131 - s: 9.8073255215786457 + x: 586344.61186351511 + y: 4140699.7739415811 + theta: 1.3235657823389082 + kappa: -0.0204019304146087 + s: 9.808135628916629 dkappa: 0 ddkappa: 0 } - v: -0.00053347965708914319 - a: 0.0014342068581795157 + v: -0.00053654711253454728 + a: 0.0014424534322037292 relative_time: 4.99999999999999 } trajectory_point { path_point { - x: 586344.61979831546 - y: 4140699.7715363805 - theta: 1.3210338109569193 - kappa: -0.020456784901367826 - s: 9.8073011002914363 + x: 586344.61185756139 + y: 4140699.7739177523 + theta: 1.32356630424056 + kappa: -0.020402100350703931 + s: 9.8081110672094542 dkappa: 0 ddkappa: 0 } - v: -0.000435231620286949 - a: 0.0024122710539201363 + v: -0.00043773415807981525 + a: 0.0024261413923747487 relative_time: 5.04999999999999 } trajectory_point { path_point { - x: 586344.61979378574 - y: 4140699.7715184567 - theta: 1.3210342048998318 - kappa: -0.020456919692306813 - s: 9.807282613120373 + x: 586344.61185305426 + y: 4140699.7738997131 + theta: 1.3235666993255952 + kappa: -0.020402228994113546 + s: 9.8080924737390518 dkappa: 0 ddkappa: 0 } - v: -0.00029997747083113118 - a: 0.0029268401016207014 + v: -0.00030170231006796 + a: 0.0029436691462925504 relative_time: 5.09999999999999 } trajectory_point { path_point { - x: 586344.61979102879 - y: 4140699.7715075486 - theta: 1.321034444650379 - kappa: -0.0204570017250083 - s: 9.807271361973994 + x: 586344.61185031128 + y: 4140699.7738887351 + theta: 1.3235669397712286 + kappa: -0.020402307285476935 + s: 9.80808115789977 dkappa: 0 ddkappa: 0 } - v: -0.00014903365552925874 - a: 0.0030522464250585645 + v: -0.00014989058304106014 + a: 0.0030697965247804028 relative_time: 5.14999999999999 } trajectory_point { path_point { - x: 586344.61979012564 - y: 4140699.7715039751 - theta: 1.3210345231978664 - kappa: -0.020457028600703288 - s: 9.8072676758540336 + x: 586344.61184941267 + y: 4140699.7738851383 + theta: 1.3235670185464412 + kappa: -0.02040233293542822 + s: 9.808077450585019 dkappa: 0 ddkappa: 0 } - v: -3.1225022567582528e-17 - a: 0.0028628224480110962 + v: -3.1929753979698106e-17 + a: 0.0028792833586615881 relative_time: 5.1999999999999895 } trajectory_point { path_point { - x: 586344.61979096383 - y: 4140699.7715072911 - theta: 1.321034450303388 - kappa: -0.020457003659233634 - s: 9.8072710966864687 + x: 586344.61185024667 + y: 4140699.7738884762 + theta: 1.3235669454406271 + kappa: -0.020402309131486482 + s: 9.8080808910868491 dkappa: 0 ddkappa: 0 } - v: 0.00013324029132671773 - a: 0.0024329005942556551 + v: 0.00013400640759537427 + a: 0.0024468894787593766 relative_time: 5.2499999999999893 } trajectory_point { path_point { - x: 586344.61979328387 - y: 4140699.7715164712 - theta: 1.3210342485399535 - kappa: -0.020456934624147931 - s: 9.8072805651525865 + x: 586344.61185255507 + y: 4140699.7738977149 + theta: 1.3235667430922415 + kappa: -0.020402243244945918 + s: 9.8080904139955276 dkappa: 0 ddkappa: 0 } - v: 0.00024052063521002283 - a: 0.0018368132875695997 + v: 0.00024190359982657032 + a: 0.001847374715897054 relative_time: 5.2999999999999892 } trajectory_point { path_point { - x: 586344.61979672441 - y: 4140699.7715300848 - theta: 1.321033949332618 - kappa: -0.020456832247797457 - s: 9.8072946065200419 + x: 586344.61185597826 + y: 4140699.7739114156 + theta: 1.3235664430174481 + kappa: -0.020402145537766123 + s: 9.8081045360991084 dkappa: 0 ddkappa: 0 } - v: 0.00031539106959778949 - a: 0.0011488929517302938 + v: 0.00031720452831613175 + a: 0.0011554989008978958 relative_time: 5.349999999999989 } trajectory_point { path_point { - x: 586344.61980086775 - y: 4140699.7715464788 - theta: 1.3210335889986087 - kappa: -0.020456708956432153 - s: 9.8073115164739164 + x: 586344.61186010076 + y: 4140699.7739279158 + theta: 1.3235660816387651 + kappa: -0.020402027869462196 + s: 9.80812154328302 dkappa: 0 ddkappa: 0 } - v: 0.00035511825362678778 - a: 0.00044347201051509605 + v: 0.00035716013622779969 + a: 0.00044602186458517906 relative_time: 5.3999999999999888 } trajectory_point { path_point { - x: 586344.61980528571 - y: 4140699.77156396 - theta: 1.3210332047874527 - kappa: -0.020456577495296523 - s: 9.80732954694778 + x: 586344.61186449649 + y: 4140699.773945509 + theta: 1.3235656963137141 + kappa: -0.020401902403994969 + s: 9.8081396774296383 dkappa: 0 ddkappa: 0 } - v: 0.00036068546762265541 - a: -0.00020511711229863165 + v: 0.00036275935826647621 + a: -0.00020629656221782776 relative_time: 5.4499999999999886 } trajectory_point { path_point { - x: 586344.61980958469 - y: 4140699.77158097 - theta: 1.3210328309211057 - kappa: -0.020456449573725638 - s: 9.8073470919547479 + x: 586344.61186877394 + y: 4140699.7739626286 + theta: 1.3235653213634664 + kappa: -0.02040178031666124 + s: 9.8081573233178574 dkappa: 0 ddkappa: 0 } - v: 0.0003367926130999034 - a: -0.000722541992933522 + v: 0.00033872912067823391 + a: -0.00072669654868782324 relative_time: 5.4999999999999885 } trajectory_point { path_point { - x: 586344.61981345166 - y: 4140699.7715962706 - theta: 1.3210324946340801 - kappa: -0.020456334510241037 - s: 9.8073628734185387 + x: 586344.61187262135 + y: 4140699.7739780275 + theta: 1.3235649841014911 + kappa: -0.020401670500983897 + s: 9.808173195522679 dkappa: 0 ddkappa: 0 } - v: 0.00029185621276190565 - a: -0.00103447020761222 + v: 0.00029353434125030023 + a: -0.0010404182640015606 relative_time: 5.5499999999999883 } trajectory_point { path_point { - x: 586344.61981669907 - y: 4140699.77160912 - theta: 1.3210322122135729 - kappa: -0.020456237877646707 - s: 9.8073761270045363 + x: 586344.61187585257 + y: 4140699.77399096 + theta: 1.3235647008622022 + kappa: -0.020401578275602184 + s: 9.80818652531478 dkappa: 0 ddkappa: 0 } - v: 0.0002380094105009077 - a: -0.0010665693325573773 + v: 0.00023937792931107352 + a: -0.0010727018773357419 relative_time: 5.5999999999999881 } trajectory_point { path_point { - x: 586344.61981930188 - y: 4140699.7716194182 - theta: 1.3210319858683224 - kappa: -0.020456160431681351 - s: 9.80738674905985 + x: 586344.61187844211 + y: 4140699.7740013245 + theta: 1.3235644738607375 + kappa: -0.020401504361785859 + s: 9.80819720844546 dkappa: 0 ddkappa: 0 } - v: 0.00018795944428281076 - a: -0.000936183285745655 + v: 0.00018904018864850331 + a: -0.00094156606404445422 relative_time: 5.6499999999999879 } trajectory_point { path_point { - x: 586344.61982133077 - y: 4140699.7716274466 - theta: 1.3210318094174176 - kappa: -0.020456100057493581 - s: 9.8073950296456633 + x: 586344.611880461 + y: 4140699.7740094042 + theta: 1.3235642968982635 + kappa: -0.020401446741136472 + s: 9.8082055366438663 dkappa: 0 ddkappa: 0 } - v: 0.0001443101788649495 - a: -0.00081065142261758059 + v: 0.00014513995375280646 + a: -0.00081531239998216 relative_time: 5.6999999999999877 } trajectory_point { path_point { - x: 586344.61982286291 - y: 4140699.7716335086 - theta: 1.3210316761763998 - kappa: -0.02045605446793846 - s: 9.8074012824539789 + x: 586344.61188198533 + y: 4140699.7740155058 + theta: 1.323564163270941 + kappa: -0.020401403230820805 + s: 9.8082118254057153 dkappa: 0 ddkappa: 0 } - v: 0.00010680238675269118 - a: -0.00069063447559121515 + v: 0.00010741650416435679 + a: -0.0006946054050757126 relative_time: 5.7499999999999876 } trajectory_point { path_point { - x: 586344.61982397165 - y: 4140699.7716378956 - theta: 1.3210315797546024 - kappa: -0.0204560214763949 - s: 9.8074058073895127 + x: 586344.61188308848 + y: 4140699.7740199203 + theta: 1.3235640665695778 + kappa: -0.020401371743945539 + s: 9.8082163763600558 dkappa: 0 ddkappa: 0 } - v: 7.5143803830498456e-05 - a: -0.00057679317708463529 + v: 7.5575893427189849e-05 + a: -0.00058010959925200055 relative_time: 5.7999999999999874 } trajectory_point { path_point { - x: 586344.6198247266 - y: 4140699.7716408828 - theta: 1.3210315140903517 - kappa: -0.020455999008809261 - s: 9.8074088889178572 + x: 586344.61188383971 + y: 4140699.7740229275 + theta: 1.3235640007149296 + kappa: -0.020401350301051405 + s: 9.8082194756079577 dkappa: 0 ddkappa: 0 } - v: 4.9009129361930162e-05 - a: -0.00046978825951591707 + v: 4.9290949088996559e-05 + a: -0.00047248950243791211 relative_time: 5.8499999999999872 } trajectory_point { path_point { - x: 586344.61982519354 - y: 4140699.7716427306 - theta: 1.3210314734861646 - kappa: -0.020455985115738939 - s: 9.8074107944136539 + x: 586344.61188430432 + y: 4140699.7740247864 + theta: 1.323563959993 + kappa: -0.020401337041607258 + s: 9.8082213920612222 dkappa: 0 ddkappa: 0 } - v: 2.8040025989641248e-05 - a: -0.00037028045530313673 + v: 2.8201272701123615e-05 + a: -0.00037240963456033611 relative_time: 5.899999999999987 } trajectory_point { path_point { - x: 586344.61982543324 - y: 4140699.7716436787 - theta: 1.3210314526439475 - kappa: -0.02045597798439594 - s: 9.8074117725087611 + x: 586344.61188454274 + y: 4140699.774025741 + theta: 1.32356393909034 + kappa: -0.02040133023550417 + s: 9.808222375781078 dkappa: 0 ddkappa: 0 } - v: 1.1845119735383032e-05 - a: -0.00027893049686437044 + v: 1.1913239818573074e-05 + a: -0.00028053451554616081 relative_time: 5.9499999999999869 } trajectory_point { path_point { - x: 586344.61982550158 - y: 4140699.7716439497 - theta: 1.321031446700196 - kappa: -0.020455975950690486 - s: 9.8074120514404228 + x: 586344.61188461073 + y: 4140699.774026013 + theta: 1.3235639331293498 + kappa: -0.020401328294549555 + s: 9.80822265631688 dkappa: 0 ddkappa: 0 } - v: 2.8189256484623115e-18 - a: -0.00019639911661769466 + v: 2.7918205941501739e-18 + a: -0.00019752866532227469 relative_time: 5.9999999999999867 } trajectory_point { path_point { - x: 586344.61982544907 - y: 4140699.771643742 - theta: 1.3210314512611929 - kappa: -0.0204559775112746 - s: 9.807411837399437 + x: 586344.61188455857 + y: 4140699.7740258044 + theta: 1.3235639377035777 + kappa: -0.02040132978396127 + s: 9.8082224410448138 dkappa: 0 ddkappa: 0 } - v: -7.9527804365557748e-06 - a: -0.00012334704698118521 + v: -7.9985231922739559e-06 + a: -0.00012405660381556633 relative_time: 6.0499999999999865 } trajectory_point { path_point { - x: 586344.61982532055 - y: 4140699.7716432335 - theta: 1.3210314624382069 - kappa: -0.020455981335585689 - s: 9.8074113128783242 + x: 586344.61188443075 + y: 4140699.7740252926 + theta: 1.3235639489130211 + kappa: -0.020401333433861704 + s: 9.8082219135065909 dkappa: 0 ddkappa: 0 } - v: -1.2503705415253011e-05 - a: -6.0435020372918589e-05 + v: -1.2575632192288232e-05 + a: -6.0782850952924121e-05 relative_time: 6.0999999999999863 } trajectory_point { path_point { - x: 586344.61982515454 - y: 4140699.771642576 - theta: 1.3210314768826925 - kappa: -0.020455986277890123 - s: 9.8074106350195 + x: 586344.61188426544 + y: 4140699.7740246314 + theta: 1.3235639633994267 + kappa: -0.020401338150771921 + s: 9.80822123174815 dkappa: 0 ddkappa: 0 } - v: -1.4176295397952946e-05 - a: -8.3237692109709282e-06 + v: -1.4257855430415572e-05 + a: -8.3719266612365326e-06 relative_time: 6.1499999999999861 } trajectory_point { path_point { - x: 586344.61982498271 - y: 4140699.7716418966 - theta: 1.3210314918214878 - kappa: -0.020455991389326845 - s: 9.8074099339634362 + x: 586344.61188409454 + y: 4140699.7740239473 + theta: 1.3235639783815907 + kappa: -0.020401343029105679 + s: 9.8082205266583617 dkappa: 0 ddkappa: 0 } - v: -1.3527107467423382e-05 - a: 3.232597408658151e-05 + v: -1.360494733337593e-05 + a: 3.2511649132607951e-05 relative_time: 6.199999999999986 } trajectory_point { path_point { - x: 586344.61982483021 - y: 4140699.7716412926 - theta: 1.3210315050920138 - kappa: -0.020455995929950916 - s: 9.8074093111968423 + x: 586344.61188394274 + y: 4140699.7740233392 + theta: 1.3235639916906585 + kappa: -0.020401347362663635 + s: 9.8082199003077246 dkappa: 0 ddkappa: 0 } - v: -1.1145735327335997e-05 - a: 6.0853477101662249e-05 + v: -1.1209888324233651e-05 + a: 6.1203356501720848e-05 relative_time: 6.2499999999999858 } trajectory_point { path_point { - x: 586344.61982471414 - y: 4140699.7716408335 - theta: 1.321031515177473 - kappa: -0.020455999380777162 - s: 9.8074088379008213 + x: 586344.61188382725 + y: 4140699.7740228772 + theta: 1.3235640018054264 + kappa: -0.020401350656127394 + s: 9.8082194242870635 dkappa: 0 ddkappa: 0 } - v: -7.6548093022663479e-06 - a: 7.6598007416195683e-05 + v: -7.6988848223975273e-06 + a: 7.7038675519213676e-05 relative_time: 6.2999999999999856 } trajectory_point { path_point { - x: 586344.61982464441 - y: 4140699.7716405578 - theta: 1.3210315212420489 - kappa: -0.020456001455823696 - s: 9.807408553299048 + x: 586344.61188375787 + y: 4140699.7740226 + theta: 1.3235640078876403 + kappa: -0.020401352636553603 + s: 9.8082191380462351 dkappa: 0 ddkappa: 0 } - v: -3.7099963376935427e-06 - a: 7.8898832612105119e-05 + v: -3.7313692436208496e-06 + a: 7.9353086258197956e-05 relative_time: 6.3499999999999854 } trajectory_point { path_point { - x: 586344.61982462229 - y: 4140699.7716404703 - theta: 1.3210315231661038 - kappa: -0.020456002114155571 - s: 9.8074084630059311 + x: 586344.61188373587 + y: 4140699.7740225121 + theta: 1.3235640098172972 + kappa: -0.020401353264868083 + s: 9.808219047232825 dkappa: 0 ddkappa: 0 } - v: -7.8604657505199071e-19 - a: 6.7095220271314515e-05 + v: -1.0570971181733668e-18 + a: 6.74820687917852e-05 relative_time: 6.3999999999999853 } trajectory_point { path_point { - x: 586344.619824641 - y: 4140699.7716405438 - theta: 1.321031521542454 - kappa: -0.020456001558609896 - s: 9.807408539201468 + x: 586344.61188375449 + y: 4140699.7740225866 + theta: 1.3235640081889082 + kappa: -0.020401352734649228 + s: 9.8082191238679872 dkappa: 0 ddkappa: 0 } - v: 2.8997813272781392e-06 - a: 4.9327681754454238e-05 + v: 2.9165180386091153e-06 + a: 4.9612731854059789e-05 relative_time: 6.4499999999999851 } trajectory_point { path_point { - x: 586344.61982469 - y: 4140699.7716407385 - theta: 1.3210315172798612 - kappa: -0.020456000100127273 - s: 9.8074087392387845 + x: 586344.61188380327 + y: 4140699.7740227813 + theta: 1.323564003913851 + kappa: -0.020401351342650337 + s: 9.8082193250604952 dkappa: 0 ddkappa: 0 } - v: 4.9745740761198536e-06 - a: 3.4068497278125253e-05 + v: 5.0033146986109917e-06 + a: 3.426588570870077e-05 relative_time: 6.4999999999999849 } trajectory_point { path_point { - x: 586344.61982476 - y: 4140699.7716410151 - theta: 1.321031511191944 - kappa: -0.020455998017094242 - s: 9.8074090249359411 + x: 586344.61188387289 + y: 4140699.7740230598 + theta: 1.3235639978080989 + kappa: -0.020401349354559863 + s: 9.8082196124090775 dkappa: 0 ddkappa: 0 } - v: 6.3457189701972495e-06 - a: 2.1154587708192138e-05 + v: 6.3824153288101114e-06 + a: 2.1277562723197629e-05 relative_time: 6.5499999999999847 } trajectory_point { path_point { - x: 586344.619824843 - y: 4140699.7716413438 - theta: 1.3210315039673819 - kappa: -0.020455995545148473 - s: 9.8074093639741928 + x: 586344.61188395554 + y: 4140699.7740233913 + theta: 1.3235639905623362 + kappa: -0.020401346995271283 + s: 9.8082199534087646 dkappa: 0 ddkappa: 0 } - v: 7.1264027764767338e-06 - a: 1.042287391051946e-05 + v: 7.1676468963864991e-06 + a: 1.0483795265039647e-05 relative_time: 6.5999999999999845 } trajectory_point { path_point { - x: 586344.61982493266 - y: 4140699.7716416977 - theta: 1.321031496178604 - kappa: -0.020455992880151423 - s: 9.8074097294902778 + x: 586344.61188404472 + y: 4140699.7740237475 + theta: 1.32356398275067 + kappa: -0.020401344451719122 + s: 9.80822032104098 dkappa: 0 ddkappa: 0 } - v: 7.4216583052179419e-06 - a: 1.7102767509718256e-06 + v: 7.4646379868946464e-06 + a: 1.7206157017161369e-06 relative_time: 6.6499999999999844 } trajectory_point { path_point { - x: 586344.61982502334 - y: 4140699.7716420572 - theta: 1.3210314882904759 - kappa: -0.020455990181160816 - s: 9.80741009966873 + x: 586344.61188413494 + y: 4140699.7740241089 + theta: 1.3235639748393391 + kappa: -0.020401341875715184 + s: 9.808220693363614 dkappa: 0 ddkappa: 0 } - v: 7.328364409973744e-06 - a: -5.1462829045861858e-06 + v: 7.3708188042635092e-06 + a: -5.1759435992836063e-06 relative_time: 6.6999999999999842 } trajectory_point { path_point { - x: 586344.619825111 - y: 4140699.7716424037 - theta: 1.3210314806689871 - kappa: -0.020455987573403202 - s: 9.8074104573341732 + x: 586344.61188422213 + y: 4140699.7740244577 + theta: 1.3235639671954245 + kappa: -0.020401339386784557 + s: 9.8082210531011089 dkappa: 0 ddkappa: 0 } - v: 6.935245987590228e-06 - a: -1.0309884190290008e-05 + v: 6.9754211707965037e-06 + a: -1.0369850270470278e-05 relative_time: 6.749999999999984 } trajectory_point { path_point { - x: 586344.61982519238 - y: 4140699.7716427259 - theta: 1.3210314735899398 - kappa: -0.020455985151246532 - s: 9.8074107895436313 + x: 586344.61188430316 + y: 4140699.7740247822 + theta: 1.3235639600955602 + kappa: -0.020401337075001854 + s: 9.8082213872345356 dkappa: 0 ddkappa: 0 } - v: 6.3228739782067272e-06 - a: -1.3943606240275007e-05 + v: 6.3594785271715246e-06 + a: -1.4025071944354583e-05 relative_time: 6.7999999999999838 } trajectory_point { path_point { - x: 586344.61982526537 - y: 4140699.7716430146 - theta: 1.3210314672476349 - kappa: -0.020455982981172644 - s: 9.8074110871788243 + x: 586344.61188437568 + y: 4140699.7740250723 + theta: 1.3235639537346429 + kappa: -0.02040133500382723 + s: 9.8082216865916827 dkappa: 0 ddkappa: 0 } - v: 5.5636653652557881e-06 - a: -1.6210528188676643e-05 + v: 5.5958259324409115e-06 + a: -1.6305576253447223e-05 relative_time: 6.8499999999999837 } trajectory_point { path_point { - x: 586344.61982532835 - y: 4140699.7716432642 - theta: 1.3210314617635612 - kappa: -0.02045598110474988 - s: 9.8074113445384725 + x: 586344.61188443843 + y: 4140699.7740253238 + theta: 1.3235639482345423 + kappa: -0.020401333212942574 + s: 9.8082219454371291 dkappa: 0 ddkappa: 0 } - v: 4.7218831754632009e-06 - a: -1.7273729169630324e-05 + v: 4.7491000640314912e-06 + a: -1.7375330830258888e-05 relative_time: 6.8999999999999835 } trajectory_point { path_point { - x: 586344.61982538085 - y: 4140699.7716434719 - theta: 1.3210314571950821 - kappa: -0.020455979541605589 - s: 9.8074115589305979 + x: 586344.6118844907 + y: 4140699.7740255329 + theta: 1.3235639436528108 + kappa: -0.020401331721087625 + s: 9.8082221610623286 dkappa: 0 ddkappa: 0 } - v: 3.8536364788479751e-06 - a: -1.729628831727143e-05 + v: 3.8757392177445355e-06 + a: -1.7398303307300308e-05 relative_time: 6.9499999999999833 } trajectory_point { path_point { - x: 586344.61982542288 - y: 4140699.7716436381 - theta: 1.321031453544123 - kappa: -0.020455978292398695 - s: 9.8074117302648265 + x: 586344.6118845325 + y: 4140699.7740257 + theta: 1.3235639399913948 + kappa: -0.020401330528896085 + s: 9.8082223333756886 dkappa: 0 ddkappa: 0 } - v: 3.006880388722356e-06 - a: -1.6441284765735407e-05 + v: 3.023983307755787e-06 + a: -1.653846131708216e-05 relative_time: 6.9999999999999831 } trajectory_point { path_point { - x: 586344.61982545478 - y: 4140699.7716437643 - theta: 1.32103145076586 - kappa: -0.0204559773417922 - s: 9.8074118606446952 + x: 586344.61188456428 + y: 4140699.7740258267 + theta: 1.323563937205344 + kappa: -0.020401329621731728 + s: 9.8082224644926548 dkappa: 0 ddkappa: 0 } - v: 2.2214160616918063e-06 - a: -1.4871797649157703e-05 + v: 2.2338738666154696e-06 + a: -1.4959772492115119e-05 relative_time: 7.0499999999999829 } trajectory_point { path_point { - x: 586344.61982547771 - y: 4140699.7716438547 - theta: 1.3210314487774064 - kappa: -0.020455976661425783 - s: 9.8074119539599458 + x: 586344.611884587 + y: 4140699.774025918 + theta: 1.3235639352115223 + kappa: -0.02040132897252455 + s: 9.80822255832579 dkappa: 0 ddkappa: 0 } - v: 1.528890697655027e-06 - a: -1.2750906101673603e-05 + v: 1.5372540452482498e-06 + a: -1.2826204464909944e-05 relative_time: 7.0999999999999828 } trajectory_point { path_point { - x: 586344.61982549285 - y: 4140699.7716439143 - theta: 1.3210314474665013 - kappa: -0.020455976212888347 - s: 9.8074120154788318 + x: 586344.611884602 + y: 4140699.7740259785 + theta: 1.3235639338973169 + kappa: -0.020401328544606891 + s: 9.8082226201748526 dkappa: 0 ddkappa: 0 } - v: 9.52797539803959e-07 - a: -1.0241689257418704e-05 + v: 9.5776861295326742e-07 + a: -1.0301724867977296e-05 relative_time: 7.1499999999999826 } trajectory_point { path_point { - x: 586344.61982550158 - y: 4140699.7716439492 - theta: 1.321031446700196 - kappa: -0.0204559759506905 - s: 9.8074120514404211 + x: 586344.61188461073 + y: 4140699.774026013 + theta: 1.3235639331293496 + kappa: -0.02040132829454952 + s: 9.8082226563168859 dkappa: 0 ddkappa: 0 } - v: 5.0847587462375329e-07 - a: -7.5072262505282487e-06 + v: 5.1086395740413791e-07 + a: -7.5503013338278655e-06 relative_time: 7.1999999999999824 } trajectory_point { path_point { - x: 586344.61982550577 - y: 4140699.7716439655 - theta: 1.3210314463348702 - kappa: -0.020455975825691138 - s: 9.8074120685846342 + x: 586344.61188461492 + y: 4140699.77402603 + theta: 1.3235639327635196 + kappa: -0.020401328175431804 + s: 9.80822267353356 dkappa: 0 ddkappa: 0 } - v: 1.9822037997305714e-07 - a: -4.9949859369467281e-06 + v: 1.9886148605042468e-07 + a: -5.0223956375780091e-06 relative_time: 7.2499999999999822 } trajectory_point { path_point { - x: 586344.61982550693 - y: 4140699.77164397 - theta: 1.32103144623797 - kappa: -0.020455975792535865 - s: 9.807412073132026 + x: 586344.61188461608 + y: 4140699.7740260344 + theta: 1.3235639326668254 + kappa: -0.020401328143947271 + s: 9.8082226780841761 dkappa: 0 ddkappa: 0 } - v: 2.2892667520047315e-10 - a: -3.0076468785985429e-06 + v: -1.8146035597395507e-10 + a: -3.0228411814674829e-06 relative_time: 7.2999999999999821 } trajectory_point { path_point { - x: 586344.61982550612 - y: 4140699.7716439674 - theta: 1.3210314463033845 - kappa: -0.020455975814918006 - s: 9.8074120700622167 + x: 586344.61188461527 + y: 4140699.7740260316 + theta: 1.3235639327328068 + kappa: -0.020401328165431418 + s: 9.8082226749789658 dkappa: 0 ddkappa: 0 } - v: -1.1039089035910134e-07 - a: -1.4911027685886785e-06 + v: -1.1132057065190268e-07 + a: -1.4971630386917682e-06 relative_time: 7.3499999999999819 } trajectory_point { path_point { - x: 586344.61982550449 - y: 4140699.7716439608 - theta: 1.3210314464500836 - kappa: -0.020455975865112337 - s: 9.8074120631778428 + x: 586344.61188461352 + y: 4140699.7740260251 + theta: 1.3235639328801763 + kappa: -0.020401328213416305 + s: 9.8082226680434719 dkappa: 0 ddkappa: 0 } - v: -1.5582616087438807e-07 - a: -3.9124730002208534e-07 + v: -1.5688778733398783e-07 + a: -3.9088628244630837e-07 relative_time: 7.3999999999999817 } trajectory_point { path_point { - x: 586344.61982550251 - y: 4140699.7716439529 - theta: 1.321031446619235 - kappa: -0.020455975922988954 - s: 9.80741205523981 + x: 586344.61188461166 + y: 4140699.7740260167 + theta: 1.3235639330499256 + kappa: -0.020401328268688308 + s: 9.8082226600547351 dkappa: 0 ddkappa: 0 } - v: -1.5555865927044682e-07 - a: 3.4602583399628667e-07 + v: -1.5649130655862788e-07 + a: 3.5046401407346442e-07 relative_time: 7.4499999999999815 } trajectory_point { path_point { - x: 586344.61982550076 - y: 4140699.7716439464 - theta: 1.321031446771322 - kappa: -0.02045597597502688 - s: 9.807412048102579 + x: 586344.61188460991 + y: 4140699.77402601 + theta: 1.3235639332024323 + kappa: -0.020401328318345874 + s: 9.80822265287748 dkappa: 0 ddkappa: 0 } - v: -1.2636484460231245e-07 - a: 7.7482294036148187e-07 + v: -1.2701557814199373e-07 + a: 7.8136277767210351e-07 relative_time: 7.4999999999999813 } trajectory_point { path_point { - x: 586344.61982549948 - y: 4140699.7716439413 - theta: 1.3210314468832618 - kappa: -0.020455976013328013 - s: 9.80741204284941 + x: 586344.61188460863 + y: 4140699.7740260046 + theta: 1.3235639333145646 + kappa: -0.020401328354857275 + s: 9.8082226476003065 dkappa: 0 ddkappa: 0 } - v: -8.23158605802672e-08 - a: 9.4925032596855726e-07 + v: -8.2621305560027642e-08 + a: 9.5628493515417412e-07 relative_time: 7.5499999999999812 } trajectory_point { path_point { - x: 586344.61982549878 - y: 4140699.7716439385 - theta: 1.3210314469455218 - kappa: -0.020455976034630761 - s: 9.8074120399276445 + x: 586344.61188460793 + y: 4140699.7740260018 + theta: 1.32356393337679 + kappa: -0.020401328375118405 + s: 9.808222644671865 dkappa: 0 ddkappa: 0 } - v: -3.4777535569841206e-08 - a: 9.2341429771256054e-07 + v: -3.4745445948443819e-08 + a: 9.2970541332423978e-07 relative_time: 7.599999999999981 } trajectory_point { path_point { - x: 586344.61982549867 - y: 4140699.7716439376 - theta: 1.3210314469592379 - kappa: -0.020455976039323844 - s: 9.8074120392839674 + x: 586344.6118846077 + y: 4140699.7740260018 + theta: 1.3235639333902789 + kappa: -0.020401328379510489 + s: 9.8082226440370555 dkappa: 0 ddkappa: 0 } - v: 7.589617408187471e-09 - a: 7.5142116248853432e-07 + v: 7.89878989727186e-09 + a: 7.5609913898685892e-07 relative_time: 7.6499999999999808 } trajectory_point { path_point { - x: 586344.6198254989 - y: 4140699.771643939 - theta: 1.3210314469333324 - kappa: -0.020455976030460128 - s: 9.8074120404996652 + x: 586344.611884608 + y: 4140699.7740260027 + theta: 1.3235639333640121 + kappa: -0.020401328370957844 + s: 9.8082226452732115 dkappa: 0 ddkappa: 0 } - v: 3.8830400677795294e-08 - a: 4.8737722719153137e-07 + v: 3.9321937521860436e-08 + a: 4.8994103894658829e-07 relative_time: 7.6999999999999806 } trajectory_point { path_point { - x: 586344.61982549948 - y: 4140699.7716439413 - theta: 1.321031446881632 - kappa: -0.02045597601277032 - s: 9.8074120429259 + x: 586344.61188460863 + y: 4140699.7740260046 + theta: 1.3235639333118878 + kappa: -0.020401328353985632 + s: 9.80822264772629 dkappa: 0 ddkappa: 0 } - v: 5.5694931907708073e-08 - a: 1.8538879871660785e-07 + v: 5.6258278810292313e-08 + a: 1.8570604000799141e-07 relative_time: 7.7499999999999805 } trajectory_point { path_point { - x: 586344.61982550018 - y: 4140699.7716439441 - theta: 1.3210314468199835 - kappa: -0.020455975991676763 - s: 9.8074120458189746 + x: 586344.61188460933 + y: 4140699.7740260079 + theta: 1.3235639332498257 + kappa: -0.020401328333777672 + s: 9.8082226506470462 dkappa: 0 ddkappa: 0 } - v: 5.7638644111408056e-08 - a: -1.0043781604119533e-07 + v: 5.8165841987764346e-08 + a: -1.0213093102436058e-07 relative_time: 7.79999999999998 } trajectory_point { path_point { - x: 586344.61982550088 - y: 4140699.7716439464 - theta: 1.3210314467633735 - kappa: -0.020455975972307208 - s: 9.8074120484755944 + x: 586344.61188461 + y: 4140699.77402601 + theta: 1.3235639331928755 + kappa: -0.020401328315234082 + s: 9.8082226533272436 dkappa: 0 ddkappa: 0 } - v: 4.6822285647125782e-08 - a: -3.1599631018682284e-07 + v: 4.7226401619701958e-08 + a: -3.1909494734591939e-07 relative_time: 7.84999999999998 } trajectory_point { path_point { - x: 586344.61982550134 - y: 4140699.7716439487 - theta: 1.3210314467230455 - kappa: -0.0204559759585086 - s: 9.8074120503681339 + x: 586344.61188461049 + y: 4140699.774026012 + theta: 1.3235639331523208 + kappa: -0.020401328302029158 + s: 9.8082226552358165 dkappa: 0 ddkappa: 0 } - v: 2.8111920217846638e-08 - a: -4.0718037682523038e-07 + v: 2.8345478611761202e-08 + a: -4.1071108215211559e-07 relative_time: 7.89999999999998 } trajectory_point { path_point { - x: 586344.61982550158 - y: 4140699.7716439492 - theta: 1.3210314467036166 - kappa: -0.020455975951860824 - s: 9.8074120512799059 + x: 586344.61188461073 + y: 4140699.774026013 + theta: 1.323563933132788 + kappa: -0.020401328295669055 + s: 9.808222656155074 dkappa: 0 ddkappa: 0 } - v: 9.07892687130663e-09 - a: -3.1988370906136943e-07 + v: 9.15234020982199e-09 + a: -3.2250440863839156e-07 relative_time: 7.94999999999998 } trajectory_point { path_point { - x: 586344.61982550158 - y: 4140699.7716439497 - theta: 1.321031446700196 - kappa: -0.020455975950690472 - s: 9.8074120514404246 + x: 586344.61188461073 + y: 4140699.774026013 + theta: 1.3235639331293498 + kappa: -0.020401328294549541 + s: 9.8082226563168824 dkappa: 0 ddkappa: 0 } - v: -3.3881317890172014e-21 - a: -1.8465318250143747e-19 + v: -4.3410438546782892e-21 + a: -1.9312351197398048e-19 relative_time: 7.99999999999998 } decision { diff --git a/modules/planning/testdata/qp_spline_path/42_apollo_planning.pb.txt b/modules/planning/testdata/qp_spline_path/42_apollo_planning.pb.txt deleted file mode 100644 index 88487472d0..0000000000 --- a/modules/planning/testdata/qp_spline_path/42_apollo_planning.pb.txt +++ /dev/null @@ -1,1565 +0,0 @@ -header { - timestamp_sec: 1502149348.91 - module_name: "planning" - sequence_num: 61 -} -debug { - planning_data { - path { - name: "QP_SPLINE_PATH_OPTIMIZER" - path_point { - x: 586347.749165 - y: 4140711.30439 - z: 0 - theta: 1.3169659462999999 - kappa: 4.2920755866244524e-21 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586347.92423231073 - y: 4140711.978476244 - z: 0 - theta: 1.3161861268070609 - kappa: -0.0021287984056322469 - s: 0.69644872561660831 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586348.10027104651 - y: 4140712.6522972835 - z: 0 - theta: 1.3141470824466959 - kappa: -0.0036273609621609803 - s: 1.3928856788037836 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586348.27798522415 - y: 4140713.3256612457 - z: 0 - theta: 1.3112646505232286 - kappa: -0.0045620309759745094 - s: 2.089306065164227 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586348.45781472884 - y: 4140713.9984483621 - z: 0 - theta: 1.3079085100262153 - kappa: -0.0049990421845289177 - s: 2.7857119487673487 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586348.63996632257 - y: 4140714.6706024567 - z: 0 - theta: 1.3044021245046116 - kappa: -0.0050043186715633594 - s: 3.4821100604326869 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586348.8244451877 - y: 4140715.3421222726 - z: 0 - theta: 1.3010239186872106 - kappa: -0.0046417566928456831 - s: 4.1785088792514289 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586349.01108427555 - y: 4140716.013053433 - z: 0 - theta: 1.298007167410093 - kappa: -0.0039772500542448672 - s: 4.8749159234280066 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586349.1995752299 - y: 4140716.6834800146 - z: 0 - theta: 1.2955389997284463 - kappa: -0.0030771225057289265 - s: 5.5713357975549247 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586349.389499625 - y: 4140717.353516046 - z: 0 - theta: 1.2937604870742776 - kappa: -0.0020076725276782868 - s: 6.2677692539684875 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586349.58035958267 - y: 4140718.0232971748 - z: 0 - theta: 1.2927665146249545 - kappa: -0.00083510194941544458 - s: 6.9642132819112188 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586349.77160891565 - y: 4140718.6929721986 - z: 0 - theta: 1.2926058740508637 - kappa: 0.00037447645547263595 - s: 7.66066209181139 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586349.96268412052 - y: 4140719.3626946341 - z: 0 - theta: 1.2932813618953674 - kappa: 0.001554978831132473 - s: 8.3571086974957929 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586350.15303528891 - y: 4140720.0326143028 - z: 0 - theta: 1.2947496863166492 - kappa: 0.0026403079056776021 - s: 9.0535467276285129 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586350.34215714072 - y: 4140720.7028688835 - z: 0 - theta: 1.2969214878619191 - kappa: 0.003564294306149044 - s: 9.7499720845415521 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586350.52961992682 - y: 4140721.3735754951 - z: 0 - theta: 1.2996613225021321 - kappa: 0.0042606717680658433 - s: 10.446384071087293 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586350.71510048548 - y: 4140722.0448222337 - z: 0 - theta: 1.30278758063145 - kappa: 0.0046631288386760478 - s: 11.142785694990446 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586350.89841318084 - y: 4140722.71665973 - z: 0 - theta: 1.3060725069787704 - kappa: 0.0047053707335124 - s: 11.839182970582813 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586351.07954080915 - y: 4140723.3890927243 - z: 0 - theta: 1.309242222205496 - kappa: 0.0043211878075734358 - s: 12.535583250443215 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586351.25866569637 - y: 4140724.0620715762 - z: 0 - theta: 1.3119767698009186 - kappa: 0.0034445009900012139 - s: 13.231992799763816 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586351.43620057649 - y: 4140724.7354838392 - z: 0 - theta: 1.3139101730966187 - kappa: 0.0020097085427812772 - s: 13.928414158941914 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586351.612797423 - y: 4140725.4091518433 - z: 0 - theta: 1.31475868134289 - kappa: 0.00048811801994844389 - s: 14.624844360733746 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586351.78915222234 - y: 4140726.0828859005 - z: 0 - theta: 1.3146713178405633 - kappa: -0.000683395440409698 - s: 15.321277124974163 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586351.96581447218 - y: 4140726.756536229 - z: 0 - theta: 1.3138804733957539 - kappa: -0.0015375963898534505 - s: 16.017706816798533 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586352.14318516641 - y: 4140727.429993513 - z: 0 - theta: 1.3125957371760437 - kappa: -0.00210725669840767 - s: 16.714129875387957 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586352.32153215748 - y: 4140728.1031847214 - z: 0 - theta: 1.3110036688827718 - kappa: -0.0024258386058544188 - s: 17.4105450190212 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586352.50100575527 - y: 4140728.7760688658 - z: 0 - theta: 1.3092676468840931 - kappa: -0.0025261479954626085 - s: 18.106952833471347 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586352.68165414978 - y: 4140729.4486328084 - z: 0 - theta: 1.307528334732706 - kappa: -0.002440747196430856 - s: 18.803355087449024 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586352.86343860277 - y: 4140730.1208871137 - z: 0 - theta: 1.3059037123539694 - kappa: -0.0022022290175672146 - s: 19.499753994962788 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586353.046248791 - y: 4140730.79286186 - z: 0 - theta: 1.3044890539004124 - kappa: -0.0018431895466376152 - s: 20.196151599968427 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586353.22991799959 - y: 4140731.4646024918 - z: 0 - theta: 1.3033569368990605 - kappa: -0.0013962344204433766 - s: 20.892549370571242 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586353.41423834232 - y: 4140732.1361656711 - z: 0 - theta: 1.3025572217675006 - kappa: -0.000893972731825607 - s: 21.5889480297051 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586353.59897610254 - y: 4140732.8076150934 - z: 0 - theta: 1.3021170820697945 - kappa: -0.00036899999486144616 - s: 22.285347603839512 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586353.7838869082 - y: 4140733.4790173536 - z: 0 - theta: 1.3020409890516156 - kappa: 0.00014609017684769844 - s: 22.981747633310039 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586353.96873100952 - y: 4140734.1504377858 - z: 0 - theta: 1.3023106972859297 - kappa: 0.00061870660709611384 - s: 23.678147474288185 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586354.15328853729 - y: 4140734.8219363042 - z: 0 - theta: 1.3028852926907879 - kappa: 0.0010162569676233351 - s: 24.374546599301723 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586354.33737473644 - y: 4140735.4935632595 - z: 0 - theta: 1.3037011489488801 - kappa: 0.0013061433787793526 - s: 25.070944830032008 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586354.52085526835 - y: 4140736.1653552651 - z: 0 - theta: 1.3046719264582016 - kappa: 0.0014557710275326017 - s: 25.767342420816647 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586354.70366136741 - y: 4140736.8373310696 - z: 0 - theta: 1.3056886093415256 - kappa: 0.0014325372589602771 - s: 26.463739973712766 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586354.885805177 - y: 4140737.5094873742 - z: 0 - theta: 1.3066194655102503 - kappa: 0.001203847708632987 - s: 27.160138182483891 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586355.06739500584 - y: 4140738.18179467 - z: 0 - theta: 1.3073100802130755 - kappa: 0.00073777612478194616 - s: 27.856537468676692 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586355.24864068883 - y: 4140738.8541957769 - z: 0 - theta: 1.3076385509893127 - kappa: 0.00022590804867018581 - s: 28.552937674152165 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586355.42977611918 - y: 4140739.5266269506 - z: 0 - theta: 1.3076518126331713 - kappa: -0.00016924780257235623 - s: 29.249338225227369 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586355.6109866167 - y: 4140740.1990376795 - z: 0 - theta: 1.3074274381457789 - kappa: -0.00045841426766340065 - s: 29.945738564626332 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586355.79240794107 - y: 4140740.8713909537 - z: 0 - theta: 1.3070351908269089 - kappa: -0.00065335347120357634 - s: 30.642138322130315 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586355.97413173981 - y: 4140741.5436617872 - z: 0 - theta: 1.3065367166175204 - kappa: -0.00076526781824742026 - s: 31.338537354742744 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586356.15621077653 - y: 4140742.2158357967 - z: 0 - theta: 1.3059861189917648 - kappa: -0.00080484317095488953 - s: 32.034935713911409 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586356.33866400912 - y: 4140742.8879078156 - z: 0 - theta: 1.3054300511459491 - kappa: -0.00078275277808693923 - s: 32.731333574873574 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586356.52148150536 - y: 4140743.5598805556 - z: 0 - theta: 1.3049077386456158 - kappa: -0.0007096824887863443 - s: 33.427731162608666 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586356.7046294827 - y: 4140744.2317632264 - z: 0 - theta: 1.3044509611581292 - kappa: -0.00059631615401422016 - s: 34.124128681972664 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586356.888055336 - y: 4140744.9035701691 - z: 0 - theta: 1.3040840677925321 - kappa: -0.00045333254057670268 - s: 34.820526278081715 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586357.07169256406 - y: 4140745.5753195076 - z: 0 - theta: 1.3038239586377873 - kappa: -0.00029141663799486447 - s: 35.516924013092549 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586357.25546582427 - y: 4140746.2470317748 - z: 0 - theta: 1.3036800967623954 - kappa: -0.00012125034738625502 - s: 36.213321874299538 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586357.43929591449 - y: 4140746.9187285546 - z: 0 - theta: 1.3036545173760938 - kappa: 4.64847629189553e-05 - s: 36.909719796496972 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586357.62310476485 - y: 4140747.5904311202 - z: 0 - theta: 1.3037417989569651 - kappa: 0.00020110655743979769 - s: 37.606117692916328 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586357.80682044651 - y: 4140748.2621590723 - z: 0 - theta: 1.3039290917395272 - kappa: 0.00033193349393148075 - s: 38.302515491086574 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586357.99038214888 - y: 4140748.9339289847 - z: 0 - theta: 1.3041961107615183 - kappa: 0.000428281389165569 - s: 38.998913160327284 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586358.17374522542 - y: 4140749.605753025 - z: 0 - theta: 1.3045151191843054 - kappa: 0.00047947094482568396 - s: 39.695310718505809 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586358.3568861339 - y: 4140750.2776376121 - z: 0 - theta: 1.3048509519876195 - kappa: 0.00047481878376486405 - s: 40.391708227587444 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586358.539807454 - y: 4140750.9495820473 - z: 0 - theta: 1.3051609996360458 - kappa: 0.00040363914178883449 - s: 41.088105767333616 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586358.72254293528 - y: 4140751.6215771344 - z: 0 - theta: 1.3053952281591998 - kappa: 0.00025572814318325636 - s: 41.7845033930906 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586358.90515892336 - y: 4140752.293604794 - z: 0 - theta: 1.3055152693028687 - kappa: 9.5331438869699682e-05 - s: 42.48090110587448 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586359.08772888838 - y: 4140752.9656450017 - z: 0 - theta: 1.3055364281619157 - kappa: -2.8755799419727913e-05 - s: 43.177298860751108 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586359.27031105477 - y: 4140753.637681888 - z: 0 - theta: 1.30548269653855 - kappa: -0.00012057540162664389 - s: 43.873696609110034 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586359.45294853032 - y: 4140754.3097036993 - z: 0 - theta: 1.3053750933856021 - kappa: -0.00018398233525930151 - s: 44.570094313314364 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586359.63567111839 - y: 4140754.9817023124 - z: 0 - theta: 1.3052323114811308 - kappa: -0.00022211797710088192 - s: 45.266491958435168 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586359.81849675218 - y: 4140755.6536728386 - z: 0 - theta: 1.3050708604884163 - kappa: -0.0002381330493224995 - s: 45.962889546370462 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586360.00143307843 - y: 4140756.3256131955 - z: 0 - theta: 1.3049050496406682 - kappa: -0.00023516066641780689 - s: 46.659287092871075 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586360.18447883124 - y: 4140756.9975237283 - z: 0 - theta: 1.3047470109074659 - kappa: -0.00021634275505925601 - s: 47.355684617021772 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586360.36762529472 - y: 4140757.6694068145 - z: 0 - theta: 1.3046066745173039 - kappa: -0.00018482634296969978 - s: 48.052082138998877 