From 1f3f1338c5addc4ea11524559628f6f793d30b93 Mon Sep 17 00:00:00 2001 From: 76842 <90875734+76842@users.noreply.github.com> Date: Mon, 20 Sep 2021 17:34:43 -0600 Subject: [PATCH] 11Ball auto --- PathWeaver/Autos/11Ball | 3 + PathWeaver/Paths/11Ball1 | 4 + PathWeaver/Paths/11Ball2 | 5 + PathWeaver/Paths/11Ball3 | 4 + src/main/deploy/paths/11Ball1.wpilib.json | 1202 ++++++++++++++ src/main/deploy/paths/11Ball2.wpilib.json | 1772 +++++++++++++++++++++ 6 files changed, 2990 insertions(+) create mode 100644 PathWeaver/Autos/11Ball create mode 100644 PathWeaver/Paths/11Ball1 create mode 100644 PathWeaver/Paths/11Ball2 create mode 100644 PathWeaver/Paths/11Ball3 create mode 100644 src/main/deploy/paths/11Ball1.wpilib.json create mode 100644 src/main/deploy/paths/11Ball2.wpilib.json diff --git a/PathWeaver/Autos/11Ball b/PathWeaver/Autos/11Ball new file mode 100644 index 0000000..5af8074 --- /dev/null +++ b/PathWeaver/Autos/11Ball @@ -0,0 +1,3 @@ +11Ball1 +11Ball2 +11Ball3 diff --git a/PathWeaver/Paths/11Ball1 b/PathWeaver/Paths/11Ball1 new file mode 100644 index 0000000..b255899 --- /dev/null +++ b/PathWeaver/Paths/11Ball1 @@ -0,0 +1,4 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +3.161399200181616,-0.7531989378005054,0.2614844041675446,0.0,true,false, +5.171560557219609,-0.7205133872795622,3.481011130480427,0.016342775260471343,true,false, +8.129602879364947,-1.4069099482193648,-0.3922266062513158,-3.1214700747500537,true,false, diff --git a/PathWeaver/Paths/11Ball2 b/PathWeaver/Paths/11Ball2 new file mode 100644 index 0000000..16c09fa --- /dev/null +++ b/PathWeaver/Paths/11Ball2 @@ -0,0 +1,5 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +8.080574553583533,-1.4232527234798362,-0.375883830990845,-2.9416995468848666,true,false, +7.72103349785316,-2.9104452721827405,-1.0132520661492315,-0.34319828046990164,true,false, +5.727214916075639,-4.021753989894802,1.3237647960981906,-1.2257081445353615,true,false, +7.802747374155517,-3.645870158903958,1.3727931218796048,0.5883399093769732,true,false, diff --git a/PathWeaver/Paths/11Ball3 b/PathWeaver/Paths/11Ball3 new file mode 100644 index 0000000..df8af24 --- /dev/null +++ b/PathWeaver/Paths/11Ball3 @@ -0,0 +1,4 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +7.786404598895046,-3.662212934164429,1.7813625033913922,0.7681104372421599,true,false, +7.524920194727503,-1.7501082286892657,-1.3727931218796057,0.04902832578141458,true,false, +3.128713649660674,-1.4886238245217218,10.067149560450435,-5.6382574648626615,true,false, diff --git a/src/main/deploy/paths/11Ball1.wpilib.json b/src/main/deploy/paths/11Ball1.wpilib.json new file mode 100644 index 0000000..e6d349d --- /dev/null +++ b/src/main/deploy/paths/11Ball1.wpilib.json @@ -0,0 +1,1202 @@ +[ +{ +"acceleration": 2.7, +"curvature": 0.0, +"pose": { +"rotation": { +"radians": 0.0 +}, +"translation": { +"x": 3.161399200181616, +"y": 7.4573510621994945 +} +}, +"time": 0.0, +"velocity": 0.0 +}, +{ +"acceleration": 2.7, +"curvature": 0.022824176512840987, +"pose": { +"rotation": { +"radians": 0.031172017094511197 +}, +"translation": { +"x": 3.28516699524505, +"y": 7.460112097472992 +} +}, +"time": 0.3028244670385293, +"velocity": 0.8176260610040291 +}, +{ +"acceleration": 2.7, +"curvature": -0.008304477791939395, +"pose": { +"rotation": { +"radians": 0.031421721105382217 +}, +"translation": { +"x": 3.3510186185419326, +"y": 7.462184572767783 +} +}, +"time": 0.37484101881036713, +"velocity": 1.0120707507879914 +}, +{ +"acceleration": 2.6999999999999997, +"curvature": -0.018547035295342608, +"pose": { +"rotation": { +"radians": 0.03018729842701989 +}, +"translation": { +"x": 3.435631946586492, +"y": 7.464797777818821 +} +}, +"time": 0.4507906529925397, +"velocity": 1.2171347630798572 +}, +{ +"acceleration": 2.6999999999999997, +"curvature": -0.02141147631205377, +"pose": { +"rotation": { +"radians": 0.02806480160521523 +}, +"translation": { +"x": 3.5397733275113934, +"y": 7.467834352417871 +} +}, +"time": 0.5295155922925981, +"velocity": 1.429692099190015 +}, +{ +"acceleration": 2.699999999999999, +"curvature": -0.021573099486012506, +"pose": { +"rotation": { +"radians": 0.02538984705029807 +}, +"translation": { +"x": 3.663428827714224, +"y": 7.4711402788255175 +} +}, +"time": 0.609931273350178, +"velocity": 1.6468144380454808 +}, +{ +"acceleration": 2.6999999999999997, +"curvature": -0.021216664053195406, +"pose": { +"rotation": { +"radians": 0.023913241235675863 +}, +"translation": { +"x": 3.732380133509979, +"y": 7.472840237253164 +} +}, +"time": 0.6504665402560215, +"velocity": 1.756259658691258 +}, +{ +"acceleration": 2.699999999999996, +"curvature": -0.020706021653915628, +"pose": { +"rotation": { +"radians": 0.022371195851895353 +}, +"translation": { +"x": 3.8058996162498464, +"y": 7.474541714310996 +} +}, +"time": 0.6910717607146851, +"velocity": 1.8658937539296498 +}, +{ +"acceleration": 2.700000000000004, +"curvature": -0.020091954186714934, +"pose": { +"rotation": { +"radians": 0.02078122005315293 +}, +"translation": { +"x": 3.8838085558577524, +"y": 7.476222643591332 +} +}, +"time": 0.7316446779352017, +"velocity": 1.9754406304250445 +}, +{ +"acceleration": 2.6999999999999957, +"curvature": -0.019401239260198048, +"pose": { +"rotation": { +"radians": 0.019159685164478482 +}, +"translation": { +"x": 3.9658973492227476, +"y": 7.477861823692014 +} +}, +"time": 0.772089742208578, +"velocity": 2.0846423039631605 +}, +{ +"acceleration": 2.6999999999999993, +"curvature": -0.018644578483354258, +"pose": { +"rotation": { +"radians": 0.01752262515806792 +}, +"translation": { +"x": 4.051928490961267, +"y": 7.47943944423327 +} +}, +"time": 0.8123177060857063, +"velocity": 2.193257806431407 +}, +{ +"acceleration": 2.699999999999997, +"curvature": -0.017821281658255875, +"pose": { +"rotation": { +"radians": 0.015886421415794882 +}, +"translation": { +"x": 4.141639554179392, +"y": 7.480937611874586 +} +}, +"time": 0.8522452468600177, +"velocity": 2.3010621665220476 +}, +{ +"acceleration": 2.699999999999994, +"curvature": -0.01692192780581277, +"pose": { +"rotation": { +"radians": 0.014268423886873967 +}, +"translation": { +"x": 4.234746171235109, +"y": 7.482340876331576 +} +}, +"time": 0.8917946276781975, +"velocity": 2.407845494731133 +}, +{ +"acceleration": 1.9110213902452005, +"curvature": -0.015929714036035304, +"pose": { +"rotation": { +"radians": 0.012687548332727637 +}, +"translation": { +"x": 4.330945014500571, +"y": 7.48363675639285 +} +}, +"time": 0.9308934017868228, +"velocity": 2.513412184824421 +}, +{ +"acceleration": 0.02676027786495896, +"curvature": -0.014820904406196562, +"pose": { +"rotation": { +"radians": 0.011164881551209278 +}, +"translation": { +"x": 4.4299167771243635, +"y": 7.484816265936888 +} +}, +"time": 0.9697011055734893, +"velocity": 2.58757453686704 +}, +{ +"acceleration": 0.030145245791809296, +"curvature": -0.013564611248826389, +"pose": { +"rotation": { +"radians": 0.009724321834442695 +}, +"translation": { +"x": 4.531329153793756, +"y": 7.485874439948903 +} +}, +"time": 1.0088873588480813, +"velocity": 2.588623171893155 +}, +{ +"acceleration": 