-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathtest_paths.chor
135 lines (135 loc) · 5.02 KB
/
test_paths.chor
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
{
"version": "v0.2.2",
"robotConfiguration": {
"mass": 74.08797700309194,
"rotationalInertia": 6,
"motorMaxTorque": 1.162295081967213,
"motorMaxVelocity": 4800,
"gearing": 6.75,
"wheelbase": 0.5778496879611685,
"trackWidth": 0.5778496879611685,
"bumperLength": 0.8762995267982555,
"bumperWidth": 0.8762995267982555,
"wheelRadius": 0.050799972568014815
},
"paths": {
"NewPath": {
"waypoints": [
{
"x": 0.5772099494934082,
"y": 7.21330451965332,
"heading": 0,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 6
},
{
"x": 1.1165194511413574,
"y": 7.241689205169678,
"heading": 0,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 40
},
{
"x": 0.5630176067352295,
"y": 7.397805213928223,
"heading": 0,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": false,
"controlIntervalCount": 40
}
],
"trajectory": [
{
"x": 0.5772099494934082,
"y": 7.21330451965332,
"heading": -1.638154694405539e-38,
"angularVelocity": 2.467109543250875e-34,
"velocityX": 1.5135727567171752e-35,
"velocityY": 5.08714258476355e-34,
"timestamp": 0
},
{
"x": 0.6371332331185868,
"y": 7.216458373897703,
"heading": -2.1791988716889608e-18,
"angularVelocity": -2.5688170374266922e-17,
"velocityX": 0.7063694448221848,
"velocityY": 0.03717730633036434,
"timestamp": 0.08483277987804691
},
{
"x": 0.7569797947046465,
"y": 7.222766082088347,
"heading": -8.48505567875941e-18,
"angularVelocity": -7.433278469417043e-17,
"velocityX": 1.4127388228742186,
"velocityY": 0.07435460914651333,
"timestamp": 0.16966555975609382
},
{
"x": 0.9367496059301191,
"y": 7.232227642734651,
"heading": -8.544270740475585e-18,
"angularVelocity": -6.980208382796928e-19,
"velocityX": 2.1191078670757193,
"velocityY": 0.11153189439159714,
"timestamp": 0.2544983396341407
},
{
"x": 1.0565961675161788,
"y": 7.238535350925295,
"heading": -2.7895285848278244e-18,
"angularVelocity": 6.783630056561462e-17,
"velocityX": 1.4127388228742188,
"velocityY": 0.07435460914651333,
"timestamp": 0.33933111951218764
},
{
"x": 1.1165194511413574,
"y": 7.241689205169678,
"heading": -5.424417520484124e-35,
"angularVelocity": 3.288267534110245e-17,
"velocityX": 0.7063694448221848,
"velocityY": 0.03717730633036435,
"timestamp": 0.4241638993902346
},
{
"x": 1.1165194511413574,
"y": 7.241689205169678,
"heading": -2.4394496524574267e-35,
"angularVelocity": 3.5186493189590787e-34,
"velocityX": 1.7985933188184586e-35,
"velocityY": -4.286745953290426e-34,
"timestamp": 0.5089966792682815
}
],
"constraints": [
{
"scope": [
"first"
],
"type": "StopPoint",
"direction": 0
},
{
"scope": [
"last"
],
"type": "StopPoint",
"direction": 0
}
],
"usesControlIntervalGuessing": true,
"defaultControlIntervalCount": 40,
"usesDefaultFieldObstacles": true,
"circleObstacles": []
}
},
"splitTrajectoriesAtStopPoints": false,
"usesObstacles": false
}