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586360.550857878 - y: 4140758.3412664309 - z: 0 - theta: 1.3044918021157432 - kappa: -0.00014374739423536132 - s: 48.74847967185238 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586360.73415747273 - y: 4140759.013107785 - z: 0 - theta: 1.3044079586698416 - kappa: -9.6248877531065463e-05 - s: 49.444877221029266 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586360.91750197159 - y: 4140759.6849369016 - z: 0 - theta: 1.3043585071994226 - kappa: -4.5472987880927127e-05 - s: 50.141274784982663 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586361.10086774291 - y: 4140760.3567602197 - z: 0 - theta: 1.3043446515985027 - kappa: 5.4395911547174779e-06 - s: 50.837672355953806 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586361.28423108114 - y: 4140761.0285841995 - z: 0 - theta: 1.3043653896162191 - kappa: 5.3346620935304443e-05 - s: 51.534069924639169 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586361.46756970952 - y: 4140761.7004149123 - z: 0 - theta: 1.3044175262080415 - kappa: 9.5109129071903746e-05 - s: 52.230467483037032 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586361.65086418751 - y: 4140762.372257655 - z: 0 - theta: 1.3044956979441569 - kappa: 0.0001275824914295082 - s: 52.926865025102693 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586361.8340994498 - y: 4140763.0441165343 - z: 0 - theta: 1.3045923384243823 - kappa: 0.00014762601372491884 - s: 53.623262551665043 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586362.01726626 - y: 4140763.7159940689 - z: 0 - theta: 1.3046976984384138 - kappa: 0.00015210227632104215 - s: 54.319660068784131 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586362.200362617 - y: 4140764.3878908055 - z: 0 - theta: 1.3047998402824454 - kappa: 0.00013786354396034219 - s: 55.016057585019716 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586362.38339532155 - y: 4140765.0598048917 - z: 0 - theta: 1.3048846449717146 - kappa: 0.00010199422159203029 - s: 55.71245510811432 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586362.56638035667 - y: 4140765.7317319722 - z: 0 - theta: 1.3049413188795702 - kappa: 6.2201282992474082e-05 - s: 56.408852641548677 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586362.74933597527 - y: 4140766.4036670728 - z: 0 - theta: 1.304973114455759 - kappa: 3.0280409744126634e-05 - s: 57.105250184450874 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586362.93227717117 - y: 4140767.0756061058 - z: 0 - theta: 1.3049850156543403 - kappa: 4.9478071855930641e-06 - s: 57.801647732795374 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586363.11521581269 - y: 4140767.7475458351 - z: 0 - theta: 1.3049813962981478 - kappa: -1.4403585003080934e-05 - s: 58.498045281830244 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586363.29816099547 - y: 4140768.4194837818 - z: 0 - theta: 1.3049662067315051 - kappa: -2.8364849717711773e-05 - s: 59.194442829293 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586363.48111925507 - y: 4140769.0914181634 - z: 0 - theta: 1.3049430001386932 - kappa: -3.7533911700764208e-05 - s: 59.890840372310905 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586363.66409490665 - y: 4140769.7633478041 - z: 0 - theta: 1.30491490528064 - kappa: -4.250458944882124e-05 - s: 60.587237910442838 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586363.84709032439 - y: 4140770.4352720566 - z: 0 - theta: 1.304884637398068 - kappa: -4.3869597621376122e-05 - s: 61.283635443500742 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586364.030106135 - y: 4140771.1071907505 - z: 0 - theta: 1.3048545016124766 - kappa: -4.2225994742072123e-05 - s: 61.980032972335309 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586364.2131416077 - y: 4140771.7791040852 - z: 0 - theta: 1.30482638576074 - kappa: -3.8167207527520629e-05 - s: 62.676430497852621 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586364.396194887 - y: 4140772.4510125662 - z: 0 - theta: 1.3048017659095512 - kappa: -3.2287210124595144e-05 - s: 63.372828020797058 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586364.57926320494 - y: 4140773.1229169485 - z: 0 - theta: 1.3047817007697482 - kappa: -2.5181821179363886e-05 - s: 64.0692255423198 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586364.76234328514 - y: 4140773.7948181261 - z: 0 - theta: 1.3047668384889164 - kappa: -1.7444829972625523e-05 - s: 64.765623064031132 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586364.94543154282 - y: 4140774.4667170746 - z: 0 - theta: 1.304757413064058 - kappa: -9.6710936841497046e-06 - s: 65.462020584910292 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586365.12852432521 - y: 4140775.1386147905 - z: 0 - theta: 1.3047532396222445 - kappa: -2.4548147619652409e-06 - s: 66.1584181061438 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586365.311618309 - y: 4140775.8105121781 - z: 0 - theta: 1.3047537255025263 - kappa: 3.609103513087464e-06 - s: 66.854815626503452 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586365.49471068615 - y: 4140776.4824100044 - z: 0 - theta: 1.3047578609145267 - kappa: 7.9252977144650644e-06 - s: 67.5512131476724 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586365.677799423 - y: 4140777.1543088229 - z: 0 - theta: 1.3047642214040458 - kappa: 9.9015576113753617e-06 - s: 68.247610669178954 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586365.86088365165 - y: 4140777.826208869 - z: 0 - theta: 1.3047709700336565 - kappa: 8.9411150301800169e-06 - s: 68.944008189763338 - dkappa: 0 - ddkappa: 0 - } - path_point { - x: 586366.04396385 - y: 4140778.498110014 - z: 0 - theta: 1.3047758526839264 - kappa: 4.4484759760326277e-06 - s: 69.640405711089173 - dkappa: 0 - ddkappa: 0 - } - } - adc_position { - header { - timestamp_sec: 1498682820.11 - module_name: "localization" - sequence_num: 170648 - } - pose { - position { - x: 586347.749165 - y: 4140711.30439 - z: -29.1705232169 - } - orientation { - qx: -0.0236096663927 - qy: 0.000310053132852 - qz: -0.126477061014 - qw: 0.991688479593 - } - linear_velocity { - x: 1.40047795235 - y: 5.33727363461 - z: -0.0552583414216 - } - linear_acceleration { - x: 0.210824800139 - y: -0.268810630596 - z: -0.532193859966 - } - angular_velocity { - x: -0.00340169685171 - y: -0.00928422938063 - z: 0.00121444956502 - } - heading: 1.3169659463 - linear_acceleration_vrf { - x: 0.268664325908 - y: -0.182065539817 - z: -0.542778200793 - } - angular_velocity_vrf { - x: -0.00095725946555 - y: -0.00988708536771 - z: 0.000756664824226 - } - } - } - chassis { - engine_started: true - engine_rpm: 0 - speed_mps: 5.4472222 - odometer_m: 0 - fuel_range_m: 0 - throttle_percentage: 15.178149 - brake_percentage: 20.283817 - steering_percentage: 0.04255319 - steering_torque_nm: 0 - parking_brake: false - driving_mode: COMPLETE_AUTO_DRIVE - error_code: NO_ERROR - gear_location: GEAR_DRIVE - header { - timestamp_sec: 1498682820.11 - module_name: "chassis" - sequence_num: 171080 - } - signal { - turn_signal: TURN_NONE - horn: false - } - } - routing { - header { - timestamp_sec: 1234.5 - module_name: "routing" - sequence_num: 1 - } - route { - road_info { - passage_region { - segment { - id: "1_-1" - start_s: 0 - end_s: 153 - } - } - } - } - measurement { - distance: 153 - } - routing_request { - start { - id: "1_-1" - s: 0 - pose { - x: 586392.84003 - y: 4140673.01232 - } - } - end { - id: "1_-1" - s: 153 - pose { - x: 586367.70649 - y: 4140785.35795 - } - } - } - } - speed_plan { - name: "QP_SPLINE_ST_SPEED_OPTIMIZER" - } - st_graph { - name: "QP_SPLINE_ST_SPEED_OPTIMIZER" - speed_limit { - s: 0 - v: 4.5 - } - speed_limit { - s: 0.696450286174 - v: 4.5 - } - speed_limit { - s: 1.39289505007 - v: 4.5 - } - speed_limit { - s: 2.08933048068 - v: 4.5 - } - speed_limit { - s: 2.78575521416 - v: 4.5 - } - speed_limit { - s: 3.48216989903 - v: 4.5 - } - speed_limit { - s: 4.17857650677 - v: 4.5 - } - speed_limit { - s: 4.87497761392 - v: 4.5 - } - speed_limit { - s: 5.57137579462 - v: 4.5 - } - speed_limit { - s: 6.26777316805 - v: 4.5 - } - speed_limit { - s: 6.96417114567 - v: 4.5 - } - speed_limit { - s: 7.66057036294 - v: 4.5 - } - speed_limit { - s: 8.35697077733 - v: 4.5 - } - speed_limit { - s: 9.05337188422 - v: 4.5 - } - speed_limit { - s: 9.74977298177 - v: 4.5 - } - speed_limit { - s: 10.4461734378 - v: 4.5 - } - speed_limit { - s: 11.1425728884 - v: 4.5 - } - speed_limit { - s: 11.8389713338 - v: 4.5 - } - speed_limit { - s: 12.5353690992 - v: 4.5 - } - speed_limit { - s: 13.2317666776 - v: 4.5 - } - speed_limit { - s: 13.9281644832 - v: 4.5 - } - speed_limit { - s: 14.6245626301 - v: 4.5 - } - speed_limit { - s: 15.3209609491 - v: 4.5 - } - speed_limit { - s: 16.0173592139 - v: 4.5 - } - speed_limit { - s: 16.7137572672 - v: 4.5 - } - speed_limit { - s: 17.4101550578 - v: 4.5 - } - speed_limit { - s: 18.1065526366 - v: 4.5 - } - speed_limit { - s: 18.8029501089 - v: 4.5 - } - speed_limit { - s: 19.4993475957 - v: 4.5 - } - speed_limit { - s: 20.1957451942 - v: 4.5 - } - speed_limit { - s: 20.8921429579 - v: 4.5 - } - speed_limit { - s: 21.5885408862 - v: 4.5 - } - speed_limit { - s: 22.2849389325 - v: 4.5 - } - speed_limit { - s: 22.9813370207 - v: 4.5 - } - speed_limit { - s: 23.6777350695 - v: 4.5 - } - speed_limit { - s: 24.3741330132 - v: 4.5 - } - speed_limit { - s: 25.0705308203 - v: 4.5 - } - speed_limit { - s: 25.7669284974 - v: 4.5 - } - speed_limit { - s: 26.4633260859 - v: 4.5 - } - speed_limit { - s: 27.1597236398 - v: 4.5 - } - speed_limit { - s: 27.856121204 - v: 4.5 - } - speed_limit { - s: 28.5525187887 - v: 4.5 - } - speed_limit { - s: 29.2489163761 - v: 4.5 - } - speed_limit { - s: 29.9453139418 - v: 4.5 - } - speed_limit { - s: 30.6417114728 - v: 4.5 - } - speed_limit { - s: 31.3381089746 - v: 4.5 - } - speed_limit { - s: 32.0345064637 - v: 4.5 - } - speed_limit { - s: 32.7309039578 - v: 4.5 - } - speed_limit { - s: 33.4273014767 - v: 4.5 - } - speed_limit { - s: 34.123699032 - v: 4.5 - } - speed_limit { - s: 34.8200966276 - v: 4.5 - } - speed_limit { - s: 35.5164942595 - v: 4.5 - } - speed_limit { - s: 36.212891917 - v: 4.5 - } - speed_limit { - s: 36.9092895844 - v: 4.5 - } - speed_limit { - s: 37.6056872465 - v: 4.5 - } - speed_limit { - s: 38.3020848918 - v: 4.5 - } - speed_limit { - s: 38.9984825114 - v: 4.5 - } - speed_limit { - s: 39.6948801045 - v: 4.5 - } - speed_limit { - s: 40.3912776741 - v: 4.5 - } - speed_limit { - s: 41.0876752281 - v: 4.5 - } - speed_limit { - s: 41.7840727707 - v: 4.5 - } - speed_limit { - s: 42.480470306 - v: 4.5 - } - speed_limit { - s: 43.1768678324 - v: 4.5 - } - speed_limit { - s: 43.8732653487 - v: 4.5 - } - speed_limit { - s: 44.5696628585 - v: 4.5 - } - speed_limit { - s: 45.2660603675 - v: 4.5 - } - speed_limit { - s: 45.9624578813 - v: 4.5 - } - speed_limit { - s: 46.6588554045 - v: 4.5 - } - speed_limit { - s: 47.3552529402 - v: 4.5 - } - speed_limit { - s: 48.0516504902 - v: 4.5 - } - speed_limit { - s: 48.7480480527 - v: 4.5 - } - speed_limit { - s: 49.4444456263 - v: 4.5 - } - speed_limit { - s: 50.1408432065 - v: 4.5 - } - speed_limit { - s: 50.8372407891 - v: 4.5 - } - speed_limit { - s: 51.5336383697 - v: 4.5 - } - speed_limit { - s: 52.2300359461 - v: 4.5 - } - speed_limit { - s: 52.9264335145 - v: 4.5 - } - speed_limit { - s: 53.6228310747 - v: 4.5 - } - speed_limit { - s: 54.3192286269 - v: 4.5 - } - speed_limit { - s: 55.0156261726 - v: 4.5 - } - speed_limit { - s: 55.7120237127 - v: 4.5 - } - speed_limit { - s: 56.4084212477 - v: 4.5 - } - speed_limit { - s: 57.1048187805 - v: 4.5 - } - speed_limit { - s: 57.8012163115 - v: 4.5 - } - speed_limit { - s: 58.4976138455 - v: 4.5 - } - speed_limit { - s: 59.1940113835 - v: 4.5 - } - speed_limit { - s: 59.8904089265 - v: 4.5 - } - speed_limit { - s: 60.5868064751 - v: 4.5 - } - speed_limit { - s: 61.2832040292 - v: 4.5 - } - speed_limit { - s: 61.9796015862 - v: 4.5 - } - speed_limit { - s: 62.6759991445 - v: 4.5 - } - speed_limit { - s: 63.372396701 - v: 4.5 - } - speed_limit { - s: 64.0687942534 - v: 4.5 - } - speed_limit { - s: 64.7651918001 - v: 4.5 - } - speed_limit { - s: 65.46158934 - v: 4.5 - } - speed_limit { - s: 66.1579868735 - v: 4.5 - } - speed_limit { - s: 66.8543844013 - v: 4.5 - } - speed_limit { - s: 67.5507819256 - v: 4.5 - } - speed_limit { - s: 68.2471794471 - v: 4.5 - } - speed_limit { - s: 68.9435769686 - v: 4.5 - } - speed_limit { - s: 69.6399744892 - v: 4.5 - } - } - } -} -is_replan: true -gear: GEAR_DRIVE -decision { - main_decision { - cruise { - } - } - object_decision { - } -} -latency_stats { - total_time_ms: 177.455663681 - processor_stats { - name: "DP_POLY_PATH_OPTIMIZER" - time_ms: 42.4427986145 - } - processor_stats { - name: "QP_SPLINE_PATH_OPTIMIZER" - time_ms: 4.63104248047 - } - processor_stats { - name: "QP_SPLINE_ST_SPEED_OPTIMIZER" - time_ms: 19.7579860687 - } -} diff --git a/modules/planning/testdata/qp_spline_path/planning_config.pb.txt b/modules/planning/testdata/qp_spline_path/planning_config.pb.txt deleted file mode 100644 index e0a06d71cd..0000000000 --- a/modules/planning/testdata/qp_spline_path/planning_config.pb.txt +++ /dev/null @@ -1,123 +0,0 @@ -planner_type : EM -em_planner_config { - - optimizer : DP_POLY_PATH_OPTIMIZER - optimizer : DP_ST_SPEED_OPTIMIZER - - optimizer : QP_SPLINE_PATH_OPTIMIZER - optimizer : QP_SPLINE_ST_SPEED_OPTIMIZER - - dp_poly_path_config { - sample_level: 8 - sample_points_num_each_level: 9 - step_length_max: 15.0 - step_length_min: 8.0 - lateral_sample_offset: 0.5 - lateral_adjust_coeff: 0.5 - eval_time_interval: 0.1 - path_resolution: 0.1 - } - dp_st_speed_config { - total_path_length: 80 - total_time: 8.0 - matrix_dimension_s: 200 - matrix_dimension_t: 20 - - speed_weight: 0.0 - accel_weight: 10.0 - jerk_weight: 10.0 - obstacle_weight: 1.0 - reference_weight: 0.0 - go_down_buffer: 5.0 - go_up_buffer: 5.0 - - default_obstacle_cost: 1e10 - obstacle_cost_factor: -300 - - default_speed_cost: 1.0 - exceed_speed_penalty: 10.0 - low_speed_penalty: 2.5 - - accel_penalty: 2.0 - decel_penalty: 2.0 - - positive_jerk_coeff: 1.0 - negative_jerk_coeff: 300.0 - - max_speed: 20.0 - max_acceleration: 4.5 - max_deceleration: -4.5 - - st_boundary_config { - boundary_buffer: 0.1 - minimal_follow_time: 3.0 - follow_buffer: 1.0 - follow_coeff:1.0 - follow_speed_threshold: 10.0 - follow_speed_damping_factor: 0.7 - success_tunnel:0.01 - expanding_coeff: 1.2 - follow_distance_buffer: 5.0 - centric_acceleration_limit: 1.0 - kappa_threshold: 0.04 - minimal_kappa: 0.00001 - maximal_speed: 25.0 - speed_limit_on_u_turn: 1.5 - point_extension: 1.0 - speed_multiply_buffer: 0.9 - lowest_speed: 2.5 - } - } - qp_spline_path_config { - spline_order: 6 - number_of_knots: 5 - number_of_fx_constraint_knots: 13 - time_resolution: 0.1 - regularization_weight: 0.1 - derivative_weight: 1.0 - second_derivative_weight: 0.0 - third_derivative_weight: 10.0 - reference_line_weight: 0.0 - num_refline_point: 10 - num_output: 100 - } - qp_spline_st_speed_config { - total_path_length: 80.0 - total_time: 8.0 - output_time_resolution: 0.05 - number_of_discrete_graph_s: 80 - number_of_discrete_graph_t: 10 - number_of_evaluated_graph_t: 20 - spline_order: 6 - speed_kernel_weight: 0.0 - accel_kernel_weight: 0.0 - jerk_kernel_weight: 1000.0 - follow_weight: 1.0 - stop_weight: 1.0 - cruise_weight: 1.0 - max_speed: 20.0 - max_acceleration: 4.5 - max_deceleration: -4.5 - reference_line_kernel_weight: 1.0 - - st_boundary_config { - boundary_buffer: 0.1 - minimal_follow_time: 3.0 - follow_buffer: 1.0 - follow_coeff:1.0 - follow_speed_threshold: 10.0 - follow_speed_damping_factor: 0.7 - success_tunnel:0.01 - expanding_coeff: 1.2 - follow_distance_buffer: 5.0 - centric_acceleration_limit: 1.0 - kappa_threshold: 0.04 - minimal_kappa: 0.00001 - maximal_speed: 25.0 - speed_limit_on_u_turn: 1.5 - point_extension: 1.0 - speed_multiply_buffer: 0.9 - lowest_speed: 2.5 - } - } -} diff --git a/modules/planning/testdata/qp_spline_path/qp_spline_path_config.pb.txt b/modules/planning/testdata/qp_spline_path/qp_spline_path_config.pb.txt deleted file mode 100644 index b7be63a1c6..0000000000 --- a/modules/planning/testdata/qp_spline_path/qp_spline_path_config.pb.txt +++ /dev/null @@ -1,11 +0,0 @@ -spline_order: 6 -number_of_knots: 5 -number_of_fx_constraint_knots: 13 -time_resolution: 0.1 -regularization_weight: 0.001 -derivative_weight: 1.0 -second_derivative_weight: 0.0 -third_derivative_weight: 0.5 -reference_line_weight: 0.0 -num_refline_point: 10 -num_output: 100 diff --git a/modules/planning/testdata/qp_spline_st_speed/25_apollo_planning.pb.txt b/modules/planning/testdata/qp_spline_st_speed/25_apollo_planning.pb.txt deleted file mode 100644 index 8c4dea08fc..0000000000 --- a/modules/planning/testdata/qp_spline_st_speed/25_apollo_planning.pb.txt +++ /dev/null @@ -1,16202 +0,0 @@ -header { - timestamp_sec: 1502325622.07 - module_name: "planning" - sequence_num: 66 -} -debug { - planning_data { - path { - name: "DP_POLY_PATH_OPTIMIZER" - path_point { - x: 586344.789643 - y: 4140686.67046 - z: 0.0 - theta: 2.28804695705 - kappa: -0.1263444716 - s: 0.0 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.724892 - y: 4140686.74561 - z: 0.0 - theta: 2.27551392312 - kappa: -0.126335330811 - s: 0.0992028394134 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.661234 - y: 4140686.82169 - z: 0.0 - theta: 2.26297451361 - kappa: -0.126310329484 - s: 0.19839660757 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.598312 - y: 4140686.89837 - z: 0.0 - theta: 2.25045198938 - kappa: -0.126289861777 - s: 0.29758996456 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.536392 - y: 4140686.97586 - z: 0.0 - theta: 2.23792911626 - kappa: -0.126254561956 - s: 0.396781337864 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.475668 - y: 4140687.05428 - z: 0.0 - theta: 2.22540224067 - kappa: -0.126188876895 - s: 0.495964585653 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.4157 - y: 4140687.13328 - z: 0.0 - theta: 2.21289223581 - kappa: -0.126119721226 - s: 0.595147668863 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.356681 - y: 4140687.213 - z: 0.0 - theta: 2.20038978537 - kappa: -0.126032408414 - s: 0.694336444374 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.298969 - y: 4140687.29366 - z: 0.0 - theta: 2.18789076847 - kappa: -0.125901502262 - s: 0.793518622569 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.242031 - y: 4140687.37488 - z: 0.0 - theta: 2.17541078014 - kappa: -0.125760846804 - s: 0.89270154811 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.185981 - y: 4140687.45671 - z: 0.0 - theta: 2.16294537478 - kappa: -0.125601249449 - s: 0.991892450493 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.13135 - y: 4140687.5395 - z: 0.0 - theta: 2.15049579986 - kappa: -0.125387020695 - s: 1.09108457587 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.077507 - y: 4140687.62281 - z: 0.0 - theta: 2.13806900241 - kappa: -0.125158638074 - s: 1.19027884333 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.024485 - y: 4140687.70666 - z: 0.0 - theta: 2.12566215574 - kappa: -0.124912496635 - s: 1.28948391073 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.972993 - y: 4140687.79146 - z: 0.0 - theta: 2.11328792738 - kappa: -0.124603628171 - s: 1.38869198713 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.922297 - y: 4140687.87675 - z: 0.0 - theta: 2.10094121553 - kappa: -0.124278069259 - s: 1.48790979029 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.8724 - y: 4140687.96251 - z: 0.0 - theta: 2.0886190797 - kappa: -0.123934630029 - s: 1.58713503921 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.824048 - y: 4140688.04917 - z: 0.0 - theta: 2.07634719063 - kappa: -0.123528993684 - s: 1.68637123405 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.776545 - y: 4140688.13631 - z: 0.0 - theta: 2.06410924815 - kappa: -0.123103273238 - s: 1.78561348948 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.729841 - y: 4140688.2239 - z: 0.0 - theta: 2.05190126826 - kappa: -0.122658966836 - s: 1.88487655413 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.684631 - y: 4140688.31228 - z: 0.0 - theta: 2.03975780132 - kappa: -0.122158964554 - s: 1.98415282172 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.640343 - y: 4140688.40114 - z: 0.0 - theta: 2.02765733247 - kappa: -0.121635777964 - s: 2.08343717205 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.596859 - y: 4140688.49042 - z: 0.0 - theta: 2.01559206257 - kappa: -0.121095182326 - s: 2.18273867426 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.554823 - y: 4140688.5804 - z: 0.0 - theta: 2.0036031473 - kappa: -0.120510730189 - s: 2.28205560143 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.513764 - y: 4140688.67085 - z: 0.0 - theta: 1.99166609467 - kappa: -0.119910714345 - s: 2.38139277271 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.473509 - y: 4140688.76168 - z: 0.0 - theta: 1.97976791206 - kappa: -0.119300895204 - s: 2.48074371255 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.434664 - y: 4140688.85315 - z: 0.0 - theta: 1.96795350987 - kappa: -0.118659562181 - s: 2.58011664315 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.396837 - y: 4140688.94506 - z: 0.0 - theta: 1.95619836305 - kappa: -0.118001387165 - s: 2.67950575583 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.359809 - y: 4140689.03731 - z: 0.0 - theta: 1.94448459131 - kappa: -0.117333031704 - s: 2.77891526596 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.324168 - y: 4140689.13014 - z: 0.0 - theta: 1.93286183378 - kappa: -0.116635795221 - s: 2.87834732083 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.289563 - y: 4140689.22337 - z: 0.0 - theta: 1.92130494763 - kappa: -0.115921746284 - s: 2.97779630077 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.255751 - y: 4140689.31692 - z: 0.0 - theta: 1.90979190452 - kappa: -0.115197444733 - s: 3.07726686507 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.223317 - y: 4140689.41098 - z: 0.0 - theta: 1.89837807859 - kappa: -0.114446789042 - s: 3.1767597937 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.191916 - y: 4140689.5054 - z: 0.0 - theta: 1.88703499886 - kappa: -0.113680409849 - s: 3.27627017494 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.161296 - y: 4140689.60011 - z: 0.0 - theta: 1.87573811245 - kappa: -0.112903870232 - s: 3.37580693701 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.132066 - y: 4140689.69528 - z: 0.0 - theta: 1.8645502235 - kappa: -0.11210330703 - s: 3.47536105449 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.103837 - y: 4140689.79077 - z: 0.0 - theta: 1.85343538814 - kappa: -0.111288693978 - s: 3.57493302206 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.076377 - y: 4140689.88651 - z: 0.0 - theta: 1.84236896802 - kappa: -0.110463972904 - s: 3.67453503686 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.050337 - y: 4140689.98266 - z: 0.0 - theta: 1.83142346888 - kappa: -0.109617357076 - s: 3.77414940367 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.025239 - y: 4140690.07909 - z: 0.0 - theta: 1.82055013027 - kappa: -0.108758445043 - s: 3.87378831572 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.000899 - y: 4140690.17573 - z: 0.0 - theta: 1.80972735151 - kappa: -0.107889270161 - s: 3.97344703041 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.978022 - y: 4140690.27274 - z: 0.0 - theta: 1.79904003464 - kappa: -0.107000180573 - s: 4.07312534047 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.956008 - y: 4140690.36998 - z: 0.0 - theta: 1.78842037895 - kappa: -0.106100147473 - s: 4.17282154951 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.934734 - y: 4140690.46741 - z: 0.0 - theta: 1.7778534512 - kappa: -0.10518936519 - s: 4.27254321558 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.914989 - y: 4140690.56517 - z: 0.0 - theta: 1.76743949155 - kappa: -0.104260580667 - s: 4.37227773886 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.896001 - y: 4140690.66309 - z: 0.0 - theta: 1.75708492029 - kappa: -0.103321392082 - s: 4.47202782215 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.877812 - y: 4140690.7612 - z: 0.0 - theta: 1.7467955858 - kappa: -0.102370142109 - s: 4.57180307463 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.861078 - y: 4140690.85957 - z: 0.0 - theta: 1.73665953385 - kappa: -0.101403644217 - s: 4.67158942874 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.845047 - y: 4140690.95808 - z: 0.0 - theta: 1.7265810681 - kappa: -0.100425742316 - s: 4.77139312399 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.829927 - y: 4140691.05675 - z: 0.0 - theta: 1.71658854348 - kappa: -0.0994345509607 - s: 4.87121545978 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.816099 - y: 4140691.15562 - z: 0.0 - theta: 1.7067370888 - kappa: -0.0984298671139 - s: 4.97104656394 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.802953 - y: 4140691.2546 - z: 0.0 - theta: 1.69694585431 - kappa: -0.0974119943132 - s: 5.07089585883 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.790843 - y: 4140691.35372 - z: 0.0 - theta: 1.68726537284 - kappa: -0.096380082684 - s: 5.17075939895 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.77984 - y: 4140691.45299 - z: 0.0 - theta: 1.67770965543 - kappa: -0.0953346570402 - s: 5.27063282367 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.769499 - y: 4140691.55234 - z: 0.0 - theta: 1.66821741087 - kappa: -0.0942737959454 - s: 5.37052155308 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.760329 - y: 4140691.65182 - z: 0.0 - theta: 1.65886460326 - kappa: -0.0931986522309 - s: 5.47042002568 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.752066 - y: 4140691.75138 - z: 0.0 - theta: 1.64961677113 - kappa: -0.0921081638906 - s: 5.57032787521 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.744441 - y: 4140691.85101 - z: 0.0 - theta: 1.64043644576 - kappa: -0.0909995702744 - s: 5.67024897276 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.738131 - y: 4140691.95074 - z: 0.0 - theta: 1.63142777152 - kappa: -0.0898769222124 - s: 5.77017720763 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.732515 - y: 4140692.05052 - z: 0.0 - theta: 1.62250151782 - kappa: -0.0887353755044 - s: 5.87011270344 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.72763 - y: 4140692.15035 - z: 0.0 - theta: 1.61366586167 - kappa: -0.0875738247855 - s: 5.97006009618 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.723973 - y: 4140692.25023 - z: 0.0 - theta: 1.60500092729 - kappa: -0.0863965455731 - s: 6.07001085827 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.720903 - y: 4140692.35014 - z: 0.0 - theta: 1.59641199467 - kappa: -0.0851964130524 - s: 6.16996967683 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.718742 - y: 4140692.45008 - z: 0.0 - theta: 1.5879520206 - kappa: -0.0839756412101 - s: 6.2699351669 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.717553 - y: 4140692.55005 - z: 0.0 - theta: 1.57963606604 - kappa: -0.0827345669328 - s: 6.36990438337 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.716924 - y: 4140692.65002 - z: 0.0 - theta: 1.57140270291 - kappa: -0.0814669641329 - s: 6.469880057 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.717379 - y: 4140692.75 - z: 0.0 - theta: 1.56333951494 - kappa: -0.0801786301705 - s: 6.56985938589 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.718547 - y: 4140692.84997 - z: 0.0 - theta: 1.55539244455 - kappa: -0.0788639243473 - s: 6.66984140612 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.720294 - y: 4140692.94995 - z: 0.0 - theta: 1.54754361006 - kappa: -0.0775195185334 - s: 6.76982922465 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.7232 - y: 4140693.04989 - z: 0.0 - theta: 1.53989285628 - kappa: -0.0761532049907 - s: 6.86981818667 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.726607 - y: 4140693.14983 - z: 0.0 - theta: 1.53233775102 - kappa: -0.0747540031573 - s: 6.96980906762 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.730788 - y: 4140693.24973 - z: 0.0 - theta: 1.52492788342 - kappa: -0.0733248745505 - s: 7.06980336586 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.735839 - y: 4140693.3496 - z: 0.0 - theta: 1.51768569909 - kappa: -0.0718666037472 - s: 7.16979780868 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.741359 - y: 4140693.44944 - z: 0.0 - theta: 1.51054911429 - kappa: -0.0703712043406 - s: 7.26979443367 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.747837 - y: 4140693.54923 - z: 0.0 - theta: 1.50360650952 - kappa: -0.0688459697269 - s: 7.36979235778 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.754902 - y: 4140693.64898 - z: 0.0 - theta: 1.4968017463 - kappa: -0.0672834581961 - s: 7.46978981172 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.762489 - y: 4140693.74869 - z: 0.0 - theta: 1.49012910747 - kappa: -0.0656811249984 - s: 7.56978923875 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.77103 - y: 4140693.84832 - z: 0.0 - theta: 1.48367010312 - kappa: -0.0640459032982 - s: 7.66978844258 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.77997 - y: 4140693.94792 - z: 0.0 - theta: 1.4773354884 - kappa: -0.0623663392073 - s: 7.76978731018 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.789621 - y: 4140694.04746 - z: 0.0 - theta: 1.47118632499 - kappa: -0.0606470955626 - s: 7.86978727625 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.799927 - y: 4140694.14692 - z: 0.0 - theta: 1.46522050383 - kappa: -0.058886072075 - s: 7.96978624218 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.799927 - y: 4140694.14692 - z: 0.0 - theta: 1.46522050383 - kappa: -0.058886072075 - s: 7.96978624218 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.810593 - y: 4140694.24635 - z: 0.0 - theta: 1.45935465712 - kappa: -0.0578482142171 - s: 8.06978603992 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.822151 - y: 4140694.34568 - z: 0.0 - theta: 1.45364819409 - kappa: -0.0568280133176 - s: 8.16978603998 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.834091 - y: 4140694.44497 - z: 0.0 - theta: 1.44801096543 - kappa: -0.055815517053 - s: 8.26978501788 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.846557 - y: 4140694.54419 - z: 0.0 - theta: 1.44246916633 - kappa: -0.0548136405127 - s: 8.36978501756 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.859723 - y: 4140694.64331 - z: 0.0 - theta: 1.43705538489 - kappa: -0.053826032538 - s: 8.46978436073 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.873208 - y: 4140694.7424 - z: 0.0 - theta: 1.43170073363 - kappa: -0.0528450118422 - s: 8.56978386151 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.887416 - y: 4140694.84139 - z: 0.0 - theta: 1.42648010623 - kappa: -0.0518789119275 - s: 8.66978386166 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.902059 - y: 4140694.94031 - z: 0.0 - theta: 1.42134151617 - kappa: -0.0509219116858 - s: 8.76978298003 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.917098 - y: 4140695.03917 - z: 0.0 - theta: 1.41627744903 - kappa: -0.0499731776092 - s: 8.86978298003 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.932854 - y: 4140695.13792 - z: 0.0 - theta: 1.41135002877 - kappa: -0.0490395097823 - s: 8.969782648 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.948895 - y: 4140695.23662 - z: 0.0 - theta: 1.4064776861 - kappa: -0.0481118807375 - s: 9.0697820599 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.965522 - y: 4140695.33523 - z: 0.0 - theta: 1.40171887235 - kappa: -0.0471966672256 - s: 9.16978205987 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.982612 - y: 4140695.43376 - z: 0.0 - theta: 1.39705086041 - kappa: -0.0462912834803 - s: 9.26978135796 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.999997 - y: 4140695.53224 - z: 0.0 - theta: 1.39244083041 - kappa: -0.0453921765806 - s: 9.36978135767 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.018092 - y: 4140695.63059 - z: 0.0 - theta: 1.38797262254 - kappa: -0.0445082399576 - s: 9.46978127588 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.036441 - y: 4140695.72889 - z: 0.0 - theta: 1.38355599219 - kappa: -0.0436297522962 - s: 9.5697807027 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.055268 - y: 4140695.8271 - z: 0.0 - theta: 1.37923610178 - kappa: -0.0427614727107 - s: 9.66978070293 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.074563 - y: 4140695.92522 - z: 0.0 - theta: 1.37501305904 - kappa: -0.0419032597945 - s: 9.7697801765 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.094102 - y: 4140696.02329 - z: 0.0 - theta: 1.37084033438 - kappa: -0.0410502675255 - s: 9.86978008703 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.114276 - y: 4140696.12124 - z: 0.0 - theta: 1.36680105681 - kappa: -0.0402109218048 - s: 9.9697800868 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.134703 - y: 4140696.21913 - z: 0.0 - theta: 1.36281608906 - kappa: -0.0393770344949 - s: 10.0697795768 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.155515 - y: 4140696.31694 - z: 0.0 - theta: 1.35891369271 - kappa: -0.038551446028 - s: 10.1697795765 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.176792 - y: 4140696.41465 - z: 0.0 - theta: 1.35511260627 - kappa: -0.0377358571262 - s: 10.2697792061 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.198285 - y: 4140696.51231 - z: 0.0 - theta: 1.35135914395 - kappa: -0.0369249429571 - s: 10.369779028 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.220308 - y: 4140696.60986 - z: 0.0 - theta: 1.34772395744 - kappa: -0.0361254880834 - s: 10.4697790282 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.242596 - y: 4140696.70734 - z: 0.0 - theta: 1.34414916047 - kappa: -0.0353317755454 - s: 10.5697786 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.265192 - y: 4140696.80475 - z: 0.0 - theta: 1.34064441952 - kappa: -0.0345447245122 - s: 10.6697785996 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.288238 - y: 4140696.90206 - z: 0.0 - theta: 1.33724479383 - kappa: -0.033767485289 - s: 10.7697783621 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.311477 - y: 4140696.99932 - z: 0.0 - theta: 1.33389054332 - kappa: -0.0329944449871 - s: 10.8697781484 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.335152 - y: 4140697.09648 - z: 0.0 - theta: 1.33064065359 - kappa: -0.0322309732868 - s: 10.9697781487 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.359098 - y: 4140697.19357 - z: 0.0 - theta: 1.32745690885 - kappa: -0.0314734651842 - s: 11.0697778073 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.383282 - y: 4140697.2906 - z: 0.0 - theta: 1.32433152819 - kappa: -0.0307212191575 - s: 11.169777807 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.4079 - y: 4140697.38752 - z: 0.0 - theta: 1.32131512398 - kappa: -0.0299786501088 - s: 11.2697776818 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.432688 - y: 4140697.4844 - z: 0.0 - theta: 1.31834221367 - kappa: -0.029239908923 - s: 11.3697774648 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.457827 - y: 4140697.58119 - z: 0.0 - theta: 1.31546024907 - kappa: -0.0285091389477 - s: 11.4697774651 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.483238 - y: 4140697.67791 - z: 0.0 - theta: 1.31265045864 - kappa: -0.0277846302071 - s: 11.5697772096 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.508826 - y: 4140697.77458 - z: 0.0 - theta: 1.30988747986 - kappa: -0.0270641824578 - s: 11.6697772096 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.534827 - y: 4140697.87114 - z: 0.0 - theta: 1.30723789162 - kappa: -0.0263535041176 - s: 11.7697771783 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.560977 - y: 4140697.96766 - z: 0.0 - theta: 1.30463018708 - kappa: -0.0256464251068 - s: 11.86977698 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.587401 - y: 4140698.06411 - z: 0.0 - theta: 1.30209989171 - kappa: -0.0249459966354 - s: 11.9697769803 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.614096 - y: 4140698.16048 - z: 0.0 - theta: 1.29964846751 - kappa: -0.0242523570282 - s: 12.0697768065 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.640932 - y: 4140698.25681 - z: 0.0 - theta: 1.29723851864 - kappa: -0.0235622915301 - s: 12.1697767651 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.668117 - y: 4140698.35304 - z: 0.0 - theta: 1.29493398969 - kappa: -0.0228813656175 - s: 12.2697767652 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.695453 - y: 4140698.44923 - z: 0.0 - theta: 1.29267649177 - kappa: -0.02220457084 - s: 12.3697766003 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.722991 - y: 4140698.54537 - z: 0.0 - theta: 1.29048227514 - kappa: -0.0215333345968 - s: 12.4697766001 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.750796 - y: 4140698.64142 - z: 0.0 - theta: 1.28837446641 - kappa: -0.0208698373622 - s: 12.5697765016 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.778723 - y: 4140698.73745 - z: 0.0 - theta: 1.28630670266 - kappa: -0.020209969154 - s: 12.6697764255 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.806913 - y: 4140698.83339 - z: 0.0 - theta: 1.28432794376 - kappa: -0.0195582841142 - s: 12.7697764255 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.835267 - y: 4140698.92929 - z: 0.0 - theta: 1.28240601755 - kappa: -0.0189120006282 - s: 12.8697763037 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.863758 - y: 4140699.02514 - z: 0.0 - theta: 1.28053236705 - kappa: -0.0182703054133 - s: 12.9697763036 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.892508 - y: 4140699.12092 - z: 0.0 - theta: 1.27875341562 - kappa: -0.0176379807052 - s: 13.0697762701 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.921361 - y: 4140699.21667 - z: 0.0 - theta: 1.27701299842 - kappa: -0.0170096125218 - s: 13.1697761897 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.950402 - y: 4140699.31236 - z: 0.0 - theta: 1.27534415823 - kappa: -0.0163886704043 - s: 13.2697761893 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.979613 - y: 4140699.408 - z: 0.0 - theta: 1.27374258201 - kappa: -0.0157750960539 - s: 13.3697761141 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.008918 - y: 4140699.5036 - z: 0.0 - theta: 1.2721790423 - kappa: -0.0151657272149 - s: 13.4697760976 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.038445 - y: 4140699.59915 - z: 0.0 - theta: 1.270707461 - kappa: -0.0145670635452 - s: 13.5697760978 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.068068 - y: 4140699.69466 - z: 0.0 - theta: 1.26927832146 - kappa: -0.0139736839205 - s: 13.6697760325 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.097814 - y: 4140699.79013 - z: 0.0 - theta: 1.2679023678 - kappa: -0.0133869259918 - s: 13.7697760325 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.12773 - y: 4140699.88555 - z: 0.0 - theta: 1.2666041999 - kappa: -0.0128105860094 - s: 13.8697760008 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.157722 - y: 4140699.98095 - z: 0.0 - theta: 1.26534205666 - kappa: -0.0122392925785 - s: 13.9697759664 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.187862 - y: 4140700.0763 - z: 0.0 - theta: 1.26415091384 - kappa: -0.0116782838967 - s: 14.0697759663 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.21811 - y: 4140700.17161 - z: 0.0 - theta: 1.26301451742 - kappa: -0.011125894783 - s: 14.1697759263 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.248427 - y: 4140700.26691 - z: 0.0 - theta: 1.26191328085 - kappa: -0.0105790549435 - s: 14.2697759249 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.278904 - y: 4140700.36215 - z: 0.0 - theta: 1.26089763063 - kappa: -0.0100469278625 - s: 14.3697759249 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.309441 - y: 4140700.45737 - z: 0.0 - theta: 1.2599162865 - kappa: -0.00952126657913 - s: 14.4697758956 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.340067 - y: 4140700.55257 - z: 0.0 - theta: 1.25898457174 - kappa: -0.00900495913518 - s: 14.5697758954 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.370802 - y: 4140700.64773 - z: 0.0 - theta: 1.25811855136 - kappa: -0.00850227906025 - s: 14.6697758796 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.401589 - y: 4140700.74287 - z: 0.0 - theta: 1.25728461179 - kappa: -0.00800661334725 - s: 14.7697758659 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.432473 - y: 4140700.83798 - z: 0.0 - theta: 1.2565124122 - kappa: -0.00752509459424 - s: 14.8697758659 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.463426 - y: 4140700.93307 - z: 0.0 - theta: 1.25578660159 - kappa: -0.00705535887246 - s: 14.9697758494 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.494424 - y: 4140701.02814 - z: 0.0 - theta: 1.25509133796 - kappa: -0.00659343029808 - s: 15.0697758481 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.525519 - y: 4140701.12319 - z: 0.0 - theta: 1.25446640778 - kappa: -0.00615137585943 - s: 15.1697758484 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.556653 - y: 4140701.21822 - z: 0.0 - theta: 1.25387112796 - kappa: -0.00571867641714 - s: 15.2697758376 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.587838 - y: 4140701.31323 - z: 0.0 - theta: 1.25331478963 - kappa: -0.00529826342407 - s: 15.3697758374 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.619089 - y: 4140701.40822 - z: 0.0 - theta: 1.25281331443 - kappa: -0.00489465993696 - s: 15.4697758329 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.65037 - y: 4140701.5032 - z: 0.0 - theta: 1.25233805497 - kappa: -0.00449699192101 - s: 15.5697758278 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.681703 - y: 4140701.59817 - z: 0.0 - theta: 1.25190943381 - kappa: -0.00410750122132 - s: 15.6697758277 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.713076 - y: 4140701.69312 - z: 0.0 - theta: 1.25152158367 - kappa: -0.00372512799796 - s: 15.7697758234 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.744473 - y: 4140701.78806 - z: 0.0 - theta: 1.25115887735 - kappa: -0.00334719914914 - s: 15.8697758223 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.775917 - y: 4140701.88299 - z: 0.0 - theta: 1.25085032309 - kappa: -0.00297931890665 - s: 15.9697758224 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.775917 - y: 4140701.88299 - z: 0.0 - theta: 1.25085032309 - kappa: -0.00297931890665 - s: 15.9697758224 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.807382 - y: 4140701.97791 - z: 0.0 - theta: 1.25057049784 - kappa: -0.00261708375411 - s: 16.0697758197 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.838867 - y: 4140702.07282 - z: 0.0 - theta: 1.2503192952 - kappa: -0.00226047278421 - s: 16.16977582 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.870384 - y: 4140702.16773 - z: 0.0 - theta: 1.25011907237 - kappa: -0.00191443479197 - s: 16.2697758195 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.901912 - y: 4140702.26263 - z: 0.0 - theta: 1.24994144018 - kappa: -0.001573278807 - s: 16.3697758184 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.933456 - y: 4140702.35752 - z: 0.0 - theta: 1.24979940317 - kappa: -0.00123989310876 - s: 16.4697758187 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.965014 - y: 4140702.45241 - z: 0.0 - theta: 1.2496964732 - kappa: -0.00091547187991 - s: 16.5697758182 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.996578 - y: 4140702.5473 - z: 0.0 - theta: 1.24961492681 - kappa: -0.000596048384044 - s: 16.669775818 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.028149 - y: 4140702.64219 - z: 0.0 - theta: 1.2495745174 - kappa: -0.000286507217004 - s: 16.7697758183 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.059723 - y: 4140702.73707 - z: 0.0 - theta: 1.2495626382 - kappa: 1.58632559678e-05 - s: 16.8697758182 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.091297 - y: 4140702.83196 - z: 0.0 - theta: 1.24957088437 - kappa: 0.000313167558703 - s: 16.9697758181 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.122866 - y: 4140702.92684 - z: 0.0 - theta: 1.24962446307 - kappa: 0.000598567875447 - s: 17.0697758182 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.154431 - y: 4140703.02173 - z: 0.0 - theta: 1.24969727073 - kappa: 0.000878698615006 - s: 17.1697758182 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.185989 - y: 4140703.11662 - z: 0.0 - theta: 1.24979497075 - kappa: 0.00115200776339 - s: 17.2697758179 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.217532 - y: 4140703.21151 - z: 0.0 - theta: 1.24992882391 - kappa: 0.00141498643225 - s: 17.3697758177 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.249066 - y: 4140703.30641 - z: 0.0 - theta: 1.25007990781 - kappa: 0.00167290744429 - s: 17.4697758172 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.280582 - y: 4140703.40132 - z: 0.0 - theta: 1.25026013116 - kappa: 0.00192215228696 - s: 17.5697758169 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.312078 - y: 4140703.49623 - z: 0.0 - theta: 1.2504671656 - kappa: 0.00216308242112 - s: 17.6697758163 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.34356 - y: 4140703.59114 - z: 0.0 - theta: 1.25069013477 - kappa: 0.00239901544552 - s: 17.7697758154 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.375011 - y: 4140703.68607 - z: 0.0 - theta: 1.25094533942 - kappa: 0.00262453820405 - s: 17.8697758154 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.40644 - y: 4140703.781 - z: 0.0 - theta: 1.25121923043 - kappa: 0.00284377676635 - s: 17.9697758131 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.43785 - y: 4140703.87594 - z: 0.0 - theta: 1.25150914251 - kappa: 0.00305762746594 - s: 18.0697758129 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.469216 - y: 4140703.97089 - z: 0.0 - theta: 1.25183056551 - kappa: 0.00326044040333 - s: 18.1697758125 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.500561 - y: 4140704.06585 - z: 0.0 - theta: 1.2521651036 - kappa: 0.00345848633823 - s: 18.2697758094 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.531874 - y: 4140704.16082 - z: 0.0 - theta: 1.25251898167 - kappa: 0.00364947288413 - s: 18.3697758091 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.563143 - y: 4140704.25581 - z: 0.0 - theta: 1.25289621918 - kappa: 0.00383156819739 - s: 18.4697758063 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.594388 - y: 4140704.3508 - z: 0.0 - theta: 1.25328535186 - kappa: 0.00400903694619 - s: 18.5697758034 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.625586 - y: 4140704.44581 - z: 0.0 - theta: 1.25369611786 - kappa: 0.00417791121334 - s: 18.6697758029 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.656744 - y: 4140704.54083 - z: 0.0 - theta: 1.25412327063 - kappa: 0.00433998229524 - s: 18.7697757979 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.687875 - y: 4140704.63586 - z: 0.0 - theta: 1.25456113618 - kappa: 0.00449758199639 - s: 18.8697757969 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.718942 - y: 4140704.73092 - z: 0.0 - theta: 1.25502196598 - kappa: 0.00464520355452 - s: 18.9697757968 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.749975 - y: 4140704.82598 - z: 0.0 - theta: 1.2554933466 - kappa: 0.0047880182382 - s: 19.0697757898 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.780971 - y: 4140704.92105 - z: 0.0 - theta: 1.25597673604 - kappa: 0.00492536179223 - s: 19.1697757898 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.811901 - y: 4140705.01615 - z: 0.0 - theta: 1.25647865007 - kappa: 0.00505383644107 - s: 19.2697757868 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.8428 - y: 4140705.11126 - z: 0.0 - theta: 1.25698880381 - kappa: 0.00517821711845 - s: 19.3697757795 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.873643 - y: 4140705.20638 - z: 0.0 - theta: 1.25751255275 - kappa: 0.00529573966735 - s: 19.4697757798 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.90443 - y: 4140705.30152 - z: 0.0 - theta: 1.25804906272 - kappa: 0.00540645796253 - s: 19.5697757724 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.935183 - y: 4140705.39668 - z: 0.0 - theta: 1.25859278223 - kappa: 0.00551326399662 - s: 19.669775768 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.965863 - y: 4140705.49186 - z: 0.0 - theta: 1.25915080128 - kappa: 0.00561198040764 - s: 19.7697757679 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.996498 - y: 4140705.58705 - z: 0.0 - theta: 1.25971690598 - kappa: 0.00570582167218 - s: 19.8697757582 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.027093 - y: 4140705.68225 - z: 0.0 - theta: 1.26028987523 - kappa: 0.00579552404295 - s: 19.9697757583 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.057604 - y: 4140705.77748 - z: 0.0 - theta: 1.26087575681 - kappa: 0.00587688410265 - s: 20.0697757564 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.088079 - y: 4140705.87273 - z: 0.0 - theta: 1.26146671599 - kappa: 0.00595473818448 - s: 20.1697757461 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.118496 - y: 4140705.96799 - z: 0.0 - theta: 1.26206541643 - kappa: 0.00602719798541 - s: 20.2697757458 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.148843 - y: 4140706.06327 - z: 0.0 - theta: 1.26267253809 - kappa: 0.00609327814814 - s: 20.369775738 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.179152 - y: 4140706.15857 - z: 0.0 - theta: 1.26328387393 - kappa: 0.00615603416811 - s: 20.4697757307 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.209385 - y: 4140706.25389 - z: 0.0 - theta: 1.26390301512 - kappa: 0.00621229797308 - s: 20.5697757308 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.239562 - y: 4140706.34923 - z: 0.0 - theta: 1.26452711009 - kappa: 0.00626398119612 - s: 20.6697757189 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.2697 - y: 4140706.44458 - z: 0.0 - theta: 1.26515460529 - kappa: 0.00631251829174 - s: 20.7697757185 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.299742 - y: 4140706.53996 - z: 0.0 - theta: 1.2657892175 - kappa: 0.00635362102489 - s: 20.8697757188 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.329745 - y: 4140706.63535 - z: 0.0 - theta: 1.26642627656 - kappa: 0.00639177369514 - s: 20.9697757061 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.359691 - y: 4140706.73076 - z: 0.0 - theta: 1.26706685968 - kappa: 0.00642567754798 - s: 21.0697757063 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.389557 - y: 4140706.8262 - z: 0.0 - theta: 1.26771139936 - kappa: 0.00645390851154 - s: 21.1697756983 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.419383 - y: 4140706.92165 - z: 0.0 - theta: 1.26835766438 - kappa: 0.0064793744368 - s: 21.2697756891 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.449132 - y: 4140707.01712 - z: 0.0 - theta: 1.26900685456 - kappa: 0.00649962649897 - s: 21.3697756891 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.478819 - y: 4140707.11261 - z: 0.0 - theta: 1.26965774573 - kappa: 0.00651582662028 - s: 21.4697756766 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.508466 - y: 4140707.20812 - z: 0.0 - theta: 1.27030970158 - kappa: 0.00652942250157 - s: 21.5697756749 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.538017 - y: 4140707.30365 - z: 0.0 - theta: 1.27096330545 - kappa: 0.00653698971214 - s: 21.6697756748 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.567524 - y: 4140707.3992 - z: 0.0 - theta: 1.27161722538 - kappa: 0.00654195178967 - s: 21.7697756616 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.596975 - y: 4140707.49476 - z: 0.0 - theta: 1.27227155615 - kappa: 0.00654352768256 - s: 21.8697756614 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.626342 - y: 4140707.59035 - z: 0.0 - theta: 1.27292570959 - kappa: 0.00654027606755 - s: 21.9697756541 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.655669 - y: 4140707.68596 - z: 0.0 - theta: 1.27357956145 - kappa: 0.00653476051589 - s: 22.0697756439 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.68492 - y: 4140707.78158 - z: 0.0 - theta: 1.2742325653 - kappa: 0.00652503115805 - s: 22.1697756439 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.714107 - y: 4140707.87723 - z: 0.0 - theta: 1.27488429736 - kappa: 0.00651188933551 - s: 22.2697756314 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.743254 - y: 4140707.97289 - z: 0.0 - theta: 1.27553519957 - kappa: 0.00649662295982 - s: 22.3697756294 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.772306 - y: 4140708.06857 - z: 0.0 - theta: 1.27618339937 - kappa: 0.00647645696721 - s: 22.4697756296 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.801314 - y: 4140708.16427 - z: 0.0 - theta: 1.27682999928 - kappa: 0.00645412422096 - s: 22.5697756162 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.830267 - y: 4140708.25999 - z: 0.0 - theta: 1.27747457675 - kappa: 0.00642905246739 - s: 22.6697756161 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.859137 - y: 4140708.35573 - z: 0.0 - theta: 1.27811545929 - kappa: 0.00640002364764 - s: 22.7697756093 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.887968 - y: 4140708.45148 - z: 0.0 - theta: 1.27875441216 - kappa: 0.00636916533202 - s: 22.8697755998 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.916725 - y: 4140708.54726 - z: 0.0 - theta: 1.27938946497 - kappa: 0.00633488084624 - s: 22.9697755998 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.94542 - y: 4140708.64306 - z: 0.0 - theta: 1.28002078936 - kappa: 0.00629784021035 - s: 23.069775588 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.974076 - y: 4140708.73886 - z: 0.0 - theta: 1.28064976551 - kappa: 0.00625908862635 - s: 23.1697755861 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.002639 - y: 4140708.8347 - z: 0.0 - theta: 1.28127245903 - kappa: 0.0062163554203 - s: 23.2697755863 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.031162 - y: 4140708.93054 - z: 0.0 - theta: 1.28189204404 - kappa: 0.00617190917668 - s: 23.3697755741 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.05963 - y: 4140709.0264 - z: 0.0 - theta: 1.28250756918 - kappa: 0.00612522562822 - s: 23.4697755741 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.08802 - y: 4140709.12229 - z: 0.0 - theta: 1.28311662446 - kappa: 0.00607540735196 - s: 23.5697755674 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.116374 - y: 4140709.21819 - z: 0.0 - theta: 1.28372245598 - kappa: 0.00602413143994 - s: 23.6697755591 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.144655 - y: 4140709.3141 - z: 0.0 - theta: 1.28432180918 - kappa: 0.00597007155771 - s: 23.7697755588 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.17288 - y: 4140709.41004 - z: 0.0 - theta: 1.28491558403 - kappa: 0.0059138704388 - s: 23.8697755483 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.201068 - y: 4140709.50598 - z: 0.0 - theta: 1.28550580586 - kappa: 0.00585631263901 - s: 23.9697755475 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.201068 - y: 4140709.50598 - z: 0.0 - theta: 1.28550580586 - kappa: 0.00585631263901 - s: 23.9697755475 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.229168 - y: 4140709.60195 - z: 0.0 - theta: 1.28608672212 - kappa: 0.00579554614118 - s: 24.0697755475 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.257231 - y: 4140709.69793 - z: 0.0 - theta: 1.28666348905 - kappa: 0.00573348846426 - s: 24.169775537 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.285242 - y: 4140709.79393 - z: 0.0 - theta: 1.28723440333 - kappa: 0.00566960957595 - s: 24.2697755369 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.313183 - y: 4140709.88995 - z: 0.0 - theta: 1.28779681837 - kappa: 0.0056033351261 - s: 24.3697755309 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.341089 - y: 4140709.98598 - z: 0.0 - theta: 1.28835499313 - kappa: 0.00553592361395 - s: 24.4697755244 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.368927 - y: 4140710.08202 - z: 0.0 - theta: 1.28890446318 - kappa: 0.00546628341504 - s: 24.5697755245 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.396715 - y: 4140710.17808 - z: 0.0 - theta: 1.28944709405 - kappa: 0.00539504915678 - s: 24.6697755152 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.42447 - y: 4140710.27416 - z: 0.0 - theta: 1.28998517095 - kappa: 0.00532275347071 - s: 24.7697755152 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.452143 - y: 4140710.37025 - z: 0.0 - theta: 1.29051149715 - kappa: 0.00524796077058 - s: 24.8697755149 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.479784 - y: 4140710.46635 - z: 0.0 - theta: 1.29103300962 - kappa: 0.00517223360399 - s: 24.9697755065 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.507377 - y: 4140710.56247 - z: 0.0 - theta: 1.2915470776 - kappa: 0.00509506293384 - s: 25.0697755068 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.534907 - y: 4140710.65861 - z: 0.0 - theta: 1.29205128555 - kappa: 0.0050161473412 - s: 25.1697755009 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.562407 - y: 4140710.75475 - z: 0.0 - theta: 1.29255047168 - kappa: 0.00493637895375 - s: 25.2697754965 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.589845 - y: 4140710.85091 - z: 0.0 - theta: 1.29303905513 - kappa: 0.004854898871 - s: 25.3697754966 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.61724 - y: 4140710.94709 - z: 0.0 - theta: 1.29352004399 - kappa: 0.00477230164779 - s: 25.4697754891 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.644603 - y: 4140711.04327 - z: 0.0 - theta: 1.29399538857 - kappa: 0.00468887416584 - s: 25.569775489 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.671896 - y: 4140711.13948 - z: 0.0 - theta: 1.29445762241 - kappa: 0.00460369299714 - s: 25.6697754882 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.699161 - y: 4140711.23569 - z: 0.0 - theta: 1.29491441083 - kappa: 0.00451784608243 - s: 25.7697754819 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.726381 - y: 4140711.33191 - z: 0.0 - theta: 1.29536239572 - kappa: 0.00443093153551 - s: 25.8697754822 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.75355 - y: 4140711.42815 - z: 0.0 - theta: 1.2957997142 - kappa: 0.00434284896199 - s: 25.9697754775 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.780692 - y: 4140711.5244 - z: 0.0 - theta: 1.29623143811 - kappa: 0.00425417814151 - s: 26.0697754745 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.807779 - y: 4140711.62066 - z: 0.0 - theta: 1.29665103371 - kappa: 0.00416431462207 - s: 26.1697754746 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.83483 - y: 4140711.71693 - z: 0.0 - theta: 1.29706267452 - kappa: 0.004073753651 - s: 26.2697754691 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.861853 - y: 4140711.81321 - z: 0.0 - theta: 1.29746774385 - kappa: 0.00398261651365 - s: 26.3697754691 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.888818 - y: 4140711.9095 - z: 0.0 - theta: 1.29785893692 - kappa: 0.00389040500025 - s: 26.469775468 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.915759 - y: 4140712.00581 - z: 0.0 - theta: 1.29824425351 - kappa: 0.00379778844008 - s: 26.5697754637 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.942661 - y: 4140712.10212 - z: 0.0 - theta: 1.29861971574 - kappa: 0.0037045066619 - s: 26.6697754639 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.969521 - y: 4140712.19845 - z: 0.0 - theta: 1.29898414548 - kappa: 0.00361058674584 - s: 26.7697754601 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.996359 - y: 4140712.29478 - z: 0.0 - theta: 1.29934260773 - kappa: 0.003516340256 - s: 26.8697754587 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.02315 - y: 4140712.39112 - z: 0.0 - theta: 1.29968786896 - kappa: 0.00342145526657 - s: 26.9697754584 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.049913 - y: 4140712.48747 - z: 0.0 - theta: 1.30002510795 - kappa: 0.00332625725773 - s: 27.0697754549 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.076652 - y: 4140712.58383 - z: 0.0 - theta: 1.30035510096 - kappa: 0.00323077651836 - s: 27.1697754549 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.103344 - y: 4140712.6802 - z: 0.0 - theta: 1.30067094649 - kappa: 0.00313487508884 - s: 27.2697754538 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.130018 - y: 4140712.77658 - z: 0.0 - theta: 1.30098068726 - kappa: 0.00303883759221 - s: 27.3697754513 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.156659 - y: 4140712.87297 - z: 0.0 - theta: 1.30127992006 - kappa: 0.00294258508997 - s: 27.4697754514 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.183268 - y: 4140712.96936 - z: 0.0 - theta: 1.30156811145 - kappa: 0.0028462096072 - s: 27.5697754491 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.20986 - y: 4140713.06576 - z: 0.0 - theta: 1.3018501697 - kappa: 0.00274978210133 - s: 27.6697754481 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.236413 - y: 4140713.16217 - z: 0.0 - theta: 1.3021184957 - kappa: 0.00265333109257 - s: 27.7697754482 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.262946 - y: 4140713.25859 - z: 0.0 - theta: 1.30237895803 - kappa: 0.00255694200383 - s: 27.8697754459 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.289459 - y: 4140713.35501 - z: 0.0 - theta: 1.30263183377 - kappa: 0.00246061265323 - s: 27.969775446 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.315938 - y: 4140713.45144 - z: 0.0 - theta: 1.30287073592 - kappa: 0.00236453029143 - s: 28.0697754453 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.342403 - y: 4140713.54787 - z: 0.0 - theta: 1.30310352513 - kappa: 0.00226860302921 - s: 28.1697754436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.368843 - y: 4140713.64431 - z: 0.0 - theta: 1.30332562596 - kappa: 0.00217297237304 - s: 28.2697754438 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.395259 - y: 4140713.74076 - z: 0.0 - theta: 1.30353700403 - kappa: 0.00207775089688 - s: 28.3697754426 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.421663 - y: 4140713.83721 - z: 0.0 - theta: 1.30374231204 - kappa: 0.00198277745232 - s: 28.4697754423 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.448039 - y: 4140713.93367 - z: 0.0 - theta: 1.3039339694 - kappa: 0.00188847246194 - s: 28.569775442 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.474401 - y: 4140714.03014 - z: 0.0 - theta: 1.30411813991 - kappa: 0.00179477949562 - s: 28.6697754411 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.500748 - y: 4140714.1266 - z: 0.0 - theta: 1.3042947716 - kappa: 0.00170170280079 - s: 28.769775441 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.527072 - y: 4140714.22308 - z: 0.0 - theta: 1.30445825515 - kappa: 0.00161154299562 - s: 28.8697754407 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.553387 - y: 4140714.31955 - z: 0.0 - theta: 1.30461606142 - kappa: 0.00152276590106 - s: 28.96977544 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.579684 - y: 4140714.41603 - z: 0.0 - theta: 1.3047639293 - kappa: 0.00143648785345 - s: 29.0697754401 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.605966 - y: 4140714.51252 - z: 0.0 - theta: 1.30490240696 - kappa: 0.00135264085854 - s: 29.1697754396 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.63224 - y: 4140714.609 - z: 0.0 - theta: 1.30503554039 - kappa: 0.0012701867089 - s: 29.2697754392 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.658496 - y: 4140714.70549 - z: 0.0 - theta: 1.30515689577 - kappa: 0.00119087278469 - s: 29.3697754392 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.684743 - y: 4140714.80199 - z: 0.0 - theta: 1.30527214853 - kappa: 0.00111323501426 - s: 29.469775439 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.710981 - y: 4140714.89848 - z: 0.0 - theta: 1.30538107715 - kappa: 0.00103733424017 - s: 29.5697754388 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.737205 - y: 4140714.99498 - z: 0.0 - theta: 1.30547943157 - kappa: 0.000964426640051 - s: 29.6697754386 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.763423 - y: 4140715.09149 - z: 0.0 - theta: 1.30557320229 - kappa: 0.000892845346414 - s: 29.7697754386 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.789631 - y: 4140715.18799 - z: 0.0 - theta: 1.30565889704 - kappa: 0.000823621164738 - s: 29.8697754387 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.815831 - y: 4140715.2845 - z: 0.0 - theta: 1.30573715498 - kappa: 0.000756636367437 - s: 29.9697754384 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.842026 - y: 4140715.38101 - z: 0.0 - theta: 1.30581114305 - kappa: 0.000690945931507 - s: 30.0697754381 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.868211 - y: 4140715.47752 - z: 0.0 - theta: 1.30587570733 - kappa: 0.000628185154533 - s: 30.1697754383 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.894391 - y: 4140715.57403 - z: 0.0 - theta: 1.30593552744 - kappa: 0.000566948227437 - s: 30.2697754383 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.920567 - y: 4140715.67054 - z: 0.0 - theta: 1.30599029317 - kappa: 0.000507334794305 - s: 30.3697754382 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.946736 - y: 4140715.76706 - z: 0.0 - theta: 1.30603685107 - kappa: 0.000450447765697 - s: 30.4697754379 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.972902 - y: 4140715.86357 - z: 0.0 - theta: 1.30607984219 - kappa: 0.000394774449722 - s: 30.569775438 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.999063 - y: 4140715.96009 - z: 0.0 - theta: 1.30611649795 - kappa: 0.000341279622039 - s: 30.6697754383 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.025222 - y: 4140716.05661 - z: 0.0 - theta: 1.30614749632 - kappa: 0.000289800945999 - s: 30.769775438 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.051378 - y: 4140716.15313 - z: 0.0 - theta: 1.30617521474 - kappa: 0.00023949931617 - s: 30.8697754381 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.077531 - y: 4140716.24965 - z: 0.0 - theta: 1.30619567949 - kappa: 0.000191880267668 - s: 30.969775438 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.103682 - y: 4140716.34617 - z: 0.0 - theta: 1.30621262792 - kappa: 0.000145612695154 - s: 31.0697754379 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.129833 - y: 4140716.44269 - z: 0.0 - theta: 1.30622569221 - kappa: 0.000100837975723 - s: 31.1697754379 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.155982 - y: 4140716.53921 - z: 0.0 - theta: 1.30623268906 - kappa: 5.84908262145e-05 - s: 31.2697754382 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.18213 - y: 4140716.63573 - z: 0.0 - theta: 1.30623704104 - kappa: 1.72321530018e-05 - s: 31.3697754381 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.208279 - y: 4140716.73225 - z: 0.0 - theta: 1.30623664419 - kappa: -2.20449360593e-05 - s: 31.4697754378 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.234427 - y: 4140716.82877 - z: 0.0 - theta: 1.30623218453 - kappa: -5.95501593088e-05 - s: 31.569775438 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.260576 - y: 4140716.92529 - z: 0.0 - theta: 1.30622533605 - kappa: -9.60058720313e-05 - s: 31.669775438 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.286727 - y: 4140717.02181 - z: 0.0 - theta: 1.30621319626 - kappa: -0.000130043952071 - s: 31.769775438 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.312878 - y: 4140717.11833 - z: 0.0 - theta: 1.3061986263 - kappa: -0.000162915569457 - s: 31.8697754382 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.339031 - y: 4140717.21485 - z: 0.0 - theta: 1.30618123349 - kappa: -0.000194432227504 - s: 31.9697754378 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.339031 - y: 4140717.21485 - z: 0.0 - theta: 1.30618123349 - kappa: -0.000194432227504 - s: 31.9697754378 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.365186 - y: 4140717.31137 - z: 0.0 - theta: 1.30615966747 - kappa: -0.000223837953012 - s: 32.0697754383 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.391342 - y: 4140717.40789 - z: 0.0 - theta: 1.30613627441 - kappa: -0.000252286106397 - s: 32.1697754382 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.417502 - y: 4140717.50441 - z: 0.0 - theta: 1.30610956023 - kappa: -0.000278957525972 - s: 32.2697754379 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.443664 - y: 4140717.60092 - z: 0.0 - theta: 1.30608017508 - kappa: -0.000304111359436 - s: 32.369775438 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.469828 - y: 4140717.69744 - z: 0.0 - theta: 1.30604918666 - kappa: -0.000328347195403 - s: 32.4697754381 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.495997 - y: 4140717.79395 - z: 0.0 - theta: 1.30601466066 - kappa: -0.000350437904455 - s: 32.5697754381 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.522169 - y: 4140717.89047 - z: 0.0 - theta: 1.30597863327 - kappa: -0.000371551382232 - s: 32.6697754379 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.548344 - y: 4140717.98698 - z: 0.0 - theta: 1.30594074109 - kappa: -0.000391451090209 - s: 32.769775438 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.574523 - y: 4140718.0835 - z: 0.0 - theta: 1.3059003051 - kappa: -0.000409561274996 - s: 32.8697754378 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.600706 - y: 4140718.18001 - z: 0.0 - theta: 1.30585875279 - kappa: -0.000426845724615 - s: 32.9697754378 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.626893 - y: 4140718.27652 - z: 0.0 - theta: 1.30581515503 - kappa: -0.000442561980193 - s: 33.0697754378 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.653084 - y: 4140718.37303 - z: 0.0 - theta: 1.30577006044 - kappa: -0.000457014641201 - s: 33.1697754376 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.679279 - y: 4140718.46953 - z: 0.0 - theta: 1.3057240411 - kappa: -0.000470680705566 - s: 33.2697754378 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.70548 - y: 4140718.56604 - z: 0.0 - theta: 1.3056760366 - kappa: -0.000482477523485 - s: 33.3697754376 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.731685 - y: 4140718.66255 - z: 0.0 - theta: 1.30562729069 - kappa: -0.00049348251052 - s: 33.4697754376 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.757894 - y: 4140718.75905 - z: 0.0 - theta: 1.30557754361 - kappa: -0.00050341821511 - s: 33.5697754375 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.784109 - y: 4140718.85555 - z: 0.0 - theta: 1.30552660673 - kappa: -0.000511879831812 - s: 33.6697754376 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.810328 - y: 4140718.95205 - z: 0.0 - theta: 1.30547515803 - kappa: -0.000519645672307 - s: 33.7697754376 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.836553 - y: 4140719.04855 - z: 0.0 - theta: 1.30542279507 - kappa: -0.000526055325954 - s: 33.8697754376 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.862783 - y: 4140719.14505 - z: 0.0 - theta: 1.30536988536 - kappa: -0.000531446614757 - s: 33.9697754375 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.889016 - y: 4140719.24155 - z: 0.0 - theta: 1.30531662409 - kappa: -0.000536180310122 - s: 34.0697754373 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.915257 - y: 4140719.33805 - z: 0.0 - theta: 1.30526273489 - kappa: -0.000539323882214 - s: 34.1697754374 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.941502 - y: 4140719.43454 - z: 0.0 - theta: 1.30520869291 - kappa: -0.000541850518644 - s: 34.2697754375 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.967752 - y: 4140719.53103 - z: 0.0 - theta: 1.30515442329 - kappa: -0.00054345789421 - s: 34.3697754376 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.994008 - y: 4140719.62753 - z: 0.0 - theta: 1.30510004295 - kappa: -0.000543892801929 - s: 34.4697754373 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.020268 - y: 4140719.72402 - z: 0.0 - theta: 1.30504565196 - kappa: -0.000543758745682 - s: 34.5697754375 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.046534 - y: 4140719.82051 - z: 0.0 - theta: 1.30499133547 - kappa: -0.00054248607623 - s: 34.6697754373 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.072806 - y: 4140719.91699 - z: 0.0 - theta: 1.30493720247 - kappa: -0.000540425428047 - s: 34.7697754374 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.099081 - y: 4140720.01348 - z: 0.0 - theta: 1.30488319903 - kappa: -0.000537808372656 - s: 34.8697754374 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.125364 - y: 4140720.10996 - z: 0.0 - theta: 1.30482970934 - kappa: -0.000533934888448 - s: 34.9697754373 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.15165 - y: 4140720.20645 - z: 0.0 - theta: 1.30477650168 - kappa: -0.000529579565528 - s: 35.069775437 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.177942 - y: 4140720.30293 - z: 0.0 - theta: 1.3047237464 - kappa: -0.000524463701482 - s: 35.1697754372 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.20424 - y: 4140720.39941 - z: 0.0 - theta: 1.30467169566 - kappa: -0.000518458412805 - s: 35.2697754371 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.230541 - y: 4140720.49589 - z: 0.0 - theta: 1.30462003562 - kappa: -0.000512007719435 - s: 35.3697754372 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.256848 - y: 4140720.59237 - z: 0.0 - theta: 1.30456929041 - kappa: -0.000504644687253 - s: 35.4697754371 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.28316 - y: 4140720.68884 - z: 0.0 - theta: 1.30451925303 - kappa: -0.000496705699423 - s: 35.569775437 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.309475 - y: 4140720.78532 - z: 0.0 - theta: 1.30446977339 - kappa: -0.000488312879315 - s: 35.669775437 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.335798 - y: 4140720.88179 - z: 0.0 - theta: 1.30442165388 - kappa: -0.000478997157392 - s: 35.7697754369 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.362123 - y: 4140720.97826 - z: 0.0 - theta: 1.30437414939 - kappa: -0.000469321291375 - s: 35.8697754369 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.388454 - y: 4140721.07473 - z: 0.0 - theta: 1.30432767187 - kappa: -0.000459055488575 - s: 35.969775437 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.414789 - y: 4140721.1712 - z: 0.0 - theta: 1.30428246989 - kappa: -0.000448162877086 - s: 36.069775437 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.441127 - y: 4140721.26767 - z: 0.0 - theta: 1.30423796331 - kappa: -0.000436945878187 - s: 36.169775437 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.467471 - y: 4140721.36414 - z: 0.0 - theta: 1.30419504937 - kappa: -0.00042505477196 - s: 36.2697754367 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.493819 - y: 4140721.46061 - z: 0.0 - theta: 1.30415318291 - kappa: -0.00041278028296 - s: 36.3697754369 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.520169 - y: 4140721.55707 - z: 0.0 - theta: 1.30411223646 - kappa: -0.0004001690669 - s: 36.4697754367 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.546526 - y: 4140721.65354 - z: 0.0 - theta: 1.30407321666 - kappa: -0.000386947286483 - s: 36.5697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.572884 - y: 4140721.75 - z: 0.0 - theta: 1.3040350497 - kappa: -0.000373485302195 - s: 36.6697754367 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.599247 - y: 4140721.84646 - z: 0.0 - theta: 1.30399836006 - kappa: -0.000359618473034 - s: 36.7697754369 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.625613 - y: 4140721.94293 - z: 0.0 - theta: 1.30396329727 - kappa: -0.000345367697811 - s: 36.8697754368 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.651982 - y: 4140722.03939 - z: 0.0 - theta: 1.30392913993 - kappa: -0.000330912233218 - s: 36.9697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.678355 - y: 4140722.13585 - z: 0.0 - theta: 1.30389707027 - kappa: -0.000316035575311 - s: 37.0697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.704731 - y: 4140722.2323 - z: 0.0 - theta: 1.30386622795 - kappa: -0.000300949691202 - s: 37.1697754368 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.731109 - y: 4140722.32876 - z: 0.0 - theta: 1.30383657975 - kappa: -0.000285660245635 - s: 37.2697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.757491 - y: 4140722.42522 - z: 0.0 - theta: 1.30380917096 - kappa: -0.000270053874367 - s: 37.3697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.783875 - y: 4140722.52168 - z: 0.0 - theta: 1.30378275877 - kappa: -0.000254326902719 - s: 37.4697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.810261 - y: 4140722.61813 - z: 0.0 - theta: 1.30375812704 - kappa: -0.000238396264177 - s: 37.5697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.83665 - y: 4140722.71459 - z: 0.0 - theta: 1.30373527931 - kappa: -0.000222307481192 - s: 37.6697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.86304 - y: 4140722.81104 - z: 0.0 - theta: 1.30371345302 - kappa: -0.000206133845109 - s: 37.7697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.889434 - y: 4140722.9075 - z: 0.0 - theta: 1.30369400319 - kappa: -0.000189808306641 - s: 37.8697754367 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.915828 - y: 4140723.00395 - z: 0.0 - theta: 1.30367582547 - kappa: -0.000173432025055 - s: 37.9697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.942224 - y: 4140723.1004 - z: 0.0 - theta: 1.30365900384 - kappa: -0.000157001650676 - s: 38.0697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.968623 - y: 4140723.19686 - z: 0.0 - theta: 1.30364450493 - kappa: -0.000140533516207 - s: 38.1697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.995022 - y: 4140723.29331 - z: 0.0 - theta: 1.30363105188 - kappa: -0.000124065514151 - s: 38.2697754368 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.021422 - y: 4140723.38976 - z: 0.0 - theta: 1.30361951151 - kappa: -0.000107611388865 - s: 38.3697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.047824 - y: 4140723.48621 - z: 0.0 - theta: 1.30360974079 - kappa: -9.12119837251e-05 - s: 38.4697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.074226 - y: 4140723.58267 - z: 0.0 - theta: 1.30360101245 - kappa: -7.48491226502e-05 - s: 38.5697754367 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.100629 - y: 4140723.67912 - z: 0.0 - theta: 1.30359471995 - kappa: -5.86202826917e-05 - s: 38.6697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.127032 - y: 4140723.77557 - z: 0.0 - theta: 1.30358963001 - kappa: -4.24874656926e-05 - s: 38.7697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.153436 - y: 4140723.87202 - z: 0.0 - theta: 1.30358592389 - kappa: -2.64651444422e-05 - s: 38.8697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.179841 - y: 4140723.96847 - z: 0.0 - theta: 1.30358441326 - kappa: -1.06749471386e-05 - s: 38.9697754367 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.206245 - y: 4140724.06492 - z: 0.0 - theta: 1.30358390133 - kappa: 4.99201766785e-06 - s: 39.0697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.232649 - y: 4140724.16137 - z: 0.0 - theta: 1.30358524258 - kappa: 2.04124647565e-05 - s: 39.1697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.259054 - y: 4140724.25782 - z: 0.0 - theta: 1.30358818408 - kappa: 3.55734006038e-05 - s: 39.2697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.285457 - y: 4140724.35428 - z: 0.0 - theta: 1.30359209156 - kappa: 5.05737306676e-05 - s: 39.3697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.311861 - y: 4140724.45073 - z: 0.0 - theta: 1.30359824552 - kappa: 6.51389818652e-05 - s: 39.4697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.338263 - y: 4140724.54718 - z: 0.0 - theta: 1.30360543211 - kappa: 7.9468615601e-05 - s: 39.5697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.364665 - y: 4140724.64363 - z: 0.0 - theta: 1.30361387902 - kappa: 9.35106828326e-05 - s: 39.6697754367 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.391066 - y: 4140724.74008 - z: 0.0 - theta: 1.30362419468 - kappa: 0.000107054792585 - s: 39.7697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.417466 - y: 4140724.83653 - z: 0.0 - theta: 1.30363536257 - kappa: 0.000120349496209 - s: 39.8697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.443865 - y: 4140724.93299 - z: 0.0 - theta: 1.30364811748 - kappa: 0.000133152858332 - s: 39.9697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.443865 - y: 4140724.93299 - z: 0.0 - theta: 1.30364811748 - kappa: 0.000133152858332 - s: 39.9697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.470262 - y: 4140725.02944 - z: 0.0 - theta: 1.30366215647 - kappa: 0.000145495270835 - s: 40.0697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.496659 - y: 4140725.12589 - z: 0.0 - theta: 1.30367698459 - kappa: 0.00015754988321 - s: 40.1697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.523053 - y: 4140725.22235 - z: 0.0 - theta: 1.30369360841 - kappa: 0.000168856633572 - s: 40.2697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.549446 - y: 4140725.3188 - z: 0.0 - theta: 1.30371100022 - kappa: 0.000179791062481 - s: 40.3697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.575838 - y: 4140725.41526 - z: 0.0 - theta: 1.30372936805 - kappa: 0.000190252301039 - s: 40.4697754367 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.602227 - y: 4140725.51171 - z: 0.0 - theta: 1.30374908079 - kappa: 0.000199949719193 - s: 40.5697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.628614 - y: 4140725.60817 - z: 0.0 - theta: 1.30376939679 - kappa: 0.000209268650965 - s: 40.6697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.655 - y: 4140725.70462 - z: 0.0 - theta: 1.30379081991 - kappa: 0.000217843663486 - s: 40.7697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.681383 - y: 4140725.80108 - z: 0.0 - theta: 1.30381306427 - kappa: 0.000225756251192 - s: 40.8697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.707765 - y: 4140725.89754 - z: 0.0 - theta: 1.30383581741 - kappa: 0.000233251234435 - s: 40.9697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.734143 - y: 4140725.99399 - z: 0.0 - theta: 1.30385964954 - kappa: 0.000239679053256 - s: 41.0697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.76052 - y: 4140726.09045 - z: 0.0 - theta: 1.30388388832 - kappa: 0.000245597914696 - s: 41.1697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.786894 - y: 4140726.18691 - z: 0.0 - theta: 1.30390865655 - kappa: 0.00025085415794 - s: 41.2697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.813266 - y: 4140726.28337 - z: 0.0 - theta: 1.30393404438 - kappa: 0.000255079325569 - s: 41.3697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.839636 - y: 4140726.37983 - z: 0.0 - theta: 1.30395968165 - kappa: 0.000258795432357 - s: 41.4697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.866002 - y: 4140726.47629 - z: 0.0 - theta: 1.30398573318 - kappa: 0.000261512753626 - s: 41.5697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.892366 - y: 4140726.57276 - z: 0.0 - theta: 1.30401199108 - kappa: 0.000263365664155 - s: 41.6697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.918729 - y: 4140726.66922 - z: 0.0 - theta: 1.30403837224 - kappa: 0.000264670445277 - s: 41.7697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.945088 - y: 4140726.76568 - z: 0.0 - theta: 1.30406485254 - kappa: 0.000264588747701 - s: 41.8697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.971444 - y: 4140726.86215 - z: 0.0 - theta: 1.30409127648 - kappa: 0.000263892997867 - s: 41.9697754366 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.997799 - y: 4140726.95861 - z: 0.0 - theta: 1.30411762609 - kappa: 0.000262387291549 - s: 42.0697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.02415 - y: 4140727.05508 - z: 0.0 - theta: 1.30414373004 - kappa: 0.000260445593827 - s: 42.1697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.0505 - y: 4140727.15154 - z: 0.0 - theta: 1.30416970483 - kappa: 0.000258361824528 - s: 42.2697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.076846 - y: 4140727.24801 - z: 0.0 - theta: 1.3041954151 - kappa: 0.000256100083797 - s: 42.3697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.10319 - y: 4140727.34448 - z: 0.0 - theta: 1.30422088617 - kappa: 0.000253698658596 - s: 42.4697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.129532 - y: 4140727.44095 - z: 0.0 - theta: 1.30424620449 - kappa: 0.000251208899826 - s: 42.5697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.155871 - y: 4140727.53741 - z: 0.0 - theta: 1.30427112023 - kappa: 0.000248512843267 - s: 42.6697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.182208 - y: 4140727.63388 - z: 0.0 - theta: 1.30429584404 - kappa: 0.000245729744021 - s: 42.7697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.208543 - y: 4140727.73035 - z: 0.0 - theta: 1.30432031184 - kappa: 0.00024283053717 - s: 42.8697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.234875 - y: 4140727.82683 - z: 0.0 - theta: 1.30434438255 - kappa: 0.0002397708761 - s: 42.9697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.261205 - y: 4140727.9233 - z: 0.0 - theta: 1.30436825487 - kappa: 0.00023663593953 - s: 43.0697754365 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.287532 - y: 4140728.01977 - z: 0.0 - theta: 1.30439173288 - kappa: 0.000233358308926 - s: 43.1697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.313857 - y: 4140728.11624 - z: 0.0 - theta: 1.30441487354 - kappa: 0.000229970912521 - s: 43.2697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.340181 - y: 4140728.21271 - z: 0.0 - theta: 1.30443779852 - kappa: 0.0002265137912 - s: 43.3697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.366501 - y: 4140728.30919 - z: 0.0 - theta: 1.30446017132 - kappa: 0.000222894636488 - s: 43.4697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.39282 - y: 4140728.40566 - z: 0.0 - theta: 1.3044822932 - kappa: 0.000219208939519 - s: 43.5697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.419137 - y: 4140728.50214 - z: 0.0 - theta: 1.30450407377 - kappa: 0.00021543273662 - s: 43.6697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.445451 - y: 4140728.59861 - z: 0.0 - theta: 1.3045253472 - kappa: 0.000211534841129 - s: 43.7697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.471764 - y: 4140728.69509 - z: 0.0 - theta: 1.3045463698 - kappa: 0.000207579965826 - s: 43.8697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.498075 - y: 4140728.79157 - z: 0.0 - theta: 1.30456689392 - kappa: 0.000203516805578 - s: 43.969775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.524383 - y: 4140728.88804 - z: 0.0 - theta: 1.30458700857 - kappa: 0.000199373132982 - s: 44.0697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.55069 - y: 4140728.98452 - z: 0.0 - theta: 1.30460685954 - kappa: 0.000195177840807 - s: 44.1697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.576995 - y: 4140729.081 - z: 0.0 - theta: 1.30462604076 - kappa: 0.000190863483082 - s: 44.2697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.603298 - y: 4140729.17748 - z: 0.0 - theta: 1.30464493116 - kappa: 0.000186502466667 - s: 44.3697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.629599 - y: 4140729.27396 - z: 0.0 - theta: 1.30466341205 - kappa: 0.00018207575148 - s: 44.4697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.655898 - y: 4140729.37044 - z: 0.0 - theta: 1.3046813094 - kappa: 0.000177564785189 - s: 44.5697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.682196 - y: 4140729.46692 - z: 0.0 - theta: 1.30469891801 - kappa: 0.000173014443641 - s: 44.6697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.708492 - y: 4140729.5634 - z: 0.0 - theta: 1.30471594748 - kappa: 0.000168389146144 - s: 44.7697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.734786 - y: 4140729.65988 - z: 0.0 - theta: 1.30473252191 - kappa: 0.000163711332483 - s: 44.8697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.761079 - y: 4140729.75636 - z: 0.0 - theta: 1.30474879903 - kappa: 0.000158999257314 - s: 44.9697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.78737 - y: 4140729.85284 - z: 0.0 - theta: 1.3047643186 - kappa: 0.000154209749011 - s: 45.0697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.81366 - y: 4140729.94933 - z: 0.0 - theta: 1.30477952699 - kappa: 0.000149392323572 - s: 45.1697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.839949 - y: 4140730.04581 - z: 0.0 - theta: 1.3047942731 - kappa: 0.000144533423553 - s: 45.2697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.866235 - y: 4140730.14229 - z: 0.0 - theta: 1.30480839266 - kappa: 0.000139625769049 - s: 45.3697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.892521 - y: 4140730.23878 - z: 0.0 - theta: 1.30482219944 - kappa: 0.000134695544165 - s: 45.4697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.918805 - y: 4140730.33526 - z: 0.0 - theta: 1.30483536832 - kappa: 0.000129722946266 - s: 45.5697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.945088 - y: 4140730.43174 - z: 0.0 - theta: 1.30484806274 - kappa: 0.000124724028787 - s: 45.6697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.97137 - y: 4140730.52823 - z: 0.0 - theta: 1.30486043054 - kappa: 0.000119706993231 - s: 45.7697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.997651 - y: 4140730.62471 - z: 0.0 - theta: 1.30487199992 - kappa: 0.000114654124495 - s: 45.8697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.02393 - y: 4140730.7212 - z: 0.0 - theta: 1.30488324736 - kappa: 0.000109590025355 - s: 45.969775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.050209 - y: 4140730.81768 - z: 0.0 - theta: 1.30489399462 - kappa: 0.000104508625565 - s: 46.0697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.076486 - y: 4140730.91417 - z: 0.0 - theta: 1.30490410422 - kappa: 9.9411579716e-05 - s: 46.1697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.102763 - y: 4140731.01065 - z: 0.0 - theta: 1.30491389007 - kappa: 9.43080162353e-05 - s: 46.2697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.129039 - y: 4140731.10714 - z: 0.0 - theta: 1.30492300099 - kappa: 8.91945513042e-05 - s: 46.3697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.155313 - y: 4140731.20363 - z: 0.0 - theta: 1.30493164235 - kappa: 8.40787687177e-05 - s: 46.4697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.181587 - y: 4140731.30011 - z: 0.0 - theta: 1.3049399324 - kappa: 7.89612521456e-05 - s: 46.5697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.20786 - y: 4140731.3966 - z: 0.0 - theta: 1.30494742818 - kappa: 7.3847482584e-05 - s: 46.6697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.234133 - y: 4140731.49309 - z: 0.0 - theta: 1.30495459985 - kappa: 6.87381039033e-05 - s: 46.769775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.260405 - y: 4140731.58958 - z: 0.0 - theta: 1.30496124918 - kappa: 6.36362153142e-05 - s: 46.8697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.286676 - y: 4140731.68606 - z: 0.0 - theta: 1.30496727898 - kappa: 5.85491830446e-05 - s: 46.9697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.312947 - y: 4140731.78255 - z: 0.0 - theta: 1.30497298644 - kappa: 5.34710891284e-05 - s: 47.0697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.339217 - y: 4140731.87904 - z: 0.0 - theta: 1.30497800484 - kappa: 4.84162087002e-05 - s: 47.169775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.365486 - y: 4140731.97553 - z: 0.0 - theta: 1.30498258009 - kappa: 4.33806126553e-05 - s: 47.2697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.391756 - y: 4140732.07201 - z: 0.0 - theta: 1.30498678984 - kappa: 3.83609215964e-05 - s: 47.369775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.418025 - y: 4140732.1685 - z: 0.0 - theta: 1.30499024303 - kappa: 3.33817208143e-05 - s: 47.4697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.444293 - y: 4140732.26499 - z: 0.0 - theta: 1.30499338199 - kappa: 2.84220828739e-05 - s: 47.5697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.470561 - y: 4140732.36148 - z: 0.0 - theta: 1.30499599437 - kappa: 2.34960147185e-05 - s: 47.669775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.496829 - y: 4140732.45797 - z: 0.0 - theta: 1.30499803102 - kappa: 1.86127071334e-05 - s: 47.769775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.523097 - y: 4140732.55445 - z: 0.0 - theta: 1.30499975871 - kappa: 1.37534186967e-05 - s: 47.8697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.549365 - y: 4140732.65094 - z: 0.0 - theta: 1.30500080857 - kappa: 8.95184960926e-06 - s: 47.9697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.549365 - y: 4140732.65094 - z: 0.0 - theta: 1.30500080857 - kappa: 8.95184960926e-06 - s: 47.9697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.575633 - y: 4140732.74743 - z: 0.0 - theta: 1.30500145957 - kappa: 4.1887557089e-06 - s: 48.0697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.6019 - y: 4140732.84392 - z: 0.0 - theta: 1.30500174435 - kappa: -5.39011780544e-07 - s: 48.1697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.628168 - y: 4140732.94041 - z: 0.0 - theta: 1.30500133987 - kappa: -5.19214432193e-06 - s: 48.2697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.654436 - y: 4140733.0369 - z: 0.0 - theta: 1.30500064279 - kappa: -9.81074489531e-06 - s: 48.3697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.680703 - y: 4140733.13339 - z: 0.0 - theta: 1.30499943599 - kappa: -1.43678183432e-05 - s: 48.4697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.706971 - y: 4140733.22987 - z: 0.0 - theta: 1.30499771905 - kappa: -1.88566168683e-05 - s: 48.5697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.733239 - y: 4140733.32636 - z: 0.0 - theta: 1.30499571818 - kappa: -2.33064378103e-05 - s: 48.6697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.759508 - y: 4140733.42285 - z: 0.0 - theta: 1.30499307952 - kappa: -2.7661995126e-05 - s: 48.769775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.785776 - y: 4140733.51934 - z: 0.0 - theta: 1.30499010025 - kappa: -3.1962131253e-05 - s: 48.8697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.812045 - y: 4140733.61583 - z: 0.0 - theta: 1.30498677115 - kappa: -3.62053430565e-05 - s: 48.9697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.838314 - y: 4140733.71231 - z: 0.0 - theta: 1.30498284574 - kappa: -4.03419503415e-05 - s: 49.069775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.864584 - y: 4140733.8088 - z: 0.0 - theta: 1.30497866102 - kappa: -4.44290028382e-05 - s: 49.1697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.890854 - y: 4140733.90529 - z: 0.0 - theta: 1.30497400831 - kappa: -4.84242541004e-05 - s: 49.2697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.917125 - y: 4140734.00178 - z: 0.0 - theta: 1.30496892897 - kappa: -5.23277336256e-05 - s: 49.369775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.943396 - y: 4140734.09827 - z: 0.0 - theta: 1.30496360244 - kappa: -5.61771453114e-05 - s: 49.469775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.969667 - y: 4140734.19475 - z: 0.0 - theta: 1.3049577108 - kappa: -5.98932384073e-05 - s: 49.5697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.995939 - y: 4140734.29124 - z: 0.0 - theta: 1.30495154709 - kappa: -6.3538889075e-05 - s: 49.6697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.022212 - y: 4140734.38773 - z: 0.0 - theta: 1.30494507088 - kappa: -6.71036261783e-05 - s: 49.7697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.048486 - y: 4140734.48421 - z: 0.0 - theta: 1.30493811343 - kappa: -7.05314080192e-05 - s: 49.8697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.07476 - y: 4140734.5807 - z: 0.0 - theta: 1.30493094181 - kappa: -7.38943201458e-05 - s: 49.9697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.101034 - y: 4140734.67719 - z: 0.0 - theta: 1.30492337262 - kappa: -7.7132607578e-05 - s: 50.0697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.12731 - y: 4140734.77367 - z: 0.0 - theta: 1.30491547496 - kappa: -8.02571470083e-05 - s: 50.1697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.153586 - y: 4140734.87016 - z: 0.0 - theta: 1.30490737884 - kappa: -8.33121688891e-05 - s: 50.2697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.179863 - y: 4140734.96664 - z: 0.0 - theta: 1.30489882671 - kappa: -8.61920789874e-05 - s: 50.3697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.206141 - y: 4140735.06313 - z: 0.0 - theta: 1.30489007832 - kappa: -8.89880031381e-05 - s: 50.4697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.23242 - y: 4140735.15962 - z: 0.0 - theta: 1.3048810792 - kappa: -9.16766391368e-05 - s: 50.5697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.2587 - y: 4140735.2561 - z: 0.0 - theta: 1.30487173342 - kappa: -9.41989534668e-05 - s: 50.6697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.28498 - y: 4140735.35259 - z: 0.0 - theta: 1.30486223089 - kappa: -9.6640598993e-05 - s: 50.7697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.311262 - y: 4140735.44907 - z: 0.0 - theta: 1.30485243325 - kappa: -9.89222756203e-05 - s: 50.8697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.337545 - y: 4140735.54555 - z: 0.0 - theta: 1.30484241767 - kappa: -0.000101069169884 - s: 50.9697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.363828 - y: 4140735.64204 - z: 0.0 - theta: 1.30483226482 - kappa: -0.000103130565203 - s: 51.0697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.390112 - y: 4140735.73852 - z: 0.0 - theta: 1.30482180465 - kappa: -0.000104972401671 - s: 51.1697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.416398 - y: 4140735.83501 - z: 0.0 - theta: 1.30481122937 - kappa: -0.000106717644772 - s: 51.269775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.442684 - y: 4140735.93149 - z: 0.0 - theta: 1.30480049224 - kappa: -0.000108327104773 - s: 51.3697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.468972 - y: 4140736.02797 - z: 0.0 - theta: 1.3047895612 - kappa: -0.000109741211658 - s: 51.4697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.49526 - y: 4140736.12445 - z: 0.0 - theta: 1.30477854368 - kappa: -0.000111058251863 - s: 51.5697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.52155 - y: 4140736.22094 - z: 0.0 - theta: 1.30476736791 - kappa: -0.000112177797399 - s: 51.669775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.547841 - y: 4140736.31742 - z: 0.0 - theta: 1.30475609617 - kappa: -0.000113141863149 - s: 51.7697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.574133 - y: 4140736.4139 - z: 0.0 - theta: 1.30474476139 - kappa: -0.000114003774784 - s: 51.8697754364 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.600426 - y: 4140736.51038 - z: 0.0 - theta: 1.30473330964 - kappa: -0.000114599598777 - s: 51.9697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.62672 - y: 4140736.60686 - z: 0.0 - theta: 1.30472182869 - kappa: -0.000115086512842 - s: 52.0697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.653015 - y: 4140736.70334 - z: 0.0 - theta: 1.30471030329 - kappa: -0.00011540757925 - s: 52.1697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.679311 - y: 4140736.79983 - z: 0.0 - theta: 1.304698755 - kappa: -0.000115504016621 - s: 52.269775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.705609 - y: 4140736.89631 - z: 0.0 - theta: 1.30468720399 - kappa: -0.000115486389779 - s: 52.3697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.731907 - y: 4140736.99279 - z: 0.0 - theta: 1.30467566694 - kappa: -0.000115232244612 - s: 52.4697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.758207 - y: 4140737.08927 - z: 0.0 - theta: 1.30466416786 - kappa: -0.000114801710242 - s: 52.5697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.784507 - y: 4140737.18574 - z: 0.0 - theta: 1.30465269552 - kappa: -0.000114246988563 - s: 52.669775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.810809 - y: 4140737.28222 - z: 0.0 - theta: 1.30464133494 - kappa: -0.000113387929837 - s: 52.7697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.837112 - y: 4140737.3787 - z: 0.0 - theta: 1.30463003866 - kappa: -0.000112402637331 - s: 52.8697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.863416 - y: 4140737.47518 - z: 0.0 - theta: 1.30461884369 - kappa: -0.000111220699957 - s: 52.969775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.889721 - y: 4140737.57166 - z: 0.0 - theta: 1.30460781658 - kappa: -0.000109784227181 - s: 53.069775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.916027 - y: 4140737.66814 - z: 0.0 - theta: 1.30459688456 - kappa: -0.000108216248313 - s: 53.1697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.942335 - y: 4140737.76461 - z: 0.0 - theta: 1.30458617346 - kappa: -0.000106372259539 - s: 53.2697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.968643 - y: 4140737.86109 - z: 0.0 - theta: 1.304575648 - kappa: -0.000104330393827 - s: 53.3697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.994952 - y: 4140737.95757 - z: 0.0 - theta: 1.30456525972 - kappa: -0.000102142313111 - s: 53.4697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.021262 - y: 4140738.05405 - z: 0.0 - theta: 1.30455523993 - kappa: -9.96108649959e-05 - s: 53.5697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.047573 - y: 4140738.15052 - z: 0.0 - theta: 1.30454539222 - kappa: -9.69356376921e-05 - s: 53.6697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.073886 - y: 4140738.247 - z: 0.0 - theta: 1.30453581827 - kappa: -9.40333147117e-05 - s: 53.769775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.100199 - y: 4140738.34347 - z: 0.0 - theta: 1.30452662508 - kappa: -9.08459048512e-05 - s: 53.869775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.126512 - y: 4140738.43995 - z: 0.0 - theta: 1.30451763911 - kappa: -8.75094610654e-05 - s: 53.9697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.152827 - y: 4140738.53643 - z: 0.0 - theta: 1.3045091136 - kappa: -8.38583748907e-05 - s: 54.0697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.179143 - y: 4140738.6329 - z: 0.0 - theta: 1.30450093766 - kappa: -7.99873464915e-05 - s: 54.169775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.205459 - y: 4140738.72938 - z: 0.0 - theta: 1.30449302756 - kappa: -7.5949062807e-05 - s: 54.2697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.231776 - y: 4140738.82585 - z: 0.0 - theta: 1.30448577319 - kappa: -7.15281362635e-05 - s: 54.3697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.258094 - y: 4140738.92233 - z: 0.0 - theta: 1.30447881294 - kappa: -6.69461876318e-05 - s: 54.4697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.284412 - y: 4140739.0188 - z: 0.0 - theta: 1.30447232281 - kappa: -6.21082557541e-05 - s: 54.5697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.310731 - y: 4140739.11528 - z: 0.0 - theta: 1.30446645082 - kappa: -5.69546348943e-05 - s: 54.6697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.337051 - y: 4140739.21175 - z: 0.0 - theta: 1.30446091232 - kappa: -5.16349741312e-05 - s: 54.7697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.363371 - y: 4140739.30822 - z: 0.0 - theta: 1.3044561032 - kappa: -4.59644082814e-05 - s: 54.8697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.389691 - y: 4140739.4047 - z: 0.0 - theta: 1.304451826 - kappa: -4.00518678175e-05 - s: 54.9697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.416012 - y: 4140739.50117 - z: 0.0 - theta: 1.30444795854 - kappa: -3.39529362624e-05 - s: 55.069775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.442333 - y: 4140739.59765 - z: 0.0 - theta: 1.30444506606 - kappa: -2.74332644807e-05 - s: 55.1697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.468655 - y: 4140739.69412 - z: 0.0 - theta: 1.30444260328 - kappa: -2.07402567837e-05 - s: 55.269775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.494976 - y: 4140739.79059 - z: 0.0 - theta: 1.30444082767 - kappa: -1.37718042935e-05 - s: 55.3697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.521298 - y: 4140739.88707 - z: 0.0 - theta: 1.30443990862 - kappa: -6.83613679571e-06 - s: 55.4697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.54762 - y: 4140739.98354 - z: 0.0 - theta: 1.30443943173 - kappa: 4.01538841375e-08 - s: 55.569775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.573942 - y: 4140740.08001 - z: 0.0 - theta: 1.3044398611 - kappa: 6.66542018297e-06 - s: 55.6697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.600263 - y: 4140740.17649 - z: 0.0 - theta: 1.30444087493 - kappa: 1.31241750301e-05 - s: 55.7697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.626585 - y: 4140740.27296 - z: 0.0 - theta: 1.30444234073 - kappa: 1.94541648712e-05 - s: 55.869775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.652907 - y: 4140740.36943 - z: 0.0 - theta: 1.30444476031 - kappa: 2.5504516932e-05 - s: 55.9697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.652907 - y: 4140740.36943 - z: 0.0 - theta: 1.30444476031 - kappa: 2.5504516932e-05 - s: 55.9697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.679228 - y: 4140740.46591 - z: 0.0 - theta: 1.30444755884 - kappa: 3.14407641722e-05 - s: 56.0697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.705549 - y: 4140740.56238 - z: 0.0 - theta: 1.30445095787 - kappa: 3.71957057009e-05 - s: 56.1697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.731869 - y: 4140740.65886 - z: 0.0 - theta: 1.30445504282 - kappa: 4.27372320355e-05 - s: 56.2697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.758189 - y: 4140740.75533 - z: 0.0 - theta: 1.30445947971 - kappa: 4.81679004833e-05 - s: 56.3697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.784509 - y: 4140740.8518 - z: 0.0 - theta: 1.30446463145 - kappa: 5.33691806082e-05 - s: 56.4697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.810828 - y: 4140740.94828 - z: 0.0 - theta: 1.30447023954 - kappa: 5.84193073441e-05 - s: 56.569775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.837147 - y: 4140741.04475 - z: 0.0 - theta: 1.30447620213 - kappa: 6.33520131635e-05 - s: 56.669775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.863465 - y: 4140741.14123 - z: 0.0 - theta: 1.30448290415 - kappa: 6.80316575146e-05 - s: 56.769775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.889782 - y: 4140741.2377 - z: 0.0 - theta: 1.30448989805 - kappa: 7.26083205052e-05 - s: 56.8697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.916099 - y: 4140741.33418 - z: 0.0 - theta: 1.30449735578 - kappa: 7.70207943355e-05 - s: 56.9697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.942415 - y: 4140741.43065 - z: 0.0 - theta: 1.30450533573 - kappa: 8.12418291245e-05 - s: 57.0697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.96873 - y: 4140741.52713 - z: 0.0 - theta: 1.3045135832 - kappa: 8.53633922782e-05 - s: 57.1697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.995044 - y: 4140741.6236 - z: 0.0 - theta: 1.30452237341 - kappa: 8.92786433304e-05 - s: 57.2697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.021357 - y: 4140741.72008 - z: 0.0 - theta: 1.30453150348 - kappa: 9.30597369251e-05 - s: 57.3697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.04767 - y: 4140741.81656 - z: 0.0 - theta: 1.30454090126 - kappa: 9.67351499361e-05 - s: 57.4697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.073981 - y: 4140741.91303 - z: 0.0 - theta: 1.30455084496 - kappa: 0.000100186405113 - s: 57.5697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.100292 - y: 4140742.00951 - z: 0.0 - theta: 1.30456100262 - kappa: 0.000103546517741 - s: 57.669775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.126602 - y: 4140742.10599 - z: 0.0 - theta: 1.30457150289 - kappa: 0.000106760036701 - s: 57.7697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.15291 - y: 4140742.20246 - z: 0.0 - theta: 1.30458237848 - kappa: 0.00010980585303 - s: 57.8697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.179218 - y: 4140742.29894 - z: 0.0 - theta: 1.30459344659 - kappa: 0.000112764172855 - s: 57.9697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.205524 - y: 4140742.39542 - z: 0.0 - theta: 1.30460490546 - kappa: 0.000115539755202 - s: 58.069775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.23183 - y: 4140742.4919 - z: 0.0 - theta: 1.30461660043 - kappa: 0.000118199474075 - s: 58.1697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.258134 - y: 4140742.58838 - z: 0.0 - theta: 1.30462848704 - kappa: 0.000120765145853 - s: 58.269775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.284437 - y: 4140742.68485 - z: 0.0 - theta: 1.30464074854 - kappa: 0.000123137188636 - s: 58.3697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.310739 - y: 4140742.78133 - z: 0.0 - theta: 1.30465315582 - kappa: 0.000125430275668 - s: 58.4697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.337039 - y: 4140742.87781 - z: 0.0 - theta: 1.30466579962 - kappa: 0.000127594348336 - s: 58.5697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.363339 - y: 4140742.97429 - z: 0.0 - theta: 1.30467869033 - kappa: 0.000129615615556 - s: 58.6697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.389637 - y: 4140743.07077 - z: 0.0 - theta: 1.30469170839 - kappa: 0.000131561613415 - s: 58.769775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.415934 - y: 4140743.16725 - z: 0.0 - theta: 1.30470498477 - kappa: 0.000133348476656 - s: 58.8697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.442229 - y: 4140743.26373 - z: 0.0 - theta: 1.30471840785 - kappa: 0.00013503855226 - s: 58.9697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.468524 - y: 4140743.36022 - z: 0.0 - theta: 1.30473195621 - kappa: 0.000136645978143 - s: 59.069775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.494817 - y: 4140743.4567 - z: 0.0 - theta: 1.30474573276 - kappa: 0.000138091143632 - s: 59.1697754363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.521108 - y: 4140743.55318 - z: 0.0 - theta: 1.3047595969 - kappa: 0.000139469614677 - s: 59.2697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.547399 - y: 4140743.64966 - z: 0.0 - theta: 1.30477360549 - kappa: 0.000140736514233 - s: 59.3697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.573687 - y: 4140743.74614 - z: 0.0 - theta: 1.30478775273 - kappa: 0.000141885974118 - s: 59.469775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.599975 - y: 4140743.84263 - z: 0.0 - theta: 1.30480197212 - kappa: 0.000142972398582 - s: 59.5697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.626261 - y: 4140743.93911 - z: 0.0 - theta: 1.30481633577 - kappa: 0.000143923221533 - s: 59.669775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.652546 - y: 4140744.03559 - z: 0.0 - theta: 1.3048307726 - kappa: 0.000144796497994 - s: 59.7697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.67883 - y: 4140744.13208 - z: 0.0 - theta: 1.30484527677 - kappa: 0.000145598436514 - s: 59.8697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.705111 - y: 4140744.22856 - z: 0.0 - theta: 1.30485988828 - kappa: 0.000146269521727 - s: 59.9697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.731392 - y: 4140744.32505 - z: 0.0 - theta: 1.30487453911 - kappa: 0.000146886059639 - s: 60.0697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.757671 - y: 4140744.42153 - z: 0.0 - theta: 1.30488925515 - kappa: 0.000147408489137 - s: 60.1697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.783949 - y: 4140744.51802 - z: 0.0 - theta: 1.30490402297 - kappa: 0.000147838595461 - s: 60.2697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.810225 - y: 4140744.6145 - z: 0.0 - theta: 1.30491881766 - kappa: 0.000148217742834 - s: 60.3697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.8365 - y: 4140744.71099 - z: 0.0 - theta: 1.3049336598 - kappa: 0.000148484925699 - s: 60.4697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.862774 - y: 4140744.80748 - z: 0.0 - theta: 1.30494851845 - kappa: 0.000148693317722 - s: 60.569775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.889046 - y: 4140744.90396 - z: 0.0 - theta: 1.30496339389 - kappa: 0.000148841938828 - s: 60.6697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.915316 - y: 4140745.00045 - z: 0.0 - theta: 1.30497828246 - kappa: 0.000148890388236 - s: 60.7697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.941585 - y: 4140745.09694 - z: 0.0 - theta: 1.30499317184 - kappa: 0.000148896206577 - s: 60.8697754358 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.967853 - y: 4140745.19343 - z: 0.0 - theta: 1.30500805919 - kappa: 0.000148825743675 - s: 60.969775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.994119 - y: 4140745.28992 - z: 0.0 - theta: 1.30502293334 - kappa: 0.00014868713233 - s: 61.0697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.020384 - y: 4140745.38641 - z: 0.0 - theta: 1.30503779871 - kappa: 0.000148509384098 - s: 61.1697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.046647 - y: 4140745.4829 - z: 0.0 - theta: 1.30505263143 - kappa: 0.000148243768604 - s: 61.2697754358 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.07291 - y: 4140745.57939 - z: 0.0 - theta: 1.30506744098 - kappa: 0.000147936996248 - s: 61.3697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.09917 - y: 4140745.67588 - z: 0.0 - theta: 1.30508222381 - kappa: 0.000147582731007 - s: 61.469775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.125429 - y: 4140745.77237 - z: 0.0 - theta: 1.30509695206 - kappa: 0.000147157558092 - s: 61.569775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.151687 - y: 4140745.86886 - z: 0.0 - theta: 1.30511165212 - kappa: 0.000146701380253 - s: 61.6697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.177943 - y: 4140745.96535 - z: 0.0 - theta: 1.30512629478 - kappa: 0.000146187569784 - s: 61.769775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.204198 - y: 4140746.06184 - z: 0.0 - theta: 1.30514088068 - kappa: 0.000145628209043 - s: 61.8697754358 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.230452 - y: 4140746.15833 - z: 0.0 - theta: 1.30515543155 - kappa: 0.000145041234981 - s: 61.9697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.256704 - y: 4140746.25483 - z: 0.0 - theta: 1.30516988648 - kappa: 0.000144391417854 - s: 62.0697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.282954 - y: 4140746.35132 - z: 0.0 - theta: 1.30518429482 - kappa: 0.000143716365109 - s: 62.1697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.309204 - y: 4140746.44781 - z: 0.0 - theta: 1.3051986404 - kappa: 0.000143007321444 - s: 62.269775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.335451 - y: 4140746.54431 - z: 0.0 - theta: 1.30521288914 - kappa: 0.000142254612245 - s: 62.369775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.361698 - y: 4140746.6408 - z: 0.0 - theta: 1.30522708984 - kappa: 0.000141482218157 - s: 62.4697754362 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.387943 - y: 4140746.7373 - z: 0.0 - theta: 1.30524119043 - kappa: 0.000140672175945 - s: 62.5697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.414187 - y: 4140746.83379 - z: 0.0 - theta: 1.30525521074 - kappa: 0.000139837042708 - s: 62.6697754357 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.44043 - y: 4140746.93029 - z: 0.0 - theta: 1.30526917755 - kappa: 0.000138985189672 - s: 62.7697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.466671 - y: 4140747.02678 - z: 0.0 - theta: 1.30528300556 - kappa: 0.000138097619007 - s: 62.869775436 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.49291 - y: 4140747.12328 - z: 0.0 - theta: 1.30529677682 - kappa: 0.000137198163084 - s: 62.9697754358 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.519149 - y: 4140747.21977 - z: 0.0 - theta: 1.30531045814 - kappa: 0.000136279971123 - s: 63.0697754358 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.545386 - y: 4140747.31627 - z: 0.0 - theta: 1.30532402378 - kappa: 0.000135342817714 - s: 63.1697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.571622 - y: 4140747.41277 - z: 0.0 - theta: 1.30533753038 - kappa: 0.000134397006972 - s: 63.2697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.597857 - y: 4140747.50926 - z: 0.0 - theta: 1.30535090846 - kappa: 0.000133435399504 - s: 63.3697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.62409 - y: 4140747.60576 - z: 0.0 - theta: 1.30536420046 - kappa: 0.000132466531908 - s: 63.4697754358 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.650322 - y: 4140747.70226 - z: 0.0 - theta: 1.30537742257 - kappa: 0.000131491769865 - s: 63.5697754358 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.676552 - y: 4140747.79876 - z: 0.0 - theta: 1.30539049622 - kappa: 0.000130509970312 - s: 63.6697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.702782 - y: 4140747.89526 - z: 0.0 - theta: 1.30540350823 - kappa: 0.000129527134983 - s: 63.7697754361 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.72901 - y: 4140747.99176 - z: 0.0 - theta: 1.30541641424 - kappa: 0.000128543088933 - s: 63.8697754358 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.755237 - y: 4140748.08826 - z: 0.0 - theta: 1.30542920626 - kappa: 0.000127561808264 - s: 63.9697754359 - dkappa: 0.0 - ddkappa: 0.0 - } - } - path { - name: "QP_SPLINE_PATH_OPTIMIZER" - path_point { - x: 586344.789896 - y: 4140686.67017 - z: 0.0 - theta: 2.33886644583 - kappa: -0.125962565489 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.337652 - y: 4140687.18157 - z: 0.0 - theta: 2.25007358985 - kappa: -0.133341731022 - s: 0.682684387579 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.932212 - y: 4140687.73429 - z: 0.0 - theta: 2.15735669342 - kappa: -0.136343368909 - s: 1.36816159024 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.578477 - y: 4140688.32448 - z: 0.0 - theta: 2.06365017989 - kappa: -0.135269457578 - s: 2.05624450918 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.280522 - y: 4140688.94703 - z: 0.0 - theta: 1.97161831188 - kappa: -0.130905285718 - s: 2.74642281072 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.039314 - y: 4140689.59527 - z: 0.0 - theta: 1.88322745981 - kappa: -0.124276201205 - s: 3.43808549546 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.854336 - y: 4140690.26264 - z: 0.0 - theta: 1.79991028229 - kappa: -0.116030519834 - s: 4.1306113363 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.723582 - y: 4140690.94299 - z: 0.0 - theta: 1.72267663469 - kappa: -0.106767040739 - s: 4.82341857508 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.643424 - y: 4140691.63098 - z: 0.0 - theta: 1.65208080798 - kappa: -0.0969883513675 - s: 5.51606004331 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.609456 - y: 4140692.32231 - z: 0.0 - theta: 1.58834386362 - kappa: -0.0870736018357 - s: 6.20821894474 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.617527 - y: 4140693.01373 - z: 0.0 - theta: 1.53154825293 - kappa: -0.0772996596051 - s: 6.89968602334 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.662295 - y: 4140693.70296 - z: 0.0 - theta: 1.48144144221 - kappa: -0.0678454946552 - s: 7.59036913751 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.739126 - y: 4140694.38855 - z: 0.0 - theta: 1.43775352509 - kappa: -0.0588346192356 - s: 8.28025633089 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.843638 - y: 4140695.06971 - z: 0.0 - theta: 1.4001496672 - kappa: -0.0503531663175 - s: 8.96938763844 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586342.971744 - y: 4140695.74614 - z: 0.0 - theta: 1.36824887726 - kappa: -0.0424653154747 - s: 9.65783734893 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.119406 - y: 4140696.41797 - z: 0.0 - theta: 1.34157504966 - kappa: -0.0352189724372 - s: 10.3457023068 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.283172 - y: 4140697.08556 - z: 0.0 - theta: 1.31965907054 - kappa: -0.0286659439325 - s: 11.0330914511 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.459969 - y: 4140697.74945 - z: 0.0 - theta: 1.30199622215 - kappa: -0.0228646518487 - s: 11.7201126823 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.647112 - y: 4140698.41021 - z: 0.0 - theta: 1.28803948829 - kappa: -0.0178868255325 - s: 12.4068645772 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586343.842407 - y: 4140699.06841 - z: 0.0 - theta: 1.27721599251 - kappa: -0.0138273340882 - s: 13.0934280936 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.043935 - y: 4140699.7246 - z: 0.0 - theta: 1.26883287315 - kappa: -0.0108054579541 - s: 13.7798633913 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.250291 - y: 4140700.37918 - z: 0.0 - theta: 1.26226076997 - kappa: -0.00835635184893 - s: 14.4662075834 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.46037 - y: 4140701.03251 - z: 0.0 - theta: 1.25731094419 - kappa: -0.00607383478363 - s: 15.1524783829 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.673194 - y: 4140701.68488 - z: 0.0 - theta: 1.25384714303 - kappa: -0.0040911047066 - s: 15.8386834787 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586344.88782 - y: 4140702.33659 - z: 0.0 - theta: 1.25168184319 - kappa: -0.00224249240823 - s: 16.5248289021 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.103436 - y: 4140702.98792 - z: 0.0 - theta: 1.25073222997 - kappa: -0.000529124901461 - s: 17.2109176176 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.319276 - y: 4140703.63912 - z: 0.0 - theta: 1.25091291788 - kappa: 0.00100802046437 - s: 17.8969549884 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.534662 - y: 4140704.29042 - z: 0.0 - theta: 1.252078717 - kappa: 0.00235775614182 - s: 18.5829512575 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.749006 - y: 4140704.94204 - z: 0.0 - theta: 1.25410016007 - kappa: 0.00351616571431 - s: 19.2689179464 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586345.961754 - y: 4140705.59417 - z: 0.0 - theta: 1.25685671603 - kappa: 0.00448161422612 - s: 19.9548667019 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.172512 - y: 4140706.24693 - z: 0.0 - theta: 1.26021032759 - kappa: 0.00526617919738 - s: 20.6408092582 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.380934 - y: 4140706.90044 - z: 0.0 - theta: 1.26404110902 - kappa: 0.00587717083898 - s: 21.3267549711 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.586705 - y: 4140707.55481 - z: 0.0 - theta: 1.26823349041 - kappa: 0.00631835524982 - s: 22.0127104548 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.789653 - y: 4140708.21007 - z: 0.0 - theta: 1.27267209531 - kappa: 0.00659589571539 - s: 22.6986800293 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586346.989657 - y: 4140708.86625 - z: 0.0 - theta: 1.27724611445 - kappa: 0.00671117105352 - s: 23.3846654843 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.186647 - y: 4140709.52336 - z: 0.0 - theta: 1.28184293967 - kappa: 0.00666161945496 - s: 24.0706665921 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.380626 - y: 4140710.18138 - z: 0.0 - theta: 1.28634630496 - kappa: 0.00644246400358 - s: 24.7566818296 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.571717 - y: 4140710.84025 - z: 0.0 - theta: 1.29064101389 - kappa: 0.00604802796646 - s: 25.4427091105 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.760089 - y: 4140711.49992 - z: 0.0 - theta: 1.29460435011 - kappa: 0.00546997082281 - s: 26.1287462525 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586347.945982 - y: 4140712.1603 - z: 0.0 - theta: 1.29810286888 - kappa: 0.0046988809368 - s: 26.8147914168 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.129755 - y: 4140712.82128 - z: 0.0 - theta: 1.30100347473 - kappa: 0.00372655400773 - s: 27.5008432685 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.311846 - y: 4140713.48273 - z: 0.0 - theta: 1.30320638344 - kappa: 0.00270688385522 - s: 28.1869010064 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.492708 - y: 4140714.14453 - z: 0.0 - theta: 1.30474051757 - kappa: 0.00177613785698 - s: 28.8729642472 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.672751 - y: 4140714.80655 - z: 0.0 - theta: 1.30567730194 - kappa: 0.000988725106649 - s: 29.5590327132 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586348.852345 - y: 4140715.4687 - z: 0.0 - theta: 1.3061320288 - kappa: 0.000363552938819 - s: 30.2451056548 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.031769 - y: 4140716.1309 - z: 0.0 - theta: 1.30621085564 - kappa: -0.000112946795471 - s: 30.9311823898 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.211239 - y: 4140716.79309 - z: 0.0 - theta: 1.30600876567 - kappa: -0.000454469779025 - s: 31.617262251 