0.03451101475536845, +"curvature": -0.012122029898942984, +"pose": { +"rotation": { +"radians": 0.008393279461638687 +}, +"translation": { +"x": 4.634839821496972, +"y": 7.486810860537716 +} +}, +"time": 1.048866454090634, +"velocity": 2.589828351545776 +}, +{ +"acceleration": 0.04008584743926219, +"curvature": -0.010445175573902264, +"pose": { +"rotation": { +"radians": 0.007203461082235283 +}, +"translation": { +"x": 4.740099420285446, +"y": 7.487630182952622 +} +}, +"time": 1.089500149713246, +"velocity": 2.591230661614973 +}, +{ +"acceleration": 0.04715928739824373, +"curvature": -0.008475122195354961, +"pose": { +"rotation": { +"radians": 0.006191761894447389 +}, +"translation": { +"x": 4.8467545340360845, +"y": 7.488342661600263 +} +}, +"time": 1.1306479948194819, +"velocity": 2.592880107856356 +}, +{ +"acceleration": 0.056101497128898586, +"curvature": -0.006139708415994546, +"pose": { +"rotation": { +"radians": 0.005401290121022252 +}, +"translation": { +"x": 4.954450671213526, +"y": 7.488964676061493 +} +}, +"time": 1.172168342493593, +"velocity": 2.5948381778651943 +}, +{ +"acceleration": 0.0673873986195766, +"curvature": -0.0033506520281935243, +"pose": { +"rotation": { +"radians": 0.00488254894607767 +}, +"translation": { +"x": 5.062835245632405, +"y": 7.489519257108253 +} +}, +"time": 1.213919345547899, +"velocity": 2.597180471643174 +}, +{ +"acceleration": -1.401783653313286, +"curvature": -2.080136028215879e-16, +"pose": { +"rotation": { +"radians": 0.0046948011874951255 +}, +"translation": { +"x": 5.1715605572196095, +"y": 7.490036612720438 +} +}, +"time": 1.2557599331738305, +"velocity": 2.6 +}, +{ +"acceleration": -0.8078588003783438, +"curvature": 0.07227348210716807, +"pose": { +"rotation": { +"radians": 0.008879309241627513 +}, +"translation": { +"x": 5.280637242231063, +"y": 7.490705159705467 +} +}, +"time": 1.298198810422571, +"velocity": 2.5405098756077464 +}, +{ +"acceleration": -0.32341271804507943, +"curvature": 0.11697883374082714, +"pose": { +"rotation": { +"radians": 0.019621786061714722 +}, +"translation": { +"x": 5.3913435128929095, +"y": 7.492237280274557 +} +}, +"time": 1.342085615195437, +"velocity": 2.5050555341515004 +}, +{ +"acceleration": 0.012327526039730238, +"curvature": 0.13590532929157922, +"pose": { +"rotation": { +"radians": 0.03421425638241944 +}, +"translation": { +"x": 5.504935026996847, +"y": 7.495275457276848 +} +}, +"time": 1.387580348024427, +"velocity": 2.490341958950542 +}, +{ +"acceleration": 0.21624721608698438, +"curvature": 0.13515326676591946, +"pose": { +"rotation": { +"radians": 0.050291051582300496 +}, +"translation": { +"x": 5.6222870970700765, +"y": 7.500237879968291 +} +}, +"time": 1.434739830088386, +"velocity": 2.4909233186937056 +}, +{ +"acceleration": 0.3246431946622374, +"curvature": 0.12155919618303491, +"pose": { +"rotation": { +"radians": 0.06602428090033373 +}, +"translation": { +"x": 5.743925024014773, +"y": 7.5073370299410405 +} +}, +"time": 1.48355196959907, +"velocity": 2.5014788079741406 +}, +{ +"acceleration": 0.36634191510507685, +"curvature": 0.10071528428768463, +"pose": { +"rotation": { +"radians": 0.08012476565374513 +}, +"translation": { +"x": 5.870054430747576, +"y": 7.516598267052841 +} +}, +"time": 1.5339448622767957, +"velocity": 2.5178385176413087 +}, +{ +"acceleration": 0.3809936206577089, +"curvature": 0.08881850010067578, +"pose": { +"rotation": { +"radians": 0.0862832229979392 +}, +"translation": { +"x": 5.934787749165885, +"y": 7.5220010010232405 +} +}, +"time": 1.5596958876611207, +"velocity": 2.5272721975965218 +}, +{ +"acceleration": 0.38963063536035436, +"curvature": 0.07637883504616011, +"pose": { +"rotation": { +"radians": 0.0917413736795196 +}, +"translation": { +"x": 6.000591595839058, +"y": 7.527878415356423 +} +}, +"time": 1.5857857307066427, +"velocity": 2.5372122613608266 +}, +{ +"acceleration": 0.3947685188662667, +"curvature": 0.06360760073861912, +"pose": { +"rotation": { +"radians": 0.09643971384395722 +}, +"translation": { +"x": 6.067415272147072, +"y": 7.534189328593489 +} +}, +"time": 1.612186844713367, +"velocity": 2.5474989441854876 +}, +{ +"acceleration": 0.3984823373576598, +"curvature": 0.050637582499606704, +"pose": { +"rotation": { +"radians": 0.1003300931487145 +}, +"translation": { +"x": 6.13519378715321, +"y": 7.540884349028897 +} +}, +"time": 1.6388670785110782, +"velocity": 2.558031460564816 +}, +{ +"acceleration": 0.40249669042320635, +"curvature": 0.03753597471790174, +"pose": { +"rotation": { +"radians": 0.1033723939090834 +}, +"translation": { +"x": 6.203848805530294, +"y": 7.547906455520759 +} +}, +"time": 1.6657896493756847, +"velocity": 2.5687596295306214 +}, +{ +"acceleration": 0.40828093781155544, +"curvature": 0.024315466893049538, +"pose": { +"rotation": { +"radians": 0.10553159617015613 +}, +"translation": { +"x": 6.273289595486919, +"y": 7.555191578301137 +} +}, +"time": 1.6929131815324359, +"velocity": 2.579676761456301 +}, +{ +"acceleration": 0.25368414032874914, +"curvature": 0.010943098259837993, +"pose": { +"rotation": { +"radians": 0.1067751969535873 +}, +"translation": { +"x": 6.343413976693688, +"y": 7.562669179786335 +} +}, +"time": 1.7201918044649016, +"velocity": 2.590814103209376 +}, +{ +"acceleration": -0.4223650097057032, +"curvature": -0.0026532197378236855, +"pose": { +"rotation": { +"radians": 0.10707093253475848 +}, +"translation": { +"x": 6.414109268209446, +"y": 7.570262835387186 +} +}, +"time": 1.7475988949866084, +"velocity": 2.5977668474072875 +}, +{ +"acceleration": -0.42884252818137003, +"curvature": -0.016580466386595834, +"pose": { +"rotation": { +"radians": 0.10638474250003346 +}, +"translation": { +"x": 6.485253236407511, +"y": 7.577890814319357 +} +}, +"time": 1.7752044001103862, +"velocity": 2.5861072479677523 +}, +{ +"acceleration": -0.44070412197830644, +"curvature": -0.03097845954598056, +"pose": { +"rotation": { +"radians": 0.10467891015485002 +}, +"translation": { +"x": 6.556715042901909, +"y": 7.585466660413633 +} +}, +"time": 1.8030565269702714, +"velocity": 2.574163071469931 +}, +{ +"acceleration": -0.45873230107222596, +"curvature": -0.04601989647177653, +"pose": { +"rotation": { +"radians": 0.1019103130690226 +}, +"translation": { +"x": 6.628356192473611, +"y": 7.592899772926216 +} +}, +"time": 1.8311041174382727, +"velocity": 2.561802382739123 +}, +{ +"acceleration": -0.48380126903768245, +"curvature": -0.061912444415311046, +"pose": { +"rotation": { +"radians": 0.09802871836266021 +}, +"translation": { +"x": 6.700031480996761, +"y": 7.600095987349016 +} +}, +"time": 1.859294390532167, +"velocity": 2.5488705938949066 +}, +{ +"acceleration": -0.5169311956216144, +"curvature": -0.07890291201107974, +"pose": { +"rotation": { +"radians": 0.09297505857528698 +}, +"translation": { +"x": 6.771589943364913, +"y": 7.606958156219945 +} +}, +"time": 1.887573656173816, +"velocity": 2.535189049290023 +}, +{ +"acceleration": -0.5593380092261815, +"curvature": -0.09728362303709762, +"pose": { +"rotation": { +"radians": 0.08667962494377947 +}, +"translation": { +"x": 6.842875801417264, +"y": 7.61338672993321 +} +}, +"time": 1.9158880532309106, +"velocity": 2.520552454165994 +}, +{ +"acceleration": -0.6124790482053503, +"curvature": -0.11740121500246818, +"pose": { +"rotation": { +"radians": 0.07906011539313977 +}, +"translation": { +"x": 6.9137294118648915, +"y": 7.619280337549608 +} +}, +"time": 1.9441843214429952, +"velocity": 2.5047252758357166 +}, +{ +"acceleration": -0.6780924725201454, +"curvature": -0.13966819054074234, +"pose": { +"rotation": { +"radians": 0.07001947469075823 +}, +"translation": { +"x": 6.983988214216979, +"y": 7.624536367606817 +} +}, +"time": 1.9724106174337632, +"velocity": 2.4874372609329285 +}, +{ +"acceleration": -0.7582247405420864, +"curvature": -0.16457765110518868, +"pose": { +"rotation": { +"radians": 0.05944346469958389 +}, +"translation": { +"x": 7.053487678707057, +"y": 7.629051548929693 +} +}, +"time": 2.0005173856462806, +"velocity": 2.468378272981152 +}, +{ +"acceleration": -0.8552350910980636, +"curvature": -0.19272172326214693, +"pose": { +"rotation": { +"radians": 0.04719790484634358 +}, +"translation": { +"x": 7.1220622542192356, +"y": 7.632722531440561 +} +}, +"time": 2.0284582955567396, +"velocity": 2.4471927838137844 +}, +{ +"acceleration": -0.9717580947410676, +"curvature": -0.2248142151153042, +"pose": { +"rotation": { +"radians": 0.03312552919808916 +}, +"translation": { +"x": 7.189546316214431, +"y": 7.635446466969509 +} +}, +"time": 2.0561912566439875, +"velocity": 2.423474582311913 +}, +{ +"acceleration": -1.1105942512009246, +"curvature": -0.26171795167459394, +"pose": { +"rotation": { +"radians": 0.01704242094947552 +}, +"translation": { +"x": 7.255775114656613, +"y": 7.63712159006468 +} +}, +"time": 2.0836795218250472, +"velocity": 2.396762638111829 +}, +{ +"acceleration": -1.2744841362138255, +"curvature": -0.3044769191972289, +"pose": { +"rotation": { +"radians": -0.0012659857285201716 +}, +"translation": { +"x": 7.320585721939025, +"y": 7.637647798802571 +} +}, +"time": 2.1108928875879034, +"velocity": 2.366539630539773 +}, +{ +"acceleration": -1.8582725984826438, +"curvature": -0.3543525981884165, +"pose": { +"rotation": { +"radians": -0.022049292046834756 +}, +"translation": { +"x": 7.383817980810426, +"y": 7.636927235598317 +} +}, +"time": 2.137808993522963, +"velocity": 2.3322354805168883 +}, +{ +"acceleration": -2.7000000000000046, +"curvature": -0.481814778295717, +"pose": { +"rotation": { +"radians": -0.07224193056182868 +}, +"translation": { +"x": 7.504926363650197, +"y": 7.63136906957891 +} +}, +"time": 2.1909152424754534, +"velocity": 2.2335495932802782 +}, +{ +"acceleration": -2.6999999999999966, +"curvature": -0.6598414754116203, +"pose": { +"rotation": { +"radians": -0.13640266735124332 +}, +"translation": { +"x": 7.61791043347314, +"y": 7.619731188891587 +} +}, +"time": 2.243435058167221, +"velocity": 2.0917460909125047 +}, +{ +"acceleration": -2.6999999999999993, +"curvature": -0.908516136999631, +"pose": { +"rotation": { +"radians": -0.2181800342556277 +}, +"translation": { +"x": 7.721685353543634, +"y": 7.601370771698558 +} +}, +"time": 2.295571499872975, +"velocity": 1.9509776983069698 +}, +{ +"acceleration": -2.699999999999998, +"curvature": -1.065761333219167, +"pose": { +"rotation": { +"radians": -0.26699728390661137 +}, +"translation": { +"x": 7.769816544875384, +"y": 7.589493287130856 +} +}, +"time": 2.3214450935629976, +"velocity": 1.881118995343908 +}, +{ +"acceleration": -2.700000000000006, +"curvature": -1.2471298322274849, +"pose": { +"rotation": { +"radians": -0.3218314122621484 +}, +"translation": { +"x": 7.815301613732711, +"y": 7.575736663368503 +} +}, +"time": 2.3471819399111267, +"velocity": 1.8116295102039597 +}, +{ +"acceleration": -2.700000000000001, +"curvature": -1.4520150223060493, +"pose": { +"rotation": { +"radians": -0.38317480328261727 +}, +"translation": { +"x": 7.8580479927445115, +"y": 7.560049378337636 +} +}, +"time": 2.3728054730559887, +"velocity": 1.7424459707128324 +}, +{ +"acceleration": -2.700000000000004, +"curvature": -1.6764271559886363, +"pose": { +"rotation": { +"radians": -0.45138822599168466 +}, +"translation": { +"x": 7.897975364157528, +"y": 7.542387962405971 +} +}, +"time": 2.398367980144132, +"velocity": 1.673427201574845 +}, +{ +"acceleration": -2.6999999999999944, +"curvature": -1.9114479488709717, +"pose": { +"rotation": { +"radians": -0.5265971846918016 +}, +"translation": { +"x": 7.935016607762591, +"y": 7.5227175791930945 +} +}, +"time": 2.4239587349661305, +"velocity": 1.6043321635554486 +}, +{ +"acceleration": -2.3786077576872073, +"curvature": -2.1420916631772307, +"pose": { +"rotation": { +"radians": -0.6085690604949188 +}, +"translation": { +"x": 7.969118748820849, +"y": 7.501012606380762 +} +}, +"time": 2.4497133689873154, +"velocity": 1.5347946516982498 +}, +{ +"acceleration": -2.081281201743166, +"curvature": -2.2494411475820106, +"pose": { +"rotation": { +"radians": -0.6518904866362281 +}, +"translation": { +"x": 7.985055202469795, +"y": 7.489391804304255 +} +}, +"time": 2.4626948101569703, +"velocity": 1.5039168950261481 +}, +{ +"acceleration": -1.7514426504230614, +"curvature": -2.3475371637910833, +"pose": { +"rotation": { +"radians": -0.6965940226025754 +}, +"translation": { +"x": 8.000243905989999, +"y": 7.477257216523187 +} +}, +"time": 2.4757393347628303, +"velocity": 1.476767571178296 +}, +{ +"acceleration": -1.39383786786163, +"curvature": -2.4332951638500995, +"pose": { +"rotation": { +"radians": -0.7425038510313081 +}, +"translation": { +"x": 8.01468263807603, +"y": 7.464608490344845 +} +}, +"time": 2.4888394230420103, +"velocity": 1.453823517841833 +}, +{ +"acceleration": -1.0136091978752113, +"curvature": -2.503743880212989, +"pose": { +"rotation": { +"radians": -0.7894095604306467 +}, +"translation": { +"x": 8.028370239250524, +"y": 7.451445957857331 +} +}, +"time": 2.501984041796698, +"velocity": 1.4355020504629454 +}, +{ +"acceleration": -0.6160998191330025, +"curvature": -2.5562362688489846, +"pose": { +"rotation": { +"radians": -0.8370694237273056 +}, +"translation": { +"x": 8.041306641486877, +"y": 7.437770654079887 +} +}, +"time": 2.515158902541527, +"velocity": 1.4221478904312619 +}, +{ +"acceleration": -0.206715201890088, +"curvature": -2.588659686947317, +"pose": { +"rotation": { +"radians": -0.8852157420228256 +}, +"translation": { +"x": 8.053492897831932, +"y": 7.423584335113209 +} +}, +"time": 2.528346950915466, +"velocity": 1.4140227362133608 +}, +{ +"acceleration": 0.20915445809785954, +"curvature": -2.5996171699961885, +"pose": { +"rotation": { +"radians": -0.9335620490857349 +}, +"translation": { +"x": 8.064931212028684, +"y": 7.408889496289777 +} +}, +"time": 2.5415290662957983, +"velocity": 1.411297792571177 +}, +{ +"acceleration": 0.6261630613292795, +"curvature": -2.5885526817122946, +"pose": { +"rotation": { +"radians": -0.9818117320051969 +}, +"translation": { +"x": 8.075624968138973, +"y": 7.3936893903241705 +} +}, +"time": 2.554684922357014, +"velocity": 1.414049398516474 +}, +{ +"acceleration": 1.0390130810123246, +"curvature": -2.5558002994539706, +"pose": { +"rotation": { +"radians": -1.0296674250049718 +}, +"translation": { +"x": 8.085578760166173, +"y": 7.377988045463395 +} +}, +"time": 2.567793935874319, +"velocity": 1.4222577785514767 +}, +{ +"acceleration": 1.4424655942625684, +"curvature": -2.5025492739321664, +"pose": { +"rotation": { +"radians": -1.0768404195536396 +}, +"translation": { +"x": 8.094798421677892, +"y": 7.361790283637199 +} +}, +"time": 2.5808362175498982, +"velocity": 1.4358088798186508 +}, +{ +"acceleration": 1.831383469086559, +"curvature": -2.4307309068829284, +"pose": { +"rotation": { +"radians": -1.1230593306616936 +}, +"translation": { +"x": 8.103291055428668, +"y": 7.345101738608401 +} +}, +"time": 2.593793438196746, +"velocity": 1.454499224798997 +}, +{ +"acceleration": 2.3749312274639154, +"curvature": -2.3428456458649767, +"pose": { +"rotation": { +"radians": -1.1680773673630078 +}, +"translation": { +"x": 8.111065062982654, +"y": 7.327928874123205 +} +}, +"time": 2.6066495363499222, +"velocity": 1.4780436704336783 +}, +{ +"acceleration": 1.052881645708768, +"curvature": -2.130478263795342, +"pose": { +"rotation": { +"radians": -1.2536770558580375 +}, +"translation": { +"x": 8.124497477541173, +"y": 7.2921603005873195 +} +}, +"time": 2.6319839988349774, +"velocity": 1.5382112765204485 +}, +{ +"acceleration": -2.700000000000001, +"curvature": -1.8890463749431348, +"pose": { +"rotation": { +"radians": -1.3323114393074917 +}, +"translation": { +"x": 8.135189979721554, +"y": 7.254553562379185 +} +}, +"time": 2.657184019800952, +"velocity": 1.5647439160669991 +}, +{ +"acceleration": -2.700000000000002, +"curvature": -1.639336704282634, +"pose": { +"rotation": { +"radians": -1.403186128855287 +}, +"translation": { +"x": 8.143259560698326, +"y": 7.215192100203254 +} +}, +"time": 2.683458009383942, +"velocity": 1.4938041441929264 +}, +{ +"acceleration": -2.7000000000000073, +"curvature": -1.3964508587670683, +"pose": { +"rotation": { +"radians": -1.465963709447589 +}, +"translation": { +"x": 8.148846836378663, +"y": 7.174174376929077 +} +}, +"time": 2.7119012897383703, +"velocity": 1.4170072872359702 +}, +{ +"acceleration": -2.7000000000000037, +"curvature": -1.169342224501141, +"pose": { +"rotation": { +"radians": -1.5206409773317402 +}, +"translation": { +"x": 8.152116995328644, +"y": 7.1316144584016 +} +}, +"time": 2.742942911055007, +"velocity": 1.3331949096810507 +}, +{ +"acceleration": -2.700000000000001, +"curvature": -0.9617933109852994, +"pose": { +"rotation": { +"radians": -1.567419997305973 +}, +"translation": { +"x": 8.153260746699454, +"y": 7.087642594251458 +} +}, +"time": 2.7771191254666214, +"velocity": 1.240919130769692 +}, +{ +"acceleration": -2.6999999999999997, +"curvature": -0.6031525075753622, +"pose": { +"rotation": { +"radians": -1.6384691442144426 +}, +"translation": { +"x": 8.150065153791362, +"y": 6.9960684313959 +} +}, +"time": 2.8580925209211645, +"velocity": 1.0222909630424262 +}, +{ +"acceleration": -2.7, +"curvature": -0.2968518832080928, +"pose": { +"rotation": { +"radians": -1.681154301483227 +}, +"translation": { +"x": 8.14133216376326, +"y": 6.900839631912376 +} +}, +"time": 2.9674196837398608, +"velocity": 0.7271076234319467 +}, +{ +"acceleration": -2.7, +"curvature": 1.4958424801963926e-14, +"pose": { +"rotation": { +"radians": -1.6957956511493848 +}, +"translation": { +"x": 8.129602879364956, +"y": 6.803640051780635 +} +}, +"time": 3.2367188035294707, +"velocity": 0.0 +} +] \ No newline at end of file diff --git a/src/main/deploy/paths/11Ball2.wpilib.json b/src/main/deploy/paths/11Ball2.wpilib.json new file mode 100644 index 0000000..4233b79 --- /dev/null +++ b/src/main/deploy/paths/11Ball2.wpilib.json @@ -0,0 +1,1772 @@ +[ +{ +"acceleration": 2.7, +"curvature": 0.0, +"pose": { +"rotation": { +"radians": -1.6978854225261533 +}, +"translation": { +"x": 8.080574553583533, +"y": 6.787297276520164 +} +}, +"time": 0.0, +"velocity": 0.0 +}, +{ +"acceleration": 2.7, +"curvature": 0.041200920020725014, +"pose": { +"rotation": { +"radians": -1.695908623750231 +}, +"translation": { +"x": 8.06890654625411, +"y": 6.695492413867818 +} +}, +"time": 0.2618217789393456, +"velocity": 0.7069188031362331 +}, +{ +"acceleration": 2.6999999999999993, +"curvature": 0.07455409204188787, +"pose": { +"rotation": { +"radians": -1.6905492164659646 +}, +"translation": { +"x": 8.057674241620079, +"y": 6.604400026453744 +} +}, +"time": 0.3695098390972809, +"velocity": 0.9976765655626585 +}, +{ +"acceleration": 2.700000000000001, +"curvature": 0.10216916470699058, +"pose": { +"rotation": { +"radians": -1.68253224173188 +}, +"translation": { +"x": 8.047221780373734, +"y": 6.514659800470728 +} +}, +"time": 0.4510666800595864, +"velocity": 1.2178800361608833 +}, +{ +"acceleration": 2.7000000000000024, +"curvature": 0.1252034075099768, +"pose": { +"rotation": { +"radians": -1.6724636250208504 +}, +"translation": { +"x": 8.037799952746914, +"y": 6.4268350444620905 +} +}, +"time": 0.5185458647444336, +"velocity": 1.400073834809971 +}, +{ +"acceleration": 2.699999999999997, +"curvature": 0.1441189748254122, +"pose": { +"rotation": { +"radians": -1.6608828720678888 +}, +"translation": { +"x": 8.029573387408217, +"y": 6.341416020761863 +} +}, +"time": 0.5765899123675833, +"velocity": 1.5567927633924752 +}, +{ +"acceleration": 2.6999999999999997, +"curvature": 0.1587972228192089, +"pose": { +"rotation": { +"radians": -1.6483022126402085 +}, +"translation": { +"x": 8.022627740360223, +"y": 6.2588232769349625 +} +}, +"time": 0.6275760413364219, +"velocity": 1.6944553116083392 +}, +{ +"acceleration": 2.699999999999999, +"curvature": 0.1685555271227747, +"pose": { +"rotation": { +"radians": -1.6352379639211307 +}, +"translation": { +"x": 8.01697688383671, +"y": 6.179410977217364 +} +}, +"time": 0.6729222492645017, +"velocity": 1.8168900730141548 +}, +{ +"acceleration": 2.7000000000000095, +"curvature": 0.172083726773144, +"pose": { +"rotation": { +"radians": -1.622237917024475 +}, +"translation": { +"x": 8.012570095199871, +"y": 6.103470233956275 +} +}, +"time": 0.7135624629642513, +"velocity": 1.9266186500034785 +}, +{ +"acceleration": -1.9488203799645492, +"curvature": 0.1672986114809091, +"pose": { +"rotation": { +"radians": -1.609907503319568 +}, +"translation": { +"x": 8.00929924583753, +"y": 6.03123243905031 +} +}, +"time": 0.7501571103586819, +"velocity": 2.0254241979684418 +}, +{ +"acceleration": -2.700000000000001, +"curvature": 0.15109936561698004, +"pose": { +"rotation": { +"radians": -1.5989369974533907 +}, +"translation": { +"x": 8.007005990060364, +"y": 5.962872595389663 +} +}, +"time": 0.7844941952760955, +"velocity": 1.9585073870928127 +}, +{ +"acceleration": -2.699999999999997, +"curvature": 0.06452960944938621, +"pose": { +"rotation": { +"radians": -1.5844480645391548 +}, +"translation": { +"x": 8.004510924501814, +"y": 5.838224816964049 +} +}, +"time": 0.85122023381722, +"velocity": 1.7783470830317765 +}, +{ +"acceleration": -2.699999999999998, +"curvature": -0.1520574120917365, +"pose": { +"rotation": { +"radians": -1.5872841461883147 +}, +"translation": { +"x": 8.0030869695609, +"y": 5.729925736359215 +} +}, +"time": 0.9152350751866118, +"velocity": 1.6055070113344185 +}, +{ +"acceleration": -2.699999999999999, +"curvature": -0.6261385056132194, +"pose": { +"rotation": { +"radians": -1.6198876162308693 +}, +"translation": { +"x": 8.000392812461843, +"y": 5.637685179291373 +} +}, +"time": 0.9757961381798995, +"velocity": 1.4419921412525418 +}, +{ +"acceleration": -2.6999999999999975, +"curvature": -1.5766261810142312, +"pose": { +"rotation": { +"radians": -1.700043178651311 +}, +"translation": { +"x": 7.993973801327359, +"y": 5.560630565598728 +} +}, +"time": 1.0324190752525617, +"velocity": 1.2891102111563537 +}, +{ +"acceleration": -2.7000000000000015, +"curvature": -2.3022811224752546, +"pose": { +"rotation": { +"radians": -1.7646683657029083 +}, +"translation": { +"x": 7.988626018190205, +"y": 5.527392289701648 +} +}, +"time": 1.0592907523377308, +"velocity": 1.2165566830263972 +}, +{ +"acceleration": -2.7000000000000015, +"curvature": -3.182877604854344, +"pose": { +"rotation": { +"radians": -1.8487025339260594 +}, +"translation": { +"x": 7.981491989889633, +"y": 5.497413515327052 +} +}, +"time": 1.085376294435759, +"velocity": 1.146125719361721 +}, +{ +"acceleration": -2.6999999999999935, +"curvature": -3.6526113087848997, +"pose": { +"rotation": { +"radians": -1.89821549744371 +}, +"translation": { +"x": 7.977179976631458, +"y": 5.483576683474395 +} +}, +"time": 1.0982158117677234, +"velocity": 1.111459022565417 +}, +{ +"acceleration": -2.7000000000000015, +"curvature": -4.1124285433146115, +"pose": { +"rotation": { +"radians": -1.9524879933751773 +}, +"translation": { +"x": 7.972335450104038, +"y": 5.470468841324008 +} +}, +"time": 1.1109869783016642, +"velocity": 1.076976872923777 +}, +{ +"acceleration": -2.70000000000001, +"curvature": -4.53166584825915, +"pose": { +"rotation": { +"radians": -2.0110413616156224 +}, +"translation": { +"x": 7.966934565944409, +"y": 5.458059275426667 +} +}, +"time": 1.1237580042000623, +"velocity": 1.042495102998102 +}, +{ +"acceleration": -2.2486452027151125, +"curvature": -4.876245476371883, +"pose": { +"rotation": { +"radians": -2.0731272701698362 +}, +"translation": { +"x": 7.960956182201277, +"y": 5.446316454815253 +} +}, +"time": 1.1366118871528168, +"velocity": 1.0077896190256648 +}, +{ +"acceleration": -0.9651913777848311, +"curvature": -5.114048889662878, +"pose": { +"rotation": { +"radians": -2.1377407414348193 +}, +"translation": { +"x": 7.954382083988051, +"y": 5.435208135112275 +} +}, +"time": 1.1496084453380924, +"velocity": 0.9785649708105372 +}, +{ +"acceleration": 0.29734406963182347, +"curvature": -5.221325428538852, +"pose": { +"rotation": { +"radians": -2.2036747605250873 +}, +"translation": { +"x": 7.947197208135885, +"y": 5.4247014626373655 +} +}, +"time": 1.1627001987862613, +"velocity": 0.9659289232622797 +}, +{ +"acceleration": 1.5569760361735687, +"curvature": -5.188065156322905, +"pose": { +"rotation": { +"radians": -2.26961314488595 +}, +"translation": { +"x": 7.939389867846716, +"y": 5.414763078514786 +} +}, +"time": 1.1757580200748778, +"velocity": 0.969811588984762 +}, +{ +"acceleration": 2.6999999999999984, +"curvature": -5.020248354868596, +"pose": { +"rotation": { +"radians": -2.3342457088092043 +}, +"translation": { +"x": 7.9309519773462975, +"y": 5.405359222780941 +} +}, +"time": 1.1886523413657546, +"velocity": 0.98988773823738 +}, +{ +"acceleration": 2.700000000000007, +"curvature": -4.738057170502746, +"pose": { +"rotation": { +"radians": -2.396381491762962 +}, +"translation": { +"x": 7.921879276537243, +"y": 5.396455838491871 +} +}, +"time": 1.2012764287098157, +"velocity": 1.023972774066345 +}, +{ +"acceleration": 2.7000000000000135, +"curvature": -4.370867326980879, +"pose": { +"rotation": { +"radians": -2.4550365452870375 +}, +"translation": { +"x": 7.912171555652063, +"y": 5.388018675830768 +} +}, +"time": 1.2136357140023157, +"velocity": 1.057342844356095 +}, +{ +"acceleration": 2.7000000000000117, +"curvature": -3.9510337161074602, +"pose": { +"rotation": { +"radians": -2.509482068235367 +}, +"translation": { +"x": 7.901832879906197, +"y": 5.3800133962154755 +} +}, +"time": 1.225812909120426, +"velocity": 1.0902212711749928 +}, +{ +"acceleration": 2.6999999999999935, +"curvature": -3.5085139020652614, +"pose": { +"rotation": { +"radians": -2.5592514258769405 +}, +"translation": { +"x": 7.890871814151063, +"y": 5.372405676405998 +} +}, +"time": 1.2378712033053823, +"velocity": 1.122778665474375 +}, +{ +"acceleration": 2.6999999999999975, +"curvature": -2.6451783304477723, +"pose": { +"rotation": { +"radians": -2.644034815417737 +}, +"translation": { +"x": 7.8671406181167285, +"y": 5.358246324600325 +} +}, +"time": 1.2617954586019229, +"velocity": 1.1873741547750347 +}, +{ +"acceleration": 2.700000000000003, +"curvature": -1.8932414157737991, +"pose": { +"rotation": { +"radians": -2.7095541115782695 +}, +"translation": { +"x": 7.841145015895262, +"y": 5.34527029742215 +} +}, +"time": 1.2856194561166243, +"velocity": 1.2516989480647287 +}, +{ +"acceleration": 2.699999999999996, +"curvature": -0.7855804203123081, +"pose": { +"rotation": { +"radians": -2.7900199084369137 +}, +"translation": { +"x": 7.783467835022876, +"y": 5.321824798196534 +} +}, +"time": 1.3329445588164663, +"velocity": 1.379476725354302 +}, +{ +"acceleration": 2.7000000000000033, +"curvature": -1.5317393664301094e-13, +"pose": { +"rotation": { +"radians": -2.81501121889922 +}, +"translation": { +"x": 7.721033497853136, +"y": 5.300104727817263 +} +}, +"time": 1.3788062095622287, +"velocity": 1.50330318236786 +}, +{ +"acceleration": 2.700000000000002, +"curvature": -0.3179242349255601, +"pose": { +"rotation": { +"radians": -2.831813871274273 +}, +"translation": { +"x": 7.653490796559726, +"y": 5.2777210657266895 +} +}, +"time": 1.4242815764492445, +"velocity": 1.6260866729628027 +}, +{ +"acceleration": 2.6999999999999966, +"curvature": -0.15191200497679883, +"pose": { +"rotation": { +"radians": -2.8538495713265597 +}, +"translation": { +"x": 7.564158715345715, +"y": 5.250342253928441 +} +}, +"time": 1.4792336700983886, +"velocity": 1.774457325815492 +}, +{ +"acceleration": 2.6999999999999966, +"curvature": -0.08222447858666246, +"pose": { +"rotation": { +"radians": -2.860644372194109 +}, +"translation": { +"x": 7.506964023934011, +"y": 5.233647620139273 +} +}, +"time": 1.5119943876526916, +"velocity": 1.86291126321211 +}, +{ +"acceleration": 2.6999999999999926, +"curvature": -0.03542829226394553, +"pose": { +"rotation": { +"radians": -2.864575492874985 +}, +"translation": { +"x": 7.440201413938065, +"y": 5.214542683539561 +} +}, +"time": 1.5483146960107381, +"velocity": 1.9609760957788358 +}, +{ +"acceleration": 2.699999999999992, +"curvature": -0.004808146940214957, +"pose": { +"rotation": { +"radians": -2.866067411326163 +}, +"translation": { +"x": 7.363571438565603, +"y": 5.192833145186944 +} +}, +"time": 1.5878538365611685, +"velocity": 2.0677317752649977 +}, +{ +"acceleration": 2.6999999999999975, +"curvature": 0.015856780321208, +"pose": { +"rotation": { +"radians": -2.865498675421228 +}, +"translation": { +"x": 7.277209047444516, +"y": 5.168404941245569 +} +}, +"time": 1.6300943318731986, +"velocity": 2.181781112607479 +}, +{ +"acceleration": 2.700000000000001, +"curvature": 0.030863212323990242, +"pose": { +"rotation": { +"radians": -2.8631324934963294 +}, +"translation": { +"x": 