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.390912 - y: 4140717.45523 - z: 0.0 - theta: 1.30561400527 - kappa: -0.000676318036187 - s: 32.303344512 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.570889 - y: 4140718.11729 - z: 0.0 - theta: 1.30510415752 - kappa: -0.000794181163055 - s: 32.9894284544 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.751222 - y: 4140718.77925 - z: 0.0 - theta: 1.30454499273 - kappa: -0.000823263021917 - s: 33.6755134199 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586349.931928 - y: 4140719.44111 - z: 0.0 - theta: 1.3039917707 - kappa: -0.000778033499431 - s: 34.3615988249 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.112985 - y: 4140720.10287 - z: 0.0 - theta: 1.30349059623 - kappa: -0.000674420653968 - s: 35.0476841659 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.294345 - y: 4140720.76455 - z: 0.0 - theta: 1.30307619553 - kappa: -0.000527296459258 - s: 35.7337690765 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.475944 - y: 4140721.42617 - z: 0.0 - theta: 1.30277350275 - kappa: -0.0003512888536 - s: 36.4198533132 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.657702 - y: 4140722.08773 - z: 0.0 - theta: 1.30259760932 - kappa: -0.000161092705712 - s: 37.1059367489 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586350.839533 - y: 4140722.74928 - z: 0.0 - theta: 1.30255254044 - kappa: 2.84239700266e-05 - s: 37.7920193647 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.021351 - y: 4140723.41084 - z: 0.0 - theta: 1.30263276912 - kappa: 0.000202658579785 - s: 38.4781012209 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.203078 - y: 4140724.07241 - z: 0.0 - theta: 1.30282359901 - kappa: 0.000346838392818 - s: 39.1641824245 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.384649 - y: 4140724.73403 - z: 0.0 - theta: 1.303098761 - kappa: 0.000446063055211 - s: 39.8502631161 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.56602 - y: 4140725.3957 - z: 0.0 - theta: 1.30342205363 - kappa: 0.000485439319949 - s: 40.536343439 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.747174 - y: 4140726.05743 - z: 0.0 - theta: 1.30374748121 - kappa: 0.000450149490773 - s: 41.222423522 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586351.928124 - y: 4140726.71922 - z: 0.0 - theta: 1.30403028266 - kappa: 0.000371345113056 - s: 41.9085034845 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.108906 - y: 4140727.38106 - z: 0.0 - theta: 1.30425391012 - kappa: 0.000281319754965 - s: 42.5945834415 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.28956 - y: 4140728.04292 - z: 0.0 - theta: 1.30441920703 - kappa: 0.000202499693413 - s: 43.2806634481 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.470122 - y: 4140728.70482 - z: 0.0 - theta: 1.3045346126 - kappa: 0.000136024321911 - s: 43.9667435239 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.650621 - y: 4140729.36673 - z: 0.0 - theta: 1.30460840902 - kappa: 8.11033397551e-05 - s: 44.6528236853 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586352.831084 - y: 4140730.02865 - z: 0.0 - theta: 1.30464833849 - kappa: 3.68848427421e-05 - s: 45.3389039505 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.011529 - y: 4140730.69057 - z: 0.0 - theta: 1.30466139467 - kappa: 2.45251404698e-06 - s: 46.0249843321 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.191973 - y: 4140731.3525 - z: 0.0 - theta: 1.30465370169 - kappa: -2.31373917266e-05 - s: 46.7110648375 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.372427 - y: 4140732.01443 - z: 0.0 - theta: 1.30463131324 - kappa: -4.08436741978e-05 - s: 47.3971454634 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.552899 - y: 4140732.67634 - z: 0.0 - theta: 1.30459929004 - kappa: -5.16707692655e-05 - s: 48.0832262002 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.733395 - y: 4140733.33826 - z: 0.0 - theta: 1.30456183922 - kappa: -5.66128097055e-05 - s: 48.7693070297 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586353.913916 - y: 4140734.00016 - z: 0.0 - theta: 1.30452266214 - kappa: -5.66677221687e-05 - s: 49.4553879297 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.094463 - y: 4140734.66206 - z: 0.0 - theta: 1.30448490612 - kappa: -5.28622424648e-05 - s: 50.1414688735 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.275033 - y: 4140735.32395 - z: 0.0 - theta: 1.30445085383 - kappa: -4.61897308095e-05 - s: 50.8275498376 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.455625 - y: 4140735.98584 - z: 0.0 - theta: 1.30442201774 - kappa: -3.75305208557e-05 - s: 51.5136308008 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.636234 - y: 4140736.64772 - z: 0.0 - theta: 1.30439954107 - kappa: -2.78717034865e-05 - s: 52.1997117474 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.816855 - y: 4140737.3096 - z: 0.0 - theta: 1.30438377117 - kappa: -1.81436162416e-05 - s: 52.8857926663 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586354.997484 - y: 4140737.97148 - z: 0.0 - theta: 1.30437444177 - kappa: -9.20111234334e-06 - s: 53.5718735534 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.178118 - y: 4140738.63335 - z: 0.0 - theta: 1.30437084109 - kappa: -1.83472308675e-06 - s: 54.2579544061 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.358752 - y: 4140739.29523 - z: 0.0 - theta: 1.30437139512 - kappa: 3.10870622811e-06 - s: 54.9440352215 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.539385 - y: 4140739.9571 - z: 0.0 - theta: 1.30437775392 - kappa: 1.86733961945e-05 - s: 55.630115997 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.720009 - y: 4140740.61898 - z: 0.0 - theta: 1.30439770898 - kappa: 3.90091950075e-05 - s: 56.3161967308 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586355.900616 - y: 4140741.28086 - z: 0.0 - theta: 1.30443106417 - kappa: 5.78113124867e-05 - s: 57.0022774321 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.081196 - y: 4140741.94275 - z: 0.0 - theta: 1.30447669076 - kappa: 7.50441255748e-05 - s: 57.6883581115 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.261742 - y: 4140742.60465 - z: 0.0 - theta: 1.3045335861 - kappa: 9.06485571065e-05 - s: 58.3744387761 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.442247 - y: 4140743.26656 - z: 0.0 - theta: 1.30460069205 - kappa: 0.000104580011316 - s: 59.0605194341 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.622705 - y: 4140743.92848 - z: 0.0 - theta: 1.30467676607 - kappa: 0.00011690874544 - s: 59.7466000939 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.80311 - y: 4140744.59042 - z: 0.0 - theta: 1.30476073358 - kappa: 0.000127628865968 - s: 60.4326807602 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586356.983457 - y: 4140745.25237 - z: 0.0 - theta: 1.30485150203 - kappa: 0.000136699953451 - s: 61.1187614368 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.163741 - y: 4140745.91434 - z: 0.0 - theta: 1.30494792912 - kappa: 0.000144133533918 - s: 61.8048421267 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.343961 - y: 4140746.57633 - z: 0.0 - theta: 1.30504889988 - kappa: 0.000149915978219 - s: 62.49092283 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.524112 - y: 4140747.23833 - z: 0.0 - theta: 1.30515327547 - kappa: 0.000154003723616 - s: 63.1770035458 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.704194 - y: 4140747.90036 - z: 0.0 - theta: 1.30525981686 - kappa: 0.00015634137328 - s: 63.8630842716 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586357.884204 - y: 4140748.5624 - z: 0.0 - theta: 1.30536736141 - kappa: 0.00015688282913 - s: 64.5491650061 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586358.064143 - y: 4140749.22447 - z: 0.0 - theta: 1.30547465617 - kappa: 0.000155554835607 - s: 65.2352457472 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586358.244012 - y: 4140749.88655 - z: 0.0 - theta: 1.30558038421 - kappa: 0.000152276707951 - s: 65.9213264917 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586358.423812 - y: 4140750.54865 - z: 0.0 - theta: 1.30568315623 - kappa: 0.000146996678832 - s: 66.6074072387 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586358.603545 - y: 4140751.21077 - z: 0.0 - theta: 1.30578159376 - kappa: 0.000139600967928 - s: 67.2934879881 - dkappa: 0.0 - ddkappa: 0.0 - } - path_point { - x: 586358.783214 - y: 4140751.87291 - z: 0.0 - theta: 1.30587419787 - kappa: 0.000129988330456 - s: 67.9795687376 - dkappa: 0.0 - ddkappa: 0.0 - } - } - path { - name: "planning_reference_line" - path_point { - x: 586354.851779 - y: 4140682.50333 - theta: 3.04143117449 - kappa: -0.0377727216066 - dkappa: 0.000782748420965 - } - path_point { - x: 586354.67161 - y: 4140682.52206 - theta: 3.03460072479 - kappa: -0.0376492934331 - dkappa: 0.000577866014129 - } - path_point { - x: 586354.49219 - y: 4140682.54194 - theta: 3.02781257453 - kappa: -0.037564357492 - dkappa: 0.000361132732999 - } - path_point { - x: 586354.313504 - y: 4140682.56298 - theta: 3.02105864008 - kappa: -0.0375196967852 - dkappa: 0.00013344049758 - } - path_point { - x: 586354.135538 - y: 4140682.58514 - theta: 3.01433068906 - kappa: -0.0375169330394 - dkappa: -0.000104361848064 - } - path_point { - x: 586353.958279 - y: 4140682.60842 - theta: 3.00762036346 - kappa: -0.0375575363564 - dkappa: -0.000351474098679 - } - path_point { - x: 586353.781718 - y: 4140682.63282 - theta: 3.00091920118 - kappa: -0.0376428353221 - dkappa: -0.000607148843456 - } - path_point { - x: 586353.605846 - y: 4140682.65833 - theta: 2.99421865598 - kappa: -0.037774027375 - dkappa: -0.000870694309939 - } - path_point { - x: 586353.430658 - y: 4140682.68494 - theta: 2.98751011587 - kappa: -0.0379521892508 - dkappa: -0.00114147599807 - } - path_point { - x: 586353.256149 - y: 4140682.71264 - theta: 2.98078492003 - kappa: -0.0381782873391 - dkappa: -0.00141891720872 - } - path_point { - x: 586353.082317 - y: 4140682.74144 - theta: 2.97403437419 - kappa: -0.038453187805 - dkappa: -0.00170249857016 - } - path_point { - x: 586352.909163 - y: 4140682.77133 - theta: 2.96724976479 - kappa: -0.0387776663445 - dkappa: -0.00199175666245 - } - path_point { - x: 586352.736686 - y: 4140682.80232 - theta: 2.96042237169 - kappa: -0.0391524174596 - dkappa: -0.00228628183384 - } - path_point { - x: 586352.564891 - y: 4140682.8344 - theta: 2.9535434798 - kappa: -0.0395780631514 - dkappa: -0.00258571529619 - } - path_point { - x: 586352.393783 - y: 4140682.86757 - theta: 2.94660438955 - kappa: -0.0400551609416 - dkappa: -0.00288974557773 - } - path_point { - x: 586352.223367 - y: 4140682.90185 - theta: 2.93959642644 - kappa: -0.0405842111478 - dkappa: -0.00319810440251 - } - path_point { - x: 586352.053652 - y: 4140682.93723 - theta: 2.93251094961 - kappa: -0.0411656633433 - dkappa: -0.00351056205622 - } - path_point { - x: 586351.884647 - y: 4140682.97372 - theta: 2.92533935981 - kappa: -0.0417999219423 - dkappa: -0.00382692228849 - } - path_point { - x: 586351.716363 - y: 4140683.01133 - theta: 2.91807310655 - kappa: -0.0424873508604 - dkappa: -0.00414701679264 - } - path_point { - x: 586351.548814 - y: 4140683.05007 - theta: 2.9107036949 - kappa: -0.0432282772024 - dkappa: -0.00447069929477 - } - path_point { - x: 586351.382013 - y: 4140683.08993 - theta: 2.90322269178 - kappa: -0.0440229939368 - dkappa: -0.00479783927613 - } - path_point { - x: 586351.215975 - y: 4140683.13095 - theta: 2.89562173206 - kappa: -0.0448717615201 - dkappa: -0.00512831534541 - } - path_point { - x: 586351.050717 - y: 4140683.17311 - theta: 2.8878925245 - kappa: -0.0457748084343 - dkappa: -0.00546200827138 - } - path_point { - x: 586350.886257 - y: 4140683.21644 - theta: 2.88002685768 - kappa: -0.0467323306071 - dkappa: -0.00579879368143 - } - path_point { - x: 586350.722614 - y: 4140683.26095 - theta: 2.87201660605 - kappa: -0.0477444896832 - dkappa: -0.006138534428 - } - path_point { - x: 586350.559809 - y: 4140683.30665 - theta: 2.86385373628 - kappa: -0.0488114101179 - dkappa: -0.00648107262293 - } - path_point { - x: 586350.397862 - y: 4140683.35355 - theta: 2.85553031389 - kappa: -0.0499331750654 - dkappa: -0.00682622133952 - } - path_point { - x: 586350.236796 - y: 4140683.40166 - theta: 2.84703851051 - kappa: -0.0511098210382 - dkappa: -0.00717375598374 - } - path_point { - x: 586350.076636 - y: 4140683.45101 - theta: 2.83837061171 - kappa: -0.0523413313119 - dkappa: -0.00752340534015 - } - path_point { - x: 586349.917404 - y: 4140683.5016 - theta: 2.82951902559 - kappa: -0.053627628059 - dkappa: -0.00787484230375 - } - path_point { - x: 586349.759128 - y: 4140683.55345 - theta: 2.8204762923 - kappa: -0.0549685631938 - dkappa: -0.00822767431825 - } - path_point { - x: 586349.601832 - y: 4140683.60657 - theta: 2.81123509457 - kappa: -0.0563639079218 - dkappa: -0.00858143355225 - } - path_point { - x: 586349.445545 - y: 4140683.66099 - theta: 2.80178826929 - kappa: -0.0578133409897 - dkappa: -0.00893556685964 - } - path_point { - x: 586349.290294 - y: 4140683.71672 - theta: 2.79212882049 - kappa: -0.0593164356457 - dkappa: -0.00928942558763 - } - path_point { - x: 586349.136108 - y: 4140683.77377 - theta: 2.7822499335 - kappa: -0.0608726453301 - dkappa: -0.00964225531724 - } - path_point { - x: 586348.983017 - y: 4140683.83216 - theta: 2.7721449907 - kappa: -0.0624812881313 - dkappa: -0.00999318564486 - } - path_point { - x: 586348.83105 - y: 4140683.8919 - theta: 2.76180758877 - kappa: -0.0641415300609 - dkappa: -0.0103412201412 - } - path_point { - x: 586348.680238 - y: 4140683.95302 - theta: 2.75123155753 - kappa: -0.0658523672233 - dkappa: -0.0106852266552 - } - path_point { - x: 586348.530613 - y: 4140684.01554 - theta: 2.74041098054 - kappa: -0.06761260698 - dkappa: -0.0110239281632 - } - path_point { - x: 586348.382205 - y: 4140684.07946 - theta: 2.72934021745 - kappa: -0.0694208482382 - dkappa: -0.0113558944026 - } - path_point { - x: 586348.235049 - y: 4140684.1448 - theta: 2.71801392808 - kappa: -0.0712754610269 - dkappa: -0.0116795345638 - } - path_point { - x: 586348.089175 - y: 4140684.21159 - theta: 2.70642709838 - kappa: -0.0731745655596 - dkappa: -0.0119930913567 - } - path_point { - x: 586347.944617 - y: 4140684.27983 - theta: 2.69457506816 - kappa: -0.0751160110266 - dkappa: -0.0122946368058 - } - path_point { - x: 586347.801409 - y: 4140684.34955 - theta: 2.68245356054 - kappa: -0.0770973544 - dkappa: -0.0125820701638 - } - path_point { - x: 586347.659583 - y: 4140684.42075 - theta: 2.67005871318 - kappa: -0.0791158395869 - dkappa: -0.0128531183673 - } - path_point { - x: 586347.519175 - y: 4140684.49347 - theta: 2.65738711102 - kappa: -0.0811683773125 - dkappa: -0.0131053394843 - } - path_point { - x: 586347.380217 - y: 4140684.5677 - theta: 2.64443582055 - kappa: -0.0832515261668 - dkappa: -0.0133361296209 - } - path_point { - x: 586347.242744 - y: 4140684.64347 - theta: 2.63120242527 - kappa: -0.0853614752992 - dkappa: -0.013542733757 - } - path_point { - x: 586347.106791 - y: 4140684.7208 - theta: 2.6176850623 - kappa: -0.0874940292922 - dkappa: -0.0137222609732 - } - path_point { - x: 586346.972391 - y: 4140684.79969 - theta: 2.60388245972 - kappa: -0.089644595792 - dkappa: -0.0138717044959 - } - path_point { - x: 586346.839579 - y: 4140684.88015 - theta: 2.58979397433 - kappa: -0.0918081765061 - dkappa: -0.0139879669396 - } - path_point { - x: 586346.70839 - y: 4140684.96221 - theta: 2.57541962954 - kappa: -0.0939793622124 - dkappa: -0.0140678910411 - } - path_point { - x: 586346.578856 - y: 4140685.04587 - theta: 2.56076015295 - kappa: -0.0961523324325 - dkappa: -0.0141082960738 - } - path_point { - x: 586346.451013 - y: 4140685.13115 - theta: 2.54581701304 - kappa: -0.098320860427 - dkappa: -0.014106019992 - } - path_point { - x: 586346.324893 - y: 4140685.21806 - theta: 2.53059245459 - kappa: -0.100478324148 - dkappa: -0.0140579671821 - } - path_point { - x: 586346.200531 - y: 4140685.3066 - theta: 2.51508953212 - kappa: -0.102617723744 - dkappa: -0.0139611614992 - } - path_point { - x: 586346.07796 - y: 4140685.39679 - theta: 2.49931214092 - kappa: -0.104731706145 - dkappa: -0.0138128040375 - } - path_point { - x: 586345.957213 - y: 4140685.48864 - theta: 2.48326504482 - kappa: -0.106812597165 - dkappa: -0.0136103348345 - } - path_point { - x: 586345.838322 - y: 4140685.58215 - theta: 2.46695390024 - kappa: -0.108852441439 - dkappa: -0.0133514974427 - } - path_point { - x: 586345.72132 - y: 4140685.67733 - theta: 2.45038527569 - kappa: -0.110843050349 - dkappa: -0.0130344050369 - } - path_point { - x: 586345.606238 - y: 4140685.77418 - theta: 2.43356666618 - kappa: -0.112776057945 - dkappa: -0.0126576064663 - } - path_point { - x: 586345.493107 - y: 4140685.87271 - theta: 2.41650650175 - kappa: -0.114642984618 - dkappa: -0.0122201504261 - } - path_point { - x: 586345.381957 - y: 4140685.97292 - theta: 2.39921414969 - kappa: -0.116435308117 - dkappa: -0.0117216457331 - } - path_point { - x: 586345.27282 - y: 4140686.07482 - theta: 2.38169990972 - kappa: -0.118144541205 - dkappa: -0.0111623155545 - } - path_point { - x: 586345.165723 - y: 4140686.17841 - theta: 2.36397500169 - kappa: -0.119762315038 - dkappa: -0.0105430433838 - } - path_point { - x: 586345.060696 - y: 4140686.28368 - theta: 2.34605154551 - kappa: -0.121280467096 - dkappa: -0.00986540858713 - } - path_point { - x: 586344.957766 - y: 4140686.39064 - theta: 2.32794253285 - kappa: -0.122691132261 - dkappa: -0.00913170948101 - } - path_point { - x: 586344.856961 - y: 4140686.49927 - theta: 2.30966179056 - kappa: -0.12398683542 - dkappa: -0.00834497214409 - } - path_point { - x: 586344.758306 - y: 4140686.60959 - theta: 2.29122393574 - kappa: -0.125160583806 - dkappa: -0.00750894351794 - } - path_point { - x: 586344.661827 - y: 4140686.72157 - theta: 2.27264432265 - kappa: -0.126205957154 - dkappa: -0.00662806780738 - } - path_point { - x: 586344.567548 - y: 4140686.83522 - theta: 2.25393898164 - kappa: -0.127117193674 - dkappa: -0.00570744573393 - } - path_point { - x: 586344.475493 - y: 4140686.95053 - theta: 2.2351245506 - kappa: -0.127889269832 - dkappa: -0.00475277680612 - } - path_point { - x: 586344.385683 - y: 4140687.06748 - theta: 2.21621819958 - kappa: -0.128517971984 - dkappa: -0.00377028541919 - } - path_point { - x: 586344.298139 - y: 4140687.18606 - theta: 2.19723754928 - kappa: -0.128999958057 - dkappa: -0.00276663225073 - } - path_point { - x: 586344.212883 - y: 4140687.30626 - theta: 2.17820058423 - kappa: -0.129332807634 - dkappa: -0.00174881304112 - } - path_point { - x: 586344.129933 - y: 4140687.42807 - theta: 2.15912556195 - kappa: -0.129515059103 - dkappa: -0.000724047402816 - } - path_point { - x: 586344.049305 - y: 4140687.55146 - theta: 2.14003091884 - kappa: -0.129546232819 - dkappa: 0.000300339245285 - } - path_point { - x: 586343.971018 - y: 4140687.67641 - theta: 2.12093517432 - kappa: -0.12942683962 - dkappa: 0.00131703720105 - } - path_point { - x: 586343.895085 - y: 4140687.80292 - theta: 2.1018568343 - kappa: -0.1291583744 - dkappa: 0.00231887387369 - } - path_point { - x: 586343.821521 - y: 4140687.93095 - theta: 2.08281429527 - kappa: -0.128743294887 - dkappa: 0.00329893145952 - } - path_point { - x: 586343.750338 - y: 4140688.06047 - theta: 2.06382575036 - kappa: -0.128184986141 - dkappa: 0.00425065746925 - } - path_point { - x: 586343.681545 - y: 4140688.19147 - theta: 2.04490909837 - kappa: -0.127487711684 - dkappa: 0.00516796499374 - } - path_point { - x: 586343.615154 - y: 4140688.3239 - theta: 2.02608185723 - kappa: -0.126656552526 - dkappa: 0.00604532004681 - } - path_point { - x: 586343.551171 - y: 4140688.45775 - theta: 2.00736108258 - kappa: -0.125697335615 - dkappa: 0.00687781388288 - } - path_point { - x: 586343.489603 - y: 4140688.59298 - theta: 1.98876296911 - kappa: -0.124624182489 - dkappa: 0.00754087041084 - } - path_point { - x: 586343.430454 - y: 4140688.72955 - theta: 1.97030102361 - kappa: -0.123456187299 - dkappa: 0.00814979826561 - } - path_point { - x: 586343.373726 - y: 4140688.86742 - theta: 1.95198744611 - kappa: -0.122197614265 - dkappa: 0.00872783398487 - } - path_point { - x: 586343.319419 - y: 4140689.00657 - theta: 1.93383399482 - kappa: -0.120852800534 - dkappa: 0.00927250673001 - } - path_point { - x: 586343.267533 - y: 4140689.14695 - theta: 1.91585194933 - kappa: -0.119426424418 - dkappa: 0.00978176271575 - } - path_point { - x: 586343.218064 - y: 4140689.28854 - theta: 1.89805207606 - kappa: -0.117923450356 - dkappa: 0.0102539711687 - } - path_point { - x: 586343.171006 - y: 4140689.43129 - theta: 1.88044459891 - kappa: -0.116349073236 - dkappa: 0.0106879226089 - } - path_point { - x: 586343.126352 - y: 4140689.57517 - theta: 1.86303917515 - kappa: -0.114708663001 - dkappa: 0.0110828199826 - } - path_point { - x: 586343.084095 - y: 4140689.72015 - theta: 1.84584487639 - kappa: -0.113007710386 - dkappa: 0.0114382633414 - } - path_point { - x: 586343.044223 - y: 4140689.86618 - theta: 1.82887017472 - kappa: -0.111251774576 - dkappa: 0.0117542288929 - } - path_point { - x: 586343.006725 - y: 4140690.01323 - theta: 1.81212293369 - kappa: -0.109446433444 - dkappa: 0.0120310433344 - } - path_point { - x: 586342.971586 - y: 4140690.16127 - theta: 1.79561040408 - kappa: -0.107597236954 - dkappa: 0.0122693544295 - } - path_point { - x: 586342.938792 - y: 4140690.31026 - theta: 1.77933922402 - kappa: -0.105709664184 - dkappa: 0.0124700987961 - } - path_point { - x: 586342.908326 - y: 4140690.46016 - theta: 1.76331542331 - kappa: -0.103789084311 - dkappa: 0.0126344678523 - } - path_point { - x: 586342.88017 - y: 4140690.61094 - theta: 1.74754443153 - kappa: -0.101840721813 - dkappa: 0.0127638728117 - } - path_point { - x: 586342.854304 - y: 4140690.76257 - theta: 1.73203108954 - kappa: -0.0998696259995 - dkappa: 0.0128599095473 - } - path_point { - x: 586342.830707 - y: 4140690.915 - theta: 1.71677966411 - kappa: -0.0978806449331 - dkappa: 0.0129243240491 - } - path_point { - x: 586342.809357 - y: 4140691.0682 - theta: 1.70179386524 - kappa: -0.0958784036792 - dkappa: 0.0129589790984 - } - path_point { - x: 586342.790231 - y: 4140691.22214 - theta: 1.68707686574 - kappa: -0.09386728677 - dkappa: 0.0129658226736 - } - path_point { - x: 586342.773303 - y: 4140691.37678 - theta: 1.67263132281 - kappa: -0.0918514246977 - dkappa: 0.0129468584924 - } - path_point { - x: 586342.758548 - y: 4140691.53208 - theta: 1.65845940117 - kappa: -0.0898346842034 - dkappa: 0.0129041189906 - } - path_point { - x: 586342.745939 - y: 4140691.68802 - theta: 1.64456279745 - kappa: -0.0878206620886 - dkappa: 0.0128396409372 - } - path_point { - x: 586342.735446 - y: 4140691.84455 - theta: 1.63094276547 - kappa: -0.0858126822498 - dkappa: 0.0127554437971 - } - path_point { - x: 586342.727042 - y: 4140692.00165 - theta: 1.61760014217 - kappa: -0.0838137956186 - dkappa: 0.0126535108712 - } - path_point { - x: 586342.720695 - y: 4140692.15927 - theta: 1.60453537382 - kappa: -0.0818267826827 - dkappa: 0.0125357731776 - } - path_point { - x: 586342.716374 - y: 4140692.31739 - theta: 1.59174854236 - kappa: -0.0798541582622 - dkappa: 0.0124040959804 - } - path_point { - x: 586342.714047 - y: 4140692.47596 - theta: 1.57923939159 - kappa: -0.0778981782236 - dkappa: 0.0122602678289 - } - path_point { - x: 586342.713681 - y: 4140692.63497 - theta: 1.567007353 - kappa: -0.0759608478249 - dkappa: 0.0121059919351 - } - path_point { - x: 586342.715242 - y: 4140692.79437 - theta: 1.55505157106 - kappa: -0.0740439314036 - dkappa: 0.0119428796955 - } - path_point { - x: 586342.718695 - y: 4140692.95414 - theta: 1.54337092792 - kappa: -0.0721489631384 - dkappa: 0.011772446148 - } - path_point { - x: 586342.724005 - y: 4140693.11423 - theta: 1.53196406717 - kappa: -0.0702772586366 - dkappa: 0.0115961071458 - } - path_point { - x: 586342.731135 - y: 4140693.27463 - theta: 1.52082941683 - kappa: -0.068429927126 - dkappa: 0.0114151780346 - } - path_point { - x: 586342.740049 - y: 4140693.43529 - theta: 1.50996521126 - kappa: -0.0666078840503 - dkappa: 0.0112308736178 - } - path_point { - x: 586342.750709 - y: 4140693.59619 - theta: 1.49936951206 - kappa: -0.0648118638947 - dkappa: 0.0110443092096 - } - path_point { - x: 586342.763076 - y: 4140693.7573 - theta: 1.48904022776 - kappa: -0.063042433089 - dkappa: 0.0108565025816 - } - path_point { - x: 586342.777114 - y: 4140693.91859 - theta: 1.47897513247 - kappa: -0.0613000028607 - dkappa: 0.0106683766295 - } - path_point { - x: 586342.792781 - y: 4140694.08003 - theta: 1.46917188329 - kappa: -0.0595848419302 - dkappa: 0.0104807625953 - } - path_point { - x: 586342.81004 - y: 4140694.24159 - theta: 1.45962803652 - kappa: -0.0578970889599 - dkappa: 0.0102944037002 - } - path_point { - x: 586342.828849 - y: 4140694.40325 - theta: 1.45034106268 - kappa: -0.0562367646902 - dkappa: 0.0101099590598 - } - path_point { - x: 586342.849169 - y: 4140694.56497 - theta: 1.44130836037 - kappa: -0.0546037837065 - dkappa: 0.00992800776726 - } - path_point { - x: 586342.870959 - y: 4140694.72673 - theta: 1.43252726888 - kappa: -0.0529979658021 - dkappa: 0.00974905304517 - } - path_point { - x: 586342.894179 - y: 4140694.8885 - theta: 1.42399507972 - kappa: -0.0514190469106 - dkappa: 0.00957352638475 - } - path_point { - x: 586342.918786 - y: 4140695.05027 - theta: 1.41570904692 - kappa: -0.0498666895951 - dkappa: 0.0094017915995 - } - path_point { - x: 586342.944741 - y: 4140695.21199 - theta: 1.40766639626 - kappa: -0.0483404930897 - dkappa: 0.00923414873629 - } - path_point { - x: 586342.972002 - y: 4140695.37366 - theta: 1.39986433341 - kappa: -0.0468400029 - dkappa: 0.00907083779656 - } - path_point { - x: 586343.000528 - y: 4140695.53525 - theta: 1.39230005095 - kappa: -0.0453647199724 - dkappa: 0.00891204223044 - } - path_point { - x: 586343.030276 - y: 4140695.69672 - theta: 1.38497073437 - kappa: -0.043914109452 - dkappa: 0.00875789217591 - } - path_point { - x: 586343.061206 - y: 4140695.85808 - theta: 1.37787356715 - kappa: -0.0424876090493 - dkappa: 0.00860846742269 - } - path_point { - x: 586343.093276 - y: 4140696.01928 - theta: 1.37100573466 - kappa: -0.0410846370427 - dkappa: 0.00846380008786 - } - path_point { - x: 586343.126445 - y: 4140696.18032 - theta: 1.36436442733 - kappa: -0.0397045999452 - dkappa: 0.00832387699649 - } - path_point { - x: 586343.160672 - y: 4140696.34117 - theta: 1.35794684271 - kappa: -0.0383468998637 - dkappa: 0.00818864176605 - } - path_point { - x: 586343.195916 - y: 4140696.50182 - theta: 1.35175018672 - kappa: -0.0370109415835 - dkappa: 0.0080579965985 - } - path_point { - x: 586343.232136 - y: 4140696.66224 - theta: 1.345771674 - kappa: -0.0356961394073 - dkappa: 0.00793180378844 - } - path_point { - x: 586343.269292 - y: 4140696.82243 - theta: 1.34000852737 - kappa: -0.0344019237792 - dkappa: 0.00780988696013 - } - path_point { - x: 586343.307343 - y: 4140696.98236 - theta: 1.33445797652 - kappa: -0.0331277477227 - dkappa: 0.00769203205014 - } - path_point { - x: 586343.346251 - y: 4140697.14202 - theta: 1.32911725582 - kappa: -0.0318730931191 - dkappa: 0.00757798805619 - } - path_point { - x: 586343.385975 - y: 4140697.3014 - theta: 1.32398360135 - kappa: -0.0306374768506 - dkappa: 0.007467467577 - } - path_point { - x: 586343.426476 - y: 4140697.46049 - theta: 1.31905424713 - kappa: -0.0294204568292 - dkappa: 0.00736014717143 - } - path_point { - x: 586343.467718 - y: 4140697.61927 - theta: 1.31432642066 - kappa: -0.0282216379286 - dkappa: 0.00725566756979 - } - path_point { - x: 586343.50966 - y: 4140697.77773 - theta: 1.3097973376 - kappa: -0.0270406778319 - dkappa: 0.00715363377405 - } - path_point { - x: 586343.552267 - y: 4140697.93587 - theta: 1.30546419581 - kappa: -0.0258772928033 - dkappa: 0.00705361508861 - } - path_point { - x: 586343.595502 - y: 4140698.09367 - theta: 1.30132416861 - kappa: -0.0247312633854 - dkappa: 0.00695514512758 - } - path_point { - x: 586343.639329 - y: 4140698.25114 - theta: 1.29737439738 - kappa: -0.0236024400187 - dkappa: 0.00685772184996 - } - path_point { - x: 586343.683712 - y: 4140698.40825 - theta: 1.29361198347 - kappa: -0.0224907485724 - dkappa: 0.00676080767923 - } - path_point { - x: 586343.728618 - y: 4140698.56501 - theta: 1.29003397948 - kappa: -0.0213961957678 - dkappa: 0.006663829769 - } - path_point { - x: 586343.774012 - y: 4140698.72141 - theta: 1.28663737982 - kappa: -0.0203188744674 - dkappa: 0.00656618048238 - } - path_point { - x: 586343.819861 - y: 4140698.87746 - theta: 1.28341911079 - kappa: -0.0192589687959 - dkappa: 0.00646721815769 - } - path_point { - x: 586343.866135 - y: 4140699.03314 - theta: 1.28037601996 - kappa: -0.0182167590457 - dkappa: 0.00636626823872 - } - path_point { - x: 586343.912802 - y: 4140699.18846 - theta: 1.27750486516 - kappa: -0.0171926263153 - dkappa: 0.00626262485233 - } - path_point { - x: 586343.959832 - y: 4140699.34343 - theta: 1.2748023028 - kappa: -0.0161870568127 - dkappa: 0.00615555292059 - } - path_point { - x: 586344.007196 - y: 4140699.49803 - theta: 1.27226487591 - kappa: -0.0152006457505 - dkappa: 0.00604429089746 - } - path_point { - x: 586344.054866 - y: 4140699.65228 - theta: 1.26988900172 - kappa: -0.0142341007442 - dkappa: 0.00592805422218 - } - path_point { - x: 586344.102817 - y: 4140699.80619 - theta: 1.26767095892 - kappa: -0.0132882446186 - dkappa: 0.00580603958121 - } - path_point { - x: 586344.151021 - y: 4140699.95975 - theta: 1.26560687468 - kappa: -0.0123640175115 - dkappa: 0.00567743006873 - } - path_point { - x: 586344.199456 - y: 4140700.11298 - theta: 1.26369271156 - kappa: -0.0114624781594 - dkappa: 0.00554140133051 - } - path_point { - x: 586344.248098 - y: 4140700.26588 - theta: 1.2619242543 - kappa: -0.0105848042366 - dkappa: 0.00539712876797 - } - path_point { - x: 586344.296924 - y: 4140700.41846 - theta: 1.26029709669 - kappa: -0.00973229161227 - dkappa: 0.00524379586759 - } - path_point { - x: 586344.345916 - y: 4140700.57075 - theta: 1.25880662861 - kappa: -0.00890635238608 - dkappa: 0.00508060370419 - } - path_point { - x: 586344.395053 - y: 4140700.72274 - theta: 1.25744802339 - kappa: -0.00810851155453 - dkappa: 0.00490678164652 - } - path_point { - x: 586344.444319 - y: 4140700.87446 - theta: 1.25621622557 - kappa: -0.00734040216328 - dkappa: 0.00472159926702 - } - path_point { - x: 586344.493697 - y: 4140701.02592 - theta: 1.25510593931 - kappa: -0.00660375879978 - dkappa: 0.00452437942687 - } - path_point { - x: 586344.543173 - y: 4140701.17715 - theta: 1.25411161758 - kappa: -0.00590040928741 - dkappa: 0.0043145124704 - } - path_point { - x: 586344.592733 - y: 4140701.32815 - theta: 1.25322745228 - kappa: -0.00523226445218 - dkappa: 0.00409147142111 - } - path_point { - x: 586344.642367 - y: 4140701.47895 - theta: 1.25244753533 - kappa: -0.00459647739607 - dkappa: 0.00394679530527 - } - path_point { - x: 586344.692064 - y: 4140701.62957 - theta: 1.25176770037 - kappa: -0.00397870717405 - dkappa: 0.00384234501962 - } - path_point { - x: 586344.741815 - y: 4140701.78004 - theta: 1.25118496541 - kappa: -0.00337830318471 - dkappa: 0.00373420802781 - } - path_point { - x: 586344.79161 - y: 4140701.93037 - theta: 1.25069633219 - kappa: -0.00279572004003 - dkappa: 0.00362289681865 - } - path_point { - x: 586344.84144 - y: 4140702.08058 - theta: 1.25029877346 - kappa: -0.00223133982471 - dkappa: 0.00350890464394 - } - path_point { - x: 586344.891296 - y: 4140702.23069 - theta: 1.24998924084 - kappa: -0.00168547532614 - dkappa: 0.00339270398003 - } - path_point { - x: 586344.94117 - y: 4140702.38073 - theta: 1.24976467217 - kappa: -0.00115837339211 - dkappa: 0.00327474529243 - } - path_point { - x: 586344.991053 - y: 4140702.5307 - theta: 1.2496219985 - kappa: -0.000650218381271 - dkappa: 0.00315545608431 - } - path_point { - x: 586345.040937 - y: 4140702.68062 - theta: 1.24955815063 - kappa: -0.000161135674606 - dkappa: 0.00303524020837 - } - path_point { - x: 586345.090814 - y: 4140702.8305 - theta: 1.24957006534 - kappa: 0.000308804781518 - dkappa: 0.00291447742147 - } - path_point { - x: 586345.140677 - y: 4140702.98037 - theta: 1.24965469108 - kappa: 0.000759584927223 - dkappa: 0.00279352316051 - } - path_point { - x: 586345.190519 - y: 4140703.13024 - theta: 1.24980899335 - kappa: 0.00119123505981 - dkappa: 0.0026727085186 - } - path_point { - x: 586345.240331 - y: 4140703.28011 - theta: 1.25002995971 - kappa: 0.00160383034451 - dkappa: 0.00255234040054 - } - path_point { - x: 586345.290108 - y: 4140703.43 - theta: 1.25031460428 - kappa: 0.00199748738424 - dkappa: 0.00243270183746 - } - path_point { - x: 586345.339843 - y: 4140703.57992 - theta: 1.25065997208 - kappa: 0.00237236086453 - dkappa: 0.0023140524409 - } - path_point { - x: 586345.389529 - y: 4140703.72988 - theta: 1.25106314277 - kappa: 0.00272864028801 - dkappa: 0.00219662897771 - } - path_point { - x: 586345.43916 - y: 4140703.8799 - theta: 1.25152123425 - kappa: 0.00306654681039 - dkappa: 0.00208064604806 - } - path_point { - x: 586345.48873 - y: 4140704.02997 - theta: 1.2520314058 - kappa: 0.00338633018789 - dkappa: 0.00196629685 - } - path_point { - x: 586345.538234 - y: 4140704.18011 - theta: 1.25259086097 - kappa: 0.00368826584445 - dkappa: 0.00185375401493 - } - path_point { - x: 586345.587666 - y: 4140704.33033 - theta: 1.25319685009 - kappa: 0.00397265206507 - dkappa: 0.00174317049984 - } - path_point { - x: 586345.637021 - y: 4140704.48063 - theta: 1.25384667257 - kappa: 0.00423980732034 - dkappa: 0.00163468052304 - } - path_point { - x: 586345.686293 - y: 4140704.63103 - theta: 1.2545376789 - kappa: 0.00449006772556 - dkappa: 0.00152840053151 - } - path_point { - x: 586345.735479 - y: 4140704.78151 - theta: 1.25526727233 - kappa: 0.00472378463667 - dkappa: 0.00142443018897 - } - path_point { - x: 586345.784573 - y: 4140704.9321 - theta: 1.25603291037 - kappa: 0.00494132238423 - dkappa: 0.00132285337505 - } - path_point { - x: 586345.833571 - y: 4140705.0828 - theta: 1.25683210604 - kappa: 0.00514305614527 - dkappa: 0.00122373918692 - } - path_point { - x: 586345.88247 - y: 4140705.2336 - theta: 1.25766242889 - kappa: 0.00532936995229 - dkappa: 0.00112714293579 - } - path_point { - x: 586345.931264 - y: 4140705.38452 - theta: 1.25852150583 - kappa: 0.00550065483786 - dkappa: 0.00103310713166 - } - path_point { - x: 586345.979951 - y: 4140705.53556 - theta: 1.25940702174 - kappa: 0.00565730711221 - dkappa: 0.000941662450677 - } - path_point { - x: 586346.028526 - y: 4140705.68671 - theta: 1.26031671993 - kappa: 0.00579972677126 - dkappa: 0.000852828680264 - } - path_point { - x: 586346.076987 - y: 4140705.83799 - theta: 1.26124840246 - kappa: 0.00592831603138 - dkappa: 0.000766615637899 - } - path_point { - x: 586346.12533 - y: 4140705.98939 - theta: 1.26219993024 - kappa: 0.00604347798732 - dkappa: 0.000683024060335 - } - path_point { - x: 586346.173553 - y: 4140706.14092 - theta: 1.26316922304 - kappa: 0.00614561538894 - dkappa: 0.000602046460538 - } - path_point { - x: 586346.221653 - y: 4140706.29257 - theta: 1.26415425939 - kappa: 0.00623512953258 - dkappa: 0.000523667950344 - } - path_point { - x: 586346.269627 - y: 4140706.44435 - theta: 1.26515307631 - kappa: 0.00631241926232 - dkappa: 0.000447867027305 - } - path_point { - x: 586346.317474 - y: 4140706.59625 - theta: 1.266163769 - kappa: 0.00637788007643 - dkappa: 0.000374616324735 - } - path_point { - x: 586346.36519 - y: 4140706.74828 - theta: 1.26718449037 - kappa: 0.00643190333426 - dkappa: 0.000303883324355 - } - path_point { - x: 586346.412774 - y: 4140706.90044 - theta: 1.26821345055 - kappa: 0.00647487555864 - dkappa: 0.000235631031348 - } - path_point { - x: 586346.460224 - y: 4140707.05272 - theta: 1.26924891629 - kappa: 0.00650717782897 - dkappa: 0.000169818611946 - } - path_point { - x: 586346.50754 - y: 4140707.20512 - theta: 1.2702892103 - kappa: 0.00652918526023 - dkappa: 0.000106401993973 - } - path_point { - x: 586346.554718 - y: 4140707.35764 - theta: 1.27133271056 - kappa: 0.00654126656301 - dkappa: 4.53344309815e-05 - } - path_point { - x: 586346.601759 - y: 4140707.51029 - theta: 1.27237784956 - kappa: 0.00654378368005 - dkappa: -1.34329691317e-05 - } - path_point { - x: 586346.648661 - y: 4140707.66304 - theta: 1.2734231135 - kappa: 0.00653709149465 - dkappa: -6.99507500271e-05 - } - path_point { - x: 586346.695423 - y: 4140707.81592 - theta: 1.27446704148 - kappa: 0.00652153760653 - dkappa: -0.000124270646167 - } - path_point { - x: 586346.742045 - y: 4140707.9689 - theta: 1.27550822463 - kappa: 0.00649746217083 - dkappa: -0.000176445154143 - } - path_point { - x: 586346.788527 - y: 4140708.122 - theta: 1.2765453053 - kappa: 0.00646519779626 - dkappa: -0.000226527134751 - } - path_point { - x: 586346.834867 - y: 4140708.2752 - theta: 1.27757697614 - kappa: 0.00642506949815 - dkappa: -0.000274569444414 - } - path_point { - x: 586346.881066 - y: 4140708.4285 - theta: 1.27860197922 - kappa: 0.00637739470288 - dkappa: -0.000320624594544 - } - path_point { - x: 586346.927124 - y: 4140708.58189 - theta: 1.27961910519 - kappa: 0.00632248329989 - dkappa: -0.000364744437398 - } - path_point { - x: 586346.97304 - y: 4140708.73539 - theta: 1.28062719239 - kappa: 0.00626063773785 - dkappa: -0.000406979877034 - } - path_point { - x: 586347.018816 - y: 4140708.88897 - theta: 1.28162512599 - kappa: 0.00619215316161 - dkappa: -0.000447380603947 - } - path_point { - x: 586347.064452 - y: 4140709.04264 - theta: 1.28261183714 - kappa: 0.00611731758694 - dkappa: -0.000485994852044 - } - path_point { - x: 586347.109949 - y: 4140709.1964 - theta: 1.28358630217 - kappa: 0.00603641210997 - dkappa: -0.000522869176656 - } - path_point { - x: 586347.155307 - y: 4140709.35023 - theta: 1.28454754176 - kappa: 0.00594971114845 - dkappa: -0.000558048252341 - } - path_point { - x: 586347.200527 - y: 4140709.50413 - theta: 1.28549462018 - kappa: 0.00585748271237 - dkappa: -0.000591574689307 - } - path_point { - x: 586347.24561 - y: 4140709.65811 - theta: 1.28642664454 - kappa: 0.00575998870105 - dkappa: -0.00062348886738 - } - path_point { - x: 586347.290559 - y: 4140709.81215 - theta: 1.2873427641 - kappa: 0.00565748522467 - dkappa: -0.000653828786504 - } - path_point { - x: 586347.335373 - y: 4140709.96625 - theta: 1.28824216957 - kappa: 0.00555022294756 - dkappa: -0.00068262993288 - } - path_point { - x: 586347.380055 - y: 4140710.12041 - theta: 1.28912409248 - kappa: 0.00543844745135 - dkappa: -0.000709925159933 - } - path_point { - x: 586347.424606 - y: 4140710.27463 - theta: 1.2899878046 - kappa: 0.00532239961568 - dkappa: -0.000735744583403 - } - path_point { - x: 586347.469028 - y: 4140710.42889 - theta: 1.29083261738 - kappa: 0.00520231601451 - dkappa: -0.000760115489984 - } - path_point { - x: 586347.513324 - y: 4140710.58319 - theta: 1.29165788142 - kappa: 0.00507842932607 - dkappa: -0.000783062259016 - } - path_point { - x: 586347.557495 - y: 4140710.73753 - theta: 1.29246298607 - kappa: 0.0049509687545 - dkappa: -0.000804606296874 - } - path_point { - x: 586347.601543 - y: 4140710.89191 - theta: 1.29324735894 - kappa: 0.00482016046134 - dkappa: -0.000824765983808 - } - path_point { - x: 586347.645471 - y: 4140711.04632 - theta: 1.29401046559 - kappa: 0.00468622800504 - dkappa: -0.000843556633092 - } - path_point { - x: 586347.689281 - y: 4140711.20076 - theta: 1.2947518092 - kappa: 0.00454939278656 - dkappa: -0.000860990462493 - } - path_point { - x: 586347.732976 - y: 4140711.35522 - theta: 1.2954709303 - kappa: 0.00440987449935 - dkappa: -0.000877076578141 - } - path_point { - x: 586347.776559 - y: 4140711.50971 - theta: 1.29616740658 - kappa: 0.00426789158165 - dkappa: -0.000891820971044 - } - path_point { - x: 586347.820032 - y: 4140711.6642 - theta: 1.29684085267 - kappa: 0.00412366166949 - dkappa: -0.000905226526589 - } - path_point { - x: 586347.863399 - y: 4140711.81872 - theta: 1.29749092013 - kappa: 0.00397740204819 - dkappa: -0.000917293047471 - } - path_point { - x: 586347.906662 - y: 4140711.97324 - theta: 1.29811729728 - kappa: 0.00382933010045 - dkappa: -0.000928017290632 - } - path_point { - x: 586347.949826 - y: 4140712.12777 - theta: 1.29871970928 - kappa: 0.003679663749 - dkappa: -0.00093739301887 - } - path_point { - x: 586347.992892 - y: 4140712.28231 - theta: 1.29929791813 - kappa: 0.00352862189162 - dkappa: -0.000945411067898 - } - path_point { - x: 586348.035864 - y: 4140712.43684 - theta: 1.29985172275 - kappa: 0.00337642482616 - dkappa: -0.000952059429715 - } - path_point { - x: 586348.078747 - y: 4140712.59138 - theta: 1.30038095916 - kappa: 0.00322329466336 - dkappa: -0.00095732335323 - } - path_point { - x: 586348.121543 - y: 4140712.74592 - theta: 1.30088550065 - kappa: 0.00306945572481 - dkappa: -0.000961185463173 - } - path_point { - x: 586348.164257 - y: 4140712.90045 - theta: 1.30136525799 - kappa: 0.00291513492361 - dkappa: -0.000963625898367 - } - path_point { - x: 586348.206892 - y: 4140713.05499 - theta: 1.30182017975 - kappa: 0.00276056212476 - dkappa: -0.000964622470488 - } - path_point { - x: 586348.249452 - y: 4140713.20951 - theta: 1.30225025257 - kappa: 0.00260597048254 - dkappa: -0.000964150844475 - } - path_point { - x: 586348.291941 - y: 4140713.36403 - theta: 1.30265550155 - kappa: 0.00245159675183 - dkappa: -0.000962184741752 - } - path_point { - x: 586348.334363 - y: 4140713.51855 - theta: 1.30303599063 - kappa: 0.00229768157009 - dkappa: -0.000958696167419 - } - path_point { - x: 586348.376723 - y: 4140713.67306 - theta: 1.303391823 - kappa: 0.0021444697068 - dkappa: -0.000953655662531 - } - path_point { - x: 586348.419025 - y: 4140713.82757 - theta: 1.30372314157 - kappa: 0.00199221027677 - dkappa: -0.000947032582514 - } - path_point { - x: 586348.461273 - y: 4140713.98207 - theta: 1.30403012946 - kappa: 0.00184115691389 - dkappa: -0.000938795402677 - } - path_point { - x: 586348.503471 - y: 4140714.13657 - theta: 1.30431302429 - kappa: 0.00169208448128 - dkappa: -0.000916094829485 - } - path_point { - x: 586348.545624 - y: 4140714.29107 - theta: 1.30457241547 - kappa: 0.00154823246641 - dkappa: -0.000880441693082 - } - path_point { - x: 586348.587737 - y: 4140714.44558 - theta: 1.30480921242 - kappa: 0.00141006602787 - dkappa: -0.00084518806941 - } - path_point { - x: 586348.629814 - y: 4140714.60009 - theta: 1.30502432622 - kappa: 0.0012775159278 - dkappa: -0.000810363022543 - } - path_point { - x: 586348.671858 - y: 4140714.7546 - theta: 1.30521865509 - kappa: 0.00115050890034 - dkappa: -0.000775993429161 - } - path_point { - x: 586348.713873 - y: 4140714.90912 - theta: 1.30539308397 - kappa: 0.00102896795885 - dkappa: -0.000742104060406 - } - path_point { - x: 586348.755864 - y: 4140715.06365 - theta: 1.30554848409 - kappa: 0.000912812691042 - dkappa: -0.000708717665486 - } - path_point { - x: 586348.797832 - y: 4140715.21819 - theta: 1.30568571264 - kappa: 0.000801959541608 - dkappa: -0.000675855056533 - } - path_point { - x: 586348.839783 - y: 4140715.37274 - theta: 1.30580561241 - kappa: 0.000696322082565 - dkappa: -0.000643535194309 - } - path_point { - x: 586348.881718 - y: 4140715.5273 - theta: 1.30590901151 - kappa: 0.000595811271116 - dkappa: -0.000611775274312 - } - path_point { - x: 586348.92364 - y: 4140715.68187 - theta: 1.30599672311 - kappa: 0.000500335695132 - dkappa: -0.000580590812958 - } - path_point { - x: 586348.965553 - y: 4140715.83646 - theta: 1.30606954514 - kappa: 0.000409801806326 - dkappa: -0.000549995733464 - } - path_point { - x: 586349.007458 - y: 4140715.99106 - theta: 1.3061282601 - kappa: 0.000324114141201 - dkappa: -0.000520002451155 - } - path_point { - x: 586349.049359 - y: 4140716.14568 - theta: 1.30617363485 - kappa: 0.000243175529934 - dkappa: -0.000490621957896 - } - path_point { - x: 586349.091257 - y: 4140716.30031 - theta: 1.30620642046 - kappa: 0.000166887293363 - dkappa: -0.000461863905427 - } - path_point { - x: 586349.133155 - y: 4140716.45495 - theta: 1.306227352 - kappa: 9.51494282704e-05 - dkappa: -0.000433736687357 - } - path_point { - x: 586349.175054 - y: 4140716.60961 - theta: 1.30623714843 - kappa: 2.78607811896e-05 - dkappa: -0.00040624751964 - } - path_point { - x: 586349.216957 - y: 4140716.76428 - theta: 1.30623651247 - kappa: -3.50807890265e-05 - dkappa: -0.00037940251935 - } - path_point { - x: 586349.258865 - y: 4140716.91897 - theta: 1.30622613054 - kappa: -9.37782596099e-05 - dkappa: -0.00035320678162 - } - path_point { - x: 586349.300779 - y: 4140717.07368 - theta: 1.30620667259 - kappa: -0.00014833530298 - dkappa: -0.000327664454602 - } - path_point { - x: 586349.342702 - y: 4140717.2284 - theta: 1.30617879209 - kappa: -0.000198856156256 - dkappa: -0.000302778812349 - } - path_point { - x: 586349.384633 - y: 4140717.38313 - theta: 1.30614312598 - kappa: -0.000245445500875 - dkappa: -0.000278552325525 - } - path_point { - x: 586349.426575 - y: 4140717.53788 - theta: 1.30610029458 - kappa: -0.000288208352003 - dkappa: -0.000254986729867 - } - path_point { - x: 586349.468529 - y: 4140717.69265 - theta: 1.30605090156 - kappa: -0.000327249957431 - dkappa: -0.000232083092344 - } - path_point { - x: 586349.510495 - y: 4140717.84742 - theta: 1.30599553396 - kappa: -0.000362675705614 - dkappa: -0.000209841874954 - } - path_point { - x: 586349.552474 - y: 4140718.00221 - theta: 1.30593476213 - kappa: -0.000394591042542 - dkappa: -0.000188262996143 - } - path_point { - x: 586349.594467 - y: 4140718.15701 - theta: 1.30586913976 - kappa: -0.000423101397098 - dkappa: -0.000167345889802 - } - path_point { - x: 586349.636474 - y: 4140718.31183 - theta: 1.30579920385 - kappa: -0.000448312114578 - dkappa: -0.00014708956184 - } - path_point { - x: 586349.678496 - y: 4140718.46665 - theta: 1.30572547474 - kappa: -0.000470328398026 - dkappa: -0.000127492644331 - } - path_point { - x: 586349.720534 - y: 4140718.62149 - theta: 1.30564845613 - kappa: -0.000489255257066 - dkappa: -0.000108553447222 - } - path_point { - x: 586349.762587 - y: 4140718.77633 - theta: 1.30556863509 - kappa: -0.000505197463875 - dkappa: -9.0270007621e-05 - } - path_point { - x: 586349.804657 - y: 4140718.93119 - theta: 1.30548648208 - kappa: -0.000518259515984 - dkappa: -7.2640136682e-05 - } - path_point { - x: 586349.846742 - y: 4140719.08605 - theta: 1.305402451 - kappa: -0.000528545605565 - dkappa: -5.56614640907e-05 - } - path_point { - x: 586349.888843 - y: 4140719.24092 - theta: 1.30531697921 - kappa: -0.000536159594872 - dkappa: -3.93314801886e-05 - } - path_point { - x: 586349.93096 - y: 4140719.39579 - theta: 1.30523048756 - kappa: -0.00054120499752 - dkappa: -2.36475757506e-05 - } - path_point { - x: 586349.973093 - y: 4140719.55067 - theta: 1.30514338043 - kappa: -0.000543784965276 - dkappa: -8.60707944623e-06 - } - path_point { - x: 586350.015242 - y: 4140719.70555 - theta: 1.30505604581 - kappa: -0.000544002280031 - dkappa: 5.79270698669e-06 - } - path_point { - x: 586350.057405 - y: 4140719.86044 - theta: 1.30496885525 - kappa: -0.000541959350655 - dkappa: 1.9554475828e-05 - } - path_point { - x: 586350.099584 - y: 4140720.01533 - theta: 1.304882164 - kappa: -0.000537758214411 - dkappa: 3.26808826903e-05 - } - path_point { - x: 586350.141778 - y: 4140720.17022 - theta: 1.30479631098 - kappa: -0.00053150054262 - dkappa: 4.51745180334e-05 - } - path_point { - x: 586350.183986 - y: 4140720.32511 - theta: 1.30471161885 - kappa: -0.000523287650271 - dkappa: 5.70378808519e-05 - } - path_point { - x: 586350.226207 - y: 4140720.48 - theta: 1.30462839403 - kappa: -0.000513220509278 - dkappa: 6.82733545055e-05 - } - path_point { - x: 586350.268442 - y: 4140720.63488 - theta: 1.30454692676 - kappa: -0.000501399765081 - dkappa: 7.88831846685e-05 - } - path_point { - x: 586350.310689 - y: 4140720.78977 - theta: 1.30446749112 - kappa: -0.00048792575629 - dkappa: 8.8869459375e-05 - } - path_point { - x: 586350.352948 - y: 4140720.94465 - theta: 1.30439034506 - kappa: -0.000472898537091 - dkappa: 9.82340911363e-05 - } - path_point { - x: 586350.395219 - y: 4140721.09952 - theta: 1.30431573043 - kappa: -0.000456417902107 - dkappa: 0.000106978801114 - } - path_point { - x: 586350.437499 - y: 4140721.25439 - theta: 1.30424387303 - kappa: -0.000438583413435 - dkappa: 0.000115105105332 - } - path_point { - x: 586350.47979 - y: 4140721.40925 - theta: 1.30417498259 - kappa: -0.000419494429573 - dkappa: 0.000122614302911 - } - path_point { - x: 586350.522089 - y: 4140721.5641 - theta: 1.30410925285 - kappa: -0.000399250135938 - dkappa: 0.000129507466325 - } - path_point { - x: 586350.564397 - y: 4140721.71895 - theta: 1.30404686153 - kappa: -0.000377949576704 - dkappa: 0.000135785433659 - } - path_point { - x: 586350.606712 - y: 4140721.87378 - theta: 1.30398797035 - kappa: -0.000355691687668 - dkappa: 0.000141448802875 - } - path_point { - x: 586350.649034 - y: 4140722.0286 - theta: 1.30393272508 - kappa: -0.000332575329857 - dkappa: 0.000146497928089 - } - path_point { - x: 586350.691361 - y: 4140722.18341 - theta: 1.30388125548 - kappa: -0.000308699323604 - dkappa: 0.000150932917844 - } - path_point { - x: 586350.733693 - y: 4140722.33821 - theta: 1.3038336754 - kappa: -0.00028416248279 - dkappa: 0.00015475363541 - } - path_point { - x: 586350.776029 - y: 4140722.493 - theta: 1.30379008266 - kappa: -0.000259063648977 - dkappa: 0.000157959701103 - } - path_point { - x: 586350.818368 - y: 4140722.64777 - theta: 1.30375055917 - kappa: -0.00023350172515 - dkappa: 0.00016055049664 - } - path_point { - x: 586350.860709 - y: 4140722.80252 - theta: 1.30371517082 - kappa: -0.00020757570876 - dkappa: 0.000162525171552 - } - path_point { - x: 586350.903052 - y: 4140722.95727 - theta: 1.30368396754 - kappa: -0.000181384723797 - dkappa: 0.00016388265166 - } - path_point { - x: 586350.945395 - y: 4140723.11199 - theta: 1.30365698324 - kappa: -0.000155028051586 - dkappa: 0.000164621649657 - } - path_point { - x: 586350.987738 - y: 4140723.2667 - theta: 1.30363423583 - kappa: -0.000128605160022 - dkappa: 0.000164740677787 - } - path_point { - x: 586351.030079 - y: 4140723.42139 - theta: 1.30361572717 - kappa: -0.000102215730928 - dkappa: 0.000164238062679 - } - path_point { - x: 586351.072419 - y: 4140723.57607 - theta: 1.30360144306 - kappa: -7.59596852553e-05 - dkappa: 0.000163111962338 - } - path_point { - x: 586351.114756 - y: 4140723.73072 - theta: 1.30359135321 - kappa: -4.99372058067e-05 - dkappa: 0.000161360385328 - } - path_point { - x: 586351.157089 - y: 4140723.88536 - theta: 1.30358541122 - kappa: -2.42487571777e-05 - dkappa: 0.000158981212184 - } - path_point { - x: 586351.199418 - y: 4140724.03998 - theta: 1.30358355454 - kappa: 1.00489739122e-06 - dkappa: 0.000155972219057 - } - path_point { - x: 586351.241742 - y: 4140724.19459 - theta: 1.30358570445 - kappa: 2.5722682569e-05 - dkappa: 0.000152331103643 - } - path_point { - x: 586351.284061 - y: 4140724.34917 - theta: 1.30359176601 - kappa: 4.98032012115e-05 - dkappa: 0.00014805551341 - } - path_point { - x: 586351.326373 - y: 4140724.50374 - theta: 1.30360162802 - kappa: 7.31447286826e-05 - dkappa: 0.000143143076138 - } - path_point { - x: 586351.368679 - y: 4140724.65829 - theta: 1.30361516303 - kappa: 9.56452115399e-05 - dkappa: 0.000137591432813 - } - path_point { - x: 586351.410977 - y: 4140724.81282 - theta: 1.30363222726 - kappa: 0.000117202270912 - dkappa: 0.000131398272871 - } - path_point { - x: 586351.453268 - y: 4140724.96734 - theta: 1.30365266057 - kappa: 0.000137713210894 - dkappa: 0.000124561371815 - } - path_point { - x: 586351.49555 - y: 4140725.12184 - theta: 1.30367628643 - kappa: 0.000157075032283 - dkappa: 0.000117078631213 - } - path_point { - x: 586351.537825 - y: 4140725.27633 - theta: 1.30370291193 - kappa: 0.000175184451994 - dkappa: 0.000108948121069 - } - path_point { - x: 586351.58009 - y: 4140725.4308 - theta: 1.30373232768 - kappa: 0.000191937928471 - dkappa: 0.000100168124567 - } - path_point { - x: 586351.622347 - y: 4140725.58525 - theta: 1.30376430781 - kappa: 0.000207231693427 - dkappa: 9.0737185172e-05 - } - path_point { - x: 586351.664594 - y: 4140725.7397 - theta: 1.30379860999 - kappa: 0.000220961790235 - dkappa: 8.06541560564e-05 - } - path_point { - x: 586351.706833 - y: 4140725.89413 - theta: 1.30383497535 - kappa: 0.000233024119298 - dkappa: 6.99182518248e-05 - } - path_point { - x: 586351.749062 - y: 4140726.04855 - theta: 1.30387312848 - kappa: 0.000243314490697 - dkappa: 5.85291024835e-05 - } - path_point { - x: 586351.791283 - y: 4140726.20296 - theta: 1.30391277745 - kappa: 0.000251728684448 - dkappa: 4.64868095943e-05 - } - path_point { - x: 586351.833494 - y: 4140726.35737 - theta: 1.30395361378 - kappa: 0.000258162518653 - dkappa: 3.3792004539e-05 - } - path_point { - x: 586351.875697 - y: 4140726.51176 - theta: 1.30399531245 - kappa: 0.000262511925852 - dkappa: 2.04459088016e-05 - } - path_point { - x: 586351.917892 - y: 4140726.66616 - theta: 1.30403753192 - kappa: 0.000264673037843 - dkappa: 6.45039616127e-06 - } - path_point { - x: 586351.96008 - y: 4140726.82055 - theta: 1.30407991416 - kappa: 0.00026454227925 - dkappa: -8.19194333188e-06 - } - path_point { - x: 586352.00226 - y: 4140726.97494 - theta: 1.30412208672 - kappa: 0.000262132396217 - dkappa: -1.91182739876e-05 - } - path_point { - x: 586352.044434 - y: 4140727.12934 - theta: 1.30416378605 - kappa: 0.000258882500851 - dkappa: -2.14770351985e-05 - } - path_point { - x: 586352.086603 - y: 4140727.28373 - theta: 1.30420493609 - kappa: 0.000255262519113 - dkappa: -2.37421668957e-05 - } - path_point { - x: 586352.128766 - y: 4140727.43814 - theta: 1.3042454793 - kappa: 0.000251287370748 - dkappa: -2.59137193488e-05 - } - path_point { - x: 586352.170924 - y: 4140727.59255 - theta: 1.30428536046 - kappa: 0.000246971951233 - dkappa: -2.79918409432e-05 - } - path_point { - x: 586352.213079 - y: 4140727.74697 - theta: 1.30432452667 - kappa: 0.000242331119151 - dkappa: -2.99767691912e-05 - } - path_point { - x: 586352.255231 - y: 4140727.90141 - theta: 1.30436292735 - kappa: 0.000237379684774 - dkappa: -3.18688219977e-05 - } - path_point { - x: 586352.297379 - y: 4140728.05585 - theta: 1.30440051419 - kappa: 0.000232132399843 - dkappa: -3.36683891948e-05 - } - path_point { - x: 586352.339525 - y: 4140728.21031 - theta: 1.30443724119 - kappa: 0.00022660394849 - dkappa: -3.53759243592e-05 - } - path_point { - x: 586352.38167 - y: 4140728.36479 - theta: 1.30447306464 - kappa: 0.000220808939269 - dkappa: -3.69919369209e-05 - } - path_point { - x: 586352.423812 - y: 4140728.51928 - theta: 1.30450794307 - kappa: 0.000214761898257 - dkappa: -3.85169845732e-05 - } - path_point { - x: 586352.465954 - y: 4140728.67378 - theta: 1.3045418373 - kappa: 0.000208477263171 - dkappa: -3.99516659883e-05 - } - path_point { - x: 586352.508095 - y: 4140728.82831 - theta: 1.3045747104 - kappa: 0.000201969378472 - dkappa: -4.12966138451e-05 - } - path_point { - x: 586352.550235 - y: 4140728.98285 - theta: 1.30460652765 - kappa: 0.000195252491411 - dkappa: -4.25524881702e-05 - } - path_point { - x: 586352.592376 - y: 4140729.13741 - theta: 1.3046372566 - kappa: 0.000188340748959 - dkappa: -4.37199699944e-05 - } - path_point { - x: 586352.634516 - y: 4140729.29199 - theta: 1.30466686697 - kappa: 0.000181248195603 - dkappa: -4.47997553254e-05 - } - path_point { - x: 586352.676657 - y: 4140729.44659 - theta: 1.30469533072 - kappa: 0.000173988771939 - dkappa: -4.57925494347e-05 - } - path_point { - x: 586352.718798 - y: 4140729.60121 - theta: 1.30472262198 - kappa: 0.00016657631404 - dkappa: -4.66990614571e-05 - } - path_point { - x: 586352.760941 - y: 4140729.75585 - theta: 1.30474871706 - kappa: 0.000159024553543 - dkappa: -4.75199993002e-05 - } - path_point { - x: 586352.803084 - y: 4140729.91051 - theta: 1.30477359445 - kappa: 0.000151347118419 - dkappa: -4.82560648605e-05 - } - path_point { - x: 586352.845228 - y: 4140730.06519 - theta: 1.30479723479 - kappa: 0.000143557534381 - dkappa: -4.8907949541e-05 - } - path_point { - x: 586352.887374 - y: 4140730.21988 - theta: 1.30481962084 - kappa: 0.000135669226896 - dkappa: -4.94763300667e-05 - } - path_point { - x: 586352.929522 - y: 4140730.3746 - theta: 1.30484073753 - kappa: 0.000127695523751 - dkappa: -4.99618645925e-05 - } - path_point { - x: 586352.971671 - y: 4140730.52933 - theta: 1.30486057188 - kappa: 0.000119649658137 - dkappa: -5.03651890974e-05 - } - path_point { - x: 586353.013821 - y: 4140730.68408 - theta: 1.30487911303 - kappa: 0.000111544772216 - dkappa: -5.06869140612e-05 - } - path_point { - x: 586353.055974 - y: 4140730.83885 - theta: 1.30489635224 - kappa: 0.000103393921127 - dkappa: -5.09276214159e-05 - } - path_point { - x: 586353.098128 - y: 4140730.99363 - theta: 1.30491228282 - kappa: 9.52100773968e-05 - dkappa: -5.10878617679e-05 - } - path_point { - x: 586353.140284 - y: 4140731.14843 - theta: 1.3049269002 - kappa: 8.70061357122e-05 - dkappa: -5.1168151884e-05 - } - path_point { - x: 586353.182441 - y: 4140731.30325 - theta: 1.30494020185 - kappa: 7.879491803e-05 - dkappa: -5.11689724367e-05 - } - path_point { - x: 586353.224601 - y: 4140731.45808 - theta: 1.30495218733 - kappa: 7.05891789746e-05 - dkappa: -5.1090766002e-05 - } - path_point { - x: 586353.266762 - y: 4140731.61292 - theta: 1.30496285825 - kappa: 6.24016114978e-05 - dkappa: -5.09339353063e-05 - } - path_point { - x: 586353.308926 - y: 4140731.76778 - theta: 1.30497221826 - kappa: 5.42448527625e-05 - dkappa: -5.0698841716e-05 - } - path_point { - x: 586353.35109 - y: 4140731.92265 - theta: 1.30498027307 - kappa: 4.61314902169e-05 - dkappa: -5.03858039658e-05 - } - path_point { - x: 586353.393257 - y: 4140732.07753 - theta: 1.30498703041 - kappa: 3.80740678268e-05 - dkappa: -4.99950971218e-05 - } - path_point { - x: 586353.435425 - y: 4140732.23242 - theta: 1.30499250007 - kappa: 3.00850924322e-05 - dkappa: -4.95269517741e-05 - } - path_point { - x: 586353.477595 - y: 4140732.38731 - theta: 1.30499669384 - kappa: 2.21770401959e-05 - dkappa: -4.89815534578e-05 - } - path_point { - x: 586353.519766 - y: 4140732.54222 - theta: 1.30499962557 - kappa: 1.43623631128e-05 - dkappa: -4.83590422971e-05 - } - path_point { - x: 586353.561939 - y: 4140732.69713 - theta: 1.3050013111 - kappa: 6.653495547e-06 - dkappa: -4.76595128715e-05 - } - path_point { - x: 586353.604112 - y: 4140732.85205 - theta: 1.30500176833 - kappa: -9.37139233063e-07 - dkappa: -4.68830143008e-05 - } - path_point { - x: 586353.646287 - y: 4140733.00697 - theta: 1.30500101715 - kappa: -8.39712255448e-06 - dkappa: -4.60295505487e-05 - } - path_point { - x: 586353.688463 - y: 4140733.16189 - theta: 1.30499907948 - kappa: -1.57140339043e-05 - dkappa: -4.50990809428e-05 - } - path_point { - x: 586353.73064 - y: 4140733.31681 - theta: 1.30499597929 - kappa: -2.28754445899e-05 - dkappa: -4.40915209107e-05 - } - path_point { - x: 586353.772818 - y: 4140733.47174 - theta: 1.30499174253 - kappa: -2.98689115268e-05 - dkappa: -4.30067429324e-05 - } - path_point { - x: 586353.814996 - y: 4140733.62666 - theta: 1.3049863972 - kappa: -3.66819711836e-05 - dkappa: -4.1844577709e-05 - } - path_point { - x: 586353.857175 - y: 4140733.78159 - theta: 1.30497997333 - kappa: -4.33021337161e-05 - dkappa: -4.06048155488e-05 - } - path_point { - x: 586353.899354 - y: 4140733.93651 - theta: 1.30497250297 - kappa: -4.97168773209e-05 - dkappa: -3.92872079722e-05 - } - path_point { - x: 586353.941533 - y: 4140734.09142 - theta: 1.30496402021 - kappa: -5.59136428408e-05 - dkappa: -3.78914695369e-05 - } - path_point { - x: 586353.983712 - y: 4140734.24633 - theta: 1.30495456118 - kappa: -6.18798286518e-05 - dkappa: -3.64172798859e-05 - } - path_point { - x: 586354.025891 - y: 4140734.40124 - theta: 1.30494416404 - kappa: -6.7602785866e-05 - dkappa: -3.48642860207e-05 - } - path_point { - x: 586354.06807 - y: 4140734.55613 - theta: 1.30493286902 - kappa: -7.30698138794e-05 - dkappa: -3.32321048031e-05 - } - path_point { - x: 586354.110248 - y: 4140734.71102 - theta: 1.30492071839 - kappa: -7.82681563007e-05 - dkappa: -3.15203256886e-05 - } - path_point { - x: 586354.152426 - y: 4140734.8659 - theta: 1.30490775648 - kappa: -8.31849972906e-05 - dkappa: -2.97285136949e-05 - } - path_point { - x: 586354.194603 - y: 4140735.02076 - theta: 1.30489402971 - kappa: -8.78074583479e-05 - dkappa: -2.78562126101e-05 - } - path_point { - x: 586354.236779 - y: 4140735.17562 - theta: 1.30487958654 - kappa: -9.2122595574e-05 - dkappa: -2.59029484439e-05 - } - path_point { - x: 586354.278954 - y: 4140735.33046 - theta: 1.30486447754 - kappa: -9.61173974522e-05 - dkappa: -2.38682331272e-05 - } - path_point { - x: 586354.321128 - y: 4140735.48529 - theta: 1.30484875536 - kappa: -9.97787831745e-05 - dkappa: -2.17515684628e-05 - } - path_point { - x: 586354.3633 - y: 4140735.6401 - theta: 1.30483247474 - kappa: -0.000103093601554 - dkappa: -1.95524503341e-05 - } - path_point { - x: 586354.405471 - y: 4140735.7949 - theta: 1.30481569253 - kappa: -0.000106048630556 - dkappa: -1.72703731735e-05 - } - path_point { - x: 586354.447641 - y: 4140735.94968 - theta: 1.3047984677 - kappa: -0.000108630577487 - dkappa: -1.49048346973e-05 - } - path_point { - x: 586354.489808 - y: 4140736.10445 - theta: 1.30478086132 - kappa: -0.000110826079875 - dkappa: -1.24553409097e-05 - } - path_point { - x: 586354.531974 - y: 4140736.25919 - theta: 1.30476293661 - kappa: -0.000112621707085 - dkappa: -9.92141138064e-06 - } - path_point { - x: 586354.574138 - y: 4140736.41392 - theta: 1.30474475892 - kappa: -0.000114003962699 - dkappa: -7.30258480028e-06 - } - path_point { - x: 586354.6163 - y: 4140736.56863 - theta: 1.30472639572 - kappa: -0.000114959287706 - dkappa: -4.59842481458e-06 - } - path_point { - x: 586354.65846 - y: 4140736.72332 - theta: 1.30470791666 - kappa: -0.000115474064537 - dkappa: -1.80852614326e-06 - } - path_point { - x: 586354.700618 - y: 4140736.878 - theta: 1.30468939352 - kappa: -0.000115534621985 - dkappa: 1.06747901724e-06 - } - path_point { - x: 586354.742773 - y: 4140737.03265 - theta: 1.30467090025 - kappa: -0.00011512724105 - dkappa: 4.02991430458e-06 - } - path_point { - x: 586354.784926 - y: 4140737.18728 - theta: 1.30465251297 - kappa: -0.000114238161743 - dkappa: 7.07905221512e-06 - } - path_point { - x: 586354.827076 - y: 4140737.34189 - theta: 1.30463430996 - kappa: -0.000112853590901 - dkappa: 1.02151068427e-05 - } - path_point { - x: 586354.869225 - y: 4140737.49648 - theta: 1.30461637168 - kappa: -0.000110959711031 - dkappa: 1.34382263334e-05 - } - path_point { - x: 586354.91137 - y: 4140737.65106 - theta: 1.30459878075 - kappa: -0.000108542690244 - dkappa: 1.67484850603e-05 - } - path_point { - x: 586354.953513 - y: 4140737.80561 - theta: 1.30458162199 - kappa: -0.000105588693307 - dkappa: 2.01458755208e-05 - } - path_point { - x: 586354.995654 - y: 4140737.96015 - theta: 1.30456498236 - kappa: -0.000102083893841 - dkappa: 2.36302999655e-05 - } - path_point { - x: 586355.037793 - y: 4140738.11466 - theta: 1.30454895104 - kappa: -9.80144877226e-05 - dkappa: 2.72015617634e-05 - } - path_point { - x: 586355.079929 - y: 4140738.26916 - theta: 1.30453361933 - kappa: -9.33667077084e-05 - dkappa: 3.08593565157e-05 - } - path_point { - x: 586355.122063 - y: 4140738.42364 - theta: 1.30451908073 - kappa: -8.81268393231e-05 - dkappa: 3.46032629287e-05 - } - path_point { - x: 586355.164194 - y: 4140738.5781 - theta: 1.30450543088 - kappa: -8.2281238043e-05 - dkappa: 3.843273346e-05 - } - path_point { - x: 586355.206324 - y: 4140738.73255 - theta: 1.3044927676 - kappa: -7.58163478069e-05 - dkappa: 4.2347084755e-05 - } - path_point { - x: 586355.248451 - y: 4140738.88698 - theta: 1.30448119081 - kappa: -6.8718720882e-05 - dkappa: 4.6345487891e-05 - } - path_point { - x: 586355.290577 - y: 4140739.0414 - theta: 1.30447080259 - kappa: -6.09750391122e-05 - dkappa: 5.04269584537e-05 - } - path_point { - x: 586355.332701 - y: 4140739.19581 - theta: 1.30446170711 - kappa: -5.25721365733e-05 - dkappa: 5.45903464662e-05 - } - path_point { - x: 586355.374823 - y: 4140739.3502 - theta: 1.30445401065 - kappa: -4.34970236543e-05 - dkappa: 5.88343262025e-05 - } - path_point { - x: 586355.416944 - y: 4140739.50459 - theta: 1.30444782155 - kappa: -3.37369125841e-05 - dkappa: 6.31573859132e-05 - } - path_point { - x: 586355.459064 - y: 4140739.65897 - theta: 1.30444325023 - kappa: -2.32792444151e-05 - dkappa: 6.75578174982e-05 - } - path_point { - x: 586355.501183 - y: 4140739.81334 - theta: 1.30444040895 - kappa: -1.21285230993e-05 - dkappa: 7.07732870376e-05 - } - path_point { - x: 586355.543302 - y: 4140739.96771 - theta: 1.3044393613 - kappa: -1.04668052556e-06 - dkappa: 6.77458426575e-05 - } - path_point { - x: 586355.58542 - y: 4140740.12208 - theta: 1.30444004834 - kappa: 9.5545853452e-06 - dkappa: 6.47678305236e-05 - } - path_point { - x: 586355.627538 - y: 4140740.27646 - theta: 1.30444239382 - kappa: 1.96834208107e-05 - dkappa: 6.18405236051e-05 - } - path_point { - x: 586355.669657 - y: 4140740.43083 - theta: 1.30444632288 - kappa: 2.93481454297e-05 - dkappa: 5.89651026942e-05 - } - path_point { - x: 586355.711776 - y: 4140740.58521 - theta: 1.30445176203 - kappa: 3.85572392936e-05 - dkappa: 5.61426596806e-05 - } - path_point { - x: 586355.753895 - y: 4140740.73959 - theta: 1.30445863922 - kappa: 4.73193307722e-05 - dkappa: 5.33742008571e-05 - } - path_point { - x: 586355.796016 - y: 4140740.89398 - theta: 1.3044668838 - kappa: 5.56431847346e-05 - dkappa: 5.06606502433e-05 - } - path_point { - x: 586355.838138 - y: 4140741.04839 - theta: 1.30447642657 - kappa: 6.35376912455e-05 - dkappa: 4.80028529189e-05 - } - path_point { - x: 586355.880261 - y: 4140741.2028 - theta: 1.30448719979 - kappa: 7.10118547353e-05 - dkappa: 4.54015783564e-05 - } - path_point { - x: 586355.922385 - y: 4140741.35722 - theta: 1.30449913717 - kappa: 7.80747836413e-05 - dkappa: 4.28575237427e-05 - } - path_point { - x: 586355.964511 - y: 4140741.51166 - theta: 1.30451217391 - kappa: 8.47356805173e-05 - dkappa: 4.03713172832e-05 - } - path_point { - x: 586356.006639 - y: 4140741.66612 - theta: 1.30452624667 - kappa: 9.10038326068e-05 - dkappa: 3.79435214796e-05 - } - path_point { - x: 586356.048769 - y: 4140741.82058 - theta: 1.30454129363 - kappa: 9.68886028744e-05 - dkappa: 3.55746363731e-05 - } - path_point { - x: 586356.090901 - y: 4140741.97507 - theta: 1.30455725446 - kappa: 0.00010239942149 - dkappa: 3.32651027491e-05 - } - path_point { - x: 586356.133035 - y: 4140742.12958 - theta: 1.30457407032 - kappa: 0.000107545777756 - dkappa: 3.10153052936e-05 - } - path_point { - x: 586356.175171 - y: 4140742.2841 - theta: 1.30459168391 - kappa: 0.000112337212478 - dkappa: 2.88255756992e-05 - } - path_point { - x: 586356.21731 - y: 4140742.43864 - theta: 1.30461003943 - kappa: 0.000116783310757 - dkappa: 2.66961957133e-05 - } - path_point { - x: 586356.259452 - y: 4140742.59321 - theta: 1.3046290826 - kappa: 0.000120893695211 - dkappa: 2.46274001244e-05 - } - path_point { - x: 586356.301596 - y: 4140742.7478 - theta: 1.3046487607 - kappa: 0.000124678019601 - dkappa: 2.26193796836e-05 - } - path_point { - x: 586356.343743 - y: 4140742.90241 - theta: 1.30466902248 - kappa: 0.000128145962866 - dkappa: 2.06722839553e-05 - } - path_point { - x: 586356.385893 - y: 4140743.05704 - theta: 1.30468981828 - kappa: 0.000131307223543 - dkappa: 1.87862240959e-05 - } - path_point { - x: 586356.428046 - y: 4140743.21169 - theta: 1.30471109993 - kappa: 0.000134171514574 - dkappa: 1.69612755569e-05 - } - path_point { - x: 586356.470202 - y: 4140743.36637 - theta: 1.30473282082 - kappa: 0.000136748558478 - dkappa: 1.5197480709e-05 - } - path_point { - x: 586356.512361 - y: 4140743.52108 - theta: 1.30475493586 - kappa: 0.000139048082891 - dkappa: 1.34948513867e-05 - } - path_point { - x: 586356.554523 - y: 4140743.67581 - theta: 1.30477740151 - kappa: 0.000141079816445 - dkappa: 1.18533713495e-05 - } - path_point { - x: 586356.596688 - y: 4140743.83056 - theta: 1.30480017575 - kappa: 0.000142853484987 - dkappa: 1.02729986605e-05 - } - path_point { - x: 586356.638856 - y: 4140743.98534 - theta: 1.30482321811 - kappa: 0.000144378808129 - dkappa: 8.75366797845e-06 - } - path_point { - x: 586356.681028 - y: 4140744.14015 - theta: 1.30484648963 - kappa: 0.0001456654961 - dkappa: 7.29529276497e-06 - } - path_point { - x: 586356.723202 - y: 4140744.29498 - theta: 1.30486995292 - kappa: 0.000146723246907 - dkappa: 5.89776740354e-06 - } - path_point { - x: 586356.76538 - y: 4140744.44984 - theta: 1.30489357209 - kappa: 0.000147561743787 - dkappa: 4.56096923152e-06 - } - path_point { - x: 586356.807561 - y: 4140744.60472 - theta: 1.3049173128 - kappa: 0.000148190652924 - dkappa: 3.28476048403e-06 - } - path_point { - x: 586356.849746 - y: 4140744.75963 - theta: 1.30494114221 - kappa: 0.000148619621448 - dkappa: 2.06899014948e-06 - } - path_point { - x: 586356.891934 - y: 4140744.91457 - theta: 1.30496502904 - kappa: 0.000148858275673 - dkappa: 9.13495736837e-07 - } - path_point { - x: 586356.934125 - y: 4140745.06954 - theta: 1.30498894351 - kappa: 0.000148916219582 - dkappa: -1.8189504534e-07 - } - path_point { - x: 586356.976319 - y: 4140745.22453 - theta: 1.30501285737 - kappa: 0.000148803033541 - dkappa: -1.21736269798e-06 - } - path_point { - x: 586357.018517 - y: 4140745.37954 - theta: 1.30503674389 - kappa: 0.000148528273224 - dkappa: -2.19309442829e-06 - } - path_point { - x: 586357.060718 - y: 4140745.53459 - theta: 1.30506057785 - kappa: 0.000148101468749 - dkappa: -3.1092827339e-06 - } - path_point { - x: 586357.102922 - y: 4140745.68966 - theta: 1.30508433554 - kappa: 0.000147532124004 - dkappa: -3.96612407391e-06 - } - path_point { - x: 586357.145129 - y: 4140745.84476 - theta: 1.30510799478 - kappa: 0.00014682971615 - dkappa: -4.76381762625e-06 - } - path_point { - x: 586357.187339 - y: 4140745.99988 - theta: 1.30513153486 - kappa: 0.000146003695299 - dkappa: -5.50256413078e-06 - } - path_point { - x: 586357.229553 - y: 4140746.15503 - theta: 1.30515493662 - kappa: 0.00014506348434 - dkappa: -6.18256481749e-06 - } - path_point { - x: 586357.27177 - y: 4140746.3102 - theta: 1.30517818236 - kappa: 0.000144018478921 - dkappa: -6.80402041909e-06 - } - path_point { - x: 586357.31399 - y: 4140746.46541 - theta: 1.3052012559 - kappa: 0.000142878047553 - dkappa: -7.36713026737e-06 - } - path_point { - x: 586357.356213 - y: 4140746.62063 - theta: 1.30522414256 - kappa: 0.000141651531843 - dkappa: -7.87209147253e-06 - } - path_point { - x: 586357.398438 - y: 4140746.77588 - theta: 1.30524682914 - kappa: 0.000140348246836 - dkappa: -8.31909818477e-06 - } - path_point { - x: 586357.440667 - y: 4140746.93116 - theta: 1.30526930393 - kappa: 0.000138977481452 - dkappa: -8.70834093752e-06 - } - path_point { - x: 586357.482899 - y: 4140747.08646 - theta: 1.30529155671 - kappa: 0.000137548499015 - dkappa: -9.04000607149e-06 - } - path_point { - x: 586357.525134 - y: 4140747.24178 - theta: 1.30531357875 - kappa: 0.000136070537858 - dkappa: -9.31427523887e-06 - } - path_point { - x: 586357.567371 - y: 4140747.39713 - theta: 1.30533536279 - kappa: 0.000134552811987 - dkappa: -9.53132498702e-06 - } - path_point { - x: 586357.609612 - y: 4140747.5525 - theta: 1.30535690306 - kappa: 0.000133004511805 - dkappa: -9.69132642106e-06 - } - path_point { - x: 586357.651855 - y: 4140747.7079 - theta: 1.30537819526 - kappa: 0.000131434804879 - dkappa: -9.79444494453e-06 - } - path_point { - x: 586357.694101 - y: 4140747.86332 - theta: 1.30539923657 - kappa: 0.000129852836734 - dkappa: -9.84084007779e-06 - } - path_point { - x: 586357.736349 - y: 4140748.01876 - theta: 1.30542002563 - kappa: 0.000128267731672 - dkappa: -9.83066535338e-06 - } - path_point { - x: 586357.778601 - y: 4140748.17422 - theta: 1.30544056255 - kappa: 0.0001266885936 - dkappa: -9.76406828787e-06 - } - path_point { - x: 586357.820854 - y: 4140748.32971 - theta: 1.30546084893 - kappa: 0.000125124506859 - dkappa: -9.64119042976e-06 - } - path_point { - x: 586357.863111 - y: 4140748.48522 - theta: 1.3054808878 - kappa: 0.000123584537037 - dkappa: -9.46216748289e-06 - } - path_point { - x: 586357.90537 - y: 4140748.64074 - theta: 1.30550068369 - kappa: 0.000122077731765 - dkappa: -9.22712950494e-06 - } - path_point { - x: 586357.947631 - y: 4140748.79629 - theta: 1.30552024256 - kappa: 0.00012061312148 - dkappa: -8.93620118067e-06 - } - path_point { - x: 586357.989894 - y: 4140748.95186 - theta: 1.30553957184 - kappa: 0.000119199720141 - dkappa: -8.5895021694e-06 - } - path_point { - x: 586358.03216 - y: 4140749.10746 - theta: 1.30555868043 - kappa: 0.000117846525899 - dkappa: -8.18714752659e-06 - } - path_point { - x: 586358.074429 - y: 4140749.26307 - theta: 1.30557757866 - kappa: 0.00011656252169 - dkappa: -7.72924819901e-06 - } - path_point { - x: 586358.1167 - y: 4140749.4187 - theta: 1.30559627835 - kappa: 0.000115356675771 - dkappa: -7.21591159329e-06 - } - path_point { - x: 586358.158972 - y: 4140749.57435 - theta: 1.30561479273 - kappa: 0.000114237942152 - dkappa: -6.64724221759e-06 - } - path_point { - x: 586358.201248 - y: 4140749.73002 - theta: 1.30563313652 - kappa: 0.000113215260951 - dkappa: -6.02334239606e-06 - } - path_point { - x: 586358.243525 - y: 4140749.88571 - theta: 1.30565132586 - kappa: 0.000112297558629 - dkappa: -5.34431305587e-06 - } - path_point { - x: 586358.285805 - y: 4140750.04142 - theta: 1.30566937835 - kappa: 0.000111493748118 - dkappa: -4.61025458654e-06 - } - path_point { - x: 586358.328086 - y: 4140750.19715 - theta: 1.30568731305 - kappa: 0.000110812728816 - dkappa: -3.82126777125e-06 - } - path_point { - x: 586358.37037 - y: 4140750.3529 - theta: 1.30570515044 - kappa: 0.000110263386452 - dkappa: -2.97745478996e-06 - } - path_point { - x: 586358.412656 - y: 4140750.50866 - theta: 1.30572291245 - kappa: 0.000109854592801 - dkappa: -2.0789202939e-06 - } - path_point { - x: 586358.454944 - y: 4140750.66445 - theta: 1.30574062248 - kappa: 0.000109595205242 - dkappa: -1.12577255115e-06 - } - path_point { - x: 586358.497235 - y: 4140750.82025 - theta: 1.30575830532 - kappa: 0.000109494066148 - dkappa: -1.18124662928e-07 - } - path_point { - x: 586358.539527 - y: 4140750.97608 - theta: 1.30577598725 - kappa: 0.000109560002102 - dkappa: 9.43904149801e-07 - } - path_point { - x: 586358.581822 - y: 4140751.13192 - theta: 1.30579369595 - kappa: 0.000109801822926 - dkappa: 2.06018719003e-06 - } - path_point { - x: 586358.624118 - y: 4140751.28778 - theta: 1.30581146054 - kappa: 0.000110228320507 - dkappa: 3.23058885914e-06 - } - path_point { - x: 586358.666417 - y: 4140751.44366 - theta: 1.3058293116 - kappa: 0.000110848267421 - dkappa: 4.45496316279e-06 - } - path_point { - x: 586358.708718 - y: 4140751.59955 - theta: 1.30584728111 - kappa: 0.000111670415343 - dkappa: 5.73315214901e-06 - } - path_point { - x: 586358.751021 - y: 4140751.75547 - theta: 1.3058654025 - kappa: 0.000112703493225 - dkappa: 7.06498427934e-06 - } - path_point { - x: 586358.793327 - y: 4140751.91141 - theta: 1.3058837106 - kappa: 0.000113956205236 - dkappa: 8.45027273395e-06 - } - path_point { - x: 586358.835635 - y: 4140752.06736 - theta: 1.30590224169 - kappa: 0.000115437228465 - dkappa: 9.88881365203e-06 - } - path_point { - x: 586358.877945 - y: 4140752.22334 - theta: 1.30592103345 - kappa: 0.000117155210363 - dkappa: 1.13803843084e-05 - } - path_point { - x: 586358.920257 - y: 4140752.37934 - theta: 1.30594012499 - kappa: 0.000119118765919 - dkappa: 1.29247412283e-05 - } - path_point { - x: 586358.962572 - y: 4140752.53536 - theta: 1.30595955683 - kappa: 0.000121336474571 - dkappa: 1.45216182411e-05 - } - } - adc_position { - header { - timestamp_sec: 1502325621.99 - module_name: "SimControl" - sequence_num: 1338 - } - pose { - position { - x: 586345.428776 - y: 4140686.07776 - z: 0.0 - } - orientation { - qx: 0.0 - qy: 0.0 - qz: 0.423234242247 - qw: 0.906020295683 - } - linear_velocity { - x: -2.04319400905 - y: 1.70971512776 - z: 0.0 - } - linear_acceleration { - x: 0.0508264094337 - y: -0.0425308026127 - z: 0.0 - } - angular_velocity { - x: 0.0 - y: 0.0 - z: -0.312630966967 - } - heading: 2.44482048695 - } - } - chassis { - engine_started: true - speed_mps: 2.66416358948 - throttle_percentage: 0.0 - brake_percentage: 0.0 - driving_mode: COMPLETE_AUTO_DRIVE - gear_location: GEAR_DRIVE - header { - timestamp_sec: 1502325621.99 - module_name: "SimControl" - sequence_num: 1338 - } - } - routing { - header { - timestamp_sec: 1234.5 - module_name: "routing" - sequence_num: 1 - } - route { - road_info { - passage_region { - segment { - id: "1_-1" - start_s: 0.0 - end_s: 153.0 - } - } - } - } - measurement { - distance: 153.0 - } - routing_request { - start { - id: "1_-1" - s: 0.0 - pose { - x: 586392.84003 - y: 4140673.01232 - } - } - end { - id: "1_-1" - s: 153.0 - pose { - x: 586367.70649 - y: 4140785.35795 - } - } - } - } - init_point { - path_point { - x: 586344.789896 - y: 4140686.67017 - theta: 2.33886644583 - kappa: -0.125962565489 - s: 0.0 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.65395017503 - a: 0.00397305774633 - relative_time: 0.2 - } - speed_plan { - name: "QP_SPLINE_ST_SPEED_OPTIMIZER" - speed_point { - s: -1.05879118407e-22 - t: 0.0 - v: 2.65395017503 - a: 0.00397305774633 - da: 0.205652059959 - } - speed_point { - s: 0.132706739474 - t: 0.05 - v: 2.65440429193 - a: 0.0141596293532 - da: 0.201813385052 - } - speed_point { - s: 0.265448838116 - t: 0.1 - v: 2.65536294552 - a: 0.024154654325 - da: 0.197990194557 - } - speed_point { - s: 0.39825128365 - t: 0.15 - v: 2.65681657782 - a: 0.0339589068825 - da: 0.194182488475 - } - speed_point { - s: 0.531138586868 - t: 0.2 - v: 2.65875566957 - a: 0.0435731612461 - da: 0.190390266806 - } - speed_point { - s: 0.664134783567 - t: 0.25 - v: 2.66117074021 - a: 0.0529981916366 - da: 0.186613529549 - } - speed_point { - s: 0.797263436485 - t: 0.3 - v: 2.66405234791 - a: 0.0622347722746 - da: 0.182852276705 - } - speed_point { - s: 0.930547637235 - t: 0.35 - v: 2.66739108952 - a: 0.0712836773806 - da: 0.179106508273 - } - speed_point { - s: 1.06401000824 - t: 0.4 - v: 2.67117760062 - a: 0.0801456811754 - da: 0.175376224253 - } - speed_point { - s: 1.19767270467 - t: 0.45 - v: 2.67540255552 - a: 0.0888215578795 - da: 0.171661424647 - } - speed_point { - s: 1.33155741638 - t: 0.5 - v: 2.6800566672 - a: 0.0973120817136 - da: 0.167962109452 - } - speed_point { - s: 1.46568536985 - t: 0.55 - v: 2.68513068738 - a: 0.105618026898 - da: 0.16427827867 - } - speed_point { - s: 1.60007733008 - t: 0.6 - v: 2.69061540648 - a: 0.113740167654 - da: 0.160609932301 - } - speed_point { - s: 1.73475360261 - t: 0.65 - v: 2.69650165364 - a: 0.121679278202 - da: 0.156957070344 - } - speed_point { - s: 1.86973403536 - t: 0.7 - v: 2.7027802967 - a: 0.129436132762 - da: 0.153319692799 - } - speed_point { - s: 2.00503802063 - t: 0.75 - v: 2.70944224222 - a: 0.137011505555 - da: 0.149697799667 - } - speed_point { - s: 2.14068449702 - t: 0.8 - v: 2.71647843546 - a: 0.144406170802 - da: 0.146091390948 - } - speed_point { - s: 2.27669195134 - t: 0.85 - v: 2.72387985995 - a: 0.151620885462 - da: 0.142500587754 - } - speed_point { - s: 2.41307842058 - t: 0.9 - v: 2.73163754015 - a: 0.158656568809 - da: 0.13893013842 - } - speed_point { - s: 2.54986149416 - t: 0.95 - v: 2.73974254994 - a: 0.165514238535 - da: 0.135380042946 - } - speed_point { - s: 2.68705831645 - t: 1.0 - v: 2.74818601408 - a: 0.172194912334 - da: 0.131850301331 - } - speed_point { - s: 2.82468558937 - t: 1.05 - v: 2.7569591082 - a: 0.178699607899 - da: 0.128340913576 - } - speed_point { - s: 2.96275957485 - t: 1.1 - v: 2.76605305886 - a: 0.185029342923 - da: 0.124851879681 - } - speed_point { - s: 3.10129609746 - t: 1.15 - v: 2.77545914345 - a: 0.191185135098 - da: 0.121383199645 - } - speed_point { - s: 3.24031054687 - t: 1.2 - v: 2.78516869028 - a: 0.197168002118 - da: 0.117934873469 - } - speed_point { - s: 3.37981788048 - t: 1.25 - v: 2.79517307854 - a: 0.202978961676 - da: 0.114506901153 - } - speed_point { - s: 3.51983262589 - t: 1.3 - v: 2.80546373828 - a: 0.208619031465 - da: 0.111099282696 - } - speed_point { - s: 3.66036888349 - t: 1.35 - v: 2.81603215048 - a: 0.214089229177 - da: 0.107712018099 - } - speed_point { - s: 3.80144032898 - t: 1.4 - v: 2.82686984696 - a: 0.219390572506 - da: 0.104345107362 - } - speed_point { - s: 3.94306021594 - t: 1.45 - v: 2.83796841045 - a: 0.224524079144 - da: 0.100998550485 - } - speed_point { - s: 4.08524137834 - t: 1.5 - v: 2.84931947456 - a: 0.229490766785 - da: 0.0976723474665 - } - speed_point { - s: 4.22799623312 - t: 1.55 - v: 2.86091472378 - a: 0.234291653122 - da: 0.0943664983081 - } - speed_point { - s: 4.3713367827 - t: 1.6 - v: 2.87274589348 - a: 0.238927755847 - da: 0.0910810030095 - } - speed_point { - s: 4.51527461755 - t: 1.65 - v: 2.88480477022 - a: 0.243400121067 - da: 0.0878178666306 - } - speed_point { - s: 4.65982091885 - t: 1.7 - v: 2.89708319696 - a: 0.247709968595 - da: 0.0845802953617 - } - speed_point { - s: 4.80498646148 - t: 1.75 - v: 2.90957307976 - a: 0.251858576688 - da: 0.0813682892026 - } - speed_point { - s: 4.95078161723 - t: 1.8 - v: 2.92226638861 - a: 0.255847223601 - da: 0.0781818481534 - } - speed_point { - s: 5.09721635797 - t: 1.85 - v: 2.9351551574 - a: 0.259677187588 - da: 0.075020972214 - } - speed_point { - s: 5.24430025889 - t: 1.9 - v: 2.94823148395 - a: 0.263349746907 - da: 0.0718856613846 - } - speed_point { - s: 5.39204250166 - t: 1.95 - v: 2.96148752999 - a: 0.266866179812 - da: 0.068775915665 - } - speed_point { - s: 5.54045187761 - t: 2.0 - v: 2.97491552113 - a: 0.270227764559 - da: 0.0656917350552 - } - speed_point { - s: 5.68953679098 - t: 2.05 - v: 2.98850774694 - a: 0.273435779403 - da: 0.0626331195554 - } - speed_point { - s: 5.83930526207 - t: 2.1 - v: 3.00225656088 - a: 0.2764915026 - da: 0.0596000691654 - } - speed_point { - s: 5.98976493046 - t: 2.15 - v: 3.01615438031 - a: 0.279396212405 - da: 0.0565925838853 - } - speed_point { - s: 6.14092305818 - t: 2.2 - v: 3.03019368653 - a: 0.282151187073 - da: 0.053610663715 - } - speed_point { - s: 6.29278653294 - t: 2.25 - v: 3.04436702474 - a: 0.284757704861 - da: 0.0506543086547 - } - speed_point { - s: 6.4453618713 - t: 2.3 - v: 3.05866700404 - a: 0.287217044024 - da: 0.0477235187042 - } - speed_point { - s: 6.59865522188 - t: 2.35 - v: 3.07308629747 - a: 0.289530482817 - da: 0.0448182938635 - } - speed_point { - s: 6.75267236853 - t: 2.4 - v: 3.08761764196 - a: 0.291699299495 - da: 0.0419386341328 - } - speed_point { - s: 6.90741873359 - t: 2.45 - v: 3.10225383961 - a: 0.293724858697 - da: 0.0390888549072 - } - speed_point { - s: 7.06289938126 - t: 2.5 - v: 3.11698776581 - a: 0.295608697084 - da: 0.0362698015653 - } - speed_point { - s: 7.21911902147 - t: 2.55 - v: 3.13181237291 - a: 0.297352350951 - da: 0.033481474107 - } - speed_point { - s: 7.37608201368 - t: 2.6 - v: 3.1467206901 - a: 0.298957356593 - da: 0.0307238725324 - } - speed_point { - s: 7.53379237071 - t: 2.65 - v: 3.16170582338 - a: 0.300425250303 - da: 0.0279969968414 - } - speed_point { - s: 7.69225376262 - t: 2.7 - v: 3.17676095554 - a: 0.301757568375 - da: 0.025300847034 - } - speed_point { - s: 7.85146952053 - t: 2.75 - v: 3.19187934622 - a: 0.302955847104 - da: 0.0226354231103 - } - speed_point { - s: 8.01144264045 - t: 2.8 - v: 3.20705433187 - a: 0.304021622784 - da: 0.0200007250702 - } - speed_point { - s: 8.17217578714 - t: 2.85 - v: 3.22227932572 - a: 0.304956431709 - da: 0.0173967529138 - } - speed_point { - s: 8.33367129795 - t: 2.9 - v: 3.23754781786 - a: 0.305761810174 - da: 0.014823506641 - } - speed_point { - s: 8.49593118664 - t: 2.95 - v: 3.25285337517 - a: 0.306439294471 - da: 0.0122809862518 - } - speed_point { - s: 8.65895714724 - t: 3.0 - v: 3.26818964135 - a: 0.306990420897 - da: 0.00976919174627 - } - speed_point { - s: 8.82275055789 - t: 3.05 - v: 3.2835503369 - a: 0.307416725744 - da: 0.00728812312438 - } - speed_point { - s: 8.98731248466 - t: 3.1 - v: 3.29892925917 - a: 0.307719745307 - da: 0.00483778038614 - } - speed_point { - s: 9.15264368544 - t: 3.15 - v: 3.31432028228 - a: 0.307901015881 - da: 0.00241816353154 - } - speed_point { - s: 9.31874461371 - t: 3.2 - v: 3.32971735721 - a: 0.307962073759 - da: 2.92725605749e-05 - } - speed_point { - s: 9.48561542248 - t: 3.25 - v: 3.34511451482 - a: 0.307904648414 - da: -0.00232059632556 - } - speed_point { - s: 9.65325596858 - t: 3.3 - v: 3.36050587805 - a: 0.30773058313 - da: -0.00463632498137 - } - speed_point { - s: 9.82166581718 - t: 3.35 - v: 3.37588565758 - a: 0.307441584919 - da: -0.00691791340687 - } - speed_point { - s: 9.99084424616 - t: 3.4 - v: 3.39124814944 - a: 0.307039360793 - da: -0.00916536160204 - } - speed_point { - s: 10.1607902503 - t: 3.45 - v: 3.40658773501 - a: 0.306525617763 - da: -0.0113786695669 - } - speed_point { - s: 10.3315025456 - t: 3.5 - v: 3.42189888102 - a: 0.30590206284 - da: -0.0135578373014 - } - speed_point { - s: 10.5029795736 - t: 3.55 - v: 3.43717613955 - a: 0.305170403037 - da: -0.0157028648056 - } - speed_point { - s: 10.6752195054 - t: 3.6 - v: 3.45241414803 - a: 0.304332345363 - da: -0.0178137520795 - } - speed_point { - s: 10.8482202462 - t: 3.65 - v: 3.46760762924 - a: 0.303389596832 - da: -0.0198904991231 - } - speed_point { - s: 11.0219794396 - t: 3.7 - v: 3.48275139131 - a: 0.302343864455 - da: -0.0219331059363 - } - speed_point { - s: 11.1964944715 - t: 3.75 - v: 3.49784032774 - a: 0.301196855243 - da: -0.0239415725193 - } - speed_point { - s: 11.3717624749 - t: 3.8 - v: 3.51286941734 - a: 0.299950276207 - da: -0.0259158988719 - } - speed_point { - s: 11.5477803335 - t: 3.85 - v: 3.52783372431 - a: 0.298605834359 - da: -0.0278560849942 - } - speed_point { - s: 11.7245446867 - t: 3.9 - v: 3.54272839818 - a: 0.297165236711 - da: -0.0297621308861 - } - speed_point { - s: 11.9020519333 - t: 3.95 - v: 3.55754867384 - a: 0.295630190275 - da: -0.0316340365478 - } - speed_point { - s: 12.0802982361 - t: 4.0 - v: 3.57228987151 - a: 0.29400240206 - da: -0.0334718019791 - } - speed_point { - s: 12.2592795259 - t: 4.05 - v: 3.58694740001 - a: 0.292283771165 - da: -0.0352677902936 - } - speed_point { - s: 12.4389915066 - t: 4.1 - v: 3.60151676608 - a: 0.290476187384 - da: -0.037029917419 - } - speed_point { - s: 12.6194296597 - t: 4.15 - v: 3.61599356441 - a: 0.288581343777 - da: -0.0387581833552 - } - speed_point { - s: 12.8005892482 - t: 4.2 - v: 3.63037347434 - a: 0.286600933402 - da: -0.0404525881023 - } - speed_point { - s: 12.9824653217 - t: 4.25 - v: 3.64465225986 - a: 0.284536649319 - da: -0.0421131316603 - } - speed_point { - s: 13.1650527196 - t: 4.3 - v: 3.6588257696 - a: 0.282390184589 - da: -0.0437398140292 - } - speed_point { - s: 13.3483460762 - t: 4.35 - v: 3.67288993686 - a: 0.28016323227 - da: -0.045332635209 - } - speed_point { - s: 13.5323398245 - t: 4.4 - v: 3.68684077958 - a: 0.277857485421 - da: -0.0468915951996 - } - speed_point { - s: 13.7170282004 - t: 4.45 - v: 3.70067440038 - a: 0.275474637103 - da: -0.0484166940011 - } - speed_point { - s: 13.9024052472 - t: 4.5 - v: 3.71438698649 - a: 0.273016380374 - da: -0.0499079316135 - } - speed_point { - s: 14.0884648196 - t: 4.55 - v: 3.72797480982 - a: 0.270484408295 - da: -0.0513653080368 - } - speed_point { - s: 14.275200588 - t: 4.6 - v: 3.74143422695 - a: 0.267880413924 - da: -0.0527888232709 - } - speed_point { - s: 14.4626060429 - t: 4.65 - v: 3.75476167906 - a: 0.265206090321 - da: -0.054178477316 - } - speed_point { - s: 14.6506744986 - t: 4.7 - v: 3.76795369204 - a: 0.262463130545 - da: -0.0555342701719 - } - speed_point { - s: 14.8393990982 - t: 4.75 - v: 3.7810068764 - a: 0.259653227657 - da: -0.0568562018387 - } - speed_point { - s: 15.0287728173 - t: 4.8 - v: 3.79391792731 - a: 0.256778074715 - da: -0.0581442723164 - } - speed_point { - s: 15.2187884684 - t: 4.85 - v: 3.80668362685 - a: 0.25383949337 - da: -0.0593939202501 - } - speed_point { - s: 15.4094387053 - t: 4.9 - v: 3.81930084792 - a: 0.25083918881 - da: -0.0606132009763 - } - speed_point { - s: 15.6007160277 - t: 4.95 - v: 3.83176654232 - a: 0.247778679393 - da: -0.061802114495 - } - speed_point { - s: 15.7926127845 - t: 5.0 - v: 3.84407773775 - a: 0.24465948348 - da: -0.0629606608063 - } - speed_point { - s: 15.9851211781 - t: 5.05 - v: 3.85623153786 - a: 0.241483119432 - da: -0.06408883991 - } - speed_point { - s: 16.178233268 - t: 5.1 - v: 3.8682251222 - a: 0.238251105609 - da: -0.0651866518062 - } - speed_point { - s: 16.3719409743 - t: 5.15 - v: 3.88005574623 - a: 0.234964960372 - da: -0.066254096495 - } - speed_point { - s: 16.5662360821 - t: 5.2 - v: 3.89172074135 - a: 0.23162620208 - da: -0.0672911739762 - } - speed_point { - s: 16.7611102447 - t: 5.25 - v: 3.90321751486 - a: 0.228236349094 - da: -0.06829788425 - } - speed_point { - s: 16.9565549879 - t: 5.3 - v: 3.91454354999 - a: 0.224796919775 - da: -0.0692742273162 - } - speed_point { - s: 17.1525617133 - t: 5.35 - v: 3.92569640588 - a: 0.221309432483 - da: -0.0702202031749 - } - speed_point { - s: 17.3491217027 - t: 5.4 - v: 3.93667371758 - a: 0.217775405578 - da: -0.0711358118262 - } - speed_point { - s: 17.5462261212 - t: 5.45 - v: 3.94747319608 - a: 0.21419635742 - da: -0.0720210532699 - } - speed_point { - s: 17.7438660215 - t: 5.5 - v: 3.95809262827 - a: 0.210573806371 - da: -0.0728759275061 - } - speed_point { - s: 17.9420323476 - t: 5.55 - v: 3.96852987697 - a: 0.20690927079 - da: -0.0737004345349 - } - speed_point { - s: 18.1407159384 - t: 5.6 - v: 3.97878288092 - a: 0.203204269038 - da: -0.0744945743561 - } - speed_point { - s: 18.3399075318 - t: 5.65 - v: 3.98884965606 - a: 0.199460385909 - da: -0.0752566786891 - } - speed_point { - s: 18.5395977684 - t: 5.7 - v: 3.9987282946 - a: 0.19567900838 - da: -0.0759943503323 - } - speed_point { - s: 18.7397771949 - t: 5.75 - v: 4.00841695235 - a: 0.191861358087 - da: -0.0767075892858 - } - speed_point { - s: 18.9404362675 - t: 5.8 - v: 4.01791384622 - a: 0.188008656663 - da: -0.0773963955495 - } - speed_point { - s: 19.1415653547 - t: 5.85 - v: 4.02721725419 - a: 0.184122125743 - da: -0.0780607691236 - } - speed_point { - s: 19.3431547404 - t: 5.9 - v: 4.03632551533 - a: 0.180202986962 - da: -0.0787007100079 - } - speed_point { - s: 19.5451946271 - t: 5.95 - v: 4.04523702979 - a: 0.176252461954 - da: -0.0793162182024 - } - speed_point { - s: 19.7476751386 - t: 6.0 - v: 4.05395025879 - a: 0.172271772353 - da: -0.0799072937073 - } - speed_point { - s: 19.9505863236 - t: 6.05 - v: 4.06246372464 - a: 0.168262139795 - da: -0.0804739365224 - } - speed_point { - s: 20.1539181581 - t: 6.1 - v: 4.07077601074 - a: 0.164224785913 - da: -0.0810161466478 - } - speed_point { - s: 20.357660549 - t: 6.15 - v: 4.07888576157 - a: 0.160160932342 - da: -0.0815339240834 - } - speed_point { - s: 20.561803337 - t: 6.2 - v: 4.08679168268 - a: 0.156071800716 - da: -0.0820272688293 - } - speed_point { - s: 20.7663362995 - t: 6.25 - v: 4.0944925407 - a: 0.15195861267 - da: -0.0824961808855 - } - speed_point { - s: 20.9712491538 - t: 6.3 - v: 4.10198716336 - a: 0.147822589839 - da: -0.082940660252 - } - speed_point { - s: 21.17653156 - t: 6.35 - v: 4.10927443947 - a: 0.143664953856 - da: -0.0833607069287 - } - speed_point { - s: 21.3821731244 - t: 6.4 - v: 4.11635331889 - a: 0.139486926357 - da: -0.0837563209157 - } - speed_point { - s: 21.5881634021 - t: 6.45 - v: 4.12322281294 - a: 0.135289732936 - da: -0.0841286230353 - } - speed_point { - s: 21.7944919004 - t: 6.5 - v: 4.12988198891 - a: 0.131074343346 - da: -0.084484167621 - } - speed_point { - s: 22.0011480809 - t: 6.55 - v: 4.13632995797 - a: 0.126841595466 - da: -0.0848229546728 - } - speed_point { - s: 22.2081213619 - t: 6.6 - v: 4.14256587312 - a: 0.122592327171 - da: -0.0851449841907 - } - speed_point { - s: 22.4154011205 - t: 6.65 - v: 4.14858892931 - a: 0.118327376339 - da: -0.0854502561748 - } - speed_point { - s: 22.6229766945 - t: 6.7 - v: 4.15439836334 - a: 0.114047580846 - da: -0.085738770625 - } - speed_point { - s: 22.8308373845 - t: 6.75 - v: 4.15999345394 - a: 0.109753778569 - da: -0.0860105275414 - } - speed_point { - s: 23.0389724561 - t: 6.8 - v: 4.16537352172 - a: 0.105446807384 - da: -0.0862655269239 - } - speed_point { - s: 23.2473711423 - t: 6.85 - v: 4.17053792917 - a: 0.101127505168 - da: -0.0865037687725 - } - speed_point { - s: 23.4560226448 - t: 6.9 - v: 4.17548608068 - a: 0.0967967097989 - da: -0.0867252530872 - } - speed_point { - s: 23.6649161368 - t: 6.95 - v: 4.18021742256 - a: 0.092455259152 - da: -0.0869299798681 - } - speed_point { - s: 23.874040765 - t: 7.0 - v: 4.18473144297 - a: 0.0881039911043 - da: -0.0871179491151 - } - speed_point { - s: 24.0833856512 - t: 7.05 - v: 4.18902767201 - a: 0.0837437435327 - da: -0.0872891608282 - } - speed_point { - s: 24.2929398952 - t: 7.1 - v: 4.19310568163 - a: 0.0793753543137 - da: -0.0874436150075 - } - speed_point { - s: 24.502692576 - t: 7.15 - v: 4.19696508571 - a: 0.0749996613242 - da: -0.0875813116529 - } - speed_point { - s: 24.7126327545 - t: 7.2 - v: 4.20060554 - a: 0.0706175024407 - da: -0.0877022507644 - } - speed_point { - s: 24.9227494757 - t: 7.25 - v: 4.20402674035 - a: 0.0662295895738 - da: -0.0878129035855 - } - speed_point { - s: 25.1330317697 - t: 7.3 - v: 4.20722841015 - a: 0.0618363481146 - da: -0.0879153944596 - } - speed_point { - s: 25.3434686536 - t: 7.35 - v: 4.21021029316 - a: 0.0574381861603 - da: -0.0880097233867 - } - speed_point { - s: 25.554049132 - t: 7.4 - v: 4.21297215356 - a: 0.0530355118083 - da: -0.0880958903669 - } - speed_point { - s: 25.7647621983 - t: 7.45 - v: 4.21551377593 - a: 0.0486287331561 - da: -0.0881738954002 - } - speed_point { - s: 25.9755968357 - t: 7.5 - v: 4.21783496527 - a: 0.0442182583008 - da: -0.0882437384865 - } - speed_point { - s: 26.186542018 - t: 7.55 - v: 4.21993554696 - a: 0.0398044953399 - da: -0.0883054196258 - } - speed_point { - s: 26.397586711 - t: 7.6 - v: 4.2218153668 - a: 0.0353878523706 - da: -0.0883589388183 - } - speed_point { - s: 26.6087198731 - t: 7.65 - v: 4.223474291 - a: 0.0309687374905 - da: -0.0884042960637 - } - speed_point { - s: 26.8199304566 - t: 7.7 - v: 4.22491220616 - a: 0.0265475587967 - da: -0.0884414913623 - } - speed_point { - s: 27.0312074087 - t: 7.75 - v: 4.22612901928 - a: 0.0221247243867 - da: -0.0884705247138 - } - speed_point { - s: 27.2425396723 - t: 7.8 - v: 4.2271246578 - a: 0.0177006423578 - da: -0.0884913961185 - } - speed_point { - s: 27.4539161873 - t: 7.85 - v: 4.22789906953 - a: 0.0132757208073 - da: -0.0885041055761 - } - speed_point { - s: 27.6653258916 - t: 7.9 - v: 4.22845222269 - a: 0.00885036783262 - da: -0.0885086530869 - } - speed_point { - s: 27.8767577218 - t: 7.95 - v: 4.22878410592 - a: 0.00442499153107 - da: -0.0885050386507 - } - speed_point { - s: 28.0882006145 - t: 8.0 - v: 4.22889472826 - a: 1.72084568817e-15 - da: -0.0884932622675 - } - speed_point { - s: 28.2996435074 - t: 8.05 - v: 4.22878411914 - a: -0.00442419866323 - da: -0.0884733239374 - } - } - st_graph { - name: "QP_SPLINE_ST_SPEED_OPTIMIZER" - speed_limit { - s: 0.0 - t: 0.0 - v: 2.81759943358 - } - speed_limit { - s: 0.682684387579 - t: 0.0 - v: 2.73852654903 - } - speed_limit { - s: 1.36816159024 - t: 0.249288942559 - v: 2.70821406725 - } - speed_limit { - s: 2.05624450918 - t: 0.50239936354 - v: 2.71894314156 - } - speed_limit { - s: 2.74642281072 - t: 0.755469355485 - v: 2.76389416191 - } - speed_limit { - s: 3.43808549546 - t: 1.00518163139 - v: 2.83665170828 - } - speed_limit { - s: 4.1306113363 - t: 1.24901230074 - v: 2.93571492671 - } - speed_limit { - s: 4.82341857508 - t: 1.48490912933 - v: 3.06042257764 - } - speed_limit { - s: 5.51606004331 - t: 1.71128546175 - v: 3.21099930397 - } - speed_limit { - s: 6.20821894474 - t: 1.92699446778 - v: 3.38888432629 - } - speed_limit { - s: 6.89968602334 - t: 2.13123835302 - v: 3.5967579256 - } - speed_limit { - s: 7.59036913751 - t: 2.32348567489 - v: 3.83918900709 - } - speed_limit { - s: 8.28025633089 - t: 2.50338906409 - v: 4.12271702218 - } - speed_limit { - s: 8.96938763844 - t: 2.67072705738 - v: 4.45642505672 - } - speed_limit { - s: 9.65783734893 - t: 2.82536475436 - v: 4.5 - } - speed_limit { - s: 10.3457023068 - t: 2.97835357891 - v: 4.5 - } - speed_limit { - s: 11.0330914511 - t: 3.13121245844 - v: 4.5 - } - speed_limit { - s: 11.7201126823 - t: 3.28396560162 - v: 4.5 - } - speed_limit { - s: 12.4068645772 - t: 3.43663698634 - v: 4.5 - } - speed_limit { - s: 13.0934280936 - t: 3.58924851852 - v: 4.5 - } - speed_limit { - s: 13.7798633913 - t: 3.74181818884 - v: 4.5 - } - speed_limit { - s: 14.4662075834 - t: 3.89435936611 - v: 4.5 - } - speed_limit { - s: 15.1524783829 - t: 4.0468802977 - v: 4.5 - } - speed_limit { - s: 15.8386834787 - t: 4.1993849198 - v: 4.5 - } - speed_limit { - s: 16.5248289021 - t: 4.35187494108 - v: 4.5 - } - speed_limit { - s: 17.2109176176 - t: 4.50435170183 - v: 4.5 - } - speed_limit { - s: 17.8969549884 - t: 4.65681586084 - v: 4.5 - } - speed_limit { - s: 18.5829512575 - t: 4.8092686099 - v: 4.5 - } - speed_limit { - s: 19.2689179464 - t: 4.96171222525 - v: 4.5 - } - speed_limit { - s: 19.9548667019 - t: 5.11414926723 - v: 4.5 - } - speed_limit { - s: 20.6408092582 - t: 5.26658232402 - v: 4.5 - } - speed_limit { - s: 21.3267549711 - t: 5.4190140032 - v: 4.5 - } - speed_limit { - s: 22.0127104548 - t: 5.57144638384 - v: 4.5 - } - speed_limit { - s: 22.6986800293 - t: 5.72388093578 - v: 4.5 - } - speed_limit { - s: 23.3846654843 - t: 5.87631861899 - v: 4.5 - } - speed_limit { - s: 24.0706665921 - t: 6.02875983121 - v: 4.5 - } - speed_limit { - s: 24.7566818296 - t: 6.18120452183 - v: 4.5 - } - speed_limit { - s: 25.4427091105 - t: 6.3336523524 - v: 4.5 - } - speed_limit { - s: 26.1287462525 - t: 6.48610285927 - v: 4.5 - } - speed_limit { - s: 26.8147914168 - t: 6.63855555748 - v: 4.5 - } - speed_limit { - s: 27.5008432685 - t: 6.79101003844 - v: 4.5 - } - speed_limit { - s: 28.1869010064 - t: 6.94346600549 - v: 4.5 - } - speed_limit { - s: 28.8729642472 - t: 7.09592328057 - v: 4.5 - } - speed_limit { - s: 29.5590327132 - t: 7.24838177853 - v: 4.5 - } - speed_limit { - s: 30.2451056548 - t: 7.40084143763 - v: 4.5 - } - speed_limit { - s: 30.9311823898 - t: 7.55330209133 - v: 4.5 - } - speed_limit { - s: 31.617262251 - t: 7.70576358799 - v: 4.5 - } - speed_limit { - s: 32.303344512 - t: 7.85822577938 - v: 4.5 - } - speed_limit { - s: 32.9894284544 - t: 8.01068850404 - v: 4.5 - } - speed_limit { - s: 33.6755134199 - t: 8.16315160234 - v: 4.5 - } - speed_limit { - s: 34.3615988249 - t: 8.31561492801 - v: 4.5 - } - speed_limit { - s: 35.0476841659 - t: 8.46807835135 - v: 4.5 - } - speed_limit { - s: 35.7337690765 - t: 8.62054176047 - v: 4.5 - } - speed_limit { - s: 36.4198533132 - t: 8.77300507392 - v: 4.5 - } - speed_limit { - s: 37.1059367489 - t: 8.92546823764 - v: 4.5 - } - speed_limit { - s: 37.7920193647 - t: 9.07793122334 - v: 4.5 - } - speed_limit { - s: 38.4781012209 - t: 9.23039402686 - v: 4.5 - } - speed_limit { - s: 39.1641824245 - t: 9.38285666158 - v: 4.5 - } - speed_limit { - s: 39.8502631161 - t: 9.53531915127 - v: 4.5 - } - speed_limit { - s: 40.536343439 - t: 9.68778152718 - v: 4.5 - } - speed_limit { - s: 41.222423522 - t: 9.84024382115 - v: 4.5 - } - speed_limit { - s: 41.9085034845 - t: 9.99270606182 - v: 4.5 - } - speed_limit { - s: 42.5945834415 - t: 10.1451682757 - v: 4.5 - } - speed_limit { - s: 43.2806634481 - t: 10.2976304884 - v: 4.5 - } - speed_limit { - s: 43.9667435239 - t: 10.4500927121 - v: 4.5 - } - speed_limit { - s: 44.6528236853 - t: 10.6025549511 - v: 4.5 - } - speed_limit { - s: 45.3389039505 - t: 10.7550172092 - v: 4.5 - } - speed_limit { - s: 46.0249843321 - t: 10.9074794904 - v: 4.5 - } - speed_limit { - s: 46.7110648375 - t: 11.0599417974 - v: 4.5 - } - speed_limit { - s: 47.3971454634 - t: 11.2124041319 - v: 4.5 - } - speed_limit { - s: 48.0832262002 - t: 11.3648664932 - v: 4.5 - } - speed_limit { - s: 48.7693070297 - t: 11.5173288792 - v: 4.5 - } - speed_limit { - s: 49.4553879297 - t: 11.6697912858 - v: 4.5 - } - speed_limit { - s: 50.1414688735 - t: 11.822253708 - v: 4.5 - } - speed_limit { - s: 50.8275498376 - t: 11.9747161399 - v: 4.5 - } - speed_limit { - s: 51.5136308008 - t: 12.1271785764 - v: 4.5 - } - speed_limit { - s: 52.1997117474 - t: 12.2796410127 - v: 4.5 - } - speed_limit { - s: 52.8857926663 - t: 12.4321034452 - v: 4.5 - } - speed_limit { - s: 53.5718735534 - t: 12.5845658717 - v: 4.5 - } - speed_limit { - s: 54.2579544061 - t: 12.737028291 - v: 4.5 - } - speed_limit { - s: 54.9440352215 - t: 12.8894907027 - v: 4.5 - } - speed_limit { - s: 55.630115997 - t: 13.0419531061 - v: 4.5 - } - speed_limit { - s: 56.3161967308 - t: 13.1944155007 - v: 4.5 - } - speed_limit { - s: 57.0022774321 - t: 13.346877886 - v: 4.5 - } - speed_limit { - s: 57.6883581115 - t: 13.4993402641 - v: 4.5 - } - speed_limit { - s: 58.3744387761 - t: 13.6518026373 - v: 4.5 - } - speed_limit { - s: 59.0605194341 - t: 13.8042650072 - v: 4.5 - } - speed_limit { - s: 59.7466000939 - t: 13.9567273756 - v: 4.5 - } - speed_limit { - s: 60.4326807602 - t: 14.1091897445 - v: 4.5 - } - speed_limit { - s: 61.1187614368 - t: 14.2616521147 - v: 4.5 - } - speed_limit { - s: 61.8048421267 - t: 14.4141144873 - v: 4.5 - } - speed_limit { - s: 62.49092283 - t: 14.5665768629 - v: 4.5 - } - speed_limit { - s: 63.1770035458 - t: 14.7190392414 - v: 4.5 - } - speed_limit { - s: 63.8630842716 - t: 14.8715016227 - v: 4.5 - } - speed_limit { - s: 64.5491650061 - t: 15.0239640062 - v: 4.5 - } - speed_limit { - s: 65.2352457472 - t: 15.1764263916 - v: 4.5 - } - speed_limit { - s: 65.9213264917 - t: 15.3288887785 - v: 4.5 - } - speed_limit { - s: 66.6074072387 - t: 15.4813511662 - v: 4.5 - } - speed_limit { - s: 67.2934879881 - t: 15.6338135544 - v: 4.5 - } - speed_limit { - s: 67.9795687376 - t: 15.7862759432 - v: 4.5 - } - speed_profile { - s: -1.05879118407e-22 - t: 0.0 - v: 2.65395017503 - a: 0.00397305774633 - da: 0.205652059959 - } - speed_profile { - s: 0.132706739474 - t: 0.05 - v: 2.65440429193 - a: 0.0141596293532 - da: 0.201813385052 - } - speed_profile { - s: 0.265448838116 - t: 0.1 - v: 2.65536294552 - a: 0.024154654325 - da: 0.197990194557 - } - speed_profile { - s: 0.39825128365 - t: 0.15 - v: 2.65681657782 - a: 0.0339589068825 - da: 0.194182488475 - } - speed_profile { - s: 0.531138586868 - t: 0.2 - v: 2.65875566957 - a: 0.0435731612461 - da: 0.190390266806 - } - speed_profile { - s: 0.664134783567 - t: 0.25 - v: 2.66117074021 - a: 0.0529981916366 - da: 0.186613529549 - } - speed_profile { - s: 0.797263436485 - t: 0.3 - v: 2.66405234791 - a: 0.0622347722746 - da: 0.182852276705 - } - speed_profile { - s: 0.930547637235 - t: 0.35 - v: 2.66739108952 - a: 0.0712836773806 - da: 0.179106508273 - } - speed_profile { - s: 1.06401000824 - t: 0.4 - v: 2.67117760062 - a: 0.0801456811754 - da: 0.175376224253 - } - speed_profile { - s: 1.19767270467 - t: 0.45 - v: 2.67540255552 - a: 0.0888215578795 - da: 0.171661424647 - } - speed_profile { - s: 1.33155741638 - t: 0.5 - v: 2.6800566672 - a: 0.0973120817136 - da: 0.167962109452 - } - speed_profile { - s: 1.46568536985 - t: 0.55 - v: 2.68513068738 - a: 0.105618026898 - da: 0.16427827867 - } - speed_profile { - s: 1.60007733008 - t: 0.6 - v: 2.69061540648 - a: 0.113740167654 - da: 0.160609932301 - } - speed_profile { - s: 1.73475360261 - t: 0.65 - v: 2.69650165364 - a: 0.121679278202 - da: 0.156957070344 - } - speed_profile { - s: 1.86973403536 - t: 0.7 - v: 2.7027802967 - a: 0.129436132762 - da: 0.153319692799 - } - speed_profile { - s: 2.00503802063 - t: 0.75 - v: 2.70944224222 - a: 0.137011505555 - da: 0.149697799667 - } - speed_profile { - s: 2.14068449702 - t: 0.8 - v: 2.71647843546 - a: 0.144406170802 - da: 0.146091390948 - } - speed_profile { - s: 2.27669195134 - t: 0.85 - v: 2.72387985995 - a: 0.151620885462 - da: 0.142500587754 - } - speed_profile { - s: 2.41307842058 - t: 0.9 - v: 2.73163754015 - a: 0.158656568809 - da: 0.13893013842 - } - speed_profile { - s: 2.54986149416 - t: 0.95 - v: 2.73974254994 - a: 0.165514238535 - da: 0.135380042946 - } - speed_profile { - s: 2.68705831645 - t: 1.0 - v: 2.74818601408 - a: 0.172194912334 - da: 0.131850301331 - } - speed_profile { - s: 2.82468558937 - t: 1.05 - v: 2.7569591082 - a: 0.178699607899 - da: 0.128340913576 - } - speed_profile { - s: 2.96275957485 - t: 1.1 - v: 2.76605305886 - a: 0.185029342923 - da: 0.124851879681 - } - speed_profile { - s: 3.10129609746 - t: 1.15 - v: 2.77545914345 - a: 0.191185135098 - da: 0.121383199645 - } - speed_profile { - s: 3.24031054687 - t: 1.2 - v: 2.78516869028 - a: 0.197168002118 - da: 0.117934873469 - } - speed_profile { - s: 3.37981788048 - t: 1.25 - v: 2.79517307854 - a: 0.202978961676 - da: 0.114506901153 - } - speed_profile { - s: 3.51983262589 - t: 1.3 - v: 2.80546373828 - a: 0.208619031465 - da: 0.111099282696 - } - speed_profile { - s: 3.66036888349 - t: 1.35 - v: 2.81603215048 - a: 0.214089229177 - da: 0.107712018099 - } - speed_profile { - s: 3.80144032898 - t: 1.4 - v: 2.82686984696 - a: 0.219390572506 - da: 0.104345107362 - } - speed_profile { - s: 3.94306021594 - t: 1.45 - v: 2.83796841045 - a: 0.224524079144 - da: 0.100998550485 - } - speed_profile { - s: 4.08524137834 - t: 1.5 - v: 2.84931947456 - a: 0.229490766785 - da: 0.0976723474665 - } - speed_profile { - s: 4.22799623312 - t: 1.55 - v: 2.86091472378 - a: 0.234291653122 - da: 0.0943664983081 - } - speed_profile { - s: 4.3713367827 - t: 1.6 - v: 2.87274589348 - a: 0.238927755847 - da: 0.0910810030095 - } - speed_profile { - s: 4.51527461755 - t: 1.65 - v: 2.88480477022 - a: 0.243400121067 - da: 0.0878178666306 - } - speed_profile { - s: 4.65982091885 - t: 1.7 - v: 2.89708319696 - a: 0.247709968595 - da: 0.0845802953617 - } - speed_profile { - s: 4.80498646148 - t: 1.75 - v: 2.90957307976 - a: 0.251858576688 - da: 0.0813682892026 - } - speed_profile { - s: 4.95078161723 - t: 1.8 - v: 2.92226638861 - a: 0.255847223601 - da: 0.0781818481534 - } - speed_profile { - s: 5.09721635797 - t: 1.85 - v: 2.9351551574 - a: 0.259677187588 - da: 0.075020972214 - } - speed_profile { - s: 5.24430025889 - t: 1.9 - v: 2.94823148395 - a: 0.263349746907 - da: 0.0718856613846 - } - speed_profile { - s: 5.39204250166 - t: 1.95 - v: 2.96148752999 - a: 0.266866179812 - da: 0.068775915665 - } - speed_profile { - s: 5.54045187761 - t: 2.0 - v: 2.97491552113 - a: 0.270227764559 - da: 0.0656917350552 - } - speed_profile { - s: 5.68953679098 - t: 2.05 - v: 2.98850774694 - a: 0.273435779403 - da: 0.0626331195554 - } - speed_profile { - s: 5.83930526207 - t: 2.1 - v: 3.00225656088 - a: 0.2764915026 - da: 0.0596000691654 - } - speed_profile { - s: 5.98976493046 - t: 2.15 - v: 3.01615438031 - a: 0.279396212405 - da: 0.0565925838853 - } - speed_profile { - s: 6.14092305818 - t: 2.2 - v: 3.03019368653 - a: 0.282151187073 - da: 0.053610663715 - } - speed_profile { - s: 6.29278653294 - t: 2.25 - v: 3.04436702474 - a: 0.284757704861 - da: 0.0506543086547 - } - speed_profile { - s: 6.4453618713 - t: 2.3 - v: 3.05866700404 - a: 0.287217044024 - da: 0.0477235187042 - } - speed_profile { - s: 6.59865522188 - t: 2.35 - v: 3.07308629747 - a: 0.289530482817 - da: 0.0448182938635 - } - speed_profile { - s: 6.75267236853 - t: 2.4 - v: 3.08761764196 - a: 0.291699299495 - da: 0.0419386341328 - } - speed_profile { - s: 6.90741873359 - t: 2.45 - v: 3.10225383961 - a: 0.293724858697 - da: 0.0390888549072 - } - speed_profile { - s: 7.06289938126 - t: 2.5 - v: 3.11698776581 - a: 0.295608697084 - da: 0.0362698015653 - } - speed_profile { - s: 7.21911902147 - t: 2.55 - v: 3.13181237291 - a: 0.297352350951 - da: 0.033481474107 - } - speed_profile { - s: 7.37608201368 - t: 2.6 - v: 3.1467206901 - a: 0.298957356593 - da: 0.0307238725324 - } - speed_profile { - s: 7.53379237071 - t: 2.65 - v: 3.16170582338 - a: 0.300425250303 - da: 0.0279969968414 - } - speed_profile { - s: 7.69225376262 - t: 2.7 - v: 3.17676095554 - a: 0.301757568375 - da: 0.025300847034 - } - speed_profile { - s: 7.85146952053 - t: 2.75 - v: 3.19187934622 - a: 0.302955847104 - da: 0.0226354231103 - } - speed_profile { - s: 8.01144264045 - t: 2.8 - v: 3.20705433187 - a: 0.304021622784 - da: 0.0200007250702 - } - speed_profile { - s: 8.17217578714 - t: 2.85 - v: 3.22227932572 - a: 0.304956431709 - da: 0.0173967529138 - } - speed_profile { - s: 8.33367129795 - t: 2.9 - v: 3.23754781786 - a: 0.305761810174 - da: 0.014823506641 - } - speed_profile { - s: 8.49593118664 - t: 2.95 - v: 3.25285337517 - a: 0.306439294471 - da: 0.0122809862518 - } - speed_profile { - s: 8.65895714724 - t: 3.0 - v: 3.26818964135 - a: 0.306990420897 - da: 0.00976919174627 - } - speed_profile { - s: 8.82275055789 - t: 3.05 - v: 3.2835503369 - a: 0.307416725744 - da: 0.00728812312438 - } - speed_profile { - s: 8.98731248466 - t: 3.1 - v: 3.29892925917 - a: 0.307719745307 - da: 0.00483778038614 - } - speed_profile { - s: 9.15264368544 - t: 3.15 - v: 3.31432028228 - a: 0.307901015881 - da: 0.00241816353154 - } - speed_profile { - s: 9.31874461371 - t: 3.2 - v: 3.32971735721 - a: 0.307962073759 - da: 2.92725605749e-05 - } - speed_profile { - s: 9.48561542248 - t: 3.25 - v: 3.34511451482 - a: 0.307904648414 - da: -0.00232059632556 - } - speed_profile { - s: 9.65325596858 - t: 3.3 - v: 3.36050587805 - a: 0.30773058313 - da: -0.00463632498137 - } - speed_profile { - s: 9.82166581718 - t: 3.35 - v: 3.37588565758 - a: 0.307441584919 - da: -0.00691791340687 - } - speed_profile { - s: 9.99084424616 - t: 3.4 - v: 3.39124814944 - a: 0.307039360793 - da: -0.00916536160204 - } - speed_profile { - s: 10.1607902503 - t: 3.45 - v: 3.40658773501 - a: 0.306525617763 - da: -0.0113786695669 - } - speed_profile { - s: 10.3315025456 - t: 3.5 - v: 3.42189888102 - a: 0.30590206284 - da: -0.0135578373014 - } - speed_profile { - s: 10.5029795736 - t: 3.55 - v: 3.43717613955 - a: 0.305170403037 - da: -0.0157028648056 - } - speed_profile { - s: 10.6752195054 - t: 3.6 - v: 3.45241414803 - a: 0.304332345363 - da: -0.0178137520795 - } - speed_profile { - s: 10.8482202462 - t: 3.65 - v: 3.46760762924 - a: 0.303389596832 - da: -0.0198904991231 - } - speed_profile { - s: 11.0219794396 - t: 3.7 - v: 3.48275139131 - a: 0.302343864455 - da: -0.0219331059363 - } - speed_profile { - s: 11.1964944715 - t: 3.75 - v: 3.49784032774 - a: 0.301196855243 - da: -0.0239415725193 - } - speed_profile { - s: 11.3717624749 - t: 3.8 - v: 3.51286941734 - a: 0.299950276207 - da: -0.0259158988719 - } - speed_profile { - s: 11.5477803335 - t: 3.85 - v: 3.52783372431 - a: 0.298605834359 - da: -0.0278560849942 - } - speed_profile { - s: 11.7245446867 - t: 3.9 - v: 3.54272839818 - a: 0.297165236711 - da: -0.0297621308861 - } - speed_profile { - s: 11.9020519333 - t: 3.95 - v: 3.55754867384 - a: 0.295630190275 - da: -0.0316340365478 - } - speed_profile { - s: 12.0802982361 - t: 4.0 - v: 3.57228987151 - a: 0.29400240206 - da: -0.0334718019791 - } - speed_profile { - s: 12.2592795259 - t: 4.05 - v: 3.58694740001 - a: 0.292283771165 - da: -0.0352677902936 - } - speed_profile { - s: 12.4389915066 - t: 4.1 - v: 3.60151676608 - a: 0.290476187384 - da: -0.037029917419 - } - speed_profile { - s: 12.6194296597 - t: 4.15 - v: 3.61599356441 - a: 0.288581343777 - da: -0.0387581833552 - } - speed_profile { - s: 12.8005892482 - t: 4.2 - v: 3.63037347434 - a: 0.286600933402 - da: -0.0404525881023 - } - speed_profile { - s: 12.9824653217 - t: 4.25 - v: 3.64465225986 - a: 0.284536649319 - da: -0.0421131316603 - } - speed_profile { - s: 13.1650527196 - t: 4.3 - v: 3.6588257696 - a: 0.282390184589 - da: -0.0437398140292 - } - speed_profile { - s: 13.3483460762 - t: 4.35 - v: 3.67288993686 - a: 0.28016323227 - da: -0.045332635209 - } - speed_profile { - s: 13.5323398245 - t: 4.4 - v: 3.68684077958 - a: 0.277857485421 - da: -0.0468915951996 - } - speed_profile { - s: 13.7170282004 - t: 4.45 - v: 3.70067440038 - a: 0.275474637103 - da: -0.0484166940011 - } - speed_profile { - s: 13.9024052472 - t: 4.5 - v: 3.71438698649 - a: 0.273016380374 - da: -0.0499079316135 - } - speed_profile { - s: 14.0884648196 - t: 4.55 - v: 3.72797480982 - a: 0.270484408295 - da: -0.0513653080368 - } - speed_profile { - s: 14.275200588 - t: 4.6 - v: 3.74143422695 - a: 0.267880413924 - da: -0.0527888232709 - } - speed_profile { - s: 14.4626060429 - t: 4.65 - v: 3.75476167906 - a: 0.265206090321 - da: -0.054178477316 - } - speed_profile { - s: 14.6506744986 - t: 4.7 - v: 3.76795369204 - a: 0.262463130545 - da: -0.0555342701719 - } - speed_profile { - s: 14.8393990982 - t: 4.75 - v: 3.7810068764 - a: 0.259653227657 - da: -0.0568562018387 - } - speed_profile { - s: 15.0287728173 - t: 4.8 - v: 3.79391792731 - a: 0.256778074715 - da: -0.0581442723164 - } - speed_profile { - s: 15.2187884684 - t: 4.85 - v: 3.80668362685 - a: 0.25383949337 - da: -0.0593939202501 - } - speed_profile { - s: 15.4094387053 - t: 4.9 - v: 3.81930084792 - a: 0.25083918881 - da: -0.0606132009763 - } - speed_profile { - s: 15.6007160277 - t: 4.95 - v: 3.83176654232 - a: 0.247778679393 - da: -0.061802114495 - } - speed_profile { - s: 15.7926127845 - t: 5.0 - v: 3.84407773775 - a: 0.24465948348 - da: -0.0629606608063 - } - speed_profile { - s: 15.9851211781 - t: 5.05 - v: 3.85623153786 - a: 0.241483119432 - da: -0.06408883991 - } - speed_profile { - s: 16.178233268 - t: 5.1 - v: 3.8682251222 - a: 0.238251105609 - da: -0.0651866518062 - } - speed_profile { - s: 16.3719409743 - t: 5.15 - v: 3.88005574623 - a: 0.234964960372 - da: -0.066254096495 - } - speed_profile { - s: 16.5662360821 - t: 5.2 - v: 3.89172074135 - a: 0.23162620208 - da: -0.0672911739762 - } - speed_profile { - s: 16.7611102447 - t: 5.25 - v: 3.90321751486 - a: 0.228236349094 - da: -0.06829788425 - } - speed_profile { - s: 16.9565549879 - t: 5.3 - v: 3.91454354999 - a: 0.224796919775 - da: -0.0692742273162 - } - speed_profile { - s: 17.1525617133 - t: 5.35 - v: 3.92569640588 - a: 0.221309432483 - da: -0.0702202031749 - } - speed_profile { - s: 17.3491217027 - t: 5.4 - v: 3.93667371758 - a: 0.217775405578 - da: -0.0711358118262 - } - speed_profile { - s: 17.5462261212 - t: 5.45 - v: 3.94747319608 - a: 0.21419635742 - da: -0.0720210532699 - } - speed_profile { - s: 17.7438660215 - t: 5.5 - v: 3.95809262827 - a: 0.210573806371 - da: -0.0728759275061 - } - speed_profile { - s: 17.9420323476 - t: 5.55 - v: 3.96852987697 - a: 0.20690927079 - da: -0.0737004345349 - } - speed_profile { - s: 18.1407159384 - t: 5.6 - v: 3.97878288092 - a: 0.203204269038 - da: -0.0744945743561 - } - speed_profile { - s: 18.3399075318 - t: 5.65 - v: 3.98884965606 - a: 0.199460385909 - da: -0.0752566786891 - } - speed_profile { - s: 18.5395977684 - t: 5.7 - v: 3.9987282946 - a: 0.19567900838 - da: -0.0759943503323 - } - speed_profile { - s: 18.7397771949 - t: 5.75 - v: 4.00841695235 - a: 0.191861358087 - da: -0.0767075892858 - } - speed_profile { - s: 18.9404362675 - t: 5.8 - v: 4.01791384622 - a: 0.188008656663 - da: -0.0773963955495 - } - speed_profile { - s: 19.1415653547 - t: 5.85 - v: 4.02721725419 - a: 0.184122125743 - da: -0.0780607691236 - } - speed_profile { - s: 19.3431547404 - t: 5.9 - v: 4.03632551533 - a: 0.180202986962 - da: -0.0787007100079 - } - speed_profile { - s: 19.5451946271 - t: 5.95 - v: 4.04523702979 - a: 0.176252461954 - da: -0.0793162182024 - } - speed_profile { - s: 19.7476751386 - t: 6.0 - v: 4.05395025879 - a: 0.172271772353 - da: -0.0799072937073 - } - speed_profile { - s: 19.9505863236 - t: 6.05 - v: 4.06246372464 - a: 0.168262139795 - da: -0.0804739365224 - } - speed_profile { - s: 20.1539181581 - t: 6.1 - v: 4.07077601074 - a: 0.164224785913 - da: -0.0810161466478 - } - speed_profile { - s: 20.357660549 - t: 6.15 - v: 4.07888576157 - a: 0.160160932342 - da: -0.0815339240834 - } - speed_profile { - s: 20.561803337 - t: 6.2 - v: 4.08679168268 - a: 0.156071800716 - da: -0.0820272688293 - } - speed_profile { - s: 20.7663362995 - t: 6.25 - v: 4.0944925407 - a: 0.15195861267 - da: -0.0824961808855 - } - speed_profile { - s: 20.9712491538 - t: 6.3 - v: 4.10198716336 - a: 0.147822589839 - da: -0.082940660252 - } - speed_profile { - s: 21.17653156 - t: 6.35 - v: 4.10927443947 - a: 0.143664953856 - da: -0.0833607069287 - } - speed_profile { - s: 21.3821731244 - t: 6.4 - v: 4.11635331889 - a: 0.139486926357 - da: -0.0837563209157 - } - speed_profile { - s: 21.5881634021 - t: 6.45 - v: 4.12322281294 - a: 0.135289732936 - da: -0.0841286230353 - } - speed_profile { - s: 21.7944919004 - t: 6.5 - v: 4.12988198891 - a: 0.131074343346 - da: -0.084484167621 - } - speed_profile { - s: 22.0011480809 - t: 6.55 - v: 4.13632995797 - a: 0.126841595466 - da: -0.0848229546728 - } - speed_profile { - s: 22.2081213619 - t: 6.6 - v: 4.14256587312 - a: 0.122592327171 - da: -0.0851449841907 - } - speed_profile { - s: 22.4154011205 - t: 6.65 - v: 4.14858892931 - a: 0.118327376339 - da: -0.0854502561748 - } - speed_profile { - s: 22.6229766945 - t: 6.7 - v: 4.15439836334 - a: 0.114047580846 - da: -0.085738770625 - } - speed_profile { - s: 22.8308373845 - t: 6.75 - v: 4.15999345394 - a: 0.109753778569 - da: -0.0860105275414 - } - speed_profile { - s: 23.0389724561 - t: 6.8 - v: 4.16537352172 - a: 0.105446807384 - da: -0.0862655269239 - } - speed_profile { - s: 23.2473711423 - t: 6.85 - v: 4.17053792917 - a: 0.101127505168 - da: -0.0865037687725 - } - speed_profile { - s: 23.4560226448 - t: 6.9 - v: 4.17548608068 - a: 0.0967967097989 - da: -0.0867252530872 - } - speed_profile { - s: 23.6649161368 - t: 6.95 - v: 4.18021742256 - a: 0.092455259152 - da: -0.0869299798681 - } - speed_profile { - s: 23.874040765 - t: 7.0 - v: 4.18473144297 - a: 0.0881039911043 - da: -0.0871179491151 - } - speed_profile { - s: 24.0833856512 - t: 7.05 - v: 4.18902767201 - a: 0.0837437435327 - da: -0.0872891608282 - } - speed_profile { - s: 24.2929398952 - t: 7.1 - v: 4.19310568163 - a: 0.0793753543137 - da: -0.0874436150075 - } - speed_profile { - s: 24.502692576 - t: 7.15 - v: 4.19696508571 - a: 0.0749996613242 - da: -0.0875813116529 - } - speed_profile { - s: 24.7126327545 - t: 7.2 - v: 4.20060554 - a: 0.0706175024407 - da: -0.0877022507644 - } - speed_profile { - s: 24.9227494757 - t: 7.25 - v: 4.20402674035 - a: 0.0662295895738 - da: -0.0878129035855 - } - speed_profile { - s: 25.1330317697 - t: 7.3 - v: 4.20722841015 - a: 0.0618363481146 - da: -0.0879153944596 - } - speed_profile { - s: 25.3434686536 - t: 7.35 - v: 4.21021029316 - a: 0.0574381861603 - da: -0.0880097233867 - } - speed_profile { - s: 25.554049132 - t: 7.4 - v: 4.21297215356 - a: 0.0530355118083 - da: -0.0880958903669 - } - speed_profile { - s: 25.7647621983 - t: 7.45 - v: 4.21551377593 - a: 0.0486287331561 - da: -0.0881738954002 - } - speed_profile { - s: 25.9755968357 - t: 7.5 - v: 4.21783496527 - a: 0.0442182583008 - da: -0.0882437384865 - } - speed_profile { - s: 26.186542018 - t: 7.55 - v: 4.21993554696 - a: 0.0398044953399 - da: -0.0883054196258 - } - speed_profile { - s: 26.397586711 - t: 7.6 - v: 4.2218153668 - a: 0.0353878523706 - da: -0.0883589388183 - } - speed_profile { - s: 26.6087198731 - t: 7.65 - v: 4.223474291 - a: 0.0309687374905 - da: -0.0884042960637 - } - speed_profile { - s: 26.8199304566 - t: 7.7 - v: 4.22491220616 - a: 0.0265475587967 - da: -0.0884414913623 - } - speed_profile { - s: 27.0312074087 - t: 7.75 - v: 4.22612901928 - a: 0.0221247243867 - da: -0.0884705247138 - } - speed_profile { - s: 27.2425396723 - t: 7.8 - v: 4.2271246578 - a: 0.0177006423578 - da: -0.0884913961185 - } - speed_profile { - s: 27.4539161873 - t: 7.85 - v: 4.22789906953 - a: 0.0132757208073 - da: -0.0885041055761 - } - speed_profile { - s: 27.6653258916 - t: 7.9 - v: 4.22845222269 - a: 0.00885036783262 - da: -0.0885086530869 - } - speed_profile { - s: 27.8767577218 - t: 7.95 - v: 4.22878410592 - a: 0.00442499153107 - da: -0.0885050386507 - } - speed_profile { - s: 28.0882006145 - t: 8.0 - v: 4.22889472826 - a: 1.72084568817e-15 - da: -0.0884932622675 - } - speed_profile { - s: 28.2996435074 - t: 8.05 - v: 4.22878411914 - a: -0.00442419866323 - da: -0.0884733239374 - } - } - } -} -is_replan: false -gear: GEAR_DRIVE -trajectory_point { - path_point { - x: 586345.167739 - y: 4140686.29709 - z: 0.0 - theta: 2.40475837601 - kappa: -0.11990311295 - s: -0.530990365571 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.65737914617 - a: -0.0387978084563 - relative_time: 0.0 -} -trajectory_point { - path_point { - x: 586345.073223 - y: 4140686.39041 - theta: 2.388288099 - kappa: -0.121418860148 - s: -0.398165303613 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.6557149495 - a: -0.02780370974 - relative_time: 0.05 -} -trajectory_point { - path_point { - x: 586344.978757 - y: 4140686.48369 - theta: 2.37181227609 - kappa: -0.122933813655 - s: -0.265409792906 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.65459541711 - a: -0.0170110958705 - relative_time: 0.1 -} -trajectory_point { - path_point { - x: 586344.884321 - y: 4140686.57693 - theta: 2.35533650614 - kappa: -0.124448281375 - s: -0.132696851739 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.65401049591 - a: -0.00641912174333 - relative_time: 0.15 -} -trajectory_point { - path_point { - x: 586344.789896 - y: 4140686.67017 - z: 0.0 - theta: 2.33886644583 - kappa: -0.125962565489 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.65395017503 - a: 0.00397305774633 - relative_time: 0.2 -} -trajectory_point { - path_point { - x: 586344.701984 - y: 4140686.76958 - theta: 2.32161721076 - kappa: -0.127396998466 - s: 0.132706739474 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.65440429193 - a: 0.0141596293532 - relative_time: 0.25 -} -trajectory_point { - path_point { - x: 586344.614049 - y: 4140686.86901 - theta: 2.30434720209 - kappa: -0.128831813641 - s: 0.265448838116 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.65536294552 - a: 0.024154654325 - relative_time: 0.3 -} -trajectory_point { - path_point { - x: 586344.526074 - y: 4140686.9685 - theta: 2.28706344631 - kappa: -0.130267281108 - s: 0.39825128365 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.65681657782 - a: 0.0339589068825 - relative_time: 0.35 -} -trajectory_point { - path_point { - x: 586344.438043 - y: 4140687.06804 - theta: 2.26977307665 - kappa: -0.131703665805 - s: 0.531138586868 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.65875566957 - a: 0.0435731612461 - relative_time: 0.4 -} -trajectory_point { - path_point { - x: 586344.34994 - y: 4140687.16767 - theta: 2.25248331506 - kappa: -0.133141227538 - s: 0.664134783567 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.66117074021 - a: 0.0529981916366 - relative_time: 0.45 -} -trajectory_point { - path_point { - x: 586344.269882 - y: 4140687.27396 - theta: 2.2345880672 - kappa: -0.133843461514 - s: 0.797263436485 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.66405234791 - a: 0.0622347722746 - relative_time: 0.5 -} -trajectory_point { - path_point { - x: 586344.191048 - y: 4140687.38143 - theta: 2.2165563729 - kappa: -0.134427100044 - s: 0.930547637235 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.66739108952 - a: 0.0712836773806 - relative_time: 0.55 -} -trajectory_point { - path_point { - x: 586344.112109 - y: 4140687.48904 - theta: 2.198492209 - kappa: -0.135011518764 - s: 1.06401000824 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.67117760062 - a: 0.0801456811754 - relative_time: 0.6 -} -trajectory_point { - path_point { - x: 586344.033051 - y: 4140687.59682 - theta: 2.18040435224 - kappa: -0.135596814689 - s: 1.19767270467 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.67540255552 - a: 0.0888215578795 - relative_time: 0.65 -} -trajectory_point { - path_point { - x: 586343.953862 - y: 4140687.70477 - theta: 2.16230173733 - kappa: -0.136183082798 - s: 1.33155741638 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.6800566672 - a: 0.0973120817136 - relative_time: 0.7 -} -trajectory_point { - path_point { - x: 586343.882076 - y: 4140687.81794 - theta: 2.14408738154 - kappa: -0.136191160666 - s: 1.46568536985 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.68513068738 - a: 0.105618026898 - relative_time: 0.75 -} -trajectory_point { - path_point { - x: 586343.812987 - y: 4140687.93321 - theta: 2.12578326236 - kappa: -0.135981411165 - s: 1.60007733008 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.69061540648 - a: 0.113740167654 - relative_time: 0.8 -} -trajectory_point { - path_point { - x: 586343.743752 - y: 4140688.04873 - theta: 2.10743015202 - kappa: -0.135771217929 - s: 1.73475360261 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.69650165364 - a: 0.121679278202 - relative_time: 0.85 -} -trajectory_point { - path_point { - x: 586343.67436 - y: 4140688.1645 - theta: 2.08903767831 - kappa: -0.135560549982 - s: 1.86973403536 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.7027802967 - a: 0.129436132762 - relative_time: 0.9 -} -trajectory_point { - path_point { - x: 586343.604802 - y: 4140688.28056 - theta: 2.07061569153 - kappa: -0.135349377056 - s: 2.00503802063 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.70944224222 - a: 0.137011505555 - relative_time: 0.95 -} -trajectory_point { - path_point { - x: 586343.542024 - y: 4140688.40065 - theta: 2.05240106237 - kappa: -0.13473552219 - s: 2.14068449702 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.71647843546 - a: 0.144406170802 - relative_time: 1.0 -} -trajectory_point { - path_point { - x: 586343.483308 - y: 4140688.52333 - theta: 2.03426480976 - kappa: -0.133875512677 - s: 2.27669195134 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.72387985995 - a: 0.151620885462 - relative_time: 1.05 -} -trajectory_point { - path_point { - x: 586343.424429 - y: 4140688.64635 - theta: 2.01606703501 - kappa: -0.133013106558 - s: 2.41307842058 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.73163754015 - a: 0.158656568809 - relative_time: 1.1 -} -trajectory_point { - path_point { - x: 586343.365379 - y: 4140688.76973 - theta: 1.99781739621 - kappa: -0.132148192608 - s: 2.54986149416 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.73974254994 - a: 0.165514238535 - relative_time: 1.15 -} -trajectory_point { - path_point { - x: 586343.30615 - y: 4140688.89348 - theta: 1.97952581782 - kappa: -0.131280662421 - s: 2.68705831645 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.74818601408 - a: 0.172194912334 - relative_time: 1.2 -} -trajectory_point { - path_point { - x: 586343.253229 - y: 4140689.02038 - theta: 1.96162567742 - kappa: -0.130155193823 - s: 2.82468558937 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.7569591082 - a: 0.178699607899 - relative_time: 1.25 -} -trajectory_point { - path_point { - x: 586343.205077 - y: 4140689.14979 - theta: 1.94398088119 - kappa: -0.128831854948 - s: 2.96275957485 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.76605305886 - a: 0.185029342923 - relative_time: 1.3 -} -trajectory_point { - path_point { - x: 586343.156765 - y: 4140689.27963 - theta: 1.92626662052 - kappa: -0.127504082991 - s: 3.10129609746 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.77545914345 - a: 0.191185135098 - relative_time: 1.35 -} -trajectory_point { - path_point { - x: 586343.108285 - y: 4140689.40991 - theta: 1.90849199091 - kappa: -0.126171730453 - s: 3.24031054687 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.78516869028 - a: 0.197168002118 - relative_time: 1.4 -} -trajectory_point { - path_point { - x: 586343.059634 - y: 4140689.54066 - theta: 1.8906663713 - kappa: -0.124834653977 - s: 3.37981788048 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.79517307854 - a: 0.202978961676 - relative_time: 1.45 -} -trajectory_point { - path_point { - x: 586343.017479 - y: 4140689.67405 - theta: 1.87340020103 - kappa: -0.123302864542 - s: 3.51983262589 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.80546373828 - a: 0.208619031465 - relative_time: 1.5 -} -trajectory_point { - path_point { - x: 586342.979941 - y: 4140689.80948 - theta: 1.8564922666 - kappa: -0.121629544743 - s: 3.66036888349 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.81603215048 - a: 0.214089229177 - relative_time: 1.55 -} -trajectory_point { - path_point { - x: 586342.94226 - y: 4140689.94543 - theta: 1.83951137049 - kappa: -0.119949852634 - s: 3.80144032898 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.82686984696 - a: 0.219390572506 - relative_time: 1.6 -} -trajectory_point { - path_point { - x: 586342.904432 - y: 4140690.0819 - theta: 1.82246566405 - kappa: -0.11826363041 - s: 3.94306021594 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.83796841045 - a: 0.224524079144 - relative_time: 1.65 -} -trajectory_point { - path_point { - x: 586342.866454 - y: 4140690.21892 - theta: 1.80536357449 - kappa: -0.116570725261 - s: 4.08524137834 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.84931947456 - a: 0.229490766785 - relative_time: 1.7 -} -trajectory_point { - path_point { - x: 586342.835956 - y: 4140690.35827 - theta: 1.78906055386 - kappa: -0.114728392915 - s: 4.22799623312 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.86091472378 - a: 0.234291653122 - relative_time: 1.75 -} -trajectory_point { - path_point { - x: 586342.808903 - y: 4140690.49904 - theta: 1.77307969827 - kappa: -0.112811796046 - s: 4.3713367827 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.87274589348 - a: 0.238927755847 - relative_time: 1.8 -} -trajectory_point { - path_point { - x: 586342.781738 - y: 4140690.64039 - theta: 1.75702620367 - kappa: -0.110887212916 - s: 4.51527461755 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.88480477022 - a: 0.243400121067 - relative_time: 1.85 -} -trajectory_point { - path_point { - x: 586342.754457 - y: 4140690.78234 - theta: 1.74090707103 - kappa: -0.108954494021 - s: 4.65982091885 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.89708319696 - a: 0.247709968595 - relative_time: 1.9 -} -trajectory_point { - path_point { - x: 586342.72706 - y: 4140690.92489 - theta: 1.72472955104 - kappa: -0.107013495293 - s: 4.80498646148 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.90957307976 - a: 0.251858576688 - relative_time: 1.95 -} -trajectory_point { - path_point { - x: 586342.708842 - y: 4140691.0695 - theta: 1.70970102565 - kappa: -0.104968933517 - s: 4.95078161723 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.92226638861 - a: 0.255847223601 - relative_time: 2.0 -} -trajectory_point { - path_point { - x: 586342.691896 - y: 4140691.21495 - theta: 1.69477338649 - kappa: -0.102901572683 - s: 5.09721635797 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.9351551574 - a: 0.259677187588 - relative_time: 2.05 -} -trajectory_point { - path_point { - x: 586342.674874 - y: 4140691.36105 - theta: 1.67977626343 - kappa: -0.100825047028 - s: 5.24430025889 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.94823148395 - a: 0.263349746907 - relative_time: 2.1 -} -trajectory_point { - path_point { - x: 586342.657776 - y: 4140691.5078 - theta: 1.66471546575 - kappa: -0.0987392269245 - s: 5.39204250166 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.96148752999 - a: 0.266866179812 - relative_time: 2.15 -} -trajectory_point { - path_point { - x: 586342.642227 - y: 4140691.65534 - theta: 1.64983606742 - kappa: -0.0966389533793 - s: 5.54045187761 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.97491552113 - a: 0.270227764559 - relative_time: 2.2 -} -trajectory_point { - path_point { - x: 586342.634911 - y: 4140691.80425 - theta: 1.63611037231 - kappa: -0.0945034039094 - s: 5.68953679098 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 2.98850774694 - a: 0.273435779403 - relative_time: 2.25 -} -trajectory_point { - path_point { - x: 586342.627561 - y: 4140691.95384 - theta: 1.6223157183 - kappa: -0.0923580628966 - s: 5.83930526207 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.00225656088 - a: 0.2764915026 - relative_time: 2.3 -} -trajectory_point { - path_point { - x: 586342.620177 - y: 4140692.10412 - theta: 1.60845660258 - kappa: -0.0902028209086 - s: 5.98976493046 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.01615438031 - a: 0.279396212405 - relative_time: 2.35 -} -trajectory_point { - path_point { - x: 586342.612759 - y: 4140692.25509 - theta: 1.59453770467 - kappa: -0.0880375739213 - s: 6.14092305818 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.03019368653 - a: 0.282151187073 - relative_time: 2.4 -} -trajectory_point { - path_point { - x: 586342.610443 - y: 4140692.40687 - theta: 1.58140014087 - kappa: -0.0858782322407 - s: 6.29278653294 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.04436702474 - a: 0.284757704861 - relative_time: 2.45 -} -trajectory_point { - path_point { - x: 586342.612224 - y: 4140692.55943 - theta: 1.5688676181 - kappa: -0.0837215676805 - s: 6.4453618713 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.05866700404 - a: 0.287217044024 - relative_time: 2.5 -} -trajectory_point { - path_point { - x: 586342.614013 - y: 4140692.71272 - theta: 1.55627330122 - kappa: -0.0815547539605 - s: 6.59865522188 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.07308629747 - a: 0.289530482817 - relative_time: 2.55 -} -trajectory_point { - path_point { - x: 586342.615811 - y: 4140692.86672 - theta: 1.54362069806 - kappa: -0.0793777093253 - s: 6.75267236853 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.08761764196 - a: 0.291699299495 - relative_time: 2.6 -} -trajectory_point { - path_point { - x: 586342.618028 - y: 4140693.02144 - theta: 1.53098749687 - kappa: -0.0771938132094 - s: 6.90741873359 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.10225383961 - a: 0.293724858697 - relative_time: 2.65 -} -trajectory_point { - path_point { - x: 586342.628106 - y: 4140693.1766 - theta: 1.51970965116 - kappa: -0.0750655728349 - s: 7.06289938126 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.11698776581 - a: 0.295608697084 - relative_time: 2.7 -} -trajectory_point { - path_point { - x: 586342.638232 - y: 4140693.33249 - theta: 1.50837482028 - kappa: -0.0729272170293 - s: 7.21911902147 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.13181237291 - a: 0.297352350951 - relative_time: 2.75 -} -trajectory_point { - path_point { - x: 586342.648405 - y: 4140693.48912 - theta: 1.49698557214 - kappa: -0.07077868612 - s: 7.37608201368 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.1467206901 - a: 0.298957356593 - relative_time: 2.8 -} -trajectory_point { - path_point { - x: 586342.658628 - y: 4140693.6465 - theta: 1.48554458392 - kappa: -0.0686199251787 - s: 7.53379237071 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.16170582338 - a: 0.300425250303 - relative_time: 2.85 -} -trajectory_point { - path_point { - x: 586342.673641 - y: 4140693.80421 - theta: 1.47499071129 - kappa: -0.0665147413483 - s: 7.69225376262 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.17676095554 - a: 0.301757568375 - relative_time: 2.9 -} -trajectory_point { - path_point { - x: 586342.691373 - y: 4140693.96243 - theta: 1.4649077484 - kappa: -0.0644351646101 - s: 7.85146952053 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.19187934622 - a: 0.302955847104 - relative_time: 2.95 -} -trajectory_point { - path_point { - x: 586342.709189 - y: 4140694.12141 - theta: 1.45477573831 - kappa: -0.0623456956825 - s: 8.01144264045 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.20705433187 - a: 0.304021622784 - relative_time: 3.0 -} -trajectory_point { - path_point { - x: 586342.727089 - y: 4140694.28114 - theta: 1.44459659163 - kappa: -0.0602462997602 - s: 8.17217578714 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.22227932572 - a: 0.304956431709 - relative_time: 3.05 -} -trajectory_point { - path_point { - x: 586342.747227 - y: 4140694.44135 - theta: 1.43483936371 - kappa: -0.0581772169042 - s: 8.33367129795 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.23754781786 - a: 0.305761810174 - relative_time: 3.1 -} -trajectory_point { - path_point { - x: 586342.771835 - y: 4140694.60173 - theta: 1.42598549879 - kappa: -0.0561802105408 - s: 8.49593118664 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.25285337517 - a: 0.306439294471 - relative_time: 3.15 -} -trajectory_point { - path_point { - x: 586342.796559 - y: 4140694.76287 - theta: 1.41708872388 - kappa: -0.0541737757814 - s: 8.65895714724 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.26818964135 - a: 0.306990420897 - relative_time: 3.2 -} -trajectory_point { - path_point { - x: 586342.821399 - y: 4140694.92477 - theta: 1.40815036632 - kappa: -0.0521578956647 - s: 8.82275055789 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.2835503369 - a: 0.307416725744 - relative_time: 3.25 -} -trajectory_point { - path_point { - x: 586342.846973 - y: 4140695.08732 - theta: 1.39931921116 - kappa: -0.0501477939987 - s: 8.98731248466 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.29892925917 - a: 0.307719745307 - relative_time: 3.3 -} -trajectory_point { - path_point { - x: 586342.877738 - y: 4140695.24977 - theta: 1.39165860053 - kappa: -0.0482535265867 - s: 9.15264368544 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.31432028228 - a: 0.307901015881 - relative_time: 3.35 -} -trajectory_point { - path_point { - x: 586342.908646 - y: 4140695.41297 - theta: 1.3839614443 - kappa: -0.046350440091 - s: 9.31874461371 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.32971735721 - a: 0.307962073759 - relative_time: 3.4 -} -trajectory_point { - path_point { - x: 586342.939697 - y: 4140695.57692 - theta: 1.37622864143 - kappa: -0.0444385327584 - s: 9.48561542248 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.34511451482 - a: 0.307904648414 - relative_time: 3.45 -} -trajectory_point { - path_point { - x: 586342.970891 - y: 4140695.74164 - theta: 1.36846113003 - kappa: -0.0425178062295 - s: 9.65325596858 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.36050587805 - a: 0.30773058313 - relative_time: 3.5 -} -trajectory_point { - path_point { - x: 586343.006912 - y: 4140695.90615 - theta: 1.36189628504 - kappa: -0.040739457417 - s: 9.82166581718 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.37588565758 - a: 0.307441584919 - relative_time: 3.55 -} -trajectory_point { - path_point { - x: 586343.04323 - y: 4140696.07138 - theta: 1.35533565759 - kappa: -0.0389572399674 - s: 9.99084424616 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.39124814944 - a: 0.307039360793 - relative_time: 3.6 -} -trajectory_point { - path_point { - x: 586343.079711 - y: 4140696.23737 - theta: 1.34874522822 - kappa: -0.0371669364641 - s: 10.1607902503 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.40658773501 - a: 0.306525617763 - relative_time: 3.65 -} -trajectory_point { - path_point { - x: 586343.116358 - y: 4140696.4041 - theta: 1.34212562257 - kappa: -0.0353685604335 - s: 10.3315025456 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.42189888102 - a: 0.30590206284 - relative_time: 3.7 -} -trajectory_point { - path_point { - x: 586343.156876 - y: 4140696.57072 - theta: 1.33656075768 - kappa: -0.0337196144379 - s: 10.5029795736 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.43717613955 - a: 0.305170403037 - relative_time: 3.75 -} -trajectory_point { - path_point { - x: 586343.197912 - y: 4140696.738 - theta: 1.33106909436 - kappa: -0.0320776141357 - s: 10.6752195054 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.45241414803 - a: 0.304332345363 - relative_time: 3.8 -} -trajectory_point { - path_point { - x: 586343.239128 - y: 4140696.90602 - theta: 1.32555314659 - kappa: -0.0304283608773 - s: 10.8482202462 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.46760762924 - a: 0.303389596832 - relative_time: 3.85 -} -trajectory_point { - path_point { - x: 586343.280525 - y: 4140697.07477 - theta: 1.32001332702 - kappa: -0.0287718771277 - s: 11.0219794396 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.48275139131 - a: 0.302343864455 - relative_time: 3.9 -} -trajectory_point { - path_point { - x: 586343.325222 - y: 4140697.24346 - theta: 1.31545817736 - kappa: -0.0272861486574 - s: 11.1964944715 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.49784032774 - a: 0.301196855243 - relative_time: 3.95 -} -trajectory_point { - path_point { - x: 586343.370325 - y: 4140697.41283 - theta: 1.31095207219 - kappa: -0.0258061640018 - s: 11.3717624749 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.51286941734 - a: 0.299950276207 - relative_time: 4.0 -} -trajectory_point { - path_point { - x: 586343.415621 - y: 4140697.58292 - theta: 1.30642668357 - kappa: -0.0243198474754 - s: 11.5477803335 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.52783372431 - a: 0.298605834359 - relative_time: 4.05 -} -trajectory_point { - path_point { - x: 586343.461176 - y: 4140697.75371 - theta: 1.3019061542 - kappa: -0.0228325270769 - s: 11.7245446867 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.54272839818 - a: 0.297165236711 - relative_time: 4.1 -} -trajectory_point { - path_point { - x: 586343.509548 - y: 4140697.9245 - theta: 1.29829874533 - kappa: -0.0215458903015 - s: 11.9020519333 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.55754867384 - a: 0.295630190275 - relative_time: 4.15 -} -trajectory_point { - path_point { - x: 586343.558121 - y: 4140698.096 - theta: 1.29467623112 - kappa: -0.0202538965795 - s: 12.0802982361 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.57228987151 - a: 0.29400240206 - relative_time: 4.2 -} -trajectory_point { - path_point { - x: 586343.606894 - y: 4140698.26821 - theta: 1.29103878886 - kappa: -0.0189565754052 - s: 12.2592795259 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.58694740001 - a: 0.292283771165 - relative_time: 4.25 -} -trajectory_point { - path_point { - x: 586343.656251 - y: 4140698.44101 - theta: 1.28753302412 - kappa: -0.0176968664213 - s: 12.4389915066 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.60151676608 - a: 0.290476187384 - relative_time: 4.3 -} -trajectory_point { - path_point { - x: 586343.707577 - y: 4140698.61399 - theta: 1.28468847209 - kappa: -0.0166299773122 - s: 12.6194296597 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.61599356441 - a: 0.288581343777 - relative_time: 4.35 -} -trajectory_point { - path_point { - x: 586343.759108 - y: 4140698.78767 - theta: 1.28183251337 - kappa: -0.0155588225214 - s: 12.8005892482 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.63037347434 - a: 0.286600933402 - relative_time: 4.4 -} -trajectory_point { - path_point { - x: 586343.810843 - y: 4140698.96203 - theta: 1.27896527245 - kappa: -0.0144834313211 - s: 12.9824653217 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.64465225986 - a: 0.284536649319 - relative_time: 4.45 -} -trajectory_point { - path_point { - x: 586343.863435 - y: 4140699.13688 - theta: 1.27634128107 - kappa: -0.0135120228731 - s: 13.1650527196 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.6588257696 - a: 0.282390184589 - relative_time: 4.5 -} -trajectory_point { - path_point { - x: 586343.917247 - y: 4140699.31209 - theta: 1.27410280204 - kappa: -0.0127051153295 - s: 13.3483460762 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.67288993686 - a: 0.28016323227 - relative_time: 4.55 -} -trajectory_point { - path_point { - x: 586343.971265 - y: 4140699.48798 - theta: 1.27185575859 - kappa: -0.01189512447 - s: 13.5323398245 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.68684077958 - a: 0.277857485421 - relative_time: 4.6 -} -trajectory_point { - path_point { - x: 586344.025487 - y: 4140699.66453 - theta: 1.26960024383 - kappa: -0.0110820756694 - s: 13.7170282004 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.70067440038 - a: 0.275474637103 - relative_time: 4.65 -} -trajectory_point { - path_point { - x: 586344.080778 - y: 4140699.84147 - theta: 1.2676594755 - kappa: -0.0103681875424 - s: 13.9024052472 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.71438698649 - a: 0.273016380374 - relative_time: 4.7 -} -trajectory_point { - path_point { - x: 586344.136719 - y: 4140700.01892 - theta: 1.26587785489 - kappa: -0.00970426463037 - s: 14.0884648196 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.72797480982 - a: 0.270484408295 - relative_time: 4.75 -} -trajectory_point { - path_point { - x: 586344.192863 - y: 4140700.19701 - theta: 1.26408975724 - kappa: -0.00903792882432 - s: 14.275200588 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.74143422695 - a: 0.267880413924 - relative_time: 4.8 -} -trajectory_point { - path_point { - x: 586344.249208 - y: 4140700.37575 - theta: 1.26229525635 - kappa: -0.00836920335282 - s: 14.4626060429 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.75476167906 - a: 0.265206090321 - relative_time: 4.85 -} -trajectory_point { - path_point { - x: 586344.306759 - y: 4140700.5548 - theta: 1.26093027793 - kappa: -0.00774282016128 - s: 14.6506744986 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.76795369204 - a: 0.262463130545 - relative_time: 4.9 -} -trajectory_point { - path_point { - x: 586344.364531 - y: 4140700.73446 - theta: 1.25956907263 - kappa: -0.00711512753676 - s: 14.8393990982 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.7810068764 - a: 0.259653227657 - relative_time: 4.95 -} -trajectory_point { - path_point { - x: 586344.422501 - y: 4140700.91474 - theta: 1.25820318627 - kappa: -0.00648527595942 - s: 15.0287728173 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.79391792731 - a: 0.256778074715 - relative_time: 5.0 -} -trajectory_point { - path_point { - x: 586344.480935 - y: 4140701.09555 - theta: 1.25697622704 - kappa: -0.00588223754603 - s: 15.2187884684 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.80668362685 - a: 0.25383949337 - relative_time: 5.05 -} -trajectory_point { - path_point { - x: 586344.540065 - y: 4140701.2768 - theta: 1.25601386962 - kappa: -0.00533137023056 - s: 15.4094387053 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.81930084792 - a: 0.25083918881 - relative_time: 5.1 -} -trajectory_point { - path_point { - x: 586344.599389 - y: 4140701.45864 - theta: 1.25504834601 - kappa: -0.00477869100615 - s: 15.6007160277 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.83176654232 - a: 0.247778679393 - relative_time: 5.15 -} -trajectory_point { - path_point { - x: 586344.658905 - y: 4140701.64108 - theta: 1.25407969663 - kappa: -0.00422422197959 - s: 15.7926127845 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.84407773775 - a: 0.24465948348 - relative_time: 5.2 -} -trajectory_point { - path_point { - x: 586344.718999 - y: 4140701.82397 - theta: 1.25338502319 - kappa: -0.00369657240644 - s: 15.9851211781 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.85623153786 - a: 0.241483119432 - relative_time: 5.25 -} -trajectory_point { - path_point { - x: 586344.779405 - y: 4140702.00739 - theta: 1.25277561056 - kappa: -0.00317629001135 - s: 16.178233268 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.8682251222 - a: 0.238251105609 - relative_time: 5.3 -} -trajectory_point { - path_point { - x: 586344.839996 - y: 4140702.19138 - theta: 1.25216431831 - kappa: -0.00265440290693 - s: 16.3719409743 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.88005574623 - a: 0.234964960372 - relative_time: 5.35 -} -trajectory_point { - path_point { - x: 586344.900833 - y: 4140702.3759 - theta: 1.25162453165 - kappa: -0.00213908636878 - s: 16.5662360821 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.89172074135 - a: 0.23162620208 - relative_time: 5.4 -} -trajectory_point { - path_point { - x: 586344.962075 - y: 4140702.5609 - theta: 1.25135480694 - kappa: -0.00165242764578 - s: 16.7611102447 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.90321751486 - a: 0.228236349094 - relative_time: 5.45 -} -trajectory_point { - path_point { - x: 586345.023498 - y: 4140702.74644 - theta: 1.25108429247 - kappa: -0.00116434401352 - s: 16.9565549879 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.91454354999 - a: 0.224796919775 - relative_time: 5.5 -} -trajectory_point { - path_point { - x: 586345.085096 - y: 4140702.93252 - theta: 1.25081300019 - kappa: -0.0006748569444 - s: 17.1525617133 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.92569640588 - a: 0.221309432483 - relative_time: 5.55 -} -trajectory_point { - path_point { - x: 586345.146918 - y: 4140703.1191 - theta: 1.25076863004 - kappa: -0.00021946280723 - s: 17.3491217027 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.93667371758 - a: 0.217775405578 - relative_time: 5.6 -} -trajectory_point { - path_point { - x: 586345.20893 - y: 4140703.3062 - theta: 1.25082054323 - kappa: 0.000222172235332 - s: 17.5462261212 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.94747319608 - a: 0.21419635742 - relative_time: 5.65 -} -trajectory_point { - path_point { - x: 586345.271112 - y: 4140703.4938 - theta: 1.25087259745 - kappa: 0.000665007086315 - s: 17.7438660215 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.95809262827 - a: 0.210573806371 - relative_time: 5.7 -} -trajectory_point { - path_point { - x: 586345.33343 - y: 4140703.68192 - theta: 1.25098952345 - kappa: 0.00109671266675 - s: 17.9420323476 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.96852987697 - a: 0.20690927079 - relative_time: 5.75 -} -trajectory_point { - path_point { - x: 586345.395811 - y: 4140703.87055 - theta: 1.25132717128 - kappa: 0.00148763364279 - s: 18.1407159384 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.97878288092 - a: 0.203204269038 - relative_time: 5.8 -} -trajectory_point { - path_point { - x: 586345.458353 - y: 4140704.05967 - theta: 1.25166568247 - kappa: 0.00187955414205 - s: 18.3399075318 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.98884965606 - a: 0.199460385909 - relative_time: 5.85 -} -trajectory_point { - path_point { - x: 586345.521051 - y: 4140704.24926 - theta: 1.25200504102 - kappa: 0.00227245574935 - s: 18.5395977684 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 3.9987282946 - a: 0.19567900838 - relative_time: 5.9 -} -trajectory_point { - path_point { - x: 586345.583666 - y: 4140704.4394 - theta: 1.25254085987 - kappa: 0.00262259213176 - s: 18.7397771949 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.00841695235 - a: 0.191861358087 - relative_time: 5.95 -} -trajectory_point { - path_point { - x: 586345.646365 - y: 4140704.63001 - theta: 1.25313217283 - kappa: 0.00296145026334 - s: 18.9404362675 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.01791384622 - a: 0.188008656663 - relative_time: 6.0 -} -trajectory_point { - path_point { - x: 586345.709212 - y: 4140704.82107 - theta: 1.25372487082 - kappa: 0.00330110212064 - s: 19.1415653547 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.02721725419 - a: 0.184122125743 - relative_time: 6.05 -} -trajectory_point { - path_point { - x: 586345.77203 - y: 4140705.01262 - theta: 1.25439848803 - kappa: 0.00362065136544 - s: 19.3431547404 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.03632551533 - a: 0.180202986962 - relative_time: 6.1 -} -trajectory_point { - path_point { - x: 586345.834693 - y: 4140705.2047 - theta: 1.2552104063 - kappa: 0.00390501533041 - s: 19.5451946271 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.04523702979 - a: 0.176252461954 - relative_time: 6.15 -} -trajectory_point { - path_point { - x: 586345.897493 - y: 4140705.39719 - theta: 1.25602409561 - kappa: 0.00418999945924 - s: 19.7476751386 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.05395025879 - a: 0.172271772353 - relative_time: 6.2 -} -trajectory_point { - path_point { - x: 586345.960426 - y: 4140705.5901 - theta: 1.25683951491 - kappa: 0.00447558974559 - s: 19.9505863236 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.06246372464 - a: 0.168262139795 - relative_time: 6.25 -} -trajectory_point { - path_point { - x: 586346.022913 - y: 4140705.78359 - theta: 1.2578298892 - kappa: 0.00470928460249 - s: 20.1539181581 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.07077601074 - a: 0.164224785913 - relative_time: 6.3 -} -trajectory_point { - path_point { - x: 586346.085514 - y: 4140705.97747 - theta: 1.25882599796 - kappa: 0.00494232035982 - s: 20.357660549 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.07888576157 - a: 0.160160932342 - relative_time: 6.35 -} -trajectory_point { - path_point { - x: 586346.148237 - y: 4140706.17174 - theta: 1.25982406371 - kappa: 0.0051758140819 - s: 20.561803337 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.08679168268 - a: 0.156071800716 - relative_time: 6.4 -} -trajectory_point { - path_point { - x: 586346.210653 - y: 4140706.36652 - theta: 1.26091135398 - kappa: 0.00537798975553 - s: 20.7663362995 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.0944925407 - a: 0.15195861267 - relative_time: 6.45 -} -trajectory_point { - path_point { - x: 586346.272915 - y: 4140706.56174 - theta: 1.26205572575 - kappa: 0.00556051154826 - s: 20.9712491538 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.10198716336 - a: 0.147822589839 - relative_time: 6.5 -} -trajectory_point { - path_point { - x: 586346.335289 - y: 4140706.75732 - theta: 1.26320216153 - kappa: 0.00574336251159 - s: 21.17653156 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.10927443947 - a: 0.143664953856 - relative_time: 6.55 -} -trajectory_point { - path_point { - x: 586346.397558 - y: 4140706.95331 - theta: 1.26437980959 - kappa: 0.00591281400521 - s: 21.3821731244 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.11635331889 - a: 0.139486926357 - relative_time: 6.6 -} -trajectory_point { - path_point { - x: 586346.45935 - y: 4140707.14981 - theta: 1.26563876863 - kappa: 0.00604530029836 - s: 21.5881634021 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.12322281294 - a: 0.135289732936 - relative_time: 6.65 -} -trajectory_point { - path_point { - x: 586346.521244 - y: 4140707.34664 - theta: 1.26689979637 - kappa: 0.00617800412404 - s: 21.7944919004 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.12988198891 - a: 0.131074343346 - relative_time: 6.7 -} -trajectory_point { - path_point { - x: 586346.583236 - y: 4140707.54378 - theta: 1.26816282438 - kappa: 0.00631091870436 - s: 22.0011480809 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.13632995797 - a: 0.126841595466 - relative_time: 6.75 -} -trajectory_point { - path_point { - x: 586346.644518 - y: 4140707.74147 - theta: 1.26949790645 - kappa: 0.00639741769829 - s: 22.2081213619 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.14256587312 - a: 0.122592327171 - relative_time: 6.8 -} -trajectory_point { - path_point { - x: 586346.705843 - y: 4140707.93947 - theta: 1.27083912373 - kappa: 0.00648128223521 - s: 22.4154011205 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.14858892931 - a: 0.118327376339 - relative_time: 6.85 -} -trajectory_point { - path_point { - x: 586346.767255 - y: 4140708.13775 - theta: 1.27218225372 - kappa: 0.00656526645781 - s: 22.6229766945 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.15439836334 - a: 0.114047580846 - relative_time: 6.9 -} -trajectory_point { - path_point { - x: 586346.828184 - y: 4140708.33648 - theta: 1.27355329362 - kappa: 0.0066181038886 - s: 22.8308373845 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.15999345394 - a: 0.109753778569 - relative_time: 6.95 -} -trajectory_point { - path_point { - x: 586346.888868 - y: 4140708.53558 - theta: 1.27494109976 - kappa: 0.00665307961671 - s: 23.0389724561 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.16537352172 - a: 0.105446807384 - relative_time: 7.0 -} -trajectory_point { - path_point { - x: 586346.949628 - y: 4140708.73492 - theta: 1.2763306637 - kappa: 0.0066880996435 - s: 23.2473711423 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.17053792917 - a: 0.101127505168 - relative_time: 7.05 -} -trajectory_point { - path_point { - x: 586347.010148 - y: 4140708.9346 - theta: 1.2777242705 - kappa: 0.00670601674498 - s: 23.4560226448 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.17548608068 - a: 0.0967967097989 - relative_time: 7.1 -} -trajectory_point { - path_point { - x: 586347.070133 - y: 4140709.1347 - theta: 1.2791240455 - kappa: 0.00669092783864 - s: 23.6649161368 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.18021742256 - a: 0.092455259152 - relative_time: 7.15 -} -trajectory_point { - path_point { - x: 586347.130184 - y: 4140709.33501 - theta: 1.28052537097 - kappa: 0.00667582223676 - s: 23.874040765 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.18473144297 - a: 0.0881039911043 - relative_time: 7.2 -} -trajectory_point { - path_point { - x: 586347.190243 - y: 4140709.53556 - theta: 1.28192643401 - kappa: 0.00665755620534 - s: 24.0833856512 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.18902767201 - a: 0.0837437435327 - relative_time: 7.25 -} -trajectory_point { - path_point { - x: 586347.249497 - y: 4140709.73656 - theta: 1.28330205751 - kappa: 0.0065906116939 - s: 24.2929398952 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.19310568163 - a: 0.0793753543137 - relative_time: 7.3 -} -trajectory_point { - path_point { - x: 586347.308808 - y: 4140709.93775 - theta: 1.28467898666 - kappa: 0.00652360378953 - s: 24.502692576 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.19696508571 - a: 0.0749996613242 - relative_time: 7.35 -} -trajectory_point { - path_point { - x: 586347.368171 - y: 4140710.13913 - theta: 1.28605714443 - kappa: 0.00645653598683 - s: 24.7126327545 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.20060554 - a: 0.0706175024407 - relative_time: 7.4 -} -trajectory_point { - path_point { - x: 586347.426884 - y: 4140710.34087 - theta: 1.2873859303 - kappa: 0.00634698228436 - s: 24.9227494757 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.20402674035 - a: 0.0662295895738 - relative_time: 7.45 -} -trajectory_point { - path_point { - x: 586347.485457 - y: 4140710.54283 - theta: 1.28870235363 - kappa: 0.00622607905348 - s: 25.1330317697 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.20722841015 - a: 0.0618363481146 - relative_time: 7.5 -} -trajectory_point { - path_point { - x: 586347.544074 - y: 4140710.74494 - theta: 1.29001974402 - kappa: 0.00610508694013 - s: 25.3434686536 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.21021029316 - a: 0.0574381861603 - relative_time: 7.55 -} -trajectory_point { - path_point { - x: 586347.602289 - y: 4140710.94731 - theta: 1.29128424041 - kappa: 0.00595421249957 - s: 25.554049132 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.21297215356 - a: 0.0530355118083 - relative_time: 7.6 -} -trajectory_point { - path_point { - x: 586347.660146 - y: 4140711.14993 - theta: 1.2925015612 - kappa: 0.00577666497947 - s: 25.7647621983 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.21551377593 - a: 0.0486287331561 - relative_time: 7.65 -} -trajectory_point { - path_point { - x: 586347.718037 - y: 4140711.35266 - theta: 1.29371958468 - kappa: 0.0055990150232 - s: 25.9755968357 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.21783496527 - a: 0.0442182583008 - relative_time: 7.7 -} -trajectory_point { - path_point { - x: 586347.77575 - y: 4140711.55556 - theta: 1.29489908181 - kappa: 0.00540501047822 - s: 26.186542018 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.21993554696 - a: 0.0398044953399 - relative_time: 7.75 -} -trajectory_point { - path_point { - x: 586347.832935 - y: 4140711.75871 - theta: 1.29597531399 - kappa: 0.00516780389662 - s: 26.397586711 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.2218153668 - a: 0.0353878523706 - relative_time: 7.8 -} -trajectory_point { - path_point { - x: 586347.890144 - y: 4140711.96194 - theta: 1.2970519982 - kappa: 0.00493049787893 - s: 26.6087198731 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.223474291 - a: 0.0309687374905 - relative_time: 7.85 -} -trajectory_point { - path_point { - x: 586347.947359 - y: 4140712.16525 - theta: 1.29812459655 - kappa: 0.00469159748321 - s: 26.8199304566 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.22491220616 - a: 0.0265475587967 - relative_time: 7.9 -} -trajectory_point { - path_point { - x: 586348.003953 - y: 4140712.36881 - theta: 1.29901786863 - kappa: 0.00439215908149 - s: 27.0312074087 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.22612901928 - a: 0.0221247243867 - relative_time: 7.95 -} -trajectory_point { - path_point { - x: 586348.060563 - y: 4140712.57242 - theta: 1.29991137541 - kappa: 0.00409264228787 - s: 27.2425396723 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.2271246578 - a: 0.0177006423578 - relative_time: 8.0 -} -trajectory_point { - path_point { - x: 586348.117184 - y: 4140712.77607 - theta: 1.30080506872 - kappa: 0.00379306277762 - s: 27.4539161873 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.22789906953 - a: 0.0132757208073 - relative_time: 8.05 -} -trajectory_point { - path_point { - x: 586348.173411 - y: 4140712.97987 - theta: 1.30153162283 - kappa: 0.0034820876719 - s: 27.6653258916 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.22845222269 - a: 0.00885036783262 - relative_time: 8.1 -} -trajectory_point { - path_point { - x: 586348.229529 - y: 4140713.18371 - theta: 1.30221052365 - kappa: 0.00316784192463 - s: 27.8767577218 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.22878410592 - a: 0.00442499153107 - relative_time: 8.15 -} -trajectory_point { - path_point { - x: 586348.285649 - y: 4140713.38757 - theta: 1.3028894599 - kappa: 0.00285357973536 - s: 28.0882006145 - dkappa: 0.0 - ddkappa: 0.0 - } - v: 4.22889472826 - a: 1.72084568817e-15 - relative_time: 8.2 -} -decision { - main_decision { - cruise { - } - } - object_decision { - } -} -latency_stats { - total_time_ms: 171.818256378 - processor_stats { - name: "DP_POLY_PATH_OPTIMIZER" - time_ms: 46.4773178101 - } - processor_stats { - name: "QP_SPLINE_PATH_OPTIMIZER" - time_ms: 9.04846191406 - } - processor_stats { - name: "QP_SPLINE_ST_SPEED_OPTIMIZER" - time_ms: 21.9995975494 - } -} diff --git a/modules/planning/testdata/qp_spline_st_speed/planning_config.pb.txt b/modules/planning/testdata/qp_spline_st_speed/planning_config.pb.txt deleted file mode 100644 index e0a06d71cd..0000000000 --- a/modules/planning/testdata/qp_spline_st_speed/planning_config.pb.txt +++ /dev/null @@ -1,123 +0,0 @@ -planner_type : EM -em_planner_config { - - optimizer : DP_POLY_PATH_OPTIMIZER - optimizer : DP_ST_SPEED_OPTIMIZER - - optimizer : QP_SPLINE_PATH_OPTIMIZER - optimizer : QP_SPLINE_ST_SPEED_OPTIMIZER - - dp_poly_path_config { - sample_level: 8 - sample_points_num_each_level: 9 - step_length_max: 15.0 - step_length_min: 8.0 - lateral_sample_offset: 0.5 - lateral_adjust_coeff: 0.5 - eval_time_interval: 0.1 - path_resolution: 0.1 - } - dp_st_speed_config { - total_path_length: 80 - total_time: 8.0 - matrix_dimension_s: 200 - matrix_dimension_t: 20 - - speed_weight: 0.0 - accel_weight: 10.0 - jerk_weight: 10.0 - obstacle_weight: 1.0 - reference_weight: 0.0 - go_down_buffer: 5.0 - go_up_buffer: 5.0 - - default_obstacle_cost: 1e10 - obstacle_cost_factor: -300 - - default_speed_cost: 1.0 - exceed_speed_penalty: 10.0 - low_speed_penalty: 2.5 - - accel_penalty: 2.0 - decel_penalty: 2.0 - - positive_jerk_coeff: 1.0 - negative_jerk_coeff: 300.0 - - max_speed: 20.0 - max_acceleration: 4.5 - max_deceleration: -4.5 - - st_boundary_config { - boundary_buffer: 0.1 - minimal_follow_time: 3.0 - follow_buffer: 1.0 - follow_coeff:1.0 - follow_speed_threshold: 10.0 - follow_speed_damping_factor: 0.7 - success_tunnel:0.01 - expanding_coeff: 1.2 - follow_distance_buffer: 5.0 - centric_acceleration_limit: 1.0 - kappa_threshold: 0.04 - minimal_kappa: 0.00001 - maximal_speed: 25.0 - speed_limit_on_u_turn: 1.5 - point_extension: 1.0 - speed_multiply_buffer: 0.9 - lowest_speed: 2.5 - } - } - qp_spline_path_config { - spline_order: 6 - number_of_knots: 5 - number_of_fx_constraint_knots: 13 - time_resolution: 0.1 - regularization_weight: 0.1 - derivative_weight: 1.0 - second_derivative_weight: 0.0 - third_derivative_weight: 10.0 - reference_line_weight: 0.0 - num_refline_point: 10 - num_output: 100 - } - qp_spline_st_speed_config { - total_path_length: 80.0 - total_time: 8.0 - output_time_resolution: 0.05 - number_of_discrete_graph_s: 80 - number_of_discrete_graph_t: 10 - number_of_evaluated_graph_t: 20 - spline_order: 6 - speed_kernel_weight: 0.0 - accel_kernel_weight: 0.0 - jerk_kernel_weight: 1000.0 - follow_weight: 1.0 - stop_weight: 1.0 - cruise_weight: 1.0 - max_speed: 20.0 - max_acceleration: 4.5 - max_deceleration: -4.5 - reference_line_kernel_weight: 1.0 - - st_boundary_config { - boundary_buffer: 0.1 - minimal_follow_time: 3.0 - follow_buffer: 1.0 - follow_coeff:1.0 - follow_speed_threshold: 10.0 - follow_speed_damping_factor: 0.7 - success_tunnel:0.01 - expanding_coeff: 1.2 - follow_distance_buffer: 5.0 - centric_acceleration_limit: 1.0 - kappa_threshold: 0.04 - minimal_kappa: 0.00001 - maximal_speed: 25.0 - speed_limit_on_u_turn: 1.5 - point_extension: 1.0 - speed_multiply_buffer: 0.9 - lowest_speed: 2.5 - } - } -} diff --git a/modules/planning/testdata/qp_spline_st_speed/qp_spline_st_speed_config_file.pb.txt b/modules/planning/testdata/qp_spline_st_speed/qp_spline_st_speed_config_file.pb.txt deleted file mode 100644 index 4fdea8a2b9..0000000000 --- a/modules/planning/testdata/qp_spline_st_speed/qp_spline_st_speed_config_file.pb.txt +++ /dev/null @@ -1,17 +0,0 @@ -total_path_length: 80.0 -total_time: 8.0 -output_time_resolution: 0.05 -number_of_discrete_graph_s: 80 -number_of_discrete_graph_t: 10 -number_of_evaluated_graph_t: 20 -spline_order: 6 -speed_kernel_weight: 0.0 -accel_kernel_weight: 0.0 -jerk_kernel_weight: 1000.0 -follow_weight: 0.2 -stop_weight: 0.2 -cruise_weight: 0.2 -max_speed: 20.0 -max_acceleration: 2.5 -max_deceleration: -4.5 -reference_line_kernel_weight: 1.0 diff --git a/modules/planning/testdata/qp_spline_st_speed/st_boundary_config_file.pb.txt b/modules/planning/testdata/qp_spline_st_speed/st_boundary_config_file.pb.txt deleted file mode 100644 index 04f5a764e0..0000000000 --- a/modules/planning/testdata/qp_spline_st_speed/st_boundary_config_file.pb.txt +++ /dev/null @@ -1,17 +0,0 @@ -boundary_buffer: 0.1 -minimal_follow_time: 3.0 -follow_buffer: 1.0 -follow_coeff:1.0 -follow_speed_threshold: 10.0 -follow_speed_damping_factor: 0.7 -success_tunnel:0.01 -expanding_coeff: 1.2 -follow_distance_buffer: 5.0 -centric_acceleration_limit: 1.0 -kappa_threshold: 0.04 -minimal_kappa: 0.00001 -maximal_speed: 25.0 -speed_limit_on_u_turn: 1.5 -point_extension: 1.0 -speed_multiply_buffer: 0.9 -lowest_speed: 2.5 -- GitLab