7.181637472477295, +"y": 5.141217229427829 +} +}, +"time": 1.674420922934831, +"velocity": 2.3014629084738862 +}, +{ +"acceleration": 2.700000000000004, +"curvature": 0.04299630972120264, +"pose": { +"rotation": { +"radians": -2.8591142718118014 +}, +"translation": { +"x": 7.077722113695464, +"y": 5.111295375436102 +} +}, +"time": 1.7201791450534596, +"velocity": 2.4250101081941833 +}, +{ +"acceleration": -0.10001575232163369, +"curvature": 0.05412000525070392, +"pose": { +"rotation": { +"radians": -2.8534835267694207 +}, +"translation": { +"x": 6.966624425114013, +"y": 5.0787239394044885 +} +}, +"time": 1.7667151709069664, +"velocity": 2.5506573779986517 +}, +{ +"acceleration": -0.21171913776601212, +"curvature": 0.06562531761014101, +"pose": { +"rotation": { +"radians": -2.8461827351943807 +}, +"translation": { +"x": 6.849755800585829, +"y": 5.043639662340553 +} +}, +"time": 1.8145992571153544, +"velocity": 2.545868215092286 +}, +{ +"acceleration": -0.23758687234927503, +"curvature": 0.07874975402137249, +"pose": { +"rotation": { +"radians": -2.8370578664896575 +}, +"translation": { +"x": 6.728731459656132, +"y": 5.0062244525670625 +} +}, +"time": 1.8644600858063782, +"velocity": 2.5353117234335234 +}, +{ +"acceleration": -0.26272042054235334, +"curvature": 0.08632780822966778, +"pose": { +"rotation": { +"radians": -2.8317346935988197 +}, +"translation": { +"x": 6.667210036833334, +"y": 4.986710218709995 +} +}, +"time": 1.8899478131649796, +"velocity": 2.5292561740071022 +}, +{ +"acceleration": -0.2947830102657059, +"curvature": 0.09483672719777103, +"pose": { +"rotation": { +"radians": -2.8258484927424465 +}, +"translation": { +"x": 6.605324333416908, +"y": 4.966698372163723 +} +}, +"time": 1.9156976624617559, +"velocity": 2.522491162770951 +}, +{ +"acceleration": -0.4313664863856008, +"curvature": 0.10450531707919118, +"pose": { +"rotation": { +"radians": -2.81934637543011 +}, +"translation": { +"x": 6.543313042620525, +"y": 4.946221231550828 +} +}, +"time": 1.9416259441744659, +"velocity": 2.514847945836661 +}, +{ +"acceleration": -2.6999999999999917, +"curvature": 0.11560736274381277, +"pose": { +"rotation": { +"radians": -2.8121650781792185 +}, +"translation": { +"x": 6.481418950361339, +"y": 4.925312623408919 +} +}, +"time": 1.9676619155197694, +"velocity": 2.5036169003578013 +}, +{ +"acceleration": -2.6999999999999993, +"curvature": 0.12847695432017966, +"pose": { +"rotation": { +"radians": -2.80422921161479 +}, +"translation": { +"x": 6.419887494192925, +"y": 4.904007663016937 +} +}, +"time": 1.9940458228316944, +"velocity": 2.432380350615604 +}, +{ +"acceleration": -2.6999999999999984, +"curvature": 0.1435283718041345, +"pose": { +"rotation": { +"radians": -2.7954490409301 +}, +"translation": { +"x": 6.35896532223824, +"y": 4.882342535221456 +} +}, +"time": 2.0210329697911074, +"velocity": 2.359515053825189 +}, +{ +"acceleration": -2.700000000000002, +"curvature": 0.18240169231003878, +"pose": { +"rotation": { +"radians": -2.774907522938559 +}, +"translation": { +"x": 6.239932829906491, +"y": 4.838080549602295 +} +}, +"time": 2.0766238276547915, +"velocity": 2.209419737593241 +}, +{ +"acceleration": -2.7000000000000046, +"curvature": 0.23840309275051197, +"pose": { +"rotation": { +"radians": -2.7494085729205637 +}, +"translation": { +"x": 6.126264109189467, +"y": 4.792829208076292 +} +}, +"time": 2.1340102385061557, +"velocity": 2.0544764282945582 +}, +{ +"acceleration": -2.6999999999999975, +"curvature": 0.32201954547199035, +"pose": { +"rotation": { +"radians": -2.7173116754157705 +}, +"translation": { +"x": 6.019828936729477, +"y": 4.746894138133941 +} +}, +"time": 2.192698824276976, +"velocity": 1.8960172467133425 +}, +{ +"acceleration": -2.700000000000001, +"curvature": 0.4518125461441987, +"pose": { +"rotation": { +"radians": -2.6761899225619343 +}, +"translation": { +"x": 5.922378115842191, +"y": 4.700577039673107 +} +}, +"time": 2.2521205259030364, +"velocity": 1.73557865232298 +}, +{ +"acceleration": -2.7000000000000015, +"curvature": 0.6619208639862388, +"pose": { +"rotation": { +"radians": -2.6223695671808342 +}, +"translation": { +"x": 5.835497362371078, +"y": 4.654168671440767 +} +}, +"time": 2.311627604756412, +"velocity": 1.5749095394188652 +}, +{ +"acceleration": -2.699999999999996, +"curvature": 1.0169561648352394, +"pose": { +"rotation": { +"radians": -2.550173048442864 +}, +"translation": { +"x": 5.760561190541836, +"y": 4.607941837474753 +} +}, +"time": 2.3705054932998215, +"velocity": 1.4159392403516597 +}, +{ +"acceleration": -2.699999999999997, +"curvature": 1.2837306013324294, +"pose": { +"rotation": { +"radians": -2.5045829713892287 +}, +"translation": { +"x": 5.727932759593079, +"y": 4.584975111619803 +} +}, +"time": 2.399486095251853, +"velocity": 1.337691615081175 +}, +{ +"acceleration": -2.699999999999996, +"curvature": 1.6389395158808704, +"pose": { +"rotation": { +"radians": -2.4507560641871042 +}, +"translation": { +"x": 5.698686798816826, +"y": 4.562144373545484 +} +}, +"time": 2.4280451649186734, +"velocity": 1.2605821269807598 +}, +{ +"acceleration": -2.699999999999997, +"curvature": 2.1120765104774684, +"pose": { +"rotation": { +"radians": -2.3868654872289525 +}, +"translation": { +"x": 5.67291518683085, +"y": 4.539475550769414 +} +}, +"time": 2.456116779807021, +"velocity": 1.1847887667822217 +}, +{ +"acceleration": -2.7000000000000073, +"curvature": 2.7367383313631946, +"pose": { +"rotation": { +"radians": -2.3107786073064327 +}, +"translation": { +"x": 5.650687955749508, +"y": 4.516992133597712 +} +}, +"time": 2.483666279450821, +"velocity": 1.110405117743961 +}, +{ +"acceleration": -2.7000000000000015, +"curvature": 3.115536419797092, +"pose": { +"rotation": { +"radians": -2.2674413163144207 +}, +"translation": { +"x": 5.640919039792945, +"y": 4.505826572471868 +} +}, +"time": 2.497251381203402, +"velocity": 1.0737253430119922 +}, +{ +"acceleration": -2.6999999999999966, +"curvature": 3.5416196517361738, +"pose": { +"rotation": { +"radians": -2.220195584632049 +}, +"translation": { +"x": 5.632051850116713, +"y": 4.49471495595131 +} +}, +"time": 2.510719337130473, +"velocity": 1.0373618620089011 +}, +{ +"acceleration": -2.6999999999999913, +"curvature": 4.014174613418417, +"pose": { +"rotation": { +"radians": -2.1687895517861144 +}, +"translation": { +"x": 5.624088354680849, +"y": 4.483659437257785 +} +}, +"time": 2.5240861762552176, +"velocity": 1.0012713963720898 +}, +{ +"acceleration": -2.7000000000000046, +"curvature": 4.528311408241535, +"pose": { +"rotation": { +"radians": -2.113028345951519 +}, +"translation": { +"x": 5.617028885838867, +"y": 4.472661976192252 +} +}, +"time": 2.537376007891706, +"velocity": 0.9653888509535706 +}, +{ +"acceleration": -2.7000000000000046, +"curvature": 5.0734825841896205, +"pose": { +"rotation": { +"radians": -2.0528083783640128 +}, +"translation": { +"x": 5.610872095304394, +"y": 4.461724332285706 +} +}, +"time": 2.5506228090503718, +"velocity": 0.9296224878251733 +}, +{ +"acceleration": -2.700000000000002, +"curvature": 5.632068655995193, +"pose": { +"rotation": { +"radians": -1.9881574437753466 +}, +"translation": { +"x": 5.605614909117829, +"y": 4.450848057949998 +} +}, +"time": 2.5638724916527, +"velocity": 0.8938483447988881 +}, +{ +"acceleration": -2.699999999999999, +"curvature": 6.178690636237209, +"pose": { +"rotation": { +"radians": -1.9192765807198273 +}, +"translation": { +"x": 5.601252482613013, +"y": 4.440034491628662 +} +}, +"time": 2.5771852876145287, +"velocity": 0.8579037957019497 +}, +{ +"acceleration": -2.4863201552093672, +"curvature": 6.680968606562979, +"pose": { +"rotation": { +"radians": -1.8465765328111623 +}, +"translation": { +"x": 5.597778155383855, +"y": 4.4292847509477316 +} +}, +"time": 2.5906385289955236, +"velocity": 0.8215800439732631 +}, +{ +"acceleration": -1.649978057656683, +"curvature": 7.102345967291823, +"pose": { +"rotation": { +"radians": -1.7706989803293343 +}, +"translation": { +"x": 5.595183406251016, +"y": 4.418599725866562 +} +}, +"time": 2.6043045616344402, +"velocity": 0.7876019115813753 +}, +{ +"acceleration": -0.8202597583252491, +"curvature": 7.407069496919636, +"pose": { +"rotation": { +"radians": -1.6925121514234338 +}, +"translation": { +"x": 5.593457808228548, +"y": 4.407980071828659 +} +}, +"time": 2.6181662030821204, +"velocity": 0.7647305073495988 +}, +{ +"acceleration": 0.007965001710251133, +"curvature": 7.566489556144659, +"pose": { +"rotation": { +"radians": -1.6130736564866606 +}, +"translation": { +"x": 5.592588983490548, +"y": 4.39742620291249 +} +}, +"time": 2.6321180514129585, +"velocity": 0.7532863676095549 +}, +{ +"acceleration": 0.8445692928649506, +"curvature": 7.564921618973796, +"pose": { +"rotation": { +"radians": -1.5335608169636994 +}, +"translation": { +"x": 5.592562558337818, +"y": 4.386938284982318 +} +}, +"time": 2.6460399538731663, +"velocity": 0.7533972555864604 +}, +{ +"acceleration": 1.7008659874142473, +"curvature": 7.403028271662393, +"pose": { +"rotation": { +"radians": -1.4551783599068782 +}, +"translation": { +"x": 5.59336211816452, +"y": 4.376516228839016 +} +}, +"time": 2.659807771799048, +"velocity": 0.7650251318364159 +}, +{ +"acceleration": 2.586427873487446, +"curvature": 7.0974343769173585, +"pose": { +"rotation": { +"radians": -1.3790610183419372 +}, +"translation": { +"x": 5.594969162424821, +"y": 4.366159683370887 +} +}, +"time": 2.673304798571591, +"velocity": 0.7879817656050534 +}, +{ +"acceleration": 2.7000000000000144, +"curvature": 6.6767750597608275, +"pose": { +"rotation": { +"radians": -1.3061904094791794 +}, +"translation": { +"x": 5.597363059599571, +"y": 4.355868028704492 +} +}, +"time": 2.686431462095605, +"velocity": 0.8219329340294548 +}, +{ +"acceleration": 2.7000000000000224, +"curvature": 6.175726172232595, +"pose": { +"rotation": { +"radians": -1.23734056486694 +}, +"translation": { +"x": 5.60052100216293, +"y": 4.345640369355472 +} +}, +"time": 2.699187288093244, +"velocity": 0.8563736642230799 +}, +{ +"acceleration": 2.699999999999973, +"curvature": 5.629030113377437, +"pose": { +"rotation": { +"radians": -1.1730573186780466 +}, +"translation": { +"x": 5.604417961549034, +"y": 4.335475527379365 +} +}, +"time": 2.7116542972433937, +"velocity": 0.8900345889284835 +}, +{ +"acceleration": 2.6999999999999473, +"curvature": 5.067034743921032, +"pose": { +"rotation": { +"radians": -1.1136677935204538 +}, +"translation": { +"x": 5.609026643118656, +"y": 4.325372035522432 +} +}, +"time": 2.7239037209088846, +"velocity": 0.923108032825309 +}, +{ +"acceleration": 2.700000000000046, +"curvature": 4.513321468360502, +"pose": { +"rotation": { +"radians": -1.0593107329363647 +}, +"translation": { +"x": 5.614317441125856, +"y": 4.315328130372476 +} +}, +"time": 2.735987968994284, +"velocity": 0.9557355026558874 +}, +{ +"acceleration": 2.6999999999999718, +"curvature": 3.9841919434227266, +"pose": { +"rotation": { +"radians": -1.009977192153238 +}, +"translation": { +"x": 5.62025839368463, +"y": 4.3053417455096685 +} +}, +"time": 2.747944151649829, +"velocity": 0.9880171958258595 +}, +{ +"acceleration": 2.6999999999999726, +"curvature": 3.0333968004192875, +"pose": { +"rotation": { +"radians": -0.9258567908392124 +}, +"translation": { +"x": 5.633950864012529, +"y": 4.285531714832938 +} +}, +"time": 2.7715559874676448, +"velocity": 1.0517691525339607 +}, +{ +"acceleration": 2.699999999999998, +"curvature": 2.237815279436474, +"pose": { +"rotation": { +"radians": -0.8597742333502327 +}, +"translation": { +"x": 5.649799524946048, +"y": 4.265919091712153 +} +}, +"time": 2.7948350364198626, +"velocity": 1.1146225847049485 +}, +{ +"acceleration": 2.700000000000003, +"curvature": 1.0129680320189913, +"pose": { +"rotation": { +"radians": -0.7750336889366792 +}, +"translation": { +"x": 5.68654295906245, +"y": 4.2271680094966655 +} +}, +"time": 2.8402472621996875, +"velocity": 1.2372355943104754 +}, +{ +"acceleration": 2.700000000000007, +"curvature": 1.156918303859859e-14, +"pose": { +"rotation": { +"radians": -0.7469555733762544 +}, +"translation": { +"x": 5.727214916075646, +"y": 4.188796010105192 +} +}, +"time": 2.8834089791700777, +"velocity": 1.3537722301305284 +}, +{ +"acceleration": 2.7000000000000024, +"curvature": 1.102212746138076, +"pose": { +"rotation": { +"radians": -0.6809938787136808 +}, +"translation": { +"x": 5.811575039081287, +"y": 4.1141590167022155 +} +}, +"time": 2.960660803826646, +"velocity": 1.5623521567032639 +}, +{ +"acceleration": 2.5693399939690806, +"curvature": 1.4894714915994152, +"pose": { +"rotation": { +"radians": -0.6074280736164512 +}, +"translation": { +"x": 5.856537675761366, +"y": 4.080258973593091 +} +}, +"time": 2.9956452560213696, +"velocity": 1.6568101776290176 +}, +{ +"acceleration": -2.2387770365623716, +"curvature": 1.633806384224268, +"pose": { +"rotation": { +"radians": -0.5632129003630716 +}, +"translation": { +"x": 5.880085151347861, +"y": 4.0646401942078985 +} +}, +"time": 3.012480258689287, +"velocity": 1.7000650232822738 +}, +{ +"acceleration": -1.3432446288170243, +"curvature": 1.7411906477761536, +"pose": { +"rotation": { +"radians": -0.5151966549062698 +}, +"translation": { +"x": 5.9044493412736045, +"y": 4.050053488870021 +} +}, +"time": 3.029371560330237, +"velocity": 1.6622491650508664 +}, +{ +"acceleration": -0.5583973762706116, +"curvature": 1.8097702584329132, +"pose": { +"rotation": { +"radians": -0.46429927467967064 +}, +"translation": { +"x": 5.929694297498676, +"y": 4.036590999205662 +} +}, +"time": 3.046704720988406, +"velocity": 1.6389664900963588 +}, +{ +"acceleration": 0.13275532658425765, +"curvature": 1.839458689207596, +"pose": { +"rotation": { +"radians": -0.41145757318510934 +}, +"translation": { +"x": 5.955872333040009, +"y": 4.024332391474265 +} +}, +"time": 3.064394819757686, +"velocity": 1.629088385357625 +}, +{ +"acceleration": 0.7376667593324752, +"curvature": 1.8322571430838221, +"pose": { +"rotation": { +"radians": -0.35759142529782817 +}, +"translation": { +"x": 5.983024509632877, +"y": 4.01334532231262 +} +}, +"time": 3.0823615953504206, +"velocity": 1.6314735705191046 +}, +{ +"acceleration": 1.2581150716826905, +"curvature": 1.792174567755754, +"pose": { +"rotation": { +"radians": -0.30356638623529814 +}, +"translation": { +"x": 6.011181125392353, +"y": 4.00368590447897 +} +}, +"time": 3.1005326753534335, +"velocity": 1.6448777722184982 +}, +{ +"acceleration": 1.6931222056533082, +"curvature": 1.7247810985008099, +"pose": { +"rotation": { +"radians": -0.2501591400278305 +}, +"translation": { +"x": 6.040362202474794, +"y": 3.995399172597107 +} +}, +"time": 3.118846438477861, +"velocity": 1.667918593624567 +}, +{ +"acceleration": 2.041301318113694, +"curvature": 1.6365296859722707, +"pose": { +"rotation": { +"radians": -0.19803117666727657 +}, +"translation": { +"x": 6.070577974739306, +"y": 3.9885195489004808 +} +}, +"time": 3.1372539429017863, +"velocity": 1.699084748115376 +}, +{ +"acceleration": 2.3026833712972934, +"curvature": 1.5340256540738169, +"pose": { +"rotation": { +"radians": -0.1477138591073032 +}, +"translation": { +"x": 6.101829375409222, +"y": 3.9830713089762995 +} +}, +"time": 3.155719611222656, +"velocity": 1.736778741198618 +}, +{ +"acceleration": 2.479922932325925, +"curvature": 1.4234026269022926, +"pose": { +"rotation": { +"radians": -0.0996053985265778 +}, +"translation": { +"x": 6.13410852473357, +"y": 3.9790690475096353 +} +}, +"time": 3.1742206609737953, +"velocity": 1.7793808008121101 +}, +{ +"acceleration": 2.57878943651901, +"curvature": 1.309898124369121, +"pose": { +"rotation": { +"radians": -0.05397804765905626 +}, +"translation": { +"x": 6.1673992176485495, +"y": 3.9765181440275263 +} +}, +"time": 3.1927455117622223, +"velocity": 1.8253210031002458 +}, +{ +"acceleration": 2.5934175537562276, +"curvature": 1.1976487946874173, +"pose": { +"rotation": { +"radians": -0.010992540563144306 +}, +"translation": { +"x": 6.201677411439003, +"y": 3.9754152286430786 +} +}, +"time": 3.211291531323471, +"velocity": 1.8731472824342696 +}, +{ +"acceleration": 2.4457152528455763, +"curvature": 0.9879682988760164, +"pose": { +"rotation": { +"radians": 0.06685600657492098 +}, +"translation": { +"x": 6.273063868497759, +"y": 3.977498930014561 +} +}, +"time": 3.248461750825501, +"velocity": 1.9695451821678067 +}, +{ +"acceleration": 2.1805182937543717, +"curvature": 0.8073887693558919, +"pose": { +"rotation": { +"radians": 0.13417293220583565 +}, +"translation": { +"x": 6.347937332297409, +"y": 3.985135902526248 +} +}, +"time": 3.28580860121918, +"velocity": 2.060884943821369 +}, +{ +"acceleration": 1.87493906580889, +"curvature": 0.6584721117688445, +"pose": { +"rotation": { +"radians": 0.19183099116300706 +}, +"translation": { +"x": 6.425873047138083, +"y": 3.998031714080021 +} +}, +"time": 3.3233921694353787, +"velocity": 2.1428366018613563 +}, +{ +"acceleration": 1.5794996890794186, +"curvature": 0.5384491682612061, +"pose": { +"rotation": { +"radians": 0.24095242112942267 +}, +"translation": { +"x": 6.506367670399589, +"y": 4.015796653388785 +} +}, +"time": 3.361234150552722, +"velocity": 2.213788010585865 +}, +{ +"acceleration": 1.3204246571783929, +"curvature": 0.44260442457178856, +"pose": { +"rotation": { +"radians": 0.2826769621503222 +}, +"translation": { +"x": 6.588854877708555, +"y": 4.037960633787773 +} +}, +"time": 3.3992995290837507, +"velocity": 2.2739122641403156 +}, +{ +"acceleration": 1.1073299668104617, +"curvature": 0.3660344315616026, +"pose": { +"rotation": { +"radians": 0.3180455516198516 +}, +"translation": { +"x": 6.672720968105553, +"y": 4.06398809704585 +} +}, +"time": 3.437493143714937, +"velocity": 2.3243440546461036 +}, +{ +"acceleration": 0.5823318894015862, +"curvature": 0.3043719445073318, +"pose": { +"rotation": { +"radians": 0.34795423273368153 +}, +"translation": { +"x": 6.757320469212233, +"y": 4.093292917176818 +} +}, +"time": 3.475665000597282, +"velocity": 2.366612895660724 +}, +{ +"acceleration": -2.700000000000002, +"curvature": 0.2539717830493958, +"pose": { +"rotation": { +"radians": 0.37314530689950554 +}, +"translation": { +"x": 6.84199174239845, +"y": 4.125253304250721 +} +}, +"time": 3.5137280885269533, +"velocity": 2.3887782455712685 +}, +{ +"acceleration": -2.700000000000005, +"curvature": 0.21185834402642104, +"pose": { +"rotation": { +"radians": 0.394215613603498 +}, +"translation": { +"x": 6.926072587949404, +"y": 4.159226708205152 +} +}, +"time": 3.552542454426308, +"velocity": 2.28397945764301 +}, +{ +"acceleration": -2.699999999999999, +"curvature": 0.1755876883857317, +"pose": { +"rotation": { +"radians": 0.4116309727303485 +}, +"translation": { +"x": 7.00891585023276, +"y": 4.194564722656552 +} +}, +"time": 3.59294064937497, +"velocity": 2.174904331281623 +}, +{ +"acceleration": -2.7000000000000077, +"curvature": 0.14309285355503273, +"pose": { +"rotation": { +"radians": 0.4257414479734579 +}, +"translation": { +"x": 7.089905022865786, +"y": 4.2306279887115235 +} +}, +"time": 3.6347907545006253, +"velocity": 2.061909047442354 +}, +{ +"acceleration": -2.7000000000000006, +"curvature": 0.11254048663234863, +"pose": { +"rotation": { +"radians": 0.43679536250150985 +}, +"translation": { +"x": 7.168469853882481, +"y": 4.266801098778129 +} +}, +"time": 3.6779585246652045, +"velocity": 1.9453560679979898 +}, +{ +"acceleration": -2.7000000000000006, +"curvature": 0.08221305824009581, +"pose": { +"rotation": { +"radians": 0.44495201667031736 +}, +"translation": { +"x": 7.24410195090071, +"y": 4.302507500377194 +} +}, +"time": 3.7223172254459973, +"velocity": 1.8255875758898494 +}, +{ +"acceleration": -2.7, +"curvature": 0.050435782485375294, +"pose": { +"rotation": { +"radians": 0.450294664223639 +}, +"translation": { +"x": 7.316370386289329, +"y": 4.337224399953622 +} +}, +"time": 3.7677616401355403, +"velocity": 1.7028876562280837 +}, +{ +"acceleration": -2.7000000000000006, +"curvature": 0.01559161811505092, +"pose": { +"rotation": { +"radians": 0.452847176466102 +}, +"translation": { +"x": 7.38493730233532, +"y": 4.3704976666876885 +} +}, +"time": 3.8142289840948442, +"velocity": 1.5774258275379633 +}, +{ +"acceleration": -2.7000000000000046, +"curvature": -0.023681073592752115, +"pose": { +"rotation": { +"radians": 0.452600567757295 +}, +"translation": { +"x": 7.44957351641092, +"y": 4.40195673630635 +} +}, +"time": 3.861731487639396, +"velocity": 1.449169067967673 +}, +{ +"acceleration": -2.7, +"curvature": -0.06792825120268196, +"pose": { +"rotation": { +"radians": 0.44955959181921173 +}, +"translation": { +"x": 7.5101741261407575, +"y": 4.4313295148945535 +} +}, +"time": 3.9104095534014904, +"velocity": 1.3177382904100188 +}, +{ +"acceleration": -2.7000000000000015, +"curvature": -0.16136139098057983, +"pose": { +"rotation": { +"radians": 0.43572559678567774 +}, +"translation": { +"x": 7.619563955326361, +"y": 4.483309597977114 +} +}, +"time": 4.013127720218003, +"velocity": 1.0403992400054343 +}, +{ +"acceleration": -2.7, +"curvature": -0.18922581767191782, +"pose": { +"rotation": { +"radians": 0.41610405481350327 +}, +"translation": { +"x": 7.715346172287848, +"y": 4.526796916604231 +} +}, +"time": 4.1328266637457585, +"velocity": 0.7172120924804948 +}, +{ +"acceleration": -2.7, +"curvature": 4.349781518143958e-14, +"pose": { +"rotation": { +"radians": 0.40489178628510675 +}, +"translation": { +"x": 7.802747374155518, +"y": 4.564679841096051 +} +}, +"time": 4.398460772071868, +"velocity": 0.0 +} +] \ No newline at end of file